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WildEval

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WildEval 12

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" rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "24", " object_type": " ShowerGlass", " position_x": " -1.713", " position_y": " 1.276", " position_z": " 3.298", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "25", " object_type": " CounterTop", " position_x": " -0.298", " position_y": " 0.157", " position_z": " 0.531", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "26", " object_type": " Sink", " position_x": " 0.812", " position_y": " 0.703", " position_z": " 1.920", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "27", " object_type": " Drawer", " position_x": " 0.409", " position_y": " 0.551", " position_z": " 2.420", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "28", " object_type": " Window", " position_x": " -0.957", " position_y": " 1.563", 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[ "STEP 1: move forward towards the bath tub ", " STEP 2: pick up the cloth ", " STEP 3: turn left and head to the sink ", " STEP 4: wet the cloth with water ", " STEP 5: turn around and head to the tub ", " STEP 6: place the cloth inside the tub ", " END" ]

[ "pick up the soap", "turn left and head to the sink", "move forward towards the bath tub", "wet the cloth with water", "pick up the cloth", "turn around and head to the tub", "place the cloth inside the tub", "turn right and head to the shower" ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)" ]

[ "(C)", "(E)", "(B)", "(D)", "(F)", "(G)" ]

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"42", " object_type": " Blinds", " position_x": " 1.011", " position_y": " 2.130", " position_z": " -2.638", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "43", " object_type": " Drawer", " position_x": " 1.596", " position_y": " 0.411", " position_z": " -1.459", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "44", " object_type": " Drawer", " position_x": " 1.597", " position_y": " 0.732", " position_z": " -1.459", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "45", " object_type": " Drawer", " position_x": " 1.597", " position_y": " 0.574", " position_z": " -1.459", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "46", " object_type": " Drawer", " position_x": " 1.597", " position_y": " 0.732", " position_z": " -2.202", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "47", " object_type": " Drawer", " position_x": " 1.596", " position_y": " 0.247", " position_z": " -1.459", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "48", " object_type": " Drawer", " position_x": " 1.596", " position_y": " 0.090", " position_z": " -1.459", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "49", " object_type": " Drawer", " position_x": " 1.596", " position_y": " 0.247", " position_z": " -2.202", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "50", " object_type": " Drawer", " position_x": " 1.596", " position_y": " 0.411", " position_z": " -2.202", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "51", " object_type": " Dresser", " position_x": " 1.634", " position_y": " 0.003", " position_z": " -1.830", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "52", " object_type": " Drawer", " position_x": " 1.596", " position_y": " 0.090", " position_z": " -2.202", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "53", " object_type": " Drawer", " position_x": " 1.597", " position_y": " 0.574", " position_z": " -2.202", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "54", " object_type": " ShelvingUnit", " position_x": " 0.249", " position_y": " 0.003", " position_z": " -2.519", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "55", " object_type": " Shelf", " position_x": " 0.017", " position_y": " 0.178", " position_z": " -2.511", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "56", " object_type": " Shelf", " position_x": " 0.249", " position_y": " 0.665", " position_z": " -2.519", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "57", " object_type": " Shelf", " position_x": " 0.243", " position_y": " 0.344", " position_z": " -2.511", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "58", " object_type": " Shelf", " position_x": " 0.474", " position_y": " 0.344", " position_z": " -2.511", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "59", " object_type": " Shelf", " position_x": " 0.355", " position_y": " 0.011", " position_z": " -2.511", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "60", " object_type": " Shelf", " position_x": " 0.016", " position_y": " 0.011", " position_z": " -2.511", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "61", " object_type": " Shelf", " position_x": " 0.357", " position_y": " 0.178", " position_z": " -2.511", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "62", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "63", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "64", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "65", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Go forward and stand at the end of the bed ", " STEP 2: Close the middle computer and pick the computer up from the bed. ", " STEP 3: Go left and then left again to face the dresser with the lamp. ", " STEP 4: Turn the lamp on. ", " END" ]

[ "Go backward and stand at the start of the bed", "Close the middle computer and pick the computer up from the bed.", "Turn the lamp on.", "Go right and then right again to face the dresser with the lamp", "Go left and then left again to face the dresser with the lamp.", "Go forward and stand at the end of the bed" ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)" ]

[ "(F)", "(B)", "(E)", "(C)" ]

[ { "id": "0", " object_type": " Agent", " position_x": " 0.75", " position_y": " 0.901", " position_z": " 0.25", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "1", " object_type": " Mug", " position_x": " 2.601", " position_y": " 0.178", " position_z": " 0.410", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 41" }, { "id": "2", " object_type": " CD", " position_x": " 2.557", " position_y": " 0.987", " position_z": " 0.723", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 35" }, { "id": "3", " object_type": " CellPhone", " position_x": " -1.469", " position_y": " 0.663", " position_z": " 1.711", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 47" }, { "id": "4", " object_type": " CellPhone", " position_x": " 2.351", " position_y": " 0.449", " position_z": " -1.019", " rotation_x": " 0", " rotation_y": " 119.999", " rotation_z": " 0", " parent_receptacle": " 48" }, { "id": "5", " object_type": " CellPhone", " position_x": " -1.603", " position_y": " 0.663", " position_z": " 1.556", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 47" }, { "id": "6", " object_type": " Pen", " position_x": " 1.352", " position_y": " 0.028", " position_z": " -1.717", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 32" }, { "id": "7", " object_type": " Pen", " position_x": " 2.819", " position_y": " 0.990", " position_z": " 1.292", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 35" }, { "id": "8", " object_type": " CreditCard", " position_x": " -1.558", " position_y": " 0.662", " position_z": " 1.401", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 47" }, { "id": "9", " object_type": " CreditCard", " position_x": " 2.995", " position_y": " 0.988", " position_z": " 1.576", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 35" }, { "id": "10", " object_type": " AlarmClock", " position_x": " 2.995", " position_y": " 0.984", " position_z": " 1.860", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 35" }, { "id": "11", " object_type": " Book", " position_x": " -0.448", " position_y": " 0.693", " position_z": " -0.332", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "12", " object_type": " KeyChain", " position_x": " -1.562", " position_y": " 0.358", " position_z": " -1.420", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 46" }, { "id": "13", " object_type": " Laptop", " position_x": " 2.750", " position_y": " 0.981", " position_z": " 1.710", " rotation_x": " 0", " rotation_y": " 240.000", " rotation_z": " 0", " parent_receptacle": " 35" }, { "id": "14", " object_type": " Cloth", " position_x": " 1.763", " position_y": " 0.000", " position_z": " -1.732", " rotation_x": " 0", " rotation_y": " 70.590", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "15", " object_type": " CreditCard", " position_x": " 2.575", " position_y": " 0.887", " position_z": " 1.318", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 39" }, { "id": "16", " object_type": " Pen", " position_x": " 2.820", " position_y": " 0.993", " position_z": " 0.439", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 35" }, { "id": "17", " object_type": " Pencil", " position_x": " -1.603", " position_y": " 0.667", " position_z": " -1.094", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 45" }, { "id": "18", " object_type": " BaseballBat", " position_x": " 3.076", " position_y": " 0.629", " position_z": " -1.762", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 338.300", " parent_receptacle": "" }, { "id": "19", " object_type": " AlarmClock", " position_x": " 2.644", " position_y": " 0.984", " position_z": " 0.439", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 35" }, { "id": "20", " object_type": " BaseballBat", " position_x": " 0.808", " position_y": " 0.05", " position_z": " 2.151", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 270", " parent_receptacle": "" }, { "id": "21", " object_type": " Pillow", " position_x": " -1.373", " position_y": " 0.754", " position_z": " -0.204", " rotation_x": " 0", " rotation_y": " 255.000", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "22", " object_type": " Pillow", " position_x": " -1.457", " position_y": " 0.754", " position_z": " 0.494", " rotation_x": " 0", " rotation_y": " 285.000", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "23", " object_type": " CellPhone", " position_x": " -1.469", " position_y": " 0.663", " position_z": " -1.327", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 45" }, { "id": "24", " object_type": " CD", " position_x": " 2.555", " position_y": " 0.886", " position_z": " 1.166", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 39" }, { "id": "25", " object_type": " Mug", " position_x": " 2.875", " position_y": " 0.178", " position_z": " 1.387", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 43" }, { "id": "26", " object_type": " Curtains", " position_x": " -0.020", " position_y": " 2.923", " position_z": " -1.853", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "27", " object_type": " Bed", " position_x": " -0.750", " position_y": " -0.018", " position_z": " 0.113", " rotation_x": " 1.247", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "28", " object_type": " LightSwitch", " position_x": " 1.317", " position_y": " 1.297", " position_z": " 2.197", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "29", " object_type": " DeskLamp", " position_x": " -1.618", " position_y": " 0.669", " position_z": " 1.486", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "30", " object_type": " DeskLamp", " position_x": " -1.631", " position_y": " 0.669", " position_z": " -1.308", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "31", " object_type": " Painting", " position_x": " 1.524", " position_y": " 1.516", " position_z": " -1.853", " rotation_x": " 90", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "32", " object_type": " GarbageCan", " position_x": " 1.352", " position_y": " 0.000", " position_z": " -1.685", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "33", " object_type": " Mirror", " position_x": " 0.575", " position_y": " 1.351", " position_z": " 2.197", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "34", " object_type": " Window", " position_x": " -0.013", " position_y": " 1.687", " position_z": " -1.919", " rotation_x": " 90", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "35", " object_type": " Dresser", " position_x": " 2.819", " position_y": " 0.000", " position_z": " 1.008", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "36", " object_type": " Drawer", " position_x": " 2.572", " position_y": " 0.901", " position_z": " 1.784", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "37", " object_type": " Cabinet", " position_x": " 2.484", " position_y": " 0.499", " position_z": " 1.014", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "38", " object_type": " Cabinet", " position_x": " 2.484", " position_y": " 0.499", " position_z": " 0.999", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "39", " object_type": " Drawer", " position_x": " 2.572", " position_y": " 0.901", " position_z": " 1.263", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "40", " object_type": " Drawer", " position_x": " 2.572", " position_y": " 0.901", " position_z": " 0.748", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "41", " object_type": " Cabinet", " position_x": " 2.484", " position_y": " 0.499", " position_z": " -0.019", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "42", " object_type": " Drawer", " position_x": " 2.572", " position_y": " 0.901", " position_z": " 0.230", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "43", " object_type": " Cabinet", " position_x": " 2.484", " position_y": " 0.499", " position_z": " 2.033", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "44", " object_type": " Drawer", " position_x": " -1.533", " position_y": " 0.459", " position_z": " 1.478", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "45", " object_type": " SideTable", " position_x": " -1.599", " position_y": " 0.001", " position_z": " -1.249", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "46", " object_type": " Drawer", " position_x": " -1.533", " position_y": " 0.459", " position_z": " -1.250", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "47", " object_type": " SideTable", " position_x": " -1.599", " position_y": " 0.001", " position_z": " 1.479", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "48", " object_type": " ArmChair", " position_x": " 2.574", " position_y": " 0.002", " position_z": " -0.817", " rotation_x": " 0", " rotation_y": " 299.998", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "49", " object_type": " Shelf", " position_x": " -1.552", " position_y": " 0.040", " position_z": " -1.400", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "50", " object_type": " Shelf", " position_x": " -1.552", " position_y": " 0.040", " position_z": " -1.133", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "51", " object_type": " Shelf", " position_x": " -1.552", " position_y": " 0.040", " position_z": " 1.328", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "52", " object_type": " Shelf", " position_x": " -1.552", " position_y": " 0.040", " position_z": " 1.595", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "53", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "54", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "55", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "56", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: walk straight to the wall, turn left to the sofa chair ", " STEP 2: grab the phone on the sofa chair ", " STEP 3: turn left, walk to the end of the bed ", " STEP 4: put the phone on the bed ", " END" ]

[ "turn left, walk to the end of the bed", "put the phone on the bed", "grab the phone on the sofa chair", "walk straight to the TV, turn right to the coffee table", "walk straight to the wall, turn left to the sofa chair", "turn right, walk to the end of the table" ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)" ]

[ "(E)", "(C)", "(A)", "(B)" ]

[ { "id": "0", " object_type": " Agent", " position_x": " 0.75", " position_y": " 0.901", " position_z": " 0.25", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "1", " object_type": " Mug", " position_x": " 2.601", " position_y": " 0.178", " position_z": " 0.410", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 41" }, { "id": "2", " object_type": " CD", " position_x": " 2.557", " position_y": " 0.987", " position_z": " 0.723", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 35" }, { "id": "3", " object_type": " CellPhone", " position_x": " -1.469", " position_y": " 0.663", " position_z": " 1.711", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 47" }, { "id": "4", " object_type": " CellPhone", " position_x": " 2.351", " position_y": " 0.449", " position_z": " -1.019", " rotation_x": " 0", " rotation_y": " 119.999", " rotation_z": " 0", " parent_receptacle": " 48" }, { "id": "5", " object_type": " CellPhone", " position_x": " -1.603", " position_y": " 0.663", " position_z": " 1.556", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 47" }, { "id": "6", " object_type": " Pen", " position_x": " 1.352", " position_y": " 0.028", " position_z": " -1.717", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 32" }, { "id": "7", " object_type": " Pen", " position_x": " 2.819", " position_y": " 0.990", " position_z": " 1.292", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 35" }, { "id": "8", " object_type": " CreditCard", " position_x": " -1.558", " position_y": " 0.662", " position_z": " 1.401", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 47" }, { "id": "9", " object_type": " CreditCard", " position_x": " 2.995", " position_y": " 0.988", " position_z": " 1.576", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 35" }, { "id": "10", " object_type": " AlarmClock", " position_x": " 2.995", " position_y": " 0.984", " position_z": " 1.860", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 35" }, { "id": "11", " object_type": " Book", " position_x": " -0.448", " position_y": " 0.693", " position_z": " -0.332", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "12", " object_type": " KeyChain", " position_x": " -1.562", " position_y": " 0.358", " position_z": " -1.420", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 46" }, { "id": "13", " object_type": " Laptop", " position_x": " 2.750", " position_y": " 0.981", " position_z": " 1.710", " rotation_x": " 0", " rotation_y": " 240.000", " rotation_z": " 0", " parent_receptacle": " 35" }, { "id": "14", " object_type": " Cloth", " position_x": " 1.763", " position_y": " 0.000", " position_z": " -1.732", " rotation_x": " 0", " rotation_y": " 70.590", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "15", " object_type": " CreditCard", " position_x": " 2.575", " position_y": " 0.887", " position_z": " 1.318", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 39" }, { "id": "16", " object_type": " Pen", " position_x": " 2.820", " position_y": " 0.993", " position_z": " 0.439", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 35" }, { "id": "17", " object_type": " Pencil", " position_x": " -1.603", " position_y": " 0.667", " position_z": " -1.094", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 45" }, { "id": "18", " object_type": " BaseballBat", " position_x": " 3.076", " position_y": " 0.629", " position_z": " -1.762", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 338.300", " parent_receptacle": "" }, { "id": "19", " object_type": " AlarmClock", " position_x": " 2.644", " position_y": " 0.984", " position_z": " 0.439", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 35" }, { "id": "20", " object_type": " BaseballBat", " position_x": " 0.808", " position_y": " 0.05", " position_z": " 2.151", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 270", " parent_receptacle": "" }, { "id": "21", " object_type": " Pillow", " position_x": " -1.373", " position_y": " 0.754", " position_z": " -0.204", " rotation_x": " 0", " rotation_y": " 255.000", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "22", " object_type": " Pillow", " position_x": " -1.457", " position_y": " 0.754", " position_z": " 0.494", " rotation_x": " 0", " rotation_y": " 285.000", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "23", " object_type": " CellPhone", " position_x": " -1.469", " position_y": " 0.663", " position_z": " -1.327", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 45" }, { "id": "24", " object_type": " CD", " position_x": " 2.555", " position_y": " 0.886", " position_z": " 1.166", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 39" }, { "id": "25", " object_type": " Mug", " position_x": " 2.875", " position_y": " 0.178", " position_z": " 1.387", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 43" }, { "id": "26", " object_type": " Curtains", " position_x": " -0.020", " position_y": " 2.923", " position_z": " -1.853", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "27", " object_type": " Bed", " position_x": " -0.750", " position_y": " -0.018", " position_z": " 0.113", " rotation_x": " 1.247", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "28", " object_type": " LightSwitch", " position_x": " 1.317", " position_y": " 1.297", " position_z": " 2.197", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "29", " object_type": " DeskLamp", " position_x": " -1.618", " position_y": " 0.669", " position_z": " 1.486", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "30", " object_type": " DeskLamp", " position_x": " -1.631", " position_y": " 0.669", " position_z": " -1.308", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "31", " object_type": " Painting", " position_x": " 1.524", " position_y": " 1.516", " position_z": " -1.853", " rotation_x": " 90", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "32", " object_type": " GarbageCan", " position_x": " 1.352", " position_y": " 0.000", " position_z": " -1.685", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "33", " object_type": " Mirror", " position_x": " 0.575", " position_y": " 1.351", " position_z": " 2.197", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "34", " object_type": " Window", " position_x": " -0.013", " position_y": " 1.687", " position_z": " -1.919", " rotation_x": " 90", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "35", " object_type": " Dresser", " position_x": " 2.819", " position_y": " 0.000", " position_z": " 1.008", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "36", " object_type": " Drawer", " position_x": " 2.572", " position_y": " 0.901", " position_z": " 1.784", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "37", " object_type": " Cabinet", " position_x": " 2.484", " position_y": " 0.499", " position_z": " 1.014", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "38", " object_type": " Cabinet", " position_x": " 2.484", " position_y": " 0.499", " position_z": " 0.999", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "39", " object_type": " Drawer", " position_x": " 2.572", " position_y": " 0.901", " position_z": " 1.263", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "40", " object_type": " Drawer", " position_x": " 2.572", " position_y": " 0.901", " position_z": " 0.748", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "41", " object_type": " Cabinet", " position_x": " 2.484", " position_y": " 0.499", " position_z": " -0.019", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "42", " object_type": " Drawer", " position_x": " 2.572", " position_y": " 0.901", " position_z": " 0.230", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "43", " object_type": " Cabinet", " position_x": " 2.484", " position_y": " 0.499", " position_z": " 2.033", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "44", " object_type": " Drawer", " position_x": " -1.533", " position_y": " 0.459", " position_z": " 1.478", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "45", " object_type": " SideTable", " position_x": " -1.599", " position_y": " 0.001", " position_z": " -1.249", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "46", " object_type": " Drawer", " position_x": " -1.533", " position_y": " 0.459", " position_z": " -1.250", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "47", " object_type": " SideTable", " position_x": " -1.599", " position_y": " 0.001", " position_z": " 1.479", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "48", " object_type": " ArmChair", " position_x": " 2.574", " position_y": " 0.002", " position_z": " -0.817", " rotation_x": " 0", " rotation_y": " 299.998", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "49", " object_type": " Shelf", " position_x": " -1.552", " position_y": " 0.040", " position_z": " -1.400", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "50", " object_type": " Shelf", " position_x": " -1.552", " position_y": " 0.040", " position_z": " -1.133", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "51", " object_type": " Shelf", " position_x": " -1.552", " position_y": " 0.040", " position_z": " 1.328", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "52", " object_type": " Shelf", " position_x": " -1.552", " position_y": " 0.040", " position_z": " 1.595", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "53", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "54", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "55", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "56", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Walk forward and to the chair on your left. ", " STEP 2: Pick up the phone from the chair. ", " STEP 3: Turn around and go to the foot of the bed. ", " STEP 4: Put the phone on the bed. ", " END" ]

[ "Toss the phone onto the table.", "Turn around and go to the foot of the bed.", "Walk backward and to the chair on your right.", "Pick up the phone from the chair.", "Put the phone on the bed.", "Walk forward and to the chair on your left." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)" ]

[ "(F)", "(D)", "(B)", "(E)" ]

[ { "id": "0", " object_type": " Agent", " position_x": " 1.0", " position_y": " 0.900", " position_z": " -0.5", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "1", " object_type": " Newspaper", " position_x": " 2.957", " position_y": " 0.609", " position_z": " 1.627", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 30" }, { "id": "2", " object_type": " Statue", " position_x": " 0.834", " position_y": " 0.418", " position_z": " 1.466", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 31" }, { "id": "3", " object_type": " Statue", " position_x": " 0.114", " position_y": " 0.374", " position_z": " 0.032", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 38" }, { "id": "4", " object_type": " Watch", " position_x": " 1.145", " position_y": " 0.411", " position_z": " 1.466", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 31" }, { "id": "5", " object_type": " CreditCard", " position_x": " 0.315", " position_y": " 0.493", " position_z": " -1.736", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "6", " object_type": " Box", " position_x": " -0.636", " position_y": " 0.778", " position_z": " -1.469", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 29" }, { "id": "7", " object_type": " Laptop", " position_x": " 0.228", " position_y": " 0.358", " position_z": " -0.306", " rotation_x": " 0", " rotation_y": " 349.282", " rotation_z": " 0", " parent_receptacle": " 38" }, { "id": "8", " object_type": " CreditCard", " position_x": " 0.132", " position_y": " 0.474", " position_z": " -1.418", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "9", " object_type": " Newspaper", " position_x": " 2.072", " position_y": " 0.877", " position_z": " 1.704", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 26" }, { "id": "10", " object_type": " RemoteControl", " position_x": " 0.223", " position_y": " 0.501", " position_z": " -1.736", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "11", " object_type": " Pillow", " position_x": " -0.875", " position_y": " 0.575", " position_z": " -0.798", " rotation_x": " 0", " rotation_y": " 267.956", " rotation_z": " 341.124", " parent_receptacle": " 28" }, { "id": "12", " object_type": " KeyChain", " position_x": " -0.799", " position_y": " 0.603", " position_z": " -1.660", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 29" }, { "id": "13", " object_type": " Watch", " position_x": " 0.109", " position_y": " 0.030", " position_z": " -0.334", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 35" }, { "id": "14", " object_type": " Statue", " position_x": " 0.367", " position_y": " 0.417", " position_z": " 1.531", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 31" }, { "id": "15", " object_type": " Curtains", " position_x": " 1.199", " position_y": " 0.0", " position_z": " -2.440", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "16", " object_type": " HousePlant", " position_x": " 1.919", " position_y": " 1.717", " position_z": " -2.187", " rotation_x": " 0", " rotation_y": " 315", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "17", " object_type": " FloorLamp", " position_x": " -1.160", " position_y": " -0.003", " position_z": " 1.040", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "18", " object_type": " LightSwitch", " position_x": " -1.006", " position_y": " 1.286", " position_z": " 1.950", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "19", " object_type": " Television", " position_x": " 0.858", " position_y": " 0.884", " position_z": " 1.731", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "20", " object_type": " Painting", " position_x": " 3.414", " position_y": " 1.708", " position_z": " -0.156", " rotation_x": " 90", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "21", " object_type": " Painting", " position_x": " -1.449", " position_y": " 1.787", " position_z": " -0.342", " rotation_x": " 90", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "22", " object_type": " GarbageCan", " position_x": " 1.296", " position_y": " 9.894", " position_z": " -2.187", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "23", " object_type": " Window", " position_x": " 0.653", " position_y": " 1.550", " position_z": " -2.470", " rotation_x": " 90", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "24", " object_type": " Sofa", " position_x": " 2.868", " position_y": " -0.002", " position_z": " 0.248", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "25", " object_type": " Drawer", " position_x": " 1.996", " position_y": " 0.779", " position_z": " 1.705", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "26", " object_type": " SideTable", " position_x": " 1.995", " position_y": " 0.004", " position_z": " 1.746", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "27", " object_type": " ArmChair", " position_x": " 0.224", " position_y": " -0.010", " position_z": " -1.724", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "28", " object_type": " Sofa", " position_x": " -1.007", " position_y": " 0.006", " position_z": " -0.207", " rotation_x": " 1.149", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "29", " object_type": " SideTable", " position_x": " -0.683", " position_y": " 0.004", " position_z": " -1.600", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "30", " object_type": " SideTable", " position_x": " 2.956", " position_y": " 0.004", " position_z": " 1.568", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "31", " object_type": " TVStand", " position_x": " 0.838", " position_y": " -0.006", " position_z": " 1.582", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "32", " object_type": " Drawer", " position_x": " 0.472", " position_y": " 0.271", " position_z": " -0.165", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "33", " object_type": " Drawer", " position_x": " -0.018", " position_y": " 0.272", " position_z": " -0.165", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "34", " object_type": " Drawer", " position_x": " -0.018", " position_y": " 0.168", " position_z": " -0.165", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "35", " object_type": " Drawer", " position_x": " -0.018", " position_y": " 0.064", " position_z": " -0.165", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "36", " object_type": " Drawer", " position_x": " 0.472", " position_y": " 0.063", " position_z": " -0.165", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "37", " object_type": " Drawer", " position_x": " 0.472", " position_y": " 0.167", " position_z": " -0.165", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "38", " object_type": " CoffeeTable", " position_x": " 0.226", " position_y": " -0.003", " position_z": " -0.164", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "39", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "40", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "41", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "42", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Turn around and go to the end table next to the couch. ", " STEP 2: Pick up the newspaper. ", " STEP 3: Turn around and go to the chair with the remote on it. ", " STEP 4: Put the newspaper on the chair. ", " STEP 5: Turn around and go to the table to the right of the TV. ", " STEP 6: Pick up the newspaper from the table. ", " STEP 7: Return to the chair. ", " STEP 8: Put the newspaper on the chair. ", " END" ]

[ "Turn around and go to the end table next to the couch.", "Pick up the newspaper.", "Pick up the newspaper from the table.", "Put the newspaper on the chair.", "Turn around and go to the bookshelf to the left of the TV.", "Put the newspaper on the chair.", "Pick up the remote from the table.", "Turn around and go to the table to the right of the TV.", "Return to the chair.", "Turn around and go to the chair with the remote on it." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)" ]

[ "(A)", "(B)", "(J)", "(D)", "(F)", "(H)", "(C)", "(I)", "(D)", "(F)" ]

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object_type": " HousePlant", " position_x": " 1.555", " position_y": " 0.650", " position_z": " 1.166", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "29", " object_type": " Window", " position_x": " -2.012", " position_y": " 1.501", " position_z": " 1.468", " rotation_x": " 90", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "30", " object_type": " Window", " position_x": " 0.986", " position_y": " 1.501", " position_z": " 1.468", " rotation_x": " 90", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "31", " object_type": " Painting", " position_x": " -0.698", " position_y": " 1.835", " position_z": " -1.911", " rotation_x": " 90", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "32", " object_type": " DiningTable", " position_x": " -3.941", " position_y": " 0.005", " position_z": " 0.257", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "33", " object_type": " SideTable", " position_x": " 1.102", " position_y": " -0.000", " position_z": " 1.118", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "34", " object_type": " Drawer", " position_x": " 1.103", " position_y": " 0.519", " position_z": " 0.834", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "35", " object_type": " ArmChair", " position_x": " -1.832", " position_y": " 0.010", " position_z": " -1.349", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "36", " object_type": " Drawer", " position_x": " 1.581", " position_y": " 0.523", " position_z": " -1.199", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "37", " object_type": " SideTable", " position_x": " 1.581", " position_y": " 0.003", " position_z": " 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position_x": " -0.552", " position_y": " 0.114", " position_z": " 1.252", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "43", " object_type": " Drawer", " position_x": " -1.020", " position_y": " 0.728", " position_z": " 1.032", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "44", " object_type": " SideTable", " position_x": " -0.589", " position_y": " 0.000", " position_z": " 1.227", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "45", " object_type": " Drawer", " position_x": " -0.157", " position_y": " 0.728", " position_z": " 1.032", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "46", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "47", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "48", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "49", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Turn to the left and face the brown shelves with the newspaper on it. ", " STEP 2: Pick the credit card up from the shelves. ", " STEP 3: Turn around and cross the room to face the couch. ", " STEP 4: Put the credit card down on the couch. ", " END" ]

[ "Turn to the right and move toward the window.", "Turn to the left and face the brown shelves with the newspaper on it.", "Turn around and cross the room to face the couch.", "Put the credit card down on the couch.", "Pick the credit card up from the shelves.", "Remove the book from the shelves." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)" ]

[ "(B)", "(E)", "(C)", "(D)" ]

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position_x": " -0.552", " position_y": " 0.114", " position_z": " 1.252", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "43", " object_type": " Drawer", " position_x": " -1.020", " position_y": " 0.728", " position_z": " 1.032", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "44", " object_type": " SideTable", " position_x": " -0.589", " position_y": " 0.000", " position_z": " 1.227", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "45", " object_type": " Drawer", " position_x": " -0.157", " position_y": " 0.728", " position_z": " 1.032", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "46", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "47", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "48", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "49", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: cross the room to the media center ", " STEP 2: pick up the credit card sitting on the media center ", " STEP 3: turn around and go to the couch ", " STEP 4: place the card on the edge of the couch ", " END" ]

[ "pick up the credit card sitting on the media center", "place the card on the edge of the couch", "tuck the card under the couch cushion", "cross the room to the media center", "turn around and go to the couch", "go straight across the room to the kitchen" ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)" ]

[ "(D)", "(A)", "(E)", "(B)" ]

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rotation_z": " 0", " parent_receptacle": " 39" }, { "id": "5", " object_type": " SoapBottle", " position_x": " -0.987", " position_y": " 1.046", " position_z": " 4.394", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 39" }, { "id": "6", " object_type": " HandTowel", " position_x": " -3.726", " position_y": " 1.646", " position_z": " 1.330", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 37" }, { "id": "7", " object_type": " ToiletPaper", " position_x": " -0.968", " position_y": " 0.888", " position_z": " 3.960", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 270", " parent_receptacle": " 40" }, { "id": "8", " object_type": " Candle", " position_x": " -2.743", " position_y": " 0.278", " position_z": " 1.935", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 24" }, { "id": "9", " object_type": " HandTowel", " position_x": " -0.923", " position_y": " 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" 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 39" }, { "id": "19", " object_type": " CounterTop", " position_x": " -2.177", " position_y": " 0.782", " position_z": " 1.889", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "20", " object_type": " Drawer", " position_x": " -1.307", " position_y": " 0.606", " position_z": " 1.890", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "21", " object_type": " Drawer", " position_x": " -1.307", " position_y": " 0.337", " position_z": " 1.890", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "22", " object_type": " Faucet", " position_x": " -4.646", " position_y": " 0.448", " position_z": " 1.689", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "23", " object_type": " ShowerDoor", " position_x": " -4.873", " position_y": " 1.235", " position_z": " 3.947", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "24", " object_type": " Drawer", " position_x": " -3.029", " position_y": " 0.337", " position_z": " 1.890", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "25", " object_type": " Drawer", " position_x": " -2.169", " position_y": " 0.606", " position_z": " 1.890", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "26", " object_type": " Drawer", " position_x": " -3.029", " position_y": " 0.606", " position_z": " 1.890", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "27", " object_type": " Bathtub", " position_x": " -4.080", " position_y": " 0.297", " position_z": " 2.480", " rotation_x": " 0", " rotation_y": " 345.000", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "28", " object_type": " Drawer", " position_x": " -2.169", " position_y": " 0.337", " position_z": " 1.890", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "29", " object_type": " Mirror", " position_x": " -2.177", " position_y": " 1.856", " position_z": " 1.390", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "30", " object_type": " Sink", " position_x": " -1.421", " position_y": " 0.837", " position_z": " 1.776", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "31", " object_type": " TowelHolder", " position_x": " -4.846", " position_y": " 1.508", " position_z": " 3.358", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "32", " object_type": " TowelHolder", " position_x": " -4.846", " position_y": " 1.508", " position_z": " 2.424", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "33", " object_type": " LightSwitch", " position_x": " -2.165", " position_y": " 1.450", " position_z": " 4.972", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "34", " object_type": " BathtubBasin", " position_x": " -4.309", " position_y": " 0.192", " position_z": " 2.328", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "35", " object_type": " SinkBasin", " position_x": " -1.442", " position_y": " 0.874", " position_z": " 1.785", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "36", " object_type": " HandTowelHolder", " position_x": " -0.884", " position_y": " 1.692", " position_z": " 2.017", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "37", " object_type": " HandTowelHolder", " position_x": " -3.726", " position_y": " 1.748", " position_z": " 1.292", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "38", " object_type": " GarbageCan", " position_x": " -1.116", " position_y": " -0.037", " position_z": " 3.598", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "39", " object_type": " Toilet", " position_x": " -1.340", " position_y": " -0.000", " position_z": " 4.456", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "40", " object_type": " ToiletPaperHanger", " position_x": " -0.884", " position_y": " 0.888", " position_z": " 3.911", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "41", " object_type": " Faucet", " position_x": " -1.421", " position_y": " 0.954", " position_z": " 1.507", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "42", " object_type": " ShowerHead", " position_x": " -5.257", " position_y": " 1.733", " position_z": " 4.030", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "43", " object_type": " Faucet", " position_x": " -2.944", " position_y": " 0.954", " position_z": " 1.507", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "44", " object_type": " Sink", " position_x": " -2.943", " position_y": " 0.837", " position_z": " 1.776", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "45", " object_type": " SinkBasin", " position_x": " -2.964", " position_y": " 0.874", " position_z": " 1.785", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "46", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "47", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "48", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "49", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Move to the counter on your right. ", " STEP 2: Pick up the rag on the counter. ", " STEP 3: Bring the rag to the sink on your right. ", " STEP 4: Wash the rag in the right sink. ", " STEP 5: Bring the cleaned rag to the top drawer under the right sink. ", " STEP 6: Put the cleaned rag in the top right drawer, close the drawer. ", " END" ]

[ "Bring the rag to the sink on your right.", "Bring the cleaned rag to the top drawer under the right sink.", "Put the cleaned rag in the top right drawer, close the drawer.", "Wash the rag in the right sink.", "Pick up the rag on the counter.", "Move to the counter on your right.", "Rinse the rag in the left sink.", "Turn to the table on your left." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)" ]

[ "(F)", "(E)", "(A)", "(D)", "(B)", "(C)" ]

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rotation_z": " 0", " parent_receptacle": " 39" }, { "id": "5", " object_type": " SoapBottle", " position_x": " -0.987", " position_y": " 1.046", " position_z": " 4.394", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 39" }, { "id": "6", " object_type": " HandTowel", " position_x": " -3.726", " position_y": " 1.646", " position_z": " 1.330", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 37" }, { "id": "7", " object_type": " ToiletPaper", " position_x": " -0.968", " position_y": " 0.888", " position_z": " 3.960", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 270", " parent_receptacle": " 40" }, { "id": "8", " object_type": " Candle", " position_x": " -2.743", " position_y": " 0.278", " position_z": " 1.935", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 24" }, { "id": "9", " object_type": " HandTowel", " position_x": " -0.923", " position_y": " 1.59", " position_z": " 2.018", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 36" }, { "id": "10", " object_type": " Plunger", " position_x": " -1.064", " position_y": " -0.000", " position_z": " 4.838", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " Floor|-03.84|" }, { "id": "11", " object_type": " SoapBar", " position_x": " -3.110", " position_y": " 0.882", " position_z": " 1.869", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 45" }, { "id": "12", " object_type": " ToiletPaper", " position_x": " -1.086", " position_y": " 0.117", " position_z": " 3.703", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 38" }, { "id": "13", " object_type": " Cloth", " position_x": " -3.217", " position_y": " 0.274", " position_z": " 1.935", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 24" }, { "id": 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" 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 39" }, { "id": "19", " object_type": " CounterTop", " position_x": " -2.177", " position_y": " 0.782", " position_z": " 1.889", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "20", " object_type": " Drawer", " position_x": " -1.307", " position_y": " 0.606", " position_z": " 1.890", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "21", " object_type": " Drawer", " position_x": " -1.307", " position_y": " 0.337", " position_z": " 1.890", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "22", " object_type": " Faucet", " position_x": " -4.646", " position_y": " 0.448", " position_z": " 1.689", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "23", " object_type": " ShowerDoor", " position_x": " -4.873", " position_y": " 1.235", " position_z": " 3.947", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "24", " object_type": " Drawer", " position_x": " -3.029", " position_y": " 0.337", " position_z": " 1.890", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "25", " object_type": " Drawer", " position_x": " -2.169", " position_y": " 0.606", " position_z": " 1.890", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "26", " object_type": " Drawer", " position_x": " -3.029", " position_y": " 0.606", " position_z": " 1.890", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "27", " object_type": " Bathtub", " position_x": " -4.080", " position_y": " 0.297", " position_z": " 2.480", " rotation_x": " 0", " rotation_y": " 345.000", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "28", " object_type": " Drawer", " position_x": " -2.169", " position_y": " 0.337", " position_z": " 1.890", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "29", " object_type": " Mirror", " position_x": " -2.177", " position_y": " 1.856", " position_z": " 1.390", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "30", " object_type": " Sink", " position_x": " -1.421", " position_y": " 0.837", " position_z": " 1.776", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "31", " object_type": " TowelHolder", " position_x": " -4.846", " position_y": " 1.508", " position_z": " 3.358", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "32", " object_type": " TowelHolder", " position_x": " -4.846", " position_y": " 1.508", " position_z": " 2.424", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "33", " object_type": " LightSwitch", " position_x": " -2.165", " position_y": " 1.450", " position_z": " 4.972", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "34", " object_type": " BathtubBasin", " position_x": " -4.309", " position_y": " 0.192", " position_z": " 2.328", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "35", " object_type": " SinkBasin", " position_x": " -1.442", " position_y": " 0.874", " position_z": " 1.785", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "36", " object_type": " HandTowelHolder", " position_x": " -0.884", " position_y": " 1.692", " position_z": " 2.017", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "37", " object_type": " HandTowelHolder", " position_x": " -3.726", " position_y": " 1.748", " position_z": " 1.292", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "38", " object_type": " GarbageCan", " position_x": " -1.116", " position_y": " -0.037", " position_z": " 3.598", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "39", " object_type": " Toilet", " position_x": " -1.340", " position_y": " -0.000", " position_z": " 4.456", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "40", " object_type": " ToiletPaperHanger", " position_x": " -0.884", " position_y": " 0.888", " position_z": " 3.911", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "41", " object_type": " Faucet", " position_x": " -1.421", " position_y": " 0.954", " position_z": " 1.507", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "42", " object_type": " ShowerHead", " position_x": " -5.257", " position_y": " 1.733", " position_z": " 4.030", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "43", " object_type": " Faucet", " position_x": " -2.944", " position_y": " 0.954", " position_z": " 1.507", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "44", " object_type": " Sink", " position_x": " -2.943", " position_y": " 0.837", " position_z": " 1.776", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "45", " object_type": " SinkBasin", " position_x": " -2.964", " position_y": " 0.874", " position_z": " 1.785", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "46", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "47", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "48", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "49", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Turn right and take a step right. ", " STEP 2: Pick up the rag on the counter. ", " STEP 3: Take a step right. ", " STEP 4: Wash the rag in the right sink. ", " STEP 5: Take a step back. ", " STEP 6: Place the rag in the drawer under the right sink. ", " END" ]

