diff --git "a/data/valid_data/valid_seen_table_seq.jsonl" "b/data/valid_data/valid_seen_table_seq.jsonl" new file mode 100644--- /dev/null +++ "b/data/valid_data/valid_seen_table_seq.jsonl" @@ -0,0 +1,820 @@ +{"id": "trial_T20190908_184242_348366-0", "input": "Place a cooled mug on a coffee machine. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 0.25, 0, 180, 0, [SEP] 1, Potato, 1.469, 1.068, -1.560, 0, 90, 0, 55 [SEP] 2, Ladle, -1.159, 1.066, 1.150, 0, 270, 0, 58 [SEP] 3, Ladle, 2.875, 1.066, -1.456, 0, 0, 0, 55 [SEP] 4, DishSponge, 1.297, 0.790, -1.546, 0, 0, 0, 62 [SEP] 5, ButterKnife, 2.299, 1.026, 1.205, 0, 136.999, 0, 55 [SEP] 6, ButterKnife, 2.359, 0.764, 4.129, 0, 329.999, 0, 56 [SEP] 7, WineBottle, 1.916, 1.027, 1.405, 0, 136.999, 0, 55 [SEP] 8, Spoon, 1.409, 1.028, -1.881, 0, 270, 0, 55 [SEP] 9, Spoon, -0.714, 0.825, 1.337, 0, 90, 0, 112 [SEP] 10, Fork, -0.544, 1.028, 0.600, 0, 0, 0, 58 [SEP] 11, Egg, -0.968, 1.486, -0.073, 0, 90, 0, 99 [SEP] 12, Egg, 2.673, 0.808, 4.495, 0, 0, 0, 56 [SEP] 13, Cup, 2.893, 0.763, 4.307, 0, 225, 0, 56 [SEP] 14, Cup, 2.567, 0.033, 0.217, 0, 0, 0, 81 [SEP] 15, Tomato, -0.577, 0.870, 1.492, 0, 90, 0, 112 [SEP] 16, SoapBottle, 2.302, 0.763, 4.495, 0, 0, 0, 56 [SEP] 17, SoapBottle, 2.441, 0.763, 3.540, 0, 329.999, 0, 56 [SEP] 18, Bowl, 1.350, 1.025, -1.774, 0, 90, 0, 55 [SEP] 19, Bowl, 2.808, 0.031, -0.638, 0, 0, 0, 81 [SEP] 20, SaltShaker, -0.669, 1.023, 2.311, 0, 0, 0, 58 [SEP] 21, PepperShaker, 1.170, 1.023, -1.560, 0, 90, 0, 55 [SEP] 22, Bread, 2.706, 1.094, -1.151, 0, 0, 0, 55 [SEP] 23, Lettuce, -0.418, 1.085, 2.311, 0, 0, 0, 58 [SEP] 24, Lettuce, 2.451, 0.822, 3.795, 0, 0, 0, 56 [SEP] 25, Apple, 2.106, 1.911, -1.843, 0, 0, 0, 101 [SEP] 26, Apple, -0.418, 1.077, 0.785, 0, 0, 0, 58 [SEP] 27, Pan, -0.541, 0.048, 0.700, 0, 90, 0, 88 [SEP] 28, Glassbottle, 2.544, 1.027, 1.154, 0, 136.999, 0, 55 [SEP] 29, Knife, -0.448, 0.826, 1.899, 0, 90, 0, 60 [SEP] 30, SoapBottle, 2.138, 0.763, 3.762, 0, 225, 0, 56 [SEP] 31, Egg, 2.868, 0.808, 4.072, 0, 225, 0, 56 [SEP] 32, Fork, -0.714, 0.817, 1.259, 0, 180, 0, 112 [SEP] 33, Potato, 1.895, 1.903, -1.809, 0, 0, 0, 101 [SEP] 34, Ladle, 2.788, 1.066, 1.102, 0, 136.999, 0, 55 [SEP] 35, Tomato, 2.404, 1.080, 1.303, 0, 136.999, 0, 55 [SEP] 36, Pot, 1.836, 1.027, -1.84, 0, 90, 0, 53 [SEP] 37, WineBottle, 2.634, 0.765, 3.651, 0, 329.999, 0, 56 [SEP] 38, Plate, 2.370, 1.027, 1.550, 0, 136.999, 0, 55 [SEP] 39, Spatula, 1.626, 0.815, 1.716, 0, 227.0, 0, 70 [SEP] 40, PaperTowelRoll, 1.469, 1.131, -1.881, 0, 90, 0, 55 [SEP] 41, Lettuce, 2.626, 0.822, 3.970, 0, 270, 0, 56 [SEP] 42, Apple, -0.851, 0.866, 1.414, 0, 90, 0, 112 [SEP] 43, SaltShaker, 2.599, 0.760, 4.495, 0, 0, 0, 56 [SEP] 44, PepperShaker, 2.553, 0.760, 4.387, 0, 225, 0, 56 [SEP] 45, ButterKnife, 2.698, 0.764, 3.688, 0, 329.999, 0, 56 [SEP] 46, Bread, 2.487, 0.832, 4.203, 0, 329.999, 0, 56 [SEP] 47, Cup, 2.451, 0.763, 4.495, 0, 0, 0, 56 [SEP] 48, DishSponge, 2.533, 0.764, 3.381, 0, 329.999, 0, 56 [SEP] 49, Bowl, 1.925, 0.762, 3.895, 0, 270, 0, 56 [SEP] 50, Spoon, 1.996, 0.802, 1.410, 0, 317.0, 0, 69 [SEP] 51, Mug, -0.803, 1.070, 0.646, 0, 90, 0, 108 [SEP] 52, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 53, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 54, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 55, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 56, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 57, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 58, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 59, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 60, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 61, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 62, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 63, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 64, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 65, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 66, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 67, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 68, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 69, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 70, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 71, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 72, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 73, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 74, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 75, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 76, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 77, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 78, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 79, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 80, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 81, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 82, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 83, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 84, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 85, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 86, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 87, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 88, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 89, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 90, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 91, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 92, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 93, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 94, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 95, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 96, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 97, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 98, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 99, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 100, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 101, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 102, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 103, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 104, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 105, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 106, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 107, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 108, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 109, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 110, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 111, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 112, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 113, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 114, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 115, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 116, , , , , , , , [SEP] 117, NorthWall, , , , , , , [SEP] 118, EastWall, , , , , , , [SEP] 119, SouthWall, , , , , , , [SEP] 120, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the coffee machine. | STEP 2: Pick up the mug on the coffee machine. | STEP 3: Walk to the refrigerator on the left. | STEP 4: Cool the mug in the refrigerator for a few seconds, then take it out and close the refrigerator. | STEP 5: Turn right and walk back to the coffee machine. | STEP 6: Put the mug on the coffee machine, in its original position. | END"]} +{"id": "trial_T20190908_184242_348366-1", "input": "cool the cup in the refrigerator, put it in the coffee machine SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 0.25, 0, 180, 0, [SEP] 1, Potato, 1.469, 1.068, -1.560, 0, 90, 0, 55 [SEP] 2, Ladle, -1.159, 1.066, 1.150, 0, 270, 0, 58 [SEP] 3, Ladle, 2.875, 1.066, -1.456, 0, 0, 0, 55 [SEP] 4, DishSponge, 1.297, 0.790, -1.546, 0, 0, 0, 62 [SEP] 5, ButterKnife, 2.299, 1.026, 1.205, 0, 136.999, 0, 55 [SEP] 6, ButterKnife, 2.359, 0.764, 4.129, 0, 329.999, 0, 56 [SEP] 7, WineBottle, 1.916, 1.027, 1.405, 0, 136.999, 0, 55 [SEP] 8, Spoon, 1.409, 1.028, -1.881, 0, 270, 0, 55 [SEP] 9, Spoon, -0.714, 0.825, 1.337, 0, 90, 0, 112 [SEP] 10, Fork, -0.544, 1.028, 0.600, 0, 0, 0, 58 [SEP] 11, Egg, -0.968, 1.486, -0.073, 0, 90, 0, 99 [SEP] 12, Egg, 2.673, 0.808, 4.495, 0, 0, 0, 56 [SEP] 13, Cup, 2.893, 0.763, 4.307, 0, 225, 0, 56 [SEP] 14, Cup, 2.567, 0.033, 0.217, 0, 0, 0, 81 [SEP] 15, Tomato, -0.577, 0.870, 1.492, 0, 90, 0, 112 [SEP] 16, SoapBottle, 2.302, 0.763, 4.495, 0, 0, 0, 56 [SEP] 17, SoapBottle, 2.441, 0.763, 3.540, 0, 329.999, 0, 56 [SEP] 18, Bowl, 1.350, 1.025, -1.774, 0, 90, 0, 55 [SEP] 19, Bowl, 2.808, 0.031, -0.638, 0, 0, 0, 81 [SEP] 20, SaltShaker, -0.669, 1.023, 2.311, 0, 0, 0, 58 [SEP] 21, PepperShaker, 1.170, 1.023, -1.560, 0, 90, 0, 55 [SEP] 22, Bread, 2.706, 1.094, -1.151, 0, 0, 0, 55 [SEP] 23, Lettuce, -0.418, 1.085, 2.311, 0, 0, 0, 58 [SEP] 24, Lettuce, 2.451, 0.822, 3.795, 0, 0, 0, 56 [SEP] 25, Apple, 2.106, 1.911, -1.843, 0, 0, 0, 101 [SEP] 26, Apple, -0.418, 1.077, 0.785, 0, 0, 0, 58 [SEP] 27, Pan, -0.541, 0.048, 0.700, 0, 90, 0, 88 [SEP] 28, Glassbottle, 2.544, 1.027, 1.154, 0, 136.999, 0, 55 [SEP] 29, Knife, -0.448, 0.826, 1.899, 0, 90, 0, 60 [SEP] 30, SoapBottle, 2.138, 0.763, 3.762, 0, 225, 0, 56 [SEP] 31, Egg, 2.868, 0.808, 4.072, 0, 225, 0, 56 [SEP] 32, Fork, -0.714, 0.817, 1.259, 0, 180, 0, 112 [SEP] 33, Potato, 1.895, 1.903, -1.809, 0, 0, 0, 101 [SEP] 34, Ladle, 2.788, 1.066, 1.102, 0, 136.999, 0, 55 [SEP] 35, Tomato, 2.404, 1.080, 1.303, 0, 136.999, 0, 55 [SEP] 36, Pot, 1.836, 1.027, -1.84, 0, 90, 0, 53 [SEP] 37, WineBottle, 2.634, 0.765, 3.651, 0, 329.999, 0, 56 [SEP] 38, Plate, 2.370, 1.027, 1.550, 0, 136.999, 0, 55 [SEP] 39, Spatula, 1.626, 0.815, 1.716, 0, 227.0, 0, 70 [SEP] 40, PaperTowelRoll, 1.469, 1.131, -1.881, 0, 90, 0, 55 [SEP] 41, Lettuce, 2.626, 0.822, 3.970, 0, 270, 0, 56 [SEP] 42, Apple, -0.851, 0.866, 1.414, 0, 90, 0, 112 [SEP] 43, SaltShaker, 2.599, 0.760, 4.495, 0, 0, 0, 56 [SEP] 44, PepperShaker, 2.553, 0.760, 4.387, 0, 225, 0, 56 [SEP] 45, ButterKnife, 2.698, 0.764, 3.688, 0, 329.999, 0, 56 [SEP] 46, Bread, 2.487, 0.832, 4.203, 0, 329.999, 0, 56 [SEP] 47, Cup, 2.451, 0.763, 4.495, 0, 0, 0, 56 [SEP] 48, DishSponge, 2.533, 0.764, 3.381, 0, 329.999, 0, 56 [SEP] 49, Bowl, 1.925, 0.762, 3.895, 0, 270, 0, 56 [SEP] 50, Spoon, 1.996, 0.802, 1.410, 0, 317.0, 0, 69 [SEP] 51, Mug, -0.803, 1.070, 0.646, 0, 90, 0, 108 [SEP] 52, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 53, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 54, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 55, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 56, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 57, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 58, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 59, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 60, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 61, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 62, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 63, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 64, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 65, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 66, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 67, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 68, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 69, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 70, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 71, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 72, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 73, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 74, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 75, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 76, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 77, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 78, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 79, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 80, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 81, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 82, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 83, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 84, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 85, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 86, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 87, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 88, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 89, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 90, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 91, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 92, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 93, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 94, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 95, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 96, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 97, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 98, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 99, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 100, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 101, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 102, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 103, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 104, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 105, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 106, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 107, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 108, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 109, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 110, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 111, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 112, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 113, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 114, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 115, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 116, , , , , , , , [SEP] 117, NorthWall, , , , , , , [SEP] 118, EastWall, , , , , , , [SEP] 119, SouthWall, , , , , , , [SEP] 120, WestWall, , , , , , , ", "output": ["STEP 1: turn around, walk to the coffee machine on the left | STEP 2: grab the cup in the coffee machine | STEP 3: walk to the left a little | STEP 4: open the refrigerator, put the cup in, wait for a while, take the cup out | STEP 5: walk to the right a little | STEP 6: put the cup in the coffee machine | END"]} +{"id": "trial_T20190908_184242_348366-2", "input": "Cool down the cup on the coffee maker. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 0.25, 0, 180, 0, [SEP] 1, Potato, 1.469, 1.068, -1.560, 0, 90, 0, 55 [SEP] 2, Ladle, -1.159, 1.066, 1.150, 0, 270, 0, 58 [SEP] 3, Ladle, 2.875, 1.066, -1.456, 0, 0, 0, 55 [SEP] 4, DishSponge, 1.297, 0.790, -1.546, 0, 0, 0, 62 [SEP] 5, ButterKnife, 2.299, 1.026, 1.205, 0, 136.999, 0, 55 [SEP] 6, ButterKnife, 2.359, 0.764, 4.129, 0, 329.999, 0, 56 [SEP] 7, WineBottle, 1.916, 1.027, 1.405, 0, 136.999, 0, 55 [SEP] 8, Spoon, 1.409, 1.028, -1.881, 0, 270, 0, 55 [SEP] 9, Spoon, -0.714, 0.825, 1.337, 0, 90, 0, 112 [SEP] 10, Fork, -0.544, 1.028, 0.600, 0, 0, 0, 58 [SEP] 11, Egg, -0.968, 1.486, -0.073, 0, 90, 0, 99 [SEP] 12, Egg, 2.673, 0.808, 4.495, 0, 0, 0, 56 [SEP] 13, Cup, 2.893, 0.763, 4.307, 0, 225, 0, 56 [SEP] 14, Cup, 2.567, 0.033, 0.217, 0, 0, 0, 81 [SEP] 15, Tomato, -0.577, 0.870, 1.492, 0, 90, 0, 112 [SEP] 16, SoapBottle, 2.302, 0.763, 4.495, 0, 0, 0, 56 [SEP] 17, SoapBottle, 2.441, 0.763, 3.540, 0, 329.999, 0, 56 [SEP] 18, Bowl, 1.350, 1.025, -1.774, 0, 90, 0, 55 [SEP] 19, Bowl, 2.808, 0.031, -0.638, 0, 0, 0, 81 [SEP] 20, SaltShaker, -0.669, 1.023, 2.311, 0, 0, 0, 58 [SEP] 21, PepperShaker, 1.170, 1.023, -1.560, 0, 90, 0, 55 [SEP] 22, Bread, 2.706, 1.094, -1.151, 0, 0, 0, 55 [SEP] 23, Lettuce, -0.418, 1.085, 2.311, 0, 0, 0, 58 [SEP] 24, Lettuce, 2.451, 0.822, 3.795, 0, 0, 0, 56 [SEP] 25, Apple, 2.106, 1.911, -1.843, 0, 0, 0, 101 [SEP] 26, Apple, -0.418, 1.077, 0.785, 0, 0, 0, 58 [SEP] 27, Pan, -0.541, 0.048, 0.700, 0, 90, 0, 88 [SEP] 28, Glassbottle, 2.544, 1.027, 1.154, 0, 136.999, 0, 55 [SEP] 29, Knife, -0.448, 0.826, 1.899, 0, 90, 0, 60 [SEP] 30, SoapBottle, 2.138, 0.763, 3.762, 0, 225, 0, 56 [SEP] 31, Egg, 2.868, 0.808, 4.072, 0, 225, 0, 56 [SEP] 32, Fork, -0.714, 0.817, 1.259, 0, 180, 0, 112 [SEP] 33, Potato, 1.895, 1.903, -1.809, 0, 0, 0, 101 [SEP] 34, Ladle, 2.788, 1.066, 1.102, 0, 136.999, 0, 55 [SEP] 35, Tomato, 2.404, 1.080, 1.303, 0, 136.999, 0, 55 [SEP] 36, Pot, 1.836, 1.027, -1.84, 0, 90, 0, 53 [SEP] 37, WineBottle, 2.634, 0.765, 3.651, 0, 329.999, 0, 56 [SEP] 38, Plate, 2.370, 1.027, 1.550, 0, 136.999, 0, 55 [SEP] 39, Spatula, 1.626, 0.815, 1.716, 0, 227.0, 0, 70 [SEP] 40, PaperTowelRoll, 1.469, 1.131, -1.881, 0, 90, 0, 55 [SEP] 41, Lettuce, 2.626, 0.822, 3.970, 0, 270, 0, 56 [SEP] 42, Apple, -0.851, 0.866, 1.414, 0, 90, 0, 112 [SEP] 43, SaltShaker, 2.599, 0.760, 4.495, 0, 0, 0, 56 [SEP] 44, PepperShaker, 2.553, 0.760, 4.387, 0, 225, 0, 56 [SEP] 45, ButterKnife, 2.698, 0.764, 3.688, 0, 329.999, 0, 56 [SEP] 46, Bread, 2.487, 0.832, 4.203, 0, 329.999, 0, 56 [SEP] 47, Cup, 2.451, 0.763, 4.495, 0, 0, 0, 56 [SEP] 48, DishSponge, 2.533, 0.764, 3.381, 0, 329.999, 0, 56 [SEP] 49, Bowl, 1.925, 0.762, 3.895, 0, 270, 0, 56 [SEP] 50, Spoon, 1.996, 0.802, 1.410, 0, 317.0, 0, 69 [SEP] 51, Mug, -0.803, 1.070, 0.646, 0, 90, 0, 108 [SEP] 52, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 53, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 54, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 55, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 56, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 57, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 58, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 59, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 60, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 61, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 62, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 63, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 64, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 65, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 66, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 67, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 68, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 69, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 70, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 71, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 72, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 73, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 74, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 75, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 76, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 77, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 78, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 79, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 80, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 81, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 82, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 83, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 84, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 85, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 86, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 87, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 88, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 89, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 90, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 91, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 92, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 93, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 94, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 95, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 96, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 97, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 98, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 99, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 100, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 101, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 102, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 103, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 104, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 105, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 106, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 107, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 108, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 109, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 110, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 111, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 112, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 113, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 114, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 115, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 116, , , , , , , , [SEP] 117, NorthWall, , , , , , , [SEP] 118, EastWall, , , , , , , [SEP] 119, SouthWall, , , , , , , [SEP] 120, WestWall, , , , , , , ", "output": ["STEP 1: Turn right to find the coffee maker on the counter to the right of the fridge. | STEP 2: Pick up the cup from the coffee maker. | STEP 3: Take a step to the left to face the fridge. | STEP 4: Let the cup cool in the fridge and take it back out. | STEP 5: Take a step to the right to face the coffee maker. | STEP 6: Place the cup back on the coffee maker. | END"]} +{"id": "trial_T20190907_130001_953970-0", "input": "Grab the computer from the arm chair, turn off the floor lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.901, 2.0, 0, 180, 0, [SEP] 1, Watch, -1.873, 0.756, 1.554, 0, 0, 0, 42 [SEP] 2, Watch, -1.732, 0.756, 1.133, 0, 0, 0, 42 [SEP] 3, Statue, -1.310, 0.761, 1.554, 0, 0, 0, 42 [SEP] 4, Statue, -1.592, 0.761, 1.554, 0, 0, 0, 42 [SEP] 5, KeyChain, -2.986, 0.066, 6.674, 0, 90, 0, 30 [SEP] 6, RemoteControl, -1.873, 0.844, 6.832, 0, 0, 0, 39 [SEP] 7, Laptop, -2.485, 0.460, 3.626, 0, 0, 0, 32 [SEP] 8, Box, -1.607, 0.151, 6.854, 0, 0, 0, 39 [SEP] 9, Statue, -1.732, 0.761, 0.852, 0, 0, 0, 42 [SEP] 10, Watch, -1.310, 0.756, 1.133, 0, 0, 0, 42 [SEP] 11, WateringCan, -0.208, -0.000, 3.225, 0, 63.928, 0, [SEP] 12, Laptop, -4.380, 0.475, 5.556, 0, 180, 0, 33 [SEP] 13, CreditCard, -1.939, 0.841, 6.565, 0, 0, 0, 39 [SEP] 14, KeyChain, -2.241, 0.401, 3.701, 0, 0, 0, 32 [SEP] 15, Pillow, -4.335, 0.465, 4.398, 0, 0, 0, 33 [SEP] 16, RemoteControl, -3.604, 0.400, 3.628, 0, 0, 0, 41 [SEP] 17, Curtains, -0.037, 2.148, 0.999, 0, 0, 0, [SEP] 18, Painting, -0.016, 2.061, 5.380, 0, 0, 0, [SEP] 19, GarbageCan, -0.256, -0.010, 6.799, 0, 0, 0, [SEP] 20, FloorLamp, -4.721, -0.001, 3.687, 0, 0, 0, [SEP] 21, Television, -3.192, 1.184, 6.767, 0, 180, 0, [SEP] 22, HousePlant, -0.173, 0.610, 3.994, 0, 0, 0, [SEP] 23, LightSwitch, -3.483, 1.470, 0.001, 0, 0, 0, [SEP] 24, DeskLamp, -0.258, 0.611, 3.312, 0, 0, 0, [SEP] 25, Window, -0.008, 1.340, 1.725, 90, 270, 0, [SEP] 26, SideTable, -4.190, 0.000, 3.587, 0, 0, 0, [SEP] 27, Drawer, -2.925, 0.475, 6.717, 0, 180, 0, [SEP] 28, Drawer, -3.476, 0.475, 6.717, 0, 180, 0, [SEP] 29, Dresser, -3.201, -0.001, 6.791, 0, 180, 0, [SEP] 30, Drawer, -2.925, 0.165, 6.719, 0, 180, 0, [SEP] 31, Drawer, -3.476, 0.165, 6.719, 0, 180, 0, [SEP] 32, ArmChair, -2.448, 0.002, 3.501, 0, 0, 0, [SEP] 33, Sofa, -4.425, 0.014, 5.062, 0, 90, 0, [SEP] 34, Ottoman, -2.374, 0.000, 4.483, 0, 0, 0, [SEP] 35, Chair, -2.151, 0.004, 1.284, 0, 90, 0, [SEP] 36, Chair, -1.549, 0.004, 1.780, 0, 195.000, 0, [SEP] 37, Chair, -1.626, 0.004, 0.778, 0, 10.166, 0, [SEP] 38, Chair, -1.076, 0.004, 1.292, 0, 265.171, 0, [SEP] 39, SideTable, -2.071, 0.000, 6.699, 0, 0, 0, [SEP] 40, SideTable, -0.244, -0.000, 3.524, 0, 270, 0, [SEP] 41, ArmChair, -3.545, 0.005, 3.579, 0, 0, 0, [SEP] 42, DiningTable, -1.592, 0.006, 1.274, 0, 0, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around, walk to the red arm chair | STEP 2: Grab the computer on the arm chair | STEP 3: Turn left, walk to the floor lamp | STEP 4: Turn off the floor lamp by the sofa | END"]} +{"id": "trial_T20190907_130001_953970-1", "input": "To pick up a laptop before turning off a lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.901, 2.0, 0, 180, 0, [SEP] 1, Watch, -1.873, 0.756, 1.554, 0, 0, 0, 42 [SEP] 2, Watch, -1.732, 0.756, 1.133, 0, 0, 0, 42 [SEP] 3, Statue, -1.310, 0.761, 1.554, 0, 0, 0, 42 [SEP] 4, Statue, -1.592, 0.761, 1.554, 0, 0, 0, 42 [SEP] 5, KeyChain, -2.986, 0.066, 6.674, 0, 90, 0, 30 [SEP] 6, RemoteControl, -1.873, 0.844, 6.832, 0, 0, 0, 39 [SEP] 7, Laptop, -2.485, 0.460, 3.626, 0, 0, 0, 32 [SEP] 8, Box, -1.607, 0.151, 6.854, 0, 0, 0, 39 [SEP] 9, Statue, -1.732, 0.761, 0.852, 0, 0, 0, 42 [SEP] 10, Watch, -1.310, 0.756, 1.133, 0, 0, 0, 42 [SEP] 11, WateringCan, -0.208, -0.000, 3.225, 0, 63.928, 0, [SEP] 12, Laptop, -4.380, 0.475, 5.556, 0, 180, 0, 33 [SEP] 13, CreditCard, -1.939, 0.841, 6.565, 0, 0, 0, 39 [SEP] 14, KeyChain, -2.241, 0.401, 3.701, 0, 0, 0, 32 [SEP] 15, Pillow, -4.335, 0.465, 4.398, 0, 0, 0, 33 [SEP] 16, RemoteControl, -3.604, 0.400, 3.628, 0, 0, 0, 41 [SEP] 17, Curtains, -0.037, 2.148, 0.999, 0, 0, 0, [SEP] 18, Painting, -0.016, 2.061, 5.380, 0, 0, 0, [SEP] 19, GarbageCan, -0.256, -0.010, 6.799, 0, 0, 0, [SEP] 20, FloorLamp, -4.721, -0.001, 3.687, 0, 0, 0, [SEP] 21, Television, -3.192, 1.184, 6.767, 0, 180, 0, [SEP] 22, HousePlant, -0.173, 0.610, 3.994, 0, 0, 0, [SEP] 23, LightSwitch, -3.483, 1.470, 0.001, 0, 0, 0, [SEP] 24, DeskLamp, -0.258, 0.611, 3.312, 0, 0, 0, [SEP] 25, Window, -0.008, 1.340, 1.725, 90, 270, 0, [SEP] 26, SideTable, -4.190, 0.000, 3.587, 0, 0, 0, [SEP] 27, Drawer, -2.925, 0.475, 6.717, 0, 180, 0, [SEP] 28, Drawer, -3.476, 0.475, 6.717, 0, 180, 0, [SEP] 29, Dresser, -3.201, -0.001, 6.791, 0, 180, 0, [SEP] 30, Drawer, -2.925, 0.165, 6.719, 0, 180, 0, [SEP] 31, Drawer, -3.476, 0.165, 6.719, 0, 180, 0, [SEP] 32, ArmChair, -2.448, 0.002, 3.501, 0, 0, 0, [SEP] 33, Sofa, -4.425, 0.014, 5.062, 0, 90, 0, [SEP] 34, Ottoman, -2.374, 0.000, 4.483, 0, 0, 0, [SEP] 35, Chair, -2.151, 0.004, 1.284, 0, 90, 0, [SEP] 36, Chair, -1.549, 0.004, 1.780, 0, 195.000, 0, [SEP] 37, Chair, -1.626, 0.004, 0.778, 0, 10.166, 0, [SEP] 38, Chair, -1.076, 0.004, 1.292, 0, 265.171, 0, [SEP] 39, SideTable, -2.071, 0.000, 6.699, 0, 0, 0, [SEP] 40, SideTable, -0.244, -0.000, 3.524, 0, 270, 0, [SEP] 41, ArmChair, -3.545, 0.005, 3.579, 0, 0, 0, [SEP] 42, DiningTable, -1.592, 0.006, 1.274, 0, 0, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, SouthWall, , , , , , , ", "output": ["STEP 1: Turn to the left twice and approach the back of the red chair with the laptop on it. | STEP 2: Pick up the laptop to close it. | STEP 3: Turn to the left and cross the room, before turning to the right to face the couch. | STEP 4: Look up to turn off the lamp. | END"]} +{"id": "trial_T20190907_130001_953970-2", "input": "Turn off the lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.901, 2.0, 0, 180, 0, [SEP] 1, Watch, -1.873, 0.756, 1.554, 0, 0, 0, 42 [SEP] 2, Watch, -1.732, 0.756, 1.133, 0, 0, 0, 42 [SEP] 3, Statue, -1.310, 0.761, 1.554, 0, 0, 0, 42 [SEP] 4, Statue, -1.592, 0.761, 1.554, 0, 0, 0, 42 [SEP] 5, KeyChain, -2.986, 0.066, 6.674, 0, 90, 0, 30 [SEP] 6, RemoteControl, -1.873, 0.844, 6.832, 0, 0, 0, 39 [SEP] 7, Laptop, -2.485, 0.460, 3.626, 0, 0, 0, 32 [SEP] 8, Box, -1.607, 0.151, 6.854, 0, 0, 0, 39 [SEP] 9, Statue, -1.732, 0.761, 0.852, 0, 0, 0, 42 [SEP] 10, Watch, -1.310, 0.756, 1.133, 0, 0, 0, 42 [SEP] 11, WateringCan, -0.208, -0.000, 3.225, 0, 63.928, 0, [SEP] 12, Laptop, -4.380, 0.475, 5.556, 0, 180, 0, 33 [SEP] 13, CreditCard, -1.939, 0.841, 6.565, 0, 0, 0, 39 [SEP] 14, KeyChain, -2.241, 0.401, 3.701, 0, 0, 0, 32 [SEP] 15, Pillow, -4.335, 0.465, 4.398, 0, 0, 0, 33 [SEP] 16, RemoteControl, -3.604, 0.400, 3.628, 0, 0, 0, 41 [SEP] 17, Curtains, -0.037, 2.148, 0.999, 0, 0, 0, [SEP] 18, Painting, -0.016, 2.061, 5.380, 0, 0, 0, [SEP] 19, GarbageCan, -0.256, -0.010, 6.799, 0, 0, 0, [SEP] 20, FloorLamp, -4.721, -0.001, 3.687, 0, 0, 0, [SEP] 21, Television, -3.192, 1.184, 6.767, 0, 180, 0, [SEP] 22, HousePlant, -0.173, 0.610, 3.994, 0, 0, 0, [SEP] 23, LightSwitch, -3.483, 1.470, 0.001, 0, 0, 0, [SEP] 24, DeskLamp, -0.258, 0.611, 3.312, 0, 0, 0, [SEP] 25, Window, -0.008, 1.340, 1.725, 90, 270, 0, [SEP] 26, SideTable, -4.190, 0.000, 3.587, 0, 0, 0, [SEP] 27, Drawer, -2.925, 0.475, 6.717, 0, 180, 0, [SEP] 28, Drawer, -3.476, 0.475, 6.717, 0, 180, 0, [SEP] 29, Dresser, -3.201, -0.001, 6.791, 0, 180, 0, [SEP] 30, Drawer, -2.925, 0.165, 6.719, 0, 180, 0, [SEP] 31, Drawer, -3.476, 0.165, 6.719, 0, 180, 0, [SEP] 32, ArmChair, -2.448, 0.002, 3.501, 0, 0, 0, [SEP] 33, Sofa, -4.425, 0.014, 5.062, 0, 90, 0, [SEP] 34, Ottoman, -2.374, 0.000, 4.483, 0, 0, 0, [SEP] 35, Chair, -2.151, 0.004, 1.284, 0, 90, 0, [SEP] 36, Chair, -1.549, 0.004, 1.780, 0, 195.000, 0, [SEP] 37, Chair, -1.626, 0.004, 0.778, 0, 10.166, 0, [SEP] 38, Chair, -1.076, 0.004, 1.292, 0, 265.171, 0, [SEP] 39, SideTable, -2.071, 0.000, 6.699, 0, 0, 0, [SEP] 40, SideTable, -0.244, -0.000, 3.524, 0, 270, 0, [SEP] 41, ArmChair, -3.545, 0.005, 3.579, 0, 0, 0, [SEP] 42, DiningTable, -1.592, 0.006, 1.274, 0, 0, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the red chair | STEP 2: Close the laptop that is sitting on the red chair then pick it up | STEP 3: Turn left and walk to the lamp across the room. | STEP 4: Turn off the lamp | END"]} +{"id": "trial_T20190908_023400_293044-0", "input": "Place a towel in the bath tub.", "output": ["STEP 1: Turn around and find the holder on the wall. | STEP 2: Take the towel off of the holder. | STEP 3: Carry the towel and move a few steps to the left to face the bath tub. | STEP 4: Place the towel inside the bath tub. | END"]} +{"id": "trial_T20190908_023400_293044-1", "input": "Move a hand towel to the tub", "output": ["STEP 1: Move across the room to the towel holder on the wall to the right of the mirror | STEP 2: Pick up the hand towel on top of the towel ring | STEP 3: Carry the towel to the bath tub | STEP 4: Place the hand towel in the middle of the tub | END"]} +{"id": "trial_T20190908_023400_293044-2", "input": "Put a towel in a tub.", "output": ["STEP 1: Move to the left and face the white towel hanging to the right of the mirror. | STEP 2: Take the towel down from the towel ring. | STEP 3: Turn to the left and face the tub. | STEP 4: Put the towel in the tub. | END"]} +{"id": "trial_T20190908_042713_075616-0", "input": "Place a chilled head of lettuce on a counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, -1.75, 0, 90, 0, [SEP] 1, Potato, -1.999, 0.257, 1.085, 0, 90, 0, 90 [SEP] 2, Potato, -1.935, 0.078, 1.885, 0, 270, 0, 88 [SEP] 3, CreditCard, 0.777, 0.642, -2.375, 0, 0, 0, 62 [SEP] 4, Plate, -0.912, 0.133, -2.352, 0, 0, 0, 75 [SEP] 5, Tomato, -2.121, 0.579, 1.003, 0, 90, 0, 90 [SEP] 6, Tomato, -2.163, 1.542, 0.841, 0, 90, 0, 90 [SEP] 7, SaltShaker, 0.453, 0.907, -2.714, 0, 0, 0, 59 [SEP] 8, Bread, -0.197, 1.184, 0.757, 0, 0, 0, 57 [SEP] 9, Bread, -1.143, 0.983, -2.637, 0, 0, 0, 82 [SEP] 10, Apple, -0.173, 1.841, -2.482, 0, 0, 0, 83 [SEP] 11, Fork, -1.908, 0.770, -1.414, 0, 90, 0, 92 [SEP] 12, Spoon, -1.797, 0.770, -1.328, 0, 0, 0, 92 [SEP] 13, Mug, 1.582, 0.548, -2.666, 0, 180, 0, 87 [SEP] 14, Mug, -1.982, 1.301, 1.260, 0, 90, 0, 90 [SEP] 15, Spatula, -0.059, 1.126, -0.506, 0, 0, 0, 57 [SEP] 16, Kettle, -1.715, 0.130, 0.158, 0, 90, 0, 63 [SEP] 17, Glassbottle, 0.079, 1.112, -0.001, 0, 0, 0, 57 [SEP] 18, Glassbottle, -1.963, 0.770, -1.760, 0, 90, 0, 92 [SEP] 19, DishSponge, -1.908, 0.769, -1.242, 0, 90, 0, 92 [SEP] 20, DishSponge, 0.355, 1.111, -0.506, 0, 0, 0, 57 [SEP] 21, Bowl, -0.197, 1.108, 0.251, 0, 0, 0, 57 [SEP] 22, Book, 0.155, 1.1, 0.617, 0, 315, 0, 57 [SEP] 23, Glassbottle, 0.969, 0.911, -2.253, 0, 0, 0, 59 [SEP] 24, Knife, -1.963, 0.795, -1.673, 0, 180, 0, 92 [SEP] 25, Bread, 0.079, 1.184, 0.251, 0, 0, 0, 57 [SEP] 26, Fork, 0.453, 0.911, -2.637, 0, 0, 0, 59 [SEP] 27, Potato, -0.328, 1.820, -2.514, 0, 0, 0, 83 [SEP] 28, SoapBottle, -1.989, 0.048, 1.981, 0, 270, 0, 88 [SEP] 29, Kettle, -0.036, 0.950, -2.576, 0, 270, 0, 60 [SEP] 30, Pan, -0.465, 0.950, -2.372, 0, 90, 0, 55 [SEP] 31, Plate, -2.122, 1.499, 1.008, 0, 90, 0, 90 [SEP] 32, Tomato, -1.935, 0.087, 2.076, 0, 270, 0, 88 [SEP] 33, Vase, 2.042, 0.540, -2.495, 0, 0, 0, 87 [SEP] 34, Egg, -0.197, 1.146, -0.253, 0, 0, 0, 57 [SEP] 35, CreditCard, 1.098, 0.907, -2.484, 0, 0, 0, 59 [SEP] 36, Statue, -0.059, 1.110, -0.759, 0, 0, 0, 57 [SEP] 37, WineBottle, -0.335, 1.112, 0.504, 0, 0, 0, 57 [SEP] 38, Pot, -2.037, 0.802, 1.251, 0, 90, 0, 90 [SEP] 39, Spatula, 1.098, 0.925, -2.637, 0, 90, 0, 59 [SEP] 40, PaperTowelRoll, 0.079, 1.215, -0.253, 0, 0, 0, 57 [SEP] 41, Cup, -2.040, 1.500, 1.343, 0, 90, 0, 90 [SEP] 42, Vase, 1.478, 0.550, -2.511, 0, 180, 0, 87 [SEP] 43, Bowl, -0.059, 1.108, -0.253, 0, 0, 0, 57 [SEP] 44, SaltShaker, 1.121, 0.138, -2.237, 0, 0, 0, 77 [SEP] 45, PepperShaker, 1.482, 0.877, -2.617, 0, 180, 0, 84 [SEP] 46, Lettuce, 0.582, 0.990, -2.484, 0, 0, 0, 59 [SEP] 47, ButterKnife, -1.774, 0.911, -0.698, 0, 0, 0, 82 [SEP] 48, Apple, 0.453, 0.961, -2.330, 0, 0, 0, 59 [SEP] 49, DishSponge, -2.018, 0.769, -1.501, 0, 90, 0, 92 [SEP] 50, Spoon, 0.893, 0.316, -2.383, 0, 0, 0, 61 [SEP] 51, Mug, -1.852, 0.764, -1.587, 0, 90, 0, 92 [SEP] 52, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0, [SEP] 53, Drawer, 0.949, 0.832, -2.197, 0, 0, 0, [SEP] 54, Drawer, -1.560, 0.839, 0.204, 0, 90, 0, [SEP] 55, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0, [SEP] 56, Drawer, -1.560, 0.839, -0.197, 0, 90, 0, [SEP] 57, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0, [SEP] 58, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0, [SEP] 59, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0, [SEP] 60, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0, [SEP] 61, Drawer, 0.949, 0.393, -2.200, 0, 0, 0, [SEP] 62, Drawer, 0.949, 0.708, -2.200, 0, 0, 0, [SEP] 63, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0, [SEP] 64, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0, [SEP] 65, Drawer, 0.949, 0.560, -2.201, 0, 0, 0, [SEP] 66, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0, [SEP] 67, Window, -2.230, 1.429, -1.203, 0, 0, 0, [SEP] 68, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0, [SEP] 69, Sink, -1.899, 0.964, -1.5, 0, 90, 0, [SEP] 70, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0, [SEP] 71, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0, [SEP] 72, Drawer, -1.560, 0.655, -0.196, 0, 90, 0, [SEP] 73, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0, [SEP] 74, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0, [SEP] 75, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0, [SEP] 76, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0, [SEP] 77, Drawer, 0.949, 0.221, -2.200, 0, 0, 0, [SEP] 78, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0, [SEP] 79, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0, [SEP] 80, Drawer, -1.560, 0.331, -0.196, 0, 90, 0, [SEP] 81, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0, [SEP] 82, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0, [SEP] 83, Microwave, -0.236, 1.689, -2.525, 0, 0, 0, [SEP] 84, Shelf, 1.751, 0.880, -2.560, 0, 0, 0, [SEP] 85, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0, [SEP] 86, Toaster, -1.835, 0.900, 0.134, 0, 90, 0, [SEP] 87, Shelf, 1.750, 0.552, -2.559, 0, 0, 0, [SEP] 88, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0, [SEP] 89, Shelf, 1.750, 0.172, -2.559, 0, 0, 0, [SEP] 90, Fridge, -2.096, 0.0, 1.088, 0, 0, 0, [SEP] 91, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0, [SEP] 92, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0, [SEP] 93, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0, [SEP] 94, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0, [SEP] 95, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0, [SEP] 96, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0, [SEP] 97, Faucet, -2.070, 1.132, -1.514, 0, 0, 0, [SEP] 98, NorthWall, , , , , , , [SEP] 99, EastWall, , , , , , , [SEP] 100, SouthWall, , , , , , , [SEP] 101, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and face the counter. | STEP 2: Pick up the lettuce on the counter. | STEP 3: Turn right and then right again when you get to the counter, headed to the fridge. | STEP 4: Place the lettuce in the fridge to the left of the pot. Close the door, wait a moment, and take it out again. | STEP 5: Turn left and walk to the sink on the right counter. | STEP 6: Place the lettuce on the counter to the left of the sink. | END"]} +{"id": "trial_T20190908_042713_075616-1", "input": "Chill a head of lettuce then place on the counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, -1.75, 0, 90, 0, [SEP] 1, Potato, -1.999, 0.257, 1.085, 0, 90, 0, 90 [SEP] 2, Potato, -1.935, 0.078, 1.885, 0, 270, 0, 88 [SEP] 3, CreditCard, 0.777, 0.642, -2.375, 0, 0, 0, 62 [SEP] 4, Plate, -0.912, 0.133, -2.352, 0, 0, 0, 75 [SEP] 5, Tomato, -2.121, 0.579, 1.003, 0, 90, 0, 90 [SEP] 6, Tomato, -2.163, 1.542, 0.841, 0, 90, 0, 90 [SEP] 7, SaltShaker, 0.453, 0.907, -2.714, 0, 0, 0, 59 [SEP] 8, Bread, -0.197, 1.184, 0.757, 0, 0, 0, 57 [SEP] 9, Bread, -1.143, 0.983, -2.637, 0, 0, 0, 82 [SEP] 10, Apple, -0.173, 1.841, -2.482, 0, 0, 0, 83 [SEP] 11, Fork, -1.908, 0.770, -1.414, 0, 90, 0, 92 [SEP] 12, Spoon, -1.797, 0.770, -1.328, 0, 0, 0, 92 [SEP] 13, Mug, 1.582, 0.548, -2.666, 0, 180, 0, 87 [SEP] 14, Mug, -1.982, 1.301, 1.260, 0, 90, 0, 90 [SEP] 15, Spatula, -0.059, 1.126, -0.506, 0, 0, 0, 57 [SEP] 16, Kettle, -1.715, 0.130, 0.158, 0, 90, 0, 63 [SEP] 17, Glassbottle, 0.079, 1.112, -0.001, 0, 0, 0, 57 [SEP] 18, Glassbottle, -1.963, 0.770, -1.760, 0, 90, 0, 92 [SEP] 19, DishSponge, -1.908, 0.769, -1.242, 0, 90, 0, 92 [SEP] 20, DishSponge, 0.355, 1.111, -0.506, 0, 0, 0, 57 [SEP] 21, Bowl, -0.197, 1.108, 0.251, 0, 0, 0, 57 [SEP] 22, Book, 0.155, 1.1, 0.617, 0, 315, 0, 57 [SEP] 23, Glassbottle, 0.969, 0.911, -2.253, 0, 0, 0, 59 [SEP] 24, Knife, -1.963, 0.795, -1.673, 0, 180, 0, 92 [SEP] 25, Bread, 0.079, 1.184, 0.251, 0, 0, 0, 57 [SEP] 26, Fork, 0.453, 0.911, -2.637, 0, 0, 0, 59 [SEP] 27, Potato, -0.328, 1.820, -2.514, 0, 0, 0, 83 [SEP] 28, SoapBottle, -1.989, 0.048, 1.981, 0, 270, 0, 88 [SEP] 29, Kettle, -0.036, 0.950, -2.576, 0, 270, 0, 60 [SEP] 30, Pan, -0.465, 0.950, -2.372, 0, 90, 0, 55 [SEP] 31, Plate, -2.122, 1.499, 1.008, 0, 90, 0, 90 [SEP] 32, Tomato, -1.935, 0.087, 2.076, 0, 270, 0, 88 [SEP] 33, Vase, 2.042, 0.540, -2.495, 0, 0, 0, 87 [SEP] 34, Egg, -0.197, 1.146, -0.253, 0, 0, 0, 57 [SEP] 35, CreditCard, 1.098, 0.907, -2.484, 0, 0, 0, 59 [SEP] 36, Statue, -0.059, 1.110, -0.759, 0, 0, 0, 57 [SEP] 