{"id": "trial_T20190909_040212_128194-1", "input": "Move keys from top of desk to below SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.909, -1.5, 0, 0, 0, [SEP] 1, CellPhone, -3.191, 0.620, -1.793, 0, 0, 0, 24 [SEP] 2, CellPhone, -3.613, 0.979, -3.673, 0, 0, 0, 42 [SEP] 3, Pen, -0.453, 0.809, -4.137, 0, 0, 0, 39 [SEP] 4, Pencil, -3.834, 0.984, -4.075, 0, 0, 0, 42 [SEP] 5, Pencil, -3.760, 0.983, -3.874, 0, 0, 0, 42 [SEP] 6, KeyChain, -0.426, 0.190, -3.779, 0, 0, 0, 34 [SEP] 7, Book, -3.539, 0.981, -3.070, 0, 0, 0, 42 [SEP] 8, Book, -3.637, 0.045, -3.883, 0, 0, 0, 47 [SEP] 9, Pillow, -2.981, 0.722, -2.080, 0, 0, 0, 24 [SEP] 10, AlarmClock, -3.760, 0.981, -3.472, 0, 0, 0, 42 [SEP] 11, Book, -3.191, 0.620, -1.506, 0, 0, 0, 24 [SEP] 12, CellPhone, -3.582, 0.419, -3.092, 0, 0, 0, 50 [SEP] 13, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 39 [SEP] 14, CreditCard, -3.687, 0.981, -4.276, 0, 0, 0, 42 [SEP] 15, AlarmClock, -3.687, 0.979, -4.276, 0, 0, 0, 42 [SEP] 16, KeyChain, -0.657, 0.800, -4.029, 0, 0, 0, 39 [SEP] 17, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 24 [SEP] 18, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 19, Pencil, -0.657, 0.803, -3.811, 0, 0, 0, 39 [SEP] 20, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 24 [SEP] 21, CD, -1.827, 0.062, -3.905, 0, 279.990, 0, 28 [SEP] 22, Pen, -3.582, 0.424, -3.185, 0, 0, 0, 50 [SEP] 23, Mug, -3.539, 0.977, -3.472, 0, 0, 0, 42 [SEP] 24, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 25, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 26, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 27, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 28, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 29, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 30, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 31, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 32, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 33, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 34, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 35, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 36, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 37, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 38, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 39, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 40, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 41, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 42, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 51, NorthWall, , , , , , , [SEP] 52, EastWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, walk to desk | STEP 2: Pick up keys off of desk | STEP 3: Turn around twice and end up facing the desk | STEP 4: Put keys on top of drawers under the desk | END"]} {"id": "trial_T20190909_040212_128194-2", "input": "Move keys from the desk to the dresser. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.909, -1.5, 0, 0, 0, [SEP] 1, CellPhone, -3.191, 0.620, -1.793, 0, 0, 0, 24 [SEP] 2, CellPhone, -3.613, 0.979, -3.673, 0, 0, 0, 42 [SEP] 3, Pen, -0.453, 0.809, -4.137, 0, 0, 0, 39 [SEP] 4, Pencil, -3.834, 0.984, -4.075, 0, 0, 0, 42 [SEP] 5, Pencil, -3.760, 0.983, -3.874, 0, 0, 0, 42 [SEP] 6, KeyChain, -0.426, 0.190, -3.779, 0, 0, 0, 34 [SEP] 7, Book, -3.539, 0.981, -3.070, 0, 0, 0, 42 [SEP] 8, Book, -3.637, 0.045, -3.883, 0, 0, 0, 47 [SEP] 9, Pillow, -2.981, 0.722, -2.080, 0, 0, 0, 24 [SEP] 10, AlarmClock, -3.760, 0.981, -3.472, 0, 0, 0, 42 [SEP] 11, Book, -3.191, 0.620, -1.506, 0, 0, 0, 24 [SEP] 12, CellPhone, -3.582, 0.419, -3.092, 0, 0, 0, 50 [SEP] 13, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 39 [SEP] 14, CreditCard, -3.687, 0.981, -4.276, 0, 0, 0, 42 [SEP] 15, AlarmClock, -3.687, 0.979, -4.276, 0, 0, 0, 42 [SEP] 16, KeyChain, -0.657, 0.800, -4.029, 0, 0, 0, 39 [SEP] 17, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 24 [SEP] 18, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 19, Pencil, -0.657, 0.803, -3.811, 0, 0, 0, 39 [SEP] 20, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 24 [SEP] 21, CD, -1.827, 0.062, -3.905, 0, 279.990, 0, 28 [SEP] 22, Pen, -3.582, 0.424, -3.185, 0, 0, 0, 50 [SEP] 23, Mug, -3.539, 0.977, -3.472, 0, 0, 0, 42 [SEP] 24, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 25, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 26, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 27, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 28, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 29, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 30, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 31, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 32, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 33, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 34, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 35, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 36, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 37, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 38, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 39, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 40, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 41, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 42, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 51, NorthWall, , , , , , , [SEP] 52, EastWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and move to the desk along the wall. | STEP 2: Pick up the keys from the back of the desk. | STEP 3: Carry the keys and turn around. | STEP 4: Place the keys on the brown dresser below the desk. | END"]} {"id": "trial_T20190909_101422_952563-1", "input": "Place a microwaved slice of potato 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, -1.5, 0.900, -0.75, 0, 0, 0, [SEP] 1, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 56 [SEP] 2, Pot, 1.955, 0.915, 1.468, 0, 0, 0, 76 [SEP] 3, Spoon, -0.983, 0.822, -1.257, 0, 90, 0, 100 [SEP] 4, Spoon, 1.955, 0.912, 1.214, 0, 0, 0, 76 [SEP] 5, Fork, 2.512, 0.771, 1.122, 0, 90, 0, 57 [SEP] 6, Fork, 1.688, 0.912, 1.129, 0, 0, 0, 76 [SEP] 7, Spatula, 1.688, 0.926, 1.468, 0, 0, 0, 76 [SEP] 8, Plate, 2.838, 1.566, -0.578, 0, 0, 0, 96 [SEP] 9, Plate, 2.488, 0.914, 1.383, 0, 0, 0, 76 [SEP] 10, Cup, 2.804, 1.652, 1.508, 0, 0, 0, 42 [SEP] 11, Cup, 2.767, 0.112, 1.231, 0, 0, 0, 73 [SEP] 12, Bowl, 1.902, 0.909, -0.430, 0, 0, 0, 41 [SEP] 13, Bowl, 0.415, 1.782, 1.455, 0, 180, 0, 99 [SEP] 14, PepperShaker, 2.188, 1.650, 1.585, 0, 0, 0, 65 [SEP] 15, Lettuce, -0.785, 0.901, -1.400, 0, 0, 0, 100 [SEP] 16, Mug, 1.448, 0.110, -0.419, 0, 180, 0, 58 [SEP] 17, Mug, -0.103, 0.906, 1.129, 0, 0, 0, 52 [SEP] 18, SoapBottle, 0.480, 1.660, -0.773, 0, 180, 0, 80 [SEP] 19, Plate, 0.634, 0.914, -0.430, 0, 0, 0, 41 [SEP] 20, Fork, -0.621, 0.821, -1.308, 0, 90, 0, 100 [SEP] 21, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 47 [SEP] 22, Bread, 2.838, 1.077, -0.709, 0, 0, 0, 96 [SEP] 23, Egg, -0.246, 0.949, 1.553, 0, 0, 0, 52 [SEP] 24, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 41 [SEP] 25, Tomato, 2.156, 0.942, -0.684, 0, 0, 0, 41 [SEP] 26, Cup, 2.777, 0.723, -0.504, 0, 0, 0, 96 [SEP] 27, Spatula, 0.152, 0.926, -0.302, 0, 180, 0, 41 [SEP] 28, Apple, -1.962, 0.492, 1.417, 0, 270, 0, 94 [SEP] 29, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 44 [SEP] 30, Lettuce, 2.221, 0.992, 1.214, 0, 0, 0, 76 [SEP] 31, SaltShaker, 0.888, 0.908, -0.769, 0, 0, 0, 41 [SEP] 32, Knife, 2.156, 0.944, -0.430, 0, 0, 0, 41 [SEP] 33, Potato, 2.754, 0.946, 1.553, 0, 0, 0, 76 [SEP] 34, PepperShaker, -0.734, 0.817, -1.183, 0, 0, 0, 100 [SEP] 35, ButterKnife, -0.017, 0.765, -0.707, 0, 180, 0, 98 [SEP] 36, Bowl, 2.653, 1.286, -0.644, 0, 0, 0, 96 [SEP] 37, DishSponge, 1.174, 0.770, -0.383, 0, 180, 0, 60 [SEP] 38, Spoon, -0.103, 0.912, 1.468, 0, 0, 0, 52 [SEP] 39, Mug, 2.838, 1.283, -0.840, 0, 0, 0, 96 [SEP] 40, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 41, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 42, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 43, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 44, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 45, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 46, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 47, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 49, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 50, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 51, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 52, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 53, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 54, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 55, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 56, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 57, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 58, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 59, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 60, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 61, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 63, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 64, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 65, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 70, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 71, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 72, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 76, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 77, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 79, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 80, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 81, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 82, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 83, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 84, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 85, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 86, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 87, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 88, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 89, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 93, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 94, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 95, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 96, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 97, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 98, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 99, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 100, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 101, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 102, NorthWall, , , , , , , [SEP] 103, EastWall, , , , , , , [SEP] 104, SouthWall, , , , , , , [SEP] 105, WestWall, , , , , , , ", "output": ["STEP 1: Head towards the door then right towards the sink. | STEP 2: Pick up the knife inside the sink. | STEP 3: Turn around then right towards the wall, turn left towards the counter top. | STEP 4: Cut the potato on the counter top. | STEP 5: Turn left then head towards the stove | STEP 6: Place the knife into the microwave located above the stove. | STEP 7: Turn right then head towards the wall then left towards the counter top. | STEP 8: Pick up a potato slice from the counter top. | STEP 9: Turn left then head towards the stove, turn right towards the microwave. | STEP 10: Place the potato slice into the microwave, close the door then turn it on. | STEP 11: Turn left then head towards wall, right towards the door, then left towards the trash can. | STEP 12: Place the potato slice into the trash can. | END"]} {"id": "trial_T20190909_113622_708422-0", "input": "Put a chilled 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, 0.75, 0.900, 0.5, 0, 90, 0, [SEP] 1, DishSponge, 1.893, 0.771, 1.236, 0, 0, 0, 77 [SEP] 2, ButterKnife, 2.221, 0.911, 1.044, 0, 0, 0, 77 [SEP] 3, Pot, 2.488, 0.915, 1.214, 0, 0, 0, 77 [SEP] 4, Spoon, -0.055, 0.912, 1.299, 0, 90, 0, 53 [SEP] 5, Spatula, -0.621, 0.835, -1.308, 0, 90, 0, 101 [SEP] 6, Plate, 2.754, 0.914, 1.468, 0, 0, 0, 77 [SEP] 7, Cup, 0.570, 1.782, 1.423, 0, 180, 0, 100 [SEP] 8, Egg, 1.422, 0.949, 1.383, 0, 0, 0, 77 [SEP] 9, Egg, -1.991, 0.461, 1.332, 0, 270, 0, 95 [SEP] 10, Tomato, 2.900, 0.758, -0.442, 0, 0, 0, 97 [SEP] 11, Bowl, -0.694, 0.818, -1.360, 0, 90, 0, 101 [SEP] 12, Bowl, -0.151, 0.909, 1.383, 0, 0, 0, 53 [SEP] 13, Bowl, 0.284, 2.154, 1.467, 0, 0, 0, 76 [SEP] 14, SaltShaker, 2.838, 1.650, 1.432, 0, 0, 0, 43 [SEP] 15, SaltShaker, -0.983, 0.817, -1.155, 0, 90, 0, 101 [SEP] 16, PepperShaker, -0.198, 0.908, 1.129, 0, 0, 0, 53 [SEP] 17, Lettuce, 2.221, 0.992, 1.299, 0, 0, 0, 77 [SEP] 18, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 42 [SEP] 19, SoapBottle, 0.178, 1.661, -0.771, 0, 180, 0, 82 [SEP] 20, Plate, 1.955, 0.914, 1.129, 0, 0, 0, 77 [SEP] 21, Fork, 1.688, 0.912, 1.129, 0, 0, 0, 77 [SEP] 22, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 48 [SEP] 23, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 42 [SEP] 24, Egg, 2.777, 1.056, -0.644, 0, 0, 0, 97 [SEP] 25, Kettle, 1.155, 0.912, 1.214, 0, 0, 0, 77 [SEP] 26, Tomato, 2.962, 1.050, -0.709, 0, 0, 0, 97 [SEP] 27, Cup, 0.415, 1.782, 1.391, 0, 180, 0, 100 [SEP] 28, Spatula, 0.053, 0.780, -0.596, 0, 180, 0, 99 [SEP] 29, Apple, 2.653, 1.357, -0.709, 0, 0, 0, 97 [SEP] 30, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 45 [SEP] 31, Lettuce, 2.838, 1.644, -0.709, 0, 0, 0, 97 [SEP] 32, SaltShaker, 1.155, 0.908, 1.383, 0, 0, 0, 77 [SEP] 33, Knife, 0.888, 0.944, -0.769, 0, 0, 0, 42 [SEP] 34, Potato, -0.087, 0.800, -0.651, 0, 0, 0, 99 [SEP] 35, PepperShaker, 1.141, 0.908, -0.769, 0, 0, 0, 42 [SEP] 36, ButterKnife, 0.888, 0.911, -0.345, 0, 0, 0, 42 [SEP] 37, Bowl, -0.127, 1.652, 1.432, 0, 0, 0, 68 [SEP] 38, DishSponge, -1.991, 0.423, 1.459, 0, 270, 0, 95 [SEP] 39, Spoon, -0.151, 0.912, 1.129, 0, 180, 0, 53 [SEP] 40, Mug, -0.939, 0.815, -1.328, 0, 0, 0, 101 [SEP] 41, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 42, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 43, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 44, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 45, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 46, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 47, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 48, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 50, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 51, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 52, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 53, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 54, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 55, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 56, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 57, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 58, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 59, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 60, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 61, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 62, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 64, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 65, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 71, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 72, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 73, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 77, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 78, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 80, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 81, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 82, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 83, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 84, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 85, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 86, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 87, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 88, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 89, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 94, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 95, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 96, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 97, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 98, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 99, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 100, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 101, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 102, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and go to the left of the stove. | STEP 2: Pick up the bowl from the counter on the left side of the stove. | STEP 3: Turn right and go to the fridge near the far wall. | STEP 4: Chill the bowl in the fridge, then take it out again. | STEP 5: Take the bowl to the cabinet under the countertop to the right of the fridge. | STEP 6: Open the right side door of the cabinet and put the bowl away in it. | END"]} {"id": "trial_T20190908_044339_918732-0", "input": "Put the chilled tomato slice in the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 0.25, 0, 90, 0, [SEP] 1, Pan, 0.634, 0.911, -0.430, 0, 0, 0, 47 [SEP] 2, Potato, 0.363, 1.819, 1.423, 0, 180, 0, 105 [SEP] 3, Potato, 2.777, 1.053, -0.644, 0, 0, 0, 102 [SEP] 4, Kettle, 1.917, 1.656, 1.507, 0, 0, 0, 71 [SEP] 5, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 85 [SEP] 6, ButterKnife, -0.151, 0.911, 1.468, 0, 0, 0, 58 [SEP] 7, Spoon, -0.734, 0.822, -1.255, 0, 0, 0, 106 [SEP] 8, Spoon, 2.092, 0.773, 1.122, 0, 90, 0, 78 [SEP] 9, Fork, 1.862, 0.772, 1.198, 0, 270, 0, 80 [SEP] 10, Cup, 2.715, 0.723, -0.473, 0, 0, 0, 102 [SEP] 11, Egg, -0.246, 0.949, 1.299, 0, 0, 0, 58 [SEP] 12, Knife, 2.488, 0.944, 1.129, 0, 0, 0, 82 [SEP] 13, SoapBottle, -1.991, 0.429, 1.459, 0, 270, 0, 100 [SEP] 14, Tomato, -0.043, 0.942, -0.316, 0, 0, 0, 47 [SEP] 15, Tomato, -0.983, 0.852, -1.103, 0, 90, 0, 106 [SEP] 16, Tomato, 2.221, 0.942, 1.044, 0, 0, 0, 82 [SEP] 17, Bowl, 0.518, 1.782, 1.455, 0, 180, 0, 105 [SEP] 18, SaltShaker, -0.682, 0.817, -1.400, 0, 0, 0, 106 [SEP] 19, SaltShaker, -0.983, 0.817, -1.206, 0, 90, 0, 106 [SEP] 20, PepperShaker, 1.688, 0.908, 1.553, 0, 0, 0, 82 [SEP] 21, PepperShaker, -0.621, 0.817, -1.308, 0, 90, 0, 106 [SEP] 22, Lettuce, 2.754, 0.992, 1.214, 0, 0, 0, 82 [SEP] 23, Lettuce, 2.838, 1.644, -0.578, 0, 0, 0, 102 [SEP] 24, SoapBottle, 1.955, 0.917, 1.214, 0, 0, 0, 82 [SEP] 25, Plate, 1.422, 0.914, 1.383, 0, 0, 0, 82 [SEP] 26, Fork, 1.175, 0.772, 1.198, 0, 270, 0, 92 [SEP] 27, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 62 [SEP] 28, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 47 [SEP] 29, Egg, -2.019, 0.461, 1.332, 0, 270, 0, 100 [SEP] 30, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 53 [SEP] 31, Tomato, -0.055, 0.942, 1.468, 0, 0, 0, 58 [SEP] 32, Cup, 1.902, 0.909, -0.345, 0, 0, 0, 47 [SEP] 33, Spatula, -0.198, 0.926, 1.129, 0, 180, 0, 58 [SEP] 34, Apple, 2.221, 0.980, 1.468, 0, 0, 0, 82 [SEP] 35, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 50 [SEP] 36, Lettuce, -0.939, 0.901, -1.400, 0, 0, 0, 106 [SEP] 37, SaltShaker, 1.484, 1.651, -0.654, 0, 180, 0, 69 [SEP] 38, Knife, 0.193, 0.798, -0.651, 0, 0, 0, 104 [SEP] 39, Potato, 0.123, 0.800, -0.596, 0, 0, 0, 104 [SEP] 40, PepperShaker, -0.682, 0.817, -1.183, 0, 0, 0, 106 [SEP] 41, ButterKnife, 2.488, 0.911, 1.299, 0, 0, 0, 82 [SEP] 42, Bowl, 1.135, 0.112, -0.421, 0, 180, 0, 55 [SEP] 43, DishSponge, 0.480, 1.654, -0.773, 0, 180, 0, 86 [SEP] 44, Spoon, 1.955, 0.912, 1.468, 0, 0, 0, 82 [SEP] 45, Mug, -0.734, 0.815, -1.038, 0, 0, 0, 106 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 108, NorthWall, , , , , , , [SEP] 109, EastWall, , , , , , , [SEP] 110, SouthWall, , , , , , , [SEP] 111, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk up to the kitchen counter | STEP 2: Pick up the butter knife from the counter | STEP 3: Use the knife to cut the tomato on the counter | STEP 4: Turn left and walk to the left side of the counter facing back toward the oven | STEP 5: Put the knife down on the counter | STEP 6: Walk forward around the edge of the counter then turn left to face it | STEP 7: Pick up a tomato slice from the counter | STEP 8: Turn left and walk over to the fridge | STEP 9: Put the tomato in the fridge then remove it | STEP 10: Turn right and walk over to the microwave above the stove | STEP 11: Put the tomato slice in the microwave | END"]} {"id": "trial_T20190908_123536_170505-2", "input": "Put a statue down on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, -1.25, 0, 0, 0, [SEP] 1, Watch, -0.712, 0.360, -0.544, 0, 90, 0, 31 [SEP] 2, Newspaper, -0.711, 0.038, -0.185, 0, 270, 0, 41 [SEP] 3, Newspaper, 1.724, 0.868, 0.325, 0, 90, 0, 38 [SEP] 4, KeyChain, 1.522, 0.279, -0.512, 0, 0, 0, 40 [SEP] 5, CreditCard, 1.682, 0.869, 0.114, 0, 90, 0, 38 [SEP] 6, RemoteControl, -0.411, 0.553, -0.537, 0, 270, 0, 32 [SEP] 7, RemoteControl, 1.849, 0.872, 0.008, 0, 90, 0, 38 [SEP] 8, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 40 [SEP] 9, KeyChain, 1.601, 0.318, -0.435, 0, 0, 0, 40 [SEP] 10, Watch, -0.411, 0.552, -0.623, 0, 270, 0, 32 [SEP] 11, Newspaper, -0.970, 0.036, -0.544, 0, 90, 0, 27 [SEP] 12, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 34 [SEP] 13, CreditCard, -0.841, 0.200, -0.249, 0, 270, 0, 30 [SEP] 14, RemoteControl, -0.453, 0.199, -0.185, 0, 270, 0, 42 [SEP] 15, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 32 [SEP] 16, Statue, -0.711, 0.562, -0.192, 0, 0, 0, 32 [SEP] 17, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 32 [SEP] 18, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 19, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 20, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 21, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 22, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 23, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 24, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 25, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 26, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 27, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 29, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 30, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 31, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 32, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 33, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 34, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 35, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 36, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 37, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 38, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 39, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 40, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 41, , , , , , , , [SEP] 42, , , , , , , , [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, WestWall, , , , , , , ", "output": ["STEP 1: Go to the left and turn left to face the table with the plant on it. | STEP 2: Pick the statue up from the table. | STEP 3: Go to the left and face the table in the corner. | STEP 4: Put the statue down on the table. | END"]} {"id": "trial_T20190908_125234_061434-1", "input": "Move the wristwatch from the coffee table to the dresser. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 0.5, 0, 0, 0, [SEP] 1, Watch, -0.453, 0.201, -0.609, 0, 90, 0, 39 [SEP] 2, KeyChain, -0.323, 0.202, -0.609, 0, 90, 0, 31 [SEP] 3, KeyChain, -0.711, 0.553, -0.278, 0, 180, 0, 30 [SEP] 4, RemoteControl, 1.522, 0.319, -0.359, 0, 90, 0, 38 [SEP] 5, RemoteControl, -0.411, 0.553, -0.623, 0, 270, 0, 30 [SEP] 6, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 38 [SEP] 7, KeyChain, 1.826, 0.761, 0.229, 0, 90, 0, 37 [SEP] 8, Watch, -0.862, 0.552, -0.192, 0, 270, 0, 30 [SEP] 9, Newspaper, 1.807, 0.869, 0.326, 0, 90, 0, 36 [SEP] 10, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 32 [SEP] 11, CreditCard, -0.260, 0.551, -0.192, 0, 270, 0, 30 [SEP] 12, RemoteControl, 1.522, 0.279, -0.435, 0, 0, 0, 38 [SEP] 13, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 30 [SEP] 14, Statue, 1.807, 0.880, 0.537, 0, 270, 0, 36 [SEP] 15, Statue, 1.682, 0.880, 0.220, 0, 90, 0, 36 [SEP] 16, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 17, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 18, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 19, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 20, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 21, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 22, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 23, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 24, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 25, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 26, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 29, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 30, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 31, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 32, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 33, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 34, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 35, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 36, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 37, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 38, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 39, , , , , , , , [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the coffee table. | STEP 2: Pick up the wristwatch from the coffee table. | STEP 3: Turn left and walk to the dresser with statues on it. | STEP 4: Put the wristwatch down on the dresser to the right of the grey statue. | END"]} {"id": "trial_T20190918_203807_287151-1", "input": "Place a warm egg 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, 0.931, -0.25, 0, 90, 0, [SEP] 1, Pan, 1.036, 1.564, -1.538, 0, 0, 0, 56 [SEP] 2, Potato, 0.823, 1.100, -1.181, 0, 0, 0, 52 [SEP] 3, Potato, -1.342, 1.542, 1.796, 0, 90, 0, 67 [SEP] 4, DishSponge, 1.155, 1.046, -1.828, 0, 0, 0, 52 [SEP] 5, DishSponge, -0.312, 0.203, -1.193, 0, 0, 0, 61 [SEP] 6, ButterKnife, 0.848, 1.043, 0.589, 0, 0, 0, 54 [SEP] 7, ButterKnife, -0.603, 1.046, -1.181, 0, 0, 0, 52 [SEP] 8, Kettle, 0.5, 1.057, -1.4, 0, 0, 0, 53 [SEP] 9, Pot, -1.300, 1.229, 1.974, 0, 180, 0, 67 [SEP] 10, Pot, 1.589, 1.021, -1.484, 0, 270, 0, 58 [SEP] 11, Fork, -0.346, 1.047, -1.720, 0, 0, 0, 52 [SEP] 12, Spoon, -0.346, 1.048, -1.181, 0, 0, 0, 52 [SEP] 13, Spatula, 0.351, 1.058, 0.738, 0, 0, 0, 54 [SEP] 14, Egg, 1.854, 0.177, 2.358, 0, 270, 0, 68 [SEP] 15, Egg, -1.458, 1.543, 1.885, 0, 90, 0, 67 [SEP] 16, Cup, 0.848, 1.053, 0.131, 0, 90, 0, 50 [SEP] 17, Cup, -0.775, 1.047, -1.289, 0, 0, 0, 52 [SEP] 18, Tomato, 0.936, 1.105, 0.331, 0, 90, 0, 50 [SEP] 19, SoapBottle, 1.158, 0.200, -1.484, 0, 0, 0, 63 [SEP] 20, PepperShaker, 1.036, 1.560, -1.839, 0, 0, 0, 56 [SEP] 21, Lettuce, 1.015, 1.103, 0.676, 0, 0, 0, 54 [SEP] 22, Mug, -1.261, 0.197, -1.338, 0, 0, 0, 60 [SEP] 23, Mug, -1.349, 1.708, 1.885, 0, 90, 0, 67 [SEP] 24, Apple, 0.980, 1.097, 0.231, 0, 90, 0, 50 [SEP] 25, Apple, -1.243, 1.759, -1.300, 0, 0, 0, 66 [SEP] 26, SoapBottle, -1.105, 0.203, -1.627, 0, 0, 0, 60 [SEP] 27, Apple, -1.381, 1.532, 2.063, 0, 90, 0, 67 [SEP] 28, Potato, 0.160, 1.096, 0.415, 0, 0, 0, 54 [SEP] 29, Fork, 0.031, 1.033, 0.122, 0, 0, 0, 54 [SEP] 30, Kettle, -1.261, 2.029, -1.409, 0, 0, 0, 59 [SEP] 31, Pan, 0.120, 1.053, -1.630, 0, 0, 0, 55 [SEP] 32, Tomato, -0.517, 1.097, -1.289, 0, 0, 0, 52 [SEP] 33, SaltShaker, 1.588, 0.199, -1.480, 0, 0, 0, 62 [SEP] 34, Egg, 0.717, 1.108, 0.131, 0, 90, 0, 50 [SEP] 35, Cup, 1.211, 0.900, 0.231, 0, 90, 0, 49 [SEP] 36, Spatula, 1.155, 1.061, -1.289, 0, 0, 0, 52 [SEP] 37, Knife, 0.761, 1.079, 0.181, 0, 90, 0, 50 [SEP] 38, Lettuce, 1.347, 1.103, 0.632, 0, 0, 0, 54 [SEP] 39, ButterKnife, 0.065, 1.043, 0.307, 0, 0, 0, 54 [SEP] 40, PepperShaker, 1.512, 0.199, -1.335, 0, 0, 0, 62 [SEP] 41, DishSponge, 1.894, 0.204, -1.408, 0, 0, 0, 62 [SEP] 42, Plate, 0.890, 0.212, -1.484, 0, 0, 0, 63 [SEP] 43, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 54 [SEP] 44, Spoon, 0.848, 1.044, 0.720, 0, 0, 0, 54 [SEP] 45, Pot, -0.699, 1.566, -1.470, 0, 270, 0, 57 [SEP] 46, Mug, -1.047, 1.711, -1.269, 0, 0, 0, 66 [SEP] 47, Bowl, -0.491, 0.202, -1.481, 0, 0, 0, 61 [SEP] 48, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 49, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 50, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 51, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 52, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 54, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 55, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 56, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 57, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 58, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 59, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 60, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 61, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 62, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 63, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 64, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 65, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 66, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 67, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 68, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 69, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 70, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 71, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 72, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 73, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 74, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 75, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 76, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 77, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 78, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 79, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 80, NorthWall, , , , , , , [SEP] 81, EastWall, , , , , , , [SEP] 82, SouthWall, , , , , , , [SEP] 83, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the sink to your left. | STEP 2: Grab the egg sitting between the bread and knife to the left of the sink. | STEP 3: Turn left, walk straight to the wall, turn left to face the oven, and look up to face the microwave. | STEP 4: Place the egg next to the cup inside the microwave, heat it and then remove the egg. | STEP 5: Look down, turn left and walk to the toaster on the counter to your right. | STEP 6: Place the warm egg on the edge of the counter. | END"]} {"id": "trial_T20190908_044517_056279-2", "input": "Place a chilled tomato slice in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 0.5, 0, 0, 0, [SEP] 1, Potato, -0.246, 0.946, 1.214, 0, 270, 0, 58 [SEP] 2, Potato, 1.422, 0.946, 1.553, 0, 0, 0, 82 [SEP] 3, DishSponge, -1.056, 0.820, -1.155, 0, 90, 0, 106 [SEP] 4, DishSponge, -0.159, 0.771, 1.198, 0, 0, 0, 52 [SEP] 5, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 53 [SEP] 6, ButterKnife, 1.422, 0.911, 1.044, 0, 0, 0, 82 [SEP] 7, ButterKnife, 1.688, 0.911, 1.468, 0, 0, 0, 82 [SEP] 8, Pot, 2.777, 1.292, -0.775, 0, 0, 0, 102 [SEP] 9, Pot, 2.777, 1.022, -0.709, 0, 0, 0, 102 [SEP] 10, Spoon, 1.862, 0.773, 1.122, 0, 0, 0, 80 [SEP] 11, Spoon, -0.087, 0.766, -0.651, 0, 0, 0, 104 [SEP] 12, Spatula, -0.694, 0.835, -1.308, 0, 90, 0, 106 [SEP] 13, Egg, -2.048, 0.461, 1.290, 0, 270, 0, 100 [SEP] 14, Knife, 0.634, 0.944, -0.769, 0, 0, 0, 47 [SEP] 15, Knife, 2.488, 0.944, 1.214, 0, 0, 0, 82 [SEP] 16, Tomato, -1.933, 0.455, 1.332, 0, 270, 0, 100 [SEP] 17, SaltShaker, 1.422, 0.908, 1.468, 0, 0, 0, 82 [SEP] 18, SaltShaker, -0.911, 0.817, -1.257, 0, 90, 0, 106 [SEP] 19, PepperShaker, -0.621, 0.817, -1.360, 0, 90, 0, 106 [SEP] 20, Bread, 2.221, 0.969, 1.383, 0, 0, 0, 82 [SEP] 21, Lettuce, 1.155, 0.992, 1.468, 0, 0, 0, 82 [SEP] 22, Lettuce, -0.151, 0.992, 1.383, 0, 0, 0, 58 [SEP] 23, Mug, -0.246, 0.906, 1.044, 0, 0, 0, 58 [SEP] 24, SoapBottle, 1.141, 1.661, 1.390, 0, 0, 0, 74 [SEP] 25, Plate, 1.880, 1.658, 1.468, 0, 0, 0, 59 [SEP] 26, Fork, -0.055, 0.912, 1.383, 0, 90, 0, 58 [SEP] 27, Pot, 1.955, 0.915, 1.468, 0, 0, 0, 82 [SEP] 28, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 47 [SEP] 29, Egg, 0.123, 0.803, -0.541, 0, 0, 0, 104 [SEP] 30, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 62 [SEP] 31, Tomato, -1.991, 0.455, 1.459, 0, 270, 0, 100 [SEP] 32, Cup, 2.872, 0.112, 1.231, 0, 0, 0, 79 [SEP] 33, Spatula, -0.198, 0.926, 1.044, 0, 180, 0, 58 [SEP] 34, Apple, 2.900, 0.794, -0.504, 0, 0, 0, 102 [SEP] 35, Pan, 2.777, 1.563, -0.578, 0, 0, 0, 102 [SEP] 36, Lettuce, -0.734, 0.901, -1.400, 0, 0, 0, 106 [SEP] 37, SaltShaker, 2.770, 1.650, 1.508, 0, 0, 0, 72 [SEP] 38, Knife, 0.193, 0.798, -0.651, 0, 0, 0, 104 [SEP] 39, Potato, 1.955, 0.946, 1.214, 0, 0, 0, 82 [SEP] 40, PepperShaker, -0.164, 1.650, 1.355, 0, 0, 0, 73 [SEP] 41, ButterKnife, 1.141, 0.911, -0.345, 0, 0, 0, 47 [SEP] 42, Bowl, 0.363, 1.782, 1.455, 0, 180, 0, 105 [SEP] 43, DishSponge, 1.254, 1.655, 1.429, 0, 0, 0, 74 [SEP] 44, Spoon, 2.205, 0.773, -0.460, 0, 180, 0, 60 [SEP] 45, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 47 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 108, NorthWall, , , , , , , [SEP] 109, EastWall, , , , , , , [SEP] 110, SouthWall, , , , , , , [SEP] 111, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, move to the counter near the coffee machine. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn left, move to the blue bin, near the door. | STEP 4: Slice the far away tomato that is in the blue bin. | STEP 5: Turn right, move to in front of the stove. | STEP 6: Put the knife in the microwave. | STEP 7: Turn left, move to the blue bin, near the door. | STEP 8: Pick up a slice of tomato from the blue bin. | STEP 9: Turn right, move to in front of the refrigerator. | STEP 10: Put the tomato slice in the refrigerator, chill it, pick it back up. | STEP 11: Turn right, move to in front of the stove. | STEP 12: Put the tomato slice in the microwave. | END"]} {"id": "trial_T20190908_143542_788790-1", "input": "Put a CD on the book shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.949, 0.5, 0, 270, 0, [SEP] 1, CD, 1.666, 0.987, -2.212, 0, 270, 0, 40 [SEP] 2, CD, 2.234, 0.984, -1.774, 0, 270, 0, 40 [SEP] 3, CellPhone, 3.087, 0.988, -2.037, 0, 270, 0, 40 [SEP] 4, Pen, -1.037, 0.789, 0.291, 0, 0, 0, 61 [SEP] 5, Pen, -0.772, 0.790, 0.291, 0, 0, 0, 61 [SEP] 6, Pencil, -0.350, 1.112, 3.115, 0, 180, 0, 48 [SEP] 7, CreditCard, 3.687, 0.723, 1.488, 0, 180, 0, 65 [SEP] 8, Book, 1.515, 0.180, -1.896, 0, 270, 0, 37 [SEP] 9, Book, 1.888, 0.610, 0.549, 0, 0, 0, 25 [SEP] 10, Laptop, 2.381, 0.607, -0.172, 0, 0, 0, 25 [SEP] 11, Laptop, 2.545, 0.607, 0.790, 0, 0, 0, 25 [SEP] 12, Book, -0.838, 0.784, -0.338, 0, 0, 0, 61 [SEP] 13, KeyChain, 3.377, 0.725, 1.397, 0, 180, 0, 65 [SEP] 14, CreditCard, 2.519, 0.985, -2.212, 0, 270, 0, 40 [SEP] 15, Pen, -0.068, 0.789, 3.088, 0, 180, 0, 47 [SEP] 16, Pencil, -0.904, 0.789, 0.501, 0, 0, 0, 61 [SEP] 17, Laptop, 2.519, 0.983, -1.862, 0, 270, 0, 40 [SEP] 18, Vase, 2.235, 0.993, -2.125, 0, 270, 0, 40 [SEP] 19, AlarmClock, 3.087, 0.989, -1.774, 0, 270, 0, 40 [SEP] 20, Pillow, 2.533, 0.631, 1.264, 0, 0, 0, 25 [SEP] 21, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 25 [SEP] 22, CellPhone, -0.163, 1.108, 3.198, 0, 180, 0, 48 [SEP] 23, CD, 3.132, 0.183, -1.778, 0, 270, 0, 39 [SEP] 24, Vase, -0.384, 0.772, 3.172, 0, 0, 0, 47 [SEP] 25, Bed, 2.217, 0.050, 0.585, 0, 0, 0, [SEP] 26, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0, [SEP] 27, Painting, 2.990, 1.592, 1.567, 90, 0, 0, [SEP] 28, Painting, 1.524, 1.592, 1.567, 90, 0, 0, [SEP] 29, Mirror, -1.190, 1.417, -0.223, 0, 270, 0, [SEP] 30, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0, [SEP] 31, Window, -2.629, 1.460, 2.891, 90, 270, 0, [SEP] 32, Window, -2.629, 1.460, 4.084, 90, 270, 0, [SEP] 33, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0, [SEP] 34, Drawer, 2.490, 0.949, -1.703, 0, 0, 0, [SEP] 35, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0, [SEP] 36, Drawer, 1.975, 0.949, -1.703, 0, 0, 0, [SEP] 37, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0, [SEP] 38, Drawer, 1.457, 0.949, -1.703, 0, 0, 0, [SEP] 39, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0, [SEP] 40, Dresser, 2.234, 0.048, -1.950, 0, 0, 0, [SEP] 41, Drawer, 3.011, 0.949, -1.703, 0, 0, 0, [SEP] 42, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0, [SEP] 43, Shelf, -0.163, 1.461, 3.219, 0, 180, 0, [SEP] 44, Drawer, -0.161, 0.242, 3.166, 0, 180, 0, [SEP] 45, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0, [SEP] 46, Drawer, -0.161, 0.562, 3.168, 0, 180, 0, [SEP] 47, Shelf, -0.162, 0.922, 3.164, 0, 180, 0, [SEP] 48, Shelf, -0.162, 1.241, 3.163, 0, 180, 0, [SEP] 49, Blinds, -2.550, 2.486, 2.911, 0, 90, 0, [SEP] 50, Blinds, -2.550, 2.486, 4.107, 0, 90, 0, [SEP] 51, Drawer, -0.833, 0.217, -0.336, 0, 90, 0, [SEP] 52, Drawer, -0.833, 0.217, 0.486, 0, 90, 0, [SEP] 53, Drawer, -0.833, 0.628, -0.747, 0, 90, 0, [SEP] 54, Drawer, -0.833, 0.217, 0.075, 0, 90, 0, [SEP] 55, Drawer, -0.833, 0.628, 0.486, 0, 90, 0, [SEP] 56, Drawer, -0.833, 0.217, -0.747, 0, 90, 0, [SEP] 57, Drawer, -0.833, 0.423, -0.336, 0, 90, 0, [SEP] 58, Drawer, -0.833, 0.423, 0.075, 0, 90, 0, [SEP] 59, Drawer, -0.833, 0.423, 0.486, 0, 90, 0, [SEP] 60, Drawer, -0.833, 0.423, -0.747, 0, 90, 0, [SEP] 61, Dresser, -0.934, 0.050, -0.129, 0, 90, 0, [SEP] 62, Drawer, -0.833, 0.628, 0.075, 0, 90, 0, [SEP] 63, Drawer, -0.833, 0.628, -0.336, 0, 90, 0, [SEP] 64, Drawer, 3.454, 0.212, 1.262, 0, 180, 0, [SEP] 65, SideTable, 3.455, 0.046, 1.328, 0, 180, 0, [SEP] 66, Drawer, 3.454, 0.504, 1.262, 0, 180, 0, [SEP] 67, NorthWall, , , , , , , [SEP] 68, EastWall, , , , , , , [SEP] 69, SouthWall, , , , , , , [SEP] 70, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your left and go to the dresser against the wall, across from you. | STEP 2: Pick up the CD closest to you on the dresser. | STEP 3: Turn to your left and go past the other dresser on your right, to the bookshelf across the room. | STEP 4: Place the CD on the second shelf between the gold vase and the pen. | END"]} {"id": "trial_T20190909_112315_039662-0", "input": "close up box on couch containing remote control 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, 3.75, 0, 180, 0, [SEP] 1, Bowl, -2.87, 0.148, 7.225, 0, 90, 0, 51 [SEP] 2, Watch, -2.631, 0.533, 4.189, 0, 270, 0, 57 [SEP] 3, KeyChain, -0.631, 0.367, 4.219, 0, 270, 0, 40 [SEP] 4, CreditCard, -0.868, 0.432, 3.611, 0, 0, 0, 40 [SEP] 5, RemoteControl, -2.704, 0.536, 3.981, 0, 0, 0, 57 [SEP] 6, RemoteControl, -6.139, 1.282, 4.349, 0, 0, 0, 54 [SEP] 7, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 51 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -5.536, 0.534, 6.703, 0, 45, 0, 58 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -2.87, 0.145, 7.122, 0, 90, 0, 51 [SEP] 12, Laptop, -0.868, 0.437, 3.915, 0, 0, 0, 40 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 14, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 50 [SEP] 15, CreditCard, -0.586, 0.793, 5.726, 0, 270, 0, 41 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -2.598, 0.534, 3.981, 0, 0, 0, 57 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -2.279, 0.535, 4.106, 0, 0, 0, 57 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -5.859, 0.536, 6.456, 0, 135, 0, 58 [SEP] 24, Watch, -2.492, 0.533, 4.044, 0, 0, 0, 57 [SEP] 25, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 56 [SEP] 26, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 54 [SEP] 27, Statue, -0.433, 0.803, 2.252, 0, 270, 0, 42 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 59, NorthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , ", "output": ["STEP 1: walk to face box on floor between tv and shelves | STEP 2: pick up box from floor | STEP 3: walk to face couch | STEP 4: put box on couch | STEP 5: turn to face coffee table | STEP 6: pick up remote from coffee table | STEP 7: turn to face couch | STEP 8: put remote into box on couch, close up box | END"]} {"id": "trial_T20190909_112315_039662-1", "input": "Put a remote control in a box 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, -4.75, 0.901, 3.75, 0, 180, 0, [SEP] 1, Bowl, -2.87, 0.148, 7.225, 0, 90, 0, 51 [SEP] 2, Watch, -2.631, 0.533, 4.189, 0, 270, 0, 57 [SEP] 3, KeyChain, -0.631, 0.367, 4.219, 0, 270, 0, 40 [SEP] 4, CreditCard, -0.868, 0.432, 3.611, 0, 0, 0, 40 [SEP] 5, RemoteControl, -2.704, 0.536, 3.981, 0, 0, 0, 57 [SEP] 6, RemoteControl, -6.139, 1.282, 4.349, 0, 0, 0, 54 [SEP] 7, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 51 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -5.536, 0.534, 6.703, 0, 45, 0, 58 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -2.87, 0.145, 7.122, 0, 90, 0, 51 [SEP] 12, Laptop, -0.868, 0.437, 3.915, 0, 0, 0, 40 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 14, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 50 [SEP] 15, CreditCard, -0.586, 0.793, 5.726, 0, 270, 0, 41 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -2.598, 0.534, 3.981, 0, 0, 0, 57 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -2.279, 0.535, 4.106, 0, 0, 0, 57 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -5.859, 0.536, 6.456, 0, 135, 0, 58 [SEP] 24, Watch, -2.492, 0.533, 4.044, 0, 0, 0, 57 [SEP] 25, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 56 [SEP] 26, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 54 [SEP] 27, Statue, -0.433, 0.803, 2.252, 0, 270, 0, 42 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 59, NorthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , ", "output": ["STEP 1: Turn and go to the table in the corner. | STEP 2: Pick up the box on the floor. | STEP 3: Turn and go to the sofa. | STEP 4: Put the box on the sofa. | STEP 5: Turn and go to the coffee table | STEP 6: Pick up the remote control on the coffee table. | STEP 7: Turn and go to the sofa. | STEP 8: Put the remote control in the box on the sofa. | END"]} {"id": "trial_T20190908_043025_711430-0", "input": "Heat and place a potato in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.931, -0.25, 0, 180, 0, [SEP] 1, Potato, 1.238, 1.100, -1.181, 0, 0, 0, 48 [SEP] 2, Potato, -1.312, 1.766, 2.063, 0, 90, 0, 63 [SEP] 3, Potato, 0.740, 1.100, -1.289, 0, 0, 0, 48 [SEP] 4, ButterKnife, 0.823, 1.046, -1.181, 0, 0, 0, 48 [SEP] 5, ButterKnife, 1.514, 1.043, 0.589, 0, 0, 0, 50 [SEP] 6, Kettle, 0.5, 1.057, -1.4, 0, 0, 0, 49 [SEP] 7, Kettle, 0.389, 1.053, -1.630, 0, 0, 0, 44 [SEP] 8, Spoon, 0.823, 1.048, -1.397, 0, 0, 0, 48 [SEP] 9, Spoon, 0.065, 1.044, 0.415, 0, 90, 0, 50 [SEP] 10, Egg, -1.366, 1.282, 2.331, 0, 90, 0, 63 [SEP] 11, Cup, -1.169, 1.228, 2.063, 0, 90, 0, 63 [SEP] 12, Knife, 1.181, 1.069, 0.807, 0, 0, 0, 50 [SEP] 13, Knife, 0.518, 1.072, -1.086, 0, 180, 0, 48 [SEP] 14, Tomato, -1.235, 1.279, 2.242, 0, 90, 0, 63 [SEP] 15, SoapBottle, 0.712, 0.200, -1.267, 0, 0, 0, 59 [SEP] 16, Bowl, -1.339, 2.027, -1.409, 0, 0, 0, 55 [SEP] 17, Lettuce, -1.349, 1.773, 2.242, 0, 90, 0, 63 [SEP] 18, Mug, -0.398, 1.560, -1.396, 0, 0, 0, 53 [SEP] 19, Mug, -1.071, 0.702, 2.242, 0, 90, 0, 63 [SEP] 20, Apple, 1.241, 0.936, 0.158, 0, 90, 0, 45 [SEP] 21, Apple, 0.848, 1.086, 0.676, 0, 0, 0, 50 [SEP] 22, SoapBottle, 1.158, 0.200, -1.484, 0, 0, 0, 59 [SEP] 23, Apple, -0.432, 1.090, -1.397, 0, 0, 0, 48 [SEP] 24, Potato, -0.517, 1.100, -1.289, 0, 0, 0, 48 [SEP] 25, Fork, -0.689, 1.047, -1.181, 0, 0, 0, 48 [SEP] 26, Kettle, 1.589, 1.020, -1.337, 0, 0, 0, 54 [SEP] 27, Pan, -0.491, 0.203, -1.337, 0, 0, 0, 57 [SEP] 28, Tomato, 1.701, 1.094, 0.522, 0, 0, 0, 50 [SEP] 29, SaltShaker, -0.952, 2.023, -1.191, 0, 0, 0, 55 [SEP] 30, Egg, 0.446, 1.097, 0.091, 0, 0, 0, 50 [SEP] 31, Cup, -1.419, 1.489, 2.153, 0, 90, 0, 63 [SEP] 32, Spatula, -0.296, 1.053, -1.277, 0, 255.000, 0, 48 [SEP] 33, Knife, 0.379, 1.072, -1.097, 0, 0, 0, 48 [SEP] 34, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 46 [SEP] 35, ButterKnife, 0.160, 1.032, 0.415, 0, 0, 0, 50 [SEP] 36, PepperShaker, 1.435, 1.014, -1.557, 0, 0, 0, 54 [SEP] 37, DishSponge, 1.436, 0.204, -1.335, 0, 0, 0, 58 [SEP] 38, Plate, 1.072, 1.059, -1.505, 0, 0, 0, 48 [SEP] 39, Bread, 0.407, 1.104, 0.353, 0, 337.142, 0, 50 [SEP] 40, Spoon, -0.346, 1.048, -1.181, 0, 0, 0, 48 [SEP] 41, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 51 [SEP] 42, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 66 [SEP] 43, Bowl, -0.699, 1.563, -1.470, 0, 0, 0, 53 [SEP] 44, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 45, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 46, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 47, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 48, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 49, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 50, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 51, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 52, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 53, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 54, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 55, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 56, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 57, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 58, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 59, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 60, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 61, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 62, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 63, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 64, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 65, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 66, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 67, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 70, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 71, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 72, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 73, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 74, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 75, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 76, NorthWall, , , , , , , [SEP] 77, EastWall, , , , , , , [SEP] 78, SouthWall, , , , , , , [SEP] 79, WestWall, , , , , , , ", "output": ["STEP 1: Take a few steps right to find the toaster. | STEP 2: Pick up the potato from the middle of the counter. | STEP 3: Hold the potato and take a step right, then look up at the microwave. | STEP 4: Open the microwave and place the potato inside. Shut the microwave then open it when finished and take the potato out. | STEP 5: Hold the potato and turn left. Then left again at the sink. | STEP 6: Place the potato in the sink. | END"]} {"id": "trial_T20190909_145612_379950-0", "input": "Move the two credit cards on the narrow end table to the coffee table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 0.25, 0, 180, 0, [SEP] 1, CreditCard, 1.849, 0.870, 0.326, 0, 90, 0, 33 [SEP] 2, RemoteControl, -0.411, 0.553, -0.451, 0, 270, 0, 27 [SEP] 3, Box, -0.711, 0.539, -1.844, 0, 90, 0, 29 [SEP] 4, KeyChain, 1.807, 0.871, 0.643, 0, 90, 0, 33 [SEP] 5, Watch, -0.260, 0.552, -0.623, 0, 270, 0, 27 [SEP] 6, Newspaper, 1.601, 0.276, -0.435, 0, 0, 0, 35 [SEP] 7, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 29 [SEP] 8, CreditCard, 1.682, 0.869, 0.431, 0, 90, 0, 33 [SEP] 9, RemoteControl, 1.808, 0.872, 0.220, 0, 90, 0, 33 [SEP] 10, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 27 [SEP] 11, Statue, -0.711, 0.562, -0.192, 0, 0, 0, 27 [SEP] 12, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 27 [SEP] 13, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 14, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 15, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 16, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 17, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 18, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 19, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 20, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 21, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 22, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 23, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 24, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 25, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 26, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 27, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 28, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 29, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 30, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 31, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 32, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 33, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 34, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 35, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 36, NorthWall, , , , , , , [SEP] 37, EastWall, , , , , , , [SEP] 38, SouthWall, , , , , , , [SEP] 39, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and go to the narrow end table underneath the picture. | STEP 2: Pick up the credit card nearest to you on the narrow end table. | STEP 3: Turn around and go between the couch and coffee table facing the coffee table. | STEP 4: Put the credit card on the coffee table to the right of the laptop. | STEP 5: Turn right and go back to the narrow end table. | STEP 6: Pick up the second credit card on the narrow end table. | STEP 7: Turn around and go back to the coffee table where you put the other credit card down. | STEP 8: Put down the second credit card to the right of the first credit card. | END"]} {"id": "trial_T20190908_213458_200008-2", "input": "Move two watches 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, -0.5, 0.900, 0.25, 0, 90, 0, [SEP] 1, Watch, 1.808, 0.871, 0.114, 0, 90, 0, 35 [SEP] 2, Watch, -0.712, 0.552, -0.537, 0, 270, 0, 29 [SEP] 3, KeyChain, -0.077, 0.295, -1.771, 0, 0, 0, 31 [SEP] 4, RemoteControl, 1.766, 0.872, 0.008, 0, 90, 0, 35 [SEP] 5, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 37 [SEP] 6, KeyChain, -0.288, 0.327, -1.844, 0, 0, 0, 31 [SEP] 7, Watch, -0.561, 0.552, -0.106, 0, 270, 0, 29 [SEP] 8, Newspaper, 1.724, 0.868, 0.220, 0, 90, 0, 35 [SEP] 9, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 31 [SEP] 10, CreditCard, -0.862, 0.551, -0.106, 0, 270, 0, 29 [SEP] 11, RemoteControl, -0.711, 0.337, -1.917, 0, 0, 0, 31 [SEP] 12, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 29 [SEP] 13, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 29 [SEP] 14, Statue, -0.561, 0.562, -0.537, 0, 90, 0, 29 [SEP] 15, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 16, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 17, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 18, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 19, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 20, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 21, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 22, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 23, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 24, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 25, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 26, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 29, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 30, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 31, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 32, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 33, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 34, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 35, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 36, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 37, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: Move forward to the small brown table. | STEP 2: Pick up the watch from the left side of the table. | STEP 3: Carry the watch and take a step backward. | STEP 4: Open the drawer of the table. Place the watch inside on the right, then shut the door. | STEP 5: Turn around and face the coffee table on the left. | STEP 6: Pick up the watch from the front of the coffee table | STEP 7: Carry the watch and turn left to the brown table. | STEP 8: Open the drawer and place the watch inside, on the right. Shut the drawer. | END"]} {"id": "trial_T20190918_210801_003592-1", "input": "To move two alarm clocks to the dresser. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.909, -0.5, 0, 90, 0, [SEP] 1, Mug, -0.685, 0.541, -3.731, 0, 0, 0, 31 [SEP] 2, CD, -3.539, 0.980, -4.075, 0, 0, 0, 40 [SEP] 3, Pencil, -1.854, 0.065, -3.925, 0, 279.990, 0, 26 [SEP] 4, Pencil, -3.750, 0.812, -3.977, 0, 0, 0, 38 [SEP] 5, KeyChain, -3.638, 0.226, -3.185, 0, 0, 0, 42 [SEP] 6, Book, -3.637, 0.809, -2.997, 0, 270, 0, 47 [SEP] 7, Book, -3.613, 0.980, -3.070, 0, 0, 0, 40 [SEP] 8, AlarmClock, -0.453, 0.800, -3.703, 0, 0, 0, 37 [SEP] 9, Book, -0.350, 0.030, -3.811, 0, 0, 0, 29 [SEP] 10, CellPhone, -2.981, 0.620, -2.080, 0, 0, 0, 22 [SEP] 11, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 37 [SEP] 12, CreditCard, -0.249, 0.803, -4.137, 0, 0, 0, 37 [SEP] 13, AlarmClock, -0.249, 0.803, -4.029, 0, 0, 0, 37 [SEP] 14, KeyChain, -0.657, 0.800, -3.703, 0, 0, 0, 37 [SEP] 15, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 22 [SEP] 16, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 17, Pencil, -0.453, 0.807, -3.920, 0, 0, 0, 37 [SEP] 18, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 22 [SEP] 19, CD, -1.270, 0.803, -4.354, 0, 0, 0, 37 [SEP] 20, Pen, -3.694, 0.424, -3.370, 0, 0, 0, 48 [SEP] 21, Mug, -3.834, 0.977, -3.874, 0, 0, 0, 40 [SEP] 22, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 23, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 24, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 25, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 26, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 27, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 28, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 29, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 30, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 31, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 32, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 33, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 34, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 35, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 36, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 37, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 38, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 39, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 40, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 41, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 42, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 45, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the white desk. | STEP 2: Pick up the alarm clock to the left of the keys. | STEP 3: Turn right and walk to the wooden dresser. | STEP 4: Place the alarm on the dresser to the right of the CD. | STEP 5: Turn around and walk back to the white desk. | STEP 6: Pick up the remaining alarm clock from the desk. | STEP 7: Turn right and walk back to the dresser. | STEP 8: Place the alarm clock on the dresser to the left of the CD. | END"]} {"id": "trial_T20190918_210801_003592-2", "input": "Place two clocks on a dresser. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.909, -0.5, 0, 90, 0, [SEP] 1, Mug, -0.685, 0.541, -3.731, 0, 0, 0, 31 [SEP] 2, CD, -3.539, 0.980, -4.075, 0, 0, 0, 40 [SEP] 3, Pencil, -1.854, 0.065, -3.925, 0, 279.990, 0, 26 [SEP] 4, Pencil, -3.750, 0.812, -3.977, 0, 0, 0, 38 [SEP] 5, KeyChain, -3.638, 0.226, -3.185, 0, 0, 0, 42 [SEP] 6, Book, -3.637, 0.809, -2.997, 0, 270, 0, 47 [SEP] 7, Book, -3.613, 0.980, -3.070, 0, 0, 0, 40 [SEP] 8, AlarmClock, -0.453, 0.800, -3.703, 0, 0, 0, 37 [SEP] 9, Book, -0.350, 0.030, -3.811, 0, 0, 0, 29 [SEP] 10, CellPhone, -2.981, 0.620, -2.080, 0, 0, 0, 22 [SEP] 11, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 37 [SEP] 12, CreditCard, -0.249, 0.803, -4.137, 0, 0, 0, 37 [SEP] 13, AlarmClock, -0.249, 0.803, -4.029, 0, 0, 0, 37 [SEP] 14, KeyChain, -0.657, 0.800, -3.703, 0, 0, 0, 37 [SEP] 15, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 22 [SEP] 16, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 17, Pencil, -0.453, 0.807, -3.920, 0, 0, 0, 37 [SEP] 18, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 22 [SEP] 19, CD, -1.270, 0.803, -4.354, 0, 0, 0, 37 [SEP] 20, Pen, -3.694, 0.424, -3.370, 0, 0, 0, 48 [SEP] 21, Mug, -3.834, 0.977, -3.874, 0, 0, 0, 40 [SEP] 22, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 23, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 24, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 25, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 26, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 27, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 28, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 29, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 30, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 31, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 32, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 33, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 34, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 35, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 36, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 37, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 38, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 39, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 40, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 41, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 42, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 45, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right and walk the the far left of the desk. | STEP 2: Pick up the clock that is to the right from the desk. | STEP 3: Turn to the right and walk to the dresser. | STEP 4: Place the clock on the dresser. | STEP 5: Turn around to the right and walk back to the desk. | STEP 6: Pick up the remaining clock. | STEP 7: Turn to the right and walk back to the dresser. | STEP 8: Place the clock by the wall on the left side of the dresser. | END"]} {"id": "trial_T20190908_070239_015678-0", "input": "Put the pan with the knife 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, 0.75, 0.900, 0.25, 0, 270, 0, [SEP] 1, Potato, 3.260, 0.875, -0.514, 0, 0, 0, 99 [SEP] 2, DishSponge, 2.155, 0.771, 1.122, 0, 0, 0, 75 [SEP] 3, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 82 [SEP] 4, ButterKnife, 2.156, 0.911, -0.430, 0, 90, 0, 44 [SEP] 5, ButterKnife, 1.155, 0.911, 1.468, 0, 0, 0, 79 [SEP] 6, Pot, 1.955, 0.915, 1.299, 0, 0, 0, 79 [SEP] 7, Spatula, 1.155, 0.926, 1.129, 0, 90, 0, 79 [SEP] 8, Spatula, -0.839, 0.835, -1.308, 0, 90, 0, 103 [SEP] 9, Plate, 2.715, 1.566, -0.578, 0, 0, 0, 99 [SEP] 10, Cup, 1.450, 1.652, 1.546, 0, 0, 0, 71 [SEP] 11, SoapBottle, -0.785, 0.826, -1.473, 0, 0, 0, 103 [SEP] 12, Tomato, 2.653, 1.320, -0.644, 0, 0, 0, 99 [SEP] 13, Bowl, 1.141, 0.909, -0.684, 0, 0, 0, 44 [SEP] 14, SaltShaker, -0.151, 0.908, 1.299, 0, 0, 0, 55 [SEP] 15, SaltShaker, 2.120, 1.650, 1.585, 0, 0, 0, 68 [SEP] 16, PepperShaker, 1.955, 0.908, 1.044, 0, 0, 0, 79 [SEP] 17, PepperShaker, 2.488, 0.908, 1.044, 0, 0, 0, 79 [SEP] 18, Bread, 2.221, 0.969, 1.383, 0, 0, 0, 79 [SEP] 19, Bread, 0.634, 0.969, -0.430, 0, 0, 0, 44 [SEP] 20, Apple, -0.911, 0.889, -1.360, 0, 90, 0, 103 [SEP] 21, SoapBottle, 1.141, 0.917, -0.430, 0, 0, 0, 44 [SEP] 22, Plate, 2.754, 0.914, 1.299, 0, 0, 0, 79 [SEP] 23, Fork, 1.422, 0.912, 1.214, 0, 0, 0, 79 [SEP] 24, Pot, 1.688, 0.915, 1.299, 0, 0, 0, 79 [SEP] 25, Bread, 2.488, 0.969, 1.214, 0, 0, 0, 79 [SEP] 26, Egg, -2.019, 0.461, 1.332, 0, 270, 0, 97 [SEP] 27, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 59 [SEP] 28, Tomato, -1.056, 0.852, -1.308, 0, 90, 0, 103 [SEP] 29, Cup, 2.221, 0.909, 1.044, 0, 0, 0, 79 [SEP] 30, Spatula, 2.156, 0.926, -0.345, 0, 0, 0, 44 [SEP] 31, Apple, 0.518, 1.853, 1.455, 0, 180, 0, 102 [SEP] 32, Pan, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 33, Lettuce, 0.888, 0.992, -0.769, 0, 0, 0, 44 [SEP] 34, SaltShaker, -1.056, 0.817, -1.155, 0, 90, 0, 103 [SEP] 35, Knife, -1.056, 0.853, -1.206, 0, 270, 0, 103 [SEP] 36, Potato, -0.694, 0.855, -1.257, 0, 90, 0, 103 [SEP] 37, PepperShaker, 2.258, 0.110, 1.119, 0, 0, 0, 80 [SEP] 38, ButterKnife, -0.797, 0.810, -1.133, 0, 150.000, 0, 103 [SEP] 39, Bowl, 1.909, 0.112, -0.458, 0, 180, 0, 90 [SEP] 40, DishSponge, 1.247, 0.114, -0.495, 0, 180, 0, 52 [SEP] 41, Spoon, 1.524, 0.773, -0.460, 0, 180, 0, 74 [SEP] 42, Mug, 2.838, 1.014, -0.578, 0, 0, 0, 99 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 105, NorthWall, , , , , , , [SEP] 106, EastWall, , , , , , , [SEP] 107, SouthWall, , , , , , , [SEP] 108, WestWall, , , , , , , ", "output": ["STEP 1: Go to the round table with cover on the left. | STEP 2: Pick up the gray knife on the table. | STEP 3: Turn around and go to the front of the stove. | STEP 4: Place the knife in the gray pan on the front burner. | STEP 5: Pick up the pan with the knife in it. | STEP 6: Turn around and go to the sink. | STEP 7: Place the pan with knife in it inside the sink. | END"]} {"id": "trial_T20190908_033338_761740-0", "input": "Get the soap from the back of the toilet, get it wet in the sink 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, 0.0, 0.901, 3.25, 0, 270, 0, [SEP] 1, Cloth, -1.284, 0.994, 3.873, 0, 0, 0, 33 [SEP] 2, Cloth, -1.439, 0.067, 3.226, 0, 0, 0, 32 [SEP] 3, SoapBar, 0.231, 0.047, 3.893, 0, 0, 0, 36 [SEP] 4, SoapBar, -1.501, 0.068, 2.958, 0, 0, 0, 26 [SEP] 5, SoapBar, -1.439, 0.067, 3.427, 0, 0, 0, 32 [SEP] 6, Candle, -1.500, 0.067, 2.341, 0, 0, 0, 28 [SEP] 7, Candle, -1.547, 0.994, 3.100, 0, 0, 0, 33 [SEP] 8, SprayBottle, -1.620, 0.068, 2.441, 0, 0, 0, 28 [SEP] 9, SprayBottle, -1.322, 0.069, 3.844, 0, 0, 0, 34 [SEP] 10, SoapBottle, -1.219, 0.993, 2.269, 0, 0, 0, 33 [SEP] 11, SoapBottle, -1.284, 0.993, 2.863, 0, 0, 0, 33 [SEP] 12, ToiletPaper, -1.613, 0.991, 3.812, 0, 0, 0, 33 [SEP] 13, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 35 [SEP] 14, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 37 [SEP] 15, SoapBar, 0.306, 0.893, 1.618, 0, 0, 0, 39 [SEP] 16, ToiletPaper, -1.319, 0.064, 2.441, 0, 0, 0, 28 [SEP] 17, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 18, Candle, -1.259, 0.067, 2.240, 0, 0, 0, 28 [SEP] 19, TissueBox, -1.481, 0.994, 2.923, 0, 0, 0, 33 [SEP] 20, SoapBottle, 0.313, 0.046, 3.838, 0, 0, 0, 36 [SEP] 21, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 41 [SEP] 22, SprayBottle, 0.306, 0.894, 1.566, 0, 0, 0, 39 [SEP] 23, Cloth, -1.501, 0.068, 3.793, 0, 0, 0, 34 [SEP] 24, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 25, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 26, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 27, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 28, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 29, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 30, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 31, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 32, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 33, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 34, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 35, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 36, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 37, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 38, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 39, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 40, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 41, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 42, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 43, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 44, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 45, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 46, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 47, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 48, NorthWall, , , , , , , [SEP] 49, EastWall, , , , , , , [SEP] 50, SouthWall, , , , , , , [SEP] 51, WestWall, , , , , , , ", "output": ["STEP 1: Turn left 2 times and walk to the toilet | STEP 2: Pick up the bar of soap that is on the back of the toilet | STEP 3: Turn to the left, walk forward a little ways turn left again and face the sink | STEP 4: Put the soap in the sink and turn on the water, turn off the water and pick the soap up again | STEP 5: Turn to the left, then turn right and walk toward the wall then turn right again | STEP 6: Place the soap on the counter | END"]} {"id": "trial_T20190908_033338_761740-2", "input": "Put a wet 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, 0.0, 0.901, 3.25, 0, 270, 0, [SEP] 1, Cloth, -1.284, 0.994, 3.873, 0, 0, 0, 33 [SEP] 2, Cloth, -1.439, 0.067, 3.226, 0, 0, 0, 32 [SEP] 3, SoapBar, 0.231, 0.047, 3.893, 0, 0, 0, 36 [SEP] 4, SoapBar, -1.501, 0.068, 2.958, 0, 0, 0, 26 [SEP] 5, SoapBar, -1.439, 0.067, 3.427, 0, 0, 0, 32 [SEP] 6, Candle, -1.500, 0.067, 2.341, 0, 0, 0, 28 [SEP] 7, Candle, -1.547, 0.994, 3.100, 0, 0, 0, 33 [SEP] 8, SprayBottle, -1.620, 0.068, 2.441, 0, 0, 0, 28 [SEP] 9, SprayBottle, -1.322, 0.069, 3.844, 0, 0, 0, 34 [SEP] 10, SoapBottle, -1.219, 0.993, 2.269, 0, 0, 0, 33 [SEP] 11, SoapBottle, -1.284, 0.993, 2.863, 0, 0, 0, 33 [SEP] 12, ToiletPaper, -1.613, 0.991, 3.812, 0, 0, 0, 33 [SEP] 13, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 35 [SEP] 14, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 37 [SEP] 15, SoapBar, 0.306, 0.893, 1.618, 0, 0, 0, 39 [SEP] 16, ToiletPaper, -1.319, 0.064, 2.441, 0, 0, 0, 28 [SEP] 17, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 18, Candle, -1.259, 0.067, 2.240, 0, 0, 0, 28 [SEP] 19, TissueBox, -1.481, 0.994, 2.923, 0, 0, 0, 33 [SEP] 20, SoapBottle, 0.313, 0.046, 3.838, 0, 0, 0, 36 [SEP] 21, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 41 [SEP] 22, SprayBottle, 0.306, 0.894, 1.566, 0, 0, 0, 39 [SEP] 23, Cloth, -1.501, 0.068, 3.793, 0, 0, 0, 34 [SEP] 24, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 25, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 26, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 27, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 28, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 29, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 30, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 31, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 32, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 33, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 34, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 35, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 36, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 37, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 38, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 39, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 40, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 41, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 42, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 43, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 44, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 45, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 46, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 47, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 48, NorthWall, , , , , , , [SEP] 49, EastWall, , , , , , , [SEP] 50, SouthWall, , , , , , , [SEP] 51, WestWall, , , , , , , ", "output": ["STEP 1: move to the toilet to the right of the door | STEP 2: pick up soap from the toilet | STEP 3: move to the sink behind you | STEP 4: wet the soap in the sink | STEP 5: move to the left side of the sink ahead of you | STEP 6: put the soap on the counter | END"]} {"id": "trial_T20190909_042056_078737-0", "input": "put a clean fork in to the drawer SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -0.25, 0, 270, 0, [SEP] 1, DishSponge, 0.888, 0.911, -0.854, 0, 0, 0, 40 [SEP] 2, DishSponge, -0.294, 0.911, 1.468, 0, 0, 0, 51 [SEP] 3, ButterKnife, 1.141, 0.911, -0.684, 0, 0, 0, 40 [SEP] 4, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 55 [SEP] 5, Fork, -0.151, 0.912, 1.299, 0, 180, 0, 51 [SEP] 6, Spatula, 0.193, 0.780, -0.762, 0, 90, 0, 97 [SEP] 7, Cup, 1.173, 0.112, -0.458, 0, 180, 0, 48 [SEP] 8, Egg, 3.260, 0.878, -0.514, 0, 0, 0, 95 [SEP] 9, Egg, -0.990, 0.858, -1.038, 0, 0, 0, 99 [SEP] 10, SoapBottle, -0.621, 0.826, -1.155, 0, 90, 0, 99 [SEP] 11, Tomato, 0.634, 0.942, -0.515, 0, 0, 0, 40 [SEP] 12, SaltShaker, -0.734, 0.817, -1.255, 0, 0, 0, 99 [SEP] 13, PepperShaker, -0.106, 1.650, -0.811, 0, 180, 0, 82 [SEP] 14, Lettuce, 2.754, 0.992, 1.299, 0, 0, 0, 75 [SEP] 15, Mug, 2.591, 0.721, -0.504, 0, 90, 0, 95 [SEP] 16, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 40 [SEP] 17, SoapBottle, -0.246, 0.917, 1.214, 0, 0, 0, 51 [SEP] 18, Plate, 2.488, 0.914, 1.214, 0, 0, 0, 75 [SEP] 19, Fork, -1.056, 0.821, -1.308, 0, 90, 0, 99 [SEP] 20, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 46 [SEP] 21, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 40 [SEP] 22, Egg, 1.688, 0.949, 1.383, 0, 0, 0, 75 [SEP] 23, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 40 [SEP] 24, Tomato, 1.955, 0.942, 1.129, 0, 0, 0, 75 [SEP] 25, Cup, 1.155, 0.909, 1.468, 0, 0, 0, 75 [SEP] 26, Spatula, 1.955, 0.926, 1.468, 0, 0, 0, 75 [SEP] 27, Apple, 2.900, 1.087, -0.775, 0, 0, 0, 95 [SEP] 28, Pan, 2.715, 1.563, -0.709, 0, 0, 0, 95 [SEP] 29, Lettuce, 2.221, 0.992, 1.214, 0, 0, 0, 75 [SEP] 30, SaltShaker, 0.634, 0.908, -0.430, 0, 0, 0, 40 [SEP] 31, Knife, -0.087, 0.798, -0.596, 0, 270, 0, 97 [SEP] 32, Potato, -0.983, 0.855, -1.411, 0, 90, 0, 99 [SEP] 33, PepperShaker, -0.151, 0.908, 1.129, 0, 0, 0, 51 [SEP] 34, ButterKnife, 1.155, 0.911, 1.044, 0, 0, 0, 75 [SEP] 35, Bowl, 1.208, 1.652, -0.734, 0, 180, 0, 42 [SEP] 36, DishSponge, -0.621, 0.820, -1.360, 0, 90, 0, 99 [SEP] 37, Spoon, 0.123, 0.766, -0.707, 0, 0, 0, 97 [SEP] 38, Mug, -0.766, 0.815, -1.360, 0, 270, 0, 99 [SEP] 39, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 40, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 41, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 42, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 43, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 44, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 45, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 46, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 47, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 48, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 49, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 50, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 51, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 52, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 53, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 54, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 55, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 56, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 57, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 58, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 59, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 60, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 61, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 62, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 63, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 64, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 65, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 69, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 70, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 71, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 72, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 73, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 75, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 76, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 78, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 79, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 80, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 81, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 82, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 83, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 84, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 85, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 86, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 87, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 88, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 89, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 92, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 93, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 94, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 95, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 96, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 97, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 98, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 99, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 100, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 101, NorthWall, , , , , , , [SEP] 102, EastWall, , , , , , , [SEP] 103, SouthWall, , , , , , , [SEP] 104, WestWall, , , , , , , ", "output": ["STEP 1: turn around and move forward to the counter to the left of the stove, turn to the left to face the counter | STEP 2: pick up the fork that is on the counter | STEP 3: turn around and move to the sink | STEP 4: put the fork in to the sink, turn on the water to since the fork, turn the water off and pick up the fork from the sink | STEP 5: turn around and move to the counter that is to the left of the stove | STEP 6: open the drawer below the counter, put the fork in to the drawer and close it | END"]} {"id": "trial_T20190909_042056_078737-1", "input": "wash a dirty fork and put it away inside the drawer SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -0.25, 0, 270, 0, [SEP] 1, DishSponge, 0.888, 0.911, -0.854, 0, 0, 0, 40 [SEP] 2, DishSponge, -0.294, 0.911, 1.468, 0, 0, 0, 51 [SEP] 3, ButterKnife, 1.141, 0.911, -0.684, 0, 0, 0, 40 [SEP] 4, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 55 [SEP] 5, Fork, -0.151, 0.912, 1.299, 0, 180, 0, 51 [SEP] 6, Spatula, 0.193, 0.780, -0.762, 0, 90, 0, 97 [SEP] 7, Cup, 1.173, 0.112, -0.458, 0, 180, 0, 48 [SEP] 8, Egg, 3.260, 0.878, -0.514, 0, 0, 0, 95 [SEP] 9, Egg, -0.990, 0.858, -1.038, 0, 0, 0, 99 [SEP] 10, SoapBottle, -0.621, 0.826, -1.155, 0, 90, 0, 99 [SEP] 11, Tomato, 0.634, 0.942, -0.515, 0, 0, 0, 40 [SEP] 12, SaltShaker, -0.734, 0.817, -1.255, 0, 0, 0, 99 [SEP] 13, PepperShaker, -0.106, 1.650, -0.811, 0, 180, 0, 82 [SEP] 14, Lettuce, 2.754, 0.992, 1.299, 0, 0, 0, 75 [SEP] 15, Mug, 2.591, 0.721, -0.504, 0, 90, 0, 95 [SEP] 16, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 40 [SEP] 17, SoapBottle, -0.246, 0.917, 1.214, 0, 0, 0, 51 [SEP] 18, Plate, 2.488, 0.914, 1.214, 0, 0, 0, 75 [SEP] 19, Fork, -1.056, 0.821, -1.308, 0, 90, 0, 99 [SEP] 20, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 46 [SEP] 21, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 40 [SEP] 22, Egg, 1.688, 0.949, 1.383, 0, 0, 0, 75 [SEP] 23, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 40 [SEP] 24, Tomato, 1.955, 0.942, 1.129, 0, 0, 0, 75 [SEP] 25, Cup, 1.155, 0.909, 1.468, 0, 0, 0, 75 [SEP] 26, Spatula, 1.955, 0.926, 1.468, 0, 0, 0, 75 [SEP] 27, Apple, 2.900, 1.087, -0.775, 0, 0, 0, 95 [SEP] 28, Pan, 2.715, 1.563, -0.709, 0, 0, 0, 95 [SEP] 29, Lettuce, 2.221, 0.992, 1.214, 0, 0, 0, 75 [SEP] 30, SaltShaker, 0.634, 0.908, -0.430, 0, 0, 0, 40 [SEP] 31, Knife, -0.087, 0.798, -0.596, 0, 270, 0, 97 [SEP] 32, Potato, -0.983, 0.855, -1.411, 0, 90, 0, 99 [SEP] 33, PepperShaker, -0.151, 0.908, 1.129, 0, 0, 0, 51 [SEP] 34, ButterKnife, 1.155, 0.911, 1.044, 0, 0, 0, 75 [SEP] 35, Bowl, 1.208, 1.652, -0.734, 0, 180, 0, 42 [SEP] 36, DishSponge, -0.621, 0.820, -1.360, 0, 90, 0, 99 [SEP] 37, Spoon, 0.123, 0.766, -0.707, 0, 0, 0, 97 [SEP] 38, Mug, -0.766, 0.815, -1.360, 0, 270, 0, 99 [SEP] 39, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 40, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 41, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 42, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 43, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 44, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 45, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 46, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 47, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 48, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 49, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 50, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 51, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 52, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 53, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 54, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 55, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 56, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 57, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 58, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 59, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 60, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 61, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 62, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 63, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 64, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 65, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 69, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 70, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 71, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 72, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 73, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 75, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 76, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 78, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 79, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 80, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 81, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 82, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 83, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 84, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 85, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 86, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 87, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 88, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 89, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 92, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 93, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 94, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 95, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 96, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 97, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 98, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 99, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 100, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 101, NorthWall, , , , , , , [SEP] 102, EastWall, , , , , , , [SEP] 103, SouthWall, , , , , , , [SEP] 104, WestWall, , , , , , , ", "output": ["STEP 1: turn right walk straight a tiny bit then turn right again and then turn left towards the counter next to the stove | STEP 2: pick up the fork on the counter top | STEP 3: turn around and walk straight towards the sink and look down | STEP 4: put the fork inside of the sink and fill the sink with water then drain the water and remove the fork from the sink | STEP 5: turn left walk straight then turn left again towards the counter next to the stove | STEP 6: open the drawer and put the fork inside and close the drawer | END"]} {"id": "trial_T20190908_110528_569140-0", "input": "clean up the spray bottles and put them 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, -1.0, 0.903, 0.0, 0, 270, 0, [SEP] 1, SoapBar, -1.707, 0.081, -0.690, 0, 270, 0, Floor|-01.07| [SEP] 2, SoapBar, -0.861, 1.010, -0.319, 0, 306.598, 0, 21 [SEP] 3, Candle, -1.635, 0.330, 2.247, 0, 0, 0, 24 [SEP] 4, SprayBottle, -0.653, 0.289, 2.127, 0, 0, 0, 24 [SEP] 5, SoapBottle, -0.148, 0.611, -0.428, 0, 315, 0, 20 [SEP] 6, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 30 [SEP] 7, Candle, -0.334, 0.650, 0.935, 0, 0, 0, 20 [SEP] 8, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 29 [SEP] 9, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 10, SoapBar, -2.015, 1.046, -0.797, 0, 0, 0, 33 [SEP] 11, ToiletPaper, -2.212, 1.043, -0.674, 0, 0, 0, 33 [SEP] 12, SoapBottle, -1.707, 0.083, -0.549, 0, 270, 0, 31 [SEP] 13, TissueBox, -0.980, 0.289, 2.097, 0, 0, 0, 24 [SEP] 14, Cloth, 0.206, 0.048, 1.295, 0, 0, 0, 27 [SEP] 15, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 23 [SEP] 16, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 22 [SEP] 17, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 18, SprayBottle, -1.471, 1.774, 2.157, 0, 0, 0, 26 [SEP] 19, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 20, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 21, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 22, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 23, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 24, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 25, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 26, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 27, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 28, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 29, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 30, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 31, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 32, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 33, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 34, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 35, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 36, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 37, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: turn around towards the tub then turn left and walk straight to the shelf | STEP 2: pick up the cleaning spray bottle off of the shelf | STEP 3: turn left then walk straight towards the door then turn left and walk straight towards the toilet | STEP 4: put the cleaning spray bottle on top of the toilet | STEP 5: turn left then walk straight towards the tub then turn left and walk to the shelf and look up | STEP 6: pick up the spray bottle on the top shelf | STEP 7: turn left towards the door and walk straight then turn left again and walk straight towards the toilet | STEP 8: put the cleaning spray bottle on the top of the toilet next to the toilet paper | END"]} {"id": "trial_T20190908_110528_569140-1", "input": "To move two spray bottles to the back of the toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.903, 0.0, 0, 270, 0, [SEP] 1, SoapBar, -1.707, 0.081, -0.690, 0, 270, 0, Floor|-01.07| [SEP] 2, SoapBar, -0.861, 1.010, -0.319, 0, 306.598, 0, 21 [SEP] 3, Candle, -1.635, 0.330, 2.247, 0, 0, 0, 24 [SEP] 4, SprayBottle, -0.653, 0.289, 2.127, 0, 0, 0, 24 [SEP] 5, SoapBottle, -0.148, 0.611, -0.428, 0, 315, 0, 20 [SEP] 6, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 30 [SEP] 7, Candle, -0.334, 0.650, 0.935, 0, 0, 0, 20 [SEP] 8, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 29 [SEP] 9, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 10, SoapBar, -2.015, 1.046, -0.797, 0, 0, 0, 33 [SEP] 11, ToiletPaper, -2.212, 1.043, -0.674, 0, 0, 0, 33 [SEP] 12, SoapBottle, -1.707, 0.083, -0.549, 0, 270, 0, 31 [SEP] 13, TissueBox, -0.980, 0.289, 2.097, 0, 0, 0, 24 [SEP] 14, Cloth, 0.206, 0.048, 1.295, 0, 0, 0, 27 [SEP] 15, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 23 [SEP] 16, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 22 [SEP] 17, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 18, SprayBottle, -1.471, 1.774, 2.157, 0, 0, 0, 26 [SEP] 19, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 20, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 21, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 22, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 23, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 24, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 25, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 26, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 27, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 28, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 29, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 30, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 31, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 32, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 33, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 34, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 35, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 36, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 37, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk over to the right side of the shelves. | STEP 2: Pick up the blue spray bottle to the right of the tissues. | STEP 3: Turn left, turn left at the door and face the back of the toilet. | STEP 4: Put the spray bottle down on the back of the toilet to the right of the toilet paper. | STEP 5: Turn around and walk back over to the shelves, look up at the top shelf. | STEP 6: Pick up the blue spray bottle from the top shelf. | STEP 7: Turn left and walk back over to the back of the toilet. | STEP 8: Put the spray bottle down on the back of the toilet to the left of the toilet paper roll. | END"]} {"id": "trial_T20190909_151314_319375-1", "input": "put chilled potato on the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 3.25, 0.900, 0.5, 0, 270, 0, [SEP] 1, Pan, 2.838, 1.563, -0.644, 0, 0, 0, 97 [SEP] 2, DishSponge, 2.188, 0.114, 1.156, 0, 0, 0, 78 [SEP] 3, Kettle, 1.422, 0.912, 1.468, 0, 0, 0, 77 [SEP] 4, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 57 [SEP] 5, ButterKnife, -1.056, 0.820, -1.257, 0, 90, 0, 101 [SEP] 6, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 48 [SEP] 7, Spoon, -0.151, 0.912, 1.044, 0, 0, 0, 53 [SEP] 8, Spatula, -0.043, 0.926, -0.302, 0, 0, 0, 42 [SEP] 9, Bowl, -0.090, 1.652, 1.432, 0, 0, 0, 68 [SEP] 10, Bowl, -0.694, 0.818, -1.308, 0, 90, 0, 101 [SEP] 11, SaltShaker, 1.767, 1.651, 1.390, 0, 0, 0, 54 [SEP] 12, PepperShaker, 1.485, 0.111, -0.498, 0, 180, 0, 59 [SEP] 13, PepperShaker, 2.221, 0.908, 1.044, 0, 0, 0, 77 [SEP] 14, Bread, 2.754, 0.969, 1.383, 0, 0, 0, 77 [SEP] 15, Lettuce, 1.155, 0.992, 1.299, 0, 0, 0, 77 [SEP] 16, Lettuce, -0.939, 0.901, -1.400, 0, 0, 0, 101 [SEP] 17, Mug, 2.487, 1.650, 1.390, 0, 0, 0, 43 [SEP] 18, Apple, 2.777, 0.795, -0.535, 0, 0, 0, 97 [SEP] 19, SoapBottle, -0.072, 1.660, -0.849, 0, 180, 0, 84 [SEP] 20, Plate, 1.955, 0.914, 1.299, 0, 0, 0, 77 [SEP] 21, Fork, 0.053, 0.766, -0.651, 0, 0, 0, 99 [SEP] 22, Pot, 0.888, 0.915, -0.430, 0, 0, 0, 42 [SEP] 23, Bread, 2.488, 0.969, 1.214, 0, 0, 0, 77 [SEP] 24, Egg, 2.900, 0.764, -0.504, 0, 0, 0, 97 [SEP] 25, Kettle, 2.221, 0.912, 1.299, 0, 0, 0, 77 [SEP] 26, Tomato, 2.715, 1.594, -0.840, 0, 0, 0, 97 [SEP] 27, Cup, 2.962, 1.016, -0.578, 0, 0, 0, 97 [SEP] 28, Spatula, 1.688, 0.926, 1.299, 0, 0, 0, 77 [SEP] 29, Apple, 0.466, 1.853, 1.488, 0, 180, 0, 100 [SEP] 30, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 45 [SEP] 31, Lettuce, 2.924, 1.344, -0.612, 16.831, 2.193, 9.559, 97 [SEP] 32, SaltShaker, 0.152, 0.908, -0.302, 0, 0, 0, 42 [SEP] 33, Knife, -0.007, 0.944, 1.214, 0, 270, 0, 53 [SEP] 34, Potato, 1.688, 0.946, 1.214, 0, 0, 0, 77 [SEP] 35, PepperShaker, -0.198, 0.908, 1.299, 0, 0, 0, 53 [SEP] 36, ButterKnife, -0.797, 0.810, -1.133, 0, 150.000, 0, 101 [SEP] 37, Bowl, 0.634, 0.909, -0.515, 0, 0, 0, 42 [SEP] 38, DishSponge, 0.193, 0.765, -0.762, 0, 0, 0, 99 [SEP] 39, Spoon, -0.103, 0.912, 1.383, 0, 0, 0, 53 [SEP] 40, Mug, 2.754, 0.906, 1.553, 0, 0, 0, 77 [SEP] 41, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 42, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 43, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 44, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 45, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 46, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 47, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 48, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 50, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 51, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 52, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 53, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 54, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 55, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 56, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 57, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 58, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 59, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 60, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 61, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 62, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 64, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 65, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 71, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 72, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 73, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 77, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 78, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 80, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 81, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 82, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 83, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 84, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 85, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 86, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 87, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 88, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 89, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 94, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 95, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 96, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 97, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 98, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 99, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 100, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 101, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 102, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: walk forward, turn right to face counter | STEP 2: pick up the potato that is on the counter | STEP 3: turn right, walk forward, turn right to face fridge | STEP 4: put potato in fridge, wait a minute, take potato out | STEP 5: turn right, walk across room to table | STEP 6: put the potato on the table | END"]} {"id": "trial_T20190909_151529_898092-1", "input": "Place a chilled potato on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.5, 0.900, 0.25, 0, 180, 0, [SEP] 1, ButterKnife, -0.198, 0.911, 1.044, 0, 0, 0, 54 [SEP] 2, ButterKnife, -0.055, 0.911, 1.299, 0, 90, 0, 54 [SEP] 3, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 58 [SEP] 4, Pot, 2.715, 1.567, -0.644, 0, 0, 0, 98 [SEP] 5, Spoon, 0.634, 0.912, -0.345, 0, 0, 0, 43 [SEP] 6, Spoon, 2.488, 0.912, 1.468, 0, 0, 0, 78 [SEP] 7, Fork, 2.754, 0.912, 1.129, 0, 0, 0, 78 [SEP] 8, Fork, -0.887, 0.821, -1.400, 0, 90, 0, 102 [SEP] 9, Spatula, -0.911, 0.835, -1.155, 0, 180, 0, 102 [SEP] 10, Spatula, -0.043, 0.926, -0.302, 0, 0, 0, 43 [SEP] 11, Egg, 2.653, 1.326, -0.447, 0, 0, 0, 98 [SEP] 12, SoapBottle, 1.422, 0.917, 1.214, 0, 0, 0, 78 [SEP] 13, SoapBottle, 1.250, 0.120, 1.196, 0, 0, 0, 50 [SEP] 14, Bowl, 0.466, 1.782, 1.455, 0, 180, 0, 101 [SEP] 15, PepperShaker, -0.785, 0.817, -1.400, 0, 0, 0, 102 [SEP] 16, PepperShaker, 2.754, 0.908, 1.468, 0, 0, 0, 78 [SEP] 17, Lettuce, 2.221, 0.992, 1.468, 0, 0, 0, 78 [SEP] 18, Apple, 1.155, 0.980, 1.129, 0, 0, 0, 78 [SEP] 19, Apple, -0.103, 0.980, 1.044, 0, 0, 0, 54 [SEP] 20, SoapBottle, 1.484, 1.661, -0.849, 0, 180, 0, 65 [SEP] 21, Plate, 1.955, 0.914, 1.468, 0, 0, 0, 78 [SEP] 22, Fork, 2.488, 0.912, 1.044, 0, 0, 0, 78 [SEP] 23, Pot, 2.715, 1.022, -0.578, 0, 0, 0, 98 [SEP] 24, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 43 [SEP] 25, Egg, -0.734, 0.858, -1.473, 0, 0, 0, 102 [SEP] 26, Kettle, 2.838, 1.655, 1.432, 0, 0, 0, 44 [SEP] 27, Tomato, -0.694, 0.852, -1.308, 0, 90, 0, 102 [SEP] 28, Cup, 1.447, 1.653, -0.732, 0, 180, 0, 80 [SEP] 29, Spatula, -0.007, 0.926, 1.553, 0, 270, 0, 54 [SEP] 30, Apple, 0.634, 0.980, -0.515, 0, 0, 0, 43 [SEP] 31, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 46 [SEP] 32, Lettuce, -0.151, 0.992, 1.383, 0, 0, 0, 54 [SEP] 33, SaltShaker, 2.223, 0.110, 1.193, 0, 0, 0, 79 [SEP] 34, Knife, 0.053, 0.798, -0.651, 0, 180, 0, 100 [SEP] 35, Potato, -0.621, 0.855, -1.155, 0, 90, 0, 102 [SEP] 36, PepperShaker, 1.955, 0.908, 1.214, 0, 0, 0, 78 [SEP] 37, ButterKnife, 1.688, 0.911, 1.044, 0, 0, 0, 78 [SEP] 38, Bowl, -0.983, 0.818, -1.308, 0, 90, 0, 102 [SEP] 39, DishSponge, 0.053, 0.765, -0.541, 0, 0, 0, 100 [SEP] 40, Spoon, 1.558, 0.773, 1.198, 0, 0, 0, 61 [SEP] 41, Mug, 1.155, 0.906, 1.468, 0, 0, 0, 78 [SEP] 42, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 43, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 44, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 45, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 46, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 47, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 48, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 49, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 50, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 51, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 52, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 53, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 54, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 55, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 56, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 57, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 58, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 59, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 60, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 61, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 62, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 63, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 64, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 65, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 66, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 72, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 73, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 74, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 76, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 78, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 79, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 81, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 82, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 83, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 84, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 85, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 86, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 87, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 88, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 89, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 90, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 95, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 96, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 97, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 98, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 99, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 100, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 101, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 102, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 103, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 104, NorthWall, , , , , , , [SEP] 105, EastWall, , , , , , , [SEP] 106, SouthWall, , , , , , , [SEP] 107, WestWall, , , , , , , ", "output": ["STEP 1: Turn right past the counters, then turn left and walk to the table. | STEP 2: Pick up the potato on the table. | STEP 3: Turn around and veer right into the kitchen, all the way down to the fridge on the right. | STEP 4: Place the potato in the fridge and close the door. Wait a moment and take the potato out again. | STEP 5: Turn right and walk past the counters again, and turn left, walking back to the table. | STEP 6: Place the potato on the table in front of the handle of the spatula. | END"]} {"id": "trial_T20190909_095018_345409-1", "input": "Put a clean kettle 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, 0.931, 0.0, 0, 0, 0, [SEP] 1, DishSponge, 1.612, 1.042, 0.738, 0, 0, 0, 44 [SEP] 2, ButterKnife, 0.160, 1.032, 0.415, 0, 0, 0, 44 [SEP] 3, Kettle, 0.885, 1.566, -1.538, 0, 0, 0, 46 [SEP] 4, Fork, 1.514, 1.043, 0.676, 0, 90, 0, 44 [SEP] 5, Spoon, 1.347, 1.044, 0.720, 0, 0, 0, 44 [SEP] 6, Spoon, 1.181, 1.044, 0.632, 0, 0, 0, 44 [SEP] 7, Spatula, 1.015, 1.058, 0.632, 0, 0, 0, 44 [SEP] 8, Egg, 1.612, 1.097, 0.415, 0, 0, 0, 44 [SEP] 9, Cup, -1.051, 0.707, 1.885, 0, 90, 0, 57 [SEP] 10, Tomato, -1.366, 1.279, 1.974, 0, 90, 0, 57 [SEP] 11, SoapBottle, 1.036, 1.565, -1.764, 0, 0, 0, 46 [SEP] 12, SoapBottle, -1.105, 0.203, -1.338, 0, 0, 0, 50 [SEP] 13, PepperShaker, 0.740, 1.041, -1.828, 0, 0, 0, 42 [SEP] 14, Lettuce, -1.300, 1.287, 2.153, 0, 90, 0, 57 [SEP] 15, Bread, -0.603, 1.120, -1.397, 0, 0, 0, 42 [SEP] 16, SoapBottle, 1.512, 0.205, -1.335, 0, 0, 0, 52 [SEP] 17, Apple, -1.071, 0.750, 2.242, 0, 90, 0, 57 [SEP] 18, Potato, 0.823, 1.100, -1.181, 0, 0, 0, 42 [SEP] 19, Fork, 0.031, 1.033, 0.122, 0, 0, 0, 44 [SEP] 20, Kettle, 0.389, 1.053, -1.630, 0, 0, 0, 38 [SEP] 21, Pan, -1.029, 2.027, -1.337, 0, 90, 0, 49 [SEP] 22, Tomato, -0.432, 1.097, -1.505, 0, 0, 0, 42 [SEP] 23, SaltShaker, 0.542, 1.038, 0.091, 0, 0, 0, 44 [SEP] 24, Egg, 0.848, 1.097, 0.676, 0, 0, 0, 44 [SEP] 25, Cup, -1.096, 1.716, -1.300, 0, 0, 0, 56 [SEP] 26, Spatula, 1.514, 1.058, 0.545, 0, 0, 0, 44 [SEP] 27, Knife, 0.255, 1.069, 0.199, 0, 0, 0, 44 [SEP] 28, Lettuce, -1.349, 1.773, 1.885, 0, 90, 0, 57 [SEP] 29, ButterKnife, 1.155, 1.046, -1.612, 0, 0, 0, 42 [SEP] 30, PepperShaker, -0.312, 0.198, -1.625, 0, 0, 0, 51 [SEP] 31, DishSponge, -0.580, 0.203, -1.337, 0, 0, 0, 51 [SEP] 32, Plate, 1.512, 1.032, -1.337, 0, 0, 0, 48 [SEP] 33, Bread, 0.407, 1.104, 0.353, 0, 337.142, 0, 44 [SEP] 34, Spoon, 1.181, 1.044, 0.763, 0, 0, 0, 44 [SEP] 35, Pot, 0.906, 1.048, -1.505, 0, 180, 0, 42 [SEP] 36, Mug, -0.030, 1.038, 0.307, 0, 0, 0, 44 [SEP] 37, Bowl, -1.381, 1.488, 2.242, 0, 90, 0, 57 [SEP] 38, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 39, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 40, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 41, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 42, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 43, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 44, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 45, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 46, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 47, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 48, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 49, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 50, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 51, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 52, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 53, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 54, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 55, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 56, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 57, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 58, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 59, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 60, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 61, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 62, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 63, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 64, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 65, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 66, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 67, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 68, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 69, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 70, NorthWall, , , , , , , [SEP] 71, EastWall, , , , , , , [SEP] 72, SouthWall, , , , , , , [SEP] 73, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, go across the room and turn right to the counter with the potato on it. | STEP 2: Open the cabinet above the counter and pick up the kettle. | STEP 3: Turn around to the sink. | STEP 4: Put the kettle in the sink, rinse it and pick it back up. | STEP 5: Turn around towards the counter. | STEP 6: Put the kettle in the cabinet below the counter. | END"]} {"id": "trial_T20190908_075019_091188-1", "input": "Wash the knife and put it on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 3.0, 0.900, 0.75, 0, 0, 0, [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 84 [SEP] 2, Pan, 2.777, 1.018, -0.644, 0, 0, 0, 107 [SEP] 3, Potato, 2.715, 1.598, -0.447, 0, 0, 0, 101 [SEP] 4, Kettle, 0.634, 0.912, -0.515, 0, 0, 0, 46 [SEP] 5, Kettle, 1.688, 0.912, 1.299, 0, 0, 0, 81 [SEP] 6, Spatula, 2.221, 0.926, 1.129, 0, 0, 0, 81 [SEP] 7, Spatula, 0.193, 0.780, -0.596, 0, 0, 0, 103 [SEP] 8, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 71 [SEP] 9, Cup, 1.909, 0.112, -0.495, 0, 180, 0, 92 [SEP] 10, Cup, -0.017, 0.763, -0.651, 0, 0, 0, 103 [SEP] 11, Egg, 2.900, 1.326, -0.709, 0, 0, 0, 101 [SEP] 12, Knife, 2.221, 0.944, 1.468, 0, 0, 0, 81 [SEP] 13, Knife, 2.488, 0.944, 1.044, 0, 0, 0, 81 [SEP] 14, SoapBottle, -0.246, 0.917, 1.383, 0, 0, 0, 57 [SEP] 15, SoapBottle, -0.694, 0.826, -1.360, 0, 90, 0, 105 [SEP] 16, Tomato, -2.019, 0.455, 1.459, 0, 270, 0, 99 [SEP] 17, PepperShaker, -0.694, 0.817, -1.155, 0, 90, 0, 105 [SEP] 18, PepperShaker, -0.201, 1.650, 1.546, 0, 0, 0, 72 [SEP] 19, Lettuce, 2.754, 0.992, 1.299, 0, 0, 0, 81 [SEP] 20, Lettuce, 1.155, 0.992, 1.383, 0, 0, 0, 81 [SEP] 21, Mug, 2.488, 0.906, 1.383, 0, 0, 0, 81 [SEP] 22, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 46 [SEP] 23, SoapBottle, 1.213, 0.120, 1.236, 0, 0, 0, 53 [SEP] 24, Plate, 0.825, 1.658, -0.771, 0, 180, 0, 56 [SEP] 25, Fork, 2.606, 0.771, 1.198, 0, 270, 0, 62 [SEP] 26, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 61 [SEP] 27, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 46 [SEP] 28, Egg, -0.157, 0.803, -0.762, 0, 0, 0, 103 [SEP] 29, Kettle, 2.156, 0.912, -0.769, 0, 0, 0, 46 [SEP] 30, Tomato, 2.962, 1.320, -0.447, 0, 0, 0, 101 [SEP] 31, Cup, -0.983, 0.818, -1.360, 0, 90, 0, 105 [SEP] 32, Spatula, 0.263, 0.780, -0.707, 0, 90, 0, 103 [SEP] 33, Apple, 2.769, 1.343, -0.453, 0, 0, 0, 101 [SEP] 34, Pan, -0.123, 0.114, 1.156, 0, 0, 0, 57 [SEP] 35, Lettuce, 1.422, 0.992, 1.468, 0, 0, 0, 81 [SEP] 36, SaltShaker, -0.151, 0.908, 1.553, 0, 0, 0, 57 [SEP] 37, Knife, -0.151, 0.944, 1.383, 0, 270, 0, 57 [SEP] 38, Potato, -0.682, 0.855, -1.473, 0, 0, 0, 105 [SEP] 39, PepperShaker, 1.171, 1.650, -0.849, 0, 180, 0, 48 [SEP] 40, ButterKnife, 1.155, 0.911, 1.044, 0, 0, 0, 81 [SEP] 41, Bowl, 2.488, 0.909, 1.214, 0, 0, 0, 81 [SEP] 42, DishSponge, -0.294, 0.911, 1.214, 0, 0, 0, 57 [SEP] 43, Spoon, -0.785, 0.822, -1.183, 0, 0, 0, 105 [SEP] 44, Mug, 0.363, 1.779, 1.488, 0, 180, 0, 104 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 107, , , , , , , , [SEP] 108, NorthWall, , , , , , , [SEP] 109, EastWall, , , , , , , [SEP] 110, SouthWall, , , , , , , [SEP] 111, WestWall, , , , , , , ", "output": ["STEP 1: Turn left to go to the front of the counter on the left side of the stove. | STEP 2: Pick up the knife in front of the salt shaker. | STEP 3: Turn around and go to the sink on the opposite side. | STEP 4: Wash the knife under running water in the sink and take it out. | STEP 5: Turn right to go to the round table with a gray cover. | STEP 6: Place the knife next to the salt shaker on the table. | END"]} {"id": "trial_T20190908_075019_091188-2", "input": "Rinse a knife and place it on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 3.0, 0.900, 0.75, 0, 0, 0, [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 84 [SEP] 2, Pan, 2.777, 1.018, -0.644, 0, 0, 0, 107 [SEP] 3, Potato, 2.715, 1.598, -0.447, 0, 0, 0, 101 [SEP] 4, Kettle, 0.634, 0.912, -0.515, 0, 0, 0, 46 [SEP] 5, Kettle, 1.688, 0.912, 1.299, 0, 0, 0, 81 [SEP] 6, Spatula, 2.221, 0.926, 1.129, 0, 0, 0, 81 [SEP] 7, Spatula, 0.193, 0.780, -0.596, 0, 0, 0, 103 [SEP] 8, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 71 [SEP] 9, Cup, 1.909, 0.112, -0.495, 0, 180, 0, 92 [SEP] 10, Cup, -0.017, 0.763, -0.651, 0, 0, 0, 103 [SEP] 11, Egg, 2.900, 1.326, -0.709, 0, 0, 0, 101 [SEP] 12, Knife, 2.221, 0.944, 1.468, 0, 0, 0, 81 [SEP] 13, Knife, 2.488, 0.944, 1.044, 0, 0, 0, 81 [SEP] 14, SoapBottle, -0.246, 0.917, 1.383, 0, 0, 0, 57 [SEP] 15, SoapBottle, -0.694, 0.826, -1.360, 0, 90, 0, 105 [SEP] 16, Tomato, -2.019, 0.455, 1.459, 0, 270, 0, 99 [SEP] 17, PepperShaker, -0.694, 0.817, -1.155, 0, 90, 0, 105 [SEP] 18, PepperShaker, -0.201, 1.650, 1.546, 0, 0, 0, 72 [SEP] 19, Lettuce, 2.754, 0.992, 1.299, 0, 0, 0, 81 [SEP] 20, Lettuce, 1.155, 0.992, 1.383, 0, 0, 0, 81 [SEP] 21, Mug, 2.488, 0.906, 1.383, 0, 0, 0, 81 [SEP] 22, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 46 [SEP] 23, SoapBottle, 1.213, 0.120, 1.236, 0, 0, 0, 53 [SEP] 24, Plate, 0.825, 1.658, -0.771, 0, 180, 0, 56 [SEP] 25, Fork, 2.606, 0.771, 1.198, 0, 270, 0, 62 [SEP] 26, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 61 [SEP] 27, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 46 [SEP] 28, Egg, -0.157, 0.803, -0.762, 0, 0, 0, 103 [SEP] 29, Kettle, 2.156, 0.912, -0.769, 0, 0, 0, 46 [SEP] 30, Tomato, 2.962, 1.320, -0.447, 0, 0, 0, 101 [SEP] 31, Cup, -0.983, 0.818, -1.360, 0, 90, 0, 105 [SEP] 32, Spatula, 0.263, 0.780, -0.707, 0, 90, 0, 103 [SEP] 33, Apple, 2.769, 1.343, -0.453, 0, 0, 0, 101 [SEP] 34, Pan, -0.123, 0.114, 1.156, 0, 0, 0, 57 [SEP] 35, Lettuce, 1.422, 0.992, 1.468, 0, 0, 0, 81 [SEP] 36, SaltShaker, -0.151, 0.908, 1.553, 0, 0, 0, 57 [SEP] 37, Knife, -0.151, 0.944, 1.383, 0, 270, 0, 57 [SEP] 38, Potato, -0.682, 0.855, -1.473, 0, 0, 0, 105 [SEP] 39, PepperShaker, 1.171, 1.650, -0.849, 0, 180, 0, 48 [SEP] 40, ButterKnife, 1.155, 0.911, 1.044, 0, 0, 0, 81 [SEP] 41, Bowl, 2.488, 0.909, 1.214, 0, 0, 0, 81 [SEP] 42, DishSponge, -0.294, 0.911, 1.214, 0, 0, 0, 57 [SEP] 43, Spoon, -0.785, 0.822, -1.183, 0, 0, 0, 105 [SEP] 44, Mug, 0.363, 1.779, 1.488, 0, 180, 0, 104 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 107, , , , , , , , [SEP] 108, NorthWall, , , , , , , [SEP] 109, EastWall, , , , , , , [SEP] 110, SouthWall, , , , , , , [SEP] 111, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left and go across the room to the far right counter. | STEP 2: Pick up the knife from the center of the counter. | STEP 3: Carry the knife and turn around to the sink. | STEP 4: Place the knife in the sink, turn the water on and off. Pick up the knife. | STEP 5: Hold the knife and take a few steps to the right, to the round table. | STEP 6: Place the knife on the front side of the table. | END"]} {"id": "trial_T20190912_012111_529445-1", "input": "place two pens in the dresser drawer SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 3.75, 0.949, -1.5, 0, 90, 0, [SEP] 1, Vase, 2.803, 0.993, -2.125, 0, 270, 0, 38 [SEP] 2, CellPhone, 0.024, 0.784, 3.170, 0, 180, 0, 45 [SEP] 3, CellPhone, 2.710, 0.610, -0.172, 0, 0, 0, 23 [SEP] 4, Pen, 0.024, 0.789, 3.088, 0, 180, 0, 45 [SEP] 5, Pencil, 1.950, 0.989, -1.862, 0, 270, 0, 38 [SEP] 6, Pencil, 3.455, 0.727, 1.262, 0, 180, 0, 63 [SEP] 7, CreditCard, 3.377, 0.723, 1.533, 0, 180, 0, 63 [SEP] 8, CreditCard, 3.087, 0.985, -2.037, 0, 270, 0, 38 [SEP] 9, Book, 2.710, 0.610, 0.790, 0, 0, 0, 23 [SEP] 10, Book, 2.217, 0.610, 0.068, 0, 0, 0, 23 [SEP] 11, KeyChain, 0.091, 0.477, 3.192, 0, 90, 0, 44 [SEP] 12, CreditCard, 3.300, 0.723, 1.397, 0, 180, 0, 63 [SEP] 13, Pen, 2.234, 0.990, -1.687, 0, 0, 0, 38 [SEP] 14, Pencil, 3.455, 0.727, 1.488, 0, 180, 0, 63 [SEP] 15, Laptop, -0.904, 0.783, 0.081, 0, 0, 0, 59 [SEP] 16, Vase, 2.614, 0.185, -1.950, 0, 270, 0, 40 [SEP] 17, AlarmClock, -0.069, 1.109, 3.171, 0, 180, 0, 46 [SEP] 18, Pillow, 2.533, 0.631, 1.264, 0, 0, 0, 23 [SEP] 19, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 23 [SEP] 20, CellPhone, 2.052, 0.610, 0.308, 0, 0, 0, 23 [SEP] 21, CD, 3.300, 0.723, 1.307, 0, 180, 0, 63 [SEP] 22, Vase, 2.519, 0.989, -2.037, 0, 270, 0, 38 [SEP] 23, Bed, 2.217, 0.050, 0.585, 0, 0, 0, [SEP] 24, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0, [SEP] 25, Painting, 2.990, 1.592, 1.567, 90, 0, 0, [SEP] 26, Painting, 1.524, 1.592, 1.567, 90, 0, 0, [SEP] 27, Mirror, -1.190, 1.417, -0.223, 0, 270, 0, [SEP] 28, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0, [SEP] 29, Window, -2.629, 1.460, 2.891, 90, 270, 0, [SEP] 30, Window, -2.629, 1.460, 4.084, 90, 270, 0, [SEP] 31, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0, [SEP] 32, Drawer, 2.490, 0.949, -1.703, 0, 0, 0, [SEP] 33, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0, [SEP] 34, Drawer, 1.975, 0.949, -1.703, 0, 0, 0, [SEP] 35, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0, [SEP] 36, Drawer, 1.457, 0.949, -1.703, 0, 0, 0, [SEP] 37, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0, [SEP] 38, Dresser, 2.234, 0.048, -1.950, 0, 0, 0, [SEP] 39, Drawer, 3.011, 0.949, -1.703, 0, 0, 0, [SEP] 40, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0, [SEP] 41, Shelf, -0.163, 1.461, 3.219, 0, 180, 0, [SEP] 42, Drawer, -0.161, 0.242, 3.166, 0, 180, 0, [SEP] 43, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0, [SEP] 44, Drawer, -0.161, 0.562, 3.168, 0, 180, 0, [SEP] 45, Shelf, -0.162, 0.922, 3.164, 0, 180, 0, [SEP] 46, Shelf, -0.162, 1.241, 3.163, 0, 180, 0, [SEP] 47, Blinds, -2.550, 2.486, 2.911, 0, 90, 0, [SEP] 48, Blinds, -2.550, 2.486, 4.107, 0, 90, 0, [SEP] 49, Drawer, -0.833, 0.217, -0.336, 0, 90, 0, [SEP] 50, Drawer, -0.833, 0.217, 0.486, 0, 90, 0, [SEP] 51, Drawer, -0.833, 0.628, -0.747, 0, 90, 0, [SEP] 52, Drawer, -0.833, 0.217, 0.075, 0, 90, 0, [SEP] 53, Drawer, -0.833, 0.628, 0.486, 0, 90, 0, [SEP] 54, Drawer, -0.833, 0.217, -0.747, 0, 90, 0, [SEP] 55, Drawer, -0.833, 0.423, -0.336, 0, 90, 0, [SEP] 56, Drawer, -0.833, 0.423, 0.075, 0, 90, 0, [SEP] 57, Drawer, -0.833, 0.423, 0.486, 0, 90, 0, [SEP] 58, Drawer, -0.833, 0.423, -0.747, 0, 90, 0, [SEP] 59, Dresser, -0.934, 0.050, -0.129, 0, 90, 0, [SEP] 60, Drawer, -0.833, 0.628, 0.075, 0, 90, 0, [SEP] 61, Drawer, -0.833, 0.628, -0.336, 0, 90, 0, [SEP] 62, Drawer, 3.454, 0.212, 1.262, 0, 180, 0, [SEP] 63, SideTable, 3.455, 0.046, 1.328, 0, 180, 0, [SEP] 64, Drawer, 3.454, 0.504, 1.262, 0, 180, 0, [SEP] 65, NorthWall, , , , , , , [SEP] 66, EastWall, , , , , , , [SEP] 67, SouthWall, , , , , , , [SEP] 68, WestWall, , , , , , , ", "output": ["STEP 1: turn around and walk over to tall cabinet near the opposite corner of the room | STEP 2: grab the pen off of the cabinet | STEP 3: turn around and walk over to the dresser on the left side of the bed | STEP 4: put the pen inside the drawer second to the left of the top row | STEP 5: turn around and move over to the dresser at the foot of the bed | STEP 6: grab a pen off of the top of the dresser | STEP 7: move to the right and maneuver back over to the dresser ahead | STEP 8: place the pen in the same drawer the other pen was placed | END"]} {"id": "trial_T20190912_012111_529445-2", "input": "Place two pens inside of 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, 0.949, -1.5, 0, 90, 0, [SEP] 1, Vase, 2.803, 0.993, -2.125, 0, 270, 0, 38 [SEP] 2, CellPhone, 0.024, 0.784, 3.170, 0, 180, 0, 45 [SEP] 3, CellPhone, 2.710, 0.610, -0.172, 0, 0, 0, 23 [SEP] 4, Pen, 0.024, 0.789, 3.088, 0, 180, 0, 45 [SEP] 5, Pencil, 1.950, 0.989, -1.862, 0, 270, 0, 38 [SEP] 6, Pencil, 3.455, 0.727, 1.262, 0, 180, 0, 63 [SEP] 7, CreditCard, 3.377, 0.723, 1.533, 0, 180, 0, 63 [SEP] 8, CreditCard, 3.087, 0.985, -2.037, 0, 270, 0, 38 [SEP] 9, Book, 2.710, 0.610, 0.790, 0, 0, 0, 23 [SEP] 10, Book, 2.217, 0.610, 0.068, 0, 0, 0, 23 [SEP] 11, KeyChain, 0.091, 0.477, 3.192, 0, 90, 0, 44 [SEP] 12, CreditCard, 3.300, 0.723, 1.397, 0, 180, 0, 63 [SEP] 13, Pen, 2.234, 0.990, -1.687, 0, 0, 0, 38 [SEP] 14, Pencil, 3.455, 0.727, 1.488, 0, 180, 0, 63 [SEP] 15, Laptop, -0.904, 0.783, 0.081, 0, 0, 0, 59 [SEP] 16, Vase, 2.614, 0.185, -1.950, 0, 270, 0, 40 [SEP] 17, AlarmClock, -0.069, 1.109, 3.171, 0, 180, 0, 46 [SEP] 18, Pillow, 2.533, 0.631, 1.264, 0, 0, 0, 23 [SEP] 19, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 23 [SEP] 20, CellPhone, 2.052, 0.610, 0.308, 0, 0, 0, 23 [SEP] 21, CD, 3.300, 0.723, 1.307, 0, 180, 0, 63 [SEP] 22, Vase, 2.519, 0.989, -2.037, 0, 270, 0, 38 [SEP] 23, Bed, 2.217, 0.050, 0.585, 0, 0, 0, [SEP] 24, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0, [SEP] 25, Painting, 2.990, 1.592, 1.567, 90, 0, 0, [SEP] 26, Painting, 1.524, 1.592, 1.567, 90, 0, 0, [SEP] 27, Mirror, -1.190, 1.417, -0.223, 0, 270, 0, [SEP] 28, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0, [SEP] 29, Window, -2.629, 1.460, 2.891, 90, 270, 0, [SEP] 30, Window, -2.629, 1.460, 4.084, 90, 270, 0, [SEP] 31, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0, [SEP] 32, Drawer, 2.490, 0.949, -1.703, 0, 0, 0, [SEP] 33, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0, [SEP] 34, Drawer, 1.975, 0.949, -1.703, 0, 0, 0, [SEP] 35, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0, [SEP] 36, Drawer, 1.457, 0.949, -1.703, 0, 0, 0, [SEP] 37, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0, [SEP] 38, Dresser, 2.234, 0.048, -1.950, 0, 0, 0, [SEP] 39, Drawer, 3.011, 0.949, -1.703, 0, 0, 0, [SEP] 40, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0, [SEP] 41, Shelf, -0.163, 1.461, 3.219, 0, 180, 0, [SEP] 42, Drawer, -0.161, 0.242, 3.166, 0, 180, 0, [SEP] 43, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0, [SEP] 44, Drawer, -0.161, 0.562, 3.168, 0, 180, 0, [SEP] 45, Shelf, -0.162, 0.922, 3.164, 0, 180, 0, [SEP] 46, Shelf, -0.162, 1.241, 3.163, 0, 180, 0, [SEP] 47, Blinds, -2.550, 2.486, 2.911, 0, 90, 0, [SEP] 48, Blinds, -2.550, 2.486, 4.107, 0, 90, 0, [SEP] 49, Drawer, -0.833, 0.217, -0.336, 0, 90, 0, [SEP] 50, Drawer, -0.833, 0.217, 0.486, 0, 90, 0, [SEP] 51, Drawer, -0.833, 0.628, -0.747, 0, 90, 0, [SEP] 52, Drawer, -0.833, 0.217, 0.075, 0, 90, 0, [SEP] 53, Drawer, -0.833, 0.628, 0.486, 0, 90, 0, [SEP] 54, Drawer, -0.833, 0.217, -0.747, 0, 90, 0, [SEP] 55, Drawer, -0.833, 0.423, -0.336, 0, 90, 0, [SEP] 56, Drawer, -0.833, 0.423, 0.075, 0, 90, 0, [SEP] 57, Drawer, -0.833, 0.423, 0.486, 0, 90, 0, [SEP] 58, Drawer, -0.833, 0.423, -0.747, 0, 90, 0, [SEP] 59, Dresser, -0.934, 0.050, -0.129, 0, 90, 0, [SEP] 60, Drawer, -0.833, 0.628, 0.075, 0, 90, 0, [SEP] 61, Drawer, -0.833, 0.628, -0.336, 0, 90, 0, [SEP] 62, Drawer, 3.454, 0.212, 1.262, 0, 180, 0, [SEP] 63, SideTable, 3.455, 0.046, 1.328, 0, 180, 0, [SEP] 64, Drawer, 3.454, 0.504, 1.262, 0, 180, 0, [SEP] 65, NorthWall, , , , , , , [SEP] 66, EastWall, , , , , , , [SEP] 67, SouthWall, , , , , , , [SEP] 68, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the shelves | STEP 2: Pick up the pen from the shelf | STEP 3: Walk to the drawers | STEP 4: Open a drawer and place the pen inside | STEP 5: Close the drawer and walk to the dresser | STEP 6: Pick up a pen from the dresser | STEP 7: Walk to the drawers | STEP 8: Open the same drawer and place the pen inside | END"]} {"id": "trial_T20190909_042124_419116-0", "input": "Put a cleaned fork in a drawer left of the stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 0.5, 0, 270, 0, [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 85 [SEP] 2, Potato, 2.591, 1.323, -0.447, 0, 0, 0, 102 [SEP] 3, Potato, 0.363, 1.819, 1.488, 0, 180, 0, 105 [SEP] 4, DishSponge, 1.209, 0.770, 1.122, 0, 0, 0, 92 [SEP] 5, Kettle, 1.134, 1.655, -0.811, 0, 180, 0, 49 [SEP] 6, Kettle, 2.488, 0.912, 1.214, 0, 0, 0, 82 [SEP] 7, Pot, 2.221, 0.915, 1.129, 0, 0, 0, 82 [SEP] 8, Spoon, -0.055, 0.912, 1.214, 0, 0, 0, 58 [SEP] 9, Spoon, -0.087, 0.766, -0.651, 0, 0, 0, 104 [SEP] 10, Fork, 1.955, 0.912, 1.383, 0, 0, 0, 82 [SEP] 11, Fork, 2.280, 0.772, 1.122, 0, 90, 0, 63 [SEP] 12, Spatula, 1.422, 0.926, 1.383, 0, 0, 0, 82 [SEP] 13, Spatula, -0.103, 0.926, 1.299, 0, 90, 0, 58 [SEP] 14, Cup, 2.777, 1.016, -0.578, 0, 0, 0, 102 [SEP] 15, Egg, 0.263, 0.803, -0.707, 0, 0, 0, 104 [SEP] 16, Knife, -0.151, 0.944, 1.383, 0, 270, 0, 58 [SEP] 17, Knife, -0.246, 0.944, 1.383, 0, 270, 0, 58 [SEP] 18, SoapBottle, 1.649, 0.917, -0.345, 0, 0, 0, 47 [SEP] 19, Bowl, 2.154, 1.652, 1.508, 0, 0, 0, 71 [SEP] 20, Bowl, 1.688, 0.909, 1.468, 0, 0, 0, 82 [SEP] 21, SaltShaker, -1.056, 0.817, -1.360, 0, 90, 0, 106 [SEP] 22, PepperShaker, -0.911, 0.817, -1.360, 0, 90, 0, 106 [SEP] 23, PepperShaker, 2.449, 1.651, 1.390, 0, 0, 0, 72 [SEP] 24, SoapBottle, -0.621, 0.826, -1.360, 0, 90, 0, 106 [SEP] 25, Plate, 1.688, 0.914, 1.214, 0, 0, 0, 82 [SEP] 26, Fork, -1.056, 0.821, -1.308, 0, 90, 0, 106 [SEP] 27, Pot, 2.754, 0.915, 1.214, 0, 0, 0, 82 [SEP] 28, Bread, 0.888, 0.969, -0.769, 0, 0, 0, 47 [SEP] 29, Egg, 1.422, 0.949, 1.468, 0, 0, 0, 82 [SEP] 30, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 53 [SEP] 31, Tomato, 2.900, 1.050, -0.775, 0, 0, 0, 102 [SEP] 32, Cup, 0.415, 1.782, 1.391, 0, 180, 0, 105 [SEP] 33, Spatula, -0.983, 0.835, -1.206, 0, 180, 0, 106 [SEP] 34, Apple, 2.838, 1.632, -0.578, 0, 0, 0, 102 [SEP] 35, Pan, 1.155, 0.911, 1.129, 0, 0, 0, 82 [SEP] 36, Lettuce, 2.156, 0.992, -0.430, 0, 0, 0, 47 [SEP] 37, SaltShaker, -0.785, 0.817, -1.473, 0, 0, 0, 106 [SEP] 38, Knife, -0.694, 0.853, -1.257, 0, 90, 0, 106 [SEP] 39, Potato, 0.570, 1.819, 1.423, 0, 180, 0, 105 [SEP] 40, PepperShaker, -0.990, 0.817, -1.473, 0, 0, 0, 106 [SEP] 41, ButterKnife, 0.053, 0.765, -0.651, 0, 0, 0, 104 [SEP] 42, Bowl, 2.838, 0.724, -0.504, 0, 0, 0, 102 [SEP] 43, DishSponge, -2.019, 0.423, 1.290, 0, 270, 0, 100 [SEP] 44, Spoon, 0.053, 0.766, -0.596, 0, 0, 0, 104 [SEP] 45, Mug, 1.792, 0.110, 1.196, 0, 90, 0, 67 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 108, NorthWall, , , , , , , [SEP] 109, EastWall, , , , , , , [SEP] 110, SouthWall, , , , , , , [SEP] 111, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, move to the round table. | STEP 2: Pick up the fork on the table. | STEP 3: Turn around, go forward, turn right, go forward, turn right to face the sink. | STEP 4: Wash the fork in the sink. | STEP 5: Bring the cleaned fork to the drawer behind you, left of the stove. | STEP 6: Put the cleaned fork in the drawer left of the stove. | END"]} {"id": "trial_T20190909_042124_419116-2", "input": "Place a clean fork in a drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 0.5, 0, 270, 0, [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 85 [SEP] 2, Potato, 2.591, 1.323, -0.447, 0, 0, 0, 102 [SEP] 3, Potato, 0.363, 1.819, 1.488, 0, 180, 0, 105 [SEP] 4, DishSponge, 1.209, 0.770, 1.122, 0, 0, 0, 92 [SEP] 5, Kettle, 1.134, 1.655, -0.811, 0, 180, 0, 49 [SEP] 6, Kettle, 2.488, 0.912, 1.214, 0, 0, 0, 82 [SEP] 7, Pot, 2.221, 0.915, 1.129, 0, 0, 0, 82 [SEP] 8, Spoon, -0.055, 0.912, 1.214, 0, 0, 0, 58 [SEP] 9, Spoon, -0.087, 0.766, -0.651, 0, 0, 0, 104 [SEP] 10, Fork, 1.955, 0.912, 1.383, 0, 0, 0, 82 [SEP] 11, Fork, 2.280, 0.772, 1.122, 0, 90, 0, 63 [SEP] 12, Spatula, 1.422, 0.926, 1.383, 0, 0, 0, 82 [SEP] 13, Spatula, -0.103, 0.926, 1.299, 0, 90, 0, 58 [SEP] 14, Cup, 2.777, 1.016, -0.578, 0, 0, 0, 102 [SEP] 15, Egg, 0.263, 0.803, -0.707, 0, 0, 0, 104 [SEP] 16, Knife, -0.151, 0.944, 1.383, 0, 270, 0, 58 [SEP] 17, Knife, -0.246, 0.944, 1.383, 0, 270, 0, 58 [SEP] 18, SoapBottle, 1.649, 0.917, -0.345, 0, 0, 0, 47 [SEP] 19, Bowl, 2.154, 1.652, 1.508, 0, 0, 0, 71 [SEP] 20, Bowl, 1.688, 0.909, 1.468, 0, 0, 0, 82 [SEP] 21, SaltShaker, -1.056, 0.817, -1.360, 0, 90, 0, 106 [SEP] 22, PepperShaker, -0.911, 0.817, -1.360, 0, 90, 0, 106 [SEP] 23, PepperShaker, 2.449, 1.651, 1.390, 0, 0, 0, 72 [SEP] 24, SoapBottle, -0.621, 0.826, -1.360, 0, 90, 0, 106 [SEP] 25, Plate, 1.688, 0.914, 1.214, 0, 0, 0, 82 [SEP] 26, Fork, -1.056, 0.821, -1.308, 0, 90, 0, 106 [SEP] 27, Pot, 2.754, 0.915, 1.214, 0, 0, 0, 82 [SEP] 28, Bread, 0.888, 0.969, -0.769, 0, 0, 0, 47 [SEP] 29, Egg, 1.422, 0.949, 1.468, 0, 0, 0, 82 [SEP] 30, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 53 [SEP] 31, Tomato, 2.900, 1.050, -0.775, 0, 0, 0, 102 [SEP] 32, Cup, 0.415, 1.782, 1.391, 0, 180, 0, 105 [SEP] 33, Spatula, -0.983, 0.835, -1.206, 0, 180, 0, 106 [SEP] 34, Apple, 2.838, 1.632, -0.578, 0, 0, 0, 102 [SEP] 35, Pan, 1.155, 0.911, 1.129, 0, 0, 0, 82 [SEP] 36, Lettuce, 2.156, 0.992, -0.430, 0, 0, 0, 47 [SEP] 37, SaltShaker, -0.785, 0.817, -1.473, 0, 0, 0, 106 [SEP] 38, Knife, -0.694, 0.853, -1.257, 0, 90, 0, 106 [SEP] 39, Potato, 0.570, 1.819, 1.423, 0, 180, 0, 105 [SEP] 40, PepperShaker, -0.990, 0.817, -1.473, 0, 0, 0, 106 [SEP] 41, ButterKnife, 0.053, 0.765, -0.651, 0, 0, 0, 104 [SEP] 42, Bowl, 2.838, 0.724, -0.504, 0, 0, 0, 102 [SEP] 43, DishSponge, -2.019, 0.423, 1.290, 0, 270, 0, 100 [SEP] 44, Spoon, 0.053, 0.766, -0.596, 0, 0, 0, 104 [SEP] 45, Mug, 1.792, 0.110, 1.196, 0, 90, 0, 67 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 108, NorthWall, , , , , , , [SEP] 109, EastWall, , , , , , , [SEP] 110, SouthWall, , , , , , , [SEP] 111, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the table. | STEP 2: Pick up the fork on the able. | STEP 3: Turn around and walk around the side of the counter to the front of the sink. | STEP 4: Rinse off the fork in the sink. | STEP 5: Turn around and walk to the counter to the left of the stove. | STEP 6: Place the fork in the drawer under the counter. | END"]} {"id": "trial_T20190906_184817_053664-2", "input": "place a microwaved cup 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, -0.75, 0.900, -0.25, 0, 0, 0, [SEP] 1, Pan, 1.422, 0.911, 1.129, 0, 0, 0, 83 [SEP] 2, Potato, 1.955, 0.946, 1.044, 0, 0, 0, 83 [SEP] 3, DishSponge, 2.217, 0.770, 1.083, 0, 0, 0, 79 [SEP] 4, Kettle, 1.525, 0.115, 1.156, 0, 0, 0, 77 [SEP] 5, Pot, 2.777, 1.022, -0.775, 0, 0, 0, 103 [SEP] 6, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 54 [SEP] 7, Spoon, -0.785, 0.822, -1.255, 0, 180, 0, 107 [SEP] 8, Spatula, -0.734, 0.835, -1.255, 0, 90, 0, 107 [SEP] 9, Spatula, -0.007, 0.926, 1.468, 0, 270, 0, 59 [SEP] 10, Plate, 2.715, 1.566, -0.578, 0, 0, 0, 103 [SEP] 11, Plate, 0.759, 2.156, 1.468, 0, 0, 0, 57 [SEP] 12, Cup, 2.962, 1.016, -0.578, 0, 0, 0, 103 [SEP] 13, Egg, -1.056, 0.858, -1.411, 0, 90, 0, 107 [SEP] 14, Knife, -0.983, 0.853, -1.206, 0, 270, 0, 107 [SEP] 15, Knife, 1.955, 0.944, 1.214, 0, 0, 0, 83 [SEP] 16, SoapBottle, -1.962, 0.429, 1.417, 0, 270, 0, 101 [SEP] 17, Bowl, 1.688, 0.909, 1.383, 0, 0, 0, 83 [SEP] 18, SaltShaker, 0.888, 0.908, -0.6, 0, 0, 0, 48 [SEP] 19, PepperShaker, 1.102, 0.111, 1.196, 0, 0, 0, 77 [SEP] 20, Lettuce, -0.734, 0.901, -1.400, 0, 0, 0, 107 [SEP] 21, Lettuce, -0.103, 0.992, 1.214, 0, 90, 0, 59 [SEP] 22, Mug, 2.777, 0.721, -0.565, 0, 0, 0, 103 [SEP] 23, Apple, 2.754, 0.980, 1.468, 0, 0, 0, 83 [SEP] 24, Apple, 0.193, 0.834, -0.762, 0, 0, 0, 105 [SEP] 25, SoapBottle, 1.524, 1.660, 1.432, 0, 0, 0, 71 [SEP] 26, Plate, 2.488, 0.914, 1.299, 0, 0, 0, 83 [SEP] 27, Fork, 1.799, 0.771, 1.198, 0, 270, 0, 81 [SEP] 28, Pot, 1.955, 0.915, 1.468, 0, 0, 0, 83 [SEP] 29, Bread, 0.634, 0.969, -0.515, 0, 0, 0, 48 [SEP] 30, Egg, 2.591, 1.601, -0.775, 0, 0, 0, 103 [SEP] 31, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 48 [SEP] 32, Tomato, 2.777, 1.050, -0.447, 0, 0, 0, 103 [SEP] 33, Cup, 1.102, 0.112, 1.077, 0, 0, 0, 55 [SEP] 34, Spatula, 0.251, 0.926, -0.330, 0, 0, 0, 48 [SEP] 35, Apple, -0.103, 0.980, 1.468, 0, 0, 0, 59 [SEP] 36, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 51 [SEP] 37, Lettuce, 1.155, 0.992, 1.383, 0, 0, 0, 83 [SEP] 38, SaltShaker, -0.621, 0.817, -1.257, 0, 90, 0, 107 [SEP] 39, Knife, -0.836, 0.853, -1.473, 0, 0, 0, 107 [SEP] 40, Potato, 0.053, 0.800, -0.651, 0, 0, 0, 105 [SEP] 41, PepperShaker, 2.754, 0.908, 1.129, 0, 0, 0, 83 [SEP] 42, ButterKnife, 2.156, 0.911, -0.515, 0, 0, 0, 48 [SEP] 43, Bowl, 2.715, 1.286, -0.644, 0, 0, 0, 103 [SEP] 44, DishSponge, 1.155, 0.911, 1.044, 0, 0, 0, 83 [SEP] 45, Spoon, 2.488, 0.912, 1.044, 0, 0, 0, 83 [SEP] 46, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 48 [SEP] 47, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 48, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 49, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 50, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 51, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 53, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 54, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 55, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 56, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 57, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 58, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 59, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 60, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 61, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 62, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 63, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 64, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 66, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 67, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 68, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 69, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 70, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 71, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 79, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 81, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 83, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 84, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 85, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 86, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 87, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 88, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 89, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 90, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 91, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 92, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 93, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 94, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 95, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 99, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 100, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 101, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 102, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 103, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 104, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 105, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 106, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 107, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 108, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 109, NorthWall, , , , , , , [SEP] 110, EastWall, , , , , , , [SEP] 111, SouthWall, , , , , , , [SEP] 112, WestWall, , , , , , , ", "output": ["STEP 1: walk over to the kitchen counter to the right of the stove | STEP 2: grab a cup from the cabinet underneath the counter | STEP 3: turn around and walk over to the kitchen stove | STEP 4: place the cup in the microwave above the kitchen stove, turn it on, and when it's done take it out | STEP 5: turn around and face the cabinets behind you | STEP 6: put the cup in the upper cabinet on the left | END"]} {"id": "trial_T20190907_002937_112931-1", "input": "Put the cooked tomato slice in the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 0.0, 0, 270, 0, [SEP] 1, Pan, 1.141, 0.911, -0.430, 0, 0, 0, 49 [SEP] 2, Potato, 0.053, 0.800, -0.596, 0, 0, 0, 106 [SEP] 3, Potato, 0.193, 0.800, -0.541, 0, 0, 0, 106 [SEP] 4, DishSponge, 0.634, 0.911, -0.345, 0, 0, 0, 49 [SEP] 5, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 55 [SEP] 6, Spoon, 1.862, 0.773, 1.122, 0, 0, 0, 82 [SEP] 7, Spoon, 0.888, 0.912, -0.6, 0, 0, 0, 49 [SEP] 8, Fork, 1.276, 0.771, -0.498, 0, 90, 0, 68 [SEP] 9, Fork, 1.524, 0.772, -0.422, 0, 270, 0, 79 [SEP] 10, Spatula, 1.422, 0.926, 1.129, 0, 0, 0, 84 [SEP] 11, Spatula, 2.488, 0.926, 1.129, 0, 0, 0, 84 [SEP] 12, Egg, -1.056, 0.858, -1.103, 0, 90, 0, 108 [SEP] 13, Egg, 2.653, 0.762, -0.473, 0, 0, 0, 104 [SEP] 14, Knife, -0.836, 0.853, -1.328, 0, 270, 0, 108 [SEP] 15, Knife, 0.193, 0.798, -0.651, 0, 0, 0, 106 [SEP] 16, Tomato, 0.152, 0.942, -0.316, 0, 0, 0, 49 [SEP] 17, SaltShaker, -0.766, 0.817, -1.360, 0, 90, 0, 108 [SEP] 18, PepperShaker, -0.694, 0.817, -1.411, 0, 90, 0, 108 [SEP] 19, PepperShaker, -0.682, 0.817, -1.183, 0, 0, 0, 108 [SEP] 20, Bread, -0.246, 0.969, 1.383, 0, 0, 0, 60 [SEP] 21, Lettuce, -0.983, 0.901, -1.360, 0, 90, 0, 108 [SEP] 22, Lettuce, 2.488, 0.992, 1.383, 0, 0, 0, 84 [SEP] 23, Mug, 3.381, 0.835, -0.485, 0, 270, 0, 104 [SEP] 24, Apple, 2.900, 1.632, -0.578, 0, 0, 0, 104 [SEP] 25, Apple, -0.103, 0.980, 1.044, 0, 0, 0, 60 [SEP] 26, SoapBottle, 1.955, 0.917, 1.553, 0, 0, 0, 84 [SEP] 27, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 49 [SEP] 28, Fork, -0.091, 0.772, 1.122, 0, 90, 0, 54 [SEP] 29, Pot, 1.955, 0.915, 1.299, 0, 0, 0, 84 [SEP] 30, Bread, 2.777, 1.346, -0.709, 0, 0, 0, 104 [SEP] 31, Egg, 0.054, 0.949, -0.330, 0, 0, 0, 49 [SEP] 32, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 49 [SEP] 33, Tomato, -0.157, 0.797, -0.651, 0, 0, 0, 106 [SEP] 34, Cup, 2.962, 0.723, -0.473, 0, 0, 0, 104 [SEP] 35, Spatula, -1.056, 0.835, -1.155, 0, 270, 0, 108 [SEP] 36, Apple, 1.902, 0.980, -0.430, 0, 0, 0, 49 [SEP] 37, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 52 [SEP] 38, Lettuce, 2.838, 1.099, -0.644, 0, 0, 0, 104 [SEP] 39, SaltShaker, -0.055, 0.908, 1.383, 0, 0, 0, 60 [SEP] 40, Knife, 1.688, 0.944, 1.214, 0, 0, 0, 84 [SEP] 41, Potato, 0.466, 1.819, 1.391, 0, 180, 0, 107 [SEP] 42, PepperShaker, -0.103, 0.908, 1.214, 0, 0, 0, 60 [SEP] 43, ButterKnife, 2.754, 0.911, 1.044, 0, 0, 0, 84 [SEP] 44, Bowl, 0.548, 1.652, -0.735, 0, 180, 0, 88 [SEP] 45, DishSponge, -1.991, 0.423, 1.332, 0, 270, 0, 102 [SEP] 46, Spoon, 2.221, 0.912, 1.299, 0, 0, 0, 84 [SEP] 47, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 49 [SEP] 48, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 49, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 50, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 51, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 52, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 53, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 54, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 55, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 56, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 57, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 58, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 59, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 60, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 61, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 62, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 63, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 64, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 65, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 67, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 68, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 69, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 70, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 71, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 72, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 77, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 79, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 80, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 82, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 84, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 85, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 86, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 87, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 88, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 89, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 90, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 91, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 92, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 93, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 94, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 95, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 96, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 99, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 100, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 101, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 102, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 103, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 104, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 105, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 106, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 107, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 108, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 109, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 110, NorthWall, , , , , , , [SEP] 111, EastWall, , , , , , , [SEP] 112, SouthWall, , , , , , , [SEP] 113, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the kitchen sink | STEP 2: Pick up the knife from the kitchen sink | STEP 3: Turn and move slightly to the right side of the sink | STEP 4: Use the knife to slice the red tomato in the sink | STEP 5: Put the knife down in the kitchen sink | STEP 6: Pick up a slice of tomato from the sink | STEP 7: Turn around and approach the microwave above the stove | STEP 8: Cook the tomato in the microwave and remove it | STEP 9: Turn right and walk through the kitchen to the fridge | STEP 10: Put the tomato slice in the fridge in front of the drinking glass | END"]} {"id": "trial_T20190907_002937_112931-2", "input": "Get a slice of tomato into the microwave, next cool it in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 0.0, 0, 270, 0, [SEP] 1, Pan, 1.141, 0.911, -0.430, 0, 0, 0, 49 [SEP] 2, Potato, 0.053, 0.800, -0.596, 0, 0, 0, 106 [SEP] 3, Potato, 0.193, 0.800, -0.541, 0, 0, 0, 106 [SEP] 4, DishSponge, 0.634, 0.911, -0.345, 0, 0, 0, 49 [SEP] 5, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 55 [SEP] 6, Spoon, 1.862, 0.773, 1.122, 0, 0, 0, 82 [SEP] 7, Spoon, 0.888, 0.912, -0.6, 0, 0, 0, 49 [SEP] 8, Fork, 1.276, 0.771, -0.498, 0, 90, 0, 68 [SEP] 9, Fork, 1.524, 0.772, -0.422, 0, 270, 0, 79 [SEP] 10, Spatula, 1.422, 0.926, 1.129, 0, 0, 0, 84 [SEP] 11, Spatula, 2.488, 0.926, 1.129, 0, 0, 0, 84 [SEP] 12, Egg, -1.056, 0.858, -1.103, 0, 90, 0, 108 [SEP] 13, Egg, 2.653, 0.762, -0.473, 0, 0, 0, 104 [SEP] 14, Knife, -0.836, 0.853, -1.328, 0, 270, 0, 108 [SEP] 15, Knife, 0.193, 0.798, -0.651, 0, 0, 0, 106 [SEP] 16, Tomato, 0.152, 0.942, -0.316, 0, 0, 0, 49 [SEP] 17, SaltShaker, -0.766, 0.817, -1.360, 0, 90, 0, 108 [SEP] 18, PepperShaker, -0.694, 0.817, -1.411, 0, 90, 0, 108 [SEP] 19, PepperShaker, -0.682, 0.817, -1.183, 0, 0, 0, 108 [SEP] 20, Bread, -0.246, 0.969, 1.383, 0, 0, 0, 60 [SEP] 21, Lettuce, -0.983, 0.901, -1.360, 0, 90, 0, 108 [SEP] 22, Lettuce, 2.488, 0.992, 1.383, 0, 0, 0, 84 [SEP] 23, Mug, 3.381, 0.835, -0.485, 0, 270, 0, 104 [SEP] 24, Apple, 2.900, 1.632, -0.578, 0, 0, 0, 104 [SEP] 25, Apple, -0.103, 0.980, 1.044, 0, 0, 0, 60 [SEP] 26, SoapBottle, 1.955, 0.917, 1.553, 0, 0, 0, 84 [SEP] 27, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 49 [SEP] 28, Fork, -0.091, 0.772, 1.122, 0, 90, 0, 54 [SEP] 29, Pot, 1.955, 0.915, 1.299, 0, 0, 0, 84 [SEP] 30, Bread, 2.777, 1.346, -0.709, 0, 0, 0, 104 [SEP] 31, Egg, 0.054, 0.949, -0.330, 0, 0, 0, 49 [SEP] 32, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 49 [SEP] 33, Tomato, -0.157, 0.797, -0.651, 0, 0, 0, 106 [SEP] 34, Cup, 2.962, 0.723, -0.473, 0, 0, 0, 104 [SEP] 35, Spatula, -1.056, 0.835, -1.155, 0, 270, 0, 108 [SEP] 36, Apple, 1.902, 0.980, -0.430, 0, 0, 0, 49 [SEP] 37, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 52 [SEP] 38, Lettuce, 2.838, 1.099, -0.644, 0, 0, 0, 104 [SEP] 39, SaltShaker, -0.055, 0.908, 1.383, 0, 0, 0, 60 [SEP] 40, Knife, 1.688, 0.944, 1.214, 0, 0, 0, 84 [SEP] 41, Potato, 0.466, 1.819, 1.391, 0, 180, 0, 107 [SEP] 42, PepperShaker, -0.103, 0.908, 1.214, 0, 0, 0, 60 [SEP] 43, ButterKnife, 2.754, 0.911, 1.044, 0, 0, 0, 84 [SEP] 44, Bowl, 0.548, 1.652, -0.735, 0, 180, 0, 88 [SEP] 45, DishSponge, -1.991, 0.423, 1.332, 0, 270, 0, 102 [SEP] 46, Spoon, 2.221, 0.912, 1.299, 0, 0, 0, 84 [SEP] 47, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 49 [SEP] 48, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 49, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 50, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 51, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 52, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 53, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 54, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 55, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 56, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 57, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 58, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 59, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 60, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 61, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 62, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 63, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 64, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 65, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 67, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 68, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 69, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 70, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 71, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 72, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 77, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 79, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 80, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 82, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 84, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 85, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 86, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 87, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 88, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 89, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 90, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 91, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 92, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 93, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 94, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 95, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 96, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 99, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 100, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 101, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 102, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 103, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 104, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 105, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 106, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 107, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 108, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 109, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 110, NorthWall, , , , , , , [SEP] 111, EastWall, , , , , , , [SEP] 112, SouthWall, , , , , , , [SEP] 113, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left and walk towards the sink, turn to face the sink | STEP 2: Pick up the knife out of the sink | STEP 3: Go to the other side of the sink with the knife | STEP 4: Put the knife back in the sink | STEP 5: Pick up a slice of tomato | STEP 6: Turn towards the left while holding the tomato | STEP 7: Turn left then right then left again and go on toward the microwave | STEP 8: Put the tomato in the microwave and turn it on for a few seconds, then take it out | STEP 9: Turn right and walk to the fridge | STEP 10: Open the fridge, put the tomato in it and close the door | END"]} {"id": "trial_T20190911_002050_142268-2", "input": "place two pencil's down on top of the desk in the corner of the room SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.909, -4.25, 0, 0, 0, [SEP] 1, Mug, -3.466, 0.979, -4.075, 0, 0, 0, 43 [SEP] 2, Mug, -3.687, 0.977, -3.472, 0, 0, 0, 43 [SEP] 3, CD, -0.862, 0.799, -4.137, 0, 0, 0, 40 [SEP] 4, CD, -3.613, 0.979, -4.075, 0, 0, 0, 43 [SEP] 5, Pen, -0.862, 0.809, -3.703, 0, 90, 0, 40 [SEP] 6, Pencil, -3.908, 0.984, -3.874, 0, 0, 0, 43 [SEP] 7, KeyChain, -0.657, 0.800, -3.920, 0, 0, 0, 40 [SEP] 8, Book, -3.834, 0.981, -3.271, 0, 0, 0, 43 [SEP] 9, Book, -3.613, 0.980, -3.070, 0, 0, 0, 43 [SEP] 10, Laptop, -2.770, 0.618, -1.793, 0, 0, 0, 25 [SEP] 11, AlarmClock, -1.066, 0.803, -3.703, 0, 0, 0, 40 [SEP] 12, Book, -0.657, 0.804, -4.246, 0, 0, 0, 40 [SEP] 13, CellPhone, -0.502, 0.030, -3.844, 0, 0, 0, 32 [SEP] 14, Laptop, -2.981, 0.618, -1.218, 0, 0, 0, 25 [SEP] 15, CreditCard, -3.539, 0.979, -3.472, 0, 0, 0, 43 [SEP] 16, AlarmClock, -3.613, 0.981, -3.673, 0, 0, 0, 43 [SEP] 17, KeyChain, -3.760, 0.982, -3.673, 0, 0, 0, 43 [SEP] 18, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 25 [SEP] 19, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 20, Pencil, -3.834, 0.983, -3.070, 0, 0, 0, 43 [SEP] 21, Pillow, -3.402, 0.722, -1.793, 0, 0, 0, 25 [SEP] 22, CD, -3.687, 0.979, -3.271, 0, 0, 0, 43 [SEP] 23, Pen, -0.249, 0.805, -3.703, 0, 0, 0, 40 [SEP] 24, Mug, -0.685, 0.541, -3.713, 0, 0, 0, 34 [SEP] 25, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 26, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 27, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 28, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 29, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 30, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 31, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 32, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 33, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 34, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 35, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 36, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 37, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 38, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 39, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 40, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 41, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 42, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 43, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 51, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: move forwards to the foot of the bed, then turn left to face the cabinet to the left | STEP 2: grab the pencil off of the top of the cabinet there | STEP 3: turn around and walk to the desk on the right side corner at the end of the room | STEP 4: place the pencil down on top of the desk there | STEP 5: turn right and walk back over to the cabinet at the foot of the bed again | STEP 6: grab a pencil off of the cabinet | STEP 7: turn around and walk to the desk on the right side corner of the end of the room | STEP 8: place the pencil down on top of the desk | END"]} {"id": "trial_T20190907_084623_989691-0", "input": "put the two candles on the vanity in the bottom right 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, 180, 0, [SEP] 1, TissueBox, -1.561, 0.069, 2.857, 0, 0, 0, 22 [SEP] 2, Cloth, -1.284, 0.994, 3.873, 0, 0, 0, 29 [SEP] 3, Cloth, -1.501, 0.068, 3.743, 0, 0, 0, 30 [SEP] 4, Candle, -1.613, 0.994, 2.863, 0, 0, 0, 29 [SEP] 5, Candle, -1.547, 0.994, 2.148, 0, 0, 0, 29 [SEP] 6, SoapBottle, -1.560, 0.067, 3.176, 0, 0, 0, 28 [SEP] 7, SoapBottle, -1.379, 0.067, 2.240, 0, 0, 0, 24 [SEP] 8, ToiletPaper, -1.560, 0.064, 2.290, 0, 0, 0, 24 [SEP] 9, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 31 [SEP] 10, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 33 [SEP] 11, SoapBar, -1.294, 1.018, 3.509, 0, 90, 0, 42 [SEP] 12, ToiletPaper, -1.219, 0.991, 2.178, 0, 0, 0, 29 [SEP] 13, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 14, Candle, -1.547, 0.994, 3.812, 0, 0, 0, 29 [SEP] 15, TissueBox, -1.307, 0.984, 3.185, 0, 0, 0, 29 [SEP] 16, SoapBottle, 0.313, 0.046, 3.838, 0, 0, 0, 32 [SEP] 17, ToiletPaper, -1.382, 0.065, 3.743, 0, 0, 0, 30 [SEP] 18, SprayBottle, -1.416, 0.995, 3.041, 0, 0, 0, 29 [SEP] 19, Cloth, 0.356, 0.885, 1.8, 0, 85.370, 0, Floor|-01.72| [SEP] 20, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 21, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 22, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 23, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 24, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 25, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 26, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 27, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 28, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 29, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 30, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 31, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 32, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 33, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 34, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 35, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 36, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 37, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 38, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 39, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 40, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 41, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 42, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 43, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: turn right to the vanity | STEP 2: grab the candle on the vanity | STEP 3: turn around, turn around | STEP 4: open the bottom right cabinet, put the candle in, close the cabinet | STEP 5: walk to the right a little | STEP 6: grab the candle on the vanity | STEP 7: turn around, turn around | STEP 8: open the bottom right cabinet, put the candle in, close the cabinet | END"]} {"id": "trial_T20190907_084623_989691-2", "input": "Put two candle holders 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, -0.75, 0.901, 2.75, 0, 180, 0, [SEP] 1, TissueBox, -1.561, 0.069, 2.857, 0, 0, 0, 22 [SEP] 2, Cloth, -1.284, 0.994, 3.873, 0, 0, 0, 29 [SEP] 3, Cloth, -1.501, 0.068, 3.743, 0, 0, 0, 30 [SEP] 4, Candle, -1.613, 0.994, 2.863, 0, 0, 0, 29 [SEP] 5, Candle, -1.547, 0.994, 2.148, 0, 0, 0, 29 [SEP] 6, SoapBottle, -1.560, 0.067, 3.176, 0, 0, 0, 28 [SEP] 7, SoapBottle, -1.379, 0.067, 2.240, 0, 0, 0, 24 [SEP] 8, ToiletPaper, -1.560, 0.064, 2.290, 0, 0, 0, 24 [SEP] 9, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 31 [SEP] 10, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 33 [SEP] 11, SoapBar, -1.294, 1.018, 3.509, 0, 90, 0, 42 [SEP] 12, ToiletPaper, -1.219, 0.991, 2.178, 0, 0, 0, 29 [SEP] 13, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 14, Candle, -1.547, 0.994, 3.812, 0, 0, 0, 29 [SEP] 15, TissueBox, -1.307, 0.984, 3.185, 0, 0, 0, 29 [SEP] 16, SoapBottle, 0.313, 0.046, 3.838, 0, 0, 0, 32 [SEP] 17, ToiletPaper, -1.382, 0.065, 3.743, 0, 0, 0, 30 [SEP] 18, SprayBottle, -1.416, 0.995, 3.041, 0, 0, 0, 29 [SEP] 19, Cloth, 0.356, 0.885, 1.8, 0, 85.370, 0, Floor|-01.72| [SEP] 20, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 21, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 22, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 23, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 24, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 25, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 26, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 27, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 28, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 29, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 30, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 31, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 32, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 33, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 34, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 35, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 36, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 37, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 38, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 39, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 40, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 41, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 42, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 43, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and go to the sink on the left. | STEP 2: Pick up a candle holder on the counter. | STEP 3: Turn and go to the cabinet under the sink on the right. | STEP 4: Put the candle holder in the cabinet | STEP 5: Turn and go to the sink on the right. | STEP 6: Pick up a candle holder on the counter. | STEP 7: Turn and go to the cabinet. | STEP 8: Put the candle holder in the cabinet under the sink. | END"]} {"id": "trial_T20190907_084623_989691-3", "input": "To move two candles to the cabinet below the sink on the right side. 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, 180, 0, [SEP] 1, TissueBox, -1.561, 0.069, 2.857, 0, 0, 0, 22 [SEP] 2, Cloth, -1.284, 0.994, 3.873, 0, 0, 0, 29 [SEP] 3, Cloth, -1.501, 0.068, 3.743, 0, 0, 0, 30 [SEP] 4, Candle, -1.613, 0.994, 2.863, 0, 0, 0, 29 [SEP] 5, Candle, -1.547, 0.994, 2.148, 0, 0, 0, 29 [SEP] 6, SoapBottle, -1.560, 0.067, 3.176, 0, 0, 0, 28 [SEP] 7, SoapBottle, -1.379, 0.067, 2.240, 0, 0, 0, 24 [SEP] 8, ToiletPaper, -1.560, 0.064, 2.290, 0, 0, 0, 24 [SEP] 9, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 31 [SEP] 10, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 33 [SEP] 11, SoapBar, -1.294, 1.018, 3.509, 0, 90, 0, 42 [SEP] 12, ToiletPaper, -1.219, 0.991, 2.178, 0, 0, 0, 29 [SEP] 13, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 14, Candle, -1.547, 0.994, 3.812, 0, 0, 0, 29 [SEP] 15, TissueBox, -1.307, 0.984, 3.185, 0, 0, 0, 29 [SEP] 16, SoapBottle, 0.313, 0.046, 3.838, 0, 0, 0, 32 [SEP] 17, ToiletPaper, -1.382, 0.065, 3.743, 0, 0, 0, 30 [SEP] 18, SprayBottle, -1.416, 0.995, 3.041, 0, 0, 0, 29 [SEP] 19, Cloth, 0.356, 0.885, 1.8, 0, 85.370, 0, Floor|-01.72| [SEP] 20, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 21, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 22, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 23, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 24, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 25, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 26, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 27, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 28, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 29, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 30, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 31, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 32, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 33, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 34, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 35, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 36, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 37, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 38, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 39, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 40, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 41, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 42, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 43, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, face the sink on the left side, look towards the back of the sink. | STEP 2: Pick up the candle to the right of the sink, and to the left of the spray bottle. | STEP 3: Look down at the cabinets below the sink on the right side. | STEP 4: Open the cabinet door all the way to the right, place the candle to the left of the lip stick, close the cabinet door. | STEP 5: Move to the front of the sink on the right side. | STEP 6: Pick up the candle to the right of the sink, and behind the rag. | STEP 7: Look down at the cabinets below the sink on the right side. | STEP 8: Open the cabinet door all the way to the right, place the candle in the cabinet and to the right of the first candle, close the cabinet door. | END"]} {"id": "trial_T20190907_084623_989691-4", "input": "Put two candles in the bottom, right cupboard, underneath the sink closest to the wall. 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, 180, 0, [SEP] 1, TissueBox, -1.561, 0.069, 2.857, 0, 0, 0, 22 [SEP] 2, Cloth, -1.284, 0.994, 3.873, 0, 0, 0, 29 [SEP] 3, Cloth, -1.501, 0.068, 3.743, 0, 0, 0, 30 [SEP] 4, Candle, -1.613, 0.994, 2.863, 0, 0, 0, 29 [SEP] 5, Candle, -1.547, 0.994, 2.148, 0, 0, 0, 29 [SEP] 6, SoapBottle, -1.560, 0.067, 3.176, 0, 0, 0, 28 [SEP] 7, SoapBottle, -1.379, 0.067, 2.240, 0, 0, 0, 24 [SEP] 8, ToiletPaper, -1.560, 0.064, 2.290, 0, 0, 0, 24 [SEP] 9, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 31 [SEP] 10, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 33 [SEP] 11, SoapBar, -1.294, 1.018, 3.509, 0, 90, 0, 42 [SEP] 12, ToiletPaper, -1.219, 0.991, 2.178, 0, 0, 0, 29 [SEP] 13, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 14, Candle, -1.547, 0.994, 3.812, 0, 0, 0, 29 [SEP] 15, TissueBox, -1.307, 0.984, 3.185, 0, 0, 0, 29 [SEP] 16, SoapBottle, 0.313, 0.046, 3.838, 0, 0, 0, 32 [SEP] 17, ToiletPaper, -1.382, 0.065, 3.743, 0, 0, 0, 30 [SEP] 18, SprayBottle, -1.416, 0.995, 3.041, 0, 0, 0, 29 [SEP] 19, Cloth, 0.356, 0.885, 1.8, 0, 85.370, 0, Floor|-01.72| [SEP] 20, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 21, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 22, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 23, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 24, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 25, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 26, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 27, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 28, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 29, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 30, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 31, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 32, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 33, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 34, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 35, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 36, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 37, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 38, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 39, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 40, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 41, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 42, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 43, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your right, towards the sink. | STEP 2: Pick up the candle that is on the counter, between the sink and the white spray bottle. | STEP 3: Step back from the sink, and to your right, so that you are standing in front of the sink closest to the wall. | STEP 4: Place the candle in the bottom, far right, cupboard, underneath the sink. | STEP 5: Walk back to the sink closest to the right wall. | STEP 6: Pick up the candle holder, on the counter, between the sink and the right wall. | STEP 7: Step back, away from the sink again, but still facing it. | STEP 8: Place the candle in the right, bottom cupboard, to the right of the one previously placed in there. | END"]} {"id": "trial_T20190907_114712_088303-2", "input": "Fill the pot with water from 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, 0.931, -0.75, 0, 90, 0, [SEP] 1, DishSponge, -1.339, 2.027, -1.627, 0, 0, 0, 52 [SEP] 2, DishSponge, 1.826, 0.122, 2.358, 0, 270, 0, 61 [SEP] 3, ButterKnife, 0.065, 1.043, 0.091, 0, 180, 0, 47 [SEP] 4, ButterKnife, 1.181, 1.043, 0.676, 0, 0, 0, 47 [SEP] 5, Kettle, 0.000, 1.057, -1.4, 0, 0, 0, 44 [SEP] 6, Fork, 0.542, 1.043, 0.415, 0, 90, 0, 47 [SEP] 7, Spoon, 0.682, 1.044, 0.589, 0, 0, 0, 47 [SEP] 8, Spatula, 0.657, 1.061, -1.118, 0, 0, 0, 45 [SEP] 9, Spatula, 1.015, 1.058, 0.632, 0, 0, 0, 47 [SEP] 10, Plate, 0.960, 1.577, -1.463, 0, 0, 0, 49 [SEP] 11, Plate, -1.349, 1.726, 2.063, 0, 90, 0, 60 [SEP] 12, Knife, 0.160, 1.069, 0.738, 0, 0, 0, 47 [SEP] 13, Knife, 0.255, 1.069, 0.199, 0, 0, 0, 47 [SEP] 14, Tomato, 1.238, 1.097, -1.397, 0, 0, 0, 45 [SEP] 15, Tomato, -0.030, 1.094, 0.630, 0, 0, 0, 47 [SEP] 16, SoapBottle, 1.612, 1.044, 0.199, 0, 270, 0, 47 [SEP] 17, SoapBottle, 0.892, 1.056, 0.281, 0, 90, 0, 43 [SEP] 18, Apple, 1.155, 1.090, -1.181, 0, 0, 0, 45 [SEP] 19, SoapBottle, 1.436, 0.205, -1.190, 0, 90, 0, 55 [SEP] 20, Apple, -1.145, 1.759, -1.362, 0, 0, 0, 59 [SEP] 21, Potato, -1.268, 2.001, 2.153, 0, 90, 0, 60 [SEP] 22, Fork, -0.346, 1.047, -1.181, 0, 0, 0, 45 [SEP] 23, Kettle, -1.183, 0.203, -1.555, 0, 0, 0, 53 [SEP] 24, Pan, 0.389, 1.053, -1.630, 0, 0, 0, 41 [SEP] 25, Tomato, 0.542, 1.094, 0.091, 0, 0, 0, 47 [SEP] 26, SaltShaker, 0.989, 1.041, -1.181, 0, 0, 0, 45 [SEP] 27, Egg, -1.047, 1.770, -1.269, 0, 0, 0, 59 [SEP] 28, Cup, 0.761, 1.053, 0.131, 0, 90, 0, 43 [SEP] 29, Spatula, -0.296, 1.053, -1.277, 0, 255.000, 0, 45 [SEP] 30, Knife, -0.517, 1.072, -1.289, 0, 0, 0, 45 [SEP] 31, Lettuce, 0.906, 1.106, -1.720, 0, 0, 0, 45 [SEP] 32, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 47 [SEP] 33, PepperShaker, 0.740, 1.041, -1.720, 0, 0, 0, 45 [SEP] 34, DishSponge, 0.712, 0.199, -1.484, 0, 0, 0, 56 [SEP] 35, Plate, -0.473, 1.577, -1.470, 0, 0, 0, 50 [SEP] 36, Bread, 0.405, 1.104, 0.353, 0, 337.138, 0, 47 [SEP] 37, Spoon, 0.160, 1.044, 0.630, 0, 270, 0, 47 [SEP] 38, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 48 [SEP] 39, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 63 [SEP] 40, Bowl, 1.588, 0.203, -1.335, 0, 0, 0, 55 [SEP] 41, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 42, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 43, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 44, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 45, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 46, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 47, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 48, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 49, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 50, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 51, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 52, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 53, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 54, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 55, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 56, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 57, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 58, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 59, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 60, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 61, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 62, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 63, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 64, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 65, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 66, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 69, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 70, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 71, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 72, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 73, NorthWall, , , , , , , [SEP] 74, EastWall, , , , , , , [SEP] 75, SouthWall, , , , , , , [SEP] 76, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the cupboard. | STEP 2: Take the pot out of the cupboard. | STEP 3: Turn around and go to the sink. | STEP 4: Fill the pot with water and take the pot out of the sink. | STEP 5: Turn and go to the counter by the stove. | STEP 6: Put the pot by the toaster on the counter. | END"]} {"id": "trial_T20190907_114712_088303-3", "input": "Place a bucket filled with water in front of the toaster 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, 0.931, -0.75, 0, 90, 0, [SEP] 1, DishSponge, -1.339, 2.027, -1.627, 0, 0, 0, 52 [SEP] 2, DishSponge, 1.826, 0.122, 2.358, 0, 270, 0, 61 [SEP] 3, ButterKnife, 0.065, 1.043, 0.091, 0, 180, 0, 47 [SEP] 4, ButterKnife, 1.181, 1.043, 0.676, 0, 0, 0, 47 [SEP] 5, Kettle, 0.000, 1.057, -1.4, 0, 0, 0, 44 [SEP] 6, Fork, 0.542, 1.043, 0.415, 0, 90, 0, 47 [SEP] 7, Spoon, 0.682, 1.044, 0.589, 0, 0, 0, 47 [SEP] 8, Spatula, 0.657, 1.061, -1.118, 0, 0, 0, 45 [SEP] 9, Spatula, 1.015, 1.058, 0.632, 0, 0, 0, 47 [SEP] 10, Plate, 0.960, 1.577, -1.463, 0, 0, 0, 49 [SEP] 11, Plate, -1.349, 1.726, 2.063, 0, 90, 0, 60 [SEP] 12, Knife, 0.160, 1.069, 0.738, 0, 0, 0, 47 [SEP] 13, Knife, 0.255, 1.069, 0.199, 0, 0, 0, 47 [SEP] 14, Tomato, 1.238, 1.097, -1.397, 0, 0, 0, 45 [SEP] 15, Tomato, -0.030, 1.094, 0.630, 0, 0, 0, 47 [SEP] 16, SoapBottle, 1.612, 1.044, 0.199, 0, 270, 0, 47 [SEP] 17, SoapBottle, 0.892, 1.056, 0.281, 0, 90, 0, 43 [SEP] 18, Apple, 1.155, 1.090, -1.181, 0, 0, 0, 45 [SEP] 19, SoapBottle, 1.436, 0.205, -1.190, 0, 90, 0, 55 [SEP] 20, Apple, -1.145, 1.759, -1.362, 0, 0, 0, 59 [SEP] 21, Potato, -1.268, 2.001, 2.153, 0, 90, 0, 60 [SEP] 22, Fork, -0.346, 1.047, -1.181, 0, 0, 0, 45 [SEP] 23, Kettle, -1.183, 0.203, -1.555, 0, 0, 0, 53 [SEP] 24, Pan, 0.389, 1.053, -1.630, 0, 0, 0, 41 [SEP] 25, Tomato, 0.542, 1.094, 0.091, 0, 0, 0, 47 [SEP] 26, SaltShaker, 0.989, 1.041, -1.181, 0, 0, 0, 45 [SEP] 27, Egg, -1.047, 1.770, -1.269, 0, 0, 0, 59 [SEP] 28, Cup, 0.761, 1.053, 0.131, 0, 90, 0, 43 [SEP] 29, Spatula, -0.296, 1.053, -1.277, 0, 255.000, 0, 45 [SEP] 30, Knife, -0.517, 1.072, -1.289, 0, 0, 0, 45 [SEP] 31, Lettuce, 0.906, 1.106, -1.720, 0, 0, 0, 45 [SEP] 32, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 47 [SEP] 33, PepperShaker, 0.740, 1.041, -1.720, 0, 0, 0, 45 [SEP] 34, DishSponge, 0.712, 0.199, -1.484, 0, 0, 0, 56 [SEP] 35, Plate, -0.473, 1.577, -1.470, 0, 0, 0, 50 [SEP] 36, Bread, 0.405, 1.104, 0.353, 0, 337.138, 0, 47 [SEP] 37, Spoon, 0.160, 1.044, 0.630, 0, 270, 0, 47 [SEP] 38, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 48 [SEP] 39, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 63 [SEP] 40, Bowl, 1.588, 0.203, -1.335, 0, 0, 0, 55 [SEP] 41, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 42, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 43, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 44, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 45, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 46, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 47, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 48, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 49, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 50, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 51, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 52, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 53, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 54, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 55, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 56, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 57, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 58, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 59, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 60, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 61, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 62, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 63, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 64, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 65, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 66, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 69, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 70, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 71, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 72, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 73, NorthWall, , , , , , , [SEP] 74, EastWall, , , , , , , [SEP] 75, SouthWall, , , , , , , [SEP] 76, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward to the cabinets to the left of the tomato on the counter. | STEP 2: Pick up the bucket from the lower cabinet. | STEP 3: Turn around and walk to the sink. | STEP 4: Place the bucket in the sink, fill it with water and then pick the bucket up from the sink. | STEP 5: Turn left and walk to the toaster. | STEP 6: Place the bucket in front of the toaster on the counter. | END"]} {"id": "trial_T20190908_061532_690447-1", "input": "Place a chilled 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, 0.25, 0.900, 0.0, 0, 180, 0, [SEP] 1, Pan, 1.155, 0.911, 1.468, 0, 0, 0, 79 [SEP] 2, DishSponge, -0.017, 0.765, -0.596, 0, 0, 0, 101 [SEP] 3, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 59 [SEP] 4, Pot, 2.754, 0.915, 1.468, 0, 0, 0, 79 [SEP] 5, Fork, 2.754, 0.912, 1.214, 0, 0, 0, 79 [SEP] 6, Spatula, -0.246, 0.926, 1.553, 0, 270, 0, 55 [SEP] 7, Spatula, 0.123, 0.780, -0.596, 0, 270, 0, 101 [SEP] 8, Cup, 2.156, 0.909, -0.769, 0, 0, 0, 44 [SEP] 9, Cup, 2.653, 1.016, -0.578, 0, 0, 0, 99 [SEP] 10, Egg, -0.157, 0.803, -0.596, 0, 0, 0, 101 [SEP] 11, Knife, 0.193, 0.798, -0.596, 0, 270, 0, 101 [SEP] 12, Knife, -0.151, 0.944, 1.383, 0, 270, 0, 55 [SEP] 13, SoapBottle, 0.634, 0.917, -0.6, 0, 0, 0, 44 [SEP] 14, SoapBottle, -0.887, 0.826, -1.400, 0, 0, 0, 103 [SEP] 15, Tomato, -1.962, 0.455, 1.459, 0, 270, 0, 97 [SEP] 16, Bowl, 2.900, 1.286, -0.644, 0, 0, 0, 99 [SEP] 17, Bowl, 1.902, 0.909, -0.430, 0, 0, 0, 44 [SEP] 18, PepperShaker, 1.688, 0.908, 1.129, 0, 0, 0, 79 [SEP] 19, Lettuce, 1.955, 0.992, 1.299, 0, 0, 0, 79 [SEP] 20, Lettuce, 2.221, 0.992, 1.214, 0, 0, 0, 79 [SEP] 21, SoapBottle, -0.621, 0.826, -1.257, 0, 90, 0, 103 [SEP] 22, Plate, 2.715, 1.566, -0.578, 0, 0, 0, 99 [SEP] 23, Fork, 1.955, 0.912, 1.044, 0, 0, 0, 79 [SEP] 24, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 25, Bread, 1.155, 0.969, 1.214, 0, 0, 0, 79 [SEP] 26, Egg, 0.363, 1.822, 1.520, 0, 180, 0, 102 [SEP] 27, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 82 [SEP] 28, Tomato, 2.900, 1.050, -0.447, 0, 0, 0, 99 [SEP] 29, Cup, 2.900, 0.724, -0.565, 0, 0, 0, 99 [SEP] 30, Spatula, -0.734, 0.835, -1.328, 0, 90, 0, 103 [SEP] 31, Apple, 2.900, 1.632, -0.775, 0, 0, 0, 99 [SEP] 32, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 47 [SEP] 33, Lettuce, -0.246, 0.992, 1.129, 0, 0, 0, 55 [SEP] 34, SaltShaker, -0.007, 0.908, 1.214, 0, 0, 0, 55 [SEP] 35, Knife, -0.836, 0.853, -1.473, 0, 180, 0, 103 [SEP] 36, Potato, -1.933, 0.458, 1.290, 0, 270, 0, 97 [SEP] 37, PepperShaker, -0.983, 0.817, -1.257, 0, 90, 0, 103 [SEP] 38, ButterKnife, 1.155, 0.911, 1.044, 0, 0, 0, 79 [SEP] 39, Bowl, 1.909, 0.112, -0.421, 0, 180, 0, 90 [SEP] 40, DishSponge, 1.487, 1.654, 1.432, 0, 0, 0, 67 [SEP] 41, Spoon, 1.422, 0.772, 1.122, 0, 90, 0, 62 [SEP] 42, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 44 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 105, NorthWall, , , , , , , [SEP] 106, EastWall, , , , , , , [SEP] 107, SouthWall, , , , , , , [SEP] 108, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the black stove ahead. | STEP 2: Open the microwave above the stove, remove the egg from inside and close the door. | STEP 3: Turn right and walk to the fridge to the right. | STEP 4: Put the egg inside the fridge on the second shelf in front of the glass, chill it for seven seconds, remove it and close the door. | STEP 5: Turn right and walk to the stove on the right. | STEP 6: Put the chilled egg inside the microwave and close the door. | END"]} {"id": "trial_T20190908_061532_690447-2", "input": "Put a chilled 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, 0.25, 0.900, 0.0, 0, 180, 0, [SEP] 1, Pan, 1.155, 0.911, 1.468, 0, 0, 0, 79 [SEP] 2, DishSponge, -0.017, 0.765, -0.596, 0, 0, 0, 101 [SEP] 3, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 59 [SEP] 4, Pot, 2.754, 0.915, 1.468, 0, 0, 0, 79 [SEP] 5, Fork, 2.754, 0.912, 1.214, 0, 0, 0, 79 [SEP] 6, Spatula, -0.246, 0.926, 1.553, 0, 270, 0, 55 [SEP] 7, Spatula, 0.123, 0.780, -0.596, 0, 270, 0, 101 [SEP] 8, Cup, 2.156, 0.909, -0.769, 0, 0, 0, 44 [SEP] 9, Cup, 2.653, 1.016, -0.578, 0, 0, 0, 99 [SEP] 10, Egg, -0.157, 0.803, -0.596, 0, 0, 0, 101 [SEP] 11, Knife, 0.193, 0.798, -0.596, 0, 270, 0, 101 [SEP] 12, Knife, -0.151, 0.944, 1.383, 0, 270, 0, 55 [SEP] 13, SoapBottle, 0.634, 0.917, -0.6, 0, 0, 0, 44 [SEP] 14, SoapBottle, -0.887, 0.826, -1.400, 0, 0, 0, 103 [SEP] 15, Tomato, -1.962, 0.455, 1.459, 0, 270, 0, 97 [SEP] 16, Bowl, 2.900, 1.286, -0.644, 0, 0, 0, 99 [SEP] 17, Bowl, 1.902, 0.909, -0.430, 0, 0, 0, 44 [SEP] 18, PepperShaker, 1.688, 0.908, 1.129, 0, 0, 0, 79 [SEP] 19, Lettuce, 1.955, 0.992, 1.299, 0, 0, 0, 79 [SEP] 20, Lettuce, 2.221, 0.992, 1.214, 0, 0, 0, 79 [SEP] 21, SoapBottle, -0.621, 0.826, -1.257, 0, 90, 0, 103 [SEP] 22, Plate, 2.715, 1.566, -0.578, 0, 0, 0, 99 [SEP] 23, Fork, 1.955, 0.912, 1.044, 0, 0, 0, 79 [SEP] 24, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 25, Bread, 1.155, 0.969, 1.214, 0, 0, 0, 79 [SEP] 26, Egg, 0.363, 1.822, 1.520, 0, 180, 0, 102 [SEP] 27, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 82 [SEP] 28, Tomato, 2.900, 1.050, -0.447, 0, 0, 0, 99 [SEP] 29, Cup, 2.900, 0.724, -0.565, 0, 0, 0, 99 [SEP] 30, Spatula, -0.734, 0.835, -1.328, 0, 90, 0, 103 [SEP] 31, Apple, 2.900, 1.632, -0.775, 0, 0, 0, 99 [SEP] 32, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 47 [SEP] 33, Lettuce, -0.246, 0.992, 1.129, 0, 0, 0, 55 [SEP] 34, SaltShaker, -0.007, 0.908, 1.214, 0, 0, 0, 55 [SEP] 35, Knife, -0.836, 0.853, -1.473, 0, 180, 0, 103 [SEP] 36, Potato, -1.933, 0.458, 1.290, 0, 270, 0, 97 [SEP] 37, PepperShaker, -0.983, 0.817, -1.257, 0, 90, 0, 103 [SEP] 38, ButterKnife, 1.155, 0.911, 1.044, 0, 0, 0, 79 [SEP] 39, Bowl, 1.909, 0.112, -0.421, 0, 180, 0, 90 [SEP] 40, DishSponge, 1.487, 1.654, 1.432, 0, 0, 0, 67 [SEP] 41, Spoon, 1.422, 0.772, 1.122, 0, 90, 0, 62 [SEP] 42, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 44 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 105, NorthWall, , , , , , , [SEP] 106, EastWall, , , , , , , [SEP] 107, SouthWall, , , , , , , [SEP] 108, WestWall, , , , , , , ", "output": ["STEP 1: move to the stove behind you | STEP 2: pick up a egg from the microwave | STEP 3: move to the fridge to the right of you | STEP 4: chill the egg in the fridge for a moment | STEP 5: move to the stove to the right of you | STEP 6: put the egg in the microwave | END"]} {"id": "trial_T20190907_193714_370263-0", "input": "Turn a lamp on with a computer 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, 0.909, -1.25, 0, 270, 0, [SEP] 1, CellPhone, -3.613, 0.981, -4.075, 0, 0, 0, 42 [SEP] 2, Pen, -0.249, 0.809, -3.703, 0, 0, 0, 39 [SEP] 3, Pencil, -3.908, 0.983, -3.070, 0, 0, 0, 42 [SEP] 4, CreditCard, -0.453, 0.800, -3.920, 0, 0, 0, 39 [SEP] 5, KeyChain, -1.066, 0.800, -4.137, 0, 0, 0, 39 [SEP] 6, KeyChain, -0.862, 0.804, -4.354, 0, 0, 0, 39 [SEP] 7, Book, -3.638, 0.614, -4.070, 0, 0, 0, 48 [SEP] 8, Laptop, -2.770, 0.618, -1.793, 0, 0, 0, 24 [SEP] 9, Laptop, -2.559, 0.618, -0.931, 0, 0, 0, 24 [SEP] 10, Laptop, -3.191, 0.618, -0.931, 0, 0, 0, 24 [SEP] 11, Book, -3.687, 0.981, -4.276, 0, 0, 0, 42 [SEP] 12, CellPhone, -0.862, 0.800, -3.811, 0, 0, 0, 39 [SEP] 13, Laptop, -3.191, 0.618, -1.793, 0, 0, 0, 24 [SEP] 14, CreditCard, -1.066, 0.800, -3.920, 0, 0, 0, 39 [SEP] 15, AlarmClock, -3.687, 0.981, -3.874, 0, 0, 0, 42 [SEP] 16, KeyChain, -0.453, 0.800, -4.029, 0, 0, 0, 39 [SEP] 17, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 24 [SEP] 18, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 19, Pencil, -3.539, 0.983, -3.070, 0, 0, 0, 42 [SEP] 20, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 24 [SEP] 21, CD, -0.657, 0.799, -3.811, 0, 0, 0, 39 [SEP] 22, Pen, -3.694, 0.620, -3.276, 0, 0, 0, 43 [SEP] 23, Mug, -0.418, 0.541, -3.713, 0, 0, 0, 33 [SEP] 24, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 25, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 26, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 27, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 28, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 29, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 30, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 31, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 32, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 33, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 34, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 35, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 36, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 37, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 38, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 39, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 40, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 41, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 42, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 51, NorthWall, , , , , , , [SEP] 52, EastWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, WestWall, , , , , , , ", "output": ["STEP 1: Go left and then right to stand at the side of the bed. | STEP 2: Close the computer on the right and pick it up from the bed. | STEP 3: Go right and then stand at the white table with the lamp. | STEP 4: Turn the lamp on. | END"]} {"id": "trial_T20190908_102822_137277-1", "input": "Pick up apple, warm in microwave, put apple in 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, 0.931, -0.25, 0, 270, 0, [SEP] 1, DishSponge, 0.848, 1.054, 0.331, 0, 90, 0, 46 [SEP] 2, DishSponge, -1.339, 0.202, -1.482, 0, 0, 0, 56 [SEP] 3, ButterKnife, 1.514, 1.043, 0.545, 0, 0, 0, 50 [SEP] 4, ButterKnife, 0.936, 1.053, 0.281, 0, 90, 0, 46 [SEP] 5, Pot, 0.250, 1.057, -1.4, 0, 0, 0, 60 [SEP] 6, Fork, -0.432, 1.047, -1.181, 0, 0, 0, 48 [SEP] 7, Fork, -0.346, 1.047, -1.720, 0, 0, 0, 48 [SEP] 8, Spoon, 0.936, 1.056, 0.281, 0, 90, 0, 46 [SEP] 9, Spatula, 0.657, 1.061, -1.118, 0, 0, 0, 48 [SEP] 10, Cup, -1.419, 1.489, 1.885, 0, 90, 0, 63 [SEP] 11, Plate, -1.027, 0.215, -1.338, 0, 0, 0, 56 [SEP] 12, Tomato, 0.160, 1.094, 0.522, 0, 0, 0, 50 [SEP] 13, Tomato, -1.268, 1.999, 1.974, 0, 90, 0, 63 [SEP] 14, Bowl, -1.029, 2.027, -1.409, 0, 0, 0, 55 [SEP] 15, Bowl, 1.820, 1.018, -1.411, 0, 0, 0, 54 [SEP] 16, PepperShaker, 1.247, 0.194, -1.484, 0, 0, 0, 59 [SEP] 17, PepperShaker, 1.741, 0.199, -1.553, 0, 0, 0, 58 [SEP] 18, Mug, 1.036, 1.560, -1.764, 0, 0, 0, 52 [SEP] 19, Apple, 0.980, 1.097, 0.381, 0, 90, 0, 46 [SEP] 20, Apple, 1.151, 0.936, 0.304, 0, 90, 0, 45 [SEP] 21, Apple, 0.848, 1.086, 0.632, 0, 0, 0, 50 [SEP] 22, SoapBottle, 1.514, 1.044, 0.632, 0, 0, 0, 50 [SEP] 23, Apple, -1.366, 1.271, 2.153, 0, 90, 0, 63 [SEP] 24, Potato, -1.386, 1.766, 1.796, 0, 90, 0, 63 [SEP] 25, Fork, 0.031, 1.033, 0.122, 0, 0, 0, 50 [SEP] 26, Kettle, 1.188, 1.566, -1.463, 0, 0, 0, 52 [SEP] 27, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 48 [SEP] 28, Tomato, -1.169, 1.279, 1.796, 0, 90, 0, 63 [SEP] 29, SaltShaker, 1.238, 1.041, -1.397, 0, 0, 0, 48 [SEP] 30, Egg, -1.103, 1.282, 1.974, 0, 90, 0, 63 [SEP] 31, Cup, 1.512, 0.205, -1.625, 0, 0, 0, 58 [SEP] 32, Spatula, 0.848, 1.058, 0.807, 0, 180, 0, 50 [SEP] 33, Knife, 0.877, 1.042, -1.362, 90, 315, 0, 48 [SEP] 34, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 46 [SEP] 35, ButterKnife, 1.514, 1.043, 0.763, 0, 0, 0, 50 [SEP] 36, PepperShaker, -0.473, 1.560, -1.841, 0, 0, 0, 53 [SEP] 37, DishSponge, 1.790, 1.042, 0.738, 0, 0, 0, 50 [SEP] 38, Plate, 1.588, 0.217, -1.335, 0, 0, 0, 58 [SEP] 39, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 50 [SEP] 40, Spoon, 1.181, 1.044, 0.589, 0, 0, 0, 50 [SEP] 41, Pot, -0.689, 1.048, -1.397, 0, 270, 0, 48 [SEP] 42, Mug, -1.145, 1.711, -1.300, 0, 0, 0, 62 [SEP] 43, Bowl, -1.349, 1.712, 1.974, 0, 90, 0, 63 [SEP] 44, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 45, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 46, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 47, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 48, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 49, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 50, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 51, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 52, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 53, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 54, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 55, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 56, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 57, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 58, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 59, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 60, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 61, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 62, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 63, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 64, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 65, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 66, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 67, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 70, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 71, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 72, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 73, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 74, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 75, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 76, NorthWall, , , , , , , [SEP] 77, EastWall, , , , , , , [SEP] 78, SouthWall, , , , , , , [SEP] 79, WestWall, , , , , , , ", "output": ["STEP 1: Proceed to area to the left of the sink on your right. Turn right to face sink. | STEP 2: Pick up apple from counter, to the right of the sponge and spoon. | STEP 3: Turn left, go to wall. Turn left, go to oven and microwave. | STEP 4: Open microwave door, place apple to right of mug, close door. Wait three seconds, open microwave door, remove apple, close door. | STEP 5: Turn left, proceed to sink on right, turn left to face sink. | STEP 6: Place apple in sink below other apple. | END"]} {"id": "trial_T20190918_203809_534089-2", "input": "place a kettle filled with water on the gas 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, 180, 0, [SEP] 1, DishSponge, 1.174, 0.771, -0.460, 0, 180, 0, 61 [SEP] 2, Pot, 1.155, 0.915, 1.129, 0, 0, 0, 77 [SEP] 3, Pot, 1.955, 0.915, 1.214, 0, 0, 0, 77 [SEP] 4, Spoon, -0.103, 0.912, 1.299, 0, 0, 0, 53 [SEP] 5, Fork, 1.955, 0.912, 1.468, 0, 0, 0, 77 [SEP] 6, Fork, 2.238, 0.771, -0.422, 0, 270, 0, 55 [SEP] 7, Spatula, 2.754, 0.926, 1.299, 0, 0, 0, 77 [SEP] 8, Cup, 2.591, 1.286, -0.840, 0, 0, 0, 97 [SEP] 9, Cup, 0.812, 2.151, 1.545, 0, 0, 0, 51 [SEP] 10, SoapBottle, 1.842, 1.661, 1.390, 0, 0, 0, 54 [SEP] 11, SoapBottle, 1.688, 0.917, 1.553, 0, 0, 0, 77 [SEP] 12, Bowl, 2.715, 0.724, -0.504, 0, 0, 0, 97 [SEP] 13, Bowl, 1.688, 0.909, 1.129, 0, 0, 0, 77 [SEP] 14, SaltShaker, -0.175, 1.650, -0.849, 0, 180, 0, 84 [SEP] 15, SaltShaker, -0.682, 0.817, -1.255, 0, 0, 0, 101 [SEP] 16, Lettuce, -0.151, 0.992, 1.129, 0, 0, 0, 53 [SEP] 17, Lettuce, -0.836, 0.901, -1.400, 0, 0, 0, 101 [SEP] 18, Apple, 3.260, 0.909, -0.485, 0, 0, 0, 97 [SEP] 19, SoapBottle, -1.962, 0.429, 1.375, 0, 270, 0, 95 [SEP] 20, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 67 [SEP] 21, Fork, 1.626, 0.772, 1.122, 0, 90, 0, 60 [SEP] 22, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 48 [SEP] 23, Bread, 2.488, 0.969, 1.129, 0, 0, 0, 77 [SEP] 24, Egg, 0.363, 1.822, 1.455, 0, 180, 0, 100 [SEP] 25, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 57 [SEP] 26, Tomato, 2.653, 1.594, -0.512, 0, 0, 0, 97 [SEP] 27, Cup, -0.983, 0.818, -1.360, 0, 90, 0, 101 [SEP] 28, Spatula, 1.155, 0.926, 1.553, 0, 270, 0, 77 [SEP] 29, Apple, 0.888, 0.980, -0.769, 0, 0, 0, 42 [SEP] 30, Pan, 0.634, 0.911, -0.430, 0, 0, 0, 42 [SEP] 31, Lettuce, -0.198, 0.992, 1.383, 0, 0, 0, 53 [SEP] 32, SaltShaker, -0.201, 1.650, 1.470, 0, 0, 0, 68 [SEP] 33, Knife, -0.734, 0.853, -1.328, 0, 90, 0, 101 [SEP] 34, Potato, 0.466, 1.819, 1.520, 0, 180, 0, 100 [SEP] 35, PepperShaker, 0.446, 1.650, -0.849, 0, 180, 0, 81 [SEP] 36, ButterKnife, -0.839, 0.820, -1.206, 0, 90, 0, 101 [SEP] 37, Bowl, 2.900, 1.561, -0.512, 0, 0, 0, 97 [SEP] 38, DishSponge, 2.156, 0.911, -0.854, 0, 0, 0, 42 [SEP] 39, Spoon, 1.175, 0.772, 1.198, 0, 0, 0, 87 [SEP] 40, Mug, 2.838, 1.014, -0.775, 0, 0, 0, 97 [SEP] 41, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 42, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 43, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 44, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 45, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 46, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 47, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 48, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 50, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 51, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 52, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 53, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 54, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 55, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 56, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 57, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 58, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 59, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 60, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 61, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 62, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 64, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 65, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 71, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 72, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 73, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 77, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 78, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 80, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 81, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 82, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 83, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 84, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 85, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 86, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 87, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 88, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 89, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 94, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 95, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 96, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 97, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 98, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 99, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 100, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 101, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 102, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: move around to the gas | STEP 2: pick up the kettle from the gas | STEP 3: turn around to the sink | STEP 4: fill the kettle with water | STEP 5: turn around to the gas | STEP 6: place the kettle on the gas | END"]} {"id": "trial_T20190908_113123_156403-0", "input": "Clean the dirty place setting, and put it back on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 3.0, 0.900, 0.75, 0, 180, 0, [SEP] 1, Potato, -0.087, 0.800, -0.541, 0, 0, 0, 102 [SEP] 2, Potato, 2.156, 0.946, -0.430, 0, 0, 0, 45 [SEP] 3, DishSponge, 1.558, 0.770, -0.498, 0, 180, 0, 75 [SEP] 4, DishSponge, -0.734, 0.820, -1.110, 0, 0, 0, 104 [SEP] 5, Kettle, 0.759, 2.154, 1.429, 0, 0, 0, 54 [SEP] 6, Kettle, 1.485, 0.116, -0.498, 0, 180, 0, 53 [SEP] 7, ButterKnife, -0.836, 0.820, -1.328, 0, 0, 0, 104 [SEP] 8, ButterKnife, 1.688, 0.911, 1.468, 0, 0, 0, 80 [SEP] 9, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 60 [SEP] 10, Pot, 1.955, 0.915, 1.383, 0, 0, 0, 80 [SEP] 11, Spoon, 1.902, 0.912, -0.345, 0, 0, 0, 59 [SEP] 12, Spatula, -0.294, 0.926, 1.553, 0, 270, 0, 56 [SEP] 13, Plate, -0.151, 0.914, 1.214, 0, 0, 0, 56 [SEP] 14, Cup, 2.479, 0.112, 1.077, 0, 0, 0, 49 [SEP] 15, Cup, 1.141, 0.909, -0.769, 0, 0, 0, 45 [SEP] 16, Cup, 1.447, 1.653, -0.693, 0, 180, 0, 82 [SEP] 17, Bowl, 1.872, 1.652, -0.734, 0, 180, 0, 82 [SEP] 18, SaltShaker, -0.694, 0.817, -1.308, 0, 90, 0, 104 [SEP] 19, SaltShaker, 2.256, 1.650, 1.470, 0, 0, 0, 69 [SEP] 20, Lettuce, 2.221, 0.992, 1.383, 0, 0, 0, 80 [SEP] 21, Lettuce, 2.777, 1.644, -0.644, 0, 0, 0, 100 [SEP] 22, SoapBottle, -0.839, 0.826, -1.155, 0, 90, 0, 104 [SEP] 23, Plate, 2.754, 0.914, 1.468, 0, 0, 0, 80 [SEP] 24, Fork, 1.155, 0.912, 1.044, 0, 0, 0, 80 [SEP] 25, Pot, 0.634, 0.915, -0.430, 0, 0, 0, 45 [SEP] 26, Bread, 2.715, 1.077, -0.644, 0, 0, 0, 100 [SEP] 27, Egg, 3.180, 0.878, -0.543, 0, 0, 0, 100 [SEP] 28, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 45 [SEP] 29, Tomato, -2.019, 0.455, 1.459, 0, 270, 0, 98 [SEP] 30, Cup, -0.983, 0.818, -1.308, 0, 90, 0, 104 [SEP] 31, Spatula, 1.955, 0.926, 1.129, 0, 0, 0, 80 [SEP] 32, Apple, -0.151, 0.980, 1.553, 0, 0, 0, 56 [SEP] 33, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 83 [SEP] 34, Lettuce, 2.488, 0.992, 1.129, 0, 0, 0, 80 [SEP] 35, SaltShaker, 1.862, 0.111, 1.236, 0, 0, 0, 65 [SEP] 36, Knife, -0.983, 0.853, -1.257, 0, 90, 0, 104 [SEP] 37, Potato, 2.838, 0.761, -0.565, 0, 0, 0, 100 [SEP] 38, PepperShaker, 1.447, 1.651, -0.810, 0, 180, 0, 67 [SEP] 39, ButterKnife, 0.888, 0.911, -0.6, 0, 0, 0, 45 [SEP] 40, Bowl, 2.715, 1.286, -0.775, 0, 0, 0, 100 [SEP] 41, DishSponge, 0.178, 2.156, 1.428, 0, 0, 0, 79 [SEP] 42, Spoon, 2.488, 0.912, 1.299, 0, 0, 0, 80 [SEP] 43, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 45 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 106, NorthWall, , , , , , , [SEP] 107, EastWall, , , , , , , [SEP] 108, SouthWall, , , , , , , [SEP] 109, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, walk to the window, then turn left and walk till you hit the table. | STEP 2: Pick up the the glass and the utensils from the table. | STEP 3: Turn around, walk forward one step, turn right, and walk forward until the sink is directly to your right. | STEP 4: Place the utensils and glass in the sink, rinse them off, and pick them up again. | STEP 5: Turn around, walk to the window,. then turn left and walk to the table. | STEP 6: Place the clean utensils and glass on the table. | END"]} {"id": "trial_T20190908_044829_272756-2", "input": "Put two remote on the couch SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, -1.25, 0, 0, 0, [SEP] 1, Watch, 1.891, 0.871, 0.643, 0, 90, 0, 40 [SEP] 2, Watch, -0.411, 0.552, -0.278, 0, 270, 0, 34 [SEP] 3, Newspaper, 1.808, 0.869, 0.114, 0, 90, 0, 40 [SEP] 4, Newspaper, 1.724, 0.868, 0.537, 0, 90, 0, 40 [SEP] 5, KeyChain, -0.712, 0.202, -0.577, 0, 90, 0, 35 [SEP] 6, KeyChain, -0.288, 0.326, -1.990, 0, 90, 0, 36 [SEP] 7, CreditCard, 1.766, 0.870, 0.326, 0, 90, 0, 40 [SEP] 8, CreditCard, -0.5, 0.293, -1.624, 0, 0, 0, 36 [SEP] 9, RemoteControl, -0.712, 0.553, -0.623, 0, 270, 0, 34 [SEP] 10, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 42 [SEP] 11, KeyChain, 1.601, 0.316, -0.588, 0, 0, 0, 42 [SEP] 12, Watch, -0.841, 0.199, -0.217, 0, 270, 0, 32 [SEP] 13, Newspaper, 1.601, 0.276, -0.742, 0, 180, 0, 42 [SEP] 14, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 36 [SEP] 15, CreditCard, 1.807, 0.869, 0.643, 0, 90, 0, 40 [SEP] 16, RemoteControl, 1.849, 0.871, 0.008, 0, 90, 0, 40 [SEP] 17, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 34 [SEP] 18, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 34 [SEP] 19, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 34 [SEP] 20, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 21, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 22, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 23, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 24, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 25, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 26, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 27, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 28, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 29, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 30, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 31, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 32, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 33, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 34, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 35, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 36, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 37, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 38, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 39, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 40, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 41, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 42, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, WestWall, , , , , , , ", "output": ["STEP 1: Turn left then move forward turn right face the side table | STEP 2: Pick up the remote on the side table | STEP 3: Turn right then turn left on the couch beside the side table | STEP 4: Put the remote on the edge of the couch | STEP 5: Turn right move forward then turn right face the center table | STEP 6: Pick up the remote on the center table | STEP 7: Turn right move forward then head to the same couch | STEP 8: Place the remote right beside the first remote | END"]} {"id": "trial_T20190909_014356_818830-0", "input": "Heat up a slice of apple 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, -1.0, 0.900, 0.75, 0, 0, 0, [SEP] 1, Potato, 0.053, 0.800, -0.541, 0, 0, 0, 102 [SEP] 2, Potato, 2.838, 1.598, -0.447, 0, 0, 0, 100 [SEP] 3, DishSponge, -0.983, 0.820, -1.308, 0, 90, 0, 104 [SEP] 4, DishSponge, -0.734, 0.820, -1.473, 0, 0, 0, 104 [SEP] 5, Kettle, 1.524, 1.655, 1.508, 0, 0, 0, 68 [SEP] 6, ButterKnife, 1.155, 0.911, 1.044, 0, 0, 0, 80 [SEP] 7, ButterKnife, 0.888, 0.911, -0.769, 0, 0, 0, 45 [SEP] 8, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 60 [SEP] 9, Spatula, 1.155, 0.926, 1.553, 0, 270, 0, 80 [SEP] 10, Spatula, 0.152, 0.926, -0.330, 0, 0, 0, 45 [SEP] 11, Knife, 0.053, 0.798, -0.651, 0, 180, 0, 102 [SEP] 12, Knife, 1.688, 0.944, 1.299, 0, 0, 0, 80 [SEP] 13, SoapBottle, -0.198, 0.917, 1.468, 0, 0, 0, 56 [SEP] 14, Tomato, 3.220, 0.871, -0.543, 0, 0, 0, 100 [SEP] 15, SaltShaker, 2.583, 0.111, 1.196, 0, 0, 0, 49 [SEP] 16, SaltShaker, 1.525, 0.110, 1.268, 0, 0, 0, 74 [SEP] 17, Bread, 1.955, 0.969, 1.129, 0, 0, 0, 80 [SEP] 18, Lettuce, 2.754, 0.992, 1.214, 0, 0, 0, 80 [SEP] 19, Lettuce, -0.198, 0.992, 1.214, 0, 0, 0, 56 [SEP] 20, Mug, -0.621, 0.815, -1.308, 0, 90, 0, 104 [SEP] 21, Apple, 1.395, 0.980, -0.345, 0, 0, 0, 45 [SEP] 22, SoapBottle, -1.991, 0.429, 1.375, 0, 270, 0, 98 [SEP] 23, Plate, 2.777, 1.291, -0.644, 0, 0, 0, 100 [SEP] 24, Fork, 2.092, 0.771, 1.122, 0, 90, 0, 76 [SEP] 25, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 51 [SEP] 26, Bread, 2.221, 0.969, 1.468, 0, 0, 0, 80 [SEP] 27, Egg, -0.990, 0.858, -1.183, 0, 0, 0, 104 [SEP] 28, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 45 [SEP] 29, Tomato, -0.839, 0.852, -1.257, 0, 90, 0, 104 [SEP] 30, Cup, -0.072, 1.652, -0.811, 0, 180, 0, 87 [SEP] 31, Spatula, 2.221, 0.926, 1.129, 0, 0, 0, 80 [SEP] 32, Apple, 0.634, 0.980, -0.6, 0, 0, 0, 45 [SEP] 33, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 48 [SEP] 34, Lettuce, 2.777, 1.644, -0.644, 0, 0, 0, 100 [SEP] 35, SaltShaker, 2.488, 0.908, 1.468, 0, 0, 0, 80 [SEP] 36, Knife, 0.888, 0.944, -0.6, 0, 0, 0, 45 [SEP] 37, Potato, 2.715, 0.760, -0.535, 0, 0, 0, 100 [SEP] 38, PepperShaker, 2.872, 1.650, 1.585, 0, 0, 0, 70 [SEP] 39, ButterKnife, 2.488, 0.911, 1.214, 0, 0, 0, 80 [SEP] 40, Bowl, 2.487, 1.653, 1.429, 0, 0, 0, 70 [SEP] 41, DishSponge, 1.955, 0.911, 1.383, 0, 0, 0, 80 [SEP] 42, Spoon, 1.836, 0.772, -0.460, 0, 180, 0, 59 [SEP] 43, Mug, 0.415, 1.779, 1.423, 0, 180, 0, 103 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 106, NorthWall, , , , , , , [SEP] 107, EastWall, , , , , , , [SEP] 108, SouthWall, , , , , , , [SEP] 109, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, making a left to face the countertop to the right of the stove. | STEP 2: Pick up the knife from the countertop. | STEP 3: Turn around to face the coffee machine. | STEP 4: Slice the apple in front of the coffee machine with the knife. | STEP 5: Turn right to walk to the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn left to walk to the coffee machine. | STEP 8: Pick up a slice of apple from the counter. | STEP 9: Turn to face the microwave. | STEP 10: Heat up the apple slice in the microwave, removing it afterwards. | STEP 11: Turn left to walk to the sink. | STEP 12: Put the apple slice in the sink. | END"]} {"id": "trial_T20190907_034220_566125-1", "input": "Set a clean bar of soap on the back of the toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.901, 2.5, 0, 0, 0, [SEP] 1, TissueBox, -1.561, 0.069, 3.793, 0, 0, 0, 31 [SEP] 2, SoapBar, -1.560, 0.067, 2.240, 0, 0, 0, 25 [SEP] 3, SoapBar, -1.219, 0.994, 2.269, 0, 0, 0, 30 [SEP] 4, SoapBar, -1.322, 0.068, 2.857, 0, 0, 0, 23 [SEP] 5, SprayBottle, -1.284, 0.995, 2.118, 0, 0, 0, 30 [SEP] 6, SprayBottle, 0.313, 0.048, 3.865, 0, 0, 0, 33 [SEP] 7, SoapBottle, -1.379, 0.067, 3.176, 0, 0, 0, 29 [SEP] 8, SoapBottle, -1.441, 0.068, 2.908, 0, 0, 0, 29 [SEP] 9, ToiletPaper, -1.284, 0.991, 2.982, 0, 0, 0, 30 [SEP] 10, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 32 [SEP] 11, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 34 [SEP] 12, SoapBar, -1.613, 0.994, 2.269, 0, 0, 0, 30 [SEP] 13, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 38 [SEP] 14, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 15, Candle, -1.382, 0.068, 2.807, 0, 0, 0, 23 [SEP] 16, TissueBox, -1.561, 0.069, 2.807, 0, 0, 0, 23 [SEP] 17, SoapBottle, -1.500, 0.067, 2.341, 0, 0, 0, 25 [SEP] 18, ToiletPaper, 0.351, 0.889, 1.618, 0, 0, 0, 36 [SEP] 19, SprayBottle, -1.613, 0.995, 3.842, 0, 0, 0, 30 [SEP] 20, Cloth, -1.350, 0.994, 3.873, 0, 0, 0, 30 [SEP] 21, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 22, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 23, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 24, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 25, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 26, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 27, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 28, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 29, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 30, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 31, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 32, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 33, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 34, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 35, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 36, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 37, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 38, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 39, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 40, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 41, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 42, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 43, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 44, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 45, NorthWall, , , , , , , [SEP] 46, EastWall, , , , , , , [SEP] 47, SouthWall, , , , , , , [SEP] 48, WestWall, , , , , , , ", "output": ["STEP 1: Walk over to the vanity. | STEP 2: Take a bar of soap out of the cabinet under the sink. | STEP 3: Go to the sink. | STEP 4: Rinse off the soap in the sink. | STEP 5: Take the rinsed soap to the toilet across the room. | STEP 6: Set the rinsed soap down on the back of the toilet. | END"]} {"id": "trial_T20190907_215056_750312-2", "input": "Slice some lettuce and cool it in the refrigerator for disposal 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, 0, 0, [SEP] 1, Potato, 0.363, 1.819, 1.520, 0, 180, 0, 106 [SEP] 2, Potato, 2.900, 1.323, -0.512, 0, 0, 0, 103 [SEP] 3, DishSponge, 0.053, 0.765, -0.596, 0, 0, 0, 105 [SEP] 4, ButterKnife, -0.621, 0.820, -1.257, 0, 90, 0, 107 [SEP] 5, ButterKnife, 2.754, 0.911, 1.214, 0, 0, 0, 83 [SEP] 6, Spoon, -0.103, 0.912, 1.044, 0, 0, 0, 59 [SEP] 7, Spatula, 1.955, 0.926, 1.129, 0, 0, 0, 83 [SEP] 8, Spatula, 0.054, 0.926, -0.330, 0, 0, 0, 48 [SEP] 9, Egg, -1.933, 0.461, 1.247, 0, 270, 0, 101 [SEP] 10, Egg, -0.734, 0.858, -1.328, 0, 0, 0, 107 [SEP] 11, Knife, -0.055, 0.944, 1.299, 0, 90, 0, 59 [SEP] 12, Knife, 0.193, 0.798, -0.651, 0, 0, 0, 105 [SEP] 13, SoapBottle, 1.216, 1.661, 1.546, 0, 0, 0, 75 [SEP] 14, SoapBottle, 2.754, 0.917, 1.468, 0, 0, 0, 83 [SEP] 15, Tomato, 0.349, 0.942, -0.316, 0, 0, 0, 48 [SEP] 16, Tomato, -0.990, 0.852, -1.328, 0, 0, 0, 107 [SEP] 17, Bowl, 1.155, 0.909, 1.383, 0, 0, 0, 83 [SEP] 18, SaltShaker, 2.221, 0.908, 1.044, 0, 0, 0, 83 [SEP] 19, PepperShaker, -0.682, 0.817, -1.473, 0, 0, 0, 107 [SEP] 20, Bread, 2.221, 0.969, 1.468, 0, 0, 0, 83 [SEP] 21, Bread, 2.777, 1.621, -0.709, 0, 0, 0, 103 [SEP] 22, Lettuce, 2.488, 0.992, 1.468, 0, 0, 0, 83 [SEP] 23, Mug, -0.839, 0.815, -1.360, 0, 270, 0, 107 [SEP] 24, Apple, 2.653, 0.795, -0.535, 0, 0, 0, 103 [SEP] 25, SoapBottle, 2.524, 1.661, 1.468, 0, 0, 0, 73 [SEP] 26, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 48 [SEP] 27, Fork, 1.072, 0.771, -0.422, 0, 270, 0, 67 [SEP] 28, Pot, 0.888, 0.915, -0.515, 0, 0, 0, 48 [SEP] 29, Bread, 2.488, 0.969, 1.129, 0, 0, 0, 83 [SEP] 30, Egg, -1.933, 0.461, 1.417, 0, 270, 0, 101 [SEP] 31, Kettle, 1.422, 0.912, 1.299, 0, 0, 0, 83 [SEP] 32, Tomato, -0.198, 0.942, 1.044, 0, 0, 0, 59 [SEP] 33, Cup, 2.962, 1.561, -0.512, 0, 0, 0, 103 [SEP] 34, Spatula, -0.911, 0.835, -1.206, 0, 180, 0, 107 [SEP] 35, Apple, 0.518, 1.853, 1.455, 0, 180, 0, 106 [SEP] 36, Pan, 0.281, 0.964, 1.082, 0, 0, 0, 54 [SEP] 37, Lettuce, -0.151, 0.992, 1.383, 0, 0, 0, 59 [SEP] 38, SaltShaker, 0.480, 1.650, -0.849, 0, 180, 0, 87 [SEP] 39, Knife, -1.056, 0.853, -1.257, 0, 90, 0, 107 [SEP] 40, Potato, 2.838, 1.053, -0.775, 0, 0, 0, 103 [SEP] 41, PepperShaker, -0.142, 0.908, -0.316, 0, 0, 0, 48 [SEP] 42, ButterKnife, 1.688, 0.911, 1.214, 0, 0, 0, 83 [SEP] 43, Bowl, 2.223, 0.112, 1.119, 0, 0, 0, 84 [SEP] 44, DishSponge, 1.597, 1.655, -0.810, 0, 180, 0, 70 [SEP] 45, Spoon, 1.688, 0.912, 1.214, 0, 0, 0, 83 [SEP] 46, Mug, 2.900, 1.283, -0.840, 0, 0, 0, 103 [SEP] 47, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 48, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 49, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 50, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 51, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 53, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 54, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 55, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 56, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 57, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 58, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 59, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 60, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 61, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 62, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 63, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 64, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 66, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 67, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 68, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 69, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 70, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 71, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 79, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 81, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 83, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 84, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 85, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 86, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 87, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 88, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 89, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 90, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 91, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 92, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 93, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 94, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 95, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 99, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 100, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 101, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 102, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 103, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 104, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 105, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 106, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 107, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 108, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 109, NorthWall, , , , , , , [SEP] 110, EastWall, , , , , , , [SEP] 111, SouthWall, , , , , , , [SEP] 112, WestWall, , , , , , , ", "output": ["STEP 1: turn around, then go left and straight to the wall. Then look left at the counter top | STEP 2: pick up the knife to the right of the bread | STEP 3: face the lettuce on the counter top | STEP 4: slice the lettuce on the counter top | STEP 5: turn around and face the refrigerator | STEP 6: open the door and place the knife in front of the apple | STEP 7: turn around and face the opposite counter top | STEP 8: pick up a slice of lettuce on the counter top | STEP 9: return to the refrigerator | STEP 10: place the lettuce in the refrigerator on the top shelf, close the door for a few seconds, and then take the lettuce out of the refrigerator | STEP 11: go to the window on the other side of the room and face the bin | STEP 12: throw the lettuce in the bin | END"]} {"id": "trial_T20190907_224726_173646-1", "input": "Put two slices of bread from two different loaves on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 0.0, 0, 90, 0, [SEP] 1, Kettle, 2.488, 0.912, 1.383, 0, 0, 0, 82 [SEP] 2, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 85 [SEP] 3, ButterKnife, 1.155, 0.911, 1.383, 0, 0, 0, 82 [SEP] 4, ButterKnife, 2.238, 0.771, -0.460, 0, 270, 0, 60 [SEP] 5, Fork, 2.418, 0.772, 1.160, 0, 90, 0, 63 [SEP] 6, Fork, 2.156, 0.912, -0.684, 0, 0, 0, 47 [SEP] 7, Spatula, 0.123, 0.780, -0.762, 0, 90, 0, 104 [SEP] 8, Spatula, -0.157, 0.780, -0.596, 0, 270, 0, 104 [SEP] 9, Plate, 2.221, 0.914, 1.214, 0, 0, 0, 82 [SEP] 10, Cup, 2.962, 1.016, -0.709, 0, 0, 0, 102 [SEP] 11, Cup, 2.962, 1.286, -0.840, 0, 0, 0, 102 [SEP] 12, Egg, 0.263, 0.803, -0.707, 0, 0, 0, 104 [SEP] 13, Knife, -0.246, 0.944, 1.383, 0, 270, 0, 58 [SEP] 14, SoapBottle, -0.151, 0.917, 1.214, 0, 0, 0, 58 [SEP] 15, SoapBottle, -1.962, 0.429, 1.332, 0, 270, 0, 100 [SEP] 16, Tomato, 2.591, 1.320, -0.512, 0, 0, 0, 102 [SEP] 17, SaltShaker, -0.007, 0.908, 1.129, 0, 0, 0, 58 [SEP] 18, SaltShaker, 0.284, 2.153, 1.467, 0, 0, 0, 81 [SEP] 19, Bread, 1.955, 0.969, 1.129, 0, 0, 0, 82 [SEP] 20, Bread, 1.688, 0.969, 1.468, 0, 0, 0, 82 [SEP] 21, Lettuce, 2.777, 1.099, -0.709, 0, 0, 0, 102 [SEP] 22, Mug, 1.909, 0.109, -0.421, 0, 180, 0, 93 [SEP] 23, Apple, 2.777, 0.794, -0.473, 0, 0, 0, 102 [SEP] 24, SoapBottle, 1.104, 1.661, 1.507, 0, 0, 0, 74 [SEP] 25, Plate, 1.141, 0.914, -0.6, 0, 0, 0, 47 [SEP] 26, Fork, 2.205, 0.772, -0.422, 0, 270, 0, 60 [SEP] 27, Pot, 0.634, 0.915, -0.6, 0, 0, 0, 47 [SEP] 28, Bread, 1.955, 0.969, 1.383, 0, 0, 0, 82 [SEP] 29, Egg, -0.785, 0.858, -1.255, 0, 0, 0, 106 [SEP] 30, Kettle, 2.754, 0.912, 1.129, 0, 0, 0, 82 [SEP] 31, Tomato, -0.621, 0.852, -1.155, 0, 90, 0, 106 [SEP] 32, Cup, 2.591, 1.016, -0.644, 0, 0, 0, 102 [SEP] 33, Spatula, 1.422, 0.926, 1.129, 0, 0, 0, 82 [SEP] 34, Apple, -0.887, 0.889, -1.400, 0, 0, 0, 106 [SEP] 35, Pan, 0.281, 0.964, 1.347, 0, 0, 0, 62 [SEP] 36, Lettuce, 2.715, 1.644, -0.578, 0, 0, 0, 102 [SEP] 37, SaltShaker, 2.221, 0.908, 1.468, 0, 0, 0, 82 [SEP] 38, Knife, -0.785, 0.853, -1.328, 0, 0, 0, 106 [SEP] 39, Potato, 2.591, 0.760, -0.535, 0, 0, 0, 102 [SEP] 40, PepperShaker, 1.291, 1.651, 1.429, 0, 0, 0, 74 [SEP] 41, ButterKnife, 1.155, 0.911, 1.044, 0, 0, 0, 82 [SEP] 42, Bowl, 2.777, 1.286, -0.775, 0, 0, 0, 102 [SEP] 43, DishSponge, 2.161, 0.114, -0.498, 0, 180, 0, 88 [SEP] 44, Spoon, -0.087, 0.766, -0.596, 0, 0, 0, 104 [SEP] 45, Mug, -0.621, 0.815, -1.360, 0, 90, 0, 106 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 108, NorthWall, , , , , , , [SEP] 109, EastWall, , , , , , , [SEP] 110, SouthWall, , , , , , , [SEP] 111, WestWall, , , , , , , ", "output": ["STEP 1: Take a step forward then turn left and walk to the counter to the left of the stove. | STEP 2: Pick up the yellow handled knife that's in front of you. | STEP 3: Turn right then take a step to your right then walk to the two loaves of bread on the counter to your left. | STEP 4: Cut the top loaf of bread of the two loaves sitting lined up into slices. | STEP 5: Turn left and walk to the wall then turn left and walk to the small circular table. | STEP 6: Put the knife on the table. | STEP 7: Walk back to the bread. | STEP 8: Pick up a slice of bread. | STEP 9: Go back to the small circular table. | STEP 10: Pick up the yellow handled knife again. | STEP 11: Walk back to the bread. | STEP 12: Cut the bottom loaf of the two loaves that are lined up into slices now. | STEP 13: Go back to the small circular table. | STEP 14: Put the bread on the table. | STEP 15: Pick up the knife again. | STEP 16: Go back to the bread | STEP 17: Pick up a slice of bread from the bottom loaf. | STEP 18: Go back to the circular table. | STEP 19: Put the slice of bread on the able. | END"]} {"id": "trial_T20190907_071825_279908-1", "input": "place a purple spray bottle on to the reservoir of the toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.903, 0.5, 0, 270, 0, [SEP] 1, TissueBox, -1.471, 1.070, 2.157, 0, 0, 0, 32 [SEP] 2, TissueBox, -1.635, 1.773, 2.097, 0, 0, 0, 30 [SEP] 3, Cloth, 0.206, 0.048, 1.295, 0, 0, 0, 31 [SEP] 4, Cloth, 0.371, 0.048, 0.839, 0, 0, 0, 31 [SEP] 5, SoapBar, -1.635, 1.069, 2.097, 0, 0, 0, 32 [SEP] 6, SoapBar, 0.017, 0.609, 1.775, 0, 0, 0, 24 [SEP] 7, SoapBottle, -1.144, 0.291, 2.097, 0, 0, 0, 28 [SEP] 8, SoapBottle, -1.144, 0.291, 2.217, 0, 0, 0, 28 [SEP] 9, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 33 [SEP] 10, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 27 [SEP] 11, Candle, -0.129, 0.650, -0.409, 0, 315, 0, 24 [SEP] 12, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 34 [SEP] 13, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 14, SoapBar, -0.868, 1.010, -0.328, 0, 306.598, 0, 25 [SEP] 15, ToiletPaper, -1.707, 0.078, -0.655, 0, 270, 0, 27 [SEP] 16, SoapBottle, -0.227, 0.611, -0.426, 0, 315, 0, 24 [SEP] 17, TissueBox, -1.308, 0.289, 2.097, 0, 0, 0, 28 [SEP] 18, Cloth, -0.980, 1.074, 2.127, 0, 0, 0, 32 [SEP] 19, ToiletPaper, -2.277, 1.043, -0.705, 0, 0, 0, 37 [SEP] 20, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 26 [SEP] 21, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 22, SprayBottle, -0.817, 1.774, 2.097, 0, 0, 0, 30 [SEP] 23, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 24, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 25, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 26, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 27, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 28, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 29, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 30, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 31, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 32, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 33, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 34, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 35, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 36, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 37, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 38, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 39, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 40, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 41, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: turn right and walk to the shelves along the wall and look up | STEP 2: pick up the purple spray bottle on the top shelf | STEP 3: look back down turn left and walk to the toilet | STEP 4: place the purple spray bottle on to the reservoir of the toilet | END"]} {"id": "trial_T20190908_125548_566238-2", "input": "Move two spray bottles to the 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, -0.25, 0.901, 2.5, 0, 270, 0, [SEP] 1, TissueBox, -1.284, 0.994, 3.873, 0, 0, 0, 26 [SEP] 2, Cloth, -1.441, 0.068, 3.693, 0, 0, 0, 27 [SEP] 3, SoapBar, 0.258, 0.047, 3.865, 0, 0, 0, 29 [SEP] 4, SprayBottle, -1.284, 0.995, 2.148, 0, 0, 0, 26 [SEP] 5, SoapBottle, -1.620, 0.067, 3.377, 0, 0, 0, 25 [SEP] 6, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 28 [SEP] 7, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 30 [SEP] 8, SoapBar, -1.620, 0.067, 3.126, 0, 0, 0, 25 [SEP] 9, ToiletPaper, -1.332, 0.058, 2.261, 0, 0, 0, 21 [SEP] 10, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 11, Candle, 0.329, 0.892, 1.881, 0, 0, 0, 32 [SEP] 12, TissueBox, -1.319, 0.068, 3.276, 0, 0, 0, 25 [SEP] 13, SoapBottle, -1.501, 0.068, 2.757, 0, 0, 0, 21 [SEP] 14, ToiletPaper, -1.620, 0.065, 2.706, 0, 0, 0, 19 [SEP] 15, SprayBottle, 0.286, 0.048, 3.810, 0, 0, 0, 29 [SEP] 16, Cloth, -1.500, 0.067, 2.290, 0, 0, 0, 21 [SEP] 17, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 18, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 19, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 20, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 21, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 22, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 23, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 24, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 25, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 26, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 27, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 28, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 29, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 30, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 31, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 32, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 33, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 34, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 35, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 36, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 37, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 38, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 39, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 40, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Go to the green bin | STEP 2: Pick up the spray bottle from the bin | STEP 3: Go to the toilet | STEP 4: Put the spray bottle on top of toilet | STEP 5: Go to the sink | STEP 6: Pick up the spray bottle | STEP 7: Go to the toilet | STEP 8: Put the spray bottle on top of toilet | END"]} {"id": "trial_T20190910_181024_991905-0", "input": "pick up the credit cards and set them on the coffee table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, -1.25, 0, 90, 0, [SEP] 1, Watch, -0.323, 0.201, -0.609, 0, 90, 0, 38 [SEP] 2, Watch, -1.163, 0.552, -0.106, 0, 270, 0, 29 [SEP] 3, CreditCard, -0.711, 0.335, -1.844, 0, 0, 0, 31 [SEP] 4, CreditCard, 1.807, 0.869, 0.537, 0, 90, 0, 35 [SEP] 5, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 37 [SEP] 6, KeyChain, 1.364, 0.310, -0.512, 0, 270, 0, 37 [SEP] 7, Watch, -1.163, 0.552, -0.537, 0, 270, 0, 29 [SEP] 8, Newspaper, -0.411, 0.550, -0.537, 0, 270, 0, 29 [SEP] 9, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 31 [SEP] 10, CreditCard, 1.724, 0.869, 0.325, 0, 90, 0, 35 [SEP] 11, RemoteControl, -0.711, 0.334, -1.771, 0, 0, 0, 31 [SEP] 12, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 29 [SEP] 13, Statue, 1.808, 0.880, 0.220, 0, 270, 0, 35 [SEP] 14, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 29 [SEP] 15, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 16, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 17, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 18, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 19, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 20, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 21, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 22, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 23, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 24, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 25, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 26, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 29, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 30, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 31, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 32, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 33, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 34, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 35, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 36, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 37, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 38, , , , , , , , [SEP] 39, NorthWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, WestWall, , , , , , , ", "output": ["STEP 1: cross the room to the desk in the corner beside the chair | STEP 2: pick up the card sitting closest to the edge of the desk | STEP 3: turn around and go to the coffee table | STEP 4: place the credit card on the coffee table | STEP 5: turn around to the couch behind the coffee table | STEP 6: pick up the credit card under the remote sitting on the couch | STEP 7: turn back around to the coffee table in front of the couch | STEP 8: set the card on the coffee table beside the other card | END"]} {"id": "trial_T20190908_123519_305249-2", "input": "Wash a soap bar to use in the tub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.903, 1.25, 0, 270, 0, [SEP] 1, TissueBox, -1.308, 1.773, 2.127, 0, 0, 0, 29 [SEP] 2, Cloth, 0.289, 0.048, 0.156, 0, 0, 0, 30 [SEP] 3, Cloth, 0.206, 0.048, 0.384, 0, 0, 0, 30 [SEP] 4, SoapBar, -0.653, 0.288, 2.157, 0, 0, 0, 27 [SEP] 5, SoapBar, -1.666, 0.081, -0.620, 0, 270, 0, 28 [SEP] 6, Candle, -2.212, 1.088, -0.827, 0, 0, 0, 36 [SEP] 7, Candle, -2.212, 1.088, -0.766, 0, 0, 0, 36 [SEP] 8, SoapBottle, -0.293, 0.611, 1.661, 0, 45, 0, 23 [SEP] 9, SoapBottle, -1.949, 1.049, -0.766, 0, 0, 0, 36 [SEP] 10, Candle, -0.319, 0.650, -0.259, 0, 0, 0, 23 [SEP] 11, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 33 [SEP] 12, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 13, SoapBar, -1.409, 1.010, -0.330, 0, 227.756, 0, 24 [SEP] 14, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 26 [SEP] 15, SoapBottle, -1.144, 0.291, 2.097, 0, 0, 0, 27 [SEP] 16, TissueBox, -2.080, 1.047, -0.705, 0, 0, 0, 36 [SEP] 17, Cloth, 0.371, 0.048, -0.071, 0, 0, 0, 30 [SEP] 18, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 26 [SEP] 19, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 25 [SEP] 20, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 21, SprayBottle, -2.343, 1.048, -0.705, 0, 0, 0, 36 [SEP] 22, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 23, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 24, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 25, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 26, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 27, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 28, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 29, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 30, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 31, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 32, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 33, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 34, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 35, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 36, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 37, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 38, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 39, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 40, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the edge of the kitchen sink on your left. | STEP 2: Grab a soap bar from the trash can. | STEP 3: Put the soap bar under the faucet, wash it, then grab it. | STEP 4: Walk to the tub on your left. | STEP 5: Place the soap bar in the tub. | END"]} {"id": "trial_T20190908_101253_622525-1", "input": "Put a heated tomato in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.900, 0.75, 0, 180, 0, [SEP] 1, Potato, -0.939, 0.855, -1.183, 0, 0, 0, 104 [SEP] 2, Potato, -0.151, 0.946, 1.044, 0, 0, 0, 56 [SEP] 3, DishSponge, 1.175, 0.770, 1.236, 0, 0, 0, 90 [SEP] 4, DishSponge, 2.217, 0.770, 1.122, 0, 0, 0, 76 [SEP] 5, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 51 [SEP] 6, Kettle, 1.141, 0.912, -0.684, 0, 0, 0, 45 [SEP] 7, ButterKnife, 1.155, 0.911, 1.468, 0, 0, 0, 80 [SEP] 8, ButterKnife, 1.955, 0.911, 1.044, 0, 0, 0, 80 [SEP] 9, Spoon, 1.155, 0.912, 1.044, 0, 0, 0, 80 [SEP] 10, Spatula, 1.955, 0.926, 1.553, 0, 270, 0, 80 [SEP] 11, Plate, 0.337, 2.159, 1.467, 0, 0, 0, 79 [SEP] 12, Cup, 2.653, 0.723, -0.565, 0, 0, 0, 100 [SEP] 13, Cup, 2.449, 1.653, 1.390, 0, 0, 0, 70 [SEP] 14, Egg, -2.019, 0.461, 1.375, 0, 270, 0, 98 [SEP] 15, SaltShaker, 1.422, 0.908, 1.553, 0, 0, 0, 80 [SEP] 16, SaltShaker, 1.798, 1.650, -0.849, 0, 180, 0, 82 [SEP] 17, PepperShaker, -0.734, 0.817, -1.473, 0, 0, 0, 104 [SEP] 18, Bread, -0.151, 0.969, 1.383, 0, 0, 0, 56 [SEP] 19, Bread, 2.777, 1.346, -0.709, 0, 0, 0, 100 [SEP] 20, Lettuce, 2.221, 0.992, 1.214, 0, 0, 0, 80 [SEP] 21, Mug, -0.151, 0.906, 1.214, 0, 0, 0, 56 [SEP] 22, SoapBottle, 1.835, 0.120, -0.458, 0, 180, 0, 91 [SEP] 23, Plate, 2.754, 0.914, 1.468, 0, 0, 0, 80 [SEP] 24, Fork, 0.053, 0.766, -0.651, 0, 0, 0, 102 [SEP] 25, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 60 [SEP] 26, Bread, 2.488, 0.969, 1.129, 0, 0, 0, 80 [SEP] 27, Egg, -0.157, 0.803, -0.651, 0, 0, 0, 102 [SEP] 28, Kettle, 2.156, 0.912, -0.515, 0, 0, 0, 45 [SEP] 29, Tomato, 1.155, 0.942, 1.553, 0, 0, 0, 80 [SEP] 30, Cup, 1.141, 0.909, -0.515, 0, 0, 0, 45 [SEP] 31, Spatula, -0.785, 0.835, -1.328, 0, 0, 0, 104 [SEP] 32, Apple, 2.900, 0.794, -0.473, 0, 0, 0, 100 [SEP] 33, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 48 [SEP] 34, Lettuce, 2.777, 1.644, -0.578, 0, 0, 0, 100 [SEP] 35, SaltShaker, -0.734, 0.817, -1.255, 0, 0, 0, 104 [SEP] 36, Knife, -0.246, 0.944, 1.383, 0, 270, 0, 56 [SEP] 37, Potato, 2.838, 1.598, -0.775, 0, 0, 0, 100 [SEP] 38, PepperShaker, 2.754, 0.908, 1.044, 0, 0, 0, 80 [SEP] 39, ButterKnife, 1.688, 0.911, 1.383, 0, 0, 0, 80 [SEP] 40, Bowl, 0.514, 1.652, -0.735, 0, 180, 0, 84 [SEP] 41, DishSponge, 0.888, 0.911, -0.769, 0, 0, 0, 45 [SEP] 42, Spoon, 1.155, 0.912, 1.299, 0, 0, 0, 80 [SEP] 43, Mug, 2.804, 1.649, 1.432, 0, 0, 0, 46 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 106, NorthWall, , , , , , , [SEP] 107, EastWall, , , , , , , [SEP] 108, SouthWall, , , , , , , [SEP] 109, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, go to the counter right of the stove. | STEP 2: Pick up the tomato on the counter. | STEP 3: Turn all the way around, then bring the tomato to the microwave above the stove to your right. | STEP 4: Heat the tomato in the mike above the stove. | STEP 5: Bring the heated tomato back and to the right, to the fridge. | STEP 6: Put the tomato in the fridge. | END"]} {"id": "trial_T20190908_101253_622525-2", "input": "To heat a tomato as well as store it in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.900, 0.75, 0, 180, 0, [SEP] 1, Potato, -0.939, 0.855, -1.183, 0, 0, 0, 104 [SEP] 2, Potato, -0.151, 0.946, 1.044, 0, 0, 0, 56 [SEP] 3, DishSponge, 1.175, 0.770, 1.236, 0, 0, 0, 90 [SEP] 4, DishSponge, 2.217, 0.770, 1.122, 0, 0, 0, 76 [SEP] 5, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 51 [SEP] 6, Kettle, 1.141, 0.912, -0.684, 0, 0, 0, 45 [SEP] 7, ButterKnife, 1.155, 0.911, 1.468, 0, 0, 0, 80 [SEP] 8, ButterKnife, 1.955, 0.911, 1.044, 0, 0, 0, 80 [SEP] 9, Spoon, 1.155, 0.912, 1.044, 0, 0, 0, 80 [SEP] 10, Spatula, 1.955, 0.926, 1.553, 0, 270, 0, 80 [SEP] 11, Plate, 0.337, 2.159, 1.467, 0, 0, 0, 79 [SEP] 12, Cup, 2.653, 0.723, -0.565, 0, 0, 0, 100 [SEP] 13, Cup, 2.449, 1.653, 1.390, 0, 0, 0, 70 [SEP] 14, Egg, -2.019, 0.461, 1.375, 0, 270, 0, 98 [SEP] 15, SaltShaker, 1.422, 0.908, 1.553, 0, 0, 0, 80 [SEP] 16, SaltShaker, 1.798, 1.650, -0.849, 0, 180, 0, 82 [SEP] 17, PepperShaker, -0.734, 0.817, -1.473, 0, 0, 0, 104 [SEP] 18, Bread, -0.151, 0.969, 1.383, 0, 0, 0, 56 [SEP] 19, Bread, 2.777, 1.346, -0.709, 0, 0, 0, 100 [SEP] 20, Lettuce, 2.221, 0.992, 1.214, 0, 0, 0, 80 [SEP] 21, Mug, -0.151, 0.906, 1.214, 0, 0, 0, 56 [SEP] 22, SoapBottle, 1.835, 0.120, -0.458, 0, 180, 0, 91 [SEP] 23, Plate, 2.754, 0.914, 1.468, 0, 0, 0, 80 [SEP] 24, Fork, 0.053, 0.766, -0.651, 0, 0, 0, 102 [SEP] 25, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 60 [SEP] 26, Bread, 2.488, 0.969, 1.129, 0, 0, 0, 80 [SEP] 27, Egg, -0.157, 0.803, -0.651, 0, 0, 0, 102 [SEP] 28, Kettle, 2.156, 0.912, -0.515, 0, 0, 0, 45 [SEP] 29, Tomato, 1.155, 0.942, 1.553, 0, 0, 0, 80 [SEP] 30, Cup, 1.141, 0.909, -0.515, 0, 0, 0, 45 [SEP] 31, Spatula, -0.785, 0.835, -1.328, 0, 0, 0, 104 [SEP] 32, Apple, 2.900, 0.794, -0.473, 0, 0, 0, 100 [SEP] 33, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 48 [SEP] 34, Lettuce, 2.777, 1.644, -0.578, 0, 0, 0, 100 [SEP] 35, SaltShaker, -0.734, 0.817, -1.255, 0, 0, 0, 104 [SEP] 36, Knife, -0.246, 0.944, 1.383, 0, 270, 0, 56 [SEP] 37, Potato, 2.838, 1.598, -0.775, 0, 0, 0, 100 [SEP] 38, PepperShaker, 2.754, 0.908, 1.044, 0, 0, 0, 80 [SEP] 39, ButterKnife, 1.688, 0.911, 1.383, 0, 0, 0, 80 [SEP] 40, Bowl, 0.514, 1.652, -0.735, 0, 180, 0, 84 [SEP] 41, DishSponge, 0.888, 0.911, -0.769, 0, 0, 0, 45 [SEP] 42, Spoon, 1.155, 0.912, 1.299, 0, 0, 0, 80 [SEP] 43, Mug, 2.804, 1.649, 1.432, 0, 0, 0, 46 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 106, NorthWall, , , , , , , [SEP] 107, EastWall, , , , , , , [SEP] 108, SouthWall, , , , , , , [SEP] 109, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and face the tomato on the counter. | STEP 2: Pick up the tomato on the counter. | STEP 3: Take a step to the left and face the microwave above the stove. | STEP 4: Heat the tomato in the microwave and then remove it. | STEP 5: Turn right and walk across the room, then turn right to face the fridge. | STEP 6: Place the tomato in the fridge. | END"]} {"id": "trial_T20190907_102539_772009-0", "input": "Place a piece of rinsed lettuce on the table with the gray tablecloth. 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, 90, 0, [SEP] 1, Kettle, 0.231, 2.158, 1.467, 0, 0, 0, 76 [SEP] 2, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 57 [SEP] 3, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 48 [SEP] 4, Spoon, -0.734, 0.822, -1.473, 0, 0, 0, 101 [SEP] 5, Spatula, 0.152, 0.926, -0.302, 0, 180, 0, 42 [SEP] 6, Spatula, -0.682, 0.835, -1.328, 0, 90, 0, 101 [SEP] 7, Cup, 0.862, 1.653, -0.810, 0, 180, 0, 52 [SEP] 8, Cup, 2.838, 1.561, -0.578, 0, 0, 0, 97 [SEP] 9, Egg, -1.933, 0.461, 1.502, 0, 270, 0, 95 [SEP] 10, Egg, 0.518, 1.822, 1.423, 0, 180, 0, 100 [SEP] 11, Knife, 2.221, 0.944, 1.214, 0, 0, 0, 77 [SEP] 12, SoapBottle, 2.118, 0.120, 1.193, 0, 0, 0, 78 [SEP] 13, SaltShaker, 1.896, 0.111, 1.037, 0, 0, 0, 62 [SEP] 14, SaltShaker, 0.152, 0.908, -0.302, 0, 0, 0, 42 [SEP] 15, PepperShaker, 1.102, 0.111, 1.117, 0, 0, 0, 71 [SEP] 16, PepperShaker, 1.488, 0.110, 1.156, 0, 0, 0, 71 [SEP] 17, Lettuce, -0.836, 0.901, -1.400, 0, 0, 0, 101 [SEP] 18, Lettuce, 1.155, 0.992, 1.468, 0, 0, 0, 77 [SEP] 19, SoapBottle, 0.480, 1.660, -0.773, 0, 180, 0, 81 [SEP] 20, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 42 [SEP] 21, Fork, -0.839, 0.821, -1.257, 0, 90, 0, 101 [SEP] 22, Pot, 2.221, 0.915, 1.468, 0, 0, 0, 77 [SEP] 23, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 42 [SEP] 24, Egg, -1.056, 0.858, -1.103, 0, 90, 0, 101 [SEP] 25, Kettle, 1.210, 0.115, -0.421, 0, 180, 0, 50 [SEP] 26, Tomato, 2.591, 1.594, -0.644, 0, 0, 0, 97 [SEP] 27, Cup, 2.838, 1.016, -0.644, 0, 0, 0, 97 [SEP] 28, Spatula, 1.155, 0.926, 1.129, 0, 90, 0, 77 [SEP] 29, Apple, 2.900, 0.795, -0.535, 0, 0, 0, 97 [SEP] 30, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 45 [SEP] 31, Lettuce, -0.198, 0.992, 1.129, 0, 0, 0, 53 [SEP] 32, SaltShaker, 2.156, 0.908, -0.769, 0, 0, 0, 42 [SEP] 33, Knife, 1.688, 0.944, 1.214, 0, 0, 0, 77 [SEP] 34, Potato, 2.591, 1.323, -0.709, 0, 0, 0, 97 [SEP] 35, PepperShaker, -0.043, 0.908, -0.302, 0, 0, 0, 42 [SEP] 36, ButterKnife, -1.056, 0.820, -1.206, 0, 90, 0, 101 [SEP] 37, Bowl, 1.842, 1.653, 1.429, 0, 0, 0, 54 [SEP] 38, DishSponge, 0.634, 0.911, -0.769, 0, 0, 0, 42 [SEP] 39, Spoon, 1.955, 0.912, 1.129, 0, 0, 0, 77 [SEP] 40, Mug, 2.591, 0.720, -0.565, 0, 90, 0, 97 [SEP] 41, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 42, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 43, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 44, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 45, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 46, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 47, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 48, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 50, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 51, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 52, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 53, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 54, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 55, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 56, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 57, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 58, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 59, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 60, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 61, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 62, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 64, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 65, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 71, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 72, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 73, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 77, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 78, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 80, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 81, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 82, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 83, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 84, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 85, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 86, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 87, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 88, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 89, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 94, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 95, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 96, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 97, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 98, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 99, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 100, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 101, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 102, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the table with the gray tablecloth on it. | STEP 2: Pick up the knife from the table. | STEP 3: Walk to the lettuce on the table with the gray tablecloth. | STEP 4: Cut up the lettuce on the table. | STEP 5: Turn around and walk to the cabinet just to the left of the oven. | STEP 6: Place the knife inside the cabinet and then close the cabinet. | STEP 7: Turn around and walk to the table with the gray tablecloth. | STEP 8: Pick up a piece of lettuce from the table. | STEP 9: Turn around and walk to the sink on your right. | STEP 10: Rinse the lettuce in the sink and then pick the piece of lettuce up. | STEP 11: Turn right and walk to the table with the gray tablecloth. | STEP 12: Place the piece of lettuce on the table. | END"]} {"id": "trial_T20190907_102539_772009-3", "input": "Place a washed piece of lettuce on the table next to the orange. 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, 90, 0, [SEP] 1, Kettle, 0.231, 2.158, 1.467, 0, 0, 0, 76 [SEP] 2, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 57 [SEP] 3, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 48 [SEP] 4, Spoon, -0.734, 0.822, -1.473, 0, 0, 0, 101 [SEP] 5, Spatula, 0.152, 0.926, -0.302, 0, 180, 0, 42 [SEP] 6, Spatula, -0.682, 0.835, -1.328, 0, 90, 0, 101 [SEP] 7, Cup, 0.862, 1.653, -0.810, 0, 180, 0, 52 [SEP] 8, Cup, 2.838, 1.561, -0.578, 0, 0, 0, 97 [SEP] 9, Egg, -1.933, 0.461, 1.502, 0, 270, 0, 95 [SEP] 10, Egg, 0.518, 1.822, 1.423, 0, 180, 0, 100 [SEP] 11, Knife, 2.221, 0.944, 1.214, 0, 0, 0, 77 [SEP] 12, SoapBottle, 2.118, 0.120, 1.193, 0, 0, 0, 78 [SEP] 13, SaltShaker, 1.896, 0.111, 1.037, 0, 0, 0, 62 [SEP] 14, SaltShaker, 0.152, 0.908, -0.302, 0, 0, 0, 42 [SEP] 15, PepperShaker, 1.102, 0.111, 1.117, 0, 0, 0, 71 [SEP] 16, PepperShaker, 1.488, 0.110, 1.156, 0, 0, 0, 71 [SEP] 17, Lettuce, -0.836, 0.901, -1.400, 0, 0, 0, 101 [SEP] 18, Lettuce, 1.155, 0.992, 1.468, 0, 0, 0, 77 [SEP] 19, SoapBottle, 0.480, 1.660, -0.773, 0, 180, 0, 81 [SEP] 20, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 42 [SEP] 21, Fork, -0.839, 0.821, -1.257, 0, 90, 0, 101 [SEP] 22, Pot, 2.221, 0.915, 1.468, 0, 0, 0, 77 [SEP] 23, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 42 [SEP] 24, Egg, -1.056, 0.858, -1.103, 0, 90, 0, 101 [SEP] 25, Kettle, 1.210, 0.115, -0.421, 0, 180, 0, 50 [SEP] 26, Tomato, 2.591, 1.594, -0.644, 0, 0, 0, 97 [SEP] 27, Cup, 2.838, 1.016, -0.644, 0, 0, 0, 97 [SEP] 28, Spatula, 1.155, 0.926, 1.129, 0, 90, 0, 77 [SEP] 29, Apple, 2.900, 0.795, -0.535, 0, 0, 0, 97 [SEP] 30, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 45 [SEP] 31, Lettuce, -0.198, 0.992, 1.129, 0, 0, 0, 53 [SEP] 32, SaltShaker, 2.156, 0.908, -0.769, 0, 0, 0, 42 [SEP] 33, Knife, 1.688, 0.944, 1.214, 0, 0, 0, 77 [SEP] 34, Potato, 2.591, 1.323, -0.709, 0, 0, 0, 97 [SEP] 35, PepperShaker, -0.043, 0.908, -0.302, 0, 0, 0, 42 [SEP] 36, ButterKnife, -1.056, 0.820, -1.206, 0, 90, 0, 101 [SEP] 37, Bowl, 1.842, 1.653, 1.429, 0, 0, 0, 54 [SEP] 38, DishSponge, 0.634, 0.911, -0.769, 0, 0, 0, 42 [SEP] 39, Spoon, 1.955, 0.912, 1.129, 0, 0, 0, 77 [SEP] 40, Mug, 2.591, 0.720, -0.565, 0, 90, 0, 97 [SEP] 41, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 42, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 43, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 44, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 45, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 46, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 47, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 48, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 50, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 51, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 52, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 53, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 54, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 55, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 56, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 57, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 58, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 59, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 60, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 61, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 62, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 64, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 65, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 71, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 72, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 73, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 77, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 78, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 80, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 81, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 82, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 83, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 84, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 85, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 86, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 87, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 88, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 89, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 94, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 95, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 96, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 97, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 98, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 99, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 100, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 101, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 102, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the chair on the right next to the window. | STEP 2: Pick up the knife that is under the orange that is on top of the table. | STEP 3: Turn around and go to the table next to you. | STEP 4: Cut the heart of lettuce that is to the right of the spoon | STEP 5: turn around and go to the stove. | STEP 6: Place the knife inside the cabinet to the right of the stove. | STEP 7: Go to the round table next the the chair by the window. | STEP 8: Take a piece of lettuce | STEP 9: Turn around and go to the sink | STEP 10: Washed the piece of lettuce in the sink. | STEP 11: Turn right an go to the chair next to the window. | STEP 12: Place the piece of lettuce on the table to the right of the orange. | END"]} {"id": "trial_T20190907_102539_772009-4", "input": "To cut a vegetable into slices, store a piece in the cabinet, wash a piece in the sink plus return in to the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 0.25, 0, 90, 0, [SEP] 1, Kettle, 0.231, 2.158, 1.467, 0, 0, 0, 76 [SEP] 2, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 57 [SEP] 3, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 48 [SEP] 4, Spoon, -0.734, 0.822, -1.473, 0, 0, 0, 101 [SEP] 5, Spatula, 0.152, 0.926, -0.302, 0, 180, 0, 42 [SEP] 6, Spatula, -0.682, 0.835, -1.328, 0, 90, 0, 101 [SEP] 7, Cup, 0.862, 1.653, -0.810, 0, 180, 0, 52 [SEP] 8, Cup, 2.838, 1.561, -0.578, 0, 0, 0, 97 [SEP] 9, Egg, -1.933, 0.461, 1.502, 0, 270, 0, 95 [SEP] 10, Egg, 0.518, 1.822, 1.423, 0, 180, 0, 100 [SEP] 11, Knife, 2.221, 0.944, 1.214, 0, 0, 0, 77 [SEP] 12, SoapBottle, 2.118, 0.120, 1.193, 0, 0, 0, 78 [SEP] 13, SaltShaker, 1.896, 0.111, 1.037, 0, 0, 0, 62 [SEP] 14, SaltShaker, 0.152, 0.908, -0.302, 0, 0, 0, 42 [SEP] 15, PepperShaker, 1.102, 0.111, 1.117, 0, 0, 0, 71 [SEP] 16, PepperShaker, 1.488, 0.110, 1.156, 0, 0, 0, 71 [SEP] 17, Lettuce, -0.836, 0.901, -1.400, 0, 0, 0, 101 [SEP] 18, Lettuce, 1.155, 0.992, 1.468, 0, 0, 0, 77 [SEP] 19, SoapBottle, 0.480, 1.660, -0.773, 0, 180, 0, 81 [SEP] 20, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 42 [SEP] 21, Fork, -0.839, 0.821, -1.257, 0, 90, 0, 101 [SEP] 22, Pot, 2.221, 0.915, 1.468, 0, 0, 0, 77 [SEP] 23, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 42 [SEP] 24, Egg, -1.056, 0.858, -1.103, 0, 90, 0, 101 [SEP] 25, Kettle, 1.210, 0.115, -0.421, 0, 180, 0, 50 [SEP] 26, Tomato, 2.591, 1.594, -0.644, 0, 0, 0, 97 [SEP] 27, Cup, 2.838, 1.016, -0.644, 0, 0, 0, 97 [SEP] 28, Spatula, 1.155, 0.926, 1.129, 0, 90, 0, 77 [SEP] 29, Apple, 2.900, 0.795, -0.535, 0, 0, 0, 97 [SEP] 30, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 45 [SEP] 31, Lettuce, -0.198, 0.992, 1.129, 0, 0, 0, 53 [SEP] 32, SaltShaker, 2.156, 0.908, -0.769, 0, 0, 0, 42 [SEP] 33, Knife, 1.688, 0.944, 1.214, 0, 0, 0, 77 [SEP] 34, Potato, 2.591, 1.323, -0.709, 0, 0, 0, 97 [SEP] 35, PepperShaker, -0.043, 0.908, -0.302, 0, 0, 0, 42 [SEP] 36, ButterKnife, -1.056, 0.820, -1.206, 0, 90, 0, 101 [SEP] 37, Bowl, 1.842, 1.653, 1.429, 0, 0, 0, 54 [SEP] 38, DishSponge, 0.634, 0.911, -0.769, 0, 0, 0, 42 [SEP] 39, Spoon, 1.955, 0.912, 1.129, 0, 0, 0, 77 [SEP] 40, Mug, 2.591, 0.720, -0.565, 0, 90, 0, 97 [SEP] 41, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 42, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 43, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 44, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 45, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 46, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 47, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 48, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 50, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 51, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 52, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 53, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 54, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 55, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 56, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 57, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 58, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 59, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 60, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 61, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 62, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 64, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 65, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 71, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 72, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 73, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 77, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 78, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 80, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 81, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 82, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 83, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 84, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 85, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 86, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 87, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 88, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 89, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 94, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 95, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 96, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 97, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 98, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 99, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 100, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 101, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 102, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, walk across the room and approach the kitchen table. | STEP 2: Pick up the knife of the kitchen table. | STEP 3: Face the large green vegetable on the table | STEP 4: Cut the large green vegetable on the table. | STEP 5: Turn around and walk to face the cabinet to the left of the stove. | STEP 6: Place the slice of vegetable in the cabinet to the left of the stove. | STEP 7: Turn around and approach the table in the kitchen. | STEP 8: Pick up a slice of the green vegetable on the table. | STEP 9: Turn around and walk around the corner to face the sink. | STEP 10: Place the slice of vegetable in the sink, wash it, then pick it back up. | STEP 11: Walk around the right side of the sink to face the kitchen table. | STEP 12: Place the slice of vegetable on the front of the kitchen table. | END"]} {"id": "trial_T20190907_042812_954786-2", "input": "Examine a grey box next to 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, 0.909, -1.5, 0, 180, 0, [SEP] 1, Mug, -1.474, 0.798, -3.811, 0, 0, 0, 37 [SEP] 2, CellPhone, -3.402, 0.620, -1.218, 0, 0, 0, 22 [SEP] 3, CellPhone, -3.466, 0.981, -3.874, 0, 0, 0, 40 [SEP] 4, Pencil, -3.687, 0.984, -3.874, 0, 0, 0, 40 [SEP] 5, Book, -2.981, 0.620, -0.931, 0, 0, 0, 22 [SEP] 6, Laptop, -2.770, 0.618, -2.080, 0, 0, 0, 22 [SEP] 7, AlarmClock, -3.539, 0.979, -3.673, 0, 0, 0, 40 [SEP] 8, AlarmClock, -0.453, 0.800, -3.703, 0, 0, 0, 37 [SEP] 9, Book, -3.760, 0.980, -3.472, 0, 0, 0, 40 [SEP] 10, CellPhone, -0.862, 0.803, -4.137, 0, 0, 0, 37 [SEP] 11, Laptop, -2.559, 0.618, -1.218, 0, 0, 0, 22 [SEP] 12, CreditCard, -0.240, 0.542, -3.676, 0, 0, 0, 31 [SEP] 13, AlarmClock, -0.657, 0.803, -3.811, 0, 0, 0, 37 [SEP] 14, KeyChain, -0.685, 0.543, -3.731, 0, 0, 0, 31 [SEP] 15, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 22 [SEP] 16, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 17, Pencil, -3.693, 0.812, -3.790, 0, 0, 0, 38 [SEP] 18, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 22 [SEP] 19, CD, -0.453, 0.799, -4.029, 0, 0, 0, 37 [SEP] 20, Pen, -3.539, 0.985, -3.673, 0, 0, 0, 40 [SEP] 21, Mug, -3.466, 0.977, -3.472, 0, 0, 0, 40 [SEP] 22, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 23, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 24, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 25, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 26, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 27, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 28, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 29, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 30, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 31, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 32, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 33, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 34, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 35, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 36, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 37, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 38, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 39, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 40, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 41, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 42, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 45, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: Walk towards the desk and turn right towards the dresser. | STEP 2: Pick up the grey box on the dresser. | STEP 3: Turn around and walk towards the lamp on the desk. | STEP 4: Turn on the lamp. | END"]} {"id": "trial_T20190909_003817_509851-1", "input": "Put a cleaned spoon on top of a spatula 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, -1.25, 0.931, -0.5, 0, 180, 0, [SEP] 1, Pan, 0.979, 0.199, -1.339, 0, 0, 0, 60 [SEP] 2, Potato, -1.103, 1.281, 2.331, 0, 90, 0, 64 [SEP] 3, Potato, -1.381, 1.542, 1.885, 0, 90, 0, 64 [SEP] 4, ButterKnife, 0.065, 1.043, 0.307, 0, 0, 0, 51 [SEP] 5, Kettle, 1.817, 0.205, -1.553, 0, 0, 0, 59 [SEP] 6, Kettle, 1.155, 1.047, -1.397, 0, 0, 0, 49 [SEP] 7, Pot, -0.398, 1.566, -1.693, 0, 90, 0, 54 [SEP] 8, Pot, 1.512, 0.206, -1.335, 0, 270, 0, 59 [SEP] 9, Spoon, -0.177, 1.048, -1.129, 0, 0, 0, 49 [SEP] 10, Spatula, -0.346, 1.061, -1.181, 0, 0, 0, 49 [SEP] 11, Egg, -1.145, 1.770, -1.238, 0, 0, 0, 63 [SEP] 12, Egg, -1.431, 1.282, 1.796, 0, 90, 0, 64 [SEP] 13, Plate, 1.015, 1.056, 0.676, 0, 0, 0, 51 [SEP] 14, SoapBottle, 1.701, 1.044, 0.738, 0, 0, 0, 51 [SEP] 15, Bowl, -1.261, 0.201, -1.265, 0, 0, 0, 57 [SEP] 16, Bowl, 1.701, 1.042, 0.091, 0, 0, 0, 51 [SEP] 17, SaltShaker, 1.435, 1.014, -1.557, 0, 0, 0, 55 [SEP] 18, SaltShaker, -1.416, 0.197, -1.338, 0, 0, 0, 57 [SEP] 19, PepperShaker, 1.238, 1.041, -1.828, 0, 90, 0, 49 [SEP] 20, Bread, -0.603, 1.120, -1.397, 0, 0, 0, 49 [SEP] 21, Mug, 1.263, 1.560, -1.689, 0, 0, 0, 53 [SEP] 22, Apple, -1.103, 1.271, 2.153, 0, 90, 0, 64 [SEP] 23, SoapBottle, 1.968, 1.044, 0.738, 0, 0, 0, 51 [SEP] 24, Apple, -1.031, 0.750, 1.885, 0, 90, 0, 64 [SEP] 25, Potato, 0.740, 1.100, -1.289, 0, 0, 0, 49 [SEP] 26, Fork, -0.346, 1.047, -1.720, 0, 0, 0, 49 [SEP] 27, Kettle, -0.312, 0.204, -1.409, 0, 0, 0, 58 [SEP] 28, Pan, -1.339, 2.027, -1.337, 0, 270, 0, 56 [SEP] 29, Tomato, -0.775, 1.097, -1.828, 0, 0, 0, 49 [SEP] 30, SaltShaker, -1.105, 0.197, -1.193, 0, 0, 0, 57 [SEP] 31, Egg, 0.682, 1.097, 0.720, 0, 0, 0, 51 [SEP] 32, Cup, -1.106, 2.028, -1.482, 0, 0, 0, 56 [SEP] 33, Spatula, -0.296, 1.053, -1.277, 0, 255.000, 0, 49 [SEP] 34, Knife, 0.100, 1.072, -1.118, 0, 180, 0, 49 [SEP] 35, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 47 [SEP] 36, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 51 [SEP] 37, PepperShaker, -0.401, 0.198, -1.625, 0, 0, 0, 58 [SEP] 38, DishSponge, -0.260, 1.046, -1.612, 0, 0, 0, 49 [SEP] 39, Plate, 1.036, 1.577, -1.614, 0, 0, 0, 53 [SEP] 40, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 51 [SEP] 41, Spoon, 0.446, 1.044, 0.738, 0, 0, 0, 51 [SEP] 42, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 52 [SEP] 43, Mug, 1.347, 1.038, 0.632, 0, 0, 0, 51 [SEP] 44, Bowl, -1.235, 1.227, 1.974, 0, 90, 0, 64 [SEP] 45, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 46, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 47, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 48, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 49, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 50, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 51, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 52, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 53, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 54, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 55, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 56, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 57, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 58, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 59, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 60, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 61, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 62, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 63, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 64, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 65, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 66, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 67, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 68, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 70, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 71, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 72, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 73, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 74, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 75, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 76, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 77, NorthWall, , , , , , , [SEP] 78, EastWall, , , , , , , [SEP] 79, SouthWall, , , , , , , [SEP] 80, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk forward slightly, then turn right towards the spoon on the counter top near the large knife and spatula. | STEP 2: Pick up the spoon from the counter. | STEP 3: Turn around and walk to the right to the sink. | STEP 4: Put the spoon in the sink, rinse it off, and take it out of the sink. | STEP 5: Turn left, walk to the end of the counter, then turn left towards the bread on the other counter. | STEP 6: Put the spoon on that counter, on top of the spatula that is touching the bread. | END"]} {"id": "trial_T20190906_190741_530882-2", "input": "Grab the grey bowl on the corner table, 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, 2.75, 0, 270, 0, [SEP] 1, Newspaper, -5.592, 0.532, 6.647, 0, 45, 0, 61 [SEP] 2, Watch, -0.738, 0.793, 1.751, 0, 270, 0, 45 [SEP] 3, Watch, -2.598, 0.533, 3.856, 0, 0, 0, 60 [SEP] 4, KeyChain, -0.738, 0.794, 1.626, 0, 270, 0, 45 [SEP] 5, KeyChain, -3.462, 0.147, 7.276, 0, 90, 0, 54 [SEP] 6, CreditCard, -0.947, 0.441, 3.306, 0, 0, 0, 43 [SEP] 7, CreditCard, -2.492, 0.533, 3.607, 0, 270, 0, 60 [SEP] 8, RemoteControl, -5.998, 0.455, 4.745, 0, 0, 0, 55 [SEP] 9, Laptop, -0.868, 0.437, 3.915, 0, 0, 0, 43 [SEP] 10, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 54 [SEP] 11, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 59 [SEP] 12, Vase, -0.326, 0.794, 5.877, 0, 0, 0, 44 [SEP] 13, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 55 [SEP] 14, Newspaper, -0.789, 0.365, 3.002, 0, 0, 0, 43 [SEP] 15, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 60 [SEP] 16, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 17, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 53 [SEP] 18, CreditCard, -6.036, 0.452, 4.942, 0, 0, 0, 50 [SEP] 19, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 57 [SEP] 20, KeyChain, -5.237, 0.534, 6.852, 0, 45, 0, 61 [SEP] 21, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 55 [SEP] 22, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 55 [SEP] 23, Bowl, -0.535, 0.795, 5.600, 0, 270, 0, 44 [SEP] 24, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 43 [SEP] 25, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 57 [SEP] 26, RemoteControl, -0.789, 0.369, 3.306, 0, 0, 0, 43 [SEP] 27, Watch, -2.474, 0.146, 7.070, 0, 90, 0, 54 [SEP] 28, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 59 [SEP] 29, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 57 [SEP] 30, Statue, -3.328, 1.289, 7.235, 0, 270, 0, 59 [SEP] 31, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 59 [SEP] 32, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 33, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 34, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 35, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 36, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 37, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 38, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 39, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 40, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 41, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 42, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 43, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 44, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 45, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 46, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 47, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 48, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 49, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 50, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 51, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 52, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 53, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 54, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 55, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 56, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 57, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 58, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 59, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 60, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 61, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 62, NorthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right walk to the shelf, turn right walk to the corner table | STEP 2: Grab the grey bowl on the table | STEP 3: Turn left and walk until corner table is at the center of the view | STEP 4: Turn on the lamp on the table | END"]} {"id": "trial_T20190907_174408_206977-2", "input": "Rinse the washcloth in the sink and put it back in the tub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.903, 0.5, 0, 90, 0, [SEP] 1, Cloth, 0.206, 0.048, 0.611, 0, 0, 0, 30 [SEP] 2, Cloth, -1.308, 1.777, 2.127, 0, 0, 0, 29 [SEP] 3, SoapBar, 0.453, 0.043, -0.071, 0, 0, 0, 30 [SEP] 4, SoapBar, 0.206, 0.043, 0.384, 0, 0, 0, 30 [SEP] 5, Candle, -0.817, 1.814, 2.217, 0, 0, 0, 31 [SEP] 6, SprayBottle, -2.080, 1.048, -0.766, 0, 180, 0, 36 [SEP] 7, SoapBottle, -0.653, 0.291, 2.187, 0, 0, 0, 27 [SEP] 8, SoapBottle, -1.471, 1.072, 2.127, 0, 0, 0, 31 [SEP] 9, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 32 [SEP] 10, Candle, -2.212, 1.088, -0.674, 0, 0, 0, 36 [SEP] 11, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 33 [SEP] 12, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 13, SoapBar, 0.453, 0.043, 0.611, 0, 0, 0, 30 [SEP] 14, ToiletPaper, -2.343, 1.043, -0.736, 0, 0, 0, 36 [SEP] 15, SoapBottle, -2.015, 1.049, -0.705, 0, 0, 0, 36 [SEP] 16, TissueBox, -0.653, 1.070, 2.157, 0, 0, 0, 31 [SEP] 17, Cloth, -1.144, 1.074, 2.157, 0, 0, 0, 31 [SEP] 18, ToiletPaper, -0.319, 0.606, 0.636, 0, 0, 0, 23 [SEP] 19, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 25 [SEP] 20, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 21, SprayBottle, -1.687, 0.082, -0.690, 0, 270, 0, 34 [SEP] 22, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 23, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 24, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 25, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 26, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 27, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 28, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 29, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 30, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 31, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 32, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 33, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 34, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 35, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 36, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 37, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 38, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 39, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 40, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the tub. | STEP 2: Take the washcloth out of the tub. | STEP 3: Turn right and go to the sink. | STEP 4: Put the washcloth in the sink, wash it and pick it back up. | STEP 5: Go back to the tub. | STEP 6: Put the washcloth back in the tub. | END"]} {"id": "trial_T20190907_195646_153887-0", "input": "Put a slice of chilled 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, 2.5, 0.900, 0.5, 0, 270, 0, [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 86 [SEP] 2, Pan, 1.155, 0.911, 1.468, 0, 0, 0, 83 [SEP] 3, Potato, -0.911, 0.855, -1.206, 0, 90, 0, 107 [SEP] 4, Potato, -0.157, 0.800, -0.707, 0, 90, 0, 105 [SEP] 5, DishSponge, 1.688, 0.911, 1.468, 0, 0, 0, 83 [SEP] 6, DishSponge, 2.754, 0.911, 1.299, 0, 0, 0, 83 [SEP] 7, ButterKnife, 0.634, 0.911, -0.515, 0, 0, 0, 48 [SEP] 8, Pot, 1.422, 0.915, 1.129, 0, 0, 0, 83 [SEP] 9, Spoon, 1.955, 0.912, 1.299, 0, 270, 0, 83 [SEP] 10, Spoon, 2.418, 0.773, 1.160, 0, 90, 0, 64 [SEP] 11, Fork, 1.141, 0.912, -0.684, 0, 90, 0, 48 [SEP] 12, Fork, -0.055, 0.912, 1.299, 0, 90, 0, 59 [SEP] 13, Spatula, -0.043, 0.926, -0.330, 0, 0, 0, 48 [SEP] 14, Egg, -2.048, 0.461, 1.332, 0, 270, 0, 101 [SEP] 15, Egg, -0.198, 0.949, 1.044, 0, 0, 0, 59 [SEP] 16, Knife, -0.836, 0.853, -1.400, 0, 0, 0, 107 [SEP] 17, SoapBottle, -1.056, 0.826, -1.257, 0, 90, 0, 107 [SEP] 18, Bowl, 1.955, 0.909, 1.468, 0, 0, 0, 83 [SEP] 19, Lettuce, 2.754, 0.992, 1.468, 0, 0, 0, 83 [SEP] 20, Lettuce, 2.488, 0.992, 1.129, 0, 0, 0, 83 [SEP] 21, Mug, 2.591, 1.283, -0.709, 0, 90, 0, 103 [SEP] 22, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 48 [SEP] 23, Apple, 2.221, 0.980, 1.468, 0, 0, 0, 83 [SEP] 24, Apple, 2.715, 0.794, -0.473, 0, 0, 0, 103 [SEP] 25, SoapBottle, 0.548, 1.660, -0.849, 0, 180, 0, 87 [SEP] 26, Plate, 2.838, 1.566, -0.644, 0, 0, 0, 103 [SEP] 27, Fork, -0.682, 0.821, -1.328, 0, 90, 0, 107 [SEP] 28, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 54 [SEP] 29, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 48 [SEP] 30, Egg, 2.838, 0.762, -0.442, 0, 0, 0, 103 [SEP] 31, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 48 [SEP] 32, Tomato, 2.777, 1.320, -0.709, 0, 0, 0, 103 [SEP] 33, Cup, 2.156, 0.909, -0.345, 0, 0, 0, 48 [SEP] 34, Spatula, 1.155, 0.926, 1.214, 0, 0, 0, 83 [SEP] 35, Apple, 2.715, 1.087, -0.709, 0, 0, 0, 103 [SEP] 36, Pan, 2.488, 0.911, 1.383, 0, 90, 0, 83 [SEP] 37, Lettuce, -0.151, 0.992, 1.299, 0, 0, 0, 59 [SEP] 38, SaltShaker, 0.152, 0.908, -0.330, 0, 0, 0, 48 [SEP] 39, Knife, 1.688, 0.944, 1.299, 0, 0, 0, 83 [SEP] 40, Potato, 2.221, 0.946, 1.214, 0, 0, 0, 83 [SEP] 41, PepperShaker, -0.766, 0.817, -1.308, 0, 90, 0, 107 [SEP] 42, ButterKnife, 2.221, 0.911, 1.129, 0, 0, 0, 83 [SEP] 43, Bowl, 0.518, 1.782, 1.455, 0, 180, 0, 106 [SEP] 44, DishSponge, 0.634, 0.911, -0.6, 0, 0, 0, 48 [SEP] 45, Spoon, -0.017, 0.766, -0.596, 0, 0, 0, 105 [SEP] 46, Mug, 2.156, 0.906, -0.769, 0, 0, 0, 48 [SEP] 47, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 48, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 49, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 50, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 51, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 53, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 54, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 55, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 56, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 57, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 58, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 59, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 60, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 61, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 62, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 63, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 64, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 66, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 67, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 68, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 69, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 70, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 71, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 79, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 81, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 83, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 84, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 85, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 86, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 87, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 88, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 89, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 90, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 91, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 92, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 93, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 94, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 95, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 99, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 100, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 101, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 102, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 103, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 104, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 105, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 106, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 107, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 108, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 109, NorthWall, , , , , , , [SEP] 110, EastWall, , , , , , , [SEP] 111, SouthWall, , , , , , , [SEP] 112, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and face the kitchen counter with the paring knife. | STEP 2: Pick up the paring knife. | STEP 3: Move the lettuce and slice the potato. | STEP 4: Turn around and go to the counter on the opposite side. | STEP 5: Open the right bottom cabinet and place the paring knife inside. | STEP 6: Turn around and go back to the kitchen counter with the sliced potato. | STEP 7: Take a slice of potato. | STEP 8: Turn around and go to the refrigerator on the left. | STEP 9: Chill the slice of potato inside the refrigerator and take it out. | STEP 10: Turn around and go to the microwave above the stove. | STEP 11: Place the slice of potato inside the microwave. | END"]} {"id": "trial_T20190908_121502_008775-2", "input": "Put a chilled slice of lettuce on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 0.25, 0, 90, 0, [SEP] 1, Cup, 2.777, 0.724, -0.473, 0, 0, 0, 88 [SEP] 2, Cup, 2.962, 1.561, -0.840, 0, 0, 0, 88 [SEP] 3, Knife, 1.422, 0.944, 1.214, 0, 90, 0, 68 [SEP] 4, SoapBottle, -0.197, 0.120, 1.117, 0, 0, 0, 61 [SEP] 5, SoapBottle, 1.450, 1.660, 1.470, 0, 0, 0, 56 [SEP] 6, Tomato, -0.990, 0.852, -1.328, 0, 0, 0, 92 [SEP] 7, Bowl, 2.754, 0.909, 1.468, 0, 0, 0, 68 [SEP] 8, Bread, 2.777, 1.621, -0.644, 0, 0, 0, 88 [SEP] 9, Apple, 1.422, 0.980, 1.468, 0, 0, 0, 68 [SEP] 10, SoapBottle, 1.792, 0.120, 1.236, 0, 0, 0, 53 [SEP] 11, Plate, 0.337, 2.159, 1.467, 0, 0, 0, 67 [SEP] 12, Fork, -0.766, 0.821, -1.257, 0, 90, 0, 92 [SEP] 13, Pot, 0.678, 0.964, 1.345, 0, 0, 0, 71 [SEP] 14, Bread, 2.221, 0.969, 1.214, 0, 0, 0, 68 [SEP] 15, Egg, -0.694, 0.858, -1.155, 0, 90, 0, 92 [SEP] 16, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 33 [SEP] 17, Tomato, -2.048, 0.455, 1.290, 0, 270, 0, 86 [SEP] 18, Cup, 1.597, 1.652, 1.394, 0, 0, 0, 45 [SEP] 19, Spatula, -0.621, 0.835, -1.308, 0, 90, 0, 92 [SEP] 20, Apple, 2.900, 0.794, -0.535, 0, 0, 0, 88 [SEP] 21, Pan, -0.198, 0.911, 1.383, 0, 0, 0, 44 [SEP] 22, Lettuce, 2.156, 0.992, -0.430, 0, 0, 0, 33 [SEP] 23, SaltShaker, -0.785, 0.817, -1.400, 0, 0, 0, 92 [SEP] 24, Knife, 2.488, 0.944, 1.468, 0, 0, 0, 68 [SEP] 25, Potato, 2.754, 0.946, 1.044, 0, 0, 0, 68 [SEP] 26, PepperShaker, 1.522, 0.111, -0.538, 0, 180, 0, 50 [SEP] 27, ButterKnife, -0.017, 0.765, -0.651, 0, 0, 0, 90 [SEP] 28, Bowl, 2.900, 1.017, -0.644, 0, 0, 0, 88 [SEP] 29, DishSponge, -1.991, 0.423, 1.417, 0, 270, 0, 86 [SEP] 30, Spoon, 0.193, 0.766, -0.541, 0, 270, 0, 90 [SEP] 31, Mug, 0.518, 1.779, 1.423, 0, 180, 0, 91 [SEP] 32, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 33, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 34, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 35, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 36, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 37, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 38, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 39, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 40, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 41, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 42, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 43, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 44, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 45, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 46, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 47, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 48, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 49, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 50, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 51, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 52, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 53, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 54, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 55, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 56, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 57, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 58, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 59, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 60, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 61, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 63, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 64, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 66, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 67, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 68, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 69, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 70, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 71, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 72, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 73, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 74, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 75, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 76, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 77, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 80, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 81, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 82, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 83, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 84, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 85, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 86, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 87, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 88, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 89, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 90, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 91, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 92, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 93, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Go to the sink on the right. | STEP 2: Pick up the knife in the sink. | STEP 3: Turn right and go to the counter with the toaster on it. | STEP 4: Cut the lettuce on the counter. | STEP 5: Turn around to the counter with the bread on it. | STEP 6: Put the knife on the counter in front of the bread. | STEP 7: Turn back around to the counter. | STEP 8: Pick up a slice of lettuce. | STEP 9: Turn left and go to the fridge. | STEP 10: Put the slice of lettuce in the fridge, close the fridge and then pick the lettuce back up. | STEP 11: Go back to the counter with the bread on it. | STEP 12: Put the slice of lettuce on the counter to the right of the knife. | END"]} {"id": "trial_T20190908_114146_991919-2", "input": "To move two bars of soap to the tub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.903, 1.25, 0, 90, 0, [SEP] 1, TissueBox, -1.471, 1.070, 2.157, 0, 0, 0, 29 [SEP] 2, TissueBox, -0.817, 0.289, 2.127, 0, 0, 0, 25 [SEP] 3, Cloth, 0.453, 0.048, -0.071, 0, 0, 0, 28 [SEP] 4, Cloth, -1.144, 1.074, 2.127, 0, 0, 0, 29 [SEP] 5, SoapBar, -2.146, 1.046, -0.736, 0, 0, 0, 34 [SEP] 6, SoapBar, -2.343, 1.046, -0.797, 0, 0, 0, 34 [SEP] 7, SprayBottle, -2.277, 1.048, -0.736, 0, 0, 0, 34 [SEP] 8, Candle, -2.277, 1.088, -0.827, 0, 0, 0, 34 [SEP] 9, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 31 [SEP] 10, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 11, SoapBar, -2.015, 1.046, -0.674, 0, 0, 0, 34 [SEP] 12, ToiletPaper, -1.308, 1.066, 2.187, 0, 0, 0, 29 [SEP] 13, SoapBottle, -1.635, 0.291, 2.217, 0, 0, 0, 25 [SEP] 14, TissueBox, -0.653, 1.773, 2.127, 0, 0, 0, 27 [SEP] 15, Cloth, 0.206, 0.048, 0.839, 0, 0, 0, 28 [SEP] 16, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 24 [SEP] 17, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 23 [SEP] 18, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 19, SprayBottle, -0.980, 1.774, 2.127, 0, 0, 0, 27 [SEP] 20, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 21, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 22, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 23, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 24, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 25, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 26, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 27, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 28, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 29, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 30, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 31, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 32, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 33, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 34, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 35, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 36, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 37, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 38, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and face the back of the toilet. | STEP 2: Pick up a bar of soap from the back of the toilet that's closest to you. | STEP 3: Walk to the tub across the room. | STEP 4: Place the bar of soap in the tub to the right of the yellow rag to the left. | STEP 5: Walk back over to the toilet and face the back of the toilet. | STEP 6: Pick up the bar of soap in the upper left corner. | STEP 7: Walk back over to the tub. | STEP 8: Place the bar of soap to the right of the first bar of soap. | END"]} {"id": "trial_T20190907_004118_114555-0", "input": "Put a heated tomato on the counter to the right of the stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.931, -0.75, 0, 0, 0, [SEP] 1, Kettle, 0.5, 1.057, -1.4, 0, 0, 0, 51 [SEP] 2, Kettle, 0.890, 0.200, -1.339, 0, 0, 0, 61 [SEP] 3, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 53 [SEP] 4, Fork, 1.968, 1.043, 0.091, 0, 0, 0, 52 [SEP] 5, Spoon, 0.980, 1.054, 0.231, 0, 90, 0, 48 [SEP] 6, Egg, -1.169, 1.282, 2.063, 0, 90, 0, 65 [SEP] 7, Egg, 1.155, 1.101, -1.397, 0, 0, 0, 50 [SEP] 8, Cup, -0.774, 1.565, -1.767, 0, 0, 0, 55 [SEP] 9, Plate, -0.689, 1.059, -1.397, 0, 0, 0, 50 [SEP] 10, Knife, 0.657, 1.072, -1.118, 0, 0, 0, 50 [SEP] 11, Knife, -0.038, 1.072, -1.107, 0, 0, 0, 50 [SEP] 12, Tomato, 0.823, 1.097, -1.181, 0, 0, 0, 50 [SEP] 13, Tomato, 1.854, 0.173, 2.414, 0, 270, 0, 66 [SEP] 14, Tomato, -1.423, 1.764, 2.242, 0, 90, 0, 65 [SEP] 15, Bowl, 0.890, 0.198, -1.556, 0, 0, 0, 61 [SEP] 16, SaltShaker, 1.523, 1.038, 0.199, 0, 0, 0, 52 [SEP] 17, SaltShaker, 1.238, 1.041, -1.397, 0, 0, 0, 50 [SEP] 18, PepperShaker, -0.952, 2.023, -1.409, 0, 0, 0, 57 [SEP] 19, PepperShaker, 1.158, 0.194, -1.412, 0, 0, 0, 61 [SEP] 20, Bread, -0.030, 1.117, 0.415, 0, 0, 0, 52 [SEP] 21, Mug, -0.670, 0.198, -1.625, 0, 0, 0, 59 [SEP] 22, Apple, 0.936, 1.098, 0.331, 0, 90, 0, 48 [SEP] 23, Apple, -0.346, 1.090, -1.828, 0, 0, 0, 50 [SEP] 24, SoapBottle, -0.949, 0.203, -1.482, 0, 0, 0, 58 [SEP] 25, Apple, 1.271, 0.936, 0.158, 0, 90, 0, 47 [SEP] 26, Potato, -0.260, 1.100, -1.612, 0, 0, 0, 50 [SEP] 27, Fork, 0.031, 1.033, 0.122, 0, 0, 0, 52 [SEP] 28, Kettle, 0.007, 1.050, -1.400, 0, 0, 0, 49 [SEP] 29, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 50 [SEP] 30, Tomato, -1.419, 1.540, 2.242, 0, 90, 0, 65 [SEP] 31, SaltShaker, 1.436, 0.199, -1.335, 0, 0, 0, 60 [SEP] 32, Egg, 1.612, 1.097, 0.738, 0, 0, 0, 52 [SEP] 33, Cup, 1.666, 1.020, -1.337, 0, 0, 0, 56 [SEP] 34, Spatula, 0.761, 1.070, 0.281, 0, 270, 0, 48 [SEP] 35, Knife, 0.160, 1.069, 0.630, 0, 0, 0, 52 [SEP] 36, Lettuce, -1.169, 1.287, 2.242, 0, 90, 0, 65 [SEP] 37, ButterKnife, 1.347, 1.043, 0.720, 0, 0, 0, 52 [SEP] 38, PepperShaker, -1.339, 2.023, -1.555, 0, 0, 0, 57 [SEP] 39, DishSponge, -0.760, 0.203, -1.409, 0, 0, 0, 59 [SEP] 40, Plate, -0.473, 1.577, -1.470, 0, 0, 0, 55 [SEP] 41, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 52 [SEP] 42, Spoon, 0.682, 1.044, 0.632, 0, 0, 0, 52 [SEP] 43, Pot, 0.250, 1.057, -1.4, 0, 0, 0, 62 [SEP] 44, Mug, 0.712, 0.194, -1.339, 0, 0, 0, 61 [SEP] 45, Bowl, -1.342, 1.488, 1.885, 0, 90, 0, 65 [SEP] 46, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 47, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 48, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 49, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 50, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 52, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 53, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 54, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 55, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 56, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 57, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 58, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 59, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 60, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 61, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 62, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 63, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 64, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 65, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 66, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 67, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 68, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 69, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 70, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 71, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 72, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 73, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 74, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 75, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 76, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 77, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 78, NorthWall, , , , , , , [SEP] 79, EastWall, , , , , , , [SEP] 80, SouthWall, , , , , , , [SEP] 81, WestWall, , , , , , , ", "output": ["STEP 1: Move to the counter left of the stove. | STEP 2: Pick up the tomato from the counter. | STEP 3: Bring the tomato to the microwave. | STEP 4: Heat the tomato in the microwave. | STEP 5: Bring the tomato to the counter right of the stove. | STEP 6: Put the tomato on the counter to the right of the stove. | END"]} {"id": "trial_T20190907_115929_186552-2", "input": "Chill or cool down mug followed by drinking 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, 0.931, 1.75, 0, 0, 0, [SEP] 1, Potato, 1.968, 1.096, 0.738, 0, 0, 0, 49 [SEP] 2, DishSponge, -0.952, 2.027, -1.191, 0, 0, 0, 54 [SEP] 3, ButterKnife, 1.347, 1.043, 0.589, 0, 0, 0, 49 [SEP] 4, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 43 [SEP] 5, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 48 [SEP] 6, Spoon, 0.682, 1.044, 0.676, 0, 0, 0, 49 [SEP] 7, Egg, 0.542, 1.097, 0.091, 0, 0, 0, 49 [SEP] 8, Egg, 0.160, 1.097, 0.415, 0, 0, 0, 49 [SEP] 9, Cup, 1.894, 0.205, -1.408, 0, 0, 0, 57 [SEP] 10, Cup, -1.145, 1.716, -1.300, 0, 0, 0, 61 [SEP] 11, Plate, 0.979, 0.212, -1.412, 0, 0, 0, 58 [SEP] 12, Knife, 0.255, 1.069, 0.199, 0, 0, 0, 49 [SEP] 13, SoapBottle, -0.548, 1.565, -1.470, 0, 0, 0, 52 [SEP] 14, Bowl, 1.588, 0.203, -1.262, 0, 0, 0, 57 [SEP] 15, Lettuce, 1.181, 1.103, 0.720, 0, 90, 0, 49 [SEP] 16, Bread, -0.030, 1.117, 0.522, 0, 0, 0, 49 [SEP] 17, Mug, 1.015, 1.038, 0.720, 0, 0, 0, 49 [SEP] 18, Mug, 0.160, 1.038, 0.738, 0, 90, 0, 49 [SEP] 19, Apple, 1.882, 0.166, 2.358, 0, 270, 0, 63 [SEP] 20, Apple, 0.065, 1.086, 0.738, 0, 0, 0, 49 [SEP] 21, SoapBottle, 0.936, 1.056, 0.281, 0, 90, 0, 45 [SEP] 22, Apple, 1.151, 0.936, 0.267, 0, 90, 0, 44 [SEP] 23, Potato, 0.282, 1.085, 0.120, 0, 0, 0, 49 [SEP] 24, Fork, 0.542, 1.043, 0.415, 0, 90, 0, 49 [SEP] 25, Kettle, 0.007, 1.050, -1.400, 0, 0, 0, 46 [SEP] 26, Pan, -0.398, 1.564, -1.693, 0, 90, 0, 52 [SEP] 27, Tomato, 0.160, 1.094, 0.307, 0, 0, 0, 49 [SEP] 28, SaltShaker, 1.188, 1.560, -1.839, 0, 0, 0, 51 [SEP] 29, Egg, 1.523, 1.097, 0.738, 0, 0, 0, 49 [SEP] 30, Cup, 1.523, 1.043, 0.522, 0, 0, 0, 49 [SEP] 31, Spatula, -0.296, 1.053, -1.277, 0, 255.000, 0, 47 [SEP] 32, Knife, 0.848, 1.069, 0.807, 0, 180, 0, 49 [SEP] 33, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 45 [SEP] 34, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 49 [SEP] 35, PepperShaker, -1.339, 2.023, -1.555, 0, 0, 0, 54 [SEP] 36, DishSponge, 1.247, 0.199, -1.412, 0, 0, 0, 58 [SEP] 37, Plate, -1.106, 2.041, -1.409, 0, 0, 0, 54 [SEP] 38, Bread, 0.406, 1.104, 0.352, 0, 337.138, 0, 49 [SEP] 39, Spoon, 0.516, 1.044, 0.720, 0, 0, 0, 49 [SEP] 40, Pot, -1.183, 0.204, -1.265, 0, 0, 0, 55 [SEP] 41, Mug, 1.666, 1.014, -1.337, 0, 0, 0, 53 [SEP] 42, Bowl, 1.743, 1.018, -1.557, 0, 0, 0, 53 [SEP] 43, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 44, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 45, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 46, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 47, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 48, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 49, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 50, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 51, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 52, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 53, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 54, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 55, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 56, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 57, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 58, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 59, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 60, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 61, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 62, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 63, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 64, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 65, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 66, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 70, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 71, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 72, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 73, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 74, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 75, NorthWall, , , , , , , [SEP] 76, EastWall, , , , , , , [SEP] 77, SouthWall, , , , , , , [SEP] 78, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the corner of the desk | STEP 2: Pick up the white coffee mug on the desk | STEP 3: Turn around and open the refrigerator | STEP 4: Place the mug in the refrigerator, chill and then remove it | STEP 5: Turn around and take a drink from the mug | STEP 6: Place the mug back on the desk | END"]} {"id": "trial_T20190907_153613_945785-0", "input": "Take the white watering can, turn on the lamp by the door SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 3.5, 0, 180, 0, [SEP] 1, Bowl, -0.484, 0.795, 5.726, 0, 270, 0, 46 [SEP] 2, Bowl, -5.885, 1.281, 3.891, 0, 0, 0, 59 [SEP] 3, Newspaper, -0.868, 0.365, 3.915, 0, 0, 0, 45 [SEP] 4, Watch, -3.462, 0.146, 7.173, 0, 90, 0, 56 [SEP] 5, Watch, -0.738, 0.793, 2.252, 0, 270, 0, 47 [SEP] 6, KeyChain, -0.413, 0.794, 5.928, 0, 180, 0, 46 [SEP] 7, KeyChain, -0.947, 0.367, 3.002, 0, 0, 0, 45 [SEP] 8, CreditCard, -0.631, 0.407, 3.915, 0, 0, 0, 45 [SEP] 9, RemoteControl, -3.067, 0.882, 7.105, 0, 90, 0, 54 [SEP] 10, RemoteControl, -2.561, 0.536, 4.480, 0, 270, 0, 62 [SEP] 11, Box, -0.868, 0.603, 3.915, 0, 0, 0, 45 [SEP] 12, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 56 [SEP] 13, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 61 [SEP] 14, Vase, -5.349, 0.534, 6.740, 0, 45, 0, 63 [SEP] 15, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 57 [SEP] 16, Newspaper, -6.012, 1.278, 4.808, 0, 0, 0, 59 [SEP] 17, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 62 [SEP] 18, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 19, Vase, -3.557, 1.280, 7.235, 0, 90, 0, 61 [SEP] 20, CreditCard, -0.789, 0.426, 4.219, 0, 0, 0, 45 [SEP] 21, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 59 [SEP] 22, KeyChain, -0.789, 0.433, 3.002, 0, 90, 0, 45 [SEP] 23, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 57 [SEP] 24, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 57 [SEP] 25, Bowl, -0.535, 0.795, 6.357, 0, 270, 0, 46 [SEP] 26, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 45 [SEP] 27, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 59 [SEP] 28, RemoteControl, -3.067, 0.455, 7.070, 0, 90, 0, 54 [SEP] 29, Watch, -3.265, 0.880, 7.173, 0, 90, 0, 53 [SEP] 30, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 61 [SEP] 31, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 59 [SEP] 32, Statue, -5.592, 0.543, 6.647, 0, 45, 0, 63 [SEP] 33, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 61 [SEP] 34, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 35, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 36, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 37, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 38, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 39, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 40, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 41, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 42, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 43, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 44, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 45, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 46, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 47, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 48, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 49, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 50, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 51, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 52, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 53, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 54, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 55, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 56, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 57, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 58, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 59, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 60, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 61, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 62, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 63, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around, head to the black shelf | STEP 2: Take the white watering can from the bottom shelf | STEP 3: Turn around, head through the living room to the door | STEP 4: Turn on the lamp next to the door | END"]} {"id": "trial_T20190907_153613_945785-1", "input": "Examine a tea pot 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, -1.75, 0.901, 3.5, 0, 180, 0, [SEP] 1, Bowl, -0.484, 0.795, 5.726, 0, 270, 0, 46 [SEP] 2, Bowl, -5.885, 1.281, 3.891, 0, 0, 0, 59 [SEP] 3, Newspaper, -0.868, 0.365, 3.915, 0, 0, 0, 45 [SEP] 4, Watch, -3.462, 0.146, 7.173, 0, 90, 0, 56 [SEP] 5, Watch, -0.738, 0.793, 2.252, 0, 270, 0, 47 [SEP] 6, KeyChain, -0.413, 0.794, 5.928, 0, 180, 0, 46 [SEP] 7, KeyChain, -0.947, 0.367, 3.002, 0, 0, 0, 45 [SEP] 8, CreditCard, -0.631, 0.407, 3.915, 0, 0, 0, 45 [SEP] 9, RemoteControl, -3.067, 0.882, 7.105, 0, 90, 0, 54 [SEP] 10, RemoteControl, -2.561, 0.536, 4.480, 0, 270, 0, 62 [SEP] 11, Box, -0.868, 0.603, 3.915, 0, 0, 0, 45 [SEP] 12, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 56 [SEP] 13, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 61 [SEP] 14, Vase, -5.349, 0.534, 6.740, 0, 45, 0, 63 [SEP] 15, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 57 [SEP] 16, Newspaper, -6.012, 1.278, 4.808, 0, 0, 0, 59 [SEP] 17, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 62 [SEP] 18, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 19, Vase, -3.557, 1.280, 7.235, 0, 90, 0, 61 [SEP] 20, CreditCard, -0.789, 0.426, 4.219, 0, 0, 0, 45 [SEP] 21, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 59 [SEP] 22, KeyChain, -0.789, 0.433, 3.002, 0, 90, 0, 45 [SEP] 23, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 57 [SEP] 24, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 57 [SEP] 25, Bowl, -0.535, 0.795, 6.357, 0, 270, 0, 46 [SEP] 26, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 45 [SEP] 27, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 59 [SEP] 28, RemoteControl, -3.067, 0.455, 7.070, 0, 90, 0, 54 [SEP] 29, Watch, -3.265, 0.880, 7.173, 0, 90, 0, 53 [SEP] 30, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 61 [SEP] 31, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 59 [SEP] 32, Statue, -5.592, 0.543, 6.647, 0, 45, 0, 63 [SEP] 33, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 61 [SEP] 34, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 35, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 36, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 37, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 38, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 39, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 40, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 41, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 42, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 43, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 44, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 45, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 46, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 47, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 48, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 49, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 50, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 51, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 52, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 53, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 54, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 55, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 56, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 57, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 58, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 59, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 60, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 61, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 62, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 63, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, SouthWall, , , , , , , ", "output": ["STEP 1: turn to the left twice and go forward to the end of the coffee table and turn left to the left and take a few steps and turn to the right and go the the shelf case | STEP 2: pick up the tea pot from the bottom shelf | STEP 3: turn to the right and take a few steps and turn to the right and go to the chair and turn to the left and go to the end table | STEP 4: turn on the lamp on the end table | END"]} {"id": "trial_T20190907_153613_945785-3", "input": "Look at the watering can 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, -1.75, 0.901, 3.5, 0, 180, 0, [SEP] 1, Bowl, -0.484, 0.795, 5.726, 0, 270, 0, 46 [SEP] 2, Bowl, -5.885, 1.281, 3.891, 0, 0, 0, 59 [SEP] 3, Newspaper, -0.868, 0.365, 3.915, 0, 0, 0, 45 [SEP] 4, Watch, -3.462, 0.146, 7.173, 0, 90, 0, 56 [SEP] 5, Watch, -0.738, 0.793, 2.252, 0, 270, 0, 47 [SEP] 6, KeyChain, -0.413, 0.794, 5.928, 0, 180, 0, 46 [SEP] 7, KeyChain, -0.947, 0.367, 3.002, 0, 0, 0, 45 [SEP] 8, CreditCard, -0.631, 0.407, 3.915, 0, 0, 0, 45 [SEP] 9, RemoteControl, -3.067, 0.882, 7.105, 0, 90, 0, 54 [SEP] 10, RemoteControl, -2.561, 0.536, 4.480, 0, 270, 0, 62 [SEP] 11, Box, -0.868, 0.603, 3.915, 0, 0, 0, 45 [SEP] 12, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 56 [SEP] 13, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 61 [SEP] 14, Vase, -5.349, 0.534, 6.740, 0, 45, 0, 63 [SEP] 15, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 57 [SEP] 16, Newspaper, -6.012, 1.278, 4.808, 0, 0, 0, 59 [SEP] 17, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 62 [SEP] 18, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 19, Vase, -3.557, 1.280, 7.235, 0, 90, 0, 61 [SEP] 20, CreditCard, -0.789, 0.426, 4.219, 0, 0, 0, 45 [SEP] 21, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 59 [SEP] 22, KeyChain, -0.789, 0.433, 3.002, 0, 90, 0, 45 [SEP] 23, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 57 [SEP] 24, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 57 [SEP] 25, Bowl, -0.535, 0.795, 6.357, 0, 270, 0, 46 [SEP] 26, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 45 [SEP] 27, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 59 [SEP] 28, RemoteControl, -3.067, 0.455, 7.070, 0, 90, 0, 54 [SEP] 29, Watch, -3.265, 0.880, 7.173, 0, 90, 0, 53 [SEP] 30, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 61 [SEP] 31, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 59 [SEP] 32, Statue, -5.592, 0.543, 6.647, 0, 45, 0, 63 [SEP] 33, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 61 [SEP] 34, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 35, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 36, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 37, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 38, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 39, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 40, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 41, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 42, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 43, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 44, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 45, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 46, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 47, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 48, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 49, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 50, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 51, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 52, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 53, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 54, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 55, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 56, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 57, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 58, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 59, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 60, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 61, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 62, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 63, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the black shelf. | STEP 2: Pick up the watering can from the shelf. | STEP 3: Turn around and go to the end table by the couch. | STEP 4: Turn on the lamp. | END"]} {"id": "trial_T20190907_153613_945785-4", "input": "Inspect the kettle with the lamp on the end table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 3.5, 0, 180, 0, [SEP] 1, Bowl, -0.484, 0.795, 5.726, 0, 270, 0, 46 [SEP] 2, Bowl, -5.885, 1.281, 3.891, 0, 0, 0, 59 [SEP] 3, Newspaper, -0.868, 0.365, 3.915, 0, 0, 0, 45 [SEP] 4, Watch, -3.462, 0.146, 7.173, 0, 90, 0, 56 [SEP] 5, Watch, -0.738, 0.793, 2.252, 0, 270, 0, 47 [SEP] 6, KeyChain, -0.413, 0.794, 5.928, 0, 180, 0, 46 [SEP] 7, KeyChain, -0.947, 0.367, 3.002, 0, 0, 0, 45 [SEP] 8, CreditCard, -0.631, 0.407, 3.915, 0, 0, 0, 45 [SEP] 9, RemoteControl, -3.067, 0.882, 7.105, 0, 90, 0, 54 [SEP] 10, RemoteControl, -2.561, 0.536, 4.480, 0, 270, 0, 62 [SEP] 11, Box, -0.868, 0.603, 3.915, 0, 0, 0, 45 [SEP] 12, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 56 [SEP] 13, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 61 [SEP] 14, Vase, -5.349, 0.534, 6.740, 0, 45, 0, 63 [SEP] 15, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 57 [SEP] 16, Newspaper, -6.012, 1.278, 4.808, 0, 0, 0, 59 [SEP] 17, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 62 [SEP] 18, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 19, Vase, -3.557, 1.280, 7.235, 0, 90, 0, 61 [SEP] 20, CreditCard, -0.789, 0.426, 4.219, 0, 0, 0, 45 [SEP] 21, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 59 [SEP] 22, KeyChain, -0.789, 0.433, 3.002, 0, 90, 0, 45 [SEP] 23, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 57 [SEP] 24, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 57 [SEP] 25, Bowl, -0.535, 0.795, 6.357, 0, 270, 0, 46 [SEP] 26, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 45 [SEP] 27, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 59 [SEP] 28, RemoteControl, -3.067, 0.455, 7.070, 0, 90, 0, 54 [SEP] 29, Watch, -3.265, 0.880, 7.173, 0, 90, 0, 53 [SEP] 30, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 61 [SEP] 31, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 59 [SEP] 32, Statue, -5.592, 0.543, 6.647, 0, 45, 0, 63 [SEP] 33, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 61 [SEP] 34, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 35, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 36, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 37, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 38, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 39, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 40, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 41, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 42, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 43, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 44, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 45, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 46, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 47, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 48, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 49, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 50, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 51, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 52, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 53, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 54, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 55, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 56, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 57, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 58, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 59, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 60, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 61, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 62, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 63, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, SouthWall, , , , , , , ", "output": ["STEP 1: Move to the shelf to the left of the couch. | STEP 2: Pick up the kettle from the shelf. | STEP 3: Move to the end table to the right of the couch. | STEP 4: Turn on the lamp on the end table. | END"]} {"id": "trial_T20190907_153613_945785-5", "input": "Turn on a lamp while carrying a tea pot SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 3.5, 0, 180, 0, [SEP] 1, Bowl, -0.484, 0.795, 5.726, 0, 270, 0, 46 [SEP] 2, Bowl, -5.885, 1.281, 3.891, 0, 0, 0, 59 [SEP] 3, Newspaper, -0.868, 0.365, 3.915, 0, 0, 0, 45 [SEP] 4, Watch, -3.462, 0.146, 7.173, 0, 90, 0, 56 [SEP] 5, Watch, -0.738, 0.793, 2.252, 0, 270, 0, 47 [SEP] 6, KeyChain, -0.413, 0.794, 5.928, 0, 180, 0, 46 [SEP] 7, KeyChain, -0.947, 0.367, 3.002, 0, 0, 0, 45 [SEP] 8, CreditCard, -0.631, 0.407, 3.915, 0, 0, 0, 45 [SEP] 9, RemoteControl, -3.067, 0.882, 7.105, 0, 90, 0, 54 [SEP] 10, RemoteControl, -2.561, 0.536, 4.480, 0, 270, 0, 62 [SEP] 11, Box, -0.868, 0.603, 3.915, 0, 0, 0, 45 [SEP] 12, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 56 [SEP] 13, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 61 [SEP] 14, Vase, -5.349, 0.534, 6.740, 0, 45, 0, 63 [SEP] 15, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 57 [SEP] 16, Newspaper, -6.012, 1.278, 4.808, 0, 0, 0, 59 [SEP] 17, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 62 [SEP] 18, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 19, Vase, -3.557, 1.280, 7.235, 0, 90, 0, 61 [SEP] 20, CreditCard, -0.789, 0.426, 4.219, 0, 0, 0, 45 [SEP] 21, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 59 [SEP] 22, KeyChain, -0.789, 0.433, 3.002, 0, 90, 0, 45 [SEP] 23, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 57 [SEP] 24, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 57 [SEP] 25, Bowl, -0.535, 0.795, 6.357, 0, 270, 0, 46 [SEP] 26, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 45 [SEP] 27, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 59 [SEP] 28, RemoteControl, -3.067, 0.455, 7.070, 0, 90, 0, 54 [SEP] 29, Watch, -3.265, 0.880, 7.173, 0, 90, 0, 53 [SEP] 30, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 61 [SEP] 31, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 59 [SEP] 32, Statue, -5.592, 0.543, 6.647, 0, 45, 0, 63 [SEP] 33, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 61 [SEP] 34, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 35, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 36, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 37, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 38, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 39, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 40, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 41, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 42, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 43, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 44, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 45, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 46, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 47, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 48, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 49, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 50, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 51, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 52, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 53, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 54, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 55, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 56, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 57, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 58, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 59, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 60, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 61, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 62, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 63, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, SouthWall, , , , , , , ", "output": ["STEP 1: Move across the room to the brown side table with shelves | STEP 2: Pick up the white tea pot on the bottom shelf of the side table | STEP 3: Carry the white tea pot over to the round wood table that has a lamp on top of it | STEP 4: Turn on the lamp | END"]} {"id": "trial_T20190909_090144_203133-2", "input": "Put a cooked slice of potato in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.5, 0.900, 0.5, 0, 180, 0, [SEP] 1, Pan, 2.754, 0.911, 1.129, 0, 0, 0, 84 [SEP] 2, DishSponge, -0.939, 0.820, -1.183, 0, 0, 0, 108 [SEP] 3, DishSponge, 1.955, 0.911, 1.383, 0, 0, 0, 84 [SEP] 4, Kettle, 1.688, 0.912, 1.299, 0, 0, 0, 84 [SEP] 5, Kettle, -0.086, 0.116, 1.196, 0, 0, 0, 77 [SEP] 6, ButterKnife, 2.221, 0.911, 1.468, 0, 0, 0, 84 [SEP] 7, Fork, -0.157, 0.766, -0.707, 0, 90, 0, 106 [SEP] 8, Fork, 2.155, 0.772, 1.198, 0, 270, 0, 80 [SEP] 9, Spatula, 2.488, 0.926, 1.044, 0, 0, 0, 84 [SEP] 10, Cup, 2.777, 1.561, -0.578, 0, 0, 0, 104 [SEP] 11, Cup, 2.900, 1.561, -0.644, 0, 0, 0, 104 [SEP] 12, Egg, -0.990, 0.858, -1.038, 0, 0, 0, 108 [SEP] 13, Egg, -0.785, 0.858, -1.255, 0, 0, 0, 108 [SEP] 14, Knife, -0.836, 0.853, -1.400, 0, 90, 0, 108 [SEP] 15, Tomato, 2.591, 1.320, -0.644, 0, 0, 0, 104 [SEP] 16, Tomato, 1.141, 0.942, -0.6, 0, 0, 0, 49 [SEP] 17, SaltShaker, 0.888, 0.908, -0.684, 0, 0, 0, 49 [SEP] 18, SaltShaker, -0.911, 0.817, -1.308, 0, 90, 0, 108 [SEP] 19, PepperShaker, 1.955, 0.908, 1.299, 0, 0, 0, 84 [SEP] 20, PepperShaker, 1.563, 0.110, 1.193, 0, 0, 0, 78 [SEP] 21, Bread, 1.955, 0.969, 1.129, 0, 0, 0, 84 [SEP] 22, Bread, 2.838, 1.077, -0.709, 0, 0, 0, 104 [SEP] 23, Mug, -0.939, 0.815, -1.400, 0, 0, 0, 108 [SEP] 24, Apple, 2.777, 0.794, -0.473, 0, 0, 0, 104 [SEP] 25, Apple, -2.019, 0.492, 1.375, 0, 270, 0, 102 [SEP] 26, SoapBottle, -0.198, 0.917, 1.044, 0, 0, 0, 60 [SEP] 27, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 49 [SEP] 28, Fork, 2.574, 0.772, 1.122, 0, 90, 0, 65 [SEP] 29, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 55 [SEP] 30, Bread, -0.246, 0.969, 1.299, 0, 0, 0, 60 [SEP] 31, Egg, 2.488, 0.949, 1.553, 0, 0, 0, 84 [SEP] 32, Kettle, 2.488, 0.912, 1.299, 0, 0, 0, 84 [SEP] 33, Tomato, 2.962, 0.756, -0.442, 0, 0, 0, 104 [SEP] 34, Cup, 2.770, 1.652, 1.394, 0, 0, 0, 50 [SEP] 35, Spatula, 0.251, 0.926, -0.316, 0, 0, 0, 49 [SEP] 36, Apple, 2.754, 0.980, 1.383, 0, 0, 0, 84 [SEP] 37, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 52 [SEP] 38, Lettuce, 2.918, 1.345, -0.612, 15.903, 3.671, 14.806, 104 [SEP] 39, SaltShaker, -0.238, 1.650, 1.394, 0, 0, 0, 75 [SEP] 40, Knife, -0.694, 0.853, -1.308, 0, 90, 0, 108 [SEP] 41, Potato, -1.056, 0.855, -1.155, 0, 90, 0, 108 [SEP] 42, PepperShaker, 1.862, 0.111, 1.077, 0, 0, 0, 69 [SEP] 43, ButterKnife, 0.193, 0.765, -0.707, 0, 180, 0, 106 [SEP] 44, Bowl, 2.221, 0.909, 1.299, 0, 0, 0, 84 [SEP] 45, DishSponge, 0.053, 0.765, -0.541, 0, 0, 0, 106 [SEP] 46, Spoon, 1.155, 0.912, 1.468, 0, 0, 0, 84 [SEP] 47, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 49 [SEP] 48, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 49, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 50, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 51, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 52, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 53, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 54, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 55, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 56, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 57, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 58, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 59, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 60, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 61, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 62, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 63, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 64, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 65, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 67, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 68, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 69, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 70, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 71, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 72, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 77, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 79, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 80, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 82, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 84, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 85, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 86, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 87, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 88, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 89, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 90, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 91, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 92, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 93, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 94, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 95, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 96, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 99, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 100, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 101, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 102, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 103, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 104, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 105, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 106, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 107, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 108, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 109, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 110, NorthWall, , , , , , , [SEP] 111, EastWall, , , , , , , [SEP] 112, SouthWall, , , , , , , [SEP] 113, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the counter. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn left, go across the room, turn left and go to the table. | STEP 4: Cut the potato on the table. | STEP 5: Turn around and go to the stove. | STEP 6: Put the knife in the microwave above the stove. | STEP 7: Turn left and go back to the table. | STEP 8: Pick up a slice of potato. | STEP 9: Turn around and go back to the stove. | STEP 10: Put the slice of potato in the microwave, cook it and pick it back up. | STEP 11: Turn around and go to the sink. | STEP 12: Put the slice of potato in the sink. | END"]} {"id": "trial_T20190908_202146_854077-0", "input": "Check some of the dressers for their contents. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.949, 0.75, 0, 270, 0, [SEP] 1, Vase, 2.803, 0.993, -1.862, 0, 270, 0, 36 [SEP] 2, Pencil, 1.666, 0.989, -1.774, 0, 270, 0, 36 [SEP] 3, Pencil, -0.253, 0.788, 3.115, 0, 180, 0, 43 [SEP] 4, KeyChain, -0.350, 1.109, 3.088, 0, 180, 0, 44 [SEP] 5, KeyChain, -0.163, 1.109, 3.115, 0, 180, 0, 44 [SEP] 6, AlarmClock, 2.519, 0.989, -1.774, 0, 270, 0, 36 [SEP] 7, AlarmClock, 1.950, 0.986, -1.950, 0, 270, 0, 36 [SEP] 8, Book, 2.235, 0.988, -2.125, 0, 270, 0, 36 [SEP] 9, KeyChain, 3.222, 0.725, 1.443, 0, 180, 0, 61 [SEP] 10, CreditCard, -0.776, 0.174, 0.212, 0, 0, 0, 50 [SEP] 11, Pen, 0.024, 0.789, 3.088, 0, 180, 0, 43 [SEP] 12, Pencil, 3.087, 0.989, -2.037, 0, 270, 0, 36 [SEP] 13, Laptop, 2.217, 0.607, 0.790, 0, 0, 0, 21 [SEP] 14, Vase, 3.132, 0.189, -1.778, 0, 270, 0, 35 [SEP] 15, AlarmClock, -0.970, 0.786, -0.548, 0, 0, 0, 57 [SEP] 16, Pillow, 1.888, 0.674, -0.172, 0, 0, 0, 21 [SEP] 17, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 21 [SEP] 18, CellPhone, 2.545, 0.610, 0.790, 0, 0, 0, 21 [SEP] 19, CD, -0.776, 0.379, -0.794, 0, 0, 0, 56 [SEP] 20, Vase, 2.370, 0.184, -1.950, 0, 270, 0, 38 [SEP] 21, Bed, 2.217, 0.050, 0.585, 0, 0, 0, [SEP] 22, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0, [SEP] 23, Painting, 2.990, 1.592, 1.567, 90, 0, 0, [SEP] 24, Painting, 1.524, 1.592, 1.567, 90, 0, 0, [SEP] 25, Mirror, -1.190, 1.417, -0.223, 0, 270, 0, [SEP] 26, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0, [SEP] 27, Window, -2.629, 1.460, 2.891, 90, 270, 0, [SEP] 28, Window, -2.629, 1.460, 4.084, 90, 270, 0, [SEP] 29, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0, [SEP] 30, Drawer, 2.490, 0.949, -1.703, 0, 0, 0, [SEP] 31, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0, [SEP] 32, Drawer, 1.975, 0.949, -1.703, 0, 0, 0, [SEP] 33, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0, [SEP] 34, Drawer, 1.457, 0.949, -1.703, 0, 0, 0, [SEP] 35, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0, [SEP] 36, Dresser, 2.234, 0.048, -1.950, 0, 0, 0, [SEP] 37, Drawer, 3.011, 0.949, -1.703, 0, 0, 0, [SEP] 38, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0, [SEP] 39, Shelf, -0.163, 1.461, 3.219, 0, 180, 0, [SEP] 40, Drawer, -0.161, 0.242, 3.166, 0, 180, 0, [SEP] 41, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0, [SEP] 42, Drawer, -0.161, 0.562, 3.168, 0, 180, 0, [SEP] 43, Shelf, -0.162, 0.922, 3.164, 0, 180, 0, [SEP] 44, Shelf, -0.162, 1.241, 3.163, 0, 180, 0, [SEP] 45, Blinds, -2.550, 2.486, 2.911, 0, 90, 0, [SEP] 46, Blinds, -2.550, 2.486, 4.107, 0, 90, 0, [SEP] 47, Drawer, -0.833, 0.217, -0.336, 0, 90, 0, [SEP] 48, Drawer, -0.833, 0.217, 0.486, 0, 90, 0, [SEP] 49, Drawer, -0.833, 0.628, -0.747, 0, 90, 0, [SEP] 50, Drawer, -0.833, 0.217, 0.075, 0, 90, 0, [SEP] 51, Drawer, -0.833, 0.628, 0.486, 0, 90, 0, [SEP] 52, Drawer, -0.833, 0.217, -0.747, 0, 90, 0, [SEP] 53, Drawer, -0.833, 0.423, -0.336, 0, 90, 0, [SEP] 54, Drawer, -0.833, 0.423, 0.075, 0, 90, 0, [SEP] 55, Drawer, -0.833, 0.423, 0.486, 0, 90, 0, [SEP] 56, Drawer, -0.833, 0.423, -0.747, 0, 90, 0, [SEP] 57, Dresser, -0.934, 0.050, -0.129, 0, 90, 0, [SEP] 58, Drawer, -0.833, 0.628, 0.075, 0, 90, 0, [SEP] 59, Drawer, -0.833, 0.628, -0.336, 0, 90, 0, [SEP] 60, Drawer, 3.454, 0.212, 1.262, 0, 180, 0, [SEP] 61, SideTable, 3.455, 0.046, 1.328, 0, 180, 0, [SEP] 62, Drawer, 3.454, 0.504, 1.262, 0, 180, 0, [SEP] 63, NorthWall, , , , , , , [SEP] 64, EastWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go over to the black dresser across the room. | STEP 2: Look down at the dresser. | STEP 3: Do a 270 degree rotation to the left. Walk straight. Go to the dresser. | STEP 4: Open the bottom drawer. | STEP 5: Close the drawer. | STEP 6: Turn all the way around. | STEP 7: Open the drawer again. | STEP 8: Close the drawer. | END"]} {"id": "trial_T20190908_202146_854077-2", "input": "put the yellow pencil inside the drawer at the right. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.949, 0.75, 0, 270, 0, [SEP] 1, Vase, 2.803, 0.993, -1.862, 0, 270, 0, 36 [SEP] 2, Pencil, 1.666, 0.989, -1.774, 0, 270, 0, 36 [SEP] 3, Pencil, -0.253, 0.788, 3.115, 0, 180, 0, 43 [SEP] 4, KeyChain, -0.350, 1.109, 3.088, 0, 180, 0, 44 [SEP] 5, KeyChain, -0.163, 1.109, 3.115, 0, 180, 0, 44 [SEP] 6, AlarmClock, 2.519, 0.989, -1.774, 0, 270, 0, 36 [SEP] 7, AlarmClock, 1.950, 0.986, -1.950, 0, 270, 0, 36 [SEP] 8, Book, 2.235, 0.988, -2.125, 0, 270, 0, 36 [SEP] 9, KeyChain, 3.222, 0.725, 1.443, 0, 180, 0, 61 [SEP] 10, CreditCard, -0.776, 0.174, 0.212, 0, 0, 0, 50 [SEP] 11, Pen, 0.024, 0.789, 3.088, 0, 180, 0, 43 [SEP] 12, Pencil, 3.087, 0.989, -2.037, 0, 270, 0, 36 [SEP] 13, Laptop, 2.217, 0.607, 0.790, 0, 0, 0, 21 [SEP] 14, Vase, 3.132, 0.189, -1.778, 0, 270, 0, 35 [SEP] 15, AlarmClock, -0.970, 0.786, -0.548, 0, 0, 0, 57 [SEP] 16, Pillow, 1.888, 0.674, -0.172, 0, 0, 0, 21 [SEP] 17, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 21 [SEP] 18, CellPhone, 2.545, 0.610, 0.790, 0, 0, 0, 21 [SEP] 19, CD, -0.776, 0.379, -0.794, 0, 0, 0, 56 [SEP] 20, Vase, 2.370, 0.184, -1.950, 0, 270, 0, 38 [SEP] 21, Bed, 2.217, 0.050, 0.585, 0, 0, 0, [SEP] 22, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0, [SEP] 23, Painting, 2.990, 1.592, 1.567, 90, 0, 0, [SEP] 24, Painting, 1.524, 1.592, 1.567, 90, 0, 0, [SEP] 25, Mirror, -1.190, 1.417, -0.223, 0, 270, 0, [SEP] 26, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0, [SEP] 27, Window, -2.629, 1.460, 2.891, 90, 270, 0, [SEP] 28, Window, -2.629, 1.460, 4.084, 90, 270, 0, [SEP] 29, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0, [SEP] 30, Drawer, 2.490, 0.949, -1.703, 0, 0, 0, [SEP] 31, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0, [SEP] 32, Drawer, 1.975, 0.949, -1.703, 0, 0, 0, [SEP] 33, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0, [SEP] 34, Drawer, 1.457, 0.949, -1.703, 0, 0, 0, [SEP] 35, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0, [SEP] 36, Dresser, 2.234, 0.048, -1.950, 0, 0, 0, [SEP] 37, Drawer, 3.011, 0.949, -1.703, 0, 0, 0, [SEP] 38, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0, [SEP] 39, Shelf, -0.163, 1.461, 3.219, 0, 180, 0, [SEP] 40, Drawer, -0.161, 0.242, 3.166, 0, 180, 0, [SEP] 41, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0, [SEP] 42, Drawer, -0.161, 0.562, 3.168, 0, 180, 0, [SEP] 43, Shelf, -0.162, 0.922, 3.164, 0, 180, 0, [SEP] 44, Shelf, -0.162, 1.241, 3.163, 0, 180, 0, [SEP] 45, Blinds, -2.550, 2.486, 2.911, 0, 90, 0, [SEP] 46, Blinds, -2.550, 2.486, 4.107, 0, 90, 0, [SEP] 47, Drawer, -0.833, 0.217, -0.336, 0, 90, 0, [SEP] 48, Drawer, -0.833, 0.217, 0.486, 0, 90, 0, [SEP] 49, Drawer, -0.833, 0.628, -0.747, 0, 90, 0, [SEP] 50, Drawer, -0.833, 0.217, 0.075, 0, 90, 0, [SEP] 51, Drawer, -0.833, 0.628, 0.486, 0, 90, 0, [SEP] 52, Drawer, -0.833, 0.217, -0.747, 0, 90, 0, [SEP] 53, Drawer, -0.833, 0.423, -0.336, 0, 90, 0, [SEP] 54, Drawer, -0.833, 0.423, 0.075, 0, 90, 0, [SEP] 55, Drawer, -0.833, 0.423, 0.486, 0, 90, 0, [SEP] 56, Drawer, -0.833, 0.423, -0.747, 0, 90, 0, [SEP] 57, Dresser, -0.934, 0.050, -0.129, 0, 90, 0, [SEP] 58, Drawer, -0.833, 0.628, 0.075, 0, 90, 0, [SEP] 59, Drawer, -0.833, 0.628, -0.336, 0, 90, 0, [SEP] 60, Drawer, 3.454, 0.212, 1.262, 0, 180, 0, [SEP] 61, SideTable, 3.455, 0.046, 1.328, 0, 180, 0, [SEP] 62, Drawer, 3.454, 0.504, 1.262, 0, 180, 0, [SEP] 63, NorthWall, , , , , , , [SEP] 64, EastWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, WestWall, , , , , , , ", "output": ["STEP 1: Walk towards the left to face the dresser drawer | STEP 2: Pick up the yellow pencil at the top of the drawer. | STEP 3: walk to the right to face the dresser. | STEP 4: open the drawer and put the pencil in it. | STEP 5: walk closer to the dresser | STEP 6: pick up the yellow pencil at the top shelf | STEP 7: walk at the side of the dresser | STEP 8: open the drawer and put the pencil in it. | END"]} {"id": "trial_T20190907_071817_090938-0", "input": "grab the book from the dresser, turn on the lamp on the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.909, -3.75, 0, 90, 0, [SEP] 1, CD, -3.834, 0.979, -3.673, 0, 0, 0, 42 [SEP] 2, CellPhone, -0.249, 0.803, -4.137, 0, 0, 0, 39 [SEP] 3, Pen, -0.685, 0.548, -3.713, 0, 0, 0, 33 [SEP] 4, Pen, -1.066, 0.805, -3.703, 0, 0, 0, 39 [SEP] 5, Pencil, -3.539, 0.983, -4.276, 0, 0, 0, 42 [SEP] 6, CreditCard, -0.774, 0.542, -3.676, 0, 0, 0, 33 [SEP] 7, CreditCard, -0.774, 0.542, -3.749, 0, 0, 0, 33 [SEP] 8, Book, -3.613, 0.620, -2.080, 0, 0, 0, 24 [SEP] 9, Book, -3.613, 0.980, -3.673, 0, 0, 0, 42 [SEP] 10, Book, -1.474, 0.800, -3.811, 0, 0, 0, 39 [SEP] 11, Book, -3.638, 0.419, -3.092, 0, 0, 0, 50 [SEP] 12, CellPhone, -3.524, 0.809, -3.977, 0, 0, 0, 40 [SEP] 13, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 39 [SEP] 14, CreditCard, -1.474, 0.803, -4.029, 0, 0, 0, 39 [SEP] 15, AlarmClock, -0.453, 0.800, -4.029, 0, 0, 0, 39 [SEP] 16, KeyChain, -0.240, 0.543, -3.749, 0, 90, 0, 33 [SEP] 17, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 24 [SEP] 18, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 19, Pencil, -3.693, 0.048, -3.091, 0, 0, 0, 41 [SEP] 20, Pillow, -3.191, 0.722, -1.793, 0, 0, 0, 24 [SEP] 21, CD, -0.329, 0.542, -3.713, 0, 0, 0, 33 [SEP] 22, Pen, -3.613, 0.986, -4.075, 0, 0, 0, 42 [SEP] 23, Mug, -3.613, 0.979, -3.271, 0, 0, 0, 42 [SEP] 24, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 25, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 26, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 27, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 28, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 29, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 30, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 31, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 32, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 33, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 34, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 35, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 36, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 37, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 38, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 39, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 40, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 41, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 42, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 51, NorthWall, , , , , , , [SEP] 52, EastWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, WestWall, , , , , , , ", "output": ["STEP 1: turn around to the dresser | STEP 2: grab the book on the dresser | STEP 3: turn around to the white table | STEP 4: turn on the lamp on the table | END"]} {"id": "trial_T20190907_071817_090938-1", "input": "Examine a book by the light of a table lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.909, -3.75, 0, 90, 0, [SEP] 1, CD, -3.834, 0.979, -3.673, 0, 0, 0, 42 [SEP] 2, CellPhone, -0.249, 0.803, -4.137, 0, 0, 0, 39 [SEP] 3, Pen, -0.685, 0.548, -3.713, 0, 0, 0, 33 [SEP] 4, Pen, -1.066, 0.805, -3.703, 0, 0, 0, 39 [SEP] 5, Pencil, -3.539, 0.983, -4.276, 0, 0, 0, 42 [SEP] 6, CreditCard, -0.774, 0.542, -3.676, 0, 0, 0, 33 [SEP] 7, CreditCard, -0.774, 0.542, -3.749, 0, 0, 0, 33 [SEP] 8, Book, -3.613, 0.620, -2.080, 0, 0, 0, 24 [SEP] 9, Book, -3.613, 0.980, -3.673, 0, 0, 0, 42 [SEP] 10, Book, -1.474, 0.800, -3.811, 0, 0, 0, 39 [SEP] 11, Book, -3.638, 0.419, -3.092, 0, 0, 0, 50 [SEP] 12, CellPhone, -3.524, 0.809, -3.977, 0, 0, 0, 40 [SEP] 13, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 39 [SEP] 14, CreditCard, -1.474, 0.803, -4.029, 0, 0, 0, 39 [SEP] 15, AlarmClock, -0.453, 0.800, -4.029, 0, 0, 0, 39 [SEP] 16, KeyChain, -0.240, 0.543, -3.749, 0, 90, 0, 33 [SEP] 17, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 24 [SEP] 18, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 19, Pencil, -3.693, 0.048, -3.091, 0, 0, 0, 41 [SEP] 20, Pillow, -3.191, 0.722, -1.793, 0, 0, 0, 24 [SEP] 21, CD, -0.329, 0.542, -3.713, 0, 0, 0, 33 [SEP] 22, Pen, -3.613, 0.986, -4.075, 0, 0, 0, 42 [SEP] 23, Mug, -3.613, 0.979, -3.271, 0, 0, 0, 42 [SEP] 24, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 25, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 26, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 27, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 28, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 29, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 30, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 31, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 32, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 33, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 34, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 35, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 36, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 37, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 38, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 39, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 40, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 41, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 42, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 51, NorthWall, , , , , , , [SEP] 52, EastWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, WestWall, , , , , , , ", "output": ["STEP 1: turn to the right twice and step up to the dresser | STEP 2: pick up the book from the dresser | STEP 3: turn to the left and go to the wall and turn to the left and go to table | STEP 4: turn on the lamp on the table | END"]} {"id": "trial_T20190907_071817_090938-4", "input": "Inspect the book 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, -2.5, 0.909, -3.75, 0, 90, 0, [SEP] 1, CD, -3.834, 0.979, -3.673, 0, 0, 0, 42 [SEP] 2, CellPhone, -0.249, 0.803, -4.137, 0, 0, 0, 39 [SEP] 3, Pen, -0.685, 0.548, -3.713, 0, 0, 0, 33 [SEP] 4, Pen, -1.066, 0.805, -3.703, 0, 0, 0, 39 [SEP] 5, Pencil, -3.539, 0.983, -4.276, 0, 0, 0, 42 [SEP] 6, CreditCard, -0.774, 0.542, -3.676, 0, 0, 0, 33 [SEP] 7, CreditCard, -0.774, 0.542, -3.749, 0, 0, 0, 33 [SEP] 8, Book, -3.613, 0.620, -2.080, 0, 0, 0, 24 [SEP] 9, Book, -3.613, 0.980, -3.673, 0, 0, 0, 42 [SEP] 10, Book, -1.474, 0.800, -3.811, 0, 0, 0, 39 [SEP] 11, Book, -3.638, 0.419, -3.092, 0, 0, 0, 50 [SEP] 12, CellPhone, -3.524, 0.809, -3.977, 0, 0, 0, 40 [SEP] 13, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 39 [SEP] 14, CreditCard, -1.474, 0.803, -4.029, 0, 0, 0, 39 [SEP] 15, AlarmClock, -0.453, 0.800, -4.029, 0, 0, 0, 39 [SEP] 16, KeyChain, -0.240, 0.543, -3.749, 0, 90, 0, 33 [SEP] 17, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 24 [SEP] 18, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 19, Pencil, -3.693, 0.048, -3.091, 0, 0, 0, 41 [SEP] 20, Pillow, -3.191, 0.722, -1.793, 0, 0, 0, 24 [SEP] 21, CD, -0.329, 0.542, -3.713, 0, 0, 0, 33 [SEP] 22, Pen, -3.613, 0.986, -4.075, 0, 0, 0, 42 [SEP] 23, Mug, -3.613, 0.979, -3.271, 0, 0, 0, 42 [SEP] 24, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 25, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 26, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 27, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 28, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 29, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 30, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 31, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 32, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 33, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 34, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 35, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 36, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 37, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 38, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 39, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 40, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 41, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 42, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 51, NorthWall, , , , , , , [SEP] 52, EastWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, WestWall, , , , , , , ", "output": ["STEP 1: Move to the dresser behind you. | STEP 2: Pick up the book from the dresser. | STEP 3: Move to the end of the desk behind you. | STEP 4: Turn on the lamp at the end of the desk. | END"]} {"id": "trial_T20190907_071817_090938-5", "input": "Inspect a book 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, -2.5, 0.909, -3.75, 0, 90, 0, [SEP] 1, CD, -3.834, 0.979, -3.673, 0, 0, 0, 42 [SEP] 2, CellPhone, -0.249, 0.803, -4.137, 0, 0, 0, 39 [SEP] 3, Pen, -0.685, 0.548, -3.713, 0, 0, 0, 33 [SEP] 4, Pen, -1.066, 0.805, -3.703, 0, 0, 0, 39 [SEP] 5, Pencil, -3.539, 0.983, -4.276, 0, 0, 0, 42 [SEP] 6, CreditCard, -0.774, 0.542, -3.676, 0, 0, 0, 33 [SEP] 7, CreditCard, -0.774, 0.542, -3.749, 0, 0, 0, 33 [SEP] 8, Book, -3.613, 0.620, -2.080, 0, 0, 0, 24 [SEP] 9, Book, -3.613, 0.980, -3.673, 0, 0, 0, 42 [SEP] 10, Book, -1.474, 0.800, -3.811, 0, 0, 0, 39 [SEP] 11, Book, -3.638, 0.419, -3.092, 0, 0, 0, 50 [SEP] 12, CellPhone, -3.524, 0.809, -3.977, 0, 0, 0, 40 [SEP] 13, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 39 [SEP] 14, CreditCard, -1.474, 0.803, -4.029, 0, 0, 0, 39 [SEP] 15, AlarmClock, -0.453, 0.800, -4.029, 0, 0, 0, 39 [SEP] 16, KeyChain, -0.240, 0.543, -3.749, 0, 90, 0, 33 [SEP] 17, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 24 [SEP] 18, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 19, Pencil, -3.693, 0.048, -3.091, 0, 0, 0, 41 [SEP] 20, Pillow, -3.191, 0.722, -1.793, 0, 0, 0, 24 [SEP] 21, CD, -0.329, 0.542, -3.713, 0, 0, 0, 33 [SEP] 22, Pen, -3.613, 0.986, -4.075, 0, 0, 0, 42 [SEP] 23, Mug, -3.613, 0.979, -3.271, 0, 0, 0, 42 [SEP] 24, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 25, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 26, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 27, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 28, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 29, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 30, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 31, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 32, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 33, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 34, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 35, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 36, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 37, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 38, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 39, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 40, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 41, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 42, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 51, NorthWall, , , , , , , [SEP] 52, EastWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, WestWall, , , , , , , ", "output": ["STEP 1: Move to the dresser behind you | STEP 2: pick up a book from the dresser | STEP 3: turn around to the desk | STEP 4: turn on the light | END"]} {"id": "trial_T20190909_151127_606173-0", "input": "Examine a pillow with 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, -2.5, 0.909, -3.0, 0, 180, 0, [SEP] 1, Mug, -3.687, 0.977, -4.276, 0, 90, 0, 47 [SEP] 2, Mug, -1.270, 0.801, -4.354, 0, 0, 0, 44 [SEP] 3, Pen, -0.862, 0.805, -3.811, 0, 90, 0, 44 [SEP] 4, Pen, -3.694, 0.424, -3.277, 0, 0, 0, 55 [SEP] 5, Pencil, -1.878, 0.065, -3.920, 0, 9.990, 0, 33 [SEP] 6, Pencil, -1.270, 0.807, -4.246, 0, 0, 0, 44 [SEP] 7, CreditCard, -1.066, 0.803, -4.246, 0, 0, 0, 44 [SEP] 8, KeyChain, -1.066, 0.800, -4.354, 0, 0, 0, 44 [SEP] 9, KeyChain, -3.760, 0.980, -3.271, 0, 270, 0, 47 [SEP] 10, Book, -3.694, 0.226, -2.999, 0, 270, 0, 49 [SEP] 11, Book, -3.834, 0.981, -3.673, 0, 0, 0, 47 [SEP] 12, Pillow, -2.559, 0.722, -1.506, 0, 0, 0, 29 [SEP] 13, Pillow, -2.981, 0.722, -0.931, 0, 0, 0, 29 [SEP] 14, AlarmClock, -3.834, 0.979, -4.276, 0, 0, 0, 47 [SEP] 15, AlarmClock, -0.862, 0.803, -4.246, 0, 0, 0, 44 [SEP] 16, Book, -3.582, 0.226, -4.349, 0, 90, 0, 51 [SEP] 17, CellPhone, -1.270, 0.800, -3.703, 0, 0, 0, 44 [SEP] 18, Laptop, -3.687, 0.977, -3.070, 0, 0, 0, 47 [SEP] 19, CreditCard, -0.507, 0.542, -3.676, 0, 0, 0, 38 [SEP] 20, AlarmClock, -3.834, 0.979, -3.472, 0, 0, 0, 47 [SEP] 21, KeyChain, -3.526, 0.227, -3.278, 0, 0, 0, 49 [SEP] 22, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 29 [SEP] 23, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 24, Pencil, -1.874, 0.065, -3.897, 0, 9.990, 0, 33 [SEP] 25, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 29 [SEP] 26, CD, -3.750, 0.225, -3.884, 0, 0, 0, 51 [SEP] 27, Pen, -3.613, 0.986, -3.874, 0, 0, 0, 47 [SEP] 28, Mug, -0.240, 0.541, -3.694, 0, 0, 0, 38 [SEP] 29, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 30, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 31, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 32, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 33, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 34, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 35, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 36, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 37, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 38, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 39, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 40, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 41, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 42, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 43, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 44, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 45, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 47, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 51, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 52, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 53, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 54, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 55, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 56, NorthWall, , , , , , , [SEP] 57, EastWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the right side of the bed. | STEP 2: Pick up the left pillow on the bed. | STEP 3: Turn right and go to the lamp on the desk. | STEP 4: Turn on the lamp on the desk. | END"]} {"id": "trial_T20190909_151127_606173-2", "input": "Pick up a pillow and turn a lamp on. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.909, -3.0, 0, 180, 0, [SEP] 1, Mug, -3.687, 0.977, -4.276, 0, 90, 0, 47 [SEP] 2, Mug, -1.270, 0.801, -4.354, 0, 0, 0, 44 [SEP] 3, Pen, -0.862, 0.805, -3.811, 0, 90, 0, 44 [SEP] 4, Pen, -3.694, 0.424, -3.277, 0, 0, 0, 55 [SEP] 5, Pencil, -1.878, 0.065, -3.920, 0, 9.990, 0, 33 [SEP] 6, Pencil, -1.270, 0.807, -4.246, 0, 0, 0, 44 [SEP] 7, CreditCard, -1.066, 0.803, -4.246, 0, 0, 0, 44 [SEP] 8, KeyChain, -1.066, 0.800, -4.354, 0, 0, 0, 44 [SEP] 9, KeyChain, -3.760, 0.980, -3.271, 0, 270, 0, 47 [SEP] 10, Book, -3.694, 0.226, -2.999, 0, 270, 0, 49 [SEP] 11, Book, -3.834, 0.981, -3.673, 0, 0, 0, 47 [SEP] 12, Pillow, -2.559, 0.722, -1.506, 0, 0, 0, 29 [SEP] 13, Pillow, -2.981, 0.722, -0.931, 0, 0, 0, 29 [SEP] 14, AlarmClock, -3.834, 0.979, -4.276, 0, 0, 0, 47 [SEP] 15, AlarmClock, -0.862, 0.803, -4.246, 0, 0, 0, 44 [SEP] 16, Book, -3.582, 0.226, -4.349, 0, 90, 0, 51 [SEP] 17, CellPhone, -1.270, 0.800, -3.703, 0, 0, 0, 44 [SEP] 18, Laptop, -3.687, 0.977, -3.070, 0, 0, 0, 47 [SEP] 19, CreditCard, -0.507, 0.542, -3.676, 0, 0, 0, 38 [SEP] 20, AlarmClock, -3.834, 0.979, -3.472, 0, 0, 0, 47 [SEP] 21, KeyChain, -3.526, 0.227, -3.278, 0, 0, 0, 49 [SEP] 22, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 29 [SEP] 23, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 24, Pencil, -1.874, 0.065, -3.897, 0, 9.990, 0, 33 [SEP] 25, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 29 [SEP] 26, CD, -3.750, 0.225, -3.884, 0, 0, 0, 51 [SEP] 27, Pen, -3.613, 0.986, -3.874, 0, 0, 0, 47 [SEP] 28, Mug, -0.240, 0.541, -3.694, 0, 0, 0, 38 [SEP] 29, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 30, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 31, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 32, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 33, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 34, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 35, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 36, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 37, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 38, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 39, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 40, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 41, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 42, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 43, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 44, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 45, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 47, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 51, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 52, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 53, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 54, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 55, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 56, NorthWall, , , , , , , [SEP] 57, EastWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and then left again and the turn to face the bed. | STEP 2: Pick the pillow closest to the edge up from the bed. | STEP 3: Turn left and then turn to the left to face the lamp on the white table. | STEP 4: Turn the lamp on. | END"]} {"id": "trial_T20190908_125119_212943-2", "input": "Put a cleaned bar of soap on a shelf near the floor. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.903, 0.25, 0, 180, 0, [SEP] 1, TissueBox, -1.308, 0.289, 2.127, 0, 0, 0, 27 [SEP] 2, TissueBox, -0.980, 1.773, 2.157, 0, 0, 0, 29 [SEP] 3, Cloth, -0.653, 1.777, 2.127, 0, 0, 0, 29 [SEP] 4, Cloth, 0.124, 0.048, 1.067, 0, 0, 0, 30 [SEP] 5, Candle, -2.343, 1.088, -0.797, 0, 0, 0, 36 [SEP] 6, Candle, -1.949, 1.088, -0.827, 0, 0, 0, 36 [SEP] 7, SoapBottle, -1.686, 0.083, -0.549, 0, 270, 0, 34 [SEP] 8, SoapBottle, -0.206, 0.611, -0.485, 0, 315, 0, 23 [SEP] 9, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 32 [SEP] 10, Candle, -2.277, 1.088, -0.766, 0, 0, 0, 36 [SEP] 11, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 33 [SEP] 12, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 13, SoapBar, -1.144, 0.288, 2.187, 0, 0, 0, 27 [SEP] 14, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 26 [SEP] 15, SoapBottle, -0.082, 0.611, 1.775, 0, 0, 0, 23 [SEP] 16, TissueBox, -1.308, 1.773, 2.157, 0, 0, 0, 29 [SEP] 17, Cloth, -0.817, 1.074, 2.157, 0, 0, 0, 31 [SEP] 18, ToiletPaper, -2.080, 1.043, -0.674, 0, 0, 0, 36 [SEP] 19, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 25 [SEP] 20, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 21, SprayBottle, -2.212, 1.048, -0.644, 0, 0, 0, 36 [SEP] 22, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 23, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 24, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 25, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 26, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 27, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 28, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 29, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 30, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 31, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 32, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 33, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 34, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 35, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 36, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 37, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 38, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 39, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 40, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the bar of soap on the shelf near the floor. | STEP 2: Pick up the bar of soap from the shelf. | STEP 3: Turn around and walk forward to the sink. | STEP 4: Put the bar of soap in the sink, rinse it off, and take it back out. | STEP 5: Turn around and walk back across the room to the shelf near the floor. | STEP 6: Put the bar of soap on the shelf near the floor, to the right of the tissues. | END"]} {"id": "trial_T20190907_152000_603962-0", "input": "Cut an apple into three sections, place a section into a bowl. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -0.75, 0, 0, 0, [SEP] 1, ButterKnife, -0.939, 0.820, -1.183, 0, 90, 0, 99 [SEP] 2, Spoon, -0.839, 0.822, -1.257, 0, 90, 0, 99 [SEP] 3, Spoon, -0.157, 0.766, -0.707, 0, 90, 0, 97 [SEP] 4, Fork, 1.955, 0.912, 1.044, 0, 0, 0, 75 [SEP] 5, Fork, -0.887, 0.821, -1.400, 0, 0, 0, 99 [SEP] 6, Cup, 0.581, 1.652, -0.811, 0, 180, 0, 79 [SEP] 7, Cup, 1.908, 1.652, -0.696, 0, 180, 0, 77 [SEP] 8, Knife, -0.990, 0.853, -1.400, 0, 90, 0, 99 [SEP] 9, SoapBottle, 2.488, 0.917, 1.553, 0, 0, 0, 75 [SEP] 10, SoapBottle, 2.258, 0.120, 1.231, 0, 0, 0, 76 [SEP] 11, SaltShaker, 2.235, 0.111, -0.538, 0, 180, 0, 81 [SEP] 12, PepperShaker, -1.056, 0.817, -1.308, 0, 90, 0, 99 [SEP] 13, Mug, -0.694, 0.815, -1.308, 0, 90, 0, 99 [SEP] 14, Apple, -2.019, 0.492, 1.417, 0, 270, 0, 93 [SEP] 15, Apple, -0.103, 0.980, 1.129, 0, 0, 0, 51 [SEP] 16, Apple, 2.715, 1.632, -0.578, 0, 0, 0, 95 [SEP] 17, SoapBottle, 1.213, 0.120, 1.156, 0, 0, 0, 47 [SEP] 18, Plate, 2.488, 0.914, 1.214, 0, 0, 0, 75 [SEP] 19, Fork, -0.103, 0.912, 1.383, 0, 0, 0, 51 [SEP] 20, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 46 [SEP] 21, Bread, 1.155, 0.969, 1.468, 0, 0, 0, 75 [SEP] 22, Egg, 2.838, 0.764, -0.442, 0, 0, 0, 95 [SEP] 23, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 55 [SEP] 24, Tomato, -0.694, 0.852, -1.155, 0, 90, 0, 99 [SEP] 25, Cup, 2.804, 1.652, 1.470, 0, 0, 0, 41 [SEP] 26, Spatula, 0.123, 0.780, -0.707, 0, 90, 0, 97 [SEP] 27, Apple, 2.900, 1.632, -0.578, 0, 0, 0, 95 [SEP] 28, Pan, 1.955, 0.911, 1.299, 0, 0, 0, 75 [SEP] 29, Lettuce, 1.688, 0.992, 1.468, 0, 0, 0, 75 [SEP] 30, SaltShaker, -0.682, 0.817, -1.400, 0, 0, 0, 99 [SEP] 31, Knife, -1.056, 0.853, -1.206, 0, 270, 0, 99 [SEP] 32, Potato, -0.055, 0.946, 1.299, 0, 0, 0, 51 [SEP] 33, PepperShaker, -0.246, 0.908, 1.214, 0, 0, 0, 51 [SEP] 34, ButterKnife, 2.754, 0.911, 1.044, 0, 0, 0, 75 [SEP] 35, Bowl, 1.880, 1.653, 1.507, 0, 0, 0, 52 [SEP] 36, DishSponge, 1.488, 0.114, 1.231, 0, 0, 0, 69 [SEP] 37, Spoon, 1.688, 0.912, 1.044, 0, 0, 0, 75 [SEP] 38, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 40 [SEP] 39, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 40, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 41, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 42, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 43, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 44, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 45, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 46, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 47, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 48, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 49, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 50, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 51, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 52, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 53, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 54, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 55, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 56, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 57, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 58, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 59, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 60, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 61, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 62, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 63, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 64, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 65, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 69, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 70, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 71, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 72, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 73, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 75, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 76, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 78, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 79, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 80, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 81, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 82, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 83, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 84, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 85, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 86, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 87, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 88, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 89, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 92, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 93, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 94, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 95, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 96, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 97, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 98, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 99, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 100, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 101, NorthWall, , , , , , , [SEP] 102, EastWall, , , , , , , [SEP] 103, SouthWall, , , , , , , [SEP] 104, WestWall, , , , , , , ", "output": ["STEP 1: Move to the kitchen table. | STEP 2: Pick up the knife that is right of the spoon. | STEP 3: Turn left, move to the counter left of the stove. | STEP 4: Use the knife, cut the apple into three sections. | STEP 5: Turn right, move to the counter in left of a blue plate. | STEP 6: Open the upper cabinet, place the knife in to the blue container. | STEP 7: Turn left, move to the counter left of the stove. | STEP 8: Pick up one part of the apple. | STEP 9: Turn right, move to the counter in front of the blue container. | STEP 10: Place the apple part into the blue container. | STEP 11: Pick up the blue container from the upper cabinet. | STEP 12: Turn left, move to in front of the microwave. | STEP 13: Place the blue container into the microwave. | END"]} {"id": "trial_T20190907_152000_603962-3", "input": "Put a bowl holding butter knife, apple, 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, -1.5, 0.900, -0.75, 0, 0, 0, [SEP] 1, ButterKnife, -0.939, 0.820, -1.183, 0, 90, 0, 99 [SEP] 2, Spoon, -0.839, 0.822, -1.257, 0, 90, 0, 99 [SEP] 3, Spoon, -0.157, 0.766, -0.707, 0, 90, 0, 97 [SEP] 4, Fork, 1.955, 0.912, 1.044, 0, 0, 0, 75 [SEP] 5, Fork, -0.887, 0.821, -1.400, 0, 0, 0, 99 [SEP] 6, Cup, 0.581, 1.652, -0.811, 0, 180, 0, 79 [SEP] 7, Cup, 1.908, 1.652, -0.696, 0, 180, 0, 77 [SEP] 8, Knife, -0.990, 0.853, -1.400, 0, 90, 0, 99 [SEP] 9, SoapBottle, 2.488, 0.917, 1.553, 0, 0, 0, 75 [SEP] 10, SoapBottle, 2.258, 0.120, 1.231, 0, 0, 0, 76 [SEP] 11, SaltShaker, 2.235, 0.111, -0.538, 0, 180, 0, 81 [SEP] 12, PepperShaker, -1.056, 0.817, -1.308, 0, 90, 0, 99 [SEP] 13, Mug, -0.694, 0.815, -1.308, 0, 90, 0, 99 [SEP] 14, Apple, -2.019, 0.492, 1.417, 0, 270, 0, 93 [SEP] 15, Apple, -0.103, 0.980, 1.129, 0, 0, 0, 51 [SEP] 16, Apple, 2.715, 1.632, -0.578, 0, 0, 0, 95 [SEP] 17, SoapBottle, 1.213, 0.120, 1.156, 0, 0, 0, 47 [SEP] 18, Plate, 2.488, 0.914, 1.214, 0, 0, 0, 75 [SEP] 19, Fork, -0.103, 0.912, 1.383, 0, 0, 0, 51 [SEP] 20, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 46 [SEP] 21, Bread, 1.155, 0.969, 1.468, 0, 0, 0, 75 [SEP] 22, Egg, 2.838, 0.764, -0.442, 0, 0, 0, 95 [SEP] 23, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 55 [SEP] 24, Tomato, -0.694, 0.852, -1.155, 0, 90, 0, 99 [SEP] 25, Cup, 2.804, 1.652, 1.470, 0, 0, 0, 41 [SEP] 26, Spatula, 0.123, 0.780, -0.707, 0, 90, 0, 97 [SEP] 27, Apple, 2.900, 1.632, -0.578, 0, 0, 0, 95 [SEP] 28, Pan, 1.955, 0.911, 1.299, 0, 0, 0, 75 [SEP] 29, Lettuce, 1.688, 0.992, 1.468, 0, 0, 0, 75 [SEP] 30, SaltShaker, -0.682, 0.817, -1.400, 0, 0, 0, 99 [SEP] 31, Knife, -1.056, 0.853, -1.206, 0, 270, 0, 99 [SEP] 32, Potato, -0.055, 0.946, 1.299, 0, 0, 0, 51 [SEP] 33, PepperShaker, -0.246, 0.908, 1.214, 0, 0, 0, 51 [SEP] 34, ButterKnife, 2.754, 0.911, 1.044, 0, 0, 0, 75 [SEP] 35, Bowl, 1.880, 1.653, 1.507, 0, 0, 0, 52 [SEP] 36, DishSponge, 1.488, 0.114, 1.231, 0, 0, 0, 69 [SEP] 37, Spoon, 1.688, 0.912, 1.044, 0, 0, 0, 75 [SEP] 38, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 40 [SEP] 39, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 40, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 41, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 42, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 43, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 44, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 45, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 46, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 47, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 48, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 49, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 50, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 51, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 52, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 53, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 54, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 55, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 56, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 57, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 58, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 59, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 60, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 61, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 62, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 63, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 64, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 65, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 69, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 70, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 71, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 72, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 73, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 75, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 76, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 78, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 79, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 80, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 81, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 82, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 83, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 84, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 85, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 86, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 87, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 88, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 89, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 92, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 93, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 94, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 95, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 96, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 97, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 98, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 99, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 100, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 101, NorthWall, , , , , , , [SEP] 102, EastWall, , , , , , , [SEP] 103, SouthWall, , , , , , , [SEP] 104, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the round table. | STEP 2: Pick up the butter knife that is on the table. | STEP 3: Turn around and go to the counter that is on the left side of the stove. | STEP 4: Cut the apple into three parts. | STEP 5: Head to the right and stop in front of the counter with the lettuce on it. | STEP 6: Open the cupboard that is above the lettuce and put the butter knife inside the blue bowl that is in the cupboard. | STEP 7: Head back to the counter with the apple on it. | STEP 8: Pick up a piece of the apple. | STEP 9: Go back to the counter with the lettuce on it. | STEP 10: Place the apple in the same blue bowl that you placed the butter knife in. | STEP 11: Remove the bowl from the cupboard and shut the cupboard door. | STEP 12: Take the bowl and head left to the microwave above the stove. | STEP 13: Open the microwave and place the bowl inside. | END"]} {"id": "trial_T20190907_152000_603962-4", "input": "Heat an apple slice in a bowl in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -0.75, 0, 0, 0, [SEP] 1, ButterKnife, -0.939, 0.820, -1.183, 0, 90, 0, 99 [SEP] 2, Spoon, -0.839, 0.822, -1.257, 0, 90, 0, 99 [SEP] 3, Spoon, -0.157, 0.766, -0.707, 0, 90, 0, 97 [SEP] 4, Fork, 1.955, 0.912, 1.044, 0, 0, 0, 75 [SEP] 5, Fork, -0.887, 0.821, -1.400, 0, 0, 0, 99 [SEP] 6, Cup, 0.581, 1.652, -0.811, 0, 180, 0, 79 [SEP] 7, Cup, 1.908, 1.652, -0.696, 0, 180, 0, 77 [SEP] 8, Knife, -0.990, 0.853, -1.400, 0, 90, 0, 99 [SEP] 9, SoapBottle, 2.488, 0.917, 1.553, 0, 0, 0, 75 [SEP] 10, SoapBottle, 2.258, 0.120, 1.231, 0, 0, 0, 76 [SEP] 11, SaltShaker, 2.235, 0.111, -0.538, 0, 180, 0, 81 [SEP] 12, PepperShaker, -1.056, 0.817, -1.308, 0, 90, 0, 99 [SEP] 13, Mug, -0.694, 0.815, -1.308, 0, 90, 0, 99 [SEP] 14, Apple, -2.019, 0.492, 1.417, 0, 270, 0, 93 [SEP] 15, Apple, -0.103, 0.980, 1.129, 0, 0, 0, 51 [SEP] 16, Apple, 2.715, 1.632, -0.578, 0, 0, 0, 95 [SEP] 17, SoapBottle, 1.213, 0.120, 1.156, 0, 0, 0, 47 [SEP] 18, Plate, 2.488, 0.914, 1.214, 0, 0, 0, 75 [SEP] 19, Fork, -0.103, 0.912, 1.383, 0, 0, 0, 51 [SEP] 20, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 46 [SEP] 21, Bread, 1.155, 0.969, 1.468, 0, 0, 0, 75 [SEP] 22, Egg, 2.838, 0.764, -0.442, 0, 0, 0, 95 [SEP] 23, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 55 [SEP] 24, Tomato, -0.694, 0.852, -1.155, 0, 90, 0, 99 [SEP] 25, Cup, 2.804, 1.652, 1.470, 0, 0, 0, 41 [SEP] 26, Spatula, 0.123, 0.780, -0.707, 0, 90, 0, 97 [SEP] 27, Apple, 2.900, 1.632, -0.578, 0, 0, 0, 95 [SEP] 28, Pan, 1.955, 0.911, 1.299, 0, 0, 0, 75 [SEP] 29, Lettuce, 1.688, 0.992, 1.468, 0, 0, 0, 75 [SEP] 30, SaltShaker, -0.682, 0.817, -1.400, 0, 0, 0, 99 [SEP] 31, Knife, -1.056, 0.853, -1.206, 0, 270, 0, 99 [SEP] 32, Potato, -0.055, 0.946, 1.299, 0, 0, 0, 51 [SEP] 33, PepperShaker, -0.246, 0.908, 1.214, 0, 0, 0, 51 [SEP] 34, ButterKnife, 2.754, 0.911, 1.044, 0, 0, 0, 75 [SEP] 35, Bowl, 1.880, 1.653, 1.507, 0, 0, 0, 52 [SEP] 36, DishSponge, 1.488, 0.114, 1.231, 0, 0, 0, 69 [SEP] 37, Spoon, 1.688, 0.912, 1.044, 0, 0, 0, 75 [SEP] 38, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 40 [SEP] 39, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 40, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 41, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 42, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 43, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 44, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 45, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 46, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 47, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 48, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 49, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 50, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 51, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 52, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 53, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 54, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 55, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 56, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 57, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 58, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 59, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 60, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 61, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 62, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 63, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 64, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 65, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 69, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 70, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 71, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 72, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 73, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 75, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 76, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 78, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 79, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 80, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 81, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 82, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 83, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 84, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 85, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 86, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 87, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 88, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 89, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 92, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 93, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 94, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 95, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 96, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 97, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 98, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 99, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 100, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 101, NorthWall, , , , , , , [SEP] 102, EastWall, , , , , , , [SEP] 103, SouthWall, , , , , , , [SEP] 104, WestWall, , , , , , , ", "output": ["STEP 1: Go to the small round grey table behind you. | STEP 2: Pick up the silver butter knife on the table. | STEP 3: Take the knife to the end of the counter top | STEP 4: Cut the apple sitting on the counter with the knife. | STEP 5: go to the cabinets above the counter | STEP 6: open the cabinet on the left side and put the knife in the blue bowl | STEP 7: go back to the end of the counter with the sliced apple. | STEP 8: Pick up one apple slice. | STEP 9: Take the apple slice to the cabinet with the knife and bowl, | STEP 10: Put the apple slice in the bowl. | STEP 11: Remove the bowl from the cabinet | STEP 12: walk the bowl to the microwave above the stove. | STEP 13: Put the bowl in the microwave | END"]} {"id": "trial_T20190907_152000_603962-5", "input": "Put a bowl with a butter knife next to an apple slice into the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -0.75, 0, 0, 0, [SEP] 1, ButterKnife, -0.939, 0.820, -1.183, 0, 90, 0, 99 [SEP] 2, Spoon, -0.839, 0.822, -1.257, 0, 90, 0, 99 [SEP] 3, Spoon, -0.157, 0.766, -0.707, 0, 90, 0, 97 [SEP] 4, Fork, 1.955, 0.912, 1.044, 0, 0, 0, 75 [SEP] 5, Fork, -0.887, 0.821, -1.400, 0, 0, 0, 99 [SEP] 6, Cup, 0.581, 1.652, -0.811, 0, 180, 0, 79 [SEP] 7, Cup, 1.908, 1.652, -0.696, 0, 180, 0, 77 [SEP] 8, Knife, -0.990, 0.853, -1.400, 0, 90, 0, 99 [SEP] 9, SoapBottle, 2.488, 0.917, 1.553, 0, 0, 0, 75 [SEP] 10, SoapBottle, 2.258, 0.120, 1.231, 0, 0, 0, 76 [SEP] 11, SaltShaker, 2.235, 0.111, -0.538, 0, 180, 0, 81 [SEP] 12, PepperShaker, -1.056, 0.817, -1.308, 0, 90, 0, 99 [SEP] 13, Mug, -0.694, 0.815, -1.308, 0, 90, 0, 99 [SEP] 14, Apple, -2.019, 0.492, 1.417, 0, 270, 0, 93 [SEP] 15, Apple, -0.103, 0.980, 1.129, 0, 0, 0, 51 [SEP] 16, Apple, 2.715, 1.632, -0.578, 0, 0, 0, 95 [SEP] 17, SoapBottle, 1.213, 0.120, 1.156, 0, 0, 0, 47 [SEP] 18, Plate, 2.488, 0.914, 1.214, 0, 0, 0, 75 [SEP] 19, Fork, -0.103, 0.912, 1.383, 0, 0, 0, 51 [SEP] 20, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 46 [SEP] 21, Bread, 1.155, 0.969, 1.468, 0, 0, 0, 75 [SEP] 22, Egg, 2.838, 0.764, -0.442, 0, 0, 0, 95 [SEP] 23, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 55 [SEP] 24, Tomato, -0.694, 0.852, -1.155, 0, 90, 0, 99 [SEP] 25, Cup, 2.804, 1.652, 1.470, 0, 0, 0, 41 [SEP] 26, Spatula, 0.123, 0.780, -0.707, 0, 90, 0, 97 [SEP] 27, Apple, 2.900, 1.632, -0.578, 0, 0, 0, 95 [SEP] 28, Pan, 1.955, 0.911, 1.299, 0, 0, 0, 75 [SEP] 29, Lettuce, 1.688, 0.992, 1.468, 0, 0, 0, 75 [SEP] 30, SaltShaker, -0.682, 0.817, -1.400, 0, 0, 0, 99 [SEP] 31, Knife, -1.056, 0.853, -1.206, 0, 270, 0, 99 [SEP] 32, Potato, -0.055, 0.946, 1.299, 0, 0, 0, 51 [SEP] 33, PepperShaker, -0.246, 0.908, 1.214, 0, 0, 0, 51 [SEP] 34, ButterKnife, 2.754, 0.911, 1.044, 0, 0, 0, 75 [SEP] 35, Bowl, 1.880, 1.653, 1.507, 0, 0, 0, 52 [SEP] 36, DishSponge, 1.488, 0.114, 1.231, 0, 0, 0, 69 [SEP] 37, Spoon, 1.688, 0.912, 1.044, 0, 0, 0, 75 [SEP] 38, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 40 [SEP] 39, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 40, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 41, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 42, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 43, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 44, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 45, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 46, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 47, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 48, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 49, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 50, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 51, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 52, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 53, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 54, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 55, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 56, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 57, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 58, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 59, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 60, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 61, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 62, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 63, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 64, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 65, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 69, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 70, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 71, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 72, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 73, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 75, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 76, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 78, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 79, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 80, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 81, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 82, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 83, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 84, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 85, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 86, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 87, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 88, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 89, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 92, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 93, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 94, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 95, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 96, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 97, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 98, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 99, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 100, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 101, NorthWall, , , , , , , [SEP] 102, EastWall, , , , , , , [SEP] 103, SouthWall, , , , , , , [SEP] 104, WestWall, , , , , , , ", "output": ["STEP 1: Turn around to face the round table. | STEP 2: Pick up the butter knife to the left of the chef's knife. | STEP 3: Go to the counter to the left of the stove. | STEP 4: Slice the apple on the counter. | STEP 5: Go to the cabinet above the counter with the silver plate. | STEP 6: Put the butter knife in the bowl in the cabinet on the left. | STEP 7: Go to the counter to the left of the stove. | STEP 8: Pick up an apple slice on the counter. | STEP 9: Take the apple slice to the cabinet above the counter with the silver plate. | STEP 10: Put the apple in the bowl with the butter knife inside the cabinet. | STEP 11: Take the bowl out of the cabinet and close the cabinet. | STEP 12: Go to the microwave above the stove. | STEP 13: Put the bowl with the apple slice and butter knife in the microwave. | END"]} {"id": "trial_T20190908_123324_050422-2", "input": "Put two statues on the coffee table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, -2.0, 0, 0, 0, [SEP] 1, Watch, -0.561, 0.552, -0.365, 0, 270, 0, 32 [SEP] 2, Newspaper, -0.561, 0.550, -0.192, 0, 0, 0, 32 [SEP] 3, Newspaper, 1.601, 0.276, -0.512, 0, 0, 0, 40 [SEP] 4, KeyChain, 1.891, 0.871, 0.326, 0, 90, 0, 38 [SEP] 5, KeyChain, -0.411, 0.553, -0.192, 0, 270, 0, 32 [SEP] 6, RemoteControl, -0.712, 0.553, -0.537, 0, 270, 0, 32 [SEP] 7, RemoteControl, 1.443, 0.310, -0.512, 0, 0, 0, 40 [SEP] 8, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 40 [SEP] 9, KeyChain, -0.260, 0.553, -0.278, 0, 270, 0, 32 [SEP] 10, Watch, 1.891, 0.870, 0.008, 0, 90, 0, 38 [SEP] 11, Newspaper, 1.724, 0.869, 0.114, 0, 90, 0, 38 [SEP] 12, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 34 [SEP] 13, CreditCard, 1.364, 0.277, -0.665, 0, 0, 0, 40 [SEP] 14, RemoteControl, 1.807, 0.872, 0.643, 0, 90, 0, 38 [SEP] 15, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 32 [SEP] 16, Statue, 1.807, 0.880, 0.537, 0, 270, 0, 38 [SEP] 17, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 32 [SEP] 18, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 19, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 20, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 21, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 22, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 23, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 24, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 25, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 26, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 27, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 29, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 30, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 31, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 32, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 33, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 34, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 35, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 36, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 37, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 38, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 39, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 40, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Go forward to the wall, then turn right to face the small table. | STEP 2: Pick up the statue from the small table. | STEP 3: Turn around, move forward, turn left and go to the couch, then turn right to walk alongside the couch, then turn right to face the coffee table. | STEP 4: Put the statue on the coffee table. | STEP 5: Turn right and go to the end of the couch, turn right and go to the door, then turn right and look up at the statue on the shelf. | STEP 6: Pick up the statue from the shelf. | STEP 7: Turn right, then left to go around the couch, then right to face the coffee table. | STEP 8: Put the statue on the coffee table. | END"]} {"id": "trial_T20190908_125252_951776-0", "input": "take the watch from the coffee table, 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, -2.0, 0.900, 0.5, 0, 180, 0, [SEP] 1, Newspaper, -0.711, 0.550, -0.192, 0, 270, 0, 29 [SEP] 2, CreditCard, 1.522, 0.318, -0.359, 0, 0, 0, 37 [SEP] 3, RemoteControl, -0.411, 0.553, -0.278, 0, 270, 0, 29 [SEP] 4, RemoteControl, 1.808, 0.872, 0.114, 0, 90, 0, 35 [SEP] 5, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 37 [SEP] 6, KeyChain, -1.133, 0.295, -1.697, 0, 0, 0, 31 [SEP] 7, Watch, -0.561, 0.552, -0.278, 0, 270, 0, 29 [SEP] 8, Newspaper, -0.411, 0.550, -0.192, 0, 0, 0, 29 [SEP] 9, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 31 [SEP] 10, CreditCard, -0.260, 0.551, -0.451, 0, 270, 0, 29 [SEP] 11, RemoteControl, 1.807, 0.872, 0.643, 0, 90, 0, 35 [SEP] 12, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 29 [SEP] 13, Statue, 1.807, 0.880, 0.326, 0, 270, 0, 35 [SEP] 14, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 29 [SEP] 15, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 16, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 17, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 18, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 19, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 20, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 21, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 22, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 23, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 24, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 25, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 26, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 29, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 30, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 31, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 32, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 33, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 34, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 35, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 36, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 37, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: head left to the coffee table | STEP 2: take the watch from the coffee table | STEP 3: head left across the room | STEP 4: put the watch on the desk | END"]} {"id": "trial_T20190908_125252_951776-1", "input": "Move a watch from the table to the drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, 0.5, 0, 180, 0, [SEP] 1, Newspaper, -0.711, 0.550, -0.192, 0, 270, 0, 29 [SEP] 2, CreditCard, 1.522, 0.318, -0.359, 0, 0, 0, 37 [SEP] 3, RemoteControl, -0.411, 0.553, -0.278, 0, 270, 0, 29 [SEP] 4, RemoteControl, 1.808, 0.872, 0.114, 0, 90, 0, 35 [SEP] 5, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 37 [SEP] 6, KeyChain, -1.133, 0.295, -1.697, 0, 0, 0, 31 [SEP] 7, Watch, -0.561, 0.552, -0.278, 0, 270, 0, 29 [SEP] 8, Newspaper, -0.411, 0.550, -0.192, 0, 0, 0, 29 [SEP] 9, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 31 [SEP] 10, CreditCard, -0.260, 0.551, -0.451, 0, 270, 0, 29 [SEP] 11, RemoteControl, 1.807, 0.872, 0.643, 0, 90, 0, 35 [SEP] 12, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 29 [SEP] 13, Statue, 1.807, 0.880, 0.326, 0, 270, 0, 35 [SEP] 14, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 29 [SEP] 15, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 16, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 17, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 18, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 19, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 20, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 21, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 22, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 23, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 24, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 25, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 26, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 29, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 30, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 31, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 32, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 33, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 34, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 35, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 36, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 37, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the coffee table in front of you. | STEP 2: Grab a watch from the table. | STEP 3: Walk to the drawer next to the sofa. | STEP 4: Place the watch in the drawer. | END"]} {"id": "trial_T20190907_071843_438620-2", "input": "get a spray bottle to put on the back of the toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.903, 0.75, 0, 90, 0, [SEP] 1, Candle, -0.270, 0.650, 1.638, 0, 45, 0, 17 [SEP] 2, SoapBottle, -1.666, 0.083, -0.620, 0, 270, 0, 28 [SEP] 3, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 26 [SEP] 4, Candle, -1.949, 1.088, -0.766, 0, 0, 0, 30 [SEP] 5, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 27 [SEP] 6, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 7, SoapBar, -1.400, 1.010, -0.339, 0, 227.756, 0, 18 [SEP] 8, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 20 [SEP] 9, SoapBottle, -1.128, 1.012, -0.305, 0, 0, 0, 18 [SEP] 10, TissueBox, -1.144, 1.773, 2.127, 0, 0, 0, 23 [SEP] 11, Cloth, -2.146, 1.052, -0.736, 0, 0, 0, 30 [SEP] 12, ToiletPaper, -1.471, 1.066, 2.127, 0, 0, 0, 25 [SEP] 13, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 19 [SEP] 14, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 15, SprayBottle, -1.686, 0.082, -0.549, 0, 270, 0, 28 [SEP] 16, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 17, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 18, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 19, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 20, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 21, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 22, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 23, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 24, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 25, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 26, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 27, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 28, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 29, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 30, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 31, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 32, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 33, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 34, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 35, NorthWall, , , , , , , [SEP] 36, EastWall, , , , , , , [SEP] 37, SouthWall, , , , , , , [SEP] 38, WestWall, , , , , , , ", "output": ["STEP 1: walk forward, turn right, walk towards sink, | STEP 2: pick up the spray bottle that is in the trash | STEP 3: walk around the toilet, face the toilet | STEP 4: place the spray bottle on the back of the toilet | END"]} {"id": "trial_T20190907_071843_438620-3", "input": "get a spray bottle from trash to put on the back of the toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.903, 0.75, 0, 90, 0, [SEP] 1, Candle, -0.270, 0.650, 1.638, 0, 45, 0, 17 [SEP] 2, SoapBottle, -1.666, 0.083, -0.620, 0, 270, 0, 28 [SEP] 3, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 26 [SEP] 4, Candle, -1.949, 1.088, -0.766, 0, 0, 0, 30 [SEP] 5, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 27 [SEP] 6, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 7, SoapBar, -1.400, 1.010, -0.339, 0, 227.756, 0, 18 [SEP] 8, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 20 [SEP] 9, SoapBottle, -1.128, 1.012, -0.305, 0, 0, 0, 18 [SEP] 10, TissueBox, -1.144, 1.773, 2.127, 0, 0, 0, 23 [SEP] 11, Cloth, -2.146, 1.052, -0.736, 0, 0, 0, 30 [SEP] 12, ToiletPaper, -1.471, 1.066, 2.127, 0, 0, 0, 25 [SEP] 13, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 19 [SEP] 14, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 15, SprayBottle, -1.686, 0.082, -0.549, 0, 270, 0, 28 [SEP] 16, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 17, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 18, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 19, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 20, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 21, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 22, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 23, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 24, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 25, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 26, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 27, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 28, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 29, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 30, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 31, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 32, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 33, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 34, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 35, NorthWall, , , , , , , [SEP] 36, EastWall, , , , , , , [SEP] 37, SouthWall, , , , , , , [SEP] 38, WestWall, , , , , , , ", "output": ["STEP 1: turn right, walk towards sink | STEP 2: pick up the spray bottle that is in the trash can | STEP 3: turn to the right, go past toilet, turn left, face the wall | STEP 4: put spray bottle on the back of the toilet | END"]} {"id": "trial_T20190907_034257_929655-2", "input": "Put a washed bar of soap on the back of a toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.901, 2.5, 0, 180, 0, [SEP] 1, TissueBox, -1.322, 0.069, 2.807, 0, 0, 0, 23 [SEP] 2, SoapBar, -1.416, 0.994, 2.982, 0, 0, 0, 30 [SEP] 3, SoapBar, -1.439, 0.067, 3.427, 0, 0, 0, 29 [SEP] 4, SoapBar, 0.306, 0.893, 1.618, 0, 0, 0, 36 [SEP] 5, SprayBottle, -1.620, 0.068, 3.176, 0, 0, 0, 29 [SEP] 6, SprayBottle, -1.481, 0.995, 2.178, 0, 0, 0, 30 [SEP] 7, SoapBottle, -1.481, 0.993, 3.100, 0, 0, 0, 30 [SEP] 8, SoapBottle, 0.313, 0.046, 3.838, 0, 0, 0, 33 [SEP] 9, ToiletPaper, -1.560, 0.064, 2.391, 0, 0, 0, 25 [SEP] 10, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 32 [SEP] 11, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 34 [SEP] 12, SoapBar, -1.547, 0.994, 3.812, 0, 0, 0, 30 [SEP] 13, ToiletPaper, -1.379, 0.064, 3.327, 0, 0, 0, 29 [SEP] 14, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 15, Candle, 0.374, 0.892, 1.618, 0, 0, 0, 36 [SEP] 16, TissueBox, -1.441, 0.069, 3.693, 0, 0, 0, 31 [SEP] 17, SoapBottle, -1.620, 0.068, 2.757, 0, 0, 0, 25 [SEP] 18, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 38 [SEP] 19, SprayBottle, 0.351, 0.894, 1.566, 0, 0, 0, 36 [SEP] 20, Cloth, 0.356, 0.885, 1.8, 0, 85.370, 0, Floor|-01.72| [SEP] 21, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 22, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 23, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 24, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 25, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 26, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 27, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 28, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 29, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 30, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 31, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 32, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 33, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 34, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 35, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 36, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 37, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 38, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 39, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 40, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 41, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 42, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 43, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 44, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 45, NorthWall, , , , , , , [SEP] 46, EastWall, , , , , , , [SEP] 47, SouthWall, , , , , , , [SEP] 48, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the right to the sink. | STEP 2: Pick the soap up from the counter top. | STEP 3: Put the soap in the sink, turn the water on, and rinse the soap. | STEP 4: Turn around and turn towards the toilet. | STEP 5: Set the soap down on the back of the toilet. | END"]} {"id": "trial_T20190909_105447_359066-2", "input": "Putting keys 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, 0.0, 0.900, -1.0, 0, 180, 0, [SEP] 1, Watch, 1.891, 0.871, 0.326, 0, 90, 0, 36 [SEP] 2, Watch, 1.730, 0.760, 0.134, 0, 90, 0, 37 [SEP] 3, Newspaper, -0.260, 0.550, -0.365, 0, 270, 0, 30 [SEP] 4, Newspaper, -0.411, 0.550, -0.537, 0, 270, 0, 30 [SEP] 5, KeyChain, 1.285, 0.324, -0.742, 0, 0, 0, 38 [SEP] 6, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 38 [SEP] 7, KeyChain, 1.808, 0.872, 0.220, 0, 90, 0, 36 [SEP] 8, Watch, -0.712, 0.552, -0.623, 0, 270, 0, 30 [SEP] 9, Newspaper, 1.807, 0.869, 0.537, 0, 90, 0, 36 [SEP] 10, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 32 [SEP] 11, CreditCard, -0.260, 0.551, -0.537, 0, 270, 0, 30 [SEP] 12, RemoteControl, -0.411, 0.553, -0.192, 0, 270, 0, 30 [SEP] 13, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 30 [SEP] 14, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 30 [SEP] 15, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 30 [SEP] 16, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 17, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 18, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 19, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 20, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 21, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 22, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 23, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 24, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 25, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 26, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 29, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 30, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 31, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 32, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 33, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 34, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 35, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 36, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 37, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 38, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and go to the right of the couch | STEP 2: Grab the keys off of the couch | STEP 3: Turn left and go to the sofa | STEP 4: Put the keys on the sofa | END"]} {"id": "trial_T20190907_214028_505086-1", "input": "Take the knife in the mug and set them on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 3.0, 0.900, 0.0, 0, 180, 0, [SEP] 1, DishSponge, 1.597, 1.654, 1.470, 0, 0, 0, 64 [SEP] 2, DishSponge, -0.939, 0.820, -1.473, 0, 0, 0, 100 [SEP] 3, ButterKnife, 0.123, 0.765, -0.596, 0, 0, 0, 98 [SEP] 4, Spoon, 1.688, 0.912, 1.468, 0, 0, 0, 76 [SEP] 5, Spatula, 0.152, 0.926, -0.316, 0, 0, 0, 41 [SEP] 6, Cup, 2.591, 0.724, -0.535, 0, 0, 0, 96 [SEP] 7, Egg, 2.777, 0.762, -0.504, 0, 0, 0, 96 [SEP] 8, Knife, 0.634, 0.944, -0.430, 0, 0, 0, 41 [SEP] 9, SoapBottle, -1.056, 0.826, -1.308, 0, 90, 0, 100 [SEP] 10, Tomato, -1.991, 0.455, 1.459, 0, 270, 0, 94 [SEP] 11, Tomato, 2.900, 1.050, -0.447, 0, 0, 0, 96 [SEP] 12, SaltShaker, -0.151, 0.908, 1.044, 0, 0, 0, 52 [SEP] 13, SaltShaker, 1.141, 0.908, -0.515, 0, 0, 0, 41 [SEP] 14, PepperShaker, -0.294, 0.908, 1.299, 0, 0, 0, 52 [SEP] 15, PepperShaker, 1.595, 0.111, -0.538, 0, 180, 0, 58 [SEP] 16, Bread, 2.221, 0.969, 1.468, 0, 0, 0, 76 [SEP] 17, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 41 [SEP] 18, SoapBottle, 2.221, 0.917, 1.214, 0, 0, 0, 76 [SEP] 19, Plate, 1.955, 0.914, 1.129, 0, 0, 0, 76 [SEP] 20, Fork, 1.174, 0.772, -0.498, 0, 90, 0, 60 [SEP] 21, Pot, 2.715, 1.567, -0.775, 0, 0, 0, 96 [SEP] 22, Bread, -0.151, 0.969, 1.214, 0, 0, 0, 52 [SEP] 23, Egg, 2.777, 1.601, -0.512, 0, 0, 0, 96 [SEP] 24, Kettle, 0.678, 0.964, 1.082, 0, 0, 0, 44 [SEP] 25, Tomato, -0.157, 0.797, -0.651, 0, 0, 0, 98 [SEP] 26, Cup, 1.216, 1.653, 1.429, 0, 0, 0, 68 [SEP] 27, Spatula, -0.007, 0.926, 1.129, 0, 90, 0, 52 [SEP] 28, Apple, 1.141, 0.980, -0.345, 0, 0, 0, 41 [SEP] 29, Pan, 1.955, 0.911, 1.468, 0, 0, 0, 76 [SEP] 30, Lettuce, 1.155, 0.992, 1.129, 0, 0, 0, 76 [SEP] 31, SaltShaker, 2.488, 0.908, 1.214, 0, 0, 0, 76 [SEP] 32, Knife, -0.785, 0.853, -1.400, 0, 0, 0, 100 [SEP] 33, Potato, 0.518, 1.819, 1.455, 0, 180, 0, 99 [SEP] 34, PepperShaker, 0.888, 0.908, -0.6, 0, 0, 0, 41 [SEP] 35, ButterKnife, -0.939, 0.820, -1.183, 0, 90, 0, 100 [SEP] 36, Bowl, 2.156, 0.909, -0.515, 0, 0, 0, 41 [SEP] 37, DishSponge, 0.193, 0.765, -0.762, 0, 0, 0, 98 [SEP] 38, Spoon, 1.836, 0.773, -0.422, 0, 180, 0, 55 [SEP] 39, Mug, 0.759, 2.148, 1.429, 0, 0, 0, 50 [SEP] 40, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 41, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 42, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 43, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 44, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 45, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 46, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 47, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 49, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 50, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 51, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 52, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 53, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 54, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 55, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 56, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 57, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 58, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 59, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 60, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 61, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 63, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 64, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 65, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 70, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 71, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 72, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 76, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 77, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 79, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 80, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 81, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 82, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 83, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 84, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 85, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 86, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 87, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 88, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 89, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 93, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 94, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 95, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 96, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 97, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 98, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 99, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 100, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 101, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 102, NorthWall, , , , , , , [SEP] 103, EastWall, , , , , , , [SEP] 104, SouthWall, , , , , , , [SEP] 105, WestWall, , , , , , , ", "output": ["STEP 1: Turn around to the left and go to the round table. | STEP 2: Pick up the knife from the table. | STEP 3: Turn left and go to the stove. | STEP 4: Put the knife in the mug inside the cupboard. | STEP 5: Take the mug and knife out of the cupboard. | STEP 6: Turn left and then turn left again and go to the round table. | STEP 7: Set the mug and knife on the table. | END"]} {"id": "trial_T20190909_075418_107090-1", "input": "put a hot potato on the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 0.0, 0, 90, 0, [SEP] 1, Potato, 2.777, 0.761, -0.473, 0, 0, 0, 94 [SEP] 2, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 77 [SEP] 3, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 54 [SEP] 4, ButterKnife, -0.103, 0.911, 1.214, 0, 90, 0, 50 [SEP] 5, Pot, 1.955, 0.915, 1.468, 0, 0, 0, 74 [SEP] 6, Pot, 1.688, 0.915, 1.468, 0, 0, 0, 74 [SEP] 7, Spatula, -0.103, 0.926, 1.214, 0, 0, 0, 50 [SEP] 8, Plate, 2.777, 1.021, -0.644, 0, 0, 0, 94 [SEP] 9, Cup, 2.715, 0.723, -0.565, 0, 0, 0, 94 [SEP] 10, Cup, -0.939, 0.818, -1.328, 0, 0, 0, 98 [SEP] 11, Egg, -0.157, 0.803, -0.762, 0, 0, 0, 96 [SEP] 12, Egg, -0.621, 0.858, -1.103, 0, 90, 0, 98 [SEP] 13, Bowl, 0.466, 1.782, 1.455, 0, 180, 0, 97 [SEP] 14, PepperShaker, -0.682, 0.817, -1.255, 0, 0, 0, 98 [SEP] 15, PepperShaker, -0.007, 0.908, 1.299, 0, 0, 0, 50 [SEP] 16, SoapBottle, 1.254, 1.661, 1.390, 0, 0, 0, 66 [SEP] 17, Plate, 1.688, 0.914, 1.129, 0, 0, 0, 74 [SEP] 18, Fork, 2.512, 0.771, 1.122, 0, 90, 0, 55 [SEP] 19, Pot, 1.155, 0.915, 1.468, 0, 0, 0, 74 [SEP] 20, Bread, 0.634, 0.969, -0.684, 0, 0, 0, 39 [SEP] 21, Egg, -0.839, 0.858, -1.411, 0, 90, 0, 98 [SEP] 22, Kettle, 1.872, 1.655, -0.734, 0, 180, 0, 76 [SEP] 23, Tomato, 2.962, 0.756, -0.473, 0, 0, 0, 94 [SEP] 24, Cup, 3.381, 0.838, -0.514, 0, 0, 0, 94 [SEP] 25, Spatula, -0.839, 0.835, -1.155, 0, 0, 0, 98 [SEP] 26, Apple, 2.754, 0.980, 1.383, 0, 0, 0, 74 [SEP] 27, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 42 [SEP] 28, Lettuce, 2.488, 0.992, 1.299, 0, 0, 0, 74 [SEP] 29, SaltShaker, -0.198, 0.908, 1.299, 0, 0, 0, 50 [SEP] 30, Knife, -0.087, 0.798, -0.596, 0, 270, 0, 96 [SEP] 31, Potato, -2.019, 0.458, 1.417, 0, 270, 0, 92 [SEP] 32, PepperShaker, -0.990, 0.817, -1.038, 0, 0, 0, 98 [SEP] 33, ButterKnife, 1.955, 0.911, 1.044, 0, 0, 0, 74 [SEP] 34, Bowl, 2.715, 1.561, -0.644, 0, 0, 0, 94 [SEP] 35, DishSponge, -0.836, 0.820, -1.038, 0, 0, 0, 98 [SEP] 36, Spoon, 2.303, 0.772, -0.460, 0, 270, 0, 52 [SEP] 37, Mug, 0.888, 0.906, -0.769, 0, 0, 0, 39 [SEP] 38, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 39, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 40, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 41, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 42, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 43, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 44, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 45, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 46, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 47, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 48, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 49, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 50, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 51, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 52, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 53, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 54, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 55, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 56, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 57, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 58, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 59, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 60, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 61, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 62, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 63, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 64, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 65, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 68, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 69, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 70, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 71, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 72, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 74, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 75, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 77, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 78, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 79, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 80, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 81, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 82, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 83, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 84, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 85, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 86, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 87, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 88, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 89, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 91, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 92, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 93, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 94, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 95, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 96, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 97, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 98, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 99, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 100, NorthWall, , , , , , , [SEP] 101, EastWall, , , , , , , [SEP] 102, SouthWall, , , , , , , [SEP] 103, WestWall, , , , , , , ", "output": ["STEP 1: turn and walk to the re cycle bin in the corner | STEP 2: take the potato out of the re cycle bin in the corner | STEP 3: turn and walk to the microwave | STEP 4: put the potato into the microwave take the potato out of the microwave | STEP 5: turn and walk to the table | STEP 6: put the potato on the table to the left of the green book | END"]} {"id": "trial_T20190909_075418_107090-2", "input": "place microwaved potato on gray dining table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 0.0, 0, 90, 0, [SEP] 1, Potato, 2.777, 0.761, -0.473, 0, 0, 0, 94 [SEP] 2, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 77 [SEP] 3, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 54 [SEP] 4, ButterKnife, -0.103, 0.911, 1.214, 0, 90, 0, 50 [SEP] 5, Pot, 1.955, 0.915, 1.468, 0, 0, 0, 74 [SEP] 6, Pot, 1.688, 0.915, 1.468, 0, 0, 0, 74 [SEP] 7, Spatula, -0.103, 0.926, 1.214, 0, 0, 0, 50 [SEP] 8, Plate, 2.777, 1.021, -0.644, 0, 0, 0, 94 [SEP] 9, Cup, 2.715, 0.723, -0.565, 0, 0, 0, 94 [SEP] 10, Cup, -0.939, 0.818, -1.328, 0, 0, 0, 98 [SEP] 11, Egg, -0.157, 0.803, -0.762, 0, 0, 0, 96 [SEP] 12, Egg, -0.621, 0.858, -1.103, 0, 90, 0, 98 [SEP] 13, Bowl, 0.466, 1.782, 1.455, 0, 180, 0, 97 [SEP] 14, PepperShaker, -0.682, 0.817, -1.255, 0, 0, 0, 98 [SEP] 15, PepperShaker, -0.007, 0.908, 1.299, 0, 0, 0, 50 [SEP] 16, SoapBottle, 1.254, 1.661, 1.390, 0, 0, 0, 66 [SEP] 17, Plate, 1.688, 0.914, 1.129, 0, 0, 0, 74 [SEP] 18, Fork, 2.512, 0.771, 1.122, 0, 90, 0, 55 [SEP] 19, Pot, 1.155, 0.915, 1.468, 0, 0, 0, 74 [SEP] 20, Bread, 0.634, 0.969, -0.684, 0, 0, 0, 39 [SEP] 21, Egg, -0.839, 0.858, -1.411, 0, 90, 0, 98 [SEP] 22, Kettle, 1.872, 1.655, -0.734, 0, 180, 0, 76 [SEP] 23, Tomato, 2.962, 0.756, -0.473, 0, 0, 0, 94 [SEP] 24, Cup, 3.381, 0.838, -0.514, 0, 0, 0, 94 [SEP] 25, Spatula, -0.839, 0.835, -1.155, 0, 0, 0, 98 [SEP] 26, Apple, 2.754, 0.980, 1.383, 0, 0, 0, 74 [SEP] 27, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 42 [SEP] 28, Lettuce, 2.488, 0.992, 1.299, 0, 0, 0, 74 [SEP] 29, SaltShaker, -0.198, 0.908, 1.299, 0, 0, 0, 50 [SEP] 30, Knife, -0.087, 0.798, -0.596, 0, 270, 0, 96 [SEP] 31, Potato, -2.019, 0.458, 1.417, 0, 270, 0, 92 [SEP] 32, PepperShaker, -0.990, 0.817, -1.038, 0, 0, 0, 98 [SEP] 33, ButterKnife, 1.955, 0.911, 1.044, 0, 0, 0, 74 [SEP] 34, Bowl, 2.715, 1.561, -0.644, 0, 0, 0, 94 [SEP] 35, DishSponge, -0.836, 0.820, -1.038, 0, 0, 0, 98 [SEP] 36, Spoon, 2.303, 0.772, -0.460, 0, 270, 0, 52 [SEP] 37, Mug, 0.888, 0.906, -0.769, 0, 0, 0, 39 [SEP] 38, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 39, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 40, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 41, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 42, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 43, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 44, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 45, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 46, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 47, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 48, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 49, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 50, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 51, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 52, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 53, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 54, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 55, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 56, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 57, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 58, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 59, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 60, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 61, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 62, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 63, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 64, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 65, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 68, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 69, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 70, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 71, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 72, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 74, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 75, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 77, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 78, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 79, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 80, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 81, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 82, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 83, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 84, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 85, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 86, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 87, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 88, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 89, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 91, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 92, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 93, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 94, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 95, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 96, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 97, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 98, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 99, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 100, NorthWall, , , , , , , [SEP] 101, EastWall, , , , , , , [SEP] 102, SouthWall, , , , , , , [SEP] 103, WestWall, , , , , , , ", "output": ["STEP 1: turn around, go to blue bin in the corner to the right | STEP 2: pick up potato from blue bin | STEP 3: turn right, go to microwave above stove to the left | STEP 4: put potato into microwave to the left of blue bowl, close microwave, microwave potato, pick up potato from microwave, close microwave | STEP 5: turn around, go to round gray dining table | STEP 6: place potato to the left of green sponge on round gray table | END"]} {"id": "trial_T20190907_181116_534572-1", "input": "place two books on the bed SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.909, -0.5, 0, 90, 0, [SEP] 1, Mug, -1.066, 0.801, -3.703, 0, 0, 0, 42 [SEP] 2, Mug, -0.685, 0.541, -3.694, 0, 0, 0, 36 [SEP] 3, CellPhone, -3.539, 0.979, -3.874, 0, 0, 0, 45 [SEP] 4, Pen, -3.750, 0.815, -4.070, 0, 0, 0, 43 [SEP] 5, Pencil, -3.539, 0.983, -4.075, 0, 0, 0, 45 [SEP] 6, Pencil, -3.613, 0.983, -3.271, 0, 0, 0, 45 [SEP] 7, CreditCard, -1.474, 0.803, -3.920, 0, 0, 0, 42 [SEP] 8, KeyChain, -3.760, 0.982, -3.070, 0, 0, 0, 45 [SEP] 9, Book, -3.693, 0.046, -3.883, 0, 0, 0, 50 [SEP] 10, Book, -3.613, 0.981, -4.276, 0, 0, 0, 45 [SEP] 11, Book, -3.613, 0.981, -3.070, 0, 0, 0, 45 [SEP] 12, AlarmClock, -0.249, 0.800, -3.703, 0, 0, 0, 42 [SEP] 13, AlarmClock, -0.249, 0.800, -4.029, 0, 0, 0, 42 [SEP] 14, Book, -3.834, 0.980, -3.673, 0, 0, 0, 45 [SEP] 15, CellPhone, -0.453, 0.800, -3.703, 0, 0, 0, 42 [SEP] 16, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 42 [SEP] 17, CreditCard, -3.908, 0.979, -4.276, 0, 0, 0, 45 [SEP] 18, AlarmClock, -3.539, 0.979, -3.673, 0, 0, 0, 45 [SEP] 19, KeyChain, -3.687, 0.980, -3.271, 0, 0, 0, 45 [SEP] 20, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 27 [SEP] 21, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 22, Pencil, -0.657, 0.803, -4.246, 0, 0, 0, 42 [SEP] 23, Pillow, -2.770, 0.722, -2.080, 0, 0, 0, 27 [SEP] 24, CD, -0.329, 0.542, -3.713, 0, 0, 0, 36 [SEP] 25, Pen, -3.834, 0.986, -3.271, 0, 0, 0, 45 [SEP] 26, Mug, -3.687, 0.977, -3.673, 0, 90, 0, 45 [SEP] 27, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 28, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 29, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 30, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 31, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 32, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 33, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 34, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 35, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 36, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 37, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 38, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 39, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 40, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 41, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 42, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 43, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 44, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 45, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 50, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 51, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 52, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 53, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 54, NorthWall, , , , , , , [SEP] 55, EastWall, , , , , , , [SEP] 56, SouthWall, , , , , , , [SEP] 57, WestWall, , , , , , , ", "output": ["STEP 1: turn right and locate the cupboard | STEP 2: pick up the book from the top of the cupboard | STEP 3: turn right and head for the bed | STEP 4: drop the book on the bed | STEP 5: turn around and head for the cupboard | STEP 6: pick up the book from the cupboard | STEP 7: turn right and head towards the bed | STEP 8: place the book on the bed | END"]} {"id": "trial_T20190908_113857_018498-1", "input": "Put a bowl 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, 0.949, 1.0, 0, 270, 0, [SEP] 1, Vase, -0.838, 0.789, 0.081, 0, 0, 0, 59 [SEP] 2, CellPhone, 3.512, 0.417, 1.341, 0, 0, 0, 64 [SEP] 3, CellPhone, 3.377, 0.723, 1.488, 0, 180, 0, 63 [SEP] 4, Pen, 2.234, 0.990, -1.774, 0, 270, 0, 38 [SEP] 5, Pencil, -0.904, 0.789, -0.548, 0, 0, 0, 59 [SEP] 6, Pencil, 2.519, 0.992, -1.862, 0, 270, 0, 38 [SEP] 7, KeyChain, -0.776, 0.175, -0.384, 0, 0, 0, 49 [SEP] 8, Book, 1.950, 0.985, -1.862, 0, 270, 0, 38 [SEP] 9, Book, 2.052, 0.610, -0.172, 0, 0, 0, 23 [SEP] 10, Book, 2.803, 0.985, -1.774, 0, 270, 0, 38 [SEP] 11, KeyChain, 3.222, 0.725, 1.443, 0, 90, 0, 63 [SEP] 12, CreditCard, -0.772, 0.785, -0.128, 0, 0, 0, 59 [SEP] 13, Pen, 3.455, 0.729, 1.397, 0, 270, 0, 63 [SEP] 14, Pencil, 2.519, 0.989, -2.125, 0, 270, 0, 38 [SEP] 15, Laptop, 2.545, 0.607, 0.790, 0, 0, 0, 23 [SEP] 16, Vase, 3.087, 0.993, -2.125, 0, 270, 0, 38 [SEP] 17, AlarmClock, 1.666, 0.989, -2.125, 0, 270, 0, 38 [SEP] 18, Pillow, 2.533, 0.631, 1.264, 0, 0, 0, 23 [SEP] 19, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 23 [SEP] 20, CellPhone, 0.091, 0.476, 3.222, 0, 0, 0, 45 [SEP] 21, CD, 1.915, 0.183, -1.892, 0, 270, 0, 33 [SEP] 22, Vase, 3.072, 0.188, -1.721, 0, 270, 0, 37 [SEP] 23, Bed, 2.217, 0.050, 0.585, 0, 0, 0, [SEP] 24, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0, [SEP] 25, Painting, 2.990, 1.592, 1.567, 90, 0, 0, [SEP] 26, Painting, 1.524, 1.592, 1.567, 90, 0, 0, [SEP] 27, Mirror, -1.190, 1.417, -0.223, 0, 270, 0, [SEP] 28, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0, [SEP] 29, Window, -2.629, 1.460, 2.891, 90, 270, 0, [SEP] 30, Window, -2.629, 1.460, 4.084, 90, 270, 0, [SEP] 31, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0, [SEP] 32, Drawer, 2.490, 0.949, -1.703, 0, 0, 0, [SEP] 33, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0, [SEP] 34, Drawer, 1.975, 0.949, -1.703, 0, 0, 0, [SEP] 35, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0, [SEP] 36, Drawer, 1.457, 0.949, -1.703, 0, 0, 0, [SEP] 37, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0, [SEP] 38, Dresser, 2.234, 0.048, -1.950, 0, 0, 0, [SEP] 39, Drawer, 3.011, 0.949, -1.703, 0, 0, 0, [SEP] 40, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0, [SEP] 41, Shelf, -0.163, 1.461, 3.219, 0, 180, 0, [SEP] 42, Drawer, -0.161, 0.242, 3.166, 0, 180, 0, [SEP] 43, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0, [SEP] 44, Drawer, -0.161, 0.562, 3.168, 0, 180, 0, [SEP] 45, Shelf, -0.162, 0.922, 3.164, 0, 180, 0, [SEP] 46, Shelf, -0.162, 1.241, 3.163, 0, 180, 0, [SEP] 47, Blinds, -2.550, 2.486, 2.911, 0, 90, 0, [SEP] 48, Blinds, -2.550, 2.486, 4.107, 0, 90, 0, [SEP] 49, Drawer, -0.833, 0.217, -0.336, 0, 90, 0, [SEP] 50, Drawer, -0.833, 0.217, 0.486, 0, 90, 0, [SEP] 51, Drawer, -0.833, 0.628, -0.747, 0, 90, 0, [SEP] 52, Drawer, -0.833, 0.217, 0.075, 0, 90, 0, [SEP] 53, Drawer, -0.833, 0.628, 0.486, 0, 90, 0, [SEP] 54, Drawer, -0.833, 0.217, -0.747, 0, 90, 0, [SEP] 55, Drawer, -0.833, 0.423, -0.336, 0, 90, 0, [SEP] 56, Drawer, -0.833, 0.423, 0.075, 0, 90, 0, [SEP] 57, Drawer, -0.833, 0.423, 0.486, 0, 90, 0, [SEP] 58, Drawer, -0.833, 0.423, -0.747, 0, 90, 0, [SEP] 59, Dresser, -0.934, 0.050, -0.129, 0, 90, 0, [SEP] 60, Drawer, -0.833, 0.628, 0.075, 0, 90, 0, [SEP] 61, Drawer, -0.833, 0.628, -0.336, 0, 90, 0, [SEP] 62, Drawer, 3.454, 0.212, 1.262, 0, 180, 0, [SEP] 63, SideTable, 3.455, 0.046, 1.328, 0, 180, 0, [SEP] 64, Drawer, 3.454, 0.504, 1.262, 0, 180, 0, [SEP] 65, NorthWall, , , , , , , [SEP] 66, EastWall, , , , , , , [SEP] 67, SouthWall, , , , , , , [SEP] 68, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk until you're even with the mirror on your right and when you are turn right and walk to the cabinet under the mirror. | STEP 2: Pick up the bowl that's in front of you. | STEP 3: Turn right and walk to the cabinet. | STEP 4: Put the bowl to the left of the cabinet's bottom shelf above the two drawers. | END"]} {"id": "trial_T20190908_113857_018498-2", "input": "Place a bowl 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, 0.949, 1.0, 0, 270, 0, [SEP] 1, Vase, -0.838, 0.789, 0.081, 0, 0, 0, 59 [SEP] 2, CellPhone, 3.512, 0.417, 1.341, 0, 0, 0, 64 [SEP] 3, CellPhone, 3.377, 0.723, 1.488, 0, 180, 0, 63 [SEP] 4, Pen, 2.234, 0.990, -1.774, 0, 270, 0, 38 [SEP] 5, Pencil, -0.904, 0.789, -0.548, 0, 0, 0, 59 [SEP] 6, Pencil, 2.519, 0.992, -1.862, 0, 270, 0, 38 [SEP] 7, KeyChain, -0.776, 0.175, -0.384, 0, 0, 0, 49 [SEP] 8, Book, 1.950, 0.985, -1.862, 0, 270, 0, 38 [SEP] 9, Book, 2.052, 0.610, -0.172, 0, 0, 0, 23 [SEP] 10, Book, 2.803, 0.985, -1.774, 0, 270, 0, 38 [SEP] 11, KeyChain, 3.222, 0.725, 1.443, 0, 90, 0, 63 [SEP] 12, CreditCard, -0.772, 0.785, -0.128, 0, 0, 0, 59 [SEP] 13, Pen, 3.455, 0.729, 1.397, 0, 270, 0, 63 [SEP] 14, Pencil, 2.519, 0.989, -2.125, 0, 270, 0, 38 [SEP] 15, Laptop, 2.545, 0.607, 0.790, 0, 0, 0, 23 [SEP] 16, Vase, 3.087, 0.993, -2.125, 0, 270, 0, 38 [SEP] 17, AlarmClock, 1.666, 0.989, -2.125, 0, 270, 0, 38 [SEP] 18, Pillow, 2.533, 0.631, 1.264, 0, 0, 0, 23 [SEP] 19, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 23 [SEP] 20, CellPhone, 0.091, 0.476, 3.222, 0, 0, 0, 45 [SEP] 21, CD, 1.915, 0.183, -1.892, 0, 270, 0, 33 [SEP] 22, Vase, 3.072, 0.188, -1.721, 0, 270, 0, 37 [SEP] 23, Bed, 2.217, 0.050, 0.585, 0, 0, 0, [SEP] 24, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0, [SEP] 25, Painting, 2.990, 1.592, 1.567, 90, 0, 0, [SEP] 26, Painting, 1.524, 1.592, 1.567, 90, 0, 0, [SEP] 27, Mirror, -1.190, 1.417, -0.223, 0, 270, 0, [SEP] 28, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0, [SEP] 29, Window, -2.629, 1.460, 2.891, 90, 270, 0, [SEP] 30, Window, -2.629, 1.460, 4.084, 90, 270, 0, [SEP] 31, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0, [SEP] 32, Drawer, 2.490, 0.949, -1.703, 0, 0, 0, [SEP] 33, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0, [SEP] 34, Drawer, 1.975, 0.949, -1.703, 0, 0, 0, [SEP] 35, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0, [SEP] 36, Drawer, 1.457, 0.949, -1.703, 0, 0, 0, [SEP] 37, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0, [SEP] 38, Dresser, 2.234, 0.048, -1.950, 0, 0, 0, [SEP] 39, Drawer, 3.011, 0.949, -1.703, 0, 0, 0, [SEP] 40, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0, [SEP] 41, Shelf, -0.163, 1.461, 3.219, 0, 180, 0, [SEP] 42, Drawer, -0.161, 0.242, 3.166, 0, 180, 0, [SEP] 43, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0, [SEP] 44, Drawer, -0.161, 0.562, 3.168, 0, 180, 0, [SEP] 45, Shelf, -0.162, 0.922, 3.164, 0, 180, 0, [SEP] 46, Shelf, -0.162, 1.241, 3.163, 0, 180, 0, [SEP] 47, Blinds, -2.550, 2.486, 2.911, 0, 90, 0, [SEP] 48, Blinds, -2.550, 2.486, 4.107, 0, 90, 0, [SEP] 49, Drawer, -0.833, 0.217, -0.336, 0, 90, 0, [SEP] 50, Drawer, -0.833, 0.217, 0.486, 0, 90, 0, [SEP] 51, Drawer, -0.833, 0.628, -0.747, 0, 90, 0, [SEP] 52, Drawer, -0.833, 0.217, 0.075, 0, 90, 0, [SEP] 53, Drawer, -0.833, 0.628, 0.486, 0, 90, 0, [SEP] 54, Drawer, -0.833, 0.217, -0.747, 0, 90, 0, [SEP] 55, Drawer, -0.833, 0.423, -0.336, 0, 90, 0, [SEP] 56, Drawer, -0.833, 0.423, 0.075, 0, 90, 0, [SEP] 57, Drawer, -0.833, 0.423, 0.486, 0, 90, 0, [SEP] 58, Drawer, -0.833, 0.423, -0.747, 0, 90, 0, [SEP] 59, Dresser, -0.934, 0.050, -0.129, 0, 90, 0, [SEP] 60, Drawer, -0.833, 0.628, 0.075, 0, 90, 0, [SEP] 61, Drawer, -0.833, 0.628, -0.336, 0, 90, 0, [SEP] 62, Drawer, 3.454, 0.212, 1.262, 0, 180, 0, [SEP] 63, SideTable, 3.455, 0.046, 1.328, 0, 180, 0, [SEP] 64, Drawer, 3.454, 0.504, 1.262, 0, 180, 0, [SEP] 65, NorthWall, , , , , , , [SEP] 66, EastWall, , , , , , , [SEP] 67, SouthWall, , , , , , , [SEP] 68, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the black dresser on the right. | STEP 2: Pick up the black bowl from the right side of the dresser. | STEP 3: Turn right and walk to the wooden book case with shelves. | STEP 4: Put the bowl on the second shelf down from the top. | END"]} {"id": "trial_T20190908_044904_698378-1", "input": "drop two remotes 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, 0.25, 0.900, 0.5, 0, 270, 0, [SEP] 1, Watch, -0.561, 0.552, -0.623, 0, 270, 0, 29 [SEP] 2, Watch, -0.862, 0.552, -0.192, 0, 270, 0, 29 [SEP] 3, CreditCard, -0.582, 0.039, -0.480, 0, 90, 0, 24 [SEP] 4, RemoteControl, -0.922, 0.326, -1.917, 0, 0, 0, 31 [SEP] 5, Box, -0.711, 0.539, -1.844, 0, 270, 0, 31 [SEP] 6, KeyChain, -0.077, 0.295, -1.624, 0, 0, 0, 31 [SEP] 7, Watch, 1.849, 0.870, 0.220, 0, 90, 0, 35 [SEP] 8, Newspaper, -1.074, 0.315, -1.842, 0, 338.677, 0, 31 [SEP] 9, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 31 [SEP] 10, CreditCard, 1.730, 0.759, 0.420, 0, 90, 0, 36 [SEP] 11, RemoteControl, -0.411, 0.553, -0.192, 0, 270, 0, 29 [SEP] 12, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 29 [SEP] 13, Statue, 1.808, 0.880, 0.114, 0, 270, 0, 35 [SEP] 14, Statue, 1.682, 0.880, 0.325, 0, 90, 0, 35 [SEP] 15, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 16, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 17, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 18, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 19, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 20, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 21, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 22, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 23, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 24, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 25, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 26, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 29, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 30, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 31, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 32, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 33, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 34, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 35, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 36, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 37, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: turn left and head to the sofa | STEP 2: pick up the remote from the sofa | STEP 3: turn left and head to the chair | STEP 4: drop the remote on the chair | STEP 5: turn around and head to the center table | STEP 6: pick up the remote from the table | STEP 7: turn around and head for the chair | STEP 8: drop the remote on the chair | END"]} {"id": "trial_T20190907_071235_184806-1", "input": "Place a cooked tomato into the blue 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, 0.25, 0, 180, 0, [SEP] 1, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 47 [SEP] 2, Fork, 1.967, 0.772, -0.498, 0, 90, 0, 58 [SEP] 3, Spatula, 2.488, 0.926, 1.553, 0, 270, 0, 79 [SEP] 4, Plate, 1.141, 0.914, -0.684, 0, 0, 0, 44 [SEP] 5, Plate, 0.231, 2.159, 1.467, 0, 0, 0, 78 [SEP] 6, Cup, -0.939, 0.818, -1.473, 0, 0, 0, 103 [SEP] 7, Cup, 2.767, 0.112, 1.231, 0, 0, 0, 76 [SEP] 8, Egg, 3.421, 0.878, -0.485, 0, 0, 0, 99 [SEP] 9, SoapBottle, 2.221, 0.917, 1.214, 0, 0, 0, 79 [SEP] 10, SoapBottle, 1.688, 0.917, 1.129, 0, 0, 0, 79 [SEP] 11, Tomato, 2.900, 1.050, -0.578, 0, 0, 0, 99 [SEP] 12, Tomato, 2.221, 0.942, 1.468, 0, 0, 0, 79 [SEP] 13, Bowl, -0.151, 0.909, 1.383, 0, 0, 0, 55 [SEP] 14, SaltShaker, -0.682, 0.817, -1.473, 0, 0, 0, 103 [SEP] 15, SaltShaker, 0.918, 2.150, 1.468, 0, 0, 0, 78 [SEP] 16, Bread, 1.422, 0.969, 1.468, 0, 0, 0, 79 [SEP] 17, Bread, 1.688, 0.969, 1.468, 0, 0, 0, 79 [SEP] 18, Lettuce, 1.155, 0.992, 1.299, 0, 0, 0, 79 [SEP] 19, Apple, 2.715, 1.357, -0.775, 0, 0, 0, 99 [SEP] 20, Apple, -2.019, 0.492, 1.417, 0, 270, 0, 97 [SEP] 21, SoapBottle, 0.862, 1.661, -0.771, 0, 180, 0, 54 [SEP] 22, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 44 [SEP] 23, Fork, -0.766, 0.821, -1.257, 0, 90, 0, 103 [SEP] 24, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 25, Bread, 0.634, 0.969, -0.515, 0, 0, 0, 44 [SEP] 26, Egg, -0.621, 0.858, -1.360, 0, 90, 0, 103 [SEP] 27, Kettle, 2.754, 0.912, 1.214, 0, 0, 0, 79 [SEP] 28, Tomato, -1.991, 0.455, 1.290, 0, 270, 0, 97 [SEP] 29, Cup, -0.836, 0.818, -1.328, 0, 0, 0, 103 [SEP] 30, Spatula, -0.983, 0.835, -1.308, 0, 90, 0, 103 [SEP] 31, Apple, 2.653, 0.795, -0.535, 0, 0, 0, 99 [SEP] 32, Pan, 1.171, 1.654, -0.772, 0, 180, 0, 46 [SEP] 33, Lettuce, 2.488, 0.992, 1.214, 0, 0, 0, 79 [SEP] 34, SaltShaker, 1.061, 0.110, -0.383, 0, 180, 0, 52 [SEP] 35, Knife, 0.193, 0.798, -0.651, 0, 0, 0, 101 [SEP] 36, Potato, -0.621, 0.855, -1.155, 0, 90, 0, 103 [SEP] 37, PepperShaker, 0.601, 2.150, 1.390, 0, 0, 0, 53 [SEP] 38, ButterKnife, 1.955, 0.911, 1.129, 0, 0, 0, 79 [SEP] 39, Bowl, 2.900, 1.561, -0.644, 0, 0, 0, 99 [SEP] 40, DishSponge, 1.484, 1.655, -0.849, 0, 180, 0, 66 [SEP] 41, Spoon, 2.837, 0.773, 1.122, 0, 0, 0, 88 [SEP] 42, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 44 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 105, NorthWall, , , , , , , [SEP] 106, EastWall, , , , , , , [SEP] 107, SouthWall, , , , , , , [SEP] 108, WestWall, , , , , , , ", "output": ["STEP 1: Face right, walk straight to the window, turn right and walk to the blue bin. | STEP 2: Grab a tomato from the blue bin. | STEP 3: With the tomato in hand, turn around, walk down the aisle, and face left to the stove. | STEP 4: Look above the stove, place the tomato into the microwave, heat it for a moment, and then take out the tomato. | STEP 5: With the tomato in hand, make a left, walk straight, then face the door to your right. | STEP 6: Look to your left and place the cooked tomato inside the blue bin. | END"]} {"id": "trial_T20190907_071235_184806-2", "input": "Put a cooked tomato in the recycling 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, 0.25, 0, 180, 0, [SEP] 1, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 47 [SEP] 2, Fork, 1.967, 0.772, -0.498, 0, 90, 0, 58 [SEP] 3, Spatula, 2.488, 0.926, 1.553, 0, 270, 0, 79 [SEP] 4, Plate, 1.141, 0.914, -0.684, 0, 0, 0, 44 [SEP] 5, Plate, 0.231, 2.159, 1.467, 0, 0, 0, 78 [SEP] 6, Cup, -0.939, 0.818, -1.473, 0, 0, 0, 103 [SEP] 7, Cup, 2.767, 0.112, 1.231, 0, 0, 0, 76 [SEP] 8, Egg, 3.421, 0.878, -0.485, 0, 0, 0, 99 [SEP] 9, SoapBottle, 2.221, 0.917, 1.214, 0, 0, 0, 79 [SEP] 10, SoapBottle, 1.688, 0.917, 1.129, 0, 0, 0, 79 [SEP] 11, Tomato, 2.900, 1.050, -0.578, 0, 0, 0, 99 [SEP] 12, Tomato, 2.221, 0.942, 1.468, 0, 0, 0, 79 [SEP] 13, Bowl, -0.151, 0.909, 1.383, 0, 0, 0, 55 [SEP] 14, SaltShaker, -0.682, 0.817, -1.473, 0, 0, 0, 103 [SEP] 15, SaltShaker, 0.918, 2.150, 1.468, 0, 0, 0, 78 [SEP] 16, Bread, 1.422, 0.969, 1.468, 0, 0, 0, 79 [SEP] 17, Bread, 1.688, 0.969, 1.468, 0, 0, 0, 79 [SEP] 18, Lettuce, 1.155, 0.992, 1.299, 0, 0, 0, 79 [SEP] 19, Apple, 2.715, 1.357, -0.775, 0, 0, 0, 99 [SEP] 20, Apple, -2.019, 0.492, 1.417, 0, 270, 0, 97 [SEP] 21, SoapBottle, 0.862, 1.661, -0.771, 0, 180, 0, 54 [SEP] 22, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 44 [SEP] 23, Fork, -0.766, 0.821, -1.257, 0, 90, 0, 103 [SEP] 24, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 25, Bread, 0.634, 0.969, -0.515, 0, 0, 0, 44 [SEP] 26, Egg, -0.621, 0.858, -1.360, 0, 90, 0, 103 [SEP] 27, Kettle, 2.754, 0.912, 1.214, 0, 0, 0, 79 [SEP] 28, Tomato, -1.991, 0.455, 1.290, 0, 270, 0, 97 [SEP] 29, Cup, -0.836, 0.818, -1.328, 0, 0, 0, 103 [SEP] 30, Spatula, -0.983, 0.835, -1.308, 0, 90, 0, 103 [SEP] 31, Apple, 2.653, 0.795, -0.535, 0, 0, 0, 99 [SEP] 32, Pan, 1.171, 1.654, -0.772, 0, 180, 0, 46 [SEP] 33, Lettuce, 2.488, 0.992, 1.214, 0, 0, 0, 79 [SEP] 34, SaltShaker, 1.061, 0.110, -0.383, 0, 180, 0, 52 [SEP] 35, Knife, 0.193, 0.798, -0.651, 0, 0, 0, 101 [SEP] 36, Potato, -0.621, 0.855, -1.155, 0, 90, 0, 103 [SEP] 37, PepperShaker, 0.601, 2.150, 1.390, 0, 0, 0, 53 [SEP] 38, ButterKnife, 1.955, 0.911, 1.129, 0, 0, 0, 79 [SEP] 39, Bowl, 2.900, 1.561, -0.644, 0, 0, 0, 99 [SEP] 40, DishSponge, 1.484, 1.655, -0.849, 0, 180, 0, 66 [SEP] 41, Spoon, 2.837, 0.773, 1.122, 0, 0, 0, 88 [SEP] 42, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 44 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 105, NorthWall, , , , , , , [SEP] 106, EastWall, , , , , , , [SEP] 107, SouthWall, , , , , , , [SEP] 108, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your right and walk to the blue recycling bin across the room. | STEP 2: Pick up the tomato that is closest to you from inside the recycling bin. | STEP 3: Turn to your right and walk to the microwave that is above the stove | STEP 4: Open the microwave door, put the tomato inside, close the microwave door, turn the microwave on, open the door when the microwave turns off, remove the tomato and close the microwave door. | STEP 5: Turn to your left and walk to the blue recycling bin across the room. | STEP 6: Put the cooked tomato in the recycling bin to the left of the other vegetable. | END"]} {"id": "trial_T20190907_102247_614701-0", "input": "Place a clean slice of lettuce on the round grey 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, 0.25, 0, 0, 0, [SEP] 1, DishSponge, 1.524, 0.770, 1.160, 0, 0, 0, 61 [SEP] 2, DishSponge, -0.103, 0.911, 1.044, 0, 0, 0, 54 [SEP] 3, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 81 [SEP] 4, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 58 [SEP] 5, Pot, 0.231, 2.160, 1.467, 0, 0, 0, 52 [SEP] 6, Fork, 1.688, 0.912, 1.214, 0, 0, 0, 78 [SEP] 7, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 68 [SEP] 8, Cup, 1.872, 1.652, -0.811, 0, 180, 0, 80 [SEP] 9, Knife, 2.754, 0.944, 1.214, 0, 0, 0, 78 [SEP] 10, Knife, -0.694, 0.853, -1.257, 0, 90, 0, 102 [SEP] 11, Bowl, 1.422, 0.909, 1.468, 0, 0, 0, 78 [SEP] 12, SaltShaker, 2.479, 0.111, 1.077, 0, 0, 0, 47 [SEP] 13, SaltShaker, 1.862, 0.111, 1.196, 0, 0, 0, 63 [SEP] 14, PepperShaker, -0.007, 0.908, 1.553, 0, 0, 0, 54 [SEP] 15, PepperShaker, -0.007, 0.908, 1.214, 0, 0, 0, 54 [SEP] 16, Bread, 2.221, 0.969, 1.214, 0, 0, 0, 78 [SEP] 17, Lettuce, 2.221, 0.992, 1.468, 0, 0, 0, 78 [SEP] 18, Mug, -0.694, 0.815, -1.360, 0, 90, 0, 102 [SEP] 19, Apple, 2.900, 1.632, -0.709, 0, 0, 0, 98 [SEP] 20, SoapBottle, 1.563, 0.120, 1.156, 0, 0, 0, 72 [SEP] 21, Plate, 2.754, 0.914, 1.383, 0, 0, 0, 78 [SEP] 22, Fork, 0.888, 0.912, -0.769, 0, 0, 0, 43 [SEP] 23, Pot, 0.634, 0.915, -0.515, 0, 0, 0, 43 [SEP] 24, Bread, 1.029, 0.953, -0.519, 0, 0, 0, 43 [SEP] 25, Egg, -2.048, 0.461, 1.247, 0, 270, 0, 96 [SEP] 26, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 43 [SEP] 27, Tomato, 0.123, 0.797, -0.541, 0, 0, 0, 100 [SEP] 28, Cup, 1.917, 1.653, 1.546, 0, 0, 0, 55 [SEP] 29, Spatula, -0.734, 0.835, -1.400, 0, 0, 0, 102 [SEP] 30, Apple, -0.983, 0.889, -1.308, 0, 90, 0, 102 [SEP] 31, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 46 [SEP] 32, Lettuce, -0.103, 0.992, 1.383, 0, 90, 0, 54 [SEP] 33, SaltShaker, 1.872, 0.110, -0.495, 0, 180, 0, 89 [SEP] 34, Knife, 1.688, 0.944, 1.383, 0, 0, 0, 78 [SEP] 35, Potato, 0.518, 1.819, 1.488, 0, 180, 0, 101 [SEP] 36, PepperShaker, -0.142, 0.908, -0.302, 0, 0, 0, 43 [SEP] 37, ButterKnife, 0.888, 0.901, -0.515, 0, 0, 0, 43 [SEP] 38, Bowl, 2.715, 1.286, -0.775, 0, 0, 0, 98 [SEP] 39, DishSponge, -0.294, 0.911, 1.553, 0, 0, 0, 54 [SEP] 40, Spoon, -0.157, 0.766, -0.596, 0, 90, 0, 100 [SEP] 41, Mug, 0.446, 1.649, -0.811, 0, 180, 0, 82 [SEP] 42, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 43, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 44, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 45, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 46, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 47, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 48, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 49, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 50, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 51, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 52, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 53, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 54, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 55, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 56, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 57, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 58, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 59, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 60, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 61, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 62, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 63, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 64, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 65, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 66, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 72, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 73, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 74, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 76, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 78, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 79, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 81, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 82, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 83, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 84, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 85, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 86, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 87, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 88, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 89, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 90, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 95, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 96, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 97, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 98, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 99, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 100, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 101, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 102, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 103, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 104, NorthWall, , , , , , , [SEP] 105, EastWall, , , , , , , [SEP] 106, SouthWall, , , , , , , [SEP] 107, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and face the round grey table in front of you. | STEP 2: Pick up the knife on the round table in front of you. | STEP 3: Turn around and face the counter by the stove. | STEP 4: Slice the lettuce on the counter in front of you. | STEP 5: Turn around and face the sink in front of you. | STEP 6: Place the knife inside of the sink in front of you. | STEP 7: Turn around and face the counter in front of you. | STEP 8: Take a slice of lettuce from the counter in front of you. | STEP 9: Turn around and face the sink in front of you. | STEP 10: Wash the lettuce in the sink in front of you and take it out. | STEP 11: Turn right then face the round grey table on your left. | STEP 12: Place the lettuce slice on the grey table in front of you. | END"]} {"id": "trial_T20190907_102247_614701-2", "input": "place a rinsed off slice of lettuce down 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, 0.25, 0, 0, 0, [SEP] 1, DishSponge, 1.524, 0.770, 1.160, 0, 0, 0, 61 [SEP] 2, DishSponge, -0.103, 0.911, 1.044, 0, 0, 0, 54 [SEP] 3, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 81 [SEP] 4, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 58 [SEP] 5, Pot, 0.231, 2.160, 1.467, 0, 0, 0, 52 [SEP] 6, Fork, 1.688, 0.912, 1.214, 0, 0, 0, 78 [SEP] 7, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 68 [SEP] 8, Cup, 1.872, 1.652, -0.811, 0, 180, 0, 80 [SEP] 9, Knife, 2.754, 0.944, 1.214, 0, 0, 0, 78 [SEP] 10, Knife, -0.694, 0.853, -1.257, 0, 90, 0, 102 [SEP] 11, Bowl, 1.422, 0.909, 1.468, 0, 0, 0, 78 [SEP] 12, SaltShaker, 2.479, 0.111, 1.077, 0, 0, 0, 47 [SEP] 13, SaltShaker, 1.862, 0.111, 1.196, 0, 0, 0, 63 [SEP] 14, PepperShaker, -0.007, 0.908, 1.553, 0, 0, 0, 54 [SEP] 15, PepperShaker, -0.007, 0.908, 1.214, 0, 0, 0, 54 [SEP] 16, Bread, 2.221, 0.969, 1.214, 0, 0, 0, 78 [SEP] 17, Lettuce, 2.221, 0.992, 1.468, 0, 0, 0, 78 [SEP] 18, Mug, -0.694, 0.815, -1.360, 0, 90, 0, 102 [SEP] 19, Apple, 2.900, 1.632, -0.709, 0, 0, 0, 98 [SEP] 20, SoapBottle, 1.563, 0.120, 1.156, 0, 0, 0, 72 [SEP] 21, Plate, 2.754, 0.914, 1.383, 0, 0, 0, 78 [SEP] 22, Fork, 0.888, 0.912, -0.769, 0, 0, 0, 43 [SEP] 23, Pot, 0.634, 0.915, -0.515, 0, 0, 0, 43 [SEP] 24, Bread, 1.029, 0.953, -0.519, 0, 0, 0, 43 [SEP] 25, Egg, -2.048, 0.461, 1.247, 0, 270, 0, 96 [SEP] 26, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 43 [SEP] 27, Tomato, 0.123, 0.797, -0.541, 0, 0, 0, 100 [SEP] 28, Cup, 1.917, 1.653, 1.546, 0, 0, 0, 55 [SEP] 29, Spatula, -0.734, 0.835, -1.400, 0, 0, 0, 102 [SEP] 30, Apple, -0.983, 0.889, -1.308, 0, 90, 0, 102 [SEP] 31, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 46 [SEP] 32, Lettuce, -0.103, 0.992, 1.383, 0, 90, 0, 54 [SEP] 33, SaltShaker, 1.872, 0.110, -0.495, 0, 180, 0, 89 [SEP] 34, Knife, 1.688, 0.944, 1.383, 0, 0, 0, 78 [SEP] 35, Potato, 0.518, 1.819, 1.488, 0, 180, 0, 101 [SEP] 36, PepperShaker, -0.142, 0.908, -0.302, 0, 0, 0, 43 [SEP] 37, ButterKnife, 0.888, 0.901, -0.515, 0, 0, 0, 43 [SEP] 38, Bowl, 2.715, 1.286, -0.775, 0, 0, 0, 98 [SEP] 39, DishSponge, -0.294, 0.911, 1.553, 0, 0, 0, 54 [SEP] 40, Spoon, -0.157, 0.766, -0.596, 0, 90, 0, 100 [SEP] 41, Mug, 0.446, 1.649, -0.811, 0, 180, 0, 82 [SEP] 42, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 43, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 44, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 45, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 46, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 47, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 48, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 49, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 50, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 51, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 52, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 53, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 54, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 55, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 56, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 57, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 58, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 59, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 60, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 61, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 62, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 63, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 64, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 65, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 66, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 72, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 73, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 74, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 76, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 78, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 79, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 81, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 82, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 83, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 84, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 85, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 86, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 87, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 88, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 89, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 90, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 95, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 96, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 97, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 98, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 99, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 100, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 101, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 102, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 103, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 104, NorthWall, , , , , , , [SEP] 105, EastWall, , , , , , , [SEP] 106, SouthWall, , , , , , , [SEP] 107, WestWall, , , , , , , ", "output": ["STEP 1: turn left and walk to the end of the kitchen counter on your left, then turn left and walk to the end of the room | STEP 2: grab a knife off of the table there | STEP 3: turn around and walk to the kitchen counter on the far end of the room | STEP 4: cut up the lettuce on the counter | STEP 5: turn around and walk to the kitchen sink behind you | STEP 6: place the knife inside of the kitchen sink | STEP 7: turn around and walk back to the other kitchen counter with the lettuce | STEP 8: grab a slice of lettuce | STEP 9: turn around and walk to the sink behind you | STEP 10: rinse the lettuce off in the sink | STEP 11: turn right and walk to the middle of the hallway, then turn left and walk to the table at the end of the room | STEP 12: place the lettuce down on the table | END"]} {"id": "trial_T20190907_102247_614701-4", "input": "Put a washed slice of lettuce on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 0.25, 0, 0, 0, [SEP] 1, DishSponge, 1.524, 0.770, 1.160, 0, 0, 0, 61 [SEP] 2, DishSponge, -0.103, 0.911, 1.044, 0, 0, 0, 54 [SEP] 3, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 81 [SEP] 4, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 58 [SEP] 5, Pot, 0.231, 2.160, 1.467, 0, 0, 0, 52 [SEP] 6, Fork, 1.688, 0.912, 1.214, 0, 0, 0, 78 [SEP] 7, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 68 [SEP] 8, Cup, 1.872, 1.652, -0.811, 0, 180, 0, 80 [SEP] 9, Knife, 2.754, 0.944, 1.214, 0, 0, 0, 78 [SEP] 10, Knife, -0.694, 0.853, -1.257, 0, 90, 0, 102 [SEP] 11, Bowl, 1.422, 0.909, 1.468, 0, 0, 0, 78 [SEP] 12, SaltShaker, 2.479, 0.111, 1.077, 0, 0, 0, 47 [SEP] 13, SaltShaker, 1.862, 0.111, 1.196, 0, 0, 0, 63 [SEP] 14, PepperShaker, -0.007, 0.908, 1.553, 0, 0, 0, 54 [SEP] 15, PepperShaker, -0.007, 0.908, 1.214, 0, 0, 0, 54 [SEP] 16, Bread, 2.221, 0.969, 1.214, 0, 0, 0, 78 [SEP] 17, Lettuce, 2.221, 0.992, 1.468, 0, 0, 0, 78 [SEP] 18, Mug, -0.694, 0.815, -1.360, 0, 90, 0, 102 [SEP] 19, Apple, 2.900, 1.632, -0.709, 0, 0, 0, 98 [SEP] 20, SoapBottle, 1.563, 0.120, 1.156, 0, 0, 0, 72 [SEP] 21, Plate, 2.754, 0.914, 1.383, 0, 0, 0, 78 [SEP] 22, Fork, 0.888, 0.912, -0.769, 0, 0, 0, 43 [SEP] 23, Pot, 0.634, 0.915, -0.515, 0, 0, 0, 43 [SEP] 24, Bread, 1.029, 0.953, -0.519, 0, 0, 0, 43 [SEP] 25, Egg, -2.048, 0.461, 1.247, 0, 270, 0, 96 [SEP] 26, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 43 [SEP] 27, Tomato, 0.123, 0.797, -0.541, 0, 0, 0, 100 [SEP] 28, Cup, 1.917, 1.653, 1.546, 0, 0, 0, 55 [SEP] 29, Spatula, -0.734, 0.835, -1.400, 0, 0, 0, 102 [SEP] 30, Apple, -0.983, 0.889, -1.308, 0, 90, 0, 102 [SEP] 31, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 46 [SEP] 32, Lettuce, -0.103, 0.992, 1.383, 0, 90, 0, 54 [SEP] 33, SaltShaker, 1.872, 0.110, -0.495, 0, 180, 0, 89 [SEP] 34, Knife, 1.688, 0.944, 1.383, 0, 0, 0, 78 [SEP] 35, Potato, 0.518, 1.819, 1.488, 0, 180, 0, 101 [SEP] 36, PepperShaker, -0.142, 0.908, -0.302, 0, 0, 0, 43 [SEP] 37, ButterKnife, 0.888, 0.901, -0.515, 0, 0, 0, 43 [SEP] 38, Bowl, 2.715, 1.286, -0.775, 0, 0, 0, 98 [SEP] 39, DishSponge, -0.294, 0.911, 1.553, 0, 0, 0, 54 [SEP] 40, Spoon, -0.157, 0.766, -0.596, 0, 90, 0, 100 [SEP] 41, Mug, 0.446, 1.649, -0.811, 0, 180, 0, 82 [SEP] 42, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 43, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 44, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 45, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 46, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 47, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 48, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 49, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 50, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 51, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 52, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 53, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 54, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 55, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 56, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 57, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 58, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 59, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 60, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 61, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 62, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 63, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 64, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 65, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 66, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 72, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 73, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 74, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 76, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 78, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 79, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 81, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 82, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 83, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 84, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 85, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 86, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 87, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 88, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 89, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 90, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 95, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 96, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 97, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 98, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 99, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 100, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 101, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 102, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 103, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 104, NorthWall, , , , , , , [SEP] 105, EastWall, , , , , , , [SEP] 106, SouthWall, , , , , , , [SEP] 107, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, go forward to the round table. | STEP 2: Take the knife from the table. | STEP 3: Turn around, go forward and to the right to the counter to the left of the oven. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around, go forward to the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn around, go forward to the counter to the left of the oven. | STEP 8: Take a slice of lettuce from the counter. | STEP 9: Turn around, go forward to the sink. | STEP 10: Wash the lettuce in the sink, take the lettuce from the sink. | STEP 11: Turn right, go forward, turn left at the round table, go forward to the table. | STEP 12: Put the lettuce in front of the apple on the table. | END"]} {"id": "trial_T20190907_102247_614701-5", "input": "TO cut lettuce into slices as well as place a slice of lettuce on the kitchen table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 0.25, 0, 0, 0, [SEP] 1, DishSponge, 1.524, 0.770, 1.160, 0, 0, 0, 61 [SEP] 2, DishSponge, -0.103, 0.911, 1.044, 0, 0, 0, 54 [SEP] 3, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 81 [SEP] 4, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 58 [SEP] 5, Pot, 0.231, 2.160, 1.467, 0, 0, 0, 52 [SEP] 6, Fork, 1.688, 0.912, 1.214, 0, 0, 0, 78 [SEP] 7, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 68 [SEP] 8, Cup, 1.872, 1.652, -0.811, 0, 180, 0, 80 [SEP] 9, Knife, 2.754, 0.944, 1.214, 0, 0, 0, 78 [SEP] 10, Knife, -0.694, 0.853, -1.257, 0, 90, 0, 102 [SEP] 11, Bowl, 1.422, 0.909, 1.468, 0, 0, 0, 78 [SEP] 12, SaltShaker, 2.479, 0.111, 1.077, 0, 0, 0, 47 [SEP] 13, SaltShaker, 1.862, 0.111, 1.196, 0, 0, 0, 63 [SEP] 14, PepperShaker, -0.007, 0.908, 1.553, 0, 0, 0, 54 [SEP] 15, PepperShaker, -0.007, 0.908, 1.214, 0, 0, 0, 54 [SEP] 16, Bread, 2.221, 0.969, 1.214, 0, 0, 0, 78 [SEP] 17, Lettuce, 2.221, 0.992, 1.468, 0, 0, 0, 78 [SEP] 18, Mug, -0.694, 0.815, -1.360, 0, 90, 0, 102 [SEP] 19, Apple, 2.900, 1.632, -0.709, 0, 0, 0, 98 [SEP] 20, SoapBottle, 1.563, 0.120, 1.156, 0, 0, 0, 72 [SEP] 21, Plate, 2.754, 0.914, 1.383, 0, 0, 0, 78 [SEP] 22, Fork, 0.888, 0.912, -0.769, 0, 0, 0, 43 [SEP] 23, Pot, 0.634, 0.915, -0.515, 0, 0, 0, 43 [SEP] 24, Bread, 1.029, 0.953, -0.519, 0, 0, 0, 43 [SEP] 25, Egg, -2.048, 0.461, 1.247, 0, 270, 0, 96 [SEP] 26, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 43 [SEP] 27, Tomato, 0.123, 0.797, -0.541, 0, 0, 0, 100 [SEP] 28, Cup, 1.917, 1.653, 1.546, 0, 0, 0, 55 [SEP] 29, Spatula, -0.734, 0.835, -1.400, 0, 0, 0, 102 [SEP] 30, Apple, -0.983, 0.889, -1.308, 0, 90, 0, 102 [SEP] 31, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 46 [SEP] 32, Lettuce, -0.103, 0.992, 1.383, 0, 90, 0, 54 [SEP] 33, SaltShaker, 1.872, 0.110, -0.495, 0, 180, 0, 89 [SEP] 34, Knife, 1.688, 0.944, 1.383, 0, 0, 0, 78 [SEP] 35, Potato, 0.518, 1.819, 1.488, 0, 180, 0, 101 [SEP] 36, PepperShaker, -0.142, 0.908, -0.302, 0, 0, 0, 43 [SEP] 37, ButterKnife, 0.888, 0.901, -0.515, 0, 0, 0, 43 [SEP] 38, Bowl, 2.715, 1.286, -0.775, 0, 0, 0, 98 [SEP] 39, DishSponge, -0.294, 0.911, 1.553, 0, 0, 0, 54 [SEP] 40, Spoon, -0.157, 0.766, -0.596, 0, 90, 0, 100 [SEP] 41, Mug, 0.446, 1.649, -0.811, 0, 180, 0, 82 [SEP] 42, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 43, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 44, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 45, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 46, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 47, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 48, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 49, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 50, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 51, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 52, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 53, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 54, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 55, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 56, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 57, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 58, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 59, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 60, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 61, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 62, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 63, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 64, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 65, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 66, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 72, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 73, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 74, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 76, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 78, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 79, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 81, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 82, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 83, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 84, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 85, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 86, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 87, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 88, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 89, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 90, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 95, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 96, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 97, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 98, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 99, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 100, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 101, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 102, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 103, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 104, NorthWall, , , , , , , [SEP] 105, EastWall, , , , , , , [SEP] 106, SouthWall, , , , , , , [SEP] 107, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk forward to face the kitchen table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn around and walk forward to face the counter to the left of the stove. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around and walk across the room to face the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn around and walk forward to face the counter with the lettuce on it. | STEP 8: Pick up a slice of lettuce on the counter. | STEP 9: Turn around and walk forward to face the sink. | STEP 10: Wash the lettuce slice in the sink and remove it. | STEP 11: Walk around the right side of the counter and walk forward to face the kitchen table. | STEP 12: Place the slice of lettuce on the kitchen table. | END"]} {"id": "trial_T20190908_101213_185197-1", "input": "Put the heated tomato in the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 0.5, 0, 270, 0, [SEP] 1, Pan, 2.715, 1.018, -0.709, 0, 0, 0, 101 [SEP] 2, Kettle, -0.151, 0.912, 1.383, 0, 0, 0, 57 [SEP] 3, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 52 [SEP] 4, ButterKnife, 2.488, 0.911, 1.129, 0, 0, 0, 81 [SEP] 5, ButterKnife, -0.198, 0.911, 1.214, 0, 0, 0, 57 [SEP] 6, Spoon, 2.743, 0.772, 1.160, 0, 90, 0, 90 [SEP] 7, Fork, 1.141, 0.912, -0.769, 0, 90, 0, 46 [SEP] 8, Fork, 0.888, 0.901, -0.599, 0, 0, 0, 46 [SEP] 9, Spatula, -0.157, 0.780, -0.707, 0, 90, 0, 103 [SEP] 10, Plate, 0.337, 2.159, 1.467, 0, 0, 0, 80 [SEP] 11, Plate, 2.754, 0.914, 1.383, 0, 0, 0, 81 [SEP] 12, Cup, -0.017, 0.763, -0.651, 0, 0, 0, 103 [SEP] 13, Cup, 0.193, 0.763, -0.596, 0, 0, 0, 103 [SEP] 14, Knife, -0.983, 0.853, -1.257, 0, 90, 0, 105 [SEP] 15, Knife, 1.155, 0.944, 1.214, 0, 0, 0, 81 [SEP] 16, SoapBottle, -0.939, 0.826, -1.328, 0, 0, 0, 105 [SEP] 17, Tomato, -1.933, 0.455, 1.459, 0, 270, 0, 99 [SEP] 18, Bowl, 2.208, 1.653, -0.762, 0, 180, 0, 67 [SEP] 19, Bowl, 2.715, 1.286, -0.709, 0, 0, 0, 101 [SEP] 20, Mug, 0.634, 0.906, -0.515, 0, 0, 0, 46 [SEP] 21, Mug, 0.103, 1.650, -0.732, 0, 180, 0, 86 [SEP] 22, Apple, 0.415, 1.853, 1.488, 0, 180, 0, 104 [SEP] 23, SoapBottle, -0.164, 1.660, 1.394, 0, 0, 0, 72 [SEP] 24, Plate, 1.955, 0.914, 1.214, 0, 0, 0, 81 [SEP] 25, Fork, 2.488, 0.912, 1.383, 0, 0, 0, 81 [SEP] 26, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 61 [SEP] 27, Bread, 1.028, 0.953, -0.520, 0, 0, 0, 46 [SEP] 28, Egg, 1.688, 0.949, 1.214, 0, 0, 0, 81 [SEP] 29, Kettle, 1.179, 1.656, 1.468, 0, 0, 0, 73 [SEP] 30, Tomato, 1.955, 0.942, 1.468, 0, 0, 0, 81 [SEP] 31, Cup, 1.155, 0.909, 1.468, 0, 0, 0, 81 [SEP] 32, Spatula, 0.251, 0.926, -0.316, 0, 0, 0, 46 [SEP] 33, Apple, -2.019, 0.492, 1.332, 0, 270, 0, 99 [SEP] 34, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 49 [SEP] 35, Lettuce, 2.920, 1.344, -0.612, 16.300, 3.283, 13.457, 101 [SEP] 36, SaltShaker, -0.043, 0.908, -0.330, 0, 0, 0, 46 [SEP] 37, Knife, 2.754, 0.944, 1.044, 0, 0, 0, 81 [SEP] 38, Potato, 1.155, 0.946, 1.299, 0, 0, 0, 81 [SEP] 39, PepperShaker, 1.102, 0.111, 1.276, 0, 0, 0, 75 [SEP] 40, ButterKnife, 1.422, 0.911, 1.468, 0, 0, 0, 81 [SEP] 41, Bowl, 2.838, 1.561, -0.578, 0, 0, 0, 101 [SEP] 42, DishSponge, 1.141, 0.771, 1.083, 0, 0, 0, 91 [SEP] 43, Spoon, 1.836, 0.773, -0.422, 0, 180, 0, 60 [SEP] 44, Mug, -0.694, 0.815, -1.257, 0, 90, 0, 105 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 107, NorthWall, , , , , , , [SEP] 108, EastWall, , , , , , , [SEP] 109, SouthWall, , , , , , , [SEP] 110, WestWall, , , , , , , ", "output": ["STEP 1: Turn right head toward the end of the counter on your right | STEP 2: Pick up the tomato on the counter | STEP 3: Turn left then head to the microwave on your right side | STEP 4: Open the microwave put in and out the tomato then close the microwave | STEP 5: Turn right head to the fridge | STEP 6: Open the fridge put in the tomato then close the fridge | END"]} {"id": "trial_T20190908_145829_697255-1", "input": "Put a full and empty roll of toilet paper in the right cabinet under the left 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, 0.901, 1.5, 0, 0, 0, [SEP] 1, TissueBox, -1.547, 0.994, 2.178, 0, 0, 0, 28 [SEP] 2, Cloth, -1.547, 0.994, 3.159, 0, 180, 0, 28 [SEP] 3, Cloth, -1.382, 0.068, 3.743, 0, 0, 0, 29 [SEP] 4, SoapBar, -1.340, 1.018, 3.535, 0, 90, 0, 41 [SEP] 5, SprayBottle, -1.481, 0.995, 3.903, 0, 0, 0, 28 [SEP] 6, SoapBottle, -1.561, 0.068, 2.857, 0, 0, 0, 27 [SEP] 7, SoapBottle, -1.350, 0.993, 2.239, 0, 0, 0, 28 [SEP] 8, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 30 [SEP] 9, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 32 [SEP] 10, SoapBar, 0.313, 0.047, 3.893, 0, 0, 0, 31 [SEP] 11, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 36 [SEP] 12, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 13, Candle, -1.560, 0.067, 3.126, 0, 0, 0, 27 [SEP] 14, TissueBox, -1.560, 0.068, 2.391, 0, 0, 0, 23 [SEP] 15, SoapBottle, -1.284, 0.993, 3.873, 0, 0, 0, 28 [SEP] 16, ToiletPaper, 0.329, 0.889, 1.618, 0, 0, 0, 34 [SEP] 17, SprayBottle, 0.286, 0.048, 3.838, 0, 0, 0, 31 [SEP] 18, Cloth, -1.481, 0.994, 2.923, 0, 0, 0, 28 [SEP] 19, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 20, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 21, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 22, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 23, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 24, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 25, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 26, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 27, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 28, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 29, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 30, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 31, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 32, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 33, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 34, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 35, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 36, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 37, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 38, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 39, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 40, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 41, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 42, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and face the toilet. | STEP 2: Take the empty toilet paper roll off the back of the toilet. | STEP 3: Turn left and move to the left sink in the vanity. | STEP 4: Put the empty toilet paper roll in the right cabinet under the left sink. | STEP 5: Turn around and head back to the toilet. | STEP 6: Take the toilet paper roll off the holder. | STEP 7: Turn around and head back to the left sink on the vanity. | STEP 8: Put the roll of toilet paper in the right cabinet under the left sink. | END"]} {"id": "trial_T20190906_195956_153637-2", "input": "Take the potato to the sink, wash it, take it to the refrigerator. Set it in the refrigerator. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.25, 0.900, 0.0, 0, 180, 0, [SEP] 1, Pan, 1.880, 1.655, 1.468, 0, 0, 0, 59 [SEP] 2, DishSponge, -0.175, 1.654, -0.734, 0, 180, 0, 89 [SEP] 3, ButterKnife, -0.887, 0.820, -1.255, 0, 0, 0, 106 [SEP] 4, ButterKnife, 1.955, 0.911, 1.383, 0, 0, 0, 82 [SEP] 5, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 53 [SEP] 6, Pot, 1.522, 0.118, -0.458, 0, 180, 0, 88 [SEP] 7, Spoon, -0.839, 0.822, -1.257, 0, 270, 0, 106 [SEP] 8, Fork, 2.418, 0.772, 1.198, 0, 270, 0, 63 [SEP] 9, Plate, 0.178, 1.658, -0.771, 0, 180, 0, 87 [SEP] 10, Plate, 2.488, 0.914, 1.214, 0, 0, 0, 82 [SEP] 11, Cup, 0.759, 2.151, 1.429, 0, 0, 0, 56 [SEP] 12, Cup, -0.087, 0.763, -0.541, 0, 0, 0, 104 [SEP] 13, Knife, 0.123, 0.798, -0.596, 0, 270, 0, 104 [SEP] 14, Tomato, 2.777, 1.320, -0.578, 0, 0, 0, 102 [SEP] 15, SaltShaker, 1.955, 0.908, 1.129, 0, 0, 0, 82 [SEP] 16, SaltShaker, -0.012, 0.111, 1.276, 0, 0, 0, 75 [SEP] 17, PepperShaker, -0.990, 0.817, -1.038, 0, 0, 0, 106 [SEP] 18, Lettuce, -0.785, 0.901, -1.400, 0, 0, 0, 106 [SEP] 19, Lettuce, -0.103, 0.992, 1.299, 0, 90, 0, 58 [SEP] 20, Mug, 2.524, 1.650, 1.390, 0, 0, 0, 48 [SEP] 21, Mug, 0.634, 0.906, -0.345, 0, 0, 0, 47 [SEP] 22, Apple, 2.777, 0.794, -0.504, 0, 0, 0, 102 [SEP] 23, Apple, -0.694, 0.889, -1.206, 0, 90, 0, 106 [SEP] 24, SoapBottle, -0.103, 0.917, 1.129, 0, 0, 0, 58 [SEP] 25, Plate, 0.284, 2.159, 1.467, 0, 0, 0, 81 [SEP] 26, Fork, 2.221, 0.912, 1.129, 0, 0, 0, 82 [SEP] 27, Pot, 1.688, 0.915, 1.468, 0, 0, 0, 82 [SEP] 28, Bread, 1.141, 0.969, -0.769, 0, 0, 0, 47 [SEP] 29, Egg, -1.933, 0.461, 1.459, 0, 270, 0, 100 [SEP] 30, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 47 [SEP] 31, Tomato, -2.048, 0.455, 1.375, 0, 270, 0, 100 [SEP] 32, Cup, 0.518, 1.782, 1.488, 0, 180, 0, 105 [SEP] 33, Spatula, 2.156, 0.926, -0.769, 0, 0, 0, 47 [SEP] 34, Apple, 2.653, 1.632, -0.644, 0, 0, 0, 102 [SEP] 35, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 50 [SEP] 36, Lettuce, 1.155, 0.992, 1.383, 0, 0, 0, 82 [SEP] 37, SaltShaker, 2.258, 0.110, 1.268, 0, 0, 0, 83 [SEP] 38, Knife, 2.488, 0.944, 1.044, 0, 0, 0, 82 [SEP] 39, Potato, -0.983, 0.855, -1.411, 0, 90, 0, 106 [SEP] 40, PepperShaker, -0.983, 0.817, -1.257, 0, 90, 0, 106 [SEP] 41, ButterKnife, -1.056, 0.820, -1.308, 0, 90, 0, 106 [SEP] 42, Bowl, 2.223, 0.112, 1.119, 0, 0, 0, 83 [SEP] 43, DishSponge, 2.837, 0.771, 1.236, 0, 0, 0, 91 [SEP] 44, Spoon, -0.157, 0.766, -0.596, 0, 90, 0, 104 [SEP] 45, Mug, -0.103, 0.906, 1.468, 0, 270, 0, 58 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 108, NorthWall, , , , , , , [SEP] 109, EastWall, , , , , , , [SEP] 110, SouthWall, , , , , , , [SEP] 111, WestWall, , , , , , , ", "output": ["STEP 1: Go across the room to the dining table | STEP 2: Pick up the potato from the table. | STEP 3: Take the potato to the sink, behind you. | STEP 4: Set the potato in the sink. Turn the water on in the sink. Turn off the water. | STEP 5: Pick up the potato, carry it to the refrigerator on the other side of the kitchen. | STEP 6: Open the door of the refrigerator. Then close the doors of the refrigerator. Set the potato on the shelf above the Apple. | END"]} {"id": "trial_T20190906_211948_380915-0", "input": "Put the watch from shelf in the blue bowl, move the whole bowl to the TV cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.901, 6.5, 0, 180, 0, [SEP] 1, Bowl, -2.87, 0.881, 7.208, 0, 90, 0, 48 [SEP] 2, Bowl, -0.326, 0.795, 2.103, 0, 0, 0, 42 [SEP] 3, KeyChain, -2.352, 0.534, 4.335, 0, 270, 0, 57 [SEP] 4, KeyChain, -0.947, 0.442, 3.306, 0, 0, 0, 40 [SEP] 5, RemoteControl, -0.947, 0.444, 4.524, 0, 0, 0, 40 [SEP] 6, RemoteControl, -5.949, 1.282, 3.891, 0, 0, 0, 54 [SEP] 7, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 51 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -6.053, 0.147, 4.745, 0, 0, 0, 47 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -0.433, 0.792, 2.252, 0, 270, 0, 42 [SEP] 12, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 57 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 14, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 50 [SEP] 15, CreditCard, -0.789, 0.432, 3.002, 0, 0, 0, 40 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -0.868, 0.433, 3.611, 0, 180, 0, 40 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -0.636, 0.795, 5.600, 0, 270, 0, 41 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -0.789, 0.369, 4.524, 0, 0, 0, 40 [SEP] 24, Watch, -5.985, 0.880, 4.745, 0, 0, 0, 54 [SEP] 25, Statue, -2.277, 0.460, 7.221, 0, 90, 0, 49 [SEP] 26, Statue, -3.557, 1.281, 7.171, 0, 90, 0, 56 [SEP] 27, Statue, -2.283, 0.543, 3.752, 0, 270, 0, 57 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 59, NorthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , ", "output": ["STEP 1: Walk across the room to the shelf | STEP 2: Grab the watch from the shelf | STEP 3: Turn right, and turn right, walk to the side table by the sofa | STEP 4: Put the watch in the blue bowl on the table | STEP 5: Take the blue bowl on the table | STEP 6: Turn around, walk to the tv cabinet in the corner | STEP 7: Put the blue bowl on the TV cabinet | END"]} {"id": "trial_T20190906_211948_380915-1", "input": "place a bowl with a watch in it on top of the desk the TV is on SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.901, 6.5, 0, 180, 0, [SEP] 1, Bowl, -2.87, 0.881, 7.208, 0, 90, 0, 48 [SEP] 2, Bowl, -0.326, 0.795, 2.103, 0, 0, 0, 42 [SEP] 3, KeyChain, -2.352, 0.534, 4.335, 0, 270, 0, 57 [SEP] 4, KeyChain, -0.947, 0.442, 3.306, 0, 0, 0, 40 [SEP] 5, RemoteControl, -0.947, 0.444, 4.524, 0, 0, 0, 40 [SEP] 6, RemoteControl, -5.949, 1.282, 3.891, 0, 0, 0, 54 [SEP] 7, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 51 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -6.053, 0.147, 4.745, 0, 0, 0, 47 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -0.433, 0.792, 2.252, 0, 270, 0, 42 [SEP] 12, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 57 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 14, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 50 [SEP] 15, CreditCard, -0.789, 0.432, 3.002, 0, 0, 0, 40 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -0.868, 0.433, 3.611, 0, 180, 0, 40 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -0.636, 0.795, 5.600, 0, 270, 0, 41 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -0.789, 0.369, 4.524, 0, 0, 0, 40 [SEP] 24, Watch, -5.985, 0.880, 4.745, 0, 0, 0, 54 [SEP] 25, Statue, -2.277, 0.460, 7.221, 0, 90, 0, 49 [SEP] 26, Statue, -3.557, 1.281, 7.171, 0, 90, 0, 56 [SEP] 27, Statue, -2.283, 0.543, 3.752, 0, 270, 0, 57 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 59, NorthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , ", "output": ["STEP 1: walk forwards towards the oval table in the center of the rug, then hang a right and walk forwards over to the cabinet | STEP 2: grab the watch off the shelf of the cabinet | STEP 3: turn around and walk over to the oval table to the left of the couch | STEP 4: place the watch in the bowl on the table | STEP 5: pick up the bowl off of the table | STEP 6: turn around and walk forwards to the TV in the corner of the room | STEP 7: place the bowl on top of the desk the TV is on | END"]} {"id": "trial_T20190908_125309_223090-0", "input": "take the watch from the coffee table, put it on the desk\n SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, -1.25, 0, 0, 0, [SEP] 1, KeyChain, 1.849, 0.872, 0.326, 0, 90, 0, 33 [SEP] 2, RemoteControl, 1.522, 0.316, -0.435, 0, 90, 0, 35 [SEP] 3, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 35 [SEP] 4, KeyChain, -0.970, 0.359, -0.577, 0, 90, 0, 26 [SEP] 5, Watch, -0.711, 0.552, -0.278, 0, 270, 0, 27 [SEP] 6, Newspaper, -0.711, 0.550, -0.192, 0, 270, 0, 27 [SEP] 7, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 29 [SEP] 8, CreditCard, -0.711, 0.332, -1.771, 0, 0, 0, 29 [SEP] 9, RemoteControl, -0.712, 0.040, -0.544, 0, 90, 0, 22 [SEP] 10, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 27 [SEP] 11, Statue, 1.682, 0.880, 0.114, 0, 90, 0, 33 [SEP] 12, Statue, -0.260, 0.562, -0.365, 0, 270, 0, 27 [SEP] 13, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 14, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 15, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 16, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 17, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 18, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 19, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 20, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 21, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 22, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 23, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 24, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 25, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 26, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 27, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 28, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 29, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 30, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 31, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 32, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 33, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 34, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 35, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 36, NorthWall, , , , , , , [SEP] 37, EastWall, , , , , , , [SEP] 38, SouthWall, , , , , , , [SEP] 39, WestWall, , , , , , , ", "output": ["STEP 1: turn left, head across the room to the coffee table | STEP 2: take the watch from the coffee table | STEP 3: turn left, head to the desk | STEP 4: put the watch on the desk | END"]} {"id": "trial_T20190908_125309_223090-1", "input": "take the watch from the coffee table and place 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, 1.5, 0.900, -1.25, 0, 0, 0, [SEP] 1, KeyChain, 1.849, 0.872, 0.326, 0, 90, 0, 33 [SEP] 2, RemoteControl, 1.522, 0.316, -0.435, 0, 90, 0, 35 [SEP] 3, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 35 [SEP] 4, KeyChain, -0.970, 0.359, -0.577, 0, 90, 0, 26 [SEP] 5, Watch, -0.711, 0.552, -0.278, 0, 270, 0, 27 [SEP] 6, Newspaper, -0.711, 0.550, -0.192, 0, 270, 0, 27 [SEP] 7, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 29 [SEP] 8, CreditCard, -0.711, 0.332, -1.771, 0, 0, 0, 29 [SEP] 9, RemoteControl, -0.712, 0.040, -0.544, 0, 90, 0, 22 [SEP] 10, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 27 [SEP] 11, Statue, 1.682, 0.880, 0.114, 0, 90, 0, 33 [SEP] 12, Statue, -0.260, 0.562, -0.365, 0, 270, 0, 27 [SEP] 13, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 14, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 15, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 16, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 17, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 18, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 19, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 20, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 21, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 22, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 23, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 24, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 25, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 26, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 27, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 28, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 29, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 30, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 31, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 32, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 33, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 34, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 35, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 36, NorthWall, , , , , , , [SEP] 37, EastWall, , , , , , , [SEP] 38, SouthWall, , , , , , , [SEP] 39, WestWall, , , , , , , ", "output": ["STEP 1: walk over to the coffee table | STEP 2: pick up the watch from the table | STEP 3: take the watch over to the desk | STEP 4: put the watch on top of the desk | END"]} {"id": "trial_T20190906_201636_696952-1", "input": "Place the box with the credit card 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, -0.25, 0.900, 0.25, 0, 180, 0, [SEP] 1, Watch, -0.323, 0.358, -0.120, 0, 270, 0, 28 [SEP] 2, Watch, -0.561, 0.552, -0.278, 0, 270, 0, 31 [SEP] 3, Newspaper, 1.826, 0.758, 0.134, 0, 90, 0, 38 [SEP] 4, Newspaper, 1.724, 0.868, 0.537, 0, 90, 0, 37 [SEP] 5, KeyChain, 1.443, 0.310, -0.512, 0, 0, 0, 39 [SEP] 6, CreditCard, -0.411, 0.551, -0.278, 0, 270, 0, 31 [SEP] 7, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 39 [SEP] 8, KeyChain, 1.891, 0.871, 0.114, 0, 90, 0, 37 [SEP] 9, Watch, -0.970, 0.360, -0.120, 0, 270, 0, 40 [SEP] 10, Newspaper, -0.711, 0.292, -1.917, 0, 0, 0, 33 [SEP] 11, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 33 [SEP] 12, CreditCard, 1.443, 0.277, -0.818, 0, 0, 0, 39 [SEP] 13, RemoteControl, -0.453, 0.199, -0.185, 0, 270, 0, 41 [SEP] 14, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 31 [SEP] 15, Statue, -0.260, 0.562, -0.192, 0, 0, 0, 31 [SEP] 16, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 31 [SEP] 17, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 18, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 19, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 20, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 21, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 22, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 23, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 24, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 25, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 26, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 29, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 30, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 31, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 32, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 33, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 34, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 35, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 36, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 37, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 38, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 39, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 40, , , , , , , , [SEP] 41, , , , , , , , [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and head towards the desk. | STEP 2: Pick up the box on the floor beneath the desk. | STEP 3: Turn around, head towards the table, turn left and head towards the sofa. | STEP 4: Place the box on the sofa. | STEP 5: Turn around and face the table. | STEP 6: Pick up the credit card next to the plant on the table. | STEP 7: Turn around and face the box on the sofa. | STEP 8: Place the credit card inside the box. | END"]} {"id": "trial_T20190906_201636_696952-2", "input": "Move a credit card to a box 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, -0.25, 0.900, 0.25, 0, 180, 0, [SEP] 1, Watch, -0.323, 0.358, -0.120, 0, 270, 0, 28 [SEP] 2, Watch, -0.561, 0.552, -0.278, 0, 270, 0, 31 [SEP] 3, Newspaper, 1.826, 0.758, 0.134, 0, 90, 0, 38 [SEP] 4, Newspaper, 1.724, 0.868, 0.537, 0, 90, 0, 37 [SEP] 5, KeyChain, 1.443, 0.310, -0.512, 0, 0, 0, 39 [SEP] 6, CreditCard, -0.411, 0.551, -0.278, 0, 270, 0, 31 [SEP] 7, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 39 [SEP] 8, KeyChain, 1.891, 0.871, 0.114, 0, 90, 0, 37 [SEP] 9, Watch, -0.970, 0.360, -0.120, 0, 270, 0, 40 [SEP] 10, Newspaper, -0.711, 0.292, -1.917, 0, 0, 0, 33 [SEP] 11, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 33 [SEP] 12, CreditCard, 1.443, 0.277, -0.818, 0, 0, 0, 39 [SEP] 13, RemoteControl, -0.453, 0.199, -0.185, 0, 270, 0, 41 [SEP] 14, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 31 [SEP] 15, Statue, -0.260, 0.562, -0.192, 0, 0, 0, 31 [SEP] 16, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 31 [SEP] 17, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 18, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 19, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 20, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 21, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 22, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 23, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 24, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 25, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 26, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 29, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 30, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 31, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 32, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 33, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 34, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 35, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 36, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 37, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 38, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 39, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 40, , , , , , , , [SEP] 41, , , , , , , , [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: Move to stand in front of the desk that's beneath the framed picture of flowers. | STEP 2: Pick up the box from beneath the desk. | STEP 3: Turn around and carry the box to the sofa, so you're standing between the sofa and coffee table. | STEP 4: Place the box on the sofa, centered between the two rightmost cushions. | STEP 5: Turn and move to the other side of the coffee table, so you're facing the handles to the drawers beneath it. | STEP 6: Pick up the credit card from the coffee table. | STEP 7: Carry the credit card to the sofa, so you're facing the box you previously placed there. | STEP 8: Place the credit card in the box and close the top of the box shut. | END"]} {"id": "trial_T20190918_182645_558872-1", "input": "place a cold potato slice 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, -0.5, 0.900, 0.25, 0, 90, 0, [SEP] 1, DishSponge, -0.159, 0.771, 1.122, 0, 0, 0, 45 [SEP] 2, DishSponge, -0.983, 0.820, -1.411, 0, 90, 0, 99 [SEP] 3, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 46 [SEP] 4, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 55 [SEP] 5, Spoon, 0.053, 0.766, -0.651, 0, 90, 0, 97 [SEP] 6, Fork, 1.902, 0.912, -0.345, 0, 0, 0, 40 [SEP] 7, Fork, 2.488, 0.912, 1.214, 0, 0, 0, 75 [SEP] 8, Spatula, -0.055, 0.926, 1.129, 0, 0, 0, 51 [SEP] 9, Cup, -0.836, 0.818, -1.400, 0, 0, 0, 99 [SEP] 10, Knife, 0.888, 0.944, -0.430, 0, 0, 0, 40 [SEP] 11, Knife, 0.634, 0.944, -0.684, 0, 0, 0, 40 [SEP] 12, Bowl, 2.900, 1.286, -0.644, 0, 0, 0, 95 [SEP] 13, Bread, -0.246, 0.969, 1.129, 0, 0, 0, 51 [SEP] 14, Lettuce, 2.838, 1.099, -0.709, 0, 0, 0, 95 [SEP] 15, Mug, 2.838, 1.558, -0.512, 0, 0, 0, 95 [SEP] 16, Mug, -0.734, 0.815, -1.255, 0, 180, 0, 99 [SEP] 17, SoapBottle, 1.688, 0.917, 1.383, 0, 0, 0, 75 [SEP] 18, Plate, 2.221, 0.914, 1.468, 0, 0, 0, 75 [SEP] 19, Fork, 2.930, 0.771, 1.198, 0, 270, 0, 84 [SEP] 20, Pot, 1.688, 0.915, 1.129, 0, 0, 0, 75 [SEP] 21, Bread, 1.955, 0.969, 1.214, 0, 0, 0, 75 [SEP] 22, Egg, -2.019, 0.461, 1.290, 0, 270, 0, 93 [SEP] 23, Kettle, 0.178, 1.656, -0.810, 0, 180, 0, 80 [SEP] 24, Tomato, -0.151, 0.942, 1.553, 0, 0, 0, 51 [SEP] 25, Cup, -0.103, 0.909, 1.383, 0, 0, 0, 51 [SEP] 26, Spatula, 0.888, 0.926, -0.6, 0, 180, 0, 40 [SEP] 27, Apple, 2.653, 1.087, -0.512, 0, 0, 0, 95 [SEP] 28, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 43 [SEP] 29, Lettuce, 1.155, 0.992, 1.383, 0, 0, 0, 75 [SEP] 30, SaltShaker, -0.240, 0.908, -0.316, 0, 0, 0, 40 [SEP] 31, Knife, 1.141, 0.944, -0.769, 0, 0, 0, 40 [SEP] 32, Potato, -1.056, 0.855, -1.257, 0, 90, 0, 99 [SEP] 33, PepperShaker, 1.422, 0.908, 1.044, 0, 0, 0, 75 [SEP] 34, ButterKnife, 2.156, 0.911, -0.684, 0, 0, 0, 40 [SEP] 35, Bowl, 2.900, 1.561, -0.709, 0, 0, 0, 95 [SEP] 36, DishSponge, -0.055, 0.911, 1.299, 0, 0, 0, 51 [SEP] 37, Spoon, -0.734, 0.822, -1.400, 0, 270, 0, 99 [SEP] 38, Mug, 0.415, 1.779, 1.423, 0, 180, 0, 98 [SEP] 39, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 40, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 41, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 42, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 43, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 44, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 45, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 46, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 47, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 48, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 49, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 50, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 51, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 52, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 53, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 54, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 55, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 56, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 57, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 58, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 59, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 60, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 61, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 62, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 63, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 64, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 65, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 69, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 70, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 71, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 72, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 73, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 75, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 76, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 78, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 79, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 80, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 81, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 82, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 83, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 84, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 85, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 86, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 87, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 88, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 89, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 92, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 93, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 94, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 95, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 96, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 97, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 98, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 99, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 100, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 101, NorthWall, , , , , , , [SEP] 102, EastWall, , , , , , , [SEP] 103, SouthWall, , , , , , , [SEP] 104, WestWall, , , , , , , ", "output": ["STEP 1: move right towards the coffee maker | STEP 2: pick up a knife at the right side of the coffee maker | STEP 3: turn right and head for the table | STEP 4: slice the potato on the table | STEP 5: turn left to the fridge | STEP 6: drop the knife inside the fridge | STEP 7: turn right and head to the table | STEP 8: pick up a potato slice | STEP 9: turn left and head for the fridge | STEP 10: place the potato to cool for some time and take it out | STEP 11: turn right towards the microwave | STEP 12: place the potato inside the microwave | END"]} {"id": "trial_T20190911_063520_618858-0", "input": "Put the glass from the table into the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 0.0, 0, 270, 0, [SEP] 1, DishSponge, 1.688, 0.911, 1.553, 0, 0, 0, 83 [SEP] 2, Kettle, 1.917, 1.656, 1.468, 0, 0, 0, 72 [SEP] 3, Kettle, 2.754, 0.912, 1.383, 0, 0, 0, 83 [SEP] 4, ButterKnife, 2.221, 0.911, 1.129, 0, 0, 0, 83 [SEP] 5, Spoon, -0.734, 0.822, -1.328, 0, 0, 0, 107 [SEP] 6, Spoon, -0.734, 0.822, -1.473, 0, 0, 0, 107 [SEP] 7, Fork, 2.249, 0.771, 1.198, 0, 270, 0, 79 [SEP] 8, Spatula, 1.688, 0.926, 1.299, 0, 0, 0, 83 [SEP] 9, Cup, 2.444, 0.112, 1.196, 0, 0, 0, 52 [SEP] 10, Egg, 0.053, 0.803, -0.541, 0, 0, 0, 105 [SEP] 11, Knife, 1.688, 0.944, 1.044, 0, 0, 0, 83 [SEP] 12, SoapBottle, 1.649, 0.917, -0.345, 0, 0, 0, 48 [SEP] 13, SoapBottle, 2.479, 0.120, 1.077, 0, 0, 0, 52 [SEP] 14, Tomato, 2.777, 0.758, -0.473, 0, 0, 0, 103 [SEP] 15, Bowl, 1.955, 0.909, 1.299, 0, 0, 0, 83 [SEP] 16, SaltShaker, 2.562, 1.651, 1.468, 0, 0, 0, 73 [SEP] 17, SaltShaker, 0.759, 2.150, 1.352, 0, 0, 0, 82 [SEP] 18, PepperShaker, 2.488, 0.908, 1.299, 0, 0, 0, 83 [SEP] 19, PepperShaker, 1.216, 1.651, 1.546, 0, 0, 0, 75 [SEP] 20, Lettuce, 0.634, 0.992, -0.515, 0, 0, 0, 48 [SEP] 21, Lettuce, 1.902, 0.992, -0.430, 0, 0, 0, 48 [SEP] 22, Mug, 2.198, 0.110, -0.498, 0, 180, 0, 89 [SEP] 23, Apple, -0.087, 0.834, -0.541, 0, 0, 0, 105 [SEP] 24, Apple, -2.019, 0.492, 1.332, 0, 270, 0, 101 [SEP] 25, SoapBottle, -0.103, 0.917, 1.299, 0, 0, 0, 59 [SEP] 26, Plate, 0.178, 1.658, -0.771, 0, 180, 0, 88 [SEP] 27, Fork, 0.888, 0.912, -0.6, 0, 0, 0, 48 [SEP] 28, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 54 [SEP] 29, Bread, 1.155, 0.969, 1.383, 0, 0, 0, 83 [SEP] 30, Egg, 0.363, 1.822, 1.488, 0, 180, 0, 106 [SEP] 31, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 86 [SEP] 32, Tomato, 1.155, 0.942, 1.044, 0, 0, 0, 83 [SEP] 33, Cup, -0.621, 0.818, -1.308, 0, 90, 0, 107 [SEP] 34, Spatula, 2.221, 0.926, 1.299, 0, 0, 0, 83 [SEP] 35, Apple, -0.887, 0.889, -1.400, 0, 0, 0, 107 [SEP] 36, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 51 [SEP] 37, Lettuce, 2.838, 1.099, -0.709, 0, 0, 0, 103 [SEP] 38, SaltShaker, 1.155, 0.908, 1.129, 0, 0, 0, 83 [SEP] 39, Knife, 0.123, 0.798, -0.651, 0, 180, 0, 105 [SEP] 40, Potato, 2.838, 1.053, -0.512, 0, 0, 0, 103 [SEP] 41, PepperShaker, -0.198, 0.908, 1.129, 0, 0, 0, 59 [SEP] 42, ButterKnife, 2.754, 0.911, 1.214, 0, 0, 0, 83 [SEP] 43, Bowl, 2.838, 1.286, -0.775, 0, 0, 0, 103 [SEP] 44, DishSponge, -0.682, 0.820, -1.038, 0, 0, 0, 107 [SEP] 45, Spoon, -0.103, 0.912, 1.044, 0, 0, 0, 59 [SEP] 46, Mug, -0.157, 0.760, -0.707, 0, 180, 0, 105 [SEP] 47, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 48, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 49, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 50, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 51, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 53, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 54, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 55, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 56, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 57, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 58, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 59, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 60, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 61, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 62, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 63, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 64, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 66, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 67, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 68, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 69, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 70, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 71, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 79, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 81, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 83, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 84, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 85, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 86, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 87, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 88, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 89, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 90, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 91, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 92, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 93, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 94, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 95, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 99, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 100, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 101, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 102, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 103, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 104, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 105, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 106, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 107, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 108, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 109, NorthWall, , , , , , , [SEP] 110, EastWall, , , , , , , [SEP] 111, SouthWall, , , , , , , [SEP] 112, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward then left to the table. | STEP 2: Pick up the glass from the table. | STEP 3: Turn around and go to the sink. | STEP 4: Put the glass in the sink. | END"]} {"id": "trial_T20190906_201451_338338-0", "input": "Put a mug with pen on the shelf under the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.909, -1.0, 0, 180, 0, [SEP] 1, Mug, -3.760, 0.977, -3.673, 0, 0, 0, 41 [SEP] 2, CD, -3.613, 0.980, -3.271, 0, 0, 0, 41 [SEP] 3, CD, -3.908, 0.980, -3.874, 0, 0, 0, 41 [SEP] 4, CellPhone, -3.760, 0.979, -3.271, 0, 0, 0, 41 [SEP] 5, Pencil, -0.862, 0.803, -3.920, 0, 0, 0, 38 [SEP] 6, KeyChain, -3.466, 0.980, -3.874, 0, 0, 0, 41 [SEP] 7, KeyChain, -3.637, 0.810, -3.184, 0, 0, 0, 48 [SEP] 8, Book, -2.348, 0.620, -0.931, 0, 0, 0, 23 [SEP] 9, AlarmClock, -0.685, 0.542, -3.713, 0, 0, 0, 38 [SEP] 10, Book, -2.559, 0.620, -2.080, 0, 0, 0, 23 [SEP] 11, CellPhone, -3.834, 0.981, -4.075, 0, 0, 0, 41 [SEP] 12, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 38 [SEP] 13, CreditCard, -3.806, 0.808, -4.164, 0, 0, 0, 39 [SEP] 14, AlarmClock, -0.329, 0.542, -3.713, 0, 0, 0, 38 [SEP] 15, KeyChain, -3.687, 0.982, -3.874, 0, 0, 0, 41 [SEP] 16, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 23 [SEP] 17, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 18, Pencil, -1.850, 0.065, -3.901, 0, 279.990, 0, 27 [SEP] 19, Pillow, -3.191, 0.722, -2.080, 0, 0, 0, 23 [SEP] 20, CD, -3.466, 0.980, -3.070, 0, 0, 0, 41 [SEP] 21, Pen, -3.834, 0.985, -3.070, 0, 0, 0, 41 [SEP] 22, Mug, -3.760, 0.979, -3.070, 0, 0, 0, 41 [SEP] 23, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 24, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 25, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 26, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 27, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 28, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 29, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 30, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 31, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 32, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 33, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 34, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 35, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 36, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 37, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 38, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 39, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 40, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 41, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 42, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 50, NorthWall, , , , , , , [SEP] 51, EastWall, , , , , , , [SEP] 52, SouthWall, , , , , , , [SEP] 53, WestWall, , , , , , , ", "output": ["STEP 1: Move to the dresser. | STEP 2: Pick up the mug with pen. | STEP 3: Bring the mug with pen to the long white table. | STEP 4: Put the mug with pen on the shelf under the table. | END"]} {"id": "trial_T20190906_201451_338338-1", "input": "Move the cup with the pen from the dress to under the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.909, -1.0, 0, 180, 0, [SEP] 1, Mug, -3.760, 0.977, -3.673, 0, 0, 0, 41 [SEP] 2, CD, -3.613, 0.980, -3.271, 0, 0, 0, 41 [SEP] 3, CD, -3.908, 0.980, -3.874, 0, 0, 0, 41 [SEP] 4, CellPhone, -3.760, 0.979, -3.271, 0, 0, 0, 41 [SEP] 5, Pencil, -0.862, 0.803, -3.920, 0, 0, 0, 38 [SEP] 6, KeyChain, -3.466, 0.980, -3.874, 0, 0, 0, 41 [SEP] 7, KeyChain, -3.637, 0.810, -3.184, 0, 0, 0, 48 [SEP] 8, Book, -2.348, 0.620, -0.931, 0, 0, 0, 23 [SEP] 9, AlarmClock, -0.685, 0.542, -3.713, 0, 0, 0, 38 [SEP] 10, Book, -2.559, 0.620, -2.080, 0, 0, 0, 23 [SEP] 11, CellPhone, -3.834, 0.981, -4.075, 0, 0, 0, 41 [SEP] 12, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 38 [SEP] 13, CreditCard, -3.806, 0.808, -4.164, 0, 0, 0, 39 [SEP] 14, AlarmClock, -0.329, 0.542, -3.713, 0, 0, 0, 38 [SEP] 15, KeyChain, -3.687, 0.982, -3.874, 0, 0, 0, 41 [SEP] 16, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 23 [SEP] 17, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 18, Pencil, -1.850, 0.065, -3.901, 0, 279.990, 0, 27 [SEP] 19, Pillow, -3.191, 0.722, -2.080, 0, 0, 0, 23 [SEP] 20, CD, -3.466, 0.980, -3.070, 0, 0, 0, 41 [SEP] 21, Pen, -3.834, 0.985, -3.070, 0, 0, 0, 41 [SEP] 22, Mug, -3.760, 0.979, -3.070, 0, 0, 0, 41 [SEP] 23, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 24, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 25, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 26, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 27, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 28, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 29, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 30, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 31, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 32, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 33, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 34, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 35, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 36, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 37, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 38, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 39, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 40, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 41, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 42, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 50, NorthWall, , , , , , , [SEP] 51, EastWall, , , , , , , [SEP] 52, SouthWall, , , , , , , [SEP] 53, WestWall, , , , , , , ", "output": ["STEP 1: Walk straight, turn right, walk to the dresser | STEP 2: Grab the cup with the pen | STEP 3: Turn around, walk to the white table | STEP 4: Put the cup and the pen below the table, on the brown drawers | END"]} {"id": "trial_T20190908_113458_840400-0", "input": "Look at the coffee cup 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, -2.5, 0.909, -3.25, 0, 90, 0, [SEP] 1, Mug, -3.760, 0.979, -4.276, 0, 0, 0, 43 [SEP] 2, Mug, -3.760, 0.979, -3.874, 0, 0, 0, 43 [SEP] 3, Mug, -0.453, 0.798, -3.703, 0, 0, 0, 40 [SEP] 4, CellPhone, -2.559, 0.620, -1.218, 0, 0, 0, 25 [SEP] 5, Pen, -3.687, 0.985, -4.075, 0, 0, 0, 43 [SEP] 6, Pencil, -0.329, 0.546, -3.676, 0, 0, 0, 34 [SEP] 7, KeyChain, -3.637, 0.046, -3.091, 0, 0, 0, 42 [SEP] 8, KeyChain, -3.613, 0.982, -3.673, 0, 0, 0, 43 [SEP] 9, Book, -2.770, 0.620, -1.506, 0, 0, 0, 25 [SEP] 10, Laptop, -2.559, 0.618, -2.080, 0, 0, 0, 25 [SEP] 11, AlarmClock, -3.687, 0.981, -3.472, 0, 0, 0, 43 [SEP] 12, Book, -3.638, 0.227, -3.371, 0, 0, 0, 45 [SEP] 13, CellPhone, -3.637, 0.808, -3.371, 0, 0, 0, 50 [SEP] 14, Laptop, -3.402, 0.618, -2.080, 0, 0, 0, 25 [SEP] 15, CreditCard, -1.474, 0.803, -3.811, 0, 0, 0, 40 [SEP] 16, AlarmClock, -0.596, 0.542, -3.713, 0, 0, 0, 40 [SEP] 17, KeyChain, -0.657, 0.804, -4.354, 0, 0, 0, 40 [SEP] 18, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 25 [SEP] 19, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 20, Pencil, -1.861, 0.065, -3.825, 0, 9.990, 0, 29 [SEP] 21, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 25 [SEP] 22, CD, -3.806, 0.809, -3.558, 0, 0, 0, 50 [SEP] 23, Pen, -1.270, 0.805, -4.246, 0, 0, 0, 40 [SEP] 24, Mug, -1.066, 0.801, -3.703, 0, 0, 0, 40 [SEP] 25, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 26, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 27, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 28, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 29, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 30, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 31, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 32, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 33, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 34, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 35, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 36, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 37, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 38, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 39, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 40, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 41, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 42, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 43, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 51, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right and take one step, then turn to the right and walk to the dresser. | STEP 2: Pick up the coffee cup on the dresser. | STEP 3: Turn around and walk to the table. | STEP 4: Turn on the lamp. | END"]} {"id": "trial_T20190908_113458_840400-1", "input": "Pick up a cup 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, -2.5, 0.909, -3.25, 0, 90, 0, [SEP] 1, Mug, -3.760, 0.979, -4.276, 0, 0, 0, 43 [SEP] 2, Mug, -3.760, 0.979, -3.874, 0, 0, 0, 43 [SEP] 3, Mug, -0.453, 0.798, -3.703, 0, 0, 0, 40 [SEP] 4, CellPhone, -2.559, 0.620, -1.218, 0, 0, 0, 25 [SEP] 5, Pen, -3.687, 0.985, -4.075, 0, 0, 0, 43 [SEP] 6, Pencil, -0.329, 0.546, -3.676, 0, 0, 0, 34 [SEP] 7, KeyChain, -3.637, 0.046, -3.091, 0, 0, 0, 42 [SEP] 8, KeyChain, -3.613, 0.982, -3.673, 0, 0, 0, 43 [SEP] 9, Book, -2.770, 0.620, -1.506, 0, 0, 0, 25 [SEP] 10, Laptop, -2.559, 0.618, -2.080, 0, 0, 0, 25 [SEP] 11, AlarmClock, -3.687, 0.981, -3.472, 0, 0, 0, 43 [SEP] 12, Book, -3.638, 0.227, -3.371, 0, 0, 0, 45 [SEP] 13, CellPhone, -3.637, 0.808, -3.371, 0, 0, 0, 50 [SEP] 14, Laptop, -3.402, 0.618, -2.080, 0, 0, 0, 25 [SEP] 15, CreditCard, -1.474, 0.803, -3.811, 0, 0, 0, 40 [SEP] 16, AlarmClock, -0.596, 0.542, -3.713, 0, 0, 0, 40 [SEP] 17, KeyChain, -0.657, 0.804, -4.354, 0, 0, 0, 40 [SEP] 18, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 25 [SEP] 19, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 20, Pencil, -1.861, 0.065, -3.825, 0, 9.990, 0, 29 [SEP] 21, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 25 [SEP] 22, CD, -3.806, 0.809, -3.558, 0, 0, 0, 50 [SEP] 23, Pen, -1.270, 0.805, -4.246, 0, 0, 0, 40 [SEP] 24, Mug, -1.066, 0.801, -3.703, 0, 0, 0, 40 [SEP] 25, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 26, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 27, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 28, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 29, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 30, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 31, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 32, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 33, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 34, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 35, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 36, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 37, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 38, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 39, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 40, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 41, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 42, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 43, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 51, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and face the brown dresser. | STEP 2: Pick the cup up from the dresser. | STEP 3: Turn around and face the white table with the lamp. | STEP 4: Turn the lamp on the table on. | END"]} {"id": "trial_T20190909_031925_522476-0", "input": "Pick up the apple and heat it up inside the microwave and after it is done 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, 0.0, 0.931, -0.5, 0, 180, 0, [SEP] 1, Potato, 0.761, 1.108, 0.281, 0, 90, 0, 45 [SEP] 2, Potato, -0.260, 1.100, -1.828, 0, 0, 0, 47 [SEP] 3, DishSponge, -1.416, 0.202, -1.265, 0, 0, 0, 55 [SEP] 4, ButterKnife, 0.848, 1.043, 0.807, 0, 0, 0, 49 [SEP] 5, ButterKnife, 1.347, 1.043, 0.589, 0, 0, 0, 49 [SEP] 6, Kettle, 0.000, 1.057, -1.4, 0, 0, 0, 46 [SEP] 7, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 43 [SEP] 8, Fork, 1.612, 1.043, 0.415, 0, 180, 0, 49 [SEP] 9, Spoon, 1.514, 1.044, 0.545, 0, 0, 0, 49 [SEP] 10, Spatula, 1.181, 1.058, 0.720, 0, 0, 0, 49 [SEP] 11, Cup, -1.095, 0.964, 2.242, 0, 90, 0, 62 [SEP] 12, Knife, -0.517, 1.072, -1.289, 0, 0, 0, 47 [SEP] 13, Knife, 0.518, 1.072, -1.097, 0, 180, 0, 47 [SEP] 14, Tomato, 1.523, 1.094, 0.307, 0, 0, 0, 49 [SEP] 15, SoapBottle, -0.346, 1.047, -1.397, 0, 270, 0, 47 [SEP] 16, Bowl, -0.699, 1.563, -1.693, 0, 0, 0, 52 [SEP] 17, Bowl, -1.105, 0.201, -1.265, 0, 0, 0, 55 [SEP] 18, SaltShaker, 0.890, 0.194, -1.484, 0, 0, 0, 58 [SEP] 19, SaltShaker, 1.665, 0.199, -1.262, 0, 0, 0, 57 [SEP] 20, Apple, -1.194, 1.759, -1.300, 0, 0, 0, 61 [SEP] 21, SoapBottle, -1.416, 0.203, -1.555, 0, 0, 0, 55 [SEP] 22, Apple, -1.096, 1.759, -1.362, 0, 0, 0, 61 [SEP] 23, Potato, -0.689, 1.100, -1.505, 0, 0, 0, 47 [SEP] 24, Fork, -0.775, 1.047, -1.828, 0, 90, 0, 47 [SEP] 25, Kettle, 0.823, 1.047, -1.289, 0, 0, 0, 47 [SEP] 26, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 47 [SEP] 27, Tomato, -1.051, 0.758, 1.796, 0, 90, 0, 62 [SEP] 28, SaltShaker, -0.670, 0.198, -1.193, 0, 0, 0, 56 [SEP] 29, Egg, -1.038, 1.282, 1.885, 0, 90, 0, 62 [SEP] 30, Cup, -1.423, 1.713, 2.063, 0, 90, 0, 62 [SEP] 31, Spatula, 0.160, 1.058, 0.630, 0, 0, 0, 49 [SEP] 32, Knife, 0.379, 1.072, -1.086, 0, 0, 0, 47 [SEP] 33, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 45 [SEP] 34, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 49 [SEP] 35, PepperShaker, 1.347, 1.038, 0.720, 0, 0, 0, 49 [SEP] 36, DishSponge, -1.183, 0.202, -1.410, 0, 0, 0, 55 [SEP] 37, Plate, -1.184, 2.041, -1.555, 0, 0, 0, 54 [SEP] 38, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 49 [SEP] 39, Spoon, 0.936, 1.054, 0.281, 0, 90, 0, 45 [SEP] 40, Pot, 0.250, 1.057, -1.4, 0, 0, 0, 59 [SEP] 41, Mug, -0.548, 1.560, -1.767, 0, 180, 0, 52 [SEP] 42, Bowl, -1.381, 1.488, 1.885, 0, 90, 0, 62 [SEP] 43, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 44, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 45, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 46, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 47, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 48, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 49, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 50, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 51, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 52, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 53, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 54, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 55, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 56, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 57, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 58, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 59, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 60, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 61, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 62, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 63, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 64, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 65, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 66, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 70, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 71, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 72, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 73, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 74, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 75, NorthWall, , , , , , , [SEP] 76, EastWall, , , , , , , [SEP] 77, SouthWall, , , , , , , [SEP] 78, WestWall, , , , , , , ", "output": ["STEP 1: turn right and move forward and turn to the left and face the counter | STEP 2: pick up brown apple from the counter | STEP 3: turn around move forward and turn left and turn left again and face the microwave and place the apple inside of it | STEP 4: place the apple inside of it and heat it up | STEP 5: turn left and move forward and then turn right and towards the counter | STEP 6: place the apple on the counter | END"]} {"id": "trial_T20190908_044804_986661-0", "input": "Place a chilled piece of lettuce into the blue recycling 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, 180, 0, [SEP] 1, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 49 [SEP] 2, DishSponge, 1.896, 0.114, 1.117, 0, 0, 0, 66 [SEP] 3, ButterKnife, 2.754, 0.911, 1.044, 0, 0, 0, 81 [SEP] 4, Pot, 2.488, 0.915, 1.129, 0, 0, 0, 81 [SEP] 5, Spoon, 1.869, 0.773, -0.460, 0, 180, 0, 60 [SEP] 6, Spoon, 2.868, 0.772, 1.198, 0, 0, 0, 90 [SEP] 7, Fork, 1.107, 0.772, 1.198, 0, 270, 0, 91 [SEP] 8, Spatula, 1.422, 0.926, 1.383, 0, 0, 0, 81 [SEP] 9, Cup, 0.140, 1.653, -0.771, 0, 180, 0, 86 [SEP] 10, Egg, -0.694, 0.858, -1.155, 0, 90, 0, 105 [SEP] 11, Egg, 1.155, 0.949, 1.468, 0, 0, 0, 81 [SEP] 12, SoapBottle, 1.600, 0.120, 1.081, 0, 0, 0, 75 [SEP] 13, SoapBottle, -0.055, 0.917, 1.468, 0, 0, 0, 57 [SEP] 14, Tomato, 2.754, 0.942, 1.468, 0, 0, 0, 81 [SEP] 15, Tomato, -0.157, 0.797, -0.596, 0, 0, 0, 103 [SEP] 16, SaltShaker, -0.694, 0.817, -1.308, 0, 90, 0, 105 [SEP] 17, SaltShaker, 1.522, 1.651, -0.693, 0, 180, 0, 68 [SEP] 18, PepperShaker, -0.007, 0.908, 1.044, 0, 0, 0, 57 [SEP] 19, Lettuce, -0.246, 0.992, 1.383, 0, 0, 0, 57 [SEP] 20, Lettuce, 1.955, 0.992, 1.383, 0, 0, 0, 81 [SEP] 21, Lettuce, -0.103, 0.992, 1.129, 0, 90, 0, 57 [SEP] 22, Mug, 1.798, 1.649, -0.849, 0, 180, 0, 83 [SEP] 23, SoapBottle, -0.887, 0.826, -1.328, 0, 0, 0, 105 [SEP] 24, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 46 [SEP] 25, Fork, 1.688, 0.912, 1.129, 0, 0, 0, 81 [SEP] 26, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 52 [SEP] 27, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 46 [SEP] 28, Egg, 2.156, 0.949, -0.684, 0, 0, 0, 46 [SEP] 29, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 84 [SEP] 30, Tomato, 0.193, 0.797, -0.762, 0, 0, 0, 103 [SEP] 31, Cup, 0.888, 0.909, -0.6, 0, 0, 0, 46 [SEP] 32, Spatula, -0.621, 0.835, -1.308, 0, 90, 0, 105 [SEP] 33, Apple, -0.983, 0.889, -1.206, 0, 90, 0, 105 [SEP] 34, Pan, 0.231, 2.156, 1.467, 0, 0, 0, 55 [SEP] 35, Lettuce, 2.221, 0.992, 1.383, 0, 0, 0, 81 [SEP] 36, SaltShaker, 1.597, 1.651, -0.810, 0, 180, 0, 68 [SEP] 37, Knife, -1.056, 0.853, -1.257, 0, 90, 0, 105 [SEP] 38, Potato, 0.466, 1.819, 1.520, 0, 180, 0, 104 [SEP] 39, PepperShaker, 1.409, 1.651, -0.693, 0, 180, 0, 68 [SEP] 40, ButterKnife, 1.422, 0.911, 1.044, 0, 0, 0, 81 [SEP] 41, Bowl, 1.909, 0.112, -0.421, 0, 180, 0, 92 [SEP] 42, DishSponge, -0.246, 0.911, 1.553, 0, 0, 0, 57 [SEP] 43, Spoon, 0.263, 0.766, -0.707, 0, 90, 0, 103 [SEP] 44, Mug, -0.734, 0.815, -1.400, 0, 0, 0, 105 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 107, NorthWall, , , , , , , [SEP] 108, EastWall, , , , , , , [SEP] 109, SouthWall, , , , , , , [SEP] 110, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the knife to the right of the pot on the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Walk to the lettuce on the counter. | STEP 4: Cut up the rightmost lettuce on the counter. | STEP 5: Take one step back and then look at the counter with the lettuce on it. | STEP 6: Place the knife in front of the lettuce on the counter. | STEP 7: Take one step forward to the counter. | STEP 8: Pick up a piece of the lettuce on the counter. | STEP 9: Turn around and walk to the fridge. | STEP 10: Chill the piece of lettuce in the fridge and then pick up the piece of lettuce from the fridge. | STEP 11: Turn right and walk to the blue recycling bin next to the window. | STEP 12: Place the piece of lettuce into the blue recycling bin. | END"]} {"id": "trial_T20190908_154427_989098-0", "input": "Move a book from the bed into 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, 0.949, -0.25, 0, 90, 0, [SEP] 1, CellPhone, -0.772, 0.785, 0.291, 0, 0, 0, 54 [SEP] 2, KeyChain, 3.455, 0.725, 1.488, 0, 180, 0, 58 [SEP] 3, Book, 2.710, 0.610, 0.068, 0, 0, 0, 18 [SEP] 4, AlarmClock, 1.950, 0.986, -2.037, 0, 270, 0, 33 [SEP] 5, Book, 2.519, 0.985, -2.125, 0, 270, 0, 33 [SEP] 6, KeyChain, -0.812, 0.586, 0.529, 0, 0, 0, 48 [SEP] 7, CreditCard, 1.382, 0.985, -2.212, 0, 270, 0, 33 [SEP] 8, Pen, 3.087, 0.990, -1.949, 0, 270, 0, 33 [SEP] 9, Pencil, -0.812, 0.589, 0.119, 0, 0, 0, 55 [SEP] 10, Laptop, 1.447, 0.981, -1.894, 0, 328.961, 0, 33 [SEP] 11, Vase, 3.300, 0.728, 1.352, 0, 180, 0, 58 [SEP] 12, AlarmClock, -0.772, 0.786, -0.128, 0, 0, 0, 54 [SEP] 13, Pillow, 1.888, 0.674, -0.172, 0, 0, 0, 18 [SEP] 14, Pillow, 2.545, 0.674, 0.549, 0, 0, 0, 18 [SEP] 15, CellPhone, 1.666, 0.985, -1.687, 0, 270, 0, 33 [SEP] 16, CD, -0.990, 0.091, -1.147, 0, 0, 0, 19 [SEP] 17, Vase, 2.234, 0.989, -1.862, 0, 270, 0, 33 [SEP] 18, Bed, 2.217, 0.050, 0.585, 0, 0, 0, [SEP] 19, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0, [SEP] 20, Painting, 2.990, 1.592, 1.567, 90, 0, 0, [SEP] 21, Painting, 1.524, 1.592, 1.567, 90, 0, 0, [SEP] 22, Mirror, -1.190, 1.417, -0.223, 0, 270, 0, [SEP] 23, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0, [SEP] 24, Window, -2.629, 1.460, 2.891, 90, 270, 0, [SEP] 25, Window, -2.629, 1.460, 4.084, 90, 270, 0, [SEP] 26, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0, [SEP] 27, Drawer, 2.490, 0.949, -1.703, 0, 0, 0, [SEP] 28, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0, [SEP] 29, Drawer, 1.975, 0.949, -1.703, 0, 0, 0, [SEP] 30, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0, [SEP] 31, Drawer, 1.457, 0.949, -1.703, 0, 0, 0, [SEP] 32, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0, [SEP] 33, Dresser, 2.234, 0.048, -1.950, 0, 0, 0, [SEP] 34, Drawer, 3.011, 0.949, -1.703, 0, 0, 0, [SEP] 35, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0, [SEP] 36, Shelf, -0.163, 1.461, 3.219, 0, 180, 0, [SEP] 37, Drawer, -0.161, 0.242, 3.166, 0, 180, 0, [SEP] 38, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0, [SEP] 39, Drawer, -0.161, 0.562, 3.168, 0, 180, 0, [SEP] 40, Shelf, -0.162, 0.922, 3.164, 0, 180, 0, [SEP] 41, Shelf, -0.162, 1.241, 3.163, 0, 180, 0, [SEP] 42, Blinds, -2.550, 2.486, 2.911, 0, 90, 0, [SEP] 43, Blinds, -2.550, 2.486, 4.107, 0, 90, 0, [SEP] 44, Drawer, -0.833, 0.217, -0.336, 0, 90, 0, [SEP] 45, Drawer, -0.833, 0.217, 0.486, 0, 90, 0, [SEP] 46, Drawer, -0.833, 0.628, -0.747, 0, 90, 0, [SEP] 47, Drawer, -0.833, 0.217, 0.075, 0, 90, 0, [SEP] 48, Drawer, -0.833, 0.628, 0.486, 0, 90, 0, [SEP] 49, Drawer, -0.833, 0.217, -0.747, 0, 90, 0, [SEP] 50, Drawer, -0.833, 0.423, -0.336, 0, 90, 0, [SEP] 51, Drawer, -0.833, 0.423, 0.075, 0, 90, 0, [SEP] 52, Drawer, -0.833, 0.423, 0.486, 0, 90, 0, [SEP] 53, Drawer, -0.833, 0.423, -0.747, 0, 90, 0, [SEP] 54, Dresser, -0.934, 0.050, -0.129, 0, 90, 0, [SEP] 55, Drawer, -0.833, 0.628, 0.075, 0, 90, 0, [SEP] 56, Drawer, -0.833, 0.628, -0.336, 0, 90, 0, [SEP] 57, Drawer, 3.454, 0.212, 1.262, 0, 180, 0, [SEP] 58, SideTable, 3.455, 0.046, 1.328, 0, 180, 0, [SEP] 59, Drawer, 3.454, 0.504, 1.262, 0, 180, 0, [SEP] 60, NorthWall, , , , , , , [SEP] 61, EastWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, WestWall, , , , , , , ", "output": ["STEP 1: Walk around to the far side of the bed. | STEP 2: Pick up the book off of the bed. | STEP 3: Turn left and walk over to the black dresser. | STEP 4: Open the leftmost lower cabinet door and put the book inside the cabinet, then close the door. | END"]} {"id": "trial_T20190908_154427_989098-2", "input": "Pick up the brown book and put it in the black cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.949, -0.25, 0, 90, 0, [SEP] 1, CellPhone, -0.772, 0.785, 0.291, 0, 0, 0, 54 [SEP] 2, KeyChain, 3.455, 0.725, 1.488, 0, 180, 0, 58 [SEP] 3, Book, 2.710, 0.610, 0.068, 0, 0, 0, 18 [SEP] 4, AlarmClock, 1.950, 0.986, -2.037, 0, 270, 0, 33 [SEP] 5, Book, 2.519, 0.985, -2.125, 0, 270, 0, 33 [SEP] 6, KeyChain, -0.812, 0.586, 0.529, 0, 0, 0, 48 [SEP] 7, CreditCard, 1.382, 0.985, -2.212, 0, 270, 0, 33 [SEP] 8, Pen, 3.087, 0.990, -1.949, 0, 270, 0, 33 [SEP] 9, Pencil, -0.812, 0.589, 0.119, 0, 0, 0, 55 [SEP] 10, Laptop, 1.447, 0.981, -1.894, 0, 328.961, 0, 33 [SEP] 11, Vase, 3.300, 0.728, 1.352, 0, 180, 0, 58 [SEP] 12, AlarmClock, -0.772, 0.786, -0.128, 0, 0, 0, 54 [SEP] 13, Pillow, 1.888, 0.674, -0.172, 0, 0, 0, 18 [SEP] 14, Pillow, 2.545, 0.674, 0.549, 0, 0, 0, 18 [SEP] 15, CellPhone, 1.666, 0.985, -1.687, 0, 270, 0, 33 [SEP] 16, CD, -0.990, 0.091, -1.147, 0, 0, 0, 19 [SEP] 17, Vase, 2.234, 0.989, -1.862, 0, 270, 0, 33 [SEP] 18, Bed, 2.217, 0.050, 0.585, 0, 0, 0, [SEP] 19, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0, [SEP] 20, Painting, 2.990, 1.592, 1.567, 90, 0, 0, [SEP] 21, Painting, 1.524, 1.592, 1.567, 90, 0, 0, [SEP] 22, Mirror, -1.190, 1.417, -0.223, 0, 270, 0, [SEP] 23, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0, [SEP] 24, Window, -2.629, 1.460, 2.891, 90, 270, 0, [SEP] 25, Window, -2.629, 1.460, 4.084, 90, 270, 0, [SEP] 26, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0, [SEP] 27, Drawer, 2.490, 0.949, -1.703, 0, 0, 0, [SEP] 28, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0, [SEP] 29, Drawer, 1.975, 0.949, -1.703, 0, 0, 0, [SEP] 30, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0, [SEP] 31, Drawer, 1.457, 0.949, -1.703, 0, 0, 0, [SEP] 32, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0, [SEP] 33, Dresser, 2.234, 0.048, -1.950, 0, 0, 0, [SEP] 34, Drawer, 3.011, 0.949, -1.703, 0, 0, 0, [SEP] 35, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0, [SEP] 36, Shelf, -0.163, 1.461, 3.219, 0, 180, 0, [SEP] 37, Drawer, -0.161, 0.242, 3.166, 0, 180, 0, [SEP] 38, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0, [SEP] 39, Drawer, -0.161, 0.562, 3.168, 0, 180, 0, [SEP] 40, Shelf, -0.162, 0.922, 3.164, 0, 180, 0, [SEP] 41, Shelf, -0.162, 1.241, 3.163, 0, 180, 0, [SEP] 42, Blinds, -2.550, 2.486, 2.911, 0, 90, 0, [SEP] 43, Blinds, -2.550, 2.486, 4.107, 0, 90, 0, [SEP] 44, Drawer, -0.833, 0.217, -0.336, 0, 90, 0, [SEP] 45, Drawer, -0.833, 0.217, 0.486, 0, 90, 0, [SEP] 46, Drawer, -0.833, 0.628, -0.747, 0, 90, 0, [SEP] 47, Drawer, -0.833, 0.217, 0.075, 0, 90, 0, [SEP] 48, Drawer, -0.833, 0.628, 0.486, 0, 90, 0, [SEP] 49, Drawer, -0.833, 0.217, -0.747, 0, 90, 0, [SEP] 50, Drawer, -0.833, 0.423, -0.336, 0, 90, 0, [SEP] 51, Drawer, -0.833, 0.423, 0.075, 0, 90, 0, [SEP] 52, Drawer, -0.833, 0.423, 0.486, 0, 90, 0, [SEP] 53, Drawer, -0.833, 0.423, -0.747, 0, 90, 0, [SEP] 54, Dresser, -0.934, 0.050, -0.129, 0, 90, 0, [SEP] 55, Drawer, -0.833, 0.628, 0.075, 0, 90, 0, [SEP] 56, Drawer, -0.833, 0.628, -0.336, 0, 90, 0, [SEP] 57, Drawer, 3.454, 0.212, 1.262, 0, 180, 0, [SEP] 58, SideTable, 3.455, 0.046, 1.328, 0, 180, 0, [SEP] 59, Drawer, 3.454, 0.504, 1.262, 0, 180, 0, [SEP] 60, NorthWall, , , , , , , [SEP] 61, EastWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, WestWall, , , , , , , ", "output": ["STEP 1: Circle around the white bed to the left and stop between the bed and the wall. | STEP 2: Pick up the brown book on the white bed. | STEP 3: Turn around and walk to the black cabinets. | STEP 4: Open the first cabinet door and place the book inside the cabinet closing the door behind it. | END"]} {"id": "trial_T20190909_085122_079866-1", "input": "Pick up a newspaper 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, -6.0, 0.901, 2.25, 0, 90, 0, [SEP] 1, Newspaper, -5.592, 0.532, 6.647, 0, 45, 0, 55 [SEP] 2, CreditCard, -2.352, 0.533, 4.335, 0, 270, 0, 54 [SEP] 3, CreditCard, -0.947, 0.441, 4.524, 0, 0, 0, 37 [SEP] 4, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 48 [SEP] 5, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 53 [SEP] 6, Vase, -5.998, 0.453, 4.547, 0, 0, 0, 49 [SEP] 7, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 49 [SEP] 8, Newspaper, -2.182, 1.278, 7.045, 0, 0, 0, 53 [SEP] 9, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 54 [SEP] 10, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 11, Vase, -0.586, 0.794, 1.626, 0, 270, 0, 39 [SEP] 12, CreditCard, -0.738, 0.793, 2.127, 0, 270, 0, 39 [SEP] 13, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 51 [SEP] 14, KeyChain, -2.704, 0.534, 3.856, 0, 0, 0, 54 [SEP] 15, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 49 [SEP] 16, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 49 [SEP] 17, Bowl, -2.474, 0.881, 7.173, 0, 90, 0, 45 [SEP] 18, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 37 [SEP] 19, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 51 [SEP] 20, RemoteControl, -5.899, 0.149, 4.547, 0, 0, 0, 44 [SEP] 21, Watch, -2.704, 0.533, 3.981, 0, 0, 0, 54 [SEP] 22, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 53 [SEP] 23, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 51 [SEP] 24, Statue, -5.899, 0.156, 4.942, 0, 0, 0, 44 [SEP] 25, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 53 [SEP] 26, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 27, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 28, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 29, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 30, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 31, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 32, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 33, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 34, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 35, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 36, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 37, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 38, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 39, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 40, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 41, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 42, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 43, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 44, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 45, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 46, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 47, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 48, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 49, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 50, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 51, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 52, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 53, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 54, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 55, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 56, NorthWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, SouthWall, , , , , , , ", "output": ["STEP 1: Go forward and turn to the left and face the brown shelves. | STEP 2: Pick the newspaper up from the shelf. | STEP 3: Turn to the right and face the small table with the lamp. | STEP 4: Turn the lamp on. | END"]} {"id": "trial_T20190908_125051_986015-0", "input": "Put the rinsed soap bar on the bottom shelf SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.903, 1.75, 0, 90, 0, [SEP] 1, TissueBox, -0.653, 1.070, 2.157, 0, 0, 0, 31 [SEP] 2, TissueBox, -1.635, 1.773, 2.097, 0, 0, 0, 29 [SEP] 3, SoapBar, -0.166, 0.609, 1.696, 0, 45, 0, 23 [SEP] 4, SoapBar, 0.536, 0.043, 0.839, 0, 0, 0, 30 [SEP] 5, SoapBar, -2.343, 1.046, -0.736, 0, 0, 0, 36 [SEP] 6, Candle, -0.250, 0.650, 1.658, 0, 45, 0, 23 [SEP] 7, SprayBottle, -0.653, 0.289, 2.187, 0, 0, 0, 27 [SEP] 8, SoapBottle, -1.666, 0.083, -0.690, 0, 270, 0, 34 [SEP] 9, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 26 [SEP] 10, Candle, -1.308, 0.330, 2.187, 0, 0, 0, 27 [SEP] 11, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 33 [SEP] 12, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 13, SoapBar, -2.080, 1.046, -0.736, 0, 0, 0, 36 [SEP] 14, ToiletPaper, -1.308, 1.066, 2.097, 0, 0, 0, 31 [SEP] 15, SoapBottle, -1.666, 0.083, -0.549, 0, 270, 0, 24 [SEP] 16, TissueBox, -1.144, 1.070, 2.097, 0, 0, 0, 31 [SEP] 17, Cloth, 0.371, 0.048, 0.839, 0, 0, 0, 30 [SEP] 18, ToiletPaper, -1.144, 0.285, 2.097, 0, 0, 0, 27 [SEP] 19, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 25 [SEP] 20, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 21, SprayBottle, -1.471, 1.774, 2.217, 0, 0, 0, 29 [SEP] 22, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 23, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 24, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 25, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 26, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 27, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 28, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 29, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 30, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 31, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 32, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 33, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 34, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 35, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 36, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 37, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 38, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 39, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 40, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward to the bathtub | STEP 2: Pick up the soap bar from the left side of the bathtub | STEP 3: Turn right and walk over to the sink | STEP 4: Wash the soap bar under the water in the sink and remove it | STEP 5: Turn around and walk over to the white wall shelf | STEP 6: Put the soap bar on the bottom shelf | END"]} {"id": "trial_T20190908_125051_986015-2", "input": "Place a rinsed bar of soap on a shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.903, 1.75, 0, 90, 0, [SEP] 1, TissueBox, -0.653, 1.070, 2.157, 0, 0, 0, 31 [SEP] 2, TissueBox, -1.635, 1.773, 2.097, 0, 0, 0, 29 [SEP] 3, SoapBar, -0.166, 0.609, 1.696, 0, 45, 0, 23 [SEP] 4, SoapBar, 0.536, 0.043, 0.839, 0, 0, 0, 30 [SEP] 5, SoapBar, -2.343, 1.046, -0.736, 0, 0, 0, 36 [SEP] 6, Candle, -0.250, 0.650, 1.658, 0, 45, 0, 23 [SEP] 7, SprayBottle, -0.653, 0.289, 2.187, 0, 0, 0, 27 [SEP] 8, SoapBottle, -1.666, 0.083, -0.690, 0, 270, 0, 34 [SEP] 9, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 26 [SEP] 10, Candle, -1.308, 0.330, 2.187, 0, 0, 0, 27 [SEP] 11, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 33 [SEP] 12, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 13, SoapBar, -2.080, 1.046, -0.736, 0, 0, 0, 36 [SEP] 14, ToiletPaper, -1.308, 1.066, 2.097, 0, 0, 0, 31 [SEP] 15, SoapBottle, -1.666, 0.083, -0.549, 0, 270, 0, 24 [SEP] 16, TissueBox, -1.144, 1.070, 2.097, 0, 0, 0, 31 [SEP] 17, Cloth, 0.371, 0.048, 0.839, 0, 0, 0, 30 [SEP] 18, ToiletPaper, -1.144, 0.285, 2.097, 0, 0, 0, 27 [SEP] 19, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 25 [SEP] 20, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 21, SprayBottle, -1.471, 1.774, 2.217, 0, 0, 0, 29 [SEP] 22, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 23, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 24, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 25, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 26, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 27, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 28, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 29, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 30, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 31, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 32, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 33, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 34, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 35, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 36, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 37, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 38, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 39, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 40, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Walk ahead to the bathtub. | STEP 2: Pick up the soap on the tub lip. | STEP 3: Turn right and walk to the sink. | STEP 4: Rinse the soap in the sink. | STEP 5: Turn around and walk to the shelves. | STEP 6: Place the soap on the bottom shelf to the right of the empty toilet paper roll. | END"]} {"id": "trial_T20190910_140928_997692-2", "input": "Put two purple bottles on 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, 0.903, 0.5, 0, 180, 0, [SEP] 1, TissueBox, -1.471, 1.070, 2.127, 0, 0, 0, 30 [SEP] 2, Cloth, -0.817, 1.777, 2.127, 0, 0, 0, 28 [SEP] 3, Cloth, 0.289, 0.048, 1.067, 0, 0, 0, 29 [SEP] 4, Candle, -0.334, 0.650, -0.259, 0, 0, 0, 22 [SEP] 5, Candle, -1.308, 0.330, 2.187, 0, 0, 0, 26 [SEP] 6, SprayBottle, -1.687, 0.082, -0.655, 0, 270, 0, 33 [SEP] 7, SprayBottle, -1.308, 0.289, 2.097, 0, 0, 0, 26 [SEP] 8, SoapBottle, -2.080, 1.049, -0.797, 0, 0, 0, 35 [SEP] 9, Candle, -0.319, 0.650, 0.338, 0, 0, 0, 22 [SEP] 10, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 32 [SEP] 11, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 12, SoapBar, -1.949, 1.046, -0.674, 0, 0, 0, 35 [SEP] 13, ToiletPaper, -0.161, 0.606, 1.609, 0, 45, 0, 22 [SEP] 14, SoapBottle, -2.212, 1.049, -0.736, 0, 0, 0, 35 [SEP] 15, TissueBox, -1.635, 1.773, 2.097, 0, 0, 0, 28 [SEP] 16, Cloth, 0.453, 0.048, 0.156, 0, 0, 0, 29 [SEP] 17, ToiletPaper, -2.343, 1.043, -0.736, 0, 0, 0, 35 [SEP] 18, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 24 [SEP] 19, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 20, SprayBottle, -1.686, 0.082, -0.549, 0, 270, 0, 33 [SEP] 21, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 22, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 23, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 24, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 25, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 26, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 27, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 28, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 29, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 30, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 31, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 32, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 33, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 34, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 35, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 36, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 37, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 38, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 39, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, go forward a step, turn right, go forward to the sink. | STEP 2: Take the purple spray bottle from the trash bin. | STEP 3: Turn around, go forward a step, turn left, go forward to the wall, turn left | STEP 4: Put the bottle on the right side on the toilet tank. | STEP 5: Turn left, go back to in front of the sink. | STEP 6: Take the purple spray bottle from the trash bin. | STEP 7: Turn around, go forward a step, turn left, go forward to the wall, turn left | STEP 8: Put the bottle on the left of the first purple bottle on the toilet tank. | END"]} {"id": "trial_T20190909_044327_889269-2", "input": "Put the pump bottle on the bottom shelf SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.903, 1.75, 0, 0, 0, [SEP] 1, Cloth, -2.212, 1.052, -0.766, 0, 0, 0, 32 [SEP] 2, SoapBar, -1.707, 0.081, -0.549, 0, 270, 0, 30 [SEP] 3, SoapBar, -1.129, 0.852, -0.580, 0, 0, 0, 24 [SEP] 4, Candle, -0.334, 0.650, 0.935, 0, 0, 0, 19 [SEP] 5, Candle, -0.817, 1.814, 2.187, 0, 0, 0, 27 [SEP] 6, Candle, -1.308, 0.330, 2.097, 0, 0, 0, 23 [SEP] 7, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 28 [SEP] 8, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 9, SoapBar, -1.392, 1.010, -0.348, 0, 227.756, 0, 20 [SEP] 10, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 22 [SEP] 11, SoapBottle, -1.707, 0.083, -0.655, 0, 270, 0, 30 [SEP] 12, TissueBox, -0.817, 1.070, 2.097, 0, 0, 0, 27 [SEP] 13, Cloth, 0.453, 0.048, 1.067, 0, 0, 0, 26 [SEP] 14, ToiletPaper, -1.949, 1.043, -0.674, 0, 0, 0, 32 [SEP] 15, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 21 [SEP] 16, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 17, SprayBottle, -1.471, 1.071, 2.127, 0, 0, 0, 27 [SEP] 18, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 19, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 20, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 21, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 22, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 23, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 24, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 25, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 26, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 27, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 28, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 29, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 30, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 31, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 32, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 33, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 34, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 35, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 36, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, EastWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk up to the trash bin by the sink | STEP 2: Pick up the pump bottle from the trash bin | STEP 3: Turn around and walk across to the white shelves | STEP 4: Put the pump bottle on the bottom shelf | END"]} {"id": "trial_T20190912_042033_240335-1", "input": "put 2 lap tops on the bed SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.909, -3.0, 0, 180, 0, [SEP] 1, Mug, -0.657, 0.801, -4.354, 0, 0, 0, 39 [SEP] 2, Mug, -3.760, 0.979, -3.472, 0, 0, 0, 42 [SEP] 3, CD, -0.657, 0.799, -4.029, 0, 0, 0, 39 [SEP] 4, CD, -0.453, 0.799, -4.354, 0, 0, 0, 39 [SEP] 5, CellPhone, -3.687, 0.981, -4.276, 0, 0, 0, 42 [SEP] 6, CellPhone, -3.834, 0.979, -3.673, 0, 0, 0, 42 [SEP] 7, Pen, -0.657, 0.805, -4.246, 0, 0, 0, 39 [SEP] 8, KeyChain, -0.240, 0.543, -3.749, 0, 0, 0, 33 [SEP] 9, KeyChain, -0.502, 0.189, -3.876, 0, 0, 0, 34 [SEP] 10, Laptop, -3.613, 0.977, -3.070, 0, 0, 0, 42 [SEP] 11, Book, -3.191, 0.620, -1.506, 0, 0, 0, 24 [SEP] 12, CellPhone, -3.613, 0.981, -3.271, 0, 0, 0, 42 [SEP] 13, Laptop, -0.453, 0.798, -3.811, 0, 0, 0, 39 [SEP] 14, CreditCard, -0.426, 0.030, -3.811, 0, 0, 0, 34 [SEP] 15, AlarmClock, -3.539, 0.979, -3.673, 0, 0, 0, 42 [SEP] 16, KeyChain, -0.249, 0.804, -4.137, 0, 90, 0, 39 [SEP] 17, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 24 [SEP] 18, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 19, Pencil, -0.685, 0.546, -3.713, 0, 0, 0, 33 [SEP] 20, Pillow, -2.770, 0.722, -0.931, 0, 0, 0, 24 [SEP] 21, CD, -1.827, 0.063, -3.905, 0, 279.990, 0, 28 [SEP] 22, Pen, -0.418, 0.548, -3.731, 0, 0, 0, 33 [SEP] 23, Mug, -1.270, 0.801, -4.029, 0, 0, 0, 39 [SEP] 24, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 25, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 26, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 27, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 28, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 29, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 30, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 31, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 32, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 33, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 34, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 35, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 36, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 37, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 38, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 39, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 40, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 41, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 42, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 51, NorthWall, , , , , , , [SEP] 52, EastWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, WestWall, , , , , , , ", "output": ["STEP 1: turn to the right go forward towards the brown table | STEP 2: pick up the lap top that is on top of the brown table | STEP 3: turn around to the left towards the bed | STEP 4: put the lap top on top of the bed | STEP 5: turn to the right go right towards the white table | STEP 6: close the lap top that is on the table | STEP 7: pick up the lap top turn to the right go forward turn to the right towards the bed | STEP 8: put the lap top next to the other lap top | END"]} {"id": "trial_T20190918_211056_310337-1", "input": "Place two eggs in a microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.931, -0.25, 0, 90, 0, [SEP] 1, Potato, -0.260, 1.100, -1.612, 0, 0, 0, 50 [SEP] 2, Potato, 0.065, 1.096, 0.091, 0, 0, 0, 52 [SEP] 3, Kettle, 0.120, 1.053, -1.630, 0, 0, 0, 53 [SEP] 4, Kettle, 0.960, 1.566, -1.463, 0, 0, 0, 54 [SEP] 5, Pot, -1.105, 0.204, -1.555, 0, 90, 0, 58 [SEP] 6, Fork, -0.775, 1.047, -1.289, 0, 270, 0, 50 [SEP] 7, Fork, 1.155, 1.047, -1.397, 0, 0, 0, 50 [SEP] 8, Spoon, -0.177, 1.048, -1.129, 0, 0, 0, 50 [SEP] 9, Egg, -0.517, 1.101, -1.397, 0, 0, 0, 50 [SEP] 10, Egg, -1.250, 2.002, 1.885, 0, 90, 0, 65 [SEP] 11, Plate, 1.512, 1.032, -1.484, 0, 0, 0, 56 [SEP] 12, Plate, -1.184, 2.041, -1.337, 0, 0, 0, 57 [SEP] 13, Knife, 0.065, 1.069, 0.522, 0, 90, 0, 52 [SEP] 14, Knife, -0.603, 1.072, -1.181, 0, 0, 0, 50 [SEP] 15, Tomato, 0.823, 1.097, -1.181, 0, 0, 0, 50 [SEP] 16, SoapBottle, 0.936, 1.054, 0.181, 0, 90, 0, 48 [SEP] 17, SoapBottle, 0.446, 1.044, 0.738, 0, 0, 0, 52 [SEP] 18, SaltShaker, 1.068, 0.194, -1.412, 0, 90, 0, 61 [SEP] 19, SaltShaker, 0.160, 1.038, 0.307, 0, 0, 0, 52 [SEP] 20, PepperShaker, -0.432, 1.041, -1.181, 0, 0, 0, 50 [SEP] 21, Lettuce, -0.030, 1.103, 0.522, 0, 0, 0, 52 [SEP] 22, Mug, -1.029, 2.023, -1.555, 0, 0, 0, 57 [SEP] 23, Mug, -1.096, 1.711, -1.300, 0, 0, 0, 64 [SEP] 24, SoapBottle, 1.036, 1.565, -1.614, 0, 0, 0, 54 [SEP] 25, Apple, 1.612, 1.086, 0.415, 0, 0, 0, 52 [SEP] 26, Potato, 1.347, 1.096, 0.632, 0, 0, 0, 52 [SEP] 27, Fork, -0.689, 1.047, -1.289, 0, 270, 0, 50 [SEP] 28, Kettle, 0.250, 1.057, -1.4, 0, 0, 0, 62 [SEP] 29, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 50 [SEP] 30, Tomato, -1.095, 1.014, 2.242, 0, 90, 0, 65 [SEP] 31, SaltShaker, -1.339, 0.197, -1.338, 0, 0, 0, 58 [SEP] 32, Egg, 0.740, 1.101, -1.289, 0, 0, 0, 50 [SEP] 33, Cup, -1.303, 1.489, 2.063, 0, 90, 0, 65 [SEP] 34, Spatula, 1.701, 1.058, 0.738, 0, 0, 0, 52 [SEP] 35, Knife, 0.518, 1.072, -1.097, 0, 180, 0, 50 [SEP] 36, Lettuce, 1.015, 1.103, 0.720, 0, 0, 0, 52 [SEP] 37, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 52 [SEP] 38, PepperShaker, -0.346, 1.041, -1.505, 0, 0, 0, 50 [SEP] 39, DishSponge, -0.517, 1.046, -1.289, 0, 0, 0, 50 [SEP] 40, Plate, -1.169, 1.241, 1.885, 0, 90, 0, 65 [SEP] 41, Bread, 0.406, 1.104, 0.352, 0, 337.138, 0, 52 [SEP] 42, Spoon, -0.432, 1.048, -1.397, 0, 0, 0, 50 [SEP] 43, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 51 [SEP] 44, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 68 [SEP] 45, Bowl, -0.398, 1.563, -1.619, 0, 0, 0, 55 [SEP] 46, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 47, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 48, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 49, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 50, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 52, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 53, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 54, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 55, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 56, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 57, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 58, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 59, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 60, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 61, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 62, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 63, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 64, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 65, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 66, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 67, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 68, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 69, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 70, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 71, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 72, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 73, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 74, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 75, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 76, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 77, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 78, NorthWall, , , , , , , [SEP] 79, EastWall, , , , , , , [SEP] 80, SouthWall, , , , , , , [SEP] 81, WestWall, , , , , , , ", "output": ["STEP 1: Go to the counter right of the stove | STEP 2: Pick up an egg from the counter | STEP 3: Go to the microwave | STEP 4: Place the egg in the microwave | STEP 5: Go to the counter right of the stove | STEP 6: Pick up an egg from the counter | STEP 7: Go to the microwave | STEP 8: Place the egg in the microwave | END"]} {"id": "trial_T20190908_095741_818305-2", "input": "Move a watering can to the coffee table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.901, 7.0, 0, 0, 0, [SEP] 1, Bowl, -2.811, 0.535, 4.044, 0, 0, 0, 56 [SEP] 2, CreditCard, -0.789, 0.426, 4.219, 0, 0, 0, 39 [SEP] 3, CreditCard, -0.484, 0.793, 6.357, 0, 270, 0, 40 [SEP] 4, RemoteControl, -0.868, 0.442, 3.306, 0, 0, 0, 39 [SEP] 5, Laptop, -0.868, 0.437, 3.002, 0, 0, 0, 39 [SEP] 6, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 50 [SEP] 7, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 55 [SEP] 8, Vase, -3.557, 1.280, 7.235, 0, 90, 0, 55 [SEP] 9, Vase, -0.687, 0.802, 6.357, 0, 270, 0, 40 [SEP] 10, Newspaper, -5.293, 0.532, 6.796, 0, 45, 0, 57 [SEP] 11, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 56 [SEP] 12, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 13, Vase, -3.265, 0.147, 7.276, 0, 90, 0, 50 [SEP] 14, CreditCard, -0.433, 0.793, 5.600, 0, 270, 0, 40 [SEP] 15, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 53 [SEP] 16, KeyChain, -0.789, 0.367, 3.306, 0, 0, 0, 39 [SEP] 17, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 51 [SEP] 18, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 51 [SEP] 19, Bowl, -5.424, 0.535, 6.815, 0, 45, 0, 57 [SEP] 20, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 39 [SEP] 21, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 53 [SEP] 22, RemoteControl, -5.745, 0.536, 6.569, 0, 135, 0, 57 [SEP] 23, Watch, -5.313, 0.533, 6.927, 0, 45, 0, 57 [SEP] 24, Statue, -2.422, 0.540, 4.335, 0, 270, 0, 56 [SEP] 25, Statue, -2.561, 0.535, 3.752, 0, 270, 0, 56 [SEP] 26, Statue, -2.87, 0.156, 7.122, 0, 90, 0, 50 [SEP] 27, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 55 [SEP] 28, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 29, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 30, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 31, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 32, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 33, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 34, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 35, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 36, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 37, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 38, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 39, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 40, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 41, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 42, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 43, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 44, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 45, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 46, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 47, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 48, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 49, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 50, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 51, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 52, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 53, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 54, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 55, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 56, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 57, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 58, NorthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , ", "output": ["STEP 1: Walk over to the black table against the wall on your left. | STEP 2: Pick up the white watering can off of the bottom shelf below the table. | STEP 3: Turn left and walk towards the television, then hang a left and walk over to the side of the coffee table. | STEP 4: Put the watering can on the coffee table. | END"]} {"id": "trial_T20190906_201856_722157-0", "input": "place a cardboard box with a credit card inside 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, 0.75, 0.900, -1.5, 0, 180, 0, [SEP] 1, Newspaper, -0.260, 0.550, -0.106, 0, 180, 0, 31 [SEP] 2, Newspaper, 1.826, 0.758, 0.516, 0, 90, 0, 38 [SEP] 3, KeyChain, -0.453, 0.202, -0.185, 0, 270, 0, 29 [SEP] 4, CreditCard, 1.808, 0.870, 0.008, 0, 90, 0, 37 [SEP] 5, CreditCard, -1.163, 0.551, -0.537, 0, 270, 0, 31 [SEP] 6, CreditCard, -0.561, 0.551, -0.192, 0, 270, 0, 31 [SEP] 7, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 39 [SEP] 8, KeyChain, 1.680, 0.279, -0.435, 0, 0, 0, 39 [SEP] 9, Watch, -0.260, 0.552, -0.623, 0, 270, 0, 31 [SEP] 10, Newspaper, -2.612, 0.049, 0.739, 0, 90, 0, 17 [SEP] 11, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 33 [SEP] 12, CreditCard, -0.411, 0.551, -0.537, 0, 270, 0, 31 [SEP] 13, RemoteControl, -0.260, 0.553, -0.451, 0, 270, 0, 31 [SEP] 14, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 31 [SEP] 15, Statue, -0.260, 0.562, -0.365, 0, 0, 0, 31 [SEP] 16, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 31 [SEP] 17, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 18, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 19, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 20, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 21, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 22, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 23, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 24, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 25, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 26, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 29, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 30, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 31, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 32, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 33, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 34, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 35, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 36, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 37, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 38, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 39, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: turn around and walk to the end of the room, then turn left to face the brown table against the wall | STEP 2: pick up the cardboard box from the table | STEP 3: turn around and walk over to the couch on the left side of the room against the wall | STEP 4: place the cardboard box on top of the couch | STEP 5: turn around and face the coffee table | STEP 6: grab the credit card off of the coffee table | STEP 7: turn around and face the cardboard box on the couch | STEP 8: place the credit card inside of the cardboard box on the couch and close the box | END"]} {"id": "trial_T20190906_201856_722157-2", "input": "Place a box with a credit card in it 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, 0.75, 0.900, -1.5, 0, 180, 0, [SEP] 1, Newspaper, -0.260, 0.550, -0.106, 0, 180, 0, 31 [SEP] 2, Newspaper, 1.826, 0.758, 0.516, 0, 90, 0, 38 [SEP] 3, KeyChain, -0.453, 0.202, -0.185, 0, 270, 0, 29 [SEP] 4, CreditCard, 1.808, 0.870, 0.008, 0, 90, 0, 37 [SEP] 5, CreditCard, -1.163, 0.551, -0.537, 0, 270, 0, 31 [SEP] 6, CreditCard, -0.561, 0.551, -0.192, 0, 270, 0, 31 [SEP] 7, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 39 [SEP] 8, KeyChain, 1.680, 0.279, -0.435, 0, 0, 0, 39 [SEP] 9, Watch, -0.260, 0.552, -0.623, 0, 270, 0, 31 [SEP] 10, Newspaper, -2.612, 0.049, 0.739, 0, 90, 0, 17 [SEP] 11, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 33 [SEP] 12, CreditCard, -0.411, 0.551, -0.537, 0, 270, 0, 31 [SEP] 13, RemoteControl, -0.260, 0.553, -0.451, 0, 270, 0, 31 [SEP] 14, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 31 [SEP] 15, Statue, -0.260, 0.562, -0.365, 0, 0, 0, 31 [SEP] 16, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 31 [SEP] 17, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 18, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 19, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 20, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 21, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 22, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 23, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 24, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 25, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 26, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 29, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 30, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 31, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 32, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 33, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 34, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 35, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 36, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 37, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 38, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 39, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk straight and go to the right corner of the room. | STEP 2: Pick up the box off the floor. | STEP 3: Turn right, walk around the coffee table, and go to the far end of the couch. | STEP 4: Place the box on the rightmost couch cushion. | STEP 5: Turn around and take a step right, facing the coffee table. | STEP 6: Pick up the credit card on the table. | STEP 7: Turn around and walk back to the box on the couch. | STEP 8: Place the credit card in the box on the couch. | END"]} {"id": "trial_T20190907_234208_014074-0", "input": "To move a knife and a cup to the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.5, 0.900, 0.0, 0, 90, 0, [SEP] 1, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 49 [SEP] 2, ButterKnife, -0.990, 0.820, -1.328, 0, 90, 0, 102 [SEP] 3, ButterKnife, 1.155, 0.911, 1.299, 0, 0, 0, 78 [SEP] 4, ButterKnife, -0.151, 0.911, 1.044, 0, 0, 0, 54 [SEP] 5, Fork, -1.056, 0.821, -1.206, 0, 270, 0, 102 [SEP] 6, Spatula, 1.955, 0.926, 1.383, 0, 0, 0, 78 [SEP] 7, Spatula, -0.766, 0.835, -1.155, 0, 0, 0, 102 [SEP] 8, Cup, 2.715, 1.286, -0.775, 0, 0, 0, 98 [SEP] 9, Cup, 2.838, 1.561, -0.775, 0, 0, 0, 98 [SEP] 10, Cup, 2.838, 1.016, -0.644, 0, 0, 0, 98 [SEP] 11, Knife, -0.198, 0.944, 1.214, 0, 180, 0, 54 [SEP] 12, Bowl, 2.715, 0.724, -0.504, 0, 0, 0, 98 [SEP] 13, Bowl, 1.484, 1.653, -0.771, 0, 180, 0, 65 [SEP] 14, PepperShaker, 1.141, 0.908, -0.345, 0, 0, 0, 43 [SEP] 15, PepperShaker, -0.621, 0.817, -1.411, 0, 90, 0, 102 [SEP] 16, Lettuce, 0.634, 0.992, -0.430, 0, 0, 0, 43 [SEP] 17, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 43 [SEP] 18, Mug, -0.157, 0.760, -0.651, 0, 90, 0, 100 [SEP] 19, Apple, -0.939, 0.889, -1.400, 0, 0, 0, 102 [SEP] 20, SoapBottle, 1.141, 0.917, -0.684, 0, 0, 0, 43 [SEP] 21, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 43 [SEP] 22, Fork, 1.688, 0.912, 1.044, 0, 0, 0, 78 [SEP] 23, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 58 [SEP] 24, Bread, 2.221, 0.969, 1.214, 0, 0, 0, 78 [SEP] 25, Egg, -1.962, 0.461, 1.290, 0, 270, 0, 96 [SEP] 26, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 81 [SEP] 27, Tomato, -0.734, 0.852, -1.255, 0, 0, 0, 102 [SEP] 28, Cup, 0.466, 1.782, 1.391, 0, 180, 0, 101 [SEP] 29, Spatula, -0.621, 0.835, -1.360, 0, 90, 0, 102 [SEP] 30, Apple, 0.193, 0.834, -0.762, 0, 0, 0, 100 [SEP] 31, Pan, 2.777, 1.563, -0.578, 0, 0, 0, 98 [SEP] 32, Lettuce, 1.955, 0.992, 1.129, 0, 0, 0, 78 [SEP] 33, SaltShaker, -0.694, 0.817, -1.103, 0, 90, 0, 102 [SEP] 34, Knife, 2.488, 0.944, 1.214, 0, 0, 0, 78 [SEP] 35, Potato, 2.900, 1.323, -0.512, 0, 0, 0, 98 [SEP] 36, PepperShaker, 0.888, 0.908, -0.430, 0, 0, 0, 43 [SEP] 37, ButterKnife, 1.955, 0.911, 1.299, 0, 90, 0, 78 [SEP] 38, Bowl, 2.754, 0.909, 1.468, 0, 0, 0, 78 [SEP] 39, DishSponge, -1.991, 0.423, 1.459, 0, 270, 0, 96 [SEP] 40, Spoon, -0.007, 0.912, 1.299, 0, 90, 0, 54 [SEP] 41, Mug, -0.246, 0.906, 1.214, 0, 0, 0, 54 [SEP] 42, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 43, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 44, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 45, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 46, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 47, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 48, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 49, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 50, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 51, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 52, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 53, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 54, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 55, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 56, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 57, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 58, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 59, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 60, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 61, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 62, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 63, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 64, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 65, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 66, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 72, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 73, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 74, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 76, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 78, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 79, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 81, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 82, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 83, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 84, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 85, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 86, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 87, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 88, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 89, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 90, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 95, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 96, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 97, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 98, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 99, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 100, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 101, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 102, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 103, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 104, NorthWall, , , , , , , [SEP] 105, EastWall, , , , , , , [SEP] 106, SouthWall, , , , , , , [SEP] 107, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the counter to the left of the stove. | STEP 2: Pick up the knife on the edge of the counter. | STEP 3: Move to the front of the stove and look up at the microwave. | STEP 4: Open the microwave door, place the knife in the cup in the microwave. | STEP 5: Take the cup out of the microwave and shut the door. | STEP 6: Walk to the table to the left of the room. | STEP 7: Place the cup down on the table in front of the apple. | END"]} {"id": "trial_T20190909_130501_815970-2", "input": "Put a warmed slice of bread in the recycling 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, -0.25, 0, 180, 0, [SEP] 1, Pan, 1.688, 0.911, 1.468, 0, 0, 0, 76 [SEP] 2, Potato, -0.017, 0.800, -0.541, 0, 0, 0, 98 [SEP] 3, Potato, 1.155, 0.946, 1.553, 0, 0, 0, 76 [SEP] 4, DishSponge, -0.103, 0.911, 1.553, 0, 0, 0, 52 [SEP] 5, DishSponge, -1.962, 0.423, 1.459, 0, 270, 0, 94 [SEP] 6, Fork, 1.831, 0.771, 1.198, 0, 270, 0, 74 [SEP] 7, Plate, 2.838, 1.291, -0.709, 0, 0, 0, 96 [SEP] 8, Cup, 0.415, 1.782, 1.391, 0, 180, 0, 99 [SEP] 9, Cup, 1.155, 0.909, 1.383, 0, 0, 0, 76 [SEP] 10, Egg, -0.734, 0.858, -1.473, 0, 0, 0, 100 [SEP] 11, Knife, 0.888, 0.944, -0.769, 0, 0, 0, 41 [SEP] 12, Tomato, 1.141, 0.942, -0.515, 0, 0, 0, 41 [SEP] 13, Bread, 2.754, 0.969, 1.468, 0, 0, 0, 76 [SEP] 14, Lettuce, 1.141, 0.992, -0.769, 0, 0, 0, 41 [SEP] 15, Mug, 1.955, 0.906, 1.129, 0, 0, 0, 76 [SEP] 16, Mug, -0.210, 1.649, -0.734, 0, 180, 0, 83 [SEP] 17, Apple, -1.962, 0.492, 1.332, 0, 270, 0, 94 [SEP] 18, SoapBottle, 2.488, 0.917, 1.299, 0, 0, 0, 76 [SEP] 19, Plate, 2.838, 1.566, -0.578, 0, 0, 0, 96 [SEP] 20, Fork, 2.774, 0.771, 1.122, 0, 90, 0, 85 [SEP] 21, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 47 [SEP] 22, Bread, 2.838, 1.077, -0.709, 0, 0, 0, 96 [SEP] 23, Egg, 0.363, 1.822, 1.520, 0, 180, 0, 99 [SEP] 24, Kettle, -0.086, 0.116, 1.117, 0, 0, 0, 69 [SEP] 25, Tomato, 2.591, 1.594, -0.840, 0, 0, 0, 96 [SEP] 26, Cup, 0.053, 0.763, -0.651, 0, 0, 0, 98 [SEP] 27, Spatula, -0.621, 0.835, -1.308, 0, 90, 0, 100 [SEP] 28, Apple, -0.983, 0.889, -1.308, 0, 90, 0, 100 [SEP] 29, Pan, 0.707, 2.153, 1.468, 0, 0, 0, 50 [SEP] 30, Lettuce, -0.103, 0.992, 1.129, 0, 90, 0, 52 [SEP] 31, SaltShaker, -0.151, 0.908, 1.383, 0, 0, 0, 52 [SEP] 32, Knife, -1.056, 0.853, -1.206, 0, 270, 0, 100 [SEP] 33, Potato, -0.055, 0.946, 1.383, 0, 0, 0, 52 [SEP] 34, PepperShaker, 1.634, 1.650, 1.508, 0, 0, 0, 64 [SEP] 35, ButterKnife, -0.836, 0.820, -1.255, 0, 0, 0, 100 [SEP] 36, Bowl, 1.902, 0.909, -0.430, 0, 0, 0, 41 [SEP] 37, DishSponge, 0.123, 0.765, -0.541, 0, 0, 0, 98 [SEP] 38, Spoon, -0.157, 0.766, -0.596, 0, 90, 0, 98 [SEP] 39, Mug, 1.213, 0.110, 1.077, 0, 0, 0, 48 [SEP] 40, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 41, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 42, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 43, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 44, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 45, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 46, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 47, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 49, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 50, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 51, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 52, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 53, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 54, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 55, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 56, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 57, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 58, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 59, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 60, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 61, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 63, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 64, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 65, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 70, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 71, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 72, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 76, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 77, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 79, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 80, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 81, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 82, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 83, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 84, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 85, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 86, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 87, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 88, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 89, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 93, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 94, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 95, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 96, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 97, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 98, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 99, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 100, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 101, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 102, NorthWall, , , , , , , [SEP] 103, EastWall, , , , , , , [SEP] 104, SouthWall, , , , , , , [SEP] 105, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, turn right and go to the coffee maker. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn around and go to the bread on the counter. | STEP 4: Cut the bread on the counter. | STEP 5: Turn left, go across the room and to the recycling bin in the corner. | STEP 6: Put the knife in the recycling bin. | STEP 7: Turn around and go back across the room to the bread on the counter. | STEP 8: Pick up a slice of bread. | STEP 9: Turn left and head to the microwave above the stove. | STEP 10: Warm the bread in the microwave and pick it back up. | STEP 11: Turn left and head to the recycling bin. | STEP 12: Put the slice of bread in the recycling bin. | END"]} {"id": "trial_T20190918_220534_463098-1", "input": "Put bowl with sponge on counter in front of lettuce. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 0.5, 0, 270, 0, [SEP] 1, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 47 [SEP] 2, Potato, -1.056, 0.855, -1.411, 0, 90, 0, 103 [SEP] 3, Potato, 1.422, 0.946, 1.468, 0, 0, 0, 79 [SEP] 4, Fork, -0.057, 0.771, 1.198, 0, 270, 0, 49 [SEP] 5, Fork, -0.766, 0.821, -1.206, 0, 270, 0, 103 [SEP] 6, Cup, 2.962, 1.016, -0.709, 0, 0, 0, 99 [SEP] 7, Cup, 1.422, 0.909, 1.299, 0, 0, 0, 79 [SEP] 8, SoapBottle, -1.991, 0.429, 1.375, 0, 270, 0, 97 [SEP] 9, SoapBottle, 2.487, 1.661, 1.546, 0, 0, 0, 69 [SEP] 10, Tomato, -0.246, 0.942, 1.468, 0, 0, 0, 55 [SEP] 11, Tomato, 2.962, 1.320, -0.447, 0, 0, 0, 99 [SEP] 12, Bowl, -0.175, 1.652, -0.734, 0, 180, 0, 86 [SEP] 13, Bowl, 2.777, 1.286, -0.512, 0, 0, 0, 99 [SEP] 14, Bowl, 1.872, 1.652, -0.811, 0, 180, 0, 81 [SEP] 15, SaltShaker, 1.413, 1.650, 1.585, 0, 0, 0, 67 [SEP] 16, SaltShaker, 1.141, 1.651, 1.390, 0, 0, 0, 71 [SEP] 17, Lettuce, 1.141, 0.992, -0.769, 0, 0, 0, 44 [SEP] 18, Mug, 1.909, 0.109, -0.458, 0, 180, 0, 90 [SEP] 19, Apple, -0.694, 0.889, -1.308, 0, 90, 0, 103 [SEP] 20, Apple, 1.688, 0.980, 1.214, 0, 0, 0, 79 [SEP] 21, SoapBottle, 1.597, 1.661, -0.732, 0, 180, 0, 66 [SEP] 22, Plate, 1.955, 0.914, 1.383, 0, 0, 0, 79 [SEP] 23, Fork, -0.887, 0.821, -1.473, 0, 180, 0, 103 [SEP] 24, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 59 [SEP] 25, Bread, 2.777, 1.621, -0.644, 0, 0, 0, 99 [SEP] 26, Egg, 2.591, 1.056, -0.447, 0, 0, 0, 99 [SEP] 27, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 28, Tomato, 2.715, 0.758, -0.565, 0, 0, 0, 99 [SEP] 29, Cup, 2.715, 1.286, -0.840, 0, 0, 0, 99 [SEP] 30, Spatula, -0.087, 0.780, -0.762, 0, 90, 0, 101 [SEP] 31, Apple, -0.939, 0.889, -1.328, 0, 0, 0, 103 [SEP] 32, Pan, 2.488, 0.911, 1.468, 0, 0, 0, 79 [SEP] 33, Lettuce, -0.198, 0.992, 1.214, 0, 0, 0, 55 [SEP] 34, SaltShaker, 1.522, 0.111, -0.578, 0, 180, 0, 61 [SEP] 35, Knife, 0.888, 0.944, -0.345, 0, 0, 0, 44 [SEP] 36, Potato, -0.103, 0.946, 1.383, 0, 0, 0, 55 [SEP] 37, PepperShaker, 1.484, 1.651, -0.732, 0, 180, 0, 66 [SEP] 38, ButterKnife, 1.902, 0.911, -0.345, 0, 0, 0, 44 [SEP] 39, Bowl, 0.363, 1.782, 1.455, 0, 180, 0, 102 [SEP] 40, DishSponge, 1.171, 1.654, -0.849, 0, 180, 0, 54 [SEP] 41, Spoon, 2.868, 0.773, 1.198, 0, 0, 0, 88 [SEP] 42, Mug, -0.164, 1.649, 1.470, 0, 0, 0, 102 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 105, NorthWall, , , , , , , [SEP] 106, EastWall, , , , , , , [SEP] 107, SouthWall, , , , , , , [SEP] 108, WestWall, , , , , , , ", "output": ["STEP 1: Move to the counter near the coffee machine. | STEP 2: Take the sponge out of the cabinet above the lettuce. | STEP 3: Spring the sponge to the next cabinet on the left. | STEP 4: Put the sponge in the bowl in the cabinet. | STEP 5: Pick up the bowl from the cabinet. | STEP 6: Bring the bowl to the coffee machine. | STEP 7: Put the bowl down on the counter in front of the lettuce. | END"]} {"id": "trial_T20190909_151931_440231-0", "input": "Place a soap bottle in a trash bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.901, 3.0, 0, 270, 0, [SEP] 1, TissueBox, -1.561, 0.069, 3.693, 0, 0, 0, 28 [SEP] 2, TissueBox, -1.284, 0.994, 2.923, 0, 0, 0, 27 [SEP] 3, Cloth, -1.439, 0.067, 3.276, 0, 0, 0, 26 [SEP] 4, Candle, -1.322, 0.068, 3.592, 0, 0, 0, 28 [SEP] 5, Candle, -1.560, 0.067, 2.290, 0, 0, 0, 22 [SEP] 6, SprayBottle, -1.501, 0.069, 2.908, 0, 0, 0, 26 [SEP] 7, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 29 [SEP] 8, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 31 [SEP] 9, SoapBar, -1.319, 0.067, 2.492, 0, 0, 0, 22 [SEP] 10, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 35 [SEP] 11, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 12, Candle, -1.481, 0.994, 3.782, 0, 0, 0, 27 [SEP] 13, TissueBox, -1.350, 0.994, 2.148, 0, 0, 0, 27 [SEP] 14, SoapBottle, -1.416, 0.993, 2.269, 0, 0, 0, 27 [SEP] 15, ToiletPaper, -1.481, 0.991, 3.933, 0, 0, 0, 27 [SEP] 16, SprayBottle, 0.351, 0.894, 1.566, 0, 0, 0, 33 [SEP] 17, Cloth, -1.547, 0.994, 3.041, 0, 90, 0, 27 [SEP] 18, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 19, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 20, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 21, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 22, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 23, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 24, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 25, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 26, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 27, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 28, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 29, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 30, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 31, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 32, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 33, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 34, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 35, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 36, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 37, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 38, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 39, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 40, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 41, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: Walk ahead to the sink, then walk left around the counter to the left side. | STEP 2: Pick up the bottle of soap on the counter. | STEP 3: Walk right and then veer left to the green bin in the corner of the room. | STEP 4: Place the soap bottle in the bin. | END"]} {"id": "trial_T20190909_145829_775749-0", "input": "move the remote from the table to the chair SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 0.0, 0, 0, 0, [SEP] 1, Watch, 1.849, 0.871, 0.220, 0, 90, 0, 40 [SEP] 2, Watch, -0.582, 0.358, -0.120, 0, 270, 0, 43 [SEP] 3, Newspaper, -1.100, 0.358, -0.544, 0, 270, 0, 33 [SEP] 4, Newspaper, -0.260, 0.550, -0.106, 0, 180, 0, 34 [SEP] 5, KeyChain, -0.077, 0.324, -1.844, 0, 180, 0, 36 [SEP] 6, KeyChain, -1.133, 0.295, -1.771, 0, 0, 0, 36 [SEP] 7, CreditCard, -0.711, 0.332, -1.771, 0, 0, 0, 36 [SEP] 8, RemoteControl, 1.849, 0.872, 0.431, 0, 90, 0, 40 [SEP] 9, RemoteControl, -0.712, 0.553, -0.537, 0, 270, 0, 34 [SEP] 10, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 42 [SEP] 11, KeyChain, -0.862, 0.553, -0.192, 0, 180, 0, 34 [SEP] 12, Watch, -0.323, 0.358, -0.480, 0, 90, 0, 33 [SEP] 13, Newspaper, -0.453, 0.199, -0.544, 0, 90, 0, 35 [SEP] 14, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 36 [SEP] 15, CreditCard, 1.766, 0.869, 0.326, 0, 90, 0, 40 [SEP] 16, RemoteControl, -0.411, 0.553, -0.451, 0, 270, 0, 34 [SEP] 17, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 34 [SEP] 18, Statue, -0.260, 0.562, -0.537, 0, 270, 0, 34 [SEP] 19, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 34 [SEP] 20, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 21, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 22, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 23, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 24, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 25, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 26, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 27, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 28, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 29, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 30, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 31, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 32, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 33, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 34, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 35, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 36, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 37, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 38, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 39, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 40, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 41, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 42, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 43, , , , , , , , [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: turn around and walk straight towards the couch then turn right and walk straight then turn right towards the table | STEP 2: pick up the remote off of the table | STEP 3: turn right then turn left then turn right again towards the chair | STEP 4: put the remote down on the chair | END"]} {"id": "trial_T20190908_045621_460199-0", "input": "Place a bowl and a potato 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, 2.75, 0.900, 0.5, 0, 90, 0, [SEP] 1, Pan, 2.221, 0.911, 1.129, 0, 0, 0, 78 [SEP] 2, Potato, -0.836, 0.855, -1.255, 0, 0, 0, 102 [SEP] 3, Potato, 2.591, 1.053, -0.775, 0, 0, 0, 98 [SEP] 4, DishSponge, 1.880, 1.655, 1.429, 0, 0, 0, 55 [SEP] 5, ButterKnife, -0.983, 0.820, -1.257, 0, 90, 0, 102 [SEP] 6, ButterKnife, -0.836, 0.820, -1.473, 0, 0, 0, 102 [SEP] 7, Fork, -0.023, 0.771, 1.122, 0, 90, 0, 48 [SEP] 8, Spatula, 0.634, 0.926, -0.684, 0, 0, 0, 43 [SEP] 9, Spatula, 2.156, 0.926, -0.345, 0, 0, 0, 43 [SEP] 10, Plate, 2.754, 0.914, 1.299, 0, 0, 0, 78 [SEP] 11, Plate, 2.221, 0.914, 1.468, 0, 0, 0, 78 [SEP] 12, Egg, -1.056, 0.858, -1.308, 0, 90, 0, 102 [SEP] 13, Egg, 1.155, 0.949, 1.468, 0, 0, 0, 78 [SEP] 14, SoapBottle, 1.141, 0.917, -0.854, 0, 0, 0, 43 [SEP] 15, SoapBottle, 2.487, 1.661, 1.429, 0, 0, 0, 68 [SEP] 16, Tomato, 2.591, 1.594, -0.447, 0, 0, 0, 98 [SEP] 17, Bowl, -0.939, 0.818, -1.400, 0, 0, 0, 102 [SEP] 18, Bowl, 1.155, 0.909, 1.129, 0, 0, 0, 78 [SEP] 19, SaltShaker, 1.558, 0.111, -0.578, 0, 180, 0, 60 [SEP] 20, SoapBottle, -0.621, 0.826, -1.360, 0, 90, 0, 102 [SEP] 21, Plate, -0.151, 0.914, 1.299, 0, 0, 0, 54 [SEP] 22, Fork, 1.955, 0.912, 1.129, 0, 0, 0, 78 [SEP] 23, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 49 [SEP] 24, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 43 [SEP] 25, Egg, -1.962, 0.461, 1.417, 0, 270, 0, 96 [SEP] 26, Kettle, 1.422, 0.912, 1.214, 0, 0, 0, 78 [SEP] 27, Tomato, -0.198, 0.942, 1.044, 0, 0, 0, 54 [SEP] 28, Cup, 0.570, 1.782, 1.391, 0, 180, 0, 101 [SEP] 29, Spatula, 0.054, 0.926, -0.316, 0, 0, 0, 43 [SEP] 30, Apple, 2.777, 1.087, -0.644, 0, 0, 0, 98 [SEP] 31, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 46 [SEP] 32, Lettuce, 2.917, 1.345, -0.613, 15.747, 3.884, 15.543, 98 [SEP] 33, SaltShaker, 2.802, 0.110, 1.156, 0, 0, 0, 75 [SEP] 34, Knife, 0.634, 0.944, -0.345, 0, 0, 0, 43 [SEP] 35, Potato, -0.694, 0.855, -1.155, 0, 90, 0, 102 [SEP] 36, PepperShaker, -0.007, 0.908, 1.129, 0, 0, 0, 54 [SEP] 37, ButterKnife, 1.422, 0.911, 1.468, 0, 0, 0, 78 [SEP] 38, Bowl, 0.178, 2.154, 1.467, 0, 0, 0, 77 [SEP] 39, DishSponge, 1.490, 0.771, 1.160, 0, 0, 0, 61 [SEP] 40, Spoon, 2.488, 0.912, 1.383, 0, 0, 0, 78 [SEP] 41, Mug, 0.193, 0.760, -0.596, 0, 0, 0, 100 [SEP] 42, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 43, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 44, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 45, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 46, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 47, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 48, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 49, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 50, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 51, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 52, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 53, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 54, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 55, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 56, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 57, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 58, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 59, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 60, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 61, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 62, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 63, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 64, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 65, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 66, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 72, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 73, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 74, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 76, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 78, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 79, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 81, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 82, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 83, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 84, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 85, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 86, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 87, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 88, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 89, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 90, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 95, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 96, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 97, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 98, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 99, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 100, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 101, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 102, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 103, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 104, NorthWall, , , , , , , [SEP] 105, EastWall, , , , , , , [SEP] 106, SouthWall, , , , , , , [SEP] 107, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the table on the left. | STEP 2: Pick up the knife to the left of the bowl. | STEP 3: Slice the potato that is closest. | STEP 4: Re-position to be in the middle of the table and chair. | STEP 5: Place the knife inside of the bowl on the table. | STEP 6: Grab the bowl from the table. | STEP 7: Turn around, walk right, then walk left and face the microwave above the stove. | STEP 8: Place the bowl inside of the microwave. | STEP 9: Turn left and head back to the table. | STEP 10: Grab a potato slice. | STEP 11: Turn around again and head right to the microwave. | STEP 12: Place the potato slice in the microwave. | END"]} {"id": "trial_T20190907_073037_124368-1", "input": "Put a chilled cup on the island. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.931, 1.25, 0, 0, 0, [SEP] 1, Pan, -1.029, 2.027, -1.482, 0, 90, 0, 55 [SEP] 2, DishSponge, 0.065, 1.042, 0.415, 0, 0, 0, 50 [SEP] 3, ButterKnife, 0.446, 1.043, 0.199, 0, 0, 0, 50 [SEP] 4, ButterKnife, 0.848, 1.043, 0.807, 0, 0, 0, 50 [SEP] 5, Pot, -1.169, 1.229, 1.885, 0, 180, 0, 63 [SEP] 6, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 49 [SEP] 7, Egg, 1.271, 0.947, 0.304, 0, 90, 0, 45 [SEP] 8, Cup, 0.065, 1.043, 0.738, 0, 0, 0, 50 [SEP] 9, Cup, 0.351, 1.043, 0.415, 0, 0, 0, 50 [SEP] 10, Cup, 1.112, 1.565, -1.463, 0, 0, 0, 52 [SEP] 11, Tomato, -1.419, 1.540, 1.885, 0, 90, 0, 63 [SEP] 12, Tomato, 1.015, 1.094, 0.720, 0, 0, 0, 50 [SEP] 13, SoapBottle, 1.238, 1.047, -1.181, 0, 0, 0, 48 [SEP] 14, SoapBottle, 0.801, 0.200, -1.195, 0, 0, 0, 59 [SEP] 15, Bowl, 1.072, 1.045, -1.397, 0, 0, 0, 48 [SEP] 16, Bowl, -1.342, 1.488, 2.063, 0, 90, 0, 63 [SEP] 17, PepperShaker, 1.665, 0.199, -1.335, 0, 0, 0, 58 [SEP] 18, PepperShaker, 1.247, 0.194, -1.267, 0, 0, 0, 59 [SEP] 19, Mug, -1.303, 1.484, 1.796, 0, 90, 0, 63 [SEP] 20, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 66 [SEP] 21, Apple, -0.775, 1.090, -1.289, 0, 0, 0, 48 [SEP] 22, SoapBottle, 0.848, 1.056, 0.331, 0, 90, 0, 46 [SEP] 23, Apple, 1.151, 0.936, 0.304, 0, 90, 0, 45 [SEP] 24, Potato, -1.423, 1.766, 1.796, 0, 90, 0, 63 [SEP] 25, Fork, 1.238, 1.047, -1.612, 0, 90, 0, 48 [SEP] 26, Kettle, 0.120, 1.053, -1.630, 0, 0, 0, 51 [SEP] 27, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 48 [SEP] 28, Tomato, -1.259, 1.529, 2.228, 358.684, 0, 0, 63 [SEP] 29, SaltShaker, -0.491, 0.198, -1.265, 0, 0, 0, 57 [SEP] 30, Egg, -1.145, 1.770, -1.331, 0, 0, 0, 62 [SEP] 31, Cup, -0.774, 1.565, -1.545, 0, 0, 0, 53 [SEP] 32, Spatula, 1.701, 1.058, 0.199, 0, 0, 0, 50 [SEP] 33, Knife, 0.936, 1.079, 0.181, 0, 90, 0, 46 [SEP] 34, Lettuce, 0.823, 1.106, -1.289, 0, 0, 0, 48 [SEP] 35, ButterKnife, 1.347, 1.043, 0.676, 0, 0, 0, 50 [SEP] 36, PepperShaker, -0.030, 1.038, 0.522, 0, 0, 0, 50 [SEP] 37, DishSponge, 0.848, 1.042, 0.676, 0, 0, 0, 50 [SEP] 38, Plate, -0.580, 0.216, -1.553, 0, 0, 0, 57 [SEP] 39, Bread, -0.517, 1.120, -1.397, 0, 0, 0, 48 [SEP] 40, Spoon, 1.211, 0.901, 0.231, 0, 90, 0, 45 [SEP] 41, Pot, 1.158, 0.201, -1.484, 0, 90, 0, 59 [SEP] 42, Mug, -1.261, 2.023, -1.191, 0, 0, 0, 55 [SEP] 43, Bowl, -1.312, 1.712, 2.063, 0, 90, 0, 63 [SEP] 44, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 45, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 46, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 47, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 48, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 49, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 50, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 51, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 52, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 53, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 54, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 55, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 56, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 57, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 58, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 59, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 60, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 61, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 62, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 63, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 64, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 65, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 66, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 67, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 70, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 71, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 72, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 73, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 74, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 75, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 76, NorthWall, , , , , , , [SEP] 77, EastWall, , , , , , , [SEP] 78, SouthWall, , , , , , , [SEP] 79, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the the center island. | STEP 2: Pick up the green cup on the right. | STEP 3: Turn around and bring the cup to the fridge. | STEP 4: Chill the cup in the fridge. | STEP 5: Bring the cup to the island on the left. | STEP 6: Put the cup on the island. | END"]} {"id": "trial_T20190907_073037_124368-2", "input": "Cool down one of the green cups 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, 0.931, 1.25, 0, 0, 0, [SEP] 1, Pan, -1.029, 2.027, -1.482, 0, 90, 0, 55 [SEP] 2, DishSponge, 0.065, 1.042, 0.415, 0, 0, 0, 50 [SEP] 3, ButterKnife, 0.446, 1.043, 0.199, 0, 0, 0, 50 [SEP] 4, ButterKnife, 0.848, 1.043, 0.807, 0, 0, 0, 50 [SEP] 5, Pot, -1.169, 1.229, 1.885, 0, 180, 0, 63 [SEP] 6, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 49 [SEP] 7, Egg, 1.271, 0.947, 0.304, 0, 90, 0, 45 [SEP] 8, Cup, 0.065, 1.043, 0.738, 0, 0, 0, 50 [SEP] 9, Cup, 0.351, 1.043, 0.415, 0, 0, 0, 50 [SEP] 10, Cup, 1.112, 1.565, -1.463, 0, 0, 0, 52 [SEP] 11, Tomato, -1.419, 1.540, 1.885, 0, 90, 0, 63 [SEP] 12, Tomato, 1.015, 1.094, 0.720, 0, 0, 0, 50 [SEP] 13, SoapBottle, 1.238, 1.047, -1.181, 0, 0, 0, 48 [SEP] 14, SoapBottle, 0.801, 0.200, -1.195, 0, 0, 0, 59 [SEP] 15, Bowl, 1.072, 1.045, -1.397, 0, 0, 0, 48 [SEP] 16, Bowl, -1.342, 1.488, 2.063, 0, 90, 0, 63 [SEP] 17, PepperShaker, 1.665, 0.199, -1.335, 0, 0, 0, 58 [SEP] 18, PepperShaker, 1.247, 0.194, -1.267, 0, 0, 0, 59 [SEP] 19, Mug, -1.303, 1.484, 1.796, 0, 90, 0, 63 [SEP] 20, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 66 [SEP] 21, Apple, -0.775, 1.090, -1.289, 0, 0, 0, 48 [SEP] 22, SoapBottle, 0.848, 1.056, 0.331, 0, 90, 0, 46 [SEP] 23, Apple, 1.151, 0.936, 0.304, 0, 90, 0, 45 [SEP] 24, Potato, -1.423, 1.766, 1.796, 0, 90, 0, 63 [SEP] 25, Fork, 1.238, 1.047, -1.612, 0, 90, 0, 48 [SEP] 26, Kettle, 0.120, 1.053, -1.630, 0, 0, 0, 51 [SEP] 27, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 48 [SEP] 28, Tomato, -1.259, 1.529, 2.228, 358.684, 0, 0, 63 [SEP] 29, SaltShaker, -0.491, 0.198, -1.265, 0, 0, 0, 57 [SEP] 30, Egg, -1.145, 1.770, -1.331, 0, 0, 0, 62 [SEP] 31, Cup, -0.774, 1.565, -1.545, 0, 0, 0, 53 [SEP] 32, Spatula, 1.701, 1.058, 0.199, 0, 0, 0, 50 [SEP] 33, Knife, 0.936, 1.079, 0.181, 0, 90, 0, 46 [SEP] 34, Lettuce, 0.823, 1.106, -1.289, 0, 0, 0, 48 [SEP] 35, ButterKnife, 1.347, 1.043, 0.676, 0, 0, 0, 50 [SEP] 36, PepperShaker, -0.030, 1.038, 0.522, 0, 0, 0, 50 [SEP] 37, DishSponge, 0.848, 1.042, 0.676, 0, 0, 0, 50 [SEP] 38, Plate, -0.580, 0.216, -1.553, 0, 0, 0, 57 [SEP] 39, Bread, -0.517, 1.120, -1.397, 0, 0, 0, 48 [SEP] 40, Spoon, 1.211, 0.901, 0.231, 0, 90, 0, 45 [SEP] 41, Pot, 1.158, 0.201, -1.484, 0, 90, 0, 59 [SEP] 42, Mug, -1.261, 2.023, -1.191, 0, 0, 0, 55 [SEP] 43, Bowl, -1.312, 1.712, 2.063, 0, 90, 0, 63 [SEP] 44, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 45, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 46, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 47, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 48, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 49, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 50, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 51, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 52, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 53, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 54, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 55, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 56, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 57, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 58, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 59, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 60, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 61, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 62, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 63, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 64, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 65, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 66, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 67, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 70, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 71, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 72, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 73, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 74, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 75, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 76, NorthWall, , , , , , , [SEP] 77, EastWall, , , , , , , [SEP] 78, SouthWall, , , , , , , [SEP] 79, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and face the table. | STEP 2: Pick up the green cup closest to you. | STEP 3: Turn right towards the fridge. | STEP 4: Place the cup inside the fridge to cool it up and take it back out. | STEP 5: Turn left and face the counter to your left. | STEP 6: Place the cup back on the counter. | END"]} {"id": "trial_T20190907_073037_124368-3", "input": "Chill a glass 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, 0.5, 0.931, 1.25, 0, 0, 0, [SEP] 1, Pan, -1.029, 2.027, -1.482, 0, 90, 0, 55 [SEP] 2, DishSponge, 0.065, 1.042, 0.415, 0, 0, 0, 50 [SEP] 3, ButterKnife, 0.446, 1.043, 0.199, 0, 0, 0, 50 [SEP] 4, ButterKnife, 0.848, 1.043, 0.807, 0, 0, 0, 50 [SEP] 5, Pot, -1.169, 1.229, 1.885, 0, 180, 0, 63 [SEP] 6, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 49 [SEP] 7, Egg, 1.271, 0.947, 0.304, 0, 90, 0, 45 [SEP] 8, Cup, 0.065, 1.043, 0.738, 0, 0, 0, 50 [SEP] 9, Cup, 0.351, 1.043, 0.415, 0, 0, 0, 50 [SEP] 10, Cup, 1.112, 1.565, -1.463, 0, 0, 0, 52 [SEP] 11, Tomato, -1.419, 1.540, 1.885, 0, 90, 0, 63 [SEP] 12, Tomato, 1.015, 1.094, 0.720, 0, 0, 0, 50 [SEP] 13, SoapBottle, 1.238, 1.047, -1.181, 0, 0, 0, 48 [SEP] 14, SoapBottle, 0.801, 0.200, -1.195, 0, 0, 0, 59 [SEP] 15, Bowl, 1.072, 1.045, -1.397, 0, 0, 0, 48 [SEP] 16, Bowl, -1.342, 1.488, 2.063, 0, 90, 0, 63 [SEP] 17, PepperShaker, 1.665, 0.199, -1.335, 0, 0, 0, 58 [SEP] 18, PepperShaker, 1.247, 0.194, -1.267, 0, 0, 0, 59 [SEP] 19, Mug, -1.303, 1.484, 1.796, 0, 90, 0, 63 [SEP] 20, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 66 [SEP] 21, Apple, -0.775, 1.090, -1.289, 0, 0, 0, 48 [SEP] 22, SoapBottle, 0.848, 1.056, 0.331, 0, 90, 0, 46 [SEP] 23, Apple, 1.151, 0.936, 0.304, 0, 90, 0, 45 [SEP] 24, Potato, -1.423, 1.766, 1.796, 0, 90, 0, 63 [SEP] 25, Fork, 1.238, 1.047, -1.612, 0, 90, 0, 48 [SEP] 26, Kettle, 0.120, 1.053, -1.630, 0, 0, 0, 51 [SEP] 27, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 48 [SEP] 28, Tomato, -1.259, 1.529, 2.228, 358.684, 0, 0, 63 [SEP] 29, SaltShaker, -0.491, 0.198, -1.265, 0, 0, 0, 57 [SEP] 30, Egg, -1.145, 1.770, -1.331, 0, 0, 0, 62 [SEP] 31, Cup, -0.774, 1.565, -1.545, 0, 0, 0, 53 [SEP] 32, Spatula, 1.701, 1.058, 0.199, 0, 0, 0, 50 [SEP] 33, Knife, 0.936, 1.079, 0.181, 0, 90, 0, 46 [SEP] 34, Lettuce, 0.823, 1.106, -1.289, 0, 0, 0, 48 [SEP] 35, ButterKnife, 1.347, 1.043, 0.676, 0, 0, 0, 50 [SEP] 36, PepperShaker, -0.030, 1.038, 0.522, 0, 0, 0, 50 [SEP] 37, DishSponge, 0.848, 1.042, 0.676, 0, 0, 0, 50 [SEP] 38, Plate, -0.580, 0.216, -1.553, 0, 0, 0, 57 [SEP] 39, Bread, -0.517, 1.120, -1.397, 0, 0, 0, 48 [SEP] 40, Spoon, 1.211, 0.901, 0.231, 0, 90, 0, 45 [SEP] 41, Pot, 1.158, 0.201, -1.484, 0, 90, 0, 59 [SEP] 42, Mug, -1.261, 2.023, -1.191, 0, 0, 0, 55 [SEP] 43, Bowl, -1.312, 1.712, 2.063, 0, 90, 0, 63 [SEP] 44, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 45, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 46, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 47, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 48, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 49, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 50, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 51, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 52, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 53, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 54, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 55, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 56, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 57, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 58, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 59, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 60, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 61, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 62, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 63, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 64, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 65, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 66, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 67, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 70, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 71, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 72, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 73, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 74, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 75, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 76, NorthWall, , , , , , , [SEP] 77, EastWall, , , , , , , [SEP] 78, SouthWall, , , , , , , [SEP] 79, WestWall, , , , , , , ", "output": ["STEP 1: Turn around to face the counter. | STEP 2: Pick up the green glass that is in the front of the counter. | STEP 3: Take the glass and turn around and to the left to face the fridge. | STEP 4: Open the fridge and put the glass inside. Shut the door. Open the fridge and take the glass out, and then shut the door. | STEP 5: Carry the glass and turn to the left back towards the counter. | STEP 6: Place the glass on the right side edge of the counter. | END"]} {"id": "trial_T20190906_190812_248659-0", "input": "Look at a container 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, -2.0, 0.901, 2.75, 0, 90, 0, [SEP] 1, Bowl, -2.631, 0.535, 4.480, 0, 270, 0, 57 [SEP] 2, Bowl, -2.277, 0.454, 7.221, 0, 90, 0, 49 [SEP] 3, Bowl, -5.366, 0.535, 6.873, 0, 135, 0, 58 [SEP] 4, Watch, -2.474, 0.146, 7.173, 0, 90, 0, 51 [SEP] 5, CreditCard, -0.845, 0.793, 2.002, 0, 0, 0, 42 [SEP] 6, CreditCard, -0.326, 0.793, 5.928, 0, 0, 0, 41 [SEP] 7, Box, -0.868, 0.603, 3.915, 0, 0, 0, 40 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -2.87, 0.453, 7.145, 0, 90, 0, 49 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -0.710, 0.365, 3.306, 0, 0, 0, 40 [SEP] 12, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 57 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 14, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 50 [SEP] 15, CreditCard, -5.162, 0.533, 6.777, 0, 45, 0, 58 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -0.687, 0.794, 2.377, 0, 270, 0, 42 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -3.067, 0.454, 7.183, 0, 90, 0, 49 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -2.87, 0.149, 7.173, 0, 90, 0, 51 [SEP] 24, Watch, -0.586, 0.793, 5.726, 0, 270, 0, 41 [SEP] 25, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 56 [SEP] 26, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 54 [SEP] 27, Statue, -2.283, 0.543, 3.752, 0, 270, 0, 57 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 59, NorthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the shelves along the wall. | STEP 2: Pick up the gray container on the right of the shelf. | STEP 3: Turn right and walk to the lamp. | STEP 4: Turn on the lamp. | END"]} {"id": "trial_T20190906_190812_248659-1", "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, -2.0, 0.901, 2.75, 0, 90, 0, [SEP] 1, Bowl, -2.631, 0.535, 4.480, 0, 270, 0, 57 [SEP] 2, Bowl, -2.277, 0.454, 7.221, 0, 90, 0, 49 [SEP] 3, Bowl, -5.366, 0.535, 6.873, 0, 135, 0, 58 [SEP] 4, Watch, -2.474, 0.146, 7.173, 0, 90, 0, 51 [SEP] 5, CreditCard, -0.845, 0.793, 2.002, 0, 0, 0, 42 [SEP] 6, CreditCard, -0.326, 0.793, 5.928, 0, 0, 0, 41 [SEP] 7, Box, -0.868, 0.603, 3.915, 0, 0, 0, 40 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -2.87, 0.453, 7.145, 0, 90, 0, 49 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -0.710, 0.365, 3.306, 0, 0, 0, 40 [SEP] 12, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 57 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 14, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 50 [SEP] 15, CreditCard, -5.162, 0.533, 6.777, 0, 45, 0, 58 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -0.687, 0.794, 2.377, 0, 270, 0, 42 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -3.067, 0.454, 7.183, 0, 90, 0, 49 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -2.87, 0.149, 7.173, 0, 90, 0, 51 [SEP] 24, Watch, -0.586, 0.793, 5.726, 0, 270, 0, 41 [SEP] 25, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 56 [SEP] 26, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 54 [SEP] 27, Statue, -2.283, 0.543, 3.752, 0, 270, 0, 57 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 59, NorthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , ", "output": ["STEP 1: turn left and walk to the far end of the room with the black cabinet | STEP 2: grab a bowl off of the of the shelf of the cabinet | STEP 3: turn right and walk over to the oval shaped table against the wall | STEP 4: turn on the lamp on the table | END"]} {"id": "trial_T20190908_050137_894267-0", "input": "Place a bowl holding a knife and potato slice into the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, -0.25, 0, 180, 0, [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 77 [SEP] 2, Pan, 0.634, 0.911, -0.430, 0, 0, 0, 39 [SEP] 3, Potato, -0.734, 0.855, -1.328, 0, 180, 0, 98 [SEP] 4, Potato, 0.123, 0.800, -0.762, 0, 0, 0, 96 [SEP] 5, DishSponge, 1.422, 0.911, 1.044, 0, 0, 0, 74 [SEP] 6, Kettle, 1.213, 0.116, 1.156, 0, 0, 0, 46 [SEP] 7, Spoon, 1.836, 0.773, -0.498, 0, 180, 0, 53 [SEP] 8, Spoon, 1.862, 0.772, 1.160, 0, 0, 0, 72 [SEP] 9, Spatula, -0.157, 0.780, -0.596, 0, 270, 0, 96 [SEP] 10, Plate, 0.812, 2.156, 1.468, 0, 0, 0, 48 [SEP] 11, Plate, 1.422, 0.914, 1.468, 0, 0, 0, 74 [SEP] 12, Bowl, 2.488, 0.909, 1.129, 0, 0, 0, 74 [SEP] 13, Bread, 2.754, 0.969, 1.299, 0, 0, 0, 74 [SEP] 14, Lettuce, 2.221, 0.992, 1.129, 0, 0, 0, 74 [SEP] 15, Mug, 2.653, 0.720, -0.473, 0, 0, 0, 94 [SEP] 16, SoapBottle, 0.888, 0.917, -0.430, 0, 0, 0, 39 [SEP] 17, Plate, 2.838, 1.291, -0.709, 0, 0, 0, 94 [SEP] 18, Fork, 1.155, 0.912, 1.383, 0, 0, 0, 74 [SEP] 19, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 45 [SEP] 20, Bread, -0.151, 0.969, 1.383, 0, 0, 0, 50 [SEP] 21, Egg, 2.777, 0.764, -0.535, 0, 0, 0, 94 [SEP] 22, Kettle, -0.141, 1.655, -0.811, 0, 180, 0, 81 [SEP] 23, Tomato, 2.900, 1.594, -0.512, 0, 0, 0, 94 [SEP] 24, Cup, 0.053, 0.763, -0.596, 0, 0, 0, 96 [SEP] 25, Spatula, -0.621, 0.835, -1.308, 0, 90, 0, 98 [SEP] 26, Apple, 1.955, 0.980, 1.299, 0, 0, 0, 74 [SEP] 27, Pan, 1.141, 0.911, -0.515, 0, 0, 0, 39 [SEP] 28, Lettuce, 2.488, 0.992, 1.383, 0, 0, 0, 74 [SEP] 29, SaltShaker, -0.983, 0.817, -1.411, 0, 90, 0, 98 [SEP] 30, Knife, -0.785, 0.853, -1.400, 0, 0, 0, 98 [SEP] 31, Potato, 0.518, 1.819, 1.391, 0, 180, 0, 97 [SEP] 32, PepperShaker, -0.053, 1.650, 1.394, 0, 0, 0, 65 [SEP] 33, ButterKnife, -0.246, 0.911, 1.299, 0, 90, 0, 50 [SEP] 34, Bowl, 1.955, 0.909, 1.129, 0, 0, 0, 74 [SEP] 35, DishSponge, -0.939, 0.820, -1.255, 0, 0, 0, 98 [SEP] 36, Spoon, 2.868, 0.772, 1.122, 0, 0, 0, 83 [SEP] 37, Mug, 2.118, 0.109, 1.156, 0, 90, 0, 75 [SEP] 38, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 39, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 40, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 41, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 42, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 43, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 44, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 45, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 46, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 47, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 48, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 49, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 50, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 51, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 52, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 53, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 54, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 55, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 56, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 57, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 58, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 59, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 60, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 61, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 62, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 63, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 64, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 65, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 68, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 69, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 70, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 71, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 72, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 74, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 75, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 77, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 78, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 79, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 80, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 81, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 82, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 83, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 84, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 85, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 86, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 87, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 88, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 89, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 91, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 92, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 93, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 94, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 95, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 96, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 97, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 98, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 99, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 100, NorthWall, , , , , , , [SEP] 101, EastWall, , , , , , , [SEP] 102, SouthWall, , , , , , , [SEP] 103, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and go to face the grey round table. | STEP 2: Pick up the knife on the grey round table. | STEP 3: Turn around and move to the sink at the end of the counter. | STEP 4: Slice the potato in the sink with the knife. | STEP 5: Turn around and head to face the bowl to the left of the lettuce on the other counter. | STEP 6: Place the knife in the bowl to the left of the lettuce. | STEP 7: Turn around and go back to the sink. | STEP 8: Pick up a potato slice in the sink. | STEP 9: Turn around and move to face the bowl with the knife in it. | STEP 10: Place the potato slice in the bowl with the knife in it. | STEP 11: Pick up the bowl on the counter holding the potato slice and knife. | STEP 12: Turn left and go to the microwave above the stove. | STEP 13: Place the bowl with the knife and potato slice in the microwave. | END"]} {"id": "trial_T20190908_050137_894267-1", "input": "Moving a bowl, knife and slice of potato 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, -1.75, 0.900, -0.25, 0, 180, 0, [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 77 [SEP] 2, Pan, 0.634, 0.911, -0.430, 0, 0, 0, 39 [SEP] 3, Potato, -0.734, 0.855, -1.328, 0, 180, 0, 98 [SEP] 4, Potato, 0.123, 0.800, -0.762, 0, 0, 0, 96 [SEP] 5, DishSponge, 1.422, 0.911, 1.044, 0, 0, 0, 74 [SEP] 6, Kettle, 1.213, 0.116, 1.156, 0, 0, 0, 46 [SEP] 7, Spoon, 1.836, 0.773, -0.498, 0, 180, 0, 53 [SEP] 8, Spoon, 1.862, 0.772, 1.160, 0, 0, 0, 72 [SEP] 9, Spatula, -0.157, 0.780, -0.596, 0, 270, 0, 96 [SEP] 10, Plate, 0.812, 2.156, 1.468, 0, 0, 0, 48 [SEP] 11, Plate, 1.422, 0.914, 1.468, 0, 0, 0, 74 [SEP] 12, Bowl, 2.488, 0.909, 1.129, 0, 0, 0, 74 [SEP] 13, Bread, 2.754, 0.969, 1.299, 0, 0, 0, 74 [SEP] 14, Lettuce, 2.221, 0.992, 1.129, 0, 0, 0, 74 [SEP] 15, Mug, 2.653, 0.720, -0.473, 0, 0, 0, 94 [SEP] 16, SoapBottle, 0.888, 0.917, -0.430, 0, 0, 0, 39 [SEP] 17, Plate, 2.838, 1.291, -0.709, 0, 0, 0, 94 [SEP] 18, Fork, 1.155, 0.912, 1.383, 0, 0, 0, 74 [SEP] 19, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 45 [SEP] 20, Bread, -0.151, 0.969, 1.383, 0, 0, 0, 50 [SEP] 21, Egg, 2.777, 0.764, -0.535, 0, 0, 0, 94 [SEP] 22, Kettle, -0.141, 1.655, -0.811, 0, 180, 0, 81 [SEP] 23, Tomato, 2.900, 1.594, -0.512, 0, 0, 0, 94 [SEP] 24, Cup, 0.053, 0.763, -0.596, 0, 0, 0, 96 [SEP] 25, Spatula, -0.621, 0.835, -1.308, 0, 90, 0, 98 [SEP] 26, Apple, 1.955, 0.980, 1.299, 0, 0, 0, 74 [SEP] 27, Pan, 1.141, 0.911, -0.515, 0, 0, 0, 39 [SEP] 28, Lettuce, 2.488, 0.992, 1.383, 0, 0, 0, 74 [SEP] 29, SaltShaker, -0.983, 0.817, -1.411, 0, 90, 0, 98 [SEP] 30, Knife, -0.785, 0.853, -1.400, 0, 0, 0, 98 [SEP] 31, Potato, 0.518, 1.819, 1.391, 0, 180, 0, 97 [SEP] 32, PepperShaker, -0.053, 1.650, 1.394, 0, 0, 0, 65 [SEP] 33, ButterKnife, -0.246, 0.911, 1.299, 0, 90, 0, 50 [SEP] 34, Bowl, 1.955, 0.909, 1.129, 0, 0, 0, 74 [SEP] 35, DishSponge, -0.939, 0.820, -1.255, 0, 0, 0, 98 [SEP] 36, Spoon, 2.868, 0.772, 1.122, 0, 0, 0, 83 [SEP] 37, Mug, 2.118, 0.109, 1.156, 0, 90, 0, 75 [SEP] 38, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 39, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 40, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 41, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 42, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 43, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 44, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 45, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 46, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 47, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 48, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 49, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 50, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 51, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 52, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 53, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 54, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 55, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 56, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 57, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 58, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 59, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 60, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 61, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 62, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 63, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 64, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 65, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 68, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 69, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 70, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 71, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 72, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 74, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 75, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 77, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 78, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 79, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 80, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 81, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 82, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 83, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 84, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 85, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 86, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 87, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 88, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 89, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 91, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 92, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 93, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 94, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 95, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 96, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 97, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 98, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 99, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 100, NorthWall, , , , , , , [SEP] 101, EastWall, , , , , , , [SEP] 102, SouthWall, , , , , , , [SEP] 103, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and go to the small table | STEP 2: Pick up the knife on the table | STEP 3: Turn left and go around to the front of the sink | STEP 4: Slice the potato in the sink | STEP 5: turn around and move to the counter in front and to the right | STEP 6: Put the knife in the bowl | STEP 7: Turn around and go back to the sink to the right | STEP 8: Pick up a slice of potato from inside the sink | STEP 9: Turn around and go back to the counter that's ahead and to the right | STEP 10: Put the slice of potato in the bowl | STEP 11: Pick up the bowl with the knife and potato inside | STEP 12: Turn to the left and go to the stove | STEP 13: Open the microwave, place the bowl with the knife and potato inside, close the door | END"]} {"id": "trial_T20190907_211732_655276-0", "input": "Move the hand on the shelves to the TV table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.25, 0.901, 5.0, 0, 180, 0, [SEP] 1, Bowl, -2.561, 0.535, 4.335, 0, 270, 0, 57 [SEP] 2, Newspaper, -2.561, 0.532, 3.607, 0, 270, 0, 57 [SEP] 3, Newspaper, -0.789, 0.365, 3.002, 0, 0, 0, 40 [SEP] 4, Watch, -0.433, 0.793, 5.600, 0, 270, 0, 41 [SEP] 5, KeyChain, -0.636, 0.794, 6.231, 0, 0, 0, 41 [SEP] 6, KeyChain, -2.87, 0.880, 7.139, 0, 90, 0, 49 [SEP] 7, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 51 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -6.053, 0.147, 4.152, 0, 0, 0, 47 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -5.899, 0.145, 4.547, 0, 0, 0, 47 [SEP] 12, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 57 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 14, Vase, -2.474, 0.880, 7.139, 0, 90, 0, 48 [SEP] 15, CreditCard, -0.326, 0.793, 5.928, 0, 0, 0, 41 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -0.947, 0.442, 3.306, 0, 0, 0, 40 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -5.848, 0.148, 3.757, 0, 0, 0, 47 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -3.265, 0.149, 7.327, 0, 90, 0, 51 [SEP] 24, Watch, -2.811, 0.533, 4.106, 0, 0, 0, 57 [SEP] 25, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 56 [SEP] 26, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 54 [SEP] 27, Statue, -0.535, 0.803, 5.726, 0, 270, 0, 41 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 59, NorthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , ", "output": ["STEP 1: Turn and go to the shelves. | STEP 2: Pick up the hand on the shelves. | STEP 3: Turn and go to the TV table in the corner. | STEP 4: Put the hand on the TV table. | END"]} {"id": "trial_T20190907_211732_655276-1", "input": "Put a golden statue hand on the TV stand. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.25, 0.901, 5.0, 0, 180, 0, [SEP] 1, Bowl, -2.561, 0.535, 4.335, 0, 270, 0, 57 [SEP] 2, Newspaper, -2.561, 0.532, 3.607, 0, 270, 0, 57 [SEP] 3, Newspaper, -0.789, 0.365, 3.002, 0, 0, 0, 40 [SEP] 4, Watch, -0.433, 0.793, 5.600, 0, 270, 0, 41 [SEP] 5, KeyChain, -0.636, 0.794, 6.231, 0, 0, 0, 41 [SEP] 6, KeyChain, -2.87, 0.880, 7.139, 0, 90, 0, 49 [SEP] 7, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 51 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -6.053, 0.147, 4.152, 0, 0, 0, 47 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -5.899, 0.145, 4.547, 0, 0, 0, 47 [SEP] 12, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 57 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 14, Vase, -2.474, 0.880, 7.139, 0, 90, 0, 48 [SEP] 15, CreditCard, -0.326, 0.793, 5.928, 0, 0, 0, 41 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -0.947, 0.442, 3.306, 0, 0, 0, 40 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -5.848, 0.148, 3.757, 0, 0, 0, 47 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -3.265, 0.149, 7.327, 0, 90, 0, 51 [SEP] 24, Watch, -2.811, 0.533, 4.106, 0, 0, 0, 57 [SEP] 25, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 56 [SEP] 26, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 54 [SEP] 27, Statue, -0.535, 0.803, 5.726, 0, 270, 0, 41 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 59, NorthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , ", "output": ["STEP 1: Move to the shelf to the right of you | STEP 2: Pick up a golden hand from the shelf | STEP 3: Move to the TV stand to the right of you | STEP 4: Place the hand on the stand | END"]} {"id": "trial_T20190908_194026_614803-1", "input": "Pick up apple, put in microwave, remove, 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, -1.75, 0.900, 0.0, 0, 90, 0, [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 79 [SEP] 2, Potato, 1.902, 0.946, -0.345, 0, 0, 0, 41 [SEP] 3, Potato, -0.734, 0.855, -1.255, 0, 0, 0, 100 [SEP] 4, ButterKnife, -0.911, 0.820, -1.257, 0, 90, 0, 100 [SEP] 5, Spoon, -0.103, 0.912, 1.214, 0, 0, 0, 52 [SEP] 6, Spoon, 1.524, 0.773, 1.198, 0, 0, 0, 59 [SEP] 7, Cup, 1.688, 0.909, 1.214, 0, 0, 0, 76 [SEP] 8, SoapBottle, -1.962, 0.429, 1.375, 0, 270, 0, 94 [SEP] 9, Tomato, -0.621, 0.852, -1.206, 0, 90, 0, 100 [SEP] 10, Bowl, 1.155, 0.909, 1.383, 0, 0, 0, 76 [SEP] 11, Bowl, 0.654, 2.151, 1.506, 0, 0, 0, 50 [SEP] 12, SaltShaker, 2.488, 0.908, 1.214, 0, 0, 0, 76 [SEP] 13, SaltShaker, -0.055, 0.908, 1.129, 0, 0, 0, 52 [SEP] 14, Bread, -0.246, 0.969, 1.129, 0, 0, 0, 52 [SEP] 15, Lettuce, 2.838, 1.644, -0.644, 0, 0, 0, 96 [SEP] 16, Lettuce, -0.983, 0.901, -1.360, 0, 90, 0, 100 [SEP] 17, Mug, 0.363, 1.779, 1.520, 0, 270, 0, 99 [SEP] 18, SoapBottle, 1.955, 0.917, 1.129, 0, 0, 0, 76 [SEP] 19, Plate, 0.888, 0.914, -0.515, 0, 0, 0, 41 [SEP] 20, Fork, 2.156, 0.912, -0.515, 0, 90, 0, 41 [SEP] 21, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 47 [SEP] 22, Bread, 2.838, 1.346, -0.644, 0, 0, 0, 96 [SEP] 23, Egg, 1.955, 0.949, 1.468, 0, 0, 0, 76 [SEP] 24, Kettle, -0.087, 0.766, -0.651, 0, 0, 0, 98 [SEP] 25, Tomato, 0.193, 0.797, -0.762, 0, 0, 0, 98 [SEP] 26, Cup, 1.649, 0.909, -0.345, 0, 0, 0, 41 [SEP] 27, Spatula, 0.053, 0.780, -0.707, 0, 90, 0, 98 [SEP] 28, Apple, 2.221, 0.980, 1.214, 0, 0, 0, 76 [SEP] 29, Pan, 1.524, 1.654, 1.470, 0, 0, 0, 68 [SEP] 30, Lettuce, -0.198, 0.992, 1.383, 0, 0, 0, 52 [SEP] 31, SaltShaker, 0.065, 1.651, -0.693, 0, 180, 0, 81 [SEP] 32, Knife, 1.422, 0.944, 1.299, 0, 0, 0, 76 [SEP] 33, Potato, 2.156, 0.946, -0.684, 0, 0, 0, 41 [SEP] 34, PepperShaker, 2.272, 0.111, -0.419, 0, 180, 0, 82 [SEP] 35, ButterKnife, 1.688, 0.911, 1.468, 0, 0, 0, 76 [SEP] 36, Bowl, -0.734, 0.818, -1.400, 0, 0, 0, 100 [SEP] 37, DishSponge, 2.837, 0.114, 1.231, 0, 0, 0, 73 [SEP] 38, Spoon, 1.276, 0.773, -0.422, 0, 270, 0, 60 [SEP] 39, Mug, 2.591, 1.014, -0.644, 0, 90, 0, 96 [SEP] 40, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 41, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 42, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 43, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 44, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 45, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 46, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 47, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 49, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 50, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 51, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 52, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 53, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 54, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 55, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 56, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 57, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 58, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 59, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 60, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 61, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 63, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 64, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 65, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 70, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 71, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 72, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 76, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 77, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 79, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 80, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 81, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 82, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 83, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 84, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 85, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 86, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 87, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 88, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 89, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 93, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 94, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 95, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 96, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 97, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 98, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 99, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 100, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 101, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 102, NorthWall, , , , , , , [SEP] 103, EastWall, , , , , , , [SEP] 104, SouthWall, , , , , , , [SEP] 105, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward, turn left at oven, turn right, walk forward, turn left at end of counter | STEP 2: Pick up apple off of counter | STEP 3: Turn left, walk to stove, turn right facing the oven | STEP 4: Put apple in microwave above oven, close microwave, turn on, turn off, remove from microwave | STEP 5: Turn right, walk to end of counter, turn right, | STEP 6: Put apple on counter in front of coffee maker | END"]} {"id": "trial_T20190908_080336_509407-1", "input": "Fill a cup with water and place inside 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, 0.931, -0.75, 0, 0, 0, [SEP] 1, Potato, -0.603, 1.100, -1.505, 0, 0, 0, 41 [SEP] 2, DishSponge, 1.897, 1.019, -1.484, 0, 0, 0, 47 [SEP] 3, ButterKnife, -0.346, 1.046, -1.289, 0, 0, 0, 41 [SEP] 4, Kettle, 0.250, 1.057, -1.4, 0, 0, 0, 53 [SEP] 5, Spoon, 1.612, 1.044, 0.415, 0, 0, 0, 43 [SEP] 6, Spatula, 0.160, 1.058, 0.522, 0, 270, 0, 43 [SEP] 7, Egg, -1.381, 1.543, 1.796, 0, 90, 0, 56 [SEP] 8, Knife, 0.239, 1.072, -1.086, 0, 0, 0, 41 [SEP] 9, Tomato, -1.312, 1.764, 1.974, 0, 90, 0, 56 [SEP] 10, PepperShaker, 1.894, 0.199, -1.262, 0, 0, 0, 51 [SEP] 11, PepperShaker, 1.188, 1.560, -1.388, 0, 0, 0, 45 [SEP] 12, Lettuce, -1.342, 1.548, 1.974, 0, 90, 0, 56 [SEP] 13, Mug, 1.743, 1.014, -1.264, 0, 0, 0, 47 [SEP] 14, Mug, -1.145, 1.711, -1.269, 0, 0, 0, 55 [SEP] 15, SoapBottle, -0.517, 1.047, -1.181, 0, 0, 0, 41 [SEP] 16, Apple, 0.989, 1.090, -1.181, 0, 0, 0, 41 [SEP] 17, Potato, 0.282, 1.085, 0.120, 0, 0, 0, 43 [SEP] 18, Fork, 1.155, 1.047, -1.397, 0, 0, 0, 41 [SEP] 19, Kettle, -1.105, 0.203, -1.410, 0, 0, 0, 49 [SEP] 20, Pan, -0.473, 1.564, -1.693, 0, 90, 0, 46 [SEP] 21, Tomato, -1.431, 1.279, 1.974, 0, 90, 0, 56 [SEP] 22, SaltShaker, 0.989, 1.041, -1.828, 0, 0, 0, 41 [SEP] 23, Egg, -1.038, 1.282, 1.974, 0, 90, 0, 56 [SEP] 24, Cup, 1.589, 1.020, -1.484, 0, 0, 0, 47 [SEP] 25, Spatula, 0.255, 1.058, 0.630, 0, 0, 0, 43 [SEP] 26, Knife, -0.603, 1.072, -1.289, 0, 0, 0, 41 [SEP] 27, Lettuce, 1.181, 1.103, 0.632, 0, 0, 0, 43 [SEP] 28, ButterKnife, 1.612, 1.043, 0.091, 0, 0, 0, 43 [SEP] 29, PepperShaker, 1.181, 1.038, 0.807, 0, 0, 0, 43 [SEP] 30, DishSponge, 1.894, 0.204, -1.480, 0, 0, 0, 51 [SEP] 31, Plate, 1.036, 1.577, -1.614, 0, 0, 0, 45 [SEP] 32, Bread, 0.406, 1.104, 0.353, 0, 337.138, 0, 43 [SEP] 33, Spoon, 0.989, 1.048, -1.289, 0, 0, 0, 41 [SEP] 34, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 37 [SEP] 35, Mug, -1.064, 0.959, 1.885, 0, 90, 0, 56 [SEP] 36, Bowl, 1.741, 0.203, -1.335, 0, 0, 0, 51 [SEP] 37, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 38, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 39, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 40, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 41, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 42, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 43, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 44, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 45, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 46, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 47, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 48, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 49, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 50, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 51, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 52, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 53, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 54, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 55, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 56, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 57, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 58, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 59, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 60, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 61, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 62, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 63, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 64, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 65, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 66, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 67, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 68, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 69, NorthWall, , , , , , , [SEP] 70, EastWall, , , , , , , [SEP] 71, SouthWall, , , , , , , [SEP] 72, WestWall, , , , , , , ", "output": ["STEP 1: Step forward, turn and head to the end cabinets on the right. | STEP 2: Open the top cabinet, pick up the green cup on the top right, close cabinet door. | STEP 3: Turn around and go to the kitchen sink. | STEP 4: Place the green cup into the sink, turn on faucet to fill cup, then turn off the faucet. | STEP 5: Turn around to face the kitchen counter with an apple. | STEP 6: Open the cabinet door directly under the apple, place the cup of water inside and close the door. | END"]} {"id": "trial_T20190909_014524_943132-0", "input": "Heat up a slice of apple in the microwave to 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, -0.25, 0.900, 0.25, 0, 0, 0, [SEP] 1, Kettle, 0.759, 2.154, 1.429, 0, 0, 0, 57 [SEP] 2, ButterKnife, 0.888, 0.911, -0.684, 0, 0, 0, 48 [SEP] 3, ButterKnife, 2.221, 0.911, 1.468, 0, 0, 0, 83 [SEP] 4, Spoon, -0.694, 0.822, -1.206, 0, 90, 0, 107 [SEP] 5, Spoon, 0.888, 0.912, -0.769, 0, 0, 0, 48 [SEP] 6, Spatula, -0.007, 0.926, 1.299, 0, 270, 0, 59 [SEP] 7, Spatula, -0.983, 0.835, -1.308, 0, 90, 0, 107 [SEP] 8, Plate, 1.955, 0.914, 1.383, 0, 0, 0, 83 [SEP] 9, Plate, 2.754, 0.914, 1.214, 0, 0, 0, 83 [SEP] 10, Cup, 2.715, 0.723, -0.504, 0, 0, 0, 103 [SEP] 11, Cup, -0.055, 0.909, 1.044, 0, 0, 0, 59 [SEP] 12, Knife, 0.634, 0.944, -0.684, 0, 0, 0, 48 [SEP] 13, SoapBottle, 1.896, 0.120, 1.236, 0, 0, 0, 68 [SEP] 14, SoapBottle, -0.694, 0.826, -1.360, 0, 90, 0, 107 [SEP] 15, Tomato, 2.591, 1.320, -0.644, 0, 0, 0, 103 [SEP] 16, Tomato, 2.838, 0.758, -0.504, 0, 0, 0, 103 [SEP] 17, Bowl, 1.141, 0.909, -0.6, 0, 0, 0, 48 [SEP] 18, Bowl, 1.688, 0.909, 1.468, 0, 0, 0, 83 [SEP] 19, SaltShaker, -0.240, 0.908, -0.330, 0, 0, 0, 48 [SEP] 20, SaltShaker, 1.254, 1.651, 1.429, 0, 0, 0, 75 [SEP] 21, PepperShaker, 0.601, 2.150, 1.545, 0, 0, 0, 57 [SEP] 22, Bread, 2.777, 1.077, -0.644, 0, 0, 0, 103 [SEP] 23, Lettuce, 2.777, 1.644, -0.578, 0, 0, 0, 103 [SEP] 24, Mug, 0.215, 1.650, -0.693, 0, 180, 0, 88 [SEP] 25, SoapBottle, -0.246, 0.917, 1.044, 0, 0, 0, 59 [SEP] 26, Plate, 0.634, 0.914, -0.430, 0, 0, 0, 48 [SEP] 27, Fork, 0.053, 0.766, -0.596, 0, 0, 0, 105 [SEP] 28, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 63 [SEP] 29, Bread, 1.155, 0.969, 1.468, 0, 0, 0, 83 [SEP] 30, Egg, 0.123, 0.803, -0.707, 0, 0, 0, 105 [SEP] 31, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 86 [SEP] 32, Tomato, -1.962, 0.455, 1.375, 0, 270, 0, 101 [SEP] 33, Cup, 0.518, 1.782, 1.520, 0, 180, 0, 106 [SEP] 34, Spatula, -0.734, 0.835, -1.473, 0, 0, 0, 107 [SEP] 35, Apple, 1.422, 0.980, 1.129, 0, 0, 0, 83 [SEP] 36, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 51 [SEP] 37, Lettuce, -0.103, 0.992, 1.299, 0, 90, 0, 59 [SEP] 38, SaltShaker, 1.422, 0.908, 1.468, 0, 0, 0, 83 [SEP] 39, Knife, 1.955, 0.944, 1.044, 0, 0, 0, 83 [SEP] 40, Potato, -0.621, 0.855, -1.155, 0, 90, 0, 107 [SEP] 41, PepperShaker, -0.055, 0.908, 1.468, 0, 0, 0, 59 [SEP] 42, ButterKnife, -0.797, 0.810, -1.133, 0, 150.000, 0, 107 [SEP] 43, Bowl, 2.221, 0.909, 1.129, 0, 0, 0, 83 [SEP] 44, DishSponge, -0.294, 0.911, 1.553, 0, 0, 0, 59 [SEP] 45, Spoon, 2.156, 0.912, -0.769, 0, 0, 0, 48 [SEP] 46, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 48 [SEP] 47, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 48, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 49, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 50, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 51, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 53, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 54, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 55, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 56, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 57, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 58, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 59, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 60, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 61, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 62, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 63, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 64, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 66, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 67, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 68, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 69, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 70, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 71, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 79, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 81, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 83, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 84, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 85, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 86, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 87, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 88, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 89, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 90, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 91, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 92, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 93, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 94, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 95, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 99, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 100, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 101, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 102, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 103, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 104, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 105, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 106, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 107, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 108, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 109, NorthWall, , , , , , , [SEP] 110, EastWall, , , , , , , [SEP] 111, SouthWall, , , , , , , [SEP] 112, WestWall, , , , , , , ", "output": ["STEP 1: Turn left to walk towards the counter to the left of the sink. | STEP 2: Pick up the large knife from the countertop to the left of the sink. | STEP 3: Turn around to face the opposite countertop. | STEP 4: Slice the apple on the countertop. | STEP 5: Turn left to walk to the microwave. | STEP 6: Put the large knife in the microwave. | STEP 7: Turn right to face the countertop with the apple slices. | STEP 8: Pick up an apple slice from the countertop. | STEP 9: Turn left to walk to the microwave. | STEP 10: Heat up the apple slice in the microwave, removing it afterwards. | STEP 11: Turn around the face the sink. | STEP 12: Put the apple slice in the sink. | END"]} {"id": "trial_T20190908_041041_521601-1", "input": "Place a warmed apple in the recycling bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 0.5, 0, 270, 0, [SEP] 1, Pan, 0.634, 0.911, -0.769, 0, 0, 0, 49 [SEP] 2, DishSponge, -0.621, 0.820, -1.103, 0, 90, 0, 108 [SEP] 3, DishSponge, 2.488, 0.911, 1.044, 0, 0, 0, 84 [SEP] 4, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 87 [SEP] 5, Kettle, 1.688, 0.912, 1.214, 0, 0, 0, 84 [SEP] 6, Spoon, 0.053, 0.766, -0.651, 0, 90, 0, 106 [SEP] 7, Spoon, -0.839, 0.822, -1.360, 0, 90, 0, 108 [SEP] 8, Fork, 1.688, 0.912, 1.468, 0, 0, 0, 84 [SEP] 9, Spatula, 0.152, 0.926, -0.302, 0, 180, 0, 49 [SEP] 10, Spatula, 0.263, 0.780, -0.707, 0, 90, 0, 106 [SEP] 11, Plate, 0.231, 2.159, 1.467, 0, 0, 0, 83 [SEP] 12, Egg, -1.962, 0.461, 1.417, 0, 270, 0, 102 [SEP] 13, Knife, -0.007, 0.944, 1.299, 0, 90, 0, 60 [SEP] 14, Knife, -0.055, 0.944, 1.383, 0, 90, 0, 60 [SEP] 15, SoapBottle, 1.955, 0.917, 1.553, 0, 0, 0, 84 [SEP] 16, Tomato, 0.123, 0.797, -0.762, 0, 0, 0, 106 [SEP] 17, SaltShaker, -0.621, 0.817, -1.308, 0, 90, 0, 108 [SEP] 18, SaltShaker, 0.480, 1.650, -0.735, 0, 180, 0, 88 [SEP] 19, PepperShaker, 1.254, 1.651, 1.390, 0, 0, 0, 76 [SEP] 20, PepperShaker, -0.911, 0.817, -1.257, 0, 90, 0, 108 [SEP] 21, Bread, 1.141, 0.969, -0.769, 0, 0, 0, 49 [SEP] 22, Bread, -0.246, 0.969, 1.129, 0, 0, 0, 60 [SEP] 23, Mug, 2.962, 0.720, -0.504, 0, 0, 0, 104 [SEP] 24, Apple, 1.155, 0.980, 1.383, 0, 0, 0, 84 [SEP] 25, Apple, -0.151, 0.980, 1.468, 0, 0, 0, 60 [SEP] 26, SoapBottle, -1.056, 0.826, -1.155, 0, 90, 0, 108 [SEP] 27, Plate, 2.488, 0.914, 1.468, 0, 0, 0, 84 [SEP] 28, Fork, -0.785, 0.821, -1.400, 0, 0, 0, 108 [SEP] 29, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 64 [SEP] 30, Bread, 1.955, 0.969, 1.129, 0, 0, 0, 84 [SEP] 31, Egg, -0.694, 0.858, -1.257, 0, 90, 0, 108 [SEP] 32, Kettle, 1.563, 0.115, 1.193, 0, 0, 0, 78 [SEP] 33, Tomato, -0.087, 0.797, -0.596, 0, 0, 0, 106 [SEP] 34, Cup, -0.939, 0.818, -1.110, 0, 0, 0, 108 [SEP] 35, Spatula, 2.221, 0.926, 1.299, 0, 0, 0, 84 [SEP] 36, Apple, 2.754, 0.980, 1.214, 0, 0, 0, 84 [SEP] 37, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 52 [SEP] 38, Lettuce, 1.422, 0.992, 1.299, 0, 0, 0, 84 [SEP] 39, SaltShaker, 1.141, 0.908, -0.515, 0, 0, 0, 49 [SEP] 40, Knife, 0.193, 0.798, -0.707, 0, 90, 0, 106 [SEP] 41, Potato, 2.715, 1.598, -0.578, 0, 0, 0, 104 [SEP] 42, PepperShaker, 2.600, 1.651, 1.351, 0, 0, 0, 74 [SEP] 43, ButterKnife, -0.839, 0.820, -1.206, 0, 180, 0, 108 [SEP] 44, Bowl, 2.548, 0.112, 1.117, 0, 0, 0, 53 [SEP] 45, DishSponge, 0.812, 2.153, 1.429, 0, 0, 0, 58 [SEP] 46, Spoon, 1.155, 0.912, 1.129, 0, 0, 0, 84 [SEP] 47, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 49 [SEP] 48, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 49, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 50, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 51, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 52, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 53, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 54, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 55, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 56, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 57, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 58, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 59, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 60, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 61, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 62, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 63, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 64, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 65, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 67, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 68, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 69, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 70, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 71, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 72, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 77, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 79, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 80, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 82, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 84, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 85, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 86, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 87, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 88, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 89, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 90, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 91, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 92, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 93, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 94, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 95, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 96, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 99, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 100, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 101, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 102, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 103, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 104, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 105, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 106, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 107, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 108, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 109, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 110, NorthWall, , , , , , , [SEP] 111, EastWall, , , , , , , [SEP] 112, SouthWall, , , , , , , [SEP] 113, WestWall, , , , , , , ", "output": ["STEP 1: Approach the counter to the left of the stove. | STEP 2: Pick up the apple from the counter. | STEP 3: Approach the microwave above the stove. | STEP 4: Put the apple in the microwave, turn the microwave on and wait before removing the apple. | STEP 5: Turn to your left and walk to the recycling bin. | STEP 6: Place the apple in the recycling bin. | END"]} {"id": "trial_T20190908_041041_521601-2", "input": "Place a microwaved apple in a garbage can. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 0.5, 0, 270, 0, [SEP] 1, Pan, 0.634, 0.911, -0.769, 0, 0, 0, 49 [SEP] 2, DishSponge, -0.621, 0.820, -1.103, 0, 90, 0, 108 [SEP] 3, DishSponge, 2.488, 0.911, 1.044, 0, 0, 0, 84 [SEP] 4, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 87 [SEP] 5, Kettle, 1.688, 0.912, 1.214, 0, 0, 0, 84 [SEP] 6, Spoon, 0.053, 0.766, -0.651, 0, 90, 0, 106 [SEP] 7, Spoon, -0.839, 0.822, -1.360, 0, 90, 0, 108 [SEP] 8, Fork, 1.688, 0.912, 1.468, 0, 0, 0, 84 [SEP] 9, Spatula, 0.152, 0.926, -0.302, 0, 180, 0, 49 [SEP] 10, Spatula, 0.263, 0.780, -0.707, 0, 90, 0, 106 [SEP] 11, Plate, 0.231, 2.159, 1.467, 0, 0, 0, 83 [SEP] 12, Egg, -1.962, 0.461, 1.417, 0, 270, 0, 102 [SEP] 13, Knife, -0.007, 0.944, 1.299, 0, 90, 0, 60 [SEP] 14, Knife, -0.055, 0.944, 1.383, 0, 90, 0, 60 [SEP] 15, SoapBottle, 1.955, 0.917, 1.553, 0, 0, 0, 84 [SEP] 16, Tomato, 0.123, 0.797, -0.762, 0, 0, 0, 106 [SEP] 17, SaltShaker, -0.621, 0.817, -1.308, 0, 90, 0, 108 [SEP] 18, SaltShaker, 0.480, 1.650, -0.735, 0, 180, 0, 88 [SEP] 19, PepperShaker, 1.254, 1.651, 1.390, 0, 0, 0, 76 [SEP] 20, PepperShaker, -0.911, 0.817, -1.257, 0, 90, 0, 108 [SEP] 21, Bread, 1.141, 0.969, -0.769, 0, 0, 0, 49 [SEP] 22, Bread, -0.246, 0.969, 1.129, 0, 0, 0, 60 [SEP] 23, Mug, 2.962, 0.720, -0.504, 0, 0, 0, 104 [SEP] 24, Apple, 1.155, 0.980, 1.383, 0, 0, 0, 84 [SEP] 25, Apple, -0.151, 0.980, 1.468, 0, 0, 0, 60 [SEP] 26, SoapBottle, -1.056, 0.826, -1.155, 0, 90, 0, 108 [SEP] 27, Plate, 2.488, 0.914, 1.468, 0, 0, 0, 84 [SEP] 28, Fork, -0.785, 0.821, -1.400, 0, 0, 0, 108 [SEP] 29, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 64 [SEP] 30, Bread, 1.955, 0.969, 1.129, 0, 0, 0, 84 [SEP] 31, Egg, -0.694, 0.858, -1.257, 0, 90, 0, 108 [SEP] 32, Kettle, 1.563, 0.115, 1.193, 0, 0, 0, 78 [SEP] 33, Tomato, -0.087, 0.797, -0.596, 0, 0, 0, 106 [SEP] 34, Cup, -0.939, 0.818, -1.110, 0, 0, 0, 108 [SEP] 35, Spatula, 2.221, 0.926, 1.299, 0, 0, 0, 84 [SEP] 36, Apple, 2.754, 0.980, 1.214, 0, 0, 0, 84 [SEP] 37, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 52 [SEP] 38, Lettuce, 1.422, 0.992, 1.299, 0, 0, 0, 84 [SEP] 39, SaltShaker, 1.141, 0.908, -0.515, 0, 0, 0, 49 [SEP] 40, Knife, 0.193, 0.798, -0.707, 0, 90, 0, 106 [SEP] 41, Potato, 2.715, 1.598, -0.578, 0, 0, 0, 104 [SEP] 42, PepperShaker, 2.600, 1.651, 1.351, 0, 0, 0, 74 [SEP] 43, ButterKnife, -0.839, 0.820, -1.206, 0, 180, 0, 108 [SEP] 44, Bowl, 2.548, 0.112, 1.117, 0, 0, 0, 53 [SEP] 45, DishSponge, 0.812, 2.153, 1.429, 0, 0, 0, 58 [SEP] 46, Spoon, 1.155, 0.912, 1.129, 0, 0, 0, 84 [SEP] 47, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 49 [SEP] 48, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 49, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 50, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 51, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 52, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 53, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 54, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 55, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 56, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 57, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 58, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 59, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 60, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 61, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 62, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 63, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 64, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 65, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 67, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 68, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 69, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 70, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 71, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 72, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 77, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 79, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 80, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 82, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 84, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 85, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 86, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 87, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 88, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 89, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 90, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 91, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 92, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 93, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 94, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 95, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 96, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 99, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 100, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 101, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 102, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 103, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 104, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 105, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 106, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 107, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 108, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 109, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 110, NorthWall, , , , , , , [SEP] 111, EastWall, , , , , , , [SEP] 112, SouthWall, , , , , , , [SEP] 113, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward slightly and turn right towards the counter top. | STEP 2: Pick up the apple from the counter top. | STEP 3: Turn right and walk to the microwave above the stove top. | STEP 4: Microwave the apple for a few seconds, then take it out and close the microwave. | STEP 5: Turn left and walk to the blue garbage can in the corner of the room. | STEP 6: Put the apple in the garbage can. | END"]} {"id": "trial_T20190909_004150_970566-0", "input": "Move a pen from a dresser to a small table below a desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.909, -2.5, 0, 270, 0, [SEP] 1, Mug, -0.507, 0.541, -3.694, 0, 0, 0, 32 [SEP] 2, CellPhone, -2.348, 0.620, -1.218, 0, 0, 0, 23 [SEP] 3, CellPhone, -0.862, 0.800, -4.354, 0, 0, 0, 38 [SEP] 4, KeyChain, -0.685, 0.543, -3.731, 0, 0, 0, 32 [SEP] 5, KeyChain, -3.613, 0.982, -3.070, 0, 0, 0, 41 [SEP] 6, Book, -3.539, 0.980, -4.276, 0, 0, 0, 41 [SEP] 7, Book, -3.760, 0.980, -4.276, 0, 0, 0, 41 [SEP] 8, Pillow, -2.770, 0.722, -1.506, 0, 0, 0, 23 [SEP] 9, AlarmClock, -0.453, 0.803, -3.811, 0, 0, 0, 38 [SEP] 10, Book, -3.580, 0.046, -3.278, 0, 0, 0, 40 [SEP] 11, CellPhone, -3.694, 0.225, -4.163, 0, 0, 0, 45 [SEP] 12, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 38 [SEP] 13, CreditCard, -3.694, 0.614, -3.461, 0, 0, 0, 42 [SEP] 14, AlarmClock, -3.760, 0.981, -3.472, 0, 0, 0, 41 [SEP] 15, KeyChain, -3.470, 0.615, -3.091, 0, 0, 0, 42 [SEP] 16, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 23 [SEP] 17, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 18, Pencil, -3.539, 0.983, -3.673, 0, 0, 0, 41 [SEP] 19, Pillow, -2.981, 0.722, -2.080, 0, 0, 0, 23 [SEP] 20, CD, -3.466, 0.979, -4.075, 0, 0, 0, 41 [SEP] 21, Pen, -3.539, 0.986, -3.874, 0, 0, 0, 41 [SEP] 22, Mug, -3.613, 0.977, -3.271, 0, 0, 0, 41 [SEP] 23, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 24, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 25, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 26, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 27, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 28, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 29, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 30, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 31, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 32, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 33, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 34, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 35, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 36, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 37, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 38, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 39, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 40, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 41, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 42, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 50, NorthWall, , , , , , , [SEP] 51, EastWall, , , , , , , [SEP] 52, SouthWall, , , , , , , [SEP] 53, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward to the brown dresser which is in front of you. | STEP 2: Pick up the pen from the dresser. | STEP 3: Turn around and walk forward to the left side of the desk on your right. | STEP 4: Put the pen on the front of the small table below the desk. | END"]} {"id": "trial_T20190909_004150_970566-1", "input": "Move a pen from the dresser to the shelves. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.909, -2.5, 0, 270, 0, [SEP] 1, Mug, -0.507, 0.541, -3.694, 0, 0, 0, 32 [SEP] 2, CellPhone, -2.348, 0.620, -1.218, 0, 0, 0, 23 [SEP] 3, CellPhone, -0.862, 0.800, -4.354, 0, 0, 0, 38 [SEP] 4, KeyChain, -0.685, 0.543, -3.731, 0, 0, 0, 32 [SEP] 5, KeyChain, -3.613, 0.982, -3.070, 0, 0, 0, 41 [SEP] 6, Book, -3.539, 0.980, -4.276, 0, 0, 0, 41 [SEP] 7, Book, -3.760, 0.980, -4.276, 0, 0, 0, 41 [SEP] 8, Pillow, -2.770, 0.722, -1.506, 0, 0, 0, 23 [SEP] 9, AlarmClock, -0.453, 0.803, -3.811, 0, 0, 0, 38 [SEP] 10, Book, -3.580, 0.046, -3.278, 0, 0, 0, 40 [SEP] 11, CellPhone, -3.694, 0.225, -4.163, 0, 0, 0, 45 [SEP] 12, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 38 [SEP] 13, CreditCard, -3.694, 0.614, -3.461, 0, 0, 0, 42 [SEP] 14, AlarmClock, -3.760, 0.981, -3.472, 0, 0, 0, 41 [SEP] 15, KeyChain, -3.470, 0.615, -3.091, 0, 0, 0, 42 [SEP] 16, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 23 [SEP] 17, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 18, Pencil, -3.539, 0.983, -3.673, 0, 0, 0, 41 [SEP] 19, Pillow, -2.981, 0.722, -2.080, 0, 0, 0, 23 [SEP] 20, CD, -3.466, 0.979, -4.075, 0, 0, 0, 41 [SEP] 21, Pen, -3.539, 0.986, -3.874, 0, 0, 0, 41 [SEP] 22, Mug, -3.613, 0.977, -3.271, 0, 0, 0, 41 [SEP] 23, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 24, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 25, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 26, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 27, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 28, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 29, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 30, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 31, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 32, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 33, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 34, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 35, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 36, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 37, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 38, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 39, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 40, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 41, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 42, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 50, NorthWall, , , , , , , [SEP] 51, EastWall, , , , , , , [SEP] 52, SouthWall, , , , , , , [SEP] 53, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, move to the dresser, right of the CD. | STEP 2: Pick up the pen from the dresser. | STEP 3: Turn right, move to the desk, near the clock. | STEP 4: Put the pen on top of the shelves. | END"]} {"id": "trial_T20190907_041009_508960-2", "input": "Place the spatula from the counter 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, -0.75, 0.931, 0.0, 0, 180, 0, [SEP] 1, Pan, 1.512, 0.204, -1.480, 0, 270, 0, 61 [SEP] 2, Potato, -0.689, 1.100, -1.289, 0, 0, 0, 51 [SEP] 3, Potato, 0.989, 1.100, -1.181, 0, 0, 0, 51 [SEP] 4, DishSponge, -1.106, 2.027, -1.337, 0, 0, 0, 58 [SEP] 5, ButterKnife, -0.177, 1.046, -1.118, 0, 0, 0, 51 [SEP] 6, ButterKnife, 1.612, 1.043, 0.199, 0, 0, 0, 53 [SEP] 7, Kettle, 0.890, 0.200, -1.267, 0, 0, 0, 62 [SEP] 8, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 47 [SEP] 9, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 54 [SEP] 10, Fork, 0.065, 1.043, 0.415, 0, 0, 0, 53 [SEP] 11, Fork, 0.657, 1.047, -1.129, 0, 0, 0, 51 [SEP] 12, Spatula, 0.255, 1.058, 0.630, 0, 0, 0, 53 [SEP] 13, Egg, 0.980, 1.108, 0.080, 0, 90, 0, 49 [SEP] 14, Egg, 1.238, 1.101, -1.289, 0, 0, 0, 51 [SEP] 15, Cup, -1.145, 1.716, -1.331, 0, 0, 0, 65 [SEP] 16, Cup, -0.222, 0.203, -1.625, 0, 0, 0, 60 [SEP] 17, Tomato, -1.419, 1.540, 2.063, 0, 90, 0, 66 [SEP] 18, Tomato, -1.300, 1.279, 2.242, 0, 90, 0, 66 [SEP] 19, SoapBottle, -0.775, 1.047, -1.505, 0, 0, 0, 51 [SEP] 20, Bowl, 0.065, 1.042, 0.738, 0, 0, 0, 53 [SEP] 21, Bowl, 1.188, 1.563, -1.538, 0, 0, 0, 55 [SEP] 22, Lettuce, -1.095, 1.023, 2.153, 0, 90, 0, 66 [SEP] 23, Apple, -0.432, 1.090, -1.505, 0, 0, 0, 51 [SEP] 24, Apple, 1.211, 0.936, 0.304, 0, 90, 0, 48 [SEP] 25, SoapBottle, 0.848, 1.056, 0.331, 0, 90, 0, 49 [SEP] 26, Apple, -1.268, 1.991, 2.063, 0, 90, 0, 66 [SEP] 27, Potato, -1.342, 1.542, 2.242, 0, 90, 0, 66 [SEP] 28, Fork, -0.603, 1.047, -1.397, 0, 0, 0, 51 [SEP] 29, Kettle, 0.890, 0.200, -1.484, 0, 0, 0, 62 [SEP] 30, Pan, -0.624, 1.564, -1.545, 0, 270, 0, 56 [SEP] 31, Tomato, 0.892, 1.104, 0.181, 0, 90, 0, 49 [SEP] 32, SaltShaker, 0.446, 1.038, 0.630, 0, 0, 0, 53 [SEP] 33, Egg, -1.034, 1.018, 1.885, 0, 90, 0, 66 [SEP] 34, Cup, -1.381, 1.489, 1.885, 0, 90, 0, 66 [SEP] 35, Spatula, 1.514, 1.058, 0.589, 0, 0, 0, 53 [SEP] 36, Knife, 1.347, 1.069, 0.807, 0, 0, 0, 53 [SEP] 37, Lettuce, -1.349, 1.773, 2.242, 0, 90, 0, 66 [SEP] 38, ButterKnife, 1.612, 1.043, 0.522, 0, 0, 0, 53 [SEP] 39, PepperShaker, -0.401, 0.198, -1.409, 0, 0, 0, 60 [SEP] 40, DishSponge, 0.936, 1.053, 0.331, 0, 90, 0, 49 [SEP] 41, Plate, 1.158, 0.212, -1.556, 0, 0, 0, 62 [SEP] 42, Bread, 1.072, 1.120, -1.612, 0, 0, 0, 51 [SEP] 43, Spoon, 1.181, 1.044, 0.589, 0, 0, 0, 53 [SEP] 44, Pot, 1.743, 1.021, -1.264, 0, 90, 0, 57 [SEP] 45, Mug, -0.323, 1.560, -1.767, 0, 0, 0, 56 [SEP] 46, Bowl, -0.670, 0.202, -1.481, 0, 0, 0, 60 [SEP] 47, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 48, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 49, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 50, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 51, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 52, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 53, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 54, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 55, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 56, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 57, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 58, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 59, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 60, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 61, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 62, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 63, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 64, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 65, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 66, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 67, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 68, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 69, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 70, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 71, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 72, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 73, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 74, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 75, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 76, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 77, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 78, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 79, NorthWall, , , , , , , [SEP] 80, EastWall, , , , , , , [SEP] 81, SouthWall, , , , , , , [SEP] 82, WestWall, , , , , , , ", "output": ["STEP 1: Turn left towards the coffee maker on the counter to your left. | STEP 2: Pick up the spatula from the counter. | STEP 3: Take a step to the left to face the sink. | STEP 4: Place the spatula in the sink. | END"]} {"id": "trial_T20190907_195032_047862-1", "input": "Transport a white ball from a fridge to a trash-can. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.931, 2.0, 0, 180, 0, [SEP] 1, Pan, -0.398, 1.564, -1.693, 0, 90, 0, 48 [SEP] 2, Pan, -1.184, 2.027, -1.337, 0, 0, 0, 50 [SEP] 3, ButterKnife, 1.612, 1.043, 0.738, 0, 0, 0, 45 [SEP] 4, Kettle, 0.979, 0.200, -1.339, 0, 0, 0, 54 [SEP] 5, Spatula, 1.514, 1.058, 0.589, 0, 0, 0, 45 [SEP] 6, Egg, 0.936, 1.108, 0.231, 0, 90, 0, 41 [SEP] 7, Egg, -0.346, 1.101, -1.505, 0, 0, 0, 43 [SEP] 8, Cup, 1.512, 1.020, -1.191, 0, 0, 0, 49 [SEP] 9, Cup, 1.238, 1.047, -1.397, 0, 0, 0, 43 [SEP] 10, SoapBottle, -1.339, 0.203, -1.265, 0, 0, 0, 51 [SEP] 11, SoapBottle, 1.743, 1.020, -1.630, 0, 0, 0, 49 [SEP] 12, Bowl, 1.068, 0.198, -1.556, 0, 0, 0, 54 [SEP] 13, Bowl, 0.885, 1.563, -1.764, 0, 0, 0, 47 [SEP] 14, Lettuce, 1.015, 1.103, 0.720, 0, 0, 0, 45 [SEP] 15, Apple, 0.980, 1.097, 0.131, 0, 90, 0, 41 [SEP] 16, Apple, 0.980, 1.097, 0.381, 0, 90, 0, 41 [SEP] 17, SoapBottle, 0.848, 1.056, 0.331, 0, 90, 0, 41 [SEP] 18, Apple, -1.169, 1.271, 1.885, 0, 90, 0, 58 [SEP] 19, Potato, -1.064, 1.017, 2.331, 0, 90, 0, 58 [SEP] 20, Fork, 0.682, 1.043, 0.589, 0, 0, 0, 45 [SEP] 21, Kettle, 0.906, 1.047, -1.289, 0, 0, 0, 43 [SEP] 22, Pan, 0.120, 1.053, -1.630, 0, 0, 0, 46 [SEP] 23, Tomato, -1.312, 1.764, 2.331, 0, 90, 0, 58 [SEP] 24, SaltShaker, -0.030, 1.038, 0.415, 0, 0, 0, 45 [SEP] 25, Egg, 1.854, 0.177, 2.414, 0, 270, 0, 59 [SEP] 26, Cup, -1.096, 1.716, -1.300, 0, 0, 0, 57 [SEP] 27, Spatula, -0.775, 1.061, -1.720, 0, 90, 0, 43 [SEP] 28, Knife, 0.980, 1.079, 0.181, 0, 90, 0, 41 [SEP] 29, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 41 [SEP] 30, ButterKnife, -0.177, 1.046, -1.107, 0, 0, 0, 43 [SEP] 31, PepperShaker, -1.261, 2.023, -1.627, 0, 0, 0, 50 [SEP] 32, DishSponge, 0.890, 0.199, -1.484, 0, 0, 0, 54 [SEP] 33, Plate, -1.235, 1.241, 2.242, 0, 90, 0, 58 [SEP] 34, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 45 [SEP] 35, Spoon, 1.790, 1.044, 0.091, 0, 0, 0, 45 [SEP] 36, Pot, -1.342, 1.490, 1.885, 0, 180, 0, 58 [SEP] 37, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 61 [SEP] 38, Bowl, 1.211, 0.899, 0.231, 0, 90, 0, 40 [SEP] 39, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 40, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 41, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 42, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 43, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 44, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 45, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 46, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 47, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 48, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 49, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 50, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 51, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 52, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 53, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 54, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 55, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 56, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 57, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 58, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 59, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 60, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 61, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 62, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 63, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 64, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 65, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 66, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 67, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 68, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 69, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 70, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 71, NorthWall, , , , , , , [SEP] 72, EastWall, , , , , , , [SEP] 73, SouthWall, , , , , , , [SEP] 74, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and head to the trash-can in the corner on your right. | STEP 2: Take out the white ball from the trash-can. | STEP 3: Turn left and head to the fridge. | STEP 4: Open the fridge, put the ball inside, close it, open it, take the ball out, and close it again. | STEP 5: Turn around and head to the trash-can in the corner. | STEP 6: Put the white ball in the trash-can. | END"]} {"id": "trial_T20190907_195032_047862-2", "input": "Place a chilled 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, 0.25, 0.931, 2.0, 0, 180, 0, [SEP] 1, Pan, -0.398, 1.564, -1.693, 0, 90, 0, 48 [SEP] 2, Pan, -1.184, 2.027, -1.337, 0, 0, 0, 50 [SEP] 3, ButterKnife, 1.612, 1.043, 0.738, 0, 0, 0, 45 [SEP] 4, Kettle, 0.979, 0.200, -1.339, 0, 0, 0, 54 [SEP] 5, Spatula, 1.514, 1.058, 0.589, 0, 0, 0, 45 [SEP] 6, Egg, 0.936, 1.108, 0.231, 0, 90, 0, 41 [SEP] 7, Egg, -0.346, 1.101, -1.505, 0, 0, 0, 43 [SEP] 8, Cup, 1.512, 1.020, -1.191, 0, 0, 0, 49 [SEP] 9, Cup, 1.238, 1.047, -1.397, 0, 0, 0, 43 [SEP] 10, SoapBottle, -1.339, 0.203, -1.265, 0, 0, 0, 51 [SEP] 11, SoapBottle, 1.743, 1.020, -1.630, 0, 0, 0, 49 [SEP] 12, Bowl, 1.068, 0.198, -1.556, 0, 0, 0, 54 [SEP] 13, Bowl, 0.885, 1.563, -1.764, 0, 0, 0, 47 [SEP] 14, Lettuce, 1.015, 1.103, 0.720, 0, 0, 0, 45 [SEP] 15, Apple, 0.980, 1.097, 0.131, 0, 90, 0, 41 [SEP] 16, Apple, 0.980, 1.097, 0.381, 0, 90, 0, 41 [SEP] 17, SoapBottle, 0.848, 1.056, 0.331, 0, 90, 0, 41 [SEP] 18, Apple, -1.169, 1.271, 1.885, 0, 90, 0, 58 [SEP] 19, Potato, -1.064, 1.017, 2.331, 0, 90, 0, 58 [SEP] 20, Fork, 0.682, 1.043, 0.589, 0, 0, 0, 45 [SEP] 21, Kettle, 0.906, 1.047, -1.289, 0, 0, 0, 43 [SEP] 22, Pan, 0.120, 1.053, -1.630, 0, 0, 0, 46 [SEP] 23, Tomato, -1.312, 1.764, 2.331, 0, 90, 0, 58 [SEP] 24, SaltShaker, -0.030, 1.038, 0.415, 0, 0, 0, 45 [SEP] 25, Egg, 1.854, 0.177, 2.414, 0, 270, 0, 59 [SEP] 26, Cup, -1.096, 1.716, -1.300, 0, 0, 0, 57 [SEP] 27, Spatula, -0.775, 1.061, -1.720, 0, 90, 0, 43 [SEP] 28, Knife, 0.980, 1.079, 0.181, 0, 90, 0, 41 [SEP] 29, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 41 [SEP] 30, ButterKnife, -0.177, 1.046, -1.107, 0, 0, 0, 43 [SEP] 31, PepperShaker, -1.261, 2.023, -1.627, 0, 0, 0, 50 [SEP] 32, DishSponge, 0.890, 0.199, -1.484, 0, 0, 0, 54 [SEP] 33, Plate, -1.235, 1.241, 2.242, 0, 90, 0, 58 [SEP] 34, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 45 [SEP] 35, Spoon, 1.790, 1.044, 0.091, 0, 0, 0, 45 [SEP] 36, Pot, -1.342, 1.490, 1.885, 0, 180, 0, 58 [SEP] 37, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 61 [SEP] 38, Bowl, 1.211, 0.899, 0.231, 0, 90, 0, 40 [SEP] 39, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 40, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 41, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 42, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 43, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 44, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 45, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 46, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 47, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 48, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 49, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 50, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 51, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 52, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 53, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 54, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 55, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 56, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 57, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 58, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 59, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 60, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 61, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 62, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 63, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 64, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 65, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 66, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 67, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 68, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 69, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 70, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 71, NorthWall, , , , , , , [SEP] 72, EastWall, , , , , , , [SEP] 73, SouthWall, , , , , , , [SEP] 74, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and go to the trash can on the left. | STEP 2: Take the egg out of the trash can. | STEP 3: Turn left and go across the room to the fridge. | STEP 4: Open the fridge and place the egg on the second shelf. Close the door, wait a moment, and take the egg out of the fridge. | STEP 5: Turn around and move towards the trash can across the room. | STEP 6: Put the egg in the trash can. | END"]} {"id": "trial_T20190908_054754_429618-0", "input": "move a newspaper to the TV stand SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.75, 0.901, 6.5, 0, 90, 0, [SEP] 1, Newspaper, -6.002, 0.145, 4.745, 0, 0, 0, 46 [SEP] 2, Watch, -0.433, 0.793, 2.377, 0, 270, 0, 41 [SEP] 3, Watch, -5.821, 0.533, 6.418, 0, 135, 0, 57 [SEP] 4, KeyChain, -5.536, 0.534, 6.703, 0, 45, 0, 57 [SEP] 5, KeyChain, -0.631, 0.408, 3.306, 0, 180, 0, 39 [SEP] 6, Box, -0.868, 0.603, 3.306, 0, 0, 0, 39 [SEP] 7, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 55 [SEP] 8, Vase, -5.923, 0.453, 4.152, 0, 0, 0, 51 [SEP] 9, Vase, -0.687, 0.802, 2.252, 0, 270, 0, 41 [SEP] 10, Newspaper, -0.710, 0.365, 4.828, 0, 0, 0, 39 [SEP] 11, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 56 [SEP] 12, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 13, Vase, -5.498, 0.534, 6.441, 0, 45, 0, 57 [SEP] 14, CreditCard, -2.277, 0.146, 7.327, 0, 90, 0, 50 [SEP] 15, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 53 [SEP] 16, KeyChain, -3.462, 0.453, 7.221, 0, 90, 0, 48 [SEP] 17, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 51 [SEP] 18, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 51 [SEP] 19, Bowl, -5.985, 0.881, 4.349, 0, 0, 0, 49 [SEP] 20, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 39 [SEP] 21, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 53 [SEP] 22, RemoteControl, -0.947, 0.438, 4.219, 0, 0, 0, 39 [SEP] 23, Watch, -2.561, 0.533, 4.480, 0, 270, 0, 56 [SEP] 24, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 55 [SEP] 25, Statue, -5.998, 0.454, 4.942, 0, 90, 0, 51 [SEP] 26, Statue, -2.283, 0.543, 4.480, 0, 270, 0, 56 [SEP] 27, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 55 [SEP] 28, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 29, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 30, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 31, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 32, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 33, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 34, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 35, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 36, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 37, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 38, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 39, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 40, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 41, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 42, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 43, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 44, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 45, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 46, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 47, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 48, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 49, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 50, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 51, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 52, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 53, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 54, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 55, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 56, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 57, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 58, NorthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , ", "output": ["STEP 1: Move to the right where the dark wood shelves are | STEP 2: Pick up the newspaper on the shelf | STEP 3: Carry the newspaper to the left side of the TV stand | STEP 4: place the newspaper on the left side of the TV stand in front of the TV | END"]} {"id": "trial_T20190908_054754_429618-1", "input": "move the newspaper from the shelf to the tv stand SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.75, 0.901, 6.5, 0, 90, 0, [SEP] 1, Newspaper, -6.002, 0.145, 4.745, 0, 0, 0, 46 [SEP] 2, Watch, -0.433, 0.793, 2.377, 0, 270, 0, 41 [SEP] 3, Watch, -5.821, 0.533, 6.418, 0, 135, 0, 57 [SEP] 4, KeyChain, -5.536, 0.534, 6.703, 0, 45, 0, 57 [SEP] 5, KeyChain, -0.631, 0.408, 3.306, 0, 180, 0, 39 [SEP] 6, Box, -0.868, 0.603, 3.306, 0, 0, 0, 39 [SEP] 7, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 55 [SEP] 8, Vase, -5.923, 0.453, 4.152, 0, 0, 0, 51 [SEP] 9, Vase, -0.687, 0.802, 2.252, 0, 270, 0, 41 [SEP] 10, Newspaper, -0.710, 0.365, 4.828, 0, 0, 0, 39 [SEP] 11, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 56 [SEP] 12, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 13, Vase, -5.498, 0.534, 6.441, 0, 45, 0, 57 [SEP] 14, CreditCard, -2.277, 0.146, 7.327, 0, 90, 0, 50 [SEP] 15, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 53 [SEP] 16, KeyChain, -3.462, 0.453, 7.221, 0, 90, 0, 48 [SEP] 17, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 51 [SEP] 18, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 51 [SEP] 19, Bowl, -5.985, 0.881, 4.349, 0, 0, 0, 49 [SEP] 20, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 39 [SEP] 21, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 53 [SEP] 22, RemoteControl, -0.947, 0.438, 4.219, 0, 0, 0, 39 [SEP] 23, Watch, -2.561, 0.533, 4.480, 0, 270, 0, 56 [SEP] 24, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 55 [SEP] 25, Statue, -5.998, 0.454, 4.942, 0, 90, 0, 51 [SEP] 26, Statue, -2.283, 0.543, 4.480, 0, 270, 0, 56 [SEP] 27, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 55 [SEP] 28, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 29, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 30, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 31, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 32, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 33, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 34, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 35, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 36, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 37, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 38, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 39, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 40, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 41, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 42, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 43, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 44, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 45, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 46, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 47, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 48, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 49, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 50, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 51, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 52, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 53, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 54, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 55, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 56, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 57, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 58, NorthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the middle of the room. turn right at the shelves | STEP 2: pick up the newspaper from the shelf | STEP 3: turn right and walk towards to the television | STEP 4: place the newspaper next to the tv | END"]} {"id": "trial_T20190918_210707_124696-1", "input": "Move two clocks from a desk to a dresser SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.909, -1.25, 0, 0, 0, [SEP] 1, Mug, -1.066, 0.798, -3.920, 0, 0, 0, 43 [SEP] 2, CellPhone, -3.694, 0.614, -3.276, 0, 0, 0, 47 [SEP] 3, CellPhone, -3.613, 0.981, -4.276, 0, 0, 0, 46 [SEP] 4, Pen, -0.596, 0.548, -3.731, 0, 0, 0, 37 [SEP] 5, Pencil, -0.657, 0.807, -4.246, 0, 0, 0, 43 [SEP] 6, Pencil, -1.474, 0.803, -3.811, 0, 0, 0, 43 [SEP] 7, CreditCard, -0.502, 0.349, -3.844, 0, 0, 0, 37 [SEP] 8, CreditCard, -3.637, 0.044, -3.371, 0, 0, 0, 45 [SEP] 9, KeyChain, -0.418, 0.543, -3.731, 0, 0, 0, 37 [SEP] 10, KeyChain, -3.526, 0.227, -3.185, 0, 0, 0, 48 [SEP] 11, Book, -3.613, 0.620, -1.793, 0, 0, 0, 28 [SEP] 12, Book, -3.760, 0.980, -3.673, 0, 0, 0, 46 [SEP] 13, Laptop, -2.770, 0.618, -2.080, 0, 0, 0, 28 [SEP] 14, AlarmClock, -0.453, 0.803, -3.920, 0, 0, 0, 43 [SEP] 15, Book, -3.402, 0.620, -0.356, 0, 0, 0, 28 [SEP] 16, CellPhone, -3.466, 0.981, -3.271, 0, 0, 0, 46 [SEP] 17, Laptop, -3.613, 0.979, -3.070, 0, 0, 0, 46 [SEP] 18, CreditCard, -1.066, 0.800, -4.137, 0, 0, 0, 43 [SEP] 19, AlarmClock, -0.249, 0.803, -4.029, 0, 0, 0, 43 [SEP] 20, KeyChain, -3.582, 0.615, -3.369, 0, 0, 0, 47 [SEP] 21, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 28 [SEP] 22, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 23, Pencil, -1.270, 0.803, -4.029, 0, 0, 0, 43 [SEP] 24, Pillow, -2.981, 0.722, -1.218, 0, 0, 0, 28 [SEP] 25, CD, -3.693, 0.808, -3.558, 0, 0, 0, 53 [SEP] 26, Pen, -3.687, 0.986, -4.075, 0, 0, 0, 46 [SEP] 27, Mug, -3.539, 0.977, -3.673, 0, 0, 0, 46 [SEP] 28, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 29, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 30, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 31, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 32, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 33, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 34, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 35, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 36, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 37, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 38, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 39, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 40, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 41, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 42, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 43, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 44, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 45, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 46, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 51, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 52, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 53, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 54, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: Go to the desk | STEP 2: Pick up a clock from the desk | STEP 3: Go to the dresser | STEP 4: Place the clock on top of the dresser | STEP 5: Go to the desk | STEP 6: Pick up a clock from the desk | STEP 7: Go to the dresser | STEP 8: Place the clock on the dresser to the left of the first clock | END"]} {"id": "trial_T20190908_182628_947130-1", "input": "To heat an egg and put it on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 1.0, 0, 180, 0, [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 83 [SEP] 2, Potato, -0.157, 0.800, -0.651, 0, 90, 0, 102 [SEP] 3, Potato, -1.056, 0.855, -1.257, 0, 90, 0, 104 [SEP] 4, DishSponge, -2.019, 0.423, 1.417, 0, 270, 0, 98 [SEP] 5, DishSponge, -0.246, 0.911, 1.468, 0, 0, 0, 56 [SEP] 6, ButterKnife, -0.836, 0.820, -1.328, 0, 0, 0, 104 [SEP] 7, ButterKnife, 1.155, 0.911, 1.044, 0, 0, 0, 80 [SEP] 8, Spoon, -0.055, 0.912, 1.383, 0, 0, 0, 56 [SEP] 9, Spatula, -0.839, 0.835, -1.411, 0, 180, 0, 104 [SEP] 10, Plate, 1.179, 1.658, 1.468, 0, 0, 0, 72 [SEP] 11, Plate, 2.754, 0.914, 1.468, 0, 0, 0, 80 [SEP] 12, Egg, 2.754, 0.949, 1.129, 0, 0, 0, 80 [SEP] 13, Egg, 2.900, 1.056, -0.840, 0, 0, 0, 100 [SEP] 14, Knife, 0.053, 0.798, -0.651, 0, 180, 0, 102 [SEP] 15, Knife, -0.939, 0.853, -1.183, 0, 90, 0, 104 [SEP] 16, SaltShaker, 0.290, 1.651, -0.888, 0, 180, 0, 85 [SEP] 17, PepperShaker, 1.141, 0.908, -0.430, 0, 0, 0, 45 [SEP] 18, PepperShaker, 1.955, 0.908, 1.299, 0, 0, 0, 80 [SEP] 19, Bread, 2.715, 1.621, -0.644, 0, 0, 0, 100 [SEP] 20, Lettuce, 1.422, 0.992, 1.468, 0, 0, 0, 80 [SEP] 21, Mug, 2.487, 1.650, 1.546, 0, 0, 0, 46 [SEP] 22, SoapBottle, 2.188, 1.660, 1.546, 0, 0, 0, 69 [SEP] 23, Plate, 2.715, 1.021, -0.578, 0, 0, 0, 100 [SEP] 24, Fork, 1.209, 0.771, 1.122, 0, 90, 0, 90 [SEP] 25, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 60 [SEP] 26, Bread, -0.198, 0.969, 1.214, 0, 0, 0, 56 [SEP] 27, Egg, -0.682, 0.858, -1.183, 0, 0, 0, 104 [SEP] 28, Kettle, 2.837, 0.115, 1.156, 0, 0, 0, 77 [SEP] 29, Tomato, 3.260, 0.871, -0.514, 0, 0, 0, 100 [SEP] 30, Cup, 0.053, 0.763, -0.762, 0, 0, 0, 102 [SEP] 31, Spatula, 0.888, 0.926, -0.6, 0, 90, 0, 45 [SEP] 32, Apple, 2.715, 1.357, -0.644, 0, 0, 0, 100 [SEP] 33, Pan, -0.123, 0.114, 1.156, 0, 0, 0, 56 [SEP] 34, Lettuce, 2.221, 0.992, 1.129, 0, 0, 0, 80 [SEP] 35, SaltShaker, 1.896, 0.111, 1.077, 0, 0, 0, 65 [SEP] 36, Knife, 2.488, 0.944, 1.044, 0, 0, 0, 80 [SEP] 37, Potato, 1.955, 0.946, 1.468, 0, 0, 0, 80 [SEP] 38, PepperShaker, -0.983, 0.817, -1.360, 0, 90, 0, 104 [SEP] 39, ButterKnife, 0.634, 0.911, -0.515, 0, 0, 0, 45 [SEP] 40, Bowl, 2.653, 0.724, -0.504, 0, 0, 0, 100 [SEP] 41, DishSponge, 0.215, 1.655, -0.810, 0, 180, 0, 85 [SEP] 42, Spoon, 1.155, 0.912, 1.044, 0, 0, 0, 80 [SEP] 43, Mug, 2.962, 1.558, -0.644, 0, 0, 0, 100 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 106, NorthWall, , , , , , , [SEP] 107, EastWall, , , , , , , [SEP] 108, SouthWall, , , , , , , [SEP] 109, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the small table ahead of you. | STEP 2: Pick up the egg in front of the butter knife. | STEP 3: Turn around, walk to the stove, look up at the microwave above the stove. | STEP 4: Open the microwave door, place the egg inside the microwave, heat up the egg, take the egg out of the microwave, close the microwave door. | STEP 5: Turn left, turn left at the window, walk to the small table ahead of you. | STEP 6: Put the egg down on the table to the right of the pen. | END"]} {"id": "trial_T20190908_182628_947130-2", "input": "Heat up the egg on the table using 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, 1.0, 0, 180, 0, [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 83 [SEP] 2, Potato, -0.157, 0.800, -0.651, 0, 90, 0, 102 [SEP] 3, Potato, -1.056, 0.855, -1.257, 0, 90, 0, 104 [SEP] 4, DishSponge, -2.019, 0.423, 1.417, 0, 270, 0, 98 [SEP] 5, DishSponge, -0.246, 0.911, 1.468, 0, 0, 0, 56 [SEP] 6, ButterKnife, -0.836, 0.820, -1.328, 0, 0, 0, 104 [SEP] 7, ButterKnife, 1.155, 0.911, 1.044, 0, 0, 0, 80 [SEP] 8, Spoon, -0.055, 0.912, 1.383, 0, 0, 0, 56 [SEP] 9, Spatula, -0.839, 0.835, -1.411, 0, 180, 0, 104 [SEP] 10, Plate, 1.179, 1.658, 1.468, 0, 0, 0, 72 [SEP] 11, Plate, 2.754, 0.914, 1.468, 0, 0, 0, 80 [SEP] 12, Egg, 2.754, 0.949, 1.129, 0, 0, 0, 80 [SEP] 13, Egg, 2.900, 1.056, -0.840, 0, 0, 0, 100 [SEP] 14, Knife, 0.053, 0.798, -0.651, 0, 180, 0, 102 [SEP] 15, Knife, -0.939, 0.853, -1.183, 0, 90, 0, 104 [SEP] 16, SaltShaker, 0.290, 1.651, -0.888, 0, 180, 0, 85 [SEP] 17, PepperShaker, 1.141, 0.908, -0.430, 0, 0, 0, 45 [SEP] 18, PepperShaker, 1.955, 0.908, 1.299, 0, 0, 0, 80 [SEP] 19, Bread, 2.715, 1.621, -0.644, 0, 0, 0, 100 [SEP] 20, Lettuce, 1.422, 0.992, 1.468, 0, 0, 0, 80 [SEP] 21, Mug, 2.487, 1.650, 1.546, 0, 0, 0, 46 [SEP] 22, SoapBottle, 2.188, 1.660, 1.546, 0, 0, 0, 69 [SEP] 23, Plate, 2.715, 1.021, -0.578, 0, 0, 0, 100 [SEP] 24, Fork, 1.209, 0.771, 1.122, 0, 90, 0, 90 [SEP] 25, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 60 [SEP] 26, Bread, -0.198, 0.969, 1.214, 0, 0, 0, 56 [SEP] 27, Egg, -0.682, 0.858, -1.183, 0, 0, 0, 104 [SEP] 28, Kettle, 2.837, 0.115, 1.156, 0, 0, 0, 77 [SEP] 29, Tomato, 3.260, 0.871, -0.514, 0, 0, 0, 100 [SEP] 30, Cup, 0.053, 0.763, -0.762, 0, 0, 0, 102 [SEP] 31, Spatula, 0.888, 0.926, -0.6, 0, 90, 0, 45 [SEP] 32, Apple, 2.715, 1.357, -0.644, 0, 0, 0, 100 [SEP] 33, Pan, -0.123, 0.114, 1.156, 0, 0, 0, 56 [SEP] 34, Lettuce, 2.221, 0.992, 1.129, 0, 0, 0, 80 [SEP] 35, SaltShaker, 1.896, 0.111, 1.077, 0, 0, 0, 65 [SEP] 36, Knife, 2.488, 0.944, 1.044, 0, 0, 0, 80 [SEP] 37, Potato, 1.955, 0.946, 1.468, 0, 0, 0, 80 [SEP] 38, PepperShaker, -0.983, 0.817, -1.360, 0, 90, 0, 104 [SEP] 39, ButterKnife, 0.634, 0.911, -0.515, 0, 0, 0, 45 [SEP] 40, Bowl, 2.653, 0.724, -0.504, 0, 0, 0, 100 [SEP] 41, DishSponge, 0.215, 1.655, -0.810, 0, 180, 0, 85 [SEP] 42, Spoon, 1.155, 0.912, 1.044, 0, 0, 0, 80 [SEP] 43, Mug, 2.962, 1.558, -0.644, 0, 0, 0, 100 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 106, NorthWall, , , , , , , [SEP] 107, EastWall, , , , , , , [SEP] 108, SouthWall, , , , , , , [SEP] 109, WestWall, , , , , , , ", "output": ["STEP 1: Move forward to the round table. | STEP 2: Pick up the egg from the table. | STEP 3: Turn left twice, move forward, turn right, move forward to the microwave and turn left to face it. | STEP 4: Heat the egg in the microwave and remove it. | STEP 5: Turn to the left, move forward, turn to the left again and walk to the table. | STEP 6: Put the egg on the table. | END"]} {"id": "trial_T20190909_074332_993453-0", "input": "examine a pen by the light of the lamp on the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.909, -3.25, 0, 0, 0, [SEP] 1, Mug, -3.687, 0.979, -3.271, 0, 0, 0, 40 [SEP] 2, Mug, -3.760, 0.979, -3.673, 0, 0, 0, 40 [SEP] 3, CD, -3.526, 0.614, -3.276, 0, 0, 0, 41 [SEP] 4, CellPhone, -2.770, 0.620, -1.506, 0, 0, 0, 22 [SEP] 5, CellPhone, -2.559, 0.620, -1.793, 0, 0, 0, 22 [SEP] 6, Pen, -3.834, 0.986, -3.472, 0, 0, 0, 40 [SEP] 7, Pen, -3.638, 0.424, -3.370, 0, 0, 0, 48 [SEP] 8, KeyChain, -3.466, 0.980, -3.874, 0, 0, 0, 40 [SEP] 9, Book, -3.694, 0.226, -2.999, 0, 270, 0, 42 [SEP] 10, CellPhone, -2.348, 0.620, -1.218, 0, 0, 0, 22 [SEP] 11, Laptop, -2.981, 0.618, -2.080, 0, 0, 0, 22 [SEP] 12, CreditCard, -0.350, 0.189, -3.844, 0, 0, 0, 32 [SEP] 13, AlarmClock, -3.539, 0.981, -4.276, 0, 0, 0, 40 [SEP] 14, KeyChain, -0.596, 0.543, -3.749, 0, 0, 0, 31 [SEP] 15, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 22 [SEP] 16, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 17, Pencil, -0.240, 0.546, -3.657, 0, 0, 0, 31 [SEP] 18, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 22 [SEP] 19, CD, -1.474, 0.799, -3.920, 0, 0, 0, 37 [SEP] 20, Pen, -1.474, 0.805, -3.811, 0, 0, 0, 37 [SEP] 21, Mug, -0.453, 0.801, -4.029, 0, 0, 0, 37 [SEP] 22, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 23, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 24, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 25, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 26, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 27, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 28, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 29, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 30, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 31, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 32, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 33, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 34, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 35, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 36, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 37, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 38, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 39, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 40, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 41, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 42, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 45, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: turn to the left and move forward to the dresser that is to the left of the bed | STEP 2: pick up the pen that is on the dresser | STEP 3: turn around and move forward to the table with the lamp | STEP 4: turn on the lamp | END"]} {"id": "trial_T20190909_074332_993453-1", "input": "Turn on a lamp with a pen. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.909, -3.25, 0, 0, 0, [SEP] 1, Mug, -3.687, 0.979, -3.271, 0, 0, 0, 40 [SEP] 2, Mug, -3.760, 0.979, -3.673, 0, 0, 0, 40 [SEP] 3, CD, -3.526, 0.614, -3.276, 0, 0, 0, 41 [SEP] 4, CellPhone, -2.770, 0.620, -1.506, 0, 0, 0, 22 [SEP] 5, CellPhone, -2.559, 0.620, -1.793, 0, 0, 0, 22 [SEP] 6, Pen, -3.834, 0.986, -3.472, 0, 0, 0, 40 [SEP] 7, Pen, -3.638, 0.424, -3.370, 0, 0, 0, 48 [SEP] 8, KeyChain, -3.466, 0.980, -3.874, 0, 0, 0, 40 [SEP] 9, Book, -3.694, 0.226, -2.999, 0, 270, 0, 42 [SEP] 10, CellPhone, -2.348, 0.620, -1.218, 0, 0, 0, 22 [SEP] 11, Laptop, -2.981, 0.618, -2.080, 0, 0, 0, 22 [SEP] 12, CreditCard, -0.350, 0.189, -3.844, 0, 0, 0, 32 [SEP] 13, AlarmClock, -3.539, 0.981, -4.276, 0, 0, 0, 40 [SEP] 14, KeyChain, -0.596, 0.543, -3.749, 0, 0, 0, 31 [SEP] 15, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 22 [SEP] 16, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 17, Pencil, -0.240, 0.546, -3.657, 0, 0, 0, 31 [SEP] 18, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 22 [SEP] 19, CD, -1.474, 0.799, -3.920, 0, 0, 0, 37 [SEP] 20, Pen, -1.474, 0.805, -3.811, 0, 0, 0, 37 [SEP] 21, Mug, -0.453, 0.801, -4.029, 0, 0, 0, 37 [SEP] 22, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 23, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 24, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 25, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 26, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 27, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 28, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 29, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 30, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 31, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 32, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 33, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 34, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 35, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 36, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 37, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 38, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 39, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 40, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 41, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 42, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 45, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left then left again then turn to the right and go to the brown dresser. | STEP 2: Pick up the pen from the dresser. | STEP 3: Turn around and walk forward to the lamp. | STEP 4: Use the pen to turn on the lamp. | END"]} {"id": "trial_T20190908_074855_782261-2", "input": "Put the chilled 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, 270, 0, [SEP] 1, ButterKnife, -0.151, 0.911, 1.044, 0, 0, 0, 50 [SEP] 2, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 54 [SEP] 3, Pot, 1.422, 0.915, 1.383, 0, 0, 0, 74 [SEP] 4, Spoon, -1.056, 0.822, -1.257, 0, 90, 0, 98 [SEP] 5, Cup, -1.056, 0.818, -1.308, 0, 90, 0, 98 [SEP] 6, Cup, 2.653, 1.286, -0.709, 0, 0, 0, 94 [SEP] 7, Knife, 1.955, 0.944, 1.468, 0, 0, 0, 74 [SEP] 8, SoapBottle, 2.156, 0.917, -0.684, 0, 0, 0, 39 [SEP] 9, SoapBottle, 1.525, 0.120, 1.193, 0, 0, 0, 68 [SEP] 10, Tomato, -0.682, 0.852, -1.255, 0, 0, 0, 98 [SEP] 11, Tomato, -0.157, 0.797, -0.651, 0, 0, 0, 96 [SEP] 12, Bowl, 1.484, 1.653, -0.732, 0, 180, 0, 61 [SEP] 13, Bowl, 1.213, 0.112, 1.196, 0, 0, 0, 46 [SEP] 14, Lettuce, 1.141, 0.992, -0.769, 0, 0, 0, 39 [SEP] 15, Apple, -0.087, 0.834, -0.541, 0, 0, 0, 96 [SEP] 16, SoapBottle, 1.595, 0.120, -0.379, 0, 180, 0, 56 [SEP] 17, Plate, 2.488, 0.914, 1.383, 0, 0, 0, 74 [SEP] 18, Fork, 0.053, 0.766, -0.651, 0, 0, 0, 96 [SEP] 19, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 45 [SEP] 20, Bread, 2.754, 0.969, 1.214, 0, 0, 0, 74 [SEP] 21, Egg, -0.682, 0.858, -1.038, 0, 0, 0, 98 [SEP] 22, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 39 [SEP] 23, Tomato, -0.911, 0.852, -1.308, 0, 90, 0, 98 [SEP] 24, Cup, 2.900, 0.723, -0.473, 0, 0, 0, 94 [SEP] 25, Spatula, 2.221, 0.926, 1.553, 0, 270, 0, 74 [SEP] 26, Apple, -0.198, 0.980, 1.129, 0, 0, 0, 50 [SEP] 27, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 42 [SEP] 28, Lettuce, -0.151, 0.992, 1.299, 0, 0, 0, 50 [SEP] 29, SaltShaker, 1.688, 0.908, 1.553, 0, 0, 0, 74 [SEP] 30, Knife, 1.955, 0.944, 1.214, 0, 0, 0, 74 [SEP] 31, Potato, 1.688, 0.946, 1.299, 0, 0, 0, 74 [SEP] 32, PepperShaker, 2.488, 0.908, 1.129, 0, 0, 0, 74 [SEP] 33, ButterKnife, 1.688, 0.911, 1.214, 0, 0, 0, 74 [SEP] 34, Bowl, 2.838, 1.652, 1.432, 0, 0, 0, 40 [SEP] 35, DishSponge, 1.559, 1.655, -0.849, 0, 180, 0, 61 [SEP] 36, Spoon, 0.193, 0.766, -0.541, 0, 270, 0, 96 [SEP] 37, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 39 [SEP] 38, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 39, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 40, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 41, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 42, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 43, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 44, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 45, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 46, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 47, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 48, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 49, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 50, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 51, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 52, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 53, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 54, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 55, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 56, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 57, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 58, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 59, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 60, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 61, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 62, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 63, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 64, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 65, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 68, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 69, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 70, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 71, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 72, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 74, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 75, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 77, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 78, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 79, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 80, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 81, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 82, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 83, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 84, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 85, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 86, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 87, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 88, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 89, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 91, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 92, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 93, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 94, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 95, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 96, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 97, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 98, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 99, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 100, NorthWall, , , , , , , [SEP] 101, EastWall, , , , , , , [SEP] 102, SouthWall, , , , , , , [SEP] 103, WestWall, , , , , , , ", "output": ["STEP 1: Walk few steps then turn to your left then head to the coffee maker | STEP 2: Pick up the mug on the coffee maker | STEP 3: Turn around to your right, then turn right head towards the fridge | STEP 4: Open the fridge put in and out the the mug then close the door | STEP 5: Turn to your right then turn left face the coffee maker | STEP 6: Put the mug on the coffee maker | END"]} {"id": "trial_T20190909_040235_282356-1", "input": "Put keys on top of drawers SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.909, -1.25, 0, 180, 0, [SEP] 1, CD, -3.750, 0.809, -3.790, 0, 0, 0, 37 [SEP] 2, CD, -3.687, 0.979, -3.874, 0, 0, 0, 39 [SEP] 3, Pencil, -0.657, 0.803, -3.811, 0, 0, 0, 36 [SEP] 4, Pencil, -0.774, 0.546, -3.657, 0, 0, 0, 30 [SEP] 5, CreditCard, -0.240, 0.542, -3.694, 0, 0, 0, 30 [SEP] 6, CreditCard, -3.470, 0.614, -4.255, 0, 0, 0, 45 [SEP] 7, Laptop, -2.559, 0.618, -0.931, 0, 0, 0, 21 [SEP] 8, Book, -3.191, 0.620, -1.218, 0, 0, 0, 21 [SEP] 9, CellPhone, -0.249, 0.800, -4.137, 0, 0, 0, 36 [SEP] 10, Laptop, -2.770, 0.618, -1.793, 0, 0, 0, 21 [SEP] 11, CreditCard, -0.418, 0.542, -3.676, 0, 0, 0, 30 [SEP] 12, AlarmClock, -3.834, 0.979, -3.472, 0, 0, 0, 39 [SEP] 13, KeyChain, -3.834, 0.980, -3.673, 0, 0, 0, 39 [SEP] 14, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 21 [SEP] 15, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 16, Pencil, -3.908, 0.983, -3.271, 0, 0, 0, 39 [SEP] 17, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 21 [SEP] 18, CD, -3.638, 0.614, -4.348, 0, 0, 0, 45 [SEP] 19, Pen, -3.751, 0.424, -3.885, 0, 0, 0, 42 [SEP] 20, Mug, -1.066, 0.801, -4.029, 0, 0, 0, 36 [SEP] 21, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 22, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 23, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 24, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 25, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 26, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 27, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 28, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 29, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 30, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 31, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 32, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 33, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 34, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 35, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 36, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 37, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 38, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 39, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 40, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 41, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 42, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 44, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 48, NorthWall, , , , , , , [SEP] 49, EastWall, , , , , , , [SEP] 50, SouthWall, , , , , , , [SEP] 51, WestWall, , , , , , , ", "output": ["STEP 1: Move around the bed to the dresser | STEP 2: Pick up the keys from the top of the dresser | STEP 3: Turn around and go to the desk | STEP 4: Place the keys on the drawers under the desk | END"]} {"id": "trial_T20190908_182516_451816-1", "input": "Put a heated egg on a round table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 0.25, 0, 180, 0, [SEP] 1, Potato, 2.653, 1.323, -0.840, 0, 0, 0, 99 [SEP] 2, ButterKnife, 0.634, 0.911, -0.430, 0, 0, 0, 44 [SEP] 3, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 59 [SEP] 4, Pot, 1.872, 0.118, -0.458, 0, 180, 0, 90 [SEP] 5, Fork, 1.524, 0.772, -0.422, 0, 270, 0, 74 [SEP] 6, Fork, -0.227, 0.771, 1.160, 0, 90, 0, 49 [SEP] 7, Plate, 0.707, 2.156, 1.468, 0, 0, 0, 53 [SEP] 8, Plate, 0.178, 1.658, -0.771, 0, 180, 0, 84 [SEP] 9, Egg, -0.887, 0.858, -1.328, 0, 0, 0, 103 [SEP] 10, Egg, 2.156, 0.949, -0.769, 0, 0, 0, 44 [SEP] 11, Knife, 1.688, 0.944, 1.299, 0, 0, 0, 79 [SEP] 12, Knife, 2.488, 0.944, 1.129, 0, 0, 0, 79 [SEP] 13, SoapBottle, 1.176, 0.120, 1.117, 0, 0, 0, 51 [SEP] 14, SoapBottle, 1.141, 0.917, -0.345, 0, 0, 0, 44 [SEP] 15, Tomato, 1.155, 0.942, 1.383, 0, 0, 0, 79 [SEP] 16, Bowl, -0.175, 1.652, -0.772, 0, 180, 0, 86 [SEP] 17, Bowl, 2.838, 1.286, -0.709, 0, 0, 0, 99 [SEP] 18, Bread, -0.198, 0.969, 1.129, 0, 0, 0, 55 [SEP] 19, Lettuce, 2.754, 0.992, 1.383, 0, 0, 0, 79 [SEP] 20, Apple, 1.141, 0.980, -0.769, 0, 0, 0, 44 [SEP] 21, SoapBottle, -0.694, 0.826, -1.308, 0, 90, 0, 103 [SEP] 22, Plate, 1.688, 0.914, 1.129, 0, 0, 0, 79 [SEP] 23, Fork, 1.799, 0.771, 1.198, 0, 270, 0, 77 [SEP] 24, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 25, Bread, 1.955, 0.969, 1.383, 0, 0, 0, 79 [SEP] 26, Egg, 0.123, 0.803, -0.651, 0, 0, 0, 101 [SEP] 27, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 44 [SEP] 28, Tomato, -0.983, 0.852, -1.360, 0, 90, 0, 103 [SEP] 29, Cup, -0.151, 0.909, 1.468, 0, 0, 0, 55 [SEP] 30, Spatula, 0.053, 0.780, -0.707, 0, 90, 0, 101 [SEP] 31, Apple, -1.991, 0.492, 1.459, 0, 270, 0, 97 [SEP] 32, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 47 [SEP] 33, Lettuce, 1.422, 0.992, 1.468, 0, 0, 0, 79 [SEP] 34, SaltShaker, -0.234, 0.111, 1.156, 0, 0, 0, 72 [SEP] 35, Knife, 2.488, 0.944, 1.299, 0, 0, 0, 79 [SEP] 36, Potato, -0.734, 0.855, -1.183, 0, 0, 0, 103 [SEP] 37, PepperShaker, -0.887, 0.817, -1.400, 0, 0, 0, 103 [SEP] 38, ButterKnife, -0.294, 0.911, 1.299, 0, 90, 0, 55 [SEP] 39, Bowl, 0.888, 0.909, -0.515, 0, 0, 0, 44 [SEP] 40, DishSponge, 1.649, 0.911, -0.345, 0, 0, 0, 74 [SEP] 41, Spoon, -0.087, 0.766, -0.596, 0, 0, 0, 101 [SEP] 42, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 44 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 105, NorthWall, , , , , , , [SEP] 106, EastWall, , , , , , , [SEP] 107, SouthWall, , , , , , , [SEP] 108, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk over to the sink. | STEP 2: Pick up the egg out of the sink. | STEP 3: Walk over to the oven that is behind you and look up at the microwave. | STEP 4: Open the microwave and put the egg inside, then close the door and turn on the microwave, after a couple seconds take the egg out of the microwave and close the door. | STEP 5: Turn left and walk towards the window, then hang a left and walk over to the round table. | STEP 6: Put the heated egg on the round table. | END"]} {"id": "trial_T20190908_182516_451816-2", "input": "To heat an egg and put it down on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 0.25, 0, 180, 0, [SEP] 1, Potato, 2.653, 1.323, -0.840, 0, 0, 0, 99 [SEP] 2, ButterKnife, 0.634, 0.911, -0.430, 0, 0, 0, 44 [SEP] 3, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 59 [SEP] 4, Pot, 1.872, 0.118, -0.458, 0, 180, 0, 90 [SEP] 5, Fork, 1.524, 0.772, -0.422, 0, 270, 0, 74 [SEP] 6, Fork, -0.227, 0.771, 1.160, 0, 90, 0, 49 [SEP] 7, Plate, 0.707, 2.156, 1.468, 0, 0, 0, 53 [SEP] 8, Plate, 0.178, 1.658, -0.771, 0, 180, 0, 84 [SEP] 9, Egg, -0.887, 0.858, -1.328, 0, 0, 0, 103 [SEP] 10, Egg, 2.156, 0.949, -0.769, 0, 0, 0, 44 [SEP] 11, Knife, 1.688, 0.944, 1.299, 0, 0, 0, 79 [SEP] 12, Knife, 2.488, 0.944, 1.129, 0, 0, 0, 79 [SEP] 13, SoapBottle, 1.176, 0.120, 1.117, 0, 0, 0, 51 [SEP] 14, SoapBottle, 1.141, 0.917, -0.345, 0, 0, 0, 44 [SEP] 15, Tomato, 1.155, 0.942, 1.383, 0, 0, 0, 79 [SEP] 16, Bowl, -0.175, 1.652, -0.772, 0, 180, 0, 86 [SEP] 17, Bowl, 2.838, 1.286, -0.709, 0, 0, 0, 99 [SEP] 18, Bread, -0.198, 0.969, 1.129, 0, 0, 0, 55 [SEP] 19, Lettuce, 2.754, 0.992, 1.383, 0, 0, 0, 79 [SEP] 20, Apple, 1.141, 0.980, -0.769, 0, 0, 0, 44 [SEP] 21, SoapBottle, -0.694, 0.826, -1.308, 0, 90, 0, 103 [SEP] 22, Plate, 1.688, 0.914, 1.129, 0, 0, 0, 79 [SEP] 23, Fork, 1.799, 0.771, 1.198, 0, 270, 0, 77 [SEP] 24, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 25, Bread, 1.955, 0.969, 1.383, 0, 0, 0, 79 [SEP] 26, Egg, 0.123, 0.803, -0.651, 0, 0, 0, 101 [SEP] 27, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 44 [SEP] 28, Tomato, -0.983, 0.852, -1.360, 0, 90, 0, 103 [SEP] 29, Cup, -0.151, 0.909, 1.468, 0, 0, 0, 55 [SEP] 30, Spatula, 0.053, 0.780, -0.707, 0, 90, 0, 101 [SEP] 31, Apple, -1.991, 0.492, 1.459, 0, 270, 0, 97 [SEP] 32, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 47 [SEP] 33, Lettuce, 1.422, 0.992, 1.468, 0, 0, 0, 79 [SEP] 34, SaltShaker, -0.234, 0.111, 1.156, 0, 0, 0, 72 [SEP] 35, Knife, 2.488, 0.944, 1.299, 0, 0, 0, 79 [SEP] 36, Potato, -0.734, 0.855, -1.183, 0, 0, 0, 103 [SEP] 37, PepperShaker, -0.887, 0.817, -1.400, 0, 0, 0, 103 [SEP] 38, ButterKnife, -0.294, 0.911, 1.299, 0, 90, 0, 55 [SEP] 39, Bowl, 0.888, 0.909, -0.515, 0, 0, 0, 44 [SEP] 40, DishSponge, 1.649, 0.911, -0.345, 0, 0, 0, 74 [SEP] 41, Spoon, -0.087, 0.766, -0.596, 0, 0, 0, 101 [SEP] 42, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 44 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 105, NorthWall, , , , , , , [SEP] 106, EastWall, , , , , , , [SEP] 107, SouthWall, , , , , , , [SEP] 108, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the sink on the left. | STEP 2: Pick up the egg from the sink. | STEP 3: Turn around and walk to the stove and look up at the microwave above the stove. | STEP 4: Open the microwave door, put the egg inside of the microwave, close the door, heat the egg, open the door, take the egg out of the microwave, and close the door. | STEP 5: Turn left, turn left at the window, walk to the small table. | STEP 6: Put the egg down on the table in front of the tomato. | END"]} {"id": "trial_T20190907_211751_246871-2", "input": "Put a statue in front of a television. 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, 4.5, 0, 0, 0, [SEP] 1, Bowl, -2.631, 0.535, 4.335, 0, 270, 0, 59 [SEP] 2, Bowl, -0.636, 0.795, 2.377, 0, 270, 0, 44 [SEP] 3, Watch, -5.949, 1.280, 4.808, 0, 0, 0, 56 [SEP] 4, Watch, -5.960, 0.453, 4.152, 0, 0, 0, 54 [SEP] 5, KeyChain, -2.561, 0.534, 3.752, 0, 270, 0, 59 [SEP] 6, CreditCard, -0.433, 0.793, 2.127, 0, 270, 0, 44 [SEP] 7, RemoteControl, -2.422, 0.536, 4.335, 0, 270, 0, 59 [SEP] 8, RemoteControl, -0.947, 0.369, 3.915, 0, 0, 0, 42 [SEP] 9, Box, -2.640, 1.443, 7.171, 0, 90, 0, 58 [SEP] 10, Statue, -3.557, 1.285, 7.171, 0, 90, 0, 58 [SEP] 11, Vase, -2.182, 1.280, 7.108, 0, 90, 0, 58 [SEP] 12, Vase, -6.075, 1.289, 4.120, 0, 0, 0, 56 [SEP] 13, Newspaper, -5.592, 0.532, 6.647, 0, 45, 0, 60 [SEP] 14, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 59 [SEP] 15, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 16, Vase, -0.636, 0.794, 1.626, 0, 270, 0, 44 [SEP] 17, CreditCard, -1.026, 0.367, 4.524, 0, 0, 0, 42 [SEP] 18, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 56 [SEP] 19, KeyChain, -0.552, 0.367, 3.306, 0, 0, 0, 42 [SEP] 20, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 54 [SEP] 21, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 54 [SEP] 22, Bowl, -5.366, 0.535, 6.873, 0, 135, 0, 60 [SEP] 23, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 42 [SEP] 24, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 56 [SEP] 25, RemoteControl, -0.636, 0.796, 5.726, 0, 270, 0, 43 [SEP] 26, Watch, -2.277, 0.453, 7.221, 0, 90, 0, 51 [SEP] 27, Statue, -5.998, 0.460, 4.547, 0, 0, 0, 54 [SEP] 28, Statue, -2.277, 0.881, 7.208, 0, 180, 0, 51 [SEP] 29, Statue, -2.716, 0.442, 7.115, 0, 0, 0, 51 [SEP] 30, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 58 [SEP] 31, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 32, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 33, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 34, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 35, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 36, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 37, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 38, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 39, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 40, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 41, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 42, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 43, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 44, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 45, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 46, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 47, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 48, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 49, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 50, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 51, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 52, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 53, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 54, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 55, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 56, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 57, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 58, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 59, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 60, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left and face the black shelves to the left. | STEP 2: Pick the statue up from the shelf. | STEP 3: Turn to the right and face the television. | STEP 4: Put the statue down in front of the television | END"]} {"id": "trial_T20190906_191824_139023-1", "input": "Put a heated mug in the cabinet above the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.931, -0.5, 0, 180, 0, [SEP] 1, DishSponge, -0.432, 1.046, -1.505, 0, 0, 0, 46 [SEP] 2, Kettle, 0.801, 0.200, -1.267, 0, 0, 0, 57 [SEP] 3, Kettle, 1.068, 0.200, -1.339, 0, 0, 0, 57 [SEP] 4, Fork, 1.612, 1.043, 0.091, 0, 0, 0, 48 [SEP] 5, Spoon, 0.892, 1.054, 0.231, 0, 180, 0, 44 [SEP] 6, Spatula, 0.516, 1.058, 0.589, 0, 90, 0, 48 [SEP] 7, Spatula, 1.790, 1.058, 0.630, 0, 0, 0, 48 [SEP] 8, Cup, 0.989, 1.047, -1.181, 0, 0, 0, 46 [SEP] 9, Plate, -0.517, 1.059, -1.289, 0, 0, 0, 46 [SEP] 10, Plate, -1.106, 2.041, -1.337, 0, 0, 0, 53 [SEP] 11, SoapBottle, 1.968, 1.044, 0.091, 0, 0, 0, 48 [SEP] 12, Bowl, -0.491, 0.202, -1.553, 0, 0, 0, 55 [SEP] 13, Bowl, -1.300, 1.227, 1.974, 0, 90, 0, 61 [SEP] 14, PepperShaker, 0.848, 1.038, 0.545, 0, 0, 0, 48 [SEP] 15, PepperShaker, -0.323, 1.560, -1.545, 0, 0, 0, 51 [SEP] 16, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 64 [SEP] 17, Mug, 1.347, 1.038, 0.763, 0, 0, 0, 48 [SEP] 18, Apple, 1.151, 0.936, 0.194, 0, 90, 0, 43 [SEP] 19, Apple, 1.879, 1.086, 0.091, 0, 0, 0, 48 [SEP] 20, SoapBottle, 0.936, 1.056, 0.331, 0, 90, 0, 44 [SEP] 21, Apple, -1.194, 1.759, -1.238, 0, 0, 0, 60 [SEP] 22, Potato, 1.882, 0.175, 2.358, 0, 270, 0, 62 [SEP] 23, Fork, 0.031, 1.033, 0.122, 0, 0, 0, 48 [SEP] 24, Kettle, 0.250, 1.057, -1.4, 0, 0, 0, 58 [SEP] 25, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 46 [SEP] 26, Tomato, -1.268, 1.999, 2.242, 0, 90, 0, 61 [SEP] 27, SaltShaker, -0.760, 0.198, -1.625, 0, 0, 0, 55 [SEP] 28, Egg, -1.096, 1.770, -1.269, 0, 0, 0, 60 [SEP] 29, Cup, -1.386, 1.713, 1.796, 0, 90, 0, 61 [SEP] 30, Spatula, 1.238, 1.061, -1.181, 0, 0, 0, 46 [SEP] 31, Knife, 0.446, 1.069, 0.630, 0, 90, 0, 48 [SEP] 32, Lettuce, -1.381, 1.548, 1.974, 0, 90, 0, 61 [SEP] 33, ButterKnife, 0.160, 1.043, 0.738, 0, 0, 0, 48 [SEP] 34, PepperShaker, 1.665, 0.199, -1.335, 0, 0, 0, 56 [SEP] 35, DishSponge, -0.670, 0.203, -1.337, 0, 0, 0, 55 [SEP] 36, Plate, -1.339, 0.215, -1.338, 0, 0, 0, 54 [SEP] 37, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 48 [SEP] 38, Spoon, 0.657, 1.048, -1.118, 0, 0, 0, 46 [SEP] 39, Pot, 0.000, 1.057, -1.4, 0, 0, 0, 45 [SEP] 40, Mug, 0.065, 1.038, 0.630, 0, 0, 0, 48 [SEP] 41, Bowl, 1.741, 0.203, -1.480, 0, 0, 0, 56 [SEP] 42, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 43, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 44, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 45, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 46, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 47, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 48, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 49, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 50, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 51, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 52, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 53, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 54, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 55, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 56, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 57, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 58, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 59, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 60, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 61, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 62, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 63, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 64, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 65, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 66, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 70, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 71, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 72, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 73, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 74, NorthWall, , , , , , , [SEP] 75, EastWall, , , , , , , [SEP] 76, SouthWall, , , , , , , [SEP] 77, WestWall, , , , , , , ", "output": ["STEP 1: Move the the counter right of the sink. | STEP 2: Pick up the mug from the coffee machine. | STEP 3: Bring the mug to the microwave. | STEP 4: Heat the mug in the microwave. | STEP 5: Bring the heated mug to the cabinet above the microwave. | STEP 6: Put the heated mug in the cabinet above the microwave. | END"]} {"id": "trial_T20190906_191824_139023-2", "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, -1.25, 0.931, -0.5, 0, 180, 0, [SEP] 1, DishSponge, -0.432, 1.046, -1.505, 0, 0, 0, 46 [SEP] 2, Kettle, 0.801, 0.200, -1.267, 0, 0, 0, 57 [SEP] 3, Kettle, 1.068, 0.200, -1.339, 0, 0, 0, 57 [SEP] 4, Fork, 1.612, 1.043, 0.091, 0, 0, 0, 48 [SEP] 5, Spoon, 0.892, 1.054, 0.231, 0, 180, 0, 44 [SEP] 6, Spatula, 0.516, 1.058, 0.589, 0, 90, 0, 48 [SEP] 7, Spatula, 1.790, 1.058, 0.630, 0, 0, 0, 48 [SEP] 8, Cup, 0.989, 1.047, -1.181, 0, 0, 0, 46 [SEP] 9, Plate, -0.517, 1.059, -1.289, 0, 0, 0, 46 [SEP] 10, Plate, -1.106, 2.041, -1.337, 0, 0, 0, 53 [SEP] 11, SoapBottle, 1.968, 1.044, 0.091, 0, 0, 0, 48 [SEP] 12, Bowl, -0.491, 0.202, -1.553, 0, 0, 0, 55 [SEP] 13, Bowl, -1.300, 1.227, 1.974, 0, 90, 0, 61 [SEP] 14, PepperShaker, 0.848, 1.038, 0.545, 0, 0, 0, 48 [SEP] 15, PepperShaker, -0.323, 1.560, -1.545, 0, 0, 0, 51 [SEP] 16, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 64 [SEP] 17, Mug, 1.347, 1.038, 0.763, 0, 0, 0, 48 [SEP] 18, Apple, 1.151, 0.936, 0.194, 0, 90, 0, 43 [SEP] 19, Apple, 1.879, 1.086, 0.091, 0, 0, 0, 48 [SEP] 20, SoapBottle, 0.936, 1.056, 0.331, 0, 90, 0, 44 [SEP] 21, Apple, -1.194, 1.759, -1.238, 0, 0, 0, 60 [SEP] 22, Potato, 1.882, 0.175, 2.358, 0, 270, 0, 62 [SEP] 23, Fork, 0.031, 1.033, 0.122, 0, 0, 0, 48 [SEP] 24, Kettle, 0.250, 1.057, -1.4, 0, 0, 0, 58 [SEP] 25, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 46 [SEP] 26, Tomato, -1.268, 1.999, 2.242, 0, 90, 0, 61 [SEP] 27, SaltShaker, -0.760, 0.198, -1.625, 0, 0, 0, 55 [SEP] 28, Egg, -1.096, 1.770, -1.269, 0, 0, 0, 60 [SEP] 29, Cup, -1.386, 1.713, 1.796, 0, 90, 0, 61 [SEP] 30, Spatula, 1.238, 1.061, -1.181, 0, 0, 0, 46 [SEP] 31, Knife, 0.446, 1.069, 0.630, 0, 90, 0, 48 [SEP] 32, Lettuce, -1.381, 1.548, 1.974, 0, 90, 0, 61 [SEP] 33, ButterKnife, 0.160, 1.043, 0.738, 0, 0, 0, 48 [SEP] 34, PepperShaker, 1.665, 0.199, -1.335, 0, 0, 0, 56 [SEP] 35, DishSponge, -0.670, 0.203, -1.337, 0, 0, 0, 55 [SEP] 36, Plate, -1.339, 0.215, -1.338, 0, 0, 0, 54 [SEP] 37, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 48 [SEP] 38, Spoon, 0.657, 1.048, -1.118, 0, 0, 0, 46 [SEP] 39, Pot, 0.000, 1.057, -1.4, 0, 0, 0, 45 [SEP] 40, Mug, 0.065, 1.038, 0.630, 0, 0, 0, 48 [SEP] 41, Bowl, 1.741, 0.203, -1.480, 0, 0, 0, 56 [SEP] 42, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 43, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 44, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 45, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 46, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 47, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 48, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 49, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 50, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 51, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 52, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 53, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 54, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 55, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 56, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 57, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 58, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 59, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 60, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 61, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 62, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 63, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 64, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 65, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 66, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 70, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 71, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 72, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 73, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 74, NorthWall, , , , , , , [SEP] 75, EastWall, , , , , , , [SEP] 76, SouthWall, , , , , , , [SEP] 77, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk all the way to the wall and face left. | STEP 2: Pick up the mug out of the coffee maker. | STEP 3: Turn around and walk to the wall. Face the microwave on the left. | STEP 4: Heat the mug in the microwave. | STEP 5: Look up at the cabinet. | STEP 6: Place the mug in the right side of the cabinet. | END"]} {"id": "trial_T20190919_055146_844513-1", "input": "Place a bowl filled with a lettuce slice and a butterknife 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, 1.5, 0.900, 0.5, 0, 180, 0, [SEP] 1, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 52 [SEP] 2, Pan, 0.825, 1.655, -0.771, 0, 180, 0, 59 [SEP] 3, DishSponge, 1.522, 0.114, -0.498, 0, 180, 0, 66 [SEP] 4, DishSponge, 1.490, 0.771, 1.122, 0, 0, 0, 67 [SEP] 5, ButterKnife, 1.155, 0.911, 1.468, 0, 0, 0, 84 [SEP] 6, ButterKnife, 2.221, 0.911, 1.129, 0, 0, 0, 84 [SEP] 7, Fork, 1.902, 0.912, -0.345, 0, 0, 0, 49 [SEP] 8, Fork, 2.488, 0.912, 1.129, 0, 0, 0, 84 [SEP] 9, Spatula, -0.246, 0.926, 1.553, 0, 270, 0, 60 [SEP] 10, Spatula, 1.955, 0.926, 1.299, 0, 90, 0, 84 [SEP] 11, Plate, 0.178, 1.658, -0.771, 0, 180, 0, 89 [SEP] 12, Cup, 1.141, 0.909, -0.854, 0, 0, 0, 49 [SEP] 13, Cup, 2.124, 0.112, -0.458, 0, 180, 0, 90 [SEP] 14, Egg, 2.838, 1.056, -0.578, 0, 0, 0, 104 [SEP] 15, Egg, -1.933, 0.461, 1.375, 0, 270, 0, 102 [SEP] 16, Knife, 2.754, 0.944, 1.214, 0, 0, 0, 84 [SEP] 17, Knife, -0.836, 0.853, -1.400, 0, 0, 0, 108 [SEP] 18, Tomato, -0.246, 0.942, 1.044, 0, 0, 0, 60 [SEP] 19, Bowl, 1.688, 0.909, 1.383, 0, 0, 0, 84 [SEP] 20, PepperShaker, 2.767, 0.110, 1.081, 0, 0, 0, 81 [SEP] 21, PepperShaker, 1.066, 1.651, 1.429, 0, 0, 0, 76 [SEP] 22, Bread, 2.715, 1.346, -0.709, 0, 0, 0, 104 [SEP] 23, Lettuce, 2.488, 0.992, 1.468, 0, 0, 0, 84 [SEP] 24, Lettuce, 1.955, 0.992, 1.129, 0, 0, 0, 84 [SEP] 25, Lettuce, -0.103, 0.992, 1.214, 0, 90, 0, 60 [SEP] 26, SoapBottle, -0.839, 0.826, -1.155, 0, 90, 0, 108 [SEP] 27, Plate, 1.422, 0.914, 1.468, 0, 0, 0, 84 [SEP] 28, Fork, 2.155, 0.772, 1.198, 0, 270, 0, 80 [SEP] 29, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 55 [SEP] 30, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 49 [SEP] 31, Egg, 2.754, 0.949, 1.383, 0, 0, 0, 84 [SEP] 32, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 49 [SEP] 33, Tomato, -1.991, 0.455, 1.459, 0, 270, 0, 102 [SEP] 34, Cup, 1.210, 0.112, -0.383, 0, 180, 0, 57 [SEP] 35, Spatula, 0.123, 0.780, -0.707, 0, 90, 0, 106 [SEP] 36, Apple, 2.653, 0.794, -0.535, 0, 0, 0, 104 [SEP] 37, Pan, 1.688, 0.911, 1.129, 0, 0, 0, 84 [SEP] 38, Lettuce, 2.221, 0.992, 1.468, 0, 0, 0, 84 [SEP] 39, SaltShaker, 1.827, 0.111, 1.236, 0, 0, 0, 69 [SEP] 40, Knife, -0.734, 0.853, -1.255, 0, 270, 0, 108 [SEP] 41, Potato, -0.983, 0.855, -1.257, 0, 90, 0, 108 [SEP] 42, PepperShaker, -0.621, 0.817, -1.308, 0, 90, 0, 108 [SEP] 43, ButterKnife, -0.694, 0.820, -1.206, 0, 90, 0, 108 [SEP] 44, Bowl, 1.872, 1.652, -0.811, 0, 180, 0, 86 [SEP] 45, DishSponge, 2.205, 0.770, -0.422, 0, 180, 0, 62 [SEP] 46, Spoon, -0.157, 0.766, -0.707, 0, 90, 0, 106 [SEP] 47, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 49 [SEP] 48, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 49, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 50, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 51, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 52, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 53, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 54, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 55, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 56, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 57, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 58, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 59, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 60, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 61, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 62, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 63, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 64, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 65, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 67, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 68, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 69, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 70, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 71, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 72, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 77, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 79, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 80, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 82, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 84, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 85, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 86, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 87, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 88, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 89, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 90, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 91, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 92, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 93, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 94, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 95, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 96, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 99, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 100, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 101, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 102, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 103, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 104, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 105, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 106, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 107, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 108, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 109, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 110, NorthWall, , , , , , , [SEP] 111, EastWall, , , , , , , [SEP] 112, SouthWall, , , , , , , [SEP] 113, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the counter right of the stove | STEP 2: Pick up a butterknife from the counter | STEP 3: Go to the right where the lettuce is on the counter | STEP 4: Cut the lettuce on the left | STEP 5: Turn around and go to the cupboards | STEP 6: Place the butterknife in the bowl in the cupboard | STEP 7: Go to the lettuce on the counter | STEP 8: Pick up a slice of lettuce | STEP 9: Go to the cupboards | STEP 10: Place the lettuce in the bowl in the cupboards | STEP 11: Take the bowl out of the cupboard | STEP 12: Go to the fridge | STEP 13: Place the bowl in the fridge | END"]} {"id": "trial_T20190919_055146_844513-2", "input": "Put the blue bowl with the knife and cut lettuce 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, 1.5, 0.900, 0.5, 0, 180, 0, [SEP] 1, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 52 [SEP] 2, Pan, 0.825, 1.655, -0.771, 0, 180, 0, 59 [SEP] 3, DishSponge, 1.522, 0.114, -0.498, 0, 180, 0, 66 [SEP] 4, DishSponge, 1.490, 0.771, 1.122, 0, 0, 0, 67 [SEP] 5, ButterKnife, 1.155, 0.911, 1.468, 0, 0, 0, 84 [SEP] 6, ButterKnife, 2.221, 0.911, 1.129, 0, 0, 0, 84 [SEP] 7, Fork, 1.902, 0.912, -0.345, 0, 0, 0, 49 [SEP] 8, Fork, 2.488, 0.912, 1.129, 0, 0, 0, 84 [SEP] 9, Spatula, -0.246, 0.926, 1.553, 0, 270, 0, 60 [SEP] 10, Spatula, 1.955, 0.926, 1.299, 0, 90, 0, 84 [SEP] 11, Plate, 0.178, 1.658, -0.771, 0, 180, 0, 89 [SEP] 12, Cup, 1.141, 0.909, -0.854, 0, 0, 0, 49 [SEP] 13, Cup, 2.124, 0.112, -0.458, 0, 180, 0, 90 [SEP] 14, Egg, 2.838, 1.056, -0.578, 0, 0, 0, 104 [SEP] 15, Egg, -1.933, 0.461, 1.375, 0, 270, 0, 102 [SEP] 16, Knife, 2.754, 0.944, 1.214, 0, 0, 0, 84 [SEP] 17, Knife, -0.836, 0.853, -1.400, 0, 0, 0, 108 [SEP] 18, Tomato, -0.246, 0.942, 1.044, 0, 0, 0, 60 [SEP] 19, Bowl, 1.688, 0.909, 1.383, 0, 0, 0, 84 [SEP] 20, PepperShaker, 2.767, 0.110, 1.081, 0, 0, 0, 81 [SEP] 21, PepperShaker, 1.066, 1.651, 1.429, 0, 0, 0, 76 [SEP] 22, Bread, 2.715, 1.346, -0.709, 0, 0, 0, 104 [SEP] 23, Lettuce, 2.488, 0.992, 1.468, 0, 0, 0, 84 [SEP] 24, Lettuce, 1.955, 0.992, 1.129, 0, 0, 0, 84 [SEP] 25, Lettuce, -0.103, 0.992, 1.214, 0, 90, 0, 60 [SEP] 26, SoapBottle, -0.839, 0.826, -1.155, 0, 90, 0, 108 [SEP] 27, Plate, 1.422, 0.914, 1.468, 0, 0, 0, 84 [SEP] 28, Fork, 2.155, 0.772, 1.198, 0, 270, 0, 80 [SEP] 29, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 55 [SEP] 30, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 49 [SEP] 31, Egg, 2.754, 0.949, 1.383, 0, 0, 0, 84 [SEP] 32, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 49 [SEP] 33, Tomato, -1.991, 0.455, 1.459, 0, 270, 0, 102 [SEP] 34, Cup, 1.210, 0.112, -0.383, 0, 180, 0, 57 [SEP] 35, Spatula, 0.123, 0.780, -0.707, 0, 90, 0, 106 [SEP] 36, Apple, 2.653, 0.794, -0.535, 0, 0, 0, 104 [SEP] 37, Pan, 1.688, 0.911, 1.129, 0, 0, 0, 84 [SEP] 38, Lettuce, 2.221, 0.992, 1.468, 0, 0, 0, 84 [SEP] 39, SaltShaker, 1.827, 0.111, 1.236, 0, 0, 0, 69 [SEP] 40, Knife, -0.734, 0.853, -1.255, 0, 270, 0, 108 [SEP] 41, Potato, -0.983, 0.855, -1.257, 0, 90, 0, 108 [SEP] 42, PepperShaker, -0.621, 0.817, -1.308, 0, 90, 0, 108 [SEP] 43, ButterKnife, -0.694, 0.820, -1.206, 0, 90, 0, 108 [SEP] 44, Bowl, 1.872, 1.652, -0.811, 0, 180, 0, 86 [SEP] 45, DishSponge, 2.205, 0.770, -0.422, 0, 180, 0, 62 [SEP] 46, Spoon, -0.157, 0.766, -0.707, 0, 90, 0, 106 [SEP] 47, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 49 [SEP] 48, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 49, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 50, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 51, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 52, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 53, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 54, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 55, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 56, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 57, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 58, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 59, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 60, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 61, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 62, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 63, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 64, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 65, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 67, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 68, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 69, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 70, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 71, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 72, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 77, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 79, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 80, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 82, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 84, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 85, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 86, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 87, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 88, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 89, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 90, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 91, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 92, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 93, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 94, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 95, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 96, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 99, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 100, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 101, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 102, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 103, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 104, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 105, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 106, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 107, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 108, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 109, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 110, NorthWall, , , , , , , [SEP] 111, EastWall, , , , , , , [SEP] 112, SouthWall, , , , , , , [SEP] 113, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the counter top on the right of the stove. | STEP 2: Pick up the gray knife on the left of the blue plate on the counter. | STEP 3: Move over to the right side of the counter in front of the lettuce. | STEP 4: Cut the lettuce on the right of the spatula towards the back. | STEP 5: Turn around and go to the cabinet above the coffee machine. | STEP 6: Place the knife in the blue bowl in the cabinet. | STEP 7: Turn around and go back to the counter with the cut lettuce. | STEP 8: Pick up one piece of the lettuce. | STEP 9: Turn around and go back to the cabinet with the blue bowl. | STEP 10: Place the lettuce inside the blue bowl. | STEP 11: Take out the blue bowl with the knife and lettuce inside. | STEP 12: Turn left and go to the front of the refrigerator. | STEP 13: Place the blue bowl with the knife and lettuce in it on the shelf next to the apple. | END"]} {"id": "trial_T20190907_002230_575700-1", "input": "put both of the tissue boxes on top of the bathroom toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.903, 1.75, 0, 0, 0, [SEP] 1, TissueBox, -1.144, 0.289, 2.127, 0, 0, 0, 28 [SEP] 2, TissueBox, -1.144, 1.070, 2.157, 0, 0, 0, 32 [SEP] 3, Cloth, 0.124, 0.048, 0.611, 0, 0, 0, 31 [SEP] 4, Cloth, 0.206, 0.048, -0.071, 0, 0, 0, 31 [SEP] 5, SoapBar, 0.206, 0.043, 0.384, 0, 0, 0, 31 [SEP] 6, SoapBar, 0.536, 0.043, 1.067, 0, 0, 0, 31 [SEP] 7, Candle, -1.471, 1.111, 2.067, 0, 0, 0, 32 [SEP] 8, Candle, -0.653, 1.814, 2.067, 0, 0, 0, 32 [SEP] 9, SprayBottle, -1.308, 0.289, 2.187, 0, 0, 0, 28 [SEP] 10, SprayBottle, -0.653, 1.774, 2.157, 0, 0, 0, 30 [SEP] 11, Candle, -0.817, 1.111, 2.097, 0, 0, 0, 32 [SEP] 12, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 34 [SEP] 13, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 14, SoapBar, 0.371, 0.043, -0.071, 0, 0, 0, 31 [SEP] 15, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 27 [SEP] 16, SoapBottle, -0.229, 0.611, -0.347, 0, 315, 0, 24 [SEP] 17, TissueBox, -1.471, 1.773, 2.097, 0, 0, 0, 30 [SEP] 18, Cloth, 0.453, 0.048, 1.295, 0, 0, 0, 31 [SEP] 19, ToiletPaper, -0.653, 1.066, 2.217, 0, 0, 0, 32 [SEP] 20, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 26 [SEP] 21, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 22, SprayBottle, -1.308, 1.774, 2.097, 0, 0, 0, 30 [SEP] 23, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 24, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 25, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 26, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 27, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 28, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 29, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 30, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 31, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 32, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 33, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 34, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 35, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 36, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 37, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 38, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 39, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 40, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 41, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: walk over to the bathroom shelves | STEP 2: pick up a box of tissues | STEP 3: bring the box of tissues over to the toilet | STEP 4: put the box of tissues on top of the toilet | STEP 5: turn around and walk back over to the bathroom shelves | STEP 6: pick up the box of tissues off the top shelf | STEP 7: walk back over to the toilet | STEP 8: put the tissue box on its side next to the other tissue box | END"]} {"id": "trial_T20190907_181201_854866-1", "input": "Place both books 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, -2.25, 0.909, -3.75, 0, 90, 0, [SEP] 1, Mug, -3.760, 0.977, -4.075, 0, 0, 0, 42 [SEP] 2, Mug, -0.862, 0.801, -4.029, 0, 90, 0, 39 [SEP] 3, CD, -0.426, 0.347, -3.779, 0, 0, 0, 32 [SEP] 4, CD, -3.687, 0.980, -3.271, 0, 0, 0, 42 [SEP] 5, CellPhone, -3.750, 0.225, -3.278, 0, 0, 0, 44 [SEP] 6, Pen, -0.507, 0.548, -3.713, 0, 0, 0, 33 [SEP] 7, Pencil, -0.685, 0.546, -3.657, 0, 0, 0, 33 [SEP] 8, Pencil, -0.596, 0.546, -3.731, 0, 0, 0, 33 [SEP] 9, Book, -3.760, 0.981, -3.673, 0, 0, 0, 42 [SEP] 10, Book, -1.474, 0.804, -3.920, 0, 0, 0, 39 [SEP] 11, Book, -3.638, 0.614, -4.163, 0, 0, 0, 48 [SEP] 12, CellPhone, -0.578, 0.189, -3.779, 0, 0, 0, 31 [SEP] 13, Laptop, -2.981, 0.618, -1.218, 0, 0, 0, 24 [SEP] 14, CreditCard, -3.693, 0.044, -3.977, 0, 0, 0, 47 [SEP] 15, AlarmClock, -0.453, 0.800, -3.703, 0, 0, 0, 39 [SEP] 16, KeyChain, -3.539, 0.980, -3.673, 0, 0, 0, 42 [SEP] 17, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 24 [SEP] 18, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 19, Pencil, -1.474, 0.807, -4.137, 0, 0, 0, 39 [SEP] 20, Pillow, -3.191, 0.722, -1.793, 0, 0, 0, 24 [SEP] 21, CD, -3.908, 0.979, -3.673, 0, 0, 0, 42 [SEP] 22, Pen, -0.350, 0.036, -3.844, 0, 270, 0, 31 [SEP] 23, Mug, -3.539, 0.979, -4.276, 0, 0, 0, 42 [SEP] 24, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 25, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 26, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 27, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 28, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 29, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 30, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 31, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 32, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 33, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 34, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 35, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 36, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 37, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 38, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 39, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 40, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 41, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 42, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 51, NorthWall, , , , , , , [SEP] 52, EastWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, WestWall, , , , , , , ", "output": ["STEP 1: Turn around to face the brown dresser. | STEP 2: Pick up the book from off of the dresser. | STEP 3: Move to the right to face the bed. | STEP 4: Place the book on the bed. | STEP 5: Turn around and move to the left to face the white desk. | STEP 6: Pick up the book from off of the desk. | STEP 7: Turn around and move to the left to face the bed. | STEP 8: Place the book on the bed next to the other book. | END"]} {"id": "trial_T20190907_181201_854866-2", "input": "Put two textbooks 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, -2.25, 0.909, -3.75, 0, 90, 0, [SEP] 1, Mug, -3.760, 0.977, -4.075, 0, 0, 0, 42 [SEP] 2, Mug, -0.862, 0.801, -4.029, 0, 90, 0, 39 [SEP] 3, CD, -0.426, 0.347, -3.779, 0, 0, 0, 32 [SEP] 4, CD, -3.687, 0.980, -3.271, 0, 0, 0, 42 [SEP] 5, CellPhone, -3.750, 0.225, -3.278, 0, 0, 0, 44 [SEP] 6, Pen, -0.507, 0.548, -3.713, 0, 0, 0, 33 [SEP] 7, Pencil, -0.685, 0.546, -3.657, 0, 0, 0, 33 [SEP] 8, Pencil, -0.596, 0.546, -3.731, 0, 0, 0, 33 [SEP] 9, Book, -3.760, 0.981, -3.673, 0, 0, 0, 42 [SEP] 10, Book, -1.474, 0.804, -3.920, 0, 0, 0, 39 [SEP] 11, Book, -3.638, 0.614, -4.163, 0, 0, 0, 48 [SEP] 12, CellPhone, -0.578, 0.189, -3.779, 0, 0, 0, 31 [SEP] 13, Laptop, -2.981, 0.618, -1.218, 0, 0, 0, 24 [SEP] 14, CreditCard, -3.693, 0.044, -3.977, 0, 0, 0, 47 [SEP] 15, AlarmClock, -0.453, 0.800, -3.703, 0, 0, 0, 39 [SEP] 16, KeyChain, -3.539, 0.980, -3.673, 0, 0, 0, 42 [SEP] 17, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 24 [SEP] 18, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 19, Pencil, -1.474, 0.807, -4.137, 0, 0, 0, 39 [SEP] 20, Pillow, -3.191, 0.722, -1.793, 0, 0, 0, 24 [SEP] 21, CD, -3.908, 0.979, -3.673, 0, 0, 0, 42 [SEP] 22, Pen, -0.350, 0.036, -3.844, 0, 270, 0, 31 [SEP] 23, Mug, -3.539, 0.979, -4.276, 0, 0, 0, 42 [SEP] 24, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 25, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 26, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 27, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 28, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 29, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 30, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 31, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 32, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 33, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 34, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 35, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 36, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 37, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 38, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 39, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 40, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 41, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 42, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 51, NorthWall, , , , , , , [SEP] 52, EastWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk forward to the dresser against the wall. | STEP 2: Pick up the textbook from the dresser. | STEP 3: Turn right and walk forward to the bed. | STEP 4: Put the textbook on the bed, in front of the pillow. | STEP 5: Turn right and walk forward to the desk on the right. | STEP 6: Pick up the textbook from the desk. | STEP 7: Turn right and walk forward to the front of the bed. | STEP 8: Put the textbook on the bed, to the left of the first textbook. | END"]} {"id": "trial_T20190909_075511_068519-2", "input": "Heat a potato and place it on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 1.0, 0, 0, 0, [SEP] 1, Potato, 0.123, 0.800, -0.541, 0, 0, 0, 110 [SEP] 2, Potato, 1.155, 0.946, 1.129, 0, 0, 0, 88 [SEP] 3, Potato, -1.962, 0.458, 1.375, 0, 270, 0, 106 [SEP] 4, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 68 [SEP] 5, Spoon, -0.836, 0.822, -1.473, 0, 0, 0, 112 [SEP] 6, Spoon, 1.955, 0.912, 1.299, 0, 0, 0, 88 [SEP] 7, Fork, 1.141, 0.771, 1.122, 0, 90, 0, 98 [SEP] 8, Fork, -0.157, 0.766, -0.707, 0, 90, 0, 110 [SEP] 9, Spatula, 0.263, 0.780, -0.596, 0, 270, 0, 110 [SEP] 10, Spatula, 1.141, 0.926, -0.345, 0, 0, 0, 53 [SEP] 11, Plate, 1.522, 1.658, -0.771, 0, 180, 0, 75 [SEP] 12, Plate, 2.754, 0.914, 1.299, 0, 0, 0, 88 [SEP] 13, Cup, 2.715, 0.724, -0.473, 0, 0, 0, 108 [SEP] 14, Cup, 0.103, 1.653, -0.693, 0, 180, 0, 93 [SEP] 15, Knife, 2.221, 0.944, 1.044, 0, 0, 0, 88 [SEP] 16, Knife, 1.155, 0.944, 1.468, 0, 0, 0, 88 [SEP] 17, SoapBottle, -0.197, 0.120, 1.196, 0, 0, 0, 81 [SEP] 18, Bowl, 1.141, 0.909, -0.769, 0, 0, 0, 53 [SEP] 19, Bowl, 1.141, 1.653, 1.429, 0, 0, 0, 80 [SEP] 20, SaltShaker, 1.797, 0.110, -0.458, 0, 180, 0, 99 [SEP] 21, SaltShaker, -0.766, 0.817, -1.411, 0, 90, 0, 112 [SEP] 22, PepperShaker, 0.750, 1.651, -0.771, 0, 180, 0, 92 [SEP] 23, PepperShaker, 1.688, 0.908, 1.553, 0, 0, 0, 88 [SEP] 24, Bread, 2.221, 0.969, 1.383, 0, 0, 0, 88 [SEP] 25, Bread, 2.715, 1.077, -0.644, 0, 0, 0, 108 [SEP] 26, Lettuce, 1.955, 0.992, 1.129, 0, 0, 0, 88 [SEP] 27, Lettuce, -0.983, 0.901, -1.360, 0, 90, 0, 112 [SEP] 28, Mug, -0.694, 0.815, -1.257, 0, 90, 0, 112 [SEP] 29, Apple, 0.466, 1.853, 1.423, 0, 180, 0, 111 [SEP] 30, SoapBottle, 0.103, 1.661, -0.810, 0, 180, 0, 93 [SEP] 31, Plate, 0.284, 2.159, 1.467, 0, 0, 0, 87 [SEP] 32, Fork, 1.626, 0.772, -0.460, 0, 270, 0, 83 [SEP] 33, Pot, 1.422, 0.915, 1.383, 0, 0, 0, 88 [SEP] 34, Bread, -0.151, 0.969, 1.129, 0, 0, 0, 64 [SEP] 35, Egg, -0.911, 0.858, -1.103, 0, 90, 0, 112 [SEP] 36, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 91 [SEP] 37, Tomato, 2.488, 0.942, 1.299, 0, 0, 0, 88 [SEP] 38, Cup, 2.223, 0.112, 1.156, 0, 0, 0, 89 [SEP] 39, Spatula, 1.018, 0.918, 1.151, 0, 74.999, 0, 88 [SEP] 40, Apple, 2.653, 1.357, -0.578, 0, 0, 0, 108 [SEP] 41, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 56 [SEP] 42, Lettuce, 0.634, 0.992, -0.515, 0, 0, 0, 53 [SEP] 43, SaltShaker, -0.990, 0.817, -1.183, 0, 0, 0, 112 [SEP] 44, Knife, -0.785, 0.853, -1.328, 0, 0, 0, 112 [SEP] 45, Potato, 3.381, 0.875, -0.514, 0, 0, 0, 108 [SEP] 46, PepperShaker, -0.246, 0.908, 1.383, 0, 0, 0, 64 [SEP] 47, ButterKnife, -0.836, 0.820, -1.183, 0, 180, 0, 112 [SEP] 48, Bowl, 1.688, 0.909, 1.129, 0, 0, 0, 88 [SEP] 49, DishSponge, 2.837, 0.770, 1.160, 0, 0, 0, 97 [SEP] 50, Spoon, -1.056, 0.822, -1.257, 0, 90, 0, 112 [SEP] 51, Mug, 1.955, 0.906, 1.468, 0, 0, 0, 88 [SEP] 52, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 53, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 54, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 55, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 56, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 57, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 58, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 59, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 60, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 61, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 62, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 63, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 64, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 65, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 66, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 67, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 68, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 69, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 70, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 71, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 72, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 73, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 75, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 76, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 77, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 78, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 79, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 80, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 81, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 83, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 84, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 85, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 86, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 87, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 88, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 89, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 90, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 91, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 92, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 93, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 94, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 95, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 96, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 97, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 98, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 99, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 100, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 101, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 102, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 103, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 104, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 105, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 106, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 107, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 108, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 109, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 110, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 111, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 112, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 113, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 114, NorthWall, , , , , , , [SEP] 115, EastWall, , , , , , , [SEP] 116, SouthWall, , , , , , , [SEP] 117, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, then turn left and face the sink on the right. | STEP 2: Pick up the potato from inside the sink. | STEP 3: Hold the potato and turn around to the stove. Look up to the microwave. | STEP 4: Open the microwave and place the potato inside. Shut the door and then open it. Take out the potato. | STEP 5: Carry the potato and turn to the left. Turn left again to move to the round table. | STEP 6: Place the potato on the table, to the left side. | END"]} {"id": "trial_T20190909_075221_435001-0", "input": "To move a pencil from the top of a computer desk to a space above the drawers on the left 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, -0.25, 0.909, -3.25, 0, 90, 0, [SEP] 1, CD, -0.502, 0.348, -3.747, 0, 0, 0, 31 [SEP] 2, CellPhone, -0.249, 0.800, -4.137, 0, 0, 0, 38 [SEP] 3, Pen, -0.685, 0.548, -3.713, 0, 0, 0, 32 [SEP] 4, Pencil, -3.751, 0.422, -3.885, 0, 0, 0, 44 [SEP] 5, Pencil, -0.657, 0.803, -3.703, 0, 0, 0, 38 [SEP] 6, Book, -3.613, 0.981, -3.673, 0, 0, 0, 41 [SEP] 7, Book, -3.613, 0.981, -3.070, 0, 0, 0, 41 [SEP] 8, AlarmClock, -1.270, 0.803, -3.703, 0, 0, 0, 38 [SEP] 9, AlarmClock, -0.329, 0.542, -3.713, 0, 0, 0, 38 [SEP] 10, Book, -2.981, 0.620, -2.080, 0, 0, 0, 23 [SEP] 11, CellPhone, -2.770, 0.620, -1.218, 0, 0, 0, 23 [SEP] 12, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 38 [SEP] 13, CreditCard, -0.655, 0.349, -3.811, 0, 0, 0, 32 [SEP] 14, AlarmClock, -3.687, 0.981, -4.276, 0, 0, 0, 41 [SEP] 15, KeyChain, -0.507, 0.543, -3.731, 0, 0, 0, 32 [SEP] 16, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 23 [SEP] 17, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 18, Pencil, -0.657, 0.803, -4.137, 0, 180, 0, 38 [SEP] 19, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 23 [SEP] 20, CD, -0.731, 0.029, -3.876, 0, 0, 0, 30 [SEP] 21, Pen, -3.760, 0.986, -3.472, 0, 0, 0, 41 [SEP] 22, Mug, -3.834, 0.977, -3.673, 0, 0, 0, 41 [SEP] 23, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 24, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 25, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 26, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 27, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 28, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 29, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 30, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 31, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 32, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 33, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 34, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 35, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 36, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 37, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 38, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 39, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 40, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 41, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 42, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 50, NorthWall, , , , , , , [SEP] 51, EastWall, , , , , , , [SEP] 52, SouthWall, , , , , , , [SEP] 53, WestWall, , , , , , , ", "output": ["STEP 1: Turn right to face the computer desk. | STEP 2: Pick up the pencil on the computer desk. | STEP 3: Look down to face the space above the drawers on the left side of the desk. | STEP 4: Place the pencil in the space above the drawers on the left side of the desk. | END"]} {"id": "trial_T20190907_164906_987673-2", "input": "Put a cup with a pen in it on the dresser at the foot of the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.909, -2.25, 0, 270, 0, [SEP] 1, CD, -0.249, 0.803, -4.137, 0, 0, 0, 36 [SEP] 2, CD, -0.685, 0.542, -3.713, 0, 0, 0, 30 [SEP] 3, CellPhone, -3.693, 0.045, -3.883, 0, 0, 0, 44 [SEP] 4, CreditCard, -3.524, 0.045, -4.164, 0, 0, 0, 44 [SEP] 5, KeyChain, -0.249, 0.800, -4.029, 0, 0, 0, 36 [SEP] 6, Book, -3.834, 0.980, -3.472, 0, 0, 0, 39 [SEP] 7, Pillow, -3.402, 0.722, -1.506, 0, 0, 0, 21 [SEP] 8, Book, -1.474, 0.804, -3.920, 0, 0, 0, 36 [SEP] 9, CellPhone, -3.834, 0.979, -4.276, 0, 0, 0, 39 [SEP] 10, Laptop, -2.770, 0.618, -1.218, 0, 0, 0, 21 [SEP] 11, CreditCard, -0.657, 0.800, -4.354, 0, 0, 0, 36 [SEP] 12, AlarmClock, -3.834, 0.979, -4.075, 0, 0, 0, 39 [SEP] 13, KeyChain, -0.329, 0.543, -3.749, 0, 0, 0, 30 [SEP] 14, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 21 [SEP] 15, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 16, Pencil, -1.270, 0.803, -4.137, 0, 0, 0, 36 [SEP] 17, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 21 [SEP] 18, CD, -3.613, 0.979, -3.673, 0, 0, 0, 39 [SEP] 19, Pen, -0.453, 0.805, -4.354, 0, 0, 0, 36 [SEP] 20, Mug, -0.862, 0.801, -4.246, 0, 0, 0, 36 [SEP] 21, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 22, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 23, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 24, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 25, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 26, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 27, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 28, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 29, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 30, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 31, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 32, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 33, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 34, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 35, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 36, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 37, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 38, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 39, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 40, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 41, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 42, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 44, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 48, NorthWall, , , , , , , [SEP] 49, EastWall, , , , , , , [SEP] 50, SouthWall, , , , , , , [SEP] 51, WestWall, , , , , , , ", "output": ["STEP 1: Move to the table to the left of the dresser | STEP 2: Pick up a pen from the desk | STEP 3: Move to a few steps to the right | STEP 4: Place the pen in a cup on the table | STEP 5: Pick up the cup from the table | STEP 6: Move to the dresser to the right of you | STEP 7: Place the cup on the dresser | END"]} {"id": "trial_T20190908_042910_141978-2", "input": "drop a cooked potato in the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.931, -0.5, 0, 270, 0, [SEP] 1, Potato, 1.238, 1.100, -1.612, 0, 0, 0, 49 [SEP] 2, DishSponge, 0.065, 1.042, 0.630, 0, 0, 0, 51 [SEP] 3, ButterKnife, 0.255, 1.043, 0.522, 0, 0, 0, 51 [SEP] 4, ButterKnife, 1.514, 1.043, 0.763, 0, 0, 0, 51 [SEP] 5, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 45 [SEP] 6, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 50 [SEP] 7, Spoon, -0.689, 1.048, -1.289, 0, 0, 0, 49 [SEP] 8, Spatula, -0.346, 1.061, -1.181, 0, 0, 0, 49 [SEP] 9, Cup, -1.029, 2.028, -1.627, 0, 0, 0, 56 [SEP] 10, Cup, 0.890, 0.200, -1.484, 0, 0, 0, 60 [SEP] 11, Plate, 1.666, 1.032, -1.337, 0, 0, 0, 55 [SEP] 12, Plate, 1.068, 0.212, -1.267, 0, 0, 0, 60 [SEP] 13, Knife, 1.181, 1.069, 0.632, 0, 180, 0, 51 [SEP] 14, Tomato, -1.349, 1.764, 2.331, 0, 90, 0, 64 [SEP] 15, Tomato, -0.260, 1.097, -1.828, 0, 0, 0, 49 [SEP] 16, SoapBottle, -1.261, 0.203, -1.482, 0, 0, 0, 57 [SEP] 17, SoapBottle, 0.351, 1.044, 0.630, 0, 0, 0, 51 [SEP] 18, Bowl, 0.960, 1.563, -1.764, 0, 0, 0, 53 [SEP] 19, SaltShaker, -0.030, 1.038, 0.307, 0, 0, 0, 51 [SEP] 20, Lettuce, -1.366, 1.287, 2.063, 0, 90, 0, 64 [SEP] 21, Apple, 1.882, 0.166, 2.442, 0, 270, 0, 65 [SEP] 22, Apple, 1.271, 0.936, 0.304, 0, 90, 0, 46 [SEP] 23, SoapBottle, 1.112, 1.565, -1.463, 0, 0, 0, 53 [SEP] 24, Apple, -1.312, 1.756, 1.974, 0, 90, 0, 64 [SEP] 25, Potato, 0.761, 1.106, 0.331, 0, 90, 0, 47 [SEP] 26, Fork, 0.848, 1.043, 0.807, 0, 0, 0, 51 [SEP] 27, Kettle, 1.741, 0.205, -1.480, 0, 0, 0, 59 [SEP] 28, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 49 [SEP] 29, Tomato, -1.381, 1.540, 2.063, 0, 90, 0, 64 [SEP] 30, SaltShaker, 1.263, 1.560, -1.463, 0, 0, 0, 53 [SEP] 31, Egg, 1.151, 0.947, 0.158, 0, 90, 0, 46 [SEP] 32, Cup, -0.952, 2.028, -1.264, 0, 0, 0, 56 [SEP] 33, Spatula, 1.238, 1.061, -1.397, 0, 0, 0, 49 [SEP] 34, Knife, 1.347, 1.069, 0.807, 0, 0, 0, 51 [SEP] 35, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 47 [SEP] 36, ButterKnife, 0.065, 1.043, 0.307, 0, 0, 0, 51 [SEP] 37, PepperShaker, 1.741, 0.199, -1.262, 0, 0, 0, 59 [SEP] 38, DishSponge, 1.247, 0.199, -1.628, 0, 0, 0, 60 [SEP] 39, Plate, -0.624, 1.577, -1.545, 0, 0, 0, 54 [SEP] 40, Bread, -0.603, 1.120, -1.397, 0, 0, 0, 49 [SEP] 41, Spoon, 0.255, 1.044, 0.522, 0, 0, 0, 51 [SEP] 42, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 52 [SEP] 43, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 67 [SEP] 44, Bowl, -1.184, 2.027, -1.337, 0, 0, 0, 56 [SEP] 45, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 46, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 47, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 48, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 49, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 50, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 51, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 52, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 53, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 54, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 55, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 56, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 57, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 58, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 59, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 60, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 61, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 62, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 63, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 64, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 65, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 66, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 67, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 68, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 70, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 71, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 72, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 73, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 74, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 75, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 76, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 77, NorthWall, , , , , , , [SEP] 78, EastWall, , , , , , , [SEP] 79, SouthWall, , , , , , , [SEP] 80, WestWall, , , , , , , ", "output": ["STEP 1: turn right to the sink | STEP 2: pick up a potato from the sink | STEP 3: head to the microwave | STEP 4: cook the potato in the oven and take it out | STEP 5: turn around and head to the sink | STEP 6: drop the potato in the sink | END"]} {"id": "trial_T20190909_080044_436637-2", "input": " put a clean slice of apple in the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 0.0, 0, 270, 0, [SEP] 1, DishSponge, 1.216, 1.655, 1.390, 0, 0, 0, 79 [SEP] 2, Kettle, -0.160, 0.116, 1.196, 0, 0, 0, 80 [SEP] 3, ButterKnife, -0.983, 0.820, -1.206, 0, 90, 0, 111 [SEP] 4, ButterKnife, 2.754, 0.911, 1.129, 0, 0, 0, 87 [SEP] 5, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 67 [SEP] 6, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 58 [SEP] 7, Spatula, 2.754, 0.926, 1.468, 0, 0, 0, 87 [SEP] 8, Spatula, 1.155, 0.926, 1.468, 0, 0, 0, 87 [SEP] 9, Plate, 1.880, 1.658, 1.468, 0, 0, 0, 64 [SEP] 10, Plate, 0.284, 2.159, 1.467, 0, 0, 0, 86 [SEP] 11, Cup, 1.561, 1.652, 1.508, 0, 0, 0, 64 [SEP] 12, Cup, 2.715, 1.561, -0.578, 0, 0, 0, 107 [SEP] 13, SoapBottle, 1.422, 0.917, 1.299, 0, 0, 0, 87 [SEP] 14, SoapBottle, 2.221, 0.917, 1.553, 0, 0, 0, 87 [SEP] 15, Tomato, -0.839, 0.852, -1.308, 0, 90, 0, 111 [SEP] 16, Tomato, -1.991, 0.455, 1.459, 0, 270, 0, 105 [SEP] 17, Bowl, 2.653, 1.017, -0.775, 0, 0, 0, 107 [SEP] 18, Bowl, -0.983, 0.818, -1.308, 0, 90, 0, 111 [SEP] 19, SaltShaker, 0.759, 2.150, 1.584, 0, 0, 0, 86 [SEP] 20, SaltShaker, -0.990, 0.817, -1.038, 0, 0, 0, 111 [SEP] 21, PepperShaker, -0.887, 0.817, -1.473, 0, 0, 0, 111 [SEP] 22, PepperShaker, -0.766, 0.817, -1.206, 0, 90, 0, 111 [SEP] 23, Bread, 0.634, 0.969, -0.515, 0, 0, 0, 52 [SEP] 24, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 52 [SEP] 25, Mug, 2.962, 1.014, -0.644, 0, 0, 0, 107 [SEP] 26, Apple, -0.198, 0.980, 1.299, 0, 0, 0, 63 [SEP] 27, Apple, 0.415, 1.853, 1.455, 0, 180, 0, 110 [SEP] 28, Apple, -1.991, 0.492, 1.332, 0, 270, 0, 105 [SEP] 29, SoapBottle, -0.198, 0.917, 1.129, 0, 0, 0, 63 [SEP] 30, Plate, 2.488, 0.914, 1.214, 0, 0, 0, 87 [SEP] 31, Fork, -0.151, 0.912, 1.299, 0, 180, 0, 63 [SEP] 32, Pot, 1.141, 0.915, -0.6, 0, 0, 0, 52 [SEP] 33, Bread, 1.955, 0.969, 1.299, 0, 0, 0, 87 [SEP] 34, Egg, -0.007, 0.949, 1.299, 0, 0, 0, 63 [SEP] 35, Kettle, 1.213, 0.116, 1.156, 0, 0, 0, 59 [SEP] 36, Tomato, 0.123, 0.797, -0.762, 0, 0, 0, 109 [SEP] 37, Cup, 1.792, 0.112, 1.236, 0, 0, 0, 81 [SEP] 38, Spatula, 1.155, 0.926, 1.214, 0, 0, 0, 87 [SEP] 39, Apple, -0.694, 0.889, -1.308, 0, 90, 0, 111 [SEP] 40, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 55 [SEP] 41, Lettuce, 2.918, 1.345, -0.612, 15.903, 3.671, 14.806, 107 [SEP] 42, SaltShaker, 2.277, 1.651, -0.872, 0, 180, 0, 73 [SEP] 43, Knife, -0.087, 0.798, -0.707, 0, 90, 0, 109 [SEP] 44, Potato, 2.221, 0.946, 1.299, 0, 0, 0, 87 [SEP] 45, PepperShaker, -0.836, 0.817, -1.400, 0, 0, 0, 111 [SEP] 46, ButterKnife, 0.888, 0.911, -0.430, 0, 0, 0, 52 [SEP] 47, Bowl, 2.804, 1.652, 1.508, 0, 0, 0, 53 [SEP] 48, DishSponge, 1.179, 1.655, 1.546, 0, 0, 0, 79 [SEP] 49, Spoon, -0.157, 0.766, -0.707, 0, 90, 0, 109 [SEP] 50, Mug, 2.777, 0.721, -0.565, 0, 0, 0, 107 [SEP] 51, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 52, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 53, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 54, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 55, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 56, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 57, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 58, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 59, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 60, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 61, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 62, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 63, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 64, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 65, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 66, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 67, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 68, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 69, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 70, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 71, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 72, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 74, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 75, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 77, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 78, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 79, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 80, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 82, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 83, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 84, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 85, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 86, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 87, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 88, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 89, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 90, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 91, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 92, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 93, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 94, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 95, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 96, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 97, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 98, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 99, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 100, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 101, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 102, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 103, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 104, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 105, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 106, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 107, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 108, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 109, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 110, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 111, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 112, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 113, NorthWall, , , , , , , [SEP] 114, EastWall, , , , , , , [SEP] 115, SouthWall, , , , , , , [SEP] 116, WestWall, , , , , , , ", "output": ["STEP 1: turn and walk to the counter | STEP 2: pick up the knife that is on the counter | STEP 3: turn and walk to the microwave | STEP 4: slice the Apple that's in the microwave | STEP 5: Put The Knife into the microwave | STEP 6: take the Apple out of the microwave | STEP 7: turn and walk to the sink | STEP 8: put the Apple into the sink | STEP 9: turn the water on turn the water off | STEP 10: take the Apple out of the sink | STEP 11: turn and walk to the microwave | STEP 12: put the Apple into the microwave | END"]} {"id": "trial_T20190907_020543_865134-1", "input": "Examine a small statue by the light of a table lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -5.0, 0.901, 0.75, 0, 180, 0, [SEP] 1, Bowl, -2.277, 0.881, 7.208, 0, 90, 0, 47 [SEP] 2, Bowl, -2.492, 0.535, 3.752, 0, 270, 0, 56 [SEP] 3, Watch, -2.352, 0.533, 3.752, 0, 270, 0, 56 [SEP] 4, Watch, -3.328, 1.280, 7.298, 0, 90, 0, 55 [SEP] 5, RemoteControl, -5.960, 0.455, 3.954, 0, 0, 0, 46 [SEP] 6, Box, -0.868, 0.603, 3.306, 0, 0, 0, 39 [SEP] 7, Statue, -0.585, 0.799, 6.357, 0, 270, 0, 40 [SEP] 8, Vase, -2.811, 0.534, 3.919, 0, 0, 0, 56 [SEP] 9, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 51 [SEP] 10, Newspaper, -5.424, 0.532, 6.815, 0, 45, 0, 57 [SEP] 11, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 56 [SEP] 12, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 13, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 49 [SEP] 14, CreditCard, -2.811, 0.533, 4.231, 0, 0, 0, 56 [SEP] 15, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 53 [SEP] 16, KeyChain, -0.433, 0.794, 1.626, 0, 270, 0, 41 [SEP] 17, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 51 [SEP] 18, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 51 [SEP] 19, Bowl, -5.899, 0.148, 4.349, 0, 0, 0, 46 [SEP] 20, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 39 [SEP] 21, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 53 [SEP] 22, RemoteControl, -3.462, 0.882, 7.242, 0, 90, 0, 55 [SEP] 23, Watch, -5.950, 0.146, 4.152, 0, 0, 0, 46 [SEP] 24, Statue, -0.636, 0.800, 5.600, 0, 270, 0, 40 [SEP] 25, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 53 [SEP] 26, Statue, -2.172, 0.543, 4.044, 0, 90, 0, 56 [SEP] 27, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 55 [SEP] 28, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 29, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 30, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 31, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 32, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 33, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 34, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 35, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 36, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 37, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 38, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 39, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 40, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 41, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 42, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 43, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 44, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 45, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 46, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 47, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 48, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 49, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 50, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 51, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 52, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 53, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 54, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 55, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 56, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 57, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 58, NorthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the table in the top right corner of the room containing a small statue. | STEP 2: Pick up the statue from the table. | STEP 3: Move very slightly to the lamp on that same table. | STEP 4: Turn on the lamp. | END"]} {"id": "trial_T20190907_041154_785948-2", "input": "Put a clean glass in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.75, 0.900, 0.0, 0, 0, 0, [SEP] 1, Pan, 2.754, 0.911, 1.129, 0, 0, 0, 77 [SEP] 2, Potato, 0.518, 1.819, 1.391, 0, 180, 0, 100 [SEP] 3, DishSponge, -0.682, 0.820, -1.255, 0, 0, 0, 101 [SEP] 4, Kettle, -0.090, 1.655, 1.508, 0, 0, 0, 68 [SEP] 5, Kettle, 0.759, 2.154, 1.468, 0, 0, 0, 51 [SEP] 6, Fork, 1.141, 0.912, -0.769, 0, 90, 0, 42 [SEP] 7, Fork, 2.488, 0.912, 1.044, 0, 0, 0, 77 [SEP] 8, Spatula, -0.007, 0.926, 1.129, 0, 90, 0, 53 [SEP] 9, Spatula, 1.422, 0.926, 1.044, 0, 0, 0, 77 [SEP] 10, Plate, 0.825, 1.658, -0.771, 0, 180, 0, 52 [SEP] 11, Egg, 2.653, 1.601, -0.644, 0, 0, 0, 97 [SEP] 12, SoapBottle, -1.056, 0.826, -1.206, 0, 90, 0, 101 [SEP] 13, SoapBottle, 1.880, 1.661, 1.468, 0, 0, 0, 54 [SEP] 14, Tomato, 2.838, 1.594, -0.578, 0, 0, 0, 97 [SEP] 15, Tomato, -0.055, 0.942, 1.468, 0, 0, 0, 53 [SEP] 16, PepperShaker, 0.888, 0.908, -0.684, 0, 0, 0, 42 [SEP] 17, Lettuce, 1.155, 0.992, 1.468, 0, 0, 0, 77 [SEP] 18, Mug, -0.123, 0.110, 1.236, 0, 0, 0, 70 [SEP] 19, SoapBottle, 1.254, 1.661, 1.468, 0, 0, 0, 69 [SEP] 20, Plate, 2.221, 0.914, 1.468, 0, 0, 0, 77 [SEP] 21, Fork, 1.902, 0.912, -0.345, 0, 0, 0, 42 [SEP] 22, Pot, 0.678, 0.964, 1.082, 0, 0, 0, 45 [SEP] 23, Bread, 2.156, 0.969, -0.430, 0, 0, 0, 42 [SEP] 24, Egg, -1.933, 0.461, 1.459, 0, 270, 0, 95 [SEP] 25, Kettle, 2.156, 0.912, -0.684, 0, 0, 0, 42 [SEP] 26, Tomato, 2.900, 1.320, -0.709, 0, 0, 0, 97 [SEP] 27, Cup, -0.911, 0.818, -1.360, 0, 90, 0, 101 [SEP] 28, Spatula, 0.123, 0.780, -0.762, 0, 90, 0, 99 [SEP] 29, Apple, 2.754, 0.980, 1.468, 0, 0, 0, 77 [SEP] 30, Pan, 1.872, 1.654, -0.772, 0, 180, 0, 79 [SEP] 31, Lettuce, -0.151, 0.992, 1.214, 0, 0, 0, 53 [SEP] 32, SaltShaker, 1.066, 1.651, 1.429, 0, 0, 0, 69 [SEP] 33, Knife, -0.836, 0.853, -1.255, 0, 90, 0, 101 [SEP] 34, Potato, -1.991, 0.458, 1.332, 0, 270, 0, 95 [SEP] 35, PepperShaker, 1.835, 0.110, -0.421, 0, 180, 0, 88 [SEP] 36, ButterKnife, 1.688, 0.911, 1.129, 0, 0, 0, 77 [SEP] 37, Bowl, 2.242, 1.653, -0.798, 0, 180, 0, 63 [SEP] 38, DishSponge, 2.512, 0.771, 1.198, 0, 0, 0, 58 [SEP] 39, Spoon, 1.768, 0.773, 1.122, 0, 90, 0, 75 [SEP] 40, Mug, 0.337, 2.152, 1.544, 0, 0, 0, 76 [SEP] 41, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 42, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 43, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 44, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 45, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 46, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 47, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 48, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 50, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 51, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 52, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 53, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 54, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 55, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 56, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 57, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 58, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 59, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 60, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 61, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 62, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 64, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 65, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 71, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 72, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 73, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 77, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 78, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 80, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 81, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 82, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 83, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 84, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 85, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 86, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 87, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 88, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 89, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 94, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 95, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 96, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 97, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 98, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 99, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 100, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 101, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 102, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk until your a step from the window and turn left and walk to the table. | STEP 2: Pick up a glass to the right of the yellow handled knife. | STEP 3: Turn around and walk until you clear the counter to your right then turn right and walk to the sink and stand to face it. | STEP 4: Put the glass in the sink and wash it before picking it back up. and closing the tap. | STEP 5: Turn left and walk to the fridge that will be on your right and face it. | STEP 6: Put the glass on the top shelf of the right side of the fridge. | END"]} {"id": "trial_T20190906_200112_258135-1", "input": "Place the washed 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, 1.75, 0.900, 0.25, 0, 90, 0, [SEP] 1, Potato, 0.466, 1.819, 1.488, 0, 0, 0, 104 [SEP] 2, Potato, -0.246, 0.946, 1.129, 0, 0, 0, 57 [SEP] 3, Potato, -0.911, 0.855, -1.308, 0, 90, 0, 105 [SEP] 4, Kettle, 1.872, 0.115, -0.421, 0, 180, 0, 92 [SEP] 5, Pot, 2.488, 0.915, 1.129, 0, 0, 0, 81 [SEP] 6, Pot, 2.754, 0.915, 1.299, 0, 0, 0, 81 [SEP] 7, Spoon, 2.488, 0.912, 1.299, 0, 0, 0, 81 [SEP] 8, Spoon, -0.017, 0.766, -0.596, 0, 90, 0, 103 [SEP] 9, Fork, 2.221, 0.912, 1.214, 0, 0, 0, 81 [SEP] 10, Fork, 1.836, 0.771, -0.498, 0, 90, 0, 60 [SEP] 11, Spatula, -0.055, 0.926, 1.214, 0, 0, 0, 57 [SEP] 12, Spatula, 0.193, 0.780, -0.707, 0, 90, 0, 103 [SEP] 13, Cup, -0.049, 0.112, 1.196, 0, 0, 0, 74 [SEP] 14, Egg, 0.123, 0.803, -0.762, 0, 0, 0, 103 [SEP] 15, Knife, 2.221, 0.944, 1.044, 0, 0, 0, 81 [SEP] 16, Knife, 1.688, 0.944, 1.214, 0, 0, 0, 81 [SEP] 17, SoapBottle, 2.223, 0.120, 1.081, 0, 0, 0, 82 [SEP] 18, SoapBottle, -2.019, 0.429, 1.332, 0, 270, 0, 99 [SEP] 19, Tomato, -0.087, 0.797, -0.541, 0, 0, 0, 103 [SEP] 20, SaltShaker, 1.450, 1.650, 1.470, 0, 0, 0, 69 [SEP] 21, Bread, 1.955, 0.969, 1.299, 0, 0, 0, 81 [SEP] 22, Bread, 2.777, 1.077, -0.709, 0, 0, 0, 101 [SEP] 23, SoapBottle, 0.581, 1.660, -0.735, 0, 180, 0, 85 [SEP] 24, Plate, 1.880, 1.658, 1.468, 0, 0, 0, 58 [SEP] 25, Fork, 2.173, 0.771, -0.422, 0, 270, 0, 59 [SEP] 26, Pot, 2.221, 0.915, 1.383, 0, 0, 0, 81 [SEP] 27, Bread, 1.422, 0.969, 1.468, 0, 0, 0, 81 [SEP] 28, Egg, 2.838, 1.601, -0.644, 0, 0, 0, 101 [SEP] 29, Kettle, -0.103, 0.912, 1.468, 0, 0, 0, 57 [SEP] 30, Tomato, -1.056, 0.852, -1.257, 0, 90, 0, 105 [SEP] 31, Cup, -0.836, 0.818, -1.400, 0, 0, 0, 105 [SEP] 32, Spatula, 0.888, 0.926, -0.345, 0, 0, 0, 46 [SEP] 33, Apple, 0.888, 0.980, -0.854, 0, 0, 0, 46 [SEP] 34, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 49 [SEP] 35, Lettuce, 2.918, 1.345, -0.612, 15.987, 3.568, 14.457, 101 [SEP] 36, SaltShaker, 2.256, 1.650, 1.585, 0, 0, 0, 70 [SEP] 37, Knife, -0.734, 0.853, -1.255, 0, 270, 0, 105 [SEP] 38, Potato, 0.415, 1.819, 1.391, 0, 180, 0, 104 [SEP] 39, PepperShaker, -0.839, 0.817, -1.206, 0, 90, 0, 105 [SEP] 40, ButterKnife, -0.785, 0.820, -1.473, 0, 0, 0, 105 [SEP] 41, Bowl, 1.139, 0.112, 1.156, 0, 0, 0, 53 [SEP] 42, DishSponge, 1.827, 0.114, 1.077, 0, 0, 0, 66 [SEP] 43, Spoon, 1.141, 0.912, -0.515, 0, 0, 0, 46 [SEP] 44, Mug, -0.246, 0.906, 1.468, 0, 0, 0, 57 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 107, NorthWall, , , , , , , [SEP] 108, EastWall, , , , , , , [SEP] 109, SouthWall, , , , , , , [SEP] 110, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, head towards the end of the counter, turn right to face the potato on the counter. | STEP 2: Pick up the potato from the counter. | STEP 3: Turn around and head towards the sink. | STEP 4: Place the potato in the sink, wash it, and pick it back up. | STEP 5: Turn left and walk towards the wall, turn left to face the fridge. | STEP 6: Open the fridge and place the potato on the top right shelf. | END"]} {"id": "trial_T20190907_040937_164723-0", "input": "Move the spatula from the counter to the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.931, 0.25, 0, 180, 0, [SEP] 1, ButterKnife, 1.612, 1.043, 0.199, 0, 0, 0, 51 [SEP] 2, Kettle, 0.250, 1.057, -1.4, 0, 0, 0, 61 [SEP] 3, Spoon, 1.612, 1.044, 0.091, 0, 0, 0, 51 [SEP] 4, Egg, 0.892, 1.108, 0.381, 0, 90, 0, 47 [SEP] 5, Egg, -1.038, 1.282, 2.242, 0, 90, 0, 64 [SEP] 6, Plate, -1.029, 2.041, -1.264, 0, 0, 0, 56 [SEP] 7, Plate, 1.820, 1.032, -1.484, 0, 0, 0, 55 [SEP] 8, Knife, 1.347, 1.069, 0.807, 0, 0, 0, 51 [SEP] 9, Knife, 1.076, 1.062, -1.281, 15.995, 0, 354.197, 49 [SEP] 10, Tomato, -1.366, 1.279, 1.796, 0, 90, 0, 64 [SEP] 11, Tomato, -1.366, 1.279, 2.153, 0, 90, 0, 64 [SEP] 12, SoapBottle, 1.015, 1.044, 0.763, 0, 0, 0, 51 [SEP] 13, SoapBottle, 0.892, 1.056, 0.281, 0, 90, 0, 47 [SEP] 14, SaltShaker, 0.848, 1.038, 0.720, 0, 0, 0, 51 [SEP] 15, PepperShaker, 0.351, 1.038, 0.738, 0, 0, 0, 51 [SEP] 16, PepperShaker, 1.068, 0.194, -1.628, 0, 0, 0, 60 [SEP] 17, Lettuce, -0.517, 1.106, -1.397, 0, 0, 0, 49 [SEP] 18, Lettuce, -1.095, 1.023, 2.153, 0, 90, 0, 64 [SEP] 19, Mug, -1.145, 1.711, -1.300, 0, 0, 0, 63 [SEP] 20, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 67 [SEP] 21, Apple, -0.432, 1.090, -1.181, 0, 0, 0, 49 [SEP] 22, Apple, 1.271, 0.936, 0.158, 0, 90, 0, 46 [SEP] 23, SoapBottle, 1.247, 0.200, -1.412, 0, 0, 0, 60 [SEP] 24, Apple, -1.038, 1.271, 1.885, 0, 90, 0, 64 [SEP] 25, Potato, -1.423, 1.766, 2.063, 0, 90, 0, 64 [SEP] 26, Fork, -0.260, 1.047, -1.828, 0, 90, 0, 49 [SEP] 27, Kettle, 1.181, 1.044, 0.676, 0, 90, 0, 51 [SEP] 28, Pan, -1.027, 0.202, -1.410, 0, 90, 0, 57 [SEP] 29, Tomato, -1.268, 1.999, 2.153, 0, 90, 0, 64 [SEP] 30, SaltShaker, 0.160, 1.038, 0.307, 0, 0, 0, 51 [SEP] 31, Egg, -1.090, 0.762, 1.796, 0, 90, 0, 64 [SEP] 32, Cup, 1.512, 1.020, -1.264, 0, 0, 0, 55 [SEP] 33, Spatula, 1.238, 1.061, -1.397, 0, 90, 0, 49 [SEP] 34, Knife, 0.876, 1.045, -1.363, 88.456, 178.939, 225, 49 [SEP] 35, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 47 [SEP] 36, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 51 [SEP] 37, PepperShaker, 1.036, 1.560, -1.614, 0, 0, 0, 53 [SEP] 38, DishSponge, 1.512, 1.019, -1.484, 0, 0, 0, 55 [SEP] 39, Plate, -1.184, 2.041, -1.555, 0, 0, 0, 56 [SEP] 40, Bread, 0.406, 1.104, 0.352, 0, 337.138, 0, 51 [SEP] 41, Spoon, 1.612, 1.044, 0.307, 0, 0, 0, 51 [SEP] 42, Pot, 1.817, 0.206, -1.480, 0, 90, 0, 59 [SEP] 43, Mug, -1.386, 1.708, 1.796, 0, 90, 0, 64 [SEP] 44, Bowl, -0.580, 0.202, -1.553, 0, 0, 0, 58 [SEP] 45, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 46, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 47, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 48, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 49, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 50, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 51, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 52, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 53, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 54, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 55, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 56, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 57, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 58, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 59, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 60, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 61, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 62, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 63, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 64, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 65, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 66, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 67, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 68, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 70, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 71, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 72, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 73, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 74, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 75, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 76, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 77, NorthWall, , , , , , , [SEP] 78, EastWall, , , , , , , [SEP] 79, SouthWall, , , , , , , [SEP] 80, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, walk straight to the end cabinet | STEP 2: Grab the spatula on the counter | STEP 3: Turn around to the sink | STEP 4: Put the spatula in the sink | END"]} {"id": "trial_T20190907_040937_164723-2", "input": "Move a spatula from a counter top to a sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.931, 0.25, 0, 180, 0, [SEP] 1, ButterKnife, 1.612, 1.043, 0.199, 0, 0, 0, 51 [SEP] 2, Kettle, 0.250, 1.057, -1.4, 0, 0, 0, 61 [SEP] 3, Spoon, 1.612, 1.044, 0.091, 0, 0, 0, 51 [SEP] 4, Egg, 0.892, 1.108, 0.381, 0, 90, 0, 47 [SEP] 5, Egg, -1.038, 1.282, 2.242, 0, 90, 0, 64 [SEP] 6, Plate, -1.029, 2.041, -1.264, 0, 0, 0, 56 [SEP] 7, Plate, 1.820, 1.032, -1.484, 0, 0, 0, 55 [SEP] 8, Knife, 1.347, 1.069, 0.807, 0, 0, 0, 51 [SEP] 9, Knife, 1.076, 1.062, -1.281, 15.995, 0, 354.197, 49 [SEP] 10, Tomato, -1.366, 1.279, 1.796, 0, 90, 0, 64 [SEP] 11, Tomato, -1.366, 1.279, 2.153, 0, 90, 0, 64 [SEP] 12, SoapBottle, 1.015, 1.044, 0.763, 0, 0, 0, 51 [SEP] 13, SoapBottle, 0.892, 1.056, 0.281, 0, 90, 0, 47 [SEP] 14, SaltShaker, 0.848, 1.038, 0.720, 0, 0, 0, 51 [SEP] 15, PepperShaker, 0.351, 1.038, 0.738, 0, 0, 0, 51 [SEP] 16, PepperShaker, 1.068, 0.194, -1.628, 0, 0, 0, 60 [SEP] 17, Lettuce, -0.517, 1.106, -1.397, 0, 0, 0, 49 [SEP] 18, Lettuce, -1.095, 1.023, 2.153, 0, 90, 0, 64 [SEP] 19, Mug, -1.145, 1.711, -1.300, 0, 0, 0, 63 [SEP] 20, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 67 [SEP] 21, Apple, -0.432, 1.090, -1.181, 0, 0, 0, 49 [SEP] 22, Apple, 1.271, 0.936, 0.158, 0, 90, 0, 46 [SEP] 23, SoapBottle, 1.247, 0.200, -1.412, 0, 0, 0, 60 [SEP] 24, Apple, -1.038, 1.271, 1.885, 0, 90, 0, 64 [SEP] 25, Potato, -1.423, 1.766, 2.063, 0, 90, 0, 64 [SEP] 26, Fork, -0.260, 1.047, -1.828, 0, 90, 0, 49 [SEP] 27, Kettle, 1.181, 1.044, 0.676, 0, 90, 0, 51 [SEP] 28, Pan, -1.027, 0.202, -1.410, 0, 90, 0, 57 [SEP] 29, Tomato, -1.268, 1.999, 2.153, 0, 90, 0, 64 [SEP] 30, SaltShaker, 0.160, 1.038, 0.307, 0, 0, 0, 51 [SEP] 31, Egg, -1.090, 0.762, 1.796, 0, 90, 0, 64 [SEP] 32, Cup, 1.512, 1.020, -1.264, 0, 0, 0, 55 [SEP] 33, Spatula, 1.238, 1.061, -1.397, 0, 90, 0, 49 [SEP] 34, Knife, 0.876, 1.045, -1.363, 88.456, 178.939, 225, 49 [SEP] 35, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 47 [SEP] 36, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 51 [SEP] 37, PepperShaker, 1.036, 1.560, -1.614, 0, 0, 0, 53 [SEP] 38, DishSponge, 1.512, 1.019, -1.484, 0, 0, 0, 55 [SEP] 39, Plate, -1.184, 2.041, -1.555, 0, 0, 0, 56 [SEP] 40, Bread, 0.406, 1.104, 0.352, 0, 337.138, 0, 51 [SEP] 41, Spoon, 1.612, 1.044, 0.307, 0, 0, 0, 51 [SEP] 42, Pot, 1.817, 0.206, -1.480, 0, 90, 0, 59 [SEP] 43, Mug, -1.386, 1.708, 1.796, 0, 90, 0, 64 [SEP] 44, Bowl, -0.580, 0.202, -1.553, 0, 0, 0, 58 [SEP] 45, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 46, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 47, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 48, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 49, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 50, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 51, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 52, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 53, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 54, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 55, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 56, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 57, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 58, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 59, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 60, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 61, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 62, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 63, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 64, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 65, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 66, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 67, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 68, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 70, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 71, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 72, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 73, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 74, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 75, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 76, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 77, NorthWall, , , , , , , [SEP] 78, EastWall, , , , , , , [SEP] 79, SouthWall, , , , , , , [SEP] 80, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the left to the spatula on the counter top to the left of the stove. | STEP 2: Pick up the spatula from the counter top. | STEP 3: Turn around and walk slightly forward to the sink. | STEP 4: Put the spatula in the sink basin. | END"]} {"id": "trial_T20190906_185249_051254-1", "input": "Move the alarm clock from the desk to the dresser. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.909, -2.75, 0, 180, 0, [SEP] 1, Mug, -3.613, 0.979, -3.271, 0, 0, 0, 36 [SEP] 2, Mug, -0.418, 0.541, -3.694, 0, 0, 0, 27 [SEP] 3, Pen, -3.580, 0.814, -3.977, 0, 0, 0, 34 [SEP] 4, KeyChain, -0.657, 0.800, -4.029, 0, 0, 0, 33 [SEP] 5, Book, -2.348, 0.620, -1.218, 0, 0, 0, 18 [SEP] 6, CellPhone, -0.862, 0.803, -3.811, 0, 0, 0, 33 [SEP] 7, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 33 [SEP] 8, CreditCard, -3.469, 0.225, -2.999, 0, 0, 0, 38 [SEP] 9, AlarmClock, -0.862, 0.803, -4.246, 0, 0, 0, 33 [SEP] 10, KeyChain, -0.453, 0.800, -3.811, 0, 0, 0, 33 [SEP] 11, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 18 [SEP] 12, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 13, Pencil, -0.249, 0.803, -4.137, 0, 0, 0, 33 [SEP] 14, Pillow, -2.981, 0.722, -1.506, 0, 0, 0, 18 [SEP] 15, CD, -3.526, 0.418, -4.070, 0, 0, 0, 39 [SEP] 16, Pen, -0.596, 0.548, -3.749, 0, 0, 0, 27 [SEP] 17, Mug, -3.539, 0.977, -3.673, 0, 0, 0, 36 [SEP] 18, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 19, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 20, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 21, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 22, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 23, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 24, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 25, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 26, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 27, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 28, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 29, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 30, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 31, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 32, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 33, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 34, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 35, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 36, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 37, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 38, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 39, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 40, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 41, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 42, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 45, NorthWall, , , , , , , [SEP] 46, EastWall, , , , , , , [SEP] 47, SouthWall, , , , , , , [SEP] 48, WestWall, , , , , , , ", "output": ["STEP 1: Turn left towards the wall and then turn right to face the alarm clock. | STEP 2: Pick up the alarm clock from the desk. | STEP 3: Turn right towards the dresser. | STEP 4: Place the alarm clock on the left side of the dresser. | END"]} {"id": "trial_T20190912_213111_315672-2", "input": "drop a plate with a card on it on the center table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 3.75, 0, 90, 0, [SEP] 1, KeyChain, -5.536, 0.534, 6.703, 0, 315, 0, 56 [SEP] 2, KeyChain, -2.598, 0.534, 3.856, 0, 0, 0, 55 [SEP] 3, CreditCard, -2.811, 0.533, 4.106, 0, 0, 0, 55 [SEP] 4, CreditCard, -2.700, 0.533, 4.480, 0, 270, 0, 55 [SEP] 5, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 49 [SEP] 6, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 54 [SEP] 7, Vase, -5.573, 0.534, 6.516, 0, 45, 0, 56 [SEP] 8, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 50 [SEP] 9, Newspaper, -0.710, 0.365, 3.002, 0, 0, 0, 38 [SEP] 10, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 55 [SEP] 11, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 12, Vase, -2.672, 0.880, 7.173, 0, 90, 0, 46 [SEP] 13, CreditCard, -0.326, 0.793, 1.849, 0, 0, 0, 40 [SEP] 14, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 52 [SEP] 15, KeyChain, -5.518, 0.534, 6.797, 0, 225, 0, 56 [SEP] 16, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 50 [SEP] 17, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 50 [SEP] 18, Bowl, -0.484, 0.795, 2.377, 0, 270, 0, 40 [SEP] 19, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 38 [SEP] 20, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 52 [SEP] 21, RemoteControl, -6.012, 1.282, 4.349, 0, 0, 0, 52 [SEP] 22, Watch, -0.433, 0.793, 6.231, 0, 270, 0, 39 [SEP] 23, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 54 [SEP] 24, Statue, -2.277, 0.881, 7.208, 0, 180, 0, 47 [SEP] 25, Statue, -5.405, 0.543, 6.684, 0, 135, 0, 56 [SEP] 26, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 54 [SEP] 27, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 28, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 29, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 30, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 31, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 32, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 33, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 34, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 35, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 36, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 37, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 38, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 39, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 40, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 41, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 42, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 43, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 44, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 45, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 46, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 47, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 48, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 49, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 50, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 51, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 52, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 53, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 54, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 55, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 56, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , ", "output": ["STEP 1: move right to the lamp stand | STEP 2: pick up a card | STEP 3: head left on the lamp stand | STEP 4: drop the card on a plate | STEP 5: pick up the plate | STEP 6: turn around to the center table | STEP 7: drop the plate on the center table | END"]} {"id": "trial_T20190908_020804_090982-0", "input": "Put a clean pot filled with water on a stove top. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 0.5, 0, 270, 0, [SEP] 1, Potato, -0.621, 0.855, -1.206, 0, 90, 0, 110 [SEP] 2, DishSponge, 2.868, 0.770, 1.198, 0, 0, 0, 95 [SEP] 3, DishSponge, 2.173, 0.771, -0.422, 0, 180, 0, 64 [SEP] 4, Kettle, -0.141, 1.655, -0.772, 0, 180, 0, 93 [SEP] 5, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 66 [SEP] 6, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 57 [SEP] 7, Spoon, 1.073, 0.772, 1.160, 0, 90, 0, 96 [SEP] 8, Spoon, 0.888, 0.912, -0.769, 0, 0, 0, 51 [SEP] 9, Fork, 1.422, 0.772, 1.122, 0, 90, 0, 69 [SEP] 10, Fork, -0.193, 0.772, 1.122, 0, 90, 0, 56 [SEP] 11, Spatula, 1.688, 0.926, 1.214, 0, 270, 0, 86 [SEP] 12, Spatula, 2.754, 0.926, 1.044, 0, 0, 0, 86 [SEP] 13, Cup, 2.838, 0.723, -0.504, 0, 0, 0, 106 [SEP] 14, Egg, 2.591, 1.326, -0.775, 0, 0, 0, 106 [SEP] 15, Egg, -0.043, 0.949, -0.330, 0, 0, 0, 51 [SEP] 16, SoapBottle, 2.242, 1.661, -0.725, 0, 180, 0, 72 [SEP] 17, SoapBottle, 2.235, 0.120, -0.538, 0, 180, 0, 92 [SEP] 18, Tomato, -0.198, 0.942, 1.129, 0, 0, 0, 62 [SEP] 19, Bowl, 1.955, 0.909, 1.214, 0, 0, 0, 86 [SEP] 20, Bowl, 0.284, 2.154, 1.467, 0, 0, 0, 85 [SEP] 21, SaltShaker, -0.007, 0.908, 1.214, 0, 0, 0, 62 [SEP] 22, PepperShaker, -0.734, 0.817, -1.328, 0, 0, 0, 110 [SEP] 23, PepperShaker, -0.621, 0.817, -1.360, 0, 90, 0, 110 [SEP] 24, Bread, 2.838, 1.077, -0.709, 0, 0, 0, 106 [SEP] 25, Lettuce, 2.221, 0.992, 1.383, 0, 0, 0, 86 [SEP] 26, Lettuce, 2.488, 0.992, 1.214, 0, 0, 0, 86 [SEP] 27, Mug, 0.570, 1.779, 1.520, 0, 270, 0, 109 [SEP] 28, SoapBottle, 1.688, 0.917, 1.383, 0, 0, 0, 86 [SEP] 29, Plate, 2.754, 0.914, 1.383, 0, 0, 0, 86 [SEP] 30, Fork, -1.056, 0.821, -1.257, 0, 90, 0, 110 [SEP] 31, Pot, 0.825, 1.659, -0.771, 0, 180, 0, 91 [SEP] 32, Bread, 2.777, 1.346, -0.644, 0, 0, 0, 106 [SEP] 33, Egg, -0.785, 0.858, -1.255, 0, 0, 0, 110 [SEP] 34, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 51 [SEP] 35, Tomato, 2.591, 1.594, -0.840, 0, 0, 0, 106 [SEP] 36, Cup, 2.600, 1.653, 1.390, 0, 0, 0, 76 [SEP] 37, Spatula, 0.152, 0.926, -0.316, 0, 0, 0, 51 [SEP] 38, Apple, 2.715, 1.632, -0.512, 0, 0, 0, 106 [SEP] 39, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 89 [SEP] 40, Lettuce, -0.103, 0.992, 1.299, 0, 90, 0, 62 [SEP] 41, SaltShaker, -0.103, 0.908, 1.044, 0, 0, 0, 62 [SEP] 42, Knife, 1.141, 0.944, -0.345, 0, 0, 0, 51 [SEP] 43, Potato, 2.838, 1.598, -0.644, 0, 0, 0, 106 [SEP] 44, PepperShaker, -0.103, 0.908, 1.468, 0, 0, 0, 62 [SEP] 45, ButterKnife, 1.422, 0.911, 1.299, 0, 0, 0, 86 [SEP] 46, Bowl, 0.888, 0.909, -0.515, 0, 0, 0, 51 [SEP] 47, DishSponge, -0.103, 0.911, 1.553, 0, 0, 0, 62 [SEP] 48, Spoon, 2.221, 0.912, 1.044, 0, 0, 0, 86 [SEP] 49, Mug, -0.939, 0.815, -1.400, 0, 0, 0, 110 [SEP] 50, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 51, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 52, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 53, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 54, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 55, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 56, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 57, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 58, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 59, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 60, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 61, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 62, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 63, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 64, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 65, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 66, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 67, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 68, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 69, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 70, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 71, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 72, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 73, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 74, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 77, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 78, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 79, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 81, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 82, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 84, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 85, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 86, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 87, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 88, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 89, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 90, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 91, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 92, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 93, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 94, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 95, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 96, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 97, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 98, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 99, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 100, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 101, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 102, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 103, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 104, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 105, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 106, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 107, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 108, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 109, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 110, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 111, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 112, NorthWall, , , , , , , [SEP] 113, EastWall, , , , , , , [SEP] 114, SouthWall, , , , , , , [SEP] 115, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward and turn right towards the stove top. | STEP 2: Pick up the large pot from the stove top on the back burner. | STEP 3: Turn around and walk to the sink. | STEP 4: Put the pot in the sink, rinse it off, fill it with water, and take it back out. | STEP 5: Turn around and walk back to the stove top. | STEP 6: Put the pot back on the stove top on its original burner. | END"]} {"id": "trial_T20190908_020804_090982-2", "input": "To Fill the pot on the back left burner with water as well as return it to the burner. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 0.5, 0, 270, 0, [SEP] 1, Potato, -0.621, 0.855, -1.206, 0, 90, 0, 110 [SEP] 2, DishSponge, 2.868, 0.770, 1.198, 0, 0, 0, 95 [SEP] 3, DishSponge, 2.173, 0.771, -0.422, 0, 180, 0, 64 [SEP] 4, Kettle, -0.141, 1.655, -0.772, 0, 180, 0, 93 [SEP] 5, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 66 [SEP] 6, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 57 [SEP] 7, Spoon, 1.073, 0.772, 1.160, 0, 90, 0, 96 [SEP] 8, Spoon, 0.888, 0.912, -0.769, 0, 0, 0, 51 [SEP] 9, Fork, 1.422, 0.772, 1.122, 0, 90, 0, 69 [SEP] 10, Fork, -0.193, 0.772, 1.122, 0, 90, 0, 56 [SEP] 11, Spatula, 1.688, 0.926, 1.214, 0, 270, 0, 86 [SEP] 12, Spatula, 2.754, 0.926, 1.044, 0, 0, 0, 86 [SEP] 13, Cup, 2.838, 0.723, -0.504, 0, 0, 0, 106 [SEP] 14, Egg, 2.591, 1.326, -0.775, 0, 0, 0, 106 [SEP] 15, Egg, -0.043, 0.949, -0.330, 0, 0, 0, 51 [SEP] 16, SoapBottle, 2.242, 1.661, -0.725, 0, 180, 0, 72 [SEP] 17, SoapBottle, 2.235, 0.120, -0.538, 0, 180, 0, 92 [SEP] 18, Tomato, -0.198, 0.942, 1.129, 0, 0, 0, 62 [SEP] 19, Bowl, 1.955, 0.909, 1.214, 0, 0, 0, 86 [SEP] 20, Bowl, 0.284, 2.154, 1.467, 0, 0, 0, 85 [SEP] 21, SaltShaker, -0.007, 0.908, 1.214, 0, 0, 0, 62 [SEP] 22, PepperShaker, -0.734, 0.817, -1.328, 0, 0, 0, 110 [SEP] 23, PepperShaker, -0.621, 0.817, -1.360, 0, 90, 0, 110 [SEP] 24, Bread, 2.838, 1.077, -0.709, 0, 0, 0, 106 [SEP] 25, Lettuce, 2.221, 0.992, 1.383, 0, 0, 0, 86 [SEP] 26, Lettuce, 2.488, 0.992, 1.214, 0, 0, 0, 86 [SEP] 27, Mug, 0.570, 1.779, 1.520, 0, 270, 0, 109 [SEP] 28, SoapBottle, 1.688, 0.917, 1.383, 0, 0, 0, 86 [SEP] 29, Plate, 2.754, 0.914, 1.383, 0, 0, 0, 86 [SEP] 30, Fork, -1.056, 0.821, -1.257, 0, 90, 0, 110 [SEP] 31, Pot, 0.825, 1.659, -0.771, 0, 180, 0, 91 [SEP] 32, Bread, 2.777, 1.346, -0.644, 0, 0, 0, 106 [SEP] 33, Egg, -0.785, 0.858, -1.255, 0, 0, 0, 110 [SEP] 34, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 51 [SEP] 35, Tomato, 2.591, 1.594, -0.840, 0, 0, 0, 106 [SEP] 36, Cup, 2.600, 1.653, 1.390, 0, 0, 0, 76 [SEP] 37, Spatula, 0.152, 0.926, -0.316, 0, 0, 0, 51 [SEP] 38, Apple, 2.715, 1.632, -0.512, 0, 0, 0, 106 [SEP] 39, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 89 [SEP] 40, Lettuce, -0.103, 0.992, 1.299, 0, 90, 0, 62 [SEP] 41, SaltShaker, -0.103, 0.908, 1.044, 0, 0, 0, 62 [SEP] 42, Knife, 1.141, 0.944, -0.345, 0, 0, 0, 51 [SEP] 43, Potato, 2.838, 1.598, -0.644, 0, 0, 0, 106 [SEP] 44, PepperShaker, -0.103, 0.908, 1.468, 0, 0, 0, 62 [SEP] 45, ButterKnife, 1.422, 0.911, 1.299, 0, 0, 0, 86 [SEP] 46, Bowl, 0.888, 0.909, -0.515, 0, 0, 0, 51 [SEP] 47, DishSponge, -0.103, 0.911, 1.553, 0, 0, 0, 62 [SEP] 48, Spoon, 2.221, 0.912, 1.044, 0, 0, 0, 86 [SEP] 49, Mug, -0.939, 0.815, -1.400, 0, 0, 0, 110 [SEP] 50, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 51, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 52, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 53, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 54, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 55, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 56, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 57, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 58, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 59, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 60, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 61, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 62, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 63, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 64, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 65, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 66, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 67, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 68, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 69, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 70, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 71, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 72, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 73, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 74, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 77, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 78, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 79, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 81, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 82, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 84, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 85, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 86, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 87, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 88, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 89, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 90, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 91, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 92, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 93, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 94, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 95, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 96, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 97, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 98, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 99, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 100, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 101, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 102, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 103, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 104, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 105, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 106, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 107, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 108, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 109, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 110, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 111, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 112, NorthWall, , , , , , , [SEP] 113, EastWall, , , , , , , [SEP] 114, SouthWall, , , , , , , [SEP] 115, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right to face the stove. | STEP 2: Pick up the pot on the back left burner. | STEP 3: Turn around and walk forward to face the sink. | STEP 4: Fill the pot up with water and pick it back up. | STEP 5: Turn around and walk forward to face the stove. | STEP 6: Place the pot with water in it on the back left burner. | END"]} {"id": "trial_T20190907_224416_535857-2", "input": "Slice two bread loafs and place the slices on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 3.0, 0.900, 0.0, 0, 270, 0, [SEP] 1, DishSponge, 0.900, 1.655, -0.849, 0, 180, 0, 54 [SEP] 2, DishSponge, 1.176, 0.114, 1.156, 0, 0, 0, 64 [SEP] 3, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 82 [SEP] 4, Kettle, -0.086, 0.116, 1.117, 0, 0, 0, 72 [SEP] 5, ButterKnife, -0.839, 0.820, -1.206, 0, 180, 0, 103 [SEP] 6, ButterKnife, 2.488, 0.911, 1.044, 0, 0, 0, 79 [SEP] 7, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 59 [SEP] 8, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 9, Fork, -0.157, 0.766, -0.707, 0, 90, 0, 101 [SEP] 10, Fork, 2.754, 0.912, 1.129, 0, 0, 0, 79 [SEP] 11, Spatula, 0.054, 0.926, -0.330, 0, 0, 0, 44 [SEP] 12, Plate, 2.838, 1.291, -0.709, 0, 0, 0, 99 [SEP] 13, Cup, 0.900, 1.653, -0.771, 0, 180, 0, 54 [SEP] 14, Cup, 0.193, 0.763, -0.707, 0, 0, 0, 101 [SEP] 15, Knife, -0.682, 0.853, -1.255, 0, 270, 0, 103 [SEP] 16, Tomato, -1.933, 0.455, 1.417, 0, 270, 0, 97 [SEP] 17, PepperShaker, -0.734, 0.817, -1.255, 0, 0, 0, 103 [SEP] 18, Bread, -0.198, 0.969, 1.383, 0, 0, 0, 55 [SEP] 19, Lettuce, 2.715, 1.644, -0.644, 0, 0, 0, 99 [SEP] 20, Mug, 3.301, 0.835, -0.485, 0, 270, 0, 99 [SEP] 21, SoapBottle, 1.649, 0.917, -0.345, 0, 0, 0, 44 [SEP] 22, Plate, 1.955, 0.914, 1.299, 0, 0, 0, 79 [SEP] 23, Fork, 2.754, 0.912, 1.299, 0, 0, 0, 79 [SEP] 24, Pot, 0.634, 0.915, -0.430, 0, 0, 0, 44 [SEP] 25, Bread, 2.221, 0.969, 1.299, 0, 0, 0, 79 [SEP] 26, Egg, 0.466, 1.822, 1.455, 0, 180, 0, 102 [SEP] 27, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 44 [SEP] 28, Tomato, -1.962, 0.455, 1.290, 0, 270, 0, 97 [SEP] 29, Cup, -0.836, 0.818, -1.473, 0, 0, 0, 103 [SEP] 30, Spatula, 1.141, 0.926, -0.684, 0, 0, 0, 44 [SEP] 31, Apple, 2.653, 0.795, -0.535, 0, 0, 0, 99 [SEP] 32, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 47 [SEP] 33, Lettuce, 2.488, 0.992, 1.383, 0, 0, 0, 79 [SEP] 34, SaltShaker, 1.487, 1.650, 1.546, 0, 0, 0, 67 [SEP] 35, Knife, -0.103, 0.944, 1.044, 0, 0, 0, 55 [SEP] 36, Potato, 0.363, 1.819, 1.455, 0, 180, 0, 102 [SEP] 37, PepperShaker, -0.621, 0.817, -1.308, 0, 90, 0, 103 [SEP] 38, ButterKnife, 1.155, 0.911, 1.383, 0, 0, 0, 79 [SEP] 39, Bowl, 0.053, 0.763, -0.651, 0, 0, 0, 101 [SEP] 40, DishSponge, 1.688, 0.911, 1.553, 0, 0, 0, 79 [SEP] 41, Spoon, 2.543, 0.772, 1.198, 0, 0, 0, 60 [SEP] 42, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 44 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 105, NorthWall, , , , , , , [SEP] 106, EastWall, , , , , , , [SEP] 107, SouthWall, , , , , , , [SEP] 108, WestWall, , , , , , , ", "output": ["STEP 1: Go straight to the end of the kitchen counter-top to the right, towards a loaf of bread and a knife that sits to the left of the oven stove. | STEP 2: Pick up the knife. | STEP 3: Turn right and head to the other end of the same kitchen cabinet, now on the left, and face the other loaf of bread and a plate. | STEP 4: Use the knife to cut a slice from the loaf of bread. | STEP 5: Head back to the other end of the counter and make a left towards the table draped with a grey cloth. | STEP 6: Place the knife on the table with the grey table cloth. | STEP 7: Turn around and head back towards the loaf of bread that was sliced. | STEP 8: Pick up a slice of bread. | STEP 9: Head back towards the table with a grey table cloth. | STEP 10: Place the slice of bread on the table. | STEP 11: Pick up the knife from the table. | STEP 12: Turn around and head towards the kitchen counter-top with the unsliced loaf of bread. | STEP 13: Use the knife to cut a slice from the loaf of bread. | STEP 14: Turn left with the knife and head back towards the table with the grey table cloth. | STEP 15: Place the knife on the table with the grey table cloth. | STEP 16: Turn around and head back to the loaf of bread that was just sliced. | STEP 17: Pick up a slice of bread. | STEP 18: Turn left and head back towards the table with the grey table cloth. | STEP 19: Place the slice of bread on the table. | END"]} {"id": "trial_T20190909_130959_018918-1", "input": "pick up knife, cut bread, cook in microwave, place bread 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, 0.0, 0, 180, 0, [SEP] 1, ButterKnife, 2.488, 0.911, 1.299, 0, 0, 0, 72 [SEP] 2, Spoon, 2.837, 0.772, 1.160, 0, 0, 0, 81 [SEP] 3, Spatula, -0.839, 0.835, -1.308, 0, 90, 0, 96 [SEP] 4, Spatula, -0.103, 0.926, 1.214, 0, 90, 0, 48 [SEP] 5, Plate, 0.888, 0.914, -0.430, 0, 0, 0, 37 [SEP] 6, Plate, 2.715, 1.566, -0.709, 0, 0, 0, 92 [SEP] 7, Egg, 2.591, 0.764, -0.535, 0, 0, 0, 92 [SEP] 8, Knife, 0.053, 0.798, -0.651, 0, 180, 0, 94 [SEP] 9, Knife, 0.888, 0.944, -0.6, 0, 0, 0, 37 [SEP] 10, SaltShaker, 0.290, 1.651, -0.771, 0, 180, 0, 77 [SEP] 11, Bread, -0.246, 0.969, 1.129, 0, 0, 0, 48 [SEP] 12, Lettuce, 1.155, 0.992, 1.383, 0, 0, 0, 72 [SEP] 13, Lettuce, 1.141, 0.992, -0.769, 0, 0, 0, 37 [SEP] 14, SoapBottle, -0.734, 0.826, -1.183, 0, 0, 0, 96 [SEP] 15, Plate, 1.955, 0.914, 1.468, 0, 0, 0, 72 [SEP] 16, Fork, 2.124, 0.772, 1.198, 0, 270, 0, 68 [SEP] 17, Pot, 1.688, 0.915, 1.214, 0, 0, 0, 72 [SEP] 18, Bread, 1.422, 0.969, 1.468, 0, 0, 0, 72 [SEP] 19, Egg, 0.349, 0.949, -0.302, 0, 0, 0, 37 [SEP] 20, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 43 [SEP] 21, Tomato, -1.933, 0.455, 1.375, 0, 270, 0, 90 [SEP] 22, Cup, -0.734, 0.818, -1.328, 0, 0, 0, 96 [SEP] 23, Spatula, 1.688, 0.926, 1.044, 0, 0, 0, 72 [SEP] 24, Apple, 2.754, 0.980, 1.214, 0, 0, 0, 72 [SEP] 25, Pan, 0.281, 0.964, 1.347, 0, 0, 0, 52 [SEP] 26, Lettuce, -0.198, 0.992, 1.383, 0, 0, 0, 48 [SEP] 27, SaltShaker, -0.103, 0.908, 1.044, 0, 0, 0, 48 [SEP] 28, Knife, 0.634, 0.944, -0.769, 0, 0, 0, 37 [SEP] 29, Potato, 2.777, 1.323, -0.644, 0, 0, 0, 92 [SEP] 30, PepperShaker, 1.597, 1.650, 1.470, 0, 0, 0, 60 [SEP] 31, ButterKnife, -0.911, 0.820, -1.257, 0, 90, 0, 96 [SEP] 32, Bowl, 2.838, 1.017, -0.644, 0, 0, 0, 92 [SEP] 33, DishSponge, 1.175, 0.771, 1.236, 0, 0, 0, 82 [SEP] 34, Spoon, 1.140, 0.773, -0.498, 0, 180, 0, 56 [SEP] 35, Mug, -0.734, 0.815, -1.038, 0, 0, 0, 96 [SEP] 36, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 37, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 38, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 39, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 40, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 41, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 42, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 43, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 44, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 45, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 46, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 47, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 48, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 49, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 50, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 51, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 52, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 53, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 54, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 55, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 56, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 57, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 58, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 59, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 60, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 61, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 62, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 63, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 64, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 65, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 67, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 68, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 69, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 70, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 71, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 72, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 73, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 75, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 76, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 77, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 78, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 79, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 80, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 81, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 82, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 84, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 85, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 86, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 87, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 88, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 89, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 90, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 91, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 92, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 93, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 94, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 95, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 96, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 97, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 98, NorthWall, , , , , , , [SEP] 99, EastWall, , , , , , , [SEP] 100, SouthWall, , , , , , , [SEP] 101, WestWall, , , , , , , ", "output": ["STEP 1: turn left, turn right to the sink | STEP 2: pick up knife from sink | STEP 3: turn around, walk straight to the counter | STEP 4: cut in to the bread with the knife | STEP 5: turn left, turn right, turn left to the trash can | STEP 6: place knife in the trash can | STEP 7: turn left, turn left, turn left to the counter | STEP 8: pick up bread from the counter | STEP 9: turn around, turn left, turn left to the microwave | STEP 10: open door, place bread on shelf, close door, open door, remove bread, close door | STEP 11: turn left, turn right, turn left to the trash can | STEP 12: place bread in the trash can | END"]} {"id": "trial_T20190909_130959_018918-2", "input": "Place a cooked slice of bread in the recycle 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, 0.0, 0, 180, 0, [SEP] 1, ButterKnife, 2.488, 0.911, 1.299, 0, 0, 0, 72 [SEP] 2, Spoon, 2.837, 0.772, 1.160, 0, 0, 0, 81 [SEP] 3, Spatula, -0.839, 0.835, -1.308, 0, 90, 0, 96 [SEP] 4, Spatula, -0.103, 0.926, 1.214, 0, 90, 0, 48 [SEP] 5, Plate, 0.888, 0.914, -0.430, 0, 0, 0, 37 [SEP] 6, Plate, 2.715, 1.566, -0.709, 0, 0, 0, 92 [SEP] 7, Egg, 2.591, 0.764, -0.535, 0, 0, 0, 92 [SEP] 8, Knife, 0.053, 0.798, -0.651, 0, 180, 0, 94 [SEP] 9, Knife, 0.888, 0.944, -0.6, 0, 0, 0, 37 [SEP] 10, SaltShaker, 0.290, 1.651, -0.771, 0, 180, 0, 77 [SEP] 11, Bread, -0.246, 0.969, 1.129, 0, 0, 0, 48 [SEP] 12, Lettuce, 1.155, 0.992, 1.383, 0, 0, 0, 72 [SEP] 13, Lettuce, 1.141, 0.992, -0.769, 0, 0, 0, 37 [SEP] 14, SoapBottle, -0.734, 0.826, -1.183, 0, 0, 0, 96 [SEP] 15, Plate, 1.955, 0.914, 1.468, 0, 0, 0, 72 [SEP] 16, Fork, 2.124, 0.772, 1.198, 0, 270, 0, 68 [SEP] 17, Pot, 1.688, 0.915, 1.214, 0, 0, 0, 72 [SEP] 18, Bread, 1.422, 0.969, 1.468, 0, 0, 0, 72 [SEP] 19, Egg, 0.349, 0.949, -0.302, 0, 0, 0, 37 [SEP] 20, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 43 [SEP] 21, Tomato, -1.933, 0.455, 1.375, 0, 270, 0, 90 [SEP] 22, Cup, -0.734, 0.818, -1.328, 0, 0, 0, 96 [SEP] 23, Spatula, 1.688, 0.926, 1.044, 0, 0, 0, 72 [SEP] 24, Apple, 2.754, 0.980, 1.214, 0, 0, 0, 72 [SEP] 25, Pan, 0.281, 0.964, 1.347, 0, 0, 0, 52 [SEP] 26, Lettuce, -0.198, 0.992, 1.383, 0, 0, 0, 48 [SEP] 27, SaltShaker, -0.103, 0.908, 1.044, 0, 0, 0, 48 [SEP] 28, Knife, 0.634, 0.944, -0.769, 0, 0, 0, 37 [SEP] 29, Potato, 2.777, 1.323, -0.644, 0, 0, 0, 92 [SEP] 30, PepperShaker, 1.597, 1.650, 1.470, 0, 0, 0, 60 [SEP] 31, ButterKnife, -0.911, 0.820, -1.257, 0, 90, 0, 96 [SEP] 32, Bowl, 2.838, 1.017, -0.644, 0, 0, 0, 92 [SEP] 33, DishSponge, 1.175, 0.771, 1.236, 0, 0, 0, 82 [SEP] 34, Spoon, 1.140, 0.773, -0.498, 0, 180, 0, 56 [SEP] 35, Mug, -0.734, 0.815, -1.038, 0, 0, 0, 96 [SEP] 36, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 37, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 38, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 39, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 40, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 41, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 42, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 43, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 44, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 45, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 46, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 47, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 48, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 49, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 50, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 51, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 52, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 53, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 54, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 55, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 56, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 57, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 58, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 59, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 60, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 61, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 62, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 63, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 64, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 65, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 67, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 68, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 69, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 70, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 71, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 72, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 73, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 75, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 76, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 77, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 78, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 79, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 80, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 81, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 82, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 84, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 85, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 86, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 87, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 88, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 89, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 90, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 91, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 92, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 93, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 94, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 95, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 96, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 97, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 98, NorthWall, , , , , , , [SEP] 99, EastWall, , , , , , , [SEP] 100, SouthWall, , , , , , , [SEP] 101, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the sink. | STEP 2: Pick up the knife from the sink. | STEP 3: Walk over to the counter to the left of the stove. | STEP 4: Slice the loaf of bread. | STEP 5: Walk over to the recycle bin. | STEP 6: Put the knife in the recycle bin. | STEP 7: Walk back to the loaf of bread. | STEP 8: Pick up a slice of bread. | STEP 9: Walk over to the microwave above the stove. | STEP 10: Cook the slice of bread in the microwave. | STEP 11: Take the slice of bread over to the recycle bin. | STEP 12: Place the slice of bread in the recycle bin. | END"]} {"id": "trial_T20190909_005324_566431-1", "input": "Move two pencils from the top of the dresser to the drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.909, -0.75, 0, 90, 0, [SEP] 1, Mug, -0.507, 0.541, -3.713, 0, 0, 0, 35 [SEP] 2, Mug, -1.270, 0.798, -3.920, 0, 0, 0, 41 [SEP] 3, CellPhone, -1.270, 0.800, -4.246, 0, 0, 0, 41 [SEP] 4, Pen, -3.638, 0.620, -4.070, 0, 0, 0, 50 [SEP] 5, Pen, -0.249, 0.805, -3.703, 0, 0, 0, 41 [SEP] 6, Pencil, -3.760, 0.984, -3.673, 0, 0, 0, 44 [SEP] 7, CreditCard, -0.453, 0.800, -3.920, 0, 0, 0, 41 [SEP] 8, KeyChain, -1.066, 0.804, -4.137, 0, 0, 0, 41 [SEP] 9, KeyChain, -3.466, 0.982, -3.874, 0, 0, 0, 44 [SEP] 10, Laptop, -2.559, 0.618, -0.931, 0, 0, 0, 26 [SEP] 11, AlarmClock, -3.834, 0.981, -4.276, 0, 0, 0, 44 [SEP] 12, AlarmClock, -0.453, 0.803, -4.029, 0, 0, 0, 41 [SEP] 13, Book, -3.760, 0.981, -3.472, 0, 0, 0, 44 [SEP] 14, CellPhone, -0.426, 0.030, -3.844, 0, 0, 0, 33 [SEP] 15, Laptop, -2.770, 0.618, -1.793, 0, 0, 0, 26 [SEP] 16, CreditCard, -0.862, 0.803, -3.703, 0, 0, 0, 41 [SEP] 17, AlarmClock, -0.862, 0.803, -4.246, 0, 0, 0, 41 [SEP] 18, KeyChain, -3.539, 0.980, -3.271, 0, 90, 0, 44 [SEP] 19, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 26 [SEP] 20, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 21, Pencil, -3.613, 0.984, -3.874, 0, 0, 0, 44 [SEP] 22, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 26 [SEP] 23, CD, -1.854, 0.063, -3.925, 0, 279.990, 0, 30 [SEP] 24, Pen, -1.474, 0.805, -3.920, 0, 0, 0, 41 [SEP] 25, Mug, -0.240, 0.541, -3.731, 0, 0, 0, 35 [SEP] 26, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 27, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 28, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 29, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 30, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 31, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 32, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 33, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 34, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 35, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 36, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 37, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 38, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 39, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 40, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 41, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 42, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 43, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 44, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 51, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 52, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 53, NorthWall, , , , , , , [SEP] 54, EastWall, , , , , , , [SEP] 55, SouthWall, , , , , , , [SEP] 56, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and go to the wooden dresser in the corner across the room. | STEP 2: Pick up the yellow pencil directly behind the keys on the top. | STEP 3: Move back from the wooden dresser. | STEP 4: Place the pencil in the second drawer on the bottom left. | STEP 5: Move forward slightly towards the dresser. | STEP 6: Pick up the yellow pencil on the top of the dresser on the left of the white note book. | STEP 7: Move back from the wooden dresser. | STEP 8: Place the pencil in the second drawer on the bottom left on top of the first pencil. | END"]} {"id": "trial_T20190909_013957_469124-0", "input": "Wash a fork and put it on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -0.25, 0, 90, 0, [SEP] 1, Potato, 1.688, 0.946, 1.044, 0, 0, 0, 81 [SEP] 2, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 52 [SEP] 3, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 84 [SEP] 4, ButterKnife, 1.688, 0.911, 1.129, 0, 0, 0, 81 [SEP] 5, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 61 [SEP] 6, Pot, 1.141, 0.915, -0.515, 0, 0, 0, 46 [SEP] 7, Spoon, 0.053, 0.766, -0.596, 0, 0, 0, 103 [SEP] 8, Spoon, 1.276, 0.773, -0.460, 0, 270, 0, 65 [SEP] 9, Fork, -0.103, 0.912, 1.129, 0, 90, 0, 57 [SEP] 10, Spatula, 0.251, 0.926, -0.316, 0, 0, 0, 46 [SEP] 11, Spatula, -0.887, 0.835, -1.473, 0, 180, 0, 105 [SEP] 12, Plate, 2.777, 1.566, -0.709, 0, 0, 0, 101 [SEP] 13, Cup, -0.734, 0.818, -1.473, 0, 0, 0, 105 [SEP] 14, Egg, 0.251, 0.949, -0.302, 0, 0, 0, 46 [SEP] 15, Knife, -0.103, 0.944, 1.468, 0, 0, 0, 57 [SEP] 16, SaltShaker, -1.056, 0.817, -1.411, 0, 90, 0, 105 [SEP] 17, SaltShaker, 1.141, 0.908, -0.769, 0, 0, 0, 46 [SEP] 18, PepperShaker, -1.056, 0.817, -1.103, 0, 90, 0, 105 [SEP] 19, Bread, 2.754, 0.969, 1.468, 0, 0, 0, 81 [SEP] 20, Lettuce, 1.155, 0.992, 1.299, 0, 0, 0, 81 [SEP] 21, Mug, -0.694, 0.815, -1.257, 0, 90, 0, 105 [SEP] 22, Apple, -0.911, 0.889, -1.360, 0, 90, 0, 105 [SEP] 23, SoapBottle, -1.962, 0.429, 1.332, 0, 270, 0, 99 [SEP] 24, Plate, 1.955, 0.914, 1.214, 0, 0, 0, 81 [SEP] 25, Fork, 1.925, 0.771, 1.198, 0, 270, 0, 79 [SEP] 26, Pot, 0.634, 0.915, -0.430, 0, 0, 0, 46 [SEP] 27, Bread, 2.221, 0.969, 1.129, 0, 0, 0, 81 [SEP] 28, Egg, -2.019, 0.461, 1.502, 0, 270, 0, 99 [SEP] 29, Kettle, 1.139, 0.116, 1.117, 0, 0, 0, 53 [SEP] 30, Tomato, -0.043, 0.942, -0.316, 0, 0, 0, 46 [SEP] 31, Cup, -0.086, 0.112, 1.077, 0, 0, 0, 74 [SEP] 32, Spatula, 2.488, 0.926, 1.383, 0, 0, 0, 81 [SEP] 33, Apple, 2.653, 1.357, -0.644, 0, 0, 0, 101 [SEP] 34, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 49 [SEP] 35, Lettuce, -0.198, 0.992, 1.214, 0, 0, 0, 57 [SEP] 36, SaltShaker, 2.754, 0.908, 1.299, 0, 0, 0, 81 [SEP] 37, Knife, -1.056, 0.853, -1.308, 0, 90, 0, 105 [SEP] 38, Potato, 2.962, 1.053, -0.709, 0, 0, 0, 101 [SEP] 39, PepperShaker, 0.937, 1.651, -0.849, 0, 180, 0, 48 [SEP] 40, ButterKnife, 1.688, 0.911, 1.383, 0, 0, 0, 81 [SEP] 41, Bowl, 0.888, 0.909, -0.515, 0, 0, 0, 46 [SEP] 42, DishSponge, -0.887, 0.820, -1.255, 0, 0, 0, 105 [SEP] 43, Spoon, -0.157, 0.766, -0.707, 0, 90, 0, 103 [SEP] 44, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 46 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 107, NorthWall, , , , , , , [SEP] 108, EastWall, , , , , , , [SEP] 109, SouthWall, , , , , , , [SEP] 110, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the kitchen counter on the left of the stove. | STEP 2: Grab a fork from the counter. | STEP 3: Walk to the kitchen sink behind you. | STEP 4: Put the fork in the sink, wash it, then grab it. | STEP 5: Walk to the kitchen table on your right. | STEP 6: Place the fork on the table. | END"]} {"id": "trial_T20190909_013957_469124-2", "input": "Put a clean fork on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -0.25, 0, 90, 0, [SEP] 1, Potato, 1.688, 0.946, 1.044, 0, 0, 0, 81 [SEP] 2, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 52 [SEP] 3, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 84 [SEP] 4, ButterKnife, 1.688, 0.911, 1.129, 0, 0, 0, 81 [SEP] 5, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 61 [SEP] 6, Pot, 1.141, 0.915, -0.515, 0, 0, 0, 46 [SEP] 7, Spoon, 0.053, 0.766, -0.596, 0, 0, 0, 103 [SEP] 8, Spoon, 1.276, 0.773, -0.460, 0, 270, 0, 65 [SEP] 9, Fork, -0.103, 0.912, 1.129, 0, 90, 0, 57 [SEP] 10, Spatula, 0.251, 0.926, -0.316, 0, 0, 0, 46 [SEP] 11, Spatula, -0.887, 0.835, -1.473, 0, 180, 0, 105 [SEP] 12, Plate, 2.777, 1.566, -0.709, 0, 0, 0, 101 [SEP] 13, Cup, -0.734, 0.818, -1.473, 0, 0, 0, 105 [SEP] 14, Egg, 0.251, 0.949, -0.302, 0, 0, 0, 46 [SEP] 15, Knife, -0.103, 0.944, 1.468, 0, 0, 0, 57 [SEP] 16, SaltShaker, -1.056, 0.817, -1.411, 0, 90, 0, 105 [SEP] 17, SaltShaker, 1.141, 0.908, -0.769, 0, 0, 0, 46 [SEP] 18, PepperShaker, -1.056, 0.817, -1.103, 0, 90, 0, 105 [SEP] 19, Bread, 2.754, 0.969, 1.468, 0, 0, 0, 81 [SEP] 20, Lettuce, 1.155, 0.992, 1.299, 0, 0, 0, 81 [SEP] 21, Mug, -0.694, 0.815, -1.257, 0, 90, 0, 105 [SEP] 22, Apple, -0.911, 0.889, -1.360, 0, 90, 0, 105 [SEP] 23, SoapBottle, -1.962, 0.429, 1.332, 0, 270, 0, 99 [SEP] 24, Plate, 1.955, 0.914, 1.214, 0, 0, 0, 81 [SEP] 25, Fork, 1.925, 0.771, 1.198, 0, 270, 0, 79 [SEP] 26, Pot, 0.634, 0.915, -0.430, 0, 0, 0, 46 [SEP] 27, Bread, 2.221, 0.969, 1.129, 0, 0, 0, 81 [SEP] 28, Egg, -2.019, 0.461, 1.502, 0, 270, 0, 99 [SEP] 29, Kettle, 1.139, 0.116, 1.117, 0, 0, 0, 53 [SEP] 30, Tomato, -0.043, 0.942, -0.316, 0, 0, 0, 46 [SEP] 31, Cup, -0.086, 0.112, 1.077, 0, 0, 0, 74 [SEP] 32, Spatula, 2.488, 0.926, 1.383, 0, 0, 0, 81 [SEP] 33, Apple, 2.653, 1.357, -0.644, 0, 0, 0, 101 [SEP] 34, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 49 [SEP] 35, Lettuce, -0.198, 0.992, 1.214, 0, 0, 0, 57 [SEP] 36, SaltShaker, 2.754, 0.908, 1.299, 0, 0, 0, 81 [SEP] 37, Knife, -1.056, 0.853, -1.308, 0, 90, 0, 105 [SEP] 38, Potato, 2.962, 1.053, -0.709, 0, 0, 0, 101 [SEP] 39, PepperShaker, 0.937, 1.651, -0.849, 0, 180, 0, 48 [SEP] 40, ButterKnife, 1.688, 0.911, 1.383, 0, 0, 0, 81 [SEP] 41, Bowl, 0.888, 0.909, -0.515, 0, 0, 0, 46 [SEP] 42, DishSponge, -0.887, 0.820, -1.255, 0, 0, 0, 105 [SEP] 43, Spoon, -0.157, 0.766, -0.707, 0, 90, 0, 103 [SEP] 44, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 46 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 107, NorthWall, , , , , , , [SEP] 108, EastWall, , , , , , , [SEP] 109, SouthWall, , , , , , , [SEP] 110, WestWall, , , , , , , ", "output": ["STEP 1: Go left to stand in front of the counter to the left of the stove. | STEP 2: Pick the fork up from the counter. | STEP 3: Turn around and face the sink. | STEP 4: Put the fork in the sink and turn the water on and then off and pick the fork up from the sink. | STEP 5: Turn to the right and then to the left to face the round table. | STEP 6: Put the fork down on the table. | END"]} {"id": "trial_T20190908_123502_241362-1", "input": "Move a statue from a shelf to a table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 0.5, 0, 270, 0, [SEP] 1, Watch, 1.808, 0.870, 0.008, 0, 90, 0, 36 [SEP] 2, Newspaper, -0.288, 0.332, -1.697, 0, 0, 0, 32 [SEP] 3, CreditCard, -0.561, 0.551, -0.623, 0, 270, 0, 30 [SEP] 4, RemoteControl, -0.411, 0.553, -0.537, 0, 270, 0, 30 [SEP] 5, RemoteControl, 1.807, 0.872, 0.326, 0, 90, 0, 36 [SEP] 6, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 38 [SEP] 7, KeyChain, -0.288, 0.326, -1.917, 0, 0, 0, 32 [SEP] 8, Watch, -0.711, 0.040, -0.217, 0, 270, 0, 28 [SEP] 9, Newspaper, 1.808, 0.869, 0.220, 0, 90, 0, 36 [SEP] 10, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 32 [SEP] 11, CreditCard, 1.364, 0.277, -0.589, 0, 0, 0, 38 [SEP] 12, RemoteControl, 1.766, 0.871, 0.643, 0, 90, 0, 36 [SEP] 13, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 30 [SEP] 14, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 30 [SEP] 15, Statue, -0.260, 0.562, -0.451, 0, 0, 0, 30 [SEP] 16, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 17, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 18, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 19, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 20, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 21, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 22, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 23, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 24, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 25, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 26, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 29, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 30, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 31, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 32, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 33, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 34, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 35, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 36, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 37, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 38, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, WestWall, , , , , , , ", "output": ["STEP 1: Go to the shelf above the sofa | STEP 2: Pick up the dog statue on the shelf | STEP 3: Go to the table next to the sofa | STEP 4: Place the dog statue on the table | END"]} {"id": "trial_T20190908_232857_206668-1", "input": "Look at the box under light from the table lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.5, 0.901, 5.25, 0, 270, 0, [SEP] 1, Newspaper, -0.484, 0.792, 2.252, 0, 270, 0, 40 [SEP] 2, Watch, -5.917, 0.880, 4.349, 0, 0, 0, 50 [SEP] 3, KeyChain, -0.636, 0.794, 2.377, 0, 270, 0, 40 [SEP] 4, Box, -0.868, 0.603, 3.915, 0, 0, 0, 38 [SEP] 5, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 49 [SEP] 6, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 54 [SEP] 7, Vase, -2.422, 0.534, 4.335, 0, 270, 0, 55 [SEP] 8, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 50 [SEP] 9, Newspaper, -2.352, 0.532, 4.043, 0, 270, 0, 55 [SEP] 10, Laptop, -0.868, 0.437, 3.306, 0, 0, 0, 38 [SEP] 11, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 12, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 48 [SEP] 13, CreditCard, -0.868, 0.367, 4.828, 0, 0, 0, 38 [SEP] 14, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 52 [SEP] 15, KeyChain, -5.885, 0.453, 4.547, 0, 0, 0, 50 [SEP] 16, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 50 [SEP] 17, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 50 [SEP] 18, Bowl, -2.492, 0.535, 4.043, 0, 270, 0, 55 [SEP] 19, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 38 [SEP] 20, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 52 [SEP] 21, RemoteControl, -2.172, 0.536, 4.044, 0, 0, 0, 55 [SEP] 22, Watch, -6.139, 1.280, 3.891, 0, 0, 0, 52 [SEP] 23, Statue, -2.474, 0.460, 7.183, 0, 90, 0, 47 [SEP] 24, Statue, -2.422, 0.535, 3.752, 0, 270, 0, 55 [SEP] 25, Statue, -5.950, 0.156, 4.942, 0, 0, 0, 45 [SEP] 26, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 54 [SEP] 27, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 28, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 29, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 30, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 31, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 32, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 33, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 34, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 35, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 36, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 37, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 38, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 39, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 40, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 41, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 42, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 43, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 44, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 45, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 46, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 47, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 48, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 49, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 50, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 51, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 52, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 53, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 54, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 55, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 56, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and walk forward to the sofa | STEP 2: Pick up the cardboard box from the sofa | STEP 3: Turn right and walk over to the lamp on the small table by the sofa | STEP 4: Turn on the lamp | END"]} {"id": "trial_T20190909_130627_569885-1", "input": "pick up knife, cut bread, cook bread in microwave, place in trash can SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.900, 0.75, 0, 180, 0, [SEP] 1, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 47 [SEP] 2, Pan, 0.634, 0.911, -0.515, 0, 0, 0, 44 [SEP] 3, Potato, 0.363, 1.819, 1.423, 0, 180, 0, 102 [SEP] 4, Potato, 2.838, 1.598, -0.775, 0, 0, 0, 99 [SEP] 5, Kettle, 0.707, 2.154, 1.506, 0, 0, 0, 53 [SEP] 6, ButterKnife, 1.155, 0.911, 1.214, 0, 0, 0, 79 [SEP] 7, ButterKnife, -0.151, 0.911, 1.383, 0, 0, 0, 55 [SEP] 8, Spoon, 1.155, 0.912, 1.129, 0, 0, 0, 79 [SEP] 9, Spatula, 2.156, 0.926, -0.430, 0, 0, 0, 44 [SEP] 10, Plate, 1.955, 0.914, 1.214, 0, 0, 0, 79 [SEP] 11, Egg, 0.466, 1.822, 1.488, 0, 180, 0, 102 [SEP] 12, Egg, -0.017, 0.803, -0.541, 0, 0, 0, 101 [SEP] 13, Knife, -0.785, 0.853, -1.473, 0, 0, 0, 103 [SEP] 14, Tomato, 1.422, 0.942, 1.553, 0, 0, 0, 79 [SEP] 15, Bowl, 1.210, 0.112, -0.421, 0, 180, 0, 52 [SEP] 16, Bowl, 1.525, 0.112, 1.193, 0, 0, 0, 73 [SEP] 17, PepperShaker, 1.798, 1.650, -0.658, 0, 180, 0, 81 [SEP] 18, Lettuce, 1.155, 0.992, 1.468, 0, 0, 0, 79 [SEP] 19, Lettuce, -0.198, 0.992, 1.129, 0, 0, 0, 55 [SEP] 20, Mug, -0.157, 0.760, -0.596, 0, 180, 0, 101 [SEP] 21, SoapBottle, -0.198, 0.917, 1.553, 0, 0, 0, 55 [SEP] 22, Plate, 2.488, 0.914, 1.129, 0, 0, 0, 79 [SEP] 23, Fork, 2.249, 0.772, 1.198, 0, 270, 0, 75 [SEP] 24, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 59 [SEP] 25, Bread, 1.688, 0.969, 1.468, 0, 0, 0, 79 [SEP] 26, Egg, -0.766, 0.858, -1.206, 0, 90, 0, 103 [SEP] 27, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 28, Tomato, -0.621, 0.852, -1.155, 0, 90, 0, 103 [SEP] 29, Cup, 2.591, 0.723, -0.473, 0, 0, 0, 99 [SEP] 30, Spatula, 1.141, 0.926, -0.769, 0, 180, 0, 44 [SEP] 31, Apple, 2.900, 1.087, -0.578, 0, 0, 0, 99 [SEP] 32, Pan, 2.715, 1.288, -0.644, 0, 0, 0, 99 [SEP] 33, Lettuce, 2.838, 1.644, -0.578, 0, 0, 0, 99 [SEP] 34, SaltShaker, 0.937, 1.651, -0.693, 0, 180, 0, 54 [SEP] 35, Knife, -0.839, 0.853, -1.257, 0, 90, 0, 103 [SEP] 36, Potato, 0.123, 0.800, -0.762, 0, 90, 0, 101 [SEP] 37, PepperShaker, -0.734, 0.817, -1.328, 0, 0, 0, 103 [SEP] 38, ButterKnife, 0.053, 0.765, -0.596, 0, 0, 0, 101 [SEP] 39, Bowl, 2.221, 0.909, 1.214, 0, 0, 0, 79 [SEP] 40, DishSponge, 1.139, 0.114, 1.117, 0, 0, 0, 73 [SEP] 41, Spoon, 2.837, 0.772, 1.198, 0, 0, 0, 88 [SEP] 42, Mug, 2.838, 0.721, -0.504, 0, 0, 0, 99 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 105, NorthWall, , , , , , , [SEP] 106, EastWall, , , , , , , [SEP] 107, SouthWall, , , , , , , [SEP] 108, WestWall, , , , , , , ", "output": ["STEP 1: turn right, straight, left to the sink | STEP 2: pick up knife from the sink | STEP 3: turn left, turn left, turn right, straight, left to the counter | STEP 4: cut the bread with the knife | STEP 5: turn around, turn right, turn right to the microwave | STEP 6: open door, place knife on shelf, close door | STEP 7: turn right, straight, left to the counter | STEP 8: pick up bread from the counter | STEP 9: turn around, turn right, turn right to the microwave | STEP 10: open door, place bread on shelf, close door, cook, open door, remove bread, close door | STEP 11: turn left, turn right, walk straight, turn left to the trash can | STEP 12: place bread in to the trash can | END"]} {"id": "trial_T20190918_165629_953153-2", "input": "move pencil from trash can to dresser SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.909, -2.25, 0, 90, 0, [SEP] 1, CD, -1.270, 0.799, -3.811, 0, 0, 0, 37 [SEP] 2, CD, -0.453, 0.799, -4.354, 0, 0, 0, 37 [SEP] 3, CellPhone, -1.270, 0.803, -3.811, 0, 0, 0, 37 [SEP] 4, Pen, -0.507, 0.548, -3.768, 0, 0, 0, 31 [SEP] 5, KeyChain, -0.453, 0.800, -3.703, 0, 0, 0, 37 [SEP] 6, KeyChain, -0.274, 0.030, -3.779, 0, 0, 0, 32 [SEP] 7, Book, -3.580, 0.810, -3.091, 0, 0, 0, 47 [SEP] 8, Book, -3.637, 0.045, -3.091, 0, 0, 0, 39 [SEP] 9, Book, -3.834, 0.981, -3.472, 0, 0, 0, 40 [SEP] 10, CellPhone, -0.657, 0.803, -4.354, 0, 0, 0, 37 [SEP] 11, Laptop, -3.402, 0.618, -1.506, 0, 0, 0, 22 [SEP] 12, CreditCard, -3.466, 0.981, -4.276, 0, 0, 0, 40 [SEP] 13, AlarmClock, -3.613, 0.979, -4.276, 0, 0, 0, 40 [SEP] 14, KeyChain, -3.469, 0.227, -3.557, 0, 0, 0, 42 [SEP] 15, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 22 [SEP] 16, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 17, Pencil, -1.882, 0.066, -3.944, 0, 9.990, 0, 26 [SEP] 18, Pillow, -2.559, 0.722, -0.931, 0, 0, 0, 22 [SEP] 19, CD, -3.539, 0.979, -3.070, 0, 0, 0, 40 [SEP] 20, Pen, -0.453, 0.805, -3.920, 0, 0, 0, 37 [SEP] 21, Mug, -0.685, 0.541, -3.694, 0, 0, 0, 31 [SEP] 22, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 23, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 24, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 25, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 26, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 27, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 28, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 29, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 30, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 31, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 32, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 33, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 34, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 35, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 36, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 37, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 38, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 39, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 40, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 41, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 42, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 45, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: turn around, walk forward, turn left, take a step, turn left to face lamp on the table | STEP 2: pick up the pencil that is in the trash can | STEP 3: turn around, walk forward to the dresser | STEP 4: put the pencil on the dresser | END"]} {"id": "trial_T20190909_085048_793292-0", "input": "Examine a newspaper by the light of a small lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -5.0, 0.901, 5.25, 0, 90, 0, [SEP] 1, Bowl, -2.352, 0.535, 3.752, 0, 270, 0, 58 [SEP] 2, Bowl, -5.950, 0.148, 3.954, 0, 0, 0, 48 [SEP] 3, KeyChain, -0.552, 0.367, 4.524, 0, 0, 0, 41 [SEP] 4, KeyChain, -2.283, 0.534, 3.607, 0, 270, 0, 58 [SEP] 5, CreditCard, -0.484, 0.793, 1.751, 0, 270, 0, 43 [SEP] 6, RemoteControl, -0.868, 0.442, 3.915, 0, 0, 0, 41 [SEP] 7, Box, -3.328, 1.443, 7.171, 0, 90, 0, 57 [SEP] 8, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 52 [SEP] 9, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 57 [SEP] 10, Vase, -5.848, 0.147, 3.757, 0, 0, 0, 48 [SEP] 11, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 53 [SEP] 12, Newspaper, -5.896, 0.532, 6.494, 0, 135, 0, 59 [SEP] 13, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 58 [SEP] 14, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 15, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 51 [SEP] 16, CreditCard, -0.845, 0.793, 1.900, 0, 0, 0, 43 [SEP] 17, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 55 [SEP] 18, KeyChain, -2.277, 0.453, 7.145, 0, 90, 0, 50 [SEP] 19, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 53 [SEP] 20, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 53 [SEP] 21, Bowl, -0.586, 0.795, 5.600, 0, 270, 0, 42 [SEP] 22, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 41 [SEP] 23, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 55 [SEP] 24, RemoteControl, -0.868, 0.369, 3.306, 0, 0, 0, 41 [SEP] 25, Watch, -5.368, 0.533, 6.871, 0, 45, 0, 59 [SEP] 26, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 57 [SEP] 27, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 55 [SEP] 28, Statue, -2.352, 0.543, 4.335, 0, 270, 0, 58 [SEP] 29, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 57 [SEP] 30, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 31, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 32, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 33, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 34, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 35, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 36, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 37, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 38, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 39, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 40, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 41, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 42, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 43, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 44, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 45, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 46, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 47, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 48, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 49, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 50, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 51, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 52, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 53, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 54, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 55, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 56, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 57, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 58, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 59, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 60, NorthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around, head towards the wall and turn right to face the round television table. | STEP 2: Pick up the newspaper on the left side of the table. | STEP 3: Turn right and walk to the round side table with the lamp. | STEP 4: Turn on the small lamp on the table. | END"]} {"id": "trial_T20190907_042824_345799-1", "input": "Carry a grey square object, 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, 0.909, -3.25, 0, 270, 0, [SEP] 1, CellPhone, -2.981, 0.620, -0.931, 0, 0, 0, 22 [SEP] 2, Pen, -3.613, 0.986, -3.070, 0, 0, 0, 40 [SEP] 3, Pen, -3.750, 0.231, -3.185, 0, 0, 0, 42 [SEP] 4, Pencil, -0.240, 0.546, -3.713, 0, 0, 0, 31 [SEP] 5, KeyChain, -0.685, 0.543, -3.694, 0, 0, 0, 31 [SEP] 6, Book, -0.453, 0.800, -3.811, 0, 0, 0, 37 [SEP] 7, AlarmClock, -3.834, 0.979, -3.472, 0, 0, 0, 40 [SEP] 8, AlarmClock, -0.657, 0.803, -4.354, 0, 0, 0, 37 [SEP] 9, Book, -3.834, 0.980, -3.271, 0, 0, 0, 40 [SEP] 10, CellPhone, -3.613, 0.979, -3.673, 0, 0, 0, 40 [SEP] 11, Laptop, -3.402, 0.618, -1.506, 0, 0, 0, 22 [SEP] 12, CreditCard, -3.582, 0.225, -3.464, 0, 0, 0, 42 [SEP] 13, AlarmClock, -1.270, 0.803, -3.703, 0, 0, 0, 37 [SEP] 14, KeyChain, -3.687, 0.980, -4.075, 0, 0, 0, 40 [SEP] 15, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 22 [SEP] 16, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 17, Pencil, -1.865, 0.065, -3.849, 0, 9.990, 0, 26 [SEP] 18, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 22 [SEP] 19, CD, -0.453, 0.799, -4.354, 0, 0, 0, 37 [SEP] 20, Pen, -0.453, 0.809, -4.029, 0, 90, 0, 37 [SEP] 21, Mug, -1.066, 0.798, -3.920, 0, 0, 0, 37 [SEP] 22, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 23, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 24, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 25, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 26, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 27, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 28, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 29, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 30, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 31, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 32, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 33, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 34, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 35, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 36, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 37, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 38, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 39, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 40, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 41, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 42, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 45, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: Head towards the dark brown dresser | STEP 2: pick up the square grey object sitting on top of the dresser | STEP 3: Carry the grey square object to the white table | STEP 4: Turn on the lamp | END"]} {"id": "trial_T20190907_042824_345799-2", "input": "Examine an alarm clock 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, -1.5, 0.909, -3.25, 0, 270, 0, [SEP] 1, CellPhone, -2.981, 0.620, -0.931, 0, 0, 0, 22 [SEP] 2, Pen, -3.613, 0.986, -3.070, 0, 0, 0, 40 [SEP] 3, Pen, -3.750, 0.231, -3.185, 0, 0, 0, 42 [SEP] 4, Pencil, -0.240, 0.546, -3.713, 0, 0, 0, 31 [SEP] 5, KeyChain, -0.685, 0.543, -3.694, 0, 0, 0, 31 [SEP] 6, Book, -0.453, 0.800, -3.811, 0, 0, 0, 37 [SEP] 7, AlarmClock, -3.834, 0.979, -3.472, 0, 0, 0, 40 [SEP] 8, AlarmClock, -0.657, 0.803, -4.354, 0, 0, 0, 37 [SEP] 9, Book, -3.834, 0.980, -3.271, 0, 0, 0, 40 [SEP] 10, CellPhone, -3.613, 0.979, -3.673, 0, 0, 0, 40 [SEP] 11, Laptop, -3.402, 0.618, -1.506, 0, 0, 0, 22 [SEP] 12, CreditCard, -3.582, 0.225, -3.464, 0, 0, 0, 42 [SEP] 13, AlarmClock, -1.270, 0.803, -3.703, 0, 0, 0, 37 [SEP] 14, KeyChain, -3.687, 0.980, -4.075, 0, 0, 0, 40 [SEP] 15, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 22 [SEP] 16, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 17, Pencil, -1.865, 0.065, -3.849, 0, 9.990, 0, 26 [SEP] 18, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 22 [SEP] 19, CD, -0.453, 0.799, -4.354, 0, 0, 0, 37 [SEP] 20, Pen, -0.453, 0.809, -4.029, 0, 90, 0, 37 [SEP] 21, Mug, -1.066, 0.798, -3.920, 0, 0, 0, 37 [SEP] 22, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 23, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 24, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 25, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 26, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 27, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 28, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 29, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 30, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 31, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 32, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 33, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 34, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 35, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 36, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 37, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 38, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 39, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 40, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 41, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 42, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 45, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward to the dresser in front of you. | STEP 2: Pick up the alarm clock from the dresser. | STEP 3: Turn around and walk in front of the lamp on the desk. | STEP 4: Turn on the lamp. | END"]} {"id": "trial_T20190909_074353_686606-1", "input": "Examine the pen 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, -2.25, 0.909, -4.25, 0, 180, 0, [SEP] 1, CD, -3.469, 0.225, -3.185, 0, 0, 0, 41 [SEP] 2, CellPhone, -3.466, 0.981, -3.271, 0, 0, 0, 39 [SEP] 3, CellPhone, -1.474, 0.803, -3.920, 0, 0, 0, 36 [SEP] 4, CreditCard, -3.613, 0.979, -3.271, 0, 0, 0, 39 [SEP] 5, CreditCard, -3.750, 0.045, -4.070, 0, 0, 0, 44 [SEP] 6, KeyChain, -3.582, 0.227, -3.557, 0, 0, 0, 41 [SEP] 7, Pillow, -2.770, 0.722, -2.080, 0, 0, 0, 21 [SEP] 8, Book, -3.834, 0.981, -3.271, 0, 0, 0, 39 [SEP] 9, CellPhone, -3.402, 0.620, -1.506, 0, 0, 0, 21 [SEP] 10, Laptop, -2.981, 0.618, -1.218, 0, 0, 0, 21 [SEP] 11, CreditCard, -0.862, 0.800, -4.137, 0, 0, 0, 36 [SEP] 12, AlarmClock, -1.474, 0.803, -3.703, 0, 0, 0, 36 [SEP] 13, KeyChain, -3.613, 0.980, -3.673, 0, 0, 0, 39 [SEP] 14, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 21 [SEP] 15, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 16, Pencil, -0.240, 0.546, -3.713, 0, 0, 0, 30 [SEP] 17, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 21 [SEP] 18, CD, -1.822, 0.063, -3.881, 0, 279.990, 0, 25 [SEP] 19, Pen, -3.539, 0.985, -4.075, 0, 0, 0, 39 [SEP] 20, Mug, -0.774, 0.541, -3.694, 0, 0, 0, 30 [SEP] 21, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 22, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 23, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 24, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 25, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 26, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 27, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 28, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 29, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 30, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 31, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 32, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 33, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 34, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 35, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 36, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 37, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 38, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 39, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 40, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 41, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 42, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 44, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 48, NorthWall, , , , , , , [SEP] 49, EastWall, , , , , , , [SEP] 50, SouthWall, , , , , , , [SEP] 51, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk up to the dresser | STEP 2: Pick up the pen from the dresser | STEP 3: Turn around and walk up to the lamp on the white desk | STEP 4: Turn on the lamp | END"]} {"id": "trial_T20190908_232941_295232-0", "input": "Pick up an empty cardboard box to look at 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, -1.25, 0.901, 6.25, 0, 180, 0, [SEP] 1, Bowl, -0.585, 0.795, 2.252, 0, 270, 0, 40 [SEP] 2, Bowl, -2.491, 0.535, 4.335, 0, 270, 0, 55 [SEP] 3, Newspaper, -0.947, 0.440, 3.002, 0, 0, 0, 38 [SEP] 4, Watch, -2.561, 0.533, 4.480, 0, 270, 0, 55 [SEP] 5, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 49 [SEP] 6, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 54 [SEP] 7, Vase, -2.811, 0.534, 3.919, 0, 0, 0, 55 [SEP] 8, Vase, -2.870, 1.289, 7.298, 0, 90, 0, 54 [SEP] 9, Newspaper, -0.868, 0.365, 4.828, 0, 0, 0, 38 [SEP] 10, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 55 [SEP] 11, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 12, Vase, -5.917, 0.880, 4.349, 0, 0, 0, 48 [SEP] 13, CreditCard, -0.710, 0.367, 3.306, 0, 0, 0, 38 [SEP] 14, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 52 [SEP] 15, KeyChain, -5.461, 0.534, 6.628, 0, 45, 0, 56 [SEP] 16, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 50 [SEP] 17, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 50 [SEP] 18, Bowl, -0.326, 0.795, 1.951, 0, 0, 0, 40 [SEP] 19, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 38 [SEP] 20, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 52 [SEP] 21, RemoteControl, -2.640, 1.282, 7.361, 0, 90, 0, 54 [SEP] 22, Watch, -5.290, 0.533, 7.024, 0, 135, 0, 56 [SEP] 23, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 54 [SEP] 24, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 52 [SEP] 25, Statue, -2.561, 0.543, 3.752, 0, 270, 0, 55 [SEP] 26, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 54 [SEP] 27, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 28, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 29, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 30, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 31, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 32, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 33, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 34, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 35, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 36, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 37, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 38, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 39, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 40, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 41, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 42, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 43, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 44, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 45, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 46, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 47, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 48, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 49, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 50, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 51, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 52, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 53, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 54, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 55, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 56, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , ", "output": ["STEP 1: Make a right to cross the room and walk to the cardboard box next to the bookshelf. | STEP 2: Pick up the cardboard box on the floor next to the bookshelf. | STEP 3: Turn around to cross the room and walk towards the oval side table. | STEP 4: Turn on the lamp on the oval side table. | END"]} {"id": "trial_T20190908_232941_295232-1", "input": "Pick up a box 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, -1.25, 0.901, 6.25, 0, 180, 0, [SEP] 1, Bowl, -0.585, 0.795, 2.252, 0, 270, 0, 40 [SEP] 2, Bowl, -2.491, 0.535, 4.335, 0, 270, 0, 55 [SEP] 3, Newspaper, -0.947, 0.440, 3.002, 0, 0, 0, 38 [SEP] 4, Watch, -2.561, 0.533, 4.480, 0, 270, 0, 55 [SEP] 5, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 49 [SEP] 6, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 54 [SEP] 7, Vase, -2.811, 0.534, 3.919, 0, 0, 0, 55 [SEP] 8, Vase, -2.870, 1.289, 7.298, 0, 90, 0, 54 [SEP] 9, Newspaper, -0.868, 0.365, 4.828, 0, 0, 0, 38 [SEP] 10, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 55 [SEP] 11, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 12, Vase, -5.917, 0.880, 4.349, 0, 0, 0, 48 [SEP] 13, CreditCard, -0.710, 0.367, 3.306, 0, 0, 0, 38 [SEP] 14, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 52 [SEP] 15, KeyChain, -5.461, 0.534, 6.628, 0, 45, 0, 56 [SEP] 16, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 50 [SEP] 17, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 50 [SEP] 18, Bowl, -0.326, 0.795, 1.951, 0, 0, 0, 40 [SEP] 19, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 38 [SEP] 20, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 52 [SEP] 21, RemoteControl, -2.640, 1.282, 7.361, 0, 90, 0, 54 [SEP] 22, Watch, -5.290, 0.533, 7.024, 0, 135, 0, 56 [SEP] 23, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 54 [SEP] 24, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 52 [SEP] 25, Statue, -2.561, 0.543, 3.752, 0, 270, 0, 55 [SEP] 26, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 54 [SEP] 27, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 28, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 29, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 30, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 31, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 32, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 33, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 34, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 35, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 36, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 37, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 38, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 39, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 40, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 41, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 42, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 43, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 44, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 45, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 46, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 47, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 48, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 49, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 50, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 51, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 52, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 53, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 54, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 55, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 56, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , ", "output": ["STEP 1: Go right and cross the room to face the box on the floor. | STEP 2: Pick the box up from the floor. | STEP 3: Turn around and cross the room to face the small table with the lamp. | STEP 4: Turn on the lamp. | END"]} {"id": "trial_T20190907_181949_154046-2", "input": "Put two sets of keys on the couch. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 6.0, 0, 180, 0, [SEP] 1, Newspaper, -0.789, 0.365, 4.524, 0, 0, 0, 39 [SEP] 2, Newspaper, -5.951, 0.878, 4.547, 0, 0, 0, 49 [SEP] 3, Watch, -3.557, 1.280, 6.981, 0, 90, 0, 55 [SEP] 4, KeyChain, -2.870, 0.453, 7.221, 0, 90, 0, 48 [SEP] 5, CreditCard, -0.710, 0.367, 3.002, 0, 0, 0, 39 [SEP] 6, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 50 [SEP] 7, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 55 [SEP] 8, Vase, -2.474, 0.880, 7.173, 0, 90, 0, 47 [SEP] 9, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 51 [SEP] 10, Newspaper, -0.947, 0.365, 3.002, 0, 0, 0, 39 [SEP] 11, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 56 [SEP] 12, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 13, Vase, -3.067, 0.453, 7.183, 0, 90, 0, 48 [SEP] 14, CreditCard, -0.413, 0.793, 5.826, 0, 0, 0, 40 [SEP] 15, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 53 [SEP] 16, KeyChain, -0.413, 0.794, 2.103, 0, 90, 0, 41 [SEP] 17, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 51 [SEP] 18, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 51 [SEP] 19, Bowl, -5.330, 0.535, 6.609, 0, 45, 0, 57 [SEP] 20, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 39 [SEP] 21, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 53 [SEP] 22, RemoteControl, -5.218, 0.536, 6.721, 0, 45, 0, 57 [SEP] 23, Watch, -6.002, 0.146, 3.757, 0, 0, 0, 46 [SEP] 24, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 55 [SEP] 25, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 53 [SEP] 26, Statue, -2.631, 0.543, 4.335, 0, 270, 0, 56 [SEP] 27, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 55 [SEP] 28, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 29, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 30, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 31, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 32, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 33, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 34, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 35, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 36, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 37, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 38, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 39, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 40, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 41, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 42, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 43, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 44, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 45, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 46, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 47, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 48, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 49, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 50, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 51, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 52, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 53, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 54, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 55, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 56, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 57, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 58, NorthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , ", "output": ["STEP 1: Move to the shelf to the right of you | STEP 2: Pick up keys from the shelf | STEP 3: Move to the couch in between the two lamps | STEP 4: Place the keys on the couch | STEP 5: Move to the end table to the right of the couch | STEP 6: Pick up keys from the end table | STEP 7: Move to the couch in between the two lamps | STEP 8: Place the keys on the couch | END"]} {"id": "trial_T20190908_042748_192089-2", "input": "Heat a potato and place it in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.931, -0.5, 0, 0, 0, [SEP] 1, Potato, -1.051, 0.760, 2.063, 0, 90, 0, 62 [SEP] 2, Potato, 0.805, 1.108, 0.331, 0, 90, 0, 45 [SEP] 3, Potato, 0.906, 1.100, -1.289, 0, 0, 0, 47 [SEP] 4, DishSponge, 1.612, 1.042, 0.091, 0, 0, 0, 49 [SEP] 5, Kettle, 0.255, 1.044, 0.415, 0, 0, 0, 49 [SEP] 6, Pot, -1.105, 0.204, -1.555, 0, 90, 0, 55 [SEP] 7, Cup, -0.624, 1.565, -1.470, 0, 0, 0, 52 [SEP] 8, Plate, 1.665, 0.217, -1.480, 0, 0, 0, 57 [SEP] 9, Plate, 1.112, 1.577, -1.538, 0, 0, 0, 51 [SEP] 10, Knife, 0.657, 1.072, -1.107, 0, 0, 0, 47 [SEP] 11, Tomato, -1.300, 1.279, 2.153, 0, 90, 0, 62 [SEP] 12, Tomato, 0.892, 1.104, 0.181, 0, 90, 0, 45 [SEP] 13, SoapBottle, 0.351, 1.044, 0.630, 0, 90, 0, 49 [SEP] 14, SoapBottle, -0.432, 1.047, -1.289, 0, 0, 0, 47 [SEP] 15, Bowl, -1.103, 1.227, 1.885, 0, 90, 0, 62 [SEP] 16, Bowl, -0.548, 1.563, -1.767, 0, 0, 0, 52 [SEP] 17, SaltShaker, 0.848, 1.038, 0.676, 0, 0, 0, 49 [SEP] 18, PepperShaker, -1.416, 2.023, -1.555, 0, 0, 0, 54 [SEP] 19, Mug, 0.936, 1.050, 0.331, 0, 90, 0, 45 [SEP] 20, Apple, 0.989, 1.090, -1.397, 0, 0, 0, 47 [SEP] 21, SoapBottle, -0.775, 1.047, -1.720, 0, 0, 0, 47 [SEP] 22, Apple, -1.458, 1.532, 1.974, 0, 90, 0, 62 [SEP] 23, Potato, 0.542, 1.096, 0.307, 0, 0, 0, 49 [SEP] 24, Fork, 0.717, 1.054, 0.231, 0, 90, 0, 45 [SEP] 25, Kettle, 0.389, 1.053, -1.630, 0, 0, 0, 43 [SEP] 26, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 47 [SEP] 27, Tomato, -1.312, 1.764, 2.331, 0, 90, 0, 62 [SEP] 28, SaltShaker, 0.351, 1.038, 0.738, 0, 0, 0, 49 [SEP] 29, Egg, -1.419, 1.543, 2.331, 0, 90, 0, 62 [SEP] 30, Cup, -1.029, 2.028, -1.191, 0, 0, 0, 54 [SEP] 31, Spatula, 0.682, 1.058, 0.632, 0, 0, 0, 49 [SEP] 32, Knife, 1.347, 1.069, 0.632, 0, 90, 0, 49 [SEP] 33, Lettuce, -0.689, 1.106, -1.397, 0, 0, 0, 47 [SEP] 34, ButterKnife, 1.181, 1.043, 0.632, 0, 0, 0, 49 [SEP] 35, PepperShaker, 1.188, 1.560, -1.764, 0, 0, 0, 51 [SEP] 36, DishSponge, 1.068, 0.199, -1.267, 0, 0, 0, 58 [SEP] 37, Plate, -1.029, 2.041, -1.409, 0, 0, 0, 54 [SEP] 38, Bread, -0.030, 1.117, 0.630, 0, 0, 0, 49 [SEP] 39, Spoon, 1.155, 1.048, -1.505, 0, 180, 0, 47 [SEP] 40, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 50 [SEP] 41, Mug, -0.670, 0.198, -1.265, 0, 0, 0, 56 [SEP] 42, Bowl, 1.155, 1.045, -1.181, 0, 0, 0, 47 [SEP] 43, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 44, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 45, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 46, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 47, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 48, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 49, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 50, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 51, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 52, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 53, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 54, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 55, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 56, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 57, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 58, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 59, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 60, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 61, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 62, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 63, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 64, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 65, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 66, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 70, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 71, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 72, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 73, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 74, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 75, NorthWall, , , , , , , [SEP] 76, EastWall, , , , , , , [SEP] 77, SouthWall, , , , , , , [SEP] 78, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right and then the left to find the sink. | STEP 2: Pick up the potato from the right side of the sink area. | STEP 3: Carry the potato to the left and then the left again to the microwave. | STEP 4: Open the microwave and place the potato inside. Turn it on then open the door and take the potato out. | STEP 5: Carry the potato and turn to the left and face the sink on the left. | STEP 6: Place the potato in the sink. | END"]} {"id": "trial_T20190907_071338_798456-0", "input": "Place a warmed tomato in a recycling 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, 0.75, 0, 0, 0, [SEP] 1, Potato, 1.422, 0.946, 1.044, 0, 0, 0, 75 [SEP] 2, Potato, 3.220, 0.875, -0.514, 0, 0, 0, 95 [SEP] 3, DishSponge, 2.868, 0.771, 1.083, 0, 0, 0, 84 [SEP] 4, DishSponge, -0.159, 0.771, 1.236, 0, 0, 0, 45 [SEP] 5, ButterKnife, 1.688, 0.911, 1.299, 0, 0, 0, 75 [SEP] 6, Spoon, 2.156, 0.912, -0.684, 0, 0, 0, 40 [SEP] 7, Plate, 2.754, 0.914, 1.383, 0, 0, 0, 75 [SEP] 8, Plate, 1.955, 0.914, 1.383, 0, 0, 0, 75 [SEP] 9, Cup, 0.634, 0.909, -0.515, 0, 0, 0, 40 [SEP] 10, Egg, -1.056, 0.858, -1.206, 0, 90, 0, 99 [SEP] 11, Knife, 2.754, 0.944, 1.129, 0, 0, 0, 75 [SEP] 12, Knife, -0.198, 0.944, 1.383, 0, 270, 0, 51 [SEP] 13, Bowl, 2.488, 0.909, 1.468, 0, 0, 0, 75 [SEP] 14, SaltShaker, 1.760, 0.110, -0.570, 0, 180, 0, 86 [SEP] 15, PepperShaker, -0.682, 0.817, -1.473, 0, 0, 0, 99 [SEP] 16, Apple, -0.087, 0.834, -0.541, 0, 0, 0, 97 [SEP] 17, SoapBottle, 1.522, 0.120, -0.458, 0, 180, 0, 57 [SEP] 18, Plate, 1.422, 0.914, 1.468, 0, 0, 0, 75 [SEP] 19, Fork, 0.263, 0.766, -0.651, 0, 90, 0, 97 [SEP] 20, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 55 [SEP] 21, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 40 [SEP] 22, Egg, -0.839, 0.858, -1.360, 0, 90, 0, 99 [SEP] 23, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 46 [SEP] 24, Tomato, -0.694, 0.852, -1.360, 0, 90, 0, 99 [SEP] 25, Cup, 2.900, 0.723, -0.473, 0, 0, 0, 95 [SEP] 26, Spatula, 1.955, 0.926, 1.044, 0, 0, 0, 75 [SEP] 27, Apple, 2.715, 1.087, -0.578, 0, 0, 0, 95 [SEP] 28, Pan, 2.838, 1.288, -0.709, 0, 0, 0, 95 [SEP] 29, Lettuce, 2.221, 0.992, 1.129, 0, 0, 0, 75 [SEP] 30, SaltShaker, 2.770, 1.650, 1.355, 0, 0, 0, 41 [SEP] 31, Knife, -0.939, 0.853, -1.400, 0, 90, 0, 99 [SEP] 32, Potato, 0.193, 0.800, -0.541, 0, 0, 0, 97 [SEP] 33, PepperShaker, -0.983, 0.817, -1.257, 0, 90, 0, 99 [SEP] 34, ButterKnife, 1.155, 0.911, 1.129, 0, 0, 0, 75 [SEP] 35, Bowl, 0.215, 1.653, -0.810, 0, 180, 0, 80 [SEP] 36, DishSponge, -0.766, 0.820, -1.155, 0, 90, 0, 99 [SEP] 37, Spoon, -0.839, 0.822, -1.257, 0, 180, 0, 99 [SEP] 38, Mug, 2.487, 1.650, 1.507, 0, 0, 0, 41 [SEP] 39, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 40, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 41, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 42, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 43, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 44, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 45, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 46, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 47, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 48, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 49, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 50, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 51, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 52, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 53, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 54, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 55, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 56, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 57, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 58, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 59, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 60, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 61, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 62, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 63, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 64, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 65, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 69, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 70, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 71, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 72, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 73, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 75, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 76, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 78, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 79, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 80, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 81, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 82, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 83, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 84, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 85, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 86, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 87, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 88, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 89, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 92, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 93, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 94, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 95, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 96, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 97, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 98, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 99, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 100, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 101, NorthWall, , , , , , , [SEP] 102, EastWall, , , , , , , [SEP] 103, SouthWall, , , , , , , [SEP] 104, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, walk towards the stove, then turn left again and walk until you reach a table. | STEP 2: Grab the tomato from the table. | STEP 3: Turn around, turn right at the counter, and walk to the microwave over the stove. | STEP 4: Warm the tomato in the microwave, then pick it up again. | STEP 5: Turn to your left and walk until you get to the recycling bin on your right. | STEP 6: Place the tomato in the recycling bin. | END"]} {"id": "trial_T20190907_074509_505382-0", "input": "Place a black animal figurine off the shelf above the couch onto the wooden chest in front of the couch. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.900, -0.75, 0, 0, 0, [SEP] 1, Watch, -1.163, 0.552, -0.623, 0, 270, 0, 28 [SEP] 2, Watch, -0.323, 0.038, -0.544, 0, 90, 0, 29 [SEP] 3, CreditCard, -0.862, 0.551, -0.192, 0, 270, 0, 28 [SEP] 4, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 36 [SEP] 5, KeyChain, -0.561, 0.553, -0.106, 0, 270, 0, 28 [SEP] 6, Watch, -0.582, 0.201, -0.544, 0, 90, 0, 29 [SEP] 7, Newspaper, 1.807, 0.868, 0.326, 0, 90, 0, 34 [SEP] 8, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 30 [SEP] 9, CreditCard, 1.206, 0.315, -0.512, 0, 0, 0, 36 [SEP] 10, RemoteControl, 1.807, 0.872, 0.537, 0, 90, 0, 34 [SEP] 11, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 28 [SEP] 12, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 28 [SEP] 13, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 28 [SEP] 14, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 15, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 16, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 17, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 18, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 19, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 20, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 21, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 22, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 23, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 24, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 25, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 26, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 28, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 29, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 30, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 31, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 32, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 33, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 34, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 35, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 36, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, EastWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, WestWall, , , , , , , ", "output": ["STEP 1: Go to the couch in front of you. | STEP 2: Take the black shiny animal figure from the shelf above the couch. | STEP 3: Face the wooden chest in front of the couch. | STEP 4: Set the black shiny animal figure atop the wooden chest. | END"]} {"id": "trial_T20190907_074509_505382-1", "input": "Move a statue from the shelf to the dresser SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.900, -0.75, 0, 0, 0, [SEP] 1, Watch, -1.163, 0.552, -0.623, 0, 270, 0, 28 [SEP] 2, Watch, -0.323, 0.038, -0.544, 0, 90, 0, 29 [SEP] 3, CreditCard, -0.862, 0.551, -0.192, 0, 270, 0, 28 [SEP] 4, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 36 [SEP] 5, KeyChain, -0.561, 0.553, -0.106, 0, 270, 0, 28 [SEP] 6, Watch, -0.582, 0.201, -0.544, 0, 90, 0, 29 [SEP] 7, Newspaper, 1.807, 0.868, 0.326, 0, 90, 0, 34 [SEP] 8, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 30 [SEP] 9, CreditCard, 1.206, 0.315, -0.512, 0, 0, 0, 36 [SEP] 10, RemoteControl, 1.807, 0.872, 0.537, 0, 90, 0, 34 [SEP] 11, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 28 [SEP] 12, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 28 [SEP] 13, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 28 [SEP] 14, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 15, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 16, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 17, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 18, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 19, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 20, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 21, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 22, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 23, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 24, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 25, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 26, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 28, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 29, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 30, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 31, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 32, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 33, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 34, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 35, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 36, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, EastWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, WestWall, , , , , , , ", "output": ["STEP 1: Move to the large brown sofa that is under the black shelf | STEP 2: Grab the statue from the black shelf | STEP 3: carry the statue to the wood dresser | STEP 4: Place the statue on top of the dresser in front of the plant | END"]} {"id": "trial_T20190909_025209_631205-2", "input": "Put a cleaned kettle 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, 2.0, 0.900, 0.0, 0, 0, 0, [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 85 [SEP] 2, Pan, 2.754, 0.911, 1.383, 0, 0, 0, 82 [SEP] 3, DishSponge, -0.766, 0.820, -1.103, 0, 90, 0, 106 [SEP] 4, DishSponge, 1.831, 0.770, 1.083, 0, 0, 0, 82 [SEP] 5, ButterKnife, 2.488, 0.911, 1.468, 0, 90, 0, 82 [SEP] 6, ButterKnife, -0.055, 0.911, 1.214, 0, 90, 0, 58 [SEP] 7, Spoon, 2.754, 0.912, 1.129, 0, 0, 0, 82 [SEP] 8, Fork, 0.634, 0.912, -0.345, 0, 0, 0, 47 [SEP] 9, Spatula, 2.488, 0.926, 1.383, 0, 0, 0, 82 [SEP] 10, Spatula, 0.152, 0.926, -0.302, 0, 180, 0, 47 [SEP] 11, Cup, 2.653, 1.016, -0.644, 0, 0, 0, 102 [SEP] 12, Cup, 2.208, 1.653, -0.798, 0, 180, 0, 84 [SEP] 13, Egg, 2.962, 0.762, -0.504, 0, 0, 0, 102 [SEP] 14, Egg, 2.488, 0.949, 1.214, 0, 0, 0, 82 [SEP] 15, Knife, 2.488, 0.944, 1.129, 0, 0, 0, 82 [SEP] 16, SoapBottle, -0.086, 0.120, 1.196, 0, 0, 0, 75 [SEP] 17, SoapBottle, 1.141, 0.917, -0.515, 0, 0, 0, 47 [SEP] 18, Tomato, 1.422, 0.942, 1.383, 0, 0, 0, 82 [SEP] 19, Bowl, 0.518, 1.782, 1.455, 0, 180, 0, 105 [SEP] 20, SaltShaker, 1.061, 0.110, -0.458, 0, 180, 0, 55 [SEP] 21, PepperShaker, 0.759, 2.150, 1.584, 0, 0, 0, 56 [SEP] 22, Lettuce, 2.221, 0.992, 1.214, 0, 0, 0, 82 [SEP] 23, Mug, -1.056, 0.815, -1.257, 0, 270, 0, 106 [SEP] 24, SoapBottle, -2.019, 0.429, 1.332, 0, 270, 0, 100 [SEP] 25, Plate, 1.688, 0.914, 1.468, 0, 0, 0, 82 [SEP] 26, Fork, -0.785, 0.821, -1.328, 0, 0, 0, 106 [SEP] 27, Pot, 2.715, 1.567, -0.578, 0, 0, 0, 102 [SEP] 28, Bread, -0.246, 0.969, 1.214, 0, 0, 0, 58 [SEP] 29, Egg, -2.048, 0.461, 1.502, 0, 270, 0, 100 [SEP] 30, Kettle, 1.155, 0.912, 1.383, 0, 0, 0, 82 [SEP] 31, Tomato, -0.621, 0.852, -1.257, 0, 90, 0, 106 [SEP] 32, Cup, 1.447, 1.653, -0.849, 0, 180, 0, 84 [SEP] 33, Spatula, -0.007, 0.926, 1.129, 0, 90, 0, 58 [SEP] 34, Apple, 0.634, 0.980, -0.684, 0, 0, 0, 47 [SEP] 35, Pan, 1.880, 1.655, 1.468, 0, 0, 0, 59 [SEP] 36, Lettuce, 1.955, 0.992, 1.129, 0, 0, 0, 82 [SEP] 37, SaltShaker, -0.911, 0.817, -1.257, 0, 90, 0, 106 [SEP] 38, Knife, -0.055, 0.944, 1.383, 0, 90, 0, 58 [SEP] 39, Potato, -0.785, 0.855, -1.473, 0, 180, 0, 106 [SEP] 40, PepperShaker, -0.734, 0.817, -1.255, 0, 0, 0, 106 [SEP] 41, ButterKnife, 1.955, 0.911, 1.383, 0, 0, 0, 82 [SEP] 42, Bowl, 1.141, 0.909, -0.769, 0, 0, 0, 47 [SEP] 43, DishSponge, 0.581, 1.654, -0.849, 0, 180, 0, 86 [SEP] 44, Spoon, 2.303, 0.773, -0.460, 0, 270, 0, 60 [SEP] 45, Mug, -0.887, 0.815, -1.400, 0, 0, 0, 106 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 108, NorthWall, , , , , , , [SEP] 109, EastWall, , , , , , , [SEP] 110, SouthWall, , , , , , , [SEP] 111, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, walk to the dishwasher, then turn right and walk to the kettle on the counter. | STEP 2: Pick up the kettle from the counter. | STEP 3: Turn around and walk to the sink on the right. | STEP 4: Put the kettle in the sink, rinse it off, and take it back out. | STEP 5: Turn left, walk past the dishwasher, then turn right towards the counter. | STEP 6: Put the kettle on the counter, in front of the toaster. | END"]} {"id": "trial_T20190907_002139_205274-1", "input": "Place tissue boxes on the back of a toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.903, 1.0, 0, 270, 0, [SEP] 1, TissueBox, -0.653, 1.070, 2.157, 0, 0, 0, 30 [SEP] 2, TissueBox, -0.980, 1.070, 2.097, 0, 0, 0, 30 [SEP] 3, SoapBar, 0.041, 0.043, 1.067, 0, 0, 0, 29 [SEP] 4, Candle, -1.144, 0.330, 2.217, 0, 0, 0, 26 [SEP] 5, SprayBottle, -1.144, 1.774, 2.217, 0, 0, 0, 28 [SEP] 6, SoapBottle, -1.666, 0.083, -0.690, 0, 270, 0, 33 [SEP] 7, SoapBottle, -0.082, 0.611, 1.775, 0, 0, 0, 22 [SEP] 8, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 31 [SEP] 9, Candle, -0.187, 0.650, -0.466, 0, 315, 0, 22 [SEP] 10, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 32 [SEP] 11, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 12, SoapBar, -1.308, 1.772, 2.127, 0, 0, 0, 28 [SEP] 13, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 25 [SEP] 14, SoapBottle, 0.117, 0.611, 1.775, 0, 0, 0, 22 [SEP] 15, TissueBox, -1.144, 1.070, 2.157, 0, 0, 0, 30 [SEP] 16, Cloth, -0.184, 0.614, 1.632, 0, 135, 0, 22 [SEP] 17, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 25 [SEP] 18, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 24 [SEP] 19, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 20, SprayBottle, -0.817, 1.071, 2.097, 0, 0, 0, 30 [SEP] 21, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 22, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 23, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 24, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 25, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 26, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 27, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 28, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 29, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 30, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 31, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 32, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 33, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 34, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 35, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 36, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 37, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 38, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 39, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the white shelf on your left. | STEP 2: Pick up the left tissue box on the top shelf. | STEP 3: Turn around and walk over the the toilet that is in front of you. | STEP 4: Place tissue box on top of the back of the toilet | STEP 5: Turn around and walk over to the white shelf in front of you. | STEP 6: Pick up the left tissue box that is on the top shelf. | STEP 7: Turn back around and walk to the toilet that is in front of you. | STEP 8: Place tissue box on top of the back of the toilet, on its side | END"]} {"id": "trial_T20190908_041144_959112-1", "input": "Put the cooked apple in the recycling bin SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -0.25, 0, 90, 0, [SEP] 1, Pan, 1.872, 1.654, -0.772, 0, 180, 0, 88 [SEP] 2, Potato, 0.193, 0.800, -0.596, 0, 0, 0, 108 [SEP] 3, Potato, -0.017, 0.800, -0.762, 0, 0, 0, 108 [SEP] 4, DishSponge, 0.888, 0.911, -0.769, 0, 0, 0, 51 [SEP] 5, DishSponge, -0.621, 0.820, -1.411, 0, 90, 0, 110 [SEP] 6, Kettle, -0.160, 0.116, 1.196, 0, 0, 0, 79 [SEP] 7, ButterKnife, 0.634, 0.911, -0.430, 0, 0, 0, 51 [SEP] 8, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 66 [SEP] 9, Fork, 0.888, 0.912, -0.430, 0, 0, 0, 51 [SEP] 10, Fork, -0.694, 0.821, -1.257, 0, 90, 0, 110 [SEP] 11, Spatula, 2.754, 0.926, 1.553, 0, 270, 0, 86 [SEP] 12, Spatula, 1.155, 0.926, 1.383, 0, 0, 0, 86 [SEP] 13, Plate, 1.141, 0.914, -0.6, 0, 0, 0, 51 [SEP] 14, Egg, 2.900, 1.601, -0.644, 0, 0, 0, 106 [SEP] 15, Egg, 2.653, 0.764, -0.535, 0, 0, 0, 106 [SEP] 16, SoapBottle, 2.258, 0.120, 1.081, 0, 0, 0, 87 [SEP] 17, SoapBottle, -0.785, 0.826, -1.400, 0, 0, 0, 110 [SEP] 18, Tomato, 0.123, 0.797, -0.762, 0, 0, 0, 108 [SEP] 19, Tomato, 1.955, 0.942, 1.383, 0, 0, 0, 86 [SEP] 20, SaltShaker, 1.525, 0.110, 1.231, 0, 0, 0, 80 [SEP] 21, SaltShaker, -0.055, 0.908, 1.129, 0, 0, 0, 62 [SEP] 22, Bread, 1.955, 0.969, 1.129, 0, 0, 0, 86 [SEP] 23, Bread, 2.754, 0.969, 1.129, 0, 0, 0, 86 [SEP] 24, Lettuce, 2.488, 0.992, 1.214, 0, 0, 0, 86 [SEP] 25, Lettuce, 2.221, 0.992, 1.299, 0, 0, 0, 86 [SEP] 26, Apple, -0.151, 0.980, 1.468, 0, 0, 0, 62 [SEP] 27, Apple, -2.019, 0.492, 1.375, 0, 270, 0, 104 [SEP] 28, SoapBottle, 1.896, 0.120, 1.156, 0, 0, 0, 71 [SEP] 29, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 51 [SEP] 30, Fork, 1.456, 0.772, 1.122, 0, 90, 0, 69 [SEP] 31, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 57 [SEP] 32, Bread, -0.198, 0.969, 1.129, 0, 0, 0, 62 [SEP] 33, Egg, -0.055, 0.949, 1.214, 0, 0, 0, 62 [SEP] 34, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 51 [SEP] 35, Tomato, 2.900, 0.756, -0.565, 0, 0, 0, 106 [SEP] 36, Cup, 2.120, 1.652, 1.546, 0, 0, 0, 63 [SEP] 37, Spatula, -0.983, 0.835, -1.308, 0, 90, 0, 110 [SEP] 38, Apple, 1.688, 0.980, 1.299, 0, 0, 0, 86 [SEP] 39, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 54 [SEP] 40, Lettuce, -0.983, 0.901, -1.360, 0, 90, 0, 110 [SEP] 41, SaltShaker, 0.937, 1.651, -0.888, 0, 180, 0, 61 [SEP] 42, Knife, 0.026, 0.758, -0.592, 273.786, 317.657, 5.542, 108 [SEP] 43, Potato, -0.839, 0.855, -1.206, 0, 90, 0, 110 [SEP] 44, PepperShaker, -0.055, 0.908, 1.044, 0, 0, 0, 62 [SEP] 45, ButterKnife, 1.155, 0.911, 1.044, 0, 0, 0, 86 [SEP] 46, Bowl, 2.838, 1.017, -0.644, 0, 0, 0, 106 [SEP] 47, DishSponge, 1.141, 0.911, -0.854, 0, 0, 0, 51 [SEP] 48, Spoon, -0.939, 0.822, -1.473, 0, 180, 0, 110 [SEP] 49, Mug, 2.242, 1.650, -0.835, 0, 180, 0, 72 [SEP] 50, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 51, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 52, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 53, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 54, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 55, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 56, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 57, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 58, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 59, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 60, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 61, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 62, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 63, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 64, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 65, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 66, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 67, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 68, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 69, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 70, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 71, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 72, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 73, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 74, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 77, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 78, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 79, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 81, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 82, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 84, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 85, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 86, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 87, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 88, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 89, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 90, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 91, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 92, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 93, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 94, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 95, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 96, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 97, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 98, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 99, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 100, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 101, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 102, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 103, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 104, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 105, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 106, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 107, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 108, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 109, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 110, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 111, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 112, NorthWall, , , , , , , [SEP] 113, EastWall, , , , , , , [SEP] 114, SouthWall, , , , , , , [SEP] 115, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the blue recycling bin in the corner | STEP 2: Pick up the red apple from the recycling bin | STEP 3: Turn right and walk over to the microwave above the oven | STEP 4: Heat the apple in the microwave then remove it | STEP 5: Turn left and walk back over to the recycling bin | STEP 6: Put the apple in the recycling bin | END"]} {"id": "trial_T20190909_092228_777867-2", "input": "place a plate with a card on it in the tv stand SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.901, 5.75, 0, 0, 0, [SEP] 1, Bowl, -5.917, 0.881, 4.547, 0, 0, 0, 52 [SEP] 2, Bowl, -0.687, 0.795, 6.357, 0, 270, 0, 43 [SEP] 3, Bowl, -2.672, 0.148, 7.173, 0, 90, 0, 53 [SEP] 4, Newspaper, -5.648, 0.532, 6.592, 0, 45, 0, 60 [SEP] 5, Newspaper, -0.947, 0.440, 3.002, 0, 0, 0, 42 [SEP] 6, CreditCard, -5.313, 0.533, 6.927, 0, 45, 0, 60 [SEP] 7, CreditCard, -5.882, 0.879, 4.152, 0, 0, 0, 52 [SEP] 8, CreditCard, -0.499, 0.793, 2.154, 0, 0, 0, 44 [SEP] 9, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 53 [SEP] 10, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 58 [SEP] 11, Vase, -0.326, 0.794, 2.103, 0, 0, 0, 44 [SEP] 12, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 54 [SEP] 13, Newspaper, -0.710, 0.365, 4.828, 0, 0, 0, 42 [SEP] 14, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 59 [SEP] 15, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 16, Vase, -0.535, 0.794, 5.726, 0, 270, 0, 43 [SEP] 17, CreditCard, -0.535, 0.793, 5.600, 0, 270, 0, 43 [SEP] 18, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 56 [SEP] 19, KeyChain, -0.552, 0.367, 3.306, 0, 0, 0, 42 [SEP] 20, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 54 [SEP] 21, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 54 [SEP] 22, Bowl, -2.474, 0.881, 7.173, 0, 90, 0, 50 [SEP] 23, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 42 [SEP] 24, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 56 [SEP] 25, RemoteControl, -3.067, 0.882, 7.139, 0, 90, 0, 51 [SEP] 26, Watch, -5.796, 0.146, 3.757, 0, 0, 0, 49 [SEP] 27, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 58 [SEP] 28, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 56 [SEP] 29, Statue, -2.631, 0.543, 4.480, 0, 270, 0, 59 [SEP] 30, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 58 [SEP] 31, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 32, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 33, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 34, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 35, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 36, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 37, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 38, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 39, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 40, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 41, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 42, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 43, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 44, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 45, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 46, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 47, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 48, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 49, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 50, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 51, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 52, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 53, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 54, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 55, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 56, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 57, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 58, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 59, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 60, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: move around to the shelf | STEP 2: pick up the card | STEP 3: move right of the shelf | STEP 4: \nplace the card on a plate | STEP 5: pick up the plate | STEP 6: move right to the tv stand | STEP 7: place the plate on the tv stand | END"]} {"id": "trial_T20190908_143712_120384-2", "input": "take a disk from the dresser and put it on the shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.949, 3.0, 0, 0, 0, [SEP] 1, CD, 2.952, 0.183, -2.005, 0, 270, 0, 41 [SEP] 2, CD, 2.234, 0.984, -1.862, 0, 270, 0, 42 [SEP] 3, CellPhone, 1.950, 0.988, -1.687, 0, 270, 0, 42 [SEP] 4, CellPhone, 3.377, 0.723, 1.443, 0, 180, 0, 67 [SEP] 5, Pen, 3.087, 0.990, -2.125, 0, 270, 0, 42 [SEP] 6, Pencil, -0.848, 0.384, -0.292, 0, 0, 0, 59 [SEP] 7, CreditCard, 3.300, 0.723, 1.262, 0, 180, 0, 67 [SEP] 8, CreditCard, -0.706, 0.783, -0.128, 0, 0, 0, 63 [SEP] 9, KeyChain, 2.803, 0.986, -1.949, 0, 270, 0, 42 [SEP] 10, KeyChain, 1.382, 0.986, -2.125, 0, 270, 0, 42 [SEP] 11, Book, 2.545, 0.610, 1.271, 0, 0, 0, 27 [SEP] 12, AlarmClock, -0.904, 0.786, -0.338, 0, 0, 0, 63 [SEP] 13, AlarmClock, -0.904, 0.785, 0.081, 0, 180, 0, 63 [SEP] 14, Book, 1.723, 0.610, 1.030, 0, 0, 0, 27 [SEP] 15, KeyChain, -0.848, 0.175, 0.391, 0, 90, 0, 54 [SEP] 16, CreditCard, 3.377, 0.723, 1.262, 0, 180, 0, 67 [SEP] 17, Pen, 2.235, 0.990, -2.125, 0, 270, 0, 42 [SEP] 18, Pencil, -0.904, 0.788, -0.548, 0, 0, 0, 63 [SEP] 19, Laptop, 1.950, 0.986, -2.037, 0, 270, 0, 42 [SEP] 20, Vase, 1.666, 0.993, -2.037, 0, 270, 0, 42 [SEP] 21, AlarmClock, -0.838, 0.786, -0.128, 0, 0, 0, 63 [SEP] 22, Pillow, 1.888, 0.674, 0.549, 0, 0, 0, 27 [SEP] 23, Pillow, 2.381, 0.674, 0.308, 0, 0, 0, 27 [SEP] 24, CellPhone, -0.257, 1.108, 3.198, 0, 180, 0, 50 [SEP] 25, CD, 3.087, 0.987, -1.949, 0, 270, 0, 42 [SEP] 26, Vase, -0.384, 0.772, 3.172, 0, 0, 0, 49 [SEP] 27, Bed, 2.217, 0.050, 0.585, 0, 0, 0, [SEP] 28, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0, [SEP] 29, Painting, 2.990, 1.592, 1.567, 90, 0, 0, [SEP] 30, Painting, 1.524, 1.592, 1.567, 90, 0, 0, [SEP] 31, Mirror, -1.190, 1.417, -0.223, 0, 270, 0, [SEP] 32, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0, [SEP] 33, Window, -2.629, 1.460, 2.891, 90, 270, 0, [SEP] 34, Window, -2.629, 1.460, 4.084, 90, 270, 0, [SEP] 35, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0, [SEP] 36, Drawer, 2.490, 0.949, -1.703, 0, 0, 0, [SEP] 37, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0, [SEP] 38, Drawer, 1.975, 0.949, -1.703, 0, 0, 0, [SEP] 39, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0, [SEP] 40, Drawer, 1.457, 0.949, -1.703, 0, 0, 0, [SEP] 41, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0, [SEP] 42, Dresser, 2.234, 0.048, -1.950, 0, 0, 0, [SEP] 43, Drawer, 3.011, 0.949, -1.703, 0, 0, 0, [SEP] 44, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0, [SEP] 45, Shelf, -0.163, 1.461, 3.219, 0, 180, 0, [SEP] 46, Drawer, -0.161, 0.242, 3.166, 0, 180, 0, [SEP] 47, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0, [SEP] 48, Drawer, -0.161, 0.562, 3.168, 0, 180, 0, [SEP] 49, Shelf, -0.162, 0.922, 3.164, 0, 180, 0, [SEP] 50, Shelf, -0.162, 1.241, 3.163, 0, 180, 0, [SEP] 51, Blinds, -2.550, 2.486, 2.911, 0, 90, 0, [SEP] 52, Blinds, -2.550, 2.486, 4.107, 0, 90, 0, [SEP] 53, Drawer, -0.833, 0.217, -0.336, 0, 90, 0, [SEP] 54, Drawer, -0.833, 0.217, 0.486, 0, 90, 0, [SEP] 55, Drawer, -0.833, 0.628, -0.747, 0, 90, 0, [SEP] 56, Drawer, -0.833, 0.217, 0.075, 0, 90, 0, [SEP] 57, Drawer, -0.833, 0.628, 0.486, 0, 90, 0, [SEP] 58, Drawer, -0.833, 0.217, -0.747, 0, 90, 0, [SEP] 59, Drawer, -0.833, 0.423, -0.336, 0, 90, 0, [SEP] 60, Drawer, -0.833, 0.423, 0.075, 0, 90, 0, [SEP] 61, Drawer, -0.833, 0.423, 0.486, 0, 90, 0, [SEP] 62, Drawer, -0.833, 0.423, -0.747, 0, 90, 0, [SEP] 63, Dresser, -0.934, 0.050, -0.129, 0, 90, 0, [SEP] 64, Drawer, -0.833, 0.628, 0.075, 0, 90, 0, [SEP] 65, Drawer, -0.833, 0.628, -0.336, 0, 90, 0, [SEP] 66, Drawer, 3.454, 0.212, 1.262, 0, 180, 0, [SEP] 67, SideTable, 3.455, 0.046, 1.328, 0, 180, 0, [SEP] 68, Drawer, 3.454, 0.504, 1.262, 0, 180, 0, [SEP] 69, NorthWall, , , , , , , [SEP] 70, EastWall, , , , , , , [SEP] 71, SouthWall, , , , , , , [SEP] 72, WestWall, , , , , , , ", "output": ["STEP 1: go to the end of the black dresser at the foot of the bed | STEP 2: pick up the disk from the dresser | STEP 3: take the disk to the book shelf | STEP 4: put the disk on the shelf | END"]} {"id": "trial_T20190906_230704_156277-1", "input": "place a cooled potato slice 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, 0.75, 0, 0, 0, [SEP] 1, DishSponge, -0.160, 0.114, 1.236, 0, 0, 0, 78 [SEP] 2, DishSponge, -0.682, 0.820, -1.110, 0, 0, 0, 109 [SEP] 3, ButterKnife, 0.123, 0.765, -0.707, 0, 180, 0, 107 [SEP] 4, ButterKnife, -0.103, 0.911, 1.129, 0, 270, 0, 61 [SEP] 5, Spoon, -0.103, 0.912, 1.214, 0, 180, 0, 61 [SEP] 6, Spoon, 2.156, 0.912, -0.769, 0, 0, 0, 50 [SEP] 7, Spatula, 1.688, 0.926, 1.214, 0, 0, 0, 85 [SEP] 8, Spatula, 0.053, 0.780, -0.596, 0, 180, 0, 107 [SEP] 9, Plate, 0.178, 1.658, -0.771, 0, 180, 0, 90 [SEP] 10, Plate, 2.221, 0.914, 1.129, 0, 0, 0, 85 [SEP] 11, Cup, 2.777, 1.016, -0.512, 0, 0, 0, 105 [SEP] 12, Cup, 0.570, 1.782, 1.488, 0, 180, 0, 108 [SEP] 13, Egg, -1.991, 0.461, 1.247, 0, 270, 0, 103 [SEP] 14, Knife, -0.055, 0.944, 1.383, 0, 90, 0, 61 [SEP] 15, SoapBottle, -0.734, 0.826, -1.255, 0, 0, 0, 109 [SEP] 16, Tomato, 3.301, 0.871, -0.514, 0, 0, 0, 105 [SEP] 17, Bowl, 2.900, 0.723, -0.504, 0, 0, 0, 105 [SEP] 18, Bowl, -0.983, 0.818, -1.308, 0, 90, 0, 109 [SEP] 19, SaltShaker, 0.514, 1.650, -0.849, 0, 180, 0, 89 [SEP] 20, SaltShaker, -0.785, 0.817, -1.400, 0, 0, 0, 109 [SEP] 21, PepperShaker, 1.947, 0.110, -0.421, 0, 180, 0, 96 [SEP] 22, Bread, -0.198, 0.969, 1.129, 0, 0, 0, 61 [SEP] 23, Bread, 2.754, 0.969, 1.129, 0, 0, 0, 85 [SEP] 24, Lettuce, 2.777, 1.644, -0.644, 0, 0, 0, 105 [SEP] 25, Lettuce, 2.488, 0.992, 1.383, 0, 0, 0, 85 [SEP] 26, Mug, 2.838, 1.014, -0.709, 0, 0, 0, 105 [SEP] 27, SoapBottle, -1.991, 0.429, 1.375, 0, 270, 0, 103 [SEP] 28, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 50 [SEP] 29, Fork, 1.524, 0.772, 1.122, 0, 90, 0, 68 [SEP] 30, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 65 [SEP] 31, Bread, 1.030, 0.953, -0.519, 0, 0, 0, 50 [SEP] 32, Egg, 0.466, 1.822, 1.455, 0, 180, 0, 108 [SEP] 33, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 50 [SEP] 34, Tomato, 2.777, 1.320, -0.840, 0, 0, 0, 105 [SEP] 35, Cup, 2.562, 1.653, 1.507, 0, 0, 0, 75 [SEP] 36, Spatula, 1.902, 0.926, -0.345, 0, 0, 0, 50 [SEP] 37, Apple, 2.653, 1.357, -0.578, 0, 0, 0, 105 [SEP] 38, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 53 [SEP] 39, Lettuce, 2.221, 0.992, 1.468, 0, 0, 0, 85 [SEP] 40, SaltShaker, 1.842, 1.651, 1.585, 0, 0, 0, 62 [SEP] 41, Knife, 1.688, 0.944, 1.383, 0, 0, 0, 85 [SEP] 42, Potato, 2.156, 0.946, -0.684, 0, 0, 0, 50 [SEP] 43, PepperShaker, 2.837, 0.110, 1.119, 0, 0, 0, 82 [SEP] 44, ButterKnife, 0.888, 0.901, -0.6, 0, 0, 0, 50 [SEP] 45, Bowl, 2.900, 1.286, -0.709, 0, 0, 0, 105 [SEP] 46, DishSponge, 2.155, 0.771, 1.160, 0, 0, 0, 81 [SEP] 47, Spoon, 1.955, 0.912, 1.383, 0, 0, 0, 85 [SEP] 48, Mug, 2.222, 1.649, 1.432, 0, 0, 0, 51 [SEP] 49, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 50, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 51, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 52, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 53, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 54, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 55, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 56, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 57, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 58, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 59, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 60, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 61, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 62, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 63, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 64, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 65, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 66, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 67, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 68, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 69, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 70, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 71, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 72, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 73, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 77, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 78, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 80, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 81, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 83, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 84, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 85, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 86, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 87, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 88, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 89, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 90, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 91, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 92, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 93, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 94, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 95, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 96, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 97, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 99, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 100, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 101, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 102, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 103, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 104, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 105, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 106, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 107, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 108, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 109, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 110, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 111, NorthWall, , , , , , , [SEP] 112, EastWall, , , , , , , [SEP] 113, SouthWall, , , , , , , [SEP] 114, WestWall, , , , , , , ", "output": ["STEP 1: turn left and walk to the end of the kitchen counter on the right | STEP 2: grab the butter knife off of the counter there | STEP 3: turn right and walk over to the kitchen counter to the right of the fridge | STEP 4: slice up the potato on the counter there | STEP 5: back a bit to face the kitchen cabinet below | STEP 6: place the knife in the kitchen cabinet below to the right | STEP 7: walk forwards a bit to the kitchen counter | STEP 8: grab a potato slice off of the kitchen counter | STEP 9: move to the left a bit to face the front of the fridge | STEP 10: place the potato slice in the fridge to cool, then take it back out | STEP 11: turn right and walk to the end of the room | STEP 12: place the potato slice in the recycling bin on the right | END"]} {"id": "trial_T20190907_214113_007695-1", "input": "Put a mug with a knife in it on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 0.25, 0, 0, 0, [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 89 [SEP] 2, Potato, 3.341, 0.875, -0.485, 0, 0, 0, 106 [SEP] 3, Potato, 0.053, 0.800, -0.541, 0, 0, 0, 108 [SEP] 4, DishSponge, 1.558, 0.771, -0.460, 0, 180, 0, 81 [SEP] 5, DishSponge, -0.087, 0.765, -0.651, 0, 0, 0, 108 [SEP] 6, Kettle, 1.173, 0.115, -0.495, 0, 180, 0, 59 [SEP] 7, ButterKnife, 1.422, 0.911, 1.214, 0, 180, 0, 86 [SEP] 8, ButterKnife, 2.754, 0.911, 1.044, 0, 0, 0, 86 [SEP] 9, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 57 [SEP] 10, Fork, 2.450, 0.771, 1.198, 0, 270, 0, 67 [SEP] 11, Fork, 2.899, 0.772, 1.198, 0, 270, 0, 95 [SEP] 12, Spatula, 1.955, 0.926, 1.299, 0, 0, 0, 86 [SEP] 13, Spatula, 0.053, 0.780, -0.596, 0, 180, 0, 108 [SEP] 14, Egg, 2.838, 0.762, -0.504, 0, 0, 0, 106 [SEP] 15, Egg, 1.649, 0.949, -0.345, 0, 0, 0, 51 [SEP] 16, Knife, 1.688, 0.944, 1.214, 0, 0, 0, 86 [SEP] 17, Knife, -0.103, 0.944, 1.044, 0, 0, 0, 62 [SEP] 18, Knife, -0.836, 0.853, -1.328, 0, 270, 0, 110 [SEP] 19, SoapBottle, 2.272, 0.120, -0.419, 0, 180, 0, 92 [SEP] 20, Tomato, 2.591, 1.050, -0.709, 0, 0, 0, 106 [SEP] 21, Tomato, 0.888, 0.942, -0.430, 0, 0, 0, 51 [SEP] 22, Bowl, 1.835, 0.112, -0.458, 0, 180, 0, 97 [SEP] 23, SaltShaker, -0.694, 0.817, -1.360, 0, 90, 0, 110 [SEP] 24, SaltShaker, 1.447, 1.651, -0.693, 0, 180, 0, 73 [SEP] 25, Mug, 2.777, 1.283, -0.644, 0, 0, 0, 106 [SEP] 26, Mug, 1.141, 0.906, -0.769, 0, 0, 0, 51 [SEP] 27, Mug, 0.888, 0.906, -0.684, 0, 0, 0, 51 [SEP] 28, SoapBottle, -0.939, 0.826, -1.328, 0, 0, 0, 110 [SEP] 29, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 76 [SEP] 30, Fork, 1.893, 0.772, 1.122, 0, 90, 0, 84 [SEP] 31, Pot, 2.488, 0.915, 1.299, 0, 0, 0, 86 [SEP] 32, Bread, 2.715, 1.621, -0.578, 0, 0, 0, 106 [SEP] 33, Egg, 2.900, 1.326, -0.840, 0, 0, 0, 106 [SEP] 34, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 66 [SEP] 35, Tomato, -1.991, 0.455, 1.459, 0, 270, 0, 104 [SEP] 36, Cup, 2.900, 1.561, -0.840, 0, 0, 0, 106 [SEP] 37, Spatula, 0.193, 0.780, -0.541, 0, 270, 0, 108 [SEP] 38, Apple, 0.415, 1.853, 1.423, 0, 180, 0, 109 [SEP] 39, Pan, 0.634, 0.911, -0.430, 0, 0, 0, 51 [SEP] 40, Lettuce, 1.141, 0.992, -0.430, 0, 0, 0, 51 [SEP] 41, SaltShaker, -0.766, 0.817, -1.206, 0, 90, 0, 110 [SEP] 42, Knife, -0.983, 0.853, -1.206, 0, 270, 0, 110 [SEP] 43, Potato, -0.055, 0.946, 1.299, 0, 0, 0, 62 [SEP] 44, PepperShaker, -1.056, 0.817, -1.103, 0, 90, 0, 110 [SEP] 45, ButterKnife, -0.151, 0.911, 1.214, 0, 0, 0, 62 [SEP] 46, Bowl, 2.754, 0.909, 1.299, 0, 0, 0, 86 [SEP] 47, DishSponge, -1.056, 0.820, -1.308, 0, 90, 0, 110 [SEP] 48, Spoon, 1.768, 0.772, 1.122, 0, 90, 0, 84 [SEP] 49, Mug, 0.570, 1.779, 1.455, 0, 180, 0, 109 [SEP] 50, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 51, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 52, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 53, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 54, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 55, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 56, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 57, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 58, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 59, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 60, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 61, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 62, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 63, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 64, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 65, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 66, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 67, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 68, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 69, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 70, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 71, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 72, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 73, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 74, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 77, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 78, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 79, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 81, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 82, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 84, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 85, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 86, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 87, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 88, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 89, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 90, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 91, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 92, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 93, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 94, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 95, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 96, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 97, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 98, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 99, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 100, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 101, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 102, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 103, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 104, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 105, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 106, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 107, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 108, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 109, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 110, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 111, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 112, NorthWall, , , , , , , [SEP] 113, EastWall, , , , , , , [SEP] 114, SouthWall, , , , , , , [SEP] 115, WestWall, , , , , , , ", "output": ["STEP 1: Take a step right and walk forward to the counter. | STEP 2: Pick up the yellow handled knife. | STEP 3: Turn around and take a step then turn left and walk to the area just right of the coffee maker and turn right to face it. | STEP 4: Put the knife in the mug that's in front of you. | STEP 5: Pick up the mug with the knife in it. | STEP 6: Turn around and take a step then turn left and walk until you're almost to the window about two feet away then turn left and walk to the small table. | STEP 7: Put the mug to the left of the pepper shaker, | END"]} {"id": "trial_T20190908_071405_847309-2", "input": "place a bunch of key in the carton and close it with the carton 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, 0.5, 0.900, -0.75, 0, 180, 0, [SEP] 1, Newspaper, -0.411, 0.550, -0.451, 0, 270, 0, 30 [SEP] 2, Newspaper, 1.766, 0.869, 0.220, 0, 90, 0, 36 [SEP] 3, CreditCard, -0.411, 0.551, -0.537, 0, 270, 0, 30 [SEP] 4, CreditCard, -0.711, 0.293, -1.917, 0, 0, 0, 32 [SEP] 5, RemoteControl, 1.807, 0.871, 0.537, 0, 90, 0, 36 [SEP] 6, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 38 [SEP] 7, KeyChain, -0.5, 0.318, -1.771, 0, 270, 0, 32 [SEP] 8, Watch, -0.712, 0.552, -0.537, 0, 270, 0, 30 [SEP] 9, Newspaper, -0.260, 0.550, -0.106, 0, 180, 0, 30 [SEP] 10, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 32 [SEP] 11, CreditCard, -1.100, 0.037, -0.152, 0, 270, 0, 26 [SEP] 12, RemoteControl, 1.808, 0.871, 0.114, 0, 90, 0, 36 [SEP] 13, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 30 [SEP] 14, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 30 [SEP] 15, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 30 [SEP] 16, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 17, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 18, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 19, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 20, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 21, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 22, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 23, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 24, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 25, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 26, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 29, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 30, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 31, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 32, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 33, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 34, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 35, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 36, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 37, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 38, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, WestWall, , , , , , , ", "output": ["STEP 1: turn left and head to the table | STEP 2: pick up the carton under the table | STEP 3: turn around to the sofa | STEP 4: drop the carton on the sofa | STEP 5: move left to the sofa | STEP 6: pick up the keys on the sofa | STEP 7: move right on the sofa | STEP 8: place the keys in the carton and close it | END"]} {"id": "trial_T20190911_215052_838062-1", "input": "throw away a soap bottle into 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, -0.75, 0.901, 2.5, 0, 0, 0, [SEP] 1, Cloth, -1.500, 0.067, 3.226, 0, 0, 0, 25 [SEP] 2, SoapBar, -1.319, 0.067, 3.327, 0, 0, 0, 25 [SEP] 3, SoapBar, -1.416, 0.994, 3.903, 0, 0, 0, 26 [SEP] 4, Candle, -1.416, 0.994, 2.269, 0, 0, 0, 26 [SEP] 5, SprayBottle, -1.560, 0.068, 3.377, 0, 0, 0, 25 [SEP] 6, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 28 [SEP] 7, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 30 [SEP] 8, SoapBar, -1.262, 0.068, 3.793, 0, 0, 0, 27 [SEP] 9, ToiletPaper, -1.332, 0.058, 2.261, 0, 0, 0, 21 [SEP] 10, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 11, Candle, -1.481, 0.994, 3.041, 0, 0, 0, 26 [SEP] 12, TissueBox, -1.501, 0.069, 3.743, 0, 0, 0, 27 [SEP] 13, SoapBottle, -1.547, 0.993, 3.933, 0, 0, 0, 26 [SEP] 14, ToiletPaper, -1.481, 0.991, 2.148, 0, 0, 0, 26 [SEP] 15, SprayBottle, 0.351, 0.894, 1.566, 0, 0, 0, 32 [SEP] 16, Cloth, -1.501, 0.068, 2.857, 0, 0, 0, 19 [SEP] 17, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 18, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 19, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 20, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 21, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 22, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 23, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 24, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 25, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 26, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 27, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 28, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 29, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 30, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 31, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 32, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 33, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 34, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 35, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 36, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 37, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 38, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 39, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 40, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: walk straight and turn left towards the sink | STEP 2: pick up the soap bottle on the counter | STEP 3: turn around and walk straight then turn left towards the garbage can | STEP 4: put the soap bottle inside the garbage can | END"]} {"id": "trial_T20190908_071159_249788-1", "input": "Put a box on the couch and put the keys in it SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 0.0, 0, 270, 0, [SEP] 1, Newspaper, -0.711, 0.550, -0.192, 0, 270, 0, 31 [SEP] 2, KeyChain, 1.364, 0.326, -0.818, 0, 90, 0, 39 [SEP] 3, KeyChain, -0.841, 0.202, -0.577, 0, 90, 0, 32 [SEP] 4, CreditCard, -0.711, 0.551, -0.106, 0, 270, 0, 31 [SEP] 5, RemoteControl, -0.712, 0.553, -0.623, 0, 270, 0, 31 [SEP] 6, RemoteControl, 1.443, 0.321, -0.742, 0, 0, 0, 39 [SEP] 7, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 39 [SEP] 8, KeyChain, -0.582, 0.038, -0.480, 0, 270, 0, 26 [SEP] 9, Watch, -0.453, 0.040, -0.512, 0, 90, 0, 32 [SEP] 10, Newspaper, 1.849, 0.868, 0.326, 0, 90, 0, 37 [SEP] 11, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 33 [SEP] 12, CreditCard, -0.411, 0.551, -0.451, 0, 270, 0, 31 [SEP] 13, RemoteControl, 1.766, 0.871, 0.643, 0, 90, 0, 37 [SEP] 14, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 31 [SEP] 15, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 31 [SEP] 16, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 31 [SEP] 17, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 18, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 19, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 20, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 21, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 22, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 23, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 24, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 25, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 26, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 29, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 30, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 31, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 32, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 33, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 34, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 35, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 36, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 37, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 38, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 39, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, go forward a bit, turn right and go to the desk | STEP 2: Pick up the box under the desk | STEP 3: Turn around, go forward a bit, turn around, go forward, turn right, go forward, turn left in front of the couch | STEP 4: Put the box on the couch | STEP 5: Turn left, go to the wall, turn right | STEP 6: Pick up the keys on the chair | STEP 7: Turn left, go forward, turn left in front of the couch | STEP 8: Put the keys into the box on the couch | END"]} {"id": "trial_T20190907_101549_797471-0", "input": "heat the cup with microwave, put it back 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, -0.75, 0.900, 0.5, 0, 0, 0, [SEP] 1, Potato, -1.991, 0.458, 1.459, 0, 270, 0, 99 [SEP] 2, Potato, 0.466, 1.819, 1.488, 0, 180, 0, 104 [SEP] 3, DishSponge, 0.446, 1.654, -0.811, 0, 180, 0, 85 [SEP] 4, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 52 [SEP] 5, Kettle, 2.188, 1.655, 1.470, 0, 0, 0, 70 [SEP] 6, ButterKnife, 2.488, 0.911, 1.129, 0, 0, 0, 81 [SEP] 7, Spatula, 1.688, 0.926, 1.299, 0, 0, 0, 81 [SEP] 8, Spatula, 2.156, 0.926, -0.430, 0, 0, 0, 46 [SEP] 9, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 71 [SEP] 10, Knife, -1.056, 0.853, -1.308, 0, 90, 0, 105 [SEP] 11, Knife, 1.902, 0.944, -0.345, 0, 0, 0, 46 [SEP] 12, SoapBottle, -0.621, 0.826, -1.308, 0, 90, 0, 105 [SEP] 13, SoapBottle, -0.621, 0.826, -1.155, 0, 90, 0, 105 [SEP] 14, Bowl, 1.210, 0.112, -0.458, 0, 180, 0, 54 [SEP] 15, Bowl, 0.787, 1.653, -0.810, 0, 180, 0, 56 [SEP] 16, SaltShaker, 2.754, 0.908, 1.553, 0, 0, 0, 81 [SEP] 17, SaltShaker, 0.654, 2.150, 1.584, 0, 0, 0, 80 [SEP] 18, PepperShaker, 0.251, 0.908, -0.330, 0, 0, 0, 46 [SEP] 19, Mug, 1.955, 0.906, 1.044, 0, 0, 0, 81 [SEP] 20, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 46 [SEP] 21, Mug, 2.488, 0.906, 1.553, 0, 0, 0, 81 [SEP] 22, Apple, -0.836, 0.889, -1.400, 0, 0, 0, 105 [SEP] 23, SoapBottle, -2.019, 0.429, 1.332, 0, 270, 0, 99 [SEP] 24, Plate, 2.221, 0.914, 1.299, 0, 0, 0, 81 [SEP] 25, Fork, -0.157, 0.766, -0.707, 0, 90, 0, 103 [SEP] 26, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 61 [SEP] 27, Bread, 1.688, 0.969, 1.468, 0, 0, 0, 81 [SEP] 28, Egg, 1.155, 0.949, 1.553, 0, 0, 0, 81 [SEP] 29, Kettle, 2.754, 0.912, 1.214, 0, 0, 0, 81 [SEP] 30, Tomato, 2.962, 0.756, -0.565, 0, 0, 0, 101 [SEP] 31, Cup, 3.220, 0.838, -0.485, 0, 0, 0, 101 [SEP] 32, Spatula, -0.766, 0.835, -1.206, 0, 0, 0, 105 [SEP] 33, Apple, 2.653, 1.087, -0.709, 0, 0, 0, 101 [SEP] 34, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 49 [SEP] 35, Lettuce, 0.053, 0.846, -0.651, 0, 180, 0, 103 [SEP] 36, SaltShaker, -0.007, 0.908, 1.299, 0, 0, 0, 57 [SEP] 37, Knife, 1.422, 0.944, 1.214, 0, 90, 0, 81 [SEP] 38, Potato, 2.962, 1.598, -0.644, 0, 0, 0, 101 [SEP] 39, PepperShaker, -0.055, 0.908, 1.468, 0, 0, 0, 57 [SEP] 40, ButterKnife, 1.155, 0.911, 1.299, 0, 0, 0, 81 [SEP] 41, Bowl, -0.151, 0.909, 1.129, 0, 0, 0, 57 [SEP] 42, DishSponge, 1.955, 0.911, 1.468, 0, 0, 0, 81 [SEP] 43, Spoon, -0.911, 0.822, -1.257, 0, 270, 0, 105 [SEP] 44, Mug, 0.231, 2.152, 1.505, 0, 0, 0, 80 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 107, NorthWall, , , , , , , [SEP] 108, EastWall, , , , , , , [SEP] 109, SouthWall, , , , , , , [SEP] 110, WestWall, , , , , , , ", "output": ["STEP 1: turn right, walk to the coffee machine on the right | STEP 2: grab the cup in the coffee machine | STEP 3: turn around, walk to the microwave | STEP 4: open the microwave,put the cup in, heat the cup, take the cup out | STEP 5: turn around, walk to the coffee machine | STEP 6: put the cup in the coffee machine | END"]} {"id": "trial_T20190907_101549_797471-1", "input": "Place a warm coffee cup 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, -0.75, 0.900, 0.5, 0, 0, 0, [SEP] 1, Potato, -1.991, 0.458, 1.459, 0, 270, 0, 99 [SEP] 2, Potato, 0.466, 1.819, 1.488, 0, 180, 0, 104 [SEP] 3, DishSponge, 0.446, 1.654, -0.811, 0, 180, 0, 85 [SEP] 4, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 52 [SEP] 5, Kettle, 2.188, 1.655, 1.470, 0, 0, 0, 70 [SEP] 6, ButterKnife, 2.488, 0.911, 1.129, 0, 0, 0, 81 [SEP] 7, Spatula, 1.688, 0.926, 1.299, 0, 0, 0, 81 [SEP] 8, Spatula, 2.156, 0.926, -0.430, 0, 0, 0, 46 [SEP] 9, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 71 [SEP] 10, Knife, -1.056, 0.853, -1.308, 0, 90, 0, 105 [SEP] 11, Knife, 1.902, 0.944, -0.345, 0, 0, 0, 46 [SEP] 12, SoapBottle, -0.621, 0.826, -1.308, 0, 90, 0, 105 [SEP] 13, SoapBottle, -0.621, 0.826, -1.155, 0, 90, 0, 105 [SEP] 14, Bowl, 1.210, 0.112, -0.458, 0, 180, 0, 54 [SEP] 15, Bowl, 0.787, 1.653, -0.810, 0, 180, 0, 56 [SEP] 16, SaltShaker, 2.754, 0.908, 1.553, 0, 0, 0, 81 [SEP] 17, SaltShaker, 0.654, 2.150, 1.584, 0, 0, 0, 80 [SEP] 18, PepperShaker, 0.251, 0.908, -0.330, 0, 0, 0, 46 [SEP] 19, Mug, 1.955, 0.906, 1.044, 0, 0, 0, 81 [SEP] 20, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 46 [SEP] 21, Mug, 2.488, 0.906, 1.553, 0, 0, 0, 81 [SEP] 22, Apple, -0.836, 0.889, -1.400, 0, 0, 0, 105 [SEP] 23, SoapBottle, -2.019, 0.429, 1.332, 0, 270, 0, 99 [SEP] 24, Plate, 2.221, 0.914, 1.299, 0, 0, 0, 81 [SEP] 25, Fork, -0.157, 0.766, -0.707, 0, 90, 0, 103 [SEP] 26, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 61 [SEP] 27, Bread, 1.688, 0.969, 1.468, 0, 0, 0, 81 [SEP] 28, Egg, 1.155, 0.949, 1.553, 0, 0, 0, 81 [SEP] 29, Kettle, 2.754, 0.912, 1.214, 0, 0, 0, 81 [SEP] 30, Tomato, 2.962, 0.756, -0.565, 0, 0, 0, 101 [SEP] 31, Cup, 3.220, 0.838, -0.485, 0, 0, 0, 101 [SEP] 32, Spatula, -0.766, 0.835, -1.206, 0, 0, 0, 105 [SEP] 33, Apple, 2.653, 1.087, -0.709, 0, 0, 0, 101 [SEP] 34, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 49 [SEP] 35, Lettuce, 0.053, 0.846, -0.651, 0, 180, 0, 103 [SEP] 36, SaltShaker, -0.007, 0.908, 1.299, 0, 0, 0, 57 [SEP] 37, Knife, 1.422, 0.944, 1.214, 0, 90, 0, 81 [SEP] 38, Potato, 2.962, 1.598, -0.644, 0, 0, 0, 101 [SEP] 39, PepperShaker, -0.055, 0.908, 1.468, 0, 0, 0, 57 [SEP] 40, ButterKnife, 1.155, 0.911, 1.299, 0, 0, 0, 81 [SEP] 41, Bowl, -0.151, 0.909, 1.129, 0, 0, 0, 57 [SEP] 42, DishSponge, 1.955, 0.911, 1.468, 0, 0, 0, 81 [SEP] 43, Spoon, -0.911, 0.822, -1.257, 0, 270, 0, 105 [SEP] 44, Mug, 0.231, 2.152, 1.505, 0, 0, 0, 80 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 107, NorthWall, , , , , , , [SEP] 108, EastWall, , , , , , , [SEP] 109, SouthWall, , , , , , , [SEP] 110, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk towards the end of the room until you reach the coffee pot on your right. | STEP 2: Pick up the coffee mug that is on the coffee maker. | STEP 3: Turn around and go to the microwave above the stove. | STEP 4: Place the coffee mug inside the microwave, heat it up, then remove the coffee mug from the microwave. | STEP 5: Turn around and go back to the coffee maker on the counter. | STEP 6: Place the coffee mug back on the coffee maker. | END"]} {"id": "trial_T20190907_101549_797471-2", "input": "Heat the mug on the microwave going back 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, -0.75, 0.900, 0.5, 0, 0, 0, [SEP] 1, Potato, -1.991, 0.458, 1.459, 0, 270, 0, 99 [SEP] 2, Potato, 0.466, 1.819, 1.488, 0, 180, 0, 104 [SEP] 3, DishSponge, 0.446, 1.654, -0.811, 0, 180, 0, 85 [SEP] 4, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 52 [SEP] 5, Kettle, 2.188, 1.655, 1.470, 0, 0, 0, 70 [SEP] 6, ButterKnife, 2.488, 0.911, 1.129, 0, 0, 0, 81 [SEP] 7, Spatula, 1.688, 0.926, 1.299, 0, 0, 0, 81 [SEP] 8, Spatula, 2.156, 0.926, -0.430, 0, 0, 0, 46 [SEP] 9, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 71 [SEP] 10, Knife, -1.056, 0.853, -1.308, 0, 90, 0, 105 [SEP] 11, Knife, 1.902, 0.944, -0.345, 0, 0, 0, 46 [SEP] 12, SoapBottle, -0.621, 0.826, -1.308, 0, 90, 0, 105 [SEP] 13, SoapBottle, -0.621, 0.826, -1.155, 0, 90, 0, 105 [SEP] 14, Bowl, 1.210, 0.112, -0.458, 0, 180, 0, 54 [SEP] 15, Bowl, 0.787, 1.653, -0.810, 0, 180, 0, 56 [SEP] 16, SaltShaker, 2.754, 0.908, 1.553, 0, 0, 0, 81 [SEP] 17, SaltShaker, 0.654, 2.150, 1.584, 0, 0, 0, 80 [SEP] 18, PepperShaker, 0.251, 0.908, -0.330, 0, 0, 0, 46 [SEP] 19, Mug, 1.955, 0.906, 1.044, 0, 0, 0, 81 [SEP] 20, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 46 [SEP] 21, Mug, 2.488, 0.906, 1.553, 0, 0, 0, 81 [SEP] 22, Apple, -0.836, 0.889, -1.400, 0, 0, 0, 105 [SEP] 23, SoapBottle, -2.019, 0.429, 1.332, 0, 270, 0, 99 [SEP] 24, Plate, 2.221, 0.914, 1.299, 0, 0, 0, 81 [SEP] 25, Fork, -0.157, 0.766, -0.707, 0, 90, 0, 103 [SEP] 26, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 61 [SEP] 27, Bread, 1.688, 0.969, 1.468, 0, 0, 0, 81 [SEP] 28, Egg, 1.155, 0.949, 1.553, 0, 0, 0, 81 [SEP] 29, Kettle, 2.754, 0.912, 1.214, 0, 0, 0, 81 [SEP] 30, Tomato, 2.962, 0.756, -0.565, 0, 0, 0, 101 [SEP] 31, Cup, 3.220, 0.838, -0.485, 0, 0, 0, 101 [SEP] 32, Spatula, -0.766, 0.835, -1.206, 0, 0, 0, 105 [SEP] 33, Apple, 2.653, 1.087, -0.709, 0, 0, 0, 101 [SEP] 34, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 49 [SEP] 35, Lettuce, 0.053, 0.846, -0.651, 0, 180, 0, 103 [SEP] 36, SaltShaker, -0.007, 0.908, 1.299, 0, 0, 0, 57 [SEP] 37, Knife, 1.422, 0.944, 1.214, 0, 90, 0, 81 [SEP] 38, Potato, 2.962, 1.598, -0.644, 0, 0, 0, 101 [SEP] 39, PepperShaker, -0.055, 0.908, 1.468, 0, 0, 0, 57 [SEP] 40, ButterKnife, 1.155, 0.911, 1.299, 0, 0, 0, 81 [SEP] 41, Bowl, -0.151, 0.909, 1.129, 0, 0, 0, 57 [SEP] 42, DishSponge, 1.955, 0.911, 1.468, 0, 0, 0, 81 [SEP] 43, Spoon, -0.911, 0.822, -1.257, 0, 270, 0, 105 [SEP] 44, Mug, 0.231, 2.152, 1.505, 0, 0, 0, 80 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 107, NorthWall, , , , , , , [SEP] 108, EastWall, , , , , , , [SEP] 109, SouthWall, , , , , , , [SEP] 110, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your right, walk towards the counter then face the coffee maker on your right | STEP 2: Pick up the mug on the coffee maker | STEP 3: Turn to your right head to the microwave above the stove | STEP 4: Open the microwave heat the mug then take out the mug close the microwave | STEP 5: Turn to your right and head to the coffee maker | STEP 6: Put back the mug on the coffee maker | END"]} {"id": "trial_T20190907_101549_797471-3", "input": "Put a heated mug on the coffee machine. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 0.5, 0, 0, 0, [SEP] 1, Potato, -1.991, 0.458, 1.459, 0, 270, 0, 99 [SEP] 2, Potato, 0.466, 1.819, 1.488, 0, 180, 0, 104 [SEP] 3, DishSponge, 0.446, 1.654, -0.811, 0, 180, 0, 85 [SEP] 4, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 52 [SEP] 5, Kettle, 2.188, 1.655, 1.470, 0, 0, 0, 70 [SEP] 6, ButterKnife, 2.488, 0.911, 1.129, 0, 0, 0, 81 [SEP] 7, Spatula, 1.688, 0.926, 1.299, 0, 0, 0, 81 [SEP] 8, Spatula, 2.156, 0.926, -0.430, 0, 0, 0, 46 [SEP] 9, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 71 [SEP] 10, Knife, -1.056, 0.853, -1.308, 0, 90, 0, 105 [SEP] 11, Knife, 1.902, 0.944, -0.345, 0, 0, 0, 46 [SEP] 12, SoapBottle, -0.621, 0.826, -1.308, 0, 90, 0, 105 [SEP] 13, SoapBottle, -0.621, 0.826, -1.155, 0, 90, 0, 105 [SEP] 14, Bowl, 1.210, 0.112, -0.458, 0, 180, 0, 54 [SEP] 15, Bowl, 0.787, 1.653, -0.810, 0, 180, 0, 56 [SEP] 16, SaltShaker, 2.754, 0.908, 1.553, 0, 0, 0, 81 [SEP] 17, SaltShaker, 0.654, 2.150, 1.584, 0, 0, 0, 80 [SEP] 18, PepperShaker, 0.251, 0.908, -0.330, 0, 0, 0, 46 [SEP] 19, Mug, 1.955, 0.906, 1.044, 0, 0, 0, 81 [SEP] 20, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 46 [SEP] 21, Mug, 2.488, 0.906, 1.553, 0, 0, 0, 81 [SEP] 22, Apple, -0.836, 0.889, -1.400, 0, 0, 0, 105 [SEP] 23, SoapBottle, -2.019, 0.429, 1.332, 0, 270, 0, 99 [SEP] 24, Plate, 2.221, 0.914, 1.299, 0, 0, 0, 81 [SEP] 25, Fork, -0.157, 0.766, -0.707, 0, 90, 0, 103 [SEP] 26, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 61 [SEP] 27, Bread, 1.688, 0.969, 1.468, 0, 0, 0, 81 [SEP] 28, Egg, 1.155, 0.949, 1.553, 0, 0, 0, 81 [SEP] 29, Kettle, 2.754, 0.912, 1.214, 0, 0, 0, 81 [SEP] 30, Tomato, 2.962, 0.756, -0.565, 0, 0, 0, 101 [SEP] 31, Cup, 3.220, 0.838, -0.485, 0, 0, 0, 101 [SEP] 32, Spatula, -0.766, 0.835, -1.206, 0, 0, 0, 105 [SEP] 33, Apple, 2.653, 1.087, -0.709, 0, 0, 0, 101 [SEP] 34, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 49 [SEP] 35, Lettuce, 0.053, 0.846, -0.651, 0, 180, 0, 103 [SEP] 36, SaltShaker, -0.007, 0.908, 1.299, 0, 0, 0, 57 [SEP] 37, Knife, 1.422, 0.944, 1.214, 0, 90, 0, 81 [SEP] 38, Potato, 2.962, 1.598, -0.644, 0, 0, 0, 101 [SEP] 39, PepperShaker, -0.055, 0.908, 1.468, 0, 0, 0, 57 [SEP] 40, ButterKnife, 1.155, 0.911, 1.299, 0, 0, 0, 81 [SEP] 41, Bowl, -0.151, 0.909, 1.129, 0, 0, 0, 57 [SEP] 42, DishSponge, 1.955, 0.911, 1.468, 0, 0, 0, 81 [SEP] 43, Spoon, -0.911, 0.822, -1.257, 0, 270, 0, 105 [SEP] 44, Mug, 0.231, 2.152, 1.505, 0, 0, 0, 80 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 107, NorthWall, , , , , , , [SEP] 108, EastWall, , , , , , , [SEP] 109, SouthWall, , , , , , , [SEP] 110, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, head to the coffee machine on the right. | STEP 2: Pick up the mug on the coffee machine. | STEP 3: Turn around, bring the mug to the microwave over the stove. | STEP 4: Heat the mug in the microwave. | STEP 5: Take the heated mug out of the microwave, turn around, bring the mug to the coffee machine. | STEP 6: Put the heated mug on the coffee machine. | END"]} {"id": "trial_T20190908_080519_882874-0", "input": "Put a cleaned cup filled with 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, 0.0, 0.931, -0.25, 0, 0, 0, [SEP] 1, Potato, -1.264, 1.542, 2.242, 0, 90, 0, 61 [SEP] 2, Potato, 1.879, 1.096, 0.091, 0, 0, 0, 48 [SEP] 3, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 42 [SEP] 4, Spatula, -0.775, 1.061, -1.612, 0, 270, 0, 46 [SEP] 5, Spatula, 0.351, 1.058, 0.738, 0, 0, 0, 48 [SEP] 6, Egg, 0.848, 1.097, 0.545, 0, 0, 0, 48 [SEP] 7, Egg, 1.612, 1.097, 0.415, 0, 0, 0, 48 [SEP] 8, Cup, -0.401, 0.203, -1.553, 0, 0, 0, 55 [SEP] 9, Cup, 0.809, 1.565, -1.538, 0, 0, 0, 50 [SEP] 10, Cup, -1.145, 1.716, -1.269, 0, 0, 0, 60 [SEP] 11, Knife, 0.518, 1.072, -1.086, 0, 180, 0, 46 [SEP] 12, Tomato, 1.968, 1.094, 0.738, 0, 0, 0, 48 [SEP] 13, Tomato, -1.103, 1.279, 1.796, 0, 90, 0, 61 [SEP] 14, Bowl, -1.342, 1.488, 1.885, 0, 90, 0, 61 [SEP] 15, PepperShaker, 0.740, 1.041, -1.720, 0, 0, 0, 46 [SEP] 16, PepperShaker, 0.906, 1.041, -1.181, 0, 0, 0, 46 [SEP] 17, Lettuce, -0.689, 1.106, -1.397, 0, 0, 0, 46 [SEP] 18, Apple, 1.882, 0.166, 2.386, 0, 270, 0, 62 [SEP] 19, Apple, 0.989, 1.090, -1.397, 0, 0, 0, 46 [SEP] 20, SoapBottle, 1.820, 1.020, -1.337, 0, 0, 0, 52 [SEP] 21, Apple, -1.268, 1.991, 1.974, 0, 90, 0, 61 [SEP] 22, Potato, 1.523, 1.096, 0.199, 0, 0, 0, 48 [SEP] 23, Fork, -0.346, 1.047, -1.612, 0, 0, 0, 46 [SEP] 24, Kettle, 0.007, 1.050, -1.400, 0, 0, 0, 45 [SEP] 25, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 46 [SEP] 26, Tomato, -1.095, 1.014, 1.885, 0, 90, 0, 61 [SEP] 27, SaltShaker, 1.514, 1.038, 0.589, 0, 0, 0, 48 [SEP] 28, Egg, -1.431, 1.282, 1.796, 0, 90, 0, 61 [SEP] 29, Cup, 1.015, 1.043, 0.720, 0, 0, 0, 48 [SEP] 30, Spatula, -0.296, 1.053, -1.277, 0, 255.000, 0, 46 [SEP] 31, Knife, -0.432, 1.072, -1.289, 0, 0, 0, 46 [SEP] 32, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 44 [SEP] 33, ButterKnife, 0.848, 1.043, 0.720, 0, 0, 0, 48 [SEP] 34, PepperShaker, 1.512, 0.199, -1.408, 0, 0, 0, 56 [SEP] 35, DishSponge, -0.689, 1.046, -1.181, 0, 0, 0, 46 [SEP] 36, Plate, -0.699, 1.577, -1.545, 0, 0, 0, 51 [SEP] 37, Bread, 0.405, 1.104, 0.353, 0, 337.138, 0, 48 [SEP] 38, Spoon, 1.181, 1.044, 0.632, 0, 0, 0, 48 [SEP] 39, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 49 [SEP] 40, Mug, 0.516, 1.038, 0.589, 0, 0, 0, 48 [SEP] 41, Bowl, 1.589, 1.018, -1.557, 0, 0, 0, 52 [SEP] 42, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 43, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 44, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 45, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 46, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 47, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 48, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 49, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 50, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 51, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 52, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 53, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 54, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 55, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 56, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 57, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 58, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 59, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 60, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 61, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 62, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 63, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 64, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 65, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 66, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 70, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 71, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 72, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 73, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 74, NorthWall, , , , , , , [SEP] 75, EastWall, , , , , , , [SEP] 76, SouthWall, , , , , , , [SEP] 77, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, move to the counter left of the stove. | STEP 2: Open the cabinet above the counter on the left and pick up the green cup in there. | STEP 3: Turn around and bring the cup to the sink. | STEP 4: Wash the cup in the sink, fill the cup with water. | STEP 5: Pick up the filled cup from in the sink, turn around, bring the cup to the cabinet. | STEP 6: Open the lower cabinet on the left and put the filled cup in there. | END"]} {"id": "trial_T20190909_114707_587115-2", "input": "Look at a CD by the light of 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, -1.5, 0.909, -2.5, 0, 0, 0, [SEP] 1, Mug, -3.834, 0.977, -4.075, 0, 0, 0, 45 [SEP] 2, CD, -1.474, 0.803, -4.137, 0, 0, 0, 42 [SEP] 3, CD, -0.453, 0.799, -3.811, 0, 0, 0, 42 [SEP] 4, CD, -1.869, 0.062, -3.873, 0, 279.990, 0, 31 [SEP] 5, Pen, -1.066, 0.805, -4.137, 0, 0, 0, 42 [SEP] 6, Pen, -3.539, 0.986, -3.673, 0, 0, 0, 45 [SEP] 7, Pencil, -3.524, 0.048, -3.465, 0, 0, 0, 44 [SEP] 8, Pencil, -1.270, 0.803, -3.811, 0, 0, 0, 42 [SEP] 9, CreditCard, -3.834, 0.981, -3.472, 0, 0, 0, 45 [SEP] 10, KeyChain, -0.596, 0.543, -3.694, 0, 0, 0, 36 [SEP] 11, Book, -3.687, 0.980, -3.673, 0, 0, 0, 45 [SEP] 12, Laptop, -3.613, 0.979, -3.070, 0, 0, 0, 45 [SEP] 13, AlarmClock, -0.862, 0.803, -4.354, 0, 0, 0, 42 [SEP] 14, Book, -3.694, 0.614, -3.978, 0, 0, 0, 51 [SEP] 15, CellPhone, -3.834, 0.979, -3.271, 0, 0, 0, 45 [SEP] 16, Laptop, -3.402, 0.618, -1.793, 0, 0, 0, 27 [SEP] 17, CreditCard, -0.240, 0.542, -3.749, 0, 0, 0, 36 [SEP] 18, AlarmClock, -1.270, 0.803, -3.703, 0, 0, 0, 42 [SEP] 19, KeyChain, -0.418, 0.543, -3.694, 0, 0, 0, 36 [SEP] 20, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 27 [SEP] 21, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 22, Pencil, -1.066, 0.807, -4.246, 0, 0, 0, 42 [SEP] 23, Pillow, -2.559, 0.722, -1.793, 0, 0, 0, 27 [SEP] 24, CD, -0.862, 0.803, -4.137, 0, 0, 0, 42 [SEP] 25, Pen, -0.657, 0.805, -3.811, 0, 0, 0, 42 [SEP] 26, Mug, -3.466, 0.977, -4.075, 0, 0, 0, 45 [SEP] 27, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 28, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 29, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 30, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 31, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 32, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 33, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 34, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 35, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 36, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 37, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 38, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 39, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 40, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 41, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 42, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 43, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 44, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 45, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 50, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 51, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 52, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 53, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 54, NorthWall, , , , , , , [SEP] 55, EastWall, , , , , , , [SEP] 56, SouthWall, , , , , , , [SEP] 57, WestWall, , , , , , , ", "output": ["STEP 1: Turn around to face the white desk with three CDs on it. | STEP 2: Turn on the lamp on the desk. | STEP 3: Pick up the CD closest to the lamp. | END"]} {"id": "trial_T20190909_003745_480434-1", "input": "Put a cleaned spoon 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, 0.931, -0.25, 0, 90, 0, [SEP] 1, DishSponge, 1.666, 1.019, -1.557, 0, 0, 0, 51 [SEP] 2, DishSponge, -0.760, 0.203, -1.337, 0, 0, 0, 54 [SEP] 3, Kettle, 0.000, 1.057, -1.4, 0, 0, 0, 44 [SEP] 4, Kettle, 1.347, 1.044, 0.632, 0, 0, 0, 47 [SEP] 5, Pot, -0.473, 1.566, -1.470, 0, 90, 0, 50 [SEP] 6, Fork, -0.517, 1.047, -1.397, 0, 0, 0, 45 [SEP] 7, Fork, 1.015, 1.043, 0.807, 0, 0, 0, 47 [SEP] 8, Spatula, 1.238, 1.061, -1.289, 0, 0, 0, 45 [SEP] 9, Cup, -1.106, 2.028, -1.409, 0, 0, 0, 52 [SEP] 10, Cup, 1.897, 1.020, -1.411, 0, 0, 0, 51 [SEP] 11, Knife, 0.257, 1.038, 0.343, 90, 3.660, 0, 47 [SEP] 12, Knife, -0.603, 1.072, -1.181, 0, 0, 0, 45 [SEP] 13, Tomato, -1.264, 1.540, 2.063, 0, 90, 0, 60 [SEP] 14, Tomato, -1.169, 1.279, 1.974, 0, 90, 0, 60 [SEP] 15, SoapBottle, -0.473, 1.565, -1.767, 0, 0, 0, 50 [SEP] 16, Mug, 1.188, 1.560, -1.388, 0, 270, 0, 49 [SEP] 17, Apple, -1.305, 1.991, 1.796, 0, 90, 0, 60 [SEP] 18, Apple, -1.431, 1.271, 2.242, 0, 90, 0, 60 [SEP] 19, SoapBottle, -0.346, 1.047, -1.505, 0, 0, 0, 45 [SEP] 20, Apple, -1.145, 1.759, -1.331, 0, 0, 0, 59 [SEP] 21, Potato, -1.342, 1.542, 2.242, 0, 90, 0, 60 [SEP] 22, Fork, 0.823, 1.047, -1.397, 0, 0, 0, 45 [SEP] 23, Kettle, -1.339, 2.029, -1.482, 0, 0, 0, 52 [SEP] 24, Pan, 0.389, 1.053, -1.630, 0, 0, 0, 41 [SEP] 25, Tomato, 1.826, 0.173, 2.358, 0, 270, 0, 61 [SEP] 26, SaltShaker, 1.743, 1.014, -1.191, 0, 0, 0, 51 [SEP] 27, Egg, -1.071, 0.762, 2.153, 0, 90, 0, 60 [SEP] 28, Cup, -1.095, 0.964, 2.153, 0, 90, 0, 60 [SEP] 29, Spatula, 1.701, 1.058, 0.522, 0, 0, 0, 47 [SEP] 30, Knife, 0.518, 1.072, -1.107, 0, 180, 0, 45 [SEP] 31, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 43 [SEP] 32, ButterKnife, 1.701, 1.043, 0.630, 0, 90, 0, 47 [SEP] 33, PepperShaker, 0.890, 0.194, -1.267, 0, 0, 0, 56 [SEP] 34, DishSponge, 1.514, 1.042, 0.763, 0, 0, 0, 47 [SEP] 35, Plate, 1.188, 1.577, -1.614, 0, 0, 0, 49 [SEP] 36, Bread, 0.455, 1.108, 0.338, 0, 337.205, 356.790, 47 [SEP] 37, Spoon, 1.015, 1.044, 0.589, 0, 0, 0, 47 [SEP] 38, Pot, 1.512, 0.206, -1.262, 0, 270, 0, 55 [SEP] 39, Mug, -1.027, 0.197, -1.627, 0, 0, 0, 53 [SEP] 40, Bowl, 1.072, 1.045, -1.720, 0, 0, 0, 45 [SEP] 41, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 42, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 43, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 44, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 45, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 46, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 47, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 48, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 49, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 50, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 51, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 52, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 53, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 54, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 55, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 56, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 57, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 58, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 59, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 60, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 61, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 62, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 63, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 64, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 65, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 66, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 69, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 70, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 71, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 72, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 73, NorthWall, , , , , , , [SEP] 74, EastWall, , , , , , , [SEP] 75, SouthWall, , , , , , , [SEP] 76, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward and turn left towards the sink. | STEP 2: Pick up the spoon on the counter which is closest to you. | STEP 3: Bend down towards the sink. | STEP 4: Put the spoon in the sink, rinse it off, and take it back out. | STEP 5: Turn left and walk to the end of the counter, then turn left towards the other counter. | STEP 6: Put the spoon on the counter, to the left of the large knife. | END"]} {"id": "trial_T20190909_153749_278030-2", "input": "Put a soap bottle on the toilet tank lid. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.901, 2.25, 0, 180, 0, [SEP] 1, Cloth, -1.500, 0.067, 3.276, 0, 0, 0, 26 [SEP] 2, SoapBar, -1.219, 0.994, 3.812, 0, 0, 0, 27 [SEP] 3, Candle, -1.561, 0.068, 2.958, 0, 0, 0, 20 [SEP] 4, Candle, -1.620, 0.068, 2.857, 0, 0, 0, 20 [SEP] 5, SoapBottle, -1.620, 0.068, 3.642, 0, 0, 0, 28 [SEP] 6, SoapBottle, -1.416, 0.993, 3.933, 0, 0, 0, 27 [SEP] 7, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 29 [SEP] 8, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 31 [SEP] 9, SoapBar, -1.284, 0.994, 3.933, 0, 0, 0, 27 [SEP] 10, ToiletPaper, -1.350, 0.991, 2.863, 0, 0, 0, 27 [SEP] 11, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 12, Candle, -1.547, 0.994, 3.041, 0, 0, 0, 27 [SEP] 13, TissueBox, -1.439, 0.068, 2.290, 0, 0, 0, 22 [SEP] 14, SoapBottle, 0.313, 0.046, 3.838, 0, 0, 0, 30 [SEP] 15, ToiletPaper, -1.350, 0.991, 2.148, 0, 0, 0, 27 [SEP] 16, SprayBottle, -1.620, 0.068, 2.441, 0, 0, 0, 22 [SEP] 17, Cloth, 0.356, 0.885, 1.8, 0, 85.370, 0, Floor|-01.72| [SEP] 18, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 19, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 20, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 21, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 22, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 23, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 24, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 25, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 26, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 27, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 28, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 29, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 30, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 31, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 32, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 33, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 34, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 35, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 36, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 37, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 38, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 39, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 40, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 41, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, move to the right sink on the left. | STEP 2: Pick up the soap bottle on the counter, right of the sink. | STEP 3: Turn around, bring the soap bottle to the toilet. | STEP 4: Put the soap bottle on the toilet tank lid. | END"]} {"id": "trial_T20190907_174838_570658-1", "input": "Put an egg in the sink with a tomato. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.931, 0.5, 0, 270, 0, [SEP] 1, Potato, -1.034, 1.017, 1.885, 0, 180, 0, 60 [SEP] 2, DishSponge, -0.401, 0.203, -1.553, 0, 0, 0, 54 [SEP] 3, ButterKnife, 1.181, 1.043, 0.676, 0, 0, 0, 47 [SEP] 4, ButterKnife, 0.351, 1.043, 0.738, 0, 0, 0, 47 [SEP] 5, Kettle, 0.960, 1.566, -1.463, 0, 0, 0, 49 [SEP] 6, Pot, 1.514, 1.044, 0.676, 0, 90, 0, 47 [SEP] 7, Pot, 1.589, 1.021, -1.557, 0, 270, 0, 51 [SEP] 8, Fork, 0.823, 1.047, -1.181, 0, 0, 0, 45 [SEP] 9, Spatula, 0.542, 1.058, 0.738, 0, 0, 0, 47 [SEP] 10, Cup, -1.419, 1.489, 2.331, 0, 90, 0, 60 [SEP] 11, Cup, 1.588, 0.205, -1.553, 0, 0, 0, 55 [SEP] 12, Plate, -1.300, 1.241, 2.242, 0, 90, 0, 60 [SEP] 13, SoapBottle, -1.184, 2.029, -1.555, 0, 0, 0, 52 [SEP] 14, Bowl, 1.512, 0.203, -1.262, 0, 0, 0, 55 [SEP] 15, Bowl, -0.580, 0.202, -1.553, 0, 0, 0, 54 [SEP] 16, PepperShaker, 1.015, 1.038, 0.676, 0, 0, 0, 47 [SEP] 17, Apple, -0.260, 1.090, -1.828, 0, 0, 0, 45 [SEP] 18, Apple, 1.211, 0.943, 0.231, 0, 90, 0, 42 [SEP] 19, SoapBottle, 0.936, 1.054, 0.281, 0, 90, 0, 43 [SEP] 20, Apple, -1.038, 1.271, 2.153, 0, 90, 0, 60 [SEP] 21, Potato, -1.300, 1.281, 1.885, 0, 90, 0, 60 [SEP] 22, Fork, -0.517, 1.047, -1.181, 0, 0, 0, 45 [SEP] 23, Kettle, 0.5, 1.057, -1.4, 0, 0, 0, 46 [SEP] 24, Pan, 0.979, 0.199, -1.339, 0, 0, 0, 56 [SEP] 25, Tomato, -1.312, 1.764, 2.063, 0, 90, 0, 60 [SEP] 26, SaltShaker, -0.346, 1.041, -1.612, 0, 0, 0, 45 [SEP] 27, Egg, 0.740, 1.101, -1.505, 0, 0, 0, 45 [SEP] 28, Cup, -0.323, 1.565, -1.767, 0, 0, 0, 50 [SEP] 29, Spatula, 0.848, 1.058, 0.807, 0, 180, 0, 47 [SEP] 30, Knife, 0.518, 1.072, -1.097, 0, 180, 0, 45 [SEP] 31, Lettuce, 0.989, 1.106, -1.612, 0, 0, 0, 45 [SEP] 32, ButterKnife, 1.347, 1.043, 0.720, 0, 0, 0, 47 [SEP] 33, PepperShaker, 1.701, 1.038, 0.522, 0, 0, 0, 47 [SEP] 34, DishSponge, 0.516, 1.042, 0.676, 0, 0, 0, 47 [SEP] 35, Plate, 0.960, 1.577, -1.764, 0, 0, 0, 49 [SEP] 36, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 47 [SEP] 37, Spoon, 1.612, 1.044, 0.199, 0, 0, 0, 47 [SEP] 38, Pot, 0.250, 1.057, -1.4, 0, 0, 0, 57 [SEP] 39, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 63 [SEP] 40, Bowl, -0.624, 1.563, -1.545, 0, 0, 0, 50 [SEP] 41, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 42, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 43, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 44, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 45, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 46, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 47, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 48, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 49, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 50, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 51, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 52, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 53, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 54, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 55, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 56, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 57, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 58, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 59, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 60, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 61, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 62, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 63, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 64, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 65, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 66, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 69, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 70, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 71, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 72, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 73, NorthWall, , , , , , , [SEP] 74, EastWall, , , , , , , [SEP] 75, SouthWall, , , , , , , [SEP] 76, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the counter by the stove. | STEP 2: Pick up the egg on the counter to the left of the stove. | STEP 3: Turn around and walk to the microwave. | STEP 4: Put the egg in the microwave, turn it on and cook the egg, then remove it from the microwave. | STEP 5: Turn to your left and walk to the sink. | STEP 6: Put the egg in the sink next to the tomato. | END"]} {"id": "trial_T20190908_154504_288885-0", "input": "Take the book from the bed, 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, 3.75, 0.949, -1.0, 0, 0, 0, [SEP] 1, Vase, 2.803, 0.993, -1.949, 0, 270, 0, 41 [SEP] 2, CD, 2.393, 0.885, -1.726, 0, 270, 0, 35 [SEP] 3, CD, 2.952, 0.183, -1.835, 0, 270, 0, 40 [SEP] 4, CellPhone, -0.776, 0.585, 0.529, 0, 0, 0, 56 [SEP] 5, CellPhone, 3.087, 0.988, -2.037, 0, 270, 0, 41 [SEP] 6, Pencil, -0.904, 0.789, 0.501, 0, 0, 0, 62 [SEP] 7, Pencil, -0.970, 0.789, -0.548, 0, 0, 0, 62 [SEP] 8, CreditCard, 3.455, 0.723, 1.262, 0, 180, 0, 66 [SEP] 9, CreditCard, 1.950, 0.985, -1.774, 0, 270, 0, 41 [SEP] 10, KeyChain, -0.740, 0.381, -0.430, 0, 90, 0, 58 [SEP] 11, Book, 1.950, 0.985, -2.125, 0, 270, 0, 41 [SEP] 12, Book, 2.235, 0.988, -1.95, 0, 270, 0, 41 [SEP] 13, Book, 2.217, 0.610, 0.068, 0, 0, 0, 26 [SEP] 14, KeyChain, -0.163, 1.109, 3.171, 0, 180, 0, 49 [SEP] 15, CreditCard, -0.350, 1.107, 3.171, 0, 180, 0, 49 [SEP] 16, Pen, 3.300, 0.729, 1.307, 0, 180, 0, 66 [SEP] 17, Pencil, -0.904, 0.789, -0.128, 0, 0, 0, 62 [SEP] 18, Laptop, 1.888, 0.607, 0.549, 0, 0, 0, 26 [SEP] 19, Vase, 2.519, 0.990, -1.774, 0, 270, 0, 41 [SEP] 20, AlarmClock, -0.772, 0.785, 0.081, 0, 0, 0, 62 [SEP] 21, Pillow, 2.533, 0.631, 1.264, 0, 0, 0, 26 [SEP] 22, Pillow, 2.545, 0.674, 0.068, 0, 0, 0, 26 [SEP] 23, CellPhone, -0.904, 0.785, 0.291, 0, 0, 0, 62 [SEP] 24, CD, 3.377, 0.723, 1.488, 0, 180, 0, 66 [SEP] 25, Vase, 1.515, 0.184, -1.786, 0, 270, 0, 38 [SEP] 26, Bed, 2.217, 0.050, 0.585, 0, 0, 0, [SEP] 27, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0, [SEP] 28, Painting, 2.990, 1.592, 1.567, 90, 0, 0, [SEP] 29, Painting, 1.524, 1.592, 1.567, 90, 0, 0, [SEP] 30, Mirror, -1.190, 1.417, -0.223, 0, 270, 0, [SEP] 31, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0, [SEP] 32, Window, -2.629, 1.460, 2.891, 90, 270, 0, [SEP] 33, Window, -2.629, 1.460, 4.084, 90, 270, 0, [SEP] 34, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0, [SEP] 35, Drawer, 2.490, 0.949, -1.703, 0, 0, 0, [SEP] 36, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0, [SEP] 37, Drawer, 1.975, 0.949, -1.703, 0, 0, 0, [SEP] 38, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0, [SEP] 39, Drawer, 1.457, 0.949, -1.703, 0, 0, 0, [SEP] 40, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0, [SEP] 41, Dresser, 2.234, 0.048, -1.950, 0, 0, 0, [SEP] 42, Drawer, 3.011, 0.949, -1.703, 0, 0, 0, [SEP] 43, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0, [SEP] 44, Shelf, -0.163, 1.461, 3.219, 0, 180, 0, [SEP] 45, Drawer, -0.161, 0.242, 3.166, 0, 180, 0, [SEP] 46, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0, [SEP] 47, Drawer, -0.161, 0.562, 3.168, 0, 180, 0, [SEP] 48, Shelf, -0.162, 0.922, 3.164, 0, 180, 0, [SEP] 49, Shelf, -0.162, 1.241, 3.163, 0, 180, 0, [SEP] 50, Blinds, -2.550, 2.486, 2.911, 0, 90, 0, [SEP] 51, Blinds, -2.550, 2.486, 4.107, 0, 90, 0, [SEP] 52, Drawer, -0.833, 0.217, -0.336, 0, 90, 0, [SEP] 53, Drawer, -0.833, 0.217, 0.486, 0, 90, 0, [SEP] 54, Drawer, -0.833, 0.628, -0.747, 0, 90, 0, [SEP] 55, Drawer, -0.833, 0.217, 0.075, 0, 90, 0, [SEP] 56, Drawer, -0.833, 0.628, 0.486, 0, 90, 0, [SEP] 57, Drawer, -0.833, 0.217, -0.747, 0, 90, 0, [SEP] 58, Drawer, -0.833, 0.423, -0.336, 0, 90, 0, [SEP] 59, Drawer, -0.833, 0.423, 0.075, 0, 90, 0, [SEP] 60, Drawer, -0.833, 0.423, 0.486, 0, 90, 0, [SEP] 61, Drawer, -0.833, 0.423, -0.747, 0, 90, 0, [SEP] 62, Dresser, -0.934, 0.050, -0.129, 0, 90, 0, [SEP] 63, Drawer, -0.833, 0.628, 0.075, 0, 90, 0, [SEP] 64, Drawer, -0.833, 0.628, -0.336, 0, 90, 0, [SEP] 65, Drawer, 3.454, 0.212, 1.262, 0, 180, 0, [SEP] 66, SideTable, 3.455, 0.046, 1.328, 0, 180, 0, [SEP] 67, Drawer, 3.454, 0.504, 1.262, 0, 180, 0, [SEP] 68, NorthWall, , , , , , , [SEP] 69, EastWall, , , , , , , [SEP] 70, SouthWall, , , , , , , [SEP] 71, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, head to the foot of the bed | STEP 2: Take the book from the bed | STEP 3: Turn around, open the door to the cabinet | STEP 4: Put the book in the cabinet, close the door | END"]} {"id": "trial_T20190908_122303_851930-0", "input": "Move a set of keys to a chair. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, -1.25, 0, 270, 0, [SEP] 1, Watch, -0.582, 0.040, -0.249, 0, 270, 0, 29 [SEP] 2, Newspaper, -0.711, 0.036, -0.185, 0, 270, 0, 40 [SEP] 3, CreditCard, 0.133, 0.293, -1.697, 0, 0, 0, 33 [SEP] 4, CreditCard, 1.724, 0.870, 0.325, 0, 90, 0, 37 [SEP] 5, RemoteControl, 1.849, 0.872, 0.220, 0, 90, 0, 37 [SEP] 6, RemoteControl, -0.323, 0.360, -0.544, 0, 90, 0, 30 [SEP] 7, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 39 [SEP] 8, KeyChain, -0.260, 0.553, -0.278, 0, 270, 0, 31 [SEP] 9, Watch, 1.807, 0.870, 0.326, 0, 90, 0, 37 [SEP] 10, Newspaper, 1.601, 0.276, -0.435, 0, 0, 0, 39 [SEP] 11, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 33 [SEP] 12, CreditCard, -0.711, 0.551, -0.278, 0, 270, 0, 31 [SEP] 13, RemoteControl, 1.285, 0.279, -0.742, 0, 0, 0, 39 [SEP] 14, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 31 [SEP] 15, Statue, 1.808, 0.880, 0.114, 0, 270, 0, 37 [SEP] 16, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 31 [SEP] 17, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 18, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 19, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 20, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 21, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 22, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 23, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 24, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 25, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 26, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 29, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 30, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 31, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 32, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 33, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 34, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 35, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 36, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 37, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 38, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 39, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 40, , , , , , , , [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, walk to the window, make a right, walk to the end of the coffee table and turn right to face the coffee table. | STEP 2: Pick up the keys that are sitting on the coffee table. | STEP 3: Turn left and walk over to the brown chair. | STEP 4: Sit the keys down on the seat of the brown chair. | END"]} {"id": "trial_T20190918_203700_167692-2", "input": "Put a clean kettle on the stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -0.75, 0, 270, 0, [SEP] 1, DishSponge, 1.955, 0.911, 1.129, 0, 0, 0, 83 [SEP] 2, DishSponge, 1.522, 0.114, -0.538, 0, 180, 0, 65 [SEP] 3, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 63 [SEP] 4, Pot, 1.155, 0.915, 1.214, 0, 0, 0, 83 [SEP] 5, Spoon, 1.209, 0.772, 1.122, 0, 0, 0, 93 [SEP] 6, Fork, 1.804, 0.771, -0.422, 0, 270, 0, 62 [SEP] 7, Fork, 2.303, 0.772, -0.460, 0, 270, 0, 61 [SEP] 8, Plate, 1.688, 0.914, 1.468, 0, 0, 0, 83 [SEP] 9, Cup, -0.090, 1.652, 1.394, 0, 0, 0, 74 [SEP] 10, Cup, 1.792, 0.112, 1.156, 0, 0, 0, 77 [SEP] 11, Knife, -0.983, 0.853, -1.257, 0, 90, 0, 107 [SEP] 12, Knife, -0.103, 0.944, 1.129, 0, 0, 0, 59 [SEP] 13, SoapBottle, 1.525, 0.120, 1.231, 0, 0, 0, 77 [SEP] 14, Bowl, 1.880, 1.653, 1.468, 0, 0, 0, 60 [SEP] 15, Bowl, 1.955, 0.909, 1.299, 0, 0, 0, 83 [SEP] 16, PepperShaker, -0.621, 0.817, -1.155, 0, 90, 0, 107 [SEP] 17, PepperShaker, -0.294, 0.908, 1.468, 0, 0, 0, 59 [SEP] 18, Bread, 1.422, 0.969, 1.468, 0, 0, 0, 83 [SEP] 19, Lettuce, 2.754, 0.992, 1.214, 0, 0, 0, 83 [SEP] 20, Lettuce, -0.939, 0.901, -1.400, 0, 0, 0, 107 [SEP] 21, Mug, 2.653, 1.558, -0.840, 0, 0, 0, 103 [SEP] 22, Mug, 3.341, 0.835, -0.514, 0, 0, 0, 103 [SEP] 23, Apple, 2.653, 1.087, -0.775, 0, 0, 0, 103 [SEP] 24, Apple, -0.694, 0.889, -1.308, 0, 90, 0, 107 [SEP] 25, SoapBottle, 1.102, 0.120, 1.236, 0, 0, 0, 55 [SEP] 26, Plate, 0.231, 2.159, 1.467, 0, 0, 0, 82 [SEP] 27, Fork, 2.481, 0.772, 1.198, 0, 270, 0, 64 [SEP] 28, Pot, 2.488, 0.915, 1.299, 0, 0, 0, 83 [SEP] 29, Bread, -0.246, 0.969, 1.129, 0, 0, 0, 59 [SEP] 30, Egg, 2.900, 1.601, -0.644, 0, 0, 0, 103 [SEP] 31, Kettle, 1.688, 0.912, 1.214, 0, 0, 0, 83 [SEP] 32, Tomato, 2.838, 0.756, -0.473, 0, 0, 0, 103 [SEP] 33, Cup, 0.518, 1.782, 1.391, 0, 180, 0, 106 [SEP] 34, Spatula, 2.488, 0.926, 1.468, 0, 0, 0, 83 [SEP] 35, Apple, 2.653, 0.794, -0.535, 0, 0, 0, 103 [SEP] 36, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 51 [SEP] 37, Lettuce, 0.634, 0.992, -0.430, 0, 0, 0, 48 [SEP] 38, SaltShaker, -0.887, 0.817, -1.110, 0, 0, 0, 107 [SEP] 39, Knife, 2.221, 0.944, 1.383, 0, 0, 0, 83 [SEP] 40, Potato, -1.933, 0.458, 1.417, 0, 270, 0, 101 [SEP] 41, PepperShaker, -0.055, 0.908, 1.383, 0, 0, 0, 59 [SEP] 42, ButterKnife, 1.422, 0.911, 1.044, 0, 0, 0, 83 [SEP] 43, Bowl, 0.215, 1.653, -0.771, 0, 180, 0, 88 [SEP] 44, DishSponge, -1.056, 0.820, -1.360, 0, 90, 0, 107 [SEP] 45, Spoon, 1.688, 0.912, 1.044, 0, 0, 0, 83 [SEP] 46, Mug, -0.151, 0.906, 1.468, 0, 270, 0, 59 [SEP] 47, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 48, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 49, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 50, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 51, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 53, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 54, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 55, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 56, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 57, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 58, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 59, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 60, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 61, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 62, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 63, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 64, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 66, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 67, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 68, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 69, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 70, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 71, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 79, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 81, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 83, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 84, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 85, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 86, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 87, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 88, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 89, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 90, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 91, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 92, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 93, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 94, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 95, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 99, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 100, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 101, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 102, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 103, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 104, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 105, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 106, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 107, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 108, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 109, NorthWall, , , , , , , [SEP] 110, EastWall, , , , , , , [SEP] 111, SouthWall, , , , , , , [SEP] 112, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk towards the door, then hang a right and walk over to the oven. | STEP 2: Pick up the kettle off of the back left burner of the stove. | STEP 3: Turn left and walk towards the window, the turn left and walk up to the sink. | STEP 4: Put the kettle in the sink basin and turn on the water, after a couple seconds turn the water off and remove the now clean kettle. | STEP 5: Walk back over to the stove. | STEP 6: Put the clean kettle on the back left burner of the stove. | END"]} {"id": "trial_T20190909_154013_536038-0", "input": "Pick up the bottle of lotion from the sinks to move to the lid of the toilet tank. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.901, 2.75, 0, 180, 0, [SEP] 1, Cloth, -1.439, 0.067, 3.327, 0, 0, 0, 24 [SEP] 2, SoapBar, -1.547, 0.994, 3.219, 0, 0, 0, 25 [SEP] 3, SprayBottle, -1.501, 0.069, 3.844, 0, 0, 0, 26 [SEP] 4, ToiletPaper, -1.284, 0.991, 2.148, 0, 0, 0, 25 [SEP] 5, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 27 [SEP] 6, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 29 [SEP] 7, SoapBar, -1.416, 0.994, 2.178, 0, 0, 0, 25 [SEP] 8, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 33 [SEP] 9, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 10, Candle, -1.481, 0.994, 3.812, 0, 0, 0, 25 [SEP] 11, TissueBox, -1.307, 0.984, 3.185, 0, 0, 0, 25 [SEP] 12, SoapBottle, -1.219, 0.993, 3.873, 0, 0, 0, 25 [SEP] 13, ToiletPaper, 0.313, 0.043, 3.810, 0, 0, 0, 28 [SEP] 14, SprayBottle, 0.258, 0.048, 3.810, 0, 0, 0, 28 [SEP] 15, Cloth, -1.416, 0.994, 2.923, 0, 0, 0, 25 [SEP] 16, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 17, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 18, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 19, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 20, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 21, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 22, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 23, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 24, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 25, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 26, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 27, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 28, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 29, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 30, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 31, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 32, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 33, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 34, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 35, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 36, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 37, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 38, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 39, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Turn right to face the sinks. | STEP 2: Pick up the bottle of lotion on the right of the sinks. | STEP 3: Turn left to walk to the toilet. | STEP 4: Set the bottle of lotion down on the lid of the toilet tank. | END"]} {"id": "trial_T20190907_074528_362136-2", "input": "place dog statue on table in front of couch SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 0.5, 0, 0, 0, [SEP] 1, KeyChain, -0.711, 0.334, -1.771, 0, 0, 0, 28 [SEP] 2, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 34 [SEP] 3, KeyChain, 1.807, 0.871, 0.643, 0, 90, 0, 32 [SEP] 4, Watch, -0.711, 0.360, -0.152, 0, 270, 0, 23 [SEP] 5, Newspaper, 1.724, 0.868, 0.431, 0, 90, 0, 32 [SEP] 6, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 28 [SEP] 7, CreditCard, -0.323, 0.037, -0.152, 0, 270, 0, Floor|+00.00| [SEP] 8, RemoteControl, -0.561, 0.553, -0.192, 0, 270, 0, 26 [SEP] 9, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 26 [SEP] 10, Statue, 1.807, 0.880, 0.326, 0, 270, 0, 32 [SEP] 11, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 26 [SEP] 12, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 13, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 14, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 15, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 16, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 17, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 18, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 19, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 20, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 21, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 22, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 23, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 24, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 25, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 26, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 27, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 28, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 29, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 30, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 31, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 32, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 33, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 34, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 35, NorthWall, , , , , , , [SEP] 36, EastWall, , , , , , , [SEP] 37, SouthWall, , , , , , , [SEP] 38, WestWall, , , , , , , ", "output": ["STEP 1: turn right, walk towards table | STEP 2: pick up dog statue on table behind newspaper | STEP 3: turn around, turn left and walk towards couch across from, turn right walk to the end of the couch and turn right | STEP 4: place dog statue on table in front of plant | END"]} {"id": "trial_T20190908_233336_273570-1", "input": "Move a pencil from the desk to the dresser. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.909, -3.25, 0, 180, 0, [SEP] 1, CD, -0.774, 0.542, -3.713, 0, 0, 0, 29 [SEP] 2, CellPhone, -3.466, 0.979, -4.276, 0, 0, 0, 38 [SEP] 3, KeyChain, -0.426, 0.190, -3.779, 0, 0, 0, 30 [SEP] 4, Laptop, -3.402, 0.618, -0.931, 0, 0, 0, 20 [SEP] 5, AlarmClock, -0.657, 0.800, -4.354, 0, 0, 0, 35 [SEP] 6, AlarmClock, -0.862, 0.800, -4.354, 0, 0, 0, 35 [SEP] 7, Book, -3.539, 0.980, -3.673, 0, 0, 0, 38 [SEP] 8, CellPhone, -0.350, 0.348, -3.779, 0, 0, 0, 28 [SEP] 9, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 35 [SEP] 10, CreditCard, -3.613, 0.979, -3.271, 0, 0, 0, 38 [SEP] 11, AlarmClock, -0.657, 0.800, -3.920, 0, 0, 0, 35 [SEP] 12, KeyChain, -3.638, 0.420, -3.000, 0, 0, 0, 46 [SEP] 13, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 20 [SEP] 14, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 15, Pencil, -0.657, 0.807, -3.703, 0, 0, 0, 35 [SEP] 16, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 20 [SEP] 17, CD, -3.750, 0.044, -2.997, 0, 0, 0, 37 [SEP] 18, Pen, -0.578, 0.194, -3.779, 0, 90, 0, 27 [SEP] 19, Mug, -0.507, 0.541, -3.713, 0, 0, 0, 29 [SEP] 20, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 21, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 22, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 23, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 24, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 25, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 26, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 27, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 28, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 29, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 30, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 31, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 32, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 33, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 34, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 35, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 36, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 37, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 38, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 39, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 40, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 41, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 42, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 43, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 47, NorthWall, , , , , , , [SEP] 48, EastWall, , , , , , , [SEP] 49, SouthWall, , , , , , , [SEP] 50, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the front of the computer desk. | STEP 2: Grab a pencil from the desk. | STEP 3: Walk to the dresser on your right. | STEP 4: Place the pencil on the dresser. | END"]} {"id": "trial_T20190908_233336_273570-2", "input": "Move a pencil from the desk to the dresser. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.909, -3.25, 0, 180, 0, [SEP] 1, CD, -0.774, 0.542, -3.713, 0, 0, 0, 29 [SEP] 2, CellPhone, -3.466, 0.979, -4.276, 0, 0, 0, 38 [SEP] 3, KeyChain, -0.426, 0.190, -3.779, 0, 0, 0, 30 [SEP] 4, Laptop, -3.402, 0.618, -0.931, 0, 0, 0, 20 [SEP] 5, AlarmClock, -0.657, 0.800, -4.354, 0, 0, 0, 35 [SEP] 6, AlarmClock, -0.862, 0.800, -4.354, 0, 0, 0, 35 [SEP] 7, Book, -3.539, 0.980, -3.673, 0, 0, 0, 38 [SEP] 8, CellPhone, -0.350, 0.348, -3.779, 0, 0, 0, 28 [SEP] 9, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 35 [SEP] 10, CreditCard, -3.613, 0.979, -3.271, 0, 0, 0, 38 [SEP] 11, AlarmClock, -0.657, 0.800, -3.920, 0, 0, 0, 35 [SEP] 12, KeyChain, -3.638, 0.420, -3.000, 0, 0, 0, 46 [SEP] 13, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 20 [SEP] 14, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 15, Pencil, -0.657, 0.807, -3.703, 0, 0, 0, 35 [SEP] 16, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 20 [SEP] 17, CD, -3.750, 0.044, -2.997, 0, 0, 0, 37 [SEP] 18, Pen, -0.578, 0.194, -3.779, 0, 90, 0, 27 [SEP] 19, Mug, -0.507, 0.541, -3.713, 0, 0, 0, 29 [SEP] 20, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 21, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 22, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 23, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 24, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 25, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 26, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 27, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 28, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 29, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 30, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 31, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 32, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 33, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 34, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 35, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 36, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 37, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 38, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 39, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 40, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 41, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 42, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 43, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 47, NorthWall, , , , , , , [SEP] 48, EastWall, , , , , , , [SEP] 49, SouthWall, , , , , , , [SEP] 50, WestWall, , , , , , , ", "output": ["STEP 1: Turn and go to the desk. | STEP 2: Pick a pencil on the desk. | STEP 3: Turn and go to the dresser. | STEP 4: Put the pencil on the dresser. | END"]} {"id": "trial_T20190906_201724_551765-0", "input": "Bring a box to the couch with a credit card that is closed. 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, Newspaper, -0.561, 0.550, -0.537, 0, 270, 0, 28 [SEP] 2, KeyChain, -0.561, 0.553, -0.278, 0, 90, 0, 28 [SEP] 3, KeyChain, -0.711, 0.295, -1.990, 0, 0, 0, 30 [SEP] 4, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 36 [SEP] 5, KeyChain, -0.288, 0.295, -1.697, 0, 0, 0, 30 [SEP] 6, Watch, -0.411, 0.552, -0.106, 0, 270, 0, 28 [SEP] 7, Newspaper, 1.724, 0.868, 0.114, 0, 90, 0, 34 [SEP] 8, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 30 [SEP] 9, CreditCard, -0.561, 0.551, -0.365, 0, 270, 0, 28 [SEP] 10, RemoteControl, -0.260, 0.553, -0.278, 0, 270, 0, 28 [SEP] 11, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 28 [SEP] 12, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 28 [SEP] 13, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 28 [SEP] 14, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 15, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 16, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 17, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 18, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 19, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 20, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 21, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 22, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 23, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 24, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 25, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 26, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 28, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 29, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 30, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 31, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 32, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 33, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 34, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 35, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 36, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, EastWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, WestWall, , , , , , , ", "output": ["STEP 1: Move to the end table to the right of the window to the left of the arm chair | STEP 2: Pick up box from under the end table | STEP 3: Move to couch, to the right of arm chair, left of fire place | STEP 4: Place box on top of couch | STEP 5: Move to other side of coffee table behind you | STEP 6: Pick up credit card from coffee table | STEP 7: Move to other side of coffee table where box was placed | STEP 8: Place box in card, close box | END"]} {"id": "trial_T20190906_201724_551765-2", "input": "place a box down on the couch with a credit card inside 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, Newspaper, -0.561, 0.550, -0.537, 0, 270, 0, 28 [SEP] 2, KeyChain, -0.561, 0.553, -0.278, 0, 90, 0, 28 [SEP] 3, KeyChain, -0.711, 0.295, -1.990, 0, 0, 0, 30 [SEP] 4, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 36 [SEP] 5, KeyChain, -0.288, 0.295, -1.697, 0, 0, 0, 30 [SEP] 6, Watch, -0.411, 0.552, -0.106, 0, 270, 0, 28 [SEP] 7, Newspaper, 1.724, 0.868, 0.114, 0, 90, 0, 34 [SEP] 8, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 30 [SEP] 9, CreditCard, -0.561, 0.551, -0.365, 0, 270, 0, 28 [SEP] 10, RemoteControl, -0.260, 0.553, -0.278, 0, 270, 0, 28 [SEP] 11, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 28 [SEP] 12, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 28 [SEP] 13, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 28 [SEP] 14, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 15, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 16, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 17, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 18, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 19, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 20, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 21, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 22, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 23, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 24, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 25, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 26, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 28, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 29, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 30, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 31, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 32, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 33, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 34, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 35, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 36, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, EastWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, WestWall, , , , , , , ", "output": ["STEP 1: turn around and walk to the light brown table in the left corner of the room | STEP 2: grab the box out from underneath the table | STEP 3: turn around to walk back to where you where originally, and then face the couch on your left | STEP 4: place the box down on the couch there | STEP 5: turn left and walk around to the other side of the coffee table | STEP 6: grab the credit card off of the coffee table | STEP 7: turn left and walk around to the other side of the coffee table, then face the couch | STEP 8: place the card inside the box and close the box | END"]} {"id": "trial_T20190907_152225_425868-0", "input": "Place a section of apple into a container, place the container into the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 1.0, 0, 0, 0, [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 83 [SEP] 2, Potato, 2.838, 1.598, -0.840, 0, 0, 0, 100 [SEP] 3, Potato, 0.363, 1.819, 1.520, 0, 180, 0, 103 [SEP] 4, DishSponge, -2.019, 0.423, 1.417, 0, 270, 0, 98 [SEP] 5, ButterKnife, 1.155, 0.911, 1.044, 0, 0, 0, 80 [SEP] 6, Spoon, -0.911, 0.822, -1.257, 0, 90, 0, 104 [SEP] 7, Spoon, 2.221, 0.912, 1.299, 0, 0, 0, 80 [SEP] 8, Fork, -0.193, 0.772, 1.198, 0, 270, 0, 50 [SEP] 9, Fork, 1.276, 0.771, -0.498, 0, 90, 0, 64 [SEP] 10, Spatula, -0.983, 0.835, -1.155, 0, 180, 0, 104 [SEP] 11, Plate, 2.754, 0.914, 1.383, 0, 0, 0, 80 [SEP] 12, Plate, 1.141, 0.914, -0.515, 0, 0, 0, 45 [SEP] 13, Cup, 0.178, 1.653, -0.693, 0, 180, 0, 85 [SEP] 14, SoapBottle, 2.770, 1.660, 1.394, 0, 0, 0, 46 [SEP] 15, SaltShaker, 1.955, 0.908, 1.214, 0, 0, 0, 80 [SEP] 16, PepperShaker, -0.939, 0.817, -1.400, 0, 0, 0, 104 [SEP] 17, Bread, 2.777, 1.346, -0.578, 0, 0, 0, 100 [SEP] 18, Lettuce, 1.155, 0.992, 1.299, 0, 0, 0, 80 [SEP] 19, Lettuce, 2.488, 0.992, 1.214, 0, 0, 0, 80 [SEP] 20, Apple, -0.785, 0.889, -1.400, 0, 0, 0, 104 [SEP] 21, Apple, 2.715, 1.632, -0.578, 0, 0, 0, 100 [SEP] 22, SoapBottle, -0.621, 0.826, -1.308, 0, 90, 0, 104 [SEP] 23, Plate, 1.955, 0.914, 1.468, 0, 0, 0, 80 [SEP] 24, Fork, 2.238, 0.771, -0.422, 0, 270, 0, 58 [SEP] 25, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 60 [SEP] 26, Bread, 2.488, 0.969, 1.468, 0, 0, 0, 80 [SEP] 27, Egg, 2.962, 1.056, -0.644, 0, 0, 0, 100 [SEP] 28, Kettle, 0.888, 0.912, -0.515, 0, 0, 0, 45 [SEP] 29, Tomato, -0.198, 0.942, 1.553, 0, 0, 0, 56 [SEP] 30, Cup, 1.176, 0.112, 1.117, 0, 0, 0, 52 [SEP] 31, Spatula, 1.422, 0.926, 1.468, 0, 0, 0, 80 [SEP] 32, Apple, 2.715, 1.087, -0.578, 0, 0, 0, 100 [SEP] 33, Pan, 0.284, 2.156, 1.467, 0, 0, 0, 54 [SEP] 34, Lettuce, -0.103, 0.992, 1.383, 0, 90, 0, 56 [SEP] 35, SaltShaker, -1.056, 0.817, -1.257, 0, 90, 0, 104 [SEP] 36, Knife, 0.193, 0.798, -0.596, 0, 270, 0, 102 [SEP] 37, Potato, 2.900, 0.761, -0.565, 0, 0, 0, 100 [SEP] 38, PepperShaker, -0.246, 0.908, 1.129, 0, 0, 0, 56 [SEP] 39, ButterKnife, 1.688, 0.911, 1.214, 0, 0, 0, 80 [SEP] 40, Bowl, -0.087, 0.763, -0.707, 0, 0, 0, 102 [SEP] 41, DishSponge, 2.221, 0.911, 1.129, 0, 0, 0, 80 [SEP] 42, Spoon, -0.091, 0.772, 1.160, 0, 0, 0, 50 [SEP] 43, Mug, 2.591, 1.283, -0.709, 0, 90, 0, 100 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 106, NorthWall, , , , , , , [SEP] 107, EastWall, , , , , , , [SEP] 108, SouthWall, , , , , , , [SEP] 109, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, move to the counter that is right of the stove. | STEP 2: Pick up the knife that is right of the stove. | STEP 3: Turn right, move to the table. | STEP 4: Cut the apple into sections. | STEP 5: Turn left, move to in front of the sink. | STEP 6: Place the knife into the blue container. | STEP 7: Turn right, move to the table. | STEP 8: Pick up a section of apple. | STEP 9: Turn left, move to in front of the sink. | STEP 10: Place the apple section into the blue container. | STEP 11: Pick up the blue container with the apple and knife on it. | STEP 12: Turn left, move to in front of the stove. | STEP 13: Place the blue container in to the microwave. | END"]} {"id": "trial_T20190907_152225_425868-2", "input": "Put a bowl with an apple slice and butter knife in it into the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 1.0, 0, 0, 0, [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 83 [SEP] 2, Potato, 2.838, 1.598, -0.840, 0, 0, 0, 100 [SEP] 3, Potato, 0.363, 1.819, 1.520, 0, 180, 0, 103 [SEP] 4, DishSponge, -2.019, 0.423, 1.417, 0, 270, 0, 98 [SEP] 5, ButterKnife, 1.155, 0.911, 1.044, 0, 0, 0, 80 [SEP] 6, Spoon, -0.911, 0.822, -1.257, 0, 90, 0, 104 [SEP] 7, Spoon, 2.221, 0.912, 1.299, 0, 0, 0, 80 [SEP] 8, Fork, -0.193, 0.772, 1.198, 0, 270, 0, 50 [SEP] 9, Fork, 1.276, 0.771, -0.498, 0, 90, 0, 64 [SEP] 10, Spatula, -0.983, 0.835, -1.155, 0, 180, 0, 104 [SEP] 11, Plate, 2.754, 0.914, 1.383, 0, 0, 0, 80 [SEP] 12, Plate, 1.141, 0.914, -0.515, 0, 0, 0, 45 [SEP] 13, Cup, 0.178, 1.653, -0.693, 0, 180, 0, 85 [SEP] 14, SoapBottle, 2.770, 1.660, 1.394, 0, 0, 0, 46 [SEP] 15, SaltShaker, 1.955, 0.908, 1.214, 0, 0, 0, 80 [SEP] 16, PepperShaker, -0.939, 0.817, -1.400, 0, 0, 0, 104 [SEP] 17, Bread, 2.777, 1.346, -0.578, 0, 0, 0, 100 [SEP] 18, Lettuce, 1.155, 0.992, 1.299, 0, 0, 0, 80 [SEP] 19, Lettuce, 2.488, 0.992, 1.214, 0, 0, 0, 80 [SEP] 20, Apple, -0.785, 0.889, -1.400, 0, 0, 0, 104 [SEP] 21, Apple, 2.715, 1.632, -0.578, 0, 0, 0, 100 [SEP] 22, SoapBottle, -0.621, 0.826, -1.308, 0, 90, 0, 104 [SEP] 23, Plate, 1.955, 0.914, 1.468, 0, 0, 0, 80 [SEP] 24, Fork, 2.238, 0.771, -0.422, 0, 270, 0, 58 [SEP] 25, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 60 [SEP] 26, Bread, 2.488, 0.969, 1.468, 0, 0, 0, 80 [SEP] 27, Egg, 2.962, 1.056, -0.644, 0, 0, 0, 100 [SEP] 28, Kettle, 0.888, 0.912, -0.515, 0, 0, 0, 45 [SEP] 29, Tomato, -0.198, 0.942, 1.553, 0, 0, 0, 56 [SEP] 30, Cup, 1.176, 0.112, 1.117, 0, 0, 0, 52 [SEP] 31, Spatula, 1.422, 0.926, 1.468, 0, 0, 0, 80 [SEP] 32, Apple, 2.715, 1.087, -0.578, 0, 0, 0, 100 [SEP] 33, Pan, 0.284, 2.156, 1.467, 0, 0, 0, 54 [SEP] 34, Lettuce, -0.103, 0.992, 1.383, 0, 90, 0, 56 [SEP] 35, SaltShaker, -1.056, 0.817, -1.257, 0, 90, 0, 104 [SEP] 36, Knife, 0.193, 0.798, -0.596, 0, 270, 0, 102 [SEP] 37, Potato, 2.900, 0.761, -0.565, 0, 0, 0, 100 [SEP] 38, PepperShaker, -0.246, 0.908, 1.129, 0, 0, 0, 56 [SEP] 39, ButterKnife, 1.688, 0.911, 1.214, 0, 0, 0, 80 [SEP] 40, Bowl, -0.087, 0.763, -0.707, 0, 0, 0, 102 [SEP] 41, DishSponge, 2.221, 0.911, 1.129, 0, 0, 0, 80 [SEP] 42, Spoon, -0.091, 0.772, 1.160, 0, 0, 0, 50 [SEP] 43, Mug, 2.591, 1.283, -0.709, 0, 90, 0, 100 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 106, NorthWall, , , , , , , [SEP] 107, EastWall, , , , , , , [SEP] 108, SouthWall, , , , , , , [SEP] 109, WestWall, , , , , , , ", "output": ["STEP 1: Go to the counter past the stove on the left. | STEP 2: Pick up the butter knife in front of the lettuce. | STEP 3: Go to the table in the corner with the apple on it. | STEP 4: Slice the apple on the table. | STEP 5: Take the butter knife to the sink. | STEP 6: Put the butter knife in the blue bowl in the sink. | STEP 7: Go to the small table in the corner with the apple slices on it. | STEP 8: Pick up an apple slice on the table. | STEP 9: Turn and go to the sink. | STEP 10: Put the apple slice in the bowl with the butter knife. | STEP 11: Pick up the bowl with the apple and butter knife in it. | STEP 12: Go to the microwave. | STEP 13: Put the bowl with the apple and butter knife in the microwave. | END"]} {"id": "trial_T20190907_152225_425868-3", "input": "To cut a piece of apple plus put it in a bowl as well as put the bowl in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 1.0, 0, 0, 0, [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 83 [SEP] 2, Potato, 2.838, 1.598, -0.840, 0, 0, 0, 100 [SEP] 3, Potato, 0.363, 1.819, 1.520, 0, 180, 0, 103 [SEP] 4, DishSponge, -2.019, 0.423, 1.417, 0, 270, 0, 98 [SEP] 5, ButterKnife, 1.155, 0.911, 1.044, 0, 0, 0, 80 [SEP] 6, Spoon, -0.911, 0.822, -1.257, 0, 90, 0, 104 [SEP] 7, Spoon, 2.221, 0.912, 1.299, 0, 0, 0, 80 [SEP] 8, Fork, -0.193, 0.772, 1.198, 0, 270, 0, 50 [SEP] 9, Fork, 1.276, 0.771, -0.498, 0, 90, 0, 64 [SEP] 10, Spatula, -0.983, 0.835, -1.155, 0, 180, 0, 104 [SEP] 11, Plate, 2.754, 0.914, 1.383, 0, 0, 0, 80 [SEP] 12, Plate, 1.141, 0.914, -0.515, 0, 0, 0, 45 [SEP] 13, Cup, 0.178, 1.653, -0.693, 0, 180, 0, 85 [SEP] 14, SoapBottle, 2.770, 1.660, 1.394, 0, 0, 0, 46 [SEP] 15, SaltShaker, 1.955, 0.908, 1.214, 0, 0, 0, 80 [SEP] 16, PepperShaker, -0.939, 0.817, -1.400, 0, 0, 0, 104 [SEP] 17, Bread, 2.777, 1.346, -0.578, 0, 0, 0, 100 [SEP] 18, Lettuce, 1.155, 0.992, 1.299, 0, 0, 0, 80 [SEP] 19, Lettuce, 2.488, 0.992, 1.214, 0, 0, 0, 80 [SEP] 20, Apple, -0.785, 0.889, -1.400, 0, 0, 0, 104 [SEP] 21, Apple, 2.715, 1.632, -0.578, 0, 0, 0, 100 [SEP] 22, SoapBottle, -0.621, 0.826, -1.308, 0, 90, 0, 104 [SEP] 23, Plate, 1.955, 0.914, 1.468, 0, 0, 0, 80 [SEP] 24, Fork, 2.238, 0.771, -0.422, 0, 270, 0, 58 [SEP] 25, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 60 [SEP] 26, Bread, 2.488, 0.969, 1.468, 0, 0, 0, 80 [SEP] 27, Egg, 2.962, 1.056, -0.644, 0, 0, 0, 100 [SEP] 28, Kettle, 0.888, 0.912, -0.515, 0, 0, 0, 45 [SEP] 29, Tomato, -0.198, 0.942, 1.553, 0, 0, 0, 56 [SEP] 30, Cup, 1.176, 0.112, 1.117, 0, 0, 0, 52 [SEP] 31, Spatula, 1.422, 0.926, 1.468, 0, 0, 0, 80 [SEP] 32, Apple, 2.715, 1.087, -0.578, 0, 0, 0, 100 [SEP] 33, Pan, 0.284, 2.156, 1.467, 0, 0, 0, 54 [SEP] 34, Lettuce, -0.103, 0.992, 1.383, 0, 90, 0, 56 [SEP] 35, SaltShaker, -1.056, 0.817, -1.257, 0, 90, 0, 104 [SEP] 36, Knife, 0.193, 0.798, -0.596, 0, 270, 0, 102 [SEP] 37, Potato, 2.900, 0.761, -0.565, 0, 0, 0, 100 [SEP] 38, PepperShaker, -0.246, 0.908, 1.129, 0, 0, 0, 56 [SEP] 39, ButterKnife, 1.688, 0.911, 1.214, 0, 0, 0, 80 [SEP] 40, Bowl, -0.087, 0.763, -0.707, 0, 0, 0, 102 [SEP] 41, DishSponge, 2.221, 0.911, 1.129, 0, 0, 0, 80 [SEP] 42, Spoon, -0.091, 0.772, 1.160, 0, 0, 0, 50 [SEP] 43, Mug, 2.591, 1.283, -0.709, 0, 90, 0, 100 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 106, NorthWall, , , , , , , [SEP] 107, EastWall, , , , , , , [SEP] 108, SouthWall, , , , , , , [SEP] 109, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right, walk halfway across the room, then turn left to face the counter to the right of the stove. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left, walk forward and turn left past the counter and walk forward to face the kitchen table. | STEP 4: Cut the apple on the table into 3 pieces. | STEP 5: Turn around and walk around the counter to the right to face the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn right and walk around the counter to the left to face the table. | STEP 8: Pick up a slice of apple on the table. | STEP 9: Turn around and walk around the counter to the right to face the sink. | STEP 10: Place the apple in the bowl in the sink. | STEP 11: Pick up the bowl in the sink with the apple piece in it. | STEP 12: Turn around and walk forward to face the microwave. | STEP 13: Place the bowl with apple piece in it into the microwave. | END"]} {"id": "trial_T20190907_152225_425868-4", "input": "To cut an apple, as well as place it into a bowl, as well as storing it in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 1.0, 0, 0, 0, [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 83 [SEP] 2, Potato, 2.838, 1.598, -0.840, 0, 0, 0, 100 [SEP] 3, Potato, 0.363, 1.819, 1.520, 0, 180, 0, 103 [SEP] 4, DishSponge, -2.019, 0.423, 1.417, 0, 270, 0, 98 [SEP] 5, ButterKnife, 1.155, 0.911, 1.044, 0, 0, 0, 80 [SEP] 6, Spoon, -0.911, 0.822, -1.257, 0, 90, 0, 104 [SEP] 7, Spoon, 2.221, 0.912, 1.299, 0, 0, 0, 80 [SEP] 8, Fork, -0.193, 0.772, 1.198, 0, 270, 0, 50 [SEP] 9, Fork, 1.276, 0.771, -0.498, 0, 90, 0, 64 [SEP] 10, Spatula, -0.983, 0.835, -1.155, 0, 180, 0, 104 [SEP] 11, Plate, 2.754, 0.914, 1.383, 0, 0, 0, 80 [SEP] 12, Plate, 1.141, 0.914, -0.515, 0, 0, 0, 45 [SEP] 13, Cup, 0.178, 1.653, -0.693, 0, 180, 0, 85 [SEP] 14, SoapBottle, 2.770, 1.660, 1.394, 0, 0, 0, 46 [SEP] 15, SaltShaker, 1.955, 0.908, 1.214, 0, 0, 0, 80 [SEP] 16, PepperShaker, -0.939, 0.817, -1.400, 0, 0, 0, 104 [SEP] 17, Bread, 2.777, 1.346, -0.578, 0, 0, 0, 100 [SEP] 18, Lettuce, 1.155, 0.992, 1.299, 0, 0, 0, 80 [SEP] 19, Lettuce, 2.488, 0.992, 1.214, 0, 0, 0, 80 [SEP] 20, Apple, -0.785, 0.889, -1.400, 0, 0, 0, 104 [SEP] 21, Apple, 2.715, 1.632, -0.578, 0, 0, 0, 100 [SEP] 22, SoapBottle, -0.621, 0.826, -1.308, 0, 90, 0, 104 [SEP] 23, Plate, 1.955, 0.914, 1.468, 0, 0, 0, 80 [SEP] 24, Fork, 2.238, 0.771, -0.422, 0, 270, 0, 58 [SEP] 25, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 60 [SEP] 26, Bread, 2.488, 0.969, 1.468, 0, 0, 0, 80 [SEP] 27, Egg, 2.962, 1.056, -0.644, 0, 0, 0, 100 [SEP] 28, Kettle, 0.888, 0.912, -0.515, 0, 0, 0, 45 [SEP] 29, Tomato, -0.198, 0.942, 1.553, 0, 0, 0, 56 [SEP] 30, Cup, 1.176, 0.112, 1.117, 0, 0, 0, 52 [SEP] 31, Spatula, 1.422, 0.926, 1.468, 0, 0, 0, 80 [SEP] 32, Apple, 2.715, 1.087, -0.578, 0, 0, 0, 100 [SEP] 33, Pan, 0.284, 2.156, 1.467, 0, 0, 0, 54 [SEP] 34, Lettuce, -0.103, 0.992, 1.383, 0, 90, 0, 56 [SEP] 35, SaltShaker, -1.056, 0.817, -1.257, 0, 90, 0, 104 [SEP] 36, Knife, 0.193, 0.798, -0.596, 0, 270, 0, 102 [SEP] 37, Potato, 2.900, 0.761, -0.565, 0, 0, 0, 100 [SEP] 38, PepperShaker, -0.246, 0.908, 1.129, 0, 0, 0, 56 [SEP] 39, ButterKnife, 1.688, 0.911, 1.214, 0, 0, 0, 80 [SEP] 40, Bowl, -0.087, 0.763, -0.707, 0, 0, 0, 102 [SEP] 41, DishSponge, 2.221, 0.911, 1.129, 0, 0, 0, 80 [SEP] 42, Spoon, -0.091, 0.772, 1.160, 0, 0, 0, 50 [SEP] 43, Mug, 2.591, 1.283, -0.709, 0, 90, 0, 100 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 106, NorthWall, , , , , , , [SEP] 107, EastWall, , , , , , , [SEP] 108, SouthWall, , , , , , , [SEP] 109, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right ant walk halfway across the room and turn to face the counter on the left. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left walk across the room then turn right and approach the table. | STEP 4: Cut the apple on the table in several pieces. | STEP 5: Turn around, take a step, turn to the right, take a step and turn to face the sink. | STEP 6: Put the knife in the bowl in the sink. | STEP 7: Turn to the right, take a step, then turn left to face the table. | STEP 8: Pick up a piece of the apple. | STEP 9: Turn around, take a step, turn to the right, take a step and turn to face the sink. | STEP 10: Place the apple in the bowl in the sink. | STEP 11: Pick up the bowl in the sink with an apple in it. | STEP 12: Turn around and walk over to the stove. | STEP 13: Place the bowl in the microwave and close the door. | END"]} {"id": "trial_T20190906_190115_127137-2", "input": "Put the clean spoon in the drawer left of the stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, -0.75, 0, 90, 0, [SEP] 1, Potato, 0.570, 1.819, 1.391, 0, 180, 0, 99 [SEP] 2, Potato, 2.591, 1.053, -0.709, 0, 0, 0, 96 [SEP] 3, Kettle, 1.561, 1.655, 1.470, 0, 0, 0, 64 [SEP] 4, ButterKnife, 2.754, 0.911, 1.214, 0, 0, 0, 76 [SEP] 5, Spoon, 2.837, 0.773, 1.122, 0, 0, 0, 85 [SEP] 6, Spoon, -0.151, 0.912, 1.129, 0, 0, 0, 52 [SEP] 7, Fork, -0.023, 0.772, 1.198, 0, 270, 0, 46 [SEP] 8, Plate, 2.715, 1.566, -0.578, 0, 0, 0, 96 [SEP] 9, Cup, 2.488, 0.909, 1.383, 0, 0, 0, 76 [SEP] 10, Cup, -0.621, 0.818, -1.257, 0, 90, 0, 100 [SEP] 11, Tomato, 2.754, 0.942, 1.553, 0, 0, 0, 76 [SEP] 12, Bowl, 2.198, 0.112, -0.458, 0, 180, 0, 82 [SEP] 13, SaltShaker, 1.955, 0.908, 1.129, 0, 0, 0, 76 [SEP] 14, PepperShaker, 1.835, 1.650, -0.887, 0, 180, 0, 78 [SEP] 15, Lettuce, 2.221, 0.992, 1.383, 0, 0, 0, 76 [SEP] 16, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 41 [SEP] 17, Apple, -0.734, 0.889, -1.400, 0, 0, 0, 100 [SEP] 18, SoapBottle, -0.839, 0.826, -1.257, 0, 90, 0, 100 [SEP] 19, Plate, 2.488, 0.914, 1.129, 0, 0, 0, 76 [SEP] 20, Fork, -0.151, 0.912, 1.299, 0, 0, 0, 52 [SEP] 21, Pot, 0.678, 0.964, 1.345, 0, 0, 0, 79 [SEP] 22, Bread, -0.151, 0.969, 1.468, 0, 0, 0, 52 [SEP] 23, Egg, 0.263, 0.803, -0.707, 0, 0, 0, 98 [SEP] 24, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 47 [SEP] 25, Tomato, -1.991, 0.455, 1.417, 0, 270, 0, 94 [SEP] 26, Cup, -0.017, 0.763, -0.596, 0, 0, 0, 98 [SEP] 27, Spatula, -0.157, 0.780, -0.596, 0, 270, 0, 98 [SEP] 28, Apple, 3.381, 0.909, -0.485, 0, 0, 0, 96 [SEP] 29, Pan, 1.422, 0.911, 1.214, 0, 0, 0, 76 [SEP] 30, Lettuce, 1.155, 0.992, 1.468, 0, 0, 0, 76 [SEP] 31, SaltShaker, -0.983, 0.817, -1.206, 0, 90, 0, 100 [SEP] 32, Knife, -0.836, 0.853, -1.400, 0, 0, 0, 100 [SEP] 33, Potato, 2.591, 0.761, -0.442, 0, 90, 0, 96 [SEP] 34, PepperShaker, -0.694, 0.817, -1.155, 0, 90, 0, 100 [SEP] 35, ButterKnife, -0.983, 0.820, -1.257, 0, 90, 0, 100 [SEP] 36, Bowl, 2.802, 0.112, 1.193, 0, 0, 0, 73 [SEP] 37, DishSponge, 2.156, 0.911, -0.769, 0, 0, 0, 41 [SEP] 38, Spoon, 2.743, 0.773, 1.122, 0, 90, 0, 85 [SEP] 39, Mug, 1.872, 0.109, -0.383, 0, 180, 0, 87 [SEP] 40, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 41, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 42, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 43, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 44, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 45, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 46, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 47, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 49, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 50, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 51, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 52, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 53, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 54, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 55, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 56, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 57, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 58, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 59, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 60, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 61, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 63, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 64, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 65, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 70, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 71, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 72, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 76, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 77, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 79, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 80, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 81, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 82, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 83, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 84, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 85, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 86, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 87, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 88, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 89, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 93, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 94, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 95, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 96, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 97, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 98, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 99, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 100, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 101, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 102, NorthWall, , , , , , , [SEP] 103, EastWall, , , , , , , [SEP] 104, SouthWall, , , , , , , [SEP] 105, WestWall, , , , , , , ", "output": ["STEP 1: Move over to the counter left of the stove. | STEP 2: Pick up the spoon from the counter. | STEP 3: Bring the spoon to the sink. | STEP 4: Wash the spoon in the sink. | STEP 5: Bring the spoon back to the counter left of the stove. | STEP 6: Put the spoon in the drawer to the left of the stove. | END"]} {"id": "trial_T20190906_202620_980691-2", "input": "Put the plunger 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, -0.5, 0.901, 2.0, 0, 180, 0, [SEP] 1, SoapBar, -1.259, 0.067, 3.427, 0, 0, 0, 24 [SEP] 2, Candle, -1.620, 0.067, 3.276, 0, 0, 0, 24 [SEP] 3, SprayBottle, 0.351, 0.894, 1.566, 0, 0, 0, 31 [SEP] 4, SprayBottle, -1.350, 0.995, 2.148, 0, 0, 0, 25 [SEP] 5, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 27 [SEP] 6, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 29 [SEP] 7, SoapBar, 0.231, 0.047, 3.782, 0, 0, 0, 28 [SEP] 8, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 33 [SEP] 9, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 10, Candle, -1.439, 0.067, 2.492, 0, 0, 0, 20 [SEP] 11, TissueBox, -1.382, 0.069, 3.793, 0, 0, 0, 26 [SEP] 12, SoapBottle, -1.262, 0.068, 2.857, 0, 0, 0, 24 [SEP] 13, ToiletPaper, -1.613, 0.991, 2.209, 0, 0, 0, 25 [SEP] 14, SprayBottle, 0.313, 0.048, 3.838, 0, 0, 0, 28 [SEP] 15, Cloth, -1.441, 0.068, 2.757, 0, 0, 0, 18 [SEP] 16, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 17, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 18, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 19, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 20, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 21, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 22, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 23, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 24, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 25, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 26, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 27, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 28, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 29, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 30, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 31, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 32, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 33, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 34, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 35, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 36, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 37, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 38, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 39, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Move to the toilet. | STEP 2: Pick up the plunger from the floor. | STEP 3: Bring the plunger to the sink. | STEP 4: Put the plunger in the cabinet under the sink. | END"]} {"id": "trial_T20190907_160841_631057-2", "input": "Move the box to the right side of the sofa SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -1.25, 0, 90, 0, [SEP] 1, Watch, -0.561, 0.552, -0.278, 0, 270, 0, 28 [SEP] 2, Watch, -0.260, 0.552, -0.365, 0, 270, 0, 28 [SEP] 3, KeyChain, -0.077, 0.323, -1.917, 0, 180, 0, 30 [SEP] 4, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 36 [SEP] 5, KeyChain, -0.453, 0.199, -0.609, 0, 90, 0, 29 [SEP] 6, Watch, -0.561, 0.552, -0.192, 0, 270, 0, 28 [SEP] 7, Newspaper, 1.766, 0.868, 0.537, 0, 90, 0, 34 [SEP] 8, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 30 [SEP] 9, CreditCard, -0.077, 0.323, -1.771, 0, 0, 0, 30 [SEP] 10, RemoteControl, -0.260, 0.553, -0.623, 0, 270, 0, 28 [SEP] 11, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 28 [SEP] 12, Statue, 1.724, 0.880, 0.114, 0, 90, 0, 34 [SEP] 13, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 28 [SEP] 14, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 15, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 16, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 17, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 18, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 19, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 20, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 21, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 22, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 23, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 24, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 25, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 26, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 28, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 29, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 30, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 31, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 32, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 33, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 34, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 35, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 36, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, EastWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, WestWall, , , , , , , ", "output": ["STEP 1: Move to the wooden end table to the left of the sofa | STEP 2: Pick up the empty box under the end table on the floor | STEP 3: Carry the open box over to the large brown leather sofa | STEP 4: Place the box on top of the sofa on the far right side | END"]} {"id": "trial_T20190907_174928_676145-2", "input": "Put a cooked egg 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, 0.931, -0.5, 0, 90, 0, [SEP] 1, ButterKnife, 0.980, 1.053, 0.281, 0, 90, 0, 47 [SEP] 2, ButterKnife, 1.015, 1.043, 0.676, 0, 0, 0, 51 [SEP] 3, Kettle, 0.065, 1.044, 0.522, 0, 0, 0, 51 [SEP] 4, Pot, -0.473, 1.566, -1.693, 0, 90, 0, 54 [SEP] 5, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 45 [SEP] 6, Fork, 1.072, 1.047, -1.181, 0, 0, 0, 49 [SEP] 7, Fork, 0.823, 1.047, -1.289, 0, 0, 0, 49 [SEP] 8, Spatula, -0.346, 1.061, -1.181, 0, 0, 0, 49 [SEP] 9, Egg, 1.910, 0.177, 2.358, 0, 270, 0, 65 [SEP] 10, Egg, -1.268, 2.002, 1.974, 0, 90, 0, 64 [SEP] 11, Egg, 1.211, 0.955, 0.231, 0, 90, 0, 46 [SEP] 12, Cup, -0.432, 1.047, -1.505, 0, 0, 0, 49 [SEP] 13, Cup, -1.064, 0.964, 2.331, 0, 90, 0, 64 [SEP] 14, Plate, 1.068, 0.212, -1.267, 0, 0, 0, 60 [SEP] 15, Knife, 1.155, 1.072, -1.397, 0, 90, 0, 49 [SEP] 16, SoapBottle, 1.435, 1.020, -1.264, 0, 0, 0, 55 [SEP] 17, Bowl, 1.036, 1.563, -1.614, 0, 0, 0, 53 [SEP] 18, Bowl, -1.105, 0.201, -1.482, 0, 0, 0, 57 [SEP] 19, PepperShaker, 1.666, 1.014, -1.630, 0, 0, 0, 55 [SEP] 20, PepperShaker, 1.112, 1.560, -1.388, 0, 0, 0, 53 [SEP] 21, Mug, 1.188, 1.560, -1.839, 0, 90, 0, 53 [SEP] 22, Apple, 0.980, 1.097, 0.331, 0, 90, 0, 47 [SEP] 23, SoapBottle, 1.826, 0.123, 2.358, 0, 270, 0, 65 [SEP] 24, Apple, -1.095, 1.007, 1.796, 0, 90, 0, 64 [SEP] 25, Potato, -1.126, 1.017, 2.153, 0, 90, 0, 64 [SEP] 26, Fork, 1.514, 1.043, 0.589, 0, 0, 0, 51 [SEP] 27, Kettle, -1.339, 0.203, -1.410, 0, 0, 0, 57 [SEP] 28, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 49 [SEP] 29, Tomato, 0.065, 1.094, 0.091, 0, 0, 0, 51 [SEP] 30, SaltShaker, 1.155, 1.041, -1.828, 0, 0, 0, 49 [SEP] 31, Egg, 1.241, 0.947, 0.304, 0, 90, 0, 46 [SEP] 32, Cup, 1.897, 1.020, -1.484, 0, 0, 0, 55 [SEP] 33, Spatula, 0.980, 1.068, 0.181, 0, 90, 0, 47 [SEP] 34, Knife, -0.346, 1.072, -1.720, 0, 90, 0, 49 [SEP] 35, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 47 [SEP] 36, ButterKnife, 0.848, 1.043, 0.676, 0, 0, 0, 51 [SEP] 37, PepperShaker, 0.740, 1.041, -1.828, 0, 0, 0, 49 [SEP] 38, DishSponge, -0.670, 0.203, -1.553, 0, 0, 0, 58 [SEP] 39, Plate, 0.351, 1.056, 0.630, 0, 0, 0, 51 [SEP] 40, Bread, -0.603, 1.120, -1.289, 0, 0, 0, 49 [SEP] 41, Spoon, 1.072, 1.048, -1.289, 0, 270, 0, 49 [SEP] 42, Pot, -1.349, 1.714, 2.242, 0, 0, 0, 64 [SEP] 43, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 67 [SEP] 44, Bowl, -1.184, 2.027, -1.337, 0, 0, 0, 56 [SEP] 45, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 46, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 47, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 48, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 49, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 50, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 51, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 52, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 53, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 54, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 55, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 56, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 57, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 58, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 59, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 60, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 61, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 62, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 63, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 64, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 65, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 66, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 67, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 68, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 70, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 71, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 72, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 73, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 74, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 75, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 76, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 77, NorthWall, , , , , , , [SEP] 78, EastWall, , , , , , , [SEP] 79, SouthWall, , , , , , , [SEP] 80, WestWall, , , , , , , ", "output": ["STEP 1: Go forward, turn left at the sink, go to the sink. | STEP 2: Take the left egg from the sink. | STEP 3: Turn left, go to the wall, turn left, go to the oven. | STEP 4: Cook the egg in the microwave above the egg. Take the egg from the microwave. | STEP 5: Turn left, go forward, turn left at the sink, go to the sink. | STEP 6: Put the egg to the left of the other egg in the sink. | END"]} {"id": "trial_T20190907_223256_692701-1", "input": "move the box from the floor to the sofa SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -5.5, 0.901, 0.75, 0, 90, 0, [SEP] 1, Bowl, -2.474, 0.148, 7.070, 0, 90, 0, 48 [SEP] 2, KeyChain, -0.789, 0.433, 4.524, 0, 90, 0, 37 [SEP] 3, KeyChain, -0.636, 0.794, 1.751, 0, 270, 0, 39 [SEP] 4, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 48 [SEP] 5, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 53 [SEP] 6, Vase, -0.585, 0.794, 2.377, 0, 270, 0, 39 [SEP] 7, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 49 [SEP] 8, Newspaper, -0.631, 0.365, 3.915, 0, 90, 0, 37 [SEP] 9, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 54 [SEP] 10, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 11, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 47 [SEP] 12, CreditCard, -5.536, 0.533, 6.703, 0, 45, 0, 55 [SEP] 13, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 51 [SEP] 14, KeyChain, -0.710, 0.415, 3.611, 0, 180, 0, 37 [SEP] 15, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 49 [SEP] 16, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 49 [SEP] 17, Bowl, -0.636, 0.795, 5.726, 0, 270, 0, 38 [SEP] 18, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 37 [SEP] 19, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 51 [SEP] 20, RemoteControl, -5.859, 0.536, 6.456, 0, 135, 0, 55 [SEP] 21, Watch, -0.326, 0.793, 2.154, 0, 0, 0, 39 [SEP] 22, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 53 [SEP] 23, Statue, -2.277, 0.454, 7.259, 0, 180, 0, 46 [SEP] 24, Statue, -2.422, 0.543, 4.480, 0, 270, 0, 54 [SEP] 25, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 53 [SEP] 26, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 27, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 28, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 29, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 30, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 31, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 32, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 33, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 34, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 35, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 36, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 37, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 38, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 39, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 40, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 41, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 42, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 43, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 44, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 45, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 46, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 47, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 48, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 49, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 50, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 51, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 52, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 53, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 54, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 55, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 56, NorthWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, SouthWall, , , , , , , ", "output": ["STEP 1: turn left, walk to the box on the left | STEP 2: grab the box on the ground, | STEP 3: turn left, walk to the sofa | STEP 4: put the box on the sofa | END"]} {"id": "trial_T20190908_124807_847088-0", "input": "Put a clean bar of soap in a tub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.903, 1.25, 0, 90, 0, [SEP] 1, Cloth, 0.453, 0.048, -0.071, 0, 0, 0, 29 [SEP] 2, Cloth, -1.144, 0.293, 2.157, 0, 0, 0, 26 [SEP] 3, SoapBar, -0.836, 1.010, -0.352, 0, 306.598, 0, 23 [SEP] 4, SoapBar, -2.343, 1.046, -0.766, 0, 0, 0, 35 [SEP] 5, SoapBar, 0.041, 0.043, 1.295, 0, 0, 0, 29 [SEP] 6, Candle, -1.471, 1.814, 2.247, 0, 0, 0, 28 [SEP] 7, SoapBottle, -0.247, 0.611, -0.406, 0, 315, 0, 22 [SEP] 8, ToiletPaper, -2.015, 1.043, -0.766, 0, 0, 0, 35 [SEP] 9, Candle, -0.334, 0.650, 0.935, 0, 0, 0, 22 [SEP] 10, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 31 [SEP] 11, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 12, SoapBar, -1.415, 1.010, -0.352, 0, 227.756, 0, 23 [SEP] 13, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 25 [SEP] 14, SoapBottle, -1.707, 0.083, -0.549, 0, 270, 0, 33 [SEP] 15, TissueBox, -1.308, 1.070, 2.097, 0, 0, 0, 30 [SEP] 16, Cloth, 0.124, 0.048, 0.839, 0, 0, 0, 29 [SEP] 17, ToiletPaper, -2.277, 1.043, -0.705, 0, 0, 0, 35 [SEP] 18, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 24 [SEP] 19, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 20, SprayBottle, -2.146, 1.048, -0.705, 0, 0, 0, 35 [SEP] 21, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 22, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 23, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 24, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 25, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 26, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 27, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 28, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 29, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 30, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 31, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 32, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 33, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 34, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 35, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 36, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 37, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 38, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 39, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Go to the right and face the right side of the sink. | STEP 2: Pick the soap up from the counter. | STEP 3: Put the soap in the sink and turn the water off and then on and pick the soap back up. | STEP 4: Turn to the left and face the tub. | STEP 5: Put the soap in the tub. | END"]} {"id": "trial_T20190908_124807_847088-1", "input": "Put a clean wet bar of soap in the bath tub SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.903, 1.25, 0, 90, 0, [SEP] 1, Cloth, 0.453, 0.048, -0.071, 0, 0, 0, 29 [SEP] 2, Cloth, -1.144, 0.293, 2.157, 0, 0, 0, 26 [SEP] 3, SoapBar, -0.836, 1.010, -0.352, 0, 306.598, 0, 23 [SEP] 4, SoapBar, -2.343, 1.046, -0.766, 0, 0, 0, 35 [SEP] 5, SoapBar, 0.041, 0.043, 1.295, 0, 0, 0, 29 [SEP] 6, Candle, -1.471, 1.814, 2.247, 0, 0, 0, 28 [SEP] 7, SoapBottle, -0.247, 0.611, -0.406, 0, 315, 0, 22 [SEP] 8, ToiletPaper, -2.015, 1.043, -0.766, 0, 0, 0, 35 [SEP] 9, Candle, -0.334, 0.650, 0.935, 0, 0, 0, 22 [SEP] 10, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 31 [SEP] 11, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 12, SoapBar, -1.415, 1.010, -0.352, 0, 227.756, 0, 23 [SEP] 13, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 25 [SEP] 14, SoapBottle, -1.707, 0.083, -0.549, 0, 270, 0, 33 [SEP] 15, TissueBox, -1.308, 1.070, 2.097, 0, 0, 0, 30 [SEP] 16, Cloth, 0.124, 0.048, 0.839, 0, 0, 0, 29 [SEP] 17, ToiletPaper, -2.277, 1.043, -0.705, 0, 0, 0, 35 [SEP] 18, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 24 [SEP] 19, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 20, SprayBottle, -2.146, 1.048, -0.705, 0, 0, 0, 35 [SEP] 21, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 22, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 23, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 24, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 25, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 26, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 27, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 28, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 29, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 30, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 31, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 32, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 33, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 34, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 35, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 36, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 37, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 38, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 39, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and go to the sink | STEP 2: Pick up the bar of soap from the edge of the sink | STEP 3: Put the bar of soap in the sink and turn on the water, then turn off the water and pick up the bar of soap | STEP 4: Turn around, then turn right and go to the bath tub | STEP 5: Put the bar of soap in the bath tub | END"]} {"id": "trial_T20190907_074456_860041-2", "input": "Move the dog statue from the shelf to the coffee table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, -1.25, 0, 90, 0, [SEP] 1, Watch, -1.012, 0.552, -0.106, 0, 270, 0, 30 [SEP] 2, Watch, 1.754, 0.760, 0.420, 0, 90, 0, 37 [SEP] 3, Newspaper, -0.841, 0.038, -0.544, 0, 90, 0, 25 [SEP] 4, Newspaper, 1.849, 0.869, 0.431, 0, 90, 0, 36 [SEP] 5, CreditCard, -0.411, 0.551, -0.106, 0, 270, 0, 30 [SEP] 6, Box, -0.711, 0.539, -1.844, 0, 90, 0, 32 [SEP] 7, KeyChain, 1.285, 0.279, -0.512, 0, 0, 0, 38 [SEP] 8, Watch, -0.453, 0.040, -0.512, 0, 90, 0, 31 [SEP] 9, Newspaper, 1.766, 0.868, 0.114, 0, 90, 0, 36 [SEP] 10, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 32 [SEP] 11, CreditCard, -0.077, 0.293, -1.624, 0, 0, 0, 32 [SEP] 12, RemoteControl, 1.766, 0.871, 0.643, 0, 90, 0, 36 [SEP] 13, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 30 [SEP] 14, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 30 [SEP] 15, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 30 [SEP] 16, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 17, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 18, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 19, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 20, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 21, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 22, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 23, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 24, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 25, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 26, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 29, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 30, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 31, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 32, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 33, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 34, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 35, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 36, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 37, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 38, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk toward the fireplace, then look up at the shelf. | STEP 2: Pick up the dog statue from the shelf. | STEP 3: Turn around and look down. | STEP 4: Place the dog statue on the coffee table. | END"]} {"id": "trial_T20190907_224551_648328-0", "input": "Slice both bread, take a slice of each put them on the small round table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, 0.25, 0, 270, 0, [SEP] 1, Potato, -0.983, 0.855, -1.411, 0, 90, 0, 106 [SEP] 2, DishSponge, -0.125, 0.770, 1.198, 0, 0, 0, 52 [SEP] 3, DishSponge, 1.831, 0.770, 1.122, 0, 0, 0, 82 [SEP] 4, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 53 [SEP] 5, Kettle, 1.559, 1.656, -0.732, 0, 180, 0, 69 [SEP] 6, ButterKnife, -0.887, 0.820, -1.255, 0, 0, 0, 106 [SEP] 7, ButterKnife, 2.754, 0.911, 1.044, 0, 0, 0, 82 [SEP] 8, Pot, 1.173, 0.118, -0.458, 0, 180, 0, 55 [SEP] 9, Fork, 2.481, 0.772, 1.122, 0, 90, 0, 63 [SEP] 10, Fork, 1.626, 0.771, -0.422, 0, 270, 0, 77 [SEP] 11, Spatula, -0.043, 0.926, -0.302, 0, 0, 0, 47 [SEP] 12, Knife, -1.056, 0.853, -1.308, 0, 90, 0, 106 [SEP] 13, Knife, 2.488, 0.944, 1.129, 0, 0, 0, 82 [SEP] 14, SoapBottle, 0.446, 1.660, -0.697, 0, 180, 0, 86 [SEP] 15, Tomato, -1.991, 0.455, 1.290, 0, 270, 0, 100 [SEP] 16, Tomato, 1.649, 0.942, -0.345, 0, 0, 0, 47 [SEP] 17, Bowl, 2.777, 1.561, -0.578, 0, 0, 0, 102 [SEP] 18, Bowl, 1.872, 0.112, -0.421, 0, 180, 0, 93 [SEP] 19, Bread, 2.754, 0.969, 1.383, 0, 0, 0, 82 [SEP] 20, Bread, -0.246, 0.969, 1.214, 0, 0, 0, 58 [SEP] 21, Mug, 0.363, 1.779, 1.520, 0, 270, 0, 105 [SEP] 22, Mug, 1.880, 1.650, 1.390, 0, 0, 0, 59 [SEP] 23, Apple, -1.991, 0.492, 1.417, 0, 270, 0, 100 [SEP] 24, SoapBottle, -0.785, 0.826, -1.400, 0, 0, 0, 106 [SEP] 25, Plate, 1.688, 0.914, 1.383, 0, 0, 0, 82 [SEP] 26, Fork, 1.155, 0.912, 1.129, 0, 0, 0, 82 [SEP] 27, Pot, 1.141, 0.915, -0.684, 0, 0, 0, 47 [SEP] 28, Bread, 0.634, 0.969, -0.515, 0, 0, 0, 47 [SEP] 29, Egg, -0.766, 0.858, -1.155, 0, 90, 0, 106 [SEP] 30, Kettle, 2.188, 1.655, 1.432, 0, 0, 0, 71 [SEP] 31, Tomato, 2.221, 0.942, 1.383, 0, 0, 0, 82 [SEP] 32, Cup, 0.123, 0.763, -0.762, 0, 0, 0, 104 [SEP] 33, Spatula, 0.053, 0.780, -0.596, 0, 180, 0, 104 [SEP] 34, Apple, -0.694, 0.889, -1.257, 0, 90, 0, 106 [SEP] 35, Pan, 2.715, 1.288, -0.709, 0, 0, 0, 102 [SEP] 36, Lettuce, 1.155, 0.992, 1.383, 0, 0, 0, 82 [SEP] 37, SaltShaker, 2.198, 0.111, -0.538, 0, 180, 0, 88 [SEP] 38, Knife, 0.193, 0.798, -0.596, 0, 270, 0, 104 [SEP] 39, Potato, 2.962, 1.053, -0.578, 0, 0, 0, 102 [SEP] 40, PepperShaker, -0.694, 0.817, -1.360, 0, 90, 0, 106 [SEP] 41, ButterKnife, 2.221, 0.911, 1.129, 0, 0, 0, 82 [SEP] 42, Bowl, 2.223, 0.112, 1.156, 0, 0, 0, 83 [SEP] 43, DishSponge, -0.682, 0.820, -1.110, 0, 0, 0, 106 [SEP] 44, Spoon, -0.621, 0.822, -1.360, 0, 90, 0, 106 [SEP] 45, Mug, 2.962, 0.720, -0.473, 0, 0, 0, 102 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 108, NorthWall, , , , , , , [SEP] 109, EastWall, , , , , , , [SEP] 110, SouthWall, , , , , , , [SEP] 111, WestWall, , , , , , , ", "output": ["STEP 1: Walk towards the counter | STEP 2: Grab a knife from the counter | STEP 3: Turn right and left from the counter | STEP 4: Slice the bread on the counter | STEP 5: Walk with the knife towards small round table | STEP 6: Put the knife on the table | STEP 7: Walk towards the counter in front of fridge | STEP 8: Grab a slice of bread | STEP 9: Walk towards the small round table | STEP 10: Put the slice of bread on the small round table | STEP 11: Grab the knife from the round table | STEP 12: Walk with the knife towards counter on top of the dishwasher | STEP 13: Slice the bread on the counter | STEP 14: Walk towards the round table | STEP 15: Put the knife on the table | STEP 16: Walk towards the counter | STEP 17: Grab a slice of bread | STEP 18: Walk with the slice of bread towards the small round table | STEP 19: Put the slice of bread on the table | END"]} {"id": "trial_T20190907_224551_648328-2", "input": "slice 2 pieces of bread put them on the grey table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, 0.25, 0, 270, 0, [SEP] 1, Potato, -0.983, 0.855, -1.411, 0, 90, 0, 106 [SEP] 2, DishSponge, -0.125, 0.770, 1.198, 0, 0, 0, 52 [SEP] 3, DishSponge, 1.831, 0.770, 1.122, 0, 0, 0, 82 [SEP] 4, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 53 [SEP] 5, Kettle, 1.559, 1.656, -0.732, 0, 180, 0, 69 [SEP] 6, ButterKnife, -0.887, 0.820, -1.255, 0, 0, 0, 106 [SEP] 7, ButterKnife, 2.754, 0.911, 1.044, 0, 0, 0, 82 [SEP] 8, Pot, 1.173, 0.118, -0.458, 0, 180, 0, 55 [SEP] 9, Fork, 2.481, 0.772, 1.122, 0, 90, 0, 63 [SEP] 10, Fork, 1.626, 0.771, -0.422, 0, 270, 0, 77 [SEP] 11, Spatula, -0.043, 0.926, -0.302, 0, 0, 0, 47 [SEP] 12, Knife, -1.056, 0.853, -1.308, 0, 90, 0, 106 [SEP] 13, Knife, 2.488, 0.944, 1.129, 0, 0, 0, 82 [SEP] 14, SoapBottle, 0.446, 1.660, -0.697, 0, 180, 0, 86 [SEP] 15, Tomato, -1.991, 0.455, 1.290, 0, 270, 0, 100 [SEP] 16, Tomato, 1.649, 0.942, -0.345, 0, 0, 0, 47 [SEP] 17, Bowl, 2.777, 1.561, -0.578, 0, 0, 0, 102 [SEP] 18, Bowl, 1.872, 0.112, -0.421, 0, 180, 0, 93 [SEP] 19, Bread, 2.754, 0.969, 1.383, 0, 0, 0, 82 [SEP] 20, Bread, -0.246, 0.969, 1.214, 0, 0, 0, 58 [SEP] 21, Mug, 0.363, 1.779, 1.520, 0, 270, 0, 105 [SEP] 22, Mug, 1.880, 1.650, 1.390, 0, 0, 0, 59 [SEP] 23, Apple, -1.991, 0.492, 1.417, 0, 270, 0, 100 [SEP] 24, SoapBottle, -0.785, 0.826, -1.400, 0, 0, 0, 106 [SEP] 25, Plate, 1.688, 0.914, 1.383, 0, 0, 0, 82 [SEP] 26, Fork, 1.155, 0.912, 1.129, 0, 0, 0, 82 [SEP] 27, Pot, 1.141, 0.915, -0.684, 0, 0, 0, 47 [SEP] 28, Bread, 0.634, 0.969, -0.515, 0, 0, 0, 47 [SEP] 29, Egg, -0.766, 0.858, -1.155, 0, 90, 0, 106 [SEP] 30, Kettle, 2.188, 1.655, 1.432, 0, 0, 0, 71 [SEP] 31, Tomato, 2.221, 0.942, 1.383, 0, 0, 0, 82 [SEP] 32, Cup, 0.123, 0.763, -0.762, 0, 0, 0, 104 [SEP] 33, Spatula, 0.053, 0.780, -0.596, 0, 180, 0, 104 [SEP] 34, Apple, -0.694, 0.889, -1.257, 0, 90, 0, 106 [SEP] 35, Pan, 2.715, 1.288, -0.709, 0, 0, 0, 102 [SEP] 36, Lettuce, 1.155, 0.992, 1.383, 0, 0, 0, 82 [SEP] 37, SaltShaker, 2.198, 0.111, -0.538, 0, 180, 0, 88 [SEP] 38, Knife, 0.193, 0.798, -0.596, 0, 270, 0, 104 [SEP] 39, Potato, 2.962, 1.053, -0.578, 0, 0, 0, 102 [SEP] 40, PepperShaker, -0.694, 0.817, -1.360, 0, 90, 0, 106 [SEP] 41, ButterKnife, 2.221, 0.911, 1.129, 0, 0, 0, 82 [SEP] 42, Bowl, 2.223, 0.112, 1.156, 0, 0, 0, 83 [SEP] 43, DishSponge, -0.682, 0.820, -1.110, 0, 0, 0, 106 [SEP] 44, Spoon, -0.621, 0.822, -1.360, 0, 90, 0, 106 [SEP] 45, Mug, 2.962, 0.720, -0.473, 0, 0, 0, 102 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 108, NorthWall, , , , , , , [SEP] 109, EastWall, , , , , , , [SEP] 110, SouthWall, , , , , , , [SEP] 111, WestWall, , , , , , , ", "output": ["STEP 1: turn around and across the room | STEP 2: pick up the knife from the counter | STEP 3: turn to the right | STEP 4: slice the loaf of bread | STEP 5: turn to the left and across the room | STEP 6: towards the grey table leave the knife on top of that table | STEP 7: turn to the left and across the room | STEP 8: pick up a slice of bread | STEP 9: turn to the left and across the room | STEP 10: face he grey table leave the slice of bread on top of the table | STEP 11: pick up the knife from the table | STEP 12: turn to the left | STEP 13: towards the counter slice another slice of bread | STEP 14: turn to the right and across the room | STEP 15: face the grey table leave the knife on top the table | STEP 16: turn to the left and across the room | STEP 17: pick up a slice of bread | STEP 18: turn to the right | STEP 19: face the grey table leave the slice of bread on top of the table | END"]} {"id": "trial_T20190906_230813_680347-2", "input": "Put a cold slice of potato in a bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 0.75, 0, 0, 0, [SEP] 1, ButterKnife, -0.836, 0.820, -1.400, 0, 0, 0, 98 [SEP] 2, Fork, 1.626, 0.771, -0.460, 0, 270, 0, 69 [SEP] 3, Fork, -0.990, 0.821, -1.183, 0, 90, 0, 98 [SEP] 4, Plate, 2.221, 0.914, 1.468, 0, 0, 0, 74 [SEP] 5, Plate, 0.825, 1.658, -0.771, 0, 180, 0, 49 [SEP] 6, Cup, 0.466, 1.782, 1.488, 0, 180, 0, 97 [SEP] 7, Cup, 2.900, 1.016, -0.709, 0, 0, 0, 94 [SEP] 8, Egg, 1.155, 0.949, 1.214, 0, 0, 0, 74 [SEP] 9, Egg, 0.123, 0.803, -0.707, 0, 0, 0, 96 [SEP] 10, Tomato, -0.621, 0.852, -1.360, 0, 90, 0, 98 [SEP] 11, SaltShaker, -0.766, 0.817, -1.411, 0, 90, 0, 98 [SEP] 12, PepperShaker, 2.488, 0.908, 1.044, 0, 0, 0, 74 [SEP] 13, Bread, 2.838, 1.346, -0.709, 0, 0, 0, 94 [SEP] 14, Lettuce, -0.983, 0.901, -1.360, 0, 90, 0, 98 [SEP] 15, Lettuce, 1.955, 0.992, 1.468, 0, 0, 0, 74 [SEP] 16, SoapBottle, -0.766, 0.826, -1.155, 0, 90, 0, 98 [SEP] 17, Plate, 2.754, 0.914, 1.214, 0, 0, 0, 74 [SEP] 18, Fork, -1.056, 0.821, -1.257, 0, 90, 0, 98 [SEP] 19, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 45 [SEP] 20, Bread, 1.155, 0.969, 1.468, 0, 0, 0, 74 [SEP] 21, Egg, -0.766, 0.858, -1.257, 0, 90, 0, 98 [SEP] 22, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 54 [SEP] 23, Tomato, -0.621, 0.852, -1.155, 0, 90, 0, 98 [SEP] 24, Cup, 2.161, 0.112, -0.458, 0, 180, 0, 80 [SEP] 25, Spatula, -0.055, 0.926, 1.383, 0, 90, 0, 50 [SEP] 26, Apple, 2.715, 0.794, -0.504, 0, 0, 0, 94 [SEP] 27, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 77 [SEP] 28, Lettuce, -0.151, 0.992, 1.383, 0, 0, 0, 50 [SEP] 29, SaltShaker, 1.688, 0.908, 1.468, 0, 0, 0, 74 [SEP] 30, Knife, 2.156, 0.944, -0.515, 0, 0, 0, 39 [SEP] 31, Potato, 0.053, 0.800, -0.541, 0, 0, 0, 96 [SEP] 32, PepperShaker, 1.155, 0.908, 1.129, 0, 0, 0, 74 [SEP] 33, ButterKnife, 1.902, 0.911, -0.345, 0, 0, 0, 39 [SEP] 34, Bowl, 2.653, 1.286, -0.578, 0, 0, 0, 94 [SEP] 35, DishSponge, -0.055, 0.911, 1.129, 0, 0, 0, 50 [SEP] 36, Spoon, 0.193, 0.766, -0.541, 0, 270, 0, 96 [SEP] 37, Mug, 2.777, 1.014, -0.775, 0, 0, 0, 94 [SEP] 38, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 39, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 40, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 41, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 42, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 43, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 44, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 45, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 46, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 47, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 48, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 49, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 50, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 51, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 52, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 53, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 54, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 55, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 56, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 57, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 58, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 59, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 60, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 61, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 62, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 63, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 64, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 65, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 68, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 69, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 70, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 71, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 72, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 74, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 75, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 77, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 78, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 79, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 80, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 81, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 82, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 83, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 84, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 85, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 86, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 87, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 88, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 89, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 91, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 92, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 93, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 94, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 95, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 96, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 97, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 98, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 99, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 100, NorthWall, , , , , , , [SEP] 101, EastWall, , , , , , , [SEP] 102, SouthWall, , , , , , , [SEP] 103, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, go straight then turn right at the end of the counter next to the fridge. | STEP 2: Take the yellow handle knife from the counter. | STEP 3: Turn right, go straight to the end of the counter, turn left to face the sink. | STEP 4: Cut the potato in the sink into slices. | STEP 5: Turn left, go straight then turn right to face the fridge. | STEP 6: Put the knife on the middle shelf in front of the apple in the fridge. | STEP 7: Turn right, go straight to the end of the counter, turn left to face the sink. | STEP 8: Take a slice of potato from the sink. | STEP 9: Turn left, go straight then turn right to face the fridge. | STEP 10: Put the potato on the top shelf of the fridge. Close then open the fridge. Take the potato from the fridge. | STEP 11: Turn right, go straight to the blue bin in the corner across the room. | STEP 12: Put the potato in the blue bin. | END"]} {"id": "trial_T20190909_080313_591357-0", "input": "Warm up a cup of water in the microwave and 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, 0.25, 0.931, -0.25, 0, 0, 0, [SEP] 1, Potato, -0.260, 1.100, -1.505, 0, 0, 0, 44 [SEP] 2, DishSponge, 0.936, 1.053, 0.281, 0, 90, 0, 42 [SEP] 3, Kettle, 0.120, 1.053, -1.630, 0, 0, 0, 47 [SEP] 4, Kettle, 0.389, 1.053, -1.630, 0, 0, 0, 40 [SEP] 5, Fork, 1.968, 1.043, 0.091, 0, 0, 0, 46 [SEP] 6, Egg, -1.342, 1.543, 2.242, 0, 90, 0, 59 [SEP] 7, Cup, 0.989, 1.047, -1.181, 0, 0, 0, 44 [SEP] 8, Plate, 1.589, 1.032, -1.411, 0, 0, 0, 50 [SEP] 9, Plate, -1.027, 0.215, -1.410, 0, 0, 0, 52 [SEP] 10, Tomato, -1.349, 1.764, 2.242, 0, 90, 0, 59 [SEP] 11, Bowl, -1.095, 0.962, 1.885, 0, 90, 0, 59 [SEP] 12, Bowl, 1.188, 1.563, -1.689, 0, 0, 0, 48 [SEP] 13, SaltShaker, 1.741, 0.199, -1.480, 0, 0, 0, 54 [SEP] 14, PepperShaker, 1.015, 1.038, 0.676, 0, 0, 0, 46 [SEP] 15, Lettuce, 1.347, 1.103, 0.632, 0, 0, 0, 46 [SEP] 16, Apple, 1.854, 0.166, 2.442, 0, 270, 0, 60 [SEP] 17, Apple, -1.431, 1.271, 2.153, 0, 90, 0, 59 [SEP] 18, SoapBottle, 1.247, 0.200, -1.195, 0, 0, 0, 55 [SEP] 19, Apple, 1.701, 1.086, 0.738, 0, 0, 0, 46 [SEP] 20, Potato, -0.346, 1.100, -1.289, 0, 0, 0, 44 [SEP] 21, Fork, 0.848, 1.043, 0.589, 0, 0, 0, 46 [SEP] 22, Kettle, 0.5, 1.057, -1.4, 0, 0, 0, 45 [SEP] 23, Pan, 0.446, 1.043, 0.522, 0, 180, 0, 46 [SEP] 24, Tomato, -1.423, 1.764, 1.885, 0, 90, 0, 59 [SEP] 25, SaltShaker, -1.339, 0.197, -1.555, 0, 0, 0, 52 [SEP] 26, Egg, 1.155, 1.101, -1.828, 0, 0, 0, 44 [SEP] 27, Cup, -1.366, 1.228, 2.331, 0, 90, 0, 59 [SEP] 28, Spatula, 0.906, 1.061, -1.181, 0, 0, 0, 44 [SEP] 29, Knife, 0.892, 1.079, 0.181, 0, 90, 0, 42 [SEP] 30, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 42 [SEP] 31, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 46 [SEP] 32, PepperShaker, 1.894, 0.199, -1.553, 0, 0, 0, 54 [SEP] 33, DishSponge, -0.580, 0.203, -1.553, 0, 0, 0, 53 [SEP] 34, Plate, -1.184, 2.041, -1.409, 0, 0, 0, 51 [SEP] 35, Bread, -0.603, 1.120, -1.289, 0, 0, 0, 44 [SEP] 36, Spoon, 1.612, 1.044, 0.091, 0, 0, 0, 46 [SEP] 37, Pot, 0.065, 1.044, 0.522, 0, 0, 0, 46 [SEP] 38, Mug, 1.238, 1.041, -1.181, 0, 0, 0, 44 [SEP] 39, Bowl, -0.548, 1.563, -1.619, 0, 0, 0, 49 [SEP] 40, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 41, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 42, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 43, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 44, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 45, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 46, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 47, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 48, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 49, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 50, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 51, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 52, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 53, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 54, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 55, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 56, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 57, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 58, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 59, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 60, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 61, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 62, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 63, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 64, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 65, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 66, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 68, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 69, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 70, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 71, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 72, NorthWall, , , , , , , [SEP] 73, EastWall, , , , , , , [SEP] 74, SouthWall, , , , , , , [SEP] 75, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk towards the wall. Go to the counter to the right. | STEP 2: Pick up the white cup on the counter. | STEP 3: Turn around and turn left. Walk to the microwave above the refrigerator on the left. | STEP 4: Put the cup into the microwave. Take the cup out of the microwave. | STEP 5: Turn left and face the counter on the right side. | STEP 6: Put the cup on the counter to the right side of the loaf of bread. | END"]} {"id": "trial_T20190909_080313_591357-2", "input": "Put a heated mug on the counter, left 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, 0.25, 0.931, -0.25, 0, 0, 0, [SEP] 1, Potato, -0.260, 1.100, -1.505, 0, 0, 0, 44 [SEP] 2, DishSponge, 0.936, 1.053, 0.281, 0, 90, 0, 42 [SEP] 3, Kettle, 0.120, 1.053, -1.630, 0, 0, 0, 47 [SEP] 4, Kettle, 0.389, 1.053, -1.630, 0, 0, 0, 40 [SEP] 5, Fork, 1.968, 1.043, 0.091, 0, 0, 0, 46 [SEP] 6, Egg, -1.342, 1.543, 2.242, 0, 90, 0, 59 [SEP] 7, Cup, 0.989, 1.047, -1.181, 0, 0, 0, 44 [SEP] 8, Plate, 1.589, 1.032, -1.411, 0, 0, 0, 50 [SEP] 9, Plate, -1.027, 0.215, -1.410, 0, 0, 0, 52 [SEP] 10, Tomato, -1.349, 1.764, 2.242, 0, 90, 0, 59 [SEP] 11, Bowl, -1.095, 0.962, 1.885, 0, 90, 0, 59 [SEP] 12, Bowl, 1.188, 1.563, -1.689, 0, 0, 0, 48 [SEP] 13, SaltShaker, 1.741, 0.199, -1.480, 0, 0, 0, 54 [SEP] 14, PepperShaker, 1.015, 1.038, 0.676, 0, 0, 0, 46 [SEP] 15, Lettuce, 1.347, 1.103, 0.632, 0, 0, 0, 46 [SEP] 16, Apple, 1.854, 0.166, 2.442, 0, 270, 0, 60 [SEP] 17, Apple, -1.431, 1.271, 2.153, 0, 90, 0, 59 [SEP] 18, SoapBottle, 1.247, 0.200, -1.195, 0, 0, 0, 55 [SEP] 19, Apple, 1.701, 1.086, 0.738, 0, 0, 0, 46 [SEP] 20, Potato, -0.346, 1.100, -1.289, 0, 0, 0, 44 [SEP] 21, Fork, 0.848, 1.043, 0.589, 0, 0, 0, 46 [SEP] 22, Kettle, 0.5, 1.057, -1.4, 0, 0, 0, 45 [SEP] 23, Pan, 0.446, 1.043, 0.522, 0, 180, 0, 46 [SEP] 24, Tomato, -1.423, 1.764, 1.885, 0, 90, 0, 59 [SEP] 25, SaltShaker, -1.339, 0.197, -1.555, 0, 0, 0, 52 [SEP] 26, Egg, 1.155, 1.101, -1.828, 0, 0, 0, 44 [SEP] 27, Cup, -1.366, 1.228, 2.331, 0, 90, 0, 59 [SEP] 28, Spatula, 0.906, 1.061, -1.181, 0, 0, 0, 44 [SEP] 29, Knife, 0.892, 1.079, 0.181, 0, 90, 0, 42 [SEP] 30, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 42 [SEP] 31, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 46 [SEP] 32, PepperShaker, 1.894, 0.199, -1.553, 0, 0, 0, 54 [SEP] 33, DishSponge, -0.580, 0.203, -1.553, 0, 0, 0, 53 [SEP] 34, Plate, -1.184, 2.041, -1.409, 0, 0, 0, 51 [SEP] 35, Bread, -0.603, 1.120, -1.289, 0, 0, 0, 44 [SEP] 36, Spoon, 1.612, 1.044, 0.091, 0, 0, 0, 46 [SEP] 37, Pot, 0.065, 1.044, 0.522, 0, 0, 0, 46 [SEP] 38, Mug, 1.238, 1.041, -1.181, 0, 0, 0, 44 [SEP] 39, Bowl, -0.548, 1.563, -1.619, 0, 0, 0, 49 [SEP] 40, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 41, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 42, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 43, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 44, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 45, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 46, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 47, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 48, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 49, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 50, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 51, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 52, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 53, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 54, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 55, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 56, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 57, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 58, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 59, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 60, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 61, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 62, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 63, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 64, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 65, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 66, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 68, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 69, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 70, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 71, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 72, NorthWall, , , , , , , [SEP] 73, EastWall, , , , , , , [SEP] 74, SouthWall, , , , , , , [SEP] 75, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, move to face the counter on the right. | STEP 2: Pick up the white mug on the counter. | STEP 3: Bring the mug over to the wall on the right, turn left to face the microwave up high. | STEP 4: Heat the mug in the microwave. | STEP 5: Take the heated mug to the left, to the counter right of the stove. | STEP 6: Put the mug on counter, right of the bread. | END"]} {"id": "trial_T20190909_074304_619036-0", "input": "Pick up the pen from the desk and turn the lamp on the white table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.909, -1.5, 0, 180, 0, [SEP] 1, Mug, -0.507, 0.541, -3.694, 0, 0, 0, 32 [SEP] 2, Mug, -0.774, 0.541, -3.713, 0, 0, 0, 32 [SEP] 3, CellPhone, -3.582, 0.225, -3.884, 0, 0, 0, 45 [SEP] 4, CellPhone, -3.760, 0.981, -3.472, 0, 0, 0, 41 [SEP] 5, Pencil, -3.693, 0.812, -3.184, 0, 0, 0, 48 [SEP] 6, Pencil, -1.270, 0.803, -4.137, 0, 0, 0, 38 [SEP] 7, CreditCard, -0.274, 0.349, -3.844, 0, 0, 0, 32 [SEP] 8, KeyChain, -3.466, 0.982, -4.276, 0, 0, 0, 41 [SEP] 9, KeyChain, -3.524, 0.045, -3.371, 0, 0, 0, 40 [SEP] 10, Book, -0.862, 0.804, -3.920, 0, 0, 0, 38 [SEP] 11, CellPhone, -0.655, 0.188, -3.844, 0, 0, 0, 30 [SEP] 12, Laptop, -3.402, 0.618, -1.793, 0, 0, 0, 23 [SEP] 13, CreditCard, -1.270, 0.803, -3.703, 0, 0, 0, 38 [SEP] 14, AlarmClock, -1.474, 0.803, -3.920, 0, 0, 0, 38 [SEP] 15, KeyChain, -0.657, 0.800, -4.354, 0, 0, 0, 38 [SEP] 16, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 23 [SEP] 17, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 18, Pencil, -0.240, 0.546, -3.694, 0, 0, 0, 32 [SEP] 19, Pillow, -2.559, 0.722, -1.506, 0, 0, 0, 23 [SEP] 20, CD, -1.854, 0.062, -3.925, 0, 279.990, 0, 27 [SEP] 21, Pen, -3.687, 0.986, -4.276, 0, 0, 0, 41 [SEP] 22, Mug, -1.474, 0.798, -4.137, 0, 90, 0, 38 [SEP] 23, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 24, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 25, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 26, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 27, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 28, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 29, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 30, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 31, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 32, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 33, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 34, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 35, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 36, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 37, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 38, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 39, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 40, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 41, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 42, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 50, NorthWall, , , , , , , [SEP] 51, EastWall, , , , , , , [SEP] 52, SouthWall, , , , , , , [SEP] 53, WestWall, , , , , , , ", "output": ["STEP 1: Head straight to the white table, turn right and walk to the brown desk. | STEP 2: Pick up the pen from the brown desk. | STEP 3: Turn around and walk to the white table with the lamp on it. | STEP 4: Turn the lamp on next to the coffee cup. | END"]} {"id": "trial_T20190907_161023_791569-1", "input": "Put the cold tomato in the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.75, 0.900, 0.5, 0, 180, 0, [SEP] 1, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 42 [SEP] 2, Potato, 2.488, 0.946, 1.129, 0, 0, 0, 74 [SEP] 3, DishSponge, -0.103, 0.911, 1.044, 0, 0, 0, 50 [SEP] 4, ButterKnife, -0.694, 0.820, -1.206, 0, 90, 0, 98 [SEP] 5, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 45 [SEP] 6, Pot, 2.777, 1.292, -0.775, 0, 0, 0, 94 [SEP] 7, Plate, 0.337, 2.159, 1.467, 0, 0, 0, 73 [SEP] 8, Cup, 1.688, 0.909, 1.044, 0, 0, 0, 74 [SEP] 9, Egg, -2.048, 0.461, 1.290, 0, 270, 0, 92 [SEP] 10, Knife, 1.141, 0.944, -0.430, 0, 0, 0, 39 [SEP] 11, SoapBottle, 2.188, 0.120, 1.119, 0, 0, 0, 75 [SEP] 12, Bread, 0.634, 0.969, -0.515, 0, 0, 0, 39 [SEP] 13, Lettuce, 1.141, 0.992, -0.769, 0, 0, 0, 39 [SEP] 14, Lettuce, 2.754, 0.992, 1.299, 0, 0, 0, 74 [SEP] 15, Mug, 2.962, 1.558, -0.578, 0, 0, 0, 94 [SEP] 16, SoapBottle, -0.939, 0.826, -1.473, 0, 0, 0, 98 [SEP] 17, Plate, 0.812, 2.156, 1.468, 0, 0, 0, 48 [SEP] 18, Fork, 2.124, 0.772, 1.122, 0, 90, 0, 70 [SEP] 19, Pot, 2.221, 0.915, 1.299, 0, 0, 0, 74 [SEP] 20, Bread, -0.198, 0.969, 1.383, 0, 0, 0, 50 [SEP] 21, Egg, -0.694, 0.858, -1.257, 0, 90, 0, 98 [SEP] 22, Kettle, 0.825, 1.656, -0.732, 0, 180, 0, 49 [SEP] 23, Tomato, -0.990, 0.852, -1.255, 0, 0, 0, 98 [SEP] 24, Cup, 1.955, 0.909, 1.468, 0, 0, 0, 74 [SEP] 25, Spatula, -0.007, 0.926, 1.044, 0, 90, 0, 50 [SEP] 26, Apple, -1.991, 0.492, 1.459, 0, 270, 0, 92 [SEP] 27, Pan, 2.838, 1.018, -0.578, 0, 0, 0, 94 [SEP] 28, Lettuce, 2.488, 0.992, 1.468, 0, 0, 0, 74 [SEP] 29, SaltShaker, 2.124, 0.111, -0.458, 0, 180, 0, 80 [SEP] 30, Knife, 2.221, 0.944, 1.044, 0, 0, 0, 74 [SEP] 31, Potato, 0.570, 1.819, 1.391, 0, 180, 0, 97 [SEP] 32, PepperShaker, 1.842, 1.651, 1.585, 0, 0, 0, 51 [SEP] 33, ButterKnife, 1.955, 0.911, 1.129, 0, 0, 0, 74 [SEP] 34, Bowl, -0.836, 0.818, -1.110, 0, 0, 0, 98 [SEP] 35, DishSponge, 1.524, 1.654, 1.470, 0, 0, 0, 62 [SEP] 36, Spoon, -0.839, 0.822, -1.257, 0, 90, 0, 98 [SEP] 37, Mug, 1.098, 0.109, -0.458, 0, 180, 0, 47 [SEP] 38, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 39, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 40, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 41, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 42, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 43, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 44, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 45, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 46, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 47, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 48, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 49, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 50, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 51, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 52, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 53, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 54, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 55, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 56, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 57, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 58, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 59, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 60, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 61, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 62, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 63, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 64, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 65, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 68, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 69, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 70, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 71, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 72, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 74, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 75, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 77, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 78, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 79, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 80, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 81, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 82, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 83, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 84, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 85, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 86, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 87, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 88, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 89, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 91, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 92, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 93, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 94, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 95, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 96, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 97, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 98, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 99, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 100, NorthWall, , , , , , , [SEP] 101, EastWall, , , , , , , [SEP] 102, SouthWall, , , , , , , [SEP] 103, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your right, walk straight towards the window then turn left going to the table | STEP 2: Pick up the tomato on the table | STEP 3: Turn around to your left then right head to the fridge on your right | STEP 4: Open the fridge put in and out the tomato then close the fridge | STEP 5: Turn to your right then walk straight then face to your left at the sink | STEP 6: Put the tomato in the sink | END"]} {"id": "trial_T20190907_042833_719963-0", "input": "Examine an alarm clock 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, 0.909, -3.25, 0, 270, 0, [SEP] 1, CellPhone, -3.524, 0.044, -3.278, 0, 0, 0, 37 [SEP] 2, Pen, -0.685, 0.548, -3.694, 0, 0, 0, 29 [SEP] 3, CreditCard, -0.731, 0.030, -3.779, 0, 0, 0, 30 [SEP] 4, KeyChain, -0.418, 0.543, -3.749, 0, 0, 0, 29 [SEP] 5, Book, -3.694, 0.419, -3.885, 0, 0, 0, 41 [SEP] 6, Book, -2.770, 0.620, -0.643, 0, 0, 0, 20 [SEP] 7, Book, -3.402, 0.620, -1.218, 0, 0, 0, 20 [SEP] 8, CellPhone, -1.474, 0.800, -3.920, 0, 0, 0, 35 [SEP] 9, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 35 [SEP] 10, CreditCard, -0.596, 0.542, -3.694, 0, 0, 0, 29 [SEP] 11, AlarmClock, -1.270, 0.803, -3.703, 0, 0, 0, 35 [SEP] 12, KeyChain, -3.760, 0.980, -4.075, 0, 0, 0, 38 [SEP] 13, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 20 [SEP] 14, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 15, Pencil, -0.240, 0.546, -3.657, 0, 0, 0, 29 [SEP] 16, Pillow, -2.559, 0.722, -0.931, 0, 0, 0, 20 [SEP] 17, CD, -3.466, 0.979, -3.271, 0, 0, 0, 38 [SEP] 18, Pen, -3.760, 0.986, -3.271, 0, 0, 0, 38 [SEP] 19, Mug, -3.466, 0.977, -3.472, 0, 0, 0, 38 [SEP] 20, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 21, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 22, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 23, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 24, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 25, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 26, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 27, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 28, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 29, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 30, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 31, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 32, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 33, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 34, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 35, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 36, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 37, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 38, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 39, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 40, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 41, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 42, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 43, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 47, NorthWall, , , , , , , [SEP] 48, EastWall, , , , , , , [SEP] 49, SouthWall, , , , , , , [SEP] 50, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk forward to the desk. | STEP 2: Pick up the alarm clock from the desk. | STEP 3: Walk in front of the lamp at the edge of the desk. | STEP 4: Turn on the lamp. | END"]} {"id": "trial_T20190918_203732_214914-1", "input": "Heat an egg 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, -0.5, 0.931, -0.5, 0, 270, 0, [SEP] 1, Potato, 1.181, 1.096, 0.632, 0, 0, 0, 49 [SEP] 2, Kettle, 0.5, 1.057, -1.4, 0, 0, 0, 48 [SEP] 3, Kettle, 1.741, 0.205, -1.262, 0, 0, 0, 57 [SEP] 4, Fork, 1.968, 1.043, 0.091, 0, 0, 0, 49 [SEP] 5, Spatula, 1.347, 1.058, 0.763, 0, 0, 0, 49 [SEP] 6, Egg, 1.241, 0.955, 0.231, 0, 90, 0, 44 [SEP] 7, Egg, 0.936, 1.109, 0.331, 0, 90, 0, 45 [SEP] 8, Egg, -1.235, 1.282, 2.153, 0, 90, 0, 62 [SEP] 9, Cup, -0.775, 1.047, -1.289, 0, 0, 0, 47 [SEP] 10, Knife, 0.239, 1.072, -1.118, 0, 0, 0, 47 [SEP] 11, Knife, 0.848, 1.069, 0.632, 0, 0, 0, 49 [SEP] 12, SoapBottle, -0.398, 1.565, -1.396, 0, 0, 0, 52 [SEP] 13, SoapBottle, -0.670, 0.204, -1.553, 0, 0, 0, 56 [SEP] 14, Bowl, -1.339, 0.201, -1.555, 0, 0, 0, 55 [SEP] 15, Bowl, -1.386, 1.712, 2.063, 0, 90, 0, 62 [SEP] 16, Bread, -0.603, 1.120, -1.289, 0, 0, 0, 47 [SEP] 17, Mug, 1.897, 1.014, -1.557, 0, 0, 0, 53 [SEP] 18, Mug, -1.169, 1.223, 1.974, 0, 90, 0, 62 [SEP] 19, Apple, 1.241, 0.936, 0.304, 0, 90, 0, 44 [SEP] 20, Apple, 0.717, 1.097, 0.080, 0, 90, 0, 45 [SEP] 21, SoapBottle, 0.848, 1.054, 0.281, 0, 90, 0, 45 [SEP] 22, Apple, -1.047, 1.759, -1.331, 0, 0, 0, 61 [SEP] 23, Potato, -1.047, 1.769, -1.238, 0, 270, 0, 61 [SEP] 24, Fork, 1.701, 1.043, 0.091, 0, 0, 0, 49 [SEP] 25, Kettle, 1.512, 1.020, -1.484, 0, 0, 0, 53 [SEP] 26, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 47 [SEP] 27, Tomato, -1.381, 1.540, 2.153, 0, 90, 0, 62 [SEP] 28, SaltShaker, 0.657, 1.041, -1.118, 0, 0, 0, 47 [SEP] 29, Egg, -1.157, 1.018, 1.974, 0, 90, 0, 62 [SEP] 30, Cup, 1.512, 1.020, -1.264, 0, 0, 0, 53 [SEP] 31, Spatula, 0.351, 1.058, 0.738, 0, 0, 0, 49 [SEP] 32, Knife, -0.432, 1.072, -1.289, 0, 0, 0, 47 [SEP] 33, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 45 [SEP] 34, ButterKnife, 1.155, 1.046, -1.181, 0, 0, 0, 47 [SEP] 35, PepperShaker, -1.106, 2.023, -1.555, 0, 0, 0, 54 [SEP] 36, DishSponge, 0.712, 0.199, -1.267, 0, 0, 0, 58 [SEP] 37, Plate, -1.029, 2.041, -1.264, 0, 0, 0, 54 [SEP] 38, Bread, 0.406, 1.104, 0.352, 0, 337.138, 0, 49 [SEP] 39, Spoon, 1.072, 1.048, -1.397, 0, 0, 0, 47 [SEP] 40, Pot, 0.250, 1.057, -1.4, 0, 0, 0, 59 [SEP] 41, Mug, -1.339, 2.023, -1.264, 0, 0, 0, 54 [SEP] 42, Bowl, 0.065, 1.042, 0.738, 0, 0, 0, 49 [SEP] 43, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 44, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 45, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 46, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 47, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 48, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 49, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 50, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 51, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 52, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 53, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 54, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 55, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 56, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 57, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 58, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 59, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 60, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 61, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 62, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 63, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 64, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 65, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 66, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 70, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 71, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 72, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 73, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 74, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 75, NorthWall, , , , , , , [SEP] 76, EastWall, , , , , , , [SEP] 77, SouthWall, , , , , , , [SEP] 78, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the kitchen sink on your left. | STEP 2: Grab an egg from the sink. | STEP 3: Walk to the microwave on your right. | STEP 4: Put the egg in the microwave, then take it out. | STEP 5: Go to the kitchen counter to the left of the microwave. | STEP 6: Place the egg on the counter. | END"]} {"id": "trial_T20190918_203732_214914-2", "input": "cook and egg 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, -0.5, 0.931, -0.5, 0, 270, 0, [SEP] 1, Potato, 1.181, 1.096, 0.632, 0, 0, 0, 49 [SEP] 2, Kettle, 0.5, 1.057, -1.4, 0, 0, 0, 48 [SEP] 3, Kettle, 1.741, 0.205, -1.262, 0, 0, 0, 57 [SEP] 4, Fork, 1.968, 1.043, 0.091, 0, 0, 0, 49 [SEP] 5, Spatula, 1.347, 1.058, 0.763, 0, 0, 0, 49 [SEP] 6, Egg, 1.241, 0.955, 0.231, 0, 90, 0, 44 [SEP] 7, Egg, 0.936, 1.109, 0.331, 0, 90, 0, 45 [SEP] 8, Egg, -1.235, 1.282, 2.153, 0, 90, 0, 62 [SEP] 9, Cup, -0.775, 1.047, -1.289, 0, 0, 0, 47 [SEP] 10, Knife, 0.239, 1.072, -1.118, 0, 0, 0, 47 [SEP] 11, Knife, 0.848, 1.069, 0.632, 0, 0, 0, 49 [SEP] 12, SoapBottle, -0.398, 1.565, -1.396, 0, 0, 0, 52 [SEP] 13, SoapBottle, -0.670, 0.204, -1.553, 0, 0, 0, 56 [SEP] 14, Bowl, -1.339, 0.201, -1.555, 0, 0, 0, 55 [SEP] 15, Bowl, -1.386, 1.712, 2.063, 0, 90, 0, 62 [SEP] 16, Bread, -0.603, 1.120, -1.289, 0, 0, 0, 47 [SEP] 17, Mug, 1.897, 1.014, -1.557, 0, 0, 0, 53 [SEP] 18, Mug, -1.169, 1.223, 1.974, 0, 90, 0, 62 [SEP] 19, Apple, 1.241, 0.936, 0.304, 0, 90, 0, 44 [SEP] 20, Apple, 0.717, 1.097, 0.080, 0, 90, 0, 45 [SEP] 21, SoapBottle, 0.848, 1.054, 0.281, 0, 90, 0, 45 [SEP] 22, Apple, -1.047, 1.759, -1.331, 0, 0, 0, 61 [SEP] 23, Potato, -1.047, 1.769, -1.238, 0, 270, 0, 61 [SEP] 24, Fork, 1.701, 1.043, 0.091, 0, 0, 0, 49 [SEP] 25, Kettle, 1.512, 1.020, -1.484, 0, 0, 0, 53 [SEP] 26, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 47 [SEP] 27, Tomato, -1.381, 1.540, 2.153, 0, 90, 0, 62 [SEP] 28, SaltShaker, 0.657, 1.041, -1.118, 0, 0, 0, 47 [SEP] 29, Egg, -1.157, 1.018, 1.974, 0, 90, 0, 62 [SEP] 30, Cup, 1.512, 1.020, -1.264, 0, 0, 0, 53 [SEP] 31, Spatula, 0.351, 1.058, 0.738, 0, 0, 0, 49 [SEP] 32, Knife, -0.432, 1.072, -1.289, 0, 0, 0, 47 [SEP] 33, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 45 [SEP] 34, ButterKnife, 1.155, 1.046, -1.181, 0, 0, 0, 47 [SEP] 35, PepperShaker, -1.106, 2.023, -1.555, 0, 0, 0, 54 [SEP] 36, DishSponge, 0.712, 0.199, -1.267, 0, 0, 0, 58 [SEP] 37, Plate, -1.029, 2.041, -1.264, 0, 0, 0, 54 [SEP] 38, Bread, 0.406, 1.104, 0.352, 0, 337.138, 0, 49 [SEP] 39, Spoon, 1.072, 1.048, -1.397, 0, 0, 0, 47 [SEP] 40, Pot, 0.250, 1.057, -1.4, 0, 0, 0, 59 [SEP] 41, Mug, -1.339, 2.023, -1.264, 0, 0, 0, 54 [SEP] 42, Bowl, 0.065, 1.042, 0.738, 0, 0, 0, 49 [SEP] 43, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 44, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 45, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 46, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 47, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 48, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 49, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 50, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 51, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 52, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 53, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 54, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 55, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 56, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 57, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 58, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 59, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 60, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 61, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 62, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 63, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 64, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 65, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 66, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 70, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 71, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 72, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 73, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 74, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 75, NorthWall, , , , , , , [SEP] 76, EastWall, , , , , , , [SEP] 77, SouthWall, , , , , , , [SEP] 78, WestWall, , , , , , , ", "output": ["STEP 1: go to the sink | STEP 2: pick u the egg from the sink | STEP 3: take the egg to the microwave | STEP 4: warm in the microwave | STEP 5: take the cooked egg to the counter where the bread is | STEP 6: put the egg on the counter | END"]} {"id": "trial_T20190912_080556_504700-0", "input": "Put the spray bottle from the cabinet on the left edge of the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.901, 3.5, 0, 90, 0, [SEP] 1, Candle, -1.350, 0.994, 3.842, 0, 0, 0, 25 [SEP] 2, Candle, -1.259, 0.067, 3.327, 0, 0, 0, 24 [SEP] 3, SoapBottle, -1.500, 0.067, 2.391, 0, 0, 0, 20 [SEP] 4, SoapBottle, 0.329, 0.892, 1.618, 0, 0, 0, 31 [SEP] 5, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 27 [SEP] 6, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 29 [SEP] 7, SoapBar, 0.329, 0.893, 1.776, 0, 0, 0, 31 [SEP] 8, ToiletPaper, -1.332, 0.058, 2.261, 0, 0, 0, 20 [SEP] 9, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 10, Candle, -1.481, 0.994, 2.269, 0, 0, 0, 25 [SEP] 11, TissueBox, -1.379, 0.068, 3.327, 0, 0, 0, 24 [SEP] 12, SoapBottle, -1.547, 0.993, 3.041, 0, 0, 0, 25 [SEP] 13, ToiletPaper, -1.350, 0.991, 3.933, 0, 0, 0, 25 [SEP] 14, SprayBottle, -1.322, 0.069, 3.642, 0, 0, 0, 26 [SEP] 15, Cloth, -1.501, 0.068, 3.743, 0, 0, 0, 26 [SEP] 16, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 17, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 18, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 19, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 20, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 21, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 22, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 23, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 24, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 25, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 26, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 27, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 28, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 29, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 30, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 31, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 32, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 33, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 34, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 35, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 36, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 37, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 38, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 39, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and face the sink. | STEP 2: Open the cabinet under the sink on the right and pick up the spray bottle. | STEP 3: Go to the left sink of the counter. | STEP 4: Put the spray bottle on the left edge of the counter. | END"]} {"id": "trial_T20190909_101117_022448-1", "input": "Put a cooked slice of potato in the recycling bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, -0.25, 0, 180, 0, [SEP] 1, Potato, -0.157, 0.800, -0.651, 0, 90, 0, 102 [SEP] 2, Kettle, 1.688, 0.912, 1.129, 0, 0, 0, 80 [SEP] 3, Kettle, 2.156, 0.912, -0.684, 0, 0, 0, 45 [SEP] 4, ButterKnife, 1.955, 0.911, 1.383, 0, 0, 0, 80 [SEP] 5, Fork, 1.799, 0.772, 1.198, 0, 270, 0, 78 [SEP] 6, Fork, -0.983, 0.821, -1.257, 0, 90, 0, 104 [SEP] 7, Plate, 0.812, 2.156, 1.468, 0, 0, 0, 54 [SEP] 8, Egg, 2.653, 1.056, -0.709, 0, 0, 0, 100 [SEP] 9, Egg, 2.777, 1.056, -0.578, 0, 0, 0, 100 [SEP] 10, Knife, 1.141, 0.944, -0.515, 0, 0, 0, 45 [SEP] 11, SoapBottle, 1.422, 0.917, 1.214, 0, 0, 0, 80 [SEP] 12, Tomato, -2.019, 0.455, 1.459, 0, 270, 0, 98 [SEP] 13, Bowl, 2.653, 1.286, -0.644, 0, 0, 0, 100 [SEP] 14, Bowl, 2.487, 1.653, 1.468, 0, 0, 0, 70 [SEP] 15, PepperShaker, 2.802, 0.110, 1.081, 0, 0, 0, 77 [SEP] 16, Bread, 2.777, 1.621, -0.644, 0, 0, 0, 100 [SEP] 17, Lettuce, 2.488, 0.992, 1.299, 0, 0, 0, 80 [SEP] 18, Lettuce, 2.754, 0.992, 1.468, 0, 0, 0, 80 [SEP] 19, Mug, 2.591, 0.720, -0.535, 0, 90, 0, 100 [SEP] 20, Mug, 0.123, 0.760, -0.762, 0, 270, 0, 102 [SEP] 21, Apple, 0.415, 1.853, 1.423, 0, 180, 0, 103 [SEP] 22, SoapBottle, 2.907, 0.120, 1.156, 0, 0, 0, 77 [SEP] 23, Plate, 0.337, 2.159, 1.467, 0, 0, 0, 79 [SEP] 24, Fork, -0.785, 0.821, -1.473, 0, 0, 0, 104 [SEP] 25, Pot, 1.688, 0.915, 1.383, 0, 0, 0, 80 [SEP] 26, Bread, 2.221, 0.969, 1.214, 0, 0, 0, 80 [SEP] 27, Egg, -0.017, 0.803, -0.651, 0, 0, 0, 102 [SEP] 28, Kettle, 1.155, 0.912, 1.214, 0, 0, 0, 80 [SEP] 29, Tomato, -0.694, 0.852, -1.360, 0, 90, 0, 104 [SEP] 30, Cup, 2.153, 0.112, 1.081, 0, 0, 0, 81 [SEP] 31, Spatula, -0.198, 0.926, 1.383, 0, 90, 0, 56 [SEP] 32, Apple, 2.838, 0.794, -0.535, 0, 0, 0, 100 [SEP] 33, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 48 [SEP] 34, Lettuce, -0.198, 0.992, 1.214, 0, 0, 0, 56 [SEP] 35, SaltShaker, 0.349, 0.908, -0.302, 0, 0, 0, 45 [SEP] 36, Knife, 1.155, 0.944, 1.383, 0, 0, 0, 80 [SEP] 37, Potato, 0.053, 0.800, -0.541, 0, 0, 0, 102 [SEP] 38, PepperShaker, -0.049, 0.111, 1.276, 0, 0, 0, 73 [SEP] 39, ButterKnife, -0.621, 0.820, -1.206, 0, 90, 0, 104 [SEP] 40, Bowl, 2.208, 1.653, -0.762, 0, 180, 0, 66 [SEP] 41, DishSponge, 0.193, 0.765, -0.541, 0, 0, 0, 102 [SEP] 42, Spoon, 2.837, 0.773, 1.160, 0, 0, 0, 89 [SEP] 43, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 45 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 106, NorthWall, , , , , , , [SEP] 107, EastWall, , , , , , , [SEP] 108, SouthWall, , , , , , , [SEP] 109, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and head to the coffee maker. | STEP 2: Pick up the knife to the right of the coffee maker. | STEP 3: Go the to the sink. | STEP 4: Cut the potato in the sink. | STEP 5: Turn right and head to the recycling bin in the corner. | STEP 6: Put the knife in the recycling bin. | STEP 7: Turn around and go back to the sink. | STEP 8: Pick up a slice of potato in the sink. | STEP 9: Turn around and head to the microwave above the stove. | STEP 10: Cook the slice of potato in the microwave and pick it back up. | STEP 11: Turn left and head to the recycling bin. | STEP 12: Put the slice of potato in the recycling bin. | END"]} {"id": "trial_T20190909_101117_022448-2", "input": "To heat a potato slice plus place it in the trash can. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, -0.25, 0, 180, 0, [SEP] 1, Potato, -0.157, 0.800, -0.651, 0, 90, 0, 102 [SEP] 2, Kettle, 1.688, 0.912, 1.129, 0, 0, 0, 80 [SEP] 3, Kettle, 2.156, 0.912, -0.684, 0, 0, 0, 45 [SEP] 4, ButterKnife, 1.955, 0.911, 1.383, 0, 0, 0, 80 [SEP] 5, Fork, 1.799, 0.772, 1.198, 0, 270, 0, 78 [SEP] 6, Fork, -0.983, 0.821, -1.257, 0, 90, 0, 104 [SEP] 7, Plate, 0.812, 2.156, 1.468, 0, 0, 0, 54 [SEP] 8, Egg, 2.653, 1.056, -0.709, 0, 0, 0, 100 [SEP] 9, Egg, 2.777, 1.056, -0.578, 0, 0, 0, 100 [SEP] 10, Knife, 1.141, 0.944, -0.515, 0, 0, 0, 45 [SEP] 11, SoapBottle, 1.422, 0.917, 1.214, 0, 0, 0, 80 [SEP] 12, Tomato, -2.019, 0.455, 1.459, 0, 270, 0, 98 [SEP] 13, Bowl, 2.653, 1.286, -0.644, 0, 0, 0, 100 [SEP] 14, Bowl, 2.487, 1.653, 1.468, 0, 0, 0, 70 [SEP] 15, PepperShaker, 2.802, 0.110, 1.081, 0, 0, 0, 77 [SEP] 16, Bread, 2.777, 1.621, -0.644, 0, 0, 0, 100 [SEP] 17, Lettuce, 2.488, 0.992, 1.299, 0, 0, 0, 80 [SEP] 18, Lettuce, 2.754, 0.992, 1.468, 0, 0, 0, 80 [SEP] 19, Mug, 2.591, 0.720, -0.535, 0, 90, 0, 100 [SEP] 20, Mug, 0.123, 0.760, -0.762, 0, 270, 0, 102 [SEP] 21, Apple, 0.415, 1.853, 1.423, 0, 180, 0, 103 [SEP] 22, SoapBottle, 2.907, 0.120, 1.156, 0, 0, 0, 77 [SEP] 23, Plate, 0.337, 2.159, 1.467, 0, 0, 0, 79 [SEP] 24, Fork, -0.785, 0.821, -1.473, 0, 0, 0, 104 [SEP] 25, Pot, 1.688, 0.915, 1.383, 0, 0, 0, 80 [SEP] 26, Bread, 2.221, 0.969, 1.214, 0, 0, 0, 80 [SEP] 27, Egg, -0.017, 0.803, -0.651, 0, 0, 0, 102 [SEP] 28, Kettle, 1.155, 0.912, 1.214, 0, 0, 0, 80 [SEP] 29, Tomato, -0.694, 0.852, -1.360, 0, 90, 0, 104 [SEP] 30, Cup, 2.153, 0.112, 1.081, 0, 0, 0, 81 [SEP] 31, Spatula, -0.198, 0.926, 1.383, 0, 90, 0, 56 [SEP] 32, Apple, 2.838, 0.794, -0.535, 0, 0, 0, 100 [SEP] 33, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 48 [SEP] 34, Lettuce, -0.198, 0.992, 1.214, 0, 0, 0, 56 [SEP] 35, SaltShaker, 0.349, 0.908, -0.302, 0, 0, 0, 45 [SEP] 36, Knife, 1.155, 0.944, 1.383, 0, 0, 0, 80 [SEP] 37, Potato, 0.053, 0.800, -0.541, 0, 0, 0, 102 [SEP] 38, PepperShaker, -0.049, 0.111, 1.276, 0, 0, 0, 73 [SEP] 39, ButterKnife, -0.621, 0.820, -1.206, 0, 90, 0, 104 [SEP] 40, Bowl, 2.208, 1.653, -0.762, 0, 180, 0, 66 [SEP] 41, DishSponge, 0.193, 0.765, -0.541, 0, 0, 0, 102 [SEP] 42, Spoon, 2.837, 0.773, 1.160, 0, 0, 0, 89 [SEP] 43, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 45 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 106, NorthWall, , , , , , , [SEP] 107, EastWall, , , , , , , [SEP] 108, SouthWall, , , , , , , [SEP] 109, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk forward and then turn right to face the counter by the coffee maker. | STEP 2: Pick up the knife on the counter. | STEP 3: Step to the right to face the sink. | STEP 4: Cut the potato in the sink into slices. | STEP 5: Turn right and walk over to face the trash can. | STEP 6: Place the knife in the trash can. | STEP 7: Turn left and step forward to face the sink. | STEP 8: Pick up a potato slice in the sink. | STEP 9: Turn around and step forward to face the microwave. | STEP 10: Heat the potato slice in the microwave and remove it. | STEP 11: Turn left and walk forward to face the trash can. | STEP 12: Place the potato slice in the trash can. | END"]} {"id": "trial_T20190907_164731_907205-2", "input": "Take the mug and pen to the dresser. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.909, -2.25, 0, 90, 0, [SEP] 1, CellPhone, -3.751, 0.614, -3.369, 0, 0, 0, 41 [SEP] 2, Pencil, -1.869, 0.065, -3.873, 0, 9.990, 0, 26 [SEP] 3, KeyChain, -3.806, 0.046, -2.997, 0, 180, 0, 39 [SEP] 4, Book, -0.453, 0.800, -3.811, 0, 0, 0, 37 [SEP] 5, Pillow, -2.770, 0.722, -2.080, 0, 0, 0, 22 [SEP] 6, Laptop, -2.981, 0.618, -1.218, 0, 0, 0, 22 [SEP] 7, Laptop, -3.402, 0.618, -1.218, 0, 0, 0, 22 [SEP] 8, AlarmClock, -1.474, 0.803, -3.703, 0, 0, 0, 37 [SEP] 9, Book, -1.270, 0.804, -4.137, 0, 0, 0, 37 [SEP] 10, CellPhone, -1.270, 0.800, -3.703, 0, 0, 0, 37 [SEP] 11, Laptop, -3.613, 0.979, -3.070, 0, 0, 0, 40 [SEP] 12, CreditCard, -3.908, 0.981, -3.673, 0, 0, 0, 40 [SEP] 13, AlarmClock, -0.249, 0.803, -4.029, 0, 0, 0, 37 [SEP] 14, KeyChain, -3.539, 0.982, -3.874, 0, 0, 0, 40 [SEP] 15, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 22 [SEP] 16, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 17, Pencil, -0.862, 0.807, -4.137, 0, 0, 0, 37 [SEP] 18, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 22 [SEP] 19, CD, -0.249, 0.799, -3.703, 0, 0, 0, 37 [SEP] 20, Pen, -3.539, 0.985, -4.276, 0, 0, 0, 40 [SEP] 21, Mug, -0.862, 0.801, -4.246, 0, 0, 0, 37 [SEP] 22, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 23, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 24, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 25, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 26, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 27, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 28, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 29, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 30, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 31, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 32, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 33, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 34, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 35, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 36, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 37, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 38, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 39, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 40, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 41, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 42, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 45, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, turn right again and go to the dresser | STEP 2: Pick up the pen from the dresser. | STEP 3: Turn around and take the pen to the desk. | STEP 4: Put the pen in the mug on the desk. | STEP 5: Pick up the mug with the pen inside. | STEP 6: Turn right and walk to the dresser. | STEP 7: Set the mug on the dresser. | END"]} {"id": "trial_T20190908_123406_806951-1", "input": "Put a clean bar of soap in the tub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.903, 1.0, 0, 90, 0, [SEP] 1, TissueBox, -2.146, 1.047, -0.736, 0, 0, 0, 33 [SEP] 2, TissueBox, -1.308, 0.289, 2.097, 0, 0, 0, 24 [SEP] 3, SoapBar, -0.334, 0.609, 1.533, 0, 0, 0, 20 [SEP] 4, SoapBar, 0.289, 0.043, 0.611, 0, 0, 0, 27 [SEP] 5, Candle, -2.277, 1.088, -0.736, 0, 0, 0, 33 [SEP] 6, SprayBottle, -2.343, 1.048, -0.644, 0, 0, 0, 33 [SEP] 7, Candle, -2.343, 1.088, -0.705, 0, 0, 0, 33 [SEP] 8, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 29 [SEP] 9, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 10, SoapBar, -0.148, 0.609, -0.428, 0, 315, 0, 20 [SEP] 11, ToiletPaper, -1.308, 1.066, 2.097, 0, 0, 0, 28 [SEP] 12, SoapBottle, -0.653, 1.775, 2.157, 0, 0, 0, 26 [SEP] 13, TissueBox, -1.635, 0.289, 2.157, 0, 0, 0, 24 [SEP] 14, Cloth, -0.653, 0.293, 2.127, 0, 0, 0, 24 [SEP] 15, ToiletPaper, -0.653, 1.066, 2.127, 0, 0, 0, 28 [SEP] 16, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 22 [SEP] 17, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 18, SprayBottle, -2.015, 1.048, -0.736, 0, 0, 0, 33 [SEP] 19, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 20, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 21, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 22, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 23, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 24, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 25, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 26, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 27, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 28, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 29, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 30, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 31, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 32, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 33, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 34, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 35, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 36, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 37, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: Move to the right and face the tub. | STEP 2: Pick the soap up from the tub. | STEP 3: Turn around and turn to the left to face the right side of the sink. | STEP 4: Put the soap in the sink and turn the water on and then off and pick the soap up again. | STEP 5: Turn to the left to face the tub. | STEP 6: Put the soap in the tub. | END"]} {"id": "trial_T20190907_071842_740425-0", "input": "Read the book next to 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, -0.5, 0.909, -1.25, 0, 90, 0, [SEP] 1, Mug, -1.270, 0.798, -4.354, 0, 0, 0, 43 [SEP] 2, Mug, -3.539, 0.977, -3.472, 0, 0, 0, 46 [SEP] 3, CD, -0.657, 0.803, -3.703, 0, 0, 0, 43 [SEP] 4, CellPhone, -1.474, 0.800, -3.920, 0, 0, 0, 43 [SEP] 5, Pen, -1.474, 0.805, -3.703, 0, 0, 0, 43 [SEP] 6, Pen, -0.862, 0.809, -3.920, 0, 180, 0, 43 [SEP] 7, Pencil, -0.862, 0.803, -4.029, 0, 0, 0, 43 [SEP] 8, Pencil, -0.774, 0.546, -3.694, 0, 0, 0, 37 [SEP] 9, KeyChain, -0.329, 0.543, -3.713, 0, 0, 0, 37 [SEP] 10, KeyChain, -3.806, 0.810, -4.164, 0, 90, 0, 44 [SEP] 11, Book, -3.613, 0.620, -0.931, 0, 0, 0, 28 [SEP] 12, Pillow, -3.191, 0.722, -1.506, 0, 0, 0, 28 [SEP] 13, AlarmClock, -0.453, 0.803, -4.029, 0, 0, 0, 43 [SEP] 14, AlarmClock, -3.687, 0.979, -4.276, 0, 0, 0, 46 [SEP] 15, Book, -3.613, 0.980, -3.070, 0, 0, 0, 46 [SEP] 16, CellPhone, -3.694, 0.614, -3.369, 0, 0, 0, 47 [SEP] 17, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 43 [SEP] 18, CreditCard, -0.249, 0.803, -4.137, 0, 0, 0, 43 [SEP] 19, AlarmClock, -0.657, 0.803, -4.246, 0, 0, 0, 43 [SEP] 20, KeyChain, -0.507, 0.543, -3.694, 0, 0, 0, 37 [SEP] 21, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 28 [SEP] 22, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 23, Pencil, -3.751, 0.422, -3.462, 0, 0, 0, 54 [SEP] 24, Pillow, -2.770, 0.722, -2.080, 0, 0, 0, 28 [SEP] 25, CD, -0.657, 0.799, -3.811, 0, 0, 0, 43 [SEP] 26, Pen, -3.750, 0.814, -3.371, 0, 0, 0, 53 [SEP] 27, Mug, -3.834, 0.979, -4.276, 0, 0, 0, 46 [SEP] 28, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 29, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 30, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 31, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 32, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 33, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 34, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 35, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 36, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 37, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 38, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 39, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 40, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 41, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 42, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 43, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 44, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 45, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 46, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 51, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 52, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 53, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 54, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: Turn right towards the desk and then turn right towards the dresser. | STEP 2: Pick up the book on the dresser. | STEP 3: Turn around and head towards the lamp on the desk. | STEP 4: Turn on the lamp. | END"]} {"id": "trial_T20190907_071842_740425-2", "input": "Examine a textbook 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, -0.5, 0.909, -1.25, 0, 90, 0, [SEP] 1, Mug, -1.270, 0.798, -4.354, 0, 0, 0, 43 [SEP] 2, Mug, -3.539, 0.977, -3.472, 0, 0, 0, 46 [SEP] 3, CD, -0.657, 0.803, -3.703, 0, 0, 0, 43 [SEP] 4, CellPhone, -1.474, 0.800, -3.920, 0, 0, 0, 43 [SEP] 5, Pen, -1.474, 0.805, -3.703, 0, 0, 0, 43 [SEP] 6, Pen, -0.862, 0.809, -3.920, 0, 180, 0, 43 [SEP] 7, Pencil, -0.862, 0.803, -4.029, 0, 0, 0, 43 [SEP] 8, Pencil, -0.774, 0.546, -3.694, 0, 0, 0, 37 [SEP] 9, KeyChain, -0.329, 0.543, -3.713, 0, 0, 0, 37 [SEP] 10, KeyChain, -3.806, 0.810, -4.164, 0, 90, 0, 44 [SEP] 11, Book, -3.613, 0.620, -0.931, 0, 0, 0, 28 [SEP] 12, Pillow, -3.191, 0.722, -1.506, 0, 0, 0, 28 [SEP] 13, AlarmClock, -0.453, 0.803, -4.029, 0, 0, 0, 43 [SEP] 14, AlarmClock, -3.687, 0.979, -4.276, 0, 0, 0, 46 [SEP] 15, Book, -3.613, 0.980, -3.070, 0, 0, 0, 46 [SEP] 16, CellPhone, -3.694, 0.614, -3.369, 0, 0, 0, 47 [SEP] 17, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 43 [SEP] 18, CreditCard, -0.249, 0.803, -4.137, 0, 0, 0, 43 [SEP] 19, AlarmClock, -0.657, 0.803, -4.246, 0, 0, 0, 43 [SEP] 20, KeyChain, -0.507, 0.543, -3.694, 0, 0, 0, 37 [SEP] 21, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 28 [SEP] 22, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 23, Pencil, -3.751, 0.422, -3.462, 0, 0, 0, 54 [SEP] 24, Pillow, -2.770, 0.722, -2.080, 0, 0, 0, 28 [SEP] 25, CD, -0.657, 0.799, -3.811, 0, 0, 0, 43 [SEP] 26, Pen, -3.750, 0.814, -3.371, 0, 0, 0, 53 [SEP] 27, Mug, -3.834, 0.979, -4.276, 0, 0, 0, 46 [SEP] 28, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 29, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 30, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 31, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 32, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 33, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 34, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 35, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 36, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 37, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 38, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 39, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 40, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 41, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 42, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 43, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 44, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 45, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 46, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 51, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 52, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 53, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 54, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the dresser that is against the wall. | STEP 2: Pick up the textbook from the dresser. | STEP 3: Turn around and walk to the front of the lamp on the desk. | STEP 4: Turn on the lamp. | END"]} {"id": "trial_T20190907_172648_626804-0", "input": "Put a glass 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, 3.25, 0.900, 0.75, 0, 0, 0, [SEP] 1, Potato, 2.653, 0.761, -0.535, 0, 0, 0, 96 [SEP] 2, DishSponge, -1.991, 0.423, 1.459, 0, 270, 0, 94 [SEP] 3, DishSponge, 0.634, 0.911, -0.430, 0, 0, 0, 41 [SEP] 4, ButterKnife, -0.694, 0.820, -1.257, 0, 90, 0, 100 [SEP] 5, ButterKnife, 2.488, 0.911, 1.299, 0, 0, 0, 76 [SEP] 6, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 56 [SEP] 7, Spatula, -0.007, 0.926, 1.214, 0, 90, 0, 52 [SEP] 8, Spatula, -0.043, 0.926, -0.330, 0, 0, 0, 41 [SEP] 9, Cup, 2.156, 0.909, -0.684, 0, 0, 0, 41 [SEP] 10, Cup, -0.198, 0.909, 1.044, 0, 0, 0, 52 [SEP] 11, Egg, -0.621, 0.858, -1.206, 0, 90, 0, 100 [SEP] 12, Egg, 0.466, 1.822, 1.488, 0, 180, 0, 99 [SEP] 13, SaltShaker, -0.990, 0.817, -1.183, 0, 0, 0, 100 [SEP] 14, PepperShaker, 2.906, 1.650, 1.546, 0, 0, 0, 66 [SEP] 15, Lettuce, 1.955, 0.992, 1.468, 0, 0, 0, 76 [SEP] 16, Lettuce, 2.754, 0.992, 1.383, 0, 0, 0, 76 [SEP] 17, Apple, 1.955, 0.980, 1.299, 0, 0, 0, 76 [SEP] 18, SoapBottle, -0.090, 1.660, 1.470, 0, 0, 0, 67 [SEP] 19, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 41 [SEP] 20, Fork, -0.103, 0.912, 1.129, 0, 0, 0, 52 [SEP] 21, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 47 [SEP] 22, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 41 [SEP] 23, Egg, -0.990, 0.858, -1.328, 0, 0, 0, 100 [SEP] 24, Kettle, 1.558, 0.116, -0.458, 0, 180, 0, 87 [SEP] 25, Tomato, 2.653, 1.320, -0.709, 0, 0, 0, 96 [SEP] 26, Cup, -0.836, 0.818, -1.328, 0, 0, 0, 100 [SEP] 27, Spatula, -0.734, 0.835, -1.328, 0, 90, 0, 100 [SEP] 28, Apple, 2.838, 1.632, -0.644, 0, 0, 0, 96 [SEP] 29, Pan, 1.155, 0.911, 1.383, 0, 0, 0, 76 [SEP] 30, Lettuce, -0.151, 0.992, 1.383, 0, 0, 0, 52 [SEP] 31, SaltShaker, 0.825, 1.651, -0.888, 0, 180, 0, 51 [SEP] 32, Knife, -0.911, 0.853, -1.308, 0, 90, 0, 100 [SEP] 33, Potato, 2.653, 1.598, -0.447, 0, 0, 0, 96 [SEP] 34, PepperShaker, -0.043, 0.908, -0.316, 0, 0, 0, 41 [SEP] 35, ButterKnife, 1.688, 0.911, 1.299, 0, 0, 0, 76 [SEP] 36, Bowl, 2.838, 0.724, -0.504, 0, 0, 0, 96 [SEP] 37, DishSponge, 1.395, 0.911, -0.345, 0, 0, 0, 41 [SEP] 38, Spoon, -0.785, 0.822, -1.328, 0, 180, 0, 100 [SEP] 39, Mug, 0.053, 0.760, -0.707, 0, 180, 0, 98 [SEP] 40, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 41, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 42, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 43, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 44, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 45, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 46, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 47, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 49, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 50, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 51, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 52, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 53, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 54, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 55, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 56, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 57, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 58, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 59, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 60, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 61, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 63, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 64, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 65, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 70, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 71, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 72, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 76, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 77, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 79, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 80, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 81, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 82, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 83, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 84, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 85, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 86, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 87, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 88, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 89, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 93, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 94, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 95, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 96, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 97, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 98, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 99, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 100, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 101, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 102, NorthWall, , , , , , , [SEP] 103, EastWall, , , , , , , [SEP] 104, SouthWall, , , , , , , [SEP] 105, WestWall, , , , , , , ", "output": ["STEP 1: Turn left walk across the room, then hang a left and walk up to the round table. | STEP 2: Pick up the glass with the spoon in it that is on the round table. | STEP 3: Turn around and begin walking across the room, the turn right and walk over to the sink. | STEP 4: Place the glass with the spoon inside of it into the sink basin. | END"]} {"id": "trial_T20190907_172648_626804-2", "input": "Putting away dirty glass and spoon 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, 3.25, 0.900, 0.75, 0, 0, 0, [SEP] 1, Potato, 2.653, 0.761, -0.535, 0, 0, 0, 96 [SEP] 2, DishSponge, -1.991, 0.423, 1.459, 0, 270, 0, 94 [SEP] 3, DishSponge, 0.634, 0.911, -0.430, 0, 0, 0, 41 [SEP] 4, ButterKnife, -0.694, 0.820, -1.257, 0, 90, 0, 100 [SEP] 5, ButterKnife, 2.488, 0.911, 1.299, 0, 0, 0, 76 [SEP] 6, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 56 [SEP] 7, Spatula, -0.007, 0.926, 1.214, 0, 90, 0, 52 [SEP] 8, Spatula, -0.043, 0.926, -0.330, 0, 0, 0, 41 [SEP] 9, Cup, 2.156, 0.909, -0.684, 0, 0, 0, 41 [SEP] 10, Cup, -0.198, 0.909, 1.044, 0, 0, 0, 52 [SEP] 11, Egg, -0.621, 0.858, -1.206, 0, 90, 0, 100 [SEP] 12, Egg, 0.466, 1.822, 1.488, 0, 180, 0, 99 [SEP] 13, SaltShaker, -0.990, 0.817, -1.183, 0, 0, 0, 100 [SEP] 14, PepperShaker, 2.906, 1.650, 1.546, 0, 0, 0, 66 [SEP] 15, Lettuce, 1.955, 0.992, 1.468, 0, 0, 0, 76 [SEP] 16, Lettuce, 2.754, 0.992, 1.383, 0, 0, 0, 76 [SEP] 17, Apple, 1.955, 0.980, 1.299, 0, 0, 0, 76 [SEP] 18, SoapBottle, -0.090, 1.660, 1.470, 0, 0, 0, 67 [SEP] 19, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 41 [SEP] 20, Fork, -0.103, 0.912, 1.129, 0, 0, 0, 52 [SEP] 21, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 47 [SEP] 22, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 41 [SEP] 23, Egg, -0.990, 0.858, -1.328, 0, 0, 0, 100 [SEP] 24, Kettle, 1.558, 0.116, -0.458, 0, 180, 0, 87 [SEP] 25, Tomato, 2.653, 1.320, -0.709, 0, 0, 0, 96 [SEP] 26, Cup, -0.836, 0.818, -1.328, 0, 0, 0, 100 [SEP] 27, Spatula, -0.734, 0.835, -1.328, 0, 90, 0, 100 [SEP] 28, Apple, 2.838, 1.632, -0.644, 0, 0, 0, 96 [SEP] 29, Pan, 1.155, 0.911, 1.383, 0, 0, 0, 76 [SEP] 30, Lettuce, -0.151, 0.992, 1.383, 0, 0, 0, 52 [SEP] 31, SaltShaker, 0.825, 1.651, -0.888, 0, 180, 0, 51 [SEP] 32, Knife, -0.911, 0.853, -1.308, 0, 90, 0, 100 [SEP] 33, Potato, 2.653, 1.598, -0.447, 0, 0, 0, 96 [SEP] 34, PepperShaker, -0.043, 0.908, -0.316, 0, 0, 0, 41 [SEP] 35, ButterKnife, 1.688, 0.911, 1.299, 0, 0, 0, 76 [SEP] 36, Bowl, 2.838, 0.724, -0.504, 0, 0, 0, 96 [SEP] 37, DishSponge, 1.395, 0.911, -0.345, 0, 0, 0, 41 [SEP] 38, Spoon, -0.785, 0.822, -1.328, 0, 180, 0, 100 [SEP] 39, Mug, 0.053, 0.760, -0.707, 0, 180, 0, 98 [SEP] 40, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 41, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 42, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 43, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 44, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 45, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 46, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 47, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 49, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 50, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 51, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 52, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 53, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 54, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 55, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 56, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 57, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 58, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 59, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 60, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 61, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 63, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 64, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 65, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 70, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 71, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 72, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 76, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 77, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 79, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 80, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 81, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 82, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 83, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 84, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 85, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 86, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 87, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 88, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 89, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 93, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 94, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 95, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 96, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 97, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 98, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 99, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 100, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 101, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 102, NorthWall, , , , , , , [SEP] 103, EastWall, , , , , , , [SEP] 104, SouthWall, , , , , , , [SEP] 105, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk straight to the end of the kitchen then turn left and walk to the round table | STEP 2: Pick up the clear cup with the spoon inside | STEP 3: Turn around walk straight then turn right and right again to face the kitchen sink | STEP 4: Place the glass and spoon in the sink | END"]} {"id": "trial_T20190908_095813_688861-2", "input": "move the tea pot from the shelf to the coffee table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 6.5, 0, 180, 0, [SEP] 1, Bowl, -3.265, 0.454, 7.183, 0, 90, 0, 51 [SEP] 2, Newspaper, -5.442, 0.532, 6.721, 0, 135, 0, 60 [SEP] 3, Newspaper, -0.535, 0.792, 2.252, 0, 270, 0, 44 [SEP] 4, Watch, -2.283, 0.533, 3.752, 0, 270, 0, 59 [SEP] 5, KeyChain, -5.882, 0.880, 4.349, 0, 0, 0, 52 [SEP] 6, KeyChain, -0.433, 0.794, 5.600, 0, 270, 0, 43 [SEP] 7, RemoteControl, -2.422, 0.536, 4.480, 0, 270, 0, 59 [SEP] 8, RemoteControl, -3.265, 0.149, 7.327, 0, 90, 0, 53 [SEP] 9, Box, -0.868, 0.603, 3.306, 0, 0, 0, 42 [SEP] 10, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 58 [SEP] 11, Vase, -2.870, 1.280, 7.298, 0, 90, 0, 58 [SEP] 12, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 54 [SEP] 13, Newspaper, -0.535, 0.792, 5.726, 0, 270, 0, 43 [SEP] 14, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 59 [SEP] 15, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 16, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 52 [SEP] 17, CreditCard, -2.352, 0.533, 3.607, 0, 270, 0, 59 [SEP] 18, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 56 [SEP] 19, KeyChain, -5.253, 0.534, 6.986, 0, 135, 0, 60 [SEP] 20, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 54 [SEP] 21, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 54 [SEP] 22, Bowl, -2.640, 1.281, 7.298, 0, 90, 0, 58 [SEP] 23, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 42 [SEP] 24, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 56 [SEP] 25, RemoteControl, -5.998, 0.455, 4.745, 0, 0, 0, 54 [SEP] 26, Watch, -5.368, 0.533, 6.871, 0, 45, 0, 60 [SEP] 27, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 58 [SEP] 28, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 56 [SEP] 29, Statue, -3.265, 0.156, 7.122, 0, 90, 0, 53 [SEP] 30, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 58 [SEP] 31, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 32, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 33, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 34, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 35, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 36, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 37, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 38, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 39, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 40, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 41, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 42, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 43, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 44, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 45, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 46, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 47, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 48, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 49, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 50, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 51, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 52, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 53, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 54, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 55, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 56, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 57, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 58, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 59, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 60, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: turn around, walk to the brown shelves | STEP 2: pick up the tea pot from the bottom shelf | STEP 3: turn left, take a few steps, turn left, walk forward, turn left to face the coffee table | STEP 4: put the tea pot on the coffee table | END"]} {"id": "trial_T20190906_194139_042780-2", "input": "Place the sponge in the blue 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, -1.0, 0.900, 0.5, 0, 180, 0, [SEP] 1, Kettle, 1.835, 1.655, -0.772, 0, 180, 0, 72 [SEP] 2, ButterKnife, -0.151, 0.911, 1.044, 0, 0, 0, 46 [SEP] 3, Fork, 1.902, 0.912, -0.345, 0, 0, 0, 35 [SEP] 4, Spatula, 0.634, 0.926, -0.6, 0, 0, 0, 35 [SEP] 5, Plate, 2.221, 0.914, 1.468, 0, 0, 0, 70 [SEP] 6, Plate, 2.754, 0.914, 1.383, 0, 0, 0, 70 [SEP] 7, SoapBottle, 0.581, 1.660, -0.735, 0, 180, 0, 74 [SEP] 8, SoapBottle, -0.939, 0.826, -1.473, 0, 0, 0, 94 [SEP] 9, PepperShaker, -0.887, 0.817, -1.255, 0, 0, 0, 94 [SEP] 10, Lettuce, 1.955, 0.992, 1.383, 0, 0, 0, 70 [SEP] 11, Mug, -0.621, 0.815, -1.257, 0, 90, 0, 94 [SEP] 12, SoapBottle, 1.155, 0.917, 1.553, 0, 0, 0, 70 [SEP] 13, Plate, 2.488, 0.914, 1.129, 0, 0, 0, 70 [SEP] 14, Fork, -1.056, 0.821, -1.206, 0, 90, 0, 94 [SEP] 15, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 41 [SEP] 16, Bread, 2.838, 1.346, -0.644, 0, 0, 0, 90 [SEP] 17, Egg, 3.260, 0.878, -0.543, 0, 0, 0, 90 [SEP] 18, Kettle, 2.754, 0.912, 1.129, 0, 0, 0, 70 [SEP] 19, Tomato, -0.055, 0.942, 1.383, 0, 0, 0, 46 [SEP] 20, Cup, 2.591, 1.016, -0.512, 0, 0, 0, 90 [SEP] 21, Spatula, 0.263, 0.780, -0.707, 0, 90, 0, 92 [SEP] 22, Apple, 0.123, 0.834, -0.541, 0, 0, 0, 92 [SEP] 23, Pan, 2.838, 1.563, -0.709, 0, 0, 0, 90 [SEP] 24, Lettuce, -0.198, 0.992, 1.299, 0, 0, 0, 46 [SEP] 25, SaltShaker, 1.525, 0.110, 1.231, 0, 0, 0, 64 [SEP] 26, Knife, 0.888, 0.944, -0.430, 0, 0, 0, 35 [SEP] 27, Potato, -0.983, 0.855, -1.308, 0, 90, 0, 94 [SEP] 28, PepperShaker, -0.198, 0.908, 1.468, 0, 0, 0, 46 [SEP] 29, ButterKnife, 1.955, 0.911, 1.044, 0, 0, 0, 70 [SEP] 30, Bowl, 2.524, 1.653, 1.429, 0, 0, 0, 60 [SEP] 31, DishSponge, -0.682, 0.820, -1.110, 0, 0, 0, 94 [SEP] 32, Spoon, -0.785, 0.822, -1.038, 0, 0, 0, 94 [SEP] 33, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 35 [SEP] 34, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 35, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 36, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 37, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 38, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 39, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 40, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 41, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 42, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 43, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 44, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 45, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 46, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 47, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 48, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 49, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 50, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 51, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 52, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 53, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 54, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 55, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 56, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 57, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 58, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 59, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 60, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 61, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 62, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 63, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 64, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 65, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 66, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 67, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 68, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 69, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 70, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 71, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 72, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 73, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 74, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 75, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 76, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 77, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 78, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 79, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 80, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 82, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 83, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 84, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 85, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 86, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 87, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 88, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 89, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 90, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 91, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 92, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 93, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 94, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 95, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 96, NorthWall, , , , , , , [SEP] 97, EastWall, , , , , , , [SEP] 98, SouthWall, , , , , , , [SEP] 99, WestWall, , , , , , , ", "output": ["STEP 1: Walk straight towards the round table. | STEP 2: Pick up the green sponge from the table. | STEP 3: Turn around, walk past the sink, turn right towards the wall, then turn left to face the kettle on the counter. | STEP 4: Open the left cabinet towards the top of the kettle and place the sponge in the blue bowl. | STEP 5: Take out the bowl from the cabinet and close the door. | STEP 6: Look down at the counter. | STEP 7: Place the bowl to the left of the lettuce on the counter. | END"]} {"id": "trial_T20190909_080350_412023-2", "input": "Put the heated mug on the counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.931, -0.25, 0, 270, 0, [SEP] 1, Potato, 0.761, 1.106, 0.331, 0, 90, 0, 43 [SEP] 2, DishSponge, 0.542, 1.042, 0.738, 0, 0, 0, 47 [SEP] 3, Pot, 1.743, 1.021, -1.557, 0, 90, 0, 51 [SEP] 4, Pot, -1.349, 1.714, 1.885, 0, 180, 0, 60 [SEP] 5, Spoon, 0.446, 1.044, 0.630, 0, 90, 0, 47 [SEP] 6, Spoon, 0.542, 1.044, 0.415, 0, 90, 0, 47 [SEP] 7, Egg, 1.241, 0.947, 0.304, 0, 90, 0, 42 [SEP] 8, Egg, 0.892, 1.108, 0.381, 0, 90, 0, 43 [SEP] 9, Plate, 0.065, 1.056, 0.522, 0, 0, 0, 47 [SEP] 10, Plate, 1.112, 1.577, -1.614, 0, 0, 0, 49 [SEP] 11, Tomato, -1.381, 1.540, 1.974, 0, 90, 0, 60 [SEP] 12, SoapBottle, -1.184, 2.029, -1.482, 0, 0, 0, 52 [SEP] 13, Bowl, -1.029, 2.027, -1.555, 0, 0, 0, 52 [SEP] 14, Bowl, -1.339, 2.027, -1.264, 0, 0, 0, 52 [SEP] 15, SaltShaker, 1.015, 1.038, 0.589, 0, 0, 0, 47 [SEP] 16, PepperShaker, -0.670, 0.198, -1.193, 0, 0, 0, 54 [SEP] 17, PepperShaker, 0.255, 1.038, 0.630, 0, 0, 0, 47 [SEP] 18, Apple, 1.523, 1.086, 0.307, 0, 0, 0, 47 [SEP] 19, SoapBottle, 1.894, 0.205, -1.480, 0, 0, 0, 55 [SEP] 20, Apple, 0.936, 1.097, 0.281, 0, 90, 0, 43 [SEP] 21, Potato, -1.342, 1.542, 1.796, 0, 90, 0, 60 [SEP] 22, Fork, 0.989, 1.047, -1.289, 0, 0, 0, 45 [SEP] 23, Kettle, 0.5, 1.057, -1.4, 0, 0, 0, 46 [SEP] 24, Pan, -0.580, 0.203, -1.481, 0, 180, 0, 54 [SEP] 25, Tomato, -1.038, 1.279, 2.063, 0, 90, 0, 60 [SEP] 26, SaltShaker, 1.015, 1.038, 0.720, 0, 0, 0, 47 [SEP] 27, Egg, 0.848, 1.108, 0.080, 0, 90, 0, 43 [SEP] 28, Cup, 1.666, 1.020, -1.337, 0, 0, 0, 51 [SEP] 29, Spatula, -0.775, 1.061, -1.612, 0, 90, 0, 45 [SEP] 30, Knife, 1.612, 1.069, 0.738, 0, 180, 0, 47 [SEP] 31, Lettuce, -1.300, 1.287, 2.242, 0, 90, 0, 60 [SEP] 32, ButterKnife, 0.717, 1.053, 0.231, 0, 90, 0, 43 [SEP] 33, PepperShaker, 0.740, 1.041, -1.720, 0, 0, 0, 45 [SEP] 34, DishSponge, -0.432, 1.046, -1.505, 0, 0, 0, 45 [SEP] 35, Plate, 1.665, 0.217, -1.335, 0, 0, 0, 55 [SEP] 36, Bread, 0.406, 1.104, 0.352, 0, 337.138, 0, 47 [SEP] 37, Spoon, 0.980, 1.054, 0.131, 0, 90, 0, 43 [SEP] 38, Pot, 0.250, 1.057, -1.4, 0, 0, 0, 57 [SEP] 39, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 63 [SEP] 40, Bowl, 0.823, 1.045, -1.181, 0, 0, 0, 45 [SEP] 41, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 42, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 43, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 44, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 45, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 46, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 47, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 48, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 49, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 50, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 51, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 52, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 53, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 54, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 55, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 56, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 57, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 58, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 59, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 60, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 61, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 62, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 63, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 64, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 65, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 66, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 69, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 70, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 71, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 72, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 73, NorthWall, , , , , , , [SEP] 74, EastWall, , , , , , , [SEP] 75, SouthWall, , , , , , , [SEP] 76, WestWall, , , , , , , ", "output": ["STEP 1: Turn right then walk forward towards the coffee maker on your left | STEP 2: Pick up the mug on the coffee maker | STEP 3: Turn left then head to the microwave | STEP 4: Open the microwave heat up the mug then take it out and close the microwave | STEP 5: Turn left then head to the right side counter of the stove | STEP 6: Put the mug on the counter | END"]} {"id": "trial_T20190909_075933_607618-0", "input": "Put a washed piece of apple in a microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.900, 0.5, 0, 180, 0, [SEP] 1, Pan, 1.141, 0.911, -0.430, 0, 0, 0, 42 [SEP] 2, Potato, 2.591, 1.598, -0.644, 0, 90, 0, 97 [SEP] 3, Potato, 0.123, 0.800, -0.707, 0, 0, 0, 99 [SEP] 4, DishSponge, -0.682, 0.820, -1.328, 0, 0, 0, 101 [SEP] 5, DishSponge, 1.135, 0.114, -0.458, 0, 180, 0, 50 [SEP] 6, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 57 [SEP] 7, Pot, 1.155, 0.915, 1.299, 0, 0, 0, 77 [SEP] 8, Spoon, 2.837, 0.773, 1.122, 0, 0, 0, 86 [SEP] 9, Spatula, -0.157, 0.780, -0.707, 0, 90, 0, 99 [SEP] 10, Plate, 0.231, 2.159, 1.467, 0, 0, 0, 76 [SEP] 11, Cup, 2.900, 1.286, -0.775, 0, 0, 0, 97 [SEP] 12, SoapBottle, 1.141, 1.661, 1.390, 0, 0, 0, 69 [SEP] 13, SoapBottle, -1.962, 0.429, 1.375, 0, 270, 0, 95 [SEP] 14, Tomato, 2.838, 0.756, -0.442, 0, 0, 0, 97 [SEP] 15, SaltShaker, 1.065, 0.111, 1.037, 0, 0, 0, 49 [SEP] 16, Bread, 2.754, 0.969, 1.129, 0, 0, 0, 77 [SEP] 17, Lettuce, 2.221, 0.992, 1.299, 0, 0, 0, 77 [SEP] 18, Lettuce, -0.198, 0.992, 1.214, 0, 0, 0, 53 [SEP] 19, SoapBottle, -0.939, 0.826, -1.328, 0, 0, 0, 101 [SEP] 20, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 42 [SEP] 21, Fork, 1.688, 0.912, 1.129, 0, 0, 0, 77 [SEP] 22, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 48 [SEP] 23, Bread, 2.488, 0.969, 1.214, 0, 0, 0, 77 [SEP] 24, Egg, 0.570, 1.822, 1.391, 0, 180, 0, 100 [SEP] 25, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 42 [SEP] 26, Tomato, -0.151, 0.942, 1.383, 0, 0, 0, 53 [SEP] 27, Cup, -0.785, 0.818, -1.255, 0, 0, 0, 101 [SEP] 28, Spatula, 0.263, 0.780, -0.707, 0, 90, 0, 99 [SEP] 29, Apple, -0.198, 0.980, 1.553, 0, 0, 0, 53 [SEP] 30, Pan, 2.838, 1.018, -0.709, 0, 0, 0, 97 [SEP] 31, Lettuce, 1.955, 0.992, 1.129, 0, 0, 0, 77 [SEP] 32, SaltShaker, 1.955, 0.908, 1.468, 0, 0, 0, 77 [SEP] 33, Knife, 0.888, 0.944, -0.6, 0, 0, 0, 42 [SEP] 34, Potato, 2.962, 1.323, -0.447, 0, 0, 0, 97 [SEP] 35, PepperShaker, -0.682, 0.817, -1.183, 0, 0, 0, 101 [SEP] 36, ButterKnife, 1.155, 0.911, 1.044, 0, 0, 0, 77 [SEP] 37, Bowl, 2.156, 0.909, -0.769, 0, 0, 0, 42 [SEP] 38, DishSponge, -0.198, 0.911, 1.044, 0, 0, 0, 53 [SEP] 39, Spoon, 1.155, 0.912, 1.129, 0, 0, 0, 77 [SEP] 40, Mug, 2.804, 1.649, 1.394, 0, 0, 0, 43 [SEP] 41, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 42, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 43, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 44, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 45, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 46, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 47, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 48, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 50, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 51, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 52, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 53, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 54, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 55, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 56, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 57, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 58, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 59, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 60, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 61, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 62, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 64, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 65, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 71, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 72, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 73, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 77, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 78, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 80, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 81, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 82, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 83, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 84, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 85, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 86, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 87, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 88, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 89, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 94, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 95, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 96, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 97, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 98, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 99, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 100, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 101, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 102, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: Go forward and to the right to the counter to the left of the dishwasher. | STEP 2: Take the large knife from the counter. | STEP 3: Turn right, go forward, turn right at the counter to the left of the oven. Go to the counter. | STEP 4: Cut the apple on the counter into pieces. | STEP 5: Turn around, go to the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn around, go to the counter with the apple. | STEP 8: Take a piece of apple from the counter. | STEP 9: Turn around, go to the sink. | STEP 10: Wash the piece of apple in the sink. Take the piece of apple from the sink. | STEP 11: Turn around, go forward and right to the oven. | STEP 12: Put the apple in the microwave above the oven. | END"]} {"id": "trial_T20190909_075933_607618-2", "input": "Cut and wash an apple, put it in the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.900, 0.5, 0, 180, 0, [SEP] 1, Pan, 1.141, 0.911, -0.430, 0, 0, 0, 42 [SEP] 2, Potato, 2.591, 1.598, -0.644, 0, 90, 0, 97 [SEP] 3, Potato, 0.123, 0.800, -0.707, 0, 0, 0, 99 [SEP] 4, DishSponge, -0.682, 0.820, -1.328, 0, 0, 0, 101 [SEP] 5, DishSponge, 1.135, 0.114, -0.458, 0, 180, 0, 50 [SEP] 6, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 57 [SEP] 7, Pot, 1.155, 0.915, 1.299, 0, 0, 0, 77 [SEP] 8, Spoon, 2.837, 0.773, 1.122, 0, 0, 0, 86 [SEP] 9, Spatula, -0.157, 0.780, -0.707, 0, 90, 0, 99 [SEP] 10, Plate, 0.231, 2.159, 1.467, 0, 0, 0, 76 [SEP] 11, Cup, 2.900, 1.286, -0.775, 0, 0, 0, 97 [SEP] 12, SoapBottle, 1.141, 1.661, 1.390, 0, 0, 0, 69 [SEP] 13, SoapBottle, -1.962, 0.429, 1.375, 0, 270, 0, 95 [SEP] 14, Tomato, 2.838, 0.756, -0.442, 0, 0, 0, 97 [SEP] 15, SaltShaker, 1.065, 0.111, 1.037, 0, 0, 0, 49 [SEP] 16, Bread, 2.754, 0.969, 1.129, 0, 0, 0, 77 [SEP] 17, Lettuce, 2.221, 0.992, 1.299, 0, 0, 0, 77 [SEP] 18, Lettuce, -0.198, 0.992, 1.214, 0, 0, 0, 53 [SEP] 19, SoapBottle, -0.939, 0.826, -1.328, 0, 0, 0, 101 [SEP] 20, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 42 [SEP] 21, Fork, 1.688, 0.912, 1.129, 0, 0, 0, 77 [SEP] 22, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 48 [SEP] 23, Bread, 2.488, 0.969, 1.214, 0, 0, 0, 77 [SEP] 24, Egg, 0.570, 1.822, 1.391, 0, 180, 0, 100 [SEP] 25, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 42 [SEP] 26, Tomato, -0.151, 0.942, 1.383, 0, 0, 0, 53 [SEP] 27, Cup, -0.785, 0.818, -1.255, 0, 0, 0, 101 [SEP] 28, Spatula, 0.263, 0.780, -0.707, 0, 90, 0, 99 [SEP] 29, Apple, -0.198, 0.980, 1.553, 0, 0, 0, 53 [SEP] 30, Pan, 2.838, 1.018, -0.709, 0, 0, 0, 97 [SEP] 31, Lettuce, 1.955, 0.992, 1.129, 0, 0, 0, 77 [SEP] 32, SaltShaker, 1.955, 0.908, 1.468, 0, 0, 0, 77 [SEP] 33, Knife, 0.888, 0.944, -0.6, 0, 0, 0, 42 [SEP] 34, Potato, 2.962, 1.323, -0.447, 0, 0, 0, 97 [SEP] 35, PepperShaker, -0.682, 0.817, -1.183, 0, 0, 0, 101 [SEP] 36, ButterKnife, 1.155, 0.911, 1.044, 0, 0, 0, 77 [SEP] 37, Bowl, 2.156, 0.909, -0.769, 0, 0, 0, 42 [SEP] 38, DishSponge, -0.198, 0.911, 1.044, 0, 0, 0, 53 [SEP] 39, Spoon, 1.155, 0.912, 1.129, 0, 0, 0, 77 [SEP] 40, Mug, 2.804, 1.649, 1.394, 0, 0, 0, 43 [SEP] 41, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 42, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 43, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 44, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 45, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 46, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 47, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 48, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 50, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 51, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 52, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 53, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 54, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 55, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 56, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 57, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 58, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 59, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 60, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 61, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 62, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 64, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 65, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 71, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 72, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 73, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 77, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 78, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 80, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 81, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 82, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 83, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 84, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 85, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 86, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 87, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 88, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 89, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 94, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 95, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 96, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 97, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 98, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 99, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 100, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 101, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 102, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: Move a bit to the right and go to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn left, go forward, turn right at the end of the counter | STEP 4: Cut the apple on the counter | STEP 5: Turn around and go to the sink | STEP 6: Put the knife in the sink | STEP 7: Turn around and go to the counter | STEP 8: Pick up an apple piece from the counter | STEP 9: Turn around and go to the sink | STEP 10: Put the apple piece in the sink, wash the apple piece with water, pick up the apple piece from the sink | STEP 11: Turn left, go forward, turn left at the microwave | STEP 12: Put the apple piece in the microwave | END"]} {"id": "trial_T20190909_114656_853216-1", "input": "Pick up a disc and turn a lamp on. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.909, -4.0, 0, 270, 0, [SEP] 1, CellPhone, -2.770, 0.620, -2.080, 0, 0, 0, 20 [SEP] 2, CreditCard, -3.466, 0.981, -3.070, 0, 0, 0, 38 [SEP] 3, CreditCard, -3.760, 0.981, -3.271, 0, 0, 0, 38 [SEP] 4, KeyChain, -3.613, 0.980, -3.070, 0, 0, 0, 38 [SEP] 5, KeyChain, -3.687, 0.982, -4.276, 0, 0, 0, 38 [SEP] 6, AlarmClock, -1.474, 0.803, -3.811, 0, 0, 0, 35 [SEP] 7, Book, -1.270, 0.804, -4.029, 0, 0, 0, 35 [SEP] 8, CellPhone, -0.862, 0.800, -3.703, 0, 0, 0, 35 [SEP] 9, Laptop, -2.559, 0.618, -1.506, 0, 0, 0, 20 [SEP] 10, CreditCard, -3.526, 0.225, -4.256, 0, 0, 0, 42 [SEP] 11, AlarmClock, -0.418, 0.542, -3.713, 0, 0, 0, 35 [SEP] 12, KeyChain, -0.862, 0.800, -4.137, 0, 90, 0, 35 [SEP] 13, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 20 [SEP] 14, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 15, Pencil, -1.886, 0.065, -3.968, 0, 9.990, 0, 24 [SEP] 16, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 20 [SEP] 17, CD, -3.613, 0.980, -3.874, 0, 0, 0, 38 [SEP] 18, Pen, -3.687, 0.985, -3.472, 0, 0, 0, 38 [SEP] 19, Mug, -1.066, 0.798, -4.137, 0, 0, 0, 35 [SEP] 20, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 21, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 22, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 23, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 24, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 25, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 26, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 27, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 28, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 29, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 30, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 31, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 32, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 33, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 34, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 35, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 36, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 37, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 38, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 39, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 40, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 41, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 42, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 43, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 47, NorthWall, , , , , , , [SEP] 48, EastWall, , , , , , , [SEP] 49, SouthWall, , , , , , , [SEP] 50, WestWall, , , , , , , ", "output": ["STEP 1: Move to the right and stand in the middle of the brown dresser. | STEP 2: Pick the disc up from the dresser. | STEP 3: Turn around and face the lamp on the white table. | STEP 4: Turn the lamp on. | END"]} {"id": "trial_T20190909_114656_853216-2", "input": "Pick up a CD 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, -2.75, 0.909, -4.0, 0, 270, 0, [SEP] 1, CellPhone, -2.770, 0.620, -2.080, 0, 0, 0, 20 [SEP] 2, CreditCard, -3.466, 0.981, -3.070, 0, 0, 0, 38 [SEP] 3, CreditCard, -3.760, 0.981, -3.271, 0, 0, 0, 38 [SEP] 4, KeyChain, -3.613, 0.980, -3.070, 0, 0, 0, 38 [SEP] 5, KeyChain, -3.687, 0.982, -4.276, 0, 0, 0, 38 [SEP] 6, AlarmClock, -1.474, 0.803, -3.811, 0, 0, 0, 35 [SEP] 7, Book, -1.270, 0.804, -4.029, 0, 0, 0, 35 [SEP] 8, CellPhone, -0.862, 0.800, -3.703, 0, 0, 0, 35 [SEP] 9, Laptop, -2.559, 0.618, -1.506, 0, 0, 0, 20 [SEP] 10, CreditCard, -3.526, 0.225, -4.256, 0, 0, 0, 42 [SEP] 11, AlarmClock, -0.418, 0.542, -3.713, 0, 0, 0, 35 [SEP] 12, KeyChain, -0.862, 0.800, -4.137, 0, 90, 0, 35 [SEP] 13, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 20 [SEP] 14, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 15, Pencil, -1.886, 0.065, -3.968, 0, 9.990, 0, 24 [SEP] 16, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 20 [SEP] 17, CD, -3.613, 0.980, -3.874, 0, 0, 0, 38 [SEP] 18, Pen, -3.687, 0.985, -3.472, 0, 0, 0, 38 [SEP] 19, Mug, -1.066, 0.798, -4.137, 0, 0, 0, 35 [SEP] 20, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 21, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 22, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 23, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 24, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 25, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 26, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 27, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 28, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 29, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 30, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 31, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 32, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 33, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 34, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 35, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 36, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 37, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 38, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 39, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 40, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 41, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 42, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 43, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 47, NorthWall, , , , , , , [SEP] 48, EastWall, , , , , , , [SEP] 49, SouthWall, , , , , , , [SEP] 50, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right, move forward, turn to the left to the dresser. | STEP 2: Pick up the CD that is on the dresser between the pen and keys. | STEP 3: Turn around, go to the white table with the lamp on it. | STEP 4: Turn on the lamp. | END"]} {"id": "trial_T20190907_181912_964375-0", "input": "Place two sets of keys on the middle cushion of the tan couch. 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, 4.5, 0, 180, 0, [SEP] 1, Bowl, -5.707, 0.535, 6.532, 0, 135, 0, 57 [SEP] 2, Bowl, -5.917, 0.881, 4.547, 0, 0, 0, 49 [SEP] 3, KeyChain, -2.87, 0.147, 7.225, 0, 270, 0, 50 [SEP] 4, KeyChain, -5.328, 0.534, 7.289, 0, 135, 0, 57 [SEP] 5, RemoteControl, -2.474, 0.455, 7.259, 0, 90, 0, 48 [SEP] 6, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 50 [SEP] 7, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 55 [SEP] 8, Vase, -2.411, 1.280, 7.235, 0, 90, 0, 55 [SEP] 9, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 51 [SEP] 10, Newspaper, -2.561, 0.532, 4.335, 0, 270, 0, 56 [SEP] 11, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 56 [SEP] 12, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 13, Vase, -2.277, 0.453, 7.183, 0, 90, 0, 48 [SEP] 14, CreditCard, -5.215, 0.533, 6.949, 0, 135, 0, 57 [SEP] 15, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 53 [SEP] 16, KeyChain, -2.870, 0.147, 7.276, 0, 90, 0, 50 [SEP] 17, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 51 [SEP] 18, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 51 [SEP] 19, Bowl, -0.326, 0.795, 1.900, 0, 0, 0, 41 [SEP] 20, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 39 [SEP] 21, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 53 [SEP] 22, RemoteControl, -0.710, 0.369, 3.002, 0, 0, 0, 39 [SEP] 23, Watch, -2.704, 0.533, 3.981, 0, 0, 0, 56 [SEP] 24, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 55 [SEP] 25, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 53 [SEP] 26, Statue, -2.492, 0.543, 3.752, 0, 270, 0, 56 [SEP] 27, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 55 [SEP] 28, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 29, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 30, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 31, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 32, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 33, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 34, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 35, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 36, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 37, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 38, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 39, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 40, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 41, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 42, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 43, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 44, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 45, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 46, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 47, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 48, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 49, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 50, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 51, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 52, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 53, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 54, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 55, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 56, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 57, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 58, NorthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the black shelves. | STEP 2: Pick up the keys from the bottom shelf. | STEP 3: Turn right and walk to the middle of the tan couch. | STEP 4: Place the keys on the middle seat of the couch. | STEP 5: Turn left and walk to the TV in the corner. | STEP 6: Pick up the keys from the behind the TV. | STEP 7: Turn around and walk to the middle of the tan couch. | STEP 8: Place the keys to the left of the keys already on the couch. | END"]} {"id": "trial_T20190909_025240_852617-0", "input": "Rinse a tea kettle and set it next to the coffee maker. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 0.25, 0, 270, 0, [SEP] 1, Pan, 2.838, 1.288, -0.644, 0, 0, 0, 96 [SEP] 2, Pan, 2.221, 0.911, 1.214, 0, 0, 0, 76 [SEP] 3, Potato, 1.422, 0.946, 1.044, 0, 0, 0, 76 [SEP] 4, DishSponge, 2.872, 0.114, 1.081, 0, 0, 0, 73 [SEP] 5, DishSponge, 2.481, 0.770, 1.122, 0, 0, 0, 57 [SEP] 6, ButterKnife, -0.621, 0.820, -1.257, 0, 90, 0, 100 [SEP] 7, Spoon, -1.056, 0.822, -1.206, 0, 90, 0, 100 [SEP] 8, Spoon, -0.055, 0.912, 1.299, 0, 0, 0, 52 [SEP] 9, Fork, 1.955, 0.912, 1.299, 0, 0, 0, 76 [SEP] 10, Spatula, 0.152, 0.926, -0.302, 0, 180, 0, 41 [SEP] 11, Spatula, -0.887, 0.835, -1.400, 0, 90, 0, 100 [SEP] 12, Egg, 0.518, 1.822, 1.391, 0, 180, 0, 99 [SEP] 13, SoapBottle, 1.524, 1.660, 1.432, 0, 0, 0, 64 [SEP] 14, PepperShaker, -0.621, 0.817, -1.103, 0, 90, 0, 100 [SEP] 15, PepperShaker, -0.983, 0.817, -1.360, 0, 90, 0, 100 [SEP] 16, Lettuce, 2.488, 0.992, 1.383, 0, 0, 0, 76 [SEP] 17, Apple, -1.991, 0.492, 1.332, 0, 270, 0, 94 [SEP] 18, SoapBottle, -0.197, 0.120, 1.156, 0, 0, 0, 69 [SEP] 19, Plate, 1.155, 0.914, 1.214, 0, 0, 0, 76 [SEP] 20, Fork, 1.276, 0.771, -0.422, 0, 270, 0, 60 [SEP] 21, Pot, 2.754, 0.915, 1.299, 0, 0, 0, 76 [SEP] 22, Bread, 2.715, 1.077, -0.709, 0, 0, 0, 96 [SEP] 23, Egg, -2.048, 0.461, 1.502, 0, 270, 0, 94 [SEP] 24, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 79 [SEP] 25, Tomato, -0.983, 0.852, -1.103, 0, 90, 0, 100 [SEP] 26, Cup, 2.715, 1.016, -0.512, 0, 0, 0, 96 [SEP] 27, Spatula, -0.007, 0.926, 1.468, 0, 270, 0, 52 [SEP] 28, Apple, 3.260, 0.909, -0.485, 0, 0, 0, 96 [SEP] 29, Pan, 2.715, 1.563, -0.644, 0, 0, 0, 96 [SEP] 30, Lettuce, -0.151, 0.992, 1.214, 0, 0, 0, 52 [SEP] 31, SaltShaker, 2.513, 0.111, 1.117, 0, 0, 0, 45 [SEP] 32, Knife, -0.939, 0.853, -1.328, 0, 270, 0, 100 [SEP] 33, Potato, 0.415, 1.819, 1.520, 0, 180, 0, 99 [SEP] 34, PepperShaker, -0.990, 0.817, -1.255, 0, 0, 0, 100 [SEP] 35, ButterKnife, 1.955, 0.911, 1.468, 0, 0, 0, 76 [SEP] 36, Bowl, 2.715, 0.723, -0.504, 0, 0, 0, 96 [SEP] 37, DishSponge, -0.734, 0.820, -1.400, 0, 0, 0, 100 [SEP] 38, Spoon, 2.754, 0.912, 1.468, 0, 0, 0, 76 [SEP] 39, Mug, 2.188, 0.109, 1.119, 0, 0, 0, 77 [SEP] 40, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 41, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 42, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 43, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 44, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 45, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 46, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 47, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 49, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 50, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 51, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 52, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 53, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 54, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 55, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 56, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 57, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 58, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 59, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 60, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 61, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 63, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 64, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 65, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 70, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 71, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 72, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 76, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 77, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 79, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 80, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 81, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 82, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 83, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 84, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 85, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 86, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 87, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 88, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 89, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 93, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 94, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 95, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 96, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 97, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 98, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 99, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 100, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 101, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 102, NorthWall, , , , , , , [SEP] 103, EastWall, , , , , , , [SEP] 104, SouthWall, , , , , , , [SEP] 105, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk forward, making a left to stop at the stove. | STEP 2: Pick up the tea kettle from the stove. | STEP 3: Turn around to face the sink. | STEP 4: Rinse the tea kettle in the sink, removing it again. | STEP 5: Make a left to stop at the counter before the fridge. | STEP 6: Set the tea kettle down on the counter next to the coffee maker. | END"]} {"id": "trial_T20190907_180214_916507-2", "input": "Retrieve a tomato for heating in the microwave and placement 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, 0.931, -0.5, 0, 90, 0, [SEP] 1, Pan, 0.389, 1.053, -1.630, 0, 0, 0, 48 [SEP] 2, Potato, -1.051, 0.760, 1.885, 0, 90, 0, 67 [SEP] 3, Potato, 0.848, 1.096, 0.763, 0, 0, 0, 54 [SEP] 4, ButterKnife, 1.155, 1.046, -1.612, 0, 0, 0, 52 [SEP] 5, Fork, 1.072, 1.047, -1.397, 0, 0, 0, 52 [SEP] 6, Spoon, 0.446, 1.044, 0.630, 0, 90, 0, 54 [SEP] 7, Spoon, -0.346, 1.048, -1.397, 0, 90, 0, 52 [SEP] 8, Spatula, 1.181, 1.058, 0.589, 0, 90, 0, 54 [SEP] 9, Spatula, 1.238, 1.061, -1.505, 0, 90, 0, 52 [SEP] 10, Cup, -0.548, 1.565, -1.396, 0, 0, 0, 57 [SEP] 11, Cup, -0.323, 1.565, -1.470, 0, 0, 0, 57 [SEP] 12, Plate, 1.188, 1.577, -1.764, 0, 0, 0, 56 [SEP] 13, Plate, -0.548, 1.577, -1.619, 0, 0, 0, 57 [SEP] 14, Knife, 0.848, 1.069, 0.632, 0, 0, 0, 54 [SEP] 15, Knife, 0.100, 1.072, -1.086, 0, 180, 0, 52 [SEP] 16, Tomato, -1.268, 1.999, 2.242, 0, 90, 0, 67 [SEP] 17, Tomato, -1.038, 1.279, 1.796, 0, 90, 0, 67 [SEP] 18, Tomato, 0.906, 1.097, -1.181, 0, 0, 0, 52 [SEP] 19, SoapBottle, 1.523, 1.044, 0.199, 0, 0, 0, 54 [SEP] 20, SoapBottle, 1.512, 0.205, -1.335, 0, 0, 0, 62 [SEP] 21, Bowl, 1.112, 1.563, -1.463, 0, 0, 0, 56 [SEP] 22, PepperShaker, 1.817, 0.199, -1.190, 0, 0, 0, 62 [SEP] 23, PepperShaker, -0.222, 0.198, -1.481, 0, 90, 0, 61 [SEP] 24, Bread, -0.603, 1.120, -1.289, 0, 0, 0, 52 [SEP] 25, Mug, -1.096, 1.711, -1.238, 0, 270, 0, 66 [SEP] 26, SoapBottle, -0.432, 1.047, -1.397, 0, 0, 0, 52 [SEP] 27, Apple, 1.181, 0.936, 0.304, 0, 90, 0, 49 [SEP] 28, Potato, 0.282, 1.085, 0.120, 0, 0, 0, 54 [SEP] 29, Fork, 0.255, 1.043, 0.630, 0, 0, 0, 54 [SEP] 30, Kettle, 0.823, 1.047, -1.828, 0, 0, 0, 52 [SEP] 31, Pan, -1.105, 0.202, -1.482, 0, 90, 0, 60 [SEP] 32, Tomato, -1.386, 1.764, 1.796, 0, 90, 0, 67 [SEP] 33, SaltShaker, 0.979, 0.194, -1.628, 0, 0, 0, 63 [SEP] 34, Egg, -1.264, 1.543, 2.063, 0, 90, 0, 67 [SEP] 35, Cup, -1.264, 1.489, 2.242, 0, 90, 0, 67 [SEP] 36, Spatula, 0.761, 1.068, 0.131, 0, 180, 0, 50 [SEP] 37, Knife, 1.701, 1.069, 0.630, 0, 0, 0, 54 [SEP] 38, Lettuce, -1.349, 1.773, 2.063, 0, 90, 0, 67 [SEP] 39, ButterKnife, 0.516, 1.043, 0.807, 0, 0, 0, 54 [SEP] 40, PepperShaker, 0.890, 0.194, -1.628, 0, 0, 0, 63 [SEP] 41, DishSponge, -0.491, 0.203, -1.193, 0, 0, 0, 61 [SEP] 42, Plate, 0.801, 0.212, -1.267, 0, 0, 0, 63 [SEP] 43, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 54 [SEP] 44, Spoon, 0.980, 1.054, 0.231, 0, 90, 0, 50 [SEP] 45, Pot, -1.029, 2.029, -1.555, 0, 90, 0, 59 [SEP] 46, Mug, 0.960, 1.560, -1.764, 0, 0, 0, 56 [SEP] 47, Bowl, -1.235, 1.227, 1.885, 0, 90, 0, 67 [SEP] 48, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 49, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 50, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 51, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 52, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 54, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 55, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 56, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 57, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 58, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 59, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 60, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 61, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 62, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 63, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 64, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 65, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 66, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 67, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 68, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 69, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 70, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 71, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 72, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 73, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 74, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 75, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 76, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 77, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 78, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 79, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 80, NorthWall, , , , , , , [SEP] 81, EastWall, , , , , , , [SEP] 82, SouthWall, , , , , , , [SEP] 83, WestWall, , , , , , , ", "output": ["STEP 1: Walk straight towards the wall and then face the counter top on the right. | STEP 2: Pick up the tomato to the right of the fork. | STEP 3: Turn around and move to the opposite wall in the room, then face left to see the microwave above the oven. | STEP 4: Open the microwave door and place the tomato inside next to the mug, cook for several seconds and remove. | STEP 5: Walk to the opposite side of the room and face left to see the sink. | STEP 6: Place the tomato in the right sink below the apple,. | END"]} {"id": "trial_T20190908_113043_918944-2", "input": "Put a clean cup 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, -0.25, 0.900, 0.5, 0, 0, 0, [SEP] 1, Pan, 0.707, 2.153, 1.468, 0, 0, 0, 55 [SEP] 2, Potato, 2.591, 1.053, -0.447, 0, 0, 0, 101 [SEP] 3, Potato, 2.838, 1.053, -0.709, 0, 0, 0, 101 [SEP] 4, DishSponge, 2.223, 0.114, 1.119, 0, 0, 0, 82 [SEP] 5, DishSponge, -0.734, 0.820, -1.038, 0, 0, 0, 105 [SEP] 6, ButterKnife, 2.488, 0.911, 1.299, 0, 0, 0, 81 [SEP] 7, Pot, 2.715, 1.567, -0.578, 0, 0, 0, 101 [SEP] 8, Spatula, 2.221, 0.926, 1.383, 0, 0, 0, 81 [SEP] 9, Spatula, -0.983, 0.835, -1.155, 0, 180, 0, 105 [SEP] 10, Cup, 2.900, 1.561, -0.775, 0, 0, 0, 101 [SEP] 11, Cup, 2.962, 1.561, -0.644, 0, 0, 0, 101 [SEP] 12, Cup, 0.103, 1.653, -0.810, 0, 180, 0, 86 [SEP] 13, Egg, 0.570, 1.822, 1.488, 0, 180, 0, 104 [SEP] 14, Egg, 1.155, 0.949, 1.468, 0, 0, 0, 81 [SEP] 15, Bowl, 2.161, 0.112, -0.498, 0, 270, 0, 87 [SEP] 16, Bowl, 2.754, 0.909, 1.299, 0, 0, 0, 81 [SEP] 17, SaltShaker, -0.151, 0.908, 1.129, 0, 0, 0, 57 [SEP] 18, PepperShaker, -0.198, 0.908, 1.044, 0, 0, 0, 57 [SEP] 19, Bread, 2.715, 1.346, -0.644, 0, 0, 0, 101 [SEP] 20, Lettuce, -0.246, 0.992, 1.383, 0, 0, 0, 57 [SEP] 21, Mug, 3.381, 0.835, -0.514, 0, 0, 0, 101 [SEP] 22, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 46 [SEP] 23, SoapBottle, 1.247, 0.120, -0.383, 0, 180, 0, 54 [SEP] 24, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 46 [SEP] 25, Fork, -0.887, 0.821, -1.400, 0, 90, 0, 105 [SEP] 26, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 52 [SEP] 27, Bread, 1.029, 0.953, -0.519, 0, 0, 0, 46 [SEP] 28, Egg, -1.962, 0.461, 1.459, 0, 270, 0, 99 [SEP] 29, Kettle, 1.688, 0.912, 1.299, 0, 0, 0, 81 [SEP] 30, Tomato, 2.962, 1.050, -0.709, 0, 0, 0, 101 [SEP] 31, Cup, 2.770, 1.652, 1.470, 0, 0, 0, 47 [SEP] 32, Spatula, 0.263, 0.780, -0.596, 0, 270, 0, 103 [SEP] 33, Apple, 1.422, 0.980, 1.468, 0, 0, 0, 81 [SEP] 34, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 49 [SEP] 35, Lettuce, 1.155, 0.992, 1.299, 0, 0, 0, 81 [SEP] 36, SaltShaker, 0.888, 0.908, -0.345, 0, 0, 0, 46 [SEP] 37, Knife, -0.983, 0.853, -1.206, 0, 180, 0, 105 [SEP] 38, Potato, 2.221, 0.946, 1.468, 0, 0, 0, 81 [SEP] 39, PepperShaker, 1.955, 0.908, 1.129, 0, 0, 0, 81 [SEP] 40, ButterKnife, 1.141, 0.901, -0.6, 0, 0, 0, 46 [SEP] 41, Bowl, -0.785, 0.818, -1.400, 0, 0, 0, 105 [SEP] 42, DishSponge, 0.862, 1.655, -0.732, 0, 180, 0, 56 [SEP] 43, Spoon, 2.488, 0.912, 1.129, 0, 0, 0, 81 [SEP] 44, Mug, -0.983, 0.815, -1.360, 0, 90, 0, 105 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 107, NorthWall, , , , , , , [SEP] 108, EastWall, , , , , , , [SEP] 109, SouthWall, , , , , , , [SEP] 110, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the sink. | STEP 2: Look up and open the cabinet that's above the left side of the sink and get the cup down from there then close the door. | STEP 3: Take a small step to your right. | STEP 4: Wash the cup in the sink and then pick it back up and shut off the water. | STEP 5: Turn right and then walk two steps then turn left and walk to the small circular table. | STEP 6: Put the cup to the right of the sponge. | END"]} {"id": "trial_T20190908_091212_752278-2", "input": "Put a cooked 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, -1.25, 0.931, -0.75, 0, 0, 0, [SEP] 1, DishSponge, -0.952, 2.027, -1.409, 0, 0, 0, 60 [SEP] 2, ButterKnife, 0.065, 1.043, 0.091, 0, 0, 0, 55 [SEP] 3, ButterKnife, 0.823, 1.046, -1.289, 0, 0, 0, 53 [SEP] 4, Kettle, 0.000, 1.057, -1.4, 0, 0, 0, 52 [SEP] 5, Kettle, -0.670, 0.204, -1.553, 0, 0, 0, 62 [SEP] 6, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 49 [SEP] 7, Pot, 1.512, 1.021, -1.264, 0, 270, 0, 59 [SEP] 8, Fork, 0.657, 1.047, -1.107, 0, 0, 0, 53 [SEP] 9, Fork, -0.346, 1.047, -1.181, 0, 0, 0, 53 [SEP] 10, Spoon, 0.936, 1.054, 0.231, 0, 90, 0, 51 [SEP] 11, Spatula, -0.603, 1.061, -1.289, 0, 0, 0, 53 [SEP] 12, Spatula, 1.181, 1.058, 0.763, 0, 0, 0, 55 [SEP] 13, Egg, -1.096, 1.770, -1.238, 0, 0, 0, 67 [SEP] 14, Cup, 0.712, 0.200, -1.556, 0, 0, 0, 64 [SEP] 15, Cup, 1.211, 0.900, 0.231, 0, 90, 0, 50 [SEP] 16, Plate, -0.548, 1.577, -1.619, 0, 0, 0, 58 [SEP] 17, Tomato, 1.701, 1.094, 0.738, 0, 0, 0, 55 [SEP] 18, Tomato, 0.906, 1.097, -1.181, 0, 0, 0, 53 [SEP] 19, Tomato, -1.366, 1.279, 1.885, 0, 90, 0, 68 [SEP] 20, SoapBottle, 0.936, 1.054, 0.331, 0, 90, 0, 51 [SEP] 21, SoapBottle, 1.897, 1.020, -1.557, 0, 0, 0, 59 [SEP] 22, Bowl, -1.303, 1.488, 2.063, 0, 90, 0, 68 [SEP] 23, Bowl, -1.300, 1.227, 2.153, 0, 90, 0, 68 [SEP] 24, PepperShaker, -1.416, 0.197, -1.555, 0, 0, 0, 61 [SEP] 25, PepperShaker, -0.517, 1.041, -1.181, 0, 0, 0, 53 [SEP] 26, Apple, 1.826, 0.166, 2.414, 0, 270, 0, 69 [SEP] 27, SoapBottle, -1.339, 0.203, -1.265, 0, 0, 0, 61 [SEP] 28, Apple, -1.194, 1.759, -1.269, 0, 0, 0, 67 [SEP] 29, Potato, 0.761, 1.106, 0.331, 0, 90, 0, 51 [SEP] 30, Fork, 0.682, 1.043, 0.589, 0, 0, 0, 55 [SEP] 31, Kettle, 0.120, 1.053, -1.630, 0, 0, 0, 56 [SEP] 32, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 53 [SEP] 33, Tomato, -1.038, 1.279, 2.153, 0, 90, 0, 68 [SEP] 34, SaltShaker, -0.432, 1.041, -1.505, 0, 0, 0, 53 [SEP] 35, Egg, -1.103, 1.282, 1.885, 0, 90, 0, 68 [SEP] 36, Cup, -1.095, 0.964, 1.885, 0, 90, 0, 68 [SEP] 37, Spatula, 1.238, 1.061, -1.505, 0, 90, 0, 53 [SEP] 38, Knife, 0.160, 1.069, 0.630, 0, 0, 0, 55 [SEP] 39, Lettuce, -0.030, 1.103, 0.199, 0, 0, 0, 55 [SEP] 40, ButterKnife, 0.065, 1.043, 0.415, 0, 0, 0, 55 [SEP] 41, PepperShaker, 1.612, 1.038, 0.091, 0, 0, 0, 55 [SEP] 42, DishSponge, -0.689, 1.046, -1.397, 0, 0, 0, 53 [SEP] 43, Plate, 1.188, 1.577, -1.689, 0, 0, 0, 57 [SEP] 44, Bread, 0.406, 1.104, 0.353, 0, 337.138, 0, 55 [SEP] 45, Spoon, 0.516, 1.044, 0.720, 0, 0, 0, 55 [SEP] 46, Pot, 1.512, 0.206, -1.553, 0, 270, 0, 63 [SEP] 47, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 71 [SEP] 48, Bowl, 1.158, 0.198, -1.267, 0, 0, 0, 64 [SEP] 49, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 50, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 51, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 52, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 53, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 55, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 56, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 57, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 58, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 59, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 60, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 61, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 62, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 63, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 64, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 65, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 66, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 67, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 68, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 69, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 70, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 71, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 72, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 73, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 74, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 75, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 76, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 77, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 78, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 79, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 80, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 81, NorthWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , [SEP] 84, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right, go across the room and turn right towards the counter next to the fridge. | STEP 2: Pick up the knife by the tomato. | STEP 3: Move left and closer to the tomato. | STEP 4: Cut the tomato with the knife. | STEP 5: Turn around and head to the sink. | STEP 6: Put the knife in the sink to the left of the green cup. | STEP 7: Turn around and head back to the counter. | STEP 8: Pick up a slice of tomato. | STEP 9: Turn right, go across the room and turn left to the microwave above the oven. | STEP 10: Put the tomato in the microwave, cook it and pick it back up. | STEP 11: Turn left and go the counter to the left of the stove. | STEP 12: Put the slice of tomato on the counter by the corner of the stove. | END"]} {"id": "trial_T20190906_190048_275702-1", "input": "Place the clean spoon in the drawer below the bread. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -0.5, 0, 270, 0, [SEP] 1, DishSponge, 1.209, 0.771, 1.198, 0, 0, 0, 91 [SEP] 2, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 84 [SEP] 3, Kettle, 1.134, 1.655, -0.772, 0, 180, 0, 48 [SEP] 4, ButterKnife, 1.422, 0.911, 1.468, 0, 90, 0, 81 [SEP] 5, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 52 [SEP] 6, Spoon, -0.151, 0.912, 1.468, 0, 0, 0, 57 [SEP] 7, Fork, 1.155, 0.912, 1.383, 0, 0, 0, 81 [SEP] 8, Fork, 1.155, 0.912, 1.129, 0, 0, 0, 81 [SEP] 9, Plate, 2.488, 0.914, 1.383, 0, 0, 0, 81 [SEP] 10, Cup, 2.124, 0.112, -0.538, 0, 180, 0, 87 [SEP] 11, Cup, 0.518, 1.782, 1.423, 0, 180, 0, 104 [SEP] 12, Egg, -0.142, 0.949, -0.330, 0, 0, 0, 46 [SEP] 13, Egg, 2.754, 0.949, 1.468, 0, 0, 0, 81 [SEP] 14, Knife, 0.053, 0.798, -0.651, 0, 180, 0, 103 [SEP] 15, SoapBottle, -0.983, 0.826, -1.155, 0, 180, 0, 105 [SEP] 16, SoapBottle, -1.991, 0.429, 1.459, 0, 270, 0, 99 [SEP] 17, Tomato, 0.193, 0.797, -0.762, 0, 0, 0, 103 [SEP] 18, Tomato, 1.955, 0.942, 1.553, 0, 0, 0, 81 [SEP] 19, PepperShaker, 2.767, 0.110, 1.193, 0, 0, 0, 78 [SEP] 20, Bread, -0.151, 0.969, 1.214, 0, 0, 0, 57 [SEP] 21, Mug, -0.087, 0.760, -0.541, 0, 0, 0, 103 [SEP] 22, Apple, 3.381, 0.909, -0.514, 0, 0, 0, 101 [SEP] 23, SoapBottle, 2.156, 0.917, -0.684, 0, 0, 0, 46 [SEP] 24, Plate, 2.777, 1.566, -0.578, 0, 0, 0, 101 [SEP] 25, Fork, 2.418, 0.771, 1.122, 0, 90, 0, 62 [SEP] 26, Pot, 1.179, 1.659, 1.468, 0, 0, 0, 58 [SEP] 27, Bread, 0.634, 0.969, -0.430, 0, 0, 0, 46 [SEP] 28, Egg, -0.007, 0.949, 1.129, 0, 0, 0, 57 [SEP] 29, Kettle, 1.141, 0.912, -0.430, 0, 0, 0, 46 [SEP] 30, Tomato, 0.888, 0.942, -0.769, 0, 0, 0, 46 [SEP] 31, Cup, 1.792, 0.112, 1.156, 0, 0, 0, 75 [SEP] 32, Spatula, 2.221, 0.926, 1.299, 0, 0, 0, 81 [SEP] 33, Apple, -0.911, 0.889, -1.360, 0, 90, 0, 105 [SEP] 34, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 49 [SEP] 35, Lettuce, 1.688, 0.992, 1.468, 0, 0, 0, 81 [SEP] 36, SaltShaker, -1.056, 0.817, -1.411, 0, 90, 0, 105 [SEP] 37, Knife, 1.955, 0.944, 1.129, 0, 0, 0, 81 [SEP] 38, Potato, -0.621, 0.855, -1.257, 0, 90, 0, 105 [SEP] 39, PepperShaker, -0.911, 0.817, -1.257, 0, 90, 0, 105 [SEP] 40, ButterKnife, 1.688, 0.911, 1.129, 0, 0, 0, 81 [SEP] 41, Bowl, 2.900, 1.017, -0.709, 0, 0, 0, 101 [SEP] 42, DishSponge, -0.766, 0.820, -1.411, 0, 90, 0, 105 [SEP] 43, Spoon, -0.694, 0.822, -1.360, 0, 90, 0, 105 [SEP] 44, Mug, 2.838, 0.720, -0.535, 0, 0, 0, 101 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 107, NorthWall, , , , , , , [SEP] 108, EastWall, , , , , , , [SEP] 109, SouthWall, , , , , , , [SEP] 110, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and head towards the loaf of bread on the counter on your right. | STEP 2: Pick up the spoon behind the loaf of bread. | STEP 3: Turn around and walk towards the sink. | STEP 4: Place the spoon in the sink, turn on the faucet, wash the spoon, turn off the faucet, and pick up the spoon. | STEP 5: Turn around and face the bread on the counter. | STEP 6: Open the drawer below the bread, place the spoon in it, and close the drawer. | END"]} {"id": "trial_T20190909_101039_777074-0", "input": "Move the pencil from the table to the top of the cabinet under the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.909, -3.0, 0, 90, 0, [SEP] 1, CD, -3.539, 0.979, -3.874, 0, 0, 0, 42 [SEP] 2, CellPhone, -0.862, 0.803, -4.029, 0, 0, 0, 39 [SEP] 3, CellPhone, -3.834, 0.979, -3.673, 0, 0, 0, 42 [SEP] 4, Pencil, -0.657, 0.807, -4.354, 0, 0, 0, 39 [SEP] 5, CreditCard, -1.066, 0.803, -4.246, 0, 0, 0, 39 [SEP] 6, CreditCard, -3.638, 0.614, -3.184, 0, 0, 0, 43 [SEP] 7, Book, -1.270, 0.800, -4.137, 0, 0, 0, 39 [SEP] 8, Book, -0.453, 0.804, -3.811, 0, 0, 0, 39 [SEP] 9, AlarmClock, -0.862, 0.800, -4.354, 0, 0, 0, 39 [SEP] 10, AlarmClock, -0.418, 0.542, -3.713, 0, 0, 0, 39 [SEP] 11, Book, -3.760, 0.980, -3.070, 0, 0, 0, 42 [SEP] 12, CellPhone, -1.066, 0.800, -3.811, 0, 0, 0, 39 [SEP] 13, Laptop, -3.191, 0.618, -1.793, 0, 0, 0, 24 [SEP] 14, CreditCard, -3.760, 0.981, -4.075, 0, 0, 0, 42 [SEP] 15, AlarmClock, -3.834, 0.979, -3.472, 0, 0, 0, 42 [SEP] 16, KeyChain, -3.760, 0.980, -3.271, 0, 0, 0, 42 [SEP] 17, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 24 [SEP] 18, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 19, Pencil, -0.453, 0.803, -4.029, 0, 0, 0, 39 [SEP] 20, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 24 [SEP] 21, CD, -3.613, 0.980, -4.075, 0, 0, 0, 42 [SEP] 22, Pen, -0.862, 0.805, -3.811, 0, 90, 0, 39 [SEP] 23, Mug, -1.066, 0.798, -4.137, 0, 0, 0, 39 [SEP] 24, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 25, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 26, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 27, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 28, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 29, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 30, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 31, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 32, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 33, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 34, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 35, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 36, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 37, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 38, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 39, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 40, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 41, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 42, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 51, NorthWall, , , , , , , [SEP] 52, EastWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, WestWall, , , , , , , ", "output": ["STEP 1: Go to the wall then turn right to face the table | STEP 2: Pick up the pencil that is to the left of the alarm clock at the back of the table | STEP 3: Turn around and take a step then turn around again to face the table | STEP 4: Put the pencil on top of the cabinet under the table | END"]} {"id": "trial_T20190909_101039_777074-1", "input": "Move the yellow pencil from the desk to the drawers underneath. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.909, -3.0, 0, 90, 0, [SEP] 1, CD, -3.539, 0.979, -3.874, 0, 0, 0, 42 [SEP] 2, CellPhone, -0.862, 0.803, -4.029, 0, 0, 0, 39 [SEP] 3, CellPhone, -3.834, 0.979, -3.673, 0, 0, 0, 42 [SEP] 4, Pencil, -0.657, 0.807, -4.354, 0, 0, 0, 39 [SEP] 5, CreditCard, -1.066, 0.803, -4.246, 0, 0, 0, 39 [SEP] 6, CreditCard, -3.638, 0.614, -3.184, 0, 0, 0, 43 [SEP] 7, Book, -1.270, 0.800, -4.137, 0, 0, 0, 39 [SEP] 8, Book, -0.453, 0.804, -3.811, 0, 0, 0, 39 [SEP] 9, AlarmClock, -0.862, 0.800, -4.354, 0, 0, 0, 39 [SEP] 10, AlarmClock, -0.418, 0.542, -3.713, 0, 0, 0, 39 [SEP] 11, Book, -3.760, 0.980, -3.070, 0, 0, 0, 42 [SEP] 12, CellPhone, -1.066, 0.800, -3.811, 0, 0, 0, 39 [SEP] 13, Laptop, -3.191, 0.618, -1.793, 0, 0, 0, 24 [SEP] 14, CreditCard, -3.760, 0.981, -4.075, 0, 0, 0, 42 [SEP] 15, AlarmClock, -3.834, 0.979, -3.472, 0, 0, 0, 42 [SEP] 16, KeyChain, -3.760, 0.980, -3.271, 0, 0, 0, 42 [SEP] 17, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 24 [SEP] 18, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 19, Pencil, -0.453, 0.803, -4.029, 0, 0, 0, 39 [SEP] 20, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 24 [SEP] 21, CD, -3.613, 0.980, -4.075, 0, 0, 0, 42 [SEP] 22, Pen, -0.862, 0.805, -3.811, 0, 90, 0, 39 [SEP] 23, Mug, -1.066, 0.798, -4.137, 0, 0, 0, 39 [SEP] 24, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 25, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 26, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 27, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 28, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 29, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 30, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 31, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 32, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 33, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 34, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 35, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 36, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 37, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 38, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 39, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 40, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 41, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 42, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 51, NorthWall, , , , , , , [SEP] 52, EastWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward and make a right to walk to the desk. | STEP 2: Pick up a yellow pencil from the desk. | STEP 3: Move to face the drawers below the desk. | STEP 4: Set the pencil down on top of the drawers below the desk. | END"]} {"id": "trial_T20190908_113425_489359-2", "input": "Examine the mug 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, -1.5, 0.909, -2.5, 0, 90, 0, [SEP] 1, CD, -0.249, 0.799, -4.029, 0, 0, 0, 43 [SEP] 2, CD, -3.470, 0.418, -4.255, 0, 0, 0, 49 [SEP] 3, CellPhone, -3.191, 0.620, -1.793, 0, 0, 0, 28 [SEP] 4, Pen, -3.613, 0.986, -3.070, 0, 0, 0, 46 [SEP] 5, Pen, -3.760, 0.986, -4.075, 0, 0, 0, 46 [SEP] 6, Pencil, -1.850, 0.065, -3.901, 0, 279.990, 0, 32 [SEP] 7, Pencil, -3.760, 0.983, -3.874, 0, 0, 0, 46 [SEP] 8, CreditCard, -1.270, 0.803, -3.811, 0, 0, 0, 43 [SEP] 9, KeyChain, -3.467, 0.045, -3.977, 0, 0, 0, 51 [SEP] 10, KeyChain, -0.578, 0.190, -3.779, 0, 0, 0, 38 [SEP] 11, Book, -3.613, 0.981, -4.276, 0, 0, 0, 46 [SEP] 12, Book, -3.687, 0.980, -3.673, 0, 0, 0, 46 [SEP] 13, Pillow, -2.981, 0.722, -2.080, 0, 0, 0, 28 [SEP] 14, AlarmClock, -1.474, 0.800, -3.920, 0, 0, 0, 43 [SEP] 15, Book, -3.834, 0.980, -3.271, 0, 0, 0, 46 [SEP] 16, CellPhone, -0.453, 0.803, -4.029, 0, 0, 0, 43 [SEP] 17, Laptop, -3.402, 0.618, -1.218, 0, 0, 0, 28 [SEP] 18, CreditCard, -3.580, 0.045, -3.465, 0, 0, 0, 45 [SEP] 19, AlarmClock, -0.329, 0.542, -3.713, 0, 0, 0, 43 [SEP] 20, KeyChain, -1.474, 0.804, -4.137, 0, 0, 0, 43 [SEP] 21, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 28 [SEP] 22, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 23, Pencil, -3.834, 0.984, -3.673, 0, 0, 0, 46 [SEP] 24, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 28 [SEP] 25, CD, -3.908, 0.980, -3.472, 0, 0, 0, 46 [SEP] 26, Pen, -1.066, 0.809, -3.811, 0, 0, 0, 43 [SEP] 27, Mug, -0.862, 0.801, -3.811, 0, 0, 0, 43 [SEP] 28, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 29, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 30, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 31, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 32, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 33, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 34, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 35, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 36, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 37, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 38, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 39, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 40, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 41, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 42, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 43, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 44, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 45, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 46, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 51, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 52, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 53, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 54, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your right and face the table | STEP 2: Pick up the mug on the table | STEP 3: Turn right then walk forward, turn left face the lamp | STEP 4: Turn on the lamp | END"]} {"id": "trial_T20190908_220912_262481-1", "input": "To move two newspapers to the chair on the side of the room. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, -1.0, 0, 180, 0, [SEP] 1, Watch, 1.891, 0.870, 0.643, 0, 90, 0, 39 [SEP] 2, Watch, -0.582, 0.360, -0.609, 0, 90, 0, 32 [SEP] 3, Newspaper, 1.766, 0.868, 0.537, 0, 90, 0, 39 [SEP] 4, Newspaper, -0.411, 0.550, -0.451, 0, 270, 0, 33 [SEP] 5, CreditCard, -1.100, 0.359, -0.609, 0, 90, 0, 42 [SEP] 6, CreditCard, 1.522, 0.277, -0.435, 0, 0, 0, 41 [SEP] 7, RemoteControl, 1.849, 0.872, 0.326, 0, 90, 0, 39 [SEP] 8, RemoteControl, -0.323, 0.358, -0.544, 0, 90, 0, 32 [SEP] 9, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 41 [SEP] 10, KeyChain, -0.323, 0.361, -0.152, 0, 270, 0, 30 [SEP] 11, Watch, -0.323, 0.038, -0.185, 0, 270, 0, Floor|+00.00| [SEP] 12, Newspaper, -0.260, 0.550, -0.278, 0, 270, 0, 33 [SEP] 13, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 35 [SEP] 14, CreditCard, -0.922, 0.293, -1.771, 0, 0, 0, 35 [SEP] 15, RemoteControl, 1.808, 0.871, 0.114, 0, 90, 0, 39 [SEP] 16, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 33 [SEP] 17, Statue, -0.561, 0.562, -0.192, 0, 0, 0, 33 [SEP] 18, Statue, -0.561, 0.562, -0.537, 0, 270, 0, 33 [SEP] 19, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 20, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 21, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 22, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 23, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 24, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 25, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 26, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 27, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 28, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 29, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 30, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 31, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 32, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 33, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 34, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 35, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 36, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 37, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 38, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 39, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 40, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 41, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 42, , , , , , , , [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, WestWall, , , , , , , ", "output": ["STEP 1: TUrn around and step forward to face the living room table. | STEP 2: Pick up the newspaper on the living room table. | STEP 3: Turn right and step forward to face the chair. | STEP 4: Place the newspaper in the chair. | STEP 5: Take a step to the left to face the table to the left of the chair. | STEP 6: Pick up the newspaper on the table. | STEP 7: Take a step to the right to face the chair. | STEP 8: Place the newspaper next to the first newspaper in the chair. | END"]} {"id": "trial_T20190907_223211_131783-2", "input": "Take the box near the TV, put it 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, -5.5, 0.901, 1.75, 0, 0, 0, [SEP] 1, Bowl, -5.917, 0.881, 3.757, 0, 0, 0, 52 [SEP] 2, Newspaper, -0.789, 0.431, 3.306, 0, 0, 0, 42 [SEP] 3, Newspaper, -0.868, 0.365, 3.306, 0, 0, 0, 42 [SEP] 4, KeyChain, -0.868, 0.433, 4.219, 0, 90, 0, 42 [SEP] 5, KeyChain, -2.474, 0.147, 7.122, 0, 90, 0, 53 [SEP] 6, RemoteControl, -2.561, 0.536, 3.607, 0, 270, 0, 59 [SEP] 7, RemoteControl, -0.789, 0.369, 3.915, 0, 0, 0, 42 [SEP] 8, Box, -3.328, 1.443, 7.171, 0, 90, 0, 58 [SEP] 9, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 53 [SEP] 10, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 58 [SEP] 11, Vase, -5.960, 0.453, 4.152, 0, 0, 0, 54 [SEP] 12, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 54 [SEP] 13, Newspaper, -2.352, 0.532, 4.480, 0, 270, 0, 59 [SEP] 14, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 59 [SEP] 15, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 16, Vase, -0.687, 0.794, 1.626, 0, 270, 0, 44 [SEP] 17, CreditCard, -2.631, 0.533, 3.752, 0, 270, 0, 59 [SEP] 18, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 56 [SEP] 19, KeyChain, -2.811, 0.534, 4.231, 0, 0, 0, 59 [SEP] 20, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 54 [SEP] 21, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 54 [SEP] 22, Bowl, -5.917, 0.881, 4.547, 0, 0, 0, 52 [SEP] 23, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 42 [SEP] 24, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 56 [SEP] 25, RemoteControl, -0.789, 0.369, 3.002, 0, 0, 0, 42 [SEP] 26, Watch, -0.433, 0.793, 2.377, 0, 270, 0, 44 [SEP] 27, Statue, -2.352, 0.540, 3.752, 0, 270, 0, 59 [SEP] 28, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 56 [SEP] 29, Statue, -5.950, 0.156, 4.349, 0, 0, 0, 49 [SEP] 30, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 58 [SEP] 31, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 32, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 33, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 34, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 35, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 36, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 37, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 38, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 39, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 40, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 41, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 42, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 43, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 44, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 45, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 46, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 47, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 48, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 49, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 50, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 51, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 52, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 53, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 54, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 55, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 56, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 57, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 58, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 59, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 60, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: Head straight to the TV in the corner | STEP 2: Pick up the box from the floor next to the TV | STEP 3: Turn around, head across the living room | STEP 4: Put the box on the couch | END"]} {"id": "trial_T20190907_002204_489147-1", "input": "Place the two tissue boxes from the shelf on 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, -0.75, 0.903, 0.25, 0, 90, 0, [SEP] 1, TissueBox, -0.980, 0.289, 2.127, 0, 0, 0, 27 [SEP] 2, Cloth, 0.206, 0.048, 0.384, 0, 0, 0, 30 [SEP] 3, Cloth, 0.371, 0.048, 0.839, 0, 0, 0, 30 [SEP] 4, SoapBar, -1.471, 1.772, 2.157, 0, 0, 0, 29 [SEP] 5, SoapBar, 0.206, 0.043, 1.295, 0, 0, 0, 30 [SEP] 6, SprayBottle, -1.144, 1.071, 2.217, 0, 0, 0, 31 [SEP] 7, SoapBottle, -1.471, 1.072, 2.187, 0, 0, 0, 31 [SEP] 8, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 33 [SEP] 9, ToiletPaper, -0.248, 0.606, -0.366, 0, 315, 0, 23 [SEP] 10, Candle, -1.308, 1.111, 2.217, 0, 0, 0, 31 [SEP] 11, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 32 [SEP] 12, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 13, SoapBar, 0.289, 0.043, -0.071, 0, 0, 0, 30 [SEP] 14, ToiletPaper, -1.308, 1.066, 2.127, 0, 0, 0, 31 [SEP] 15, SoapBottle, -1.308, 0.291, 2.187, 0, 0, 0, 27 [SEP] 16, TissueBox, -1.461, 0.278, 2.145, 0, 0, 0, 27 [SEP] 17, Cloth, -0.980, 1.074, 2.127, 0, 0, 0, 31 [SEP] 18, ToiletPaper, -0.653, 0.285, 2.217, 0, 0, 0, 27 [SEP] 19, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 25 [SEP] 20, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 21, SprayBottle, -1.308, 1.774, 2.187, 0, 0, 0, 29 [SEP] 22, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 23, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 24, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 25, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 26, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 27, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 28, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 29, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 30, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 31, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 32, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 33, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 34, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 35, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 36, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 37, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 38, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 39, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 40, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk straight towards the shelves on the wall. | STEP 2: Pick up the left tissue box on the bottom shelf. | STEP 3: Turn around and head towards the toilet. | STEP 4: Place the tissue box on the toilet basin. | STEP 5: Turn around and walk towards the shelves. | STEP 6: Pick up the tissue box on the bottom shelf. | STEP 7: Turn around and head towards the toilet. | STEP 8: Place the tissue box to the left of the first tissue box. | END"]} {"id": "trial_T20190909_004116_598075-1", "input": "Move a pen to the top of a set of 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, 0.909, -3.75, 0, 90, 0, [SEP] 1, Mug, -3.613, 0.977, -3.874, 0, 0, 0, 44 [SEP] 2, Mug, -3.687, 0.977, -4.075, 0, 0, 0, 44 [SEP] 3, CD, -3.466, 0.980, -3.472, 0, 0, 0, 44 [SEP] 4, CD, -3.539, 0.980, -3.673, 0, 0, 0, 44 [SEP] 5, CellPhone, -3.687, 0.981, -3.271, 0, 0, 0, 44 [SEP] 6, Pen, -1.066, 0.809, -4.246, 0, 0, 0, 41 [SEP] 7, Pencil, -3.834, 0.984, -4.075, 0, 0, 0, 44 [SEP] 8, Pencil, -0.657, 0.803, -4.029, 0, 0, 0, 41 [SEP] 9, KeyChain, -3.469, 0.227, -2.999, 0, 0, 0, 46 [SEP] 10, Book, -3.582, 0.227, -3.278, 0, 0, 0, 46 [SEP] 11, Book, -3.613, 0.620, -1.506, 0, 0, 0, 26 [SEP] 12, AlarmClock, -3.539, 0.981, -4.276, 0, 0, 0, 44 [SEP] 13, Book, -1.270, 0.804, -4.246, 0, 0, 0, 41 [SEP] 14, CellPhone, -3.694, 0.614, -3.885, 0, 0, 0, 50 [SEP] 15, Laptop, -3.687, 0.979, -3.070, 0, 0, 0, 44 [SEP] 16, CreditCard, -3.694, 0.225, -3.884, 0, 0, 0, 48 [SEP] 17, AlarmClock, -3.760, 0.979, -3.472, 0, 0, 0, 44 [SEP] 18, KeyChain, -0.240, 0.543, -3.731, 0, 0, 0, 35 [SEP] 19, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 26 [SEP] 20, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 21, Pencil, -1.270, 0.803, -3.703, 0, 0, 0, 41 [SEP] 22, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 26 [SEP] 23, CD, -3.466, 0.979, -4.075, 0, 0, 0, 44 [SEP] 24, Pen, -0.862, 0.805, -4.029, 0, 0, 0, 41 [SEP] 25, Mug, -3.760, 0.977, -3.673, 0, 0, 0, 44 [SEP] 26, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 27, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 28, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 29, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 30, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 31, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 32, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 33, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 34, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 35, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 36, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 37, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 38, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 39, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 40, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 41, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 42, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 43, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 44, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 51, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 52, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 53, NorthWall, , , , , , , [SEP] 54, EastWall, , , , , , , [SEP] 55, SouthWall, , , , , , , [SEP] 56, WestWall, , , , , , , ", "output": ["STEP 1: Walk over to face the front of the desk. | STEP 2: Pick up the pen that is the closest to the front of the desk. | STEP 3: Move back a bit until you can see the drawers under the desk. | STEP 4: Place the pen on top of the drawers, on the right hand side. | END"]} {"id": "trial_T20190909_004116_598075-2", "input": "To move a pen to the drawer 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, -2.75, 0.909, -3.75, 0, 90, 0, [SEP] 1, Mug, -3.613, 0.977, -3.874, 0, 0, 0, 44 [SEP] 2, Mug, -3.687, 0.977, -4.075, 0, 0, 0, 44 [SEP] 3, CD, -3.466, 0.980, -3.472, 0, 0, 0, 44 [SEP] 4, CD, -3.539, 0.980, -3.673, 0, 0, 0, 44 [SEP] 5, CellPhone, -3.687, 0.981, -3.271, 0, 0, 0, 44 [SEP] 6, Pen, -1.066, 0.809, -4.246, 0, 0, 0, 41 [SEP] 7, Pencil, -3.834, 0.984, -4.075, 0, 0, 0, 44 [SEP] 8, Pencil, -0.657, 0.803, -4.029, 0, 0, 0, 41 [SEP] 9, KeyChain, -3.469, 0.227, -2.999, 0, 0, 0, 46 [SEP] 10, Book, -3.582, 0.227, -3.278, 0, 0, 0, 46 [SEP] 11, Book, -3.613, 0.620, -1.506, 0, 0, 0, 26 [SEP] 12, AlarmClock, -3.539, 0.981, -4.276, 0, 0, 0, 44 [SEP] 13, Book, -1.270, 0.804, -4.246, 0, 0, 0, 41 [SEP] 14, CellPhone, -3.694, 0.614, -3.885, 0, 0, 0, 50 [SEP] 15, Laptop, -3.687, 0.979, -3.070, 0, 0, 0, 44 [SEP] 16, CreditCard, -3.694, 0.225, -3.884, 0, 0, 0, 48 [SEP] 17, AlarmClock, -3.760, 0.979, -3.472, 0, 0, 0, 44 [SEP] 18, KeyChain, -0.240, 0.543, -3.731, 0, 0, 0, 35 [SEP] 19, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 26 [SEP] 20, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 21, Pencil, -1.270, 0.803, -3.703, 0, 0, 0, 41 [SEP] 22, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 26 [SEP] 23, CD, -3.466, 0.979, -4.075, 0, 0, 0, 44 [SEP] 24, Pen, -0.862, 0.805, -4.029, 0, 0, 0, 41 [SEP] 25, Mug, -3.760, 0.977, -3.673, 0, 0, 0, 44 [SEP] 26, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 27, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 28, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 29, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 30, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 31, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 32, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 33, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 34, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 35, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 36, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 37, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 38, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 39, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 40, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 41, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 42, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 43, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 44, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 51, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 52, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 53, NorthWall, , , , , , , [SEP] 54, EastWall, , , , , , , [SEP] 55, SouthWall, , , , , , , [SEP] 56, WestWall, , , , , , , ", "output": ["STEP 1: Walk over to face the front of the desk on the right. | STEP 2: Pick up the pen from the desk to the right of the pencil. | STEP 3: Move further back from the desk and face the drawers below the desk. | STEP 4: Open the top drawer, place the pen inside the drawer, close the drawer. | END"]} {"id": "trial_T20190909_005440_828167-2", "input": "Move two pencils to the dresser drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.0, 0.909, -4.25, 0, 0, 0, [SEP] 1, CD, -3.908, 0.980, -3.874, 0, 0, 0, 43 [SEP] 2, CD, -3.760, 0.979, -3.271, 0, 0, 0, 43 [SEP] 3, CellPhone, -3.466, 0.979, -3.874, 0, 0, 0, 43 [SEP] 4, Pen, -1.270, 0.809, -4.354, 0, 0, 0, 40 [SEP] 5, Pen, -1.474, 0.805, -3.811, 0, 0, 0, 40 [SEP] 6, Pencil, -1.865, 0.065, -3.849, 0, 9.990, 0, 29 [SEP] 7, Pencil, -3.760, 0.983, -3.070, 0, 0, 0, 43 [SEP] 8, CreditCard, -0.453, 0.800, -3.920, 0, 0, 0, 40 [SEP] 9, CreditCard, -0.418, 0.542, -3.694, 0, 0, 0, 34 [SEP] 10, AlarmClock, -0.862, 0.800, -4.246, 0, 0, 0, 40 [SEP] 11, AlarmClock, -3.539, 0.979, -4.276, 0, 0, 0, 43 [SEP] 12, Book, -3.613, 0.980, -3.673, 0, 0, 0, 43 [SEP] 13, CellPhone, -3.191, 0.620, -0.931, 0, 0, 0, 25 [SEP] 14, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 40 [SEP] 15, CreditCard, -0.578, 0.349, -3.811, 0, 0, 0, 34 [SEP] 16, AlarmClock, -0.249, 0.800, -4.029, 0, 0, 0, 40 [SEP] 17, KeyChain, -3.750, 0.810, -3.465, 0, 0, 0, 50 [SEP] 18, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 25 [SEP] 19, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 20, Pencil, -3.834, 0.983, -3.673, 0, 0, 0, 43 [SEP] 21, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 25 [SEP] 22, CD, -1.474, 0.803, -4.029, 0, 0, 0, 40 [SEP] 23, Pen, -0.657, 0.809, -4.137, 0, 90, 0, 40 [SEP] 24, Mug, -0.657, 0.798, -3.811, 0, 0, 0, 40 [SEP] 25, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 26, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 27, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 28, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 29, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 30, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 31, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 32, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 33, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 34, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 35, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 36, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 37, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 38, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 39, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 40, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 41, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 42, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 43, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 51, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and face the desk. | STEP 2: Pick up the pencil from the desk. | STEP 3: Turn around and face the dresser. | STEP 4: Open the bottom left drawer of the dresser, put the pencil in the drawer, and close the drawer. | STEP 5: Look at the top of the dresser. | STEP 6: Pick up the pencil behind the book on the dresser. | STEP 7: Move back from the dresser. | STEP 8: Open the bottom left drawer, put the pencil in the drawer, and close the drawer. | END"]} {"id": "trial_T20190908_070434_862184-0", "input": "Clean off a teapot and place it back on the stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.0, 0.900, 0.25, 0, 90, 0, [SEP] 1, Potato, 2.962, 1.053, -0.709, 0, 0, 0, 101 [SEP] 2, DishSponge, 1.558, 0.114, -0.379, 0, 180, 0, 63 [SEP] 3, DishSponge, 2.205, 0.770, -0.460, 0, 180, 0, 59 [SEP] 4, Kettle, 0.634, 0.912, -0.430, 0, 0, 0, 46 [SEP] 5, Pot, 2.838, 1.292, -0.709, 0, 0, 0, 101 [SEP] 6, Spoon, 0.888, 0.912, -0.430, 0, 0, 0, 46 [SEP] 7, Spoon, -0.694, 0.822, -1.360, 0, 90, 0, 105 [SEP] 8, Fork, -0.227, 0.771, 1.198, 0, 270, 0, 51 [SEP] 9, Spatula, 0.054, 0.926, -0.330, 0, 0, 0, 46 [SEP] 10, Spatula, -0.103, 0.926, 1.044, 0, 0, 0, 57 [SEP] 11, Plate, 2.754, 0.914, 1.299, 0, 0, 0, 81 [SEP] 12, Plate, 1.955, 0.914, 1.383, 0, 0, 0, 81 [SEP] 13, Egg, -0.887, 0.858, -1.400, 0, 0, 0, 105 [SEP] 14, Egg, 2.900, 1.601, -0.512, 0, 0, 0, 101 [SEP] 15, Knife, 2.754, 0.944, 1.129, 0, 0, 0, 81 [SEP] 16, SoapBottle, -0.983, 0.826, -1.360, 0, 90, 0, 105 [SEP] 17, Tomato, 2.653, 1.594, -0.512, 0, 0, 0, 101 [SEP] 18, SaltShaker, 1.213, 0.111, 1.117, 0, 0, 0, 53 [SEP] 19, SaltShaker, -0.983, 0.817, -1.155, 0, 90, 0, 105 [SEP] 20, PepperShaker, -0.621, 0.817, -1.103, 0, 90, 0, 105 [SEP] 21, Lettuce, 2.488, 0.992, 1.214, 0, 0, 0, 81 [SEP] 22, Apple, 1.688, 0.980, 1.383, 0, 0, 0, 81 [SEP] 23, SoapBottle, -0.766, 0.826, -1.257, 0, 90, 0, 105 [SEP] 24, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 71 [SEP] 25, Fork, 1.208, 0.772, -0.498, 0, 90, 0, 65 [SEP] 26, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 52 [SEP] 27, Bread, 2.221, 0.969, 1.299, 0, 0, 0, 81 [SEP] 28, Egg, 0.363, 1.822, 1.488, 0, 180, 0, 104 [SEP] 29, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 61 [SEP] 30, Tomato, 2.962, 0.758, -0.504, 0, 0, 0, 101 [SEP] 31, Cup, 1.451, 0.112, 1.193, 0, 0, 0, 75 [SEP] 32, Spatula, -0.055, 0.926, 1.214, 0, 90, 0, 57 [SEP] 33, Apple, 2.777, 1.087, -0.709, 0, 0, 0, 101 [SEP] 34, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 49 [SEP] 35, Lettuce, -0.198, 0.992, 1.383, 0, 0, 0, 57 [SEP] 36, SaltShaker, -0.766, 0.817, -1.411, 0, 90, 0, 105 [SEP] 37, Knife, -1.056, 0.853, -1.206, 0, 270, 0, 105 [SEP] 38, Potato, -1.962, 0.458, 1.290, 0, 270, 0, 99 [SEP] 39, PepperShaker, 1.896, 0.111, 1.276, 0, 0, 0, 66 [SEP] 40, ButterKnife, 0.634, 0.911, -0.684, 0, 0, 0, 46 [SEP] 41, Bowl, 0.654, 2.151, 1.506, 0, 0, 0, 55 [SEP] 42, DishSponge, -0.151, 0.911, 1.214, 0, 0, 0, 57 [SEP] 43, Spoon, -0.103, 0.912, 1.299, 0, 0, 0, 57 [SEP] 44, Mug, 2.653, 1.558, -0.775, 0, 0, 0, 101 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 107, NorthWall, , , , , , , [SEP] 108, EastWall, , , , , , , [SEP] 109, SouthWall, , , , , , , [SEP] 110, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the stove on your left. | STEP 2: Grab the teapot off the stove. | STEP 3: Walk to the kitchen sink. | STEP 4: Put the teapot in the sink, soak with water, and grab the teapot. | STEP 5: Walk back to the stove that's behind you. | STEP 6: Put the teapot back on the stove. | END"]} {"id": "trial_T20190908_070434_862184-2", "input": "Place clean kettle behind large pot on stove SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.0, 0.900, 0.25, 0, 90, 0, [SEP] 1, Potato, 2.962, 1.053, -0.709, 0, 0, 0, 101 [SEP] 2, DishSponge, 1.558, 0.114, -0.379, 0, 180, 0, 63 [SEP] 3, DishSponge, 2.205, 0.770, -0.460, 0, 180, 0, 59 [SEP] 4, Kettle, 0.634, 0.912, -0.430, 0, 0, 0, 46 [SEP] 5, Pot, 2.838, 1.292, -0.709, 0, 0, 0, 101 [SEP] 6, Spoon, 0.888, 0.912, -0.430, 0, 0, 0, 46 [SEP] 7, Spoon, -0.694, 0.822, -1.360, 0, 90, 0, 105 [SEP] 8, Fork, -0.227, 0.771, 1.198, 0, 270, 0, 51 [SEP] 9, Spatula, 0.054, 0.926, -0.330, 0, 0, 0, 46 [SEP] 10, Spatula, -0.103, 0.926, 1.044, 0, 0, 0, 57 [SEP] 11, Plate, 2.754, 0.914, 1.299, 0, 0, 0, 81 [SEP] 12, Plate, 1.955, 0.914, 1.383, 0, 0, 0, 81 [SEP] 13, Egg, -0.887, 0.858, -1.400, 0, 0, 0, 105 [SEP] 14, Egg, 2.900, 1.601, -0.512, 0, 0, 0, 101 [SEP] 15, Knife, 2.754, 0.944, 1.129, 0, 0, 0, 81 [SEP] 16, SoapBottle, -0.983, 0.826, -1.360, 0, 90, 0, 105 [SEP] 17, Tomato, 2.653, 1.594, -0.512, 0, 0, 0, 101 [SEP] 18, SaltShaker, 1.213, 0.111, 1.117, 0, 0, 0, 53 [SEP] 19, SaltShaker, -0.983, 0.817, -1.155, 0, 90, 0, 105 [SEP] 20, PepperShaker, -0.621, 0.817, -1.103, 0, 90, 0, 105 [SEP] 21, Lettuce, 2.488, 0.992, 1.214, 0, 0, 0, 81 [SEP] 22, Apple, 1.688, 0.980, 1.383, 0, 0, 0, 81 [SEP] 23, SoapBottle, -0.766, 0.826, -1.257, 0, 90, 0, 105 [SEP] 24, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 71 [SEP] 25, Fork, 1.208, 0.772, -0.498, 0, 90, 0, 65 [SEP] 26, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 52 [SEP] 27, Bread, 2.221, 0.969, 1.299, 0, 0, 0, 81 [SEP] 28, Egg, 0.363, 1.822, 1.488, 0, 180, 0, 104 [SEP] 29, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 61 [SEP] 30, Tomato, 2.962, 0.758, -0.504, 0, 0, 0, 101 [SEP] 31, Cup, 1.451, 0.112, 1.193, 0, 0, 0, 75 [SEP] 32, Spatula, -0.055, 0.926, 1.214, 0, 90, 0, 57 [SEP] 33, Apple, 2.777, 1.087, -0.709, 0, 0, 0, 101 [SEP] 34, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 49 [SEP] 35, Lettuce, -0.198, 0.992, 1.383, 0, 0, 0, 57 [SEP] 36, SaltShaker, -0.766, 0.817, -1.411, 0, 90, 0, 105 [SEP] 37, Knife, -1.056, 0.853, -1.206, 0, 270, 0, 105 [SEP] 38, Potato, -1.962, 0.458, 1.290, 0, 270, 0, 99 [SEP] 39, PepperShaker, 1.896, 0.111, 1.276, 0, 0, 0, 66 [SEP] 40, ButterKnife, 0.634, 0.911, -0.684, 0, 0, 0, 46 [SEP] 41, Bowl, 0.654, 2.151, 1.506, 0, 0, 0, 55 [SEP] 42, DishSponge, -0.151, 0.911, 1.214, 0, 0, 0, 57 [SEP] 43, Spoon, -0.103, 0.912, 1.299, 0, 0, 0, 57 [SEP] 44, Mug, 2.653, 1.558, -0.775, 0, 0, 0, 101 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 107, NorthWall, , , , , , , [SEP] 108, EastWall, , , , , , , [SEP] 109, SouthWall, , , , , , , [SEP] 110, WestWall, , , , , , , ", "output": ["STEP 1: turn around, go to stove on the right | STEP 2: pick up kettle from behind large round pot on stove | STEP 3: turn around, face sink | STEP 4: place kettle in sink, turn on water, pick up kettle from sink | STEP 5: turn around, face stove | STEP 6: place kettle behind large round pot on stove | END"]} {"id": "trial_T20190908_213522_775941-2", "input": "Place the two watches in the drawer 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, -2.25, 0.900, 0.25, 0, 0, 0, [SEP] 1, Statue, -0.260, 0.562, -0.451, 0, 270, 0, 29 [SEP] 2, Watch, -0.411, 0.552, -0.623, 0, 270, 0, 29 [SEP] 3, Watch, -0.411, 0.552, -0.278, 0, 270, 0, 29 [SEP] 4, CreditCard, 1.933, 0.869, 0.643, 0, 90, 0, 35 [SEP] 5, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 37 [SEP] 6, KeyChain, -0.411, 0.553, -0.365, 0, 270, 0, 29 [SEP] 7, Watch, -0.260, 0.552, -0.278, 0, 270, 0, 29 [SEP] 8, Newspaper, -0.970, 0.036, -0.185, 0, 270, 0, 25 [SEP] 9, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 31 [SEP] 10, CreditCard, -0.712, 0.200, -0.544, 0, 90, 0, 30 [SEP] 11, RemoteControl, 1.808, 0.872, 0.008, 0, 90, 0, 35 [SEP] 12, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 29 [SEP] 13, Statue, 1.682, 0.880, 0.325, 0, 90, 0, 35 [SEP] 14, Statue, -0.561, 0.562, -0.537, 0, 270, 0, 29 [SEP] 15, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 16, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 17, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 18, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 19, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 20, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 21, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 22, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 23, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 24, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 25, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 26, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 29, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 30, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 31, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 32, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 33, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 34, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 35, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 36, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 37, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and step forward and turn right to face the living room table. | STEP 2: Pick up the watch on the living room table. | STEP 3: Turn left and walk forward to face the desk. | STEP 4: Place the watch in the drawer of the desk. | STEP 5: Turn around and walk forward and turn left to face the living room table. | STEP 6: Pick up the watch on the living room table. | STEP 7: Turn left and walk forward to face the desk. | STEP 8: Place the watch in the drawer with the first watch. | END"]} {"id": "trial_T20190906_175851_641650-1", "input": "Put a cleaned rag on the shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.903, 0.25, 0, 270, 0, [SEP] 1, TissueBox, -0.980, 0.289, 2.157, 0, 0, 0, 24 [SEP] 2, TissueBox, -0.653, 1.070, 2.127, 0, 0, 0, 28 [SEP] 3, Cloth, 0.371, 0.048, 0.839, 0, 0, 0, 27 [SEP] 4, Candle, -1.144, 1.814, 2.247, 0, 0, 0, 26 [SEP] 5, SprayBottle, -1.686, 0.082, -0.549, 0, 270, 0, 31 [SEP] 6, SprayBottle, -2.343, 1.048, -0.644, 0, 0, 0, 33 [SEP] 7, Candle, -0.212, 0.650, 1.742, 0, 45, 0, 20 [SEP] 8, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 29 [SEP] 9, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 10, SoapBar, -1.635, 1.069, 2.127, 0, 0, 0, 28 [SEP] 11, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 23 [SEP] 12, SoapBottle, -0.980, 1.775, 2.127, 0, 0, 0, 26 [SEP] 13, TissueBox, -1.144, 1.070, 2.097, 0, 0, 0, 28 [SEP] 14, Cloth, 0.289, 0.048, 0.611, 0, 0, 0, 27 [SEP] 15, ToiletPaper, -0.980, 1.066, 2.127, 0, 0, 0, 28 [SEP] 16, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 22 [SEP] 17, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 18, SprayBottle, -2.146, 1.048, -0.736, 0, 0, 0, 33 [SEP] 19, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 20, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 21, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 22, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 23, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 24, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 25, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 26, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 27, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 28, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 29, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 30, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 31, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 32, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 33, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 34, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 35, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 36, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 37, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: move to the tub to the left of you | STEP 2: pick up a rag from the tub | STEP 3: move to the sink to the right | STEP 4: clean the rag in the sink | STEP 5: move to the shelf behind you | STEP 6: put the rag on the shelf | END"]} {"id": "trial_T20190906_175851_641650-2", "input": "Put a wet wash cloth on a shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.903, 0.25, 0, 270, 0, [SEP] 1, TissueBox, -0.980, 0.289, 2.157, 0, 0, 0, 24 [SEP] 2, TissueBox, -0.653, 1.070, 2.127, 0, 0, 0, 28 [SEP] 3, Cloth, 0.371, 0.048, 0.839, 0, 0, 0, 27 [SEP] 4, Candle, -1.144, 1.814, 2.247, 0, 0, 0, 26 [SEP] 5, SprayBottle, -1.686, 0.082, -0.549, 0, 270, 0, 31 [SEP] 6, SprayBottle, -2.343, 1.048, -0.644, 0, 0, 0, 33 [SEP] 7, Candle, -0.212, 0.650, 1.742, 0, 45, 0, 20 [SEP] 8, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 29 [SEP] 9, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 10, SoapBar, -1.635, 1.069, 2.127, 0, 0, 0, 28 [SEP] 11, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 23 [SEP] 12, SoapBottle, -0.980, 1.775, 2.127, 0, 0, 0, 26 [SEP] 13, TissueBox, -1.144, 1.070, 2.097, 0, 0, 0, 28 [SEP] 14, Cloth, 0.289, 0.048, 0.611, 0, 0, 0, 27 [SEP] 15, ToiletPaper, -0.980, 1.066, 2.127, 0, 0, 0, 28 [SEP] 16, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 22 [SEP] 17, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 18, SprayBottle, -2.146, 1.048, -0.736, 0, 0, 0, 33 [SEP] 19, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 20, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 21, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 22, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 23, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 24, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 25, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 26, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 27, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 28, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 29, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 30, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 31, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 32, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 33, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 34, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 35, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 36, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 37, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and take a step to your left. | STEP 2: Pick up the wash cloth that's to the right of the other one. | STEP 3: Turn around and take two steps then turn left and walk to the garbage that's to the left of the toilet. | STEP 4: Get the cloth wet in the sink. | STEP 5: Turn around and walk to the shelves. | STEP 6: Put the wet cloth to the left of the tissues on the bottom shelf. | END"]} {"id": "trial_T20190906_175851_641650-3", "input": "Place a wet wash cloth on a shelf in the bathroom. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.903, 0.25, 0, 270, 0, [SEP] 1, TissueBox, -0.980, 0.289, 2.157, 0, 0, 0, 24 [SEP] 2, TissueBox, -0.653, 1.070, 2.127, 0, 0, 0, 28 [SEP] 3, Cloth, 0.371, 0.048, 0.839, 0, 0, 0, 27 [SEP] 4, Candle, -1.144, 1.814, 2.247, 0, 0, 0, 26 [SEP] 5, SprayBottle, -1.686, 0.082, -0.549, 0, 270, 0, 31 [SEP] 6, SprayBottle, -2.343, 1.048, -0.644, 0, 0, 0, 33 [SEP] 7, Candle, -0.212, 0.650, 1.742, 0, 45, 0, 20 [SEP] 8, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 29 [SEP] 9, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 10, SoapBar, -1.635, 1.069, 2.127, 0, 0, 0, 28 [SEP] 11, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 23 [SEP] 12, SoapBottle, -0.980, 1.775, 2.127, 0, 0, 0, 26 [SEP] 13, TissueBox, -1.144, 1.070, 2.097, 0, 0, 0, 28 [SEP] 14, Cloth, 0.289, 0.048, 0.611, 0, 0, 0, 27 [SEP] 15, ToiletPaper, -0.980, 1.066, 2.127, 0, 0, 0, 28 [SEP] 16, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 22 [SEP] 17, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 18, SprayBottle, -2.146, 1.048, -0.736, 0, 0, 0, 33 [SEP] 19, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 20, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 21, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 22, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 23, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 24, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 25, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 26, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 27, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 28, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 29, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 30, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 31, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 32, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 33, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 34, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 35, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 36, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 37, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the center of the tub. | STEP 2: Pick up the yellow wash cloth to the right of another. | STEP 3: Turn around and walk so you are facing the garbage to the left of the toilet. | STEP 4: Put the wash cloth in the sink and get it wet. | STEP 5: Turn around and make your way to the shelf running along the wall on the floor. | STEP 6: Place the wash cloth to the left of the box of tissues. | END"]} {"id": "trial_T20190906_175851_641650-4", "input": "Place a clean rag on the bathroom shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.903, 0.25, 0, 270, 0, [SEP] 1, TissueBox, -0.980, 0.289, 2.157, 0, 0, 0, 24 [SEP] 2, TissueBox, -0.653, 1.070, 2.127, 0, 0, 0, 28 [SEP] 3, Cloth, 0.371, 0.048, 0.839, 0, 0, 0, 27 [SEP] 4, Candle, -1.144, 1.814, 2.247, 0, 0, 0, 26 [SEP] 5, SprayBottle, -1.686, 0.082, -0.549, 0, 270, 0, 31 [SEP] 6, SprayBottle, -2.343, 1.048, -0.644, 0, 0, 0, 33 [SEP] 7, Candle, -0.212, 0.650, 1.742, 0, 45, 0, 20 [SEP] 8, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 29 [SEP] 9, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 10, SoapBar, -1.635, 1.069, 2.127, 0, 0, 0, 28 [SEP] 11, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 23 [SEP] 12, SoapBottle, -0.980, 1.775, 2.127, 0, 0, 0, 26 [SEP] 13, TissueBox, -1.144, 1.070, 2.097, 0, 0, 0, 28 [SEP] 14, Cloth, 0.289, 0.048, 0.611, 0, 0, 0, 27 [SEP] 15, ToiletPaper, -0.980, 1.066, 2.127, 0, 0, 0, 28 [SEP] 16, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 22 [SEP] 17, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 18, SprayBottle, -2.146, 1.048, -0.736, 0, 0, 0, 33 [SEP] 19, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 20, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 21, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 22, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 23, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 24, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 25, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 26, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 27, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 28, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 29, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 30, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 31, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 32, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 33, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 34, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 35, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 36, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 37, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the bath tub. | STEP 2: Pick up the dirty rag on the right inside of the bath tub. | STEP 3: Turn around, then walk across the room and turn left towards the sink. | STEP 4: Rinse the dirty rag in the sink. | STEP 5: Pick up the rag, then turn around and walk towards the shelves. | STEP 6: Place the rag on the bottom shelf. | END"]} {"id": "trial_T20190906_175851_641650-5", "input": "Put a washed rag on a shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.903, 0.25, 0, 270, 0, [SEP] 1, TissueBox, -0.980, 0.289, 2.157, 0, 0, 0, 24 [SEP] 2, TissueBox, -0.653, 1.070, 2.127, 0, 0, 0, 28 [SEP] 3, Cloth, 0.371, 0.048, 0.839, 0, 0, 0, 27 [SEP] 4, Candle, -1.144, 1.814, 2.247, 0, 0, 0, 26 [SEP] 5, SprayBottle, -1.686, 0.082, -0.549, 0, 270, 0, 31 [SEP] 6, SprayBottle, -2.343, 1.048, -0.644, 0, 0, 0, 33 [SEP] 7, Candle, -0.212, 0.650, 1.742, 0, 45, 0, 20 [SEP] 8, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 29 [SEP] 9, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 10, SoapBar, -1.635, 1.069, 2.127, 0, 0, 0, 28 [SEP] 11, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 23 [SEP] 12, SoapBottle, -0.980, 1.775, 2.127, 0, 0, 0, 26 [SEP] 13, TissueBox, -1.144, 1.070, 2.097, 0, 0, 0, 28 [SEP] 14, Cloth, 0.289, 0.048, 0.611, 0, 0, 0, 27 [SEP] 15, ToiletPaper, -0.980, 1.066, 2.127, 0, 0, 0, 28 [SEP] 16, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 22 [SEP] 17, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 18, SprayBottle, -2.146, 1.048, -0.736, 0, 0, 0, 33 [SEP] 19, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 20, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 21, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 22, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 23, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 24, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 25, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 26, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 27, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 28, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 29, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 30, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 31, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 32, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 33, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 34, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 35, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 36, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 37, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the tub. | STEP 2: Pick up the yellow rag on the right. | STEP 3: Turn right and walk to the sink. | STEP 4: Wash the rag in the sink. | STEP 5: Turn around and walk to the wall with the two shelves. | STEP 6: Place the yellow rag to the left of the tissue box on the bottom shelf. | END"]} {"id": "trial_T20190908_125453_655281-2", "input": "Put two spray bottles on 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, -1.25, 0.901, 1.5, 0, 0, 0, [SEP] 1, TissueBox, -1.322, 0.069, 3.693, 0, 0, 0, 31 [SEP] 2, TissueBox, -1.416, 0.994, 2.209, 0, 0, 0, 30 [SEP] 3, Cloth, -1.441, 0.068, 2.857, 0, 0, 0, 23 [SEP] 4, SoapBar, -1.317, 1.007, 2.563, 0, 90, 0, 37 [SEP] 5, SoapBar, -1.350, 0.994, 3.903, 0, 0, 0, 30 [SEP] 6, Candle, -1.613, 0.994, 2.982, 0, 0, 0, 30 [SEP] 7, SprayBottle, -1.441, 0.069, 3.844, 0, 0, 0, 31 [SEP] 8, SoapBottle, -1.560, 0.067, 3.226, 0, 0, 0, 29 [SEP] 9, SoapBottle, -1.481, 0.993, 3.041, 0, 0, 0, 30 [SEP] 10, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 32 [SEP] 11, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 34 [SEP] 12, SoapBar, -1.613, 0.994, 3.903, 0, 0, 0, 30 [SEP] 13, ToiletPaper, -1.332, 0.058, 2.261, 0, 0, 0, 25 [SEP] 14, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 15, Candle, 0.284, 0.892, 1.566, 0, 0, 0, 36 [SEP] 16, TissueBox, -1.379, 0.068, 3.276, 0, 0, 0, 29 [SEP] 17, SoapBottle, -1.620, 0.068, 2.908, 0, 0, 0, 29 [SEP] 18, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 38 [SEP] 19, SprayBottle, 0.258, 0.048, 3.810, 0, 0, 0, 33 [SEP] 20, Cloth, -1.500, 0.067, 2.290, 0, 0, 0, 25 [SEP] 21, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 22, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 23, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 24, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 25, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 26, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 27, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 28, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 29, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 30, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 31, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 32, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 33, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 34, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 35, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 36, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 37, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 38, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 39, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 40, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 41, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 42, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 43, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 44, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 45, NorthWall, , , , , , , [SEP] 46, EastWall, , , , , , , [SEP] 47, SouthWall, , , , , , , [SEP] 48, WestWall, , , , , , , ", "output": ["STEP 1: Go forward, turn right, go forward to the toilet, turn left, go forward a step, turn right, go forward to the wall, turn left, go forward to the green bin. | STEP 2: Take the spray bottle from the green bin. | STEP 3: Turn around, go forward to the toilet. | STEP 4: Put the spray bottle on the toilet tank. | STEP 5: Turn around, go forward to the wall, turn left, go forward to the sink. | STEP 6: Take the spray bottle from the bottom right cabinet below the sink. | STEP 7: Turn around, go forward, turn right, go forward to the toilet. | STEP 8: Put the spray bottle on the toilet tank. | END"]} {"id": "trial_T20190912_025016_632439-0", "input": "Move two books from the dresser to the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.909, -3.25, 0, 180, 0, [SEP] 1, CellPhone, -3.637, 0.045, -3.278, 0, 0, 0, 44 [SEP] 2, CellPhone, -3.539, 0.981, -4.075, 0, 0, 0, 45 [SEP] 3, Pen, -3.751, 0.424, -4.070, 0, 0, 0, 48 [SEP] 4, Pencil, -1.886, 0.066, -3.968, 0, 9.990, 0, 31 [SEP] 5, Pencil, -1.878, 0.066, -3.920, 0, 9.990, 0, 31 [SEP] 6, CreditCard, -0.350, 0.029, -3.747, 0, 0, 0, 37 [SEP] 7, CreditCard, -0.657, 0.800, -3.703, 0, 0, 0, 42 [SEP] 8, Book, -3.834, 0.981, -3.472, 0, 0, 0, 45 [SEP] 9, Book, -3.539, 0.981, -3.673, 0, 0, 0, 45 [SEP] 10, Book, -0.655, 0.349, -3.811, 0, 0, 0, 34 [SEP] 11, Pillow, -2.559, 0.722, -2.080, 0, 0, 0, 27 [SEP] 12, AlarmClock, -0.418, 0.542, -3.713, 0, 0, 0, 42 [SEP] 13, AlarmClock, -3.613, 0.981, -4.276, 0, 0, 0, 45 [SEP] 14, Book, -3.834, 0.981, -3.070, 0, 0, 0, 45 [SEP] 15, CellPhone, -3.638, 0.419, -3.185, 0, 0, 0, 53 [SEP] 16, Laptop, -2.559, 0.618, -0.931, 0, 0, 0, 27 [SEP] 17, CreditCard, -0.418, 0.542, -3.749, 0, 0, 0, 36 [SEP] 18, AlarmClock, -0.685, 0.542, -3.713, 0, 0, 0, 42 [SEP] 19, KeyChain, -3.613, 0.980, -4.276, 0, 90, 0, 45 [SEP] 20, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 27 [SEP] 21, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 22, Pencil, -0.249, 0.803, -3.703, 0, 0, 0, 42 [SEP] 23, Pillow, -2.981, 0.722, -1.506, 0, 0, 0, 27 [SEP] 24, CD, -0.657, 0.799, -3.811, 0, 0, 0, 42 [SEP] 25, Pen, -3.582, 0.620, -3.461, 0, 0, 0, 46 [SEP] 26, Mug, -3.834, 0.977, -4.276, 0, 0, 0, 45 [SEP] 27, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 28, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 29, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 30, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 31, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 32, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 33, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 34, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 35, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 36, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 37, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 38, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 39, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 40, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 41, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 42, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 43, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 44, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 45, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 50, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 51, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 52, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 53, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 54, NorthWall, , , , , , , [SEP] 55, EastWall, , , , , , , [SEP] 56, SouthWall, , , , , , , [SEP] 57, WestWall, , , , , , , ", "output": ["STEP 1: Move to dresser to the left of the bed | STEP 2: Pick up a book from the dresser | STEP 3: Move to the bed to the right of you | STEP 4: Place the book on the bed | STEP 5: Move to dresser to the left of the bed | STEP 6: Pick up a book from the dresser | STEP 7: Move to the bed to the right of you | STEP 8: Place the book on the bed | END"]} {"id": "trial_T20190906_200033_429462-0", "input": "rinse off a potato to store it in the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, -0.25, 0, 270, 0, [SEP] 1, Potato, -0.911, 0.855, -1.308, 0, 90, 0, 106 [SEP] 2, Potato, 0.634, 0.946, -0.854, 0, 0, 0, 47 [SEP] 3, Potato, 1.155, 0.946, 1.553, 0, 0, 0, 82 [SEP] 4, DishSponge, -0.983, 0.820, -1.411, 0, 90, 0, 106 [SEP] 5, DishSponge, 0.123, 0.765, -0.596, 0, 0, 0, 104 [SEP] 6, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 85 [SEP] 7, Spoon, 1.073, 0.772, 1.160, 0, 90, 0, 92 [SEP] 8, Fork, -0.103, 0.912, 1.468, 0, 90, 0, 58 [SEP] 9, Fork, 1.155, 0.912, 1.468, 0, 0, 0, 82 [SEP] 10, Plate, 2.754, 0.914, 1.214, 0, 0, 0, 82 [SEP] 11, Cup, 1.896, 0.112, 1.196, 0, 0, 0, 83 [SEP] 12, Knife, 0.634, 0.944, -0.430, 0, 0, 0, 47 [SEP] 13, SoapBottle, -0.246, 0.917, 1.129, 0, 0, 0, 58 [SEP] 14, SoapBottle, 2.272, 0.120, -0.379, 0, 180, 0, 88 [SEP] 15, Tomato, 0.123, 0.797, -0.762, 0, 0, 0, 104 [SEP] 16, Tomato, -1.962, 0.455, 1.459, 0, 270, 0, 100 [SEP] 17, PepperShaker, -0.049, 0.111, 1.156, 0, 0, 0, 75 [SEP] 18, PepperShaker, -0.142, 0.908, -0.302, 0, 0, 0, 47 [SEP] 19, Bread, 2.488, 0.969, 1.214, 0, 0, 0, 82 [SEP] 20, Bread, 2.221, 0.969, 1.299, 0, 0, 0, 82 [SEP] 21, Mug, 2.591, 1.558, -0.578, 0, 90, 0, 102 [SEP] 22, Mug, 2.777, 1.558, -0.709, 0, 0, 0, 102 [SEP] 23, Apple, 2.754, 0.980, 1.468, 0, 0, 0, 82 [SEP] 24, SoapBottle, -0.734, 0.826, -1.400, 0, 0, 0, 106 [SEP] 25, Plate, 0.337, 2.159, 1.467, 0, 0, 0, 81 [SEP] 26, Fork, 1.967, 0.771, -0.422, 0, 270, 0, 61 [SEP] 27, Pot, 1.955, 0.915, 1.468, 0, 0, 0, 82 [SEP] 28, Bread, 1.422, 0.969, 1.468, 0, 0, 0, 82 [SEP] 29, Egg, -0.990, 0.858, -1.110, 0, 0, 0, 106 [SEP] 30, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 53 [SEP] 31, Tomato, 1.902, 0.942, -0.430, 0, 0, 0, 47 [SEP] 32, Cup, -0.694, 0.818, -1.206, 0, 90, 0, 106 [SEP] 33, Spatula, 1.955, 0.926, 1.299, 0, 0, 0, 82 [SEP] 34, Apple, -0.151, 0.980, 1.299, 0, 0, 0, 58 [SEP] 35, Pan, 0.888, 0.911, -0.769, 0, 0, 0, 47 [SEP] 36, Lettuce, 2.919, 1.345, -0.612, 15.998, 3.555, 14.421, 102 [SEP] 37, SaltShaker, -0.240, 0.908, -0.330, 0, 0, 0, 47 [SEP] 38, Knife, -0.839, 0.853, -1.257, 0, 90, 0, 106 [SEP] 39, Potato, 2.156, 0.946, -0.515, 0, 0, 0, 47 [SEP] 40, PepperShaker, 2.188, 1.650, 1.508, 0, 0, 0, 71 [SEP] 41, ButterKnife, -0.983, 0.820, -1.206, 0, 90, 0, 106 [SEP] 42, Bowl, 1.141, 0.909, -0.6, 0, 0, 0, 47 [SEP] 43, DishSponge, 1.155, 0.911, 1.383, 0, 0, 0, 82 [SEP] 44, Spoon, 1.422, 0.773, 1.160, 0, 90, 0, 65 [SEP] 45, Mug, -0.621, 0.815, -1.360, 0, 90, 0, 106 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 108, NorthWall, , , , , , , [SEP] 109, EastWall, , , , , , , [SEP] 110, SouthWall, , , , , , , [SEP] 111, WestWall, , , , , , , ", "output": ["STEP 1: walk over to the kitchen counter next to the fridge | STEP 2: grab the potato off of the counter | STEP 3: turn and walk over to the kitchen sink | STEP 4: place the potato inside the sink and wash it off, then pick it back up | STEP 5: turn and walk over to the fridge again | STEP 6: place the potato inside the fridge and close the door | END"]} {"id": "trial_T20190908_113716_189822-1", "input": "Pick up the golden vase and put it on the black bookcase. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.949, 3.25, 0, 90, 0, [SEP] 1, CD, 1.454, 0.179, -1.896, 0, 270, 0, 32 [SEP] 2, Pencil, 3.300, 0.727, 1.533, 0, 180, 0, 60 [SEP] 3, KeyChain, 3.377, 0.725, 1.307, 0, 180, 0, 60 [SEP] 4, Laptop, 2.545, 0.607, 1.271, 0, 0, 0, 20 [SEP] 5, Pillow, 2.052, 0.674, 1.271, 0, 0, 0, 20 [SEP] 6, AlarmClock, 2.519, 0.986, -2.125, 0, 270, 0, 35 [SEP] 7, Book, 2.431, 0.180, -1.841, 0, 270, 0, 37 [SEP] 8, KeyChain, -0.444, 1.109, 3.198, 0, 270, 0, 43 [SEP] 9, CreditCard, 3.300, 0.723, 1.307, 0, 180, 0, 60 [SEP] 10, Pen, 3.455, 0.729, 1.443, 0, 270, 0, 60 [SEP] 11, Pencil, -0.848, 0.384, 0.028, 0, 0, 0, 53 [SEP] 12, Laptop, -0.904, 0.781, -0.128, 0, 0, 0, 56 [SEP] 13, Vase, 2.035, 0.189, -1.948, 0, 270, 0, 30 [SEP] 14, AlarmClock, 2.235, 0.989, -1.95, 0, 270, 0, 35 [SEP] 15, Pillow, 2.381, 0.674, 0.308, 0, 0, 0, 20 [SEP] 16, Pillow, 1.888, 0.674, 0.790, 0, 0, 0, 20 [SEP] 17, CellPhone, 2.052, 0.610, 0.308, 0, 0, 0, 20 [SEP] 18, CD, 2.075, 0.886, -1.705, 0, 270, 0, 31 [SEP] 19, Vase, -0.904, 0.789, -0.548, 0, 0, 0, 56 [SEP] 20, Bed, 2.217, 0.050, 0.585, 0, 0, 0, [SEP] 21, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0, [SEP] 22, Painting, 2.990, 1.592, 1.567, 90, 0, 0, [SEP] 23, Painting, 1.524, 1.592, 1.567, 90, 0, 0, [SEP] 24, Mirror, -1.190, 1.417, -0.223, 0, 270, 0, [SEP] 25, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0, [SEP] 26, Window, -2.629, 1.460, 2.891, 90, 270, 0, [SEP] 27, Window, -2.629, 1.460, 4.084, 90, 270, 0, [SEP] 28, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0, [SEP] 29, Drawer, 2.490, 0.949, -1.703, 0, 0, 0, [SEP] 30, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0, [SEP] 31, Drawer, 1.975, 0.949, -1.703, 0, 0, 0, [SEP] 32, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0, [SEP] 33, Drawer, 1.457, 0.949, -1.703, 0, 0, 0, [SEP] 34, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0, [SEP] 35, Dresser, 2.234, 0.048, -1.950, 0, 0, 0, [SEP] 36, Drawer, 3.011, 0.949, -1.703, 0, 0, 0, [SEP] 37, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0, [SEP] 38, Shelf, -0.163, 1.461, 3.219, 0, 180, 0, [SEP] 39, Drawer, -0.161, 0.242, 3.166, 0, 180, 0, [SEP] 40, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0, [SEP] 41, Drawer, -0.161, 0.562, 3.168, 0, 180, 0, [SEP] 42, Shelf, -0.162, 0.922, 3.164, 0, 180, 0, [SEP] 43, Shelf, -0.162, 1.241, 3.163, 0, 180, 0, [SEP] 44, Blinds, -2.550, 2.486, 2.911, 0, 90, 0, [SEP] 45, Blinds, -2.550, 2.486, 4.107, 0, 90, 0, [SEP] 46, Drawer, -0.833, 0.217, -0.336, 0, 90, 0, [SEP] 47, Drawer, -0.833, 0.217, 0.486, 0, 90, 0, [SEP] 48, Drawer, -0.833, 0.628, -0.747, 0, 90, 0, [SEP] 49, Drawer, -0.833, 0.217, 0.075, 0, 90, 0, [SEP] 50, Drawer, -0.833, 0.628, 0.486, 0, 90, 0, [SEP] 51, Drawer, -0.833, 0.217, -0.747, 0, 90, 0, [SEP] 52, Drawer, -0.833, 0.423, -0.336, 0, 90, 0, [SEP] 53, Drawer, -0.833, 0.423, 0.075, 0, 90, 0, [SEP] 54, Drawer, -0.833, 0.423, 0.486, 0, 90, 0, [SEP] 55, Drawer, -0.833, 0.423, -0.747, 0, 90, 0, [SEP] 56, Dresser, -0.934, 0.050, -0.129, 0, 90, 0, [SEP] 57, Drawer, -0.833, 0.628, 0.075, 0, 90, 0, [SEP] 58, Drawer, -0.833, 0.628, -0.336, 0, 90, 0, [SEP] 59, Drawer, 3.454, 0.212, 1.262, 0, 180, 0, [SEP] 60, SideTable, 3.455, 0.046, 1.328, 0, 180, 0, [SEP] 61, Drawer, 3.454, 0.504, 1.262, 0, 180, 0, [SEP] 62, NorthWall, , , , , , , [SEP] 63, EastWall, , , , , , , [SEP] 64, SouthWall, , , , , , , [SEP] 65, WestWall, , , , , , , ", "output": ["STEP 1: Turn right at the black bookcase and walk to the end of the black drawers to the right. | STEP 2: Pick up the golden vase from the black drawers. | STEP 3: Turn left and walk to the black bookcase. | STEP 4: Put the golden vase on the black bookcase. | END"]} {"id": "trial_T20190907_034240_393045-1", "input": "Put the washed pink soap 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, -0.5, 0.901, 2.5, 0, 270, 0, [SEP] 1, TissueBox, -1.547, 0.994, 3.041, 0, 0, 0, 30 [SEP] 2, Cloth, -1.382, 0.068, 3.743, 0, 0, 0, 31 [SEP] 3, SoapBar, -1.416, 0.994, 3.041, 0, 0, 0, 30 [SEP] 4, Candle, 0.329, 0.893, 1.618, 0, 0, 0, 36 [SEP] 5, Candle, -1.284, 0.994, 2.148, 0, 0, 0, 30 [SEP] 6, SprayBottle, -1.322, 0.069, 2.857, 0, 0, 0, 29 [SEP] 7, SprayBottle, -1.284, 0.995, 3.812, 0, 0, 0, 30 [SEP] 8, SoapBottle, -1.284, 0.993, 2.982, 0, 0, 0, 30 [SEP] 9, SoapBottle, -1.560, 0.067, 3.276, 0, 0, 0, 29 [SEP] 10, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 32 [SEP] 11, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 34 [SEP] 12, SoapBar, 0.231, 0.047, 3.865, 0, 0, 0, 33 [SEP] 13, ToiletPaper, -1.332, 0.058, 2.261, 0, 0, 0, 25 [SEP] 14, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 15, Candle, -1.620, 0.067, 2.240, 0, 0, 0, 25 [SEP] 16, TissueBox, -1.307, 0.984, 3.185, 0, 0, 0, 30 [SEP] 17, SoapBottle, -1.416, 0.993, 2.178, 0, 0, 0, 30 [SEP] 18, ToiletPaper, -1.560, 0.064, 2.391, 0, 0, 0, 25 [SEP] 19, SprayBottle, -1.439, 0.068, 2.240, 0, 0, 0, 25 [SEP] 20, Cloth, -1.379, 0.067, 3.327, 0, 0, 0, 29 [SEP] 21, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 22, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 23, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 24, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 25, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 26, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 27, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 28, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 29, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 30, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 31, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 32, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 33, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 34, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 35, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 36, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 37, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 38, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 39, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 40, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 41, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 42, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 43, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 44, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 45, NorthWall, , , , , , , [SEP] 46, EastWall, , , , , , , [SEP] 47, SouthWall, , , , , , , [SEP] 48, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to counter by the sink. | STEP 2: Pick up the soap on the counter. | STEP 3: Turn and go to the sink on the right. | STEP 4: Put the soap in the sink and turn on the water. | STEP 5: Turn around and go to the toilet. | STEP 6: Turn around and put the pink soap on the toilet. | END"]} {"id": "trial_T20190909_080422_006743-2", "input": "Microwave a mug from the cupboard and put it next to the toaster. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.931, -0.25, 0, 270, 0, [SEP] 1, Pan, -0.312, 0.203, -1.337, 0, 90, 0, 55 [SEP] 2, Potato, 0.065, 1.096, 0.091, 0, 0, 0, 48 [SEP] 3, Potato, -1.381, 1.542, 2.331, 0, 90, 0, 61 [SEP] 4, DishSponge, -1.183, 0.202, -1.193, 0, 0, 0, 54 [SEP] 5, ButterKnife, 1.015, 1.043, 0.807, 0, 0, 0, 48 [SEP] 6, Pot, -1.105, 0.204, -1.555, 0, 90, 0, 54 [SEP] 7, Fork, 1.347, 1.043, 0.676, 0, 270, 0, 48 [SEP] 8, Spoon, 1.181, 1.044, 0.676, 0, 0, 0, 48 [SEP] 9, Plate, 0.960, 1.577, -1.764, 0, 0, 0, 50 [SEP] 10, Plate, 0.979, 0.212, -1.267, 0, 0, 0, 57 [SEP] 11, Knife, 0.446, 1.069, 0.630, 0, 90, 0, 48 [SEP] 12, Knife, 1.347, 1.069, 0.807, 0, 0, 0, 48 [SEP] 13, Tomato, 1.523, 1.094, 0.307, 0, 0, 0, 48 [SEP] 14, Tomato, 1.523, 1.094, 0.522, 0, 0, 0, 48 [SEP] 15, Bowl, 0.446, 1.042, 0.415, 0, 0, 0, 48 [SEP] 16, SaltShaker, -0.222, 0.198, -1.625, 0, 180, 0, 55 [SEP] 17, PepperShaker, 1.897, 1.014, -1.411, 0, 0, 0, 52 [SEP] 18, Mug, -0.398, 1.560, -1.396, 0, 0, 0, 51 [SEP] 19, Apple, 0.848, 1.086, 0.763, 0, 0, 0, 48 [SEP] 20, SoapBottle, -1.184, 2.029, -1.627, 0, 0, 0, 53 [SEP] 21, Apple, -1.423, 1.756, 1.974, 0, 90, 0, 61 [SEP] 22, Potato, 0.446, 1.096, 0.199, 0, 0, 0, 48 [SEP] 23, Fork, 0.516, 1.043, 0.720, 0, 0, 0, 48 [SEP] 24, Kettle, 0.007, 1.050, -1.400, 0, 0, 0, 45 [SEP] 25, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 46 [SEP] 26, Tomato, -1.303, 1.540, 1.885, 0, 90, 0, 61 [SEP] 27, SaltShaker, -0.222, 0.198, -1.553, 0, 0, 0, 55 [SEP] 28, Egg, 1.072, 1.101, -1.397, 0, 0, 0, 46 [SEP] 29, Cup, 1.211, 0.900, 0.231, 0, 90, 0, 43 [SEP] 30, Spatula, 0.255, 1.058, 0.091, 0, 0, 0, 48 [SEP] 31, Knife, 0.892, 1.079, 0.181, 0, 90, 0, 44 [SEP] 32, Lettuce, -1.349, 1.773, 2.242, 0, 90, 0, 61 [SEP] 33, ButterKnife, -0.689, 1.046, -1.181, 0, 0, 0, 46 [SEP] 34, PepperShaker, 1.435, 1.014, -1.557, 0, 0, 0, 52 [SEP] 35, DishSponge, 1.155, 1.046, -1.181, 0, 0, 0, 46 [SEP] 36, Plate, 1.665, 0.217, -1.553, 0, 0, 0, 56 [SEP] 37, Bread, 0.065, 1.117, 0.630, 0, 0, 0, 48 [SEP] 38, Spoon, 0.682, 1.044, 0.545, 0, 0, 0, 48 [SEP] 39, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 47 [SEP] 40, Mug, -1.184, 2.023, -1.409, 0, 0, 0, 53 [SEP] 41, Bowl, -1.095, 0.962, 2.063, 0, 90, 0, 61 [SEP] 42, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 43, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 44, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 45, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 46, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 47, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 48, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 49, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 50, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 51, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 52, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 53, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 54, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 55, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 56, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 57, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 58, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 59, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 60, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 61, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 62, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 63, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 64, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 65, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 66, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 70, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 71, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 72, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 73, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 74, NorthWall, , , , , , , [SEP] 75, EastWall, , , , , , , [SEP] 76, SouthWall, , , , , , , [SEP] 77, WestWall, , , , , , , ", "output": ["STEP 1: Go forward and turn left to face the counter with the toaster on it. | STEP 2: Open up the cupboard above the toaster, grab the mug, and close the cupboard. | STEP 3: Turn right and face the microwave above the oven. | STEP 4: Microwave the mug for a moment, then take it back out of the microwave and close the microwave. | STEP 5: Turn left and go back to the counter area with the toaster on it. | STEP 6: Place the mug on the counter to the left of the butterknife. | END"]} {"id": "trial_T20190908_101131_853686-2", "input": "Put a heated tomato 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, -1.0, 0.900, -0.5, 0, 90, 0, [SEP] 1, Pan, 2.715, 1.288, -0.578, 0, 0, 0, 102 [SEP] 2, DishSponge, 2.868, 0.771, 1.236, 0, 0, 0, 91 [SEP] 3, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 53 [SEP] 4, Kettle, 0.634, 0.912, -0.515, 0, 0, 0, 47 [SEP] 5, ButterKnife, 0.123, 0.765, -0.707, 0, 180, 0, 104 [SEP] 6, ButterKnife, 1.106, 0.772, -0.460, 0, 270, 0, 66 [SEP] 7, Spoon, -0.198, 0.912, 1.299, 0, 0, 0, 58 [SEP] 8, Fork, 1.072, 0.771, -0.422, 0, 270, 0, 66 [SEP] 9, Fork, -0.766, 0.821, -1.206, 0, 270, 0, 106 [SEP] 10, Spatula, 0.193, 0.780, -0.762, 0, 90, 0, 104 [SEP] 11, Plate, 1.955, 0.914, 1.299, 0, 0, 0, 82 [SEP] 12, Cup, -0.939, 0.818, -1.328, 0, 0, 0, 106 [SEP] 13, Egg, -0.694, 0.858, -1.155, 0, 90, 0, 106 [SEP] 14, SoapBottle, -0.103, 0.917, 1.044, 0, 0, 0, 58 [SEP] 15, Tomato, 2.221, 0.942, 1.553, 0, 0, 0, 82 [SEP] 16, Tomato, -2.048, 0.455, 1.417, 0, 270, 0, 100 [SEP] 17, Bowl, 2.754, 0.909, 1.468, 0, 0, 0, 82 [SEP] 18, SaltShaker, 1.060, 1.650, -0.658, 0, 180, 0, 57 [SEP] 19, PepperShaker, 1.141, 0.908, -0.345, 0, 0, 0, 47 [SEP] 20, Lettuce, 2.715, 1.099, -0.709, 0, 0, 0, 102 [SEP] 21, Mug, 2.962, 1.558, -0.578, 0, 0, 0, 102 [SEP] 22, Apple, 0.415, 1.853, 1.423, 0, 180, 0, 105 [SEP] 23, Apple, 1.688, 0.980, 1.129, 0, 0, 0, 82 [SEP] 24, SoapBottle, 0.888, 0.917, -0.345, 0, 0, 0, 47 [SEP] 25, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 47 [SEP] 26, Fork, 1.208, 0.771, -0.498, 0, 90, 0, 66 [SEP] 27, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 62 [SEP] 28, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 47 [SEP] 29, Egg, 0.251, 0.949, -0.330, 0, 0, 0, 47 [SEP] 30, Kettle, 2.754, 0.912, 1.129, 0, 0, 0, 82 [SEP] 31, Tomato, -0.785, 0.852, -1.400, 0, 0, 0, 106 [SEP] 32, Cup, 3.381, 0.838, -0.485, 0, 0, 0, 102 [SEP] 33, Spatula, -0.055, 0.926, 1.214, 0, 90, 0, 58 [SEP] 34, Apple, -0.087, 0.834, -0.541, 0, 0, 0, 104 [SEP] 35, Pan, 2.488, 0.911, 1.383, 0, 0, 0, 82 [SEP] 36, Lettuce, 1.155, 0.992, 1.468, 0, 0, 0, 82 [SEP] 37, SaltShaker, -1.056, 0.817, -1.257, 0, 90, 0, 106 [SEP] 38, Knife, 1.422, 0.944, 1.299, 0, 0, 0, 82 [SEP] 39, Potato, 2.715, 0.761, -0.473, 0, 0, 0, 102 [SEP] 40, PepperShaker, -0.682, 0.817, -1.328, 0, 0, 0, 106 [SEP] 41, ButterKnife, -0.939, 0.820, -1.110, 0, 90, 0, 106 [SEP] 42, Bowl, 0.231, 2.154, 1.428, 0, 0, 0, 81 [SEP] 43, DishSponge, 0.918, 2.153, 1.429, 0, 0, 0, 56 [SEP] 44, Spoon, 2.488, 0.912, 1.129, 0, 0, 0, 82 [SEP] 45, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 47 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 108, NorthWall, , , , , , , [SEP] 109, EastWall, , , , , , , [SEP] 110, SouthWall, , , , , , , [SEP] 111, WestWall, , , , , , , ", "output": ["STEP 1: Go to the counter across the fridge | STEP 2: Pick up the tomato from the counter | STEP 3: Go to the microwave | STEP 4: Microwave the tomato | STEP 5: Go to the fridge | STEP 6: Place the tomato inside the fridge | END"]} {"id": "trial_T20190908_060855_136513-1", "input": "Put a roll of toilet paper on the holder. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.901, 3.25, 0, 270, 0, [SEP] 1, TissueBox, -1.319, 0.068, 2.391, 0, 0, 0, 24 [SEP] 2, TissueBox, -1.547, 0.994, 2.923, 0, 0, 0, 29 [SEP] 3, Cloth, -1.441, 0.068, 3.793, 0, 0, 0, 30 [SEP] 4, SoapBar, 0.313, 0.047, 3.838, 0, 0, 0, 32 [SEP] 5, SoapBar, -1.340, 1.018, 3.535, 0, 90, 0, 42 [SEP] 6, Candle, -1.439, 0.067, 2.240, 0, 0, 0, 24 [SEP] 7, Candle, -1.500, 0.067, 3.276, 0, 0, 0, 28 [SEP] 8, ToiletPaper, -1.284, 0.991, 3.933, 0, 0, 0, 29 [SEP] 9, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 31 [SEP] 10, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 33 [SEP] 11, SoapBar, -1.416, 0.994, 3.041, 0, 0, 0, 29 [SEP] 12, ToiletPaper, -1.500, 0.064, 3.377, 0, 0, 0, 28 [SEP] 13, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 14, Candle, -1.350, 0.994, 3.842, 0, 0, 0, 29 [SEP] 15, TissueBox, -1.560, 0.068, 2.341, 0, 0, 0, 24 [SEP] 16, SoapBottle, 0.306, 0.892, 1.618, 0, 0, 0, 35 [SEP] 17, ToiletPaper, -1.547, 0.991, 3.933, 0, 0, 0, 29 [SEP] 18, SprayBottle, -1.620, 0.068, 3.276, 0, 0, 0, 28 [SEP] 19, Cloth, -1.350, 0.994, 2.209, 0, 0, 0, 29 [SEP] 20, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 21, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 22, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 23, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 24, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 25, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 26, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 27, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 28, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 29, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 30, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 31, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 32, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 33, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 34, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 35, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 36, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 37, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 38, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 39, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 40, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 41, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 42, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 43, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: Go to the sink in front of you. | STEP 2: Open the left cabinet, under the sink closest to the wall and pull out a roll of toilet paper. | STEP 3: Turn to your left and go to the toilet. | STEP 4: Place the toilet paper roll on the toilet paper holder, on the back wall, between the toilet and the shower. | END"]} {"id": "trial_T20190908_060855_136513-2", "input": "retrieve the tissue from the cabinet and place it on the roll SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.901, 3.25, 0, 270, 0, [SEP] 1, TissueBox, -1.319, 0.068, 2.391, 0, 0, 0, 24 [SEP] 2, TissueBox, -1.547, 0.994, 2.923, 0, 0, 0, 29 [SEP] 3, Cloth, -1.441, 0.068, 3.793, 0, 0, 0, 30 [SEP] 4, SoapBar, 0.313, 0.047, 3.838, 0, 0, 0, 32 [SEP] 5, SoapBar, -1.340, 1.018, 3.535, 0, 90, 0, 42 [SEP] 6, Candle, -1.439, 0.067, 2.240, 0, 0, 0, 24 [SEP] 7, Candle, -1.500, 0.067, 3.276, 0, 0, 0, 28 [SEP] 8, ToiletPaper, -1.284, 0.991, 3.933, 0, 0, 0, 29 [SEP] 9, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 31 [SEP] 10, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 33 [SEP] 11, SoapBar, -1.416, 0.994, 3.041, 0, 0, 0, 29 [SEP] 12, ToiletPaper, -1.500, 0.064, 3.377, 0, 0, 0, 28 [SEP] 13, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 14, Candle, -1.350, 0.994, 3.842, 0, 0, 0, 29 [SEP] 15, TissueBox, -1.560, 0.068, 2.341, 0, 0, 0, 24 [SEP] 16, SoapBottle, 0.306, 0.892, 1.618, 0, 0, 0, 35 [SEP] 17, ToiletPaper, -1.547, 0.991, 3.933, 0, 0, 0, 29 [SEP] 18, SprayBottle, -1.620, 0.068, 3.276, 0, 0, 0, 28 [SEP] 19, Cloth, -1.350, 0.994, 2.209, 0, 0, 0, 29 [SEP] 20, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 21, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 22, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 23, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 24, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 25, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 26, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 27, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 28, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 29, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 30, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 31, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 32, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 33, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 34, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 35, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 36, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 37, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 38, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 39, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 40, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 41, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 42, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 43, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: walk towards the sink | STEP 2: open the cabinet and get the tissue from the shelf | STEP 3: turn left and walk to the shower. turn left | STEP 4: place the tissue on the roll | END"]} {"id": "trial_T20190907_153654_775875-2", "input": "Examine a watering can by the light of a table lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -5.0, 0.901, 4.0, 0, 180, 0, [SEP] 1, Newspaper, -0.868, 0.365, 4.524, 0, 0, 0, 38 [SEP] 2, KeyChain, -0.552, 0.367, 3.002, 0, 0, 0, 38 [SEP] 3, RemoteControl, -3.462, 0.882, 7.173, 0, 90, 0, 54 [SEP] 4, RemoteControl, -0.947, 0.369, 4.828, 0, 0, 0, 38 [SEP] 5, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 49 [SEP] 6, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 54 [SEP] 7, Vase, -6.075, 1.280, 3.662, 0, 0, 0, 52 [SEP] 8, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 50 [SEP] 9, Newspaper, -5.424, 0.532, 6.815, 0, 45, 0, 56 [SEP] 10, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 55 [SEP] 11, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 12, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 48 [SEP] 13, CreditCard, -2.422, 0.533, 4.480, 0, 270, 0, 55 [SEP] 14, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 52 [SEP] 15, KeyChain, -0.947, 0.442, 4.524, 0, 0, 0, 38 [SEP] 16, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 50 [SEP] 17, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 50 [SEP] 18, Bowl, -6.002, 0.148, 4.152, 0, 0, 0, 45 [SEP] 19, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 38 [SEP] 20, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 52 [SEP] 21, RemoteControl, -0.947, 0.438, 4.219, 0, 0, 0, 38 [SEP] 22, Watch, -2.474, 0.146, 7.225, 0, 90, 0, 49 [SEP] 23, Statue, -2.561, 0.540, 4.335, 0, 270, 0, 55 [SEP] 24, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 52 [SEP] 25, Statue, -2.172, 0.543, 3.981, 0, 90, 0, 55 [SEP] 26, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 54 [SEP] 27, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 28, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 29, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 30, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 31, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 32, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 33, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 34, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 35, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 36, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 37, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 38, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 39, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 40, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 41, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 42, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 43, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 44, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 45, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 46, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 47, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 48, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 49, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 50, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 51, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 52, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 53, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 54, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 55, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 56, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the black shelves by the wall. | STEP 2: Pick up the watering can from the bottom shelf. | STEP 3: Turn right and walk in front of the lamp on the end table. | STEP 4: Turn on the lamp. | END"]} {"id": "trial_T20190908_080835_042367-2", "input": "Slice bread, grab a slice, cook it in the microwave, 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, -0.5, 0.931, -0.25, 0, 0, 0, [SEP] 1, Pan, -0.491, 0.203, -1.337, 0, 0, 0, 57 [SEP] 2, Potato, -1.419, 1.542, 1.796, 0, 90, 0, 63 [SEP] 3, Potato, -1.303, 1.542, 2.331, 0, 90, 0, 63 [SEP] 4, DishSponge, -0.760, 0.203, -1.481, 0, 0, 0, 57 [SEP] 5, DishSponge, -0.603, 1.046, -1.181, 0, 0, 0, 48 [SEP] 6, ButterKnife, 1.347, 1.043, 0.763, 0, 0, 0, 50 [SEP] 7, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 44 [SEP] 8, Spoon, 0.065, 1.044, 0.630, 0, 180, 0, 50 [SEP] 9, Spatula, 1.612, 1.058, 0.199, 0, 90, 0, 50 [SEP] 10, Spatula, -0.775, 1.061, -1.720, 0, 90, 0, 48 [SEP] 11, Egg, -0.260, 1.101, -1.720, 0, 0, 0, 48 [SEP] 12, Cup, 1.741, 0.205, -1.480, 0, 0, 0, 58 [SEP] 13, Knife, -0.038, 1.072, -1.086, 0, 0, 0, 48 [SEP] 14, Tomato, -1.051, 0.758, 2.063, 0, 90, 0, 63 [SEP] 15, SaltShaker, 1.514, 1.038, 0.545, 0, 0, 0, 50 [SEP] 16, PepperShaker, 0.885, 1.560, -1.614, 0, 0, 0, 52 [SEP] 17, PepperShaker, 1.894, 0.199, -1.190, 0, 0, 0, 58 [SEP] 18, Bread, -0.030, 1.117, 0.415, 0, 0, 0, 50 [SEP] 19, Mug, -1.145, 1.711, -1.300, 0, 0, 0, 62 [SEP] 20, Mug, 1.523, 1.038, 0.307, 0, 0, 0, 50 [SEP] 21, Apple, 0.848, 1.097, 0.381, 0, 90, 0, 46 [SEP] 22, SoapBottle, 1.436, 0.205, -1.625, 0, 0, 0, 58 [SEP] 23, Apple, -1.431, 1.271, 1.974, 0, 90, 0, 63 [SEP] 24, Potato, 0.282, 1.085, 0.120, 0, 0, 0, 50 [SEP] 25, Fork, 1.612, 1.043, 0.738, 0, 0, 0, 50 [SEP] 26, Kettle, 0.007, 1.050, -1.400, 0, 0, 0, 47 [SEP] 27, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 48 [SEP] 28, Tomato, 0.936, 1.105, 0.281, 0, 90, 0, 46 [SEP] 29, SaltShaker, 1.897, 1.014, -1.337, 0, 0, 0, 54 [SEP] 30, Egg, -0.603, 1.101, -1.505, 0, 0, 0, 48 [SEP] 31, Cup, -1.423, 1.713, 1.885, 0, 90, 0, 63 [SEP] 32, Spatula, 1.523, 1.058, 0.522, 0, 180, 0, 50 [SEP] 33, Knife, -0.517, 1.072, -1.289, 0, 0, 0, 48 [SEP] 34, Lettuce, -1.349, 1.773, 2.242, 0, 90, 0, 63 [SEP] 35, ButterKnife, -0.346, 1.046, -1.181, 0, 0, 0, 48 [SEP] 36, PepperShaker, -0.775, 1.041, -1.397, 0, 0, 0, 48 [SEP] 37, DishSponge, -0.949, 0.202, -1.193, 0, 0, 0, 56 [SEP] 38, Plate, 1.512, 0.217, -1.262, 0, 0, 0, 58 [SEP] 39, Bread, 0.405, 1.104, 0.353, 0, 337.138, 0, 50 [SEP] 40, Spoon, 0.848, 1.044, 0.763, 0, 0, 0, 50 [SEP] 41, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 51 [SEP] 42, Mug, -1.103, 1.223, 1.974, 0, 90, 0, 63 [SEP] 43, Bowl, -1.303, 1.488, 2.153, 0, 90, 0, 63 [SEP] 44, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 45, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 46, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 47, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 48, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 49, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 50, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 51, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 52, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 53, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 54, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 55, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 56, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 57, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 58, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 59, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 60, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 61, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 62, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 63, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 64, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 65, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 66, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 67, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 70, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 71, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 72, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 73, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 74, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 75, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 76, NorthWall, , , , , , , [SEP] 77, EastWall, , , , , , , [SEP] 78, SouthWall, , , , , , , [SEP] 79, WestWall, , , , , , , ", "output": ["STEP 1: Walk towards the counter | STEP 2: Grab yellow knife from counter | STEP 3: Walk with the knife towards the table | STEP 4: Slice bread on the table | STEP 5: Look up from the table | STEP 6: Put knife on the table | STEP 7: Look down from the table | STEP 8: Grab a bread slice from the table | STEP 9: Walk with the bread slice towards the microwave | STEP 10: Put the bread slice in the microwave, cook it and take it out | STEP 11: Walk with the bread slice towards the counter | STEP 12: Put the bread slice on the counter | END"]} {"id": "trial_T20190908_113832_021708-1", "input": "Move a golden vase to a wooden shelving unit. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 3.5, 0.949, -0.5, 0, 270, 0, [SEP] 1, Vase, -0.904, 0.790, -0.548, 0, 0, 0, 63 [SEP] 2, CD, 3.087, 0.984, -1.862, 0, 270, 0, 42 [SEP] 3, CellPhone, 2.444, 0.886, -1.705, 0, 270, 0, 36 [SEP] 4, CellPhone, -0.706, 0.784, -0.548, 0, 0, 0, 63 [SEP] 5, Pen, -0.970, 0.790, 0.501, 0, 0, 0, 63 [SEP] 6, Pen, 2.803, 0.993, -1.862, 0, 270, 0, 42 [SEP] 7, Pencil, 2.803, 0.989, -2.037, 0, 270, 0, 42 [SEP] 8, CreditCard, -0.812, 0.379, -0.246, 0, 0, 0, 59 [SEP] 9, CreditCard, 3.455, 0.723, 1.488, 0, 180, 0, 67 [SEP] 10, Book, 3.087, 0.988, -2.125, 0, 270, 0, 42 [SEP] 11, Book, 1.454, 0.180, -1.786, 0, 270, 0, 39 [SEP] 12, Laptop, 1.950, 0.986, -1.862, 0, 270, 0, 42 [SEP] 13, Laptop, 2.519, 0.986, -1.862, 0, 270, 0, 42 [SEP] 14, Book, 1.975, 0.184, -1.835, 0, 270, 0, 37 [SEP] 15, KeyChain, -0.812, 0.175, -0.656, 0, 0, 0, 58 [SEP] 16, CreditCard, -0.706, 0.783, -0.338, 0, 0, 0, 63 [SEP] 17, Pen, -0.848, 0.385, -0.794, 0, 0, 0, 62 [SEP] 18, Pencil, 2.519, 0.992, -2.125, 0, 270, 0, 42 [SEP] 19, Laptop, 1.447, 0.981, -1.894, 0, 328.961, 0, 42 [SEP] 20, Vase, 2.370, 0.185, -1.950, 0, 270, 0, 44 [SEP] 21, AlarmClock, 2.234, 0.989, -1.862, 0, 90, 0, 42 [SEP] 22, Pillow, 2.545, 0.674, 0.068, 0, 0, 0, 27 [SEP] 23, Pillow, 2.545, 0.674, 0.790, 0, 0, 0, 27 [SEP] 24, CellPhone, -0.838, 0.785, 0.081, 0, 0, 0, 63 [SEP] 25, CD, 2.892, 0.183, -1.721, 0, 270, 0, 41 [SEP] 26, Vase, -0.772, 0.788, 0.291, 0, 0, 0, 63 [SEP] 27, Bed, 2.217, 0.050, 0.585, 0, 0, 0, [SEP] 28, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0, [SEP] 29, Painting, 2.990, 1.592, 1.567, 90, 0, 0, [SEP] 30, Painting, 1.524, 1.592, 1.567, 90, 0, 0, [SEP] 31, Mirror, -1.190, 1.417, -0.223, 0, 270, 0, [SEP] 32, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0, [SEP] 33, Window, -2.629, 1.460, 2.891, 90, 270, 0, [SEP] 34, Window, -2.629, 1.460, 4.084, 90, 270, 0, [SEP] 35, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0, [SEP] 36, Drawer, 2.490, 0.949, -1.703, 0, 0, 0, [SEP] 37, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0, [SEP] 38, Drawer, 1.975, 0.949, -1.703, 0, 0, 0, [SEP] 39, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0, [SEP] 40, Drawer, 1.457, 0.949, -1.703, 0, 0, 0, [SEP] 41, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0, [SEP] 42, Dresser, 2.234, 0.048, -1.950, 0, 0, 0, [SEP] 43, Drawer, 3.011, 0.949, -1.703, 0, 0, 0, [SEP] 44, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0, [SEP] 45, Shelf, -0.163, 1.461, 3.219, 0, 180, 0, [SEP] 46, Drawer, -0.161, 0.242, 3.166, 0, 180, 0, [SEP] 47, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0, [SEP] 48, Drawer, -0.161, 0.562, 3.168, 0, 180, 0, [SEP] 49, Shelf, -0.162, 0.922, 3.164, 0, 180, 0, [SEP] 50, Shelf, -0.162, 1.241, 3.163, 0, 180, 0, [SEP] 51, Blinds, -2.550, 2.486, 2.911, 0, 90, 0, [SEP] 52, Blinds, -2.550, 2.486, 4.107, 0, 90, 0, [SEP] 53, Drawer, -0.833, 0.217, -0.336, 0, 90, 0, [SEP] 54, Drawer, -0.833, 0.217, 0.486, 0, 90, 0, [SEP] 55, Drawer, -0.833, 0.628, -0.747, 0, 90, 0, [SEP] 56, Drawer, -0.833, 0.217, 0.075, 0, 90, 0, [SEP] 57, Drawer, -0.833, 0.628, 0.486, 0, 90, 0, [SEP] 58, Drawer, -0.833, 0.217, -0.747, 0, 90, 0, [SEP] 59, Drawer, -0.833, 0.423, -0.336, 0, 90, 0, [SEP] 60, Drawer, -0.833, 0.423, 0.075, 0, 90, 0, [SEP] 61, Drawer, -0.833, 0.423, 0.486, 0, 90, 0, [SEP] 62, Drawer, -0.833, 0.423, -0.747, 0, 90, 0, [SEP] 63, Dresser, -0.934, 0.050, -0.129, 0, 90, 0, [SEP] 64, Drawer, -0.833, 0.628, 0.075, 0, 90, 0, [SEP] 65, Drawer, -0.833, 0.628, -0.336, 0, 90, 0, [SEP] 66, Drawer, 3.454, 0.212, 1.262, 0, 180, 0, [SEP] 67, SideTable, 3.455, 0.046, 1.328, 0, 180, 0, [SEP] 68, Drawer, 3.454, 0.504, 1.262, 0, 180, 0, [SEP] 69, NorthWall, , , , , , , [SEP] 70, EastWall, , , , , , , [SEP] 71, SouthWall, , , , , , , [SEP] 72, WestWall, , , , , , , ", "output": ["STEP 1: Walk over to the dresser across the room that is below a mirror on the wall. | STEP 2: Pick up the golden vase off of the dresser. | STEP 3: Turn right and walk over to the wooden shelving unit. | STEP 4: Put the golden vase on the bottom shelf of the wooden shelving unit. | END"]} {"id": "trial_T20190907_195923_069158-0", "input": "Put a cooled slice of 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, -1.5, 0.900, -0.5, 0, 90, 0, [SEP] 1, Pan, 1.688, 0.911, 1.214, 0, 0, 0, 82 [SEP] 2, Pan, 2.221, 0.911, 1.129, 0, 0, 0, 82 [SEP] 3, Potato, -0.017, 0.800, -0.762, 0, 0, 0, 104 [SEP] 4, Potato, -0.246, 0.946, 1.299, 0, 0, 0, 58 [SEP] 5, Potato, 0.634, 0.946, -0.345, 0, 0, 0, 47 [SEP] 6, DishSponge, -0.159, 0.771, 1.083, 0, 0, 0, 52 [SEP] 7, DishSponge, 1.869, 0.770, -0.460, 0, 180, 0, 61 [SEP] 8, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 53 [SEP] 9, Kettle, -0.087, 0.766, -0.596, 0, 90, 0, 104 [SEP] 10, Spatula, 0.263, 0.780, -0.596, 0, 270, 0, 104 [SEP] 11, Cup, 2.583, 0.112, 1.236, 0, 0, 0, 51 [SEP] 12, Egg, 2.715, 1.601, -0.512, 0, 0, 0, 102 [SEP] 13, Egg, 2.838, 1.326, -0.775, 0, 0, 0, 102 [SEP] 14, Knife, 2.221, 0.944, 1.299, 0, 0, 0, 82 [SEP] 15, SoapBottle, 2.444, 0.120, 1.156, 0, 0, 0, 51 [SEP] 16, Bowl, 0.178, 1.653, -0.732, 0, 180, 0, 87 [SEP] 17, PepperShaker, 2.124, 0.111, -0.458, 0, 180, 0, 88 [SEP] 18, Lettuce, 2.777, 1.099, -0.644, 0, 0, 0, 102 [SEP] 19, Lettuce, -0.887, 0.901, -1.400, 0, 0, 0, 106 [SEP] 20, Mug, -0.621, 0.815, -1.155, 0, 90, 0, 106 [SEP] 21, Mug, 0.888, 0.906, -0.684, 0, 0, 0, 47 [SEP] 22, Apple, 0.415, 1.853, 1.488, 0, 180, 0, 105 [SEP] 23, Apple, 3.381, 0.909, -0.514, 0, 0, 0, 102 [SEP] 24, SoapBottle, 0.825, 1.661, -0.771, 0, 180, 0, 57 [SEP] 25, Plate, 1.141, 0.914, -0.769, 0, 0, 0, 47 [SEP] 26, Fork, 1.155, 0.912, 1.468, 0, 0, 0, 82 [SEP] 27, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 62 [SEP] 28, Bread, -0.198, 0.969, 1.129, 0, 0, 0, 58 [SEP] 29, Egg, 2.777, 1.326, -0.709, 0, 0, 0, 102 [SEP] 30, Kettle, 2.754, 0.912, 1.468, 0, 0, 0, 82 [SEP] 31, Tomato, -1.991, 0.455, 1.290, 0, 270, 0, 100 [SEP] 32, Cup, 1.872, 1.652, -0.734, 0, 180, 0, 84 [SEP] 33, Spatula, 0.349, 0.926, -0.330, 0, 0, 0, 47 [SEP] 34, Apple, 2.754, 0.980, 1.299, 0, 0, 0, 82 [SEP] 35, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 50 [SEP] 36, Lettuce, 1.422, 0.992, 1.468, 0, 0, 0, 82 [SEP] 37, SaltShaker, -0.055, 0.908, 1.383, 0, 0, 0, 58 [SEP] 38, Knife, 2.488, 0.944, 1.468, 0, 0, 0, 82 [SEP] 39, Potato, 2.221, 0.946, 1.383, 0, 0, 0, 82 [SEP] 40, PepperShaker, 0.712, 1.651, -0.849, 0, 180, 0, 86 [SEP] 41, ButterKnife, -0.294, 0.911, 1.468, 0, 90, 0, 58 [SEP] 42, Bowl, 0.634, 0.909, -0.515, 0, 0, 0, 47 [SEP] 43, DishSponge, -1.962, 0.423, 1.459, 0, 270, 0, 100 [SEP] 44, Spoon, 2.186, 0.773, 1.160, 0, 0, 0, 78 [SEP] 45, Mug, 0.518, 1.779, 1.488, 0, 180, 0, 105 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 108, NorthWall, , , , , , , [SEP] 109, EastWall, , , , , , , [SEP] 110, SouthWall, , , , , , , [SEP] 111, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and then turn right. Move to the last plate on the left side counter. | STEP 2: Pick up the knife that's on the counter behind the plate. | STEP 3: Slice the potato that's on the counter behind the plate. | STEP 4: Move a few inches to the right. | STEP 5: Set the knife down on the right side of the plate with the blade facing away from the plate. | STEP 6: Move one step closer to the counter. | STEP 7: Pick up a slice of potato. | STEP 8: Turn around and face the fridge. | STEP 9: Put the potato on the second shelf on the right side. Close the fridge for a few moments and take the potato slice back out. | STEP 10: Turn right and face the microwave over the stove on your right. | STEP 11: Put the potato in the microwave on the right of the mug. | END"]} {"id": "trial_T20190907_195923_069158-1", "input": "Place a chilled piece of potato into the microwave 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, -0.5, 0, 90, 0, [SEP] 1, Pan, 1.688, 0.911, 1.214, 0, 0, 0, 82 [SEP] 2, Pan, 2.221, 0.911, 1.129, 0, 0, 0, 82 [SEP] 3, Potato, -0.017, 0.800, -0.762, 0, 0, 0, 104 [SEP] 4, Potato, -0.246, 0.946, 1.299, 0, 0, 0, 58 [SEP] 5, Potato, 0.634, 0.946, -0.345, 0, 0, 0, 47 [SEP] 6, DishSponge, -0.159, 0.771, 1.083, 0, 0, 0, 52 [SEP] 7, DishSponge, 1.869, 0.770, -0.460, 0, 180, 0, 61 [SEP] 8, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 53 [SEP] 9, Kettle, -0.087, 0.766, -0.596, 0, 90, 0, 104 [SEP] 10, Spatula, 0.263, 0.780, -0.596, 0, 270, 0, 104 [SEP] 11, Cup, 2.583, 0.112, 1.236, 0, 0, 0, 51 [SEP] 12, Egg, 2.715, 1.601, -0.512, 0, 0, 0, 102 [SEP] 13, Egg, 2.838, 1.326, -0.775, 0, 0, 0, 102 [SEP] 14, Knife, 2.221, 0.944, 1.299, 0, 0, 0, 82 [SEP] 15, SoapBottle, 2.444, 0.120, 1.156, 0, 0, 0, 51 [SEP] 16, Bowl, 0.178, 1.653, -0.732, 0, 180, 0, 87 [SEP] 17, PepperShaker, 2.124, 0.111, -0.458, 0, 180, 0, 88 [SEP] 18, Lettuce, 2.777, 1.099, -0.644, 0, 0, 0, 102 [SEP] 19, Lettuce, -0.887, 0.901, -1.400, 0, 0, 0, 106 [SEP] 20, Mug, -0.621, 0.815, -1.155, 0, 90, 0, 106 [SEP] 21, Mug, 0.888, 0.906, -0.684, 0, 0, 0, 47 [SEP] 22, Apple, 0.415, 1.853, 1.488, 0, 180, 0, 105 [SEP] 23, Apple, 3.381, 0.909, -0.514, 0, 0, 0, 102 [SEP] 24, SoapBottle, 0.825, 1.661, -0.771, 0, 180, 0, 57 [SEP] 25, Plate, 1.141, 0.914, -0.769, 0, 0, 0, 47 [SEP] 26, Fork, 1.155, 0.912, 1.468, 0, 0, 0, 82 [SEP] 27, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 62 [SEP] 28, Bread, -0.198, 0.969, 1.129, 0, 0, 0, 58 [SEP] 29, Egg, 2.777, 1.326, -0.709, 0, 0, 0, 102 [SEP] 30, Kettle, 2.754, 0.912, 1.468, 0, 0, 0, 82 [SEP] 31, Tomato, -1.991, 0.455, 1.290, 0, 270, 0, 100 [SEP] 32, Cup, 1.872, 1.652, -0.734, 0, 180, 0, 84 [SEP] 33, Spatula, 0.349, 0.926, -0.330, 0, 0, 0, 47 [SEP] 34, Apple, 2.754, 0.980, 1.299, 0, 0, 0, 82 [SEP] 35, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 50 [SEP] 36, Lettuce, 1.422, 0.992, 1.468, 0, 0, 0, 82 [SEP] 37, SaltShaker, -0.055, 0.908, 1.383, 0, 0, 0, 58 [SEP] 38, Knife, 2.488, 0.944, 1.468, 0, 0, 0, 82 [SEP] 39, Potato, 2.221, 0.946, 1.383, 0, 0, 0, 82 [SEP] 40, PepperShaker, 0.712, 1.651, -0.849, 0, 180, 0, 86 [SEP] 41, ButterKnife, -0.294, 0.911, 1.468, 0, 90, 0, 58 [SEP] 42, Bowl, 0.634, 0.909, -0.515, 0, 0, 0, 47 [SEP] 43, DishSponge, -1.962, 0.423, 1.459, 0, 270, 0, 100 [SEP] 44, Spoon, 2.186, 0.773, 1.160, 0, 0, 0, 78 [SEP] 45, Mug, 0.518, 1.779, 1.488, 0, 180, 0, 105 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 108, NorthWall, , , , , , , [SEP] 109, EastWall, , , , , , , [SEP] 110, SouthWall, , , , , , , [SEP] 111, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the potato on the counter opposite the fridge. | STEP 2: Pick up the yellow knife in front of the potato on the counter. | STEP 3: Cut up the potato on the counter. | STEP 4: Take one step back and then face the counter with the cut up potato on it. | STEP 5: Place the knife to the right of the plate on the counter. | STEP 6: Take one step forward toward the potato on the counter. | STEP 7: Pick up a piece of the potato on the counter. | STEP 8: Turn around and walk to the fridge. | STEP 9: Chill the potato in the fridge and then pick the potato up from the fridge. | STEP 10: Turn right and walk to the microwave above the stove. | STEP 11: Place the piece of potato into the microwave and then close the microwave. | END"]} {"id": "trial_T20190907_020621_780624-1", "input": "Grab the statue on the coffee table, turn on the lamp on the side table 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, 3.0, 0, 0, 0, [SEP] 1, Bowl, -0.636, 0.795, 1.626, 0, 270, 0, 42 [SEP] 2, Newspaper, -2.492, 0.532, 3.607, 0, 270, 0, 57 [SEP] 3, Watch, -2.811, 0.533, 3.981, 0, 0, 0, 57 [SEP] 4, Watch, -5.313, 0.533, 6.927, 0, 45, 0, 58 [SEP] 5, CreditCard, -2.704, 0.533, 3.919, 0, 0, 0, 57 [SEP] 6, RemoteControl, -0.947, 0.369, 3.002, 0, 0, 0, 40 [SEP] 7, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 51 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -2.411, 1.280, 7.298, 0, 90, 0, 56 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -2.640, 1.278, 7.235, 0, 180, 0, 56 [SEP] 12, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 57 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 14, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 50 [SEP] 15, CreditCard, -0.484, 0.793, 6.357, 0, 270, 0, 41 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -0.710, 0.415, 3.611, 0, 180, 0, 40 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -3.462, 0.148, 7.070, 0, 90, 0, 51 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -5.847, 0.455, 4.152, 0, 0, 0, 47 [SEP] 24, Watch, -2.672, 0.880, 7.139, 0, 90, 0, 48 [SEP] 25, Statue, -2.352, 0.540, 4.335, 0, 270, 0, 57 [SEP] 26, Statue, -2.640, 1.281, 7.108, 0, 180, 0, 56 [SEP] 27, Statue, -0.636, 0.803, 5.726, 0, 270, 0, 41 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 59, NorthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right, walk across the room to the sofa, turn left, and turn left, facing the coffee table | STEP 2: Grab the statue on the table | STEP 3: Turn right, walk to the side table on the right | STEP 4: Turn on the lamp on the side table | END"]} {"id": "trial_T20190908_071233_937560-1", "input": "Put the keys in with the box 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, -1.5, 0.900, 0.25, 0, 90, 0, [SEP] 1, Watch, 1.849, 0.870, 0.114, 0, 90, 0, 36 [SEP] 2, Newspaper, 1.849, 0.869, 0.431, 0, 90, 0, 36 [SEP] 3, KeyChain, -0.5, 0.321, -1.990, 0, 90, 0, 32 [SEP] 4, KeyChain, -1.163, 0.553, -0.106, 0, 0, 0, 30 [SEP] 5, CreditCard, -0.841, 0.357, -0.609, 0, 90, 0, 29 [SEP] 6, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 38 [SEP] 7, KeyChain, 1.601, 0.279, -0.435, 0, 0, 0, 38 [SEP] 8, Watch, -0.561, 0.552, -0.106, 0, 270, 0, 30 [SEP] 9, Newspaper, -0.711, 0.292, -1.917, 0, 0, 0, 32 [SEP] 10, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 32 [SEP] 11, CreditCard, -0.411, 0.551, -0.451, 0, 270, 0, 30 [SEP] 12, RemoteControl, -0.453, 0.358, -0.544, 0, 90, 0, 29 [SEP] 13, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 30 [SEP] 14, Statue, 1.682, 0.880, 0.220, 0, 90, 0, 36 [SEP] 15, Statue, -0.260, 0.562, -0.451, 0, 90, 0, 30 [SEP] 16, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 17, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 18, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 19, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 20, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 21, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 22, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 23, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 24, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 25, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 26, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 29, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 30, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 31, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 32, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 33, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 34, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 35, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 36, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 37, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 38, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, WestWall, , , , , , , ", "output": ["STEP 1: Go to the end table in front across the room. | STEP 2: Pick up the empty box under the table. | STEP 3: Turn around and go to the right front side of the sofa with a checkered cushion. | STEP 4: Place the empty box on the sofa seat. | STEP 5: Move over left and face the sofa. | STEP 6: Pick up the keys on the sofa seat next to the box. | STEP 7: Move over right to the front of the box. | STEP 8: Place the keys in the box and close the box. | END"]} {"id": "trial_T20190907_114802_508846-2", "input": "fill the bowl from the top cabinet with water, 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, 0.931, -0.5, 0, 90, 0, [SEP] 1, Potato, -1.103, 1.281, 2.153, 0, 90, 0, 62 [SEP] 2, DishSponge, -0.260, 1.046, -1.289, 0, 0, 0, 47 [SEP] 3, DishSponge, 1.882, 0.122, 2.414, 0, 270, 0, 63 [SEP] 4, ButterKnife, 1.072, 1.046, -1.397, 0, 0, 0, 47 [SEP] 5, Kettle, 1.512, 0.205, -1.553, 0, 0, 0, 57 [SEP] 6, Kettle, 1.036, 1.566, -1.764, 0, 0, 0, 51 [SEP] 7, Spoon, 0.351, 1.044, 0.738, 0, 0, 0, 49 [SEP] 8, Spoon, -0.346, 1.048, -1.828, 0, 0, 0, 47 [SEP] 9, Spatula, 0.740, 1.061, -1.181, 0, 180, 0, 47 [SEP] 10, Knife, 1.347, 1.069, 0.676, 0, 0, 0, 49 [SEP] 11, Knife, 0.160, 1.069, 0.415, 0, 90, 0, 49 [SEP] 12, Tomato, -0.603, 1.097, -1.289, 0, 0, 0, 47 [SEP] 13, SoapBottle, -1.339, 0.203, -1.338, 0, 0, 0, 55 [SEP] 14, SoapBottle, -0.323, 1.565, -1.841, 0, 0, 0, 52 [SEP] 15, Bowl, 0.960, 1.563, -1.538, 0, 0, 0, 51 [SEP] 16, Bowl, -0.398, 1.563, -1.619, 0, 0, 0, 52 [SEP] 17, PepperShaker, 1.188, 1.560, -1.388, 0, 0, 0, 51 [SEP] 18, Lettuce, -1.103, 1.287, 1.885, 0, 90, 0, 62 [SEP] 19, Mug, 1.181, 1.038, 0.763, 0, 0, 0, 49 [SEP] 20, Mug, -0.670, 0.198, -1.625, 0, 0, 0, 56 [SEP] 21, SoapBottle, -1.184, 2.029, -1.264, 0, 0, 0, 54 [SEP] 22, Apple, -1.194, 1.759, -1.331, 0, 0, 0, 61 [SEP] 23, Potato, 0.065, 1.096, 0.522, 0, 0, 0, 49 [SEP] 24, Fork, 0.245, 1.034, 0.305, 355.763, 1.013, 0, 49 [SEP] 25, Kettle, 1.015, 1.044, 0.632, 0, 0, 0, 49 [SEP] 26, Pan, 0.389, 1.053, -1.630, 0, 0, 0, 43 [SEP] 27, Tomato, -1.064, 1.014, 1.885, 0, 90, 0, 62 [SEP] 28, SaltShaker, 0.989, 1.041, -1.505, 0, 0, 0, 47 [SEP] 29, Egg, -1.011, 0.762, 2.153, 0, 90, 0, 62 [SEP] 30, Cup, -1.303, 1.489, 1.796, 0, 90, 0, 62 [SEP] 31, Spatula, 1.015, 1.058, 0.763, 0, 0, 0, 49 [SEP] 32, Knife, 0.518, 1.072, -1.086, 0, 180, 0, 47 [SEP] 33, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 45 [SEP] 34, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 49 [SEP] 35, PepperShaker, 1.514, 1.038, 0.545, 0, 0, 0, 49 [SEP] 36, DishSponge, 1.068, 0.199, -1.412, 0, 0, 0, 58 [SEP] 37, Plate, 1.072, 1.059, -1.720, 0, 0, 0, 47 [SEP] 38, Bread, 0.418, 1.104, 0.353, 0, 337.641, 0, 49 [SEP] 39, Spoon, 0.071, 1.031, 0.229, 0, 0, 0, 49 [SEP] 40, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 50 [SEP] 41, Mug, -1.126, 0.959, 2.063, 0, 90, 0, 62 [SEP] 42, Bowl, -1.303, 1.488, 2.063, 0, 90, 0, 62 [SEP] 43, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 44, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 45, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 46, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 47, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 48, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 49, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 50, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 51, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 52, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 53, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 54, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 55, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 56, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 57, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 58, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 59, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 60, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 61, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 62, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 63, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 64, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 65, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 66, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 70, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 71, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 72, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 73, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 74, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 75, NorthWall, , , , , , , [SEP] 76, EastWall, , , , , , , [SEP] 77, SouthWall, , , , , , , [SEP] 78, WestWall, , , , , , , ", "output": ["STEP 1: turn right to the cabinet above the toaster | STEP 2: open the cabinet, grab the bowl in the cabinet, close the cabinet | STEP 3: turn left, walk to the sink on the left | STEP 4: put the bowl in the sink, fill the bowl with water from the faucet, take the bowl | STEP 5: turn left, walk to the counter with a toast on it | STEP 6: put the bowl with water on the counter | END"]} {"id": "trial_T20190907_114802_508846-3", "input": "Grab a bowl, wash it, set it on the counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.931, -0.5, 0, 90, 0, [SEP] 1, Potato, -1.103, 1.281, 2.153, 0, 90, 0, 62 [SEP] 2, DishSponge, -0.260, 1.046, -1.289, 0, 0, 0, 47 [SEP] 3, DishSponge, 1.882, 0.122, 2.414, 0, 270, 0, 63 [SEP] 4, ButterKnife, 1.072, 1.046, -1.397, 0, 0, 0, 47 [SEP] 5, Kettle, 1.512, 0.205, -1.553, 0, 0, 0, 57 [SEP] 6, Kettle, 1.036, 1.566, -1.764, 0, 0, 0, 51 [SEP] 7, Spoon, 0.351, 1.044, 0.738, 0, 0, 0, 49 [SEP] 8, Spoon, -0.346, 1.048, -1.828, 0, 0, 0, 47 [SEP] 9, Spatula, 0.740, 1.061, -1.181, 0, 180, 0, 47 [SEP] 10, Knife, 1.347, 1.069, 0.676, 0, 0, 0, 49 [SEP] 11, Knife, 0.160, 1.069, 0.415, 0, 90, 0, 49 [SEP] 12, Tomato, -0.603, 1.097, -1.289, 0, 0, 0, 47 [SEP] 13, SoapBottle, -1.339, 0.203, -1.338, 0, 0, 0, 55 [SEP] 14, SoapBottle, -0.323, 1.565, -1.841, 0, 0, 0, 52 [SEP] 15, Bowl, 0.960, 1.563, -1.538, 0, 0, 0, 51 [SEP] 16, Bowl, -0.398, 1.563, -1.619, 0, 0, 0, 52 [SEP] 17, PepperShaker, 1.188, 1.560, -1.388, 0, 0, 0, 51 [SEP] 18, Lettuce, -1.103, 1.287, 1.885, 0, 90, 0, 62 [SEP] 19, Mug, 1.181, 1.038, 0.763, 0, 0, 0, 49 [SEP] 20, Mug, -0.670, 0.198, -1.625, 0, 0, 0, 56 [SEP] 21, SoapBottle, -1.184, 2.029, -1.264, 0, 0, 0, 54 [SEP] 22, Apple, -1.194, 1.759, -1.331, 0, 0, 0, 61 [SEP] 23, Potato, 0.065, 1.096, 0.522, 0, 0, 0, 49 [SEP] 24, Fork, 0.245, 1.034, 0.305, 355.763, 1.013, 0, 49 [SEP] 25, Kettle, 1.015, 1.044, 0.632, 0, 0, 0, 49 [SEP] 26, Pan, 0.389, 1.053, -1.630, 0, 0, 0, 43 [SEP] 27, Tomato, -1.064, 1.014, 1.885, 0, 90, 0, 62 [SEP] 28, SaltShaker, 0.989, 1.041, -1.505, 0, 0, 0, 47 [SEP] 29, Egg, -1.011, 0.762, 2.153, 0, 90, 0, 62 [SEP] 30, Cup, -1.303, 1.489, 1.796, 0, 90, 0, 62 [SEP] 31, Spatula, 1.015, 1.058, 0.763, 0, 0, 0, 49 [SEP] 32, Knife, 0.518, 1.072, -1.086, 0, 180, 0, 47 [SEP] 33, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 45 [SEP] 34, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 49 [SEP] 35, PepperShaker, 1.514, 1.038, 0.545, 0, 0, 0, 49 [SEP] 36, DishSponge, 1.068, 0.199, -1.412, 0, 0, 0, 58 [SEP] 37, Plate, 1.072, 1.059, -1.720, 0, 0, 0, 47 [SEP] 38, Bread, 0.418, 1.104, 0.353, 0, 337.641, 0, 49 [SEP] 39, Spoon, 0.071, 1.031, 0.229, 0, 0, 0, 49 [SEP] 40, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 50 [SEP] 41, Mug, -1.126, 0.959, 2.063, 0, 90, 0, 62 [SEP] 42, Bowl, -1.303, 1.488, 2.063, 0, 90, 0, 62 [SEP] 43, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 44, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 45, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 46, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 47, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 48, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 49, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 50, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 51, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 52, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 53, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 54, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 55, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 56, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 57, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 58, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 59, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 60, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 61, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 62, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 63, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 64, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 65, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 66, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 70, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 71, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 72, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 73, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 74, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 75, NorthWall, , , , , , , [SEP] 76, EastWall, , , , , , , [SEP] 77, SouthWall, , , , , , , [SEP] 78, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and face the kitchen counter originally to your right | STEP 2: Open the kitchen cabinet and take out a bowl that was inside | STEP 3: Turn to your left and then face the kitchen sink | STEP 4: Place the bowl in the sink, rinse the bowl and then pick it back up | STEP 5: Turn to your left and head back to the kitchen cabinet | STEP 6: Place the clean bowl on the kitchen counter | END"]} {"id": "trial_T20190906_184725_582613-0", "input": "Put a heated glass in the cabinet above the 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, -0.75, 0.900, 1.0, 0, 0, 0, [SEP] 1, DishSponge, -2.019, 0.423, 1.375, 0, 270, 0, 98 [SEP] 2, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 83 [SEP] 3, ButterKnife, 0.193, 0.765, -0.707, 0, 180, 0, 102 [SEP] 4, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 60 [SEP] 5, Fork, 2.488, 0.912, 1.383, 0, 0, 0, 80 [SEP] 6, Fork, -0.157, 0.766, -0.707, 0, 90, 0, 102 [SEP] 7, Spatula, 1.955, 0.926, 1.214, 0, 0, 0, 80 [SEP] 8, Cup, 1.395, 0.909, -0.345, 0, 0, 0, 45 [SEP] 9, Tomato, 0.123, 0.797, -0.762, 0, 0, 0, 102 [SEP] 10, Tomato, 1.688, 0.942, 1.044, 0, 0, 0, 80 [SEP] 11, Bowl, 2.900, 0.724, -0.504, 0, 0, 0, 100 [SEP] 12, Bowl, 1.955, 0.909, 1.468, 0, 0, 0, 80 [SEP] 13, PepperShaker, 2.754, 0.908, 1.553, 0, 0, 0, 80 [SEP] 14, Bread, 1.688, 0.969, 1.468, 0, 0, 0, 80 [SEP] 15, Bread, 1.155, 0.969, 1.468, 0, 0, 0, 80 [SEP] 16, Lettuce, -0.151, 0.992, 1.383, 0, 0, 0, 56 [SEP] 17, Lettuce, 2.221, 0.992, 1.129, 0, 0, 0, 80 [SEP] 18, Mug, -0.694, 0.815, -1.360, 0, 90, 0, 104 [SEP] 19, Mug, -0.246, 0.906, 1.129, 0, 0, 0, 56 [SEP] 20, Apple, -0.939, 0.889, -1.328, 0, 0, 0, 104 [SEP] 21, Apple, 2.653, 1.357, -0.709, 0, 0, 0, 100 [SEP] 22, SoapBottle, 1.484, 1.661, -0.810, 0, 180, 0, 67 [SEP] 23, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 45 [SEP] 24, Fork, 2.743, 0.771, 1.198, 0, 270, 0, 89 [SEP] 25, Pot, 2.838, 1.567, -0.578, 0, 0, 0, 100 [SEP] 26, Bread, 1.030, 0.953, -0.518, 0, 0, 0, 45 [SEP] 27, Egg, 2.653, 1.326, -0.840, 0, 0, 0, 100 [SEP] 28, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 45 [SEP] 29, Tomato, 1.155, 0.942, 1.044, 0, 0, 0, 80 [SEP] 30, Cup, 1.917, 1.653, 1.429, 0, 0, 0, 57 [SEP] 31, Spatula, -0.983, 0.835, -1.411, 0, 180, 0, 104 [SEP] 32, Apple, -0.103, 0.980, 1.214, 0, 0, 0, 56 [SEP] 33, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 48 [SEP] 34, Lettuce, 2.754, 0.992, 1.299, 0, 0, 0, 80 [SEP] 35, SaltShaker, -0.983, 0.817, -1.155, 0, 90, 0, 104 [SEP] 36, Knife, 2.221, 0.944, 1.468, 0, 0, 0, 80 [SEP] 37, Potato, 2.591, 0.761, -0.473, 0, 0, 0, 100 [SEP] 38, PepperShaker, 0.825, 1.651, -0.732, 0, 180, 0, 84 [SEP] 39, ButterKnife, 0.888, 0.901, -0.430, 0, 0, 0, 45 [SEP] 40, Bowl, 0.231, 2.154, 1.467, 0, 0, 0, 79 [SEP] 41, DishSponge, 2.205, 0.770, -0.460, 0, 180, 0, 58 [SEP] 42, Spoon, -0.103, 0.912, 1.044, 0, 0, 0, 56 [SEP] 43, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 45 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 106, NorthWall, , , , , , , [SEP] 107, EastWall, , , , , , , [SEP] 108, SouthWall, , , , , , , [SEP] 109, WestWall, , , , , , , ", "output": ["STEP 1: Move to the cabinet on the left, above the lettuce. | STEP 2: Pick up the glass in the cabinet. | STEP 3: Bring the glass to the microwave. | STEP 4: Heat the glass in the microwave. | STEP 5: Bring the glass to the counter left of the sink. | STEP 6: Put the glass in the cabinet above the bread on the counter. | END"]} {"id": "trial_T20190907_185743_217661-0", "input": "Get spray bottle from toilet tank, place spray bottle on vanity. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.901, 3.0, 0, 180, 0, [SEP] 1, TissueBox, -1.501, 0.069, 2.757, 0, 0, 0, 22 [SEP] 2, TissueBox, -1.441, 0.069, 3.743, 0, 0, 0, 30 [SEP] 3, SoapBar, -1.481, 0.994, 3.873, 0, 0, 0, 29 [SEP] 4, Candle, 0.284, 0.892, 1.618, 0, 0, 0, 35 [SEP] 5, SprayBottle, -1.441, 0.069, 2.908, 0, 0, 0, 28 [SEP] 6, SprayBottle, 0.313, 0.048, 3.865, 0, 0, 0, 32 [SEP] 7, SprayBottle, -1.322, 0.069, 3.693, 0, 0, 0, 30 [SEP] 8, SoapBottle, -1.560, 0.067, 2.441, 0, 0, 0, 24 [SEP] 9, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 31 [SEP] 10, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 33 [SEP] 11, SoapBar, 0.374, 0.893, 1.618, 0, 0, 0, 35 [SEP] 12, ToiletPaper, -1.332, 0.058, 2.261, 0, 0, 0, 24 [SEP] 13, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 14, Candle, -1.284, 0.994, 3.812, 0, 0, 0, 29 [SEP] 15, TissueBox, -1.481, 0.994, 2.239, 0, 0, 0, 29 [SEP] 16, SoapBottle, -1.560, 0.067, 3.327, 0, 0, 0, 28 [SEP] 17, ToiletPaper, -1.262, 0.065, 2.706, 0, 0, 0, 22 [SEP] 18, SprayBottle, 0.351, 0.894, 1.566, 0, 0, 0, 35 [SEP] 19, Cloth, 0.356, 0.885, 1.8, 0, 85.370, 0, Floor|-01.72| [SEP] 20, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 21, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 22, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 23, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 24, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 25, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 26, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 27, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 28, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 29, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 30, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 31, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 32, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 33, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 34, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 35, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 36, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 37, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 38, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 39, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 40, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 41, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 42, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 43, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, turn left, walk to the toilet, turn left. | STEP 2: Pick up the spray bottle on the toilet tank. | STEP 3: Turn around, walk to the vanity, | STEP 4: Place the spray bottle on vanity in front of the tissues. | END"]} {"id": "trial_T20190909_151104_208973-1", "input": "Examine a pillow by the light of the lamp on the desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.909, -2.0, 0, 0, 0, [SEP] 1, Mug, -3.466, 0.979, -3.673, 0, 0, 0, 44 [SEP] 2, Mug, -1.474, 0.801, -3.920, 0, 0, 0, 41 [SEP] 3, CD, -1.874, 0.063, -3.897, 0, 279.990, 0, 30 [SEP] 4, CellPhone, -3.694, 0.614, -3.885, 0, 0, 0, 50 [SEP] 5, CellPhone, -3.694, 0.419, -3.092, 0, 0, 0, 52 [SEP] 6, Pen, -3.834, 0.986, -3.673, 0, 0, 0, 44 [SEP] 7, Pencil, -3.908, 0.984, -4.075, 0, 0, 0, 44 [SEP] 8, CreditCard, -0.418, 0.542, -3.713, 0, 0, 0, 35 [SEP] 9, KeyChain, -0.453, 0.804, -3.920, 0, 0, 0, 41 [SEP] 10, Book, -3.693, 0.810, -3.883, 0, 0, 0, 42 [SEP] 11, Pillow, -2.559, 0.722, -1.218, 0, 0, 0, 26 [SEP] 12, AlarmClock, -0.862, 0.803, -4.246, 0, 0, 0, 41 [SEP] 13, Book, -3.402, 0.620, -0.931, 0, 0, 0, 26 [SEP] 14, CellPhone, -3.582, 0.419, -3.370, 0, 0, 0, 52 [SEP] 15, Laptop, -2.559, 0.618, -2.080, 0, 0, 0, 26 [SEP] 16, CreditCard, -0.578, 0.030, -3.844, 0, 0, 0, 36 [SEP] 17, AlarmClock, -3.760, 0.979, -3.472, 0, 0, 0, 44 [SEP] 18, KeyChain, -3.467, 0.810, -4.164, 0, 0, 0, 42 [SEP] 19, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 26 [SEP] 20, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 21, Pencil, -3.694, 0.230, -3.977, 0, 0, 0, 48 [SEP] 22, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 26 [SEP] 23, CD, -3.466, 0.979, -3.070, 0, 0, 0, 44 [SEP] 24, Pen, -3.751, 0.424, -3.185, 0, 0, 0, 52 [SEP] 25, Mug, -0.596, 0.541, -3.713, 0, 0, 0, 35 [SEP] 26, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 27, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 28, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 29, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 30, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 31, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 32, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 33, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 34, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 35, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 36, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 37, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 38, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 39, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 40, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 41, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 42, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 43, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 44, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 51, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 52, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 53, NorthWall, , , , , , , [SEP] 54, EastWall, , , , , , , [SEP] 55, SouthWall, , , , , , , [SEP] 56, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, go to the bed. | STEP 2: Pick up the close pillow on the bed. | STEP 3: Bring the pillow to the left, to the lamp on the desk. | STEP 4: Turn on the lamp on the desk. | END"]} {"id": "trial_T20190909_151104_208973-2", "input": "Look at a patterned pillow 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, -1.0, 0.909, -2.0, 0, 0, 0, [SEP] 1, Mug, -3.466, 0.979, -3.673, 0, 0, 0, 44 [SEP] 2, Mug, -1.474, 0.801, -3.920, 0, 0, 0, 41 [SEP] 3, CD, -1.874, 0.063, -3.897, 0, 279.990, 0, 30 [SEP] 4, CellPhone, -3.694, 0.614, -3.885, 0, 0, 0, 50 [SEP] 5, CellPhone, -3.694, 0.419, -3.092, 0, 0, 0, 52 [SEP] 6, Pen, -3.834, 0.986, -3.673, 0, 0, 0, 44 [SEP] 7, Pencil, -3.908, 0.984, -4.075, 0, 0, 0, 44 [SEP] 8, CreditCard, -0.418, 0.542, -3.713, 0, 0, 0, 35 [SEP] 9, KeyChain, -0.453, 0.804, -3.920, 0, 0, 0, 41 [SEP] 10, Book, -3.693, 0.810, -3.883, 0, 0, 0, 42 [SEP] 11, Pillow, -2.559, 0.722, -1.218, 0, 0, 0, 26 [SEP] 12, AlarmClock, -0.862, 0.803, -4.246, 0, 0, 0, 41 [SEP] 13, Book, -3.402, 0.620, -0.931, 0, 0, 0, 26 [SEP] 14, CellPhone, -3.582, 0.419, -3.370, 0, 0, 0, 52 [SEP] 15, Laptop, -2.559, 0.618, -2.080, 0, 0, 0, 26 [SEP] 16, CreditCard, -0.578, 0.030, -3.844, 0, 0, 0, 36 [SEP] 17, AlarmClock, -3.760, 0.979, -3.472, 0, 0, 0, 44 [SEP] 18, KeyChain, -3.467, 0.810, -4.164, 0, 0, 0, 42 [SEP] 19, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 26 [SEP] 20, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 21, Pencil, -3.694, 0.230, -3.977, 0, 0, 0, 48 [SEP] 22, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 26 [SEP] 23, CD, -3.466, 0.979, -3.070, 0, 0, 0, 44 [SEP] 24, Pen, -3.751, 0.424, -3.185, 0, 0, 0, 52 [SEP] 25, Mug, -0.596, 0.541, -3.713, 0, 0, 0, 35 [SEP] 26, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 27, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 28, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 29, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 30, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 31, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 32, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 33, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 34, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 35, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 36, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 37, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 38, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 39, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 40, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 41, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 42, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 43, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 44, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 51, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 52, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 53, NorthWall, , , , , , , [SEP] 54, EastWall, , , , , , , [SEP] 55, SouthWall, , , , , , , [SEP] 56, WestWall, , , , , , , ", "output": ["STEP 1: Turn left to walk to the bed. | STEP 2: Pick up the patterned pillow closest to you. | STEP 3: Turn left to walk to the white desk. | STEP 4: Turn on the lamp on the desk. | END"]} {"id": "trial_T20190909_081054_216664-0", "input": "Move a pen to the dresser with keys. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.909, -2.5, 0, 270, 0, [SEP] 1, Mug, -0.774, 0.541, -3.694, 0, 0, 0, 34 [SEP] 2, CD, -1.474, 0.799, -3.920, 0, 0, 0, 40 [SEP] 3, CellPhone, -0.578, 0.188, -3.844, 0, 0, 0, 32 [SEP] 4, Pencil, -1.869, 0.065, -3.873, 0, 9.990, 0, 29 [SEP] 5, KeyChain, -3.687, 0.980, -3.472, 0, 0, 0, 43 [SEP] 6, KeyChain, -1.474, 0.800, -3.811, 0, 0, 0, 40 [SEP] 7, Book, -2.981, 0.620, -1.793, 0, 0, 0, 25 [SEP] 8, Pillow, -2.981, 0.722, -1.218, 0, 0, 0, 25 [SEP] 9, Laptop, -0.453, 0.798, -3.811, 0, 0, 0, 40 [SEP] 10, AlarmClock, -0.862, 0.803, -4.246, 0, 0, 0, 40 [SEP] 11, AlarmClock, -0.329, 0.542, -3.713, 0, 0, 0, 40 [SEP] 12, Book, -3.613, 0.980, -3.673, 0, 0, 0, 43 [SEP] 13, CellPhone, -3.191, 0.620, -2.080, 0, 0, 0, 25 [SEP] 14, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 40 [SEP] 15, CreditCard, -3.613, 0.981, -4.276, 0, 0, 0, 43 [SEP] 16, AlarmClock, -3.7, 0.973, -3.093, 0, 56.085, 0, 43 [SEP] 17, KeyChain, -3.466, 0.982, -3.874, 0, 0, 0, 43 [SEP] 18, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 25 [SEP] 19, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 20, Pencil, -3.638, 0.617, -4.348, 0, 0, 0, 49 [SEP] 21, Pillow, -2.559, 0.722, -1.793, 0, 0, 0, 25 [SEP] 22, CD, -0.507, 0.542, -3.713, 0, 0, 0, 34 [SEP] 23, Pen, -0.657, 0.809, -4.137, 0, 0, 0, 40 [SEP] 24, Mug, -3.687, 0.979, -3.874, 0, 0, 0, 43 [SEP] 25, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 26, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 27, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 28, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 29, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 30, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 31, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 32, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 33, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 34, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 35, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 36, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 37, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 38, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 39, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 40, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 41, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 42, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 43, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 51, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and face the white table on the right. | STEP 2: Pick up the pen from behind the left computer. | STEP 3: Carry the pen and turn to the right and move to the large brown dresser. | STEP 4: Place the pen on top of the dresser, inside the the hoop for the keys. | END"]} {"id": "trial_T20190909_081054_216664-1", "input": "place a pencil on top of some keys on the dresser SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.909, -2.5, 0, 270, 0, [SEP] 1, Mug, -0.774, 0.541, -3.694, 0, 0, 0, 34 [SEP] 2, CD, -1.474, 0.799, -3.920, 0, 0, 0, 40 [SEP] 3, CellPhone, -0.578, 0.188, -3.844, 0, 0, 0, 32 [SEP] 4, Pencil, -1.869, 0.065, -3.873, 0, 9.990, 0, 29 [SEP] 5, KeyChain, -3.687, 0.980, -3.472, 0, 0, 0, 43 [SEP] 6, KeyChain, -1.474, 0.800, -3.811, 0, 0, 0, 40 [SEP] 7, Book, -2.981, 0.620, -1.793, 0, 0, 0, 25 [SEP] 8, Pillow, -2.981, 0.722, -1.218, 0, 0, 0, 25 [SEP] 9, Laptop, -0.453, 0.798, -3.811, 0, 0, 0, 40 [SEP] 10, AlarmClock, -0.862, 0.803, -4.246, 0, 0, 0, 40 [SEP] 11, AlarmClock, -0.329, 0.542, -3.713, 0, 0, 0, 40 [SEP] 12, Book, -3.613, 0.980, -3.673, 0, 0, 0, 43 [SEP] 13, CellPhone, -3.191, 0.620, -2.080, 0, 0, 0, 25 [SEP] 14, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 40 [SEP] 15, CreditCard, -3.613, 0.981, -4.276, 0, 0, 0, 43 [SEP] 16, AlarmClock, -3.7, 0.973, -3.093, 0, 56.085, 0, 43 [SEP] 17, KeyChain, -3.466, 0.982, -3.874, 0, 0, 0, 43 [SEP] 18, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 25 [SEP] 19, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 20, Pencil, -3.638, 0.617, -4.348, 0, 0, 0, 49 [SEP] 21, Pillow, -2.559, 0.722, -1.793, 0, 0, 0, 25 [SEP] 22, CD, -0.507, 0.542, -3.713, 0, 0, 0, 34 [SEP] 23, Pen, -0.657, 0.809, -4.137, 0, 0, 0, 40 [SEP] 24, Mug, -3.687, 0.979, -3.874, 0, 0, 0, 43 [SEP] 25, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 26, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 27, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 28, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 29, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 30, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 31, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 32, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 33, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 34, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 35, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 36, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 37, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 38, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 39, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 40, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 41, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 42, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 43, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 51, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: turn around and walk over to the desk on the right side of the room | STEP 2: grab a pencil off of the desk there | STEP 3: turn right and walk over to the dresser at the far end of the room | STEP 4: place the pencil on top of the keys on top of the dresser | END"]} {"id": "trial_T20190907_211139_592319-2", "input": "Put the apple from the table into the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 0.25, 0, 270, 0, [SEP] 1, Potato, 1.422, 0.946, 1.553, 0, 0, 0, 74 [SEP] 2, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 54 [SEP] 3, Pot, 2.221, 0.915, 1.129, 0, 0, 0, 74 [SEP] 4, Spoon, -0.151, 0.912, 1.468, 0, 0, 0, 50 [SEP] 5, Fork, 2.754, 0.912, 1.468, 0, 0, 0, 74 [SEP] 6, Fork, -0.103, 0.912, 1.299, 0, 0, 0, 50 [SEP] 7, Cup, 1.155, 0.909, 1.129, 0, 0, 0, 74 [SEP] 8, Egg, -0.142, 0.949, -0.330, 0, 0, 0, 39 [SEP] 9, SoapBottle, 1.422, 0.917, 1.383, 0, 0, 0, 74 [SEP] 10, Bowl, 1.216, 1.653, 1.507, 0, 0, 0, 66 [SEP] 11, SaltShaker, -0.939, 0.817, -1.328, 0, 0, 0, 98 [SEP] 12, PepperShaker, -0.621, 0.817, -1.411, 0, 90, 0, 98 [SEP] 13, Lettuce, 0.634, 0.992, -0.430, 0, 0, 0, 39 [SEP] 14, Apple, 2.777, 1.632, -0.709, 0, 0, 0, 94 [SEP] 15, Apple, 2.777, 0.794, -0.535, 0, 0, 0, 94 [SEP] 16, SoapBottle, -0.785, 0.826, -1.400, 0, 0, 0, 98 [SEP] 17, Plate, 1.522, 1.658, -0.771, 0, 180, 0, 61 [SEP] 18, Fork, 1.804, 0.772, -0.498, 0, 90, 0, 53 [SEP] 19, Pot, 1.955, 0.915, 1.299, 0, 0, 0, 74 [SEP] 20, Bread, 1.688, 0.969, 1.468, 0, 0, 0, 74 [SEP] 21, Egg, 2.591, 1.601, -0.709, 0, 0, 0, 94 [SEP] 22, Kettle, 2.838, 1.655, 1.470, 0, 0, 0, 40 [SEP] 23, Tomato, -0.198, 0.942, 1.383, 0, 0, 0, 50 [SEP] 24, Cup, -1.056, 0.818, -1.155, 0, 90, 0, 98 [SEP] 25, Spatula, -0.103, 0.926, 1.044, 0, 90, 0, 50 [SEP] 26, Apple, -0.694, 0.889, -1.257, 0, 90, 0, 98 [SEP] 27, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 42 [SEP] 28, Lettuce, -0.198, 0.992, 1.129, 0, 0, 0, 50 [SEP] 29, SaltShaker, -0.238, 1.650, 1.546, 0, 0, 0, 65 [SEP] 30, Knife, -1.056, 0.853, -1.257, 0, 90, 0, 98 [SEP] 31, Potato, 2.838, 1.598, -0.840, 0, 0, 0, 94 [SEP] 32, PepperShaker, 0.581, 1.650, -0.658, 0, 180, 0, 78 [SEP] 33, ButterKnife, -0.911, 0.820, -1.206, 0, 0, 0, 98 [SEP] 34, Bowl, 0.759, 2.151, 1.506, 0, 0, 0, 48 [SEP] 35, DishSponge, -0.785, 0.820, -1.110, 0, 0, 0, 98 [SEP] 36, Spoon, 2.488, 0.912, 1.214, 0, 0, 0, 74 [SEP] 37, Mug, 0.466, 1.779, 1.488, 0, 180, 0, 97 [SEP] 38, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 39, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 40, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 41, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 42, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 43, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 44, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 45, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 46, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 47, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 48, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 49, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 50, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 51, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 52, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 53, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 54, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 55, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 56, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 57, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 58, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 59, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 60, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 61, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 62, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 63, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 64, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 65, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 68, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 69, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 70, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 71, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 72, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 74, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 75, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 77, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 78, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 79, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 80, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 81, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 82, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 83, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 84, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 85, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 86, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 87, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 88, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 89, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 91, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 92, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 93, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 94, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 95, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 96, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 97, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 98, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 99, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 100, NorthWall, , , , , , , [SEP] 101, EastWall, , , , , , , [SEP] 102, SouthWall, , , , , , , [SEP] 103, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and then go to the table on your right. | STEP 2: Pick up the apple from the table. | STEP 3: Turn around and go to the sink. | STEP 4: Put the apple in the sink. | END"]} {"id": "trial_T20190907_230502_351146-0", "input": "get the tissues from the sink and put them on the toilet tank. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.901, 3.25, 0, 90, 0, [SEP] 1, TissueBox, -1.547, 0.994, 3.873, 0, 0, 0, 27 [SEP] 2, Cloth, -1.547, 0.994, 3.100, 0, 180, 0, 27 [SEP] 3, Cloth, -1.441, 0.068, 3.743, 0, 0, 0, 28 [SEP] 4, SoapBar, 0.313, 0.047, 3.893, 0, 0, 0, 30 [SEP] 5, SoapBottle, -1.416, 0.993, 3.903, 0, 0, 0, 27 [SEP] 6, SoapBottle, -1.416, 0.993, 3.041, 0, 0, 0, 27 [SEP] 7, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 29 [SEP] 8, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 31 [SEP] 9, SoapBar, -1.284, 0.994, 2.269, 0, 0, 0, 27 [SEP] 10, ToiletPaper, -1.332, 0.058, 2.261, 0, 0, 0, 22 [SEP] 11, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 12, Candle, -1.481, 0.994, 2.299, 0, 0, 0, 27 [SEP] 13, TissueBox, -1.319, 0.068, 3.327, 0, 0, 0, 26 [SEP] 14, SoapBottle, 0.329, 0.892, 1.618, 0, 0, 0, 33 [SEP] 15, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 35 [SEP] 16, SprayBottle, -1.620, 0.068, 2.240, 0, 0, 0, 22 [SEP] 17, Cloth, 0.356, 0.885, 1.8, 0, 85.370, 0, Floor|-01.72| [SEP] 18, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 19, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 20, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 21, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 22, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 23, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 24, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 25, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 26, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 27, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 28, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 29, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 30, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 31, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 32, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 33, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 34, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 35, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 36, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 37, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 38, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 39, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 40, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 41, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: walk over to the sink on the right | STEP 2: pick up the box of tissues | STEP 3: walk the box of tissues over to the toilet | STEP 4: place the box of tissues on top of the toilet tank | END"]} {"id": "trial_T20190907_211041_725559-2", "input": "Move an apple from the round table 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, 0.25, 0.900, 0.0, 0, 90, 0, [SEP] 1, Potato, 2.777, 1.323, -0.447, 0, 0, 0, 102 [SEP] 2, Potato, -0.766, 0.855, -1.411, 0, 90, 0, 106 [SEP] 3, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 85 [SEP] 4, ButterKnife, 1.422, 0.911, 1.468, 0, 90, 0, 82 [SEP] 5, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 62 [SEP] 6, Spoon, -0.785, 0.822, -1.328, 0, 0, 0, 106 [SEP] 7, Fork, 0.634, 0.912, -0.345, 0, 0, 0, 47 [SEP] 8, Fork, 2.173, 0.772, -0.422, 0, 270, 0, 60 [SEP] 9, Plate, 0.888, 0.914, -0.515, 0, 0, 0, 47 [SEP] 10, Cup, 1.448, 0.112, -0.538, 0, 180, 0, 64 [SEP] 11, Egg, -1.991, 0.461, 1.502, 0, 270, 0, 100 [SEP] 12, Knife, 2.754, 0.944, 1.044, 0, 0, 0, 82 [SEP] 13, SoapBottle, -0.103, 0.917, 1.044, 0, 0, 0, 58 [SEP] 14, Tomato, 2.838, 1.594, -0.512, 0, 0, 0, 102 [SEP] 15, Tomato, -0.990, 0.852, -1.110, 0, 0, 0, 106 [SEP] 16, SaltShaker, 1.409, 1.651, -0.693, 0, 180, 0, 69 [SEP] 17, PepperShaker, 0.634, 0.908, -0.6, 0, 0, 0, 47 [SEP] 18, Bread, 2.488, 0.969, 1.214, 0, 0, 0, 82 [SEP] 19, Bread, 2.221, 0.969, 1.468, 0, 0, 0, 82 [SEP] 20, Lettuce, 1.955, 0.992, 1.299, 0, 0, 0, 82 [SEP] 21, Apple, 0.466, 1.853, 1.423, 0, 180, 0, 105 [SEP] 22, Apple, 2.777, 1.632, -0.775, 0, 0, 0, 102 [SEP] 23, Apple, 2.156, 0.980, -0.684, 0, 0, 0, 47 [SEP] 24, SoapBottle, 2.256, 1.660, 1.470, 0, 0, 0, 71 [SEP] 25, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 72 [SEP] 26, Fork, 2.899, 0.772, 1.122, 0, 90, 0, 91 [SEP] 27, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 53 [SEP] 28, Bread, 2.754, 0.969, 1.468, 0, 0, 0, 82 [SEP] 29, Egg, 0.193, 0.803, -0.707, 0, 0, 0, 104 [SEP] 30, Kettle, 1.155, 0.912, 1.468, 0, 0, 0, 82 [SEP] 31, Tomato, 2.591, 0.758, -0.473, 0, 0, 0, 102 [SEP] 32, Cup, 2.777, 0.724, -0.473, 0, 0, 0, 102 [SEP] 33, Spatula, -0.087, 0.780, -0.762, 0, 90, 0, 104 [SEP] 34, Apple, -0.939, 0.889, -1.328, 0, 0, 0, 106 [SEP] 35, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 50 [SEP] 36, Lettuce, -0.246, 0.992, 1.214, 0, 0, 0, 58 [SEP] 37, SaltShaker, -0.007, 0.908, 1.299, 0, 0, 0, 58 [SEP] 38, Knife, 1.902, 0.944, -0.345, 0, 0, 0, 47 [SEP] 39, Potato, 0.193, 0.800, -0.596, 0, 0, 0, 104 [SEP] 40, PepperShaker, -0.682, 0.817, -1.183, 0, 0, 0, 106 [SEP] 41, ButterKnife, 2.221, 0.911, 1.044, 0, 0, 0, 82 [SEP] 42, Bowl, 0.231, 2.154, 1.467, 0, 0, 0, 81 [SEP] 43, DishSponge, -0.785, 0.820, -1.255, 0, 0, 0, 106 [SEP] 44, Spoon, 1.688, 0.912, 1.299, 0, 0, 0, 82 [SEP] 45, Mug, 3.301, 0.835, -0.485, 0, 270, 0, 102 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 108, NorthWall, , , , , , , [SEP] 109, EastWall, , , , , , , [SEP] 110, SouthWall, , , , , , , [SEP] 111, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the round table. | STEP 2: Pick up the apple on the round table. | STEP 3: Turn around and go to the sink. | STEP 4: Put the apple in the sink. | END"]} {"id": "trial_T20190908_123456_669219-2", "input": "To move two statues to the living room table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 0.0, 0, 0, 0, [SEP] 1, Newspaper, 1.724, 0.869, 0.431, 0, 90, 0, 37 [SEP] 2, KeyChain, 1.601, 0.315, -0.512, 0, 0, 0, 39 [SEP] 3, KeyChain, -0.411, 0.553, -0.537, 0, 270, 0, 31 [SEP] 4, CreditCard, -0.077, 0.323, -1.990, 0, 0, 0, 33 [SEP] 5, CreditCard, 1.443, 0.277, -0.818, 0, 0, 0, 39 [SEP] 6, RemoteControl, 1.807, 0.871, 0.326, 0, 90, 0, 37 [SEP] 7, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 39 [SEP] 8, KeyChain, 1.766, 0.871, 0.220, 0, 90, 0, 37 [SEP] 9, Watch, -0.712, 0.552, -0.451, 0, 270, 0, 31 [SEP] 10, Newspaper, -0.561, 0.550, -0.623, 0, 0, 0, 31 [SEP] 11, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 33 [SEP] 12, CreditCard, -0.712, 0.551, -0.537, 0, 270, 0, 31 [SEP] 13, RemoteControl, 1.807, 0.871, 0.537, 0, 90, 0, 37 [SEP] 14, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 31 [SEP] 15, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 31 [SEP] 16, Statue, 1.808, 0.880, 0.114, 0, 270, 0, 37 [SEP] 17, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 18, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 19, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 20, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 21, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 22, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 23, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 24, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 25, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 26, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 29, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 30, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 31, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 32, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 33, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 34, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 35, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 36, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 37, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 38, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 39, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the right around the living room table and turn left and look up to face the statue on the shelf above the couch. | STEP 2: Pick up the statue on the shelf above the couch. | STEP 3: Turn around to face the living room table. | STEP 4: Place the statue on the right side of the living room table. | STEP 5: Turn right and walk across the room to face the table to the left of the chair. | STEP 6: Pick up the statue on the table. | STEP 7: Turn around and walk around to face the living room table. | STEP 8: Place the statue beside the first statue on the living room table. | END"]} {"id": "trial_T20190909_095557_177946-1", "input": "Put two laptops on the bed SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.909, -1.5, 0, 180, 0, [SEP] 1, Mug, -3.760, 0.979, -3.673, 0, 0, 0, 44 [SEP] 2, Mug, -0.657, 0.798, -3.703, 0, 0, 0, 41 [SEP] 3, CD, -3.469, 0.226, -3.791, 0, 0, 0, 48 [SEP] 4, CD, -0.657, 0.803, -4.354, 0, 0, 0, 41 [SEP] 5, Pen, -3.751, 0.620, -3.091, 0, 0, 0, 45 [SEP] 6, Pen, -1.474, 0.805, -4.029, 0, 0, 0, 41 [SEP] 7, Pencil, -0.596, 0.546, -3.768, 0, 0, 0, 35 [SEP] 8, Pencil, -3.582, 0.422, -3.885, 0, 0, 0, 47 [SEP] 9, CreditCard, -0.862, 0.803, -4.246, 0, 0, 0, 41 [SEP] 10, Pillow, -3.402, 0.722, -1.793, 0, 0, 0, 26 [SEP] 11, Laptop, -3.687, 0.979, -3.070, 0, 0, 0, 44 [SEP] 12, AlarmClock, -0.453, 0.803, -4.029, 0, 0, 0, 41 [SEP] 13, Book, -3.693, 0.046, -3.977, 0, 0, 0, 49 [SEP] 14, CellPhone, -3.613, 0.981, -3.271, 0, 0, 0, 44 [SEP] 15, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 41 [SEP] 16, CreditCard, -3.806, 0.808, -4.351, 0, 0, 0, 42 [SEP] 17, AlarmClock, -0.249, 0.800, -4.029, 0, 0, 0, 41 [SEP] 18, KeyChain, -0.685, 0.543, -3.731, 0, 0, 0, 35 [SEP] 19, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 26 [SEP] 20, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 21, Pencil, -0.657, 0.803, -4.029, 0, 180, 0, 41 [SEP] 22, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 26 [SEP] 23, CD, -1.850, 0.062, -3.901, 0, 279.990, 0, 30 [SEP] 24, Pen, -0.418, 0.548, -3.676, 0, 0, 0, 35 [SEP] 25, Mug, -3.466, 0.977, -4.276, 0, 0, 0, 44 [SEP] 26, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 27, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 28, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 29, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 30, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 31, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 32, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 33, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 34, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 35, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 36, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 37, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 38, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 39, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 40, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 41, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 42, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 43, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 44, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 51, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 52, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 53, NorthWall, , , , , , , [SEP] 54, EastWall, , , , , , , [SEP] 55, SouthWall, , , , , , , [SEP] 56, WestWall, , , , , , , ", "output": ["STEP 1: Walk straight to the white table, turn ring from the table, and go to the cabinet with the laptop | STEP 2: Close the laptop and pick it up from the cabinet top | STEP 3: Turn around to face the bed | STEP 4: Put the laptop on the bed | STEP 5: Go to the white table | STEP 6: Close the laptop on the table and pick it up | STEP 7: Go back to the bed | STEP 8: Place the laptop next to the first laptop | END"]} {"id": "trial_T20190909_095557_177946-2", "input": "drop two laptops on the bed SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.909, -1.5, 0, 180, 0, [SEP] 1, Mug, -3.760, 0.979, -3.673, 0, 0, 0, 44 [SEP] 2, Mug, -0.657, 0.798, -3.703, 0, 0, 0, 41 [SEP] 3, CD, -3.469, 0.226, -3.791, 0, 0, 0, 48 [SEP] 4, CD, -0.657, 0.803, -4.354, 0, 0, 0, 41 [SEP] 5, Pen, -3.751, 0.620, -3.091, 0, 0, 0, 45 [SEP] 6, Pen, -1.474, 0.805, -4.029, 0, 0, 0, 41 [SEP] 7, Pencil, -0.596, 0.546, -3.768, 0, 0, 0, 35 [SEP] 8, Pencil, -3.582, 0.422, -3.885, 0, 0, 0, 47 [SEP] 9, CreditCard, -0.862, 0.803, -4.246, 0, 0, 0, 41 [SEP] 10, Pillow, -3.402, 0.722, -1.793, 0, 0, 0, 26 [SEP] 11, Laptop, -3.687, 0.979, -3.070, 0, 0, 0, 44 [SEP] 12, AlarmClock, -0.453, 0.803, -4.029, 0, 0, 0, 41 [SEP] 13, Book, -3.693, 0.046, -3.977, 0, 0, 0, 49 [SEP] 14, CellPhone, -3.613, 0.981, -3.271, 0, 0, 0, 44 [SEP] 15, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 41 [SEP] 16, CreditCard, -3.806, 0.808, -4.351, 0, 0, 0, 42 [SEP] 17, AlarmClock, -0.249, 0.800, -4.029, 0, 0, 0, 41 [SEP] 18, KeyChain, -0.685, 0.543, -3.731, 0, 0, 0, 35 [SEP] 19, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 26 [SEP] 20, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 21, Pencil, -0.657, 0.803, -4.029, 0, 180, 0, 41 [SEP] 22, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 26 [SEP] 23, CD, -1.850, 0.062, -3.901, 0, 279.990, 0, 30 [SEP] 24, Pen, -0.418, 0.548, -3.676, 0, 0, 0, 35 [SEP] 25, Mug, -3.466, 0.977, -4.276, 0, 0, 0, 44 [SEP] 26, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 27, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 28, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 29, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 30, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 31, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 32, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 33, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 34, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 35, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 36, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 37, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 38, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 39, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 40, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 41, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 42, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 43, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 44, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 51, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 52, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 53, NorthWall, , , , , , , [SEP] 54, EastWall, , , , , , , [SEP] 55, SouthWall, , , , , , , [SEP] 56, WestWall, , , , , , , ", "output": ["STEP 1: move right to the cupboard | STEP 2: pick up the laptop from the cupboard | STEP 3: move right to the bed | STEP 4: drop the laptop on the bed | STEP 5: move right to the table | STEP 6: pick up the laptop on the table | STEP 7: move right to the bed | STEP 8: drop the laptop on the bed | END"]} {"id": "trial_T20190908_080408_420413-1", "input": "place a mug filled with water in the cupboard under the gas SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.931, -0.25, 0, 0, 0, [SEP] 1, Pan, 1.512, 1.019, -1.337, 0, 270, 0, 55 [SEP] 2, DishSponge, 0.065, 1.033, 0.199, 0, 0, 0, 51 [SEP] 3, ButterKnife, 1.612, 1.043, 0.307, 0, 0, 0, 51 [SEP] 4, Fork, 0.351, 1.043, 0.738, 0, 0, 0, 51 [SEP] 5, Fork, 1.181, 1.043, 0.720, 0, 0, 0, 51 [SEP] 6, Spoon, 0.160, 1.044, 0.630, 0, 0, 0, 51 [SEP] 7, Spatula, 0.100, 1.061, -1.118, 0, 180, 0, 49 [SEP] 8, Spatula, 1.155, 1.061, -1.289, 0, 0, 0, 49 [SEP] 9, Egg, -0.260, 1.101, -1.612, 0, 0, 0, 49 [SEP] 10, Egg, -1.225, 1.543, 2.063, 0, 90, 0, 64 [SEP] 11, Cup, 1.238, 1.047, -1.181, 0, 0, 0, 49 [SEP] 12, Plate, 1.036, 1.577, -1.689, 0, 0, 0, 53 [SEP] 13, Tomato, 1.347, 1.094, 0.589, 0, 0, 0, 51 [SEP] 14, Tomato, -1.064, 1.014, 1.885, 0, 90, 0, 64 [SEP] 15, SoapBottle, -0.346, 1.047, -1.505, 0, 0, 0, 49 [SEP] 16, SoapBottle, -0.580, 0.204, -1.481, 0, 0, 0, 58 [SEP] 17, PepperShaker, 0.848, 1.038, 0.632, 0, 0, 0, 51 [SEP] 18, Lettuce, -0.603, 1.106, -1.289, 0, 0, 0, 49 [SEP] 19, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 67 [SEP] 20, Mug, -1.235, 1.223, 1.885, 0, 90, 0, 64 [SEP] 21, Apple, 1.826, 0.166, 2.414, 0, 270, 0, 65 [SEP] 22, Apple, -1.194, 1.759, -1.331, 0, 0, 0, 63 [SEP] 23, SoapBottle, -0.775, 1.047, -1.720, 0, 0, 0, 49 [SEP] 24, Apple, 0.255, 1.086, 0.307, 0, 0, 0, 51 [SEP] 25, Potato, -1.064, 1.017, 2.063, 0, 90, 0, 64 [SEP] 26, Fork, 0.030, 1.033, 0.114, 354.495, 0, 0, 51 [SEP] 27, Kettle, 0.979, 0.200, -1.412, 0, 0, 0, 60 [SEP] 28, Pan, -1.027, 0.202, -1.482, 0, 90, 0, 57 [SEP] 29, Tomato, -1.051, 0.758, 2.242, 0, 90, 0, 64 [SEP] 30, SaltShaker, 0.823, 1.041, -1.720, 0, 0, 0, 49 [SEP] 31, Egg, 1.523, 1.097, 0.522, 0, 0, 0, 51 [SEP] 32, Cup, -1.381, 1.489, 2.153, 0, 90, 0, 64 [SEP] 33, Spatula, 0.682, 1.058, 0.632, 0, 0, 0, 51 [SEP] 34, Knife, 0.379, 1.072, -1.107, 0, 0, 0, 49 [SEP] 35, Lettuce, -1.300, 1.287, 2.153, 0, 90, 0, 64 [SEP] 36, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 51 [SEP] 37, PepperShaker, 1.015, 1.038, 0.632, 0, 0, 0, 51 [SEP] 38, DishSponge, -0.260, 1.046, -1.289, 0, 0, 0, 49 [SEP] 39, Plate, 1.588, 0.217, -1.262, 0, 0, 0, 59 [SEP] 40, Bread, 0.406, 1.104, 0.352, 0, 337.138, 0, 51 [SEP] 41, Spoon, 0.516, 1.044, 0.807, 0, 0, 0, 51 [SEP] 42, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 50 [SEP] 43, Mug, -1.038, 1.223, 1.796, 0, 0, 0, 64 [SEP] 44, Bowl, -1.312, 1.712, 1.974, 0, 90, 0, 64 [SEP] 45, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 46, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 47, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 48, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 49, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 50, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 51, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 52, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 53, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 54, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 55, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 56, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 57, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 58, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 59, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 60, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 61, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 62, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 63, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 64, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 65, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 66, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 67, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 68, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 70, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 71, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 72, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 73, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 74, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 75, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 76, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 77, NorthWall, , , , , , , [SEP] 78, EastWall, , , , , , , [SEP] 79, SouthWall, , , , , , , [SEP] 80, WestWall, , , , , , , ", "output": ["STEP 1: turn right and head to the gas | STEP 2: pick up the mug by the gas | STEP 3: turn around and head for the sink | STEP 4: fill the mug with water | STEP 5: turn around and head for the cupboard under the gas | STEP 6: place the buy in the cupboard | END"]} {"id": "trial_T20190909_153556_955880-0", "input": "Examine a laptop by the light of 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, -2.25, 0.901, 5.5, 0, 0, 0, [SEP] 1, Watch, -2.352, 0.533, 4.480, 0, 270, 0, 57 [SEP] 2, Watch, -5.917, 0.880, 3.757, 0, 0, 0, 50 [SEP] 3, KeyChain, -0.631, 0.367, 3.002, 0, 0, 0, 40 [SEP] 4, RemoteControl, -0.789, 0.369, 3.306, 0, 0, 0, 40 [SEP] 5, RemoteControl, -5.631, 0.536, 6.683, 0, 135, 0, 58 [SEP] 6, Laptop, -0.868, 0.437, 3.915, 0, 0, 0, 40 [SEP] 7, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 51 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -2.640, 1.280, 7.298, 0, 90, 0, 56 [SEP] 10, Vase, -2.811, 0.542, 4.106, 0, 0, 0, 57 [SEP] 11, Newspaper, -0.868, 0.365, 4.828, 0, 0, 0, 40 [SEP] 12, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 57 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 14, Vase, -5.366, 0.534, 6.873, 0, 135, 0, 58 [SEP] 15, CreditCard, -0.484, 0.793, 2.377, 0, 270, 0, 42 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -0.586, 0.794, 5.726, 0, 270, 0, 41 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -0.636, 0.795, 1.626, 0, 270, 0, 42 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -0.947, 0.438, 4.219, 0, 0, 0, 40 [SEP] 24, Watch, -0.845, 0.793, 1.849, 0, 0, 0, 42 [SEP] 25, Statue, -5.998, 0.460, 4.547, 0, 0, 0, 52 [SEP] 26, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 54 [SEP] 27, Statue, -0.703, 0.821, 2.255, 72.753, 254.896, 348.592, 42 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 59, NorthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , ", "output": ["STEP 1: Walk around the coffee table to reach the long brown couch. | STEP 2: Pick up the laptop from the long brown couch. | STEP 3: Turn right to reach the table by the couch. | STEP 4: Turn on the lamp on the table. | END"]} {"id": "trial_T20190907_084721_972164-0", "input": "Place the two candles inside 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, 270, 0, [SEP] 1, TissueBox, -1.500, 0.068, 2.391, 0, 0, 0, 22 [SEP] 2, TissueBox, -1.561, 0.069, 2.857, 0, 0, 0, 20 [SEP] 3, Candle, -1.613, 0.994, 2.863, 0, 0, 0, 27 [SEP] 4, Candle, -1.416, 0.994, 3.903, 0, 0, 0, 27 [SEP] 5, SprayBottle, -1.547, 0.995, 3.782, 0, 0, 0, 27 [SEP] 6, SoapBottle, -1.219, 0.993, 2.178, 0, 0, 0, 27 [SEP] 7, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 29 [SEP] 8, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 31 [SEP] 9, SoapBar, 0.286, 0.047, 3.782, 0, 0, 0, 30 [SEP] 10, ToiletPaper, -1.379, 0.064, 3.276, 0, 0, 0, 26 [SEP] 11, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 12, Candle, 0.351, 0.893, 1.618, 0, 0, 0, 33 [SEP] 13, TissueBox, -1.481, 0.994, 3.100, 0, 0, 0, 27 [SEP] 14, SoapBottle, -1.441, 0.068, 2.857, 0, 0, 0, 26 [SEP] 15, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 35 [SEP] 16, SprayBottle, -1.560, 0.068, 3.327, 0, 0, 0, 26 [SEP] 17, Cloth, -1.382, 0.068, 3.793, 0, 0, 0, 28 [SEP] 18, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 19, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 20, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 21, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 22, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 23, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 24, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 25, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 26, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 27, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 28, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 29, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 30, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 31, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 32, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 33, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 34, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 35, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 36, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 37, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 38, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 39, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 40, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 41, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: Pick up the candle next to the sink. | STEP 2: Turn around, head towards the door, turn right towards the toilet, and then turn right towards the cabinet beneath the sink. | STEP 3: Open the right cabinet door and place the candle in it. | STEP 4: Turn around to face the toilet. | STEP 5: Pick up the candle on the toilet basin. | STEP 6: Turn around and face the cabinet beneath the sink. | STEP 7: Open the right cabinet door, place the candle in it, and close the door. | END"]} {"id": "trial_T20190907_084654_435920-1", "input": "Place two candles into 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, 3.25, 0, 90, 0, [SEP] 1, TissueBox, -1.382, 0.069, 3.793, 0, 0, 0, 26 [SEP] 2, Cloth, -1.500, 0.067, 3.327, 0, 0, 0, 24 [SEP] 3, Candle, -1.416, 0.994, 2.269, 0, 0, 0, 25 [SEP] 4, SoapBottle, -1.481, 0.993, 3.842, 0, 0, 0, 25 [SEP] 5, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 27 [SEP] 6, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 29 [SEP] 7, SoapBar, -1.620, 0.068, 3.894, 0, 0, 0, 26 [SEP] 8, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 33 [SEP] 9, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 10, Candle, -1.613, 0.994, 2.269, 0, 0, 0, 25 [SEP] 11, TissueBox, -1.307, 0.984, 3.185, 0, 0, 0, 25 [SEP] 12, SoapBottle, 0.351, 0.892, 1.618, 0, 0, 0, 31 [SEP] 13, ToiletPaper, 0.286, 0.043, 3.865, 0, 0, 0, 28 [SEP] 14, SprayBottle, -1.322, 0.069, 2.857, 0, 0, 0, 24 [SEP] 15, Cloth, -1.350, 0.994, 2.982, 0, 0, 0, 25 [SEP] 16, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 17, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 18, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 19, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 20, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 21, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 22, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 23, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 24, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 25, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 26, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 27, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 28, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 29, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 30, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 31, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 32, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 33, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 34, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 35, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 36, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 37, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 38, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 39, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Move to the counter between the shower and sink. | STEP 2: Pick up the left most candle from the counter. | STEP 3: Move to the left most bathroom sink. | STEP 4: Place the candle into the cabinet below the sink. | STEP 5: Move to the counter between the shower and sink. | STEP 6: Pick up the candle from the counter. | STEP 7: Move to the left most bathroom sink. | STEP 8: Place the candle into the cabinet below the sink. | END"]} {"id": "trial_T20190907_084654_435920-2", "input": "Put the two candles near the sink in the cabinet under it. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.901, 3.25, 0, 90, 0, [SEP] 1, TissueBox, -1.382, 0.069, 3.793, 0, 0, 0, 26 [SEP] 2, Cloth, -1.500, 0.067, 3.327, 0, 0, 0, 24 [SEP] 3, Candle, -1.416, 0.994, 2.269, 0, 0, 0, 25 [SEP] 4, SoapBottle, -1.481, 0.993, 3.842, 0, 0, 0, 25 [SEP] 5, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 27 [SEP] 6, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 29 [SEP] 7, SoapBar, -1.620, 0.068, 3.894, 0, 0, 0, 26 [SEP] 8, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 33 [SEP] 9, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 10, Candle, -1.613, 0.994, 2.269, 0, 0, 0, 25 [SEP] 11, TissueBox, -1.307, 0.984, 3.185, 0, 0, 0, 25 [SEP] 12, SoapBottle, 0.351, 0.892, 1.618, 0, 0, 0, 31 [SEP] 13, ToiletPaper, 0.286, 0.043, 3.865, 0, 0, 0, 28 [SEP] 14, SprayBottle, -1.322, 0.069, 2.857, 0, 0, 0, 24 [SEP] 15, Cloth, -1.350, 0.994, 2.982, 0, 0, 0, 25 [SEP] 16, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 17, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 18, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 19, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 20, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 21, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 22, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 23, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 24, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 25, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 26, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 27, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 28, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 29, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 30, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 31, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 32, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 33, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 34, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 35, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 36, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 37, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 38, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 39, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Move to the left side of the sink across from the toilet. | STEP 2: Pick up candle from the counter near the sink. | STEP 3: Move to the front cabinet of the sink you're standing in front of. | STEP 4: Open the cabinet and place the candle inside before closing the door. | STEP 5: Move to the left side of the sink across from the toilet. | STEP 6: Pick up candle from the counter near the sink. | STEP 7: Move to the front cabinet of the sink you're standing in front of. | STEP 8: Open the cabinet and place the candle inside before closing the door. | END"]} {"id": "trial_T20190907_084654_435920-3", "input": "Put away candles in the bathroom cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.901, 3.25, 0, 90, 0, [SEP] 1, TissueBox, -1.382, 0.069, 3.793, 0, 0, 0, 26 [SEP] 2, Cloth, -1.500, 0.067, 3.327, 0, 0, 0, 24 [SEP] 3, Candle, -1.416, 0.994, 2.269, 0, 0, 0, 25 [SEP] 4, SoapBottle, -1.481, 0.993, 3.842, 0, 0, 0, 25 [SEP] 5, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 27 [SEP] 6, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 29 [SEP] 7, SoapBar, -1.620, 0.068, 3.894, 0, 0, 0, 26 [SEP] 8, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 33 [SEP] 9, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 10, Candle, -1.613, 0.994, 2.269, 0, 0, 0, 25 [SEP] 11, TissueBox, -1.307, 0.984, 3.185, 0, 0, 0, 25 [SEP] 12, SoapBottle, 0.351, 0.892, 1.618, 0, 0, 0, 31 [SEP] 13, ToiletPaper, 0.286, 0.043, 3.865, 0, 0, 0, 28 [SEP] 14, SprayBottle, -1.322, 0.069, 2.857, 0, 0, 0, 24 [SEP] 15, Cloth, -1.350, 0.994, 2.982, 0, 0, 0, 25 [SEP] 16, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 17, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 18, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 19, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 20, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 21, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 22, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 23, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 24, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 25, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 26, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 27, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 28, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 29, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 30, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 31, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 32, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 33, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 34, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 35, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 36, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 37, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 38, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 39, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Turn around walk straight then turn right and face the left side of the counter | STEP 2: Pick up the candle from the counter | STEP 3: Turn around walk straight then turn back around and face the front of the counter | STEP 4: Open the bottom right door and place the candle inside, then close the door | STEP 5: Turn to the left then go straight to the left side of the counter again | STEP 6: Pick up the candle from the counter | STEP 7: Turn around walk straight then turn back around and face the front of the counter | STEP 8: Open the bottom right door and place the candle inside, then close the door | END"]} {"id": "trial_T20190907_084654_435920-4", "input": "Place two candles into the cabinet below the left hand 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, 3.25, 0, 90, 0, [SEP] 1, TissueBox, -1.382, 0.069, 3.793, 0, 0, 0, 26 [SEP] 2, Cloth, -1.500, 0.067, 3.327, 0, 0, 0, 24 [SEP] 3, Candle, -1.416, 0.994, 2.269, 0, 0, 0, 25 [SEP] 4, SoapBottle, -1.481, 0.993, 3.842, 0, 0, 0, 25 [SEP] 5, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 27 [SEP] 6, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 29 [SEP] 7, SoapBar, -1.620, 0.068, 3.894, 0, 0, 0, 26 [SEP] 8, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 33 [SEP] 9, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 10, Candle, -1.613, 0.994, 2.269, 0, 0, 0, 25 [SEP] 11, TissueBox, -1.307, 0.984, 3.185, 0, 0, 0, 25 [SEP] 12, SoapBottle, 0.351, 0.892, 1.618, 0, 0, 0, 31 [SEP] 13, ToiletPaper, 0.286, 0.043, 3.865, 0, 0, 0, 28 [SEP] 14, SprayBottle, -1.322, 0.069, 2.857, 0, 0, 0, 24 [SEP] 15, Cloth, -1.350, 0.994, 2.982, 0, 0, 0, 25 [SEP] 16, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 17, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 18, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 19, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 20, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 21, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 22, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 23, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 24, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 25, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 26, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 27, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 28, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 29, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 30, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 31, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 32, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 33, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 34, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 35, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 36, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 37, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 38, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 39, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, move to the end of the counter. | STEP 2: Pick up the left most candle from the counter top. | STEP 3: Turn right, move to the left hand sink. | STEP 4: Open the right hand cabinet door, place the candle inside. | STEP 5: Turn left, move to the end of the counter. | STEP 6: Pick up the candle from the counter top. | STEP 7: Turn right, move to the left hand sink. | STEP 8: Open the right hand cabinet door, place the candle inside. | END"]} {"id": "trial_T20190909_042630_332209-2", "input": "Examine a blue bottle by the light of a small lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.901, 3.75, 0, 0, 0, [SEP] 1, Bowl, -0.484, 0.795, 1.626, 0, 270, 0, 44 [SEP] 2, Bowl, -5.950, 0.148, 4.942, 0, 0, 0, 49 [SEP] 3, Newspaper, -5.972, 0.532, 6.569, 0, 135, 0, 60 [SEP] 4, KeyChain, -5.252, 0.534, 7.213, 0, 135, 0, 60 [SEP] 5, KeyChain, -0.413, 0.794, 5.826, 0, 0, 0, 43 [SEP] 6, CreditCard, -0.710, 0.367, 3.002, 0, 0, 0, 42 [SEP] 7, RemoteControl, -5.517, 0.536, 6.572, 0, 45, 0, 60 [SEP] 8, RemoteControl, -0.868, 0.369, 4.524, 0, 0, 0, 42 [SEP] 9, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 53 [SEP] 10, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 58 [SEP] 11, Vase, -0.585, 0.794, 2.377, 0, 270, 0, 44 [SEP] 12, Vase, -3.328, 1.289, 7.298, 0, 90, 0, 58 [SEP] 13, Newspaper, -0.687, 0.792, 5.726, 0, 270, 0, 43 [SEP] 14, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 59 [SEP] 15, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 16, Vase, -6.002, 0.147, 4.152, 0, 0, 0, 49 [SEP] 17, CreditCard, -0.868, 0.432, 3.611, 0, 0, 0, 42 [SEP] 18, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 56 [SEP] 19, KeyChain, -2.870, 1.280, 7.235, 0, 90, 0, 58 [SEP] 20, Vase, -5.253, 0.542, 6.986, 0, 135, 0, 60 [SEP] 21, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 54 [SEP] 22, Bowl, -2.811, 0.535, 4.044, 0, 0, 0, 59 [SEP] 23, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 42 [SEP] 24, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 56 [SEP] 25, RemoteControl, -0.947, 0.444, 3.306, 0, 0, 0, 42 [SEP] 26, Watch, -0.326, 0.793, 2.052, 0, 0, 0, 44 [SEP] 27, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 58 [SEP] 28, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 56 [SEP] 29, Statue, -3.557, 1.289, 7.171, 0, 180, 0, 58 [SEP] 30, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 58 [SEP] 31, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 32, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 33, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 34, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 35, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 36, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 37, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 38, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 39, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 40, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 41, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 42, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 43, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 44, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 45, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 46, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 47, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 48, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 49, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 50, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 51, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 52, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 53, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 54, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 55, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 56, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 57, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 58, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 59, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 60, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around, hang a left at the chair, turn right at the couch and walk to the round table on the left. | STEP 2: Pick up the blue bottle from the left side of the table. | STEP 3: Turn right and walk to the round table on the left. | STEP 4: Turn on the small lamp on the table. | END"]} {"id": "trial_T20190908_155034_570106-1", "input": "Cool the cup down, place the cup back on table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.931, 1.25, 0, 270, 0, [SEP] 1, Pan, -0.312, 0.203, -1.409, 0, 90, 0, 55 [SEP] 2, Pan, -1.169, 1.227, 1.974, 0, 90, 0, 61 [SEP] 3, Potato, -1.194, 1.769, -1.331, 0, 0, 0, 60 [SEP] 4, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 47 [SEP] 5, Spoon, 0.989, 1.048, -1.397, 0, 180, 0, 46 [SEP] 6, Spoon, 0.936, 1.054, 0.131, 0, 90, 0, 44 [SEP] 7, Spatula, -0.517, 1.061, -1.289, 0, 0, 0, 46 [SEP] 8, Cup, -1.029, 2.028, -1.627, 0, 0, 0, 53 [SEP] 9, Cup, 0.542, 1.043, 0.630, 0, 0, 0, 48 [SEP] 10, Cup, -1.416, 0.202, -1.338, 0, 0, 0, 54 [SEP] 11, Plate, -0.699, 1.577, -1.619, 0, 0, 0, 51 [SEP] 12, Plate, 1.665, 0.217, -1.408, 0, 0, 0, 56 [SEP] 13, Knife, 1.072, 1.072, -1.397, 0, 90, 0, 46 [SEP] 14, Knife, 0.160, 1.069, 0.630, 0, 0, 0, 48 [SEP] 15, Tomato, 1.790, 1.094, 0.091, 0, 0, 0, 48 [SEP] 16, Tomato, 0.892, 1.105, 0.281, 0, 90, 0, 44 [SEP] 17, SaltShaker, -0.774, 1.560, -1.396, 0, 0, 0, 51 [SEP] 18, Mug, -1.276, 1.708, 2.063, 0, 90, 0, 61 [SEP] 19, Apple, -1.386, 1.756, 2.063, 0, 90, 0, 61 [SEP] 20, SoapBottle, 0.160, 1.044, 0.522, 0, 0, 0, 48 [SEP] 21, Apple, 0.823, 1.090, -1.289, 0, 0, 0, 46 [SEP] 22, Potato, 1.612, 1.096, 0.522, 0, 0, 0, 48 [SEP] 23, Fork, 0.031, 1.033, 0.122, 0, 0, 0, 48 [SEP] 24, Kettle, 1.347, 1.044, 0.676, 0, 0, 0, 48 [SEP] 25, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 46 [SEP] 26, Tomato, -1.126, 1.014, 2.063, 0, 90, 0, 61 [SEP] 27, SaltShaker, 0.160, 1.038, 0.415, 0, 0, 0, 48 [SEP] 28, Egg, -1.250, 2.002, 1.885, 0, 90, 0, 61 [SEP] 29, Cup, -0.775, 1.047, -1.181, 0, 0, 0, 46 [SEP] 30, Spatula, -0.296, 1.053, -1.277, 0, 255.000, 0, 46 [SEP] 31, Knife, 0.877, 1.042, -1.363, 90, 315, 0, 46 [SEP] 32, Lettuce, 1.155, 1.106, -1.289, 0, 0, 0, 46 [SEP] 33, ButterKnife, 1.514, 1.043, 0.720, 0, 0, 0, 48 [SEP] 34, PepperShaker, 0.890, 0.194, -1.339, 0, 0, 0, 57 [SEP] 35, DishSponge, -0.517, 1.046, -1.397, 0, 0, 0, 46 [SEP] 36, Plate, -0.398, 1.577, -1.767, 0, 0, 0, 51 [SEP] 37, Bread, 0.406, 1.104, 0.352, 0, 337.138, 0, 48 [SEP] 38, Spoon, 0.805, 1.054, 0.131, 0, 90, 0, 44 [SEP] 39, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 49 [SEP] 40, Mug, -1.386, 1.708, 1.796, 0, 90, 0, 61 [SEP] 41, Bowl, -1.184, 2.027, -1.409, 0, 0, 0, 53 [SEP] 42, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 43, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 44, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 45, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 46, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 47, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 48, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 49, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 50, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 51, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 52, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 53, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 54, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 55, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 56, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 57, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 58, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 59, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 60, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 61, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 62, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 63, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 64, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 65, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 66, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 70, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 71, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 72, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 73, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 74, NorthWall, , , , , , , [SEP] 75, EastWall, , , , , , , [SEP] 76, SouthWall, , , , , , , [SEP] 77, WestWall, , , , , , , ", "output": ["STEP 1: Turn left to the table | STEP 2: Grab the green cup off of the table | STEP 3: Turn right towards the fridge | STEP 4: Open the fridge door, place cup inside of fridge next to apple | STEP 5: Open fridge door, grab cup from fridge | STEP 6: Turn left to the table, place cup on table | END"]} {"id": "trial_T20190908_155034_570106-2", "input": "Put a chilled glass on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.931, 1.25, 0, 270, 0, [SEP] 1, Pan, -0.312, 0.203, -1.409, 0, 90, 0, 55 [SEP] 2, Pan, -1.169, 1.227, 1.974, 0, 90, 0, 61 [SEP] 3, Potato, -1.194, 1.769, -1.331, 0, 0, 0, 60 [SEP] 4, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 47 [SEP] 5, Spoon, 0.989, 1.048, -1.397, 0, 180, 0, 46 [SEP] 6, Spoon, 0.936, 1.054, 0.131, 0, 90, 0, 44 [SEP] 7, Spatula, -0.517, 1.061, -1.289, 0, 0, 0, 46 [SEP] 8, Cup, -1.029, 2.028, -1.627, 0, 0, 0, 53 [SEP] 9, Cup, 0.542, 1.043, 0.630, 0, 0, 0, 48 [SEP] 10, Cup, -1.416, 0.202, -1.338, 0, 0, 0, 54 [SEP] 11, Plate, -0.699, 1.577, -1.619, 0, 0, 0, 51 [SEP] 12, Plate, 1.665, 0.217, -1.408, 0, 0, 0, 56 [SEP] 13, Knife, 1.072, 1.072, -1.397, 0, 90, 0, 46 [SEP] 14, Knife, 0.160, 1.069, 0.630, 0, 0, 0, 48 [SEP] 15, Tomato, 1.790, 1.094, 0.091, 0, 0, 0, 48 [SEP] 16, Tomato, 0.892, 1.105, 0.281, 0, 90, 0, 44 [SEP] 17, SaltShaker, -0.774, 1.560, -1.396, 0, 0, 0, 51 [SEP] 18, Mug, -1.276, 1.708, 2.063, 0, 90, 0, 61 [SEP] 19, Apple, -1.386, 1.756, 2.063, 0, 90, 0, 61 [SEP] 20, SoapBottle, 0.160, 1.044, 0.522, 0, 0, 0, 48 [SEP] 21, Apple, 0.823, 1.090, -1.289, 0, 0, 0, 46 [SEP] 22, Potato, 1.612, 1.096, 0.522, 0, 0, 0, 48 [SEP] 23, Fork, 0.031, 1.033, 0.122, 0, 0, 0, 48 [SEP] 24, Kettle, 1.347, 1.044, 0.676, 0, 0, 0, 48 [SEP] 25, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 46 [SEP] 26, Tomato, -1.126, 1.014, 2.063, 0, 90, 0, 61 [SEP] 27, SaltShaker, 0.160, 1.038, 0.415, 0, 0, 0, 48 [SEP] 28, Egg, -1.250, 2.002, 1.885, 0, 90, 0, 61 [SEP] 29, Cup, -0.775, 1.047, -1.181, 0, 0, 0, 46 [SEP] 30, Spatula, -0.296, 1.053, -1.277, 0, 255.000, 0, 46 [SEP] 31, Knife, 0.877, 1.042, -1.363, 90, 315, 0, 46 [SEP] 32, Lettuce, 1.155, 1.106, -1.289, 0, 0, 0, 46 [SEP] 33, ButterKnife, 1.514, 1.043, 0.720, 0, 0, 0, 48 [SEP] 34, PepperShaker, 0.890, 0.194, -1.339, 0, 0, 0, 57 [SEP] 35, DishSponge, -0.517, 1.046, -1.397, 0, 0, 0, 46 [SEP] 36, Plate, -0.398, 1.577, -1.767, 0, 0, 0, 51 [SEP] 37, Bread, 0.406, 1.104, 0.352, 0, 337.138, 0, 48 [SEP] 38, Spoon, 0.805, 1.054, 0.131, 0, 90, 0, 44 [SEP] 39, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 49 [SEP] 40, Mug, -1.386, 1.708, 1.796, 0, 90, 0, 61 [SEP] 41, Bowl, -1.184, 2.027, -1.409, 0, 0, 0, 53 [SEP] 42, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 43, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 44, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 45, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 46, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 47, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 48, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 49, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 50, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 51, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 52, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 53, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 54, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 55, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 56, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 57, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 58, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 59, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 60, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 61, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 62, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 63, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 64, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 65, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 66, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 70, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 71, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 72, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 73, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 74, NorthWall, , , , , , , [SEP] 75, EastWall, , , , , , , [SEP] 76, SouthWall, , , , , , , [SEP] 77, WestWall, , , , , , , ", "output": ["STEP 1: Turn left to face the table. | STEP 2: Pick up the glass on the table, in front of the bread. | STEP 3: Turn around, go forward, then turn left to go to the fridge. | STEP 4: Chill the glass in the fridge. | STEP 5: Turn left, then go forward to the table. | STEP 6: Place the glass on the rightmost corner of the table. | END"]} {"id": "trial_T20190907_234809_289657-0", "input": "To rinse off a coffee mug and place 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, -1.5, 0.900, 1.0, 0, 90, 0, [SEP] 1, Pan, 2.715, 1.018, -0.644, 0, 0, 0, 96 [SEP] 2, Potato, -1.962, 0.458, 1.290, 0, 270, 0, 94 [SEP] 3, Potato, 2.900, 1.598, -0.775, 0, 0, 0, 96 [SEP] 4, ButterKnife, 2.221, 0.911, 1.044, 0, 0, 0, 76 [SEP] 5, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 47 [SEP] 6, Spoon, -0.017, 0.766, -0.596, 0, 0, 0, 98 [SEP] 7, Spatula, -0.911, 0.835, -1.257, 0, 180, 0, 100 [SEP] 8, Spatula, -0.103, 0.926, 1.044, 0, 0, 0, 52 [SEP] 9, Plate, 0.707, 2.156, 1.468, 0, 0, 0, 50 [SEP] 10, Cup, 2.653, 1.286, -0.709, 0, 0, 0, 96 [SEP] 11, Egg, 0.518, 1.822, 1.488, 0, 180, 0, 99 [SEP] 12, Knife, -0.785, 0.853, -1.400, 0, 0, 0, 100 [SEP] 13, Knife, 0.193, 0.798, -0.651, 0, 0, 0, 98 [SEP] 14, Tomato, 2.838, 1.320, -0.578, 0, 0, 0, 96 [SEP] 15, Bowl, 1.210, 0.112, -0.458, 0, 180, 0, 49 [SEP] 16, SaltShaker, -0.294, 0.908, 1.044, 0, 0, 0, 52 [SEP] 17, Lettuce, 2.221, 0.992, 1.468, 0, 0, 0, 76 [SEP] 18, SoapBottle, 1.171, 1.660, -0.696, 0, 180, 0, 43 [SEP] 19, Plate, 1.688, 0.914, 1.468, 0, 0, 0, 76 [SEP] 20, Fork, 2.303, 0.771, -0.422, 0, 270, 0, 54 [SEP] 21, Pot, 2.754, 0.915, 1.214, 0, 0, 0, 76 [SEP] 22, Bread, 2.488, 0.969, 1.468, 0, 0, 0, 76 [SEP] 23, Egg, 3.260, 0.878, -0.485, 0, 0, 0, 96 [SEP] 24, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 79 [SEP] 25, Tomato, 1.955, 0.942, 1.553, 0, 0, 0, 76 [SEP] 26, Cup, -1.056, 0.818, -1.257, 0, 90, 0, 100 [SEP] 27, Spatula, 1.141, 0.926, -0.684, 0, 180, 0, 41 [SEP] 28, Apple, 2.488, 0.980, 1.214, 0, 0, 0, 76 [SEP] 29, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 44 [SEP] 30, Lettuce, -0.246, 0.992, 1.299, 0, 0, 0, 52 [SEP] 31, SaltShaker, 1.287, 0.111, 1.196, 0, 0, 0, 48 [SEP] 32, Knife, 1.688, 0.944, 1.214, 0, 0, 0, 76 [SEP] 33, Potato, -0.621, 0.855, -1.308, 0, 90, 0, 100 [SEP] 34, PepperShaker, 1.872, 1.650, -0.658, 0, 180, 0, 78 [SEP] 35, ButterKnife, -0.151, 0.911, 1.299, 0, 0, 0, 52 [SEP] 36, Bowl, 0.140, 1.653, -0.810, 0, 180, 0, 81 [SEP] 37, DishSponge, -0.682, 0.820, -1.183, 0, 0, 0, 100 [SEP] 38, Spoon, -0.911, 0.822, -1.308, 0, 90, 0, 100 [SEP] 39, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 41 [SEP] 40, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 41, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 42, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 43, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 44, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 45, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 46, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 47, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 49, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 50, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 51, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 52, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 53, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 54, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 55, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 56, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 57, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 58, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 59, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 60, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 61, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 63, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 64, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 65, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 70, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 71, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 72, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 76, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 77, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 79, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 80, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 81, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 82, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 83, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 84, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 85, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 86, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 87, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 88, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 89, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 93, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 94, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 95, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 96, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 97, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 98, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 99, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 100, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 101, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 102, NorthWall, , , , , , , [SEP] 103, EastWall, , , , , , , [SEP] 104, SouthWall, , , , , , , [SEP] 105, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the coffee maker on the counter on the right. | STEP 2: Pick up the dirty white mug from the coffee maker. | STEP 3: Turn and walk to the sink on the left. | STEP 4: Place the mug inside the sink, turn the water on, clean the mug, turn the water off, pick the mug up from the sink. | STEP 5: Turn left and walk back to the coffee maker. | STEP 6: Place the clean white mug in the coffee maker. | END"]} {"id": "trial_T20190907_234809_289657-2", "input": "Clean a coffee mug to return 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, -1.5, 0.900, 1.0, 0, 90, 0, [SEP] 1, Pan, 2.715, 1.018, -0.644, 0, 0, 0, 96 [SEP] 2, Potato, -1.962, 0.458, 1.290, 0, 270, 0, 94 [SEP] 3, Potato, 2.900, 1.598, -0.775, 0, 0, 0, 96 [SEP] 4, ButterKnife, 2.221, 0.911, 1.044, 0, 0, 0, 76 [SEP] 5, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 47 [SEP] 6, Spoon, -0.017, 0.766, -0.596, 0, 0, 0, 98 [SEP] 7, Spatula, -0.911, 0.835, -1.257, 0, 180, 0, 100 [SEP] 8, Spatula, -0.103, 0.926, 1.044, 0, 0, 0, 52 [SEP] 9, Plate, 0.707, 2.156, 1.468, 0, 0, 0, 50 [SEP] 10, Cup, 2.653, 1.286, -0.709, 0, 0, 0, 96 [SEP] 11, Egg, 0.518, 1.822, 1.488, 0, 180, 0, 99 [SEP] 12, Knife, -0.785, 0.853, -1.400, 0, 0, 0, 100 [SEP] 13, Knife, 0.193, 0.798, -0.651, 0, 0, 0, 98 [SEP] 14, Tomato, 2.838, 1.320, -0.578, 0, 0, 0, 96 [SEP] 15, Bowl, 1.210, 0.112, -0.458, 0, 180, 0, 49 [SEP] 16, SaltShaker, -0.294, 0.908, 1.044, 0, 0, 0, 52 [SEP] 17, Lettuce, 2.221, 0.992, 1.468, 0, 0, 0, 76 [SEP] 18, SoapBottle, 1.171, 1.660, -0.696, 0, 180, 0, 43 [SEP] 19, Plate, 1.688, 0.914, 1.468, 0, 0, 0, 76 [SEP] 20, Fork, 2.303, 0.771, -0.422, 0, 270, 0, 54 [SEP] 21, Pot, 2.754, 0.915, 1.214, 0, 0, 0, 76 [SEP] 22, Bread, 2.488, 0.969, 1.468, 0, 0, 0, 76 [SEP] 23, Egg, 3.260, 0.878, -0.485, 0, 0, 0, 96 [SEP] 24, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 79 [SEP] 25, Tomato, 1.955, 0.942, 1.553, 0, 0, 0, 76 [SEP] 26, Cup, -1.056, 0.818, -1.257, 0, 90, 0, 100 [SEP] 27, Spatula, 1.141, 0.926, -0.684, 0, 180, 0, 41 [SEP] 28, Apple, 2.488, 0.980, 1.214, 0, 0, 0, 76 [SEP] 29, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 44 [SEP] 30, Lettuce, -0.246, 0.992, 1.299, 0, 0, 0, 52 [SEP] 31, SaltShaker, 1.287, 0.111, 1.196, 0, 0, 0, 48 [SEP] 32, Knife, 1.688, 0.944, 1.214, 0, 0, 0, 76 [SEP] 33, Potato, -0.621, 0.855, -1.308, 0, 90, 0, 100 [SEP] 34, PepperShaker, 1.872, 1.650, -0.658, 0, 180, 0, 78 [SEP] 35, ButterKnife, -0.151, 0.911, 1.299, 0, 0, 0, 52 [SEP] 36, Bowl, 0.140, 1.653, -0.810, 0, 180, 0, 81 [SEP] 37, DishSponge, -0.682, 0.820, -1.183, 0, 0, 0, 100 [SEP] 38, Spoon, -0.911, 0.822, -1.308, 0, 90, 0, 100 [SEP] 39, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 41 [SEP] 40, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 41, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 42, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 43, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 44, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 45, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 46, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 47, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 49, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 50, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 51, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 52, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 53, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 54, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 55, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 56, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 57, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 58, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 59, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 60, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 61, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 63, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 64, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 65, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 70, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 71, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 72, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 76, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 77, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 79, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 80, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 81, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 82, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 83, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 84, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 85, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 86, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 87, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 88, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 89, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 93, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 94, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 95, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 96, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 97, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 98, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 99, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 100, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 101, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 102, NorthWall, , , , , , , [SEP] 103, EastWall, , , , , , , [SEP] 104, SouthWall, , , , , , , [SEP] 105, WestWall, , , , , , , ", "output": ["STEP 1: Move across the room to the counter top where the coffee maker is with the mug on it | STEP 2: Pick up the white coffee mug on the counter | STEP 3: Carry the coffee mug to the sink counter | STEP 4: Place the mug in the sink to wash it then pick up the coffee mug | STEP 5: Return to the coffee maker on top of the kitchen counter | STEP 6: Place the coffee mug on the coffee maker where the mug goes | END"]} {"id": "trial_T20190911_235607_325240-1", "input": "Put a cooked slice of tomato 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, 2.0, 0.900, 0.5, 0, 0, 0, [SEP] 1, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 39 [SEP] 2, Kettle, -0.123, 0.116, 1.196, 0, 0, 0, 64 [SEP] 3, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 42 [SEP] 4, ButterKnife, 2.221, 0.911, 1.044, 0, 0, 0, 71 [SEP] 5, Spoon, 1.688, 0.912, 1.468, 0, 0, 0, 71 [SEP] 6, Spatula, 1.155, 0.926, 1.299, 0, 0, 0, 71 [SEP] 7, Spatula, -0.621, 0.835, -1.308, 0, 90, 0, 95 [SEP] 8, Plate, 0.825, 1.658, -0.771, 0, 180, 0, 46 [SEP] 9, Plate, 2.488, 0.914, 1.299, 0, 0, 0, 71 [SEP] 10, Egg, -1.056, 0.858, -1.411, 0, 90, 0, 95 [SEP] 11, Egg, -1.962, 0.461, 1.459, 0, 270, 0, 89 [SEP] 12, Bread, -0.198, 0.969, 1.299, 0, 0, 0, 47 [SEP] 13, SoapBottle, 1.872, 1.660, -0.696, 0, 180, 0, 73 [SEP] 14, Plate, 0.178, 1.658, -0.771, 0, 180, 0, 76 [SEP] 15, Fork, 1.209, 0.772, 1.198, 0, 270, 0, 81 [SEP] 16, Pot, 1.155, 0.915, 1.468, 0, 0, 0, 71 [SEP] 17, Bread, 1.03, 0.953, -0.518, 0, 0, 0, 36 [SEP] 18, Egg, 2.488, 0.949, 1.553, 0, 0, 0, 71 [SEP] 19, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 74 [SEP] 20, Tomato, 1.688, 0.942, 1.299, 0, 0, 0, 71 [SEP] 21, Cup, -0.785, 0.818, -1.110, 0, 0, 0, 95 [SEP] 22, Spatula, 1.141, 0.926, -0.345, 0, 180, 0, 36 [SEP] 23, Apple, 2.900, 1.087, -0.709, 0, 0, 0, 91 [SEP] 24, Pan, 0.634, 0.911, -0.430, 0, 0, 0, 36 [SEP] 25, Lettuce, 2.715, 1.099, -0.644, 0, 0, 0, 91 [SEP] 26, SaltShaker, 1.597, 1.651, -0.654, 0, 180, 0, 58 [SEP] 27, Knife, 1.422, 0.944, 1.299, 0, 0, 0, 71 [SEP] 28, Potato, -0.055, 0.946, 1.214, 0, 0, 0, 47 [SEP] 29, PepperShaker, -0.294, 0.908, 1.044, 0, 0, 0, 47 [SEP] 30, ButterKnife, 1.688, 0.911, 1.214, 0, 0, 0, 71 [SEP] 31, Bowl, 2.156, 0.909, -0.430, 0, 0, 0, 36 [SEP] 32, DishSponge, -0.127, 1.654, 1.546, 0, 0, 0, 62 [SEP] 33, Spoon, -0.682, 0.822, -1.183, 0, 270, 0, 95 [SEP] 34, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 36 [SEP] 35, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 36, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 37, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 38, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 39, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 40, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 41, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 42, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 43, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 44, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 45, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 46, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 47, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 48, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 49, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 50, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 51, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 52, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 53, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 54, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 55, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 56, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 57, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 58, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 59, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 60, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 61, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 62, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 63, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 64, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 66, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 67, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 68, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 69, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 70, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 71, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 72, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 74, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 75, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 76, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 77, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 78, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 79, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 80, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 81, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 83, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 84, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 85, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 86, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 87, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 88, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 89, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 90, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 91, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 92, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 93, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 94, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 95, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 96, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 97, NorthWall, , , , , , , [SEP] 98, EastWall, , , , , , , [SEP] 99, SouthWall, , , , , , , [SEP] 100, WestWall, , , , , , , ", "output": ["STEP 1: Go a step to the right while facing the counter. | STEP 2: Take the knife from the counter. | STEP 3: Go left to the counter area with the tomato. | STEP 4: Cut the tomato into slices. | STEP 5: Go to the oven to the left. | STEP 6: Put the knife in the microwave above the oven. | STEP 7: Go right to the tomato on the counter. | STEP 8: Take a piece of tomato from the counter. | STEP 9: Go right to the tomato on the counter. | STEP 10: Cook the tomato in the microwave. Take the tomato from the microwave. | STEP 11: Turn right, go to the wall, turn right to the fridge. | STEP 12: Put the tomato on the middle shelf of the right compartment of the fridge. | END"]} {"id": "trial_T20190918_215632_033865-0", "input": "Move a chilled tomato to the kitchen sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.5, 0.900, 0.25, 0, 270, 0, [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 88 [SEP] 2, Pan, 0.514, 1.654, -0.773, 0, 180, 0, 89 [SEP] 3, Potato, -0.887, 0.855, -1.328, 0, 0, 0, 109 [SEP] 4, Potato, 1.955, 0.946, 1.129, 0, 0, 0, 85 [SEP] 5, DishSponge, 2.186, 0.771, 1.236, 0, 0, 0, 81 [SEP] 6, DishSponge, 0.053, 0.765, -0.541, 0, 0, 0, 107 [SEP] 7, Kettle, 1.487, 1.655, 1.508, 0, 0, 0, 73 [SEP] 8, ButterKnife, 2.754, 0.911, 1.044, 0, 0, 0, 85 [SEP] 9, ButterKnife, 1.688, 0.911, 1.129, 0, 0, 0, 85 [SEP] 10, Fork, 2.303, 0.771, -0.498, 0, 90, 0, 63 [SEP] 11, Fork, -0.017, 0.766, -0.596, 0, 180, 0, 107 [SEP] 12, Plate, 2.488, 0.914, 1.299, 0, 0, 0, 85 [SEP] 13, Cup, 0.888, 0.909, -0.6, 0, 0, 0, 50 [SEP] 14, Cup, 0.466, 1.782, 1.488, 0, 180, 0, 108 [SEP] 15, Egg, 0.263, 0.803, -0.541, 0, 0, 0, 107 [SEP] 16, Knife, -0.785, 0.853, -1.400, 0, 0, 0, 109 [SEP] 17, Knife, -0.766, 0.853, -1.308, 0, 90, 0, 109 [SEP] 18, Tomato, -0.734, 0.852, -1.400, 0, 0, 0, 109 [SEP] 19, Tomato, -0.087, 0.797, -0.596, 0, 0, 0, 107 [SEP] 20, SaltShaker, 1.525, 0.110, 1.268, 0, 0, 0, 79 [SEP] 21, PepperShaker, 1.634, 1.650, 1.394, 0, 0, 0, 73 [SEP] 22, Bread, 2.754, 0.969, 1.468, 0, 0, 0, 85 [SEP] 23, Lettuce, 1.955, 0.992, 1.468, 0, 0, 0, 85 [SEP] 24, Mug, 2.653, 0.720, -0.565, 0, 0, 0, 105 [SEP] 25, Mug, 0.634, 0.906, -0.6, 0, 0, 0, 50 [SEP] 26, Apple, -1.962, 0.492, 1.417, 0, 270, 0, 103 [SEP] 27, SoapBottle, -0.911, 0.826, -1.206, 0, 90, 0, 109 [SEP] 28, Plate, 2.838, 1.291, -0.644, 0, 0, 0, 105 [SEP] 29, Fork, -0.151, 0.912, 1.299, 0, 0, 0, 61 [SEP] 30, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 65 [SEP] 31, Bread, 2.221, 0.969, 1.214, 0, 0, 0, 85 [SEP] 32, Egg, -0.887, 0.858, -1.473, 0, 0, 0, 109 [SEP] 33, Kettle, 2.513, 0.116, 1.156, 0, 0, 0, 54 [SEP] 34, Tomato, 1.141, 0.942, -0.430, 0, 0, 0, 50 [SEP] 35, Cup, 0.178, 1.653, -0.810, 0, 180, 0, 90 [SEP] 36, Spatula, -0.043, 0.926, -0.302, 0, 0, 0, 50 [SEP] 37, Apple, -0.103, 0.980, 1.214, 0, 0, 0, 61 [SEP] 38, Pan, -0.141, 1.654, -0.772, 0, 180, 0, 92 [SEP] 39, Lettuce, 2.777, 1.644, -0.578, 0, 0, 0, 105 [SEP] 40, SaltShaker, 2.488, 0.908, 1.044, 0, 0, 0, 85 [SEP] 41, Knife, 1.155, 0.944, 1.044, 0, 0, 0, 85 [SEP] 42, Potato, 2.653, 1.598, -0.775, 0, 0, 0, 105 [SEP] 43, PepperShaker, 2.277, 1.651, -0.688, 0, 180, 0, 71 [SEP] 44, ButterKnife, -0.983, 0.820, -1.308, 0, 90, 0, 109 [SEP] 45, Bowl, 1.688, 0.909, 1.468, 0, 0, 0, 85 [SEP] 46, DishSponge, -0.621, 0.820, -1.257, 0, 90, 0, 109 [SEP] 47, Spoon, -0.125, 0.772, 1.160, 0, 0, 0, 55 [SEP] 48, Mug, 2.653, 1.283, -0.840, 0, 0, 0, 105 [SEP] 49, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 50, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 51, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 52, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 53, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 54, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 55, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 56, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 57, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 58, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 59, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 60, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 61, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 62, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 63, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 64, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 65, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 66, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 67, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 68, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 69, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 70, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 71, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 72, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 73, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 77, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 78, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 80, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 81, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 83, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 84, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 85, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 86, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 87, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 88, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 89, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 90, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 91, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 92, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 93, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 94, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 95, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 96, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 97, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 99, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 100, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 101, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 102, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 103, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 104, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 105, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 106, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 107, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 108, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 109, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 110, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 111, NorthWall, , , , , , , [SEP] 112, EastWall, , , , , , , [SEP] 113, SouthWall, , , , , , , [SEP] 114, WestWall, , , , , , , ", "output": ["STEP 1: Move to stand at the counter between the coffee maker and dishwasher. | STEP 2: Pick up the tomato from the counter. | STEP 3: Carry the tomato to the refrigerator. | STEP 4: Open the fridge to place the tomato on the top shelf, close the door, and then remove the tomato after a few seconds. | STEP 5: Carry the chilled tomato to the kitchen sink. | STEP 6: Place the tomato in the kitchen sink. | END"]} {"id": "trial_T20190909_101304_822238-0", "input": "place microwaved potato slice in blue 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, 0.900, 0.0, 0, 270, 0, [SEP] 1, Potato, -2.019, 0.458, 1.290, 0, 270, 0, 95 [SEP] 2, Potato, 2.653, 0.760, -0.565, 0, 0, 0, 97 [SEP] 3, DishSponge, -0.734, 0.820, -1.473, 0, 0, 0, 101 [SEP] 4, DishSponge, -0.091, 0.771, 1.198, 0, 0, 0, 47 [SEP] 5, Fork, 1.422, 0.912, 1.214, 0, 0, 0, 77 [SEP] 6, Fork, 2.754, 0.912, 1.044, 0, 0, 0, 77 [SEP] 7, Spatula, 1.688, 0.926, 1.299, 0, 0, 0, 77 [SEP] 8, Spatula, 0.053, 0.780, -0.651, 0, 180, 0, 99 [SEP] 9, Cup, 2.653, 1.286, -0.840, 0, 0, 0, 97 [SEP] 10, Knife, 1.155, 0.944, 1.468, 0, 0, 0, 77 [SEP] 11, SoapBottle, -0.198, 0.917, 1.129, 0, 0, 0, 53 [SEP] 12, Tomato, -1.991, 0.455, 1.459, 0, 270, 0, 95 [SEP] 13, Bowl, 0.787, 1.653, -0.771, 0, 180, 0, 52 [SEP] 14, SaltShaker, 1.955, 0.908, 1.214, 0, 0, 0, 77 [SEP] 15, SaltShaker, 1.637, 0.110, 1.119, 0, 0, 0, 71 [SEP] 16, PepperShaker, -0.734, 0.817, -1.183, 0, 0, 0, 101 [SEP] 17, Bread, 2.488, 0.969, 1.383, 0, 0, 0, 77 [SEP] 18, Apple, 2.715, 1.357, -0.578, 0, 0, 0, 97 [SEP] 19, SoapBottle, 1.896, 0.120, 1.117, 0, 0, 0, 62 [SEP] 20, Plate, 0.888, 0.914, -0.430, 0, 0, 0, 42 [SEP] 21, Fork, 1.831, 0.772, 1.198, 0, 270, 0, 75 [SEP] 22, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 48 [SEP] 23, Bread, -0.246, 0.969, 1.383, 0, 0, 0, 53 [SEP] 24, Egg, 1.688, 0.949, 1.214, 0, 0, 0, 77 [SEP] 25, Kettle, 2.156, 0.912, -0.769, 0, 0, 0, 42 [SEP] 26, Tomato, 2.591, 0.756, -0.442, 0, 0, 0, 97 [SEP] 27, Cup, 1.688, 0.909, 1.468, 0, 0, 0, 77 [SEP] 28, Spatula, -0.983, 0.835, -1.155, 0, 270, 0, 101 [SEP] 29, Apple, 2.488, 0.980, 1.044, 0, 0, 0, 77 [SEP] 30, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 45 [SEP] 31, Lettuce, 2.221, 0.992, 1.299, 0, 0, 0, 77 [SEP] 32, SaltShaker, -0.621, 0.817, -1.257, 0, 90, 0, 101 [SEP] 33, Knife, -0.055, 0.944, 1.383, 0, 90, 0, 53 [SEP] 34, Potato, -0.017, 0.800, -0.596, 0, 0, 0, 99 [SEP] 35, PepperShaker, -0.621, 0.817, -1.360, 0, 90, 0, 101 [SEP] 36, ButterKnife, -0.836, 0.820, -1.183, 0, 0, 0, 101 [SEP] 37, Bowl, -0.911, 0.818, -1.360, 0, 90, 0, 101 [SEP] 38, DishSponge, 1.955, 0.911, 1.468, 0, 0, 0, 77 [SEP] 39, Spoon, 2.868, 0.772, 1.122, 0, 0, 0, 86 [SEP] 40, Mug, -0.157, 0.760, -0.707, 0, 180, 0, 99 [SEP] 41, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 42, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 43, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 44, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 45, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 46, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 47, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 48, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 50, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 51, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 52, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 53, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 54, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 55, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 56, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 57, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 58, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 59, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 60, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 61, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 62, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 64, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 65, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 71, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 72, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 73, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 77, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 78, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 80, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 81, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 82, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 83, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 84, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 85, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 86, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 87, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 88, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 89, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 94, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 95, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 96, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 97, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 98, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 99, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 100, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 101, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 102, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: turn around, go to counter to the left of stove | STEP 2: pick up yellow handle knife from counter | STEP 3: go to blue bin in corner to the left | STEP 4: slice potato in front of tomato in blue bin | STEP 5: go to front of blue bin | STEP 6: place knife in blue bin | STEP 7: go to left side of blue bin | STEP 8: pick up potato slice from blue bin | STEP 9: turn right, go to microwave above stove to the left | STEP 10: open microwave, place potato slice in microwave, close microwave, microwave potato slice, open microwave, pick up potato slice, close microwave | STEP 11: turn left, go to blue bin in corner | STEP 12: place potato slice in right side of blue bin | END"]} {"id": "trial_T20190907_190822_091724-2", "input": "Put a piece of cooked pepper on the gray table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -0.25, 0, 0, 0, [SEP] 1, Potato, -0.087, 0.800, -0.651, 0, 90, 0, 107 [SEP] 2, Potato, 2.777, 1.323, -0.644, 0, 0, 0, 105 [SEP] 3, Kettle, 1.688, 0.912, 1.299, 0, 0, 0, 85 [SEP] 4, ButterKnife, 0.123, 0.765, -0.651, 0, 0, 0, 107 [SEP] 5, Pot, 2.488, 0.915, 1.468, 0, 0, 0, 85 [SEP] 6, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 56 [SEP] 7, Spoon, 1.276, 0.773, -0.460, 0, 270, 0, 69 [SEP] 8, Spoon, 0.123, 0.766, -0.707, 0, 0, 0, 107 [SEP] 9, Fork, -0.157, 0.766, -0.707, 0, 90, 0, 107 [SEP] 10, Plate, 0.337, 2.159, 1.467, 0, 0, 0, 84 [SEP] 11, Cup, 2.777, 0.723, -0.565, 0, 0, 0, 105 [SEP] 12, Cup, 1.141, 1.653, 1.429, 0, 0, 0, 77 [SEP] 13, Egg, 2.156, 0.949, -0.854, 0, 0, 0, 50 [SEP] 14, Egg, 1.422, 0.949, 1.553, 0, 0, 0, 85 [SEP] 15, Knife, 1.141, 0.944, -0.430, 0, 0, 0, 50 [SEP] 16, Knife, 2.221, 0.944, 1.299, 0, 0, 0, 85 [SEP] 17, SoapBottle, 1.597, 1.660, 1.394, 0, 0, 0, 73 [SEP] 18, Tomato, -0.055, 0.942, 1.383, 0, 0, 0, 61 [SEP] 19, SaltShaker, -0.990, 0.817, -1.473, 0, 0, 0, 109 [SEP] 20, SaltShaker, -0.072, 1.650, -0.696, 0, 180, 0, 92 [SEP] 21, PepperShaker, -0.911, 0.817, -1.411, 0, 90, 0, 109 [SEP] 22, PepperShaker, 0.825, 1.651, -0.849, 0, 180, 0, 52 [SEP] 23, Bread, -0.198, 0.969, 1.214, 0, 0, 0, 61 [SEP] 24, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 50 [SEP] 25, Mug, 1.797, 0.109, -0.495, 0, 180, 0, 96 [SEP] 26, Apple, 2.777, 1.357, -0.775, 0, 0, 0, 105 [SEP] 27, SoapBottle, -0.210, 1.660, -0.734, 0, 180, 0, 92 [SEP] 28, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 50 [SEP] 29, Fork, -0.621, 0.821, -1.206, 0, 90, 0, 109 [SEP] 30, Pot, 2.188, 0.118, 1.156, 0, 0, 0, 82 [SEP] 31, Bread, 2.754, 0.969, 1.299, 0, 0, 0, 85 [SEP] 32, Egg, 2.591, 1.326, -0.512, 0, 0, 0, 105 [SEP] 33, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 65 [SEP] 34, Tomato, -0.766, 0.852, -1.257, 0, 90, 0, 109 [SEP] 35, Cup, 1.945, 1.652, -0.772, 0, 180, 0, 87 [SEP] 36, Spatula, 2.488, 0.926, 1.214, 0, 270, 0, 85 [SEP] 37, Apple, 2.715, 1.632, -0.578, 0, 0, 0, 105 [SEP] 38, Pan, 2.838, 1.018, -0.709, 0, 0, 0, 105 [SEP] 39, Lettuce, 1.422, 0.992, 1.214, 0, 0, 0, 85 [SEP] 40, SaltShaker, 0.812, 2.150, 1.584, 0, 0, 0, 84 [SEP] 41, Knife, 1.955, 0.944, 1.044, 0, 0, 0, 85 [SEP] 42, Potato, 1.955, 0.946, 1.299, 0, 0, 0, 85 [SEP] 43, PepperShaker, 0.888, 0.908, -0.6, 0, 0, 0, 50 [SEP] 44, ButterKnife, 1.422, 0.911, 1.044, 0, 0, 0, 85 [SEP] 45, Bowl, -0.836, 0.818, -1.110, 0, 180, 0, 109 [SEP] 46, DishSponge, -0.887, 0.820, -1.328, 0, 0, 0, 109 [SEP] 47, Spoon, 0.634, 0.912, -0.515, 0, 0, 0, 50 [SEP] 48, Mug, 0.415, 1.779, 1.423, 0, 180, 0, 108 [SEP] 49, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 50, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 51, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 52, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 53, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 54, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 55, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 56, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 57, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 58, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 59, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 60, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 61, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 62, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 63, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 64, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 65, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 66, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 67, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 68, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 69, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 70, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 71, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 72, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 73, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 77, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 78, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 80, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 81, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 83, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 84, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 85, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 86, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 87, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 88, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 89, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 90, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 91, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 92, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 93, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 94, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 95, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 96, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 97, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 99, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 100, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 101, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 102, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 103, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 104, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 105, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 106, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 107, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 108, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 109, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 110, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 111, NorthWall, , , , , , , [SEP] 112, EastWall, , , , , , , [SEP] 113, SouthWall, , , , , , , [SEP] 114, WestWall, , , , , , , ", "output": ["STEP 1: Cross the kitchen and face the counter on the left. | STEP 2: Pick up the knife that's closest to the edge of the counter. | STEP 3: Bring the knife with you and go face counter on the left of the stove. | STEP 4: Slice the red pepper sitting to the right of the bread with the knife. | STEP 5: Bring the knife to the small gray table on the far side of the room. | STEP 6: Put the knife down on the gray table. | STEP 7: Go back over to where you sliced the pepper. | STEP 8: Pick up a piece of the pepper from the counter. | STEP 9: Bring the pepper with you and move to the right, then look up and face the microwave. | STEP 10: Put the pepper in the microwave and cook it, then take it out again. | STEP 11: Bring the cooked pepper over to the gray table where you put the knife. | STEP 12: Put the pepper down on the table in front of the knife. | END"]} {"id": "trial_T20190907_164813_238034-1", "input": "Put a cup with a pen on the dresser to the left of the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.909, -3.75, 0, 90, 0, [SEP] 1, CellPhone, -0.657, 0.803, -4.354, 0, 0, 0, 43 [SEP] 2, Pen, -3.834, 0.986, -3.874, 0, 0, 0, 46 [SEP] 3, Pen, -0.329, 0.548, -3.657, 0, 0, 0, 37 [SEP] 4, Pen, -3.760, 0.986, -3.472, 0, 0, 0, 46 [SEP] 5, Pencil, -1.066, 0.803, -4.137, 0, 0, 0, 43 [SEP] 6, Pencil, -3.750, 0.812, -3.184, 0, 0, 0, 53 [SEP] 7, CreditCard, -0.240, 0.542, -3.676, 0, 0, 0, 37 [SEP] 8, CreditCard, -0.655, 0.188, -3.844, 0, 0, 0, 38 [SEP] 9, KeyChain, -0.418, 0.543, -3.749, 0, 0, 0, 37 [SEP] 10, Book, -0.862, 0.804, -4.137, 0, 0, 0, 43 [SEP] 11, Pillow, -2.559, 0.722, -0.931, 0, 0, 0, 28 [SEP] 12, Laptop, -3.402, 0.618, -2.080, 0, 0, 0, 28 [SEP] 13, AlarmClock, -3.760, 0.981, -4.276, 0, 0, 0, 46 [SEP] 14, AlarmClock, -0.596, 0.542, -3.713, 0, 0, 0, 43 [SEP] 15, Book, -1.270, 0.800, -4.029, 0, 0, 0, 43 [SEP] 16, CellPhone, -1.066, 0.803, -4.354, 0, 0, 0, 43 [SEP] 17, Laptop, -3.687, 0.979, -3.070, 0, 0, 0, 46 [SEP] 18, CreditCard, -0.657, 0.800, -3.811, 0, 0, 0, 43 [SEP] 19, AlarmClock, -3.834, 0.981, -3.673, 0, 0, 0, 46 [SEP] 20, KeyChain, -3.760, 0.980, -3.271, 0, 270, 0, 46 [SEP] 21, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 28 [SEP] 22, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 23, Pencil, -3.751, 0.617, -3.978, 0, 0, 0, 52 [SEP] 24, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 28 [SEP] 25, CD, -3.582, 0.226, -4.070, 0, 0, 0, 50 [SEP] 26, Pen, -0.596, 0.548, -3.676, 0, 0, 0, 37 [SEP] 27, Mug, -1.066, 0.798, -3.920, 0, 0, 0, 43 [SEP] 28, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 29, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 30, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 31, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 32, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 33, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 34, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 35, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 36, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 37, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 38, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 39, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 40, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 41, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 42, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 43, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 44, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 45, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 46, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 51, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 52, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 53, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 54, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: Move to the dresser to the left of the bed | STEP 2: PIck up a pen from the dresser | STEP 3: Move to the desk behind you | STEP 4: Put the pen in a cup on the desk | STEP 5: Pick up the cup from the desk | STEP 6: Move to the dresser to the right of you | STEP 7: Put the cup on the dresser | END"]} {"id": "trial_T20190907_164813_238034-2", "input": "grab the pen from the cabinet, put it in the cup on the table, put the cup on the cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.909, -3.75, 0, 90, 0, [SEP] 1, CellPhone, -0.657, 0.803, -4.354, 0, 0, 0, 43 [SEP] 2, Pen, -3.834, 0.986, -3.874, 0, 0, 0, 46 [SEP] 3, Pen, -0.329, 0.548, -3.657, 0, 0, 0, 37 [SEP] 4, Pen, -3.760, 0.986, -3.472, 0, 0, 0, 46 [SEP] 5, Pencil, -1.066, 0.803, -4.137, 0, 0, 0, 43 [SEP] 6, Pencil, -3.750, 0.812, -3.184, 0, 0, 0, 53 [SEP] 7, CreditCard, -0.240, 0.542, -3.676, 0, 0, 0, 37 [SEP] 8, CreditCard, -0.655, 0.188, -3.844, 0, 0, 0, 38 [SEP] 9, KeyChain, -0.418, 0.543, -3.749, 0, 0, 0, 37 [SEP] 10, Book, -0.862, 0.804, -4.137, 0, 0, 0, 43 [SEP] 11, Pillow, -2.559, 0.722, -0.931, 0, 0, 0, 28 [SEP] 12, Laptop, -3.402, 0.618, -2.080, 0, 0, 0, 28 [SEP] 13, AlarmClock, -3.760, 0.981, -4.276, 0, 0, 0, 46 [SEP] 14, AlarmClock, -0.596, 0.542, -3.713, 0, 0, 0, 43 [SEP] 15, Book, -1.270, 0.800, -4.029, 0, 0, 0, 43 [SEP] 16, CellPhone, -1.066, 0.803, -4.354, 0, 0, 0, 43 [SEP] 17, Laptop, -3.687, 0.979, -3.070, 0, 0, 0, 46 [SEP] 18, CreditCard, -0.657, 0.800, -3.811, 0, 0, 0, 43 [SEP] 19, AlarmClock, -3.834, 0.981, -3.673, 0, 0, 0, 46 [SEP] 20, KeyChain, -3.760, 0.980, -3.271, 0, 270, 0, 46 [SEP] 21, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 28 [SEP] 22, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 23, Pencil, -3.751, 0.617, -3.978, 0, 0, 0, 52 [SEP] 24, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 28 [SEP] 25, CD, -3.582, 0.226, -4.070, 0, 0, 0, 50 [SEP] 26, Pen, -0.596, 0.548, -3.676, 0, 0, 0, 37 [SEP] 27, Mug, -1.066, 0.798, -3.920, 0, 0, 0, 43 [SEP] 28, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 29, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 30, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 31, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 32, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 33, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 34, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 35, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 36, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 37, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 38, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 39, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 40, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 41, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 42, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 43, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 44, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 45, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 46, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 51, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 52, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 53, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 54, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: turn around to the cabinet | STEP 2: grab the pen on the cabinet | STEP 3: turn around to the table | STEP 4: put the pen in the cup on the table | STEP 5: grab the cup with the pencil | STEP 6: turn right, walk to the cabinet | STEP 7: put the cup on the cabinet | END"]} {"id": "trial_T20190909_013908_128438-0", "input": "Put the keys on the filing 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, 0.909, -3.25, 0, 270, 0, [SEP] 1, Mug, -3.466, 0.979, -4.276, 0, 0, 0, 37 [SEP] 2, Mug, -1.270, 0.801, -4.246, 0, 0, 0, 34 [SEP] 3, CellPhone, -1.270, 0.803, -3.703, 0, 0, 0, 34 [SEP] 4, Book, -3.687, 0.981, -3.673, 0, 0, 0, 37 [SEP] 5, Book, -2.559, 0.620, -2.080, 0, 0, 0, 19 [SEP] 6, Book, -2.770, 0.620, -0.643, 0, 0, 0, 19 [SEP] 7, CellPhone, -3.466, 0.981, -3.271, 0, 0, 0, 37 [SEP] 8, Laptop, -0.453, 0.798, -3.811, 0, 0, 0, 34 [SEP] 9, CreditCard, -3.466, 0.981, -4.075, 0, 0, 0, 37 [SEP] 10, AlarmClock, -1.474, 0.803, -4.029, 0, 0, 0, 34 [SEP] 11, KeyChain, -1.474, 0.804, -3.811, 0, 0, 0, 34 [SEP] 12, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 19 [SEP] 13, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 14, Pencil, -0.507, 0.546, -3.713, 0, 0, 0, 28 [SEP] 15, Pillow, -3.191, 0.722, -1.506, 0, 0, 0, 19 [SEP] 16, CD, -3.834, 0.980, -3.673, 0, 0, 0, 37 [SEP] 17, Pen, -3.760, 0.985, -3.070, 0, 0, 0, 37 [SEP] 18, Mug, -0.862, 0.801, -4.137, 0, 0, 0, 34 [SEP] 19, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 20, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 21, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 22, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 23, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 24, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 25, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 26, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 27, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 28, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 29, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 30, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 31, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 32, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 33, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 34, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 35, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 36, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 37, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 38, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 39, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 40, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 41, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 42, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 46, NorthWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the table on your left . | STEP 2: Pick up the keys on the right corner of the table. | STEP 3: Turn to your left and go to the small filing cabinet, underneath the table, on your right. | STEP 4: Place the keys on the small filing cabinet, under the table. | END"]} {"id": "trial_T20190907_163408_411399-1", "input": "Place two smartphones 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, 3.25, 0.949, 1.0, 0, 0, 0, [SEP] 1, CD, -0.415, 0.475, 3.253, 0, 0, 0, 44 [SEP] 2, CD, 2.519, 0.984, -1.774, 0, 270, 0, 38 [SEP] 3, CellPhone, 1.382, 0.988, -1.774, 0, 270, 0, 38 [SEP] 4, CreditCard, 3.687, 0.723, 1.307, 0, 180, 0, 63 [SEP] 5, CreditCard, -0.776, 0.174, -0.017, 0, 0, 0, 52 [SEP] 6, Book, 1.666, 0.985, -1.862, 0, 270, 0, 38 [SEP] 7, Book, 2.710, 0.610, -0.172, 0, 0, 0, 23 [SEP] 8, Laptop, 2.217, 0.607, 0.790, 0, 0, 0, 23 [SEP] 9, Laptop, 1.950, 0.986, -2.037, 0, 270, 0, 38 [SEP] 10, Book, 1.975, 0.184, -1.835, 0, 270, 0, 33 [SEP] 11, KeyChain, -0.838, 0.785, -0.338, 0, 0, 0, 59 [SEP] 12, CreditCard, -0.776, 0.379, -0.748, 0, 0, 0, 58 [SEP] 13, Pen, -0.776, 0.385, 0.120, 0, 0, 0, 56 [SEP] 14, Pencil, -1.037, 0.788, 0.501, 0, 0, 0, 59 [SEP] 15, Laptop, 2.052, 0.607, 0.308, 0, 0, 0, 23 [SEP] 16, Vase, -1.037, 0.789, 0.291, 0, 0, 0, 59 [SEP] 17, AlarmClock, -0.838, 0.786, -0.548, 0, 0, 0, 59 [SEP] 18, Pillow, 2.533, 0.631, 1.264, 0, 0, 0, 23 [SEP] 19, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 23 [SEP] 20, CellPhone, -1.103, 0.784, -0.548, 0, 0, 0, 59 [SEP] 21, CD, 2.519, 0.984, -2.037, 0, 270, 0, 38 [SEP] 22, Vase, -0.384, 0.772, 3.172, 0, 0, 0, 45 [SEP] 23, Bed, 2.217, 0.050, 0.585, 0, 0, 0, [SEP] 24, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0, [SEP] 25, Painting, 2.990, 1.592, 1.567, 90, 0, 0, [SEP] 26, Painting, 1.524, 1.592, 1.567, 90, 0, 0, [SEP] 27, Mirror, -1.190, 1.417, -0.223, 0, 270, 0, [SEP] 28, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0, [SEP] 29, Window, -2.629, 1.460, 2.891, 90, 270, 0, [SEP] 30, Window, -2.629, 1.460, 4.084, 90, 270, 0, [SEP] 31, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0, [SEP] 32, Drawer, 2.490, 0.949, -1.703, 0, 0, 0, [SEP] 33, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0, [SEP] 34, Drawer, 1.975, 0.949, -1.703, 0, 0, 0, [SEP] 35, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0, [SEP] 36, Drawer, 1.457, 0.949, -1.703, 0, 0, 0, [SEP] 37, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0, [SEP] 38, Dresser, 2.234, 0.048, -1.950, 0, 0, 0, [SEP] 39, Drawer, 3.011, 0.949, -1.703, 0, 0, 0, [SEP] 40, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0, [SEP] 41, Shelf, -0.163, 1.461, 3.219, 0, 180, 0, [SEP] 42, Drawer, -0.161, 0.242, 3.166, 0, 180, 0, [SEP] 43, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0, [SEP] 44, Drawer, -0.161, 0.562, 3.168, 0, 180, 0, [SEP] 45, Shelf, -0.162, 0.922, 3.164, 0, 180, 0, [SEP] 46, Shelf, -0.162, 1.241, 3.163, 0, 180, 0, [SEP] 47, Blinds, -2.550, 2.486, 2.911, 0, 90, 0, [SEP] 48, Blinds, -2.550, 2.486, 4.107, 0, 90, 0, [SEP] 49, Drawer, -0.833, 0.217, -0.336, 0, 90, 0, [SEP] 50, Drawer, -0.833, 0.217, 0.486, 0, 90, 0, [SEP] 51, Drawer, -0.833, 0.628, -0.747, 0, 90, 0, [SEP] 52, Drawer, -0.833, 0.217, 0.075, 0, 90, 0, [SEP] 53, Drawer, -0.833, 0.628, 0.486, 0, 90, 0, [SEP] 54, Drawer, -0.833, 0.217, -0.747, 0, 90, 0, [SEP] 55, Drawer, -0.833, 0.423, -0.336, 0, 90, 0, [SEP] 56, Drawer, -0.833, 0.423, 0.075, 0, 90, 0, [SEP] 57, Drawer, -0.833, 0.423, 0.486, 0, 90, 0, [SEP] 58, Drawer, -0.833, 0.423, -0.747, 0, 90, 0, [SEP] 59, Dresser, -0.934, 0.050, -0.129, 0, 90, 0, [SEP] 60, Drawer, -0.833, 0.628, 0.075, 0, 90, 0, [SEP] 61, Drawer, -0.833, 0.628, -0.336, 0, 90, 0, [SEP] 62, Drawer, 3.454, 0.212, 1.262, 0, 180, 0, [SEP] 63, SideTable, 3.455, 0.046, 1.328, 0, 180, 0, [SEP] 64, Drawer, 3.454, 0.504, 1.262, 0, 180, 0, [SEP] 65, NorthWall, , , , , , , [SEP] 66, EastWall, , , , , , , [SEP] 67, SouthWall, , , , , , , [SEP] 68, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the end of the bed, take a right and walk past the bed and turn right, then take a step, then turn left and walk until you reach the dresser and stop. | STEP 2: From the dresser, pick up the smartphone sitting behind the box. | STEP 3: Turn right and walk five steps, take another right and walk four steps to the bed. | STEP 4: Put the smartphone on the bed, halfway between the left laptop and the edge of the bed, horizontally. | STEP 5: Turn right and walk until you reach the wall and turn left and face the dresser. | STEP 6: Pick up the smartphone. | STEP 7: Turn left and take ten steps and turn right, facing the bed. | STEP 8: Place the smartphone on the bed to the right of the first smartphone, horizontally. | END"]} {"id": "trial_T20190907_163408_411399-2", "input": "Put two phones 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, 3.25, 0.949, 1.0, 0, 0, 0, [SEP] 1, CD, -0.415, 0.475, 3.253, 0, 0, 0, 44 [SEP] 2, CD, 2.519, 0.984, -1.774, 0, 270, 0, 38 [SEP] 3, CellPhone, 1.382, 0.988, -1.774, 0, 270, 0, 38 [SEP] 4, CreditCard, 3.687, 0.723, 1.307, 0, 180, 0, 63 [SEP] 5, CreditCard, -0.776, 0.174, -0.017, 0, 0, 0, 52 [SEP] 6, Book, 1.666, 0.985, -1.862, 0, 270, 0, 38 [SEP] 7, Book, 2.710, 0.610, -0.172, 0, 0, 0, 23 [SEP] 8, Laptop, 2.217, 0.607, 0.790, 0, 0, 0, 23 [SEP] 9, Laptop, 1.950, 0.986, -2.037, 0, 270, 0, 38 [SEP] 10, Book, 1.975, 0.184, -1.835, 0, 270, 0, 33 [SEP] 11, KeyChain, -0.838, 0.785, -0.338, 0, 0, 0, 59 [SEP] 12, CreditCard, -0.776, 0.379, -0.748, 0, 0, 0, 58 [SEP] 13, Pen, -0.776, 0.385, 0.120, 0, 0, 0, 56 [SEP] 14, Pencil, -1.037, 0.788, 0.501, 0, 0, 0, 59 [SEP] 15, Laptop, 2.052, 0.607, 0.308, 0, 0, 0, 23 [SEP] 16, Vase, -1.037, 0.789, 0.291, 0, 0, 0, 59 [SEP] 17, AlarmClock, -0.838, 0.786, -0.548, 0, 0, 0, 59 [SEP] 18, Pillow, 2.533, 0.631, 1.264, 0, 0, 0, 23 [SEP] 19, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 23 [SEP] 20, CellPhone, -1.103, 0.784, -0.548, 0, 0, 0, 59 [SEP] 21, CD, 2.519, 0.984, -2.037, 0, 270, 0, 38 [SEP] 22, Vase, -0.384, 0.772, 3.172, 0, 0, 0, 45 [SEP] 23, Bed, 2.217, 0.050, 0.585, 0, 0, 0, [SEP] 24, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0, [SEP] 25, Painting, 2.990, 1.592, 1.567, 90, 0, 0, [SEP] 26, Painting, 1.524, 1.592, 1.567, 90, 0, 0, [SEP] 27, Mirror, -1.190, 1.417, -0.223, 0, 270, 0, [SEP] 28, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0, [SEP] 29, Window, -2.629, 1.460, 2.891, 90, 270, 0, [SEP] 30, Window, -2.629, 1.460, 4.084, 90, 270, 0, [SEP] 31, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0, [SEP] 32, Drawer, 2.490, 0.949, -1.703, 0, 0, 0, [SEP] 33, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0, [SEP] 34, Drawer, 1.975, 0.949, -1.703, 0, 0, 0, [SEP] 35, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0, [SEP] 36, Drawer, 1.457, 0.949, -1.703, 0, 0, 0, [SEP] 37, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0, [SEP] 38, Dresser, 2.234, 0.048, -1.950, 0, 0, 0, [SEP] 39, Drawer, 3.011, 0.949, -1.703, 0, 0, 0, [SEP] 40, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0, [SEP] 41, Shelf, -0.163, 1.461, 3.219, 0, 180, 0, [SEP] 42, Drawer, -0.161, 0.242, 3.166, 0, 180, 0, [SEP] 43, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0, [SEP] 44, Drawer, -0.161, 0.562, 3.168, 0, 180, 0, [SEP] 45, Shelf, -0.162, 0.922, 3.164, 0, 180, 0, [SEP] 46, Shelf, -0.162, 1.241, 3.163, 0, 180, 0, [SEP] 47, Blinds, -2.550, 2.486, 2.911, 0, 90, 0, [SEP] 48, Blinds, -2.550, 2.486, 4.107, 0, 90, 0, [SEP] 49, Drawer, -0.833, 0.217, -0.336, 0, 90, 0, [SEP] 50, Drawer, -0.833, 0.217, 0.486, 0, 90, 0, [SEP] 51, Drawer, -0.833, 0.628, -0.747, 0, 90, 0, [SEP] 52, Drawer, -0.833, 0.217, 0.075, 0, 90, 0, [SEP] 53, Drawer, -0.833, 0.628, 0.486, 0, 90, 0, [SEP] 54, Drawer, -0.833, 0.217, -0.747, 0, 90, 0, [SEP] 55, Drawer, -0.833, 0.423, -0.336, 0, 90, 0, [SEP] 56, Drawer, -0.833, 0.423, 0.075, 0, 90, 0, [SEP] 57, Drawer, -0.833, 0.423, 0.486, 0, 90, 0, [SEP] 58, Drawer, -0.833, 0.423, -0.747, 0, 90, 0, [SEP] 59, Dresser, -0.934, 0.050, -0.129, 0, 90, 0, [SEP] 60, Drawer, -0.833, 0.628, 0.075, 0, 90, 0, [SEP] 61, Drawer, -0.833, 0.628, -0.336, 0, 90, 0, [SEP] 62, Drawer, 3.454, 0.212, 1.262, 0, 180, 0, [SEP] 63, SideTable, 3.455, 0.046, 1.328, 0, 180, 0, [SEP] 64, Drawer, 3.454, 0.504, 1.262, 0, 180, 0, [SEP] 65, NorthWall, , , , , , , [SEP] 66, EastWall, , , , , , , [SEP] 67, SouthWall, , , , , , , [SEP] 68, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk past the bed then turn right and walk to the dresser then take a step to your right. | STEP 2: Pick up the blue cell phone. | STEP 3: Turn right and walk to the end of the dresser then turn right and walk to the bed. | STEP 4: Put the phone on the bed under the left laptop. | STEP 5: Turn right and walk to the wall then turn left. | STEP 6: Pick up the cell phone that's in front of you. | STEP 7: Walk back to where you put the first phone. | STEP 8: Put this phone to the right of the first phone. | END"]} {"id": "trial_T20190906_222759_238425-1", "input": "Put a chilled egg in the trash can in the corner. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.931, 1.0, 0, 270, 0, [SEP] 1, Pan, 1.820, 1.019, -1.337, 0, 90, 0, 60 [SEP] 2, Potato, -1.303, 1.542, 2.063, 0, 90, 0, 69 [SEP] 3, Potato, -1.095, 1.017, 2.331, 0, 90, 0, 69 [SEP] 4, ButterKnife, 0.065, 1.043, 0.522, 0, 0, 0, 56 [SEP] 5, Kettle, -0.491, 0.204, -1.337, 0, 0, 0, 63 [SEP] 6, Pot, -1.106, 2.029, -1.264, 0, 90, 0, 61 [SEP] 7, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 55 [SEP] 8, Fork, 0.065, 1.043, 0.738, 0, 0, 0, 56 [SEP] 9, Spoon, -0.517, 1.048, -1.397, 0, 270, 0, 54 [SEP] 10, Spatula, 0.906, 1.061, -1.289, 0, 0, 0, 54 [SEP] 11, Egg, 1.879, 1.097, 0.738, 0, 0, 0, 56 [SEP] 12, Egg, -1.047, 1.770, -1.300, 0, 0, 0, 68 [SEP] 13, Egg, 1.882, 0.177, 2.442, 0, 270, 0, 70 [SEP] 14, Cup, -1.300, 1.228, 2.331, 0, 90, 0, 69 [SEP] 15, Cup, -1.194, 1.716, -1.269, 0, 0, 0, 68 [SEP] 16, Plate, -1.027, 0.215, -1.265, 0, 0, 0, 62 [SEP] 17, Knife, 1.701, 1.069, 0.738, 0, 0, 0, 56 [SEP] 18, Tomato, -1.431, 1.279, 2.063, 0, 90, 0, 69 [SEP] 19, Tomato, 0.892, 1.104, 0.181, 0, 90, 0, 52 [SEP] 20, PepperShaker, -0.760, 0.198, -1.625, 0, 0, 0, 63 [SEP] 21, PepperShaker, 0.379, 1.041, -1.118, 0, 0, 0, 54 [SEP] 22, Lettuce, -1.095, 1.023, 1.974, 0, 90, 0, 69 [SEP] 23, Lettuce, -1.169, 1.287, 1.974, 0, 90, 0, 69 [SEP] 24, Mug, -1.103, 1.223, 2.153, 0, 90, 0, 69 [SEP] 25, Mug, -1.339, 2.023, -1.555, 0, 0, 0, 61 [SEP] 26, Apple, 1.271, 0.936, 0.304, 0, 90, 0, 51 [SEP] 27, Apple, -1.458, 1.532, 2.063, 0, 90, 0, 69 [SEP] 28, SoapBottle, 1.523, 1.044, 0.415, 0, 0, 0, 56 [SEP] 29, Apple, 0.892, 1.097, 0.281, 0, 90, 0, 52 [SEP] 30, Potato, -1.419, 1.542, 1.885, 0, 90, 0, 69 [SEP] 31, Fork, 0.848, 1.043, 0.763, 0, 0, 0, 56 [SEP] 32, Kettle, 0.007, 1.050, -1.400, 0, 0, 0, 53 [SEP] 33, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 54 [SEP] 34, Tomato, -1.312, 1.764, 2.331, 0, 90, 0, 69 [SEP] 35, SaltShaker, -0.260, 1.041, -1.612, 0, 0, 0, 54 [SEP] 36, Egg, 0.717, 1.108, 0.181, 0, 90, 0, 52 [SEP] 37, Cup, -0.222, 0.203, -1.553, 0, 0, 0, 63 [SEP] 38, Spatula, -0.517, 1.061, -1.289, 0, 0, 0, 54 [SEP] 39, Knife, 0.100, 1.072, -1.086, 0, 180, 0, 54 [SEP] 40, Lettuce, 1.155, 1.106, -1.289, 0, 0, 0, 54 [SEP] 41, ButterKnife, -0.177, 1.046, -1.140, 0, 0, 0, 54 [SEP] 42, PepperShaker, 1.743, 1.014, -1.630, 0, 0, 0, 60 [SEP] 43, DishSponge, 0.740, 1.046, -1.505, 0, 0, 0, 54 [SEP] 44, Plate, -1.349, 1.726, 1.974, 0, 90, 0, 69 [SEP] 45, Bread, 0.406, 1.104, 0.352, 0, 337.138, 0, 56 [SEP] 46, Spoon, -0.177, 1.048, -1.118, 0, 0, 0, 54 [SEP] 47, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 57 [SEP] 48, Mug, -0.699, 1.560, -1.767, 0, 0, 0, 59 [SEP] 49, Bowl, 1.188, 1.563, -1.764, 0, 0, 0, 58 [SEP] 50, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 51, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 52, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 53, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 54, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 55, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 56, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 57, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 58, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 59, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 60, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 61, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 62, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 63, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 64, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 65, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 66, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 67, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 68, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 69, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 70, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 71, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 72, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 73, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 74, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 75, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 76, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 77, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 78, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 79, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 80, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 81, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 82, NorthWall, , , , , , , [SEP] 83, EastWall, , , , , , , [SEP] 84, SouthWall, , , , , , , [SEP] 85, WestWall, , , , , , , ", "output": ["STEP 1: Move to the trash can in the corner. | STEP 2: Pick up the egg in the trash can. | STEP 3: Bring the egg to the fridge. | STEP 4: Chill the egg in the fridge. | STEP 5: Bring the chilled egg to the trash can in the corner. | STEP 6: Put the chilled egg in the trash can in the corner. | END"]} {"id": "trial_T20190909_010403_416394-2", "input": "Move two pencils to a cabinet beneath the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.909, -0.25, 0, 0, 0, [SEP] 1, Mug, -3.466, 0.979, -4.276, 0, 0, 0, 42 [SEP] 2, Mug, -3.466, 0.977, -3.472, 0, 0, 0, 42 [SEP] 3, CellPhone, -3.750, 0.045, -3.091, 0, 0, 0, 41 [SEP] 4, Pen, -3.834, 0.985, -3.271, 0, 0, 0, 42 [SEP] 5, Pencil, -0.453, 0.803, -3.811, 0, 0, 0, 39 [SEP] 6, Pencil, -3.694, 0.422, -4.163, 0, 0, 0, 45 [SEP] 7, KeyChain, -0.657, 0.804, -4.246, 0, 0, 0, 39 [SEP] 8, KeyChain, -3.760, 0.980, -3.472, 0, 0, 0, 42 [SEP] 9, Book, -1.474, 0.804, -3.920, 0, 0, 0, 39 [SEP] 10, AlarmClock, -1.474, 0.800, -3.703, 0, 0, 0, 39 [SEP] 11, Book, -3.834, 0.981, -3.673, 0, 0, 0, 42 [SEP] 12, CellPhone, -1.270, 0.800, -4.354, 0, 0, 0, 39 [SEP] 13, Laptop, -2.559, 0.618, -2.080, 0, 0, 0, 24 [SEP] 14, CreditCard, -3.582, 0.614, -3.978, 0, 0, 0, 48 [SEP] 15, AlarmClock, -3.834, 0.981, -4.276, 0, 0, 0, 42 [SEP] 16, KeyChain, -3.687, 0.982, -4.075, 0, 0, 0, 42 [SEP] 17, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 24 [SEP] 18, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 19, Pencil, -0.453, 0.807, -3.920, 0, 0, 0, 39 [SEP] 20, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 24 [SEP] 21, CD, -3.694, 0.418, -3.000, 0, 0, 0, 50 [SEP] 22, Pen, -0.685, 0.548, -3.713, 0, 0, 0, 33 [SEP] 23, Mug, -0.418, 0.541, -3.713, 0, 0, 0, 33 [SEP] 24, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 25, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 26, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 27, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 28, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 29, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 30, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 31, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 32, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 33, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 34, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 35, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 36, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 37, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 38, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 39, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 40, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 41, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 42, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 51, NorthWall, , , , , , , [SEP] 52, EastWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and cross the room to the white table. | STEP 2: Pick up the pencil closest to you from the table. | STEP 3: Back up a step from the table while carrying the pencil. | STEP 4: Place the pencil on top of the small cabinet beneath the table. | STEP 5: Step closer to the table. | STEP 6: Pick up the remaining pencil from the table. | STEP 7: Move a step back from the table again. | STEP 8: Place the other pencil on top of the cabinet beneath the white table. | END"]} {"id": "trial_T20190907_115710_596901-2", "input": "Set a cold coffee cup on the island. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.931, 2.0, 0, 180, 0, [SEP] 1, Potato, -1.095, 1.017, 1.885, 0, 90, 0, 61 [SEP] 2, DishSponge, -1.339, 2.027, -1.337, 0, 0, 0, 53 [SEP] 3, DishSponge, -0.760, 0.203, -1.337, 0, 0, 0, 55 [SEP] 4, ButterKnife, 0.160, 1.032, 0.415, 0, 0, 0, 48 [SEP] 5, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 42 [SEP] 6, Spoon, 1.612, 1.044, 0.522, 0, 90, 0, 48 [SEP] 7, Spoon, 1.181, 1.044, 0.632, 0, 0, 0, 48 [SEP] 8, Egg, -1.250, 2.002, 2.242, 0, 90, 0, 61 [SEP] 9, Cup, 1.211, 0.900, 0.231, 0, 90, 0, 43 [SEP] 10, Cup, 1.158, 0.200, -1.339, 0, 0, 0, 57 [SEP] 11, Knife, 0.379, 1.072, -1.107, 0, 0, 0, 46 [SEP] 12, Knife, 0.100, 1.072, -1.107, 0, 180, 0, 46 [SEP] 13, SoapBottle, -0.775, 1.047, -1.505, 0, 0, 0, 46 [SEP] 14, Bowl, -0.699, 1.563, -1.619, 0, 0, 0, 51 [SEP] 15, Bowl, -1.339, 2.027, -1.482, 0, 0, 0, 53 [SEP] 16, Lettuce, 1.072, 1.106, -1.397, 0, 0, 0, 46 [SEP] 17, Mug, 0.848, 1.038, 0.632, 0, 0, 0, 48 [SEP] 18, Apple, -1.312, 1.756, 1.885, 0, 90, 0, 61 [SEP] 19, Apple, -1.235, 1.271, 1.974, 0, 90, 0, 61 [SEP] 20, SoapBottle, 0.892, 1.056, 0.281, 0, 90, 0, 44 [SEP] 21, Apple, 0.823, 1.090, -1.289, 0, 0, 0, 46 [SEP] 22, Potato, -0.603, 1.100, -1.397, 0, 0, 0, 46 [SEP] 23, Fork, 0.657, 1.047, -1.118, 0, 0, 0, 46 [SEP] 24, Kettle, -1.339, 0.203, -1.555, 0, 0, 0, 54 [SEP] 25, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 46 [SEP] 26, Tomato, -1.268, 1.999, 2.063, 0, 90, 0, 61 [SEP] 27, SaltShaker, -0.222, 0.198, -1.409, 0, 0, 0, 55 [SEP] 28, Egg, -1.243, 1.770, -1.362, 0, 0, 0, 60 [SEP] 29, Cup, -1.106, 2.028, -1.627, 0, 0, 0, 53 [SEP] 30, Spatula, 1.701, 1.058, 0.415, 0, 0, 0, 48 [SEP] 31, Knife, 0.255, 1.069, 0.091, 0, 0, 0, 48 [SEP] 32, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 44 [SEP] 33, ButterKnife, 0.065, 1.043, 0.630, 0, 0, 0, 48 [SEP] 34, PepperShaker, -0.312, 0.198, -1.409, 0, 0, 0, 55 [SEP] 35, DishSponge, 1.514, 1.042, 0.676, 0, 0, 0, 48 [SEP] 36, Plate, -0.580, 0.216, -1.553, 0, 0, 0, 55 [SEP] 37, Bread, 0.407, 1.104, 0.353, 0, 337.142, 0, 48 [SEP] 38, Spoon, -0.260, 1.048, -1.505, 0, 90, 0, 46 [SEP] 39, Pot, 0.250, 1.057, -1.4, 0, 0, 0, 58 [SEP] 40, Mug, 0.885, 1.560, -1.388, 0, 270, 0, 50 [SEP] 41, Bowl, -1.300, 1.227, 2.153, 0, 90, 0, 61 [SEP] 42, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 43, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 44, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 45, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 46, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 47, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 48, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 49, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 50, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 51, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 52, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 53, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 54, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 55, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 56, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 57, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 58, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 59, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 60, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 61, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 62, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 63, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 64, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 65, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 66, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 70, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 71, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 72, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 73, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 74, NorthWall, , , , , , , [SEP] 75, EastWall, , , , , , , [SEP] 76, SouthWall, , , , , , , [SEP] 77, WestWall, , , , , , , ", "output": ["STEP 1: Go to the island behind the sink. | STEP 2: Pick up the coffee cup on the island. | STEP 3: Take the cup to the fridge. | STEP 4: Chill the cup in the fridge. | STEP 5: Turn and go past the fridge on the right to the end of the island. | STEP 6: Set the cold coffee cup on the island. | END"]} {"id": "trial_T20190909_082241_779740-1", "input": "Wash a kettle and put away in cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.931, -0.5, 0, 0, 0, [SEP] 1, Potato, -1.419, 1.542, 2.331, 0, 90, 0, 57 [SEP] 2, DishSponge, 0.160, 1.042, 0.738, 0, 0, 0, 44 [SEP] 3, DishSponge, 1.523, 1.042, 0.522, 0, 0, 0, 44 [SEP] 4, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 45 [SEP] 5, Fork, 1.968, 1.043, 0.091, 0, 0, 0, 44 [SEP] 6, Fork, 0.682, 1.043, 0.589, 0, 0, 0, 44 [SEP] 7, Spatula, -0.775, 1.061, -1.181, 0, 180, 0, 42 [SEP] 8, Egg, -1.235, 1.282, 1.974, 0, 90, 0, 57 [SEP] 9, Egg, 0.518, 1.101, -1.118, 0, 0, 0, 42 [SEP] 10, Knife, 1.015, 1.069, 0.720, 0, 0, 0, 44 [SEP] 11, SoapBottle, 1.238, 1.047, -1.505, 0, 0, 0, 42 [SEP] 12, PepperShaker, -0.030, 1.038, 0.307, 0, 0, 0, 44 [SEP] 13, PepperShaker, -0.775, 1.041, -1.289, 0, 0, 0, 42 [SEP] 14, Mug, 1.238, 1.041, -1.181, 0, 0, 0, 42 [SEP] 15, Apple, 0.657, 1.090, -1.118, 0, 0, 0, 42 [SEP] 16, SoapBottle, -0.603, 1.047, -1.289, 0, 0, 0, 42 [SEP] 17, Apple, 1.015, 1.086, 0.589, 0, 0, 0, 44 [SEP] 18, Potato, -0.603, 1.100, -1.505, 0, 0, 0, 42 [SEP] 19, Fork, 0.245, 1.033, 0.305, 358.707, 1.009, 0, 44 [SEP] 20, Kettle, 0.007, 1.050, -1.400, 0, 0, 0, 41 [SEP] 21, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 42 [SEP] 22, Tomato, 0.065, 1.094, 0.091, 0, 0, 0, 44 [SEP] 23, SaltShaker, 0.848, 1.038, 0.676, 0, 90, 0, 44 [SEP] 24, Egg, 0.823, 1.101, -1.181, 0, 0, 0, 42 [SEP] 25, Cup, 0.740, 1.047, -1.505, 0, 0, 0, 42 [SEP] 26, Spatula, -0.775, 1.061, -1.828, 0, 90, 0, 42 [SEP] 27, Knife, 0.160, 1.069, 0.630, 0, 0, 0, 44 [SEP] 28, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 40 [SEP] 29, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 44 [SEP] 30, PepperShaker, 0.848, 1.038, 0.545, 0, 0, 0, 44 [SEP] 31, DishSponge, -0.432, 1.046, -1.289, 0, 0, 0, 42 [SEP] 32, Plate, 0.989, 1.059, -1.289, 0, 0, 0, 42 [SEP] 33, Bread, 0.418, 1.104, 0.353, 0, 337.641, 0, 44 [SEP] 34, Spoon, 1.181, 1.044, 0.763, 0, 0, 0, 44 [SEP] 35, Pot, 0.250, 1.057, -1.4, 0, 0, 0, 54 [SEP] 36, Mug, -1.349, 1.708, 2.063, 0, 90, 0, 57 [SEP] 37, Bowl, -1.342, 1.488, 1.974, 0, 90, 0, 57 [SEP] 38, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 39, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 40, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 41, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 42, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 43, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 44, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 45, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 46, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 47, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 48, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 49, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 50, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 51, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 52, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 53, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 54, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 55, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 56, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 57, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 58, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 59, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 60, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 61, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 62, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 63, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 64, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 65, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 66, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 67, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 68, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 69, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 70, NorthWall, , , , , , , [SEP] 71, EastWall, , , , , , , [SEP] 72, SouthWall, , , , , , , [SEP] 73, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, walk to the front of the stove, turn right to face the stove. | STEP 2: Pick up the kettle on the right side of the stove. | STEP 3: Turn left, walk forward and then turn left to face the sink. | STEP 4: Place the kettle in the sink, turn on the faucet for a few seconds, then turn off the water, pick up the kettle. | STEP 5: Turn left and step forward, turn left to face the kitchen counter with a apple and eggs. | STEP 6: Open the bottom cabinet door , place the kettle inside, close the door. | END"]} {"id": "trial_T20190907_041300_658121-0", "input": "Place a cleaned glass cup on the top right shelf inside the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 0.75, 0, 0, 0, [SEP] 1, Potato, 2.962, 0.761, -0.565, 0, 0, 0, 91 [SEP] 2, Potato, -0.198, 0.946, 1.129, 0, 0, 0, 47 [SEP] 3, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 42 [SEP] 4, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 74 [SEP] 5, Spoon, -0.198, 0.912, 1.044, 0, 0, 0, 47 [SEP] 6, Spoon, 1.893, 0.772, 1.122, 0, 0, 0, 69 [SEP] 7, Spatula, 2.221, 0.926, 1.214, 0, 0, 0, 71 [SEP] 8, Spatula, -0.103, 0.926, 1.214, 0, 0, 0, 47 [SEP] 9, Plate, 2.488, 0.914, 1.214, 0, 0, 0, 71 [SEP] 10, Egg, -1.933, 0.461, 1.375, 0, 270, 0, 89 [SEP] 11, Egg, -2.019, 0.461, 1.417, 0, 270, 0, 89 [SEP] 12, PepperShaker, 2.802, 0.110, 1.156, 0, 0, 0, 68 [SEP] 13, SoapBottle, 2.754, 0.917, 1.214, 0, 0, 0, 71 [SEP] 14, Plate, 2.715, 1.566, -0.578, 0, 0, 0, 91 [SEP] 15, Fork, -0.911, 0.821, -1.308, 0, 180, 0, 95 [SEP] 16, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 51 [SEP] 17, Bread, 1.155, 0.969, 1.214, 0, 0, 0, 71 [SEP] 18, Egg, 0.263, 0.803, -0.651, 0, 0, 0, 93 [SEP] 19, Kettle, 2.488, 0.912, 1.468, 0, 0, 0, 71 [SEP] 20, Tomato, 0.888, 0.942, -0.854, 0, 0, 0, 36 [SEP] 21, Cup, 0.750, 1.653, -0.693, 0, 180, 0, 46 [SEP] 22, Spatula, -0.103, 0.926, 1.383, 0, 0, 0, 47 [SEP] 23, Apple, 0.193, 0.834, -0.762, 0, 0, 0, 93 [SEP] 24, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 39 [SEP] 25, Lettuce, 1.155, 0.992, 1.468, 0, 0, 0, 71 [SEP] 26, SaltShaker, -0.887, 0.817, -1.110, 0, 0, 0, 95 [SEP] 27, Knife, 2.156, 0.944, -0.684, 0, 0, 0, 36 [SEP] 28, Potato, -0.682, 0.855, -1.255, 0, 0, 0, 95 [SEP] 29, PepperShaker, 1.281, 1.650, -0.849, 0, 180, 0, 38 [SEP] 30, ButterKnife, 1.422, 0.911, 1.299, 0, 0, 0, 71 [SEP] 31, Bowl, 2.777, 1.286, -0.775, 0, 0, 0, 91 [SEP] 32, DishSponge, 1.558, 0.114, -0.498, 0, 180, 0, 53 [SEP] 33, Spoon, -1.056, 0.822, -1.206, 0, 90, 0, 95 [SEP] 34, Mug, 2.777, 1.014, -0.775, 0, 0, 0, 91 [SEP] 35, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 36, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 37, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 38, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 39, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 40, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 41, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 42, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 43, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 44, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 45, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 46, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 47, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 48, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 49, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 50, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 51, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 52, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 53, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 54, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 55, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 56, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 57, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 58, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 59, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 60, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 61, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 62, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 63, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 64, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 66, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 67, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 68, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 69, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 70, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 71, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 72, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 74, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 75, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 76, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 77, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 78, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 79, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 80, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 81, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 83, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 84, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 85, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 86, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 87, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 88, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 89, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 90, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 91, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 92, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 93, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 94, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 95, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 96, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 97, NorthWall, , , , , , , [SEP] 98, EastWall, , , , , , , [SEP] 99, SouthWall, , , , , , , [SEP] 100, WestWall, , , , , , , ", "output": ["STEP 1: Walk towards the counter behind you and look up at the cabinet above the tomato. | STEP 2: Take out the glass cup from the cabinet. | STEP 3: Take a step to the right towards the sink. | STEP 4: Place the cup in the sink, wash it, and pick it back up. | STEP 5: Turn left and walk towards the fridge to your right. | STEP 6: Place the cup on the top right shelf in the fridge. | END"]} {"id": "trial_T20190909_004135_086364-0", "input": "To move a pen to the top of the drawers. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.909, -1.75, 0, 90, 0, [SEP] 1, Mug, -0.685, 0.541, -3.731, 0, 0, 0, 34 [SEP] 2, CD, -0.426, 0.029, -3.779, 0, 0, 0, 32 [SEP] 3, CellPhone, -3.613, 0.620, -0.356, 0, 0, 0, 25 [SEP] 4, Pencil, -1.882, 0.065, -3.944, 0, 9.990, 0, 29 [SEP] 5, Pencil, -0.418, 0.546, -3.768, 0, 0, 0, 34 [SEP] 6, CreditCard, -3.470, 0.614, -3.276, 0, 0, 0, 44 [SEP] 7, CreditCard, -0.731, 0.188, -3.844, 0, 0, 0, 35 [SEP] 8, KeyChain, -3.539, 0.980, -3.874, 0, 0, 0, 43 [SEP] 9, KeyChain, -0.862, 0.804, -4.246, 0, 0, 0, 40 [SEP] 10, AlarmClock, -1.474, 0.800, -3.811, 0, 0, 0, 40 [SEP] 11, AlarmClock, -0.249, 0.800, -3.703, 0, 0, 0, 40 [SEP] 12, Book, -1.066, 0.804, -3.811, 0, 0, 0, 40 [SEP] 13, CellPhone, -0.657, 0.803, -4.354, 0, 0, 0, 40 [SEP] 14, Laptop, -3.613, 0.979, -3.070, 0, 0, 0, 43 [SEP] 15, CreditCard, -0.240, 0.542, -3.713, 0, 0, 0, 34 [SEP] 16, AlarmClock, -3.760, 0.979, -3.673, 0, 0, 0, 43 [SEP] 17, KeyChain, -0.657, 0.800, -3.703, 0, 0, 0, 40 [SEP] 18, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 25 [SEP] 19, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 20, Pencil, -3.750, 0.048, -3.558, 0, 0, 0, 42 [SEP] 21, Pillow, -3.191, 0.722, -1.793, 0, 0, 0, 25 [SEP] 22, CD, -0.453, 0.799, -4.354, 0, 0, 0, 40 [SEP] 23, Pen, -1.066, 0.805, -4.354, 0, 0, 0, 40 [SEP] 24, Mug, -0.862, 0.801, -3.703, 0, 0, 0, 40 [SEP] 25, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 26, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 27, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 28, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 29, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 30, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 31, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 32, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 33, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 34, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 35, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 36, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 37, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 38, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 39, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 40, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 41, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 42, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 43, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 51, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: Turn right at the window and walk to the desk. | STEP 2: Pick up the pen to the left of the lamp. | STEP 3: Move over to the left side of the desk and face the drawers below the desk. | STEP 4: Put the pen down on the top of the drawers below the desk. | END"]} {"id": "trial_T20190909_004135_086364-2", "input": "move the pen from the desk to a table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.909, -1.75, 0, 90, 0, [SEP] 1, Mug, -0.685, 0.541, -3.731, 0, 0, 0, 34 [SEP] 2, CD, -0.426, 0.029, -3.779, 0, 0, 0, 32 [SEP] 3, CellPhone, -3.613, 0.620, -0.356, 0, 0, 0, 25 [SEP] 4, Pencil, -1.882, 0.065, -3.944, 0, 9.990, 0, 29 [SEP] 5, Pencil, -0.418, 0.546, -3.768, 0, 0, 0, 34 [SEP] 6, CreditCard, -3.470, 0.614, -3.276, 0, 0, 0, 44 [SEP] 7, CreditCard, -0.731, 0.188, -3.844, 0, 0, 0, 35 [SEP] 8, KeyChain, -3.539, 0.980, -3.874, 0, 0, 0, 43 [SEP] 9, KeyChain, -0.862, 0.804, -4.246, 0, 0, 0, 40 [SEP] 10, AlarmClock, -1.474, 0.800, -3.811, 0, 0, 0, 40 [SEP] 11, AlarmClock, -0.249, 0.800, -3.703, 0, 0, 0, 40 [SEP] 12, Book, -1.066, 0.804, -3.811, 0, 0, 0, 40 [SEP] 13, CellPhone, -0.657, 0.803, -4.354, 0, 0, 0, 40 [SEP] 14, Laptop, -3.613, 0.979, -3.070, 0, 0, 0, 43 [SEP] 15, CreditCard, -0.240, 0.542, -3.713, 0, 0, 0, 34 [SEP] 16, AlarmClock, -3.760, 0.979, -3.673, 0, 0, 0, 43 [SEP] 17, KeyChain, -0.657, 0.800, -3.703, 0, 0, 0, 40 [SEP] 18, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 25 [SEP] 19, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 20, Pencil, -3.750, 0.048, -3.558, 0, 0, 0, 42 [SEP] 21, Pillow, -3.191, 0.722, -1.793, 0, 0, 0, 25 [SEP] 22, CD, -0.453, 0.799, -4.354, 0, 0, 0, 40 [SEP] 23, Pen, -1.066, 0.805, -4.354, 0, 0, 0, 40 [SEP] 24, Mug, -0.862, 0.801, -3.703, 0, 0, 0, 40 [SEP] 25, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 26, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 27, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 28, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 29, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 30, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 31, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 32, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 33, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 34, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 35, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 36, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 37, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 38, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 39, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 40, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 41, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 42, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 43, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 51, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: turn right, walk to the table | STEP 2: pick up the pen that is on the desk | STEP 3: take a few steps to the left | STEP 4: put the pen on top of the small table under the desk | END"]} {"id": "trial_T20190907_234340_048681-0", "input": "Put a cup with a knife in it on the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 0.25, 0, 0, 0, [SEP] 1, Potato, 2.962, 1.323, -0.775, 0, 0, 0, 106 [SEP] 2, Potato, -2.019, 0.458, 1.459, 0, 270, 0, 104 [SEP] 3, DishSponge, 2.512, 0.770, 1.236, 0, 0, 0, 67 [SEP] 4, DishSponge, -0.836, 0.820, -1.183, 0, 0, 0, 110 [SEP] 5, Kettle, 1.488, 0.115, 1.119, 0, 0, 0, 80 [SEP] 6, Kettle, 1.422, 0.912, 1.214, 0, 0, 0, 86 [SEP] 7, ButterKnife, -1.056, 0.820, -1.308, 0, 90, 0, 110 [SEP] 8, Spoon, -0.055, 0.912, 1.044, 0, 0, 0, 62 [SEP] 9, Spoon, -0.694, 0.822, -1.257, 0, 90, 0, 110 [SEP] 10, Fork, -0.839, 0.821, -1.411, 0, 180, 0, 110 [SEP] 11, Plate, 1.955, 0.914, 1.383, 0, 0, 0, 86 [SEP] 12, Cup, 1.141, 0.909, -0.430, 0, 0, 0, 51 [SEP] 13, Cup, 2.962, 1.561, -0.709, 0, 0, 0, 106 [SEP] 14, Cup, 2.715, 1.561, -0.709, 0, 0, 0, 106 [SEP] 15, Egg, -1.991, 0.461, 1.290, 0, 270, 0, 104 [SEP] 16, Egg, 0.466, 1.822, 1.455, 0, 180, 0, 109 [SEP] 17, Knife, 0.123, 0.798, -0.651, 0, 0, 0, 108 [SEP] 18, Knife, -0.939, 0.853, -1.183, 0, 90, 0, 110 [SEP] 19, SoapBottle, 1.931, 0.120, 1.117, 0, 0, 0, 71 [SEP] 20, Tomato, 2.838, 0.756, -0.565, 0, 0, 0, 106 [SEP] 21, Tomato, 2.591, 1.320, -0.775, 0, 0, 0, 106 [SEP] 22, Bowl, 1.155, 0.909, 1.383, 0, 0, 0, 86 [SEP] 23, SaltShaker, 1.931, 0.111, 1.276, 0, 0, 0, 71 [SEP] 24, Lettuce, 1.688, 0.992, 1.468, 0, 0, 0, 86 [SEP] 25, Lettuce, 2.221, 0.992, 1.214, 0, 0, 0, 86 [SEP] 26, Apple, 2.900, 1.632, -0.578, 0, 0, 0, 106 [SEP] 27, Apple, 2.653, 0.794, -0.473, 0, 0, 0, 106 [SEP] 28, SoapBottle, 0.888, 0.917, -0.684, 0, 0, 0, 51 [SEP] 29, Plate, 2.488, 0.914, 1.129, 0, 0, 0, 86 [SEP] 30, Fork, -0.157, 0.766, -0.707, 0, 90, 0, 108 [SEP] 31, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 66 [SEP] 32, Bread, 2.715, 1.077, -0.709, 0, 0, 0, 106 [SEP] 33, Egg, 0.193, 0.803, -0.541, 0, 0, 0, 108 [SEP] 34, Kettle, 1.917, 1.656, 1.507, 0, 0, 0, 75 [SEP] 35, Tomato, -0.836, 0.852, -1.328, 0, 0, 0, 110 [SEP] 36, Cup, 0.570, 1.782, 1.488, 0, 180, 0, 109 [SEP] 37, Spatula, -0.007, 0.926, 1.468, 0, 270, 0, 62 [SEP] 38, Apple, -0.246, 0.980, 1.129, 0, 0, 0, 62 [SEP] 39, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 54 [SEP] 40, Lettuce, -0.103, 0.992, 1.383, 0, 90, 0, 62 [SEP] 41, SaltShaker, -0.151, 0.908, 1.214, 0, 0, 0, 62 [SEP] 42, Knife, 0.634, 0.944, -0.769, 0, 0, 0, 51 [SEP] 43, Potato, -0.621, 0.855, -1.206, 0, 90, 0, 110 [SEP] 44, PepperShaker, 2.221, 0.908, 1.468, 0, 0, 0, 86 [SEP] 45, ButterKnife, 0.888, 0.911, -0.430, 0, 0, 0, 51 [SEP] 46, Bowl, 1.561, 1.652, 1.470, 0, 0, 0, 74 [SEP] 47, DishSponge, 1.558, 0.770, 1.083, 0, 0, 0, 69 [SEP] 48, Spoon, 2.173, 0.773, -0.460, 0, 180, 0, 64 [SEP] 49, Mug, -0.246, 0.906, 1.553, 0, 0, 0, 62 [SEP] 50, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 51, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 52, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 53, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 54, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 55, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 56, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 57, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 58, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 59, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 60, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 61, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 62, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 63, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 64, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 65, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 66, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 67, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 68, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 69, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 70, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 71, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 72, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 73, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 74, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 77, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 78, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 79, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 81, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 82, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 84, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 85, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 86, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 87, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 88, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 89, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 90, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 91, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 92, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 93, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 94, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 95, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 96, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 97, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 98, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 99, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 100, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 101, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 102, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 103, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 104, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 105, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 106, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 107, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 108, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 109, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 110, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 111, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 112, NorthWall, , , , , , , [SEP] 113, EastWall, , , , , , , [SEP] 114, SouthWall, , , , , , , [SEP] 115, WestWall, , , , , , , ", "output": ["STEP 1: go to the counter to your left where the coffee maker and cup sit | STEP 2: pick up the knife that is to the right of the cup | STEP 3: put the knife int the cup | STEP 4: pick up the cup with the knife in it\n | STEP 5: carry the knife and cup across the room to the right corner | STEP 6: place the cup with the knife still in it on the table | END"]} {"id": "trial_T20190906_191748_443751-1", "input": "Put the heated mug in the cabinet above the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.931, -0.5, 0, 90, 0, [SEP] 1, DishSponge, 1.155, 1.046, -1.289, 0, 0, 0, 46 [SEP] 2, ButterKnife, 1.155, 1.046, -1.720, 0, 0, 0, 46 [SEP] 3, Pot, -0.624, 1.566, -1.619, 0, 270, 0, 51 [SEP] 4, Fork, 1.155, 1.047, -1.397, 0, 0, 0, 46 [SEP] 5, Spoon, 0.740, 1.048, -1.289, 0, 270, 0, 46 [SEP] 6, Spoon, 0.823, 1.048, -1.181, 0, 0, 0, 46 [SEP] 7, Egg, -1.264, 1.543, 2.242, 0, 90, 0, 61 [SEP] 8, Cup, -0.323, 1.565, -1.396, 0, 0, 0, 51 [SEP] 9, Tomato, -1.095, 1.014, 1.974, 0, 90, 0, 61 [SEP] 10, Tomato, 1.155, 1.097, -1.181, 0, 0, 0, 46 [SEP] 11, SoapBottle, 0.712, 0.200, -1.267, 0, 0, 0, 57 [SEP] 12, SaltShaker, -1.416, 2.023, -1.337, 0, 0, 0, 53 [SEP] 13, SaltShaker, 1.263, 1.560, -1.538, 0, 0, 0, 50 [SEP] 14, PepperShaker, 1.435, 1.014, -1.191, 0, 0, 0, 52 [SEP] 15, Lettuce, -0.030, 1.103, 0.630, 0, 0, 0, 48 [SEP] 16, Bread, -0.603, 1.120, -1.397, 0, 0, 0, 46 [SEP] 17, Mug, 0.936, 1.050, 0.331, 0, 90, 0, 44 [SEP] 18, Apple, -1.349, 1.756, 2.242, 0, 90, 0, 61 [SEP] 19, Apple, -1.243, 1.759, -1.331, 0, 0, 0, 60 [SEP] 20, SoapBottle, -0.580, 0.204, -1.409, 0, 0, 0, 55 [SEP] 21, Apple, -1.145, 1.759, -1.362, 0, 0, 0, 60 [SEP] 22, Potato, -1.366, 1.281, 2.153, 0, 90, 0, 61 [SEP] 23, Fork, 1.181, 1.043, 0.720, 0, 0, 0, 48 [SEP] 24, Kettle, -0.401, 0.204, -1.553, 0, 0, 0, 55 [SEP] 25, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 46 [SEP] 26, Tomato, 0.848, 1.104, 0.131, 0, 90, 0, 44 [SEP] 27, SaltShaker, -1.029, 2.023, -1.482, 0, 0, 0, 53 [SEP] 28, Egg, 1.211, 0.947, 0.158, 0, 90, 0, 43 [SEP] 29, Cup, -1.349, 1.713, 1.796, 0, 90, 0, 61 [SEP] 30, Spatula, -0.517, 1.061, -1.397, 0, 180, 0, 46 [SEP] 31, Knife, 0.682, 1.069, 0.720, 0, 0, 0, 48 [SEP] 32, Lettuce, 1.015, 1.103, 0.720, 0, 0, 0, 48 [SEP] 33, ButterKnife, 0.848, 1.043, 0.632, 0, 0, 0, 48 [SEP] 34, PepperShaker, -0.548, 1.560, -1.396, 0, 0, 0, 51 [SEP] 35, DishSponge, 0.160, 1.042, 0.630, 0, 0, 0, 48 [SEP] 36, Plate, 1.036, 1.577, -1.614, 0, 0, 0, 50 [SEP] 37, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 48 [SEP] 38, Spoon, 0.071, 1.031, 0.229, 0, 0, 0, 48 [SEP] 39, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 42 [SEP] 40, Mug, 1.665, 0.199, -1.480, 0, 0, 0, 56 [SEP] 41, Bowl, 1.589, 1.018, -1.411, 0, 0, 0, 52 [SEP] 42, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 43, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 44, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 45, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 46, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 47, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 48, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 49, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 50, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 51, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 52, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 53, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 54, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 55, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 56, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 57, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 58, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 59, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 60, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 61, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 62, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 63, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 64, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 65, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 66, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 70, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 71, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 72, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 73, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 74, NorthWall, , , , , , , [SEP] 75, EastWall, , , , , , , [SEP] 76, SouthWall, , , , , , , [SEP] 77, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the cabinet on the right. | STEP 2: Open up the bottom cabinet and pick up the mug in there. | STEP 3: Bring the mug to the microwave. | STEP 4: Heat the mug in the microwave for a few seconds. | STEP 5: Take the mug out of the microwave. | STEP 6: Open the cabinet above the microwave and put the mug in there. | END"]} {"id": "trial_T20190908_074940_060014-2", "input": "Place a rinsed knife on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.900, 0.5, 0, 90, 0, [SEP] 1, Potato, 2.900, 1.323, -0.447, 0, 0, 0, 94 [SEP] 2, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 54 [SEP] 3, Pot, 2.488, 0.915, 1.468, 0, 0, 0, 74 [SEP] 4, Spoon, 1.141, 0.912, -0.684, 0, 0, 0, 39 [SEP] 5, Plate, 0.812, 2.156, 1.468, 0, 0, 0, 48 [SEP] 6, Knife, 1.155, 0.944, 1.299, 0, 0, 0, 74 [SEP] 7, SoapBottle, -2.019, 0.429, 1.332, 0, 270, 0, 92 [SEP] 8, SoapBottle, 0.178, 1.661, -0.771, 0, 180, 0, 79 [SEP] 9, Bowl, 2.777, 1.286, -0.775, 0, 0, 0, 94 [SEP] 10, PepperShaker, 1.955, 0.908, 1.553, 0, 0, 0, 74 [SEP] 11, PepperShaker, -0.621, 0.817, -1.103, 0, 90, 0, 98 [SEP] 12, Bread, 2.754, 0.969, 1.468, 0, 0, 0, 74 [SEP] 13, Lettuce, 2.838, 1.099, -0.709, 0, 0, 0, 94 [SEP] 14, Mug, 1.792, 0.110, 1.077, 0, 90, 0, 59 [SEP] 15, Mug, -0.198, 0.906, 1.468, 0, 270, 0, 50 [SEP] 16, SoapBottle, -0.621, 0.826, -1.308, 0, 90, 0, 98 [SEP] 17, Plate, 2.221, 0.914, 1.129, 0, 0, 0, 74 [SEP] 18, Fork, -0.839, 0.821, -1.411, 0, 180, 0, 98 [SEP] 19, Pot, 1.141, 0.915, -0.515, 0, 0, 0, 39 [SEP] 20, Bread, 2.777, 1.621, -0.578, 0, 0, 0, 94 [SEP] 21, Egg, -0.087, 0.803, -0.651, 0, 0, 0, 96 [SEP] 22, Kettle, 2.754, 0.912, 1.129, 0, 0, 0, 74 [SEP] 23, Tomato, -0.785, 0.852, -1.110, 0, 0, 0, 98 [SEP] 24, Cup, 2.838, 0.723, -0.565, 0, 0, 0, 94 [SEP] 25, Spatula, 0.123, 0.780, -0.762, 0, 90, 0, 96 [SEP] 26, Apple, 1.422, 0.980, 1.299, 0, 0, 0, 74 [SEP] 27, Pan, 0.281, 0.964, 1.082, 0, 0, 0, 45 [SEP] 28, Lettuce, -0.246, 0.992, 1.129, 0, 0, 0, 50 [SEP] 29, SaltShaker, -0.049, 0.111, 1.037, 0, 0, 0, 67 [SEP] 30, Knife, 1.155, 0.944, 1.468, 0, 0, 0, 74 [SEP] 31, Potato, 3.341, 0.875, -0.543, 0, 0, 0, 94 [SEP] 32, PepperShaker, -0.983, 0.817, -1.257, 0, 90, 0, 98 [SEP] 33, ButterKnife, 2.488, 0.911, 1.214, 0, 0, 0, 74 [SEP] 34, Bowl, 2.154, 1.652, 1.432, 0, 0, 0, 63 [SEP] 35, DishSponge, 1.451, 0.114, 1.193, 0, 0, 0, 68 [SEP] 36, Spoon, -0.983, 0.822, -1.360, 0, 90, 0, 98 [SEP] 37, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 39 [SEP] 38, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 39, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 40, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 41, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 42, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 43, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 44, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 45, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 46, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 47, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 48, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 49, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 50, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 51, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 52, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 53, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 54, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 55, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 56, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 57, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 58, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 59, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 60, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 61, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 62, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 63, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 64, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 65, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 68, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 69, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 70, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 71, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 72, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 74, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 75, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 77, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 78, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 79, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 80, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 81, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 82, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 83, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 84, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 85, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 86, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 87, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 88, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 89, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 91, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 92, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 93, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 94, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 95, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 96, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 97, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 98, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 99, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 100, NorthWall, , , , , , , [SEP] 101, EastWall, , , , , , , [SEP] 102, SouthWall, , , , , , , [SEP] 103, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the counter to the right of the stove. | STEP 2: Pick up the knife at the far back area of the counter to the left of the apple. | STEP 3: Turn around, take a right and walk to the sink on the left. | STEP 4: Put the knife inside the sink, rinse it for a few seconds and pick it back up. | STEP 5: Turn right and hang a left at the wall to reach the gray table. | STEP 6: Put the rinsed knife on the table in front of the tomato. | END"]} {"id": "trial_T20190918_222553_830681-0", "input": "Cook a cut potato in the microwave, put the potato on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.0, 0.900, 0.0, 0, 90, 0, [SEP] 1, Potato, -1.991, 0.458, 1.332, 0, 270, 0, 97 [SEP] 2, Potato, 2.777, 0.760, -0.473, 0, 0, 0, 99 [SEP] 3, DishSponge, 2.242, 1.655, -0.688, 0, 180, 0, 65 [SEP] 4, ButterKnife, -0.836, 0.820, -1.400, 0, 0, 0, 103 [SEP] 5, Fork, 1.558, 0.772, 1.122, 0, 90, 0, 62 [SEP] 6, Spatula, 0.053, 0.780, -0.596, 0, 180, 0, 101 [SEP] 7, Plate, 1.141, 0.914, -0.6, 0, 0, 0, 44 [SEP] 8, Plate, 2.715, 1.021, -0.644, 0, 0, 0, 99 [SEP] 9, Cup, -0.151, 0.909, 1.129, 0, 0, 0, 55 [SEP] 10, Egg, 2.591, 1.601, -0.775, 0, 0, 0, 99 [SEP] 11, Knife, 1.141, 0.944, -0.430, 0, 0, 0, 44 [SEP] 12, SoapBottle, 2.156, 0.917, -0.684, 0, 0, 0, 44 [SEP] 13, Tomato, 1.155, 0.942, 1.044, 0, 0, 0, 79 [SEP] 14, Tomato, 2.962, 1.050, -0.578, 0, 0, 0, 99 [SEP] 15, Bowl, 1.561, 1.652, 1.432, 0, 0, 0, 67 [SEP] 16, SaltShaker, -0.103, 0.908, 1.299, 0, 0, 0, 55 [SEP] 17, Mug, -0.157, 0.760, -0.707, 0, 180, 0, 101 [SEP] 18, Mug, -0.734, 0.815, -1.255, 0, 180, 0, 103 [SEP] 19, Apple, 3.260, 0.909, -0.514, 0, 0, 0, 99 [SEP] 20, Apple, -0.734, 0.889, -1.400, 0, 0, 0, 103 [SEP] 21, SoapBottle, -0.939, 0.826, -1.328, 0, 0, 0, 103 [SEP] 22, Plate, 1.955, 0.914, 1.383, 0, 0, 0, 79 [SEP] 23, Fork, 1.967, 0.772, -0.460, 0, 270, 0, 58 [SEP] 24, Pot, 2.488, 0.915, 1.299, 0, 0, 0, 79 [SEP] 25, Bread, 2.754, 0.969, 1.299, 0, 0, 0, 79 [SEP] 26, Egg, 2.221, 0.949, 1.299, 0, 0, 0, 79 [SEP] 27, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 82 [SEP] 28, Tomato, -1.962, 0.455, 1.459, 0, 270, 0, 97 [SEP] 29, Cup, 1.139, 0.112, 1.117, 0, 0, 0, 51 [SEP] 30, Spatula, 0.193, 0.780, -0.707, 0, 90, 0, 101 [SEP] 31, Apple, 2.900, 0.795, -0.504, 0, 0, 0, 99 [SEP] 32, Pan, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 33, Lettuce, 2.221, 0.992, 1.129, 0, 0, 0, 79 [SEP] 34, SaltShaker, -0.198, 0.908, 1.299, 0, 0, 0, 55 [SEP] 35, Knife, -0.246, 0.944, 1.383, 0, 270, 0, 55 [SEP] 36, Potato, 2.962, 1.323, -0.840, 0, 0, 0, 99 [SEP] 37, PepperShaker, -0.621, 0.817, -1.360, 0, 90, 0, 103 [SEP] 38, ButterKnife, 0.888, 0.911, -0.6, 0, 0, 0, 44 [SEP] 39, Bowl, 1.902, 0.909, -0.430, 0, 0, 0, 44 [SEP] 40, DishSponge, 0.446, 1.654, -0.811, 0, 180, 0, 83 [SEP] 41, Spoon, -0.887, 0.822, -1.110, 0, 0, 0, 103 [SEP] 42, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 44 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 105, NorthWall, , , , , , , [SEP] 106, EastWall, , , , , , , [SEP] 107, SouthWall, , , , , , , [SEP] 108, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and face the counter with the blue plate on it. | STEP 2: Pick up the knife on the right side of the plate. | STEP 3: Turn around and walk past the stove on your right, turn right and walk to the blue trash can. | STEP 4: Slice the potato inside the trash can. | STEP 5: Turn around and walk past the counter turn left and stop at the counter to the right of the stove with the lettuce on it. | STEP 6: Put the knife on the counter. | STEP 7: Turn left and walk past the stove turn right to the blue trash can. | STEP 8: Take a potato slice from the trash can. | STEP 9: Turn around and walk to the stove on your left. | STEP 10: Cook the potato in the microwave above the stove then remove the potato from the microwave. | STEP 11: Turn right and walk to the the counter to the right of the stove. | STEP 12: Place the potato slice on the counter near the lettuce. | END"]} {"id": "trial_T20190918_222553_830681-2", "input": "Place a slice of cooked potato near the lettuce on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.0, 0.900, 0.0, 0, 90, 0, [SEP] 1, Potato, -1.991, 0.458, 1.332, 0, 270, 0, 97 [SEP] 2, Potato, 2.777, 0.760, -0.473, 0, 0, 0, 99 [SEP] 3, DishSponge, 2.242, 1.655, -0.688, 0, 180, 0, 65 [SEP] 4, ButterKnife, -0.836, 0.820, -1.400, 0, 0, 0, 103 [SEP] 5, Fork, 1.558, 0.772, 1.122, 0, 90, 0, 62 [SEP] 6, Spatula, 0.053, 0.780, -0.596, 0, 180, 0, 101 [SEP] 7, Plate, 1.141, 0.914, -0.6, 0, 0, 0, 44 [SEP] 8, Plate, 2.715, 1.021, -0.644, 0, 0, 0, 99 [SEP] 9, Cup, -0.151, 0.909, 1.129, 0, 0, 0, 55 [SEP] 10, Egg, 2.591, 1.601, -0.775, 0, 0, 0, 99 [SEP] 11, Knife, 1.141, 0.944, -0.430, 0, 0, 0, 44 [SEP] 12, SoapBottle, 2.156, 0.917, -0.684, 0, 0, 0, 44 [SEP] 13, Tomato, 1.155, 0.942, 1.044, 0, 0, 0, 79 [SEP] 14, Tomato, 2.962, 1.050, -0.578, 0, 0, 0, 99 [SEP] 15, Bowl, 1.561, 1.652, 1.432, 0, 0, 0, 67 [SEP] 16, SaltShaker, -0.103, 0.908, 1.299, 0, 0, 0, 55 [SEP] 17, Mug, -0.157, 0.760, -0.707, 0, 180, 0, 101 [SEP] 18, Mug, -0.734, 0.815, -1.255, 0, 180, 0, 103 [SEP] 19, Apple, 3.260, 0.909, -0.514, 0, 0, 0, 99 [SEP] 20, Apple, -0.734, 0.889, -1.400, 0, 0, 0, 103 [SEP] 21, SoapBottle, -0.939, 0.826, -1.328, 0, 0, 0, 103 [SEP] 22, Plate, 1.955, 0.914, 1.383, 0, 0, 0, 79 [SEP] 23, Fork, 1.967, 0.772, -0.460, 0, 270, 0, 58 [SEP] 24, Pot, 2.488, 0.915, 1.299, 0, 0, 0, 79 [SEP] 25, Bread, 2.754, 0.969, 1.299, 0, 0, 0, 79 [SEP] 26, Egg, 2.221, 0.949, 1.299, 0, 0, 0, 79 [SEP] 27, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 82 [SEP] 28, Tomato, -1.962, 0.455, 1.459, 0, 270, 0, 97 [SEP] 29, Cup, 1.139, 0.112, 1.117, 0, 0, 0, 51 [SEP] 30, Spatula, 0.193, 0.780, -0.707, 0, 90, 0, 101 [SEP] 31, Apple, 2.900, 0.795, -0.504, 0, 0, 0, 99 [SEP] 32, Pan, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 33, Lettuce, 2.221, 0.992, 1.129, 0, 0, 0, 79 [SEP] 34, SaltShaker, -0.198, 0.908, 1.299, 0, 0, 0, 55 [SEP] 35, Knife, -0.246, 0.944, 1.383, 0, 270, 0, 55 [SEP] 36, Potato, 2.962, 1.323, -0.840, 0, 0, 0, 99 [SEP] 37, PepperShaker, -0.621, 0.817, -1.360, 0, 90, 0, 103 [SEP] 38, ButterKnife, 0.888, 0.911, -0.6, 0, 0, 0, 44 [SEP] 39, Bowl, 1.902, 0.909, -0.430, 0, 0, 0, 44 [SEP] 40, DishSponge, 0.446, 1.654, -0.811, 0, 180, 0, 83 [SEP] 41, Spoon, -0.887, 0.822, -1.110, 0, 0, 0, 103 [SEP] 42, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 44 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 105, NorthWall, , , , , , , [SEP] 106, EastWall, , , , , , , [SEP] 107, SouthWall, , , , , , , [SEP] 108, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, go to the blue plate on the counter, and turn left. | STEP 2: Pick up the silver knife from the counter. | STEP 3: Turn around, go to the tomato on the far counter, turn left, go to the window, turn right, and go to the recycling can. | STEP 4: Slice the potato in the recycling can. | STEP 5: Turn around, turn left, go to the lettuce on the counter, and turn left. | STEP 6: Put the knife on the counter near the lettuce. | STEP 7: Turn left, go to the window, turn right, and go to the recycling bin. | STEP 8: Take a slice of potato from the recycling bin. | STEP 9: Turn around, turn left, go to the microwave above the oven, and turn left. | STEP 10: Open the microwave, put the potato in the microwave, close the microwave, run the microwave for two seconds, open the microwave, take the potato from the microwave, and close the microwave. | STEP 11: Turn right, go to the lettuce on the counter, and turn left. | STEP 12: Put the potato on the counter near the lettuce. | END"]} {"id": "trial_T20190909_044412_092826-1", "input": "Retrieve lotion from trash can and put on ledge with two tissue boxes SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.903, 1.75, 0, 0, 0, [SEP] 1, TissueBox, -1.308, 0.289, 2.157, 0, 0, 0, 28 [SEP] 2, TissueBox, -1.471, 1.070, 2.127, 0, 0, 0, 32 [SEP] 3, Cloth, 0.371, 0.048, -0.071, 0, 0, 0, 31 [SEP] 4, Cloth, 0.453, 0.048, 1.067, 0, 0, 0, 31 [SEP] 5, SoapBar, -2.343, 1.046, -0.797, 0, 0, 0, 37 [SEP] 6, SoapBar, 0.041, 0.043, 0.839, 0, 0, 0, 31 [SEP] 7, SprayBottle, -2.277, 1.048, -0.705, 0, 0, 0, 37 [SEP] 8, SprayBottle, -0.980, 1.071, 2.127, 0, 0, 0, 32 [SEP] 9, SoapBottle, -2.015, 1.049, -0.705, 0, 0, 0, 37 [SEP] 10, SoapBottle, -1.666, 0.083, -0.620, 0, 270, 0, 35 [SEP] 11, Candle, 0.117, 0.650, 1.775, 0, 0, 0, 24 [SEP] 12, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 34 [SEP] 13, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 14, SoapBar, 0.124, 0.043, 0.156, 0, 0, 0, 31 [SEP] 15, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 27 [SEP] 16, SoapBottle, -2.146, 1.049, -0.674, 0, 0, 0, 37 [SEP] 17, TissueBox, -0.817, 0.289, 2.097, 0, 0, 0, 28 [SEP] 18, Cloth, -1.144, 1.777, 2.127, 0, 0, 0, 30 [SEP] 19, ToiletPaper, -0.169, 0.606, -0.408, 0, 315, 0, 24 [SEP] 20, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 26 [SEP] 21, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 22, SprayBottle, -2.212, 1.048, -0.766, 0, 90, 0, 37 [SEP] 23, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 24, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 25, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 26, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 27, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 28, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 29, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 30, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 31, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 32, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 33, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 34, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 35, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 36, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 37, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 38, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 39, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 40, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 41, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, walk to the sink | STEP 2: Pick up the lotion from the trash can | STEP 3: Turn around, walk to the shelf | STEP 4: Put the lotion on the ledge between the tissue boxes | END"]} {"id": "trial_T20190907_102345_652342-2", "input": "Place clean 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, -0.75, 0.900, 0.0, 0, 0, 0, [SEP] 1, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 47 [SEP] 2, Spoon, 0.888, 0.912, -0.684, 0, 0, 0, 41 [SEP] 3, Spoon, 2.221, 0.912, 1.214, 0, 0, 0, 76 [SEP] 4, Spatula, 0.349, 0.926, -0.330, 0, 0, 0, 41 [SEP] 5, Cup, 2.156, 0.909, -0.769, 0, 0, 0, 41 [SEP] 6, Cup, -0.103, 0.909, 1.468, 0, 0, 0, 52 [SEP] 7, Egg, 0.518, 1.822, 1.423, 0, 180, 0, 99 [SEP] 8, Knife, 2.488, 0.944, 1.468, 0, 0, 0, 76 [SEP] 9, Knife, 1.688, 0.944, 1.468, 0, 0, 0, 76 [SEP] 10, Tomato, 1.688, 0.942, 1.214, 0, 0, 0, 76 [SEP] 11, Bowl, 2.715, 1.561, -0.644, 0, 0, 0, 96 [SEP] 12, Bowl, 0.390, 2.154, 1.467, 0, 0, 0, 75 [SEP] 13, SaltShaker, 2.208, 1.651, -0.725, 0, 180, 0, 62 [SEP] 14, PepperShaker, 0.759, 2.150, 1.429, 0, 0, 0, 50 [SEP] 15, Bread, -0.198, 0.969, 1.214, 0, 0, 0, 52 [SEP] 16, Bread, 2.754, 0.969, 1.129, 0, 0, 0, 76 [SEP] 17, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 41 [SEP] 18, SoapBottle, -0.049, 0.120, 1.196, 0, 0, 0, 69 [SEP] 19, Plate, 1.422, 0.914, 1.299, 0, 0, 0, 76 [SEP] 20, Fork, 2.205, 0.771, -0.422, 0, 270, 0, 54 [SEP] 21, Pot, 1.955, 0.915, 1.129, 0, 0, 0, 76 [SEP] 22, Bread, 2.488, 0.969, 1.129, 0, 0, 0, 76 [SEP] 23, Egg, 0.053, 0.803, -0.541, 0, 0, 0, 98 [SEP] 24, Kettle, 1.135, 0.115, -0.495, 0, 180, 0, 49 [SEP] 25, Tomato, -1.962, 0.455, 1.290, 0, 270, 0, 94 [SEP] 26, Cup, 1.522, 1.653, -0.849, 0, 180, 0, 78 [SEP] 27, Spatula, 0.054, 0.926, -0.330, 0, 0, 0, 41 [SEP] 28, Apple, 0.193, 0.834, -0.762, 0, 0, 0, 98 [SEP] 29, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 79 [SEP] 30, Lettuce, 1.141, 0.992, -0.684, 0, 0, 0, 41 [SEP] 31, SaltShaker, -0.939, 0.817, -1.328, 0, 0, 0, 100 [SEP] 32, Knife, -1.056, 0.853, -1.206, 0, 270, 0, 100 [SEP] 33, Potato, 0.193, 0.800, -0.541, 0, 0, 0, 98 [SEP] 34, PepperShaker, -0.734, 0.817, -1.183, 0, 0, 0, 100 [SEP] 35, ButterKnife, -0.294, 0.911, 1.299, 0, 90, 0, 52 [SEP] 36, Bowl, -0.734, 0.818, -1.328, 0, 0, 0, 100 [SEP] 37, DishSponge, 0.888, 0.911, -0.769, 0, 0, 0, 41 [SEP] 38, Spoon, -0.091, 0.772, 1.122, 0, 0, 0, 46 [SEP] 39, Mug, 0.634, 0.906, -0.345, 0, 0, 0, 41 [SEP] 40, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 41, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 42, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 43, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 44, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 45, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 46, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 47, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 49, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 50, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 51, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 52, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 53, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 54, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 55, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 56, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 57, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 58, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 59, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 60, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 61, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 63, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 64, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 65, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 70, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 71, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 72, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 76, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 77, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 79, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 80, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 81, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 82, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 83, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 84, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 85, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 86, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 87, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 88, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 89, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 93, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 94, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 95, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 96, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 97, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 98, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 99, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 100, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 101, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 102, NorthWall, , , , , , , [SEP] 103, EastWall, , , , , , , [SEP] 104, SouthWall, , , , , , , [SEP] 105, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and face the counter with the knife to your left. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn around and face the lettuce by the coffee-maker on the counter. | STEP 4: Slice the lettuce on the counter. | STEP 5: Turn right and face the sink on your left. | STEP 6: Put the knife in the sink in front of you. | STEP 7: Turn left and face the lettuce on the counter to your right. | STEP 8: Pick up a lettuce slice from the counter. | STEP 9: Turn right and face the sink on your left. | STEP 10: Wash the lettuce in the sink and take it out. | STEP 11: Turn right, then left and head towards the round grey table in front of you. | STEP 12: Put the lettuce slice on the table. | END"]} {"id": "trial_T20190907_102345_652342-3", "input": "Place a slice of washed lettuce on the round, kitchen table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 0.0, 0, 0, 0, [SEP] 1, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 47 [SEP] 2, Spoon, 0.888, 0.912, -0.684, 0, 0, 0, 41 [SEP] 3, Spoon, 2.221, 0.912, 1.214, 0, 0, 0, 76 [SEP] 4, Spatula, 0.349, 0.926, -0.330, 0, 0, 0, 41 [SEP] 5, Cup, 2.156, 0.909, -0.769, 0, 0, 0, 41 [SEP] 6, Cup, -0.103, 0.909, 1.468, 0, 0, 0, 52 [SEP] 7, Egg, 0.518, 1.822, 1.423, 0, 180, 0, 99 [SEP] 8, Knife, 2.488, 0.944, 1.468, 0, 0, 0, 76 [SEP] 9, Knife, 1.688, 0.944, 1.468, 0, 0, 0, 76 [SEP] 10, Tomato, 1.688, 0.942, 1.214, 0, 0, 0, 76 [SEP] 11, Bowl, 2.715, 1.561, -0.644, 0, 0, 0, 96 [SEP] 12, Bowl, 0.390, 2.154, 1.467, 0, 0, 0, 75 [SEP] 13, SaltShaker, 2.208, 1.651, -0.725, 0, 180, 0, 62 [SEP] 14, PepperShaker, 0.759, 2.150, 1.429, 0, 0, 0, 50 [SEP] 15, Bread, -0.198, 0.969, 1.214, 0, 0, 0, 52 [SEP] 16, Bread, 2.754, 0.969, 1.129, 0, 0, 0, 76 [SEP] 17, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 41 [SEP] 18, SoapBottle, -0.049, 0.120, 1.196, 0, 0, 0, 69 [SEP] 19, Plate, 1.422, 0.914, 1.299, 0, 0, 0, 76 [SEP] 20, Fork, 2.205, 0.771, -0.422, 0, 270, 0, 54 [SEP] 21, Pot, 1.955, 0.915, 1.129, 0, 0, 0, 76 [SEP] 22, Bread, 2.488, 0.969, 1.129, 0, 0, 0, 76 [SEP] 23, Egg, 0.053, 0.803, -0.541, 0, 0, 0, 98 [SEP] 24, Kettle, 1.135, 0.115, -0.495, 0, 180, 0, 49 [SEP] 25, Tomato, -1.962, 0.455, 1.290, 0, 270, 0, 94 [SEP] 26, Cup, 1.522, 1.653, -0.849, 0, 180, 0, 78 [SEP] 27, Spatula, 0.054, 0.926, -0.330, 0, 0, 0, 41 [SEP] 28, Apple, 0.193, 0.834, -0.762, 0, 0, 0, 98 [SEP] 29, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 79 [SEP] 30, Lettuce, 1.141, 0.992, -0.684, 0, 0, 0, 41 [SEP] 31, SaltShaker, -0.939, 0.817, -1.328, 0, 0, 0, 100 [SEP] 32, Knife, -1.056, 0.853, -1.206, 0, 270, 0, 100 [SEP] 33, Potato, 0.193, 0.800, -0.541, 0, 0, 0, 98 [SEP] 34, PepperShaker, -0.734, 0.817, -1.183, 0, 0, 0, 100 [SEP] 35, ButterKnife, -0.294, 0.911, 1.299, 0, 90, 0, 52 [SEP] 36, Bowl, -0.734, 0.818, -1.328, 0, 0, 0, 100 [SEP] 37, DishSponge, 0.888, 0.911, -0.769, 0, 0, 0, 41 [SEP] 38, Spoon, -0.091, 0.772, 1.122, 0, 0, 0, 46 [SEP] 39, Mug, 0.634, 0.906, -0.345, 0, 0, 0, 41 [SEP] 40, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 41, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 42, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 43, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 44, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 45, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 46, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 47, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 49, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 50, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 51, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 52, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 53, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 54, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 55, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 56, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 57, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 58, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 59, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 60, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 61, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 63, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 64, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 65, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 70, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 71, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 72, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 76, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 77, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 79, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 80, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 81, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 82, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 83, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 84, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 85, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 86, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 87, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 88, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 89, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 93, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 94, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 95, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 96, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 97, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 98, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 99, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 100, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 101, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 102, NorthWall, , , , , , , [SEP] 103, EastWall, , , , , , , [SEP] 104, SouthWall, , , , , , , [SEP] 105, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, walk to the wall, and then turn left to face the kitchen counter. | STEP 2: Grab the gold knife on the kitchen counter. | STEP 3: Turn left, walk to the black stove, and then turn left again and walk towards the lettuce on the counter. | STEP 4: Cut the lettuce on the kitchen counter. | STEP 5: Walk to the kitchen sink on your right. | STEP 6: Place the knife in the sink. | STEP 7: Turn left and walk back to the lettuce on the kitchen counter to your left. | STEP 8: Grab a slice of lettuce. | STEP 9: Walk back to the kitchen sink on your right. | STEP 10: Wash the lettuce in the sink. | STEP 11: Turn right, walk to the window, turn left, and walk to the round table. | STEP 12: Place the slice of lettuce on the round table. | END"]} {"id": "trial_T20190907_102345_652342-4", "input": "Move a slice of washed lettuce to the kitchen table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 0.0, 0, 0, 0, [SEP] 1, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 47 [SEP] 2, Spoon, 0.888, 0.912, -0.684, 0, 0, 0, 41 [SEP] 3, Spoon, 2.221, 0.912, 1.214, 0, 0, 0, 76 [SEP] 4, Spatula, 0.349, 0.926, -0.330, 0, 0, 0, 41 [SEP] 5, Cup, 2.156, 0.909, -0.769, 0, 0, 0, 41 [SEP] 6, Cup, -0.103, 0.909, 1.468, 0, 0, 0, 52 [SEP] 7, Egg, 0.518, 1.822, 1.423, 0, 180, 0, 99 [SEP] 8, Knife, 2.488, 0.944, 1.468, 0, 0, 0, 76 [SEP] 9, Knife, 1.688, 0.944, 1.468, 0, 0, 0, 76 [SEP] 10, Tomato, 1.688, 0.942, 1.214, 0, 0, 0, 76 [SEP] 11, Bowl, 2.715, 1.561, -0.644, 0, 0, 0, 96 [SEP] 12, Bowl, 0.390, 2.154, 1.467, 0, 0, 0, 75 [SEP] 13, SaltShaker, 2.208, 1.651, -0.725, 0, 180, 0, 62 [SEP] 14, PepperShaker, 0.759, 2.150, 1.429, 0, 0, 0, 50 [SEP] 15, Bread, -0.198, 0.969, 1.214, 0, 0, 0, 52 [SEP] 16, Bread, 2.754, 0.969, 1.129, 0, 0, 0, 76 [SEP] 17, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 41 [SEP] 18, SoapBottle, -0.049, 0.120, 1.196, 0, 0, 0, 69 [SEP] 19, Plate, 1.422, 0.914, 1.299, 0, 0, 0, 76 [SEP] 20, Fork, 2.205, 0.771, -0.422, 0, 270, 0, 54 [SEP] 21, Pot, 1.955, 0.915, 1.129, 0, 0, 0, 76 [SEP] 22, Bread, 2.488, 0.969, 1.129, 0, 0, 0, 76 [SEP] 23, Egg, 0.053, 0.803, -0.541, 0, 0, 0, 98 [SEP] 24, Kettle, 1.135, 0.115, -0.495, 0, 180, 0, 49 [SEP] 25, Tomato, -1.962, 0.455, 1.290, 0, 270, 0, 94 [SEP] 26, Cup, 1.522, 1.653, -0.849, 0, 180, 0, 78 [SEP] 27, Spatula, 0.054, 0.926, -0.330, 0, 0, 0, 41 [SEP] 28, Apple, 0.193, 0.834, -0.762, 0, 0, 0, 98 [SEP] 29, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 79 [SEP] 30, Lettuce, 1.141, 0.992, -0.684, 0, 0, 0, 41 [SEP] 31, SaltShaker, -0.939, 0.817, -1.328, 0, 0, 0, 100 [SEP] 32, Knife, -1.056, 0.853, -1.206, 0, 270, 0, 100 [SEP] 33, Potato, 0.193, 0.800, -0.541, 0, 0, 0, 98 [SEP] 34, PepperShaker, -0.734, 0.817, -1.183, 0, 0, 0, 100 [SEP] 35, ButterKnife, -0.294, 0.911, 1.299, 0, 90, 0, 52 [SEP] 36, Bowl, -0.734, 0.818, -1.328, 0, 0, 0, 100 [SEP] 37, DishSponge, 0.888, 0.911, -0.769, 0, 0, 0, 41 [SEP] 38, Spoon, -0.091, 0.772, 1.122, 0, 0, 0, 46 [SEP] 39, Mug, 0.634, 0.906, -0.345, 0, 0, 0, 41 [SEP] 40, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 41, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 42, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 43, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 44, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 45, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 46, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 47, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 49, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 50, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 51, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 52, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 53, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 54, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 55, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 56, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 57, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 58, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 59, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 60, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 61, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 63, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 64, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 65, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 70, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 71, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 72, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 76, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 77, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 79, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 80, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 81, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 82, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 83, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 84, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 85, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 86, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 87, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 88, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 89, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 93, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 94, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 95, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 96, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 97, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 98, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 99, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 100, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 101, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 102, NorthWall, , , , , , , [SEP] 103, EastWall, , , , , , , [SEP] 104, SouthWall, , , , , , , [SEP] 105, WestWall, , , , , , , ", "output": ["STEP 1: Move to stand facing the counter directly across from the fridge. | STEP 2: Pick up the sharp knife from the counter behind the bread. | STEP 3: Turn and carry the knife to the counter behind you with the coffee maker. | STEP 4: Use the knife to slice the head of lettuce on the counter. | STEP 5: Carry the knife to the kitchen sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn and move back to the counter to the sliced head of lettuce. | STEP 8: Pick up a slice of lettuce. | STEP 9: Carry the slice of lettuce to the kitchen sink. | STEP 10: Place the slice of lettuce in the sink, turn on the water, and then remove the lettuce once washed. | STEP 11: Carry the lettuce to the small kitchen table in the corner. | STEP 12: Place the slice of lettuce on the table. | END"]} {"id": "trial_T20190907_102345_652342-5", "input": "Place a rinsed piece of lettuce on the table with a gray tablecloth. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 0.0, 0, 0, 0, [SEP] 1, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 47 [SEP] 2, Spoon, 0.888, 0.912, -0.684, 0, 0, 0, 41 [SEP] 3, Spoon, 2.221, 0.912, 1.214, 0, 0, 0, 76 [SEP] 4, Spatula, 0.349, 0.926, -0.330, 0, 0, 0, 41 [SEP] 5, Cup, 2.156, 0.909, -0.769, 0, 0, 0, 41 [SEP] 6, Cup, -0.103, 0.909, 1.468, 0, 0, 0, 52 [SEP] 7, Egg, 0.518, 1.822, 1.423, 0, 180, 0, 99 [SEP] 8, Knife, 2.488, 0.944, 1.468, 0, 0, 0, 76 [SEP] 9, Knife, 1.688, 0.944, 1.468, 0, 0, 0, 76 [SEP] 10, Tomato, 1.688, 0.942, 1.214, 0, 0, 0, 76 [SEP] 11, Bowl, 2.715, 1.561, -0.644, 0, 0, 0, 96 [SEP] 12, Bowl, 0.390, 2.154, 1.467, 0, 0, 0, 75 [SEP] 13, SaltShaker, 2.208, 1.651, -0.725, 0, 180, 0, 62 [SEP] 14, PepperShaker, 0.759, 2.150, 1.429, 0, 0, 0, 50 [SEP] 15, Bread, -0.198, 0.969, 1.214, 0, 0, 0, 52 [SEP] 16, Bread, 2.754, 0.969, 1.129, 0, 0, 0, 76 [SEP] 17, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 41 [SEP] 18, SoapBottle, -0.049, 0.120, 1.196, 0, 0, 0, 69 [SEP] 19, Plate, 1.422, 0.914, 1.299, 0, 0, 0, 76 [SEP] 20, Fork, 2.205, 0.771, -0.422, 0, 270, 0, 54 [SEP] 21, Pot, 1.955, 0.915, 1.129, 0, 0, 0, 76 [SEP] 22, Bread, 2.488, 0.969, 1.129, 0, 0, 0, 76 [SEP] 23, Egg, 0.053, 0.803, -0.541, 0, 0, 0, 98 [SEP] 24, Kettle, 1.135, 0.115, -0.495, 0, 180, 0, 49 [SEP] 25, Tomato, -1.962, 0.455, 1.290, 0, 270, 0, 94 [SEP] 26, Cup, 1.522, 1.653, -0.849, 0, 180, 0, 78 [SEP] 27, Spatula, 0.054, 0.926, -0.330, 0, 0, 0, 41 [SEP] 28, Apple, 0.193, 0.834, -0.762, 0, 0, 0, 98 [SEP] 29, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 79 [SEP] 30, Lettuce, 1.141, 0.992, -0.684, 0, 0, 0, 41 [SEP] 31, SaltShaker, -0.939, 0.817, -1.328, 0, 0, 0, 100 [SEP] 32, Knife, -1.056, 0.853, -1.206, 0, 270, 0, 100 [SEP] 33, Potato, 0.193, 0.800, -0.541, 0, 0, 0, 98 [SEP] 34, PepperShaker, -0.734, 0.817, -1.183, 0, 0, 0, 100 [SEP] 35, ButterKnife, -0.294, 0.911, 1.299, 0, 90, 0, 52 [SEP] 36, Bowl, -0.734, 0.818, -1.328, 0, 0, 0, 100 [SEP] 37, DishSponge, 0.888, 0.911, -0.769, 0, 0, 0, 41 [SEP] 38, Spoon, -0.091, 0.772, 1.122, 0, 0, 0, 46 [SEP] 39, Mug, 0.634, 0.906, -0.345, 0, 0, 0, 41 [SEP] 40, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 41, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 42, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 43, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 44, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 45, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 46, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 47, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 49, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 50, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 51, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 52, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 53, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 54, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 55, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 56, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 57, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 58, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 59, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 60, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 61, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 63, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 64, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 65, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 70, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 71, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 72, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 76, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 77, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 79, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 80, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 81, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 82, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 83, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 84, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 85, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 86, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 87, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 88, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 89, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 93, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 94, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 95, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 96, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 97, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 98, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 99, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 100, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 101, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 102, NorthWall, , , , , , , [SEP] 103, EastWall, , , , , , , [SEP] 104, SouthWall, , , , , , , [SEP] 105, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the yellow knife on the counter across from the fridge. | STEP 2: Pick up the yellow knife behind the bread on the counter. | STEP 3: Turn around and walk to the lettuce to the right of the coffee machine. | STEP 4: Cut up the lettuce on the counter. | STEP 5: Turn right and walk to the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn left and walk to the lettuce on the counter. | STEP 8: Pick up a piece of lettuce from the counter. | STEP 9: Turn around and walk to the sink. | STEP 10: Rinse the piece of lettuce in the sink and then pick up the piece of lettuce from the sink. | STEP 11: Walk to the table with the gray tablecloth. | STEP 12: Place the piece of lettuce on the table. | END"]} {"id": "trial_T20190909_114632_367634-0", "input": "turn on a lamp while holding the disk SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.909, -0.25, 0, 0, 0, [SEP] 1, Mug, -3.613, 0.979, -3.472, 0, 0, 0, 44 [SEP] 2, Mug, -0.596, 0.541, -3.731, 0, 0, 0, 35 [SEP] 3, CD, -3.760, 0.979, -3.271, 0, 0, 0, 44 [SEP] 4, CD, -1.066, 0.799, -4.137, 0, 0, 0, 41 [SEP] 5, CellPhone, -1.474, 0.803, -4.029, 0, 0, 0, 41 [SEP] 6, Pen, -0.453, 0.805, -4.246, 0, 0, 0, 41 [SEP] 7, Pen, -0.350, 0.036, -3.811, 0, 0, 0, 33 [SEP] 8, Pencil, -0.249, 0.807, -4.029, 0, 0, 0, 41 [SEP] 9, Pencil, -3.526, 0.229, -3.371, 0, 0, 0, 46 [SEP] 10, CreditCard, -0.862, 0.800, -4.354, 0, 0, 0, 41 [SEP] 11, Book, -3.402, 0.620, -2.080, 0, 0, 0, 26 [SEP] 12, Laptop, -3.402, 0.618, -1.793, 0, 0, 0, 26 [SEP] 13, Book, -3.613, 0.980, -3.673, 0, 0, 0, 44 [SEP] 14, CellPhone, -3.402, 0.620, -1.506, 0, 0, 0, 26 [SEP] 15, Laptop, -2.981, 0.618, -1.793, 0, 0, 0, 26 [SEP] 16, CreditCard, -3.526, 0.419, -3.092, 0, 0, 0, 52 [SEP] 17, AlarmClock, -0.657, 0.803, -4.354, 0, 0, 0, 41 [SEP] 18, KeyChain, -3.834, 0.982, -3.271, 0, 0, 0, 44 [SEP] 19, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 26 [SEP] 20, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 21, Pencil, -3.526, 0.618, -3.091, 0, 0, 0, 45 [SEP] 22, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 26 [SEP] 23, CD, -3.526, 0.418, -3.793, 0, 0, 0, 47 [SEP] 24, Pen, -0.655, 0.036, -3.811, 0, 0, 0, 33 [SEP] 25, Mug, -0.453, 0.798, -3.703, 0, 0, 0, 41 [SEP] 26, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 27, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 28, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 29, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 30, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 31, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 32, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 33, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 34, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 35, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 36, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 37, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 38, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 39, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 40, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 41, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 42, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 43, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 44, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 51, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 52, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 53, NorthWall, , , , , , , [SEP] 54, EastWall, , , , , , , [SEP] 55, SouthWall, , , , , , , [SEP] 56, WestWall, , , , , , , ", "output": ["STEP 1: move around to the cupboard | STEP 2: pick up the disk on the cupboard | STEP 3: turn around and head to the table | STEP 4: turn on the lamp on the table | END"]} {"id": "trial_T20190909_114632_367634-2", "input": "look at a disk 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, -0.75, 0.909, -0.25, 0, 0, 0, [SEP] 1, Mug, -3.613, 0.979, -3.472, 0, 0, 0, 44 [SEP] 2, Mug, -0.596, 0.541, -3.731, 0, 0, 0, 35 [SEP] 3, CD, -3.760, 0.979, -3.271, 0, 0, 0, 44 [SEP] 4, CD, -1.066, 0.799, -4.137, 0, 0, 0, 41 [SEP] 5, CellPhone, -1.474, 0.803, -4.029, 0, 0, 0, 41 [SEP] 6, Pen, -0.453, 0.805, -4.246, 0, 0, 0, 41 [SEP] 7, Pen, -0.350, 0.036, -3.811, 0, 0, 0, 33 [SEP] 8, Pencil, -0.249, 0.807, -4.029, 0, 0, 0, 41 [SEP] 9, Pencil, -3.526, 0.229, -3.371, 0, 0, 0, 46 [SEP] 10, CreditCard, -0.862, 0.800, -4.354, 0, 0, 0, 41 [SEP] 11, Book, -3.402, 0.620, -2.080, 0, 0, 0, 26 [SEP] 12, Laptop, -3.402, 0.618, -1.793, 0, 0, 0, 26 [SEP] 13, Book, -3.613, 0.980, -3.673, 0, 0, 0, 44 [SEP] 14, CellPhone, -3.402, 0.620, -1.506, 0, 0, 0, 26 [SEP] 15, Laptop, -2.981, 0.618, -1.793, 0, 0, 0, 26 [SEP] 16, CreditCard, -3.526, 0.419, -3.092, 0, 0, 0, 52 [SEP] 17, AlarmClock, -0.657, 0.803, -4.354, 0, 0, 0, 41 [SEP] 18, KeyChain, -3.834, 0.982, -3.271, 0, 0, 0, 44 [SEP] 19, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 26 [SEP] 20, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 21, Pencil, -3.526, 0.618, -3.091, 0, 0, 0, 45 [SEP] 22, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 26 [SEP] 23, CD, -3.526, 0.418, -3.793, 0, 0, 0, 47 [SEP] 24, Pen, -0.655, 0.036, -3.811, 0, 0, 0, 33 [SEP] 25, Mug, -0.453, 0.798, -3.703, 0, 0, 0, 41 [SEP] 26, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 27, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 28, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 29, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 30, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 31, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 32, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 33, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 34, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 35, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 36, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 37, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 38, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 39, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 40, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 41, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 42, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 43, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 44, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 51, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 52, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 53, NorthWall, , , , , , , [SEP] 54, EastWall, , , , , , , [SEP] 55, SouthWall, , , , , , , [SEP] 56, WestWall, , , , , , , ", "output": ["STEP 1: go to the dresser | STEP 2: pick up the disk from the dresser | STEP 3: take the disk to the lamp | STEP 4: turn on the lamp | END"]} {"id": "trial_T20190906_190752_727429-1", "input": "Grab the plate on the end table, 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, -5.0, 0.901, 1.5, 0, 180, 0, [SEP] 1, Bowl, -0.687, 0.795, 6.357, 0, 270, 0, 43 [SEP] 2, Bowl, -2.811, 0.535, 3.981, 0, 0, 0, 59 [SEP] 3, Newspaper, -0.947, 0.440, 3.306, 0, 0, 0, 42 [SEP] 4, Newspaper, -6.010, 0.532, 6.607, 0, 135, 0, 60 [SEP] 5, Watch, -5.960, 0.453, 4.547, 0, 0, 0, 54 [SEP] 6, Watch, -2.352, 0.533, 4.335, 0, 270, 0, 59 [SEP] 7, CreditCard, -0.947, 0.435, 3.611, 0, 0, 0, 42 [SEP] 8, RemoteControl, -5.950, 0.149, 4.745, 0, 0, 0, 49 [SEP] 9, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 53 [SEP] 10, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 58 [SEP] 11, Vase, -3.462, 0.453, 7.145, 0, 90, 0, 51 [SEP] 12, Vase, -2.422, 0.542, 3.607, 0, 270, 0, 59 [SEP] 13, Newspaper, -5.670, 0.532, 6.494, 0, 135, 0, 60 [SEP] 14, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 59 [SEP] 15, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 16, Vase, -3.462, 0.880, 7.139, 0, 90, 0, 50 [SEP] 17, CreditCard, -0.636, 0.793, 1.626, 0, 270, 0, 44 [SEP] 18, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 56 [SEP] 19, KeyChain, -3.067, 0.453, 7.221, 0, 90, 0, 51 [SEP] 20, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 54 [SEP] 21, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 54 [SEP] 22, Bowl, -2.474, 0.454, 7.221, 0, 90, 0, 51 [SEP] 23, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 42 [SEP] 24, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 56 [SEP] 25, RemoteControl, -5.274, 0.536, 6.665, 0, 45, 0, 60 [SEP] 26, Watch, -0.738, 0.793, 2.252, 0, 270, 0, 44 [SEP] 27, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 58 [SEP] 28, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 56 [SEP] 29, Statue, -2.172, 0.543, 4.106, 0, 90, 0, 59 [SEP] 30, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 58 [SEP] 31, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 32, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 33, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 34, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 35, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 36, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 37, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 38, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 39, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 40, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 41, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 42, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 43, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 44, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 45, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 46, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 47, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 48, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 49, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 50, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 51, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 52, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 53, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 54, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 55, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 56, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 57, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 58, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 59, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 60, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around, walk to the end, turn right, walk to the corner by the end table | STEP 2: Grab the grey plate on the end table | STEP 3: Turn right and turn left, facing the lamp on the end table | STEP 4: Turn on the lamp | END"]} {"id": "trial_T20190906_190752_727429-2", "input": "Examine the bowl 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, -5.0, 0.901, 1.5, 0, 180, 0, [SEP] 1, Bowl, -0.687, 0.795, 6.357, 0, 270, 0, 43 [SEP] 2, Bowl, -2.811, 0.535, 3.981, 0, 0, 0, 59 [SEP] 3, Newspaper, -0.947, 0.440, 3.306, 0, 0, 0, 42 [SEP] 4, Newspaper, -6.010, 0.532, 6.607, 0, 135, 0, 60 [SEP] 5, Watch, -5.960, 0.453, 4.547, 0, 0, 0, 54 [SEP] 6, Watch, -2.352, 0.533, 4.335, 0, 270, 0, 59 [SEP] 7, CreditCard, -0.947, 0.435, 3.611, 0, 0, 0, 42 [SEP] 8, RemoteControl, -5.950, 0.149, 4.745, 0, 0, 0, 49 [SEP] 9, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 53 [SEP] 10, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 58 [SEP] 11, Vase, -3.462, 0.453, 7.145, 0, 90, 0, 51 [SEP] 12, Vase, -2.422, 0.542, 3.607, 0, 270, 0, 59 [SEP] 13, Newspaper, -5.670, 0.532, 6.494, 0, 135, 0, 60 [SEP] 14, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 59 [SEP] 15, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 16, Vase, -3.462, 0.880, 7.139, 0, 90, 0, 50 [SEP] 17, CreditCard, -0.636, 0.793, 1.626, 0, 270, 0, 44 [SEP] 18, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 56 [SEP] 19, KeyChain, -3.067, 0.453, 7.221, 0, 90, 0, 51 [SEP] 20, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 54 [SEP] 21, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 54 [SEP] 22, Bowl, -2.474, 0.454, 7.221, 0, 90, 0, 51 [SEP] 23, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 42 [SEP] 24, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 56 [SEP] 25, RemoteControl, -5.274, 0.536, 6.665, 0, 45, 0, 60 [SEP] 26, Watch, -0.738, 0.793, 2.252, 0, 270, 0, 44 [SEP] 27, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 58 [SEP] 28, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 56 [SEP] 29, Statue, -2.172, 0.543, 4.106, 0, 90, 0, 59 [SEP] 30, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 58 [SEP] 31, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 32, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 33, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 34, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 35, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 36, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 37, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 38, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 39, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 40, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 41, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 42, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 43, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 44, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 45, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 46, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 47, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 48, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 49, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 50, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 51, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 52, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 53, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 54, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 55, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 56, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 57, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 58, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 59, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 60, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and walk across the room to the side table by the sofa | STEP 2: Pick up the grey bowl from the table | STEP 3: Face toward the lamp on the same side table | STEP 4: Turn on the lamp | END"]} {"id": "trial_T20190908_191442_574931-0", "input": "Put a washed bar of soap in the cupboard 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, -0.5, 0.901, 1.75, 0, 0, 0, [SEP] 1, Cloth, -1.439, 0.067, 2.391, 0, 0, 0, 23 [SEP] 2, SoapBar, -1.322, 0.068, 3.743, 0, 0, 0, 29 [SEP] 3, Candle, -1.322, 0.068, 3.894, 0, 0, 0, 29 [SEP] 4, Candle, -1.561, 0.068, 2.706, 0, 0, 0, 21 [SEP] 5, SprayBottle, 0.258, 0.048, 3.838, 0, 0, 0, 31 [SEP] 6, SoapBottle, -1.382, 0.068, 3.642, 0, 0, 0, 29 [SEP] 7, SoapBottle, -1.219, 0.993, 2.863, 0, 0, 0, 28 [SEP] 8, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 30 [SEP] 9, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 32 [SEP] 10, SoapBar, -1.382, 0.068, 2.857, 0, 0, 0, 21 [SEP] 11, ToiletPaper, -1.416, 0.991, 2.239, 0, 0, 0, 28 [SEP] 12, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 13, Candle, -1.382, 0.068, 2.757, 0, 0, 0, 21 [SEP] 14, TissueBox, -1.416, 0.994, 2.982, 0, 0, 0, 28 [SEP] 15, SoapBottle, -1.284, 0.993, 2.269, 0, 0, 0, 28 [SEP] 16, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 36 [SEP] 17, SprayBottle, -1.620, 0.068, 3.377, 0, 0, 0, 27 [SEP] 18, Cloth, -1.501, 0.068, 3.693, 0, 0, 0, 29 [SEP] 19, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 20, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 21, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 22, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 23, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 24, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 25, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 26, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 27, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 28, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 29, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 30, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 31, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 32, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 33, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 34, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 35, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 36, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 37, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 38, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 39, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 40, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 41, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 42, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, WestWall, , , , , , , ", "output": ["STEP 1: Head to the wall then turn left and go to the sink | STEP 2: Get the bar of soap from the cupboard on the right under the sink | STEP 3: Get closer to the sink | STEP 4: Put the bar of soap in the sink and turn on the water, then turn off the water and pick up the soap | STEP 5: Turn around and go to the wall, then turn back around facing the sink | STEP 6: Put the soap in the cupboard on the right under the sink | END"]} {"id": "trial_T20190908_191442_574931-2", "input": "Place a rinsed 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, -0.5, 0.901, 1.75, 0, 0, 0, [SEP] 1, Cloth, -1.439, 0.067, 2.391, 0, 0, 0, 23 [SEP] 2, SoapBar, -1.322, 0.068, 3.743, 0, 0, 0, 29 [SEP] 3, Candle, -1.322, 0.068, 3.894, 0, 0, 0, 29 [SEP] 4, Candle, -1.561, 0.068, 2.706, 0, 0, 0, 21 [SEP] 5, SprayBottle, 0.258, 0.048, 3.838, 0, 0, 0, 31 [SEP] 6, SoapBottle, -1.382, 0.068, 3.642, 0, 0, 0, 29 [SEP] 7, SoapBottle, -1.219, 0.993, 2.863, 0, 0, 0, 28 [SEP] 8, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 30 [SEP] 9, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 32 [SEP] 10, SoapBar, -1.382, 0.068, 2.857, 0, 0, 0, 21 [SEP] 11, ToiletPaper, -1.416, 0.991, 2.239, 0, 0, 0, 28 [SEP] 12, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 13, Candle, -1.382, 0.068, 2.757, 0, 0, 0, 21 [SEP] 14, TissueBox, -1.416, 0.994, 2.982, 0, 0, 0, 28 [SEP] 15, SoapBottle, -1.284, 0.993, 2.269, 0, 0, 0, 28 [SEP] 16, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 36 [SEP] 17, SprayBottle, -1.620, 0.068, 3.377, 0, 0, 0, 27 [SEP] 18, Cloth, -1.501, 0.068, 3.693, 0, 0, 0, 29 [SEP] 19, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 20, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 21, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 22, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 23, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 24, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 25, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 26, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 27, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 28, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 29, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 30, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 31, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 32, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 33, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 34, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 35, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 36, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 37, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 38, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 39, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 40, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 41, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 42, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, WestWall, , , , , , , ", "output": ["STEP 1: Walk ahead to the wall, then turn left to the right sink. | STEP 2: Take the soap out of the bottom right cabinet. | STEP 3: Look up at the sink. | STEP 4: Wash the soap in the sink. | STEP 5: Look down at the cabinets. | STEP 6: Place the soap in the right bottom cabinet in front of the blue bottle. | END"]} {"id": "trial_T20190908_114400_475494-2", "input": "To move two bars of soap to the center of the tub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.903, 0.5, 0, 0, 0, [SEP] 1, TissueBox, -2.080, 1.047, -0.674, 0, 0, 0, 38 [SEP] 2, TissueBox, -0.980, 1.773, 2.127, 0, 0, 0, 31 [SEP] 3, Cloth, 0.124, 0.048, 0.156, 0, 0, 0, 32 [SEP] 4, SoapBar, -0.181, 0.609, 1.589, 0, 45, 0, 25 [SEP] 5, SoapBar, -2.343, 1.046, -0.766, 0, 0, 0, 38 [SEP] 6, SoapBar, -0.304, 0.609, 0.039, 0, 0, 0, 25 [SEP] 7, Candle, -0.817, 1.814, 2.067, 0, 0, 0, 33 [SEP] 8, SprayBottle, -2.212, 1.048, -0.674, 0, 0, 0, 38 [SEP] 9, SprayBottle, -0.980, 1.071, 2.067, 0, 0, 0, 33 [SEP] 10, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 35 [SEP] 11, ToiletPaper, -1.308, 1.066, 2.217, 0, 0, 0, 33 [SEP] 12, Candle, -2.343, 1.088, -0.827, 0, 0, 0, 38 [SEP] 13, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 34 [SEP] 14, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 15, SoapBar, -0.653, 1.069, 2.127, 0, 0, 0, 33 [SEP] 16, ToiletPaper, -0.187, 0.606, -0.466, 0, 315, 0, 25 [SEP] 17, SoapBottle, -1.666, 0.083, -0.549, 0, 270, 0, 26 [SEP] 18, TissueBox, -1.144, 0.289, 2.157, 0, 0, 0, 29 [SEP] 19, Cloth, -1.308, 1.777, 2.157, 0, 0, 0, 31 [SEP] 20, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 28 [SEP] 21, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 27 [SEP] 22, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 23, SprayBottle, -2.080, 1.048, -0.797, 0, 0, 0, 38 [SEP] 24, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 25, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 26, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 27, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 28, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 29, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 30, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 31, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 32, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 33, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 34, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 35, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 36, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 37, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 38, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 39, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 40, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 41, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 42, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk across the room to face the tub. | STEP 2: Pick up the bar of soap in the tub. | STEP 3: Take a step to the left and look down to face the left end of the tub. | STEP 4: Place the bar of soap to the left of where it was originally. | STEP 5: Turn left and walk forward to face the soap on the top shelf. | STEP 6: Pick up the soap on the top shelf. | STEP 7: Turn to the right to face the tub. | STEP 8: Place the bar of soap beside the first bar of soap. | END"]} {"id": "trial_T20190908_020409_994514-2", "input": "Place a pot filled with water on the stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -0.75, 0, 180, 0, [SEP] 1, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 45 [SEP] 2, Potato, 2.962, 1.053, -0.709, 0, 0, 0, 97 [SEP] 3, Fork, 1.558, 0.771, 1.198, 0, 270, 0, 60 [SEP] 4, Spatula, -0.043, 0.926, -0.330, 0, 0, 0, 42 [SEP] 5, Spatula, -0.055, 0.926, 1.129, 0, 90, 0, 53 [SEP] 6, Plate, 2.754, 0.914, 1.468, 0, 0, 0, 77 [SEP] 7, Cup, 0.363, 1.782, 1.423, 0, 180, 0, 100 [SEP] 8, Cup, 2.715, 1.561, -0.775, 0, 0, 0, 97 [SEP] 9, Egg, 2.591, 0.764, -0.565, 0, 0, 0, 97 [SEP] 10, Knife, 1.422, 0.944, 1.214, 0, 90, 0, 77 [SEP] 11, Knife, -0.911, 0.853, -1.206, 0, 270, 0, 101 [SEP] 12, Tomato, 2.777, 0.756, -0.565, 0, 0, 0, 97 [SEP] 13, Tomato, 2.900, 0.758, -0.442, 0, 0, 0, 97 [SEP] 14, Bowl, 2.715, 1.286, -0.578, 0, 0, 0, 97 [SEP] 15, Bowl, -0.983, 0.818, -1.360, 0, 90, 0, 101 [SEP] 16, SaltShaker, 1.797, 0.110, -0.495, 0, 180, 0, 88 [SEP] 17, Mug, -0.164, 1.649, 1.470, 0, 0, 0, 100 [SEP] 18, Apple, 1.155, 0.980, 1.299, 0, 0, 0, 77 [SEP] 19, SoapBottle, 1.561, 1.660, 1.508, 0, 0, 0, 65 [SEP] 20, Plate, 1.955, 0.914, 1.383, 0, 0, 0, 77 [SEP] 21, Fork, 0.634, 0.912, -0.430, 0, 0, 0, 42 [SEP] 22, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 57 [SEP] 23, Bread, 1.688, 0.969, 1.214, 0, 0, 0, 77 [SEP] 24, Egg, 0.466, 1.822, 1.423, 0, 180, 0, 100 [SEP] 25, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 48 [SEP] 26, Tomato, -1.962, 0.455, 1.290, 0, 270, 0, 95 [SEP] 27, Cup, 0.750, 1.653, -0.693, 0, 180, 0, 52 [SEP] 28, Spatula, -0.836, 0.835, -1.255, 0, 270, 0, 101 [SEP] 29, Apple, -0.151, 0.980, 1.129, 0, 0, 0, 53 [SEP] 30, Pan, 2.221, 0.911, 1.129, 0, 0, 0, 77 [SEP] 31, Lettuce, 1.155, 0.992, 1.468, 0, 0, 0, 77 [SEP] 32, SaltShaker, -0.766, 0.817, -1.360, 0, 90, 0, 101 [SEP] 33, Knife, -0.103, 0.944, 1.468, 0, 0, 0, 53 [SEP] 34, Potato, 0.570, 1.819, 1.455, 0, 180, 0, 100 [SEP] 35, PepperShaker, -0.682, 0.817, -1.183, 0, 0, 0, 101 [SEP] 36, ButterKnife, 0.888, 0.911, -0.6, 0, 0, 0, 42 [SEP] 37, Bowl, 2.488, 0.909, 1.129, 0, 0, 0, 77 [SEP] 38, DishSponge, -1.991, 0.423, 1.459, 0, 270, 0, 95 [SEP] 39, Spoon, 2.156, 0.912, -0.6, 0, 0, 0, 42 [SEP] 40, Mug, 2.754, 0.906, 1.129, 0, 0, 0, 77 [SEP] 41, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 42, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 43, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 44, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 45, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 46, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 47, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 48, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 50, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 51, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 52, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 53, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 54, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 55, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 56, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 57, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 58, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 59, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 60, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 61, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 62, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 64, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 65, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 71, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 72, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 73, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 77, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 78, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 80, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 81, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 82, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 83, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 84, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 85, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 86, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 87, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 88, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 89, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 94, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 95, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 96, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 97, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 98, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 99, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 100, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 101, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 102, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the oven. | STEP 2: Pick up the pot from the oven. | STEP 3: Turn around and walk to the sink. | STEP 4: Place the pot in the sink and turn the faucet on and off before removing the water-filled pot. | STEP 5: Turn around and walk to the oven. | STEP 6: Place the pot on the stove | END"]} {"id": "trial_T20190910_141106_541538-2", "input": "Put the two spray bottle on the toilet tank SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.903, 1.75, 0, 180, 0, [SEP] 1, TissueBox, -1.635, 0.289, 2.127, 0, 0, 0, 26 [SEP] 2, Cloth, 0.289, 0.048, 0.839, 0, 0, 0, 29 [SEP] 3, SoapBar, -0.334, 0.609, 0.039, 0, 0, 0, 22 [SEP] 4, Candle, -2.343, 1.088, -0.644, 0, 0, 0, 35 [SEP] 5, SprayBottle, -1.471, 1.071, 2.097, 0, 0, 0, 30 [SEP] 6, SoapBottle, -0.980, 1.775, 2.217, 0, 0, 0, 28 [SEP] 7, SoapBottle, -2.212, 1.049, -0.705, 0, 0, 0, 35 [SEP] 8, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 31 [SEP] 9, Candle, -1.308, 1.111, 2.157, 0, 0, 0, 30 [SEP] 10, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 32 [SEP] 11, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 12, SoapBar, -0.653, 1.069, 2.187, 0, 0, 0, 30 [SEP] 13, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 25 [SEP] 14, SoapBottle, -1.666, 0.083, -0.690, 0, 270, 0, 33 [SEP] 15, TissueBox, -0.817, 1.070, 2.127, 0, 0, 0, 30 [SEP] 16, Cloth, -2.015, 1.052, -0.766, 0, 0, 0, 35 [SEP] 17, ToiletPaper, -1.144, 1.066, 2.157, 0, 0, 0, 30 [SEP] 18, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 24 [SEP] 19, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 20, SprayBottle, -1.308, 0.289, 2.067, 0, 0, 0, 26 [SEP] 21, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 22, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 23, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 24, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 25, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 26, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 27, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 28, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 29, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 30, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 31, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 32, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 33, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 34, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 35, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 36, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 37, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 38, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 39, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your right then face the top shelf rack | STEP 2: Pick up the spray bottle on the shelf rack | STEP 3: Turn left then head to the right side of the toilet | STEP 4: Put the spray bottle on the tank | STEP 5: Turn left then head back to the shelf | STEP 6: Pick up the spray bottle on the bottom shelf | STEP 7: Turn left then head back to the right side of the toilet | STEP 8: Put the spray bottle beside the other spray bottle on the tank | END"]} {"id": "trial_T20190908_075642_169313-1", "input": "grab the credit card on the end table, turn on the floor lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.25, 0.901, 5.75, 0, 180, 0, [SEP] 1, Bowl, -2.869, 1.281, 7.045, 0, 90, 0, 56 [SEP] 2, Watch, -0.433, 0.793, 1.626, 0, 270, 0, 42 [SEP] 3, KeyChain, -0.789, 0.367, 3.002, 0, 0, 0, 40 [SEP] 4, CreditCard, -3.557, 1.279, 6.981, 0, 90, 0, 56 [SEP] 5, CreditCard, -2.474, 0.452, 7.183, 0, 90, 0, 49 [SEP] 6, Box, -0.868, 0.603, 3.306, 0, 0, 0, 40 [SEP] 7, Box, -3.328, 1.443, 7.171, 0, 90, 0, 56 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -5.405, 0.534, 6.684, 0, 45, 0, 58 [SEP] 10, Vase, -2.352, 0.542, 4.480, 0, 270, 0, 57 [SEP] 11, Newspaper, -0.484, 0.792, 2.252, 0, 270, 0, 42 [SEP] 12, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 57 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 14, Vase, -0.535, 0.794, 5.600, 0, 270, 0, 41 [SEP] 15, CreditCard, -0.845, 0.793, 1.900, 0, 0, 0, 42 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -2.277, 0.880, 7.139, 0, 90, 0, 49 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -2.492, 0.535, 3.607, 0, 270, 0, 57 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -0.710, 0.369, 3.306, 0, 0, 0, 40 [SEP] 24, Watch, -0.535, 0.793, 5.726, 0, 270, 0, 41 [SEP] 25, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 56 [SEP] 26, Statue, -5.998, 0.454, 4.942, 0, 90, 0, 52 [SEP] 27, Statue, -5.950, 0.156, 4.349, 0, 0, 0, 47 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 59, NorthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , ", "output": ["STEP 1: walk straight to the chair, turn left, walk to the end table | STEP 2: grab the credit card on the table | STEP 3: turn right, walk behind the chairs to the floor lamp | STEP 4: turn on the floor lamp | END"]} {"id": "trial_T20190908_151002_619060-1", "input": "Move a bar of clean soap to 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, 0.901, 2.25, 0, 180, 0, [SEP] 1, Cloth, -1.441, 0.068, 2.807, 0, 0, 0, 19 [SEP] 2, Candle, -1.560, 0.067, 3.226, 0, 0, 0, 25 [SEP] 3, SprayBottle, -1.319, 0.068, 2.290, 0, 0, 0, 21 [SEP] 4, SprayBottle, -1.319, 0.068, 3.226, 0, 0, 0, 25 [SEP] 5, ToiletPaper, -1.561, 0.065, 2.857, 0, 0, 0, 19 [SEP] 6, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 28 [SEP] 7, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 30 [SEP] 8, SoapBar, -1.284, 0.994, 2.148, 0, 0, 0, 26 [SEP] 9, ToiletPaper, -1.441, 0.065, 3.693, 0, 0, 0, 27 [SEP] 10, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 11, Candle, -1.259, 0.067, 3.427, 0, 0, 0, 25 [SEP] 12, TissueBox, -1.481, 0.994, 2.982, 0, 0, 0, 26 [SEP] 13, SoapBottle, -1.547, 0.993, 3.933, 0, 0, 0, 26 [SEP] 14, ToiletPaper, -1.219, 0.991, 2.923, 0, 0, 0, 26 [SEP] 15, SprayBottle, -1.439, 0.068, 2.240, 0, 0, 0, 21 [SEP] 16, Cloth, -1.500, 0.067, 2.391, 0, 0, 0, 21 [SEP] 17, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 18, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 19, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 20, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 21, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 22, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 23, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 24, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 25, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 26, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 27, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 28, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 29, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 30, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 31, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 32, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 33, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 34, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 35, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 36, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 37, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 38, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 39, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 40, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, walk to the counter, turn left, then turn right again to face the side of the countertop. | STEP 2: Pick up the bar of soap that is on the bathroom counter. | STEP 3: Turn right, walk a step or two, turn left, walk to the end of the counter, then face the bathroom counter. | STEP 4: Rinse off the soap in the sink. | STEP 5: Move away from the bathroom counter. | STEP 6: Place the bar of soap in the right hand cabinet under the right bathroom sink. | END"]} {"id": "trial_T20190908_151002_619060-2", "input": "Place a rinsed 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, -0.25, 0.901, 2.25, 0, 180, 0, [SEP] 1, Cloth, -1.441, 0.068, 2.807, 0, 0, 0, 19 [SEP] 2, Candle, -1.560, 0.067, 3.226, 0, 0, 0, 25 [SEP] 3, SprayBottle, -1.319, 0.068, 2.290, 0, 0, 0, 21 [SEP] 4, SprayBottle, -1.319, 0.068, 3.226, 0, 0, 0, 25 [SEP] 5, ToiletPaper, -1.561, 0.065, 2.857, 0, 0, 0, 19 [SEP] 6, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 28 [SEP] 7, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 30 [SEP] 8, SoapBar, -1.284, 0.994, 2.148, 0, 0, 0, 26 [SEP] 9, ToiletPaper, -1.441, 0.065, 3.693, 0, 0, 0, 27 [SEP] 10, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 11, Candle, -1.259, 0.067, 3.427, 0, 0, 0, 25 [SEP] 12, TissueBox, -1.481, 0.994, 2.982, 0, 0, 0, 26 [SEP] 13, SoapBottle, -1.547, 0.993, 3.933, 0, 0, 0, 26 [SEP] 14, ToiletPaper, -1.219, 0.991, 2.923, 0, 0, 0, 26 [SEP] 15, SprayBottle, -1.439, 0.068, 2.240, 0, 0, 0, 21 [SEP] 16, Cloth, -1.500, 0.067, 2.391, 0, 0, 0, 21 [SEP] 17, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 18, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 19, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 20, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 21, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 22, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 23, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 24, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 25, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 26, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 27, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 28, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 29, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 30, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 31, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 32, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 33, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 34, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 35, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 36, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 37, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 38, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 39, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 40, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the left side of the vanity with the sink. | STEP 2: Pick up the bar of soap from the corner of the vanity counter. | STEP 3: Turn right, hang a left at the toilet and walk to the right sink of the vanity. | STEP 4: Put the bar of soap inside the sink, rinse it and pick it back up. | STEP 5: Turn around, walk to the wall and turn around to face the cabinets under the vanity. | STEP 6: Open the lower right cabinet under the vanity, put the bar of soap inside and close the door. | END"]} {"id": "trial_T20190909_075611_325782-0", "input": "Put a box of tissues on the lid of the toilet tank. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.903, -0.25, 0, 180, 0, [SEP] 1, TissueBox, -1.308, 1.070, 2.097, 0, 0, 0, 26 [SEP] 2, Cloth, -1.144, 1.074, 2.127, 0, 0, 0, 26 [SEP] 3, SoapBar, -1.144, 1.772, 2.097, 0, 0, 0, 24 [SEP] 4, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 28 [SEP] 5, Candle, -0.276, 0.650, 1.724, 0, 45, 0, 18 [SEP] 6, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 27 [SEP] 7, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 8, SoapBar, -1.686, 0.081, -0.549, 0, 270, 0, 23 [SEP] 9, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 21 [SEP] 10, SoapBottle, -1.707, 0.083, -0.655, 0, 270, 0, 29 [SEP] 11, TissueBox, -1.471, 1.070, 2.097, 0, 0, 0, 26 [SEP] 12, Cloth, 0.453, 0.048, 1.067, 0, 0, 0, 25 [SEP] 13, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 21 [SEP] 14, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 20 [SEP] 15, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 16, SprayBottle, -1.144, 0.289, 2.067, 0, 0, 0, 22 [SEP] 17, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 18, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 19, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 20, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 21, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 22, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 23, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 24, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 25, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 26, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 27, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 28, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 29, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 30, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 31, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 32, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 33, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 34, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 35, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 36, NorthWall, , , , , , , [SEP] 37, EastWall, , , , , , , [SEP] 38, SouthWall, , , , , , , [SEP] 39, WestWall, , , , , , , ", "output": ["STEP 1: Make a left to walk to the wall across from the toilet. | STEP 2: Pick up the box of tissues on the right. | STEP 3: Turn around to walk towards the toilet. | STEP 4: Put the box of tissues down on the lid of the toilet tank. | END"]} {"id": "trial_T20190909_075611_325782-1", "input": "Put a box of tissue on the back of the toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.903, -0.25, 0, 180, 0, [SEP] 1, TissueBox, -1.308, 1.070, 2.097, 0, 0, 0, 26 [SEP] 2, Cloth, -1.144, 1.074, 2.127, 0, 0, 0, 26 [SEP] 3, SoapBar, -1.144, 1.772, 2.097, 0, 0, 0, 24 [SEP] 4, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 28 [SEP] 5, Candle, -0.276, 0.650, 1.724, 0, 45, 0, 18 [SEP] 6, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 27 [SEP] 7, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 8, SoapBar, -1.686, 0.081, -0.549, 0, 270, 0, 23 [SEP] 9, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 21 [SEP] 10, SoapBottle, -1.707, 0.083, -0.655, 0, 270, 0, 29 [SEP] 11, TissueBox, -1.471, 1.070, 2.097, 0, 0, 0, 26 [SEP] 12, Cloth, 0.453, 0.048, 1.067, 0, 0, 0, 25 [SEP] 13, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 21 [SEP] 14, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 20 [SEP] 15, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 16, SprayBottle, -1.144, 0.289, 2.067, 0, 0, 0, 22 [SEP] 17, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 18, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 19, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 20, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 21, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 22, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 23, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 24, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 25, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 26, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 27, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 28, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 29, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 30, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 31, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 32, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 33, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 34, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 35, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 36, NorthWall, , , , , , , [SEP] 37, EastWall, , , , , , , [SEP] 38, SouthWall, , , , , , , [SEP] 39, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the shelf's on the wall, to the left of the bath tub, across the room. | STEP 2: Pick up the box of tissue on the right. | STEP 3: Turn around and go to the toilet across the room, in the right corner. | STEP 4: Place the box of tissue on the back, right side of the toilet. | END"]} {"id": "trial_T20190907_004154_930879-1", "input": "Put the heated tomato 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, -1.25, 0.931, 0.5, 0, 180, 0, [SEP] 1, DishSponge, -0.260, 1.046, -1.720, 0, 0, 0, 44 [SEP] 2, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 47 [SEP] 3, Fork, 0.740, 1.047, -1.828, 0, 90, 0, 44 [SEP] 4, Spoon, 0.160, 1.044, 0.307, 0, 0, 0, 46 [SEP] 5, Spoon, 1.701, 1.044, 0.091, 0, 0, 0, 46 [SEP] 6, Egg, 0.848, 1.108, 0.131, 0, 90, 0, 42 [SEP] 7, Cup, 1.435, 1.020, -1.630, 0, 0, 0, 50 [SEP] 8, Plate, 0.885, 1.577, -1.764, 0, 0, 0, 48 [SEP] 9, Plate, -1.300, 1.241, 1.885, 0, 90, 0, 59 [SEP] 10, Knife, 0.379, 1.072, -1.118, 0, 0, 0, 44 [SEP] 11, SoapBottle, 1.015, 1.044, 0.720, 0, 0, 0, 46 [SEP] 12, Bowl, 1.112, 1.563, -1.689, 0, 0, 0, 48 [SEP] 13, SaltShaker, -1.261, 0.197, -1.338, 0, 0, 0, 52 [SEP] 14, PepperShaker, -0.323, 1.560, -1.545, 0, 0, 0, 49 [SEP] 15, PepperShaker, -0.775, 1.041, -1.505, 0, 0, 0, 44 [SEP] 16, Lettuce, 0.065, 1.103, 0.522, 0, 0, 0, 46 [SEP] 17, Apple, -1.194, 1.759, -1.269, 0, 0, 0, 58 [SEP] 18, SoapBottle, -1.416, 0.203, -1.555, 0, 0, 0, 52 [SEP] 19, Apple, 0.892, 1.098, 0.281, 0, 90, 0, 42 [SEP] 20, Potato, 0.282, 1.085, 0.120, 0, 0, 0, 46 [SEP] 21, Fork, 1.879, 1.043, 0.091, 0, 0, 0, 46 [SEP] 22, Kettle, -0.699, 1.566, -1.693, 0, 0, 0, 49 [SEP] 23, Pan, -0.401, 0.203, -1.337, 0, 0, 0, 53 [SEP] 24, Tomato, -0.346, 1.097, -1.505, 0, 0, 0, 44 [SEP] 25, SaltShaker, -0.432, 1.041, -1.181, 0, 0, 0, 44 [SEP] 26, Egg, 0.446, 1.097, 0.307, 0, 0, 0, 46 [SEP] 27, Cup, -1.027, 0.202, -1.555, 0, 0, 0, 52 [SEP] 28, Spatula, 0.805, 1.068, 0.131, 0, 90, 0, 42 [SEP] 29, Knife, 0.877, 1.042, -1.362, 90, 315, 0, 44 [SEP] 30, Lettuce, -1.095, 1.023, 1.974, 0, 90, 0, 59 [SEP] 31, ButterKnife, -0.432, 1.046, -1.397, 0, 0, 0, 44 [SEP] 32, PepperShaker, 1.181, 1.038, 0.545, 0, 0, 0, 46 [SEP] 33, DishSponge, 0.065, 1.042, 0.199, 0, 0, 0, 46 [SEP] 34, Plate, 1.743, 1.032, -1.337, 0, 0, 0, 50 [SEP] 35, Bread, -0.603, 1.120, -1.289, 0, 0, 0, 44 [SEP] 36, Spoon, 0.980, 1.054, 0.231, 0, 270, 0, 42 [SEP] 37, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 40 [SEP] 38, Mug, -1.095, 0.959, 2.331, 0, 90, 0, 59 [SEP] 39, Bowl, 1.817, 0.203, -1.408, 0, 0, 0, 54 [SEP] 40, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 41, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 42, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 43, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 44, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 45, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 46, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 47, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 48, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 49, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 50, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 51, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 52, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 53, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 54, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 55, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 56, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 57, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 58, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 59, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 60, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 61, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 62, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 63, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 64, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 65, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 66, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 68, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 69, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 70, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 71, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 72, NorthWall, , , , , , , [SEP] 73, EastWall, , , , , , , [SEP] 74, SouthWall, , , , , , , [SEP] 75, WestWall, , , , , , , ", "output": ["STEP 1: Move to the counter right of the stove. | STEP 2: Pick up the tomato from the counter. | STEP 3: Bring the tomato to the microwave. | STEP 4: Heat the tomato in the microwave. | STEP 5: Bring the tomato to the counter right of the stove. | STEP 6: Put the tomato on the counter right of the stove. | END"]} {"id": "trial_T20190919_014308_279954-1", "input": "Put a slice of washed 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, -1.25, 0.931, 0.75, 0, 0, 0, [SEP] 1, ButterKnife, 1.514, 1.043, 0.545, 0, 0, 0, 49 [SEP] 2, Spoon, 0.065, 1.044, 0.630, 0, 0, 0, 49 [SEP] 3, Spoon, -0.346, 1.048, -1.289, 0, 90, 0, 47 [SEP] 4, Spatula, -0.038, 1.061, -1.118, 0, 0, 0, 47 [SEP] 5, Spatula, -0.432, 1.061, -1.397, 0, 0, 0, 47 [SEP] 6, Egg, -1.011, 0.762, 2.153, 0, 90, 0, 62 [SEP] 7, Cup, 1.068, 0.200, -1.267, 0, 0, 0, 58 [SEP] 8, Cup, -1.235, 1.228, 2.242, 0, 90, 0, 62 [SEP] 9, Plate, 1.817, 0.217, -1.480, 0, 0, 0, 57 [SEP] 10, Knife, -0.603, 1.072, -1.397, 0, 90, 0, 47 [SEP] 11, Tomato, -0.775, 1.097, -1.397, 0, 0, 0, 47 [SEP] 12, Tomato, -1.276, 1.764, 1.796, 0, 90, 0, 62 [SEP] 13, SoapBottle, -0.689, 1.047, -1.289, 0, 0, 0, 47 [SEP] 14, SoapBottle, 1.589, 1.020, -1.191, 0, 90, 0, 53 [SEP] 15, Bowl, 0.160, 1.042, 0.738, 0, 0, 0, 49 [SEP] 16, Bowl, -1.386, 1.712, 2.063, 0, 90, 0, 62 [SEP] 17, SaltShaker, 1.743, 1.014, -1.337, 0, 0, 0, 53 [SEP] 18, PepperShaker, -0.580, 0.198, -1.409, 0, 0, 0, 56 [SEP] 19, Mug, -1.184, 2.023, -1.627, 0, 0, 0, 54 [SEP] 20, Apple, -1.095, 1.007, 2.153, 0, 90, 0, 62 [SEP] 21, SoapBottle, 0.979, 0.200, -1.628, 0, 0, 0, 58 [SEP] 22, Apple, -1.096, 1.759, -1.300, 0, 0, 0, 61 [SEP] 23, Potato, -1.268, 2.001, 2.242, 0, 90, 0, 62 [SEP] 24, Fork, 0.906, 1.047, -1.612, 0, 0, 0, 47 [SEP] 25, Kettle, 1.036, 1.566, -1.614, 0, 0, 0, 51 [SEP] 26, Pan, 0.389, 1.053, -1.630, 0, 0, 0, 43 [SEP] 27, Tomato, -1.126, 1.014, 2.331, 0, 90, 0, 62 [SEP] 28, SaltShaker, 1.666, 1.014, -1.484, 0, 0, 0, 53 [SEP] 29, Egg, 1.072, 1.101, -1.181, 0, 0, 0, 47 [SEP] 30, Cup, -1.268, 1.948, 1.974, 0, 90, 0, 62 [SEP] 31, Spatula, 1.015, 1.058, 0.720, 0, 0, 0, 49 [SEP] 32, Knife, 0.160, 1.069, 0.415, 0, 90, 0, 49 [SEP] 33, Lettuce, -1.095, 1.023, 1.885, 0, 90, 0, 62 [SEP] 34, ButterKnife, 0.682, 1.043, 0.589, 0, 0, 0, 49 [SEP] 35, PepperShaker, 1.347, 1.038, 0.763, 0, 0, 0, 49 [SEP] 36, DishSponge, -1.105, 0.202, -1.555, 0, 0, 0, 55 [SEP] 37, Plate, -0.398, 1.577, -1.619, 0, 0, 0, 52 [SEP] 38, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 49 [SEP] 39, Spoon, 0.071, 1.031, 0.229, 0, 0, 0, 49 [SEP] 40, Pot, -1.029, 2.029, -1.337, 0, 90, 0, 54 [SEP] 41, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 65 [SEP] 42, Bowl, -1.339, 0.201, -1.482, 0, 0, 0, 55 [SEP] 43, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 44, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 45, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 46, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 47, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 48, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 49, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 50, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 51, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 52, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 53, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 54, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 55, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 56, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 57, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 58, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 59, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 60, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 61, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 62, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 63, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 64, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 65, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 66, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 70, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 71, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 72, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 73, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 74, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 75, NorthWall, , , , , , , [SEP] 76, EastWall, , , , , , , [SEP] 77, SouthWall, , , , , , , [SEP] 78, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and move to the counter space to the right of the stove. | STEP 2: Pick up the tomato from the counter. | STEP 3: Carry the tomato a step to the left, still facing the counter. | STEP 4: Place the tomato on the counter. | STEP 5: Pick up the sharp knife with the yellow handle from the counter. | STEP 6: Use the knife to slice the tomato. | STEP 7: Place the knife on the counter to the left of the tomato. | STEP 8: Pick up a slice of tomato from the counter. | STEP 9: Turn left to carry the tomato slice towards the fridge, but then turn left to face the sinks just before the fridge. | STEP 10: Place the tomato slice in the right sink, turn on the water, and then move once rinsed. | STEP 11: Turn left and carry the tomato slice to the wall, then turn your body left to face the microwave. | STEP 12: Place the tomato slice in the microwave. | END"]} {"id": "trial_T20190919_014308_279954-2", "input": "Slice a tomato, wash it, and place in microwave to be heated. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.931, 0.75, 0, 0, 0, [SEP] 1, ButterKnife, 1.514, 1.043, 0.545, 0, 0, 0, 49 [SEP] 2, Spoon, 0.065, 1.044, 0.630, 0, 0, 0, 49 [SEP] 3, Spoon, -0.346, 1.048, -1.289, 0, 90, 0, 47 [SEP] 4, Spatula, -0.038, 1.061, -1.118, 0, 0, 0, 47 [SEP] 5, Spatula, -0.432, 1.061, -1.397, 0, 0, 0, 47 [SEP] 6, Egg, -1.011, 0.762, 2.153, 0, 90, 0, 62 [SEP] 7, Cup, 1.068, 0.200, -1.267, 0, 0, 0, 58 [SEP] 8, Cup, -1.235, 1.228, 2.242, 0, 90, 0, 62 [SEP] 9, Plate, 1.817, 0.217, -1.480, 0, 0, 0, 57 [SEP] 10, Knife, -0.603, 1.072, -1.397, 0, 90, 0, 47 [SEP] 11, Tomato, -0.775, 1.097, -1.397, 0, 0, 0, 47 [SEP] 12, Tomato, -1.276, 1.764, 1.796, 0, 90, 0, 62 [SEP] 13, SoapBottle, -0.689, 1.047, -1.289, 0, 0, 0, 47 [SEP] 14, SoapBottle, 1.589, 1.020, -1.191, 0, 90, 0, 53 [SEP] 15, Bowl, 0.160, 1.042, 0.738, 0, 0, 0, 49 [SEP] 16, Bowl, -1.386, 1.712, 2.063, 0, 90, 0, 62 [SEP] 17, SaltShaker, 1.743, 1.014, -1.337, 0, 0, 0, 53 [SEP] 18, PepperShaker, -0.580, 0.198, -1.409, 0, 0, 0, 56 [SEP] 19, Mug, -1.184, 2.023, -1.627, 0, 0, 0, 54 [SEP] 20, Apple, -1.095, 1.007, 2.153, 0, 90, 0, 62 [SEP] 21, SoapBottle, 0.979, 0.200, -1.628, 0, 0, 0, 58 [SEP] 22, Apple, -1.096, 1.759, -1.300, 0, 0, 0, 61 [SEP] 23, Potato, -1.268, 2.001, 2.242, 0, 90, 0, 62 [SEP] 24, Fork, 0.906, 1.047, -1.612, 0, 0, 0, 47 [SEP] 25, Kettle, 1.036, 1.566, -1.614, 0, 0, 0, 51 [SEP] 26, Pan, 0.389, 1.053, -1.630, 0, 0, 0, 43 [SEP] 27, Tomato, -1.126, 1.014, 2.331, 0, 90, 0, 62 [SEP] 28, SaltShaker, 1.666, 1.014, -1.484, 0, 0, 0, 53 [SEP] 29, Egg, 1.072, 1.101, -1.181, 0, 0, 0, 47 [SEP] 30, Cup, -1.268, 1.948, 1.974, 0, 90, 0, 62 [SEP] 31, Spatula, 1.015, 1.058, 0.720, 0, 0, 0, 49 [SEP] 32, Knife, 0.160, 1.069, 0.415, 0, 90, 0, 49 [SEP] 33, Lettuce, -1.095, 1.023, 1.885, 0, 90, 0, 62 [SEP] 34, ButterKnife, 0.682, 1.043, 0.589, 0, 0, 0, 49 [SEP] 35, PepperShaker, 1.347, 1.038, 0.763, 0, 0, 0, 49 [SEP] 36, DishSponge, -1.105, 0.202, -1.555, 0, 0, 0, 55 [SEP] 37, Plate, -0.398, 1.577, -1.619, 0, 0, 0, 52 [SEP] 38, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 49 [SEP] 39, Spoon, 0.071, 1.031, 0.229, 0, 0, 0, 49 [SEP] 40, Pot, -1.029, 2.029, -1.337, 0, 90, 0, 54 [SEP] 41, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 65 [SEP] 42, Bowl, -1.339, 0.201, -1.482, 0, 0, 0, 55 [SEP] 43, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 44, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 45, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 46, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 47, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 48, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 49, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 50, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 51, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 52, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 53, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 54, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 55, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 56, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 57, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 58, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 59, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 60, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 61, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 62, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 63, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 64, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 65, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 66, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 70, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 71, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 72, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 73, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 74, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 75, NorthWall, , , , , , , [SEP] 76, EastWall, , , , , , , [SEP] 77, SouthWall, , , , , , , [SEP] 78, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, take a step forward, turn left and take a step toward the table, turn right and walk toward the counter with the toaster. | STEP 2: Pick up the tomato. | STEP 3: Take a step to the left in front of the spoon and knife. | STEP 4: Put down the tomato in between the knife and the spoon. | STEP 5: Pick up the knife. | STEP 6: Slice the tomato. | STEP 7: Put the knife down next to the spoon. | STEP 8: Pick up the tomato. | STEP 9: Turn left and walk to the sink. Turn right an face the sink. | STEP 10: Put the tomato slice down in the right sink. Wash the tomato slice by turning the water on. After the water drains, pick up the tomato slice. | STEP 11: Turn left and walk to the wall. At the wall, turn left and face the oven. Look up at the microwave. | STEP 12: Put tomato slice in the microwave to the right of the apple. Close the door. | END"]} {"id": "trial_T20190909_012756_976137-2", "input": "Put a microwaved egg 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, 1.75, 0.931, -0.25, 0, 0, 0, [SEP] 1, Potato, 0.542, 1.096, 0.091, 0, 0, 0, 46 [SEP] 2, Potato, -1.349, 1.766, 2.331, 0, 90, 0, 59 [SEP] 3, DishSponge, 1.588, 0.204, -1.262, 0, 0, 0, 54 [SEP] 4, ButterKnife, -0.346, 1.046, -1.289, 0, 0, 0, 44 [SEP] 5, ButterKnife, 1.181, 1.043, 0.763, 0, 0, 0, 46 [SEP] 6, Kettle, 0.960, 1.566, -1.764, 0, 0, 0, 48 [SEP] 7, Pot, -0.473, 1.566, -1.470, 0, 90, 0, 49 [SEP] 8, Fork, 0.823, 1.047, -1.397, 0, 0, 0, 44 [SEP] 9, Fork, 1.072, 1.047, -1.397, 0, 0, 0, 44 [SEP] 10, Spoon, 1.015, 1.044, 0.589, 0, 0, 0, 46 [SEP] 11, Spoon, -0.346, 1.048, -1.289, 0, 0, 0, 44 [SEP] 12, Egg, -0.346, 1.101, -1.612, 0, 0, 0, 44 [SEP] 13, Knife, 1.790, 1.069, 0.630, 0, 0, 0, 46 [SEP] 14, Tomato, 0.936, 1.104, 0.231, 0, 90, 0, 42 [SEP] 15, SoapBottle, 0.805, 1.054, 0.131, 0, 90, 0, 42 [SEP] 16, PepperShaker, 1.436, 0.199, -1.408, 0, 0, 0, 54 [SEP] 17, Mug, -0.473, 1.560, -1.767, 0, 0, 0, 49 [SEP] 18, SoapBottle, -1.029, 2.029, -1.627, 0, 0, 0, 51 [SEP] 19, Apple, -1.157, 1.007, 1.885, 0, 90, 0, 59 [SEP] 20, Potato, -1.386, 1.766, 2.153, 0, 90, 0, 59 [SEP] 21, Fork, 1.612, 1.043, 0.307, 0, 0, 0, 46 [SEP] 22, Kettle, -0.580, 0.204, -1.337, 0, 0, 0, 53 [SEP] 23, Pan, 1.743, 1.019, -1.337, 0, 90, 0, 50 [SEP] 24, Tomato, -0.775, 1.097, -1.720, 0, 0, 0, 44 [SEP] 25, SaltShaker, -0.670, 0.198, -1.481, 0, 0, 0, 53 [SEP] 26, Egg, -1.349, 1.768, 1.796, 0, 90, 0, 59 [SEP] 27, Cup, 1.155, 1.047, -1.828, 0, 0, 0, 44 [SEP] 28, Spatula, 0.906, 1.061, -1.612, 0, 0, 0, 44 [SEP] 29, Knife, 0.255, 1.069, 0.738, 0, 0, 0, 46 [SEP] 30, Lettuce, -0.517, 1.106, -1.289, 0, 0, 0, 44 [SEP] 31, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 46 [SEP] 32, PepperShaker, -0.177, 1.041, -1.118, 0, 0, 0, 44 [SEP] 33, DishSponge, -0.517, 1.046, -1.181, 0, 0, 0, 44 [SEP] 34, Plate, 1.188, 1.577, -1.538, 0, 0, 0, 48 [SEP] 35, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 46 [SEP] 36, Spoon, 1.155, 1.048, -1.181, 0, 0, 0, 44 [SEP] 37, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 47 [SEP] 38, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 62 [SEP] 39, Bowl, -1.349, 1.712, 1.974, 0, 90, 0, 59 [SEP] 40, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 41, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 42, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 43, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 44, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 45, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 46, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 47, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 48, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 49, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 50, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 51, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 52, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 53, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 54, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 55, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 56, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 57, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 58, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 59, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 60, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 61, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 62, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 63, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 64, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 65, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 66, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 68, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 69, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 70, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 71, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 72, NorthWall, , , , , , , [SEP] 73, EastWall, , , , , , , [SEP] 74, SouthWall, , , , , , , [SEP] 75, WestWall, , , , , , , ", "output": ["STEP 1: Turn and go to the counter by the stove. | STEP 2: Pick up an egg on the counter by the stove. | STEP 3: Turn and go to the microwave. | STEP 4: Heat the egg in the microwave. | STEP 5: Turn and go to the counter by the stove. | STEP 6: Put the egg on the counter by the stove. | END"]} {"id": "trial_T20190906_212011_892959-1", "input": "Place the container with the watch in it onto the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.75, 0.901, 2.5, 0, 270, 0, [SEP] 1, Bowl, -5.951, 0.881, 4.547, 0, 0, 0, 55 [SEP] 2, Newspaper, -0.484, 0.792, 5.726, 0, 270, 0, 46 [SEP] 3, Watch, -2.87, 0.880, 7.173, 0, 90, 0, 53 [SEP] 4, Watch, -5.934, 0.533, 6.531, 0, 135, 0, 63 [SEP] 5, Watch, -6.012, 1.280, 3.891, 0, 0, 0, 59 [SEP] 6, KeyChain, -2.631, 0.534, 3.898, 0, 270, 0, 62 [SEP] 7, KeyChain, -0.789, 0.433, 4.524, 0, 90, 0, 45 [SEP] 8, CreditCard, -5.882, 0.879, 4.349, 0, 0, 0, 55 [SEP] 9, CreditCard, -2.352, 0.533, 4.335, 0, 270, 0, 62 [SEP] 10, RemoteControl, -3.265, 0.149, 7.327, 0, 90, 0, 56 [SEP] 11, Box, -0.868, 0.603, 3.306, 0, 0, 0, 45 [SEP] 12, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 56 [SEP] 13, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 61 [SEP] 14, Vase, -5.951, 0.880, 4.152, 0, 0, 0, 55 [SEP] 15, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 57 [SEP] 16, Newspaper, -5.237, 0.532, 6.852, 0, 45, 0, 63 [SEP] 17, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 62 [SEP] 18, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 19, Vase, -5.951, 0.880, 3.954, 0, 0, 0, 55 [SEP] 20, CreditCard, -5.783, 0.533, 6.380, 0, 135, 0, 63 [SEP] 21, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 59 [SEP] 22, KeyChain, -0.868, 0.367, 3.002, 0, 0, 0, 45 [SEP] 23, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 57 [SEP] 24, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 57 [SEP] 25, Bowl, -5.822, 1.281, 4.808, 0, 0, 0, 59 [SEP] 26, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 45 [SEP] 27, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 59 [SEP] 28, RemoteControl, -3.557, 1.282, 7.361, 0, 90, 0, 61 [SEP] 29, Watch, -2.704, 0.533, 4.106, 0, 0, 0, 62 [SEP] 30, Statue, -2.474, 0.460, 7.221, 0, 90, 0, 54 [SEP] 31, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 59 [SEP] 32, Statue, -2.561, 0.543, 4.480, 0, 270, 0, 62 [SEP] 33, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 61 [SEP] 34, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 35, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 36, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 37, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 38, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 39, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 40, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 41, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 42, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 43, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 44, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 45, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 46, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 47, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 48, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 49, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 50, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 51, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 52, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 53, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 54, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 55, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 56, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 57, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 58, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 59, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 60, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 61, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 62, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 63, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right and face the TV on the table. | STEP 2: Grab the watch from the table. | STEP 3: Turn around and head to the shelves on the right. | STEP 4: Place the watch in the grey container on the middle shelf. | STEP 5: Grab the container that has the watch in it. | STEP 6: Turn around and head to the table in the middle of the room. | STEP 7: Place the container on the table. | END"]} {"id": "trial_T20190908_194103_462677-0", "input": "put a cooked apple on a kitchen counter top SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, 0.5, 0, 90, 0, [SEP] 1, Pan, 0.281, 0.964, 1.347, 0, 0, 0, 65 [SEP] 2, Potato, -0.939, 0.855, -1.183, 0, 0, 0, 109 [SEP] 3, Potato, -2.019, 0.458, 1.459, 0, 270, 0, 103 [SEP] 4, DishSponge, 2.837, 0.771, 1.236, 0, 0, 0, 94 [SEP] 5, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 56 [SEP] 6, ButterKnife, 2.754, 0.911, 1.299, 0, 0, 0, 85 [SEP] 7, ButterKnife, 1.141, 0.911, -0.769, 0, 0, 0, 50 [SEP] 8, Pot, -0.198, 0.915, 1.468, 0, 0, 0, 61 [SEP] 9, Fork, 2.155, 0.771, 1.198, 0, 270, 0, 81 [SEP] 10, Fork, -0.621, 0.821, -1.206, 0, 90, 0, 109 [SEP] 11, Spatula, 0.193, 0.780, -0.707, 0, 90, 0, 107 [SEP] 12, Spatula, 2.221, 0.926, 1.129, 0, 0, 0, 85 [SEP] 13, Plate, 2.488, 0.914, 1.129, 0, 0, 0, 85 [SEP] 14, Cup, 0.570, 1.782, 1.455, 0, 180, 0, 108 [SEP] 15, Cup, 2.838, 1.016, -0.709, 0, 0, 0, 105 [SEP] 16, Knife, -0.887, 0.853, -1.473, 0, 180, 0, 109 [SEP] 17, SoapBottle, 1.135, 0.120, -0.421, 0, 180, 0, 58 [SEP] 18, SoapBottle, 2.154, 1.660, 1.394, 0, 0, 0, 74 [SEP] 19, Tomato, -1.056, 0.852, -1.257, 0, 90, 0, 109 [SEP] 20, Tomato, -2.019, 0.455, 1.332, 0, 270, 0, 103 [SEP] 21, SaltShaker, 1.558, 0.111, -0.379, 0, 180, 0, 67 [SEP] 22, SaltShaker, 1.254, 1.651, 1.429, 0, 0, 0, 77 [SEP] 23, PepperShaker, -0.734, 0.817, -1.473, 0, 0, 0, 109 [SEP] 24, Mug, 1.422, 0.906, 1.553, 0, 0, 0, 85 [SEP] 25, Mug, 1.902, 0.906, -0.430, 0, 0, 0, 50 [SEP] 26, Apple, -0.694, 0.889, -1.257, 0, 90, 0, 109 [SEP] 27, SoapBottle, 0.888, 0.917, -0.515, 0, 0, 0, 50 [SEP] 28, Plate, 0.634, 0.914, -0.430, 0, 0, 0, 50 [SEP] 29, Fork, 1.140, 0.771, -0.498, 0, 90, 0, 69 [SEP] 30, Pot, 1.688, 0.915, 1.468, 0, 0, 0, 85 [SEP] 31, Bread, 0.634, 0.969, -0.684, 0, 0, 0, 50 [SEP] 32, Egg, -0.157, 0.803, -0.762, 0, 0, 0, 107 [SEP] 33, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 88 [SEP] 34, Tomato, 2.488, 0.942, 1.468, 0, 0, 0, 85 [SEP] 35, Cup, -0.246, 0.909, 1.214, 0, 0, 0, 61 [SEP] 36, Spatula, -0.103, 0.926, 1.214, 0, 0, 0, 61 [SEP] 37, Apple, -0.939, 0.889, -1.400, 0, 0, 0, 109 [SEP] 38, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 53 [SEP] 39, Lettuce, 1.688, 0.992, 1.214, 0, 0, 0, 85 [SEP] 40, SaltShaker, -0.007, 0.908, 1.383, 0, 0, 0, 61 [SEP] 41, Knife, 0.026, 0.758, -0.592, 273.786, 317.657, 5.542, 107 [SEP] 42, Potato, 0.123, 0.800, -0.762, 0, 180, 0, 107 [SEP] 43, PepperShaker, 1.155, 0.908, 1.299, 0, 0, 0, 85 [SEP] 44, ButterKnife, 0.123, 0.765, -0.707, 0, 180, 0, 107 [SEP] 45, Bowl, 2.653, 1.286, -0.709, 0, 0, 0, 105 [SEP] 46, DishSponge, -0.836, 0.820, -1.255, 0, 0, 0, 109 [SEP] 47, Spoon, -0.734, 0.822, -1.110, 0, 0, 0, 109 [SEP] 48, Mug, 2.715, 1.558, -0.644, 0, 0, 0, 105 [SEP] 49, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 50, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 51, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 52, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 53, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 54, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 55, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 56, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 57, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 58, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 59, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 60, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 61, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 62, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 63, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 64, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 65, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 66, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 67, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 68, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 69, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 70, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 71, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 72, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 73, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 77, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 78, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 80, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 81, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 83, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 84, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 85, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 86, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 87, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 88, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 89, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 90, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 91, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 92, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 93, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 94, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 95, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 96, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 97, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 99, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 100, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 101, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 102, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 103, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 104, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 105, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 106, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 107, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 108, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 109, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 110, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 111, NorthWall, , , , , , , [SEP] 112, EastWall, , , , , , , [SEP] 113, SouthWall, , , , , , , [SEP] 114, WestWall, , , , , , , ", "output": ["STEP 1: walk through the kitchen to face the small grey dining table | STEP 2: pick up the red apple on the left from the table | STEP 3: walk to face the stove and microwave | STEP 4: cook the apple in the microwave, pick up the apple from the microwave | STEP 5: turn around to face the coffee maker | STEP 6: put the apple on the counter in front of the coffee maker | END"]} {"id": "trial_T20190908_194103_462677-2", "input": "Heat an 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, 0.0, 0.900, 0.5, 0, 90, 0, [SEP] 1, Pan, 0.281, 0.964, 1.347, 0, 0, 0, 65 [SEP] 2, Potato, -0.939, 0.855, -1.183, 0, 0, 0, 109 [SEP] 3, Potato, -2.019, 0.458, 1.459, 0, 270, 0, 103 [SEP] 4, DishSponge, 2.837, 0.771, 1.236, 0, 0, 0, 94 [SEP] 5, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 56 [SEP] 6, ButterKnife, 2.754, 0.911, 1.299, 0, 0, 0, 85 [SEP] 7, ButterKnife, 1.141, 0.911, -0.769, 0, 0, 0, 50 [SEP] 8, Pot, -0.198, 0.915, 1.468, 0, 0, 0, 61 [SEP] 9, Fork, 2.155, 0.771, 1.198, 0, 270, 0, 81 [SEP] 10, Fork, -0.621, 0.821, -1.206, 0, 90, 0, 109 [SEP] 11, Spatula, 0.193, 0.780, -0.707, 0, 90, 0, 107 [SEP] 12, Spatula, 2.221, 0.926, 1.129, 0, 0, 0, 85 [SEP] 13, Plate, 2.488, 0.914, 1.129, 0, 0, 0, 85 [SEP] 14, Cup, 0.570, 1.782, 1.455, 0, 180, 0, 108 [SEP] 15, Cup, 2.838, 1.016, -0.709, 0, 0, 0, 105 [SEP] 16, Knife, -0.887, 0.853, -1.473, 0, 180, 0, 109 [SEP] 17, SoapBottle, 1.135, 0.120, -0.421, 0, 180, 0, 58 [SEP] 18, SoapBottle, 2.154, 1.660, 1.394, 0, 0, 0, 74 [SEP] 19, Tomato, -1.056, 0.852, -1.257, 0, 90, 0, 109 [SEP] 20, Tomato, -2.019, 0.455, 1.332, 0, 270, 0, 103 [SEP] 21, SaltShaker, 1.558, 0.111, -0.379, 0, 180, 0, 67 [SEP] 22, SaltShaker, 1.254, 1.651, 1.429, 0, 0, 0, 77 [SEP] 23, PepperShaker, -0.734, 0.817, -1.473, 0, 0, 0, 109 [SEP] 24, Mug, 1.422, 0.906, 1.553, 0, 0, 0, 85 [SEP] 25, Mug, 1.902, 0.906, -0.430, 0, 0, 0, 50 [SEP] 26, Apple, -0.694, 0.889, -1.257, 0, 90, 0, 109 [SEP] 27, SoapBottle, 0.888, 0.917, -0.515, 0, 0, 0, 50 [SEP] 28, Plate, 0.634, 0.914, -0.430, 0, 0, 0, 50 [SEP] 29, Fork, 1.140, 0.771, -0.498, 0, 90, 0, 69 [SEP] 30, Pot, 1.688, 0.915, 1.468, 0, 0, 0, 85 [SEP] 31, Bread, 0.634, 0.969, -0.684, 0, 0, 0, 50 [SEP] 32, Egg, -0.157, 0.803, -0.762, 0, 0, 0, 107 [SEP] 33, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 88 [SEP] 34, Tomato, 2.488, 0.942, 1.468, 0, 0, 0, 85 [SEP] 35, Cup, -0.246, 0.909, 1.214, 0, 0, 0, 61 [SEP] 36, Spatula, -0.103, 0.926, 1.214, 0, 0, 0, 61 [SEP] 37, Apple, -0.939, 0.889, -1.400, 0, 0, 0, 109 [SEP] 38, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 53 [SEP] 39, Lettuce, 1.688, 0.992, 1.214, 0, 0, 0, 85 [SEP] 40, SaltShaker, -0.007, 0.908, 1.383, 0, 0, 0, 61 [SEP] 41, Knife, 0.026, 0.758, -0.592, 273.786, 317.657, 5.542, 107 [SEP] 42, Potato, 0.123, 0.800, -0.762, 0, 180, 0, 107 [SEP] 43, PepperShaker, 1.155, 0.908, 1.299, 0, 0, 0, 85 [SEP] 44, ButterKnife, 0.123, 0.765, -0.707, 0, 180, 0, 107 [SEP] 45, Bowl, 2.653, 1.286, -0.709, 0, 0, 0, 105 [SEP] 46, DishSponge, -0.836, 0.820, -1.255, 0, 0, 0, 109 [SEP] 47, Spoon, -0.734, 0.822, -1.110, 0, 0, 0, 109 [SEP] 48, Mug, 2.715, 1.558, -0.644, 0, 0, 0, 105 [SEP] 49, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 50, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 51, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 52, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 53, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 54, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 55, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 56, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 57, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 58, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 59, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 60, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 61, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 62, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 63, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 64, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 65, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 66, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 67, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 68, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 69, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 70, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 71, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 72, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 73, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 77, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 78, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 80, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 81, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 83, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 84, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 85, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 86, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 87, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 88, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 89, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 90, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 91, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 92, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 93, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 94, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 95, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 96, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 97, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 99, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 100, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 101, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 102, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 103, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 104, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 105, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 106, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 107, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 108, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 109, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 110, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 111, NorthWall, , , , , , , [SEP] 112, EastWall, , , , , , , [SEP] 113, SouthWall, , , , , , , [SEP] 114, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the left and go forward to the table. | STEP 2: Pick up the apple from the table. | STEP 3: Turn around completely and go to the left. Go forward. Turn to the left and face the microwave. | STEP 4: Place the apple inside the microwave and heat the apple. Take out the apple. | STEP 5: Turn around and walk to the other counter. | STEP 6: Place the apple on the counter. | END"]} {"id": "trial_T20190908_115547_009679-1", "input": "Take out the seasoning 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, 0.931, -0.25, 0, 90, 0, [SEP] 1, Potato, -1.276, 1.766, 1.796, 0, 90, 0, 64 [SEP] 2, Potato, -0.260, 1.100, -1.612, 0, 0, 0, 49 [SEP] 3, DishSponge, -1.416, 0.202, -1.338, 0, 0, 0, 57 [SEP] 4, Kettle, -0.398, 1.566, -1.693, 0, 0, 0, 54 [SEP] 5, Kettle, -1.105, 0.203, -1.338, 0, 0, 0, 57 [SEP] 6, Fork, 0.446, 1.033, 0.630, 0, 90, 0, 51 [SEP] 7, Fork, 0.160, 1.043, 0.738, 0, 0, 0, 51 [SEP] 8, Spoon, -0.775, 1.048, -1.505, 0, 270, 0, 49 [SEP] 9, Spoon, 1.155, 1.048, -1.505, 0, 180, 0, 49 [SEP] 10, Egg, 1.347, 1.097, 0.763, 0, 0, 0, 51 [SEP] 11, Egg, 1.211, 0.955, 0.231, 0, 90, 0, 46 [SEP] 12, Knife, -0.603, 1.072, -1.397, 0, 0, 0, 49 [SEP] 13, SoapBottle, 1.817, 0.205, -1.625, 0, 0, 0, 59 [SEP] 14, SoapBottle, 0.542, 1.044, 0.091, 0, 0, 0, 51 [SEP] 15, Bowl, -1.386, 1.712, 2.153, 0, 90, 0, 64 [SEP] 16, Bowl, -1.381, 1.488, 1.974, 0, 90, 0, 64 [SEP] 17, SaltShaker, -1.416, 2.023, -1.627, 0, 0, 0, 56 [SEP] 18, SaltShaker, 0.823, 1.041, -1.181, 0, 0, 0, 49 [SEP] 19, PepperShaker, 0.712, 0.194, -1.267, 0, 0, 0, 60 [SEP] 20, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 67 [SEP] 21, Apple, 0.980, 1.097, 0.231, 0, 90, 0, 47 [SEP] 22, Apple, -1.225, 1.532, 2.063, 0, 90, 0, 64 [SEP] 23, SoapBottle, 1.897, 1.020, -1.630, 0, 0, 0, 55 [SEP] 24, Apple, 0.980, 1.097, 0.331, 0, 90, 0, 47 [SEP] 25, Potato, -1.194, 1.769, -1.331, 0, 0, 0, 63 [SEP] 26, Fork, 1.701, 1.043, 0.091, 0, 0, 0, 51 [SEP] 27, Kettle, 0.5, 1.057, -1.4, 0, 0, 0, 50 [SEP] 28, Pan, 0.960, 1.564, -1.689, 0, 270, 0, 53 [SEP] 29, Tomato, 1.072, 1.097, -1.397, 0, 0, 0, 49 [SEP] 30, SaltShaker, 1.072, 1.041, -1.181, 0, 0, 0, 49 [SEP] 31, Egg, 1.271, 0.947, 0.158, 0, 90, 0, 46 [SEP] 32, Cup, 1.588, 0.205, -1.262, 0, 0, 0, 59 [SEP] 33, Spatula, 0.717, 1.068, 0.181, 0, 90, 0, 47 [SEP] 34, Knife, 0.157, 1.038, 0.272, 90, 184.534, 0, 51 [SEP] 35, Lettuce, 1.155, 1.106, -1.720, 0, 0, 0, 49 [SEP] 36, ButterKnife, 0.761, 1.053, 0.281, 0, 90, 0, 47 [SEP] 37, PepperShaker, 1.588, 0.199, -1.480, 0, 0, 0, 59 [SEP] 38, DishSponge, 1.968, 1.042, 0.091, 0, 0, 0, 51 [SEP] 39, Plate, -0.401, 0.216, -1.553, 0, 0, 0, 58 [SEP] 40, Bread, 0.424, 1.104, 0.355, 0, 335.584, 0, 51 [SEP] 41, Spoon, 0.848, 1.044, 0.632, 0, 0, 0, 51 [SEP] 42, Pot, 0.979, 0.201, -1.556, 0, 90, 0, 60 [SEP] 43, Mug, -0.030, 1.038, 0.415, 0, 0, 0, 51 [SEP] 44, Bowl, 1.181, 1.042, 0.676, 0, 0, 0, 51 [SEP] 45, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 46, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 47, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 48, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 49, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 50, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 51, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 52, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 53, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 54, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 55, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 56, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 57, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 58, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 59, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 60, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 61, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 62, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 63, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 64, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 65, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 66, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 67, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 68, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 70, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 71, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 72, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 73, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 74, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 75, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 76, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 77, NorthWall, , , , , , , [SEP] 78, EastWall, , , , , , , [SEP] 79, SouthWall, , , , , , , [SEP] 80, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and head to the counter to your left | STEP 2: Open the cabinet and pick up the seasoning in it | STEP 3: Go to the end of the brown counter next to the knife | STEP 4: Put the seasoning down by the knife | STEP 5: Turn around and walk to the end of the white cabinets | STEP 6: Open the bottom white cabinet on the bottom | STEP 7: Turn around and walk to the end of the brown cabinet to your left | STEP 8: Put the seasoning down next to the other seasoning | END"]} {"id": "trial_T20190910_080020_894539-1", "input": "Put two credit cards on a brown table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 0.5, 0, 270, 0, [SEP] 1, Watch, -0.561, 0.552, -0.365, 0, 270, 0, 29 [SEP] 2, Watch, 1.849, 0.870, 0.114, 0, 90, 0, 35 [SEP] 3, CreditCard, 1.849, 0.869, 0.431, 0, 90, 0, 35 [SEP] 4, RemoteControl, -0.712, 0.199, -0.544, 0, 90, 0, 30 [SEP] 5, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 37 [SEP] 6, KeyChain, 1.443, 0.327, -0.818, 0, 90, 0, 37 [SEP] 7, Watch, -0.561, 0.552, -0.192, 0, 270, 0, 29 [SEP] 8, Newspaper, 1.849, 0.869, 0.537, 0, 90, 0, 35 [SEP] 9, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 31 [SEP] 10, CreditCard, -0.077, 0.322, -1.917, 0, 0, 0, 31 [SEP] 11, RemoteControl, 1.285, 0.279, -0.435, 0, 0, 0, 37 [SEP] 12, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 29 [SEP] 13, Statue, -0.260, 0.562, -0.192, 0, 270, 0, 29 [SEP] 14, Statue, 1.724, 0.880, 0.220, 0, 90, 0, 35 [SEP] 15, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 16, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 17, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 18, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 19, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 20, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 21, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 22, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 23, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 24, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 25, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 26, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 29, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 30, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 31, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 32, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 33, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 34, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 35, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 36, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 37, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, turn left, walk straight to the brown desk | STEP 2: Pick up the credit card on top of the desk | STEP 3: Turn left, turn left, walk straight, turn right, walk straight to the brown table with a laptop on top | STEP 4: Put the credit card on top of the table | STEP 5: Turn right, walk straight, turn right to the brown sofa | STEP 6: Pick up the credit card on top of the sofa | STEP 7: Turn right, walk straight, turn right to the brown table | STEP 8: Put the credit card on top of the table | END"]} {"id": "trial_T20190907_234738_410608-0", "input": "Place the clean mug in 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, -1.25, 0.900, -0.75, 0, 270, 0, [SEP] 1, Potato, -1.056, 0.855, -1.360, 0, 270, 0, 111 [SEP] 2, Potato, 2.962, 1.598, -0.709, 0, 0, 0, 107 [SEP] 3, DishSponge, 1.488, 0.114, 1.081, 0, 0, 0, 81 [SEP] 4, DishSponge, -0.197, 0.114, 1.117, 0, 0, 0, 80 [SEP] 5, Kettle, 1.908, 1.655, -0.772, 0, 180, 0, 89 [SEP] 6, ButterKnife, -0.911, 0.820, -1.257, 0, 90, 0, 111 [SEP] 7, ButterKnife, 0.888, 0.911, -0.345, 0, 0, 0, 52 [SEP] 8, Spoon, 0.888, 0.912, -0.430, 0, 0, 0, 52 [SEP] 9, Spoon, -0.839, 0.822, -1.257, 0, 90, 0, 111 [SEP] 10, Fork, 1.490, 0.771, 1.198, 0, 270, 0, 70 [SEP] 11, Fork, 2.221, 0.912, 1.044, 0, 0, 0, 87 [SEP] 12, Spatula, -0.103, 0.926, 1.383, 0, 0, 0, 63 [SEP] 13, Spatula, -0.785, 0.835, -1.328, 0, 0, 0, 111 [SEP] 14, Plate, 1.955, 0.914, 1.468, 0, 0, 0, 87 [SEP] 15, Plate, 2.754, 0.914, 1.468, 0, 0, 0, 87 [SEP] 16, Cup, 0.570, 1.782, 1.488, 0, 180, 0, 110 [SEP] 17, Egg, -1.056, 0.858, -1.155, 0, 90, 0, 111 [SEP] 18, Egg, 0.415, 1.822, 1.391, 0, 180, 0, 110 [SEP] 19, Knife, 0.634, 0.944, -0.345, 0, 0, 0, 52 [SEP] 20, Knife, 1.155, 0.944, 1.214, 0, 0, 0, 87 [SEP] 21, Tomato, 2.653, 1.320, -0.840, 0, 0, 0, 107 [SEP] 22, Bowl, 1.955, 0.909, 1.129, 0, 0, 0, 87 [SEP] 23, Bowl, 1.213, 0.112, 1.117, 0, 0, 0, 59 [SEP] 24, SaltShaker, -0.141, 1.650, -0.811, 0, 180, 0, 94 [SEP] 25, SaltShaker, -0.785, 0.817, -1.400, 0, 0, 0, 111 [SEP] 26, PepperShaker, 2.838, 1.650, 1.394, 0, 0, 0, 77 [SEP] 27, Bread, 2.715, 1.621, -0.578, 0, 0, 0, 107 [SEP] 28, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 52 [SEP] 29, SoapBottle, 1.422, 0.917, 1.214, 0, 0, 0, 87 [SEP] 30, Plate, 0.231, 2.159, 1.467, 0, 0, 0, 86 [SEP] 31, Fork, -0.682, 0.821, -1.400, 0, 90, 0, 111 [SEP] 32, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 58 [SEP] 33, Bread, 2.488, 0.969, 1.214, 0, 0, 0, 87 [SEP] 34, Egg, 2.962, 0.762, -0.535, 0, 0, 0, 107 [SEP] 35, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 67 [SEP] 36, Tomato, 2.777, 1.594, -0.775, 0, 0, 0, 107 [SEP] 37, Cup, 3.341, 0.838, -0.485, 0, 0, 0, 107 [SEP] 38, Spatula, 0.123, 0.780, -0.707, 0, 90, 0, 109 [SEP] 39, Apple, 2.777, 0.794, -0.504, 0, 0, 0, 107 [SEP] 40, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 55 [SEP] 41, Lettuce, 2.754, 0.992, 1.214, 0, 0, 0, 87 [SEP] 42, SaltShaker, -0.055, 0.908, 1.299, 0, 0, 0, 63 [SEP] 43, Knife, 1.688, 0.944, 1.214, 0, 0, 0, 87 [SEP] 44, Potato, 0.363, 1.819, 1.520, 0, 180, 0, 110 [SEP] 45, PepperShaker, -0.682, 0.817, -1.183, 0, 0, 0, 111 [SEP] 46, ButterKnife, -0.103, 0.911, 1.468, 0, 90, 0, 63 [SEP] 47, Bowl, 2.221, 0.909, 1.299, 0, 0, 0, 87 [SEP] 48, DishSponge, 1.141, 0.911, -0.515, 0, 0, 0, 52 [SEP] 49, Spoon, -0.087, 0.766, -0.651, 0, 0, 0, 109 [SEP] 50, Mug, -0.198, 0.906, 1.129, 0, 0, 0, 63 [SEP] 51, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 52, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 53, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 54, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 55, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 56, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 57, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 58, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 59, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 60, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 61, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 62, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 63, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 64, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 65, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 66, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 67, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 68, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 69, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 70, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 71, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 72, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 74, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 75, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 77, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 78, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 79, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 80, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 82, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 83, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 84, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 85, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 86, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 87, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 88, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 89, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 90, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 91, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 92, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 93, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 94, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 95, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 96, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 97, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 98, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 99, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 100, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 101, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 102, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 103, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 104, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 105, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 106, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 107, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 108, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 109, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 110, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 111, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 112, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 113, NorthWall, , , , , , , [SEP] 114, EastWall, , , , , , , [SEP] 115, SouthWall, , , , , , , [SEP] 116, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, go straight, turn right before the refrigerator to face the coffee machine. | STEP 2: Pick up the white coffee mug from off of the coffee maker. | STEP 3: Move to the right to face the sink. | STEP 4: Place the mug in the sink, turn on the water, and pick up the mug. | STEP 5: Move to the left to face the coffee maker again. | STEP 6: Place the mug in to the coffee maker. | END"]} {"id": "trial_T20190907_153115_708877-2", "input": "Hold a set of keys 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, -5.25, 0.901, 0.25, 0, 270, 0, [SEP] 1, Bowl, -2.411, 1.281, 7.045, 0, 90, 0, 56 [SEP] 2, Newspaper, -0.947, 0.365, 4.828, 0, 0, 0, 40 [SEP] 3, Watch, -2.491, 0.533, 4.480, 0, 270, 0, 57 [SEP] 4, Watch, -0.687, 0.793, 2.252, 0, 270, 0, 42 [SEP] 5, CreditCard, -2.672, 0.146, 7.070, 0, 90, 0, 51 [SEP] 6, RemoteControl, -5.822, 1.282, 4.349, 0, 0, 0, 54 [SEP] 7, Box, -0.868, 0.603, 3.915, 0, 0, 0, 40 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -2.422, 0.534, 3.607, 0, 270, 0, 57 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -0.631, 0.365, 3.915, 0, 90, 0, 40 [SEP] 12, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 57 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 14, Vase, -5.424, 0.534, 6.815, 0, 45, 0, 58 [SEP] 15, CreditCard, -2.277, 0.879, 7.173, 0, 90, 0, 49 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -0.433, 0.794, 5.726, 0, 270, 0, 41 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -2.411, 1.281, 7.298, 0, 90, 0, 56 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -0.789, 0.369, 3.306, 0, 0, 0, 40 [SEP] 24, Watch, -2.811, 0.533, 3.981, 0, 0, 0, 57 [SEP] 25, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 56 [SEP] 26, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 54 [SEP] 27, Statue, -5.950, 0.156, 4.152, 0, 0, 0, 47 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 59, NorthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , ", "output": ["STEP 1: Move across the room to the round wooden table where the keys are | STEP 2: Pick up the keys that are sitting on top of the table | STEP 3: Carry the keys to the floor lamp that is to the right of the white door | STEP 4: Turn on the lamp while holding the keys | END"]} {"id": "trial_T20190909_042645_813970-0", "input": "examine a blue lid 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, -2.5, 0.901, 6.5, 0, 270, 0, [SEP] 1, Bowl, -0.636, 0.795, 2.252, 0, 270, 0, 43 [SEP] 2, Bowl, -0.687, 0.795, 5.726, 0, 270, 0, 42 [SEP] 3, Newspaper, -5.442, 0.532, 6.721, 0, 135, 0, 59 [SEP] 4, Watch, -6.019, 0.880, 4.152, 0, 0, 0, 55 [SEP] 5, KeyChain, -0.326, 0.794, 2.103, 0, 0, 0, 43 [SEP] 6, KeyChain, -0.738, 0.794, 1.626, 0, 270, 0, 43 [SEP] 7, RemoteControl, -0.947, 0.369, 4.524, 0, 0, 0, 41 [SEP] 8, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 52 [SEP] 9, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 57 [SEP] 10, Vase, -6.075, 1.280, 4.808, 0, 0, 0, 55 [SEP] 11, Vase, -2.672, 0.462, 7.145, 0, 90, 0, 50 [SEP] 12, Newspaper, -5.368, 0.532, 6.871, 0, 45, 0, 59 [SEP] 13, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 58 [SEP] 14, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 15, Vase, -3.265, 0.147, 7.122, 0, 90, 0, 52 [SEP] 16, CreditCard, -2.631, 0.533, 4.335, 0, 270, 0, 58 [SEP] 17, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 55 [SEP] 18, KeyChain, -0.868, 0.367, 4.828, 0, 0, 0, 41 [SEP] 19, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 53 [SEP] 20, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 53 [SEP] 21, Bowl, -2.474, 0.148, 7.122, 0, 90, 0, 52 [SEP] 22, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 41 [SEP] 23, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 55 [SEP] 24, RemoteControl, -2.352, 0.536, 3.752, 0, 270, 0, 58 [SEP] 25, Watch, -0.433, 0.793, 2.252, 0, 270, 0, 43 [SEP] 26, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 57 [SEP] 27, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 55 [SEP] 28, Statue, -2.172, 0.543, 4.106, 0, 90, 0, 58 [SEP] 29, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 57 [SEP] 30, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 31, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 32, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 33, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 34, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 35, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 36, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 37, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 38, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 39, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 40, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 41, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 42, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 43, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 44, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 45, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 46, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 47, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 48, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 49, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 50, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 51, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 52, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 53, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 54, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 55, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 56, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 57, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 58, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 59, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 60, NorthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , ", "output": ["STEP 1: turn right to face the shelves | STEP 2: pick up the blue lid that is on the shelf | STEP 3: turn right, walk forward, turn right, walk across room, turn left to face small table | STEP 4: turn on the lamp | END"]} {"id": "trial_T20190909_042645_813970-2", "input": "Look at the blue bottle under the light. 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, 6.5, 0, 270, 0, [SEP] 1, Bowl, -0.636, 0.795, 2.252, 0, 270, 0, 43 [SEP] 2, Bowl, -0.687, 0.795, 5.726, 0, 270, 0, 42 [SEP] 3, Newspaper, -5.442, 0.532, 6.721, 0, 135, 0, 59 [SEP] 4, Watch, -6.019, 0.880, 4.152, 0, 0, 0, 55 [SEP] 5, KeyChain, -0.326, 0.794, 2.103, 0, 0, 0, 43 [SEP] 6, KeyChain, -0.738, 0.794, 1.626, 0, 270, 0, 43 [SEP] 7, RemoteControl, -0.947, 0.369, 4.524, 0, 0, 0, 41 [SEP] 8, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 52 [SEP] 9, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 57 [SEP] 10, Vase, -6.075, 1.280, 4.808, 0, 0, 0, 55 [SEP] 11, Vase, -2.672, 0.462, 7.145, 0, 90, 0, 50 [SEP] 12, Newspaper, -5.368, 0.532, 6.871, 0, 45, 0, 59 [SEP] 13, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 58 [SEP] 14, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 15, Vase, -3.265, 0.147, 7.122, 0, 90, 0, 52 [SEP] 16, CreditCard, -2.631, 0.533, 4.335, 0, 270, 0, 58 [SEP] 17, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 55 [SEP] 18, KeyChain, -0.868, 0.367, 4.828, 0, 0, 0, 41 [SEP] 19, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 53 [SEP] 20, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 53 [SEP] 21, Bowl, -2.474, 0.148, 7.122, 0, 90, 0, 52 [SEP] 22, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 41 [SEP] 23, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 55 [SEP] 24, RemoteControl, -2.352, 0.536, 3.752, 0, 270, 0, 58 [SEP] 25, Watch, -0.433, 0.793, 2.252, 0, 270, 0, 43 [SEP] 26, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 57 [SEP] 27, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 55 [SEP] 28, Statue, -2.172, 0.543, 4.106, 0, 90, 0, 58 [SEP] 29, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 57 [SEP] 30, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 31, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 32, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 33, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 34, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 35, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 36, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 37, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 38, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 39, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 40, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 41, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 42, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 43, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 44, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 45, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 46, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 47, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 48, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 49, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 50, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 51, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 52, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 53, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 54, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 55, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 56, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 57, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 58, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 59, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 60, NorthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right to the front of the black shelf. | STEP 2: Pick up the blue bottle on the second shelf from the bottle. | STEP 3: Turn around and go past the sofa to the brown round end table with a lamp on top. | STEP 4: Turn on the lamp on the table. | END"]} {"id": "trial_T20190919_044347_724820-0", "input": "Get the salt shakers to put on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.931, -0.25, 0, 270, 0, [SEP] 1, Pan, 1.512, 1.019, -1.484, 0, 270, 0, 56 [SEP] 2, Pan, -1.300, 1.227, 1.974, 0, 270, 0, 65 [SEP] 3, Potato, -1.051, 0.760, 2.331, 0, 90, 0, 65 [SEP] 4, Potato, -1.303, 1.542, 1.974, 0, 90, 0, 65 [SEP] 5, DishSponge, -1.416, 0.202, -1.265, 0, 0, 0, 58 [SEP] 6, ButterKnife, 1.514, 1.043, 0.589, 0, 0, 0, 52 [SEP] 7, Kettle, 0.065, 1.044, 0.307, 0, 0, 0, 52 [SEP] 8, Pot, 1.188, 1.566, -1.689, 0, 90, 0, 54 [SEP] 9, Fork, 0.657, 1.047, -1.129, 0, 0, 0, 50 [SEP] 10, Spoon, 1.015, 1.044, 0.763, 0, 0, 0, 52 [SEP] 11, Spatula, 0.682, 1.058, 0.720, 0, 0, 0, 52 [SEP] 12, Spatula, 1.155, 1.061, -1.397, 0, 90, 0, 50 [SEP] 13, Cup, -1.064, 0.964, 2.242, 0, 90, 0, 65 [SEP] 14, Plate, -0.548, 1.577, -1.693, 0, 0, 0, 55 [SEP] 15, Knife, 1.072, 1.072, -1.397, 0, 90, 0, 50 [SEP] 16, Tomato, 1.523, 1.094, 0.199, 0, 0, 0, 52 [SEP] 17, Tomato, -1.423, 1.764, 2.331, 0, 90, 0, 65 [SEP] 18, SoapBottle, -0.432, 1.047, -1.289, 0, 0, 0, 50 [SEP] 19, SaltShaker, -0.760, 0.198, -1.481, 0, 0, 0, 59 [SEP] 20, SaltShaker, 1.894, 0.199, -1.335, 0, 0, 0, 60 [SEP] 21, PepperShaker, 0.801, 0.194, -1.195, 0, 0, 0, 61 [SEP] 22, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 68 [SEP] 23, Mug, -1.194, 1.711, -1.331, 0, 0, 0, 64 [SEP] 24, SoapBottle, 0.936, 1.056, 0.281, 0, 90, 0, 48 [SEP] 25, Apple, -1.342, 1.532, 2.331, 0, 90, 0, 65 [SEP] 26, Potato, 1.181, 1.096, 0.589, 0, 0, 0, 52 [SEP] 27, Fork, -0.346, 1.047, -1.505, 0, 0, 0, 50 [SEP] 28, Kettle, -1.184, 2.029, -1.264, 0, 0, 0, 57 [SEP] 29, Pan, -0.401, 0.203, -1.481, 0, 180, 0, 59 [SEP] 30, Tomato, -1.268, 1.999, 2.153, 0, 90, 0, 65 [SEP] 31, SaltShaker, -0.580, 0.198, -1.625, 0, 0, 0, 59 [SEP] 32, Egg, 1.514, 1.097, 0.763, 0, 0, 0, 52 [SEP] 33, Cup, -1.276, 1.713, 2.153, 0, 90, 0, 65 [SEP] 34, Spatula, 1.347, 1.058, 0.720, 0, 0, 0, 52 [SEP] 35, Knife, 0.877, 1.042, -1.362, 90, 315, 0, 50 [SEP] 36, Lettuce, 1.155, 1.106, -1.612, 0, 0, 0, 50 [SEP] 37, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 52 [SEP] 38, PepperShaker, 0.712, 0.194, -1.339, 0, 0, 0, 61 [SEP] 39, DishSponge, -0.030, 1.042, 0.630, 0, 0, 0, 52 [SEP] 40, Plate, -0.689, 1.059, -1.397, 0, 0, 0, 50 [SEP] 41, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 52 [SEP] 42, Spoon, 1.015, 1.044, 0.589, 0, 0, 0, 52 [SEP] 43, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 46 [SEP] 44, Mug, 1.790, 1.038, 0.738, 0, 0, 0, 52 [SEP] 45, Bowl, -1.183, 0.201, -1.338, 0, 0, 0, 58 [SEP] 46, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 47, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 48, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 49, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 50, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 52, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 53, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 54, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 55, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 56, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 57, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 58, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 59, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 60, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 61, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 62, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 63, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 64, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 65, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 66, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 67, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 68, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 69, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 70, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 71, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 72, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 73, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 74, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 75, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 76, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 77, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 78, NorthWall, , , , , , , [SEP] 79, EastWall, , , , , , , [SEP] 80, SouthWall, , , , , , , [SEP] 81, WestWall, , , , , , , ", "output": ["STEP 1: Turn right to face the counter and look down. | STEP 2: Open the cabinet and pick up the salt shaker on the right then close the cabinet. | STEP 3: Look up then turn right and take two steps, then turn to the left to face the counter. | STEP 4: Put the salt shaker on the counter to the right of the stove. | STEP 5: Turn left and take two steps, then turn to the right and look down. | STEP 6: Open the cabinet and pick up the salt shaker that is inside. | STEP 7: Look up then turn right and take two steps, then turn to the left to face the counter. | STEP 8: Put the salt shaker down on the right side of the counter. | END"]} {"id": "trial_T20190919_044347_724820-2", "input": "put two salt shakers 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, 0.931, -0.25, 0, 270, 0, [SEP] 1, Pan, 1.512, 1.019, -1.484, 0, 270, 0, 56 [SEP] 2, Pan, -1.300, 1.227, 1.974, 0, 270, 0, 65 [SEP] 3, Potato, -1.051, 0.760, 2.331, 0, 90, 0, 65 [SEP] 4, Potato, -1.303, 1.542, 1.974, 0, 90, 0, 65 [SEP] 5, DishSponge, -1.416, 0.202, -1.265, 0, 0, 0, 58 [SEP] 6, ButterKnife, 1.514, 1.043, 0.589, 0, 0, 0, 52 [SEP] 7, Kettle, 0.065, 1.044, 0.307, 0, 0, 0, 52 [SEP] 8, Pot, 1.188, 1.566, -1.689, 0, 90, 0, 54 [SEP] 9, Fork, 0.657, 1.047, -1.129, 0, 0, 0, 50 [SEP] 10, Spoon, 1.015, 1.044, 0.763, 0, 0, 0, 52 [SEP] 11, Spatula, 0.682, 1.058, 0.720, 0, 0, 0, 52 [SEP] 12, Spatula, 1.155, 1.061, -1.397, 0, 90, 0, 50 [SEP] 13, Cup, -1.064, 0.964, 2.242, 0, 90, 0, 65 [SEP] 14, Plate, -0.548, 1.577, -1.693, 0, 0, 0, 55 [SEP] 15, Knife, 1.072, 1.072, -1.397, 0, 90, 0, 50 [SEP] 16, Tomato, 1.523, 1.094, 0.199, 0, 0, 0, 52 [SEP] 17, Tomato, -1.423, 1.764, 2.331, 0, 90, 0, 65 [SEP] 18, SoapBottle, -0.432, 1.047, -1.289, 0, 0, 0, 50 [SEP] 19, SaltShaker, -0.760, 0.198, -1.481, 0, 0, 0, 59 [SEP] 20, SaltShaker, 1.894, 0.199, -1.335, 0, 0, 0, 60 [SEP] 21, PepperShaker, 0.801, 0.194, -1.195, 0, 0, 0, 61 [SEP] 22, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 68 [SEP] 23, Mug, -1.194, 1.711, -1.331, 0, 0, 0, 64 [SEP] 24, SoapBottle, 0.936, 1.056, 0.281, 0, 90, 0, 48 [SEP] 25, Apple, -1.342, 1.532, 2.331, 0, 90, 0, 65 [SEP] 26, Potato, 1.181, 1.096, 0.589, 0, 0, 0, 52 [SEP] 27, Fork, -0.346, 1.047, -1.505, 0, 0, 0, 50 [SEP] 28, Kettle, -1.184, 2.029, -1.264, 0, 0, 0, 57 [SEP] 29, Pan, -0.401, 0.203, -1.481, 0, 180, 0, 59 [SEP] 30, Tomato, -1.268, 1.999, 2.153, 0, 90, 0, 65 [SEP] 31, SaltShaker, -0.580, 0.198, -1.625, 0, 0, 0, 59 [SEP] 32, Egg, 1.514, 1.097, 0.763, 0, 0, 0, 52 [SEP] 33, Cup, -1.276, 1.713, 2.153, 0, 90, 0, 65 [SEP] 34, Spatula, 1.347, 1.058, 0.720, 0, 0, 0, 52 [SEP] 35, Knife, 0.877, 1.042, -1.362, 90, 315, 0, 50 [SEP] 36, Lettuce, 1.155, 1.106, -1.612, 0, 0, 0, 50 [SEP] 37, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 52 [SEP] 38, PepperShaker, 0.712, 0.194, -1.339, 0, 0, 0, 61 [SEP] 39, DishSponge, -0.030, 1.042, 0.630, 0, 0, 0, 52 [SEP] 40, Plate, -0.689, 1.059, -1.397, 0, 0, 0, 50 [SEP] 41, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 52 [SEP] 42, Spoon, 1.015, 1.044, 0.589, 0, 0, 0, 52 [SEP] 43, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 46 [SEP] 44, Mug, 1.790, 1.038, 0.738, 0, 0, 0, 52 [SEP] 45, Bowl, -1.183, 0.201, -1.338, 0, 0, 0, 58 [SEP] 46, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 47, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 48, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 49, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 50, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 52, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 53, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 54, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 55, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 56, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 57, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 58, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 59, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 60, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 61, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 62, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 63, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 64, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 65, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 66, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 67, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 68, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 69, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 70, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 71, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 72, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 73, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 74, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 75, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 76, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 77, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 78, NorthWall, , , , , , , [SEP] 79, EastWall, , , , , , , [SEP] 80, SouthWall, , , , , , , [SEP] 81, WestWall, , , , , , , ", "output": ["STEP 1: turn to face the stove and counter top to the left of the stove | STEP 2: open the left cabinet door below the counter, pick up the left salt shaker, close the door | STEP 3: walk right to the counter on the right of the stove | STEP 4: put the salt shaker on the counter | STEP 5: turn left, walk to face the stove and counter top to the left of the stove | STEP 6: open the left cabinet door below the counter, pick up the salt shaker, close the door | STEP 7: walk right to the counter on the right of the stove | STEP 8: put the salt shaker on the right of the counter | END"]} {"id": "trial_T20190908_121824_636387-1", "input": "Chill a piece of diced lettuce, put it back on the counter in front of a tomato. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 0.75, 0, 180, 0, [SEP] 1, Kettle, 1.688, 0.912, 1.468, 0, 0, 0, 79 [SEP] 2, ButterKnife, 2.221, 0.911, 1.129, 0, 0, 0, 79 [SEP] 3, ButterKnife, 1.688, 0.911, 1.299, 0, 0, 0, 79 [SEP] 4, Pot, 2.488, 0.915, 1.468, 0, 0, 0, 79 [SEP] 5, Spoon, 0.888, 0.900, -0.515, 0, 0, 0, 44 [SEP] 6, Spoon, 0.123, 0.766, -0.541, 0, 270, 0, 101 [SEP] 7, Fork, -0.785, 0.821, -1.473, 0, 0, 0, 103 [SEP] 8, Cup, 2.962, 1.016, -0.578, 0, 0, 0, 99 [SEP] 9, Cup, 2.838, 1.016, -0.578, 0, 0, 0, 99 [SEP] 10, Knife, 1.422, 0.944, 1.299, 0, 0, 0, 79 [SEP] 11, SoapBottle, -0.198, 0.917, 1.468, 0, 0, 0, 55 [SEP] 12, Tomato, -0.246, 0.942, 1.129, 0, 0, 0, 55 [SEP] 13, Tomato, 1.688, 0.942, 1.044, 0, 0, 0, 79 [SEP] 14, Bowl, 2.900, 1.561, -0.644, 0, 0, 0, 99 [SEP] 15, Bowl, -0.151, 0.909, 1.299, 0, 0, 0, 55 [SEP] 16, SaltShaker, -0.682, 0.817, -1.400, 0, 0, 0, 103 [SEP] 17, Lettuce, 1.955, 0.992, 1.468, 0, 0, 0, 79 [SEP] 18, Mug, -0.157, 0.760, -0.596, 0, 180, 0, 101 [SEP] 19, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 44 [SEP] 20, Apple, -2.019, 0.492, 1.417, 0, 270, 0, 97 [SEP] 21, SoapBottle, -0.785, 0.826, -1.255, 0, 0, 0, 103 [SEP] 22, Plate, 1.422, 0.914, 1.129, 0, 0, 0, 79 [SEP] 23, Fork, 2.092, 0.772, 1.160, 0, 90, 0, 75 [SEP] 24, Pot, 0.634, 0.915, -0.430, 0, 0, 0, 44 [SEP] 25, Bread, 1.038, 0.953, -0.519, 0, 1.613, 0, 44 [SEP] 26, Egg, -0.294, 0.949, 1.553, 0, 0, 0, 55 [SEP] 27, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 82 [SEP] 28, Tomato, 2.488, 0.942, 1.129, 0, 0, 0, 79 [SEP] 29, Cup, -0.887, 0.818, -1.400, 0, 0, 0, 103 [SEP] 30, Spatula, 1.155, 0.926, 1.299, 0, 0, 0, 79 [SEP] 31, Apple, 2.715, 0.795, -0.473, 0, 0, 0, 99 [SEP] 32, Pan, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 33, Lettuce, 2.221, 0.992, 1.468, 0, 0, 0, 79 [SEP] 34, SaltShaker, 0.251, 0.908, -0.302, 0, 0, 0, 44 [SEP] 35, Knife, 2.754, 0.944, 1.214, 0, 0, 0, 79 [SEP] 36, Potato, 0.634, 0.946, -0.854, 0, 0, 0, 44 [SEP] 37, PepperShaker, -1.056, 0.817, -1.257, 0, 90, 0, 103 [SEP] 38, ButterKnife, 1.902, 0.911, -0.345, 0, 0, 0, 44 [SEP] 39, Bowl, 2.838, 1.286, -0.644, 0, 0, 0, 99 [SEP] 40, DishSponge, -1.991, 0.423, 1.290, 0, 270, 0, 97 [SEP] 41, Spoon, -0.911, 0.822, -1.360, 0, 90, 0, 103 [SEP] 42, Mug, 0.363, 1.779, 1.391, 0, 90, 0, 102 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 105, NorthWall, , , , , , , [SEP] 106, EastWall, , , , , , , [SEP] 107, SouthWall, , , , , , , [SEP] 108, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk toward the end of the counter, then turn left to face it. | STEP 2: Pick up the knife from the counter. | STEP 3: Look up and face the piece of lettuce by the pot. | STEP 4: Dice up the lettuce with the knife. | STEP 5: Turn around, walk one step forward then turn back around to face the counter. | STEP 6: Put the knife down on the counter in the same spot it was before. | STEP 7: Walk one step forward to the counter. | STEP 8: Pick up the closest piece of diced lettuce. | STEP 9: Turn left, walk two steps forward then turn right and to face the black refrigerator. | STEP 10: Open the fridge, put the lettuce inside and close. The open the fridge, take the slice out and close it. | STEP 11: Turn right, walk two steps forward and turn right to face the counter. | STEP 12: Put the lettuce slice so it is resting on the front of the tomato. | END"]} {"id": "trial_T20190908_081004_973395-0", "input": "Place 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, 1.75, 0.931, -0.5, 0, 0, 0, [SEP] 1, Potato, -1.276, 1.766, 2.242, 0, 90, 0, 61 [SEP] 2, ButterKnife, 1.612, 1.043, 0.199, 0, 0, 0, 48 [SEP] 3, Kettle, 1.188, 1.566, -1.463, 0, 0, 0, 50 [SEP] 4, Pot, 1.741, 0.206, -1.262, 0, 90, 0, 56 [SEP] 5, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 47 [SEP] 6, Fork, 1.015, 1.043, 0.589, 0, 0, 0, 48 [SEP] 7, Fork, 1.514, 1.043, 0.763, 0, 0, 0, 48 [SEP] 8, Spoon, 0.160, 1.044, 0.630, 0, 0, 0, 48 [SEP] 9, Egg, 0.823, 1.101, -1.828, 0, 0, 0, 46 [SEP] 10, Egg, -0.603, 1.101, -1.181, 0, 0, 0, 46 [SEP] 11, Cup, -1.342, 1.489, 2.331, 0, 90, 0, 61 [SEP] 12, Plate, -1.349, 1.726, 1.885, 0, 90, 0, 61 [SEP] 13, Knife, 1.514, 1.069, 0.001, 0, 0, 0, 48 [SEP] 14, Knife, 0.518, 1.072, -1.086, 0, 180, 0, 46 [SEP] 15, Tomato, 1.238, 1.097, -1.612, 0, 0, 0, 46 [SEP] 16, SoapBottle, -1.105, 0.203, -1.193, 0, 90, 0, 54 [SEP] 17, SoapBottle, -1.261, 2.029, -1.191, 0, 90, 0, 53 [SEP] 18, Apple, -1.157, 1.007, 2.331, 0, 90, 0, 61 [SEP] 19, Apple, 1.151, 0.936, 0.231, 0, 90, 0, 43 [SEP] 20, SoapBottle, -0.517, 1.047, -1.289, 0, 0, 0, 46 [SEP] 21, Apple, 0.980, 1.097, 0.281, 0, 90, 0, 44 [SEP] 22, Potato, 1.854, 0.175, 2.386, 0, 270, 0, 62 [SEP] 23, Fork, 1.968, 1.043, 0.091, 0, 0, 0, 48 [SEP] 24, Kettle, 0.120, 1.053, -1.630, 0, 0, 0, 49 [SEP] 25, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 46 [SEP] 26, Tomato, -0.030, 1.094, 0.630, 0, 0, 0, 48 [SEP] 27, SaltShaker, -1.106, 2.023, -1.191, 0, 0, 0, 53 [SEP] 28, Egg, 0.936, 1.108, 0.381, 0, 90, 0, 44 [SEP] 29, Cup, -1.300, 1.228, 1.885, 0, 90, 0, 61 [SEP] 30, Spatula, 1.347, 1.058, 0.763, 0, 0, 0, 48 [SEP] 31, Knife, 1.347, 1.069, 0.632, 0, 90, 0, 48 [SEP] 32, Lettuce, 0.065, 1.103, 0.307, 0, 0, 0, 48 [SEP] 33, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 48 [SEP] 34, PepperShaker, -0.432, 1.041, -1.397, 0, 0, 0, 46 [SEP] 35, DishSponge, 1.435, 1.019, -1.191, 0, 0, 0, 52 [SEP] 36, Plate, -0.473, 1.577, -1.693, 0, 0, 0, 51 [SEP] 37, Bread, 0.405, 1.104, 0.353, 0, 337.138, 0, 48 [SEP] 38, Spoon, 0.542, 1.044, 0.415, 0, 90, 0, 48 [SEP] 39, Pot, -1.106, 2.029, -1.409, 0, 90, 0, 53 [SEP] 40, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 64 [SEP] 41, Bowl, -0.312, 0.202, -1.337, 0, 0, 0, 55 [SEP] 42, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 43, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 44, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 45, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 46, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 47, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 48, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 49, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 50, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 51, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 52, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 53, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 54, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 55, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 56, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 57, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 58, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 59, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 60, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 61, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 62, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 63, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 64, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 65, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 66, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 70, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 71, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 72, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 73, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 74, NorthWall, , , , , , , [SEP] 75, EastWall, , , , , , , [SEP] 76, SouthWall, , , , , , , [SEP] 77, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left and walk over to the stove top. | STEP 2: Grab the yellow-handled knife from the the front left side of the stove. | STEP 3: With knife in hand, turn around to the left to the loaf of bread to the left of the sink. | STEP 4: Slice the closest half of the loaf of bread on the counter. | STEP 5: Turn around to the right and face the counter with the stove top. | STEP 6: Open the second, bottom cabinet from the right-hand side. Place the knife inside. | STEP 7: Turn around to the right, facing the loaf of bread that is on the counter. | STEP 8: Pick up the closest slice of bread from the counter. | STEP 9: Turn to the left, walk to the wall, and then turn left to face the microwave. | STEP 10: Open the microwave, place the bread inside, close the door. Warm the bread, open the door, and remove the bread. Close the microwave door. | STEP 11: Back up, turn to the left and move to the counter beside the stove top, on the left of the microwave. | STEP 12: Place the slice of bread onto the counter top. | END"]} {"id": "trial_T20190908_215751_679606-1", "input": "Put an empty roll and a full roll of toilet paper in a sink cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.901, 2.5, 0, 90, 0, [SEP] 1, TissueBox, -1.416, 0.994, 3.159, 0, 0, 0, 31 [SEP] 2, TissueBox, -1.319, 0.068, 2.290, 0, 0, 0, 26 [SEP] 3, Cloth, -1.416, 0.994, 2.209, 0, 0, 0, 31 [SEP] 4, Cloth, -1.416, 0.994, 3.842, 0, 0, 0, 31 [SEP] 5, SoapBar, -1.284, 0.994, 3.041, 0, 0, 0, 31 [SEP] 6, SprayBottle, 0.286, 0.048, 3.810, 0, 0, 0, 34 [SEP] 7, SprayBottle, -1.441, 0.069, 2.857, 0, 0, 0, 30 [SEP] 8, SoapBottle, -1.547, 0.993, 3.159, 0, 0, 0, 31 [SEP] 9, SoapBottle, -1.284, 0.993, 2.269, 0, 0, 0, 31 [SEP] 10, ToiletPaper, -1.350, 0.991, 2.982, 0, 0, 0, 31 [SEP] 11, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 33 [SEP] 12, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 35 [SEP] 13, SoapBar, -1.294, 1.018, 3.562, 0, 90, 0, 44 [SEP] 14, ToiletPaper, -1.284, 0.991, 3.903, 0, 0, 0, 31 [SEP] 15, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 16, Candle, -1.441, 0.068, 2.706, 0, 0, 0, 24 [SEP] 17, TissueBox, -1.501, 0.069, 3.693, 0, 0, 0, 32 [SEP] 18, SoapBottle, -1.560, 0.067, 3.377, 0, 0, 0, 30 [SEP] 19, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 39 [SEP] 20, SprayBottle, -1.322, 0.069, 3.844, 0, 0, 0, 32 [SEP] 21, Cloth, -1.379, 0.067, 3.327, 0, 0, 0, 30 [SEP] 22, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 23, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 24, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 25, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 26, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 27, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 28, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 29, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 30, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 31, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 32, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 33, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 34, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 35, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 36, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 37, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 38, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 39, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 40, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 41, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 42, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 43, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 44, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 45, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 46, NorthWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: Go to the sinktop | STEP 2: Pick up a toilet roll | STEP 3: Go to the sink cabinet | STEP 4: Put the roll in the cabinet | STEP 5: Go to the right of the sink | STEP 6: Pick up a roll of toilet paper | STEP 7: Go to the sink cabinet | STEP 8: Put the roll in the cabinet | END"]} {"id": "trial_T20190908_215751_679606-2", "input": "Move candle and toilet paper to cabinet under sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.901, 2.5, 0, 90, 0, [SEP] 1, TissueBox, -1.416, 0.994, 3.159, 0, 0, 0, 31 [SEP] 2, TissueBox, -1.319, 0.068, 2.290, 0, 0, 0, 26 [SEP] 3, Cloth, -1.416, 0.994, 2.209, 0, 0, 0, 31 [SEP] 4, Cloth, -1.416, 0.994, 3.842, 0, 0, 0, 31 [SEP] 5, SoapBar, -1.284, 0.994, 3.041, 0, 0, 0, 31 [SEP] 6, SprayBottle, 0.286, 0.048, 3.810, 0, 0, 0, 34 [SEP] 7, SprayBottle, -1.441, 0.069, 2.857, 0, 0, 0, 30 [SEP] 8, SoapBottle, -1.547, 0.993, 3.159, 0, 0, 0, 31 [SEP] 9, SoapBottle, -1.284, 0.993, 2.269, 0, 0, 0, 31 [SEP] 10, ToiletPaper, -1.350, 0.991, 2.982, 0, 0, 0, 31 [SEP] 11, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 33 [SEP] 12, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 35 [SEP] 13, SoapBar, -1.294, 1.018, 3.562, 0, 90, 0, 44 [SEP] 14, ToiletPaper, -1.284, 0.991, 3.903, 0, 0, 0, 31 [SEP] 15, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 16, Candle, -1.441, 0.068, 2.706, 0, 0, 0, 24 [SEP] 17, TissueBox, -1.501, 0.069, 3.693, 0, 0, 0, 32 [SEP] 18, SoapBottle, -1.560, 0.067, 3.377, 0, 0, 0, 30 [SEP] 19, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 39 [SEP] 20, SprayBottle, -1.322, 0.069, 3.844, 0, 0, 0, 32 [SEP] 21, Cloth, -1.379, 0.067, 3.327, 0, 0, 0, 30 [SEP] 22, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 23, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 24, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 25, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 26, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 27, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 28, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 29, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 30, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 31, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 32, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 33, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 34, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 35, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 36, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 37, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 38, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 39, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 40, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 41, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 42, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 43, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 44, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 45, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 46, NorthWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, proceed to counter across room. | STEP 2: Pick up candle from above pink soap and left of tissue box on counter. | STEP 3: Move to right to face right side sink. | STEP 4: Open far right cabinet under sink, put candle in cabinet in front of tissue box and left of spray bottle. Close cabinet door. | STEP 5: Look up to counter to right of sink. | STEP 6: Pick up toilet paper from counter, right of sink with pink soap in it. | STEP 7: Look down to below sink. | STEP 8: Open far right cabinet, put toilet paper in cabinet between candle and spray bottle. Close cabinet door. | END"]} {"id": "trial_T20190906_185300_384511-1", "input": "Place the clock next to the pen. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.909, -2.0, 0, 270, 0, [SEP] 1, CD, -0.350, 0.029, -3.876, 0, 0, 0, 32 [SEP] 2, CellPhone, -3.750, 0.044, -2.997, 0, 0, 0, 42 [SEP] 3, Pen, -3.539, 0.985, -4.276, 0, 0, 0, 43 [SEP] 4, Pen, -3.760, 0.986, -3.472, 0, 0, 0, 43 [SEP] 5, CreditCard, -3.687, 0.979, -3.673, 0, 0, 0, 43 [SEP] 6, CreditCard, -3.694, 0.614, -4.163, 0, 0, 0, 49 [SEP] 7, Book, -3.637, 0.809, -3.278, 0, 0, 0, 50 [SEP] 8, Book, -3.402, 0.620, -1.218, 0, 0, 0, 25 [SEP] 9, AlarmClock, -0.862, 0.803, -4.246, 0, 0, 0, 40 [SEP] 10, AlarmClock, -1.270, 0.803, -3.703, 0, 0, 0, 40 [SEP] 11, AlarmClock, -1.474, 0.803, -3.703, 0, 0, 0, 40 [SEP] 12, Book, -2.770, 0.620, -1.218, 0, 0, 0, 25 [SEP] 13, CellPhone, -2.981, 0.620, -1.218, 0, 0, 0, 25 [SEP] 14, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 40 [SEP] 15, CreditCard, -0.657, 0.803, -3.811, 0, 0, 0, 40 [SEP] 16, AlarmClock, -0.453, 0.800, -3.811, 0, 0, 0, 40 [SEP] 17, KeyChain, -3.806, 0.810, -2.997, 0, 180, 0, 50 [SEP] 18, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 25 [SEP] 19, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 20, Pencil, -0.862, 0.807, -4.137, 0, 0, 0, 40 [SEP] 21, Pillow, -3.191, 0.722, -1.793, 0, 0, 0, 25 [SEP] 22, CD, -0.240, 0.542, -3.713, 0, 0, 0, 34 [SEP] 23, Pen, -0.418, 0.548, -3.713, 0, 0, 0, 34 [SEP] 24, Mug, -3.760, 0.979, -3.070, 0, 0, 0, 43 [SEP] 25, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 26, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 27, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 28, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 29, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 30, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 31, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 32, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 33, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 34, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 35, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 36, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 37, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 38, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 39, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 40, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 41, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 42, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 43, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 51, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: Go to the white table. | STEP 2: Pick up the clock on the table behind the computer. | STEP 3: Bring the clock over to the brown drawers. | STEP 4: Place the clock on the shelf next to the pen. | END"]} {"id": "trial_T20190906_185300_384511-2", "input": "Put the clock on the dresser SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.909, -2.0, 0, 270, 0, [SEP] 1, CD, -0.350, 0.029, -3.876, 0, 0, 0, 32 [SEP] 2, CellPhone, -3.750, 0.044, -2.997, 0, 0, 0, 42 [SEP] 3, Pen, -3.539, 0.985, -4.276, 0, 0, 0, 43 [SEP] 4, Pen, -3.760, 0.986, -3.472, 0, 0, 0, 43 [SEP] 5, CreditCard, -3.687, 0.979, -3.673, 0, 0, 0, 43 [SEP] 6, CreditCard, -3.694, 0.614, -4.163, 0, 0, 0, 49 [SEP] 7, Book, -3.637, 0.809, -3.278, 0, 0, 0, 50 [SEP] 8, Book, -3.402, 0.620, -1.218, 0, 0, 0, 25 [SEP] 9, AlarmClock, -0.862, 0.803, -4.246, 0, 0, 0, 40 [SEP] 10, AlarmClock, -1.270, 0.803, -3.703, 0, 0, 0, 40 [SEP] 11, AlarmClock, -1.474, 0.803, -3.703, 0, 0, 0, 40 [SEP] 12, Book, -2.770, 0.620, -1.218, 0, 0, 0, 25 [SEP] 13, CellPhone, -2.981, 0.620, -1.218, 0, 0, 0, 25 [SEP] 14, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 40 [SEP] 15, CreditCard, -0.657, 0.803, -3.811, 0, 0, 0, 40 [SEP] 16, AlarmClock, -0.453, 0.800, -3.811, 0, 0, 0, 40 [SEP] 17, KeyChain, -3.806, 0.810, -2.997, 0, 180, 0, 50 [SEP] 18, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 25 [SEP] 19, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 20, Pencil, -0.862, 0.807, -4.137, 0, 0, 0, 40 [SEP] 21, Pillow, -3.191, 0.722, -1.793, 0, 0, 0, 25 [SEP] 22, CD, -0.240, 0.542, -3.713, 0, 0, 0, 34 [SEP] 23, Pen, -0.418, 0.548, -3.713, 0, 0, 0, 34 [SEP] 24, Mug, -3.760, 0.979, -3.070, 0, 0, 0, 43 [SEP] 25, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 26, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 27, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 28, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 29, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 30, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 31, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 32, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 33, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 34, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 35, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 36, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 37, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 38, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 39, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 40, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 41, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 42, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 43, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 51, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk over to the desk | STEP 2: Pick up the clock just left of the laptop from the desk | STEP 3: Turn right and walk over to the wooden dresser | STEP 4: Put the clock down on the dresser just right of the pen | END"]} {"id": "trial_T20190907_190649_349867-0", "input": "Put a cooked tomato slice with the knife on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -0.5, 0, 90, 0, [SEP] 1, Potato, -1.991, 0.458, 1.290, 0, 270, 0, 98 [SEP] 2, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 60 [SEP] 3, ButterKnife, 0.123, 0.765, -0.707, 0, 270, 0, 102 [SEP] 4, ButterKnife, -0.694, 0.820, -1.206, 0, 90, 0, 104 [SEP] 5, Spoon, 0.123, 0.766, -0.651, 0, 0, 0, 102 [SEP] 6, Fork, 2.217, 0.771, 1.198, 0, 270, 0, 76 [SEP] 7, Spatula, 0.193, 0.780, -0.707, 0, 90, 0, 102 [SEP] 8, Cup, 1.688, 0.909, 1.299, 0, 0, 0, 80 [SEP] 9, Egg, 2.962, 1.326, -0.709, 0, 0, 0, 100 [SEP] 10, Knife, 1.688, 0.944, 1.214, 0, 0, 0, 80 [SEP] 11, SoapBottle, 1.210, 0.120, -0.383, 0, 180, 0, 53 [SEP] 12, Tomato, 1.688, 0.942, 1.553, 0, 0, 0, 80 [SEP] 13, Tomato, -1.962, 0.455, 1.417, 0, 270, 0, 98 [SEP] 14, Bowl, -0.123, 0.112, 1.196, 0, 0, 0, 73 [SEP] 15, Bowl, 1.141, 0.909, -0.430, 0, 0, 0, 45 [SEP] 16, PepperShaker, -0.103, 0.908, 1.129, 0, 0, 0, 56 [SEP] 17, Bread, 1.422, 0.969, 1.468, 0, 0, 0, 80 [SEP] 18, Bread, 2.777, 1.621, -0.578, 0, 0, 0, 100 [SEP] 19, Lettuce, 1.955, 0.992, 1.214, 0, 0, 0, 80 [SEP] 20, Lettuce, 1.955, 0.992, 1.468, 0, 0, 0, 80 [SEP] 21, Apple, -0.939, 0.889, -1.400, 0, 0, 0, 104 [SEP] 22, SoapBottle, 1.155, 0.917, 1.383, 0, 0, 0, 80 [SEP] 23, Plate, 2.838, 1.021, -0.709, 0, 0, 0, 100 [SEP] 24, Fork, 1.155, 0.912, 1.214, 0, 270, 0, 80 [SEP] 25, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 51 [SEP] 26, Bread, -0.198, 0.969, 1.299, 0, 0, 0, 56 [SEP] 27, Egg, 2.900, 1.601, -0.840, 0, 0, 0, 100 [SEP] 28, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 45 [SEP] 29, Tomato, -1.056, 0.852, -1.360, 0, 90, 0, 104 [SEP] 30, Cup, 0.570, 1.782, 1.391, 0, 180, 0, 103 [SEP] 31, Spatula, -0.682, 0.835, -1.255, 0, 90, 0, 104 [SEP] 32, Apple, 2.653, 1.357, -0.709, 0, 0, 0, 100 [SEP] 33, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 48 [SEP] 34, Lettuce, 2.754, 0.992, 1.214, 0, 0, 0, 80 [SEP] 35, SaltShaker, -0.621, 0.817, -1.155, 0, 90, 0, 104 [SEP] 36, Knife, -0.055, 0.944, 1.383, 0, 90, 0, 56 [SEP] 37, Potato, 2.962, 0.760, -0.565, 0, 0, 0, 100 [SEP] 38, PepperShaker, 2.221, 0.908, 1.044, 0, 0, 0, 80 [SEP] 39, ButterKnife, 0.634, 0.911, -0.430, 0, 0, 0, 45 [SEP] 40, Bowl, 0.178, 2.154, 1.467, 0, 0, 0, 79 [SEP] 41, DishSponge, -0.836, 0.820, -1.183, 0, 0, 0, 104 [SEP] 42, Spoon, 0.634, 0.912, -0.430, 0, 0, 0, 45 [SEP] 43, Mug, 2.156, 0.906, -0.769, 0, 0, 0, 45 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 106, NorthWall, , , , , , , [SEP] 107, EastWall, , , , , , , [SEP] 108, SouthWall, , , , , , , [SEP] 109, WestWall, , , , , , , ", "output": ["STEP 1: Move forward a few steps and turn to the table on your right. | STEP 2: Pick the knife up from the table. | STEP 3: Turn left and move between the cabinets to the tomato on the left counter. | STEP 4: Slice the tomato that's sitting on the counter. | STEP 5: Turn left and move back to the round table in the corner of the room. | STEP 6: Put the knife on the table with blade pointing away from the chair. | STEP 7: Turn left and move between the cabinets to the tomato on the left counter. | STEP 8: Pick up a tomato slice from the counter. | STEP 9: Move to the microwave on your left. | STEP 10: Cook the tomato in the microwave for a few seconds and then take it back out. | STEP 11: Turn left and move back to the round table in the corner of the room. | STEP 12: Put the tomato slice on the table towards the end of the knife closest to the chair. | END"]} {"id": "trial_T20190907_190649_349867-1", "input": "TO cut and heat a tomato slice and place it on the kitchen table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -0.5, 0, 90, 0, [SEP] 1, Potato, -1.991, 0.458, 1.290, 0, 270, 0, 98 [SEP] 2, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 60 [SEP] 3, ButterKnife, 0.123, 0.765, -0.707, 0, 270, 0, 102 [SEP] 4, ButterKnife, -0.694, 0.820, -1.206, 0, 90, 0, 104 [SEP] 5, Spoon, 0.123, 0.766, -0.651, 0, 0, 0, 102 [SEP] 6, Fork, 2.217, 0.771, 1.198, 0, 270, 0, 76 [SEP] 7, Spatula, 0.193, 0.780, -0.707, 0, 90, 0, 102 [SEP] 8, Cup, 1.688, 0.909, 1.299, 0, 0, 0, 80 [SEP] 9, Egg, 2.962, 1.326, -0.709, 0, 0, 0, 100 [SEP] 10, Knife, 1.688, 0.944, 1.214, 0, 0, 0, 80 [SEP] 11, SoapBottle, 1.210, 0.120, -0.383, 0, 180, 0, 53 [SEP] 12, Tomato, 1.688, 0.942, 1.553, 0, 0, 0, 80 [SEP] 13, Tomato, -1.962, 0.455, 1.417, 0, 270, 0, 98 [SEP] 14, Bowl, -0.123, 0.112, 1.196, 0, 0, 0, 73 [SEP] 15, Bowl, 1.141, 0.909, -0.430, 0, 0, 0, 45 [SEP] 16, PepperShaker, -0.103, 0.908, 1.129, 0, 0, 0, 56 [SEP] 17, Bread, 1.422, 0.969, 1.468, 0, 0, 0, 80 [SEP] 18, Bread, 2.777, 1.621, -0.578, 0, 0, 0, 100 [SEP] 19, Lettuce, 1.955, 0.992, 1.214, 0, 0, 0, 80 [SEP] 20, Lettuce, 1.955, 0.992, 1.468, 0, 0, 0, 80 [SEP] 21, Apple, -0.939, 0.889, -1.400, 0, 0, 0, 104 [SEP] 22, SoapBottle, 1.155, 0.917, 1.383, 0, 0, 0, 80 [SEP] 23, Plate, 2.838, 1.021, -0.709, 0, 0, 0, 100 [SEP] 24, Fork, 1.155, 0.912, 1.214, 0, 270, 0, 80 [SEP] 25, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 51 [SEP] 26, Bread, -0.198, 0.969, 1.299, 0, 0, 0, 56 [SEP] 27, Egg, 2.900, 1.601, -0.840, 0, 0, 0, 100 [SEP] 28, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 45 [SEP] 29, Tomato, -1.056, 0.852, -1.360, 0, 90, 0, 104 [SEP] 30, Cup, 0.570, 1.782, 1.391, 0, 180, 0, 103 [SEP] 31, Spatula, -0.682, 0.835, -1.255, 0, 90, 0, 104 [SEP] 32, Apple, 2.653, 1.357, -0.709, 0, 0, 0, 100 [SEP] 33, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 48 [SEP] 34, Lettuce, 2.754, 0.992, 1.214, 0, 0, 0, 80 [SEP] 35, SaltShaker, -0.621, 0.817, -1.155, 0, 90, 0, 104 [SEP] 36, Knife, -0.055, 0.944, 1.383, 0, 90, 0, 56 [SEP] 37, Potato, 2.962, 0.760, -0.565, 0, 0, 0, 100 [SEP] 38, PepperShaker, 2.221, 0.908, 1.044, 0, 0, 0, 80 [SEP] 39, ButterKnife, 0.634, 0.911, -0.430, 0, 0, 0, 45 [SEP] 40, Bowl, 0.178, 2.154, 1.467, 0, 0, 0, 79 [SEP] 41, DishSponge, -0.836, 0.820, -1.183, 0, 0, 0, 104 [SEP] 42, Spoon, 0.634, 0.912, -0.430, 0, 0, 0, 45 [SEP] 43, Mug, 2.156, 0.906, -0.769, 0, 0, 0, 45 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 106, NorthWall, , , , , , , [SEP] 107, EastWall, , , , , , , [SEP] 108, SouthWall, , , , , , , [SEP] 109, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right to face the kitchen table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn around and walk over towards the counter with 2 heads of lettuce on it. | STEP 4: Cut the tomato at the back of the counter. | STEP 5: Turn left and walk across the room, then turn left and approach the kitchen table. | STEP 6: Place the knife on the kitchen table. | STEP 7: Turn around and walk over towards the counter with 2 heads of lettuce on it. | STEP 8: Pick up a slice of tomato on the counter. | STEP 9: Step to the left and look up to face the microwave. | STEP 10: Warm the tomato slice in the microwave and then remove it. | STEP 11: Turn left and walk across the room, then turn left and approach the kitchen table. | STEP 12: Place the tomato slice on the right side of the kitchen table. | END"]} {"id": "trial_T20190908_123629_888124-1", "input": "Put the dog statuette on the small table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, -1.5, 0, 270, 0, [SEP] 1, Watch, -0.561, 0.552, -0.278, 0, 270, 0, 30 [SEP] 2, Watch, 1.807, 0.870, 0.431, 0, 90, 0, 36 [SEP] 3, KeyChain, -0.970, 0.202, -0.185, 0, 270, 0, 28 [SEP] 4, KeyChain, -0.077, 0.323, -1.917, 0, 180, 0, 32 [SEP] 5, RemoteControl, 1.766, 0.872, 0.326, 0, 90, 0, 36 [SEP] 6, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 38 [SEP] 7, KeyChain, -0.453, 0.361, -0.120, 0, 270, 0, 27 [SEP] 8, Watch, -1.012, 0.552, -0.106, 0, 270, 0, 30 [SEP] 9, Newspaper, -0.260, 0.550, -0.537, 0, 270, 0, 30 [SEP] 10, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 32 [SEP] 11, CreditCard, -0.411, 0.551, -0.623, 0, 270, 0, 30 [SEP] 12, RemoteControl, 1.206, 0.325, -0.742, 0, 0, 0, 38 [SEP] 13, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 30 [SEP] 14, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 30 [SEP] 15, Statue, -0.561, 0.562, -0.192, 0, 0, 0, 30 [SEP] 16, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 17, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 18, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 19, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 20, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 21, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 22, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 23, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 24, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 25, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 26, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 29, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 30, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 31, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 32, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 33, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 34, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 35, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 36, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 37, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 38, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk around to the far side of the coffee table, facing toward the sofa | STEP 2: Pick up the dog statuette from the coffee table | STEP 3: Turn left and walk up to the small table left of the arm chair | STEP 4: Put the dog statuette on the table | END"]} {"id": "trial_T20190918_215556_955588-2", "input": "Put a chilled tomato 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, -0.25, 0.900, 0.5, 0, 180, 0, [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 85 [SEP] 2, Potato, 2.777, 1.053, -0.840, 0, 0, 0, 102 [SEP] 3, ButterKnife, 2.221, 0.911, 1.383, 0, 0, 0, 82 [SEP] 4, ButterKnife, 0.053, 0.765, -0.596, 0, 0, 0, 104 [SEP] 5, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 62 [SEP] 6, Spoon, -0.103, 0.912, 1.468, 0, 0, 0, 58 [SEP] 7, Fork, 1.558, 0.771, -0.498, 0, 90, 0, 77 [SEP] 8, Spatula, 0.888, 0.926, -0.345, 0, 0, 0, 47 [SEP] 9, Spatula, -0.157, 0.780, -0.707, 0, 90, 0, 104 [SEP] 10, Cup, 2.591, 1.016, -0.578, 0, 0, 0, 102 [SEP] 11, Egg, -0.007, 0.949, 1.553, 0, 0, 0, 58 [SEP] 12, Knife, -0.766, 0.853, -1.257, 0, 90, 0, 106 [SEP] 13, SoapBottle, 2.479, 0.120, 1.077, 0, 0, 0, 51 [SEP] 14, Tomato, -2.048, 0.455, 1.459, 0, 270, 0, 100 [SEP] 15, SaltShaker, 1.955, 0.908, 1.468, 0, 0, 0, 82 [SEP] 16, SaltShaker, -0.007, 0.908, 1.383, 0, 0, 0, 58 [SEP] 17, PepperShaker, -0.911, 0.817, -1.411, 0, 90, 0, 106 [SEP] 18, PepperShaker, 0.654, 2.150, 1.506, 0, 0, 0, 56 [SEP] 19, Bread, 1.155, 0.969, 1.468, 0, 0, 0, 82 [SEP] 20, Lettuce, 2.754, 0.992, 1.299, 0, 0, 0, 82 [SEP] 21, Mug, -1.056, 0.815, -1.360, 0, 90, 0, 106 [SEP] 22, Mug, 2.962, 1.014, -0.840, 0, 0, 0, 102 [SEP] 23, Apple, 0.466, 1.853, 1.488, 0, 180, 0, 105 [SEP] 24, SoapBottle, 1.835, 1.660, -0.811, 0, 180, 0, 84 [SEP] 25, Plate, 2.488, 0.914, 1.383, 0, 0, 0, 82 [SEP] 26, Fork, -0.983, 0.821, -1.257, 0, 90, 0, 106 [SEP] 27, Pot, 1.955, 0.915, 1.129, 0, 0, 0, 82 [SEP] 28, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 47 [SEP] 29, Egg, -0.055, 0.949, 1.044, 0, 0, 0, 58 [SEP] 30, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 47 [SEP] 31, Tomato, -0.682, 0.852, -1.473, 0, 0, 0, 106 [SEP] 32, Cup, 2.838, 1.286, -0.709, 0, 0, 0, 102 [SEP] 33, Spatula, 2.156, 0.926, -0.854, 0, 90, 0, 47 [SEP] 34, Apple, 0.193, 0.834, -0.762, 0, 0, 0, 104 [SEP] 35, Pan, 1.688, 0.911, 1.468, 0, 0, 0, 82 [SEP] 36, Lettuce, -0.151, 0.992, 1.299, 0, 0, 0, 58 [SEP] 37, SaltShaker, -0.294, 0.908, 1.468, 0, 0, 0, 58 [SEP] 38, Knife, -0.836, 0.853, -1.328, 0, 180, 0, 106 [SEP] 39, Potato, 2.777, 1.053, -0.447, 0, 0, 0, 102 [SEP] 40, PepperShaker, -0.164, 1.650, 1.546, 0, 0, 0, 73 [SEP] 41, ButterKnife, 1.902, 0.911, -0.345, 0, 0, 0, 47 [SEP] 42, Bowl, 2.838, 1.561, -0.775, 0, 0, 0, 102 [SEP] 43, DishSponge, 2.173, 0.770, -0.498, 0, 180, 0, 60 [SEP] 44, Spoon, 2.156, 0.912, -0.345, 0, 0, 0, 47 [SEP] 45, Mug, -0.694, 0.815, -1.360, 0, 90, 0, 106 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 108, NorthWall, , , , , , , [SEP] 109, EastWall, , , , , , , [SEP] 110, SouthWall, , , , , , , [SEP] 111, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, go towards the window, turn right, go to the blue bin ahead. | STEP 2: Take the tomato from the bin. | STEP 3: Turn right, go towards the wall, turn right, go to the fridge ahead. | STEP 4: Chill the tomato on the top shelf on the right side of the fridge. Take the tomato from the fridge. | STEP 5: Turn right, go forward, turn left at the sink, go to the sink. | STEP 6: Put the tomato in the sink. | END"]} {"id": "trial_T20190908_041349_586641-1", "input": "Put a warmed apple in the compost bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.5, 0.900, 0.75, 0, 270, 0, [SEP] 1, Potato, 2.653, 1.598, -0.447, 0, 0, 0, 105 [SEP] 2, Potato, -0.911, 0.855, -1.257, 0, 90, 0, 109 [SEP] 3, DishSponge, -0.151, 0.911, 1.468, 0, 0, 0, 61 [SEP] 4, DishSponge, 1.804, 1.655, 1.468, 0, 0, 0, 62 [SEP] 5, ButterKnife, -0.839, 0.820, -1.206, 0, 90, 0, 109 [SEP] 6, Spoon, 1.869, 0.772, -0.422, 0, 180, 0, 64 [SEP] 7, Fork, 0.053, 0.766, -0.596, 0, 180, 0, 107 [SEP] 8, Spatula, 2.488, 0.926, 1.044, 0, 0, 0, 85 [SEP] 9, Spatula, 1.155, 0.926, 1.299, 0, 0, 0, 85 [SEP] 10, Cup, 1.945, 1.652, -0.811, 0, 180, 0, 87 [SEP] 11, Egg, 2.900, 0.764, -0.565, 0, 0, 0, 105 [SEP] 12, Egg, 0.193, 0.803, -0.651, 0, 0, 0, 107 [SEP] 13, Knife, 1.955, 0.944, 1.383, 0, 0, 0, 85 [SEP] 14, Knife, 0.888, 0.944, -0.684, 0, 270, 0, 50 [SEP] 15, SoapBottle, 1.597, 1.661, -0.810, 0, 180, 0, 72 [SEP] 16, Tomato, 0.193, 0.797, -0.541, 0, 0, 0, 107 [SEP] 17, Tomato, -1.991, 0.455, 1.290, 0, 270, 0, 103 [SEP] 18, Bowl, 0.888, 0.909, -0.430, 0, 0, 0, 50 [SEP] 19, SaltShaker, 1.955, 0.908, 1.044, 0, 0, 0, 85 [SEP] 20, SaltShaker, 0.065, 1.651, -0.810, 0, 180, 0, 90 [SEP] 21, PepperShaker, 1.155, 0.908, 1.468, 0, 0, 0, 85 [SEP] 22, Bread, 1.422, 0.969, 1.468, 0, 0, 0, 85 [SEP] 23, Lettuce, 2.777, 1.644, -0.644, 0, 0, 0, 105 [SEP] 24, Lettuce, 2.221, 0.992, 1.214, 0, 0, 0, 85 [SEP] 25, Mug, -1.056, 0.815, -1.257, 0, 270, 0, 109 [SEP] 26, Apple, -0.246, 0.980, 1.383, 0, 0, 0, 61 [SEP] 27, SoapBottle, 2.272, 0.120, -0.498, 0, 180, 0, 91 [SEP] 28, Plate, 2.838, 1.021, -0.709, 0, 0, 0, 105 [SEP] 29, Fork, -0.621, 0.821, -1.257, 0, 90, 0, 109 [SEP] 30, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 56 [SEP] 31, Bread, 2.754, 0.969, 1.214, 0, 0, 0, 85 [SEP] 32, Egg, 1.422, 0.949, 1.299, 0, 0, 0, 85 [SEP] 33, Kettle, 2.513, 0.116, 1.117, 0, 0, 0, 54 [SEP] 34, Tomato, -0.990, 0.852, -1.400, 0, 0, 0, 109 [SEP] 35, Cup, -0.017, 0.763, -0.541, 0, 0, 0, 107 [SEP] 36, Spatula, 1.955, 0.926, 1.214, 0, 0, 0, 85 [SEP] 37, Apple, -0.246, 0.980, 1.044, 0, 0, 0, 61 [SEP] 38, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 53 [SEP] 39, Lettuce, 2.488, 0.992, 1.468, 0, 0, 0, 85 [SEP] 40, SaltShaker, 2.837, 0.110, 1.156, 0, 0, 0, 82 [SEP] 41, Knife, -0.103, 0.944, 1.383, 0, 0, 0, 61 [SEP] 42, Potato, 1.688, 0.946, 1.044, 0, 0, 0, 85 [SEP] 43, PepperShaker, 2.138, 1.651, -0.835, 0, 180, 0, 71 [SEP] 44, ButterKnife, 1.422, 0.911, 1.129, 0, 0, 0, 85 [SEP] 45, Bowl, -0.734, 0.818, -1.400, 0, 0, 0, 109 [SEP] 46, DishSponge, 1.917, 1.655, 1.507, 0, 0, 0, 62 [SEP] 47, Spoon, 1.209, 0.773, 1.198, 0, 0, 0, 95 [SEP] 48, Mug, 2.208, 1.650, -0.725, 0, 180, 0, 71 [SEP] 49, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 50, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 51, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 52, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 53, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 54, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 55, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 56, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 57, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 58, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 59, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 60, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 61, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 62, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 63, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 64, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 65, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 66, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 67, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 68, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 69, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 70, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 71, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 72, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 73, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 77, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 78, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 80, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 81, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 83, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 84, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 85, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 86, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 87, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 88, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 89, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 90, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 91, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 92, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 93, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 94, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 95, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 96, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 97, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 99, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 100, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 101, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 102, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 103, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 104, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 105, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 106, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 107, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 108, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 109, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 110, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 111, NorthWall, , , , , , , [SEP] 112, EastWall, , , , , , , [SEP] 113, SouthWall, , , , , , , [SEP] 114, WestWall, , , , , , , ", "output": ["STEP 1: Go to the counter on the left of the stove. | STEP 2: Pick up the apple closest to the wall. | STEP 3: Take the apple to the microwave. | STEP 4: Heat the apple in the microwave. | STEP 5: Go left past the door on the right to the compost bin. | STEP 6: Put the hot apple in the compost bin. | END"]} {"id": "trial_T20190908_010002_441405-0", "input": "Slice both potatoes 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, 0.931, -0.5, 0, 0, 0, [SEP] 1, Potato, 1.701, 1.096, 0.522, 0, 0, 0, 44 [SEP] 2, Potato, -1.047, 1.769, -1.269, 0, 270, 0, 56 [SEP] 3, ButterKnife, -0.603, 1.046, -1.397, 0, 0, 0, 42 [SEP] 4, Pot, 0.960, 1.566, -1.463, 0, 270, 0, 46 [SEP] 5, Fork, 0.160, 1.043, 0.630, 0, 0, 0, 44 [SEP] 6, Spoon, 1.347, 1.044, 0.589, 0, 0, 0, 44 [SEP] 7, Spatula, -0.775, 1.061, -1.828, 0, 90, 0, 42 [SEP] 8, Egg, -0.346, 1.101, -1.720, 0, 0, 0, 42 [SEP] 9, Egg, 0.848, 1.108, 0.281, 0, 90, 0, 40 [SEP] 10, Plate, 1.588, 0.217, -1.553, 0, 0, 0, 52 [SEP] 11, Plate, -1.184, 2.041, -1.482, 0, 0, 0, 49 [SEP] 12, Bowl, -1.300, 1.227, 1.974, 0, 90, 0, 57 [SEP] 13, SaltShaker, 1.588, 0.199, -1.262, 0, 0, 0, 52 [SEP] 14, Mug, -1.419, 1.484, 1.974, 0, 90, 0, 57 [SEP] 15, Apple, -1.126, 1.007, 2.153, 0, 90, 0, 57 [SEP] 16, SoapBottle, 1.854, 0.123, 2.386, 0, 270, 0, 58 [SEP] 17, Apple, -1.250, 1.991, 2.242, 0, 90, 0, 57 [SEP] 18, Potato, 0.065, 1.096, 0.199, 0, 0, 0, 44 [SEP] 19, Fork, 1.015, 1.043, 0.720, 0, 0, 0, 44 [SEP] 20, Kettle, 1.158, 0.200, -1.484, 0, 0, 0, 53 [SEP] 21, Pan, 1.589, 1.019, -1.484, 0, 180, 0, 48 [SEP] 22, Tomato, -1.103, 1.279, 2.242, 0, 90, 0, 57 [SEP] 23, SaltShaker, 1.155, 1.041, -1.397, 0, 0, 0, 42 [SEP] 24, Egg, -1.064, 1.018, 2.242, 0, 90, 0, 57 [SEP] 25, Cup, -0.548, 1.565, -1.470, 0, 0, 0, 47 [SEP] 26, Spatula, -0.346, 1.061, -1.397, 0, 0, 0, 42 [SEP] 27, Knife, 1.514, 1.069, 0.807, 0, 0, 0, 44 [SEP] 28, Lettuce, 0.682, 1.103, 0.676, 0, 0, 0, 44 [SEP] 29, ButterKnife, 1.701, 1.043, 0.738, 0, 0, 0, 44 [SEP] 30, PepperShaker, -0.699, 1.560, -1.693, 0, 0, 0, 47 [SEP] 31, DishSponge, -1.183, 0.202, -1.338, 0, 0, 0, 50 [SEP] 32, Plate, 0.890, 0.212, -1.412, 0, 0, 0, 53 [SEP] 33, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 44 [SEP] 34, Spoon, 1.181, 1.044, 0.676, 0, 0, 0, 44 [SEP] 35, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 45 [SEP] 36, Mug, -0.491, 0.198, -1.625, 0, 0, 0, 51 [SEP] 37, Bowl, -0.670, 0.202, -1.553, 0, 0, 0, 51 [SEP] 38, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 39, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 40, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 41, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 42, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 43, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 44, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 45, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 46, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 47, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 48, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 49, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 50, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 51, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 52, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 53, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 54, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 55, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 56, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 57, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 58, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 59, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 60, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 61, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 62, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 63, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 64, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 65, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 66, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 67, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 68, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 69, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 70, NorthWall, , , , , , , [SEP] 71, EastWall, , , , , , , [SEP] 72, SouthWall, , , , , , , [SEP] 73, WestWall, , , , , , , ", "output": ["STEP 1: Walk towards the counter on the left | STEP 2: Grab a knife from the counter | STEP 3: Walk with the knife towards the sink | STEP 4: Put the knife on the sink and open the water | STEP 5: Grab the knife from the sink and put it back in again | STEP 6: Walk towards the microwave on top of the counter | STEP 7: Open the microwave and grab a potato from the microwave | STEP 8: Walk with the potato towards the sink | STEP 9: Put the potato in the sink | STEP 10: Grab the knife from the sink | STEP 11: Slice the potato in the sink | STEP 12: Put the knife in the sink | STEP 13: Turn left towards the counter | STEP 14: Grab the potato from the counter | STEP 15: Walk towards the sink | STEP 16: Put the potato in the sink | STEP 17: Grab the knife from the sink | STEP 18: Slice the potato in the sink | END"]} {"id": "trial_T20190911_001259_562963-2", "input": "Move two pencils from a wastebasket to a table in a bedroom. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.909, -3.0, 0, 90, 0, [SEP] 1, CD, -0.249, 0.799, -4.029, 0, 0, 0, 34 [SEP] 2, CD, -3.637, 0.045, -3.790, 0, 0, 0, 42 [SEP] 3, Pencil, -1.878, 0.065, -3.920, 0, 9.990, 0, 23 [SEP] 4, AlarmClock, -3.834, 0.979, -3.673, 0, 0, 0, 37 [SEP] 5, AlarmClock, -3.687, 0.981, -3.472, 0, 0, 0, 37 [SEP] 6, Book, -0.862, 0.804, -4.029, 0, 0, 0, 34 [SEP] 7, CellPhone, -2.559, 0.620, -0.643, 0, 0, 0, 19 [SEP] 8, Laptop, -2.981, 0.618, -0.931, 0, 0, 0, 19 [SEP] 9, CreditCard, -3.582, 0.614, -4.255, 0, 0, 0, 43 [SEP] 10, AlarmClock, -3.7, 0.973, -3.093, 0, 56.085, 0, 37 [SEP] 11, KeyChain, -0.240, 0.543, -3.694, 0, 0, 0, 28 [SEP] 12, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 19 [SEP] 13, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 14, Pencil, -1.874, 0.066, -3.897, 0, 9.990, 0, 23 [SEP] 15, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 19 [SEP] 16, CD, -1.066, 0.799, -4.137, 0, 0, 0, 34 [SEP] 17, Pen, -0.453, 0.805, -4.246, 0, 0, 0, 34 [SEP] 18, Mug, -3.687, 0.977, -4.276, 0, 0, 0, 37 [SEP] 19, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 20, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 21, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 22, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 23, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 24, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 25, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 26, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 27, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 28, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 29, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 30, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 31, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 32, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 33, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 34, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 35, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 36, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 37, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 38, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 39, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 40, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 41, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 42, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 46, NorthWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: Face the opposite direction and go beyond the end of the table to your left, then turn to face the end of the table with the lamp. | STEP 2: Take a pencil out of the wastebasket under the end of the table. | STEP 3: Go around clockwise to the center of the table. | STEP 4: Put the pencil on the table to the right of the brown drawers, a few inches from the front edge, parallel with the edge. | STEP 5: Go back to the wastebasket at the end of the table. | STEP 6: Take another pencil out of the wastebasket. | STEP 7: Carry the pencil to the front of the table. | STEP 8: Put the pencil on the table, touching the back center of the other pencil, and pointing toward the wall. | END"]} {"id": "trial_T20190918_165613_395710-0", "input": "get the pencil from the trash can then put it on the dresser SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.909, -0.75, 0, 0, 0, [SEP] 1, Mug, -1.066, 0.801, -4.246, 0, 0, 0, 40 [SEP] 2, CD, -1.831, 0.063, -3.929, 0, 279.990, 0, 29 [SEP] 3, CellPhone, -1.474, 0.800, -3.920, 0, 0, 0, 40 [SEP] 4, CellPhone, -0.453, 0.803, -4.029, 0, 0, 0, 40 [SEP] 5, Pen, -3.834, 0.986, -3.673, 0, 0, 0, 43 [SEP] 6, Pencil, -1.865, 0.065, -3.849, 0, 9.990, 0, 29 [SEP] 7, Book, -1.270, 0.804, -4.246, 0, 0, 0, 40 [SEP] 8, Laptop, -2.770, 0.618, -1.506, 0, 0, 0, 25 [SEP] 9, Laptop, -3.402, 0.618, -1.793, 0, 0, 0, 25 [SEP] 10, AlarmClock, -1.474, 0.803, -3.703, 0, 0, 0, 40 [SEP] 11, AlarmClock, -3.539, 0.981, -4.276, 0, 0, 0, 43 [SEP] 12, Book, -0.249, 0.804, -4.029, 0, 0, 0, 40 [SEP] 13, CellPhone, -3.638, 0.225, -3.278, 0, 0, 0, 45 [SEP] 14, Laptop, -3.687, 0.979, -3.070, 0, 0, 0, 43 [SEP] 15, CreditCard, -0.862, 0.803, -3.920, 0, 0, 0, 40 [SEP] 16, AlarmClock, -3.539, 0.979, -3.874, 0, 0, 0, 43 [SEP] 17, KeyChain, -1.066, 0.800, -3.703, 0, 0, 0, 40 [SEP] 18, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 25 [SEP] 19, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 20, Pencil, -0.685, 0.546, -3.731, 0, 0, 0, 34 [SEP] 21, Pillow, -2.770, 0.722, -0.931, 0, 0, 0, 25 [SEP] 22, CD, -0.507, 0.542, -3.713, 0, 0, 0, 34 [SEP] 23, Pen, -3.613, 0.986, -3.673, 0, 0, 0, 43 [SEP] 24, Mug, -0.862, 0.801, -4.029, 0, 0, 0, 40 [SEP] 25, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 26, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 27, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 28, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 29, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 30, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 31, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 32, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 33, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 34, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 35, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 36, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 37, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 38, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 39, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 40, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 41, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 42, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 43, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 51, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: walk over to the trash can under the table | STEP 2: take the pencil out of the trash can | STEP 3: take the pencil to the dresser | STEP 4: set the pencil on the dresser | END"]} {"id": "trial_T20190908_070336_009913-1", "input": "Put the pan with 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, 0.0, 0.900, 0.0, 0, 270, 0, [SEP] 1, DishSponge, -0.053, 1.654, 1.394, 0, 0, 0, 70 [SEP] 2, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 59 [SEP] 3, Spoon, 1.155, 0.912, 1.214, 0, 0, 0, 79 [SEP] 4, Spoon, -0.694, 0.822, -1.308, 0, 90, 0, 103 [SEP] 5, Fork, 0.634, 0.912, -0.345, 0, 0, 0, 44 [SEP] 6, Fork, 1.831, 0.771, 1.198, 0, 270, 0, 77 [SEP] 7, Spatula, 2.754, 0.926, 1.044, 0, 0, 0, 79 [SEP] 8, Plate, 1.422, 0.914, 1.299, 0, 0, 0, 79 [SEP] 9, Cup, 2.838, 1.016, -0.512, 0, 0, 0, 99 [SEP] 10, Cup, -1.056, 0.818, -1.155, 0, 90, 0, 103 [SEP] 11, Egg, 2.591, 0.762, -0.535, 0, 0, 0, 99 [SEP] 12, Knife, 0.634, 0.944, -0.684, 0, 0, 0, 44 [SEP] 13, SoapBottle, 1.488, 0.120, 1.193, 0, 0, 0, 73 [SEP] 14, Bowl, 2.173, 1.653, -0.762, 0, 180, 0, 65 [SEP] 15, Bowl, 2.838, 1.561, -0.775, 0, 0, 0, 99 [SEP] 16, SaltShaker, 0.337, 2.153, 1.467, 0, 0, 0, 78 [SEP] 17, PepperShaker, 1.688, 0.908, 1.553, 0, 0, 0, 79 [SEP] 18, PepperShaker, 1.902, 0.908, -0.430, 0, 0, 0, 44 [SEP] 19, Bread, -0.151, 0.969, 1.214, 0, 0, 0, 55 [SEP] 20, Bread, 2.488, 0.969, 1.129, 0, 0, 0, 79 [SEP] 21, SoapBottle, -1.056, 0.826, -1.360, 0, 90, 0, 103 [SEP] 22, Plate, 2.754, 0.914, 1.468, 0, 0, 0, 79 [SEP] 23, Fork, 2.930, 0.771, 1.122, 0, 90, 0, 88 [SEP] 24, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 25, Bread, 1.155, 0.969, 1.468, 0, 0, 0, 79 [SEP] 26, Egg, 0.518, 1.822, 1.455, 0, 180, 0, 102 [SEP] 27, Kettle, 1.522, 0.116, -0.458, 0, 180, 0, 52 [SEP] 28, Tomato, -1.933, 0.455, 1.375, 0, 270, 0, 97 [SEP] 29, Cup, 0.415, 1.782, 1.391, 0, 180, 0, 102 [SEP] 30, Spatula, -0.911, 0.835, -1.411, 0, 180, 0, 103 [SEP] 31, Apple, -0.103, 0.980, 1.553, 0, 0, 0, 55 [SEP] 32, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 47 [SEP] 33, Lettuce, 2.917, 1.345, -0.613, 15.747, 3.884, 15.543, 99 [SEP] 34, SaltShaker, -0.621, 0.817, -1.206, 0, 90, 0, 103 [SEP] 35, Knife, -0.785, 0.853, -1.473, 0, 0, 0, 103 [SEP] 36, Potato, -0.785, 0.855, -1.255, 0, 0, 0, 103 [SEP] 37, PepperShaker, 0.581, 1.650, -0.658, 0, 180, 0, 83 [SEP] 38, ButterKnife, 1.955, 0.911, 1.129, 0, 0, 0, 79 [SEP] 39, Bowl, 1.917, 1.653, 1.507, 0, 0, 0, 56 [SEP] 40, DishSponge, 2.221, 0.911, 1.553, 0, 0, 0, 79 [SEP] 41, Spoon, -1.056, 0.822, -1.257, 0, 90, 0, 103 [SEP] 42, Mug, 1.097, 1.649, -0.849, 0, 180, 0, 46 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 105, NorthWall, , , , , , , [SEP] 106, EastWall, , , , , , , [SEP] 107, SouthWall, , , , , , , [SEP] 108, WestWall, , , , , , , ", "output": ["STEP 1: Turn right walk forward face to left on the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn left then head to the stove | STEP 4: Put the knife in the pan on the stove | STEP 5: Pick up the pan with knife | STEP 6: Turn left then head to the sink | STEP 7: Put the pan with knife in the sink | END"]} {"id": "trial_T20190908_070336_009913-2", "input": "place a pan with a knife 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, 0.0, 0.900, 0.0, 0, 270, 0, [SEP] 1, DishSponge, -0.053, 1.654, 1.394, 0, 0, 0, 70 [SEP] 2, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 59 [SEP] 3, Spoon, 1.155, 0.912, 1.214, 0, 0, 0, 79 [SEP] 4, Spoon, -0.694, 0.822, -1.308, 0, 90, 0, 103 [SEP] 5, Fork, 0.634, 0.912, -0.345, 0, 0, 0, 44 [SEP] 6, Fork, 1.831, 0.771, 1.198, 0, 270, 0, 77 [SEP] 7, Spatula, 2.754, 0.926, 1.044, 0, 0, 0, 79 [SEP] 8, Plate, 1.422, 0.914, 1.299, 0, 0, 0, 79 [SEP] 9, Cup, 2.838, 1.016, -0.512, 0, 0, 0, 99 [SEP] 10, Cup, -1.056, 0.818, -1.155, 0, 90, 0, 103 [SEP] 11, Egg, 2.591, 0.762, -0.535, 0, 0, 0, 99 [SEP] 12, Knife, 0.634, 0.944, -0.684, 0, 0, 0, 44 [SEP] 13, SoapBottle, 1.488, 0.120, 1.193, 0, 0, 0, 73 [SEP] 14, Bowl, 2.173, 1.653, -0.762, 0, 180, 0, 65 [SEP] 15, Bowl, 2.838, 1.561, -0.775, 0, 0, 0, 99 [SEP] 16, SaltShaker, 0.337, 2.153, 1.467, 0, 0, 0, 78 [SEP] 17, PepperShaker, 1.688, 0.908, 1.553, 0, 0, 0, 79 [SEP] 18, PepperShaker, 1.902, 0.908, -0.430, 0, 0, 0, 44 [SEP] 19, Bread, -0.151, 0.969, 1.214, 0, 0, 0, 55 [SEP] 20, Bread, 2.488, 0.969, 1.129, 0, 0, 0, 79 [SEP] 21, SoapBottle, -1.056, 0.826, -1.360, 0, 90, 0, 103 [SEP] 22, Plate, 2.754, 0.914, 1.468, 0, 0, 0, 79 [SEP] 23, Fork, 2.930, 0.771, 1.122, 0, 90, 0, 88 [SEP] 24, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 25, Bread, 1.155, 0.969, 1.468, 0, 0, 0, 79 [SEP] 26, Egg, 0.518, 1.822, 1.455, 0, 180, 0, 102 [SEP] 27, Kettle, 1.522, 0.116, -0.458, 0, 180, 0, 52 [SEP] 28, Tomato, -1.933, 0.455, 1.375, 0, 270, 0, 97 [SEP] 29, Cup, 0.415, 1.782, 1.391, 0, 180, 0, 102 [SEP] 30, Spatula, -0.911, 0.835, -1.411, 0, 180, 0, 103 [SEP] 31, Apple, -0.103, 0.980, 1.553, 0, 0, 0, 55 [SEP] 32, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 47 [SEP] 33, Lettuce, 2.917, 1.345, -0.613, 15.747, 3.884, 15.543, 99 [SEP] 34, SaltShaker, -0.621, 0.817, -1.206, 0, 90, 0, 103 [SEP] 35, Knife, -0.785, 0.853, -1.473, 0, 0, 0, 103 [SEP] 36, Potato, -0.785, 0.855, -1.255, 0, 0, 0, 103 [SEP] 37, PepperShaker, 0.581, 1.650, -0.658, 0, 180, 0, 83 [SEP] 38, ButterKnife, 1.955, 0.911, 1.129, 0, 0, 0, 79 [SEP] 39, Bowl, 1.917, 1.653, 1.507, 0, 0, 0, 56 [SEP] 40, DishSponge, 2.221, 0.911, 1.553, 0, 0, 0, 79 [SEP] 41, Spoon, -1.056, 0.822, -1.257, 0, 90, 0, 103 [SEP] 42, Mug, 1.097, 1.649, -0.849, 0, 180, 0, 46 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 105, NorthWall, , , , , , , [SEP] 106, EastWall, , , , , , , [SEP] 107, SouthWall, , , , , , , [SEP] 108, WestWall, , , , , , , ", "output": ["STEP 1: turn around and head to the table | STEP 2: pick up a knife from the table | STEP 3: turn left and head to the gas | STEP 4: drop the knife on the pan on the gas | STEP 5: pick up the pan from the gas | STEP 6: turn around and head to the sink | STEP 7: place the pan in the sink | END"]} {"id": "trial_T20190907_004241_789221-1", "input": "Microwave a tomato, 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, 0.931, -0.25, 0, 180, 0, [SEP] 1, Potato, -0.260, 1.100, -1.720, 0, 0, 0, 47 [SEP] 2, Potato, -1.423, 1.766, 2.063, 0, 90, 0, 62 [SEP] 3, DishSponge, 1.512, 1.019, -1.630, 0, 0, 0, 53 [SEP] 4, DishSponge, 1.854, 0.122, 2.386, 0, 270, 0, 63 [SEP] 5, ButterKnife, -0.177, 1.046, -1.118, 0, 0, 0, 47 [SEP] 6, Kettle, 0.000, 1.057, -1.4, 0, 0, 0, 46 [SEP] 7, Pot, -1.261, 2.029, -1.555, 0, 270, 0, 54 [SEP] 8, Fork, 0.657, 1.047, -1.129, 0, 0, 0, 47 [SEP] 9, Fork, -0.517, 1.047, -1.397, 0, 0, 0, 47 [SEP] 10, Spoon, -0.689, 1.048, -1.181, 0, 0, 0, 47 [SEP] 11, Egg, -1.250, 2.002, 2.242, 0, 90, 0, 62 [SEP] 12, Tomato, -1.366, 1.279, 2.153, 0, 90, 0, 62 [SEP] 13, Bowl, -1.300, 1.227, 1.885, 0, 90, 0, 62 [SEP] 14, Bowl, -1.095, 0.962, 2.242, 0, 90, 0, 62 [SEP] 15, SaltShaker, -0.398, 1.560, -1.693, 0, 0, 0, 52 [SEP] 16, SaltShaker, -0.030, 1.038, 0.630, 0, 0, 0, 49 [SEP] 17, PepperShaker, -1.416, 2.023, -1.264, 0, 0, 0, 54 [SEP] 18, Mug, -1.126, 0.959, 1.885, 0, 90, 0, 62 [SEP] 19, Mug, -1.261, 2.023, -1.337, 0, 0, 0, 54 [SEP] 20, Apple, -1.145, 1.759, -1.300, 0, 0, 0, 61 [SEP] 21, SoapBottle, -0.312, 0.204, -1.625, 0, 0, 0, 56 [SEP] 22, Apple, 0.980, 1.097, 0.080, 0, 90, 0, 45 [SEP] 23, Potato, -1.264, 1.542, 2.153, 0, 90, 0, 62 [SEP] 24, Fork, 1.072, 1.047, -1.181, 0, 0, 0, 47 [SEP] 25, Kettle, 0.960, 1.566, -1.463, 0, 0, 0, 51 [SEP] 26, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 47 [SEP] 27, Tomato, 0.848, 1.105, 0.331, 0, 90, 0, 45 [SEP] 28, SaltShaker, 1.347, 1.038, 0.763, 0, 0, 0, 49 [SEP] 29, Egg, 1.015, 1.097, 0.763, 0, 0, 0, 49 [SEP] 30, Cup, -1.312, 1.713, 1.885, 0, 90, 0, 62 [SEP] 31, Spatula, -0.296, 1.053, -1.277, 0, 255.000, 0, 47 [SEP] 32, Knife, 0.805, 1.079, 0.281, 0, 270, 0, 45 [SEP] 33, Lettuce, 1.181, 1.103, 0.720, 0, 0, 0, 49 [SEP] 34, ButterKnife, -0.689, 1.046, -1.289, 0, 0, 0, 47 [SEP] 35, PepperShaker, -0.949, 0.197, -1.482, 0, 0, 0, 55 [SEP] 36, DishSponge, 0.801, 0.199, -1.484, 0, 0, 0, 58 [SEP] 37, Plate, 1.820, 1.032, -1.264, 0, 0, 0, 53 [SEP] 38, Bread, 0.406, 1.104, 0.353, 0, 337.138, 0, 49 [SEP] 39, Spoon, 0.071, 1.031, 0.229, 0, 0, 0, 49 [SEP] 40, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 43 [SEP] 41, Mug, -1.047, 1.711, -1.300, 0, 90, 0, 61 [SEP] 42, Bowl, 1.589, 1.018, -1.337, 0, 0, 0, 53 [SEP] 43, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 44, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 45, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 46, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 47, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 48, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 49, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 50, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 51, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 52, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 53, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 54, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 55, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 56, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 57, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 58, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 59, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 60, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 61, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 62, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 63, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 64, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 65, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 66, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 70, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 71, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 72, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 73, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 74, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 75, NorthWall, , , , , , , [SEP] 76, EastWall, , , , , , , [SEP] 77, SouthWall, , , , , , , [SEP] 78, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and face the sink. | STEP 2: Pick up the tomato on the counter. | STEP 3: Turn left, then walk to the wall and turn left again to face the oven. | STEP 4: Place the tomato in the microwave, turn it on, then take it out when it's done. | STEP 5: Turn left and face the counter on the right. | STEP 6: Place the tomato on the counter. | END"]} {"id": "trial_T20190906_184649_964773-2", "input": "Put the heated glass up in the third cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 0.5, 0, 0, 0, [SEP] 1, Potato, 2.715, 1.323, -0.840, 0, 0, 0, 96 [SEP] 2, Potato, 2.900, 1.598, -0.775, 0, 0, 0, 96 [SEP] 3, ButterKnife, -0.983, 0.820, -1.257, 0, 90, 0, 100 [SEP] 4, ButterKnife, 2.156, 0.911, -0.769, 0, 0, 0, 41 [SEP] 5, Spoon, 0.053, 0.766, -0.651, 0, 90, 0, 98 [SEP] 6, Spatula, 0.054, 0.926, -0.302, 0, 180, 0, 41 [SEP] 7, Spatula, -0.157, 0.780, -0.596, 0, 270, 0, 98 [SEP] 8, Cup, 0.193, 0.763, -0.762, 0, 0, 0, 98 [SEP] 9, Cup, -0.017, 0.763, -0.651, 0, 0, 0, 98 [SEP] 10, Egg, 2.653, 0.764, -0.473, 0, 0, 0, 96 [SEP] 11, Knife, 2.221, 0.944, 1.044, 0, 0, 0, 76 [SEP] 12, Knife, 1.688, 0.944, 1.468, 0, 0, 0, 76 [SEP] 13, SaltShaker, 1.281, 1.650, -0.811, 0, 180, 0, 63 [SEP] 14, Lettuce, -0.939, 0.901, -1.400, 0, 0, 0, 100 [SEP] 15, Lettuce, 2.754, 0.992, 1.299, 0, 0, 0, 76 [SEP] 16, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 41 [SEP] 17, Mug, 1.155, 0.906, 1.553, 0, 0, 0, 76 [SEP] 18, SoapBottle, 1.254, 1.661, 1.390, 0, 0, 0, 68 [SEP] 19, Plate, 0.231, 2.159, 1.467, 0, 0, 0, 75 [SEP] 20, Fork, 1.208, 0.772, -0.498, 0, 90, 0, 60 [SEP] 21, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 56 [SEP] 22, Bread, 0.634, 0.969, -0.515, 0, 0, 0, 41 [SEP] 23, Egg, 2.221, 0.949, 1.299, 0, 0, 0, 76 [SEP] 24, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 47 [SEP] 25, Tomato, 2.488, 0.942, 1.468, 0, 0, 0, 76 [SEP] 26, Cup, 2.838, 0.723, -0.535, 0, 0, 0, 96 [SEP] 27, Spatula, -0.839, 0.835, -1.155, 0, 180, 0, 100 [SEP] 28, Apple, 3.260, 0.909, -0.514, 0, 0, 0, 96 [SEP] 29, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 44 [SEP] 30, Lettuce, -0.151, 0.992, 1.214, 0, 0, 0, 52 [SEP] 31, SaltShaker, -0.766, 0.817, -1.360, 0, 90, 0, 100 [SEP] 32, Knife, -0.836, 0.853, -1.400, 0, 90, 0, 100 [SEP] 33, Potato, 2.653, 1.053, -0.578, 0, 0, 0, 96 [SEP] 34, PepperShaker, 1.767, 1.651, 1.585, 0, 0, 0, 53 [SEP] 35, ButterKnife, 1.955, 0.911, 1.214, 0, 0, 0, 76 [SEP] 36, Bowl, 1.487, 1.652, 1.432, 0, 0, 0, 64 [SEP] 37, DishSponge, -1.991, 0.423, 1.375, 0, 270, 0, 94 [SEP] 38, Spoon, -0.621, 0.822, -1.206, 0, 270, 0, 100 [SEP] 39, Mug, 1.525, 0.109, 1.119, 0, 0, 0, 70 [SEP] 40, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 41, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 42, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 43, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 44, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 45, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 46, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 47, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 49, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 50, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 51, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 52, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 53, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 54, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 55, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 56, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 57, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 58, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 59, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 60, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 61, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 63, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 64, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 65, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 70, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 71, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 72, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 76, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 77, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 79, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 80, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 81, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 82, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 83, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 84, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 85, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 86, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 87, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 88, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 89, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 93, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 94, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 95, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 96, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 97, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 98, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 99, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 100, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 101, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 102, NorthWall, , , , , , , [SEP] 103, EastWall, , , , , , , [SEP] 104, SouthWall, , , , , , , [SEP] 105, WestWall, , , , , , , ", "output": ["STEP 1: Move to the sink. | STEP 2: Pick up the glass in the left of the sink. | STEP 3: Bring the glass to the microwave. | STEP 4: Heat the glass in the microwave for a few seconds. | STEP 5: Bring the glass back towards the sink. | STEP 6: Open the third cabinet up on the left and put the glass in there. | END"]} {"id": "trial_T20190908_075055_804761-1", "input": "Put a cleaned knife on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.75, 0.900, 0.0, 0, 0, 0, [SEP] 1, Potato, -0.198, 0.946, 1.468, 0, 0, 0, 56 [SEP] 2, Potato, 2.653, 1.323, -0.644, 0, 0, 0, 100 [SEP] 3, DishSponge, -0.682, 0.820, -1.110, 0, 0, 0, 104 [SEP] 4, Kettle, 2.513, 0.116, 1.117, 0, 0, 0, 49 [SEP] 5, ButterKnife, 2.488, 0.911, 1.468, 0, 0, 0, 80 [SEP] 6, ButterKnife, 2.156, 0.911, -0.430, 0, 0, 0, 45 [SEP] 7, Spoon, 1.155, 0.912, 1.299, 0, 0, 0, 80 [SEP] 8, Spoon, -0.087, 0.766, -0.596, 0, 0, 0, 102 [SEP] 9, Fork, -0.983, 0.821, -1.308, 0, 90, 0, 104 [SEP] 10, Fork, -0.227, 0.771, 1.198, 0, 270, 0, 50 [SEP] 11, Plate, 2.221, 0.914, 1.299, 0, 0, 0, 80 [SEP] 12, Cup, 1.955, 0.909, 1.553, 0, 0, 0, 80 [SEP] 13, Egg, -0.983, 0.858, -1.411, 0, 90, 0, 104 [SEP] 14, Egg, -0.682, 0.858, -1.255, 0, 0, 0, 104 [SEP] 15, SoapBottle, 2.837, 0.120, 1.156, 0, 0, 0, 77 [SEP] 16, SoapBottle, 0.888, 0.917, -0.430, 0, 0, 0, 45 [SEP] 17, Tomato, 0.634, 0.942, -0.6, 0, 0, 0, 45 [SEP] 18, SaltShaker, 2.754, 0.908, 1.299, 0, 0, 0, 80 [SEP] 19, SaltShaker, 0.548, 1.650, -0.849, 0, 180, 0, 84 [SEP] 20, Mug, 0.466, 1.779, 1.455, 0, 180, 0, 103 [SEP] 21, Apple, -0.887, 0.889, -1.400, 0, 0, 0, 104 [SEP] 22, SoapBottle, 2.156, 0.917, -0.854, 0, 0, 0, 45 [SEP] 23, Plate, 1.179, 1.658, 1.468, 0, 0, 0, 72 [SEP] 24, Fork, 1.457, 0.772, -0.498, 0, 90, 0, 75 [SEP] 25, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 51 [SEP] 26, Bread, 1.955, 0.969, 1.129, 0, 0, 0, 80 [SEP] 27, Egg, -1.933, 0.461, 1.417, 0, 270, 0, 98 [SEP] 28, Kettle, 2.488, 0.912, 1.129, 0, 0, 0, 80 [SEP] 29, Tomato, -0.151, 0.942, 1.214, 0, 0, 0, 56 [SEP] 30, Cup, -0.246, 0.909, 1.044, 0, 0, 0, 56 [SEP] 31, Spatula, -0.055, 0.926, 1.299, 0, 90, 0, 56 [SEP] 32, Apple, 2.777, 1.632, -0.709, 0, 0, 0, 100 [SEP] 33, Pan, 1.141, 0.911, -0.769, 0, 0, 0, 45 [SEP] 34, Lettuce, 2.838, 1.099, -0.709, 0, 0, 0, 100 [SEP] 35, SaltShaker, -0.766, 0.817, -1.206, 0, 90, 0, 104 [SEP] 36, Knife, -0.785, 0.853, -1.183, 0, 0, 0, 104 [SEP] 37, Potato, 2.715, 1.598, -0.512, 0, 0, 0, 100 [SEP] 38, PepperShaker, 1.634, 1.650, 1.546, 0, 0, 0, 68 [SEP] 39, ButterKnife, 1.155, 0.911, 1.129, 0, 0, 0, 80 [SEP] 40, Bowl, 2.804, 1.652, 1.470, 0, 0, 0, 46 [SEP] 41, DishSponge, -0.294, 0.911, 1.299, 0, 0, 0, 56 [SEP] 42, Spoon, -0.157, 0.766, -0.707, 0, 90, 0, 102 [SEP] 43, Mug, 2.754, 0.906, 1.044, 0, 0, 0, 80 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 106, NorthWall, , , , , , , [SEP] 107, EastWall, , , , , , , [SEP] 108, SouthWall, , , , , , , [SEP] 109, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, go to the window, turn left, go to the small round table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn around, go to the sink. | STEP 4: Wash the knife in the sink with water. | STEP 5: Bring the cleaned knife back to the table on the right. | STEP 6: Put the knife on the table. | END"]} {"id": "trial_T20190909_151757_845636-0", "input": "Look at a watch under 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, -0.75, 0.901, 6.75, 0, 0, 0, [SEP] 1, Bowl, -5.592, 0.535, 6.647, 0, 45, 0, 58 [SEP] 2, Newspaper, -3.557, 1.278, 7.171, 0, 90, 0, 56 [SEP] 3, Newspaper, -2.283, 0.532, 3.752, 0, 270, 0, 57 [SEP] 4, Watch, -0.738, 0.793, 2.377, 0, 270, 0, 42 [SEP] 5, KeyChain, -2.172, 0.534, 4.169, 0, 90, 0, 57 [SEP] 6, RemoteControl, -5.745, 0.536, 6.569, 0, 135, 0, 58 [SEP] 7, Box, -0.868, 0.603, 3.915, 0, 0, 0, 40 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -5.368, 0.534, 6.871, 0, 45, 0, 58 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -0.789, 0.431, 3.002, 0, 0, 0, 40 [SEP] 12, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 57 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 14, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 50 [SEP] 15, CreditCard, -0.845, 0.793, 2.052, 0, 0, 0, 42 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -5.885, 0.453, 3.954, 0, 0, 0, 47 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -5.951, 0.881, 4.349, 0, 0, 0, 50 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -0.947, 0.369, 4.524, 0, 0, 0, 40 [SEP] 24, Watch, -5.951, 0.880, 4.547, 0, 0, 0, 54 [SEP] 25, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 56 [SEP] 26, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 54 [SEP] 27, Statue, -2.411, 1.289, 7.171, 0, 270, 0, 56 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 59, NorthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the end of the couch then turn left. | STEP 2: Pick up the watch from the round table. | STEP 3: Take a side step to the right. | STEP 4: Turn the lamp on. | END"]} {"id": "trial_T20190908_130212_304102-1", "input": "Put the newspaper on the shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.75, 0.901, 5.5, 0, 180, 0, [SEP] 1, Bowl, -3.462, 0.881, 7.173, 0, 90, 0, 48 [SEP] 2, Bowl, -5.293, 0.535, 6.796, 0, 45, 0, 58 [SEP] 3, KeyChain, -2.385, 0.534, 4.044, 0, 0, 0, 57 [SEP] 4, CreditCard, -0.845, 0.793, 2.002, 0, 0, 0, 42 [SEP] 5, CreditCard, -0.738, 0.793, 2.252, 0, 270, 0, 42 [SEP] 6, RemoteControl, -0.868, 0.369, 4.828, 0, 0, 0, 40 [SEP] 7, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 51 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -2.352, 0.534, 4.189, 0, 270, 0, 57 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -0.789, 0.431, 3.915, 0, 0, 0, 40 [SEP] 12, Laptop, -0.868, 0.437, 3.306, 0, 0, 0, 40 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 14, Vase, -3.067, 0.453, 7.145, 0, 90, 0, 49 [SEP] 15, CreditCard, -5.899, 0.146, 4.942, 0, 0, 0, 47 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -0.710, 0.367, 3.915, 0, 0, 0, 40 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -5.985, 0.881, 4.745, 0, 0, 0, 50 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -0.535, 0.796, 6.357, 0, 270, 0, 41 [SEP] 24, Watch, -2.700, 0.533, 4.480, 0, 270, 0, 57 [SEP] 25, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 56 [SEP] 26, Statue, -2.598, 0.535, 4.169, 0, 180, 0, 57 [SEP] 27, Statue, -5.573, 0.543, 6.516, 0, 45, 0, 58 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 59, NorthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , ", "output": ["STEP 1: Turn to your left and go to the couch, then turn right, between the coffee table and the couch, and turn to your right at the center of the couch. | STEP 2: Pick up the newspaper between the pillow and the laptop, on the couch. | STEP 3: Turn to your left and go past the coffee table, then go to the wooden shelf across the room. | STEP 4: Place the newspaper on the bottom shelf. | END"]} {"id": "trial_T20190908_130212_304102-2", "input": "Move a newspaper to a shelf SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.75, 0.901, 5.5, 0, 180, 0, [SEP] 1, Bowl, -3.462, 0.881, 7.173, 0, 90, 0, 48 [SEP] 2, Bowl, -5.293, 0.535, 6.796, 0, 45, 0, 58 [SEP] 3, KeyChain, -2.385, 0.534, 4.044, 0, 0, 0, 57 [SEP] 4, CreditCard, -0.845, 0.793, 2.002, 0, 0, 0, 42 [SEP] 5, CreditCard, -0.738, 0.793, 2.252, 0, 270, 0, 42 [SEP] 6, RemoteControl, -0.868, 0.369, 4.828, 0, 0, 0, 40 [SEP] 7, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 51 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -2.352, 0.534, 4.189, 0, 270, 0, 57 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -0.789, 0.431, 3.915, 0, 0, 0, 40 [SEP] 12, Laptop, -0.868, 0.437, 3.306, 0, 0, 0, 40 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 14, Vase, -3.067, 0.453, 7.145, 0, 90, 0, 49 [SEP] 15, CreditCard, -5.899, 0.146, 4.942, 0, 0, 0, 47 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -0.710, 0.367, 3.915, 0, 0, 0, 40 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -5.985, 0.881, 4.745, 0, 0, 0, 50 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -0.535, 0.796, 6.357, 0, 270, 0, 41 [SEP] 24, Watch, -2.700, 0.533, 4.480, 0, 270, 0, 57 [SEP] 25, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 56 [SEP] 26, Statue, -2.598, 0.535, 4.169, 0, 180, 0, 57 [SEP] 27, Statue, -5.573, 0.543, 6.516, 0, 45, 0, 58 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 59, NorthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , ", "output": ["STEP 1: Go to the sofa | STEP 2: Pick up a newspaper from the sofa | STEP 3: Go to the shelves | STEP 4: Put the newspaper on a shelf | END"]} {"id": "trial_T20190909_145804_320853-1", "input": "Place a remote 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, 1.25, 0.900, -1.75, 0, 0, 0, [SEP] 1, Newspaper, -0.711, 0.292, -1.844, 0, 0, 0, 31 [SEP] 2, CreditCard, -0.411, 0.551, -0.106, 0, 270, 0, 29 [SEP] 3, RemoteControl, -0.922, 0.326, -1.990, 0, 0, 0, 31 [SEP] 4, RemoteControl, -0.711, 0.334, -1.771, 0, 0, 0, 31 [SEP] 5, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 37 [SEP] 6, KeyChain, -0.5, 0.295, -1.844, 0, 0, 0, 31 [SEP] 7, Watch, 1.807, 0.871, 0.326, 0, 90, 0, 35 [SEP] 8, Newspaper, -0.260, 0.550, -0.365, 0, 270, 0, 29 [SEP] 9, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 31 [SEP] 10, CreditCard, -0.970, 0.198, -0.544, 0, 90, 0, 30 [SEP] 11, RemoteControl, -0.711, 0.040, -0.185, 0, 270, 0, 25 [SEP] 12, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 29 [SEP] 13, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 29 [SEP] 14, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 29 [SEP] 15, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 16, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 17, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 18, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 19, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 20, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 21, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 22, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 23, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 24, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 25, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 26, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 29, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 30, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 31, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 32, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 33, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 34, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 35, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 36, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 37, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the end of the couch. | STEP 2: Pick up the leftmost remote. | STEP 3: Turn left and walk to the chair. | STEP 4: Put the remote on the chair near the front left corner. | END"]} {"id": "trial_T20190909_145804_320853-2", "input": "Place a remote on top of the chair SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, -1.75, 0, 0, 0, [SEP] 1, Newspaper, -0.711, 0.292, -1.844, 0, 0, 0, 31 [SEP] 2, CreditCard, -0.411, 0.551, -0.106, 0, 270, 0, 29 [SEP] 3, RemoteControl, -0.922, 0.326, -1.990, 0, 0, 0, 31 [SEP] 4, RemoteControl, -0.711, 0.334, -1.771, 0, 0, 0, 31 [SEP] 5, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 37 [SEP] 6, KeyChain, -0.5, 0.295, -1.844, 0, 0, 0, 31 [SEP] 7, Watch, 1.807, 0.871, 0.326, 0, 90, 0, 35 [SEP] 8, Newspaper, -0.260, 0.550, -0.365, 0, 270, 0, 29 [SEP] 9, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 31 [SEP] 10, CreditCard, -0.970, 0.198, -0.544, 0, 90, 0, 30 [SEP] 11, RemoteControl, -0.711, 0.040, -0.185, 0, 270, 0, 25 [SEP] 12, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 29 [SEP] 13, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 29 [SEP] 14, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 29 [SEP] 15, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 16, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 17, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 18, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 19, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 20, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 21, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 22, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 23, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 24, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 25, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 26, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 29, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 30, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 31, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 32, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 33, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 34, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 35, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 36, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 37, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: Move to the right side of the large brown sofa | STEP 2: Pick up the remote on top of the sofa to the left of the other remote | STEP 3: Turn and move to the small brown chair right of the box | STEP 4: Place the remote on top of the small brown chair | END"]} {"id": "trial_T20190908_154411_041403-2", "input": "Move a book to a dresser SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.949, 1.0, 0, 90, 0, [SEP] 1, CD, 1.666, 0.984, -1.950, 0, 270, 0, 41 [SEP] 2, CellPhone, 1.666, 0.985, -1.687, 0, 270, 0, 41 [SEP] 3, CellPhone, 3.377, 0.723, 1.307, 0, 180, 0, 66 [SEP] 4, Pen, 2.519, 0.993, -2.125, 0, 270, 0, 41 [SEP] 5, Pencil, -0.253, 0.788, 3.143, 0, 180, 0, 48 [SEP] 6, Pencil, 1.382, 0.989, -1.774, 0, 270, 0, 41 [SEP] 7, CreditCard, 3.087, 0.985, -2.212, 0, 270, 0, 41 [SEP] 8, KeyChain, 3.222, 0.725, 1.488, 0, 180, 0, 66 [SEP] 9, KeyChain, 2.596, 0.887, -1.726, 0, 90, 0, 41 [SEP] 10, Book, -0.904, 0.785, -0.128, 0, 0, 0, 62 [SEP] 11, AlarmClock, -0.772, 0.785, 0.081, 0, 0, 0, 62 [SEP] 12, AlarmClock, 2.519, 0.986, -1.949, 0, 270, 0, 41 [SEP] 13, Book, 1.723, 0.610, 0.790, 0, 0, 0, 26 [SEP] 14, KeyChain, -0.776, 0.586, 0.436, 0, 0, 0, 56 [SEP] 15, CreditCard, -0.069, 1.107, 3.198, 0, 180, 0, 49 [SEP] 16, Pen, 2.519, 0.990, -1.774, 0, 270, 0, 41 [SEP] 17, Pencil, -0.068, 0.788, 3.115, 0, 180, 0, 48 [SEP] 18, Laptop, 1.950, 0.986, -1.950, 0, 270, 0, 41 [SEP] 19, Vase, 1.454, 0.185, -1.950, 0, 270, 0, 38 [SEP] 20, AlarmClock, -1.037, 0.785, -0.548, 0, 0, 0, 62 [SEP] 21, Pillow, 2.533, 0.631, 1.264, 0, 0, 0, 26 [SEP] 22, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 26 [SEP] 23, CellPhone, 1.382, 0.985, -2.037, 0, 270, 0, 41 [SEP] 24, CD, 0.116, 0.783, 3.143, 0, 180, 0, 48 [SEP] 25, Vase, -0.384, 0.772, 3.172, 0, 0, 0, 48 [SEP] 26, Bed, 2.217, 0.050, 0.585, 0, 0, 0, [SEP] 27, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0, [SEP] 28, Painting, 2.990, 1.592, 1.567, 90, 0, 0, [SEP] 29, Painting, 1.524, 1.592, 1.567, 90, 0, 0, [SEP] 30, Mirror, -1.190, 1.417, -0.223, 0, 270, 0, [SEP] 31, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0, [SEP] 32, Window, -2.629, 1.460, 2.891, 90, 270, 0, [SEP] 33, Window, -2.629, 1.460, 4.084, 90, 270, 0, [SEP] 34, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0, [SEP] 35, Drawer, 2.490, 0.949, -1.703, 0, 0, 0, [SEP] 36, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0, [SEP] 37, Drawer, 1.975, 0.949, -1.703, 0, 0, 0, [SEP] 38, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0, [SEP] 39, Drawer, 1.457, 0.949, -1.703, 0, 0, 0, [SEP] 40, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0, [SEP] 41, Dresser, 2.234, 0.048, -1.950, 0, 0, 0, [SEP] 42, Drawer, 3.011, 0.949, -1.703, 0, 0, 0, [SEP] 43, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0, [SEP] 44, Shelf, -0.163, 1.461, 3.219, 0, 180, 0, [SEP] 45, Drawer, -0.161, 0.242, 3.166, 0, 180, 0, [SEP] 46, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0, [SEP] 47, Drawer, -0.161, 0.562, 3.168, 0, 180, 0, [SEP] 48, Shelf, -0.162, 0.922, 3.164, 0, 180, 0, [SEP] 49, Shelf, -0.162, 1.241, 3.163, 0, 180, 0, [SEP] 50, Blinds, -2.550, 2.486, 2.911, 0, 90, 0, [SEP] 51, Blinds, -2.550, 2.486, 4.107, 0, 90, 0, [SEP] 52, Drawer, -0.833, 0.217, -0.336, 0, 90, 0, [SEP] 53, Drawer, -0.833, 0.217, 0.486, 0, 90, 0, [SEP] 54, Drawer, -0.833, 0.628, -0.747, 0, 90, 0, [SEP] 55, Drawer, -0.833, 0.217, 0.075, 0, 90, 0, [SEP] 56, Drawer, -0.833, 0.628, 0.486, 0, 90, 0, [SEP] 57, Drawer, -0.833, 0.217, -0.747, 0, 90, 0, [SEP] 58, Drawer, -0.833, 0.423, -0.336, 0, 90, 0, [SEP] 59, Drawer, -0.833, 0.423, 0.075, 0, 90, 0, [SEP] 60, Drawer, -0.833, 0.423, 0.486, 0, 90, 0, [SEP] 61, Drawer, -0.833, 0.423, -0.747, 0, 90, 0, [SEP] 62, Dresser, -0.934, 0.050, -0.129, 0, 90, 0, [SEP] 63, Drawer, -0.833, 0.628, 0.075, 0, 90, 0, [SEP] 64, Drawer, -0.833, 0.628, -0.336, 0, 90, 0, [SEP] 65, Drawer, 3.454, 0.212, 1.262, 0, 180, 0, [SEP] 66, SideTable, 3.455, 0.046, 1.328, 0, 180, 0, [SEP] 67, Drawer, 3.454, 0.504, 1.262, 0, 180, 0, [SEP] 68, NorthWall, , , , , , , [SEP] 69, EastWall, , , , , , , [SEP] 70, SouthWall, , , , , , , [SEP] 71, WestWall, , , , , , , ", "output": ["STEP 1: Go to the bed | STEP 2: Pick up a book from the bed | STEP 3: Go to the dresser | STEP 4: Place the book in the dresser | END"]} {"id": "trial_T20190908_130300_504812-2", "input": "move newspaper from couch to shelf 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, 5.5, 0, 270, 0, [SEP] 1, Bowl, -3.462, 0.148, 7.070, 0, 90, 0, 53 [SEP] 2, Bowl, -5.899, 0.148, 4.349, 0, 0, 0, 49 [SEP] 3, Newspaper, -2.283, 0.532, 3.752, 0, 270, 0, 59 [SEP] 4, Newspaper, -0.947, 0.440, 3.915, 0, 0, 0, 42 [SEP] 5, KeyChain, -0.710, 0.367, 3.915, 0, 0, 0, 42 [SEP] 6, KeyChain, -0.738, 0.794, 5.726, 0, 270, 0, 43 [SEP] 7, RemoteControl, -6.036, 0.455, 4.745, 0, 0, 0, 54 [SEP] 8, Laptop, -0.868, 0.437, 3.002, 0, 0, 0, 42 [SEP] 9, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 53 [SEP] 10, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 58 [SEP] 11, Vase, -0.586, 0.794, 5.726, 0, 270, 0, 43 [SEP] 12, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 54 [SEP] 13, Newspaper, -0.947, 0.440, 3.306, 0, 0, 0, 42 [SEP] 14, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 59 [SEP] 15, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 16, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 52 [SEP] 17, CreditCard, -5.950, 0.146, 4.745, 0, 0, 0, 49 [SEP] 18, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 56 [SEP] 19, KeyChain, -0.710, 0.416, 4.219, 0, 180, 0, 42 [SEP] 20, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 54 [SEP] 21, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 54 [SEP] 22, Bowl, -5.592, 0.535, 6.647, 0, 45, 0, 60 [SEP] 23, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 42 [SEP] 24, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 56 [SEP] 25, RemoteControl, -0.868, 0.369, 3.306, 0, 0, 0, 42 [SEP] 26, Watch, -3.067, 0.146, 7.070, 0, 90, 0, 53 [SEP] 27, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 58 [SEP] 28, Statue, -5.349, 0.535, 6.740, 0, 45, 0, 60 [SEP] 29, Statue, -2.411, 1.289, 7.235, 0, 270, 0, 58 [SEP] 30, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 58 [SEP] 31, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 32, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 33, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 34, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 35, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 36, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 37, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 38, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 39, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 40, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 41, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 42, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 43, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 44, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 45, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 46, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 47, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 48, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 49, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 50, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 51, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 52, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 53, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 54, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 55, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 56, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 57, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 58, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 59, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 60, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: turn around, walk forward one step, turn right, walk to the end of the couch, turn left to face couch | STEP 2: pick up the newspaper that is on the couch | STEP 3: turn right, take a step, turn right, walk past coffee table, turn right, turn left, walk to shelves | STEP 4: put newspaper on the bottom shelf | END"]} {"id": "trial_T20190912_042100_438864-0", "input": "Place two laptop computers 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, -0.25, 0.909, -0.75, 0, 270, 0, [SEP] 1, Mug, -3.466, 0.979, -3.271, 0, 0, 0, 40 [SEP] 2, Mug, -0.685, 0.541, -3.694, 0, 0, 0, 31 [SEP] 3, CellPhone, -3.466, 0.979, -4.075, 0, 0, 0, 40 [SEP] 4, Pen, -3.694, 0.424, -4.070, 0, 0, 0, 43 [SEP] 5, Pencil, -0.657, 0.807, -4.246, 0, 0, 0, 37 [SEP] 6, KeyChain, -0.657, 0.800, -4.137, 0, 0, 0, 37 [SEP] 7, Laptop, -0.453, 0.798, -3.811, 0, 0, 0, 37 [SEP] 8, AlarmClock, -3.539, 0.979, -3.874, 0, 0, 0, 40 [SEP] 9, Book, -3.539, 0.981, -3.472, 0, 0, 0, 40 [SEP] 10, CellPhone, -3.580, 0.809, -3.465, 0, 0, 0, 47 [SEP] 11, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 37 [SEP] 12, CreditCard, -3.806, 0.225, -3.371, 0, 0, 0, 42 [SEP] 13, AlarmClock, -0.507, 0.542, -3.713, 0, 0, 0, 37 [SEP] 14, KeyChain, -0.453, 0.800, -4.354, 0, 0, 0, 37 [SEP] 15, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 22 [SEP] 16, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 17, Pencil, -3.834, 0.984, -3.472, 0, 0, 0, 40 [SEP] 18, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 22 [SEP] 19, CD, -3.582, 0.614, -4.348, 0, 0, 0, 46 [SEP] 20, Pen, -3.539, 0.986, -3.070, 0, 0, 0, 40 [SEP] 21, Mug, -3.687, 0.979, -3.070, 0, 0, 0, 40 [SEP] 22, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 23, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 24, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 25, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 26, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 27, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 28, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 29, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 30, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 31, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 32, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 33, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 34, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 35, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 36, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 37, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 38, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 39, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 40, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 41, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 42, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 45, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: Take a left at the bed and walk to the white table. | STEP 2: Close the lid of the right laptop computer and pick it up. | STEP 3: Turn right and walk to the end of the bed on the right. | STEP 4: Put the laptop on the middle of the end of the bed. | STEP 5: Turn right and walk to the white table on the right. | STEP 6: Close the lid of the laptop computer and pick it up. | STEP 7: Turn right and walk to the end of the bed on the right. | STEP 8: Put the laptop to the left of the other laptop on the bed. | END"]} {"id": "trial_T20190908_122347_905839-1", "input": "Pick up the keys and put them down on the brown chair. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 0.5, 0, 270, 0, [SEP] 1, Watch, -0.323, 0.040, -0.217, 0, 270, 0, Floor|+00.00| [SEP] 2, Watch, -0.323, 0.358, -0.512, 0, 90, 0, 29 [SEP] 3, CreditCard, -0.260, 0.551, -0.623, 0, 270, 0, 30 [SEP] 4, RemoteControl, -0.561, 0.553, -0.192, 0, 270, 0, 30 [SEP] 5, RemoteControl, -1.163, 0.553, -0.623, 0, 270, 0, 30 [SEP] 6, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 38 [SEP] 7, KeyChain, 1.808, 0.871, 0.008, 0, 90, 0, 36 [SEP] 8, Watch, 1.807, 0.870, 0.643, 0, 90, 0, 36 [SEP] 9, Newspaper, 1.724, 0.868, 0.220, 0, 90, 0, 36 [SEP] 10, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 32 [SEP] 11, CreditCard, -0.561, 0.551, -0.106, 0, 270, 0, 30 [SEP] 12, RemoteControl, 1.364, 0.279, -0.665, 0, 0, 0, 38 [SEP] 13, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 30 [SEP] 14, Statue, -0.260, 0.562, -0.537, 0, 0, 0, 30 [SEP] 15, Statue, 1.682, 0.880, 0.325, 0, 90, 0, 36 [SEP] 16, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 17, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 18, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 19, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 20, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 21, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 22, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 23, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 24, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 25, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 26, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 29, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 30, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 31, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 32, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 33, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 34, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 35, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 36, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 37, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 38, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the wooden desk in the corner. | STEP 2: Pick up the keys on the wooden desk. | STEP 3: Walk to the brown chair to the right of the desk. | STEP 4: Put the keys down on the brown chair. | END"]} {"id": "trial_T20190909_014122_616494-0", "input": "Putting a clean fork on the round table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 0.25, 0, 180, 0, [SEP] 1, DishSponge, 2.868, 0.771, 1.236, 0, 0, 0, 92 [SEP] 2, DishSponge, -0.201, 1.654, 1.546, 0, 0, 0, 74 [SEP] 3, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 86 [SEP] 4, Spoon, -0.017, 0.766, -0.596, 0, 0, 0, 105 [SEP] 5, Spoon, 2.543, 0.773, 1.122, 0, 0, 0, 64 [SEP] 6, Fork, 1.955, 0.912, 1.129, 0, 0, 0, 83 [SEP] 7, Fork, -0.734, 0.821, -1.400, 0, 90, 0, 107 [SEP] 8, Spatula, -0.157, 0.780, -0.596, 0, 270, 0, 105 [SEP] 9, Spatula, -0.983, 0.835, -1.360, 0, 180, 0, 107 [SEP] 10, Plate, 0.231, 2.159, 1.467, 0, 0, 0, 82 [SEP] 11, Cup, 2.838, 1.016, -0.578, 0, 0, 0, 103 [SEP] 12, Egg, -0.983, 0.858, -1.155, 0, 90, 0, 107 [SEP] 13, Knife, 0.193, 0.798, -0.651, 0, 0, 0, 105 [SEP] 14, SoapBottle, 0.888, 0.917, -0.345, 0, 0, 0, 48 [SEP] 15, Tomato, -0.990, 0.852, -1.255, 0, 0, 0, 107 [SEP] 16, Tomato, 1.955, 0.942, 1.553, 0, 0, 0, 83 [SEP] 17, Bowl, 2.900, 1.286, -0.775, 0, 0, 0, 103 [SEP] 18, Bowl, 1.917, 1.653, 1.429, 0, 0, 0, 60 [SEP] 19, PepperShaker, 1.955, 0.908, 1.468, 0, 0, 0, 83 [SEP] 20, PepperShaker, -0.887, 0.817, -1.255, 0, 0, 0, 107 [SEP] 21, Bread, 2.754, 0.969, 1.214, 0, 0, 0, 83 [SEP] 22, Lettuce, -0.151, 0.992, 1.129, 0, 0, 0, 59 [SEP] 23, Lettuce, 0.634, 0.992, -0.430, 0, 0, 0, 48 [SEP] 24, Mug, 2.188, 0.109, 1.156, 0, 0, 0, 84 [SEP] 25, SoapBottle, -0.151, 0.917, 1.383, 0, 0, 0, 59 [SEP] 26, Plate, 1.688, 0.914, 1.383, 0, 0, 0, 83 [SEP] 27, Fork, 1.456, 0.771, 1.122, 0, 90, 0, 66 [SEP] 28, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 63 [SEP] 29, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 48 [SEP] 30, Egg, 1.422, 0.949, 1.383, 0, 0, 0, 83 [SEP] 31, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 54 [SEP] 32, Tomato, -2.019, 0.455, 1.459, 0, 270, 0, 101 [SEP] 33, Cup, 2.562, 1.653, 1.546, 0, 0, 0, 73 [SEP] 34, Spatula, -0.007, 0.926, 1.044, 0, 90, 0, 59 [SEP] 35, Apple, 2.715, 1.632, -0.775, 0, 0, 0, 103 [SEP] 36, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 51 [SEP] 37, Lettuce, 1.155, 0.992, 1.468, 0, 0, 0, 83 [SEP] 38, SaltShaker, 0.634, 0.908, -0.769, 0, 0, 0, 48 [SEP] 39, Knife, -0.055, 0.944, 1.129, 0, 90, 0, 59 [SEP] 40, Potato, 2.838, 0.761, -0.473, 0, 0, 0, 103 [SEP] 41, PepperShaker, -0.939, 0.817, -1.473, 0, 0, 0, 107 [SEP] 42, ButterKnife, -0.017, 0.765, -0.707, 0, 270, 0, 105 [SEP] 43, Bowl, 2.221, 0.909, 1.299, 0, 0, 0, 83 [SEP] 44, DishSponge, 0.193, 0.765, -0.596, 0, 0, 0, 105 [SEP] 45, Spoon, -0.682, 0.822, -1.400, 0, 90, 0, 107 [SEP] 46, Mug, 2.715, 1.014, -0.644, 0, 0, 0, 103 [SEP] 47, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 48, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 49, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 50, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 51, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 53, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 54, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 55, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 56, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 57, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 58, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 59, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 60, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 61, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 62, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 63, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 64, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 66, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 67, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 68, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 69, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 70, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 71, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 79, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 81, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 83, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 84, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 85, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 86, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 87, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 88, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 89, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 90, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 91, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 92, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 93, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 94, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 95, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 99, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 100, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 101, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 102, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 103, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 104, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 105, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 106, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 107, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 108, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 109, NorthWall, , , , , , , [SEP] 110, EastWall, , , , , , , [SEP] 111, SouthWall, , , , , , , [SEP] 112, WestWall, , , , , , , ", "output": ["STEP 1: Go to the round table | STEP 2: Grab the fork off of the table | STEP 3: Turn around and go to the sink | STEP 4: Wash the fork in the sink and then take it out | STEP 5: Turn right and go to the round table | STEP 6: Put the fork on the table | END"]} {"id": "trial_T20190909_014122_616494-1", "input": "Wash a fork and put it back on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 0.25, 0, 180, 0, [SEP] 1, DishSponge, 2.868, 0.771, 1.236, 0, 0, 0, 92 [SEP] 2, DishSponge, -0.201, 1.654, 1.546, 0, 0, 0, 74 [SEP] 3, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 86 [SEP] 4, Spoon, -0.017, 0.766, -0.596, 0, 0, 0, 105 [SEP] 5, Spoon, 2.543, 0.773, 1.122, 0, 0, 0, 64 [SEP] 6, Fork, 1.955, 0.912, 1.129, 0, 0, 0, 83 [SEP] 7, Fork, -0.734, 0.821, -1.400, 0, 90, 0, 107 [SEP] 8, Spatula, -0.157, 0.780, -0.596, 0, 270, 0, 105 [SEP] 9, Spatula, -0.983, 0.835, -1.360, 0, 180, 0, 107 [SEP] 10, Plate, 0.231, 2.159, 1.467, 0, 0, 0, 82 [SEP] 11, Cup, 2.838, 1.016, -0.578, 0, 0, 0, 103 [SEP] 12, Egg, -0.983, 0.858, -1.155, 0, 90, 0, 107 [SEP] 13, Knife, 0.193, 0.798, -0.651, 0, 0, 0, 105 [SEP] 14, SoapBottle, 0.888, 0.917, -0.345, 0, 0, 0, 48 [SEP] 15, Tomato, -0.990, 0.852, -1.255, 0, 0, 0, 107 [SEP] 16, Tomato, 1.955, 0.942, 1.553, 0, 0, 0, 83 [SEP] 17, Bowl, 2.900, 1.286, -0.775, 0, 0, 0, 103 [SEP] 18, Bowl, 1.917, 1.653, 1.429, 0, 0, 0, 60 [SEP] 19, PepperShaker, 1.955, 0.908, 1.468, 0, 0, 0, 83 [SEP] 20, PepperShaker, -0.887, 0.817, -1.255, 0, 0, 0, 107 [SEP] 21, Bread, 2.754, 0.969, 1.214, 0, 0, 0, 83 [SEP] 22, Lettuce, -0.151, 0.992, 1.129, 0, 0, 0, 59 [SEP] 23, Lettuce, 0.634, 0.992, -0.430, 0, 0, 0, 48 [SEP] 24, Mug, 2.188, 0.109, 1.156, 0, 0, 0, 84 [SEP] 25, SoapBottle, -0.151, 0.917, 1.383, 0, 0, 0, 59 [SEP] 26, Plate, 1.688, 0.914, 1.383, 0, 0, 0, 83 [SEP] 27, Fork, 1.456, 0.771, 1.122, 0, 90, 0, 66 [SEP] 28, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 63 [SEP] 29, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 48 [SEP] 30, Egg, 1.422, 0.949, 1.383, 0, 0, 0, 83 [SEP] 31, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 54 [SEP] 32, Tomato, -2.019, 0.455, 1.459, 0, 270, 0, 101 [SEP] 33, Cup, 2.562, 1.653, 1.546, 0, 0, 0, 73 [SEP] 34, Spatula, -0.007, 0.926, 1.044, 0, 90, 0, 59 [SEP] 35, Apple, 2.715, 1.632, -0.775, 0, 0, 0, 103 [SEP] 36, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 51 [SEP] 37, Lettuce, 1.155, 0.992, 1.468, 0, 0, 0, 83 [SEP] 38, SaltShaker, 0.634, 0.908, -0.769, 0, 0, 0, 48 [SEP] 39, Knife, -0.055, 0.944, 1.129, 0, 90, 0, 59 [SEP] 40, Potato, 2.838, 0.761, -0.473, 0, 0, 0, 103 [SEP] 41, PepperShaker, -0.939, 0.817, -1.473, 0, 0, 0, 107 [SEP] 42, ButterKnife, -0.017, 0.765, -0.707, 0, 270, 0, 105 [SEP] 43, Bowl, 2.221, 0.909, 1.299, 0, 0, 0, 83 [SEP] 44, DishSponge, 0.193, 0.765, -0.596, 0, 0, 0, 105 [SEP] 45, Spoon, -0.682, 0.822, -1.400, 0, 90, 0, 107 [SEP] 46, Mug, 2.715, 1.014, -0.644, 0, 0, 0, 103 [SEP] 47, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 48, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 49, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 50, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 51, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 53, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 54, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 55, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 56, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 57, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 58, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 59, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 60, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 61, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 62, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 63, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 64, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 66, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 67, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 68, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 69, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 70, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 71, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 79, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 81, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 83, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 84, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 85, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 86, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 87, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 88, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 89, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 90, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 91, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 92, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 93, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 94, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 95, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 99, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 100, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 101, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 102, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 103, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 104, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 105, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 106, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 107, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 108, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 109, NorthWall, , , , , , , [SEP] 110, EastWall, , , , , , , [SEP] 111, SouthWall, , , , , , , [SEP] 112, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward to the table. | STEP 2: Pick up the fork from the table. | STEP 3: Turn around completely and then turn to the sink on the left. | STEP 4: Place the fork inside the sink and turn on the water. Wash the fork then take it out. | STEP 5: Turn right and then go forward back to the table. | STEP 6: Place the fork on the table. | END"]} {"id": "trial_T20190919_055435_860257-1", "input": "Put a bowl with a slice of lettuce in it in a fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 0.5, 0, 270, 0, [SEP] 1, Potato, -0.682, 0.855, -1.038, 0, 0, 0, 99 [SEP] 2, Potato, -2.019, 0.458, 1.459, 0, 270, 0, 93 [SEP] 3, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 46 [SEP] 4, ButterKnife, 2.754, 0.911, 1.299, 0, 0, 0, 75 [SEP] 5, ButterKnife, 2.221, 0.911, 1.299, 0, 0, 0, 75 [SEP] 6, Plate, 2.488, 0.914, 1.129, 0, 0, 0, 75 [SEP] 7, Plate, 2.838, 1.291, -0.709, 0, 0, 0, 95 [SEP] 8, Egg, -0.294, 0.949, 1.383, 0, 0, 0, 51 [SEP] 9, Egg, 2.591, 1.601, -0.775, 0, 0, 0, 95 [SEP] 10, Knife, 1.141, 0.944, -0.6, 0, 90, 0, 40 [SEP] 11, Knife, 2.488, 0.944, 1.299, 0, 0, 0, 75 [SEP] 12, Tomato, 2.653, 0.756, -0.442, 0, 0, 0, 95 [SEP] 13, SaltShaker, -0.682, 0.817, -1.473, 0, 0, 0, 99 [SEP] 14, Lettuce, 2.838, 1.644, -0.644, 0, 0, 0, 95 [SEP] 15, Lettuce, -0.103, 0.992, 1.299, 0, 90, 0, 51 [SEP] 16, Mug, -0.621, 0.815, -1.206, 0, 90, 0, 99 [SEP] 17, SoapBottle, 1.917, 1.661, 1.429, 0, 0, 0, 52 [SEP] 18, Plate, 1.955, 0.914, 1.129, 0, 0, 0, 75 [SEP] 19, Fork, -0.091, 0.772, 1.122, 0, 90, 0, 45 [SEP] 20, Pot, 2.838, 1.022, -0.775, 0, 0, 0, 95 [SEP] 21, Bread, 2.156, 0.969, -0.430, 0, 0, 0, 40 [SEP] 22, Egg, 0.363, 1.822, 1.423, 0, 180, 0, 98 [SEP] 23, Kettle, 1.558, 0.116, -0.419, 0, 180, 0, 86 [SEP] 24, Tomato, -0.766, 0.852, -1.257, 0, 90, 0, 99 [SEP] 25, Cup, -0.151, 0.909, 1.553, 0, 0, 0, 51 [SEP] 26, Spatula, 0.053, 0.780, -0.596, 0, 0, 0, 97 [SEP] 27, Apple, 1.155, 0.980, 1.299, 0, 0, 0, 75 [SEP] 28, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 43 [SEP] 29, Lettuce, -0.983, 0.901, -1.360, 0, 90, 0, 99 [SEP] 30, SaltShaker, 1.896, 0.111, 1.156, 0, 0, 0, 60 [SEP] 31, Knife, 0.888, 0.944, -0.345, 0, 0, 0, 40 [SEP] 32, Potato, 2.754, 0.946, 1.383, 0, 0, 0, 75 [SEP] 33, PepperShaker, 1.902, 0.908, -0.345, 0, 0, 0, 40 [SEP] 34, ButterKnife, 1.688, 0.911, 1.214, 0, 0, 0, 75 [SEP] 35, Bowl, 0.193, 0.763, -0.707, 0, 0, 0, 97 [SEP] 36, DishSponge, -1.962, 0.423, 1.332, 0, 270, 0, 93 [SEP] 37, Spoon, -0.836, 0.822, -1.183, 0, 0, 0, 99 [SEP] 38, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 40 [SEP] 39, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 40, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 41, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 42, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 43, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 44, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 45, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 46, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 47, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 48, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 49, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 50, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 51, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 52, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 53, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 54, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 55, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 56, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 57, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 58, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 59, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 60, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 61, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 62, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 63, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 64, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 65, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 69, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 70, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 71, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 72, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 73, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 75, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 76, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 78, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 79, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 80, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 81, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 82, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 83, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 84, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 85, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 86, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 87, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 88, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 89, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 92, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 93, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 94, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 95, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 96, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 97, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 98, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 99, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 100, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 101, NorthWall, , , , , , , [SEP] 102, EastWall, , , , , , , [SEP] 103, SouthWall, , , , , , , [SEP] 104, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, go forward, turn left at the first blue plate on the counter. | STEP 2: Take the knife to the left of the plate. | STEP 3: Turn left, go forward, turn right to the counter to the left of the oven. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around, go to the sink. | STEP 6: Put the knife in the bowl in the sink. | STEP 7: Turn around, go forward to the counter to the left of the oven. | STEP 8: Take a slice of lettuce from the counter. | STEP 9: Turn around, go to the sink. | STEP 10: Put the lettuce in the bowl in the sink. | STEP 11: Take the bowl from the sink. | STEP 12: Turn left, go forward to the wall, turn right to the fridge. | STEP 13: Put the bowl in the fridge to the left of the tomato. | END"]} {"id": "trial_T20190919_055435_860257-2", "input": "Put a bowl with a lettuce slice and a knife in it into the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 0.5, 0, 270, 0, [SEP] 1, Potato, -0.682, 0.855, -1.038, 0, 0, 0, 99 [SEP] 2, Potato, -2.019, 0.458, 1.459, 0, 270, 0, 93 [SEP] 3, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 46 [SEP] 4, ButterKnife, 2.754, 0.911, 1.299, 0, 0, 0, 75 [SEP] 5, ButterKnife, 2.221, 0.911, 1.299, 0, 0, 0, 75 [SEP] 6, Plate, 2.488, 0.914, 1.129, 0, 0, 0, 75 [SEP] 7, Plate, 2.838, 1.291, -0.709, 0, 0, 0, 95 [SEP] 8, Egg, -0.294, 0.949, 1.383, 0, 0, 0, 51 [SEP] 9, Egg, 2.591, 1.601, -0.775, 0, 0, 0, 95 [SEP] 10, Knife, 1.141, 0.944, -0.6, 0, 90, 0, 40 [SEP] 11, Knife, 2.488, 0.944, 1.299, 0, 0, 0, 75 [SEP] 12, Tomato, 2.653, 0.756, -0.442, 0, 0, 0, 95 [SEP] 13, SaltShaker, -0.682, 0.817, -1.473, 0, 0, 0, 99 [SEP] 14, Lettuce, 2.838, 1.644, -0.644, 0, 0, 0, 95 [SEP] 15, Lettuce, -0.103, 0.992, 1.299, 0, 90, 0, 51 [SEP] 16, Mug, -0.621, 0.815, -1.206, 0, 90, 0, 99 [SEP] 17, SoapBottle, 1.917, 1.661, 1.429, 0, 0, 0, 52 [SEP] 18, Plate, 1.955, 0.914, 1.129, 0, 0, 0, 75 [SEP] 19, Fork, -0.091, 0.772, 1.122, 0, 90, 0, 45 [SEP] 20, Pot, 2.838, 1.022, -0.775, 0, 0, 0, 95 [SEP] 21, Bread, 2.156, 0.969, -0.430, 0, 0, 0, 40 [SEP] 22, Egg, 0.363, 1.822, 1.423, 0, 180, 0, 98 [SEP] 23, Kettle, 1.558, 0.116, -0.419, 0, 180, 0, 86 [SEP] 24, Tomato, -0.766, 0.852, -1.257, 0, 90, 0, 99 [SEP] 25, Cup, -0.151, 0.909, 1.553, 0, 0, 0, 51 [SEP] 26, Spatula, 0.053, 0.780, -0.596, 0, 0, 0, 97 [SEP] 27, Apple, 1.155, 0.980, 1.299, 0, 0, 0, 75 [SEP] 28, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 43 [SEP] 29, Lettuce, -0.983, 0.901, -1.360, 0, 90, 0, 99 [SEP] 30, SaltShaker, 1.896, 0.111, 1.156, 0, 0, 0, 60 [SEP] 31, Knife, 0.888, 0.944, -0.345, 0, 0, 0, 40 [SEP] 32, Potato, 2.754, 0.946, 1.383, 0, 0, 0, 75 [SEP] 33, PepperShaker, 1.902, 0.908, -0.345, 0, 0, 0, 40 [SEP] 34, ButterKnife, 1.688, 0.911, 1.214, 0, 0, 0, 75 [SEP] 35, Bowl, 0.193, 0.763, -0.707, 0, 0, 0, 97 [SEP] 36, DishSponge, -1.962, 0.423, 1.332, 0, 270, 0, 93 [SEP] 37, Spoon, -0.836, 0.822, -1.183, 0, 0, 0, 99 [SEP] 38, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 40 [SEP] 39, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 40, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 41, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 42, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 43, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 44, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 45, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 46, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 47, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 48, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 49, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 50, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 51, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 52, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 53, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 54, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 55, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 56, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 57, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 58, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 59, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 60, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 61, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 62, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 63, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 64, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 65, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 69, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 70, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 71, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 72, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 73, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 75, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 76, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 78, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 79, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 80, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 81, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 82, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 83, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 84, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 85, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 86, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 87, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 88, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 89, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 92, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 93, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 94, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 95, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 96, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 97, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 98, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 99, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 100, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 101, NorthWall, , , , , , , [SEP] 102, EastWall, , , , , , , [SEP] 103, SouthWall, , , , , , , [SEP] 104, WestWall, , , , , , , ", "output": ["STEP 1: Go to the counter right of the stove | STEP 2: Pick up the knife on the left | STEP 3: Go to the counter left of the stove | STEP 4: Cut the lettuce | STEP 5: Go to the sink | STEP 6: Put the knife in the bowl that is in the sink | STEP 7: Go to the counter left of the stove | STEP 8: Pick up a lettuce slice | STEP 9: Go to the sink | STEP 10: Put the lettuce in the bowl that is in the sink | STEP 11: Pick up the bowl | STEP 12: Go to the fridge | STEP 13: Put the bowl in the fridge | END"]} {"id": "trial_T20190908_030236_260368-1", "input": "Place two potatoes in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.931, -0.75, 0, 180, 0, [SEP] 1, Potato, 1.968, 1.096, 0.738, 0, 0, 0, 44 [SEP] 2, Potato, -1.300, 1.281, 2.242, 0, 90, 0, 57 [SEP] 3, Potato, 0.446, 1.096, 0.307, 0, 0, 0, 44 [SEP] 4, DishSponge, -1.184, 2.027, -1.409, 0, 0, 0, 49 [SEP] 5, Pot, 1.188, 1.566, -1.614, 0, 90, 0, 46 [SEP] 6, Spoon, -0.689, 1.048, -1.397, 0, 0, 0, 42 [SEP] 7, Spoon, 1.879, 1.044, 0.091, 0, 0, 0, 44 [SEP] 8, Egg, 1.701, 1.097, 0.522, 0, 0, 0, 44 [SEP] 9, Bowl, 0.892, 1.052, 0.231, 0, 90, 0, 40 [SEP] 10, SaltShaker, 1.238, 1.041, -1.505, 0, 0, 0, 42 [SEP] 11, SaltShaker, 1.894, 0.199, -1.553, 0, 0, 0, 52 [SEP] 12, Lettuce, 1.072, 1.106, -1.397, 0, 0, 0, 42 [SEP] 13, Mug, -0.670, 0.198, -1.409, 0, 0, 0, 51 [SEP] 14, Mug, 1.612, 1.038, 0.199, 0, 0, 0, 44 [SEP] 15, Apple, -1.268, 1.991, 1.796, 0, 90, 0, 57 [SEP] 16, SoapBottle, -1.339, 2.029, -1.482, 0, 0, 0, 49 [SEP] 17, Apple, -1.145, 1.759, -1.269, 0, 0, 0, 56 [SEP] 18, Potato, -0.432, 1.100, -1.505, 0, 0, 0, 42 [SEP] 19, Fork, 0.031, 1.033, 0.122, 0, 0, 0, 44 [SEP] 20, Kettle, -1.105, 0.203, -1.410, 0, 0, 0, 50 [SEP] 21, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 42 [SEP] 22, Tomato, -1.169, 1.279, 1.974, 0, 90, 0, 57 [SEP] 23, SaltShaker, -0.260, 1.041, -1.181, 0, 0, 0, 42 [SEP] 24, Egg, 0.936, 1.108, 0.080, 0, 90, 0, 40 [SEP] 25, Cup, -0.952, 2.028, -1.627, 0, 0, 0, 49 [SEP] 26, Spatula, 1.238, 1.061, -1.181, 0, 0, 0, 42 [SEP] 27, Knife, 0.160, 1.069, 0.522, 0, 0, 0, 44 [SEP] 28, Lettuce, -0.517, 1.106, -1.289, 0, 0, 0, 42 [SEP] 29, ButterKnife, 0.351, 1.043, 0.522, 0, 0, 0, 44 [SEP] 30, PepperShaker, -0.775, 1.041, -1.828, 0, 0, 0, 42 [SEP] 31, DishSponge, 1.347, 1.042, 0.632, 0, 0, 0, 44 [SEP] 32, Plate, 1.512, 0.217, -1.408, 0, 0, 0, 52 [SEP] 33, Bread, -0.030, 1.117, 0.522, 0, 0, 0, 44 [SEP] 34, Spoon, 0.351, 1.044, 0.522, 0, 0, 0, 44 [SEP] 35, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 38 [SEP] 36, Mug, -0.624, 1.560, -1.619, 0, 0, 0, 47 [SEP] 37, Bowl, -1.029, 2.027, -1.337, 0, 0, 0, 49 [SEP] 38, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 39, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 40, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 41, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 42, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 43, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 44, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 45, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 46, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 47, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 48, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 49, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 50, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 51, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 52, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 53, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 54, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 55, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 56, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 57, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 58, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 59, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 60, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 61, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 62, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 63, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 64, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 65, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 66, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 67, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 68, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 69, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 70, NorthWall, , , , , , , [SEP] 71, EastWall, , , , , , , [SEP] 72, SouthWall, , , , , , , [SEP] 73, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your right and walk to the counter next to the microwave. | STEP 2: Pick up the potato on the counter. | STEP 3: Approach the microwave on your right. | STEP 4: Place the potato in the microwave. | STEP 5: Turn to your left and approach the brown counter in the middle of the room. | STEP 6: Pick up the potato from the counter. | STEP 7: Turn around and and walk to the microwave. | STEP 8: Place the potato in the microwave. | END"]} {"id": "trial_T20190908_030236_260368-2", "input": "Place two potatoes in a microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.931, -0.75, 0, 180, 0, [SEP] 1, Potato, 1.968, 1.096, 0.738, 0, 0, 0, 44 [SEP] 2, Potato, -1.300, 1.281, 2.242, 0, 90, 0, 57 [SEP] 3, Potato, 0.446, 1.096, 0.307, 0, 0, 0, 44 [SEP] 4, DishSponge, -1.184, 2.027, -1.409, 0, 0, 0, 49 [SEP] 5, Pot, 1.188, 1.566, -1.614, 0, 90, 0, 46 [SEP] 6, Spoon, -0.689, 1.048, -1.397, 0, 0, 0, 42 [SEP] 7, Spoon, 1.879, 1.044, 0.091, 0, 0, 0, 44 [SEP] 8, Egg, 1.701, 1.097, 0.522, 0, 0, 0, 44 [SEP] 9, Bowl, 0.892, 1.052, 0.231, 0, 90, 0, 40 [SEP] 10, SaltShaker, 1.238, 1.041, -1.505, 0, 0, 0, 42 [SEP] 11, SaltShaker, 1.894, 0.199, -1.553, 0, 0, 0, 52 [SEP] 12, Lettuce, 1.072, 1.106, -1.397, 0, 0, 0, 42 [SEP] 13, Mug, -0.670, 0.198, -1.409, 0, 0, 0, 51 [SEP] 14, Mug, 1.612, 1.038, 0.199, 0, 0, 0, 44 [SEP] 15, Apple, -1.268, 1.991, 1.796, 0, 90, 0, 57 [SEP] 16, SoapBottle, -1.339, 2.029, -1.482, 0, 0, 0, 49 [SEP] 17, Apple, -1.145, 1.759, -1.269, 0, 0, 0, 56 [SEP] 18, Potato, -0.432, 1.100, -1.505, 0, 0, 0, 42 [SEP] 19, Fork, 0.031, 1.033, 0.122, 0, 0, 0, 44 [SEP] 20, Kettle, -1.105, 0.203, -1.410, 0, 0, 0, 50 [SEP] 21, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 42 [SEP] 22, Tomato, -1.169, 1.279, 1.974, 0, 90, 0, 57 [SEP] 23, SaltShaker, -0.260, 1.041, -1.181, 0, 0, 0, 42 [SEP] 24, Egg, 0.936, 1.108, 0.080, 0, 90, 0, 40 [SEP] 25, Cup, -0.952, 2.028, -1.627, 0, 0, 0, 49 [SEP] 26, Spatula, 1.238, 1.061, -1.181, 0, 0, 0, 42 [SEP] 27, Knife, 0.160, 1.069, 0.522, 0, 0, 0, 44 [SEP] 28, Lettuce, -0.517, 1.106, -1.289, 0, 0, 0, 42 [SEP] 29, ButterKnife, 0.351, 1.043, 0.522, 0, 0, 0, 44 [SEP] 30, PepperShaker, -0.775, 1.041, -1.828, 0, 0, 0, 42 [SEP] 31, DishSponge, 1.347, 1.042, 0.632, 0, 0, 0, 44 [SEP] 32, Plate, 1.512, 0.217, -1.408, 0, 0, 0, 52 [SEP] 33, Bread, -0.030, 1.117, 0.522, 0, 0, 0, 44 [SEP] 34, Spoon, 0.351, 1.044, 0.522, 0, 0, 0, 44 [SEP] 35, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 38 [SEP] 36, Mug, -0.624, 1.560, -1.619, 0, 0, 0, 47 [SEP] 37, Bowl, -1.029, 2.027, -1.337, 0, 0, 0, 49 [SEP] 38, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 39, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 40, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 41, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 42, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 43, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 44, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 45, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 46, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 47, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 48, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 49, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 50, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 51, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 52, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 53, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 54, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 55, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 56, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 57, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 58, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 59, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 60, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 61, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 62, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 63, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 64, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 65, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 66, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 67, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 68, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 69, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 70, NorthWall, , , , , , , [SEP] 71, EastWall, , , , , , , [SEP] 72, SouthWall, , , , , , , [SEP] 73, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the counter on the right side of the stove. | STEP 2: Pick up the potato. | STEP 3: Take a step right to the microwave. | STEP 4: Put the egg in the microwave. | STEP 5: Turn left and walk to the counter to the left of the sink. | STEP 6: Pick up the potato on the counter. | STEP 7: Turn around and walk right to the microwave. | STEP 8: Place the potato in the microwave to the left of the other potato. | END"]} {"id": "trial_T20190908_075733_383672-1", "input": "Look at a credit card 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, -4.0, 0.901, 4.0, 0, 0, 0, [SEP] 1, Newspaper, -6.012, 1.278, 5.037, 0, 0, 0, 51 [SEP] 2, Newspaper, -0.947, 0.365, 3.306, 0, 0, 0, 41 [SEP] 3, Watch, -0.585, 0.793, 2.252, 0, 270, 0, 43 [SEP] 4, Watch, -6.019, 0.880, 4.152, 0, 0, 0, 55 [SEP] 5, CreditCard, -0.710, 0.367, 3.306, 0, 0, 0, 41 [SEP] 6, CreditCard, -0.789, 0.367, 3.002, 0, 0, 0, 41 [SEP] 7, RemoteControl, -2.870, 0.149, 7.327, 0, 90, 0, 52 [SEP] 8, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 52 [SEP] 9, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 57 [SEP] 10, Vase, -2.811, 0.534, 4.106, 0, 0, 0, 58 [SEP] 11, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 53 [SEP] 12, Newspaper, -5.648, 0.532, 6.592, 0, 45, 0, 59 [SEP] 13, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 58 [SEP] 14, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 15, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 51 [SEP] 16, CreditCard, -5.215, 0.533, 6.949, 0, 135, 0, 59 [SEP] 17, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 55 [SEP] 18, KeyChain, -0.738, 0.794, 5.726, 0, 270, 0, 42 [SEP] 19, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 53 [SEP] 20, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 53 [SEP] 21, Bowl, -2.870, 0.454, 7.221, 0, 90, 0, 50 [SEP] 22, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 41 [SEP] 23, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 55 [SEP] 24, RemoteControl, -5.796, 0.149, 3.757, 0, 0, 0, 48 [SEP] 25, Watch, -2.631, 0.533, 3.607, 0, 270, 0, 58 [SEP] 26, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 57 [SEP] 27, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 55 [SEP] 28, Statue, -2.283, 0.543, 3.752, 0, 270, 0, 58 [SEP] 29, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 57 [SEP] 30, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 31, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 32, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 33, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 34, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 35, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 36, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 37, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 38, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 39, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 40, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 41, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 42, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 43, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 44, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 45, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 46, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 47, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 48, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 49, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 50, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 51, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 52, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 53, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 54, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 55, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 56, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 57, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 58, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 59, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 60, NorthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , ", "output": ["STEP 1: Go to the TV stand. | STEP 2: Pick up the credit card on the TV stand. | STEP 3: Turn around and go across the room to the lamp on the right of the door. | STEP 4: Turn on the lamp. | END"]} {"id": "trial_T20190908_075733_383672-2", "input": "Pick up red credit card, 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, -4.0, 0.901, 4.0, 0, 0, 0, [SEP] 1, Newspaper, -6.012, 1.278, 5.037, 0, 0, 0, 51 [SEP] 2, Newspaper, -0.947, 0.365, 3.306, 0, 0, 0, 41 [SEP] 3, Watch, -0.585, 0.793, 2.252, 0, 270, 0, 43 [SEP] 4, Watch, -6.019, 0.880, 4.152, 0, 0, 0, 55 [SEP] 5, CreditCard, -0.710, 0.367, 3.306, 0, 0, 0, 41 [SEP] 6, CreditCard, -0.789, 0.367, 3.002, 0, 0, 0, 41 [SEP] 7, RemoteControl, -2.870, 0.149, 7.327, 0, 90, 0, 52 [SEP] 8, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 52 [SEP] 9, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 57 [SEP] 10, Vase, -2.811, 0.534, 4.106, 0, 0, 0, 58 [SEP] 11, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 53 [SEP] 12, Newspaper, -5.648, 0.532, 6.592, 0, 45, 0, 59 [SEP] 13, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 58 [SEP] 14, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 15, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 51 [SEP] 16, CreditCard, -5.215, 0.533, 6.949, 0, 135, 0, 59 [SEP] 17, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 55 [SEP] 18, KeyChain, -0.738, 0.794, 5.726, 0, 270, 0, 42 [SEP] 19, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 53 [SEP] 20, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 53 [SEP] 21, Bowl, -2.870, 0.454, 7.221, 0, 90, 0, 50 [SEP] 22, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 41 [SEP] 23, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 55 [SEP] 24, RemoteControl, -5.796, 0.149, 3.757, 0, 0, 0, 48 [SEP] 25, Watch, -2.631, 0.533, 3.607, 0, 270, 0, 58 [SEP] 26, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 57 [SEP] 27, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 55 [SEP] 28, Statue, -2.283, 0.543, 3.752, 0, 270, 0, 58 [SEP] 29, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 57 [SEP] 30, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 31, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 32, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 33, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 34, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 35, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 36, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 37, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 38, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 39, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 40, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 41, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 42, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 43, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 44, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 45, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 46, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 47, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 48, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 49, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 50, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 51, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 52, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 53, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 54, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 55, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 56, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 57, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 58, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 59, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 60, NorthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , ", "output": ["STEP 1: go to television to the left | STEP 2: pick up red credit card from right side of television stand | STEP 3: turn around, go forward to left side of lamp | STEP 4: look up to lamp shade, turn on lamp | END"]} {"id": "trial_T20190907_002650_468705-2", "input": "Put a microwaved a tomato slice in the refrigerator on the top shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 0.0, 0, 0, 0, [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 82 [SEP] 2, Potato, -1.991, 0.458, 1.417, 0, 270, 0, 97 [SEP] 3, DishSponge, 2.156, 0.911, -0.515, 0, 0, 0, 44 [SEP] 4, DishSponge, 0.654, 2.153, 1.468, 0, 0, 0, 53 [SEP] 5, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 6, Fork, 0.123, 0.766, -0.707, 0, 0, 0, 101 [SEP] 7, Spatula, 0.054, 0.926, -0.330, 0, 0, 0, 44 [SEP] 8, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 69 [SEP] 9, Cup, -0.106, 1.652, -0.696, 0, 180, 0, 86 [SEP] 10, Egg, 2.754, 0.949, 1.129, 0, 0, 0, 79 [SEP] 11, Egg, -0.682, 0.858, -1.328, 0, 0, 0, 103 [SEP] 12, Knife, -0.055, 0.944, 1.129, 0, 90, 0, 55 [SEP] 13, Knife, 0.634, 0.944, -0.6, 0, 0, 0, 44 [SEP] 14, Tomato, 0.193, 0.797, -0.541, 0, 0, 0, 101 [SEP] 15, SaltShaker, 2.242, 1.651, -0.835, 0, 180, 0, 65 [SEP] 16, Bread, 2.777, 1.077, -0.709, 0, 0, 0, 99 [SEP] 17, Bread, -0.151, 0.969, 1.129, 0, 0, 0, 55 [SEP] 18, Lettuce, 1.955, 0.992, 1.214, 0, 0, 0, 79 [SEP] 19, Mug, 1.141, 1.650, 1.546, 0, 0, 0, 71 [SEP] 20, Mug, 1.254, 1.650, 1.390, 0, 0, 0, 71 [SEP] 21, SoapBottle, -1.991, 0.429, 1.290, 0, 270, 0, 97 [SEP] 22, Plate, 2.838, 1.566, -0.578, 0, 0, 0, 99 [SEP] 23, Fork, 1.688, 0.912, 1.214, 0, 0, 0, 79 [SEP] 24, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 59 [SEP] 25, Bread, 2.488, 0.969, 1.383, 0, 0, 0, 79 [SEP] 26, Egg, -0.157, 0.803, -0.596, 0, 0, 0, 101 [SEP] 27, Kettle, 1.134, 1.655, -0.734, 0, 180, 0, 46 [SEP] 28, Tomato, -0.983, 0.852, -1.411, 0, 90, 0, 103 [SEP] 29, Cup, 0.193, 0.763, -0.707, 0, 0, 0, 101 [SEP] 30, Spatula, 0.888, 0.926, -0.430, 0, 0, 0, 44 [SEP] 31, Apple, 2.156, 0.980, -0.345, 0, 0, 0, 44 [SEP] 32, Pan, -0.151, 0.911, 1.468, 0, 0, 0, 55 [SEP] 33, Lettuce, 2.221, 0.992, 1.129, 0, 0, 0, 79 [SEP] 34, SaltShaker, 2.754, 0.908, 1.044, 0, 0, 0, 79 [SEP] 35, Knife, -0.836, 0.853, -1.400, 0, 0, 0, 103 [SEP] 36, Potato, 2.221, 0.946, 1.468, 0, 0, 0, 79 [SEP] 37, PepperShaker, 2.235, 0.111, -0.498, 0, 180, 0, 85 [SEP] 38, ButterKnife, -0.836, 0.820, -1.183, 0, 0, 0, 103 [SEP] 39, Bowl, 1.155, 0.909, 1.214, 0, 0, 0, 79 [SEP] 40, DishSponge, 1.155, 0.911, 1.383, 0, 0, 0, 79 [SEP] 41, Spoon, -0.785, 0.822, -1.038, 0, 0, 0, 103 [SEP] 42, Mug, -1.056, 0.815, -1.257, 0, 270, 0, 103 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 105, NorthWall, , , , , , , [SEP] 106, EastWall, , , , , , , [SEP] 107, SouthWall, , , , , , , [SEP] 108, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and move to the counter to the left of the sink. | STEP 2: Pick up the knife on the counter. | STEP 3: Move to the sink on the right. | STEP 4: Use the knife to cut the tomato. | STEP 5: Move to the refrigerator on the left. | STEP 6: Open the refrigerator and place the knife on the right side second shelf down. | STEP 7: Close refrigerator doors and move to the sink on the right. | STEP 8: Pick up the tomato slice from the sink. | STEP 9: Turn around and move towards to microwave. | STEP 10: Open the microwave and place the tomato slice inside briefly heat it and remove it before closing the door. | STEP 11: Move the the refrigerator on the right. | STEP 12: Open refrigerator and place tomato slice on top shelf and close door. | END"]} {"id": "trial_T20190907_211822_396311-0", "input": "Put a statue in front of a television. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.901, 0.75, 0, 180, 0, [SEP] 1, Bowl, -2.631, 0.535, 3.607, 0, 270, 0, 58 [SEP] 2, Bowl, -2.561, 0.535, 4.335, 0, 270, 0, 58 [SEP] 3, Watch, -2.700, 0.533, 4.335, 0, 270, 0, 58 [SEP] 4, Watch, -2.172, 0.533, 3.981, 0, 0, 0, 58 [SEP] 5, KeyChain, -5.592, 0.534, 6.647, 0, 45, 0, 59 [SEP] 6, RemoteControl, -2.422, 0.536, 3.607, 0, 270, 0, 58 [SEP] 7, RemoteControl, -0.947, 0.444, 3.306, 0, 0, 0, 41 [SEP] 8, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 52 [SEP] 9, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 57 [SEP] 10, Vase, -3.067, 0.453, 7.183, 0, 90, 0, 50 [SEP] 11, Vase, -2.811, 0.542, 3.919, 0, 0, 0, 58 [SEP] 12, Newspaper, -0.947, 0.365, 3.915, 0, 0, 0, 41 [SEP] 13, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 58 [SEP] 14, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 15, Vase, -5.349, 0.534, 6.740, 0, 45, 0, 59 [SEP] 16, CreditCard, -0.710, 0.420, 3.306, 0, 0, 0, 41 [SEP] 17, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 55 [SEP] 18, KeyChain, -0.687, 0.794, 5.852, 0, 270, 0, 42 [SEP] 19, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 53 [SEP] 20, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 53 [SEP] 21, Bowl, -6.075, 1.281, 4.349, 0, 0, 0, 55 [SEP] 22, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 41 [SEP] 23, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 55 [SEP] 24, RemoteControl, -0.868, 0.442, 3.915, 0, 0, 0, 41 [SEP] 25, Watch, -5.859, 0.533, 6.456, 0, 135, 0, 59 [SEP] 26, Statue, -0.535, 0.800, 6.357, 0, 270, 0, 42 [SEP] 27, Statue, -2.640, 1.281, 7.235, 0, 90, 0, 57 [SEP] 28, Statue, -0.589, 0.792, 2.244, 355.070, 270, 357.987, 43 [SEP] 29, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 57 [SEP] 30, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 31, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 32, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 33, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 34, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 35, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 36, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 37, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 38, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 39, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 40, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 41, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 42, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 43, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 44, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 45, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 46, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 47, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 48, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 49, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 50, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 51, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 52, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 53, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 54, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 55, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 56, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 57, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 58, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 59, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 60, NorthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and cross the room to face the black shelves with the statue on it. | STEP 2: Pick the statue up from the cabinet. | STEP 3: Go to the left to face the stand with the television on it. | STEP 4: Put the statue in front of the television. | END"]} {"id": "trial_T20190909_075542_549772-0", "input": "To move a tissue box to the back of the toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.903, 0.75, 0, 90, 0, [SEP] 1, TissueBox, -0.980, 1.773, 2.097, 0, 0, 0, 24 [SEP] 2, Cloth, -1.144, 1.777, 2.157, 0, 0, 0, 24 [SEP] 3, Cloth, 0.124, 0.048, 0.156, 0, 0, 0, 25 [SEP] 4, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 27 [SEP] 5, Candle, -0.207, 0.650, 1.655, 0, 45, 0, 18 [SEP] 6, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 28 [SEP] 7, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 8, SoapBar, -0.169, 0.609, -0.408, 0, 315, 0, 18 [SEP] 9, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 21 [SEP] 10, SoapBottle, -1.144, 1.072, 2.187, 0, 0, 0, 26 [SEP] 11, TissueBox, -0.980, 0.289, 2.127, 0, 0, 0, 22 [SEP] 12, Cloth, -2.146, 1.052, -0.736, 0, 0, 0, 31 [SEP] 13, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 21 [SEP] 14, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 20 [SEP] 15, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 16, SprayBottle, -2.343, 1.048, -0.674, 0, 0, 0, 31 [SEP] 17, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 18, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 19, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 20, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 21, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 22, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 23, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 24, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 25, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 26, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 27, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 28, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 29, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 30, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 31, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 32, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 33, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 34, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 35, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 36, NorthWall, , , , , , , [SEP] 37, EastWall, , , , , , , [SEP] 38, SouthWall, , , , , , , [SEP] 39, WestWall, , , , , , , ", "output": ["STEP 1: Turn and walk to the shelves on the left, and look up at the top shelf. | STEP 2: Pick up the tissue box to the right of the rag. | STEP 3: Walk over to the toilet and face the back of the toilet. | STEP 4: Put the tissue box down behind the spray bottle on the back of the toilet. | END"]} {"id": "trial_T20190909_075542_549772-2", "input": "place tissue box behind purple bottle on toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.903, 0.75, 0, 90, 0, [SEP] 1, TissueBox, -0.980, 1.773, 2.097, 0, 0, 0, 24 [SEP] 2, Cloth, -1.144, 1.777, 2.157, 0, 0, 0, 24 [SEP] 3, Cloth, 0.124, 0.048, 0.156, 0, 0, 0, 25 [SEP] 4, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 27 [SEP] 5, Candle, -0.207, 0.650, 1.655, 0, 45, 0, 18 [SEP] 6, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 28 [SEP] 7, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 8, SoapBar, -0.169, 0.609, -0.408, 0, 315, 0, 18 [SEP] 9, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 21 [SEP] 10, SoapBottle, -1.144, 1.072, 2.187, 0, 0, 0, 26 [SEP] 11, TissueBox, -0.980, 0.289, 2.127, 0, 0, 0, 22 [SEP] 12, Cloth, -2.146, 1.052, -0.736, 0, 0, 0, 31 [SEP] 13, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 21 [SEP] 14, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 20 [SEP] 15, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 16, SprayBottle, -2.343, 1.048, -0.674, 0, 0, 0, 31 [SEP] 17, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 18, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 19, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 20, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 21, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 22, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 23, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 24, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 25, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 26, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 27, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 28, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 29, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 30, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 31, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 32, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 33, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 34, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 35, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 36, NorthWall, , , , , , , [SEP] 37, EastWall, , , , , , , [SEP] 38, SouthWall, , , , , , , [SEP] 39, WestWall, , , , , , , ", "output": ["STEP 1: turn around, go to top white shelf above blue bottle | STEP 2: pick up tissue box from top shelf | STEP 3: turn around, go to right side of toilet | STEP 4: place tissue box on toilet behind purple bottle | END"]} {"id": "trial_T20190907_065320_915449-1", "input": "Place two table knives on the round grey table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 0.5, 0, 90, 0, [SEP] 1, Potato, 2.591, 1.598, -0.578, 0, 90, 0, 103 [SEP] 2, ButterKnife, 0.888, 0.911, -0.345, 0, 0, 0, 48 [SEP] 3, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 63 [SEP] 4, Spoon, -0.621, 0.822, -1.308, 0, 90, 0, 107 [SEP] 5, Spoon, -0.087, 0.766, -0.541, 0, 270, 0, 105 [SEP] 6, Fork, 1.626, 0.772, -0.498, 0, 90, 0, 78 [SEP] 7, Fork, -0.007, 0.912, 1.299, 0, 90, 0, 59 [SEP] 8, Spatula, 0.263, 0.780, -0.707, 0, 90, 0, 105 [SEP] 9, Spatula, 1.155, 0.926, 1.383, 0, 0, 0, 83 [SEP] 10, Plate, 2.221, 0.914, 1.468, 0, 0, 0, 83 [SEP] 11, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 73 [SEP] 12, Cup, -0.983, 0.818, -1.206, 0, 90, 0, 107 [SEP] 13, Knife, -0.055, 0.944, 1.383, 0, 90, 0, 59 [SEP] 14, Knife, -0.766, 0.853, -1.206, 0, 270, 0, 107 [SEP] 15, SoapBottle, -2.019, 0.429, 1.332, 0, 270, 0, 101 [SEP] 16, Tomato, 0.123, 0.797, -0.762, 0, 0, 0, 105 [SEP] 17, Bowl, 1.558, 0.112, -0.419, 0, 180, 0, 65 [SEP] 18, SaltShaker, 1.688, 0.908, 1.553, 0, 0, 0, 83 [SEP] 19, SaltShaker, -0.682, 0.817, -1.473, 0, 0, 0, 107 [SEP] 20, PepperShaker, -1.056, 0.817, -1.360, 0, 90, 0, 107 [SEP] 21, PepperShaker, 1.066, 1.651, 1.429, 0, 0, 0, 75 [SEP] 22, Bread, 1.955, 0.969, 1.468, 0, 0, 0, 83 [SEP] 23, Bread, -0.151, 0.969, 1.214, 0, 0, 0, 59 [SEP] 24, Lettuce, 2.838, 1.644, -0.709, 0, 0, 0, 103 [SEP] 25, SoapBottle, 2.235, 0.120, -0.498, 0, 180, 0, 89 [SEP] 26, Plate, 0.337, 2.159, 1.467, 0, 0, 0, 82 [SEP] 27, Fork, 2.488, 0.912, 1.214, 0, 0, 0, 83 [SEP] 28, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 54 [SEP] 29, Bread, 1.141, 0.969, -0.769, 0, 0, 0, 48 [SEP] 30, Egg, -0.142, 0.949, -0.330, 0, 0, 0, 48 [SEP] 31, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 86 [SEP] 32, Tomato, 2.715, 1.320, -0.709, 0, 0, 0, 103 [SEP] 33, Cup, 2.838, 1.016, -0.644, 0, 0, 0, 103 [SEP] 34, Spatula, 0.888, 0.926, -0.769, 0, 90, 0, 48 [SEP] 35, Apple, 2.754, 0.980, 1.129, 0, 0, 0, 83 [SEP] 36, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 51 [SEP] 37, Lettuce, -0.887, 0.901, -1.400, 0, 0, 0, 107 [SEP] 38, SaltShaker, -0.007, 0.908, 1.553, 0, 0, 0, 59 [SEP] 39, Knife, 1.688, 0.944, 1.129, 0, 0, 0, 83 [SEP] 40, Potato, 1.395, 0.946, -0.345, 0, 0, 0, 48 [SEP] 41, PepperShaker, -0.198, 0.908, 1.383, 0, 0, 0, 59 [SEP] 42, ButterKnife, 1.155, 0.911, 1.214, 0, 0, 0, 83 [SEP] 43, Bowl, 2.221, 0.909, 1.129, 0, 0, 0, 83 [SEP] 44, DishSponge, 1.155, 0.911, 1.044, 0, 0, 0, 83 [SEP] 45, Spoon, -0.151, 0.912, 1.468, 0, 180, 0, 59 [SEP] 46, Mug, -0.198, 0.906, 1.553, 0, 90, 0, 59 [SEP] 47, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 48, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 49, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 50, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 51, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 53, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 54, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 55, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 56, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 57, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 58, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 59, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 60, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 61, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 62, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 63, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 64, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 66, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 67, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 68, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 69, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 70, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 71, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 79, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 81, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 83, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 84, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 85, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 86, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 87, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 88, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 89, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 90, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 91, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 92, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 93, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 94, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 95, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 99, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 100, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 101, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 102, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 103, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 104, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 105, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 106, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 107, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 108, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 109, NorthWall, , , , , , , [SEP] 110, EastWall, , , , , , , [SEP] 111, SouthWall, , , , , , , [SEP] 112, WestWall, , , , , , , ", "output": ["STEP 1: Move forward until after the stove, then turn right and cross to the opposite counter, then turn right, and look down at the counter above the dishwasher. | STEP 2: take the knife from the counter | STEP 3: move forward to the window, then turn left and move forward to the round grey table | STEP 4: place the knife on the table, perpendicular to the knife already on the table | STEP 5: turn left and cross the room to the counter that is just beyond the stove. Face the counter next to the stove. | STEP 6: Take the knife from the counter next to the stove | STEP 7: cross the room and return to in front of the round grey table | STEP 8: place the knife on the table leaning on the table knife you put there and the glass. | END"]} {"id": "trial_T20190907_065320_915449-3", "input": "Put a couple of knives down on a kitchen table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 0.5, 0, 90, 0, [SEP] 1, Potato, 2.591, 1.598, -0.578, 0, 90, 0, 103 [SEP] 2, ButterKnife, 0.888, 0.911, -0.345, 0, 0, 0, 48 [SEP] 3, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 63 [SEP] 4, Spoon, -0.621, 0.822, -1.308, 0, 90, 0, 107 [SEP] 5, Spoon, -0.087, 0.766, -0.541, 0, 270, 0, 105 [SEP] 6, Fork, 1.626, 0.772, -0.498, 0, 90, 0, 78 [SEP] 7, Fork, -0.007, 0.912, 1.299, 0, 90, 0, 59 [SEP] 8, Spatula, 0.263, 0.780, -0.707, 0, 90, 0, 105 [SEP] 9, Spatula, 1.155, 0.926, 1.383, 0, 0, 0, 83 [SEP] 10, Plate, 2.221, 0.914, 1.468, 0, 0, 0, 83 [SEP] 11, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 73 [SEP] 12, Cup, -0.983, 0.818, -1.206, 0, 90, 0, 107 [SEP] 13, Knife, -0.055, 0.944, 1.383, 0, 90, 0, 59 [SEP] 14, Knife, -0.766, 0.853, -1.206, 0, 270, 0, 107 [SEP] 15, SoapBottle, -2.019, 0.429, 1.332, 0, 270, 0, 101 [SEP] 16, Tomato, 0.123, 0.797, -0.762, 0, 0, 0, 105 [SEP] 17, Bowl, 1.558, 0.112, -0.419, 0, 180, 0, 65 [SEP] 18, SaltShaker, 1.688, 0.908, 1.553, 0, 0, 0, 83 [SEP] 19, SaltShaker, -0.682, 0.817, -1.473, 0, 0, 0, 107 [SEP] 20, PepperShaker, -1.056, 0.817, -1.360, 0, 90, 0, 107 [SEP] 21, PepperShaker, 1.066, 1.651, 1.429, 0, 0, 0, 75 [SEP] 22, Bread, 1.955, 0.969, 1.468, 0, 0, 0, 83 [SEP] 23, Bread, -0.151, 0.969, 1.214, 0, 0, 0, 59 [SEP] 24, Lettuce, 2.838, 1.644, -0.709, 0, 0, 0, 103 [SEP] 25, SoapBottle, 2.235, 0.120, -0.498, 0, 180, 0, 89 [SEP] 26, Plate, 0.337, 2.159, 1.467, 0, 0, 0, 82 [SEP] 27, Fork, 2.488, 0.912, 1.214, 0, 0, 0, 83 [SEP] 28, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 54 [SEP] 29, Bread, 1.141, 0.969, -0.769, 0, 0, 0, 48 [SEP] 30, Egg, -0.142, 0.949, -0.330, 0, 0, 0, 48 [SEP] 31, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 86 [SEP] 32, Tomato, 2.715, 1.320, -0.709, 0, 0, 0, 103 [SEP] 33, Cup, 2.838, 1.016, -0.644, 0, 0, 0, 103 [SEP] 34, Spatula, 0.888, 0.926, -0.769, 0, 90, 0, 48 [SEP] 35, Apple, 2.754, 0.980, 1.129, 0, 0, 0, 83 [SEP] 36, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 51 [SEP] 37, Lettuce, -0.887, 0.901, -1.400, 0, 0, 0, 107 [SEP] 38, SaltShaker, -0.007, 0.908, 1.553, 0, 0, 0, 59 [SEP] 39, Knife, 1.688, 0.944, 1.129, 0, 0, 0, 83 [SEP] 40, Potato, 1.395, 0.946, -0.345, 0, 0, 0, 48 [SEP] 41, PepperShaker, -0.198, 0.908, 1.383, 0, 0, 0, 59 [SEP] 42, ButterKnife, 1.155, 0.911, 1.214, 0, 0, 0, 83 [SEP] 43, Bowl, 2.221, 0.909, 1.129, 0, 0, 0, 83 [SEP] 44, DishSponge, 1.155, 0.911, 1.044, 0, 0, 0, 83 [SEP] 45, Spoon, -0.151, 0.912, 1.468, 0, 180, 0, 59 [SEP] 46, Mug, -0.198, 0.906, 1.553, 0, 90, 0, 59 [SEP] 47, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 48, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 49, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 50, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 51, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 53, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 54, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 55, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 56, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 57, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 58, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 59, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 60, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 61, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 62, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 63, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 64, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 66, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 67, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 68, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 69, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 70, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 71, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 79, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 81, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 83, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 84, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 85, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 86, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 87, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 88, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 89, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 90, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 91, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 92, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 93, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 94, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 95, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 99, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 100, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 101, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 102, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 103, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 104, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 105, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 106, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 107, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 108, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 109, NorthWall, , , , , , , [SEP] 110, EastWall, , , , , , , [SEP] 111, SouthWall, , , , , , , [SEP] 112, WestWall, , , , , , , ", "output": ["STEP 1: Walk forwards, past the dishwasher and then turn around | STEP 2: Pick up a knife off of the kitchen counter | STEP 3: Walk forwards and then turn to your left to face a table | STEP 4: Put the knife down on the table | STEP 5: Head back to your last position, but face right this time towards the other counter top | STEP 6: Pick another knife up off of the kitchen counter top | STEP 7: Head back to the kitchen table on your left | STEP 8: Put the other knife down on the table | END"]} {"id": "trial_T20190906_201430_163470-1", "input": "Put a mug with a pen in it on a small 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, 0.909, -0.25, 0, 270, 0, [SEP] 1, CD, -0.862, 0.799, -4.354, 0, 0, 0, 41 [SEP] 2, CD, -3.760, 0.980, -3.673, 0, 0, 0, 44 [SEP] 3, Pen, -3.582, 0.424, -3.885, 0, 0, 0, 47 [SEP] 4, Pen, -3.539, 0.986, -4.075, 0, 0, 0, 44 [SEP] 5, Pen, -1.270, 0.805, -3.703, 0, 0, 0, 41 [SEP] 6, Pencil, -0.657, 0.803, -4.354, 0, 0, 0, 41 [SEP] 7, CreditCard, -3.760, 0.979, -3.874, 0, 0, 0, 44 [SEP] 8, KeyChain, -3.807, 0.615, -2.999, 0, 180, 0, 45 [SEP] 9, Book, -3.613, 0.620, -1.793, 0, 0, 0, 26 [SEP] 10, Book, -3.760, 0.981, -4.276, 0, 0, 0, 44 [SEP] 11, Laptop, -3.191, 0.618, -0.931, 0, 0, 0, 26 [SEP] 12, AlarmClock, -3.539, 0.979, -4.276, 0, 0, 0, 44 [SEP] 13, Book, -1.270, 0.800, -4.246, 0, 0, 0, 41 [SEP] 14, CellPhone, -3.539, 0.981, -3.070, 0, 0, 0, 44 [SEP] 15, Laptop, -2.981, 0.618, -1.793, 0, 0, 0, 26 [SEP] 16, CreditCard, -3.466, 0.979, -3.673, 0, 0, 0, 44 [SEP] 17, AlarmClock, -0.329, 0.542, -3.713, 0, 0, 0, 41 [SEP] 18, KeyChain, -0.596, 0.543, -3.749, 0, 0, 0, 35 [SEP] 19, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 26 [SEP] 20, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 21, Pencil, -0.507, 0.546, -3.768, 0, 0, 0, 35 [SEP] 22, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 26 [SEP] 23, CD, -3.613, 0.979, -3.673, 0, 0, 0, 44 [SEP] 24, Pen, -0.329, 0.548, -3.749, 0, 0, 0, 35 [SEP] 25, Mug, -1.474, 0.798, -4.137, 0, 0, 0, 41 [SEP] 26, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 27, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 28, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 29, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 30, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 31, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 32, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 33, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 34, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 35, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 36, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 37, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 38, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 39, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 40, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 41, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 42, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 43, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 44, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 51, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 52, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 53, NorthWall, , , , , , , [SEP] 54, EastWall, , , , , , , [SEP] 55, SouthWall, , , , , , , [SEP] 56, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the desk then turn right and walk to the dresser then turn left and walk to the wall then turn right to face the dresser. | STEP 2: Pick up the pen you see on top of the dresser. | STEP 3: Turn around and walk to the desk. | STEP 4: Put the pen in the mug that's left of the light. | STEP 5: Pick up the mug with the pen in it. | STEP 6: Turn left and walk to the bed then turn right and walk to the wall and turn right. | STEP 7: Look near the floor and you will see a small brown cabinet with three drawers please put the mug on top of it near it's right corner. | END"]} {"id": "trial_T20190919_043538_864766-1", "input": "Put two eggs in a microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.931, -0.5, 0, 90, 0, [SEP] 1, Pan, 1.665, 0.204, -1.480, 0, 180, 0, 55 [SEP] 2, Potato, -1.145, 1.769, -1.331, 0, 0, 0, 59 [SEP] 3, Potato, 1.701, 1.096, 0.091, 0, 0, 0, 47 [SEP] 4, DishSponge, 0.936, 1.054, 0.281, 0, 90, 0, 43 [SEP] 5, ButterKnife, -0.177, 1.046, -1.118, 0, 0, 0, 45 [SEP] 6, Kettle, 0.801, 0.200, -1.267, 0, 0, 0, 56 [SEP] 7, Fork, 0.065, 1.043, 0.630, 0, 270, 0, 47 [SEP] 8, Spoon, 0.906, 1.048, -1.181, 0, 0, 0, 45 [SEP] 9, Egg, 1.151, 0.947, 0.158, 0, 90, 0, 42 [SEP] 10, Egg, 1.241, 0.955, 0.231, 0, 90, 0, 42 [SEP] 11, Egg, 1.701, 1.097, 0.630, 0, 0, 0, 47 [SEP] 12, Knife, 0.255, 1.069, 0.738, 0, 0, 0, 47 [SEP] 13, Knife, 0.255, 1.069, 0.091, 0, 0, 0, 47 [SEP] 14, SoapBottle, 0.848, 1.056, 0.281, 0, 90, 0, 43 [SEP] 15, Bowl, 1.155, 1.045, -1.289, 0, 0, 0, 45 [SEP] 16, PepperShaker, -0.775, 1.041, -1.505, 0, 0, 0, 45 [SEP] 17, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 63 [SEP] 18, Apple, -1.460, 1.756, 2.331, 0, 90, 0, 60 [SEP] 19, SoapBottle, -0.312, 0.204, -1.553, 0, 0, 0, 54 [SEP] 20, Apple, 1.151, 0.936, 0.231, 0, 90, 0, 42 [SEP] 21, Potato, -1.268, 2.001, 2.331, 0, 90, 0, 60 [SEP] 22, Fork, 0.031, 1.033, 0.122, 0, 0, 0, 47 [SEP] 23, Kettle, -1.261, 0.203, -1.265, 0, 0, 0, 53 [SEP] 24, Pan, 0.960, 1.564, -1.689, 0, 270, 0, 49 [SEP] 25, Tomato, -1.276, 1.764, 2.153, 0, 90, 0, 60 [SEP] 26, SaltShaker, -0.774, 1.560, -1.693, 0, 0, 0, 50 [SEP] 27, Egg, 0.740, 1.101, -1.505, 0, 0, 0, 45 [SEP] 28, Cup, -0.949, 0.202, -1.193, 0, 0, 0, 53 [SEP] 29, Spatula, 1.238, 1.061, -1.612, 0, 0, 0, 45 [SEP] 30, Knife, 1.015, 1.069, 0.632, 0, 0, 0, 47 [SEP] 31, Lettuce, -1.169, 1.287, 1.885, 0, 90, 0, 60 [SEP] 32, ButterKnife, 0.906, 1.046, -1.289, 0, 0, 0, 45 [SEP] 33, PepperShaker, -0.548, 1.560, -1.619, 0, 0, 0, 50 [SEP] 34, DishSponge, -0.670, 0.203, -1.193, 0, 0, 0, 54 [SEP] 35, Plate, 1.666, 1.032, -1.557, 0, 0, 0, 51 [SEP] 36, Bread, 0.406, 1.104, 0.352, 0, 337.138, 0, 47 [SEP] 37, Spoon, 1.347, 1.044, 0.763, 0, 0, 0, 47 [SEP] 38, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 48 [SEP] 39, Mug, -1.276, 1.708, 1.885, 0, 90, 0, 60 [SEP] 40, Bowl, 1.589, 1.018, -1.264, 0, 0, 0, 51 [SEP] 41, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 42, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 43, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 44, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 45, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 46, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 47, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 48, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 49, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 50, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 51, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 52, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 53, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 54, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 55, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 56, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 57, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 58, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 59, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 60, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 61, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 62, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 63, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 64, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 65, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 66, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 69, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 70, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 71, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 72, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 73, NorthWall, , , , , , , [SEP] 74, EastWall, , , , , , , [SEP] 75, SouthWall, , , , , , , [SEP] 76, WestWall, , , , , , , ", "output": ["STEP 1: Go forward a step then turn right to the counter to the left of the stove top. | STEP 2: Take the egg from the counter. | STEP 3: Turn right, go forward to the wall, turn left, look up at the microwave. | STEP 4: Put the egg in the microwave. | STEP 5: Turn left, go forward, turn left towards the sink. Go to the sink. | STEP 6: Take the closest egg from the sink. | STEP 7: Turn right, go forward to the wall, turn left, look up at the microwave. | STEP 8: Put the egg in the microwave. | END"]} {"id": "trial_T20190919_043538_864766-2", "input": "Putting two eggs in the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.931, -0.5, 0, 90, 0, [SEP] 1, Pan, 1.665, 0.204, -1.480, 0, 180, 0, 55 [SEP] 2, Potato, -1.145, 1.769, -1.331, 0, 0, 0, 59 [SEP] 3, Potato, 1.701, 1.096, 0.091, 0, 0, 0, 47 [SEP] 4, DishSponge, 0.936, 1.054, 0.281, 0, 90, 0, 43 [SEP] 5, ButterKnife, -0.177, 1.046, -1.118, 0, 0, 0, 45 [SEP] 6, Kettle, 0.801, 0.200, -1.267, 0, 0, 0, 56 [SEP] 7, Fork, 0.065, 1.043, 0.630, 0, 270, 0, 47 [SEP] 8, Spoon, 0.906, 1.048, -1.181, 0, 0, 0, 45 [SEP] 9, Egg, 1.151, 0.947, 0.158, 0, 90, 0, 42 [SEP] 10, Egg, 1.241, 0.955, 0.231, 0, 90, 0, 42 [SEP] 11, Egg, 1.701, 1.097, 0.630, 0, 0, 0, 47 [SEP] 12, Knife, 0.255, 1.069, 0.738, 0, 0, 0, 47 [SEP] 13, Knife, 0.255, 1.069, 0.091, 0, 0, 0, 47 [SEP] 14, SoapBottle, 0.848, 1.056, 0.281, 0, 90, 0, 43 [SEP] 15, Bowl, 1.155, 1.045, -1.289, 0, 0, 0, 45 [SEP] 16, PepperShaker, -0.775, 1.041, -1.505, 0, 0, 0, 45 [SEP] 17, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 63 [SEP] 18, Apple, -1.460, 1.756, 2.331, 0, 90, 0, 60 [SEP] 19, SoapBottle, -0.312, 0.204, -1.553, 0, 0, 0, 54 [SEP] 20, Apple, 1.151, 0.936, 0.231, 0, 90, 0, 42 [SEP] 21, Potato, -1.268, 2.001, 2.331, 0, 90, 0, 60 [SEP] 22, Fork, 0.031, 1.033, 0.122, 0, 0, 0, 47 [SEP] 23, Kettle, -1.261, 0.203, -1.265, 0, 0, 0, 53 [SEP] 24, Pan, 0.960, 1.564, -1.689, 0, 270, 0, 49 [SEP] 25, Tomato, -1.276, 1.764, 2.153, 0, 90, 0, 60 [SEP] 26, SaltShaker, -0.774, 1.560, -1.693, 0, 0, 0, 50 [SEP] 27, Egg, 0.740, 1.101, -1.505, 0, 0, 0, 45 [SEP] 28, Cup, -0.949, 0.202, -1.193, 0, 0, 0, 53 [SEP] 29, Spatula, 1.238, 1.061, -1.612, 0, 0, 0, 45 [SEP] 30, Knife, 1.015, 1.069, 0.632, 0, 0, 0, 47 [SEP] 31, Lettuce, -1.169, 1.287, 1.885, 0, 90, 0, 60 [SEP] 32, ButterKnife, 0.906, 1.046, -1.289, 0, 0, 0, 45 [SEP] 33, PepperShaker, -0.548, 1.560, -1.619, 0, 0, 0, 50 [SEP] 34, DishSponge, -0.670, 0.203, -1.193, 0, 0, 0, 54 [SEP] 35, Plate, 1.666, 1.032, -1.557, 0, 0, 0, 51 [SEP] 36, Bread, 0.406, 1.104, 0.352, 0, 337.138, 0, 47 [SEP] 37, Spoon, 1.347, 1.044, 0.763, 0, 0, 0, 47 [SEP] 38, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 48 [SEP] 39, Mug, -1.276, 1.708, 1.885, 0, 90, 0, 60 [SEP] 40, Bowl, 1.589, 1.018, -1.264, 0, 0, 0, 51 [SEP] 41, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 42, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 43, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 44, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 45, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 46, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 47, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 48, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 49, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 50, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 51, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 52, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 53, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 54, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 55, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 56, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 57, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 58, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 59, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 60, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 61, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 62, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 63, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 64, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 65, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 66, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 69, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 70, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 71, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 72, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 73, NorthWall, , , , , , , [SEP] 74, EastWall, , , , , , , [SEP] 75, SouthWall, , , , , , , [SEP] 76, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and face the counter to the left of the stove | STEP 2: Grab the egg off of the counter | STEP 3: Turn right and go to the microwave | STEP 4: Put the egg in the microwave | STEP 5: Turn left and stop at the sink | STEP 6: Grab the egg out of the sink | STEP 7: Turn left and go to the microwave | STEP 8: Put the egg in the microwave | END"]} {"id": "trial_T20190909_020627_033491-2", "input": "Put a cooked potato on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.931, 0.25, 0, 0, 0, [SEP] 1, Potato, -1.381, 1.542, 2.153, 0, 90, 0, 58 [SEP] 2, Kettle, 0.5, 1.057, -1.4, 0, 0, 0, 44 [SEP] 3, Spoon, 0.740, 1.048, -1.612, 0, 270, 0, 43 [SEP] 4, Spatula, 1.514, 1.058, 0.807, 0, 0, 0, 45 [SEP] 5, Cup, 1.112, 1.565, -1.463, 0, 0, 0, 47 [SEP] 6, Cup, -1.194, 1.716, -1.269, 0, 0, 0, 57 [SEP] 7, Plate, 1.512, 0.217, -1.262, 0, 0, 0, 53 [SEP] 8, Plate, 1.036, 1.577, -1.689, 0, 0, 0, 47 [SEP] 9, Knife, -0.517, 1.072, -1.181, 0, 0, 0, 43 [SEP] 10, Knife, -0.038, 1.072, -1.118, 0, 0, 0, 43 [SEP] 11, Tomato, 0.936, 1.104, 0.331, 0, 90, 0, 41 [SEP] 12, Tomato, -1.038, 1.279, 1.796, 0, 90, 0, 58 [SEP] 13, SoapBottle, -0.774, 1.565, -1.767, 0, 0, 0, 48 [SEP] 14, Bowl, -1.103, 1.227, 2.063, 0, 90, 0, 58 [SEP] 15, PepperShaker, 1.015, 1.038, 0.807, 0, 0, 0, 45 [SEP] 16, Lettuce, 1.181, 1.103, 0.632, 0, 0, 0, 45 [SEP] 17, SoapBottle, -1.416, 2.029, -1.482, 0, 0, 0, 50 [SEP] 18, Apple, 0.980, 1.097, 0.231, 0, 90, 0, 41 [SEP] 19, Potato, -0.689, 1.100, -1.289, 0, 0, 0, 43 [SEP] 20, Fork, 1.612, 1.043, 0.630, 0, 0, 0, 45 [SEP] 21, Kettle, 0.389, 1.053, -1.630, 0, 0, 0, 39 [SEP] 22, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 43 [SEP] 23, Tomato, -0.517, 1.097, -1.505, 0, 0, 0, 43 [SEP] 24, SaltShaker, 1.523, 1.038, 0.738, 0, 0, 0, 45 [SEP] 25, Egg, 0.255, 1.097, 0.091, 0, 0, 0, 45 [SEP] 26, Cup, 0.805, 1.053, 0.131, 0, 90, 0, 41 [SEP] 27, Spatula, -0.603, 1.061, -1.397, 0, 0, 0, 43 [SEP] 28, Knife, 0.877, 1.042, -1.363, 90, 315, 0, 43 [SEP] 29, Lettuce, -0.030, 1.103, 0.522, 0, 0, 0, 45 [SEP] 30, ButterKnife, -0.775, 1.046, -1.505, 0, 90, 0, 43 [SEP] 31, PepperShaker, 1.790, 1.038, 0.091, 0, 0, 0, 45 [SEP] 32, DishSponge, -1.027, 0.202, -1.265, 0, 0, 0, 51 [SEP] 33, Plate, 1.512, 1.032, -1.484, 0, 0, 0, 49 [SEP] 34, Bread, 0.255, 1.117, 0.522, 0, 0, 0, 45 [SEP] 35, Spoon, 1.211, 0.901, 0.231, 0, 90, 0, 40 [SEP] 36, Pot, -1.261, 0.204, -1.338, 0, 270, 0, 51 [SEP] 37, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 61 [SEP] 38, Bowl, -1.300, 1.227, 1.885, 0, 90, 0, 58 [SEP] 39, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 40, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 41, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 42, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 43, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 44, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 45, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 46, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 47, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 48, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 49, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 50, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 51, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 52, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 53, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 54, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 55, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 56, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 57, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 58, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 59, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 60, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 61, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 62, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 63, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 64, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 65, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 66, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 67, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 68, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 69, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 70, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 71, NorthWall, , , , , , , [SEP] 72, EastWall, , , , , , , [SEP] 73, SouthWall, , , , , , , [SEP] 74, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the counter then turn right and walk to the counter. | STEP 2: Pick up the potato that's in front of you. above the knife | STEP 3: Turn right and walk to the wall then turn left and take a small step backwards. | STEP 4: Cook the potato in the microwave then take it back out and close the door. | STEP 5: Take a step to your left to face the toaster again. | STEP 6: Put the potato above the knife but closer to it then where you picked it up from. | END"]} {"id": "trial_T20190908_070308_963087-0", "input": "Put a metal pan 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, 2.25, 0.900, 0.0, 0, 270, 0, [SEP] 1, DishSponge, 0.444, 2.156, 1.505, 0, 0, 0, 79 [SEP] 2, DishSponge, 1.688, 0.911, 1.553, 0, 0, 0, 80 [SEP] 3, ButterKnife, 1.688, 0.911, 1.129, 0, 0, 0, 80 [SEP] 4, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 60 [SEP] 5, Spoon, -0.887, 0.822, -1.400, 0, 0, 0, 104 [SEP] 6, Fork, 1.831, 0.772, 1.122, 0, 90, 0, 78 [SEP] 7, Spatula, -0.734, 0.835, -1.255, 0, 90, 0, 104 [SEP] 8, Spatula, -0.043, 0.926, -0.316, 0, 0, 0, 45 [SEP] 9, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 70 [SEP] 10, Egg, 2.653, 0.762, -0.473, 0, 0, 0, 100 [SEP] 11, SoapBottle, 0.634, 0.917, -0.345, 0, 0, 0, 45 [SEP] 12, SoapBottle, 1.688, 0.917, 1.383, 0, 0, 0, 80 [SEP] 13, Tomato, 2.591, 1.594, -0.840, 0, 0, 0, 100 [SEP] 14, PepperShaker, 1.254, 1.651, 1.429, 0, 0, 0, 72 [SEP] 15, PepperShaker, 1.141, 0.908, -0.854, 0, 0, 0, 45 [SEP] 16, Bread, -0.151, 0.969, 1.299, 0, 0, 0, 56 [SEP] 17, Bread, 2.221, 0.969, 1.214, 0, 0, 0, 80 [SEP] 18, Lettuce, 2.488, 0.992, 1.468, 0, 0, 0, 80 [SEP] 19, Lettuce, 1.155, 0.992, 1.383, 0, 0, 0, 80 [SEP] 20, Mug, 2.653, 0.721, -0.565, 0, 0, 0, 100 [SEP] 21, Apple, -0.198, 0.980, 1.044, 0, 0, 0, 56 [SEP] 22, SoapBottle, -1.056, 0.826, -1.257, 0, 90, 0, 104 [SEP] 23, Plate, 1.522, 1.658, -0.771, 0, 180, 0, 67 [SEP] 24, Fork, 2.249, 0.771, 1.122, 0, 90, 0, 76 [SEP] 25, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 51 [SEP] 26, Bread, 1.955, 0.969, 1.299, 0, 0, 0, 80 [SEP] 27, Egg, 0.888, 0.949, -0.854, 0, 0, 0, 45 [SEP] 28, Kettle, 1.422, 0.912, 1.468, 0, 0, 0, 80 [SEP] 29, Tomato, 2.221, 0.942, 1.553, 0, 0, 0, 80 [SEP] 30, Cup, 0.415, 1.782, 1.520, 0, 180, 0, 103 [SEP] 31, Spatula, -0.621, 0.835, -1.360, 0, 90, 0, 104 [SEP] 32, Apple, -1.962, 0.492, 1.459, 0, 270, 0, 98 [SEP] 33, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 48 [SEP] 34, Lettuce, 2.488, 0.992, 1.214, 0, 0, 0, 80 [SEP] 35, SaltShaker, 1.955, 0.908, 1.044, 0, 0, 0, 80 [SEP] 36, Knife, -0.939, 0.853, -1.255, 0, 90, 0, 104 [SEP] 37, Potato, 0.518, 1.819, 1.520, 0, 180, 0, 103 [SEP] 38, PepperShaker, -0.836, 0.817, -1.400, 0, 0, 0, 104 [SEP] 39, ButterKnife, -0.797, 0.810, -1.133, 0, 150.000, 0, 104 [SEP] 40, Bowl, 2.900, 1.286, -0.775, 0, 0, 0, 100 [SEP] 41, DishSponge, 0.888, 0.911, -0.345, 0, 0, 0, 45 [SEP] 42, Spoon, -0.055, 0.912, 1.044, 0, 0, 0, 56 [SEP] 43, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 45 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 106, NorthWall, , , , , , , [SEP] 107, EastWall, , , , , , , [SEP] 108, SouthWall, , , , , , , [SEP] 109, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward, then hang a right and walk over to the counter. | STEP 2: Pick up the butter knife off of the counter. | STEP 3: Turn left and over to the stove. | STEP 4: Put the butter knife in the metal pan that is on the front right burner of the stove. | STEP 5: Pick up the metal pan with the butter knife in it. | STEP 6: Walk over to the sink. | STEP 7: Put the metal pan with the butter knife in it in the sink. | END"]} {"id": "trial_T20190908_070308_963087-2", "input": "Place a pan with a knife in it in a sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.25, 0.900, 0.0, 0, 270, 0, [SEP] 1, DishSponge, 0.444, 2.156, 1.505, 0, 0, 0, 79 [SEP] 2, DishSponge, 1.688, 0.911, 1.553, 0, 0, 0, 80 [SEP] 3, ButterKnife, 1.688, 0.911, 1.129, 0, 0, 0, 80 [SEP] 4, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 60 [SEP] 5, Spoon, -0.887, 0.822, -1.400, 0, 0, 0, 104 [SEP] 6, Fork, 1.831, 0.772, 1.122, 0, 90, 0, 78 [SEP] 7, Spatula, -0.734, 0.835, -1.255, 0, 90, 0, 104 [SEP] 8, Spatula, -0.043, 0.926, -0.316, 0, 0, 0, 45 [SEP] 9, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 70 [SEP] 10, Egg, 2.653, 0.762, -0.473, 0, 0, 0, 100 [SEP] 11, SoapBottle, 0.634, 0.917, -0.345, 0, 0, 0, 45 [SEP] 12, SoapBottle, 1.688, 0.917, 1.383, 0, 0, 0, 80 [SEP] 13, Tomato, 2.591, 1.594, -0.840, 0, 0, 0, 100 [SEP] 14, PepperShaker, 1.254, 1.651, 1.429, 0, 0, 0, 72 [SEP] 15, PepperShaker, 1.141, 0.908, -0.854, 0, 0, 0, 45 [SEP] 16, Bread, -0.151, 0.969, 1.299, 0, 0, 0, 56 [SEP] 17, Bread, 2.221, 0.969, 1.214, 0, 0, 0, 80 [SEP] 18, Lettuce, 2.488, 0.992, 1.468, 0, 0, 0, 80 [SEP] 19, Lettuce, 1.155, 0.992, 1.383, 0, 0, 0, 80 [SEP] 20, Mug, 2.653, 0.721, -0.565, 0, 0, 0, 100 [SEP] 21, Apple, -0.198, 0.980, 1.044, 0, 0, 0, 56 [SEP] 22, SoapBottle, -1.056, 0.826, -1.257, 0, 90, 0, 104 [SEP] 23, Plate, 1.522, 1.658, -0.771, 0, 180, 0, 67 [SEP] 24, Fork, 2.249, 0.771, 1.122, 0, 90, 0, 76 [SEP] 25, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 51 [SEP] 26, Bread, 1.955, 0.969, 1.299, 0, 0, 0, 80 [SEP] 27, Egg, 0.888, 0.949, -0.854, 0, 0, 0, 45 [SEP] 28, Kettle, 1.422, 0.912, 1.468, 0, 0, 0, 80 [SEP] 29, Tomato, 2.221, 0.942, 1.553, 0, 0, 0, 80 [SEP] 30, Cup, 0.415, 1.782, 1.520, 0, 180, 0, 103 [SEP] 31, Spatula, -0.621, 0.835, -1.360, 0, 90, 0, 104 [SEP] 32, Apple, -1.962, 0.492, 1.459, 0, 270, 0, 98 [SEP] 33, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 48 [SEP] 34, Lettuce, 2.488, 0.992, 1.214, 0, 0, 0, 80 [SEP] 35, SaltShaker, 1.955, 0.908, 1.044, 0, 0, 0, 80 [SEP] 36, Knife, -0.939, 0.853, -1.255, 0, 90, 0, 104 [SEP] 37, Potato, 0.518, 1.819, 1.520, 0, 180, 0, 103 [SEP] 38, PepperShaker, -0.836, 0.817, -1.400, 0, 0, 0, 104 [SEP] 39, ButterKnife, -0.797, 0.810, -1.133, 0, 150.000, 0, 104 [SEP] 40, Bowl, 2.900, 1.286, -0.775, 0, 0, 0, 100 [SEP] 41, DishSponge, 0.888, 0.911, -0.345, 0, 0, 0, 45 [SEP] 42, Spoon, -0.055, 0.912, 1.044, 0, 0, 0, 56 [SEP] 43, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 45 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 106, NorthWall, , , , , , , [SEP] 107, EastWall, , , , , , , [SEP] 108, SouthWall, , , , , , , [SEP] 109, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Take a step left to the stove. | STEP 4: Place the knife on the pan on the front right burner. | STEP 5: Pick up the pan. | STEP 6: Turn around and walk to the sink. | STEP 7: Place the pan in the sink. | END"]} {"id": "trial_T20190909_080306_789956-0", "input": "Cut an apple, wash it and put it in the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 0.5, 0, 270, 0, [SEP] 1, Potato, -0.621, 0.855, -1.206, 0, 90, 0, 105 [SEP] 2, DishSponge, 2.153, 0.114, 1.156, 0, 0, 0, 82 [SEP] 3, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 84 [SEP] 4, Kettle, 1.422, 0.912, 1.214, 0, 0, 0, 81 [SEP] 5, ButterKnife, -1.056, 0.820, -1.308, 0, 90, 0, 105 [SEP] 6, ButterKnife, 1.688, 0.911, 1.044, 0, 0, 0, 81 [SEP] 7, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 52 [SEP] 8, Spatula, -0.055, 0.926, 1.129, 0, 90, 0, 57 [SEP] 9, Plate, 1.955, 0.914, 1.383, 0, 0, 0, 81 [SEP] 10, Plate, 2.488, 0.914, 1.299, 0, 0, 0, 81 [SEP] 11, Cup, -0.621, 0.818, -1.308, 0, 90, 0, 105 [SEP] 12, Cup, 2.900, 0.723, -0.504, 0, 0, 0, 101 [SEP] 13, Egg, 0.415, 1.822, 1.423, 0, 180, 0, 104 [SEP] 14, SoapBottle, -2.019, 0.429, 1.417, 0, 270, 0, 99 [SEP] 15, Tomato, 3.220, 0.871, -0.485, 0, 0, 0, 101 [SEP] 16, Tomato, -0.151, 0.942, 1.383, 0, 0, 0, 57 [SEP] 17, Bowl, 2.872, 0.112, 1.156, 0, 0, 0, 78 [SEP] 18, SaltShaker, -0.887, 0.817, -1.400, 0, 0, 0, 105 [SEP] 19, Bread, 2.754, 0.969, 1.383, 0, 0, 0, 81 [SEP] 20, Bread, 2.221, 0.969, 1.468, 0, 0, 0, 81 [SEP] 21, Apple, 2.715, 1.632, -0.578, 0, 0, 0, 101 [SEP] 22, Apple, -0.151, 0.980, 1.214, 0, 0, 0, 57 [SEP] 23, SoapBottle, 0.900, 1.661, -0.693, 0, 180, 0, 56 [SEP] 24, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 46 [SEP] 25, Fork, 1.141, 0.912, -0.769, 0, 90, 0, 46 [SEP] 26, Pot, 1.155, 0.915, 1.383, 0, 0, 0, 81 [SEP] 27, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 46 [SEP] 28, Egg, 2.715, 0.764, -0.504, 0, 0, 0, 101 [SEP] 29, Kettle, -0.785, 0.821, -1.255, 0, 270, 0, 105 [SEP] 30, Tomato, 0.888, 0.942, -0.6, 0, 0, 0, 46 [SEP] 31, Cup, 2.962, 1.561, -0.775, 0, 0, 0, 101 [SEP] 32, Spatula, 0.251, 0.926, -0.302, 0, 0, 0, 46 [SEP] 33, Apple, -0.246, 0.980, 1.044, 0, 0, 0, 57 [SEP] 34, Pan, 1.155, 0.911, 1.129, 0, 0, 0, 81 [SEP] 35, Lettuce, 2.912, 1.345, -0.613, 14.844, 5.052, 19.928, 101 [SEP] 36, SaltShaker, -0.151, 0.908, 1.044, 0, 0, 0, 57 [SEP] 37, Knife, 1.688, 0.944, 1.299, 0, 0, 0, 81 [SEP] 38, Potato, 0.634, 0.946, -0.769, 0, 0, 0, 46 [SEP] 39, PepperShaker, 2.138, 1.651, -0.725, 0, 180, 0, 67 [SEP] 40, ButterKnife, 2.221, 0.911, 1.044, 0, 0, 0, 81 [SEP] 41, Bowl, 2.653, 1.017, -0.644, 0, 0, 0, 101 [SEP] 42, DishSponge, 1.842, 1.655, 1.390, 0, 0, 0, 58 [SEP] 43, Spoon, 1.862, 0.772, 1.198, 0, 0, 0, 79 [SEP] 44, Mug, 1.955, 0.906, 1.044, 0, 0, 0, 81 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 107, NorthWall, , , , , , , [SEP] 108, EastWall, , , , , , , [SEP] 109, SouthWall, , , , , , , [SEP] 110, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, go forward, turn left to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn left, go to the edge of the counter, turn right | STEP 4: Cut the apple on the counter | STEP 5: Turn right, go to the microwave | STEP 6: Put the knife in the microwave | STEP 7: Turn left, go to the edge of the counter, turn right | STEP 8: Pick up an apple piece from the counter | STEP 9: Turn around, go to the sink | STEP 10: Put the apple piece in the sink, wash the apple piece with water, pick up the apple piece from the sink | STEP 11: Turn around, go to the microwave | STEP 12: Put the apple piece in the microwave | END"]} {"id": "trial_T20190906_175911_563263-0", "input": "Put a clean rag on the bench. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.903, 0.0, 0, 90, 0, [SEP] 1, TissueBox, -0.817, 1.773, 2.097, 0, 0, 0, 28 [SEP] 2, TissueBox, -1.144, 1.070, 2.127, 0, 0, 0, 30 [SEP] 3, SoapBar, 0.453, 0.043, -0.071, 0, 0, 0, 29 [SEP] 4, SoapBar, -2.343, 1.046, -0.797, 0, 0, 0, 35 [SEP] 5, Candle, -2.015, 1.088, -0.644, 0, 0, 0, 35 [SEP] 6, SoapBottle, -1.144, 1.775, 2.217, 0, 0, 0, 28 [SEP] 7, SoapBottle, -2.212, 1.049, -0.766, 0, 0, 0, 35 [SEP] 8, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 25 [SEP] 9, Candle, -0.980, 0.330, 2.067, 0, 0, 0, 26 [SEP] 10, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 32 [SEP] 11, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 12, SoapBar, -2.343, 1.046, -0.674, 0, 0, 0, 35 [SEP] 13, ToiletPaper, -1.666, 0.078, -0.620, 0, 270, 0, 25 [SEP] 14, SoapBottle, -1.471, 1.072, 2.097, 0, 0, 0, 30 [SEP] 15, TissueBox, -1.635, 1.773, 2.097, 0, 0, 0, 28 [SEP] 16, Cloth, 0.453, 0.048, 0.384, 0, 0, 0, 29 [SEP] 17, ToiletPaper, -0.980, 1.769, 2.097, 0, 0, 0, 28 [SEP] 18, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 24 [SEP] 19, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 20, SprayBottle, -0.653, 0.289, 2.097, 0, 0, 0, 26 [SEP] 21, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 22, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 23, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 24, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 25, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 26, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 27, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 28, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 29, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 30, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 31, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 32, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 33, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 34, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 35, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 36, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 37, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 38, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 39, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk over to the bath mat. Then turn right and face the bath tub. | STEP 2: Pick up the yellow rag from the bath tub. | STEP 3: Turn around and walk towards the toilet, then turn left and move towards the sink. | STEP 4: Drop the rag in the sink and wash it off with water. | STEP 5: Turn around and walk to the bench on floor against the wall on the other side of the room. | STEP 6: Put the rag on the bench next to the candle. | END"]} {"id": "trial_T20190906_175911_563263-2", "input": "Put a cleaned yellow cloth on a shelf close to the floor. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.903, 0.0, 0, 90, 0, [SEP] 1, TissueBox, -0.817, 1.773, 2.097, 0, 0, 0, 28 [SEP] 2, TissueBox, -1.144, 1.070, 2.127, 0, 0, 0, 30 [SEP] 3, SoapBar, 0.453, 0.043, -0.071, 0, 0, 0, 29 [SEP] 4, SoapBar, -2.343, 1.046, -0.797, 0, 0, 0, 35 [SEP] 5, Candle, -2.015, 1.088, -0.644, 0, 0, 0, 35 [SEP] 6, SoapBottle, -1.144, 1.775, 2.217, 0, 0, 0, 28 [SEP] 7, SoapBottle, -2.212, 1.049, -0.766, 0, 0, 0, 35 [SEP] 8, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 25 [SEP] 9, Candle, -0.980, 0.330, 2.067, 0, 0, 0, 26 [SEP] 10, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 32 [SEP] 11, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 12, SoapBar, -2.343, 1.046, -0.674, 0, 0, 0, 35 [SEP] 13, ToiletPaper, -1.666, 0.078, -0.620, 0, 270, 0, 25 [SEP] 14, SoapBottle, -1.471, 1.072, 2.097, 0, 0, 0, 30 [SEP] 15, TissueBox, -1.635, 1.773, 2.097, 0, 0, 0, 28 [SEP] 16, Cloth, 0.453, 0.048, 0.384, 0, 0, 0, 29 [SEP] 17, ToiletPaper, -0.980, 1.769, 2.097, 0, 0, 0, 28 [SEP] 18, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 24 [SEP] 19, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 20, SprayBottle, -0.653, 0.289, 2.097, 0, 0, 0, 26 [SEP] 21, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 22, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 23, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 24, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 25, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 26, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 27, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 28, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 29, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 30, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 31, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 32, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 33, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 34, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 35, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 36, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 37, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 38, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 39, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Move slightly to the left and stand in front of the bath tub. | STEP 2: Pick up the yellow cloth from the bath tub basin. | STEP 3: Turn right and walk to the sink. | STEP 4: Put the cloth in the sink, rinse it off, and take it out of the sink. | STEP 5: Turn around and walk forward to the shelf close to the floor containing the candle. | STEP 6: Put the cloth on the shelf, to the left of the candle. | END"]} {"id": "trial_T20190906_175911_563263-4", "input": "Put the washed yellow cloth on the shelf SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.903, 0.0, 0, 90, 0, [SEP] 1, TissueBox, -0.817, 1.773, 2.097, 0, 0, 0, 28 [SEP] 2, TissueBox, -1.144, 1.070, 2.127, 0, 0, 0, 30 [SEP] 3, SoapBar, 0.453, 0.043, -0.071, 0, 0, 0, 29 [SEP] 4, SoapBar, -2.343, 1.046, -0.797, 0, 0, 0, 35 [SEP] 5, Candle, -2.015, 1.088, -0.644, 0, 0, 0, 35 [SEP] 6, SoapBottle, -1.144, 1.775, 2.217, 0, 0, 0, 28 [SEP] 7, SoapBottle, -2.212, 1.049, -0.766, 0, 0, 0, 35 [SEP] 8, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 25 [SEP] 9, Candle, -0.980, 0.330, 2.067, 0, 0, 0, 26 [SEP] 10, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 32 [SEP] 11, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 12, SoapBar, -2.343, 1.046, -0.674, 0, 0, 0, 35 [SEP] 13, ToiletPaper, -1.666, 0.078, -0.620, 0, 270, 0, 25 [SEP] 14, SoapBottle, -1.471, 1.072, 2.097, 0, 0, 0, 30 [SEP] 15, TissueBox, -1.635, 1.773, 2.097, 0, 0, 0, 28 [SEP] 16, Cloth, 0.453, 0.048, 0.384, 0, 0, 0, 29 [SEP] 17, ToiletPaper, -0.980, 1.769, 2.097, 0, 0, 0, 28 [SEP] 18, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 24 [SEP] 19, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 20, SprayBottle, -0.653, 0.289, 2.097, 0, 0, 0, 26 [SEP] 21, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 22, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 23, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 24, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 25, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 26, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 27, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 28, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 29, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 30, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 31, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 32, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 33, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 34, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 35, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 36, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 37, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 38, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 39, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Move slightly left then turn back right to face the bathtub | STEP 2: Pick up the yellow cloth from the tub | STEP 3: Turn around and walk up to the sink | STEP 4: Wash the yellow cloth under water in the sink then remove it | STEP 5: Turn around and walk up to the white shelves against the wall | STEP 6: Put the cloth down on the bottom shelf | END"]} {"id": "trial_T20190906_175911_563263-5", "input": "Put a wet wash cloth on a shelf in the bathroom. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.903, 0.0, 0, 90, 0, [SEP] 1, TissueBox, -0.817, 1.773, 2.097, 0, 0, 0, 28 [SEP] 2, TissueBox, -1.144, 1.070, 2.127, 0, 0, 0, 30 [SEP] 3, SoapBar, 0.453, 0.043, -0.071, 0, 0, 0, 29 [SEP] 4, SoapBar, -2.343, 1.046, -0.797, 0, 0, 0, 35 [SEP] 5, Candle, -2.015, 1.088, -0.644, 0, 0, 0, 35 [SEP] 6, SoapBottle, -1.144, 1.775, 2.217, 0, 0, 0, 28 [SEP] 7, SoapBottle, -2.212, 1.049, -0.766, 0, 0, 0, 35 [SEP] 8, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 25 [SEP] 9, Candle, -0.980, 0.330, 2.067, 0, 0, 0, 26 [SEP] 10, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 32 [SEP] 11, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 12, SoapBar, -2.343, 1.046, -0.674, 0, 0, 0, 35 [SEP] 13, ToiletPaper, -1.666, 0.078, -0.620, 0, 270, 0, 25 [SEP] 14, SoapBottle, -1.471, 1.072, 2.097, 0, 0, 0, 30 [SEP] 15, TissueBox, -1.635, 1.773, 2.097, 0, 0, 0, 28 [SEP] 16, Cloth, 0.453, 0.048, 0.384, 0, 0, 0, 29 [SEP] 17, ToiletPaper, -0.980, 1.769, 2.097, 0, 0, 0, 28 [SEP] 18, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 24 [SEP] 19, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 20, SprayBottle, -0.653, 0.289, 2.097, 0, 0, 0, 26 [SEP] 21, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 22, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 23, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 24, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 25, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 26, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 27, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 28, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 29, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 30, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 31, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 32, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 33, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 34, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 35, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 36, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 37, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 38, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 39, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and move to the center of the tub. | STEP 2: Pick up the yellow wash cloth in the tub. | STEP 3: Turn around and face the waste paper basket between the sink and the tub. | STEP 4: Put the wash cloth in the sink and get it wet. | STEP 5: Turn left and walk until you hit the tub and then turn and walk to the shelf near the floor. | STEP 6: Put the wash cloth to the left of the white and orange object. | END"]} {"id": "trial_T20190907_174500_858143-1", "input": "Clean the rag to put back in the tub SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.903, 1.5, 0, 90, 0, [SEP] 1, Cloth, -1.471, 1.074, 2.157, 0, 0, 0, 33 [SEP] 2, Cloth, 0.124, 0.048, 0.384, 0, 0, 0, 32 [SEP] 3, Cloth, -1.144, 1.777, 2.157, 0, 0, 0, 31 [SEP] 4, SoapBar, -1.144, 0.288, 2.157, 0, 0, 0, 29 [SEP] 5, Candle, -0.653, 1.111, 2.067, 0, 0, 0, 33 [SEP] 6, Candle, -1.949, 1.088, -0.674, 0, 0, 0, 38 [SEP] 7, SprayBottle, -2.212, 1.048, -0.705, 0, 0, 0, 38 [SEP] 8, SprayBottle, -2.343, 1.048, -0.766, 0, 0, 0, 38 [SEP] 9, SoapBottle, -1.308, 0.291, 2.157, 0, 0, 0, 29 [SEP] 10, SoapBottle, -1.635, 1.072, 2.127, 0, 0, 0, 33 [SEP] 11, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 34 [SEP] 12, Candle, -0.164, 0.650, 1.653, 0, 45, 0, 25 [SEP] 13, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 35 [SEP] 14, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 15, SoapBar, 0.371, 0.043, 0.384, 0, 0, 0, 32 [SEP] 16, ToiletPaper, -0.246, 0.606, -0.445, 0, 315, 0, 25 [SEP] 17, SoapBottle, -1.707, 0.083, -0.655, 0, 270, 0, 36 [SEP] 18, TissueBox, -0.653, 0.289, 2.097, 0, 0, 0, 29 [SEP] 19, Cloth, 0.206, 0.048, 0.156, 0, 0, 0, 32 [SEP] 20, ToiletPaper, -1.308, 1.769, 2.187, 0, 0, 0, 31 [SEP] 21, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 27 [SEP] 22, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 23, SprayBottle, -1.471, 1.774, 2.157, 0, 0, 0, 31 [SEP] 24, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 25, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 26, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 27, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 28, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 29, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 30, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 31, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 32, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 33, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 34, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 35, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 36, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 37, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 38, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 39, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 40, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 41, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 42, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your right walk straight then left face the tub | STEP 2: Pick up the right rag on the tub | STEP 3: Turn to your right and head to the sink | STEP 4: Put the rag in the sink and rinse it | STEP 5: Turn to your left and head to the tub | STEP 6: Put the clean rag in the tub | END"]} {"id": "trial_T20190907_230423_678128-1", "input": "Place the box in between the 2 sinks 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, -1.25, 0.901, 1.5, 0, 0, 0, [SEP] 1, TissueBox, -1.416, 0.994, 2.982, 0, 0, 0, 28 [SEP] 2, Cloth, -1.379, 0.067, 3.327, 0, 0, 0, 27 [SEP] 3, SoapBar, -1.560, 0.067, 3.377, 0, 0, 0, 27 [SEP] 4, SoapBar, 0.306, 0.893, 1.618, 0, 0, 0, 34 [SEP] 5, SprayBottle, 0.313, 0.048, 3.838, 0, 0, 0, 31 [SEP] 6, SprayBottle, -1.613, 0.995, 2.982, 0, 0, 0, 28 [SEP] 7, SoapBottle, -1.416, 0.993, 3.812, 0, 0, 0, 28 [SEP] 8, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 30 [SEP] 9, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 32 [SEP] 10, SoapBar, 0.313, 0.047, 3.782, 0, 0, 0, 31 [SEP] 11, ToiletPaper, -1.262, 0.065, 2.857, 0, 0, 0, 21 [SEP] 12, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 13, Candle, -1.481, 0.994, 2.239, 0, 0, 0, 28 [SEP] 14, TissueBox, -1.307, 0.984, 3.185, 0, 0, 0, 28 [SEP] 15, SoapBottle, -1.350, 0.993, 2.239, 0, 0, 0, 28 [SEP] 16, ToiletPaper, -1.284, 0.991, 3.903, 0, 0, 0, 28 [SEP] 17, SprayBottle, -1.500, 0.068, 2.240, 0, 0, 0, 23 [SEP] 18, Cloth, -1.501, 0.068, 3.793, 0, 0, 0, 29 [SEP] 19, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 20, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 21, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 22, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 23, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 24, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 25, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 26, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 27, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 28, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 29, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 30, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 31, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 32, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 33, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 34, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 35, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 36, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 37, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 38, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 39, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 40, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 41, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 42, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left, go straight, then to the left again to face the counter top between the two sinks. | STEP 2: Pick up the tissue box to the left. | STEP 3: Turn to the left and head straight to face the glass shower door. | STEP 4: Place the tissue box on the top of the toilet to the left of the glass shower door. | END"]} {"id": "trial_T20190907_230423_678128-2", "input": "take a tissue box to the toilet and put it on the tank SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, 1.5, 0, 0, 0, [SEP] 1, TissueBox, -1.416, 0.994, 2.982, 0, 0, 0, 28 [SEP] 2, Cloth, -1.379, 0.067, 3.327, 0, 0, 0, 27 [SEP] 3, SoapBar, -1.560, 0.067, 3.377, 0, 0, 0, 27 [SEP] 4, SoapBar, 0.306, 0.893, 1.618, 0, 0, 0, 34 [SEP] 5, SprayBottle, 0.313, 0.048, 3.838, 0, 0, 0, 31 [SEP] 6, SprayBottle, -1.613, 0.995, 2.982, 0, 0, 0, 28 [SEP] 7, SoapBottle, -1.416, 0.993, 3.812, 0, 0, 0, 28 [SEP] 8, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 30 [SEP] 9, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 32 [SEP] 10, SoapBar, 0.313, 0.047, 3.782, 0, 0, 0, 31 [SEP] 11, ToiletPaper, -1.262, 0.065, 2.857, 0, 0, 0, 21 [SEP] 12, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 13, Candle, -1.481, 0.994, 2.239, 0, 0, 0, 28 [SEP] 14, TissueBox, -1.307, 0.984, 3.185, 0, 0, 0, 28 [SEP] 15, SoapBottle, -1.350, 0.993, 2.239, 0, 0, 0, 28 [SEP] 16, ToiletPaper, -1.284, 0.991, 3.903, 0, 0, 0, 28 [SEP] 17, SprayBottle, -1.500, 0.068, 2.240, 0, 0, 0, 23 [SEP] 18, Cloth, -1.501, 0.068, 3.793, 0, 0, 0, 29 [SEP] 19, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 20, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 21, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 22, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 23, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 24, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 25, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 26, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 27, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 28, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 29, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 30, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 31, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 32, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 33, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 34, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 35, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 36, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 37, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 38, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 39, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 40, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 41, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 42, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, WestWall, , , , , , , ", "output": ["STEP 1: go around the sink so you are facing it between both bowls | STEP 2: pick up the tissue box on the left side | STEP 3: take the tissue box to the toilet | STEP 4: place the tissue box on the toilet tank on its end | END"]} {"id": "trial_T20190908_061650_987513-1", "input": "cool the egg with refrigerator, put the 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, 3.0, 0.900, 0.5, 0, 180, 0, [SEP] 1, Potato, 0.123, 0.800, -0.762, 0, 0, 0, 100 [SEP] 2, DishSponge, 0.888, 0.911, -0.854, 0, 0, 0, 43 [SEP] 3, DishSponge, 2.205, 0.771, -0.383, 0, 180, 0, 56 [SEP] 4, Kettle, -0.160, 0.116, 1.156, 0, 0, 0, 71 [SEP] 5, Fork, -0.766, 0.821, -1.308, 0, 90, 0, 102 [SEP] 6, Spatula, 1.155, 0.926, 1.468, 0, 0, 0, 78 [SEP] 7, Cup, 0.123, 0.763, -0.596, 0, 0, 0, 100 [SEP] 8, Cup, 1.896, 0.112, 1.117, 0, 0, 0, 79 [SEP] 9, Knife, -0.621, 0.853, -1.257, 0, 90, 0, 102 [SEP] 10, Knife, 0.193, 0.798, -0.707, 0, 90, 0, 100 [SEP] 11, Tomato, 2.591, 0.758, -0.565, 0, 0, 0, 98 [SEP] 12, Bowl, 1.563, 0.112, 1.119, 0, 0, 0, 72 [SEP] 13, SaltShaker, 1.955, 0.908, 1.299, 0, 0, 0, 78 [SEP] 14, PepperShaker, -0.198, 0.908, 1.468, 0, 0, 0, 54 [SEP] 15, PepperShaker, -0.246, 0.908, 1.383, 0, 0, 0, 54 [SEP] 16, Bread, 1.955, 0.969, 1.468, 0, 0, 0, 78 [SEP] 17, Bread, 1.688, 0.969, 1.468, 0, 0, 0, 78 [SEP] 18, Lettuce, 2.838, 1.099, -0.709, 0, 0, 0, 98 [SEP] 19, Mug, 0.363, 1.779, 1.455, 0, 180, 0, 101 [SEP] 20, SoapBottle, -0.911, 0.826, -1.308, 0, 90, 0, 102 [SEP] 21, Plate, 0.284, 2.159, 1.467, 0, 0, 0, 77 [SEP] 22, Fork, 1.141, 0.912, -0.515, 0, 0, 0, 43 [SEP] 23, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 49 [SEP] 24, Bread, 2.488, 0.969, 1.299, 0, 0, 0, 78 [SEP] 25, Egg, -0.087, 0.803, -0.596, 0, 0, 0, 100 [SEP] 26, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 43 [SEP] 27, Tomato, 2.900, 1.594, -0.578, 0, 0, 0, 98 [SEP] 28, Cup, 2.715, 1.286, -0.644, 0, 0, 0, 98 [SEP] 29, Spatula, 1.422, 0.926, 1.468, 0, 0, 0, 78 [SEP] 30, Apple, 1.141, 0.980, -0.430, 0, 0, 0, 43 [SEP] 31, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 46 [SEP] 32, Lettuce, 2.715, 1.644, -0.644, 0, 0, 0, 98 [SEP] 33, SaltShaker, 2.754, 0.908, 1.214, 0, 0, 0, 78 [SEP] 34, Knife, -1.056, 0.853, -1.257, 0, 90, 0, 102 [SEP] 35, Potato, -0.055, 0.946, 1.044, 0, 0, 0, 54 [SEP] 36, PepperShaker, 1.947, 0.110, -0.495, 0, 180, 0, 89 [SEP] 37, ButterKnife, -1.056, 0.820, -1.308, 0, 90, 0, 102 [SEP] 38, Bowl, 1.141, 0.909, -0.769, 0, 0, 0, 43 [SEP] 39, DishSponge, -0.983, 0.820, -1.103, 0, 90, 0, 102 [SEP] 40, Spoon, 2.418, 0.772, 1.122, 0, 90, 0, 59 [SEP] 41, Mug, -0.055, 0.906, 1.214, 0, 0, 0, 54 [SEP] 42, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 43, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 44, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 45, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 46, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 47, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 48, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 49, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 50, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 51, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 52, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 53, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 54, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 55, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 56, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 57, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 58, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 59, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 60, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 61, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 62, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 63, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 64, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 65, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 66, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 72, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 73, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 74, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 76, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 78, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 79, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 81, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 82, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 83, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 84, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 85, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 86, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 87, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 88, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 89, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 90, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 95, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 96, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 97, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 98, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 99, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 100, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 101, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 102, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 103, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 104, NorthWall, , , , , , , [SEP] 105, EastWall, , , , , , , [SEP] 106, SouthWall, , , , , , , [SEP] 107, WestWall, , , , , , , ", "output": ["STEP 1: turn right, walk to the sink | STEP 2: grab the egg in the sink | STEP 3: turn left walk to the refrigerator | STEP 4: put the egg in the refrigerator, wait a while, take the egg out | STEP 5: turn right, walk to the microwave on the right | STEP 6: open the microwave, put the egg in | END"]} {"id": "trial_T20190908_045822_527043-1", "input": "move the candle from the tub 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, -1.5, 0.903, 1.75, 0, 180, 0, [SEP] 1, SoapBar, -0.304, 0.609, 0.935, 0, 0, 0, 18 [SEP] 2, SprayBottle, -0.817, 1.774, 2.097, 0, 0, 0, 24 [SEP] 3, SprayBottle, -2.080, 1.048, -0.766, 0, 0, 0, 31 [SEP] 4, SoapBottle, -0.226, 0.611, -0.465, 0, 315, 0, 18 [SEP] 5, Candle, -0.182, 0.650, 1.789, 0, 0, 0, 18 [SEP] 6, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 27 [SEP] 7, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 8, SoapBar, -2.015, 1.046, -0.705, 0, 0, 0, 31 [SEP] 9, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 21 [SEP] 10, SoapBottle, -2.343, 1.049, -0.736, 0, 0, 0, 31 [SEP] 11, TissueBox, -1.144, 1.070, 2.157, 0, 0, 0, 26 [SEP] 12, Cloth, 0.371, 0.048, 0.839, 0, 0, 0, 25 [SEP] 13, ToiletPaper, -1.707, 0.078, -0.655, 0, 270, 0, 21 [SEP] 14, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 20 [SEP] 15, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 16, SprayBottle, -2.146, 1.048, -0.674, 0, 0, 0, 31 [SEP] 17, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 18, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 19, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 20, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 21, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 22, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 23, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 24, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 25, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 26, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 27, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 28, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 29, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 30, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 31, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 32, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 33, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 34, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 35, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 36, NorthWall, , , , , , , [SEP] 37, EastWall, , , , , , , [SEP] 38, SouthWall, , , , , , , [SEP] 39, WestWall, , , , , , , ", "output": ["STEP 1: turn left to the tub | STEP 2: grab the candle by the tub | STEP 3: turn around, walk across the room to the toilet | STEP 4: put the candle on the toilet | END"]} {"id": "trial_T20190908_045822_527043-2", "input": "move the candle from the tub 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, -1.5, 0.903, 1.75, 0, 180, 0, [SEP] 1, SoapBar, -0.304, 0.609, 0.935, 0, 0, 0, 18 [SEP] 2, SprayBottle, -0.817, 1.774, 2.097, 0, 0, 0, 24 [SEP] 3, SprayBottle, -2.080, 1.048, -0.766, 0, 0, 0, 31 [SEP] 4, SoapBottle, -0.226, 0.611, -0.465, 0, 315, 0, 18 [SEP] 5, Candle, -0.182, 0.650, 1.789, 0, 0, 0, 18 [SEP] 6, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 27 [SEP] 7, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 8, SoapBar, -2.015, 1.046, -0.705, 0, 0, 0, 31 [SEP] 9, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 21 [SEP] 10, SoapBottle, -2.343, 1.049, -0.736, 0, 0, 0, 31 [SEP] 11, TissueBox, -1.144, 1.070, 2.157, 0, 0, 0, 26 [SEP] 12, Cloth, 0.371, 0.048, 0.839, 0, 0, 0, 25 [SEP] 13, ToiletPaper, -1.707, 0.078, -0.655, 0, 270, 0, 21 [SEP] 14, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 20 [SEP] 15, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 16, SprayBottle, -2.146, 1.048, -0.674, 0, 0, 0, 31 [SEP] 17, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 18, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 19, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 20, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 21, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 22, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 23, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 24, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 25, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 26, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 27, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 28, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 29, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 30, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 31, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 32, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 33, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 34, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 35, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 36, NorthWall, , , , , , , [SEP] 37, EastWall, , , , , , , [SEP] 38, SouthWall, , , , , , , [SEP] 39, WestWall, , , , , , , ", "output": ["STEP 1: turn left and walk towards the bathtub | STEP 2: pick up the candle from the tub | STEP 3: turn around and walk towards the door. make a left and walk forward to the toilet | STEP 4: place the candle on the toilet | END"]} {"id": "trial_T20190907_160807_658218-1", "input": "Move an empty box to the sofa SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, -1.25, 0, 270, 0, [SEP] 1, Watch, -0.411, 0.552, -0.365, 0, 270, 0, 28 [SEP] 2, Newspaper, -0.922, 0.324, -1.917, 0, 90, 0, 30 [SEP] 3, Newspaper, 1.724, 0.869, 0.220, 0, 90, 0, 34 [SEP] 4, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 36 [SEP] 5, KeyChain, 1.849, 0.871, 0.008, 0, 90, 0, 34 [SEP] 6, Watch, -0.582, 0.360, -0.152, 0, 270, 0, 37 [SEP] 7, Newspaper, 1.807, 0.868, 0.537, 0, 90, 0, 34 [SEP] 8, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 30 [SEP] 9, CreditCard, -0.711, 0.357, -0.120, 0, 270, 0, 25 [SEP] 10, RemoteControl, -0.260, 0.553, -0.106, 0, 270, 0, 28 [SEP] 11, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 28 [SEP] 12, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 28 [SEP] 13, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 28 [SEP] 14, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 15, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 16, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 17, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 18, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 19, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 20, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 21, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 22, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 23, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 24, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 25, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 26, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 28, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 29, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 30, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 31, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 32, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 33, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 34, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 35, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 36, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 37, , , , , , , , [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: Move to the wood desk to the left of the brown chair | STEP 2: Pick up the empty box under the desk on the floor | STEP 3: Carry the box to the large brown sofa | STEP 4: Place the box in the middle of the sofa | END"]} {"id": "trial_T20190909_085314_444549-2", "input": "Pick up the newspaper from the coffee table and turn on the light on the end table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.0, 0.901, 3.25, 0, 90, 0, [SEP] 1, Bowl, -2.474, 0.454, 7.145, 0, 90, 0, 52 [SEP] 2, Bowl, -0.326, 0.795, 1.951, 0, 0, 0, 45 [SEP] 3, Watch, -6.075, 1.280, 3.662, 0, 0, 0, 57 [SEP] 4, Watch, -0.738, 0.793, 2.252, 0, 270, 0, 45 [SEP] 5, KeyChain, -2.870, 0.453, 7.221, 0, 90, 0, 52 [SEP] 6, KeyChain, -0.789, 0.367, 3.002, 0, 0, 0, 43 [SEP] 7, CreditCard, -5.329, 0.533, 6.835, 0, 135, 0, 61 [SEP] 8, CreditCard, -0.687, 0.793, 2.377, 0, 270, 0, 45 [SEP] 9, RemoteControl, -5.518, 0.536, 6.797, 0, 135, 0, 61 [SEP] 10, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 54 [SEP] 11, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 59 [SEP] 12, Vase, -0.585, 0.794, 2.252, 0, 270, 0, 45 [SEP] 13, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 55 [SEP] 14, Newspaper, -2.492, 0.532, 3.752, 0, 270, 0, 60 [SEP] 15, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 60 [SEP] 16, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 17, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 53 [SEP] 18, CreditCard, -0.758, 0.793, 2.103, 0, 0, 0, 45 [SEP] 19, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 57 [SEP] 20, KeyChain, -0.789, 0.433, 3.306, 0, 90, 0, 43 [SEP] 21, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 55 [SEP] 22, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 55 [SEP] 23, Bowl, -5.899, 0.148, 4.942, 0, 0, 0, 50 [SEP] 24, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 43 [SEP] 25, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 57 [SEP] 26, RemoteControl, -5.885, 1.282, 3.891, 0, 0, 0, 57 [SEP] 27, Watch, -6.075, 1.280, 4.808, 0, 0, 0, 57 [SEP] 28, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 59 [SEP] 29, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 57 [SEP] 30, Statue, -2.631, 0.543, 4.335, 0, 270, 0, 60 [SEP] 31, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 59 [SEP] 32, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 33, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 34, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 35, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 36, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 37, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 38, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 39, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 40, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 41, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 42, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 43, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 44, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 45, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 46, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 47, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 48, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 49, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 50, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 51, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 52, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 53, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 54, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 55, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 56, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 57, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 58, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 59, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 60, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 61, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 62, NorthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , ", "output": ["STEP 1: Go around to the other side of the coffee table. | STEP 2: Pick up the newspaper from the coffee table. | STEP 3: Go to the end table to your left. | STEP 4: Turn the light on that's on the end table. | END"]} {"id": "trial_T20190908_225459_907405-0", "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, 0.0, 0.901, 2.5, 0, 180, 0, [SEP] 1, Cloth, -1.382, 0.068, 3.793, 0, 0, 0, 29 [SEP] 2, Cloth, -1.416, 0.994, 3.842, 0, 0, 0, 28 [SEP] 3, SoapBar, -1.481, 0.994, 2.269, 0, 0, 0, 28 [SEP] 4, SprayBottle, -1.481, 0.995, 3.159, 0, 0, 0, 28 [SEP] 5, SprayBottle, -1.547, 0.995, 2.982, 0, 0, 0, 28 [SEP] 6, SoapBottle, -1.379, 0.067, 3.276, 0, 0, 0, 27 [SEP] 7, SoapBottle, -1.620, 0.067, 3.226, 0, 0, 0, 27 [SEP] 8, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 30 [SEP] 9, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 32 [SEP] 10, SoapBar, 0.286, 0.047, 3.810, 0, 0, 0, 31 [SEP] 11, ToiletPaper, -1.613, 0.991, 2.178, 0, 0, 0, 28 [SEP] 12, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 13, Candle, -1.547, 0.994, 3.100, 0, 0, 0, 28 [SEP] 14, TissueBox, -1.561, 0.069, 2.757, 0, 0, 0, 21 [SEP] 15, SoapBottle, -1.350, 0.993, 2.148, 0, 0, 0, 28 [SEP] 16, ToiletPaper, -1.219, 0.991, 2.923, 0, 0, 0, 28 [SEP] 17, SprayBottle, -1.284, 0.995, 2.239, 0, 0, 0, 28 [SEP] 18, Cloth, -1.500, 0.067, 3.226, 0, 0, 0, 27 [SEP] 19, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 20, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 21, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 22, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 23, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 24, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 25, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 26, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 27, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 28, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 29, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 30, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 31, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 32, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 33, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 34, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 35, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 36, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 37, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 38, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 39, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 40, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 41, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 42, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and face the side of the cabinet with the sink. | STEP 2: Pick the bar of soap up from the counter. | STEP 3: Go around to the front of the cabinet and stand in front of the sink on the left. | STEP 4: Put the soap in the sink and turn the water on and then turn it off and take the soap back out of the sink. | STEP 5: Go to the left and turn to face the side of the cabinet with the sink in it. | STEP 6: Put the bar of soap in the counter. | END"]} {"id": "trial_T20190908_225459_907405-1", "input": "place cleaned pink sponge on counter to the left of blue bottle SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.901, 2.5, 0, 180, 0, [SEP] 1, Cloth, -1.382, 0.068, 3.793, 0, 0, 0, 29 [SEP] 2, Cloth, -1.416, 0.994, 3.842, 0, 0, 0, 28 [SEP] 3, SoapBar, -1.481, 0.994, 2.269, 0, 0, 0, 28 [SEP] 4, SprayBottle, -1.481, 0.995, 3.159, 0, 0, 0, 28 [SEP] 5, SprayBottle, -1.547, 0.995, 2.982, 0, 0, 0, 28 [SEP] 6, SoapBottle, -1.379, 0.067, 3.276, 0, 0, 0, 27 [SEP] 7, SoapBottle, -1.620, 0.067, 3.226, 0, 0, 0, 27 [SEP] 8, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 30 [SEP] 9, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 32 [SEP] 10, SoapBar, 0.286, 0.047, 3.810, 0, 0, 0, 31 [SEP] 11, ToiletPaper, -1.613, 0.991, 2.178, 0, 0, 0, 28 [SEP] 12, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 13, Candle, -1.547, 0.994, 3.100, 0, 0, 0, 28 [SEP] 14, TissueBox, -1.561, 0.069, 2.757, 0, 0, 0, 21 [SEP] 15, SoapBottle, -1.350, 0.993, 2.148, 0, 0, 0, 28 [SEP] 16, ToiletPaper, -1.219, 0.991, 2.923, 0, 0, 0, 28 [SEP] 17, SprayBottle, -1.284, 0.995, 2.239, 0, 0, 0, 28 [SEP] 18, Cloth, -1.500, 0.067, 3.226, 0, 0, 0, 27 [SEP] 19, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 20, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 21, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 22, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 23, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 24, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 25, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 26, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 27, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 28, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 29, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 30, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 31, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 32, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 33, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 34, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 35, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 36, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 37, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 38, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 39, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 40, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 41, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 42, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, WestWall, , , , , , , ", "output": ["STEP 1: turn right, go to left end of sink counter, face blue bottle on counter | STEP 2: pick up pink sponge on counter | STEP 3: go to sink, face sink | STEP 4: place pink sponge in sink, turn on water, pick up pink sponge from sink | STEP 5: turn left, go to left end of counter | STEP 6: place pink sponge on counter to the left of blue bottle | END"]} {"id": "trial_T20190908_034837_690433-0", "input": "Place two alarm clocks 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, -0.75, 0.949, 2.0, 0, 0, 0, [SEP] 1, Vase, 1.950, 0.993, -1.862, 0, 270, 0, 39 [SEP] 2, CD, -0.990, 0.091, -1.121, 0, 0, 0, 25 [SEP] 3, Pen, 2.519, 0.993, -1.774, 0, 270, 0, 39 [SEP] 4, Pen, -0.848, 0.591, 0.027, 0, 0, 0, 61 [SEP] 5, Pencil, -0.776, 0.589, -0.794, 0, 0, 0, 52 [SEP] 6, CreditCard, 1.666, 0.988, -1.687, 0, 270, 0, 39 [SEP] 7, CreditCard, -0.253, 0.784, 3.143, 0, 180, 0, 46 [SEP] 8, Book, 2.545, 0.610, 0.308, 0, 0, 0, 24 [SEP] 9, Book, 2.710, 0.610, 0.790, 0, 0, 0, 24 [SEP] 10, AlarmClock, -0.772, 0.785, -0.128, 0, 0, 0, 60 [SEP] 11, Book, 3.072, 0.184, -1.835, 0, 270, 0, 38 [SEP] 12, KeyChain, 2.519, 0.986, -2.037, 0, 270, 0, 39 [SEP] 13, CreditCard, 3.455, 0.723, 1.397, 0, 180, 0, 64 [SEP] 14, Pen, -0.772, 0.790, -0.758, 0, 0, 0, 60 [SEP] 15, Pencil, -0.970, 0.789, -0.548, 0, 0, 0, 60 [SEP] 16, Laptop, 1.447, 0.981, -1.894, 0, 328.961, 0, 39 [SEP] 17, Vase, -0.904, 0.789, -0.338, 0, 0, 0, 60 [SEP] 18, AlarmClock, 2.803, 0.986, -2.037, 0, 270, 0, 39 [SEP] 19, Pillow, 1.888, 0.674, 0.068, 0, 0, 0, 24 [SEP] 20, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 24 [SEP] 21, CellPhone, 3.569, 0.417, 1.341, 0, 0, 0, 65 [SEP] 22, CD, 2.803, 0.987, -1.687, 0, 270, 0, 39 [SEP] 23, Vase, 2.095, 0.188, -1.948, 0, 270, 0, 34 [SEP] 24, Bed, 2.217, 0.050, 0.585, 0, 0, 0, [SEP] 25, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0, [SEP] 26, Painting, 2.990, 1.592, 1.567, 90, 0, 0, [SEP] 27, Painting, 1.524, 1.592, 1.567, 90, 0, 0, [SEP] 28, Mirror, -1.190, 1.417, -0.223, 0, 270, 0, [SEP] 29, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0, [SEP] 30, Window, -2.629, 1.460, 2.891, 90, 270, 0, [SEP] 31, Window, -2.629, 1.460, 4.084, 90, 270, 0, [SEP] 32, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0, [SEP] 33, Drawer, 2.490, 0.949, -1.703, 0, 0, 0, [SEP] 34, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0, [SEP] 35, Drawer, 1.975, 0.949, -1.703, 0, 0, 0, [SEP] 36, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0, [SEP] 37, Drawer, 1.457, 0.949, -1.703, 0, 0, 0, [SEP] 38, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0, [SEP] 39, Dresser, 2.234, 0.048, -1.950, 0, 0, 0, [SEP] 40, Drawer, 3.011, 0.949, -1.703, 0, 0, 0, [SEP] 41, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0, [SEP] 42, Shelf, -0.163, 1.461, 3.219, 0, 180, 0, [SEP] 43, Drawer, -0.161, 0.242, 3.166, 0, 180, 0, [SEP] 44, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0, [SEP] 45, Drawer, -0.161, 0.562, 3.168, 0, 180, 0, [SEP] 46, Shelf, -0.162, 0.922, 3.164, 0, 180, 0, [SEP] 47, Shelf, -0.162, 1.241, 3.163, 0, 180, 0, [SEP] 48, Blinds, -2.550, 2.486, 2.911, 0, 90, 0, [SEP] 49, Blinds, -2.550, 2.486, 4.107, 0, 90, 0, [SEP] 50, Drawer, -0.833, 0.217, -0.336, 0, 90, 0, [SEP] 51, Drawer, -0.833, 0.217, 0.486, 0, 90, 0, [SEP] 52, Drawer, -0.833, 0.628, -0.747, 0, 90, 0, [SEP] 53, Drawer, -0.833, 0.217, 0.075, 0, 90, 0, [SEP] 54, Drawer, -0.833, 0.628, 0.486, 0, 90, 0, [SEP] 55, Drawer, -0.833, 0.217, -0.747, 0, 90, 0, [SEP] 56, Drawer, -0.833, 0.423, -0.336, 0, 90, 0, [SEP] 57, Drawer, -0.833, 0.423, 0.075, 0, 90, 0, [SEP] 58, Drawer, -0.833, 0.423, 0.486, 0, 90, 0, [SEP] 59, Drawer, -0.833, 0.423, -0.747, 0, 90, 0, [SEP] 60, Dresser, -0.934, 0.050, -0.129, 0, 90, 0, [SEP] 61, Drawer, -0.833, 0.628, 0.075, 0, 90, 0, [SEP] 62, Drawer, -0.833, 0.628, -0.336, 0, 90, 0, [SEP] 63, Drawer, 3.454, 0.212, 1.262, 0, 180, 0, [SEP] 64, SideTable, 3.455, 0.046, 1.328, 0, 180, 0, [SEP] 65, Drawer, 3.454, 0.504, 1.262, 0, 180, 0, [SEP] 66, NorthWall, , , , , , , [SEP] 67, EastWall, , , , , , , [SEP] 68, SouthWall, , , , , , , [SEP] 69, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the front of the black dresser. | STEP 2: Pick up the alarm on the dresser. | STEP 3: Turn right and walk to the shelves in front of you against the wall. | STEP 4: Place the alarm clock on the shelf above where the credit card is. | STEP 5: Turn around and walk ahead, then veer left to the left side of the other dresser. | STEP 6: Pick up the alarm clock on the left side of the dresser. | STEP 7: Walk right around the dresser and then veer right to the shelves along the far wall. | STEP 8: Place the alarm on the shelf to the right of the other alarm clock. | END"]} {"id": "trial_T20190908_213548_799457-0", "input": "To put two watches into the drawer of a desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 0.5, 0, 0, 0, [SEP] 1, Watch, 1.933, 0.871, 0.114, 0, 90, 0, 36 [SEP] 2, Watch, -0.561, 0.552, -0.106, 0, 270, 0, 30 [SEP] 3, Newspaper, 1.724, 0.869, 0.114, 0, 90, 0, 36 [SEP] 4, Newspaper, -0.323, 0.358, -0.544, 0, 90, 0, 29 [SEP] 5, KeyChain, 1.724, 0.872, 0.325, 0, 90, 0, 36 [SEP] 6, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 38 [SEP] 7, KeyChain, -0.077, 0.324, -1.844, 0, 180, 0, 32 [SEP] 8, Watch, 1.891, 0.870, 0.326, 0, 90, 0, 36 [SEP] 9, Newspaper, -0.260, 0.550, -0.278, 0, 270, 0, 30 [SEP] 10, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 32 [SEP] 11, CreditCard, 1.766, 0.870, 0.643, 0, 90, 0, 36 [SEP] 12, RemoteControl, 1.849, 0.872, 0.008, 0, 90, 0, 36 [SEP] 13, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 30 [SEP] 14, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 30 [SEP] 15, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 30 [SEP] 16, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 17, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 18, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 19, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 20, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 21, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 22, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 23, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 24, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 25, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 26, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 29, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 30, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 31, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 32, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 33, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 34, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 35, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 36, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 37, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 38, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk across the room to face the desk. | STEP 2: Pick up the watch on the back right corner of the desk. | STEP 3: Take a step back to face the drawer of the desk. | STEP 4: Place the watch in the drawer of the desk. | STEP 5: Look up to face the watch on the desk. | STEP 6: Pick up the watch on the back of the desk. | STEP 7: Take a step back to face the drawer of the desk. | STEP 8: Place the watch in the drawer of the desk. | END"]} {"id": "trial_T20190906_231911_356083-1", "input": "Put the red pen from the night stand in the dresser with the other pen on the dresser. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.949, 2.5, 0, 90, 0, [SEP] 1, CellPhone, 2.444, 0.887, -1.705, 0, 270, 0, 37 [SEP] 2, Pen, -0.253, 0.789, 3.088, 0, 180, 0, 50 [SEP] 3, Pen, 1.950, 0.993, -1.774, 0, 270, 0, 43 [SEP] 4, Pen, 2.519, 0.990, -1.949, 0, 270, 0, 43 [SEP] 5, Pencil, 2.519, 0.992, -1.774, 0, 270, 0, 43 [SEP] 6, Pencil, 3.300, 0.727, 1.397, 0, 180, 0, 68 [SEP] 7, CreditCard, -0.706, 0.785, -0.128, 0, 0, 0, 64 [SEP] 8, CreditCard, -0.163, 1.107, 3.226, 0, 180, 0, 51 [SEP] 9, KeyChain, -0.163, 1.109, 3.088, 0, 180, 0, 51 [SEP] 10, KeyChain, 3.512, 0.126, 1.365, 0, 0, 0, 67 [SEP] 11, Book, 1.950, 0.988, -2.037, 0, 270, 0, 43 [SEP] 12, Book, 2.234, 0.985, -1.862, 0, 270, 0, 43 [SEP] 13, Pillow, 1.888, 0.674, 0.308, 0, 0, 0, 28 [SEP] 14, AlarmClock, -0.970, 0.785, -0.548, 0, 0, 0, 64 [SEP] 15, Book, 2.381, 0.610, 0.068, 0, 0, 0, 28 [SEP] 16, KeyChain, 1.666, 0.986, -2.125, 0, 270, 0, 43 [SEP] 17, CreditCard, 2.803, 0.988, -2.125, 0, 270, 0, 43 [SEP] 18, Pen, 3.300, 0.729, 1.262, 0, 180, 0, 68 [SEP] 19, Pencil, 3.455, 0.727, 1.443, 0, 180, 0, 68 [SEP] 20, Laptop, 2.052, 0.607, 1.271, 0, 0, 0, 28 [SEP] 21, Vase, 2.492, 0.185, -1.950, 0, 270, 0, 45 [SEP] 22, AlarmClock, -0.838, 0.785, -0.338, 0, 0, 0, 64 [SEP] 23, Pillow, 2.533, 0.631, 1.264, 0, 0, 0, 28 [SEP] 24, Pillow, 2.217, 0.674, 0.790, 0, 0, 0, 28 [SEP] 25, CellPhone, -1.037, 0.785, 0.291, 0, 0, 0, 64 [SEP] 26, CD, 1.272, 0.179, -1.896, 0, 270, 0, 40 [SEP] 27, Vase, -0.384, 0.772, 3.172, 0, 0, 0, 50 [SEP] 28, Bed, 2.217, 0.050, 0.585, 0, 0, 0, [SEP] 29, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0, [SEP] 30, Painting, 2.990, 1.592, 1.567, 90, 0, 0, [SEP] 31, Painting, 1.524, 1.592, 1.567, 90, 0, 0, [SEP] 32, Mirror, -1.190, 1.417, -0.223, 0, 270, 0, [SEP] 33, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0, [SEP] 34, Window, -2.629, 1.460, 2.891, 90, 270, 0, [SEP] 35, Window, -2.629, 1.460, 4.084, 90, 270, 0, [SEP] 36, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0, [SEP] 37, Drawer, 2.490, 0.949, -1.703, 0, 0, 0, [SEP] 38, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0, [SEP] 39, Drawer, 1.975, 0.949, -1.703, 0, 0, 0, [SEP] 40, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0, [SEP] 41, Drawer, 1.457, 0.949, -1.703, 0, 0, 0, [SEP] 42, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0, [SEP] 43, Dresser, 2.234, 0.048, -1.950, 0, 0, 0, [SEP] 44, Drawer, 3.011, 0.949, -1.703, 0, 0, 0, [SEP] 45, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0, [SEP] 46, Shelf, -0.163, 1.461, 3.219, 0, 180, 0, [SEP] 47, Drawer, -0.161, 0.242, 3.166, 0, 180, 0, [SEP] 48, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0, [SEP] 49, Drawer, -0.161, 0.562, 3.168, 0, 180, 0, [SEP] 50, Shelf, -0.162, 0.922, 3.164, 0, 180, 0, [SEP] 51, Shelf, -0.162, 1.241, 3.163, 0, 180, 0, [SEP] 52, Blinds, -2.550, 2.486, 2.911, 0, 90, 0, [SEP] 53, Blinds, -2.550, 2.486, 4.107, 0, 90, 0, [SEP] 54, Drawer, -0.833, 0.217, -0.336, 0, 90, 0, [SEP] 55, Drawer, -0.833, 0.217, 0.486, 0, 90, 0, [SEP] 56, Drawer, -0.833, 0.628, -0.747, 0, 90, 0, [SEP] 57, Drawer, -0.833, 0.217, 0.075, 0, 90, 0, [SEP] 58, Drawer, -0.833, 0.628, 0.486, 0, 90, 0, [SEP] 59, Drawer, -0.833, 0.217, -0.747, 0, 90, 0, [SEP] 60, Drawer, -0.833, 0.423, -0.336, 0, 90, 0, [SEP] 61, Drawer, -0.833, 0.423, 0.075, 0, 90, 0, [SEP] 62, Drawer, -0.833, 0.423, 0.486, 0, 90, 0, [SEP] 63, Drawer, -0.833, 0.423, -0.747, 0, 90, 0, [SEP] 64, Dresser, -0.934, 0.050, -0.129, 0, 90, 0, [SEP] 65, Drawer, -0.833, 0.628, 0.075, 0, 90, 0, [SEP] 66, Drawer, -0.833, 0.628, -0.336, 0, 90, 0, [SEP] 67, Drawer, 3.454, 0.212, 1.262, 0, 180, 0, [SEP] 68, SideTable, 3.455, 0.046, 1.328, 0, 180, 0, [SEP] 69, Drawer, 3.454, 0.504, 1.262, 0, 180, 0, [SEP] 70, NorthWall, , , , , , , [SEP] 71, EastWall, , , , , , , [SEP] 72, SouthWall, , , , , , , [SEP] 73, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right and move across the room towards the bed. Past the bed turn left then move to the night stand. | STEP 2: Pick up the red pen from the night stand. | STEP 3: Turn around and go towards dresser, turn right and go across room to the tall dresser. | STEP 4: Open second drawer from bottom put pen inside drawer and close drawer. | STEP 5: Go forward then turn left to face tall dresser. | STEP 6: Pick up the pen in the shelf beside the golden bowl. | STEP 7: Turn around and face dresser from left side. | STEP 8: Open second drawer from bottom put pen inside drawer and close drawer. | END"]} {"id": "trial_T20190906_231911_356083-2", "input": "Put two pens in the first drawer of the dresser shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.949, 2.5, 0, 90, 0, [SEP] 1, CellPhone, 2.444, 0.887, -1.705, 0, 270, 0, 37 [SEP] 2, Pen, -0.253, 0.789, 3.088, 0, 180, 0, 50 [SEP] 3, Pen, 1.950, 0.993, -1.774, 0, 270, 0, 43 [SEP] 4, Pen, 2.519, 0.990, -1.949, 0, 270, 0, 43 [SEP] 5, Pencil, 2.519, 0.992, -1.774, 0, 270, 0, 43 [SEP] 6, Pencil, 3.300, 0.727, 1.397, 0, 180, 0, 68 [SEP] 7, CreditCard, -0.706, 0.785, -0.128, 0, 0, 0, 64 [SEP] 8, CreditCard, -0.163, 1.107, 3.226, 0, 180, 0, 51 [SEP] 9, KeyChain, -0.163, 1.109, 3.088, 0, 180, 0, 51 [SEP] 10, KeyChain, 3.512, 0.126, 1.365, 0, 0, 0, 67 [SEP] 11, Book, 1.950, 0.988, -2.037, 0, 270, 0, 43 [SEP] 12, Book, 2.234, 0.985, -1.862, 0, 270, 0, 43 [SEP] 13, Pillow, 1.888, 0.674, 0.308, 0, 0, 0, 28 [SEP] 14, AlarmClock, -0.970, 0.785, -0.548, 0, 0, 0, 64 [SEP] 15, Book, 2.381, 0.610, 0.068, 0, 0, 0, 28 [SEP] 16, KeyChain, 1.666, 0.986, -2.125, 0, 270, 0, 43 [SEP] 17, CreditCard, 2.803, 0.988, -2.125, 0, 270, 0, 43 [SEP] 18, Pen, 3.300, 0.729, 1.262, 0, 180, 0, 68 [SEP] 19, Pencil, 3.455, 0.727, 1.443, 0, 180, 0, 68 [SEP] 20, Laptop, 2.052, 0.607, 1.271, 0, 0, 0, 28 [SEP] 21, Vase, 2.492, 0.185, -1.950, 0, 270, 0, 45 [SEP] 22, AlarmClock, -0.838, 0.785, -0.338, 0, 0, 0, 64 [SEP] 23, Pillow, 2.533, 0.631, 1.264, 0, 0, 0, 28 [SEP] 24, Pillow, 2.217, 0.674, 0.790, 0, 0, 0, 28 [SEP] 25, CellPhone, -1.037, 0.785, 0.291, 0, 0, 0, 64 [SEP] 26, CD, 1.272, 0.179, -1.896, 0, 270, 0, 40 [SEP] 27, Vase, -0.384, 0.772, 3.172, 0, 0, 0, 50 [SEP] 28, Bed, 2.217, 0.050, 0.585, 0, 0, 0, [SEP] 29, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0, [SEP] 30, Painting, 2.990, 1.592, 1.567, 90, 0, 0, [SEP] 31, Painting, 1.524, 1.592, 1.567, 90, 0, 0, [SEP] 32, Mirror, -1.190, 1.417, -0.223, 0, 270, 0, [SEP] 33, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0, [SEP] 34, Window, -2.629, 1.460, 2.891, 90, 270, 0, [SEP] 35, Window, -2.629, 1.460, 4.084, 90, 270, 0, [SEP] 36, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0, [SEP] 37, Drawer, 2.490, 0.949, -1.703, 0, 0, 0, [SEP] 38, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0, [SEP] 39, Drawer, 1.975, 0.949, -1.703, 0, 0, 0, [SEP] 40, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0, [SEP] 41, Drawer, 1.457, 0.949, -1.703, 0, 0, 0, [SEP] 42, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0, [SEP] 43, Dresser, 2.234, 0.048, -1.950, 0, 0, 0, [SEP] 44, Drawer, 3.011, 0.949, -1.703, 0, 0, 0, [SEP] 45, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0, [SEP] 46, Shelf, -0.163, 1.461, 3.219, 0, 180, 0, [SEP] 47, Drawer, -0.161, 0.242, 3.166, 0, 180, 0, [SEP] 48, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0, [SEP] 49, Drawer, -0.161, 0.562, 3.168, 0, 180, 0, [SEP] 50, Shelf, -0.162, 0.922, 3.164, 0, 180, 0, [SEP] 51, Shelf, -0.162, 1.241, 3.163, 0, 180, 0, [SEP] 52, Blinds, -2.550, 2.486, 2.911, 0, 90, 0, [SEP] 53, Blinds, -2.550, 2.486, 4.107, 0, 90, 0, [SEP] 54, Drawer, -0.833, 0.217, -0.336, 0, 90, 0, [SEP] 55, Drawer, -0.833, 0.217, 0.486, 0, 90, 0, [SEP] 56, Drawer, -0.833, 0.628, -0.747, 0, 90, 0, [SEP] 57, Drawer, -0.833, 0.217, 0.075, 0, 90, 0, [SEP] 58, Drawer, -0.833, 0.628, 0.486, 0, 90, 0, [SEP] 59, Drawer, -0.833, 0.217, -0.747, 0, 90, 0, [SEP] 60, Drawer, -0.833, 0.423, -0.336, 0, 90, 0, [SEP] 61, Drawer, -0.833, 0.423, 0.075, 0, 90, 0, [SEP] 62, Drawer, -0.833, 0.423, 0.486, 0, 90, 0, [SEP] 63, Drawer, -0.833, 0.423, -0.747, 0, 90, 0, [SEP] 64, Dresser, -0.934, 0.050, -0.129, 0, 90, 0, [SEP] 65, Drawer, -0.833, 0.628, 0.075, 0, 90, 0, [SEP] 66, Drawer, -0.833, 0.628, -0.336, 0, 90, 0, [SEP] 67, Drawer, 3.454, 0.212, 1.262, 0, 180, 0, [SEP] 68, SideTable, 3.455, 0.046, 1.328, 0, 180, 0, [SEP] 69, Drawer, 3.454, 0.504, 1.262, 0, 180, 0, [SEP] 70, NorthWall, , , , , , , [SEP] 71, EastWall, , , , , , , [SEP] 72, SouthWall, , , , , , , [SEP] 73, WestWall, , , , , , , ", "output": ["STEP 1: Move to the end table on the right side of the bed. | STEP 2: Pick up the pen off of the end table | STEP 3: Move to the dresser shelf to the left of the bed down the hall a few feet and stand to the left side of dresser. | STEP 4: Open first dress drawer and place pen into the drawer and close it | STEP 5: Move to the front of the dresser shelf | STEP 6: Pick up pen from off the shelf | STEP 7: Move to the left side of the dresser shelf | STEP 8: Open drawer and place pen inside, close drawer again. | END"]} {"id": "trial_T20190908_111237_774589-1", "input": "Move two clocks from the desk to the dresser. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.909, -3.0, 0, 90, 0, [SEP] 1, Mug, -0.774, 0.541, -3.694, 0, 0, 0, 33 [SEP] 2, Mug, -1.270, 0.798, -3.920, 0, 0, 0, 39 [SEP] 3, CellPhone, -1.066, 0.803, -4.137, 0, 0, 0, 39 [SEP] 4, Pen, -0.657, 0.805, -4.029, 0, 180, 0, 39 [SEP] 5, Pen, -0.329, 0.548, -3.749, 0, 0, 0, 33 [SEP] 6, Pencil, -0.453, 0.807, -3.811, 0, 0, 0, 39 [SEP] 7, Pencil, -3.539, 0.984, -4.276, 0, 0, 0, 42 [SEP] 8, Book, -3.613, 0.620, -1.506, 0, 0, 0, 24 [SEP] 9, Laptop, -2.981, 0.618, -1.793, 0, 0, 0, 24 [SEP] 10, AlarmClock, -0.657, 0.803, -4.246, 0, 0, 0, 39 [SEP] 11, Book, -2.981, 0.620, -0.643, 0, 0, 0, 24 [SEP] 12, CellPhone, -0.426, 0.348, -3.779, 0, 0, 0, 32 [SEP] 13, Laptop, -3.402, 0.618, -1.218, 0, 0, 0, 24 [SEP] 14, CreditCard, -3.908, 0.981, -4.276, 0, 0, 0, 42 [SEP] 15, AlarmClock, -0.657, 0.803, -3.920, 0, 0, 0, 39 [SEP] 16, KeyChain, -0.657, 0.800, -4.354, 0, 90, 0, 39 [SEP] 17, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 24 [SEP] 18, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 19, Pencil, -3.751, 0.617, -4.255, 0, 0, 0, 48 [SEP] 20, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 24 [SEP] 21, CD, -3.466, 0.979, -3.271, 0, 0, 0, 42 [SEP] 22, Pen, -0.596, 0.548, -3.749, 0, 0, 0, 33 [SEP] 23, Mug, -3.687, 0.979, -3.874, 0, 0, 0, 42 [SEP] 24, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 25, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 26, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 27, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 28, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 29, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 30, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 31, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 32, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 33, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 34, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 35, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 36, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 37, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 38, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 39, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 40, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 41, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 42, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 51, NorthWall, , , , , , , [SEP] 52, EastWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, WestWall, , , , , , , ", "output": ["STEP 1: Turn and go to the desk. | STEP 2: Pick up a clock on the desk. | STEP 3: Turn and go to the dresser | STEP 4: Put the clock on the dresser. | STEP 5: Turn and go to the desk. | STEP 6: Pick up the clock on the desk. | STEP 7: Turn and go to the dresser. | STEP 8: Put the clock on the dresser. | END"]} {"id": "trial_T20190908_054840_163969-1", "input": "Move a newspaper to a TV stand. 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, 4.5, 0, 90, 0, [SEP] 1, Bowl, -6.053, 0.148, 4.152, 0, 0, 0, 44 [SEP] 2, Bowl, -2.491, 0.535, 4.335, 0, 270, 0, 54 [SEP] 3, RemoteControl, -2.631, 0.536, 3.607, 0, 270, 0, 54 [SEP] 4, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 48 [SEP] 5, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 53 [SEP] 6, Vase, -3.328, 1.280, 7.235, 0, 90, 0, 53 [SEP] 7, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 49 [SEP] 8, Newspaper, -0.484, 0.792, 5.726, 0, 270, 0, 38 [SEP] 9, Laptop, -0.868, 0.437, 3.306, 0, 0, 0, 37 [SEP] 10, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 11, Vase, -2.870, 0.147, 7.276, 0, 90, 0, 48 [SEP] 12, CreditCard, -0.413, 0.788, 2.002, 0, 0, 0, 39 [SEP] 13, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 51 [SEP] 14, KeyChain, -0.326, 0.794, 5.826, 0, 0, 0, 38 [SEP] 15, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 49 [SEP] 16, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 49 [SEP] 17, Bowl, -3.557, 1.281, 7.045, 0, 90, 0, 53 [SEP] 18, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 37 [SEP] 19, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 51 [SEP] 20, RemoteControl, -5.847, 0.455, 4.152, 0, 0, 0, 44 [SEP] 21, Watch, -0.484, 0.793, 6.231, 0, 270, 0, 38 [SEP] 22, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 53 [SEP] 23, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 51 [SEP] 24, Statue, -2.704, 0.543, 3.856, 0, 0, 0, 54 [SEP] 25, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 53 [SEP] 26, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 27, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 28, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 29, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 30, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 31, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 32, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 33, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 34, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 35, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 36, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 37, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 38, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 39, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 40, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 41, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 42, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 43, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 44, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 45, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 46, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 47, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 48, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 49, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 50, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 51, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 52, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 53, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 54, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 55, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 56, NorthWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, SouthWall, , , , , , , ", "output": ["STEP 1: Turn to the left then go forward to the side table with the lamp. | STEP 2: Pick up the newspaper off the side table. | STEP 3: Turn around completely and walk to the other side of the room, Make a right and go to the TV stand. | STEP 4: Place the newspaper on the TV stand. | END"]} {"id": "trial_T20190908_054840_163969-2", "input": "Move a newspaper to the TV stand SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.75, 0.901, 4.5, 0, 90, 0, [SEP] 1, Bowl, -6.053, 0.148, 4.152, 0, 0, 0, 44 [SEP] 2, Bowl, -2.491, 0.535, 4.335, 0, 270, 0, 54 [SEP] 3, RemoteControl, -2.631, 0.536, 3.607, 0, 270, 0, 54 [SEP] 4, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 48 [SEP] 5, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 53 [SEP] 6, Vase, -3.328, 1.280, 7.235, 0, 90, 0, 53 [SEP] 7, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 49 [SEP] 8, Newspaper, -0.484, 0.792, 5.726, 0, 270, 0, 38 [SEP] 9, Laptop, -0.868, 0.437, 3.306, 0, 0, 0, 37 [SEP] 10, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 11, Vase, -2.870, 0.147, 7.276, 0, 90, 0, 48 [SEP] 12, CreditCard, -0.413, 0.788, 2.002, 0, 0, 0, 39 [SEP] 13, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 51 [SEP] 14, KeyChain, -0.326, 0.794, 5.826, 0, 0, 0, 38 [SEP] 15, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 49 [SEP] 16, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 49 [SEP] 17, Bowl, -3.557, 1.281, 7.045, 0, 90, 0, 53 [SEP] 18, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 37 [SEP] 19, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 51 [SEP] 20, RemoteControl, -5.847, 0.455, 4.152, 0, 0, 0, 44 [SEP] 21, Watch, -0.484, 0.793, 6.231, 0, 270, 0, 38 [SEP] 22, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 53 [SEP] 23, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 51 [SEP] 24, Statue, -2.704, 0.543, 3.856, 0, 0, 0, 54 [SEP] 25, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 53 [SEP] 26, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 27, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 28, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 29, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 30, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 31, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 32, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 33, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 34, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 35, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 36, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 37, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 38, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 39, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 40, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 41, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 42, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 43, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 44, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 45, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 46, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 47, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 48, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 49, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 50, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 51, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 52, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 53, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 54, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 55, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 56, NorthWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, SouthWall, , , , , , , ", "output": ["STEP 1: Move to the back right corner where the round table with the newspaper is | STEP 2: Pick up the newspaper on the table | STEP 3: Carry the newspaper over to the TV stand | STEP 4: Place on the newspaper on the top left side of the TV stand | END"]} {"id": "trial_T20190907_091520_568867-1", "input": "Put a cell phone 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, 0.949, 0.75, 0, 90, 0, [SEP] 1, Vase, 2.035, 0.189, -1.892, 0, 270, 0, 32 [SEP] 2, CD, -0.253, 0.783, 3.198, 0, 180, 0, 44 [SEP] 3, Pen, 1.950, 0.990, -2.125, 0, 270, 0, 37 [SEP] 4, Pencil, 2.803, 0.989, -1.862, 0, 270, 0, 37 [SEP] 5, KeyChain, 3.455, 0.725, 1.488, 0, 180, 0, 62 [SEP] 6, KeyChain, -0.068, 0.785, 3.226, 0, 270, 0, 44 [SEP] 7, Pillow, 2.545, 0.674, -0.172, 0, 0, 0, 22 [SEP] 8, AlarmClock, -0.257, 1.109, 3.171, 0, 180, 0, 45 [SEP] 9, Book, -0.772, 0.785, -0.128, 0, 0, 0, 58 [SEP] 10, KeyChain, 3.087, 0.989, -2.125, 0, 270, 0, 37 [SEP] 11, CreditCard, 3.455, 0.723, 1.352, 0, 180, 0, 62 [SEP] 12, Pen, 1.666, 0.990, -1.774, 0, 270, 0, 37 [SEP] 13, Pencil, -0.812, 0.384, 0.074, 0, 0, 0, 55 [SEP] 14, Laptop, 2.519, 0.986, -2.037, 0, 270, 0, 37 [SEP] 15, Vase, 3.012, 0.189, -1.721, 0, 270, 0, 36 [SEP] 16, AlarmClock, -0.838, 0.785, -0.338, 0, 0, 0, 58 [SEP] 17, Pillow, 2.545, 0.674, 0.308, 0, 0, 0, 22 [SEP] 18, Pillow, 1.888, 0.674, 0.308, 0, 0, 0, 22 [SEP] 19, CellPhone, 1.382, 0.985, -1.862, 0, 270, 0, 37 [SEP] 20, CD, -0.990, 0.091, -1.147, 0, 0, 0, 23 [SEP] 21, Vase, -0.970, 0.789, -0.548, 0, 0, 0, 58 [SEP] 22, Bed, 2.217, 0.050, 0.585, 0, 0, 0, [SEP] 23, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0, [SEP] 24, Painting, 2.990, 1.592, 1.567, 90, 0, 0, [SEP] 25, Painting, 1.524, 1.592, 1.567, 90, 0, 0, [SEP] 26, Mirror, -1.190, 1.417, -0.223, 0, 270, 0, [SEP] 27, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0, [SEP] 28, Window, -2.629, 1.460, 2.891, 90, 270, 0, [SEP] 29, Window, -2.629, 1.460, 4.084, 90, 270, 0, [SEP] 30, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0, [SEP] 31, Drawer, 2.490, 0.949, -1.703, 0, 0, 0, [SEP] 32, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0, [SEP] 33, Drawer, 1.975, 0.949, -1.703, 0, 0, 0, [SEP] 34, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0, [SEP] 35, Drawer, 1.457, 0.949, -1.703, 0, 0, 0, [SEP] 36, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0, [SEP] 37, Dresser, 2.234, 0.048, -1.950, 0, 0, 0, [SEP] 38, Drawer, 3.011, 0.949, -1.703, 0, 0, 0, [SEP] 39, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0, [SEP] 40, Shelf, -0.163, 1.461, 3.219, 0, 180, 0, [SEP] 41, Drawer, -0.161, 0.242, 3.166, 0, 180, 0, [SEP] 42, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0, [SEP] 43, Drawer, -0.161, 0.562, 3.168, 0, 180, 0, [SEP] 44, Shelf, -0.162, 0.922, 3.164, 0, 180, 0, [SEP] 45, Shelf, -0.162, 1.241, 3.163, 0, 180, 0, [SEP] 46, Blinds, -2.550, 2.486, 2.911, 0, 90, 0, [SEP] 47, Blinds, -2.550, 2.486, 4.107, 0, 90, 0, [SEP] 48, Drawer, -0.833, 0.217, -0.336, 0, 90, 0, [SEP] 49, Drawer, -0.833, 0.217, 0.486, 0, 90, 0, [SEP] 50, Drawer, -0.833, 0.628, -0.747, 0, 90, 0, [SEP] 51, Drawer, -0.833, 0.217, 0.075, 0, 90, 0, [SEP] 52, Drawer, -0.833, 0.628, 0.486, 0, 90, 0, [SEP] 53, Drawer, -0.833, 0.217, -0.747, 0, 90, 0, [SEP] 54, Drawer, -0.833, 0.423, -0.336, 0, 90, 0, [SEP] 55, Drawer, -0.833, 0.423, 0.075, 0, 90, 0, [SEP] 56, Drawer, -0.833, 0.423, 0.486, 0, 90, 0, [SEP] 57, Drawer, -0.833, 0.423, -0.747, 0, 90, 0, [SEP] 58, Dresser, -0.934, 0.050, -0.129, 0, 90, 0, [SEP] 59, Drawer, -0.833, 0.628, 0.075, 0, 90, 0, [SEP] 60, Drawer, -0.833, 0.628, -0.336, 0, 90, 0, [SEP] 61, Drawer, 3.454, 0.212, 1.262, 0, 180, 0, [SEP] 62, SideTable, 3.455, 0.046, 1.328, 0, 180, 0, [SEP] 63, Drawer, 3.454, 0.504, 1.262, 0, 180, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, EastWall, , , , , , , [SEP] 66, SouthWall, , , , , , , [SEP] 67, WestWall, , , , , , , ", "output": ["STEP 1: Turn and walk to the dresser. | STEP 2: Pick up the blue cell phone on the dresser. | STEP 3: Turn and walk back to the bed. | STEP 4: Lay the blue cell phone down on the bed. | END"]} {"id": "trial_T20190907_091520_568867-2", "input": "Put a phone 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, 0.949, 0.75, 0, 90, 0, [SEP] 1, Vase, 2.035, 0.189, -1.892, 0, 270, 0, 32 [SEP] 2, CD, -0.253, 0.783, 3.198, 0, 180, 0, 44 [SEP] 3, Pen, 1.950, 0.990, -2.125, 0, 270, 0, 37 [SEP] 4, Pencil, 2.803, 0.989, -1.862, 0, 270, 0, 37 [SEP] 5, KeyChain, 3.455, 0.725, 1.488, 0, 180, 0, 62 [SEP] 6, KeyChain, -0.068, 0.785, 3.226, 0, 270, 0, 44 [SEP] 7, Pillow, 2.545, 0.674, -0.172, 0, 0, 0, 22 [SEP] 8, AlarmClock, -0.257, 1.109, 3.171, 0, 180, 0, 45 [SEP] 9, Book, -0.772, 0.785, -0.128, 0, 0, 0, 58 [SEP] 10, KeyChain, 3.087, 0.989, -2.125, 0, 270, 0, 37 [SEP] 11, CreditCard, 3.455, 0.723, 1.352, 0, 180, 0, 62 [SEP] 12, Pen, 1.666, 0.990, -1.774, 0, 270, 0, 37 [SEP] 13, Pencil, -0.812, 0.384, 0.074, 0, 0, 0, 55 [SEP] 14, Laptop, 2.519, 0.986, -2.037, 0, 270, 0, 37 [SEP] 15, Vase, 3.012, 0.189, -1.721, 0, 270, 0, 36 [SEP] 16, AlarmClock, -0.838, 0.785, -0.338, 0, 0, 0, 58 [SEP] 17, Pillow, 2.545, 0.674, 0.308, 0, 0, 0, 22 [SEP] 18, Pillow, 1.888, 0.674, 0.308, 0, 0, 0, 22 [SEP] 19, CellPhone, 1.382, 0.985, -1.862, 0, 270, 0, 37 [SEP] 20, CD, -0.990, 0.091, -1.147, 0, 0, 0, 23 [SEP] 21, Vase, -0.970, 0.789, -0.548, 0, 0, 0, 58 [SEP] 22, Bed, 2.217, 0.050, 0.585, 0, 0, 0, [SEP] 23, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0, [SEP] 24, Painting, 2.990, 1.592, 1.567, 90, 0, 0, [SEP] 25, Painting, 1.524, 1.592, 1.567, 90, 0, 0, [SEP] 26, Mirror, -1.190, 1.417, -0.223, 0, 270, 0, [SEP] 27, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0, [SEP] 28, Window, -2.629, 1.460, 2.891, 90, 270, 0, [SEP] 29, Window, -2.629, 1.460, 4.084, 90, 270, 0, [SEP] 30, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0, [SEP] 31, Drawer, 2.490, 0.949, -1.703, 0, 0, 0, [SEP] 32, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0, [SEP] 33, Drawer, 1.975, 0.949, -1.703, 0, 0, 0, [SEP] 34, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0, [SEP] 35, Drawer, 1.457, 0.949, -1.703, 0, 0, 0, [SEP] 36, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0, [SEP] 37, Dresser, 2.234, 0.048, -1.950, 0, 0, 0, [SEP] 38, Drawer, 3.011, 0.949, -1.703, 0, 0, 0, [SEP] 39, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0, [SEP] 40, Shelf, -0.163, 1.461, 3.219, 0, 180, 0, [SEP] 41, Drawer, -0.161, 0.242, 3.166, 0, 180, 0, [SEP] 42, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0, [SEP] 43, Drawer, -0.161, 0.562, 3.168, 0, 180, 0, [SEP] 44, Shelf, -0.162, 0.922, 3.164, 0, 180, 0, [SEP] 45, Shelf, -0.162, 1.241, 3.163, 0, 180, 0, [SEP] 46, Blinds, -2.550, 2.486, 2.911, 0, 90, 0, [SEP] 47, Blinds, -2.550, 2.486, 4.107, 0, 90, 0, [SEP] 48, Drawer, -0.833, 0.217, -0.336, 0, 90, 0, [SEP] 49, Drawer, -0.833, 0.217, 0.486, 0, 90, 0, [SEP] 50, Drawer, -0.833, 0.628, -0.747, 0, 90, 0, [SEP] 51, Drawer, -0.833, 0.217, 0.075, 0, 90, 0, [SEP] 52, Drawer, -0.833, 0.628, 0.486, 0, 90, 0, [SEP] 53, Drawer, -0.833, 0.217, -0.747, 0, 90, 0, [SEP] 54, Drawer, -0.833, 0.423, -0.336, 0, 90, 0, [SEP] 55, Drawer, -0.833, 0.423, 0.075, 0, 90, 0, [SEP] 56, Drawer, -0.833, 0.423, 0.486, 0, 90, 0, [SEP] 57, Drawer, -0.833, 0.423, -0.747, 0, 90, 0, [SEP] 58, Dresser, -0.934, 0.050, -0.129, 0, 90, 0, [SEP] 59, Drawer, -0.833, 0.628, 0.075, 0, 90, 0, [SEP] 60, Drawer, -0.833, 0.628, -0.336, 0, 90, 0, [SEP] 61, Drawer, 3.454, 0.212, 1.262, 0, 180, 0, [SEP] 62, SideTable, 3.455, 0.046, 1.328, 0, 180, 0, [SEP] 63, Drawer, 3.454, 0.504, 1.262, 0, 180, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, EastWall, , , , , , , [SEP] 66, SouthWall, , , , , , , [SEP] 67, WestWall, , , , , , , ", "output": ["STEP 1: Head to the dresser on the right. | STEP 2: Pick up the phone on the dresser. | STEP 3: Turn to the left and bring the phone to the bed. | STEP 4: Put the phone on the bed. | END"]} {"id": "trial_T20190912_212950_324294-1", "input": "Put a credit card in a blue dish to move it to the coffee table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -5.25, 0.901, 1.5, 0, 90, 0, [SEP] 1, Newspaper, -6.002, 0.145, 3.757, 0, 0, 0, 47 [SEP] 2, Watch, -0.586, 0.793, 5.726, 0, 270, 0, 41 [SEP] 3, KeyChain, -0.947, 0.442, 3.915, 0, 0, 0, 40 [SEP] 4, CreditCard, -2.672, 0.879, 7.242, 0, 90, 0, 49 [SEP] 5, RemoteControl, -3.265, 0.882, 7.208, 0, 90, 0, 56 [SEP] 6, RemoteControl, -0.947, 0.369, 4.524, 0, 0, 0, 40 [SEP] 7, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 51 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -2.277, 0.453, 7.145, 0, 90, 0, 49 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -2.700, 0.532, 3.607, 0, 270, 0, 57 [SEP] 12, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 57 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 14, Vase, -3.067, 0.147, 7.225, 0, 90, 0, 51 [SEP] 15, CreditCard, -5.882, 0.879, 4.349, 0, 0, 0, 50 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -0.413, 0.794, 5.928, 0, 180, 0, 41 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -0.687, 0.795, 2.377, 0, 270, 0, 42 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -2.672, 0.149, 7.070, 0, 90, 0, 51 [SEP] 24, Watch, -5.215, 0.533, 6.949, 0, 135, 0, 58 [SEP] 25, Statue, -0.535, 0.800, 6.357, 0, 270, 0, 41 [SEP] 26, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 54 [SEP] 27, Statue, -2.352, 0.543, 4.480, 0, 270, 0, 57 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 59, NorthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , ", "output": ["STEP 1: Walk across the room to the black shelf against the wall. | STEP 2: Pick up the credit card from the shelf. | STEP 3: Turn right and make another right to walk to the far side table to the right of the couch. | STEP 4: Put the credit card in the blue dish. | STEP 5: Pick up the blue dish with the credit card in it. | STEP 6: Turn around to walk to the coffee table. | STEP 7: Set blue dish and credit card down on the coffee table. | END"]} {"id": "trial_T20190908_130238_618424-2", "input": "Put a newspaper on a shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 6.75, 0, 0, 0, [SEP] 1, Bowl, -5.707, 0.535, 6.532, 0, 135, 0, 58 [SEP] 2, Bowl, -0.636, 0.795, 5.600, 0, 270, 0, 41 [SEP] 3, Newspaper, -0.947, 0.440, 3.306, 0, 0, 0, 40 [SEP] 4, Watch, -2.870, 0.453, 7.221, 0, 90, 0, 49 [SEP] 5, RemoteControl, -5.885, 0.455, 4.547, 0, 0, 0, 52 [SEP] 6, RemoteControl, -3.265, 0.455, 7.183, 0, 90, 0, 49 [SEP] 7, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 51 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -2.491, 0.534, 4.480, 0, 270, 0, 57 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -5.349, 0.532, 6.740, 0, 45, 0, 58 [SEP] 12, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 57 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 14, Vase, -5.917, 0.880, 4.547, 0, 0, 0, 50 [SEP] 15, CreditCard, -0.845, 0.793, 1.951, 0, 0, 0, 42 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -2.277, 0.147, 7.225, 0, 90, 0, 51 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -2.492, 0.535, 3.607, 0, 270, 0, 57 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -5.330, 0.536, 6.609, 0, 45, 0, 58 [SEP] 24, Watch, -0.326, 0.793, 2.002, 0, 0, 0, 42 [SEP] 25, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 56 [SEP] 26, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 54 [SEP] 27, Statue, -0.455, 0.841, 5.716, 72.057, 1.403, 271.548, 41 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 59, NorthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around, go forward, hang a right and go to the table where the TV is. | STEP 2: Pick up the newspaper that is under the remote control on the table. | STEP 3: Turn around, go forward to the black shelves on the right where the plant is. | STEP 4: Put the newspaper on the top shelf to the left of the plant. | END"]} {"id": "trial_T20190909_151417_461140-1", "input": "move the egg to the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 1.0, 0, 90, 0, [SEP] 1, Potato, 0.193, 0.800, -0.541, 0, 0, 0, 99 [SEP] 2, ButterKnife, -0.621, 0.820, -1.206, 0, 90, 0, 101 [SEP] 3, ButterKnife, -0.836, 0.820, -1.473, 0, 0, 0, 101 [SEP] 4, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 48 [SEP] 5, Spatula, 2.156, 0.926, -0.430, 0, 0, 0, 42 [SEP] 6, Plate, 1.955, 0.914, 1.299, 0, 0, 0, 77 [SEP] 7, Cup, 1.955, 0.909, 1.044, 0, 0, 0, 77 [SEP] 8, Egg, -1.962, 0.461, 1.247, 0, 270, 0, 95 [SEP] 9, Egg, -1.962, 0.461, 1.375, 0, 270, 0, 95 [SEP] 10, Knife, 1.155, 0.944, 1.044, 0, 0, 0, 77 [SEP] 11, Knife, -0.007, 0.944, 1.383, 0, 270, 0, 53 [SEP] 12, SoapBottle, 2.449, 1.661, 1.429, 0, 0, 0, 67 [SEP] 13, SoapBottle, -0.053, 1.660, 1.546, 0, 0, 0, 68 [SEP] 14, Tomato, -0.990, 0.852, -1.183, 0, 0, 0, 101 [SEP] 15, Bowl, 2.488, 0.909, 1.299, 0, 0, 0, 77 [SEP] 16, PepperShaker, 2.221, 0.908, 1.468, 0, 0, 0, 77 [SEP] 17, Lettuce, 2.838, 1.644, -0.578, 0, 0, 0, 97 [SEP] 18, Mug, 1.213, 0.110, 1.077, 0, 0, 0, 49 [SEP] 19, SoapBottle, -0.151, 0.917, 1.044, 0, 0, 0, 53 [SEP] 20, Plate, 2.838, 1.021, -0.578, 0, 0, 0, 97 [SEP] 21, Fork, 1.862, 0.771, 1.198, 0, 270, 0, 75 [SEP] 22, Pot, 1.422, 0.915, 1.383, 0, 0, 0, 77 [SEP] 23, Bread, 1.029, 0.953, -0.519, 0, 0, 0, 42 [SEP] 24, Egg, -1.933, 0.461, 1.459, 0, 270, 0, 95 [SEP] 25, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 42 [SEP] 26, Tomato, -0.939, 0.852, -1.400, 0, 0, 0, 101 [SEP] 27, Cup, 0.518, 1.782, 1.423, 0, 180, 0, 100 [SEP] 28, Spatula, 0.193, 0.780, -0.596, 0, 0, 0, 99 [SEP] 29, Apple, 1.155, 0.980, 1.383, 0, 0, 0, 77 [SEP] 30, Pan, 2.754, 0.911, 1.383, 0, 0, 0, 77 [SEP] 31, Lettuce, -0.151, 0.992, 1.383, 0, 0, 0, 53 [SEP] 32, SaltShaker, -0.939, 0.817, -1.038, 0, 0, 0, 101 [SEP] 33, Knife, -0.734, 0.853, -1.255, 0, 270, 0, 101 [SEP] 34, Potato, 2.156, 0.946, -0.854, 0, 0, 0, 42 [SEP] 35, PepperShaker, -0.007, 0.908, 1.553, 0, 0, 0, 53 [SEP] 36, ButterKnife, 0.888, 0.901, -0.515, 0, 0, 0, 42 [SEP] 37, Bowl, 2.222, 1.652, 1.470, 0, 0, 0, 66 [SEP] 38, DishSponge, -0.839, 0.820, -1.155, 0, 90, 0, 101 [SEP] 39, Spoon, 1.141, 0.912, -0.515, 0, 90, 0, 42 [SEP] 40, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 42 [SEP] 41, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 42, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 43, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 44, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 45, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 46, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 47, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 48, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 50, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 51, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 52, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 53, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 54, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 55, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 56, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 57, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 58, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 59, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 60, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 61, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 62, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 64, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 65, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 71, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 72, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 73, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 77, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 78, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 80, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 81, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 82, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 83, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 84, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 85, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 86, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 87, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 88, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 89, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 94, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 95, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 96, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 97, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 98, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 99, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 100, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 101, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 102, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: cross the kitchen to the counter beside the fridge with the toaster sitting on it | STEP 2: pick up the egg sitting by the toaster | STEP 3: go to the fridge and open the doors | STEP 4: place the egg in the fridge and close the doors then open it and take the egg back out | STEP 5: go across the kitchen to the table by the window | STEP 6: place the egg by the salt shaker | END"]} {"id": "trial_T20190909_025305_845942-0", "input": "Put a kettle of water on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 0.5, 0, 90, 0, [SEP] 1, Pan, 1.688, 0.911, 1.468, 0, 0, 0, 78 [SEP] 2, Pan, 2.488, 0.911, 1.468, 0, 0, 0, 78 [SEP] 3, DishSponge, 1.893, 0.771, 1.122, 0, 0, 0, 78 [SEP] 4, Kettle, 2.838, 1.655, 1.470, 0, 0, 0, 44 [SEP] 5, Kettle, 1.872, 1.655, -0.772, 0, 180, 0, 80 [SEP] 6, Spoon, -0.103, 0.912, 1.129, 0, 0, 0, 54 [SEP] 7, Spoon, -1.056, 0.822, -1.308, 0, 90, 0, 102 [SEP] 8, Spatula, -0.839, 0.835, -1.411, 0, 180, 0, 102 [SEP] 9, Spatula, 1.422, 0.926, 1.383, 0, 0, 0, 78 [SEP] 10, Egg, 0.466, 1.822, 1.520, 0, 180, 0, 101 [SEP] 11, Knife, -0.055, 0.944, 1.383, 0, 90, 0, 54 [SEP] 12, SoapBottle, 1.216, 1.661, 1.546, 0, 0, 0, 70 [SEP] 13, SoapBottle, -1.056, 0.826, -1.206, 0, 90, 0, 102 [SEP] 14, SaltShaker, -0.766, 0.817, -1.206, 0, 90, 0, 102 [SEP] 15, PepperShaker, 1.216, 1.651, 1.429, 0, 0, 0, 70 [SEP] 16, PepperShaker, -0.983, 0.817, -1.411, 0, 90, 0, 102 [SEP] 17, Lettuce, 2.777, 1.644, -0.644, 0, 0, 0, 98 [SEP] 18, Apple, 2.156, 0.980, -0.769, 0, 0, 0, 43 [SEP] 19, Apple, -0.694, 0.889, -1.308, 0, 90, 0, 102 [SEP] 20, SoapBottle, 1.141, 0.917, -0.854, 0, 0, 0, 43 [SEP] 21, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 43 [SEP] 22, Fork, -0.836, 0.821, -1.110, 0, 0, 0, 102 [SEP] 23, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 58 [SEP] 24, Bread, 1.955, 0.969, 1.299, 0, 0, 0, 78 [SEP] 25, Egg, -2.048, 0.461, 1.375, 0, 270, 0, 96 [SEP] 26, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 81 [SEP] 27, Tomato, -0.198, 0.942, 1.468, 0, 0, 0, 54 [SEP] 28, Cup, -0.939, 0.818, -1.110, 0, 0, 0, 102 [SEP] 29, Spatula, 1.688, 0.926, 1.044, 0, 0, 0, 78 [SEP] 30, Apple, -0.151, 0.980, 1.299, 0, 0, 0, 54 [SEP] 31, Pan, 2.838, 1.018, -0.578, 0, 0, 0, 98 [SEP] 32, Lettuce, 0.634, 0.992, -0.515, 0, 0, 0, 43 [SEP] 33, SaltShaker, 1.287, 0.111, 1.276, 0, 0, 0, 50 [SEP] 34, Knife, 1.155, 0.944, 1.468, 0, 0, 0, 78 [SEP] 35, Potato, 0.634, 0.946, -0.854, 0, 0, 0, 43 [SEP] 36, PepperShaker, 2.488, 0.908, 1.299, 0, 0, 0, 78 [SEP] 37, ButterKnife, -0.983, 0.820, -1.308, 0, 90, 0, 102 [SEP] 38, Bowl, 2.242, 1.653, -0.725, 0, 180, 0, 64 [SEP] 39, DishSponge, 2.512, 0.771, 1.236, 0, 0, 0, 59 [SEP] 40, Spoon, 2.221, 0.912, 1.214, 0, 0, 0, 78 [SEP] 41, Mug, 0.759, 2.148, 1.545, 0, 0, 0, 52 [SEP] 42, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 43, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 44, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 45, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 46, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 47, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 48, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 49, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 50, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 51, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 52, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 53, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 54, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 55, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 56, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 57, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 58, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 59, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 60, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 61, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 62, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 63, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 64, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 65, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 66, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 72, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 73, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 74, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 76, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 78, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 79, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 81, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 82, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 83, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 84, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 85, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 86, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 87, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 88, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 89, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 90, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 95, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 96, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 97, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 98, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 99, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 100, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 101, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 102, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 103, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 104, NorthWall, , , , , , , [SEP] 105, EastWall, , , , , , , [SEP] 106, SouthWall, , , , , , , [SEP] 107, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward to the stove then turn left when you get to it to face it. | STEP 2: Pick up the kettle that's in front of you on the back right burner. | STEP 3: Turn around and walk to the sink. | STEP 4: Fill the kettle with water then shut off the tap. | STEP 5: Turn left and walk to the coffee maker then turn right to face it. | STEP 6: Put the kettle on the edge of the counter to the right of the coffee maker. | END"]} {"id": "trial_T20190909_010333_533633-0", "input": "Place two pencils on top of the brown drawer set under the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.909, -2.25, 0, 180, 0, [SEP] 1, Mug, -1.270, 0.798, -3.703, 0, 0, 0, 40 [SEP] 2, Mug, -3.539, 0.979, -4.075, 0, 180, 0, 43 [SEP] 3, CD, -3.470, 0.614, -3.885, 0, 0, 0, 49 [SEP] 4, Pencil, -3.750, 0.048, -4.351, 0, 0, 0, 48 [SEP] 5, Pencil, -1.066, 0.807, -3.920, 0, 0, 0, 40 [SEP] 6, Pencil, -1.066, 0.803, -3.811, 0, 0, 0, 40 [SEP] 7, CreditCard, -0.657, 0.800, -4.246, 0, 0, 0, 40 [SEP] 8, KeyChain, -3.760, 0.980, -4.276, 0, 0, 0, 43 [SEP] 9, Pillow, -3.402, 0.722, -0.931, 0, 0, 0, 25 [SEP] 10, Laptop, -3.402, 0.618, -1.506, 0, 0, 0, 25 [SEP] 11, AlarmClock, -0.657, 0.803, -3.811, 0, 0, 0, 40 [SEP] 12, Book, -3.834, 0.980, -3.271, 0, 0, 0, 43 [SEP] 13, CellPhone, -3.687, 0.981, -3.070, 0, 0, 0, 43 [SEP] 14, Laptop, -2.559, 0.618, -1.218, 0, 0, 0, 25 [SEP] 15, CreditCard, -0.329, 0.542, -3.731, 0, 0, 0, 34 [SEP] 16, AlarmClock, -3.834, 0.979, -3.472, 0, 0, 0, 43 [SEP] 17, KeyChain, -3.526, 0.420, -3.793, 0, 0, 0, 46 [SEP] 18, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 25 [SEP] 19, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 20, Pencil, -1.850, 0.065, -3.901, 0, 279.990, 0, 29 [SEP] 21, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 25 [SEP] 22, CD, -0.596, 0.542, -3.713, 0, 0, 0, 34 [SEP] 23, Pen, -1.066, 0.809, -4.246, 0, 0, 0, 40 [SEP] 24, Mug, -1.474, 0.801, -3.703, 0, 0, 0, 40 [SEP] 25, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 26, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 27, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 28, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 29, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 30, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 31, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 32, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 33, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 34, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 35, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 36, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 37, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 38, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 39, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 40, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 41, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 42, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 43, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 51, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: Turn left for one step, turn right for three steps and stop in front of the white desk. | STEP 2: Pick up the pencil closest to the front. | STEP 3: Turn around for one step, turn right then stop in front of the white desk. | STEP 4: Put the pencil on top of the brown drawers to the right of the CD with the lead facing right. | STEP 5: Turn right for one step and turn left facing the table. | STEP 6: Pick up the pencil closest to the front. | STEP 7: Turn around for one step, turn right then stop in front of the white desk. | STEP 8: Put the pencil above the pencil on the brown drawers to the right of the CD, with the lead facing up. | END"]} {"id": "trial_T20190908_220944_290654-0", "input": "Move two newspapers to the brown chair. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, -0.25, 0, 180, 0, [SEP] 1, Watch, 1.682, 0.871, 0.537, 0, 90, 0, 38 [SEP] 2, Watch, -0.712, 0.552, -0.623, 0, 270, 0, 32 [SEP] 3, Newspaper, 1.766, 0.868, 0.114, 0, 90, 0, 38 [SEP] 4, KeyChain, -0.841, 0.038, -0.120, 0, 270, 0, 28 [SEP] 5, KeyChain, -0.582, 0.359, -0.480, 0, 270, 0, 31 [SEP] 6, CreditCard, -0.582, 0.039, -0.120, 0, 270, 0, 28 [SEP] 7, CreditCard, 1.285, 0.277, -0.512, 0, 0, 0, 40 [SEP] 8, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 40 [SEP] 9, KeyChain, 1.443, 0.279, -0.742, 0, 0, 0, 40 [SEP] 10, Watch, -0.323, 0.038, -0.120, 0, 270, 0, Floor|+00.00| [SEP] 11, Newspaper, -0.411, 0.550, -0.451, 0, 270, 0, 32 [SEP] 12, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 34 [SEP] 13, CreditCard, -0.323, 0.357, -0.512, 0, 90, 0, 31 [SEP] 14, RemoteControl, 1.849, 0.872, 0.220, 0, 90, 0, 38 [SEP] 15, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 32 [SEP] 16, Statue, -0.711, 0.562, -0.192, 0, 0, 0, 32 [SEP] 17, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 32 [SEP] 18, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 19, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 20, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 21, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 22, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 23, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 24, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 25, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 26, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 27, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 29, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 30, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 31, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 32, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 33, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 34, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 35, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 36, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 37, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 38, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 39, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 40, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the table to the left of the chair. | STEP 2: Pick up the newspaper from the table. | STEP 3: Walk over to the front of the chair to the right of the table. | STEP 4: Put the paper down on the chair. | STEP 5: Walk over to the couch and turn to face the coffee table. | STEP 6: Pick up the newspaper from the coffee table. | STEP 7: Walk back over to the brown chair. | STEP 8: Put the newspaper down on the chair to the right of the first newspaper. | END"]} {"id": "trial_T20190908_220944_290654-2", "input": "put all the news paper at the couch SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, -0.25, 0, 180, 0, [SEP] 1, Watch, 1.682, 0.871, 0.537, 0, 90, 0, 38 [SEP] 2, Watch, -0.712, 0.552, -0.623, 0, 270, 0, 32 [SEP] 3, Newspaper, 1.766, 0.868, 0.114, 0, 90, 0, 38 [SEP] 4, KeyChain, -0.841, 0.038, -0.120, 0, 270, 0, 28 [SEP] 5, KeyChain, -0.582, 0.359, -0.480, 0, 270, 0, 31 [SEP] 6, CreditCard, -0.582, 0.039, -0.120, 0, 270, 0, 28 [SEP] 7, CreditCard, 1.285, 0.277, -0.512, 0, 0, 0, 40 [SEP] 8, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 40 [SEP] 9, KeyChain, 1.443, 0.279, -0.742, 0, 0, 0, 40 [SEP] 10, Watch, -0.323, 0.038, -0.120, 0, 270, 0, Floor|+00.00| [SEP] 11, Newspaper, -0.411, 0.550, -0.451, 0, 270, 0, 32 [SEP] 12, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 34 [SEP] 13, CreditCard, -0.323, 0.357, -0.512, 0, 90, 0, 31 [SEP] 14, RemoteControl, 1.849, 0.872, 0.220, 0, 90, 0, 38 [SEP] 15, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 32 [SEP] 16, Statue, -0.711, 0.562, -0.192, 0, 0, 0, 32 [SEP] 17, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 32 [SEP] 18, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 19, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 20, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 21, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 22, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 23, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 24, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 25, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 26, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 27, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 29, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 30, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 31, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 32, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 33, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 34, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 35, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 36, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 37, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 38, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 39, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 40, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: walks to the left towards the side table. | STEP 2: Pick up the newspaper at the top of the side table. | STEP 3: turn right to face the single couch | STEP 4: put the news paper to the couch | STEP 5: Look around and face the center table | STEP 6: at the table, pick up the news paper. | STEP 7: Head towards the couch with the first newspaper | STEP 8: put the newspaper at the couch beside the first one. | END"]} {"id": "trial_T20190918_150421_485958-1", "input": "Put two potatoes in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.931, -0.25, 0, 90, 0, [SEP] 1, Pan, -1.261, 0.202, -1.338, 0, 0, 0, 63 [SEP] 2, Potato, 0.065, 1.096, 0.091, 0, 0, 0, 57 [SEP] 3, Potato, -0.775, 1.100, -1.181, 0, 0, 0, 55 [SEP] 4, Potato, -1.126, 1.017, 2.242, 0, 90, 0, 70 [SEP] 5, DishSponge, -0.517, 1.046, -1.505, 0, 0, 0, 55 [SEP] 6, ButterKnife, 1.015, 1.043, 0.807, 0, 0, 0, 57 [SEP] 7, Kettle, 1.112, 1.566, -1.689, 0, 0, 0, 59 [SEP] 8, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 58 [SEP] 9, Pot, -1.261, 2.029, -1.264, 0, 270, 0, 62 [SEP] 10, Spoon, 0.717, 1.054, 0.131, 0, 90, 0, 53 [SEP] 11, Spoon, 0.936, 1.054, 0.331, 0, 270, 0, 53 [SEP] 12, Cup, 1.036, 1.565, -1.388, 0, 0, 0, 59 [SEP] 13, Plate, -1.349, 1.726, 1.885, 0, 90, 0, 70 [SEP] 14, Plate, 0.989, 1.059, -1.289, 0, 0, 0, 55 [SEP] 15, Knife, 0.848, 1.069, 0.676, 0, 0, 0, 57 [SEP] 16, Knife, -0.346, 1.072, -1.720, 0, 90, 0, 55 [SEP] 17, Tomato, 0.065, 1.094, 0.415, 0, 0, 0, 57 [SEP] 18, Tomato, -1.169, 1.279, 2.063, 0, 90, 0, 70 [SEP] 19, SoapBottle, -1.105, 0.203, -1.193, 0, 90, 0, 63 [SEP] 20, SoapBottle, 1.826, 0.123, 2.358, 0, 270, 0, 71 [SEP] 21, Bowl, 1.820, 1.018, -1.337, 0, 0, 0, 61 [SEP] 22, Bowl, -1.366, 1.227, 1.974, 0, 90, 0, 70 [SEP] 23, PepperShaker, 1.263, 1.560, -1.614, 0, 0, 0, 59 [SEP] 24, Lettuce, -1.366, 1.287, 2.242, 0, 90, 0, 70 [SEP] 25, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 73 [SEP] 26, Mug, -1.268, 1.943, 2.063, 0, 90, 0, 70 [SEP] 27, Apple, 0.160, 1.086, 0.307, 0, 0, 0, 57 [SEP] 28, Apple, 1.347, 1.086, 0.763, 0, 0, 0, 57 [SEP] 29, SoapBottle, 0.892, 1.054, 0.181, 0, 90, 0, 53 [SEP] 30, Apple, 0.848, 1.097, 0.381, 0, 90, 0, 53 [SEP] 31, Potato, 0.282, 1.085, 0.120, 0, 0, 0, 57 [SEP] 32, Fork, 0.516, 1.033, 0.545, 0, 0, 0, 57 [SEP] 33, Kettle, 1.820, 1.020, -1.557, 0, 0, 0, 61 [SEP] 34, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 55 [SEP] 35, Tomato, -1.051, 0.758, 1.885, 0, 90, 0, 70 [SEP] 36, SaltShaker, 1.879, 1.038, 0.091, 0, 0, 0, 57 [SEP] 37, Egg, -1.103, 1.282, 2.153, 0, 90, 0, 70 [SEP] 38, Cup, -1.381, 1.489, 2.331, 0, 90, 0, 70 [SEP] 39, Spatula, -0.296, 1.053, -1.277, 0, 255.000, 0, 55 [SEP] 40, Knife, 1.790, 1.069, 0.738, 0, 0, 0, 57 [SEP] 41, Lettuce, 1.181, 1.103, 0.632, 0, 0, 0, 57 [SEP] 42, ButterKnife, 1.514, 1.043, 0.720, 0, 0, 0, 57 [SEP] 43, PepperShaker, -0.580, 0.198, -1.193, 0, 0, 0, 64 [SEP] 44, DishSponge, 1.436, 0.204, -1.408, 0, 0, 0, 65 [SEP] 45, Plate, -0.398, 1.577, -1.545, 0, 0, 0, 60 [SEP] 46, Bread, 0.405, 1.104, 0.353, 0, 337.138, 0, 57 [SEP] 47, Spoon, 0.071, 1.031, 0.229, 0, 0, 0, 57 [SEP] 48, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 51 [SEP] 49, Mug, -1.169, 1.223, 1.885, 0, 90, 0, 70 [SEP] 50, Bowl, 1.512, 1.018, -1.337, 0, 0, 0, 61 [SEP] 51, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 52, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 53, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 54, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 55, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 56, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 57, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 58, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 59, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 60, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 61, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 62, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 63, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 64, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 65, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 66, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 67, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 68, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 69, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 70, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 71, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 72, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 73, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 74, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 75, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 76, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 77, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 78, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 79, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 80, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 81, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 82, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: Move forward, then turn right to face the counter with the toaster on it. | STEP 2: Pick up the potato on the counter. | STEP 3: Go to the microwave to your right. | STEP 4: Put potato in the microwave. | STEP 5: Turn left, go forward, then turn left to face the kitchen island. | STEP 6: Pick up the left most potato on the kitchen island, in front the spoon. | STEP 7: Turn left, go forward, then turn left to return to the microwave. | STEP 8: Put the potato in the microwave, to the left of the other potato. | END"]} {"id": "trial_T20190908_102905_854028-1", "input": "Heat an apple and place it in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.931, -0.75, 0, 180, 0, [SEP] 1, DishSponge, 0.890, 0.199, -1.484, 0, 0, 0, 55 [SEP] 2, DishSponge, 0.446, 1.042, 0.738, 0, 0, 0, 46 [SEP] 3, Kettle, 1.817, 0.205, -1.553, 0, 0, 0, 54 [SEP] 4, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 47 [SEP] 5, Fork, 1.347, 1.043, 0.807, 0, 0, 0, 46 [SEP] 6, Spoon, 0.657, 1.048, -1.107, 0, 0, 0, 44 [SEP] 7, Spoon, 1.015, 1.044, 0.720, 0, 0, 0, 46 [SEP] 8, Egg, 1.882, 0.177, 2.414, 0, 270, 0, 60 [SEP] 9, Plate, -1.342, 1.502, 1.885, 0, 90, 0, 59 [SEP] 10, Plate, -1.106, 2.041, -1.264, 0, 0, 0, 51 [SEP] 11, SoapBottle, 1.897, 1.020, -1.191, 0, 90, 0, 50 [SEP] 12, SoapBottle, -0.699, 1.565, -1.545, 0, 0, 0, 49 [SEP] 13, Bowl, 1.741, 0.203, -1.262, 0, 0, 0, 54 [SEP] 14, Bowl, 1.158, 0.198, -1.484, 0, 0, 0, 55 [SEP] 15, SaltShaker, 0.979, 0.194, -1.628, 0, 0, 0, 55 [SEP] 16, PepperShaker, 1.743, 1.014, -1.191, 0, 0, 0, 50 [SEP] 17, PepperShaker, -0.323, 1.560, -1.619, 0, 0, 0, 49 [SEP] 18, SoapBottle, 1.589, 1.020, -1.337, 0, 0, 0, 50 [SEP] 19, Apple, 0.761, 1.097, 0.231, 0, 90, 0, 42 [SEP] 20, Potato, -1.145, 1.769, -1.269, 0, 0, 0, 58 [SEP] 21, Fork, -0.775, 1.047, -1.828, 0, 90, 0, 44 [SEP] 22, Kettle, 1.036, 1.566, -1.764, 0, 0, 0, 48 [SEP] 23, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 44 [SEP] 24, Tomato, 0.761, 1.104, 0.131, 0, 90, 0, 42 [SEP] 25, SaltShaker, 0.446, 1.038, 0.630, 0, 0, 0, 46 [SEP] 26, Egg, -1.157, 1.018, 1.796, 0, 90, 0, 59 [SEP] 27, Cup, -0.580, 0.203, -1.193, 0, 0, 0, 53 [SEP] 28, Spatula, 1.701, 1.058, 0.199, 0, 0, 0, 46 [SEP] 29, Knife, 0.805, 1.080, 0.331, 0, 180, 0, 42 [SEP] 30, Lettuce, -0.603, 1.106, -1.289, 0, 0, 0, 44 [SEP] 31, ButterKnife, 0.160, 1.043, 0.630, 0, 0, 0, 46 [SEP] 32, PepperShaker, -0.346, 1.041, -1.828, 0, 0, 0, 44 [SEP] 33, DishSponge, 0.936, 1.053, 0.381, 0, 90, 0, 42 [SEP] 34, Plate, -1.105, 0.215, -1.555, 0, 0, 0, 52 [SEP] 35, Bread, 0.406, 1.104, 0.353, 0, 337.138, 0, 46 [SEP] 36, Spoon, 0.160, 1.044, 0.522, 0, 0, 0, 46 [SEP] 37, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 40 [SEP] 38, Mug, 0.936, 1.048, 0.231, 0, 90, 0, 42 [SEP] 39, Bowl, -1.339, 0.201, -1.338, 0, 0, 0, 52 [SEP] 40, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 41, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 42, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 43, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 44, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 45, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 46, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 47, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 48, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 49, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 50, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 51, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 52, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 53, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 54, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 55, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 56, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 57, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 58, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 59, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 60, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 61, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 62, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 63, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 64, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 65, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 66, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 68, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 69, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 70, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 71, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 72, NorthWall, , , , , , , [SEP] 73, EastWall, , , , , , , [SEP] 74, SouthWall, , , , , , , [SEP] 75, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left, then left again to the sink. | STEP 2: Pick up the apple to the left of the sink. | STEP 3: Carry the apple and turn to the left, then face the microwave on the left. | STEP 4: Open the microwave and place the apple inside. Shut the door then open it and take the apple out. Shut the door. | STEP 5: Carry the apple and turn to the left and go to the sink. | STEP 6: Place the apple in the sink. | END"]} {"id": "trial_T20190908_102905_854028-2", "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, -0.25, 0.931, -0.75, 0, 180, 0, [SEP] 1, DishSponge, 0.890, 0.199, -1.484, 0, 0, 0, 55 [SEP] 2, DishSponge, 0.446, 1.042, 0.738, 0, 0, 0, 46 [SEP] 3, Kettle, 1.817, 0.205, -1.553, 0, 0, 0, 54 [SEP] 4, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 47 [SEP] 5, Fork, 1.347, 1.043, 0.807, 0, 0, 0, 46 [SEP] 6, Spoon, 0.657, 1.048, -1.107, 0, 0, 0, 44 [SEP] 7, Spoon, 1.015, 1.044, 0.720, 0, 0, 0, 46 [SEP] 8, Egg, 1.882, 0.177, 2.414, 0, 270, 0, 60 [SEP] 9, Plate, -1.342, 1.502, 1.885, 0, 90, 0, 59 [SEP] 10, Plate, -1.106, 2.041, -1.264, 0, 0, 0, 51 [SEP] 11, SoapBottle, 1.897, 1.020, -1.191, 0, 90, 0, 50 [SEP] 12, SoapBottle, -0.699, 1.565, -1.545, 0, 0, 0, 49 [SEP] 13, Bowl, 1.741, 0.203, -1.262, 0, 0, 0, 54 [SEP] 14, Bowl, 1.158, 0.198, -1.484, 0, 0, 0, 55 [SEP] 15, SaltShaker, 0.979, 0.194, -1.628, 0, 0, 0, 55 [SEP] 16, PepperShaker, 1.743, 1.014, -1.191, 0, 0, 0, 50 [SEP] 17, PepperShaker, -0.323, 1.560, -1.619, 0, 0, 0, 49 [SEP] 18, SoapBottle, 1.589, 1.020, -1.337, 0, 0, 0, 50 [SEP] 19, Apple, 0.761, 1.097, 0.231, 0, 90, 0, 42 [SEP] 20, Potato, -1.145, 1.769, -1.269, 0, 0, 0, 58 [SEP] 21, Fork, -0.775, 1.047, -1.828, 0, 90, 0, 44 [SEP] 22, Kettle, 1.036, 1.566, -1.764, 0, 0, 0, 48 [SEP] 23, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 44 [SEP] 24, Tomato, 0.761, 1.104, 0.131, 0, 90, 0, 42 [SEP] 25, SaltShaker, 0.446, 1.038, 0.630, 0, 0, 0, 46 [SEP] 26, Egg, -1.157, 1.018, 1.796, 0, 90, 0, 59 [SEP] 27, Cup, -0.580, 0.203, -1.193, 0, 0, 0, 53 [SEP] 28, Spatula, 1.701, 1.058, 0.199, 0, 0, 0, 46 [SEP] 29, Knife, 0.805, 1.080, 0.331, 0, 180, 0, 42 [SEP] 30, Lettuce, -0.603, 1.106, -1.289, 0, 0, 0, 44 [SEP] 31, ButterKnife, 0.160, 1.043, 0.630, 0, 0, 0, 46 [SEP] 32, PepperShaker, -0.346, 1.041, -1.828, 0, 0, 0, 44 [SEP] 33, DishSponge, 0.936, 1.053, 0.381, 0, 90, 0, 42 [SEP] 34, Plate, -1.105, 0.215, -1.555, 0, 0, 0, 52 [SEP] 35, Bread, 0.406, 1.104, 0.353, 0, 337.138, 0, 46 [SEP] 36, Spoon, 0.160, 1.044, 0.522, 0, 0, 0, 46 [SEP] 37, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 40 [SEP] 38, Mug, 0.936, 1.048, 0.231, 0, 90, 0, 42 [SEP] 39, Bowl, -1.339, 0.201, -1.338, 0, 0, 0, 52 [SEP] 40, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 41, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 42, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 43, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 44, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 45, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 46, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 47, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 48, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 49, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 50, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 51, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 52, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 53, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 54, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 55, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 56, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 57, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 58, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 59, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 60, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 61, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 62, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 63, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 64, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 65, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 66, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 68, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 69, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 70, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 71, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 72, NorthWall, , , , , , , [SEP] 73, EastWall, , , , , , , [SEP] 74, SouthWall, , , , , , , [SEP] 75, WestWall, , , , , , , ", "output": ["STEP 1: Go to the center kitchen console | STEP 2: Pick up the apple in the center kitchen | STEP 3: Go to the microwave | STEP 4: Heat the apple in the microwave | STEP 5: Go to the sink in the center kitchen console | STEP 6: Place the apple in the sink | END"]} {"id": "trial_T20190908_054822_843675-1", "input": "move the newspaper from the sofa to the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.901, 6.25, 0, 90, 0, [SEP] 1, Newspaper, -0.789, 0.431, 3.306, 0, 0, 0, 39 [SEP] 2, CreditCard, -0.687, 0.793, 5.726, 0, 270, 0, 40 [SEP] 3, CreditCard, -5.885, 1.279, 4.349, 0, 0, 0, 53 [SEP] 4, RemoteControl, -2.87, 0.149, 7.173, 0, 90, 0, 50 [SEP] 5, RemoteControl, -3.557, 1.282, 7.361, 0, 90, 0, 55 [SEP] 6, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 50 [SEP] 7, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 55 [SEP] 8, Vase, -2.672, 0.147, 7.122, 0, 90, 0, 50 [SEP] 9, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 51 [SEP] 10, Newspaper, -0.947, 0.365, 4.524, 0, 0, 0, 39 [SEP] 11, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 56 [SEP] 12, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 13, Vase, -5.424, 0.534, 6.815, 0, 45, 0, 57 [SEP] 14, CreditCard, -0.868, 0.439, 3.915, 0, 0, 0, 39 [SEP] 15, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 53 [SEP] 16, KeyChain, -6.002, 0.147, 4.942, 0, 0, 0, 46 [SEP] 17, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 51 [SEP] 18, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 51 [SEP] 19, Bowl, -2.422, 0.535, 3.752, 0, 270, 0, 56 [SEP] 20, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 39 [SEP] 21, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 53 [SEP] 22, RemoteControl, -0.789, 0.369, 4.524, 0, 0, 0, 39 [SEP] 23, Watch, -2.491, 0.533, 4.335, 0, 270, 0, 56 [SEP] 24, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 55 [SEP] 25, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 53 [SEP] 26, Statue, -2.474, 0.156, 7.173, 0, 180, 0, 50 [SEP] 27, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 55 [SEP] 28, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 29, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 30, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 31, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 32, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 33, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 34, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 35, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 36, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 37, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 38, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 39, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 40, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 41, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 42, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 43, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 44, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 45, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 46, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 47, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 48, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 49, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 50, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 51, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 52, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 53, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 54, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 55, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 56, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 57, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 58, NorthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , ", "output": ["STEP 1: turn right, walk to the end of the sofa | STEP 2: grab the newspaper on the sofa | STEP 3: turn around, walk to the coffee table | STEP 4: put the newspaper on the table | END"]} {"id": "trial_T20190908_054822_843675-2", "input": "move newspaper from couch to coffee table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.901, 6.25, 0, 90, 0, [SEP] 1, Newspaper, -0.789, 0.431, 3.306, 0, 0, 0, 39 [SEP] 2, CreditCard, -0.687, 0.793, 5.726, 0, 270, 0, 40 [SEP] 3, CreditCard, -5.885, 1.279, 4.349, 0, 0, 0, 53 [SEP] 4, RemoteControl, -2.87, 0.149, 7.173, 0, 90, 0, 50 [SEP] 5, RemoteControl, -3.557, 1.282, 7.361, 0, 90, 0, 55 [SEP] 6, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 50 [SEP] 7, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 55 [SEP] 8, Vase, -2.672, 0.147, 7.122, 0, 90, 0, 50 [SEP] 9, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 51 [SEP] 10, Newspaper, -0.947, 0.365, 4.524, 0, 0, 0, 39 [SEP] 11, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 56 [SEP] 12, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 13, Vase, -5.424, 0.534, 6.815, 0, 45, 0, 57 [SEP] 14, CreditCard, -0.868, 0.439, 3.915, 0, 0, 0, 39 [SEP] 15, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 53 [SEP] 16, KeyChain, -6.002, 0.147, 4.942, 0, 0, 0, 46 [SEP] 17, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 51 [SEP] 18, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 51 [SEP] 19, Bowl, -2.422, 0.535, 3.752, 0, 270, 0, 56 [SEP] 20, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 39 [SEP] 21, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 53 [SEP] 22, RemoteControl, -0.789, 0.369, 4.524, 0, 0, 0, 39 [SEP] 23, Watch, -2.491, 0.533, 4.335, 0, 270, 0, 56 [SEP] 24, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 55 [SEP] 25, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 53 [SEP] 26, Statue, -2.474, 0.156, 7.173, 0, 180, 0, 50 [SEP] 27, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 55 [SEP] 28, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 29, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 30, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 31, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 32, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 33, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 34, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 35, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 36, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 37, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 38, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 39, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 40, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 41, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 42, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 43, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 44, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 45, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 46, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 47, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 48, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 49, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 50, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 51, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 52, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 53, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 54, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 55, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 56, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 57, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 58, NorthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , ", "output": ["STEP 1: walk forward, turn right between couch and coffee table, walk forward, turn left to face couch | STEP 2: pick up the newspaper that is on the couch | STEP 3: turn around, walk forward, turn right after the coffee table, turn right to face coffee table | STEP 4: put newspaper on to the coffee table | END"]} {"id": "trial_T20190907_071128_608518-2", "input": "Cook the 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, 0.0, 0, 270, 0, [SEP] 1, Pan, 2.221, 0.911, 1.129, 0, 0, 0, 85 [SEP] 2, Potato, 2.653, 0.760, -0.473, 0, 0, 0, 105 [SEP] 3, Potato, 1.395, 0.946, -0.345, 0, 0, 0, 50 [SEP] 4, DishSponge, 1.490, 0.770, 1.122, 0, 0, 0, 68 [SEP] 5, Kettle, 2.488, 0.912, 1.129, 0, 0, 0, 85 [SEP] 6, ButterKnife, 2.488, 0.911, 1.468, 0, 0, 0, 85 [SEP] 7, Spoon, -0.839, 0.822, -1.308, 0, 270, 0, 109 [SEP] 8, Spoon, 0.888, 0.912, -0.345, 0, 0, 0, 50 [SEP] 9, Spatula, -0.887, 0.835, -1.400, 0, 180, 0, 109 [SEP] 10, Cup, -1.056, 0.818, -1.308, 0, 90, 0, 109 [SEP] 11, Cup, -0.103, 0.909, 1.214, 0, 0, 0, 61 [SEP] 12, Egg, 2.754, 0.949, 1.129, 0, 0, 0, 85 [SEP] 13, Egg, 0.053, 0.803, -0.596, 0, 0, 0, 107 [SEP] 14, Knife, 0.053, 0.798, -0.651, 0, 180, 0, 107 [SEP] 15, Knife, 1.155, 0.944, 1.468, 0, 0, 0, 85 [SEP] 16, SoapBottle, -0.086, 0.120, 1.156, 0, 0, 0, 78 [SEP] 17, SoapBottle, -0.621, 0.826, -1.206, 0, 90, 0, 109 [SEP] 18, Tomato, 2.900, 0.758, -0.504, 0, 0, 0, 105 [SEP] 19, Tomato, -1.991, 0.455, 1.459, 0, 270, 0, 103 [SEP] 20, Tomato, -0.055, 0.942, 1.383, 0, 0, 0, 61 [SEP] 21, SaltShaker, 2.154, 1.650, 1.355, 0, 0, 0, 74 [SEP] 22, PepperShaker, -0.766, 0.817, -1.206, 0, 90, 0, 109 [SEP] 23, Bread, -0.246, 0.969, 1.214, 0, 0, 0, 61 [SEP] 24, Lettuce, 1.955, 0.992, 1.383, 0, 0, 0, 85 [SEP] 25, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 50 [SEP] 26, Mug, -0.157, 0.760, -0.707, 0, 180, 0, 107 [SEP] 27, SoapBottle, 1.484, 1.661, -0.693, 0, 180, 0, 72 [SEP] 28, Plate, 1.688, 0.914, 1.383, 0, 0, 0, 85 [SEP] 29, Fork, 2.173, 0.772, -0.498, 0, 90, 0, 63 [SEP] 30, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 56 [SEP] 31, Bread, 2.838, 1.346, -0.644, 0, 0, 0, 105 [SEP] 32, Egg, 0.263, 0.803, -0.707, 0, 0, 0, 107 [SEP] 33, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 65 [SEP] 34, Tomato, -0.682, 0.852, -1.328, 0, 0, 0, 109 [SEP] 35, Cup, -0.055, 0.909, 1.044, 0, 0, 0, 61 [SEP] 36, Spatula, 2.754, 0.926, 1.553, 0, 270, 0, 85 [SEP] 37, Apple, 2.221, 0.980, 1.383, 0, 0, 0, 85 [SEP] 38, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 53 [SEP] 39, Lettuce, 0.634, 0.992, -0.515, 0, 0, 0, 50 [SEP] 40, SaltShaker, -0.939, 0.817, -1.255, 0, 0, 0, 109 [SEP] 41, Knife, 2.156, 0.944, -0.769, 0, 0, 0, 50 [SEP] 42, Potato, 2.653, 1.323, -0.578, 0, 0, 0, 105 [SEP] 43, PepperShaker, -0.151, 0.908, 1.468, 0, 0, 0, 61 [SEP] 44, ButterKnife, 1.141, 0.911, -0.430, 0, 0, 0, 50 [SEP] 45, Bowl, 1.827, 0.112, 1.196, 0, 0, 0, 70 [SEP] 46, DishSponge, 1.102, 0.114, 1.196, 0, 0, 0, 79 [SEP] 47, Spoon, 1.967, 0.772, -0.460, 0, 270, 0, 64 [SEP] 48, Mug, 2.653, 1.558, -0.709, 0, 0, 0, 105 [SEP] 49, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 50, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 51, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 52, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 53, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 54, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 55, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 56, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 57, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 58, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 59, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 60, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 61, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 62, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 63, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 64, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 65, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 66, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 67, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 68, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 69, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 70, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 71, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 72, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 73, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 77, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 78, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 80, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 81, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 83, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 84, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 85, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 86, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 87, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 88, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 89, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 90, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 91, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 92, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 93, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 94, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 95, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 96, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 97, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 99, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 100, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 101, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 102, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 103, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 104, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 105, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 106, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 107, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 108, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 109, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 110, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 111, NorthWall, , , , , , , [SEP] 112, EastWall, , , , , , , [SEP] 113, SouthWall, , , , , , , [SEP] 114, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, head towards the fridge and face the fridge. | STEP 2: Open the fridge and take the tomato out, then close the door. | STEP 3: Turn to the right and head towards the stove, then face the stove. | STEP 4: Look up at the microwave, place the tomato in the microwave, close the door, cook the tomato, and now take it out. | STEP 5: Turn to the left and head towards the recycle bin. | STEP 6: Place the tomato in the recycle bin. | END"]} {"id": "trial_T20190908_160649_019846-0", "input": "Put a knife in a pot from the stove to place on the circular table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, -0.25, 0, 270, 0, [SEP] 1, Potato, 0.518, 1.819, 1.391, 0, 180, 0, 102 [SEP] 2, Potato, 3.341, 0.875, -0.514, 0, 0, 0, 99 [SEP] 3, DishSponge, -1.991, 0.423, 1.332, 0, 270, 0, 97 [SEP] 4, DishSponge, -1.962, 0.423, 1.459, 0, 270, 0, 97 [SEP] 5, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 59 [SEP] 6, Pot, 2.837, 0.118, 1.156, 0, 0, 0, 76 [SEP] 7, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 8, Spoon, -1.056, 0.822, -1.360, 0, 90, 0, 103 [SEP] 9, Fork, 1.208, 0.771, -0.498, 0, 90, 0, 63 [SEP] 10, Fork, -0.103, 0.912, 1.214, 0, 90, 0, 55 [SEP] 11, Spatula, 1.422, 0.926, 1.553, 0, 270, 0, 79 [SEP] 12, Egg, 2.488, 0.949, 1.468, 0, 0, 0, 79 [SEP] 13, SoapBottle, 1.827, 0.120, 1.236, 0, 0, 0, 64 [SEP] 14, SoapBottle, 1.179, 1.661, 1.507, 0, 0, 0, 71 [SEP] 15, Bowl, 2.653, 1.561, -0.709, 0, 0, 0, 99 [SEP] 16, PepperShaker, 1.563, 0.110, 1.231, 0, 0, 0, 73 [SEP] 17, PepperShaker, -1.056, 0.817, -1.411, 0, 90, 0, 103 [SEP] 18, Lettuce, 2.754, 0.992, 1.383, 0, 0, 0, 79 [SEP] 19, Mug, 1.955, 0.906, 1.383, 0, 0, 0, 79 [SEP] 20, Apple, 2.900, 0.795, -0.473, 0, 0, 0, 99 [SEP] 21, SoapBottle, -0.123, 0.120, 1.196, 0, 0, 0, 72 [SEP] 22, Plate, 2.715, 1.291, -0.709, 0, 0, 0, 99 [SEP] 23, Fork, 1.457, 0.771, -0.422, 0, 270, 0, 74 [SEP] 24, Pot, 2.838, 1.022, -0.578, 0, 0, 0, 99 [SEP] 25, Bread, 2.156, 0.969, -0.430, 0, 0, 0, 44 [SEP] 26, Egg, 0.193, 0.803, -0.762, 0, 0, 0, 101 [SEP] 27, Kettle, -0.090, 1.655, 1.470, 0, 0, 0, 70 [SEP] 28, Tomato, -0.621, 0.852, -1.411, 0, 90, 0, 103 [SEP] 29, Cup, 0.750, 1.653, -0.771, 0, 180, 0, 54 [SEP] 30, Spatula, -0.734, 0.835, -1.400, 0, 90, 0, 103 [SEP] 31, Apple, 2.715, 0.794, -0.504, 0, 0, 0, 99 [SEP] 32, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 47 [SEP] 33, Lettuce, -0.198, 0.992, 1.383, 0, 0, 0, 55 [SEP] 34, SaltShaker, 1.247, 0.110, -0.346, 0, 180, 0, 52 [SEP] 35, Knife, 2.221, 0.944, 1.129, 0, 0, 0, 79 [SEP] 36, Potato, 0.415, 1.819, 1.520, 0, 180, 0, 102 [SEP] 37, PepperShaker, 1.487, 1.650, 1.355, 0, 0, 0, 67 [SEP] 38, ButterKnife, -0.151, 0.911, 1.044, 0, 0, 0, 55 [SEP] 39, Bowl, 2.242, 1.653, -0.725, 0, 180, 0, 65 [SEP] 40, DishSponge, 2.449, 1.655, 1.468, 0, 0, 0, 69 [SEP] 41, Spoon, 2.173, 0.773, -0.498, 0, 180, 0, 57 [SEP] 42, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 44 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 105, NorthWall, , , , , , , [SEP] 106, EastWall, , , , , , , [SEP] 107, SouthWall, , , , , , , [SEP] 108, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk towards the fridge, stopping to face the countertop in front of it. | STEP 2: Pick up the knife from the countertop. | STEP 3: Turn left to walk towards the stove. | STEP 4: Put the knife in the flattest circular pot on the stove. | STEP 5: Put up the pot with the knife from the stove. | STEP 6: Make a left to walk around the counter towards the circular table. | STEP 7: Put the pot with the knife on top of the table. | END"]} {"id": "trial_T20190907_065759_678723-1", "input": "Put the pen in the cup on the table, put them on the brown cabinet under the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.909, -2.25, 0, 90, 0, [SEP] 1, Mug, -1.066, 0.798, -3.811, 0, 0, 0, 41 [SEP] 2, Mug, -1.474, 0.798, -3.920, 0, 0, 0, 41 [SEP] 3, CD, -0.453, 0.803, -4.029, 0, 0, 0, 41 [SEP] 4, CD, -0.453, 0.803, -4.137, 0, 0, 0, 41 [SEP] 5, Pen, -3.613, 0.985, -3.070, 0, 0, 0, 44 [SEP] 6, CreditCard, -0.774, 0.542, -3.749, 0, 0, 0, 35 [SEP] 7, CreditCard, -1.474, 0.803, -4.029, 0, 0, 0, 41 [SEP] 8, KeyChain, -3.526, 0.615, -3.184, 0, 0, 0, 45 [SEP] 9, KeyChain, -0.274, 0.349, -3.811, 0, 0, 0, 35 [SEP] 10, Book, -3.613, 0.620, -0.643, 0, 0, 0, 26 [SEP] 11, Book, -0.426, 0.189, -3.811, 0, 0, 0, 33 [SEP] 12, AlarmClock, -0.596, 0.542, -3.713, 0, 0, 0, 41 [SEP] 13, Book, -3.402, 0.620, -0.643, 0, 0, 0, 26 [SEP] 14, CellPhone, -2.348, 0.620, -1.506, 0, 0, 0, 26 [SEP] 15, Laptop, -3.191, 0.618, -1.218, 0, 0, 0, 26 [SEP] 16, CreditCard, -3.539, 0.979, -4.276, 0, 0, 0, 44 [SEP] 17, AlarmClock, -0.657, 0.800, -3.811, 0, 0, 0, 41 [SEP] 18, KeyChain, -0.329, 0.543, -3.749, 0, 0, 0, 35 [SEP] 19, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 26 [SEP] 20, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 21, Pencil, -3.908, 0.983, -3.874, 0, 0, 0, 44 [SEP] 22, Pillow, -2.981, 0.722, -1.793, 0, 0, 0, 26 [SEP] 23, CD, -1.827, 0.062, -3.905, 0, 279.990, 0, 30 [SEP] 24, Pen, -0.453, 0.809, -3.811, 0, 0, 0, 41 [SEP] 25, Mug, -3.834, 0.979, -3.673, 0, 0, 0, 44 [SEP] 26, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 27, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 28, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 29, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 30, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 31, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 32, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 33, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 34, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 35, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 36, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 37, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 38, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 39, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 40, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 41, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 42, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 43, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 44, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 51, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 52, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 53, NorthWall, , , , , , , [SEP] 54, EastWall, , , , , , , [SEP] 55, SouthWall, , , , , , , [SEP] 56, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, walk to the white table | STEP 2: Grab the pen from the table | STEP 3: Walk to the right a little | STEP 4: Put the pen in the cup in the middle of the table | STEP 5: Take the cup with pen | STEP 6: Turn around, and turn around | STEP 7: Put the cup with pen under the white table on the brown cabinet | END"]} {"id": "trial_T20190909_113505_871085-2", "input": "take the bowl from the cabinet to the fridge then back 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, 2.75, 0.900, 0.75, 0, 0, 0, [SEP] 1, Potato, -0.157, 0.800, -0.651, 0, 90, 0, 100 [SEP] 2, DishSponge, 1.216, 1.655, 1.429, 0, 0, 0, 70 [SEP] 3, DishSponge, 1.524, 0.771, -0.383, 0, 180, 0, 73 [SEP] 4, Kettle, 1.208, 1.655, -0.811, 0, 180, 0, 45 [SEP] 5, Pot, 2.754, 0.915, 1.214, 0, 0, 0, 78 [SEP] 6, Spatula, 1.688, 0.926, 1.299, 0, 0, 0, 78 [SEP] 7, Cup, 2.900, 0.724, -0.504, 0, 0, 0, 98 [SEP] 8, Cup, 2.777, 1.286, -0.644, 0, 0, 0, 98 [SEP] 9, Egg, -1.933, 0.461, 1.502, 0, 270, 0, 96 [SEP] 10, SoapBottle, -0.836, 0.826, -1.328, 0, 0, 0, 102 [SEP] 11, SoapBottle, 2.188, 0.120, 1.231, 0, 0, 0, 79 [SEP] 12, Tomato, 2.591, 1.050, -0.709, 0, 0, 0, 98 [SEP] 13, Tomato, -1.933, 0.455, 1.332, 0, 270, 0, 96 [SEP] 14, SaltShaker, 1.931, 0.111, 1.236, 0, 0, 0, 63 [SEP] 15, SaltShaker, 1.688, 0.908, 1.299, 0, 0, 0, 78 [SEP] 16, Lettuce, -0.151, 0.992, 1.214, 0, 0, 0, 54 [SEP] 17, Lettuce, 2.221, 0.992, 1.129, 0, 0, 0, 78 [SEP] 18, Apple, 0.634, 0.980, -0.430, 0, 0, 0, 43 [SEP] 19, Apple, 0.518, 1.853, 1.488, 0, 180, 0, 101 [SEP] 20, SoapBottle, -0.836, 0.826, -1.473, 0, 0, 0, 102 [SEP] 21, Plate, 0.178, 1.658, -0.771, 0, 180, 0, 83 [SEP] 22, Fork, 0.634, 0.912, -0.6, 0, 270, 0, 43 [SEP] 23, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 49 [SEP] 24, Bread, 2.715, 1.621, -0.578, 0, 0, 0, 98 [SEP] 25, Egg, -1.056, 0.858, -1.360, 0, 90, 0, 102 [SEP] 26, Kettle, 2.221, 0.912, 1.468, 0, 0, 0, 78 [SEP] 27, Tomato, -0.621, 0.852, -1.103, 0, 90, 0, 102 [SEP] 28, Cup, 0.415, 1.782, 1.391, 0, 180, 0, 101 [SEP] 29, Spatula, 1.155, 0.926, 1.468, 0, 0, 0, 78 [SEP] 30, Apple, -0.694, 0.889, -1.308, 0, 90, 0, 102 [SEP] 31, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 46 [SEP] 32, Lettuce, 1.955, 0.992, 1.129, 0, 0, 0, 78 [SEP] 33, SaltShaker, -0.734, 0.817, -1.183, 0, 0, 0, 102 [SEP] 34, Knife, -0.836, 0.853, -1.038, 0, 0, 0, 102 [SEP] 35, Potato, 2.591, 1.053, -0.840, 0, 0, 0, 98 [SEP] 36, PepperShaker, -0.240, 0.908, -0.330, 0, 0, 0, 43 [SEP] 37, ButterKnife, -1.056, 0.820, -1.308, 0, 90, 0, 102 [SEP] 38, Bowl, -0.164, 1.652, 1.470, 0, 0, 0, 69 [SEP] 39, DishSponge, 1.862, 0.770, 1.160, 0, 0, 0, 78 [SEP] 40, Spoon, 2.205, 0.772, -0.422, 0, 180, 0, 56 [SEP] 41, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 43 [SEP] 42, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 43, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 44, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 45, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 46, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 47, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 48, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 49, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 50, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 51, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 52, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 53, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 54, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 55, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 56, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 57, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 58, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 59, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 60, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 61, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 62, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 63, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 64, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 65, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 66, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 72, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 73, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 74, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 76, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 78, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 79, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 81, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 82, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 83, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 84, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 85, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 86, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 87, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 88, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 89, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 90, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 95, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 96, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 97, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 98, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 99, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 100, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 101, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 102, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 103, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 104, NorthWall, , , , , , , [SEP] 105, EastWall, , , , , , , [SEP] 106, SouthWall, , , , , , , [SEP] 107, WestWall, , , , , , , ", "output": ["STEP 1: go to the upper left most cabinet | STEP 2: take the blue bowl from the cabinet | STEP 3: take the bowl to the fridge | STEP 4: put the bowl in the fridge then remove | STEP 5: approach the cabinet on the bottom to the right of the fridge | STEP 6: put the bowl in the fridge | END"]} {"id": "trial_T20190909_014142_644865-1", "input": "Put a piece of 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, 0.0, 0.900, 0.25, 0, 270, 0, [SEP] 1, Potato, 1.155, 0.946, 1.299, 0, 180, 0, 84 [SEP] 2, Kettle, 1.213, 0.116, 1.117, 0, 0, 0, 56 [SEP] 3, Pot, 1.155, 0.915, 1.468, 0, 0, 0, 84 [SEP] 4, Spoon, 1.174, 0.773, -0.460, 0, 180, 0, 68 [SEP] 5, Fork, 2.217, 0.772, 1.198, 0, 270, 0, 80 [SEP] 6, Spatula, 0.888, 0.926, -0.430, 0, 0, 0, 49 [SEP] 7, Spatula, 0.263, 0.780, -0.707, 0, 90, 0, 106 [SEP] 8, Plate, 1.688, 0.914, 1.299, 0, 0, 0, 84 [SEP] 9, Plate, 2.221, 0.914, 1.299, 0, 0, 0, 84 [SEP] 10, Cup, 0.466, 1.782, 1.455, 0, 180, 0, 107 [SEP] 11, Egg, -0.017, 0.803, -0.541, 0, 0, 0, 106 [SEP] 12, Egg, 0.570, 1.822, 1.520, 0, 180, 0, 107 [SEP] 13, Knife, 1.688, 0.944, 1.044, 0, 0, 0, 84 [SEP] 14, Knife, 0.888, 0.944, -0.684, 0, 0, 0, 49 [SEP] 15, SoapBottle, -1.991, 0.429, 1.290, 0, 270, 0, 102 [SEP] 16, SoapBottle, 2.754, 0.917, 1.553, 0, 0, 0, 84 [SEP] 17, Tomato, 2.591, 0.758, -0.535, 0, 0, 0, 104 [SEP] 18, Bowl, 1.155, 0.909, 1.129, 0, 0, 0, 84 [SEP] 19, Bowl, 2.153, 0.112, 1.193, 0, 0, 0, 85 [SEP] 20, Bread, 2.715, 1.621, -0.644, 0, 0, 0, 104 [SEP] 21, Bread, 2.488, 0.969, 1.129, 0, 0, 0, 84 [SEP] 22, Lettuce, 2.754, 0.992, 1.214, 0, 0, 0, 84 [SEP] 23, Mug, -0.198, 0.906, 1.468, 0, 270, 0, 60 [SEP] 24, Apple, 2.777, 1.357, -0.775, 0, 0, 0, 104 [SEP] 25, Apple, -1.962, 0.492, 1.417, 0, 270, 0, 102 [SEP] 26, SoapBottle, -1.056, 0.826, -1.308, 0, 90, 0, 108 [SEP] 27, Plate, 0.634, 0.914, -0.430, 0, 0, 0, 49 [SEP] 28, Fork, -0.621, 0.821, -1.206, 0, 90, 0, 108 [SEP] 29, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 55 [SEP] 30, Bread, -0.198, 0.969, 1.129, 0, 0, 0, 60 [SEP] 31, Egg, 2.488, 0.949, 1.553, 0, 0, 0, 84 [SEP] 32, Kettle, -0.141, 1.655, -0.772, 0, 180, 0, 91 [SEP] 33, Tomato, 2.653, 1.320, -0.775, 0, 0, 0, 104 [SEP] 34, Cup, 0.123, 0.763, -0.651, 0, 0, 0, 106 [SEP] 35, Spatula, -0.007, 0.926, 1.383, 0, 90, 0, 60 [SEP] 36, Apple, -0.939, 0.889, -1.400, 0, 0, 0, 108 [SEP] 37, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 52 [SEP] 38, Lettuce, 1.955, 0.992, 1.214, 0, 0, 0, 84 [SEP] 39, SaltShaker, 0.054, 0.908, -0.316, 0, 0, 0, 49 [SEP] 40, Knife, 0.193, 0.798, -0.707, 0, 90, 0, 106 [SEP] 41, Potato, -0.785, 0.855, -1.400, 0, 0, 0, 108 [SEP] 42, PepperShaker, -0.103, 0.908, 1.383, 0, 0, 0, 60 [SEP] 43, ButterKnife, 0.888, 0.911, -0.430, 0, 90, 0, 49 [SEP] 44, Bowl, 1.485, 0.112, -0.498, 0, 180, 0, 66 [SEP] 45, DishSponge, 1.955, 0.911, 1.468, 0, 0, 0, 84 [SEP] 46, Spoon, -0.734, 0.822, -1.255, 0, 0, 0, 108 [SEP] 47, Mug, 1.902, 0.906, -0.430, 0, 0, 0, 49 [SEP] 48, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 49, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 50, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 51, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 52, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 53, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 54, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 55, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 56, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 57, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 58, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 59, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 60, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 61, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 62, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 63, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 64, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 65, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 67, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 68, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 69, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 70, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 71, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 72, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 77, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 79, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 80, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 82, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 84, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 85, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 86, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 87, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 88, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 89, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 90, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 91, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 92, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 93, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 94, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 95, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 96, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 99, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 100, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 101, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 102, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 103, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 104, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 105, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 106, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 107, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 108, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 109, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 110, NorthWall, , , , , , , [SEP] 111, EastWall, , , , , , , [SEP] 112, SouthWall, , , , , , , [SEP] 113, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the counter above the dishwasher. | STEP 2: Pick up the gray knife on the counter | STEP 3: Turn left and go to the round table with a gray cover. | STEP 4: Cut the red apple on the top of the table. | STEP 5: Turn around and go to the sink on the right. | STEP 6: Place the knife in the sink. | STEP 7: Turn right and go back to the round table with the cut apple on top. | STEP 8: Pick up one piece of the apple. | STEP 9: Turn around the go to the microwave above the stove. | STEP 10: Remove the apple after heating in the microwave. | STEP 11: Turn around and go back to the sink. | STEP 12: Place the apple piece in the sink. | END"]} {"id": "trial_T20190907_101626_864447-0", "input": "Place a microwave coffee cup 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, -1.75, 0.900, -0.5, 0, 180, 0, [SEP] 1, Potato, 2.715, 0.761, -0.473, 0, 0, 0, 104 [SEP] 2, Potato, 2.488, 0.946, 1.214, 0, 0, 0, 84 [SEP] 3, DishSponge, 1.141, 0.771, 1.160, 0, 0, 0, 94 [SEP] 4, DishSponge, 2.221, 0.911, 1.553, 0, 0, 0, 84 [SEP] 5, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 64 [SEP] 6, ButterKnife, -0.294, 0.911, 1.299, 0, 90, 0, 60 [SEP] 7, Pot, 0.634, 0.915, -0.430, 0, 0, 0, 49 [SEP] 8, Spoon, -0.839, 0.822, -1.360, 0, 90, 0, 108 [SEP] 9, Fork, -0.621, 0.821, -1.308, 0, 90, 0, 108 [SEP] 10, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 74 [SEP] 11, Plate, 2.754, 0.914, 1.129, 0, 0, 0, 84 [SEP] 12, Cup, 1.896, 0.112, 1.196, 0, 0, 0, 85 [SEP] 13, Cup, 2.124, 0.112, -0.379, 0, 180, 0, 90 [SEP] 14, Egg, -2.048, 0.461, 1.290, 0, 270, 0, 102 [SEP] 15, Egg, 0.263, 0.803, -0.596, 0, 0, 0, 106 [SEP] 16, Knife, 0.123, 0.798, -0.707, 0, 90, 0, 106 [SEP] 17, Knife, -0.836, 0.853, -1.473, 0, 0, 0, 108 [SEP] 18, SoapBottle, -0.123, 0.120, 1.236, 0, 0, 0, 77 [SEP] 19, Tomato, -0.157, 0.797, -0.707, 0, 0, 0, 106 [SEP] 20, Tomato, 2.777, 1.050, -0.644, 0, 0, 0, 104 [SEP] 21, Bowl, 1.485, 0.112, -0.458, 0, 180, 0, 66 [SEP] 22, Bowl, 1.155, 0.909, 1.214, 0, 0, 0, 84 [SEP] 23, Mug, 2.242, 1.650, -0.798, 0, 180, 0, 70 [SEP] 24, Mug, 1.955, 0.906, 1.129, 0, 0, 0, 84 [SEP] 25, Apple, 0.466, 1.853, 1.423, 0, 180, 0, 107 [SEP] 26, SoapBottle, 1.597, 1.660, 1.508, 0, 0, 0, 72 [SEP] 27, Plate, 1.688, 0.914, 1.299, 0, 0, 0, 84 [SEP] 28, Fork, -1.056, 0.821, -1.257, 0, 90, 0, 108 [SEP] 29, Pot, 1.141, 0.915, -0.769, 0, 0, 0, 49 [SEP] 30, Bread, -0.198, 0.969, 1.214, 0, 0, 0, 60 [SEP] 31, Egg, 2.591, 1.056, -0.709, 0, 0, 0, 104 [SEP] 32, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 87 [SEP] 33, Tomato, -0.621, 0.852, -1.206, 0, 90, 0, 108 [SEP] 34, Cup, -0.621, 0.818, -1.360, 0, 90, 0, 108 [SEP] 35, Spatula, -0.734, 0.835, -1.328, 0, 90, 0, 108 [SEP] 36, Apple, -1.962, 0.492, 1.375, 0, 270, 0, 102 [SEP] 37, Pan, 0.281, 0.964, 1.082, 0, 0, 0, 55 [SEP] 38, Lettuce, 2.754, 0.992, 1.383, 0, 0, 0, 84 [SEP] 39, SaltShaker, 1.422, 0.908, 1.214, 0, 0, 0, 84 [SEP] 40, Knife, 0.193, 0.798, -0.596, 0, 270, 0, 106 [SEP] 41, Potato, -0.836, 0.855, -1.183, 0, 0, 0, 108 [SEP] 42, PepperShaker, 1.422, 0.908, 1.383, 0, 0, 0, 84 [SEP] 43, ButterKnife, 2.488, 0.911, 1.129, 0, 0, 0, 84 [SEP] 44, Bowl, 1.955, 0.909, 1.383, 0, 0, 0, 84 [SEP] 45, DishSponge, 1.134, 1.654, -0.811, 0, 180, 0, 59 [SEP] 46, Spoon, 2.868, 0.772, 1.198, 0, 0, 0, 93 [SEP] 47, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 49 [SEP] 48, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 49, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 50, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 51, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 52, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 53, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 54, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 55, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 56, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 57, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 58, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 59, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 60, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 61, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 62, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 63, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 64, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 65, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 67, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 68, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 69, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 70, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 71, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 72, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 77, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 79, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 80, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 82, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 84, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 85, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 86, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 87, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 88, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 89, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 90, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 91, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 92, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 93, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 94, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 95, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 96, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 99, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 100, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 101, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 102, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 103, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 104, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 105, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 106, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 107, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 108, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 109, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 110, NorthWall, , , , , , , [SEP] 111, EastWall, , , , , , , [SEP] 112, SouthWall, , , , , , , [SEP] 113, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the coffee maker on the right. | STEP 2: Take the coffee cup from the coffee maker. | STEP 3: Turn right a walk to the stove on the right. | STEP 4: Put the cup in the microwave above the stove and turn it on. Remove it when it's done and close the door. | STEP 5: Turn right and walk back to the coffee maker on the right. | STEP 6: Put the cup back in the coffee maker. | END"]} {"id": "trial_T20190907_101626_864447-2", "input": "Put a heated mug on the coffee machine. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, -0.5, 0, 180, 0, [SEP] 1, Potato, 2.715, 0.761, -0.473, 0, 0, 0, 104 [SEP] 2, Potato, 2.488, 0.946, 1.214, 0, 0, 0, 84 [SEP] 3, DishSponge, 1.141, 0.771, 1.160, 0, 0, 0, 94 [SEP] 4, DishSponge, 2.221, 0.911, 1.553, 0, 0, 0, 84 [SEP] 5, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 64 [SEP] 6, ButterKnife, -0.294, 0.911, 1.299, 0, 90, 0, 60 [SEP] 7, Pot, 0.634, 0.915, -0.430, 0, 0, 0, 49 [SEP] 8, Spoon, -0.839, 0.822, -1.360, 0, 90, 0, 108 [SEP] 9, Fork, -0.621, 0.821, -1.308, 0, 90, 0, 108 [SEP] 10, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 74 [SEP] 11, Plate, 2.754, 0.914, 1.129, 0, 0, 0, 84 [SEP] 12, Cup, 1.896, 0.112, 1.196, 0, 0, 0, 85 [SEP] 13, Cup, 2.124, 0.112, -0.379, 0, 180, 0, 90 [SEP] 14, Egg, -2.048, 0.461, 1.290, 0, 270, 0, 102 [SEP] 15, Egg, 0.263, 0.803, -0.596, 0, 0, 0, 106 [SEP] 16, Knife, 0.123, 0.798, -0.707, 0, 90, 0, 106 [SEP] 17, Knife, -0.836, 0.853, -1.473, 0, 0, 0, 108 [SEP] 18, SoapBottle, -0.123, 0.120, 1.236, 0, 0, 0, 77 [SEP] 19, Tomato, -0.157, 0.797, -0.707, 0, 0, 0, 106 [SEP] 20, Tomato, 2.777, 1.050, -0.644, 0, 0, 0, 104 [SEP] 21, Bowl, 1.485, 0.112, -0.458, 0, 180, 0, 66 [SEP] 22, Bowl, 1.155, 0.909, 1.214, 0, 0, 0, 84 [SEP] 23, Mug, 2.242, 1.650, -0.798, 0, 180, 0, 70 [SEP] 24, Mug, 1.955, 0.906, 1.129, 0, 0, 0, 84 [SEP] 25, Apple, 0.466, 1.853, 1.423, 0, 180, 0, 107 [SEP] 26, SoapBottle, 1.597, 1.660, 1.508, 0, 0, 0, 72 [SEP] 27, Plate, 1.688, 0.914, 1.299, 0, 0, 0, 84 [SEP] 28, Fork, -1.056, 0.821, -1.257, 0, 90, 0, 108 [SEP] 29, Pot, 1.141, 0.915, -0.769, 0, 0, 0, 49 [SEP] 30, Bread, -0.198, 0.969, 1.214, 0, 0, 0, 60 [SEP] 31, Egg, 2.591, 1.056, -0.709, 0, 0, 0, 104 [SEP] 32, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 87 [SEP] 33, Tomato, -0.621, 0.852, -1.206, 0, 90, 0, 108 [SEP] 34, Cup, -0.621, 0.818, -1.360, 0, 90, 0, 108 [SEP] 35, Spatula, -0.734, 0.835, -1.328, 0, 90, 0, 108 [SEP] 36, Apple, -1.962, 0.492, 1.375, 0, 270, 0, 102 [SEP] 37, Pan, 0.281, 0.964, 1.082, 0, 0, 0, 55 [SEP] 38, Lettuce, 2.754, 0.992, 1.383, 0, 0, 0, 84 [SEP] 39, SaltShaker, 1.422, 0.908, 1.214, 0, 0, 0, 84 [SEP] 40, Knife, 0.193, 0.798, -0.596, 0, 270, 0, 106 [SEP] 41, Potato, -0.836, 0.855, -1.183, 0, 0, 0, 108 [SEP] 42, PepperShaker, 1.422, 0.908, 1.383, 0, 0, 0, 84 [SEP] 43, ButterKnife, 2.488, 0.911, 1.129, 0, 0, 0, 84 [SEP] 44, Bowl, 1.955, 0.909, 1.383, 0, 0, 0, 84 [SEP] 45, DishSponge, 1.134, 1.654, -0.811, 0, 180, 0, 59 [SEP] 46, Spoon, 2.868, 0.772, 1.198, 0, 0, 0, 93 [SEP] 47, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 49 [SEP] 48, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 49, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 50, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 51, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 52, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 53, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 54, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 55, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 56, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 57, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 58, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 59, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 60, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 61, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 62, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 63, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 64, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 65, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 67, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 68, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 69, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 70, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 71, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 72, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 77, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 79, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 80, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 82, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 84, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 85, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 86, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 87, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 88, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 89, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 90, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 91, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 92, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 93, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 94, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 95, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 96, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 99, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 100, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 101, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 102, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 103, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 104, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 105, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 106, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 107, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 108, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 109, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 110, NorthWall, , , , , , , [SEP] 111, EastWall, , , , , , , [SEP] 112, SouthWall, , , , , , , [SEP] 113, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, head to the middle of the room, turn right, head down to the coffee machine on the right counter. | STEP 2: Pick up the mug on the coffee machine. | STEP 3: Turn around and bring the mug to the microwave above the stove. | STEP 4: Heat the mug in the microwave. | STEP 5: Take the heated mug from the microwave, turn around, and bring it back to the coffee machine on the counter. | STEP 6: Put the heated mug on the coffee machine. | END"]} {"id": "trial_T20190907_020601_961716-1", "input": "Examine a metallic item by the light of a table lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.901, 5.75, 0, 90, 0, [SEP] 1, Bowl, -5.274, 0.535, 6.665, 0, 45, 0, 61 [SEP] 2, Bowl, -3.265, 0.454, 7.183, 0, 90, 0, 52 [SEP] 3, Newspaper, -0.789, 0.431, 3.915, 0, 0, 0, 43 [SEP] 4, Newspaper, -0.710, 0.365, 3.915, 0, 0, 0, 43 [SEP] 5, KeyChain, -0.433, 0.794, 5.600, 0, 270, 0, 44 [SEP] 6, CreditCard, -0.413, 0.788, 2.002, 0, 0, 0, 45 [SEP] 7, RemoteControl, -5.631, 0.536, 6.683, 0, 135, 0, 61 [SEP] 8, RemoteControl, -0.947, 0.444, 4.524, 0, 0, 0, 43 [SEP] 9, Laptop, -0.868, 0.437, 3.306, 0, 0, 0, 43 [SEP] 10, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 54 [SEP] 11, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 59 [SEP] 12, Vase, -5.442, 0.534, 6.497, 0, 45, 0, 61 [SEP] 13, Vase, -2.811, 0.542, 4.044, 0, 0, 0, 60 [SEP] 14, Newspaper, -0.789, 0.365, 3.002, 0, 0, 0, 43 [SEP] 15, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 60 [SEP] 16, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 17, Vase, -3.462, 0.147, 7.276, 0, 90, 0, 54 [SEP] 18, CreditCard, -0.535, 0.793, 2.252, 0, 270, 0, 45 [SEP] 19, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 57 [SEP] 20, KeyChain, -2.631, 0.534, 3.752, 0, 90, 0, 60 [SEP] 21, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 55 [SEP] 22, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 55 [SEP] 23, Bowl, -0.484, 0.795, 2.377, 0, 270, 0, 45 [SEP] 24, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 43 [SEP] 25, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 57 [SEP] 26, RemoteControl, -0.947, 0.438, 3.611, 0, 0, 0, 43 [SEP] 27, Watch, -0.586, 0.793, 5.726, 0, 270, 0, 44 [SEP] 28, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 59 [SEP] 29, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 57 [SEP] 30, Statue, -5.899, 0.156, 3.954, 0, 0, 0, 50 [SEP] 31, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 59 [SEP] 32, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 33, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 34, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 35, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 36, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 37, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 38, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 39, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 40, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 41, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 42, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 43, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 44, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 45, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 46, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 47, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 48, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 49, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 50, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 51, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 52, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 53, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 54, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 55, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 56, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 57, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 58, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 59, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 60, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 61, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 62, NorthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the three shelves by the wall. | STEP 2: Pick up the metallic item from the bottom shelf. | STEP 3: Turn around and walk to the lamp that is to the left of the couch. | STEP 4: Turn on the lamp. | END"]} {"id": "trial_T20190907_230435_742240-0", "input": "Put a box of tissues 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, -0.5, 0.901, 3.0, 0, 0, 0, [SEP] 1, Cloth, -1.439, 0.067, 3.226, 0, 0, 0, 28 [SEP] 2, Cloth, -1.441, 0.068, 2.807, 0, 0, 0, 22 [SEP] 3, SoapBar, -1.481, 0.994, 3.873, 0, 0, 0, 29 [SEP] 4, Candle, 0.351, 0.892, 1.566, 0, 0, 0, 35 [SEP] 5, SprayBottle, -1.560, 0.068, 2.290, 0, 0, 0, 24 [SEP] 6, SprayBottle, 0.258, 0.048, 3.810, 0, 0, 0, 32 [SEP] 7, SoapBottle, -1.259, 0.067, 2.441, 0, 0, 0, 24 [SEP] 8, SoapBottle, -1.481, 0.993, 3.041, 0, 0, 0, 29 [SEP] 9, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 31 [SEP] 10, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 33 [SEP] 11, SoapBar, -1.382, 0.068, 3.844, 0, 0, 0, 30 [SEP] 12, ToiletPaper, -1.332, 0.058, 2.261, 0, 0, 0, 24 [SEP] 13, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 14, Candle, -1.219, 0.994, 3.812, 0, 0, 0, 29 [SEP] 15, TissueBox, -1.307, 0.984, 3.185, 0, 0, 0, 29 [SEP] 16, SoapBottle, -1.219, 0.993, 3.041, 0, 0, 0, 29 [SEP] 17, ToiletPaper, -1.620, 0.064, 3.276, 0, 0, 0, 28 [SEP] 18, SprayBottle, -1.547, 0.995, 3.812, 0, 0, 0, 29 [SEP] 19, Cloth, -1.284, 0.994, 2.178, 0, 0, 0, 29 [SEP] 20, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 21, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 22, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 23, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 24, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 25, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 26, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 27, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 28, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 29, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 30, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 31, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 32, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 33, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 34, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 35, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 36, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 37, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 38, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 39, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 40, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 41, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 42, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 43, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the counter. | STEP 2: Pick up the box of tissues. | STEP 3: Turn around and walk to the door then turn right and walk to the toilet. | STEP 4: Stand the box of tissues on end on the back of the toilet. | END"]} {"id": "trial_T20190907_230435_742240-2", "input": "Move a box of tissues from counter to back of toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.901, 3.0, 0, 0, 0, [SEP] 1, Cloth, -1.439, 0.067, 3.226, 0, 0, 0, 28 [SEP] 2, Cloth, -1.441, 0.068, 2.807, 0, 0, 0, 22 [SEP] 3, SoapBar, -1.481, 0.994, 3.873, 0, 0, 0, 29 [SEP] 4, Candle, 0.351, 0.892, 1.566, 0, 0, 0, 35 [SEP] 5, SprayBottle, -1.560, 0.068, 2.290, 0, 0, 0, 24 [SEP] 6, SprayBottle, 0.258, 0.048, 3.810, 0, 0, 0, 32 [SEP] 7, SoapBottle, -1.259, 0.067, 2.441, 0, 0, 0, 24 [SEP] 8, SoapBottle, -1.481, 0.993, 3.041, 0, 0, 0, 29 [SEP] 9, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 31 [SEP] 10, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 33 [SEP] 11, SoapBar, -1.382, 0.068, 3.844, 0, 0, 0, 30 [SEP] 12, ToiletPaper, -1.332, 0.058, 2.261, 0, 0, 0, 24 [SEP] 13, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 14, Candle, -1.219, 0.994, 3.812, 0, 0, 0, 29 [SEP] 15, TissueBox, -1.307, 0.984, 3.185, 0, 0, 0, 29 [SEP] 16, SoapBottle, -1.219, 0.993, 3.041, 0, 0, 0, 29 [SEP] 17, ToiletPaper, -1.620, 0.064, 3.276, 0, 0, 0, 28 [SEP] 18, SprayBottle, -1.547, 0.995, 3.812, 0, 0, 0, 29 [SEP] 19, Cloth, -1.284, 0.994, 2.178, 0, 0, 0, 29 [SEP] 20, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 21, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 22, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 23, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 24, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 25, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 26, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 27, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 28, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 29, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 30, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 31, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 32, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 33, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 34, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 35, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 36, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 37, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 38, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 39, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 40, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 41, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 42, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 43, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, proceed to counter and sink. | STEP 2: Pick up box of tissues between pump bottle and sink. | STEP 3: Turn left, proceed to toilet. | STEP 4: Place box of tissues, on its side, on the back of the toilet. | END"]} {"id": "trial_T20190907_040952_408437-1", "input": "Place the dirty spatula in the kitchen sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.931, 0.5, 0, 270, 0, [SEP] 1, ButterKnife, 1.015, 1.043, 0.763, 0, 0, 0, 47 [SEP] 2, Kettle, 0.120, 1.053, -1.630, 0, 0, 0, 48 [SEP] 3, Fork, -0.517, 1.047, -1.289, 0, 0, 0, 45 [SEP] 4, Fork, -0.346, 1.047, -1.181, 0, 0, 0, 45 [SEP] 5, Spoon, 0.542, 1.044, 0.415, 0, 90, 0, 47 [SEP] 6, Spatula, 0.160, 1.058, 0.522, 0, 0, 0, 47 [SEP] 7, Plate, -0.398, 1.577, -1.470, 0, 0, 0, 50 [SEP] 8, Plate, 1.068, 0.212, -1.556, 0, 0, 0, 56 [SEP] 9, SoapBottle, -0.624, 1.565, -1.396, 0, 0, 0, 50 [SEP] 10, Bowl, -1.300, 1.227, 1.974, 0, 90, 0, 60 [SEP] 11, Bowl, -1.096, 1.714, -1.300, 0, 0, 0, 59 [SEP] 12, SaltShaker, 1.879, 1.038, 0.738, 0, 0, 0, 47 [SEP] 13, PepperShaker, 1.158, 0.194, -1.339, 0, 0, 0, 56 [SEP] 14, PepperShaker, 0.960, 1.560, -1.463, 0, 0, 0, 49 [SEP] 15, Mug, 0.936, 1.048, 0.281, 0, 180, 0, 43 [SEP] 16, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 63 [SEP] 17, Apple, -0.030, 1.086, 0.307, 0, 0, 0, 47 [SEP] 18, Apple, 0.936, 1.097, 0.381, 0, 90, 0, 43 [SEP] 19, SoapBottle, 0.160, 1.044, 0.738, 0, 0, 0, 47 [SEP] 20, Apple, 1.854, 0.166, 2.330, 0, 270, 0, 61 [SEP] 21, Potato, -1.169, 1.281, 1.796, 0, 90, 0, 60 [SEP] 22, Fork, 0.682, 1.043, 0.589, 0, 0, 0, 47 [SEP] 23, Kettle, -1.184, 2.029, -1.337, 0, 0, 0, 52 [SEP] 24, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 45 [SEP] 25, Tomato, -1.342, 1.540, 1.885, 0, 90, 0, 60 [SEP] 26, SaltShaker, 1.743, 1.014, -1.484, 0, 0, 0, 51 [SEP] 27, Egg, 0.717, 1.108, 0.181, 0, 90, 0, 43 [SEP] 28, Cup, 1.701, 1.043, 0.522, 0, 0, 0, 47 [SEP] 29, Spatula, -0.260, 1.061, -1.720, 0, 0, 0, 45 [SEP] 30, Knife, 0.717, 1.080, 0.281, 0, 270, 0, 43 [SEP] 31, Lettuce, -1.366, 1.287, 2.242, 0, 90, 0, 60 [SEP] 32, ButterKnife, -0.689, 1.046, -1.289, 0, 0, 0, 45 [SEP] 33, PepperShaker, 1.347, 1.038, 0.545, 0, 0, 0, 47 [SEP] 34, DishSponge, 0.712, 0.199, -1.556, 0, 0, 0, 56 [SEP] 35, Plate, -1.183, 0.215, -1.555, 0, 0, 0, 53 [SEP] 36, Bread, 0.406, 1.104, 0.353, 0, 337.138, 0, 47 [SEP] 37, Spoon, 1.181, 1.044, 0.720, 0, 0, 0, 47 [SEP] 38, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 46 [SEP] 39, Mug, -1.419, 1.484, 2.063, 0, 90, 0, 60 [SEP] 40, Bowl, 1.665, 0.203, -1.480, 0, 0, 0, 55 [SEP] 41, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 42, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 43, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 44, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 45, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 46, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 47, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 48, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 49, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 50, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 51, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 52, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 53, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 54, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 55, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 56, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 57, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 58, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 59, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 60, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 61, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 62, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 63, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 64, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 65, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 66, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 69, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 70, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 71, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 72, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 73, NorthWall, , , , , , , [SEP] 74, EastWall, , , , , , , [SEP] 75, SouthWall, , , , , , , [SEP] 76, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, turn left, walk straight, turn right to face the stove. | STEP 2: Grab the spatula on top of the counter. | STEP 3: Turn left, walk straight, turn left to face the kitchen sink and walk to the sink. | STEP 4: Place the spatula in the sink. | END"]} {"id": "trial_T20190907_040952_408437-2", "input": "Move the spatula to the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.931, 0.5, 0, 270, 0, [SEP] 1, ButterKnife, 1.015, 1.043, 0.763, 0, 0, 0, 47 [SEP] 2, Kettle, 0.120, 1.053, -1.630, 0, 0, 0, 48 [SEP] 3, Fork, -0.517, 1.047, -1.289, 0, 0, 0, 45 [SEP] 4, Fork, -0.346, 1.047, -1.181, 0, 0, 0, 45 [SEP] 5, Spoon, 0.542, 1.044, 0.415, 0, 90, 0, 47 [SEP] 6, Spatula, 0.160, 1.058, 0.522, 0, 0, 0, 47 [SEP] 7, Plate, -0.398, 1.577, -1.470, 0, 0, 0, 50 [SEP] 8, Plate, 1.068, 0.212, -1.556, 0, 0, 0, 56 [SEP] 9, SoapBottle, -0.624, 1.565, -1.396, 0, 0, 0, 50 [SEP] 10, Bowl, -1.300, 1.227, 1.974, 0, 90, 0, 60 [SEP] 11, Bowl, -1.096, 1.714, -1.300, 0, 0, 0, 59 [SEP] 12, SaltShaker, 1.879, 1.038, 0.738, 0, 0, 0, 47 [SEP] 13, PepperShaker, 1.158, 0.194, -1.339, 0, 0, 0, 56 [SEP] 14, PepperShaker, 0.960, 1.560, -1.463, 0, 0, 0, 49 [SEP] 15, Mug, 0.936, 1.048, 0.281, 0, 180, 0, 43 [SEP] 16, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 63 [SEP] 17, Apple, -0.030, 1.086, 0.307, 0, 0, 0, 47 [SEP] 18, Apple, 0.936, 1.097, 0.381, 0, 90, 0, 43 [SEP] 19, SoapBottle, 0.160, 1.044, 0.738, 0, 0, 0, 47 [SEP] 20, Apple, 1.854, 0.166, 2.330, 0, 270, 0, 61 [SEP] 21, Potato, -1.169, 1.281, 1.796, 0, 90, 0, 60 [SEP] 22, Fork, 0.682, 1.043, 0.589, 0, 0, 0, 47 [SEP] 23, Kettle, -1.184, 2.029, -1.337, 0, 0, 0, 52 [SEP] 24, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 45 [SEP] 25, Tomato, -1.342, 1.540, 1.885, 0, 90, 0, 60 [SEP] 26, SaltShaker, 1.743, 1.014, -1.484, 0, 0, 0, 51 [SEP] 27, Egg, 0.717, 1.108, 0.181, 0, 90, 0, 43 [SEP] 28, Cup, 1.701, 1.043, 0.522, 0, 0, 0, 47 [SEP] 29, Spatula, -0.260, 1.061, -1.720, 0, 0, 0, 45 [SEP] 30, Knife, 0.717, 1.080, 0.281, 0, 270, 0, 43 [SEP] 31, Lettuce, -1.366, 1.287, 2.242, 0, 90, 0, 60 [SEP] 32, ButterKnife, -0.689, 1.046, -1.289, 0, 0, 0, 45 [SEP] 33, PepperShaker, 1.347, 1.038, 0.545, 0, 0, 0, 47 [SEP] 34, DishSponge, 0.712, 0.199, -1.556, 0, 0, 0, 56 [SEP] 35, Plate, -1.183, 0.215, -1.555, 0, 0, 0, 53 [SEP] 36, Bread, 0.406, 1.104, 0.353, 0, 337.138, 0, 47 [SEP] 37, Spoon, 1.181, 1.044, 0.720, 0, 0, 0, 47 [SEP] 38, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 46 [SEP] 39, Mug, -1.419, 1.484, 2.063, 0, 90, 0, 60 [SEP] 40, Bowl, 1.665, 0.203, -1.480, 0, 0, 0, 55 [SEP] 41, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 42, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 43, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 44, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 45, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 46, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 47, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 48, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 49, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 50, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 51, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 52, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 53, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 54, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 55, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 56, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 57, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 58, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 59, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 60, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 61, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 62, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 63, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 64, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 65, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 66, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 69, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 70, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 71, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 72, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 73, NorthWall, , , , , , , [SEP] 74, EastWall, , , , , , , [SEP] 75, SouthWall, , , , , , , [SEP] 76, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and go to the counter by the stove. | STEP 2: Pick up the spatula by the toaster. | STEP 3: Turn around and go to the sink | STEP 4: Put the spatula in the sink. | END"]} {"id": "trial_T20190908_060843_405274-0", "input": "move empty toilet paper roll from back of toilet to holder SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.901, 2.5, 0, 0, 0, [SEP] 1, TissueBox, -1.441, 0.069, 2.757, 0, 0, 0, 20 [SEP] 2, SoapBar, -1.439, 0.067, 3.377, 0, 0, 0, 26 [SEP] 3, SoapBar, -1.560, 0.067, 3.377, 0, 0, 0, 26 [SEP] 4, SprayBottle, -1.379, 0.068, 2.441, 0, 0, 0, 22 [SEP] 5, SprayBottle, 0.313, 0.048, 3.810, 0, 0, 0, 30 [SEP] 6, SoapBottle, -1.416, 0.993, 2.269, 0, 0, 0, 27 [SEP] 7, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 29 [SEP] 8, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 31 [SEP] 9, SoapBar, -1.317, 1.007, 2.536, 0, 90, 0, 34 [SEP] 10, ToiletPaper, -1.332, 0.058, 2.261, 0, 0, 0, 22 [SEP] 11, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 12, Candle, -1.620, 0.067, 3.276, 0, 0, 0, 26 [SEP] 13, TissueBox, -1.500, 0.068, 2.341, 0, 0, 0, 22 [SEP] 14, SoapBottle, -1.547, 0.993, 2.982, 0, 0, 0, 27 [SEP] 15, ToiletPaper, 0.329, 0.889, 1.723, 0, 0, 0, 33 [SEP] 16, SprayBottle, -1.284, 0.995, 2.148, 0, 0, 0, 27 [SEP] 17, Cloth, -1.441, 0.068, 3.743, 0, 0, 0, 28 [SEP] 18, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 19, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 20, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 21, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 22, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 23, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 24, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 25, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 26, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 27, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 28, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 29, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 30, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 31, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 32, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 33, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 34, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 35, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 36, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 37, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 38, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 39, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 40, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 41, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: turn right, turn right, take a few steps, turn left to face toilet | STEP 2: take the empty toilet paper roll off the back of the toilet | STEP 3: take two steps to the right | STEP 4: put empty toilet paper roll on the toilet paper holder | END"]} {"id": "trial_T20190908_061613_867896-0", "input": "Cool an egg, put it 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, 2.25, 0.900, 0.5, 0, 270, 0, [SEP] 1, DishSponge, 2.754, 0.911, 1.553, 0, 0, 0, 87 [SEP] 2, ButterKnife, 2.156, 0.911, -0.769, 0, 0, 0, 52 [SEP] 3, Pot, 2.754, 0.915, 1.299, 0, 0, 0, 87 [SEP] 4, Spoon, 1.155, 0.912, 1.044, 0, 0, 0, 87 [SEP] 5, Spoon, 1.073, 0.772, 1.160, 0, 90, 0, 97 [SEP] 6, Fork, 2.743, 0.771, 1.198, 0, 270, 0, 96 [SEP] 7, Fork, -0.990, 0.821, -1.255, 0, 270, 0, 111 [SEP] 8, Spatula, 0.263, 0.780, -0.596, 0, 270, 0, 109 [SEP] 9, Spatula, 1.155, 0.926, 1.468, 0, 0, 0, 87 [SEP] 10, Plate, 0.759, 2.156, 1.468, 0, 0, 0, 61 [SEP] 11, Cup, -0.017, 0.763, -0.541, 0, 0, 0, 109 [SEP] 12, Cup, 1.931, 0.112, 1.117, 0, 0, 0, 88 [SEP] 13, Egg, 0.123, 0.803, -0.541, 0, 0, 0, 109 [SEP] 14, Knife, 1.141, 0.944, -0.6, 0, 0, 0, 52 [SEP] 15, Knife, 0.193, 0.798, -0.596, 0, 270, 0, 109 [SEP] 16, SoapBottle, -0.694, 0.826, -1.360, 0, 90, 0, 111 [SEP] 17, Tomato, 3.301, 0.871, -0.543, 0, 0, 0, 107 [SEP] 18, Tomato, -2.019, 0.455, 1.459, 0, 270, 0, 105 [SEP] 19, Bowl, 0.888, 0.909, -0.6, 0, 0, 0, 52 [SEP] 20, Bowl, 2.715, 1.561, -0.578, 0, 0, 0, 107 [SEP] 21, SaltShaker, 1.902, 0.908, -0.430, 0, 0, 0, 52 [SEP] 22, PepperShaker, -0.621, 0.817, -1.206, 0, 90, 0, 111 [SEP] 23, PepperShaker, 0.750, 1.651, -0.654, 0, 180, 0, 91 [SEP] 24, Bread, 2.488, 0.969, 1.383, 0, 0, 0, 87 [SEP] 25, Bread, 2.221, 0.969, 1.214, 0, 0, 0, 87 [SEP] 26, Lettuce, -0.836, 0.901, -1.400, 0, 0, 0, 111 [SEP] 27, Lettuce, 2.838, 1.099, -0.644, 0, 0, 0, 107 [SEP] 28, Apple, 0.415, 1.853, 1.455, 0, 180, 0, 110 [SEP] 29, SoapBottle, 1.955, 0.917, 1.214, 0, 0, 0, 87 [SEP] 30, Plate, 1.422, 0.914, 1.383, 0, 0, 0, 87 [SEP] 31, Fork, 1.277, 0.771, 1.122, 0, 90, 0, 97 [SEP] 32, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 58 [SEP] 33, Bread, -0.198, 0.969, 1.214, 0, 0, 0, 63 [SEP] 34, Egg, -0.983, 0.858, -1.103, 0, 90, 0, 111 [SEP] 35, Kettle, 0.178, 1.656, -0.771, 0, 180, 0, 92 [SEP] 36, Tomato, 2.653, 1.320, -0.578, 0, 0, 0, 107 [SEP] 37, Cup, -0.198, 0.909, 1.468, 0, 0, 0, 63 [SEP] 38, Spatula, 2.754, 0.926, 1.129, 0, 0, 0, 87 [SEP] 39, Apple, 2.715, 0.795, -0.473, 0, 0, 0, 107 [SEP] 40, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 90 [SEP] 41, Lettuce, 0.634, 0.992, -0.515, 0, 0, 0, 52 [SEP] 42, SaltShaker, -0.007, 0.908, 1.214, 0, 0, 0, 63 [SEP] 43, Knife, -0.007, 0.944, 1.383, 0, 90, 0, 63 [SEP] 44, Potato, 2.962, 1.323, -0.840, 0, 0, 0, 107 [SEP] 45, PepperShaker, -0.043, 0.908, -0.316, 0, 0, 0, 52 [SEP] 46, ButterKnife, -0.839, 0.820, -1.257, 0, 270, 0, 111 [SEP] 47, Bowl, 2.838, 1.286, -0.578, 0, 0, 0, 107 [SEP] 48, DishSponge, 0.888, 0.911, -0.769, 0, 0, 0, 52 [SEP] 49, Spoon, -0.055, 0.912, 1.383, 0, 0, 0, 63 [SEP] 50, Mug, 1.208, 1.649, -0.696, 0, 180, 0, 54 [SEP] 51, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 52, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 53, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 54, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 55, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 56, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 57, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 58, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 59, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 60, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 61, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 62, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 63, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 64, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 65, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 66, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 67, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 68, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 69, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 70, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 71, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 72, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 74, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 75, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 77, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 78, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 79, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 80, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 82, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 83, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 84, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 85, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 86, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 87, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 88, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 89, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 90, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 91, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 92, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 93, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 94, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 95, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 96, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 97, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 98, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 99, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 100, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 101, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 102, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 103, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 104, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 105, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 106, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 107, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 108, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 109, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 110, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 111, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 112, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 113, NorthWall, , , , , , , [SEP] 114, EastWall, , , , , , , [SEP] 115, SouthWall, , , , , , , [SEP] 116, WestWall, , , , , , , ", "output": ["STEP 1: Go forward, turn left in front of the sink | STEP 2: Pick up the egg in the sink | STEP 3: Turn around, go forward a bit, turn right, go forward, turn right in front of the fridge | STEP 4: Put the egg into the fridge, wait, pick up the egg from the fridge | STEP 5: Turn right, go forward, turn right in front of the stove | STEP 6: Put the egg into the microwave | END"]} {"id": "trial_T20190908_061613_867896-1", "input": "Chill an onion and put in microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.25, 0.900, 0.5, 0, 270, 0, [SEP] 1, DishSponge, 2.754, 0.911, 1.553, 0, 0, 0, 87 [SEP] 2, ButterKnife, 2.156, 0.911, -0.769, 0, 0, 0, 52 [SEP] 3, Pot, 2.754, 0.915, 1.299, 0, 0, 0, 87 [SEP] 4, Spoon, 1.155, 0.912, 1.044, 0, 0, 0, 87 [SEP] 5, Spoon, 1.073, 0.772, 1.160, 0, 90, 0, 97 [SEP] 6, Fork, 2.743, 0.771, 1.198, 0, 270, 0, 96 [SEP] 7, Fork, -0.990, 0.821, -1.255, 0, 270, 0, 111 [SEP] 8, Spatula, 0.263, 0.780, -0.596, 0, 270, 0, 109 [SEP] 9, Spatula, 1.155, 0.926, 1.468, 0, 0, 0, 87 [SEP] 10, Plate, 0.759, 2.156, 1.468, 0, 0, 0, 61 [SEP] 11, Cup, -0.017, 0.763, -0.541, 0, 0, 0, 109 [SEP] 12, Cup, 1.931, 0.112, 1.117, 0, 0, 0, 88 [SEP] 13, Egg, 0.123, 0.803, -0.541, 0, 0, 0, 109 [SEP] 14, Knife, 1.141, 0.944, -0.6, 0, 0, 0, 52 [SEP] 15, Knife, 0.193, 0.798, -0.596, 0, 270, 0, 109 [SEP] 16, SoapBottle, -0.694, 0.826, -1.360, 0, 90, 0, 111 [SEP] 17, Tomato, 3.301, 0.871, -0.543, 0, 0, 0, 107 [SEP] 18, Tomato, -2.019, 0.455, 1.459, 0, 270, 0, 105 [SEP] 19, Bowl, 0.888, 0.909, -0.6, 0, 0, 0, 52 [SEP] 20, Bowl, 2.715, 1.561, -0.578, 0, 0, 0, 107 [SEP] 21, SaltShaker, 1.902, 0.908, -0.430, 0, 0, 0, 52 [SEP] 22, PepperShaker, -0.621, 0.817, -1.206, 0, 90, 0, 111 [SEP] 23, PepperShaker, 0.750, 1.651, -0.654, 0, 180, 0, 91 [SEP] 24, Bread, 2.488, 0.969, 1.383, 0, 0, 0, 87 [SEP] 25, Bread, 2.221, 0.969, 1.214, 0, 0, 0, 87 [SEP] 26, Lettuce, -0.836, 0.901, -1.400, 0, 0, 0, 111 [SEP] 27, Lettuce, 2.838, 1.099, -0.644, 0, 0, 0, 107 [SEP] 28, Apple, 0.415, 1.853, 1.455, 0, 180, 0, 110 [SEP] 29, SoapBottle, 1.955, 0.917, 1.214, 0, 0, 0, 87 [SEP] 30, Plate, 1.422, 0.914, 1.383, 0, 0, 0, 87 [SEP] 31, Fork, 1.277, 0.771, 1.122, 0, 90, 0, 97 [SEP] 32, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 58 [SEP] 33, Bread, -0.198, 0.969, 1.214, 0, 0, 0, 63 [SEP] 34, Egg, -0.983, 0.858, -1.103, 0, 90, 0, 111 [SEP] 35, Kettle, 0.178, 1.656, -0.771, 0, 180, 0, 92 [SEP] 36, Tomato, 2.653, 1.320, -0.578, 0, 0, 0, 107 [SEP] 37, Cup, -0.198, 0.909, 1.468, 0, 0, 0, 63 [SEP] 38, Spatula, 2.754, 0.926, 1.129, 0, 0, 0, 87 [SEP] 39, Apple, 2.715, 0.795, -0.473, 0, 0, 0, 107 [SEP] 40, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 90 [SEP] 41, Lettuce, 0.634, 0.992, -0.515, 0, 0, 0, 52 [SEP] 42, SaltShaker, -0.007, 0.908, 1.214, 0, 0, 0, 63 [SEP] 43, Knife, -0.007, 0.944, 1.383, 0, 90, 0, 63 [SEP] 44, Potato, 2.962, 1.323, -0.840, 0, 0, 0, 107 [SEP] 45, PepperShaker, -0.043, 0.908, -0.316, 0, 0, 0, 52 [SEP] 46, ButterKnife, -0.839, 0.820, -1.257, 0, 270, 0, 111 [SEP] 47, Bowl, 2.838, 1.286, -0.578, 0, 0, 0, 107 [SEP] 48, DishSponge, 0.888, 0.911, -0.769, 0, 0, 0, 52 [SEP] 49, Spoon, -0.055, 0.912, 1.383, 0, 0, 0, 63 [SEP] 50, Mug, 1.208, 1.649, -0.696, 0, 180, 0, 54 [SEP] 51, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 52, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 53, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 54, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 55, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 56, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 57, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 58, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 59, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 60, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 61, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 62, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 63, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 64, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 65, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 66, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 67, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 68, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 69, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 70, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 71, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 72, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 74, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 75, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 77, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 78, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 79, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 80, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 82, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 83, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 84, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 85, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 86, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 87, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 88, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 89, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 90, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 91, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 92, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 93, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 94, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 95, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 96, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 97, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 98, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 99, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 100, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 101, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 102, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 103, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 104, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 105, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 106, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 107, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 108, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 109, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 110, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 111, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 112, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 113, NorthWall, , , , , , , [SEP] 114, EastWall, , , , , , , [SEP] 115, SouthWall, , , , , , , [SEP] 116, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward then make a left at the sink. | STEP 2: Pick up the onion from the sink. | STEP 3: Turn to the left and walk forward to the fridge. | STEP 4: Open the fridge and place the onion inside. Chill the onion and then take it out of the fridge. | STEP 5: Turn to the right and walk to the oven. Make a right again to face it. Look above the oven to the microwave. | STEP 6: Place the onion inside the microwave and close it. | END"]} {"id": "trial_T20190907_182015_912423-0", "input": "To move 2 sets of keys from their original positions to the couch. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.901, 7.25, 0, 0, 0, [SEP] 1, Watch, -0.484, 0.793, 6.231, 0, 270, 0, 41 [SEP] 2, Watch, -2.277, 0.880, 7.242, 0, 90, 0, 48 [SEP] 3, KeyChain, -2.352, 0.534, 4.480, 0, 270, 0, 57 [SEP] 4, CreditCard, -2.869, 1.279, 6.981, 0, 90, 0, 56 [SEP] 5, RemoteControl, -2.561, 0.536, 3.607, 0, 270, 0, 57 [SEP] 6, RemoteControl, -2.811, 0.536, 4.106, 0, 0, 0, 57 [SEP] 7, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 51 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -2.672, 0.880, 7.139, 0, 90, 0, 48 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -5.972, 0.532, 6.569, 0, 135, 0, 58 [SEP] 12, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 57 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 14, Vase, -2.491, 0.534, 4.335, 0, 270, 0, 57 [SEP] 15, CreditCard, -0.326, 0.793, 2.052, 0, 0, 0, 42 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -3.265, 0.453, 7.107, 0, 180, 0, 49 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -5.998, 0.454, 4.547, 0, 0, 0, 52 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -2.811, 0.536, 3.919, 0, 0, 0, 57 [SEP] 24, Watch, -5.648, 0.533, 6.592, 0, 45, 0, 58 [SEP] 25, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 56 [SEP] 26, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 54 [SEP] 27, Statue, -5.950, 0.156, 4.745, 0, 0, 0, 47 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 59, NorthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to face the table in the middle of the living room. | STEP 2: Pick up the keys on the table in the living room. | STEP 3: Turn around and face the couch. | STEP 4: Place the keys on the edge of the couch. | STEP 5: Turn to the left and walk across the room to the shelving. | STEP 6: Pick up the keys from the second shelf from the bottom. | STEP 7: Turn to the right and walk forward, then turn right and walk forward and then turn left to face the couch. | STEP 8: Place the keys next to the other keys on the couch. | END"]} {"id": "trial_T20190907_182015_912423-1", "input": "Move two keys to the sofa. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.901, 7.25, 0, 0, 0, [SEP] 1, Watch, -0.484, 0.793, 6.231, 0, 270, 0, 41 [SEP] 2, Watch, -2.277, 0.880, 7.242, 0, 90, 0, 48 [SEP] 3, KeyChain, -2.352, 0.534, 4.480, 0, 270, 0, 57 [SEP] 4, CreditCard, -2.869, 1.279, 6.981, 0, 90, 0, 56 [SEP] 5, RemoteControl, -2.561, 0.536, 3.607, 0, 270, 0, 57 [SEP] 6, RemoteControl, -2.811, 0.536, 4.106, 0, 0, 0, 57 [SEP] 7, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 51 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -2.672, 0.880, 7.139, 0, 90, 0, 48 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -5.972, 0.532, 6.569, 0, 135, 0, 58 [SEP] 12, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 57 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 14, Vase, -2.491, 0.534, 4.335, 0, 270, 0, 57 [SEP] 15, CreditCard, -0.326, 0.793, 2.052, 0, 0, 0, 42 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -3.265, 0.453, 7.107, 0, 180, 0, 49 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -5.998, 0.454, 4.547, 0, 0, 0, 52 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -2.811, 0.536, 3.919, 0, 0, 0, 57 [SEP] 24, Watch, -5.648, 0.533, 6.592, 0, 45, 0, 58 [SEP] 25, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 56 [SEP] 26, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 54 [SEP] 27, Statue, -5.950, 0.156, 4.745, 0, 0, 0, 47 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 59, NorthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , ", "output": ["STEP 1: Turn and go to the coffee table. | STEP 2: Pick up the keys on the coffee table. | STEP 3: Turn around and go to the sofa. | STEP 4: Put the keys on the sofa. | STEP 5: Turn and go to the shelves | STEP 6: Pick up the keys on the shelves. | STEP 7: Turn around and go to the sofa. | STEP 8: Put the keys on the sofa. | END"]} {"id": "trial_T20190908_095759_472792-0", "input": "Move the watering can from the shelf to the coffee table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.901, 5.0, 0, 0, 0, [SEP] 1, Bowl, -5.461, 0.535, 6.628, 0, 45, 0, 56 [SEP] 2, Watch, -5.885, 0.453, 4.745, 0, 0, 0, 45 [SEP] 3, KeyChain, -0.535, 0.794, 6.357, 0, 270, 0, 39 [SEP] 4, KeyChain, -6.053, 0.147, 4.547, 0, 0, 0, 45 [SEP] 5, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 49 [SEP] 6, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 54 [SEP] 7, Vase, -0.484, 0.794, 1.626, 0, 270, 0, 40 [SEP] 8, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 50 [SEP] 9, Newspaper, -2.352, 0.532, 3.752, 0, 270, 0, 55 [SEP] 10, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 55 [SEP] 11, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 12, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 48 [SEP] 13, CreditCard, -0.710, 0.420, 3.915, 0, 0, 0, 38 [SEP] 14, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 52 [SEP] 15, KeyChain, -3.557, 1.280, 7.045, 0, 90, 0, 54 [SEP] 16, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 50 [SEP] 17, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 50 [SEP] 18, Bowl, -2.422, 0.535, 4.335, 0, 270, 0, 55 [SEP] 19, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 38 [SEP] 20, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 52 [SEP] 21, RemoteControl, -5.923, 0.455, 3.954, 0, 0, 0, 45 [SEP] 22, Watch, -2.640, 1.280, 6.981, 0, 90, 0, 54 [SEP] 23, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 54 [SEP] 24, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 52 [SEP] 25, Statue, -3.328, 1.289, 7.108, 0, 270, 0, 54 [SEP] 26, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 54 [SEP] 27, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 28, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 29, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 30, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 31, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 32, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 33, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 34, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 35, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 36, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 37, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 38, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 39, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 40, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 41, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 42, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 43, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 44, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 45, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 46, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 47, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 48, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 49, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 50, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 51, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 52, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 53, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 54, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 55, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 56, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , ", "output": ["STEP 1: Walk forward to the shelf in front of you. | STEP 2: Pick up the watering can from the bottom shelf. | STEP 3: Turn around and go to the coffee table. | STEP 4: Put the watering can on the coffee table. | END"]} {"id": "trial_T20190908_095759_472792-2", "input": "Move the white tea kettle from the bookshelf to the coffee table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.901, 5.0, 0, 0, 0, [SEP] 1, Bowl, -5.461, 0.535, 6.628, 0, 45, 0, 56 [SEP] 2, Watch, -5.885, 0.453, 4.745, 0, 0, 0, 45 [SEP] 3, KeyChain, -0.535, 0.794, 6.357, 0, 270, 0, 39 [SEP] 4, KeyChain, -6.053, 0.147, 4.547, 0, 0, 0, 45 [SEP] 5, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 49 [SEP] 6, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 54 [SEP] 7, Vase, -0.484, 0.794, 1.626, 0, 270, 0, 40 [SEP] 8, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 50 [SEP] 9, Newspaper, -2.352, 0.532, 3.752, 0, 270, 0, 55 [SEP] 10, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 55 [SEP] 11, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 12, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 48 [SEP] 13, CreditCard, -0.710, 0.420, 3.915, 0, 0, 0, 38 [SEP] 14, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 52 [SEP] 15, KeyChain, -3.557, 1.280, 7.045, 0, 90, 0, 54 [SEP] 16, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 50 [SEP] 17, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 50 [SEP] 18, Bowl, -2.422, 0.535, 4.335, 0, 270, 0, 55 [SEP] 19, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 38 [SEP] 20, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 52 [SEP] 21, RemoteControl, -5.923, 0.455, 3.954, 0, 0, 0, 45 [SEP] 22, Watch, -2.640, 1.280, 6.981, 0, 90, 0, 54 [SEP] 23, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 54 [SEP] 24, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 52 [SEP] 25, Statue, -3.328, 1.289, 7.108, 0, 270, 0, 54 [SEP] 26, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 54 [SEP] 27, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 28, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 29, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 30, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 31, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 32, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 33, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 34, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 35, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 36, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 37, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 38, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 39, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 40, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 41, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 42, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 43, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 44, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 45, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 46, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 47, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 48, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 49, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 50, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 51, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 52, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 53, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 54, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 55, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 56, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , ", "output": ["STEP 1: Walk to the black bookshelf. | STEP 2: Pick up the white tea kettle from the bottom shelf of the bookshelf. | STEP 3: Turn around and walk to the brown coffee table. | STEP 4: Set the white tea kettle down on the brown coffee table. | END"]} {"id": "trial_T20190907_175003_704671-1", "input": "Put a heated egg inside the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.931, -0.75, 0, 0, 0, [SEP] 1, Pan, -0.312, 0.203, -1.409, 0, 90, 0, 57 [SEP] 2, Potato, -0.346, 1.100, -1.289, 0, 0, 0, 48 [SEP] 3, DishSponge, 1.072, 1.046, -1.181, 0, 0, 0, 48 [SEP] 4, ButterKnife, 0.936, 1.053, 0.231, 0, 90, 0, 46 [SEP] 5, Pot, 1.820, 1.021, -1.557, 0, 90, 0, 54 [SEP] 6, Pot, -1.029, 2.029, -1.337, 0, 90, 0, 55 [SEP] 7, Spoon, 1.612, 1.044, 0.091, 0, 0, 0, 50 [SEP] 8, Spatula, 1.238, 1.061, -1.505, 0, 90, 0, 48 [SEP] 9, Spatula, 0.255, 1.058, 0.630, 0, 0, 0, 50 [SEP] 10, Egg, 0.823, 1.101, -1.289, 0, 0, 0, 48 [SEP] 11, Cup, 1.188, 1.565, -1.614, 0, 0, 0, 52 [SEP] 12, Cup, -1.051, 0.707, 2.153, 0, 90, 0, 63 [SEP] 13, Plate, -1.105, 0.215, -1.482, 0, 0, 0, 56 [SEP] 14, Tomato, -1.423, 1.764, 1.885, 0, 90, 0, 63 [SEP] 15, SoapBottle, 0.936, 1.056, 0.331, 0, 90, 0, 46 [SEP] 16, SoapBottle, 0.848, 1.054, 0.131, 0, 90, 0, 46 [SEP] 17, SaltShaker, 0.065, 1.038, 0.630, 0, 0, 0, 50 [SEP] 18, PepperShaker, -0.760, 0.198, -1.481, 0, 0, 0, 57 [SEP] 19, PepperShaker, -0.473, 1.560, -1.470, 0, 0, 0, 53 [SEP] 20, Lettuce, 1.015, 1.103, 0.632, 0, 0, 0, 50 [SEP] 21, Apple, -1.034, 1.007, 1.796, 0, 90, 0, 63 [SEP] 22, SoapBottle, -0.952, 2.029, -1.555, 0, 0, 0, 55 [SEP] 23, Apple, -1.231, 1.991, 2.242, 0, 90, 0, 63 [SEP] 24, Potato, 0.805, 1.106, 0.331, 0, 90, 0, 46 [SEP] 25, Fork, -0.346, 1.047, -1.505, 0, 0, 0, 48 [SEP] 26, Kettle, 0.250, 1.057, -1.4, 0, 0, 0, 60 [SEP] 27, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 48 [SEP] 28, Tomato, 1.241, 0.951, 0.231, 0, 90, 0, 45 [SEP] 29, SaltShaker, -0.775, 1.041, -1.612, 0, 0, 0, 48 [SEP] 30, Egg, -1.268, 2.002, 1.796, 0, 90, 0, 63 [SEP] 31, Cup, -0.473, 1.565, -1.693, 0, 0, 0, 53 [SEP] 32, Spatula, 1.181, 1.058, 0.589, 0, 90, 0, 50 [SEP] 33, Knife, 0.877, 1.042, -1.362, 90, 315, 0, 48 [SEP] 34, Lettuce, -0.517, 1.106, -1.289, 0, 0, 0, 48 [SEP] 35, ButterKnife, 1.514, 1.043, 0.720, 0, 0, 0, 50 [SEP] 36, PepperShaker, -0.030, 1.038, 0.415, 0, 0, 0, 50 [SEP] 37, DishSponge, -1.339, 2.027, -1.191, 0, 0, 0, 55 [SEP] 38, Plate, -0.699, 1.577, -1.470, 0, 0, 0, 53 [SEP] 39, Bread, 0.406, 1.104, 0.352, 0, 337.138, 0, 50 [SEP] 40, Spoon, 0.682, 1.044, 0.676, 0, 0, 0, 50 [SEP] 41, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 49 [SEP] 42, Mug, -0.030, 1.038, 0.522, 0, 90, 0, 50 [SEP] 43, Bowl, 1.817, 0.203, -1.480, 0, 0, 0, 58 [SEP] 44, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 45, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 46, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 47, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 48, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 49, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 50, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 51, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 52, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 53, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 54, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 55, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 56, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 57, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 58, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 59, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 60, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 61, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 62, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 63, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 64, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 65, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 66, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 67, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 70, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 71, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 72, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 73, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 74, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 75, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 76, NorthWall, , , , , , , [SEP] 77, EastWall, , , , , , , [SEP] 78, SouthWall, , , , , , , [SEP] 79, WestWall, , , , , , , ", "output": ["STEP 1: Move to the left of the cook top | STEP 2: Pick up a egg from the counter | STEP 3: Move to the microwave to the right of the cook top | STEP 4: Heat the egg and get it back then close the door to the microwave | STEP 5: Move to the sink to the left of the cook top | STEP 6: Put the egg in the sink | END"]} {"id": "trial_T20190906_211838_949211-1", "input": "Place a bowl with a watch in it on a coffee table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.75, 0.901, 6.0, 0, 90, 0, [SEP] 1, Newspaper, -0.535, 0.792, 2.252, 0, 270, 0, 44 [SEP] 2, Watch, -0.413, 0.793, 2.154, 0, 0, 0, 44 [SEP] 3, Watch, -5.796, 0.146, 4.349, 0, 0, 0, 49 [SEP] 4, KeyChain, -2.277, 0.147, 7.276, 0, 90, 0, 53 [SEP] 5, CreditCard, -0.789, 0.432, 3.002, 0, 0, 0, 42 [SEP] 6, CreditCard, -0.636, 0.793, 1.626, 0, 270, 0, 44 [SEP] 7, RemoteControl, -0.868, 0.369, 3.306, 0, 0, 0, 42 [SEP] 8, Box, -3.328, 1.443, 7.171, 0, 90, 0, 58 [SEP] 9, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 53 [SEP] 10, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 58 [SEP] 11, Vase, -0.484, 0.794, 5.726, 0, 270, 0, 43 [SEP] 12, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 54 [SEP] 13, Newspaper, -5.517, 0.532, 6.572, 0, 45, 0, 60 [SEP] 14, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 59 [SEP] 15, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 16, Vase, -6.053, 0.147, 3.954, 0, 0, 0, 49 [SEP] 17, CreditCard, -0.484, 0.793, 1.626, 0, 270, 0, 44 [SEP] 18, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 56 [SEP] 19, KeyChain, -0.868, 0.367, 3.002, 0, 0, 0, 42 [SEP] 20, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 54 [SEP] 21, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 54 [SEP] 22, Bowl, -5.923, 0.454, 4.547, 0, 0, 0, 54 [SEP] 23, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 42 [SEP] 24, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 56 [SEP] 25, RemoteControl, -2.811, 0.536, 4.106, 0, 0, 0, 59 [SEP] 26, Watch, -6.019, 0.880, 4.349, 0, 0, 0, 56 [SEP] 27, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 58 [SEP] 28, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 56 [SEP] 29, Statue, -5.349, 0.543, 6.740, 0, 45, 0, 60 [SEP] 30, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 58 [SEP] 31, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 32, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 33, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 34, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 35, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 36, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 37, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 38, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 39, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 40, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 41, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 42, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 43, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 44, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 45, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 46, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 47, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 48, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 49, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 50, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 51, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 52, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 53, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 54, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 55, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 56, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 57, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 58, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 59, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 60, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: Walk forward and then right along the length of the couch until you come to a corner table. | STEP 2: Pick up the watch off the table. | STEP 3: Turn around and walk to the shelves on the wall. | STEP 4: Put the watch in the rightmost blue bowl. | STEP 5: Pick up the bowl. | STEP 6: Turn around and take a couple steps to the coffee table to the right of the laptop. | STEP 7: Place the bowl on the coffee table. | END"]} {"id": "trial_T20190906_175831_724598-0", "input": "Place the clean cloth on the lower shelf SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.903, 0.5, 0, 0, 0, [SEP] 1, Cloth, -2.277, 1.052, -0.766, 0, 0, 0, 31 [SEP] 2, Cloth, -1.471, 1.074, 2.127, 0, 0, 0, 26 [SEP] 3, Cloth, -0.980, 1.777, 2.157, 0, 0, 0, 24 [SEP] 4, ToiletPaper, -1.687, 0.078, -0.62, 0, 270, 0, 21 [SEP] 5, Candle, -1.308, 1.814, 2.187, 0, 0, 0, 24 [SEP] 6, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 28 [SEP] 7, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 8, SoapBar, -0.276, 0.609, 1.724, 0, 45, 0, 18 [SEP] 9, ToiletPaper, -2.015, 1.043, -0.797, 0, 0, 0, 31 [SEP] 10, SoapBottle, -2.080, 1.049, -0.674, 0, 0, 0, 31 [SEP] 11, TissueBox, -1.144, 1.070, 2.127, 0, 0, 0, 26 [SEP] 12, Cloth, 0.206, 0.048, 0.611, 0, 0, 0, 25 [SEP] 13, ToiletPaper, -1.144, 0.285, 2.217, 0, 0, 0, 22 [SEP] 14, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 20 [SEP] 15, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 16, SprayBottle, -0.817, 0.289, 2.217, 0, 0, 0, 22 [SEP] 17, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 18, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 19, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 20, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 21, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 22, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 23, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 24, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 25, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 26, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 27, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 28, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 29, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 30, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 31, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 32, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 33, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 34, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 35, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 36, NorthWall, , , , , , , [SEP] 37, EastWall, , , , , , , [SEP] 38, SouthWall, , , , , , , [SEP] 39, WestWall, , , , , , , ", "output": ["STEP 1: Walk over to the shelf left of the bath tub | STEP 2: Pick up the yellow cloth from the shelf | STEP 3: Turn around and go to the sink | STEP 4: Wash the cloth in the sink and pick it up again | STEP 5: Turn around and walk back to the white shelf | STEP 6: Put the yellow cloth on the lower shelf left of the spray bottle | END"]} {"id": "trial_T20190906_175831_724598-1", "input": "Put a clean rag 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, -2.75, 0.903, 0.5, 0, 0, 0, [SEP] 1, Cloth, -2.277, 1.052, -0.766, 0, 0, 0, 31 [SEP] 2, Cloth, -1.471, 1.074, 2.127, 0, 0, 0, 26 [SEP] 3, Cloth, -0.980, 1.777, 2.157, 0, 0, 0, 24 [SEP] 4, ToiletPaper, -1.687, 0.078, -0.62, 0, 270, 0, 21 [SEP] 5, Candle, -1.308, 1.814, 2.187, 0, 0, 0, 24 [SEP] 6, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 28 [SEP] 7, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 8, SoapBar, -0.276, 0.609, 1.724, 0, 45, 0, 18 [SEP] 9, ToiletPaper, -2.015, 1.043, -0.797, 0, 0, 0, 31 [SEP] 10, SoapBottle, -2.080, 1.049, -0.674, 0, 0, 0, 31 [SEP] 11, TissueBox, -1.144, 1.070, 2.127, 0, 0, 0, 26 [SEP] 12, Cloth, 0.206, 0.048, 0.611, 0, 0, 0, 25 [SEP] 13, ToiletPaper, -1.144, 0.285, 2.217, 0, 0, 0, 22 [SEP] 14, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 20 [SEP] 15, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 16, SprayBottle, -0.817, 0.289, 2.217, 0, 0, 0, 22 [SEP] 17, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 18, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 19, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 20, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 21, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 22, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 23, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 24, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 25, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 26, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 27, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 28, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 29, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 30, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 31, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 32, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 33, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 34, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 35, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 36, NorthWall, , , , , , , [SEP] 37, EastWall, , , , , , , [SEP] 38, SouthWall, , , , , , , [SEP] 39, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward and to the right to face the two shelves. | STEP 2: Pick the yellow rag up off the top shelf. | STEP 3: Turn around and veer left to the sink. | STEP 4: Wash the rag in the sink and pick it back up. | STEP 5: Turn around and go back to the wall with the two shelves. | STEP 6: Place the yellow rag to the left of the purple bottom on the bottom shelf. | END"]} {"id": "trial_T20190906_175831_724598-3", "input": "Put a cleaned rag on the bottom shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.903, 0.5, 0, 0, 0, [SEP] 1, Cloth, -2.277, 1.052, -0.766, 0, 0, 0, 31 [SEP] 2, Cloth, -1.471, 1.074, 2.127, 0, 0, 0, 26 [SEP] 3, Cloth, -0.980, 1.777, 2.157, 0, 0, 0, 24 [SEP] 4, ToiletPaper, -1.687, 0.078, -0.62, 0, 270, 0, 21 [SEP] 5, Candle, -1.308, 1.814, 2.187, 0, 0, 0, 24 [SEP] 6, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 28 [SEP] 7, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 8, SoapBar, -0.276, 0.609, 1.724, 0, 45, 0, 18 [SEP] 9, ToiletPaper, -2.015, 1.043, -0.797, 0, 0, 0, 31 [SEP] 10, SoapBottle, -2.080, 1.049, -0.674, 0, 0, 0, 31 [SEP] 11, TissueBox, -1.144, 1.070, 2.127, 0, 0, 0, 26 [SEP] 12, Cloth, 0.206, 0.048, 0.611, 0, 0, 0, 25 [SEP] 13, ToiletPaper, -1.144, 0.285, 2.217, 0, 0, 0, 22 [SEP] 14, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 20 [SEP] 15, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 16, SprayBottle, -0.817, 0.289, 2.217, 0, 0, 0, 22 [SEP] 17, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 18, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 19, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 20, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 21, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 22, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 23, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 24, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 25, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 26, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 27, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 28, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 29, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 30, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 31, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 32, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 33, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 34, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 35, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 36, NorthWall, , , , , , , [SEP] 37, EastWall, , , , , , , [SEP] 38, SouthWall, , , , , , , [SEP] 39, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, head towards the tub, then turn left and go to the yellow rag on the white shelf. | STEP 2: Pick up the yellow rag on the shelf. | STEP 3: Turn around, bring the rag to the sink. | STEP 4: Wash the rag in the sink with water. | STEP 5: Take the cleaned rag back to the white shelf. | STEP 6: Put the cleaned rag on the bottom shelf next to the spray bottle. | END"]} {"id": "trial_T20190906_175831_724598-4", "input": "Put a cleaned yellow cloth on a shelf near the floor. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.903, 0.5, 0, 0, 0, [SEP] 1, Cloth, -2.277, 1.052, -0.766, 0, 0, 0, 31 [SEP] 2, Cloth, -1.471, 1.074, 2.127, 0, 0, 0, 26 [SEP] 3, Cloth, -0.980, 1.777, 2.157, 0, 0, 0, 24 [SEP] 4, ToiletPaper, -1.687, 0.078, -0.62, 0, 270, 0, 21 [SEP] 5, Candle, -1.308, 1.814, 2.187, 0, 0, 0, 24 [SEP] 6, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 28 [SEP] 7, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 8, SoapBar, -0.276, 0.609, 1.724, 0, 45, 0, 18 [SEP] 9, ToiletPaper, -2.015, 1.043, -0.797, 0, 0, 0, 31 [SEP] 10, SoapBottle, -2.080, 1.049, -0.674, 0, 0, 0, 31 [SEP] 11, TissueBox, -1.144, 1.070, 2.127, 0, 0, 0, 26 [SEP] 12, Cloth, 0.206, 0.048, 0.611, 0, 0, 0, 25 [SEP] 13, ToiletPaper, -1.144, 0.285, 2.217, 0, 0, 0, 22 [SEP] 14, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 20 [SEP] 15, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 16, SprayBottle, -0.817, 0.289, 2.217, 0, 0, 0, 22 [SEP] 17, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 18, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 19, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 20, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 21, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 22, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 23, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 24, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 25, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 26, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 27, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 28, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 29, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 30, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 31, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 32, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 33, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 34, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 35, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 36, NorthWall, , , , , , , [SEP] 37, EastWall, , , , , , , [SEP] 38, SouthWall, , , , , , , [SEP] 39, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward and slightly to the right towards the yellow cloth by the wall. | STEP 2: Pick up the yellow cloth from the shelf. | STEP 3: Turn around and walk to the sink. | STEP 4: Put the cloth in the sink, rinse it off, and take it out of the sink. | STEP 5: Turn around and walk to the spray bottle on the shelf near the floor. | STEP 6: Put the cloth on that shelf, in front of and between the spray bottle and empty roll of toilet paper. | END"]} {"id": "trial_T20190908_060916_827277-1", "input": "Put the empty toilet paper roll back on the holder. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.901, 3.0, 0, 0, 0, [SEP] 1, Cloth, -1.439, 0.067, 3.276, 0, 0, 0, 29 [SEP] 2, Cloth, -1.350, 0.994, 2.982, 0, 0, 0, 30 [SEP] 3, SoapBar, -1.620, 0.068, 3.642, 0, 0, 0, 31 [SEP] 4, SoapBar, -1.441, 0.068, 2.757, 0, 0, 0, 23 [SEP] 5, Candle, -1.441, 0.068, 3.844, 0, 0, 0, 31 [SEP] 6, Candle, -1.613, 0.994, 2.982, 0, 0, 0, 30 [SEP] 7, SprayBottle, -1.350, 0.995, 2.269, 0, 0, 0, 30 [SEP] 8, SprayBottle, -1.561, 0.069, 2.908, 0, 0, 0, 29 [SEP] 9, SoapBottle, -1.219, 0.993, 2.178, 0, 0, 0, 30 [SEP] 10, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 32 [SEP] 11, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 34 [SEP] 12, SoapBar, 0.231, 0.047, 3.838, 0, 0, 0, 33 [SEP] 13, ToiletPaper, -1.332, 0.058, 2.261, 0, 0, 0, 25 [SEP] 14, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 15, Candle, -1.441, 0.068, 3.743, 0, 0, 0, 31 [SEP] 16, TissueBox, -1.547, 0.994, 3.873, 0, 0, 0, 30 [SEP] 17, SoapBottle, 0.306, 0.892, 1.618, 0, 0, 0, 36 [SEP] 18, ToiletPaper, -1.613, 0.991, 3.159, 0, 0, 0, 30 [SEP] 19, SprayBottle, -1.501, 0.069, 3.642, 0, 0, 0, 31 [SEP] 20, Cloth, -1.500, 0.067, 2.391, 0, 0, 0, 25 [SEP] 21, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 22, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 23, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 24, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 25, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 26, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 27, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 28, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 29, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 30, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 31, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 32, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 33, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 34, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 35, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 36, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 37, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 38, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 39, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 40, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 41, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 42, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 43, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 44, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 45, NorthWall, , , , , , , [SEP] 46, EastWall, , , , , , , [SEP] 47, SouthWall, , , , , , , [SEP] 48, WestWall, , , , , , , ", "output": ["STEP 1: Turn left to go to th sink on the right. | STEP 2: Pick up the empty toilet paper roll on the left of the sink | STEP 3: Turn left and go to the right side of the toilet. | STEP 4: Put the empty toilet paper roll on the holder. | END"]} {"id": "trial_T20190907_174433_625106-0", "input": "Place a clean cloth back into a bath tub basin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.903, 0.0, 0, 270, 0, [SEP] 1, TissueBox, -1.144, 1.070, 2.097, 0, 0, 0, 30 [SEP] 2, TissueBox, -0.817, 1.070, 2.157, 0, 0, 0, 30 [SEP] 3, SoapBar, -1.635, 1.069, 2.127, 0, 0, 0, 30 [SEP] 4, SoapBar, -1.949, 1.046, -0.797, 0, 0, 0, 35 [SEP] 5, Candle, -2.277, 1.088, -0.736, 0, 0, 0, 35 [SEP] 6, SprayBottle, -1.144, 1.774, 2.127, 0, 0, 0, 28 [SEP] 7, SprayBottle, -2.015, 1.048, -0.644, 0, 0, 0, 35 [SEP] 8, SoapBottle, -1.308, 1.072, 2.127, 0, 0, 0, 30 [SEP] 9, Candle, -0.653, 1.814, 2.097, 0, 0, 0, 30 [SEP] 10, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 32 [SEP] 11, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 12, SoapBar, -2.146, 1.046, -0.797, 0, 0, 0, 35 [SEP] 13, ToiletPaper, -0.653, 1.066, 2.217, 0, 0, 0, 30 [SEP] 14, SoapBottle, -1.687, 0.083, -0.584, 0, 270, 0, 33 [SEP] 15, TissueBox, -0.980, 1.773, 2.097, 0, 0, 0, 28 [SEP] 16, Cloth, 0.371, 0.048, 0.384, 0, 0, 0, 29 [SEP] 17, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 25 [SEP] 18, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 24 [SEP] 19, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 20, SprayBottle, -2.212, 1.048, -0.644, 0, 0, 0, 35 [SEP] 21, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 22, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 23, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 24, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 25, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 26, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 27, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 28, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 29, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 30, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 31, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 32, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 33, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 34, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 35, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 36, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 37, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 38, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 39, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Turn around towards the bath tub. | STEP 2: Pick up the yellow cloth from the bath tub. | STEP 3: Turn right and walk to the sink. | STEP 4: Clean the cloth in the sink. | STEP 5: Turn left and walk back to the bath tub. | STEP 6: Put the cloth back into the bath tub basin. | END"]} {"id": "trial_T20190907_174433_625106-2", "input": "Put a clean rag in the tub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.903, 0.0, 0, 270, 0, [SEP] 1, TissueBox, -1.144, 1.070, 2.097, 0, 0, 0, 30 [SEP] 2, TissueBox, -0.817, 1.070, 2.157, 0, 0, 0, 30 [SEP] 3, SoapBar, -1.635, 1.069, 2.127, 0, 0, 0, 30 [SEP] 4, SoapBar, -1.949, 1.046, -0.797, 0, 0, 0, 35 [SEP] 5, Candle, -2.277, 1.088, -0.736, 0, 0, 0, 35 [SEP] 6, SprayBottle, -1.144, 1.774, 2.127, 0, 0, 0, 28 [SEP] 7, SprayBottle, -2.015, 1.048, -0.644, 0, 0, 0, 35 [SEP] 8, SoapBottle, -1.308, 1.072, 2.127, 0, 0, 0, 30 [SEP] 9, Candle, -0.653, 1.814, 2.097, 0, 0, 0, 30 [SEP] 10, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 32 [SEP] 11, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 12, SoapBar, -2.146, 1.046, -0.797, 0, 0, 0, 35 [SEP] 13, ToiletPaper, -0.653, 1.066, 2.217, 0, 0, 0, 30 [SEP] 14, SoapBottle, -1.687, 0.083, -0.584, 0, 270, 0, 33 [SEP] 15, TissueBox, -0.980, 1.773, 2.097, 0, 0, 0, 28 [SEP] 16, Cloth, 0.371, 0.048, 0.384, 0, 0, 0, 29 [SEP] 17, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 25 [SEP] 18, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 24 [SEP] 19, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 20, SprayBottle, -2.212, 1.048, -0.644, 0, 0, 0, 35 [SEP] 21, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 22, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 23, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 24, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 25, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 26, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 27, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 28, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 29, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 30, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 31, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 32, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 33, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 34, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 35, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 36, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 37, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 38, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 39, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Move to the tub to the left of the sink | STEP 2: Pick up a rag from the tub | STEP 3: Move to the sink to the right of you | STEP 4: Place the rag in the sink and run some water before turning off the water and picking up the rag | STEP 5: Move to the tub to the left of the sink | STEP 6: Place the rag in the tub | END"]} {"id": "trial_T20190908_050652_202542-1", "input": "Slice potato in the sink, put knife and potato slice in the bowl, put bowl 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, 0.5, 0, 270, 0, [SEP] 1, DishSponge, -0.983, 0.820, -1.155, 0, 90, 0, 105 [SEP] 2, Kettle, 2.524, 1.656, 1.429, 0, 0, 0, 71 [SEP] 3, ButterKnife, 0.888, 0.911, -0.515, 0, 0, 0, 46 [SEP] 4, ButterKnife, 0.123, 0.765, -0.651, 0, 0, 0, 103 [SEP] 5, Spoon, -0.017, 0.766, -0.596, 0, 0, 0, 103 [SEP] 6, Spoon, 0.123, 0.766, -0.651, 0, 0, 0, 103 [SEP] 7, Spatula, -0.734, 0.835, -1.328, 0, 90, 0, 105 [SEP] 8, Spatula, 0.634, 0.926, -0.345, 0, 0, 0, 46 [SEP] 9, Plate, 1.955, 0.914, 1.468, 0, 0, 0, 81 [SEP] 10, Cup, 1.155, 0.909, 1.044, 0, 0, 0, 81 [SEP] 11, Egg, 1.688, 0.949, 1.468, 0, 0, 0, 81 [SEP] 12, Knife, 2.221, 0.944, 1.044, 0, 0, 0, 81 [SEP] 13, SoapBottle, -1.991, 0.429, 1.375, 0, 270, 0, 99 [SEP] 14, Tomato, 0.193, 0.797, -0.541, 0, 0, 0, 103 [SEP] 15, Tomato, -0.836, 0.852, -1.473, 0, 0, 0, 105 [SEP] 16, Bowl, -0.983, 0.818, -1.360, 0, 90, 0, 105 [SEP] 17, PepperShaker, 0.284, 2.153, 1.389, 0, 0, 0, 80 [SEP] 18, Bread, 2.488, 0.969, 1.299, 0, 0, 0, 81 [SEP] 19, Lettuce, 1.902, 0.992, -0.430, 0, 0, 0, 46 [SEP] 20, Mug, 0.888, 0.906, -0.854, 0, 0, 0, 46 [SEP] 21, Apple, 0.518, 1.853, 1.488, 0, 180, 0, 104 [SEP] 22, Apple, 0.193, 0.834, -0.762, 0, 0, 0, 103 [SEP] 23, SoapBottle, 1.597, 1.661, -0.810, 0, 180, 0, 68 [SEP] 24, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 46 [SEP] 25, Fork, -0.159, 0.771, 1.122, 0, 90, 0, 51 [SEP] 26, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 52 [SEP] 27, Bread, 2.221, 0.969, 1.383, 0, 0, 0, 81 [SEP] 28, Egg, 2.962, 0.762, -0.442, 0, 0, 0, 101 [SEP] 29, Kettle, 2.754, 0.912, 1.299, 0, 0, 0, 81 [SEP] 30, Tomato, 1.955, 0.942, 1.214, 0, 0, 0, 81 [SEP] 31, Cup, 2.777, 0.723, -0.565, 0, 0, 0, 101 [SEP] 32, Spatula, 1.155, 0.926, 1.468, 0, 0, 0, 81 [SEP] 33, Apple, 2.900, 1.632, -0.775, 0, 0, 0, 101 [SEP] 34, Pan, 1.422, 0.911, 1.214, 0, 0, 0, 81 [SEP] 35, Lettuce, -0.151, 0.992, 1.299, 0, 0, 0, 57 [SEP] 36, SaltShaker, 2.156, 0.908, -0.854, 0, 0, 0, 46 [SEP] 37, Knife, -0.055, 0.944, 1.214, 0, 90, 0, 57 [SEP] 38, Potato, -0.087, 0.800, -0.762, 0, 0, 0, 103 [SEP] 39, PepperShaker, 0.865, 2.150, 1.429, 0, 0, 0, 55 [SEP] 40, ButterKnife, -0.621, 0.820, -1.257, 0, 90, 0, 105 [SEP] 41, Bowl, 1.688, 0.909, 1.299, 0, 0, 0, 81 [SEP] 42, DishSponge, 2.217, 0.771, 1.122, 0, 0, 0, 77 [SEP] 43, Spoon, 0.888, 0.912, -0.345, 0, 0, 0, 46 [SEP] 44, Mug, 2.653, 1.283, -0.644, 0, 0, 0, 101 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 107, NorthWall, , , , , , , [SEP] 108, EastWall, , , , , , , [SEP] 109, SouthWall, , , , , , , [SEP] 110, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the right towards the counter | STEP 2: Grab the knife from the counter | STEP 3: Walk with the knife towards the sink | STEP 4: Slice the potato in the sink | STEP 5: Walk towards the round table | STEP 6: Put the knife in the bowl | STEP 7: Walk towards the sink | STEP 8: Grab a potato slice from the sink | STEP 9: Walk with the potato slice towards the round table | STEP 10: Put the potato slice in the bowl | STEP 11: Grab the bowl from the table | STEP 12: Walk with the bowl towards the microwave | STEP 13: Put the bowl inside the microwave | END"]} {"id": "trial_T20190907_153145_812102-2", "input": "Examine a set of keys 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, -4.5, 0.901, 6.75, 0, 270, 0, [SEP] 1, Bowl, -5.366, 0.535, 6.873, 0, 135, 0, 60 [SEP] 2, Bowl, -0.535, 0.795, 2.252, 0, 270, 0, 44 [SEP] 3, Newspaper, -2.672, 0.878, 7.173, 0, 90, 0, 50 [SEP] 4, KeyChain, -0.789, 0.367, 3.915, 0, 0, 0, 42 [SEP] 5, KeyChain, -5.985, 0.880, 4.349, 0, 0, 0, 52 [SEP] 6, CreditCard, -0.687, 0.793, 5.600, 0, 270, 0, 43 [SEP] 7, CreditCard, -2.422, 0.533, 4.335, 0, 270, 0, 59 [SEP] 8, RemoteControl, -0.868, 0.369, 4.828, 0, 0, 0, 42 [SEP] 9, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 53 [SEP] 10, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 58 [SEP] 11, Vase, -5.848, 0.147, 4.152, 0, 0, 0, 49 [SEP] 12, Vase, -0.585, 0.802, 6.357, 0, 270, 0, 43 [SEP] 13, Newspaper, -0.947, 0.365, 3.002, 0, 0, 0, 42 [SEP] 14, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 59 [SEP] 15, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 16, Vase, -2.869, 1.280, 7.045, 0, 90, 0, 58 [SEP] 17, CreditCard, -6.105, 0.146, 4.349, 0, 0, 0, 49 [SEP] 18, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 56 [SEP] 19, KeyChain, -5.899, 0.147, 3.954, 0, 0, 0, 49 [SEP] 20, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 54 [SEP] 21, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 54 [SEP] 22, Bowl, -0.326, 0.795, 2.002, 0, 0, 0, 44 [SEP] 23, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 42 [SEP] 24, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 56 [SEP] 25, RemoteControl, -5.461, 0.536, 6.628, 0, 45, 0, 60 [SEP] 26, Watch, -3.462, 0.146, 7.070, 0, 90, 0, 53 [SEP] 27, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 58 [SEP] 28, Statue, -3.067, 0.454, 7.259, 0, 180, 0, 51 [SEP] 29, Statue, -3.557, 1.289, 7.171, 0, 90, 0, 58 [SEP] 30, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 58 [SEP] 31, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 32, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 33, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 34, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 35, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 36, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 37, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 38, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 39, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 40, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 41, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 42, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 43, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 44, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 45, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 46, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 47, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 48, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 49, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 50, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 51, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 52, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 53, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 54, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 55, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 56, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 57, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 58, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 59, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 60, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left towards the shelves on your right. | STEP 2: Pick up the keys on the second shelf. | STEP 3: Turn left and head towards the lamp next to the grey bin. | STEP 4: Turn on the lamp. | END"]} {"id": "trial_T20190907_071854_484962-0", "input": "Examine a textbook 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, 0.909, -2.25, 0, 270, 0, [SEP] 1, Mug, -1.270, 0.801, -3.703, 0, 0, 0, 36 [SEP] 2, CD, -3.470, 0.418, -3.000, 0, 0, 0, 47 [SEP] 3, CellPhone, -2.770, 0.620, -2.080, 0, 0, 0, 21 [SEP] 4, CellPhone, -0.453, 0.800, -3.811, 0, 0, 0, 36 [SEP] 5, CreditCard, -1.270, 0.803, -4.137, 0, 0, 0, 36 [SEP] 6, Book, -2.981, 0.620, -0.356, 0, 0, 0, 21 [SEP] 7, Laptop, -3.191, 0.618, -0.931, 0, 0, 0, 21 [SEP] 8, Book, -3.539, 0.980, -3.673, 0, 0, 0, 39 [SEP] 9, CellPhone, -0.426, 0.348, -3.811, 0, 0, 0, 29 [SEP] 10, Laptop, -2.559, 0.618, -1.218, 0, 0, 0, 21 [SEP] 11, CreditCard, -0.329, 0.542, -3.713, 0, 0, 0, 30 [SEP] 12, AlarmClock, -3.834, 0.979, -3.673, 0, 0, 0, 39 [SEP] 13, KeyChain, -3.760, 0.982, -4.075, 0, 90, 0, 39 [SEP] 14, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 21 [SEP] 15, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 16, Pencil, -0.685, 0.546, -3.676, 0, 0, 0, 30 [SEP] 17, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 21 [SEP] 18, CD, -0.350, 0.029, -3.876, 0, 0, 0, 28 [SEP] 19, Pen, -3.687, 0.986, -3.070, 0, 0, 0, 39 [SEP] 20, Mug, -3.834, 0.977, -4.075, 0, 0, 0, 39 [SEP] 21, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 22, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 23, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 24, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 25, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 26, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 27, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 28, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 29, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 30, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 31, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 32, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 33, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 34, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 35, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 36, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 37, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 38, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 39, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 40, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 41, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 42, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 44, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 48, NorthWall, , , , , , , [SEP] 49, EastWall, , , , , , , [SEP] 50, SouthWall, , , , , , , [SEP] 51, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the right toward the stuffed animal on the bed. | STEP 2: Pick up the textbook on the bed which is behind the stuffed animal. | STEP 3: Turn left and walk in front of the lamp which is on the desk. | STEP 4: Turn on the lamp. | END"]} {"id": "trial_T20190911_215028_273273-0", "input": "Place a soap bottle in a trash bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.901, 2.25, 0, 90, 0, [SEP] 1, Cloth, -1.500, 0.067, 3.276, 0, 0, 0, 25 [SEP] 2, SoapBar, -1.284, 0.994, 3.873, 0, 0, 0, 26 [SEP] 3, Candle, -1.322, 0.068, 3.844, 0, 0, 0, 27 [SEP] 4, Candle, -1.379, 0.067, 3.176, 0, 0, 0, 25 [SEP] 5, SoapBottle, -1.350, 0.993, 3.041, 0, 0, 0, 26 [SEP] 6, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 28 [SEP] 7, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 30 [SEP] 8, SoapBar, -1.501, 0.068, 3.844, 0, 0, 0, 27 [SEP] 9, ToiletPaper, -1.332, 0.058, 2.261, 0, 0, 0, 21 [SEP] 10, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 11, Candle, -1.547, 0.994, 3.041, 0, 0, 0, 26 [SEP] 12, TissueBox, -1.501, 0.069, 2.757, 0, 0, 0, 19 [SEP] 13, SoapBottle, -1.547, 0.993, 3.842, 0, 0, 0, 26 [SEP] 14, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 34 [SEP] 15, SprayBottle, -1.547, 0.995, 2.118, 0, 0, 0, 26 [SEP] 16, Cloth, 0.356, 0.885, 1.8, 0, 85.370, 0, Floor|-01.72| [SEP] 17, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 18, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 19, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 20, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 21, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 22, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 23, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 24, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 25, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 26, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 27, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 28, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 29, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 30, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 31, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 32, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 33, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 34, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 35, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 36, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 37, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 38, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 39, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 40, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and veer right to the right sink. | STEP 2: Pick up the soap bottle to the right of the sink. | STEP 3: Turn around and walk to the green bin on the floor. | STEP 4: Place the bottle in the bin. | END"]} {"id": "trial_T20190908_113437_016867-1", "input": "Examine the mug from 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, -2.75, 0.909, -3.0, 0, 90, 0, [SEP] 1, Mug, -3.613, 0.977, -4.276, 0, 0, 0, 45 [SEP] 2, CD, -0.657, 0.799, -3.920, 0, 0, 0, 42 [SEP] 3, CellPhone, -1.474, 0.800, -3.920, 0, 0, 0, 42 [SEP] 4, Pencil, -1.861, 0.065, -3.825, 0, 9.990, 0, 31 [SEP] 5, CreditCard, -3.806, 0.044, -4.070, 0, 0, 0, 50 [SEP] 6, CreditCard, -1.474, 0.800, -4.029, 0, 0, 0, 42 [SEP] 7, KeyChain, -3.637, 0.810, -3.465, 0, 0, 0, 52 [SEP] 8, KeyChain, -3.638, 0.420, -3.885, 0, 0, 0, 48 [SEP] 9, Book, -3.638, 0.227, -2.999, 0, 270, 0, 47 [SEP] 10, Pillow, -3.191, 0.722, -0.931, 0, 0, 0, 27 [SEP] 11, Pillow, -2.559, 0.722, -1.218, 0, 0, 0, 27 [SEP] 12, AlarmClock, -1.270, 0.800, -3.703, 0, 0, 0, 42 [SEP] 13, AlarmClock, -0.685, 0.542, -3.713, 0, 0, 0, 42 [SEP] 14, Book, -3.687, 0.980, -3.070, 0, 0, 0, 45 [SEP] 15, CellPhone, -2.770, 0.620, -2.080, 0, 0, 0, 27 [SEP] 16, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 42 [SEP] 17, CreditCard, -0.240, 0.542, -3.676, 0, 0, 0, 36 [SEP] 18, AlarmClock, -0.418, 0.542, -3.713, 0, 0, 0, 42 [SEP] 19, KeyChain, -0.862, 0.800, -4.137, 0, 90, 0, 42 [SEP] 20, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 27 [SEP] 21, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 22, Pencil, -1.865, 0.066, -3.849, 0, 9.990, 0, 31 [SEP] 23, Pillow, -3.402, 0.722, -1.506, 0, 0, 0, 27 [SEP] 24, CD, -3.539, 0.980, -3.874, 0, 0, 0, 45 [SEP] 25, Pen, -0.685, 0.548, -3.713, 0, 0, 0, 36 [SEP] 26, Mug, -3.760, 0.977, -3.271, 0, 0, 0, 45 [SEP] 27, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 28, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 29, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 30, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 31, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 32, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 33, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 34, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 35, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 36, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 37, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 38, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 39, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 40, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 41, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 42, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 43, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 44, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 45, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 50, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 51, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 52, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 53, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 54, NorthWall, , , , , , , [SEP] 55, EastWall, , , , , , , [SEP] 56, SouthWall, , , , , , , [SEP] 57, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and go to the wall then turn right and go to the dresser | STEP 2: Pick up the mug from the dresser | STEP 3: Turn around and go to the table | STEP 4: Turn on the lamp that is on the table | END"]} {"id": "trial_T20190907_040739_849657-1", "input": "Move two remote controls from the coffee table 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, 0.0, 0.900, -1.25, 0, 180, 0, [SEP] 1, Watch, 1.682, 0.870, 0.643, 0, 90, 0, 38 [SEP] 2, Watch, -0.323, 0.358, -0.480, 0, 90, 0, 31 [SEP] 3, KeyChain, 1.849, 0.872, 0.537, 0, 90, 0, 38 [SEP] 4, CreditCard, -0.5, 0.293, -2.063, 0, 0, 0, 34 [SEP] 5, RemoteControl, -0.561, 0.553, -0.278, 0, 270, 0, 32 [SEP] 6, RemoteControl, -0.712, 0.553, -0.623, 0, 270, 0, 32 [SEP] 7, RemoteControl, -0.260, 0.553, -0.451, 0, 270, 0, 32 [SEP] 8, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 40 [SEP] 9, KeyChain, 1.724, 0.871, 0.537, 0, 90, 0, 38 [SEP] 10, Watch, -0.411, 0.552, -0.192, 0, 270, 0, 32 [SEP] 11, Newspaper, -0.711, 0.331, -1.771, 0, 0, 0, 34 [SEP] 12, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 34 [SEP] 13, CreditCard, 0.133, 0.293, -1.844, 0, 0, 0, 34 [SEP] 14, RemoteControl, 1.522, 0.279, -0.742, 0, 0, 0, 40 [SEP] 15, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 32 [SEP] 16, Statue, 1.807, 0.880, 0.326, 0, 270, 0, 38 [SEP] 17, Statue, -0.411, 0.562, -0.537, 0, 180, 0, 32 [SEP] 18, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 19, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 20, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 21, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 22, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 23, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 24, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 25, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 26, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 27, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 29, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 30, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 31, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 32, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 33, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 34, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 35, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 36, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 37, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 38, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 39, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 40, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the coffee table. | STEP 2: Pick up a remote control on the coffee table. | STEP 3: Turn around and go to the couch. | STEP 4: Put the remote control on the couch. | STEP 5: Turn around and go to the coffee table. | STEP 6: Pick up a remote control on the coffee table. | STEP 7: Turn around and go to the couch. | STEP 8: Put the remote control on the couch. | END"]} {"id": "trial_T20190907_040739_849657-2", "input": "Put the remotes 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, 0.0, 0.900, -1.25, 0, 180, 0, [SEP] 1, Watch, 1.682, 0.870, 0.643, 0, 90, 0, 38 [SEP] 2, Watch, -0.323, 0.358, -0.480, 0, 90, 0, 31 [SEP] 3, KeyChain, 1.849, 0.872, 0.537, 0, 90, 0, 38 [SEP] 4, CreditCard, -0.5, 0.293, -2.063, 0, 0, 0, 34 [SEP] 5, RemoteControl, -0.561, 0.553, -0.278, 0, 270, 0, 32 [SEP] 6, RemoteControl, -0.712, 0.553, -0.623, 0, 270, 0, 32 [SEP] 7, RemoteControl, -0.260, 0.553, -0.451, 0, 270, 0, 32 [SEP] 8, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 40 [SEP] 9, KeyChain, 1.724, 0.871, 0.537, 0, 90, 0, 38 [SEP] 10, Watch, -0.411, 0.552, -0.192, 0, 270, 0, 32 [SEP] 11, Newspaper, -0.711, 0.331, -1.771, 0, 0, 0, 34 [SEP] 12, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 34 [SEP] 13, CreditCard, 0.133, 0.293, -1.844, 0, 0, 0, 34 [SEP] 14, RemoteControl, 1.522, 0.279, -0.742, 0, 0, 0, 40 [SEP] 15, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 32 [SEP] 16, Statue, 1.807, 0.880, 0.326, 0, 270, 0, 38 [SEP] 17, Statue, -0.411, 0.562, -0.537, 0, 180, 0, 32 [SEP] 18, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 19, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 20, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 21, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 22, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 23, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 24, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 25, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 26, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 27, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 29, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 30, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 31, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 32, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 33, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 34, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 35, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 36, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 37, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 38, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 39, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 40, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right, take 2 steps, turn to the right. | STEP 2: Pick up the remote that is next to the laptop on the coffee table. | STEP 3: Turn around to face the couch. | STEP 4: Set the remote on the edge of the couch cushion. | STEP 5: Turn to the left, take a step, turn to the left. | STEP 6: Pick up the remote behind the figurine. | STEP 7: Turn around, take a step, turn to the right, take a step, turn to the left. | STEP 8: Put the remote on the couch behind the placard. | END"]} {"id": "trial_T20190907_040739_849657-3", "input": "Put two remotes 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, 0.0, 0.900, -1.25, 0, 180, 0, [SEP] 1, Watch, 1.682, 0.870, 0.643, 0, 90, 0, 38 [SEP] 2, Watch, -0.323, 0.358, -0.480, 0, 90, 0, 31 [SEP] 3, KeyChain, 1.849, 0.872, 0.537, 0, 90, 0, 38 [SEP] 4, CreditCard, -0.5, 0.293, -2.063, 0, 0, 0, 34 [SEP] 5, RemoteControl, -0.561, 0.553, -0.278, 0, 270, 0, 32 [SEP] 6, RemoteControl, -0.712, 0.553, -0.623, 0, 270, 0, 32 [SEP] 7, RemoteControl, -0.260, 0.553, -0.451, 0, 270, 0, 32 [SEP] 8, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 40 [SEP] 9, KeyChain, 1.724, 0.871, 0.537, 0, 90, 0, 38 [SEP] 10, Watch, -0.411, 0.552, -0.192, 0, 270, 0, 32 [SEP] 11, Newspaper, -0.711, 0.331, -1.771, 0, 0, 0, 34 [SEP] 12, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 34 [SEP] 13, CreditCard, 0.133, 0.293, -1.844, 0, 0, 0, 34 [SEP] 14, RemoteControl, 1.522, 0.279, -0.742, 0, 0, 0, 40 [SEP] 15, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 32 [SEP] 16, Statue, 1.807, 0.880, 0.326, 0, 270, 0, 38 [SEP] 17, Statue, -0.411, 0.562, -0.537, 0, 180, 0, 32 [SEP] 18, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 19, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 20, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 21, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 22, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 23, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 24, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 25, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 26, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 27, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 29, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 30, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 31, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 32, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 33, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 34, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 35, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 36, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 37, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 38, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 39, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 40, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Move to the coffee table in front of the couch | STEP 2: pick up the remote from the table | STEP 3: turn around to the couch | STEP 4: Put the remote on the couch | STEP 5: Move to the coffee table in front of the couch | STEP 6: pick up the remote from the table | STEP 7: turn around to the couch | STEP 8: Put the remote on the couch | END"]} {"id": "trial_T20190907_040739_849657-4", "input": "Place two remotes 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, 0.0, 0.900, -1.25, 0, 180, 0, [SEP] 1, Watch, 1.682, 0.870, 0.643, 0, 90, 0, 38 [SEP] 2, Watch, -0.323, 0.358, -0.480, 0, 90, 0, 31 [SEP] 3, KeyChain, 1.849, 0.872, 0.537, 0, 90, 0, 38 [SEP] 4, CreditCard, -0.5, 0.293, -2.063, 0, 0, 0, 34 [SEP] 5, RemoteControl, -0.561, 0.553, -0.278, 0, 270, 0, 32 [SEP] 6, RemoteControl, -0.712, 0.553, -0.623, 0, 270, 0, 32 [SEP] 7, RemoteControl, -0.260, 0.553, -0.451, 0, 270, 0, 32 [SEP] 8, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 40 [SEP] 9, KeyChain, 1.724, 0.871, 0.537, 0, 90, 0, 38 [SEP] 10, Watch, -0.411, 0.552, -0.192, 0, 270, 0, 32 [SEP] 11, Newspaper, -0.711, 0.331, -1.771, 0, 0, 0, 34 [SEP] 12, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 34 [SEP] 13, CreditCard, 0.133, 0.293, -1.844, 0, 0, 0, 34 [SEP] 14, RemoteControl, 1.522, 0.279, -0.742, 0, 0, 0, 40 [SEP] 15, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 32 [SEP] 16, Statue, 1.807, 0.880, 0.326, 0, 270, 0, 38 [SEP] 17, Statue, -0.411, 0.562, -0.537, 0, 180, 0, 32 [SEP] 18, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 19, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 20, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 21, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 22, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 23, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 24, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 25, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 26, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 27, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 29, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 30, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 31, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 32, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 33, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 34, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 35, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 36, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 37, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 38, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 39, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 40, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your left and face the coffee table. | STEP 2: Pick up the remote from the front of the coffee table. | STEP 3: Turn around and face the couch. | STEP 4: Place the remote on the left side of the middle cushion of the couch. | STEP 5: Turn around and face the coffee table. | STEP 6: Pick up the remote from the right side of the coffee table. | STEP 7: Turn around and face the couch again. | STEP 8: Place the remote on the back right side of the middle cushion. | END"]} {"id": "trial_T20190908_194138_749526-0", "input": "Put a microwaved apple by the coffee machine SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 0.25, 0, 270, 0, [SEP] 1, Pan, 1.155, 0.911, 1.468, 0, 0, 0, 80 [SEP] 2, DishSponge, 1.909, 0.114, -0.383, 0, 180, 0, 91 [SEP] 3, ButterKnife, 2.156, 0.911, -0.430, 0, 0, 0, 45 [SEP] 4, ButterKnife, -0.198, 0.911, 1.044, 0, 0, 0, 56 [SEP] 5, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 60 [SEP] 6, Pot, 1.141, 0.915, -0.769, 0, 0, 0, 45 [SEP] 7, Spatula, 1.422, 0.926, 1.214, 0, 0, 0, 80 [SEP] 8, Spatula, 1.422, 0.926, 1.553, 0, 270, 0, 80 [SEP] 9, Plate, 0.812, 2.156, 1.468, 0, 0, 0, 54 [SEP] 10, Cup, 2.838, 0.724, -0.535, 0, 0, 0, 100 [SEP] 11, Cup, 0.123, 0.763, -0.596, 0, 0, 0, 102 [SEP] 12, Egg, -1.056, 0.858, -1.411, 0, 90, 0, 104 [SEP] 13, Egg, 0.570, 1.822, 1.391, 0, 180, 0, 103 [SEP] 14, Knife, 2.754, 0.944, 1.468, 0, 0, 0, 80 [SEP] 15, Knife, -0.621, 0.853, -1.257, 0, 90, 0, 104 [SEP] 16, SoapBottle, -2.019, 0.429, 1.290, 0, 270, 0, 98 [SEP] 17, Tomato, -0.694, 0.852, -1.411, 0, 90, 0, 104 [SEP] 18, Bowl, 2.562, 1.653, 1.507, 0, 0, 0, 70 [SEP] 19, Bread, 0.634, 0.969, -0.515, 0, 0, 0, 45 [SEP] 20, Mug, 1.908, 1.649, -0.849, 0, 180, 0, 82 [SEP] 21, Apple, 0.193, 0.834, -0.762, 0, 0, 0, 102 [SEP] 22, SoapBottle, 2.754, 0.917, 1.129, 0, 0, 0, 80 [SEP] 23, Plate, 1.955, 0.914, 1.214, 0, 0, 0, 80 [SEP] 24, Fork, 1.902, 0.772, -0.498, 0, 90, 0, 59 [SEP] 25, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 51 [SEP] 26, Bread, 2.221, 0.969, 1.468, 0, 0, 0, 80 [SEP] 27, Egg, -1.933, 0.461, 1.459, 0, 270, 0, 98 [SEP] 28, Kettle, -0.087, 0.766, -0.596, 0, 90, 0, 102 [SEP] 29, Tomato, 2.777, 1.050, -0.775, 0, 0, 0, 100 [SEP] 30, Cup, -0.694, 0.818, -1.206, 0, 90, 0, 104 [SEP] 31, Spatula, 0.888, 0.926, -0.684, 0, 90, 0, 45 [SEP] 32, Apple, 2.838, 1.632, -0.709, 0, 0, 0, 100 [SEP] 33, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 48 [SEP] 34, Lettuce, 2.754, 0.992, 1.299, 0, 270, 0, 80 [SEP] 35, SaltShaker, 1.931, 0.111, 1.276, 0, 0, 0, 65 [SEP] 36, Knife, 2.488, 0.944, 1.383, 0, 0, 0, 80 [SEP] 37, Potato, 2.962, 0.761, -0.504, 0, 0, 0, 100 [SEP] 38, PepperShaker, -0.983, 0.817, -1.308, 0, 90, 0, 104 [SEP] 39, ButterKnife, -0.198, 0.911, 1.383, 0, 0, 0, 56 [SEP] 40, Bowl, 1.827, 0.112, 1.156, 0, 0, 0, 65 [SEP] 41, DishSponge, -0.103, 0.911, 1.214, 0, 0, 0, 56 [SEP] 42, Spoon, -1.056, 0.822, -1.308, 0, 90, 0, 104 [SEP] 43, Mug, 0.570, 1.779, 1.520, 0, 270, 0, 103 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 106, NorthWall, , , , , , , [SEP] 107, EastWall, , , , , , , [SEP] 108, SouthWall, , , , , , , [SEP] 109, WestWall, , , , , , , ", "output": ["STEP 1: Turn and go to the sink. | STEP 2: Pick up an apple in the sink. | STEP 3: Turn and go to the microwave. | STEP 4: Heat up the apple in the microwave. | STEP 5: Turn and go to the coffee machine. | STEP 6: Put the apple on the counter by the coffee machine. | END"]} {"id": "trial_T20190908_194138_749526-2", "input": "place microwaved apple in front of 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, 0.25, 0, 270, 0, [SEP] 1, Pan, 1.155, 0.911, 1.468, 0, 0, 0, 80 [SEP] 2, DishSponge, 1.909, 0.114, -0.383, 0, 180, 0, 91 [SEP] 3, ButterKnife, 2.156, 0.911, -0.430, 0, 0, 0, 45 [SEP] 4, ButterKnife, -0.198, 0.911, 1.044, 0, 0, 0, 56 [SEP] 5, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 60 [SEP] 6, Pot, 1.141, 0.915, -0.769, 0, 0, 0, 45 [SEP] 7, Spatula, 1.422, 0.926, 1.214, 0, 0, 0, 80 [SEP] 8, Spatula, 1.422, 0.926, 1.553, 0, 270, 0, 80 [SEP] 9, Plate, 0.812, 2.156, 1.468, 0, 0, 0, 54 [SEP] 10, Cup, 2.838, 0.724, -0.535, 0, 0, 0, 100 [SEP] 11, Cup, 0.123, 0.763, -0.596, 0, 0, 0, 102 [SEP] 12, Egg, -1.056, 0.858, -1.411, 0, 90, 0, 104 [SEP] 13, Egg, 0.570, 1.822, 1.391, 0, 180, 0, 103 [SEP] 14, Knife, 2.754, 0.944, 1.468, 0, 0, 0, 80 [SEP] 15, Knife, -0.621, 0.853, -1.257, 0, 90, 0, 104 [SEP] 16, SoapBottle, -2.019, 0.429, 1.290, 0, 270, 0, 98 [SEP] 17, Tomato, -0.694, 0.852, -1.411, 0, 90, 0, 104 [SEP] 18, Bowl, 2.562, 1.653, 1.507, 0, 0, 0, 70 [SEP] 19, Bread, 0.634, 0.969, -0.515, 0, 0, 0, 45 [SEP] 20, Mug, 1.908, 1.649, -0.849, 0, 180, 0, 82 [SEP] 21, Apple, 0.193, 0.834, -0.762, 0, 0, 0, 102 [SEP] 22, SoapBottle, 2.754, 0.917, 1.129, 0, 0, 0, 80 [SEP] 23, Plate, 1.955, 0.914, 1.214, 0, 0, 0, 80 [SEP] 24, Fork, 1.902, 0.772, -0.498, 0, 90, 0, 59 [SEP] 25, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 51 [SEP] 26, Bread, 2.221, 0.969, 1.468, 0, 0, 0, 80 [SEP] 27, Egg, -1.933, 0.461, 1.459, 0, 270, 0, 98 [SEP] 28, Kettle, -0.087, 0.766, -0.596, 0, 90, 0, 102 [SEP] 29, Tomato, 2.777, 1.050, -0.775, 0, 0, 0, 100 [SEP] 30, Cup, -0.694, 0.818, -1.206, 0, 90, 0, 104 [SEP] 31, Spatula, 0.888, 0.926, -0.684, 0, 90, 0, 45 [SEP] 32, Apple, 2.838, 1.632, -0.709, 0, 0, 0, 100 [SEP] 33, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 48 [SEP] 34, Lettuce, 2.754, 0.992, 1.299, 0, 270, 0, 80 [SEP] 35, SaltShaker, 1.931, 0.111, 1.276, 0, 0, 0, 65 [SEP] 36, Knife, 2.488, 0.944, 1.383, 0, 0, 0, 80 [SEP] 37, Potato, 2.962, 0.761, -0.504, 0, 0, 0, 100 [SEP] 38, PepperShaker, -0.983, 0.817, -1.308, 0, 90, 0, 104 [SEP] 39, ButterKnife, -0.198, 0.911, 1.383, 0, 0, 0, 56 [SEP] 40, Bowl, 1.827, 0.112, 1.156, 0, 0, 0, 65 [SEP] 41, DishSponge, -0.103, 0.911, 1.214, 0, 0, 0, 56 [SEP] 42, Spoon, -1.056, 0.822, -1.308, 0, 90, 0, 104 [SEP] 43, Mug, 0.570, 1.779, 1.520, 0, 270, 0, 103 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 106, NorthWall, , , , , , , [SEP] 107, EastWall, , , , , , , [SEP] 108, SouthWall, , , , , , , [SEP] 109, WestWall, , , , , , , ", "output": ["STEP 1: turn left, face sink with apple to the left | STEP 2: pick up red apple from counter | STEP 3: turn around, go to microwave above stove | STEP 4: open microwave, put apple in microwave, microwave apple, open microwave, pick up apple, close microwave | STEP 5: turn around, go to counter with coffee maker to the left | STEP 6: place apple on counter in front of coffee maker | END"]} {"id": "trial_T20190907_153002_796630-1", "input": "Turn the lamp on while holding the keys. 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, 5.5, 0, 90, 0, [SEP] 1, Watch, -5.923, 0.453, 4.547, 0, 0, 0, 50 [SEP] 2, KeyChain, -0.484, 0.794, 5.852, 0, 270, 0, 39 [SEP] 3, KeyChain, -0.535, 0.794, 6.231, 0, 0, 0, 39 [SEP] 4, RemoteControl, -0.868, 0.441, 3.002, 0, 0, 0, 38 [SEP] 5, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 49 [SEP] 6, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 54 [SEP] 7, Vase, -0.535, 0.794, 5.600, 0, 270, 0, 39 [SEP] 8, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 50 [SEP] 9, Newspaper, -0.947, 0.365, 3.002, 0, 0, 0, 38 [SEP] 10, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 55 [SEP] 11, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 12, Vase, -6.002, 0.147, 4.942, 0, 0, 0, 45 [SEP] 13, CreditCard, -0.631, 0.367, 3.002, 0, 0, 0, 38 [SEP] 14, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 52 [SEP] 15, KeyChain, -0.947, 0.367, 3.306, 0, 0, 0, 38 [SEP] 16, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 50 [SEP] 17, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 50 [SEP] 18, Bowl, -5.218, 0.535, 6.721, 0, 45, 0, 56 [SEP] 19, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 38 [SEP] 20, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 52 [SEP] 21, RemoteControl, -2.277, 0.882, 7.208, 0, 90, 0, 47 [SEP] 22, Watch, -0.535, 0.793, 6.357, 0, 270, 0, 39 [SEP] 23, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 54 [SEP] 24, Statue, -2.277, 0.454, 7.259, 0, 180, 0, 47 [SEP] 25, Statue, -5.899, 0.156, 4.547, 0, 0, 0, 45 [SEP] 26, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 54 [SEP] 27, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 28, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 29, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 30, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 31, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 32, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 33, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 34, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 35, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 36, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 37, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 38, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 39, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 40, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 41, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 42, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 43, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 44, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 45, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 46, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 47, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 48, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 49, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 50, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 51, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 52, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 53, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 54, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 55, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 56, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , ", "output": ["STEP 1: Head straight to the end table next to the sofa. | STEP 2: Pick the keys up from off of the end table. | STEP 3: Go to the right past the door and stand in front of the lamp. | STEP 4: Turn the lamp on. | END"]} {"id": "trial_T20190911_101350_992206-1", "input": "Put a microwaved slice of tomato on the counter next to the wall oven SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.931, -0.5, 0, 270, 0, [SEP] 1, DishSponge, -1.416, 0.202, -1.193, 0, 0, 0, 55 [SEP] 2, DishSponge, 1.436, 0.204, -1.480, 0, 0, 0, 57 [SEP] 3, ButterKnife, -0.177, 1.046, -1.097, 0, 0, 0, 47 [SEP] 4, ButterKnife, 0.682, 1.043, 0.589, 0, 0, 0, 49 [SEP] 5, Pot, 1.665, 0.206, -1.480, 0, 180, 0, 57 [SEP] 6, Fork, 0.823, 1.047, -1.289, 0, 0, 0, 47 [SEP] 7, Spoon, -0.030, 1.044, 0.630, 0, 90, 0, 49 [SEP] 8, Egg, 1.241, 0.947, 0.158, 0, 90, 0, 44 [SEP] 9, Cup, 1.879, 1.043, 0.738, 0, 0, 0, 49 [SEP] 10, Cup, -1.194, 1.716, -1.331, 0, 0, 0, 61 [SEP] 11, Plate, 1.512, 1.032, -1.411, 0, 0, 0, 53 [SEP] 12, Knife, 0.980, 1.079, 0.181, 0, 90, 0, 45 [SEP] 13, Tomato, 0.160, 1.094, 0.630, 0, 0, 0, 49 [SEP] 14, Tomato, 0.936, 1.104, 0.331, 0, 90, 0, 45 [SEP] 15, Bowl, -1.381, 1.488, 2.063, 0, 90, 0, 62 [SEP] 16, Bowl, 1.820, 1.018, -1.411, 0, 0, 0, 53 [SEP] 17, SaltShaker, 1.820, 1.014, -1.191, 0, 0, 0, 53 [SEP] 18, PepperShaker, 1.665, 0.199, -1.625, 0, 0, 0, 75 [SEP] 19, Lettuce, 1.181, 1.103, 0.676, 0, 0, 0, 49 [SEP] 20, Lettuce, -1.235, 1.287, 2.063, 0, 90, 0, 62 [SEP] 21, SoapBottle, -0.548, 1.565, -1.396, 0, 0, 0, 52 [SEP] 22, Apple, 0.717, 1.097, 0.331, 0, 90, 0, 45 [SEP] 23, Potato, -1.034, 1.017, 2.153, 0, 180, 0, 62 [SEP] 24, Fork, 0.446, 1.043, 0.630, 0, 90, 0, 49 [SEP] 25, Kettle, -0.473, 1.566, -1.619, 0, 0, 0, 52 [SEP] 26, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 47 [SEP] 27, Tomato, -1.312, 1.764, 2.153, 0, 90, 0, 62 [SEP] 28, SaltShaker, 1.158, 0.194, -1.412, 0, 0, 0, 58 [SEP] 29, Egg, 0.516, 1.097, 0.763, 0, 0, 0, 49 [SEP] 30, Cup, -0.603, 1.047, -1.505, 0, 0, 0, 47 [SEP] 31, Spatula, 0.717, 1.068, 0.181, 0, 90, 0, 45 [SEP] 32, Knife, 0.848, 1.069, 0.807, 0, 180, 0, 49 [SEP] 33, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 45 [SEP] 34, ButterKnife, 0.848, 1.043, 0.589, 0, 0, 0, 49 [SEP] 35, PepperShaker, -0.580, 0.198, -1.409, 0, 0, 0, 56 [SEP] 36, DishSponge, 0.351, 1.042, 0.738, 0, 0, 0, 49 [SEP] 37, Plate, -0.689, 1.059, -1.289, 0, 0, 0, 47 [SEP] 38, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 49 [SEP] 39, Spoon, 0.065, 1.044, 0.522, 0, 0, 0, 49 [SEP] 40, Pot, 0.250, 1.057, -1.4, 0, 0, 0, 59 [SEP] 41, Mug, -1.071, 0.702, 1.796, 0, 90, 0, 62 [SEP] 42, Bowl, -1.029, 2.027, -1.482, 0, 0, 0, 54 [SEP] 43, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 44, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 45, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 46, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 47, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 48, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 49, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 50, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 51, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 52, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 53, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 54, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 55, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 56, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 57, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 58, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 59, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 60, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 61, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 62, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 63, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 64, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 65, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 66, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 70, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 71, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 72, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 73, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 74, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 75, , , , , , , , [SEP] 76, NorthWall, , , , , , , [SEP] 77, EastWall, , , , , , , [SEP] 78, SouthWall, , , , , , , [SEP] 79, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and go up to the sink | STEP 2: Pick up the knife from the sink | STEP 3: Step closer to the sink | STEP 4: Slice the tomato that is on the cutting board over the sink | STEP 5: Turn around and face the counter across from the sink | STEP 6: Put the knife in the cupboard under the counter | STEP 7: Turn around and go back to the sink | STEP 8: Pick up a slice of tomato | STEP 9: Turn left and go to the wall, then turn left and go to the wall oven with the microwave above it | STEP 10: Microwave the slice of tomato then remove it from the microwave | STEP 11: Turn left then turn right and go to the counter to the left of the wall oven | STEP 12: Put the tomato slice on the counter to the left of the plate | END"]} {"id": "trial_T20190911_030926_421031-1", "input": "Get fork, wash fork, put in drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 0.0, 0, 180, 0, [SEP] 1, ButterKnife, 1.955, 0.911, 1.044, 0, 0, 0, 75 [SEP] 2, Spoon, 2.173, 0.773, -0.422, 0, 180, 0, 53 [SEP] 3, Spatula, 2.488, 0.926, 1.468, 0, 0, 0, 75 [SEP] 4, Plate, 0.634, 0.914, -0.430, 0, 0, 0, 40 [SEP] 5, Cup, 2.777, 1.016, -0.775, 0, 0, 0, 95 [SEP] 6, Egg, -0.151, 0.949, 1.383, 0, 0, 0, 51 [SEP] 7, Egg, -0.017, 0.803, -0.596, 0, 0, 0, 97 [SEP] 8, Knife, -0.621, 0.853, -1.308, 0, 90, 0, 99 [SEP] 9, Knife, -0.836, 0.853, -1.328, 0, 180, 0, 99 [SEP] 10, Tomato, 2.653, 1.050, -0.644, 0, 0, 0, 95 [SEP] 11, Tomato, -1.991, 0.455, 1.459, 0, 270, 0, 93 [SEP] 12, Bowl, 0.284, 2.154, 1.505, 0, 0, 0, 74 [SEP] 13, Bowl, 2.513, 0.112, 1.156, 0, 0, 0, 44 [SEP] 14, SaltShaker, -0.043, 0.908, -0.316, 0, 0, 0, 40 [SEP] 15, Bread, -0.151, 0.969, 1.129, 0, 0, 0, 51 [SEP] 16, Mug, 1.139, 0.110, 1.236, 0, 0, 0, 47 [SEP] 17, SoapBottle, -0.127, 1.660, 1.546, 0, 0, 0, 66 [SEP] 18, Plate, 2.221, 0.914, 1.214, 0, 0, 0, 75 [SEP] 19, Fork, -0.839, 0.821, -1.206, 0, 180, 0, 99 [SEP] 20, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 46 [SEP] 21, Bread, 2.754, 0.969, 1.299, 0, 0, 0, 75 [SEP] 22, Egg, 0.263, 0.803, -0.651, 0, 0, 0, 97 [SEP] 23, Kettle, 1.488, 0.115, 1.156, 0, 0, 0, 69 [SEP] 24, Tomato, 2.715, 0.756, -0.565, 0, 0, 0, 95 [SEP] 25, Cup, 0.363, 1.782, 1.423, 0, 180, 0, 98 [SEP] 26, Spatula, 0.193, 0.780, -0.707, 0, 90, 0, 97 [SEP] 27, Apple, 2.715, 1.357, -0.775, 0, 0, 0, 95 [SEP] 28, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 43 [SEP] 29, Lettuce, 1.422, 0.992, 1.129, 0, 0, 0, 75 [SEP] 30, SaltShaker, 0.888, 0.908, -0.430, 0, 0, 0, 40 [SEP] 31, Knife, -0.983, 0.853, -1.308, 0, 90, 0, 99 [SEP] 32, Potato, 2.777, 1.053, -0.578, 0, 0, 0, 95 [SEP] 33, PepperShaker, 0.888, 0.908, -0.854, 0, 0, 0, 40 [SEP] 34, ButterKnife, 1.141, 0.911, -0.430, 0, 0, 0, 40 [SEP] 35, Bowl, 1.522, 0.112, -0.498, 0, 180, 0, 57 [SEP] 36, DishSponge, -0.887, 0.820, -1.400, 0, 0, 0, 99 [SEP] 37, Spoon, 1.155, 0.912, 1.214, 0, 0, 0, 75 [SEP] 38, Mug, -0.246, 0.906, 1.383, 0, 0, 0, 51 [SEP] 39, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 40, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 41, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 42, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 43, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 44, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 45, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 46, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 47, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 48, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 49, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 50, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 51, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 52, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 53, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 54, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 55, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 56, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 57, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 58, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 59, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 60, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 61, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 62, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 63, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 64, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 65, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 69, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 70, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 71, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 72, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 73, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 75, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 76, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 78, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 79, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 80, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 81, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 82, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 83, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 84, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 85, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 86, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 87, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 88, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 89, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 92, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 93, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 94, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 95, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 96, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 97, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 98, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 99, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 100, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 101, NorthWall, , , , , , , [SEP] 102, EastWall, , , , , , , [SEP] 103, SouthWall, , , , , , , [SEP] 104, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, go past counter on left. Turn left and proceed to table. | STEP 2: Remove fork from in front of yellow handle knife and sponge from table. | STEP 3: Turn around, go to end of counter. Turn right, go to sink on right. Turn right to face sink. | STEP 4: Place fork in sink to right of egg, fill with water, empty water, pick up fork. | STEP 5: Turn around, go to counter with bread on it. | STEP 6: Open drawer under bread, put fork in drawer, in the center. | END"]} {"id": "trial_T20190907_065425_701848-0", "input": "Put a knife on the table in the kitchen as well at the bowl on 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, 1.0, 0, 90, 0, [SEP] 1, Pan, 2.838, 1.288, -0.709, 0, 0, 0, 100 [SEP] 2, Potato, 2.777, 0.761, -0.504, 0, 0, 0, 100 [SEP] 3, Potato, 0.123, 0.800, -0.762, 0, 0, 0, 102 [SEP] 4, DishSponge, -0.294, 0.911, 1.299, 0, 0, 0, 56 [SEP] 5, DishSponge, 2.161, 0.114, -0.538, 0, 180, 0, 86 [SEP] 6, ButterKnife, 2.221, 0.911, 1.383, 0, 0, 0, 80 [SEP] 7, ButterKnife, 1.688, 0.911, 1.299, 0, 90, 0, 80 [SEP] 8, ButterKnife, 1.141, 0.911, -0.769, 0, 0, 0, 45 [SEP] 9, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 60 [SEP] 10, Spoon, 1.141, 0.912, -0.430, 0, 0, 0, 45 [SEP] 11, Fork, -0.839, 0.821, -1.360, 0, 180, 0, 104 [SEP] 12, Fork, 2.481, 0.771, 1.122, 0, 90, 0, 61 [SEP] 13, Spatula, 2.488, 0.926, 1.553, 0, 270, 0, 80 [SEP] 14, Egg, 2.900, 1.056, -0.840, 0, 0, 0, 100 [SEP] 15, Knife, 2.221, 0.944, 1.214, 0, 0, 0, 80 [SEP] 16, SoapBottle, -0.694, 0.826, -1.257, 0, 90, 0, 104 [SEP] 17, PepperShaker, -0.939, 0.817, -1.255, 0, 0, 0, 104 [SEP] 18, PepperShaker, -0.694, 0.817, -1.155, 0, 90, 0, 104 [SEP] 19, Bread, 0.634, 0.969, -0.430, 0, 0, 0, 45 [SEP] 20, Lettuce, 2.777, 1.644, -0.578, 0, 0, 0, 100 [SEP] 21, Lettuce, 1.155, 0.992, 1.468, 0, 0, 0, 80 [SEP] 22, SoapBottle, -1.056, 0.826, -1.206, 0, 90, 0, 104 [SEP] 23, Plate, 0.231, 2.159, 1.467, 0, 0, 0, 79 [SEP] 24, Fork, -0.983, 0.821, -1.308, 0, 270, 0, 104 [SEP] 25, Pot, 2.715, 1.022, -0.644, 0, 0, 0, 100 [SEP] 26, Bread, 1.955, 0.969, 1.468, 0, 0, 0, 80 [SEP] 27, Egg, 0.363, 1.822, 1.455, 0, 180, 0, 103 [SEP] 28, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 45 [SEP] 29, Tomato, -0.087, 0.797, -0.596, 0, 0, 0, 102 [SEP] 30, Cup, 2.962, 1.016, -0.578, 0, 0, 0, 100 [SEP] 31, Spatula, 1.688, 0.926, 1.299, 0, 0, 0, 80 [SEP] 32, Apple, 0.193, 0.834, -0.596, 0, 0, 0, 102 [SEP] 33, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 48 [SEP] 34, Lettuce, -0.151, 0.992, 1.299, 0, 0, 0, 56 [SEP] 35, SaltShaker, 1.637, 0.110, 1.081, 0, 0, 0, 74 [SEP] 36, Knife, 2.488, 0.944, 1.299, 0, 0, 0, 80 [SEP] 37, Potato, 2.591, 1.323, -0.840, 0, 0, 0, 100 [SEP] 38, PepperShaker, 0.178, 1.651, -0.654, 0, 180, 0, 85 [SEP] 39, ButterKnife, 2.754, 0.911, 1.299, 0, 0, 0, 80 [SEP] 40, Bowl, -0.836, 0.818, -1.110, 0, 0, 0, 104 [SEP] 41, DishSponge, 2.837, 0.114, 1.119, 0, 0, 0, 77 [SEP] 42, Spoon, 2.221, 0.912, 1.468, 0, 0, 0, 80 [SEP] 43, Mug, -0.055, 0.906, 1.044, 0, 0, 0, 56 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 106, NorthWall, , , , , , , [SEP] 107, EastWall, , , , , , , [SEP] 108, SouthWall, , , , , , , [SEP] 109, WestWall, , , , , , , ", "output": ["STEP 1: Move to counter across from the fridge. | STEP 2: Pick up a knife from the counter. | STEP 3: Move to the table to the left around the wall, across from the door. | STEP 4: Place the knife on the table. | STEP 5: Move to the counter across and slightly to the left of the fridge. | STEP 6: Pick up the butter knife from the counter space. | STEP 7: Move to the table to the left around the wall, across from the door. | STEP 8: Place the knife on the table inside the bowl. | END"]} {"id": "trial_T20190907_065425_701848-1", "input": "Put two knifes on the table to the right of the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 1.0, 0, 90, 0, [SEP] 1, Pan, 2.838, 1.288, -0.709, 0, 0, 0, 100 [SEP] 2, Potato, 2.777, 0.761, -0.504, 0, 0, 0, 100 [SEP] 3, Potato, 0.123, 0.800, -0.762, 0, 0, 0, 102 [SEP] 4, DishSponge, -0.294, 0.911, 1.299, 0, 0, 0, 56 [SEP] 5, DishSponge, 2.161, 0.114, -0.538, 0, 180, 0, 86 [SEP] 6, ButterKnife, 2.221, 0.911, 1.383, 0, 0, 0, 80 [SEP] 7, ButterKnife, 1.688, 0.911, 1.299, 0, 90, 0, 80 [SEP] 8, ButterKnife, 1.141, 0.911, -0.769, 0, 0, 0, 45 [SEP] 9, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 60 [SEP] 10, Spoon, 1.141, 0.912, -0.430, 0, 0, 0, 45 [SEP] 11, Fork, -0.839, 0.821, -1.360, 0, 180, 0, 104 [SEP] 12, Fork, 2.481, 0.771, 1.122, 0, 90, 0, 61 [SEP] 13, Spatula, 2.488, 0.926, 1.553, 0, 270, 0, 80 [SEP] 14, Egg, 2.900, 1.056, -0.840, 0, 0, 0, 100 [SEP] 15, Knife, 2.221, 0.944, 1.214, 0, 0, 0, 80 [SEP] 16, SoapBottle, -0.694, 0.826, -1.257, 0, 90, 0, 104 [SEP] 17, PepperShaker, -0.939, 0.817, -1.255, 0, 0, 0, 104 [SEP] 18, PepperShaker, -0.694, 0.817, -1.155, 0, 90, 0, 104 [SEP] 19, Bread, 0.634, 0.969, -0.430, 0, 0, 0, 45 [SEP] 20, Lettuce, 2.777, 1.644, -0.578, 0, 0, 0, 100 [SEP] 21, Lettuce, 1.155, 0.992, 1.468, 0, 0, 0, 80 [SEP] 22, SoapBottle, -1.056, 0.826, -1.206, 0, 90, 0, 104 [SEP] 23, Plate, 0.231, 2.159, 1.467, 0, 0, 0, 79 [SEP] 24, Fork, -0.983, 0.821, -1.308, 0, 270, 0, 104 [SEP] 25, Pot, 2.715, 1.022, -0.644, 0, 0, 0, 100 [SEP] 26, Bread, 1.955, 0.969, 1.468, 0, 0, 0, 80 [SEP] 27, Egg, 0.363, 1.822, 1.455, 0, 180, 0, 103 [SEP] 28, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 45 [SEP] 29, Tomato, -0.087, 0.797, -0.596, 0, 0, 0, 102 [SEP] 30, Cup, 2.962, 1.016, -0.578, 0, 0, 0, 100 [SEP] 31, Spatula, 1.688, 0.926, 1.299, 0, 0, 0, 80 [SEP] 32, Apple, 0.193, 0.834, -0.596, 0, 0, 0, 102 [SEP] 33, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 48 [SEP] 34, Lettuce, -0.151, 0.992, 1.299, 0, 0, 0, 56 [SEP] 35, SaltShaker, 1.637, 0.110, 1.081, 0, 0, 0, 74 [SEP] 36, Knife, 2.488, 0.944, 1.299, 0, 0, 0, 80 [SEP] 37, Potato, 2.591, 1.323, -0.840, 0, 0, 0, 100 [SEP] 38, PepperShaker, 0.178, 1.651, -0.654, 0, 180, 0, 85 [SEP] 39, ButterKnife, 2.754, 0.911, 1.299, 0, 0, 0, 80 [SEP] 40, Bowl, -0.836, 0.818, -1.110, 0, 0, 0, 104 [SEP] 41, DishSponge, 2.837, 0.114, 1.119, 0, 0, 0, 77 [SEP] 42, Spoon, 2.221, 0.912, 1.468, 0, 0, 0, 80 [SEP] 43, Mug, -0.055, 0.906, 1.044, 0, 0, 0, 56 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 106, NorthWall, , , , , , , [SEP] 107, EastWall, , , , , , , [SEP] 108, SouthWall, , , , , , , [SEP] 109, WestWall, , , , , , , ", "output": ["STEP 1: Move to the counter to the right of the stove | STEP 2: Pick up a knife from the counter | STEP 3: Move to the table to the right of the sink | STEP 4: Place the knife on the table | STEP 5: Move to the counter to the right of the stove | STEP 6: Pick up a knife from the counter | STEP 7: Move to the table to the right of the sink | STEP 8: Place the knife in the bowl on the table | END"]} {"id": "trial_T20190907_065425_701848-2", "input": "Put two knives on a round table, placing one of them in a blue 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, 1.0, 0, 90, 0, [SEP] 1, Pan, 2.838, 1.288, -0.709, 0, 0, 0, 100 [SEP] 2, Potato, 2.777, 0.761, -0.504, 0, 0, 0, 100 [SEP] 3, Potato, 0.123, 0.800, -0.762, 0, 0, 0, 102 [SEP] 4, DishSponge, -0.294, 0.911, 1.299, 0, 0, 0, 56 [SEP] 5, DishSponge, 2.161, 0.114, -0.538, 0, 180, 0, 86 [SEP] 6, ButterKnife, 2.221, 0.911, 1.383, 0, 0, 0, 80 [SEP] 7, ButterKnife, 1.688, 0.911, 1.299, 0, 90, 0, 80 [SEP] 8, ButterKnife, 1.141, 0.911, -0.769, 0, 0, 0, 45 [SEP] 9, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 60 [SEP] 10, Spoon, 1.141, 0.912, -0.430, 0, 0, 0, 45 [SEP] 11, Fork, -0.839, 0.821, -1.360, 0, 180, 0, 104 [SEP] 12, Fork, 2.481, 0.771, 1.122, 0, 90, 0, 61 [SEP] 13, Spatula, 2.488, 0.926, 1.553, 0, 270, 0, 80 [SEP] 14, Egg, 2.900, 1.056, -0.840, 0, 0, 0, 100 [SEP] 15, Knife, 2.221, 0.944, 1.214, 0, 0, 0, 80 [SEP] 16, SoapBottle, -0.694, 0.826, -1.257, 0, 90, 0, 104 [SEP] 17, PepperShaker, -0.939, 0.817, -1.255, 0, 0, 0, 104 [SEP] 18, PepperShaker, -0.694, 0.817, -1.155, 0, 90, 0, 104 [SEP] 19, Bread, 0.634, 0.969, -0.430, 0, 0, 0, 45 [SEP] 20, Lettuce, 2.777, 1.644, -0.578, 0, 0, 0, 100 [SEP] 21, Lettuce, 1.155, 0.992, 1.468, 0, 0, 0, 80 [SEP] 22, SoapBottle, -1.056, 0.826, -1.206, 0, 90, 0, 104 [SEP] 23, Plate, 0.231, 2.159, 1.467, 0, 0, 0, 79 [SEP] 24, Fork, -0.983, 0.821, -1.308, 0, 270, 0, 104 [SEP] 25, Pot, 2.715, 1.022, -0.644, 0, 0, 0, 100 [SEP] 26, Bread, 1.955, 0.969, 1.468, 0, 0, 0, 80 [SEP] 27, Egg, 0.363, 1.822, 1.455, 0, 180, 0, 103 [SEP] 28, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 45 [SEP] 29, Tomato, -0.087, 0.797, -0.596, 0, 0, 0, 102 [SEP] 30, Cup, 2.962, 1.016, -0.578, 0, 0, 0, 100 [SEP] 31, Spatula, 1.688, 0.926, 1.299, 0, 0, 0, 80 [SEP] 32, Apple, 0.193, 0.834, -0.596, 0, 0, 0, 102 [SEP] 33, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 48 [SEP] 34, Lettuce, -0.151, 0.992, 1.299, 0, 0, 0, 56 [SEP] 35, SaltShaker, 1.637, 0.110, 1.081, 0, 0, 0, 74 [SEP] 36, Knife, 2.488, 0.944, 1.299, 0, 0, 0, 80 [SEP] 37, Potato, 2.591, 1.323, -0.840, 0, 0, 0, 100 [SEP] 38, PepperShaker, 0.178, 1.651, -0.654, 0, 180, 0, 85 [SEP] 39, ButterKnife, 2.754, 0.911, 1.299, 0, 0, 0, 80 [SEP] 40, Bowl, -0.836, 0.818, -1.110, 0, 0, 0, 104 [SEP] 41, DishSponge, 2.837, 0.114, 1.119, 0, 0, 0, 77 [SEP] 42, Spoon, 2.221, 0.912, 1.468, 0, 0, 0, 80 [SEP] 43, Mug, -0.055, 0.906, 1.044, 0, 0, 0, 56 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 106, NorthWall, , , , , , , [SEP] 107, EastWall, , , , , , , [SEP] 108, SouthWall, , , , , , , [SEP] 109, WestWall, , , , , , , ", "output": ["STEP 1: Go to the right of the stove the the end of the counter on the left and turn to face the counter. | STEP 2: Pick up the knife at the right end of the counter. | STEP 3: Face left and go between the counters to the window, then turn left and go to the round table. | STEP 4: Put the knife on the table, to the right of the blue bowl. | STEP 5: Turn left and go back between the counters to the end of the counter on the left, then face the counter. | STEP 6: Pick up the knife that does not have a yellow handle. | STEP 7: Carry the knife back to the round table. | STEP 8: Put the knife in the blue bowl. | END"]} {"id": "trial_T20190907_065425_701848-5", "input": "Move two butter knives to the round table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 1.0, 0, 90, 0, [SEP] 1, Pan, 2.838, 1.288, -0.709, 0, 0, 0, 100 [SEP] 2, Potato, 2.777, 0.761, -0.504, 0, 0, 0, 100 [SEP] 3, Potato, 0.123, 0.800, -0.762, 0, 0, 0, 102 [SEP] 4, DishSponge, -0.294, 0.911, 1.299, 0, 0, 0, 56 [SEP] 5, DishSponge, 2.161, 0.114, -0.538, 0, 180, 0, 86 [SEP] 6, ButterKnife, 2.221, 0.911, 1.383, 0, 0, 0, 80 [SEP] 7, ButterKnife, 1.688, 0.911, 1.299, 0, 90, 0, 80 [SEP] 8, ButterKnife, 1.141, 0.911, -0.769, 0, 0, 0, 45 [SEP] 9, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 60 [SEP] 10, Spoon, 1.141, 0.912, -0.430, 0, 0, 0, 45 [SEP] 11, Fork, -0.839, 0.821, -1.360, 0, 180, 0, 104 [SEP] 12, Fork, 2.481, 0.771, 1.122, 0, 90, 0, 61 [SEP] 13, Spatula, 2.488, 0.926, 1.553, 0, 270, 0, 80 [SEP] 14, Egg, 2.900, 1.056, -0.840, 0, 0, 0, 100 [SEP] 15, Knife, 2.221, 0.944, 1.214, 0, 0, 0, 80 [SEP] 16, SoapBottle, -0.694, 0.826, -1.257, 0, 90, 0, 104 [SEP] 17, PepperShaker, -0.939, 0.817, -1.255, 0, 0, 0, 104 [SEP] 18, PepperShaker, -0.694, 0.817, -1.155, 0, 90, 0, 104 [SEP] 19, Bread, 0.634, 0.969, -0.430, 0, 0, 0, 45 [SEP] 20, Lettuce, 2.777, 1.644, -0.578, 0, 0, 0, 100 [SEP] 21, Lettuce, 1.155, 0.992, 1.468, 0, 0, 0, 80 [SEP] 22, SoapBottle, -1.056, 0.826, -1.206, 0, 90, 0, 104 [SEP] 23, Plate, 0.231, 2.159, 1.467, 0, 0, 0, 79 [SEP] 24, Fork, -0.983, 0.821, -1.308, 0, 270, 0, 104 [SEP] 25, Pot, 2.715, 1.022, -0.644, 0, 0, 0, 100 [SEP] 26, Bread, 1.955, 0.969, 1.468, 0, 0, 0, 80 [SEP] 27, Egg, 0.363, 1.822, 1.455, 0, 180, 0, 103 [SEP] 28, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 45 [SEP] 29, Tomato, -0.087, 0.797, -0.596, 0, 0, 0, 102 [SEP] 30, Cup, 2.962, 1.016, -0.578, 0, 0, 0, 100 [SEP] 31, Spatula, 1.688, 0.926, 1.299, 0, 0, 0, 80 [SEP] 32, Apple, 0.193, 0.834, -0.596, 0, 0, 0, 102 [SEP] 33, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 48 [SEP] 34, Lettuce, -0.151, 0.992, 1.299, 0, 0, 0, 56 [SEP] 35, SaltShaker, 1.637, 0.110, 1.081, 0, 0, 0, 74 [SEP] 36, Knife, 2.488, 0.944, 1.299, 0, 0, 0, 80 [SEP] 37, Potato, 2.591, 1.323, -0.840, 0, 0, 0, 100 [SEP] 38, PepperShaker, 0.178, 1.651, -0.654, 0, 180, 0, 85 [SEP] 39, ButterKnife, 2.754, 0.911, 1.299, 0, 0, 0, 80 [SEP] 40, Bowl, -0.836, 0.818, -1.110, 0, 0, 0, 104 [SEP] 41, DishSponge, 2.837, 0.114, 1.119, 0, 0, 0, 77 [SEP] 42, Spoon, 2.221, 0.912, 1.468, 0, 0, 0, 80 [SEP] 43, Mug, -0.055, 0.906, 1.044, 0, 0, 0, 56 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 106, NorthWall, , , , , , , [SEP] 107, EastWall, , , , , , , [SEP] 108, SouthWall, , , , , , , [SEP] 109, WestWall, , , , , , , ", "output": ["STEP 1: Go down to the end of the counter. | STEP 2: Pick up a butter knife on the counter. | STEP 3: Turn around and go to the round table. | STEP 4: Put the butter on the round table. | STEP 5: Turn around and go to the end of the counter. | STEP 6: Pick up a butter knife on the counter. | STEP 7: Turn around and go to the round table. | STEP 8: Put the butter in the bowl on the round table. | END"]} {"id": "trial_T20190907_190531_101781-1", "input": "Put a heated 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, -1.0, 0.900, 0.25, 0, 270, 0, [SEP] 1, DishSponge, 2.222, 1.654, 1.508, 0, 0, 0, 70 [SEP] 2, DishSponge, 2.238, 0.770, -0.536, 0, 180, 0, 59 [SEP] 3, ButterKnife, 2.221, 0.911, 1.214, 0, 0, 0, 81 [SEP] 4, ButterKnife, -0.766, 0.820, -1.360, 0, 180, 0, 105 [SEP] 5, Spoon, -0.151, 0.912, 1.383, 0, 180, 0, 57 [SEP] 6, Spoon, -0.103, 0.912, 1.044, 0, 0, 0, 57 [SEP] 7, Fork, 0.263, 0.766, -0.707, 0, 90, 0, 103 [SEP] 8, Fork, 1.558, 0.772, -0.422, 0, 270, 0, 76 [SEP] 9, Spatula, 0.349, 0.926, -0.330, 0, 0, 0, 46 [SEP] 10, Spatula, 2.156, 0.926, -0.854, 0, 90, 0, 46 [SEP] 11, Plate, 1.955, 0.914, 1.299, 0, 0, 0, 81 [SEP] 12, Plate, 2.488, 0.914, 1.214, 0, 0, 0, 81 [SEP] 13, Egg, 2.591, 0.762, -0.504, 0, 0, 0, 101 [SEP] 14, Egg, 2.962, 0.762, -0.473, 0, 0, 0, 101 [SEP] 15, SoapBottle, 1.155, 0.917, 1.299, 0, 0, 0, 81 [SEP] 16, SoapBottle, 2.488, 0.917, 1.468, 0, 0, 0, 81 [SEP] 17, Tomato, 2.591, 1.594, -0.775, 0, 0, 0, 101 [SEP] 18, SaltShaker, -0.007, 0.908, 1.044, 0, 0, 0, 57 [SEP] 19, SaltShaker, 1.522, 1.651, -0.771, 0, 180, 0, 68 [SEP] 20, PepperShaker, -0.983, 0.817, -1.257, 0, 90, 0, 105 [SEP] 21, Lettuce, -0.785, 0.901, -1.400, 0, 0, 0, 105 [SEP] 22, Apple, -1.991, 0.492, 1.459, 0, 270, 0, 99 [SEP] 23, SoapBottle, 1.098, 0.120, -0.421, 0, 180, 0, 54 [SEP] 24, Plate, 2.754, 0.914, 1.468, 0, 0, 0, 81 [SEP] 25, Fork, -1.056, 0.821, -1.206, 0, 90, 0, 105 [SEP] 26, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 52 [SEP] 27, Bread, 1.03, 0.953, -0.518, 0, 0, 0, 46 [SEP] 28, Egg, -0.198, 0.949, 1.299, 0, 0, 0, 57 [SEP] 29, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 84 [SEP] 30, Tomato, -0.157, 0.797, -0.707, 0, 0, 0, 103 [SEP] 31, Cup, 1.688, 0.909, 1.129, 0, 0, 0, 81 [SEP] 32, Spatula, -0.694, 0.835, -1.360, 0, 90, 0, 105 [SEP] 33, Apple, -1.962, 0.492, 1.290, 0, 270, 0, 99 [SEP] 34, Pan, 0.053, 0.765, -0.707, 0, 0, 0, 103 [SEP] 35, Lettuce, 2.777, 1.099, -0.644, 0, 0, 0, 101 [SEP] 36, SaltShaker, -0.887, 0.817, -1.255, 0, 0, 0, 105 [SEP] 37, Knife, -0.939, 0.853, -1.328, 0, 270, 0, 105 [SEP] 38, Potato, 2.838, 1.323, -0.709, 0, 0, 0, 101 [SEP] 39, PepperShaker, 1.792, 0.111, 1.196, 0, 0, 0, 66 [SEP] 40, ButterKnife, 1.688, 0.911, 1.044, 0, 0, 0, 81 [SEP] 41, Bowl, 2.653, 1.286, -0.512, 0, 0, 0, 101 [SEP] 42, DishSponge, -0.983, 0.820, -1.103, 0, 90, 0, 105 [SEP] 43, Spoon, -1.056, 0.822, -1.360, 0, 90, 0, 105 [SEP] 44, Mug, 0.415, 1.779, 1.455, 0, 180, 0, 104 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 107, NorthWall, , , , , , , [SEP] 108, EastWall, , , , , , , [SEP] 109, SouthWall, , , , , , , [SEP] 110, WestWall, , , , , , , ", "output": ["STEP 1: Turn left to the table. | STEP 2: Pick up the knife that's behind the spatula and next to the lettuce on the table. | STEP 3: Carry the knife to the sink to the left of the table. | STEP 4: Cut the tomato in the sink. | STEP 5: Turn around to face the cabinet. | STEP 6: Put the knife in the cabinet to the left of the oven. | STEP 7: Turn around to face the sink again. | STEP 8: Pick up a tomato slice from the tomato in the sink. | STEP 9: Turn around to face the oven and the microwave. | STEP 10: Put the tomato slice in the microwave and microwave it. Take the slice out. | STEP 11: Turn left, walk across the room, turn left toward the table. | STEP 12: Set the tomato slice in front of the sponge on the table. | END"]} {"id": "trial_T20190907_190531_101781-2", "input": "Put a heated pepper slice on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 0.25, 0, 270, 0, [SEP] 1, DishSponge, 2.222, 1.654, 1.508, 0, 0, 0, 70 [SEP] 2, DishSponge, 2.238, 0.770, -0.536, 0, 180, 0, 59 [SEP] 3, ButterKnife, 2.221, 0.911, 1.214, 0, 0, 0, 81 [SEP] 4, ButterKnife, -0.766, 0.820, -1.360, 0, 180, 0, 105 [SEP] 5, Spoon, -0.151, 0.912, 1.383, 0, 180, 0, 57 [SEP] 6, Spoon, -0.103, 0.912, 1.044, 0, 0, 0, 57 [SEP] 7, Fork, 0.263, 0.766, -0.707, 0, 90, 0, 103 [SEP] 8, Fork, 1.558, 0.772, -0.422, 0, 270, 0, 76 [SEP] 9, Spatula, 0.349, 0.926, -0.330, 0, 0, 0, 46 [SEP] 10, Spatula, 2.156, 0.926, -0.854, 0, 90, 0, 46 [SEP] 11, Plate, 1.955, 0.914, 1.299, 0, 0, 0, 81 [SEP] 12, Plate, 2.488, 0.914, 1.214, 0, 0, 0, 81 [SEP] 13, Egg, 2.591, 0.762, -0.504, 0, 0, 0, 101 [SEP] 14, Egg, 2.962, 0.762, -0.473, 0, 0, 0, 101 [SEP] 15, SoapBottle, 1.155, 0.917, 1.299, 0, 0, 0, 81 [SEP] 16, SoapBottle, 2.488, 0.917, 1.468, 0, 0, 0, 81 [SEP] 17, Tomato, 2.591, 1.594, -0.775, 0, 0, 0, 101 [SEP] 18, SaltShaker, -0.007, 0.908, 1.044, 0, 0, 0, 57 [SEP] 19, SaltShaker, 1.522, 1.651, -0.771, 0, 180, 0, 68 [SEP] 20, PepperShaker, -0.983, 0.817, -1.257, 0, 90, 0, 105 [SEP] 21, Lettuce, -0.785, 0.901, -1.400, 0, 0, 0, 105 [SEP] 22, Apple, -1.991, 0.492, 1.459, 0, 270, 0, 99 [SEP] 23, SoapBottle, 1.098, 0.120, -0.421, 0, 180, 0, 54 [SEP] 24, Plate, 2.754, 0.914, 1.468, 0, 0, 0, 81 [SEP] 25, Fork, -1.056, 0.821, -1.206, 0, 90, 0, 105 [SEP] 26, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 52 [SEP] 27, Bread, 1.03, 0.953, -0.518, 0, 0, 0, 46 [SEP] 28, Egg, -0.198, 0.949, 1.299, 0, 0, 0, 57 [SEP] 29, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 84 [SEP] 30, Tomato, -0.157, 0.797, -0.707, 0, 0, 0, 103 [SEP] 31, Cup, 1.688, 0.909, 1.129, 0, 0, 0, 81 [SEP] 32, Spatula, -0.694, 0.835, -1.360, 0, 90, 0, 105 [SEP] 33, Apple, -1.962, 0.492, 1.290, 0, 270, 0, 99 [SEP] 34, Pan, 0.053, 0.765, -0.707, 0, 0, 0, 103 [SEP] 35, Lettuce, 2.777, 1.099, -0.644, 0, 0, 0, 101 [SEP] 36, SaltShaker, -0.887, 0.817, -1.255, 0, 0, 0, 105 [SEP] 37, Knife, -0.939, 0.853, -1.328, 0, 270, 0, 105 [SEP] 38, Potato, 2.838, 1.323, -0.709, 0, 0, 0, 101 [SEP] 39, PepperShaker, 1.792, 0.111, 1.196, 0, 0, 0, 66 [SEP] 40, ButterKnife, 1.688, 0.911, 1.044, 0, 0, 0, 81 [SEP] 41, Bowl, 2.653, 1.286, -0.512, 0, 0, 0, 101 [SEP] 42, DishSponge, -0.983, 0.820, -1.103, 0, 90, 0, 105 [SEP] 43, Spoon, -1.056, 0.822, -1.360, 0, 90, 0, 105 [SEP] 44, Mug, 0.415, 1.779, 1.455, 0, 180, 0, 104 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 107, NorthWall, , , , , , , [SEP] 108, EastWall, , , , , , , [SEP] 109, SouthWall, , , , , , , [SEP] 110, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your left and go to the round table, with the grey table cloth. | STEP 2: Pick up the butter knife that is under the head of lettuce. | STEP 3: Turn to your left and go to the front of the kitchen sink. | STEP 4: Cut the red bell pepper in the sink, to the far right. | STEP 5: Turn around so that you are facing the stove. | STEP 6: Place the knife in the bottom cupboard, to the left of the stove. | STEP 7: Turn around and go back to the sink. | STEP 8: Pick up a slice of the red bell pepper in the sink. | STEP 9: Turn around and go to the microwave above the stove. | STEP 10: Place the slice of pepper in the microwave, heat it, then remove it to the microwave. | STEP 11: Turn around and go back to the round table with the grey table cloth. | STEP 12: Place the slice of pepper on the table, in front of the green and yellow sponge. | END"]} {"id": "trial_T20190907_193633_663917-0", "input": "Examine a laptop by the light of a desk lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.0, 0.909, -3.75, 0, 270, 0, [SEP] 1, Mug, -0.657, 0.801, -4.137, 0, 0, 0, 39 [SEP] 2, CD, -0.862, 0.799, -4.246, 0, 0, 0, 39 [SEP] 3, CD, -1.066, 0.803, -3.811, 0, 0, 0, 39 [SEP] 4, Pen, -3.637, 0.051, -3.465, 0, 0, 0, 41 [SEP] 5, Pen, -3.834, 0.986, -3.070, 0, 0, 0, 42 [SEP] 6, Pencil, -0.329, 0.546, -3.749, 0, 0, 0, 33 [SEP] 7, Pencil, -0.418, 0.546, -3.731, 0, 0, 0, 33 [SEP] 8, KeyChain, -1.270, 0.804, -3.703, 0, 0, 0, 39 [SEP] 9, KeyChain, -0.240, 0.543, -3.694, 0, 0, 0, 33 [SEP] 10, Laptop, -2.559, 0.618, -1.218, 0, 0, 0, 24 [SEP] 11, Book, -3.693, 0.809, -3.371, 0, 0, 0, 49 [SEP] 12, CellPhone, -3.613, 0.620, -1.793, 0, 0, 0, 24 [SEP] 13, Laptop, -2.981, 0.618, -1.793, 0, 0, 0, 24 [SEP] 14, CreditCard, -1.474, 0.803, -3.703, 0, 0, 0, 39 [SEP] 15, AlarmClock, -3.539, 0.981, -4.075, 0, 0, 0, 42 [SEP] 16, KeyChain, -3.687, 0.980, -3.673, 0, 0, 0, 42 [SEP] 17, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 24 [SEP] 18, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 19, Pencil, -0.596, 0.546, -3.694, 0, 0, 0, 33 [SEP] 20, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 24 [SEP] 21, CD, -0.862, 0.799, -4.137, 0, 0, 0, 39 [SEP] 22, Pen, -0.862, 0.805, -4.354, 0, 0, 0, 39 [SEP] 23, Mug, -1.066, 0.801, -3.920, 0, 270, 0, 39 [SEP] 24, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 25, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 26, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 27, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 28, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 29, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 30, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 31, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 32, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 33, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 34, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 35, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 36, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 37, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 38, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 39, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 40, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 41, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 42, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 51, NorthWall, , , , , , , [SEP] 52, EastWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the bed. | STEP 2: Pick up the laptop which is to the right of the cell phone on the bed. | STEP 3: Turn around and walk to the front of the lamp on the desk. | STEP 4: Turn on the lamp. | END"]} {"id": "trial_T20190907_193633_663917-2", "input": "Turn a lamp on with a computer 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, 0.909, -3.75, 0, 270, 0, [SEP] 1, Mug, -0.657, 0.801, -4.137, 0, 0, 0, 39 [SEP] 2, CD, -0.862, 0.799, -4.246, 0, 0, 0, 39 [SEP] 3, CD, -1.066, 0.803, -3.811, 0, 0, 0, 39 [SEP] 4, Pen, -3.637, 0.051, -3.465, 0, 0, 0, 41 [SEP] 5, Pen, -3.834, 0.986, -3.070, 0, 0, 0, 42 [SEP] 6, Pencil, -0.329, 0.546, -3.749, 0, 0, 0, 33 [SEP] 7, Pencil, -0.418, 0.546, -3.731, 0, 0, 0, 33 [SEP] 8, KeyChain, -1.270, 0.804, -3.703, 0, 0, 0, 39 [SEP] 9, KeyChain, -0.240, 0.543, -3.694, 0, 0, 0, 33 [SEP] 10, Laptop, -2.559, 0.618, -1.218, 0, 0, 0, 24 [SEP] 11, Book, -3.693, 0.809, -3.371, 0, 0, 0, 49 [SEP] 12, CellPhone, -3.613, 0.620, -1.793, 0, 0, 0, 24 [SEP] 13, Laptop, -2.981, 0.618, -1.793, 0, 0, 0, 24 [SEP] 14, CreditCard, -1.474, 0.803, -3.703, 0, 0, 0, 39 [SEP] 15, AlarmClock, -3.539, 0.981, -4.075, 0, 0, 0, 42 [SEP] 16, KeyChain, -3.687, 0.980, -3.673, 0, 0, 0, 42 [SEP] 17, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 24 [SEP] 18, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 19, Pencil, -0.596, 0.546, -3.694, 0, 0, 0, 33 [SEP] 20, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 24 [SEP] 21, CD, -0.862, 0.799, -4.137, 0, 0, 0, 39 [SEP] 22, Pen, -0.862, 0.805, -4.354, 0, 0, 0, 39 [SEP] 23, Mug, -1.066, 0.801, -3.920, 0, 270, 0, 39 [SEP] 24, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 25, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 26, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 27, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 28, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 29, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 30, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 31, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 32, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 33, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 34, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 35, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 36, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 37, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 38, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 39, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 40, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 41, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 42, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 51, NorthWall, , , , , , , [SEP] 52, EastWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, WestWall, , , , , , , ", "output": ["STEP 1: Go right and face the end of the yellow table. | STEP 2: Close the computer and pick up the computer closest from the table. | STEP 3: Go to the right and then left to face the lamp on the white table. | STEP 4: Turn the lamp on. | END"]} {"id": "trial_T20190906_191859_615388-2", "input": "Place a recently microwaved cup in the cabinet above the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.931, 0.25, 0, 270, 0, [SEP] 1, DishSponge, 0.682, 1.042, 0.720, 0, 0, 0, 54 [SEP] 2, DishSponge, 1.523, 1.042, 0.091, 0, 0, 0, 54 [SEP] 3, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 48 [SEP] 4, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 55 [SEP] 5, Fork, 0.065, 1.043, 0.522, 0, 180, 0, 54 [SEP] 6, Fork, 0.160, 1.043, 0.630, 0, 90, 0, 54 [SEP] 7, Spoon, -0.260, 1.048, -1.289, 0, 270, 0, 52 [SEP] 8, Spoon, -0.346, 1.048, -1.612, 0, 0, 0, 52 [SEP] 9, Spatula, -0.775, 1.061, -1.612, 0, 90, 0, 52 [SEP] 10, Spatula, 0.682, 1.058, 0.589, 0, 0, 0, 54 [SEP] 11, Cup, 0.936, 1.055, 0.281, 0, 90, 0, 50 [SEP] 12, Cup, 0.065, 1.043, 0.738, 0, 0, 0, 54 [SEP] 13, Plate, 0.979, 0.212, -1.484, 0, 0, 0, 63 [SEP] 14, Knife, 1.347, 1.069, 0.676, 0, 0, 0, 54 [SEP] 15, Knife, -0.346, 1.072, -1.181, 0, 0, 0, 52 [SEP] 16, Tomato, -1.431, 1.279, 2.331, 0, 90, 0, 67 [SEP] 17, Tomato, -1.431, 1.279, 1.796, 0, 90, 0, 67 [SEP] 18, Bowl, 1.666, 1.018, -1.337, 0, 0, 0, 58 [SEP] 19, Bowl, -1.349, 1.712, 1.885, 0, 90, 0, 67 [SEP] 20, SaltShaker, 1.612, 1.038, 0.199, 0, 0, 0, 54 [SEP] 21, SaltShaker, 1.112, 1.560, -1.388, 0, 0, 0, 56 [SEP] 22, PepperShaker, 1.263, 1.560, -1.388, 0, 0, 0, 56 [SEP] 23, PepperShaker, 1.820, 1.014, -1.557, 0, 0, 0, 58 [SEP] 24, Apple, -1.194, 1.759, -1.269, 0, 0, 0, 66 [SEP] 25, Apple, 1.151, 0.936, 0.304, 0, 90, 0, 49 [SEP] 26, SoapBottle, 1.665, 0.205, -1.262, 0, 0, 0, 62 [SEP] 27, Apple, 0.717, 1.097, 0.181, 0, 90, 0, 50 [SEP] 28, Potato, 0.542, 1.096, 0.738, 0, 0, 0, 54 [SEP] 29, Fork, 0.351, 1.043, 0.630, 0, 0, 0, 54 [SEP] 30, Kettle, 1.512, 0.205, -1.553, 0, 0, 0, 62 [SEP] 31, Pan, 0.960, 1.564, -1.689, 0, 270, 0, 56 [SEP] 32, Tomato, -1.423, 1.764, 2.331, 0, 90, 0, 67 [SEP] 33, SaltShaker, -0.952, 2.023, -1.555, 0, 0, 0, 59 [SEP] 34, Egg, 1.790, 1.097, 0.738, 0, 0, 0, 54 [SEP] 35, Cup, 0.823, 1.047, -1.289, 0, 0, 0, 52 [SEP] 36, Spatula, 0.542, 1.058, 0.307, 0, 0, 0, 54 [SEP] 37, Knife, -0.517, 1.072, -1.289, 0, 90, 0, 52 [SEP] 38, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 50 [SEP] 39, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 54 [SEP] 40, PepperShaker, -0.603, 1.041, -1.181, 0, 0, 0, 52 [SEP] 41, DishSponge, 0.890, 0.199, -1.195, 0, 0, 0, 63 [SEP] 42, Plate, -1.183, 0.215, -1.338, 0, 0, 0, 60 [SEP] 43, Bread, -0.030, 1.117, 0.415, 0, 0, 0, 54 [SEP] 44, Spoon, 1.072, 1.048, -1.181, 0, 0, 0, 52 [SEP] 45, Pot, 0.250, 1.057, -1.4, 0, 0, 0, 64 [SEP] 46, Mug, 0.979, 0.194, -1.195, 0, 180, 0, 63 [SEP] 47, Bowl, 1.741, 0.203, -1.480, 0, 0, 0, 62 [SEP] 48, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 49, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 50, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 51, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 52, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 54, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 55, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 56, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 57, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 58, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 59, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 60, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 61, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 62, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 63, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 64, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 65, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 66, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 67, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 68, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 69, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 70, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 71, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 72, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 73, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 74, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 75, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 76, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 77, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 78, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 79, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 80, NorthWall, , , , , , , [SEP] 81, EastWall, , , , , , , [SEP] 82, SouthWall, , , , , , , [SEP] 83, WestWall, , , , , , , ", "output": ["STEP 1: Move to the counter top to the left of the kitchen range. | STEP 2: Open bottom cabinet and pick up cup inside before closing the door. | STEP 3: Move to the microwave above the oven. | STEP 4: After microwaving the cup inside for a few seconds then remove it and close the door | STEP 5: Move the cabinet above the microwave | STEP 6: Place the cup inside the cabinet and close it | END"]} {"id": "trial_T20190918_220654_753101-2", "input": "Place bowl with sponge in it on the counter top 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, 0.0, 0.900, 0.0, 0, 90, 0, [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 82 [SEP] 2, Potato, -0.785, 0.855, -1.473, 0, 0, 0, 103 [SEP] 3, DishSponge, 1.880, 1.655, 1.390, 0, 0, 0, 56 [SEP] 4, Kettle, 1.216, 1.656, 1.468, 0, 0, 0, 71 [SEP] 5, ButterKnife, 1.955, 0.911, 1.044, 0, 0, 0, 79 [SEP] 6, ButterKnife, 2.488, 0.911, 1.044, 0, 0, 0, 79 [SEP] 7, Spoon, 2.156, 0.912, -0.769, 0, 0, 0, 44 [SEP] 8, Spoon, -0.151, 0.912, 1.468, 0, 0, 0, 55 [SEP] 9, Fork, -0.911, 0.821, -1.257, 0, 90, 0, 103 [SEP] 10, Plate, 1.141, 0.914, -0.6, 0, 0, 0, 44 [SEP] 11, Egg, -0.087, 0.803, -0.596, 0, 0, 0, 101 [SEP] 12, SoapBottle, -2.019, 0.429, 1.290, 0, 270, 0, 97 [SEP] 13, Bowl, 2.838, 1.017, -0.709, 0, 0, 0, 99 [SEP] 14, Bowl, 0.865, 2.151, 1.506, 0, 0, 0, 53 [SEP] 15, Bowl, -0.694, 0.818, -1.308, 0, 90, 0, 103 [SEP] 16, SaltShaker, 2.872, 0.110, 1.044, 0, 0, 0, 76 [SEP] 17, SaltShaker, -0.055, 0.908, 1.129, 0, 0, 0, 55 [SEP] 18, Bread, 2.754, 0.969, 1.129, 0, 0, 0, 79 [SEP] 19, Lettuce, -0.198, 0.992, 1.299, 0, 0, 0, 55 [SEP] 20, Apple, -0.983, 0.889, -1.360, 0, 90, 0, 103 [SEP] 21, SoapBottle, -0.201, 1.660, 1.546, 0, 0, 0, 70 [SEP] 22, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 44 [SEP] 23, Fork, 2.450, 0.772, 1.122, 0, 90, 0, 60 [SEP] 24, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 25, Bread, 1.155, 0.969, 1.468, 0, 0, 0, 79 [SEP] 26, Egg, 1.422, 0.949, 1.383, 0, 0, 0, 79 [SEP] 27, Kettle, 0.140, 1.656, -0.810, 0, 180, 0, 84 [SEP] 28, Tomato, -0.087, 0.797, -0.707, 0, 0, 0, 101 [SEP] 29, Cup, 1.688, 0.909, 1.214, 0, 0, 0, 79 [SEP] 30, Spatula, 0.053, 0.780, -0.596, 0, 270, 0, 101 [SEP] 31, Apple, 2.653, 1.632, -0.709, 0, 0, 0, 99 [SEP] 32, Pan, 2.488, 0.911, 1.299, 0, 0, 0, 79 [SEP] 33, Lettuce, 1.955, 0.992, 1.383, 0, 0, 0, 79 [SEP] 34, SaltShaker, 0.480, 1.650, -0.735, 0, 180, 0, 83 [SEP] 35, Knife, -0.939, 0.853, -1.183, 0, 90, 0, 103 [SEP] 36, Potato, 2.838, 0.761, -0.504, 0, 0, 0, 99 [SEP] 37, PepperShaker, 1.955, 1.651, 1.390, 0, 0, 0, 56 [SEP] 38, ButterKnife, 2.156, 0.911, -0.769, 0, 0, 0, 44 [SEP] 39, Bowl, 2.208, 1.653, -0.725, 0, 180, 0, 65 [SEP] 40, DishSponge, 1.563, 0.114, 1.119, 0, 0, 0, 73 [SEP] 41, Spoon, 1.862, 0.772, 1.122, 0, 0, 0, 77 [SEP] 42, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 44 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 105, NorthWall, , , , , , , [SEP] 106, EastWall, , , , , , , [SEP] 107, SouthWall, , , , , , , [SEP] 108, WestWall, , , , , , , ", "output": ["STEP 1: Move to the counter top with the lettuce to the right of the stove. | STEP 2: Open cabinet above the lettuce and pick up sponge and close it | STEP 3: Move the cabinet to the right of the refrigerator | STEP 4: Place sponge inside bowl | STEP 5: Pick up bowl from the cabinet | STEP 6: Move back to the counter top to the right of the stove | STEP 7: Place the bowl to the right of the lettuce. | END"]} {"id": "trial_T20190908_113203_931690-2", "input": "Move a washed glass from the cupboard to the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 0.0, 0, 90, 0, [SEP] 1, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 44 [SEP] 2, Potato, -0.682, 0.855, -1.038, 0, 0, 0, 100 [SEP] 3, ButterKnife, -0.983, 0.820, -1.206, 0, 90, 0, 100 [SEP] 4, ButterKnife, 2.488, 0.911, 1.468, 0, 0, 0, 76 [SEP] 5, Spoon, 1.140, 0.772, -0.422, 0, 180, 0, 60 [SEP] 6, Spatula, 0.123, 0.780, -0.707, 0, 90, 0, 98 [SEP] 7, Plate, 1.688, 0.914, 1.468, 0, 0, 0, 76 [SEP] 8, Plate, 2.221, 0.914, 1.468, 0, 0, 0, 76 [SEP] 9, Egg, 1.155, 0.949, 1.299, 0, 0, 0, 76 [SEP] 10, SoapBottle, 1.422, 0.917, 1.383, 0, 0, 0, 76 [SEP] 11, Tomato, 2.962, 0.758, -0.442, 0, 0, 0, 96 [SEP] 12, Tomato, -0.621, 0.852, -1.155, 0, 90, 0, 100 [SEP] 13, Bowl, 0.466, 1.782, 1.455, 0, 180, 0, 99 [SEP] 14, PepperShaker, 2.156, 0.908, -0.769, 0, 0, 0, 41 [SEP] 15, Mug, 2.838, 1.558, -0.578, 0, 0, 0, 96 [SEP] 16, Apple, -1.962, 0.492, 1.375, 0, 270, 0, 94 [SEP] 17, Apple, 2.715, 0.795, -0.473, 0, 0, 0, 96 [SEP] 18, SoapBottle, 1.210, 0.120, -0.533, 0, 180, 0, 49 [SEP] 19, Plate, 2.221, 0.914, 1.129, 0, 0, 0, 76 [SEP] 20, Fork, 2.930, 0.771, 1.122, 0, 90, 0, 85 [SEP] 21, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 56 [SEP] 22, Bread, 0.634, 0.969, -0.515, 0, 0, 0, 41 [SEP] 23, Egg, 0.193, 0.803, -0.651, 0, 0, 0, 98 [SEP] 24, Kettle, 1.688, 0.912, 1.129, 0, 0, 0, 76 [SEP] 25, Tomato, -0.694, 0.852, -1.308, 0, 90, 0, 100 [SEP] 26, Cup, 1.487, 1.652, 1.432, 0, 0, 0, 68 [SEP] 27, Spatula, 2.488, 0.926, 1.129, 0, 0, 0, 76 [SEP] 28, Apple, -0.911, 0.889, -1.308, 0, 90, 0, 100 [SEP] 29, Pan, -0.151, 0.911, 1.214, 0, 0, 0, 52 [SEP] 30, Lettuce, 2.924, 1.344, -0.612, 16.831, 2.193, 9.561, 96 [SEP] 31, SaltShaker, 2.188, 1.650, 1.394, 0, 0, 0, 65 [SEP] 32, Knife, 2.156, 0.944, -0.345, 0, 0, 0, 41 [SEP] 33, Potato, -0.785, 0.855, -1.473, 0, 0, 0, 100 [SEP] 34, PepperShaker, 1.982, 1.650, -0.887, 0, 180, 0, 78 [SEP] 35, ButterKnife, 2.488, 0.911, 1.299, 0, 0, 0, 76 [SEP] 36, Bowl, 2.653, 1.017, -0.644, 0, 0, 0, 96 [SEP] 37, DishSponge, 2.806, 0.771, 1.236, 0, 0, 0, 85 [SEP] 38, Spoon, 1.869, 0.773, -0.422, 0, 180, 0, 55 [SEP] 39, Mug, 1.931, 0.110, 1.077, 0, 0, 0, 61 [SEP] 40, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 41, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 42, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 43, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 44, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 45, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 46, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 47, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 49, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 50, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 51, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 52, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 53, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 54, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 55, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 56, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 57, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 58, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 59, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 60, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 61, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 63, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 64, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 65, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 70, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 71, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 72, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 76, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 77, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 79, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 80, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 81, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 82, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 83, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 84, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 85, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 86, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 87, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 88, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 89, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 93, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 94, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 95, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 96, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 97, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 98, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 99, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 100, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 101, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 102, NorthWall, , , , , , , [SEP] 103, EastWall, , , , , , , [SEP] 104, SouthWall, , , , , , , [SEP] 105, WestWall, , , , , , , ", "output": ["STEP 1: Turn and go to the cabinet above the counter. | STEP 2: Take the glass out of the counter. | STEP 3: Turn and go to the sink. | STEP 4: Wash the glass in the sink and pick up the glass. | STEP 5: Turn and go to the table. | STEP 6: Put the glass on the table. | END"]} {"id": "trial_T20190906_185311_288061-1", "input": "Place a small black clock onto the wooden dresser. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.909, -2.75, 0, 0, 0, [SEP] 1, Mug, -3.834, 0.977, -3.874, 0, 0, 0, 40 [SEP] 2, CD, -3.687, 0.980, -4.075, 0, 0, 0, 40 [SEP] 3, CreditCard, -3.834, 0.981, -4.276, 0, 0, 0, 40 [SEP] 4, Book, -3.637, 0.045, -4.257, 0, 0, 0, 45 [SEP] 5, Book, -3.834, 0.980, -3.673, 0, 0, 0, 40 [SEP] 6, Laptop, -3.191, 0.618, -1.218, 0, 0, 0, 22 [SEP] 7, AlarmClock, -1.474, 0.800, -3.703, 0, 0, 0, 37 [SEP] 8, AlarmClock, -1.270, 0.803, -3.703, 0, 0, 0, 37 [SEP] 9, Book, -3.687, 0.981, -4.276, 0, 0, 0, 40 [SEP] 10, CellPhone, -3.466, 0.981, -3.874, 0, 0, 0, 40 [SEP] 11, Laptop, -3.687, 0.979, -3.070, 0, 0, 0, 40 [SEP] 12, CreditCard, -3.613, 0.981, -3.874, 0, 0, 0, 40 [SEP] 13, AlarmClock, -0.657, 0.800, -4.354, 0, 0, 0, 37 [SEP] 14, KeyChain, -0.596, 0.543, -3.694, 0, 0, 0, 31 [SEP] 15, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 22 [SEP] 16, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 17, Pencil, -1.474, 0.803, -3.920, 0, 0, 0, 37 [SEP] 18, Pillow, -3.402, 0.722, -1.793, 0, 0, 0, 22 [SEP] 19, CD, -1.846, 0.062, -3.877, 0, 279.990, 0, 26 [SEP] 20, Pen, -1.474, 0.805, -3.811, 0, 0, 0, 37 [SEP] 21, Mug, -1.270, 0.798, -3.920, 0, 0, 0, 37 [SEP] 22, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 23, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 24, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 25, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 26, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 27, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 28, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 29, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 30, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 31, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 32, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 33, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 34, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 35, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 36, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 37, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 38, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 39, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 40, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 41, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 42, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 45, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk up to the table in the corner of the room. | STEP 2: Pick up the small black clock that is the most far away on the table up against the wall. | STEP 3: Turn to your right and walk over to the left side of the wooden dresser. | STEP 4: Place the small black clock onto the dresser to the right of the phone. | END"]} {"id": "trial_T20190906_185311_288061-2", "input": "Move the speaker from the table to the chest of drawers SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.909, -2.75, 0, 0, 0, [SEP] 1, Mug, -3.834, 0.977, -3.874, 0, 0, 0, 40 [SEP] 2, CD, -3.687, 0.980, -4.075, 0, 0, 0, 40 [SEP] 3, CreditCard, -3.834, 0.981, -4.276, 0, 0, 0, 40 [SEP] 4, Book, -3.637, 0.045, -4.257, 0, 0, 0, 45 [SEP] 5, Book, -3.834, 0.980, -3.673, 0, 0, 0, 40 [SEP] 6, Laptop, -3.191, 0.618, -1.218, 0, 0, 0, 22 [SEP] 7, AlarmClock, -1.474, 0.800, -3.703, 0, 0, 0, 37 [SEP] 8, AlarmClock, -1.270, 0.803, -3.703, 0, 0, 0, 37 [SEP] 9, Book, -3.687, 0.981, -4.276, 0, 0, 0, 40 [SEP] 10, CellPhone, -3.466, 0.981, -3.874, 0, 0, 0, 40 [SEP] 11, Laptop, -3.687, 0.979, -3.070, 0, 0, 0, 40 [SEP] 12, CreditCard, -3.613, 0.981, -3.874, 0, 0, 0, 40 [SEP] 13, AlarmClock, -0.657, 0.800, -4.354, 0, 0, 0, 37 [SEP] 14, KeyChain, -0.596, 0.543, -3.694, 0, 0, 0, 31 [SEP] 15, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 22 [SEP] 16, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 17, Pencil, -1.474, 0.803, -3.920, 0, 0, 0, 37 [SEP] 18, Pillow, -3.402, 0.722, -1.793, 0, 0, 0, 22 [SEP] 19, CD, -1.846, 0.062, -3.877, 0, 279.990, 0, 26 [SEP] 20, Pen, -1.474, 0.805, -3.811, 0, 0, 0, 37 [SEP] 21, Mug, -1.270, 0.798, -3.920, 0, 0, 0, 37 [SEP] 22, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 23, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 24, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 25, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 26, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 27, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 28, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 29, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 30, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 31, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 32, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 33, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 34, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 35, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 36, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 37, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 38, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 39, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 40, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 41, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 42, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 45, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: Turn around 180 degrees and face the white table | STEP 2: Pick up the black speaker that is on the table beside the green bowl | STEP 3: Turn to your right and walk over to the brown chest of drawers | STEP 4: Place the speaker on top of the chest of drawers | END"]} {"id": "trial_T20190909_005354_750845-1", "input": "To pick two pencils from a table and put them inside a cabinet shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.909, -3.75, 0, 90, 0, [SEP] 1, Mug, -3.466, 0.977, -3.874, 0, 0, 0, 43 [SEP] 2, CD, -0.453, 0.799, -4.137, 0, 0, 0, 40 [SEP] 3, CellPhone, -3.760, 0.979, -3.472, 0, 0, 0, 43 [SEP] 4, Pencil, -0.240, 0.546, -3.713, 0, 0, 0, 34 [SEP] 5, Pencil, -0.657, 0.807, -4.354, 0, 0, 0, 40 [SEP] 6, Pencil, -0.453, 0.803, -3.920, 0, 0, 0, 40 [SEP] 7, CreditCard, -0.249, 0.803, -4.029, 0, 0, 0, 40 [SEP] 8, KeyChain, -0.657, 0.800, -4.246, 0, 0, 0, 40 [SEP] 9, Laptop, -3.402, 0.618, -1.793, 0, 0, 0, 25 [SEP] 10, AlarmClock, -1.270, 0.803, -3.703, 0, 0, 0, 40 [SEP] 11, AlarmClock, -0.862, 0.803, -4.246, 0, 0, 0, 40 [SEP] 12, Book, -3.582, 0.227, -4.163, 0, 0, 0, 47 [SEP] 13, CellPhone, -3.539, 0.981, -3.271, 0, 0, 0, 43 [SEP] 14, Laptop, -1.169, 0.796, -4.096, 0, 27.912, 0, 40 [SEP] 15, CreditCard, -3.687, 0.981, -3.070, 0, 0, 0, 43 [SEP] 16, AlarmClock, -3.760, 0.979, -4.276, 0, 0, 0, 43 [SEP] 17, KeyChain, -0.657, 0.804, -3.811, 0, 0, 0, 40 [SEP] 18, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 25 [SEP] 19, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 20, Pencil, -1.474, 0.803, -4.137, 0, 0, 0, 40 [SEP] 21, Pillow, -3.402, 0.722, -0.931, 0, 0, 0, 25 [SEP] 22, CD, -3.526, 0.418, -3.793, 0, 0, 0, 46 [SEP] 23, Pen, -0.596, 0.548, -3.657, 0, 0, 0, 34 [SEP] 24, Mug, -0.657, 0.798, -4.137, 0, 0, 0, 40 [SEP] 25, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 26, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 27, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 28, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 29, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 30, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 31, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 32, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 33, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 34, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 35, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 36, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 37, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 38, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 39, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 40, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 41, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 42, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 43, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 51, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: Go to the longer side of the white table | STEP 2: Pick up a pencil from the center of the table | STEP 3: Turn right, go across the room to the cabinet | STEP 4: Pull the second lowest shelf on the left-side of the cabinet, put the pencil in the shelf, and close it | STEP 5: Turn around, go to the front shorter side of the white table | STEP 6: Pick up the pencil from the table | STEP 7: Go back to the cabinet | STEP 8: Open the same shelf and put the pencil by the side of the first pencil | END"]} {"id": "trial_T20190907_151334_858777-0", "input": "Using a bowl, place a piece of sliced apple into the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 0.25, 0, 0, 0, [SEP] 1, Potato, -0.939, 0.855, -1.473, 0, 0, 0, 105 [SEP] 2, Potato, 2.777, 0.760, -0.535, 0, 0, 0, 101 [SEP] 3, DishSponge, 0.707, 2.153, 1.390, 0, 0, 0, 55 [SEP] 4, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 84 [SEP] 5, ButterKnife, 2.221, 0.911, 1.129, 0, 0, 0, 81 [SEP] 6, ButterKnife, 1.141, 0.911, -0.684, 0, 0, 0, 46 [SEP] 7, Pot, 2.777, 1.022, -0.775, 0, 0, 0, 101 [SEP] 8, Spatula, 0.888, 0.926, -0.684, 0, 90, 0, 46 [SEP] 9, Cup, 1.595, 0.112, -0.498, 0, 180, 0, 63 [SEP] 10, Cup, 3.220, 0.838, -0.485, 0, 0, 0, 101 [SEP] 11, Knife, 0.193, 0.798, -0.596, 0, 270, 0, 103 [SEP] 12, SoapBottle, 0.514, 1.660, -0.849, 0, 180, 0, 85 [SEP] 13, SoapBottle, 1.792, 0.120, 1.117, 0, 0, 0, 66 [SEP] 14, Tomato, 0.123, 0.797, -0.762, 0, 0, 0, 103 [SEP] 15, Bowl, 2.715, 1.286, -0.644, 0, 0, 0, 101 [SEP] 16, Bowl, 2.900, 1.561, -0.512, 0, 0, 0, 101 [SEP] 17, Bowl, -0.151, 0.909, 1.383, 0, 0, 0, 57 [SEP] 18, Bread, 1.955, 0.969, 1.299, 0, 0, 0, 81 [SEP] 19, Lettuce, 2.488, 0.992, 1.299, 0, 0, 0, 81 [SEP] 20, Mug, -0.090, 1.649, 1.508, 0, 0, 0, 104 [SEP] 21, Mug, -0.157, 0.760, -0.596, 0, 180, 0, 103 [SEP] 22, Apple, 0.570, 1.853, 1.488, 0, 180, 0, 104 [SEP] 23, SoapBottle, 2.838, 1.660, 1.508, 0, 0, 0, 47 [SEP] 24, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 46 [SEP] 25, Fork, -0.193, 0.772, 1.198, 0, 270, 0, 51 [SEP] 26, Pot, 1.141, 0.915, -0.430, 0, 0, 0, 46 [SEP] 27, Bread, 2.754, 0.969, 1.129, 0, 0, 0, 81 [SEP] 28, Egg, 2.962, 1.601, -0.775, 0, 0, 0, 101 [SEP] 29, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 61 [SEP] 30, Tomato, -0.151, 0.942, 1.044, 0, 0, 0, 57 [SEP] 31, Cup, -0.017, 0.763, -0.651, 0, 0, 0, 103 [SEP] 32, Spatula, 1.155, 0.926, 1.553, 0, 270, 0, 81 [SEP] 33, Apple, -0.983, 0.889, -1.360, 0, 90, 0, 105 [SEP] 34, Pan, 0.634, 0.911, -0.684, 0, 0, 0, 46 [SEP] 35, Lettuce, -0.734, 0.901, -1.400, 0, 0, 0, 105 [SEP] 36, SaltShaker, -0.911, 0.817, -1.257, 0, 90, 0, 105 [SEP] 37, Knife, 2.221, 0.944, 1.299, 0, 0, 0, 81 [SEP] 38, Potato, 2.591, 1.323, -0.512, 0, 0, 0, 101 [SEP] 39, PepperShaker, 2.221, 0.908, 1.553, 0, 0, 0, 81 [SEP] 40, ButterKnife, -0.621, 0.820, -1.308, 0, 90, 0, 105 [SEP] 41, Bowl, 1.688, 0.909, 1.468, 0, 0, 0, 81 [SEP] 42, DishSponge, 2.173, 0.771, -0.498, 0, 180, 0, 59 [SEP] 43, Spoon, 1.155, 0.912, 1.129, 0, 0, 0, 81 [SEP] 44, Mug, 2.906, 1.649, 1.394, 0, 0, 0, 47 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 107, NorthWall, , , , , , , [SEP] 108, EastWall, , , , , , , [SEP] 109, SouthWall, , , , , , , [SEP] 110, WestWall, , , , , , , ", "output": ["STEP 1: Move to the counter top that is opposite of the refrigerator. | STEP 2: Pick up the sharp knife that is in between the lettuce and the bread. | STEP 3: Move from the counter to the table. | STEP 4: Slice in to the apple making a large section and a small section. | STEP 5: Move from the table to the counter that is left of the stove. | STEP 6: Place the knife in to the bowl. | STEP 7: Move from the counter to the table. | STEP 8: Pick up the small section of apple. | STEP 9: Move from the table to the counter that is left of the stove. | STEP 10: Place the apple section in to the bowl. | STEP 11: Pick the bowl up off of the counter. | STEP 12: Move to the right and face the microwave. | STEP 13: Place the bowl in to the microwave. | END"]} {"id": "trial_T20190907_151334_858777-2", "input": "Place a bowl with 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, -1.0, 0.900, 0.25, 0, 0, 0, [SEP] 1, Potato, -0.939, 0.855, -1.473, 0, 0, 0, 105 [SEP] 2, Potato, 2.777, 0.760, -0.535, 0, 0, 0, 101 [SEP] 3, DishSponge, 0.707, 2.153, 1.390, 0, 0, 0, 55 [SEP] 4, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 84 [SEP] 5, ButterKnife, 2.221, 0.911, 1.129, 0, 0, 0, 81 [SEP] 6, ButterKnife, 1.141, 0.911, -0.684, 0, 0, 0, 46 [SEP] 7, Pot, 2.777, 1.022, -0.775, 0, 0, 0, 101 [SEP] 8, Spatula, 0.888, 0.926, -0.684, 0, 90, 0, 46 [SEP] 9, Cup, 1.595, 0.112, -0.498, 0, 180, 0, 63 [SEP] 10, Cup, 3.220, 0.838, -0.485, 0, 0, 0, 101 [SEP] 11, Knife, 0.193, 0.798, -0.596, 0, 270, 0, 103 [SEP] 12, SoapBottle, 0.514, 1.660, -0.849, 0, 180, 0, 85 [SEP] 13, SoapBottle, 1.792, 0.120, 1.117, 0, 0, 0, 66 [SEP] 14, Tomato, 0.123, 0.797, -0.762, 0, 0, 0, 103 [SEP] 15, Bowl, 2.715, 1.286, -0.644, 0, 0, 0, 101 [SEP] 16, Bowl, 2.900, 1.561, -0.512, 0, 0, 0, 101 [SEP] 17, Bowl, -0.151, 0.909, 1.383, 0, 0, 0, 57 [SEP] 18, Bread, 1.955, 0.969, 1.299, 0, 0, 0, 81 [SEP] 19, Lettuce, 2.488, 0.992, 1.299, 0, 0, 0, 81 [SEP] 20, Mug, -0.090, 1.649, 1.508, 0, 0, 0, 104 [SEP] 21, Mug, -0.157, 0.760, -0.596, 0, 180, 0, 103 [SEP] 22, Apple, 0.570, 1.853, 1.488, 0, 180, 0, 104 [SEP] 23, SoapBottle, 2.838, 1.660, 1.508, 0, 0, 0, 47 [SEP] 24, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 46 [SEP] 25, Fork, -0.193, 0.772, 1.198, 0, 270, 0, 51 [SEP] 26, Pot, 1.141, 0.915, -0.430, 0, 0, 0, 46 [SEP] 27, Bread, 2.754, 0.969, 1.129, 0, 0, 0, 81 [SEP] 28, Egg, 2.962, 1.601, -0.775, 0, 0, 0, 101 [SEP] 29, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 61 [SEP] 30, Tomato, -0.151, 0.942, 1.044, 0, 0, 0, 57 [SEP] 31, Cup, -0.017, 0.763, -0.651, 0, 0, 0, 103 [SEP] 32, Spatula, 1.155, 0.926, 1.553, 0, 270, 0, 81 [SEP] 33, Apple, -0.983, 0.889, -1.360, 0, 90, 0, 105 [SEP] 34, Pan, 0.634, 0.911, -0.684, 0, 0, 0, 46 [SEP] 35, Lettuce, -0.734, 0.901, -1.400, 0, 0, 0, 105 [SEP] 36, SaltShaker, -0.911, 0.817, -1.257, 0, 90, 0, 105 [SEP] 37, Knife, 2.221, 0.944, 1.299, 0, 0, 0, 81 [SEP] 38, Potato, 2.591, 1.323, -0.512, 0, 0, 0, 101 [SEP] 39, PepperShaker, 2.221, 0.908, 1.553, 0, 0, 0, 81 [SEP] 40, ButterKnife, -0.621, 0.820, -1.308, 0, 90, 0, 105 [SEP] 41, Bowl, 1.688, 0.909, 1.468, 0, 0, 0, 81 [SEP] 42, DishSponge, 2.173, 0.771, -0.498, 0, 180, 0, 59 [SEP] 43, Spoon, 1.155, 0.912, 1.129, 0, 0, 0, 81 [SEP] 44, Mug, 2.906, 1.649, 1.394, 0, 0, 0, 47 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 107, NorthWall, , , , , , , [SEP] 108, EastWall, , , , , , , [SEP] 109, SouthWall, , , , , , , [SEP] 110, WestWall, , , , , , , ", "output": ["STEP 1: Turn 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, then left again and face the round table in front of you. | STEP 4: Slice the apple on the round table in front of you. | STEP 5: Turn left and head towards the counter by the stove on your left. | STEP 6: Place the knife in the bowl on the counter in front of you. | STEP 7: Turn around and head towards the round table in front of you. | STEP 8: Take an apple slice from the round table in front of you. | STEP 9: Turn left and face the counter by the stove to your left. | STEP 10: Place the apple slice in the bowl on the counter. | STEP 11: Pick up the bowl with the apple slice and knife from the counter. | STEP 12: Turn right and face the microwave above the stove. | STEP 13: Place the bowl with the apple slice in the microwave and close it. | END"]} {"id": "trial_T20190907_193702_706432-1", "input": "Inspect 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, -0.75, 0.909, -2.0, 0, 180, 0, [SEP] 1, CellPhone, -3.687, 0.981, -3.271, 0, 0, 0, 41 [SEP] 2, Pencil, -0.418, 0.546, -3.768, 0, 0, 0, 32 [SEP] 3, CreditCard, -0.329, 0.542, -3.749, 0, 0, 0, 32 [SEP] 4, KeyChain, -0.507, 0.543, -3.713, 0, 0, 0, 32 [SEP] 5, KeyChain, -3.807, 0.615, -4.163, 0, 90, 0, 47 [SEP] 6, Book, -3.582, 0.419, -4.070, 0, 0, 0, 44 [SEP] 7, Book, -3.582, 0.615, -3.184, 0, 0, 0, 42 [SEP] 8, Laptop, -3.402, 0.618, -1.793, 0, 0, 0, 23 [SEP] 9, Laptop, -2.981, 0.618, -1.218, 0, 0, 0, 23 [SEP] 10, Book, -1.066, 0.800, -4.029, 0, 0, 0, 38 [SEP] 11, CellPhone, -3.524, 0.808, -4.070, 0, 0, 0, 39 [SEP] 12, Laptop, -3.402, 0.618, -0.931, 0, 0, 0, 23 [SEP] 13, CreditCard, -1.066, 0.800, -4.246, 0, 0, 0, 38 [SEP] 14, AlarmClock, -0.657, 0.803, -3.703, 0, 0, 0, 38 [SEP] 15, KeyChain, -1.474, 0.804, -3.811, 0, 0, 0, 38 [SEP] 16, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 23 [SEP] 17, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 18, Pencil, -0.240, 0.546, -3.749, 0, 0, 0, 32 [SEP] 19, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 23 [SEP] 20, CD, -3.466, 0.979, -3.472, 0, 0, 0, 41 [SEP] 21, Pen, -0.685, 0.548, -3.731, 0, 0, 0, 32 [SEP] 22, Mug, -3.760, 0.979, -3.673, 0, 0, 0, 41 [SEP] 23, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 24, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 25, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 26, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 27, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 28, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 29, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 30, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 31, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 32, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 33, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 34, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 35, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 36, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 37, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 38, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 39, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 40, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 41, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 42, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 50, NorthWall, , , , , , , [SEP] 51, EastWall, , , , , , , [SEP] 52, SouthWall, , , , , , , [SEP] 53, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk over to face the foot of the bed. | STEP 2: Close the laptop closest to you and pick it up. | STEP 3: Turn around and head over to the white desk. | STEP 4: Turn on the lamp that is sitting on the desk. | END"]} {"id": "trial_T20190907_091432_072885-0", "input": "Put the phone on the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.949, -0.75, 0, 90, 0, [SEP] 1, CD, -1.037, 0.783, -0.758, 0, 0, 0, 60 [SEP] 2, CD, -1.017, 0.091, -1.147, 0, 0, 0, 25 [SEP] 3, CellPhone, -0.772, 0.785, -0.548, 0, 0, 0, 60 [SEP] 4, Pen, 1.666, 0.993, -2.125, 0, 270, 0, 39 [SEP] 5, Pencil, 2.519, 0.992, -2.125, 0, 270, 0, 39 [SEP] 6, Pencil, 3.377, 0.727, 1.488, 0, 180, 0, 64 [SEP] 7, KeyChain, 3.377, 0.725, 1.307, 0, 180, 0, 64 [SEP] 8, KeyChain, -0.740, 0.175, -0.292, 0, 0, 0, 50 [SEP] 9, Book, 2.381, 0.610, 0.549, 0, 0, 0, 24 [SEP] 10, AlarmClock, -0.350, 1.109, 3.171, 0, 180, 0, 47 [SEP] 11, Book, -0.838, 0.785, -0.128, 0, 0, 0, 60 [SEP] 12, KeyChain, -1.037, 0.785, 0.291, 0, 0, 0, 60 [SEP] 13, CreditCard, -0.812, 0.585, -0.064, 0, 0, 0, 61 [SEP] 14, Pen, 2.803, 0.990, -1.862, 0, 270, 0, 39 [SEP] 15, Pencil, -1.037, 0.788, -0.128, 0, 0, 0, 60 [SEP] 16, Laptop, 1.447, 0.981, -1.894, 0, 328.961, 0, 39 [SEP] 17, Vase, -0.838, 0.790, -0.758, 0, 0, 0, 60 [SEP] 18, AlarmClock, -1.037, 0.786, -0.338, 0, 0, 0, 60 [SEP] 19, Pillow, 2.533, 0.631, 1.264, 0, 0, 0, 24 [SEP] 20, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 24 [SEP] 21, CellPhone, 2.234, 0.985, -1.687, 0, 270, 0, 39 [SEP] 22, CD, 1.454, 0.179, -1.786, 0, 270, 0, 36 [SEP] 23, Vase, -0.068, 0.788, 3.171, 0, 180, 0, 46 [SEP] 24, Bed, 2.217, 0.050, 0.585, 0, 0, 0, [SEP] 25, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0, [SEP] 26, Painting, 2.990, 1.592, 1.567, 90, 0, 0, [SEP] 27, Painting, 1.524, 1.592, 1.567, 90, 0, 0, [SEP] 28, Mirror, -1.190, 1.417, -0.223, 0, 270, 0, [SEP] 29, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0, [SEP] 30, Window, -2.629, 1.460, 2.891, 90, 270, 0, [SEP] 31, Window, -2.629, 1.460, 4.084, 90, 270, 0, [SEP] 32, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0, [SEP] 33, Drawer, 2.490, 0.949, -1.703, 0, 0, 0, [SEP] 34, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0, [SEP] 35, Drawer, 1.975, 0.949, -1.703, 0, 0, 0, [SEP] 36, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0, [SEP] 37, Drawer, 1.457, 0.949, -1.703, 0, 0, 0, [SEP] 38, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0, [SEP] 39, Dresser, 2.234, 0.048, -1.950, 0, 0, 0, [SEP] 40, Drawer, 3.011, 0.949, -1.703, 0, 0, 0, [SEP] 41, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0, [SEP] 42, Shelf, -0.163, 1.461, 3.219, 0, 180, 0, [SEP] 43, Drawer, -0.161, 0.242, 3.166, 0, 180, 0, [SEP] 44, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0, [SEP] 45, Drawer, -0.161, 0.562, 3.168, 0, 180, 0, [SEP] 46, Shelf, -0.162, 0.922, 3.164, 0, 180, 0, [SEP] 47, Shelf, -0.162, 1.241, 3.163, 0, 180, 0, [SEP] 48, Blinds, -2.550, 2.486, 2.911, 0, 90, 0, [SEP] 49, Blinds, -2.550, 2.486, 4.107, 0, 90, 0, [SEP] 50, Drawer, -0.833, 0.217, -0.336, 0, 90, 0, [SEP] 51, Drawer, -0.833, 0.217, 0.486, 0, 90, 0, [SEP] 52, Drawer, -0.833, 0.628, -0.747, 0, 90, 0, [SEP] 53, Drawer, -0.833, 0.217, 0.075, 0, 90, 0, [SEP] 54, Drawer, -0.833, 0.628, 0.486, 0, 90, 0, [SEP] 55, Drawer, -0.833, 0.217, -0.747, 0, 90, 0, [SEP] 56, Drawer, -0.833, 0.423, -0.336, 0, 90, 0, [SEP] 57, Drawer, -0.833, 0.423, 0.075, 0, 90, 0, [SEP] 58, Drawer, -0.833, 0.423, 0.486, 0, 90, 0, [SEP] 59, Drawer, -0.833, 0.423, -0.747, 0, 90, 0, [SEP] 60, Dresser, -0.934, 0.050, -0.129, 0, 90, 0, [SEP] 61, Drawer, -0.833, 0.628, 0.075, 0, 90, 0, [SEP] 62, Drawer, -0.833, 0.628, -0.336, 0, 90, 0, [SEP] 63, Drawer, 3.454, 0.212, 1.262, 0, 180, 0, [SEP] 64, SideTable, 3.455, 0.046, 1.328, 0, 180, 0, [SEP] 65, Drawer, 3.454, 0.504, 1.262, 0, 180, 0, [SEP] 66, NorthWall, , , , , , , [SEP] 67, EastWall, , , , , , , [SEP] 68, SouthWall, , , , , , , [SEP] 69, WestWall, , , , , , , ", "output": ["STEP 1: Go forward and stand at the dresser. | STEP 2: Pick up the phone from the dresser. | STEP 3: Turn around and go to the head of the bed. | STEP 4: Put the phone on the bed. | END"]} {"id": "trial_T20190907_091432_072885-2", "input": "Place a blue cell phone on the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.949, -0.75, 0, 90, 0, [SEP] 1, CD, -1.037, 0.783, -0.758, 0, 0, 0, 60 [SEP] 2, CD, -1.017, 0.091, -1.147, 0, 0, 0, 25 [SEP] 3, CellPhone, -0.772, 0.785, -0.548, 0, 0, 0, 60 [SEP] 4, Pen, 1.666, 0.993, -2.125, 0, 270, 0, 39 [SEP] 5, Pencil, 2.519, 0.992, -2.125, 0, 270, 0, 39 [SEP] 6, Pencil, 3.377, 0.727, 1.488, 0, 180, 0, 64 [SEP] 7, KeyChain, 3.377, 0.725, 1.307, 0, 180, 0, 64 [SEP] 8, KeyChain, -0.740, 0.175, -0.292, 0, 0, 0, 50 [SEP] 9, Book, 2.381, 0.610, 0.549, 0, 0, 0, 24 [SEP] 10, AlarmClock, -0.350, 1.109, 3.171, 0, 180, 0, 47 [SEP] 11, Book, -0.838, 0.785, -0.128, 0, 0, 0, 60 [SEP] 12, KeyChain, -1.037, 0.785, 0.291, 0, 0, 0, 60 [SEP] 13, CreditCard, -0.812, 0.585, -0.064, 0, 0, 0, 61 [SEP] 14, Pen, 2.803, 0.990, -1.862, 0, 270, 0, 39 [SEP] 15, Pencil, -1.037, 0.788, -0.128, 0, 0, 0, 60 [SEP] 16, Laptop, 1.447, 0.981, -1.894, 0, 328.961, 0, 39 [SEP] 17, Vase, -0.838, 0.790, -0.758, 0, 0, 0, 60 [SEP] 18, AlarmClock, -1.037, 0.786, -0.338, 0, 0, 0, 60 [SEP] 19, Pillow, 2.533, 0.631, 1.264, 0, 0, 0, 24 [SEP] 20, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 24 [SEP] 21, CellPhone, 2.234, 0.985, -1.687, 0, 270, 0, 39 [SEP] 22, CD, 1.454, 0.179, -1.786, 0, 270, 0, 36 [SEP] 23, Vase, -0.068, 0.788, 3.171, 0, 180, 0, 46 [SEP] 24, Bed, 2.217, 0.050, 0.585, 0, 0, 0, [SEP] 25, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0, [SEP] 26, Painting, 2.990, 1.592, 1.567, 90, 0, 0, [SEP] 27, Painting, 1.524, 1.592, 1.567, 90, 0, 0, [SEP] 28, Mirror, -1.190, 1.417, -0.223, 0, 270, 0, [SEP] 29, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0, [SEP] 30, Window, -2.629, 1.460, 2.891, 90, 270, 0, [SEP] 31, Window, -2.629, 1.460, 4.084, 90, 270, 0, [SEP] 32, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0, [SEP] 33, Drawer, 2.490, 0.949, -1.703, 0, 0, 0, [SEP] 34, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0, [SEP] 35, Drawer, 1.975, 0.949, -1.703, 0, 0, 0, [SEP] 36, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0, [SEP] 37, Drawer, 1.457, 0.949, -1.703, 0, 0, 0, [SEP] 38, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0, [SEP] 39, Dresser, 2.234, 0.048, -1.950, 0, 0, 0, [SEP] 40, Drawer, 3.011, 0.949, -1.703, 0, 0, 0, [SEP] 41, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0, [SEP] 42, Shelf, -0.163, 1.461, 3.219, 0, 180, 0, [SEP] 43, Drawer, -0.161, 0.242, 3.166, 0, 180, 0, [SEP] 44, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0, [SEP] 45, Drawer, -0.161, 0.562, 3.168, 0, 180, 0, [SEP] 46, Shelf, -0.162, 0.922, 3.164, 0, 180, 0, [SEP] 47, Shelf, -0.162, 1.241, 3.163, 0, 180, 0, [SEP] 48, Blinds, -2.550, 2.486, 2.911, 0, 90, 0, [SEP] 49, Blinds, -2.550, 2.486, 4.107, 0, 90, 0, [SEP] 50, Drawer, -0.833, 0.217, -0.336, 0, 90, 0, [SEP] 51, Drawer, -0.833, 0.217, 0.486, 0, 90, 0, [SEP] 52, Drawer, -0.833, 0.628, -0.747, 0, 90, 0, [SEP] 53, Drawer, -0.833, 0.217, 0.075, 0, 90, 0, [SEP] 54, Drawer, -0.833, 0.628, 0.486, 0, 90, 0, [SEP] 55, Drawer, -0.833, 0.217, -0.747, 0, 90, 0, [SEP] 56, Drawer, -0.833, 0.423, -0.336, 0, 90, 0, [SEP] 57, Drawer, -0.833, 0.423, 0.075, 0, 90, 0, [SEP] 58, Drawer, -0.833, 0.423, 0.486, 0, 90, 0, [SEP] 59, Drawer, -0.833, 0.423, -0.747, 0, 90, 0, [SEP] 60, Dresser, -0.934, 0.050, -0.129, 0, 90, 0, [SEP] 61, Drawer, -0.833, 0.628, 0.075, 0, 90, 0, [SEP] 62, Drawer, -0.833, 0.628, -0.336, 0, 90, 0, [SEP] 63, Drawer, 3.454, 0.212, 1.262, 0, 180, 0, [SEP] 64, SideTable, 3.455, 0.046, 1.328, 0, 180, 0, [SEP] 65, Drawer, 3.454, 0.504, 1.262, 0, 180, 0, [SEP] 66, NorthWall, , , , , , , [SEP] 67, EastWall, , , , , , , [SEP] 68, SouthWall, , , , , , , [SEP] 69, WestWall, , , , , , , ", "output": ["STEP 1: Walk towards the blue cell phone on the dresser on the right. | STEP 2: Pick up the blue cell phone from the dresser. | STEP 3: Turn around and walk to the left side of the bed. | STEP 4: Put the cell phone on the bed, to the right of the closest pillow. | END"]} {"id": "trial_T20190907_101709_490710-2", "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, 2.75, 0.900, 0.5, 0, 0, 0, [SEP] 1, Potato, -0.766, 0.855, -1.206, 0, 90, 0, 106 [SEP] 2, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 85 [SEP] 3, ButterKnife, 1.955, 0.911, 1.299, 0, 0, 0, 82 [SEP] 4, ButterKnife, 0.053, 0.765, -0.596, 0, 0, 0, 104 [SEP] 5, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 62 [SEP] 6, Spatula, 0.123, 0.780, -0.762, 0, 90, 0, 104 [SEP] 7, Plate, 2.754, 0.914, 1.214, 0, 0, 0, 82 [SEP] 8, Plate, 2.221, 0.914, 1.468, 0, 0, 0, 82 [SEP] 9, Knife, 2.754, 0.944, 1.044, 0, 0, 0, 82 [SEP] 10, Knife, -0.103, 0.944, 1.214, 0, 90, 0, 58 [SEP] 11, SoapBottle, 1.558, 0.120, -0.538, 0, 180, 0, 64 [SEP] 12, Tomato, -0.621, 0.852, -1.257, 0, 90, 0, 106 [SEP] 13, Tomato, 2.488, 0.942, 1.129, 0, 0, 0, 82 [SEP] 14, Bowl, 1.908, 1.652, -0.772, 0, 180, 0, 84 [SEP] 15, SaltShaker, 2.872, 0.110, 1.193, 0, 0, 0, 79 [SEP] 16, PepperShaker, 2.754, 0.908, 1.553, 0, 0, 0, 82 [SEP] 17, PepperShaker, -0.055, 0.908, 1.044, 0, 0, 0, 58 [SEP] 18, Bread, -0.198, 0.969, 1.383, 0, 0, 0, 58 [SEP] 19, Mug, 3.341, 0.835, -0.514, 0, 0, 0, 102 [SEP] 20, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 47 [SEP] 21, Mug, 2.838, 1.558, -0.775, 0, 0, 0, 102 [SEP] 22, Apple, 2.777, 0.794, -0.504, 0, 0, 0, 102 [SEP] 23, Apple, 2.838, 1.087, -0.709, 0, 0, 0, 102 [SEP] 24, SoapBottle, -0.983, 0.826, -1.206, 0, 180, 0, 106 [SEP] 25, Plate, 1.422, 0.914, 1.468, 0, 0, 0, 82 [SEP] 26, Fork, 1.209, 0.771, 1.122, 0, 90, 0, 92 [SEP] 27, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 53 [SEP] 28, Bread, 1.688, 0.969, 1.468, 0, 0, 0, 82 [SEP] 29, Egg, 0.570, 1.822, 1.423, 0, 180, 0, 105 [SEP] 30, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 47 [SEP] 31, Tomato, 2.715, 1.050, -0.644, 0, 0, 0, 102 [SEP] 32, Cup, 1.559, 1.653, -0.771, 0, 180, 0, 84 [SEP] 33, Spatula, -0.007, 0.926, 1.214, 0, 90, 0, 58 [SEP] 34, Apple, -1.991, 0.492, 1.290, 0, 270, 0, 100 [SEP] 35, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 50 [SEP] 36, Lettuce, 1.141, 0.992, -0.769, 0, 0, 0, 47 [SEP] 37, SaltShaker, 0.290, 1.651, -0.693, 0, 180, 0, 87 [SEP] 38, Knife, 0.888, 0.944, -0.345, 0, 0, 0, 47 [SEP] 39, Potato, -0.087, 0.800, -0.541, 0, 0, 0, 104 [SEP] 40, PepperShaker, 0.349, 0.908, -0.302, 0, 0, 0, 47 [SEP] 41, ButterKnife, 2.488, 0.911, 1.468, 0, 0, 0, 82 [SEP] 42, Bowl, -0.839, 0.818, -1.360, 0, 90, 0, 106 [SEP] 43, DishSponge, -0.682, 0.820, -1.400, 0, 0, 0, 106 [SEP] 44, Spoon, 1.155, 0.912, 1.468, 0, 0, 0, 82 [SEP] 45, Mug, 1.155, 0.906, 1.298, 0, 0, 0, 82 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 108, NorthWall, , , , , , , [SEP] 109, EastWall, , , , , , , [SEP] 110, SouthWall, , , , , , , [SEP] 111, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, go straight, then turn left at the coffee maker. | STEP 2: Get the mug from the coffee maker. | STEP 3: Go to the stove behind you. | STEP 4: Heat the mug in the microwave, above the stove. | STEP 5: Return to the coffee maker behind you, on the counter. | STEP 6: Place the mug at the coffee maker. | END"]} {"id": "trial_T20190909_010533_779015-1", "input": "Put two pencils on top of the brown drawers under 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, 0.909, -1.0, 0, 180, 0, [SEP] 1, Pen, -1.066, 0.809, -4.246, 0, 0, 0, 36 [SEP] 2, Pen, -1.066, 0.809, -4.029, 0, 0, 0, 36 [SEP] 3, Pencil, -1.878, 0.066, -3.920, 0, 9.990, 0, 25 [SEP] 4, CreditCard, -1.270, 0.800, -4.354, 0, 0, 0, 36 [SEP] 5, CreditCard, -0.657, 0.800, -3.920, 0, 0, 0, 36 [SEP] 6, Book, -1.270, 0.804, -3.811, 0, 0, 0, 36 [SEP] 7, Book, -2.559, 0.620, -1.218, 0, 0, 0, 21 [SEP] 8, Book, -3.760, 0.980, -3.472, 0, 0, 0, 39 [SEP] 9, CellPhone, -0.453, 0.800, -4.354, 0, 0, 0, 36 [SEP] 10, Laptop, -3.191, 0.618, -1.793, 0, 0, 0, 21 [SEP] 11, CreditCard, -0.507, 0.542, -3.731, 0, 0, 0, 30 [SEP] 12, AlarmClock, -0.862, 0.800, -4.354, 0, 0, 0, 36 [SEP] 13, KeyChain, -0.685, 0.543, -3.713, 0, 0, 0, 30 [SEP] 14, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 21 [SEP] 15, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 16, Pencil, -3.687, 0.983, -4.276, 0, 0, 0, 39 [SEP] 17, Pillow, -3.402, 0.722, -0.931, 0, 0, 0, 21 [SEP] 18, CD, -3.687, 0.979, -3.070, 0, 0, 0, 39 [SEP] 19, Pen, -3.582, 0.424, -3.185, 0, 0, 0, 47 [SEP] 20, Mug, -0.418, 0.541, -3.731, 0, 180, 0, 30 [SEP] 21, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 22, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 23, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 24, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 25, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 26, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 27, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 28, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 29, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 30, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 31, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 32, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 33, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 34, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 35, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 36, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 37, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 38, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 39, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 40, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 41, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 42, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 44, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 48, NorthWall, , , , , , , [SEP] 49, EastWall, , , , , , , [SEP] 50, SouthWall, , , , , , , [SEP] 51, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward seven steps then turn right for eight steps, turn left for five steps and then turn left stopping in front of the trash can. | STEP 2: Take the pencil out of the trash can. | STEP 3: Turn left for four steps; turn right for six steps, then turn left to face the desk. | STEP 4: Put the pencil on the far right bottom corner on the top of the brown drawers set, with the lead pointing to the left. | STEP 5: Turn right for six steps, turn left for three steps, and then turn right to face the dark brown dresser. | STEP 6: Pick up the pencil on the dresser. | STEP 7: Turn right for five steps; turn right for nine steps then turn left to face the table. | STEP 8: Put the pencil above the pencil on the left, facing up and down. | END"]} {"id": "trial_T20190908_035101_399652-2", "input": "Place two alarm clocks 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, 0.0, 0.949, 1.75, 0, 90, 0, [SEP] 1, CellPhone, 1.723, 0.610, -0.172, 0, 0, 0, 24 [SEP] 2, CellPhone, 2.803, 0.988, -1.949, 0, 270, 0, 39 [SEP] 3, Pen, -0.904, 0.790, -0.128, 0, 0, 0, 60 [SEP] 4, Pen, -0.776, 0.179, 0.120, 0, 0, 0, 53 [SEP] 5, CreditCard, 3.341, 0.416, 1.294, 0, 0, 0, 65 [SEP] 6, CreditCard, -0.772, 0.783, -0.548, 0, 0, 0, 60 [SEP] 7, Book, -0.772, 0.784, -0.128, 0, 0, 0, 60 [SEP] 8, Laptop, 2.545, 0.607, 0.308, 0, 0, 0, 24 [SEP] 9, AlarmClock, -0.772, 0.786, -0.548, 0, 0, 0, 60 [SEP] 10, AlarmClock, 2.234, 0.986, -1.774, 0, 270, 0, 39 [SEP] 11, Book, 3.012, 0.184, -1.892, 0, 270, 0, 38 [SEP] 12, KeyChain, -1.037, 0.786, -0.758, 0, 0, 0, 60 [SEP] 13, CreditCard, 1.950, 0.985, -1.687, 0, 270, 0, 39 [SEP] 14, Pen, 3.377, 0.729, 1.533, 0, 180, 0, 64 [SEP] 15, Pencil, -0.848, 0.178, -0.292, 0, 0, 0, 56 [SEP] 16, Laptop, 1.447, 0.981, -1.894, 0, 328.961, 0, 39 [SEP] 17, Vase, 1.950, 0.990, -2.037, 0, 270, 0, 39 [SEP] 18, AlarmClock, -0.904, 0.786, -0.338, 0, 0, 0, 60 [SEP] 19, Pillow, 2.533, 0.631, 1.264, 0, 0, 0, 24 [SEP] 20, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 24 [SEP] 21, CellPhone, -0.885, 0.380, 0.437, 0, 0, 0, 58 [SEP] 22, CD, 2.596, 0.885, -1.685, 0, 270, 0, 33 [SEP] 23, Vase, 2.519, 0.989, -2.037, 0, 270, 0, 39 [SEP] 24, Bed, 2.217, 0.050, 0.585, 0, 0, 0, [SEP] 25, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0, [SEP] 26, Painting, 2.990, 1.592, 1.567, 90, 0, 0, [SEP] 27, Painting, 1.524, 1.592, 1.567, 90, 0, 0, [SEP] 28, Mirror, -1.190, 1.417, -0.223, 0, 270, 0, [SEP] 29, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0, [SEP] 30, Window, -2.629, 1.460, 2.891, 90, 270, 0, [SEP] 31, Window, -2.629, 1.460, 4.084, 90, 270, 0, [SEP] 32, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0, [SEP] 33, Drawer, 2.490, 0.949, -1.703, 0, 0, 0, [SEP] 34, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0, [SEP] 35, Drawer, 1.975, 0.949, -1.703, 0, 0, 0, [SEP] 36, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0, [SEP] 37, Drawer, 1.457, 0.949, -1.703, 0, 0, 0, [SEP] 38, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0, [SEP] 39, Dresser, 2.234, 0.048, -1.950, 0, 0, 0, [SEP] 40, Drawer, 3.011, 0.949, -1.703, 0, 0, 0, [SEP] 41, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0, [SEP] 42, Shelf, -0.163, 1.461, 3.219, 0, 180, 0, [SEP] 43, Drawer, -0.161, 0.242, 3.166, 0, 180, 0, [SEP] 44, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0, [SEP] 45, Drawer, -0.161, 0.562, 3.168, 0, 180, 0, [SEP] 46, Shelf, -0.162, 0.922, 3.164, 0, 180, 0, [SEP] 47, Shelf, -0.162, 1.241, 3.163, 0, 180, 0, [SEP] 48, Blinds, -2.550, 2.486, 2.911, 0, 90, 0, [SEP] 49, Blinds, -2.550, 2.486, 4.107, 0, 90, 0, [SEP] 50, Drawer, -0.833, 0.217, -0.336, 0, 90, 0, [SEP] 51, Drawer, -0.833, 0.217, 0.486, 0, 90, 0, [SEP] 52, Drawer, -0.833, 0.628, -0.747, 0, 90, 0, [SEP] 53, Drawer, -0.833, 0.217, 0.075, 0, 90, 0, [SEP] 54, Drawer, -0.833, 0.628, 0.486, 0, 90, 0, [SEP] 55, Drawer, -0.833, 0.217, -0.747, 0, 90, 0, [SEP] 56, Drawer, -0.833, 0.423, -0.336, 0, 90, 0, [SEP] 57, Drawer, -0.833, 0.423, 0.075, 0, 90, 0, [SEP] 58, Drawer, -0.833, 0.423, 0.486, 0, 90, 0, [SEP] 59, Drawer, -0.833, 0.423, -0.747, 0, 90, 0, [SEP] 60, Dresser, -0.934, 0.050, -0.129, 0, 90, 0, [SEP] 61, Drawer, -0.833, 0.628, 0.075, 0, 90, 0, [SEP] 62, Drawer, -0.833, 0.628, -0.336, 0, 90, 0, [SEP] 63, Drawer, 3.454, 0.212, 1.262, 0, 180, 0, [SEP] 64, SideTable, 3.455, 0.046, 1.328, 0, 180, 0, [SEP] 65, Drawer, 3.454, 0.504, 1.262, 0, 180, 0, [SEP] 66, NorthWall, , , , , , , [SEP] 67, EastWall, , , , , , , [SEP] 68, SouthWall, , , , , , , [SEP] 69, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the end of the dresser. | STEP 2: Pick up the right most alarm clock. | STEP 3: Turn right and walk to the dresser with shelves. | STEP 4: Place the alarm clock on the bottom shelf. | STEP 5: Turn around and walk back to the first dresser. | STEP 6: Pick up the other alarm clock on the dresser. | STEP 7: Turn right and walk back to the dresser with shelves. | STEP 8: Place the alarm on the shelf to the right of the first alarm clock. | END"]} {"id": "trial_T20190907_115731_853452-1", "input": "Cool down 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, -0.5, 0.931, 1.0, 0, 180, 0, [SEP] 1, DishSponge, -0.346, 1.046, -1.397, 0, 0, 0, 49 [SEP] 2, ButterKnife, 0.516, 1.032, 0.545, 0, 0, 0, 51 [SEP] 3, Kettle, -0.312, 0.204, -1.265, 0, 0, 0, 58 [SEP] 4, Pot, -0.624, 1.566, -1.470, 0, 270, 0, 54 [SEP] 5, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 45 [SEP] 6, Fork, 1.612, 1.043, 0.091, 0, 0, 0, 51 [SEP] 7, Spoon, -0.517, 1.048, -1.289, 0, 270, 0, 49 [SEP] 8, Spoon, 0.657, 1.048, -1.107, 0, 0, 0, 49 [SEP] 9, Spatula, -0.775, 1.061, -1.828, 0, 90, 0, 49 [SEP] 10, Egg, 1.151, 0.947, 0.158, 0, 90, 0, 46 [SEP] 11, Egg, -1.303, 1.543, 2.242, 0, 90, 0, 64 [SEP] 12, Cup, -0.517, 1.047, -1.505, 0, 0, 0, 49 [SEP] 13, Cup, -1.268, 1.948, 2.331, 0, 90, 0, 64 [SEP] 14, Plate, -1.261, 0.215, -1.338, 0, 0, 0, 57 [SEP] 15, Tomato, -1.300, 1.279, 1.796, 0, 90, 0, 64 [SEP] 16, Tomato, 0.805, 1.104, 0.131, 0, 90, 0, 47 [SEP] 17, SoapBottle, 1.743, 1.020, -1.557, 0, 0, 0, 55 [SEP] 18, Bowl, -1.184, 2.027, -1.482, 0, 0, 0, 56 [SEP] 19, SaltShaker, 1.897, 1.014, -1.264, 0, 0, 0, 55 [SEP] 20, PepperShaker, -1.105, 0.197, -1.555, 0, 0, 0, 57 [SEP] 21, Lettuce, -1.103, 1.287, 2.063, 0, 90, 0, 64 [SEP] 22, Apple, 1.910, 0.166, 2.358, 0, 270, 0, 65 [SEP] 23, SoapBottle, -0.760, 0.204, -1.625, 0, 0, 0, 58 [SEP] 24, Apple, 0.848, 1.097, 0.381, 0, 90, 0, 47 [SEP] 25, Potato, -1.419, 1.542, 1.796, 0, 90, 0, 64 [SEP] 26, Fork, 0.031, 1.033, 0.122, 0, 0, 0, 51 [SEP] 27, Kettle, 0.007, 1.050, -1.400, 0, 0, 0, 48 [SEP] 28, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 49 [SEP] 29, Tomato, 0.936, 1.104, 0.231, 0, 90, 0, 47 [SEP] 30, SaltShaker, -0.038, 1.041, -1.118, 0, 0, 0, 49 [SEP] 31, Egg, -1.071, 0.762, 1.974, 0, 90, 0, 64 [SEP] 32, Cup, 0.801, 0.200, -1.484, 0, 0, 0, 60 [SEP] 33, Spatula, 1.015, 1.058, 0.676, 0, 0, 0, 51 [SEP] 34, Knife, 0.877, 1.042, -1.362, 90, 315, 0, 49 [SEP] 35, Lettuce, -0.689, 1.106, -1.289, 0, 0, 0, 49 [SEP] 36, ButterKnife, 0.065, 1.043, 0.522, 0, 0, 0, 51 [SEP] 37, PepperShaker, 0.740, 1.041, -1.181, 0, 0, 0, 49 [SEP] 38, DishSponge, 1.817, 0.204, -1.262, 0, 0, 0, 59 [SEP] 39, Plate, 1.588, 0.217, -1.335, 0, 0, 0, 59 [SEP] 40, Bread, 0.405, 1.104, 0.353, 0, 337.137, 0, 51 [SEP] 41, Spoon, -0.432, 1.048, -1.181, 0, 0, 0, 49 [SEP] 42, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 50 [SEP] 43, Mug, 1.347, 1.038, 0.632, 0, 0, 0, 51 [SEP] 44, Bowl, 1.188, 1.563, -1.689, 0, 0, 0, 53 [SEP] 45, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 46, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 47, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 48, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 49, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 50, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 51, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 52, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 53, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 54, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 55, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 56, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 57, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 58, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 59, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 60, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 61, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 62, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 63, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 64, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 65, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 66, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 67, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 68, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 70, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 71, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 72, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 73, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 74, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 75, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 76, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 77, NorthWall, , , , , , , [SEP] 78, EastWall, , , , , , , [SEP] 79, SouthWall, , , , , , , [SEP] 80, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk towards the counter with the sink. | STEP 2: Pick up the cup near the sink. | STEP 3: Turn right towards the fridge. | STEP 4: Place the cup on the shelf above the egg in the fridge, let it cool, and take the cup back out. | STEP 5: Turn left and look at the counter to your left. | STEP 6: Place the cup on the counter. | END"]} {"id": "trial_T20190919_005844_577060-2", "input": "To move two pepper mills from the cabinets to the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.931, -0.25, 0, 0, 0, [SEP] 1, Potato, -1.096, 1.769, -1.331, 0, 0, 0, 64 [SEP] 2, DishSponge, -0.603, 1.046, -1.181, 0, 0, 0, 50 [SEP] 3, DishSponge, 1.817, 0.204, -1.553, 0, 0, 0, 60 [SEP] 4, Kettle, 0.389, 1.053, -1.630, 0, 0, 0, 46 [SEP] 5, Kettle, -1.339, 0.203, -1.265, 0, 0, 0, 58 [SEP] 6, Fork, 0.657, 1.047, -1.129, 0, 0, 0, 50 [SEP] 7, Spatula, -0.260, 1.061, -1.828, 0, 90, 0, 50 [SEP] 8, Spatula, 1.015, 1.058, 0.589, 0, 0, 0, 52 [SEP] 9, Cup, -0.949, 0.202, -1.338, 0, 0, 0, 58 [SEP] 10, Cup, 1.158, 0.200, -1.339, 0, 0, 0, 61 [SEP] 11, Plate, 1.512, 1.032, -1.264, 0, 0, 0, 56 [SEP] 12, Knife, 1.155, 1.072, -1.397, 0, 90, 0, 50 [SEP] 13, Knife, -0.346, 1.072, -1.612, 0, 90, 0, 50 [SEP] 14, SoapBottle, 1.817, 0.205, -1.335, 0, 0, 0, 60 [SEP] 15, SoapBottle, 1.512, 0.205, -1.480, 0, 0, 0, 60 [SEP] 16, Bowl, -1.169, 1.227, 2.063, 0, 90, 0, 65 [SEP] 17, SaltShaker, 0.542, 1.038, 0.091, 0, 0, 0, 52 [SEP] 18, SaltShaker, -0.775, 1.041, -1.397, 0, 0, 0, 50 [SEP] 19, PepperShaker, -1.416, 0.197, -1.482, 0, 0, 0, 58 [SEP] 20, PepperShaker, -0.222, 0.198, -1.481, 0, 90, 0, 59 [SEP] 21, PepperShaker, -1.105, 0.197, -1.410, 0, 0, 0, 58 [SEP] 22, Mug, -1.423, 1.708, 2.242, 0, 90, 0, 65 [SEP] 23, Apple, -1.312, 1.756, 2.331, 0, 90, 0, 65 [SEP] 24, SoapBottle, -0.473, 1.565, -1.619, 0, 0, 0, 55 [SEP] 25, Apple, -1.312, 1.756, 2.063, 0, 90, 0, 65 [SEP] 26, Potato, -1.126, 1.017, 1.885, 0, 90, 0, 65 [SEP] 27, Fork, 0.446, 1.043, 0.630, 0, 90, 0, 52 [SEP] 28, Kettle, 0.120, 1.053, -1.630, 0, 0, 0, 53 [SEP] 29, Pan, -1.261, 2.027, -1.482, 0, 180, 0, 57 [SEP] 30, Tomato, -1.051, 0.758, 1.974, 0, 90, 0, 65 [SEP] 31, SaltShaker, 1.436, 0.199, -1.190, 0, 0, 0, 60 [SEP] 32, Egg, 1.826, 0.177, 2.414, 0, 270, 0, 66 [SEP] 33, Cup, 1.701, 1.043, 0.738, 0, 0, 0, 52 [SEP] 34, Spatula, 1.701, 1.058, 0.307, 0, 0, 0, 52 [SEP] 35, Knife, 1.790, 1.069, 0.630, 0, 0, 0, 52 [SEP] 36, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 48 [SEP] 37, ButterKnife, 0.065, 1.043, 0.522, 0, 0, 0, 52 [SEP] 38, PepperShaker, 1.158, 0.194, -1.556, 0, 0, 0, 61 [SEP] 39, DishSponge, 1.181, 1.042, 0.676, 0, 0, 0, 52 [SEP] 40, Plate, 1.036, 1.577, -1.538, 0, 0, 0, 54 [SEP] 41, Bread, 0.406, 1.104, 0.352, 0, 337.138, 0, 52 [SEP] 42, Spoon, -0.517, 1.048, -1.289, 0, 0, 0, 50 [SEP] 43, Pot, 1.589, 1.021, -1.557, 0, 270, 0, 56 [SEP] 44, Mug, -1.312, 1.708, 1.885, 0, 90, 0, 65 [SEP] 45, Bowl, -1.342, 1.488, 1.885, 0, 90, 0, 65 [SEP] 46, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 47, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 48, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 49, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 50, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 52, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 53, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 54, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 55, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 56, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 57, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 58, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 59, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 60, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 61, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 62, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 63, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 64, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 65, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 66, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 67, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 68, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 69, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 70, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 71, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 72, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 73, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 74, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 75, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 76, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 77, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 78, NorthWall, , , , , , , [SEP] 79, EastWall, , , , , , , [SEP] 80, SouthWall, , , , , , , [SEP] 81, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the counter to the right of the stove. | STEP 2: Open the cabinet under the counter with the toaster, take out the pepper mill, and close the door. | STEP 3: Face the counter in front of you with the toaster on it. | STEP 4: Put the pepper mill down on the counter to the left of the sponge. | STEP 5: Move to face the lower cabinet to the right. | STEP 6: Open the cabinet door, pick up the pepper mill behind the kettle, and close the door. | STEP 7: Turn around and walk back to the counter with the toaster on it. | STEP 8: Place the pepper mill on the counter to the right of the sponge. | END"]} {"id": "trial_T20190918_155833_059590-2", "input": "Put the heated apple in the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.931, -0.5, 0, 180, 0, [SEP] 1, Pan, -1.027, 0.202, -1.482, 0, 90, 0, 60 [SEP] 2, Pan, -1.300, 1.227, 2.063, 0, 180, 0, 67 [SEP] 3, Kettle, 1.820, 1.020, -1.411, 0, 0, 0, 58 [SEP] 4, Pot, 1.068, 0.201, -1.339, 0, 0, 0, 63 [SEP] 5, Fork, 0.065, 1.043, 0.307, 0, 180, 0, 54 [SEP] 6, Spoon, 0.516, 1.044, 0.720, 0, 0, 0, 54 [SEP] 7, Spatula, -0.517, 1.061, -1.397, 0, 0, 0, 52 [SEP] 8, Egg, -0.260, 1.101, -1.828, 0, 0, 0, 52 [SEP] 9, Cup, -0.222, 0.203, -1.625, 0, 0, 0, 61 [SEP] 10, Cup, 1.523, 1.043, 0.091, 0, 0, 0, 54 [SEP] 11, Plate, -0.699, 1.577, -1.767, 0, 0, 0, 57 [SEP] 12, Knife, 0.848, 1.069, 0.632, 0, 0, 0, 54 [SEP] 13, Tomato, -1.051, 0.758, 1.885, 0, 90, 0, 67 [SEP] 14, Tomato, 0.936, 1.104, 0.131, 0, 90, 0, 50 [SEP] 15, SoapBottle, -1.184, 2.029, -1.409, 0, 0, 0, 59 [SEP] 16, SoapBottle, 1.072, 1.047, -1.181, 0, 0, 0, 52 [SEP] 17, Bowl, 1.512, 1.018, -1.337, 0, 0, 0, 58 [SEP] 18, Bowl, -0.580, 0.202, -1.553, 0, 0, 0, 61 [SEP] 19, SaltShaker, -0.760, 0.198, -1.553, 0, 0, 0, 61 [SEP] 20, SaltShaker, 0.960, 1.560, -1.614, 0, 0, 0, 56 [SEP] 21, PepperShaker, 1.263, 1.560, -1.764, 0, 0, 0, 56 [SEP] 22, PepperShaker, 1.238, 1.041, -1.612, 0, 0, 0, 52 [SEP] 23, Lettuce, -1.095, 1.023, 1.974, 0, 90, 0, 67 [SEP] 24, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 70 [SEP] 25, Mug, 0.542, 1.038, 0.091, 0, 0, 0, 54 [SEP] 26, SoapBottle, -1.416, 2.029, -1.409, 0, 0, 0, 59 [SEP] 27, Apple, 0.936, 1.097, 0.381, 0, 90, 0, 50 [SEP] 28, Potato, 0.805, 1.106, 0.131, 0, 90, 0, 50 [SEP] 29, Fork, 0.031, 1.033, 0.122, 0, 0, 0, 54 [SEP] 30, Kettle, 0.5, 1.057, -1.4, 0, 0, 0, 53 [SEP] 31, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 52 [SEP] 32, Tomato, 1.701, 1.094, 0.630, 0, 0, 0, 54 [SEP] 33, SaltShaker, 1.238, 1.041, -1.828, 0, 90, 0, 52 [SEP] 34, Egg, -0.775, 1.101, -1.720, 0, 0, 0, 52 [SEP] 35, Cup, -1.169, 1.228, 1.796, 0, 90, 0, 67 [SEP] 36, Spatula, -0.603, 1.061, -1.181, 0, 0, 0, 52 [SEP] 37, Knife, 1.181, 1.069, 0.720, 0, 0, 0, 54 [SEP] 38, Lettuce, -0.432, 1.106, -1.397, 0, 0, 0, 52 [SEP] 39, ButterKnife, 0.717, 1.053, 0.181, 0, 90, 0, 50 [SEP] 40, PepperShaker, 0.712, 0.194, -1.267, 0, 0, 0, 63 [SEP] 41, DishSponge, 1.512, 0.204, -1.480, 0, 0, 0, 62 [SEP] 42, Plate, 1.741, 0.217, -1.408, 0, 0, 0, 62 [SEP] 43, Bread, 0.406, 1.104, 0.352, 0, 337.138, 0, 54 [SEP] 44, Spoon, -0.517, 1.048, -1.181, 0, 180, 0, 52 [SEP] 45, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 55 [SEP] 46, Mug, 1.347, 1.038, 0.632, 0, 0, 0, 54 [SEP] 47, Bowl, 0.255, 1.042, 0.738, 0, 0, 0, 54 [SEP] 48, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 49, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 50, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 51, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 52, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 54, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 55, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 56, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 57, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 58, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 59, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 60, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 61, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 62, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 63, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 64, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 65, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 66, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 67, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 68, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 69, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 70, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 71, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 72, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 73, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 74, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 75, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 76, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 77, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 78, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 79, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 80, NorthWall, , , , , , , [SEP] 81, EastWall, , , , , , , [SEP] 82, SouthWall, , , , , , , [SEP] 83, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and face the sink | STEP 2: Pick up the apple on the left side of the sink | STEP 3: Turn left then head to the microwave on your left | STEP 4: Open the microwave heat up the apple,take it out then close the microwave | STEP 5: Turn left and head back to the sink | STEP 6: Put the apple in the sink | END"]} {"id": "trial_T20190918_173557_625058-0", "input": "Slice, clean and put a tomato into the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.931, -0.75, 0, 90, 0, [SEP] 1, Potato, 0.446, 1.096, 0.630, 0, 0, 0, 50 [SEP] 2, ButterKnife, 0.160, 1.043, 0.738, 0, 0, 0, 50 [SEP] 3, Pot, -1.261, 0.204, -1.265, 0, 270, 0, 56 [SEP] 4, Spoon, 0.717, 1.054, 0.131, 0, 90, 0, 46 [SEP] 5, Plate, -1.366, 1.241, 1.974, 0, 90, 0, 63 [SEP] 6, Knife, 0.379, 1.072, -1.118, 0, 0, 0, 48 [SEP] 7, Knife, 0.848, 1.069, 0.632, 0, 0, 0, 50 [SEP] 8, Tomato, 1.238, 1.097, -1.289, 0, 0, 0, 48 [SEP] 9, Tomato, 0.936, 1.104, 0.131, 0, 90, 0, 46 [SEP] 10, SoapBottle, -0.580, 0.204, -1.409, 0, 0, 0, 57 [SEP] 11, SoapBottle, 1.854, 0.123, 2.414, 0, 270, 0, 64 [SEP] 12, Bowl, 1.741, 0.203, -1.553, 0, 0, 0, 58 [SEP] 13, Bowl, -1.349, 1.712, 2.153, 0, 90, 0, 63 [SEP] 14, SaltShaker, 1.968, 1.038, 0.738, 0, 0, 0, 50 [SEP] 15, SaltShaker, -0.398, 1.560, -1.841, 0, 0, 0, 53 [SEP] 16, PepperShaker, 0.823, 1.041, -1.181, 0, 0, 0, 48 [SEP] 17, PepperShaker, 1.523, 1.038, 0.522, 0, 0, 0, 50 [SEP] 18, Mug, 0.936, 1.048, 0.331, 0, 90, 0, 46 [SEP] 19, Mug, -0.670, 0.198, -1.553, 0, 0, 0, 57 [SEP] 20, Apple, 1.701, 1.086, 0.738, 0, 0, 0, 50 [SEP] 21, Apple, 0.936, 1.097, 0.231, 0, 90, 0, 46 [SEP] 22, SoapBottle, 1.015, 1.044, 0.763, 0, 0, 0, 50 [SEP] 23, Apple, -1.303, 1.532, 1.796, 0, 90, 0, 63 [SEP] 24, Potato, -1.381, 1.542, 2.153, 0, 90, 0, 63 [SEP] 25, Fork, 0.848, 1.043, 0.807, 0, 0, 0, 50 [SEP] 26, Kettle, -0.401, 0.204, -1.553, 0, 0, 0, 57 [SEP] 27, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 48 [SEP] 28, Tomato, -1.103, 1.279, 1.796, 0, 90, 0, 63 [SEP] 29, SaltShaker, 1.247, 0.194, -1.484, 0, 0, 0, 59 [SEP] 30, Egg, -1.096, 1.770, -1.269, 0, 0, 0, 62 [SEP] 31, Cup, -0.312, 0.203, -1.265, 0, 0, 0, 57 [SEP] 32, Spatula, 1.181, 1.058, 0.720, 0, 0, 0, 50 [SEP] 33, Knife, 1.612, 1.069, 0.522, 0, 180, 0, 50 [SEP] 34, Lettuce, -1.300, 1.287, 2.242, 0, 90, 0, 63 [SEP] 35, ButterKnife, -0.177, 1.046, -1.140, 0, 0, 0, 48 [SEP] 36, PepperShaker, 0.809, 1.560, -1.463, 0, 0, 0, 52 [SEP] 37, DishSponge, 1.665, 0.204, -1.190, 0, 0, 0, 58 [SEP] 38, Plate, 1.666, 1.032, -1.264, 0, 0, 0, 54 [SEP] 39, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 50 [SEP] 40, Spoon, 0.160, 1.044, 0.630, 0, 0, 0, 50 [SEP] 41, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 49 [SEP] 42, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 66 [SEP] 43, Bowl, -0.689, 1.045, -1.397, 0, 0, 0, 48 [SEP] 44, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 45, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 46, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 47, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 48, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 49, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 50, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 51, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 52, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 53, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 54, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 55, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 56, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 57, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 58, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 59, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 60, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 61, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 62, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 63, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 64, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 65, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 66, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 67, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 70, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 71, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 72, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 73, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 74, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 75, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 76, NorthWall, , , , , , , [SEP] 77, EastWall, , , , , , , [SEP] 78, SouthWall, , , , , , , [SEP] 79, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward to the stove then turn to the right to face it. | STEP 2: Pick up the knife with the yellow handle. | STEP 3: Turn to the left twice and approach the sink. | STEP 4: Slice the tomato to the left of the sink. | STEP 5: Put the knife in the sink. | STEP 6: Pick up a slice of tomato. | STEP 7: Wash the tomato in the sink. | STEP 8: Turn to the left, walk forward then turn to the left to face the microwave. | STEP 9: Put the sliced tomato into the microwave. | END"]} {"id": "trial_T20190918_173557_625058-1", "input": "Put a washed slice of 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, -1.25, 0.931, -0.75, 0, 90, 0, [SEP] 1, Potato, 0.446, 1.096, 0.630, 0, 0, 0, 50 [SEP] 2, ButterKnife, 0.160, 1.043, 0.738, 0, 0, 0, 50 [SEP] 3, Pot, -1.261, 0.204, -1.265, 0, 270, 0, 56 [SEP] 4, Spoon, 0.717, 1.054, 0.131, 0, 90, 0, 46 [SEP] 5, Plate, -1.366, 1.241, 1.974, 0, 90, 0, 63 [SEP] 6, Knife, 0.379, 1.072, -1.118, 0, 0, 0, 48 [SEP] 7, Knife, 0.848, 1.069, 0.632, 0, 0, 0, 50 [SEP] 8, Tomato, 1.238, 1.097, -1.289, 0, 0, 0, 48 [SEP] 9, Tomato, 0.936, 1.104, 0.131, 0, 90, 0, 46 [SEP] 10, SoapBottle, -0.580, 0.204, -1.409, 0, 0, 0, 57 [SEP] 11, SoapBottle, 1.854, 0.123, 2.414, 0, 270, 0, 64 [SEP] 12, Bowl, 1.741, 0.203, -1.553, 0, 0, 0, 58 [SEP] 13, Bowl, -1.349, 1.712, 2.153, 0, 90, 0, 63 [SEP] 14, SaltShaker, 1.968, 1.038, 0.738, 0, 0, 0, 50 [SEP] 15, SaltShaker, -0.398, 1.560, -1.841, 0, 0, 0, 53 [SEP] 16, PepperShaker, 0.823, 1.041, -1.181, 0, 0, 0, 48 [SEP] 17, PepperShaker, 1.523, 1.038, 0.522, 0, 0, 0, 50 [SEP] 18, Mug, 0.936, 1.048, 0.331, 0, 90, 0, 46 [SEP] 19, Mug, -0.670, 0.198, -1.553, 0, 0, 0, 57 [SEP] 20, Apple, 1.701, 1.086, 0.738, 0, 0, 0, 50 [SEP] 21, Apple, 0.936, 1.097, 0.231, 0, 90, 0, 46 [SEP] 22, SoapBottle, 1.015, 1.044, 0.763, 0, 0, 0, 50 [SEP] 23, Apple, -1.303, 1.532, 1.796, 0, 90, 0, 63 [SEP] 24, Potato, -1.381, 1.542, 2.153, 0, 90, 0, 63 [SEP] 25, Fork, 0.848, 1.043, 0.807, 0, 0, 0, 50 [SEP] 26, Kettle, -0.401, 0.204, -1.553, 0, 0, 0, 57 [SEP] 27, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 48 [SEP] 28, Tomato, -1.103, 1.279, 1.796, 0, 90, 0, 63 [SEP] 29, SaltShaker, 1.247, 0.194, -1.484, 0, 0, 0, 59 [SEP] 30, Egg, -1.096, 1.770, -1.269, 0, 0, 0, 62 [SEP] 31, Cup, -0.312, 0.203, -1.265, 0, 0, 0, 57 [SEP] 32, Spatula, 1.181, 1.058, 0.720, 0, 0, 0, 50 [SEP] 33, Knife, 1.612, 1.069, 0.522, 0, 180, 0, 50 [SEP] 34, Lettuce, -1.300, 1.287, 2.242, 0, 90, 0, 63 [SEP] 35, ButterKnife, -0.177, 1.046, -1.140, 0, 0, 0, 48 [SEP] 36, PepperShaker, 0.809, 1.560, -1.463, 0, 0, 0, 52 [SEP] 37, DishSponge, 1.665, 0.204, -1.190, 0, 0, 0, 58 [SEP] 38, Plate, 1.666, 1.032, -1.264, 0, 0, 0, 54 [SEP] 39, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 50 [SEP] 40, Spoon, 0.160, 1.044, 0.630, 0, 0, 0, 50 [SEP] 41, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 49 [SEP] 42, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 66 [SEP] 43, Bowl, -0.689, 1.045, -1.397, 0, 0, 0, 48 [SEP] 44, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 45, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 46, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 47, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 48, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 49, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 50, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 51, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 52, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 53, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 54, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 55, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 56, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 57, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 58, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 59, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 60, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 61, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 62, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 63, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 64, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 65, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 66, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 67, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 70, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 71, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 72, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 73, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 74, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 75, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 76, NorthWall, , , , , , , [SEP] 77, EastWall, , , , , , , [SEP] 78, SouthWall, , , , , , , [SEP] 79, WestWall, , , , , , , ", "output": ["STEP 1: Go to the front of the left side of the stove. | STEP 2: Pick up the yellow knife on the front edge of the counter | STEP 3: Turn around and go to the sink on the other side. | STEP 4: Slice the red tomato on the counter. | STEP 5: Place the knife inside the sink. | STEP 6: Pick up one slice of the tomato. | STEP 7: Wash the slice inside the sink under running water and take it out. | STEP 8: Turn around and go to the microwave above the oven. | STEP 9: Place the tomato slice in the microwave. | END"]} {"id": "trial_T20190907_040619_780535-1", "input": "place two remote controller's down on top of the sofa SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, 0.0, 0, 0, 0, [SEP] 1, Watch, -0.712, 0.552, -0.451, 0, 270, 0, 32 [SEP] 2, Newspaper, -0.323, 0.197, -0.544, 0, 90, 0, 41 [SEP] 3, Newspaper, -0.260, 0.550, -0.278, 0, 270, 0, 32 [SEP] 4, KeyChain, -1.100, 0.199, -0.544, 0, 90, 0, 33 [SEP] 5, KeyChain, -0.260, 0.553, -0.451, 0, 270, 0, 32 [SEP] 6, CreditCard, -0.582, 0.039, -0.544, 0, 90, 0, 27 [SEP] 7, RemoteControl, 1.808, 0.871, 0.008, 0, 90, 0, 38 [SEP] 8, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 40 [SEP] 9, KeyChain, -0.5, 0.321, -1.990, 0, 90, 0, 34 [SEP] 10, Watch, 1.766, 0.870, 0.220, 0, 90, 0, 38 [SEP] 11, Newspaper, 1.522, 0.313, -0.435, 0, 0, 0, 40 [SEP] 12, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 34 [SEP] 13, CreditCard, 1.933, 0.870, 0.220, 0, 90, 0, 38 [SEP] 14, RemoteControl, 1.766, 0.871, 0.431, 0, 90, 0, 38 [SEP] 15, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 32 [SEP] 16, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 32 [SEP] 17, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 32 [SEP] 18, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 19, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 20, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 21, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 22, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 23, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 24, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 25, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 26, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 27, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 29, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 30, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 31, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 32, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 33, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 34, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 35, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 36, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 37, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 38, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 39, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 40, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 41, , , , , , , , [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: turn right and walk to the end of the room where the table is | STEP 2: grab the remote controller off of the table | STEP 3: turn around and walk over to the sofa on the left | STEP 4: place the remote controller down on the sofa | STEP 5: turn left and walk over to the table in the corner of the room | STEP 6: take the second remote controller off of the table this time | STEP 7: turn around and walk over to the sofa on the left | STEP 8: place the remote controller down on top of the sofa | END"]} {"id": "trial_T20190907_040619_780535-3", "input": "Place two remotes on a couch. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, 0.0, 0, 0, 0, [SEP] 1, Watch, -0.712, 0.552, -0.451, 0, 270, 0, 32 [SEP] 2, Newspaper, -0.323, 0.197, -0.544, 0, 90, 0, 41 [SEP] 3, Newspaper, -0.260, 0.550, -0.278, 0, 270, 0, 32 [SEP] 4, KeyChain, -1.100, 0.199, -0.544, 0, 90, 0, 33 [SEP] 5, KeyChain, -0.260, 0.553, -0.451, 0, 270, 0, 32 [SEP] 6, CreditCard, -0.582, 0.039, -0.544, 0, 90, 0, 27 [SEP] 7, RemoteControl, 1.808, 0.871, 0.008, 0, 90, 0, 38 [SEP] 8, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 40 [SEP] 9, KeyChain, -0.5, 0.321, -1.990, 0, 90, 0, 34 [SEP] 10, Watch, 1.766, 0.870, 0.220, 0, 90, 0, 38 [SEP] 11, Newspaper, 1.522, 0.313, -0.435, 0, 0, 0, 40 [SEP] 12, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 34 [SEP] 13, CreditCard, 1.933, 0.870, 0.220, 0, 90, 0, 38 [SEP] 14, RemoteControl, 1.766, 0.871, 0.431, 0, 90, 0, 38 [SEP] 15, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 32 [SEP] 16, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 32 [SEP] 17, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 32 [SEP] 18, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 19, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 20, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 21, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 22, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 23, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 24, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 25, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 26, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 27, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 29, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 30, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 31, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 32, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 33, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 34, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 35, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 36, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 37, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 38, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 39, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 40, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 41, , , , , , , , [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your right and walk to the table. | STEP 2: Pick up the remote to the right end of the table | STEP 3: Turn around, then turn left to reach the couch. | STEP 4: Place the remote on the right side of the middle couch cushion. | STEP 5: Turn around and walk back to the table where you picked up the first remote. | STEP 6: Pick up the other remote from the table. | STEP 7: Walk back to the couch. | STEP 8: Place the remote on the left side of the middle couch cushion. | END"]} {"id": "trial_T20190908_114236_195315-0", "input": "Move two bars of soap to the bath tub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.903, 1.0, 0, 270, 0, [SEP] 1, SoapBar, -1.144, 1.772, 2.127, 0, 0, 0, 25 [SEP] 2, Candle, -1.949, 1.088, -0.644, 0, 0, 0, 32 [SEP] 3, Candle, -2.343, 1.088, -0.705, 0, 0, 0, 32 [SEP] 4, SoapBottle, -1.144, 1.775, 2.217, 0, 0, 0, 25 [SEP] 5, SoapBottle, -1.687, 0.083, -0.655, 0, 270, 0, 30 [SEP] 6, Candle, -0.227, 0.650, 1.635, 0, 45, 0, 19 [SEP] 7, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 29 [SEP] 8, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 9, SoapBar, -2.080, 1.046, -0.736, 0, 0, 0, 32 [SEP] 10, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 22 [SEP] 11, SoapBottle, -0.980, 1.775, 2.217, 0, 0, 0, 25 [SEP] 12, TissueBox, -1.144, 0.289, 2.097, 0, 0, 0, 23 [SEP] 13, Cloth, -1.635, 0.293, 2.157, 0, 0, 0, 23 [SEP] 14, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 22 [SEP] 15, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 21 [SEP] 16, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 17, SprayBottle, -2.277, 1.048, -0.674, 0, 0, 0, 32 [SEP] 18, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 19, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 20, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 21, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 22, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 23, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 24, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 25, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 26, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 27, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 28, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 29, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 30, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 31, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 32, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 33, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 34, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 35, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 36, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, EastWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left and face the toilet on the left side. | STEP 2: Pick up the soap from the tank of the toilet. | STEP 3: Carry the soap and turn left, then right and go to the bath tub. | STEP 4: Place the soap inside the bath tub. | STEP 5: Turn around and then right to the shelf on the wall. Look up to the high shelf. | STEP 6: Pick up the bar of soap from the high shelf. | STEP 7: Carry the soap and turn around, and face the bath tub on the left. | STEP 8: Place the soap inside the bath tub. | END"]} {"id": "trial_T20190908_114236_195315-2", "input": "Move two bars of soap to the bath tub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.903, 1.0, 0, 270, 0, [SEP] 1, SoapBar, -1.144, 1.772, 2.127, 0, 0, 0, 25 [SEP] 2, Candle, -1.949, 1.088, -0.644, 0, 0, 0, 32 [SEP] 3, Candle, -2.343, 1.088, -0.705, 0, 0, 0, 32 [SEP] 4, SoapBottle, -1.144, 1.775, 2.217, 0, 0, 0, 25 [SEP] 5, SoapBottle, -1.687, 0.083, -0.655, 0, 270, 0, 30 [SEP] 6, Candle, -0.227, 0.650, 1.635, 0, 45, 0, 19 [SEP] 7, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 29 [SEP] 8, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 9, SoapBar, -2.080, 1.046, -0.736, 0, 0, 0, 32 [SEP] 10, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 22 [SEP] 11, SoapBottle, -0.980, 1.775, 2.217, 0, 0, 0, 25 [SEP] 12, TissueBox, -1.144, 0.289, 2.097, 0, 0, 0, 23 [SEP] 13, Cloth, -1.635, 0.293, 2.157, 0, 0, 0, 23 [SEP] 14, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 22 [SEP] 15, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 21 [SEP] 16, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 17, SprayBottle, -2.277, 1.048, -0.674, 0, 0, 0, 32 [SEP] 18, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 19, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 20, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 21, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 22, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 23, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 24, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 25, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 26, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 27, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 28, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 29, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 30, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 31, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 32, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 33, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 34, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 35, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 36, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, EastWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and move to the toilet. | STEP 2: Pick up the bar of soap | STEP 3: Turn left and move to the bath tub on the other side of the room. | STEP 4: Put the soap on the bottom of the bath tub. | STEP 5: Turn left and move to the front of the shelves on the wall. | STEP 6: Take the bar of soap off the third shelf from the bottom. | STEP 7: Turn right and head back to the front of the bath tub. | STEP 8: Put the second bar of soap in the bath tub on the right of the first bar. | END"]} {"id": "trial_T20190909_151200_510903-0", "input": "turn on desk lamp with pillow 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, 0.909, -1.25, 0, 180, 0, [SEP] 1, CD, -0.862, 0.799, -3.703, 0, 0, 0, 36 [SEP] 2, CellPhone, -0.657, 0.800, -4.354, 0, 0, 0, 36 [SEP] 3, Pencil, -3.694, 0.617, -4.348, 0, 0, 0, 45 [SEP] 4, CreditCard, -1.474, 0.803, -3.811, 0, 0, 0, 36 [SEP] 5, CreditCard, -3.466, 0.981, -3.271, 0, 0, 0, 39 [SEP] 6, Book, -2.770, 0.620, -1.218, 0, 0, 0, 21 [SEP] 7, Book, -0.249, 0.804, -4.029, 0, 0, 0, 36 [SEP] 8, Book, -1.066, 0.800, -4.137, 0, 0, 0, 36 [SEP] 9, CellPhone, -3.582, 0.226, -3.464, 0, 0, 0, 41 [SEP] 10, Laptop, -2.559, 0.618, -1.793, 0, 0, 0, 21 [SEP] 11, CreditCard, -3.834, 0.981, -3.874, 0, 0, 0, 39 [SEP] 12, AlarmClock, -1.270, 0.803, -4.246, 0, 0, 0, 36 [SEP] 13, KeyChain, -0.426, 0.190, -3.811, 0, 0, 0, 31 [SEP] 14, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 21 [SEP] 15, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 16, Pencil, -3.760, 0.983, -4.276, 0, 0, 0, 39 [SEP] 17, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 21 [SEP] 18, CD, -1.854, 0.062, -3.925, 0, 279.990, 0, 25 [SEP] 19, Pen, -0.657, 0.809, -4.137, 0, 0, 0, 36 [SEP] 20, Mug, -0.862, 0.798, -3.920, 0, 0, 0, 36 [SEP] 21, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 22, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 23, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 24, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 25, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 26, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 27, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 28, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 29, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 30, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 31, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 32, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 33, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 34, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 35, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 36, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 37, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 38, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 39, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 40, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 41, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 42, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 44, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 48, NorthWall, , , , , , , [SEP] 49, EastWall, , , , , , , [SEP] 50, SouthWall, , , , , , , [SEP] 51, WestWall, , , , , , , ", "output": ["STEP 1: walk to face right side of bed | STEP 2: pick up ornate pillow | STEP 3: walk to face right side of desk | STEP 4: turn on desk lamp | END"]} {"id": "trial_T20190909_151200_510903-1", "input": "Grab a pillow 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, -1.5, 0.909, -1.25, 0, 180, 0, [SEP] 1, CD, -0.862, 0.799, -3.703, 0, 0, 0, 36 [SEP] 2, CellPhone, -0.657, 0.800, -4.354, 0, 0, 0, 36 [SEP] 3, Pencil, -3.694, 0.617, -4.348, 0, 0, 0, 45 [SEP] 4, CreditCard, -1.474, 0.803, -3.811, 0, 0, 0, 36 [SEP] 5, CreditCard, -3.466, 0.981, -3.271, 0, 0, 0, 39 [SEP] 6, Book, -2.770, 0.620, -1.218, 0, 0, 0, 21 [SEP] 7, Book, -0.249, 0.804, -4.029, 0, 0, 0, 36 [SEP] 8, Book, -1.066, 0.800, -4.137, 0, 0, 0, 36 [SEP] 9, CellPhone, -3.582, 0.226, -3.464, 0, 0, 0, 41 [SEP] 10, Laptop, -2.559, 0.618, -1.793, 0, 0, 0, 21 [SEP] 11, CreditCard, -3.834, 0.981, -3.874, 0, 0, 0, 39 [SEP] 12, AlarmClock, -1.270, 0.803, -4.246, 0, 0, 0, 36 [SEP] 13, KeyChain, -0.426, 0.190, -3.811, 0, 0, 0, 31 [SEP] 14, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 21 [SEP] 15, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 16, Pencil, -3.760, 0.983, -4.276, 0, 0, 0, 39 [SEP] 17, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 21 [SEP] 18, CD, -1.854, 0.062, -3.925, 0, 279.990, 0, 25 [SEP] 19, Pen, -0.657, 0.809, -4.137, 0, 0, 0, 36 [SEP] 20, Mug, -0.862, 0.798, -3.920, 0, 0, 0, 36 [SEP] 21, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 22, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 23, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 24, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 25, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 26, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 27, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 28, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 29, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 30, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 31, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 32, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 33, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 34, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 35, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 36, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 37, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 38, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 39, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 40, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 41, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 42, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 44, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 48, NorthWall, , , , , , , [SEP] 49, EastWall, , , , , , , [SEP] 50, SouthWall, , , , , , , [SEP] 51, WestWall, , , , , , , ", "output": ["STEP 1: Walk over to the bed | STEP 2: Grab the pillow | STEP 3: Walk over to the lamp | STEP 4: Turn the lamp on | END"]} {"id": "trial_T20190909_153642_401996-1", "input": "turn on table lamp while holding closed laptop SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.901, 5.0, 0, 0, 0, [SEP] 1, Bowl, -0.484, 0.795, 5.600, 0, 270, 0, 42 [SEP] 2, Bowl, -2.474, 0.881, 7.208, 0, 90, 0, 49 [SEP] 3, Newspaper, -0.738, 0.792, 5.726, 0, 270, 0, 42 [SEP] 4, KeyChain, -2.172, 0.534, 4.169, 0, 90, 0, 58 [SEP] 5, KeyChain, -0.947, 0.367, 3.915, 0, 0, 0, 41 [SEP] 6, CreditCard, -6.053, 0.146, 4.745, 0, 0, 0, 48 [SEP] 7, CreditCard, -2.279, 0.533, 4.106, 0, 0, 0, 58 [SEP] 8, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 52 [SEP] 9, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 57 [SEP] 10, Vase, -2.672, 0.147, 7.225, 0, 90, 0, 52 [SEP] 11, Vase, -2.811, 0.542, 4.106, 0, 0, 0, 58 [SEP] 12, Newspaper, -5.899, 0.145, 3.954, 0, 0, 0, 48 [SEP] 13, Laptop, -0.868, 0.437, 3.002, 0, 0, 0, 41 [SEP] 14, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 15, Vase, -0.326, 0.794, 1.951, 0, 0, 0, 43 [SEP] 16, CreditCard, -5.934, 0.533, 6.531, 0, 135, 0, 59 [SEP] 17, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 55 [SEP] 18, KeyChain, -5.237, 0.534, 6.852, 0, 45, 0, 59 [SEP] 19, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 53 [SEP] 20, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 53 [SEP] 21, Bowl, -3.328, 1.281, 7.108, 0, 90, 0, 57 [SEP] 22, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 41 [SEP] 23, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 55 [SEP] 24, RemoteControl, -2.598, 0.536, 3.981, 0, 0, 0, 58 [SEP] 25, Watch, -2.283, 0.533, 4.189, 0, 270, 0, 58 [SEP] 26, Statue, -0.636, 0.800, 6.357, 0, 270, 0, 42 [SEP] 27, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 55 [SEP] 28, Statue, -5.536, 0.543, 6.703, 0, 45, 0, 59 [SEP] 29, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 57 [SEP] 30, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 31, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 32, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 33, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 34, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 35, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 36, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 37, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 38, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 39, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 40, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 41, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 42, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 43, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 44, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 45, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 46, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 47, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 48, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 49, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 50, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 51, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 52, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 53, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 54, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 55, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 56, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 57, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 58, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 59, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 60, NorthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , ", "output": ["STEP 1: walk to face couch with laptop | STEP 2: close and pick up laptop from couch | STEP 3: walk to face table lamp | STEP 4: turn on table lamp | END"]} {"id": "trial_T20190907_040712_814784-0", "input": "Place two tv remotes next to the box on the couch. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, -1.0, 0, 90, 0, [SEP] 1, KeyChain, 1.601, 0.321, -0.742, 0, 90, 0, 38 [SEP] 2, CreditCard, -0.260, 0.551, -0.451, 0, 270, 0, 30 [SEP] 3, CreditCard, -0.288, 0.293, -2.063, 0, 0, 0, 32 [SEP] 4, RemoteControl, -0.260, 0.553, -0.365, 0, 270, 0, 30 [SEP] 5, Box, -0.711, 0.539, -1.844, 0, 90, 0, 32 [SEP] 6, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 38 [SEP] 7, KeyChain, 1.443, 0.279, -0.742, 0, 0, 0, 38 [SEP] 8, Watch, -0.411, 0.552, -0.278, 0, 270, 0, 30 [SEP] 9, Newspaper, 1.849, 0.869, 0.537, 0, 90, 0, 36 [SEP] 10, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 32 [SEP] 11, CreditCard, -1.133, 0.293, -1.697, 0, 0, 0, 32 [SEP] 12, RemoteControl, 1.766, 0.871, 0.326, 0, 90, 0, 36 [SEP] 13, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 30 [SEP] 14, Statue, 1.808, 0.880, 0.114, 0, 270, 0, 36 [SEP] 15, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 30 [SEP] 16, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 17, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 18, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 19, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 20, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 21, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 22, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 23, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 24, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 25, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 26, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 29, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 30, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 31, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 32, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 33, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 34, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 35, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 36, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 37, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 38, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, WestWall, , , , , , , ", "output": ["STEP 1: Turn around to face the coffee table. | STEP 2: Pick up the tv remote from the table. | STEP 3: Turn left towards the couch and turn right towards the box on the couch. | STEP 4: Place the remote to the left of the box. | STEP 5: Turn left towards the end of the couch, turn left to towards the end of the table, and turn right to find the desk in front of you. | STEP 6: Pick up the remote on the desk. | STEP 7: Turn around, walk towards the table, and then turn left towards the couch. | STEP 8: Place the remote to the left of the box on the couch. | END"]} {"id": "trial_T20190907_040712_814784-1", "input": "Move the remote controls from the tables 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, 0.25, 0.900, -1.0, 0, 90, 0, [SEP] 1, KeyChain, 1.601, 0.321, -0.742, 0, 90, 0, 38 [SEP] 2, CreditCard, -0.260, 0.551, -0.451, 0, 270, 0, 30 [SEP] 3, CreditCard, -0.288, 0.293, -2.063, 0, 0, 0, 32 [SEP] 4, RemoteControl, -0.260, 0.553, -0.365, 0, 270, 0, 30 [SEP] 5, Box, -0.711, 0.539, -1.844, 0, 90, 0, 32 [SEP] 6, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 38 [SEP] 7, KeyChain, 1.443, 0.279, -0.742, 0, 0, 0, 38 [SEP] 8, Watch, -0.411, 0.552, -0.278, 0, 270, 0, 30 [SEP] 9, Newspaper, 1.849, 0.869, 0.537, 0, 90, 0, 36 [SEP] 10, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 32 [SEP] 11, CreditCard, -1.133, 0.293, -1.697, 0, 0, 0, 32 [SEP] 12, RemoteControl, 1.766, 0.871, 0.326, 0, 90, 0, 36 [SEP] 13, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 30 [SEP] 14, Statue, 1.808, 0.880, 0.114, 0, 270, 0, 36 [SEP] 15, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 30 [SEP] 16, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 17, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 18, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 19, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 20, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 21, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 22, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 23, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 24, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 25, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 26, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 29, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 30, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 31, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 32, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 33, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 34, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 35, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 36, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 37, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 38, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, WestWall, , , , , , , ", "output": ["STEP 1: Turn and go to the coffee table. | STEP 2: Pick up the remote control on the coffee table. | STEP 3: Turn and go to the couch. | STEP 4: Put the remote control on the couch. | STEP 5: Turn and go to the table by the picture on the wall. | STEP 6: Pick up the remote control on the table. | STEP 7: Turn around and go to the couch. | STEP 8: Put the remote control on the couch. | END"]} {"id": "trial_T20190907_040712_814784-2", "input": "Move two remote controls to a sofa. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, -1.0, 0, 90, 0, [SEP] 1, KeyChain, 1.601, 0.321, -0.742, 0, 90, 0, 38 [SEP] 2, CreditCard, -0.260, 0.551, -0.451, 0, 270, 0, 30 [SEP] 3, CreditCard, -0.288, 0.293, -2.063, 0, 0, 0, 32 [SEP] 4, RemoteControl, -0.260, 0.553, -0.365, 0, 270, 0, 30 [SEP] 5, Box, -0.711, 0.539, -1.844, 0, 90, 0, 32 [SEP] 6, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 38 [SEP] 7, KeyChain, 1.443, 0.279, -0.742, 0, 0, 0, 38 [SEP] 8, Watch, -0.411, 0.552, -0.278, 0, 270, 0, 30 [SEP] 9, Newspaper, 1.849, 0.869, 0.537, 0, 90, 0, 36 [SEP] 10, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 32 [SEP] 11, CreditCard, -1.133, 0.293, -1.697, 0, 0, 0, 32 [SEP] 12, RemoteControl, 1.766, 0.871, 0.326, 0, 90, 0, 36 [SEP] 13, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 30 [SEP] 14, Statue, 1.808, 0.880, 0.114, 0, 270, 0, 36 [SEP] 15, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 30 [SEP] 16, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 17, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 18, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 19, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 20, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 21, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 22, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 23, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 24, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 25, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 26, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 29, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 30, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 31, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 32, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 33, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 34, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 35, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 36, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 37, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 38, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, WestWall, , , , , , , ", "output": ["STEP 1: Turn around to face the end of the coffee table behind you. | STEP 2: Pick up the remote control from the end of the coffee table. | STEP 3: Go to the sofa on your left and face the cardboard box near the right end of the sofa. | STEP 4: Put the remote control along the left edge of the center seat, near the front. | STEP 5: Turn left and go between the coffee table and brown chair, to face the small desk beyond the brown chair. | STEP 6: Pick up the remote control from the desk. | STEP 7: Go back between the coffee table and brown chair, to the sofa, then face the cardboard box near the right end again. | STEP 8: Put the remote control near the center back of the seat to the left of the box, with the blue end toward you. | END"]} {"id": "trial_T20190907_040712_814784-4", "input": "Put two remote controls 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, 0.25, 0.900, -1.0, 0, 90, 0, [SEP] 1, KeyChain, 1.601, 0.321, -0.742, 0, 90, 0, 38 [SEP] 2, CreditCard, -0.260, 0.551, -0.451, 0, 270, 0, 30 [SEP] 3, CreditCard, -0.288, 0.293, -2.063, 0, 0, 0, 32 [SEP] 4, RemoteControl, -0.260, 0.553, -0.365, 0, 270, 0, 30 [SEP] 5, Box, -0.711, 0.539, -1.844, 0, 90, 0, 32 [SEP] 6, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 38 [SEP] 7, KeyChain, 1.443, 0.279, -0.742, 0, 0, 0, 38 [SEP] 8, Watch, -0.411, 0.552, -0.278, 0, 270, 0, 30 [SEP] 9, Newspaper, 1.849, 0.869, 0.537, 0, 90, 0, 36 [SEP] 10, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 32 [SEP] 11, CreditCard, -1.133, 0.293, -1.697, 0, 0, 0, 32 [SEP] 12, RemoteControl, 1.766, 0.871, 0.326, 0, 90, 0, 36 [SEP] 13, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 30 [SEP] 14, Statue, 1.808, 0.880, 0.114, 0, 270, 0, 36 [SEP] 15, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 30 [SEP] 16, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 17, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 18, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 19, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 20, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 21, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 22, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 23, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 24, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 25, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 26, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 29, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 30, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 31, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 32, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 33, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 34, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 35, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 36, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 37, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 38, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the brown table. | STEP 2: Take the remote control from the brown table. | STEP 3: Turn left, go to the couch, turn right, go to the cardboard box on the couch, and turn left. | STEP 4: Put the remote control on the middle cushion of the couch. | STEP 5: Turn left, go to the end of the couch, turn left, go the wall, turn right, and go to the desk. | STEP 6: Take the remote control from the desk. | STEP 7: Turn around, go to the brown table, turn left, go to the couch, turn right, go to the cardboard box on the couch, and turn left. | STEP 8: Put the remote control on the middle cushion of the couch. | END"]} {"id": "trial_T20190907_185714_643526-2", "input": "Move a spray bottle from a cabinet to a counter top. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.901, 3.25, 0, 90, 0, [SEP] 1, TissueBox, -1.379, 0.068, 2.341, 0, 0, 0, 22 [SEP] 2, TissueBox, -1.416, 0.994, 2.982, 0, 0, 0, 27 [SEP] 3, SoapBar, -1.284, 0.994, 3.933, 0, 0, 0, 27 [SEP] 4, Candle, -1.382, 0.068, 2.857, 0, 0, 0, 20 [SEP] 5, SprayBottle, -1.561, 0.069, 3.743, 0, 0, 0, 28 [SEP] 6, SoapBottle, -1.613, 0.993, 3.812, 0, 0, 0, 27 [SEP] 7, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 29 [SEP] 8, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 31 [SEP] 9, SoapBar, 0.231, 0.047, 3.838, 0, 0, 0, 30 [SEP] 10, ToiletPaper, -1.620, 0.064, 2.391, 0, 0, 0, 22 [SEP] 11, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 12, Candle, -1.481, 0.994, 2.118, 0, 0, 0, 27 [SEP] 13, TissueBox, -1.379, 0.068, 3.276, 0, 0, 0, 26 [SEP] 14, SoapBottle, -1.219, 0.993, 3.842, 0, 0, 0, 27 [SEP] 15, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 35 [SEP] 16, SprayBottle, -1.501, 0.069, 2.757, 0, 0, 0, 22 [SEP] 17, Cloth, -1.382, 0.068, 3.743, 0, 0, 0, 28 [SEP] 18, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 19, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 20, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 21, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 22, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 23, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 24, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 25, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 26, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 27, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 28, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 29, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 30, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 31, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 32, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 33, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 34, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 35, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 36, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 37, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 38, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 39, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 40, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 41, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the sink on the left. | STEP 2: Take out the spray bottle from the cabinet on the right below the sink. | STEP 3: Walk to the left side of the counter near the candle. | STEP 4: Put the spray bottle in front of the candle on the counter. | END"]} {"id": "trial_T20190909_010123_072594-2", "input": "Pick up a pencil 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, -3.0, 0.909, -4.25, 0, 270, 0, [SEP] 1, Mug, -0.657, 0.801, -4.246, 0, 0, 0, 40 [SEP] 2, CD, -0.274, 0.347, -3.747, 0, 0, 0, 33 [SEP] 3, CD, -0.249, 0.799, -4.137, 0, 0, 0, 40 [SEP] 4, CellPhone, -3.760, 0.981, -4.276, 0, 0, 0, 43 [SEP] 5, CellPhone, -3.637, 0.044, -3.977, 0, 0, 0, 48 [SEP] 6, Pencil, -3.760, 0.983, -4.075, 0, 0, 0, 43 [SEP] 7, Pencil, -0.453, 0.803, -3.811, 0, 0, 0, 40 [SEP] 8, CreditCard, -0.329, 0.542, -3.676, 0, 0, 0, 34 [SEP] 9, KeyChain, -1.270, 0.804, -4.029, 0, 0, 0, 40 [SEP] 10, Book, -2.770, 0.620, -2.080, 0, 0, 0, 25 [SEP] 11, AlarmClock, -3.613, 0.981, -3.673, 0, 0, 0, 43 [SEP] 12, Book, -2.981, 0.620, -0.356, 0, 0, 0, 25 [SEP] 13, CellPhone, -2.348, 0.620, -1.218, 0, 0, 0, 25 [SEP] 14, Laptop, -3.191, 0.618, -2.080, 0, 0, 0, 25 [SEP] 15, CreditCard, -0.453, 0.803, -4.137, 0, 0, 0, 40 [SEP] 16, AlarmClock, -0.596, 0.542, -3.713, 0, 0, 0, 40 [SEP] 17, KeyChain, -0.249, 0.804, -3.703, 0, 0, 0, 40 [SEP] 18, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 25 [SEP] 19, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 20, Pencil, -3.638, 0.422, -3.793, 0, 0, 0, 46 [SEP] 21, Pillow, -3.191, 0.722, -1.218, 0, 0, 0, 25 [SEP] 22, CD, -3.687, 0.979, -3.472, 0, 0, 0, 43 [SEP] 23, Pen, -3.526, 0.424, -3.978, 0, 0, 0, 46 [SEP] 24, Mug, -3.539, 0.977, -3.271, 0, 0, 0, 43 [SEP] 25, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 26, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 27, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 28, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 29, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 30, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 31, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 32, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 33, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 34, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 35, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 36, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 37, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 38, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 39, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 40, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 41, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 42, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 43, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 51, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: Move to the right and face the brown dresser. | STEP 2: Pick up the pencil from the dresser. | STEP 3: Turn around and stand in front of the white table with the lamp. | STEP 4: Turn the lamp on. | END"]} {"id": "trial_T20190908_234938_780340-0", "input": "rinse off a tomato slice and cook it in the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.931, -0.75, 0, 180, 0, [SEP] 1, DishSponge, -1.339, 0.202, -1.482, 0, 0, 0, 56 [SEP] 2, DishSponge, -0.222, 0.203, -1.553, 0, 0, 0, 57 [SEP] 3, Kettle, 0.250, 1.057, -1.4, 0, 0, 0, 60 [SEP] 4, Kettle, 1.666, 1.020, -1.411, 0, 0, 0, 54 [SEP] 5, Fork, 1.015, 1.043, 0.676, 0, 0, 0, 50 [SEP] 6, Fork, 0.657, 1.047, -1.129, 0, 0, 0, 48 [SEP] 7, Spoon, 1.181, 1.044, 0.589, 0, 0, 0, 50 [SEP] 8, Spoon, 0.989, 1.048, -1.397, 0, 0, 0, 48 [SEP] 9, Spatula, 0.160, 1.058, 0.415, 0, 90, 0, 50 [SEP] 10, Egg, -1.303, 1.543, 2.063, 0, 90, 0, 63 [SEP] 11, Egg, -1.090, 0.762, 2.063, 0, 90, 0, 63 [SEP] 12, Plate, -1.027, 0.215, -1.555, 0, 0, 0, 56 [SEP] 13, Plate, 0.885, 1.577, -1.764, 0, 0, 0, 52 [SEP] 14, Knife, -0.517, 1.072, -1.397, 0, 0, 0, 48 [SEP] 15, Tomato, 0.892, 1.104, 0.181, 0, 90, 0, 46 [SEP] 16, Bowl, -1.303, 1.488, 1.885, 0, 90, 0, 63 [SEP] 17, PepperShaker, -0.491, 0.198, -1.553, 0, 0, 0, 57 [SEP] 18, PepperShaker, 0.809, 1.560, -1.538, 0, 0, 0, 52 [SEP] 19, Lettuce, -1.095, 1.023, 2.242, 0, 90, 0, 63 [SEP] 20, Apple, 1.798, 0.166, 2.358, 0, 270, 0, 64 [SEP] 21, Apple, -1.423, 1.756, 2.331, 0, 90, 0, 63 [SEP] 22, SoapBottle, 0.065, 1.044, 0.199, 0, 0, 0, 50 [SEP] 23, Apple, 1.612, 1.086, 0.199, 0, 0, 0, 50 [SEP] 24, Potato, 1.238, 1.100, -1.181, 0, 0, 0, 48 [SEP] 25, Fork, 1.347, 1.043, 0.676, 0, 0, 0, 50 [SEP] 26, Kettle, -1.261, 2.029, -1.555, 0, 0, 0, 55 [SEP] 27, Pan, 0.801, 0.199, -1.484, 0, 270, 0, 59 [SEP] 28, Tomato, 1.612, 1.094, 0.091, 0, 0, 0, 50 [SEP] 29, SaltShaker, 1.512, 1.014, -1.411, 0, 0, 0, 54 [SEP] 30, Egg, -1.064, 1.018, 1.974, 0, 90, 0, 63 [SEP] 31, Cup, 0.892, 1.055, 0.331, 0, 90, 0, 46 [SEP] 32, Spatula, -0.296, 1.053, -1.277, 0, 255.000, 0, 48 [SEP] 33, Knife, 1.790, 1.069, 0.738, 0, 0, 0, 50 [SEP] 34, Lettuce, 0.065, 1.103, 0.630, 0, 0, 0, 50 [SEP] 35, ButterKnife, -0.432, 1.046, -1.289, 0, 0, 0, 48 [SEP] 36, PepperShaker, 1.247, 0.194, -1.339, 0, 0, 0, 59 [SEP] 37, DishSponge, -1.339, 0.202, -1.627, 0, 0, 0, 56 [SEP] 38, Plate, -1.339, 0.215, -1.265, 0, 0, 0, 56 [SEP] 39, Bread, 0.823, 1.120, -1.289, 0, 0, 0, 48 [SEP] 40, Spoon, 0.717, 1.054, 0.131, 0, 90, 0, 46 [SEP] 41, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 51 [SEP] 42, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 66 [SEP] 43, Bowl, -1.029, 2.027, -1.482, 0, 0, 0, 55 [SEP] 44, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 45, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 46, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 47, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 48, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 49, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 50, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 51, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 52, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 53, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 54, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 55, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 56, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 57, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 58, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 59, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 60, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 61, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 62, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 63, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 64, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 65, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 66, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 67, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 70, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 71, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 72, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 73, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 74, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 75, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 76, NorthWall, , , , , , , [SEP] 77, EastWall, , , , , , , [SEP] 78, SouthWall, , , , , , , [SEP] 79, WestWall, , , , , , , ", "output": ["STEP 1: look down and turn left then walk straight then turn right towards the counter | STEP 2: pick up the butter knife in front of the other knife | STEP 3: turn left walk straight then turn left towards the sink and walk straight | STEP 4: cut the tomato near the sink with the knife | STEP 5: put the knife into the sink | STEP 6: pick up a tomato slice off of the counter | STEP 7: put the tomato slice into the sink and fill the sink with water then drain the water and pick up the tomato slice | STEP 8: turn left and walk straight towards the wall and turn left and walk straight towards the oven and look up | STEP 9: open the microwave and put the tomato slice inside and close the door | END"]} {"id": "trial_T20190907_114907_680679-0", "input": "Put a bowl with water 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, 0.931, 0.25, 0, 0, 0, [SEP] 1, DishSponge, 0.989, 1.046, -1.289, 0, 0, 0, 48 [SEP] 2, ButterKnife, 0.160, 1.043, 0.738, 0, 0, 0, 50 [SEP] 3, ButterKnife, 0.906, 1.046, -1.181, 0, 0, 0, 48 [SEP] 4, Kettle, -0.670, 0.204, -1.337, 0, 0, 0, 57 [SEP] 5, Kettle, 0.5, 1.057, -1.4, 0, 0, 0, 49 [SEP] 6, Pot, 0.960, 1.566, -1.463, 0, 270, 0, 52 [SEP] 7, Spatula, 1.347, 1.058, 0.589, 0, 90, 0, 50 [SEP] 8, Egg, 1.514, 1.097, 0.763, 0, 0, 0, 50 [SEP] 9, Egg, -1.064, 1.018, 2.063, 0, 90, 0, 63 [SEP] 10, Cup, -1.276, 1.713, 2.331, 0, 90, 0, 63 [SEP] 11, Cup, 0.906, 1.047, -1.397, 0, 0, 0, 48 [SEP] 12, Knife, 0.657, 1.072, -1.086, 0, 0, 0, 48 [SEP] 13, SoapBottle, -0.260, 1.047, -1.828, 0, 0, 0, 48 [SEP] 14, SoapBottle, 1.181, 1.044, 0.589, 0, 0, 0, 50 [SEP] 15, Bowl, -1.027, 0.201, -1.555, 0, 0, 0, 56 [SEP] 16, SaltShaker, 0.740, 1.041, -1.720, 0, 0, 0, 48 [SEP] 17, PepperShaker, 1.068, 0.194, -1.195, 0, 0, 0, 59 [SEP] 18, PepperShaker, 1.238, 1.041, -1.612, 0, 0, 0, 48 [SEP] 19, Lettuce, -1.169, 1.287, 1.885, 0, 90, 0, 63 [SEP] 20, Mug, -0.689, 1.041, -1.181, 0, 0, 0, 48 [SEP] 21, Mug, -1.339, 2.023, -1.555, 0, 0, 0, 55 [SEP] 22, SoapBottle, -0.432, 1.047, -1.505, 0, 0, 0, 48 [SEP] 23, Apple, -1.312, 1.756, 1.974, 0, 90, 0, 63 [SEP] 24, Potato, 0.282, 1.085, 0.120, 0, 0, 0, 50 [SEP] 25, Fork, 1.015, 1.043, 0.676, 0, 0, 0, 50 [SEP] 26, Kettle, -0.312, 0.204, -1.553, 0, 0, 0, 57 [SEP] 27, Pan, 1.589, 1.019, -1.337, 0, 0, 0, 54 [SEP] 28, Tomato, 1.238, 1.097, -1.828, 0, 0, 0, 48 [SEP] 29, SaltShaker, 0.239, 1.041, -1.118, 0, 0, 0, 48 [SEP] 30, Egg, -1.031, 0.762, 1.974, 0, 90, 0, 63 [SEP] 31, Cup, 0.979, 0.200, -1.484, 0, 0, 0, 59 [SEP] 32, Spatula, -0.775, 1.061, -1.505, 0, 90, 0, 48 [SEP] 33, Knife, 0.160, 1.069, 0.199, 0, 180, 0, 50 [SEP] 34, Lettuce, 1.155, 1.106, -1.397, 0, 0, 0, 48 [SEP] 35, ButterKnife, -0.603, 1.046, -1.181, 0, 0, 0, 48 [SEP] 36, PepperShaker, 0.960, 1.560, -1.689, 0, 0, 0, 52 [SEP] 37, DishSponge, 0.160, 1.042, 0.522, 0, 0, 0, 50 [SEP] 38, Plate, -1.339, 0.215, -1.410, 0, 0, 0, 56 [SEP] 39, Bread, 0.406, 1.104, 0.353, 0, 337.138, 0, 50 [SEP] 40, Spoon, 0.071, 1.031, 0.229, 0, 0, 0, 50 [SEP] 41, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 51 [SEP] 42, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 66 [SEP] 43, Bowl, -0.624, 1.563, -1.693, 0, 0, 0, 53 [SEP] 44, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 45, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 46, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 47, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 48, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 49, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 50, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 51, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 52, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 53, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 54, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 55, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 56, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 57, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 58, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 59, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 60, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 61, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 62, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 63, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 64, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 65, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 66, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 67, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 70, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 71, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 72, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 73, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 74, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 75, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 76, NorthWall, , , , , , , [SEP] 77, EastWall, , , , , , , [SEP] 78, SouthWall, , , , , , , [SEP] 79, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, go straight, then turn right to face the counter with the toaster. | STEP 2: Remove the bowl from the cabinet above the counter with the toaster. | STEP 3: Turn left, move forward, then turn left again to face the sink. | STEP 4: Fill the bowl with water in the sink. | STEP 5: Turn left, move forward, then turn left again to face the counter with the toaster. | STEP 6: Place the bowl on the counter, to the right of the stove. | END"]} {"id": "trial_T20190908_100621_296795-1", "input": "Put two eggs 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, 0.931, -0.25, 0, 270, 0, [SEP] 1, ButterKnife, 1.514, 1.043, 0.720, 0, 0, 0, 47 [SEP] 2, Pot, 0.250, 1.057, -1.4, 0, 0, 0, 57 [SEP] 3, Pot, -1.349, 1.714, 2.242, 0, 0, 0, 60 [SEP] 4, Fork, 0.255, 1.043, 0.522, 0, 180, 0, 47 [SEP] 5, Spoon, 0.848, 1.044, 0.720, 0, 0, 0, 47 [SEP] 6, Spoon, -0.517, 1.048, -1.181, 0, 0, 0, 45 [SEP] 7, Spatula, 1.701, 1.058, 0.630, 0, 0, 0, 47 [SEP] 8, Egg, -0.775, 1.101, -1.397, 0, 0, 0, 45 [SEP] 9, Egg, 0.989, 1.101, -1.181, 0, 0, 0, 45 [SEP] 10, Cup, -1.349, 1.713, 1.796, 0, 90, 0, 60 [SEP] 11, Cup, 0.446, 1.043, 0.415, 0, 0, 0, 47 [SEP] 12, Plate, 1.741, 0.217, -1.480, 0, 0, 0, 55 [SEP] 13, Knife, 1.181, 1.069, 0.632, 0, 90, 0, 47 [SEP] 14, SoapBottle, 0.936, 1.056, 0.281, 0, 90, 0, 43 [SEP] 15, Bowl, -1.303, 1.488, 1.885, 0, 90, 0, 60 [SEP] 16, PepperShaker, 1.155, 1.041, -1.828, 0, 0, 0, 45 [SEP] 17, PepperShaker, -0.260, 1.041, -1.828, 0, 0, 0, 45 [SEP] 18, Bread, 0.160, 1.117, 0.522, 0, 0, 0, 47 [SEP] 19, SoapBottle, 0.979, 0.200, -1.556, 0, 0, 0, 56 [SEP] 20, Apple, 0.761, 1.097, 0.131, 0, 90, 0, 43 [SEP] 21, Potato, 1.211, 0.953, 0.231, 0, 90, 0, 42 [SEP] 22, Fork, 0.906, 1.047, -1.289, 0, 0, 0, 45 [SEP] 23, Kettle, -0.624, 1.566, -1.619, 0, 0, 0, 50 [SEP] 24, Pan, -0.312, 0.203, -1.409, 0, 90, 0, 54 [SEP] 25, Tomato, -1.268, 1.999, 1.885, 0, 90, 0, 60 [SEP] 26, SaltShaker, 0.255, 1.038, 0.199, 0, 0, 0, 47 [SEP] 27, Egg, 0.848, 1.108, 0.181, 0, 90, 0, 43 [SEP] 28, Cup, -1.169, 1.228, 2.153, 0, 90, 0, 60 [SEP] 29, Spatula, 1.238, 1.061, -1.612, 0, 90, 0, 45 [SEP] 30, Knife, -0.038, 1.072, -1.086, 0, 0, 0, 45 [SEP] 31, Lettuce, -0.603, 1.106, -1.397, 0, 0, 0, 45 [SEP] 32, ButterKnife, 1.347, 1.043, 0.589, 0, 0, 0, 47 [SEP] 33, PepperShaker, -0.775, 1.041, -1.181, 0, 0, 0, 45 [SEP] 34, DishSponge, 0.065, 1.042, 0.199, 0, 0, 0, 47 [SEP] 35, Plate, 1.589, 1.032, -1.411, 0, 0, 0, 51 [SEP] 36, Bread, -1.235, 1.302, 1.974, 0, 90, 0, 60 [SEP] 37, Spoon, -0.346, 1.048, -1.612, 0, 0, 0, 45 [SEP] 38, Pot, -1.261, 2.029, -1.409, 0, 270, 0, 52 [SEP] 39, Mug, -1.047, 1.711, -1.331, 0, 0, 0, 59 [SEP] 40, Bowl, 1.701, 1.042, 0.091, 0, 0, 0, 47 [SEP] 41, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 42, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 43, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 44, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 45, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 46, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 47, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 48, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 49, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 50, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 51, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 52, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 53, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 54, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 55, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 56, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 57, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 58, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 59, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 60, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 61, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 62, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 63, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 64, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 65, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 66, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 69, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 70, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 71, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 72, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 73, NorthWall, , , , , , , [SEP] 74, EastWall, , , , , , , [SEP] 75, SouthWall, , , , , , , [SEP] 76, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the front of the sink. | STEP 2: Pick up the egg on the left of the soap bottle. | STEP 3: Turn around and go to the microwave above the oven. | STEP 4: Place the egg inside the microwave on the right side of the mug. | STEP 5: Move over left to the counter next to the oven. | STEP 6: Pick up the egg behind the pepper shaker on the counter. | STEP 7: Move over right to the microwave above the oven. | STEP 8: Place the egg on the left of the first egg in the microwave. | END"]} {"id": "trial_T20190909_095046_240773-1", "input": "Place a clean kettle in a cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.931, -0.25, 0, 180, 0, [SEP] 1, Pan, -0.580, 0.203, -1.337, 0, 0, 0, 52 [SEP] 2, Kettle, 1.112, 1.566, -1.764, 0, 0, 0, 47 [SEP] 3, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 39 [SEP] 4, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 44 [SEP] 5, Spoon, -0.689, 1.048, -1.397, 0, 0, 0, 43 [SEP] 6, Spatula, 1.514, 1.058, 0.807, 0, 0, 0, 45 [SEP] 7, Spatula, 1.514, 1.058, 0.632, 0, 0, 0, 45 [SEP] 8, Cup, -1.194, 1.716, -1.269, 0, 0, 0, 57 [SEP] 9, Tomato, -1.264, 1.540, 1.796, 0, 90, 0, 58 [SEP] 10, SoapBottle, 1.612, 1.044, 0.522, 0, 90, 0, 45 [SEP] 11, SoapBottle, -0.699, 1.565, -1.841, 0, 0, 0, 48 [SEP] 12, SaltShaker, 0.740, 1.041, -1.289, 0, 0, 0, 43 [SEP] 13, PepperShaker, 1.112, 1.560, -1.538, 0, 0, 0, 47 [SEP] 14, PepperShaker, 1.894, 0.199, -1.625, 0, 0, 0, 53 [SEP] 15, Bread, 0.065, 1.117, 0.630, 0, 0, 0, 45 [SEP] 16, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 61 [SEP] 17, SoapBottle, -0.517, 1.047, -1.181, 0, 0, 0, 43 [SEP] 18, Apple, -1.090, 0.750, 2.331, 0, 90, 0, 58 [SEP] 19, Potato, -1.064, 1.017, 1.974, 0, 90, 0, 58 [SEP] 20, Fork, -0.260, 1.047, -1.828, 0, 90, 0, 43 [SEP] 21, Kettle, 1.512, 0.205, -1.262, 0, 0, 0, 53 [SEP] 22, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 43 [SEP] 23, Tomato, -1.235, 1.279, 2.063, 0, 90, 0, 58 [SEP] 24, SaltShaker, 1.436, 0.199, -1.553, 0, 0, 0, 71 [SEP] 25, Egg, -1.366, 1.282, 1.885, 0, 90, 0, 58 [SEP] 26, Cup, -1.303, 1.489, 2.063, 0, 90, 0, 58 [SEP] 27, Spatula, -0.296, 1.053, -1.277, 0, 255.000, 0, 43 [SEP] 28, Knife, 0.257, 1.038, 0.343, 90, 3.660, 0, 45 [SEP] 29, Lettuce, -1.349, 1.773, 2.242, 0, 90, 0, 58 [SEP] 30, ButterKnife, 1.155, 1.046, -1.181, 0, 0, 0, 43 [SEP] 31, PepperShaker, 1.512, 1.014, -1.191, 0, 0, 0, 49 [SEP] 32, DishSponge, 1.741, 0.204, -1.480, 0, 0, 0, 53 [SEP] 33, Plate, -1.339, 0.215, -1.482, 0, 0, 0, 51 [SEP] 34, Bread, 0.455, 1.108, 0.338, 0, 337.205, 356.791, 45 [SEP] 35, Spoon, 1.155, 1.048, -1.397, 0, 0, 0, 43 [SEP] 36, Pot, -1.184, 2.029, -1.555, 0, 180, 0, 50 [SEP] 37, Mug, -1.103, 1.223, 1.974, 0, 90, 0, 58 [SEP] 38, Bowl, -1.386, 1.712, 1.885, 0, 90, 0, 58 [SEP] 39, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 40, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 41, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 42, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 43, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 44, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 45, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 46, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 47, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 48, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 49, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 50, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 51, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 52, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 53, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 54, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 55, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 56, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 57, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 58, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 59, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 60, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 61, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 62, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 63, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 64, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 65, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 66, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 67, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 68, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 69, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 70, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 71, , , , , , , , [SEP] 72, NorthWall, , , , , , , [SEP] 73, EastWall, , , , , , , [SEP] 74, SouthWall, , , , , , , [SEP] 75, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the cabinets on the far right. | STEP 2: Open the bottom cabinet next to the wall and take out the kettle. | STEP 3: Turn around and walk to the sink. | STEP 4: Wash the kettle in the sink. | STEP 5: Turn around. | STEP 6: Open the cabinet under and to the left of the stove and place the kettle in it. | END"]} {"id": "trial_T20190909_073859_956810-0", "input": "Move two soap dispensers from the trash can to the shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.903, 1.25, 0, 0, 0, [SEP] 1, Cloth, 0.124, 0.048, 1.295, 0, 0, 0, 30 [SEP] 2, Cloth, 0.289, 0.048, 1.067, 0, 0, 0, 30 [SEP] 3, Candle, 0.017, 0.650, 1.762, 0, 0, 0, 23 [SEP] 4, SprayBottle, -1.308, 1.774, 2.187, 0, 0, 0, 29 [SEP] 5, SprayBottle, -1.471, 1.774, 2.067, 0, 0, 0, 29 [SEP] 6, SoapBottle, -1.687, 0.083, -0.655, 0, 270, 0, 34 [SEP] 7, SoapBottle, -1.707, 0.083, -0.549, 0, 270, 0, 34 [SEP] 8, SoapBottle, -2.277, 1.049, -0.674, 0, 0, 0, 36 [SEP] 9, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 33 [SEP] 10, Candle, -2.146, 1.088, -0.827, 0, 0, 0, 36 [SEP] 11, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 32 [SEP] 12, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 13, SoapBar, -0.334, 0.609, -0.259, 0, 0, 0, 23 [SEP] 14, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 26 [SEP] 15, SoapBottle, -2.146, 1.049, -0.736, 0, 0, 0, 36 [SEP] 16, TissueBox, -1.144, 1.773, 2.157, 0, 0, 0, 29 [SEP] 17, Cloth, 0.206, 0.048, 0.611, 0, 0, 0, 30 [SEP] 18, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 26 [SEP] 19, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 25 [SEP] 20, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 21, SprayBottle, -0.653, 1.774, 2.127, 0, 0, 0, 29 [SEP] 22, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 23, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 24, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 25, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 26, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 27, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 28, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 29, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 30, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 31, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 32, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 33, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 34, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 35, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 36, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 37, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 38, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 39, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 40, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Turn and go to the trash can by the toilet. | STEP 2: Take a soap dispenser out of the trash can. | STEP 3: Turn and go to the shelf by the bathtub. | STEP 4: Put the soap dispenser on the shelf. | STEP 5: Turn and go to the trash can by the toilet. | STEP 6: Take a soap dispenser out of the trash can. | STEP 7: Turn and go to the shelf by the bathtub. | STEP 8: Put the soap dispenser on the shelf. | END"]} {"id": "trial_T20190909_073859_956810-2", "input": "Move two pump dispensers from garbage can to shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.903, 1.25, 0, 0, 0, [SEP] 1, Cloth, 0.124, 0.048, 1.295, 0, 0, 0, 30 [SEP] 2, Cloth, 0.289, 0.048, 1.067, 0, 0, 0, 30 [SEP] 3, Candle, 0.017, 0.650, 1.762, 0, 0, 0, 23 [SEP] 4, SprayBottle, -1.308, 1.774, 2.187, 0, 0, 0, 29 [SEP] 5, SprayBottle, -1.471, 1.774, 2.067, 0, 0, 0, 29 [SEP] 6, SoapBottle, -1.687, 0.083, -0.655, 0, 270, 0, 34 [SEP] 7, SoapBottle, -1.707, 0.083, -0.549, 0, 270, 0, 34 [SEP] 8, SoapBottle, -2.277, 1.049, -0.674, 0, 0, 0, 36 [SEP] 9, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 33 [SEP] 10, Candle, -2.146, 1.088, -0.827, 0, 0, 0, 36 [SEP] 11, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 32 [SEP] 12, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 13, SoapBar, -0.334, 0.609, -0.259, 0, 0, 0, 23 [SEP] 14, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 26 [SEP] 15, SoapBottle, -2.146, 1.049, -0.736, 0, 0, 0, 36 [SEP] 16, TissueBox, -1.144, 1.773, 2.157, 0, 0, 0, 29 [SEP] 17, Cloth, 0.206, 0.048, 0.611, 0, 0, 0, 30 [SEP] 18, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 26 [SEP] 19, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 25 [SEP] 20, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 21, SprayBottle, -0.653, 1.774, 2.127, 0, 0, 0, 29 [SEP] 22, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 23, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 24, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 25, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 26, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 27, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 28, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 29, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 30, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 31, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 32, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 33, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 34, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 35, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 36, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 37, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 38, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 39, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 40, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, proceed to garbage can between sink and toilet. | STEP 2: Pick up back pump dispenser from garbage can. | STEP 3: Turn around, go across room. | STEP 4: Place pump dispenser on shelf close to floor. | STEP 5: Turn around, go to garbage can between sink and toilet. | STEP 6: Pick up pump dispenser from garbage can. | STEP 7: Turn around, go across room. | STEP 8: Place pump dispenser on shelf close to floor, to the left of the other pump dispenser. | END"]} {"id": "trial_T20190907_160824_308965-2", "input": "Move a box to the sofa SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, -1.25, 0, 90, 0, [SEP] 1, Newspaper, 1.849, 0.869, 0.537, 0, 90, 0, 36 [SEP] 2, Newspaper, 1.849, 0.868, 0.220, 0, 90, 0, 36 [SEP] 3, KeyChain, 0.133, 0.295, -2.063, 0, 90, 0, 32 [SEP] 4, KeyChain, -0.841, 0.359, -0.480, 0, 270, 0, 39 [SEP] 5, CreditCard, -0.323, 0.357, -0.544, 0, 90, 0, 29 [SEP] 6, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 38 [SEP] 7, KeyChain, -1.133, 0.328, -1.624, 0, 180, 0, 32 [SEP] 8, Watch, -0.711, 0.199, -0.249, 0, 270, 0, 28 [SEP] 9, Newspaper, 1.601, 0.276, -0.742, 0, 180, 0, 38 [SEP] 10, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 32 [SEP] 11, CreditCard, 1.891, 0.870, 0.643, 0, 90, 0, 36 [SEP] 12, RemoteControl, -0.260, 0.553, -0.365, 0, 270, 0, 30 [SEP] 13, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 30 [SEP] 14, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 30 [SEP] 15, Statue, -0.561, 0.562, -0.192, 0, 0, 0, 30 [SEP] 16, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 17, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 18, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 19, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 20, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 21, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 22, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 23, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 24, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 25, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 26, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 29, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 30, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 31, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 32, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 33, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 34, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 35, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 36, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 37, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 38, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 39, , , , , , , , [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Move to the brown side table to the left of the brown sofa | STEP 2: Pick up the empty box on the floor under the side table | STEP 3: Carry the box to the far right side of the sofa | STEP 4: Place on box on top of the sofa behind the keys | END"]} {"id": "trial_T20190908_091134_389274-1", "input": "Cut tomato with knife, put knife in cabinet, heat tomato in microwave 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, 0.75, 0.931, -0.25, 0, 270, 0, [SEP] 1, Potato, 0.065, 1.096, 0.522, 0, 0, 0, 43 [SEP] 2, Potato, -1.423, 1.766, 2.331, 0, 90, 0, 56 [SEP] 3, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 44 [SEP] 4, Spoon, -0.517, 1.048, -1.289, 0, 0, 0, 41 [SEP] 5, Egg, -1.047, 1.770, -1.300, 0, 0, 0, 55 [SEP] 6, Egg, 1.271, 0.947, 0.158, 0, 90, 0, 38 [SEP] 7, Knife, 1.181, 1.069, 0.763, 0, 0, 0, 43 [SEP] 8, Tomato, -1.064, 1.014, 2.153, 0, 90, 0, 56 [SEP] 9, Tomato, 1.347, 1.094, 0.632, 0, 0, 0, 43 [SEP] 10, Tomato, -1.264, 1.540, 2.063, 0, 90, 0, 56 [SEP] 11, SoapBottle, -0.222, 0.204, -1.553, 0, 0, 0, 50 [SEP] 12, Bowl, -1.261, 2.027, -1.482, 0, 0, 0, 48 [SEP] 13, SaltShaker, 1.072, 1.041, -1.181, 0, 0, 0, 41 [SEP] 14, SaltShaker, 0.885, 1.560, -1.839, 0, 0, 0, 45 [SEP] 15, SoapBottle, 1.436, 0.205, -1.553, 0, 0, 0, 51 [SEP] 16, Apple, -1.031, 0.750, 2.331, 0, 90, 0, 56 [SEP] 17, Potato, -1.276, 1.766, 2.063, 0, 90, 0, 56 [SEP] 18, Fork, 1.701, 1.043, 0.091, 0, 0, 0, 43 [SEP] 19, Kettle, -1.261, 0.203, -1.265, 0, 0, 0, 49 [SEP] 20, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 41 [SEP] 21, Tomato, 0.936, 1.105, 0.281, 0, 90, 0, 39 [SEP] 22, SaltShaker, -0.624, 1.560, -1.619, 0, 0, 0, 46 [SEP] 23, Egg, 0.446, 1.097, 0.630, 0, 0, 0, 43 [SEP] 24, Cup, -1.243, 1.716, -1.300, 0, 0, 0, 55 [SEP] 25, Spatula, 1.612, 1.058, 0.522, 0, 270, 0, 43 [SEP] 26, Knife, 0.877, 1.042, -1.362, 90, 315, 0, 41 [SEP] 27, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 39 [SEP] 28, ButterKnife, 1.701, 1.043, 0.630, 0, 0, 0, 43 [SEP] 29, PepperShaker, 1.741, 0.199, -1.335, 0, 0, 0, 51 [SEP] 30, DishSponge, -1.416, 0.202, -1.555, 0, 0, 0, 49 [SEP] 31, Plate, 1.666, 1.032, -1.557, 0, 0, 0, 47 [SEP] 32, Bread, -0.346, 1.120, -1.397, 0, 0, 0, 41 [SEP] 33, Spoon, 0.848, 1.044, 0.807, 0, 0, 0, 43 [SEP] 34, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 37 [SEP] 35, Mug, 1.512, 0.199, -1.262, 0, 0, 0, 51 [SEP] 36, Bowl, 1.741, 0.203, -1.553, 0, 0, 0, 51 [SEP] 37, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 38, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 39, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 40, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 41, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 42, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 43, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 44, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 45, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 46, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 47, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 48, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 49, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 50, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 51, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 52, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 53, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 54, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 55, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 56, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 57, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 58, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 59, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 60, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 61, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 62, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 63, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 64, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 65, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 66, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 67, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 68, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 69, NorthWall, , , , , , , [SEP] 70, EastWall, , , , , , , [SEP] 71, SouthWall, , , , , , , [SEP] 72, WestWall, , , , , , , ", "output": ["STEP 1: To left to face counter between stove and refrigerator. | STEP 2: Pick up knife, to the right of the shaker, from the counter. | STEP 3: Turn around to face sink. | STEP 4: Slice tomato, located behind the lettuce to the left of the sink, with the knife. | STEP 5: Turn around to face counter between stove and refrigerator. | STEP 6: Open cabinet under counter that shaker is on, place knife in cabinet, close cabinet. | STEP 7: Turn around to face sink. | STEP 8: Pick up middle slice of tomato behind lettuce. | STEP 9: Turn left, go to wall. Turn left to face stove and microwave. | STEP 10: Open microwave door, place tomato in front of mug, close microwave door. Wait four seconds, open microwave door, remove tomato slice, close microwave door. | STEP 11: Turn left, proceed to counter on right side with toaster and bread on it. | STEP 12: Put tomato on counter directly in front of spoon. | END"]} {"id": "trial_T20190907_234923_916706-2", "input": "Place a clean cup 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, 3.0, 0.900, 0.5, 0, 0, 0, [SEP] 1, Potato, 0.193, 0.800, -0.651, 0, 0, 0, 98 [SEP] 2, DishSponge, -0.055, 0.911, 1.299, 0, 0, 0, 52 [SEP] 3, DishSponge, 2.205, 0.771, -0.383, 0, 180, 0, 54 [SEP] 4, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 56 [SEP] 5, Pot, 1.141, 0.915, -0.684, 0, 0, 0, 41 [SEP] 6, Spoon, -0.103, 0.912, 1.214, 0, 0, 0, 52 [SEP] 7, Spatula, 2.156, 0.926, -0.430, 0, 0, 0, 41 [SEP] 8, Egg, -1.933, 0.461, 1.459, 0, 270, 0, 94 [SEP] 9, Egg, -0.983, 0.858, -1.103, 0, 90, 0, 100 [SEP] 10, SoapBottle, 2.488, 0.917, 1.129, 0, 0, 0, 76 [SEP] 11, SoapBottle, 1.487, 1.660, 1.546, 0, 0, 0, 64 [SEP] 12, Tomato, -0.198, 0.942, 1.468, 0, 0, 0, 52 [SEP] 13, Tomato, 2.221, 0.942, 1.553, 0, 0, 0, 76 [SEP] 14, PepperShaker, -0.621, 0.817, -1.257, 0, 90, 0, 100 [SEP] 15, Bread, 1.955, 0.969, 1.299, 0, 0, 0, 76 [SEP] 16, Lettuce, 2.488, 0.992, 1.383, 0, 0, 0, 76 [SEP] 17, Apple, -0.198, 0.980, 1.214, 0, 0, 0, 52 [SEP] 18, SoapBottle, -0.939, 0.826, -1.328, 0, 0, 0, 100 [SEP] 19, Plate, 2.715, 1.021, -0.709, 0, 0, 0, 96 [SEP] 20, Fork, -0.839, 0.821, -1.257, 0, 90, 0, 100 [SEP] 21, Pot, 2.838, 1.292, -0.644, 0, 0, 0, 96 [SEP] 22, Bread, 2.221, 0.969, 1.214, 0, 0, 0, 76 [SEP] 23, Egg, 0.363, 1.822, 1.488, 0, 180, 0, 99 [SEP] 24, Kettle, 1.484, 1.656, -0.810, 0, 180, 0, 63 [SEP] 25, Tomato, 2.715, 0.758, -0.504, 0, 0, 0, 96 [SEP] 26, Cup, 0.759, 2.151, 1.390, 0, 0, 0, 50 [SEP] 27, Spatula, -0.043, 0.926, -0.302, 0, 0, 0, 41 [SEP] 28, Apple, 0.518, 1.853, 1.488, 0, 180, 0, 99 [SEP] 29, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 44 [SEP] 30, Lettuce, 1.422, 0.992, 1.468, 0, 0, 0, 76 [SEP] 31, SaltShaker, 0.888, 0.908, -0.515, 0, 0, 0, 41 [SEP] 32, Knife, 0.634, 0.944, -0.430, 0, 0, 0, 41 [SEP] 33, Potato, -0.087, 0.800, -0.596, 0, 0, 0, 98 [SEP] 34, PepperShaker, -0.007, 0.908, 1.129, 0, 0, 0, 52 [SEP] 35, ButterKnife, 1.688, 0.911, 1.468, 0, 0, 0, 76 [SEP] 36, Bowl, 1.179, 1.653, 1.507, 0, 0, 0, 68 [SEP] 37, DishSponge, -0.151, 0.911, 1.044, 0, 0, 0, 52 [SEP] 38, Spoon, 0.888, 0.912, -0.430, 0, 0, 0, 41 [SEP] 39, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 41 [SEP] 40, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 41, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 42, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 43, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 44, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 45, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 46, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 47, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 49, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 50, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 51, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 52, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 53, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 54, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 55, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 56, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 57, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 58, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 59, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 60, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 61, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 63, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 64, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 65, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 70, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 71, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 72, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 76, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 77, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 79, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 80, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 81, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 82, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 83, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 84, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 85, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 86, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 87, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 88, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 89, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 93, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 94, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 95, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 96, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 97, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 98, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 99, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 100, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 101, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 102, NorthWall, , , , , , , [SEP] 103, EastWall, , , , , , , [SEP] 104, SouthWall, , , , , , , [SEP] 105, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the coffee maker to your left. | STEP 2: Grab the cup on the coffee maker. | STEP 3: Carrying the cup, walk to the sink to your left. | STEP 4: Place the cup in the sink, wash the cup and remove it from the sink. | STEP 5: Carrying the clean cup, turn around walk to coffee maker to your right. | STEP 6: Place the clean cup on the coffee maker. | END"]} {"id": "trial_T20190909_042701_492988-2", "input": "Pick up a vase 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, -1.5, 0.901, 2.0, 0, 0, 0, [SEP] 1, Bowl, -0.585, 0.795, 2.252, 0, 270, 0, 42 [SEP] 2, Newspaper, -0.789, 0.365, 4.524, 0, 0, 0, 40 [SEP] 3, KeyChain, -3.462, 0.147, 7.173, 0, 90, 0, 51 [SEP] 4, KeyChain, -5.998, 0.453, 3.757, 0, 0, 0, 47 [SEP] 5, CreditCard, -5.848, 0.146, 4.942, 0, 0, 0, 47 [SEP] 6, CreditCard, -5.885, 0.452, 4.152, 0, 0, 0, 47 [SEP] 7, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 51 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -3.067, 0.453, 7.183, 0, 90, 0, 49 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -5.950, 0.145, 4.745, 0, 0, 0, 47 [SEP] 12, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 57 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 14, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 50 [SEP] 15, CreditCard, -2.704, 0.533, 3.919, 0, 0, 0, 57 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -6.075, 1.280, 3.891, 0, 0, 0, 54 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -0.326, 0.795, 2.002, 0, 0, 0, 42 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -5.998, 0.455, 4.547, 0, 0, 0, 52 [SEP] 24, Watch, -3.557, 1.280, 6.981, 0, 90, 0, 56 [SEP] 25, Statue, -5.480, 0.540, 6.759, 0, 135, 0, 58 [SEP] 26, Statue, -3.557, 1.281, 7.171, 0, 90, 0, 56 [SEP] 27, Statue, -5.293, 0.543, 6.796, 0, 45, 0, 58 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 59, NorthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , ", "output": ["STEP 1: Go forward and then turn left to face the dark colored shelves. | STEP 2: Pick up the white vase that is on a shelf with nothing else. | STEP 3: Turn around and go forward and then left to face the small table with the lamp next to the couch. | STEP 4: Turn the lamp on. | END"]} {"id": "trial_T20190909_005920_856931-2", "input": "Put remote control in box and place on couch. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.901, 0.5, 0, 180, 0, [SEP] 1, Bowl, -3.462, 0.148, 7.276, 0, 90, 0, 51 [SEP] 2, CreditCard, -0.758, 0.793, 2.154, 0, 0, 0, 42 [SEP] 3, CreditCard, -0.484, 0.793, 1.626, 0, 270, 0, 42 [SEP] 4, RemoteControl, -3.557, 1.282, 7.108, 0, 90, 0, 56 [SEP] 5, RemoteControl, -2.474, 0.149, 7.173, 0, 90, 0, 51 [SEP] 6, RemoteControl, -2.672, 0.149, 7.327, 0, 90, 0, 51 [SEP] 7, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 51 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -5.536, 0.534, 6.703, 0, 45, 0, 58 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -0.433, 0.792, 5.726, 0, 270, 0, 41 [SEP] 12, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 57 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 14, Vase, -5.923, 0.453, 4.152, 0, 0, 0, 52 [SEP] 15, CreditCard, -2.182, 1.279, 7.361, 0, 90, 0, 56 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -2.491, 0.534, 4.480, 0, 270, 0, 57 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -5.253, 0.535, 6.986, 0, 135, 0, 58 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -2.492, 0.536, 3.752, 0, 270, 0, 57 [SEP] 24, Watch, -2.811, 0.533, 3.856, 0, 0, 0, 57 [SEP] 25, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 56 [SEP] 26, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 54 [SEP] 27, Statue, -3.265, 0.156, 7.173, 0, 90, 0, 51 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 59, NorthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , ", "output": ["STEP 1: Turn to your right move to the the mirror move right and walk down beside the couch and stop when you are between the TV stand and the shelf. | STEP 2: Pick up the box of of the floor below you. | STEP 3: Turn around and move to the center of the couch. | STEP 4: Place the box on the couch. | STEP 5: Move across the room back to the shelf. | STEP 6: Pick up the remote control in between the other object's on the bottom shelf. | STEP 7: Turn around and move to the center of the couch. | STEP 8: Place the remote control in the box and close the top of it. | END"]} {"id": "trial_T20190908_045838_263858-2", "input": "Move the candle from the tub 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, -2.5, 0.903, 1.0, 0, 90, 0, [SEP] 1, TissueBox, -1.144, 0.289, 2.157, 0, 0, 0, 22 [SEP] 2, SprayBottle, -2.212, 1.048, -0.766, 0, 0, 0, 31 [SEP] 3, SprayBottle, -1.635, 1.774, 2.157, 0, 0, 0, 24 [SEP] 4, ToiletPaper, -1.471, 1.066, 2.217, 0, 0, 0, 26 [SEP] 5, Candle, -0.334, 0.650, 0.338, 0, 0, 0, 18 [SEP] 6, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 28 [SEP] 7, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 8, SoapBar, 0.041, 0.043, 0.384, 0, 0, 0, 25 [SEP] 9, ToiletPaper, -1.144, 1.066, 2.217, 0, 0, 0, 26 [SEP] 10, SoapBottle, -0.319, 0.611, 1.533, 0, 0, 0, 18 [SEP] 11, TissueBox, -2.015, 1.047, -0.674, 0, 0, 0, 31 [SEP] 12, Cloth, 0.453, 0.048, 1.295, 0, 0, 0, 25 [SEP] 13, ToiletPaper, -1.687, 0.078, -0.690, 0, 270, 0, 21 [SEP] 14, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 20 [SEP] 15, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 16, SprayBottle, -2.146, 1.048, -0.644, 0, 0, 0, 31 [SEP] 17, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 18, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 19, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 20, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 21, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 22, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 23, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 24, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 25, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 26, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 27, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 28, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 29, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 30, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 31, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 32, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 33, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 34, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 35, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 36, NorthWall, , , , , , , [SEP] 37, EastWall, , , , , , , [SEP] 38, SouthWall, , , , , , , [SEP] 39, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the edge of the tub in front of the candle. | STEP 2: Grab the candle off the tub. | STEP 3: Walk to the right edge of the toilet. | STEP 4: Place the candle on the right edge of the toilet. | END"]} {"id": "trial_T20190918_204652_914254-2", "input": "Move the tablet on the dresser 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, -0.5, 0.949, 1.5, 0, 180, 0, [SEP] 1, CD, -0.776, 0.173, -0.246, 0, 0, 0, 45 [SEP] 2, CellPhone, -0.077, 0.155, 3.253, 0, 0, 0, 41 [SEP] 3, CreditCard, 3.455, 0.723, 1.352, 0, 180, 0, 59 [SEP] 4, KeyChain, 2.519, 0.989, -2.037, 0, 270, 0, 34 [SEP] 5, KeyChain, -0.812, 0.175, -0.430, 0, 90, 0, 45 [SEP] 6, Book, -0.772, 0.785, 0.081, 0, 0, 0, 55 [SEP] 7, KeyChain, 0.024, 0.785, 3.170, 0, 180, 0, 41 [SEP] 8, CreditCard, 3.300, 0.723, 1.352, 0, 180, 0, 59 [SEP] 9, Pen, 2.234, 0.993, -1.687, 0, 0, 0, 34 [SEP] 10, Pencil, -0.904, 0.788, -0.548, 0, 0, 0, 55 [SEP] 11, Laptop, 2.235, 0.983, -1.95, 0, 270, 0, 34 [SEP] 12, Vase, 1.515, 0.185, -1.786, 0, 270, 0, 31 [SEP] 13, AlarmClock, 2.519, 0.986, -1.862, 0, 90, 0, 34 [SEP] 14, Pillow, 2.052, 0.674, -0.172, 0, 0, 0, 19 [SEP] 15, Pillow, 2.052, 0.674, 0.308, 0, 0, 0, 19 [SEP] 16, CellPhone, 2.381, 0.610, 0.790, 0, 0, 0, 19 [SEP] 17, CD, -1.103, 0.784, -0.548, 0, 0, 0, 55 [SEP] 18, Vase, -0.384, 0.772, 3.172, 0, 0, 0, 41 [SEP] 19, Bed, 2.217, 0.050, 0.585, 0, 0, 0, [SEP] 20, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0, [SEP] 21, Painting, 2.990, 1.592, 1.567, 90, 0, 0, [SEP] 22, Painting, 1.524, 1.592, 1.567, 90, 0, 0, [SEP] 23, Mirror, -1.190, 1.417, -0.223, 0, 270, 0, [SEP] 24, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0, [SEP] 25, Window, -2.629, 1.460, 2.891, 90, 270, 0, [SEP] 26, Window, -2.629, 1.460, 4.084, 90, 270, 0, [SEP] 27, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0, [SEP] 28, Drawer, 2.490, 0.949, -1.703, 0, 0, 0, [SEP] 29, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0, [SEP] 30, Drawer, 1.975, 0.949, -1.703, 0, 0, 0, [SEP] 31, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0, [SEP] 32, Drawer, 1.457, 0.949, -1.703, 0, 0, 0, [SEP] 33, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0, [SEP] 34, Dresser, 2.234, 0.048, -1.950, 0, 0, 0, [SEP] 35, Drawer, 3.011, 0.949, -1.703, 0, 0, 0, [SEP] 36, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0, [SEP] 37, Shelf, -0.163, 1.461, 3.219, 0, 180, 0, [SEP] 38, Drawer, -0.161, 0.242, 3.166, 0, 180, 0, [SEP] 39, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0, [SEP] 40, Drawer, -0.161, 0.562, 3.168, 0, 180, 0, [SEP] 41, Shelf, -0.162, 0.922, 3.164, 0, 180, 0, [SEP] 42, Shelf, -0.162, 1.241, 3.163, 0, 180, 0, [SEP] 43, Blinds, -2.550, 2.486, 2.911, 0, 90, 0, [SEP] 44, Blinds, -2.550, 2.486, 4.107, 0, 90, 0, [SEP] 45, Drawer, -0.833, 0.217, -0.336, 0, 90, 0, [SEP] 46, Drawer, -0.833, 0.217, 0.486, 0, 90, 0, [SEP] 47, Drawer, -0.833, 0.628, -0.747, 0, 90, 0, [SEP] 48, Drawer, -0.833, 0.217, 0.075, 0, 90, 0, [SEP] 49, Drawer, -0.833, 0.628, 0.486, 0, 90, 0, [SEP] 50, Drawer, -0.833, 0.217, -0.747, 0, 90, 0, [SEP] 51, Drawer, -0.833, 0.423, -0.336, 0, 90, 0, [SEP] 52, Drawer, -0.833, 0.423, 0.075, 0, 90, 0, [SEP] 53, Drawer, -0.833, 0.423, 0.486, 0, 90, 0, [SEP] 54, Drawer, -0.833, 0.423, -0.747, 0, 90, 0, [SEP] 55, Dresser, -0.934, 0.050, -0.129, 0, 90, 0, [SEP] 56, Drawer, -0.833, 0.628, 0.075, 0, 90, 0, [SEP] 57, Drawer, -0.833, 0.628, -0.336, 0, 90, 0, [SEP] 58, Drawer, 3.454, 0.212, 1.262, 0, 180, 0, [SEP] 59, SideTable, 3.455, 0.046, 1.328, 0, 180, 0, [SEP] 60, Drawer, 3.454, 0.504, 1.262, 0, 180, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, EastWall, , , , , , , [SEP] 63, SouthWall, , , , , , , [SEP] 64, WestWall, , , , , , , ", "output": ["STEP 1: Walk around the bed to the front of the dresser. | STEP 2: Grab the tablet above the pencil. | STEP 3: Walk around the bed to the left side of the bed. | STEP 4: Place the tablet on the bed. | END"]} {"id": "trial_T20190909_062515_867594-0", "input": "Move the pencils from the trash bin and the brown dresser to put them on the white table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.909, -3.0, 0, 90, 0, [SEP] 1, CD, -3.613, 0.979, -3.070, 0, 0, 0, 37 [SEP] 2, CellPhone, -3.760, 0.981, -3.070, 0, 0, 0, 37 [SEP] 3, CellPhone, -2.770, 0.620, -2.080, 0, 0, 0, 19 [SEP] 4, Pencil, -1.882, 0.065, -3.944, 0, 9.990, 0, 23 [SEP] 5, AlarmClock, -3.687, 0.981, -3.673, 0, 0, 0, 37 [SEP] 6, Book, -1.066, 0.800, -4.137, 0, 0, 0, 34 [SEP] 7, CellPhone, -3.693, 0.808, -2.997, 0, 0, 0, 44 [SEP] 8, Laptop, -2.770, 0.618, -1.506, 0, 0, 0, 19 [SEP] 9, CreditCard, -0.274, 0.188, -3.779, 0, 0, 0, 29 [SEP] 10, AlarmClock, -0.329, 0.542, -3.713, 0, 0, 0, 34 [SEP] 11, KeyChain, -0.655, 0.030, -3.811, 0, 0, 0, 29 [SEP] 12, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 19 [SEP] 13, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 14, Pencil, -3.687, 0.983, -3.874, 0, 0, 0, 37 [SEP] 15, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 19 [SEP] 16, CD, -3.908, 0.979, -3.271, 0, 0, 0, 37 [SEP] 17, Pen, -1.270, 0.805, -4.354, 0, 0, 0, 34 [SEP] 18, Mug, -3.687, 0.979, -3.271, 0, 0, 0, 37 [SEP] 19, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 20, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 21, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 22, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 23, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 24, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 25, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 26, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 27, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 28, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 29, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 30, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 31, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 32, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 33, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 34, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 35, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 36, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 37, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 38, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 39, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 40, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 41, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 42, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 46, NorthWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the trash bin to the right of the table. | STEP 2: Pick up the pencil in the trash bin. | STEP 3: Turn left and go back to face the white table. | STEP 4: Place the pencil on the white table. | STEP 5: Turn around and go to the brown dresser in the corner of the room. | STEP 6: Pick up the pencil on top of the brown dresser. | STEP 7: Turn around and go back to face the white table. | STEP 8: Place the pencil on the white table. | END"]} {"id": "trial_T20190908_122249_641769-0", "input": "Move a set of keys to the seat of a chair. 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, KeyChain, -0.260, 0.553, -0.451, 0, 270, 0, 29 [SEP] 2, KeyChain, -0.712, 0.041, -0.480, 0, 270, 0, 24 [SEP] 3, KeyChain, -0.561, 0.553, -0.278, 0, 90, 0, 29 [SEP] 4, RemoteControl, 1.206, 0.322, -0.435, 0, 0, 0, 37 [SEP] 5, Box, -0.711, 0.539, -1.844, 0, 90, 0, 31 [SEP] 6, KeyChain, 1.724, 0.872, 0.008, 0, 90, 0, 35 [SEP] 7, Watch, 1.807, 0.871, 0.431, 0, 90, 0, 35 [SEP] 8, Newspaper, 1.807, 0.869, 0.537, 0, 90, 0, 35 [SEP] 9, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 31 [SEP] 10, CreditCard, -1.163, 0.551, -0.537, 0, 270, 0, 29 [SEP] 11, RemoteControl, 1.849, 0.871, 0.326, 0, 90, 0, 35 [SEP] 12, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 29 [SEP] 13, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 29 [SEP] 14, Statue, -0.561, 0.562, -0.537, 0, 270, 0, 29 [SEP] 15, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 16, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 17, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 18, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 19, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 20, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 21, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 22, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 23, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 24, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 25, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 26, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 29, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 30, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 31, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 32, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 33, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 34, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 35, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 36, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 37, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk up to the coffee table. | STEP 2: Pick up the set of keys off of the coffee table. | STEP 3: Walk over to the chair that is against the wall on your right. | STEP 4: Put the keys on the front edge of the seat of the chair. | END"]} {"id": "trial_T20190908_021603_683557-0", "input": "Put a chilled 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, -0.25, 0.931, 1.25, 0, 90, 0, [SEP] 1, Pan, 1.072, 1.046, -1.289, 0, 90, 0, 46 [SEP] 2, Potato, 0.351, 1.096, 0.630, 0, 0, 0, 48 [SEP] 3, DishSponge, 1.894, 0.204, -1.408, 0, 0, 0, 56 [SEP] 4, Kettle, -1.183, 0.203, -1.555, 0, 0, 0, 54 [SEP] 5, Kettle, -0.312, 0.204, -1.337, 0, 0, 0, 55 [SEP] 6, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 49 [SEP] 7, Pot, 1.665, 0.206, -1.262, 0, 0, 0, 56 [SEP] 8, Spoon, 0.255, 1.031, 0.307, 0, 0, 0, 48 [SEP] 9, Spoon, 0.516, 1.044, 0.763, 0, 0, 0, 48 [SEP] 10, Egg, 0.542, 1.097, 0.522, 0, 0, 0, 48 [SEP] 11, Plate, 1.820, 1.032, -1.557, 0, 0, 0, 52 [SEP] 12, Plate, 0.065, 1.056, 0.522, 0, 0, 0, 48 [SEP] 13, Knife, 0.379, 1.072, -1.107, 0, 0, 0, 46 [SEP] 14, Bowl, 1.879, 1.042, 0.091, 0, 0, 0, 48 [SEP] 15, SaltShaker, 1.347, 1.038, 0.720, 0, 0, 0, 48 [SEP] 16, SaltShaker, -0.432, 1.041, -1.397, 0, 0, 0, 46 [SEP] 17, Mug, 1.612, 1.038, 0.199, 0, 0, 0, 48 [SEP] 18, Mug, -1.034, 0.959, 2.153, 0, 0, 0, 61 [SEP] 19, Apple, 0.936, 1.098, 0.281, 0, 90, 0, 44 [SEP] 20, SoapBottle, -1.416, 0.203, -1.265, 0, 0, 0, 54 [SEP] 21, Apple, -1.034, 1.007, 1.885, 0, 90, 0, 61 [SEP] 22, Potato, -1.034, 1.017, 2.331, 0, 180, 0, 61 [SEP] 23, Fork, 0.031, 1.033, 0.122, 0, 0, 0, 48 [SEP] 24, Kettle, -0.473, 1.566, -1.470, 0, 0, 0, 51 [SEP] 25, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 46 [SEP] 26, Tomato, 0.255, 1.094, 0.091, 0, 0, 0, 48 [SEP] 27, SaltShaker, -0.222, 0.198, -1.481, 0, 90, 0, 55 [SEP] 28, Egg, -1.243, 1.770, -1.362, 0, 0, 0, 60 [SEP] 29, Cup, -1.342, 1.489, 1.974, 0, 90, 0, 61 [SEP] 30, Spatula, 0.717, 1.068, 0.181, 0, 90, 0, 44 [SEP] 31, Knife, 0.980, 1.079, 0.181, 0, 90, 0, 44 [SEP] 32, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 44 [SEP] 33, ButterKnife, 1.612, 1.043, 0.522, 0, 0, 0, 48 [SEP] 34, PepperShaker, -0.760, 0.198, -1.625, 0, 0, 0, 55 [SEP] 35, DishSponge, -1.029, 2.027, -1.337, 0, 0, 0, 53 [SEP] 36, Plate, -1.261, 2.041, -1.409, 0, 0, 0, 53 [SEP] 37, Bread, 0.410, 1.104, 0.351, 0, 337.332, 358.798, 48 [SEP] 38, Spoon, 1.015, 1.044, 0.720, 0, 0, 0, 48 [SEP] 39, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 47 [SEP] 40, Mug, -1.300, 1.223, 1.885, 0, 90, 0, 61 [SEP] 41, Bowl, -0.398, 1.563, -1.693, 0, 0, 0, 51 [SEP] 42, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 43, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 44, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 45, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 46, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 47, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 48, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 49, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 50, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 51, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 52, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 53, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 54, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 55, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 56, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 57, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 58, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 59, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 60, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 61, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 62, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 63, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 64, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 65, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 66, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 70, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 71, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 72, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 73, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 74, NorthWall, , , , , , , [SEP] 75, EastWall, , , , , , , [SEP] 76, SouthWall, , , , , , , [SEP] 77, WestWall, , , , , , , ", "output": ["STEP 1: Move to the center island on the right. | STEP 2: Pick up the egg from the island. | STEP 3: Bring the egg to the fridge. | STEP 4: Chill the egg in the fridge. | STEP 5: Bring the egg to the trash can. | STEP 6: Put the egg in the trash can. | END"]} {"id": "trial_T20190908_175642_334896-0", "input": "Put a chilled 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, -0.25, 0.931, 1.25, 0, 180, 0, [SEP] 1, Pan, 1.817, 0.204, -1.480, 0, 90, 0, 55 [SEP] 2, Potato, 1.854, 0.175, 2.358, 0, 270, 0, 61 [SEP] 3, Potato, -1.095, 1.017, 2.242, 0, 90, 0, 60 [SEP] 4, ButterKnife, 0.980, 1.053, 0.181, 0, 90, 0, 43 [SEP] 5, ButterKnife, 1.155, 1.046, -1.612, 0, 0, 0, 45 [SEP] 6, Kettle, -1.183, 0.203, -1.265, 0, 0, 0, 53 [SEP] 7, Kettle, 0.120, 1.053, -1.630, 0, 0, 0, 48 [SEP] 8, Spoon, 1.155, 1.048, -1.181, 0, 0, 0, 45 [SEP] 9, Spoon, -0.177, 1.048, -1.129, 0, 0, 0, 45 [SEP] 10, Spatula, -0.432, 1.061, -1.397, 0, 0, 0, 45 [SEP] 11, Egg, -1.419, 1.543, 2.063, 0, 90, 0, 60 [SEP] 12, Egg, -1.145, 1.770, -1.300, 0, 0, 0, 59 [SEP] 13, Tomato, 0.805, 1.104, 0.131, 0, 90, 0, 43 [SEP] 14, SoapBottle, 0.960, 1.565, -1.614, 0, 0, 0, 49 [SEP] 15, Bowl, 0.160, 1.042, 0.630, 0, 0, 0, 47 [SEP] 16, Bowl, 1.155, 1.045, -1.397, 0, 0, 0, 45 [SEP] 17, PepperShaker, 1.523, 1.038, 0.307, 0, 0, 0, 47 [SEP] 18, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 63 [SEP] 19, SoapBottle, -1.261, 0.203, -1.627, 0, 0, 0, 53 [SEP] 20, Apple, -1.303, 1.532, 2.331, 0, 90, 0, 60 [SEP] 21, Potato, 0.282, 1.085, 0.120, 0, 0, 0, 47 [SEP] 22, Fork, 0.989, 1.047, -1.289, 0, 180, 0, 45 [SEP] 23, Kettle, -0.548, 1.566, -1.619, 0, 0, 0, 50 [SEP] 24, Pan, -0.491, 0.203, -1.337, 0, 0, 0, 54 [SEP] 25, Tomato, 0.740, 1.097, -1.181, 0, 0, 0, 45 [SEP] 26, SaltShaker, 1.523, 1.038, 0.199, 0, 0, 0, 47 [SEP] 27, Egg, -0.346, 1.101, -1.612, 0, 0, 0, 45 [SEP] 28, Cup, 1.790, 1.043, 0.738, 0, 0, 0, 47 [SEP] 29, Spatula, 0.848, 1.058, 0.763, 0, 180, 0, 47 [SEP] 30, Knife, 1.514, 1.069, 0.676, 0, 0, 0, 47 [SEP] 31, Lettuce, -1.349, 1.773, 1.885, 0, 90, 0, 60 [SEP] 32, ButterKnife, -0.603, 1.046, -1.289, 0, 90, 0, 45 [SEP] 33, PepperShaker, -0.624, 1.560, -1.767, 0, 0, 0, 50 [SEP] 34, DishSponge, -0.260, 1.046, -1.397, 0, 0, 0, 45 [SEP] 35, Plate, 1.589, 1.032, -1.484, 0, 0, 0, 51 [SEP] 36, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 47 [SEP] 37, Spoon, -0.346, 1.048, -1.828, 0, 0, 0, 45 [SEP] 38, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 41 [SEP] 39, Mug, -1.038, 1.223, 1.885, 0, 0, 0, 60 [SEP] 40, Bowl, -1.300, 1.227, 1.885, 0, 90, 0, 60 [SEP] 41, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 42, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 43, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 44, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 45, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 46, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 47, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 48, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 49, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 50, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 51, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 52, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 53, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 54, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 55, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 56, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 57, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 58, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 59, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 60, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 61, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 62, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 63, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 64, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 65, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 66, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 69, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 70, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 71, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 72, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 73, NorthWall, , , , , , , [SEP] 74, EastWall, , , , , , , [SEP] 75, SouthWall, , , , , , , [SEP] 76, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, move to the wall, turn right and face the green cup on the counter. | STEP 2: Pick up the green cup from the counter. | STEP 3: Turn right and bring the cup to the fridge. | STEP 4: Chill the cup in the fridge. | STEP 5: Take the chilled cup from the fridge, turn left near the center counter. | STEP 6: Put the chilled cup on the counter to the left. | END"]} {"id": "trial_T20190908_175642_334896-3", "input": "Put a chilled 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, -0.25, 0.931, 1.25, 0, 180, 0, [SEP] 1, Pan, 1.817, 0.204, -1.480, 0, 90, 0, 55 [SEP] 2, Potato, 1.854, 0.175, 2.358, 0, 270, 0, 61 [SEP] 3, Potato, -1.095, 1.017, 2.242, 0, 90, 0, 60 [SEP] 4, ButterKnife, 0.980, 1.053, 0.181, 0, 90, 0, 43 [SEP] 5, ButterKnife, 1.155, 1.046, -1.612, 0, 0, 0, 45 [SEP] 6, Kettle, -1.183, 0.203, -1.265, 0, 0, 0, 53 [SEP] 7, Kettle, 0.120, 1.053, -1.630, 0, 0, 0, 48 [SEP] 8, Spoon, 1.155, 1.048, -1.181, 0, 0, 0, 45 [SEP] 9, Spoon, -0.177, 1.048, -1.129, 0, 0, 0, 45 [SEP] 10, Spatula, -0.432, 1.061, -1.397, 0, 0, 0, 45 [SEP] 11, Egg, -1.419, 1.543, 2.063, 0, 90, 0, 60 [SEP] 12, Egg, -1.145, 1.770, -1.300, 0, 0, 0, 59 [SEP] 13, Tomato, 0.805, 1.104, 0.131, 0, 90, 0, 43 [SEP] 14, SoapBottle, 0.960, 1.565, -1.614, 0, 0, 0, 49 [SEP] 15, Bowl, 0.160, 1.042, 0.630, 0, 0, 0, 47 [SEP] 16, Bowl, 1.155, 1.045, -1.397, 0, 0, 0, 45 [SEP] 17, PepperShaker, 1.523, 1.038, 0.307, 0, 0, 0, 47 [SEP] 18, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 63 [SEP] 19, SoapBottle, -1.261, 0.203, -1.627, 0, 0, 0, 53 [SEP] 20, Apple, -1.303, 1.532, 2.331, 0, 90, 0, 60 [SEP] 21, Potato, 0.282, 1.085, 0.120, 0, 0, 0, 47 [SEP] 22, Fork, 0.989, 1.047, -1.289, 0, 180, 0, 45 [SEP] 23, Kettle, -0.548, 1.566, -1.619, 0, 0, 0, 50 [SEP] 24, Pan, -0.491, 0.203, -1.337, 0, 0, 0, 54 [SEP] 25, Tomato, 0.740, 1.097, -1.181, 0, 0, 0, 45 [SEP] 26, SaltShaker, 1.523, 1.038, 0.199, 0, 0, 0, 47 [SEP] 27, Egg, -0.346, 1.101, -1.612, 0, 0, 0, 45 [SEP] 28, Cup, 1.790, 1.043, 0.738, 0, 0, 0, 47 [SEP] 29, Spatula, 0.848, 1.058, 0.763, 0, 180, 0, 47 [SEP] 30, Knife, 1.514, 1.069, 0.676, 0, 0, 0, 47 [SEP] 31, Lettuce, -1.349, 1.773, 1.885, 0, 90, 0, 60 [SEP] 32, ButterKnife, -0.603, 1.046, -1.289, 0, 90, 0, 45 [SEP] 33, PepperShaker, -0.624, 1.560, -1.767, 0, 0, 0, 50 [SEP] 34, DishSponge, -0.260, 1.046, -1.397, 0, 0, 0, 45 [SEP] 35, Plate, 1.589, 1.032, -1.484, 0, 0, 0, 51 [SEP] 36, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 47 [SEP] 37, Spoon, -0.346, 1.048, -1.828, 0, 0, 0, 45 [SEP] 38, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 41 [SEP] 39, Mug, -1.038, 1.223, 1.885, 0, 0, 0, 60 [SEP] 40, Bowl, -1.300, 1.227, 1.885, 0, 90, 0, 60 [SEP] 41, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 42, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 43, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 44, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 45, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 46, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 47, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 48, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 49, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 50, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 51, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 52, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 53, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 54, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 55, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 56, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 57, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 58, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 59, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 60, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 61, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 62, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 63, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 64, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 65, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 66, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 69, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 70, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 71, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 72, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 73, NorthWall, , , , , , , [SEP] 74, EastWall, , , , , , , [SEP] 75, SouthWall, , , , , , , [SEP] 76, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and stand behind the chairs. | STEP 2: Pick up the green cup from the counter. | STEP 3: Turn right and go to the fridge. | STEP 4: Chill the cup in the fridge. | STEP 5: Turn to the left. | STEP 6: Put the cup on the counter. | END"]} {"id": "trial_T20190909_061918_161974-2", "input": "To heat a potato and put it down 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, 0.931, -0.5, 0, 0, 0, [SEP] 1, Pan, 1.743, 1.019, -1.337, 0, 90, 0, 60 [SEP] 2, Potato, -1.349, 1.766, 1.974, 0, 90, 0, 69 [SEP] 3, Potato, -1.103, 1.281, 2.331, 0, 90, 0, 69 [SEP] 4, Potato, -1.169, 1.281, 2.063, 0, 90, 0, 69 [SEP] 5, DishSponge, 1.820, 1.019, -1.630, 0, 0, 0, 60 [SEP] 6, Kettle, 0.120, 1.053, -1.630, 0, 0, 0, 57 [SEP] 7, Fork, 0.682, 1.043, 0.632, 0, 0, 0, 56 [SEP] 8, Spatula, -0.038, 1.061, -1.118, 0, 0, 0, 54 [SEP] 9, Spatula, 1.155, 1.061, -1.289, 0, 0, 0, 54 [SEP] 10, Egg, -1.250, 2.002, 2.242, 0, 90, 0, 69 [SEP] 11, Egg, -0.260, 1.101, -1.612, 0, 0, 0, 54 [SEP] 12, Plate, -0.398, 1.577, -1.767, 0, 0, 0, 59 [SEP] 13, Plate, 0.890, 0.212, -1.267, 0, 0, 0, 65 [SEP] 14, Knife, 0.657, 1.072, -1.086, 0, 0, 0, 54 [SEP] 15, Tomato, -1.431, 1.279, 2.063, 0, 90, 0, 69 [SEP] 16, Tomato, 1.211, 0.951, 0.231, 0, 90, 0, 51 [SEP] 17, SoapBottle, -1.261, 0.203, -1.265, 0, 0, 0, 62 [SEP] 18, SoapBottle, -1.416, 0.203, -1.410, 0, 0, 0, 62 [SEP] 19, Bowl, 1.512, 0.203, -1.553, 0, 0, 0, 64 [SEP] 20, SaltShaker, -0.775, 1.041, -1.505, 0, 0, 0, 54 [SEP] 21, SaltShaker, -0.952, 2.023, -1.409, 0, 0, 0, 61 [SEP] 22, PepperShaker, 1.188, 1.560, -1.614, 0, 0, 0, 58 [SEP] 23, PepperShaker, 1.181, 1.038, 0.720, 0, 0, 0, 56 [SEP] 24, Lettuce, 0.065, 1.103, 0.630, 0, 0, 0, 56 [SEP] 25, Mug, 0.351, 1.038, 0.738, 0, 0, 0, 56 [SEP] 26, Apple, 0.980, 1.097, 0.331, 0, 90, 0, 52 [SEP] 27, Apple, 1.155, 1.090, -1.181, 0, 0, 0, 54 [SEP] 28, SoapBottle, 1.158, 0.200, -1.339, 0, 0, 0, 65 [SEP] 29, Apple, 0.892, 1.098, 0.331, 0, 90, 0, 52 [SEP] 30, Potato, 0.761, 1.108, 0.281, 0, 90, 0, 52 [SEP] 31, Fork, 1.155, 1.047, -1.505, 0, 180, 0, 54 [SEP] 32, Kettle, 0.5, 1.057, -1.4, 0, 0, 0, 55 [SEP] 33, Pan, -1.339, 2.027, -1.409, 0, 270, 0, 61 [SEP] 34, Tomato, 0.936, 1.104, 0.231, 0, 90, 0, 52 [SEP] 35, SaltShaker, 1.588, 0.199, -1.408, 0, 0, 0, 64 [SEP] 36, Egg, 0.542, 1.097, 0.091, 0, 0, 0, 56 [SEP] 37, Cup, -0.398, 1.565, -1.470, 0, 0, 0, 59 [SEP] 38, Spatula, 0.906, 1.061, -1.181, 0, 0, 0, 54 [SEP] 39, Knife, 0.877, 1.042, -1.362, 90, 315, 0, 54 [SEP] 40, Lettuce, -1.095, 1.023, 1.885, 0, 90, 0, 69 [SEP] 41, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 56 [SEP] 42, PepperShaker, -0.346, 1.041, -1.505, 0, 0, 0, 54 [SEP] 43, DishSponge, 0.805, 1.053, 0.131, 0, 90, 0, 52 [SEP] 44, Plate, 1.817, 0.217, -1.335, 0, 0, 0, 64 [SEP] 45, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 56 [SEP] 46, Spoon, 0.717, 1.054, 0.231, 0, 270, 0, 52 [SEP] 47, Pot, -0.377, 0.191, -1.313, 0, 90, 0, 63 [SEP] 48, Mug, -0.603, 1.041, -1.289, 0, 0, 0, 54 [SEP] 49, Bowl, -0.670, 0.202, -1.481, 0, 0, 0, 63 [SEP] 50, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 51, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 52, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 53, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 54, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 55, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 56, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 57, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 58, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 59, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 60, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 61, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 62, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 63, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 64, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 65, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 66, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 67, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 68, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 69, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 70, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 71, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 72, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 73, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 74, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 75, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 76, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 77, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 78, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 79, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 80, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 81, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 82, NorthWall, , , , , , , [SEP] 83, EastWall, , , , , , , [SEP] 84, SouthWall, , , , , , , [SEP] 85, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the left side of the sink. | STEP 2: Pick up the potato from behind the sponge. | STEP 3: Walk to the microwave above the oven. | STEP 4: Put the potato in the microwave, heat up the potato, take the potato out of the microwave. | STEP 5: Walk to the counter to the left of the oven with the toaster on it. | STEP 6: Put the potato down on the counter to the left of the white mug. | END"]} {"id": "trial_T20190908_125627_181165-1", "input": "put 2 spray bottles on top of the water tank SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.901, 1.5, 0, 180, 0, [SEP] 1, TissueBox, -1.560, 0.068, 2.341, 0, 0, 0, 22 [SEP] 2, Cloth, -1.500, 0.067, 3.276, 0, 0, 0, 26 [SEP] 3, SoapBar, 0.258, 0.047, 3.782, 0, 0, 0, 30 [SEP] 4, SoapBar, -1.561, 0.068, 3.693, 0, 0, 0, 28 [SEP] 5, Candle, 0.374, 0.892, 1.566, 0, 0, 0, 33 [SEP] 6, SprayBottle, -1.284, 0.995, 2.982, 0, 0, 0, 27 [SEP] 7, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 29 [SEP] 8, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 31 [SEP] 9, SoapBar, -1.416, 0.994, 3.933, 0, 0, 0, 27 [SEP] 10, ToiletPaper, -1.332, 0.058, 2.261, 0, 0, 0, 22 [SEP] 11, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 12, Candle, 0.284, 0.893, 1.671, 0, 0, 0, 33 [SEP] 13, TissueBox, -1.441, 0.069, 3.693, 0, 0, 0, 28 [SEP] 14, SoapBottle, -1.284, 0.993, 2.269, 0, 0, 0, 27 [SEP] 15, ToiletPaper, 0.351, 0.889, 1.828, 0, 0, 0, 33 [SEP] 16, SprayBottle, -1.416, 0.995, 2.923, 0, 0, 0, 27 [SEP] 17, Cloth, -1.382, 0.068, 2.807, 0, 0, 0, 20 [SEP] 18, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 19, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 20, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 21, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 22, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 23, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 24, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 25, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 26, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 27, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 28, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 29, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 30, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 31, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 32, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 33, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 34, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 35, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 36, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 37, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 38, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 39, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 40, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 41, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: turn around to the left go forward towards the sink | STEP 2: pick the spray bottle from the sink | STEP 3: turn around to the left go right and go forward towards the toilet | STEP 4: put the spray bottle on top of the water tank | STEP 5: turn around to the right go left towards the sink | STEP 6: pick up the spray bottle from the sink | STEP 7: turn around to the left go right and forward towards the toilet | STEP 8: put the spray bottle on top of the water tank | END"]} {"id": "trial_T20190909_020845_819287-0", "input": "Examine a yellow 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, -2.25, 0.909, -3.25, 0, 90, 0, [SEP] 1, Mug, -0.685, 0.541, -3.713, 0, 0, 0, 31 [SEP] 2, CD, -0.862, 0.799, -4.029, 0, 0, 0, 37 [SEP] 3, CreditCard, -0.655, 0.189, -3.811, 0, 0, 0, 32 [SEP] 4, CreditCard, -3.908, 0.979, -3.472, 0, 0, 0, 40 [SEP] 5, Book, -3.582, 0.226, -4.349, 0, 90, 0, 44 [SEP] 6, Pillow, -2.559, 0.722, -1.793, 0, 0, 0, 22 [SEP] 7, AlarmClock, -0.418, 0.542, -3.713, 0, 0, 0, 37 [SEP] 8, AlarmClock, -0.657, 0.800, -3.811, 0, 0, 0, 37 [SEP] 9, Book, -3.637, 0.046, -3.790, 0, 270, 0, 45 [SEP] 10, CellPhone, -3.834, 0.979, -3.874, 0, 0, 0, 40 [SEP] 11, Laptop, -3.191, 0.618, -0.356, 0, 0, 0, 22 [SEP] 12, CreditCard, -0.502, 0.348, -3.747, 0, 0, 0, 31 [SEP] 13, AlarmClock, -0.453, 0.800, -3.703, 0, 0, 0, 37 [SEP] 14, KeyChain, -0.453, 0.800, -4.137, 0, 0, 0, 37 [SEP] 15, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 22 [SEP] 16, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 17, Pencil, -0.453, 0.807, -4.029, 0, 0, 0, 37 [SEP] 18, Pillow, -2.981, 0.722, -0.931, 0, 0, 0, 22 [SEP] 19, CD, -0.657, 0.803, -4.354, 0, 0, 0, 37 [SEP] 20, Pen, -0.657, 0.809, -4.137, 0, 90, 0, 37 [SEP] 21, Mug, -3.539, 0.977, -3.874, 0, 0, 0, 40 [SEP] 22, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 23, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 24, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 25, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 26, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 27, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 28, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 29, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 30, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 31, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 32, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 33, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 34, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 35, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 36, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 37, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 38, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 39, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 40, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 41, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 42, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 45, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: Walk over to the wall, then turn right to face the white table. | STEP 2: Pick up the yellow pencil off of the white table. | STEP 3: Turn right and walk towards the dresser, then hang a left and walk up to the wall, turn left to face the small lamp on the white table. | STEP 4: Turn on the light of the small lamp. | END"]} {"id": "trial_T20190909_020856_479123-1", "input": "Carry a pencil 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, -0.25, 0.909, -2.0, 0, 270, 0, [SEP] 1, Mug, -1.474, 0.801, -4.029, 0, 0, 0, 36 [SEP] 2, CD, -3.466, 0.980, -3.673, 0, 0, 0, 39 [SEP] 3, CellPhone, -3.751, 0.419, -3.185, 0, 0, 0, 47 [SEP] 4, Pencil, -0.774, 0.546, -3.676, 0, 0, 0, 30 [SEP] 5, Pencil, -3.687, 0.984, -3.271, 0, 0, 0, 39 [SEP] 6, CreditCard, -1.066, 0.803, -4.137, 0, 0, 0, 36 [SEP] 7, Laptop, -2.770, 0.618, -0.931, 0, 0, 0, 21 [SEP] 8, Book, -1.474, 0.800, -3.811, 0, 0, 0, 36 [SEP] 9, CellPhone, -0.426, 0.189, -3.811, 0, 0, 0, 28 [SEP] 10, Laptop, -2.981, 0.618, -2.080, 0, 0, 0, 21 [SEP] 11, CreditCard, -0.657, 0.800, -3.703, 0, 0, 0, 36 [SEP] 12, AlarmClock, -0.453, 0.803, -4.029, 0, 0, 0, 36 [SEP] 13, KeyChain, -0.249, 0.800, -4.137, 0, 0, 0, 36 [SEP] 14, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 21 [SEP] 15, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 16, Pencil, -3.637, 0.048, -4.164, 0, 0, 0, 44 [SEP] 17, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 21 [SEP] 18, CD, -0.418, 0.542, -3.713, 0, 0, 0, 30 [SEP] 19, Pen, -0.596, 0.548, -3.713, 0, 0, 0, 30 [SEP] 20, Mug, -3.539, 0.977, -4.276, 0, 0, 0, 39 [SEP] 21, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 22, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 23, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 24, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 25, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 26, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 27, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 28, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 29, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 30, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 31, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 32, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 33, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 34, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 35, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 36, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 37, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 38, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 39, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 40, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 41, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 42, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 44, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 48, NorthWall, , , , , , , [SEP] 49, EastWall, , , , , , , [SEP] 50, SouthWall, , , , , , , [SEP] 51, WestWall, , , , , , , ", "output": ["STEP 1: Move to the right side of the wooden dresser where the pencil is | STEP 2: Pick up the pencil on top of the dresser | STEP 3: Carry the pencil over to the right side of the white desk where the lamp is | STEP 4: Turn on the lamp | END"]} {"id": "trial_T20190908_123406_879650-1", "input": "Place two dog statues onto the coffee table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 0.5, 0, 90, 0, [SEP] 1, Newspaper, 1.724, 0.868, 0.431, 0, 90, 0, 36 [SEP] 2, Newspaper, -0.453, 0.036, -0.185, 0, 270, 0, 39 [SEP] 3, KeyChain, -0.561, 0.553, -0.192, 0, 270, 0, 30 [SEP] 4, CreditCard, -0.712, 0.551, -0.537, 0, 270, 0, 30 [SEP] 5, RemoteControl, -0.582, 0.360, -0.544, 0, 90, 0, 29 [SEP] 6, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 38 [SEP] 7, KeyChain, -0.288, 0.334, -1.697, 0, 0, 0, 32 [SEP] 8, Watch, -0.711, 0.552, -0.278, 0, 270, 0, 30 [SEP] 9, Newspaper, -0.260, 0.550, -0.451, 0, 270, 0, 30 [SEP] 10, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 32 [SEP] 11, CreditCard, 1.682, 0.869, 0.325, 0, 90, 0, 36 [SEP] 12, RemoteControl, -0.561, 0.553, -0.106, 0, 270, 0, 30 [SEP] 13, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 30 [SEP] 14, Statue, 1.808, 0.880, 0.114, 0, 270, 0, 36 [SEP] 15, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 30 [SEP] 16, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 17, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 18, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 19, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 20, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 21, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 22, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 23, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 24, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 25, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 26, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 29, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 30, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 31, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 32, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 33, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 34, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 35, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 36, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 37, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 38, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 39, , , , , , , , [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Move to the table that is left of the arm chair. | STEP 2: Pick up the dog from the table. | STEP 3: Turn left, move to the coffee table, between the table and couch. | STEP 4: Put the dog statue on the coffee table. | STEP 5: Turn right, move to the end of the couch, near the door. | STEP 6: Pick up the dog from the shelf. | STEP 7: Turn right, move to the coffee table, between the table and couch. | STEP 8: Put the dog statue on the coffee table. | END"]} {"id": "trial_T20190908_123406_879650-2", "input": "Move two statues to the center table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 0.5, 0, 90, 0, [SEP] 1, Newspaper, 1.724, 0.868, 0.431, 0, 90, 0, 36 [SEP] 2, Newspaper, -0.453, 0.036, -0.185, 0, 270, 0, 39 [SEP] 3, KeyChain, -0.561, 0.553, -0.192, 0, 270, 0, 30 [SEP] 4, CreditCard, -0.712, 0.551, -0.537, 0, 270, 0, 30 [SEP] 5, RemoteControl, -0.582, 0.360, -0.544, 0, 90, 0, 29 [SEP] 6, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 38 [SEP] 7, KeyChain, -0.288, 0.334, -1.697, 0, 0, 0, 32 [SEP] 8, Watch, -0.711, 0.552, -0.278, 0, 270, 0, 30 [SEP] 9, Newspaper, -0.260, 0.550, -0.451, 0, 270, 0, 30 [SEP] 10, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 32 [SEP] 11, CreditCard, 1.682, 0.869, 0.325, 0, 90, 0, 36 [SEP] 12, RemoteControl, -0.561, 0.553, -0.106, 0, 270, 0, 30 [SEP] 13, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 30 [SEP] 14, Statue, 1.808, 0.880, 0.114, 0, 270, 0, 36 [SEP] 15, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 30 [SEP] 16, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 17, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 18, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 19, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 20, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 21, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 22, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 23, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 24, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 25, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 26, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 29, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 30, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 31, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 32, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 33, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 34, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 35, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 36, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 37, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 38, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 39, , , , , , , , [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Go to the table with the statue on it | STEP 2: Pick up the statue | STEP 3: Go to the center table | STEP 4: Put the statue down on the center table | STEP 5: Go to the shelf above the sofa | STEP 6: Pick up the statue from the shelf | STEP 7: Go to the center table | STEP 8: Put the statue down on the center table | END"]} {"id": "trial_T20190909_075311_764952-0", "input": "Place a pencil on top of the wood drawer unit SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.909, -1.0, 0, 90, 0, [SEP] 1, CellPhone, -0.453, 0.803, -3.811, 0, 0, 0, 37 [SEP] 2, CellPhone, -3.750, 0.226, -4.163, 0, 0, 0, 44 [SEP] 3, Pen, -3.524, 0.051, -4.257, 0, 0, 0, 45 [SEP] 4, Pen, -3.694, 0.231, -3.185, 0, 0, 0, 42 [SEP] 5, KeyChain, -3.467, 0.810, -3.790, 0, 0, 0, 38 [SEP] 6, KeyChain, -1.270, 0.800, -3.920, 0, 0, 0, 37 [SEP] 7, Laptop, -3.402, 0.618, -1.506, 0, 0, 0, 22 [SEP] 8, AlarmClock, -0.685, 0.542, -3.713, 0, 0, 0, 37 [SEP] 9, Book, -2.559, 0.620, -2.080, 0, 0, 0, 22 [SEP] 10, CellPhone, -1.066, 0.803, -3.703, 0, 0, 0, 37 [SEP] 11, Laptop, -3.687, 0.979, -3.070, 0, 0, 0, 40 [SEP] 12, CreditCard, -0.655, 0.349, -3.747, 0, 0, 0, 31 [SEP] 13, AlarmClock, -0.657, 0.800, -3.920, 0, 0, 0, 37 [SEP] 14, KeyChain, -0.453, 0.800, -3.703, 0, 0, 0, 37 [SEP] 15, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 22 [SEP] 16, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 17, Pencil, -1.886, 0.066, -3.968, 0, 9.990, 0, 26 [SEP] 18, Pillow, -3.335, 0.681, -0.415, 0, 0, 0, 22 [SEP] 19, CD, -3.638, 0.614, -3.369, 0, 0, 0, 41 [SEP] 20, Pen, -3.694, 0.424, -3.092, 0, 0, 0, 48 [SEP] 21, Mug, -3.466, 0.977, -3.472, 0, 0, 0, 40 [SEP] 22, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 23, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 24, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 25, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 26, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 27, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 28, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 29, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 30, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 31, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 32, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 33, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 34, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 35, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 36, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 37, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 38, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 39, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 40, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 41, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 42, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 45, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: Move to the rectangular white table in the corner of the room | STEP 2: Pick up the pencil on the table top | STEP 3: Carry the pencil over to the wood drawers under the white table on the left side | STEP 4: Place the pencil on top of the wood drawer unit | END"]} {"id": "trial_T20190909_003645_531350-1", "input": "place a clean spoon 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, 1.0, 0.931, -0.25, 0, 90, 0, [SEP] 1, Potato, 0.516, 1.096, 0.676, 0, 0, 0, 47 [SEP] 2, DishSponge, 1.155, 1.046, -1.828, 0, 0, 0, 45 [SEP] 3, ButterKnife, 1.701, 1.043, 0.738, 0, 0, 0, 47 [SEP] 4, ButterKnife, 1.612, 1.043, 0.199, 0, 0, 0, 47 [SEP] 5, Kettle, -0.473, 1.566, -1.767, 0, 0, 0, 50 [SEP] 6, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 48 [SEP] 7, Fork, -0.346, 1.047, -1.720, 0, 0, 0, 45 [SEP] 8, Plate, 1.072, 1.059, -1.289, 0, 0, 0, 45 [SEP] 9, Knife, 1.181, 1.069, 0.763, 0, 0, 0, 47 [SEP] 10, Bowl, 1.512, 0.203, -1.262, 0, 0, 0, 55 [SEP] 11, Bowl, 1.512, 0.203, -1.553, 0, 0, 0, 55 [SEP] 12, SaltShaker, -1.416, 0.197, -1.265, 0, 0, 0, 73 [SEP] 13, SaltShaker, -1.261, 2.023, -1.337, 0, 0, 0, 52 [SEP] 14, PepperShaker, 1.741, 0.199, -1.553, 0, 0, 0, 55 [SEP] 15, PepperShaker, -0.260, 1.041, -1.828, 0, 0, 0, 45 [SEP] 16, Lettuce, -1.103, 1.287, 1.885, 0, 90, 0, 60 [SEP] 17, Lettuce, 1.347, 1.103, 0.720, 0, 0, 0, 47 [SEP] 18, Mug, 0.936, 1.050, 0.331, 0, 90, 0, 43 [SEP] 19, SoapBottle, -0.699, 1.565, -1.396, 0, 0, 0, 50 [SEP] 20, Apple, -0.030, 1.086, 0.415, 0, 0, 0, 47 [SEP] 21, Potato, -1.047, 1.769, -1.269, 0, 270, 0, 59 [SEP] 22, Fork, 0.031, 1.033, 0.122, 0, 0, 0, 47 [SEP] 23, Kettle, -0.670, 0.204, -1.337, 0, 0, 0, 54 [SEP] 24, Pan, 0.801, 0.199, -1.339, 0, 270, 0, 56 [SEP] 25, Tomato, 1.968, 1.094, 0.738, 0, 0, 0, 47 [SEP] 26, SaltShaker, 0.255, 1.038, 0.738, 0, 0, 0, 47 [SEP] 27, Egg, 0.805, 1.108, 0.381, 0, 90, 0, 43 [SEP] 28, Cup, -1.303, 1.489, 2.153, 0, 90, 0, 60 [SEP] 29, Spatula, 0.906, 1.061, -1.720, 0, 0, 0, 45 [SEP] 30, Knife, 0.848, 1.069, 0.676, 0, 0, 0, 47 [SEP] 31, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 43 [SEP] 32, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 47 [SEP] 33, PepperShaker, -0.222, 0.198, -1.553, 0, 0, 0, 54 [SEP] 34, DishSponge, 1.826, 0.122, 2.414, 0, 270, 0, 61 [SEP] 35, Plate, -0.689, 1.059, -1.289, 0, 0, 0, 45 [SEP] 36, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 47 [SEP] 37, Spoon, -0.432, 1.048, -1.289, 0, 0, 0, 45 [SEP] 38, Pot, -1.349, 1.714, 1.885, 0, 180, 0, 60 [SEP] 39, Mug, -1.064, 0.959, 2.331, 0, 90, 0, 60 [SEP] 40, Bowl, -1.303, 1.488, 1.885, 0, 90, 0, 60 [SEP] 41, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 42, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 43, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 44, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 45, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 46, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 47, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 48, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 49, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 50, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 51, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 52, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 53, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 54, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 55, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 56, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 57, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 58, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 59, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 60, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 61, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 62, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 63, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 64, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 65, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 66, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 69, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 70, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 71, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 72, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 73, , , , , , , , [SEP] 74, NorthWall, , , , , , , [SEP] 75, EastWall, , , , , , , [SEP] 76, SouthWall, , , , , , , [SEP] 77, WestWall, , , , , , , ", "output": ["STEP 1: turn around and walk to the end of the kitchen counter on the left | STEP 2: grab the spoon off of the kitchen counter | STEP 3: turn left and walk over to the sink on the left side of the counter | STEP 4: place the spoon in the right side sink, rinse it off, then take it back out | STEP 5: turn left and walk over to the end of the kitchen counter on the left | STEP 6: place the spoon down on the counter | END"]} {"id": "trial_T20190908_075703_979386-1", "input": "Examine a credit card 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, -4.75, 0.901, 6.25, 0, 90, 0, [SEP] 1, Watch, -2.492, 0.533, 3.856, 0, 180, 0, 57 [SEP] 2, CreditCard, -2.704, 0.533, 4.106, 0, 0, 0, 57 [SEP] 3, CreditCard, -6.139, 1.279, 3.662, 0, 0, 0, 54 [SEP] 4, CreditCard, -5.368, 0.533, 6.871, 0, 45, 0, 58 [SEP] 5, RemoteControl, -5.848, 0.149, 4.152, 0, 0, 0, 47 [SEP] 6, RemoteControl, -5.949, 1.282, 3.891, 0, 0, 0, 54 [SEP] 7, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 51 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -0.586, 0.794, 5.600, 0, 270, 0, 41 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -0.789, 0.365, 3.002, 0, 0, 0, 40 [SEP] 12, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 57 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 14, Vase, -0.326, 0.788, 2.052, 0, 0, 0, 42 [SEP] 15, CreditCard, -0.868, 0.439, 4.524, 0, 0, 0, 40 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -0.738, 0.794, 2.377, 0, 270, 0, 42 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -5.960, 0.454, 4.547, 0, 0, 0, 52 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -5.923, 0.455, 4.152, 0, 0, 0, 47 [SEP] 24, Watch, -0.586, 0.793, 1.626, 0, 270, 0, 42 [SEP] 25, Statue, -3.265, 0.460, 7.221, 0, 90, 0, 49 [SEP] 26, Statue, -2.422, 0.535, 4.335, 0, 0, 0, 57 [SEP] 27, Statue, -0.608, 0.835, 2.261, 73.940, 195.078, 285.304, 42 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 59, NorthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right and walk forward to the left side of the shelves against on the wall on the right. | STEP 2: Pick up the red credit card from the top shelf. | STEP 3: Turn around and walk to the front of the floor lamp which is to the left of the garbage bin on the floor. | STEP 4: Turn on the lamp. | END"]} {"id": "trial_T20190908_075703_979386-2", "input": "Examine a credit card by the light of a lamp on the ground. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.75, 0.901, 6.25, 0, 90, 0, [SEP] 1, Watch, -2.492, 0.533, 3.856, 0, 180, 0, 57 [SEP] 2, CreditCard, -2.704, 0.533, 4.106, 0, 0, 0, 57 [SEP] 3, CreditCard, -6.139, 1.279, 3.662, 0, 0, 0, 54 [SEP] 4, CreditCard, -5.368, 0.533, 6.871, 0, 45, 0, 58 [SEP] 5, RemoteControl, -5.848, 0.149, 4.152, 0, 0, 0, 47 [SEP] 6, RemoteControl, -5.949, 1.282, 3.891, 0, 0, 0, 54 [SEP] 7, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 51 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -0.586, 0.794, 5.600, 0, 270, 0, 41 [SEP] 10, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 52 [SEP] 11, Newspaper, -0.789, 0.365, 3.002, 0, 0, 0, 40 [SEP] 12, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 57 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 14, Vase, -0.326, 0.788, 2.052, 0, 0, 0, 42 [SEP] 15, CreditCard, -0.868, 0.439, 4.524, 0, 0, 0, 40 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -0.738, 0.794, 2.377, 0, 270, 0, 42 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -5.960, 0.454, 4.547, 0, 0, 0, 52 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -5.923, 0.455, 4.152, 0, 0, 0, 47 [SEP] 24, Watch, -0.586, 0.793, 1.626, 0, 270, 0, 42 [SEP] 25, Statue, -3.265, 0.460, 7.221, 0, 90, 0, 49 [SEP] 26, Statue, -2.422, 0.535, 4.335, 0, 0, 0, 57 [SEP] 27, Statue, -0.608, 0.835, 2.261, 73.940, 195.078, 285.304, 42 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 59, NorthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right, move past the black shelf on the right, turn around to face the left side of the shelf. | STEP 2: Pick up the red credit card on the shelf. | STEP 3: Turn around, bring the credit card to the lamp on the ground next to the door. | STEP 4: Turn on the lamp on the ground. | END"]} {"id": "trial_T20190907_180332_913940-1", "input": "heat the tomato in the microwave, put the 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, -0.75, 0.931, 0.75, 0, 270, 0, [SEP] 1, Pan, 0.801, 0.199, -1.339, 0, 270, 0, 55 [SEP] 2, Potato, -1.234, 1.281, 1.796, 0, 90, 0, 59 [SEP] 3, Potato, -1.381, 1.542, 2.153, 0, 90, 0, 59 [SEP] 4, ButterKnife, 1.015, 1.043, 0.807, 0, 0, 0, 46 [SEP] 5, ButterKnife, 0.823, 1.046, -1.397, 0, 0, 0, 44 [SEP] 6, Kettle, 0.120, 1.053, -1.630, 0, 0, 0, 47 [SEP] 7, Pot, 1.743, 1.021, -1.557, 0, 90, 0, 50 [SEP] 8, Fork, 0.906, 1.047, -1.181, 0, 0, 0, 44 [SEP] 9, Fork, -0.346, 1.047, -1.612, 0, 0, 0, 44 [SEP] 10, Spoon, -0.517, 1.048, -1.289, 0, 270, 0, 44 [SEP] 11, Spatula, -0.038, 1.061, -1.118, 0, 0, 0, 44 [SEP] 12, Spatula, 0.980, 1.068, 0.131, 0, 90, 0, 42 [SEP] 13, Knife, -0.346, 1.072, -1.181, 0, 0, 0, 44 [SEP] 14, SoapBottle, -0.260, 1.047, -1.612, 0, 0, 0, 44 [SEP] 15, Bowl, 1.155, 1.045, -1.181, 0, 0, 0, 44 [SEP] 16, PepperShaker, 1.588, 0.199, -1.335, 0, 0, 0, 54 [SEP] 17, PepperShaker, 1.612, 1.038, 0.307, 0, 0, 0, 46 [SEP] 18, SoapBottle, 0.848, 1.044, 0.632, 0, 0, 0, 46 [SEP] 19, Apple, 1.271, 0.936, 0.304, 0, 90, 0, 41 [SEP] 20, Potato, -1.034, 1.017, 2.331, 0, 180, 0, 59 [SEP] 21, Fork, 0.848, 1.054, 0.131, 0, 0, 0, 42 [SEP] 22, Kettle, 0.885, 1.566, -1.538, 0, 0, 0, 48 [SEP] 23, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 44 [SEP] 24, Tomato, -0.775, 1.097, -1.181, 0, 0, 0, 44 [SEP] 25, SaltShaker, 0.446, 1.038, 0.738, 0, 0, 0, 46 [SEP] 26, Egg, -1.276, 1.768, 1.974, 0, 90, 0, 59 [SEP] 27, Cup, 1.894, 0.205, -1.335, 0, 0, 0, 54 [SEP] 28, Spatula, -0.775, 1.061, -1.828, 0, 90, 0, 44 [SEP] 29, Knife, 0.160, 1.069, 0.415, 0, 90, 0, 46 [SEP] 30, Lettuce, -0.603, 1.106, -1.289, 0, 0, 0, 44 [SEP] 31, ButterKnife, 0.848, 1.053, 0.181, 0, 90, 0, 42 [SEP] 32, PepperShaker, 0.351, 1.038, 0.630, 0, 0, 0, 46 [SEP] 33, DishSponge, 1.743, 1.019, -1.191, 0, 0, 0, 50 [SEP] 34, Plate, -1.339, 0.215, -1.555, 0, 0, 0, 52 [SEP] 35, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 46 [SEP] 36, Spoon, 1.701, 1.044, 0.630, 0, 0, 0, 46 [SEP] 37, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 45 [SEP] 38, Mug, -1.366, 1.223, 2.153, 0, 90, 0, 59 [SEP] 39, Bowl, 1.112, 1.563, -1.538, 0, 0, 0, 48 [SEP] 40, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 41, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 42, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 43, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 44, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 45, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 46, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 47, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 48, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 49, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 50, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 51, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 52, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 53, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 54, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 55, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 56, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 57, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 58, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 59, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 60, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 61, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 62, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 63, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 64, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 65, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 66, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 68, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 69, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 70, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 71, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 72, NorthWall, , , , , , , [SEP] 73, EastWall, , , , , , , [SEP] 74, SouthWall, , , , , , , [SEP] 75, WestWall, , , , , , , ", "output": ["STEP 1: turn left, walk to the counter | STEP 2: grab the tomato on the counter | STEP 3: walk to the right a little | STEP 4: heat the tomato with the microwave, take the tomato out | STEP 5: turn left, walk to the sink on the left | STEP 6: put the tomato in the sink | END"]} {"id": "trial_T20190907_180332_913940-2", "input": "Put a heated tomato inside the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.931, 0.75, 0, 270, 0, [SEP] 1, Pan, 0.801, 0.199, -1.339, 0, 270, 0, 55 [SEP] 2, Potato, -1.234, 1.281, 1.796, 0, 90, 0, 59 [SEP] 3, Potato, -1.381, 1.542, 2.153, 0, 90, 0, 59 [SEP] 4, ButterKnife, 1.015, 1.043, 0.807, 0, 0, 0, 46 [SEP] 5, ButterKnife, 0.823, 1.046, -1.397, 0, 0, 0, 44 [SEP] 6, Kettle, 0.120, 1.053, -1.630, 0, 0, 0, 47 [SEP] 7, Pot, 1.743, 1.021, -1.557, 0, 90, 0, 50 [SEP] 8, Fork, 0.906, 1.047, -1.181, 0, 0, 0, 44 [SEP] 9, Fork, -0.346, 1.047, -1.612, 0, 0, 0, 44 [SEP] 10, Spoon, -0.517, 1.048, -1.289, 0, 270, 0, 44 [SEP] 11, Spatula, -0.038, 1.061, -1.118, 0, 0, 0, 44 [SEP] 12, Spatula, 0.980, 1.068, 0.131, 0, 90, 0, 42 [SEP] 13, Knife, -0.346, 1.072, -1.181, 0, 0, 0, 44 [SEP] 14, SoapBottle, -0.260, 1.047, -1.612, 0, 0, 0, 44 [SEP] 15, Bowl, 1.155, 1.045, -1.181, 0, 0, 0, 44 [SEP] 16, PepperShaker, 1.588, 0.199, -1.335, 0, 0, 0, 54 [SEP] 17, PepperShaker, 1.612, 1.038, 0.307, 0, 0, 0, 46 [SEP] 18, SoapBottle, 0.848, 1.044, 0.632, 0, 0, 0, 46 [SEP] 19, Apple, 1.271, 0.936, 0.304, 0, 90, 0, 41 [SEP] 20, Potato, -1.034, 1.017, 2.331, 0, 180, 0, 59 [SEP] 21, Fork, 0.848, 1.054, 0.131, 0, 0, 0, 42 [SEP] 22, Kettle, 0.885, 1.566, -1.538, 0, 0, 0, 48 [SEP] 23, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 44 [SEP] 24, Tomato, -0.775, 1.097, -1.181, 0, 0, 0, 44 [SEP] 25, SaltShaker, 0.446, 1.038, 0.738, 0, 0, 0, 46 [SEP] 26, Egg, -1.276, 1.768, 1.974, 0, 90, 0, 59 [SEP] 27, Cup, 1.894, 0.205, -1.335, 0, 0, 0, 54 [SEP] 28, Spatula, -0.775, 1.061, -1.828, 0, 90, 0, 44 [SEP] 29, Knife, 0.160, 1.069, 0.415, 0, 90, 0, 46 [SEP] 30, Lettuce, -0.603, 1.106, -1.289, 0, 0, 0, 44 [SEP] 31, ButterKnife, 0.848, 1.053, 0.181, 0, 90, 0, 42 [SEP] 32, PepperShaker, 0.351, 1.038, 0.630, 0, 0, 0, 46 [SEP] 33, DishSponge, 1.743, 1.019, -1.191, 0, 0, 0, 50 [SEP] 34, Plate, -1.339, 0.215, -1.555, 0, 0, 0, 52 [SEP] 35, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 46 [SEP] 36, Spoon, 1.701, 1.044, 0.630, 0, 0, 0, 46 [SEP] 37, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 45 [SEP] 38, Mug, -1.366, 1.223, 2.153, 0, 90, 0, 59 [SEP] 39, Bowl, 1.112, 1.563, -1.538, 0, 0, 0, 48 [SEP] 40, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 41, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 42, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 43, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 44, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 45, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 46, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 47, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 48, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 49, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 50, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 51, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 52, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 53, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 54, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 55, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 56, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 57, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 58, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 59, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 60, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 61, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 62, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 63, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 64, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 65, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 66, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 68, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 69, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 70, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 71, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 72, NorthWall, , , , , , , [SEP] 73, EastWall, , , , , , , [SEP] 74, SouthWall, , , , , , , [SEP] 75, WestWall, , , , , , , ", "output": ["STEP 1: Move to the counter to the right of the sink | STEP 2: Pick up tomato from the counter | STEP 3: Move to the microwave to the right | STEP 4: Heat tomato with the microwave | STEP 5: Move to the sink to the left of you | STEP 6: Put tomato inside the sink | END"]} {"id": "trial_T20190909_105426_604874-2", "input": "Put keys 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, -0.25, 0.900, -1.0, 0, 0, 0, [SEP] 1, Newspaper, -0.077, 0.327, -1.624, 0, 0, 0, 32 [SEP] 2, KeyChain, 1.807, 0.872, 0.643, 0, 90, 0, 36 [SEP] 3, KeyChain, 1.443, 0.309, -0.588, 0, 90, 0, 38 [SEP] 4, CreditCard, -0.288, 0.325, -1.990, 0, 0, 0, 32 [SEP] 5, RemoteControl, 1.849, 0.872, 0.220, 0, 90, 0, 36 [SEP] 6, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 38 [SEP] 7, KeyChain, 1.364, 0.326, -0.818, 0, 90, 0, 38 [SEP] 8, Watch, 1.933, 0.870, 0.537, 0, 90, 0, 36 [SEP] 9, Newspaper, 1.808, 0.869, 0.114, 0, 90, 0, 36 [SEP] 10, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 32 [SEP] 11, CreditCard, 1.766, 0.869, 0.537, 0, 90, 0, 36 [SEP] 12, RemoteControl, -0.453, 0.358, -0.544, 0, 90, 0, 29 [SEP] 13, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 30 [SEP] 14, Statue, -0.966, 1.669, -2.3, 0, 0, 0, 30 [SEP] 15, Statue, 1.724, 0.880, 0.325, 0, 90, 0, 36 [SEP] 16, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 17, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 18, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 19, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 20, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 21, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 22, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 23, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 24, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 25, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 26, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 29, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 30, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 31, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 32, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 33, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 34, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 35, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 36, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 37, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 38, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, WestWall, , , , , , , ", "output": ["STEP 1: Go right and then turn to the left to face the side of the brown chair. | STEP 2: Pick the keys in the middle of the chair up. | STEP 3: Go left and then turn to the left to face the couch | STEP 4: Put the keys down on the right side of the couch. | END"]} {"id": "trial_T20190907_163220_817822-0", "input": "Take two cells phones from the end table, put them 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, -2.25, 0.949, 4.75, 0, 90, 0, [SEP] 1, CellPhone, 3.222, 0.723, 1.443, 0, 180, 0, 60 [SEP] 2, CellPhone, -0.444, 1.108, 3.143, 0, 180, 0, 43 [SEP] 3, CellPhone, -0.163, 1.108, 3.171, 0, 180, 0, 43 [SEP] 4, CreditCard, -0.848, 0.174, -0.384, 0, 0, 0, 46 [SEP] 5, Book, 1.888, 0.610, -0.172, 0, 0, 0, 20 [SEP] 6, AlarmClock, -0.160, 0.785, 3.171, 0, 180, 0, 42 [SEP] 7, Book, 2.710, 0.610, -0.172, 0, 0, 0, 20 [SEP] 8, KeyChain, -1.037, 0.785, -0.128, 0, 0, 0, 56 [SEP] 9, CreditCard, -0.444, 1.107, 3.226, 0, 180, 0, 43 [SEP] 10, Pen, 0.024, 0.789, 3.115, 0, 180, 0, 42 [SEP] 11, Pencil, -0.848, 0.384, -0.702, 0, 0, 0, 55 [SEP] 12, Laptop, 2.381, 0.607, 0.068, 0, 0, 0, 20 [SEP] 13, Vase, -1.037, 0.790, -0.548, 0, 0, 0, 56 [SEP] 14, AlarmClock, 2.803, 0.986, -1.862, 0, 270, 0, 35 [SEP] 15, Pillow, 2.052, 0.674, 0.549, 0, 0, 0, 20 [SEP] 16, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 20 [SEP] 17, CellPhone, 3.377, 0.723, 1.352, 0, 180, 0, 60 [SEP] 18, CD, 3.132, 0.183, -2.005, 0, 270, 0, 34 [SEP] 19, Vase, 1.332, 0.184, -1.950, 0, 270, 0, 32 [SEP] 20, Bed, 2.217, 0.050, 0.585, 0, 0, 0, [SEP] 21, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0, [SEP] 22, Painting, 2.990, 1.592, 1.567, 90, 0, 0, [SEP] 23, Painting, 1.524, 1.592, 1.567, 90, 0, 0, [SEP] 24, Mirror, -1.190, 1.417, -0.223, 0, 270, 0, [SEP] 25, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0, [SEP] 26, Window, -2.629, 1.460, 2.891, 90, 270, 0, [SEP] 27, Window, -2.629, 1.460, 4.084, 90, 270, 0, [SEP] 28, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0, [SEP] 29, Drawer, 2.490, 0.949, -1.703, 0, 0, 0, [SEP] 30, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0, [SEP] 31, Drawer, 1.975, 0.949, -1.703, 0, 0, 0, [SEP] 32, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0, [SEP] 33, Drawer, 1.457, 0.949, -1.703, 0, 0, 0, [SEP] 34, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0, [SEP] 35, Dresser, 2.234, 0.048, -1.950, 0, 0, 0, [SEP] 36, Drawer, 3.011, 0.949, -1.703, 0, 0, 0, [SEP] 37, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0, [SEP] 38, Shelf, -0.163, 1.461, 3.219, 0, 180, 0, [SEP] 39, Drawer, -0.161, 0.242, 3.166, 0, 180, 0, [SEP] 40, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0, [SEP] 41, Drawer, -0.161, 0.562, 3.168, 0, 180, 0, [SEP] 42, Shelf, -0.162, 0.922, 3.164, 0, 180, 0, [SEP] 43, Shelf, -0.162, 1.241, 3.163, 0, 180, 0, [SEP] 44, Blinds, -2.550, 2.486, 2.911, 0, 90, 0, [SEP] 45, Blinds, -2.550, 2.486, 4.107, 0, 90, 0, [SEP] 46, Drawer, -0.833, 0.217, -0.336, 0, 90, 0, [SEP] 47, Drawer, -0.833, 0.217, 0.486, 0, 90, 0, [SEP] 48, Drawer, -0.833, 0.628, -0.747, 0, 90, 0, [SEP] 49, Drawer, -0.833, 0.217, 0.075, 0, 90, 0, [SEP] 50, Drawer, -0.833, 0.628, 0.486, 0, 90, 0, [SEP] 51, Drawer, -0.833, 0.217, -0.747, 0, 90, 0, [SEP] 52, Drawer, -0.833, 0.423, -0.336, 0, 90, 0, [SEP] 53, Drawer, -0.833, 0.423, 0.075, 0, 90, 0, [SEP] 54, Drawer, -0.833, 0.423, 0.486, 0, 90, 0, [SEP] 55, Drawer, -0.833, 0.423, -0.747, 0, 90, 0, [SEP] 56, Dresser, -0.934, 0.050, -0.129, 0, 90, 0, [SEP] 57, Drawer, -0.833, 0.628, 0.075, 0, 90, 0, [SEP] 58, Drawer, -0.833, 0.628, -0.336, 0, 90, 0, [SEP] 59, Drawer, 3.454, 0.212, 1.262, 0, 180, 0, [SEP] 60, SideTable, 3.455, 0.046, 1.328, 0, 180, 0, [SEP] 61, Drawer, 3.454, 0.504, 1.262, 0, 180, 0, [SEP] 62, NorthWall, , , , , , , [SEP] 63, EastWall, , , , , , , [SEP] 64, SouthWall, , , , , , , [SEP] 65, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, walk to the wall and turn left then walk to the wall and turn right and walk past the dresser, walk around the bed to the end table with two cell phones. | STEP 2: Pick up the cell phone closest to the bed. | STEP 3: Turn around and walk around the bed to the left side of the bed. | STEP 4: Put the cell phone on the bed. | STEP 5: Turn right and walk around the bed to the end table on the other side with one cell phone on it. | STEP 6: Take the cell phone from the end table. | STEP 7: Turn around and walk to the other side of the bed. | STEP 8: Put the cell phone on the bed next to the other cell phone. | END"]} {"id": "trial_T20190907_163131_241971-2", "input": "Put two blue phones 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, 3.5, 0.949, 0.75, 0, 180, 0, [SEP] 1, Vase, -0.772, 0.789, 0.501, 0, 0, 0, 58 [SEP] 2, CellPhone, -0.838, 0.784, 0.081, 0, 0, 0, 58 [SEP] 3, Pen, 2.519, 0.990, -1.862, 0, 270, 0, 37 [SEP] 4, Pencil, -0.848, 0.384, 0.529, 0, 0, 0, 56 [SEP] 5, Pencil, 3.455, 0.727, 1.397, 0, 180, 0, 62 [SEP] 6, CreditCard, -0.970, 0.783, -0.338, 0, 0, 0, 58 [SEP] 7, Book, -0.904, 0.785, -0.128, 0, 0, 0, 58 [SEP] 8, Book, 2.492, 0.180, -1.896, 0, 270, 0, 39 [SEP] 9, Book, 1.454, 0.180, -1.896, 0, 270, 0, 34 [SEP] 10, KeyChain, -0.253, 0.785, 3.115, 0, 180, 0, 44 [SEP] 11, CreditCard, 3.455, 0.723, 1.262, 0, 180, 0, 62 [SEP] 12, Pen, -0.772, 0.789, -0.338, 0, 0, 0, 58 [SEP] 13, Pencil, -0.069, 1.112, 3.115, 0, 180, 0, 45 [SEP] 14, Laptop, 2.803, 0.983, -2.037, 0, 270, 0, 37 [SEP] 15, Vase, -0.838, 0.789, 0.291, 0, 0, 0, 58 [SEP] 16, AlarmClock, 2.234, 0.986, -1.774, 0, 270, 0, 37 [SEP] 17, Pillow, 2.052, 0.674, 0.549, 0, 0, 0, 22 [SEP] 18, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 22 [SEP] 19, CellPhone, -0.772, 0.785, -0.758, 0, 0, 0, 58 [SEP] 20, CD, -0.776, 0.173, 0.074, 0, 0, 0, 55 [SEP] 21, Vase, -1.037, 0.788, -0.548, 0, 0, 0, 58 [SEP] 22, Bed, 2.217, 0.050, 0.585, 0, 0, 0, [SEP] 23, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0, [SEP] 24, Painting, 2.990, 1.592, 1.567, 90, 0, 0, [SEP] 25, Painting, 1.524, 1.592, 1.567, 90, 0, 0, [SEP] 26, Mirror, -1.190, 1.417, -0.223, 0, 270, 0, [SEP] 27, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0, [SEP] 28, Window, -2.629, 1.460, 2.891, 90, 270, 0, [SEP] 29, Window, -2.629, 1.460, 4.084, 90, 270, 0, [SEP] 30, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0, [SEP] 31, Drawer, 2.490, 0.949, -1.703, 0, 0, 0, [SEP] 32, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0, [SEP] 33, Drawer, 1.975, 0.949, -1.703, 0, 0, 0, [SEP] 34, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0, [SEP] 35, Drawer, 1.457, 0.949, -1.703, 0, 0, 0, [SEP] 36, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0, [SEP] 37, Dresser, 2.234, 0.048, -1.950, 0, 0, 0, [SEP] 38, Drawer, 3.011, 0.949, -1.703, 0, 0, 0, [SEP] 39, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0, [SEP] 40, Shelf, -0.163, 1.461, 3.219, 0, 180, 0, [SEP] 41, Drawer, -0.161, 0.242, 3.166, 0, 180, 0, [SEP] 42, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0, [SEP] 43, Drawer, -0.161, 0.562, 3.168, 0, 180, 0, [SEP] 44, Shelf, -0.162, 0.922, 3.164, 0, 180, 0, [SEP] 45, Shelf, -0.162, 1.241, 3.163, 0, 180, 0, [SEP] 46, Blinds, -2.550, 2.486, 2.911, 0, 90, 0, [SEP] 47, Blinds, -2.550, 2.486, 4.107, 0, 90, 0, [SEP] 48, Drawer, -0.833, 0.217, -0.336, 0, 90, 0, [SEP] 49, Drawer, -0.833, 0.217, 0.486, 0, 90, 0, [SEP] 50, Drawer, -0.833, 0.628, -0.747, 0, 90, 0, [SEP] 51, Drawer, -0.833, 0.217, 0.075, 0, 90, 0, [SEP] 52, Drawer, -0.833, 0.628, 0.486, 0, 90, 0, [SEP] 53, Drawer, -0.833, 0.217, -0.747, 0, 90, 0, [SEP] 54, Drawer, -0.833, 0.423, -0.336, 0, 90, 0, [SEP] 55, Drawer, -0.833, 0.423, 0.075, 0, 90, 0, [SEP] 56, Drawer, -0.833, 0.423, 0.486, 0, 90, 0, [SEP] 57, Drawer, -0.833, 0.423, -0.747, 0, 90, 0, [SEP] 58, Dresser, -0.934, 0.050, -0.129, 0, 90, 0, [SEP] 59, Drawer, -0.833, 0.628, 0.075, 0, 90, 0, [SEP] 60, Drawer, -0.833, 0.628, -0.336, 0, 90, 0, [SEP] 61, Drawer, 3.454, 0.212, 1.262, 0, 180, 0, [SEP] 62, SideTable, 3.455, 0.046, 1.328, 0, 180, 0, [SEP] 63, Drawer, 3.454, 0.504, 1.262, 0, 180, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, EastWall, , , , , , , [SEP] 66, SouthWall, , , , , , , [SEP] 67, WestWall, , , , , , , ", "output": ["STEP 1: Move to the dresser to the left of the bed | STEP 2: Pick up a phone from the dresser | STEP 3: Move to the bed behind you | STEP 4: Place the phone on the bed | STEP 5: Move to the dresser to the behind you | STEP 6: Pick up a phone from the dresser | STEP 7: Move to the bed behind you | STEP 8: Place the phone on the bed | END"]} {"id": "trial_T20190908_045900_272790-1", "input": "Put a candle on the toilet tank lid. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.903, 2.0, 0, 90, 0, [SEP] 1, TissueBox, -0.817, 1.773, 2.097, 0, 0, 0, 25 [SEP] 2, Cloth, -1.308, 1.777, 2.127, 0, 0, 0, 25 [SEP] 3, Cloth, -1.471, 1.074, 2.127, 0, 0, 0, 27 [SEP] 4, SoapBottle, -1.949, 1.049, -0.674, 0, 0, 0, 32 [SEP] 5, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 29 [SEP] 6, Candle, -0.980, 1.111, 2.067, 0, 0, 0, 27 [SEP] 7, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 28 [SEP] 8, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 9, SoapBar, -0.206, 0.609, -0.485, 0, 315, 0, 19 [SEP] 10, ToiletPaper, -1.144, 0.285, 2.097, 0, 0, 0, 23 [SEP] 11, SoapBottle, -2.146, 1.049, -0.797, 0, 0, 0, 32 [SEP] 12, TissueBox, -0.980, 1.773, 2.127, 0, 0, 0, 25 [SEP] 13, Cloth, 0.289, 0.048, 0.156, 0, 0, 0, 26 [SEP] 14, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 22 [SEP] 15, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 21 [SEP] 16, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 17, SprayBottle, -2.015, 1.048, -0.644, 0, 180, 0, 32 [SEP] 18, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 19, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 20, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 21, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 22, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 23, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 24, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 25, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 26, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 27, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 28, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 29, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 30, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 31, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 32, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 33, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 34, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 35, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 36, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, EastWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, WestWall, , , , , , , ", "output": ["STEP 1: Head to the shelf on the left with the candle. | STEP 2: Pick up the candle on the shelf. | STEP 3: Turn around and bring the candle to the toilet. | STEP 4: Put the candle on the toilet tank lid. | END"]} {"id": "trial_T20190919_025650_156562-2", "input": "slice 2 pieces of potato putting them inside the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.931, -0.5, 0, 180, 0, [SEP] 1, Pan, 1.743, 1.019, -1.484, 0, 90, 0, 52 [SEP] 2, Pan, 1.514, 1.043, 0.676, 0, 90, 0, 48 [SEP] 3, Potato, -1.103, 1.281, 2.153, 0, 90, 0, 61 [SEP] 4, Potato, 1.238, 1.100, -1.181, 0, 0, 0, 46 [SEP] 5, Potato, -1.047, 1.769, -1.300, 0, 270, 0, 60 [SEP] 6, Kettle, 0.160, 1.044, 0.307, 0, 0, 0, 48 [SEP] 7, Pot, 0.250, 1.057, -1.4, 0, 0, 0, 58 [SEP] 8, Spoon, 1.155, 1.048, -1.289, 0, 0, 0, 46 [SEP] 9, Spoon, 0.892, 1.054, 0.281, 0, 180, 0, 44 [SEP] 10, Spatula, 0.160, 1.058, 0.738, 0, 0, 0, 48 [SEP] 11, Egg, 1.271, 0.947, 0.158, 0, 90, 0, 43 [SEP] 12, Cup, -1.268, 1.948, 1.974, 0, 90, 0, 61 [SEP] 13, Cup, -1.276, 1.713, 2.063, 0, 90, 0, 61 [SEP] 14, Plate, -0.699, 1.577, -1.767, 0, 0, 0, 51 [SEP] 15, Plate, -1.105, 0.215, -1.482, 0, 0, 0, 54 [SEP] 16, Tomato, -1.103, 1.279, 1.796, 0, 90, 0, 61 [SEP] 17, SaltShaker, 1.188, 1.560, -1.538, 0, 0, 0, 50 [SEP] 18, Mug, 0.848, 1.038, 0.632, 0, 0, 0, 48 [SEP] 19, Apple, 1.181, 0.936, 0.158, 0, 90, 0, 43 [SEP] 20, SoapBottle, -0.548, 1.565, -1.396, 0, 0, 0, 51 [SEP] 21, Apple, -1.431, 1.271, 2.331, 0, 90, 0, 61 [SEP] 22, Potato, -0.030, 1.096, 0.199, 0, 0, 0, 48 [SEP] 23, Fork, 1.181, 1.043, 0.632, 0, 0, 0, 48 [SEP] 24, Kettle, -0.398, 1.566, -1.545, 0, 0, 0, 51 [SEP] 25, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 46 [SEP] 26, Tomato, -1.342, 1.540, 1.885, 0, 90, 0, 61 [SEP] 27, SaltShaker, 0.712, 0.194, -1.484, 0, 0, 0, 57 [SEP] 28, Egg, -1.431, 1.282, 2.063, 0, 90, 0, 61 [SEP] 29, Cup, -1.064, 0.964, 2.153, 0, 90, 0, 61 [SEP] 30, Spatula, -0.346, 1.061, -1.181, 0, 0, 0, 46 [SEP] 31, Knife, 0.877, 1.042, -1.362, 90, 315, 0, 46 [SEP] 32, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 44 [SEP] 33, ButterKnife, 1.347, 1.043, 0.632, 0, 0, 0, 48 [SEP] 34, PepperShaker, -0.473, 1.560, -1.841, 0, 0, 0, 51 [SEP] 35, DishSponge, -0.689, 1.046, -1.181, 0, 0, 0, 46 [SEP] 36, Plate, -1.106, 2.041, -1.409, 0, 0, 0, 53 [SEP] 37, Bread, 0.406, 1.104, 0.352, 0, 337.138, 0, 48 [SEP] 38, Spoon, 0.892, 1.054, 0.231, 0, 180, 0, 44 [SEP] 39, Pot, 1.588, 0.206, -1.553, 0, 270, 0, 56 [SEP] 40, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 64 [SEP] 41, Bowl, 0.885, 1.563, -1.614, 0, 0, 0, 50 [SEP] 42, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 43, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 44, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 45, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 46, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 47, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 48, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 49, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 50, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 51, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 52, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 53, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 54, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 55, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 56, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 57, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 58, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 59, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 60, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 61, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 62, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 63, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 64, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 65, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 66, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 67, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 68, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 69, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 70, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 71, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 72, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 73, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 74, NorthWall, , , , , , , [SEP] 75, EastWall, , , , , , , [SEP] 76, SouthWall, , , , , , , [SEP] 77, WestWall, , , , , , , ", "output": ["STEP 1: turn to the right and across the room go right face the counter | STEP 2: pick up a potato from the counter | STEP 3: turn to the right across the room | STEP 4: leave the potato in the sink | STEP 5: turn around to the right | STEP 6: pick up the knife from the counter | STEP 7: turn to the left | STEP 8: slice the potato that is on the counter | STEP 9: turn to the right face the sink | STEP 10: slice the potato that is in the sink | STEP 11: turn around to the right | STEP 12: pick up a slice of potato | STEP 13: turn around to the right again | STEP 14: face the counter area pick up a slice of potato | STEP 15: turn to the right leave the slice inside the sink | END"]} {"id": "trial_T20190907_041348_432699-2", "input": "place a clean glass inside of the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 0.5, 0, 90, 0, [SEP] 1, Potato, 2.962, 1.598, -0.512, 0, 0, 0, 103 [SEP] 2, DishSponge, 1.422, 0.911, 1.553, 0, 0, 0, 83 [SEP] 3, DishSponge, 2.543, 0.770, 1.236, 0, 0, 0, 64 [SEP] 4, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 86 [SEP] 5, Kettle, 1.155, 0.912, 1.129, 0, 0, 0, 83 [SEP] 6, Spoon, 1.893, 0.772, 1.160, 0, 0, 0, 81 [SEP] 7, Fork, 1.831, 0.772, 1.198, 0, 270, 0, 81 [SEP] 8, Fork, 0.888, 0.912, -0.515, 0, 0, 0, 48 [SEP] 9, Spatula, -0.887, 0.835, -1.255, 0, 270, 0, 107 [SEP] 10, Spatula, 0.263, 0.780, -0.707, 0, 90, 0, 105 [SEP] 11, Plate, 0.825, 1.658, -0.771, 0, 180, 0, 58 [SEP] 12, Plate, 1.141, 0.914, -0.684, 0, 0, 0, 48 [SEP] 13, Egg, -0.621, 0.858, -1.308, 0, 90, 0, 107 [SEP] 14, Knife, 0.193, 0.798, -0.707, 0, 90, 0, 105 [SEP] 15, Knife, -0.839, 0.853, -1.257, 0, 90, 0, 107 [SEP] 16, SoapBottle, 1.955, 0.917, 1.468, 0, 0, 0, 83 [SEP] 17, Tomato, 2.156, 0.942, -0.769, 0, 0, 0, 48 [SEP] 18, Tomato, -1.056, 0.852, -1.411, 0, 90, 0, 107 [SEP] 19, Bowl, 2.838, 1.561, -0.709, 0, 0, 0, 103 [SEP] 20, Bowl, 2.715, 1.017, -0.644, 0, 0, 0, 103 [SEP] 21, Lettuce, -0.103, 0.992, 1.129, 0, 90, 0, 59 [SEP] 22, Lettuce, 2.754, 0.992, 1.468, 0, 0, 0, 83 [SEP] 23, Apple, -0.103, 0.980, 1.383, 0, 0, 0, 59 [SEP] 24, Apple, 0.518, 1.853, 1.455, 0, 180, 0, 106 [SEP] 25, SoapBottle, -0.785, 0.826, -1.473, 0, 0, 0, 107 [SEP] 26, Plate, 1.688, 0.914, 1.129, 0, 0, 0, 83 [SEP] 27, Fork, 1.955, 0.912, 1.214, 0, 0, 0, 83 [SEP] 28, Pot, 1.688, 0.915, 1.468, 0, 0, 0, 83 [SEP] 29, Bread, 2.488, 0.969, 1.383, 0, 0, 0, 83 [SEP] 30, Egg, 2.653, 0.764, -0.565, 0, 0, 0, 103 [SEP] 31, Kettle, -0.123, 0.116, 1.196, 0, 0, 0, 76 [SEP] 32, Tomato, 2.653, 1.320, -0.709, 0, 0, 0, 103 [SEP] 33, Cup, 1.155, 0.909, 1.383, 0, 0, 0, 83 [SEP] 34, Spatula, -0.734, 0.835, -1.255, 0, 90, 0, 107 [SEP] 35, Apple, -1.962, 0.492, 1.332, 0, 270, 0, 101 [SEP] 36, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 51 [SEP] 37, Lettuce, 2.221, 0.992, 1.129, 0, 0, 0, 83 [SEP] 38, SaltShaker, 2.754, 0.908, 1.299, 0, 0, 0, 83 [SEP] 39, Knife, -1.056, 0.853, -1.257, 0, 90, 0, 107 [SEP] 40, Potato, 0.634, 0.946, -0.684, 0, 0, 0, 48 [SEP] 41, PepperShaker, 2.118, 0.110, 1.081, 0, 0, 0, 84 [SEP] 42, ButterKnife, 0.888, 0.911, -0.769, 0, 0, 0, 48 [SEP] 43, Bowl, 2.838, 0.723, -0.504, 0, 0, 0, 103 [SEP] 44, DishSponge, -0.103, 0.911, 1.553, 0, 0, 0, 59 [SEP] 45, Spoon, -0.087, 0.766, -0.651, 0, 0, 0, 105 [SEP] 46, Mug, 2.900, 1.283, -0.775, 0, 0, 0, 103 [SEP] 47, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 48, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 49, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 50, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 51, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 53, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 54, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 55, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 56, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 57, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 58, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 59, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 60, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 61, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 62, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 63, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 64, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 66, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 67, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 68, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 69, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 70, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 71, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 79, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 81, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 83, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 84, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 85, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 86, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 87, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 88, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 89, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 90, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 91, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 92, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 93, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 94, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 95, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 99, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 100, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 101, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 102, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 103, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 104, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 105, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 106, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 107, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 108, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 109, NorthWall, , , , , , , [SEP] 110, EastWall, , , , , , , [SEP] 111, SouthWall, , , , , , , [SEP] 112, WestWall, , , , , , , ", "output": ["STEP 1: turn left to face the kitchen counter | STEP 2: grab the glass cup off of the kitchen counter | STEP 3: turn around and walk over to the kitchen sink on your right | STEP 4: place the glass inside of the kitchen sink and clean it off | STEP 5: turn around and walk over to the right side of the room where the fridge is | STEP 6: place the glass inside of the fridge | END"]} {"id": "trial_T20190909_075519_322891-1", "input": "Move the tissue box to the back end of the toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.903, 1.25, 0, 270, 0, [SEP] 1, TissueBox, -1.144, 0.289, 2.157, 0, 0, 0, 28 [SEP] 2, TissueBox, -1.635, 0.289, 2.157, 0, 0, 0, 28 [SEP] 3, Cloth, 0.289, 0.048, 0.839, 0, 0, 0, 31 [SEP] 4, Cloth, 0.371, 0.048, 0.384, 0, 0, 0, 31 [SEP] 5, SoapBar, 0.041, 0.043, 1.067, 0, 0, 0, 31 [SEP] 6, SoapBar, 0.453, 0.043, 0.839, 0, 0, 0, 31 [SEP] 7, Candle, -0.653, 0.330, 2.067, 0, 0, 0, 28 [SEP] 8, Candle, -2.343, 1.088, -0.674, 0, 0, 0, 37 [SEP] 9, SprayBottle, -2.146, 1.048, -0.644, 0, 0, 0, 37 [SEP] 10, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 33 [SEP] 11, Candle, -2.015, 1.088, -0.766, 0, 0, 0, 37 [SEP] 12, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 34 [SEP] 13, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 14, SoapBar, 0.206, 0.043, 0.156, 0, 0, 0, 31 [SEP] 15, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 27 [SEP] 16, SoapBottle, -1.471, 1.775, 2.127, 0, 0, 0, 30 [SEP] 17, TissueBox, -1.144, 1.773, 2.097, 0, 0, 0, 30 [SEP] 18, Cloth, 0.206, 0.048, 1.067, 0, 0, 0, 31 [SEP] 19, ToiletPaper, -2.212, 1.043, -0.797, 0, 0, 0, 37 [SEP] 20, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 26 [SEP] 21, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 22, SprayBottle, -1.308, 1.071, 2.067, 0, 0, 0, 32 [SEP] 23, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 24, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 25, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 26, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 27, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 28, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 29, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 30, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 31, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 32, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 33, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 34, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 35, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 36, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 37, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 38, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 39, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 40, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 41, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: Turn around completely and turn right and face the white shelves | STEP 2: Pick up the tissue box from the shelf. | STEP 3: Turn to the left and then turn again to face the toilet. | STEP 4: Place the tissue box on the back end of the toilet. | END"]} {"id": "trial_T20190909_153454_351725-1", "input": "Look at 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, -5.25, 0.901, 3.25, 0, 0, 0, [SEP] 1, Bowl, -2.474, 0.881, 7.173, 0, 90, 0, 48 [SEP] 2, Newspaper, -0.868, 0.365, 3.306, 0, 0, 0, 40 [SEP] 3, Watch, -6.002, 0.146, 4.547, 0, 0, 0, 47 [SEP] 4, Watch, -2.411, 1.280, 7.108, 0, 90, 0, 56 [SEP] 5, KeyChain, -0.687, 0.794, 2.252, 0, 270, 0, 42 [SEP] 6, RemoteControl, -0.947, 0.438, 4.219, 0, 0, 0, 40 [SEP] 7, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 51 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -5.821, 0.534, 6.418, 0, 135, 0, 58 [SEP] 10, Vase, -0.535, 0.802, 6.357, 0, 270, 0, 41 [SEP] 11, Newspaper, -2.492, 0.532, 3.752, 0, 270, 0, 57 [SEP] 12, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 57 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 14, Vase, -2.672, 0.147, 7.122, 0, 90, 0, 51 [SEP] 15, CreditCard, -2.277, 0.879, 7.173, 0, 90, 0, 49 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -0.710, 0.421, 3.002, 0, 180, 0, 40 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -0.484, 0.795, 1.626, 0, 270, 0, 42 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -0.710, 0.369, 3.306, 0, 0, 0, 40 [SEP] 24, Watch, -2.422, 0.533, 4.335, 0, 270, 0, 57 [SEP] 25, Statue, -5.885, 1.287, 3.891, 0, 0, 0, 54 [SEP] 26, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 54 [SEP] 27, Statue, -5.573, 0.543, 6.516, 0, 45, 0, 58 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 59, NorthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right and walk past the coffee table, then walk left to the side by the couch. Then turn to look at the coffee table. | STEP 2: Close the laptop and pick it up. | STEP 3: Turn right and walk to the table at the end of the couch. | STEP 4: Turn on the lamp on the table. | END"]} {"id": "trial_T20190907_091412_793531-0", "input": "Move a phone from the dresser 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, 0.0, 0.949, 0.25, 0, 90, 0, [SEP] 1, Vase, 2.803, 0.990, -1.774, 0, 270, 0, 35 [SEP] 2, CD, -0.163, 1.107, 3.171, 0, 180, 0, 43 [SEP] 3, CD, 1.855, 0.183, -1.835, 0, 270, 0, 30 [SEP] 4, CellPhone, -0.160, 0.784, 3.171, 0, 180, 0, 42 [SEP] 5, CellPhone, 1.950, 0.988, -2.212, 0, 270, 0, 35 [SEP] 6, Book, 2.545, 0.610, -0.172, 0, 0, 0, 20 [SEP] 7, Book, -0.904, 0.785, -0.548, 0, 0, 0, 56 [SEP] 8, KeyChain, -0.069, 1.109, 3.143, 0, 180, 0, 43 [SEP] 9, CreditCard, -0.885, 0.174, 0.074, 0, 0, 0, 49 [SEP] 10, Pen, -1.037, 0.789, -0.548, 0, 0, 0, 56 [SEP] 11, Pencil, 1.666, 0.992, -1.862, 0, 270, 0, 35 [SEP] 12, Laptop, 2.217, 0.607, 0.068, 0, 0, 0, 20 [SEP] 13, Vase, 2.235, 0.993, -2.037, 0, 270, 0, 35 [SEP] 14, AlarmClock, 2.803, 0.989, -2.037, 0, 270, 0, 35 [SEP] 15, Pillow, 2.533, 0.631, 1.264, 0, 0, 0, 20 [SEP] 16, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 20 [SEP] 17, CellPhone, -0.350, 1.108, 3.198, 0, 180, 0, 43 [SEP] 18, CD, 0.116, 0.783, 3.198, 0, 180, 0, 42 [SEP] 19, Vase, -1.037, 0.788, 0.291, 0, 0, 0, 56 [SEP] 20, Bed, 2.217, 0.050, 0.585, 0, 0, 0, [SEP] 21, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0, [SEP] 22, Painting, 2.990, 1.592, 1.567, 90, 0, 0, [SEP] 23, Painting, 1.524, 1.592, 1.567, 90, 0, 0, [SEP] 24, Mirror, -1.190, 1.417, -0.223, 0, 270, 0, [SEP] 25, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0, [SEP] 26, Window, -2.629, 1.460, 2.891, 90, 270, 0, [SEP] 27, Window, -2.629, 1.460, 4.084, 90, 270, 0, [SEP] 28, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0, [SEP] 29, Drawer, 2.490, 0.949, -1.703, 0, 0, 0, [SEP] 30, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0, [SEP] 31, Drawer, 1.975, 0.949, -1.703, 0, 0, 0, [SEP] 32, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0, [SEP] 33, Drawer, 1.457, 0.949, -1.703, 0, 0, 0, [SEP] 34, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0, [SEP] 35, Dresser, 2.234, 0.048, -1.950, 0, 0, 0, [SEP] 36, Drawer, 3.011, 0.949, -1.703, 0, 0, 0, [SEP] 37, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0, [SEP] 38, Shelf, -0.163, 1.461, 3.219, 0, 180, 0, [SEP] 39, Drawer, -0.161, 0.242, 3.166, 0, 180, 0, [SEP] 40, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0, [SEP] 41, Drawer, -0.161, 0.562, 3.168, 0, 180, 0, [SEP] 42, Shelf, -0.162, 0.922, 3.164, 0, 180, 0, [SEP] 43, Shelf, -0.162, 1.241, 3.163, 0, 180, 0, [SEP] 44, Blinds, -2.550, 2.486, 2.911, 0, 90, 0, [SEP] 45, Blinds, -2.550, 2.486, 4.107, 0, 90, 0, [SEP] 46, Drawer, -0.833, 0.217, -0.336, 0, 90, 0, [SEP] 47, Drawer, -0.833, 0.217, 0.486, 0, 90, 0, [SEP] 48, Drawer, -0.833, 0.628, -0.747, 0, 90, 0, [SEP] 49, Drawer, -0.833, 0.217, 0.075, 0, 90, 0, [SEP] 50, Drawer, -0.833, 0.628, 0.486, 0, 90, 0, [SEP] 51, Drawer, -0.833, 0.217, -0.747, 0, 90, 0, [SEP] 52, Drawer, -0.833, 0.423, -0.336, 0, 90, 0, [SEP] 53, Drawer, -0.833, 0.423, 0.075, 0, 90, 0, [SEP] 54, Drawer, -0.833, 0.423, 0.486, 0, 90, 0, [SEP] 55, Drawer, -0.833, 0.423, -0.747, 0, 90, 0, [SEP] 56, Dresser, -0.934, 0.050, -0.129, 0, 90, 0, [SEP] 57, Drawer, -0.833, 0.628, 0.075, 0, 90, 0, [SEP] 58, Drawer, -0.833, 0.628, -0.336, 0, 90, 0, [SEP] 59, Drawer, 3.454, 0.212, 1.262, 0, 180, 0, [SEP] 60, SideTable, 3.455, 0.046, 1.328, 0, 180, 0, [SEP] 61, Drawer, 3.454, 0.504, 1.262, 0, 180, 0, [SEP] 62, NorthWall, , , , , , , [SEP] 63, EastWall, , , , , , , [SEP] 64, SouthWall, , , , , , , [SEP] 65, WestWall, , , , , , , ", "output": ["STEP 1: Move to the right side of the large black dresser | STEP 2: Pick up the phone that is in a blue case sitting on top of the dresser | STEP 3: Carry the phone to the left side of the bed | STEP 4: Place the phone in front of the orange pillow that is on top of the bed | END"]} {"id": "trial_T20190907_091412_793531-2", "input": "Put the cell phone 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, 0.949, 0.25, 0, 90, 0, [SEP] 1, Vase, 2.803, 0.990, -1.774, 0, 270, 0, 35 [SEP] 2, CD, -0.163, 1.107, 3.171, 0, 180, 0, 43 [SEP] 3, CD, 1.855, 0.183, -1.835, 0, 270, 0, 30 [SEP] 4, CellPhone, -0.160, 0.784, 3.171, 0, 180, 0, 42 [SEP] 5, CellPhone, 1.950, 0.988, -2.212, 0, 270, 0, 35 [SEP] 6, Book, 2.545, 0.610, -0.172, 0, 0, 0, 20 [SEP] 7, Book, -0.904, 0.785, -0.548, 0, 0, 0, 56 [SEP] 8, KeyChain, -0.069, 1.109, 3.143, 0, 180, 0, 43 [SEP] 9, CreditCard, -0.885, 0.174, 0.074, 0, 0, 0, 49 [SEP] 10, Pen, -1.037, 0.789, -0.548, 0, 0, 0, 56 [SEP] 11, Pencil, 1.666, 0.992, -1.862, 0, 270, 0, 35 [SEP] 12, Laptop, 2.217, 0.607, 0.068, 0, 0, 0, 20 [SEP] 13, Vase, 2.235, 0.993, -2.037, 0, 270, 0, 35 [SEP] 14, AlarmClock, 2.803, 0.989, -2.037, 0, 270, 0, 35 [SEP] 15, Pillow, 2.533, 0.631, 1.264, 0, 0, 0, 20 [SEP] 16, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 20 [SEP] 17, CellPhone, -0.350, 1.108, 3.198, 0, 180, 0, 43 [SEP] 18, CD, 0.116, 0.783, 3.198, 0, 180, 0, 42 [SEP] 19, Vase, -1.037, 0.788, 0.291, 0, 0, 0, 56 [SEP] 20, Bed, 2.217, 0.050, 0.585, 0, 0, 0, [SEP] 21, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0, [SEP] 22, Painting, 2.990, 1.592, 1.567, 90, 0, 0, [SEP] 23, Painting, 1.524, 1.592, 1.567, 90, 0, 0, [SEP] 24, Mirror, -1.190, 1.417, -0.223, 0, 270, 0, [SEP] 25, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0, [SEP] 26, Window, -2.629, 1.460, 2.891, 90, 270, 0, [SEP] 27, Window, -2.629, 1.460, 4.084, 90, 270, 0, [SEP] 28, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0, [SEP] 29, Drawer, 2.490, 0.949, -1.703, 0, 0, 0, [SEP] 30, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0, [SEP] 31, Drawer, 1.975, 0.949, -1.703, 0, 0, 0, [SEP] 32, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0, [SEP] 33, Drawer, 1.457, 0.949, -1.703, 0, 0, 0, [SEP] 34, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0, [SEP] 35, Dresser, 2.234, 0.048, -1.950, 0, 0, 0, [SEP] 36, Drawer, 3.011, 0.949, -1.703, 0, 0, 0, [SEP] 37, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0, [SEP] 38, Shelf, -0.163, 1.461, 3.219, 0, 180, 0, [SEP] 39, Drawer, -0.161, 0.242, 3.166, 0, 180, 0, [SEP] 40, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0, [SEP] 41, Drawer, -0.161, 0.562, 3.168, 0, 180, 0, [SEP] 42, Shelf, -0.162, 0.922, 3.164, 0, 180, 0, [SEP] 43, Shelf, -0.162, 1.241, 3.163, 0, 180, 0, [SEP] 44, Blinds, -2.550, 2.486, 2.911, 0, 90, 0, [SEP] 45, Blinds, -2.550, 2.486, 4.107, 0, 90, 0, [SEP] 46, Drawer, -0.833, 0.217, -0.336, 0, 90, 0, [SEP] 47, Drawer, -0.833, 0.217, 0.486, 0, 90, 0, [SEP] 48, Drawer, -0.833, 0.628, -0.747, 0, 90, 0, [SEP] 49, Drawer, -0.833, 0.217, 0.075, 0, 90, 0, [SEP] 50, Drawer, -0.833, 0.628, 0.486, 0, 90, 0, [SEP] 51, Drawer, -0.833, 0.217, -0.747, 0, 90, 0, [SEP] 52, Drawer, -0.833, 0.423, -0.336, 0, 90, 0, [SEP] 53, Drawer, -0.833, 0.423, 0.075, 0, 90, 0, [SEP] 54, Drawer, -0.833, 0.423, 0.486, 0, 90, 0, [SEP] 55, Drawer, -0.833, 0.423, -0.747, 0, 90, 0, [SEP] 56, Dresser, -0.934, 0.050, -0.129, 0, 90, 0, [SEP] 57, Drawer, -0.833, 0.628, 0.075, 0, 90, 0, [SEP] 58, Drawer, -0.833, 0.628, -0.336, 0, 90, 0, [SEP] 59, Drawer, 3.454, 0.212, 1.262, 0, 180, 0, [SEP] 60, SideTable, 3.455, 0.046, 1.328, 0, 180, 0, [SEP] 61, Drawer, 3.454, 0.504, 1.262, 0, 180, 0, [SEP] 62, NorthWall, , , , , , , [SEP] 63, EastWall, , , , , , , [SEP] 64, SouthWall, , , , , , , [SEP] 65, WestWall, , , , , , , ", "output": ["STEP 1: Go to the dresser, across from the bed. | STEP 2: Pick up the cell phone from the dresser, to the left of the pencil. | STEP 3: Turn around, then go left, move forward, then turn right, move forward, then turn right to face the bed. | STEP 4: Place the cell phone on the bed , to the right of the nearest pillow. | END"]} {"id": "trial_T20190907_091412_793531-3", "input": "move phone from dresser 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, 0.0, 0.949, 0.25, 0, 90, 0, [SEP] 1, Vase, 2.803, 0.990, -1.774, 0, 270, 0, 35 [SEP] 2, CD, -0.163, 1.107, 3.171, 0, 180, 0, 43 [SEP] 3, CD, 1.855, 0.183, -1.835, 0, 270, 0, 30 [SEP] 4, CellPhone, -0.160, 0.784, 3.171, 0, 180, 0, 42 [SEP] 5, CellPhone, 1.950, 0.988, -2.212, 0, 270, 0, 35 [SEP] 6, Book, 2.545, 0.610, -0.172, 0, 0, 0, 20 [SEP] 7, Book, -0.904, 0.785, -0.548, 0, 0, 0, 56 [SEP] 8, KeyChain, -0.069, 1.109, 3.143, 0, 180, 0, 43 [SEP] 9, CreditCard, -0.885, 0.174, 0.074, 0, 0, 0, 49 [SEP] 10, Pen, -1.037, 0.789, -0.548, 0, 0, 0, 56 [SEP] 11, Pencil, 1.666, 0.992, -1.862, 0, 270, 0, 35 [SEP] 12, Laptop, 2.217, 0.607, 0.068, 0, 0, 0, 20 [SEP] 13, Vase, 2.235, 0.993, -2.037, 0, 270, 0, 35 [SEP] 14, AlarmClock, 2.803, 0.989, -2.037, 0, 270, 0, 35 [SEP] 15, Pillow, 2.533, 0.631, 1.264, 0, 0, 0, 20 [SEP] 16, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 20 [SEP] 17, CellPhone, -0.350, 1.108, 3.198, 0, 180, 0, 43 [SEP] 18, CD, 0.116, 0.783, 3.198, 0, 180, 0, 42 [SEP] 19, Vase, -1.037, 0.788, 0.291, 0, 0, 0, 56 [SEP] 20, Bed, 2.217, 0.050, 0.585, 0, 0, 0, [SEP] 21, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0, [SEP] 22, Painting, 2.990, 1.592, 1.567, 90, 0, 0, [SEP] 23, Painting, 1.524, 1.592, 1.567, 90, 0, 0, [SEP] 24, Mirror, -1.190, 1.417, -0.223, 0, 270, 0, [SEP] 25, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0, [SEP] 26, Window, -2.629, 1.460, 2.891, 90, 270, 0, [SEP] 27, Window, -2.629, 1.460, 4.084, 90, 270, 0, [SEP] 28, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0, [SEP] 29, Drawer, 2.490, 0.949, -1.703, 0, 0, 0, [SEP] 30, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0, [SEP] 31, Drawer, 1.975, 0.949, -1.703, 0, 0, 0, [SEP] 32, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0, [SEP] 33, Drawer, 1.457, 0.949, -1.703, 0, 0, 0, [SEP] 34, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0, [SEP] 35, Dresser, 2.234, 0.048, -1.950, 0, 0, 0, [SEP] 36, Drawer, 3.011, 0.949, -1.703, 0, 0, 0, [SEP] 37, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0, [SEP] 38, Shelf, -0.163, 1.461, 3.219, 0, 180, 0, [SEP] 39, Drawer, -0.161, 0.242, 3.166, 0, 180, 0, [SEP] 40, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0, [SEP] 41, Drawer, -0.161, 0.562, 3.168, 0, 180, 0, [SEP] 42, Shelf, -0.162, 0.922, 3.164, 0, 180, 0, [SEP] 43, Shelf, -0.162, 1.241, 3.163, 0, 180, 0, [SEP] 44, Blinds, -2.550, 2.486, 2.911, 0, 90, 0, [SEP] 45, Blinds, -2.550, 2.486, 4.107, 0, 90, 0, [SEP] 46, Drawer, -0.833, 0.217, -0.336, 0, 90, 0, [SEP] 47, Drawer, -0.833, 0.217, 0.486, 0, 90, 0, [SEP] 48, Drawer, -0.833, 0.628, -0.747, 0, 90, 0, [SEP] 49, Drawer, -0.833, 0.217, 0.075, 0, 90, 0, [SEP] 50, Drawer, -0.833, 0.628, 0.486, 0, 90, 0, [SEP] 51, Drawer, -0.833, 0.217, -0.747, 0, 90, 0, [SEP] 52, Drawer, -0.833, 0.423, -0.336, 0, 90, 0, [SEP] 53, Drawer, -0.833, 0.423, 0.075, 0, 90, 0, [SEP] 54, Drawer, -0.833, 0.423, 0.486, 0, 90, 0, [SEP] 55, Drawer, -0.833, 0.423, -0.747, 0, 90, 0, [SEP] 56, Dresser, -0.934, 0.050, -0.129, 0, 90, 0, [SEP] 57, Drawer, -0.833, 0.628, 0.075, 0, 90, 0, [SEP] 58, Drawer, -0.833, 0.628, -0.336, 0, 90, 0, [SEP] 59, Drawer, 3.454, 0.212, 1.262, 0, 180, 0, [SEP] 60, SideTable, 3.455, 0.046, 1.328, 0, 180, 0, [SEP] 61, Drawer, 3.454, 0.504, 1.262, 0, 180, 0, [SEP] 62, NorthWall, , , , , , , [SEP] 63, EastWall, , , , , , , [SEP] 64, SouthWall, , , , , , , [SEP] 65, WestWall, , , , , , , ", "output": ["STEP 1: walk towards the bed, turn right, walk towards dresser, turn left, turn right to face dresser | STEP 2: pick up the phone that is on the dresser | STEP 3: turn around, walk forward, turn right at bed, walk forward, turn right to face bed | STEP 4: put phone on to the bed | END"]} {"id": "trial_T20190908_044140_445283-0", "input": "Put a knife and chilled tomato slice in the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 0.75, 0, 0, 0, [SEP] 1, Potato, 0.193, 0.800, -0.596, 0, 0, 0, 104 [SEP] 2, Potato, -1.056, 0.855, -1.257, 0, 90, 0, 106 [SEP] 3, DishSponge, -1.962, 0.423, 1.332, 0, 270, 0, 100 [SEP] 4, Kettle, 1.422, 0.912, 1.468, 0, 0, 0, 82 [SEP] 5, ButterKnife, -0.836, 0.820, -1.255, 0, 0, 0, 106 [SEP] 6, ButterKnife, 0.634, 0.911, -0.515, 0, 0, 0, 47 [SEP] 7, Pot, 0.707, 2.157, 1.468, 0, 0, 0, 56 [SEP] 8, Pot, 2.715, 1.567, -0.709, 0, 0, 0, 102 [SEP] 9, Spoon, 0.123, 0.766, -0.707, 0, 0, 0, 104 [SEP] 10, Spoon, -0.911, 0.822, -1.360, 0, 90, 0, 106 [SEP] 11, Fork, 1.862, 0.772, 1.198, 0, 270, 0, 80 [SEP] 12, Fork, 2.156, 0.912, -0.430, 0, 0, 0, 47 [SEP] 13, Plate, 1.179, 1.658, 1.468, 0, 0, 0, 74 [SEP] 14, Plate, 1.955, 0.914, 1.299, 0, 0, 0, 82 [SEP] 15, Cup, 2.906, 1.652, 1.546, 0, 0, 0, 48 [SEP] 16, Cup, 0.888, 0.909, -0.854, 0, 0, 0, 47 [SEP] 17, SoapBottle, 1.559, 1.661, -0.732, 0, 180, 0, 69 [SEP] 18, Tomato, -0.246, 0.942, 1.214, 0, 0, 0, 58 [SEP] 19, SaltShaker, -0.887, 0.817, -1.400, 0, 0, 0, 106 [SEP] 20, SaltShaker, -0.621, 0.817, -1.257, 0, 90, 0, 106 [SEP] 21, Bread, 2.221, 0.969, 1.468, 0, 0, 0, 82 [SEP] 22, Mug, 0.570, 1.779, 1.488, 0, 180, 0, 105 [SEP] 23, Apple, -0.694, 0.889, -1.360, 0, 90, 0, 106 [SEP] 24, SoapBottle, -0.785, 0.826, -1.473, 0, 0, 0, 106 [SEP] 25, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 72 [SEP] 26, Fork, 1.688, 0.912, 1.383, 0, 0, 0, 82 [SEP] 27, Pot, 2.754, 0.915, 1.468, 0, 0, 0, 82 [SEP] 28, Bread, 2.221, 0.969, 1.129, 0, 0, 0, 82 [SEP] 29, Egg, 0.466, 1.822, 1.455, 0, 180, 0, 105 [SEP] 30, Kettle, 1.155, 0.912, 1.383, 0, 0, 0, 82 [SEP] 31, Tomato, -1.991, 0.455, 1.459, 0, 270, 0, 100 [SEP] 32, Cup, 1.688, 0.909, 1.553, 0, 0, 0, 82 [SEP] 33, Spatula, 2.156, 0.926, -0.684, 0, 0, 0, 47 [SEP] 34, Apple, 1.688, 0.980, 1.129, 0, 0, 0, 82 [SEP] 35, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 85 [SEP] 36, Lettuce, 2.488, 0.992, 1.299, 0, 0, 0, 82 [SEP] 37, SaltShaker, 1.141, 0.908, -0.854, 0, 0, 0, 47 [SEP] 38, Knife, 0.026, 0.758, -0.592, 273.786, 317.657, 5.542, 104 [SEP] 39, Potato, -0.766, 0.855, -1.155, 0, 90, 0, 106 [SEP] 40, PepperShaker, -0.007, 0.908, 1.044, 0, 0, 0, 58 [SEP] 41, ButterKnife, -0.198, 0.911, 1.468, 0, 0, 0, 58 [SEP] 42, Bowl, 2.777, 0.724, -0.504, 0, 0, 0, 102 [SEP] 43, DishSponge, -0.103, 0.911, 1.299, 0, 0, 0, 58 [SEP] 44, Spoon, -0.694, 0.822, -1.206, 0, 90, 0, 106 [SEP] 45, Mug, -0.087, 0.760, -0.541, 0, 0, 0, 104 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 108, NorthWall, , , , , , , [SEP] 109, EastWall, , , , , , , [SEP] 110, SouthWall, , , , , , , [SEP] 111, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the sink | STEP 2: Pick up knife from the sink | STEP 3: Walk to the bin | STEP 4: Cut the tomato in the bin | STEP 5: Walk to the microwave above the stove | STEP 6: Put the knife in the microwave | STEP 7: Walk to the bin | STEP 8: Pick up a tomato slice from the bin | STEP 9: Walk to the refrigerator | STEP 10: Chill the tomato slice in the fridge | STEP 11: Walk to the microwave | STEP 12: Put the tomato slice in the microwave | END"]} {"id": "trial_T20190908_044140_445283-1", "input": "slice a tomato put it 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, 1.5, 0.900, 0.75, 0, 0, 0, [SEP] 1, Potato, 0.193, 0.800, -0.596, 0, 0, 0, 104 [SEP] 2, Potato, -1.056, 0.855, -1.257, 0, 90, 0, 106 [SEP] 3, DishSponge, -1.962, 0.423, 1.332, 0, 270, 0, 100 [SEP] 4, Kettle, 1.422, 0.912, 1.468, 0, 0, 0, 82 [SEP] 5, ButterKnife, -0.836, 0.820, -1.255, 0, 0, 0, 106 [SEP] 6, ButterKnife, 0.634, 0.911, -0.515, 0, 0, 0, 47 [SEP] 7, Pot, 0.707, 2.157, 1.468, 0, 0, 0, 56 [SEP] 8, Pot, 2.715, 1.567, -0.709, 0, 0, 0, 102 [SEP] 9, Spoon, 0.123, 0.766, -0.707, 0, 0, 0, 104 [SEP] 10, Spoon, -0.911, 0.822, -1.360, 0, 90, 0, 106 [SEP] 11, Fork, 1.862, 0.772, 1.198, 0, 270, 0, 80 [SEP] 12, Fork, 2.156, 0.912, -0.430, 0, 0, 0, 47 [SEP] 13, Plate, 1.179, 1.658, 1.468, 0, 0, 0, 74 [SEP] 14, Plate, 1.955, 0.914, 1.299, 0, 0, 0, 82 [SEP] 15, Cup, 2.906, 1.652, 1.546, 0, 0, 0, 48 [SEP] 16, Cup, 0.888, 0.909, -0.854, 0, 0, 0, 47 [SEP] 17, SoapBottle, 1.559, 1.661, -0.732, 0, 180, 0, 69 [SEP] 18, Tomato, -0.246, 0.942, 1.214, 0, 0, 0, 58 [SEP] 19, SaltShaker, -0.887, 0.817, -1.400, 0, 0, 0, 106 [SEP] 20, SaltShaker, -0.621, 0.817, -1.257, 0, 90, 0, 106 [SEP] 21, Bread, 2.221, 0.969, 1.468, 0, 0, 0, 82 [SEP] 22, Mug, 0.570, 1.779, 1.488, 0, 180, 0, 105 [SEP] 23, Apple, -0.694, 0.889, -1.360, 0, 90, 0, 106 [SEP] 24, SoapBottle, -0.785, 0.826, -1.473, 0, 0, 0, 106 [SEP] 25, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 72 [SEP] 26, Fork, 1.688, 0.912, 1.383, 0, 0, 0, 82 [SEP] 27, Pot, 2.754, 0.915, 1.468, 0, 0, 0, 82 [SEP] 28, Bread, 2.221, 0.969, 1.129, 0, 0, 0, 82 [SEP] 29, Egg, 0.466, 1.822, 1.455, 0, 180, 0, 105 [SEP] 30, Kettle, 1.155, 0.912, 1.383, 0, 0, 0, 82 [SEP] 31, Tomato, -1.991, 0.455, 1.459, 0, 270, 0, 100 [SEP] 32, Cup, 1.688, 0.909, 1.553, 0, 0, 0, 82 [SEP] 33, Spatula, 2.156, 0.926, -0.684, 0, 0, 0, 47 [SEP] 34, Apple, 1.688, 0.980, 1.129, 0, 0, 0, 82 [SEP] 35, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 85 [SEP] 36, Lettuce, 2.488, 0.992, 1.299, 0, 0, 0, 82 [SEP] 37, SaltShaker, 1.141, 0.908, -0.854, 0, 0, 0, 47 [SEP] 38, Knife, 0.026, 0.758, -0.592, 273.786, 317.657, 5.542, 104 [SEP] 39, Potato, -0.766, 0.855, -1.155, 0, 90, 0, 106 [SEP] 40, PepperShaker, -0.007, 0.908, 1.044, 0, 0, 0, 58 [SEP] 41, ButterKnife, -0.198, 0.911, 1.468, 0, 0, 0, 58 [SEP] 42, Bowl, 2.777, 0.724, -0.504, 0, 0, 0, 102 [SEP] 43, DishSponge, -0.103, 0.911, 1.299, 0, 0, 0, 58 [SEP] 44, Spoon, -0.694, 0.822, -1.206, 0, 90, 0, 106 [SEP] 45, Mug, -0.087, 0.760, -0.541, 0, 0, 0, 104 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 108, NorthWall, , , , , , , [SEP] 109, EastWall, , , , , , , [SEP] 110, SouthWall, , , , , , , [SEP] 111, WestWall, , , , , , , ", "output": ["STEP 1: turn around to the left towards the sink | STEP 2: pick up a knife from the sink | STEP 3: go left go right towards a blue container | STEP 4: slice a tomato that is inside the blue container | STEP 5: turn around to the left go forward towards the microwave | STEP 6: put the knife inside the microwave | STEP 7: turn to the left go right | STEP 8: towards the blue container | STEP 9: pick up a slice of tomato | STEP 10: turn to the right forward go right face the refrigerator put the slice in the refrigerator | STEP 11: get it back out from the refrigerator turn to the right towards the microwave | STEP 12: open the microwave door put the slice of tomato inside the microwave | END"]} {"id": "trial_T20190908_083915_133247-0", "input": "To put a lettuce slice in a bowl plus move them 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, 3.25, 0.900, 0.5, 0, 0, 0, [SEP] 1, DishSponge, -0.017, 0.765, -0.651, 0, 0, 0, 99 [SEP] 2, DishSponge, 1.208, 1.654, -0.849, 0, 180, 0, 64 [SEP] 3, Spoon, 0.193, 0.766, -0.651, 0, 0, 0, 99 [SEP] 4, Spoon, 2.868, 0.772, 1.122, 0, 0, 0, 86 [SEP] 5, Fork, 1.208, 0.771, -0.498, 0, 90, 0, 61 [SEP] 6, Spatula, 2.156, 0.926, -0.854, 0, 90, 0, 42 [SEP] 7, Plate, 1.955, 0.914, 1.468, 0, 0, 0, 77 [SEP] 8, Egg, 2.900, 1.601, -0.578, 0, 0, 0, 97 [SEP] 9, Knife, -1.056, 0.853, -1.206, 0, 270, 0, 101 [SEP] 10, Knife, 2.754, 0.944, 1.214, 0, 270, 0, 77 [SEP] 11, SoapBottle, -2.019, 0.429, 1.459, 0, 270, 0, 95 [SEP] 12, Tomato, 3.381, 0.871, -0.543, 0, 0, 0, 97 [SEP] 13, Tomato, 2.591, 1.594, -0.775, 0, 0, 0, 97 [SEP] 14, Bowl, 2.754, 0.909, 1.468, 0, 0, 0, 77 [SEP] 15, Lettuce, -0.151, 0.992, 1.299, 0, 0, 0, 53 [SEP] 16, Lettuce, -0.887, 0.901, -1.400, 0, 0, 0, 101 [SEP] 17, Lettuce, 2.221, 0.992, 1.468, 0, 0, 0, 77 [SEP] 18, Apple, 2.777, 1.087, -0.709, 0, 0, 0, 97 [SEP] 19, SoapBottle, 0.750, 1.661, -0.693, 0, 180, 0, 52 [SEP] 20, Plate, 1.422, 0.914, 1.299, 0, 0, 0, 77 [SEP] 21, Fork, 0.053, 0.766, -0.596, 0, 0, 0, 99 [SEP] 22, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 57 [SEP] 23, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 42 [SEP] 24, Egg, 2.715, 0.764, -0.442, 0, 0, 0, 97 [SEP] 25, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 80 [SEP] 26, Tomato, 1.155, 0.942, 1.214, 0, 0, 0, 77 [SEP] 27, Cup, 0.363, 1.782, 1.488, 0, 180, 0, 100 [SEP] 28, Spatula, -0.682, 0.835, -1.255, 0, 90, 0, 101 [SEP] 29, Apple, 2.777, 1.632, -0.578, 0, 0, 0, 97 [SEP] 30, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 45 [SEP] 31, Lettuce, 1.955, 0.992, 1.129, 0, 0, 0, 77 [SEP] 32, SaltShaker, 1.524, 1.650, 1.585, 0, 0, 0, 65 [SEP] 33, Knife, 2.488, 0.944, 1.468, 0, 0, 0, 77 [SEP] 34, Potato, 1.688, 0.946, 1.044, 0, 0, 0, 77 [SEP] 35, PepperShaker, 2.488, 0.908, 1.044, 0, 0, 0, 77 [SEP] 36, ButterKnife, 1.688, 0.911, 1.383, 0, 0, 0, 77 [SEP] 37, Bowl, 0.231, 2.154, 1.428, 0, 0, 0, 76 [SEP] 38, DishSponge, -0.939, 0.820, -1.255, 0, 0, 0, 101 [SEP] 39, Spoon, -0.734, 0.822, -1.255, 0, 0, 0, 101 [SEP] 40, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 42 [SEP] 41, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 42, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 43, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 44, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 45, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 46, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 47, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 48, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 50, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 51, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 52, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 53, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 54, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 55, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 56, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 57, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 58, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 59, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 60, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 61, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 62, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 64, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 65, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 71, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 72, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 73, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 77, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 78, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 80, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 81, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 82, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 83, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 84, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 85, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 86, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 87, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 88, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 89, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 94, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 95, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 96, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 97, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 98, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 99, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 100, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 101, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 102, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: Take a step to the left to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Take a step to the left 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 fridge. | STEP 6: Place the knife in the fridge. | STEP 7: Turn around and step forward to face the lettuce on the counter. | STEP 8: Pick up a slice of lettuce on the counter. | STEP 9: Take a step to the left and look up to face the cabinet above the microwave. | STEP 10: Place the lettuce slice in the bowl above the microwave. | STEP 11: Pick up the bowl with the lettuce slice in it in the cabinet above the microwave. | STEP 12: Turn right and walk across the room and turn right to face the fridge. | STEP 13: Place the bowl with the lettuce slice in it in the fridge. | END"]} {"id": "trial_T20190908_182552_717460-0", "input": "Put a warm egg on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -0.75, 0, 180, 0, [SEP] 1, Potato, 2.962, 1.053, -0.644, 0, 0, 0, 101 [SEP] 2, Potato, 2.156, 0.946, -0.6, 0, 0, 0, 46 [SEP] 3, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 52 [SEP] 4, Fork, 1.934, 0.771, -0.422, 0, 270, 0, 60 [SEP] 5, Spatula, 0.349, 0.926, -0.316, 0, 0, 0, 46 [SEP] 6, Plate, 0.634, 0.914, -0.430, 0, 0, 0, 46 [SEP] 7, Plate, 1.422, 0.914, 1.468, 0, 0, 0, 81 [SEP] 8, Egg, -2.019, 0.461, 1.417, 0, 270, 0, 99 [SEP] 9, Egg, 0.349, 0.949, -0.316, 0, 0, 0, 46 [SEP] 10, Knife, -0.836, 0.853, -1.400, 0, 90, 0, 105 [SEP] 11, Knife, 2.221, 0.944, 1.299, 0, 0, 0, 81 [SEP] 12, SoapBottle, 2.488, 0.917, 1.468, 0, 0, 0, 81 [SEP] 13, Tomato, -0.694, 0.852, -1.206, 0, 90, 0, 105 [SEP] 14, Bowl, 1.155, 0.909, 1.214, 0, 0, 0, 81 [SEP] 15, Bowl, 2.838, 1.561, -0.709, 0, 0, 0, 101 [SEP] 16, SaltShaker, -0.734, 0.817, -1.473, 0, 0, 0, 105 [SEP] 17, PepperShaker, 1.141, 0.908, -0.515, 0, 0, 0, 46 [SEP] 18, PepperShaker, 1.176, 0.111, 1.037, 0, 0, 0, 75 [SEP] 19, Lettuce, 2.754, 0.992, 1.299, 0, 0, 0, 81 [SEP] 20, Lettuce, -0.983, 0.901, -1.360, 0, 90, 0, 105 [SEP] 21, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 46 [SEP] 22, Apple, -0.198, 0.980, 1.383, 0, 0, 0, 57 [SEP] 23, SoapBottle, -0.621, 0.826, -1.360, 0, 90, 0, 105 [SEP] 24, Plate, 0.231, 2.159, 1.467, 0, 0, 0, 80 [SEP] 25, Fork, 1.688, 0.912, 1.214, 0, 0, 0, 81 [SEP] 26, Pot, 2.777, 1.292, -0.709, 0, 0, 0, 101 [SEP] 27, Bread, -0.198, 0.969, 1.214, 0, 0, 0, 57 [SEP] 28, Egg, -1.991, 0.461, 1.247, 0, 270, 0, 99 [SEP] 29, Kettle, 1.862, 0.116, 1.117, 0, 0, 0, 75 [SEP] 30, Tomato, 0.193, 0.797, -0.762, 0, 0, 0, 103 [SEP] 31, Cup, 1.955, 0.909, 1.129, 0, 0, 0, 81 [SEP] 32, Spatula, -0.785, 0.835, -1.328, 0, 90, 0, 105 [SEP] 33, Apple, 0.570, 1.853, 1.423, 0, 180, 0, 104 [SEP] 34, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 49 [SEP] 35, Lettuce, 1.955, 0.992, 1.383, 0, 0, 0, 81 [SEP] 36, SaltShaker, -0.053, 1.650, 1.470, 0, 0, 0, 72 [SEP] 37, Knife, -0.103, 0.944, 1.129, 0, 90, 0, 57 [SEP] 38, Potato, 2.715, 1.598, -0.578, 0, 0, 0, 101 [SEP] 39, PepperShaker, 1.139, 0.111, 1.117, 0, 0, 0, 75 [SEP] 40, ButterKnife, -0.797, 0.810, -1.133, 0, 150.000, 0, 105 [SEP] 41, Bowl, 2.488, 0.909, 1.299, 0, 0, 0, 81 [SEP] 42, DishSponge, -1.056, 0.820, -1.103, 0, 90, 0, 105 [SEP] 43, Spoon, 1.155, 0.912, 1.383, 0, 90, 0, 81 [SEP] 44, Mug, 0.363, 1.779, 1.488, 0, 180, 0, 104 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 107, NorthWall, , , , , , , [SEP] 108, EastWall, , , , , , , [SEP] 109, SouthWall, , , , , , , [SEP] 110, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk past the sink on your right, then turn right, into the kitchen, and go to the counter top on the right, just past the sink. | STEP 2: Pick up the egg between the plate and the sink, on the counter. | STEP 3: Turn around and go to the microwave above the stove. | STEP 4: Place the egg in the microwave, heat it up, then remove the egg from the microwave. | STEP 5: Turn to your left and walk past the stove, and out of the kitchen, then turn to your right and go to the table at the end of the room. | STEP 6: Place the egg on the table between the butter knife and the sponge. | END"]} {"id": "trial_T20190908_182552_717460-2", "input": "Put a heated egg on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -0.75, 0, 180, 0, [SEP] 1, Potato, 2.962, 1.053, -0.644, 0, 0, 0, 101 [SEP] 2, Potato, 2.156, 0.946, -0.6, 0, 0, 0, 46 [SEP] 3, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 52 [SEP] 4, Fork, 1.934, 0.771, -0.422, 0, 270, 0, 60 [SEP] 5, Spatula, 0.349, 0.926, -0.316, 0, 0, 0, 46 [SEP] 6, Plate, 0.634, 0.914, -0.430, 0, 0, 0, 46 [SEP] 7, Plate, 1.422, 0.914, 1.468, 0, 0, 0, 81 [SEP] 8, Egg, -2.019, 0.461, 1.417, 0, 270, 0, 99 [SEP] 9, Egg, 0.349, 0.949, -0.316, 0, 0, 0, 46 [SEP] 10, Knife, -0.836, 0.853, -1.400, 0, 90, 0, 105 [SEP] 11, Knife, 2.221, 0.944, 1.299, 0, 0, 0, 81 [SEP] 12, SoapBottle, 2.488, 0.917, 1.468, 0, 0, 0, 81 [SEP] 13, Tomato, -0.694, 0.852, -1.206, 0, 90, 0, 105 [SEP] 14, Bowl, 1.155, 0.909, 1.214, 0, 0, 0, 81 [SEP] 15, Bowl, 2.838, 1.561, -0.709, 0, 0, 0, 101 [SEP] 16, SaltShaker, -0.734, 0.817, -1.473, 0, 0, 0, 105 [SEP] 17, PepperShaker, 1.141, 0.908, -0.515, 0, 0, 0, 46 [SEP] 18, PepperShaker, 1.176, 0.111, 1.037, 0, 0, 0, 75 [SEP] 19, Lettuce, 2.754, 0.992, 1.299, 0, 0, 0, 81 [SEP] 20, Lettuce, -0.983, 0.901, -1.360, 0, 90, 0, 105 [SEP] 21, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 46 [SEP] 22, Apple, -0.198, 0.980, 1.383, 0, 0, 0, 57 [SEP] 23, SoapBottle, -0.621, 0.826, -1.360, 0, 90, 0, 105 [SEP] 24, Plate, 0.231, 2.159, 1.467, 0, 0, 0, 80 [SEP] 25, Fork, 1.688, 0.912, 1.214, 0, 0, 0, 81 [SEP] 26, Pot, 2.777, 1.292, -0.709, 0, 0, 0, 101 [SEP] 27, Bread, -0.198, 0.969, 1.214, 0, 0, 0, 57 [SEP] 28, Egg, -1.991, 0.461, 1.247, 0, 270, 0, 99 [SEP] 29, Kettle, 1.862, 0.116, 1.117, 0, 0, 0, 75 [SEP] 30, Tomato, 0.193, 0.797, -0.762, 0, 0, 0, 103 [SEP] 31, Cup, 1.955, 0.909, 1.129, 0, 0, 0, 81 [SEP] 32, Spatula, -0.785, 0.835, -1.328, 0, 90, 0, 105 [SEP] 33, Apple, 0.570, 1.853, 1.423, 0, 180, 0, 104 [SEP] 34, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 49 [SEP] 35, Lettuce, 1.955, 0.992, 1.383, 0, 0, 0, 81 [SEP] 36, SaltShaker, -0.053, 1.650, 1.470, 0, 0, 0, 72 [SEP] 37, Knife, -0.103, 0.944, 1.129, 0, 90, 0, 57 [SEP] 38, Potato, 2.715, 1.598, -0.578, 0, 0, 0, 101 [SEP] 39, PepperShaker, 1.139, 0.111, 1.117, 0, 0, 0, 75 [SEP] 40, ButterKnife, -0.797, 0.810, -1.133, 0, 150.000, 0, 105 [SEP] 41, Bowl, 2.488, 0.909, 1.299, 0, 0, 0, 81 [SEP] 42, DishSponge, -1.056, 0.820, -1.103, 0, 90, 0, 105 [SEP] 43, Spoon, 1.155, 0.912, 1.383, 0, 90, 0, 81 [SEP] 44, Mug, 0.363, 1.779, 1.488, 0, 180, 0, 104 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 107, NorthWall, , , , , , , [SEP] 108, EastWall, , , , , , , [SEP] 109, SouthWall, , , , , , , [SEP] 110, WestWall, , , , , , , ", "output": ["STEP 1: Go to the left and stand in front of the sink. | STEP 2: Pick the egg up from the left of the sink. | STEP 3: Turn around and face the microwave that is above the stove. | STEP 4: Put the egg in the microwave and shut the door and then open the door and take the egg out again. | STEP 5: Go left and then left again to stand in front of the small, round, gray table. | STEP 6: Put the egg on the table. | END"]} {"id": "trial_T20190909_073823_724192-0", "input": "Move two soap dispenser to the white shelves. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.903, 0.25, 0, 270, 0, [SEP] 1, Cloth, 0.124, 0.048, 1.295, 0, 0, 0, 27 [SEP] 2, SprayBottle, -2.212, 1.048, -0.644, 0, 180, 0, 33 [SEP] 3, SprayBottle, -1.308, 0.289, 2.097, 0, 0, 0, 24 [SEP] 4, SoapBottle, -2.343, 1.049, -0.797, 0, 0, 0, 33 [SEP] 5, SoapBottle, -1.666, 0.083, -0.620, 0, 270, 0, 31 [SEP] 6, SoapBottle, -2.146, 1.049, -0.674, 0, 0, 0, 33 [SEP] 7, Candle, -2.212, 1.088, -0.797, 0, 0, 0, 33 [SEP] 8, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 29 [SEP] 9, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 10, SoapBar, -0.859, 1.010, -0.350, 0, 306.598, 0, 21 [SEP] 11, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 23 [SEP] 12, SoapBottle, -1.949, 1.049, -0.705, 0, 0, 0, 33 [SEP] 13, TissueBox, -1.308, 1.773, 2.127, 0, 0, 0, 26 [SEP] 14, Cloth, 0.206, 0.048, -0.071, 0, 0, 0, 27 [SEP] 15, ToiletPaper, -1.471, 1.066, 2.097, 0, 0, 0, 28 [SEP] 16, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 22 [SEP] 17, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 18, SprayBottle, -0.817, 1.774, 2.067, 0, 0, 0, 26 [SEP] 19, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 20, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 21, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 22, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 23, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 24, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 25, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 26, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 27, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 28, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 29, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 30, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 31, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 32, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 33, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 34, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 35, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 36, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 37, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward and turn left to face a bin, | STEP 2: Pick up the soap dispenser from the bin. | STEP 3: Turn around completely and walk to the white shelves. | STEP 4: Place the soap dispenser on the shelf. | STEP 5: Turn around completely and walk back to the bin. | STEP 6: Pick up the other soap dispenser from the bin. | STEP 7: Turn around completely and walk to the white shelves. | STEP 8: Place the soap dispenser on the shelf. | END"]} {"id": "trial_T20190909_085709_382477-1", "input": "To heat a potato 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, 2.25, 0.900, 0.75, 0, 90, 0, [SEP] 1, Potato, -1.962, 0.458, 1.459, 0, 270, 0, 96 [SEP] 2, DishSponge, -0.734, 0.820, -1.400, 0, 0, 0, 102 [SEP] 3, Kettle, 1.135, 0.115, -0.495, 0, 180, 0, 51 [SEP] 4, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 58 [SEP] 5, ButterKnife, 2.488, 0.911, 1.299, 0, 0, 0, 78 [SEP] 6, ButterKnife, -1.056, 0.820, -1.257, 0, 90, 0, 102 [SEP] 7, Pot, 1.688, 0.915, 1.468, 0, 0, 0, 78 [SEP] 8, Pot, 1.955, 0.915, 1.383, 0, 0, 0, 78 [SEP] 9, Fork, 2.221, 0.912, 1.214, 0, 0, 0, 78 [SEP] 10, Spatula, -0.621, 0.835, -1.206, 0, 270, 0, 102 [SEP] 11, Cup, -0.836, 0.818, -1.328, 0, 0, 0, 102 [SEP] 12, Cup, 2.838, 1.016, -0.578, 0, 0, 0, 98 [SEP] 13, Egg, -0.734, 0.858, -1.183, 0, 0, 0, 102 [SEP] 14, SoapBottle, 2.208, 1.661, -0.835, 0, 180, 0, 64 [SEP] 15, Tomato, 2.777, 1.594, -0.447, 0, 0, 0, 98 [SEP] 16, Tomato, 1.422, 0.942, 1.553, 0, 0, 0, 78 [SEP] 17, SaltShaker, 0.125, 2.153, 1.350, 0, 0, 0, 77 [SEP] 18, SaltShaker, -0.983, 0.817, -1.411, 0, 90, 0, 102 [SEP] 19, Mug, -0.198, 0.906, 1.044, 0, 0, 0, 54 [SEP] 20, SoapBottle, 1.872, 0.120, -0.383, 0, 180, 0, 89 [SEP] 21, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 43 [SEP] 22, Fork, -0.159, 0.771, 1.122, 0, 90, 0, 48 [SEP] 23, Pot, 1.155, 0.915, 1.214, 0, 0, 0, 78 [SEP] 24, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 43 [SEP] 25, Egg, -1.962, 0.461, 1.247, 0, 270, 0, 96 [SEP] 26, Kettle, 1.688, 0.912, 1.214, 0, 0, 0, 78 [SEP] 27, Tomato, 2.838, 1.050, -0.709, 0, 0, 0, 98 [SEP] 28, Cup, -0.103, 0.909, 1.468, 0, 0, 0, 54 [SEP] 29, Spatula, 0.888, 0.926, -0.6, 0, 90, 0, 43 [SEP] 30, Apple, 2.221, 0.980, 1.044, 0, 0, 0, 78 [SEP] 31, Pan, 0.634, 0.911, -0.430, 0, 90, 0, 43 [SEP] 32, Lettuce, 0.634, 0.992, -0.684, 0, 0, 0, 43 [SEP] 33, SaltShaker, 1.597, 1.650, 1.585, 0, 0, 0, 66 [SEP] 34, Knife, 0.193, 0.798, -0.596, 0, 270, 0, 100 [SEP] 35, Potato, 2.777, 1.323, -0.644, 0, 0, 0, 98 [SEP] 36, PepperShaker, 1.632, 0.111, -0.498, 0, 180, 0, 60 [SEP] 37, ButterKnife, 2.754, 0.911, 1.129, 0, 0, 0, 78 [SEP] 38, Bowl, 0.865, 2.151, 1.468, 0, 0, 0, 52 [SEP] 39, DishSponge, 2.543, 0.771, 1.160, 0, 0, 0, 59 [SEP] 40, Spoon, -0.887, 0.822, -1.473, 0, 0, 0, 102 [SEP] 41, Mug, -0.103, 0.906, 1.298, 0, 0, 0, 54 [SEP] 42, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 43, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 44, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 45, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 46, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 47, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 48, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 49, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 50, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 51, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 52, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 53, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 54, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 55, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 56, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 57, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 58, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 59, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 60, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 61, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 62, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 63, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 64, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 65, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 66, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 72, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 73, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 74, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 76, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 78, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 79, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 81, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 82, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 83, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 84, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 85, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 86, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 87, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 88, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 89, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 90, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 95, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 96, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 97, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 98, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 99, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 100, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 101, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 102, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 103, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 104, NorthWall, , , , , , , [SEP] 105, EastWall, , , , , , , [SEP] 106, SouthWall, , , , , , , [SEP] 107, WestWall, , , , , , , ", "output": ["STEP 1: Turn left to face the knife on the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left and cross the room and turn right to face the trash can. | STEP 4: Cut the potato in the trash can into slices. | STEP 5: Turn around and walk forward to face the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn around and walk to the left to face the trash can. | STEP 8: Pick up a potato slice in the trash can. | STEP 9: Turn right and walk forward and turn left and look up to face the microwave. | STEP 10: Heat the potato in the microwave and remove it. | STEP 11: Turn around and step forward to face the sink. | STEP 12: Place the potato slice in the sink. | END"]} {"id": "trial_T20190909_153940_526649-0", "input": "Move a bottle of lotion to the toilet tank. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.901, 3.0, 0, 180, 0, [SEP] 1, TissueBox, -1.561, 0.069, 2.807, 0, 0, 0, 21 [SEP] 2, Cloth, -1.441, 0.068, 3.743, 0, 0, 0, 29 [SEP] 3, SoapBar, 0.351, 0.893, 1.618, 0, 0, 0, 34 [SEP] 4, Candle, -1.382, 0.068, 2.656, 0, 0, 0, 23 [SEP] 5, Candle, -1.481, 0.994, 3.903, 0, 0, 0, 28 [SEP] 6, SprayBottle, 0.313, 0.048, 3.838, 0, 0, 0, 31 [SEP] 7, SoapBottle, -1.350, 0.993, 2.269, 0, 0, 0, 28 [SEP] 8, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 30 [SEP] 9, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 32 [SEP] 10, SoapBar, -1.500, 0.067, 2.391, 0, 0, 0, 23 [SEP] 11, ToiletPaper, -1.332, 0.058, 2.261, 0, 0, 0, 23 [SEP] 12, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 13, Candle, -1.613, 0.994, 3.219, 0, 0, 0, 28 [SEP] 14, TissueBox, -1.416, 0.994, 2.923, 0, 0, 0, 28 [SEP] 15, SoapBottle, -1.284, 0.993, 2.863, 0, 0, 0, 28 [SEP] 16, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 36 [SEP] 17, SprayBottle, -1.613, 0.995, 3.903, 0, 0, 0, 28 [SEP] 18, Cloth, -1.500, 0.067, 3.327, 0, 0, 0, 27 [SEP] 19, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 20, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 21, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 22, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 23, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 24, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 25, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 26, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 27, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 28, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 29, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 30, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 31, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 32, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 33, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 34, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 35, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 36, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 37, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 38, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 39, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 40, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 41, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 42, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward, then turn right and walk up to the counter. | STEP 2: Pick up the bottle of lotion that is to the right of the sink. | STEP 3: Walk over to the toilet behind you. | STEP 4: Put the bottle of lotion on top of the toilet tank. | END"]} {"id": "trial_T20190909_145844_073286-0", "input": "take the remote from the desk to the chair SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, 0.5, 0, 180, 0, [SEP] 1, Watch, 1.808, 0.871, 0.008, 0, 90, 0, 38 [SEP] 2, Watch, 1.891, 0.871, 0.431, 0, 90, 0, 38 [SEP] 3, Newspaper, -1.100, 0.199, -0.185, 0, 270, 0, 41 [SEP] 4, KeyChain, -0.561, 0.553, -0.537, 0, 270, 0, 32 [SEP] 5, KeyChain, -0.561, 0.553, -0.106, 0, 270, 0, 32 [SEP] 6, CreditCard, 1.364, 0.308, -0.588, 0, 0, 0, 40 [SEP] 7, RemoteControl, 1.766, 0.872, 0.326, 0, 90, 0, 38 [SEP] 8, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 40 [SEP] 9, KeyChain, 1.808, 0.872, 0.114, 0, 90, 0, 38 [SEP] 10, Watch, -0.411, 0.552, -0.451, 0, 270, 0, 32 [SEP] 11, Newspaper, 1.285, 0.315, -0.435, 0, 0, 0, 40 [SEP] 12, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 34 [SEP] 13, CreditCard, -0.712, 0.551, -0.623, 0, 270, 0, 32 [SEP] 14, RemoteControl, -0.582, 0.201, -0.544, 0, 90, 0, 33 [SEP] 15, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 32 [SEP] 16, Statue, -0.260, 0.562, -0.192, 0, 270, 0, 32 [SEP] 17, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 32 [SEP] 18, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 19, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 20, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 21, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 22, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 23, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 24, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 25, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 26, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 27, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 29, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 30, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 31, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 32, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 33, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 34, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 35, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 36, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 37, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 38, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 39, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 40, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 41, , , , , , , , [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: go to the desk | STEP 2: pick up the remote from the desk | STEP 3: take the remote to the brown chair | STEP 4: put the remote in the chair | END"]} {"id": "trial_T20190909_145844_073286-1", "input": "move the remote from the table to the chair SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, 0.5, 0, 180, 0, [SEP] 1, Watch, 1.808, 0.871, 0.008, 0, 90, 0, 38 [SEP] 2, Watch, 1.891, 0.871, 0.431, 0, 90, 0, 38 [SEP] 3, Newspaper, -1.100, 0.199, -0.185, 0, 270, 0, 41 [SEP] 4, KeyChain, -0.561, 0.553, -0.537, 0, 270, 0, 32 [SEP] 5, KeyChain, -0.561, 0.553, -0.106, 0, 270, 0, 32 [SEP] 6, CreditCard, 1.364, 0.308, -0.588, 0, 0, 0, 40 [SEP] 7, RemoteControl, 1.766, 0.872, 0.326, 0, 90, 0, 38 [SEP] 8, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 40 [SEP] 9, KeyChain, 1.808, 0.872, 0.114, 0, 90, 0, 38 [SEP] 10, Watch, -0.411, 0.552, -0.451, 0, 270, 0, 32 [SEP] 11, Newspaper, 1.285, 0.315, -0.435, 0, 0, 0, 40 [SEP] 12, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 34 [SEP] 13, CreditCard, -0.712, 0.551, -0.623, 0, 270, 0, 32 [SEP] 14, RemoteControl, -0.582, 0.201, -0.544, 0, 90, 0, 33 [SEP] 15, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 32 [SEP] 16, Statue, -0.260, 0.562, -0.192, 0, 270, 0, 32 [SEP] 17, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 32 [SEP] 18, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 19, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 20, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 21, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 22, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 23, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 24, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 25, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 26, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 27, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 29, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 30, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 31, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 32, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 33, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 34, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 35, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 36, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 37, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 38, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 39, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 40, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 41, , , , , , , , [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: walk straight a bit then turn left and walk straight towards the table | STEP 2: pick up the remote on the table | STEP 3: turn around and then turn left and then walk straight a bit then turn left towards the chair | STEP 4: put the remote down on the chair | END"]} {"id": "trial_T20190908_160726_275072-1", "input": "Put a pan with knife on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 0.0, 0, 180, 0, [SEP] 1, Potato, 2.777, 0.760, -0.473, 0, 0, 0, 102 [SEP] 2, ButterKnife, 1.141, 0.911, -0.769, 0, 0, 0, 47 [SEP] 3, Pot, 1.955, 0.915, 1.468, 0, 0, 0, 82 [SEP] 4, Spoon, 2.156, 0.912, -0.345, 0, 0, 0, 47 [SEP] 5, Spoon, -0.087, 0.766, -0.596, 0, 0, 0, 104 [SEP] 6, Spatula, -0.157, 0.780, -0.596, 0, 270, 0, 104 [SEP] 7, Spatula, 1.155, 0.926, 1.044, 0, 90, 0, 82 [SEP] 8, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 72 [SEP] 9, Plate, 2.488, 0.914, 1.129, 0, 0, 0, 82 [SEP] 10, Cup, 0.123, 0.763, -0.651, 0, 0, 0, 104 [SEP] 11, Cup, -0.983, 0.818, -1.308, 0, 90, 0, 106 [SEP] 12, Egg, 0.263, 0.803, -0.651, 0, 0, 0, 104 [SEP] 13, Knife, -0.766, 0.853, -1.257, 0, 180, 0, 106 [SEP] 14, Tomato, -2.019, 0.455, 1.375, 0, 270, 0, 100 [SEP] 15, SaltShaker, -0.983, 0.817, -1.411, 0, 90, 0, 106 [SEP] 16, SaltShaker, 2.754, 0.908, 1.044, 0, 0, 0, 82 [SEP] 17, PepperShaker, -0.621, 0.817, -1.360, 0, 90, 0, 106 [SEP] 18, PepperShaker, 1.135, 0.110, -0.383, 0, 180, 0, 55 [SEP] 19, Bread, -0.246, 0.969, 1.383, 0, 0, 0, 58 [SEP] 20, Bread, 2.777, 1.621, -0.578, 0, 0, 0, 102 [SEP] 21, Mug, 1.179, 1.650, 1.546, 0, 0, 0, 74 [SEP] 22, Mug, 0.466, 1.779, 1.455, 0, 180, 0, 105 [SEP] 23, Apple, -0.055, 0.980, 1.214, 0, 0, 0, 58 [SEP] 24, SoapBottle, 2.221, 0.917, 1.383, 0, 0, 0, 82 [SEP] 25, Plate, 0.707, 2.156, 1.468, 0, 0, 0, 56 [SEP] 26, Fork, 1.626, 0.772, -0.460, 0, 270, 0, 77 [SEP] 27, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 53 [SEP] 28, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 47 [SEP] 29, Egg, 1.955, 0.949, 1.214, 0, 0, 0, 82 [SEP] 30, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 62 [SEP] 31, Tomato, 2.653, 0.756, -0.535, 0, 0, 0, 102 [SEP] 32, Cup, 2.591, 1.561, -0.840, 0, 0, 0, 102 [SEP] 33, Spatula, 2.754, 0.926, 1.214, 0, 0, 0, 82 [SEP] 34, Apple, 2.900, 1.087, -0.709, 0, 0, 0, 102 [SEP] 35, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 50 [SEP] 36, Lettuce, 2.918, 1.345, -0.612, 15.987, 3.568, 14.457, 102 [SEP] 37, SaltShaker, -0.103, 0.908, 1.044, 0, 0, 0, 58 [SEP] 38, Knife, 2.754, 0.944, 1.468, 0, 0, 0, 82 [SEP] 39, Potato, 2.962, 0.760, -0.504, 0, 0, 0, 102 [SEP] 40, PepperShaker, -0.682, 0.817, -1.183, 0, 0, 0, 106 [SEP] 41, ButterKnife, -0.911, 0.820, -1.257, 0, 180, 0, 106 [SEP] 42, Bowl, 2.653, 1.286, -0.775, 0, 0, 0, 102 [SEP] 43, DishSponge, -0.151, 0.911, 1.129, 0, 0, 0, 58 [SEP] 44, Spoon, -0.939, 0.822, -1.473, 0, 180, 0, 106 [SEP] 45, Mug, -0.785, 0.815, -1.473, 0, 0, 0, 106 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 108, NorthWall, , , , , , , [SEP] 109, EastWall, , , , , , , [SEP] 110, SouthWall, , , , , , , [SEP] 111, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, move to the round table on the left. | STEP 2: Pick up the yellow knife on the table. | STEP 3: Turn around, bring the knife to the stove on the left counter. | STEP 4: Stand the knife on its tip, in the right pan on the stove. | STEP 5: Pick up the the pan with knife from on the stove. | STEP 6: Turn left, bring the pan to the small table on the left. | STEP 7: Put the pan with knife on the table. | END"]} {"id": "trial_T20190908_160726_275072-2", "input": "put a dish and knife onto a table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 0.0, 0, 180, 0, [SEP] 1, Potato, 2.777, 0.760, -0.473, 0, 0, 0, 102 [SEP] 2, ButterKnife, 1.141, 0.911, -0.769, 0, 0, 0, 47 [SEP] 3, Pot, 1.955, 0.915, 1.468, 0, 0, 0, 82 [SEP] 4, Spoon, 2.156, 0.912, -0.345, 0, 0, 0, 47 [SEP] 5, Spoon, -0.087, 0.766, -0.596, 0, 0, 0, 104 [SEP] 6, Spatula, -0.157, 0.780, -0.596, 0, 270, 0, 104 [SEP] 7, Spatula, 1.155, 0.926, 1.044, 0, 90, 0, 82 [SEP] 8, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 72 [SEP] 9, Plate, 2.488, 0.914, 1.129, 0, 0, 0, 82 [SEP] 10, Cup, 0.123, 0.763, -0.651, 0, 0, 0, 104 [SEP] 11, Cup, -0.983, 0.818, -1.308, 0, 90, 0, 106 [SEP] 12, Egg, 0.263, 0.803, -0.651, 0, 0, 0, 104 [SEP] 13, Knife, -0.766, 0.853, -1.257, 0, 180, 0, 106 [SEP] 14, Tomato, -2.019, 0.455, 1.375, 0, 270, 0, 100 [SEP] 15, SaltShaker, -0.983, 0.817, -1.411, 0, 90, 0, 106 [SEP] 16, SaltShaker, 2.754, 0.908, 1.044, 0, 0, 0, 82 [SEP] 17, PepperShaker, -0.621, 0.817, -1.360, 0, 90, 0, 106 [SEP] 18, PepperShaker, 1.135, 0.110, -0.383, 0, 180, 0, 55 [SEP] 19, Bread, -0.246, 0.969, 1.383, 0, 0, 0, 58 [SEP] 20, Bread, 2.777, 1.621, -0.578, 0, 0, 0, 102 [SEP] 21, Mug, 1.179, 1.650, 1.546, 0, 0, 0, 74 [SEP] 22, Mug, 0.466, 1.779, 1.455, 0, 180, 0, 105 [SEP] 23, Apple, -0.055, 0.980, 1.214, 0, 0, 0, 58 [SEP] 24, SoapBottle, 2.221, 0.917, 1.383, 0, 0, 0, 82 [SEP] 25, Plate, 0.707, 2.156, 1.468, 0, 0, 0, 56 [SEP] 26, Fork, 1.626, 0.772, -0.460, 0, 270, 0, 77 [SEP] 27, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 53 [SEP] 28, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 47 [SEP] 29, Egg, 1.955, 0.949, 1.214, 0, 0, 0, 82 [SEP] 30, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 62 [SEP] 31, Tomato, 2.653, 0.756, -0.535, 0, 0, 0, 102 [SEP] 32, Cup, 2.591, 1.561, -0.840, 0, 0, 0, 102 [SEP] 33, Spatula, 2.754, 0.926, 1.214, 0, 0, 0, 82 [SEP] 34, Apple, 2.900, 1.087, -0.709, 0, 0, 0, 102 [SEP] 35, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 50 [SEP] 36, Lettuce, 2.918, 1.345, -0.612, 15.987, 3.568, 14.457, 102 [SEP] 37, SaltShaker, -0.103, 0.908, 1.044, 0, 0, 0, 58 [SEP] 38, Knife, 2.754, 0.944, 1.468, 0, 0, 0, 82 [SEP] 39, Potato, 2.962, 0.760, -0.504, 0, 0, 0, 102 [SEP] 40, PepperShaker, -0.682, 0.817, -1.183, 0, 0, 0, 106 [SEP] 41, ButterKnife, -0.911, 0.820, -1.257, 0, 180, 0, 106 [SEP] 42, Bowl, 2.653, 1.286, -0.775, 0, 0, 0, 102 [SEP] 43, DishSponge, -0.151, 0.911, 1.129, 0, 0, 0, 58 [SEP] 44, Spoon, -0.939, 0.822, -1.473, 0, 180, 0, 106 [SEP] 45, Mug, -0.785, 0.815, -1.473, 0, 0, 0, 106 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 108, NorthWall, , , , , , , [SEP] 109, EastWall, , , , , , , [SEP] 110, SouthWall, , , , , , , [SEP] 111, WestWall, , , , , , , ", "output": ["STEP 1: turn to face small grey kitchen table | STEP 2: pick up sharp knife with yellow handle from the table | STEP 3: walk to face the stove top | STEP 4: put the knife into the dish on the bottom right burner on the stove | STEP 5: pick up the dish from the stove | STEP 6: walk to face the grey table | STEP 7: put the dish on to the table | END"]} {"id": "trial_T20190907_180418_742691-0", "input": "Heat the tomato and set 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, 0.931, -0.5, 0, 90, 0, [SEP] 1, Potato, -1.423, 1.766, 2.331, 0, 90, 0, 51 [SEP] 2, DishSponge, 0.823, 1.046, -1.181, 0, 0, 0, 36 [SEP] 3, ButterKnife, -0.603, 1.046, -1.397, 0, 0, 0, 36 [SEP] 4, Kettle, 0.120, 1.053, -1.630, 0, 0, 0, 39 [SEP] 5, Kettle, 1.588, 0.205, -1.408, 0, 0, 0, 46 [SEP] 6, Egg, -1.095, 1.018, 2.153, 0, 90, 0, 51 [SEP] 7, Egg, -1.312, 1.768, 2.153, 0, 90, 0, 51 [SEP] 8, Knife, 0.351, 1.069, 0.738, 0, 0, 0, 38 [SEP] 9, SoapBottle, 0.936, 1.056, 0.281, 0, 90, 0, 34 [SEP] 10, SoapBottle, 1.068, 0.200, -1.556, 0, 0, 0, 47 [SEP] 11, Apple, 0.717, 1.097, 0.231, 0, 90, 0, 34 [SEP] 12, Potato, 0.542, 1.096, 0.091, 0, 0, 0, 38 [SEP] 13, Fork, 0.761, 1.054, 0.281, 0, 90, 0, 34 [SEP] 14, Kettle, -1.027, 0.203, -1.410, 0, 0, 0, 44 [SEP] 15, Pan, -1.342, 1.488, 2.063, 0, 180, 0, 51 [SEP] 16, Tomato, -0.775, 1.097, -1.720, 0, 0, 0, 36 [SEP] 17, SaltShaker, 0.801, 0.194, -1.339, 0, 0, 0, 47 [SEP] 18, Egg, 1.854, 0.177, 2.442, 0, 270, 0, 52 [SEP] 19, Cup, -1.261, 0.202, -1.627, 0, 0, 0, 44 [SEP] 20, Spatula, -0.432, 1.061, -1.397, 0, 90, 0, 36 [SEP] 21, Knife, 1.514, 1.069, 0.001, 0, 0, 0, 38 [SEP] 22, Lettuce, 0.542, 1.103, 0.630, 0, 0, 0, 38 [SEP] 23, ButterKnife, -0.177, 1.046, -1.107, 0, 0, 0, 36 [SEP] 24, PepperShaker, -1.184, 2.023, -1.482, 0, 0, 0, 43 [SEP] 25, DishSponge, 1.589, 1.019, -1.337, 0, 0, 0, 42 [SEP] 26, Plate, 1.512, 1.032, -1.557, 0, 0, 0, 42 [SEP] 27, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 38 [SEP] 28, Spoon, 1.514, 1.044, 0.720, 0, 0, 0, 38 [SEP] 29, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 37 [SEP] 30, Mug, -1.051, 0.702, 1.885, 0, 90, 0, 51 [SEP] 31, Bowl, 1.743, 1.018, -1.557, 0, 0, 0, 42 [SEP] 32, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 33, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 34, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 35, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 36, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 37, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 38, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 39, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 40, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 41, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 42, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 43, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 44, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 45, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 46, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 47, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 48, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 49, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 50, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 51, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 52, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 53, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 54, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 55, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 56, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 57, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 58, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 59, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 60, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 61, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 62, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 63, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, EastWall, , , , , , , [SEP] 66, SouthWall, , , , , , , [SEP] 67, WestWall, , , , , , , ", "output": ["STEP 1: Turn right to near the toaster. | STEP 2: Pick up the tomato off of the counter. | STEP 3: Go to the microwave on the right. | STEP 4: Open the microwave, heat the tomato and take the tomato out. | STEP 5: Turn left and take the tomato to the sink. | STEP 6: Set the tomato in the sink. | END"]} {"id": "trial_T20190907_234127_934392-1", "input": "Place the cup with a knife on the circle table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 0.0, 0, 270, 0, [SEP] 1, DishSponge, -2.019, 0.423, 1.417, 0, 270, 0, 95 [SEP] 2, Kettle, 2.754, 0.912, 1.383, 0, 0, 0, 77 [SEP] 3, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 80 [SEP] 4, ButterKnife, -0.055, 0.911, 1.214, 0, 90, 0, 53 [SEP] 5, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 57 [SEP] 6, Pot, 1.688, 0.915, 1.468, 0, 0, 0, 77 [SEP] 7, Fork, -0.766, 0.821, -1.257, 0, 90, 0, 101 [SEP] 8, Fork, 1.902, 0.771, -0.498, 0, 90, 0, 56 [SEP] 9, Spatula, 0.888, 0.926, -0.684, 0, 90, 0, 42 [SEP] 10, Spatula, 1.955, 0.926, 1.044, 0, 0, 0, 77 [SEP] 11, Plate, 2.777, 1.566, -0.578, 0, 0, 0, 97 [SEP] 12, Cup, 0.415, 1.782, 1.391, 0, 180, 0, 100 [SEP] 13, Egg, 0.518, 1.822, 1.455, 0, 180, 0, 100 [SEP] 14, Egg, 0.263, 0.803, -0.596, 0, 0, 0, 99 [SEP] 15, Knife, -0.836, 0.853, -1.328, 0, 180, 0, 101 [SEP] 16, SoapBottle, -0.887, 0.826, -1.328, 0, 0, 0, 101 [SEP] 17, SaltShaker, 1.635, 1.651, -0.849, 0, 180, 0, 64 [SEP] 18, SaltShaker, -0.240, 0.908, -0.330, 0, 0, 0, 42 [SEP] 19, SoapBottle, 1.155, 0.917, 1.044, 0, 0, 0, 77 [SEP] 20, Plate, 2.488, 0.914, 1.214, 0, 0, 0, 77 [SEP] 21, Fork, -0.227, 0.771, 1.122, 0, 90, 0, 47 [SEP] 22, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 48 [SEP] 23, Bread, 2.221, 0.969, 1.468, 0, 0, 0, 77 [SEP] 24, Egg, -0.694, 0.858, -1.155, 0, 90, 0, 101 [SEP] 25, Kettle, -0.198, 0.912, 1.299, 0, 0, 0, 53 [SEP] 26, Tomato, 2.962, 1.050, -0.447, 0, 0, 0, 97 [SEP] 27, Cup, 1.955, 1.653, 1.429, 0, 0, 0, 54 [SEP] 28, Spatula, -0.055, 0.926, 1.129, 0, 0, 0, 53 [SEP] 29, Apple, 2.156, 0.980, -0.684, 0, 0, 0, 42 [SEP] 30, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 45 [SEP] 31, Lettuce, 2.913, 1.345, -0.613, 15.100, 4.744, 18.666, 97 [SEP] 32, SaltShaker, 2.221, 0.908, 1.214, 0, 0, 0, 77 [SEP] 33, Knife, -0.983, 0.853, -1.206, 0, 270, 0, 101 [SEP] 34, Potato, 2.653, 0.761, -0.565, 0, 0, 0, 97 [SEP] 35, PepperShaker, -0.990, 0.817, -1.038, 0, 0, 0, 101 [SEP] 36, ButterKnife, 1.955, 0.911, 1.129, 0, 90, 0, 77 [SEP] 37, Bowl, 1.487, 1.652, 1.508, 0, 0, 0, 65 [SEP] 38, DishSponge, -0.017, 0.765, -0.651, 0, 0, 0, 99 [SEP] 39, Spoon, 2.837, 0.772, 1.198, 0, 0, 0, 86 [SEP] 40, Mug, 2.653, 1.283, -0.578, 0, 0, 0, 97 [SEP] 41, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 42, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 43, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 44, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 45, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 46, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 47, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 48, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 50, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 51, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 52, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 53, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 54, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 55, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 56, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 57, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 58, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 59, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 60, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 61, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 62, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 64, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 65, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 71, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 72, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 73, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 77, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 78, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 80, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 81, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 82, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 83, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 84, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 85, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 86, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 87, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 88, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 89, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 94, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 95, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 96, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 97, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 98, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 99, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 100, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 101, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 102, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, walk past the oven, and then turn left to find a loaf of bread on the counter. | STEP 2: Pick up the knife to the left of the bread. | STEP 3: Look up to the cabinets above. | STEP 4: Open the left cabinet and place the knife in the clear cup. | STEP 5: Take out the cup with the knife from the cabinet and close it. | STEP 6: Turn left, walk past the kitchen counter, and turn left towards a small circle table. | STEP 7: Place the glass cup next to the salt shaker on the table. | END"]} {"id": "trial_T20190908_121612_995194-0", "input": "Place a chilled piece of lettuce near a pot SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 0.5, 0, 0, 0, [SEP] 1, Potato, 2.591, 0.761, -0.565, 0, 90, 0, 101 [SEP] 2, Kettle, 1.422, 0.912, 1.299, 0, 0, 0, 81 [SEP] 3, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 84 [SEP] 4, ButterKnife, 1.141, 0.911, -0.684, 0, 0, 0, 46 [SEP] 5, ButterKnife, 1.141, 0.911, -0.345, 0, 0, 0, 46 [SEP] 6, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 61 [SEP] 7, Spoon, 1.395, 0.912, -0.345, 0, 0, 0, 46 [SEP] 8, Fork, -0.157, 0.766, -0.707, 0, 90, 0, 103 [SEP] 9, Spatula, 1.155, 0.926, 1.468, 0, 0, 0, 81 [SEP] 10, Spatula, -0.151, 0.926, 1.299, 0, 270, 0, 57 [SEP] 11, Plate, 1.880, 1.658, 1.468, 0, 0, 0, 58 [SEP] 12, Egg, 2.962, 0.762, -0.473, 0, 0, 0, 101 [SEP] 13, Egg, -0.990, 0.858, -1.255, 0, 0, 0, 105 [SEP] 14, Knife, -0.103, 0.944, 1.299, 0, 90, 0, 57 [SEP] 15, Knife, 0.634, 0.944, -0.345, 0, 0, 0, 46 [SEP] 16, SoapBottle, 1.485, 0.120, -0.538, 0, 180, 0, 63 [SEP] 17, SoapBottle, -0.198, 0.917, 1.468, 0, 0, 0, 57 [SEP] 18, Bowl, 0.865, 2.151, 1.506, 0, 0, 0, 55 [SEP] 19, Bowl, 2.653, 1.286, -0.709, 0, 0, 0, 101 [SEP] 20, PepperShaker, -0.983, 0.817, -1.411, 0, 90, 0, 105 [SEP] 21, Bread, 2.777, 1.077, -0.644, 0, 0, 0, 101 [SEP] 22, Bread, 2.715, 1.621, -0.709, 0, 0, 0, 101 [SEP] 23, SoapBottle, 2.524, 1.661, 1.390, 0, 0, 0, 71 [SEP] 24, Plate, 1.688, 0.914, 1.299, 0, 0, 0, 81 [SEP] 25, Fork, -0.983, 0.821, -1.308, 0, 270, 0, 105 [SEP] 26, Pot, 2.221, 0.915, 1.214, 0, 0, 0, 81 [SEP] 27, Bread, 2.754, 0.969, 1.383, 0, 0, 0, 81 [SEP] 28, Egg, 0.466, 1.822, 1.391, 0, 180, 0, 104 [SEP] 29, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 52 [SEP] 30, Tomato, 2.591, 1.050, -0.447, 0, 0, 0, 101 [SEP] 31, Cup, 2.962, 1.016, -0.840, 0, 0, 0, 101 [SEP] 32, Spatula, 2.221, 0.926, 1.383, 0, 0, 0, 81 [SEP] 33, Apple, -1.991, 0.492, 1.332, 0, 270, 0, 99 [SEP] 34, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 49 [SEP] 35, Lettuce, 1.155, 0.992, 1.214, 0, 0, 0, 81 [SEP] 36, SaltShaker, 1.413, 1.650, 1.508, 0, 0, 0, 69 [SEP] 37, Knife, -0.621, 0.853, -1.257, 0, 90, 0, 105 [SEP] 38, Potato, 2.962, 1.598, -0.644, 0, 0, 0, 101 [SEP] 39, PepperShaker, -0.887, 0.817, -1.400, 0, 0, 0, 105 [SEP] 40, ButterKnife, -0.797, 0.810, -1.133, 0, 150.000, 0, 105 [SEP] 41, Bowl, 2.777, 0.724, -0.504, 0, 0, 0, 101 [SEP] 42, DishSponge, -0.939, 0.820, -1.110, 0, 0, 0, 105 [SEP] 43, Spoon, -0.087, 0.766, -0.651, 0, 0, 0, 103 [SEP] 44, Mug, 2.754, 0.906, 1.044, 0, 0, 0, 81 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 107, NorthWall, , , , , , , [SEP] 108, EastWall, , , , , , , [SEP] 109, SouthWall, , , , , , , [SEP] 110, WestWall, , , , , , , ", "output": ["STEP 1: Go to the small covered gray table | STEP 2: Pick up a knife from the table | STEP 3: Go to the counter right of the stove | STEP 4: Cut the lettuce on the counter | STEP 5: Go to the fridge | STEP 6: Place the knife in the fridge | STEP 7: Go to the counter where the lettuce is | STEP 8: Take a piece of lettuce | STEP 9: Go to the fridge | STEP 10: Chill the lettuce | STEP 11: Go to the counter | STEP 12: Place the lettuce near a pot | END"]} {"id": "trial_T20190909_160509_108044-1", "input": "Move the glass and spoon from the counter to the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 0.5, 0, 0, 0, [SEP] 1, Pan, 2.777, 1.018, -0.644, 0, 0, 0, 107 [SEP] 2, Potato, 1.141, 0.946, -0.6, 0, 0, 0, 46 [SEP] 3, DishSponge, 1.955, 0.911, 1.299, 0, 0, 0, 81 [SEP] 4, Kettle, 1.902, 0.912, -0.430, 0, 0, 0, 46 [SEP] 5, Kettle, 1.422, 0.912, 1.214, 0, 0, 0, 81 [SEP] 6, Spoon, 1.967, 0.772, -0.460, 0, 270, 0, 60 [SEP] 7, Spoon, -0.682, 0.822, -1.400, 0, 270, 0, 105 [SEP] 8, Spatula, -0.734, 0.835, -1.255, 0, 0, 0, 105 [SEP] 9, Spatula, 0.251, 0.926, -0.316, 0, 0, 0, 46 [SEP] 10, Cup, -0.055, 0.909, 1.129, 0, 0, 0, 57 [SEP] 11, SoapBottle, -0.246, 0.917, 1.214, 0, 0, 0, 57 [SEP] 12, SoapBottle, -0.055, 0.917, 1.383, 0, 0, 0, 57 [SEP] 13, Tomato, 1.688, 0.942, 1.129, 0, 0, 0, 81 [SEP] 14, Bowl, 1.487, 1.652, 1.508, 0, 0, 0, 69 [SEP] 15, SaltShaker, 2.120, 1.650, 1.432, 0, 0, 0, 70 [SEP] 16, SaltShaker, -0.621, 0.817, -1.155, 0, 90, 0, 105 [SEP] 17, Bread, 2.777, 1.346, -0.709, 0, 0, 0, 101 [SEP] 18, Bread, 1.422, 0.969, 1.468, 0, 0, 0, 81 [SEP] 19, Lettuce, 2.777, 1.644, -0.709, 0, 0, 0, 101 [SEP] 20, Mug, 1.155, 0.906, 1.468, 0, 0, 0, 81 [SEP] 21, Apple, -0.694, 0.889, -1.257, 0, 90, 0, 105 [SEP] 22, Apple, 0.570, 1.853, 1.455, 0, 180, 0, 104 [SEP] 23, SoapBottle, -1.991, 0.429, 1.375, 0, 270, 0, 99 [SEP] 24, Plate, 2.754, 0.914, 1.299, 0, 0, 0, 81 [SEP] 25, Fork, 1.925, 0.771, 1.122, 0, 90, 0, 79 [SEP] 26, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 61 [SEP] 27, Bread, 2.221, 0.969, 1.129, 0, 0, 0, 81 [SEP] 28, Egg, 2.156, 0.949, -0.769, 0, 0, 0, 46 [SEP] 29, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 84 [SEP] 30, Tomato, 0.193, 0.797, -0.762, 0, 0, 0, 103 [SEP] 31, Cup, -0.160, 0.112, 1.117, 0, 0, 0, 74 [SEP] 32, Spatula, -1.056, 0.835, -1.308, 0, 90, 0, 105 [SEP] 33, Apple, -0.887, 0.889, -1.400, 0, 0, 0, 105 [SEP] 34, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 49 [SEP] 35, Lettuce, 1.955, 0.992, 1.468, 0, 0, 0, 81 [SEP] 36, SaltShaker, -0.198, 0.908, 1.383, 0, 0, 0, 57 [SEP] 37, Knife, 0.123, 0.798, -0.707, 0, 90, 0, 103 [SEP] 38, Potato, 2.591, 1.598, -0.644, 0, 90, 0, 101 [SEP] 39, PepperShaker, 2.156, 0.908, -0.684, 0, 0, 0, 46 [SEP] 40, ButterKnife, -0.836, 0.820, -1.473, 0, 0, 0, 105 [SEP] 41, Bowl, 0.862, 1.653, -0.771, 0, 180, 0, 56 [SEP] 42, DishSponge, 1.447, 1.655, -0.810, 0, 180, 0, 68 [SEP] 43, Spoon, -0.103, 0.912, 1.129, 0, 0, 0, 57 [SEP] 44, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 46 [SEP] 45, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 46, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 47, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 48, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 49, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 50, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 51, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 52, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 53, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 54, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 55, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 56, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 57, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 58, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 59, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 60, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 61, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 62, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 64, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 65, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 66, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 67, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 76, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 77, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 79, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 81, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 82, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 84, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 85, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 88, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 89, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 90, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 91, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 92, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 93, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 98, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 99, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 100, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 101, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 102, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 103, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 104, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 105, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 106, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 107, , , , , , , , [SEP] 108, NorthWall, , , , , , , [SEP] 109, EastWall, , , , , , , [SEP] 110, SouthWall, , , , , , , [SEP] 111, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and go to the counter to the left of the stove. | STEP 2: Pick up the glass with the spoon in it. | STEP 3: Turn around and go to the sink. | STEP 4: Put the glass and spoon in the sink. | END"]} {"id": "trial_T20190909_075345_247619-1", "input": "Put a microwaved potato on a kitchen table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.5, 0.900, 0.5, 0, 270, 0, [SEP] 1, Pan, 0.514, 1.654, -0.773, 0, 180, 0, 83 [SEP] 2, Pan, 1.155, 0.911, 1.129, 0, 0, 0, 79 [SEP] 3, DishSponge, -2.019, 0.423, 1.459, 0, 270, 0, 97 [SEP] 4, ButterKnife, 0.123, 0.765, -0.596, 0, 0, 0, 101 [SEP] 5, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 6, Spoon, -0.017, 0.766, -0.541, 0, 270, 0, 101 [SEP] 7, Fork, -0.157, 0.766, -0.707, 0, 90, 0, 101 [SEP] 8, Fork, 1.456, 0.772, 1.122, 0, 90, 0, 62 [SEP] 9, Spatula, 2.156, 0.926, -0.6, 0, 0, 0, 44 [SEP] 10, Plate, 1.955, 0.914, 1.468, 0, 0, 0, 79 [SEP] 11, Knife, 0.634, 0.944, -0.515, 0, 0, 0, 44 [SEP] 12, SoapBottle, -0.049, 0.120, 1.077, 0, 0, 0, 72 [SEP] 13, Tomato, 2.653, 1.320, -0.775, 0, 0, 0, 99 [SEP] 14, Tomato, -1.962, 0.455, 1.332, 0, 270, 0, 97 [SEP] 15, SaltShaker, -0.055, 0.908, 1.044, 0, 0, 0, 55 [SEP] 16, SaltShaker, -0.151, 0.908, 1.214, 0, 0, 0, 55 [SEP] 17, PepperShaker, -0.621, 0.817, -1.257, 0, 90, 0, 103 [SEP] 18, PepperShaker, 0.251, 0.908, -0.316, 0, 0, 0, 44 [SEP] 19, Bread, 2.715, 1.077, -0.709, 0, 0, 0, 99 [SEP] 20, Bread, 2.221, 0.969, 1.214, 0, 0, 0, 79 [SEP] 21, SoapBottle, 0.140, 1.661, -0.732, 0, 180, 0, 84 [SEP] 22, Plate, 2.488, 0.914, 1.214, 0, 0, 0, 79 [SEP] 23, Fork, -0.911, 0.821, -1.257, 0, 90, 0, 103 [SEP] 24, Pot, 1.872, 0.118, -0.458, 0, 180, 0, 90 [SEP] 25, Bread, 2.715, 1.621, -0.644, 0, 0, 0, 99 [SEP] 26, Egg, -0.151, 0.949, 1.383, 0, 0, 0, 55 [SEP] 27, Kettle, 2.188, 0.115, 1.119, 0, 0, 0, 80 [SEP] 28, Tomato, 3.301, 0.871, -0.543, 0, 0, 0, 99 [SEP] 29, Cup, -0.839, 0.818, -1.206, 0, 90, 0, 103 [SEP] 30, Spatula, 1.141, 0.926, -0.769, 0, 0, 0, 44 [SEP] 31, Apple, 2.754, 0.980, 1.383, 0, 0, 0, 79 [SEP] 32, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 47 [SEP] 33, Lettuce, 1.141, 0.992, -0.430, 0, 0, 0, 44 [SEP] 34, SaltShaker, 1.487, 1.650, 1.432, 0, 0, 0, 67 [SEP] 35, Knife, -1.056, 0.853, -1.257, 0, 90, 0, 103 [SEP] 36, Potato, -0.621, 0.855, -1.155, 0, 90, 0, 103 [SEP] 37, PepperShaker, 1.522, 1.651, -0.693, 0, 180, 0, 66 [SEP] 38, ButterKnife, 2.754, 0.911, 1.468, 0, 0, 0, 79 [SEP] 39, Bowl, 2.524, 1.653, 1.468, 0, 0, 0, 69 [SEP] 40, DishSponge, -0.766, 0.820, -1.411, 0, 90, 0, 103 [SEP] 41, Spoon, 1.524, 0.772, -0.498, 0, 180, 0, 74 [SEP] 42, Mug, -0.887, 0.815, -1.473, 0, 0, 0, 103 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 105, NorthWall, , , , , , , [SEP] 106, EastWall, , , , , , , [SEP] 107, SouthWall, , , , , , , [SEP] 108, WestWall, , , , , , , ", "output": ["STEP 1: Go forward past the end of the left counter and turn left to go to the round table in the corner. | STEP 2: Pick up the potato from the table. | STEP 3: Turn and go to the stove behind you. | STEP 4: Cook the potato in the microwave above the stove. | STEP 5: Take the cooked potato back to the round table. | STEP 6: Put the potato back on the table. | END"]} {"id": "trial_T20190908_044410_129734-0", "input": "Place the refrigerated slice of lettuce in the recycle bin in the corner of the room. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, 0.0, 0, 90, 0, [SEP] 1, DishSponge, -0.087, 0.765, -0.541, 0, 0, 0, 98 [SEP] 2, Kettle, 2.488, 0.912, 1.214, 0, 0, 0, 76 [SEP] 3, Kettle, 1.955, 0.912, 1.129, 0, 0, 0, 76 [SEP] 4, Spoon, 2.743, 0.773, 1.160, 0, 90, 0, 85 [SEP] 5, Spoon, 2.488, 0.912, 1.383, 0, 0, 0, 76 [SEP] 6, Plate, 1.688, 0.914, 1.299, 0, 0, 0, 76 [SEP] 7, Cup, 0.390, 2.154, 1.467, 0, 0, 0, 75 [SEP] 8, Cup, 2.715, 1.016, -0.578, 0, 0, 0, 96 [SEP] 9, Tomato, -0.621, 0.852, -1.360, 0, 90, 0, 100 [SEP] 10, Bowl, 1.155, 0.909, 1.468, 0, 0, 0, 76 [SEP] 11, Bowl, 2.900, 1.561, -0.709, 0, 0, 0, 96 [SEP] 12, PepperShaker, -0.734, 0.817, -1.255, 0, 0, 0, 100 [SEP] 13, Bread, 2.715, 1.346, -0.709, 0, 0, 0, 96 [SEP] 14, Bread, 2.754, 0.969, 1.468, 0, 0, 0, 76 [SEP] 15, Lettuce, 1.902, 0.992, -0.430, 0, 0, 0, 41 [SEP] 16, Mug, 2.715, 1.014, -0.775, 0, 0, 0, 96 [SEP] 17, Mug, -0.734, 0.815, -1.400, 0, 0, 0, 100 [SEP] 18, SoapBottle, 1.955, 0.917, 1.553, 0, 0, 0, 76 [SEP] 19, Plate, 2.221, 0.914, 1.129, 0, 0, 0, 76 [SEP] 20, Fork, 2.806, 0.772, 1.122, 0, 90, 0, 85 [SEP] 21, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 47 [SEP] 22, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 41 [SEP] 23, Egg, -0.911, 0.858, -1.308, 0, 90, 0, 100 [SEP] 24, Kettle, 2.221, 0.912, 1.383, 0, 0, 0, 76 [SEP] 25, Tomato, -2.019, 0.455, 1.417, 0, 270, 0, 94 [SEP] 26, Cup, 0.363, 1.782, 1.391, 0, 180, 0, 99 [SEP] 27, Spatula, 0.251, 0.926, -0.330, 0, 0, 0, 41 [SEP] 28, Apple, -0.734, 0.889, -1.110, 0, 0, 0, 100 [SEP] 29, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 44 [SEP] 30, Lettuce, -0.198, 0.992, 1.214, 0, 0, 0, 52 [SEP] 31, SaltShaker, 1.155, 0.908, 1.214, 0, 0, 0, 76 [SEP] 32, Knife, -0.198, 0.944, 1.468, 0, 180, 0, 52 [SEP] 33, Potato, 0.888, 0.946, -0.345, 0, 0, 0, 41 [SEP] 34, PepperShaker, 0.750, 1.651, -0.888, 0, 180, 0, 80 [SEP] 35, ButterKnife, 1.422, 0.911, 1.214, 0, 0, 0, 76 [SEP] 36, Bowl, 1.422, 0.909, 1.468, 0, 0, 0, 76 [SEP] 37, DishSponge, -0.911, 0.820, -1.411, 0, 90, 0, 100 [SEP] 38, Spoon, 1.955, 0.912, 1.299, 0, 0, 0, 76 [SEP] 39, Mug, 2.838, 0.720, -0.473, 0, 0, 0, 96 [SEP] 40, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 41, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 42, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 43, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 44, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 45, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 46, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 47, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 49, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 50, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 51, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 52, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 53, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 54, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 55, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 56, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 57, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 58, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 59, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 60, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 61, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 63, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 64, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 65, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 70, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 71, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 72, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 75, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 76, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 77, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 79, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 80, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 81, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 82, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 83, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 84, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 85, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 86, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 87, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 88, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 89, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 93, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 94, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 95, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 96, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 97, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 98, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 99, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 100, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 101, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 102, NorthWall, , , , , , , [SEP] 103, EastWall, , , , , , , [SEP] 104, SouthWall, , , , , , , [SEP] 105, WestWall, , , , , , , ", "output": ["STEP 1: Go straight and move to the left to face the blue plate on the counter top. | STEP 2: Pick the knife up from off of the counter top. | STEP 3: Turn around and move to the left to face the toaster next to the refrigerator. | STEP 4: Slice the lettuce on the counter top. | STEP 5: Turn around and move to the left to face the blue recycle bin in the corner of the room. | STEP 6: Place the knife in the recycle bin. | STEP 7: Turn around and walk to the end of the room and turn right to face the counter top next to the refrigerator. | STEP 8: Pick up a slice of the lettuce. | STEP 9: Move to the left to face the refrigerator. | STEP 10: Place the slice of lettuce in the refrigerator, close the refrigerator, wait a second, open the refrigerator, pick up the slice of lettuce and close the refrigerator. | STEP 11: Turn to the right and walk to the end of the room to face the blue recycle bin in the corner of the room. | STEP 12: Place the slice of lettuce in the recycle bin. | END"]} {"id": "trial_T20190912_012305_974925-1", "input": "put two pens in the drawer 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, 0.949, 1.5, 0, 90, 0, [SEP] 1, Vase, 1.950, 0.993, -2.125, 0, 270, 0, 41 [SEP] 2, CD, 1.576, 0.179, -1.786, 0, 270, 0, 38 [SEP] 3, CD, -0.970, 0.784, -0.548, 0, 0, 0, 62 [SEP] 4, CellPhone, 2.235, 0.988, -2.212, 0, 270, 0, 41 [SEP] 5, CellPhone, 2.381, 0.610, -0.172, 0, 0, 0, 26 [SEP] 6, Pen, -0.970, 0.789, -0.338, 0, 0, 0, 62 [SEP] 7, Pen, 3.087, 0.993, -1.774, 0, 270, 0, 41 [SEP] 8, Pen, -0.253, 0.789, 3.115, 0, 180, 0, 48 [SEP] 9, CreditCard, -0.776, 0.379, -0.476, 0, 0, 0, 61 [SEP] 10, Book, 2.803, 0.985, -1.774, 0, 270, 0, 41 [SEP] 11, AlarmClock, 2.519, 0.989, -1.774, 0, 270, 0, 41 [SEP] 12, AlarmClock, -0.904, 0.785, 0.081, 0, 180, 0, 62 [SEP] 13, Book, -0.772, 0.785, -0.128, 0, 0, 0, 62 [SEP] 14, KeyChain, 0.117, 1.109, 3.226, 0, 270, 0, 49 [SEP] 15, CreditCard, 1.666, 0.988, -2.212, 0, 270, 0, 41 [SEP] 16, Pen, 1.666, 0.993, -1.950, 0, 270, 0, 41 [SEP] 17, Pencil, 3.300, 0.727, 1.352, 0, 180, 0, 66 [SEP] 18, Laptop, 1.888, 0.607, 0.068, 0, 0, 0, 26 [SEP] 19, Vase, 3.377, 0.728, 1.443, 0, 180, 0, 66 [SEP] 20, AlarmClock, 2.234, 0.989, -1.862, 0, 270, 0, 41 [SEP] 21, Pillow, 2.052, 0.674, 0.549, 0, 0, 0, 26 [SEP] 22, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 26 [SEP] 23, CellPhone, 3.222, 0.723, 1.488, 0, 180, 0, 66 [SEP] 24, CD, 3.087, 0.987, -2.125, 0, 270, 0, 41 [SEP] 25, Vase, 2.370, 0.184, -1.786, 0, 270, 0, 43 [SEP] 26, Bed, 2.217, 0.050, 0.585, 0, 0, 0, [SEP] 27, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0, [SEP] 28, Painting, 2.990, 1.592, 1.567, 90, 0, 0, [SEP] 29, Painting, 1.524, 1.592, 1.567, 90, 0, 0, [SEP] 30, Mirror, -1.190, 1.417, -0.223, 0, 270, 0, [SEP] 31, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0, [SEP] 32, Window, -2.629, 1.460, 2.891, 90, 270, 0, [SEP] 33, Window, -2.629, 1.460, 4.084, 90, 270, 0, [SEP] 34, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0, [SEP] 35, Drawer, 2.490, 0.949, -1.703, 0, 0, 0, [SEP] 36, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0, [SEP] 37, Drawer, 1.975, 0.949, -1.703, 0, 0, 0, [SEP] 38, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0, [SEP] 39, Drawer, 1.457, 0.949, -1.703, 0, 0, 0, [SEP] 40, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0, [SEP] 41, Dresser, 2.234, 0.048, -1.950, 0, 0, 0, [SEP] 42, Drawer, 3.011, 0.949, -1.703, 0, 0, 0, [SEP] 43, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0, [SEP] 44, Shelf, -0.163, 1.461, 3.219, 0, 180, 0, [SEP] 45, Drawer, -0.161, 0.242, 3.166, 0, 180, 0, [SEP] 46, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0, [SEP] 47, Drawer, -0.161, 0.562, 3.168, 0, 180, 0, [SEP] 48, Shelf, -0.162, 0.922, 3.164, 0, 180, 0, [SEP] 49, Shelf, -0.162, 1.241, 3.163, 0, 180, 0, [SEP] 50, Blinds, -2.550, 2.486, 2.911, 0, 90, 0, [SEP] 51, Blinds, -2.550, 2.486, 4.107, 0, 90, 0, [SEP] 52, Drawer, -0.833, 0.217, -0.336, 0, 90, 0, [SEP] 53, Drawer, -0.833, 0.217, 0.486, 0, 90, 0, [SEP] 54, Drawer, -0.833, 0.628, -0.747, 0, 90, 0, [SEP] 55, Drawer, -0.833, 0.217, 0.075, 0, 90, 0, [SEP] 56, Drawer, -0.833, 0.628, 0.486, 0, 90, 0, [SEP] 57, Drawer, -0.833, 0.217, -0.747, 0, 90, 0, [SEP] 58, Drawer, -0.833, 0.423, -0.336, 0, 90, 0, [SEP] 59, Drawer, -0.833, 0.423, 0.075, 0, 90, 0, [SEP] 60, Drawer, -0.833, 0.423, 0.486, 0, 90, 0, [SEP] 61, Drawer, -0.833, 0.423, -0.747, 0, 90, 0, [SEP] 62, Dresser, -0.934, 0.050, -0.129, 0, 90, 0, [SEP] 63, Drawer, -0.833, 0.628, 0.075, 0, 90, 0, [SEP] 64, Drawer, -0.833, 0.628, -0.336, 0, 90, 0, [SEP] 65, Drawer, 3.454, 0.212, 1.262, 0, 180, 0, [SEP] 66, SideTable, 3.455, 0.046, 1.328, 0, 180, 0, [SEP] 67, Drawer, 3.454, 0.504, 1.262, 0, 180, 0, [SEP] 68, NorthWall, , , , , , , [SEP] 69, EastWall, , , , , , , [SEP] 70, SouthWall, , , , , , , [SEP] 71, WestWall, , , , , , , ", "output": ["STEP 1: turn right and move to the cabinet on the right | STEP 2: grab the pen off of the top of the cabinet | STEP 3: turn right and walk over to the tall cabinet at the end of the room | STEP 4: put the pen in the second to the bottom drawer | STEP 5: move right a bit to stand in front of the cabinet | STEP 6: grab the pen off of the cabinet | STEP 7: move to the left a bit to stand on the left side of the cabinet | STEP 8: place the pen in the same drawer you put the other pen in | END"]} {"id": "trial_T20190912_012305_974925-2", "input": "Place two red pens in top drawer of brown 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, 0.949, 1.5, 0, 90, 0, [SEP] 1, Vase, 1.950, 0.993, -2.125, 0, 270, 0, 41 [SEP] 2, CD, 1.576, 0.179, -1.786, 0, 270, 0, 38 [SEP] 3, CD, -0.970, 0.784, -0.548, 0, 0, 0, 62 [SEP] 4, CellPhone, 2.235, 0.988, -2.212, 0, 270, 0, 41 [SEP] 5, CellPhone, 2.381, 0.610, -0.172, 0, 0, 0, 26 [SEP] 6, Pen, -0.970, 0.789, -0.338, 0, 0, 0, 62 [SEP] 7, Pen, 3.087, 0.993, -1.774, 0, 270, 0, 41 [SEP] 8, Pen, -0.253, 0.789, 3.115, 0, 180, 0, 48 [SEP] 9, CreditCard, -0.776, 0.379, -0.476, 0, 0, 0, 61 [SEP] 10, Book, 2.803, 0.985, -1.774, 0, 270, 0, 41 [SEP] 11, AlarmClock, 2.519, 0.989, -1.774, 0, 270, 0, 41 [SEP] 12, AlarmClock, -0.904, 0.785, 0.081, 0, 180, 0, 62 [SEP] 13, Book, -0.772, 0.785, -0.128, 0, 0, 0, 62 [SEP] 14, KeyChain, 0.117, 1.109, 3.226, 0, 270, 0, 49 [SEP] 15, CreditCard, 1.666, 0.988, -2.212, 0, 270, 0, 41 [SEP] 16, Pen, 1.666, 0.993, -1.950, 0, 270, 0, 41 [SEP] 17, Pencil, 3.300, 0.727, 1.352, 0, 180, 0, 66 [SEP] 18, Laptop, 1.888, 0.607, 0.068, 0, 0, 0, 26 [SEP] 19, Vase, 3.377, 0.728, 1.443, 0, 180, 0, 66 [SEP] 20, AlarmClock, 2.234, 0.989, -1.862, 0, 270, 0, 41 [SEP] 21, Pillow, 2.052, 0.674, 0.549, 0, 0, 0, 26 [SEP] 22, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 26 [SEP] 23, CellPhone, 3.222, 0.723, 1.488, 0, 180, 0, 66 [SEP] 24, CD, 3.087, 0.987, -2.125, 0, 270, 0, 41 [SEP] 25, Vase, 2.370, 0.184, -1.786, 0, 270, 0, 43 [SEP] 26, Bed, 2.217, 0.050, 0.585, 0, 0, 0, [SEP] 27, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0, [SEP] 28, Painting, 2.990, 1.592, 1.567, 90, 0, 0, [SEP] 29, Painting, 1.524, 1.592, 1.567, 90, 0, 0, [SEP] 30, Mirror, -1.190, 1.417, -0.223, 0, 270, 0, [SEP] 31, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0, [SEP] 32, Window, -2.629, 1.460, 2.891, 90, 270, 0, [SEP] 33, Window, -2.629, 1.460, 4.084, 90, 270, 0, [SEP] 34, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0, [SEP] 35, Drawer, 2.490, 0.949, -1.703, 0, 0, 0, [SEP] 36, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0, [SEP] 37, Drawer, 1.975, 0.949, -1.703, 0, 0, 0, [SEP] 38, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0, [SEP] 39, Drawer, 1.457, 0.949, -1.703, 0, 0, 0, [SEP] 40, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0, [SEP] 41, Dresser, 2.234, 0.048, -1.950, 0, 0, 0, [SEP] 42, Drawer, 3.011, 0.949, -1.703, 0, 0, 0, [SEP] 43, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0, [SEP] 44, Shelf, -0.163, 1.461, 3.219, 0, 180, 0, [SEP] 45, Drawer, -0.161, 0.242, 3.166, 0, 180, 0, [SEP] 46, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0, [SEP] 47, Drawer, -0.161, 0.562, 3.168, 0, 180, 0, [SEP] 48, Shelf, -0.162, 0.922, 3.164, 0, 180, 0, [SEP] 49, Shelf, -0.162, 1.241, 3.163, 0, 180, 0, [SEP] 50, Blinds, -2.550, 2.486, 2.911, 0, 90, 0, [SEP] 51, Blinds, -2.550, 2.486, 4.107, 0, 90, 0, [SEP] 52, Drawer, -0.833, 0.217, -0.336, 0, 90, 0, [SEP] 53, Drawer, -0.833, 0.217, 0.486, 0, 90, 0, [SEP] 54, Drawer, -0.833, 0.628, -0.747, 0, 90, 0, [SEP] 55, Drawer, -0.833, 0.217, 0.075, 0, 90, 0, [SEP] 56, Drawer, -0.833, 0.628, 0.486, 0, 90, 0, [SEP] 57, Drawer, -0.833, 0.217, -0.747, 0, 90, 0, [SEP] 58, Drawer, -0.833, 0.423, -0.336, 0, 90, 0, [SEP] 59, Drawer, -0.833, 0.423, 0.075, 0, 90, 0, [SEP] 60, Drawer, -0.833, 0.423, 0.486, 0, 90, 0, [SEP] 61, Drawer, -0.833, 0.423, -0.747, 0, 90, 0, [SEP] 62, Dresser, -0.934, 0.050, -0.129, 0, 90, 0, [SEP] 63, Drawer, -0.833, 0.628, 0.075, 0, 90, 0, [SEP] 64, Drawer, -0.833, 0.628, -0.336, 0, 90, 0, [SEP] 65, Drawer, 3.454, 0.212, 1.262, 0, 180, 0, [SEP] 66, SideTable, 3.455, 0.046, 1.328, 0, 180, 0, [SEP] 67, Drawer, 3.454, 0.504, 1.262, 0, 180, 0, [SEP] 68, NorthWall, , , , , , , [SEP] 69, EastWall, , , , , , , [SEP] 70, SouthWall, , , , , , , [SEP] 71, WestWall, , , , , , , ", "output": ["STEP 1: go to black dresser on the left | STEP 2: pick up red pen to right of CD | STEP 3: go to left side of brown cabinet on the right | STEP 4: open top drawer below red pen on shelf of cabinet, place red pen in drawer, close drawer | STEP 5: face the front of brown cabinet | STEP 6: pick up red pen from cabinet shelf | STEP 7: go to left side of brown cabinet | STEP 8: place red pen in cabinet, close drawer | END"]} {"id": "trial_T20190907_153633_892990-1", "input": "grab the water can from shelf, 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, -3.0, 0.901, 1.75, 0, 270, 0, [SEP] 1, Bowl, -3.067, 0.881, 7.208, 0, 90, 0, 47 [SEP] 2, Watch, -2.700, 0.533, 3.898, 0, 270, 0, 56 [SEP] 3, Watch, -0.326, 0.793, 2.103, 0, 0, 0, 41 [SEP] 4, KeyChain, -5.215, 0.534, 7.175, 0, 135, 0, 57 [SEP] 5, CreditCard, -5.594, 0.533, 6.645, 0, 135, 0, 57 [SEP] 6, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 50 [SEP] 7, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 55 [SEP] 8, Vase, -6.053, 0.147, 3.954, 0, 0, 0, 46 [SEP] 9, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 51 [SEP] 10, Newspaper, -0.868, 0.438, 3.306, 0, 0, 0, 39 [SEP] 11, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 56 [SEP] 12, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 13, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 49 [SEP] 14, CreditCard, -3.067, 0.146, 7.225, 0, 90, 0, 50 [SEP] 15, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 53 [SEP] 16, KeyChain, -0.738, 0.794, 5.600, 0, 270, 0, 40 [SEP] 17, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 51 [SEP] 18, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 51 [SEP] 19, Bowl, -5.349, 0.535, 6.740, 0, 45, 0, 57 [SEP] 20, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 39 [SEP] 21, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 53 [SEP] 22, RemoteControl, -0.868, 0.441, 4.524, 0, 0, 0, 39 [SEP] 23, Watch, -0.845, 0.793, 2.002, 0, 0, 0, 41 [SEP] 24, Statue, -2.811, 0.540, 4.106, 0, 0, 0, 56 [SEP] 25, Statue, -2.492, 0.535, 3.752, 0, 180, 0, 56 [SEP] 26, Statue, -2.870, 1.289, 7.235, 0, 0, 0, 55 [SEP] 27, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 55 [SEP] 28, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 29, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 30, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 31, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 32, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 33, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 34, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 35, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 36, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 37, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 38, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 39, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 40, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 41, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 42, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 43, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 44, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 45, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 46, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 47, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 48, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 49, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 50, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 51, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 52, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 53, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 54, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 55, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 56, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 57, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 58, NorthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , ", "output": ["STEP 1: turn around, walk across the room to the black shelves | STEP 2: take the water can on the shelf | STEP 3: turn right, walk to the end table with a lamp on it | STEP 4: turn on the lamp | END"]} {"id": "trial_T20190907_153633_892990-2", "input": "Examine a water canister next to the light of a desk lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.0, 0.901, 1.75, 0, 270, 0, [SEP] 1, Bowl, -3.067, 0.881, 7.208, 0, 90, 0, 47 [SEP] 2, Watch, -2.700, 0.533, 3.898, 0, 270, 0, 56 [SEP] 3, Watch, -0.326, 0.793, 2.103, 0, 0, 0, 41 [SEP] 4, KeyChain, -5.215, 0.534, 7.175, 0, 135, 0, 57 [SEP] 5, CreditCard, -5.594, 0.533, 6.645, 0, 135, 0, 57 [SEP] 6, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 50 [SEP] 7, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 55 [SEP] 8, Vase, -6.053, 0.147, 3.954, 0, 0, 0, 46 [SEP] 9, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 51 [SEP] 10, Newspaper, -0.868, 0.438, 3.306, 0, 0, 0, 39 [SEP] 11, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 56 [SEP] 12, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 13, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 49 [SEP] 14, CreditCard, -3.067, 0.146, 7.225, 0, 90, 0, 50 [SEP] 15, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 53 [SEP] 16, KeyChain, -0.738, 0.794, 5.600, 0, 270, 0, 40 [SEP] 17, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 51 [SEP] 18, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 51 [SEP] 19, Bowl, -5.349, 0.535, 6.740, 0, 45, 0, 57 [SEP] 20, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 39 [SEP] 21, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 53 [SEP] 22, RemoteControl, -0.868, 0.441, 4.524, 0, 0, 0, 39 [SEP] 23, Watch, -0.845, 0.793, 2.002, 0, 0, 0, 41 [SEP] 24, Statue, -2.811, 0.540, 4.106, 0, 0, 0, 56 [SEP] 25, Statue, -2.492, 0.535, 3.752, 0, 180, 0, 56 [SEP] 26, Statue, -2.870, 1.289, 7.235, 0, 0, 0, 55 [SEP] 27, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 55 [SEP] 28, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 29, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 30, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 31, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 32, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 33, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 34, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 35, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 36, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 37, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 38, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 39, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 40, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 41, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 42, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 43, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 44, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 45, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 46, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 47, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 48, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 49, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 50, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 51, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 52, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 53, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 54, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 55, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 56, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 57, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 58, NorthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around towards the door, turn left towards the lamp, and then walk straight towards the wooden shelves. | STEP 2: Pick up the water canister on the bottom of the shelves. | STEP 3: Turn right towards the lamp | STEP 4: Turn on the lamp. | END"]} {"id": "trial_T20190907_153633_892990-4", "input": "Examine a watering can by the light of a desk lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.0, 0.901, 1.75, 0, 270, 0, [SEP] 1, Bowl, -3.067, 0.881, 7.208, 0, 90, 0, 47 [SEP] 2, Watch, -2.700, 0.533, 3.898, 0, 270, 0, 56 [SEP] 3, Watch, -0.326, 0.793, 2.103, 0, 0, 0, 41 [SEP] 4, KeyChain, -5.215, 0.534, 7.175, 0, 135, 0, 57 [SEP] 5, CreditCard, -5.594, 0.533, 6.645, 0, 135, 0, 57 [SEP] 6, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 50 [SEP] 7, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 55 [SEP] 8, Vase, -6.053, 0.147, 3.954, 0, 0, 0, 46 [SEP] 9, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 51 [SEP] 10, Newspaper, -0.868, 0.438, 3.306, 0, 0, 0, 39 [SEP] 11, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 56 [SEP] 12, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 13, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 49 [SEP] 14, CreditCard, -3.067, 0.146, 7.225, 0, 90, 0, 50 [SEP] 15, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 53 [SEP] 16, KeyChain, -0.738, 0.794, 5.600, 0, 270, 0, 40 [SEP] 17, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 51 [SEP] 18, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 51 [SEP] 19, Bowl, -5.349, 0.535, 6.740, 0, 45, 0, 57 [SEP] 20, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 39 [SEP] 21, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 53 [SEP] 22, RemoteControl, -0.868, 0.441, 4.524, 0, 0, 0, 39 [SEP] 23, Watch, -0.845, 0.793, 2.002, 0, 0, 0, 41 [SEP] 24, Statue, -2.811, 0.540, 4.106, 0, 0, 0, 56 [SEP] 25, Statue, -2.492, 0.535, 3.752, 0, 180, 0, 56 [SEP] 26, Statue, -2.870, 1.289, 7.235, 0, 0, 0, 55 [SEP] 27, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 55 [SEP] 28, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 29, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 30, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 31, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 32, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 33, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 34, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 35, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 36, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 37, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 38, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 39, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 40, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 41, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 42, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 43, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 44, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 45, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 46, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 47, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 48, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 49, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 50, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 51, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 52, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 53, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 54, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 55, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 56, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 57, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 58, NorthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the black shelves against the wall containing a statue. | STEP 2: Pick up the watering can from the bottom shelf. | STEP 3: Turn around and walk to the lamp on the small desk next to the sofa. | STEP 4: Turn on the lamp. | END"]} {"id": "trial_T20190907_153633_892990-5", "input": "Carry a tea pot 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, 1.75, 0, 270, 0, [SEP] 1, Bowl, -3.067, 0.881, 7.208, 0, 90, 0, 47 [SEP] 2, Watch, -2.700, 0.533, 3.898, 0, 270, 0, 56 [SEP] 3, Watch, -0.326, 0.793, 2.103, 0, 0, 0, 41 [SEP] 4, KeyChain, -5.215, 0.534, 7.175, 0, 135, 0, 57 [SEP] 5, CreditCard, -5.594, 0.533, 6.645, 0, 135, 0, 57 [SEP] 6, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 50 [SEP] 7, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 55 [SEP] 8, Vase, -6.053, 0.147, 3.954, 0, 0, 0, 46 [SEP] 9, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 51 [SEP] 10, Newspaper, -0.868, 0.438, 3.306, 0, 0, 0, 39 [SEP] 11, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 56 [SEP] 12, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 13, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 49 [SEP] 14, CreditCard, -3.067, 0.146, 7.225, 0, 90, 0, 50 [SEP] 15, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 53 [SEP] 16, KeyChain, -0.738, 0.794, 5.600, 0, 270, 0, 40 [SEP] 17, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 51 [SEP] 18, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 51 [SEP] 19, Bowl, -5.349, 0.535, 6.740, 0, 45, 0, 57 [SEP] 20, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 39 [SEP] 21, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 53 [SEP] 22, RemoteControl, -0.868, 0.441, 4.524, 0, 0, 0, 39 [SEP] 23, Watch, -0.845, 0.793, 2.002, 0, 0, 0, 41 [SEP] 24, Statue, -2.811, 0.540, 4.106, 0, 0, 0, 56 [SEP] 25, Statue, -2.492, 0.535, 3.752, 0, 180, 0, 56 [SEP] 26, Statue, -2.870, 1.289, 7.235, 0, 0, 0, 55 [SEP] 27, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 55 [SEP] 28, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 29, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 30, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 31, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 32, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 33, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 34, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 35, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 36, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 37, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 38, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 39, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 40, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 41, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 42, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 43, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 44, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 45, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 46, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 47, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 48, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 49, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 50, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 51, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 52, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 53, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 54, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 55, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 56, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 57, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 58, NorthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , ", "output": ["STEP 1: Move across the room to the right side of the large brown side table | STEP 2: Pick up the tea pot from the bottom shelf on the side table | STEP 3: Carry the tea pot to the lamp on top of the small round end table | STEP 4: Turn on the lamp | END"]} {"id": "trial_T20190906_202607_123061-1", "input": "Move the plunger from the toilet to 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, 0.0, 0.901, 2.75, 0, 270, 0, [SEP] 1, TissueBox, -1.560, 0.068, 3.226, 0, 0, 0, 28 [SEP] 2, TissueBox, -1.379, 0.068, 3.327, 0, 0, 0, 28 [SEP] 3, SoapBar, 0.313, 0.047, 3.893, 0, 0, 0, 32 [SEP] 4, SoapBar, -1.561, 0.068, 3.844, 0, 0, 0, 30 [SEP] 5, Candle, -1.547, 0.994, 2.118, 0, 0, 0, 29 [SEP] 6, Candle, -1.259, 0.067, 3.126, 0, 0, 0, 28 [SEP] 7, SprayBottle, -1.416, 0.995, 3.933, 0, 0, 0, 29 [SEP] 8, SoapBottle, -1.219, 0.993, 2.148, 0, 0, 0, 29 [SEP] 9, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 31 [SEP] 10, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 33 [SEP] 11, SoapBar, 0.231, 0.047, 3.782, 0, 0, 0, 32 [SEP] 12, ToiletPaper, -1.350, 0.991, 2.269, 0, 0, 0, 29 [SEP] 13, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 14, Candle, -1.560, 0.067, 2.190, 0, 0, 0, 24 [SEP] 15, TissueBox, -1.547, 0.994, 2.982, 0, 0, 0, 29 [SEP] 16, SoapBottle, -1.481, 0.993, 3.812, 0, 0, 0, 29 [SEP] 17, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 37 [SEP] 18, SprayBottle, -1.416, 0.995, 2.178, 0, 0, 0, 29 [SEP] 19, Cloth, -1.350, 0.994, 2.923, 0, 0, 0, 29 [SEP] 20, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 21, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 22, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 23, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 24, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 25, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 26, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 27, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 28, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 29, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 30, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 31, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 32, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 33, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 34, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 35, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 36, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 37, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 38, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 39, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 40, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 41, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 42, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 43, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the toilet. | STEP 2: Pick up the plunger to the right of the toilet. | STEP 3: Turn around and face the sink. | STEP 4: Open the right drawer and place the plunger inside. | END"]} {"id": "trial_T20190909_151858_764613-1", "input": "Examine a watch by the light of a small lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.75, 0.901, 1.25, 0, 0, 0, [SEP] 1, Newspaper, -5.960, 0.451, 4.152, 0, 0, 0, 49 [SEP] 2, Watch, -3.099, 1.280, 6.981, 0, 90, 0, 58 [SEP] 3, Watch, -0.585, 0.793, 6.357, 0, 270, 0, 43 [SEP] 4, Watch, -3.067, 0.146, 7.173, 0, 90, 0, 53 [SEP] 5, KeyChain, -0.947, 0.442, 3.306, 0, 0, 0, 42 [SEP] 6, CreditCard, -0.710, 0.367, 4.524, 0, 0, 0, 42 [SEP] 7, RemoteControl, -5.518, 0.536, 6.797, 0, 135, 0, 60 [SEP] 8, RemoteControl, -0.585, 0.796, 2.252, 0, 270, 0, 44 [SEP] 9, Box, -0.868, 0.603, 3.915, 0, 0, 0, 42 [SEP] 10, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 58 [SEP] 11, Vase, -5.330, 0.534, 6.609, 0, 45, 0, 60 [SEP] 12, Vase, -5.592, 0.542, 6.647, 0, 45, 0, 60 [SEP] 13, Newspaper, -5.896, 0.532, 6.494, 0, 135, 0, 60 [SEP] 14, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 59 [SEP] 15, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 16, Vase, -2.474, 0.147, 7.276, 0, 90, 0, 53 [SEP] 17, CreditCard, -2.172, 0.533, 4.169, 0, 0, 0, 59 [SEP] 18, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 56 [SEP] 19, KeyChain, -0.947, 0.367, 3.915, 0, 0, 0, 42 [SEP] 20, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 54 [SEP] 21, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 54 [SEP] 22, Bowl, -0.687, 0.795, 1.626, 0, 270, 0, 44 [SEP] 23, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 42 [SEP] 24, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 56 [SEP] 25, RemoteControl, -0.947, 0.369, 3.002, 0, 0, 0, 42 [SEP] 26, Watch, -2.491, 0.533, 4.480, 0, 270, 0, 59 [SEP] 27, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 58 [SEP] 28, Statue, -3.557, 1.281, 7.171, 0, 90, 0, 58 [SEP] 29, Statue, -5.950, 0.156, 3.757, 0, 0, 0, 49 [SEP] 30, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 58 [SEP] 31, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 32, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 33, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 34, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 35, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 36, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 37, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 38, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 39, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 40, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 41, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 42, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 43, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 44, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 45, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 46, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 47, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 48, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 49, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 50, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 51, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 52, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 53, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 54, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 55, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 56, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 57, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 58, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 59, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 60, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left, hang a right at the chair and walk to the rack of wooden shelves against the wall. | STEP 2: Pick up the watch in front of the statue on the top shelf on the left side. | STEP 3: Turn right, hang a right at the table and walk to the round wooden table on the left with the small lamp. | STEP 4: Turn on the small lamp. | END"]} {"id": "trial_T20190909_151858_764613-2", "input": "Look at a watch 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, 0, 0, [SEP] 1, Newspaper, -5.960, 0.451, 4.152, 0, 0, 0, 49 [SEP] 2, Watch, -3.099, 1.280, 6.981, 0, 90, 0, 58 [SEP] 3, Watch, -0.585, 0.793, 6.357, 0, 270, 0, 43 [SEP] 4, Watch, -3.067, 0.146, 7.173, 0, 90, 0, 53 [SEP] 5, KeyChain, -0.947, 0.442, 3.306, 0, 0, 0, 42 [SEP] 6, CreditCard, -0.710, 0.367, 4.524, 0, 0, 0, 42 [SEP] 7, RemoteControl, -5.518, 0.536, 6.797, 0, 135, 0, 60 [SEP] 8, RemoteControl, -0.585, 0.796, 2.252, 0, 270, 0, 44 [SEP] 9, Box, -0.868, 0.603, 3.915, 0, 0, 0, 42 [SEP] 10, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 58 [SEP] 11, Vase, -5.330, 0.534, 6.609, 0, 45, 0, 60 [SEP] 12, Vase, -5.592, 0.542, 6.647, 0, 45, 0, 60 [SEP] 13, Newspaper, -5.896, 0.532, 6.494, 0, 135, 0, 60 [SEP] 14, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 59 [SEP] 15, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 16, Vase, -2.474, 0.147, 7.276, 0, 90, 0, 53 [SEP] 17, CreditCard, -2.172, 0.533, 4.169, 0, 0, 0, 59 [SEP] 18, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 56 [SEP] 19, KeyChain, -0.947, 0.367, 3.915, 0, 0, 0, 42 [SEP] 20, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 54 [SEP] 21, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 54 [SEP] 22, Bowl, -0.687, 0.795, 1.626, 0, 270, 0, 44 [SEP] 23, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 42 [SEP] 24, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 56 [SEP] 25, RemoteControl, -0.947, 0.369, 3.002, 0, 0, 0, 42 [SEP] 26, Watch, -2.491, 0.533, 4.480, 0, 270, 0, 59 [SEP] 27, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 58 [SEP] 28, Statue, -3.557, 1.281, 7.171, 0, 90, 0, 58 [SEP] 29, Statue, -5.950, 0.156, 3.757, 0, 0, 0, 49 [SEP] 30, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 58 [SEP] 31, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 32, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 33, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 34, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 35, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 36, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 37, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 38, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 39, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 40, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 41, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 42, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 43, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 44, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 45, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 46, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 47, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 48, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 49, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 50, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 51, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 52, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 53, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 54, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 55, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 56, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 57, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 58, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 59, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 60, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: Walk to the left of the chair, then straight ahead to thee shelving unit. | STEP 2: Pick up the watch on the top shelf. | STEP 3: Turn around and veer left past the couch to the side table. | STEP 4: Turn on the lamp on the table. | END"]} {"id": "trial_T20190909_014054_515047-1", "input": "place clean fork to right of spatula on table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 0.75, 0, 0, 0, [SEP] 1, Potato, 1.422, 0.946, 1.468, 0, 0, 0, 79 [SEP] 2, Potato, -0.017, 0.800, -0.651, 0, 0, 0, 101 [SEP] 3, DishSponge, -0.159, 0.771, 1.122, 0, 0, 0, 49 [SEP] 4, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 82 [SEP] 5, ButterKnife, 2.156, 0.911, -0.345, 0, 0, 0, 44 [SEP] 6, Pot, 2.838, 1.567, -0.578, 0, 0, 0, 99 [SEP] 7, Spoon, -0.734, 0.822, -1.328, 0, 0, 0, 103 [SEP] 8, Spoon, -0.157, 0.766, -0.707, 0, 90, 0, 101 [SEP] 9, Fork, 1.141, 0.912, -0.430, 0, 0, 0, 44 [SEP] 10, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 69 [SEP] 11, Egg, 2.754, 0.949, 1.383, 0, 0, 0, 79 [SEP] 12, Knife, 0.634, 0.944, -0.6, 0, 0, 0, 44 [SEP] 13, Knife, -0.055, 0.944, 1.299, 0, 90, 0, 55 [SEP] 14, SoapBottle, -0.072, 1.660, -0.772, 0, 180, 0, 86 [SEP] 15, Bowl, 2.777, 1.017, -0.644, 0, 0, 0, 99 [SEP] 16, Bowl, 2.488, 0.909, 1.129, 0, 0, 0, 79 [SEP] 17, PepperShaker, 2.802, 0.110, 1.081, 0, 0, 0, 76 [SEP] 18, Bread, 1.688, 0.969, 1.468, 0, 0, 0, 79 [SEP] 19, Lettuce, 1.955, 0.992, 1.299, 0, 0, 0, 79 [SEP] 20, Lettuce, -0.151, 0.992, 1.383, 0, 0, 0, 55 [SEP] 21, SoapBottle, -0.983, 0.826, -1.257, 0, 90, 0, 103 [SEP] 22, Plate, 2.221, 0.914, 1.383, 0, 0, 0, 79 [SEP] 23, Fork, -0.694, 0.821, -1.206, 0, 90, 0, 103 [SEP] 24, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 25, Bread, -0.151, 0.969, 1.129, 0, 0, 0, 55 [SEP] 26, Egg, -2.048, 0.461, 1.332, 0, 270, 0, 97 [SEP] 27, Kettle, 1.484, 1.656, -0.810, 0, 180, 0, 66 [SEP] 28, Tomato, 2.962, 0.758, -0.442, 0, 0, 0, 99 [SEP] 29, Cup, 2.838, 1.016, -0.840, 0, 0, 0, 99 [SEP] 30, Spatula, -0.887, 0.835, -1.255, 0, 90, 0, 103 [SEP] 31, Apple, 0.193, 0.834, -0.707, 0, 0, 0, 101 [SEP] 32, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 47 [SEP] 33, Lettuce, -0.836, 0.901, -1.400, 0, 0, 0, 103 [SEP] 34, SaltShaker, 1.422, 0.908, 1.129, 0, 0, 0, 79 [SEP] 35, Knife, 1.422, 0.944, 1.299, 0, 0, 0, 79 [SEP] 36, Potato, 0.053, 0.800, -0.762, 0, 0, 0, 101 [SEP] 37, PepperShaker, -0.682, 0.817, -1.400, 0, 0, 0, 103 [SEP] 38, ButterKnife, -0.246, 0.911, 1.214, 0, 90, 0, 55 [SEP] 39, Bowl, 0.415, 1.782, 1.455, 0, 180, 0, 102 [SEP] 40, DishSponge, -1.962, 0.423, 1.417, 0, 270, 0, 97 [SEP] 41, Spoon, -0.983, 0.822, -1.360, 0, 90, 0, 103 [SEP] 42, Mug, 2.715, 0.721, -0.473, 0, 0, 0, 99 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 105, NorthWall, , , , , , , [SEP] 106, EastWall, , , , , , , [SEP] 107, SouthWall, , , , , , , [SEP] 108, WestWall, , , , , , , ", "output": ["STEP 1: turn around, go to gray round table to the left | STEP 2: pick up fork from the gray table | STEP 3: turn around, go to sink to the right | STEP 4: place fork in sink, turn on water, turn off water, pick up fork from sink | STEP 5: go to gray table to the right | STEP 6: place fork to the right of spatula on gray table | END"]} {"id": "trial_T20190909_014054_515047-2", "input": "stand a clean fork up on the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 0.75, 0, 0, 0, [SEP] 1, Potato, 1.422, 0.946, 1.468, 0, 0, 0, 79 [SEP] 2, Potato, -0.017, 0.800, -0.651, 0, 0, 0, 101 [SEP] 3, DishSponge, -0.159, 0.771, 1.122, 0, 0, 0, 49 [SEP] 4, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 82 [SEP] 5, ButterKnife, 2.156, 0.911, -0.345, 0, 0, 0, 44 [SEP] 6, Pot, 2.838, 1.567, -0.578, 0, 0, 0, 99 [SEP] 7, Spoon, -0.734, 0.822, -1.328, 0, 0, 0, 103 [SEP] 8, Spoon, -0.157, 0.766, -0.707, 0, 90, 0, 101 [SEP] 9, Fork, 1.141, 0.912, -0.430, 0, 0, 0, 44 [SEP] 10, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 69 [SEP] 11, Egg, 2.754, 0.949, 1.383, 0, 0, 0, 79 [SEP] 12, Knife, 0.634, 0.944, -0.6, 0, 0, 0, 44 [SEP] 13, Knife, -0.055, 0.944, 1.299, 0, 90, 0, 55 [SEP] 14, SoapBottle, -0.072, 1.660, -0.772, 0, 180, 0, 86 [SEP] 15, Bowl, 2.777, 1.017, -0.644, 0, 0, 0, 99 [SEP] 16, Bowl, 2.488, 0.909, 1.129, 0, 0, 0, 79 [SEP] 17, PepperShaker, 2.802, 0.110, 1.081, 0, 0, 0, 76 [SEP] 18, Bread, 1.688, 0.969, 1.468, 0, 0, 0, 79 [SEP] 19, Lettuce, 1.955, 0.992, 1.299, 0, 0, 0, 79 [SEP] 20, Lettuce, -0.151, 0.992, 1.383, 0, 0, 0, 55 [SEP] 21, SoapBottle, -0.983, 0.826, -1.257, 0, 90, 0, 103 [SEP] 22, Plate, 2.221, 0.914, 1.383, 0, 0, 0, 79 [SEP] 23, Fork, -0.694, 0.821, -1.206, 0, 90, 0, 103 [SEP] 24, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 25, Bread, -0.151, 0.969, 1.129, 0, 0, 0, 55 [SEP] 26, Egg, -2.048, 0.461, 1.332, 0, 270, 0, 97 [SEP] 27, Kettle, 1.484, 1.656, -0.810, 0, 180, 0, 66 [SEP] 28, Tomato, 2.962, 0.758, -0.442, 0, 0, 0, 99 [SEP] 29, Cup, 2.838, 1.016, -0.840, 0, 0, 0, 99 [SEP] 30, Spatula, -0.887, 0.835, -1.255, 0, 90, 0, 103 [SEP] 31, Apple, 0.193, 0.834, -0.707, 0, 0, 0, 101 [SEP] 32, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 47 [SEP] 33, Lettuce, -0.836, 0.901, -1.400, 0, 0, 0, 103 [SEP] 34, SaltShaker, 1.422, 0.908, 1.129, 0, 0, 0, 79 [SEP] 35, Knife, 1.422, 0.944, 1.299, 0, 0, 0, 79 [SEP] 36, Potato, 0.053, 0.800, -0.762, 0, 0, 0, 101 [SEP] 37, PepperShaker, -0.682, 0.817, -1.400, 0, 0, 0, 103 [SEP] 38, ButterKnife, -0.246, 0.911, 1.214, 0, 90, 0, 55 [SEP] 39, Bowl, 0.415, 1.782, 1.455, 0, 180, 0, 102 [SEP] 40, DishSponge, -1.962, 0.423, 1.417, 0, 270, 0, 97 [SEP] 41, Spoon, -0.983, 0.822, -1.360, 0, 90, 0, 103 [SEP] 42, Mug, 2.715, 0.721, -0.473, 0, 0, 0, 99 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 105, NorthWall, , , , , , , [SEP] 106, EastWall, , , , , , , [SEP] 107, SouthWall, , , , , , , [SEP] 108, WestWall, , , , , , , ", "output": ["STEP 1: go to the round dining table in the corner | STEP 2: pick up the fork from the table | STEP 3: take the fork to the sink | STEP 4: rinse the fork in the sink with the existing veggies | STEP 5: take the cleaned fork back to the table | STEP 6: stand the fork on the table | END"]} {"id": "trial_T20190907_184754_957681-0", "input": "cut a slice of a potato put it in the microwave put it on the counter next to the knife SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 0.5, 0, 180, 0, [SEP] 1, Potato, 2.777, 1.323, -0.447, 0, 0, 0, 97 [SEP] 2, DishSponge, -0.164, 1.654, 1.432, 0, 0, 0, 68 [SEP] 3, Kettle, -0.017, 0.766, -0.596, 0, 0, 0, 99 [SEP] 4, Kettle, 1.835, 1.655, -0.811, 0, 180, 0, 79 [SEP] 5, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 57 [SEP] 6, Spoon, 2.173, 0.772, -0.460, 0, 180, 0, 55 [SEP] 7, Spatula, 0.888, 0.926, -0.684, 0, 90, 0, 42 [SEP] 8, Cup, 1.558, 0.112, -0.538, 0, 180, 0, 59 [SEP] 9, Cup, 1.804, 1.653, 1.546, 0, 0, 0, 54 [SEP] 10, Egg, -0.983, 0.858, -1.155, 0, 90, 0, 101 [SEP] 11, Knife, 0.634, 0.944, -0.515, 0, 0, 0, 42 [SEP] 12, Tomato, 2.591, 0.756, -0.535, 0, 0, 0, 97 [SEP] 13, Tomato, -1.962, 0.455, 1.417, 0, 270, 0, 95 [SEP] 14, Bowl, 2.153, 0.112, 1.119, 0, 0, 0, 78 [SEP] 15, PepperShaker, -0.734, 0.817, -1.328, 0, 0, 0, 101 [SEP] 16, PepperShaker, -0.694, 0.817, -1.155, 0, 90, 0, 101 [SEP] 17, Mug, 2.715, 1.283, -0.578, 0, 0, 0, 97 [SEP] 18, Apple, -2.019, 0.492, 1.290, 0, 270, 0, 95 [SEP] 19, SoapBottle, -0.621, 0.826, -1.257, 0, 90, 0, 101 [SEP] 20, Plate, 2.715, 1.566, -0.578, 0, 0, 0, 97 [SEP] 21, Fork, 1.771, 0.772, -0.498, 0, 90, 0, 56 [SEP] 22, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 48 [SEP] 23, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 42 [SEP] 24, Egg, 2.838, 0.764, -0.535, 0, 0, 0, 97 [SEP] 25, Kettle, 0.654, 2.154, 1.468, 0, 0, 0, 51 [SEP] 26, Tomato, -0.043, 0.942, -0.316, 0, 0, 0, 42 [SEP] 27, Cup, 2.900, 1.016, -0.709, 0, 0, 0, 97 [SEP] 28, Spatula, 2.156, 0.926, -0.515, 0, 0, 0, 42 [SEP] 29, Apple, -0.939, 0.889, -1.400, 0, 0, 0, 101 [SEP] 30, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 45 [SEP] 31, Lettuce, 2.912, 1.345, -0.613, 14.844, 5.052, 19.928, 97 [SEP] 32, SaltShaker, -0.142, 0.908, -0.302, 0, 0, 0, 42 [SEP] 33, Knife, -1.056, 0.853, -1.308, 0, 90, 0, 101 [SEP] 34, Potato, 0.193, 0.800, -0.762, 0, 0, 0, 99 [SEP] 35, PepperShaker, 2.154, 1.650, 1.585, 0, 0, 0, 66 [SEP] 36, ButterKnife, 0.888, 0.911, -0.345, 0, 0, 0, 42 [SEP] 37, Bowl, 2.715, 1.017, -0.644, 0, 0, 0, 97 [SEP] 38, DishSponge, 1.896, 0.114, 1.196, 0, 0, 0, 62 [SEP] 39, Spoon, 2.217, 0.772, 1.122, 0, 0, 0, 73 [SEP] 40, Mug, 0.284, 2.152, 1.467, 0, 0, 0, 76 [SEP] 41, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 42, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 43, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 44, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 45, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 46, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 47, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 48, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 50, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 51, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 52, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 53, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 54, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 55, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 56, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 57, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 58, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 59, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 60, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 61, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 62, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 64, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 65, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 71, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 72, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 73, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 77, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 78, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 80, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 81, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 82, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 83, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 84, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 85, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 86, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 87, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 88, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 89, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 94, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 95, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 96, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 97, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 98, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 99, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 100, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 101, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 102, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: turn to the left and across the room | STEP 2: pick up the knife from the counter | STEP 3: turn to the left to the sink | STEP 4: cut a slice of a potato | STEP 5: turn to the right and across the room | STEP 6: turn to the left and leave the knife on the opposite counter | STEP 7: turn to the left again face the sink | STEP 8: pick up the slice of potato and turn to the left | STEP 9: open the microwave door | STEP 10: put slice of the potato into the microwave close the microwave door | STEP 11: get the slice out of the microwave and turn to the right | STEP 12: put the slice next to the knife in the counter | END"]} {"id": "trial_T20190907_184754_957681-1", "input": "Slice potato, put knife on above third cabinet, place potato slice to the right of the knife SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 0.5, 0, 180, 0, [SEP] 1, Potato, 2.777, 1.323, -0.447, 0, 0, 0, 97 [SEP] 2, DishSponge, -0.164, 1.654, 1.432, 0, 0, 0, 68 [SEP] 3, Kettle, -0.017, 0.766, -0.596, 0, 0, 0, 99 [SEP] 4, Kettle, 1.835, 1.655, -0.811, 0, 180, 0, 79 [SEP] 5, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 57 [SEP] 6, Spoon, 2.173, 0.772, -0.460, 0, 180, 0, 55 [SEP] 7, Spatula, 0.888, 0.926, -0.684, 0, 90, 0, 42 [SEP] 8, Cup, 1.558, 0.112, -0.538, 0, 180, 0, 59 [SEP] 9, Cup, 1.804, 1.653, 1.546, 0, 0, 0, 54 [SEP] 10, Egg, -0.983, 0.858, -1.155, 0, 90, 0, 101 [SEP] 11, Knife, 0.634, 0.944, -0.515, 0, 0, 0, 42 [SEP] 12, Tomato, 2.591, 0.756, -0.535, 0, 0, 0, 97 [SEP] 13, Tomato, -1.962, 0.455, 1.417, 0, 270, 0, 95 [SEP] 14, Bowl, 2.153, 0.112, 1.119, 0, 0, 0, 78 [SEP] 15, PepperShaker, -0.734, 0.817, -1.328, 0, 0, 0, 101 [SEP] 16, PepperShaker, -0.694, 0.817, -1.155, 0, 90, 0, 101 [SEP] 17, Mug, 2.715, 1.283, -0.578, 0, 0, 0, 97 [SEP] 18, Apple, -2.019, 0.492, 1.290, 0, 270, 0, 95 [SEP] 19, SoapBottle, -0.621, 0.826, -1.257, 0, 90, 0, 101 [SEP] 20, Plate, 2.715, 1.566, -0.578, 0, 0, 0, 97 [SEP] 21, Fork, 1.771, 0.772, -0.498, 0, 90, 0, 56 [SEP] 22, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 48 [SEP] 23, Bread, 1.03, 0.953, -0.519, 0, 0, 0, 42 [SEP] 24, Egg, 2.838, 0.764, -0.535, 0, 0, 0, 97 [SEP] 25, Kettle, 0.654, 2.154, 1.468, 0, 0, 0, 51 [SEP] 26, Tomato, -0.043, 0.942, -0.316, 0, 0, 0, 42 [SEP] 27, Cup, 2.900, 1.016, -0.709, 0, 0, 0, 97 [SEP] 28, Spatula, 2.156, 0.926, -0.515, 0, 0, 0, 42 [SEP] 29, Apple, -0.939, 0.889, -1.400, 0, 0, 0, 101 [SEP] 30, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 45 [SEP] 31, Lettuce, 2.912, 1.345, -0.613, 14.844, 5.052, 19.928, 97 [SEP] 32, SaltShaker, -0.142, 0.908, -0.302, 0, 0, 0, 42 [SEP] 33, Knife, -1.056, 0.853, -1.308, 0, 90, 0, 101 [SEP] 34, Potato, 0.193, 0.800, -0.762, 0, 0, 0, 99 [SEP] 35, PepperShaker, 2.154, 1.650, 1.585, 0, 0, 0, 66 [SEP] 36, ButterKnife, 0.888, 0.911, -0.345, 0, 0, 0, 42 [SEP] 37, Bowl, 2.715, 1.017, -0.644, 0, 0, 0, 97 [SEP] 38, DishSponge, 1.896, 0.114, 1.196, 0, 0, 0, 62 [SEP] 39, Spoon, 2.217, 0.772, 1.122, 0, 0, 0, 73 [SEP] 40, Mug, 0.284, 2.152, 1.467, 0, 0, 0, 76 [SEP] 41, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 42, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 43, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 44, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 45, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 46, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 47, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 48, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 50, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 51, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 52, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 53, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 54, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 55, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 56, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 57, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 58, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 59, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 60, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 61, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 62, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 64, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 65, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 71, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 72, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 73, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 77, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 78, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 80, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 81, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 82, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 83, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 84, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 85, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 86, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 87, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 88, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 89, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 94, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 95, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 96, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 97, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 98, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 99, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 100, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 101, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 102, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: turn around, go to dishwasher to the right | STEP 2: pick up knife on counter in front of loaf of bread | STEP 3: go to sink to the right | STEP 4: slice potato in the sink | STEP 5: turn around, go to third cabinet from the right | STEP 6: place knife on the counter above third cabinet | STEP 7: turn around, go to sink to the right | STEP 8: pick up slice of potato from the sink | STEP 9: turn around, face stove, look upward to microwave | STEP 10: open microwave, microwave potato slice, remove potato from microwave, close microwave door | STEP 11: turn right, go to knife on the counter to the right | STEP 12: place potato slice to the right of the knife | END"]} {"id": "trial_T20190907_211109_208315-2", "input": "Put a apple in the sink from a microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 0.0, 0, 0, 0, [SEP] 1, Kettle, 2.837, 0.115, 1.193, 0, 0, 0, 76 [SEP] 2, ButterKnife, 2.156, 0.911, -0.6, 0, 0, 0, 44 [SEP] 3, Fork, -0.911, 0.821, -1.257, 0, 90, 0, 103 [SEP] 4, Fork, 0.888, 0.912, -0.769, 0, 0, 0, 44 [SEP] 5, Spatula, 0.263, 0.780, -0.707, 0, 90, 0, 101 [SEP] 6, Plate, 1.141, 0.914, -0.769, 0, 0, 0, 44 [SEP] 7, Egg, 1.902, 0.949, -0.430, 0, 0, 0, 44 [SEP] 8, Egg, 0.363, 1.822, 1.391, 0, 180, 0, 102 [SEP] 9, SoapBottle, 2.444, 0.120, 1.117, 0, 0, 0, 48 [SEP] 10, SoapBottle, -1.991, 0.429, 1.417, 0, 270, 0, 97 [SEP] 11, Bowl, 1.688, 0.909, 1.383, 0, 0, 0, 79 [SEP] 12, Bowl, 2.838, 1.286, -0.512, 0, 0, 0, 99 [SEP] 13, SaltShaker, 2.161, 0.111, -0.538, 0, 180, 0, 85 [SEP] 14, SaltShaker, -0.694, 0.817, -1.257, 0, 90, 0, 103 [SEP] 15, Bread, 2.488, 0.969, 1.214, 0, 0, 0, 79 [SEP] 16, Bread, -0.198, 0.969, 1.214, 0, 0, 0, 55 [SEP] 17, Lettuce, 2.221, 0.992, 1.468, 0, 0, 0, 79 [SEP] 18, Lettuce, 1.155, 0.992, 1.299, 0, 0, 0, 79 [SEP] 19, Mug, 2.838, 1.558, -0.578, 0, 0, 0, 99 [SEP] 20, Apple, 2.838, 0.794, -0.535, 0, 0, 0, 99 [SEP] 21, SoapBottle, -0.839, 0.826, -1.360, 0, 90, 0, 103 [SEP] 22, Plate, 1.141, 0.914, -0.430, 0, 0, 0, 44 [SEP] 23, Fork, -0.621, 0.821, -1.206, 0, 90, 0, 103 [SEP] 24, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 50 [SEP] 25, Bread, 2.754, 0.969, 1.468, 0, 0, 0, 79 [SEP] 26, Egg, 2.653, 1.601, -0.578, 0, 0, 0, 99 [SEP] 27, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 82 [SEP] 28, Tomato, -0.990, 0.852, -1.255, 0, 0, 0, 103 [SEP] 29, Cup, 2.173, 1.653, -0.762, 0, 180, 0, 81 [SEP] 30, Spatula, 1.422, 0.926, 1.299, 0, 0, 0, 79 [SEP] 31, Apple, 0.518, 1.853, 1.423, 0, 180, 0, 102 [SEP] 32, Pan, 2.524, 1.655, 1.468, 0, 0, 0, 56 [SEP] 33, Lettuce, 1.955, 0.992, 1.383, 0, 0, 0, 79 [SEP] 34, SaltShaker, -0.939, 0.817, -1.400, 0, 0, 0, 103 [SEP] 35, Knife, 0.026, 0.758, -0.592, 273.787, 317.657, 5.542, 101 [SEP] 36, Potato, 3.220, 0.875, -0.514, 0, 0, 0, 99 [SEP] 37, PepperShaker, 2.222, 1.650, 1.585, 0, 0, 0, 68 [SEP] 38, ButterKnife, 1.422, 0.911, 1.299, 0, 90, 0, 79 [SEP] 39, Bowl, 0.480, 1.652, -0.735, 0, 180, 0, 83 [SEP] 40, DishSponge, -1.056, 0.820, -1.411, 0, 90, 0, 103 [SEP] 41, Spoon, 1.524, 0.773, 1.160, 0, 0, 0, 62 [SEP] 42, Mug, 2.838, 1.014, -0.709, 0, 0, 0, 99 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 105, NorthWall, , , , , , , [SEP] 106, EastWall, , , , , , , [SEP] 107, SouthWall, , , , , , , [SEP] 108, WestWall, , , , , , , ", "output": ["STEP 1: Move to the stove to the left of the sink | STEP 2: Pick up a apple from the microwave above | STEP 3: Move to the sink behind you | STEP 4: Put the apple in the sink | END"]} {"id": "trial_T20190918_211808_959558-1", "input": "Move two butter knives to a round 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, 0.0, 0, 0, 0, [SEP] 1, ButterKnife, 2.221, 0.911, 1.044, 0, 0, 0, 83 [SEP] 2, ButterKnife, 1.141, 0.911, -0.684, 0, 0, 0, 48 [SEP] 3, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 63 [SEP] 4, Spoon, 0.123, 0.766, -0.651, 0, 90, 0, 105 [SEP] 5, Spoon, 1.524, 0.773, -0.422, 0, 180, 0, 78 [SEP] 6, Spatula, -0.007, 0.926, 1.383, 0, 90, 0, 59 [SEP] 7, Spatula, 1.955, 0.926, 1.383, 0, 90, 0, 83 [SEP] 8, Plate, 2.754, 0.914, 1.299, 0, 0, 0, 83 [SEP] 9, Plate, 2.777, 1.291, -0.644, 0, 0, 0, 103 [SEP] 10, Cup, -0.621, 0.818, -1.155, 0, 90, 0, 107 [SEP] 11, Egg, 0.053, 0.803, -0.651, 0, 0, 0, 105 [SEP] 12, Knife, 2.156, 0.944, -0.769, 0, 0, 0, 48 [SEP] 13, Knife, 0.193, 0.798, -0.707, 0, 90, 0, 105 [SEP] 14, SoapBottle, 0.750, 1.661, -0.732, 0, 180, 0, 58 [SEP] 15, Tomato, -1.962, 0.455, 1.332, 0, 270, 0, 101 [SEP] 16, Bowl, 1.688, 0.909, 1.468, 0, 0, 0, 83 [SEP] 17, Bowl, -0.785, 0.818, -1.400, 0, 0, 0, 107 [SEP] 18, SaltShaker, 0.290, 1.651, -0.888, 0, 180, 0, 88 [SEP] 19, SaltShaker, 1.291, 1.651, 1.546, 0, 0, 0, 75 [SEP] 20, Lettuce, -0.103, 0.992, 1.214, 0, 90, 0, 59 [SEP] 21, Mug, 2.962, 1.558, -0.578, 0, 0, 0, 103 [SEP] 22, Mug, -0.983, 0.815, -1.308, 0, 90, 0, 107 [SEP] 23, Apple, -1.962, 0.492, 1.459, 0, 270, 0, 101 [SEP] 24, Apple, 0.518, 1.853, 1.488, 0, 180, 0, 106 [SEP] 25, SoapBottle, -0.939, 0.826, -1.473, 0, 0, 0, 107 [SEP] 26, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 48 [SEP] 27, Fork, -0.103, 0.912, 1.383, 0, 90, 0, 59 [SEP] 28, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 54 [SEP] 29, Bread, 1.033, 0.974, -0.519, 0, 0, 17.743, 48 [SEP] 30, Egg, 2.715, 1.601, -0.775, 0, 0, 0, 103 [SEP] 31, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 48 [SEP] 32, Tomato, -0.734, 0.852, -1.255, 0, 0, 0, 107 [SEP] 33, Cup, 2.962, 0.724, -0.565, 0, 0, 0, 103 [SEP] 34, Spatula, 1.145, 0.929, -0.520, 0, 180, 9.660, 48 [SEP] 35, Apple, 2.653, 1.087, -0.644, 0, 0, 0, 103 [SEP] 36, Pan, 1.155, 0.911, 1.129, 0, 0, 0, 83 [SEP] 37, Lettuce, 1.955, 0.992, 1.214, 0, 0, 0, 83 [SEP] 38, SaltShaker, 1.637, 0.110, 1.044, 0, 0, 0, 77 [SEP] 39, Knife, 1.185, 0.906, -0.515, 90, 94.145, 0, 48 [SEP] 40, Potato, 2.715, 1.053, -0.840, 0, 0, 0, 103 [SEP] 41, PepperShaker, -0.053, 1.650, 1.355, 0, 0, 0, 74 [SEP] 42, ButterKnife, 1.688, 0.911, 1.044, 0, 0, 0, 83 [SEP] 43, Bowl, 1.842, 1.653, 1.468, 0, 0, 0, 60 [SEP] 44, DishSponge, -0.939, 0.820, -1.183, 0, 0, 0, 107 [SEP] 45, Spoon, -0.055, 0.912, 1.044, 0, 0, 0, 59 [SEP] 46, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 48 [SEP] 47, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 48, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 49, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 50, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 51, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 53, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 54, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 55, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 56, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 57, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 58, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 59, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 60, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 61, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 62, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 63, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 64, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 66, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 67, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 68, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 69, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 70, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 71, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 79, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 81, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 83, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 84, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 85, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 86, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 87, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 88, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 89, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 90, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 91, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 92, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 93, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 94, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 95, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 99, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 100, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 101, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 102, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 103, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 104, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 105, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 106, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 107, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 108, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 109, NorthWall, , , , , , , [SEP] 110, EastWall, , , , , , , [SEP] 111, SouthWall, , , , , , , [SEP] 112, WestWall, , , , , , , ", "output": ["STEP 1: Take a step forward, then turn right and begin walking across the room, hang a right and walk up to the section of counter to the right of the coffee machine. | STEP 2: Pick up the metal butter knife to the right of the coffee machine. | STEP 3: Turn around and take a step forward, then turn left and begin walking across the room, hang a left before the window and walk over to the small round table. | STEP 4: Place the butter knife in front of the sponge onto the small round table. | STEP 5: Turn left and walk over to the section of counter across from the toaster. | STEP 6: Pick up the metal butter knife that is on the front edge of the counter. | STEP 7: Turn left and walk over to the small round table in the corner of the room. | STEP 8: Stick the butter knife into the table point down near the handle of the butter knife that is already there. | END"]} {"id": "trial_T20190918_211808_959558-2", "input": "put the two knife from the counter on the corner 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, 0.0, 0, 0, 0, [SEP] 1, ButterKnife, 2.221, 0.911, 1.044, 0, 0, 0, 83 [SEP] 2, ButterKnife, 1.141, 0.911, -0.684, 0, 0, 0, 48 [SEP] 3, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 63 [SEP] 4, Spoon, 0.123, 0.766, -0.651, 0, 90, 0, 105 [SEP] 5, Spoon, 1.524, 0.773, -0.422, 0, 180, 0, 78 [SEP] 6, Spatula, -0.007, 0.926, 1.383, 0, 90, 0, 59 [SEP] 7, Spatula, 1.955, 0.926, 1.383, 0, 90, 0, 83 [SEP] 8, Plate, 2.754, 0.914, 1.299, 0, 0, 0, 83 [SEP] 9, Plate, 2.777, 1.291, -0.644, 0, 0, 0, 103 [SEP] 10, Cup, -0.621, 0.818, -1.155, 0, 90, 0, 107 [SEP] 11, Egg, 0.053, 0.803, -0.651, 0, 0, 0, 105 [SEP] 12, Knife, 2.156, 0.944, -0.769, 0, 0, 0, 48 [SEP] 13, Knife, 0.193, 0.798, -0.707, 0, 90, 0, 105 [SEP] 14, SoapBottle, 0.750, 1.661, -0.732, 0, 180, 0, 58 [SEP] 15, Tomato, -1.962, 0.455, 1.332, 0, 270, 0, 101 [SEP] 16, Bowl, 1.688, 0.909, 1.468, 0, 0, 0, 83 [SEP] 17, Bowl, -0.785, 0.818, -1.400, 0, 0, 0, 107 [SEP] 18, SaltShaker, 0.290, 1.651, -0.888, 0, 180, 0, 88 [SEP] 19, SaltShaker, 1.291, 1.651, 1.546, 0, 0, 0, 75 [SEP] 20, Lettuce, -0.103, 0.992, 1.214, 0, 90, 0, 59 [SEP] 21, Mug, 2.962, 1.558, -0.578, 0, 0, 0, 103 [SEP] 22, Mug, -0.983, 0.815, -1.308, 0, 90, 0, 107 [SEP] 23, Apple, -1.962, 0.492, 1.459, 0, 270, 0, 101 [SEP] 24, Apple, 0.518, 1.853, 1.488, 0, 180, 0, 106 [SEP] 25, SoapBottle, -0.939, 0.826, -1.473, 0, 0, 0, 107 [SEP] 26, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 48 [SEP] 27, Fork, -0.103, 0.912, 1.383, 0, 90, 0, 59 [SEP] 28, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 54 [SEP] 29, Bread, 1.033, 0.974, -0.519, 0, 0, 17.743, 48 [SEP] 30, Egg, 2.715, 1.601, -0.775, 0, 0, 0, 103 [SEP] 31, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 48 [SEP] 32, Tomato, -0.734, 0.852, -1.255, 0, 0, 0, 107 [SEP] 33, Cup, 2.962, 0.724, -0.565, 0, 0, 0, 103 [SEP] 34, Spatula, 1.145, 0.929, -0.520, 0, 180, 9.660, 48 [SEP] 35, Apple, 2.653, 1.087, -0.644, 0, 0, 0, 103 [SEP] 36, Pan, 1.155, 0.911, 1.129, 0, 0, 0, 83 [SEP] 37, Lettuce, 1.955, 0.992, 1.214, 0, 0, 0, 83 [SEP] 38, SaltShaker, 1.637, 0.110, 1.044, 0, 0, 0, 77 [SEP] 39, Knife, 1.185, 0.906, -0.515, 90, 94.145, 0, 48 [SEP] 40, Potato, 2.715, 1.053, -0.840, 0, 0, 0, 103 [SEP] 41, PepperShaker, -0.053, 1.650, 1.355, 0, 0, 0, 74 [SEP] 42, ButterKnife, 1.688, 0.911, 1.044, 0, 0, 0, 83 [SEP] 43, Bowl, 1.842, 1.653, 1.468, 0, 0, 0, 60 [SEP] 44, DishSponge, -0.939, 0.820, -1.183, 0, 0, 0, 107 [SEP] 45, Spoon, -0.055, 0.912, 1.044, 0, 0, 0, 59 [SEP] 46, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 48 [SEP] 47, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 48, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 49, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 50, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 51, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 53, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 54, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 55, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 56, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 57, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 58, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 59, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 60, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 61, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 62, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 63, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 64, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 66, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 67, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 68, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 69, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 70, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 71, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 79, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 81, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 83, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 84, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 85, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 86, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 87, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 88, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 89, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 90, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 91, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 92, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 93, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 94, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 95, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 99, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 100, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 101, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 102, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 103, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 104, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 105, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 106, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 107, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 108, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 109, NorthWall, , , , , , , [SEP] 110, EastWall, , , , , , , [SEP] 111, SouthWall, , , , , , , [SEP] 112, WestWall, , , , , , , ", "output": ["STEP 1: turn right, walk to the coffee machine on the right | STEP 2: grab the knife on the counter | STEP 3: turn around, walk across the room to the corner table | STEP 4: put the knife on the table | STEP 5: turn left, walk to the counter across the refrigerator | STEP 6: grab the knife on the counter | STEP 7: turn left, walk across the room to the corner table | STEP 8: put the knife on the table | END"]} {"id": "trial_T20190918_211808_959558-4", "input": "Put two knives on the table to the right of the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 0.0, 0, 0, 0, [SEP] 1, ButterKnife, 2.221, 0.911, 1.044, 0, 0, 0, 83 [SEP] 2, ButterKnife, 1.141, 0.911, -0.684, 0, 0, 0, 48 [SEP] 3, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 63 [SEP] 4, Spoon, 0.123, 0.766, -0.651, 0, 90, 0, 105 [SEP] 5, Spoon, 1.524, 0.773, -0.422, 0, 180, 0, 78 [SEP] 6, Spatula, -0.007, 0.926, 1.383, 0, 90, 0, 59 [SEP] 7, Spatula, 1.955, 0.926, 1.383, 0, 90, 0, 83 [SEP] 8, Plate, 2.754, 0.914, 1.299, 0, 0, 0, 83 [SEP] 9, Plate, 2.777, 1.291, -0.644, 0, 0, 0, 103 [SEP] 10, Cup, -0.621, 0.818, -1.155, 0, 90, 0, 107 [SEP] 11, Egg, 0.053, 0.803, -0.651, 0, 0, 0, 105 [SEP] 12, Knife, 2.156, 0.944, -0.769, 0, 0, 0, 48 [SEP] 13, Knife, 0.193, 0.798, -0.707, 0, 90, 0, 105 [SEP] 14, SoapBottle, 0.750, 1.661, -0.732, 0, 180, 0, 58 [SEP] 15, Tomato, -1.962, 0.455, 1.332, 0, 270, 0, 101 [SEP] 16, Bowl, 1.688, 0.909, 1.468, 0, 0, 0, 83 [SEP] 17, Bowl, -0.785, 0.818, -1.400, 0, 0, 0, 107 [SEP] 18, SaltShaker, 0.290, 1.651, -0.888, 0, 180, 0, 88 [SEP] 19, SaltShaker, 1.291, 1.651, 1.546, 0, 0, 0, 75 [SEP] 20, Lettuce, -0.103, 0.992, 1.214, 0, 90, 0, 59 [SEP] 21, Mug, 2.962, 1.558, -0.578, 0, 0, 0, 103 [SEP] 22, Mug, -0.983, 0.815, -1.308, 0, 90, 0, 107 [SEP] 23, Apple, -1.962, 0.492, 1.459, 0, 270, 0, 101 [SEP] 24, Apple, 0.518, 1.853, 1.488, 0, 180, 0, 106 [SEP] 25, SoapBottle, -0.939, 0.826, -1.473, 0, 0, 0, 107 [SEP] 26, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 48 [SEP] 27, Fork, -0.103, 0.912, 1.383, 0, 90, 0, 59 [SEP] 28, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 54 [SEP] 29, Bread, 1.033, 0.974, -0.519, 0, 0, 17.743, 48 [SEP] 30, Egg, 2.715, 1.601, -0.775, 0, 0, 0, 103 [SEP] 31, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 48 [SEP] 32, Tomato, -0.734, 0.852, -1.255, 0, 0, 0, 107 [SEP] 33, Cup, 2.962, 0.724, -0.565, 0, 0, 0, 103 [SEP] 34, Spatula, 1.145, 0.929, -0.520, 0, 180, 9.660, 48 [SEP] 35, Apple, 2.653, 1.087, -0.644, 0, 0, 0, 103 [SEP] 36, Pan, 1.155, 0.911, 1.129, 0, 0, 0, 83 [SEP] 37, Lettuce, 1.955, 0.992, 1.214, 0, 0, 0, 83 [SEP] 38, SaltShaker, 1.637, 0.110, 1.044, 0, 0, 0, 77 [SEP] 39, Knife, 1.185, 0.906, -0.515, 90, 94.145, 0, 48 [SEP] 40, Potato, 2.715, 1.053, -0.840, 0, 0, 0, 103 [SEP] 41, PepperShaker, -0.053, 1.650, 1.355, 0, 0, 0, 74 [SEP] 42, ButterKnife, 1.688, 0.911, 1.044, 0, 0, 0, 83 [SEP] 43, Bowl, 1.842, 1.653, 1.468, 0, 0, 0, 60 [SEP] 44, DishSponge, -0.939, 0.820, -1.183, 0, 0, 0, 107 [SEP] 45, Spoon, -0.055, 0.912, 1.044, 0, 0, 0, 59 [SEP] 46, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 48 [SEP] 47, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 48, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 49, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 50, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 51, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 53, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 54, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 55, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 56, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 57, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 58, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 59, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 60, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 61, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 62, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 63, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 64, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 66, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 67, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 68, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 69, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 70, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 71, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 79, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 81, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 83, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 84, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 85, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 86, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 87, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 88, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 89, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 90, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 91, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 92, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 93, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 94, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 95, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 99, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 100, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 101, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 102, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 103, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 104, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 105, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 106, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 107, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 108, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 109, NorthWall, , , , , , , [SEP] 110, EastWall, , , , , , , [SEP] 111, SouthWall, , , , , , , [SEP] 112, WestWall, , , , , , , ", "output": ["STEP 1: Move to the left of the sink | STEP 2: Pick up a knife from the counter | STEP 3: Move to the table to the right of the sink | STEP 4: Place the knife on the table | STEP 5: Move to the right of the fridge to the counter | STEP 6: Pick up a knife from the counter | STEP 7: Move to the table to the right of the sink | STEP 8: Place the knife on the table | END"]} {"id": "trial_T20190909_044357_289832-1", "input": "Place a soap bottle 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, -2.75, 0.903, 0.5, 0, 90, 0, [SEP] 1, Cloth, -1.635, 1.074, 2.157, 0, 0, 0, 28 [SEP] 2, Candle, -2.146, 1.088, -0.827, 0, 0, 0, 33 [SEP] 3, Candle, -2.343, 1.088, -0.644, 0, 0, 0, 33 [SEP] 4, SprayBottle, -2.080, 1.048, -0.736, 0, 0, 0, 33 [SEP] 5, SprayBottle, -0.980, 1.774, 2.067, 0, 0, 0, 26 [SEP] 6, ToiletPaper, -1.687, 0.078, -0.62, 0, 270, 0, 23 [SEP] 7, Candle, -1.949, 1.088, -0.827, 0, 0, 0, 33 [SEP] 8, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 30 [SEP] 9, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 10, SoapBar, -1.407, 1.010, -0.361, 0, 227.756, 0, 21 [SEP] 11, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 23 [SEP] 12, SoapBottle, -1.687, 0.083, -0.690, 0, 270, 0, 31 [SEP] 13, TissueBox, -1.635, 1.773, 2.097, 0, 0, 0, 26 [SEP] 14, Cloth, 0.206, 0.048, -0.071, 0, 0, 0, 27 [SEP] 15, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 23 [SEP] 16, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 22 [SEP] 17, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 18, SprayBottle, -1.471, 1.071, 2.097, 0, 0, 0, 28 [SEP] 19, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 20, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 21, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 22, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 23, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 24, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 25, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 26, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 27, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 28, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 29, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 30, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 31, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 32, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 33, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 34, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 35, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 36, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 37, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: Walk ahead and turn right, facing the sink. | STEP 2: Take a soap bottle out of the trash can on the floor. | STEP 3: Turn around and walk to the shelves on the right side of the wall. | STEP 4: Place the soap bottle on the bottom shelf, just right of center. | END"]} {"id": "trial_T20190908_161237_451696-2", "input": "Put the pan with knife on the small round table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 0.25, 0, 90, 0, [SEP] 1, Pan, 0.812, 2.153, 1.468, 0, 0, 0, 58 [SEP] 2, Pan, 2.188, 1.654, 1.470, 0, 0, 0, 74 [SEP] 3, Potato, -0.151, 0.946, 1.383, 0, 0, 0, 60 [SEP] 4, Potato, 2.754, 0.946, 1.044, 0, 0, 0, 84 [SEP] 5, DishSponge, 1.102, 0.114, 1.077, 0, 0, 0, 78 [SEP] 6, DishSponge, -2.019, 0.423, 1.375, 0, 270, 0, 102 [SEP] 7, ButterKnife, 1.155, 0.911, 1.383, 0, 0, 0, 84 [SEP] 8, Spoon, 1.175, 0.772, 1.122, 0, 0, 0, 94 [SEP] 9, Spoon, 1.688, 0.912, 1.214, 0, 0, 0, 84 [SEP] 10, Fork, 1.626, 0.772, 1.122, 0, 90, 0, 67 [SEP] 11, Fork, 1.141, 0.912, -0.430, 0, 90, 0, 49 [SEP] 12, Plate, 2.221, 0.914, 1.214, 0, 0, 0, 84 [SEP] 13, Knife, 2.156, 0.944, -0.769, 0, 0, 0, 49 [SEP] 14, Knife, 0.193, 0.798, -0.707, 0, 90, 0, 106 [SEP] 15, Knife, 2.754, 0.944, 1.129, 0, 0, 0, 84 [SEP] 16, SoapBottle, -0.055, 0.917, 1.044, 0, 0, 0, 60 [SEP] 17, SoapBottle, 0.888, 0.917, -0.6, 0, 0, 0, 49 [SEP] 18, Tomato, 1.141, 0.942, -0.6, 0, 0, 0, 49 [SEP] 19, Bowl, -0.151, 0.909, 1.214, 0, 0, 0, 60 [SEP] 20, Bowl, 2.802, 0.112, 1.119, 0, 0, 0, 81 [SEP] 21, SaltShaker, 1.422, 0.908, 1.468, 0, 0, 0, 84 [SEP] 22, Bread, 2.715, 1.621, -0.578, 0, 0, 0, 104 [SEP] 23, Mug, 0.518, 1.779, 1.455, 0, 180, 0, 107 [SEP] 24, Apple, 2.777, 1.087, -0.775, 0, 0, 0, 104 [SEP] 25, Apple, 1.902, 0.980, -0.430, 0, 0, 0, 49 [SEP] 26, SoapBottle, 1.487, 1.660, 1.432, 0, 0, 0, 72 [SEP] 27, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 49 [SEP] 28, Fork, 0.123, 0.766, -0.707, 0, 0, 0, 106 [SEP] 29, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 55 [SEP] 30, Bread, 1.955, 0.969, 1.299, 0, 0, 0, 84 [SEP] 31, Egg, -0.017, 0.803, -0.651, 0, 0, 0, 106 [SEP] 32, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 49 [SEP] 33, Tomato, 0.634, 0.942, -0.6, 0, 0, 0, 49 [SEP] 34, Cup, -0.017, 0.763, -0.541, 0, 0, 0, 106 [SEP] 35, Spatula, -0.087, 0.780, -0.596, 0, 270, 0, 106 [SEP] 36, Apple, 2.715, 0.794, -0.473, 0, 0, 0, 104 [SEP] 37, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 52 [SEP] 38, Lettuce, 2.754, 0.992, 1.299, 0, 0, 0, 84 [SEP] 39, SaltShaker, 1.872, 1.650, -0.734, 0, 180, 0, 86 [SEP] 40, Knife, 1.155, 0.944, 1.129, 0, 0, 0, 84 [SEP] 41, Potato, 2.962, 0.760, -0.535, 0, 0, 0, 104 [SEP] 42, PepperShaker, 0.825, 1.651, -0.732, 0, 180, 0, 88 [SEP] 43, ButterKnife, 1.688, 0.911, 1.129, 0, 0, 0, 84 [SEP] 44, Bowl, 2.221, 0.909, 1.468, 0, 0, 0, 84 [SEP] 45, DishSponge, 1.563, 0.114, 1.081, 0, 0, 0, 78 [SEP] 46, Spoon, -0.157, 0.766, -0.707, 0, 90, 0, 106 [SEP] 47, Mug, 2.777, 1.558, -0.775, 0, 0, 0, 104 [SEP] 48, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 49, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 50, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 51, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 52, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 53, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 54, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 55, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 56, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 57, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 58, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 59, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 60, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 61, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 62, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 63, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 64, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 65, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 67, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 68, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 69, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 70, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 71, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 72, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 77, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 79, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 80, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 82, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 84, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 85, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 86, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 87, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 88, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 89, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 90, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 91, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 92, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 93, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 94, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 95, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 96, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 99, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 100, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 101, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 102, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 103, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 104, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 105, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 106, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 107, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 108, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 109, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 110, NorthWall, , , , , , , [SEP] 111, EastWall, , , , , , , [SEP] 112, SouthWall, , , , , , , [SEP] 113, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward then turn right to face the sink | STEP 2: Pick up the knife from the sink | STEP 3: Turn around and walk up to the stove | STEP 4: Put the knife in the pan on the stove | STEP 5: Pick up the pan from the stove | STEP 6: Turn left and walk forward then left again and walk up to the small round table | STEP 7: Put the pan on the small round table | END"]} {"id": "trial_T20190909_151728_326769-1", "input": "Use a lamp to look at a watch. 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, 6.25, 0, 270, 0, [SEP] 1, Bowl, -0.484, 0.795, 6.357, 0, 270, 0, 45 [SEP] 2, Newspaper, -0.631, 0.365, 3.915, 0, 90, 0, 44 [SEP] 3, Watch, -0.845, 0.793, 5.928, 0, 0, 0, 45 [SEP] 4, Watch, -5.274, 0.533, 6.665, 0, 45, 0, 62 [SEP] 5, Watch, -6.053, 0.146, 3.757, 0, 0, 0, 51 [SEP] 6, KeyChain, -0.868, 0.439, 3.002, 0, 0, 0, 44 [SEP] 7, KeyChain, -3.099, 1.280, 7.045, 0, 270, 0, 60 [SEP] 8, CreditCard, -0.631, 0.407, 3.915, 0, 0, 0, 44 [SEP] 9, CreditCard, -0.433, 0.793, 2.252, 0, 270, 0, 46 [SEP] 10, RemoteControl, -2.492, 0.536, 3.607, 0, 270, 0, 61 [SEP] 11, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 55 [SEP] 12, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 60 [SEP] 13, Vase, -3.328, 1.280, 7.045, 0, 90, 0, 60 [SEP] 14, Vase, -0.687, 0.802, 1.626, 0, 270, 0, 46 [SEP] 15, Newspaper, -0.868, 0.365, 4.828, 0, 0, 0, 44 [SEP] 16, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 61 [SEP] 17, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 18, Vase, -5.985, 0.880, 4.547, 0, 0, 0, 54 [SEP] 19, CreditCard, -2.631, 0.533, 4.480, 0, 270, 0, 61 [SEP] 20, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 58 [SEP] 21, KeyChain, -0.710, 0.421, 3.915, 0, 180, 0, 44 [SEP] 22, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 56 [SEP] 23, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 56 [SEP] 24, Bowl, -3.462, 0.454, 7.221, 0, 90, 0, 53 [SEP] 25, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 44 [SEP] 26, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 58 [SEP] 27, RemoteControl, -2.640, 1.282, 7.361, 0, 90, 0, 60 [SEP] 28, Watch, -3.462, 0.880, 7.173, 0, 90, 0, 52 [SEP] 29, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 60 [SEP] 30, Statue, -3.557, 1.281, 7.171, 0, 270, 0, 60 [SEP] 31, Statue, -2.172, 0.543, 4.106, 0, 90, 0, 61 [SEP] 32, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 60 [SEP] 33, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 34, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 35, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 36, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 37, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 38, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 39, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 40, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 41, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 42, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 43, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 44, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 45, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 46, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 47, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 48, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 49, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 50, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 51, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 52, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 53, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 54, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 55, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 56, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 57, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 58, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 59, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 60, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 61, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 62, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 63, NorthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the table with the lamp in front of you. | STEP 2: Turn on the lamp. | STEP 3: Pick up the watch on the table. | END"]} {"id": "trial_T20190908_143639_799222-0", "input": "Move a CD from the dresser to the shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.949, 0.5, 0, 270, 0, [SEP] 1, CD, 2.235, 0.984, -2.212, 0, 270, 0, 37 [SEP] 2, CellPhone, 1.723, 0.610, -0.172, 0, 0, 0, 22 [SEP] 3, CellPhone, 0.116, 0.784, 3.143, 0, 180, 0, 44 [SEP] 4, Pen, -0.812, 0.591, 0.529, 0, 0, 0, 52 [SEP] 5, Pen, 3.377, 0.729, 1.397, 0, 180, 0, 62 [SEP] 6, CreditCard, -0.077, 0.475, 3.283, 0, 0, 0, 43 [SEP] 7, Laptop, 2.381, 0.607, 0.790, 0, 0, 0, 22 [SEP] 8, Laptop, 2.234, 0.986, -1.862, 0, 270, 0, 37 [SEP] 9, Book, 2.431, 0.180, -1.896, 0, 270, 0, 39 [SEP] 10, KeyChain, -0.812, 0.381, 0.028, 0, 0, 0, 55 [SEP] 11, CreditCard, 3.455, 0.723, 1.262, 0, 180, 0, 62 [SEP] 12, Pen, 2.803, 0.990, -2.037, 0, 270, 0, 37 [SEP] 13, Pencil, 3.087, 0.992, -1.949, 0, 270, 0, 37 [SEP] 14, Laptop, 1.888, 0.607, 0.068, 0, 0, 0, 22 [SEP] 15, Vase, 1.950, 0.990, -2.125, 0, 270, 0, 37 [SEP] 16, AlarmClock, -1.037, 0.786, 0.081, 0, 0, 0, 58 [SEP] 17, Pillow, 2.533, 0.631, 1.264, 0, 0, 0, 22 [SEP] 18, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 22 [SEP] 19, CellPhone, -0.776, 0.380, -0.338, 0, 0, 0, 54 [SEP] 20, CD, 3.012, 0.183, -1.835, 0, 270, 0, 36 [SEP] 21, Vase, -0.384, 0.772, 3.172, 0, 0, 0, 44 [SEP] 22, Bed, 2.217, 0.050, 0.585, 0, 0, 0, [SEP] 23, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0, [SEP] 24, Painting, 2.990, 1.592, 1.567, 90, 0, 0, [SEP] 25, Painting, 1.524, 1.592, 1.567, 90, 0, 0, [SEP] 26, Mirror, -1.190, 1.417, -0.223, 0, 270, 0, [SEP] 27, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0, [SEP] 28, Window, -2.629, 1.460, 2.891, 90, 270, 0, [SEP] 29, Window, -2.629, 1.460, 4.084, 90, 270, 0, [SEP] 30, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0, [SEP] 31, Drawer, 2.490, 0.949, -1.703, 0, 0, 0, [SEP] 32, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0, [SEP] 33, Drawer, 1.975, 0.949, -1.703, 0, 0, 0, [SEP] 34, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0, [SEP] 35, Drawer, 1.457, 0.949, -1.703, 0, 0, 0, [SEP] 36, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0, [SEP] 37, Dresser, 2.234, 0.048, -1.950, 0, 0, 0, [SEP] 38, Drawer, 3.011, 0.949, -1.703, 0, 0, 0, [SEP] 39, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0, [SEP] 40, Shelf, -0.163, 1.461, 3.219, 0, 180, 0, [SEP] 41, Drawer, -0.161, 0.242, 3.166, 0, 180, 0, [SEP] 42, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0, [SEP] 43, Drawer, -0.161, 0.562, 3.168, 0, 180, 0, [SEP] 44, Shelf, -0.162, 0.922, 3.164, 0, 180, 0, [SEP] 45, Shelf, -0.162, 1.241, 3.163, 0, 180, 0, [SEP] 46, Blinds, -2.550, 2.486, 2.911, 0, 90, 0, [SEP] 47, Blinds, -2.550, 2.486, 4.107, 0, 90, 0, [SEP] 48, Drawer, -0.833, 0.217, -0.336, 0, 90, 0, [SEP] 49, Drawer, -0.833, 0.217, 0.486, 0, 90, 0, [SEP] 50, Drawer, -0.833, 0.628, -0.747, 0, 90, 0, [SEP] 51, Drawer, -0.833, 0.217, 0.075, 0, 90, 0, [SEP] 52, Drawer, -0.833, 0.628, 0.486, 0, 90, 0, [SEP] 53, Drawer, -0.833, 0.217, -0.747, 0, 90, 0, [SEP] 54, Drawer, -0.833, 0.423, -0.336, 0, 90, 0, [SEP] 55, Drawer, -0.833, 0.423, 0.075, 0, 90, 0, [SEP] 56, Drawer, -0.833, 0.423, 0.486, 0, 90, 0, [SEP] 57, Drawer, -0.833, 0.423, -0.747, 0, 90, 0, [SEP] 58, Dresser, -0.934, 0.050, -0.129, 0, 90, 0, [SEP] 59, Drawer, -0.833, 0.628, 0.075, 0, 90, 0, [SEP] 60, Drawer, -0.833, 0.628, -0.336, 0, 90, 0, [SEP] 61, Drawer, 3.454, 0.212, 1.262, 0, 180, 0, [SEP] 62, SideTable, 3.455, 0.046, 1.328, 0, 180, 0, [SEP] 63, Drawer, 3.454, 0.504, 1.262, 0, 180, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, EastWall, , , , , , , [SEP] 66, SouthWall, , , , , , , [SEP] 67, WestWall, , , , , , , ", "output": ["STEP 1: Walk around the bed to the dresser. | STEP 2: Grab the CD from the dresser. | STEP 3: Walk back around the bed to the shelf. | STEP 4: Place the CD on the top shelf. | END"]} {"id": "trial_T20190907_071807_498508-1", "input": "Put a purple spray bottle on the back of the toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.903, 0.25, 0, 90, 0, [SEP] 1, TissueBox, -2.015, 1.047, -0.766, 0, 0, 0, 32 [SEP] 2, SoapBar, -2.343, 1.046, -0.705, 0, 0, 0, 32 [SEP] 3, SprayBottle, -0.653, 0.289, 2.157, 0, 0, 0, 23 [SEP] 4, SoapBottle, -1.686, 0.083, -0.549, 0, 270, 0, 30 [SEP] 5, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 29 [SEP] 6, Candle, -1.635, 1.814, 2.247, 0, 0, 0, 25 [SEP] 7, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 28 [SEP] 8, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 9, SoapBar, -0.228, 0.609, -0.387, 0, 315, 0, 19 [SEP] 10, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 22 [SEP] 11, SoapBottle, -2.146, 1.049, -0.736, 0, 0, 0, 32 [SEP] 12, TissueBox, -0.817, 1.070, 2.157, 0, 0, 0, 27 [SEP] 13, Cloth, -1.471, 0.293, 2.127, 0, 0, 0, 23 [SEP] 14, ToiletPaper, -0.164, 0.606, 1.653, 0, 45, 0, 19 [SEP] 15, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 21 [SEP] 16, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 17, SprayBottle, -1.635, 1.071, 2.217, 0, 0, 0, 27 [SEP] 18, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 19, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 20, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 21, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 22, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 23, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 24, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 25, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 26, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 27, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 28, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 29, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 30, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 31, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 32, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 33, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 34, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 35, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 36, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, EastWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, WestWall, , , , , , , ", "output": ["STEP 1: Move to the shelf to the left of the tub on the right hand side. | STEP 2: Pick up the spray bottle from the shelf. | STEP 3: Move to the toilet behind you on the right side. | STEP 4: Place the bottle on the back of the toilet. | END"]} {"id": "trial_T20190907_071807_498508-2", "input": "Put a bottle on the back of a toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.903, 0.25, 0, 90, 0, [SEP] 1, TissueBox, -2.015, 1.047, -0.766, 0, 0, 0, 32 [SEP] 2, SoapBar, -2.343, 1.046, -0.705, 0, 0, 0, 32 [SEP] 3, SprayBottle, -0.653, 0.289, 2.157, 0, 0, 0, 23 [SEP] 4, SoapBottle, -1.686, 0.083, -0.549, 0, 270, 0, 30 [SEP] 5, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 29 [SEP] 6, Candle, -1.635, 1.814, 2.247, 0, 0, 0, 25 [SEP] 7, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 28 [SEP] 8, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 9, SoapBar, -0.228, 0.609, -0.387, 0, 315, 0, 19 [SEP] 10, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 22 [SEP] 11, SoapBottle, -2.146, 1.049, -0.736, 0, 0, 0, 32 [SEP] 12, TissueBox, -0.817, 1.070, 2.157, 0, 0, 0, 27 [SEP] 13, Cloth, -1.471, 0.293, 2.127, 0, 0, 0, 23 [SEP] 14, ToiletPaper, -0.164, 0.606, 1.653, 0, 45, 0, 19 [SEP] 15, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 21 [SEP] 16, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 17, SprayBottle, -1.635, 1.071, 2.217, 0, 0, 0, 27 [SEP] 18, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 19, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 20, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 21, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 22, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 23, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 24, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 25, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 26, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 27, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 28, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 29, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 30, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 31, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 32, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 33, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 34, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 35, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 36, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, EastWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, WestWall, , , , , , , ", "output": ["STEP 1: Go forward and turn left to face the white shelf. | STEP 2: Pick up the purple bottle from the shelf. | STEP 3: Turn around and face the toilet. | STEP 4: Put the bottle on the back of the toilet. | END"]} {"id": "trial_T20190907_071807_498508-3", "input": "move spray bottle from shelf to back of toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.903, 0.25, 0, 90, 0, [SEP] 1, TissueBox, -2.015, 1.047, -0.766, 0, 0, 0, 32 [SEP] 2, SoapBar, -2.343, 1.046, -0.705, 0, 0, 0, 32 [SEP] 3, SprayBottle, -0.653, 0.289, 2.157, 0, 0, 0, 23 [SEP] 4, SoapBottle, -1.686, 0.083, -0.549, 0, 270, 0, 30 [SEP] 5, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 29 [SEP] 6, Candle, -1.635, 1.814, 2.247, 0, 0, 0, 25 [SEP] 7, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 28 [SEP] 8, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 9, SoapBar, -0.228, 0.609, -0.387, 0, 315, 0, 19 [SEP] 10, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 22 [SEP] 11, SoapBottle, -2.146, 1.049, -0.736, 0, 0, 0, 32 [SEP] 12, TissueBox, -0.817, 1.070, 2.157, 0, 0, 0, 27 [SEP] 13, Cloth, -1.471, 0.293, 2.127, 0, 0, 0, 23 [SEP] 14, ToiletPaper, -0.164, 0.606, 1.653, 0, 45, 0, 19 [SEP] 15, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 21 [SEP] 16, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 17, SprayBottle, -1.635, 1.071, 2.217, 0, 0, 0, 27 [SEP] 18, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 19, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 20, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 21, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 22, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 23, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 24, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 25, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 26, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 27, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 28, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 29, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 30, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 31, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 32, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 33, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 34, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 35, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 36, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, EastWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, WestWall, , , , , , , ", "output": ["STEP 1: walk towards tub, turn left, walk forward | STEP 2: pick up spray bottle from bottom shelf | STEP 3: turn left, walk towards the door, turn left, walk across the room | STEP 4: put the spray bottle on the back of the toilet | END"]} {"id": "trial_T20190907_071807_498508-4", "input": "Put the spray bottle on the back of the toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.903, 0.25, 0, 90, 0, [SEP] 1, TissueBox, -2.015, 1.047, -0.766, 0, 0, 0, 32 [SEP] 2, SoapBar, -2.343, 1.046, -0.705, 0, 0, 0, 32 [SEP] 3, SprayBottle, -0.653, 0.289, 2.157, 0, 0, 0, 23 [SEP] 4, SoapBottle, -1.686, 0.083, -0.549, 0, 270, 0, 30 [SEP] 5, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 29 [SEP] 6, Candle, -1.635, 1.814, 2.247, 0, 0, 0, 25 [SEP] 7, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 28 [SEP] 8, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 9, SoapBar, -0.228, 0.609, -0.387, 0, 315, 0, 19 [SEP] 10, ToiletPaper, -1.660, 0.809, -0.769, 0, 0, 90, 22 [SEP] 11, SoapBottle, -2.146, 1.049, -0.736, 0, 0, 0, 32 [SEP] 12, TissueBox, -0.817, 1.070, 2.157, 0, 0, 0, 27 [SEP] 13, Cloth, -1.471, 0.293, 2.127, 0, 0, 0, 23 [SEP] 14, ToiletPaper, -0.164, 0.606, 1.653, 0, 45, 0, 19 [SEP] 15, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 21 [SEP] 16, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 17, SprayBottle, -1.635, 1.071, 2.217, 0, 0, 0, 27 [SEP] 18, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 19, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 20, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 21, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 22, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 23, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 24, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 25, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 26, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 27, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 28, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 29, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 30, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 31, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 32, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 33, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 34, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 35, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 36, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, EastWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward and turn right to face the shelves. | STEP 2: Pick up the spray bottle from the bottom shelf. | STEP 3: Turn left and stand in front of the toilet. | STEP 4: Put the bottle on the back of the toilet. | END"]} {"id": "trial_T20190919_004658_004245-1", "input": "Place a slice of cooked potato onto the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.900, 0.25, 0, 90, 0, [SEP] 1, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 52 [SEP] 2, Potato, -0.734, 0.855, -1.400, 0, 0, 0, 108 [SEP] 3, Potato, 1.955, 0.946, 1.383, 0, 0, 0, 84 [SEP] 4, Potato, 0.888, 0.946, -0.684, 0, 0, 0, 49 [SEP] 5, DishSponge, -1.991, 0.423, 1.417, 0, 270, 0, 102 [SEP] 6, Kettle, 1.210, 0.115, -0.495, 0, 180, 0, 57 [SEP] 7, Kettle, -0.198, 0.912, 1.468, 0, 0, 0, 60 [SEP] 8, Fork, 2.221, 0.912, 1.044, 0, 0, 0, 84 [SEP] 9, Fork, -0.023, 0.771, 1.122, 0, 90, 0, 54 [SEP] 10, Spatula, -0.043, 0.926, -0.316, 0, 0, 0, 49 [SEP] 11, Spatula, 0.263, 0.780, -0.596, 0, 270, 0, 106 [SEP] 12, Plate, 2.221, 0.914, 1.383, 0, 0, 0, 84 [SEP] 13, Plate, 1.141, 0.914, -0.684, 0, 0, 0, 49 [SEP] 14, Cup, 2.591, 1.561, -0.644, 0, 0, 0, 104 [SEP] 15, SoapBottle, -0.621, 0.826, -1.155, 0, 90, 0, 108 [SEP] 16, Bowl, -0.151, 0.909, 1.214, 0, 0, 0, 60 [SEP] 17, Bowl, 2.754, 0.909, 1.468, 0, 0, 0, 84 [SEP] 18, SaltShaker, 1.409, 1.651, -0.654, 0, 180, 0, 71 [SEP] 19, SaltShaker, -1.056, 0.817, -1.155, 0, 90, 0, 108 [SEP] 20, PepperShaker, -0.734, 0.817, -1.183, 0, 0, 0, 108 [SEP] 21, PepperShaker, 1.688, 0.908, 1.553, 0, 0, 0, 84 [SEP] 22, Bread, 2.838, 1.346, -0.644, 0, 0, 0, 104 [SEP] 23, Lettuce, 2.777, 1.644, -0.644, 0, 0, 0, 104 [SEP] 24, Lettuce, -0.887, 0.901, -1.400, 0, 0, 0, 108 [SEP] 25, Mug, -0.164, 1.649, 1.432, 0, 0, 0, 107 [SEP] 26, SoapBottle, 1.955, 0.917, 1.214, 0, 0, 0, 84 [SEP] 27, Plate, 2.524, 1.658, 1.468, 0, 0, 0, 74 [SEP] 28, Fork, 1.768, 0.771, 1.122, 0, 90, 0, 82 [SEP] 29, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 55 [SEP] 30, Bread, 2.488, 0.969, 1.129, 0, 0, 0, 84 [SEP] 31, Egg, 2.488, 0.949, 1.468, 0, 0, 0, 84 [SEP] 32, Kettle, 1.688, 0.912, 1.214, 0, 0, 0, 84 [SEP] 33, Tomato, -1.056, 0.852, -1.411, 0, 90, 0, 108 [SEP] 34, Cup, 0.812, 2.151, 1.468, 0, 0, 0, 58 [SEP] 35, Spatula, 1.155, 0.926, 1.383, 0, 0, 0, 84 [SEP] 36, Apple, -0.887, 0.889, -1.183, 0, 0, 0, 108 [SEP] 37, Pan, 1.524, 1.654, 1.470, 0, 0, 0, 76 [SEP] 38, Lettuce, 2.777, 1.099, -0.709, 0, 0, 0, 104 [SEP] 39, SaltShaker, 0.178, 2.153, 1.583, 0, 0, 0, 83 [SEP] 40, Knife, -0.839, 0.853, -1.257, 0, 0, 0, 108 [SEP] 41, Potato, 2.900, 0.760, -0.473, 0, 0, 0, 104 [SEP] 42, PepperShaker, 0.634, 0.908, -0.6, 0, 0, 0, 49 [SEP] 43, ButterKnife, 1.422, 0.911, 1.214, 0, 0, 0, 84 [SEP] 44, Bowl, 1.872, 0.112, -0.421, 0, 180, 0, 95 [SEP] 45, DishSponge, 0.888, 0.911, -0.345, 0, 0, 0, 49 [SEP] 46, Spoon, 2.092, 0.773, 1.122, 0, 90, 0, 80 [SEP] 47, Mug, -0.621, 0.815, -1.308, 0, 90, 0, 108 [SEP] 48, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 49, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 50, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 51, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 52, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 53, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 54, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 55, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 56, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 57, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 58, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 59, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 60, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 61, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 62, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 63, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 64, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 65, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 67, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 68, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 69, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 70, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 71, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 72, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 77, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 79, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 80, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 82, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 83, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 84, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 85, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 86, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 87, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 88, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 89, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 90, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 91, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 92, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 93, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 94, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 95, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 96, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 99, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 100, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 101, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 102, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 103, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 104, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 105, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 106, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 107, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 108, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 109, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 110, NorthWall, , , , , , , [SEP] 111, EastWall, , , , , , , [SEP] 112, SouthWall, , , , , , , [SEP] 113, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, move to the table. | STEP 2: Pick up the knife from the table. | STEP 3: Slice the potato on the table. | STEP 4: Turn left, move to the counter left of the bread. | STEP 5: Put the knife on the counter near the soap container. | STEP 6: Turn left, move to the table. | STEP 7: Pick up a slice of potato from the table. | STEP 8: Turn left, move to the counter in front of the stove. | STEP 9: Put the potato slice into the microwave, cook it, pick it back up. | STEP 10: Turn right, move to the counter left of the bread. | STEP 11: Put the cooked potato slice on the counter. | END"]} {"id": "trial_T20190908_232919_944006-0", "input": "Pick up a box 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, -3.5, 0.901, 5.25, 0, 180, 0, [SEP] 1, Watch, -5.536, 0.533, 6.703, 0, 45, 0, 55 [SEP] 2, CreditCard, -6.002, 0.146, 3.954, 0, 0, 0, 44 [SEP] 3, CreditCard, -2.422, 0.533, 3.752, 0, 270, 0, 54 [SEP] 4, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 48 [SEP] 5, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 53 [SEP] 6, Vase, -5.950, 0.147, 4.349, 0, 0, 0, 44 [SEP] 7, Vase, -0.636, 0.802, 2.252, 0, 270, 0, 39 [SEP] 8, Newspaper, -0.868, 0.365, 4.828, 0, 0, 0, 37 [SEP] 9, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 54 [SEP] 10, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 11, Vase, -0.326, 0.794, 2.052, 0, 0, 0, 39 [SEP] 12, CreditCard, -2.283, 0.533, 3.752, 0, 270, 0, 54 [SEP] 13, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 51 [SEP] 14, KeyChain, -0.947, 0.436, 4.219, 0, 0, 0, 37 [SEP] 15, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 49 [SEP] 16, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 49 [SEP] 17, Bowl, -5.274, 0.535, 6.665, 0, 45, 0, 55 [SEP] 18, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 37 [SEP] 19, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 51 [SEP] 20, RemoteControl, -0.868, 0.369, 3.915, 0, 0, 0, 37 [SEP] 21, Watch, -5.480, 0.533, 6.759, 0, 45, 0, 55 [SEP] 22, Statue, -2.811, 0.540, 4.169, 0, 0, 0, 54 [SEP] 23, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 51 [SEP] 24, Statue, -0.687, 0.803, 5.726, 0, 270, 0, 38 [SEP] 25, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 53 [SEP] 26, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 27, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 28, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 29, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 30, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 31, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 32, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 33, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 34, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 35, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 36, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 37, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 38, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 39, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 40, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 41, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 42, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 43, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 44, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 45, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 46, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 47, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 48, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 49, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 50, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 51, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 52, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 53, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 54, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 55, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 56, NorthWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, SouthWall, , , , , , , ", "output": ["STEP 1: Go to the right and face the box on the floor. | STEP 2: Pick the box up from the floor. | STEP 3: Turn around and cross the room to face the small, round table with the lamp on it. | STEP 4: Turn the lamp on the table on. | END"]} {"id": "trial_T20190908_232919_944006-1", "input": "Examine a cardboard box 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, -3.5, 0.901, 5.25, 0, 180, 0, [SEP] 1, Watch, -5.536, 0.533, 6.703, 0, 45, 0, 55 [SEP] 2, CreditCard, -6.002, 0.146, 3.954, 0, 0, 0, 44 [SEP] 3, CreditCard, -2.422, 0.533, 3.752, 0, 270, 0, 54 [SEP] 4, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 48 [SEP] 5, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 53 [SEP] 6, Vase, -5.950, 0.147, 4.349, 0, 0, 0, 44 [SEP] 7, Vase, -0.636, 0.802, 2.252, 0, 270, 0, 39 [SEP] 8, Newspaper, -0.868, 0.365, 4.828, 0, 0, 0, 37 [SEP] 9, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 54 [SEP] 10, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 11, Vase, -0.326, 0.794, 2.052, 0, 0, 0, 39 [SEP] 12, CreditCard, -2.283, 0.533, 3.752, 0, 270, 0, 54 [SEP] 13, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 51 [SEP] 14, KeyChain, -0.947, 0.436, 4.219, 0, 0, 0, 37 [SEP] 15, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 49 [SEP] 16, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 49 [SEP] 17, Bowl, -5.274, 0.535, 6.665, 0, 45, 0, 55 [SEP] 18, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 37 [SEP] 19, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 51 [SEP] 20, RemoteControl, -0.868, 0.369, 3.915, 0, 0, 0, 37 [SEP] 21, Watch, -5.480, 0.533, 6.759, 0, 45, 0, 55 [SEP] 22, Statue, -2.811, 0.540, 4.169, 0, 0, 0, 54 [SEP] 23, Statue, -5.854, 1.272, 4.074, 0, 0, 0, 51 [SEP] 24, Statue, -0.687, 0.803, 5.726, 0, 270, 0, 38 [SEP] 25, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 53 [SEP] 26, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 27, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 28, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 29, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 30, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 31, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 32, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 33, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 34, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 35, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 36, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 37, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 38, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 39, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 40, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 41, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 42, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 43, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 44, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 45, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 46, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 47, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 48, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 49, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 50, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 51, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 52, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 53, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 54, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 55, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 56, NorthWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around completely, walk a few steps, then turn to the left and walk up to the wall. | STEP 2: Pick up the cardboard box that is sitting on the floor. | STEP 3: Turn around completely and walk straight across the room to the table. | STEP 4: Turn on the lamp that is sitting on the table. | END"]} {"id": "trial_T20190909_113743_603978-0", "input": "Put a chilled bowl away in the cabinet under the toaster. 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, Potato, 0.415, 1.819, 1.520, 0, 180, 0, 100 [SEP] 2, DishSponge, -1.056, 0.820, -1.360, 0, 90, 0, 101 [SEP] 3, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 80 [SEP] 4, ButterKnife, 2.221, 0.911, 1.044, 0, 0, 0, 77 [SEP] 5, Spatula, -0.007, 0.926, 1.468, 0, 270, 0, 53 [SEP] 6, Plate, 2.221, 0.914, 1.468, 0, 0, 0, 77 [SEP] 7, Cup, 0.634, 0.909, -0.345, 0, 0, 0, 42 [SEP] 8, Egg, -1.056, 0.858, -1.206, 0, 90, 0, 101 [SEP] 9, Egg, 0.123, 0.803, -0.541, 0, 0, 0, 99 [SEP] 10, Knife, 2.221, 0.944, 1.214, 0, 0, 0, 77 [SEP] 11, SoapBottle, -1.962, 0.429, 1.375, 0, 270, 0, 95 [SEP] 12, Tomato, -0.939, 0.852, -1.400, 0, 0, 0, 101 [SEP] 13, Tomato, -0.157, 0.797, -0.651, 0, 0, 0, 99 [SEP] 14, SaltShaker, -0.836, 0.817, -1.473, 0, 0, 0, 101 [SEP] 15, PepperShaker, -0.621, 0.817, -1.308, 0, 90, 0, 101 [SEP] 16, PepperShaker, 1.422, 0.908, 1.129, 0, 0, 0, 77 [SEP] 17, Bread, 1.688, 0.969, 1.468, 0, 0, 0, 77 [SEP] 18, Lettuce, 2.754, 0.992, 1.299, 0, 0, 0, 77 [SEP] 19, SoapBottle, 1.155, 0.917, 1.553, 0, 0, 0, 77 [SEP] 20, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 42 [SEP] 21, Fork, 1.768, 0.772, 1.198, 0, 270, 0, 75 [SEP] 22, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 48 [SEP] 23, Bread, 2.488, 0.969, 1.299, 0, 0, 0, 77 [SEP] 24, Egg, -0.157, 0.803, -0.762, 0, 0, 0, 99 [SEP] 25, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 42 [SEP] 26, Tomato, -0.621, 0.852, -1.206, 0, 90, 0, 101 [SEP] 27, Cup, -0.017, 0.763, -0.596, 0, 0, 0, 99 [SEP] 28, Spatula, 0.193, 0.780, -0.541, 0, 270, 0, 99 [SEP] 29, Apple, 0.888, 0.980, -0.854, 0, 0, 0, 42 [SEP] 30, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 45 [SEP] 31, Lettuce, -0.246, 0.992, 1.214, 0, 0, 0, 53 [SEP] 32, SaltShaker, 0.054, 0.908, -0.316, 0, 0, 0, 42 [SEP] 33, Knife, -0.911, 0.853, -1.308, 0, 90, 0, 101 [SEP] 34, Potato, 0.053, 0.800, -0.762, 0, 0, 0, 99 [SEP] 35, PepperShaker, -0.694, 0.817, -1.360, 0, 90, 0, 101 [SEP] 36, ButterKnife, -0.939, 0.820, -1.183, 0, 90, 0, 101 [SEP] 37, Bowl, 2.156, 0.909, -0.769, 0, 0, 0, 42 [SEP] 38, DishSponge, 1.209, 0.771, 1.160, 0, 0, 0, 87 [SEP] 39, Spoon, -0.766, 0.822, -1.308, 0, 90, 0, 101 [SEP] 40, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 42 [SEP] 41, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 42, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 43, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 44, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 45, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 46, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 47, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 48, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 50, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 51, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 52, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 53, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 54, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 55, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 56, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 57, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 58, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 59, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 60, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 61, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 62, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 64, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 65, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 71, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 72, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 73, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 77, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 78, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 80, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 81, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 82, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 83, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 84, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 85, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 86, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 87, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 88, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 89, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 94, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 95, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 96, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 97, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 98, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 99, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 100, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 101, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 102, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: Move to the counter right of the fridge in front of you. | STEP 2: Pick up the blue bowl on the counter, left of the fridge. | STEP 3: Bring the bowl to the fridge on the left. | STEP 4: Chill the bowl in the fridge. | STEP 5: Bring the chilled bowl to the right, to the cabinet under the toaster. | STEP 6: Put the chilled bowl away in the cabinet under the toaster. | END"]} {"id": "trial_T20190909_113743_603978-1", "input": "take the bowl to the fridge then the cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.75, 0.900, 0.75, 0, 180, 0, [SEP] 1, Potato, 0.415, 1.819, 1.520, 0, 180, 0, 100 [SEP] 2, DishSponge, -1.056, 0.820, -1.360, 0, 90, 0, 101 [SEP] 3, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 80 [SEP] 4, ButterKnife, 2.221, 0.911, 1.044, 0, 0, 0, 77 [SEP] 5, Spatula, -0.007, 0.926, 1.468, 0, 270, 0, 53 [SEP] 6, Plate, 2.221, 0.914, 1.468, 0, 0, 0, 77 [SEP] 7, Cup, 0.634, 0.909, -0.345, 0, 0, 0, 42 [SEP] 8, Egg, -1.056, 0.858, -1.206, 0, 90, 0, 101 [SEP] 9, Egg, 0.123, 0.803, -0.541, 0, 0, 0, 99 [SEP] 10, Knife, 2.221, 0.944, 1.214, 0, 0, 0, 77 [SEP] 11, SoapBottle, -1.962, 0.429, 1.375, 0, 270, 0, 95 [SEP] 12, Tomato, -0.939, 0.852, -1.400, 0, 0, 0, 101 [SEP] 13, Tomato, -0.157, 0.797, -0.651, 0, 0, 0, 99 [SEP] 14, SaltShaker, -0.836, 0.817, -1.473, 0, 0, 0, 101 [SEP] 15, PepperShaker, -0.621, 0.817, -1.308, 0, 90, 0, 101 [SEP] 16, PepperShaker, 1.422, 0.908, 1.129, 0, 0, 0, 77 [SEP] 17, Bread, 1.688, 0.969, 1.468, 0, 0, 0, 77 [SEP] 18, Lettuce, 2.754, 0.992, 1.299, 0, 0, 0, 77 [SEP] 19, SoapBottle, 1.155, 0.917, 1.553, 0, 0, 0, 77 [SEP] 20, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 42 [SEP] 21, Fork, 1.768, 0.772, 1.198, 0, 270, 0, 75 [SEP] 22, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 48 [SEP] 23, Bread, 2.488, 0.969, 1.299, 0, 0, 0, 77 [SEP] 24, Egg, -0.157, 0.803, -0.762, 0, 0, 0, 99 [SEP] 25, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 42 [SEP] 26, Tomato, -0.621, 0.852, -1.206, 0, 90, 0, 101 [SEP] 27, Cup, -0.017, 0.763, -0.596, 0, 0, 0, 99 [SEP] 28, Spatula, 0.193, 0.780, -0.541, 0, 270, 0, 99 [SEP] 29, Apple, 0.888, 0.980, -0.854, 0, 0, 0, 42 [SEP] 30, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 45 [SEP] 31, Lettuce, -0.246, 0.992, 1.214, 0, 0, 0, 53 [SEP] 32, SaltShaker, 0.054, 0.908, -0.316, 0, 0, 0, 42 [SEP] 33, Knife, -0.911, 0.853, -1.308, 0, 90, 0, 101 [SEP] 34, Potato, 0.053, 0.800, -0.762, 0, 0, 0, 99 [SEP] 35, PepperShaker, -0.694, 0.817, -1.360, 0, 90, 0, 101 [SEP] 36, ButterKnife, -0.939, 0.820, -1.183, 0, 90, 0, 101 [SEP] 37, Bowl, 2.156, 0.909, -0.769, 0, 0, 0, 42 [SEP] 38, DishSponge, 1.209, 0.771, 1.160, 0, 0, 0, 87 [SEP] 39, Spoon, -0.766, 0.822, -1.308, 0, 90, 0, 101 [SEP] 40, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 42 [SEP] 41, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 42, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 43, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 44, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 45, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 46, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 47, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 48, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 50, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 51, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 52, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 53, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 54, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 55, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 56, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 57, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 58, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 59, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 60, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 61, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 62, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 64, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 65, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 71, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 72, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 73, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 77, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 78, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 80, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 81, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 82, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 83, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 84, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 85, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 86, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 87, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 88, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 89, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 94, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 95, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 96, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 97, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 98, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 99, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 100, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 101, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 102, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: go to the counter to the right of the fridge | STEP 2: pick up the blue bowl from the counter | STEP 3: take the bowl to the fridge | STEP 4: put the bowl in the fridge then remove | STEP 5: take the bowl to the cabinet on the bottom to the right of the fridge | STEP 6: put the bowl in the cabinet | END"]} {"id": "trial_T20190908_034753_087158-2", "input": "Move two alarm clocks, cover keys. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.949, -1.5, 0, 0, 0, [SEP] 1, CD, -0.069, 1.107, 3.198, 0, 180, 0, 46 [SEP] 2, CellPhone, 1.723, 0.610, 0.068, 0, 0, 0, 23 [SEP] 3, Pen, 1.666, 0.993, -2.125, 0, 270, 0, 38 [SEP] 4, Pencil, -0.970, 0.788, -0.548, 0, 0, 0, 59 [SEP] 5, CreditCard, -0.904, 0.785, 0.081, 0, 0, 0, 59 [SEP] 6, KeyChain, -0.068, 0.785, 3.171, 0, 180, 0, 45 [SEP] 7, KeyChain, -0.812, 0.586, 0.165, 0, 0, 0, 60 [SEP] 8, Laptop, -0.904, 0.781, -0.128, 0, 0, 0, 59 [SEP] 9, AlarmClock, 2.803, 0.986, -1.949, 0, 270, 0, 38 [SEP] 10, Book, 2.710, 0.610, 0.790, 0, 0, 0, 23 [SEP] 11, KeyChain, -0.444, 1.109, 3.143, 0, 180, 0, 46 [SEP] 12, CreditCard, 1.950, 0.988, -2.212, 0, 270, 0, 38 [SEP] 13, Pen, 3.377, 0.729, 1.352, 0, 180, 0, 63 [SEP] 14, Pencil, 3.377, 0.727, 1.488, 0, 180, 0, 63 [SEP] 15, Laptop, 2.217, 0.607, 0.790, 0, 0, 0, 23 [SEP] 16, Vase, 1.332, 0.185, -1.786, 0, 270, 0, 35 [SEP] 17, AlarmClock, 2.519, 0.989, -1.949, 0, 270, 0, 38 [SEP] 18, Pillow, 2.217, 0.674, -0.172, 0, 0, 0, 23 [SEP] 19, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 23 [SEP] 20, CellPhone, -0.885, 0.585, -0.794, 0, 0, 0, 51 [SEP] 21, CD, -0.706, 0.783, -0.548, 0, 0, 0, 59 [SEP] 22, Vase, -0.838, 0.789, -0.758, 0, 0, 0, 59 [SEP] 23, Bed, 2.217, 0.050, 0.585, 0, 0, 0, [SEP] 24, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0, [SEP] 25, Painting, 2.990, 1.592, 1.567, 90, 0, 0, [SEP] 26, Painting, 1.524, 1.592, 1.567, 90, 0, 0, [SEP] 27, Mirror, -1.190, 1.417, -0.223, 0, 270, 0, [SEP] 28, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0, [SEP] 29, Window, -2.629, 1.460, 2.891, 90, 270, 0, [SEP] 30, Window, -2.629, 1.460, 4.084, 90, 270, 0, [SEP] 31, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0, [SEP] 32, Drawer, 2.490, 0.949, -1.703, 0, 0, 0, [SEP] 33, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0, [SEP] 34, Drawer, 1.975, 0.949, -1.703, 0, 0, 0, [SEP] 35, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0, [SEP] 36, Drawer, 1.457, 0.949, -1.703, 0, 0, 0, [SEP] 37, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0, [SEP] 38, Dresser, 2.234, 0.048, -1.950, 0, 0, 0, [SEP] 39, Drawer, 3.011, 0.949, -1.703, 0, 0, 0, [SEP] 40, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0, [SEP] 41, Shelf, -0.163, 1.461, 3.219, 0, 180, 0, [SEP] 42, Drawer, -0.161, 0.242, 3.166, 0, 180, 0, [SEP] 43, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0, [SEP] 44, Drawer, -0.161, 0.562, 3.168, 0, 180, 0, [SEP] 45, Shelf, -0.162, 0.922, 3.164, 0, 180, 0, [SEP] 46, Shelf, -0.162, 1.241, 3.163, 0, 180, 0, [SEP] 47, Blinds, -2.550, 2.486, 2.911, 0, 90, 0, [SEP] 48, Blinds, -2.550, 2.486, 4.107, 0, 90, 0, [SEP] 49, Drawer, -0.833, 0.217, -0.336, 0, 90, 0, [SEP] 50, Drawer, -0.833, 0.217, 0.486, 0, 90, 0, [SEP] 51, Drawer, -0.833, 0.628, -0.747, 0, 90, 0, [SEP] 52, Drawer, -0.833, 0.217, 0.075, 0, 90, 0, [SEP] 53, Drawer, -0.833, 0.628, 0.486, 0, 90, 0, [SEP] 54, Drawer, -0.833, 0.217, -0.747, 0, 90, 0, [SEP] 55, Drawer, -0.833, 0.423, -0.336, 0, 90, 0, [SEP] 56, Drawer, -0.833, 0.423, 0.075, 0, 90, 0, [SEP] 57, Drawer, -0.833, 0.423, 0.486, 0, 90, 0, [SEP] 58, Drawer, -0.833, 0.423, -0.747, 0, 90, 0, [SEP] 59, Dresser, -0.934, 0.050, -0.129, 0, 90, 0, [SEP] 60, Drawer, -0.833, 0.628, 0.075, 0, 90, 0, [SEP] 61, Drawer, -0.833, 0.628, -0.336, 0, 90, 0, [SEP] 62, Drawer, 3.454, 0.212, 1.262, 0, 180, 0, [SEP] 63, SideTable, 3.455, 0.046, 1.328, 0, 180, 0, [SEP] 64, Drawer, 3.454, 0.504, 1.262, 0, 180, 0, [SEP] 65, NorthWall, , , , , , , [SEP] 66, EastWall, , , , , , , [SEP] 67, SouthWall, , , , , , , [SEP] 68, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, go to far end of dresser, turn right to face dresser. | STEP 2: Pick up the right alarm clock, closest to the credit card. | STEP 3: Turn right, proceed to desk. Turn right, proceed to shelf. | STEP 4: Place alarm clock on second shelf down, to the left of the keys. | STEP 5: Turn around, proceed to dresser. Turn left, proceed to end of dresser, turn right to face dresser. | STEP 6: Pick up alarm clock from dresser. | STEP 7: Turn around, proceed to desk. Turn right, proceed to shelf. | STEP 8: Put alarm clock directly to the right of the other alarm clock, directly covering the keys. | END"]} {"id": "trial_T20190907_185854_345340-0", "input": "Put a chilled mug on the coffee maker. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 0.0, 0, 180, 0, [SEP] 1, Potato, 2.715, 1.598, -0.512, 0, 0, 0, 102 [SEP] 2, DishSponge, -0.990, 0.820, -1.328, 0, 0, 0, 106 [SEP] 3, DishSponge, -1.056, 0.820, -1.206, 0, 90, 0, 106 [SEP] 4, Pot, 1.955, 0.915, 1.214, 0, 0, 0, 82 [SEP] 5, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 53 [SEP] 6, Spoon, 1.073, 0.772, 1.122, 0, 90, 0, 92 [SEP] 7, Spoon, -0.887, 0.822, -1.400, 0, 0, 0, 106 [SEP] 8, Plate, 1.880, 1.658, 1.468, 0, 0, 0, 59 [SEP] 9, Cup, 2.591, 1.016, -0.775, 0, 0, 0, 102 [SEP] 10, Cup, 0.825, 1.653, -0.771, 0, 180, 0, 57 [SEP] 11, SoapBottle, 1.485, 0.120, -0.498, 0, 180, 0, 64 [SEP] 12, Tomato, 2.591, 1.594, -0.840, 0, 0, 0, 102 [SEP] 13, Bowl, 2.838, 1.286, -0.578, 0, 0, 0, 102 [SEP] 14, SaltShaker, 0.390, 2.153, 1.389, 0, 0, 0, 81 [SEP] 15, PepperShaker, 0.707, 2.150, 1.468, 0, 0, 0, 56 [SEP] 16, Bread, 2.838, 1.621, -0.709, 0, 0, 0, 102 [SEP] 17, Bread, 2.488, 0.969, 1.129, 0, 0, 0, 82 [SEP] 18, Lettuce, -0.785, 0.901, -1.400, 0, 0, 0, 106 [SEP] 19, Lettuce, 2.754, 0.992, 1.129, 0, 0, 0, 82 [SEP] 20, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 47 [SEP] 21, Mug, 0.888, 0.906, -0.684, 0, 0, 0, 47 [SEP] 22, Mug, 2.872, 0.109, 1.119, 0, 0, 0, 79 [SEP] 23, Apple, 2.715, 1.087, -0.775, 0, 0, 0, 102 [SEP] 24, SoapBottle, 1.902, 0.917, -0.430, 0, 0, 0, 47 [SEP] 25, Plate, 1.422, 0.914, 1.468, 0, 0, 0, 82 [SEP] 26, Fork, 0.193, 0.766, -0.596, 0, 0, 0, 104 [SEP] 27, Pot, 1.422, 0.915, 1.129, 0, 0, 0, 82 [SEP] 28, Bread, -0.246, 0.969, 1.129, 0, 0, 0, 58 [SEP] 29, Egg, -1.991, 0.461, 1.502, 0, 270, 0, 100 [SEP] 30, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 62 [SEP] 31, Tomato, 2.962, 1.594, -0.512, 0, 0, 0, 102 [SEP] 32, Cup, 0.812, 2.151, 1.468, 0, 0, 0, 56 [SEP] 33, Spatula, 0.053, 0.780, -0.651, 0, 0, 0, 104 [SEP] 34, Apple, 0.466, 1.853, 1.488, 0, 180, 0, 105 [SEP] 35, Pan, 1.955, 0.911, 1.468, 0, 90, 0, 82 [SEP] 36, Lettuce, 2.221, 0.992, 1.468, 0, 0, 0, 82 [SEP] 37, SaltShaker, 1.155, 0.908, 1.214, 0, 0, 0, 82 [SEP] 38, Knife, 1.141, 0.944, -0.684, 0, 0, 0, 47 [SEP] 39, Potato, 2.962, 1.323, -0.840, 0, 0, 0, 102 [SEP] 40, PepperShaker, 1.213, 0.111, 1.077, 0, 0, 0, 76 [SEP] 41, ButterKnife, 2.754, 0.911, 1.383, 0, 0, 0, 82 [SEP] 42, Bowl, 1.688, 0.909, 1.299, 0, 0, 0, 82 [SEP] 43, DishSponge, -0.621, 0.820, -1.308, 0, 90, 0, 106 [SEP] 44, Spoon, -0.766, 0.822, -1.308, 0, 90, 0, 106 [SEP] 45, Mug, -0.157, 0.760, -0.707, 0, 180, 0, 104 [SEP] 46, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 47, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 48, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 49, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 50, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 52, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 53, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 54, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 55, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 56, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 57, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 58, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 59, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 60, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 61, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 62, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 63, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 64, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 65, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 66, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 67, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 68, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 69, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 70, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 78, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 80, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 82, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 83, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 84, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 85, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 86, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 87, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 88, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 89, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 90, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 91, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 92, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 93, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 94, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 99, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 100, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 101, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 102, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 103, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 104, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 105, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 106, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 107, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 108, NorthWall, , , , , , , [SEP] 109, EastWall, , , , , , , [SEP] 110, SouthWall, , , , , , , [SEP] 111, WestWall, , , , , , , ", "output": ["STEP 1: Move to the coffee maker ahead of you | STEP 2: Pick up the mug from the coffee maker | STEP 3: Move to the fridge to the left of you | STEP 4: Chill the mug in the fridge for a moment | STEP 5: Move to the coffee maker to the right of the fridge | STEP 6: Put the mug on the coffee maker | END"]} {"id": "trial_T20190908_044755_484518-2", "input": "drop two remotes 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, 0.5, 0.900, -0.75, 0, 270, 0, [SEP] 1, KeyChain, 1.285, 0.324, -0.742, 0, 0, 0, 38 [SEP] 2, KeyChain, 1.933, 0.872, 0.326, 0, 90, 0, 36 [SEP] 3, CreditCard, -0.582, 0.037, -0.152, 0, 270, 0, 26 [SEP] 4, CreditCard, -0.260, 0.551, -0.623, 0, 270, 0, 30 [SEP] 5, RemoteControl, -0.561, 0.553, -0.623, 0, 270, 0, 30 [SEP] 6, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 38 [SEP] 7, KeyChain, -0.711, 0.199, -0.185, 0, 270, 0, 28 [SEP] 8, Watch, -0.582, 0.201, -0.120, 0, 270, 0, 28 [SEP] 9, Newspaper, 1.724, 0.868, 0.325, 0, 90, 0, 36 [SEP] 10, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 32 [SEP] 11, CreditCard, 1.364, 0.308, -0.588, 0, 0, 0, 38 [SEP] 12, RemoteControl, 1.807, 0.871, 0.537, 0, 90, 0, 36 [SEP] 13, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 30 [SEP] 14, Statue, -0.411, 0.562, -0.192, 0, 0, 0, 30 [SEP] 15, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 30 [SEP] 16, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 17, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 18, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 19, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 20, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 21, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 22, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 23, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 24, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 25, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 26, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 28, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 29, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 30, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 31, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 32, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 33, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 34, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 35, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 36, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 37, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 38, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, WestWall, , , , , , , ", "output": ["STEP 1: move forward towards the table | STEP 2: pick up the remote | STEP 3: move left towards the couch | STEP 4: drop the remote on the couch | STEP 5: turn around to the center table | STEP 6: pick up the remote on the center table | STEP 7: turn around to the couch | STEP 8: drop the remote on the couch | END"]} {"id": "trial_T20190908_173225_092250-0", "input": "Place a pot filled with water on a stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 0.75, 0, 180, 0, [SEP] 1, Kettle, -0.694, 0.821, -1.206, 0, 0, 0, 104 [SEP] 2, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 51 [SEP] 3, ButterKnife, 0.888, 0.911, -0.430, 0, 0, 0, 45 [SEP] 4, Spatula, 1.141, 0.926, -0.345, 0, 180, 0, 45 [SEP] 5, Spatula, -0.939, 0.835, -1.328, 0, 90, 0, 104 [SEP] 6, Plate, 2.221, 0.914, 1.214, 0, 0, 0, 80 [SEP] 7, Cup, -0.103, 0.909, 1.383, 0, 0, 0, 56 [SEP] 8, Cup, 1.597, 1.653, -0.732, 0, 180, 0, 82 [SEP] 9, Egg, 2.653, 1.601, -0.709, 0, 0, 0, 100 [SEP] 10, Egg, -1.056, 0.858, -1.411, 0, 90, 0, 104 [SEP] 11, Knife, -0.103, 0.944, 1.129, 0, 0, 0, 56 [SEP] 12, Tomato, -0.621, 0.852, -1.360, 0, 90, 0, 104 [SEP] 13, Bowl, 2.837, 0.112, 1.156, 0, 0, 0, 77 [SEP] 14, Bowl, 2.777, 1.017, -0.775, 0, 0, 0, 100 [SEP] 15, SaltShaker, -0.197, 0.111, 1.236, 0, 0, 0, 73 [SEP] 16, PepperShaker, -0.294, 0.908, 1.129, 0, 0, 0, 56 [SEP] 17, PepperShaker, -0.990, 0.817, -1.473, 0, 0, 0, 104 [SEP] 18, Lettuce, 0.634, 0.992, -0.430, 0, 0, 0, 45 [SEP] 19, Lettuce, -0.836, 0.901, -1.400, 0, 0, 0, 104 [SEP] 20, Mug, -1.056, 0.815, -1.257, 0, 270, 0, 104 [SEP] 21, Mug, 2.754, 0.906, 1.383, 0, 0, 0, 80 [SEP] 22, SoapBottle, -0.836, 0.826, -1.038, 0, 0, 0, 104 [SEP] 23, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 45 [SEP] 24, Fork, -0.151, 0.912, 1.299, 0, 0, 0, 56 [SEP] 25, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 60 [SEP] 26, Bread, 2.221, 0.969, 1.468, 0, 0, 0, 80 [SEP] 27, Egg, 2.962, 1.056, -0.512, 0, 0, 0, 100 [SEP] 28, Kettle, 2.488, 0.912, 1.299, 0, 0, 0, 80 [SEP] 29, Tomato, -1.933, 0.455, 1.290, 0, 270, 0, 98 [SEP] 30, Cup, 0.812, 2.151, 1.429, 0, 0, 0, 54 [SEP] 31, Spatula, 1.155, 0.926, 1.129, 0, 180, 0, 80 [SEP] 32, Apple, 1.155, 0.980, 1.214, 0, 0, 0, 80 [SEP] 33, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 48 [SEP] 34, Lettuce, 1.955, 0.992, 1.214, 0, 0, 0, 80 [SEP] 35, SaltShaker, 2.277, 1.651, -0.725, 0, 180, 0, 66 [SEP] 36, Knife, 1.155, 0.944, 1.299, 0, 0, 0, 80 [SEP] 37, Potato, -1.933, 0.458, 1.417, 0, 270, 0, 98 [SEP] 38, PepperShaker, -0.055, 0.908, 1.044, 0, 0, 0, 56 [SEP] 39, ButterKnife, 1.422, 0.911, 1.383, 0, 0, 0, 80 [SEP] 40, Bowl, 0.466, 1.782, 1.455, 0, 180, 0, 103 [SEP] 41, DishSponge, 2.223, 0.114, 1.081, 0, 0, 0, 81 [SEP] 42, Spoon, 1.276, 0.772, -0.460, 0, 270, 0, 64 [SEP] 43, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 45 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 106, NorthWall, , , , , , , [SEP] 107, EastWall, , , , , , , [SEP] 108, SouthWall, , , , , , , [SEP] 109, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your right, then walk towards the stove and turn to face it. | STEP 2: Pick up the pot from the back left burner of the stove. | STEP 3: Turn around and walk to the sink. | STEP 4: Fill the pot with water. | STEP 5: Turn around and walk back to the stove. | STEP 6: Place the pot on the back left burner. | END"]} {"id": "trial_T20190908_173225_092250-2", "input": "To fill a pot with water and place it back on it's original burner. 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, Kettle, -0.694, 0.821, -1.206, 0, 0, 0, 104 [SEP] 2, Kettle, 0.281, 0.964, 1.082, 0, 0, 0, 51 [SEP] 3, ButterKnife, 0.888, 0.911, -0.430, 0, 0, 0, 45 [SEP] 4, Spatula, 1.141, 0.926, -0.345, 0, 180, 0, 45 [SEP] 5, Spatula, -0.939, 0.835, -1.328, 0, 90, 0, 104 [SEP] 6, Plate, 2.221, 0.914, 1.214, 0, 0, 0, 80 [SEP] 7, Cup, -0.103, 0.909, 1.383, 0, 0, 0, 56 [SEP] 8, Cup, 1.597, 1.653, -0.732, 0, 180, 0, 82 [SEP] 9, Egg, 2.653, 1.601, -0.709, 0, 0, 0, 100 [SEP] 10, Egg, -1.056, 0.858, -1.411, 0, 90, 0, 104 [SEP] 11, Knife, -0.103, 0.944, 1.129, 0, 0, 0, 56 [SEP] 12, Tomato, -0.621, 0.852, -1.360, 0, 90, 0, 104 [SEP] 13, Bowl, 2.837, 0.112, 1.156, 0, 0, 0, 77 [SEP] 14, Bowl, 2.777, 1.017, -0.775, 0, 0, 0, 100 [SEP] 15, SaltShaker, -0.197, 0.111, 1.236, 0, 0, 0, 73 [SEP] 16, PepperShaker, -0.294, 0.908, 1.129, 0, 0, 0, 56 [SEP] 17, PepperShaker, -0.990, 0.817, -1.473, 0, 0, 0, 104 [SEP] 18, Lettuce, 0.634, 0.992, -0.430, 0, 0, 0, 45 [SEP] 19, Lettuce, -0.836, 0.901, -1.400, 0, 0, 0, 104 [SEP] 20, Mug, -1.056, 0.815, -1.257, 0, 270, 0, 104 [SEP] 21, Mug, 2.754, 0.906, 1.383, 0, 0, 0, 80 [SEP] 22, SoapBottle, -0.836, 0.826, -1.038, 0, 0, 0, 104 [SEP] 23, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 45 [SEP] 24, Fork, -0.151, 0.912, 1.299, 0, 0, 0, 56 [SEP] 25, Pot, 0.297, 0.960, 1.346, 0, 0, 0, 60 [SEP] 26, Bread, 2.221, 0.969, 1.468, 0, 0, 0, 80 [SEP] 27, Egg, 2.962, 1.056, -0.512, 0, 0, 0, 100 [SEP] 28, Kettle, 2.488, 0.912, 1.299, 0, 0, 0, 80 [SEP] 29, Tomato, -1.933, 0.455, 1.290, 0, 270, 0, 98 [SEP] 30, Cup, 0.812, 2.151, 1.429, 0, 0, 0, 54 [SEP] 31, Spatula, 1.155, 0.926, 1.129, 0, 180, 0, 80 [SEP] 32, Apple, 1.155, 0.980, 1.214, 0, 0, 0, 80 [SEP] 33, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 48 [SEP] 34, Lettuce, 1.955, 0.992, 1.214, 0, 0, 0, 80 [SEP] 35, SaltShaker, 2.277, 1.651, -0.725, 0, 180, 0, 66 [SEP] 36, Knife, 1.155, 0.944, 1.299, 0, 0, 0, 80 [SEP] 37, Potato, -1.933, 0.458, 1.417, 0, 270, 0, 98 [SEP] 38, PepperShaker, -0.055, 0.908, 1.044, 0, 0, 0, 56 [SEP] 39, ButterKnife, 1.422, 0.911, 1.383, 0, 0, 0, 80 [SEP] 40, Bowl, 0.466, 1.782, 1.455, 0, 180, 0, 103 [SEP] 41, DishSponge, 2.223, 0.114, 1.081, 0, 0, 0, 81 [SEP] 42, Spoon, 1.276, 0.772, -0.460, 0, 270, 0, 64 [SEP] 43, Mug, 1.428, 0.965, -0.577, 0, 0, 0, 45 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 106, NorthWall, , , , , , , [SEP] 107, EastWall, , , , , , , [SEP] 108, SouthWall, , , , , , , [SEP] 109, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and step to the left to face the stove. | STEP 2: Pick up the pot on the back left burner. | STEP 3: Turn around and step forward to face the sink. | STEP 4: Fill the pot with water and then pick it up. | STEP 5: Turn around and step forward to face the stove. | STEP 6: Place the water filled pot on the back left burner. | END"]} {"id": "trial_T20190908_202304_829072-0", "input": "put two pencils in the top left drawer of the dresser. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.949, 2.5, 0, 270, 0, [SEP] 1, CD, -0.990, 0.091, -1.147, 0, 0, 0, 22 [SEP] 2, Pencil, 0.024, 0.788, 3.088, 0, 180, 0, 43 [SEP] 3, Pencil, -0.970, 0.788, 0.081, 0, 0, 0, 57 [SEP] 4, KeyChain, -0.068, 0.785, 3.198, 0, 270, 0, 43 [SEP] 5, Book, -0.838, 0.784, -0.338, 0, 0, 0, 57 [SEP] 6, Laptop, 2.234, 0.986, -1.862, 0, 270, 0, 36 [SEP] 7, Laptop, 2.545, 0.607, -0.172, 0, 0, 0, 21 [SEP] 8, Book, 1.950, 0.988, -2.037, 0, 270, 0, 36 [SEP] 9, KeyChain, 3.455, 0.725, 1.488, 0, 180, 0, 61 [SEP] 10, CreditCard, 3.300, 0.723, 1.352, 0, 180, 0, 61 [SEP] 11, Pen, 2.519, 0.993, -2.037, 0, 270, 0, 36 [SEP] 12, Pencil, -0.350, 1.112, 3.088, 0, 180, 0, 44 [SEP] 13, Laptop, 2.217, 0.607, 0.308, 0, 0, 0, 21 [SEP] 14, Vase, 3.012, 0.189, -1.721, 0, 270, 0, 35 [SEP] 15, AlarmClock, 1.382, 0.989, -1.774, 0, 270, 0, 36 [SEP] 16, Pillow, 2.381, 0.674, 0.790, 0, 0, 0, 21 [SEP] 17, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 21 [SEP] 18, CellPhone, 1.382, 0.988, -2.212, 0, 270, 0, 36 [SEP] 19, CD, -0.776, 0.379, 0.166, 0, 0, 0, 54 [SEP] 20, Vase, -0.904, 0.789, 0.501, 0, 0, 0, 57 [SEP] 21, Bed, 2.217, 0.050, 0.585, 0, 0, 0, [SEP] 22, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0, [SEP] 23, Painting, 2.990, 1.592, 1.567, 90, 0, 0, [SEP] 24, Painting, 1.524, 1.592, 1.567, 90, 0, 0, [SEP] 25, Mirror, -1.190, 1.417, -0.223, 0, 270, 0, [SEP] 26, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0, [SEP] 27, Window, -2.629, 1.460, 2.891, 90, 270, 0, [SEP] 28, Window, -2.629, 1.460, 4.084, 90, 270, 0, [SEP] 29, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0, [SEP] 30, Drawer, 2.490, 0.949, -1.703, 0, 0, 0, [SEP] 31, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0, [SEP] 32, Drawer, 1.975, 0.949, -1.703, 0, 0, 0, [SEP] 33, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0, [SEP] 34, Drawer, 1.457, 0.949, -1.703, 0, 0, 0, [SEP] 35, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0, [SEP] 36, Dresser, 2.234, 0.048, -1.950, 0, 0, 0, [SEP] 37, Drawer, 3.011, 0.949, -1.703, 0, 0, 0, [SEP] 38, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0, [SEP] 39, Shelf, -0.163, 1.461, 3.219, 0, 180, 0, [SEP] 40, Drawer, -0.161, 0.242, 3.166, 0, 180, 0, [SEP] 41, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0, [SEP] 42, Drawer, -0.161, 0.562, 3.168, 0, 180, 0, [SEP] 43, Shelf, -0.162, 0.922, 3.164, 0, 180, 0, [SEP] 44, Shelf, -0.162, 1.241, 3.163, 0, 180, 0, [SEP] 45, Blinds, -2.550, 2.486, 2.911, 0, 90, 0, [SEP] 46, Blinds, -2.550, 2.486, 4.107, 0, 90, 0, [SEP] 47, Drawer, -0.833, 0.217, -0.336, 0, 90, 0, [SEP] 48, Drawer, -0.833, 0.217, 0.486, 0, 90, 0, [SEP] 49, Drawer, -0.833, 0.628, -0.747, 0, 90, 0, [SEP] 50, Drawer, -0.833, 0.217, 0.075, 0, 90, 0, [SEP] 51, Drawer, -0.833, 0.628, 0.486, 0, 90, 0, [SEP] 52, Drawer, -0.833, 0.217, -0.747, 0, 90, 0, [SEP] 53, Drawer, -0.833, 0.423, -0.336, 0, 90, 0, [SEP] 54, Drawer, -0.833, 0.423, 0.075, 0, 90, 0, [SEP] 55, Drawer, -0.833, 0.423, 0.486, 0, 90, 0, [SEP] 56, Drawer, -0.833, 0.423, -0.747, 0, 90, 0, [SEP] 57, Dresser, -0.934, 0.050, -0.129, 0, 90, 0, [SEP] 58, Drawer, -0.833, 0.628, 0.075, 0, 90, 0, [SEP] 59, Drawer, -0.833, 0.628, -0.336, 0, 90, 0, [SEP] 60, Drawer, 3.454, 0.212, 1.262, 0, 180, 0, [SEP] 61, SideTable, 3.455, 0.046, 1.328, 0, 180, 0, [SEP] 62, Drawer, 3.454, 0.504, 1.262, 0, 180, 0, [SEP] 63, NorthWall, , , , , , , [SEP] 64, EastWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, WestWall, , , , , , , ", "output": ["STEP 1: walk over to the bookshelf | STEP 2: take the pencil from the shelf | STEP 3: take the pencil to the dresser | STEP 4: put the pencil in the top drawer on the left | STEP 5: approach the top of the dresser | STEP 6: pick up the pencil from the top of the dresser | STEP 7: approach the left side of dresser again | STEP 8: put the pencil in the top drawer on the left next to the first pencil | END"]} {"id": "trial_T20190908_060116_020381-0", "input": "Place chilled coffee mug on coffee maker SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -0.75, 0, 270, 0, [SEP] 1, DishSponge, 1.558, 0.770, -0.536, 0, 180, 0, 78 [SEP] 2, DishSponge, 2.481, 0.770, 1.198, 0, 0, 0, 64 [SEP] 3, ButterKnife, -0.887, 0.820, -1.255, 0, 90, 0, 107 [SEP] 4, ButterKnife, -0.939, 0.820, -1.183, 0, 90, 0, 107 [SEP] 5, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 54 [SEP] 6, Spoon, 2.868, 0.772, 1.122, 0, 0, 0, 92 [SEP] 7, Spoon, -0.157, 0.766, -0.596, 0, 90, 0, 105 [SEP] 8, Fork, -0.887, 0.821, -1.473, 0, 0, 0, 107 [SEP] 9, Spatula, -0.694, 0.835, -1.206, 0, 270, 0, 107 [SEP] 10, Plate, 0.759, 2.156, 1.468, 0, 0, 0, 57 [SEP] 11, Plate, 0.231, 2.159, 1.467, 0, 0, 0, 82 [SEP] 12, Egg, 0.263, 0.803, -0.596, 0, 0, 0, 105 [SEP] 13, SoapBottle, 2.754, 0.917, 1.214, 0, 0, 0, 83 [SEP] 14, Tomato, -1.991, 0.455, 1.332, 0, 270, 0, 101 [SEP] 15, Tomato, 2.777, 0.758, -0.535, 0, 0, 0, 103 [SEP] 16, Bowl, 2.715, 1.286, -0.709, 0, 0, 0, 103 [SEP] 17, SaltShaker, 1.450, 1.650, 1.470, 0, 0, 0, 71 [SEP] 18, SaltShaker, -0.055, 0.908, 1.468, 0, 0, 0, 59 [SEP] 19, PepperShaker, -0.839, 0.817, -1.360, 0, 90, 0, 107 [SEP] 20, PepperShaker, -0.694, 0.817, -1.206, 0, 90, 0, 107 [SEP] 21, Bread, 2.221, 0.969, 1.299, 0, 0, 0, 83 [SEP] 22, Lettuce, 2.488, 0.992, 1.468, 0, 0, 0, 83 [SEP] 23, Mug, 1.428, 0.968, -0.577, 0, 0, 0, 48 [SEP] 24, Apple, -1.962, 0.492, 1.459, 0, 270, 0, 101 [SEP] 25, SoapBottle, 1.561, 1.660, 1.432, 0, 0, 0, 71 [SEP] 26, Plate, 1.955, 0.914, 1.299, 0, 0, 0, 83 [SEP] 27, Fork, -0.151, 0.912, 1.214, 0, 180, 0, 59 [SEP] 28, Pot, 1.141, 0.915, -0.769, 0, 0, 0, 48 [SEP] 29, Bread, -0.246, 0.969, 1.129, 0, 0, 0, 59 [SEP] 30, Egg, 0.193, 0.803, -0.762, 0, 0, 0, 105 [SEP] 31, Kettle, 0.281, 0.964, 1.347, 0, 0, 0, 63 [SEP] 32, Tomato, 2.900, 1.050, -0.644, 0, 0, 0, 103 [SEP] 33, Cup, 1.155, 0.909, 1.044, 0, 0, 0, 83 [SEP] 34, Spatula, 0.888, 0.926, -0.515, 0, 0, 0, 48 [SEP] 35, Apple, 0.518, 1.853, 1.488, 0, 180, 0, 106 [SEP] 36, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 51 [SEP] 37, Lettuce, 1.155, 0.992, 1.299, 0, 0, 0, 83 [SEP] 38, SaltShaker, 2.161, 0.111, -0.379, 0, 180, 0, 89 [SEP] 39, Knife, 2.156, 0.944, -0.430, 0, 0, 0, 48 [SEP] 40, Potato, 2.900, 1.598, -0.775, 0, 0, 0, 103 [SEP] 41, PepperShaker, 0.349, 0.908, -0.316, 0, 0, 0, 48 [SEP] 42, ButterKnife, 0.634, 0.911, -0.345, 0, 0, 0, 48 [SEP] 43, Bowl, 2.653, 1.017, -0.644, 0, 0, 0, 103 [SEP] 44, DishSponge, 1.488, 0.114, 1.231, 0, 0, 0, 77 [SEP] 45, Spoon, 1.688, 0.912, 1.129, 0, 0, 0, 83 [SEP] 46, Mug, 2.754, 0.906, 1.468, 0, 0, 0, 83 [SEP] 47, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 48, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 49, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 50, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 51, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 53, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 54, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 55, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 56, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 57, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 58, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 59, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 60, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 61, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 62, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 63, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 64, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 66, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 67, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 68, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 69, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 70, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 71, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 74, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 75, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 79, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 80, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 81, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 83, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 84, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 85, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 86, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 87, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 88, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 89, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 90, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 91, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 92, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 93, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 94, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 95, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 97, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 98, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 99, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 100, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 101, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 102, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 103, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 104, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 105, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 106, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 107, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 108, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 109, NorthWall, , , , , , , [SEP] 110, EastWall, , , , , , , [SEP] 111, SouthWall, , , , , , , [SEP] 112, WestWall, , , , , , , ", "output": ["STEP 1: turn around, go to counter with coffee maker | STEP 2: pick up white coffee cup from heater area of coffee maker | STEP 3: go to black refrigerator to the left | STEP 4: place coffee cup on left side of top shelf of refrigerator, above tomato, close refrigerator, open refrigerator, pick up coffee mug, close refrigerator | STEP 5: go to counter with coffee maker to the right | STEP 6: place mug on heater area of coffee maker | END"]} {"id": "trial_T20190908_202334_442437-2", "input": "Put two pencils 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, 0.0, 0.949, 0.5, 0, 0, 0, [SEP] 1, CD, 1.393, 0.179, -1.841, 0, 270, 0, 35 [SEP] 2, Pencil, -1.037, 0.788, -0.548, 0, 0, 0, 59 [SEP] 3, Pencil, 3.455, 0.727, 1.443, 0, 180, 0, 63 [SEP] 4, KeyChain, 0.006, 0.157, 3.222, 0, 0, 0, 44 [SEP] 5, Book, 2.052, 0.610, 0.790, 0, 0, 0, 23 [SEP] 6, Book, 2.035, 0.184, -1.892, 0, 270, 0, 33 [SEP] 7, Laptop, 2.052, 0.607, 0.308, 0, 0, 0, 23 [SEP] 8, AlarmClock, -0.350, 1.109, 3.171, 0, 180, 0, 46 [SEP] 9, AlarmClock, -0.838, 0.785, 0.081, 0, 0, 0, 59 [SEP] 10, Book, 2.952, 0.184, -1.892, 0, 270, 0, 37 [SEP] 11, KeyChain, 3.455, 0.725, 1.262, 0, 180, 0, 63 [SEP] 12, CreditCard, 0.116, 0.784, 3.198, 0, 180, 0, 45 [SEP] 13, Pen, -0.069, 1.113, 3.088, 0, 180, 0, 46 [SEP] 14, Pencil, -0.068, 0.788, 3.115, 0, 180, 0, 45 [SEP] 15, Laptop, 1.950, 0.983, -1.950, 0, 270, 0, 38 [SEP] 16, Vase, -1.037, 0.789, 0.501, 0, 0, 0, 59 [SEP] 17, AlarmClock, -0.970, 0.786, -0.128, 0, 0, 0, 59 [SEP] 18, Pillow, 2.545, 0.674, 0.308, 0, 0, 0, 23 [SEP] 19, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 23 [SEP] 20, CellPhone, 3.569, 0.125, 1.318, 0, 0, 0, 62 [SEP] 21, CD, -1.043, 0.091, -1.147, 0, 0, 0, 24 [SEP] 22, Vase, -0.384, 0.772, 3.172, 0, 0, 0, 45 [SEP] 23, Bed, 2.217, 0.050, 0.585, 0, 0, 0, [SEP] 24, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0, [SEP] 25, Painting, 2.990, 1.592, 1.567, 90, 0, 0, [SEP] 26, Painting, 1.524, 1.592, 1.567, 90, 0, 0, [SEP] 27, Mirror, -1.190, 1.417, -0.223, 0, 270, 0, [SEP] 28, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0, [SEP] 29, Window, -2.629, 1.460, 2.891, 90, 270, 0, [SEP] 30, Window, -2.629, 1.460, 4.084, 90, 270, 0, [SEP] 31, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0, [SEP] 32, Drawer, 2.490, 0.949, -1.703, 0, 0, 0, [SEP] 33, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0, [SEP] 34, Drawer, 1.975, 0.949, -1.703, 0, 0, 0, [SEP] 35, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0, [SEP] 36, Drawer, 1.457, 0.949, -1.703, 0, 0, 0, [SEP] 37, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0, [SEP] 38, Dresser, 2.234, 0.048, -1.950, 0, 0, 0, [SEP] 39, Drawer, 3.011, 0.949, -1.703, 0, 0, 0, [SEP] 40, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0, [SEP] 41, Shelf, -0.163, 1.461, 3.219, 0, 180, 0, [SEP] 42, Drawer, -0.161, 0.242, 3.166, 0, 180, 0, [SEP] 43, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0, [SEP] 44, Drawer, -0.161, 0.562, 3.168, 0, 180, 0, [SEP] 45, Shelf, -0.162, 0.922, 3.164, 0, 180, 0, [SEP] 46, Shelf, -0.162, 1.241, 3.163, 0, 180, 0, [SEP] 47, Blinds, -2.550, 2.486, 2.911, 0, 90, 0, [SEP] 48, Blinds, -2.550, 2.486, 4.107, 0, 90, 0, [SEP] 49, Drawer, -0.833, 0.217, -0.336, 0, 90, 0, [SEP] 50, Drawer, -0.833, 0.217, 0.486, 0, 90, 0, [SEP] 51, Drawer, -0.833, 0.628, -0.747, 0, 90, 0, [SEP] 52, Drawer, -0.833, 0.217, 0.075, 0, 90, 0, [SEP] 53, Drawer, -0.833, 0.628, 0.486, 0, 90, 0, [SEP] 54, Drawer, -0.833, 0.217, -0.747, 0, 90, 0, [SEP] 55, Drawer, -0.833, 0.423, -0.336, 0, 90, 0, [SEP] 56, Drawer, -0.833, 0.423, 0.075, 0, 90, 0, [SEP] 57, Drawer, -0.833, 0.423, 0.486, 0, 90, 0, [SEP] 58, Drawer, -0.833, 0.423, -0.747, 0, 90, 0, [SEP] 59, Dresser, -0.934, 0.050, -0.129, 0, 90, 0, [SEP] 60, Drawer, -0.833, 0.628, 0.075, 0, 90, 0, [SEP] 61, Drawer, -0.833, 0.628, -0.336, 0, 90, 0, [SEP] 62, Drawer, 3.454, 0.212, 1.262, 0, 180, 0, [SEP] 63, SideTable, 3.455, 0.046, 1.328, 0, 180, 0, [SEP] 64, Drawer, 3.454, 0.504, 1.262, 0, 180, 0, [SEP] 65, NorthWall, , , , , , , [SEP] 66, EastWall, , , , , , , [SEP] 67, SouthWall, , , , , , , [SEP] 68, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, go past the dresser and hang a left, go past the bed and hang a left, go to the bedside table. | STEP 2: Pick up the pencil that is on the bedside table. | STEP 3: Turn around, go to the end of the bed and hang a right, go across the room to the black dresser. | STEP 4: Put the pencil in the middle drawer, third from the left. | STEP 5: Move forward toward to the dresser. | STEP 6: Pick up the pencil that is on top of the dresser. | STEP 7: Turn around, go forward, turn around to face the dresser. | STEP 8: Put the pencil in the middle drawer, third from the left. | END"]} {"id": "trial_T20190907_223324_518562-2", "input": "Move a cardboard box 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, -1.25, 0.901, 2.5, 0, 90, 0, [SEP] 1, Bowl, -0.636, 0.795, 2.377, 0, 270, 0, 42 [SEP] 2, Watch, -0.845, 0.793, 5.826, 0, 0, 0, 41 [SEP] 3, Watch, -6.036, 0.453, 4.547, 0, 0, 0, 52 [SEP] 4, KeyChain, -2.704, 0.534, 3.981, 0, 0, 0, 57 [SEP] 5, CreditCard, -0.552, 0.367, 3.915, 0, 0, 0, 40 [SEP] 6, CreditCard, -0.326, 0.793, 5.826, 0, 0, 0, 41 [SEP] 7, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 51 [SEP] 8, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 56 [SEP] 9, Vase, -0.326, 0.794, 1.951, 0, 0, 0, 42 [SEP] 10, Vase, -2.491, 0.542, 4.335, 0, 270, 0, 57 [SEP] 11, Newspaper, -0.789, 0.365, 3.002, 0, 0, 0, 40 [SEP] 12, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 57 [SEP] 13, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 14, Vase, -3.328, 1.280, 7.045, 0, 90, 0, 56 [SEP] 15, CreditCard, -0.947, 0.441, 3.306, 0, 0, 0, 40 [SEP] 16, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 54 [SEP] 17, KeyChain, -2.640, 1.280, 7.298, 0, 90, 0, 56 [SEP] 18, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 52 [SEP] 19, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 52 [SEP] 20, Bowl, -5.253, 0.535, 6.986, 0, 135, 0, 58 [SEP] 21, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 40 [SEP] 22, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 54 [SEP] 23, RemoteControl, -3.067, 0.455, 7.259, 0, 90, 0, 49 [SEP] 24, Watch, -2.87, 0.880, 7.139, 0, 90, 0, 48 [SEP] 25, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 56 [SEP] 26, Statue, -5.517, 0.535, 6.572, 0, 45, 0, 58 [SEP] 27, Statue, -2.422, 0.543, 3.752, 0, 270, 0, 57 [SEP] 28, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 56 [SEP] 29, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 30, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 31, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 32, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 33, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 34, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 35, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 36, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 37, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 38, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 39, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 40, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 41, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 42, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 43, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 44, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 45, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 46, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 47, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 48, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 49, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 50, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 51, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 52, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 53, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 54, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 55, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 56, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 57, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 58, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 59, NorthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around, walk to the end of the couch, hang a left at the coffee table, and walk up to the cardboard box that is on the floor. | STEP 2: Pick up the cardboard box that is on the floor. | STEP 3: Turn around completely and head back towards the couch. | STEP 4: Place the cardboard box down on the couch. | END"]} {"id": "trial_T20190906_230538_685342-1", "input": "Put the knife plus a cold slice of potato in the recycling 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, 0.75, 0, 270, 0, [SEP] 1, Potato, 2.221, 0.946, 1.383, 0, 0, 0, 87 [SEP] 2, Potato, 0.193, 0.800, -0.596, 0, 0, 0, 109 [SEP] 3, DishSponge, -1.056, 0.820, -1.257, 0, 90, 0, 111 [SEP] 4, DishSponge, 1.141, 0.911, -0.515, 0, 0, 0, 52 [SEP] 5, Kettle, 1.835, 1.655, -0.772, 0, 180, 0, 89 [SEP] 6, ButterKnife, 2.173, 0.771, -0.460, 0, 270, 0, 65 [SEP] 7, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 67 [SEP] 8, Fork, 2.140, 0.772, -0.422, 0, 270, 0, 65 [SEP] 9, Fork, 1.862, 0.772, 1.122, 0, 90, 0, 85 [SEP] 10, Spatula, 1.422, 0.926, 1.129, 0, 0, 0, 87 [SEP] 11, Cup, 0.363, 1.782, 1.488, 0, 180, 0, 110 [SEP] 12, Cup, 2.653, 0.724, -0.504, 0, 0, 0, 107 [SEP] 13, Knife, 0.123, 0.798, -0.651, 0, 0, 0, 109 [SEP] 14, SoapBottle, 0.888, 0.917, -0.6, 0, 0, 0, 52 [SEP] 15, Tomato, -0.983, 0.852, -1.103, 0, 90, 0, 111 [SEP] 16, Tomato, 0.888, 0.942, -0.769, 0, 0, 0, 52 [SEP] 17, Bowl, 2.900, 1.286, -0.578, 0, 0, 0, 107 [SEP] 18, Bowl, 2.153, 0.112, 1.156, 0, 0, 0, 88 [SEP] 19, SaltShaker, 0.284, 2.153, 1.583, 0, 0, 0, 86 [SEP] 20, PepperShaker, 0.759, 2.150, 1.584, 0, 0, 0, 61 [SEP] 21, PepperShaker, 2.221, 0.908, 1.553, 0, 0, 0, 87 [SEP] 22, Bread, 2.488, 0.969, 1.299, 0, 0, 0, 87 [SEP] 23, Lettuce, 1.141, 0.992, -0.769, 0, 0, 0, 52 [SEP] 24, Lettuce, 1.955, 0.992, 1.214, 0, 0, 0, 87 [SEP] 25, Mug, -0.939, 0.815, -1.328, 0, 0, 0, 111 [SEP] 26, Mug, -0.055, 0.906, 1.214, 0, 0, 0, 63 [SEP] 27, Apple, 2.653, 1.632, -0.644, 0, 0, 0, 107 [SEP] 28, Apple, 3.381, 0.909, -0.485, 0, 0, 0, 107 [SEP] 29, SoapBottle, 2.767, 0.120, 1.231, 0, 0, 0, 84 [SEP] 30, Plate, 2.211, 0.902, -0.462, 0, 0, 0, 52 [SEP] 31, Fork, 2.092, 0.772, 1.160, 0, 90, 0, 83 [SEP] 32, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 58 [SEP] 33, Bread, 2.754, 0.969, 1.468, 0, 0, 0, 87 [SEP] 34, Egg, 1.955, 0.949, 1.468, 0, 0, 0, 87 [SEP] 35, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 52 [SEP] 36, Tomato, -0.766, 0.852, -1.411, 0, 90, 0, 111 [SEP] 37, Cup, 0.193, 0.763, -0.762, 0, 0, 0, 109 [SEP] 38, Spatula, 2.221, 0.926, 1.299, 0, 0, 0, 87 [SEP] 39, Apple, 1.688, 0.980, 1.214, 0, 0, 0, 87 [SEP] 40, Pan, 0.678, 0.964, 1.082, 0, 0, 0, 55 [SEP] 41, Lettuce, -0.246, 0.992, 1.383, 0, 0, 0, 63 [SEP] 42, SaltShaker, -0.694, 0.817, -1.257, 0, 90, 0, 111 [SEP] 43, Knife, 0.888, 0.944, -0.345, 0, 0, 0, 52 [SEP] 44, Potato, -1.933, 0.458, 1.375, 0, 270, 0, 105 [SEP] 45, PepperShaker, -0.694, 0.817, -1.155, 0, 90, 0, 111 [SEP] 46, ButterKnife, 2.221, 0.911, 1.044, 0, 0, 0, 87 [SEP] 47, Bowl, 1.155, 0.909, 1.299, 0, 0, 0, 87 [SEP] 48, DishSponge, 1.558, 0.770, 1.236, 0, 0, 0, 70 [SEP] 49, Spoon, -0.836, 0.822, -1.400, 0, 0, 0, 111 [SEP] 50, Mug, 0.759, 2.148, 1.468, 0, 0, 0, 61 [SEP] 51, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 52, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 53, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 54, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 55, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 56, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 57, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 58, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 59, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 60, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 61, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 62, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 63, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 64, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 65, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 66, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 67, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 68, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 69, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 70, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 71, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 72, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 74, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 75, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 76, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 77, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 78, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 79, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 80, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 82, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 83, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 84, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 85, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 86, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 87, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 88, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 89, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 90, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 91, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 92, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 93, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 94, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 95, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 96, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 97, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 98, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 99, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 100, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 101, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 102, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 103, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 104, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 105, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 106, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 107, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 108, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 109, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 110, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 111, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 112, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 113, NorthWall, , , , , , , [SEP] 114, EastWall, , , , , , , [SEP] 115, SouthWall, , , , , , , [SEP] 116, WestWall, , , , , , , ", "output": ["STEP 1: Walk straight to the counter top on top of the dishwasher. | STEP 2: Grab the yellow knife on the counter top. | STEP 3: Walk further to the front to the sink on the right side of the dishwasher. | STEP 4: Cut the potato in the sink. | STEP 5: Grab the knife and go to the recycling bin at the right corner of the room | STEP 6: Put the knife in the recycling bin. | STEP 7: Go to the left, turn right and go back to the sink again. | STEP 8: Grab a slice of potato from the sink. | STEP 9: Go to the left and walk towards the refrigerator. | STEP 10: Open the refrigerator, put the potato slice next to the clear glass, close the refrigerator, leave it for a few seconds and then grab the slice of potato again. | STEP 11: Walk to your right and go straight to the recycling bin. | STEP 12: Put the slice of potato in the recycling bin. | END"]} {"id": "trial_T20190909_081113_505085-1", "input": "Place a pen on a dresser. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.909, -3.75, 0, 180, 0, [SEP] 1, Mug, -1.066, 0.798, -3.703, 0, 0, 0, 39 [SEP] 2, CD, -1.831, 0.063, -3.929, 0, 279.990, 0, 28 [SEP] 3, CD, -3.638, 0.614, -2.999, 0, 0, 0, 43 [SEP] 4, CellPhone, -3.613, 0.979, -3.271, 0, 0, 0, 42 [SEP] 5, CellPhone, -3.613, 0.979, -3.673, 0, 0, 0, 42 [SEP] 6, Pen, -0.862, 0.805, -4.137, 0, 0, 0, 39 [SEP] 7, CreditCard, -0.657, 0.800, -3.811, 0, 0, 0, 39 [SEP] 8, KeyChain, -0.329, 0.543, -3.731, 0, 0, 0, 33 [SEP] 9, Book, -0.453, 0.804, -3.811, 0, 0, 0, 39 [SEP] 10, Book, -3.582, 0.419, -3.978, 0, 0, 0, 45 [SEP] 11, Book, -3.693, 0.045, -4.164, 0, 0, 0, 47 [SEP] 12, CellPhone, -2.770, 0.620, -0.643, 0, 0, 0, 24 [SEP] 13, Laptop, -2.981, 0.618, -1.506, 0, 0, 0, 24 [SEP] 14, CreditCard, -0.453, 0.800, -4.246, 0, 0, 0, 39 [SEP] 15, AlarmClock, -0.249, 0.800, -3.811, 0, 0, 0, 39 [SEP] 16, KeyChain, -0.685, 0.543, -3.713, 0, 0, 0, 33 [SEP] 17, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 24 [SEP] 18, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 19, Pencil, -0.249, 0.807, -4.029, 0, 0, 0, 39 [SEP] 20, Pillow, -2.981, 0.722, -2.080, 0, 0, 0, 24 [SEP] 21, CD, -0.350, 0.029, -3.779, 0, 0, 0, 31 [SEP] 22, Pen, -0.507, 0.548, -3.768, 0, 0, 0, 33 [SEP] 23, Mug, -3.760, 0.977, -3.673, 0, 0, 0, 42 [SEP] 24, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 25, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 26, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 27, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 28, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 29, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 30, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 31, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 32, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 33, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 34, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 35, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 36, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 37, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 38, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 39, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 40, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 41, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 42, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 51, NorthWall, , , , , , , [SEP] 52, EastWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, WestWall, , , , , , , ", "output": ["STEP 1: Walk left to the front of the desk. | STEP 2: Pick up the black and white pen. | STEP 3: Turn right and walk to the dresser. | STEP 4: Place the pen on the dresser, on the left side. | END"]} {"id": "trial_T20190909_081113_505085-2", "input": "Place a pen on a dresser. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.909, -3.75, 0, 180, 0, [SEP] 1, Mug, -1.066, 0.798, -3.703, 0, 0, 0, 39 [SEP] 2, CD, -1.831, 0.063, -3.929, 0, 279.990, 0, 28 [SEP] 3, CD, -3.638, 0.614, -2.999, 0, 0, 0, 43 [SEP] 4, CellPhone, -3.613, 0.979, -3.271, 0, 0, 0, 42 [SEP] 5, CellPhone, -3.613, 0.979, -3.673, 0, 0, 0, 42 [SEP] 6, Pen, -0.862, 0.805, -4.137, 0, 0, 0, 39 [SEP] 7, CreditCard, -0.657, 0.800, -3.811, 0, 0, 0, 39 [SEP] 8, KeyChain, -0.329, 0.543, -3.731, 0, 0, 0, 33 [SEP] 9, Book, -0.453, 0.804, -3.811, 0, 0, 0, 39 [SEP] 10, Book, -3.582, 0.419, -3.978, 0, 0, 0, 45 [SEP] 11, Book, -3.693, 0.045, -4.164, 0, 0, 0, 47 [SEP] 12, CellPhone, -2.770, 0.620, -0.643, 0, 0, 0, 24 [SEP] 13, Laptop, -2.981, 0.618, -1.506, 0, 0, 0, 24 [SEP] 14, CreditCard, -0.453, 0.800, -4.246, 0, 0, 0, 39 [SEP] 15, AlarmClock, -0.249, 0.800, -3.811, 0, 0, 0, 39 [SEP] 16, KeyChain, -0.685, 0.543, -3.713, 0, 0, 0, 33 [SEP] 17, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 24 [SEP] 18, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 19, Pencil, -0.249, 0.807, -4.029, 0, 0, 0, 39 [SEP] 20, Pillow, -2.981, 0.722, -2.080, 0, 0, 0, 24 [SEP] 21, CD, -0.350, 0.029, -3.779, 0, 0, 0, 31 [SEP] 22, Pen, -0.507, 0.548, -3.768, 0, 0, 0, 33 [SEP] 23, Mug, -3.760, 0.977, -3.673, 0, 0, 0, 42 [SEP] 24, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 25, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 26, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 27, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 28, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 29, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 30, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 31, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 32, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 33, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 34, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 35, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 36, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 37, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 38, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 39, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 40, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 41, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 42, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 43, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 44, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 45, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 47, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 50, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 51, NorthWall, , , , , , , [SEP] 52, EastWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, hang a right at the bed and walk to the white table on the right. | STEP 2: Pick up the black pen from the middle of the table. | STEP 3: Turn right, hang a left to the wall at the end of the table and walk to the wooden dresser on the right. | STEP 4: Put the pen on the left side of the dresser. | END"]} {"id": "trial_T20190909_170648_968391-1", "input": "Put soap bottles on the middle shelf next to Kleenex. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.903, 1.5, 0, 180, 0, [SEP] 1, SoapBar, -1.308, 1.069, 2.217, 0, 0, 0, 29 [SEP] 2, SprayBottle, -2.212, 1.048, -0.674, 0, 0, 0, 34 [SEP] 3, SprayBottle, -1.144, 0.289, 2.097, 0, 0, 0, 25 [SEP] 4, SoapBottle, -0.207, 0.611, 1.655, 0, 45, 0, 21 [SEP] 5, SoapBottle, -1.666, 0.083, -0.620, 0, 270, 0, 32 [SEP] 6, SoapBottle, -2.015, 1.049, -0.797, 0, 0, 0, 34 [SEP] 7, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 31 [SEP] 8, Candle, -1.308, 0.330, 2.157, 0, 0, 0, 25 [SEP] 9, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 30 [SEP] 10, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 11, SoapBar, 0.371, 0.043, 0.611, 0, 0, 0, 28 [SEP] 12, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 24 [SEP] 13, SoapBottle, -2.212, 1.049, -0.797, 0, 0, 0, 34 [SEP] 14, TissueBox, -0.980, 1.070, 2.127, 0, 0, 0, 29 [SEP] 15, Cloth, 0.289, 0.048, -0.071, 0, 0, 0, 28 [SEP] 16, ToiletPaper, -2.343, 1.043, -0.797, 0, 0, 0, 34 [SEP] 17, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 23 [SEP] 18, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 19, SprayBottle, -2.015, 1.048, -0.674, 0, 0, 0, 34 [SEP] 20, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 21, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 22, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 23, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 24, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 25, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 26, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 27, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 28, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 29, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 30, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 31, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 32, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 33, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 34, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 35, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 36, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 37, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 38, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, WestWall, , , , , , , ", "output": ["STEP 1: Move around to the shelves and face the bathtub. | STEP 2: Pick up the bottle of soap of the left side of the bathtub. | STEP 3: Turn around to the shelves. | STEP 4: Place the bottle of soap on the middle shelf on the left side of the Kleenex. | STEP 5: Turn around and head to the trashcan on the left of the toilet. | STEP 6: Pick up the bottle out of the trashcan. | STEP 7: Turn around and go back to the shelves. | STEP 8: Place the bottle the bottle next to the other bottle on the middle shelf. | END"]} {"id": "trial_T20190909_105410_744007-1", "input": "Put a set of keys on a brown couch. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -1.25, 0, 180, 0, [SEP] 1, Statue, -0.260, 0.562, -0.365, 0, 270, 0, 28 [SEP] 2, KeyChain, -0.411, 0.553, -0.537, 0, 270, 0, 28 [SEP] 3, RemoteControl, 1.766, 0.872, 0.220, 0, 90, 0, 34 [SEP] 4, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 36 [SEP] 5, KeyChain, 1.724, 0.872, 0.114, 0, 90, 0, 34 [SEP] 6, Watch, -0.411, 0.552, -0.278, 0, 270, 0, 28 [SEP] 7, Newspaper, -0.5, 0.327, -1.624, 0, 0, 0, 30 [SEP] 8, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 30 [SEP] 9, CreditCard, 0.133, 0.293, -1.917, 0, 0, 0, 30 [SEP] 10, RemoteControl, 1.766, 0.872, 0.643, 0, 90, 0, 34 [SEP] 11, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 28 [SEP] 12, Statue, -0.411, 0.562, -0.192, 0, 0, 0, 28 [SEP] 13, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 28 [SEP] 14, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 15, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 16, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 17, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 18, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 19, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 20, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 21, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 22, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 23, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 24, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 25, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 26, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 28, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 29, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 30, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 31, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 32, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 33, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 34, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 35, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 36, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, EastWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and face the coffee table with the plant on top. | STEP 2: Pick up the set of keys next to the figurine on the coffee table. | STEP 3: Turn around and face the brown couch. | STEP 4: Put the set of keys on the right side of the brown couch. | END"]} {"id": "trial_T20190907_213934_523763-2", "input": "Put a mug with a knife in it on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 0.5, 0, 0, 0, [SEP] 1, Potato, 1.155, 0.946, 1.553, 0, 0, 0, 77 [SEP] 2, DishSponge, 0.053, 0.765, -0.541, 0, 0, 0, 99 [SEP] 3, Kettle, 2.221, 0.912, 1.214, 0, 0, 0, 77 [SEP] 4, Pot, 1.141, 0.915, -0.684, 0, 0, 0, 42 [SEP] 5, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 48 [SEP] 6, Fork, -0.766, 0.821, -1.308, 0, 90, 0, 101 [SEP] 7, Fork, -0.887, 0.821, -1.328, 0, 180, 0, 101 [SEP] 8, Plate, 1.955, 0.914, 1.214, 0, 0, 0, 77 [SEP] 9, Cup, 0.123, 0.763, -0.651, 0, 0, 0, 99 [SEP] 10, Knife, 0.193, 0.798, -0.596, 0, 270, 0, 99 [SEP] 11, SoapBottle, 2.221, 0.917, 1.383, 0, 0, 0, 77 [SEP] 12, SoapBottle, -0.621, 0.826, -1.155, 0, 90, 0, 101 [SEP] 13, Tomato, -1.962, 0.455, 1.417, 0, 270, 0, 95 [SEP] 14, Bowl, 2.715, 1.561, -0.775, 0, 0, 0, 97 [SEP] 15, SaltShaker, -0.055, 0.908, 1.044, 0, 0, 0, 53 [SEP] 16, SaltShaker, -0.766, 0.817, -1.411, 0, 90, 0, 101 [SEP] 17, Bread, 2.754, 0.969, 1.129, 0, 0, 0, 77 [SEP] 18, Bread, 2.488, 0.969, 1.129, 0, 0, 0, 77 [SEP] 19, SoapBottle, 1.872, 1.660, -0.849, 0, 180, 0, 79 [SEP] 20, Plate, 0.337, 2.159, 1.467, 0, 0, 0, 76 [SEP] 21, Fork, 0.888, 0.912, -0.345, 0, 0, 0, 42 [SEP] 22, Pot, 2.838, 1.022, -0.709, 0, 0, 0, 97 [SEP] 23, Bread, -0.198, 0.969, 1.299, 0, 0, 0, 53 [SEP] 24, Egg, 2.488, 0.949, 1.383, 0, 0, 0, 77 [SEP] 25, Kettle, 0.678, 0.964, 1.345, 0, 0, 0, 80 [SEP] 26, Tomato, -0.055, 0.942, 1.129, 0, 0, 0, 53 [SEP] 27, Cup, 2.907, 0.112, 1.193, 0, 0, 0, 74 [SEP] 28, Spatula, 1.422, 0.926, 1.129, 0, 0, 0, 77 [SEP] 29, Apple, 2.777, 0.794, -0.473, 0, 0, 0, 97 [SEP] 30, Pan, 0.637, 0.960, 1.090, 0, 0, 0, 45 [SEP] 31, Lettuce, 2.917, 1.345, -0.613, 15.747, 3.884, 15.543, 97 [SEP] 32, SaltShaker, 2.258, 0.110, 1.231, 0, 0, 0, 78 [SEP] 33, Knife, 2.488, 0.944, 1.468, 0, 0, 0, 77 [SEP] 34, Potato, -0.887, 0.855, -1.255, 0, 180, 0, 101 [SEP] 35, PepperShaker, -0.246, 0.908, 1.044, 0, 0, 0, 53 [SEP] 36, ButterKnife, 1.141, 0.911, -0.345, 0, 0, 0, 42 [SEP] 37, Bowl, 2.715, 1.561, -0.512, 0, 0, 0, 97 [SEP] 38, DishSponge, 1.842, 1.655, 1.546, 0, 0, 0, 54 [SEP] 39, Spoon, 0.888, 0.912, -0.769, 0, 0, 0, 42 [SEP] 40, Mug, -0.087, 0.760, -0.707, 0, 0, 0, 99 [SEP] 41, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 42, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 43, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 44, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 45, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 46, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 47, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 48, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 50, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 51, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 52, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 53, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 54, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 55, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 56, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 57, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 58, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 59, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 60, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 61, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 62, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 63, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 64, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 65, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 66, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 67, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 71, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 72, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 73, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 77, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 78, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 80, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 81, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 82, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 83, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 84, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 85, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 86, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 87, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 88, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 89, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 90, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 91, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 94, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 95, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 96, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 97, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 98, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 99, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 100, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 101, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 102, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, go straight to the sink. | STEP 2: Take the knife from the sink. | STEP 3: Stay at the sink but move right a little. | STEP 4: Put the knife in the white mug in the sink. | STEP 5: Take the mug from the sink. | STEP 6: Turn right, go towards the window, turn left to face the round table. | STEP 7: Put the mug on the round table. | END"]} {"id": "trial_T20190908_125025_238563-1", "input": "Pick soap up from tub, wash soap in sink, put soap on box in front of 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, 0.903, 0.75, 0, 0, 0, [SEP] 1, TissueBox, -0.980, 1.773, 2.097, 0, 0, 0, 24 [SEP] 2, TissueBox, -2.277, 1.047, -0.674, 0, 0, 0, 31 [SEP] 3, SoapBar, 0.289, 0.043, 0.839, 0, 0, 0, 25 [SEP] 4, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 28 [SEP] 5, Candle, -0.233, 0.650, 1.722, 0, 45, 0, 18 [SEP] 6, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 27 [SEP] 7, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 8, SoapBar, -1.949, 1.046, -0.797, 0, 0, 0, 31 [SEP] 9, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 21 [SEP] 10, SoapBottle, -0.653, 1.072, 2.157, 0, 0, 0, 26 [SEP] 11, TissueBox, -2.080, 1.047, -0.705, 0, 0, 0, 31 [SEP] 12, Cloth, -1.144, 1.074, 2.127, 0, 0, 0, 26 [SEP] 13, ToiletPaper, -0.319, 0.606, 1.234, 0, 0, 0, 18 [SEP] 14, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 20 [SEP] 15, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 16, SprayBottle, -1.471, 1.071, 2.187, 0, 0, 0, 26 [SEP] 17, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 18, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 19, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 20, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 21, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 22, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 23, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 24, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 25, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 26, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 27, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 28, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 29, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 30, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 31, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 32, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 33, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 34, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 35, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 36, NorthWall, , , , , , , [SEP] 37, EastWall, , , , , , , [SEP] 38, SouthWall, , , , , , , [SEP] 39, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and go to tub. | STEP 2: Pick up soap from tub. | STEP 3: Turn around, go straight until reach sink on left. Turn left to face sink. Proceed to sink. | STEP 4: Put soap in sink, fill sink with water, empty water. Pick up soap. | STEP 5: Turn around, go half way the length of the tub on right. | STEP 6: Put soap on box on floor in front of sink. | END"]} {"id": "trial_T20190908_125025_238563-2", "input": "Put a clean bar of soap 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, -2.5, 0.903, 0.75, 0, 0, 0, [SEP] 1, TissueBox, -0.980, 1.773, 2.097, 0, 0, 0, 24 [SEP] 2, TissueBox, -2.277, 1.047, -0.674, 0, 0, 0, 31 [SEP] 3, SoapBar, 0.289, 0.043, 0.839, 0, 0, 0, 25 [SEP] 4, HandTowel, -0.541, 1.502, -0.846, 0, 180, 0, 28 [SEP] 5, Candle, -0.233, 0.650, 1.722, 0, 45, 0, 18 [SEP] 6, HandTowel, -1.743, 1.502, -0.846, 0, 180, 0, 27 [SEP] 7, Plunger, -2.666, 0.002, -0.607, 0, 0, 0, Floor|-01.07| [SEP] 8, SoapBar, -1.949, 1.046, -0.797, 0, 0, 0, 31 [SEP] 9, ToiletPaper, -1.785, 0.805, -0.769, 0, 0, 270, 21 [SEP] 10, SoapBottle, -0.653, 1.072, 2.157, 0, 0, 0, 26 [SEP] 11, TissueBox, -2.080, 1.047, -0.705, 0, 0, 0, 31 [SEP] 12, Cloth, -1.144, 1.074, 2.127, 0, 0, 0, 26 [SEP] 13, ToiletPaper, -0.319, 0.606, 1.234, 0, 0, 0, 18 [SEP] 14, Towel, 0.266, 1.550, -0.452, 0, 0, 0, 20 [SEP] 15, ScrubBrush, -2.863, 0.002, -0.662, 0, 0, 0, Floor|-01.07| [SEP] 16, SprayBottle, -1.471, 1.071, 2.187, 0, 0, 0, 26 [SEP] 17, Mirror, -1.105, 1.754, -0.884, 0, 0, 0, [SEP] 18, Bathtub, 0.221, 0.343, 0.636, 0, 0, 0, [SEP] 19, Sink, -1.128, -0.001, -0.593, 0, 0, 0, [SEP] 20, TowelHolder, 0.266, 1.536, -0.559, 0, 0, 0, [SEP] 21, ToiletPaperHanger, -1.720, 0.809, -0.885, 0, 0, 0, [SEP] 22, Shelf, -1.167, 0.278, 2.157, 0, 0, 0, [SEP] 23, SinkBasin, -1.133, 0.836, -0.580, 0, 0, 0, [SEP] 24, Shelf, -1.167, 1.763, 2.157, 0, 0, 0, [SEP] 25, BathtubBasin, 0.277, 0.033, 0.611, 0, 0, 0, [SEP] 26, Shelf, -1.167, 1.059, 2.157, 0, 0, 0, [SEP] 27, HandTowelHolder, -1.743, 1.603, -0.884, 0, 270, 0, [SEP] 28, HandTowelHolder, -0.541, 1.603, -0.884, 0, 270, 0, [SEP] 29, GarbageCan, -2.715, 0.004, -0.513, 0, 270, 0, [SEP] 30, LightSwitch, -3.057, 1.432, 0.762, 0, 70.528, 0, [SEP] 31, Toilet, -2.150, 0.002, -0.412, 0, 90, 0, [SEP] 32, Faucet, 0.284, 0.504, -0.489, 0, 0, 0, [SEP] 33, ShowerHead, 0.232, 1.906, 1.834, 0, 0, 0, [SEP] 34, ShowerCurtain, -0.442, 2.224, -0.405, 0, 0, 0, [SEP] 35, Faucet, -1.127, 0.993, -0.837, 0, 0, 0, [SEP] 36, NorthWall, , , , , , , [SEP] 37, EastWall, , , , , , , [SEP] 38, SouthWall, , , , , , , [SEP] 39, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk over to the tub. | STEP 2: Pick up the bar of soap out of the tub. | STEP 3: Turn around and walk towards the wall, then hang a left and walk over to the sink. | STEP 4: Put the bar of soap in the sink and turn on the water, after a couple seconds turn off the water and remove the now clean bar of soap. | STEP 5: Turn left and walk towards the tub, then turn left and walk over to wall. | STEP 6: Put the clean bar of soap on the shelf in lower shelf in front of you. | END"]} {"id": "trial_T20190908_033320_405582-0", "input": "To wash a bar of soap and place it on the left back side of the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.901, 3.0, 0, 270, 0, [SEP] 1, Candle, -1.322, 0.068, 3.693, 0, 0, 0, 27 [SEP] 2, SprayBottle, -1.547, 0.995, 3.933, 0, 0, 0, 26 [SEP] 3, SoapBottle, -1.620, 0.068, 2.706, 0, 0, 0, 21 [SEP] 4, SoapBottle, -1.382, 0.068, 3.793, 0, 0, 0, 27 [SEP] 5, ToiletPaper, -1.219, 0.991, 2.178, 0, 0, 0, 26 [SEP] 6, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 28 [SEP] 7, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 30 [SEP] 8, SoapBar, -1.501, 0.068, 3.894, 0, 0, 0, 27 [SEP] 9, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 34 [SEP] 10, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 11, Candle, -1.379, 0.067, 3.276, 0, 0, 0, 25 [SEP] 12, TissueBox, -1.561, 0.069, 3.743, 0, 0, 0, 27 [SEP] 13, SoapBottle, -1.259, 0.067, 3.327, 0, 0, 0, 25 [SEP] 14, ToiletPaper, 0.313, 0.043, 3.810, 0, 0, 0, 29 [SEP] 15, SprayBottle, -1.481, 0.995, 2.148, 0, 0, 0, 26 [SEP] 16, Cloth, -1.500, 0.067, 2.290, 0, 0, 0, 21 [SEP] 17, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 18, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 19, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 20, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 21, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 22, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 23, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 24, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 25, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 26, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 27, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 28, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 29, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 30, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 31, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 32, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 33, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 34, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 35, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 36, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 37, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 38, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 39, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 40, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Step to the right to face the cabinet below the right side of the sink. | STEP 2: Pick up the bar of soap under the right side of the sink. | STEP 3: Step to the left to face the left side of the sink. | STEP 4: Wash the bar of soap in the sink and remove it. | STEP 5: Walk around the left side of the sink to face the side of the left sink. | STEP 6: Place the bar of soap on the back of the sink on the left edge. | END"]} {"id": "trial_T20190908_033320_405582-2", "input": "Place the wet soap on the counter by the spray bottle. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.901, 3.0, 0, 270, 0, [SEP] 1, Candle, -1.322, 0.068, 3.693, 0, 0, 0, 27 [SEP] 2, SprayBottle, -1.547, 0.995, 3.933, 0, 0, 0, 26 [SEP] 3, SoapBottle, -1.620, 0.068, 2.706, 0, 0, 0, 21 [SEP] 4, SoapBottle, -1.382, 0.068, 3.793, 0, 0, 0, 27 [SEP] 5, ToiletPaper, -1.219, 0.991, 2.178, 0, 0, 0, 26 [SEP] 6, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 28 [SEP] 7, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 30 [SEP] 8, SoapBar, -1.501, 0.068, 3.894, 0, 0, 0, 27 [SEP] 9, ToiletPaper, 0.356, 0.809, 1.299, 0, 270, 270, 34 [SEP] 10, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 11, Candle, -1.379, 0.067, 3.276, 0, 0, 0, 25 [SEP] 12, TissueBox, -1.561, 0.069, 3.743, 0, 0, 0, 27 [SEP] 13, SoapBottle, -1.259, 0.067, 3.327, 0, 0, 0, 25 [SEP] 14, ToiletPaper, 0.313, 0.043, 3.810, 0, 0, 0, 29 [SEP] 15, SprayBottle, -1.481, 0.995, 2.148, 0, 0, 0, 26 [SEP] 16, Cloth, -1.500, 0.067, 2.290, 0, 0, 0, 21 [SEP] 17, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 18, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 19, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 20, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 21, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 22, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 23, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 24, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 25, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 26, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 27, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 28, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 29, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 30, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 31, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 32, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 33, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 34, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 35, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 36, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 37, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 38, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 39, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 40, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right and go to the sink next to the wall | STEP 2: Open the cabinet door on the right next to the wall and get the pink soap | STEP 3: Turn to the left and go to the sink closest to shower. | STEP 4: Place the soap in the sink in front of you and turn the water on. | STEP 5: Pick up the soap in the sink. | STEP 6: Turn to the left and go to the wall between counter and shower and place the soap behind the spray bottle. | END"]} {"id": "trial_T20190918_204713_327023-2", "input": "Place the laptop from the dresser on the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.949, -1.0, 0, 0, 0, [SEP] 1, Vase, -0.350, 1.113, 3.171, 0, 180, 0, 47 [SEP] 2, CD, 2.095, 0.183, -1.948, 0, 270, 0, 34 [SEP] 3, CD, -0.772, 0.783, 0.291, 0, 0, 0, 60 [SEP] 4, CellPhone, 2.710, 0.610, 0.068, 0, 0, 0, 24 [SEP] 5, CellPhone, 1.950, 0.985, -2.212, 0, 270, 0, 39 [SEP] 6, Pencil, -0.068, 0.788, 3.143, 0, 180, 0, 46 [SEP] 7, Pencil, -0.970, 0.789, -0.128, 0, 0, 0, 60 [SEP] 8, CreditCard, -1.037, 0.785, -0.758, 0, 0, 0, 60 [SEP] 9, Book, -0.838, 0.784, 0.081, 0, 0, 0, 60 [SEP] 10, Book, 2.381, 0.610, 0.790, 0, 0, 0, 24 [SEP] 11, Book, 1.888, 0.610, 0.308, 0, 0, 0, 24 [SEP] 12, KeyChain, 3.222, 0.725, 1.443, 0, 90, 0, 64 [SEP] 13, CreditCard, -0.069, 1.107, 3.143, 0, 180, 0, 47 [SEP] 14, Pen, 3.300, 0.729, 1.533, 0, 180, 0, 64 [SEP] 15, Pencil, -0.812, 0.384, -0.702, 0, 0, 0, 59 [SEP] 16, Laptop, 2.519, 0.983, -2.037, 0, 270, 0, 39 [SEP] 17, Vase, -1.037, 0.790, -0.548, 0, 0, 0, 60 [SEP] 18, AlarmClock, -0.838, 0.786, -0.758, 0, 0, 0, 60 [SEP] 19, Pillow, 2.533, 0.631, 1.264, 0, 0, 0, 24 [SEP] 20, Pillow, 2.052, 0.674, -0.172, 0, 0, 0, 24 [SEP] 21, CellPhone, -1.103, 0.785, 0.291, 0, 0, 0, 60 [SEP] 22, CD, 1.332, 0.179, -1.841, 0, 270, 0, 36 [SEP] 23, Vase, 1.950, 0.989, -1.950, 0, 270, 0, 39 [SEP] 24, Bed, 2.217, 0.050, 0.585, 0, 0, 0, [SEP] 25, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0, [SEP] 26, Painting, 2.990, 1.592, 1.567, 90, 0, 0, [SEP] 27, Painting, 1.524, 1.592, 1.567, 90, 0, 0, [SEP] 28, Mirror, -1.190, 1.417, -0.223, 0, 270, 0, [SEP] 29, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0, [SEP] 30, Window, -2.629, 1.460, 2.891, 90, 270, 0, [SEP] 31, Window, -2.629, 1.460, 4.084, 90, 270, 0, [SEP] 32, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0, [SEP] 33, Drawer, 2.490, 0.949, -1.703, 0, 0, 0, [SEP] 34, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0, [SEP] 35, Drawer, 1.975, 0.949, -1.703, 0, 0, 0, [SEP] 36, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0, [SEP] 37, Drawer, 1.457, 0.949, -1.703, 0, 0, 0, [SEP] 38, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0, [SEP] 39, Dresser, 2.234, 0.048, -1.950, 0, 0, 0, [SEP] 40, Drawer, 3.011, 0.949, -1.703, 0, 0, 0, [SEP] 41, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0, [SEP] 42, Shelf, -0.163, 1.461, 3.219, 0, 180, 0, [SEP] 43, Drawer, -0.161, 0.242, 3.166, 0, 180, 0, [SEP] 44, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0, [SEP] 45, Drawer, -0.161, 0.562, 3.168, 0, 180, 0, [SEP] 46, Shelf, -0.162, 0.922, 3.164, 0, 180, 0, [SEP] 47, Shelf, -0.162, 1.241, 3.163, 0, 180, 0, [SEP] 48, Blinds, -2.550, 2.486, 2.911, 0, 90, 0, [SEP] 49, Blinds, -2.550, 2.486, 4.107, 0, 90, 0, [SEP] 50, Drawer, -0.833, 0.217, -0.336, 0, 90, 0, [SEP] 51, Drawer, -0.833, 0.217, 0.486, 0, 90, 0, [SEP] 52, Drawer, -0.833, 0.628, -0.747, 0, 90, 0, [SEP] 53, Drawer, -0.833, 0.217, 0.075, 0, 90, 0, [SEP] 54, Drawer, -0.833, 0.628, 0.486, 0, 90, 0, [SEP] 55, Drawer, -0.833, 0.217, -0.747, 0, 90, 0, [SEP] 56, Drawer, -0.833, 0.423, -0.336, 0, 90, 0, [SEP] 57, Drawer, -0.833, 0.423, 0.075, 0, 90, 0, [SEP] 58, Drawer, -0.833, 0.423, 0.486, 0, 90, 0, [SEP] 59, Drawer, -0.833, 0.423, -0.747, 0, 90, 0, [SEP] 60, Dresser, -0.934, 0.050, -0.129, 0, 90, 0, [SEP] 61, Drawer, -0.833, 0.628, 0.075, 0, 90, 0, [SEP] 62, Drawer, -0.833, 0.628, -0.336, 0, 90, 0, [SEP] 63, Drawer, 3.454, 0.212, 1.262, 0, 180, 0, [SEP] 64, SideTable, 3.455, 0.046, 1.328, 0, 180, 0, [SEP] 65, Drawer, 3.454, 0.504, 1.262, 0, 180, 0, [SEP] 66, NorthWall, , , , , , , [SEP] 67, EastWall, , , , , , , [SEP] 68, SouthWall, , , , , , , [SEP] 69, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and head towards the dresser to your right. | STEP 2: Close the lid of the laptop on the dresser and pick it up. | STEP 3: Turn right, head towards the edge of the bed, turn right and head towards the middle of the bed to your right. | STEP 4: Place the computer on the bed. | END"]} {"id": "trial_T20190908_151034_192119-1", "input": "move soap from counter to inside cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.901, 2.5, 0, 0, 0, [SEP] 1, TissueBox, -1.547, 0.994, 2.178, 0, 0, 0, 26 [SEP] 2, SoapBar, -1.416, 0.994, 3.873, 0, 0, 0, 26 [SEP] 3, Candle, -1.382, 0.068, 2.857, 0, 0, 0, 19 [SEP] 4, SprayBottle, -1.561, 0.069, 2.908, 0, 0, 0, 25 [SEP] 5, SoapBottle, -1.620, 0.067, 2.391, 0, 0, 0, 21 [SEP] 6, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 28 [SEP] 7, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 30 [SEP] 8, SoapBar, -1.620, 0.067, 2.190, 0, 0, 0, 21 [SEP] 9, ToiletPaper, -1.332, 0.058, 2.261, 0, 0, 0, 21 [SEP] 10, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 11, Candle, -1.547, 0.994, 3.842, 0, 0, 0, 26 [SEP] 12, TissueBox, -1.501, 0.069, 3.793, 0, 0, 0, 27 [SEP] 13, SoapBottle, 0.329, 0.893, 1.618, 0, 0, 0, 32 [SEP] 14, ToiletPaper, 0.313, 0.043, 3.810, 0, 0, 0, 29 [SEP] 15, SprayBottle, -1.501, 0.069, 2.757, 0, 0, 0, 21 [SEP] 16, Cloth, -1.379, 0.067, 3.226, 0, 0, 0, 25 [SEP] 17, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 18, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 19, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 20, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 21, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 22, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 23, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 24, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 25, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 26, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 27, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 28, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 29, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 30, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 31, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 32, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 33, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 34, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 35, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 36, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 37, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 38, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 39, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 40, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: walk forward, turn left, walk to the sink | STEP 2: pick up the pink bar of soap that is next to the sink | STEP 3: put the soap in the sink, turn the water on and then off, take the bar of soap out | STEP 4: turn around, take a few steps, turn around | STEP 5: open cabinet on the right, put soap in, close cabinet | END"]} {"id": "trial_T20190909_085839_778499-1", "input": "Heat up a potato 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, 1.25, 0.900, 0.75, 0, 180, 0, [SEP] 1, Pan, 0.678, 0.964, 1.345, 0, 0, 0, 82 [SEP] 2, Potato, 2.653, 1.323, -0.709, 0, 0, 0, 99 [SEP] 3, Potato, 2.653, 0.761, -0.504, 0, 0, 0, 99 [SEP] 4, DishSponge, 2.838, 1.654, 1.546, 0, 0, 0, 68 [SEP] 5, Kettle, 1.155, 0.912, 1.383, 0, 0, 0, 79 [SEP] 6, Pot, 0.281, 0.964, 1.347, 0, 0, 0, 59 [SEP] 7, Spoon, 2.217, 0.772, 1.198, 0, 0, 0, 75 [SEP] 8, Spoon, 0.193, 0.766, -0.596, 0, 0, 0, 101 [SEP] 9, Cup, 0.888, 0.909, -0.684, 0, 0, 0, 44 [SEP] 10, Cup, -0.087, 0.763, -0.541, 0, 0, 0, 101 [SEP] 11, SoapBottle, 0.581, 1.660, -0.773, 0, 180, 0, 83 [SEP] 12, Tomato, 2.962, 1.320, -0.775, 0, 0, 0, 99 [SEP] 13, Tomato, -0.103, 0.942, 1.129, 0, 0, 0, 55 [SEP] 14, Bowl, 0.865, 2.151, 1.429, 0, 0, 0, 53 [SEP] 15, Bowl, 2.222, 1.652, 1.432, 0, 0, 0, 68 [SEP] 16, Bread, 2.754, 0.969, 1.299, 0, 0, 0, 79 [SEP] 17, Lettuce, -0.836, 0.901, -1.400, 0, 0, 0, 103 [SEP] 18, Mug, 2.653, 1.558, -0.775, 0, 0, 0, 99 [SEP] 19, Mug, -0.734, 0.815, -1.255, 0, 180, 0, 103 [SEP] 20, Apple, -1.991, 0.492, 1.375, 0, 270, 0, 97 [SEP] 21, SoapBottle, 1.422, 0.917, 1.383, 0, 0, 0, 79 [SEP] 22, Plate, 1.955, 0.914, 1.299, 0, 0, 0, 79 [SEP] 23, Fork, 1.107, 0.771, 1.198, 0, 270, 0, 89 [SEP] 24, Pot, 2.198, 0.118, -0.458, 0, 180, 0, 85 [SEP] 25, Bread, 2.221, 0.969, 1.129, 0, 0, 0, 79 [SEP] 26, Egg, -0.240, 0.949, -0.316, 0, 0, 0, 44 [SEP] 27, Kettle, 0.710, 0.9, -0.772, 0, 0, 0, 44 [SEP] 28, Tomato, 2.838, 1.050, -0.512, 0, 0, 0, 99 [SEP] 29, Cup, 2.962, 1.286, -0.578, 0, 0, 0, 99 [SEP] 30, Spatula, -0.157, 0.780, -0.596, 0, 270, 0, 101 [SEP] 31, Apple, 1.688, 0.980, 1.468, 0, 0, 0, 79 [SEP] 32, Pan, 2.488, 0.911, 1.214, 0, 0, 0, 79 [SEP] 33, Lettuce, -0.246, 0.992, 1.129, 0, 0, 0, 55 [SEP] 34, SaltShaker, -0.990, 0.817, -1.183, 0, 0, 0, 103 [SEP] 35, Knife, -0.017, 0.798, -0.707, 0, 90, 0, 101 [SEP] 36, Potato, -0.682, 0.855, -1.473, 0, 0, 0, 103 [SEP] 37, PepperShaker, 2.412, 1.651, 1.507, 0, 0, 0, 69 [SEP] 38, ButterKnife, -1.056, 0.820, -1.308, 0, 90, 0, 103 [SEP] 39, Bowl, 2.838, 1.561, -0.709, 0, 0, 0, 99 [SEP] 40, DishSponge, -0.198, 0.911, 1.299, 0, 0, 0, 55 [SEP] 41, Spoon, -0.983, 0.822, -1.411, 0, 0, 0, 103 [SEP] 42, Mug, 2.900, 0.720, -0.535, 0, 0, 0, 99 [SEP] 43, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 44, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 45, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 46, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 47, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 48, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 49, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 50, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 51, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 52, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 53, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 54, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 55, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 56, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 57, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 58, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 59, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 60, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 61, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 62, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 63, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 64, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 65, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 66, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 68, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 73, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 74, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 75, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 76, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 77, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 78, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 79, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 80, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 81, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 82, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 83, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 84, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 86, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 87, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 88, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 89, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 90, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 91, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 92, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 96, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 97, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 98, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 99, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 100, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 101, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 102, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 103, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 104, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 105, NorthWall, , , , , , , [SEP] 106, EastWall, , , , , , , [SEP] 107, SouthWall, , , , , , , [SEP] 108, WestWall, , , , , , , ", "output": ["STEP 1: Make a left, hanging a left around the sink to reach the small round table. | STEP 2: Pick up the knife on the small round table. | STEP 3: Turn to face the potato on the small round table. | STEP 4: Slice the potato with the knife. | STEP 5: Turn right to walk to the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn left to walk to the small round table. | STEP 8: Pick up a potato slice from the table. | STEP 9: Turn around to walk to the microwave over the stove. | STEP 10: Heat up the potato slice in the microwave, removing it afterwards. | STEP 11: Turn around to face the sink. | STEP 12: Put the potato slice in the sink. | END"]} {"id": "trial_T20190909_081028_226903-1", "input": "Move a black pen from the desk to the dresser. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.909, -3.5, 0, 270, 0, [SEP] 1, Mug, -0.453, 0.801, -3.920, 0, 0, 0, 42 [SEP] 2, CD, -3.539, 0.980, -3.673, 0, 0, 0, 45 [SEP] 3, CellPhone, -3.466, 0.981, -4.075, 0, 0, 0, 45 [SEP] 4, CellPhone, -3.750, 0.809, -3.790, 0, 0, 0, 43 [SEP] 5, Pen, -0.862, 0.809, -3.703, 0, 90, 0, 42 [SEP] 6, Pen, -0.453, 0.809, -4.029, 0, 0, 0, 42 [SEP] 7, Pen, -0.862, 0.805, -4.137, 0, 0, 0, 42 [SEP] 8, Pencil, -0.249, 0.807, -3.703, 0, 0, 0, 42 [SEP] 9, CreditCard, -0.774, 0.542, -3.713, 0, 0, 0, 36 [SEP] 10, CreditCard, -1.474, 0.803, -3.920, 0, 0, 0, 42 [SEP] 11, Pillow, -2.981, 0.722, -0.931, 0, 0, 0, 27 [SEP] 12, Pillow, -2.559, 0.722, -2.080, 0, 0, 0, 27 [SEP] 13, AlarmClock, -3.539, 0.981, -3.874, 0, 0, 0, 45 [SEP] 14, Book, -3.760, 0.980, -3.673, 0, 0, 0, 45 [SEP] 15, CellPhone, -3.191, 0.620, -1.793, 0, 0, 0, 27 [SEP] 16, Laptop, -2.981, 0.618, -1.506, 0, 0, 0, 27 [SEP] 17, CreditCard, -3.908, 0.981, -3.271, 0, 0, 0, 45 [SEP] 18, AlarmClock, -0.657, 0.803, -3.811, 0, 0, 0, 42 [SEP] 19, KeyChain, -3.582, 0.420, -3.000, 0, 0, 0, 53 [SEP] 20, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 27 [SEP] 21, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 22, Pencil, -1.066, 0.807, -4.246, 0, 0, 0, 42 [SEP] 23, Pillow, -3.191, 0.722, -2.080, 0, 0, 0, 27 [SEP] 24, CD, -1.270, 0.799, -4.029, 0, 0, 0, 42 [SEP] 25, Pen, -0.329, 0.548, -3.676, 0, 0, 0, 36 [SEP] 26, Mug, -3.539, 0.979, -4.276, 0, 0, 0, 45 [SEP] 27, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 28, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 29, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 30, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 31, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 32, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 33, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 34, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 35, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 36, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 37, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 38, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 39, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 40, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 41, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 42, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 43, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 44, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 45, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 50, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 51, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 52, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 53, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 54, NorthWall, , , , , , , [SEP] 55, EastWall, , , , , , , [SEP] 56, SouthWall, , , , , , , [SEP] 57, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the white desk across the room. | STEP 2: Pick up the black pen that is behind and to the right of the clock on the desk. | STEP 3: Make a right to walk towards the black dresser. | STEP 4: Set the black pen down on the black dresser. | END"]} {"id": "trial_T20190909_081028_226903-2", "input": "Place the pen from the desk 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, -2.75, 0.909, -3.5, 0, 270, 0, [SEP] 1, Mug, -0.453, 0.801, -3.920, 0, 0, 0, 42 [SEP] 2, CD, -3.539, 0.980, -3.673, 0, 0, 0, 45 [SEP] 3, CellPhone, -3.466, 0.981, -4.075, 0, 0, 0, 45 [SEP] 4, CellPhone, -3.750, 0.809, -3.790, 0, 0, 0, 43 [SEP] 5, Pen, -0.862, 0.809, -3.703, 0, 90, 0, 42 [SEP] 6, Pen, -0.453, 0.809, -4.029, 0, 0, 0, 42 [SEP] 7, Pen, -0.862, 0.805, -4.137, 0, 0, 0, 42 [SEP] 8, Pencil, -0.249, 0.807, -3.703, 0, 0, 0, 42 [SEP] 9, CreditCard, -0.774, 0.542, -3.713, 0, 0, 0, 36 [SEP] 10, CreditCard, -1.474, 0.803, -3.920, 0, 0, 0, 42 [SEP] 11, Pillow, -2.981, 0.722, -0.931, 0, 0, 0, 27 [SEP] 12, Pillow, -2.559, 0.722, -2.080, 0, 0, 0, 27 [SEP] 13, AlarmClock, -3.539, 0.981, -3.874, 0, 0, 0, 45 [SEP] 14, Book, -3.760, 0.980, -3.673, 0, 0, 0, 45 [SEP] 15, CellPhone, -3.191, 0.620, -1.793, 0, 0, 0, 27 [SEP] 16, Laptop, -2.981, 0.618, -1.506, 0, 0, 0, 27 [SEP] 17, CreditCard, -3.908, 0.981, -3.271, 0, 0, 0, 45 [SEP] 18, AlarmClock, -0.657, 0.803, -3.811, 0, 0, 0, 42 [SEP] 19, KeyChain, -3.582, 0.420, -3.000, 0, 0, 0, 53 [SEP] 20, TeddyBear, -2.567, 0.575, -0.386, 357.948, 14.682, 7.781, 27 [SEP] 21, BaseballBat, -1.155, 0.033, -3.997, 90, 59.999, 0, Floor|-01.88| [SEP] 22, Pencil, -1.066, 0.807, -4.246, 0, 0, 0, 42 [SEP] 23, Pillow, -3.191, 0.722, -2.080, 0, 0, 0, 27 [SEP] 24, CD, -1.270, 0.799, -4.029, 0, 0, 0, 42 [SEP] 25, Pen, -0.329, 0.548, -3.676, 0, 0, 0, 36 [SEP] 26, Mug, -3.539, 0.979, -4.276, 0, 0, 0, 45 [SEP] 27, Bed, -2.980, 0.009, -1.177, 0, 0, 0, [SEP] 28, LightSwitch, -1.620, 1.351, 0.0, 0, 180, 0, [SEP] 29, DeskLamp, -1.529, 0.790, -4.298, 0, 0, 0, [SEP] 30, Mirror, -0.002, 1.251, -2.592, 0, 90, 0, [SEP] 31, GarbageCan, -1.843, -0.017, -3.897, 0, 279.992, 0, [SEP] 32, Window, 0.209, 1.180, -1.504, 90, 270, 0, [SEP] 33, Drawer, -0.503, 0.067, -4.188, 0, 180, 0, [SEP] 34, Drawer, -0.502, 0.226, -3.799, 0, 0, 0, [SEP] 35, Drawer, -0.502, 0.385, -3.799, 0, 0, 0, [SEP] 36, CoffeeTable, -0.503, 0.009, -3.990, 0, 0, 0, [SEP] 37, Drawer, -0.502, 0.067, -3.799, 0, 0, 0, [SEP] 38, Blinds, 0.163, 2.196, -1.495, 0, 270, 0, [SEP] 39, TableTopDecor, -3.586, 0.996, -3.055, 0, 180, 0, [SEP] 40, Drawer, -0.503, 0.385, -4.188, 0, 180, 0, [SEP] 41, Drawer, -0.503, 0.226, -4.188, 0, 180, 0, [SEP] 42, Desk, -0.862, 0.006, -4.028, 0, 0, 0, [SEP] 43, Drawer, -3.609, 0.876, -4.055, 0, 90, 0, [SEP] 44, Drawer, -3.608, 0.112, -3.261, 0, 90, 0, [SEP] 45, Dresser, -3.653, 0.008, -3.658, 0, 90, 0, [SEP] 46, Drawer, -3.609, 0.688, -3.261, 0, 90, 0, [SEP] 47, Drawer, -3.609, 0.300, -3.261, 0, 90, 0, [SEP] 48, Drawer, -3.609, 0.494, -4.055, 0, 90, 0, [SEP] 49, Drawer, -3.609, 0.300, -4.055, 0, 90, 0, [SEP] 50, Drawer, -3.608, 0.112, -4.055, 0, 90, 0, [SEP] 51, Drawer, -3.609, 0.688, -4.055, 0, 90, 0, [SEP] 52, Drawer, -3.609, 0.876, -3.261, 0, 90, 0, [SEP] 53, Drawer, -3.609, 0.494, -3.261, 0, 90, 0, [SEP] 54, NorthWall, , , , , , , [SEP] 55, EastWall, , , , , , , [SEP] 56, SouthWall, , , , , , , [SEP] 57, WestWall, , , , , , , ", "output": ["STEP 1: Turn right then head to the desk | STEP 2: Pick up the pen on the desk | STEP 3: Turn right then head to the cabinet on your right | STEP 4: Put the pen on the cabinet | END"]} {"id": "trial_T20190906_190019_214714-1", "input": "Put a clean spoon away in the drawer SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 0.5, 0, 270, 0, [SEP] 1, Potato, 2.777, 1.323, -0.578, 0, 0, 0, 100 [SEP] 2, DishSponge, 1.141, 0.911, -0.6, 0, 0, 0, 45 [SEP] 3, DishSponge, -0.694, 0.820, -1.103, 0, 90, 0, 104 [SEP] 4, ButterKnife, -0.785, 0.820, -1.473, 0, 0, 0, 104 [SEP] 5, Spoon, 2.205, 0.772, -0.460, 0, 180, 0, 58 [SEP] 6, Spoon, -1.056, 0.822, -1.360, 0, 90, 0, 104 [SEP] 7, Fork, -0.621, 0.821, -1.308, 0, 90, 0, 104 [SEP] 8, Egg, 1.422, 0.949, 1.299, 0, 0, 0, 80 [SEP] 9, Egg, -0.246, 0.949, 1.214, 0, 0, 0, 56 [SEP] 10, Knife, -0.766, 0.853, -1.257, 0, 90, 0, 104 [SEP] 11, Knife, 1.688, 0.944, 1.129, 0, 0, 0, 80 [SEP] 12, SoapBottle, -0.198, 0.917, 1.044, 0, 0, 0, 56 [SEP] 13, SoapBottle, -0.201, 1.660, 1.546, 0, 0, 0, 71 [SEP] 14, Tomato, -0.621, 0.852, -1.411, 0, 90, 0, 104 [SEP] 15, Tomato, 2.653, 1.594, -0.512, 0, 0, 0, 100 [SEP] 16, Bowl, 2.221, 0.909, 1.214, 0, 0, 0, 80 [SEP] 17, PepperShaker, 2.222, 1.650, 1.432, 0, 0, 0, 69 [SEP] 18, PepperShaker, 1.792, 0.111, 1.117, 0, 0, 0, 65 [SEP] 19, Lettuce, 1.955, 0.992, 1.214, 0, 0, 0, 80 [SEP] 20, Mug, 0.888, 0.906, -0.345, 0, 0, 0, 45 [SEP] 21, Apple, 0.466, 1.853, 1.488, 0, 180, 0, 103 [SEP] 22, SoapBottle, 1.104, 1.661, 1.507, 0, 0, 0, 72 [SEP] 23, Plate, 2.488, 0.914, 1.299, 0, 0, 0, 80 [SEP] 24, Fork, 2.837, 0.771, 1.122, 0, 90, 0, 89 [SEP] 25, Pot, 0.281, 0.964, 1.082, 0, 0, 0, 51 [SEP] 26, Bread, 2.715, 1.077, -0.709, 0, 0, 0, 100 [SEP] 27, Egg, -0.103, 0.949, 1.044, 0, 0, 0, 56 [SEP] 28, Kettle, 1.902, 0.912, -0.430, 0, 0, 0, 45 [SEP] 29, Tomato, -2.048, 0.455, 1.459, 0, 270, 0, 98 [SEP] 30, Cup, 0.363, 1.782, 1.391, 0, 180, 0, 103 [SEP] 31, Spatula, 0.152, 0.926, -0.302, 0, 180, 0, 45 [SEP] 32, Apple, 1.688, 0.980, 1.468, 0, 0, 0, 80 [SEP] 33, Pan, 1.155, 0.911, 1.383, 0, 0, 0, 80 [SEP] 34, Lettuce, -0.939, 0.901, -1.400, 0, 0, 0, 104 [SEP] 35, SaltShaker, 1.872, 1.650, -0.887, 0, 180, 0, 82 [SEP] 36, Knife, 0.123, 0.798, -0.651, 0, 180, 0, 102 [SEP] 37, Potato, -0.055, 0.946, 1.553, 0, 0, 0, 56 [SEP] 38, PepperShaker, 1.141, 0.908, -0.854, 0, 0, 0, 45 [SEP] 39, ButterKnife, -0.294, 0.911, 1.129, 0, 90, 0, 56 [SEP] 40, Bowl, -0.103, 0.909, 1.383, 0, 0, 0, 56 [SEP] 41, DishSponge, -0.887, 0.820, -1.183, 0, 0, 0, 104 [SEP] 42, Spoon, 0.888, 0.912, -0.515, 0, 0, 0, 45 [SEP] 43, Mug, 2.258, 0.109, 1.231, 0, 0, 0, 81 [SEP] 44, Sink, 0.050, 0.902, -0.648, 0, 0, 0, [SEP] 45, CounterTop, 1.358, 0.947, -0.600, 0, 0, 0, [SEP] 46, Cabinet, 2.986, 2.009, 1.304, 0, 0, 0, [SEP] 47, Cabinet, 1.022, 2.009, -0.607, 0, 180, 0, [SEP] 48, StoveBurner, 0.678, 0.923, 1.082, 0, 0, 0, [SEP] 49, Cabinet, 2.371, 0.402, 0.995, 0, 0, 0, [SEP] 50, Drawer, -0.125, 0.792, 0.995, 0, 0, 0, [SEP] 51, StoveBurner, 0.281, 0.923, 1.082, 0, 0, 0, [SEP] 52, Cabinet, 1.025, 0.402, 0.995, 0, 0, 0, [SEP] 53, Cabinet, 1.023, 0.402, -0.296, 0, 180, 0, [SEP] 54, Cabinet, 0.974, 2.259, 1.304, 0, 0, 0, [SEP] 55, Cabinet, 0.979, 2.009, -0.607, 0, 180, 0, [SEP] 56, CounterTop, -0.158, 0.947, 1.299, 0, 0, 0, [SEP] 57, Cabinet, 1.725, 2.009, 1.304, 0, 0, 0, [SEP] 58, Drawer, 2.205, 0.792, -0.294, 0, 180, 0, [SEP] 59, Drawer, 1.869, 0.792, -0.294, 0, 180, 0, [SEP] 60, StoveBurner, 0.281, 0.923, 1.347, 0, 0, 0, [SEP] 61, Drawer, 2.512, 0.792, 0.995, 0, 0, 0, [SEP] 62, Cabinet, 1.673, 0.402, -0.296, 0, 180, 0, [SEP] 63, Drawer, 1.524, 0.792, 0.995, 0, 0, 0, [SEP] 64, Drawer, 1.174, 0.792, -0.294, 0, 180, 0, [SEP] 65, Cabinet, 1.720, 0.402, 0.995, 0, 0, 0, [SEP] 66, Cabinet, 2.348, 2.009, -0.607, 0, 180, 0, [SEP] 67, Cabinet, 1.676, 2.009, -0.607, 0, 180, 0, [SEP] 68, Cabinet, 1.673, 2.009, 1.304, 0, 0, 0, [SEP] 69, Cabinet, 2.326, 2.009, 1.304, 0, 0, 0, [SEP] 70, Cabinet, 2.370, 2.009, 1.304, 0, 0, 0, [SEP] 71, Cabinet, 0.021, 2.009, 1.304, 0, 0, 0, [SEP] 72, Cabinet, 1.025, 2.009, 1.304, 0, 0, 0, [SEP] 73, Cabinet, -0.274, 0.402, 0.995, 0, 0, 0, [SEP] 74, Cabinet, 1.675, 0.402, 0.995, 0, 0, 0, [SEP] 75, Drawer, 1.524, 0.792, -0.294, 0, 180, 0, [SEP] 76, Drawer, 2.187, 0.792, 0.995, 0, 0, 0, [SEP] 77, Cabinet, 2.977, 0.402, 0.995, 0, 0, 0, [SEP] 78, Drawer, 1.862, 0.792, 0.995, 0, 0, 0, [SEP] 79, Cabinet, 0.072, 2.259, 1.304, 0, 0, 0, [SEP] 80, CounterTop, 1.917, 0.947, 1.299, 0, 0, 0, [SEP] 81, Cabinet, 2.328, 0.402, 0.995, 0, 0, 0, [SEP] 82, Cabinet, 1.723, 2.009, -0.607, 0, 180, 0, [SEP] 83, StoveBurner, 0.677, 0.923, 1.345, 0, 0, 0, [SEP] 84, Cabinet, 0.355, 2.009, -0.607, 0, 180, 0, [SEP] 85, Cabinet, 0.332, 2.009, -0.607, 0, 180, 0, [SEP] 86, Cabinet, 2.349, 0.402, -0.296, 0, 180, 0, [SEP] 87, Cabinet, -0.284, 2.009, -0.607, 0, 180, 0, [SEP] 88, Faucet, 0.061, 0.906, -0.903, 0, 0, 0, [SEP] 89, Drawer, 2.837, 0.792, 0.995, 0, 0, 0, [SEP] 90, Drawer, 1.175, 0.792, 0.995, 0, 0, 0, [SEP] 91, Cabinet, 1.723, 0.402, -0.296, 0, 180, 0, [SEP] 92, StoveKnob, 0.588, 1.093, 1.557, 287.970, 0, 0, [SEP] 93, StoveKnob, 0.188, 1.093, 1.557, 287.970, 0, 0, [SEP] 94, StoveKnob, 0.749, 1.093, 1.557, 287.970, 0, 0, [SEP] 95, StoveKnob, 0.338, 1.093, 1.557, 287.970, 0, 0, [SEP] 96, Toaster, 1.934, 0.900, -0.717, 0, 0, 0, [SEP] 97, LightSwitch, -1.662, 1.427, 1.649, 0, 180, 0, [SEP] 98, GarbageCan, -1.965, -0.029, 1.358, 0, 270, 0, [SEP] 99, CoffeeMachine, 1.542, 0.900, -0.751, 0, 0, 0, [SEP] 100, Fridge, 3.043, 0.0, -0.709, 0, 0, 0, [SEP] 101, Window, -2.183, 1.501, -0.014, 90, 270, 0, [SEP] 102, SinkBasin, 0.043, 0.755, -0.651, 0, 0, 0, [SEP] 103, Microwave, 0.531, 1.675, 1.437, 0, 180, 0, [SEP] 104, DiningTable, -0.836, 8.404, -1.258, 0, 0, 0, [SEP] 105, Chair, -1.611, 0.002, -1.185, 0, 45, 0, [SEP] 106, NorthWall, , , , , , , [SEP] 107, EastWall, , , , , , , [SEP] 108, SouthWall, , , , , , , [SEP] 109, WestWall, , , , , , , ", "output": ["STEP 1: turn to the left facing the counter | STEP 2: pick up the spoon from the counter | STEP 3: turn around and then turn left walking towards the sink | STEP 4: put the spoon in the sink, wash it, then take it out | STEP 5: turn around and open the drawer | STEP 6: put the clean spoon in the drawer | END"]} {"id": "trial_T20190908_185304_871619-0", "input": "Slice bread, put knife in the cabinet, cook a slice and put it in 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, 0.931, -0.25, 0, 270, 0, [SEP] 1, Potato, -1.034, 1.017, 2.153, 0, 180, 0, 58 [SEP] 2, Potato, 1.854, 0.175, 2.414, 0, 270, 0, 59 [SEP] 3, DishSponge, 0.740, 1.046, -1.828, 0, 0, 0, 43 [SEP] 4, DishSponge, -0.222, 0.203, -1.553, 0, 0, 0, 52 [SEP] 5, ButterKnife, -0.517, 1.046, -1.289, 0, 0, 0, 43 [SEP] 6, Spoon, 1.701, 1.044, 0.738, 0, 0, 0, 45 [SEP] 7, Spatula, -0.775, 1.061, -1.720, 0, 90, 0, 43 [SEP] 8, Spatula, -0.260, 1.061, -1.612, 0, 270, 0, 43 [SEP] 9, Knife, 0.516, 1.069, -0.002, 0, 180, 0, 45 [SEP] 10, Knife, 0.848, 1.069, 0.720, 0, 0, 0, 45 [SEP] 11, SoapBottle, -1.183, 0.203, -1.193, 0, 90, 0, 51 [SEP] 12, SaltShaker, -0.432, 1.041, -1.505, 0, 0, 0, 43 [SEP] 13, PepperShaker, 0.989, 1.041, -1.397, 0, 0, 0, 43 [SEP] 14, PepperShaker, -1.416, 2.023, -1.264, 0, 0, 0, 50 [SEP] 15, Apple, 1.238, 1.090, -1.289, 0, 0, 0, 43 [SEP] 16, Apple, 0.936, 1.097, 0.331, 0, 90, 0, 41 [SEP] 17, SoapBottle, 1.589, 1.020, -1.484, 0, 0, 0, 49 [SEP] 18, Apple, 1.241, 0.943, 0.231, 0, 90, 0, 40 [SEP] 19, Potato, -1.194, 1.769, -1.331, 0, 0, 0, 57 [SEP] 20, Fork, -0.346, 1.047, -1.612, 0, 0, 0, 43 [SEP] 21, Kettle, -1.105, 0.203, -1.482, 0, 0, 0, 51 [SEP] 22, Pan, 0.979, 0.199, -1.339, 0, 0, 0, 54 [SEP] 23, Tomato, 1.879, 1.094, 0.091, 0, 0, 0, 45 [SEP] 24, SaltShaker, 1.263, 1.560, -1.463, 0, 0, 0, 47 [SEP] 25, Egg, 0.848, 1.108, 0.331, 0, 90, 0, 41 [SEP] 26, Cup, 0.160, 1.043, 0.522, 0, 0, 0, 45 [SEP] 27, Spatula, 1.347, 1.058, 0.807, 0, 0, 0, 45 [SEP] 28, Knife, 0.160, 1.069, 0.199, 0, 180, 0, 45 [SEP] 29, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 41 [SEP] 30, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 45 [SEP] 31, PepperShaker, 0.740, 1.041, -1.289, 0, 0, 0, 43 [SEP] 32, DishSponge, 1.347, 1.042, 0.676, 0, 0, 0, 45 [SEP] 33, Plate, -1.184, 2.041, -1.482, 0, 0, 0, 50 [SEP] 34, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 45 [SEP] 35, Spoon, 0.906, 1.048, -1.181, 0, 0, 0, 43 [SEP] 36, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 39 [SEP] 37, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 61 [SEP] 38, Bowl, 0.885, 1.563, -1.614, 0, 0, 0, 47 [SEP] 39, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 40, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 41, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 42, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 43, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 44, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 45, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 46, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 47, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 48, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 49, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 50, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 51, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 52, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 53, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 54, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 55, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 56, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 57, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 58, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 59, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 60, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 61, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 62, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 63, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 64, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 65, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 66, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 67, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 68, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 69, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 70, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 71, NorthWall, , , , , , , [SEP] 72, EastWall, , , , , , , [SEP] 73, SouthWall, , , , , , , [SEP] 74, WestWall, , , , , , , ", "output": ["STEP 1: Walk towards the counter next to the sink | STEP 2: Grab the yellow knife from the counter | STEP 3: Look up from the table | STEP 4: Slice the bread on the counter | STEP 5: Walk with the knife towards the stove cabinet | STEP 6: Open the cabinet drawer and put knife in there | STEP 7: Walk towards the sink counter | STEP 8: Grab a slice of bread from the counter | STEP 9: Walk towards the microwave with the slice of bread | STEP 10: Put the bread slice in the microwave, cook it and take it out | STEP 11: Walk with the bread slice towards the stove counter | STEP 12: Place the bread slice on the counter | END"]} {"id": "trial_T20190908_185304_871619-1", "input": "Place a warm slice of bread on top of 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, 0.931, -0.25, 0, 270, 0, [SEP] 1, Potato, -1.034, 1.017, 2.153, 0, 180, 0, 58 [SEP] 2, Potato, 1.854, 0.175, 2.414, 0, 270, 0, 59 [SEP] 3, DishSponge, 0.740, 1.046, -1.828, 0, 0, 0, 43 [SEP] 4, DishSponge, -0.222, 0.203, -1.553, 0, 0, 0, 52 [SEP] 5, ButterKnife, -0.517, 1.046, -1.289, 0, 0, 0, 43 [SEP] 6, Spoon, 1.701, 1.044, 0.738, 0, 0, 0, 45 [SEP] 7, Spatula, -0.775, 1.061, -1.720, 0, 90, 0, 43 [SEP] 8, Spatula, -0.260, 1.061, -1.612, 0, 270, 0, 43 [SEP] 9, Knife, 0.516, 1.069, -0.002, 0, 180, 0, 45 [SEP] 10, Knife, 0.848, 1.069, 0.720, 0, 0, 0, 45 [SEP] 11, SoapBottle, -1.183, 0.203, -1.193, 0, 90, 0, 51 [SEP] 12, SaltShaker, -0.432, 1.041, -1.505, 0, 0, 0, 43 [SEP] 13, PepperShaker, 0.989, 1.041, -1.397, 0, 0, 0, 43 [SEP] 14, PepperShaker, -1.416, 2.023, -1.264, 0, 0, 0, 50 [SEP] 15, Apple, 1.238, 1.090, -1.289, 0, 0, 0, 43 [SEP] 16, Apple, 0.936, 1.097, 0.331, 0, 90, 0, 41 [SEP] 17, SoapBottle, 1.589, 1.020, -1.484, 0, 0, 0, 49 [SEP] 18, Apple, 1.241, 0.943, 0.231, 0, 90, 0, 40 [SEP] 19, Potato, -1.194, 1.769, -1.331, 0, 0, 0, 57 [SEP] 20, Fork, -0.346, 1.047, -1.612, 0, 0, 0, 43 [SEP] 21, Kettle, -1.105, 0.203, -1.482, 0, 0, 0, 51 [SEP] 22, Pan, 0.979, 0.199, -1.339, 0, 0, 0, 54 [SEP] 23, Tomato, 1.879, 1.094, 0.091, 0, 0, 0, 45 [SEP] 24, SaltShaker, 1.263, 1.560, -1.463, 0, 0, 0, 47 [SEP] 25, Egg, 0.848, 1.108, 0.331, 0, 90, 0, 41 [SEP] 26, Cup, 0.160, 1.043, 0.522, 0, 0, 0, 45 [SEP] 27, Spatula, 1.347, 1.058, 0.807, 0, 0, 0, 45 [SEP] 28, Knife, 0.160, 1.069, 0.199, 0, 180, 0, 45 [SEP] 29, Lettuce, 0.858, 1.103, 0.135, 30.591, 304.297, 0, 41 [SEP] 30, ButterKnife, 0.109, 1.031, 0.368, 0, 0, 0, 45 [SEP] 31, PepperShaker, 0.740, 1.041, -1.289, 0, 0, 0, 43 [SEP] 32, DishSponge, 1.347, 1.042, 0.676, 0, 0, 0, 45 [SEP] 33, Plate, -1.184, 2.041, -1.482, 0, 0, 0, 50 [SEP] 34, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 45 [SEP] 35, Spoon, 0.906, 1.048, -1.181, 0, 0, 0, 43 [SEP] 36, Pot, 0.389, 1.053, -1.630, 0, 0, 0, 39 [SEP] 37, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 61 [SEP] 38, Bowl, 0.885, 1.563, -1.614, 0, 0, 0, 47 [SEP] 39, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 40, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 41, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 42, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 43, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 44, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 45, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 46, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 47, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 48, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 49, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 50, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 51, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 52, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 53, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 54, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 55, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 56, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 57, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 58, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 59, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 60, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 61, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 62, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 63, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 64, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 65, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 66, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 67, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 68, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 69, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 70, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 71, NorthWall, , , , , , , [SEP] 72, EastWall, , , , , , , [SEP] 73, SouthWall, , , , , , , [SEP] 74, WestWall, , , , , , , ", "output": ["STEP 1: Go straight and face the counter with the bread to your right. | STEP 2: Take the knife from the counter in front of you. | STEP 3: Face the bread on top of the counter in front of you. | STEP 4: Slice the bread on the counter in front of you. | STEP 5: Turn around and face the cabinet under the stove. | STEP 6: Place the knife in the cabinet by the stove in front of you and close it. | STEP 7: Turn around and face the counter in front of you. | STEP 8: Take a slice of bread from the counter in front of you. | STEP 9: Turn left and face the microwave to your left. | STEP 10: Heat up the bread in the microwave and take it out. | STEP 11: Turn left and face the counter to your right. | STEP 12: Place the slice of bread on top of the counter. | END"]} {"id": "trial_T20190906_222422_671955-0", "input": "Place a laptop between the two pillows 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, 0.5, 0.949, 0.5, 0, 0, 0, [SEP] 1, CD, 1.382, 0.987, -2.212, 0, 270, 0, 39 [SEP] 2, CD, -0.885, 0.173, -0.430, 0, 0, 0, 50 [SEP] 3, CellPhone, 2.803, 0.985, -1.687, 0, 270, 0, 39 [SEP] 4, CellPhone, -0.848, 0.174, 0.028, 0, 0, 0, 53 [SEP] 5, Pen, 3.455, 0.729, 1.397, 0, 270, 0, 64 [SEP] 6, Pen, -0.776, 0.179, -0.794, 0, 0, 0, 55 [SEP] 7, Pencil, -0.848, 0.589, 0.027, 0, 0, 0, 61 [SEP] 8, KeyChain, 3.569, 0.126, 1.318, 0, 90, 0, 63 [SEP] 9, KeyChain, 2.519, 0.986, -2.037, 0, 270, 0, 39 [SEP] 10, Book, 2.545, 0.610, 0.068, 0, 0, 0, 24 [SEP] 11, Book, 1.382, 0.985, -1.862, 0, 270, 0, 39 [SEP] 12, KeyChain, -0.848, 0.381, -0.794, 0, 0, 0, 59 [SEP] 13, CreditCard, -0.970, 0.785, 0.081, 0, 0, 0, 60 [SEP] 14, Pen, -0.163, 1.113, 3.115, 0, 180, 0, 47 [SEP] 15, Pencil, -0.904, 0.789, -0.338, 0, 0, 0, 60 [SEP] 16, Laptop, 2.234, 0.986, -1.862, 0, 270, 0, 39 [SEP] 17, Vase, 1.915, 0.189, -1.721, 0, 270, 0, 34 [SEP] 18, AlarmClock, 2.803, 0.989, -1.862, 0, 270, 0, 39 [SEP] 19, Pillow, 1.888, 0.674, 0.308, 0, 0, 0, 24 [SEP] 20, Pillow, 1.966, 0.631, 1.226, 0, 0, 0, 24 [SEP] 21, CellPhone, -0.776, 0.585, -0.430, 0, 0, 0, 62 [SEP] 22, CD, -0.990, 0.091, -1.121, 0, 0, 0, 25 [SEP] 23, Vase, 3.087, 0.989, -1.774, 0, 270, 0, 39 [SEP] 24, Bed, 2.217, 0.050, 0.585, 0, 0, 0, [SEP] 25, GarbageCan, -0.978, 0.048, -1.172, 0, 0, 0, [SEP] 26, Painting, 2.990, 1.592, 1.567, 90, 0, 0, [SEP] 27, Painting, 1.524, 1.592, 1.567, 90, 0, 0, [SEP] 28, Mirror, -1.190, 1.417, -0.223, 0, 270, 0, [SEP] 29, LightSwitch, 0.709, 1.332, 1.636, 0, 180, 0, [SEP] 30, Window, -2.629, 1.460, 2.891, 90, 270, 0, [SEP] 31, Window, -2.629, 1.460, 4.084, 90, 270, 0, [SEP] 32, DeskLamp, 3.589, 0.717, 1.408, 0, 0, 0, [SEP] 33, Drawer, 2.490, 0.949, -1.703, 0, 0, 0, [SEP] 34, Cabinet, 2.226, 0.547, -1.615, 0, 0, 0, [SEP] 35, Drawer, 1.975, 0.949, -1.703, 0, 0, 0, [SEP] 36, Cabinet, 1.207, 0.547, -1.615, 0, 0, 0, [SEP] 37, Drawer, 1.457, 0.949, -1.703, 0, 0, 0, [SEP] 38, Cabinet, 3.260, 0.547, -1.615, 0, 0, 0, [SEP] 39, Dresser, 2.234, 0.048, -1.950, 0, 0, 0, [SEP] 40, Drawer, 3.011, 0.949, -1.703, 0, 0, 0, [SEP] 41, Cabinet, 2.241, 0.547, -1.615, 0, 0, 0, [SEP] 42, Shelf, -0.163, 1.461, 3.219, 0, 180, 0, [SEP] 43, Drawer, -0.161, 0.242, 3.166, 0, 180, 0, [SEP] 44, ShelvingUnit, -0.161, 0.050, 3.212, 0, 180, 0, [SEP] 45, Drawer, -0.161, 0.562, 3.168, 0, 180, 0, [SEP] 46, Shelf, -0.162, 0.922, 3.164, 0, 180, 0, [SEP] 47, Shelf, -0.162, 1.241, 3.163, 0, 180, 0, [SEP] 48, Blinds, -2.550, 2.486, 2.911, 0, 90, 0, [SEP] 49, Blinds, -2.550, 2.486, 4.107, 0, 90, 0, [SEP] 50, Drawer, -0.833, 0.217, -0.336, 0, 90, 0, [SEP] 51, Drawer, -0.833, 0.217, 0.486, 0, 90, 0, [SEP] 52, Drawer, -0.833, 0.628, -0.747, 0, 90, 0, [SEP] 53, Drawer, -0.833, 0.217, 0.075, 0, 90, 0, [SEP] 54, Drawer, -0.833, 0.628, 0.486, 0, 90, 0, [SEP] 55, Drawer, -0.833, 0.217, -0.747, 0, 90, 0, [SEP] 56, Drawer, -0.833, 0.423, -0.336, 0, 90, 0, [SEP] 57, Drawer, -0.833, 0.423, 0.075, 0, 90, 0, [SEP] 58, Drawer, -0.833, 0.423, 0.486, 0, 90, 0, [SEP] 59, Drawer, -0.833, 0.423, -0.747, 0, 90, 0, [SEP] 60, Dresser, -0.934, 0.050, -0.129, 0, 90, 0, [SEP] 61, Drawer, -0.833, 0.628, 0.075, 0, 90, 0, [SEP] 62, Drawer, -0.833, 0.628, -0.336, 0, 90, 0, [SEP] 63, Drawer, 3.454, 0.212, 1.262, 0, 180, 0, [SEP] 64, SideTable, 3.455, 0.046, 1.328, 0, 180, 0, [SEP] 65, Drawer, 3.454, 0.504, 1.262, 0, 180, 0, [SEP] 66, NorthWall, , , , , , , [SEP] 67, EastWall, , , , , , , [SEP] 68, SouthWall, , , , , , , [SEP] 69, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the laptop on the counter at the foot of the bed. | STEP 2: Close the laptop and pick it up. | STEP 3: Turn around and walk to the left side of the bed. | STEP 4: Place the laptop between the two pillows on the bed. | END"]} {"id": "trial_T20190908_221009_646096-0", "input": "Move two newspapers from the desk to the arm chair seat. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -1.0, 0, 180, 0, [SEP] 1, Watch, 1.891, 0.870, 0.220, 0, 90, 0, 34 [SEP] 2, Watch, -1.163, 0.552, -0.537, 0, 270, 0, 28 [SEP] 3, Newspaper, 1.807, 0.868, 0.537, 0, 90, 0, 34 [SEP] 4, Box, 1.724, 0.202, 0.44, 0, 9.539, 0, 36 [SEP] 5, KeyChain, 1.443, 0.309, -0.588, 0, 90, 0, 36 [SEP] 6, Watch, 1.933, 0.870, 0.114, 0, 90, 0, 34 [SEP] 7, Newspaper, 1.766, 0.869, 0.114, 0, 90, 0, 34 [SEP] 8, Pillow, 0.151, 0.561, -1.794, 0, 0, 45, 30 [SEP] 9, CreditCard, -0.712, 0.200, -0.577, 0, 90, 0, 29 [SEP] 10, RemoteControl, -0.453, 0.040, -0.185, 0, 270, 0, 24 [SEP] 11, Laptop, -0.981, 0.530, -0.37, 0, 33.821, 0, 28 [SEP] 12, Statue, -0.260, 0.562, -0.537, 0, 270, 0, 28 [SEP] 13, Statue, 0.014, 1.595, -2.3, 0, 0, 0, 28 [SEP] 14, GarbageCan, -2.555, 0.011, 0.734, 1.547, 90, 356.583, [SEP] 15, LightSwitch, 0.405, 1.373, -2.400, 0, 0, 0, [SEP] 16, FloorLamp, 1.728, -0.004, -2.084, 0, 13.085, 0, [SEP] 17, HousePlant, -0.561, 0.549, -0.352, 0, 0, 0, [SEP] 18, Painting, 1.909, 1.457, 0.300, 90, 270, 0, [SEP] 19, Television, -2.319, 1.736, -1.994, 0, 45, 0, [SEP] 20, Window, -2.009, 1.524, 1.031, 90, 0, 0, [SEP] 21, Window, -0.432, 1.524, 1.031, 90, 0, 0, [SEP] 22, Window, -2.828, 1.511, -0.025, 90, 270, 0, [SEP] 23, Drawer, -0.711, 0.077, -0.556, 0, 180, 0, [SEP] 24, Drawer, -0.711, 0.077, -0.173, 0, 180, 0, [SEP] 25, Drawer, -0.711, 0.395, -0.173, 0, 180, 0, [SEP] 26, Drawer, -0.711, 0.236, -0.173, 0, 180, 0, [SEP] 27, Drawer, -0.711, 0.395, -0.556, 0, 180, 0, [SEP] 28, CoffeeTable, -0.711, 0.002, -0.364, 0, 180, 0, [SEP] 29, Drawer, -0.716, 0.236, -0.556, 0, 180, 0, [SEP] 30, Sofa, -0.500, 0.008, -1.886, 0, 0, 0, [SEP] 31, Blinds, -0.395, 2.135, 0.922, 0, 0, 0, [SEP] 32, Blinds, -2.736, 2.135, 0.002, 0, 270, 0, [SEP] 33, Blinds, -2.0, 2.135, 0.922, 0, 0, 0, [SEP] 34, SideTable, 1.807, 0.000, 0.326, 0, 270, 0, [SEP] 35, Drawer, 1.743, 0.774, 0.325, 0, 270, 0, [SEP] 36, ArmChair, 1.509, 0.000, -0.588, 0, 270, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, EastWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the wooden desk in the right corner of the room. | STEP 2: Pick up the news paper on the right side of the desk. | STEP 3: Turn around to go to the front of the first arm chair on the left. | STEP 4: Place the newspaper on the left of the keys on the chair seat. | STEP 5: Turn left to go back to the desk with the newspaper. | STEP 6: Pick up the newspaper on the left side of the desk. | STEP 7: Turn around and go back to the front of the first arm chair on the left. | STEP 8: Place the newspaper on the right of the first newspaper on the chair seat. | END"]} {"id": "trial_T20190906_202634_423486-1", "input": "Move the plunger from the corner 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, SoapBar, 0.306, 0.893, 1.618, 0, 0, 0, 31 [SEP] 2, SoapBar, -1.547, 0.994, 3.100, 0, 0, 0, 25 [SEP] 3, Candle, -1.620, 0.067, 3.327, 0, 0, 0, 24 [SEP] 4, ToiletPaper, -1.262, 0.065, 2.908, 0, 0, 0, 18 [SEP] 5, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 27 [SEP] 6, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 29 [SEP] 7, SoapBar, -1.560, 0.067, 2.341, 0, 0, 0, 20 [SEP] 8, ToiletPaper, -1.441, 0.065, 3.793, 0, 0, 0, 26 [SEP] 9, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 10, Candle, -1.561, 0.068, 3.894, 0, 0, 0, 26 [SEP] 11, TissueBox, -1.561, 0.069, 2.757, 0, 0, 0, 18 [SEP] 12, SoapBottle, -1.439, 0.067, 2.391, 0, 0, 0, 20 [SEP] 13, ToiletPaper, -1.560, 0.064, 2.441, 0, 0, 0, 20 [SEP] 14, SprayBottle, 0.258, 0.048, 3.810, 0, 0, 0, 28 [SEP] 15, Cloth, -1.481, 0.994, 3.873, 0, 0, 0, 25 [SEP] 16, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 17, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 18, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 19, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 20, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 21, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 22, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 23, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 24, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 25, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 26, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 27, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 28, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 29, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 30, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 31, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 32, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 33, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 34, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 35, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 36, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 37, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 38, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 39, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, walk to the toilet | STEP 2: Grab the plunger on the floor | STEP 3: Turn left, walk to the cabinet under the sink | STEP 4: Open the cabinet on the left, put the plunger in, close the cabinet | END"]} {"id": "trial_T20190906_202634_423486-2", "input": "Put a plunger 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, -0.75, 0.901, 2.75, 0, 270, 0, [SEP] 1, SoapBar, 0.306, 0.893, 1.618, 0, 0, 0, 31 [SEP] 2, SoapBar, -1.547, 0.994, 3.100, 0, 0, 0, 25 [SEP] 3, Candle, -1.620, 0.067, 3.327, 0, 0, 0, 24 [SEP] 4, ToiletPaper, -1.262, 0.065, 2.908, 0, 0, 0, 18 [SEP] 5, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 27 [SEP] 6, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 29 [SEP] 7, SoapBar, -1.560, 0.067, 2.341, 0, 0, 0, 20 [SEP] 8, ToiletPaper, -1.441, 0.065, 3.793, 0, 0, 0, 26 [SEP] 9, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 10, Candle, -1.561, 0.068, 3.894, 0, 0, 0, 26 [SEP] 11, TissueBox, -1.561, 0.069, 2.757, 0, 0, 0, 18 [SEP] 12, SoapBottle, -1.439, 0.067, 2.391, 0, 0, 0, 20 [SEP] 13, ToiletPaper, -1.560, 0.064, 2.441, 0, 0, 0, 20 [SEP] 14, SprayBottle, 0.258, 0.048, 3.810, 0, 0, 0, 28 [SEP] 15, Cloth, -1.481, 0.994, 3.873, 0, 0, 0, 25 [SEP] 16, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 17, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 18, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 19, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 20, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 21, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 22, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 23, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 24, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 25, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 26, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 27, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 28, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 29, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 30, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 31, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 32, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 33, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 34, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 35, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 36, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 37, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 38, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 39, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Move to the toilet. | STEP 2: Pick up the plunger on the floor. | STEP 3: Move to the cabinet under the sink. | STEP 4: Put the plunger in the cabinet under the sink. | END"]} {"id": "trial_T20190909_005828_654142-2", "input": "To place a remote in a box on the center of the couch. 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, 3.75, 0, 180, 0, [SEP] 1, Bowl, -2.631, 0.535, 3.607, 0, 270, 0, 59 [SEP] 2, Newspaper, -2.672, 0.145, 7.225, 0, 90, 0, 53 [SEP] 3, Newspaper, -3.067, 0.878, 7.173, 0, 90, 0, 50 [SEP] 4, Watch, -2.411, 1.280, 7.045, 0, 90, 0, 58 [SEP] 5, Watch, -2.811, 0.533, 4.169, 0, 0, 0, 59 [SEP] 6, CreditCard, -5.972, 0.533, 6.569, 0, 135, 0, 60 [SEP] 7, RemoteControl, -5.442, 0.536, 6.497, 0, 45, 0, 60 [SEP] 8, RemoteControl, -6.139, 1.282, 5.037, 0, 0, 0, 56 [SEP] 9, Box, -5.983, 0.162, 5.764, 0, 347.562, 0, 53 [SEP] 10, Statue, -2.186, 1.276, 7.177, 0, 0, 0, 58 [SEP] 11, Vase, -3.462, 0.147, 7.276, 0, 90, 0, 53 [SEP] 12, Vase, -5.920, 0.442, 4.915, 0, 0, 0, 54 [SEP] 13, Newspaper, -2.422, 0.532, 3.607, 0, 270, 0, 59 [SEP] 14, Laptop, -2.447, 0.525, 4.055, 0, 9.597, 0, 59 [SEP] 15, WateringCan, -2.228, 0.137, 7.107, 0, 0, 0, [SEP] 16, Vase, -5.909, 0.871, 4.924, 0, 0, 0, 52 [SEP] 17, CreditCard, -2.672, 0.879, 7.208, 0, 90, 0, 51 [SEP] 18, Vase, -5.903, 1.270, 4.988, 0, 0, 0, 56 [SEP] 19, KeyChain, -5.885, 0.453, 3.954, 0, 0, 0, 49 [SEP] 20, Vase, -5.920, 0.442, 4.371, 0, 0, 0, 54 [SEP] 21, Vase, -5.910, 0.443, 3.804, 0, 0, 0, 54 [SEP] 22, Bowl, -2.631, 0.535, 4.335, 0, 270, 0, 59 [SEP] 23, Pillow, -0.756, 0.542, 4.793, 0, 284.202, 0, 42 [SEP] 24, Vase, -5.867, 1.271, 3.712, 0, 0, 0, 56 [SEP] 25, RemoteControl, -6.139, 1.282, 4.349, 0, 0, 0, 56 [SEP] 26, Watch, -0.326, 0.793, 2.154, 0, 0, 0, 44 [SEP] 27, Statue, -2.696, 1.271, 7.103, 0, 162.053, 0, 58 [SEP] 28, Statue, -6.053, 0.148, 4.942, 0, 90, 0, 49 [SEP] 29, Statue, -3.557, 1.289, 7.235, 0, 90, 0, 58 [SEP] 30, Statue, -3.128, 1.271, 7.139, 0, 96.687, 0, 58 [SEP] 31, Mirror, -1.308, 0.022, 0.197, 0, 0, 0, [SEP] 32, DeskLamp, -0.600, 0.797, 1.955, 0, 0, 0, [SEP] 33, DeskLamp, -0.593, 0.797, 6.022, 0, 60.096, 0, [SEP] 34, FloorLamp, -4.615, 0.016, 0.314, 0, 0, 0, [SEP] 35, Television, -5.637, 0.998, 6.949, 0, 135, 0, [SEP] 36, LightSwitch, -4.419, 1.279, 0.0, 0, 0, 0, [SEP] 37, Painting, 0.0, 1.661, 4.451, 90, 270, 0, [SEP] 38, Painting, 0.0, 1.661, 3.414, 90, 270, 0, [SEP] 39, HousePlant, -5.884, 1.296, 4.516, 0, 0, 0, [SEP] 40, GarbageCan, -5.689, -0.024, 0.242, 0, 0, 0, [SEP] 41, Window, -6.287, 1.672, 2.178, 90, 270, 0, [SEP] 42, Sofa, -0.773, 0.023, 3.915, 0, 270, 0, [SEP] 43, SideTable, -0.586, 0.014, 5.979, 0, 270, 0, [SEP] 44, SideTable, -0.585, 0.014, 2.002, 0, 270, 0, [SEP] 45, Chair, -3.539, 0.015, 2.007, 0, 15.000, 0, [SEP] 46, Chair, -2.268, 0.015, 1.955, 0, 345.000, 0, [SEP] 47, Shelf, -0.585, 0.248, 2.002, 0, 270, 0, [SEP] 48, Shelf, -0.586, 0.248, 5.979, 0, 270, 0, [SEP] 49, Shelf, -5.948, 0.161, 4.339, 0, 270, 0, [SEP] 50, Shelf, -2.853, 0.898, 7.174, 0, 180, 0, [SEP] 51, Shelf, -2.853, 0.467, 7.174, 0, 180, 0, [SEP] 52, Shelf, -5.948, 0.898, 4.335, 0, 270, 0, [SEP] 53, Shelf, -2.858, 0.161, 7.174, 0, 180, 0, [SEP] 54, Shelf, -5.948, 0.467, 4.335, 0, 270, 0, [SEP] 55, ShelvingUnit, -5.946, 0.012, 4.347, 0, 270, 0, [SEP] 56, Shelf, -5.948, 1.293, 4.349, 0, 270, 0, [SEP] 57, ShelvingUnit, -2.865, 0.012, 7.177, 0, 180, 0, [SEP] 58, Shelf, -2.868, 1.293, 7.174, 0, 180, 0, [SEP] 59, CoffeeTable, -2.492, 0.018, 4.043, 0, 270, 0, [SEP] 60, CoffeeTable, -5.555, 0.018, 6.835, 0, 315, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and walk across the room and turn left to face the empty box on the floor. | STEP 2: Pick up the empty box on the floor. | STEP 3: Turn around and walk across the room to face the center of the couch. | STEP 4: Place the empty box on the middle of the couch. | STEP 5: Turn around and walk around the table to face the shelves on the wall. | STEP 6: Pick up the remote on the top of the shelves. | STEP 7: Turn around and walk across the room to face the empty box on the couch. | STEP 8: Place the remote in the empty box on the couch. | END"]} {"id": "trial_T20190908_140413_191906-1", "input": "Move two paper rolls to 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, 0.901, 2.5, 0, 270, 0, [SEP] 1, TissueBox, -1.319, 0.068, 3.327, 0, 0, 0, 28 [SEP] 2, Cloth, -1.500, 0.067, 2.341, 0, 0, 0, 24 [SEP] 3, Cloth, -1.382, 0.068, 2.807, 0, 0, 0, 22 [SEP] 4, Candle, -1.441, 0.068, 3.592, 0, 0, 0, 30 [SEP] 5, Candle, 0.284, 0.893, 1.566, 0, 0, 0, 35 [SEP] 6, SprayBottle, -1.481, 0.995, 3.842, 0, 0, 0, 29 [SEP] 7, SprayBottle, -1.441, 0.069, 3.642, 0, 0, 0, 30 [SEP] 8, ToiletPaper, -1.219, 0.991, 2.923, 0, 0, 0, 29 [SEP] 9, Towel, -0.200, 1.174, 1.286, 0, 0, 0, 31 [SEP] 10, HandTowel, -1.275, 1.6, 3.961, 0, 0, 0, 33 [SEP] 11, SoapBar, 0.329, 0.893, 1.881, 0, 0, 0, 35 [SEP] 12, ToiletPaper, -1.284, 0.991, 2.178, 0, 0, 0, 29 [SEP] 13, Plunger, 0.248, 0.000, 1.306, 0, 0, 0, Floor|-01.72| [SEP] 14, Candle, -1.613, 0.994, 3.842, 0, 0, 0, 29 [SEP] 15, TissueBox, -1.350, 0.994, 3.873, 0, 0, 0, 29 [SEP] 16, SoapBottle, -1.416, 0.993, 3.100, 0, 0, 0, 29 [SEP] 17, ToiletPaper, 0.258, 0.043, 3.838, 0, 0, 0, 32 [SEP] 18, SprayBottle, 0.329, 0.894, 1.618, 0, 90, 0, 35 [SEP] 19, Cloth, -1.500, 0.067, 3.226, 0, 0, 0, 28 [SEP] 20, ScrubBrush, 0.035, 0.000, 1.301, 0, 0, 0, Floor|-01.72| [SEP] 21, Mirror, -1.703, 1.661, 3.509, 0, 0, 0, [SEP] 22, Cabinet, -1.187, 0.394, 3.030, 0, 0, 0, [SEP] 23, ShowerDoor, -1.631, 1.014, 1.170, 0, 0, 0, [SEP] 24, Cabinet, -1.187, 0.394, 2.127, 0, 0, 0, [SEP] 25, Sink, -1.326, 0.960, 2.567, 0, 90, 0, [SEP] 26, ShowerGlass, 0.254, 0.788, 0.485, 0, 0, 0, [SEP] 27, Mirror, -1.703, 1.661, 2.480, 0, 0, 0, [SEP] 28, Cabinet, -1.187, 0.394, 3.063, 0, 0, 0, [SEP] 29, CounterTop, -1.348, 0.972, 2.945, 0, 0, 0, [SEP] 30, Cabinet, -1.187, 0.394, 3.966, 0, 0, 0, [SEP] 31, TowelHolder, -0.200, 1.160, 1.179, 0, 0, 0, [SEP] 32, GarbageCan, 0.209, 0.000, 3.772, 0, 0, 0, [SEP] 33, HandTowelHolder, -1.275, 1.702, 3.999, 0, 90, 0, [SEP] 34, Window, -0.726, 1.667, -0.009, 90, 0, 0, [SEP] 35, Toilet, -0.039, 0.090, 1.733, 0, 270, 0, [SEP] 36, SinkBasin, -1.317, 0.998, 2.567, 0, 90, 0, [SEP] 37, ToiletPaperHanger, 0.444, 0.809, 1.350, 0, 270, 0, [SEP] 38, LightSwitch, 0.444, 1.368, 3.323, 0, 270, 0, [SEP] 39, Faucet, -1.587, 0.960, 3.513, 0, 90, 0, [SEP] 40, ShowerHead, -1.618, 1.251, 0.558, 0, 180, 0, [SEP] 41, Sink, -1.325, 0.960, 3.512, 0, 90, 0, [SEP] 42, SinkBasin, -1.317, 0.998, 3.513, 0, 90, 0, [SEP] 43, Faucet, -1.587, 0.960, 2.569, 0, 90, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right and find the green trash can. | STEP 2: Pick up the paper roll from inside the trash can. | STEP 3: Carry the paper roll and turn around, then face the sinks on the right. | STEP 4: Open the bottom left cabinet and place the roll inside. Shut the door. | STEP 5: Look up to the counter with the sinks. | STEP 6: Pick up the paper roll on the counter in between the two sink.s | STEP 7: Hold the paper roll and take a step to the left. | STEP 8: Open the bottom left cabinet and place the roll inside. Shut the door. | END"]} {"id": "trial_T20190919_064539_418472-2", "input": "Place two potatoes in the microwave to cook. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.931, -0.75, 0, 0, 0, [SEP] 1, Potato, -0.260, 1.100, -1.397, 0, 0, 0, 40 [SEP] 2, DishSponge, 1.701, 1.042, 0.738, 0, 0, 0, 42 [SEP] 3, Kettle, 1.112, 1.566, -1.764, 0, 0, 0, 44 [SEP] 4, Pot, 0.120, 1.053, -1.630, 0, 0, 0, 43 [SEP] 5, Spoon, 1.015, 1.044, 0.632, 0, 90, 0, 42 [SEP] 6, Spatula, 1.701, 1.058, 0.630, 0, 0, 0, 42 [SEP] 7, Spatula, -0.346, 1.061, -1.289, 0, 0, 0, 40 [SEP] 8, Egg, 1.347, 1.097, 0.589, 0, 0, 0, 42 [SEP] 9, Cup, -1.416, 2.028, -1.482, 0, 0, 0, 47 [SEP] 10, Cup, 0.936, 1.053, 0.281, 0, 90, 0, 38 [SEP] 11, SaltShaker, 0.960, 1.560, -1.463, 0, 0, 0, 44 [SEP] 12, SaltShaker, -0.517, 1.041, -1.289, 0, 0, 0, 40 [SEP] 13, Mug, 1.589, 1.014, -1.630, 0, 90, 0, 46 [SEP] 14, SoapBottle, 1.523, 1.044, 0.307, 0, 0, 0, 42 [SEP] 15, Apple, 1.155, 1.090, -1.181, 0, 0, 0, 40 [SEP] 16, Potato, 1.241, 0.953, 0.231, 0, 90, 0, 37 [SEP] 17, Fork, 0.516, 1.043, 0.632, 0, 90, 0, 42 [SEP] 18, Kettle, -1.029, 2.029, -1.337, 0, 0, 0, 47 [SEP] 19, Pan, 0.965, 1.035, -1.66, 0, 290.450, 0, 40 [SEP] 20, Tomato, 1.347, 1.094, 0.763, 0, 0, 0, 42 [SEP] 21, SaltShaker, 0.065, 1.038, 0.522, 0, 0, 0, 42 [SEP] 22, Egg, -1.090, 0.762, 2.331, 0, 90, 0, 55 [SEP] 23, Cup, -1.303, 1.489, 1.796, 0, 90, 0, 55 [SEP] 24, Spatula, 1.238, 1.061, -1.505, 0, 90, 0, 40 [SEP] 25, Knife, 0.160, 1.069, 0.091, 0, 0, 0, 42 [SEP] 26, Lettuce, -1.366, 1.287, 2.242, 0, 90, 0, 55 [SEP] 27, ButterKnife, 0.351, 1.043, 0.738, 0, 0, 0, 42 [SEP] 28, PepperShaker, 0.740, 1.041, -1.612, 0, 0, 0, 40 [SEP] 29, DishSponge, 1.820, 1.019, -1.411, 0, 0, 0, 46 [SEP] 30, Plate, 1.512, 1.032, -1.337, 0, 0, 0, 46 [SEP] 31, Bread, 0.405, 1.104, 0.352, 0, 337.138, 0, 42 [SEP] 32, Spoon, 0.823, 1.048, -1.181, 0, 0, 0, 40 [SEP] 33, Pot, 0.5, 1.057, -1.4, 0, 0, 0, 41 [SEP] 34, Mug, 1.765, 1.081, 0.331, 0, 270, 0, 58 [SEP] 35, Bowl, -1.312, 1.712, 2.063, 0, 90, 0, 55 [SEP] 36, StoveBurner, 0.389, 1.043, -1.630, 0, 0, 0, [SEP] 37, SinkBasin, 1.211, 0.882, 0.236, 0, 90, 0, [SEP] 38, Sink, 0.928, 0.941, 0.324, 0, 90, 0, [SEP] 39, StoveBurner, 0.000, 1.048, -1.399, 0, 0, 0, [SEP] 40, CounterTop, 0.196, 1.082, -1.504, 0, 0, 0, [SEP] 41, StoveBurner, 0.5, 1.048, -1.399, 0, 0, 0, [SEP] 42, CounterTop, 0.968, 1.078, 0.415, 0, 0, 0, [SEP] 43, StoveBurner, 0.120, 1.043, -1.630, 0, 0, 0, [SEP] 44, Cabinet, 1.322, 1.955, -1.309, 0, 0, 0, [SEP] 45, Cabinet, -0.866, 1.955, -1.309, 0, 0, 0, [SEP] 46, Cabinet, 1.993, 1.403, -1.110, 0, 0, 0, [SEP] 47, Cabinet, -1.547, 2.001, -1.110, 0, 0, 0, [SEP] 48, Cabinet, -1.526, 0.593, -1.110, 0, 0, 0, [SEP] 49, Cabinet, -0.852, 0.589, -1.110, 0, 0, 0, [SEP] 50, Cabinet, 1.990, 0.593, -1.110, 0, 0, 0, [SEP] 51, Cabinet, 1.336, 0.589, -1.110, 0, 0, 0, [SEP] 52, StoveBurner, 0.250, 1.048, -1.399, 0, 0, 0, [SEP] 53, Toaster, -0.550, 1.035, -1.776, 0, 0, 0, [SEP] 54, Microwave, -1.189, 1.624, -1.284, 0, 0, 0, [SEP] 55, Fridge, -1.286, 0.020, 1.832, 0, 90, 0, [SEP] 56, GarbageCan, 1.856, -0.019, 2.386, 0, 270, 0, [SEP] 57, LightSwitch, 1.016, 1.360, 2.619, 0, 180, 0, [SEP] 58, CoffeeMachine, 1.929, 1.031, 0.440, 0, 270, 0, [SEP] 59, StoveKnob, 0.0, 1.046, -1.220, 0, 0, 0, [SEP] 60, StoveKnob, 0.090, 1.046, -1.220, 0, 0, 0, [SEP] 61, StoveKnob, 0.246, 1.046, -1.220, 0, 0, 0, [SEP] 62, StoveKnob, 0.490, 1.046, -1.220, 0, 0, 0, [SEP] 63, StoveKnob, 0.389, 1.046, -1.220, 0, 0, 0, [SEP] 64, Faucet, 1.277, 1.265, 0.384, 0, 90, 0, [SEP] 65, Chair, 0.343, 0.031, 0.976, 0, 166.747, 0, [SEP] 66, Chair, 1.008, 0.031, 1.034, 0, 180, 0, [SEP] 67, Chair, 1.575, 0.031, 1.050, 0, 210.000, 0, [SEP] 68, NorthWall, , , , , , , [SEP] 69, EastWall, , , , , , , [SEP] 70, SouthWall, , , , , , , [SEP] 71, WestWall, , , , , , , ", "output": ["STEP 1: Turn around to face the stove. | STEP 2: Pick up a potato from the counter next to the stove. | STEP 3: Turn around and walk to the microwave. | STEP 4: Place the potato in the microwave. | STEP 5: Turn around and walk to the sink. | STEP 6: Pick up the potato in the sink. | STEP 7: Turn around and walk back to the microwave. | STEP 8: Place the second potato in the microwave. | END"]}