[ "Turn left and take a step forward.", "Place the rag in the drawer under the right sink.", "Pick up the rag on the counter.", "Turn right and take a step right.", "Place the rag in the cupboard above the left sink.", "Wash the rag in the right sink.", "Take a step back.", "Take a step right." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)" ]

[ "(D)", "(C)", "(H)", "(F)", "(G)", "(B)" ]

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" 0", " rotation_z": " 0", " parent_receptacle": " 19" }, { "id": "5", " object_type": " Towel", " position_x": " 0.136", " position_y": " 1.121", " position_z": " -2.080", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "6", " object_type": " Candle", " position_x": " -3.278", " position_y": " 0.952", " position_z": " -1.476", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 26" }, { "id": "7", " object_type": " Cloth", " position_x": " -2.002", " position_y": " 1.034", " position_z": " -2.086", " rotation_x": " 0", " rotation_y": " 343.825", " rotation_z": " 0", " parent_receptacle": " 33" }, { "id": "8", " object_type": " HandTowel", " position_x": " -3.711", " position_y": " 1.474", " position_z": " -0.410", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 30" }, { "id": "9", " object_type": " Plunger", " position_x": " -2.207", " position_y": " -0.001", " position_z": " -2.076", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " Floor|+00.00|" }, { "id": "10", " object_type": " SoapBottle", " position_x": " -3.358", " position_y": " 0.084", " position_z": " -1.099", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 19" }, { "id": "11", " object_type": " SoapBar", " position_x": " -3.618", " position_y": " 0.116", " position_z": " -0.436", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 28" }, { "id": "12", " object_type": " ToiletPaper", " position_x": " -3.493", " position_y": " 0.075", " position_z": " -1.635", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 21" }, { "id": "13", " object_type": " ToiletPaper", " position_x": " -2.305", " position_y": " 0.755", " position_z": " -2.157", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 90", " parent_receptacle": " 32" }, { "id": "14", " object_type": " SprayBottle", " position_x": " -3.483", " position_y": " 0.085", " position_z": " -1.278", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 19" }, { "id": "15", " object_type": " ScrubBrush", " position_x": " -2.407", " position_y": " -0.001", " position_z": " -2.092", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " Floor|+00.00|" }, { "id": "16", " object_type": " Cabinet", " position_x": " -3.169", " position_y": " 0.370", " position_z": " -2.188", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "17", " object_type": " Window", " position_x": " -1.737", " position_y": " 1.292", " position_z": " -2.286", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "18", " object_type": " ShowerDoor", " position_x": " -0.447", " position_y": " 0.909", " position_z": " -2.191", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "19", " object_type": " Cabinet", " position_x": " -3.169", " position_y": " 0.370", " position_z": " -1.379", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "20", " object_type": " Mirror", " position_x": " -3.730", " position_y": " 1.481", " position_z": " -1.427", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "21", " object_type": " Cabinet", " position_x": " -3.169", " position_y": " 0.370", " position_z": " -1.398", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "22", " object_type": " ShowerGlass", " position_x": " -0.964", " position_y": " 0.907", " position_z": " -0.120", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "23", " object_type": " Sink", " position_x": " -3.391", " position_y": " 0.841", " position_z": " -1.828", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "24", " object_type": " FloorLamp", " position_x": " -3.539", " position_y": " 1.020", " position_z": " -0.932", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "25", " object_type": " Cabinet", " position_x": " -3.169", " position_y": " 0.370", " position_z": " -0.592", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "26", " object_type": " CounterTop", " position_x": " -3.426", " position_y": " 0.883", " position_z": " -1.384", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "27", " object_type": " TowelHolder", " position_x": " 0.136", " position_y": " 1.106", " position_z": " -2.187", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "28", " object_type": " GarbageCan", " position_x": " -3.520", " position_y": " -0.030", " position_z": " -0.349", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "29", " object_type": " SinkBasin", " position_x": " -3.392", " position_y": " 0.916", " position_z": " -1.820", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "30", " object_type": " HandTowelHolder", " position_x": " -3.750", " position_y": " 1.575", " position_z": " -0.410", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "31", " object_type": " HandTowelHolder", " position_x": " -3.332", " position_y": " 1.621", " position_z": " -2.198", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "32", " object_type": " ToiletPaperHanger", " position_x": " -2.375", " position_y": " 0.886", " position_z": " -2.199", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "33", " object_type": " Toilet", " position_x": " -1.896", " position_y": " -0.001", " position_z": " -1.738", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "34", " object_type": " LightSwitch", " position_x": " -2.052", " position_y": " 1.292", " position_z": " 1.000", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "35", " object_type": " FloorLamp", " position_x": " -3.539", " position_y": " 1.020", " position_z": " -1.830", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "36", " object_type": " ShowerHead", " position_x": " 0.232", " position_y": " 1.026", " position_z": " 0.375", " rotation_x": " 0", " rotation_y": " 315", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "37", " object_type": " Sink", " position_x": " -3.391", " position_y": " 0.841", " position_z": " -0.931", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "38", " object_type": " SinkBasin", " position_x": " -3.392", " position_y": " 0.916", " position_z": " -0.923", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "39", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "40", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "41", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "42", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Put empty toilet paper roll on the ground from the holder. Walk forward to the wall and turn right, ,facing the left sink. ", " STEP 2: Pick up a the candle in front. ", " STEP 3: Turn around before turning back to the sink. ", " STEP 4: Open up the door below the sink on the right. Put the candle under the sink in the cabinet. Close the door. ", " STEP 5: Turn around before turning back to the sink. ", " STEP 6: Pick up the other candle next to the sink on the counter. ", " STEP 7: Turn around before turning back to the sink. ", " STEP 8: Open up the right door, put the candle under the cabinet to the right of the first cabinet, and close the door. ", " END" ]

[ "Turn around before turning back to the sink.", "Open up the right door, put the candle under the cabinet to the right of the first cabinet, and close the door.", "Pick up a the candle in front.", "Turn around before turning back to the sink.", "Open up the door below the sink on the right. Put the candle under the sink in the cabinet. Close the door.", "Leave the candle on the counter.", "Turn around before turning back to the sink.", "Leave the other candle next to the sink on the counter.", "Put empty toilet paper roll on the ground from the holder. Walk forward to the wall and turn right, ,facing the left sink.", "Pick up the other candle next to the sink on the counter." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)" ]

[ "(I)", "(C)", "(A)", "(D)", "(G)", "(E)", "(A)", "(D)", "(G)", "(J)", "(A)", "(D)", "(G)", "(B)" ]

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-0.001", " position_z": " -2.076", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " Floor|+00.00|" }, { "id": "10", " object_type": " SoapBottle", " position_x": " -3.358", " position_y": " 0.084", " position_z": " -1.099", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 19" }, { "id": "11", " object_type": " SoapBar", " position_x": " -3.618", " position_y": " 0.116", " position_z": " -0.436", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 28" }, { "id": "12", " object_type": " ToiletPaper", " position_x": " -3.493", " position_y": " 0.075", " position_z": " -1.635", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 21" }, { "id": "13", " object_type": " ToiletPaper", " position_x": " -2.305", " position_y": " 0.755", " position_z": " -2.157", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 90", " parent_receptacle": " 32" 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position_y": " 0.841", " position_z": " -1.828", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "24", " object_type": " FloorLamp", " position_x": " -3.539", " position_y": " 1.020", " position_z": " -0.932", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "25", " object_type": " Cabinet", " position_x": " -3.169", " position_y": " 0.370", " position_z": " -0.592", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "26", " object_type": " CounterTop", " position_x": " -3.426", " position_y": " 0.883", " position_z": " -1.384", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "27", " object_type": " TowelHolder", " position_x": " 0.136", " position_y": " 1.106", " position_z": " -2.187", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": 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position_y": " 0.841", " position_z": " -0.931", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "38", " object_type": " SinkBasin", " position_x": " -3.392", " position_y": " 0.916", " position_z": " -0.923", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "39", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "40", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "41", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "42", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Go forward, turn right in front of the counter ", " STEP 2: Pick up the candle on the counter ", " STEP 3: Turn around, go forward a bit, turn right, go forward a bit, turn right ", " STEP 4: Put the candle in the second left cabinet ", " STEP 5: Turn right, go forward a bit, turn right ", " STEP 6: Pick up the candle on the counter ", " STEP 7: Turn around, go forward a bit, turn right, go forward a bit, turn right ", " STEP 8: Put the candle in the second left cabinet ", " END" ]

[ "Turn right, go forward a bit, turn right", "Pick up the candle on the counter", "Turn around, go forward a bit, turn right, go forward a bit, turn right", "Put the candle in the second left cabinet", "Go forward, turn right in front of the counter", "Pick up the candle on the counter", "Drop the candle on the counter", "Turn around, go forward a bit, turn right, go forward a bit, turn right", "Put the candle in the second left cabinet", "Leave the candle on the counter" ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)" ]

[ "(E)", "(B)", "(F)", "(C)", "(H)", "(D)", "(I)", "(A)", "(B)", "(F)", "(C)", "(H)", "(D)", "(I)" ]

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position_z": " -1.861", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "24", " object_type": " DeskLamp", " position_x": " 2.760", " position_y": " 0.890", " position_z": " -3.317", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "25", " object_type": " DeskLamp", " position_x": " -2.459", " position_y": " 0.668", " position_z": " -0.532", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "26", " object_type": " LightSwitch", " position_x": " -0.700", " position_y": " 1.016", " position_z": " 0.334", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "27", " object_type": " GarbageCan", " position_x": " 1.343", " position_y": " 1.087", " position_z": " -3.374", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "28", " object_type": " 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rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "38", " object_type": " SideTable", " position_x": " -2.416", " position_y": " -0.001", " position_z": " -3.149", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "39", " object_type": " Drawer", " position_x": " -2.349", " position_y": " 0.455", " position_z": " -3.150", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "40", " object_type": " Drawer", " position_x": " 2.641", " position_y": " 0.172", " position_z": " 1.511", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "41", " object_type": " Drawer", " position_x": " 2.641", " position_y": " 1.002", " position_z": " 1.511", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "42", " object_type": " Drawer", " position_x": " 2.641", " position_y": " 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Drawer", " position_x": " -2.349", " position_y": " 0.455", " position_z": " -0.514", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "48", " object_type": " Blinds", " position_x": " -0.800", " position_y": " 2.087", " position_z": " -3.627", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "49", " object_type": " Blinds", " position_x": " 2.931", " position_y": " 2.166", " position_z": " -1.0", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "50", " object_type": " Chair", " position_x": " 2.574", " position_y": " 0.002", " position_z": " -2.881", " rotation_x": " 0", " rotation_y": " 175.162", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "51", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "52", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "53", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "54", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: turn left and walk to the garbage can next to the desk ", " STEP 2: pick up the pencil from the garbage can ", " STEP 3: look up turn right and walk to the bed side table in the corner of the room ", " STEP 4: place the pencil into the black mug ", " STEP 5: pick up the black mug with the pencil in it ", " STEP 6: turn right ninety degrees and then walk to the desk ", " STEP 7: place the black mug with a pencil in it on to the desk next to the note pad ", " END" ]

[ "look up turn right and walk to the bed side table in the corner of the room", "turn right ninety degrees and then walk to the desk", "place the pencil into the red cup", "pick up the pencil from the garbage can", "place the black mug with a pencil in it on to the desk next to the note pad", "turn left and walk to the garbage can next to the desk", "pick up the black mug with the pencil in it", "place the pencil into the black mug", "turn right and walk to the lamp next to the desk" ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)" ]

[ "(F)", "(D)", "(A)", "(H)", "(G)", "(B)", "(E)" ]

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270", " rotation_z": " 0", " parent_receptacle": " 46" }, { "id": "5", " object_type": " CreditCard", " position_x": " 1.694", " position_y": " 0.896", " position_z": " -2.975", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 36" }, { "id": "6", " object_type": " KeyChain", " position_x": " 2.706", " position_y": " 1.249", " position_z": " 1.708", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 32" }, { "id": "7", " object_type": " AlarmClock", " position_x": " -2.394", " position_y": " 0.684", " position_z": " -3.304", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 38" }, { "id": "8", " object_type": " AlarmClock", " position_x": " 2.638", " position_y": " 1.232", " position_z": " 1.397", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 43" }, { "id": "9", " object_type": " Book", " position_x": " 2.351", " position_y": " 0.889", " position_z": " -3.157", " rotation_x": " 0", " rotation_y": " 195.000", " rotation_z": " 0", " parent_receptacle": " 36" }, { "id": "10", " object_type": " CreditCard", " position_x": " 1.633", " position_y": " 0.361", " position_z": " -3.177", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 33" }, { "id": "11", " object_type": " Pen", " position_x": " 1.867", " position_y": " 0.902", " position_z": " -2.975", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 36" }, { "id": "12", " object_type": " Pencil", " position_x": " 1.344", " position_y": " 0.024", " position_z": " -3.375", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "13", " object_type": " TeddyBear", " position_x": " -0.667", " position_y": " 0.612", " position_z": " -1.364", " rotation_x": " 0", " rotation_y": " 81.467", " rotation_z": " 0", " parent_receptacle": " 23" }, { "id": "14", " object_type": " Laptop", " position_x": " -1.31", " position_y": " 0.612", " position_z": " -1.542", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 23" }, { "id": "15", " object_type": " AlarmClock", " position_x": " 2.728", " position_y": " 0.900", " position_z": " -3.044", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 36" }, { "id": "16", " object_type": " CellPhone", " position_x": " 2.591", " position_y": " 1.228", " position_z": " 1.168", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 43" }, { "id": "17", " object_type": " KeyChain", " position_x": " 2.826", " position_y": " 1.228", " position_z": " 1.397", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 43" }, { "id": "18", " object_type": " Pillow", " position_x": " -2.124", " position_y": " 0.658", " position_z": " -1.522", " rotation_x": " 0", " rotation_y": 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position_z": " -1.861", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "24", " object_type": " DeskLamp", " position_x": " 2.760", " position_y": " 0.890", " position_z": " -3.317", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "25", " object_type": " DeskLamp", " position_x": " -2.459", " position_y": " 0.668", " position_z": " -0.532", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "26", " object_type": " LightSwitch", " position_x": " -0.700", " position_y": " 1.016", " position_z": " 0.334", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "27", " object_type": " GarbageCan", " position_x": " 1.343", " position_y": " 1.087", " position_z": " -3.374", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "28", " object_type": " 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parent_receptacle": "" }, { "id": "33", " object_type": " Drawer", " position_x": " 1.979", " position_y": " 0.486", " position_z": " -2.988", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "34", " object_type": " Drawer", " position_x": " 1.979", " position_y": " 0.728", " position_z": " -2.988", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "35", " object_type": " Drawer", " position_x": " 1.979", " position_y": " 0.208", " position_z": " -2.988", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "36", " object_type": " Desk", " position_x": " 2.318", " position_y": " -0.009", " position_z": " -3.214", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "37", " object_type": " Drawer", " position_x": " -2.349", " position_y": " 0.163", " position_z": " -3.150", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "38", " object_type": " SideTable", " position_x": " -2.416", " position_y": " -0.001", " position_z": " -3.149", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "39", " object_type": " Drawer", " position_x": " -2.349", " position_y": " 0.455", " position_z": " -3.150", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "40", " object_type": " Drawer", " position_x": " 2.641", " position_y": " 0.172", " position_z": " 1.511", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "41", " object_type": " Drawer", " position_x": " 2.641", " position_y": " 1.002", " position_z": " 1.511", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "42", " object_type": " Drawer", " position_x": " 2.641", " position_y": " 0.448", " position_z": " 1.511", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "43", " object_type": " Dresser", " position_x": " 2.676", " position_y": " 0.002", " position_z": " 1.511", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "44", " object_type": " Drawer", " position_x": " 2.641", " position_y": " 0.725", " position_z": " 1.511", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "45", " object_type": " SideTable", " position_x": " -2.416", " position_y": " -0.001", " position_z": " -0.514", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "46", " object_type": " Drawer", " position_x": " -2.349", " position_y": " 0.163", " position_z": " -0.514", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "47", " object_type": " Drawer", " position_x": " -2.349", " position_y": " 0.455", " position_z": " -0.514", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "48", " object_type": " Blinds", " position_x": " -0.800", " position_y": " 2.087", " position_z": " -3.627", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "49", " object_type": " Blinds", " position_x": " 2.931", " position_y": " 2.166", " position_z": " -1.0", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "50", " object_type": " Chair", " position_x": " 2.574", " position_y": " 0.002", " position_z": " -2.881", " rotation_x": " 0", " rotation_y": " 175.162", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "51", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "52", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "53", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "54", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Move left and then walk all the way right until you reach a trash can ", " STEP 2: Pick up a pencil from inside the trash can ", " STEP 3: Walk all the way right until you reach a bedside table ", " STEP 4: Place the pencil inside the coffee mug that is sitting on the table ", " STEP 5: Pick up the coffee mug with the pencil inside it ", " STEP 6: Turn around and maneuver until you are facing the right side of the bedroom desk ", " STEP 7: Place the coffee mug with the pencil inside of it down on the table ", " END" ]

[ "Move left and then walk all the way right until you reach a trash can", "Pick up a pencil from inside the trash can", "Pick up the coffee mug with the pencil inside it", "Turn around and maneuver until you are facing the right side of the bedroom desk", "Place the coffee mug with the pencil inside of it down on the table", "Pick up a ruler from inside the trash can", "Place the pencil inside the coffee mug that is sitting on the table", "Walk all the way right until you reach a bedside table", "Move forward and turn until you are facing the left side of the bedroom desk" ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)" ]

[ "(A)", "(B)", "(H)", "(G)", "(C)", "(D)", "(E)" ]

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object_type": " Lettuce", " position_x": " -1.259", " position_y": " 0.977", " position_z": " -0.053", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 76" }, { "id": "15", " object_type": " Mug", " position_x": " -3.426", " position_y": " 0.945", " position_z": " 3.275", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "16", " object_type": " Apple", " position_x": " -3.559", " position_y": " 0.975", " position_z": " 1.189", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 49" }, { "id": "17", " object_type": " Egg", " position_x": " -3.463", " position_y": " 0.950", " position_z": " 1.189", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 49" }, { "id": "18", " object_type": " Knife", " position_x": " -2.503", " position_y": " 0.939", " position_z": " 3.567", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 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[ "STEP 1: Step left and around the table to look at it from that angle. ", " STEP 2: Pick up the knife. ", " STEP 3: Look down and to the left. ", " STEP 4: Slice the bread on the counter with the knife. ", " STEP 5: Put the knife back roughly where it was before. ", " STEP 6: Pick up a slice of bread. ", " STEP 7: Walk ahead and right to the microwave. ", " STEP 8: Heat the bread in the microwave. ", " STEP 9: Turn around and go back to the table where the bread was. ", " STEP 10: Put the bread on the table on top of the knife. ", " END" ]

[ "Put the bread on the table on top of the knife.", "Step left and around the table to look at it from that angle.", "Turn around and go back to the table where the bread was.", "Look up and to the right.", "Put the knife back roughly where it was before.", "Heat the bread in the microwave.", "Walk ahead and right to the microwave.", "Slice the bread on the counter with the knife.", "Pick up a slice of bread.", "Pick up the knife.", "Look down and to the left.", "Step right and around the table to examine it from a new perspective." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)", "(K)", "(L)" ]

[ "(B)", "(J)", "(K)", "(H)", "(E)", "(I)", "(G)", "(F)", "(C)", "(A)" ]

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[ "STEP 1: Head to the left side of the white table ", " STEP 2: Grab the knife off of the table ", " STEP 3: Look down at the table ", " STEP 4: Cut the apple on the table into slices ", " STEP 5: Put the knife on the table ", " STEP 6: Grab one of the apple slices off the table ", " STEP 7: Turn right and head to the microwave ", " STEP 8: Heat the apple in the microwave and then take it out ", " STEP 9: Turn around and head back to the white table ", " STEP 10: Place the apple on the table ", " END" ]

[ "Turn around and head back to the white table", "Grab the knife off of the table", "Turn right and head to the microwave", "Head to the left side of the white table", "Heat the apple in the microwave and then take it out", "Cut the apple on the table into slices", "Turn left and head to the refrigerator", "Grab the spoon off of the table", "Place the apple on the table", "Look down at the table", "Put the knife on the table", "Grab one of the apple slices off the table" ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)", "(K)", "(L)" ]

[ "(D)", "(B)", "(J)", "(F)", "(K)", "(L)", "(C)", "(E)", "(A)", "(I)" ]

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[ "STEP 1: Turn right and step forward to face the sink. ", " STEP 2: Pick up the knife on the sink. ", " STEP 3: Turn around and cross the room and turn left to face the table. ", " STEP 4: Cut the apple on the table into three pieces. ", " STEP 5: Turn around to face the fridge. ", " STEP 6: Place the knife in the fridge. ", " STEP 7: Turn around to face the apple on the table. ", " STEP 8: Pick up the piece of apple on the table. ", " STEP 9: Turn left and cross the room to face the microwave. ", " STEP 10: Heat the piece of apple in the microwave and remove it. ", " STEP 11: Turn left to face the fridge. ", " STEP 12: Place the apple piece in the fridge. ", " END" ]

[ "Pick up the knife on the sink.", "Turn right and step forward to face the sink.", "Turn around to face the apple on the table.", "Place the apple piece in the fridge.", "Heat the piece of apple in the microwave and remove it.", "Turn around to face the fridge.", "Turn around and cross the room and turn left to face the table.", "Grab the orange from the fruit bowl.", "Turn left and cross the room to face the microwave.", "Pick up the piece of apple on the table.", "Cut the apple on the table into three pieces.", "Place the knife in the fridge.", "Turn left to face the fridge.", "Rotate 180 degrees and move forward to the couch." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)", "(K)", "(L)", "(M)", "(N)" ]

[ "(B)", "(A)", "(G)", "(K)", "(F)", "(L)", "(C)", "(J)", "(I)", "(E)", "(M)", "(D)" ]

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[ "STEP 1: Turn left and go to the sink ", " STEP 2: Pick up the knife in front of the sink ", " STEP 3: Turn around, go forward, turn left to the table ", " STEP 4: Cut the apple on the table ", " STEP 5: Turn left, go forward, turn right at the fridge ", " STEP 6: Put the knife in the fridge ", " STEP 7: Turn left, go forward, turn left to the table ", " STEP 8: Pick up an apple piece from the table ", " STEP 9: Turn left and go to the microwave ", " STEP 10: Put the apple piece in the microwave, start the microwave, wait, pick up the apple piece from the microwave ", " STEP 11: Turn around, go forward, turn right at the fridge ", " STEP 12: Put the apple piece into the fridge ", " END" ]

[ "Put the knife on the counter next to the fridge", "Turn left and go to the sink", "Put the knife in the fridge", "Cut the apple on the table", "Turn left and go to the microwave", "Turn left, go forward, turn left to the table", "Put the apple piece into the fridge", "Pick up an apple piece from the table", "Turn around, go forward, turn left to the table", "Put the apple piece in the microwave, start the microwave, wait, pick up the apple piece from the microwave", "Pick up the knife in front of the sink", "Turn left, go forward, turn right at the fridge", "Go forward, take a right and end at the table", "Turn around, go forward, turn right at the fridge" ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)", "(K)", "(L)", "(M)", "(N)" ]

[ "(B)", "(K)", "(I)", "(D)", "(L)", "(C)", "(F)", "(H)", "(E)", "(J)", "(N)", "(G)" ]

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[ "STEP 1: Go around the coffee table to the right, go towards the white chair across the room, turn right, go forward to the wall, turn left, go forward to the side table to the right of the white chair. ", " STEP 2: Take the black plate from the side table. ", " STEP 3: Turn around go forward to the fireplace. Turn right to the coffee table. Go to the coffee table. ", " STEP 4: Put the black plate on the coffee table. ", " STEP 5: Turn right, go forward to the white chair, turn left, go forward to the dining table, around left to the left short side of the dining table. ", " STEP 6: Take the black plate from the table ", " STEP 7: Turn right, go forward, turn right, go towards the wall, turn right, go towards the wall near the dresser, after passing the couch turn right, go towards the coffee table, turn right to face the coffee table. ", " STEP 8: Put the plate above the first plate on the coffee table. ", " END" ]

[ "Turn around go forward to the fireplace. Turn right to the coffee table. Go to the coffee table.", "Turn right, go forward, turn right, go towards the wall, turn right, go towards the wall near the dresser, after passing the couch turn right, go towards the coffee table, turn right to face the coffee table.", "Put the black plate on the coffee table.", "Take the blue glass from the table", "Go around the coffee table to the right, go towards the white chair across the room, turn right, go forward to the wall, turn left, go forward to the side table to the right of the white chair.", "Take the white mug from the side table.", "Put the plate above the first plate on the coffee table.", "Turn right, go forward to the white chair, turn left, go forward to the dining table, around left to the left short side of the dining table.", "Take the black plate from the table", "Take the black plate from the side table." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)" ]

[ "(E)", "(J)", "(A)", "(C)", "(H)", "(I)", "(B)", "(G)" ]

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parent_receptacle": "" }, { "id": "33", " object_type": " Window", " position_x": " 0.481", " position_y": " 1.411", " position_z": " -1.932", " rotation_x": " 90", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "34", " object_type": " SideTable", " position_x": " 0.626", " position_y": " 0.0", " position_z": " -1.705", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "35", " object_type": " Footstool", " position_x": " 0.176", " position_y": " 0.006", " position_z": " -0.358", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "36", " object_type": " Dumbbell", " position_x": " 1.596", " position_y": " 0.715", " position_z": " 0.772", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "37", " object_type": " Dumbbell", " position_x": " 1.776", " position_y": " 0.717", " position_z": " 0.772", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "38", " object_type": " Shelf", " position_x": " -1.700", " position_y": " 0.573", " position_z": " 1.540", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "39", " object_type": " Shelf", " position_x": " -1.700", " position_y": " 0.156", " position_z": " 1.540", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "40", " object_type": " Shelf", " position_x": " -1.700", " position_y": " 0.377", " position_z": " 1.540", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "41", " object_type": " Shelf", " position_x": " -1.839", " position_y": " 1.084", " position_z": " 1.235", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "42", " object_type": " Desk", " position_x": " -1.722", " position_y": " 0.003", " position_z": " 0.920", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "43", " object_type": " Footstool", " position_x": " 0.175", " position_y": " 0.004", " position_z": " -0.652", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "44", " object_type": " GarbageBag", " position_x": " 1.624", " position_y": " 0.319", " position_z": " -1.609", " rotation_x": " 270", " rotation_y": " 90", " rotation_z": " 83.418", " parent_receptacle": "" }, { "id": "45", " object_type": " Desk", " position_x": " 1.519", " position_y": " 1.823", " position_z": " 0.385", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "46", " object_type": " Chair", " position_x": " -1.459", " position_y": " 0.003", " position_z": " 0.929", " rotation_x": " 0", " rotation_y": " 292.527", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "47", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "48", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "49", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Turn right and move to the right hand side of the drafting table. ", " STEP 2: Pick up the basketball underneath the drafting table. ", " STEP 3: Turn right and move to face the middle of the drafting table. ", " STEP 4: Place the basketball on the left hand side of the drafting table. ", " END" ]

[ "Pick up the basketball underneath the drafting table.", "Turn right and move to face the middle of the drafting table.", "Turn left and move to the left hand side of the drafting table.", "Place the basketball on the left hand side of the drafting table.", "Turn left and move to face the far end of the drafting table.", "Turn right and move to the right hand side of the drafting table." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)" ]

[ "(F)", "(A)", "(B)", "(D)" ]

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rotation_z": " 0", " parent_receptacle": " 45" }, { "id": "5", " object_type": " CreditCard", " position_x": " -1.734", " position_y": " 0.287", " position_z": " 1.648", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "6", " object_type": " CreditCard", " position_x": " -1.906", " position_y": " 1.071", " position_z": " 1.067", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 41" }, { "id": "7", " object_type": " KeyChain", " position_x": " -1.815", " position_y": " 0.675", " position_z": " 1.636", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 42" }, { "id": "8", " object_type": " Book", " position_x": " -1.734", " position_y": " 0.286", " position_z": " 1.448", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "9", " object_type": " Book", " position_x": " -1.541", " position_y": " 0.540", " position_z": " -0.971", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 26" }, { "id": "10", " object_type": " Pillow", " position_x": " -0.823", " position_y": " 0.618", " position_z": " -0.549", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 26" }, { "id": "11", " object_type": " AlarmClock", " position_x": " -1.617", " position_y": " 0.673", " position_z": " 1.206", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 42" }, { "id": "12", " object_type": " Book", " position_x": " 1.318", " position_y": " 0.711", " position_z": " 0.215", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 45" }, { "id": "13", " object_type": " AlarmClock", " position_x": " 1.408", " position_y": " 0.711", " position_z": " 0.602", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 45" }, { "id": "14", " object_type": " BasketBall", " position_x": " 1.510", " position_y": " 0.120", " position_z": " -0.105", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "15", " object_type": " TeddyBear", " position_x": " -1.7", " position_y": " 0.475", " position_z": " -0.331", " rotation_x": " 0", " rotation_y": " 225", " rotation_z": " 0", " parent_receptacle": " 26" }, { "id": "16", " object_type": " TennisRacket", " position_x": " 1.551", " position_y": " 0.000", " position_z": " 0.654", " rotation_x": " 270", " rotation_y": " 336.082", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "17", " object_type": " Pen", " position_x": " -1.683", " position_y": " 0.681", " position_z": " 0.776", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 42" }, { "id": "18", " object_type": " Pencil", " position_x": " -1.881", " position_y": " 0.678", " position_z": " 1.493", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 42" }, { "id": "19", " object_type": " KeyChain", " position_x": " 0.789", " position_y": " 0.684", " position_z": " -1.663", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 34" }, { "id": "20", " object_type": " CreditCard", " position_x": " -1.815", " position_y": " 0.675", " position_z": " 1.493", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 42" }, { "id": "21", " object_type": " Laptop", " position_x": " -1.786", " position_y": " 0.634", " position_z": " 0.206", " rotation_x": " 0", " rotation_y": " 159.517", " rotation_z": " 0", " parent_receptacle": " 42" }, { "id": "22", " object_type": " CellPhone", " position_x": " -1.787", " position_y": " 0.066", " position_z": " 1.581", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 39" }, { "id": "23", " object_type": " Pillow", " position_x": " -0.344", " position_y": " 0.618", " position_z": " -0.971", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 26" }, { "id": "24", " object_type": " CD", " position_x": " -1.550", " position_y": " 0.672", " position_z": " 1.349", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 42" }, { "id": "25", " object_type": " Curtains", " position_x": " 1.865", " position_y": " 2.039", " position_z": " -0.495", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "26", " object_type": " Bed", " position_x": " -1.037", " position_y": " 0.009", " position_z": " -0.690", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "27", " object_type": " Mirror", " position_x": " 0.549", " position_y": " 1.494", " position_z": " 1.880", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "28", " object_type": " Curtains", " position_x": " 0.486", " position_y": " 2.035", " position_z": " -1.853", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "29", " object_type": " GarbageCan", " position_x": " 1.683", " position_y": " -0.018", " position_z": " 1.670", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "30", " object_type": " LightSwitch", " position_x": " -0.119", " position_y": " 1.317", " position_z": " 1.853", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "31", " object_type": " DeskLamp", " position_x": " -1.845", " position_y": " 1.057", " position_z": " 0.756", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "32", " object_type": " Window", " position_x": " 1.932", " position_y": " 1.409", " position_z": " -0.507", " rotation_x": " 90", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "33", " object_type": " Window", " position_x": " 0.481", " position_y": " 1.411", " position_z": " -1.932", " rotation_x": " 90", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "34", " object_type": " SideTable", " position_x": " 0.626", " position_y": " 0.0", " position_z": " -1.705", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "35", " object_type": " Footstool", " position_x": " 0.176", " position_y": " 0.006", " position_z": " -0.358", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "36", " object_type": " Dumbbell", " position_x": " 1.596", " position_y": " 0.715", " position_z": " 0.772", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "37", " object_type": " Dumbbell", " position_x": " 1.776", " position_y": " 0.717", " position_z": " 0.772", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "38", " object_type": " Shelf", " position_x": " -1.700", " position_y": " 0.573", " position_z": " 1.540", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "39", " object_type": " Shelf", " position_x": " -1.700", " position_y": " 0.156", " position_z": " 1.540", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "40", " object_type": " Shelf", " position_x": " -1.700", " position_y": " 0.377", " position_z": " 1.540", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "41", " object_type": " Shelf", " position_x": " -1.839", " position_y": " 1.084", " position_z": " 1.235", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "42", " object_type": " Desk", " position_x": " -1.722", " position_y": " 0.003", " position_z": " 0.920", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "43", " object_type": " Footstool", " position_x": " 0.175", " position_y": " 0.004", " position_z": " -0.652", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "44", " object_type": " GarbageBag", " position_x": " 1.624", " position_y": " 0.319", " position_z": " -1.609", " rotation_x": " 270", " rotation_y": " 90", " rotation_z": " 83.418", " parent_receptacle": "" }, { "id": "45", " object_type": " Desk", " position_x": " 1.519", " position_y": " 1.823", " position_z": " 0.385", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "46", " object_type": " Chair", " position_x": " -1.459", " position_y": " 0.003", " position_z": " 0.929", " rotation_x": " 0", " rotation_y": " 292.527", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "47", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "48", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "49", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: walk to face right side of white table ", " STEP 2: pick up basket ball under the table ", " STEP 3: walk to face front side of table ", " STEP 4: put basket ball on left side of table ", " END" ]

[ "put basket ball on left side of table", "walk to face left side of white table", "put basket ball on right side of table", "walk to face right side of white table", "pick up basket ball under the table", "walk to face front side of table" ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)" ]

[ "(D)", "(E)", "(F)", "(A)" ]

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rotation_z": " 0", " parent_receptacle": " 36" }, { "id": "5", " object_type": " Cup", " position_x": " -0.692", " position_y": " 0.458", " position_z": " -1.476", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 63" }, { "id": "6", " object_type": " Knife", " position_x": " 1.762", " position_y": " 0.943", " position_z": " 0.415", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 36" }, { "id": "7", " object_type": " Tomato", " position_x": " 1.77", " position_y": " 0.134", " position_z": " 1.779", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 54" }, { "id": "8", " object_type": " Tomato", " position_x": " -0.256", " position_y": " 1.127", " position_z": " -1.382", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 63" }, { "id": "9", " object_type": " SaltShaker", " position_x": " 1.726", " position_y": " 0.906", " position_z": " -1.717", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "10", " object_type": " SaltShaker", " position_x": " 1.757", " position_y": " 0.905", " position_z": " 0.739", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 36" }, { "id": "11", " object_type": " PepperShaker", " position_x": " 1.529", " position_y": " 0.905", " position_z": " 0.622", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 36" }, { "id": "12", " object_type": " Mug", " position_x": " 0.840", " position_y": " 0.906", " position_z": " -1.264", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 55" }, { "id": "13", " object_type": " Mug", " position_x": " 1.769", " position_y": " 1.648", " position_z": " -0.353", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 47" }, { "id": "14", " object_type": " Plate", " position_x": " -0.741", " position_y": " 1.684", " position_z": " -1.594", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 63" }, { "id": "15", " object_type": " SoapBottle", " position_x": " 1.877", " position_y": " 1.652", " position_z": " -0.401", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 47" }, { "id": "16", " object_type": " Cup", " position_x": " -0.741", " position_y": " 0.458", " position_z": " -1.670", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 63" }, { "id": "17", " object_type": " Egg", " position_x": " 0.553", " position_y": " 0.946", " position_z": " -1.263", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "18", " object_type": " Fork", " position_x": " 1.529", " position_y": " 0.911", " position_z": " 0.518", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " 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" rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 63" }, { "id": "24", " object_type": " Spatula", " position_x": " 0.963", " position_y": " 0.775", " position_z": " -1.488", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 55" }, { "id": "25", " object_type": " Potato", " position_x": " 1.101", " position_y": " 0.800", " position_z": " -1.544", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 55" }, { "id": "26", " object_type": " Knife", " position_x": " 1.839", " position_y": " 0.943", " position_z": " 0.570", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 36" }, { "id": "27", " object_type": " ButterKnife", " position_x": " 0.296", " position_y": " 0.9", " position_z": " -1.296", " rotation_x": " 0", " rotation_y": " 14.568", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "28", " object_type": " Bread", " 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} ]