37, WineBottle, -0.335, 1.112, 0.504, 0, 0, 0, 57 [SEP] 38, Pot, -2.037, 0.802, 1.251, 0, 90, 0, 90 [SEP] 39, Spatula, 1.098, 0.925, -2.637, 0, 90, 0, 59 [SEP] 40, PaperTowelRoll, 0.079, 1.215, -0.253, 0, 0, 0, 57 [SEP] 41, Cup, -2.040, 1.500, 1.343, 0, 90, 0, 90 [SEP] 42, Vase, 1.478, 0.550, -2.511, 0, 180, 0, 87 [SEP] 43, Bowl, -0.059, 1.108, -0.253, 0, 0, 0, 57 [SEP] 44, SaltShaker, 1.121, 0.138, -2.237, 0, 0, 0, 77 [SEP] 45, PepperShaker, 1.482, 0.877, -2.617, 0, 180, 0, 84 [SEP] 46, Lettuce, 0.582, 0.990, -2.484, 0, 0, 0, 59 [SEP] 47, ButterKnife, -1.774, 0.911, -0.698, 0, 0, 0, 82 [SEP] 48, Apple, 0.453, 0.961, -2.330, 0, 0, 0, 59 [SEP] 49, DishSponge, -2.018, 0.769, -1.501, 0, 90, 0, 92 [SEP] 50, Spoon, 0.893, 0.316, -2.383, 0, 0, 0, 61 [SEP] 51, Mug, -1.852, 0.764, -1.587, 0, 90, 0, 92 [SEP] 52, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0, [SEP] 53, Drawer, 0.949, 0.832, -2.197, 0, 0, 0, [SEP] 54, Drawer, -1.560, 0.839, 0.204, 0, 90, 0, [SEP] 55, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0, [SEP] 56, Drawer, -1.560, 0.839, -0.197, 0, 90, 0, [SEP] 57, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0, [SEP] 58, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0, [SEP] 59, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0, [SEP] 60, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0, [SEP] 61, Drawer, 0.949, 0.393, -2.200, 0, 0, 0, [SEP] 62, Drawer, 0.949, 0.708, -2.200, 0, 0, 0, [SEP] 63, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0, [SEP] 64, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0, [SEP] 65, Drawer, 0.949, 0.560, -2.201, 0, 0, 0, [SEP] 66, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0, [SEP] 67, Window, -2.230, 1.429, -1.203, 0, 0, 0, [SEP] 68, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0, [SEP] 69, Sink, -1.899, 0.964, -1.5, 0, 90, 0, [SEP] 70, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0, [SEP] 71, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0, [SEP] 72, Drawer, -1.560, 0.655, -0.196, 0, 90, 0, [SEP] 73, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0, [SEP] 74, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0, [SEP] 75, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0, [SEP] 76, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0, [SEP] 77, Drawer, 0.949, 0.221, -2.200, 0, 0, 0, [SEP] 78, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0, [SEP] 79, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0, [SEP] 80, Drawer, -1.560, 0.331, -0.196, 0, 90, 0, [SEP] 81, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0, [SEP] 82, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0, [SEP] 83, Microwave, -0.236, 1.689, -2.525, 0, 0, 0, [SEP] 84, Shelf, 1.751, 0.880, -2.560, 0, 0, 0, [SEP] 85, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0, [SEP] 86, Toaster, -1.835, 0.900, 0.134, 0, 90, 0, [SEP] 87, Shelf, 1.750, 0.552, -2.559, 0, 0, 0, [SEP] 88, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0, [SEP] 89, Shelf, 1.750, 0.172, -2.559, 0, 0, 0, [SEP] 90, Fridge, -2.096, 0.0, 1.088, 0, 0, 0, [SEP] 91, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0, [SEP] 92, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0, [SEP] 93, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0, [SEP] 94, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0, [SEP] 95, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0, [SEP] 96, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0, [SEP] 97, Faucet, -2.070, 1.132, -1.514, 0, 0, 0, [SEP] 98, NorthWall, , , , , , , [SEP] 99, EastWall, , , , , , , [SEP] 100, SouthWall, , , , , , , [SEP] 101, WestWall, , , , , , , ", "output": ["STEP 1: Move to the right facing the lettuce on the counter | STEP 2: Pick up the lettuce on top of the counter | STEP 3: Carry the lettuce to the white fridge to the right of the counter | STEP 4: Place the lettuce in the fridge then open the fridge and remove lettuce | STEP 5: Carry the lettuce to the left counter top next to the sink | STEP 6: Place the lettuce on top of the counter to the left of the sink | END"]} +{"id": "trial_T20190908_042713_075616-2", "input": "Put a chilled head of lettuce on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, -1.75, 0, 90, 0, [SEP] 1, Potato, -1.999, 0.257, 1.085, 0, 90, 0, 90 [SEP] 2, Potato, -1.935, 0.078, 1.885, 0, 270, 0, 88 [SEP] 3, CreditCard, 0.777, 0.642, -2.375, 0, 0, 0, 62 [SEP] 4, Plate, -0.912, 0.133, -2.352, 0, 0, 0, 75 [SEP] 5, Tomato, -2.121, 0.579, 1.003, 0, 90, 0, 90 [SEP] 6, Tomato, -2.163, 1.542, 0.841, 0, 90, 0, 90 [SEP] 7, SaltShaker, 0.453, 0.907, -2.714, 0, 0, 0, 59 [SEP] 8, Bread, -0.197, 1.184, 0.757, 0, 0, 0, 57 [SEP] 9, Bread, -1.143, 0.983, -2.637, 0, 0, 0, 82 [SEP] 10, Apple, -0.173, 1.841, -2.482, 0, 0, 0, 83 [SEP] 11, Fork, -1.908, 0.770, -1.414, 0, 90, 0, 92 [SEP] 12, Spoon, -1.797, 0.770, -1.328, 0, 0, 0, 92 [SEP] 13, Mug, 1.582, 0.548, -2.666, 0, 180, 0, 87 [SEP] 14, Mug, -1.982, 1.301, 1.260, 0, 90, 0, 90 [SEP] 15, Spatula, -0.059, 1.126, -0.506, 0, 0, 0, 57 [SEP] 16, Kettle, -1.715, 0.130, 0.158, 0, 90, 0, 63 [SEP] 17, Glassbottle, 0.079, 1.112, -0.001, 0, 0, 0, 57 [SEP] 18, Glassbottle, -1.963, 0.770, -1.760, 0, 90, 0, 92 [SEP] 19, DishSponge, -1.908, 0.769, -1.242, 0, 90, 0, 92 [SEP] 20, DishSponge, 0.355, 1.111, -0.506, 0, 0, 0, 57 [SEP] 21, Bowl, -0.197, 1.108, 0.251, 0, 0, 0, 57 [SEP] 22, Book, 0.155, 1.1, 0.617, 0, 315, 0, 57 [SEP] 23, Glassbottle, 0.969, 0.911, -2.253, 0, 0, 0, 59 [SEP] 24, Knife, -1.963, 0.795, -1.673, 0, 180, 0, 92 [SEP] 25, Bread, 0.079, 1.184, 0.251, 0, 0, 0, 57 [SEP] 26, Fork, 0.453, 0.911, -2.637, 0, 0, 0, 59 [SEP] 27, Potato, -0.328, 1.820, -2.514, 0, 0, 0, 83 [SEP] 28, SoapBottle, -1.989, 0.048, 1.981, 0, 270, 0, 88 [SEP] 29, Kettle, -0.036, 0.950, -2.576, 0, 270, 0, 60 [SEP] 30, Pan, -0.465, 0.950, -2.372, 0, 90, 0, 55 [SEP] 31, Plate, -2.122, 1.499, 1.008, 0, 90, 0, 90 [SEP] 32, Tomato, -1.935, 0.087, 2.076, 0, 270, 0, 88 [SEP] 33, Vase, 2.042, 0.540, -2.495, 0, 0, 0, 87 [SEP] 34, Egg, -0.197, 1.146, -0.253, 0, 0, 0, 57 [SEP] 35, CreditCard, 1.098, 0.907, -2.484, 0, 0, 0, 59 [SEP] 36, Statue, -0.059, 1.110, -0.759, 0, 0, 0, 57 [SEP] 37, WineBottle, -0.335, 1.112, 0.504, 0, 0, 0, 57 [SEP] 38, Pot, -2.037, 0.802, 1.251, 0, 90, 0, 90 [SEP] 39, Spatula, 1.098, 0.925, -2.637, 0, 90, 0, 59 [SEP] 40, PaperTowelRoll, 0.079, 1.215, -0.253, 0, 0, 0, 57 [SEP] 41, Cup, -2.040, 1.500, 1.343, 0, 90, 0, 90 [SEP] 42, Vase, 1.478, 0.550, -2.511, 0, 180, 0, 87 [SEP] 43, Bowl, -0.059, 1.108, -0.253, 0, 0, 0, 57 [SEP] 44, SaltShaker, 1.121, 0.138, -2.237, 0, 0, 0, 77 [SEP] 45, PepperShaker, 1.482, 0.877, -2.617, 0, 180, 0, 84 [SEP] 46, Lettuce, 0.582, 0.990, -2.484, 0, 0, 0, 59 [SEP] 47, ButterKnife, -1.774, 0.911, -0.698, 0, 0, 0, 82 [SEP] 48, Apple, 0.453, 0.961, -2.330, 0, 0, 0, 59 [SEP] 49, DishSponge, -2.018, 0.769, -1.501, 0, 90, 0, 92 [SEP] 50, Spoon, 0.893, 0.316, -2.383, 0, 0, 0, 61 [SEP] 51, Mug, -1.852, 0.764, -1.587, 0, 90, 0, 92 [SEP] 52, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0, [SEP] 53, Drawer, 0.949, 0.832, -2.197, 0, 0, 0, [SEP] 54, Drawer, -1.560, 0.839, 0.204, 0, 90, 0, [SEP] 55, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0, [SEP] 56, Drawer, -1.560, 0.839, -0.197, 0, 90, 0, [SEP] 57, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0, [SEP] 58, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0, [SEP] 59, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0, [SEP] 60, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0, [SEP] 61, Drawer, 0.949, 0.393, -2.200, 0, 0, 0, [SEP] 62, Drawer, 0.949, 0.708, -2.200, 0, 0, 0, [SEP] 63, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0, [SEP] 64, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0, [SEP] 65, Drawer, 0.949, 0.560, -2.201, 0, 0, 0, [SEP] 66, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0, [SEP] 67, Window, -2.230, 1.429, -1.203, 0, 0, 0, [SEP] 68, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0, [SEP] 69, Sink, -1.899, 0.964, -1.5, 0, 90, 0, [SEP] 70, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0, [SEP] 71, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0, [SEP] 72, Drawer, -1.560, 0.655, -0.196, 0, 90, 0, [SEP] 73, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0, [SEP] 74, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0, [SEP] 75, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0, [SEP] 76, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0, [SEP] 77, Drawer, 0.949, 0.221, -2.200, 0, 0, 0, [SEP] 78, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0, [SEP] 79, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0, [SEP] 80, Drawer, -1.560, 0.331, -0.196, 0, 90, 0, [SEP] 81, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0, [SEP] 82, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0, [SEP] 83, Microwave, -0.236, 1.689, -2.525, 0, 0, 0, [SEP] 84, Shelf, 1.751, 0.880, -2.560, 0, 0, 0, [SEP] 85, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0, [SEP] 86, Toaster, -1.835, 0.900, 0.134, 0, 90, 0, [SEP] 87, Shelf, 1.750, 0.552, -2.559, 0, 0, 0, [SEP] 88, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0, [SEP] 89, Shelf, 1.750, 0.172, -2.559, 0, 0, 0, [SEP] 90, Fridge, -2.096, 0.0, 1.088, 0, 0, 0, [SEP] 91, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0, [SEP] 92, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0, [SEP] 93, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0, [SEP] 94, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0, [SEP] 95, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0, [SEP] 96, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0, [SEP] 97, Faucet, -2.070, 1.132, -1.514, 0, 0, 0, [SEP] 98, NorthWall, , , , , , , [SEP] 99, EastWall, , , , , , , [SEP] 100, SouthWall, , , , , , , [SEP] 101, WestWall, , , , , , , ", "output": ["STEP 1: Take a step forward, then turn right and walk up to the counter. | STEP 2: Pick up the head of lettuce off of the counter. | STEP 3: Turn right and walk over to the sink, then turn right and walk to the fridge. | STEP 4: Open the fridge door and put the head of lettuce inside, then close the fridge door, after a couple seconds open the fridge back up and remove the head of lettuce. | STEP 5: Turn left and walk towards the counter, then turn right to face the sink. | STEP 6: Put the chilled head of lettuce on the counter to the left of the sink. | END"]} +{"id": "trial_T20190907_122204_941737-0", "input": "Put the vases on the wooden shelf SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 1.75, 0, 0, 0, [SEP] 1, Statue, 0.217, 1.110, -0.759, 0, 270, 0, 60 [SEP] 2, Plate, -1.346, 1.655, -2.604, 0, 0, 0, 76 [SEP] 3, Plate, -1.765, 0.126, 0.248, 0, 90, 0, 66 [SEP] 4, SoapBottle, 1.789, 0.554, -2.614, 0, 180, 0, 90 [SEP] 5, SaltShaker, 0.279, 0.136, -2.337, 0, 0, 0, 77 [SEP] 6, Bread, -1.611, 0.983, -0.884, 0, 0, 0, 85 [SEP] 7, Lettuce, -0.197, 1.191, 0.757, 0, 0, 0, 60 [SEP] 8, Lettuce, -1.143, 0.991, -2.637, 0, 0, 0, 85 [SEP] 9, Apple, -0.197, 1.162, 0.251, 0, 0, 0, 60 [SEP] 10, Knife, 0.079, 1.136, -0.253, 0, 180, 0, 60 [SEP] 11, Knife, -0.059, 1.136, -0.253, 0, 0, 0, 60 [SEP] 12, Fork, 0.079, 1.112, -0.001, 0, 0, 0, 60 [SEP] 13, Fork, -2.019, 0.911, -0.698, 0, 180, 0, 85 [SEP] 14, Spoon, -1.438, 0.912, -2.329, 0, 0, 0, 85 [SEP] 15, Mug, 1.686, 0.875, -2.590, 0, 180, 0, 87 [SEP] 16, Mug, 0.582, 0.905, -2.637, 0, 0, 0, 62 [SEP] 17, ButterKnife, 0.217, 1.111, -0.506, 0, 0, 0, 60 [SEP] 18, Kettle, -0.036, 0.950, -2.372, 0, 270, 0, 55 [SEP] 19, Glassbottle, 0.582, 0.911, -2.253, 0, 0, 0, 62 [SEP] 20, Glassbottle, -1.852, 0.770, -1.242, 0, 90, 0, 95 [SEP] 21, Glassbottle, 1.098, 0.911, -2.330, 0, 0, 0, 62 [SEP] 22, DishSponge, -2.018, 0.769, -1.328, 0, 90, 0, 95 [SEP] 23, Bowl, -1.008, 0.133, -2.453, 0, 0, 0, 78 [SEP] 24, Bowl, 1.478, 0.549, -2.459, 0, 180, 0, 90 [SEP] 25, Book, 0.155, 1.1, 0.617, 0, 315, 0, 60 [SEP] 26, Glassbottle, -1.908, 0.770, -1.673, 0, 90, 0, 95 [SEP] 27, Knife, -0.335, 1.136, -0.253, 0, 0, 0, 60 [SEP] 28, Bread, 0.355, 1.184, -0.759, 0, 0, 0, 60 [SEP] 29, Fork, -0.848, 0.911, -2.406, 0, 0, 0, 85 [SEP] 30, Potato, -1.880, 0.078, 2.076, 0, 270, 0, 91 [SEP] 31, SoapBottle, -1.935, 0.048, 2.172, 0, 270, 0, 91 [SEP] 32, Kettle, -0.036, 0.950, -2.576, 0, 270, 0, 63 [SEP] 33, Pan, -0.465, 0.950, -2.576, 0, 90, 0, 69 [SEP] 34, Plate, -0.473, 1.108, 0.504, 0, 0, 0, 60 [SEP] 35, Tomato, -1.856, 0.950, -2.256, 0, 0, 0, 85 [SEP] 36, Vase, 2.042, 0.540, -2.495, 0, 0, 0, 90 [SEP] 37, Egg, -2.070, 1.341, 1.260, 0, 90, 0, 93 [SEP] 38, CreditCard, 1.789, 0.877, -2.563, 0, 180, 0, 87 [SEP] 39, Statue, 1.955, 0.168, -2.543, 0, 0, 0, 92 [SEP] 40, WineBottle, -1.962, 0.048, 1.981, 0, 270, 0, 91 [SEP] 41, Pot, -1.219, 0.9, -2.356, 0, 0, 0, 85 [SEP] 42, Spatula, 0.950, 0.496, -2.282, 0, 270, 0, 68 [SEP] 43, PaperTowelRoll, -1.611, 1.015, -2.256, 0, 0, 0, 85 [SEP] 44, Cup, -2.158, 1.303, 1.343, 0, 90, 0, 93 [SEP] 45, Vase, 0.582, 0.908, -2.484, 0, 0, 0, 62 [SEP] 46, Bowl, -2.037, 0.795, 0.920, 0, 90, 0, 93 [SEP] 47, SaltShaker, -1.805, 0.132, -1.856, 0, 90, 0, 61 [SEP] 48, PepperShaker, -0.197, 1.107, -0.001, 0, 0, 0, 60 [SEP] 49, Lettuce, 1.098, 0.990, -2.637, 0, 0, 0, 62 [SEP] 50, ButterKnife, -1.908, 0.769, -1.587, 0, 90, 0, 95 [SEP] 51, Apple, -2.158, 1.356, 0.841, 0, 90, 0, 93 [SEP] 52, DishSponge, -1.797, 0.769, -1.414, 0, 90, 0, 95 [SEP] 53, Spoon, 0.217, 1.112, -0.000, 0, 0, 0, 60 [SEP] 54, Mug, 0.563, 0.135, -2.436, 0, 0, 0, 62 [SEP] 55, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0, [SEP] 56, Drawer, 0.949, 0.832, -2.197, 0, 0, 0, [SEP] 57, Drawer, -1.560, 0.839, 0.204, 0, 90, 0, [SEP] 58, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0, [SEP] 59, Drawer, -1.560, 0.839, -0.197, 0, 90, 0, [SEP] 60, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0, [SEP] 61, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0, [SEP] 62, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0, [SEP] 63, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0, [SEP] 64, Drawer, 0.949, 0.393, -2.200, 0, 0, 0, [SEP] 65, Drawer, 0.949, 0.708, -2.200, 0, 0, 0, [SEP] 66, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0, [SEP] 67, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0, [SEP] 68, Drawer, 0.949, 0.560, -2.201, 0, 0, 0, [SEP] 69, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0, [SEP] 70, Window, -2.230, 1.429, -1.203, 0, 0, 0, [SEP] 71, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0, [SEP] 72, Sink, -1.899, 0.964, -1.5, 0, 90, 0, [SEP] 73, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0, [SEP] 74, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0, [SEP] 75, Drawer, -1.560, 0.655, -0.196, 0, 90, 0, [SEP] 76, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0, [SEP] 77, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0, [SEP] 78, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0, [SEP] 79, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0, [SEP] 80, Drawer, 0.949, 0.221, -2.200, 0, 0, 0, [SEP] 81, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0, [SEP] 82, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0, [SEP] 83, Drawer, -1.560, 0.331, -0.196, 0, 90, 0, [SEP] 84, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0, [SEP] 85, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0, [SEP] 86, Microwave, -0.236, 1.689, -2.525, 0, 0, 0, [SEP] 87, Shelf, 1.751, 0.880, -2.560, 0, 0, 0, [SEP] 88, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0, [SEP] 89, Toaster, -1.835, 0.900, 0.134, 0, 90, 0, [SEP] 90, Shelf, 1.750, 0.552, -2.559, 0, 0, 0, [SEP] 91, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0, [SEP] 92, Shelf, 1.750, 0.172, -2.559, 0, 0, 0, [SEP] 93, Fridge, -2.096, 0.0, 1.088, 0, 0, 0, [SEP] 94, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0, [SEP] 95, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0, [SEP] 96, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0, [SEP] 97, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0, [SEP] 98, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0, [SEP] 99, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0, [SEP] 100, Faucet, -2.070, 1.132, -1.514, 0, 0, 0, [SEP] 101, NorthWall, , , , , , , [SEP] 102, EastWall, , , , , , , [SEP] 103, SouthWall, , , , , , , [SEP] 104, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk through the kitchen to the far left kitchen counter by the wooden shelf | STEP 2: Pick up the glass vase from the left edge of the counter | STEP 3: Go a few feet right to the wooden shelf left of the counter | STEP 4: Put the vase on the middle shelf | STEP 5: Turn right and go back to the counter just left of the oven | STEP 6: Pick up the glass vase from the counter | STEP 7: Turn left and walk back to the wooden shelf | STEP 8: Put the vase on the middle shelf behind the bowl | END"]} +{"id": "trial_T20190907_122204_941737-1", "input": "Put two clear vases on the wooden shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 1.75, 0, 0, 0, [SEP] 1, Statue, 0.217, 1.110, -0.759, 0, 270, 0, 60 [SEP] 2, Plate, -1.346, 1.655, -2.604, 0, 0, 0, 76 [SEP] 3, Plate, -1.765, 0.126, 0.248, 0, 90, 0, 66 [SEP] 4, SoapBottle, 1.789, 0.554, -2.614, 0, 180, 0, 90 [SEP] 5, SaltShaker, 0.279, 0.136, -2.337, 0, 0, 0, 77 [SEP] 6, Bread, -1.611, 0.983, -0.884, 0, 0, 0, 85 [SEP] 7, Lettuce, -0.197, 1.191, 0.757, 0, 0, 0, 60 [SEP] 8, Lettuce, -1.143, 0.991, -2.637, 0, 0, 0, 85 [SEP] 9, Apple, -0.197, 1.162, 0.251, 0, 0, 0, 60 [SEP] 10, Knife, 0.079, 1.136, -0.253, 0, 180, 0, 60 [SEP] 11, Knife, -0.059, 1.136, -0.253, 0, 0, 0, 60 [SEP] 12, Fork, 0.079, 1.112, -0.001, 0, 0, 0, 60 [SEP] 13, Fork, -2.019, 0.911, -0.698, 0, 180, 0, 85 [SEP] 14, Spoon, -1.438, 0.912, -2.329, 0, 0, 0, 85 [SEP] 15, Mug, 1.686, 0.875, -2.590, 0, 180, 0, 87 [SEP] 16, Mug, 0.582, 0.905, -2.637, 0, 0, 0, 62 [SEP] 17, ButterKnife, 0.217, 1.111, -0.506, 0, 0, 0, 60 [SEP] 18, Kettle, -0.036, 0.950, -2.372, 0, 270, 0, 55 [SEP] 19, Glassbottle, 0.582, 0.911, -2.253, 0, 0, 0, 62 [SEP] 20, Glassbottle, -1.852, 0.770, -1.242, 0, 90, 0, 95 [SEP] 21, Glassbottle, 1.098, 0.911, -2.330, 0, 0, 0, 62 [SEP] 22, DishSponge, -2.018, 0.769, -1.328, 0, 90, 0, 95 [SEP] 23, Bowl, -1.008, 0.133, -2.453, 0, 0, 0, 78 [SEP] 24, Bowl, 1.478, 0.549, -2.459, 0, 180, 0, 90 [SEP] 25, Book, 0.155, 1.1, 0.617, 0, 315, 0, 60 [SEP] 26, Glassbottle, -1.908, 0.770, -1.673, 0, 90, 0, 95 [SEP] 27, Knife, -0.335, 1.136, -0.253, 0, 0, 0, 60 [SEP] 28, Bread, 0.355, 1.184, -0.759, 0, 0, 0, 60 [SEP] 29, Fork, -0.848, 0.911, -2.406, 0, 0, 0, 85 [SEP] 30, Potato, -1.880, 0.078, 2.076, 0, 270, 0, 91 [SEP] 31, SoapBottle, -1.935, 0.048, 2.172, 0, 270, 0, 91 [SEP] 32, Kettle, -0.036, 0.950, -2.576, 0, 270, 0, 63 [SEP] 33, Pan, -0.465, 0.950, -2.576, 0, 90, 0, 69 [SEP] 34, Plate, -0.473, 1.108, 0.504, 0, 0, 0, 60 [SEP] 35, Tomato, -1.856, 0.950, -2.256, 0, 0, 0, 85 [SEP] 36, Vase, 2.042, 0.540, -2.495, 0, 0, 0, 90 [SEP] 37, Egg, -2.070, 1.341, 1.260, 0, 90, 0, 93 [SEP] 38, CreditCard, 1.789, 0.877, -2.563, 0, 180, 0, 87 [SEP] 39, Statue, 1.955, 0.168, -2.543, 0, 0, 0, 92 [SEP] 40, WineBottle, -1.962, 0.048, 1.981, 0, 270, 0, 91 [SEP] 41, Pot, -1.219, 0.9, -2.356, 0, 0, 0, 85 [SEP] 42, Spatula, 0.950, 0.496, -2.282, 0, 270, 0, 68 [SEP] 43, PaperTowelRoll, -1.611, 1.015, -2.256, 0, 0, 0, 85 [SEP] 44, Cup, -2.158, 1.303, 1.343, 0, 90, 0, 93 [SEP] 45, Vase, 0.582, 0.908, -2.484, 0, 0, 0, 62 [SEP] 46, Bowl, -2.037, 0.795, 0.920, 0, 90, 0, 93 [SEP] 47, SaltShaker, -1.805, 0.132, -1.856, 0, 90, 0, 61 [SEP] 48, PepperShaker, -0.197, 1.107, -0.001, 0, 0, 0, 60 [SEP] 49, Lettuce, 1.098, 0.990, -2.637, 0, 0, 0, 62 [SEP] 50, ButterKnife, -1.908, 0.769, -1.587, 0, 90, 0, 95 [SEP] 51, Apple, -2.158, 1.356, 0.841, 0, 90, 0, 93 [SEP] 52, DishSponge, -1.797, 0.769, -1.414, 0, 90, 0, 95 [SEP] 53, Spoon, 0.217, 1.112, -0.000, 0, 0, 0, 60 [SEP] 54, Mug, 0.563, 0.135, -2.436, 0, 0, 0, 62 [SEP] 55, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0, [SEP] 56, Drawer, 0.949, 0.832, -2.197, 0, 0, 0, [SEP] 57, Drawer, -1.560, 0.839, 0.204, 0, 90, 0, [SEP] 58, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0, [SEP] 59, Drawer, -1.560, 0.839, -0.197, 0, 90, 0, [SEP] 60, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0, [SEP] 61, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0, [SEP] 62, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0, [SEP] 63, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0, [SEP] 64, Drawer, 0.949, 0.393, -2.200, 0, 0, 0, [SEP] 65, Drawer, 0.949, 0.708, -2.200, 0, 0, 0, [SEP] 66, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0, [SEP] 67, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0, [SEP] 68, Drawer, 0.949, 0.560, -2.201, 0, 0, 0, [SEP] 69, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0, [SEP] 70, Window, -2.230, 1.429, -1.203, 0, 0, 0, [SEP] 71, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0, [SEP] 72, Sink, -1.899, 0.964, -1.5, 0, 90, 0, [SEP] 73, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0, [SEP] 74, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0, [SEP] 75, Drawer, -1.560, 0.655, -0.196, 0, 90, 0, [SEP] 76, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0, [SEP] 77, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0, [SEP] 78, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0, [SEP] 79, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0, [SEP] 80, Drawer, 0.949, 0.221, -2.200, 0, 0, 0, [SEP] 81, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0, [SEP] 82, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0, [SEP] 83, Drawer, -1.560, 0.331, -0.196, 0, 90, 0, [SEP] 84, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0, [SEP] 85, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0, [SEP] 86, Microwave, -0.236, 1.689, -2.525, 0, 0, 0, [SEP] 87, Shelf, 1.751, 0.880, -2.560, 0, 0, 0, [SEP] 88, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0, [SEP] 89, Toaster, -1.835, 0.900, 0.134, 0, 90, 0, [SEP] 90, Shelf, 1.750, 0.552, -2.559, 0, 0, 0, [SEP] 91, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0, [SEP] 92, Shelf, 1.750, 0.172, -2.559, 0, 0, 0, [SEP] 93, Fridge, -2.096, 0.0, 1.088, 0, 0, 0, [SEP] 94, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0, [SEP] 95, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0, [SEP] 96, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0, [SEP] 97, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0, [SEP] 98, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0, [SEP] 99, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0, [SEP] 100, Faucet, -2.070, 1.132, -1.514, 0, 0, 0, [SEP] 101, NorthWall, , , , , , , [SEP] 102, EastWall, , , , , , , [SEP] 103, SouthWall, , , , , , , [SEP] 104, WestWall, , , , , , , ", "output": ["STEP 1: Move to the left of the stove at the end of the counter. | STEP 2: Pick up a clear vase on the counter. | STEP 3: Move back a bit and slightly over from where you are. | STEP 4: Place the vase on the wooden self. | STEP 5: Move to the left of the stove at the counter. | STEP 6: Pick up a clear vase on the counter. | STEP 7: Move to the left to the end of the counter. | STEP 8: Place the vase on the wooden self. | END"]} +{"id": "trial_T20190907_122204_941737-2", "input": "Move the glass vases from the counter to the shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 1.75, 0, 0, 0, [SEP] 1, Statue, 0.217, 1.110, -0.759, 0, 270, 0, 60 [SEP] 2, Plate, -1.346, 1.655, -2.604, 0, 0, 0, 76 [SEP] 3, Plate, -1.765, 0.126, 0.248, 0, 90, 0, 66 [SEP] 4, SoapBottle, 1.789, 0.554, -2.614, 0, 180, 0, 90 [SEP] 5, SaltShaker, 0.279, 0.136, -2.337, 0, 0, 0, 77 [SEP] 6, Bread, -1.611, 0.983, -0.884, 0, 0, 0, 85 [SEP] 7, Lettuce, -0.197, 1.191, 0.757, 0, 0, 0, 60 [SEP] 8, Lettuce, -1.143, 0.991, -2.637, 0, 0, 0, 85 [SEP] 9, Apple, -0.197, 1.162, 0.251, 0, 0, 0, 60 [SEP] 10, Knife, 0.079, 1.136, -0.253, 0, 180, 0, 60 [SEP] 11, Knife, -0.059, 1.136, -0.253, 0, 0, 0, 60 [SEP] 12, Fork, 0.079, 1.112, -0.001, 0, 0, 0, 60 [SEP] 13, Fork, -2.019, 0.911, -0.698, 0, 180, 0, 85 [SEP] 14, Spoon, -1.438, 0.912, -2.329, 0, 0, 0, 85 [SEP] 15, Mug, 1.686, 0.875, -2.590, 0, 180, 0, 87 [SEP] 16, Mug, 0.582, 0.905, -2.637, 0, 0, 0, 62 [SEP] 17, ButterKnife, 0.217, 1.111, -0.506, 0, 0, 0, 60 [SEP] 18, Kettle, -0.036, 0.950, -2.372, 0, 270, 0, 55 [SEP] 19, Glassbottle, 0.582, 0.911, -2.253, 0, 0, 0, 62 [SEP] 20, Glassbottle, -1.852, 0.770, -1.242, 0, 90, 0, 95 [SEP] 21, Glassbottle, 1.098, 0.911, -2.330, 0, 0, 0, 62 [SEP] 22, DishSponge, -2.018, 0.769, -1.328, 0, 90, 0, 95 [SEP] 23, Bowl, -1.008, 0.133, -2.453, 0, 0, 0, 78 [SEP] 24, Bowl, 1.478, 0.549, -2.459, 0, 180, 0, 90 [SEP] 25, Book, 0.155, 1.1, 0.617, 0, 315, 0, 60 [SEP] 26, Glassbottle, -1.908, 0.770, -1.673, 0, 90, 0, 95 [SEP] 27, Knife, -0.335, 1.136, -0.253, 0, 0, 0, 60 [SEP] 28, Bread, 0.355, 1.184, -0.759, 0, 0, 0, 60 [SEP] 29, Fork, -0.848, 0.911, -2.406, 0, 0, 0, 85 [SEP] 30, Potato, -1.880, 0.078, 2.076, 0, 270, 0, 91 [SEP] 31, SoapBottle, -1.935, 0.048, 2.172, 0, 270, 0, 91 [SEP] 32, Kettle, -0.036, 0.950, -2.576, 0, 270, 0, 63 [SEP] 33, Pan, -0.465, 0.950, -2.576, 0, 90, 0, 69 [SEP] 34, Plate, -0.473, 1.108, 0.504, 0, 0, 0, 60 [SEP] 35, Tomato, -1.856, 0.950, -2.256, 0, 0, 0, 85 [SEP] 36, Vase, 2.042, 0.540, -2.495, 0, 0, 0, 90 [SEP] 37, Egg, -2.070, 1.341, 1.260, 0, 90, 0, 93 [SEP] 38, CreditCard, 1.789, 0.877, -2.563, 0, 180, 0, 87 [SEP] 39, Statue, 1.955, 0.168, -2.543, 0, 0, 0, 92 [SEP] 40, WineBottle, -1.962, 0.048, 1.981, 0, 270, 0, 91 [SEP] 41, Pot, -1.219, 0.9, -2.356, 0, 0, 0, 85 [SEP] 42, Spatula, 0.950, 0.496, -2.282, 0, 270, 0, 68 [SEP] 43, PaperTowelRoll, -1.611, 1.015, -2.256, 0, 0, 0, 85 [SEP] 44, Cup, -2.158, 1.303, 1.343, 0, 90, 0, 93 [SEP] 45, Vase, 0.582, 0.908, -2.484, 0, 0, 0, 62 [SEP] 46, Bowl, -2.037, 0.795, 0.920, 0, 90, 0, 93 [SEP] 47, SaltShaker, -1.805, 0.132, -1.856, 0, 90, 0, 61 [SEP] 48, PepperShaker, -0.197, 1.107, -0.001, 0, 0, 0, 60 [SEP] 49, Lettuce, 1.098, 0.990, -2.637, 0, 0, 0, 62 [SEP] 50, ButterKnife, -1.908, 0.769, -1.587, 0, 90, 0, 95 [SEP] 51, Apple, -2.158, 1.356, 0.841, 0, 90, 0, 93 [SEP] 52, DishSponge, -1.797, 0.769, -1.414, 0, 90, 0, 95 [SEP] 53, Spoon, 0.217, 1.112, -0.000, 0, 0, 0, 60 [SEP] 54, Mug, 0.563, 0.135, -2.436, 0, 0, 0, 62 [SEP] 55, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0, [SEP] 56, Drawer, 0.949, 0.832, -2.197, 0, 0, 0, [SEP] 57, Drawer, -1.560, 0.839, 0.204, 0, 90, 0, [SEP] 58, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0, [SEP] 59, Drawer, -1.560, 0.839, -0.197, 0, 90, 0, [SEP] 60, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0, [SEP] 61, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0, [SEP] 62, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0, [SEP] 63, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0, [SEP] 64, Drawer, 0.949, 0.393, -2.200, 0, 0, 0, [SEP] 65, Drawer, 0.949, 0.708, -2.200, 0, 0, 0, [SEP] 66, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0, [SEP] 67, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0, [SEP] 68, Drawer, 0.949, 0.560, -2.201, 0, 0, 0, [SEP] 69, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0, [SEP] 70, Window, -2.230, 1.429, -1.203, 0, 0, 0, [SEP] 71, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0, [SEP] 72, Sink, -1.899, 0.964, -1.5, 0, 90, 0, [SEP] 73, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0, [SEP] 74, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0, [SEP] 75, Drawer, -1.560, 0.655, -0.196, 0, 90, 0, [SEP] 76, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0, [SEP] 77, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0, [SEP] 78, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0, [SEP] 79, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0, [SEP] 80, Drawer, 0.949, 0.221, -2.200, 0, 0, 0, [SEP] 81, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0, [SEP] 82, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0, [SEP] 83, Drawer, -1.560, 0.331, -0.196, 0, 90, 0, [SEP] 84, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0, [SEP] 85, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0, [SEP] 86, Microwave, -0.236, 1.689, -2.525, 0, 0, 0, [SEP] 87, Shelf, 1.751, 0.880, -2.560, 0, 0, 0, [SEP] 88, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0, [SEP] 89, Toaster, -1.835, 0.900, 0.134, 0, 90, 0, [SEP] 90, Shelf, 1.750, 0.552, -2.559, 0, 0, 0, [SEP] 91, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0, [SEP] 92, Shelf, 1.750, 0.172, -2.559, 0, 0, 0, [SEP] 93, Fridge, -2.096, 0.0, 1.088, 0, 0, 0, [SEP] 94, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0, [SEP] 95, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0, [SEP] 96, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0, [SEP] 97, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0, [SEP] 98, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0, [SEP] 99, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0, [SEP] 100, Faucet, -2.070, 1.132, -1.514, 0, 0, 0, [SEP] 101, NorthWall, , , , , , , [SEP] 102, EastWall, , , , , , , [SEP] 103, SouthWall, , , , , , , [SEP] 104, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the counter to the left of the stove. | STEP 2: Pick up a glass vase from the counter. | STEP 3: Turn around and go to the shelf next to the counter. | STEP 4: Put the glass vase on the shelf next to the counter. | STEP 5: Turn around and go to the counter to the left of the stove. | STEP 6: Pick up a glass vase from the counter. | STEP 7: Turn around and go to the shelf next to the counter. | STEP 8: Put the glass vase on the shelf next to the counter. | END"]} +{"id": "trial_T20190907_122204_941737-3", "input": "To move two vases from the counter to the second from the bottom shelf of the shelf rack. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 1.75, 0, 0, 0, [SEP] 1, Statue, 0.217, 1.110, -0.759, 0, 270, 0, 60 [SEP] 2, Plate, -1.346, 1.655, -2.604, 0, 0, 0, 76 [SEP] 3, Plate, -1.765, 0.126, 0.248, 0, 90, 0, 66 [SEP] 4, SoapBottle, 1.789, 0.554, -2.614, 0, 180, 0, 90 [SEP] 5, SaltShaker, 0.279, 0.136, -2.337, 0, 0, 0, 77 [SEP] 6, Bread, -1.611, 0.983, -0.884, 0, 0, 0, 85 [SEP] 7, Lettuce, -0.197, 1.191, 0.757, 0, 0, 0, 60 [SEP] 8, Lettuce, -1.143, 0.991, -2.637, 0, 0, 0, 85 [SEP] 9, Apple, -0.197, 1.162, 0.251, 0, 0, 0, 60 [SEP] 10, Knife, 0.079, 1.136, -0.253, 0, 180, 0, 60 [SEP] 11, Knife, -0.059, 1.136, -0.253, 0, 0, 0, 60 [SEP] 12, Fork, 0.079, 1.112, -0.001, 0, 0, 0, 60 [SEP] 13, Fork, -2.019, 0.911, -0.698, 0, 180, 0, 85 [SEP] 14, Spoon, -1.438, 0.912, -2.329, 0, 0, 0, 85 [SEP] 15, Mug, 1.686, 0.875, -2.590, 0, 180, 0, 87 [SEP] 16, Mug, 0.582, 0.905, -2.637, 0, 0, 0, 62 [SEP] 17, ButterKnife, 0.217, 1.111, -0.506, 0, 0, 0, 60 [SEP] 18, Kettle, -0.036, 0.950, -2.372, 0, 270, 0, 55 [SEP] 19, Glassbottle, 0.582, 0.911, -2.253, 0, 0, 0, 62 [SEP] 20, Glassbottle, -1.852, 0.770, -1.242, 0, 90, 0, 95 [SEP] 21, Glassbottle, 1.098, 0.911, -2.330, 0, 0, 0, 62 [SEP] 22, DishSponge, -2.018, 0.769, -1.328, 0, 90, 0, 95 [SEP] 23, Bowl, -1.008, 0.133, -2.453, 0, 0, 0, 78 [SEP] 24, Bowl, 1.478, 0.549, -2.459, 0, 180, 0, 90 [SEP] 25, Book, 0.155, 1.1, 0.617, 0, 315, 0, 60 [SEP] 26, Glassbottle, -1.908, 0.770, -1.673, 0, 90, 0, 95 [SEP] 27, Knife, -0.335, 1.136, -0.253, 0, 0, 0, 60 [SEP] 28, Bread, 0.355, 1.184, -0.759, 0, 0, 0, 60 [SEP] 29, Fork, -0.848, 0.911, -2.406, 0, 0, 0, 85 [SEP] 30, Potato, -1.880, 0.078, 2.076, 0, 270, 0, 91 [SEP] 31, SoapBottle, -1.935, 0.048, 2.172, 0, 270, 0, 91 [SEP] 32, Kettle, -0.036, 0.950, -2.576, 0, 270, 0, 63 [SEP] 33, Pan, -0.465, 0.950, -2.576, 0, 90, 0, 69 [SEP] 34, Plate, -0.473, 1.108, 0.504, 0, 0, 0, 60 [SEP] 35, Tomato, -1.856, 0.950, -2.256, 0, 0, 0, 85 [SEP] 36, Vase, 2.042, 0.540, -2.495, 0, 0, 0, 90 [SEP] 37, Egg, -2.070, 1.341, 1.260, 0, 90, 0, 93 [SEP] 38, CreditCard, 1.789, 0.877, -2.563, 0, 180, 0, 87 [SEP] 39, Statue, 1.955, 0.168, -2.543, 0, 0, 0, 92 [SEP] 40, WineBottle, -1.962, 0.048, 1.981, 0, 270, 0, 91 [SEP] 41, Pot, -1.219, 0.9, -2.356, 0, 0, 0, 85 [SEP] 42, Spatula, 0.950, 0.496, -2.282, 0, 270, 0, 68 [SEP] 43, PaperTowelRoll, -1.611, 1.015, -2.256, 0, 0, 0, 85 [SEP] 44, Cup, -2.158, 1.303, 1.343, 0, 90, 0, 93 [SEP] 45, Vase, 0.582, 0.908, -2.484, 0, 0, 0, 62 [SEP] 46, Bowl, -2.037, 0.795, 0.920, 0, 90, 0, 93 [SEP] 47, SaltShaker, -1.805, 0.132, -1.856, 0, 90, 0, 61 [SEP] 48, PepperShaker, -0.197, 1.107, -0.001, 0, 0, 0, 60 [SEP] 49, Lettuce, 1.098, 0.990, -2.637, 0, 0, 0, 62 [SEP] 50, ButterKnife, -1.908, 0.769, -1.587, 0, 90, 0, 95 [SEP] 51, Apple, -2.158, 1.356, 0.841, 0, 90, 0, 93 [SEP] 52, DishSponge, -1.797, 0.769, -1.414, 0, 90, 0, 95 [SEP] 53, Spoon, 0.217, 1.112, -0.000, 0, 0, 0, 60 [SEP] 54, Mug, 0.563, 0.135, -2.436, 0, 0, 0, 62 [SEP] 55, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0, [SEP] 56, Drawer, 0.949, 0.832, -2.197, 0, 0, 0, [SEP] 57, Drawer, -1.560, 0.839, 0.204, 0, 90, 0, [SEP] 58, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0, [SEP] 59, Drawer, -1.560, 0.839, -0.197, 0, 90, 0, [SEP] 60, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0, [SEP] 61, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0, [SEP] 62, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0, [SEP] 63, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0, [SEP] 64, Drawer, 0.949, 0.393, -2.200, 0, 0, 0, [SEP] 65, Drawer, 0.949, 0.708, -2.200, 0, 0, 0, [SEP] 66, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0, [SEP] 67, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0, [SEP] 68, Drawer, 0.949, 0.560, -2.201, 0, 0, 0, [SEP] 69, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0, [SEP] 70, Window, -2.230, 1.429, -1.203, 0, 0, 0, [SEP] 71, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0, [SEP] 72, Sink, -1.899, 0.964, -1.5, 0, 90, 0, [SEP] 73, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0, [SEP] 74, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0, [SEP] 75, Drawer, -1.560, 0.655, -0.196, 0, 90, 0, [SEP] 76, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0, [SEP] 77, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0, [SEP] 78, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0, [SEP] 79, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0, [SEP] 80, Drawer, 0.949, 0.221, -2.200, 0, 0, 0, [SEP] 81, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0, [SEP] 82, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0, [SEP] 83, Drawer, -1.560, 0.331, -0.196, 0, 90, 0, [SEP] 84, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0, [SEP] 85, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0, [SEP] 86, Microwave, -0.236, 1.689, -2.525, 0, 0, 0, [SEP] 87, Shelf, 1.751, 0.880, -2.560, 0, 0, 0, [SEP] 88, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0, [SEP] 89, Toaster, -1.835, 0.900, 0.134, 0, 90, 0, [SEP] 90, Shelf, 1.750, 0.552, -2.559, 0, 0, 0, [SEP] 91, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0, [SEP] 92, Shelf, 1.750, 0.172, -2.559, 0, 0, 0, [SEP] 93, Fridge, -2.096, 0.0, 1.088, 0, 0, 0, [SEP] 94, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0, [SEP] 95, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0, [SEP] 96, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0, [SEP] 97, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0, [SEP] 98, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0, [SEP] 99, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0, [SEP] 100, Faucet, -2.070, 1.132, -1.514, 0, 0, 0, [SEP] 101, NorthWall, , , , , , , [SEP] 102, EastWall, , , , , , , [SEP] 103, SouthWall, , , , , , , [SEP] 104, WestWall, , , , , , , ", "output": ["STEP 1: What to the opposite corner of the room and face the edge of the counter next to the shelves. | STEP 2: pick up the vase on the counter. | STEP 3: Take a step to the left and place the vase on the | STEP 4: Place the vase on the second shelf from the bottom of the shelf rack. | STEP 5: Step to the right to face the counter with a vase on it. | STEP 6: pick up the vase on the counter. | STEP 7: Take a step to the left and place the vase on the | STEP 8: Place the vase on the second shelf from the bottom of the shelf rack. | END"]} +{"id": "trial_T20190907_122204_941737-4", "input": "Place two glass vases on the kitchen shelf SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 1.75, 0, 0, 0, [SEP] 1, Statue, 0.217, 1.110, -0.759, 0, 270, 0, 60 [SEP] 2, Plate, -1.346, 1.655, -2.604, 0, 0, 0, 76 [SEP] 3, Plate, -1.765, 0.126, 0.248, 0, 90, 0, 66 [SEP] 4, SoapBottle, 1.789, 0.554, -2.614, 0, 180, 0, 90 [SEP] 5, SaltShaker, 0.279, 0.136, -2.337, 0, 0, 0, 77 [SEP] 6, Bread, -1.611, 0.983, -0.884, 0, 0, 0, 85 [SEP] 7, Lettuce, -0.197, 1.191, 0.757, 0, 0, 0, 60 [SEP] 8, Lettuce, -1.143, 0.991, -2.637, 0, 0, 0, 85 [SEP] 9, Apple, -0.197, 1.162, 0.251, 0, 0, 0, 60 [SEP] 10, Knife, 0.079, 1.136, -0.253, 0, 180, 0, 60 [SEP] 11, Knife, -0.059, 1.136, -0.253, 0, 0, 0, 60 [SEP] 12, Fork, 0.079, 1.112, -0.001, 0, 0, 0, 60 [SEP] 13, Fork, -2.019, 0.911, -0.698, 0, 180, 0, 85 [SEP] 14, Spoon, -1.438, 0.912, -2.329, 0, 0, 0, 85 [SEP] 15, Mug, 1.686, 0.875, -2.590, 0, 180, 0, 87 [SEP] 16, Mug, 0.582, 0.905, -2.637, 0, 0, 0, 62 [SEP] 17, ButterKnife, 0.217, 1.111, -0.506, 0, 0, 0, 60 [SEP] 18, Kettle, -0.036, 0.950, -2.372, 0, 270, 0, 55 [SEP] 19, Glassbottle, 0.582, 0.911, -2.253, 0, 0, 0, 62 [SEP] 20, Glassbottle, -1.852, 0.770, -1.242, 0, 90, 0, 95 [SEP] 21, Glassbottle, 1.098, 0.911, -2.330, 0, 0, 0, 62 [SEP] 22, DishSponge, -2.018, 0.769, -1.328, 0, 90, 0, 95 [SEP] 23, Bowl, -1.008, 0.133, -2.453, 0, 0, 0, 78 [SEP] 24, Bowl, 1.478, 0.549, -2.459, 0, 180, 0, 90 [SEP] 25, Book, 0.155, 1.1, 0.617, 0, 315, 0, 60 [SEP] 26, Glassbottle, -1.908, 0.770, -1.673, 0, 90, 0, 95 [SEP] 27, Knife, -0.335, 1.136, -0.253, 0, 0, 0, 60 [SEP] 28, Bread, 0.355, 1.184, -0.759, 0, 0, 0, 60 [SEP] 29, Fork, -0.848, 0.911, -2.406, 0, 0, 0, 85 [SEP] 30, Potato, -1.880, 0.078, 2.076, 0, 270, 0, 91 [SEP] 31, SoapBottle, -1.935, 0.048, 2.172, 0, 270, 0, 91 [SEP] 32, Kettle, -0.036, 0.950, -2.576, 0, 270, 0, 63 [SEP] 33, Pan, -0.465, 0.950, -2.576, 0, 90, 0, 69 [SEP] 34, Plate, -0.473, 1.108, 0.504, 0, 0, 0, 60 [SEP] 35, Tomato, -1.856, 0.950, -2.256, 0, 0, 0, 85 [SEP] 36, Vase, 2.042, 0.540, -2.495, 0, 0, 0, 90 [SEP] 37, Egg, -2.070, 1.341, 1.260, 0, 90, 0, 93 [SEP] 38, CreditCard, 1.789, 0.877, -2.563, 0, 180, 0, 87 [SEP] 39, Statue, 1.955, 0.168, -2.543, 0, 0, 0, 92 [SEP] 40, WineBottle, -1.962, 0.048, 1.981, 0, 270, 0, 91 [SEP] 41, Pot, -1.219, 0.9, -2.356, 0, 0, 0, 85 [SEP] 42, Spatula, 0.950, 0.496, -2.282, 0, 270, 0, 68 [SEP] 43, PaperTowelRoll, -1.611, 1.015, -2.256, 0, 0, 0, 85 [SEP] 44, Cup, -2.158, 1.303, 1.343, 0, 90, 0, 93 [SEP] 45, Vase, 0.582, 0.908, -2.484, 0, 0, 0, 62 [SEP] 46, Bowl, -2.037, 0.795, 0.920, 0, 90, 0, 93 [SEP] 47, SaltShaker, -1.805, 0.132, -1.856, 0, 90, 0, 61 [SEP] 48, PepperShaker, -0.197, 1.107, -0.001, 0, 0, 0, 60 [SEP] 49, Lettuce, 1.098, 0.990, -2.637, 