[ "STEP 1: Turn left and walk to the counter. ", " STEP 2: Pick up the knife that's in front of you on the counter vertically. ", " STEP 3: Turn left and take a step to your left. ", " STEP 4: Cut the left half of the loaf of bread into slices please. ", " STEP 5: Take a step to your right please. ", " STEP 6: Stand the knife on point near the handle of the ice cream scoop almost touching the blue part of the handle with the tip and let it fall. ", " STEP 7: Take a step back to your left please. ", " STEP 8: Pick up the middle slice of bread please. ", " STEP 9: Turn around and walk to the counter then turn left and walk to the microwave. ", " STEP 10: Warm the bread in the microwave then take it back out and close the door. ", " STEP 11: Turn left and walk past the counter to your right then turn right and walk past the counter and stool then turn right and walk to the door then turn right to face the garbage. ", " STEP 12: Put the bread in the garbage please. ", " END" ]

[ "Pick up the middle slice of bread please.", "Warm the bread in the microwave then take it back out and close the door.", "Take a step to your right please.", "Turn left and take a step to your left.", "Turn around and walk to the counter then turn left and walk to the microwave.", "Put the bread in the garbage please.", "Stand the knife on point near the handle of the ice cream scoop almost touching the blue part of the handle with the tip and let it fall.", "Reach behind you and grab the spoon that's on the shelf.", "Turn left and walk past the counter to your right then turn right and walk past the counter and stool then turn right and walk to the door then turn right to face the garbage.", "Spin clockwise and hop towards the table, then backflip and crawl to the refrigerator.", "Pick up the knife that's in front of you on the counter vertically.", "Cut the left half of the loaf of bread into slices please.", "Take a step back to your left please.", "Turn left and walk to the counter." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)", "(K)", "(L)", "(M)", "(N)" ]

[ "(N)", "(K)", "(D)", "(L)", "(C)", "(G)", "(M)", "(A)", "(E)", "(B)", "(I)", "(F)" ]

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} ]

[ "STEP 1: Go to the left of the stove stove ", " STEP 2: Pick up the knife on the left ", " STEP 3: Turn to the loaf of bread ", " STEP 4: Cut the loaf of bread ", " STEP 5: Turn to the right ", " STEP 6: Place the knife down on the counter ", " STEP 7: Go to the sliced bread ", " STEP 8: Take a slice of bread ", " STEP 9: Go to the microwave ", " STEP 10: Heat the bread in the microwave ", " STEP 11: Go to the black bin ", " STEP 12: Put the bread in the bin ", " END" ]

[ "Place the knife down on the counter", "Go to the left of the stove stove", "Pick up the knife on the left", "Cool the bread in the fridge", "Go to the black bin", "Heat the bread in the microwave", "Turn to the fruit bowl", "Go to the microwave", "Cut the loaf of bread", "Put the bread in the bin", "Go to the sliced bread", "Turn to the loaf of bread", "Turn to the right", "Take a slice of bread" ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)", "(K)", "(L)", "(M)", "(N)" ]

[ "(B)", "(C)", "(L)", "(I)", "(M)", "(A)", "(K)", "(N)", "(H)", "(F)", "(E)", "(J)" ]

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"id": "99", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: turn left and head to the sink ", " STEP 2: pick up the sponge ", " STEP 3: turn right to the sink ", " STEP 4: place the sponge in the pan in the sink ", " STEP 5: pick up the pan ", " STEP 6: turn right and move to the overhead shelf ", " STEP 7: place the pan in the shelf ", " END" ]

[ "place the pan in the shelf", "pick up the sponge", "turn right to the sink", "turn left and head to the sink", "turn right and move to the overhead shelf", "place the sponge in the pan in the sink", "pick up the towel", "pick up the pan", "turn left and move to the lower cabinet" ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)" ]

[ "(D)", "(B)", "(C)", "(F)", "(H)", "(E)", "(A)" ]

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rotation_z": " 0", " parent_receptacle": " 81" }, { "id": "38", " object_type": " Cup", " position_x": " -2.831", " position_y": " 0.298", " position_z": " 4.501", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 77" }, { "id": "39", " object_type": " SaltShaker", " position_x": " -2.706", " position_y": " 0.931", " position_z": " 3.302", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 67" }, { "id": "40", " object_type": " PepperShaker", " position_x": " -1.770", " position_y": " 0.924", " position_z": " 0.602", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 60" }, { "id": "41", " object_type": " ButterKnife", " position_x": " -0.228", " position_y": " 0.900", " position_z": " 2.731", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 83" }, { "id": "42", " object_type": " SoapBottle", " position_x": " -2.480", " position_y": " 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CoffeeMachine", " position_x": " -2.938", " position_y": " 0.925", " position_z": " 3.605", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "81", " object_type": " DiningTable", " position_x": " -2.733", " position_y": " -0.003", " position_z": " 2.607", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "82", " object_type": " Faucet", " position_x": " -1.077", " position_y": " 0.920", " position_z": " 0.028", " rotation_x": " 270", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "83", " object_type": " DiningTable", " position_x": " -0.488", " position_y": " -0.003", " position_z": " 3.182", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "84", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "85", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "86", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "87", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Move to the stove. ", " STEP 2: Pick up the dirty pan from the stove. ", " STEP 3: Bring the pan to the sink. ", " STEP 4: Clean the pan in the sink. ", " STEP 5: Bring the pan to the stove. ", " STEP 6: Put the pan on the stove. ", " END" ]

[ "Pick up the dirty pan from the stove.", "Place the pan inside the dishwasher.", "Put the pan on the stove.", "Bring the pan to the sink.", "Clean the pan in the sink.", "Place the clean pan on the kitchen counter.", "Bring the pan to the stove.", "Move to the stove." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)" ]

[ "(H)", "(A)", "(D)", "(E)", "(G)", "(C)" ]

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rotation_z": " 0", " parent_receptacle": " 69" }, { "id": "5", " object_type": " Egg", " position_x": " 2.301", " position_y": " 0.980", " position_z": " 0.361", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 56" }, { "id": "6", " object_type": " SoapBottle", " position_x": " -0.396", " position_y": " 0.938", " position_z": " 2.757", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 45" }, { "id": "7", " object_type": " Tomato", " position_x": " 0.629", " position_y": " 0.841", " position_z": " 2.750", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 69" }, { "id": "8", " object_type": " Tomato", " position_x": " -0.053", " position_y": " 0.983", " position_z": " 2.827", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 45" }, { "id": "9", " object_type": " Bowl", " position_x": " 2.165", " position_y": " 1.500", " position_z": " 0.448", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 43" }, { "id": "10", " object_type": " Bowl", " position_x": " 1.156", " position_y": " 0.078", " position_z": " 2.523", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 51" }, { "id": "11", " object_type": " SaltShaker", " position_x": " 0.566", " position_y": " 0.076", " position_z": " 2.484", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 52" }, { "id": "12", " object_type": " PepperShaker", " position_x": " 0.495", " position_y": " 0.076", " position_z": " 2.562", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 52" }, { "id": "13", " object_type": " PepperShaker", " position_x": " 1.855", " position_y": " 1.498", " position_z": " 2.843", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 46" }, { "id": "14", " object_type": " Egg", " position_x": " 2.257", " position_y": " 0.980", " position_z": " 2.821", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 45" }, { "id": "15", " object_type": " Lettuce", " position_x": " 0.277", " position_y": " 0.989", " position_z": " 2.611", " rotation_x": " 0", " rotation_y": " 60.216", " rotation_z": " 0", " parent_receptacle": " 45" }, { "id": "16", " object_type": " Fork", " position_x": " -0.272", " position_y": " 0.791", " position_z": " 1.217", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 72" }, { "id": "17", " object_type": " SoapBottle", " position_x": " 2.002", " position_y": " 0.082", " position_z": " 2.057", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 41" }, { "id": "18", " object_type": " Ladle", " position_x": " 0.037", " position_y": " 0.790", " position_z": " 2.197", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " 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rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "24", " object_type": " WineBottle", " position_x": " 1.844", " position_y": " 0.938", " position_z": " 1.964", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 45" }, { "id": "25", " object_type": " Spatula", " position_x": " 1.065", " position_y": " 0.810", " position_z": " 2.695", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 69" }, { "id": "26", " object_type": " Knife", " position_x": " -0.138", " position_y": " 0.772", " position_z": " 2.197", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 44" }, { "id": "27", " object_type": " Tomato", " position_x": " 1.840", " position_y": " 0.984", " position_z": " 0.583", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 56" }, { "id": "28", " object_type": " Apple", " position_x": " 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[ "STEP 1: Move to the left and face the left side of the stove. ", " STEP 2: Pick the pan up from the back of the stove. ", " STEP 3: Turn to the right and then the left to face the fridge. ", " STEP 4: Put the pan in the fridge and shut the door and then open the door and pick the pan up again. ", " STEP 5: Turn around and face the white table behind. ", " STEP 6: Put the pan down on the table. ", " END" ]

[ "Turn around and face the white table behind.", "Put the pan in the fridge and shut the door and then open the door and pick the pan up again.", "Turn to the right and then the left to face the fridge.", "Move to the left and face the left side of the stove.", "Pick the pan up from the back of the stove.", "Move to the right and face the right side of the stove.", "Put the pan down on the table.", "Place the pan in the cabinet, shut the door, then open the door and pick the pan up again." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)" ]

[ "(D)", "(E)", "(C)", "(B)", "(A)", "(G)" ]

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rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "85", " object_type": " DiningTable", " position_x": " -1.399", " position_y": " 0.010", " position_z": " 0.238", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "86", " object_type": " GarbageBag", " position_x": " -0.291", " position_y": " 0.336", " position_z": " -0.034", " rotation_x": " 272.372", " rotation_y": " 348.812", " rotation_z": " 147.313", " parent_receptacle": "" }, { "id": "87", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "88", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "89", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "90", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Go to the white table ", " STEP 2: Pick up the spoon and cup from the table ", " STEP 3: Go to the sink ", " STEP 4: Place the spoon and cup in the sink ", " END" ]

[ "Pick up the spoon and cup from the table", "Go to the white table", "Go to the blue table", "Place the spoon and cup in the sink", "Leave the spoon and cup on the table", "Go to the sink" ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)" ]

[ "(B)", "(A)", "(F)", "(D)" ]

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90", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "38", " object_type": " SideTable", " position_x": " 0.304", " position_y": " -0.001", " position_z": " 1.225", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "39", " object_type": " Drawer", " position_x": " 0.304", " position_y": " 0.165", " position_z": " 1.159", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "40", " object_type": " Drawer", " position_x": " 0.304", " position_y": " 0.457", " position_z": " 1.159", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "41", " object_type": " Blinds", " position_x": " -0.453", " position_y": " 2.156", " position_z": " -2.242", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "42", " object_type": " Safe", " position_x": " 1.623", " position_y": " 5.960", " position_z": " 0.448", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "43", " object_type": " Chair", " position_x": " -0.683", " position_y": " 0.000", " position_z": " -1.326", " rotation_x": " 0", " rotation_y": " 217.223", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "44", " object_type": " Drawer", " position_x": " 0.416", " position_y": " 0.532", " position_z": " -1.553", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "45", " object_type": " SideTable", " position_x": " 0.413", " position_y": " 0.000", " position_z": " -1.684", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "46", " object_type": " Desk", " position_x": " -0.788", " position_y": " 0.000", " position_z": " -1.032", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "47", " object_type": " ", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "48", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "49", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "50", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "51", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Turn right to face the desk. ", " STEP 2: Pick up the pencil in front of the magazine. ", " STEP 3: Turn right and walk to the drawers in front of you with the lamp on it. ", " STEP 4: Turn the lamp on that's on the drawers. ", " END" ]

[ "Turn right to face the desk.", "Pick up the pen next to the book.", "Turn the lamp on that's on the drawers.", "Turn right and walk to the drawers in front of you with the lamp on it.", "Turn the radio off that's next to the lamp on the drawers.", "Pick up the pencil in front of the magazine." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)" ]

[ "(A)", "(F)", "(D)", "(C)" ]

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rotation_z": " 0", " parent_receptacle": " 35" }, { "id": "5", " object_type": " Pencil", " position_x": " -0.131", " position_y": " 0.928", " position_z": " -0.818", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 35" }, { "id": "6", " object_type": " CreditCard", " position_x": " -0.603", " position_y": " 0.925", " position_z": " -0.604", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 35" }, { "id": "7", " object_type": " AlarmClock", " position_x": " -0.320", " position_y": " 0.925", " position_z": " -1.245", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 35" }, { "id": "8", " object_type": " Box", " position_x": " 2.15", " position_y": " 0.14", " position_z": " 0.494", " rotation_x": " 0", " rotation_y": " 12.243", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "9", " object_type": " Book", " position_x": " -0.414", " position_y": " 0.926", " position_z": " -0.391", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 35" }, { "id": "10", " object_type": " BasketBall", " position_x": " -0.235", " position_y": " 0.120", " position_z": " 0.166", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "11", " object_type": " Pen", " position_x": " 2.190", " position_y": " 0.848", " position_z": " -0.221", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 30" }, { "id": "12", " object_type": " Pillow", " position_x": " 0.333", " position_y": " 0.617", " position_z": " 0.971", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 20" }, { "id": "13", " object_type": " Pencil", " position_x": " -0.404", " position_y": " 0.670", " position_z": " -0.376", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 36" }, { "id": "14", " object_type": " CellPhone", " position_x": " -0.148", " position_y": " 0.552", " position_z": " 0.678", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 20" }, { "id": "15", " object_type": " KeyChain", " position_x": " 2.333", " position_y": " 0.843", " position_z": " -0.090", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 30" }, { "id": "16", " object_type": " CreditCard", " position_x": " 2.238", " position_y": " 0.842", " position_z": " -0.484", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 30" }, { "id": "17", " object_type": " AlarmClock", " position_x": " -0.509", " position_y": " 0.925", " position_z": " -1.459", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 35" }, { "id": "18", " object_type": " CD", " position_x": " -0.131", " position_y": " 0.924", " position_z": " -1.032", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 35" }, { "id": "19", " object_type": " Laptop", " position_x": " -0.309", " position_y": " 0.548", " position_z": " 2.140", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 20" }, { "id": "20", " object_type": " Bed", " position_x": " 0.009", " position_y": " -0.004", " position_z": " 1.577", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "21", " object_type": " DeskLamp", " position_x": " -0.669", " position_y": " 0.923", " position_z": " -0.062", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "22", " object_type": " Painting", " position_x": " -0.787", " position_y": " 1.809", " position_z": " -0.215", " rotation_x": " 90", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "23", " object_type": " Painting", " position_x": " -0.787", " position_y": " 1.809", " position_z": " 1.023", " rotation_x": " 90", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "24", " object_type": " Mirror", " position_x": " 2.118", " position_y": " 1.277", " position_z": " 2.749", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "25", " object_type": " LightSwitch", " position_x": " 0.726", " position_y": " 1.200", " position_z": " 2.75", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "26", " object_type": " GarbageCan", " position_x": " 2.257", " position_y": " -0.008", " position_z": " 2.603", " rotation_x": " 353.970", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "27", " object_type": " Window", " position_x": " 0.665", " position_y": " 1.356", " position_z": " -1.911", " rotation_x": " 90", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "28", " object_type": " Drawer", " position_x": " 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parent_receptacle": "" }, { "id": "33", " object_type": " Drawer", " position_x": " -0.079", " position_y": " 0.513", " position_z": " -0.394", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "34", " object_type": " Drawer", " position_x": " -0.079", " position_y": " 0.226", " position_z": " -0.394", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "35", " object_type": " Desk", " position_x": " -0.391", " position_y": " 0.001", " position_z": " -0.811", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "36", " object_type": " Drawer", " position_x": " -0.079", " position_y": " 0.762", " position_z": " -0.394", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "37", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "38", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "39", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "40", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Turn to your right and go to the small, open area between the desk and the bed. ", " STEP 2: Pick up the basketball on the floor, between the desk and the bed. ", " STEP 3: Move over to the bed to the right of you. ", " STEP 4: Place the basketball on the bed. ", " END" ]

[ "Move over to the bed to the right of you.", "Move over to the chair to the left of you.", "Turn to your left and go to the small, open area between the desk and the bookshelf.", "Pick up the basketball on the floor, between the desk and the bed.", "Place the basketball on the bed.", "Turn to your right and go to the small, open area between the desk and the bed." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)" ]

[ "(F)", "(D)", "(A)", "(E)" ]

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rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "19", " object_type": " Bathtub", " position_x": " 0.286", " position_y": " 0.290", " position_z": " -0.077", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "20", " object_type": " Cabinet", " position_x": " -1.496", " position_y": " 0.415", " position_z": " 0.425", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "21", " object_type": " Cabinet", " position_x": " -2.286", " position_y": " 0.390", " position_z": " 0.421", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "22", " object_type": " Sink", " position_x": " -1.924", " position_y": " 0.930", " position_z": " 0.675", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "23", " object_type": " Faucet", " position_x": " -1.922", " position_y": " 1.015", " position_z": " 0.887", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "24", " object_type": " Mirror", " position_x": " -2.306", " position_y": " 1.526", " position_z": " 1.001", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "25", " object_type": " Faucet", " position_x": " -2.681", " position_y": " 1.015", " position_z": " 0.887", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "26", " object_type": " LightSwitch", " position_x": " -1.389", " position_y": " 1.263", " position_z": " -1.693", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "27", " object_type": " TowelHolder", " position_x": " -0.490", " position_y": " 1.353", " position_z": " 1.009", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "28", " object_type": " GarbageCan", " position_x": " -2.857", " position_y": " 0.016", " position_z": " -1.487", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "29", " object_type": " BathtubBasin", " position_x": " 0.349", " position_y": " 0.023", " position_z": " -0.135", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "30", " object_type": " SinkBasin", " position_x": " -1.908", " position_y": " 0.961", " position_z": " 0.669", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "31", " object_type": " HandTowelHolder", " position_x": " -3.134", " position_y": " 1.689", " position_z": " 0.744", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "32", " object_type": " ToiletPaperHanger", " position_x": " -1.485", " position_y": " 0.805", " position_z": " 0.691", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "33", " object_type": " Toilet", " position_x": " -1.054", " position_y": " 0.001", " position_z": " 0.552", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "34", " object_type": " ShowerCurtain", " position_x": " -0.292", " position_y": " 1.886", " position_z": " -1.033", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "35", " object_type": " Faucet", " position_x": " 0.270", " position_y": " 0.670", " position_z": " 0.906", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "36", " object_type": " SinkBasin", " position_x": " -2.666", " position_y": " 0.961", " position_z": " 0.669", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "37", " object_type": " Sink", " position_x": " -2.681", " position_y": " 0.930", " position_z": " 0.675", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "38", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "39", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "40", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "41", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: turn around, walk across room to tub ", " STEP 2: pick up the purple rag that is in the tub ", " STEP 3: turn around to face the toilet ", " STEP 4: put the rag on the back of the toilet ", " END" ]

[ "walk straight, move across room to table", "pick up the purple rag that is in the tub", "turn around, walk across room to tub", "turn around to face the toilet", "turn left to face the sink", "put the rag on the back of the toilet" ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)" ]

[ "(C)", "(B)", "(D)", "(F)" ]

[ { "id": "0", " object_type": " Agent", " position_x": " -6.25", " position_y": " 0.905", " position_z": " 2.5", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "1", " object_type": " Statue", " position_x": " -2.116", " position_y": " 1.107", " position_z": " 4.153", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 24" }, { "id": "2", " object_type": " Watch", " position_x": " -0.309", " position_y": " 0.860", " position_z": " 3.780", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 45" }, { "id": "3", " object_type": " KeyChain", " position_x": " -1.980", " position_y": " 0.455", " position_z": " 1.716", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 38" }, { "id": "4", " object_type": " CreditCard", " position_x": " -6.567", " position_y": " 0.411", " position_z": " -0.091", " rotation_x": " 0", " rotation_y": " 56.714", " rotation_z": " 0", " parent_receptacle": " 39" }, { "id": "5", " object_type": " CreditCard", " position_x": " -1.934", " position_y": " 0.501", " position_z": " 0.108", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 43" }, { "id": "6", " object_type": " CreditCard", " position_x": " -4.216", " position_y": " 0.421", " position_z": " 1.396", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 41" }, { "id": "7", " object_type": " RemoteControl", " position_x": " -1.565", " position_y": " 0.456", " position_z": " 1.612", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 38" }, { "id": "8", " object_type": " RemoteControl", " position_x": " -0.366", " position_y": " 0.857", " position_z": " 3.663", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 45" }, { "id": "9", " object_type": " Pillow", " position_x": " -2.525", " position_y": " 0.596", " position_z": " 0.578", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 43" }, { "id": "10", " object_type": " Box", " position_x": " -1.7", " position_y": " 0.307", " position_z": " 4.296", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " Floor|-03.53|" }, { "id": "11", " object_type": " Watch", " position_x": " -6.695", " position_y": " 0.412", " position_z": " 0.156", " rotation_x": " 0", " rotation_y": " 326.715", " rotation_z": " 0", " parent_receptacle": " 39" }, { "id": "12", " object_type": " Pillow", " position_x": " -1.773", " position_y": " 0.549", " position_z": " 1.716", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 38" }, { "id": "13", " object_type": " WateringCan", " position_x": " -0.269", " position_y": " 0.005", " position_z": " 2.366", " rotation_x": " 1.834", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " Floor|-03.53|" }, { "id": "14", " object_type": " Newspaper", " position_x": " -3.115", " position_y": " 0.501", " position_z": " 0.202", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 43" }, { "id": "15", " object_type": " KeyChain", " position_x": " -2.289", " position_y": " 0.607", " position_z": " 4.151", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 26" }, { "id": "16", " object_type": " Laptop", " position_x": " -1.638", " position_y": " 0.5", " position_z": " 0.296", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 43" }, { "id": "17", " object_type": " RemoteControl", " position_x": " -2.229", " position_y": " 0.503", " position_z": " 0.296", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 43" }, { "id": "18", " object_type": " CreditCard", " position_x": " -2.820", " position_y": " 0.501", " position_z": " 0.672", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 43" }, { "id": "19", " object_type": " Statue", " position_x": " -2.56", " position_y": " 1.105", " position_z": " 4.226", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 24" }, { "id": "20", " object_type": " Curtains", " position_x": " -0.089", " position_y": " 2.460", " position_z": " 2.111", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "21", " object_type": " Curtains", " position_x": " -1.146", " position_y": " 1.383", " position_z": " 4.530", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "22", " object_type": " Drawer", " position_x": " -2.288", " position_y": " 0.267", " position_z": " 4.112", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "23", " object_type": " Drawer", " position_x": " -2.836", " position_y": " 0.750", " position_z": " 4.111", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "24", " object_type": " Dresser", " position_x": " -2.560", " position_y": " 0.005", " position_z": " 4.224", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "25", " object_type": " Drawer", " position_x": " -2.834", " position_y": " 0.267", " position_z": " 4.113", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "26", " object_type": " Drawer", " position_x": " -2.288", " position_y": " 0.749", " position_z": " 4.110", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "27", " object_type": " LightSwitch", " position_x": " -7.0", " position_y": " 1.363", " position_z": " 2.605", " rotation_x": " 0", " rotation_y": " 74.999", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "28", " object_type": " Television", " position_x": " -2.554", " position_y": " 1.583", " position_z": " 4.300", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "29", " object_type": " FloorLamp", " position_x": " -0.301", " position_y": " 0.014", " position_z": " -0.129", " rotation_x": " 1.374", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "30", " object_type": " Painting", " position_x": " 0.0", " position_y": " 1.583", " position_z": " 4.006", " rotation_x": " 90", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "31", " object_type": " DeskLamp", " position_x": " -6.766", " position_y": " 0.411", " position_z": " -0.028", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "32", " object_type": " GarbageCan", " position_x": " -4.115", " position_y": " -0.032", " position_z": " -0.161", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "33", " object_type": " Painting", " position_x": " -3.704", " position_y": " 1.718", " position_z": " 4.600", " rotation_x": " 90", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "34", " object_type": " Window", " position_x": " -0.037", " position_y": " 1.705", " position_z": " 2.096", " rotation_x": " 90", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "35", " object_type": " Window", " position_x": " -1.157", " position_y": " 1.697", " position_z": " 4.593", " rotation_x": " 90", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "36", " object_type": " HousePlant", " position_x": " -0.287", " position_y": " 0.395", " position_z": " 2.108", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "37", " object_type": " Chair", " position_x": " -6.022", " position_y": " 0.005", " position_z": " 0.092", " rotation_x": " 0", " rotation_y": " 338.430", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "38", " object_type": " Ottoman", " position_x": " -1.773", " position_y": " 0.004", " position_z": " 1.807", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "39", " object_type": " SideTable", " position_x": " -6.720", " position_y": " 0.006", " position_z": " 1.513", " rotation_x": " 0", " rotation_y": " 326.715", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "40", " object_type": " SideTable", " position_x": " -4.292", " position_y": " 0.006", " position_z": " 0.413", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "41", " object_type": " ArmChair", " position_x": " -4.384", " position_y": " 0.008", " position_z": " 1.395", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "42", " object_type": " SideTable", " position_x": " -0.253", " position_y": " 0.004", " position_z": " 2.102", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "43", " object_type": " Sofa", " position_x": " -2.524", " position_y": " 0.010", " position_z": " 0.263", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "44", " object_type": " Drawer", " position_x": " -0.357", " position_y": " 0.208", " position_z": " 3.798", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "45", " object_type": " Dresser", " position_x": " -0.271", " position_y": " 0.004", " position_z": " 4.011", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "46", " object_type": " Drawer", " position_x": " -0.359", " position_y": " 0.581", " position_z": " 3.795", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "47", " object_type": " Drawer", " position_x": " -0.357", " position_y": " 0.583", " position_z": " 4.225", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "48", " object_type": " Drawer", " position_x": " -0.358", " position_y": " 0.210", " position_z": " 4.221", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "49", " object_type": " DogBed", " position_x": " -0.844", " position_y": " 0.007", " position_z": " 0.138", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "50", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "51", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "52", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "53", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Turn left and move to the laptop on the couch ", " STEP 2: Pick up the credit card from the couch ", " STEP 3: Turn left and move to the lamp ", " STEP 4: Turn on the lamp ", " END" ]

[ "Turn left and move to the lamp", "Turn on the lamp", "Turn left and move to the laptop on the couch", "Pick up the credit card from the couch", "Turn right and head towards the bookshelf", "Turn right and move to the desk with the phone" ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)" ]

[ "(C)", "(D)", "(A)", "(B)" ]

[ { "id": "0", " object_type": " Agent", " position_x": " -3.0", " position_y": " 0.900", " position_z": " 3.25", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "1", " object_type": " SoapBar", " position_x": " -3.451", " position_y": " 0.826", " position_z": " 1.862", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 15" }, { "id": "2", " object_type": " Towel", " position_x": " -4.739", " position_y": " 1.522", " position_z": " 2.425", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 28" }, { "id": "3", " object_type": " HandTowel", " position_x": " -0.923", " position_y": " 1.59", " position_z": " 2.018", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 32" }, { "id": "4", " object_type": " Candle", " position_x": " -1.211", " position_y": " 0.546", " position_z": " 2.039", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 16" }, { "id": "5", " object_type": " HandTowel", " position_x": " -3.726", " position_y": " 1.646", " position_z": " 1.330", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 33" }, { "id": "6", " object_type": " Plunger", " position_x": " -1.064", " position_y": " -0.000", " position_z": " 4.838", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " Floor|-03.84|" }, { "id": "7", " object_type": " SoapBar", " position_x": " -0.987", " position_y": " 1.044", " position_z": " 4.263", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 35" }, { "id": "8", " object_type": " ToiletPaper", " position_x": " -1.401", " position_y": " 0.534", " position_z": " 1.780", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 16" }, { "id": "9", " object_type": " Cloth", " position_x": " -1.509", " position_y": " 0.887", " position_z": " 1.744", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 31" }, { "id": "10", " object_type": " ToiletPaper", " position_x": " -0.968", " position_y": " 0.888", " position_z": " 3.960", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 270", " parent_receptacle": " 36" }, { "id": "11", " object_type": " Towel", " position_x": " -4.739", " position_y": " 1.522", " position_z": " 3.359", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "12", " object_type": " ScrubBrush", " position_x": " -1.065", " position_y": " -0.000", " position_z": " 4.052", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " Floor|-03.84|" }, { "id": "13", " object_type": " SoapBottle", " position_x": " -2.192", " position_y": " 0.828", " position_z": " 1.756", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 15" }, { "id": "14", " object_type": " SprayBottle", " position_x": " -1.086", " position_y": " 0.121", " position_z": " 3.608", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 34" }, { "id": "15", " object_type": " CounterTop", " position_x": " -2.177", " position_y": " 0.782", " position_z": " 1.889", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "16", " object_type": " Drawer", " position_x": " -1.307", " position_y": " 0.606", " position_z": " 1.890", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "17", " object_type": " Drawer", " position_x": " -1.307", " position_y": " 0.337", " position_z": " 1.890", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "18", " object_type": " Faucet", " position_x": " -4.646", " position_y": " 0.448", " position_z": " 1.689", " rotation_x": " 0", " rotation_y": " 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2.480", " rotation_x": " 0", " rotation_y": " 345.000", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "24", " object_type": " Drawer", " position_x": " -2.169", " position_y": " 0.337", " position_z": " 1.890", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "25", " object_type": " Mirror", " position_x": " -2.177", " position_y": " 1.856", " position_z": " 1.390", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "26", " object_type": " Sink", " position_x": " -1.421", " position_y": " 0.837", " position_z": " 1.776", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "27", " object_type": " TowelHolder", " position_x": " -4.846", " position_y": " 1.508", " position_z": " 3.358", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "28", " object_type": " TowelHolder", " position_x": " -4.846", " position_y": " 1.508", " position_z": " 2.424", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "29", " object_type": " LightSwitch", " position_x": " -2.165", " position_y": " 1.450", " position_z": " 4.972", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "30", " object_type": " BathtubBasin", " position_x": " -4.309", " position_y": " 0.192", " position_z": " 2.328", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "31", " object_type": " SinkBasin", " position_x": " -1.442", " position_y": " 0.874", " position_z": " 1.785", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "32", " object_type": " HandTowelHolder", " position_x": " -0.884", " position_y": " 1.692", " position_z": " 2.017", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "33", " object_type": " HandTowelHolder", " position_x": " -3.726", " position_y": " 1.748", " position_z": " 1.292", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "34", " object_type": " GarbageCan", " position_x": " -1.116", " position_y": " -0.037", " position_z": " 3.598", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "35", " object_type": " Toilet", " position_x": " -1.340", " position_y": " -0.000", " position_z": " 4.456", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "36", " object_type": " ToiletPaperHanger", " position_x": " -0.884", " position_y": " 0.888", " position_z": " 3.911", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "37", " object_type": " Faucet", " position_x": " -1.421", " position_y": " 0.954", " position_z": " 1.507", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "38", " object_type": " ShowerHead", " position_x": " -5.257", " position_y": " 1.733", " position_z": " 4.030", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "39", " object_type": " Faucet", " position_x": " -2.944", " position_y": " 0.954", " position_z": " 1.507", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "40", " object_type": " Sink", " position_x": " -2.943", " position_y": " 0.837", " position_z": " 1.776", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "41", " object_type": " SinkBasin", " position_x": " -2.964", " position_y": " 0.874", " position_z": " 1.785", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "42", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "43", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "44", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "45", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Go straight, turn right towards toilet. ", " STEP 2: Pick up soap near toilet. ", " STEP 3: Turn right, then turn left, go to sink. ", " STEP 4: Turn sink on, wash with soap. ", " STEP 5: Pick soap back up, turn left. ", " STEP 6: go straight, towards toilet, place soap back onto rack. ", " END" ]

[ "Pick soap back up, turn left.", "Pick up soap near toilet.", "go straight, towards toilet, place soap back onto rack.", "Turn left, continue straight towards the kitchen.", "Turn right, then turn left, go to sink.", "Go forward, turn right, proceed to living room.", "Turn sink on, wash with soap.", "Go straight, turn right towards toilet." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)" ]

[ "(H)", "(B)", "(E)", "(G)", "(A)", "(C)" ]

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0", " rotation_z": " 0", " parent_receptacle": " 52" }, { "id": "5", " object_type": " WineBottle", " position_x": " 2.451", " position_y": " 0.765", " position_z": " 4.495", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 53" }, { "id": "6", " object_type": " Glassbottle", " position_x": " -0.922", " position_y": " 1.442", " position_z": " -0.405", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 96" }, { "id": "7", " object_type": " Spatula", " position_x": " -0.851", " position_y": " 0.831", " position_z": " 1.570", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 109" }, { "id": "8", " object_type": " Spatula", " position_x": " -0.920", " position_y": " 1.042", " position_z": " 2.556", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 55" }, { "id": "9", " object_type": " Spoon", " position_x": " 1.950", " position_y": " 1.028", " position_z": " 1.158", " rotation_x": " 0", " rotation_y": " 136.999", " rotation_z": " 0", " parent_receptacle": " 52" }, { "id": "10", " object_type": " Plate", " position_x": " 2.875", " position_y": " 1.027", " position_z": " -1.151", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 52" }, { "id": "11", " object_type": " Plate", " position_x": " -1.013", " position_y": " 1.442", " position_z": " -0.627", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 96" }, { "id": "12", " object_type": " Tomato", " position_x": " 2.113", " position_y": " 0.818", " position_z": " 3.527", " rotation_x": " 0", " rotation_y": " 225", " rotation_z": " 0", " parent_receptacle": " 53" }, { "id": "13", " object_type": " Tomato", " position_x": " -0.858", " position_y": " 0.383", " position_z": " -0.627", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 96" }, { "id": "14", " object_type": " SoapBottle", " position_x": " 1.409", " position_y": " 1.025", " position_z": " -1.881", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 52" }, { "id": "15", " object_type": " Bowl", " position_x": " 2.801", " position_y": " 0.762", " position_z": " 4.044", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 53" }, { "id": "16", " object_type": " PepperShaker", " position_x": " 2.096", " position_y": " 0.798", " position_z": " 0.911", " rotation_x": " 0", " rotation_y": " 317.0", " rotation_z": " 0", " parent_receptacle": " 65" }, { "id": "17", " object_type": " PepperShaker", " position_x": " 2.662", " position_y": " 0.760", " position_z": " 3.455", " rotation_x": " 0", " rotation_y": " 329.999", " rotation_z": " 0", " parent_receptacle": " 53" }, { "id": "18", " object_type": " Bread", " position_x": " 2.959", " position_y": " 1.094", " position_z": " -0.236", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 52" }, { "id": "19", " object_type": " Bread", " position_x": " 2.525", " position_y": " 0.832", " position_z": " 3.445", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 53" }, { "id": "20", " object_type": " Lettuce", " position_x": " 2.346", " position_y": " 0.822", " position_z": " 4.074", " rotation_x": " 0", " rotation_y": " 225", " rotation_z": " 0", " parent_receptacle": " 53" }, { "id": "21", " object_type": " Lettuce", " position_x": " 2.302", " position_y": " 0.822", " position_z": " 3.795", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 53" }, { "id": "22", " object_type": " Mug", " position_x": " -1.069", " position_y": " 0.781", " position_z": " -0.516", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 96" }, { "id": "23", " object_type": " Apple", " position_x": " -1.059", " position_y": " 1.492", " position_z": " -0.073", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 96" }, { "id": "24", " object_type": " Pan", " position_x": " 1.836", " position_y": " 1.027", " position_z": " -1.84", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 50" }, { "id": "25", " object_type": " Glassbottle", " position_x": " 2.561", " position_y": " 0.033", " position_z": " -0.169", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 93" }, { "id": "26", " object_type": " Knife", " position_x": " 2.706", " position_y": " 1.052", " position_z": " -0.541", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 52" }, { "id": "27", " object_type": " SoapBottle", " position_x": " 3.062", " position_y": " 0.031", " position_z": " -0.638", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 93" }, { "id": "28", " object_type": " Egg", " position_x": " -0.968", " position_y": " 1.486", " position_z": " -0.184", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 96" }, { "id": "29", " object_type": " Fork", " position_x": " 2.650", " position_y": " 0.802", " position_z": " 0.210", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 63" }, { "id": "30", " object_type": " Potato", " position_x": " -1.102", " position_y": " 1.069", " position_z": " 1.058", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 55" }, { "id": "31", " object_type": " Ladle", " position_x": " -0.714", " position_y": " 0.855", " position_z": " 1.492", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 109" }, { "id": "32", " object_type": " Tomato", " position_x": " -0.947", " position_y": " 0.839", " position_z": " -0.738", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 96" }, { "id": "33", " object_type": " Pot", " position_x": " 2.177", " position_y": " 1.027", " position_z": " -1.599", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 51" }, { "id": "34", " object_type": " WineBottle", " position_x": " -1.102", " position_y": " 1.028", " position_z": " 1.243", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 55" }, { "id": "35", " object_type": " Plate", " position_x": " -0.544", " position_y": " 1.027", " position_z": " 0.692", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 55" }, { "id": "36", " object_type": " Spatula", " position_x": " 1.836", " position_y": " 0.816", " position_z": " 1.387", " rotation_x": " 0", " rotation_y": " 227.0", " rotation_z": " 0", " parent_receptacle": " 66" }, { "id": "37", " object_type": " PaperTowelRoll", " position_x": " 2.525", " position_y": " 0.868", " position_z": " 4.495", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 53" }, { "id": "38", " object_type": " Lettuce", " position_x": " 2.763", " position_y": " 0.822", " position_z": " 3.726", " rotation_x": " 0", " rotation_y": " 329.999", " rotation_z": " 0", " parent_receptacle": " 53" }, { "id": "39", " object_type": " Apple", " position_x": " 2.626", " position_y": " 0.814", " position_z": " 4.044", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 53" }, { "id": "40", " object_type": " SaltShaker", " position_x": " 2.243", " position_y": " 0.760", " position_z": " 3.657", " rotation_x": " 0", " rotation_y": " 225", " rotation_z": " 0", " parent_receptacle": " 53" }, { "id": "41", " object_type": " PepperShaker", " position_x": " -0.374", " position_y": " 1.023", " position_z": " 1.079", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 55" }, { "id": "42", " object_type": " ButterKnife", " position_x": " 2.840", " position_y": " 0.764", " position_z": " 4.359", " rotation_x": " 0", " rotation_y": " 225", " rotation_z": " 0", " parent_receptacle": " 53" }, { "id": "43", " object_type": " Bread", " position_x": " 2.331", " position_y": " 0.832", " position_z": " 4.325", " rotation_x": " 0", " rotation_y": " 329.999", " rotation_z": " 0", " parent_receptacle": " 53" }, { "id": "44", " object_type": " Cup", " position_x": " 2.671", " position_y": " 0.763", " position_z": " 3.885", " rotation_x": " 0", " rotation_y": " 329.999", " rotation_z": " 0", " parent_receptacle": " 53" }, { "id": "45", " object_type": " DishSponge", " position_x": " -0.803", " position_y": " 0.800", " position_z": " 2.372", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 58" }, { "id": "46", " object_type": " Bowl", " position_x": " -0.897", " position_y": " 2.288", " position_z": " -0.489", " rotation_x": " 0", " rotation_y": " 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[ "STEP 1: Move forward and face the table on your left. ", " STEP 2: Take the knife off the table in front of you. ", " STEP 3: Turn left then left again and face the sink to your right. ", " STEP 4: Slice the potato near the sink in front of you. ", " STEP 5: Turn right then face the sink on your left. ", " STEP 6: Place the knife in the sink in front of you. ", " STEP 7: Turn left and face the potato near the sink on your right. ", " STEP 8: Take a potato slice off the counter in front of you. ", " STEP 9: Turn right then face the sink on your left. ", " STEP 10: Place the potato in the sink in front of you, wash it and take it out. ", " STEP 11: Turn right, then right again and face the table to your left. ", " STEP 12: Place the potato slice on the table in front of you. ", " END" ]