0, 0, 0, 62 [SEP] 50, ButterKnife, -1.908, 0.769, -1.587, 0, 90, 0, 95 [SEP] 51, Apple, -2.158, 1.356, 0.841, 0, 90, 0, 93 [SEP] 52, DishSponge, -1.797, 0.769, -1.414, 0, 90, 0, 95 [SEP] 53, Spoon, 0.217, 1.112, -0.000, 0, 0, 0, 60 [SEP] 54, Mug, 0.563, 0.135, -2.436, 0, 0, 0, 62 [SEP] 55, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0, [SEP] 56, Drawer, 0.949, 0.832, -2.197, 0, 0, 0, [SEP] 57, Drawer, -1.560, 0.839, 0.204, 0, 90, 0, [SEP] 58, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0, [SEP] 59, Drawer, -1.560, 0.839, -0.197, 0, 90, 0, [SEP] 60, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0, [SEP] 61, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0, [SEP] 62, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0, [SEP] 63, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0, [SEP] 64, Drawer, 0.949, 0.393, -2.200, 0, 0, 0, [SEP] 65, Drawer, 0.949, 0.708, -2.200, 0, 0, 0, [SEP] 66, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0, [SEP] 67, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0, [SEP] 68, Drawer, 0.949, 0.560, -2.201, 0, 0, 0, [SEP] 69, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0, [SEP] 70, Window, -2.230, 1.429, -1.203, 0, 0, 0, [SEP] 71, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0, [SEP] 72, Sink, -1.899, 0.964, -1.5, 0, 90, 0, [SEP] 73, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0, [SEP] 74, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0, [SEP] 75, Drawer, -1.560, 0.655, -0.196, 0, 90, 0, [SEP] 76, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0, [SEP] 77, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0, [SEP] 78, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0, [SEP] 79, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0, [SEP] 80, Drawer, 0.949, 0.221, -2.200, 0, 0, 0, [SEP] 81, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0, [SEP] 82, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0, [SEP] 83, Drawer, -1.560, 0.331, -0.196, 0, 90, 0, [SEP] 84, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0, [SEP] 85, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0, [SEP] 86, Microwave, -0.236, 1.689, -2.525, 0, 0, 0, [SEP] 87, Shelf, 1.751, 0.880, -2.560, 0, 0, 0, [SEP] 88, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0, [SEP] 89, Toaster, -1.835, 0.900, 0.134, 0, 90, 0, [SEP] 90, Shelf, 1.750, 0.552, -2.559, 0, 0, 0, [SEP] 91, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0, [SEP] 92, Shelf, 1.750, 0.172, -2.559, 0, 0, 0, [SEP] 93, Fridge, -2.096, 0.0, 1.088, 0, 0, 0, [SEP] 94, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0, [SEP] 95, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0, [SEP] 96, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0, [SEP] 97, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0, [SEP] 98, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0, [SEP] 99, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0, [SEP] 100, Faucet, -2.070, 1.132, -1.514, 0, 0, 0, [SEP] 101, NorthWall, , , , , , , [SEP] 102, EastWall, , , , , , , [SEP] 103, SouthWall, , , , , , , [SEP] 104, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and move left until you are facing the kitchen counter on your right | STEP 2: Pick up a glass vase off of the counter | STEP 3: Move to your left | STEP 4: Place the glass vase on to the shelf | STEP 5: Move to the right and face the counter again | STEP 6: Pick up a glass vase off of the counter | STEP 7: Move back left to the shelving | STEP 8: Place the second glass vase on to the shelf | END"]} +{"id": "trial_T20190909_113054_894334-0", "input": "Place a pencil on a desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, -0.25, 0, 270, 0, [SEP] 1, CellPhone, 0.584, 0.647, 0.598, 0, 0, 0, 27 [SEP] 2, Pen, -0.934, 1.353, -2.222, 0, 0, 0, 43 [SEP] 3, Pencil, 0.101, 0.148, -2.157, 0, 90, 0, 30 [SEP] 4, Pencil, 1.639, 0.377, -0.930, 0, 180, 0, 33 [SEP] 5, CreditCard, 1.615, 0.374, -1.102, 0, 90, 0, 33 [SEP] 6, CreditCard, 1.807, 0.680, -1.065, 0, 270, 0, 35 [SEP] 7, Book, 0.584, 0.646, -0.120, 0, 0, 0, 27 [SEP] 8, Book, -1.396, 1.778, -2.221, 0, 0, 0, 40 [SEP] 9, AlarmClock, 1.581, 0.680, -1.065, 0, 270, 0, 35 [SEP] 10, AlarmClock, -0.705, 1.777, -2.041, 0, 0, 0, 40 [SEP] 11, Laptop, -0.935, 0.835, -1.753, 0, 0, 0, 40 [SEP] 12, Book, 1.152, 0.646, 0.239, 0, 0, 0, 27 [SEP] 13, Box, -0.424, 2.065, -2.027, 0, 352.503, 0, 40 [SEP] 14, Pillow, 0.868, 0.739, 0.418, 0, 0, 0, 27 [SEP] 15, AlarmClock, -1.626, 0.837, -2.185, 0, 0, 0, 40 [SEP] 16, BasketBall, -0.337, 0.120, 1.031, 0, 0, 0, Floor|-00.16| [SEP] 17, BaseballBat, -1.602, 0.022, 0.356, 90, 8.736, 0, Floor|-00.16| [SEP] 18, Pen, -1.165, 0.843, -2.077, 0, 0, 0, 40 [SEP] 19, CellPhone, 2.004, 0.647, 0.418, 0, 0, 0, 27 [SEP] 20, TennisRacket, -1.667, 0.0, 0.818, 90, 29.999, 0, Floor|-00.16| [SEP] 21, Laptop, 1.152, 0.643, 0.777, 0, 0, 0, 27 [SEP] 22, Pencil, -0.901, 1.350, -2.074, 0, 0, 0, 43 [SEP] 23, KeyChain, -1.626, 1.777, -1.981, 0, 0, 0, 40 [SEP] 24, CreditCard, -0.935, 0.837, -1.969, 0, 0, 0, 40 [SEP] 25, CD, -1.165, 1.777, -2.161, 0, 0, 0, 40 [SEP] 26, Mirror, 0.883, 1.582, -2.399, 0, 180, 0, [SEP] 27, Bed, 1.176, -0.002, 0.238, 0, 90, 0, [SEP] 28, LightSwitch, 1.899, 1.297, -1.302, 0, 270, 0, [SEP] 29, Poster, -1.927, 1.411, -1.455, 90, 90, 0, [SEP] 30, GarbageCan, 0.128, -0.030, -2.146, 0, 90, 0, [SEP] 31, Window, -2.028, 1.388, -0.270, 90, 270, 0, [SEP] 32, DeskLamp, -1.673, 1.774, -2.190, 0, 0, 0, [SEP] 33, Drawer, 1.624, 0.453, -0.987, 0, 270, 0, [SEP] 34, Drawer, 1.624, 0.163, -0.987, 0, 270, 0, [SEP] 35, SideTable, 1.691, 0.002, -0.988, 0, 270, 0, [SEP] 36, Chair, -1.089, 0.009, -1.570, 0, 166.824, 0, [SEP] 37, Blinds, -1.949, 2.158, -0.252, 0, 90, 0, [SEP] 38, Cabinet, -0.241, 1.534, -2.101, 0, 0, 0, [SEP] 39, Cabinet, -1.301, 1.534, -2.101, 0, 0, 0, [SEP] 40, Desk, -0.962, 0.003, -1.942, 0, 0, 0, [SEP] 41, Cabinet, -1.683, 1.534, -2.101, 0, 0, 0, [SEP] 42, Cabinet, -0.623, 1.534, -2.101, 0, 0, 0, [SEP] 43, Shelf, -0.962, 1.534, -2.101, 0, 0, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the left side of the desk, with the trash bin on the floor. | STEP 2: Pick up the pencil from the trash bin. | STEP 3: Look up at the desk. | STEP 4: Place the pencil on the desk. | END"]} +{"id": "trial_T20190909_113054_894334-1", "input": "Take a pencil out of the trash and put it on the desk SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, -0.25, 0, 270, 0, [SEP] 1, CellPhone, 0.584, 0.647, 0.598, 0, 0, 0, 27 [SEP] 2, Pen, -0.934, 1.353, -2.222, 0, 0, 0, 43 [SEP] 3, Pencil, 0.101, 0.148, -2.157, 0, 90, 0, 30 [SEP] 4, Pencil, 1.639, 0.377, -0.930, 0, 180, 0, 33 [SEP] 5, CreditCard, 1.615, 0.374, -1.102, 0, 90, 0, 33 [SEP] 6, CreditCard, 1.807, 0.680, -1.065, 0, 270, 0, 35 [SEP] 7, Book, 0.584, 0.646, -0.120, 0, 0, 0, 27 [SEP] 8, Book, -1.396, 1.778, -2.221, 0, 0, 0, 40 [SEP] 9, AlarmClock, 1.581, 0.680, -1.065, 0, 270, 0, 35 [SEP] 10, AlarmClock, -0.705, 1.777, -2.041, 0, 0, 0, 40 [SEP] 11, Laptop, -0.935, 0.835, -1.753, 0, 0, 0, 40 [SEP] 12, Book, 1.152, 0.646, 0.239, 0, 0, 0, 27 [SEP] 13, Box, -0.424, 2.065, -2.027, 0, 352.503, 0, 40 [SEP] 14, Pillow, 0.868, 0.739, 0.418, 0, 0, 0, 27 [SEP] 15, AlarmClock, -1.626, 0.837, -2.185, 0, 0, 0, 40 [SEP] 16, BasketBall, -0.337, 0.120, 1.031, 0, 0, 0, Floor|-00.16| [SEP] 17, BaseballBat, -1.602, 0.022, 0.356, 90, 8.736, 0, Floor|-00.16| [SEP] 18, Pen, -1.165, 0.843, -2.077, 0, 0, 0, 40 [SEP] 19, CellPhone, 2.004, 0.647, 0.418, 0, 0, 0, 27 [SEP] 20, TennisRacket, -1.667, 0.0, 0.818, 90, 29.999, 0, Floor|-00.16| [SEP] 21, Laptop, 1.152, 0.643, 0.777, 0, 0, 0, 27 [SEP] 22, Pencil, -0.901, 1.350, -2.074, 0, 0, 0, 43 [SEP] 23, KeyChain, -1.626, 1.777, -1.981, 0, 0, 0, 40 [SEP] 24, CreditCard, -0.935, 0.837, -1.969, 0, 0, 0, 40 [SEP] 25, CD, -1.165, 1.777, -2.161, 0, 0, 0, 40 [SEP] 26, Mirror, 0.883, 1.582, -2.399, 0, 180, 0, [SEP] 27, Bed, 1.176, -0.002, 0.238, 0, 90, 0, [SEP] 28, LightSwitch, 1.899, 1.297, -1.302, 0, 270, 0, [SEP] 29, Poster, -1.927, 1.411, -1.455, 90, 90, 0, [SEP] 30, GarbageCan, 0.128, -0.030, -2.146, 0, 90, 0, [SEP] 31, Window, -2.028, 1.388, -0.270, 90, 270, 0, [SEP] 32, DeskLamp, -1.673, 1.774, -2.190, 0, 0, 0, [SEP] 33, Drawer, 1.624, 0.453, -0.987, 0, 270, 0, [SEP] 34, Drawer, 1.624, 0.163, -0.987, 0, 270, 0, [SEP] 35, SideTable, 1.691, 0.002, -0.988, 0, 270, 0, [SEP] 36, Chair, -1.089, 0.009, -1.570, 0, 166.824, 0, [SEP] 37, Blinds, -1.949, 2.158, -0.252, 0, 90, 0, [SEP] 38, Cabinet, -0.241, 1.534, -2.101, 0, 0, 0, [SEP] 39, Cabinet, -1.301, 1.534, -2.101, 0, 0, 0, [SEP] 40, Desk, -0.962, 0.003, -1.942, 0, 0, 0, [SEP] 41, Cabinet, -1.683, 1.534, -2.101, 0, 0, 0, [SEP] 42, Cabinet, -0.623, 1.534, -2.101, 0, 0, 0, [SEP] 43, Shelf, -0.962, 1.534, -2.101, 0, 0, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and then face to your right twice so that you are facing the side of the trash can | STEP 2: Pick up a pencil out of the trash can | STEP 3: Look up from the trash can | STEP 4: Put the pencil down on the desk | END"]} +{"id": "trial_T20190909_113054_894334-2", "input": "Move a pencil from a small black bin to a wooden desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, -0.25, 0, 270, 0, [SEP] 1, CellPhone, 0.584, 0.647, 0.598, 0, 0, 0, 27 [SEP] 2, Pen, -0.934, 1.353, -2.222, 0, 0, 0, 43 [SEP] 3, Pencil, 0.101, 0.148, -2.157, 0, 90, 0, 30 [SEP] 4, Pencil, 1.639, 0.377, -0.930, 0, 180, 0, 33 [SEP] 5, CreditCard, 1.615, 0.374, -1.102, 0, 90, 0, 33 [SEP] 6, CreditCard, 1.807, 0.680, -1.065, 0, 270, 0, 35 [SEP] 7, Book, 0.584, 0.646, -0.120, 0, 0, 0, 27 [SEP] 8, Book, -1.396, 1.778, -2.221, 0, 0, 0, 40 [SEP] 9, AlarmClock, 1.581, 0.680, -1.065, 0, 270, 0, 35 [SEP] 10, AlarmClock, -0.705, 1.777, -2.041, 0, 0, 0, 40 [SEP] 11, Laptop, -0.935, 0.835, -1.753, 0, 0, 0, 40 [SEP] 12, Book, 1.152, 0.646, 0.239, 0, 0, 0, 27 [SEP] 13, Box, -0.424, 2.065, -2.027, 0, 352.503, 0, 40 [SEP] 14, Pillow, 0.868, 0.739, 0.418, 0, 0, 0, 27 [SEP] 15, AlarmClock, -1.626, 0.837, -2.185, 0, 0, 0, 40 [SEP] 16, BasketBall, -0.337, 0.120, 1.031, 0, 0, 0, Floor|-00.16| [SEP] 17, BaseballBat, -1.602, 0.022, 0.356, 90, 8.736, 0, Floor|-00.16| [SEP] 18, Pen, -1.165, 0.843, -2.077, 0, 0, 0, 40 [SEP] 19, CellPhone, 2.004, 0.647, 0.418, 0, 0, 0, 27 [SEP] 20, TennisRacket, -1.667, 0.0, 0.818, 90, 29.999, 0, Floor|-00.16| [SEP] 21, Laptop, 1.152, 0.643, 0.777, 0, 0, 0, 27 [SEP] 22, Pencil, -0.901, 1.350, -2.074, 0, 0, 0, 43 [SEP] 23, KeyChain, -1.626, 1.777, -1.981, 0, 0, 0, 40 [SEP] 24, CreditCard, -0.935, 0.837, -1.969, 0, 0, 0, 40 [SEP] 25, CD, -1.165, 1.777, -2.161, 0, 0, 0, 40 [SEP] 26, Mirror, 0.883, 1.582, -2.399, 0, 180, 0, [SEP] 27, Bed, 1.176, -0.002, 0.238, 0, 90, 0, [SEP] 28, LightSwitch, 1.899, 1.297, -1.302, 0, 270, 0, [SEP] 29, Poster, -1.927, 1.411, -1.455, 90, 90, 0, [SEP] 30, GarbageCan, 0.128, -0.030, -2.146, 0, 90, 0, [SEP] 31, Window, -2.028, 1.388, -0.270, 90, 270, 0, [SEP] 32, DeskLamp, -1.673, 1.774, -2.190, 0, 0, 0, [SEP] 33, Drawer, 1.624, 0.453, -0.987, 0, 270, 0, [SEP] 34, Drawer, 1.624, 0.163, -0.987, 0, 270, 0, [SEP] 35, SideTable, 1.691, 0.002, -0.988, 0, 270, 0, [SEP] 36, Chair, -1.089, 0.009, -1.570, 0, 166.824, 0, [SEP] 37, Blinds, -1.949, 2.158, -0.252, 0, 90, 0, [SEP] 38, Cabinet, -0.241, 1.534, -2.101, 0, 0, 0, [SEP] 39, Cabinet, -1.301, 1.534, -2.101, 0, 0, 0, [SEP] 40, Desk, -0.962, 0.003, -1.942, 0, 0, 0, [SEP] 41, Cabinet, -1.683, 1.534, -2.101, 0, 0, 0, [SEP] 42, Cabinet, -0.623, 1.534, -2.101, 0, 0, 0, [SEP] 43, Shelf, -0.962, 1.534, -2.101, 0, 0, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: Walk over to the small black bin next to the wooden desk on your left. | STEP 2: Pick up the pencil out of the small black bin. | STEP 3: Look up at the wooden desk in front of you. | STEP 4: Put the pencil on the wooden desk. | END"]} +{"id": "trial_T20190908_164236_518264-0", "input": "Move two spray bottles into a small grey bin.", "output": ["STEP 1: Turn left and take a step forward, then turn right and walk forward, turn right to face the small white end table next to the sink. | STEP 2: Pick up the rightmost blue spray bottle off of the end table. | STEP 3: Turn right and take a step forward, then turn right and walk over to the wall, turn right again to face the toilet and look down. | STEP 4: Put the spray bottle in the grey bin that is next to the toilet. | STEP 5: Walk over to the small white end table on your right. | STEP 6: Pick up the blue spray bottle off of the end table. | STEP 7: Walk over to the small grey bin behind you. | STEP 8: Put the blue spray bottle in the small grey bin. | END"]} +{"id": "trial_T20190908_164236_518264-1", "input": "To move two spray bottles to the bin next to the toilet. ", "output": ["STEP 1: Walk over to the white drawers to the right of the sink. | STEP 2: Pick up the spray bottle on the right. | STEP 3: Turn around and face the bin that's next to the toilet. | STEP 4: Place the bottle down in the bin. | STEP 5: Walk back over to the white drawers. | STEP 6: Pick up the spray bottle from the white drawers. | STEP 7: Walk back over to the bin next to the toilet. | STEP 8: Put the spray bottle in the bin. | END"]} +{"id": "trial_T20190908_164236_518264-2", "input": "Put two blue spray bottles in the trash can.", "output": ["STEP 1: Turn left for one step, turn right for three steps, and then turn right to face the table. | STEP 2: Pick up the blue spray bottle on the right of the table. | STEP 3: Turn right for one step, turn right and walk to the wall then turn right again. | STEP 4: Put the spray bottle in the trash can, nozzle facing left, on the side closest to you. | STEP 5: Turn right for one step, turn left for one step, and then turn right and walk straight to the table. | STEP 6: Pick up the blue spray bottle. | STEP 7: Turn right for one step, turn right and walk to the wall then turn right again. | STEP 8: Put the spray bottle in the trash can, next to the spray bottle already there but with the nozzle pointed north. | END"]} +{"id": "trial_T20190909_131701_482365-0", "input": "Put two sets of keys on a shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 1.5, 0, 270, 0, [SEP] 1, Watch, 1.600, 0.757, 0.541, 0, 270, 0, 29 [SEP] 2, Statue, 1.600, 0.770, 0.091, 0, 270, 0, 29 [SEP] 3, Statue, -0.301, 0.483, -0.086, 0, 90, 0, 26 [SEP] 4, KeyChain, -1.113, 0.327, 0.847, 0, 90, 0, 37 [SEP] 5, KeyChain, -1.270, 0.327, 0.440, 0, 180, 0, 37 [SEP] 6, Laptop, -1.349, 0.334, 0.643, 0, 90, 0, 37 [SEP] 7, Box, -0.007, 0.65, 0.892, 0, 0, 0, 26 [SEP] 8, Laptop, -0.196, 0.470, 0.407, 0, 72.615, 0, 26 [SEP] 9, CreditCard, -1.192, 0.334, 0.236, 0, 90, 0, 37 [SEP] 10, KeyChain, -0.555, 0.291, 2.200, 0, 0, 0, 41 [SEP] 11, Vase, 1.525, 0.765, 0.691, 0, 270, 0, 29 [SEP] 12, Vase, -1.800, 1.616, -1.785, 0, 0, 0, 38 [SEP] 13, Pillow, -1.235, 0.461, -0.025, 0, 75.000, 0, 37 [SEP] 14, RemoteControl, -1.438, 0.491, 1.818, 0, 0, 0, 36 [SEP] 15, Watch, 1.461, 0.178, 0.029, 0, 270, 0, 31 [SEP] 16, Vase, -1.799, 1.315, -1.470, 0, 0, 0, 39 [SEP] 17, Statue, -0.384, 0.483, 0.795, 0, 90, 0, 26 [SEP] 18, Television, 1.826, 1.241, 0.248, 0, 270, 0, [SEP] 19, LightSwitch, -2.0, 1.332, 3.920, 0, 90, 0, [SEP] 20, Window, -0.216, 1.495, -1.878, 90, 0, 0, [SEP] 21, HousePlant, -1.780, 0.468, 1.965, 0, 0, 0, [SEP] 22, Painting, -2.0, 1.577, 0.418, 90, 270, 0, [SEP] 23, GarbageCan, 1.767, -0.001, 3.878, 0, 0, 0, [SEP] 24, FloorLamp, 1.228, 0.000, 3.744, 0, 0, 0, [SEP] 25, Painting, -0.096, 1.578, 4.050, 90, 0, 0, [SEP] 26, CoffeeTable, -0.150, 0.000, 0.421, 0, 270, 0, [SEP] 27, Shelf, 1.663, 0.474, 0.609, 0, 270, 0, [SEP] 28, Shelf, 1.663, 0.273, 0.609, 0, 270, 0, [SEP] 29, TVStand, 1.669, -0.000, 0.243, 0, 270, 0, [SEP] 30, Shelf, 1.663, 0.302, -0.124, 0, 270, 0, [SEP] 31, Shelf, 1.663, 0.442, 0.241, 0, 270, 0, [SEP] 32, Shelf, 1.663, 0.597, -0.124, 0, 270, 0, [SEP] 33, Shelf, 1.663, 0.643, 0.609, 0, 270, 0, [SEP] 34, Cabinet, -1.767, 0.729, -1.593, 0, 91.801, 0, [SEP] 35, Shelf, -1.769, 2.041, -1.593, 0, 91.801, 0, [SEP] 36, SideTable, -1.567, -0.002, 1.818, 0, 90, 0, [SEP] 37, Sofa, -1.445, 0.008, 0.420, 0, 90, 0, [SEP] 38, Shelf, -1.769, 1.744, -1.593, 0, 91.801, 0, [SEP] 39, Shelf, -1.768, 1.452, -1.593, 0, 91.801, 0, [SEP] 40, ArmChair, 0.396, 0.005, 2.194, 0, 180, 0, [SEP] 41, ArmChair, -0.633, 0.005, 2.194, 0, 180, 0, [SEP] 42, ShelvingUnit, -1.786, 0.001, -1.592, 0, 91.801, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, WestWall, , , , , , , ", "output": ["STEP 1: Go forward to the side table, hang a left and go to the couch where the computer is. | STEP 2: Pick up the keys that are left of the computer from the couch. | STEP 3: Turn to the left and go to the end of the table, turn to the left, go forward, turn to the left, go to the shelf with the TV on it that is on the right. | STEP 4: Put the keys on the bottom right shelf under the TV. | STEP 5: Hang a left and go to the chair, turn to the left, go to the second chair on the right. | STEP 6: Pick up the keys that are in the chair. | STEP 7: Turn to the right, go forward, hang a right and go to the shelf with the TV on it that is on the left. | STEP 8: Put the keys on the bottom right shelf under the TV with the other keys. | END"]} +{"id": "trial_T20190909_131701_482365-1", "input": "Place two sets of keys in the entertainment center. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 1.5, 0, 270, 0, [SEP] 1, Watch, 1.600, 0.757, 0.541, 0, 270, 0, 29 [SEP] 2, Statue, 1.600, 0.770, 0.091, 0, 270, 0, 29 [SEP] 3, Statue, -0.301, 0.483, -0.086, 0, 90, 0, 26 [SEP] 4, KeyChain, -1.113, 0.327, 0.847, 0, 90, 0, 37 [SEP] 5, KeyChain, -1.270, 0.327, 0.440, 0, 180, 0, 37 [SEP] 6, Laptop, -1.349, 0.334, 0.643, 0, 90, 0, 37 [SEP] 7, Box, -0.007, 0.65, 0.892, 0, 0, 0, 26 [SEP] 8, Laptop, -0.196, 0.470, 0.407, 0, 72.615, 0, 26 [SEP] 9, CreditCard, -1.192, 0.334, 0.236, 0, 90, 0, 37 [SEP] 10, KeyChain, -0.555, 0.291, 2.200, 0, 0, 0, 41 [SEP] 11, Vase, 1.525, 0.765, 0.691, 0, 270, 0, 29 [SEP] 12, Vase, -1.800, 1.616, -1.785, 0, 0, 0, 38 [SEP] 13, Pillow, -1.235, 0.461, -0.025, 0, 75.000, 0, 37 [SEP] 14, RemoteControl, -1.438, 0.491, 1.818, 0, 0, 0, 36 [SEP] 15, Watch, 1.461, 0.178, 0.029, 0, 270, 0, 31 [SEP] 16, Vase, -1.799, 1.315, -1.470, 0, 0, 0, 39 [SEP] 17, Statue, -0.384, 0.483, 0.795, 0, 90, 0, 26 [SEP] 18, Television, 1.826, 1.241, 0.248, 0, 270, 0, [SEP] 19, LightSwitch, -2.0, 1.332, 3.920, 0, 90, 0, [SEP] 20, Window, -0.216, 1.495, -1.878, 90, 0, 0, [SEP] 21, HousePlant, -1.780, 0.468, 1.965, 0, 0, 0, [SEP] 22, Painting, -2.0, 1.577, 0.418, 90, 270, 0, [SEP] 23, GarbageCan, 1.767, -0.001, 3.878, 0, 0, 0, [SEP] 24, FloorLamp, 1.228, 0.000, 3.744, 0, 0, 0, [SEP] 25, Painting, -0.096, 1.578, 4.050, 90, 0, 0, [SEP] 26, CoffeeTable, -0.150, 0.000, 0.421, 0, 270, 0, [SEP] 27, Shelf, 1.663, 0.474, 0.609, 0, 270, 0, [SEP] 28, Shelf, 1.663, 0.273, 0.609, 0, 270, 0, [SEP] 29, TVStand, 1.669, -0.000, 0.243, 0, 270, 0, [SEP] 30, Shelf, 1.663, 0.302, -0.124, 0, 270, 0, [SEP] 31, Shelf, 1.663, 0.442, 0.241, 0, 270, 0, [SEP] 32, Shelf, 1.663, 0.597, -0.124, 0, 270, 0, [SEP] 33, Shelf, 1.663, 0.643, 0.609, 0, 270, 0, [SEP] 34, Cabinet, -1.767, 0.729, -1.593, 0, 91.801, 0, [SEP] 35, Shelf, -1.769, 2.041, -1.593, 0, 91.801, 0, [SEP] 36, SideTable, -1.567, -0.002, 1.818, 0, 90, 0, [SEP] 37, Sofa, -1.445, 0.008, 0.420, 0, 90, 0, [SEP] 38, Shelf, -1.769, 1.744, -1.593, 0, 91.801, 0, [SEP] 39, Shelf, -1.768, 1.452, -1.593, 0, 91.801, 0, [SEP] 40, ArmChair, 0.396, 0.005, 2.194, 0, 180, 0, [SEP] 41, ArmChair, -0.633, 0.005, 2.194, 0, 180, 0, [SEP] 42, ShelvingUnit, -1.786, 0.001, -1.592, 0, 91.801, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, WestWall, , , , , , , ", "output": ["STEP 1: Move to and face the center of the black couch in front of the picture frame on the wall. | STEP 2: Pick up the set of keys between the red credit card and the laptop from the couch. | STEP 3: Move around past the coffee table and move to the black entertainment center in front of the television. | STEP 4: Place the set of keys on the bottom right shelf of the entertainment center. | STEP 5: Turn left, move around the coffee table to the chair to the right of the potted plant. | STEP 6: Pick up the set of keys from the chair. | STEP 7: Turn right, move around the coffee table and move to the entertainment center in front of the television. | STEP 8: Place the set of keys on top of the set of keys on the bottom right shelf of the entertainment center. | END"]} +{"id": "trial_T20190909_131701_482365-2", "input": "Put two sets of keys on the shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 1.5, 0, 270, 0, [SEP] 1, Watch, 1.600, 0.757, 0.541, 0, 270, 0, 29 [SEP] 2, Statue, 1.600, 0.770, 0.091, 0, 270, 0, 29 [SEP] 3, Statue, -0.301, 0.483, -0.086, 0, 90, 0, 26 [SEP] 4, KeyChain, -1.113, 0.327, 0.847, 0, 90, 0, 37 [SEP] 5, KeyChain, -1.270, 0.327, 0.440, 0, 180, 0, 37 [SEP] 6, Laptop, -1.349, 0.334, 0.643, 0, 90, 0, 37 [SEP] 7, Box, -0.007, 0.65, 0.892, 0, 0, 0, 26 [SEP] 8, Laptop, -0.196, 0.470, 0.407, 0, 72.615, 0, 26 [SEP] 9, CreditCard, -1.192, 0.334, 0.236, 0, 90, 0, 37 [SEP] 10, KeyChain, -0.555, 0.291, 2.200, 0, 0, 0, 41 [SEP] 11, Vase, 1.525, 0.765, 0.691, 0, 270, 0, 29 [SEP] 12, Vase, -1.800, 1.616, -1.785, 0, 0, 0, 38 [SEP] 13, Pillow, -1.235, 0.461, -0.025, 0, 75.000, 0, 37 [SEP] 14, RemoteControl, -1.438, 0.491, 1.818, 0, 0, 0, 36 [SEP] 15, Watch, 1.461, 0.178, 0.029, 0, 270, 0, 31 [SEP] 16, Vase, -1.799, 1.315, -1.470, 0, 0, 0, 39 [SEP] 17, Statue, -0.384, 0.483, 0.795, 0, 90, 0, 26 [SEP] 18, Television, 1.826, 1.241, 0.248, 0, 270, 0, [SEP] 19, LightSwitch, -2.0, 1.332, 3.920, 0, 90, 0, [SEP] 20, Window, -0.216, 1.495, -1.878, 90, 0, 0, [SEP] 21, HousePlant, -1.780, 0.468, 1.965, 0, 0, 0, [SEP] 22, Painting, -2.0, 1.577, 0.418, 90, 270, 0, [SEP] 23, GarbageCan, 1.767, -0.001, 3.878, 0, 0, 0, [SEP] 24, FloorLamp, 1.228, 0.000, 3.744, 0, 0, 0, [SEP] 25, Painting, -0.096, 1.578, 4.050, 90, 0, 0, [SEP] 26, CoffeeTable, -0.150, 0.000, 0.421, 0, 270, 0, [SEP] 27, Shelf, 1.663, 0.474, 0.609, 0, 270, 0, [SEP] 28, Shelf, 1.663, 0.273, 0.609, 0, 270, 0, [SEP] 29, TVStand, 1.669, -0.000, 0.243, 0, 270, 0, [SEP] 30, Shelf, 1.663, 0.302, -0.124, 0, 270, 0, [SEP] 31, Shelf, 1.663, 0.442, 0.241, 0, 270, 0, [SEP] 32, Shelf, 1.663, 0.597, -0.124, 0, 270, 0, [SEP] 33, Shelf, 1.663, 0.643, 0.609, 0, 270, 0, [SEP] 34, Cabinet, -1.767, 0.729, -1.593, 0, 91.801, 0, [SEP] 35, Shelf, -1.769, 2.041, -1.593, 0, 91.801, 0, [SEP] 36, SideTable, -1.567, -0.002, 1.818, 0, 90, 0, [SEP] 37, Sofa, -1.445, 0.008, 0.420, 0, 90, 0, [SEP] 38, Shelf, -1.769, 1.744, -1.593, 0, 91.801, 0, [SEP] 39, Shelf, -1.768, 1.452, -1.593, 0, 91.801, 0, [SEP] 40, ArmChair, 0.396, 0.005, 2.194, 0, 180, 0, [SEP] 41, ArmChair, -0.633, 0.005, 2.194, 0, 180, 0, [SEP] 42, ShelvingUnit, -1.786, 0.001, -1.592, 0, 91.801, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward to the couch then step to your left. | STEP 2: Pick up the keys that are to the left of the laptop. | STEP 3: Walk over to the tv that's to your left and stand in front of it facing it. | STEP 4: Put the keys on the bottom right shelf. | STEP 5: Turn left and walk to the black chair then move left to face the chair to the left of the first one. | STEP 6: Pick up the set of keys on the cushion. | STEP 7: Walk back to where you put the first set of keys. | STEP 8: Put these keys near where you put the first set. | END"]} +{"id": "trial_T20190907_165826_194855-0", "input": "Move two alarm clocks from the desk to the night stand. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, -1.25, 0, 180, 0, [SEP] 1, Bowl, 1.084, 0.729, 1.231, 0, 0, 0, 43 [SEP] 2, CD, -0.095, 0.689, -1.616, 0, 0, 0, 45 [SEP] 3, CD, 1.084, 0.728, 1.562, 0, 0, 0, 43 [SEP] 4, Pen, 1.220, 0.734, 1.066, 0, 0, 0, 43 [SEP] 5, Pen, 1.278, 1.144, 0.933, 0, 270, 0, 40 [SEP] 6, CreditCard, 1.423, 0.728, 1.727, 0, 0, 0, 43 [SEP] 7, KeyChain, 1.341, 1.139, 1.558, 0, 270, 0, 40 [SEP] 8, AlarmClock, 1.084, 0.729, 1.066, 0, 0, 0, 43 [SEP] 9, AlarmClock, 1.356, 0.729, 1.231, 0, 0, 0, 43 [SEP] 10, Laptop, 1.080, 0.776, -0.714, 0, 0, 0, 32 [SEP] 11, Laptop, 0.704, 0.776, -0.988, 0, 0, 0, 32 [SEP] 12, Book, 1.145, 0.721, 1.806, 0, 0, 0, 42 [SEP] 13, Box, -1.233, 0.263, -1.435, 0, 312.675, 0, [SEP] 14, CellPhone, -0.095, 0.696, -1.749, 0, 0, 0, 45 [SEP] 15, BaseballBat, -1.717, 0.708, -0.677, 0, 0, 12.045, [SEP] 16, Bowl, 1.288, 0.729, 1.396, 0, 0, 0, 43 [SEP] 17, BasketBall, -1.64, 0.127, -1.652, 0, 0, 0, [SEP] 18, Laptop, 0.829, 0.776, 0.107, 0, 0, 0, 32 [SEP] 19, CreditCard, -0.094, 0.388, -1.640, 0, 0, 0, 47 [SEP] 20, KeyChain, 1.405, 1.139, 1.246, 0, 270, 0, 40 [SEP] 21, AlarmClock, 1.084, 0.729, 1.396, 0, 0, 0, 43 [SEP] 22, Pencil, 1.098, 0.078, 1.595, 0, 0, 0, 41 [SEP] 23, Pillow, 0.872, 0.816, -1.513, 0, 0, 0, 32 [SEP] 24, CD, 1.134, 0.077, 0.564, 0, 0, 0, 33 [SEP] 25, Pen, 1.135, 0.321, 1.666, 0, 0, 0, 44 [SEP] 26, Mug, 1.405, 1.136, 0.933, 0, 0, 0, 40 [SEP] 27, Poster, 0.978, 1.970, -1.868, 90, 0, 0, [SEP] 28, Mirror, -0.884, 1.350, 2.086, 0, 0, 0, [SEP] 29, Poster, 1.483, 1.978, -1.210, 90, 270, 0, [SEP] 30, Poster, 1.483, 1.503, -0.128, 90, 270, 0, [SEP] 31, Poster, 1.483, 2.138, -0.128, 90, 270, 0, [SEP] 32, Bed, 0.955, 0.002, -0.722, 0, 0, 0, [SEP] 33, GarbageCan, 1.133, 0.032, 0.581, 0, 0, 0, [SEP] 34, DeskLamp, -0.396, 0.664, -1.666, 0, 315, 0, [SEP] 35, LightSwitch, 0.554, 1.154, 2.079, 0, 180, 0, [SEP] 36, Window, -0.174, 1.006, -2.009, 90, 0, 0, [SEP] 37, LaundryHamper, -1.425, 0.006, 1.676, 0, 149.999, 0, [SEP] 38, Chair, 1.127, -8.434, 1.053, 0, 90, 0, [SEP] 39, Blinds, -0.145, 1.679, -1.986, 0, 0, 0, [SEP] 40, Shelf, 1.316, 1.174, 1.388, 0, 270, 0, [SEP] 41, Drawer, 1.099, 0.167, 1.724, 0, 270, 0, [SEP] 42, Drawer, 1.099, 0.622, 1.724, 0, 270, 0, [SEP] 43, Desk, 1.189, 0.002, 1.384, 0, 270, 0, [SEP] 44, Drawer, 1.099, 0.408, 1.724, 0, 270, 0, [SEP] 45, SideTable, -0.103, -0.000, -1.691, 0, 0, 0, [SEP] 46, Drawer, -0.104, 0.157, -1.618, 0, 0, 0, [SEP] 47, Drawer, -0.104, 0.456, -1.618, 0, 0, 0, [SEP] 48, NorthWall, , , , , , , [SEP] 49, EastWall, , , , , , , [SEP] 50, SouthWall, , , , , , , [SEP] 51, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the desk to the right of the door. | STEP 2: Pick up the alarm clock to the right of the compact disc on the desk. | STEP 3: Turn left and walk to the night stand to the right of the bed. | STEP 4: Place the alarm clock on the front edge of the night stand and to the left of the compact disc on the desk. | STEP 5: Turn around and walk back to the desk to the right of the door. | STEP 6: Pick up the alarm clock on the right side from the desk. | STEP 7: Turn and walk back to the night stand to the right of the bed. | STEP 8: Put the alarm clock down on the night stand and to the right of the first alarm clock. | END"]} +{"id": "trial_T20190907_165826_194855-1", "input": "Move two clocks from the desk to the end table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, -1.25, 0, 180, 0, [SEP] 1, Bowl, 1.084, 0.729, 1.231, 0, 0, 0, 43 [SEP] 2, CD, -0.095, 0.689, -1.616, 0, 0, 0, 45 [SEP] 3, CD, 1.084, 0.728, 1.562, 0, 0, 0, 43 [SEP] 4, Pen, 1.220, 0.734, 1.066, 0, 0, 0, 43 [SEP] 5, Pen, 1.278, 1.144, 0.933, 0, 270, 0, 40 [SEP] 6, CreditCard, 1.423, 0.728, 1.727, 0, 0, 0, 43 [SEP] 7, KeyChain, 1.341, 1.139, 1.558, 0, 270, 0, 40 [SEP] 8, AlarmClock, 1.084, 0.729, 1.066, 0, 0, 0, 43 [SEP] 9, AlarmClock, 1.356, 0.729, 1.231, 0, 0, 0, 43 [SEP] 10, Laptop, 1.080, 0.776, -0.714, 0, 0, 0, 32 [SEP] 11, Laptop, 0.704, 0.776, -0.988, 0, 0, 0, 32 [SEP] 12, Book, 1.145, 0.721, 1.806, 0, 0, 0, 42 [SEP] 13, Box, -1.233, 0.263, -1.435, 0, 312.675, 0, [SEP] 14, CellPhone, -0.095, 0.696, -1.749, 0, 0, 0, 45 [SEP] 15, BaseballBat, -1.717, 0.708, -0.677, 0, 0, 12.045, [SEP] 16, Bowl, 1.288, 0.729, 1.396, 0, 0, 0, 43 [SEP] 17, BasketBall, -1.64, 0.127, -1.652, 0, 0, 0, [SEP] 18, Laptop, 0.829, 0.776, 0.107, 0, 0, 0, 32 [SEP] 19, CreditCard, -0.094, 0.388, -1.640, 0, 0, 0, 47 [SEP] 20, KeyChain, 1.405, 1.139, 1.246, 0, 270, 0, 40 [SEP] 21, AlarmClock, 1.084, 0.729, 1.396, 0, 0, 0, 43 [SEP] 22, Pencil, 1.098, 0.078, 1.595, 0, 0, 0, 41 [SEP] 23, Pillow, 0.872, 0.816, -1.513, 0, 0, 0, 32 [SEP] 24, CD, 1.134, 0.077, 0.564, 0, 0, 0, 33 [SEP] 25, Pen, 1.135, 0.321, 1.666, 0, 0, 0, 44 [SEP] 26, Mug, 1.405, 1.136, 0.933, 0, 0, 0, 40 [SEP] 27, Poster, 0.978, 1.970, -1.868, 90, 0, 0, [SEP] 28, Mirror, -0.884, 1.350, 2.086, 0, 0, 0, [SEP] 29, Poster, 1.483, 1.978, -1.210, 90, 270, 0, [SEP] 30, Poster, 1.483, 1.503, -0.128, 90, 270, 0, [SEP] 31, Poster, 1.483, 2.138, -0.128, 90, 270, 0, [SEP] 32, Bed, 0.955, 0.002, -0.722, 0, 0, 0, [SEP] 33, GarbageCan, 1.133, 0.032, 0.581, 0, 0, 0, [SEP] 34, DeskLamp, -0.396, 0.664, -1.666, 0, 315, 0, [SEP] 35, LightSwitch, 0.554, 1.154, 2.079, 0, 180, 0, [SEP] 36, Window, -0.174, 1.006, -2.009, 90, 0, 0, [SEP] 37, LaundryHamper, -1.425, 0.006, 1.676, 0, 149.999, 0, [SEP] 38, Chair, 1.127, -8.434, 1.053, 0, 90, 0, [SEP] 39, Blinds, -0.145, 1.679, -1.986, 0, 0, 0, [SEP] 40, Shelf, 1.316, 1.174, 1.388, 0, 270, 0, [SEP] 41, Drawer, 1.099, 0.167, 1.724, 0, 270, 0, [SEP] 42, Drawer, 1.099, 0.622, 1.724, 0, 270, 0, [SEP] 43, Desk, 1.189, 0.002, 1.384, 0, 270, 0, [SEP] 44, Drawer, 1.099, 0.408, 1.724, 0, 270, 0, [SEP] 45, SideTable, -0.103, -0.000, -1.691, 0, 0, 0, [SEP] 46, Drawer, -0.104, 0.157, -1.618, 0, 0, 0, [SEP] 47, Drawer, -0.104, 0.456, -1.618, 0, 0, 0, [SEP] 48, NorthWall, , , , , , , [SEP] 49, EastWall, , , , , , , [SEP] 50, SouthWall, , , , , , , [SEP] 51, WestWall, , , , , , , ", "output": ["STEP 1: Move to the desk at the foot of the bed | STEP 2: Pick up a clock from the desk | STEP 3: Move to the end table to the right of the bed | STEP 4: Place the clock on the end table | STEP 5: Move to the desk at the foot of the bed | STEP 6: Pick up a clock from the desk | STEP 7: Move to the end table to the right of the bed | STEP 8: Place the clock on the end table | END"]} +{"id": "trial_T20190907_165826_194855-2", "input": "drop two clocks by the bed SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, -1.25, 0, 180, 0, [SEP] 1, Bowl, 1.084, 0.729, 1.231, 0, 0, 0, 43 [SEP] 2, CD, -0.095, 0.689, -1.616, 0, 0, 0, 45 [SEP] 3, CD, 1.084, 0.728, 1.562, 0, 0, 0, 43 [SEP] 4, Pen, 1.220, 0.734, 1.066, 0, 0, 0, 43 [SEP] 5, Pen, 1.278, 1.144, 0.933, 0, 270, 0, 40 [SEP] 6, CreditCard, 1.423, 0.728, 1.727, 0, 0, 0, 43 [SEP] 7, KeyChain, 1.341, 1.139, 1.558, 0, 270, 0, 40 [SEP] 8, AlarmClock, 1.084, 0.729, 1.066, 0, 0, 0, 43 [SEP] 9, AlarmClock, 1.356, 0.729, 1.231, 0, 0, 0, 43 [SEP] 10, Laptop, 1.080, 0.776, -0.714, 0, 0, 0, 32 [SEP] 11, Laptop, 0.704, 0.776, -0.988, 0, 0, 0, 32 [SEP] 12, Book, 1.145, 0.721, 1.806, 0, 0, 0, 42 [SEP] 13, Box, -1.233, 0.263, -1.435, 0, 312.675, 0, [SEP] 14, CellPhone, -0.095, 0.696, -1.749, 0, 0, 0, 45 [SEP] 15, BaseballBat, -1.717, 0.708, -0.677, 0, 0, 12.045, [SEP] 16, Bowl, 1.288, 0.729, 1.396, 0, 0, 0, 43 [SEP] 17, BasketBall, -1.64, 0.127, -1.652, 0, 0, 0, [SEP] 18, Laptop, 0.829, 0.776, 0.107, 0, 0, 0, 32 [SEP] 19, CreditCard, -0.094, 0.388, -1.640, 0, 0, 0, 47 [SEP] 20, KeyChain, 1.405, 1.139, 1.246, 0, 270, 0, 40 [SEP] 21, AlarmClock, 1.084, 0.729, 1.396, 0, 0, 0, 43 [SEP] 22, Pencil, 1.098, 0.078, 1.595, 0, 0, 0, 41 [SEP] 23, Pillow, 0.872, 0.816, -1.513, 0, 0, 0, 32 [SEP] 24, CD, 1.134, 0.077, 0.564, 0, 0, 0, 33 [SEP] 25, Pen, 1.135, 0.321, 1.666, 0, 0, 0, 44 [SEP] 26, Mug, 1.405, 1.136, 0.933, 0, 0, 0, 40 [SEP] 27, Poster, 0.978, 1.970, -1.868, 90, 0, 0, [SEP] 28, Mirror, -0.884, 1.350, 2.086, 0, 0, 0, [SEP] 29, Poster, 1.483, 1.978, -1.210, 90, 270, 0, [SEP] 30, Poster, 1.483, 1.503, -0.128, 90, 270, 0, [SEP] 31, Poster, 1.483, 2.138, -0.128, 90, 270, 0, [SEP] 32, Bed, 0.955, 0.002, -0.722, 0, 0, 0, [SEP] 33, GarbageCan, 1.133, 0.032, 0.581, 0, 0, 0, [SEP] 34, DeskLamp, -0.396, 0.664, -1.666, 0, 315, 0, [SEP] 35, LightSwitch, 0.554, 1.154, 2.079, 0, 180, 0, [SEP] 36, Window, -0.174, 1.006, -2.009, 90, 0, 0, [SEP] 37, LaundryHamper, -1.425, 0.006, 1.676, 0, 149.999, 0, [SEP] 38, Chair, 1.127, -8.434, 1.053, 0, 90, 0, [SEP] 39, Blinds, -0.145, 1.679, -1.986, 0, 0, 0, [SEP] 40, Shelf, 1.316, 1.174, 1.388, 0, 270, 0, [SEP] 41, Drawer, 1.099, 0.167, 1.724, 0, 270, 0, [SEP] 42, Drawer, 1.099, 0.622, 1.724, 0, 270, 0, [SEP] 43, Desk, 1.189, 0.002, 1.384, 0, 270, 0, [SEP] 44, Drawer, 1.099, 0.408, 1.724, 0, 270, 0, [SEP] 45, SideTable, -0.103, -0.000, -1.691, 0, 0, 0, [SEP] 46, Drawer, -0.104, 0.157, -1.618, 0, 0, 0, [SEP] 47, Drawer, -0.104, 0.456, -1.618, 0, 0, 0, [SEP] 48, NorthWall, , , , , , , [SEP] 49, EastWall, , , , , , , [SEP] 50, SouthWall, , , , , , , [SEP] 51, WestWall, , , , , , , ", "output": ["STEP 1: turn around and locate the table | STEP 2: pick up the clock from the table | STEP 3: turn right and head towards the bed table | STEP 4: drop the clock on the table | STEP 5: turn around and head for the table | STEP 6: pick another clock from the table | STEP 7: turn right and head towards the bed table | STEP 8: drop the clock on the bed table | END"]} +{"id": "trial_T20190909_044602_338962-0", "input": "Move two tissue boxes from the green cabinet counter top to the toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.901, 2.75, 0, 180, 0, [SEP] 1, TissueBox, -1.329, 0.808, 0.286, 0, 90, 0, 24 [SEP] 2, TissueBox, -1.853, 0.808, 0.417, 0, 90, 0, 24 [SEP] 3, TissueBox, -0.808, 0.507, 0.238, 0, 90, 0, 22 [SEP] 4, Candle, -2.354, 0.953, 2.577, 0, 180, 0, 38 [SEP] 5, SprayBottle, -0.543, 0.805, 0.417, 0, 90, 0, 24 [SEP] 6, Towel, -2.554, 1.597, 0.106, 0, 0, 0, 31 [SEP] 7, Cloth, -3.446, 0.219, 0.753, 0, 0, 0, 40 [SEP] 8, Candle, -1.324, 0.507, 0.182, 0, 90, 0, 24 [SEP] 9, HandTowel, -0.038, 1.68, 2.956, 0, 90, 0, 35 [SEP] 10, SoapBar, -0.541, 0.897, 2.896, 0, 180, 0, 39 [SEP] 11, ToiletPaper, -2.250, 0.946, 2.670, 0, 0, 0, 38 [SEP] 12, Plunger, -2.307, 0.000, 3.231, 0, 0, 0, Floor|-00.08| [SEP] 13, SprayBottle, -0.805, 0.805, 0.221, 0, 90, 0, 24 [SEP] 14, TissueBox, -1.591, 0.808, 0.286, 0, 90, 0, 24 [SEP] 15, ToiletPaper, -1.380, 0.199, 0.350, 0, 90, 0, 26 [SEP] 16, ScrubBrush, -2.189, 0.000, 3.025, 0, 0, 0, Floor|-00.08| [SEP] 17, SoapBottle, -1.067, 0.809, 0.155, 0, 90, 0, 24 [SEP] 18, Drawer, -1.324, 0.312, 0.311, 0, 90, 0, [SEP] 19, Drawer, -0.290, 0.312, 0.311, 0, 90, 0, [SEP] 20, Sink, -0.463, -0.013, 3.046, 0, 180, 0, [SEP] 21, Mirror, -0.504, 1.741, 3.304, 0, 0, 0, [SEP] 22, Drawer, -0.808, 0.611, 0.311, 0, 90, 0, [SEP] 23, Drawer, -0.808, 0.312, 0.311, 0, 90, 0, [SEP] 24, CounterTop, -1.850, 0.001, 0.342, 0, 90, 0, [SEP] 25, Bathtub, -3.499, 0.148, 0.939, 0, 0, 0, [SEP] 26, Drawer, -1.840, 0.312, 0.311, 0, 90, 0, [SEP] 27, Faucet, -0.463, 0.969, 3.212, 0, 180, 0, [SEP] 28, Drawer, -0.290, 0.611, 0.311, 0, 90, 0, [SEP] 29, Drawer, -1.324, 0.611, 0.311, 0, 90, 0, [SEP] 30, Drawer, -1.840, 0.611, 0.311, 0, 90, 0, [SEP] 31, TowelHolder, -2.553, 1.582, 0.0, 0, 0, 0, [SEP] 32, TowelHolder, -2.553, 0.859, 0.0, 0, 0, 0, [SEP] 33, GarbageCan, -2.110, -0.001, 1.960, 0, 104.999, 0, [SEP] 34, ToiletPaperHanger, -1.628, 0.842, 3.305, 0, 180, 0, [SEP] 35, HandTowelHolder, 0.0, 1.781, 2.956, 0, 180, 0, [SEP] 36, LightSwitch, 0.0, 1.368, 1.993, 0, 270, 0, [SEP] 37, Window, -4.083, 1.735, 1.162, 90, 270, 0, [SEP] 38, Toilet, -1.835, 0.000, 2.503, 0, 90, 0, [SEP] 39, SinkBasin, -0.452, 0.888, 2.969, 0, 180, 0, [SEP] 40, BathtubBasin, -3.518, 0.210, 0.939, 0, 0, 0, [SEP] 41, ShowerHead, -3.540, 1.821, 1.820, 0, 0, 0, [SEP] 42, ShowerCurtain, -3.318, 2.572, 0.266, 0, 0, 8.184, [SEP] 43, NorthWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, SouthWall, , , , , , , ", "output": ["STEP 1: go straight and face the objects on the green dresser cabinets | STEP 2: pick up the middle tissue box from the top of the green cabinets | STEP 3: turn around and face the toilet | STEP 4: place the box of tissues on the top of the toilet tank, in front of the candle | STEP 5: return to the green cabinets | STEP 6: pick up the tissue box on the far left | STEP 7: go back to the toilet | STEP 8: place the tissue box vertically oriented on top of the toilet tank behind the first tissue box | END"]} +{"id": "trial_T20190909_044602_338962-1", "input": "Move two boxes of tissues to the toilet tank. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.901, 2.75, 0, 180, 0, [SEP] 1, TissueBox, -1.329, 0.808, 0.286, 0, 90, 0, 24 [SEP] 2, TissueBox, -1.853, 0.808, 0.417, 0, 90, 0, 24 [SEP] 3, TissueBox, -0.808, 0.507, 0.238, 0, 90, 0, 22 [SEP] 4, Candle, -2.354, 0.953, 2.577, 0, 180, 0, 38 [SEP] 5, SprayBottle, -0.543, 0.805, 0.417, 0, 90, 0, 24 [SEP] 6, Towel, -2.554, 1.597, 0.106, 0, 0, 0, 31 [SEP] 7, Cloth, -3.446, 0.219, 0.753, 0, 0, 0, 40 [SEP] 8, Candle, -1.324, 0.507, 0.182, 0, 90, 0, 24 [SEP] 9, HandTowel, -0.038, 1.68, 2.956, 0, 90, 0, 35 [SEP] 10, SoapBar, -0.541, 0.897, 2.896, 0, 180, 0, 39 [SEP] 11, ToiletPaper, -2.250, 0.946, 2.670, 0, 0, 0, 38 [SEP] 12, Plunger, -2.307, 0.000, 3.231, 0, 0, 0, Floor|-00.08| [SEP] 13, SprayBottle, -0.805, 0.805, 0.221, 0, 90, 0, 24 [SEP] 14, TissueBox, -1.591, 0.808, 0.286, 0, 90, 0, 24 [SEP] 15, ToiletPaper, -1.380, 0.199, 0.350, 0, 90, 0, 26 [SEP] 16, ScrubBrush, -2.189, 0.000, 3.025, 0, 0, 0, Floor|-00.08| [SEP] 17, SoapBottle, -1.067, 0.809, 0.155, 0, 90, 0, 24 [SEP] 18, Drawer, -1.324, 0.312, 0.311, 0, 90, 0, [SEP] 19, Drawer, -0.290, 0.312, 0.311, 0, 90, 0, [SEP] 20, Sink, -0.463, -0.013, 3.046, 0, 180, 0, [SEP] 21, Mirror, -0.504, 1.741, 3.304, 0, 0, 0, [SEP] 22, Drawer, -0.808, 0.611, 0.311, 0, 90, 0, [SEP] 23, Drawer, -0.808, 0.312, 0.311, 0, 90, 0, [SEP] 24, CounterTop, -1.850, 0.001, 0.342, 0, 90, 0, [SEP] 25, Bathtub, -3.499, 0.148, 0.939, 0, 0, 0, [SEP] 26, Drawer, -1.840, 0.312, 0.311, 0, 90, 0, [SEP] 27, Faucet, -0.463, 0.969, 3.212, 0, 180, 0, [SEP] 28, Drawer, -0.290, 0.611, 0.311, 0, 90, 0, [SEP] 29, Drawer, -1.324, 0.611, 0.311, 0, 90, 0, [SEP] 30, Drawer, -1.840, 0.611, 0.311, 0, 90, 0, [SEP] 31, TowelHolder, -2.553, 1.582, 0.0, 0, 0, 0, [SEP] 32, TowelHolder, -2.553, 0.859, 0.0, 0, 0, 0, [SEP] 33, GarbageCan, -2.110, -0.001, 1.960, 0, 104.999, 0, [SEP] 34, ToiletPaperHanger, -1.628, 0.842, 3.305, 0, 180, 0, [SEP] 35, HandTowelHolder, 0.0, 1.781, 2.956, 0, 180, 0, [SEP] 36, LightSwitch, 0.0, 1.368, 1.993, 0, 270, 0, [SEP] 37, Window, -4.083, 1.735, 1.162, 90, 270, 0, [SEP] 38, Toilet, -1.835, 0.000, 2.503, 0, 90, 0, [SEP] 39, SinkBasin, -0.452, 0.888, 2.969, 0, 180, 0, [SEP] 40, BathtubBasin, -3.518, 0.210, 0.939, 0, 0, 0, [SEP] 41, ShowerHead, -3.540, 1.821, 1.820, 0, 0, 0, [SEP] 42, ShowerCurtain, -3.318, 2.572, 0.266, 0, 0, 8.184, [SEP] 43, NorthWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, SouthWall, , , , , , , ", "output": ["STEP 1: Walk up to the right side of the teal dresser. | STEP 2: Pick up the middle box of tissues off of the dresser. | STEP 3: Walk over to the toilet behind you. | STEP 4: Put the box of tissues on the closest end of the toilet tank. | STEP 5: Turn around and walk back over to the dresser. | STEP 6: Pick up the leftmost box of tissues off of the dresser. | STEP 7: Walk back over to the toilet behind you. | STEP 8: Put the box of tissues onto the toilet tank. | END"]} +{"id": "trial_T20190909_044602_338962-2", "input": "Move two boxes of tissue from counter to back of toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.901, 2.75, 0, 180, 0, [SEP] 1, TissueBox, -1.329, 0.808, 0.286, 0, 90, 0, 24 [SEP] 2, TissueBox, -1.853, 0.808, 0.417, 0, 90, 0, 24 [SEP] 3, TissueBox, -0.808, 0.507, 0.238, 0, 90, 0, 22 [SEP] 4, Candle, -2.354, 0.953, 2.577, 0, 180, 0, 38 [SEP] 5, SprayBottle, -0.543, 0.805, 0.417, 0, 90, 0, 24 [SEP] 6, Towel, -2.554, 1.597, 0.106, 0, 0, 0, 31 [SEP] 7, Cloth, -3.446, 0.219, 0.753, 0, 0, 0, 40 [SEP] 8, Candle, -1.324, 0.507, 0.182, 0, 90, 0, 24 [SEP] 9, HandTowel, -0.038, 1.68, 2.956, 0, 90, 0, 35 [SEP] 10, SoapBar, -0.541, 0.897, 2.896, 0, 180, 0, 39 [SEP] 11, ToiletPaper, -2.250, 0.946, 2.670, 0, 0, 0, 38 [SEP] 12, Plunger, -2.307, 0.000, 3.231, 0, 0, 0, Floor|-00.08| [SEP] 13, SprayBottle, -0.805, 0.805, 0.221, 0, 90, 0, 24 [SEP] 14, TissueBox, -1.591, 0.808, 0.286, 0, 90, 0, 24 [SEP] 15, ToiletPaper, -1.380, 0.199, 0.350, 0, 90, 0, 26 [SEP] 16, ScrubBrush, -2.189, 0.000, 3.025, 0, 0, 0, Floor|-00.08| [SEP] 17, SoapBottle, -1.067, 0.809, 0.155, 0, 90, 0, 24 [SEP] 18, Drawer, -1.324, 0.312, 0.311, 0, 90, 0, [SEP] 19, Drawer, -0.290, 0.312, 0.311, 0, 90, 0, [SEP] 20, Sink, -0.463, -0.013, 3.046, 0, 180, 0, [SEP] 21, Mirror, -0.504, 1.741, 3.304, 0, 0, 0, [SEP] 22, Drawer, -0.808, 0.611, 0.311, 0, 90, 0, [SEP] 23, Drawer, -0.808, 0.312, 0.311, 0, 90, 0, [SEP] 24, CounterTop, -1.850, 0.001, 0.342, 0, 90, 0, [SEP] 25, Bathtub, -3.499, 0.148, 0.939, 0, 0, 0, [SEP] 26, Drawer, -1.840, 0.312, 0.311, 0, 90, 0, [SEP] 27, Faucet, -0.463, 0.969, 3.212, 0, 180, 0, [SEP] 28, Drawer, -0.290, 0.611, 0.311, 0, 90, 0, [SEP] 29, Drawer, -1.324, 0.611, 0.311, 0, 90, 0, [SEP] 30, Drawer, -1.840, 0.611, 0.311, 0, 90, 0, [SEP] 31, TowelHolder, -2.553, 1.582, 0.0, 0, 0, 0, [SEP] 32, TowelHolder, -2.553, 0.859, 0.0, 0, 0, 0, [SEP] 33, GarbageCan, -2.110, -0.001, 1.960, 0, 104.999, 0, [SEP] 34, ToiletPaperHanger, -1.628, 0.842, 3.305, 0, 180, 0, [SEP] 35, HandTowelHolder, 0.0, 1.781, 2.956, 0, 180, 0, [SEP] 36, LightSwitch, 0.0, 1.368, 1.993, 0, 270, 0, [SEP] 37, Window, -4.083, 1.735, 1.162, 90, 270, 0, [SEP] 38, Toilet, -1.835, 0.000, 2.503, 0, 90, 0, [SEP] 39, SinkBasin, -0.452, 0.888, 2.969, 0, 180, 0, [SEP] 40, BathtubBasin, -3.518, 0.210, 0.939, 0, 0, 0, [SEP] 41, ShowerHead, -3.540, 1.821, 1.820, 0, 0, 0, [SEP] 42, ShowerCurtain, -3.318, 2.572, 0.266, 0, 0, 8.184, [SEP] 43, NorthWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, SouthWall, , , , , , , ", "output": ["STEP 1: Proceed to counter in front of tissue boxes. | STEP 2: Pick up middle tissue box from counter. | STEP 3: Turn around, go to counter toilet. | STEP 4: Place tissue box on back of toilet, in front of candle stick. | STEP 5: Turn around, proceed to counter. | STEP 6: Pick up tissue box from counter, directly to left of pump dispenser. | STEP 7: Turn around, proceed to toilet. | STEP 8: Place tissue box on back of toilet, on its side, to the right of the candle. | END"]} +{"id": "trial_T20190908_015957_501112-0", "input": "place a cold lettuce slice in the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 2.0, 0, 180, 0, [SEP] 1, Pan, 1.765, 0.938, 0.384, 0, 180, 0, 69 [SEP] 2, Pan, 0.107, 0.925, 0.041, 0, 270, 0, 74 [SEP] 3, Potato, -1.551, 0.935, -1.063, 0, 0, 0, 66 [SEP] 4, CellPhone, -1.463, 0.909, -0.864, 0, 0, 0, 66 [SEP] 5, Kettle, 1.156, 0.110, -1.542, 0, 0, 0, 59 [SEP] 6, Kettle, -1.841, 1.663, -1.131, 0, 90, 0, 53 [SEP] 7, DishSponge, 1.660, 0.694, 0.543, 0, 0, 0, 67 [SEP] 8, DishSponge, -0.751, 0.671, -1.332, 0, 0, 0, 57 [SEP] 9, Egg, -1.750, 1.733, 0.201, 0, 90, 0, 89 [SEP] 10, Cup, -1.634, 0.561, -0.081, 0, 90, 0, 89 [SEP] 11, Cup, -1.753, 1.027, 0.295, 0, 90, 0, 89 [SEP] 12, Plate, -1.244, 0.112, -1.487, 0, 0, 0, 78 [SEP] 13, Plate, -0.249, 0.113, -1.472, 0, 0, 0, 45 [SEP] 14, SoapBottle, 0.305, 0.116, -1.534, 0, 0, 0, 55 [SEP] 15, Tomato, -0.320, 0.980, 0.738, 0, 0, 0, 74 [SEP] 16, Tomato, -1.855, 1.524, 0.013, 0, 90, 0, 89 [SEP] 17, Bread, -0.213, 1.006, 0.041, 0, 0, 0, 74 [SEP] 18, Lettuce, 0.214, 1.002, 0.738, 0, 0, 0, 74 [SEP] 19, Mug, -0.002, 0.755, -1.380, 0, 0, 0, 90 [SEP] 20, Apple, 0.170, 0.813, -1.435, 0, 0, 0, 90 [SEP] 21, SoapBottle, -0.106, 0.929, 0.970, 0, 0, 0, 74 [SEP] 22, Cup, -1.645, 1.467, -0.081, 0, 90, 0, 89 [SEP] 23, Pot, 0.889, 0.9, -1.412, 0, 0, 0, 66 [SEP] 24, Fork, -0.213, 0.926, 0.738, 0, 0, 0, 74 [SEP] 25, Ladle, 1.769, 0.626, -0.165, 0, 270, 0, 51 [SEP] 26, Kettle, 1.975, 0.938, 0.819, 0, 180, 0, 76 [SEP] 27, Egg, -1.789, 1.086, 0.013, 0, 90, 0, 89 [SEP] 28, Plate, -0.990, 1.678, -1.614, 0, 0, 0, 68 [SEP] 29, Pan, -1.286, 0.9, -1.348, 0, 79.769, 0, 66 [SEP] 30, Lettuce, -0.106, 1.002, 0.273, 0, 0, 0, 74 [SEP] 31, Spatula, -0.175, 0.775, -1.490, 0, 90, 0, 90 [SEP] 32, Apple, -1.645, 1.522, 0.295, 0, 90, 0, 89 [SEP] 33, Knife, 0.321, 0.947, 0.738, 0, 90, 0, 74 [SEP] 34, SaltShaker, 2.001, 1.655, -0.977, 0, 270, 0, 54 [SEP] 35, PepperShaker, -0.638, 0.907, -1.318, 0, 0, 0, 66 [SEP] 36, CellPhone, 0.107, 0.923, 0.738, 0, 0, 0, 74 [SEP] 37, ButterKnife, 0.000, 0.925, 1.202, 0, 0, 0, 74 [SEP] 38, Bread, -0.106, 1.006, 0.738, 0, 0, 0, 74 [SEP] 39, Tomato, -1.727, 0.966, -1.013, 0, 0, 0, 66 [SEP] 40, Potato, -1.750, 0.586, -0.081, 0, 90, 0, 89 [SEP] 41, DishSponge, 0.107, 0.925, -0.190, 0, 0, 0, 74 [SEP] 42, Spoon, 1.117, 0.912, -1.318, 0, 0, 0, 66 [SEP] 43, Mug, 1.932, 0.906, 0.182, 0, 0, 0, 66 [SEP] 44, Bowl, -0.320, 0.924, 1.202, 0, 0, 0, 74 [SEP] 45, Cabinet, -0.495, 0.474, -1.149, 0, 0, 0, [SEP] 46, Window, -0.010, 1.582, -1.821, 0, 0, 0, [SEP] 47, Drawer, 0.805, 0.475, -1.159, 0, 0, 0, [SEP] 48, StoveBurner, 1.764, 0.902, 0.601, 0, 270, 0, [SEP] 49, Drawer, 1.5, 0.196, -0.019, 0, 0, 0, [SEP] 50, Drawer, 1.5, 0.629, -0.018, 0, 0, 0, [SEP] 51, Drawer, 1.5, 0.602, -0.019, 0, 270, 0, [SEP] 52, StoveBurner, 1.975, 0.902, 0.384, 0, 270, 0, [SEP] 53, Cabinet, -1.703, 2.022, -1.453, 0, 90, 0, [SEP] 54, Cabinet, 1.789, 2.019, -0.819, 0, 270, 0, [SEP] 55, Cabinet, 0.494, 0.474, -1.149, 0, 0, 0, [SEP] 56, Cabinet, 0.409, 0.475, 0.444, 0, 0, 0, [SEP] 57, Drawer, -0.696, 0.475, -1.159, 0, 0, 0, [SEP] 58, Drawer, 1.5, 0.140, 0.599, 0, 270, 0, [SEP] 59, Cabinet, 1.389, 0.474, -1.149, 0, 0, 0, [SEP] 60, Drawer, 1.5, 0.305, 0.600, 0, 0, 0, [SEP] 61, StoveBurner, 1.975, 0.902, 0.601, 0, 270, 0, [SEP] 62, Drawer, 1.5, 0.429, -0.019, 0, 0, 0, [SEP] 63, StoveBurner, 1.764, 0.902, 0.819, 0, 270, 0, [SEP] 64, Drawer, 1.5, 0.519, 1.220, 0, 0, 0, [SEP] 65, Cabinet, 1.705, 2.019, -1.449, 0, 0, 0, [SEP] 66, CounterTop, 0.002, 0.947, -1.513, 0, 0, 0, [SEP] 67, Drawer, 1.5, 0.629, 0.605, 0, 0, 0, [SEP] 68, Cabinet, -0.627, 2.019, -1.449, 0, 0, 0, [SEP] 69, StoveBurner, 1.764, 0.902, 0.384, 0, 270, 0, [SEP] 70, Drawer, 1.5, 0.538, 0.600, 0, 0, 0, [SEP] 71, Sink, 0.0, 0.893, -1.434, 0, 0, 0, [SEP] 72, Drawer, 1.5, 0.782, 1.220, 0, 270, 0, [SEP] 73, Window, 2.217, 1.565, -0.384, 0, 0, 0, [SEP] 74, CounterTop, -0.014, 0.961, 0.505, 0, 0, 0, [SEP] 75, Drawer, 1.5, 0.200, 1.220, 0, 0, 0, [SEP] 76, StoveBurner, 1.975, 0.902, 0.819, 0, 270, 0, [SEP] 77, Window, -3.240, 1.616, 2.693, 0, 270, 0, [SEP] 78, Cabinet, -1.389, 0.474, -1.149, 0, 0, 0, [SEP] 79, LightSwitch, -0.153, 1.291, 3.700, 0, 180, 0, [SEP] 80, GarbageCan, -1.796, 0.009, 1.330, 0, 270, 358.295, [SEP] 81, StoveKnob, 1.602, 0.917, 0.570, 0, 270, 180, [SEP] 82, StoveKnob, 1.602, 0.917, 0.625, 0, 270, 180, [SEP] 83, StoveKnob, 1.602, 0.917, 0.739, 0, 270, 180, [SEP] 84, StoveKnob, 1.602, 0.917, 0.680, 0, 270, 180, [SEP] 85, StoveKnob, 1.602, 0.917, 0.462, 0, 270, 180, [SEP] 86, StoveKnob, 1.602, 0.917, 0.517, 0, 270, 180, [SEP] 87, Microwave, 1.932, 0.899, -0.766, 0, 270, 0, [SEP] 88, CoffeeMachine, 1.355, 0.899, -1.596, 0, 0, 0, [SEP] 89, Fridge, -1.764, 0.0, 0.014, 0, 90, 0, [SEP] 90, SinkBasin, -0.014, 0.736, -1.435, 0, 0, 0, [SEP] 91, Toaster, 1.977, 0.900, -0.336, 0, 270, 0, [SEP] 92, Faucet, -0.020, 1.137, -1.605, 0, 270, 0, [SEP] 93, Chair, -9.354, 0.000, 1.242, 0, 180, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: move forward to the table | STEP 2: pick up the knife | STEP 3: turn to the other part of the table | STEP 4: slice the lettuce on the table | STEP 5: turn around to the fridge | STEP 6: drop the knife in the fridge | STEP 7: turn around to the table | STEP 8: pick up a slice of the lettuce | STEP 9: turn around to the fridge | STEP 10: place the lettuce to cool in the fridge and take it out | STEP 11: turn left and head to the sink | STEP 12: place the lettuce in the sink | END"]} +{"id": "trial_T20190908_015957_501112-1", "input": "Cut a slice of lettuce, chill it and put it in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 2.0, 0, 180, 0, [SEP] 1, Pan, 1.765, 0.938, 0.384, 0, 180, 0, 69 [SEP] 2, Pan, 0.107, 0.925, 0.041, 0, 270, 0, 74 [SEP] 3, Potato, -1.551, 0.935, -1.063, 0, 0, 0, 66 [SEP] 4, CellPhone, -1.463, 0.909, -0.864, 0, 0, 0, 66 [SEP] 5, Kettle, 1.156, 0.110, -1.542, 0, 0, 0, 59 [SEP] 6, Kettle, -1.841, 1.663, -1.131, 0, 90, 0, 53 [SEP] 7, DishSponge, 1.660, 0.694, 0.543, 0, 0, 0, 67 [SEP] 8, DishSponge, -0.751, 0.671, -1.332, 0, 0, 0, 57 [SEP] 9, Egg, -1.750, 1.733, 0.201, 0, 90, 0, 89 [SEP] 10, Cup, -1.634, 0.561, -0.081, 0, 90, 0, 89 [SEP] 11, Cup, -1.753, 1.027, 0.295, 0, 90, 0, 89 [SEP] 12, Plate, -1.244, 0.112, -1.487, 0, 0, 0, 78 [SEP] 13, Plate, -0.249, 0.113, -1.472, 0, 0, 0, 45 [SEP] 14, SoapBottle, 0.305, 0.116, -1.534, 0, 0, 0, 55 [SEP] 15, Tomato, -0.320, 0.980, 0.738, 0, 0, 0, 74 [SEP] 16, Tomato, -1.855, 1.524, 0.013, 0, 90, 0, 89 [SEP] 17, Bread, -0.213, 1.006, 0.041, 0, 0, 0, 74 [SEP] 18, Lettuce, 0.214, 1.002, 0.738, 0, 0, 0, 74 [SEP] 19, Mug, -0.002, 0.755, -1.380, 0, 0, 0, 90 [SEP] 20, Apple, 0.170, 0.813, -1.435, 0, 0, 0, 90 [SEP] 21, SoapBottle, -0.106, 0.929, 0.970, 0, 0, 0, 74 [SEP] 22, Cup, -1.645, 1.467, -0.081, 0, 90, 0, 89 [SEP] 23, Pot, 0.889, 0.9, -1.412, 0, 0, 0, 66 [SEP] 24, Fork, -0.213, 0.926, 0.738, 0, 0, 0, 74 [SEP] 25, Ladle, 1.769, 0.626, -0.165, 0, 270, 0, 51 [SEP] 26, Kettle, 1.975, 0.938, 0.819, 0, 180, 0, 76 [SEP] 27, Egg, -1.789, 1.086, 0.013, 0, 90, 0, 89 [SEP] 28, Plate, -0.990, 1.678, -1.614, 0, 0, 0, 68 [SEP] 29, Pan, -1.286, 0.9, -1.348, 0, 79.769, 0, 66 [SEP] 30, Lettuce, -0.106, 1.002, 0.273, 0, 0, 0, 74 [SEP] 31, Spatula, -0.175, 0.775, -1.490, 0, 90, 0, 90 [SEP] 32, Apple, -1.645, 1.522, 0.295, 0, 90, 0, 89 [SEP] 33, Knife, 0.321, 0.947, 0.738, 0, 90, 0, 74 [SEP] 34, SaltShaker, 2.001, 1.655, -0.977, 0, 270, 0, 54 [SEP] 35, PepperShaker, -0.638, 0.907, -1.318, 0, 0, 0, 66 [SEP] 36, CellPhone, 0.107, 0.923, 0.738, 0, 0, 0, 74 [SEP] 37, ButterKnife, 0.000, 0.925, 1.202, 0, 0, 0, 74 [SEP] 38, Bread, -0.106, 1.006, 0.738, 0, 0, 0, 74 [SEP] 39, Tomato, -1.727, 0.966, -1.013, 0, 0, 0, 66 [SEP] 40, Potato, -1.750, 0.586, -0.081, 0, 90, 0, 89 [SEP] 41, DishSponge, 0.107, 0.925, -0.190, 0, 0, 0, 74 [SEP] 42, Spoon, 1.117, 0.912, -1.318, 0, 0, 0, 66 [SEP] 43, Mug, 1.932, 0.906, 0.182, 0, 0, 0, 66 [SEP] 44, Bowl, -0.320, 0.924, 1.202, 0, 0, 0, 74 [SEP] 45, Cabinet, -0.495, 0.474, -1.149, 0, 0, 0, [SEP] 46, Window, -0.010, 1.582, -1.821, 0, 0, 0, [SEP] 47, Drawer, 0.805, 0.475, -1.159, 0, 0, 0, [SEP] 48, StoveBurner, 1.764, 0.902, 0.601, 0, 270, 0, [SEP] 49, Drawer, 1.5, 0.196, -0.019, 0, 0, 0, [SEP] 50, Drawer, 1.5, 0.629, -0.018, 0, 0, 0, [SEP] 51, Drawer, 1.5, 0.602, -0.019, 0, 270, 0, [SEP] 52, StoveBurner, 1.975, 0.902, 0.384, 0, 270, 0, [SEP] 53, Cabinet, -1.703, 2.022, -1.453, 0, 90, 0, [SEP] 54, Cabinet, 1.789, 2.019, -0.819, 0, 270, 0, [SEP] 55, Cabinet, 0.494, 0.474, -1.149, 0, 0, 0, [SEP] 56, Cabinet, 0.409, 0.475, 0.444, 0, 0, 0, [SEP] 57, Drawer, -0.696, 0.475, -1.159, 0, 0, 0, [SEP] 58, Drawer, 1.5, 0.140, 0.599, 0, 270, 0, [SEP] 59, Cabinet, 1.389, 0.474, -1.149, 0, 0, 0, [SEP] 60, Drawer, 1.5, 0.305, 0.600, 0, 0, 0, [SEP] 61, StoveBurner, 1.975, 0.902, 0.601, 0, 270, 0, [SEP] 62, Drawer, 1.5, 0.429, -0.019, 0, 0, 0, [SEP] 63, StoveBurner, 1.764, 0.902, 0.819, 0, 270, 0, [SEP] 64, Drawer, 1.5, 0.519, 1.220, 0, 0, 0, [SEP] 65, Cabinet, 1.705, 2.019, -1.449, 0, 0, 0, [SEP] 66, CounterTop, 0.002, 0.947, -1.513, 0, 0, 0, [SEP] 67, Drawer, 1.5, 0.629, 0.605, 0, 0, 0, [SEP] 68, Cabinet, -0.627, 2.019, -1.449, 0, 0, 0, [SEP] 69, StoveBurner, 1.764, 0.902, 0.384, 0, 270, 0, [SEP] 70, Drawer, 1.5, 0.538, 0.600, 0, 0, 0, [SEP] 71, Sink, 0.0, 0.893, -1.434, 0, 0, 0, [SEP] 72, Drawer, 1.5, 0.782, 1.220, 0, 270, 0, [SEP] 73, Window, 2.217, 1.565, -0.384, 0, 0, 0, [SEP] 74, CounterTop, -0.014, 0.961, 0.505, 0, 0, 0, [SEP] 75, Drawer, 1.5, 0.200, 1.220, 0, 0, 0, [SEP] 76, StoveBurner, 1.975, 0.902, 0.819, 0, 270, 0, [SEP] 77, Window, -3.240, 1.616, 2.693, 0, 270, 0, [SEP] 78, Cabinet, -1.389, 0.474, -1.149, 0, 0, 0, [SEP] 79, LightSwitch, -0.153, 1.291, 3.700, 0, 180, 0, [SEP] 80, GarbageCan, -1.796, 0.009, 1.330, 0, 270, 358.295, [SEP] 81, StoveKnob, 1.602, 0.917, 0.570, 0, 270, 180, [SEP] 82, StoveKnob, 1.602, 0.917, 0.625, 0, 270, 180, [SEP] 83, StoveKnob, 1.602, 0.917, 0.739, 0, 270, 180, [SEP] 84, StoveKnob, 1.602, 0.917, 0.680, 0, 270, 180, [SEP] 85, StoveKnob, 1.602, 0.917, 0.462, 0, 270, 180, [SEP] 86, StoveKnob, 1.602, 0.917, 0.517, 0, 270, 180, [SEP] 87, Microwave, 1.932, 0.899, -0.766, 0, 270, 0, [SEP] 88, CoffeeMachine, 1.355, 0.899, -1.596, 0, 0, 0, [SEP] 89, Fridge, -1.764, 0.0, 0.014, 0, 90, 0, [SEP] 90, SinkBasin, -0.014, 0.736, -1.435, 0, 0, 0, [SEP] 91, Toaster, 1.977, 0.900, -0.336, 0, 270, 0, [SEP] 92, Faucet, -0.020, 1.137, -1.605, 0, 270, 0, [SEP] 93, Chair, -9.354, 0.000, 1.242, 0, 180, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Go to the left side of the kitchen island and face the yellow knife. | STEP 2: Pick up the yellow knife in front of you. | STEP 3: Go all the way around to the other side of the kitchen island. | STEP 4: Slice the lettuce that is in the middle of the counter. | STEP 5: Turn around and open the fridge behind you. | STEP 6: Put the knife in the fridge. | STEP 7: Turn around back to the counter. | STEP 8: Pick up a slice of lettuce. | STEP 9: Turn back around to the fridge. | STEP 10: Put the slice of lettuce in the fridge, close the door, wait, take the slice back out. | STEP 11: Take the slice of lettuce to the kitchen sink that is behind you to the left. | STEP 12: Put the slice of lettuce in the sink. | END"]} +{"id": "trial_T20190908_015957_501112-2", "input": "Put cold lettuce in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 2.0, 0, 180, 0, [SEP] 1, Pan, 1.765, 0.938, 0.384, 0, 180, 0, 69 [SEP] 2, Pan, 0.107, 0.925, 0.041, 0, 270, 0, 74 [SEP] 3, Potato, -1.551, 0.935, -1.063, 0, 0, 0, 66 [SEP] 4, CellPhone, -1.463, 0.909, -0.864, 0, 0, 0, 66 [SEP] 5, Kettle, 1.156, 0.110, -1.542, 0, 0, 0, 59 [SEP] 6, Kettle, -1.841, 1.663, -1.131, 0, 90, 0, 53 [SEP] 7, DishSponge, 1.660, 0.694, 0.543, 0, 0, 0, 67 [SEP] 8, DishSponge, -0.751, 0.671, -1.332, 0, 0, 0, 57 [SEP] 9, Egg, -1.750, 1.733, 0.201, 0, 90, 0, 89 [SEP] 10, Cup, -1.634, 0.561, -0.081, 0, 90, 0, 89 [SEP] 11, Cup, -1.753, 1.027, 0.295, 0, 90, 0, 89 [SEP] 12, Plate, -1.244, 0.112, -1.487, 0, 0, 0, 78 [SEP] 13, Plate, -0.249, 0.113, -1.472, 0, 0, 0, 45 [SEP] 14, SoapBottle, 0.305, 0.116, -1.534, 0, 0, 0, 55 [SEP] 15, Tomato, -0.320, 0.980, 0.738, 0, 0, 0, 74 [SEP] 16, Tomato, -1.855, 1.524, 0.013, 0, 90, 0, 89 [SEP] 17, Bread, -0.213, 1.006, 0.041, 0, 0, 0, 74 [SEP] 18, Lettuce, 0.214, 1.002, 0.738, 0, 0, 0, 74 [SEP] 19, Mug, -0.002, 0.755, -1.380, 0, 0, 0, 90 [SEP] 20, Apple, 0.170, 0.813, -1.435, 0, 0, 0, 90 [SEP] 21, SoapBottle, -0.106, 0.929, 0.970, 0, 0, 0, 74 [SEP] 22, Cup, -1.645, 1.467, -0.081, 0, 90, 0, 89 [SEP] 23, Pot, 0.889, 0.9, -1.412, 0, 0, 0, 66 [SEP] 24, Fork, -0.213, 0.926, 0.738, 0, 0, 0, 74 [SEP] 25, Ladle, 1.769, 0.626, -0.165, 0, 270, 0, 51 [SEP] 26, Kettle, 1.975, 0.938, 0.819, 0, 180, 0, 76 [SEP] 27, Egg, -1.789, 1.086, 0.013, 0, 90, 0, 89 [SEP] 28, Plate, -0.990, 1.678, -1.614, 0, 0, 0, 68 [SEP] 29, Pan, -1.286, 0.9, -1.348, 0, 79.769, 0, 66 [SEP] 30, Lettuce, -0.106, 1.002, 0.273, 0, 0, 0, 74 [SEP] 31, Spatula, -0.175, 0.775, -1.490, 0, 90, 0, 90 [SEP] 32, Apple, -1.645, 1.522, 0.295, 0, 90, 0, 89 [SEP] 33, Knife, 0.321, 0.947, 0.738, 0, 90, 0, 74 [SEP] 34, SaltShaker, 2.001, 1.655, -0.977, 0, 270, 0, 54 [SEP] 35, PepperShaker, -0.638, 0.907, -1.318, 0, 0, 0, 66 [SEP] 36, CellPhone, 0.107, 0.923, 0.738, 0, 0, 0, 74 [SEP] 37, ButterKnife, 0.000, 0.925, 1.202, 0, 0, 0, 74 [SEP] 38, Bread, -0.106, 1.006, 0.738, 0, 0, 0, 74 [SEP] 39, Tomato, -1.727, 0.966, -1.013, 0, 0, 0, 66 [SEP] 40, Potato, -1.750, 0.586, -0.081, 0, 90, 0, 89 [SEP] 41, DishSponge, 0.107, 0.925, -0.190, 0, 0, 0, 74 [SEP] 42, Spoon, 1.117, 0.912, -1.318, 0, 0, 0, 66 [SEP] 43, Mug, 1.932, 0.906, 0.182, 0, 0, 0, 66 [SEP] 44, Bowl, -0.320, 0.924, 1.202, 0, 0, 0, 74 [SEP] 45, Cabinet, -0.495, 0.474, -1.149, 0, 0, 0, [SEP] 46, Window, -0.010, 1.582, -1.821, 0, 0, 0, [SEP] 47, Drawer, 0.805, 0.475, -1.159, 0, 0, 0, [SEP] 48, StoveBurner, 1.764, 0.902, 0.601, 0, 270, 0, [SEP] 49, Drawer, 1.5, 0.196, -0.019, 0, 0, 0, [SEP] 50, Drawer, 1.5, 0.629, -0.018, 0, 0, 0, [SEP] 51, Drawer, 1.5, 0.602, -0.019, 0, 270, 0, [SEP] 52, StoveBurner, 1.975, 0.902, 0.384, 0, 270, 0, [SEP] 53, Cabinet, -1.703, 2.022, -1.453, 0, 90, 0, [SEP] 54, Cabinet, 1.789, 2.019, -0.819, 0, 270, 0, [SEP] 55, Cabinet, 0.494, 0.474, -1.149, 0, 0, 0, [SEP] 56, Cabinet, 0.409, 0.475, 0.444, 0, 0, 0, [SEP] 57, Drawer, -0.696, 0.475, -1.159, 0, 0, 0, [SEP] 58, Drawer, 1.5, 0.140, 0.599, 0, 270, 0, [SEP] 59, Cabinet, 1.389, 0.474, -1.149, 0, 0, 0, [SEP] 60, Drawer, 1.5, 0.305, 0.600, 0, 0, 0, [SEP] 61, StoveBurner, 1.975, 0.902, 0.601, 0, 270, 0, [SEP] 62, Drawer, 1.5, 0.429, -0.019, 0, 0, 0, [SEP] 63, StoveBurner, 1.764, 0.902, 0.819, 0, 270, 0, [SEP] 64, Drawer, 1.5, 0.519, 1.220, 0, 0, 0, [SEP] 65, Cabinet, 1.705, 2.019, -1.449, 0, 0, 0, [SEP] 66, CounterTop, 0.002, 0.947, -1.513, 0, 0, 0, [SEP] 67, Drawer, 1.5, 0.629, 0.605, 0, 0, 0, [SEP] 68, Cabinet, -0.627, 2.019, -1.449, 0, 0, 0, [SEP] 69, StoveBurner, 1.764, 0.902, 0.384, 0, 270, 0, [SEP] 70, Drawer, 1.5, 0.538, 0.600, 0, 0, 0, [SEP] 71, Sink, 0.0, 0.893, -1.434, 0, 0, 0, [SEP] 72, Drawer, 1.5, 0.782, 1.220, 0, 270, 0, [SEP] 73, Window, 2.217, 1.565, -0.384, 0, 0, 0, [SEP] 74, CounterTop, -0.014, 0.961, 0.505, 0, 0, 0, [SEP] 75, Drawer, 1.5, 0.200, 1.220, 0, 0, 0, [SEP] 76, StoveBurner, 1.975, 0.902, 0.819, 0, 270, 0, [SEP] 77, Window, -3.240, 1.616, 2.693, 0, 270, 0, [SEP] 78, Cabinet, -1.389, 0.474, -1.149, 0, 0, 0, [SEP] 79, LightSwitch, -0.153, 1.291, 3.700, 0, 180, 0, [SEP] 80, GarbageCan, -1.796, 0.009, 1.330, 0, 270, 358.295, [SEP] 81, StoveKnob, 1.602, 0.917, 0.570, 0, 270, 180, [SEP] 82, StoveKnob, 1.602, 0.917, 0.625, 0, 270, 180, [SEP] 83, StoveKnob, 1.602, 0.917, 0.739, 0, 270, 180, [SEP] 84, StoveKnob, 1.602, 0.917, 0.680, 0, 270, 180, [SEP] 85, StoveKnob, 1.602, 0.917, 0.462, 0, 270, 180, [SEP] 86, StoveKnob, 1.602, 0.917, 0.517, 0, 270, 180, [SEP] 87, Microwave, 1.932, 0.899, -0.766, 0, 270, 0, [SEP] 88, CoffeeMachine, 1.355, 0.899, -1.596, 0, 0, 0, [SEP] 89, Fridge, -1.764, 0.0, 0.014, 0, 90, 0, [SEP] 90, SinkBasin, -0.014, 0.736, -1.435, 0, 0, 0, [SEP] 91, Toaster, 1.977, 0.900, -0.336, 0, 270, 0, [SEP] 92, Faucet, -0.020, 1.137, -1.605, 0, 270, 0, [SEP] 93, Chair, -9.354, 0.000, 1.242, 0, 180, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left, go to the wall, turn to the right, go forward to the counter of the left where the yellow handled knife is. | STEP 2: Pick up the yellow handled knife that is on the counter. | STEP 3: Turn to the left, go forward to the counter, turn to the right, go forward to the counter, turn to the right, go forward, turn to the counter on the right where the bread and lettuce is. | STEP 4: Use the knife to cut the lettuce into slices. | STEP 5: Turn to the right, go forward, turn to the right to face the fridge. | STEP 6: Open the fridge, put the knife inside, close the fridge. | STEP 7: Turn to the right, go forward, turn to the right to the counter where the sliced lettuce is. | STEP 8: Pick up a slice of lettuce from the counter. | STEP 9: Turn to the right, go forward, turn to the right to face the fridge. | STEP 10: Open the fridge, put the lettuce inside, close the door, remove the cold lettuce from the fridge, close the door. | STEP 11: Turn to the left, go forward to the counter, hang a right, go forward to the sink that is on the left. | STEP 12: Put the lettuce in the sink. | END"]} +{"id": "trial_T20190908_140701_251653-0", "input": "Get wash rag wet and put it away in drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.901, 1.0, 0, 90, 0, [SEP] 1, Cloth, -0.363, 0.217, 2.155, 0, 0, 0, 22 [SEP] 2, Cloth, -0.309, 0.217, 1.671, 0, 0, 0, 24 [SEP] 3, Cloth, -2.844, 0.194, 0.280, 0, 0, 0, 35 [SEP] 4, Candle, -3.268, 0.544, 0.965, 0, 0, 0, 26 [SEP] 5, Candle, -0.363, 0.518, 2.456, 0, 0, 0, 27 [SEP] 6, SprayBottle, -1.997, 0.814, 0.155, 0, 0, 0, 34 [SEP] 7, SprayBottle, -2.378, 0.196, 0.224, 0, 0, 0, 28 [SEP] 8, SoapBottle, -2.077, 0.813, 0.404, 0, 0, 0, 34 [SEP] 9, HandTowel, -0.034, 1.537, 1.542, 0, 90, 0, 44 [SEP] 10, ToiletPaper, -0.348, 0.809, 2.480, 0, 0, 0, 37 [SEP] 11, HandTowel, -0.034, 1.537, 3.105, 0, 90, 0, 42 [SEP] 12, Towel, -1.513, 1.496, 0.109, 0, 0, 0, 38 [SEP] 13, Cloth, -0.219, 0.811, 3.000, 0, 0, 0, 37 [SEP] 14, SoapBar, -3.653, 0.191, 1.556, 0, 270, 0, 48 [SEP] 15, ToiletPaper, -3.042, 0.809, 0.404, 0, 0, 0, 34 [SEP] 16, Plunger, -2.530, 0.000, 3.026, 0, 0, 0, [SEP] 17, Candle, -2.954, 0.953, 3.246, 0, 270, 0, 46 [SEP] 18, SoapBottle, -3.042, 0.813, 0.279, 0, 0, 0, 34 [SEP] 19, ToiletPaper, -2.184, 0.192, 0.224, 0, 0, 0, 28 [SEP] 20, SprayBottle, -2.962, 0.814, 0.404, 0, 0, 0, 34 [SEP] 21, ScrubBrush, -2.332, 0.000, 3.163, 0, 0, 0, [SEP] 22, Drawer, -0.325, 0.319, 2.155, 0, 0, 0, [SEP] 23, Mirror, 0.0, 1.473, 1.917, 0, 270, 0, [SEP] 24, Drawer, -0.325, 0.319, 1.717, 0, 0, 0, [SEP] 25, Drawer, -0.325, 0.319, 2.592, 0, 0, 0, [SEP] 26, Bathtub, -3.589, 0.107, 1.521, 0, 0, 0, [SEP] 27, Drawer, -0.325, 0.619, 2.592, 0, 0, 0, [SEP] 28, Drawer, -2.249, 0.319, 0.280, 0, 0, 0, [SEP] 29, Drawer, -0.325, 0.319, 3.030, 0, 0, 0, [SEP] 30, Mirror, 0.0, 1.473, 2.700, 0, 270, 0, [SEP] 31, Drawer, -0.325, 0.619, 3.030, 0, 0, 0, [SEP] 32, ShowerGlass, -0.494, 1.490, 0.528, 0, 0, 0, [SEP] 33, Sink, -2.539, 0.661, 0.252, 0, 0, 0, [SEP] 34, CounterTop, -2.540, 0.805, 0.280, 0, 0, 0, [SEP] 35, Drawer, -2.844, 0.319, 0.280, 0, 0, 0, [SEP] 36, ShowerDoor, -1.074, 1.033, 0.519, 0, 0, 0, [SEP] 37, CounterTop, -0.277, 0.785, 1.931, 0, 0, 0, [SEP] 38, TowelHolder, -1.513, 1.481, 0.002, 0, 0, 0, [SEP] 39, LightSwitch, -0.776, 1.371, 3.300, 0, 180, 0, [SEP] 40, GarbageCan, -1.754, 0.001, 0.227, 0, 0, 0, [SEP] 41, HandTowelHolder, -3.210, 1.588, 0.340, 0, 0, 0, [SEP] 42, HandTowelHolder, 0.004, 1.639, 3.105, 0, 180, 0, [SEP] 43, HandTowelHolder, 0.004, 1.639, 2.309, 0, 180, 0, [SEP] 44, HandTowelHolder, 0.004, 1.639, 1.542, 0, 180, 0, [SEP] 45, Window, -4.127, 1.519, 1.495, 90, 270, 0, [SEP] 46, Toilet, -2.842, 0.000, 2.755, 0, 180, 0, [SEP] 47, SinkBasin, -2.542, 0.706, 0.269, 0, 0, 0, [SEP] 48, BathtubBasin, -3.606, 0.182, 1.536, 0, 270, 0, [SEP] 49, ToiletPaperHanger, -2.349, 0.824, 3.299, 0, 180, 0, [SEP] 50, Faucet, -2.540, 0.794, 0.111, 0, 0, 0, [SEP] 51, Faucet, -0.111, 0.794, 1.921, 0, 270, 0, [SEP] 52, ShowerHead, -3.612, 1.776, 2.299, 0, 0, 0, [SEP] 53, ShowerHead, -0.079, 1.151, 0.662, 0, 0, 0, [SEP] 54, ShowerCurtain, -3.213, 2.098, 2.186, 0, 180, 0, [SEP] 55, Sink, -0.260, 0.661, 1.922, 0, 270, 0, [SEP] 56, SinkBasin, -0.277, 0.706, 1.920, 0, 270, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , ", "output": ["STEP 1: Turn and go to the counter to the left of the sink. | STEP 2: Pick up the green wash rag that is on the counter to the left of the sink. | STEP 3: With the wash rag in hand turn and go to the sink. | STEP 4: Place the wash rag in the sink. Turn the water on to get the wash rag wet. Turn the water off and pick up the wash rag. | STEP 5: With the wash rag in hand move to your left to where the toilet paper is on the counter. | STEP 6: Open the drawer right under where the toilet paper is on the counter. Place the wash rag in the drawer and shut the drawer. | END"]} +{"id": "trial_T20190908_140701_251653-1", "input": "Put a cleaned rag in a drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.901, 1.0, 0, 90, 0, [SEP] 1, Cloth, -0.363, 0.217, 2.155, 0, 0, 0, 22 [SEP] 2, Cloth, -0.309, 0.217, 1.671, 0, 0, 0, 24 [SEP] 3, Cloth, -2.844, 0.194, 0.280, 0, 0, 0, 35 [SEP] 4, Candle, -3.268, 0.544, 0.965, 0, 0, 0, 26 [SEP] 5, Candle, -0.363, 0.518, 2.456, 0, 0, 0, 27 [SEP] 6, SprayBottle, -1.997, 0.814, 0.155, 0, 0, 0, 34 [SEP] 7, SprayBottle, -2.378, 0.196, 0.224, 0, 0, 0, 28 [SEP] 8, SoapBottle, -2.077, 0.813, 0.404, 0, 0, 0, 34 [SEP] 9, HandTowel, -0.034, 1.537, 1.542, 0, 90, 0, 44 [SEP] 10, ToiletPaper, -0.348, 0.809, 2.480, 0, 0, 0, 37 [SEP] 11, HandTowel, -0.034, 1.537, 3.105, 0, 90, 0, 42 [SEP] 12, Towel, -1.513, 1.496, 0.109, 0, 0, 0, 38 [SEP] 13, Cloth, -0.219, 0.811, 3.000, 0, 0, 0, 37 [SEP] 14, SoapBar, -3.653, 0.191, 1.556, 0, 270, 0, 48 [SEP] 15, ToiletPaper, -3.042, 0.809, 0.404, 0, 0, 0, 34 [SEP] 16, Plunger, -2.530, 0.000, 3.026, 0, 0, 0, [SEP] 17, Candle, -2.954, 0.953, 3.246, 0, 270, 0, 46 [SEP] 18, SoapBottle, -3.042, 0.813, 0.279, 0, 0, 0, 34 [SEP] 19, ToiletPaper, -2.184, 0.192, 0.224, 0, 0, 0, 28 [SEP] 20, SprayBottle, -2.962, 0.814, 0.404, 0, 0, 0, 34 [SEP] 21, ScrubBrush, -2.332, 0.000, 3.163, 0, 0, 0, [SEP] 22, Drawer, -0.325, 0.319, 2.155, 0, 0, 0, [SEP] 23, Mirror, 0.0, 1.473, 1.917, 0, 270, 0, [SEP] 24, Drawer, -0.325, 0.319, 1.717, 0, 0, 0, [SEP] 25, Drawer, -0.325, 0.319, 2.592, 0, 0, 0, [SEP] 26, Bathtub, -3.589, 0.107, 1.521, 0, 0, 0, [SEP] 27, Drawer, -0.325, 0.619, 2.592, 0, 0, 0, [SEP] 28, Drawer, -2.249, 0.319, 0.280, 0, 0, 0, [SEP] 29, Drawer, -0.325, 0.319, 3.030, 0, 0, 0, [SEP] 30, Mirror, 0.0, 1.473, 2.700, 0, 270, 0, [SEP] 31, Drawer, -0.325, 0.619, 3.030, 0, 0, 0, [SEP] 32, ShowerGlass, -0.494, 1.490, 0.528, 0, 0, 0, [SEP] 33, Sink, -2.539, 0.661, 0.252, 0, 0, 0, [SEP] 34, CounterTop, -2.540, 0.805, 0.280, 0, 0, 0, [SEP] 35, Drawer, -2.844, 0.319, 0.280, 0, 0, 0, [SEP] 36, ShowerDoor, -1.074, 1.033, 0.519, 0, 0, 0, [SEP] 37, CounterTop, -0.277, 0.785, 1.931, 0, 0, 0, [SEP] 38, TowelHolder, -1.513, 1.481, 0.002, 0, 0, 0, [SEP] 39, LightSwitch, -0.776, 1.371, 3.300, 0, 180, 0, [SEP] 40, GarbageCan, -1.754, 0.001, 0.227, 0, 0, 0, [SEP] 41, HandTowelHolder, -3.210, 1.588, 0.340, 0, 0, 0, [SEP] 42, HandTowelHolder, 0.004, 1.639, 3.105, 0, 180, 0, [SEP] 43, HandTowelHolder, 0.004, 1.639, 2.309, 0, 180, 0, [SEP] 44, HandTowelHolder, 0.004, 1.639, 1.542, 0, 180, 0, [SEP] 45, Window, -4.127, 1.519, 1.495, 90, 270, 0, [SEP] 46, Toilet, -2.842, 0.000, 2.755, 0, 180, 0, [SEP] 47, SinkBasin, -2.542, 0.706, 0.269, 0, 0, 0, [SEP] 48, BathtubBasin, -3.606, 0.182, 1.536, 0, 270, 0, [SEP] 49, ToiletPaperHanger, -2.349, 0.824, 3.299, 0, 180, 0, [SEP] 50, Faucet, -2.540, 0.794, 0.111, 0, 0, 0, [SEP] 51, Faucet, -0.111, 0.794, 1.921, 0, 270, 0, [SEP] 52, ShowerHead, -3.612, 1.776, 2.299, 0, 0, 0, [SEP] 53, ShowerHead, -0.079, 1.151, 0.662, 0, 0, 0, [SEP] 54, ShowerCurtain, -3.213, 2.098, 2.186, 0, 180, 0, [SEP] 55, Sink, -0.260, 0.661, 1.922, 0, 270, 0, [SEP] 56, SinkBasin, -0.277, 0.706, 1.920, 0, 270, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left, go to door, turn right, got to counter left of sink. | STEP 2: Pick up rag on counter. | STEP 3: Bring the rag to the sink on the right. | STEP 4: Wash the rag in the sink. | STEP 5: Bring the cleaned rag to the drawer under the sink, to the left. | STEP 6: Open that third drawer from the right and put the cleaned rag in there. | END"]} +{"id": "trial_T20190908_140701_251653-2", "input": "Put a clean cloth in a drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.901, 1.0, 0, 90, 0, [SEP] 1, Cloth, -0.363, 0.217, 2.155, 0, 0, 0, 22 [SEP] 2, Cloth, -0.309, 0.217, 1.671, 0, 0, 0, 24 [SEP] 3, Cloth, -2.844, 0.194, 0.280, 0, 0, 0, 35 [SEP] 4, Candle, -3.268, 0.544, 0.965, 0, 0, 0, 26 [SEP] 5, Candle, -0.363, 0.518, 2.456, 0, 0, 0, 27 [SEP] 6, SprayBottle, -1.997, 0.814, 0.155, 0, 0, 0, 34 [SEP] 7, SprayBottle, -2.378, 0.196, 0.224, 0, 0, 0, 28 [SEP] 8, SoapBottle, -2.077, 0.813, 0.404, 0, 0, 0, 34 [SEP] 9, HandTowel, -0.034, 1.537, 1.542, 0, 90, 0, 44 [SEP] 10, ToiletPaper, -0.348, 0.809, 2.480, 0, 0, 0, 37 [SEP] 11, HandTowel, -0.034, 1.537, 3.105, 0, 90, 0, 42 [SEP] 12, Towel, -1.513, 1.496, 0.109, 0, 0, 0, 38 [SEP] 13, Cloth, -0.219, 0.811, 3.000, 0, 0, 0, 37 [SEP] 14, SoapBar, -3.653, 0.191, 1.556, 0, 270, 0, 48 [SEP] 15, ToiletPaper, -3.042, 0.809, 0.404, 0, 0, 0, 34 [SEP] 16, Plunger, -2.530, 0.000, 3.026, 0, 0, 0, [SEP] 17, Candle, -2.954, 0.953, 3.246, 0, 270, 0, 46 [SEP] 18, SoapBottle, -3.042, 0.813, 0.279, 0, 0, 0, 34 [SEP] 19, ToiletPaper, -2.184, 0.192, 0.224, 0, 0, 0, 28 [SEP] 20, SprayBottle, -2.962, 0.814, 0.404, 0, 0, 0, 34 [SEP] 21, ScrubBrush, -2.332, 0.000, 3.163, 0, 0, 0, [SEP] 22, Drawer, -0.325, 0.319, 2.155, 0, 0, 0, [SEP] 23, Mirror, 0.0, 1.473, 1.917, 0, 270, 0, [SEP] 24, Drawer, -0.325, 0.319, 1.717, 0, 0, 0, [SEP] 25, Drawer, -0.325, 0.319, 2.592, 0, 0, 0, [SEP] 26, Bathtub, -3.589, 0.107, 1.521, 0, 0, 0, [SEP] 27, Drawer, -0.325, 0.619, 2.592, 0, 0, 0, [SEP] 28, Drawer, -2.249, 0.319, 0.280, 0, 0, 0, [SEP] 29, Drawer, -0.325, 0.319, 3.030, 0, 0, 0, [SEP] 30, Mirror, 0.0, 1.473, 2.700, 0, 270, 0, [SEP] 31, Drawer, -0.325, 0.619, 3.030, 0, 0, 0, [SEP] 32, ShowerGlass, -0.494, 1.490, 0.528, 0, 0, 0, [SEP] 33, Sink, -2.539, 0.661, 0.252, 0, 0, 0, [SEP] 34, CounterTop, -2.540, 0.805, 0.280, 0, 0, 0, [SEP] 35, Drawer, -2.844, 0.319, 0.280, 0, 0, 0, [SEP] 36, ShowerDoor, -1.074, 1.033, 0.519, 0, 0, 0, [SEP] 37, CounterTop, -0.277, 0.785, 1.931, 0, 0, 0, [SEP] 38, TowelHolder, -1.513, 1.481, 0.002, 0, 0, 0, [SEP] 39, LightSwitch, -0.776, 1.371, 3.300, 0, 180, 0, [SEP] 40, GarbageCan, -1.754, 0.001, 0.227, 0, 0, 0, [SEP] 41, HandTowelHolder, -3.210, 1.588, 0.340, 0, 0, 0, [SEP] 42, HandTowelHolder, 0.004, 1.639, 3.105, 0, 180, 0, [SEP] 43, HandTowelHolder, 0.004, 1.639, 2.309, 0, 180, 0, [SEP] 44, HandTowelHolder, 0.004, 1.639, 1.542, 0, 180, 0, [SEP] 45, Window, -4.127, 1.519, 1.495, 90, 270, 0, [SEP] 46, Toilet, -2.842, 0.000, 2.755, 0, 180, 0, [SEP] 47, SinkBasin, -2.542, 0.706, 0.269, 0, 0, 0, [SEP] 48, BathtubBasin, -3.606, 0.182, 1.536, 0, 270, 0, [SEP] 49, ToiletPaperHanger, -2.349, 0.824, 3.299, 0, 180, 0, [SEP] 50, Faucet, -2.540, 0.794, 0.111, 0, 0, 0, [SEP] 51, Faucet, -0.111, 0.794, 1.921, 0, 270, 0, [SEP] 52, ShowerHead, -3.612, 1.776, 2.299, 0, 0, 0, [SEP] 53, ShowerHead, -0.079, 1.151, 0.662, 0, 0, 0, [SEP] 54, ShowerCurtain, -3.213, 2.098, 2.186, 0, 180, 0, [SEP] 55, Sink, -0.260, 0.661, 1.922, 0, 270, 0, [SEP] 56, SinkBasin, -0.277, 0.706, 1.920, 0, 270, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , ", "output": ["STEP 1: Go left to face the mirror over the counter. | STEP 2: Pick the green cloth up from the counter. | STEP 3: Move to the left and face the sink. | STEP 4: Put the cloth in the sink and turn the water on and then off and pick the cloth up again. | STEP 5: Move back and face the drawers under the counter and on the left. | STEP 6: Put the cloth in the bottom drawer and shut the drawer. | END"]} +{"id": "trial_T20190909_154521_553270-0", "input": "Put a clean wash cloth in the tub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.900, 3.25, 0, 180, 0, [SEP] 1, SoapBar, -0.194, 1.044, 3.026, 0, 270, 0, 40 [SEP] 2, SoapBar, -2.227, 0.034, 4.922, 0, 0, 0, 35 [SEP] 3, Candle, -2.717, 0.685, 2.096, 0, 348.434, 0, 21 [SEP] 4, SprayBottle, -3.597, 0.542, 0.557, 0, 90, 0, 36 [SEP] 5, SoapBottle, -1.379, 0.044, 5.006, 0, 0, 0, 30 [SEP] 6, HandTowel, -2.094, 1.442, 5.107, 0, 0, 0, 37 [SEP] 7, Candle, -3.828, 0.550, 1.477, 0, 90, 0, 36 [SEP] 8, SoapBottle, -3.597, 0.546, 0.741, 0, 90, 0, 36 [SEP] 9, HandTowel, -0.112, 1.467, 4.811, 0, 270, 0, 38 [SEP] 10, Towel, -1.719, 1.228, 1.846, 0, 0, 0, 33 [SEP] 11, SoapBar, -3.268, 0.676, 3.965, 0, 270, 0, 21 [SEP] 12, ToiletPaper, -0.711, 0.034, 5.006, 0, 0, 0, 29 [SEP] 13, TissueBox, -3.713, 0.541, 1.109, 0, 90, 0, 36 [SEP] 14, Cloth, -3.447, 0.185, 3.597, 0, 0, 0, 19 [SEP] 15, ToiletPaper, -1.051, 0.960, 4.933, 0, 0, 0, 26 [SEP] 16, SprayBottle, -1.646, 0.038, 4.768, 0, 0, 0, 28 [SEP] 17, ScrubBrush, -0.231, -0.000, 3.857, 0, 0, 0, Floor|+00.00| [SEP] 18, Plunger, -0.212, -0.000, 3.536, 0, 0, 0, Floor|+00.00| [SEP] 19, BathtubBasin, -3.404, 0.166, 2.904, 0, 0, 0, [SEP] 20, Cabinet, -0.124, 0.364, 4.634, 0, 0, 0, [SEP] 21, Bathtub, -2.896, 0.667, 2.860, 0, 0, 0, [SEP] 22, Faucet, -3.475, 0.711, 3.811, 0, 0, 0, [SEP] 23, ShowerGlass, 0.0, 0.0, 0.0, 0, 0, 0, [SEP] 24, ShowerDoor, -0.282, 1.228, 1.730, 0, 0, 0, [SEP] 25, Faucet, -1.524, 1.047, 5.096, 0, 180, 0, [SEP] 26, CounterTop, -1.023, 0.954, 4.884, 0, 0, 0, [SEP] 27, Mirror, -0.975, 1.577, 5.145, 0, 0, 0, [SEP] 28, Cabinet, -1.962, 0.364, 4.634, 0, 0, 0, [SEP] 29, Cabinet, -1.027, 0.364, 4.634, 0, 0, 0, [SEP] 30, Cabinet, -1.059, 0.364, 4.634, 0, 0, 0, [SEP] 31, Window, -1.993, 1.888, 0.144, 0, 0, 0, [SEP] 32, LightSwitch, -2.496, 1.366, 5.146, 0, 180, 0, [SEP] 33, TowelHolder, -1.720, 1.213, 1.740, 0, 0, 0, [SEP] 34, TowelHolder, -0.074, 1.404, 2.424, 0, 270, 0, [SEP] 35, GarbageCan, -2.346, 0.002, 4.878, 0, 180, 0, [SEP] 36, Shelf, -3.713, 0.531, 0.951, 0, 90, 0, [SEP] 37, HandTowelHolder, -2.094, 1.544, 5.145, 0, 90, 0, [SEP] 38, HandTowelHolder, -0.074, 1.569, 4.810, 0, 180, 0, [SEP] 39, ToiletPaperHanger, -0.074, 1.126, 3.686, 0, 270, 0, [SEP] 40, Toilet, -0.517, -0.000, 3.220, 0, 0, 0, [SEP] 41, ShowerHead, -0.182, 1.256, 0.875, 0, 0, 0, [SEP] 42, SinkBasin, -0.569, 0.986, 4.886, 0, 180, 0, [SEP] 43, Sink, -0.579, 0.926, 4.874, 0, 180, 0, [SEP] 44, Sink, -1.524, 0.926, 4.874, 0, 180, 0, [SEP] 45, SinkBasin, -1.514, 0.986, 4.886, 0, 180, 0, [SEP] 46, Faucet, -0.583, 1.047, 5.096, 0, 180, 0, [SEP] 47, NorthWall, , , , , , , [SEP] 48, EastWall, , , , , , , [SEP] 49, SouthWall, , , , , , , [SEP] 50, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the garbage then turn left and walk to the wall then turn left. | STEP 2: Pick up the dirty purple wash cloth that's in front of you. | STEP 3: Turn left and walk to the closest sink then turn left to face it. | STEP 4: Wash the cloth in the sink and then pick it back up and shut off the water. | STEP 5: Turn around and take three steps then turn right and walk to the tub. | STEP 6: Put the wash cloth in the tub. | END"]} +{"id": "trial_T20190909_154521_553270-1", "input": "rinse the rag from the tub then put it back SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.900, 3.25, 0, 180, 0, [SEP] 1, SoapBar, -0.194, 1.044, 3.026, 0, 270, 0, 40 [SEP] 2, SoapBar, -2.227, 0.034, 4.922, 0, 0, 0, 35 [SEP] 3, Candle, -2.717, 0.685, 2.096, 0, 348.434, 0, 21 [SEP] 4, SprayBottle, -3.597, 0.542, 0.557, 0, 90, 0, 36 [SEP] 5, SoapBottle, -1.379, 0.044, 5.006, 0, 0, 0, 30 [SEP] 6, HandTowel, -2.094, 1.442, 5.107, 0, 0, 0, 37 [SEP] 7, Candle, -3.828, 0.550, 1.477, 0, 90, 0, 36 [SEP] 8, SoapBottle, -3.597, 0.546, 0.741, 0, 90, 0, 36 [SEP] 9, HandTowel, -0.112, 1.467, 4.811, 0, 270, 0, 38 [SEP] 10, Towel, -1.719, 1.228, 1.846, 0, 0, 0, 33 [SEP] 11, SoapBar, -3.268, 0.676, 3.965, 0, 270, 0, 21 [SEP] 12, ToiletPaper, -0.711, 0.034, 5.006, 0, 0, 0, 29 [SEP] 13, TissueBox, -3.713, 0.541, 1.109, 0, 90, 0, 36 [SEP] 14, Cloth, -3.447, 0.185, 3.597, 0, 0, 0, 19 [SEP] 15, ToiletPaper, -1.051, 0.960, 4.933, 0, 0, 0, 26 [SEP] 16, SprayBottle, -1.646, 0.038, 4.768, 0, 0, 0, 28 [SEP] 17, ScrubBrush, -0.231, -0.000, 3.857, 0, 0, 0, Floor|+00.00| [SEP] 18, Plunger, -0.212, -0.000, 3.536, 0, 0, 0, Floor|+00.00| [SEP] 19, BathtubBasin, -3.404, 0.166, 2.904, 0, 0, 0, [SEP] 20, Cabinet, -0.124, 0.364, 4.634, 0, 0, 0, [SEP] 21, Bathtub, -2.896, 0.667, 2.860, 0, 0, 0, [SEP] 22, Faucet, -3.475, 0.711, 3.811, 0, 0, 0, [SEP] 23, ShowerGlass, 0.0, 0.0, 0.0, 0, 0, 0, [SEP] 24, ShowerDoor, -0.282, 1.228, 1.730, 0, 0, 0, [SEP] 25, Faucet, -1.524, 1.047, 5.096, 0, 180, 0, [SEP] 26, CounterTop, -1.023, 0.954, 4.884, 0, 0, 0, [SEP] 27, Mirror, -0.975, 1.577, 5.145, 0, 0, 0, [SEP] 28, Cabinet, -1.962, 0.364, 4.634, 0, 0, 0, [SEP] 29, Cabinet, -1.027, 0.364, 4.634, 0, 0, 0, [SEP] 30, Cabinet, -1.059, 0.364, 4.634, 0, 0, 0, [SEP] 31, Window, -1.993, 1.888, 0.144, 0, 0, 0, [SEP] 32, LightSwitch, -2.496, 1.366, 5.146, 0, 180, 0, [SEP] 33, TowelHolder, -1.720, 1.213, 1.740, 0, 0, 0, [SEP] 34, TowelHolder, -0.074, 1.404, 2.424, 0, 270, 0, [SEP] 35, GarbageCan, -2.346, 0.002, 4.878, 0, 180, 0, [SEP] 36, Shelf, -3.713, 0.531, 0.951, 0, 90, 0, [SEP] 37, HandTowelHolder, -2.094, 1.544, 5.145, 0, 90, 0, [SEP] 38, HandTowelHolder, -0.074, 1.569, 4.810, 0, 180, 0, [SEP] 39, ToiletPaperHanger, -0.074, 1.126, 3.686, 0, 270, 0, [SEP] 40, Toilet, -0.517, -0.000, 3.220, 0, 0, 0, [SEP] 41, ShowerHead, -0.182, 1.256, 0.875, 0, 0, 0, [SEP] 42, SinkBasin, -0.569, 0.986, 4.886, 0, 180, 0, [SEP] 43, Sink, -0.579, 0.926, 4.874, 0, 180, 0, [SEP] 44, Sink, -1.524, 0.926, 4.874, 0, 180, 0, [SEP] 45, SinkBasin, -1.514, 0.986, 4.886, 0, 180, 0, [SEP] 46, Faucet, -0.583, 1.047, 5.096, 0, 180, 0, [SEP] 47, NorthWall, , , , , , , [SEP] 48, EastWall, , , , , , , [SEP] 49, SouthWall, , , , , , , [SEP] 50, WestWall, , , , , , , ", "output": ["STEP 1: go to the tub | STEP 2: take the purple rag from the basin | STEP 3: take the rag to the sink | STEP 4: rinse the rag in the sink then remove | STEP 5: take the rag back to the tub | STEP 6: put the rag in the tub | END"]} +{"id": "trial_T20190909_154521_553270-2", "input": "Put a clean cloth in a tub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.900, 3.25, 0, 180, 0, [SEP] 1, SoapBar, -0.194, 1.044, 3.026, 0, 270, 0, 40 [SEP] 2, SoapBar, -2.227, 0.034, 4.922, 0, 0, 0, 35 [SEP] 3, Candle, -2.717, 0.685, 2.096, 0, 348.434, 0, 21 [SEP] 4, SprayBottle, -3.597, 0.542, 0.557, 0, 90, 0, 36 [SEP] 5, SoapBottle, -1.379, 0.044, 5.006, 0, 0, 0, 30 [SEP] 6, HandTowel, -2.094, 1.442, 5.107, 0, 0, 0, 37 [SEP] 7, Candle, -3.828, 0.550, 1.477, 0, 90, 0, 36 [SEP] 8, SoapBottle, -3.597, 0.546, 0.741, 0, 90, 0, 36 [SEP] 9, HandTowel, -0.112, 1.467, 4.811, 0, 270, 0, 38 [SEP] 10, Towel, -1.719, 1.228, 1.846, 0, 0, 0, 33 [SEP] 11, SoapBar, -3.268, 0.676, 3.965, 0, 270, 0, 21 [SEP] 12, ToiletPaper, -0.711, 0.034, 5.006, 0, 0, 0, 29 [SEP] 13, TissueBox, -3.713, 0.541, 1.109, 0, 90, 0, 36 [SEP] 14, Cloth, -3.447, 0.185, 3.597, 0, 0, 0, 19 [SEP] 15, ToiletPaper, -1.051, 0.960, 4.933, 0, 0, 0, 26 [SEP] 16, SprayBottle, -1.646, 0.038, 4.768, 0, 0, 0, 28 [SEP] 17, ScrubBrush, -0.231, -0.000, 3.857, 0, 0, 0, Floor|+00.00| [SEP] 18, Plunger, -0.212, -0.000, 3.536, 0, 0, 0, Floor|+00.00| [SEP] 19, BathtubBasin, -3.404, 0.166, 2.904, 0, 0, 0, [SEP] 20, Cabinet, -0.124, 0.364, 4.634, 0, 0, 0, [SEP] 21, Bathtub, -2.896, 0.667, 2.860, 0, 0, 0, [SEP] 22, Faucet, -3.475, 0.711, 3.811, 0, 0, 0, [SEP] 23, ShowerGlass, 0.0, 0.0, 0.0, 0, 0, 0, [SEP] 24, ShowerDoor, -0.282, 1.228, 1.730, 0, 0, 0, [SEP] 25, Faucet, -1.524, 1.047, 5.096, 0, 180, 0, [SEP] 26, CounterTop, -1.023, 0.954, 4.884, 0, 0, 0, [SEP] 27, Mirror, -0.975, 1.577, 5.145, 0, 0, 0, [SEP] 28, Cabinet, -1.962, 0.364, 4.634, 0, 0, 0, [SEP] 29, Cabinet, -1.027, 0.364, 4.634, 0, 0, 0, [SEP] 30, Cabinet, -1.059, 0.364, 4.634, 0, 0, 0, [SEP] 31, Window, -1.993, 1.888, 0.144, 0, 0, 0, [SEP] 32, LightSwitch, -2.496, 1.366, 5.146, 0, 180, 0, [SEP] 33, TowelHolder, -1.720, 1.213, 1.740, 0, 0, 0, [SEP] 34, TowelHolder, -0.074, 1.404, 2.424, 0, 270, 0, [SEP] 35, GarbageCan, -2.346, 0.002, 4.878, 0, 180, 0, [SEP] 36, Shelf, -3.713, 0.531, 0.951, 0, 90, 0, [SEP] 37, HandTowelHolder, -2.094, 1.544, 5.145, 0, 90, 0, [SEP] 38, HandTowelHolder, -0.074, 1.569, 4.810, 0, 180, 0, [SEP] 39, ToiletPaperHanger, -0.074, 1.126, 3.686, 0, 270, 0, [SEP] 40, Toilet, -0.517, -0.000, 3.220, 0, 0, 0, [SEP] 41, ShowerHead, -0.182, 1.256, 0.875, 0, 0, 0, [SEP] 42, SinkBasin, -0.569, 0.986, 4.886, 0, 180, 0, [SEP] 43, Sink, -0.579, 0.926, 4.874, 0, 180, 0, [SEP] 44, Sink, -1.524, 0.926, 4.874, 0, 180, 0, [SEP] 45, SinkBasin, -1.514, 0.986, 4.886, 0, 180, 0, [SEP] 46, Faucet, -0.583, 1.047, 5.096, 0, 180, 0, [SEP] 47, NorthWall, , , , , , , [SEP] 48, EastWall, , , , , , , [SEP] 49, SouthWall, , , , , , , [SEP] 50, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and face the end of the tub where the faucet is. | STEP 2: Pick the purple cloth up from the tub. | STEP 3: Turn left and then to the left again to face the sink on the left. | STEP 4: Put the cloth in the sink and turn the water on and then off and pick the cloth up again. | STEP 5: Turn around and go right to face the tub. | STEP 6: Put the cloth in the tub. | END"]} +{"id": "trial_T20190908_234112_645480-0", "input": "Put a cold egg in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, 3.0, 0, 180, 0, [SEP] 1, Potato, -2.461, 0.810, 2.221, 0, 90, 0, 76 [SEP] 2, DishSponge, -2.779, 0.822, 3.479, 0, 0, 0, 67 [SEP] 3, ButterKnife, -2.851, 0.823, 3.554, 0, 0, 0, 67 [SEP] 4, Pot, 0.642, 0.850, 1.768, 0, 0, 0, 71 [SEP] 5, Spatula, 1.024, 0.838, 1.072, 0, 270, 0, 44 [SEP] 6, Cup, -1.309, 0.697, 3.857, 0, 0, 0, 79 [SEP] 7, Knife, 0.650, 0.846, 1.028, 0, 270, 0, 44 [SEP] 8, Knife, 0.939, 0.835, 2.458, 0, 180, 354.477, 49 [SEP] 9, SoapBottle, 0.960, 0.023, 2.918, 0, 0, 0, 78 [SEP] 10, Tomato, -2.577, 1.064, 2.221, 0, 90, 0, 76 [SEP] 11, Tomato, -2.636, 1.259, 2.333, 0, 90, 0, 76 [SEP] 12, Bowl, -2.542, 1.847, 1.853, 0, 0, 0, 69 [SEP] 13, PepperShaker, 1.099, 0.819, 1.028, 0, 0, 0, 44 [SEP] 14, Apple, -0.657, 0.961, 1.143, 0, 90, 0, 85 [SEP] 15, Apple, -1.642, 1.420, 3.836, 0, 180, 0, 73 [SEP] 16, Plate, 0.860, 0.812, 0.976, 0, 0, 0, 44 [SEP] 17, Fork, -0.657, 0.901, 1.555, 0, 180, 0, 85 [SEP] 18, Bread, 0.798, 0.884, 2.446, 358.387, 0, 9.344, 44 [SEP] 19, Spatula, -1.053, 0.915, 1.349, 0, 90, 0, 85 [SEP] 20, PaperTowelRoll, -0.657, 1.004, 0.937, 0, 90, 0, 85 [SEP] 21, Potato, -2.519, 1.038, 2.389, 0, 90, 0, 76 [SEP] 22, SoapBottle, -0.789, 0.900, 1.555, 0, 90, 0, 85 [SEP] 23, Egg, -1.185, 0.936, 1.452, 0, 90, 0, 85 [SEP] 24, Cup, -1.317, 0.900, 1.040, 0, 90, 0, 85 [SEP] 25, Pot, 0.913, 0.850, 1.375, 0, 0, 0, 43 [SEP] 26, SaltShaker, -2.550, 0.123, 3.449, 0, 0, 0, 60 [SEP] 27, Pan, -2.667, 0.812, 3.74, 0, 137.145, 0, 67 [SEP] 28, PepperShaker, -2.744, 0.819, 3.947, 0, 0, 0, 67 [SEP] 29, ButterKnife, -1.317, 0.900, 1.452, 0, 90, 0, 85 [SEP] 30, Tomato, -2.694, 0.835, 2.333, 0, 90, 0, 76 [SEP] 31, DishSponge, -1.185, 0.900, 1.555, 0, 90, 0, 85 [SEP] 32, Lettuce, -0.580, 0.956, 1.358, 31.822, 0, 0, 85 [SEP] 33, Spoon, 0.635, 0.692, 0.944, 0, 90, 0, 55 [SEP] 34, Apple, -0.789, 0.961, 1.246, 0, 90, 0, 85 [SEP] 35, Knife, -2.291, 0.819, 3.615, 90, 0, 0, 67 [SEP] 36, Mug, -2.463, 1.844, 1.217, 0, 0, 0, 40 [SEP] 37, Bowl, -2.786, 1.396, 3.897, 0, 0, 0, 58 [SEP] 38, Drawer, 0.729, 0.703, 2.199, 0, 0, 0, [SEP] 39, Cabinet, -1.962, 1.926, 3.733, 0, 0, 0, [SEP] 40, Cabinet, -2.377, 2.014, 1.058, 0, 0, 0, [SEP] 41, Drawer, 0.729, 0.703, 2.532, 0, 0, 0, [SEP] 42, Cabinet, -2.622, 1.925, 3.733, 0, 0, 0, [SEP] 43, StoveBurner, 0.913, 0.843, 1.375, 0, 0, 0, [SEP] 44, CounterTop, 0.864, 0.858, 0.984, 0, 0, 0, [SEP] 45, Cabinet, -1.976, 1.779, 3.734, 0, 0, 0, [SEP] 46, Cabinet, 0.580, 0.385, 0.819, 0, 0, 0, [SEP] 47, Cabinet, -2.379, 1.408, 1.677, 0, 0, 0, [SEP] 48, Cabinet, -0.419, 1.703, 3.736, 0, 0, 0, [SEP] 49, CounterTop, 0.864, 0.858, 2.371, 0, 0, 0, [SEP] 50, Sink, -1.702, 0.726, 3.828, 0, 180, 0, [SEP] 51, Cabinet, 0.580, 0.385, 2.694, 0, 0, 0, [SEP] 52, Cabinet, -2.379, 0.637, 1.677, 0, 0, 0, [SEP] 53, Cabinet, -0.419, 0.674, 3.736, 0, 0, 0, [SEP] 54, Cabinet, -2.377, 2.014, 2.558, 0, 0, 0, [SEP] 55, Drawer, 0.729, 0.703, 0.980, 0, 0, 0, [SEP] 56, Drawer, -2.114, 0.706, 3.657, 0, 0, 0, [SEP] 57, Cabinet, -2.377, 1.691, 2.572, 0, 0, 0, [SEP] 58, Cabinet, -2.951, 1.925, 3.733, 0, 0, 0, [SEP] 59, Cabinet, 0.580, 0.385, 2.360, 0, 0, 0, [SEP] 60, Cabinet, -2.426, 0.435, 3.421, 0, 0, 0, [SEP] 61, StoveBurner, 0.642, 0.843, 1.375, 0, 0, 0, [SEP] 62, Cabinet, -2.377, 1.927, 1.686, 0, 0, 0, [SEP] 63, Cabinet, -2.377, 2.013, 3.177, 0, 0, 0, [SEP] 64, Cabinet, -1.136, 0.385, 3.516, 0, 0, 0, [SEP] 65, StoveBurner, 0.913, 0.843, 1.768, 0, 0, 0, [SEP] 66, Cabinet, -1.974, 0.385, 3.516, 0, 0, 0, [SEP] 67, CounterTop, -2.081, 0.858, 3.799, 0, 0, 0, [SEP] 68, Cabinet, -2.426, 0.435, 3.174, 0, 0, 0, [SEP] 69, Cabinet, -2.377, 2.014, 1.693, 0, 0, 0, [SEP] 70, Cabinet, -1.986, 0.385, 3.511, 0, 0, 0, [SEP] 71, StoveBurner, 0.642, 0.843, 1.768, 0, 0, 0, [SEP] 72, Cabinet, -1.098, 1.926, 3.729, 0, 0, 0, [SEP] 73, Microwave, -1.529, 1.250, 3.881, 1.622, 180, 0, [SEP] 74, CoffeeMachine, 1.000, 0.812, 2.492, 0, 270, 0, [SEP] 75, LightSwitch, 0.825, 1.396, 4.082, 0, 180, 0, [SEP] 76, Fridge, -2.642, 0.0, 2.134, 0, 180, 0, [SEP] 77, Window, -1.131, 1.673, 0.808, 90, 0, 0, [SEP] 78, GarbageCan, 0.931, -0.000, 2.918, 0, 0, 0, [SEP] 79, SinkBasin, -1.601, 0.686, 3.774, 0, 0, 0, [SEP] 80, StoveKnob, 1.104, 1.002, 1.886, 0, 0, 70.346, [SEP] 81, StoveKnob, 1.104, 1.002, 1.733, 0, 0, 70.346, [SEP] 82, StoveKnob, 1.104, 1.002, 1.321, 0, 0, 70.346, [SEP] 83, StoveKnob, 1.104, 1.002, 1.481, 0, 0, 70.346, [SEP] 84, Toaster, -2.247, 0.812, 3.862, 0, 180, 0, [SEP] 85, DiningTable, -0.917, -0.000, 1.203, 0, 0, 0, [SEP] 86, Stool, -0.932, 0.000, 1.404, 1.196, 21.715, 0, [SEP] 87, Faucet, -1.842, 0.809, 3.984, 0, 180, 0, [SEP] 88, Faucet, -1.371, 0.809, 3.985, 0, 180, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the stove then turn left and walk to the wall then turn left. | STEP 2: Pick up the egg that's in front of you to the right of the sponge. | STEP 3: Turn left and take a step then turn left to face the fridge. | STEP 4: Chill the egg in the fridge then get it back out and close the door. | STEP 5: Turn right and walk to the sink that's in front of you and slightly to the right. | STEP 6: Open the microwave and put the egg in there then close the door. | END"]} +{"id": "trial_T20190908_234112_645480-1", "input": "Putting a cooled egg in the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, 3.0, 0, 180, 0, [SEP] 1, Potato, -2.461, 0.810, 2.221, 0, 90, 0, 76 [SEP] 2, DishSponge, -2.779, 0.822, 3.479, 0, 0, 0, 67 [SEP] 3, ButterKnife, -2.851, 0.823, 3.554, 0, 0, 0, 67 [SEP] 4, Pot, 0.642, 0.850, 1.768, 0, 0, 0, 71 [SEP] 5, Spatula, 1.024, 0.838, 1.072, 0, 270, 0, 44 [SEP] 6, Cup, -1.309, 0.697, 3.857, 0, 0, 0, 79 [SEP] 7, Knife, 0.650, 0.846, 1.028, 0, 270, 0, 44 [SEP] 8, Knife, 0.939, 0.835, 2.458, 0, 180, 354.477, 49 [SEP] 9, SoapBottle, 0.960, 0.023, 2.918, 0, 0, 0, 78 [SEP] 10, Tomato, -2.577, 1.064, 2.221, 0, 90, 0, 76 [SEP] 11, Tomato, -2.636, 1.259, 2.333, 0, 90, 0, 76 [SEP] 12, Bowl, -2.542, 1.847, 1.853, 0, 0, 0, 69 [SEP] 13, PepperShaker, 1.099, 0.819, 1.028, 0, 0, 0, 44 [SEP] 14, Apple, -0.657, 0.961, 1.143, 0, 90, 0, 85 [SEP] 15, Apple, -1.642, 1.420, 3.836, 0, 180, 0, 73 [SEP] 16, Plate, 0.860, 0.812, 0.976, 0, 0, 0, 44 [SEP] 17, Fork, -0.657, 0.901, 1.555, 0, 180, 0, 85 [SEP] 18, Bread, 0.798, 0.884, 2.446, 358.387, 0, 9.344, 44 [SEP] 19, Spatula, -1.053, 0.915, 1.349, 0, 90, 0, 85 [SEP] 20, PaperTowelRoll, -0.657, 1.004, 0.937, 0, 90, 0, 85 [SEP] 21, Potato, -2.519, 1.038, 2.389, 0, 90, 0, 76 [SEP] 22, SoapBottle, -0.789, 0.900, 1.555, 0, 90, 0, 85 [SEP] 23, Egg, -1.185, 0.936, 1.452, 0, 90, 0, 85 [SEP] 24, Cup, -1.317, 0.900, 1.040, 0, 90, 0, 85 [SEP] 25, Pot, 0.913, 0.850, 1.375, 0, 0, 0, 43 [SEP] 26, SaltShaker, -2.550, 0.123, 3.449, 0, 0, 0, 60 [SEP] 27, Pan, -2.667, 0.812, 3.74, 0, 137.145, 0, 67 [SEP] 28, PepperShaker, -2.744, 0.819, 3.947, 0, 0, 0, 67 [SEP] 29, ButterKnife, -1.317, 0.900, 1.452, 0, 90, 0, 85 [SEP] 30, Tomato, -2.694, 0.835, 2.333, 0, 90, 0, 76 [SEP] 31, DishSponge, -1.185, 0.900, 1.555, 0, 90, 0, 85 [SEP] 32, Lettuce, -0.580, 0.956, 1.358, 31.822, 0, 0, 85 [SEP] 33, Spoon, 0.635, 0.692, 0.944, 0, 90, 0, 55 [SEP] 34, Apple, -0.789, 0.961, 1.246, 0, 90, 0, 85 [SEP] 35, Knife, -2.291, 0.819, 3.615, 90, 0, 0, 67 [SEP] 36, Mug, -2.463, 1.844, 1.217, 0, 0, 0, 40 [SEP] 37, Bowl, -2.786, 1.396, 3.897, 0, 0, 0, 58 [SEP] 38, Drawer, 0.729, 0.703, 2.199, 0, 0, 0, [SEP] 39, Cabinet, -1.962, 1.926, 3.733, 0, 0, 0, [SEP] 40, Cabinet, -2.377, 2.014, 1.058, 0, 0, 0, [SEP] 41, Drawer, 0.729, 0.703, 2.532, 0, 0, 0, [SEP] 42, Cabinet, -2.622, 1.925, 3.733, 0, 0, 0, [SEP] 43, StoveBurner, 0.913, 0.843, 1.375, 0, 0, 0, [SEP] 44, CounterTop, 0.864, 0.858, 0.984, 0, 0, 0, [SEP] 45, Cabinet, -1.976, 1.779, 3.734, 0, 0, 0, [SEP] 46, Cabinet, 0.580, 0.385, 0.819, 0, 0, 0, [SEP] 47, Cabinet, -2.379, 1.408, 1.677, 0, 0, 0, [SEP] 48, Cabinet, -0.419, 1.703, 3.736, 0, 0, 0, [SEP] 49, CounterTop, 0.864, 0.858, 2.371, 0, 0, 0, [SEP] 50, Sink, -1.702, 0.726, 3.828, 0, 180, 0, [SEP] 51, Cabinet, 0.580, 0.385, 2.694, 0, 0, 0, [SEP] 52, Cabinet, -2.379, 0.637, 1.677, 0, 0, 0, [SEP] 53, Cabinet, -0.419, 0.674, 3.736, 0, 0, 0, [SEP] 54, Cabinet, -2.377, 2.014, 2.558, 0, 0, 0, [SEP] 55, Drawer, 0.729, 0.703, 0.980, 0, 0, 0, [SEP] 56, Drawer, -2.114, 0.706, 3.657, 0, 0, 0, [SEP] 57, Cabinet, -2.377, 1.691, 2.572, 0, 0, 0, [SEP] 58, Cabinet, -2.951, 1.925, 3.733, 0, 0, 0, [SEP] 59, Cabinet, 0.580, 0.385, 2.360, 0, 0, 0, [SEP] 60, Cabinet, -2.426, 0.435, 3.421, 0, 0, 0, [SEP] 61, StoveBurner, 0.642, 0.843, 1.375, 0, 0, 0, [SEP] 62, Cabinet, -2.377, 1.927, 1.686, 0, 0, 0, [SEP] 63, Cabinet, -2.377, 2.013, 3.177, 0, 0, 0, [SEP] 64, Cabinet, -1.136, 0.385, 3.516, 0, 0, 0, [SEP] 65, StoveBurner, 0.913, 0.843, 1.768, 0, 0, 0, [SEP] 66, Cabinet, -1.974, 0.385, 3.516, 0, 0, 0, [SEP] 67, CounterTop, -2.081, 0.858, 3.799, 0, 0, 0, [SEP] 68, Cabinet, -2.426, 0.435, 3.174, 0, 0, 0, [SEP] 69, Cabinet, -2.377, 2.014, 1.693, 0, 0, 0, [SEP] 70, Cabinet, -1.986, 0.385, 3.511, 0, 0, 0, [SEP] 71, StoveBurner, 0.642, 0.843, 1.768, 0, 0, 0, [SEP] 72, Cabinet, -1.098, 1.926, 3.729, 0, 0, 0, [SEP] 73, Microwave, -1.529, 1.250, 3.881, 1.622, 180, 0, [SEP] 74, CoffeeMachine, 1.000, 0.812, 2.492, 0, 270, 0, [SEP] 75, LightSwitch, 0.825, 1.396, 4.082, 0, 180, 0, [SEP] 76, Fridge, -2.642, 0.0, 2.134, 0, 180, 0, [SEP] 77, Window, -1.131, 1.673, 0.808, 90, 0, 0, [SEP] 78, GarbageCan, 0.931, -0.000, 2.918, 0, 0, 0, [SEP] 79, SinkBasin, -1.601, 0.686, 3.774, 0, 0, 0, [SEP] 80, StoveKnob, 1.104, 1.002, 1.886, 0, 0, 70.346, [SEP] 81, StoveKnob, 1.104, 1.002, 1.733, 0, 0, 70.346, [SEP] 82, StoveKnob, 1.104, 1.002, 1.321, 0, 0, 70.346, [SEP] 83, StoveKnob, 1.104, 1.002, 1.481, 0, 0, 70.346, [SEP] 84, Toaster, -2.247, 0.812, 3.862, 0, 180, 0, [SEP] 85, DiningTable, -0.917, -0.000, 1.203, 0, 0, 0, [SEP] 86, Stool, -0.932, 0.000, 1.404, 1.196, 21.715, 0, [SEP] 87, Faucet, -1.842, 0.809, 3.984, 0, 180, 0, [SEP] 88, Faucet, -1.371, 0.809, 3.985, 0, 180, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and go to the right side of the white table | STEP 2: Grab the egg off of the table | STEP 3: Turn left and stop at the fridge | STEP 4: Cool the egg in the fridge and then take it out | STEP 5: Turn right and go to the microwave | STEP 6: Put the egg in the microwave | END"]} +{"id": "trial_T20190908_234112_645480-2", "input": "Place a cold potato in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, 3.0, 0, 180, 0, [SEP] 1, Potato, -2.461, 0.810, 2.221, 0, 90, 0, 76 [SEP] 2, DishSponge, -2.779, 0.822, 3.479, 0, 0, 0, 67 [SEP] 3, ButterKnife, -2.851, 0.823, 3.554, 0, 0, 0, 67 [SEP] 4, Pot, 0.642, 0.850, 1.768, 0, 0, 0, 71 [SEP] 5, Spatula, 1.024, 0.838, 1.072, 0, 270, 0, 44 [SEP] 6, Cup, -1.309, 0.697, 3.857, 0, 0, 0, 79 [SEP] 7, Knife, 0.650, 0.846, 1.028, 0, 270, 0, 44 [SEP] 8, Knife, 0.939, 0.835, 2.458, 0, 180, 354.477, 49 [SEP] 9, SoapBottle, 0.960, 0.023, 2.918, 0, 0, 0, 78 [SEP] 10, Tomato, -2.577, 1.064, 2.221, 0, 90, 0, 76 [SEP] 11, Tomato, -2.636, 1.259, 2.333, 0, 90, 0, 76 [SEP] 12, Bowl, -2.542, 1.847, 1.853, 0, 0, 0, 69 [SEP] 13, PepperShaker, 1.099, 0.819, 1.028, 0, 0, 0, 44 [SEP] 14, Apple, -0.657, 0.961, 1.143, 0, 90, 0, 85 [SEP] 15, Apple, -1.642, 1.420, 3.836, 0, 180, 0, 73 [SEP] 16, Plate, 0.860, 0.812, 0.976, 0, 0, 0, 44 [SEP] 17, Fork, -0.657, 0.901, 1.555, 0, 180, 0, 85 [SEP] 18, Bread, 0.798, 0.884, 2.446, 358.387, 0, 9.344, 44 [SEP] 19, Spatula, -1.053, 0.915, 1.349, 0, 90, 0, 85 [SEP] 20, PaperTowelRoll, -0.657, 1.004, 0.937, 0, 90, 0, 85 [SEP] 21, Potato, -2.519, 1.038, 2.389, 0, 90, 0, 76 [SEP] 22, SoapBottle, -0.789, 0.900, 1.555, 0, 90, 0, 85 [SEP] 23, Egg, -1.185, 0.936, 1.452, 0, 90, 0, 85 [SEP] 24, Cup, -1.317, 0.900, 1.040, 0, 90, 0, 85 [SEP] 25, Pot, 0.913, 0.850, 1.375, 0, 0, 0, 43 [SEP] 26, SaltShaker, -2.550, 0.123, 3.449, 0, 0, 0, 60 [SEP] 27, Pan, -2.667, 0.812, 3.74, 0, 137.145, 0, 67 [SEP] 28, PepperShaker, -2.744, 0.819, 3.947, 0, 0, 0, 67 [SEP] 29, ButterKnife, -1.317, 0.900, 1.452, 0, 90, 0, 85 [SEP] 30, Tomato, -2.694, 0.835, 2.333, 0, 90, 0, 76 [SEP] 31, DishSponge, -1.185, 0.900, 1.555, 0, 90, 0, 85 [SEP] 32, Lettuce, -0.580, 0.956, 1.358, 31.822, 0, 0, 85 [SEP] 33, Spoon, 0.635, 0.692, 0.944, 0, 90, 0, 55 [SEP] 34, Apple, -0.789, 0.961, 1.246, 0, 90, 0, 85 [SEP] 35, Knife, -2.291, 0.819, 3.615, 90, 0, 0, 67 [SEP] 36, Mug, -2.463, 1.844, 1.217, 0, 0, 0, 40 [SEP] 37, Bowl, -2.786, 1.396, 3.897, 0, 0, 0, 58 [SEP] 38, Drawer, 0.729, 0.703, 2.199, 0, 0, 0, [SEP] 39, Cabinet, -1.962, 1.926, 3.733, 0, 0, 0, [SEP] 40, Cabinet, -2.377, 2.014, 1.058, 0, 0, 0, [SEP] 41, Drawer, 0.729, 0.703, 2.532, 0, 0, 0, [SEP] 42, Cabinet, -2.622, 1.925, 3.733, 0, 0, 0, [SEP] 43, StoveBurner, 0.913, 0.843, 1.375, 0, 0, 0, [SEP] 44, CounterTop, 0.864, 0.858, 0.984, 0, 0, 0, [SEP] 45, Cabinet, -1.976, 1.779, 3.734, 0, 0, 0, [SEP] 46, Cabinet, 0.580, 0.385, 0.819, 0, 0, 0, [SEP] 47, Cabinet, -2.379, 1.408, 1.677, 0, 0, 0, [SEP] 48, Cabinet, -0.419, 1.703, 3.736, 0, 0, 0, [SEP] 49, CounterTop, 0.864, 0.858, 2.371, 0, 0, 0, [SEP] 50, Sink, -1.702, 0.726, 3.828, 0, 180, 0, [SEP] 51, Cabinet, 0.580, 0.385, 2.694, 0, 0, 0, [SEP] 52, Cabinet, -2.379, 0.637, 1.677, 0, 0, 0, [SEP] 53, Cabinet, -0.419, 0.674, 3.736, 0, 0, 0, [SEP] 54, Cabinet, -2.377, 2.014, 2.558, 0, 0, 0, [SEP] 55, Drawer, 0.729, 0.703, 0.980, 0, 0, 0, [SEP] 56, Drawer, -2.114, 0.706, 3.657, 0, 0, 0, [SEP] 57, Cabinet, -2.377, 1.691, 2.572, 0, 0, 0, [SEP] 58, Cabinet, -2.951, 1.925, 3.733, 0, 0, 0, [SEP] 59, Cabinet, 0.580, 0.385, 2.360, 0, 0, 0, [SEP] 60, Cabinet, -2.426, 0.435, 3.421, 0, 0, 0, [SEP] 61, StoveBurner, 0.642, 0.843, 1.375, 0, 0, 0, [SEP] 62, Cabinet, -2.377, 1.927, 1.686, 0, 0, 0, [SEP] 63, Cabinet, -2.377, 2.013, 3.177, 0, 0, 0, [SEP] 64, Cabinet, -1.136, 0.385, 3.516, 0, 0, 0, [SEP] 65, StoveBurner, 0.913, 0.843, 1.768, 0, 0, 0, [SEP] 66, Cabinet, -1.974, 0.385, 3.516, 0, 0, 0, [SEP] 67, CounterTop, -2.081, 0.858, 3.799, 0, 0, 0, [SEP] 68, Cabinet, -2.426, 0.435, 3.174, 0, 0, 0, [SEP] 69, Cabinet, -2.377, 2.014, 1.693, 0, 0, 0, [SEP] 70, Cabinet, -1.986, 0.385, 3.511, 0, 0, 0, [SEP] 71, StoveBurner, 0.642, 0.843, 1.768, 0, 0, 0, [SEP] 72, Cabinet, -1.098, 1.926, 3.729, 0, 0, 0, [SEP] 73, Microwave, -1.529, 1.250, 3.881, 1.622, 180, 0, [SEP] 74, CoffeeMachine, 1.000, 0.812, 2.492, 0, 270, 0, [SEP] 75, LightSwitch, 0.825, 1.396, 4.082, 0, 180, 0, [SEP] 76, Fridge, -2.642, 0.0, 2.134, 0, 180, 0, [SEP] 77, Window, -1.131, 1.673, 0.808, 90, 0, 0, [SEP] 78, GarbageCan, 0.931, -0.000, 2.918, 0, 0, 0, [SEP] 79, SinkBasin, -1.601, 0.686, 3.774, 0, 0, 0, [SEP] 80, StoveKnob, 1.104, 1.002, 1.886, 0, 0, 70.346, [SEP] 81, StoveKnob, 1.104, 1.002, 1.733, 0, 0, 70.346, [SEP] 82, StoveKnob, 1.104, 1.002, 1.321, 0, 0, 70.346, [SEP] 83, StoveKnob, 1.104, 1.002, 1.481, 0, 0, 70.346, [SEP] 84, Toaster, -2.247, 0.812, 3.862, 0, 180, 0, [SEP] 85, DiningTable, -0.917, -0.000, 1.203, 0, 0, 0, [SEP] 86, Stool, -0.932, 0.000, 1.404, 1.196, 21.715, 0, [SEP] 87, Faucet, -1.842, 0.809, 3.984, 0, 180, 0, [SEP] 88, Faucet, -1.371, 0.809, 3.985, 0, 180, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, then left and face the table to your left. | STEP 2: Take the potato off the table in front of you. | STEP 3: Turn left and face the fridge to your left. | STEP 4: Place the potato in the fridge, take out the potato and close the fridge. | STEP 5: Turn right and face the sink in front of you. | STEP 6: Place the potato in the microwave on top of the sink in front of you. | END"]} +{"id": "trial_T20190907_120634_187855-0", "input": "put a remote in a box, putting the box onto a chair SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.920, 1.75, 0, 90, 0, [SEP] 1, Plate, -2.402, 0.451, 4.501, 0, 0, 0, 42 [SEP] 2, WateringCan, -2.893, 0.450, 4.279, 0, 0, 0, 42 [SEP] 3, Vase, -0.526, 1.462, 6.483, 0, 270, 0, 25 [SEP] 4, CreditCard, -4.136, 0.459, 6.450, 0, 0, 0, 43 [SEP] 5, CreditCard, -0.161, 0.280, 6.739, 0, 270, 0, 26 [SEP] 6, RemoteControl, -0.672, 0.617, 0.997, 0, 0, 0, 39 [SEP] 7, Box, -2.494, 0.665, 0.793, 0, 0, 0, 41 [SEP] 8, Plate, -2.913, 0.442, 3.398, 0, 0, 0, 42 [SEP] 9, Vase, -2.280, 0.447, 3.836, 0, 0, 0, 42 [SEP] 10, WateringCan, -3.015, 0.448, 4.501, 0, 0, 0, 42 [SEP] 11, Newspaper, -4.279, 0.545, 3.232, 0, 90, 0, 40 [SEP] 12, Vase, -0.526, 1.466, 5.742, 0, 270, 0, 25 [SEP] 13, KeyChain, -2.796, 0.537, 0.601, 0, 0, 0, 41 [SEP] 14, Pillow, -1.578, 0.608, 0.667, 0, 0, 0, 41 [SEP] 15, Statue, -2.525, 0.452, 3.836, 0, 0, 0, 42 [SEP] 16, RemoteControl, -0.319, 0.281, 5.255, 0, 270, 0, 26 [SEP] 17, CreditCard, -4.393, 0.536, 2.022, 0, 90, 0, 40 [SEP] 18, Statue, -0.525, 1.453, 5.351, 0, 294.738, 0, 25 [SEP] 19, Laptop, -4.342, 0.523, 2.224, 0, 32.685, 0, 40 [SEP] 20, Statue, -0.598, 1.452, 6.794, 0, 284.797, 0, 25 [SEP] 21, Curtains, -2.827, 2.473, 0.039, 357.605, 0, 0, [SEP] 22, Curtains, -2.184, 2.473, 0.039, 357.605, 0, 0, [SEP] 23, Curtains, -0.046, 2.474, 2.633, 0, 0, 357.064, [SEP] 24, DeskLamp, -0.484, 0.612, 0.691, 0, 0, 1.144, [SEP] 25, Shelf, -0.391, 1.452, 5.953, 0, 270, 0, [SEP] 26, Shelf, -0.398, 0.270, 5.961, 0, 270, 0, [SEP] 27, Television, -0.75, 1.661, 3.936, 0, 270, 0, [SEP] 28, GarbageCan, -0.525, -0.009, 2.822, 0, 0, 0, [SEP] 29, Painting, -2.670, 1.574, 7.000, 90, 180, 0, [SEP] 30, Bowl, -2.400, 0.464, 3.442, 0, 0, 0, [SEP] 31, LightSwitch, -5.0, 1.246, 5.857, 0, 90, 0, [SEP] 32, Window, -1.373, 1.565, 0.008, 90, 180, 0, [SEP] 33, Window, -0.014, 1.567, 1.496, 90, 270, 0, [SEP] 34, Window, -3.726, 1.565, 0.008, 90, 180, 0, [SEP] 35, FloorLamp, -4.514, 0.027, 0.663, 0, 0, 0, [SEP] 36, HousePlant, -2.659, 0.466, 4.165, 0, 0, 0, [SEP] 37, Shelf, -0.594, 0.104, 0.841, 0, 0, 0, [SEP] 38, Shelf, -0.594, 0.359, 0.841, 0, 0, 0, [SEP] 39, SideTable, -0.594, 0.018, 0.841, 0, 0, 0, [SEP] 40, Sofa, -4.360, 0.028, 2.929, 0, 90, 0, [SEP] 41, Sofa, -2.493, 0.028, 0.725, 0, 0, 0, [SEP] 42, CoffeeTable, -2.648, 0.019, 4.058, 0, 270, 0, [SEP] 43, ArmChair, -4.446, 0.017, 6.450, 0, 90, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, SouthWall, , , , , , , ", "output": ["STEP 1: turn left and walk until the sofa | STEP 2: pick up the remote from the sofa | STEP 3: turn around, then turn left at the table and walk the remote towards the sofa | STEP 4: put the remote in the box | STEP 5: pick up the box with the remote in it | STEP 6: turn around and walk towards the sofa chair | STEP 7: place the box onto the chair | END"]} +{"id": "trial_T20190907_120634_187855-1", "input": "Box a remote control, move it near the door. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.920, 1.75, 0, 90, 0, [SEP] 1, Plate, -2.402, 0.451, 4.501, 0, 0, 0, 42 [SEP] 2, WateringCan, -2.893, 0.450, 4.279, 0, 0, 0, 42 [SEP] 3, Vase, -0.526, 1.462, 6.483, 0, 270, 0, 25 [SEP] 4, CreditCard, -4.136, 0.459, 6.450, 0, 0, 0, 43 [SEP] 5, CreditCard, -0.161, 0.280, 6.739, 0, 270, 0, 26 [SEP] 6, RemoteControl, -0.672, 0.617, 0.997, 0, 0, 0, 39 [SEP] 7, Box, -2.494, 0.665, 0.793, 0, 0, 0, 41 [SEP] 8, Plate, -2.913, 0.442, 3.398, 0, 0, 0, 42 [SEP] 9, Vase, -2.280, 0.447, 3.836, 0, 0, 0, 42 [SEP] 10, WateringCan, -3.015, 0.448, 4.501, 0, 0, 0, 42 [SEP] 11, Newspaper, -4.279, 0.545, 3.232, 0, 90, 0, 40 [SEP] 12, Vase, -0.526, 1.466, 5.742, 0, 270, 0, 25 [SEP] 13, KeyChain, -2.796, 0.537, 0.601, 0, 0, 0, 41 [SEP] 14, Pillow, -1.578, 0.608, 0.667, 0, 0, 0, 41 [SEP] 15, Statue, -2.525, 0.452, 3.836, 0, 0, 0, 42 [SEP] 16, RemoteControl, -0.319, 0.281, 5.255, 0, 270, 0, 26 [SEP] 17, CreditCard, -4.393, 0.536, 2.022, 0, 90, 0, 40 [SEP] 18, Statue, -0.525, 1.453, 5.351, 0, 294.738, 0, 25 [SEP] 19, Laptop, -4.342, 0.523, 2.224, 0, 32.685, 0, 40 [SEP] 20, Statue, -0.598, 1.452, 6.794, 0, 284.797, 0, 25 [SEP] 21, Curtains, -2.827, 2.473, 0.039, 357.605, 0, 0, [SEP] 22, Curtains, -2.184, 2.473, 0.039, 357.605, 0, 0, [SEP] 23, Curtains, -0.046, 2.474, 2.633, 0, 0, 357.064, [SEP] 24, DeskLamp, -0.484, 0.612, 0.691, 0, 0, 1.144, [SEP] 25, Shelf, -0.391, 1.452, 5.953, 0, 270, 0, [SEP] 26, Shelf, -0.398, 0.270, 5.961, 0, 270, 0, [SEP] 27, Television, -0.75, 1.661, 3.936, 0, 270, 0, [SEP] 28, GarbageCan, -0.525, -0.009, 2.822, 0, 0, 0, [SEP] 29, Painting, -2.670, 1.574, 7.000, 90, 180, 0, [SEP] 30, Bowl, -2.400, 0.464, 3.442, 0, 0, 0, [SEP] 31, LightSwitch, -5.0, 1.246, 5.857, 0, 90, 0, [SEP] 32, Window, -1.373, 1.565, 0.008, 90, 180, 0, [SEP] 33, Window, -0.014, 1.567, 1.496, 90, 270, 0, [SEP] 34, Window, -3.726, 1.565, 0.008, 90, 180, 0, [SEP] 35, FloorLamp, -4.514, 0.027, 0.663, 0, 0, 0, [SEP] 36, HousePlant, -2.659, 0.466, 4.165, 0, 0, 0, [SEP] 37, Shelf, -0.594, 0.104, 0.841, 0, 0, 0, [SEP] 38, Shelf, -0.594, 0.359, 0.841, 0, 0, 0, [SEP] 39, SideTable, -0.594, 0.018, 0.841, 0, 0, 0, [SEP] 40, Sofa, -4.360, 0.028, 2.929, 0, 90, 0, [SEP] 41, Sofa, -2.493, 0.028, 0.725, 0, 0, 0, [SEP] 42, CoffeeTable, -2.648, 0.019, 4.058, 0, 270, 0, [SEP] 43, ArmChair, -4.446, 0.017, 6.450, 0, 90, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left, move to the low shelf below the TV. | STEP 2: Get the remote off of the shelf. | STEP 3: Turn right, move to the couch. | STEP 4: Place the remote in the box. | STEP 5: Pick the box with the remote in it. | STEP 6: Turn to the right, move past the couch, past the door and face the chair to the right of the door. | STEP 7: Place the box on to the chair. | END"]} +{"id": "trial_T20190907_120634_187855-2", "input": "Packing a remote control SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.920, 1.75, 0, 90, 0, [SEP] 1, Plate, -2.402, 0.451, 4.501, 0, 0, 0, 42 [SEP] 2, WateringCan, -2.893, 0.450, 4.279, 0, 0, 0, 42 [SEP] 3, Vase, -0.526, 1.462, 6.483, 0, 270, 0, 25 [SEP] 4, CreditCard, -4.136, 0.459, 6.450, 0, 0, 0, 43 [SEP] 5, CreditCard, -0.161, 0.280, 6.739, 0, 270, 0, 26 [SEP] 6, RemoteControl, -0.672, 0.617, 0.997, 0, 0, 0, 39 [SEP] 7, Box, -2.494, 0.665, 0.793, 0, 0, 0, 41 [SEP] 8, Plate, -2.913, 0.442, 3.398, 0, 0, 0, 42 [SEP] 9, Vase, -2.280, 0.447, 3.836, 0, 0, 0, 42 [SEP] 10, WateringCan, -3.015, 0.448, 4.501, 0, 0, 0, 42 [SEP] 11, Newspaper, -4.279, 0.545, 3.232, 0, 90, 0, 40 [SEP] 12, Vase, -0.526, 1.466, 5.742, 0, 270, 0, 25 [SEP] 13, KeyChain, -2.796, 0.537, 0.601, 0, 0, 0, 41 [SEP] 14, Pillow, -1.578, 0.608, 0.667, 0, 0, 0, 41 [SEP] 15, Statue, -2.525, 0.452, 3.836, 0, 0, 0, 42 [SEP] 16, RemoteControl, -0.319, 0.281, 5.255, 0, 270, 0, 26 [SEP] 17, CreditCard, -4.393, 0.536, 2.022, 0, 90, 0, 40 [SEP] 18, Statue, -0.525, 1.453, 5.351, 0, 294.738, 0, 25 [SEP] 19, Laptop, -4.342, 0.523, 2.224, 0, 32.685, 0, 40 [SEP] 20, Statue, -0.598, 1.452, 6.794, 0, 284.797, 0, 25 [SEP] 21, Curtains, -2.827, 2.473, 0.039, 357.605, 0, 0, [SEP] 22, Curtains, -2.184, 2.473, 0.039, 357.605, 0, 0, [SEP] 23, Curtains, -0.046, 2.474, 2.633, 0, 0, 357.064, [SEP] 24, DeskLamp, -0.484, 0.612, 0.691, 0, 0, 1.144, [SEP] 25, Shelf, -0.391, 1.452, 5.953, 0, 270, 0, [SEP] 26, Shelf, -0.398, 0.270, 5.961, 0, 270, 0, [SEP] 27, Television, -0.75, 1.661, 3.936, 0, 270, 0, [SEP] 28, GarbageCan, -0.525, -0.009, 2.822, 0, 0, 0, [SEP] 29, Painting, -2.670, 1.574, 7.000, 90, 180, 0, [SEP] 30, Bowl, -2.400, 0.464, 3.442, 0, 0, 0, [SEP] 31, LightSwitch, -5.0, 1.246, 5.857, 0, 90, 0, [SEP] 32, Window, -1.373, 1.565, 0.008, 90, 180, 0, [SEP] 33, Window, -0.014, 1.567, 1.496, 90, 270, 0, [SEP] 34, Window, -3.726, 1.565, 0.008, 90, 180, 0, [SEP] 35, FloorLamp, -4.514, 0.027, 0.663, 0, 0, 0, [SEP] 36, HousePlant, -2.659, 0.466, 4.165, 0, 0, 0, [SEP] 37, Shelf, -0.594, 0.104, 0.841, 0, 0, 0, [SEP] 38, Shelf, -0.594, 0.359, 0.841, 0, 0, 0, [SEP] 39, SideTable, -0.594, 0.018, 0.841, 0, 0, 0, [SEP] 40, Sofa, -4.360, 0.028, 2.929, 0, 90, 0, [SEP] 41, Sofa, -2.493, 0.028, 0.725, 0, 0, 0, [SEP] 42, CoffeeTable, -2.648, 0.019, 4.058, 0, 270, 0, [SEP] 43, ArmChair, -4.446, 0.017, 6.450, 0, 90, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left and go to the bench across the room | STEP 2: Pick up the remote control from the bench | STEP 3: Turn left and go to the couch with a box on it | STEP 4: Put the remote control in the box | STEP 5: Pick up the box from the couch | STEP 6: Turn right and go to the armchair across the room | STEP 7: Put the box on the armchair | END"]} +{"id": "trial_T20190909_002950_338362-0", "input": "Slice the apple in the pan SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 1.75, 0, 270, 0, [SEP] 1, SprayBottle, -1.764, 0.116, -1.635, 0, 0, 0, 82 [SEP] 2, Kettle, -1.081, 0.949, -1.81, 0, 0, 0, 71 [SEP] 3, Kettle, 0.645, 1.656, -1.801, 0, 0, 0, 64 [SEP] 4, DishSponge, 1.090, 0.114, -0.625, 0, 0, 0, 59 [SEP] 5, DishSponge, -1.732, 0.910, -1.879, 0, 0, 0, 73 [SEP] 6, Spoon, 0.285, 0.920, -1.657, 0, 270, 0, 54 [SEP] 7, Spatula, -0.778, 0.926, -1.619, 0, 90, 0, 75 [SEP] 8, Spatula, 0.105, 0.926, -1.436, 0, 0, 0, 54 [SEP] 9, Pot, 0.569, 0.913, -1.619, 0, 0, 0, 75 [SEP] 10, Cup, -0.086, 0.783, -1.707, 0, 270, 0, 96 [SEP] 11, Cup, 1.093, 0.911, -0.309, 0, 0, 0, 75 [SEP] 12, Plate, -1.039, 1.851, -1.839, 0, 0, 0, 55 [SEP] 13, Plate, 1.034, 0.118, 0.430, 0, 0, 0, 58 [SEP] 14, Knife, 0.149, 0.949, -1.657, 0, 270, 0, 54 [SEP] 15, SoapBottle, 0.285, 0.919, -1.758, 0, 270, 0, 54 [SEP] 16, Tomato, -2.079, 0.950, 0.204, 0, 0, 0, 77 [SEP] 17, Bowl, -2.323, 0.911, 0.291, 0, 0, 0, 77 [SEP] 18, PepperShaker, 1.223, 1.651, -0.815, 0, 0, 0, 63 [SEP] 19, SaltShaker, -0.778, 0.906, -1.960, 0, 0, 0, 75 [SEP] 20, Bread, 1.414, 1.240, -1.688, 0, 0, 0, 81 [SEP] 21, Lettuce, -0.552, 0.980, -1.874, 0, 0, 0, 75 [SEP] 22, Lettuce, 1.414, 1.231, -1.345, 0, 0, 0, 81 [SEP] 23, Mug, 1.325, 1.362, 2.101, 0, 270, 0, 94 [SEP] 24, Apple, 1.414, 1.196, -1.002, 0, 0, 0, 81 [SEP] 25, Apple, 1.453, 1.754, 1.838, 0, 270, 0, 94 [SEP] 26, Tomato, 1.325, 1.407, 2.351, 0, 270, 0, 94 [SEP] 27, Glassbottle, -2.079, 0.911, 0.463, 0, 0, 0, 77 [SEP] 28, Knife, -1.886, 0.940, -1.879, 0, 90, 0, 73 [SEP] 29, Plate, 1.010, 0.911, -0.65, 0, 0, 0, 75 [SEP] 30, Fork, -0.477, 0.911, -1.874, 0, 90, 0, 75 [SEP] 31, Ladle, -1.886, 0.954, -1.448, 0, 0, 0, 73 [SEP] 32, Potato, 1.381, 0.256, 1.08, 0, 0, 0, 92 [SEP] 33, Lettuce, 1.426, 1.436, 1.850, 0, 270, 0, 94 [SEP] 34, Kettle, 0.770, 0.9, -1.836, 0, 0, 0, 75 [SEP] 35, Pen, 1.375, 1.164, -1.002, 0, 180, 0, 81 [SEP] 36, SaltShaker, 1.375, 1.157, 0.370, 0, 180, 0, 81 [SEP] 37, Cup, -1.712, 0.910, 0.291, 0, 0, 0, 77 [SEP] 38, Egg, 0.115, 0.948, -1.859, 0, 270, 0, 54 [SEP] 39, Spatula, -2.201, 0.925, 0.032, 0, 0, 0, 77 [SEP] 40, Bowl, 0.121, 1.656, -1.839, 0, 0, 0, 65 [SEP] 41, SprayBottle, 0.475, 0.910, -1.789, 0, 0, 0, 75 [SEP] 42, Pan, -1.079, 0.945, -1.528, 0, 0, 0, 76 [SEP] 43, SoapBottle, -1.732, 0.910, -1.707, 0, 0, 0, 73 [SEP] 44, Pot, -1.431, 0.949, -1.525, 0, 0, 0, 83 [SEP] 45, ButterKnife, -1.835, 0.910, 0.463, 0, 0, 0, 77 [SEP] 46, PepperShaker, 0.407, 0.112, -1.441, 0, 90, 0, 69 [SEP] 47, DishSponge, 1.461, 1.655, -1.421, 0, 0, 0, 67 [SEP] 48, Bread, 1.176, 0.989, -1.331, 0, 0, 0, 75 [SEP] 49, Apple, 1.408, 1.300, 0.188, 0, 270, 0, 97 [SEP] 50, Spoon, 0.416, 0.775, -1.566, 0, 90, 0, 79 [SEP] 51, Mug, -1.835, 0.905, 0.204, 0, 0, 0, 77 [SEP] 52, Drawer, 0.860, 0.75, 0.430, 0, 0, 0, [SEP] 53, Drawer, 0.871, 0.75, -1.134, 0, 0, 0, [SEP] 54, Sink, 0.156, 0.817, -1.801, 0, 270, 0, [SEP] 55, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0, [SEP] 56, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0, [SEP] 57, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0, [SEP] 58, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0, [SEP] 59, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0, [SEP] 60, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0, [SEP] 61, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0, [SEP] 62, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0, [SEP] 63, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0, [SEP] 64, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0, [SEP] 65, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0, [SEP] 66, Drawer, 0.860, 0.75, -0.699, 0, 0, 0, [SEP] 67, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0, [SEP] 68, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0, [SEP] 69, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0, [SEP] 70, Drawer, -2.105, 0.75, -1.389, 0, 0, 0, [SEP] 71, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0, [SEP] 72, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0, [SEP] 73, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0, [SEP] 74, Drawer, -0.375, 0.75, -1.389, 0, 0, 0, [SEP] 75, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0, [SEP] 76, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0, [SEP] 77, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0, [SEP] 78, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0, [SEP] 79, Drawer, 0.584, 0.75, -1.389, 0, 0, 0, [SEP] 80, Drawer, -1.795, 0.75, -1.389, 0, 0, 0, [SEP] 81, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0, [SEP] 82, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0, [SEP] 83, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0, [SEP] 84, Drawer, -0.685, 0.75, -1.389, 0, 0, 0, [SEP] 85, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0, [SEP] 86, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0, [SEP] 87, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0, [SEP] 88, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0, [SEP] 89, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0, [SEP] 90, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0, [SEP] 91, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0, [SEP] 92, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0, [SEP] 93, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0, [SEP] 94, Fridge, 1.417, 0.0, 2.101, 0, 0, 0, [SEP] 95, Window, -0.486, 1.452, 3.302, 90, 0, 0, [SEP] 96, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0, [SEP] 97, Microwave, 1.422, 1.150, 0.022, 0, 270, 0, [SEP] 98, Toaster, -2.066, 0.900, -1.848, 0, 0, 0, [SEP] 99, Stool, -1.994, 0.010, 0.882, 0, 0, 0, [SEP] 100, Faucet, -0.096, 1.041, -1.867, 0, 270, 0, [SEP] 101, NorthWall, , , , , , , [SEP] 102, EastWall, , , , , , , [SEP] 103, SouthWall, , , , , , , [SEP] 104, WestWall, , , , , , , ", "output": ["STEP 1: Turn left then walk straight to the stove | STEP 2: Pick up the pan on the stove | STEP 3: Turn left head to the counter | STEP 4: Put pan on the left side of the counter | STEP 5: Pick up the apple on the counter | STEP 6: Put the apple on the pan | STEP 7: Turn right then face the sink on the left | STEP 8: Pick up the knife on the sink | STEP 9: Turn left and face the counter | STEP 10: Slice the apple in the pan | END"]} +{"id": "trial_T20190909_002950_338362-1", "input": "Slice an apple in a pan on a shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 1.75, 0, 270, 0, [SEP] 1, SprayBottle, -1.764, 0.116, -1.635, 0, 0, 0, 82 [SEP] 2, Kettle, -1.081, 0.949, -1.81, 0, 0, 0, 71 [SEP] 3, Kettle, 0.645, 1.656, -1.801, 0, 0, 0, 64 [SEP] 4, DishSponge, 1.090, 0.114, -0.625, 0, 0, 0, 59 [SEP] 5, DishSponge, -1.732, 0.910, -1.879, 0, 0, 0, 73 [SEP] 6, Spoon, 0.285, 0.920, -1.657, 0, 270, 0, 54 [SEP] 7, Spatula, -0.778, 0.926, -1.619, 0, 90, 0, 75 [SEP] 8, Spatula, 0.105, 0.926, -1.436, 0, 0, 0, 54 [SEP] 9, Pot, 0.569, 0.913, -1.619, 0, 0, 0, 75 [SEP] 10, Cup, -0.086, 0.783, -1.707, 0, 270, 0, 96 [SEP] 11, Cup, 1.093, 0.911, -0.309, 0, 0, 0, 75 [SEP] 12, Plate, -1.039, 1.851, -1.839, 0, 0, 0, 55 [SEP] 13, Plate, 1.034, 0.118, 0.430, 0, 0, 0, 58 [SEP] 14, Knife, 0.149, 0.949, -1.657, 0, 270, 0, 54 [SEP] 15, SoapBottle, 0.285, 0.919, -1.758, 0, 270, 0, 54 [SEP] 16, Tomato, -2.079, 0.950, 0.204, 0, 0, 0, 77 [SEP] 17, Bowl, -2.323, 0.911, 0.291, 0, 0, 0, 77 [SEP] 18, PepperShaker, 1.223, 1.651, -0.815, 0, 0, 0, 63 [SEP] 19, SaltShaker, -0.778, 0.906, -1.960, 0, 0, 0, 75 [SEP] 20, Bread, 1.414, 1.240, -1.688, 0, 0, 0, 81 [SEP] 21, Lettuce, -0.552, 0.980, -1.874, 0, 0, 0, 75 [SEP] 22, Lettuce, 1.414, 1.231, -1.345, 0, 0, 0, 81 [SEP] 23, Mug, 1.325, 1.362, 2.101, 0, 270, 0, 94 [SEP] 24, Apple, 1.414, 1.196, -1.002, 0, 0, 0, 81 [SEP] 25, Apple, 1.453, 1.754, 1.838, 0, 270, 0, 94 [SEP] 26, Tomato, 1.325, 1.407, 2.351, 0, 270, 0, 94 [SEP] 27, Glassbottle, -2.079, 0.911, 0.463, 0, 0, 0, 77 [SEP] 28, Knife, -1.886, 0.940, -1.879, 0, 90, 0, 73 [SEP] 29, Plate, 1.010, 0.911, -0.65, 0, 0, 0, 75 [SEP] 30, Fork, -0.477, 0.911, -1.874, 0, 90, 0, 75 [SEP] 31, Ladle, -1.886, 0.954, -1.448, 0, 0, 0, 73 [SEP] 32, Potato, 1.381, 0.256, 1.08, 0, 0, 0, 92 [SEP] 33, Lettuce, 1.426, 1.436, 1.850, 0, 270, 0, 94 [SEP] 34, Kettle, 0.770, 0.9, -1.836, 0, 0, 0, 75 [SEP] 35, Pen, 1.375, 1.164, -1.002, 0, 180, 0, 81 [SEP] 36, SaltShaker, 1.375, 1.157, 0.370, 0, 180, 0, 81 [SEP] 37, Cup, -1.712, 0.910, 0.291, 0, 0, 0, 77 [SEP] 38, Egg, 0.115, 0.948, -1.859, 0, 270, 0, 54 [SEP] 39, Spatula, -2.201, 0.925, 0.032, 0, 0, 0, 77 [SEP] 40, Bowl, 0.121, 1.656, -1.839, 0, 0, 0, 65 [SEP] 41, SprayBottle, 0.475, 0.910, -1.789, 0, 0, 0, 75 [SEP] 42, Pan, -1.079, 0.945, -1.528, 0, 0, 0, 76 [SEP] 43, SoapBottle, -1.732, 0.910, -1.707, 0, 0, 0, 73 [SEP] 44, Pot, -1.431, 0.949, -1.525, 0, 0, 0, 83 [SEP] 45, ButterKnife, -1.835, 0.910, 0.463, 0, 0, 0, 77 [SEP] 46, PepperShaker, 0.407, 0.112, -1.441, 0, 90, 0, 69 [SEP] 47, DishSponge, 1.461, 1.655, -1.421, 0, 0, 0, 67 [SEP] 48, Bread, 1.176, 0.989, -1.331, 0, 0, 0, 75 [SEP] 49, Apple, 1.408, 1.300, 0.188, 0, 270, 0, 97 [SEP] 50, Spoon, 0.416, 0.775, -1.566, 0, 90, 0, 79 [SEP] 51, Mug, -1.835, 0.905, 0.204, 0, 0, 0, 77 [SEP] 52, Drawer, 0.860, 0.75, 0.430, 0, 0, 0, [SEP] 53, Drawer, 0.871, 0.75, -1.134, 0, 0, 0, [SEP] 54, Sink, 0.156, 0.817, -1.801, 0, 270, 0, [SEP] 55, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0, [SEP] 56, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0, [SEP] 57, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0, [SEP] 58, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0, [SEP] 59, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0, [SEP] 60, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0, [SEP] 61, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0, [SEP] 62, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0, [SEP] 63, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0, [SEP] 64, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0, [SEP] 65, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0, [SEP] 66, Drawer, 0.860, 0.75, -0.699, 0, 0, 0, [SEP] 67, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0, [SEP] 68, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0, [SEP] 69, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0, [SEP] 70, Drawer, -2.105, 0.75, -1.389, 0, 0, 0, [SEP] 71, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0, [SEP] 72, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0, [SEP] 73, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0, [SEP] 74, Drawer, -0.375, 0.75, -1.389, 0, 0, 0, [SEP] 75, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0, [SEP] 76, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0, [SEP] 77, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0, [SEP] 78, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0, [SEP] 79, Drawer, 0.584, 0.75, -1.389, 0, 0, 0, [SEP] 80, Drawer, -1.795, 0.75, -1.389, 0, 0, 0, [SEP] 81, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0, [SEP] 82, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0, [SEP] 83, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0, [SEP] 84, Drawer, -0.685, 0.75, -1.389, 0, 0, 0, [SEP] 85, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0, [SEP] 86, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0, [SEP] 87, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0, [SEP] 88, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0, [SEP] 89, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0, [SEP] 90, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0, [SEP] 91, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0, [SEP] 92, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0, [SEP] 93, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0, [SEP] 94, Fridge, 1.417, 0.0, 2.101, 0, 0, 0, [SEP] 95, Window, -0.486, 1.452, 3.302, 90, 0, 0, [SEP] 96, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0, [SEP] 97, Microwave, 1.422, 1.150, 0.022, 0, 270, 0, [SEP] 98, Toaster, -2.066, 0.900, -1.848, 0, 0, 0, [SEP] 99, Stool, -1.994, 0.010, 0.882, 0, 0, 0, [SEP] 100, Faucet, -0.096, 1.041, -1.867, 0, 270, 0, [SEP] 101, NorthWall, , , , , , , [SEP] 102, EastWall, , , , , , , [SEP] 103, SouthWall, , , , , , , [SEP] 104, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and face the stove in front of you. | STEP 2: Take the pan off of the stove in front of you. | STEP 3: Turn left and face the top shelf of the counter in front of you. | STEP 4: Place the pan on the shelf in front of you. | STEP 5: Take the apple from the shelf in front of you. | STEP 6: Place the apple in the pan on the shelf in front of you. | STEP 7: Turn around and face the sink to your left. | STEP 8: Take the knife from the sink in front of you. | STEP 9: Turn left and face the apple on the pan on the shelf in front of you. | STEP 10: Slice the apple in the pan on the shelf in front of you. | END"]} +{"id": "trial_T20190909_002950_338362-2", "input": "To place an apple in a pan on the back of the counter as well as cut it into three slices. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 1.75, 0, 270, 0, [SEP] 1, SprayBottle, -1.764, 0.116, -1.635, 0, 0, 0, 82 [SEP] 2, Kettle, -1.081, 0.949, -1.81, 0, 0, 0, 71 [SEP] 3, Kettle, 0.645, 1.656, -1.801, 0, 0, 0, 64 [SEP] 4, DishSponge, 1.090, 0.114, -0.625, 0, 0, 0, 59 [SEP] 5, DishSponge, -1.732, 0.910, -1.879, 0, 0, 0, 73 [SEP] 6, Spoon, 0.285, 0.920, -1.657, 0, 270, 0, 54 [SEP] 7, Spatula, -0.778, 0.926, -1.619, 0, 90, 0, 75 [SEP] 8, Spatula, 0.105, 0.926, -1.436, 0, 0, 0, 54 [SEP] 9, Pot, 0.569, 0.913, -1.619, 0, 0, 0, 75 [SEP] 10, Cup, -0.086, 0.783, -1.707, 0, 270, 0, 96 [SEP] 11, Cup, 1.093, 0.911, -0.309, 0, 0, 0, 75 [SEP] 12, Plate, -1.039, 1.851, -1.839, 0, 0, 0, 55 [SEP] 13, Plate, 1.034, 0.118, 0.430, 0, 0, 0, 58 [SEP] 14, Knife, 0.149, 0.949, -1.657, 0, 270, 0, 54 [SEP] 15, SoapBottle, 0.285, 0.919, -1.758, 0, 270, 0, 54 [SEP] 16, Tomato, -2.079, 0.950, 0.204, 0, 0, 0, 77 [SEP] 17, Bowl, -2.323, 0.911, 0.291, 0, 0, 0, 77 [SEP] 18, PepperShaker, 1.223, 1.651, -0.815, 0, 0, 0, 63 [SEP] 19, SaltShaker, -0.778, 0.906, -1.960, 0, 0, 0, 75 [SEP] 20, Bread, 1.414, 1.240, -1.688, 0, 0, 0, 81 [SEP] 21, Lettuce, -0.552, 0.980, -1.874, 0, 0, 0, 75 [SEP] 22, Lettuce, 1.414, 1.231, -1.345, 0, 0, 0, 81 [SEP] 23, Mug, 1.325, 1.362, 2.101, 0, 270, 0, 94 [SEP] 24, Apple, 1.414, 1.196, -1.002, 0, 0, 0, 81 [SEP] 25, Apple, 1.453, 1.754, 1.838, 0, 270, 0, 94 [SEP] 26, Tomato, 1.325, 1.407, 2.351, 0, 270, 0, 94 [SEP] 27, Glassbottle, -2.079, 0.911, 0.463, 0, 0, 0, 77 [SEP] 28, Knife, -1.886, 0.940, -1.879, 0, 90, 0, 73 [SEP] 29, Plate, 1.010, 0.911, -0.65, 0, 0, 0, 75 [SEP] 30, Fork, -0.477, 0.911, -1.874, 0, 90, 0, 75 [SEP] 31, Ladle, -1.886, 0.954, -1.448, 0, 0, 0, 73 [SEP] 32, Potato, 1.381, 0.256, 1.08, 0, 0, 0, 92 [SEP] 33, Lettuce, 1.426, 1.436, 1.850, 0, 270, 0, 94 [SEP] 34, Kettle, 0.770, 0.9, -1.836, 0, 0, 0, 75 [SEP] 35, Pen, 1.375, 1.164, -1.002, 0, 180, 0, 81 [SEP] 36, SaltShaker, 1.375, 1.157, 0.370, 0, 180, 0, 81 [SEP] 37, Cup, -1.712, 0.910, 0.291, 0, 0, 0, 77 [SEP] 38, Egg, 0.115, 0.948, -1.859, 0, 270, 0, 54 [SEP] 39, Spatula, -2.201, 0.925, 0.032, 0, 0, 0, 77 [SEP] 40, Bowl, 0.121, 1.656, -1.839, 0, 0, 0, 65 [SEP] 41, SprayBottle, 0.475, 0.910, -1.789, 0, 0, 0, 75 [SEP] 42, Pan, -1.079, 0.945, -1.528, 0, 0, 0, 76 [SEP] 43, SoapBottle, -1.732, 0.910, -1.707, 0, 0, 0, 73 [SEP] 44, Pot, -1.431, 0.949, -1.525, 0, 0, 0, 83 [SEP] 45, ButterKnife, -1.835, 0.910, 0.463, 0, 0, 0, 77 [SEP] 46, PepperShaker, 0.407, 0.112, -1.441, 0, 90, 0, 69 [SEP] 47, DishSponge, 1.461, 1.655, -1.421, 0, 0, 0, 67 [SEP] 48, Bread, 1.176, 0.989, -1.331, 0, 0, 0, 75 [SEP] 49, Apple, 1.408, 1.300, 0.188, 0, 270, 0, 97 [SEP] 50, Spoon, 0.416, 0.775, -1.566, 0, 90, 0, 79 [SEP] 51, Mug, -1.835, 0.905, 0.204, 0, 0, 0, 77 [SEP] 52, Drawer, 0.860, 0.75, 0.430, 0, 0, 0, [SEP] 53, Drawer, 0.871, 0.75, -1.134, 0, 0, 0, [SEP] 54, Sink, 0.156, 0.817, -1.801, 0, 270, 0, [SEP] 55, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0, [SEP] 56, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0, [SEP] 57, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0, [SEP] 58, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0, [SEP] 59, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0, [SEP] 60, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0, [SEP] 61, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0, [SEP] 62, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0, [SEP] 63, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0, [SEP] 64, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0, [SEP] 65, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0, [SEP] 66, Drawer, 0.860, 0.75, -0.699, 0, 0, 0, [SEP] 67, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0, [SEP] 68, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0, [SEP] 69, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0, [SEP] 70, Drawer, -2.105, 0.75, -1.389, 0, 0, 0, [SEP] 71, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0, [SEP] 72, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0, [SEP] 73, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0, [SEP] 74, Drawer, -0.375, 0.75, -1.389, 0, 0, 0, [SEP] 75, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0, [SEP] 76, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0, [SEP] 77, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0, [SEP] 78, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0, [SEP] 79, Drawer, 0.584, 0.75, -1.389, 0, 0, 0, [SEP] 80, Drawer, -1.795, 0.75, -1.389, 0, 0, 0, [SEP] 81, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0, [SEP] 82, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0, [SEP] 83, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0, [SEP] 84, Drawer, -0.685, 0.75, -1.389, 0, 0, 0, [SEP] 85, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0, [SEP] 86, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0, [SEP] 87, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0, [SEP] 88, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0, [SEP] 89, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0, [SEP] 90, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0, [SEP] 91, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0, [SEP] 92, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0, [SEP] 93, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0, [SEP] 94, Fridge, 1.417, 0.0, 2.101, 0, 0, 0, [SEP] 95, Window, -0.486, 1.452, 3.302, 90, 0, 0, [SEP] 96, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0, [SEP] 97, Microwave, 1.422, 1.150, 0.022, 0, 270, 0, [SEP] 98, Toaster, -2.066, 0.900, -1.848, 0, 0, 0, [SEP] 99, Stool, -1.994, 0.010, 0.882, 0, 0, 0, [SEP] 100, Faucet, -0.096, 1.041, -1.867, 0, 270, 0, [SEP] 101, NorthWall, , , , , , , [SEP] 102, EastWall, , , , , , , [SEP] 103, SouthWall, , , , , , , [SEP] 104, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk across the room to face the stove. | STEP 2: Pick up the pan on the left side of the stove. | STEP 3: Turn left and walk across the room to face the counter. | STEP 4: Place the pan on the back of the counter. | STEP 5: Pick up the apple on the counter. | STEP 6: Place the apple in the pan on the back of the counter. | STEP 7: Turn right and step forward to face the sink. | STEP 8: Pick up the knife on the sink. | STEP 9: Turn to the left and step forward to face the apple on the pan on the back of the counter. | STEP 10: Cut the apple in the pan into three slices. | END"]} +{"id": "trial_T20190906_205324_559361-0", "input": "cool off a white plate SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 0.0, 0, 90, 0, [SEP] 1, Pan, -0.465, 0.950, -2.576, 0, 90, 0, 68 [SEP] 2, Statue, -1.937, 0.910, -0.698, 0, 90, 0, 84 [SEP] 3, Vase, -1.705, 0.133, -1.389, 0, 90, 0, 60 [SEP] 4, Potato, 0.079, 1.142, -0.506, 0, 0, 0, 59 [SEP] 5, CreditCard, 0.778, 0.478, -2.331, 0, 0, 0, 67 [SEP] 6, CreditCard, 0.778, 0.139, -2.382, 0, 0, 0, 79 [SEP] 7, Cup, 0.615, 1.657, -2.560, 0, 0, 0, 83 [SEP] 8, Tomato, -0.197, 1.150, 0.504, 0, 0, 0, 59 [SEP] 9, SoapBottle, -1.296, 0.137, -2.402, 0, 0, 0, 77 [SEP] 10, Lettuce, -0.473, 1.191, -0.506, 0, 0, 0, 59 [SEP] 11, Apple, -2.026, 1.356, 0.841, 0, 90, 0, 92 [SEP] 12, Knife, -0.059, 1.136, -0.759, 0, 0, 0, 59 [SEP] 13, Knife, -1.937, 0.936, -2.146, 0, 90, 0, 84 [SEP] 14, Fork, -1.738, 0.479, -0.051, 0, 180, 0, 74 [SEP] 15, Fork, -0.848, 0.911, -2.637, 0, 0, 0, 84 [SEP] 16, Mug, -2.026, 1.301, 1.176, 0, 90, 0, 92 [SEP] 17, Spatula, -1.826, 0.169, -0.149, 0, 180, 0, 82 [SEP] 18, Spatula, -0.335, 1.126, 0.757, 0, 0, 0, 59 [SEP] 19, ButterKnife, -0.197, 1.111, -0.506, 0, 0, 0, 59 [SEP] 20, Kettle, -0.036, 0.950, -2.576, 0, 270, 0, 62 [SEP] 21, WineBottle, -1.765, 0.130, 0.158, 0, 90, 0, 65 [SEP] 22, WineBottle, 0.840, 0.911, -2.637, 0, 0, 0, 61 [SEP] 23, DishSponge, -1.401, 1.657, -2.677, 0, 0, 0, 75 [SEP] 24, Book, 0.155, 1.1, 0.617, 0, 315, 0, 59 [SEP] 25, Glassbottle, -2.018, 0.770, -1.328, 0, 90, 0, 94 [SEP] 26, Knife, 0.355, 1.136, -0.253, 0, 0, 0, 59 [SEP] 27, Bread, -0.848, 0.983, -2.329, 0, 0, 0, 84 [SEP] 28, Fork, -1.438, 0.911, -2.637, 0, 0, 0, 84 [SEP] 29, Potato, -2.114, 1.336, 1.092, 0, 90, 0, 92 [SEP] 30, SoapBottle, 1.478, 0.554, -2.718, 0, 180, 0, 89 [SEP] 31, Kettle, -1.805, 0.137, -1.740, 0, 90, 0, 60 [SEP] 32, Pan, 0.721, 0.9, -2.415, 0, 0, 0, 61 [SEP] 33, Plate, -1.586, 0.908, -2.329, 0, 0, 0, 84 [SEP] 34, Tomato, 0.217, 1.150, -0.506, 0, 0, 0, 59 [SEP] 35, Vase, -0.197, 1.113, 0.251, 0, 0, 0, 59 [SEP] 36, Egg, -1.962, 0.083, 1.981, 0, 270, 0, 90 [SEP] 37, CreditCard, 0.711, 0.907, -2.253, 0, 0, 0, 61 [SEP] 38, Statue, 1.996, 0.551, -2.511, 0, 180, 0, 89 [SEP] 39, WineBottle, 0.450, 0.141, -2.387, 0, 0, 0, 76 [SEP] 40, Pot, -1.219, 0.9, -2.356, 0, 0, 0, 84 [SEP] 41, Spatula, 0.969, 0.925, -2.330, 0, 0, 0, 61 [SEP] 42, PaperTowelRoll, 0.324, 1.014, -2.330, 0, 0, 0, 61 [SEP] 43, Cup, -1.852, 0.767, -1.760, 0, 90, 0, 94 [SEP] 44, Vase, -0.335, 1.109, -0.001, 0, 0, 0, 59 [SEP] 45, Bowl, 0.451, 1.656, -2.596, 0, 0, 0, 83 [SEP] 46, SaltShaker, -1.655, 0.132, -1.506, 0, 90, 0, 60 [SEP] 47, PepperShaker, -0.197, 1.107, -0.001, 0, 0, 0, 59 [SEP] 48, Lettuce, -2.080, 0.620, 1.085, 0, 90, 0, 92 [SEP] 49, ButterKnife, -1.852, 0.769, -1.414, 0, 90, 0, 94 [SEP] 50, Apple, -2.018, 0.820, -1.501, 0, 90, 0, 94 [SEP] 51, DishSponge, -1.907, 0.047, 2.076, 0, 270, 0, 90 [SEP] 52, Spoon, -1.738, 0.479, -0.148, 0, 90, 0, 74 [SEP] 53, Mug, -1.731, 0.956, -0.168, 0, 90, 0, 93 [SEP] 54, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0, [SEP] 55, Drawer, 0.949, 0.832, -2.197, 0, 0, 0, [SEP] 56, Drawer, -1.560, 0.839, 0.204, 0, 90, 0, [SEP] 57, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0, [SEP] 58, Drawer, -1.560, 0.839, -0.197, 0, 90, 0, [SEP] 59, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0, [SEP] 60, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0, [SEP] 61, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0, [SEP] 62, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0, [SEP] 63, Drawer, 0.949, 0.393, -2.200, 0, 0, 0, [SEP] 64, Drawer, 0.949, 0.708, -2.200, 0, 0, 0, [SEP] 65, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0, [SEP] 66, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0, [SEP] 67, Drawer, 0.949, 0.560, -2.201, 0, 0, 0, [SEP] 68, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0, [SEP] 69, Window, -2.230, 1.429, -1.203, 0, 0, 0, [SEP] 70, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0, [SEP] 71, Sink, -1.899, 0.964, -1.5, 0, 90, 0, [SEP] 72, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0, [SEP] 73, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0, [SEP] 74, Drawer, -1.560, 0.655, -0.196, 0, 90, 0, [SEP] 75, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0, [SEP] 76, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0, [SEP] 77, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0, [SEP] 78, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0, [SEP] 79, Drawer, 0.949, 0.221, -2.200, 0, 0, 0, [SEP] 80, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0, [SEP] 81, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0, [SEP] 82, Drawer, -1.560, 0.331, -0.196, 0, 90, 0, [SEP] 83, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0, [SEP] 84, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0, [SEP] 85, Microwave, -0.236, 1.689, -2.525, 0, 0, 0, [SEP] 86, Shelf, 1.751, 0.880, -2.560, 0, 0, 0, [SEP] 87, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0, [SEP] 88, Toaster, -1.835, 0.900, 0.134, 0, 90, 0, [SEP] 89, Shelf, 1.750, 0.552, -2.559, 0, 0, 0, [SEP] 90, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0, [SEP] 91, Shelf, 1.750, 0.172, -2.559, 0, 0, 0, [SEP] 92, Fridge, -2.096, 0.0, 1.088, 0, 0, 0, [SEP] 93, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0, [SEP] 94, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0, [SEP] 95, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0, [SEP] 96, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0, [SEP] 97, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0, [SEP] 98, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0, [SEP] 99, Faucet, -2.070, 1.132, -1.514, 0, 0, 0, [SEP] 100, NorthWall, , , , , , , [SEP] 101, EastWall, , , , , , , [SEP] 102, SouthWall, , , , , , , [SEP] 103, WestWall, , , , , , , ", "output": ["STEP 1: walk over to the kitchen counter left of the sink | STEP 2: grab a plate off of the counter | STEP 3: bring the plate over to the refrigerator | STEP 4: place the plate inside the fridge, once it is cooled take it out | STEP 5: bring the plate back over to the kitchen counter left of the sink | STEP 6: place the plate on the counter to the left of the sink | END"]} +{"id": "trial_T20190906_205324_559361-1", "input": "Grab the plate from corner, cool the plate in the refrigerator, put the plate by the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 0.0, 0, 90, 0, [SEP] 1, Pan, -0.465, 0.950, -2.576, 0, 90, 0, 68 [SEP] 2, Statue, -1.937, 0.910, -0.698, 0, 90, 0, 84 [SEP] 3, Vase, -1.705, 0.133, -1.389, 0, 90, 0, 60 [SEP] 4, Potato, 0.079, 1.142, -0.506, 0, 0, 0, 59 [SEP] 5, CreditCard, 0.778, 0.478, -2.331, 0, 0, 0, 67 [SEP] 6, CreditCard, 0.778, 0.139, -2.382, 0, 0, 0, 79 [SEP] 7, Cup, 0.615, 1.657, -2.560, 0, 0, 0, 83 [SEP] 8, Tomato, -0.197, 1.150, 0.504, 0, 0, 0, 59 [SEP] 9, SoapBottle, -1.296, 0.137, -2.402, 0, 0, 0, 77 [SEP] 10, Lettuce, -0.473, 1.191, -0.506, 0, 0, 0, 59 [SEP] 11, Apple, -2.026, 1.356, 0.841, 0, 90, 0, 92 [SEP] 12, Knife, -0.059, 1.136, -0.759, 0, 0, 0, 59 [SEP] 13, Knife, -1.937, 0.936, -2.146, 0, 90, 0, 84 [SEP] 14, Fork, -1.738, 0.479, -0.051, 0, 180, 0, 74 [SEP] 15, Fork, -0.848, 0.911, -2.637, 0, 0, 0, 84 [SEP] 16, Mug, -2.026, 1.301, 1.176, 0, 90, 0, 92 [SEP] 17, Spatula, -1.826, 0.169, -0.149, 0, 180, 0, 82 [SEP] 18, Spatula, -0.335, 1.126, 0.757, 0, 0, 0, 59 [SEP] 19, ButterKnife, -0.197, 1.111, -0.506, 0, 0, 0, 59 [SEP] 20, Kettle, -0.036, 0.950, -2.576, 0, 270, 0, 62 [SEP] 21, WineBottle, -1.765, 0.130, 0.158, 0, 90, 0, 65 [SEP] 22, WineBottle, 0.840, 0.911, -2.637, 0, 0, 0, 61 [SEP] 23, DishSponge, -1.401, 1.657, -2.677, 0, 0, 0, 75 [SEP] 24, Book, 0.155, 1.1, 0.617, 0, 315, 0, 59 [SEP] 25, Glassbottle, -2.018, 0.770, -1.328, 0, 90, 0, 94 [SEP] 26, Knife, 0.355, 1.136, -0.253, 0, 0, 0, 59 [SEP] 27, Bread, -0.848, 0.983, -2.329, 0, 0, 0, 84 [SEP] 28, Fork, -1.438, 0.911, -2.637, 0, 0, 0, 84 [SEP] 29, Potato, -2.114, 1.336, 1.092, 0, 90, 0, 92 [SEP] 30, SoapBottle, 1.478, 0.554, -2.718, 0, 180, 0, 89 [SEP] 31, Kettle, -1.805, 0.137, -1.740, 0, 90, 0, 60 [SEP] 32, Pan, 0.721, 0.9, -2.415, 0, 0, 0, 61 [SEP] 33, Plate, -1.586, 0.908, -2.329, 0, 0, 0, 84 [SEP] 34, Tomato, 0.217, 1.150, -0.506, 0, 0, 0, 59 [SEP] 35, Vase, -0.197, 1.113, 0.251, 0, 0, 0, 59 [SEP] 36, Egg, -1.962, 0.083, 1.981, 0, 270, 0, 90 [SEP] 37, CreditCard, 0.711, 0.907, -2.253, 0, 0, 0, 61 [SEP] 38, Statue, 1.996, 0.551, -2.511, 0, 180, 0, 89 [SEP] 39, WineBottle, 0.450, 0.141, -2.387, 0, 0, 0, 76 [SEP] 40, Pot, -1.219, 0.9, -2.356, 0, 0, 0, 84 [SEP] 41, Spatula, 0.969, 0.925, -2.330, 0, 0, 0, 61 [SEP] 42, PaperTowelRoll, 0.324, 1.014, -2.330, 0, 0, 0, 61 [SEP] 43, Cup, -1.852, 0.767, -1.760, 0, 90, 0, 94 [SEP] 44, Vase, -0.335, 1.109, -0.001, 0, 0, 0, 59 [SEP] 45, Bowl, 0.451, 1.656, -2.596, 0, 0, 0, 83 [SEP] 46, SaltShaker, -1.655, 0.132, -1.506, 0, 90, 0, 60 [SEP] 47, PepperShaker, -0.197, 1.107, -0.001, 0, 0, 0, 59 [SEP] 48, Lettuce, -2.080, 0.620, 1.085, 0, 90, 0, 92 [SEP] 49, ButterKnife, -1.852, 0.769, -1.414, 0, 90, 0, 94 [SEP] 50, Apple, -2.018, 0.820, -1.501, 0, 90, 0, 94 [SEP] 51, DishSponge, -1.907, 0.047, 2.076, 0, 270, 0, 90 [SEP] 52, Spoon, -1.738, 0.479, -0.148, 0, 90, 0, 74 [SEP] 53, Mug, -1.731, 0.956, -0.168, 0, 90, 0, 93 [SEP] 54, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0, [SEP] 55, Drawer, 0.949, 0.832, -2.197, 0, 0, 0, [SEP] 56, Drawer, -1.560, 0.839, 0.204, 0, 90, 0, [SEP] 57, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0, [SEP] 58, Drawer, -1.560, 0.839, -0.197, 0, 90, 0, [SEP] 59, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0, [SEP] 60, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0, [SEP] 61, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0, [SEP] 62, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0, [SEP] 63, Drawer, 0.949, 0.393, -2.200, 0, 0, 0, [SEP] 64, Drawer, 0.949, 0.708, -2.200, 0, 0, 0, [SEP] 65, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0, [SEP] 66, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0, [SEP] 67, Drawer, 0.949, 0.560, -2.201, 0, 0, 0, [SEP] 68, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0, [SEP] 69, Window, -2.230, 1.429, -1.203, 0, 0, 0, [SEP] 70, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0, [SEP] 71, Sink, -1.899, 0.964, -1.5, 0, 90, 0, [SEP] 72, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0, [SEP] 73, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0, [SEP] 74, Drawer, -1.560, 0.655, -0.196, 0, 90, 0, [SEP] 75, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0, [SEP] 76, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0, [SEP] 77, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0, [SEP] 78, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0, [SEP] 79, Drawer, 0.949, 0.221, -2.200, 0, 0, 0, [SEP] 80, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0, [SEP] 81, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0, [SEP] 82, Drawer, -1.560, 0.331, -0.196, 0, 90, 0, [SEP] 83, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0, [SEP] 84, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0, [SEP] 85, Microwave, -0.236, 1.689, -2.525, 0, 0, 0, [SEP] 86, Shelf, 1.751, 0.880, -2.560, 0, 0, 0, [SEP] 87, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0, [SEP] 88, Toaster, -1.835, 0.900, 0.134, 0, 90, 0, [SEP] 89, Shelf, 1.750, 0.552, -2.559, 0, 0, 0, [SEP] 90, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0, [SEP] 91, Shelf, 1.750, 0.172, -2.559, 0, 0, 0, [SEP] 92, Fridge, -2.096, 0.0, 1.088, 0, 0, 0, [SEP] 93, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0, [SEP] 94, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0, [SEP] 95, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0, [SEP] 96, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0, [SEP] 97, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0, [SEP] 98, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0, [SEP] 99, Faucet, -2.070, 1.132, -1.514, 0, 0, 0, [SEP] 100, NorthWall, , , , , , , [SEP] 101, EastWall, , , , , , , [SEP] 102, SouthWall, , , , , , , [SEP] 103, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, and turn right, walk to the sink, turn left, walk to the corner | STEP 2: Grab the white plate on the counter | STEP 3: Turn around, walk to the refrigerator | STEP 4: Open the refrigerator, put the plate on the first shelf, close the refrigerator, open the refrigerator, take the plate out, close the refrigerator | STEP 5: Turn left, walk to the sink | STEP 6: Put the plate by the sink, near the knife | END"]} +{"id": "trial_T20190906_205324_559361-2", "input": "Put a chilled plate on the counter left of the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 0.0, 0, 90, 0, [SEP] 1, Pan, -0.465, 0.950, -2.576, 0, 90, 0, 68 [SEP] 2, Statue, -1.937, 0.910, -0.698, 0, 90, 0, 84 [SEP] 3, Vase, -1.705, 0.133, -1.389, 0, 90, 0, 60 [SEP] 4, Potato, 0.079, 1.142, -0.506, 0, 0, 0, 59 [SEP] 5, CreditCard, 0.778, 0.478, -2.331, 0, 0, 0, 67 [SEP] 6, CreditCard, 0.778, 0.139, -2.382, 0, 0, 0, 79 [SEP] 7, Cup, 0.615, 1.657, -2.560, 0, 0, 0, 83 [SEP] 8, Tomato, -0.197, 1.150, 0.504, 0, 0, 0, 59 [SEP] 9, SoapBottle, -1.296, 0.137, -2.402, 0, 0, 0, 77 [SEP] 10, Lettuce, -0.473, 1.191, -0.506, 0, 0, 0, 59 [SEP] 11, Apple, -2.026, 1.356, 0.841, 0, 90, 0, 92 [SEP] 12, Knife, -0.059, 1.136, -0.759, 0, 0, 0, 59 [SEP] 13, Knife, -1.937, 0.936, -2.146, 0, 90, 0, 84 [SEP] 14, Fork, -1.738, 0.479, -0.051, 0, 180, 0, 74 [SEP] 15, Fork, -0.848, 0.911, -2.637, 0, 0, 0, 84 [SEP] 16, Mug, -2.026, 1.301, 1.176, 0, 90, 0, 92 [SEP] 17, Spatula, -1.826, 0.169, -0.149, 0, 180, 0, 82 [SEP] 18, Spatula, -0.335, 1.126, 0.757, 0, 0, 0, 59 [SEP] 19, ButterKnife, -0.197, 1.111, -0.506, 0, 0, 0, 59 [SEP] 20, Kettle, -0.036, 0.950, -2.576, 0, 270, 0, 62 [SEP] 21, WineBottle, -1.765, 0.130, 0.158, 0, 90, 0, 65 [SEP] 22, WineBottle, 0.840, 0.911, -2.637, 0, 0, 0, 61 [SEP] 23, DishSponge, -1.401, 1.657, -2.677, 0, 0, 0, 75 [SEP] 24, Book, 0.155, 1.1, 0.617, 0, 315, 0, 59 [SEP] 25, Glassbottle, -2.018, 0.770, -1.328, 0, 90, 0, 94 [SEP] 26, Knife, 0.355, 1.136, -0.253, 0, 0, 0, 59 [SEP] 27, Bread, -0.848, 0.983, -2.329, 0, 0, 0, 84 [SEP] 28, Fork, -1.438, 0.911, -2.637, 0, 0, 0, 84 [SEP] 29, Potato, -2.114, 1.336, 1.092, 0, 90, 0, 92 [SEP] 30, SoapBottle, 1.478, 0.554, -2.718, 0, 180, 0, 89 [SEP] 31, Kettle, -1.805, 0.137, -1.740, 0, 90, 0, 60 [SEP] 32, Pan, 0.721, 0.9, -2.415, 0, 0, 0, 61 [SEP] 33, Plate, -1.586, 0.908, -2.329, 0, 0, 0, 84 [SEP] 34, Tomato, 0.217, 1.150, -0.506, 0, 0, 0, 59 [SEP] 35, Vase, -0.197, 1.113, 0.251, 0, 0, 0, 59 [SEP] 36, Egg, -1.962, 0.083, 1.981, 0, 270, 0, 90 [SEP] 37, CreditCard, 0.711, 0.907, -2.253, 0, 0, 0, 61 [SEP] 38, Statue, 1.996, 0.551, -2.511, 0, 180, 0, 89 [SEP] 39, WineBottle, 0.450, 0.141, -2.387, 0, 0, 0, 76 [SEP] 40, Pot, -1.219, 0.9, -2.356, 0, 0, 0, 84 [SEP] 41, Spatula, 0.969, 0.925, -2.330, 0, 0, 0, 61 [SEP] 42, PaperTowelRoll, 0.324, 1.014, -2.330, 0, 0, 0, 61 [SEP] 43, Cup, -1.852, 0.767, -1.760, 0, 90, 0, 94 [SEP] 44, Vase, -0.335, 1.109, -0.001, 0, 0, 0, 59 [SEP] 45, Bowl, 0.451, 1.656, -2.596, 0, 0, 0, 83 [SEP] 46, SaltShaker, -1.655, 0.132, -1.506, 0, 90, 0, 60 [SEP] 47, PepperShaker, -0.197, 1.107, -0.001, 0, 0, 0, 59 [SEP] 48, Lettuce, -2.080, 0.620, 1.085, 0, 90, 0, 92 [SEP] 49, ButterKnife, -1.852, 0.769, -1.414, 0, 90, 0, 94 [SEP] 50, Apple, -2.018, 0.820, -1.501, 0, 90, 0, 94 [SEP] 51, DishSponge, -1.907, 0.047, 2.076, 0, 270, 0, 90 [SEP] 52, Spoon, -1.738, 0.479, -0.148, 0, 90, 0, 74 [SEP] 53, Mug, -1.731, 0.956, -0.168, 0, 90, 0, 93 [SEP] 54, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0, [SEP] 55, Drawer, 0.949, 0.832, -2.197, 0, 0, 0, [SEP] 56, Drawer, -1.560, 0.839, 0.204, 0, 90, 0, [SEP] 57, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0, [SEP] 58, Drawer, -1.560, 0.839, -0.197, 0, 90, 0, [SEP] 59, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0, [SEP] 60, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0, [SEP] 61, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0, [SEP] 62, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0, [SEP] 63, Drawer, 0.949, 0.393, -2.200, 0, 0, 0, [SEP] 64, Drawer, 0.949, 0.708, -2.200, 0, 0, 0, [SEP] 65, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0, [SEP] 66, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0, [SEP] 67, Drawer, 0.949, 0.560, -2.201, 0, 0, 0, [SEP] 68, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0, [SEP] 69, Window, -2.230, 1.429, -1.203, 0, 0, 0, [SEP] 70, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0, [SEP] 71, Sink, -1.899, 0.964, -1.5, 0, 90, 0, [SEP] 72, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0, [SEP] 73, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0, [SEP] 74, Drawer, -1.560, 0.655, -0.196, 0, 90, 0, [SEP] 75, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0, [SEP] 76, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0, [SEP] 77, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0, [SEP] 78, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0, [SEP] 79, Drawer, 0.949, 0.221, -2.200, 0, 0, 0, [SEP] 80, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0, [SEP] 81, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0, [SEP] 82, Drawer, -1.560, 0.331, -0.196, 0, 90, 0, [SEP] 83, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0, [SEP] 84, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0, [SEP] 85, Microwave, -0.236, 1.689, -2.525, 0, 0, 0, [SEP] 86, Shelf, 1.751, 0.880, -2.560, 0, 0, 0, [SEP] 87, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0, [SEP] 88, Toaster, -1.835, 0.900, 0.134, 0, 90, 0, [SEP] 89, Shelf, 1.750, 0.552, -2.559, 0, 0, 0, [SEP] 90, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0, [SEP] 91, Shelf, 1.750, 0.172, -2.559, 0, 0, 0, [SEP] 92, Fridge, -2.096, 0.0, 1.088, 0, 0, 0, [SEP] 93, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0, [SEP] 94, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0, [SEP] 95, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0, [SEP] 96, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0, [SEP] 97, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0, [SEP] 98, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0, [SEP] 99, Faucet, -2.070, 1.132, -1.514, 0, 0, 0, [SEP] 100, NorthWall, , , , , , , [SEP] 101, EastWall, , , , , , , [SEP] 102, SouthWall, , , , , , , [SEP] 103, WestWall, , , , , , , ", "output": ["STEP 1: Move to the counter, left of the sink. | STEP 2: Pick up the plate from the counter. | STEP 3: Bring the plate to the fridge. | STEP 4: Chill the plate in the fridge. | STEP 5: Bring the plate to the counter left of the sink. | STEP 6: Put the plate on the counter left of the sink. | END"]} +{"id": "trial_T20190907_060414_846460-0", "input": "Examine the baseball bat under the light of the table lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.901, -0.75, 0, 90, 0, [SEP] 1, Mug, 1.320, 1.176, -2.277, 0, 0, 0, 27 [SEP] 2, Mug, 1.660, 1.575, -2.319, 0, 90, 0, 30 [SEP] 3, Vase, 1.194, 0.356, -2.303, 0, 0, 0, 56 [SEP] 4, Vase, -1.648, 0.599, -0.533, 0, 0, 0, 46 [SEP] 5, Pen, 1.981, 0.983, -2.235, 0, 0, 0, 26 [SEP] 6, CreditCard, 0.722, 0.113, -2.493, 0, 0, 0, 40 [SEP] 7, AlarmClock, 0.076, 0.729, -2.588, 0, 180, 0, 39 [SEP] 8, Box, 1.996, 0.316, -1.042, 0, 254.839, 0, [SEP] 9, Book, 0.339, 0.723, -2.65, 0, 165.000, 0, 39 [SEP] 10, Pillow, -1.548, 0.457, -1.831, 0, 90, 0, 45 [SEP] 11, CellPhone, -1.024, 0.417, -1.610, 0, 0, 0, 45 [SEP] 12, Vase, 0.766, 0.729, -2.705, 0, 180, 0, 39 [SEP] 13, BaseballBat, -1.629, 0.649, 0.416, 14.491, 0, 0, [SEP] 14, CreditCard, -1.791, 0.508, -1.148, 0, 0, 0, 48 [SEP] 15, TennisRacket, 2.244, 0.279, -1.901, 335.402, 251.974, 201.714, [SEP] 16, KeyChain, -1.937, 0.509, -1.148, 0, 180, 0, 48 [SEP] 17, AlarmClock, 0.076, 0.730, -2.764, 0, 180, 0, 39 [SEP] 18, Cloth, 2.176, 0.0, -0.571, 0, 335.474, 0, [SEP] 19, Laptop, -1.764, 0.591, -0.112, 0, 113.510, 0, 46 [SEP] 20, CD, 2.216, 0.044, 0.311, 0, 225, 0, 34 [SEP] 21, CD, 1.384, 0.054, -2.282, 0, 0, 0, 55 [SEP] 22, Pen, -1.864, 0.514, -1.065, 0, 0, 0, 48 [SEP] 23, Pencil, -1.714, 0.602, -0.675, 0, 0, 0, 46 [SEP] 24, Mug, 0.536, 0.726, -2.471, 0, 180, 0, 39 [SEP] 25, Shelf, 1.311, 0.969, -2.298, 0, 0, 0, [SEP] 26, Shelf, 1.843, 0.969, -2.298, 0, 0, 0, [SEP] 27, Shelf, 1.311, 1.171, -2.298, 0, 0, 0, [SEP] 28, Shelf, 1.843, 1.171, -2.298, 0, 0, 0, [SEP] 29, Shelf, 1.311, 1.368, -2.298, 0, 0, 0, [SEP] 30, Shelf, 1.843, 1.570, -2.298, 0, 0, 0, [SEP] 31, Shelf, 1.843, 1.368, -2.298, 0, 0, 0, [SEP] 32, Shelf, 1.311, 1.570, -2.298, 0, 0, 0, [SEP] 33, DeskLamp, -1.848, 0.592, -0.786, 0, 90, 0, [SEP] 34, GarbageCan, 2.197, -0.007, 0.298, 0, 232.025, 0, [SEP] 35, LightSwitch, -0.638, 1.149, 0.499, 0, 180, 0, [SEP] 36, Poster, 0.001, 1.495, -2.642, 90, 90, 0, [SEP] 37, Mirror, -1.072, 1.469, 0.497, 0, 0, 0, [SEP] 38, Window, 0.435, 1.398, -2.855, 90, 0, 0, [SEP] 39, SideTable, 0.435, 0.036, -2.647, 0, 0, 0, [SEP] 40, Drawer, 0.433, 0.203, -2.445, 0, 0, 0, [SEP] 41, Drawer, 0.433, 0.505, -2.445, 0, 0, 0, [SEP] 42, Dumbbell, -1.656, 0.602, -0.534, 0, 90, 0, [SEP] 43, Blinds, 0.449, 2.164, -2.845, 0, 0, 0, [SEP] 44, GarbageBag, 1.730, 0.318, 0.222, 270, 90, 83.412, [SEP] 45, Bed, -1.047, -0.000, -1.851, 0, 270, 0, [SEP] 46, Desk, -1.710, 0.000, -0.374, 0, 90, 0, [SEP] 47, Drawer, -1.790, 0.245, -1.144, 0, 90, 0, [SEP] 48, SideTable, -1.824, 0.000, -1.144, 0, 90, 0, [SEP] 49, Drawer, -1.790, 0.392, -1.144, 0, 90, 0, [SEP] 50, Drawer, -1.790, 0.097, -1.144, 0, 90, 0, [SEP] 51, Chair, -1.453, 0.005, -0.311, 0, 286.095, 0, [SEP] 52, Shelf, 1.591, 0.606, -2.305, 0, 0, 0, [SEP] 53, ShelvingUnit, 1.588, 0.004, -2.326, 0, 0, 0, [SEP] 54, Shelf, 1.854, 0.453, -2.298, 0, 0, 0, [SEP] 55, Shelf, 1.321, 0.155, -2.296, 0, 0, 0, [SEP] 56, Shelf, 1.323, 0.456, -2.300, 0, 0, 0, [SEP] 57, Shelf, 1.852, 0.152, -2.294, 0, 0, 0, [SEP] 58, NorthWall, , , , , , , [SEP] 59, EastWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk up to the corner to the right of the desk | STEP 2: Pick up the baseball bat from the floor near the desk | STEP 3: Turn left and approach the table lamp on the left side of the desk | STEP 4: Turn on the table lamp on the desk | END"]} +{"id": "trial_T20190907_060414_846460-1", "input": "Examine the baseball bat next to the light of the lamp on the desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.901, -0.75, 0, 90, 0, [SEP] 1, Mug, 1.320, 1.176, -2.277, 0, 0, 0, 27 [SEP] 2, Mug, 1.660, 1.575, -2.319, 0, 90, 0, 30 [SEP] 3, Vase, 1.194, 0.356, -2.303, 0, 0, 0, 56 [SEP] 4, Vase, -1.648, 0.599, -0.533, 0, 0, 0, 46 [SEP] 5, Pen, 1.981, 0.983, -2.235, 0, 0, 0, 26 [SEP] 6, CreditCard, 0.722, 0.113, -2.493, 0, 0, 0, 40 [SEP] 7, AlarmClock, 0.076, 0.729, -2.588, 0, 180, 0, 39 [SEP] 8, Box, 1.996, 0.316, -1.042, 0, 254.839, 0, [SEP] 9, Book, 0.339, 0.723, -2.65, 0, 165.000, 0, 39 [SEP] 10, Pillow, -1.548, 0.457, -1.831, 0, 90, 0, 45 [SEP] 11, CellPhone, -1.024, 0.417, -1.610, 0, 0, 0, 45 [SEP] 12, Vase, 0.766, 0.729, -2.705, 0, 180, 0, 39 [SEP] 13, BaseballBat, -1.629, 0.649, 0.416, 14.491, 0, 0, [SEP] 14, CreditCard, -1.791, 0.508, -1.148, 0, 0, 0, 48 [SEP] 15, TennisRacket, 2.244, 0.279, -1.901, 335.402, 251.974, 201.714, [SEP] 16, KeyChain, -1.937, 0.509, -1.148, 0, 180, 0, 48 [SEP] 17, AlarmClock, 0.076, 0.730, -2.764, 0, 180, 0, 39 [SEP] 18, Cloth, 2.176, 0.0, -0.571, 0, 335.474, 0, [SEP] 19, Laptop, -1.764, 0.591, -0.112, 0, 113.510, 0, 46 [SEP] 20, CD, 2.216, 0.044, 0.311, 0, 225, 0, 34 [SEP] 21, CD, 1.384, 0.054, -2.282, 0, 0, 0, 55 [SEP] 22, Pen, -1.864, 0.514, -1.065, 0, 0, 0, 48 [SEP] 23, Pencil, -1.714, 0.602, -0.675, 0, 0, 0, 46 [SEP] 24, Mug, 0.536, 0.726, -2.471, 0, 180, 0, 39 [SEP] 25, Shelf, 1.311, 0.969, -2.298, 0, 0, 0, [SEP] 26, Shelf, 1.843, 0.969, -2.298, 0, 0, 0, [SEP] 27, Shelf, 1.311, 1.171, -2.298, 0, 0, 0, [SEP] 28, Shelf, 1.843, 1.171, -2.298, 0, 0, 0, [SEP] 29, Shelf, 1.311, 1.368, -2.298, 0, 0, 0, [SEP] 30, Shelf, 1.843, 1.570, -2.298, 0, 0, 0, [SEP] 31, Shelf, 1.843, 1.368, -2.298, 0, 0, 0, [SEP] 32, Shelf, 1.311, 1.570, -2.298, 0, 0, 0, [SEP] 33, DeskLamp, -1.848, 0.592, -0.786, 0, 90, 0, [SEP] 34, GarbageCan, 2.197, -0.007, 0.298, 0, 232.025, 0, [SEP] 35, LightSwitch, -0.638, 1.149, 0.499, 0, 180, 0, [SEP] 36, Poster, 0.001, 1.495, -2.642, 90, 90, 0, [SEP] 37, Mirror, -1.072, 1.469, 0.497, 0, 0, 0, [SEP] 38, Window, 0.435, 1.398, -2.855, 90, 0, 0, [SEP] 39, SideTable, 0.435, 0.036, -2.647, 0, 0, 0, [SEP] 40, Drawer, 0.433, 0.203, -2.445, 0, 0, 0, [SEP] 41, Drawer, 0.433, 0.505, -2.445, 0, 0, 0, [SEP] 42, Dumbbell, -1.656, 0.602, -0.534, 0, 90, 0, [SEP] 43, Blinds, 0.449, 2.164, -2.845, 0, 0, 0, [SEP] 44, GarbageBag, 1.730, 0.318, 0.222, 270, 90, 83.412, [SEP] 45, Bed, -1.047, -0.000, -1.851, 0, 270, 0, [SEP] 46, Desk, -1.710, 0.000, -0.374, 0, 90, 0, [SEP] 47, Drawer, -1.790, 0.245, -1.144, 0, 90, 0, [SEP] 48, SideTable, -1.824, 0.000, -1.144, 0, 90, 0, [SEP] 49, Drawer, -1.790, 0.392, -1.144, 0, 90, 0, [SEP] 50, Drawer, -1.790, 0.097, -1.144, 0, 90, 0, [SEP] 51, Chair, -1.453, 0.005, -0.311, 0, 286.095, 0, [SEP] 52, Shelf, 1.591, 0.606, -2.305, 0, 0, 0, [SEP] 53, ShelvingUnit, 1.588, 0.004, -2.326, 0, 0, 0, [SEP] 54, Shelf, 1.854, 0.453, -2.298, 0, 0, 0, [SEP] 55, Shelf, 1.321, 0.155, -2.296, 0, 0, 0, [SEP] 56, Shelf, 1.323, 0.456, -2.300, 0, 0, 0, [SEP] 57, Shelf, 1.852, 0.152, -2.294, 0, 0, 0, [SEP] 58, NorthWall, , , , , , , [SEP] 59, EastWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, walk towards the door, turn left and walk towards the baseball bat on the floor. | STEP 2: Pick up the baseball bat from the floor. | STEP 3: Turn left and walk towards the end of the desk on your right. | STEP 4: Turn on the lamp on the desk | END"]} +{"id": "trial_T20190907_060414_846460-2", "input": "Turn a light on with a bat in hand. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.901, -0.75, 0, 90, 0, [SEP] 1, Mug, 1.320, 1.176, -2.277, 0, 0, 0, 27 [SEP] 2, Mug, 1.660, 1.575, -2.319, 0, 90, 0, 30 [SEP] 3, Vase, 1.194, 0.356, -2.303, 0, 0, 0, 56 [SEP] 4, Vase, -1.648, 0.599, -0.533, 0, 0, 0, 46 [SEP] 5, Pen, 1.981, 0.983, -2.235, 0, 0, 0, 26 [SEP] 6, CreditCard, 0.722, 0.113, -2.493, 0, 0, 0, 40 [SEP] 7, AlarmClock, 0.076, 0.729, -2.588, 0, 180, 0, 39 [SEP] 8, Box, 1.996, 0.316, -1.042, 0, 254.839, 0, [SEP] 9, Book, 0.339, 0.723, -2.65, 0, 165.000, 0, 39 [SEP] 10, Pillow, -1.548, 0.457, -1.831, 0, 90, 0, 45 [SEP] 11, CellPhone, -1.024, 0.417, -1.610, 0, 0, 0, 45 [SEP] 12, Vase, 0.766, 0.729, -2.705, 0, 180, 0, 39 [SEP] 13, BaseballBat, -1.629, 0.649, 0.416, 14.491, 0, 0, [SEP] 14, CreditCard, -1.791, 0.508, -1.148, 0, 0, 0, 48 [SEP] 15, TennisRacket, 2.244, 0.279, -1.901, 335.402, 251.974, 201.714, [SEP] 16, KeyChain, -1.937, 0.509, -1.148, 0, 180, 0, 48 [SEP] 17, AlarmClock, 0.076, 0.730, -2.764, 0, 180, 0, 39 [SEP] 18, Cloth, 2.176, 0.0, -0.571, 0, 335.474, 0, [SEP] 19, Laptop, -1.764, 0.591, -0.112, 0, 113.510, 0, 46 [SEP] 20, CD, 2.216, 0.044, 0.311, 0, 225, 0, 34 [SEP] 21, CD, 1.384, 0.054, -2.282, 0, 0, 0, 55 [SEP] 22, Pen, -1.864, 0.514, -1.065, 0, 0, 0, 48 [SEP] 23, Pencil, -1.714, 0.602, -0.675, 0, 0, 0, 46 [SEP] 24, Mug, 0.536, 0.726, -2.471, 0, 180, 0, 39 [SEP] 25, Shelf, 1.311, 0.969, -2.298, 0, 0, 0, [SEP] 26, Shelf, 1.843, 0.969, -2.298, 0, 0, 0, [SEP] 27, Shelf, 1.311, 1.171, -2.298, 0, 0, 0, [SEP] 28, Shelf, 1.843, 1.171, -2.298, 0, 0, 0, [SEP] 29, Shelf, 1.311, 1.368, -2.298, 0, 0, 0, [SEP] 30, Shelf, 1.843, 1.570, -2.298, 0, 0, 0, [SEP] 31, Shelf, 1.843, 1.368, -2.298, 0, 0, 0, [SEP] 32, Shelf, 1.311, 1.570, -2.298, 0, 0, 0, [SEP] 33, DeskLamp, -1.848, 0.592, -0.786, 0, 90, 0, [SEP] 34, GarbageCan, 2.197, -0.007, 0.298, 0, 232.025, 0, [SEP] 35, LightSwitch, -0.638, 1.149, 0.499, 0, 180, 0, [SEP] 36, Poster, 0.001, 1.495, -2.642, 90, 90, 0, [SEP] 37, Mirror, -1.072, 1.469, 0.497, 0, 0, 0, [SEP] 38, Window, 0.435, 1.398, -2.855, 90, 0, 0, [SEP] 39, SideTable, 0.435, 0.036, -2.647, 0, 0, 0, [SEP] 40, Drawer, 0.433, 0.203, -2.445, 0, 0, 0, [SEP] 41, Drawer, 0.433, 0.505, -2.445, 0, 0, 0, [SEP] 42, Dumbbell, -1.656, 0.602, -0.534, 0, 90, 0, [SEP] 43, Blinds, 0.449, 2.164, -2.845, 0, 0, 0, [SEP] 44, GarbageBag, 1.730, 0.318, 0.222, 270, 90, 83.412, [SEP] 45, Bed, -1.047, -0.000, -1.851, 0, 270, 0, [SEP] 46, Desk, -1.710, 0.000, -0.374, 0, 90, 0, [SEP] 47, Drawer, -1.790, 0.245, -1.144, 0, 90, 0, [SEP] 48, SideTable, -1.824, 0.000, -1.144, 0, 90, 0, [SEP] 49, Drawer, -1.790, 0.392, -1.144, 0, 90, 0, [SEP] 50, Drawer, -1.790, 0.097, -1.144, 0, 90, 0, [SEP] 51, Chair, -1.453, 0.005, -0.311, 0, 286.095, 0, [SEP] 52, Shelf, 1.591, 0.606, -2.305, 0, 0, 0, [SEP] 53, ShelvingUnit, 1.588, 0.004, -2.326, 0, 0, 0, [SEP] 54, Shelf, 1.854, 0.453, -2.298, 0, 0, 0, [SEP] 55, Shelf, 1.321, 0.155, -2.296, 0, 0, 0, [SEP] 56, Shelf, 1.323, 0.456, -2.300, 0, 0, 0, [SEP] 57, Shelf, 1.852, 0.152, -2.294, 0, 0, 0, [SEP] 58, NorthWall, , , , , , , [SEP] 59, EastWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go left to the bat in the corner of the room. | STEP 2: Pick the bat up from the floor. | STEP 3: Go left and stand in front of the night stand to the right of the bed. | STEP 4: Turn the light on that is on the left edge of the larger table. | END"]} +{"id": "trial_T20190908_023536_977733-0", "input": "place a hot bread slice on the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, 4.0, 0, 180, 0, [SEP] 1, Potato, -2.849, 0.080, 0.300, 0, 26.101, 0, 62 [SEP] 2, DishSponge, -2.037, 0.927, 0.433, 0, 0, 0, 48 [SEP] 3, DishSponge, -1.094, 0.795, 0.226, 0, 0, 0, 66 [SEP] 4, ButterKnife, -2.480, 0.900, 2.045, 0, 0, 0, 69 [SEP] 5, ButterKnife, -2.377, 0.662, 0.464, 0, 0, 0, 56 [SEP] 6, Spatula, -0.819, 0.943, 0.650, 0, 0, 0, 48 [SEP] 7, Pot, -0.535, 0.928, 4.274, 0, 0, 0, 52 [SEP] 8, Cup, -0.143, 0.900, 2.530, 0, 0, 0, 71 [SEP] 9, Cup, -2.847, 1.186, 4.278, 0, 90, 0, 65 [SEP] 10, Tomato, -2.864, 0.999, 3.209, 0, 0, 0, 55 [SEP] 11, Tomato, -1.904, 0.992, 0.518, 0, 0, 0, 48 [SEP] 12, Bowl, -2.764, 0.629, 4.352, 0, 90, 0, 65 [SEP] 13, Mug, -1.637, 0.923, 0.602, 0, 0, 0, 48 [SEP] 14, Mug, -2.628, 0.930, 3.580, 0, 180, 0, 55 [SEP] 15, Apple, -0.314, 0.956, 2.731, 0, 0, 0, 71 [SEP] 16, Egg, -2.918, 0.087, 0.419, 0, 26.101, 0, 62 [SEP] 17, Plate, -0.314, 0.904, 2.329, 0, 0, 0, 71 [SEP] 18, Fork, -1.007, 0.796, 0.337, 0, 0, 0, 66 [SEP] 19, Bread, -2.864, 0.940, 1.983, 0, 0, 0, 69 [SEP] 20, Apple, -2.888, 1.242, 4.427, 0, 90, 0, 65 [SEP] 21, Lettuce, -0.572, 0.980, 2.329, 0, 0, 0, 71 [SEP] 22, Spatula, -2.269, 0.677, 0.300, 0, 90, 0, 56 [SEP] 23, Knife, -2.628, 0.961, 3.395, 0, 270, 0, 55 [SEP] 24, Potato, -0.350, 1.044, 0.267, 0, 0, 0, 67 [SEP] 25, Tomato, -0.228, 0.964, 2.932, 0, 0, 0, 71 [SEP] 26, Cup, -0.657, 0.900, 2.731, 0, 0, 0, 71 [SEP] 27, SaltShaker, -2.485, 0.658, 0.355, 0, 0, 0, 56 [SEP] 28, PepperShaker, -2.892, 0.896, 2.706, 0, 0, 0, 69 [SEP] 29, ButterKnife, -0.272, 0.662, 0.409, 0, 0, 0, 37 [SEP] 30, SoapBottle, -0.657, 0.900, 2.530, 0, 0, 0, 71 [SEP] 31, Pan, -0.254, 0.928, 4.672, 0, 0, 0, 50 [SEP] 32, DishSponge, -1.094, 0.795, 0.447, 0, 0, 0, 66 [SEP] 33, Pot, -2.789, 0.900, 2.441, 0, 0, 0, 69 [SEP] 34, Spoon, -0.486, 0.901, 3.133, 0, 0, 0, 71 [SEP] 35, Mug, -0.350, 1.013, 0.171, 0, 0, 0, 67 [SEP] 36, Bowl, -0.249, 1.770, 0.160, 0, 0, 0, 47 [SEP] 37, Drawer, -0.325, 0.696, 0.413, 0, 0, 0, [SEP] 38, Cabinet, -0.595, 0.490, 0.648, 0, 0, 0, [SEP] 39, Cabinet, -0.555, 0.490, 0.646, 0, 0, 0, [SEP] 40, Cabinet, -1.591, 0.490, 0.646, 0, 0, 0, [SEP] 41, Cabinet, -1.554, 0.490, 0.646, 0, 0, 0, [SEP] 42, Cabinet, -2.550, 0.490, 0.646, 0, 0, 0, [SEP] 43, Cabinet, -1.514, 2.046, 0.392, 0, 0, 0, [SEP] 44, Cabinet, -2.474, 2.046, 0.392, 0, 0, 0, [SEP] 45, Cabinet, -1.478, 2.046, 0.392, 0, 0, 0, [SEP] 46, Cabinet, -0.518, 2.046, 0.392, 0, 0, 0, [SEP] 47, Cabinet, -0.479, 