[ "Place the potato slice on the table in front of you.", "Take the knife off the table in front of you.", "Leave the potato in the sink, don't wash it and don't take it out.", "Turn right, then right again and face the table to your left.", "Take a potato slice off the counter in front of you.", "Place the potato in the sink in front of you, wash it and take it out.", "Turn left then left again and face the sink to your right.", "Turn right then face the sink on your left.", "Move forward and face the table on your left.", "Turn right then face the sink on your left.", "Place the knife in the sink in front of you.", "Put the knife on the table in front of you.", "Turn left and face the potato near the sink on your right.", "Slice the potato near the sink in front of you." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)", "(K)", "(L)", "(M)", "(N)" ]

[ "(I)", "(B)", "(G)", "(N)", "(H)", "(J)", "(K)", "(M)", "(E)", "(H)", "(J)", "(F)", "(D)", "(A)" ]

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position_y": " 0.694", " position_z": " -2.266", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 33" }, { "id": "24", " object_type": " Bed", " position_x": " -1.696", " position_y": " 0.004", " position_z": " -0.446", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "25", " object_type": " Chair", " position_x": " 0.956", " position_y": " -0.000", " position_z": " -1.747", " rotation_x": " 0", " rotation_y": " 110.225", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "26", " object_type": " DeskLamp", " position_x": " -0.440", " position_y": " 0.688", " position_z": " -2.276", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "27", " object_type": " LightSwitch", " position_x": " 0.625", " position_y": " 1.338", " position_z": " 0.734", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "28", " object_type": " GarbageCan", " position_x": " 1.660", " position_y": " -0.019", " position_z": " -0.389", " rotation_x": " 0", " rotation_y": " 345.008", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "29", " object_type": " Mirror", " position_x": " 1.300", " position_y": " 1.422", " position_z": " 0.765", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "30", " object_type": " HousePlant", " position_x": " -0.867", " position_y": " 0.000", " position_z": " -2.286", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "31", " object_type": " Window", " position_x": " 0.819", " position_y": " 1.496", " position_z": " -2.553", " rotation_x": " 90", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "32", " object_type": " Shelf", " position_x": " 1.616", " position_y": " 0.561", " position_z": " -0.802", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "33", " object_type": " Desk", " position_x": " 0.617", " position_y": " -0.000", " position_z": " -1.511", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "34", " object_type": " Blinds", " position_x": " 0.796", " position_y": " 2.217", " position_z": " -2.476", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "35", " object_type": " Drawer", " position_x": " -0.558", " position_y": " 0.456", " position_z": " 0.462", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "36", " object_type": " SideTable", " position_x": " -0.557", " position_y": " -0.000", " position_z": " 0.529", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "37", " object_type": " Drawer", " position_x": " -0.558", " position_y": " 0.164", " position_z": " 0.462", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "38", " object_type": " Desktop", " position_x": " 1.455", " position_y": " 0.692", " position_z": " -1.886", " rotation_x": " 358.180", " rotation_y": " 309.674", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "39", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "40", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "41", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "42", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Turn left and face your bed side table in front of you. ", " STEP 2: Take the alarm clock from the table in front of you. ", " STEP 3: Turn right and face the desk in front of you. ", " STEP 4: Place the alarm clock under the desk in front of you. ", " STEP 5: Turn around and face the bed side table in front of you. ", " STEP 6: Take the alarm clock from the table in front of you. ", " STEP 7: Turn around and face the desk in front of you. ", " STEP 8: Place the alarm clock under the desk in front of you. ", " END" ]

[ "Turn around and face the bed side table in front of you.", "Grasp the radio from the table on your right.", "Take the alarm clock from the table in front of you.", "Turn around and face the desk in front of you.", "Place the alarm clock under the desk in front of you.", "Turn right and face the desk in front of you.", "Place the alarm clock under the desk in front of you.", "Turn left and face your bed side table in front of you.", "Pick up the book from the table behind you.", "Take the alarm clock from the table in front of you." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)" ]

[ "(H)", "(C)", "(J)", "(F)", "(E)", "(G)", "(A)", "(C)", "(J)", "(D)", "(E)", "(G)" ]

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270", " rotation_z": " 0", " parent_receptacle": " 76" }, { "id": "5", " object_type": " Laptop", " position_x": " -5.939", " position_y": " 0.639", " position_z": " 1.861", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 72" }, { "id": "6", " object_type": " Box", " position_x": " -6.062", " position_y": " 0.823", " position_z": " 3.617", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 72" }, { "id": "7", " object_type": " Statue", " position_x": " -3.008", " position_y": " 0.305", " position_z": " 1.863", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 76" }, { "id": "8", " object_type": " KeyChain", " position_x": " -2.457", " position_y": " 0.301", " position_z": " 2.223", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 76" }, { "id": "9", " object_type": " Vase", " position_x": " -1.701", " position_y": " 0.930", " position_z": " 0.179", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "10", " object_type": " Vase", " position_x": " -0.764", " position_y": " 0.940", " position_z": " 0.203", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 44" }, { "id": "11", " object_type": " Vase", " position_x": " -1.405", " position_y": " 0.961", " position_z": " 0.149", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 44" }, { "id": "12", " object_type": " Newspaper", " position_x": " -0.941", " position_y": " 0.955", " position_z": " 0.220", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 44" }, { "id": "13", " object_type": " CreditCard", " position_x": " -2.670", " position_y": " 0.485", " position_z": " 0.264", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 48" }, { "id": "14", " object_type": " RemoteControl", " position_x": " -4.540", " position_y": " 1.275", " position_z": " 5.170", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "15", " object_type": " Laptop", " position_x": " -5.764", " position_y": " 0.634", " position_z": " 2.376", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 72" }, { "id": "16", " object_type": " Pillow", " position_x": " -1.515", " position_y": " 0.438", " position_z": " 3.319", " rotation_x": " 0", " rotation_y": " 300.000", " rotation_z": " 90", " parent_receptacle": " 75" }, { "id": "17", " object_type": " Vase", " position_x": " -5.448", " position_y": " 0.642", " position_z": " 2.564", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 72" }, { "id": "18", " object_type": " Statue", " position_x": " -2.461", " position_y": " 0.310", " position_z": " 1.771", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": 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rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 46" }, { "id": "24", " object_type": " Statue", " position_x": " -6.062", " position_y": " 0.651", " position_z": " 2.212", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 72" }, { "id": "25", " object_type": " Statue", " position_x": " -3.174", " position_y": " 1.105", " position_z": " 5.193", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 55" }, { "id": "26", " object_type": " Statue", " position_x": " -5.865", " position_y": " 0.634", " position_z": " 2.786", " rotation_x": " 0", " rotation_y": " 65.579", " rotation_z": " 0", " parent_receptacle": " 72" }, { "id": "27", " object_type": " Shelf", " position_x": " -1.776", " position_y": " 0.988", " position_z": " 0.184", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "28", " object_type": " Chair", " position_x": " 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{ "id": "57", " object_type": " Chair", " position_x": " -6.252", " position_y": " 0.024", " position_z": " 3.427", " rotation_x": " 0", " rotation_y": " 195.000", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "58", " object_type": " Cabinet", " position_x": " -5.850", " position_y": " 1.329", " position_z": " 5.029", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "59", " object_type": " Cabinet", " position_x": " -1.980", " position_y": " 1.170", " position_z": " 5.031", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "60", " object_type": " Chair", " position_x": " -6.296", " position_y": " 0.024", " position_z": " 1.672", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "61", " object_type": " FloorLamp", " position_x": " -0.369", " position_y": " 0.016", " position_z": " 4.992", " rotation_x": " 0", " rotation_y": " 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1.394", " position_z": " -0.026", " rotation_x": " 90", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "67", " object_type": " Window", " position_x": " 0.001", " position_y": " 1.246", " position_z": " 2.471", " rotation_x": " 90", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "68", " object_type": " Window", " position_x": " 0.001", " position_y": " 1.246", " position_z": " 3.558", " rotation_x": " 90", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "69", " object_type": " Window", " position_x": " 0.001", " position_y": " 1.246", " position_z": " 1.368", " rotation_x": " 90", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "70", " object_type": " Painting", " position_x": " -0.967", " position_y": " 1.396", " position_z": " 5.268", " rotation_x": " 90", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "71", " object_type": " CoffeeTable", " position_x": " -3.002", " position_y": " 0.028", " position_z": " 1.726", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "72", " object_type": " DiningTable", " position_x": " -5.816", " position_y": " 0.025", " position_z": " 2.563", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "73", " object_type": " Sofa", " position_x": " -3.328", " position_y": " 0.023", " position_z": " 3.632", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "74", " object_type": " ArmChair", " position_x": " -1.012", " position_y": " 0.028", " position_z": " 2.084", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "75", " object_type": " ArmChair", " position_x": " -1.577", " position_y": " 0.028", " position_z": " 3.295", " rotation_x": " 0", " rotation_y": " 210.000", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "76", " object_type": " CoffeeTable", " position_x": " -2.667", " position_y": " 0.025", " position_z": " 1.999", " rotation_x": " 0", " rotation_y": " 5.810", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "77", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "78", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "79", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "80", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Move to the coffee table nearest to two arm chairs. ", " STEP 2: Pick up the keys from the coffee table. ", " STEP 3: Move around to the left side of the coffee table. ", " STEP 4: Place the keys inside the box on the table. ", " STEP 5: Pick up the box from the coffee table. ", " STEP 6: Move around to the couch on the other side of the coffee table. ", " STEP 7: Place the box on the couch. ", " END" ]

[ "Move around to the right side of the coffee table.", "Place the box on the couch.", "Move to the dinner table nearest to two arm chairs.", "Pick up the keys from the coffee table.", "Move around to the couch on the other side of the coffee table.", "Pick up the box from the coffee table.", "Move around to the left side of the coffee table.", "Place the keys inside the box on the table.", "Move to the coffee table nearest to two arm chairs." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)" ]

[ "(I)", "(D)", "(G)", "(H)", "(F)", "(E)", "(B)" ]

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" rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "90", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "91", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Turn right and head to the microwave. ", " STEP 2: Open the cabinet above the microwave and pick up the dirty mug in there. ", " STEP 3: Turn left and bring the dirty mug to the sink ", " STEP 4: Clean the mug in in the sink. ", " STEP 5: Bring the cleaned mug to the coffee machine on the left. ", " STEP 6: Put the mug on the coffee machine. ", " END" ]

[ "Turn right and head to the microwave.", "Dry the mug with a towel.", "Put the mug on the coffee machine.", "Clean the mug in in the sink.", "Turn left and head to the fridge.", "Turn left and bring the dirty mug to the sink", "Open the cabinet above the microwave and pick up the dirty mug in there.", "Bring the cleaned mug to the coffee machine on the left." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)" ]

[ "(A)", "(G)", "(F)", "(D)", "(H)", "(C)" ]

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" rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "90", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "91", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Turn to the left, and then the right to face the microwave. ", " STEP 2: Open the top cabinet and take out a mug. ", " STEP 3: Take the mug and take a few steps to the right towards the sink. ", " STEP 4: Place the mug in the sink and turn on the water. Turn off the water and pick up the mug again. ", " STEP 5: Carry the mug and turn around and go to the right to the coffee machine. ", " STEP 6: Place the mug under the coffee machine. ", " END" ]

[ "With the mug, walk a few steps to the left towards the fridge.", "Take the mug and take a few steps to the right towards the sink.", "Turn to the right, then left to face the window.", "Place the mug in the sink and turn on the water. Turn off the water and pick up the mug again.", "Open the top cabinet and take out a mug.", "Turn to the left, and then the right to face the microwave.", "Carry the mug and turn around and go to the right to the coffee machine.", "Place the mug under the coffee machine." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)" ]

[ "(F)", "(E)", "(B)", "(D)", "(G)", "(H)" ]

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" rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "90", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "91", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Turn left, move to counter in front of microwave. ", " STEP 2: Open cabinet on upper left, pick up dirty cup. ", " STEP 3: Turn to the right, move to the counter in front of the sink. ", " STEP 4: Place dirty cup into the sink, rinse cup, pick cup up. ", " STEP 5: Turn to the left, move to the counter in front of the coffee maker. ", " STEP 6: Put the cup into the coffee maker. ", " END" ]

[ "Open cabinet on upper right, pick up clean plate.", "Turn left, move to counter in front of microwave.", "Turn to the right, move to the counter in front of the fridge.", "Put the cup into the coffee maker.", "Open cabinet on upper left, pick up dirty cup.", "Turn to the left, move to the counter in front of the coffee maker.", "Place dirty cup into the sink, rinse cup, pick cup up.", "Turn to the right, move to the counter in front of the sink." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)" ]

[ "(B)", "(E)", "(H)", "(G)", "(F)", "(D)" ]

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rotation_y": " 317.0", " rotation_z": " 0", " parent_receptacle": " 60" }, { "id": "5", " object_type": " WineBottle", " position_x": " 2.515", " position_y": " 0.765", " position_z": " 4.007", " rotation_x": " 0", " rotation_y": " 329.999", " rotation_z": " 0", " parent_receptacle": " 49" }, { "id": "6", " object_type": " Pot", " position_x": " 2.116", " position_y": " 1.027", " position_z": " -1.84", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 52" }, { "id": "7", " object_type": " Spatula", " position_x": " 2.626", " position_y": " 0.779", " position_z": " 3.895", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 49" }, { "id": "8", " object_type": " Spatula", " position_x": " 2.634", " position_y": " 0.779", " position_z": " 3.651", " rotation_x": " 0", " rotation_y": " 239.999", " rotation_z": " 0", " parent_receptacle": " 49" }, { "id": "9", " object_type": " Egg", " position_x": " 2.626", " position_y": " 0.808", " position_z": " 3.895", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 49" }, { "id": "10", " object_type": " Cup", " position_x": " 1.895", " position_y": " 1.859", " position_z": " -1.843", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 94" }, { "id": "11", " object_type": " Cup", " position_x": " 2.735", " position_y": " 0.763", " position_z": " 4.464", " rotation_x": " 0", " rotation_y": " 225", " rotation_z": " 0", " parent_receptacle": " 49" }, { "id": "12", " object_type": " Plate", " position_x": " 1.926", " position_y": " 0.764", " position_z": " 3.821", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 49" }, { "id": "13", " object_type": " Plate", " position_x": " 2.302", " position_y": " 0.764", " position_z": " 3.97", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 49" }, { "id": "14", " object_type": " PepperShaker", " position_x": " -0.544", " position_y": " 1.023", " position_z": " 0.692", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 51" }, { "id": "15", " object_type": " PepperShaker", " position_x": " -0.873", " position_y": " 0.796", " position_z": " 0.373", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 50" }, { "id": "16", " object_type": " Lettuce", " position_x": " 2.542", " position_y": " 0.822", " position_z": " 3.810", " rotation_x": " 0", " rotation_y": " 329.999", " rotation_z": " 0", " parent_receptacle": " 49" }, { "id": "17", " object_type": " Lettuce", " position_x": " -1.045", " position_y": " 1.085", " position_z": " 1.943", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 51" }, { "id": "18", " object_type": " Apple", " position_x": " 2.276", " position_y": " 0.814", " position_z": " 3.747", " rotation_x": " 0", " rotation_y": " 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[ "STEP 1: Turn around and head to the sink on your left ", " STEP 2: Pick up the coffee mug that is sitting in the sink ", " STEP 3: Turn around and cross the room to the counter then turn right and head to the stove ", " STEP 4: Open the microwave and place the mug inside, to the left of the other mug, and then close the microwave and turn it on. Then open the microwave and pick up the mug and close the door ", " STEP 5: Turn around and head forward then head left to the coffee maker ", " STEP 6: Place the mug into the coffee maker ", " END" ]

[ "Turn around and cross the room to the counter then turn right and head to the stove", "Pick up the coffee mug that is sitting in the sink", "Turn around and head to the fridge on your right", "Turn around and head forward then head left to the coffee maker", "Turn around and head to the sink on your left", "Open the oven and place the mug inside, to the left of the other pot, and then close the oven and turn it on. Then open the oven and pick up the mug and close the door", "Place the mug into the coffee maker", "Open the microwave and place the mug inside, to the left of the other mug, and then close the microwave and turn it on. Then open the microwave and pick up the mug and close the door" ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)" ]

[ "(E)", "(B)", "(A)", "(H)", "(D)", "(G)" ]

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[ "STEP 1: Turn right and go to the cabinet to the right of the stove ", " STEP 2: Take the dirty plate out of the cabinet and close the door ", " STEP 3: Move right to face the sink ", " STEP 4: Put the plate in the right side of the sink and turn on the water. Turn off the water and take the plate out of the sink ", " STEP 5: Turn left and go to the shelves ", " STEP 6: Place the plate on the right side of the second from the bottom shelf ", " END" ]

[ "Put the plate in the left side of the sink and turn on the water. Leave the water running and do not take the plate out", "Place the plate on the right side of the second from the bottom shelf", "Turn right and go to the cabinet to the right of the stove", "Turn left and go to the fridge to the left", "Turn left and go to the shelves", "Move right to face the sink", "Take the dirty plate out of the cabinet and close the door", "Put the plate in the right side of the sink and turn on the water. Turn off the water and take the plate out of the sink" ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)" ]

[ "(C)", "(G)", "(F)", "(H)", "(E)", "(B)" ]

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[ "STEP 1: Turn right to face the microwave. ", " STEP 2: Pick up the white mug next to the microwave. ", " STEP 3: Turn to face the front of the microwave. ", " STEP 4: Heat up the mug in the microwave, removing it afterwards. ", " STEP 5: Turn around to face the lower right cabinets next to the sink. ", " STEP 6: Put the white mug in the cabinet directly below the loaf of bread on the counter. ", " END" ]

[ "Face the chair closest to the window.", "Turn right to face the microwave.", "Pick up the red mug next to the coffee maker.", "Turn to face the front of the microwave.", "Turn around to face the lower right cabinets next to the sink.", "Put the white mug in the cabinet directly below the loaf of bread on the counter.", "Heat up the mug in the microwave, removing it afterwards.", "Pick up the white mug next to the microwave." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)" ]

[ "(B)", "(H)", "(D)", "(G)", "(E)", "(F)" ]

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[ "STEP 1: go to the counter where the microwave is ", " STEP 2: pick up the white mug to the left of the microwave ", " STEP 3: approach the microwave with the cup ", " STEP 4: warm the cup in the microwave then remove ", " STEP 5: take the cup to the cabinet to the right of the sink ", " STEP 6: put the mug in the cabinet ", " END" ]

[ "go to the counter where the microwave is", "pick up the white mug to the left of the microwave", "approach the microwave with the cup", "warm the cup in the microwave then remove", "put the mug in the cabinet", "take the cup to the drawer below the sink", "take the cup to the cabinet to the right of the sink", "pick up the red mug to the right of the microwave" ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)" ]

[ "(A)", "(B)", "(C)", "(D)", "(G)", "(E)" ]

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parent_receptacle": "" }, { "id": "61", " object_type": " CoffeeTable", " position_x": " -3.129", " position_y": " 0.016", " position_z": " 8.533", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "62", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "63", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "64", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "65", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: move to the coffee table in front of the fire place ", " STEP 2: pick up a paper from the table ", " STEP 3: turn around to the couch ", " STEP 4: put the paper on the couch ", " STEP 5: move to the coffee table in front of the fire place ", " STEP 6: pick up a paper from the table ", " STEP 7: turn around to the couch ", " STEP 8: put the paper on the couch ", " END" ]

[ "move to the bookshelf near the window", "put down a paper on the table", "move to the coffee table in front of the fire place", "put the paper on the couch", "pick up a paper from the table", "move to the coffee table in front of the fire place", "pick up a paper from the table", "turn around to the couch", "turn around to the couch", "put the paper on the couch" ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)" ]

[ "(C)", "(F)", "(E)", "(G)", "(H)", "(I)", "(D)", "(J)", "(C)", "(F)", "(E)", "(G)", "(H)", "(I)", "(D)", "(J)" ]

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[ "STEP 1: Turn right and move towards the circular table, then turn right and go to the small black table to the left of the white table. ", " STEP 2: Pick up the spoon on the small black table. ", " STEP 3: Turn around and move to the coffee pot and turn left and face the counter between the sink and the stove. ", " STEP 4: Open the cupboard below this portion of the counter, place the spoon into the mug in the cupboard. ", " STEP 5: Pick up the mug with the spoon in it, closing the cupboard. ", " STEP 6: Turn around and move to the opposite side of the room, then turn right and move to face the small black table. ", " STEP 7: place the mug with the spoon in it on the small black table. ", " END" ]

[ "Turn around and move to the opposite side of the room, then turn right and move to face the small black table.", "Pick up the spoon on the small black table.", "Pick up the fork on the small black table.", "Pick up the mug with the spoon in it, closing the cupboard.", "Turn around and move to the coffee pot and turn left and face the counter between the sink and the stove.", "Open the drawer next to this portion of the counter, place the spoon into the bowl in the drawer.", "Turn right and move towards the circular table, then turn right and go to the small black table to the left of the white table.", "Open the cupboard below this portion of the counter, place the spoon into the mug in the cupboard.", "place the mug with the spoon in it on the small black table." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)" ]

[ "(G)", "(B)", "(E)", "(H)", "(D)", "(A)", "(I)" ]

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", " rotation_z": " ", " parent_receptacle": "" }, { "id": "57", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "58", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "59", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Turn to the left and walk toward the wall, then turn right and go to the desk. ", " STEP 2: \n\nPick up the card closest to the bowl off the desk. ", " STEP 3: \nTurn around then go to the left and go to the far right corner of the larger desk ", " STEP 4: \nPlace the card on the table next to the remotes. ", " END" ]

[ "Pick up the card closest to the bowl off the desk.", "Grab the pen next to the book from the table.", "Turn around then go to the left and go to the far right corner of the larger desk", "Turn to the left and walk toward the wall, then turn right and go to the desk.", "Turn to the right, walk towards the window, then turn left and approach to the bookshelf.", "Place the card on the table next to the remotes." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)" ]

[ "(D)", "(A)", "(C)", "(F)" ]

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[ "STEP 1: Turn right to face the counter. ", " STEP 2: Pick up the tomato. ", " STEP 3: Turn right and go to the microwave. ", " STEP 4: Cook the tomato. ", " STEP 5: Turn left and go to the fridge. ", " STEP 6: Put the tomato in the fridge. ", " END" ]

[ "Turn right and go to the stove.", "Pick up the onion.", "Turn left and go to the fridge.", "Turn right and go to the microwave.", "Cook the tomato.", "Pick up the tomato.", "Turn right to face the counter.", "Put the tomato in the fridge." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)" ]

[ "(G)", "(F)", "(D)", "(E)", "(C)", "(H)" ]

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rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "109", " object_type": " Faucet", " position_x": " 3.305", " position_y": " 0.886", " position_z": " 0.094", " rotation_x": " 270", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "110", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "111", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "112", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "113", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Turn right towards the tomato on the counter. ", " STEP 2: Pick up the tomato from the counter. ", " STEP 3: Turn right and walk toward the microwave on the counter by the wall. ", " STEP 4: Heat the tomato in the microwave for a few seconds, then take it out and close the microwave. ", " STEP 5: Turn left and walk to the refrigerator. ", " STEP 6: Put the tomato in the refrigerator, in front of and to the right of the potato, then close the refrigerator. ", " END" ]

[ "Turn left and walk to the refrigerator.", "Heat the tomato in the microwave for a few seconds, then take it out and close the microwave.", "Turn left and walk toward the oven on the counter by the window.", "Turn right towards the tomato on the counter.", "Turn left towards the apple on the table.", "Turn right and walk toward the microwave on the counter by the wall.", "Pick up the tomato from the counter.", "Put the tomato in the refrigerator, in front of and to the right of the potato, then close the refrigerator." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)" ]

[ "(D)", "(G)", "(F)", "(B)", "(A)", "(H)" ]

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[ "STEP 1: Turn right and head towards the table on your right. ", " STEP 2: Pick up the lettuce on the right edge of the table. ", " STEP 3: Take a step to the left. ", " STEP 4: Place the lettuce back to the original spot. ", " STEP 5: Pick up the yellow knife in between the salt shaker and fork. ", " STEP 6: Slice the right lettuce in several piece. ", " STEP 7: Place the knife back on the table. ", " STEP 8: Pick up a slice of lettuce from the table. ", " STEP 9: Turn around and walk towards the fridge. ", " STEP 10: Open the fridge, place the lettuce next to the top tomato, close the fridge to let it cool, and take it back out. ", " STEP 11: Turn left and walk towards the toaster on the left counter. ", " STEP 12: Place the slice lettuce in front of the toaster. ", " END" ]

[ "Turn right and head towards the table on your right.", "Turn left and walk towards the toaster on the left counter.", "Open the fridge, place the lettuce next to the top tomato, close the fridge to let it cool, and take it back out.", "Pick up a slice of lettuce from the table.", "Pick up the lettuce on the right edge of the table.", "Place the lettuce back to the original spot.", "Take a step to the left.", "Pick up the carrot on the left edge of the table.", "Turn around and walk towards the fridge.", "Pick up the yellow knife in between the salt shaker and fork.", "Slice the right lettuce in several piece.", "Place the slice lettuce in front of the toaster.", "Place the knife back on the table.", "Open the cabinet, place the lettuce next to the cereal box, close the cabinet to keep it dry, and take it back out." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)", "(K)", "(L)", "(M)", "(N)" ]

[ "(A)", "(E)", "(G)", "(F)", "(J)", "(K)", "(M)", "(D)", "(I)", "(C)", "(B)", "(L)" ]

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rotation_z": " 0", " parent_receptacle": "" }, { "id": "71", " object_type": " CounterTop", " position_x": " 1.776", " position_y": " 0.947", " position_z": " 0.458", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "72", " object_type": " Cabinet", " position_x": " 1.974", " position_y": " 1.688", " position_z": " -1.648", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "73", " object_type": " Cabinet", " position_x": " -0.820", " position_y": " 0.400", " position_z": " -1.349", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "74", " object_type": " Toaster", " position_x": " 0.305", " position_y": " 0.900", " position_z": " 0.552", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "75", " object_type": " LightSwitch", " position_x": " -2.756", " position_y": " 1.307", " position_z": " -0.987", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "76", " object_type": " Window", " position_x": " 0.582", " position_y": " 1.613", " position_z": " -1.967", " rotation_x": " 90", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "77", " object_type": " Window", " position_x": " 1.969", " position_y": " 1.5", " position_z": " -0.615", " rotation_x": " 90", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "78", " object_type": " Microwave", " position_x": " -1.037", " position_y": " 0.900", " position_z": " -1.723", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "79", " object_type": " SinkBasin", " position_x": " 0.377", " position_y": " 0.765", " position_z": " -1.655", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "80", " object_type": " CoffeeMachine", " position_x": " 0.618", " position_y": " 0.900", " position_z": " 0.600", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "81", " object_type": " StoveKnob", " position_x": " 1.246", " position_y": " 0.913", " position_z": " 0.118", " rotation_x": " 45", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "82", " object_type": " StoveKnob", " position_x": " 1.373", " position_y": " 0.913", " position_z": " 0.118", " rotation_x": " 45", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "83", " object_type": " StoveKnob", " position_x": " 0.995", " position_y": " 0.913", " position_z": " 0.118", " rotation_x": " 45", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "84", " object_type": " StoveKnob", " position_x": " 1.126", " position_y": " 0.913", " position_z": " 0.118", " rotation_x": " 45", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "85", " object_type": " GarbageCan", " position_x": " -0.368", " position_y": " -0.029", " position_z": " 0.539", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "86", " object_type": " Fridge", " position_x": " -2.134", " position_y": " 0.0", " position_z": " -1.690", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "87", " object_type": " Faucet", " position_x": " 0.549", " position_y": " 1.046", " position_z": " -1.833", " rotation_x": " 0", " rotation_y": " 232.527", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "88", " object_type": " Stool", " position_x": " -1.475", " position_y": " 0.000", " position_z": " 0.414", " rotation_x": " 1.233", " rotation_y": " 280.375", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "89", " object_type": " DiningTable", " position_x": " -2.255", " position_y": " -0.004", " position_z": " 0.432", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "90", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "91", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "92", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "93", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Walk left and towards the table ", " STEP 2: Grab a lettuce from the table ", " STEP 3: Walk away from the table with the lettuce ", " STEP 4: Set the lettuce on the table again ", " STEP 5: Grab a knife from the table ", " STEP 6: Slice the lettuce on the table ", " STEP 7: Grab a slice from the lettuce ", " STEP 8: Walk towards the fridge ", " STEP 9: Put the slice of lettuce inside the fridge ", " STEP 10: Close the fridge door in open it the fridge again ", " STEP 11: Take the slice of lettuce walk towards the counter ", " STEP 12: Put the slice of lettuce on the counter next to the bread ", " END" ]

[ "Set the lettuce on the table again", "Take the slice of lettuce walk towards the counter", "Put the slice of lettuce on the counter next to the bread", "Close the fridge door in open it the fridge again", "Put the slice of lettuce inside the fridge", "Walk left and towards the table", "Grab a knife from the table", "Grab a slice from the lettuce", "Walk towards the fridge", "Slice the lettuce on the table", "Grab a lettuce from the table", "Walk towards the stove", "Grab a tomato from the table", "Walk away from the table with the lettuce" ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)", "(K)", "(L)", "(M)", "(N)" ]

[ "(F)", "(K)", "(N)", "(A)", "(G)", "(J)", "(H)", "(I)", "(E)", "(D)", "(B)", "(C)" ]

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0", " rotation_z": " 0", " parent_receptacle": " 22" }, { "id": "5", " object_type": " SoapBar", " position_x": " -0.241", " position_y": " 0.876", " position_z": " -1.702", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 24" }, { "id": "6", " object_type": " SoapBar", " position_x": " -0.202", " position_y": " 0.876", " position_z": " -1.541", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 24" }, { "id": "7", " object_type": " SoapBar", " position_x": " -0.280", " position_y": " 0.876", " position_z": " -1.380", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 24" }, { "id": "8", " object_type": " SoapBottle", " position_x": " -2.459", " position_y": " 0.723", " position_z": " -2.095", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 22" }, { "id": "9", " object_type": " SoapBottle", " position_x": " -2.398", " position_y": " 1.045", " position_z": " -0.295", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 37" }, { "id": "10", " object_type": " ToiletPaper", " position_x": " -1.490", " position_y": " 1.049", " position_z": " -0.110", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 90", " parent_receptacle": " 31" }, { "id": "11", " object_type": " Towel", " position_x": " -0.106", " position_y": " 1.541", " position_z": " -2.487", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 29" }, { "id": "12", " object_type": " Candle", " position_x": " -2.276", " position_y": " 1.086", " position_z": " -0.427", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 37" }, { "id": "13", " object_type": " HandTowel", " position_x": " -2.496", " position_y": " 1.836", " position_z": " -0.907", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 32" }, { "id": "14", " object_type": " Plunger", " position_x": " -2.366", " position_y": " 0.000", " position_z": " -0.653", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " Floor|-00.95|" }, { "id": "15", " object_type": " SoapBottle", " position_x": " -2.337", " position_y": " 1.045", " position_z": " -0.164", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 37" }, { "id": "16", " object_type": " SoapBar", " position_x": " -2.398", " position_y": " 1.045", " position_z": " -0.558", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 37" }, { "id": "17", " object_type": " ToiletPaper", " position_x": " -2.306", " position_y": " 1.042", " position_z": " -0.558", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 37" }, { "id": "18", " object_type": " Cloth", " position_x": " -1.524", " position_y": " 0.291", " position_z": " -2.459", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 35" }, { "id": "19", " object_type": " ToiletPaper", " position_x": " -0.086", " position_y": " 0.872", " position_z": " -1.461", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 24" }, { "id": "20", " object_type": " SprayBottle", " position_x": " -0.086", " position_y": " 0.877", " position_z": " -1.380", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 24" }, { "id": "21", " object_type": " ScrubBrush", " position_x": " -2.114", " position_y": " 0.000", " position_z": " -0.695", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " Floor|-00.95|" }, { "id": "22", " object_type": " Bathtub", " position_x": " -1.281", " position_y": " 0.277", " position_z": " -2.529", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "23", " object_type": " Mirror", " position_x": " -2.512", " position_y": " 1.764", " position_z": " -1.518", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "24", " object_type": " SideTable", " position_x": " -0.153", " position_y": " 0.000", " position_z": " -1.465", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "25", " object_type": " Sink", " position_x": " -2.273", " position_y": " 0.0", " position_z": " -1.519", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "26", " object_type": " Drawer", " position_x": " -0.218", " position_y": " 0.775", " position_z": " -1.466", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "27", " object_type": " GarbageCan", " position_x": " -2.197", " position_y": " -0.034", " position_z": " -1.009", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "28", " object_type": " TowelHolder", " position_x": " -2.530", " position_y": " 1.526", " position_z": " -2.486", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "29", " object_type": " TowelHolder", " position_x": " 0.0", " position_y": " 1.526", " position_z": " -2.486", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "30", " object_type": " LightSwitch", " position_x": " 0.0", " position_y": " 1.324", " position_z": " -1.146", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "31", " object_type": " ToiletPaperHanger", " position_x": " -1.427", " position_y": " 1.049", " position_z": " 0.0", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "32", " object_type": " HandTowelHolder", " position_x": " -2.534", " position_y": " 1.937", " position_z": " -0.907", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "33", " object_type": " Window", " position_x": " -1.291", " position_y": " 1.815", " position_z": " -3.121", " rotation_x": " 90", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "34", " object_type": " SinkBasin", " position_x": " -2.216", " position_y": " 0.905", " position_z": " -1.503", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "35", " object_type": " SinkBasin", " position_x": " -1.305", " position_y": " 0.280", " position_z": " -2.516", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "36", " object_type": " HousePlant", " position_x": " -0.108", " position_y": " 0.870", " position_z": " -1.649", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "37", " object_type": " Toilet", " position_x": " -2.045", " position_y": " 0.000", " position_z": " -0.358", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "38", " object_type": " Faucet", " position_x": " -2.446", " position_y": " 0.940", " position_z": " -1.516", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "39", " object_type": " Faucet", " position_x": " -0.132", " position_y": " 0.706", " position_z": " -2.877", " rotation_x": " 0", " rotation_y": " 29.999", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "40", " object_type": " ShowerCurtain", " position_x": " -2.438", " position_y": " 1.945", " position_z": " -1.917", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "41", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "42", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "43", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Turn right and walk towards the tub, then hang a right and walk up to the green bin. ", " STEP 2: Pick up the bar of soap off of the toilet tank to your right. ", " STEP 3: Walk over to the sink. ", " STEP 4: Put the bar of soap in the sink and turn on the water, after a couple of seconds turn off the water and remove the now clean bar of soap. ", " STEP 5: Turn right and walk over to the toilet. ", " STEP 6: Put the clean bar of soap on top of the toilet tank. ", " END" ]

[ "Put the bar of soap in the sink and turn on the water, after a couple of seconds turn off the water and remove the now clean bar of soap.", "Turn right and walk towards the tub, then hang a right and walk up to the green bin.", "Turn left and walk over to the shower.", "Put the clean bar of soap on top of the toilet tank.", "Turn right and walk over to the toilet.", "Walk over to the sink.", "Pick up the bar of soap off of the toilet tank to your right.", "Grab the towel off the shower rack to your left." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)" ]

[ "(B)", "(G)", "(F)", "(A)", "(E)", "(D)" ]

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" rotation_z": " 0", " parent_receptacle": " 34" }, { "id": "5", " object_type": " CreditCard", " position_x": " 1.549", " position_y": " 0.692", " position_z": " -2.027", " rotation_x": " 0", " rotation_y": " 18.354", " rotation_z": " 0", " parent_receptacle": " 34" }, { "id": "6", " object_type": " CreditCard", " position_x": " -0.451", " position_y": " 0.090", " position_z": " 0.503", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 38" }, { "id": "7", " object_type": " KeyChain", " position_x": " -0.634", " position_y": " 0.663", " position_z": " 0.643", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 37" }, { "id": "8", " object_type": " KeyChain", " position_x": " -0.506", " position_y": " 0.369", " position_z": " 0.457", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 36" }, { "id": "9", " object_type": " Book", " position_x": " -0.782", " position_y": " 0.661", " position_z": " 0.513", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 37" }, { "id": "10", " object_type": " Book", " position_x": " -1.346", " position_y": " 0.629", " position_z": " -1.023", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 25" }, { "id": "11", " object_type": " AlarmClock", " position_x": " -0.560", " position_y": " 0.664", " position_z": " 0.600", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 37" }, { "id": "12", " object_type": " Box", " position_x": " -0.015", " position_y": " 0.239", " position_z": " -2.091", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "13", " object_type": " Book", " position_x": " -1.521", " position_y": " 0.629", " position_z": " -0.473", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 25" }, { "id": "14", " object_type": " BaseballBat", " position_x": " 1.798", " position_y": " 0.639", " position_z": " 0.425", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 342.316", " parent_receptacle": "" }, { "id": "15", " object_type": " Pen", " position_x": " 0.347", " position_y": " 0.698", " position_z": " -2.118", " rotation_x": " 0", " rotation_y": " 99.090", " rotation_z": " 0", " parent_receptacle": " 34" }, { "id": "16", " object_type": " Pencil", " position_x": " 0.205", " position_y": " 0.697", " position_z": " -2.095", " rotation_x": " 0", " rotation_y": " 99.090", " rotation_z": " 0", " parent_receptacle": " 34" }, { "id": "17", " object_type": " KeyChain", " position_x": " 1.527", " position_y": " 0.473", " position_z": " -0.813", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 33" }, { "id": "18", " object_type": " Pillow", " position_x": " -1.871", " position_y": " 0.703", " position_z": " -0.748", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 25" }, { "id": "19", " object_type": " CreditCard", " position_x": " -0.615", " position_y": " 0.090", " position_z": " 0.503", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 38" }, { "id": "20", " object_type": " CellPhone", " position_x": " -0.339", " position_y": " 0.664", " position_z": " 0.556", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 37" }, { "id": "21", " object_type": " Laptop", " position_x": " 1.641", " position_y": " 0.686", " position_z": " -1.011", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 34" }, { "id": "22", " object_type": " CD", " position_x": " 1.559", " position_y": " 0.693", " position_z": " -1.576", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 34" }, { "id": "23", " object_type": " Bowl", " position_x": " 1.559", " position_y": " 0.695", " position_z": " -1.409", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 34" }, { "id": "24", " object_type": " AlarmClock", " position_x": " 1.492", " position_y": " 0.475", " position_z": " -0.715", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 33" }, { "id": "25", " object_type": " Bed", " position_x": " -1.696", " position_y": " 0.004", " position_z": " -0.446", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "26", " object_type": " Chair", " position_x": " 0.956", " position_y": " -0.000", " position_z": " -1.747", " rotation_x": " 0", " rotation_y": " 110.225", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "27", " object_type": " DeskLamp", " position_x": " -0.440", " position_y": " 0.688", " position_z": " -2.276", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "28", " object_type": " LightSwitch", " position_x": " 0.625", " position_y": " 1.338", " position_z": " 0.734", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "29", " object_type": " GarbageCan", " position_x": " 1.660", " position_y": " -0.019", " position_z": " -0.389", " rotation_x": " 0", " rotation_y": " 345.008", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "30", " object_type": " Mirror", " position_x": " 1.300", " position_y": " 1.422", " position_z": " 0.765", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "31", " object_type": " HousePlant", " position_x": " -0.867", " position_y": " 0.000", " position_z": " -2.286", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "32", " object_type": " Window", " position_x": " 0.819", " position_y": " 1.496", " position_z": " -2.553", " rotation_x": " 90", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "33", " object_type": " Shelf", " position_x": " 1.616", " position_y": " 0.561", " position_z": " -0.802", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "34", " object_type": " Desk", " position_x": " 0.617", " position_y": " -0.000", " position_z": " -1.511", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "35", " object_type": " Blinds", " position_x": " 0.796", " position_y": " 2.217", " position_z": " -2.476", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "36", " object_type": " Drawer", " position_x": " -0.558", " position_y": " 0.456", " position_z": " 0.462", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "37", " object_type": " SideTable", " position_x": " -0.557", " position_y": " -0.000", " position_z": " 0.529", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "38", " object_type": " Drawer", " position_x": " -0.558", " position_y": " 0.164", " position_z": " 0.462", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "39", " object_type": " Desktop", " position_x": " 1.455", " position_y": " 0.692", " position_z": " -1.886", " rotation_x": " 358.180", " rotation_y": " 309.674", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "40", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "41", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "42", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "43", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: turn left to face the night stand ", " STEP 2: grab the alarm clock off of the night stand ", " STEP 3: turn around and walk to the desk ", " STEP 4: turn on the lamp on the desk ", " END" ]

[ "switch off the lamp on the desk", "turn on the lamp on the desk", "grab the alarm clock off of the night stand", "turn around and walk to the desk", "turn right to face the wardrobe", "turn left to face the night stand" ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)" ]

[ "(F)", "(C)", "(D)", "(B)" ]

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rotation_z": " 0", " parent_receptacle": " 48" }, { "id": "5", " object_type": " CreditCard", " position_x": " -1.269", " position_y": " 0.699", " position_z": " -1.900", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 49" }, { "id": "6", " object_type": " CreditCard", " position_x": " -1.582", " position_y": " 0.699", " position_z": " -2.191", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 49" }, { "id": "7", " object_type": " Book", " position_x": " -1.443", " position_y": " 0.610", " position_z": " 0.057", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 26" }, { "id": "8", " object_type": " AlarmClock", " position_x": " 1.260", " position_y": " 1.410", " position_z": " 0.050", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 37" }, { "id": "9", " object_type": " Pillow", " position_x": " -1.082", " position_y": " 0.713", " position_z": " -0.223", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 26" }, { "id": "10", " object_type": " Book", " position_x": " -0.962", " position_y": " 0.610", " position_z": " 0.337", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 26" }, { "id": "11", " object_type": " KeyChain", " position_x": " -1.269", " position_y": " 0.700", " position_z": " -2.046", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 49" }, { "id": "12", " object_type": " BaseballBat", " position_x": " 1.436", " position_y": " 0.636", " position_z": " 1.985", " rotation_x": " 21.882", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "13", " object_type": " BasketBall", " position_x": " 1.270", " position_y": " 0.12", " position_z": " -1.290", " rotation_x": " 0", " rotation_y": " 345.557", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "14", " object_type": " Pencil", " position_x": " 0.466", " position_y": " 0.582", " position_z": " -2.427", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 44" }, { "id": "15", " object_type": " CellPhone", " position_x": " 1.329", " position_y": " 0.371", " position_z": " -1.963", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 28" }, { "id": "16", " object_type": " CreditCard", " position_x": " -1.645", " position_y": " 0.696", " position_z": " -1.755", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 49" }, { "id": "17", " object_type": " Laptop", " position_x": " 0.076", " position_y": " 0.569", " position_z": " -2.456", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 44" }, { "id": "18", " object_type": " Pillow", " position_x": " -1.170", " position_y": " 0.684", " position_z": " -0.990", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 26" }, { "id": "19", " object_type": " Boots", " position_x": " 1.288", " position_y": " 0.000", " position_z": " -0.961", " rotation_x": " 0", " rotation_y": " 177.912", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "20", " object_type": " Pen", " position_x": " -1.332", " position_y": " 0.705", " position_z": " -2.191", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 49" }, { "id": "21", " object_type": " AlarmClock", " position_x": " 1.26", " position_y": " 0.911", " position_z": " -0.249", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 35" }, { "id": "22", " object_type": " CD", " position_x": " 1.120", " position_y": " 0.370", " position_z": " -1.709", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 32" }, { "id": "23", " object_type": " Bowl", " position_x": " -1.519", " position_y": " 0.699", " position_z": " -1.610", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 49" }, { "id": "24", " object_type": " Drawer", " position_x": " 0.980", " position_y": " 0.271", " position_z": " -1.963", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "25", " object_type": " Drawer", " position_x": " 0.980", " position_y": " 0.139", " position_z": " -1.963", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "26", " object_type": " Bed", " position_x": " -1.209", " position_y": " 0.016", " position_z": " -0.266", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 1.624", " parent_receptacle": "" }, { "id": "27", " object_type": " Shelf", " position_x": " 1.220", " position_y": " 0.859", " position_z": " -1.802", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "28", " object_type": " Drawer", " position_x": " 0.980", " position_y": " 0.404", " position_z": " -1.963", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "29", " object_type": " Drawer", " position_x": " 0.980", " position_y": " 0.272", " position_z": " -1.639", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "30", " object_type": " Mirror", " position_x": " 0.740", " position_y": " 1.491", " position_z": " 2.099", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "31", " object_type": " Drawer", " position_x": " 0.980", " position_y": " 0.139", " position_z": " -1.639", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "32", " object_type": " Drawer", " position_x": " 0.980", " position_y": " 0.404", " position_z": " -1.639", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "33", " object_type": " Chair", " position_x": " 0.280", " position_y": " -0.001", " position_z": " -2.264", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "34", " object_type": " GarbageCan", " position_x": " -1.542", " position_y": " 0.013", " position_z": " 1.919", " rotation_x": " 2.249", " rotation_y": " 116.925", " rotation_z": " 355.175", " parent_receptacle": "" }, { "id": "35", " object_type": " Shelf", " position_x": " 1.259", " position_y": " 0.903", " position_z": " -0.269", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "36", " object_type": " Shelf", " position_x": " 1.259", " position_y": " 0.375", " position_z": " -0.263", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "37", " object_type": " Shelf", " position_x": " 1.259", " position_y": " 1.402", " position_z": " -0.259", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "38", " object_type": " Shelf", " position_x": " -1.577", " position_y": " 1.513", " position_z": " -2.025", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "39", " object_type": " LightSwitch", " position_x": " -0.755", " position_y": " 1.176", " position_z": " 2.099", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "40", " object_type": " DeskLamp", " position_x": " -1.489", " position_y": " 0.669", " position_z": " -2.419", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "41", " object_type": " Window", " position_x": " 0.243", " position_y": " 0.963", " position_z": " -2.678", " rotation_x": " 90", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "42", " object_type": " Window", " position_x": " -0.361", " position_y": " 0.963", " position_z": " -2.679", " rotation_x": " 90", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "43", " object_type": " Window", " position_x": " -0.962", " position_y": " 0.963", " position_z": " -2.678", " rotation_x": " 90", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "44", " object_type": " Desk", " position_x": " 0.445", " position_y": " 0.001", " position_z": " -2.430", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "45", " object_type": " Blinds", " position_x": " -0.349", " position_y": " 2.186", " position_z": " -2.685", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "46", " object_type": " Blinds", " position_x": " 0.250", " position_y": " 2.186", " position_z": " -2.685", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "47", " object_type": " Blinds", " position_x": " -0.952", " position_y": " 2.186", " position_z": " -2.685", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "48", " object_type": " Drawer", " position_x": " -1.314", " position_y": " 0.163", " position_z": " -2.051", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "49", " object_type": " SideTable", " position_x": " -1.444", " position_y": " -0.001", " position_z": " -2.051", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "50", " object_type": " Drawer", " position_x": " -1.314", " position_y": " 0.455", " position_z": " -2.051", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "51", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "52", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "53", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "54", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Walk forward across the room, then turn right and walk forward to face the computer table. ", " STEP 2: Pick up the pencil on the computer table. ", " STEP 3: Turn right and walk across the room to face the dresser. ", " STEP 4: Place the pencil in the bowl on the right side of the dresser. ", " STEP 5: Pick up the bowl with the pencil in it on the right side of the dresser. ", " STEP 6: Turn around and walk forward and turn to the right to face the computer table. ", " STEP 7: Place the bowl with a pencil in it on the computer table. ", " END" ]

[ "Pick up the bowl with the pencil in it on the right side of the dresser.", "Turn around and walk forward and turn to the right to face the computer table.", "Walk forward across the room, then turn right and walk forward to face the computer table.", "Pick up the pencil on the computer table.", "Pick up the bowl on the left side of the dresser.", "Place the bowl with a pencil in it on the computer table.", "Turn right and walk across the room to face the dresser.", "Pick up the notepad on the computer table.", "Place the pencil in the bowl on the right side of the dresser." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)" ]

[ "(C)", "(D)", "(G)", "(I)", "(A)", "(B)", "(F)" ]

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rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 58" }, { "id": "38", " object_type": " PepperShaker", " position_x": " -2.183", " position_y": " 0.908", " position_z": " -1.265", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 56" }, { "id": "39", " object_type": " Lettuce", " position_x": " -1.627", " position_y": " 0.977", " position_z": " 0.363", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 56" }, { "id": "40", " object_type": " ButterKnife", " position_x": " -2.405", " position_y": " 0.874", " position_z": " 3.685", " rotation_x": " 0", " rotation_y": " 225", " rotation_z": " 0", " parent_receptacle": " 58" }, { "id": "41", " object_type": " Bread", " position_x": " -0.263", " position_y": " 1.655", " position_z": " 2.100", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 81" }, { "id": "42", " object_type": " Vase", " position_x": " 1.631", " 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rotation_x": " 45", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "90", " object_type": " StoveKnob", " position_x": " 0.961", " position_y": " 0.913", " position_z": " -1.243", " rotation_x": " 45", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "91", " object_type": " Toaster", " position_x": " 1.637", " position_y": " 0.900", " position_z": " -1.673", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "92", " object_type": " Chair", " position_x": " -3.505", " position_y": " 0.002", " position_z": " 3.290", " rotation_x": " 0", " rotation_y": " 105.736", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "93", " object_type": " CoffeeMachine", " position_x": " -1.111", " position_y": " 0.900", " position_z": " -1.726", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "94", " object_type": " HousePlant", " position_x": 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parent_receptacle": "" }, { "id": "99", " object_type": " Chair", " position_x": " -2.934", " position_y": " 0.002", " position_z": " 2.437", " rotation_x": " 0", " rotation_y": " 28.531", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "100", " object_type": " Chair", " position_x": " -1.698", " position_y": " 0.002", " position_z": " 3.235", " rotation_x": " 0", " rotation_y": " 245.204", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "101", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "102", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "103", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "104", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Turn around completely and go to the right. ", " STEP 2: Pick up the butter knife from the table. ", " STEP 3: hen go forward then turn to the left an face the counter ", " STEP 4: Open the cabinet and put the butter knife inside the bowl in the cabinet. ", " STEP 5: Take out the bowl with the knife in it. ", " STEP 6: Turn around completely and walk forward turn to the right. Turn to the right again and face the sink. ", " STEP 7: Place the bowl and knife in the sink. ", " END" ]

[ "Place the bowl and knife in the sink.", "hen go forward then turn to the left an face the counter", "Take out the plate with the knife in it.", "Pick up the butter knife from the table.", "Open the cabinet and put the butter knife inside the bowl in the cabinet.", "Take out the bowl with the knife in it.", "Turn around completely and go to the right.", "Turn around completely and walk forward turn to the right. Turn to the right again and face the sink.", "Pick up the spoon from the table." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)" ]

[ "(G)", "(D)", "(B)", "(E)", "(F)", "(H)", "(A)" ]

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rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "5", " object_type": " CreditCard", " position_x": " -0.339", " position_y": " 0.663", " position_z": " 0.513", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 39" }, { "id": "6", " object_type": " CreditCard", " position_x": " -0.724", " position_y": " 0.090", " position_z": " 0.480", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "7", " object_type": " KeyChain", " position_x": " -0.451", " position_y": " 0.370", " position_z": " 0.480", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 38" }, { "id": "8", " object_type": " KeyChain", " position_x": " -0.634", " position_y": " 0.663", " position_z": " 0.643", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 39" }, { "id": "9", " object_type": " Book", " position_x": " -0.362", " position_y": " 0.692", " position_z": " -1.980", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 36" }, { "id": "10", " object_type": " Book", " position_x": " -1.521", " position_y": " 0.629", " position_z": " -0.473", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "11", " object_type": " Pillow", " position_x": " -1.346", " position_y": " 0.703", " position_z": " -0.198", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "12", " object_type": " AlarmClock", " position_x": " -0.560", " position_y": " 0.664", " position_z": " 0.600", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 39" }, { "id": "13", " object_type": " AlarmClock", " position_x": " 1.610", " position_y": " 0.694", " position_z": " -1.644", " rotation_x": " 0", " rotation_y": " 18.354", " rotation_z": " 0", " parent_receptacle": " 36" }, { "id": "14", " object_type": " Box", " position_x": " -0.015", " position_y": " 0.239", " position_z": " -2.091", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "15", " object_type": " Book", " position_x": " -0.782", " position_y": " 0.661", " position_z": " 0.600", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 39" }, { "id": "16", " object_type": " BaseballBat", " position_x": " 1.798", " position_y": " 0.639", " position_z": " 0.425", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 342.316", " parent_receptacle": "" }, { "id": "17", " object_type": " Pen", " position_x": " 0.477", " position_y": " 0.698", " position_z": " -2.336", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 36" }, { "id": "18", " object_type": " Pencil", " position_x": " -0.219", " position_y": " 0.697", " position_z": " -2.148", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 36" }, { "id": "19", " object_type": " KeyChain", " position_x": " -0.561", " position_y": " 0.663", " position_z": " 0.427", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 39" }, { "id": "20", " object_type": " Pillow", " position_x": " -1.694", " position_y": " 0.656", " position_z": " 0.415", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "21", " object_type": " CreditCard", " position_x": " 1.456", " position_y": " 0.473", " position_z": " -0.715", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 35" }, { "id": "22", " object_type": " CellPhone", " position_x": " 1.559", " position_y": " 0.693", " position_z": " -1.409", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 36" }, { "id": "23", " object_type": " Laptop", " position_x": " -1.871", " position_y": " 0.628", " position_z": " -1.297", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "24", " object_type": " CD", " position_x": " 0.661", " position_y": " 0.692", " position_z": " -2.266", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 36" }, { "id": "25", " object_type": " Bowl", " position_x": " 1.222", " position_y": " 0.686", " position_z": " -2.128", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 36" }, { "id": "26", " object_type": " AlarmClock", " position_x": " -0.506", " position_y": " 0.694", " position_z": " -1.980", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 36" }, { "id": "27", " object_type": " Bed", " position_x": " -1.696", " position_y": " 0.004", " position_z": " -0.446", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "28", " object_type": " Chair", " 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parent_receptacle": "" }, { "id": "33", " object_type": " HousePlant", " position_x": " -0.867", " position_y": " 0.000", " position_z": " -2.286", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "34", " object_type": " Window", " position_x": " 0.819", " position_y": " 1.496", " position_z": " -2.553", " rotation_x": " 90", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "35", " object_type": " Shelf", " position_x": " 1.616", " position_y": " 0.561", " position_z": " -0.802", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "36", " object_type": " Desk", " position_x": " 0.617", " position_y": " -0.000", " position_z": " -1.511", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "37", " object_type": " Blinds", " position_x": " 0.796", " position_y": " 2.217", " position_z": " -2.476", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "38", " object_type": " Drawer", " position_x": " -0.558", " position_y": " 0.456", " position_z": " 0.462", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "39", " object_type": " SideTable", " position_x": " -0.557", " position_y": " -0.000", " position_z": " 0.529", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "40", " object_type": " Drawer", " position_x": " -0.558", " position_y": " 0.164", " position_z": " 0.462", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "41", " object_type": " Desktop", " position_x": " 1.455", " position_y": " 0.692", " position_z": " -1.886", " rotation_x": " 358.180", " rotation_y": " 309.674", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "42", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "43", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "44", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "45", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: turn left, walk to the table ", " STEP 2: grab the blue pencil on the table ", " STEP 3: turn around, walk to the trash bin on the right ", " STEP 4: put the pencil in the trash bin ", " END" ]

[ "turn right, walk to the desk", "turn left, walk to the table", "turn left, walk to the bookshelf on the right", "turn around, walk to the trash bin on the right", "grab the blue pencil on the table", "put the pencil in the trash bin" ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)" ]

[ "(B)", "(E)", "(D)", "(F)" ]

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rotation_z": " 0", " parent_receptacle": " 76" }, { "id": "5", " object_type": " ButterKnife", " position_x": " -2.079", " position_y": " 0.910", " position_z": " 0.549", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 78" }, { "id": "6", " object_type": " ButterKnife", " position_x": " -2.201", " position_y": " 0.910", " position_z": " 0.291", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 78" }, { "id": "7", " object_type": " Glassbottle", " position_x": " -0.309", " position_y": " 0.117", " position_z": " -1.538", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 62" }, { "id": "8", " object_type": " Glassbottle", " position_x": " 0.569", " position_y": " 0.912", " position_z": " -1.704", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 76" }, { "id": "9", " object_type": " Fork", " position_x": " 0.982", " position_y": " 0.775", " 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[ "STEP 1: Turn around and head to the counter on the right side of the dishwasher. ", " STEP 2: Pick up the spoon from behind the apple off the top of the counter. ", " STEP 3: Turn to the right and go to the front of the sink. ", " STEP 4: Open the cabinet and place the spoon inside the pan. ", " STEP 5: Take the pan out and close the door. ", " STEP 6: Turn left and move back to the end of the counter. ", " STEP 7: Place the pan to the left of the soup spoon on the shelf above the counter. ", " END" ]

[ "Place the pan to the left of the soup spoon on the shelf above the counter.", "Turn right and move forward to the start of the counter.", "Turn to the right and go to the front of the sink.", "Take the pan out and close the door.", "Pick up the knife from behind the orange off the bottom of the counter.", "Open the cabinet and place the spoon inside the pan.", "Turn around and head to the counter on the right side of the dishwasher.", "Turn left and move back to the end of the counter.", "Pick up the spoon from behind the apple off the top of the counter." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)" ]

[ "(G)", "(I)", "(C)", "(F)", "(D)", "(H)", "(A)" ]

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[ "STEP 1: Turn to the right and then the left to face the toilet. ", " STEP 2: Pick up the spray from the toilet tank. ", " STEP 3: Hold the bottle and turn to the left and then find the storage cart. ", " STEP 4: Place the bottle on the top shelf of the storage cart. ", " STEP 5: Turn around and then right to find the counter. ", " STEP 6: Pick up the spray bottle from the back of the counter. ", " STEP 7: Carry the bottle and turn around. Turn left to find the storage cart. ", " STEP 8: Place the bottle on the top shelf, next to the other bottle. ", " END" ]

[ "Pick up the roll from the toilet tank.", "Place the bottle on the top shelf of the storage cart.", "Pick up the spray bottle from the back of the counter.", "Turn to the right and then the left to face the toilet.", "Place the bottle on the top shelf, next to the other bottle.", "Carry the bottle and turn around. Turn left to find the storage cart.", "Pick up the spray from the toilet tank.", "Hold the bottle and turn to the left and then find the storage cart.", "Pick up the towel from the back of the counter.", "Turn around and then right to find the counter." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)" ]

[ "(D)", "(G)", "(H)", "(B)", "(J)", "(C)", "(F)", "(E)" ]

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parent_receptacle": "" }, { "id": "28", " object_type": " Drawer", " position_x": " 0.300", " position_y": " 0.304", " position_z": " -1.820", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "29", " object_type": " Mirror", " position_x": " -0.046", " position_y": " 1.512", " position_z": " -2.538", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "30", " object_type": " CounterTop", " position_x": " 0.196", " position_y": " 0.430", " position_z": " -2.010", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "31", " object_type": " Sink", " position_x": " -2.796", " position_y": " 0.328", " position_z": " 0.755", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "32", " object_type": " Drawer", " position_x": " 0.300", " position_y": " 0.833", " position_z": " -1.820", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "33", " object_type": " Drawer", " position_x": " 0.300", " position_y": " 0.682", " position_z": " -1.820", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "34", " object_type": " Drawer", " position_x": " 0.300", " position_y": " 0.492", " position_z": " -1.820", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "35", " object_type": " TowelHolder", " position_x": " 0.572", " position_y": " 1.195", " position_z": " -1.095", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "36", " object_type": " GarbageCan", " position_x": " -0.564", " position_y": " 0.010", " position_z": " 2.061", " rotation_x": " 0", " rotation_y": " 195.0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "37", " object_type": " ToiletPaperHanger", " position_x": " -0.574", " position_y": " 0.926", " position_z": " 2.407", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "38", " object_type": " Shelf", " position_x": " 1.536", " position_y": " 0.613", " position_z": " -2.242", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "39", " object_type": " HandTowelHolder", " position_x": " -0.884", " position_y": " 1.718", " position_z": " -2.542", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "40", " object_type": " Window", " position_x": " -3.170", " position_y": " 1.812", " position_z": " -1.697", " rotation_x": " 90", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "41", " object_type": " Window", " position_x": " -3.170", " position_y": " 1.812", " position_z": " 1.597", " rotation_x": " 90", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "42", " object_type": " Window", " position_x": " -2.144", " position_y": " 1.809", " position_z": " -2.573", " rotation_x": " 90", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "43", " object_type": " Window", " position_x": " -3.170", " position_y": " 1.812", " position_z": " -0.054", " rotation_x": " 90", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "44", " object_type": " Toilet", " position_x": " -0.064", " position_y": " 0.012", " position_z": " 1.838", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "45", " object_type": " LightSwitch", " position_x": " -1.406", " position_y": " 1.472", " position_z": " 2.407", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "46", " object_type": " SinkBasin", " position_x": " -2.796", " position_y": " 0.875", " position_z": " 0.765", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "47", " object_type": " ShowerHead", " position_x": " 1.591", " position_y": " 1.700", " position_z": " -2.424", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "48", " object_type": " Faucet", " position_x": " -2.676", " position_y": " 0.423", " position_z": " -0.312", " rotation_x": " 0", " rotation_y": " 99.958", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "49", " object_type": " SideTable", " position_x": " -2.847", " position_y": " 0.013", " position_z": " 1.509", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "50", " object_type": " Faucet", " position_x": " -3.106", " position_y": " 1.056", " position_z": " 0.757", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "51", " object_type": " ", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "52", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "53", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "54", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "55", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Turn and go to the toilet. ", " STEP 2: Pick up the dispenser on the toilet. ", " STEP 3: Turn and go to the shelf by the sink. ", " STEP 4: Put the dispenser on the shelf. ", " STEP 5: Turn and go to the counter by the mirror. ", " STEP 6: Pick up the dispenser on the counter. ", " STEP 7: Turn and go to the shelf by the sink. ", " STEP 8: Put the dispenser on the shelf. ", " END" ]

[ "Rotate and walk towards the bathtub.", "Turn and go to the shelf by the sink.", "Turn and go to the counter by the mirror.", "Turn and go to the toilet.", "Turn and go to the shelf by the sink.", "Pivot and approach the cupboard under the sink.", "Put the dispenser on the shelf.", "Pick up the dispenser on the toilet.", "Pick up the dispenser on the counter.", "Put the dispenser on the shelf." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)" ]

[ "(D)", "(H)", "(B)", "(E)", "(G)", "(J)", "(C)", "(I)", "(B)", "(E)", "(G)", "(J)" ]

[ { "id": "0", " object_type": " Agent", " position_x": " 1.0", " position_y": " 0.900", " position_z": " -1.5", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "1", " object_type": " Watch", " position_x": " 1.901", " position_y": " 0.760", " position_z": " 0.691", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 30" }, { "id": "2", " object_type": " Watch", " position_x": " -1.568", " position_y": " 0.489", " position_z": " 1.753", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 37" }, { "id": "3", " object_type": " KeyChain", " position_x": " 1.901", " position_y": " 0.760", " position_z": " 0.241", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 30" }, { "id": "4", " object_type": " CreditCard", " position_x": " -1.794", " position_y": " 1.625", " position_z": " -1.473", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 39" }, { "id": "5", " object_type": " CreditCard", " position_x": " -1.113", " position_y": " 0.327", " position_z": " 0.643", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 38" }, { "id": "6", " object_type": " RemoteControl", " position_x": " 1.825", " position_y": " 0.759", " position_z": " 0.091", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 30" }, { "id": "7", " object_type": " Laptop", " position_x": " -0.051", " position_y": " 0.471", " position_z": " -0.086", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "8", " object_type": " Box", " position_x": " -0.007", " position_y": " 0.65", " position_z": " 0.892", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "9", " object_type": " Laptop", " position_x": " -0.196", " position_y": " 0.470", " position_z": " 0.407", " rotation_x": " 0", " rotation_y": " 72.615", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "10", " object_type": " CreditCard", " position_x": " 1.825", " position_y": " 0.756", " position_z": " 0.691", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 30" }, { "id": "11", " object_type": " KeyChain", " position_x": " 1.675", " position_y": " 0.757", " position_z": " 0.091", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 30" }, { "id": "12", " object_type": " Vase", " position_x": " 1.600", " position_y": " 0.762", " position_z": " 0.541", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 30" }, { "id": "13", " object_type": " Vase", " position_x": " -1.800", " position_y": " 1.616", " position_z": " -1.785", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 39" }, { "id": "14", " object_type": " Pillow", " position_x": " -1.235", " position_y": " 0.461", " position_z": " -0.025", " rotation_x": " 0", " rotation_y": " 75.000", " rotation_z": " 0", " parent_receptacle": " 38" }, { "id": "15", " object_type": " RemoteControl", " position_x": " -0.301", " position_y": " 0.479", " position_z": " 0.971", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "16", " object_type": " Watch", " position_x": " 1.799", " position_y": " 0.179", " position_z": " 0.208", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 32" }, { "id": "17", " object_type": " Vase", " position_x": " -0.301", " position_y": " 0.481", " position_z": " 0.089", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "18", " object_type": " Statue", " position_x": " 1.600", " position_y": " 0.770", " position_z": " 0.241", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 30" }, { "id": "19", " object_type": " Television", " position_x": " 1.826", " position_y": " 1.241", " position_z": " 0.248", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "20", " object_type": " LightSwitch", " position_x": " -2.0", " position_y": " 1.332", " position_z": " 3.920", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "21", " object_type": " Window", " position_x": " -0.216", " position_y": " 1.495", " position_z": " -1.878", " rotation_x": " 90", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "22", " object_type": " HousePlant", " position_x": " -1.780", " position_y": " 0.468", " position_z": " 1.965", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "23", " object_type": " Painting", " position_x": " -2.0", " position_y": " 1.577", " position_z": " 0.418", " rotation_x": " 90", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "24", " object_type": " GarbageCan", " position_x": " 1.767", " position_y": " -0.001", " position_z": " 3.878", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "25", " object_type": " FloorLamp", " position_x": " 1.228", " position_y": " 0.000", " position_z": " 3.744", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "26", " object_type": " Painting", " position_x": " -0.096", " position_y": " 1.578", " position_z": " 4.050", " rotation_x": " 90", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "27", " object_type": " CoffeeTable", " position_x": " -0.150", " position_y": " 0.000", " position_z": " 0.421", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "28", " object_type": " Shelf", " position_x": " 1.663", " position_y": " 0.474", " position_z": " 0.609", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "29", " object_type": " Shelf", " position_x": " 1.663", " position_y": " 0.273", " position_z": " 0.609", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "30", " object_type": " TVStand", " position_x": " 1.669", " position_y": " -0.000", " position_z": " 0.243", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "31", " object_type": " Shelf", " position_x": " 1.663", " position_y": " 0.302", " position_z": " -0.124", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "32", " object_type": " Shelf", " position_x": " 1.663", " position_y": " 0.442", " position_z": " 0.241", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "33", " object_type": " Shelf", " position_x": " 1.663", " position_y": " 0.597", " position_z": " -0.124", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "34", " object_type": " Shelf", " position_x": " 1.663", " position_y": " 0.643", " position_z": " 0.609", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "35", " object_type": " Cabinet", " position_x": " -1.767", " position_y": " 0.729", " position_z": " -1.593", " rotation_x": " 0", " rotation_y": " 91.801", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "36", " object_type": " Shelf", " position_x": " -1.769", " position_y": " 2.041", " position_z": " -1.593", " rotation_x": " 0", " rotation_y": " 91.801", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "37", " object_type": " SideTable", " position_x": " -1.567", " position_y": " -0.002", " position_z": " 1.818", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "38", " object_type": " Sofa", " position_x": " -1.445", " position_y": " 0.008", " position_z": " 0.420", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "39", " object_type": " Shelf", " position_x": " -1.769", " position_y": " 1.744", " position_z": " -1.593", " rotation_x": " 0", " rotation_y": " 91.801", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "40", " object_type": " Shelf", " position_x": " -1.768", " position_y": " 1.452", " position_z": " -1.593", " rotation_x": " 0", " rotation_y": " 91.801", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "41", " object_type": " ArmChair", " position_x": " 0.396", " position_y": " 0.005", " position_z": " 2.194", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "42", " object_type": " ArmChair", " position_x": " -0.633", " position_y": " 0.005", " position_z": " 2.194", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "43", " object_type": " ShelvingUnit", " position_x": " -1.786", " position_y": " 0.001", " position_z": " -1.592", " rotation_x": " 0", " rotation_y": " 91.801", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "44", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "45", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "46", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "47", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Turn right and walk to the desk containing the television. ", " STEP 2: Pick up the key chain from the desk. ", " STEP 3: Turn left and walk to the floor lamp by the recycling bin. ", " STEP 4: Turn on the lamp. ", " END" ]

[ "Switch off the radio.", "Pick up the key chain from the desk.", "Turn left and walk to the floor lamp by the recycling bin.", "Turn left and walk to the bookshelf near the couch.", "Turn right and walk to the desk containing the television.", "Turn on the lamp." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)" ]

[ "(E)", "(B)", "(C)", "(F)" ]

[ { "id": "0", " object_type": " Agent", " position_x": " -2.0", " position_y": " 0.900", " position_z": " 2.5", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "1", " object_type": " Potato", " position_x": " -2.671", " position_y": " 0.863", " position_z": " 2.485", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 59" }, { "id": "2", " object_type": " Potato", " position_x": " -2.840", " position_y": " 0.862", " position_z": " 0.129", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 41" }, { "id": "3", " object_type": " Fork", " position_x": " -0.817", " position_y": " 0.824", " position_z": " 0.352", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 41" }, { "id": "4", " object_type": " Fork", " position_x": " -2.698", " position_y": " 0.692", " position_z": " 1.474", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 46" }, { "id": "5", " object_type": " Tomato", " position_x": " -2.608", " position_y": " 0.873", " position_z": " 0.129", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 41" }, { "id": "6", " object_type": " Bowl", " position_x": " -2.784", " position_y": " 1.431", " position_z": " 0.293", " rotation_x": " 0", " rotation_y": " 45", " rotation_z": " 0", " parent_receptacle": " 47" }, { "id": "7", " object_type": " SaltShaker", " position_x": " -2.416", " position_y": " 1.431", " position_z": " 0.142", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 48" }, { "id": "8", " object_type": " PepperShaker", " position_x": " -2.905", " position_y": " 1.430", " position_z": " 0.708", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 50" }, { "id": "9", " object_type": " Lettuce", " position_x": " -2.782", " position_y": " 1.529", " position_z": " 2.221", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 59" }, { "id": "10", " object_type": " Lettuce", " position_x": " -2.837", " position_y": " 0.908", " position_z": " 2.133", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 59" }, { "id": "11", " object_type": " Mug", " position_x": " -2.782", " position_y": " 1.138", " position_z": " 2.485", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 59" }, { "id": "12", " object_type": " Mug", " position_x": " -2.726", " position_y": " 1.440", " position_z": " 2.485", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 59" }, { "id": "13", " object_type": " Apple", " position_x": " -2.744", " position_y": " 0.994", " position_z": " 1.178", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 60" }, { "id": "14", " object_type": " Fork", " position_x": " -2.631", " position_y": " 0.692", " position_z": " 1.547", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 46" }, { "id": "15", " object_type": " Ladle", " position_x": " -2.813", " position_y": " 0.867", " position_z": " 0.871", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 41" }, { "id": "16", " object_type": " Pan", " position_x": " -0.244", " position_y": " 0.829", " position_z": " 1.684", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "17", " object_type": " SoapBottle", " position_x": " -2.000", " position_y": " 0.123", " position_z": " 0.401", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 53" }, { "id": "18", " object_type": " Pot", " position_x": " -0.518", " position_y": " 0.829", " position_z": " 2.075", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " 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", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "76", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: turn around, walk straight, turn right to the counter ", " STEP 2: pick up knife from the counter ", " STEP 3: turn to the left, look at the sink ", " STEP 4: turn around look at the sink ", " STEP 5: turn right , turn left to the microwave ", " STEP 6: open door, place knife in to microwave, close door ", " STEP 7: turn left, walk to the sink ", " STEP 8: pick up tomato from counter ", " STEP 9: turn around, turn to the right, turn right to the counter ", " STEP 10: place tomato in to the sink, turn water on, turn off water, pick up tomato ", " STEP 11: turn right, turn left to the counter ", " STEP 12: place tomato on to the counter ", " END" ]

[ "place tomato in to the sink, turn water on, turn off water, pick up tomato", "turn right, turn left to the counter", "pick up tomato from counter", "turn around, walk straight, turn right to the counter", "open door, place knife in to microwave, close door", "turn right, walk to the oven", "turn to the right, look at the fridge", "turn right , turn left to the microwave", "turn left, walk to the sink", "pick up knife from the counter", "turn around look at the sink", "turn around, turn to the right, turn right to the counter", "turn to the left, look at the sink", "place tomato on to the counter" ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)", "(K)", "(L)", "(M)", "(N)" ]

[ "(D)", "(J)", "(M)", "(K)", "(H)", "(E)", "(I)", "(C)", "(L)", "(A)", "(B)", "(N)" ]

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[ "STEP 1: Turn around, walk towards the wine bottle then go right to get to the sink. ", " STEP 2: Pick up the knife on the counter. ", " STEP 3: Turn right walk just past the sink to the potato on the counter. ", " STEP 4: Dice the potato with the knife. ", " STEP 5: Put the knife in the pot behind the potato. ", " STEP 6: Pick up the smallest piece of diced potato. ", " STEP 7: Put the potato slice in the pot with the knife. ", " STEP 8: Pick up the pot with the knife and potato slice in it. ", " STEP 9: Turn right and walk to the refrigerator. ", " STEP 10: Open the refrigerator, put the pot inside next to the loaf of bread and then close it. ", " END" ]

[ "Pick up the smallest piece of diced potato.", "Put the potato slice in the pot with the knife.", "Turn right walk just past the sink to the potato on the counter.", "Open the refrigerator, put the pot inside next to the loaf of bread and then close it.", "Grab the largest chunk of chopped onion.", "Turn right and walk to the refrigerator.", "Put the knife in the pot behind the potato.", "Dice the potato with the knife.", "Rotate left, advance towards the fruit bowl then go left to locate the faucet.", "Pick up the pot with the knife and potato slice in it.", "Turn around, walk towards the wine bottle then go right to get to the sink.", "Pick up the knife on the counter." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)", "(K)", "(L)" ]

[ "(K)", "(L)", "(C)", "(H)", "(G)", "(A)", "(B)", "(J)", "(F)", "(D)" ]

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[ "STEP 1: Turn around and head to the counter on the left ", " STEP 2: Grab the knife that's on the counter ", " STEP 3: Move slightly to the right ", " STEP 4: Cut the tomato on the counter into slices ", " STEP 5: Move slightly to the left and look at the cabinets ", " STEP 6: Open the cabinet on the left and put the knife inside ", " STEP 7: Move slightly to the right ", " STEP 8: Grab one of the tomato slices off the counter ", " STEP 9: Turn around and head to the oven ", " STEP 10: Put the tomato in the bowl in the top left stove ", " STEP 11: Grab the bowl off of the stove ", " STEP 12: Turn left and stop at the white table ", " STEP 13: Place the bowl on the table ", " END" ]

[ "Move slightly to the right", "Open the cabinet on the left and put the knife inside", "Turn around and head to the oven", "Grab the bowl off of the stove", "Turn left and stop at the white table", "Grab one of the tomato slices off the counter", "Move slightly to the right", "Move significantly to the left", "Put the tomato in the bowl in the top left stove", "Cut the tomato on the counter into slices", "Place the bowl on the table", "Grab the knife that's on the counter", "Turn around and head to the counter on the left", "Grasp the spoon on the right side of the counter", "Move slightly to the left and look at the cabinets" ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)", "(K)", "(L)", "(M)", "(N)", "(O)" ]

[ "(M)", "(L)", "(A)", "(G)", "(J)", "(O)", "(B)", "(A)", "(G)", "(F)", "(C)", "(I)", "(D)", "(E)", "(K)" ]

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[ "STEP 1: Go to the end of the kitchen counter on the left. ", " STEP 2: Pick up the gray knife behind the bread. ", " STEP 3: Move over to the tomatoes and cut the one on the left. ", " STEP 4: Move back to the bread. ", " STEP 5: Reach for the cupboard above the bread. ", " STEP 6: Open the cupboard and place the knife inside. ", " STEP 7: Move over right to the tomatoes. ", " STEP 8: Pick up a slice of tomato on the left. ", " STEP 9: Turn around and go to the stove. ", " STEP 10: Place the slice of tomato inside the large pot on the left. ", " STEP 11: Pick up the pot with the tomato in it. ", " STEP 12: Turn left and go to the white table on the opposite side of the kitchen. ", " STEP 13: Place the pot with tomato on the table. ", " END" ]

[ "Place the slice of tomato inside the small pot on the right.", "Pick up the gray knife behind the bread.", "Turn around and go to the stove.", "Pick up the pot with the tomato in it.", "Pick up the blue spoon next to the bread.", "Turn left and go to the white table on the opposite side of the kitchen.", "Open the cupboard and place the knife inside.", "Go to the end of the kitchen counter on the left.", "Move back to the bread.", "Move over right to the tomatoes.", "Pick up a slice of tomato on the left.", "Place the pot with tomato on the table.", "Reach for the cupboard above the bread.", "Move over to the tomatoes and cut the one on the left.", "Place the slice of tomato inside the large pot on the left." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)", "(K)", "(L)", "(M)", "(N)", "(O)" ]

[ "(H)", "(B)", "(N)", "(I)", "(M)", "(G)", "(J)", "(K)", "(C)", "(O)", "(D)", "(F)", "(L)" ]

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[ "STEP 1: Turn left and walk towards the counter ", " STEP 2: Grab the knife from the plate on the counter ", " STEP 3: Walk with the knife towards the cabinet ", " STEP 4: Slice the tomato on the counter ", " STEP 5: Look up and Open the cabinet in front ", " STEP 6: Put the knife in the cabinet ", " STEP 7: Move towards the counter ", " STEP 8: Grab a slice of tomato on the counter ", " STEP 9: Walk with the slice of tomato towards the stove ", " STEP 10: Put the slice of tomato inside the pot ", " STEP 11: Grab the pot and walk towards the door ", " STEP 12: Turn right towards the table next to the door ", " STEP 13: Put the pot on the table ", " END" ]

[ "Pick up the spoon from the plate on the counter", "Slice the tomato on the counter", "Walk with the knife towards the cabinet", "Put the slice of cucumber inside the pot", "Move towards the counter", "Turn left and walk towards the counter", "Walk with the slice of tomato towards the stove", "Turn right towards the table next to the door", "Look up and Open the cabinet in front", "Put the knife in the cabinet", "Grab the knife from the plate on the counter", "Put the pot on the table", "Put the slice of tomato inside the pot", "Grab a slice of tomato on the counter", "Grab the pot and walk towards the door" ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)", "(K)", "(L)", "(M)", "(N)", "(O)" ]

[ "(F)", "(K)", "(C)", "(B)", "(I)", "(J)", "(E)", "(N)", "(G)", "(M)", "(O)", "(H)", "(L)" ]

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[ "STEP 1: Turn left and walk towards the window, then turn right. ", " STEP 2: Walk towards the black table. ", " STEP 3: Pick up the knife behind the loaf of bread on the black table. ", " STEP 4: Slice the tomato behind the blue plate closest to the loaf of bread. ", " STEP 5: Take the knife and turn towards the cabinet about the black table. ", " STEP 6: Place the knife inside the cabinet above the black table. ", " STEP 7: Pick up the slice of tomato, turn all the way around. ", " STEP 8: Walk towards the stove. ", " STEP 9: Place the tomato slice into the pan nearest coffee maker, ", " STEP 10: Pick up the pan with the tomato slice in it. ", " STEP 11: Turn left and walk towards the door. ", " STEP 12: Turn right in front of the white table. ", " STEP 13: Place the pan on the white table. ", " END" ]

[ "Find the fork next to the fruit bowl on the black table.", "Put the tomato slice into the pot furthest from the coffee machine.", "Turn left and walk towards the door.", "Place the tomato slice into the pan nearest coffee maker,", "Place the knife inside the cabinet above the black table.", "Turn right in front of the white table.", "Take the knife and turn towards the cabinet about the black table.", "Place the pan on the white table.", "Pick up the pan with the tomato slice in it.", "Walk towards the black table.", "Turn left and walk towards the window, then turn right.", "Pick up the slice of tomato, turn all the way around.", "Walk towards the stove.", "Pick up the knife behind the loaf of bread on the black table.", "Slice the tomato behind the blue plate closest to the loaf of bread." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)", "(K)", "(L)", "(M)", "(N)", "(O)" ]

[ "(K)", "(J)", "(N)", "(O)", "(G)", "(E)", "(L)", "(M)", "(D)", "(I)", "(C)", "(F)", "(H)" ]

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position_z": " -3.144", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "71", " object_type": " LightSwitch", " position_x": " -4.323", " position_y": " 1.319", " position_z": " 0.0", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "72", " object_type": " GarbageCan", " position_x": " -1.943", " position_y": " -7.152", " position_z": " -3.763", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "73", " object_type": " Fridge", " position_x": " -0.330", " position_y": " 0.0", " position_z": " -0.769", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "74", " object_type": " SinkBasin", " position_x": " -0.350", " position_y": " 0.786", " position_z": " -2.018", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "75", " object_type": " 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position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "90", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "91", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Walk over to the table. ", " STEP 2: Grab the plate. ", " STEP 3: Walk over to the fridge ", " STEP 4: Chill the plate in the fridge ", " STEP 5: Grab the plate out of the fridge and walk back to the table ", " STEP 6: Place the plate on the table ", " END" ]

[ "Place the plate on the table", "Chill the plate in the fridge", "Walk over to the fridge", "Run to the sofa.", "Grab the plate.", "Grab the plate out of the fridge and walk back to the table", "Walk over to the table.", "Sprint to the oven." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)" ]

[ "(G)", "(E)", "(C)", "(B)", "(F)", "(A)" ]

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", " parent_receptacle": "" }, { "id": "99", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Turn right and step forward to face the egg on the counter. ", " STEP 2: Pick up the egg on the counter. ", " STEP 3: Step to the left to face the microwave. ", " STEP 4: Heat the egg in the microwave and remove it. ", " STEP 5: Turn around and cross the room and turn right to face the kitchen table. ", " STEP 6: Place the egg on the kitchen table. ", " END" ]

[ "Place the egg on the kitchen table.", "Pick up the egg on the counter.", "Cool the egg in the fridge and remove it.", "Turn around and cross the room and turn right to face the kitchen table.", "Turn right and step forward to face the egg on the counter.", "Heat the egg in the microwave and remove it.", "Step to the left to face the microwave.", "Pick up the bread on the counter." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)" ]

[ "(E)", "(B)", "(G)", "(F)", "(D)", "(A)" ]

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" ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "81", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "82", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "83", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: walk to face white shelves ", " STEP 2: pick up glass vase from shelves ", " STEP 3: walk to face coffee table ", " STEP 4: put vase on coffee table ", " STEP 5: walk to face shelves with blue vase ", " STEP 6: pick up blue pot from shelves ", " STEP 7: walk to face coffee table ", " STEP 8: put pot on coffee table ", " END" ]

[ "walk to face coffee table", "pick up blue pot from shelves", "walk to face shelves with blue vase", "pick up glass vase from shelves", "put vase on coffee table", "walk to face coffee table", "put pot on coffee table", "pick up glass vase from couch", "walk to face dining table", "walk to face white shelves" ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)" ]

[ "(J)", "(D)", "(A)", "(F)", "(E)", "(C)", "(B)", "(A)", "(F)", "(G)" ]

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rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "19", " object_type": " ToiletPaper", " position_x": " -1.476", " position_y": " 0.042", " position_z": " 1.372", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 33" }, { "id": "20", " object_type": " ScrubBrush", " position_x": " -1.703", " position_y": " 0.000", " position_z": " 2.217", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " Floor|-02.00|" }, { "id": "21", " object_type": " Cabinet", " position_x": " -1.479", " position_y": " 0.348", " position_z": " 2.362", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "22", " object_type": " Cabinet", " position_x": " -1.483", " position_y": " 0.372", " position_z": " 3.152", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "23", " object_type": " Sink", " position_x": " -1.746", " position_y": " 0.884", " position_z": " 3.553", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "24", " object_type": " CounterTop", " position_x": " -1.758", " position_y": " 0.669", " position_z": " 3.164", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "25", " object_type": " Faucet", " position_x": " -1.894", " position_y": " 1.006", " position_z": " 2.730", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "26", " object_type": " Mirror", " position_x": " -1.943", " position_y": " 1.532", " position_z": " 3.443", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "27", " object_type": " Cabinet", " position_x": " -1.479", " position_y": " 0.348", " position_z": " 3.170", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "28", " object_type": " ShowerDoor", " position_x": " 0.527", " position_y": " 1.039", " position_z": " 2.098", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "29", " object_type": " Painting", " position_x": " -0.566", " position_y": " 1.591", " position_z": " 1.173", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "30", " object_type": " Cabinet", " position_x": " -1.483", " position_y": " 0.372", " position_z": " 3.960", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "31", " object_type": " TowelHolder", " position_x": " 0.833", " position_y": " 1.146", " position_z": " 2.250", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "32", " object_type": " ToiletPaperHanger", " position_x": " -1.200", " position_y": " 1.013", " position_z": " 1.164", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "33", " object_type": " GarbageCan", " position_x": " -1.704", " position_y": " -0.032", " position_z": " 1.429", " rotation_x": " 0", " rotation_y": " 2.393", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "34", " object_type": " HandTowelHolder", " position_x": " -1.670", " position_y": " 1.598", " position_z": " 4.000", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "35", " object_type": " LightSwitch", " position_x": " 1.249", " position_y": " 1.322", " position_z": " 3.635", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "36", " object_type": " Toilet", " position_x": " -1.447", " position_y": " 0.000", " position_z": " 1.961", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "37", " object_type": " SinkBasin", " position_x": " -1.671", " position_y": " 0.935", " position_z": " 3.571", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 10.090", " parent_receptacle": "" }, { "id": "38", " object_type": " ShowerHead", " position_x": " 0.871", " position_y": " 1.097", " position_z": " 2.009", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "39", " object_type": " Faucet", " position_x": " -1.894", " position_y": " 1.006", " position_z": " 3.560", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "40", " object_type": " SinkBasin", " position_x": " -1.671", " position_y": " 0.935", " position_z": " 2.741", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 10.090", " parent_receptacle": "" }, { "id": "41", " object_type": " Sink", " position_x": " -1.746", " position_y": " 0.884", " position_z": " 2.723", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "42", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "43", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "44", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "45", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Turn around to face the sinks. ", " STEP 2: Pick up the yellow spray bottle from in between the sinks. ", " STEP 3: Make a left to walk to the trash can next to the toilet. ", " STEP 4: Put the yellow spray bottle in the trash can. ", " STEP 5: Turn to face the toilet. ", " STEP 6: Pick up the yellow spray bottle on top of the toilet. ", " STEP 7: Turn to face the trash can next to the toilet. ", " STEP 8: Put the other yellow spray bottle into the trash can. ", " END" ]

[ "Make a left to walk to the trash can next to the toilet.", "Put the other yellow spray bottle into the trash can.", "Pick up the yellow spray bottle from in between the sinks.", "Turn around to face the sinks.", "Leave the yellow spray bottle on the sink.", "Turn to face the trash can next to the toilet.", "Turn around to face the toilet.", "Turn to face the toilet.", "Put the yellow spray bottle in the trash can.", "Pick up the yellow spray bottle on top of the toilet." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)" ]

[ "(D)", "(C)", "(A)", "(I)", "(H)", "(J)", "(F)", "(B)" ]

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object_type": " ShowerDoor", " position_x": " 0.527", " position_y": " 1.039", " position_z": " 2.098", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "29", " object_type": " Painting", " position_x": " -0.566", " position_y": " 1.591", " position_z": " 1.173", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "30", " object_type": " Cabinet", " position_x": " -1.483", " position_y": " 0.372", " position_z": " 3.960", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "31", " object_type": " TowelHolder", " position_x": " 0.833", " position_y": " 1.146", " position_z": " 2.250", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "32", " object_type": " ToiletPaperHanger", " position_x": " -1.200", " position_y": " 1.013", " position_z": " 1.164", " rotation_x": " 0", " rotation_y": " 0", " 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NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "43", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "44", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "45", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Turn left then head to the sink counter ", " STEP 2: Pick up the spray bottle on the counter ", " STEP 3: Turn left then head to the trash bin beside the toilet ", " STEP 4: Put the spray bottle in the trash bin ", " STEP 5: Move forward the toilet ", " STEP 6: Pick up the spray bottle on the toilet tank ", " STEP 7: Turn around and move backwards ", " STEP 8: Put the spray bottle in the trash bin ", " END" ]

[ "Move forward the toilet", "Turn left then head to the sink counter", "Pick up the spray bottle on the counter", "Put the spray bottle in the trash bin", "Turn left then head to the trash bin beside the toilet", "Pick up the spray bottle on the toilet tank", "Turn right then head to the sink counter", "Put the spray bottle in the trash bin", "Put the spray bottle on the kitchen table", "Turn around and move backwards" ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)" ]

[ "(B)", "(C)", "(E)", "(D)", "(H)", "(A)", "(F)", "(J)", "(D)", "(H)" ]

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rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Turn left and look at the table. ", " STEP 2: Pick up the butter knife. ", " STEP 3: Turn right and walk to the microwave and look at it. ", " STEP 4: Open the top left cabinet above the microwave and put the knife in the black mug. ", " STEP 5: Take the mug out of the cabinet. ", " STEP 6: Turn around and walk to the right side of the table. ", " STEP 7: Place the mug on the table to the right of the sponge. ", " END" ]

[ "Take the mug out of the cabinet.", "Open the top left cabinet above the microwave and put the knife in the black mug.", "Turn around and walk to the right side of the table.", "Place the mug on the table to the right of the sponge.", "Turn left and look at the table.", "Remove a plate from the bottom drawer.", "Turn right and look at the chair.", "Turn right and walk to the microwave and look at it.", "Pick up the butter knife." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)" ]

[ "(E)", "(I)", "(H)", "(B)", "(A)", "(C)", "(D)" ]

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rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Turn to the left and face the green table. ", " STEP 2: Pick the butter knife up from behind the cup. ", " STEP 3: Bring the butter knife over to the stove and look up at the cabinet. ", " STEP 4: Put the butter knife in the black mug in the cabinet. ", " STEP 5: Pick up the black mug with the butter knife in it. ", " STEP 6: Go back over to the green table, stand between it and the fridge and turn left to face the table. ", " STEP 7: Put the mug down on the edge of the table in front of the spatula with the black handle. ", " END" ]

[ "Put the butter knife in the black mug in the cabinet.", "Pick up the black mug with the butter knife in it.", "Put the mug down on the edge of the table in front of the spatula with the black handle.", "Go back over to the red table, stand behind it and turn right to face the table.", "Pick the butter knife up from behind the cup.", "Pick the butter knife up from underneath the plate.", "Turn to the left and face the green table.", "Go back over to the green table, stand between it and the fridge and turn left to face the table.", "Bring the butter knife over to the stove and look up at the cabinet." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)" ]

[ "(G)", "(E)", "(I)", "(A)", "(B)", "(H)", "(C)" ]

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rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Turn left and look at the items on the table. ", " STEP 2: Pick up the knife next to the honey. ", " STEP 3: Turn right and walk forward to face the cupboard above the stove. ", " STEP 4: Open the cupboard and put the knife in the mug that is on the shelf. ", " STEP 5: Pick up the mug that you placed the knife in. ", " STEP 6: Bring the mug and knife to chest level, then turn right and head to the table that will be on your left. ", " STEP 7: Place the mug holding the knife on the table to the right of the sponge. ", " END" ]

[ "Turn right and walk forward to face the cupboard above the stove.", "Pick up the mug that you placed the knife in.", "Open the cupboard and put the knife in the mug that is on the shelf.", "Pick up the mug that you placed the spoon in.", "Retrieve the spoon next to the honey.", "Turn left and look at the items on the table.", "Bring the mug and knife to chest level, then turn right and head to the table that will be on your left.", "Pick up the knife next to the honey.", "Place the mug holding the knife on the table to the right of the sponge." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)" ]

[ "(F)", "(H)", "(A)", "(C)", "(B)", "(G)", "(I)" ]

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rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: move to the island in front of the sink ", " STEP 2: pick up a scoop from the island ", " STEP 3: move to the end of the counter to the left of the stove ", " STEP 4: put the scoop in the top drawer ", " STEP 5: move to the island in front of the sink behind you ", " STEP 6: pick up a scoop from the island ", " STEP 7: move to the end of the counter to the left of the stove ", " STEP 8: put the scoop in the top drawer ", " END" ]

[ "pick up a fork from the island", "move to the end of the counter to the left of the stove", "move to the island in front of the sink", "put the scoop in the top drawer", "move to the end of the counter to the left of the stove", "pick up a scoop from the island", "move to the end of the counter to the right of the fridge", "put the scoop in the top drawer", "pick up a scoop from the island", "move to the island in front of the sink behind you" ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)" ]

[ "(C)", "(F)", "(I)", "(B)", "(E)", "(D)", "(H)", "(J)", "(F)", "(I)", "(B)", "(E)", "(D)", "(H)" ]

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rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Turn left, walk forward, turn right, walk forward, stand at the end of the counter near the phone. ", " STEP 2: Pick up the spoon ", " STEP 3: Turn right, walk forward, turn left, walk forward, stand in front of the drawers at the end of the counter. ", " STEP 4: Open the top left drawer and put the spoon inside, then close the drawer. ", " STEP 5: Turn around and face the counter in front of the other spoon. ", " STEP 6: Pick up the spoon. ", " STEP 7: Turn around and face the drawers again. ", " STEP 8: Open the top left drawer again and place the spoon inside. ", " END" ]

[ "Pick up the spoon", "Turn around and face the counter in front of the other spoon.", "Open the top left drawer again and place the spoon inside.", "Turn right, walk forward, turn left, walk forward, stand in front of the drawers at the end of the counter.", "Turn right, walk backward, turn left, walk backward, stand near the door.", "Pick up the spoon.", "Open the top left drawer and put the spoon inside, then close the drawer.", "Turn around and face the drawers again.", "Open the third right drawer and put the spoon inside, then close the drawer.", "Turn left, walk forward, turn right, walk forward, stand at the end of the counter near the phone." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)" ]

[ "(J)", "(A)", "(D)", "(G)", "(B)", "(F)", "(H)", "(C)" ]

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rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Turn left and take a few steps, then walk right to the far side kitchen island by the sink. ", " STEP 2: Pick up the measuring spoon. ", " STEP 3: Walk to the right of the island and go to the furthest part of the counter. ", " STEP 4: Put the measuring cup in the top drawer. ", " STEP 5: Turn around and take a step. ", " STEP 6: Pick up the measuring cup on the counter. ", " STEP 7: Turn around and look at the same part of the counter as before. ", " STEP 8: Put this measuring cup in the same drawer as the other one. ", " END" ]

[ "Turn around and look at the same part of the counter as before.", "Turn left and take a few steps, then walk right to the far side kitchen island by the sink.", "Walk to the right of the island and go to the furthest part of the counter.", "Put the measuring cup in the top drawer.", "Pick up the measuring cup on the counter.", "Remove the cutting board from the counter.", "Turn around and take a step.", "Put down the measuring spoon.", "Put this measuring cup in the same drawer as the other one.", "Pick up the measuring spoon." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)" ]

[ "(B)", "(J)", "(C)", "(D)", "(G)", "(E)", "(A)", "(I)" ]

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[ "STEP 1: Turn the left, walk straight, turn right, walk to the sink, then turn around to the island counter. ", " STEP 2: Pick up the gold spoon spoon with blue handle. ", " STEP 3: Walk right, then turn left and walks to the counter to the left of the stove top. ", " STEP 4: Put the spoon in the drawer below the counter. ", " STEP 5: Turn around and face the island counter. ", " STEP 6: Pick up the gold spoon spoon with blue handle. ", " STEP 7: Turn around and face the counter to the left of the stove top. ", " STEP 8: Put the spoon in the drawer below the counter. ", " END" ]

[ "Put the spoon in the drawer below the counter.", "Pick up the silver fork with red handle.", "Put the spoon in the drawer below the counter.", "Pick up the gold spoon spoon with blue handle.", "Pick up the silver knife with green handle.", "Pick up the gold spoon spoon with blue handle.", "Turn around and face the island counter.", "Turn the left, walk straight, turn right, walk to the sink, then turn around to the island counter.", "Walk right, then turn left and walks to the counter to the left of the stove top.", "Turn around and face the counter to the left of the stove top." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)" ]

[ "(H)", "(D)", "(F)", "(I)", "(A)", "(C)", "(G)", "(D)", "(F)", "(J)", "(A)", "(C)" ]

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object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "91", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Torn around towards the island. ", " STEP 2: Pick up the knife next to the right of large scoop on the island. ", " STEP 3: Move to your right around the island to the left side of the stool. ", " STEP 4: Slice the head of lettuce on the island . ", " STEP 5: Move around the stool to your right. ", " STEP 6: Place the knife on the island beside the lettuce. ", " STEP 7: Move back around the stool to your left. ", " STEP 8: Pick up a slice of lettuce on the counter. ", " STEP 9: Turn to your right and go to the refrigerator. ", " STEP 10: Put the slice of lettuce on the second shelf below the tomatoes, let chill, remove, and close refrigerator. ", " STEP 11: Turn around and go to the green container to the left of the stove. ", " STEP 12: Place the lettuce into the container. ", " END" ]

[ "Place the lettuce into the container.", "Turn to your right and go to the refrigerator.", "Torn around towards the island.", "Slice the head of lettuce on the island .", "Spin in position and face the wall.", "Move around the stool to your right.", "Pick up the knife next to the right of large scoop on the island.", "Pick up a slice of lettuce on the counter.", "Place the knife on the island beside the lettuce.", "Walk to your left, avoiding the island and sit on the stool.", "Put the slice of lettuce on the second shelf below the tomatoes, let chill, remove, and close refrigerator.", "Move to your right around the island to the left side of the stool.", "Turn around and go to the green container to the left of the stove.", "Move back around the stool to your left." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)", "(K)", "(L)", "(M)", "(N)" ]

[ "(C)", "(G)", "(L)", "(D)", "(F)", "(I)", "(N)", "(H)", "(B)", "(K)", "(M)", "(A)" ]

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[ "STEP 1: Turn left and walk around to face the opposite side of the center table. ", " STEP 2: Pick up the knife on the center table. ", " STEP 3: Look down to face the lettuce on the center table. ", " STEP 4: Cut the lettuce on the center table into slices. ", " STEP 5: Take a step to the right to face the center table. ", " STEP 6: Place the knife on the center table. ", " STEP 7: Take a step to the left to face the lettuce on the center table. ", " STEP 8: Pick up a slice of lettuce on the center table. ", " STEP 9: Turn right and walk to the fridge and turn right to face it. ", " STEP 10: Cool the lettuce slice in the fridge and remove it. ", " STEP 11: Turn around and cross the room to face the trash can. ", " STEP 12: Place the lettuce slice in the trash can. ", " END" ]

[ "Turn right and walk to the fridge and turn right to face it.", "Place the knife on the center table.", "Cool the lettuce slice in the fridge and remove it.", "Turn left and walk to the stove and turn left to face it.", "Take a step to the left to face the lettuce on the center table.", "Pick up the spoon on the center table.", "Take a step to the right to face the center table.", "Pick up the knife on the center table.", "Cut the lettuce on the center table into slices.", "Place the lettuce slice in the trash can.", "Turn left and walk around to face the opposite side of the center table.", "Look down to face the lettuce on the center table.", "Turn around and cross the room to face the trash can.", "Pick up a slice of lettuce on the center table." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)", "(K)", "(L)", "(M)", "(N)" ]

[ "(K)", "(H)", "(L)", "(I)", "(G)", "(B)", "(E)", "(N)", "(A)", "(C)", "(M)", "(J)" ]

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rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "43", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Move to the toilet on the left. ", " STEP 2: Pick up the soap on the toilet tank lid. ", " STEP 3: Turn around, bring the soap to the sink. ", " STEP 4: Wash the soap in the sink with water. ", " STEP 5: Turn around, bring the soap back to the toilet. ", " STEP 6: Put the soap back on the toilet tank lid. ", " END" ]

[ "Turn around, bring the soap to the sink.", "Move to the toilet on the left.", "Wash the soap in the sink with water.", "Pick up the soap on the toilet tank lid.", "Pick up the towel on the toilet tank lid.", "Put the soap back on the toilet tank lid.", "Turn around, bring the soap back to the sink.", "Turn around, bring the soap back to the toilet." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)" ]

[ "(B)", "(D)", "(A)", "(C)", "(H)", "(F)" ]

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"" }, { "id": "66", " object_type": " CounterTop", " position_x": " -0.268", " position_y": " 0.951", " position_z": " -1.089", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "67", " object_type": " Drawer", " position_x": " -0.449", " position_y": " 0.797", " position_z": " -3.348", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "68", " object_type": " StoveBurner", " position_x": " -0.376", " position_y": " 0.936", " position_z": " -2.031", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "69", " object_type": " Drawer", " position_x": " -0.449", " position_y": " 0.797", " position_z": " -2.968", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "70", " object_type": " StoveBurner", " position_x": " -0.165", " position_y": " 0.936", " position_z": " -2.030", " rotation_x": " 0", " 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position_y": " 0.903", " position_z": " -2.003", " rotation_x": " 45", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "76", " object_type": " Microwave", " position_x": " -0.143", " position_y": " 0.903", " position_z": " -0.908", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "77", " object_type": " LightSwitch", " position_x": " -1.108", " position_y": " 1.457", " position_z": " 0.338", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "78", " object_type": " GarbageCan", " position_x": " -0.283", " position_y": " -0.032", " position_z": " -0.035", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "79", " object_type": " CoffeeMachine", " position_x": " -3.104", " position_y": " 0.837", " position_z": " -0.185", " rotation_x": " 0", " rotation_y": " 135", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "80", " object_type": " Fridge", " position_x": " -3.188", " position_y": " 0.0", " position_z": " -2.184", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "81", " object_type": " SinkBasin", " position_x": " -1.786", " position_y": " 0.779", " position_z": " -3.747", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "82", " object_type": " Toaster", " position_x": " -0.230", " position_y": " 0.903", " position_z": " -3.406", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "83", " object_type": " DiningTable", " position_x": " -2.800", " position_y": " 0.003", " position_z": " -0.505", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "84", " object_type": " Chair", " position_x": " -3.044", " position_y": " 0.003", " position_z": " -1.223", " rotation_x": " 0", " rotation_y": " 32.194", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "85", " object_type": " Faucet", " position_x": " -1.791", " position_y": " 1.136", " position_z": " -3.913", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "86", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "87", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "88", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "89", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Turn to the left and face the counter. ", " STEP 2: Open the microwave and take out the egg. Close the microwave. ", " STEP 3: Turn to the right and walk forward to the oven. Make a right at the oven and head to the fridge. ", " STEP 4: Open the fridge and place the egg inside. Close the fridge and chill the egg. Open the fridge and take out the egg. ", " STEP 5: Turn and walk to the right with the egg. Turn around and walk forward to the other side of the kitchen. ", " STEP 6: Place the egg on the counter that is to your right. ", " END" ]

[ "Turn and walk to the left with the egg. Turn around and walk backward to the other side of the kitchen.", "Open the microwave and take out the egg. Close the microwave.", "Open the cupboard and grab a plate. Close the cupboard.", "Place the egg on the counter that is to your right.", "Open the fridge and place the egg inside. Close the fridge and chill the egg. Open the fridge and take out the egg.", "Turn to the left and face the counter.", "Turn to the right and walk forward to the oven. Make a right at the oven and head to the fridge.", "Turn and walk to the right with the egg. Turn around and walk forward to the other side of the kitchen." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)" ]

[ "(F)", "(B)", "(G)", "(E)", "(H)", "(D)" ]

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position_z": " 3.170", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "24", " object_type": " ShowerDoor", " position_x": " 0.527", " position_y": " 1.039", " position_z": " 2.098", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "25", " object_type": " Painting", " position_x": " -0.566", " position_y": " 1.591", " position_z": " 1.173", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "26", " object_type": " Cabinet", " position_x": " -1.483", " position_y": " 0.372", " position_z": " 3.960", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "27", " object_type": " TowelHolder", " position_x": " 0.833", " position_y": " 1.146", " position_z": " 2.250", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "28", " object_type": " 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position_z": " 2.723", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "38", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "39", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "40", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "41", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Turn around and walk left to the toilet. ", " STEP 2: Pick up the toilet paper out of the green bin. ", " STEP 3: Turn left to face the wall. ", " STEP 4: Place the toilet paper on the toilet paper holder. ", " END" ]

[ "Turn around and walk right to the kitchen.", "Place the toilet paper on the toilet paper holder.", "Turn left to face the wall.", "Pick up the toilet paper out of the green bin.", "Turn around and walk left to the toilet.", "Turn right to face the door." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)" ]

[ "(E)", "(D)", "(C)", "(B)" ]

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rotation_z": " 0", " parent_receptacle": "" }, { "id": "24", " object_type": " Mirror", " position_x": " -0.884", " position_y": " 1.350", " position_z": " 2.086", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "25", " object_type": " Poster", " position_x": " 1.483", " position_y": " 1.978", " position_z": " -1.210", " rotation_x": " 90", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "26", " object_type": " Poster", " position_x": " 1.483", " position_y": " 1.503", " position_z": " -0.128", " rotation_x": " 90", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "27", " object_type": " Poster", " position_x": " 1.483", " position_y": " 2.138", " position_z": " -0.128", " rotation_x": " 90", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "28", " object_type": " Bed", " position_x": " 0.955", " position_y": " 0.002", " position_z": " 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position_x": " -1.425", " position_y": " 0.006", " position_z": " 1.676", " rotation_x": " 0", " rotation_y": " 149.999", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "34", " object_type": " Chair", " position_x": " 1.127", " position_y": " -8.434", " position_z": " 1.053", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "35", " object_type": " Blinds", " position_x": " -0.145", " position_y": " 1.679", " position_z": " -1.986", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "36", " object_type": " Shelf", " position_x": " 1.316", " position_y": " 1.174", " position_z": " 1.388", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "37", " object_type": " Drawer", " position_x": " 1.099", " position_y": " 0.167", " position_z": " 1.724", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "38", " object_type": " Drawer", " position_x": " 1.099", " position_y": " 0.622", " position_z": " 1.724", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "39", " object_type": " Desk", " position_x": " 1.189", " position_y": " 0.002", " position_z": " 1.384", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "40", " object_type": " Drawer", " position_x": " 1.099", " position_y": " 0.408", " position_z": " 1.724", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "41", " object_type": " SideTable", " position_x": " -0.103", " position_y": " -0.000", " position_z": " -1.691", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "42", " object_type": " Drawer", " position_x": " -0.104", " position_y": " 0.157", " position_z": " -1.618", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "43", " object_type": " Drawer", " position_x": " -0.104", " position_y": " 0.456", " position_z": " -1.618", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "44", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "45", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "46", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "47", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Turn to face the bed. ", " STEP 2: Pick up the cell phone from the bed. ", " STEP 3: Carry the phone to the desk in the corner, left of the bed. ", " STEP 4: Place the phone on the desk in front of the laptop. ", " END" ]

[ "Carry the phone to the desk in the corner, left of the bed.", "Pick up the cell phone from the bed.", "Carry the phone to the table in the center, right of the bed.", "Turn to face the bed.", "Pick up the book from the bedside table.", "Place the phone on the desk in front of the laptop." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)" ]

[ "(D)", "(B)", "(A)", "(F)" ]

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rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 49" }, { "id": "24", " object_type": " Kettle", " position_x": " -1.791", " position_y": " 0.953", " position_z": " 0.614", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 82" }, { "id": "25", " object_type": " Cup", " position_x": " -2.203", " position_y": " 0.950", " position_z": " 0.524", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 82" }, { "id": "26", " object_type": " Tomato", " position_x": " -2.397", " position_y": " 0.829", " position_z": " -1.677", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 79" }, { "id": "27", " object_type": " SoapBottle", " position_x": " -0.427", " position_y": " 0.068", " position_z": " 0.482", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 78" }, { "id": "28", " object_type": " Plate", " position_x": " 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[ "STEP 1: Turn right towards the white table ", " STEP 2: Pick up the knife next to the spoon ", " STEP 3: Turn to the right and walk across the room and turn right moving forward towards the sink ", " STEP 4: Slice potato in sink ", " STEP 5: Put down knife by sticking in first slice of potato ", " STEP 6: Pick up a slice of a potato ", " STEP 7: Turn right move forward across the room and turn left facing the fridge ", " STEP 8: Open up fridge and place potato slice inside for 3 seconds to cool off. ", " STEP 9: Take out potato slice and turn left. Move forward and turn right towards red microwave. ", " STEP 10: Open microwave and place potato slice inside with apple remaining inside. ", " END" ]

[ "Pick up a slice of a potato", "Turn right move forward across the room and turn left facing the fridge", "Turn to the right and walk across the room and turn right moving forward towards the sink", "Open up oven and place potato slice inside for 5 seconds to cool off", "Open up fridge and place potato slice inside for 3 seconds to cool off.", "Slice potato in sink", "Pick up the knife next to the spoon", "Put down knife by sticking in first slice of potato", "Pick up the spoon next to the knife", "Open microwave and place potato slice inside with apple remaining inside.", "Turn right towards the white table", "Take out potato slice and turn left. Move forward and turn right towards red microwave." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)", "(K)", "(L)" ]

[ "(K)", "(G)", "(C)", "(F)", "(H)", "(A)", "(B)", "(E)", "(L)", "(J)" ]

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[ "STEP 1: turn left to the counter ", " STEP 2: pick up the knife from the counter ", " STEP 3: turn left, turn right to the sink ", " STEP 4: cut potato with the knife ", " STEP 5: turn right, walk straight to the microwave ", " STEP 6: open door, place knife on shelf, close door ", " STEP 7: turn around, turn right to the sink ", " STEP 8: pick up potato from the sink ", " STEP 9: turn right to the microwave ", " STEP 10: open door, place potato on shelf, close door, cook, open door, remove potato, close door ", " STEP 11: turn right, turn left to the fridge ", " STEP 12: open door, put potato on shelf, close door ", " END" ]

[ "open door, place knife on shelf, close door", "turn right to the microwave", "turn right, turn left to the fridge", "turn left to the counter", "open door, put potato on shelf, close door", "pick up the spoon from the counter", "cut potato with the knife", "turn around, turn right to the sink", "turn right, walk straight to the microwave", "pick up potato from the sink", "pick up carrot from the sink", "turn left, turn right to the sink", "open door, place potato on shelf, close door, cook, open door, remove potato, close door", "pick up the knife from the counter" ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)", "(K)", "(L)", "(M)", "(N)" ]

[ "(D)", "(N)", "(L)", "(G)", "(I)", "(A)", "(H)", "(J)", "(B)", "(M)", "(C)", "(E)" ]

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position_z": " 4.396", " rotation_x": " 90", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "24", " object_type": " Painting", " position_x": " -5.118", " position_y": " 1.480", " position_z": " 0.656", " rotation_x": " 90", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "25", " object_type": " Window", " position_x": " -1.715", " position_y": " 1.554", " position_z": " 0.006", " rotation_x": " 90", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "26", " object_type": " Window", " position_x": " -3.244", " position_y": " 1.554", " position_z": " 0.006", " rotation_x": " 90", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "27", " object_type": " DeskLamp", " position_x": " 0.015", " position_y": " 0.704", " position_z": " 4.676", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "28", " object_type": " HousePlant", " position_x": " -4.824", " position_y": " 0.984", " position_z": " 1.572", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "29", " object_type": " Drawer", " position_x": " -4.497", " position_y": " 0.901", " position_z": " 2.854", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "30", " object_type": " Drawer", " position_x": " -4.497", " position_y": " 0.901", " position_z": " 2.339", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "31", " object_type": " Cabinet", " position_x": " -4.409", " position_y": " 0.498", " position_z": " 2.603", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "32", " object_type": " Cabinet", " position_x": " -4.409", " position_y": " 0.498", " position_z": " 3.622", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "33", " object_type": " Drawer", " position_x": " -4.497", " position_y": " 0.901", " position_z": " 3.372", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "34", " object_type": " Cabinet", " position_x": " -4.409", " position_y": " 0.498", " position_z": " 1.569", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "35", " object_type": " Dresser", " position_x": " -4.744", " position_y": " 4.321", " position_z": " 2.595", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "36", " object_type": " Drawer", " position_x": " -4.497", " position_y": " 0.901", " position_z": " 1.818", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "37", " object_type": " Cabinet", " position_x": " -4.409", " position_y": " 0.498", " position_z": " 2.588", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "38", " object_type": " CoffeeTable", " position_x": " -2.405", " position_y": " -0.000", " position_z": " 2.546", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "39", " object_type": " ArmChair", " position_x": " -0.298", " position_y": " 0.002", " position_z": " 3.310", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "40", " object_type": " ArmChair", " position_x": " -0.298", " position_y": " 0.002", " position_z": " 1.713", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "41", " object_type": " Sofa", " position_x": " -2.464", " position_y": " -0.002", " position_z": " 0.700", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "42", " object_type": " Chair", " position_x": " -4.735", " position_y": " 0.011", " position_z": " 4.609", " rotation_x": " 1.215", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "43", " object_type": " SideTable", " position_x": " -0.041", " position_y": " 0.002", " position_z": " 4.619", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "44", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "45", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "46", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "47", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Turn around, walk to the corner with end table ", " STEP 2: Grab the credit card on the table ", " STEP 3: Turn around, and turn left to the sofa, ", " STEP 4: Put the credit card in the box on the sofa ", " STEP 5: Take the whole box with card in it ", " STEP 6: Turn around, walk to the sofa with white pillow on it ", " STEP 7: Put the box down on the sofa by the white pillow ", " END" ]

[ "Put the box down on the sofa by the white pillow", "Turn around, and turn left to the sofa,", "Turn left, walk to the bookshelf", "Grab the credit card on the table", "Turn around, walk to the corner with end table", "Put the credit card in the box on the sofa", "Take the whole box with card in it", "Leave the whole box with card in it", "Turn around, walk to the sofa with white pillow on it" ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)" ]

[ "(E)", "(D)", "(B)", "(F)", "(G)", "(I)", "(A)" ]

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rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "5", " object_type": " Pen", " position_x": " 0.357", " position_y": " 0.711", " position_z": " 1.130", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 34" }, { "id": "6", " object_type": " Pencil", " position_x": " 2.776", " position_y": " 0.782", " position_z": " -1.500", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "7", " object_type": " CreditCard", " position_x": " 0.324", " position_y": " 0.705", " position_z": " 1.380", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 34" }, { "id": "8", " object_type": " CreditCard", " position_x": " 0.355", " position_y": " 0.705", " position_z": " -1.102", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 35" }, { "id": "9", " object_type": " KeyChain", " position_x": " 3.239", " position_y": " 0.779", " position_z": " -1.768", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "10", " object_type": " KeyChain", " position_x": " 0.313", " position_y": " 0.617", " position_z": " -1.093", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 37" }, { "id": "11", " object_type": " Book", " position_x": " 0.563", " position_y": " 0.596", " position_z": " 0.530", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "12", " object_type": " AlarmClock", " position_x": " 3.393", " position_y": " 0.779", " position_z": " -1.322", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "13", " object_type": " Book", " position_x": " 2.956", " position_y": " 0.773", " position_z": " -1.499", " rotation_x": " 0", " rotation_y": " 4.886", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "14", " object_type": " KeyChain", " position_x": " 1.193", " position_y": " 0.434", " position_z": " -2.303", " rotation_x": " 0", " rotation_y": " 330.000", " rotation_z": " 0", " parent_receptacle": " 38" }, { "id": "15", " object_type": " Pillow", " position_x": " 1.171", " position_y": " 0.677", " position_z": " 0.530", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "16", " object_type": " Pillow", " position_x": " 1.374", " position_y": " 0.677", " position_z": " 0.145", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "17", " object_type": " CreditCard", " position_x": " 2.776", " position_y": " 0.779", " position_z": " -1.679", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "18", " object_type": " Pen", " position_x": " 3.084", " position_y": " 0.785", " position_z": " -1.857", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "19", " object_type": " Pencil", " position_x": " 0.357", " position_y": " 0.708", " position_z": " 1.296", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 34" }, { "id": "20", " object_type": " TissueBox", " position_x": " 3.239", " position_y": " 0.781", " position_z": " -1.322", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "21", " object_type": " Laptop", " position_x": " 0.968", " position_y": " 0.594", " position_z": " -0.430", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "22", " object_type": " CellPhone", " position_x": " 0.258", " position_y": " 0.705", " position_z": " 1.047", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 34" }, { "id": "23", " object_type": " AlarmClock", " position_x": " 3.701", " position_y": " 0.779", " position_z": " -1.768", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "24", " object_type": " CD", " position_x": " 0.258", " position_y": " 0.705", " position_z": " 1.546", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 34" }, { "id": "25", " object_type": " Chair", " position_x": " 3.232", " position_y": " 0.002", " position_z": " -1.873", " rotation_x": " 0", " rotation_y": " 350.846", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "26", " object_type": " Mirror", " position_x": " 1.083", " position_y": " 1.228", " position_z": " 1.700", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "27", " object_type": " Bed", " position_x": " 0.898", " position_y": " -0.002", " position_z": " 0.141", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "28", " object_type": " GarbageCan", " position_x": " 3.633", " position_y": " 8.165", " position_z": " -0.982", " rotation_x": " 0", " rotation_y": " 209.052", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "29", " object_type": " DeskLamp", " position_x": " 3.681", " position_y": " 0.785", " position_z": " -1.386", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "30", " object_type": " DeskLamp", " position_x": " 0.347", " position_y": " 0.698", " position_z": " -0.979", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "31", " object_type": " Painting", " position_x": " 0.100", " position_y": " 1.432", " position_z": " -2.053", " rotation_x": " 90", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "32", " object_type": " Window", " position_x": " 2.270", " position_y": " 1.547", " position_z": " -2.915", " rotation_x": " 90", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "33", " object_type": " LightSwitch", " position_x": " 1.809", " position_y": " 1.169", " position_z": " 1.700", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "34", " object_type": " SideTable", " position_x": " 0.277", " position_y": " 0.000", " position_z": " 1.299", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "35", " object_type": " SideTable", " position_x": " 0.276", " position_y": " 0.000", " position_z": " -1.017", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "36", " object_type": " Drawer", " position_x": " 0.328", " position_y": " 0.624", " position_z": " 1.299", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "37", " object_type": " Drawer", " position_x": " 0.328", " position_y": " 0.624", " position_z": " -1.017", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "38", " object_type": " ArmChair", " position_x": " 0.849", " position_y": " -0.001", " position_z": " -2.141", " rotation_x": " 0", " rotation_y": " 66.451", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "39", " object_type": " Blinds", " position_x": " 2.299", " position_y": " 2.525", " position_z": " -2.892", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "40", " object_type": " Desk", " position_x": " 3.238", " position_y": " 0.003", " position_z": " -1.590", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "41", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "42", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "43", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "44", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Take a step to the left. ", " STEP 2: Pick up the purple pillow closest to you. ", " STEP 3: Turn left and walk towards the sofa chair on your right. ", " STEP 4: Place the pillow on the chair. ", " STEP 5: Turn right and head towards the other pillow on the bed. ", " STEP 6: Pick up the pillow from the bed. ", " STEP 7: Turn left and walk towards the sofa chair on your right. ", " STEP 8: Place the pillow on the chair. ", " END" ]

[ "Pick up the blue pillow farthest from you.", "Turn right and walk towards the coffee table on your left.", "Place the pillow on the chair.", "Turn left and walk towards the sofa chair on your right.", "Turn right and head towards the other pillow on the bed.", "Place the pillow on the chair.", "Pick up the pillow from the bed.", "Pick up the purple pillow closest to you.", "Turn left and walk towards the sofa chair on your right.", "Take a step to the left." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)" ]

[ "(J)", "(H)", "(D)", "(I)", "(C)", "(F)", "(E)", "(G)", "(D)", "(I)", "(C)", "(F)" ]

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rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "5", " object_type": " Pen", " position_x": " 0.357", " position_y": " 0.711", " position_z": " 1.130", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 34" }, { "id": "6", " object_type": " Pencil", " position_x": " 2.776", " position_y": " 0.782", " position_z": " -1.500", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "7", " object_type": " CreditCard", " position_x": " 0.324", " position_y": " 0.705", " position_z": " 1.380", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 34" }, { "id": "8", " object_type": " CreditCard", " position_x": " 0.355", " position_y": " 0.705", " position_z": " -1.102", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 35" }, { "id": "9", " object_type": " KeyChain", " position_x": " 3.239", " position_y": " 0.779", " position_z": " -1.768", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "10", " object_type": " KeyChain", " position_x": " 0.313", " position_y": " 0.617", " position_z": " -1.093", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 37" }, { "id": "11", " object_type": " Book", " position_x": " 0.563", " position_y": " 0.596", " position_z": " 0.530", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "12", " object_type": " AlarmClock", " position_x": " 3.393", " position_y": " 0.779", " position_z": " -1.322", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "13", " object_type": " Book", " position_x": " 2.956", " position_y": " 0.773", " position_z": " -1.499", " rotation_x": " 0", " rotation_y": " 4.886", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "14", " object_type": " KeyChain", " position_x": " 1.193", " position_y": " 0.434", " position_z": " -2.303", " rotation_x": " 0", " rotation_y": " 330.000", " rotation_z": " 0", " parent_receptacle": " 38" }, { "id": "15", " object_type": " Pillow", " position_x": " 1.171", " position_y": " 0.677", " position_z": " 0.530", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "16", " object_type": " Pillow", " position_x": " 1.374", " position_y": " 0.677", " position_z": " 0.145", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "17", " object_type": " CreditCard", " position_x": " 2.776", " position_y": " 0.779", " position_z": " -1.679", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "18", " object_type": " Pen", " position_x": " 3.084", " position_y": " 0.785", " position_z": " -1.857", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "19", " object_type": " Pencil", " position_x": " 0.357", " position_y": " 0.708", " position_z": " 1.296", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 34" }, { "id": "20", " object_type": " TissueBox", " position_x": " 3.239", " position_y": " 0.781", " position_z": " -1.322", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "21", " object_type": " Laptop", " position_x": " 0.968", " position_y": " 0.594", " position_z": " -0.430", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "22", " object_type": " CellPhone", " position_x": " 0.258", " position_y": " 0.705", " position_z": " 1.047", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 34" }, { "id": "23", " object_type": " AlarmClock", " position_x": " 3.701", " position_y": " 0.779", " position_z": " -1.768", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "24", " object_type": " CD", " position_x": " 0.258", " position_y": " 0.705", " position_z": " 1.546", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 34" }, { "id": "25", " object_type": " Chair", " position_x": " 3.232", " position_y": " 0.002", " position_z": " -1.873", " rotation_x": " 0", " rotation_y": " 350.846", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "26", " object_type": " Mirror", " position_x": " 1.083", " position_y": " 1.228", " position_z": " 1.700", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "27", " object_type": " Bed", " position_x": " 0.898", " position_y": " -0.002", " position_z": " 0.141", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "28", " object_type": " GarbageCan", " position_x": " 3.633", " position_y": " 8.165", " position_z": " -0.982", " rotation_x": " 0", " rotation_y": " 209.052", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "29", " object_type": " DeskLamp", " position_x": " 3.681", " position_y": " 0.785", " position_z": " -1.386", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "30", " object_type": " DeskLamp", " position_x": " 0.347", " position_y": " 0.698", " position_z": " -0.979", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "31", " object_type": " Painting", " position_x": " 0.100", " position_y": " 1.432", " position_z": " -2.053", " rotation_x": " 90", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "32", " object_type": " Window", " position_x": " 2.270", " position_y": " 1.547", " position_z": " -2.915", " rotation_x": " 90", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "33", " object_type": " LightSwitch", " position_x": " 1.809", " position_y": " 1.169", " position_z": " 1.700", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "34", " object_type": " SideTable", " position_x": " 0.277", " position_y": " 0.000", " position_z": " 1.299", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "35", " object_type": " SideTable", " position_x": " 0.276", " position_y": " 0.000", " position_z": " -1.017", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "36", " object_type": " Drawer", " position_x": " 0.328", " position_y": " 0.624", " position_z": " 1.299", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "37", " object_type": " Drawer", " position_x": " 0.328", " position_y": " 0.624", " position_z": " -1.017", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "38", " object_type": " ArmChair", " position_x": " 0.849", " position_y": " -0.001", " position_z": " -2.141", " rotation_x": " 0", " rotation_y": " 66.451", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "39", " object_type": " Blinds", " position_x": " 2.299", " position_y": " 2.525", " position_z": " -2.892", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "40", " object_type": " Desk", " position_x": " 3.238", " position_y": " 0.003", " position_z": " -1.590", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "41", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "42", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "43", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "44", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Move to the middle of the bed in front of you ", " STEP 2: Pick up a pillow from the bed. ", " STEP 3: Move to the arm chair in the left corner to the left of you, ", " STEP 4: Place the pillow on the arm chair. ", " STEP 5: Move to the foot of the bed to your right. ", " STEP 6: Pick up the second pillow from the bed. ", " STEP 7: Move to the arm chair to the left of you. ", " STEP 8: Place the pillow on the arm chair next to the other one. ", " END" ]

[ "Place the pillow on the arm chair next to the other one.", "Move to the foot of the bed to your right.", "Toss the pillow onto the coffee table", "Place the pillow on the arm chair.", "Move to the arm chair in the left corner to the left of you,", "Move to the far end of the room behind you", "Move to the middle of the bed in front of you", "Pick up a pillow from the bed.", "Pick up the second pillow from the bed.", "Move to the arm chair to the left of you." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)" ]

[ "(G)", "(H)", "(E)", "(D)", "(B)", "(I)", "(J)", "(A)" ]

[ { "id": "0", " object_type": " Agent", " position_x": " 2.25", " position_y": " 0.900", " position_z": " 0.5", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "1", " object_type": " TissueBox", " position_x": " 3.239", " position_y": " 0.781", " position_z": " -1.500", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "2", " object_type": " CD", " position_x": " 0.228", " position_y": " 0.705", " position_z": " -0.933", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 35" }, { "id": "3", " object_type": " CD", " position_x": " 0.333", " position_y": " 0.615", " position_z": " -1.246", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 37" }, { "id": "4", " object_type": " CellPhone", " position_x": " 0.766", " position_y": " 0.596", " position_z": " 0.146", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "5", " object_type": " Pen", " position_x": " 0.357", " position_y": " 0.711", " position_z": " 1.130", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 34" }, { "id": "6", " object_type": " Pencil", " position_x": " 2.776", " position_y": " 0.782", " position_z": " -1.500", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "7", " object_type": " CreditCard", " position_x": " 0.324", " position_y": " 0.705", " position_z": " 1.380", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 34" }, { "id": "8", " object_type": " CreditCard", " position_x": " 0.355", " position_y": " 0.705", " position_z": " -1.102", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 35" }, { "id": "9", " object_type": " KeyChain", " position_x": " 3.239", " position_y": " 0.779", " position_z": " -1.768", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "10", " object_type": " KeyChain", " position_x": " 0.313", " position_y": " 0.617", " position_z": " -1.093", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 37" }, { "id": "11", " object_type": " Book", " position_x": " 0.563", " position_y": " 0.596", " position_z": " 0.530", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "12", " object_type": " AlarmClock", " position_x": " 3.393", " position_y": " 0.779", " position_z": " -1.322", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "13", " object_type": " Book", " position_x": " 2.956", " position_y": " 0.773", " position_z": " -1.499", " rotation_x": " 0", " rotation_y": " 4.886", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "14", " object_type": " KeyChain", " position_x": " 1.193", " position_y": " 0.434", " position_z": " -2.303", " rotation_x": " 0", " rotation_y": " 330.000", " rotation_z": " 0", " parent_receptacle": " 38" }, { "id": "15", " object_type": " Pillow", " position_x": " 1.171", " position_y": " 0.677", " position_z": " 0.530", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "16", " object_type": " Pillow", " position_x": " 1.374", " position_y": " 0.677", " position_z": " 0.145", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "17", " object_type": " CreditCard", " position_x": " 2.776", " position_y": " 0.779", " position_z": " -1.679", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "18", " object_type": " Pen", " position_x": " 3.084", " position_y": " 0.785", " position_z": " -1.857", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "19", " object_type": " Pencil", " position_x": " 0.357", " position_y": " 0.708", " position_z": " 1.296", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 34" }, { "id": "20", " object_type": " TissueBox", " position_x": " 3.239", " position_y": " 0.781", " position_z": " -1.322", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "21", " object_type": " Laptop", " position_x": " 0.968", " position_y": " 0.594", " position_z": " -0.430", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "22", " object_type": " CellPhone", " position_x": " 0.258", " position_y": " 0.705", " position_z": " 1.047", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 34" }, { "id": "23", " object_type": " AlarmClock", " position_x": " 3.701", " position_y": " 0.779", " position_z": " -1.768", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "24", " object_type": " CD", " position_x": " 0.258", " position_y": " 0.705", " position_z": " 1.546", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 34" }, { "id": "25", " object_type": " Chair", " position_x": " 3.232", " position_y": " 0.002", " position_z": " -1.873", " rotation_x": " 0", " rotation_y": " 350.846", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "26", " object_type": " Mirror", " position_x": " 1.083", " position_y": " 1.228", " position_z": " 1.700", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "27", " object_type": " Bed", " position_x": " 0.898", " position_y": " -0.002", " position_z": " 0.141", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "28", " object_type": " GarbageCan", " position_x": " 3.633", " position_y": " 8.165", " position_z": " -0.982", " rotation_x": " 0", " rotation_y": " 209.052", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "29", " object_type": " DeskLamp", " position_x": " 3.681", " position_y": " 0.785", " position_z": " -1.386", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "30", " object_type": " DeskLamp", " position_x": " 0.347", " position_y": " 0.698", " position_z": " -0.979", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "31", " object_type": " Painting", " position_x": " 0.100", " position_y": " 1.432", " position_z": " -2.053", " rotation_x": " 90", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "32", " object_type": " Window", " position_x": " 2.270", " position_y": " 1.547", " position_z": " -2.915", " rotation_x": " 90", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "33", " object_type": " LightSwitch", " position_x": " 1.809", " position_y": " 1.169", " position_z": " 1.700", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "34", " object_type": " SideTable", " position_x": " 0.277", " position_y": " 0.000", " position_z": " 1.299", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "35", " object_type": " SideTable", " position_x": " 0.276", " position_y": " 0.000", " position_z": " -1.017", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "36", " object_type": " Drawer", " position_x": " 0.328", " position_y": " 0.624", " position_z": " 1.299", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "37", " object_type": " Drawer", " position_x": " 0.328", " position_y": " 0.624", " position_z": " -1.017", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "38", " object_type": " ArmChair", " position_x": " 0.849", " position_y": " -0.001", " position_z": " -2.141", " rotation_x": " 0", " rotation_y": " 66.451", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "39", " object_type": " Blinds", " position_x": " 2.299", " position_y": " 2.525", " position_z": " -2.892", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "40", " object_type": " Desk", " position_x": " 3.238", " position_y": " 0.003", " position_z": " -1.590", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "41", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "42", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "43", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "44", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Move in front of the pillow that's on the bed and to the left. ", " STEP 2: Pick up the pillow on the left. ", " STEP 3: Turn left and walk in front of the chair that is next to the window. ", " STEP 4: Put the pillow on the chair next to the keys. ", " STEP 5: Walk back to the front of the bed. ", " STEP 6: Pick up the remaining pillow on the bed. ", " STEP 7: Walk back to the chair next to the window. ", " STEP 8: place the pillow on the chair to the right of the first pillow. ", " END" ]

[ "Walk back to the front of the bed.", "Move in front of the pillow that's on the bed and to the left.", "Put the pillow on the chair next to the keys.", "Walk back to the chair next to the window.", "Pick up the pillow on the left.", "Pick up the pillow on the right.", "place the pillow on the chair to the right of the first pillow.", "Walk to the sofa next to the door.", "Turn left and walk in front of the chair that is next to the window.", "Pick up the remaining pillow on the bed." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)" ]

[ "(B)", "(E)", "(I)", "(C)", "(A)", "(J)", "(D)", "(G)" ]

[ { "id": "0", " object_type": " Agent", " position_x": " 2.25", " position_y": " 0.900", " position_z": " 0.5", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "1", " object_type": " TissueBox", " position_x": " 3.239", " position_y": " 0.781", " position_z": " -1.500", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "2", " object_type": " CD", " position_x": " 0.228", " position_y": " 0.705", " position_z": " -0.933", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 35" }, { "id": "3", " object_type": " CD", " position_x": " 0.333", " position_y": " 0.615", " position_z": " -1.246", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 37" }, { "id": "4", " object_type": " CellPhone", " position_x": " 0.766", " position_y": " 0.596", " position_z": " 0.146", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "5", " object_type": " Pen", " position_x": " 0.357", " position_y": " 0.711", " position_z": " 1.130", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 34" }, { "id": "6", " object_type": " Pencil", " position_x": " 2.776", " position_y": " 0.782", " position_z": " -1.500", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "7", " object_type": " CreditCard", " position_x": " 0.324", " position_y": " 0.705", " position_z": " 1.380", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 34" }, { "id": "8", " object_type": " CreditCard", " position_x": " 0.355", " position_y": " 0.705", " position_z": " -1.102", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 35" }, { "id": "9", " object_type": " KeyChain", " position_x": " 3.239", " position_y": " 0.779", " position_z": " -1.768", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "10", " object_type": " KeyChain", " position_x": " 0.313", " position_y": " 0.617", " position_z": " -1.093", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 37" }, { "id": "11", " object_type": " Book", " position_x": " 0.563", " position_y": " 0.596", " position_z": " 0.530", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "12", " object_type": " AlarmClock", " position_x": " 3.393", " position_y": " 0.779", " position_z": " -1.322", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "13", " object_type": " Book", " position_x": " 2.956", " position_y": " 0.773", " position_z": " -1.499", " rotation_x": " 0", " rotation_y": " 4.886", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "14", " object_type": " KeyChain", " position_x": " 1.193", " position_y": " 0.434", " position_z": " -2.303", " rotation_x": " 0", " rotation_y": " 330.000", " rotation_z": " 0", " parent_receptacle": " 38" }, { "id": "15", " object_type": " Pillow", " position_x": " 1.171", " position_y": " 0.677", " position_z": " 0.530", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "16", " object_type": " Pillow", " position_x": " 1.374", " position_y": " 0.677", " position_z": " 0.145", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "17", " object_type": " CreditCard", " position_x": " 2.776", " position_y": " 0.779", " position_z": " -1.679", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "18", " object_type": " Pen", " position_x": " 3.084", " position_y": " 0.785", " position_z": " -1.857", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "19", " object_type": " Pencil", " position_x": " 0.357", " position_y": " 0.708", " position_z": " 1.296", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 34" }, { "id": "20", " object_type": " TissueBox", " position_x": " 3.239", " position_y": " 0.781", " position_z": " -1.322", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "21", " object_type": " Laptop", " position_x": " 0.968", " position_y": " 0.594", " position_z": " -0.430", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "22", " object_type": " CellPhone", " position_x": " 0.258", " position_y": " 0.705", " position_z": " 1.047", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 34" }, { "id": "23", " object_type": " AlarmClock", " position_x": " 3.701", " position_y": " 0.779", " position_z": " -1.768", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "24", " object_type": " CD", " position_x": " 0.258", " position_y": " 0.705", " position_z": " 1.546", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 34" }, { "id": "25", " object_type": " Chair", " position_x": " 3.232", " position_y": " 0.002", " position_z": " -1.873", " rotation_x": " 0", " rotation_y": " 350.846", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "26", " object_type": " Mirror", " position_x": " 1.083", " position_y": " 1.228", " position_z": " 1.700", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "27", " object_type": " Bed", " position_x": " 0.898", " position_y": " -0.002", " position_z": " 0.141", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "28", " object_type": " GarbageCan", " position_x": " 3.633", " position_y": " 8.165", " position_z": " -0.982", " rotation_x": " 0", " rotation_y": " 209.052", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "29", " object_type": " DeskLamp", " position_x": " 3.681", " position_y": " 0.785", " position_z": " -1.386", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "30", " object_type": " DeskLamp", " position_x": " 0.347", " position_y": " 0.698", " position_z": " -0.979", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "31", " object_type": " Painting", " position_x": " 0.100", " position_y": " 1.432", " position_z": " -2.053", " rotation_x": " 90", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "32", " object_type": " Window", " position_x": " 2.270", " position_y": " 1.547", " position_z": " -2.915", " rotation_x": " 90", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "33", " object_type": " LightSwitch", " position_x": " 1.809", " position_y": " 1.169", " position_z": " 1.700", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "34", " object_type": " SideTable", " position_x": " 0.277", " position_y": " 0.000", " position_z": " 1.299", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "35", " object_type": " SideTable", " position_x": " 0.276", " position_y": " 0.000", " position_z": " -1.017", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "36", " object_type": " Drawer", " position_x": " 0.328", " position_y": " 0.624", " position_z": " 1.299", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "37", " object_type": " Drawer", " position_x": " 0.328", " position_y": " 0.624", " position_z": " -1.017", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "38", " object_type": " ArmChair", " position_x": " 0.849", " position_y": " -0.001", " position_z": " -2.141", " rotation_x": " 0", " rotation_y": " 66.451", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "39", " object_type": " Blinds", " position_x": " 2.299", " position_y": " 2.525", " position_z": " -2.892", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "40", " object_type": " Desk", " position_x": " 3.238", " position_y": " 0.003", " position_z": " -1.590", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "41", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "42", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "43", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "44", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Move in front of the left cushion on the bed. ", " STEP 2: Pick up the cushion that's to the right of the lap top. ", " STEP 3: Turn left and walk to the brown chair to the right of the window. ", " STEP 4: Place the cushion on the brown chair right next to the keys. ", " STEP 5: Turn right and walk back to the foot of the bed. ", " STEP 6: Pick up the remaining cushion from the right edge of the bed. ", " STEP 7: Turn left and walk back to the chair to the right of the window. ", " STEP 8: Place the cushion on the brown chair to the right of the first cushion. ", " END" ]

[ "Place the cushion on the brown chair right next to the keys.", "Turn left and walk back to the head of the bed.", "Turn left and walk back to the chair to the right of the window.", "Pick up the cushion that's to the left of the laptop.", "Turn left and walk to the brown chair to the right of the window.", "Move in front of the left cushion on the bed.", "Pick up the remaining cushion from the right edge of the bed.", "Place the cushion on the brown chair to the right of the first cushion.", "Pick up the cushion that's to the right of the lap top.", "Turn right and walk back to the foot of the bed." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)" ]

[ "(F)", "(I)", "(E)", "(A)", "(J)", "(G)", "(C)", "(H)" ]

[ { "id": "0", " object_type": " Agent", " position_x": " 2.25", " position_y": " 0.900", " position_z": " 0.5", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "1", " object_type": " TissueBox", " position_x": " 3.239", " position_y": " 0.781", " position_z": " -1.500", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "2", " object_type": " CD", " position_x": " 0.228", " position_y": " 0.705", " position_z": " -0.933", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 35" }, { "id": "3", " object_type": " CD", " position_x": " 0.333", " position_y": " 0.615", " position_z": " -1.246", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 37" }, { "id": "4", " object_type": " CellPhone", " position_x": " 0.766", " position_y": " 0.596", " position_z": " 0.146", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "5", " object_type": " Pen", " position_x": " 0.357", " position_y": " 0.711", " position_z": " 1.130", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 34" }, { "id": "6", " object_type": " Pencil", " position_x": " 2.776", " position_y": " 0.782", " position_z": " -1.500", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "7", " object_type": " CreditCard", " position_x": " 0.324", " position_y": " 0.705", " position_z": " 1.380", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 34" }, { "id": "8", " object_type": " CreditCard", " position_x": " 0.355", " position_y": " 0.705", " position_z": " -1.102", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 35" }, { "id": "9", " object_type": " KeyChain", " position_x": " 3.239", " position_y": " 0.779", " position_z": " -1.768", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "10", " object_type": " KeyChain", " position_x": " 0.313", " position_y": " 0.617", " position_z": " -1.093", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 37" }, { "id": "11", " object_type": " Book", " position_x": " 0.563", " position_y": " 0.596", " position_z": " 0.530", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "12", " object_type": " AlarmClock", " position_x": " 3.393", " position_y": " 0.779", " position_z": " -1.322", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "13", " object_type": " Book", " position_x": " 2.956", " position_y": " 0.773", " position_z": " -1.499", " rotation_x": " 0", " rotation_y": " 4.886", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "14", " object_type": " KeyChain", " position_x": " 1.193", " position_y": " 0.434", " position_z": " -2.303", " rotation_x": " 0", " rotation_y": " 330.000", " rotation_z": " 0", " parent_receptacle": " 38" }, { "id": "15", " object_type": " Pillow", " position_x": " 1.171", " position_y": " 0.677", " position_z": " 0.530", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "16", " object_type": " Pillow", " position_x": " 1.374", " position_y": " 0.677", " position_z": " 0.145", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "17", " object_type": " CreditCard", " position_x": " 2.776", " position_y": " 0.779", " position_z": " -1.679", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "18", " object_type": " Pen", " position_x": " 3.084", " position_y": " 0.785", " position_z": " -1.857", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "19", " object_type": " Pencil", " position_x": " 0.357", " position_y": " 0.708", " position_z": " 1.296", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 34" }, { "id": "20", " object_type": " TissueBox", " position_x": " 3.239", " position_y": " 0.781", " position_z": " -1.322", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "21", " object_type": " Laptop", " position_x": " 0.968", " position_y": " 0.594", " position_z": " -0.430", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 27" }, { "id": "22", " object_type": " CellPhone", " position_x": " 0.258", " position_y": " 0.705", " position_z": " 1.047", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 34" }, { "id": "23", " object_type": " AlarmClock", " position_x": " 3.701", " position_y": " 0.779", " position_z": " -1.768", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "24", " object_type": " CD", " position_x": " 0.258", " position_y": " 0.705", " position_z": " 1.546", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 34" }, { "id": "25", " object_type": " Chair", " position_x": " 3.232", " position_y": " 0.002", " position_z": " -1.873", " rotation_x": " 0", " rotation_y": " 350.846", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "26", " object_type": " Mirror", " position_x": " 1.083", " position_y": " 1.228", " position_z": " 1.700", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "27", " object_type": " Bed", " position_x": " 0.898", " position_y": " -0.002", " position_z": " 0.141", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "28", " object_type": " GarbageCan", " position_x": " 3.633", " position_y": " 8.165", " position_z": " -0.982", " rotation_x": " 0", " rotation_y": " 209.052", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "29", " object_type": " DeskLamp", " position_x": " 3.681", " position_y": " 0.785", " position_z": " -1.386", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "30", " object_type": " DeskLamp", " position_x": " 0.347", " position_y": " 0.698", " position_z": " -0.979", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "31", " object_type": " Painting", " position_x": " 0.100", " position_y": " 1.432", " position_z": " -2.053", " rotation_x": " 90", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "32", " object_type": " Window", " position_x": " 2.270", " position_y": " 1.547", " position_z": " -2.915", " rotation_x": " 90", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "33", " object_type": " LightSwitch", " position_x": " 1.809", " position_y": " 1.169", " position_z": " 1.700", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "34", " object_type": " SideTable", " position_x": " 0.277", " position_y": " 0.000", " position_z": " 1.299", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "35", " object_type": " SideTable", " position_x": " 0.276", " position_y": " 0.000", " position_z": " -1.017", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "36", " object_type": " Drawer", " position_x": " 0.328", " position_y": " 0.624", " position_z": " 1.299", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "37", " object_type": " Drawer", " position_x": " 0.328", " position_y": " 0.624", " position_z": " -1.017", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "38", " object_type": " ArmChair", " position_x": " 0.849", " position_y": " -0.001", " position_z": " -2.141", " rotation_x": " 0", " rotation_y": " 66.451", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "39", " object_type": " Blinds", " position_x": " 2.299", " position_y": " 2.525", " position_z": " -2.892", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "40", " object_type": " Desk", " position_x": " 3.238", " position_y": " 0.003", " position_z": " -1.590", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "41", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "42", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "43", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "44", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Turn to the left, go forward, turn to face the bed. ", " STEP 2: Pick up the leftmost purple pillow on the bed. ", " STEP 3: Turn to the left, go to the wall, turn to the right, go to the chair. ", " STEP 4: Put the pillow on the left side of the chair cushion. ", " STEP 5: Turn around, go to the bed, turn right, go to the end of the bed, turn left, go to the far side of the bed. ", " STEP 6: Pick up the purple pillow that is on the bed. ", " STEP 7: Turn left, go to the wall, turn right, go to the chair. ", " STEP 8: Put the pillow on the chair to the right of the other pillow. ", " END" ]

[ "Put the pillow on the left side of the chair cushion.", "Pick up the purple pillow that is on the bed.", "Turn right, go to the door, turn left, go to the table.", "Pick up the leftmost purple pillow on the bed.", "Put the pillow on the chair to the right of the other pillow.", "Turn left, go to the wall, turn right, go to the chair.", "Turn to the left, go to the wall, turn to the right, go to the chair.", "Turn to the left, go forward, turn to face the bed.", "Pick up the rightmost green pillow on the bed.", "Turn around, go to the bed, turn right, go to the end of the bed, turn left, go to the far side of the bed." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)" ]

[ "(H)", "(D)", "(G)", "(A)", "(J)", "(B)", "(F)", "(E)" ]

[ { "id": "0", " object_type": " Agent", " position_x": " 1.25", " position_y": " 0.900", " position_z": " -2.5", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "1", " object_type": " Laptop", " position_x": " 0.794", " position_y": " 0.543", " position_z": " 0.814", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 31" }, { "id": "2", " object_type": " Box", " position_x": " 2.513", " position_y": " 0.144", " position_z": " -1.093", " rotation_x": " 0", " rotation_y": " 318.382", " rotation_z": " 0", " parent_receptacle": " 44" }, { "id": "3", " object_type": " Bowl", " position_x": " -1.743", " position_y": " 0.757", " position_z": " -0.350", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 38" }, { "id": "4", " object_type": " KeyChain", " position_x": " 2.151", " position_y": " 0.506", " position_z": " -2.309", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 44" }, { "id": "5", " object_type": " Vase", " position_x": " -1.588", " position_y": " 0.168", " position_z": " -0.531", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 39" }, { "id": "6", " object_type": " Statue", " position_x": " -1.802", " position_y": " 1.315", " position_z": " -2.467", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 36" }, { "id": "7", " object_type": " Pillow", " position_x": " -0.495", " position_y": " 0.593", " position_z": " 0.955", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 31" }, { "id": "8", " object_type": " Laptop", " position_x": " -1.732", " position_y": " 0.753", " position_z": " -0.696", " rotation_x": " 0", " rotation_y": " 73.105", " rotation_z": " 0", " parent_receptacle": " 38" }, { "id": "9", " object_type": " Vase", " position_x": " -1.680", " position_y": " 0.172", " position_z": " -0.950", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "10", " object_type": " Statue", " position_x": " -1.871", " position_y": " 0.858", " position_z": " -1.055", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 38" }, { "id": "11", " object_type": " RemoteControl", " position_x": " 2.321", " position_y": " 0.453", " position_z": " -2.141", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 44" }, { "id": "12", " object_type": " Vase", " position_x": " 0.009", " position_y": " 0.168", " position_z": " -2.264", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 28" }, { "id": "13", " object_type": " CreditCard", " position_x": " 0.353", " position_y": " 0.545", " position_z": " 0.723", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 31" }, { "id": "14", " object_type": " Vase", " position_x": " -1.807", " position_y": " 0.760", " position_z": " -1.290", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 38" }, { "id": "15", " object_type": " Statue", " position_x": " -0.001", " position_y": " 0.189", " position_z": " -2.521", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 28" }, { "id": "16", " object_type": " Painting", " position_x": " 0.172", " position_y": " 1.781", " position_z": " 1.934", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "17", " object_type": " HousePlant", " position_x": " -1.646", " position_y": " 0.755", " position_z": " -1.792", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "18", " object_type": " LightSwitch", " position_x": " 1.406", " position_y": " 1.294", " position_z": " 1.651", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "19", " object_type": " Television", " position_x": " -0.035", " position_y": " 1.239", " position_z": " -2.439", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "20", " object_type": " FloorLamp", " position_x": " -1.573", " position_y": " -0.003", " position_z": " 1.302", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "21", " object_type": " GarbageCan", " position_x": " 0.742", " position_y": " -0.000", " position_z": " -2.522", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "22", " object_type": " Window", " position_x": " -0.816", " position_y": " 1.534", " position_z": " -2.719", " rotation_x": " 90", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "23", " object_type": " Window", " position_x": " 0.791", " position_y": " 1.534", " position_z": " -2.718", " rotation_x": " 90", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "24", " object_type": " Shelf", " position_x": " 0.340", " position_y": " 0.474", " position_z": " -2.377", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "25", " object_type": " Shelf", " position_x": " 0.341", " position_y": " 0.273", " position_z": " -2.377", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "26", " object_type": " TVStand", " position_x": " -0.025", " position_y": " -0.000", " position_z": " -2.385", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "27", " object_type": " Shelf", " position_x": " -0.393", " position_y": " 0.302", " position_z": " -2.382", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "28", " object_type": " Shelf", " position_x": " -0.026", " position_y": " 0.442", " position_z": " -2.380", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "29", " object_type": " Shelf", " position_x": " -0.393", " position_y": " 0.597", " position_z": " -2.382", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "30", " object_type": " Shelf", " position_x": " 0.340", " position_y": " 0.643", " position_z": " -2.377", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "31", " object_type": " Sofa", " position_x": " 0.124", " position_y": " 0.008", " position_z": " 1.032", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "32", " object_type": " Cabinet", " position_x": " -1.827", " position_y": " 0.729", " position_z": " -2.357", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "33", " object_type": " Shelf", " position_x": " -1.827", " position_y": " 2.041", " position_z": " -2.356", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "34", " object_type": " CoffeeTable", " position_x": " 0.017", " position_y": " -0.000", " position_z": " -1.108", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "35", " object_type": " Shelf", " position_x": " -1.827", " position_y": " 1.744", " position_z": " -2.356", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "36", " object_type": " Shelf", " position_x": " -1.827", " position_y": " 1.452", " position_z": " -2.356", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "37", " object_type": " Shelf", " position_x": " -1.730", " position_y": " 0.278", " position_z": " -1.635", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "38", " object_type": " TVStand", " position_x": " -1.733", " position_y": " -0.000", " position_z": " -1.058", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "39", " object_type": " Shelf", " position_x": " -1.730", " position_y": " 0.302", " position_z": " -0.479", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "40", " object_type": " Shelf", " position_x": " -1.732", " position_y": " 0.446", " position_z": " -1.056", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "41", " object_type": " Shelf", " position_x": " -1.731", " position_y": " 0.596", " position_z": " -0.478", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "42", " object_type": " Shelf", " position_x": " -1.733", " position_y": " 0.648", " position_z": " -1.635", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "43", " object_type": " Shelf", " position_x": " -1.730", " position_y": " 0.477", " position_z": " -1.635", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "44", " object_type": " ArmChair", " position_x": " 2.344", " position_y": " 0.002", " position_z": " -2.041", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "45", " object_type": " ShelvingUnit", " position_x": " -1.847", " position_y": " 0.001", " position_z": " -2.357", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "46", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "47", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "48", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "49", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Walk behind you to the box next to the chair. ", " STEP 2: Grab the box from the floor. ", " STEP 3: Walk to the edge of the coffee table. ", " STEP 4: Put the box on the table. ", " END" ]

[ "Place the box under the table.", "Walk in front of you to the box next to the desk.", "Walk behind you to the box next to the chair.", "Grab the box from the floor.", "Walk to the edge of the coffee table.", "Put the box on the table." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)" ]

[ "(C)", "(D)", "(E)", "(F)" ]

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rotation_z": " 0", " parent_receptacle": " 69" }, { "id": "5", " object_type": " Pot", " position_x": " 1.567", " position_y": " 0.948", " position_z": " -0.757", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 43" }, { "id": "6", " object_type": " Spatula", " position_x": " 1.153", " position_y": " 0.928", " position_z": " -2.002", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 61" }, { "id": "7", " object_type": " Egg", " position_x": " 1.618", " position_y": " 0.967", " position_z": " -1.751", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 61" }, { "id": "8", " object_type": " Cup", " position_x": " 0.294", " position_y": " 0.930", " position_z": " 0.991", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 78" }, { "id": "9", " object_type": " Plate", " position_x": " 1.850", " position_y": " 0.916", " position_z": " -1.918", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 61" }, { "id": "10", " object_type": " Plate", " position_x": " 1.647", " position_y": " 0.916", " position_z": " -1.329", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 61" }, { "id": "11", " object_type": " Tomato", " position_x": " -0.137", " position_y": " 0.816", " position_z": " -2.071", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 73" }, { "id": "12", " object_type": " Bowl", " position_x": " 0.066", " position_y": " 0.927", " position_z": " 0.762", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 78" }, { "id": "13", " object_type": " Lettuce", " position_x": " 0.522", " position_y": " 1.011", " position_z": " 0.534", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 78" }, { "id": "14", " object_type": " PepperShaker", " position_x": " 0.066", " position_y": " 0.923", " position_z": " 0.076", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 78" }, { "id": "15", " object_type": " Mug", " position_x": " -0.047", " position_y": " 0.925", " position_z": " 0.305", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 78" }, { "id": "16", " object_type": " Mug", " position_x": " -0.616", " position_y": " 0.908", " position_z": " -2.167", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 61" }, { "id": "17", " object_type": " Apple", " position_x": " -1.553", " position_y": " 1.254", " position_z": " -0.599", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 69" }, { "id": "18", " object_type": " Apple", " position_x": " -1.186", " position_y": " 1.086", " position_z": " -1.638", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 67" }, { "id": "19", " object_type": " Apple", " position_x": " -0.160", " position_y": " 0.997", " position_z": " 0.762", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 78" }, { "id": "20", " object_type": " Potato", " position_x": " 0.066", " position_y": " 0.959", " position_z": " 1.448", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 78" }, { "id": "21", " object_type": " Bowl", " position_x": " -1.277", " position_y": " 1.656", " position_z": " -1.729", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 44" }, { "id": "22", " object_type": " SoapBottle", " position_x": " 1.464", " position_y": " 0.879", " position_z": " 2.483", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 82" }, { "id": "23", " object_type": " Fork", " position_x": " -1.109", " position_y": " 0.914", " position_z": " -2.224", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 61" }, { "id": "24", " object_type": " Ladle", " position_x": " 1.913", " position_y": " 1.702", " position_z": " -1.199", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 52" }, { "id": "25", " object_type": " Bread", " position_x": " 0.399", " position_y": " 0.964", " position_z": " 0.110", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 1.601", " parent_receptacle": " 78" }, { "id": "26", " object_type": " Lettuce", " position_x": " -0.283", " position_y": " 0.845", " position_z": " -2.026", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 73" }, { "id": "27", " object_type": " WineBottle", " position_x": " 1.566", " position_y": " 0.881", " position_z": " 2.429", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 82" }, { "id": "28", " object_type": " Spatula", " position_x": " 0.294", " position_y": " 0.941", " position_z": " 0.305", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 78" }, { "id": "29", " object_type": " Plate", " position_x": " -1.438", " position_y": " 1.187", " position_z": " -0.806", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 69" }, { "id": "30", " object_type": " SaltShaker", " position_x": " 0.457", " position_y": " 0.909", " position_z": " -2.085", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 61" }, { "id": "31", " object_type": " Pot", " position_x": " 0.408", " position_y": " 0.928", " position_z": " 1.220", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 78" }, { "id": "32", " object_type": " Cup", " position_x": " 1.294", " position_y": " 0.119", " position_z": " -1.968", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 53" }, { "id": "33", " object_type": " PepperShaker", " position_x": " -0.160", " position_y": " 0.926", " position_z": " 0.076", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 78" }, { "id": "34", " object_type": " Pan", " position_x": " 1.824", " position_y": " 0.945", " position_z": " -0.346", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 42" }, { "id": "35", " object_type": " ButterKnife", " position_x": " 0.066", " position_y": " 0.930", " position_z": " 0.305", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 78" }, { "id": "36", " object_type": " Tomato", " position_x": " -0.824", " position_y": " 0.965", " position_z": " -2.167", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 61" }, { "id": "37", " object_type": " DishSponge", " position_x": " 1.748", " position_y": " 0.120", " position_z": " -1.463", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": 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" position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Turn right, then left then right and go towards the fridge, then turn left and go to the sink ", " STEP 2: Pick up the mug from the counter ", " STEP 3: Turn right and go to the microwave ", " STEP 4: Heat the mug in the microwave with the fruit then take the mug out of the microwave ", " STEP 5: Lift the mug up high towards the cupboard above the microwave ", " STEP 6: Put the mug in the cupboard next to the bowl ", " END" ]

[ "Turn right and go to the microwave", "Put the mug in the cupboard next to the bowl", "Turn left, then right then left and walk towards the stove, then turn left and head to the table", "Lift the mug up high towards the cupboard above the microwave", "Turn left and head towards the oven", "Heat the mug in the microwave with the fruit then take the mug out of the microwave", "Turn right, then left then right and go towards the fridge, then turn left and go to the sink", "Pick up the mug from the counter" ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)" ]

[ "(G)", "(H)", "(A)", "(F)", "(D)", "(B)" ]

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[ "STEP 1: Cross the room to the left and stand in front of the sink. ", " STEP 2: Pick the white mug up from the sink. ", " STEP 3: Turn to the right and face the microwave. ", " STEP 4: Put the mug in the microwave and shut the door and then open the door and grab the mug and shut the door again. ", " STEP 5: Look up and face the large cabinet above the microwave. ", " STEP 6: Put the mug in the cabinet above the microwave with a silver bowl. ", " END" ]

[ "Pick the white mug up from the sink.", "Turn to the right and face the microwave.", "Cross the room to the left and stand in front of the sink.", "Put the plate in the microwave, close the door, then open the door and grab the plate, finally close the door.", "Pick up the blue bottle from the sink.", "Put the mug in the cabinet above the microwave with a silver bowl.", "Look up and face the large cabinet above the microwave.", "Put the mug in the microwave and shut the door and then open the door and grab the mug and shut the door again." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)" ]

[ "(C)", "(A)", "(B)", "(H)", "(G)", "(F)" ]

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position_y": " 0.687", " position_z": " 0.546", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "29", " object_type": " Cabinet", " position_x": " 0.074", " position_y": " 0.379", " position_z": " 2.045", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "30", " object_type": " TowelHolder", " position_x": " -2.5", " position_y": " 1.463", " position_z": " 0.579", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "31", " object_type": " ToiletPaperHanger", " position_x": " -0.081", " position_y": " 0.971", " position_z": " 5.0", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "32", " object_type": " LightSwitch", " position_x": " -1.121", " position_y": " 1.333", " position_z": " 5.000", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": 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270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "38", " object_type": " Faucet", " position_x": " 0.661", " position_y": " 1.043", " position_z": " 2.520", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "39", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "40", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "41", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "42", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Walk forward to the bath tub. ", " STEP 2: Pick up the cloth towel out of the bath tub. ", " STEP 3: Turn around and walk to the sink on the right. ", " STEP 4: Put the cloth towel in the sink, rinse it off, and take it back out. ", " STEP 5: Turn right and walk back to the bath tub. ", " STEP 6: Put the cloth towel back in the bath tub basin. ", " END" ]

[ "Gently lift the soap dispenser from the bath tub.", "Make a left turn and walk towards the shower.", "Turn around and walk to the sink on the right.", "Pick up the cloth towel out of the bath tub.", "Put the cloth towel in the sink, rinse it off, and take it back out.", "Turn right and walk back to the bath tub.", "Put the cloth towel back in the bath tub basin.", "Walk forward to the bath tub." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)" ]

[ "(H)", "(D)", "(C)", "(E)", "(F)", "(G)" ]

[ { "id": "0", " object_type": " Agent", " position_x": " -0.5", " position_y": " 0.900", " position_z": " 1.75", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "1", " object_type": " TissueBox", " position_x": " -0.859", " position_y": " 0.860", " position_z": " 0.374", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 19" }, { "id": "2", " object_type": " SoapBar", " position_x": " -1.779", " position_y": " 0.850", " position_z": " 0.364", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "3", " object_type": " Candle", " position_x": " -0.812", " position_y": " 1.134", " position_z": " 0.228", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 30" }, { "id": "4", " object_type": " SprayBottle", " position_x": " -0.858", " position_y": " 0.119", " position_z": " 0.311", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 21" }, { "id": "5", " object_type": " SoapBottle", " position_x": " -3.098", " position_y": " 0.692", " position_z": " 1.730", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 23" }, { "id": "6", " object_type": " HandTowel", " position_x": " -1.296", " position_y": " 1.765", " position_z": " 0.040", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": " 36" }, { "id": "7", " object_type": " SoapBar", " position_x": " -3.324", " position_y": " 0.219", " position_z": " 0.449", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 39" }, { "id": "8", " object_type": " ToiletPaper", " position_x": " -0.767", " position_y": " 1.650", " position_z": " 0.311", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 29" }, { "id": "9", " object_type": " Plunger", " position_x": " -0.735", " position_y": " -0.000", " position_z": " 2.732", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " Floor|-00.08|" }, { "id": "10", " object_type": " Candle", " position_x": " -0.256", " position_y": " 0.952", " position_z": " 2.669", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 38" }, { "id": "11", " object_type": " TissueBox", " position_x": " -0.812", " position_y": " 1.134", " position_z": " 0.466", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 30" }, { "id": "12", " object_type": " ToiletPaper", " position_x": " -2.071", " position_y": " 1.297", " position_z": " 2.096", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 32" }, { "id": "13", " object_type": " SoapBottle", " position_x": " -0.991", " position_y": " 1.137", " position_z": " 0.110", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 30" }, { "id": "14", " object_type": " SprayBottle", " position_x": " -2.076", " position_y": " 0.109", " position_z": " 2.100", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 20" }, { "id": "15", " object_type": " Towel", " position_x": " -2.760", " position_y": " 1.569", " position_z": " 0.107", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 33" }, { "id": "16", " object_type": " Cloth", " position_x": " -3.449", " position_y": " 0.219", " position_z": " 1.104", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 39" }, { "id": "17", " object_type": " ScrubBrush", " position_x": " -0.657", " position_y": " -0.000", " position_z": " 2.560", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " Floor|-00.08|" }, { "id": "18", " object_type": " Cabinet", " position_x": " -2.344", " position_y": " 0.457", " position_z": " 0.524", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "19", " object_type": " Drawer", " position_x": " -0.813", " position_y": " 0.956", " position_z": " 0.384", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "20", " object_type": " Cabinet", " position_x": " -1.891", " position_y": " 0.443", " position_z": " 1.982", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "21", " object_type": " Cabinet", " position_x": " -0.605", " position_y": " 0.457", " position_z": " 0.524", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "22", " object_type": " Drawer", " position_x": " -2.032", " position_y": " 0.942", " position_z": " 2.190", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "23", " object_type": " Bathtub", " position_x": " -3.450", " position_y": " 0.178", " position_z": " 1.029", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "24", " object_type": " CounterTop", " position_x": " -1.919", " position_y": " 0.0", " position_z": " 0.288", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "25", " object_type": " Sink", " position_x": " -1.924", " position_y": " 0.772", " position_z": " 0.326", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "26", " object_type": " Mirror", " position_x": " -1.934", " position_y": " 1.666", " position_z": " 0.107", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "27", " object_type": " Faucet", " position_x": " -1.925", " position_y": " 0.958", " position_z": " 0.179", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "28", " object_type": " Cabinet", " position_x": " -1.891", " position_y": " 1.884", " position_z": " 2.391", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "29", " object_type": " Cabinet", " position_x": " -0.605", " position_y": " 1.988", " position_z": " 0.524", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "30", " object_type": " CounterTop", " position_x": " -0.812", " position_y": " 0.093", " position_z": " 0.288", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "31", " object_type": " Shelf", " position_x": " -2.029", " position_y": " 1.183", " position_z": " 2.189", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "32", " object_type": " Shelf", " position_x": " -2.123", " position_y": " 1.393", " position_z": " 2.189", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "33", " object_type": " TowelHolder", " position_x": " -2.760", " position_y": " 1.555", " position_z": " 0.000", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "34", " object_type": " LightSwitch", " position_x": " 0.0", " position_y": " 1.427", " position_z": " 1.993", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "35", " object_type": " ToiletPaperHanger", " position_x": " 0.0", " position_y": " 1.014", " position_z": " 2.237", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "36", " object_type": " HandTowelHolder", " position_x": " -1.297", " position_y": " 1.866", " position_z": " 0.002", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "37", " object_type": " Window", " position_x": " -4.149", " position_y": " 1.717", " position_z": " 1.154", " rotation_x": " 90", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "38", " object_type": " Toilet", " position_x": " -0.456", " position_y": " -0.000", " position_z": " 2.257", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "39", " object_type": " BathtubBasin", " position_x": " -3.520", " position_y": " 0.210", " position_z": " 0.940", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "40", " object_type": " SinkBasin", " position_x": " -1.931", " position_y": " 0.841", " position_z": " 0.320", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "41", " object_type": " GarbageCan", " position_x": " -0.257", " position_y": " -0.000", " position_z": " 0.259", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "42", " object_type": " ShowerHead", " position_x": " -3.522", " position_y": " 1.719", " position_z": " 1.776", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "43", " object_type": " ShowerCurtain", " position_x": " -3.391", " position_y": " 2.442", " position_z": " 0.266", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 6.838", " parent_receptacle": "" }, { "id": "44", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "45", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "46", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Turn right, go forward, then turn right to face the toilet. ", " STEP 2: Pick up the plunger, to the left of the toilet. ", " STEP 3: Turn around, move forward, then turn right to face the cabinet. ", " STEP 4: Put the plunger in the cabinet in front of you. ", " END" ]

[ "Turn left, move forward, then turn right to face the window.", "Pick up the plunger, to the left of the toilet.", "Turn around, move forward, then turn right to face the cabinet.", "Turn left, go backward, then turn right to face the sink.", "Turn right, go forward, then turn right to face the toilet.", "Put the plunger in the cabinet in front of you." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)" ]

[ "(E)", "(B)", "(C)", "(F)" ]

[ { "id": "0", " object_type": " Agent", " position_x": " -2.25", " position_y": " 0.900", " position_z": " 3.0", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "1", " object_type": " SoapBar", " position_x": " -3.701", " position_y": " 0.185", " position_z": " 2.895", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 19" }, { "id": "2", " object_type": " Candle", " position_x": " -1.229", " position_y": " 0.048", " position_z": " 4.828", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 30" }, { "id": "3", " object_type": " Candle", " position_x": " -3.597", " position_y": " 0.550", " position_z": " 1.293", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 36" }, { "id": "4", " object_type": " SoapBottle", " position_x": " -1.095", " position_y": " 0.968", " position_z": " 4.734", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 26" }, { "id": "5", " object_type": " SoapBottle", " position_x": " -1.279", " position_y": " 0.044", " position_z": " 5.006", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 30" }, { "id": "6", " object_type": " Towel", " position_x": " -0.181", " position_y": " 1.419", " position_z": " 2.425", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 34" }, { "id": "7", " object_type": " Candle", " position_x": " -0.911", " position_y": " 0.046", " position_z": " 4.708", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 29" }, { "id": "8", " object_type": " SoapBottle", " position_x": " -0.294", " position_y": " 0.044", " position_z": " 4.946", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 20" }, { "id": "9", " object_type": " HandTowel", " position_x": " -0.112", " position_y": " 1.467", " position_z": " 4.811", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 38" }, { "id": "10", " object_type": " Towel", " position_x": " -1.719", " position_y": " 1.228", " position_z": " 1.846", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 33" }, { "id": "11", " object_type": " SoapBar", " position_x": " -2.227", " position_y": " 0.034", " position_z": " 4.948", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 35" }, { "id": "12", " object_type": " ToiletPaper", " position_x": " -0.188", " position_y": " 1.036", " position_z": " 3.374", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "13", " object_type": " TissueBox", " position_x": " -3.828", " position_y": " 0.541", " position_z": " 0.741", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 36" }, { "id": "14", " object_type": " Cloth", " position_x": " -0.811", " position_y": " 0.038", " position_z": " 4.768", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 29" }, { "id": "15", " object_type": " ToiletPaper", " position_x": " -0.153", " position_y": " 1.126", " position_z": " 3.705", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 270", " parent_receptacle": " 39" }, { "id": "16", " object_type": " SprayBottle", " position_x": " -0.285", " position_y": " 1.045", " position_z": " 3.157", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 40" }, { "id": "17", " object_type": " ScrubBrush", " position_x": " -0.231", " position_y": " -0.000", " position_z": " 3.857", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " Floor|+00.00|" }, { "id": "18", " object_type": " Plunger", " position_x": " -0.212", " position_y": " -0.000", " position_z": " 3.536", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " Floor|+00.00|" }, { "id": "19", " object_type": " BathtubBasin", " position_x": " -3.404", " position_y": " 0.166", " position_z": " 2.904", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "20", " object_type": " Cabinet", " position_x": " -0.124", " position_y": " 0.364", " position_z": " 4.634", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "21", " object_type": " Bathtub", " position_x": " -2.896", " position_y": " 0.667", " position_z": " 2.860", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "22", " object_type": " Faucet", " position_x": " -3.475", " position_y": " 0.711", " position_z": " 3.811", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "23", " object_type": " ShowerGlass", " position_x": " 0.0", " position_y": " 0.0", " position_z": " 0.0", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "24", " object_type": " ShowerDoor", " position_x": " -0.282", " position_y": " 1.228", " position_z": " 1.730", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "25", " object_type": " Faucet", " position_x": " -1.524", " position_y": " 1.047", " position_z": " 5.096", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "26", " object_type": " CounterTop", " position_x": " -1.023", " position_y": " 0.954", " position_z": " 4.884", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "27", " object_type": " Mirror", " position_x": " -0.975", " position_y": " 1.577", " position_z": " 5.145", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "28", " object_type": " Cabinet", " position_x": " -1.962", " position_y": " 0.364", " position_z": " 4.634", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "29", " object_type": " Cabinet", " position_x": " -1.027", " position_y": " 0.364", " position_z": " 4.634", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "30", " object_type": " Cabinet", " position_x": " -1.059", " position_y": " 0.364", " position_z": " 4.634", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "31", " object_type": " Window", " position_x": " -1.993", " position_y": " 1.888", " position_z": " 0.144", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "32", " object_type": " LightSwitch", " position_x": " -2.496", " position_y": " 1.366", " position_z": " 5.146", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": 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SinkBasin", " position_x": " -0.569", " position_y": " 0.986", " position_z": " 4.886", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "43", " object_type": " Sink", " position_x": " -0.579", " position_y": " 0.926", " position_z": " 4.874", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "44", " object_type": " Sink", " position_x": " -1.524", " position_y": " 0.926", " position_z": " 4.874", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "45", " object_type": " SinkBasin", " position_x": " -1.514", " position_y": " 0.986", " position_z": " 4.886", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "46", " object_type": " Faucet", " position_x": " -0.583", " position_y": " 1.047", " position_z": " 5.096", " rotation_x": " 0", " rotation_y": " 180", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "47", " object_type": " NorthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "48", " object_type": " EastWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "49", " object_type": " SouthWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "50", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Move forward to the trash can. ", " STEP 2: Pick up the soap from the trash can. ", " STEP 3: Move right with the soap and face the sink on the right. ", " STEP 4: Wash the soap in the sink with water. ", " STEP 5: Bring the washed soap to the right cabinet under the right sink. ", " STEP 6: Put the washed soap in the right cabinet under the right sink. ", " END" ]

[ "Pick up the soap from the trash can.", "Wash the soap in the sink with water.", "Move backwards to the trash can.", "Bring the washed soap to the left cabinet under the left sink.", "Move right with the soap and face the sink on the right.", "Move forward to the trash can.", "Bring the washed soap to the right cabinet under the right sink.", "Put the washed soap in the right cabinet under the right sink." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)" ]

[ "(F)", "(A)", "(E)", "(B)", "(G)", "(H)" ]

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rotation_z": " 0", " parent_receptacle": " 58" }, { "id": "5", " object_type": " DishSponge", " position_x": " 1.223", " position_y": " 0.794", " position_z": " 2.695", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 82" }, { "id": "6", " object_type": " DishSponge", " position_x": " 2.225", " position_y": " 0.937", " position_z": " 0.806", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 69" }, { "id": "7", " object_type": " Spatula", " position_x": " -0.425", " position_y": " 0.805", " position_z": " 1.217", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 85" }, { "id": "8", " object_type": " Spatula", " position_x": " 0.033", " position_y": " 0.805", " position_z": " 0.713", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 85" }, { "id": "9", " object_type": " Fork", " position_x": " 0.033", " position_y": " 0.791", " position_z": " 1.386", " rotation_x": " 0", " rotation_y": " 90", " rotation_z": " 0", " parent_receptacle": " 85" }, { "id": "10", " object_type": " Fork", " position_x": " -0.119", " position_y": " 0.791", " position_z": " 1.386", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 85" }, { "id": "11", " object_type": " Egg", " position_x": " -0.425", " position_y": " 0.833", " position_z": " 0.881", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 85" }, { "id": "12", " object_type": " Egg", " position_x": " 2.168", " position_y": " 1.363", " position_z": " -0.007", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 79" }, { "id": "13", " object_type": " Cup", " position_x": " 2.280", " position_y": " 1.501", " position_z": " 0.388", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 66" }, { "id": "14", " object_type": " Cup", " 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rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 65" }, { "id": "24", " object_type": " PepperShaker", " position_x": " -0.119", " position_y": " 0.785", " position_z": " 0.377", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 85" }, { "id": "25", " object_type": " Mug", " position_x": " 2.167", " position_y": " 1.943", " position_z": " 1.097", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 68" }, { "id": "26", " object_type": " Apple", " position_x": " 2.168", " position_y": " 1.371", " position_z": " -0.369", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": " 79" }, { "id": "27", " object_type": " Egg", " position_x": " -0.053", " position_y": " 0.980", " position_z": " 2.688", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": " 58" }, { "id": "28", " object_type": " Lettuce", " position_x": " 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[ "STEP 1: Move to the left end of the white table where there are two tomatoes and utensils. ", " STEP 2: Pick up the knife that is on the table. ", " STEP 3: Slice the tomato on the left side. ", " STEP 4: Move down to the very end of the table. ", " STEP 5: Slice the tomato on the right side. ", " STEP 6: Move across the room to the microwave. ", " STEP 7: Put the knife inside the microwave. ", " STEP 8: Return to the table with the tomatoes. ", " STEP 9: Pick up the tomatoes off of the table. ", " STEP 10: Move to the microwave and open the door. ", " STEP 11: Place the tomatoes inside the microwave. ", " STEP 12: Close the door. Move back to the white table with the tomatoes. ", " STEP 13: Pick up another slice of tomato that is on the counter. ", " STEP 14: Move back to the microwave and open the door. ", " STEP 15: Put the tomato in the microwave and close the door. ", " END" ]

[ "Slice the tomato on the left side.", "Move to the left end of the white table where there are two tomatoes and utensils.", "Move back to the microwave and open the door.", "Return to the microwave with the tomatoes.", "Put the knife inside the microwave.", "Move down to the very end of the table.", "Move to the microwave and open the door.", "Place the tomatoes inside the microwave.", "Pick up the fork that is on the table.", "Slice the tomato on the right side.", "Return to the table with the tomatoes.", "Close the door. Move back to the white table with the tomatoes.", "Put the tomato in the microwave and close the door.", "Move across the room to the microwave.", "Pick up another slice of tomato that is on the counter.", "Pick up the tomatoes off of the table.", "Pick up the knife that is on the table." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)", "(K)", "(L)", "(M)", "(N)", "(O)", "(P)", "(Q)" ]

[ "(B)", "(Q)", "(A)", "(F)", "(J)", "(N)", "(E)", "(K)", "(P)", "(G)", "(H)", "(L)", "(O)", "(C)", "(M)" ]

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position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" }, { "id": "67", " object_type": " WestWall", " position_x": " ", " position_y": " ", " position_z": " ", " rotation_x": " ", " rotation_y": " ", " rotation_z": " ", " parent_receptacle": "" } ]

[ "STEP 1: Walk towards the dresser ", " STEP 2: Grab a card from the dresser ", " STEP 3: Walk towards the bookcase ", " STEP 4: Put the card in top of the cd inside the bookcase ", " STEP 5: Walk to the dresser ", " STEP 6: Grab a card from the dresser ", " STEP 7: Walk towards the bookcase ", " STEP 8: Put card next to the cd ", " END" ]

[ "Walk towards the dresser", "Grab a card from the dresser", "Walk to the dresser", "Walk towards the bookcase", "Pick up a photo from the dresser", "Put card next to the cd", "Walk towards the bookcase", "Grab a card from the dresser", "Put the card in top of the cd inside the bookcase", "Place the card below the CD in the bookcase" ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)" ]

[ "(A)", "(B)", "(H)", "(D)", "(G)", "(I)", "(C)", "(B)", "(H)", "(D)", "(G)", "(F)" ]

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[ "STEP 1: Take the path across the room in a straight walk to the white door. Turn left to the counter. ", " STEP 2: Take the spoon only in hand. ", " STEP 3: Take an right and an right again with the spoon. Place at the bowl behind in the stove plate. ", " STEP 4: Pick the two up together in hand. ", " STEP 5: Turn all the way around. ", " STEP 6: Turn left and turn to the right across the room for the white table. ", " STEP 7: Drop the bowl and spoon down on the table. ", " END" ]

[ "Start by grabbing a fork instead of a spoon. Take a left, then another left, and put it in the cup on the shelf.", "Take an right and an right again with the spoon. Place at the bowl behind in the stove plate.", "Drop the bowl and spoon down on the table.", "Take a right then a left, heading across the room toward the red chair.", "Take the path across the room in a straight walk to the white door. Turn left to the counter.", "Turn left and turn to the right across the room for the white table.", "Pick the two up together in hand.", "Turn all the way around.", "Take the spoon only in hand." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)" ]

[ "(E)", "(I)", "(B)", "(G)", "(H)", "(F)", "(C)" ]

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parent_receptacle": "" }, { "id": "52", " object_type": " Cabinet", " position_x": " 1.179", " position_y": " 2.019", " position_z": " -2.0", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "53", " object_type": " Cabinet", " position_x": " 0.199", " position_y": " 2.019", " position_z": " -2.0", " rotation_x": " 0", " rotation_y": " 0", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "54", " object_type": " Cabinet", " position_x": " 1.75", " position_y": " 2.019", " position_z": " -1.399", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "55", " object_type": " Cabinet", " position_x": " 1.75", " position_y": " 2.019", " position_z": " -1.029", " rotation_x": " 0", " rotation_y": " 270", " rotation_z": " 0", " parent_receptacle": "" }, { "id": "56", " object_type": " Cabinet", " position_x": " 1.379", " position_y": " 0.469", " position_z": " -1.689", " rotation_x": " 0", " 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[ "STEP 1: Walk forward then turn right and walk up to the counter right of the stove ", " STEP 2: Pick up the egg from the counter ", " STEP 3: Turn around and walk up to the microwave ", " STEP 4: Cook the egg in the microwave then remove it ", " STEP 5: Turn left to face the kitchen sink ", " STEP 6: Put the egg in the sink ", " END" ]

[ "Walk forward then turn right and walk up to the counter right of the stove", "Turn left to face the kitchen sink", "Cook the egg in the microwave then remove it", "Pick up the egg from the counter", "Put the egg in the sink", "Turn around and walk up to the microwave", "Pick up the apple from the counter", "Turn right to face the refrigerator" ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)" ]

[ "(A)", "(D)", "(F)", "(C)", "(B)", "(E)" ]

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[ "STEP 1: Turn right and walk straight towards the counter in between the sink and microwave. ", " STEP 2: Pick up the yellow knife in front of the spatula on the counter. ", " STEP 3: Turn right and head towards the loaf of bread next to the stove on your left. ", " STEP 4: Slice a piece of bread on the counter. ", " STEP 5: Place the knife on the counter. ", " STEP 6: Pick up the slice of bread from the counter. ", " STEP 7: Turn left and walk towards the microwave on the counter to your left. ", " STEP 8: Place the bread in the microwave, heat it cup, and take it out of the microwave. ", " STEP 9: Turn left and walk towards the toaster on the counter to your left. ", " STEP 10: Place the slice of in front of the toaster on the counter. ", " END" ]

[ "Turn right and head towards the loaf of bread next to the stove on your left.", "Turn right and walk straight towards the counter in between the sink and microwave.", "Pick up the yellow knife in front of the spatula on the counter.", "Pick up the green spoon behind the mixer on the counter.", "Turn left and walk towards the microwave on the counter to your left.", "Slice a piece of bread on the counter.", "Place the knife on the counter.", "Turn left and walk towards the toaster on the counter to your left.", "Place the bread in the microwave, heat it cup, and take it out of the microwave.", "Place the slice of in front of the toaster on the counter.", "Pick up the slice of bread from the counter.", "Turn right and walk towards the refrigerator on the counter to your right." ]

[ "(A)", "(B)", "(C)", "(D)", "(E)", "(F)", "(G)", "(H)", "(I)", "(J)", "(K)", "(L)" ]

[ "(B)", "(C)", "(A)", "(F)", "(G)", "(K)", "(E)", "(I)", "(H)", "(J)" ]