2.046, 0.392, 0, 0, 0, [SEP] 48, CounterTop, -1.366, 0.952, 0.349, 0, 0, 0, [SEP] 49, Sink, -1.108, 0.926, 0.340, 0, 0, 0, [SEP] 50, StoveBurner, -0.254, 0.922, 4.672, 0, 0, 0, [SEP] 51, Drawer, -1.824, 0.696, 0.413, 0, 0, 0, [SEP] 52, StoveBurner, -0.535, 0.922, 4.274, 0, 0, 0, [SEP] 53, StoveBurner, -0.254, 0.922, 4.274, 0, 0, 0, [SEP] 54, StoveBurner, -0.536, 0.922, 4.672, 0, 0, 0, [SEP] 55, CounterTop, -2.780, 0.971, 3.487, 0, 0, 0, [SEP] 56, Drawer, -2.323, 0.696, 0.413, 0, 0, 0, [SEP] 57, StoveKnob, -0.064, 1.090, 4.632, 0, 0, 73.865, [SEP] 58, StoveKnob, -0.064, 1.090, 4.782, 0, 0, 73.865, [SEP] 59, StoveKnob, -0.064, 1.090, 4.382, 0, 0, 73.865, [SEP] 60, StoveKnob, -0.064, 1.090, 4.222, 0, 0, 73.865, [SEP] 61, Toaster, -0.286, 0.861, 3.520, 0, 270, 0, [SEP] 62, GarbageCan, -2.816, -0.014, 0.370, 358.702, 26.614, 2.400, [SEP] 63, LightSwitch, -0.064, 1.447, 1.996, 0, 270, 0, [SEP] 64, Window, -3.075, 1.593, 1.361, 90, 90, 0, [SEP] 65, Fridge, -2.802, 0.0, 4.427, 0, 0, 0, [SEP] 66, SinkBasin, -1.106, 0.785, 0.337, 0, 0, 0, [SEP] 67, Microwave, -0.358, 0.917, 0.224, 0, 0, 0, [SEP] 68, CoffeeMachine, -2.938, 0.925, 3.605, 0, 90, 0, [SEP] 69, DiningTable, -2.733, -0.003, 2.607, 0, 270, 0, [SEP] 70, Faucet, -1.077, 0.920, 0.028, 270, 270, 0, [SEP] 71, DiningTable, -0.488, -0.003, 3.182, 0, 270, 0, [SEP] 72, NorthWall, , , , , , , [SEP] 73, EastWall, , , , , , , [SEP] 74, SouthWall, , , , , , , [SEP] 75, WestWall, , , , , , , ", "output": ["STEP 1: move right to the table | STEP 2: pick up the knife | STEP 3: move forward to the table | STEP 4: slice the bread on the table | STEP 5: turn around to the table | STEP 6: drop the knife on the table | STEP 7: turn around to the bread slice | STEP 8: pick up a slice | STEP 9: turn around to the oven | STEP 10: place it in the oven to heat and take it out | STEP 11: turn around and head to the table | STEP 12: place the slice on the table | END"]} +{"id": "trial_T20190908_023536_977733-1", "input": "Put a heated slice of bread on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, 4.0, 0, 180, 0, [SEP] 1, Potato, -2.849, 0.080, 0.300, 0, 26.101, 0, 62 [SEP] 2, DishSponge, -2.037, 0.927, 0.433, 0, 0, 0, 48 [SEP] 3, DishSponge, -1.094, 0.795, 0.226, 0, 0, 0, 66 [SEP] 4, ButterKnife, -2.480, 0.900, 2.045, 0, 0, 0, 69 [SEP] 5, ButterKnife, -2.377, 0.662, 0.464, 0, 0, 0, 56 [SEP] 6, Spatula, -0.819, 0.943, 0.650, 0, 0, 0, 48 [SEP] 7, Pot, -0.535, 0.928, 4.274, 0, 0, 0, 52 [SEP] 8, Cup, -0.143, 0.900, 2.530, 0, 0, 0, 71 [SEP] 9, Cup, -2.847, 1.186, 4.278, 0, 90, 0, 65 [SEP] 10, Tomato, -2.864, 0.999, 3.209, 0, 0, 0, 55 [SEP] 11, Tomato, -1.904, 0.992, 0.518, 0, 0, 0, 48 [SEP] 12, Bowl, -2.764, 0.629, 4.352, 0, 90, 0, 65 [SEP] 13, Mug, -1.637, 0.923, 0.602, 0, 0, 0, 48 [SEP] 14, Mug, -2.628, 0.930, 3.580, 0, 180, 0, 55 [SEP] 15, Apple, -0.314, 0.956, 2.731, 0, 0, 0, 71 [SEP] 16, Egg, -2.918, 0.087, 0.419, 0, 26.101, 0, 62 [SEP] 17, Plate, -0.314, 0.904, 2.329, 0, 0, 0, 71 [SEP] 18, Fork, -1.007, 0.796, 0.337, 0, 0, 0, 66 [SEP] 19, Bread, -2.864, 0.940, 1.983, 0, 0, 0, 69 [SEP] 20, Apple, -2.888, 1.242, 4.427, 0, 90, 0, 65 [SEP] 21, Lettuce, -0.572, 0.980, 2.329, 0, 0, 0, 71 [SEP] 22, Spatula, -2.269, 0.677, 0.300, 0, 90, 0, 56 [SEP] 23, Knife, -2.628, 0.961, 3.395, 0, 270, 0, 55 [SEP] 24, Potato, -0.350, 1.044, 0.267, 0, 0, 0, 67 [SEP] 25, Tomato, -0.228, 0.964, 2.932, 0, 0, 0, 71 [SEP] 26, Cup, -0.657, 0.900, 2.731, 0, 0, 0, 71 [SEP] 27, SaltShaker, -2.485, 0.658, 0.355, 0, 0, 0, 56 [SEP] 28, PepperShaker, -2.892, 0.896, 2.706, 0, 0, 0, 69 [SEP] 29, ButterKnife, -0.272, 0.662, 0.409, 0, 0, 0, 37 [SEP] 30, SoapBottle, -0.657, 0.900, 2.530, 0, 0, 0, 71 [SEP] 31, Pan, -0.254, 0.928, 4.672, 0, 0, 0, 50 [SEP] 32, DishSponge, -1.094, 0.795, 0.447, 0, 0, 0, 66 [SEP] 33, Pot, -2.789, 0.900, 2.441, 0, 0, 0, 69 [SEP] 34, Spoon, -0.486, 0.901, 3.133, 0, 0, 0, 71 [SEP] 35, Mug, -0.350, 1.013, 0.171, 0, 0, 0, 67 [SEP] 36, Bowl, -0.249, 1.770, 0.160, 0, 0, 0, 47 [SEP] 37, Drawer, -0.325, 0.696, 0.413, 0, 0, 0, [SEP] 38, Cabinet, -0.595, 0.490, 0.648, 0, 0, 0, [SEP] 39, Cabinet, -0.555, 0.490, 0.646, 0, 0, 0, [SEP] 40, Cabinet, -1.591, 0.490, 0.646, 0, 0, 0, [SEP] 41, Cabinet, -1.554, 0.490, 0.646, 0, 0, 0, [SEP] 42, Cabinet, -2.550, 0.490, 0.646, 0, 0, 0, [SEP] 43, Cabinet, -1.514, 2.046, 0.392, 0, 0, 0, [SEP] 44, Cabinet, -2.474, 2.046, 0.392, 0, 0, 0, [SEP] 45, Cabinet, -1.478, 2.046, 0.392, 0, 0, 0, [SEP] 46, Cabinet, -0.518, 2.046, 0.392, 0, 0, 0, [SEP] 47, Cabinet, -0.479, 2.046, 0.392, 0, 0, 0, [SEP] 48, CounterTop, -1.366, 0.952, 0.349, 0, 0, 0, [SEP] 49, Sink, -1.108, 0.926, 0.340, 0, 0, 0, [SEP] 50, StoveBurner, -0.254, 0.922, 4.672, 0, 0, 0, [SEP] 51, Drawer, -1.824, 0.696, 0.413, 0, 0, 0, [SEP] 52, StoveBurner, -0.535, 0.922, 4.274, 0, 0, 0, [SEP] 53, StoveBurner, -0.254, 0.922, 4.274, 0, 0, 0, [SEP] 54, StoveBurner, -0.536, 0.922, 4.672, 0, 0, 0, [SEP] 55, CounterTop, -2.780, 0.971, 3.487, 0, 0, 0, [SEP] 56, Drawer, -2.323, 0.696, 0.413, 0, 0, 0, [SEP] 57, StoveKnob, -0.064, 1.090, 4.632, 0, 0, 73.865, [SEP] 58, StoveKnob, -0.064, 1.090, 4.782, 0, 0, 73.865, [SEP] 59, StoveKnob, -0.064, 1.090, 4.382, 0, 0, 73.865, [SEP] 60, StoveKnob, -0.064, 1.090, 4.222, 0, 0, 73.865, [SEP] 61, Toaster, -0.286, 0.861, 3.520, 0, 270, 0, [SEP] 62, GarbageCan, -2.816, -0.014, 0.370, 358.702, 26.614, 2.400, [SEP] 63, LightSwitch, -0.064, 1.447, 1.996, 0, 270, 0, [SEP] 64, Window, -3.075, 1.593, 1.361, 90, 90, 0, [SEP] 65, Fridge, -2.802, 0.0, 4.427, 0, 0, 0, [SEP] 66, SinkBasin, -1.106, 0.785, 0.337, 0, 0, 0, [SEP] 67, Microwave, -0.358, 0.917, 0.224, 0, 0, 0, [SEP] 68, CoffeeMachine, -2.938, 0.925, 3.605, 0, 90, 0, [SEP] 69, DiningTable, -2.733, -0.003, 2.607, 0, 270, 0, [SEP] 70, Faucet, -1.077, 0.920, 0.028, 270, 270, 0, [SEP] 71, DiningTable, -0.488, -0.003, 3.182, 0, 270, 0, [SEP] 72, NorthWall, , , , , , , [SEP] 73, EastWall, , , , , , , [SEP] 74, SouthWall, , , , , , , [SEP] 75, WestWall, , , , , , , ", "output": ["STEP 1: Go to the white table on the right side of the sink. | STEP 2: Pick up the gray knife on the table. | STEP 3: Go to the left side of the table. | STEP 4: Slice the bread on the table. | STEP 5: Go to the large white table next to the stove. | STEP 6: Place the knife on the table next to the wooden cup. | STEP 7: Go back to the table with bread. | STEP 8: Pick up the end piece of the bread. | STEP 9: Turn right to go to the microwave at the end of the counter. | STEP 10: Microwave the bread next to the coffee mug and take it out. | STEP 11: Go back to the white table next to the stove. | STEP 12: Place the bread on the left of the spoon. | END"]} +{"id": "trial_T20190908_023536_977733-2", "input": "TO heat a potato slice and put in on the table by the spoon. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, 4.0, 0, 180, 0, [SEP] 1, Potato, -2.849, 0.080, 0.300, 0, 26.101, 0, 62 [SEP] 2, DishSponge, -2.037, 0.927, 0.433, 0, 0, 0, 48 [SEP] 3, DishSponge, -1.094, 0.795, 0.226, 0, 0, 0, 66 [SEP] 4, ButterKnife, -2.480, 0.900, 2.045, 0, 0, 0, 69 [SEP] 5, ButterKnife, -2.377, 0.662, 0.464, 0, 0, 0, 56 [SEP] 6, Spatula, -0.819, 0.943, 0.650, 0, 0, 0, 48 [SEP] 7, Pot, -0.535, 0.928, 4.274, 0, 0, 0, 52 [SEP] 8, Cup, -0.143, 0.900, 2.530, 0, 0, 0, 71 [SEP] 9, Cup, -2.847, 1.186, 4.278, 0, 90, 0, 65 [SEP] 10, Tomato, -2.864, 0.999, 3.209, 0, 0, 0, 55 [SEP] 11, Tomato, -1.904, 0.992, 0.518, 0, 0, 0, 48 [SEP] 12, Bowl, -2.764, 0.629, 4.352, 0, 90, 0, 65 [SEP] 13, Mug, -1.637, 0.923, 0.602, 0, 0, 0, 48 [SEP] 14, Mug, -2.628, 0.930, 3.580, 0, 180, 0, 55 [SEP] 15, Apple, -0.314, 0.956, 2.731, 0, 0, 0, 71 [SEP] 16, Egg, -2.918, 0.087, 0.419, 0, 26.101, 0, 62 [SEP] 17, Plate, -0.314, 0.904, 2.329, 0, 0, 0, 71 [SEP] 18, Fork, -1.007, 0.796, 0.337, 0, 0, 0, 66 [SEP] 19, Bread, -2.864, 0.940, 1.983, 0, 0, 0, 69 [SEP] 20, Apple, -2.888, 1.242, 4.427, 0, 90, 0, 65 [SEP] 21, Lettuce, -0.572, 0.980, 2.329, 0, 0, 0, 71 [SEP] 22, Spatula, -2.269, 0.677, 0.300, 0, 90, 0, 56 [SEP] 23, Knife, -2.628, 0.961, 3.395, 0, 270, 0, 55 [SEP] 24, Potato, -0.350, 1.044, 0.267, 0, 0, 0, 67 [SEP] 25, Tomato, -0.228, 0.964, 2.932, 0, 0, 0, 71 [SEP] 26, Cup, -0.657, 0.900, 2.731, 0, 0, 0, 71 [SEP] 27, SaltShaker, -2.485, 0.658, 0.355, 0, 0, 0, 56 [SEP] 28, PepperShaker, -2.892, 0.896, 2.706, 0, 0, 0, 69 [SEP] 29, ButterKnife, -0.272, 0.662, 0.409, 0, 0, 0, 37 [SEP] 30, SoapBottle, -0.657, 0.900, 2.530, 0, 0, 0, 71 [SEP] 31, Pan, -0.254, 0.928, 4.672, 0, 0, 0, 50 [SEP] 32, DishSponge, -1.094, 0.795, 0.447, 0, 0, 0, 66 [SEP] 33, Pot, -2.789, 0.900, 2.441, 0, 0, 0, 69 [SEP] 34, Spoon, -0.486, 0.901, 3.133, 0, 0, 0, 71 [SEP] 35, Mug, -0.350, 1.013, 0.171, 0, 0, 0, 67 [SEP] 36, Bowl, -0.249, 1.770, 0.160, 0, 0, 0, 47 [SEP] 37, Drawer, -0.325, 0.696, 0.413, 0, 0, 0, [SEP] 38, Cabinet, -0.595, 0.490, 0.648, 0, 0, 0, [SEP] 39, Cabinet, -0.555, 0.490, 0.646, 0, 0, 0, [SEP] 40, Cabinet, -1.591, 0.490, 0.646, 0, 0, 0, [SEP] 41, Cabinet, -1.554, 0.490, 0.646, 0, 0, 0, [SEP] 42, Cabinet, -2.550, 0.490, 0.646, 0, 0, 0, [SEP] 43, Cabinet, -1.514, 2.046, 0.392, 0, 0, 0, [SEP] 44, Cabinet, -2.474, 2.046, 0.392, 0, 0, 0, [SEP] 45, Cabinet, -1.478, 2.046, 0.392, 0, 0, 0, [SEP] 46, Cabinet, -0.518, 2.046, 0.392, 0, 0, 0, [SEP] 47, Cabinet, -0.479, 2.046, 0.392, 0, 0, 0, [SEP] 48, CounterTop, -1.366, 0.952, 0.349, 0, 0, 0, [SEP] 49, Sink, -1.108, 0.926, 0.340, 0, 0, 0, [SEP] 50, StoveBurner, -0.254, 0.922, 4.672, 0, 0, 0, [SEP] 51, Drawer, -1.824, 0.696, 0.413, 0, 0, 0, [SEP] 52, StoveBurner, -0.535, 0.922, 4.274, 0, 0, 0, [SEP] 53, StoveBurner, -0.254, 0.922, 4.274, 0, 0, 0, [SEP] 54, StoveBurner, -0.536, 0.922, 4.672, 0, 0, 0, [SEP] 55, CounterTop, -2.780, 0.971, 3.487, 0, 0, 0, [SEP] 56, Drawer, -2.323, 0.696, 0.413, 0, 0, 0, [SEP] 57, StoveKnob, -0.064, 1.090, 4.632, 0, 0, 73.865, [SEP] 58, StoveKnob, -0.064, 1.090, 4.782, 0, 0, 73.865, [SEP] 59, StoveKnob, -0.064, 1.090, 4.382, 0, 0, 73.865, [SEP] 60, StoveKnob, -0.064, 1.090, 4.222, 0, 0, 73.865, [SEP] 61, Toaster, -0.286, 0.861, 3.520, 0, 270, 0, [SEP] 62, GarbageCan, -2.816, -0.014, 0.370, 358.702, 26.614, 2.400, [SEP] 63, LightSwitch, -0.064, 1.447, 1.996, 0, 270, 0, [SEP] 64, Window, -3.075, 1.593, 1.361, 90, 90, 0, [SEP] 65, Fridge, -2.802, 0.0, 4.427, 0, 0, 0, [SEP] 66, SinkBasin, -1.106, 0.785, 0.337, 0, 0, 0, [SEP] 67, Microwave, -0.358, 0.917, 0.224, 0, 0, 0, [SEP] 68, CoffeeMachine, -2.938, 0.925, 3.605, 0, 90, 0, [SEP] 69, DiningTable, -2.733, -0.003, 2.607, 0, 270, 0, [SEP] 70, Faucet, -1.077, 0.920, 0.028, 270, 270, 0, [SEP] 71, DiningTable, -0.488, -0.003, 3.182, 0, 270, 0, [SEP] 72, NorthWall, , , , , , , [SEP] 73, EastWall, , , , , , , [SEP] 74, SouthWall, , , , , , , [SEP] 75, WestWall, , , , , , , ", "output": ["STEP 1: Take two steps forward and turn right to face the left end of the table. | STEP 2: Pick up the knife on the table. | STEP 3: Walk around the table to face the left end. | STEP 4: Cut the bread on the table into slices. | STEP 5: Turn right and walk across the room to face the table. | STEP 6: Put the knife on the table to the left of the cup. | STEP 7: Turn around, then walk across the room and turn right to face the left end of the table. | STEP 8: Pick up the end piece of the bread slices. | STEP 9: Turn right, walk across the room and turn to the right to face the microwave. | STEP 10: Heat the potato slice in the microwave and remove it. | STEP 11: Turn around, walk to the middle of the table and turn right to face it. | STEP 12: Place the potato slice on the table below the spoon. | END"]} +{"id": "trial_T20190909_173505_631675-0", "input": "Put the remote in the box, and put the box on the coffee table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 0.5, 0, 180, 0, [SEP] 1, Newspaper, 2.737, 0.475, 0.247, 0, 0, 0, 26 [SEP] 2, Statue, 0.522, 0.417, 1.466, 0, 0, 0, 33 [SEP] 3, Watch, 2.226, 0.870, 1.620, 0, 0, 0, 28 [SEP] 4, KeyChain, 0.396, 0.367, 0.130, 0, 0, 0, 40 [SEP] 5, CreditCard, 0.040, 0.487, -1.418, 0, 0, 0, 29 [SEP] 6, RemoteControl, 0.834, 0.412, 1.466, 0, 0, 0, 33 [SEP] 7, RemoteControl, 0.367, 0.412, 1.662, 0, 0, 0, 33 [SEP] 8, Box, -0.636, 0.778, -1.469, 0, 0, 0, 31 [SEP] 9, Laptop, 2.957, 0.601, 1.627, 0, 0, 0, 32 [SEP] 10, CreditCard, 2.149, 0.869, 1.787, 0, 0, 0, 28 [SEP] 11, Newspaper, 0.216, 0.522, -1.567, 0, 350.059, 0, 29 [SEP] 12, RemoteControl, 0.057, 0.369, 0.032, 0, 0, 0, 40 [SEP] 13, Pillow, -0.875, 0.575, -0.798, 0, 267.956, 341.124, 30 [SEP] 14, KeyChain, 0.339, 0.367, -0.066, 0, 90, 0, 40 [SEP] 15, Watch, 1.300, 0.411, 1.401, 0, 0, 0, 33 [SEP] 16, Statue, 1.996, 0.876, 1.746, 0, 0, 0, 28 [SEP] 17, Curtains, 1.199, 0.0, -2.440, 0, 0, 0, [SEP] 18, HousePlant, 1.919, 1.717, -2.187, 0, 315, 0, [SEP] 19, FloorLamp, -1.160, -0.003, 1.040, 0, 0, 0, [SEP] 20, LightSwitch, -1.006, 1.286, 1.950, 0, 180, 0, [SEP] 21, Television, 0.858, 0.884, 1.731, 0, 180, 0, [SEP] 22, Painting, 3.414, 1.708, -0.156, 90, 270, 0, [SEP] 23, Painting, -1.449, 1.787, -0.342, 90, 270, 0, [SEP] 24, GarbageCan, 1.296, 9.894, -2.187, 0, 0, 0, [SEP] 25, Window, 0.653, 1.550, -2.470, 90, 180, 0, [SEP] 26, Sofa, 2.868, -0.002, 0.248, 0, 270, 0, [SEP] 27, Drawer, 1.996, 0.779, 1.705, 0, 180, 0, [SEP] 28, SideTable, 1.995, 0.004, 1.746, 0, 180, 0, [SEP] 29, ArmChair, 0.224, -0.010, -1.724, 0, 0, 0, [SEP] 30, Sofa, -1.007, 0.006, -0.207, 1.149, 90, 0, [SEP] 31, SideTable, -0.683, 0.004, -1.600, 0, 0, 0, [SEP] 32, SideTable, 2.956, 0.004, 1.568, 0, 0, 0, [SEP] 33, TVStand, 0.838, -0.006, 1.582, 0, 0, 0, [SEP] 34, Drawer, 0.472, 0.271, -0.165, 0, 270, 0, [SEP] 35, Drawer, -0.018, 0.272, -0.165, 0, 270, 0, [SEP] 36, Drawer, -0.018, 0.168, -0.165, 0, 270, 0, [SEP] 37, Drawer, -0.018, 0.064, -0.165, 0, 270, 0, [SEP] 38, Drawer, 0.472, 0.063, -0.165, 0, 270, 0, [SEP] 39, Drawer, 0.472, 0.167, -0.165, 0, 270, 0, [SEP] 40, CoffeeTable, 0.226, -0.003, -0.164, 0, 270, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, take a step forward, turn right and walk to the television. | STEP 2: Pick up the remote control sitting in the center of the television stand. | STEP 3: Turn left, walk to the end of the rug, turn left and walk between the sofa and coffee table to the chair on the other side. | STEP 4: Put the remote control in the box on top of the table next to the chair. | STEP 5: Pick up the box containing the remote control. | STEP 6: Turn completely around, walk to the end of the rug, turn right, walk to the end of the rug, turn right so you are looking at the coffee table. | STEP 7: Put the box containing the remote control on the top of the coffee table on the end furthest away from you. | END"]} +{"id": "trial_T20190909_173505_631675-1", "input": "put box with remote on coffee table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 0.5, 0, 180, 0, [SEP] 1, Newspaper, 2.737, 0.475, 0.247, 0, 0, 0, 26 [SEP] 2, Statue, 0.522, 0.417, 1.466, 0, 0, 0, 33 [SEP] 3, Watch, 2.226, 0.870, 1.620, 0, 0, 0, 28 [SEP] 4, KeyChain, 0.396, 0.367, 0.130, 0, 0, 0, 40 [SEP] 5, CreditCard, 0.040, 0.487, -1.418, 0, 0, 0, 29 [SEP] 6, RemoteControl, 0.834, 0.412, 1.466, 0, 0, 0, 33 [SEP] 7, RemoteControl, 0.367, 0.412, 1.662, 0, 0, 0, 33 [SEP] 8, Box, -0.636, 0.778, -1.469, 0, 0, 0, 31 [SEP] 9, Laptop, 2.957, 0.601, 1.627, 0, 0, 0, 32 [SEP] 10, CreditCard, 2.149, 0.869, 1.787, 0, 0, 0, 28 [SEP] 11, Newspaper, 0.216, 0.522, -1.567, 0, 350.059, 0, 29 [SEP] 12, RemoteControl, 0.057, 0.369, 0.032, 0, 0, 0, 40 [SEP] 13, Pillow, -0.875, 0.575, -0.798, 0, 267.956, 341.124, 30 [SEP] 14, KeyChain, 0.339, 0.367, -0.066, 0, 90, 0, 40 [SEP] 15, Watch, 1.300, 0.411, 1.401, 0, 0, 0, 33 [SEP] 16, Statue, 1.996, 0.876, 1.746, 0, 0, 0, 28 [SEP] 17, Curtains, 1.199, 0.0, -2.440, 0, 0, 0, [SEP] 18, HousePlant, 1.919, 1.717, -2.187, 0, 315, 0, [SEP] 19, FloorLamp, -1.160, -0.003, 1.040, 0, 0, 0, [SEP] 20, LightSwitch, -1.006, 1.286, 1.950, 0, 180, 0, [SEP] 21, Television, 0.858, 0.884, 1.731, 0, 180, 0, [SEP] 22, Painting, 3.414, 1.708, -0.156, 90, 270, 0, [SEP] 23, Painting, -1.449, 1.787, -0.342, 90, 270, 0, [SEP] 24, GarbageCan, 1.296, 9.894, -2.187, 0, 0, 0, [SEP] 25, Window, 0.653, 1.550, -2.470, 90, 180, 0, [SEP] 26, Sofa, 2.868, -0.002, 0.248, 0, 270, 0, [SEP] 27, Drawer, 1.996, 0.779, 1.705, 0, 180, 0, [SEP] 28, SideTable, 1.995, 0.004, 1.746, 0, 180, 0, [SEP] 29, ArmChair, 0.224, -0.010, -1.724, 0, 0, 0, [SEP] 30, Sofa, -1.007, 0.006, -0.207, 1.149, 90, 0, [SEP] 31, SideTable, -0.683, 0.004, -1.600, 0, 0, 0, [SEP] 32, SideTable, 2.956, 0.004, 1.568, 0, 0, 0, [SEP] 33, TVStand, 0.838, -0.006, 1.582, 0, 0, 0, [SEP] 34, Drawer, 0.472, 0.271, -0.165, 0, 270, 0, [SEP] 35, Drawer, -0.018, 0.272, -0.165, 0, 270, 0, [SEP] 36, Drawer, -0.018, 0.168, -0.165, 0, 270, 0, [SEP] 37, Drawer, -0.018, 0.064, -0.165, 0, 270, 0, [SEP] 38, Drawer, 0.472, 0.063, -0.165, 0, 270, 0, [SEP] 39, Drawer, 0.472, 0.167, -0.165, 0, 270, 0, [SEP] 40, CoffeeTable, 0.226, -0.003, -0.164, 0, 270, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: walk to face tv set | STEP 2: pick up remote from tv stand | STEP 3: walk left to face side table with box | STEP 4: put remote in box on side table | STEP 5: pick up box from side table | STEP 6: walk to face coffee table | STEP 7: put box on coffee table | END"]} +{"id": "trial_T20190909_173505_631675-2", "input": "Pick up a remote and put it in an empty cardboard box to put in the coffee table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 0.5, 0, 180, 0, [SEP] 1, Newspaper, 2.737, 0.475, 0.247, 0, 0, 0, 26 [SEP] 2, Statue, 0.522, 0.417, 1.466, 0, 0, 0, 33 [SEP] 3, Watch, 2.226, 0.870, 1.620, 0, 0, 0, 28 [SEP] 4, KeyChain, 0.396, 0.367, 0.130, 0, 0, 0, 40 [SEP] 5, CreditCard, 0.040, 0.487, -1.418, 0, 0, 0, 29 [SEP] 6, RemoteControl, 0.834, 0.412, 1.466, 0, 0, 0, 33 [SEP] 7, RemoteControl, 0.367, 0.412, 1.662, 0, 0, 0, 33 [SEP] 8, Box, -0.636, 0.778, -1.469, 0, 0, 0, 31 [SEP] 9, Laptop, 2.957, 0.601, 1.627, 0, 0, 0, 32 [SEP] 10, CreditCard, 2.149, 0.869, 1.787, 0, 0, 0, 28 [SEP] 11, Newspaper, 0.216, 0.522, -1.567, 0, 350.059, 0, 29 [SEP] 12, RemoteControl, 0.057, 0.369, 0.032, 0, 0, 0, 40 [SEP] 13, Pillow, -0.875, 0.575, -0.798, 0, 267.956, 341.124, 30 [SEP] 14, KeyChain, 0.339, 0.367, -0.066, 0, 90, 0, 40 [SEP] 15, Watch, 1.300, 0.411, 1.401, 0, 0, 0, 33 [SEP] 16, Statue, 1.996, 0.876, 1.746, 0, 0, 0, 28 [SEP] 17, Curtains, 1.199, 0.0, -2.440, 0, 0, 0, [SEP] 18, HousePlant, 1.919, 1.717, -2.187, 0, 315, 0, [SEP] 19, FloorLamp, -1.160, -0.003, 1.040, 0, 0, 0, [SEP] 20, LightSwitch, -1.006, 1.286, 1.950, 0, 180, 0, [SEP] 21, Television, 0.858, 0.884, 1.731, 0, 180, 0, [SEP] 22, Painting, 3.414, 1.708, -0.156, 90, 270, 0, [SEP] 23, Painting, -1.449, 1.787, -0.342, 90, 270, 0, [SEP] 24, GarbageCan, 1.296, 9.894, -2.187, 0, 0, 0, [SEP] 25, Window, 0.653, 1.550, -2.470, 90, 180, 0, [SEP] 26, Sofa, 2.868, -0.002, 0.248, 0, 270, 0, [SEP] 27, Drawer, 1.996, 0.779, 1.705, 0, 180, 0, [SEP] 28, SideTable, 1.995, 0.004, 1.746, 0, 180, 0, [SEP] 29, ArmChair, 0.224, -0.010, -1.724, 0, 0, 0, [SEP] 30, Sofa, -1.007, 0.006, -0.207, 1.149, 90, 0, [SEP] 31, SideTable, -0.683, 0.004, -1.600, 0, 0, 0, [SEP] 32, SideTable, 2.956, 0.004, 1.568, 0, 0, 0, [SEP] 33, TVStand, 0.838, -0.006, 1.582, 0, 0, 0, [SEP] 34, Drawer, 0.472, 0.271, -0.165, 0, 270, 0, [SEP] 35, Drawer, -0.018, 0.272, -0.165, 0, 270, 0, [SEP] 36, Drawer, -0.018, 0.168, -0.165, 0, 270, 0, [SEP] 37, Drawer, -0.018, 0.064, -0.165, 0, 270, 0, [SEP] 38, Drawer, 0.472, 0.063, -0.165, 0, 270, 0, [SEP] 39, Drawer, 0.472, 0.167, -0.165, 0, 270, 0, [SEP] 40, CoffeeTable, 0.226, -0.003, -0.164, 0, 270, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Turn around to the TV set. | STEP 2: Pick up the remote to the right of the statue. | STEP 3: Turn around to walk around the coffee table, hanging a left to reach the table in between the two couches in the corner. | STEP 4: Put the remote in the cardboard box on the table. | STEP 5: Pick up the cardboard box with the remote in it. | STEP 6: Turn around, walking around the coffee table to face it. | STEP 7: Set the cardboard box with the remote in it down on the coffee table. | END"]} +{"id": "trial_T20190907_033843_707544-0", "input": "Place spray bottles on the back of a toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -2.5, 0, 270, 0, [SEP] 1, Cloth, -2.085, 0.042, -3.542, 0, 270, 0, 33 [SEP] 2, Cloth, -1.640, 0.042, -2.395, 0, 270, 0, 33 [SEP] 3, TissueBox, -1.757, 0.818, -0.193, 0, 0, 0, 35 [SEP] 4, TissueBox, 0.824, 0.818, -1.773, 0, 90, 0, 37 [SEP] 5, Candle, 0.767, 0.817, -2.076, 0, 90, 0, 37 [SEP] 6, Candle, 0.824, 0.817, -1.975, 0, 90, 0, 37 [SEP] 7, SprayBottle, -1.353, 0.815, -0.221, 0, 0, 0, 35 [SEP] 8, SprayBottle, 0.739, 0.815, -1.975, 0, 90, 0, 37 [SEP] 9, SprayBottle, -1.353, 0.815, -0.137, 0, 0, 0, 35 [SEP] 10, SoapBottle, 0.839, 0.821, -0.623, 0, 90, 0, 36 [SEP] 11, SoapBottle, -1.555, 0.821, -0.165, 0, 0, 0, 35 [SEP] 12, Cloth, -1.640, 0.042, -2.682, 0, 270, 0, 33 [SEP] 13, Candle, 0.726, 0.817, -0.926, 0, 90, 0, 36 [SEP] 14, HandTowel, -2.166, 1.500, -0.037, 0, 0, 0, 28 [SEP] 15, Towel, -1.525, 1.685, -0.105, 0, 180, 0, 26 [SEP] 16, SoapBar, -1.656, 0.818, -0.080, 0, 0, 0, 35 [SEP] 17, ToiletPaper, -0.556, 0.082, -3.778, 0, 0, 0, 27 [SEP] 18, Plunger, 0.854, -0.000, -3.905, 0, 0, 0, Floor|-01.66| [SEP] 19, SprayBottle, 0.867, 0.815, -0.825, 0, 90, 0, 36 [SEP] 20, TissueBox, 0.832, 0.809, -0.358, 0, 266.215, 0, 36 [SEP] 21, ToiletPaper, 0.405, 0.729, -3.885, 0, 0, 270, 34 [SEP] 22, ScrubBrush, 0.684, -0.000, -3.905, 0, 0, 0, Floor|-01.66| [SEP] 23, Sink, -2.171, 0.294, -0.660, 0, 90, 0, [SEP] 24, Bathtub, -2.122, -0.088, -3.116, 0, 0, 0, [SEP] 25, Mirror, -2.503, 1.423, -0.703, 0, 0, 0, [SEP] 26, TowelHolder, -1.524, 1.671, 0.001, 0, 180, 0, [SEP] 27, GarbageCan, -0.525, -0.050, -3.763, 0, 0, 0, [SEP] 28, HandTowelHolder, -2.166, 1.602, 0.000, 0, 90, 0, [SEP] 29, LightSwitch, 0.321, 1.327, 0.000, 0, 180, 0, [SEP] 30, Window, -0.540, 1.625, -3.996, 90, 0, 0, [SEP] 31, Toilet, 0.004, -0.000, -3.436, 0, 0, 0, [SEP] 32, SinkBasin, -2.176, 0.824, -0.659, 0, 0, 0, [SEP] 33, BathtubBasin, -1.862, 0.033, -2.723, 0, 270, 0, [SEP] 34, ToiletPaperHanger, 0.462, 0.841, -3.978, 0, 0, 0, [SEP] 35, SideTable, -1.526, 0.001, -0.172, 0, 0, 0, [SEP] 36, SideTable, 0.780, 0.001, -0.667, 0, 90, 0, [SEP] 37, SideTable, 0.793, 0.001, -1.817, 0, 90, 0, [SEP] 38, ShowerCurtain, -1.320, 1.781, -3.864, 0, 0, 5.987, [SEP] 39, Faucet, -2.431, 0.982, -0.660, 0, 90, 0, [SEP] 40, Faucet, -1.909, 0.666, -3.855, 0, 180, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the long stand that is along the wall across the room | STEP 2: Pick up the spray bottle that is closest to the wall. | STEP 3: Turn around and cross the room then turn left to face the side of the toilet | STEP 4: Place the spray bottle on the back of the toilet | STEP 5: Turn around and cross the room then turn right and walk to the long stand along the wall, the stand that is on the left | STEP 6: Pick up the yellow spray bottle. | STEP 7: Turn around and walk to the long stand and then turn left and walk across the room then turn left to face the side of the toilet | STEP 8: Place the spray bottle on the back to the toilet to the left of the other spray bottle | END"]} +{"id": "trial_T20190907_033843_707544-1", "input": "Move two spray bottles to the toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -2.5, 0, 270, 0, [SEP] 1, Cloth, -2.085, 0.042, -3.542, 0, 270, 0, 33 [SEP] 2, Cloth, -1.640, 0.042, -2.395, 0, 270, 0, 33 [SEP] 3, TissueBox, -1.757, 0.818, -0.193, 0, 0, 0, 35 [SEP] 4, TissueBox, 0.824, 0.818, -1.773, 0, 90, 0, 37 [SEP] 5, Candle, 0.767, 0.817, -2.076, 0, 90, 0, 37 [SEP] 6, Candle, 0.824, 0.817, -1.975, 0, 90, 0, 37 [SEP] 7, SprayBottle, -1.353, 0.815, -0.221, 0, 0, 0, 35 [SEP] 8, SprayBottle, 0.739, 0.815, -1.975, 0, 90, 0, 37 [SEP] 9, SprayBottle, -1.353, 0.815, -0.137, 0, 0, 0, 35 [SEP] 10, SoapBottle, 0.839, 0.821, -0.623, 0, 90, 0, 36 [SEP] 11, SoapBottle, -1.555, 0.821, -0.165, 0, 0, 0, 35 [SEP] 12, Cloth, -1.640, 0.042, -2.682, 0, 270, 0, 33 [SEP] 13, Candle, 0.726, 0.817, -0.926, 0, 90, 0, 36 [SEP] 14, HandTowel, -2.166, 1.500, -0.037, 0, 0, 0, 28 [SEP] 15, Towel, -1.525, 1.685, -0.105, 0, 180, 0, 26 [SEP] 16, SoapBar, -1.656, 0.818, -0.080, 0, 0, 0, 35 [SEP] 17, ToiletPaper, -0.556, 0.082, -3.778, 0, 0, 0, 27 [SEP] 18, Plunger, 0.854, -0.000, -3.905, 0, 0, 0, Floor|-01.66| [SEP] 19, SprayBottle, 0.867, 0.815, -0.825, 0, 90, 0, 36 [SEP] 20, TissueBox, 0.832, 0.809, -0.358, 0, 266.215, 0, 36 [SEP] 21, ToiletPaper, 0.405, 0.729, -3.885, 0, 0, 270, 34 [SEP] 22, ScrubBrush, 0.684, -0.000, -3.905, 0, 0, 0, Floor|-01.66| [SEP] 23, Sink, -2.171, 0.294, -0.660, 0, 90, 0, [SEP] 24, Bathtub, -2.122, -0.088, -3.116, 0, 0, 0, [SEP] 25, Mirror, -2.503, 1.423, -0.703, 0, 0, 0, [SEP] 26, TowelHolder, -1.524, 1.671, 0.001, 0, 180, 0, [SEP] 27, GarbageCan, -0.525, -0.050, -3.763, 0, 0, 0, [SEP] 28, HandTowelHolder, -2.166, 1.602, 0.000, 0, 90, 0, [SEP] 29, LightSwitch, 0.321, 1.327, 0.000, 0, 180, 0, [SEP] 30, Window, -0.540, 1.625, -3.996, 90, 0, 0, [SEP] 31, Toilet, 0.004, -0.000, -3.436, 0, 0, 0, [SEP] 32, SinkBasin, -2.176, 0.824, -0.659, 0, 0, 0, [SEP] 33, BathtubBasin, -1.862, 0.033, -2.723, 0, 270, 0, [SEP] 34, ToiletPaperHanger, 0.462, 0.841, -3.978, 0, 0, 0, [SEP] 35, SideTable, -1.526, 0.001, -0.172, 0, 0, 0, [SEP] 36, SideTable, 0.780, 0.001, -0.667, 0, 90, 0, [SEP] 37, SideTable, 0.793, 0.001, -1.817, 0, 90, 0, [SEP] 38, ShowerCurtain, -1.320, 1.781, -3.864, 0, 0, 5.987, [SEP] 39, Faucet, -2.431, 0.982, -0.660, 0, 90, 0, [SEP] 40, Faucet, -1.909, 0.666, -3.855, 0, 180, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and go to the cabinet by the sink. | STEP 2: Pick up a spray bottle on the cabinet. | STEP 3: Turn around and go to the toilet. | STEP 4: Put the spray bottle on the toilet. | STEP 5: Turn around and go to the cabinet by the door. | STEP 6: Pick up a spray bottle on the cabinet. | STEP 7: Turn around and go to the toilet. | STEP 8: Put the spray bottle on the toilet. | END"]} +{"id": "trial_T20190907_033843_707544-2", "input": "Gather cleaning supplies up SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -2.5, 0, 270, 0, [SEP] 1, Cloth, -2.085, 0.042, -3.542, 0, 270, 0, 33 [SEP] 2, Cloth, -1.640, 0.042, -2.395, 0, 270, 0, 33 [SEP] 3, TissueBox, -1.757, 0.818, -0.193, 0, 0, 0, 35 [SEP] 4, TissueBox, 0.824, 0.818, -1.773, 0, 90, 0, 37 [SEP] 5, Candle, 0.767, 0.817, -2.076, 0, 90, 0, 37 [SEP] 6, Candle, 0.824, 0.817, -1.975, 0, 90, 0, 37 [SEP] 7, SprayBottle, -1.353, 0.815, -0.221, 0, 0, 0, 35 [SEP] 8, SprayBottle, 0.739, 0.815, -1.975, 0, 90, 0, 37 [SEP] 9, SprayBottle, -1.353, 0.815, -0.137, 0, 0, 0, 35 [SEP] 10, SoapBottle, 0.839, 0.821, -0.623, 0, 90, 0, 36 [SEP] 11, SoapBottle, -1.555, 0.821, -0.165, 0, 0, 0, 35 [SEP] 12, Cloth, -1.640, 0.042, -2.682, 0, 270, 0, 33 [SEP] 13, Candle, 0.726, 0.817, -0.926, 0, 90, 0, 36 [SEP] 14, HandTowel, -2.166, 1.500, -0.037, 0, 0, 0, 28 [SEP] 15, Towel, -1.525, 1.685, -0.105, 0, 180, 0, 26 [SEP] 16, SoapBar, -1.656, 0.818, -0.080, 0, 0, 0, 35 [SEP] 17, ToiletPaper, -0.556, 0.082, -3.778, 0, 0, 0, 27 [SEP] 18, Plunger, 0.854, -0.000, -3.905, 0, 0, 0, Floor|-01.66| [SEP] 19, SprayBottle, 0.867, 0.815, -0.825, 0, 90, 0, 36 [SEP] 20, TissueBox, 0.832, 0.809, -0.358, 0, 266.215, 0, 36 [SEP] 21, ToiletPaper, 0.405, 0.729, -3.885, 0, 0, 270, 34 [SEP] 22, ScrubBrush, 0.684, -0.000, -3.905, 0, 0, 0, Floor|-01.66| [SEP] 23, Sink, -2.171, 0.294, -0.660, 0, 90, 0, [SEP] 24, Bathtub, -2.122, -0.088, -3.116, 0, 0, 0, [SEP] 25, Mirror, -2.503, 1.423, -0.703, 0, 0, 0, [SEP] 26, TowelHolder, -1.524, 1.671, 0.001, 0, 180, 0, [SEP] 27, GarbageCan, -0.525, -0.050, -3.763, 0, 0, 0, [SEP] 28, HandTowelHolder, -2.166, 1.602, 0.000, 0, 90, 0, [SEP] 29, LightSwitch, 0.321, 1.327, 0.000, 0, 180, 0, [SEP] 30, Window, -0.540, 1.625, -3.996, 90, 0, 0, [SEP] 31, Toilet, 0.004, -0.000, -3.436, 0, 0, 0, [SEP] 32, SinkBasin, -2.176, 0.824, -0.659, 0, 0, 0, [SEP] 33, BathtubBasin, -1.862, 0.033, -2.723, 0, 270, 0, [SEP] 34, ToiletPaperHanger, 0.462, 0.841, -3.978, 0, 0, 0, [SEP] 35, SideTable, -1.526, 0.001, -0.172, 0, 0, 0, [SEP] 36, SideTable, 0.780, 0.001, -0.667, 0, 90, 0, [SEP] 37, SideTable, 0.793, 0.001, -1.817, 0, 90, 0, [SEP] 38, ShowerCurtain, -1.320, 1.781, -3.864, 0, 0, 5.987, [SEP] 39, Faucet, -2.431, 0.982, -0.660, 0, 90, 0, [SEP] 40, Faucet, -1.909, 0.666, -3.855, 0, 180, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Turn around in the bathroom | STEP 2: Walk over to the counter | STEP 3: Grab the yellow spray bottle and walk it over to the toilet | STEP 4: Put the yellow spray bottle on the back of the toilet | STEP 5: turn around and go back to the counter | STEP 6: look at the other spray bottle | STEP 7: Pick that spray bottle up and carry it to the toilet | STEP 8: Place that spray bottle on the back of the toilet with the other one | END"]} +{"id": "trial_T20190907_033843_707544-3", "input": "Place two yellow bottles on top of a toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -2.5, 0, 270, 0, [SEP] 1, Cloth, -2.085, 0.042, -3.542, 0, 270, 0, 33 [SEP] 2, Cloth, -1.640, 0.042, -2.395, 0, 270, 0, 33 [SEP] 3, TissueBox, -1.757, 0.818, -0.193, 0, 0, 0, 35 [SEP] 4, TissueBox, 0.824, 0.818, -1.773, 0, 90, 0, 37 [SEP] 5, Candle, 0.767, 0.817, -2.076, 0, 90, 0, 37 [SEP] 6, Candle, 0.824, 0.817, -1.975, 0, 90, 0, 37 [SEP] 7, SprayBottle, -1.353, 0.815, -0.221, 0, 0, 0, 35 [SEP] 8, SprayBottle, 0.739, 0.815, -1.975, 0, 90, 0, 37 [SEP] 9, SprayBottle, -1.353, 0.815, -0.137, 0, 0, 0, 35 [SEP] 10, SoapBottle, 0.839, 0.821, -0.623, 0, 90, 0, 36 [SEP] 11, SoapBottle, -1.555, 0.821, -0.165, 0, 0, 0, 35 [SEP] 12, Cloth, -1.640, 0.042, -2.682, 0, 270, 0, 33 [SEP] 13, Candle, 0.726, 0.817, -0.926, 0, 90, 0, 36 [SEP] 14, HandTowel, -2.166, 1.500, -0.037, 0, 0, 0, 28 [SEP] 15, Towel, -1.525, 1.685, -0.105, 0, 180, 0, 26 [SEP] 16, SoapBar, -1.656, 0.818, -0.080, 0, 0, 0, 35 [SEP] 17, ToiletPaper, -0.556, 0.082, -3.778, 0, 0, 0, 27 [SEP] 18, Plunger, 0.854, -0.000, -3.905, 0, 0, 0, Floor|-01.66| [SEP] 19, SprayBottle, 0.867, 0.815, -0.825, 0, 90, 0, 36 [SEP] 20, TissueBox, 0.832, 0.809, -0.358, 0, 266.215, 0, 36 [SEP] 21, ToiletPaper, 0.405, 0.729, -3.885, 0, 0, 270, 34 [SEP] 22, ScrubBrush, 0.684, -0.000, -3.905, 0, 0, 0, Floor|-01.66| [SEP] 23, Sink, -2.171, 0.294, -0.660, 0, 90, 0, [SEP] 24, Bathtub, -2.122, -0.088, -3.116, 0, 0, 0, [SEP] 25, Mirror, -2.503, 1.423, -0.703, 0, 0, 0, [SEP] 26, TowelHolder, -1.524, 1.671, 0.001, 0, 180, 0, [SEP] 27, GarbageCan, -0.525, -0.050, -3.763, 0, 0, 0, [SEP] 28, HandTowelHolder, -2.166, 1.602, 0.000, 0, 90, 0, [SEP] 29, LightSwitch, 0.321, 1.327, 0.000, 0, 180, 0, [SEP] 30, Window, -0.540, 1.625, -3.996, 90, 0, 0, [SEP] 31, Toilet, 0.004, -0.000, -3.436, 0, 0, 0, [SEP] 32, SinkBasin, -2.176, 0.824, -0.659, 0, 0, 0, [SEP] 33, BathtubBasin, -1.862, 0.033, -2.723, 0, 270, 0, [SEP] 34, ToiletPaperHanger, 0.462, 0.841, -3.978, 0, 0, 0, [SEP] 35, SideTable, -1.526, 0.001, -0.172, 0, 0, 0, [SEP] 36, SideTable, 0.780, 0.001, -0.667, 0, 90, 0, [SEP] 37, SideTable, 0.793, 0.001, -1.817, 0, 90, 0, [SEP] 38, ShowerCurtain, -1.320, 1.781, -3.864, 0, 0, 5.987, [SEP] 39, Faucet, -2.431, 0.982, -0.660, 0, 90, 0, [SEP] 40, Faucet, -1.909, 0.666, -3.855, 0, 180, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Head to your right until you are standing directly in front of two yellow bottles | STEP 2: Pick up a yellow bottle off of the counter | STEP 3: Turn around and walk towards the toilet, then face left | STEP 4: Place the yellow bottle on top of the toilet | STEP 5: Turn around and then head to your right | STEP 6: Pick up a yellow bottle off of the counter | STEP 7: Return to where you were standing facing the toilet | STEP 8: Place the second yellow bottle on top of the toilet | END"]} +{"id": "trial_T20190907_033843_707544-4", "input": "Put two yellow bottles on top of the toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -2.5, 0, 270, 0, [SEP] 1, Cloth, -2.085, 0.042, -3.542, 0, 270, 0, 33 [SEP] 2, Cloth, -1.640, 0.042, -2.395, 0, 270, 0, 33 [SEP] 3, TissueBox, -1.757, 0.818, -0.193, 0, 0, 0, 35 [SEP] 4, TissueBox, 0.824, 0.818, -1.773, 0, 90, 0, 37 [SEP] 5, Candle, 0.767, 0.817, -2.076, 0, 90, 0, 37 [SEP] 6, Candle, 0.824, 0.817, -1.975, 0, 90, 0, 37 [SEP] 7, SprayBottle, -1.353, 0.815, -0.221, 0, 0, 0, 35 [SEP] 8, SprayBottle, 0.739, 0.815, -1.975, 0, 90, 0, 37 [SEP] 9, SprayBottle, -1.353, 0.815, -0.137, 0, 0, 0, 35 [SEP] 10, SoapBottle, 0.839, 0.821, -0.623, 0, 90, 0, 36 [SEP] 11, SoapBottle, -1.555, 0.821, -0.165, 0, 0, 0, 35 [SEP] 12, Cloth, -1.640, 0.042, -2.682, 0, 270, 0, 33 [SEP] 13, Candle, 0.726, 0.817, -0.926, 0, 90, 0, 36 [SEP] 14, HandTowel, -2.166, 1.500, -0.037, 0, 0, 0, 28 [SEP] 15, Towel, -1.525, 1.685, -0.105, 0, 180, 0, 26 [SEP] 16, SoapBar, -1.656, 0.818, -0.080, 0, 0, 0, 35 [SEP] 17, ToiletPaper, -0.556, 0.082, -3.778, 0, 0, 0, 27 [SEP] 18, Plunger, 0.854, -0.000, -3.905, 0, 0, 0, Floor|-01.66| [SEP] 19, SprayBottle, 0.867, 0.815, -0.825, 0, 90, 0, 36 [SEP] 20, TissueBox, 0.832, 0.809, -0.358, 0, 266.215, 0, 36 [SEP] 21, ToiletPaper, 0.405, 0.729, -3.885, 0, 0, 270, 34 [SEP] 22, ScrubBrush, 0.684, -0.000, -3.905, 0, 0, 0, Floor|-01.66| [SEP] 23, Sink, -2.171, 0.294, -0.660, 0, 90, 0, [SEP] 24, Bathtub, -2.122, -0.088, -3.116, 0, 0, 0, [SEP] 25, Mirror, -2.503, 1.423, -0.703, 0, 0, 0, [SEP] 26, TowelHolder, -1.524, 1.671, 0.001, 0, 180, 0, [SEP] 27, GarbageCan, -0.525, -0.050, -3.763, 0, 0, 0, [SEP] 28, HandTowelHolder, -2.166, 1.602, 0.000, 0, 90, 0, [SEP] 29, LightSwitch, 0.321, 1.327, 0.000, 0, 180, 0, [SEP] 30, Window, -0.540, 1.625, -3.996, 90, 0, 0, [SEP] 31, Toilet, 0.004, -0.000, -3.436, 0, 0, 0, [SEP] 32, SinkBasin, -2.176, 0.824, -0.659, 0, 0, 0, [SEP] 33, BathtubBasin, -1.862, 0.033, -2.723, 0, 270, 0, [SEP] 34, ToiletPaperHanger, 0.462, 0.841, -3.978, 0, 0, 0, [SEP] 35, SideTable, -1.526, 0.001, -0.172, 0, 0, 0, [SEP] 36, SideTable, 0.780, 0.001, -0.667, 0, 90, 0, [SEP] 37, SideTable, 0.793, 0.001, -1.817, 0, 90, 0, [SEP] 38, ShowerCurtain, -1.320, 1.781, -3.864, 0, 0, 5.987, [SEP] 39, Faucet, -2.431, 0.982, -0.660, 0, 90, 0, [SEP] 40, Faucet, -1.909, 0.666, -3.855, 0, 180, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your right until you are facing the two yellow bottles | STEP 2: Pick up a yellow bottle off of the side counter | STEP 3: Head backwards and then face the toilet on your left | STEP 4: Put a yellow bottle on top of the toilet tank | STEP 5: Turn to your left and when you reach the wall, turn to your right and approach the other side counter | STEP 6: Pick up a yellow bottle off of the side counter | STEP 7: Head back to the right side of the toilet | STEP 8: Put the other yellow bottle on top of the toilet tank | END"]} +{"id": "trial_T20190909_112912_154874-0", "input": "put chilled bowl in cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, -0.5, 0, 90, 0, [SEP] 1, Pan, 1.845, 0.948, -0.355, 0, 0, 0, 41 [SEP] 2, ButterKnife, -0.137, 0.764, -2.026, 0, 0, 0, 72 [SEP] 3, WineBottle, -1.000, 0.914, -2.151, 0, 0, 0, 60 [SEP] 4, Pot, -1.438, 0.857, -0.806, 0, 180, 0, 68 [SEP] 5, Spoon, -0.137, 0.765, -2.026, 0, 0, 0, 72 [SEP] 6, Fork, -0.047, 0.931, 0.991, 0, 0, 0, 77 [SEP] 7, Fork, -0.772, 0.914, -2.101, 0, 0, 0, 60 [SEP] 8, Egg, 0.066, 0.984, 0.076, 0, 0, 0, 77 [SEP] 9, Egg, -1.533, 1.558, -1.013, 0, 90, 0, 68 [SEP] 10, Cup, -0.283, 0.764, -2.026, 0, 0, 0, 72 [SEP] 11, Cup, 1.669, 0.881, 2.483, 0, 0, 0, 81 [SEP] 12, Plate, 1.850, 0.916, -2.002, 0, 0, 0, 60 [SEP] 13, Plate, 1.670, 0.556, 2.482, 0, 0, 0, 86 [SEP] 14, SoapBottle, 1.590, 1.658, -2.086, 0, 0, 0, 47 [SEP] 15, SoapBottle, -1.284, 2.146, -1.349, 0, 90, 0, 44 [SEP] 16, Bread, -1.495, 1.228, -0.910, 0, 90, 0, 68 [SEP] 17, Mug, 1.261, 0.951, -1.934, 0, 0, 0, 70 [SEP] 18, Apple, -1.438, 1.254, -0.599, 0, 90, 0, 68 [SEP] 19, Potato, -1.252, 1.044, -1.846, 0, 90, 0, 66 [SEP] 20, Bowl, 0.180, 0.927, 0.762, 0, 0, 0, 77 [SEP] 21, SoapBottle, 0.522, 0.929, 0.305, 0, 0, 0, 77 [SEP] 22, Fork, 0.522, 0.927, 0.076, 0, 0, 0, 77 [SEP] 23, Ladle, -0.047, 0.975, 1.220, 0, 0, 0, 77 [SEP] 24, Bread, 0.408, 0.975, 0.534, 0, 0, 0, 77 [SEP] 25, Lettuce, 0.180, 1.011, 1.448, 0, 0, 0, 77 [SEP] 26, WineBottle, 1.828, 0.914, -1.212, 0, 0, 0, 60 [SEP] 27, Spatula, -0.230, 0.928, -1.737, 0, 0, 0, 60 [SEP] 28, Plate, -1.316, 1.663, -1.729, 0, 90, 0, 43 [SEP] 29, SaltShaker, 0.294, 0.923, 1.448, 0, 0, 0, 77 [SEP] 30, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 42 [SEP] 31, Cup, 1.877, 0.553, 2.534, 0, 0, 0, 80 [SEP] 32, PepperShaker, 1.462, 0.549, 2.638, 0, 0, 0, 86 [SEP] 33, Pan, 0.066, 0.930, 0.305, 0, 90, 0, 77 [SEP] 34, ButterKnife, 0.180, 0.930, 0.991, 0, 0, 0, 77 [SEP] 35, Tomato, 2.009, 0.965, -1.680, 0, 0, 0, 60 [SEP] 36, DishSponge, 0.408, 0.930, 0.991, 0, 0, 0, 77 [SEP] 37, Egg, 1.892, 0.140, 0.283, 0, 0, 0, 61 [SEP] 38, Spoon, -0.210, 0.765, -2.026, 0, 90, 0, 72 [SEP] 39, Knife, 0.002, 0.936, -1.737, 0, 0, 0, 60 [SEP] 40, Mug, 1.255, 0.548, 2.431, 0, 0, 0, 80 [SEP] 41, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 42, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 43, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 44, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 45, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 46, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 47, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 48, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 49, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 50, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 51, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 52, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 53, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 54, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 55, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 56, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 57, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 58, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 59, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 60, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 61, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 62, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 63, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 64, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 65, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 66, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 67, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 68, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 69, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 70, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 71, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 72, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 73, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 74, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 75, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 76, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 77, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 78, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 79, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 80, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 81, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 82, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 83, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 84, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 85, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 86, , , , , , , , [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: walk to face kitchen island | STEP 2: pick up bowl from island | STEP 3: walk to face fridge | STEP 4: chill and remove bowl from fridge | STEP 5: walk to face cabinets under sink | STEP 6: put bowl in cabinet | END"]} +{"id": "trial_T20190909_112912_154874-1", "input": "take a bowl from the counter to the cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, -0.5, 0, 90, 0, [SEP] 1, Pan, 1.845, 0.948, -0.355, 0, 0, 0, 41 [SEP] 2, ButterKnife, -0.137, 0.764, -2.026, 0, 0, 0, 72 [SEP] 3, WineBottle, -1.000, 0.914, -2.151, 0, 0, 0, 60 [SEP] 4, Pot, -1.438, 0.857, -0.806, 0, 180, 0, 68 [SEP] 5, Spoon, -0.137, 0.765, -2.026, 0, 0, 0, 72 [SEP] 6, Fork, -0.047, 0.931, 0.991, 0, 0, 0, 77 [SEP] 7, Fork, -0.772, 0.914, -2.101, 0, 0, 0, 60 [SEP] 8, Egg, 0.066, 0.984, 0.076, 0, 0, 0, 77 [SEP] 9, Egg, -1.533, 1.558, -1.013, 0, 90, 0, 68 [SEP] 10, Cup, -0.283, 0.764, -2.026, 0, 0, 0, 72 [SEP] 11, Cup, 1.669, 0.881, 2.483, 0, 0, 0, 81 [SEP] 12, Plate, 1.850, 0.916, -2.002, 0, 0, 0, 60 [SEP] 13, Plate, 1.670, 0.556, 2.482, 0, 0, 0, 86 [SEP] 14, SoapBottle, 1.590, 1.658, -2.086, 0, 0, 0, 47 [SEP] 15, SoapBottle, -1.284, 2.146, -1.349, 0, 90, 0, 44 [SEP] 16, Bread, -1.495, 1.228, -0.910, 0, 90, 0, 68 [SEP] 17, Mug, 1.261, 0.951, -1.934, 0, 0, 0, 70 [SEP] 18, Apple, -1.438, 1.254, -0.599, 0, 90, 0, 68 [SEP] 19, Potato, -1.252, 1.044, -1.846, 0, 90, 0, 66 [SEP] 20, Bowl, 0.180, 0.927, 0.762, 0, 0, 0, 77 [SEP] 21, SoapBottle, 0.522, 0.929, 0.305, 0, 0, 0, 77 [SEP] 22, Fork, 0.522, 0.927, 0.076, 0, 0, 0, 77 [SEP] 23, Ladle, -0.047, 0.975, 1.220, 0, 0, 0, 77 [SEP] 24, Bread, 0.408, 0.975, 0.534, 0, 0, 0, 77 [SEP] 25, Lettuce, 0.180, 1.011, 1.448, 0, 0, 0, 77 [SEP] 26, WineBottle, 1.828, 0.914, -1.212, 0, 0, 0, 60 [SEP] 27, Spatula, -0.230, 0.928, -1.737, 0, 0, 0, 60 [SEP] 28, Plate, -1.316, 1.663, -1.729, 0, 90, 0, 43 [SEP] 29, SaltShaker, 0.294, 0.923, 1.448, 0, 0, 0, 77 [SEP] 30, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 42 [SEP] 31, Cup, 1.877, 0.553, 2.534, 0, 0, 0, 80 [SEP] 32, PepperShaker, 1.462, 0.549, 2.638, 0, 0, 0, 86 [SEP] 33, Pan, 0.066, 0.930, 0.305, 0, 90, 0, 77 [SEP] 34, ButterKnife, 0.180, 0.930, 0.991, 0, 0, 0, 77 [SEP] 35, Tomato, 2.009, 0.965, -1.680, 0, 0, 0, 60 [SEP] 36, DishSponge, 0.408, 0.930, 0.991, 0, 0, 0, 77 [SEP] 37, Egg, 1.892, 0.140, 0.283, 0, 0, 0, 61 [SEP] 38, Spoon, -0.210, 0.765, -2.026, 0, 90, 0, 72 [SEP] 39, Knife, 0.002, 0.936, -1.737, 0, 0, 0, 60 [SEP] 40, Mug, 1.255, 0.548, 2.431, 0, 0, 0, 80 [SEP] 41, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 42, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 43, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 44, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 45, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 46, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 47, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 48, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 49, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 50, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 51, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 52, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 53, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 54, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 55, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 56, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 57, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 58, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 59, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 60, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 61, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 62, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 63, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 64, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 65, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 66, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 67, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 68, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 69, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 70, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 71, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 72, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 73, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 74, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 75, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 76, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 77, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 78, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 79, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 80, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 81, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 82, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 83, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 84, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 85, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 86, , , , , , , , [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: go to the island | STEP 2: take the bowl from the counter | STEP 3: take the bowl to the fridge | STEP 4: put the bowl in the fridge then remove | STEP 5: take the bowl near the sink | STEP 6: put the bowl in the bottom cabinet to the right of the sink | END"]} +{"id": "trial_T20190909_112912_154874-2", "input": "Place a chilled glass bowl in the cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, -0.5, 0, 90, 0, [SEP] 1, Pan, 1.845, 0.948, -0.355, 0, 0, 0, 41 [SEP] 2, ButterKnife, -0.137, 0.764, -2.026, 0, 0, 0, 72 [SEP] 3, WineBottle, -1.000, 0.914, -2.151, 0, 0, 0, 60 [SEP] 4, Pot, -1.438, 0.857, -0.806, 0, 180, 0, 68 [SEP] 5, Spoon, -0.137, 0.765, -2.026, 0, 0, 0, 72 [SEP] 6, Fork, -0.047, 0.931, 0.991, 0, 0, 0, 77 [SEP] 7, Fork, -0.772, 0.914, -2.101, 0, 0, 0, 60 [SEP] 8, Egg, 0.066, 0.984, 0.076, 0, 0, 0, 77 [SEP] 9, Egg, -1.533, 1.558, -1.013, 0, 90, 0, 68 [SEP] 10, Cup, -0.283, 0.764, -2.026, 0, 0, 0, 72 [SEP] 11, Cup, 1.669, 0.881, 2.483, 0, 0, 0, 81 [SEP] 12, Plate, 1.850, 0.916, -2.002, 0, 0, 0, 60 [SEP] 13, Plate, 1.670, 0.556, 2.482, 0, 0, 0, 86 [SEP] 14, SoapBottle, 1.590, 1.658, -2.086, 0, 0, 0, 47 [SEP] 15, SoapBottle, -1.284, 2.146, -1.349, 0, 90, 0, 44 [SEP] 16, Bread, -1.495, 1.228, -0.910, 0, 90, 0, 68 [SEP] 17, Mug, 1.261, 0.951, -1.934, 0, 0, 0, 70 [SEP] 18, Apple, -1.438, 1.254, -0.599, 0, 90, 0, 68 [SEP] 19, Potato, -1.252, 1.044, -1.846, 0, 90, 0, 66 [SEP] 20, Bowl, 0.180, 0.927, 0.762, 0, 0, 0, 77 [SEP] 21, SoapBottle, 0.522, 0.929, 0.305, 0, 0, 0, 77 [SEP] 22, Fork, 0.522, 0.927, 0.076, 0, 0, 0, 77 [SEP] 23, Ladle, -0.047, 0.975, 1.220, 0, 0, 0, 77 [SEP] 24, Bread, 0.408, 0.975, 0.534, 0, 0, 0, 77 [SEP] 25, Lettuce, 0.180, 1.011, 1.448, 0, 0, 0, 77 [SEP] 26, WineBottle, 1.828, 0.914, -1.212, 0, 0, 0, 60 [SEP] 27, Spatula, -0.230, 0.928, -1.737, 0, 0, 0, 60 [SEP] 28, Plate, -1.316, 1.663, -1.729, 0, 90, 0, 43 [SEP] 29, SaltShaker, 0.294, 0.923, 1.448, 0, 0, 0, 77 [SEP] 30, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 42 [SEP] 31, Cup, 1.877, 0.553, 2.534, 0, 0, 0, 80 [SEP] 32, PepperShaker, 1.462, 0.549, 2.638, 0, 0, 0, 86 [SEP] 33, Pan, 0.066, 0.930, 0.305, 0, 90, 0, 77 [SEP] 34, ButterKnife, 0.180, 0.930, 0.991, 0, 0, 0, 77 [SEP] 35, Tomato, 2.009, 0.965, -1.680, 0, 0, 0, 60 [SEP] 36, DishSponge, 0.408, 0.930, 0.991, 0, 0, 0, 77 [SEP] 37, Egg, 1.892, 0.140, 0.283, 0, 0, 0, 61 [SEP] 38, Spoon, -0.210, 0.765, -2.026, 0, 90, 0, 72 [SEP] 39, Knife, 0.002, 0.936, -1.737, 0, 0, 0, 60 [SEP] 40, Mug, 1.255, 0.548, 2.431, 0, 0, 0, 80 [SEP] 41, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 42, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 43, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 44, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 45, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 46, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 47, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 48, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 49, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 50, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 51, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 52, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 53, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 54, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 55, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 56, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 57, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 58, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 59, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 60, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 61, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 62, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 63, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 64, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 65, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 66, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 67, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 68, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 69, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 70, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 71, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 72, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 73, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 74, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 75, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 76, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 77, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 78, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 79, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 80, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 81, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 82, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 83, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 84, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 85, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 86, , , , , , , , [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, move towards the white door, then turn right and face the center of the gray table. | STEP 2: Pick up the glass bowl between the knife and the loaf of bread from the table. | STEP 3: Turn right, move towards the white dishwasher, then turn right and face the refrigerator. | STEP 4: Open the refrigerator, place the bowl on the bottom shelf to the right of the pan, close the refrigerator to allow the bowl to chill, then open the refrigerator and pick up the bowl from the bottom shelf. | STEP 5: Turn around, move towards the white range, then turn right and move to the sink to the right of the dishwasher. | STEP 6: Open the bottom cabinet door to the right of the sink, place the bowl in the cabinet, then close the cabinet door. | END"]} +{"id": "trial_T20190906_201007_149137-0", "input": "hold a pillow while turning on a lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, -0.75, 0, 0, 0, [SEP] 1, Plate, 2.327, 0.789, -0.415, 0, 0, 0, 37 [SEP] 2, Vase, -1.862, 0.233, 2.750, 0, 0, 0, 33 [SEP] 3, KeyChain, 1.440, 0.784, -0.045, 0, 0, 0, 37 [SEP] 4, CreditCard, -2.266, 0.449, 0.145, 0, 0, 0, 38 [SEP] 5, RemoteControl, -1.774, 0.450, 0.145, 0, 0, 0, 38 [SEP] 6, Box, -3.341, 0.736, -0.552, 0, 0, 0, 32 [SEP] 7, Candle, -1.480, 0.711, 2.919, 0, 0, 0, 34 [SEP] 8, Vase, -1.856, 0.449, 0.400, 0, 0, 0, 38 [SEP] 9, CreditCard, -1.747, 0.232, 2.900, 0, 0, 0, 33 [SEP] 10, Vase, 2.105, 0.793, -0.415, 0, 0, 0, 37 [SEP] 11, WateringCan, -3.252, -0.000, -1.861, 0, 0, 0, [SEP] 12, Laptop, -2.015, 0.442, -0.115, 0, 328.925, 0, 38 [SEP] 13, RemoteControl, 1.884, 0.785, -0.661, 0, 0, 0, 37 [SEP] 14, Statue, 2.548, 0.790, -0.538, 0, 0, 0, 37 [SEP] 15, KeyChain, -3.341, 0.533, -0.552, 0, 0, 0, 32 [SEP] 16, Pillow, -1.921, 0.36, -1.500, 0, 0, 0, 31 [SEP] 17, Plate, -2.102, 0.454, 0.273, 0, 0, 0, 38 [SEP] 18, Statue, 1.884, 0.794, -0.045, 0, 0, 0, 37 [SEP] 19, LightSwitch, -3.900, 1.284, 1.684, 0, 90, 0, [SEP] 20, GarbageCan, 0.299, 5.066, 1.253, 0, 2.215, 0, [SEP] 21, FloorLamp, -0.331, 0.001, 2.728, 0, 0, 0, [SEP] 22, Painting, -0.056, 1.601, 1.733, 90, 270, 0, [SEP] 23, Painting, 4.136, 1.590, -0.296, 90, 270, 0, [SEP] 24, Television, -1.859, 1.200, 2.702, 358.970, 180, 0, [SEP] 25, HousePlant, -3.580, 0.604, -1.617, 0, 0, 0, [SEP] 26, Window, 1.478, 1.506, -1.927, 90, 0, 0, [SEP] 27, Window, -2.003, 1.506, -1.927, 90, 0, 0, [SEP] 28, Window, 3.480, 1.506, -1.927, 90, 0, 0, [SEP] 29, ArmChair, -0.437, 0.005, 1.923, 0, 270, 0, [SEP] 30, ArmChair, -0.430, 0.005, 1.062, 0, 270, 0, [SEP] 31, ArmChair, -2.004, 0.005, -1.578, 0, 0, 0, [SEP] 32, Sofa, -3.419, 0.009, -0.042, 0, 90, 0, [SEP] 33, DiningTable, -1.857, 0.231, 2.787, 0, 0, 0, [SEP] 34, TVStand, -1.857, 0.000, 2.788, 0, 0, 0, [SEP] 35, SideTable, -3.597, 0.004, 1.437, 0, 0, 0, [SEP] 36, SideTable, -3.597, 0.004, -1.607, 0, 0, 0, [SEP] 37, DiningTable, 1.883, 0.000, -0.291, 0, 0, 0, [SEP] 38, CoffeeTable, -2.023, 0.005, 0.018, 0, 270, 0, [SEP] 39, Chair, 1.462, -0.001, 0.195, 0, 164.999, 0, [SEP] 40, Chair, 2.288, -0.001, -0.780, 0, 0, 0, [SEP] 41, Chair, 2.223, -0.001, 0.149, 0, 186.648, 0, [SEP] 42, Chair, 1.638, -0.001, -0.847, 0, 0, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, WestWall, , , , , , , ", "output": ["STEP 1: Take right, take another right, walk to chair | STEP 2: Grab pillow from chair | STEP 3: Take right, walk forward to the television stand, turn to face chair on right | STEP 4: Turn on lamp next to chair | END"]} +{"id": "trial_T20190906_201007_149137-1", "input": "Examine a pillow in the light of a tall lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, -0.75, 0, 0, 0, [SEP] 1, Plate, 2.327, 0.789, -0.415, 0, 0, 0, 37 [SEP] 2, Vase, -1.862, 0.233, 2.750, 0, 0, 0, 33 [SEP] 3, KeyChain, 1.440, 0.784, -0.045, 0, 0, 0, 37 [SEP] 4, CreditCard, -2.266, 0.449, 0.145, 0, 0, 0, 38 [SEP] 5, RemoteControl, -1.774, 0.450, 0.145, 0, 0, 0, 38 [SEP] 6, Box, -3.341, 0.736, -0.552, 0, 0, 0, 32 [SEP] 7, Candle, -1.480, 0.711, 2.919, 0, 0, 0, 34 [SEP] 8, Vase, -1.856, 0.449, 0.400, 0, 0, 0, 38 [SEP] 9, CreditCard, -1.747, 0.232, 2.900, 0, 0, 0, 33 [SEP] 10, Vase, 2.105, 0.793, -0.415, 0, 0, 0, 37 [SEP] 11, WateringCan, -3.252, -0.000, -1.861, 0, 0, 0, [SEP] 12, Laptop, -2.015, 0.442, -0.115, 0, 328.925, 0, 38 [SEP] 13, RemoteControl, 1.884, 0.785, -0.661, 0, 0, 0, 37 [SEP] 14, Statue, 2.548, 0.790, -0.538, 0, 0, 0, 37 [SEP] 15, KeyChain, -3.341, 0.533, -0.552, 0, 0, 0, 32 [SEP] 16, Pillow, -1.921, 0.36, -1.500, 0, 0, 0, 31 [SEP] 17, Plate, -2.102, 0.454, 0.273, 0, 0, 0, 38 [SEP] 18, Statue, 1.884, 0.794, -0.045, 0, 0, 0, 37 [SEP] 19, LightSwitch, -3.900, 1.284, 1.684, 0, 90, 0, [SEP] 20, GarbageCan, 0.299, 5.066, 1.253, 0, 2.215, 0, [SEP] 21, FloorLamp, -0.331, 0.001, 2.728, 0, 0, 0, [SEP] 22, Painting, -0.056, 1.601, 1.733, 90, 270, 0, [SEP] 23, Painting, 4.136, 1.590, -0.296, 90, 270, 0, [SEP] 24, Television, -1.859, 1.200, 2.702, 358.970, 180, 0, [SEP] 25, HousePlant, -3.580, 0.604, -1.617, 0, 0, 0, [SEP] 26, Window, 1.478, 1.506, -1.927, 90, 0, 0, [SEP] 27, Window, -2.003, 1.506, -1.927, 90, 0, 0, [SEP] 28, Window, 3.480, 1.506, -1.927, 90, 0, 0, [SEP] 29, ArmChair, -0.437, 0.005, 1.923, 0, 270, 0, [SEP] 30, ArmChair, -0.430, 0.005, 1.062, 0, 270, 0, [SEP] 31, ArmChair, -2.004, 0.005, -1.578, 0, 0, 0, [SEP] 32, Sofa, -3.419, 0.009, -0.042, 0, 90, 0, [SEP] 33, DiningTable, -1.857, 0.231, 2.787, 0, 0, 0, [SEP] 34, TVStand, -1.857, 0.000, 2.788, 0, 0, 0, [SEP] 35, SideTable, -3.597, 0.004, 1.437, 0, 0, 0, [SEP] 36, SideTable, -3.597, 0.004, -1.607, 0, 0, 0, [SEP] 37, DiningTable, 1.883, 0.000, -0.291, 0, 0, 0, [SEP] 38, CoffeeTable, -2.023, 0.005, 0.018, 0, 270, 0, [SEP] 39, Chair, 1.462, -0.001, 0.195, 0, 164.999, 0, [SEP] 40, Chair, 2.288, -0.001, -0.780, 0, 0, 0, [SEP] 41, Chair, 2.223, -0.001, 0.149, 0, 186.648, 0, [SEP] 42, Chair, 1.638, -0.001, -0.847, 0, 0, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and take a step, then turn right again, walk up to the wall, and turn right to face the chair. | STEP 2: Pick up the white pillow off of the seat of the chair. | STEP 3: Turn right and walk over to the tall lamp in the corner of the room. | STEP 4: Turn on the light of the tall lamp. | END"]} +{"id": "trial_T20190906_201007_149137-2", "input": "Turn on the tall lamp in the corner while carrying a white cushion. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, -0.75, 0, 0, 0, [SEP] 1, Plate, 2.327, 0.789, -0.415, 0, 0, 0, 37 [SEP] 2, Vase, -1.862, 0.233, 2.750, 0, 0, 0, 33 [SEP] 3, KeyChain, 1.440, 0.784, -0.045, 0, 0, 0, 37 [SEP] 4, CreditCard, -2.266, 0.449, 0.145, 0, 0, 0, 38 [SEP] 5, RemoteControl, -1.774, 0.450, 0.145, 0, 0, 0, 38 [SEP] 6, Box, -3.341, 0.736, -0.552, 0, 0, 0, 32 [SEP] 7, Candle, -1.480, 0.711, 2.919, 0, 0, 0, 34 [SEP] 8, Vase, -1.856, 0.449, 0.400, 0, 0, 0, 38 [SEP] 9, CreditCard, -1.747, 0.232, 2.900, 0, 0, 0, 33 [SEP] 10, Vase, 2.105, 0.793, -0.415, 0, 0, 0, 37 [SEP] 11, WateringCan, -3.252, -0.000, -1.861, 0, 0, 0, [SEP] 12, Laptop, -2.015, 0.442, -0.115, 0, 328.925, 0, 38 [SEP] 13, RemoteControl, 1.884, 0.785, -0.661, 0, 0, 0, 37 [SEP] 14, Statue, 2.548, 0.790, -0.538, 0, 0, 0, 37 [SEP] 15, KeyChain, -3.341, 0.533, -0.552, 0, 0, 0, 32 [SEP] 16, Pillow, -1.921, 0.36, -1.500, 0, 0, 0, 31 [SEP] 17, Plate, -2.102, 0.454, 0.273, 0, 0, 0, 38 [SEP] 18, Statue, 1.884, 0.794, -0.045, 0, 0, 0, 37 [SEP] 19, LightSwitch, -3.900, 1.284, 1.684, 0, 90, 0, [SEP] 20, GarbageCan, 0.299, 5.066, 1.253, 0, 2.215, 0, [SEP] 21, FloorLamp, -0.331, 0.001, 2.728, 0, 0, 0, [SEP] 22, Painting, -0.056, 1.601, 1.733, 90, 270, 0, [SEP] 23, Painting, 4.136, 1.590, -0.296, 90, 270, 0, [SEP] 24, Television, -1.859, 1.200, 2.702, 358.970, 180, 0, [SEP] 25, HousePlant, -3.580, 0.604, -1.617, 0, 0, 0, [SEP] 26, Window, 1.478, 1.506, -1.927, 90, 0, 0, [SEP] 27, Window, -2.003, 1.506, -1.927, 90, 0, 0, [SEP] 28, Window, 3.480, 1.506, -1.927, 90, 0, 0, [SEP] 29, ArmChair, -0.437, 0.005, 1.923, 0, 270, 0, [SEP] 30, ArmChair, -0.430, 0.005, 1.062, 0, 270, 0, [SEP] 31, ArmChair, -2.004, 0.005, -1.578, 0, 0, 0, [SEP] 32, Sofa, -3.419, 0.009, -0.042, 0, 90, 0, [SEP] 33, DiningTable, -1.857, 0.231, 2.787, 0, 0, 0, [SEP] 34, TVStand, -1.857, 0.000, 2.788, 0, 0, 0, [SEP] 35, SideTable, -3.597, 0.004, 1.437, 0, 0, 0, [SEP] 36, SideTable, -3.597, 0.004, -1.607, 0, 0, 0, [SEP] 37, DiningTable, 1.883, 0.000, -0.291, 0, 0, 0, [SEP] 38, CoffeeTable, -2.023, 0.005, 0.018, 0, 270, 0, [SEP] 39, Chair, 1.462, -0.001, 0.195, 0, 164.999, 0, [SEP] 40, Chair, 2.288, -0.001, -0.780, 0, 0, 0, [SEP] 41, Chair, 2.223, -0.001, 0.149, 0, 186.648, 0, [SEP] 42, Chair, 1.638, -0.001, -0.847, 0, 0, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the left side of the white chair. | STEP 2: Pick up the white cushion from the chair. | STEP 3: Turn right and walk to the tall lamp in the corner. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190906_201007_149137-3", "input": "Move a chair cushion across the room, next turn on the lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, -0.75, 0, 0, 0, [SEP] 1, Plate, 2.327, 0.789, -0.415, 0, 0, 0, 37 [SEP] 2, Vase, -1.862, 0.233, 2.750, 0, 0, 0, 33 [SEP] 3, KeyChain, 1.440, 0.784, -0.045, 0, 0, 0, 37 [SEP] 4, CreditCard, -2.266, 0.449, 0.145, 0, 0, 0, 38 [SEP] 5, RemoteControl, -1.774, 0.450, 0.145, 0, 0, 0, 38 [SEP] 6, Box, -3.341, 0.736, -0.552, 0, 0, 0, 32 [SEP] 7, Candle, -1.480, 0.711, 2.919, 0, 0, 0, 34 [SEP] 8, Vase, -1.856, 0.449, 0.400, 0, 0, 0, 38 [SEP] 9, CreditCard, -1.747, 0.232, 2.900, 0, 0, 0, 33 [SEP] 10, Vase, 2.105, 0.793, -0.415, 0, 0, 0, 37 [SEP] 11, WateringCan, -3.252, -0.000, -1.861, 0, 0, 0, [SEP] 12, Laptop, -2.015, 0.442, -0.115, 0, 328.925, 0, 38 [SEP] 13, RemoteControl, 1.884, 0.785, -0.661, 0, 0, 0, 37 [SEP] 14, Statue, 2.548, 0.790, -0.538, 0, 0, 0, 37 [SEP] 15, KeyChain, -3.341, 0.533, -0.552, 0, 0, 0, 32 [SEP] 16, Pillow, -1.921, 0.36, -1.500, 0, 0, 0, 31 [SEP] 17, Plate, -2.102, 0.454, 0.273, 0, 0, 0, 38 [SEP] 18, Statue, 1.884, 0.794, -0.045, 0, 0, 0, 37 [SEP] 19, LightSwitch, -3.900, 1.284, 1.684, 0, 90, 0, [SEP] 20, GarbageCan, 0.299, 5.066, 1.253, 0, 2.215, 0, [SEP] 21, FloorLamp, -0.331, 0.001, 2.728, 0, 0, 0, [SEP] 22, Painting, -0.056, 1.601, 1.733, 90, 270, 0, [SEP] 23, Painting, 4.136, 1.590, -0.296, 90, 270, 0, [SEP] 24, Television, -1.859, 1.200, 2.702, 358.970, 180, 0, [SEP] 25, HousePlant, -3.580, 0.604, -1.617, 0, 0, 0, [SEP] 26, Window, 1.478, 1.506, -1.927, 90, 0, 0, [SEP] 27, Window, -2.003, 1.506, -1.927, 90, 0, 0, [SEP] 28, Window, 3.480, 1.506, -1.927, 90, 0, 0, [SEP] 29, ArmChair, -0.437, 0.005, 1.923, 0, 270, 0, [SEP] 30, ArmChair, -0.430, 0.005, 1.062, 0, 270, 0, [SEP] 31, ArmChair, -2.004, 0.005, -1.578, 0, 0, 0, [SEP] 32, Sofa, -3.419, 0.009, -0.042, 0, 90, 0, [SEP] 33, DiningTable, -1.857, 0.231, 2.787, 0, 0, 0, [SEP] 34, TVStand, -1.857, 0.000, 2.788, 0, 0, 0, [SEP] 35, SideTable, -3.597, 0.004, 1.437, 0, 0, 0, [SEP] 36, SideTable, -3.597, 0.004, -1.607, 0, 0, 0, [SEP] 37, DiningTable, 1.883, 0.000, -0.291, 0, 0, 0, [SEP] 38, CoffeeTable, -2.023, 0.005, 0.018, 0, 270, 0, [SEP] 39, Chair, 1.462, -0.001, 0.195, 0, 164.999, 0, [SEP] 40, Chair, 2.288, -0.001, -0.780, 0, 0, 0, [SEP] 41, Chair, 2.223, -0.001, 0.149, 0, 186.648, 0, [SEP] 42, Chair, 1.638, -0.001, -0.847, 0, 0, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and face the tan chair that is under the window | STEP 2: Pick up the tan cushion on the chair | STEP 3: Move across the room with the cushion to the other chair that is closest to the green floor lamp | STEP 4: Turn on the green floor lamp | END"]} +{"id": "trial_T20190909_032318_169393-0", "input": "Move a mug to a nightstand. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -1.75, 0, 90, 0, [SEP] 1, CD, -0.586, 0.618, 1.066, 0, 180, 0, 35 [SEP] 2, CellPhone, 0.188, 0.619, 0.910, 0, 180, 0, 35 [SEP] 3, CellPhone, -1.381, 0.676, -2.508, 0, 0, 0, 36 [SEP] 4, Pen, 1.055, 0.681, -2.553, 0, 180, 0, 37 [SEP] 5, Pencil, -0.121, 0.623, 0.988, 0, 180, 0, 35 [SEP] 6, Pencil, -1.322, 0.685, -2.553, 0, 0, 0, 36 [SEP] 7, KeyChain, 1.173, 0.677, -2.329, 0, 0, 0, 37 [SEP] 8, KeyChain, -0.431, 0.620, 0.599, 0, 180, 0, 35 [SEP] 9, Pillow, 0.064, 0.653, -1.657, 0, 0, 0, 23 [SEP] 10, Box, 2.453, 0.222, -0.041, 0, 0, 0, [SEP] 11, Book, 0.430, 0.555, -0.988, 0, 0, 0, 23 [SEP] 12, KeyChain, 1.039, 0.084, -2.423, 0, 90, 0, 40 [SEP] 13, Pillow, 0.192, 0.607, -2.307, 0, 0, 0, 23 [SEP] 14, BaseballBat, 0.419, 0.666, 1.044, 10.360, 0, 0, [SEP] 15, Pencil, -0.431, 0.625, 0.755, 0, 270, 0, 35 [SEP] 16, CellPhone, -0.741, 0.619, 1.066, 0, 180, 0, 35 [SEP] 17, CreditCard, 1.173, 0.675, -2.464, 0, 0, 0, 37 [SEP] 18, Pen, 0.203, 0.618, 1.039, 0, 12.506, 0, 35 [SEP] 19, Laptop, -0.117, 0.554, -1.211, 0, 180, 0, 23 [SEP] 20, AlarmClock, -1.236, 0.673, -2.425, 0, 29.999, 0, 37 [SEP] 21, CD, -1.160, 0.374, -2.375, 0, 0, 0, 41 [SEP] 22, Mug, 0.033, 0.618, 1.066, 0, 180, 0, 35 [SEP] 23, Bed, -0.118, -0.001, -1.699, 0, 180, 0, [SEP] 24, Mirror, 2.644, 1.347, 0.384, 0, 90, 0, [SEP] 25, GarbageCan, 2.467, -0.029, 0.936, 0, 271.107, 0, [SEP] 26, LightSwitch, 0.333, 1.256, 1.149, 0, 180, 0, [SEP] 27, DeskLamp, 0.915, 0.670, -2.435, 0, 0, 0, [SEP] 28, Painting, 0.003, 1.562, -2.687, 90, 180, 0, [SEP] 29, Window, -1.559, 1.414, -1.356, 90, 270, 0, [SEP] 30, Window, -1.559, 1.414, -0.057, 90, 270, 0, [SEP] 31, Shelf, -0.276, 0.351, 0.832, 0, 0, 0, [SEP] 32, Shelf, -0.276, 0.099, 0.832, 0, 0, 0, [SEP] 33, Blinds, -1.462, 2.157, -1.343, 0, 90, 0, [SEP] 34, Blinds, -1.462, 2.157, -0.046, 0, 90, 0, [SEP] 35, Desk, -0.276, -0.001, 0.833, 0, 0, 0, [SEP] 36, SideTable, -1.204, 0.002, -2.456, 0, 0, 0, [SEP] 37, SideTable, 0.948, 0.002, -2.456, 0, 0, 0, [SEP] 38, Drawer, 0.948, 0.166, -2.389, 0, 0, 0, [SEP] 39, Drawer, -1.204, 0.166, -2.389, 0, 0, 0, [SEP] 40, Drawer, 0.948, 0.458, -2.389, 0, 0, 0, [SEP] 41, Drawer, -1.204, 0.458, -2.389, 0, 0, 0, [SEP] 42, , , , , , , , [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left and walk around the bed. Turn to the right and walk to the desk, | STEP 2: Pick up the mug from the desk. | STEP 3: Turn to the left then turn right to head to the night stand. | STEP 4: Place the mug on the night stand. | END"]} +{"id": "trial_T20190909_032318_169393-1", "input": "Move a coffee mug to a nightstand. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -1.75, 0, 90, 0, [SEP] 1, CD, -0.586, 0.618, 1.066, 0, 180, 0, 35 [SEP] 2, CellPhone, 0.188, 0.619, 0.910, 0, 180, 0, 35 [SEP] 3, CellPhone, -1.381, 0.676, -2.508, 0, 0, 0, 36 [SEP] 4, Pen, 1.055, 0.681, -2.553, 0, 180, 0, 37 [SEP] 5, Pencil, -0.121, 0.623, 0.988, 0, 180, 0, 35 [SEP] 6, Pencil, -1.322, 0.685, -2.553, 0, 0, 0, 36 [SEP] 7, KeyChain, 1.173, 0.677, -2.329, 0, 0, 0, 37 [SEP] 8, KeyChain, -0.431, 0.620, 0.599, 0, 180, 0, 35 [SEP] 9, Pillow, 0.064, 0.653, -1.657, 0, 0, 0, 23 [SEP] 10, Box, 2.453, 0.222, -0.041, 0, 0, 0, [SEP] 11, Book, 0.430, 0.555, -0.988, 0, 0, 0, 23 [SEP] 12, KeyChain, 1.039, 0.084, -2.423, 0, 90, 0, 40 [SEP] 13, Pillow, 0.192, 0.607, -2.307, 0, 0, 0, 23 [SEP] 14, BaseballBat, 0.419, 0.666, 1.044, 10.360, 0, 0, [SEP] 15, Pencil, -0.431, 0.625, 0.755, 0, 270, 0, 35 [SEP] 16, CellPhone, -0.741, 0.619, 1.066, 0, 180, 0, 35 [SEP] 17, CreditCard, 1.173, 0.675, -2.464, 0, 0, 0, 37 [SEP] 18, Pen, 0.203, 0.618, 1.039, 0, 12.506, 0, 35 [SEP] 19, Laptop, -0.117, 0.554, -1.211, 0, 180, 0, 23 [SEP] 20, AlarmClock, -1.236, 0.673, -2.425, 0, 29.999, 0, 37 [SEP] 21, CD, -1.160, 0.374, -2.375, 0, 0, 0, 41 [SEP] 22, Mug, 0.033, 0.618, 1.066, 0, 180, 0, 35 [SEP] 23, Bed, -0.118, -0.001, -1.699, 0, 180, 0, [SEP] 24, Mirror, 2.644, 1.347, 0.384, 0, 90, 0, [SEP] 25, GarbageCan, 2.467, -0.029, 0.936, 0, 271.107, 0, [SEP] 26, LightSwitch, 0.333, 1.256, 1.149, 0, 180, 0, [SEP] 27, DeskLamp, 0.915, 0.670, -2.435, 0, 0, 0, [SEP] 28, Painting, 0.003, 1.562, -2.687, 90, 180, 0, [SEP] 29, Window, -1.559, 1.414, -1.356, 90, 270, 0, [SEP] 30, Window, -1.559, 1.414, -0.057, 90, 270, 0, [SEP] 31, Shelf, -0.276, 0.351, 0.832, 0, 0, 0, [SEP] 32, Shelf, -0.276, 0.099, 0.832, 0, 0, 0, [SEP] 33, Blinds, -1.462, 2.157, -1.343, 0, 90, 0, [SEP] 34, Blinds, -1.462, 2.157, -0.046, 0, 90, 0, [SEP] 35, Desk, -0.276, -0.001, 0.833, 0, 0, 0, [SEP] 36, SideTable, -1.204, 0.002, -2.456, 0, 0, 0, [SEP] 37, SideTable, 0.948, 0.002, -2.456, 0, 0, 0, [SEP] 38, Drawer, 0.948, 0.166, -2.389, 0, 0, 0, [SEP] 39, Drawer, -1.204, 0.166, -2.389, 0, 0, 0, [SEP] 40, Drawer, 0.948, 0.458, -2.389, 0, 0, 0, [SEP] 41, Drawer, -1.204, 0.458, -2.389, 0, 0, 0, [SEP] 42, , , , , , , , [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk towards the wall, then hang a right and walk forward, turn left and walk up to the table. | STEP 2: Pick up the black mug off of the table. | STEP 3: Turn left and walk over to the window, then turn left again and walk up to the nightstand next to the bed. | STEP 4: Put the coffee mug on the nightstand to the left of the clock. | END"]} +{"id": "trial_T20190909_032318_169393-2", "input": "to pick up a coffee mug and put it on the night stand SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -1.75, 0, 90, 0, [SEP] 1, CD, -0.586, 0.618, 1.066, 0, 180, 0, 35 [SEP] 2, CellPhone, 0.188, 0.619, 0.910, 0, 180, 0, 35 [SEP] 3, CellPhone, -1.381, 0.676, -2.508, 0, 0, 0, 36 [SEP] 4, Pen, 1.055, 0.681, -2.553, 0, 180, 0, 37 [SEP] 5, Pencil, -0.121, 0.623, 0.988, 0, 180, 0, 35 [SEP] 6, Pencil, -1.322, 0.685, -2.553, 0, 0, 0, 36 [SEP] 7, KeyChain, 1.173, 0.677, -2.329, 0, 0, 0, 37 [SEP] 8, KeyChain, -0.431, 0.620, 0.599, 0, 180, 0, 35 [SEP] 9, Pillow, 0.064, 0.653, -1.657, 0, 0, 0, 23 [SEP] 10, Box, 2.453, 0.222, -0.041, 0, 0, 0, [SEP] 11, Book, 0.430, 0.555, -0.988, 0, 0, 0, 23 [SEP] 12, KeyChain, 1.039, 0.084, -2.423, 0, 90, 0, 40 [SEP] 13, Pillow, 0.192, 0.607, -2.307, 0, 0, 0, 23 [SEP] 14, BaseballBat, 0.419, 0.666, 1.044, 10.360, 0, 0, [SEP] 15, Pencil, -0.431, 0.625, 0.755, 0, 270, 0, 35 [SEP] 16, CellPhone, -0.741, 0.619, 1.066, 0, 180, 0, 35 [SEP] 17, CreditCard, 1.173, 0.675, -2.464, 0, 0, 0, 37 [SEP] 18, Pen, 0.203, 0.618, 1.039, 0, 12.506, 0, 35 [SEP] 19, Laptop, -0.117, 0.554, -1.211, 0, 180, 0, 23 [SEP] 20, AlarmClock, -1.236, 0.673, -2.425, 0, 29.999, 0, 37 [SEP] 21, CD, -1.160, 0.374, -2.375, 0, 0, 0, 41 [SEP] 22, Mug, 0.033, 0.618, 1.066, 0, 180, 0, 35 [SEP] 23, Bed, -0.118, -0.001, -1.699, 0, 180, 0, [SEP] 24, Mirror, 2.644, 1.347, 0.384, 0, 90, 0, [SEP] 25, GarbageCan, 2.467, -0.029, 0.936, 0, 271.107, 0, [SEP] 26, LightSwitch, 0.333, 1.256, 1.149, 0, 180, 0, [SEP] 27, DeskLamp, 0.915, 0.670, -2.435, 0, 0, 0, [SEP] 28, Painting, 0.003, 1.562, -2.687, 90, 180, 0, [SEP] 29, Window, -1.559, 1.414, -1.356, 90, 270, 0, [SEP] 30, Window, -1.559, 1.414, -0.057, 90, 270, 0, [SEP] 31, Shelf, -0.276, 0.351, 0.832, 0, 0, 0, [SEP] 32, Shelf, -0.276, 0.099, 0.832, 0, 0, 0, [SEP] 33, Blinds, -1.462, 2.157, -1.343, 0, 90, 0, [SEP] 34, Blinds, -1.462, 2.157, -0.046, 0, 90, 0, [SEP] 35, Desk, -0.276, -0.001, 0.833, 0, 0, 0, [SEP] 36, SideTable, -1.204, 0.002, -2.456, 0, 0, 0, [SEP] 37, SideTable, 0.948, 0.002, -2.456, 0, 0, 0, [SEP] 38, Drawer, 0.948, 0.166, -2.389, 0, 0, 0, [SEP] 39, Drawer, -1.204, 0.166, -2.389, 0, 0, 0, [SEP] 40, Drawer, 0.948, 0.458, -2.389, 0, 0, 0, [SEP] 41, Drawer, -1.204, 0.458, -2.389, 0, 0, 0, [SEP] 42, , , , , , , , [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, WestWall, , , , , , , ", "output": ["STEP 1: look down at the bed then turn left walk forward to the edge of the bed and turn right then turn left towards the desk | STEP 2: pick up the coffee mug from the desk | STEP 3: turn left and walk towards the window then turn left and walk towards the night stand | STEP 4: place the coffee mug on the night stand | END"]} +{"id": "trial_T20190908_033721_967359-0", "input": "Put a cooked tomato into the refrigerator. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 2.0, 0, 0, 0, [SEP] 1, DishSponge, 0.736, 0.691, 2.532, 0, 0, 0, 46 [SEP] 2, ButterKnife, -0.524, 0.900, 1.143, 0, 90, 0, 90 [SEP] 3, Pot, 0.913, 0.850, 1.768, 0, 0, 0, 70 [SEP] 4, Pot, 0.642, 0.850, 1.768, 0, 0, 0, 76 [SEP] 5, Spoon, -1.053, 0.901, 1.452, 0, 90, 0, 90 [SEP] 6, Spoon, -1.415, 0.698, 3.774, 0, 90, 0, 84 [SEP] 7, Fork, 0.703, 0.692, 2.163, 0, 90, 0, 43 [SEP] 8, Egg, -1.138, 0.859, 3.836, 0, 0, 0, 72 [SEP] 9, Egg, 1.024, 0.859, 2.458, 0, 0, 0, 54 [SEP] 10, Cup, -0.921, 0.900, 1.555, 0, 90, 0, 90 [SEP] 11, Cup, -0.524, 0.900, 1.349, 0, 90, 0, 90 [SEP] 12, SoapBottle, -2.117, 0.126, 3.711, 0, 0, 0, 75 [SEP] 13, Tomato, -0.657, 0.969, 1.555, 0, 90, 0, 90 [SEP] 14, Tomato, -1.317, 0.969, 1.555, 0, 90, 0, 90 [SEP] 15, Bowl, -2.580, 1.632, 2.687, 0, 0, 0, 62 [SEP] 16, PepperShaker, -1.723, 0.819, 4.012, 0, 0, 0, 72 [SEP] 17, PepperShaker, 0.950, 0.819, 2.285, 0, 0, 0, 54 [SEP] 18, SaltShaker, 0.650, 0.819, 1.072, 0, 0, 0, 49 [SEP] 19, SaltShaker, -0.921, 0.896, 1.349, 0, 90, 0, 90 [SEP] 20, Lettuce, -1.317, 0.976, 1.143, 0, 90, 0, 90 [SEP] 21, Plate, 0.743, 0.129, 2.533, 0, 0, 0, 56 [SEP] 22, Fork, 0.737, 0.691, 1.016, 0, 270, 0, 60 [SEP] 23, Bread, 0.827, 0.861, 2.449, 0, 0, 0, 49 [SEP] 24, Spatula, 0.650, 0.838, 2.111, 0, 90, 0, 54 [SEP] 25, PaperTowelRoll, 0.725, 0.927, 1.028, 0, 0, 0, 49 [SEP] 26, Potato, -0.789, 0.943, 1.555, 0, 90, 0, 90 [SEP] 27, SoapBottle, -2.478, 1.041, 1.220, 0, 0, 0, 52 [SEP] 28, Egg, 0.931, 0.060, 2.859, 0, 0, 0, 83 [SEP] 29, Cup, -2.502, 1.634, 2.989, 0, 0, 0, 68 [SEP] 30, Pot, 0.913, 0.850, 1.375, 0, 0, 0, 48 [SEP] 31, SaltShaker, 0.859, 0.121, 0.903, 0, 0, 0, 51 [SEP] 32, Pan, -2.667, 0.812, 3.74, 0, 137.145, 0, 72 [SEP] 33, PepperShaker, -2.501, 0.153, 1.597, 0, 0, 0, 57 [SEP] 34, ButterKnife, -2.172, 0.812, 3.552, 0, 0, 0, 72 [SEP] 35, Tomato, -0.657, 0.969, 1.246, 0, 90, 0, 90 [SEP] 36, DishSponge, 0.931, 0.023, 2.947, 0, 0, 0, 83 [SEP] 37, Lettuce, -2.694, 1.266, 2.165, 0, 90, 0, 81 [SEP] 38, Spoon, -1.909, 0.698, 3.774, 0, 90, 0, 84 [SEP] 39, Apple, -2.612, 1.668, 2.389, 0, 90, 0, 81 [SEP] 40, Knife, -2.291, 0.819, 3.615, 90, 0, 0, 72 [SEP] 41, Mug, -1.317, 0.895, 0.937, 0, 90, 0, 90 [SEP] 42, Bowl, -1.697, 1.681, 3.858, 0, 0, 0, 44 [SEP] 43, Drawer, 0.729, 0.703, 2.199, 0, 0, 0, [SEP] 44, Cabinet, -1.962, 1.926, 3.733, 0, 0, 0, [SEP] 45, Cabinet, -2.377, 2.014, 1.058, 0, 0, 0, [SEP] 46, Drawer, 0.729, 0.703, 2.532, 0, 0, 0, [SEP] 47, Cabinet, -2.622, 1.925, 3.733, 0, 0, 0, [SEP] 48, StoveBurner, 0.913, 0.843, 1.375, 0, 0, 0, [SEP] 49, CounterTop, 0.864, 0.858, 0.984, 0, 0, 0, [SEP] 50, Cabinet, -1.976, 1.779, 3.734, 0, 0, 0, [SEP] 51, Cabinet, 0.580, 0.385, 0.819, 0, 0, 0, [SEP] 52, Cabinet, -2.379, 1.408, 1.677, 0, 0, 0, [SEP] 53, Cabinet, -0.419, 1.703, 3.736, 0, 0, 0, [SEP] 54, CounterTop, 0.864, 0.858, 2.371, 0, 0, 0, [SEP] 55, Sink, -1.702, 0.726, 3.828, 0, 180, 0, [SEP] 56, Cabinet, 0.580, 0.385, 2.694, 0, 0, 0, [SEP] 57, Cabinet, -2.379, 0.637, 1.677, 0, 0, 0, [SEP] 58, Cabinet, -0.419, 0.674, 3.736, 0, 0, 0, [SEP] 59, Cabinet, -2.377, 2.014, 2.558, 0, 0, 0, [SEP] 60, Drawer, 0.729, 0.703, 0.980, 0, 0, 0, [SEP] 61, Drawer, -2.114, 0.706, 3.657, 0, 0, 0, [SEP] 62, Cabinet, -2.377, 1.691, 2.572, 0, 0, 0, [SEP] 63, Cabinet, -2.951, 1.925, 3.733, 0, 0, 0, [SEP] 64, Cabinet, 0.580, 0.385, 2.360, 0, 0, 0, [SEP] 65, Cabinet, -2.426, 0.435, 3.421, 0, 0, 0, [SEP] 66, StoveBurner, 0.642, 0.843, 1.375, 0, 0, 0, [SEP] 67, Cabinet, -2.377, 1.927, 1.686, 0, 0, 0, [SEP] 68, Cabinet, -2.377, 2.013, 3.177, 0, 0, 0, [SEP] 69, Cabinet, -1.136, 0.385, 3.516, 0, 0, 0, [SEP] 70, StoveBurner, 0.913, 0.843, 1.768, 0, 0, 0, [SEP] 71, Cabinet, -1.974, 0.385, 3.516, 0, 0, 0, [SEP] 72, CounterTop, -2.081, 0.858, 3.799, 0, 0, 0, [SEP] 73, Cabinet, -2.426, 0.435, 3.174, 0, 0, 0, [SEP] 74, Cabinet, -2.377, 2.014, 1.693, 0, 0, 0, [SEP] 75, Cabinet, -1.986, 0.385, 3.511, 0, 0, 0, [SEP] 76, StoveBurner, 0.642, 0.843, 1.768, 0, 0, 0, [SEP] 77, Cabinet, -1.098, 1.926, 3.729, 0, 0, 0, [SEP] 78, Microwave, -1.529, 1.250, 3.881, 1.622, 180, 0, [SEP] 79, CoffeeMachine, 1.000, 0.812, 2.492, 0, 270, 0, [SEP] 80, LightSwitch, 0.825, 1.396, 4.082, 0, 180, 0, [SEP] 81, Fridge, -2.642, 0.0, 2.134, 0, 180, 0, [SEP] 82, Window, -1.131, 1.673, 0.808, 90, 0, 0, [SEP] 83, GarbageCan, 0.931, -0.000, 2.918, 0, 0, 0, [SEP] 84, SinkBasin, -1.601, 0.686, 3.774, 0, 0, 0, [SEP] 85, StoveKnob, 1.104, 1.002, 1.886, 0, 0, 70.346, [SEP] 86, StoveKnob, 1.104, 1.002, 1.733, 0, 0, 70.346, [SEP] 87, StoveKnob, 1.104, 1.002, 1.321, 0, 0, 70.346, [SEP] 88, StoveKnob, 1.104, 1.002, 1.481, 0, 0, 70.346, [SEP] 89, Toaster, -2.247, 0.812, 3.862, 0, 180, 0, [SEP] 90, DiningTable, -0.917, -0.000, 1.203, 0, 0, 0, [SEP] 91, Stool, -0.932, 0.000, 1.404, 1.196, 21.715, 0, [SEP] 92, Faucet, -1.842, 0.809, 3.984, 0, 180, 0, [SEP] 93, Faucet, -1.371, 0.809, 3.985, 0, 180, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and go around the end of the white table on your left and turn to face back toward the stove. | STEP 2: Pick up the tomato from the corner of the table. | STEP 3: Carry the tomato around the table to the microwave above the stove. | STEP 4: Heat the tomato in the microwave. | STEP 5: Go to the refrigerator that is behind you to the left. | STEP 6: Put the tomato on the center of the shelf that is second from the top in the refrigerator. | END"]} +{"id": "trial_T20190908_033721_967359-1", "input": "Place a heated tomato in a fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 2.0, 0, 0, 0, [SEP] 1, DishSponge, 0.736, 0.691, 2.532, 0, 0, 0, 46 [SEP] 2, ButterKnife, -0.524, 0.900, 1.143, 0, 90, 0, 90 [SEP] 3, Pot, 0.913, 0.850, 1.768, 0, 0, 0, 70 [SEP] 4, Pot, 0.642, 0.850, 1.768, 0, 0, 0, 76 [SEP] 5, Spoon, -1.053, 0.901, 1.452, 0, 90, 0, 90 [SEP] 6, Spoon, -1.415, 0.698, 3.774, 0, 90, 0, 84 [SEP] 7, Fork, 0.703, 0.692, 2.163, 0, 90, 0, 43 [SEP] 8, Egg, -1.138, 0.859, 3.836, 0, 0, 0, 72 [SEP] 9, Egg, 1.024, 0.859, 2.458, 0, 0, 0, 54 [SEP] 10, Cup, -0.921, 0.900, 1.555, 0, 90, 0, 90 [SEP] 11, Cup, -0.524, 0.900, 1.349, 0, 90, 0, 90 [SEP] 12, SoapBottle, -2.117, 0.126, 3.711, 0, 0, 0, 75 [SEP] 13, Tomato, -0.657, 0.969, 1.555, 0, 90, 0, 90 [SEP] 14, Tomato, -1.317, 0.969, 1.555, 0, 90, 0, 90 [SEP] 15, Bowl, -2.580, 1.632, 2.687, 0, 0, 0, 62 [SEP] 16, PepperShaker, -1.723, 0.819, 4.012, 0, 0, 0, 72 [SEP] 17, PepperShaker, 0.950, 0.819, 2.285, 0, 0, 0, 54 [SEP] 18, SaltShaker, 0.650, 0.819, 1.072, 0, 0, 0, 49 [SEP] 19, SaltShaker, -0.921, 0.896, 1.349, 0, 90, 0, 90 [SEP] 20, Lettuce, -1.317, 0.976, 1.143, 0, 90, 0, 90 [SEP] 21, Plate, 0.743, 0.129, 2.533, 0, 0, 0, 56 [SEP] 22, Fork, 0.737, 0.691, 1.016, 0, 270, 0, 60 [SEP] 23, Bread, 0.827, 0.861, 2.449, 0, 0, 0, 49 [SEP] 24, Spatula, 0.650, 0.838, 2.111, 0, 90, 0, 54 [SEP] 25, PaperTowelRoll, 0.725, 0.927, 1.028, 0, 0, 0, 49 [SEP] 26, Potato, -0.789, 0.943, 1.555, 0, 90, 0, 90 [SEP] 27, SoapBottle, -2.478, 1.041, 1.220, 0, 0, 0, 52 [SEP] 28, Egg, 0.931, 0.060, 2.859, 0, 0, 0, 83 [SEP] 29, Cup, -2.502, 1.634, 2.989, 0, 0, 0, 68 [SEP] 30, Pot, 0.913, 0.850, 1.375, 0, 0, 0, 48 [SEP] 31, SaltShaker, 0.859, 0.121, 0.903, 0, 0, 0, 51 [SEP] 32, Pan, -2.667, 0.812, 3.74, 0, 137.145, 0, 72 [SEP] 33, PepperShaker, -2.501, 0.153, 1.597, 0, 0, 0, 57 [SEP] 34, ButterKnife, -2.172, 0.812, 3.552, 0, 0, 0, 72 [SEP] 35, Tomato, -0.657, 0.969, 1.246, 0, 90, 0, 90 [SEP] 36, DishSponge, 0.931, 0.023, 2.947, 0, 0, 0, 83 [SEP] 37, Lettuce, -2.694, 1.266, 2.165, 0, 90, 0, 81 [SEP] 38, Spoon, -1.909, 0.698, 3.774, 0, 90, 0, 84 [SEP] 39, Apple, -2.612, 1.668, 2.389, 0, 90, 0, 81 [SEP] 40, Knife, -2.291, 0.819, 3.615, 90, 0, 0, 72 [SEP] 41, Mug, -1.317, 0.895, 0.937, 0, 90, 0, 90 [SEP] 42, Bowl, -1.697, 1.681, 3.858, 0, 0, 0, 44 [SEP] 43, Drawer, 0.729, 0.703, 2.199, 0, 0, 0, [SEP] 44, Cabinet, -1.962, 1.926, 3.733, 0, 0, 0, [SEP] 45, Cabinet, -2.377, 2.014, 1.058, 0, 0, 0, [SEP] 46, Drawer, 0.729, 0.703, 2.532, 0, 0, 0, [SEP] 47, Cabinet, -2.622, 1.925, 3.733, 0, 0, 0, [SEP] 48, StoveBurner, 0.913, 0.843, 1.375, 0, 0, 0, [SEP] 49, CounterTop, 0.864, 0.858, 0.984, 0, 0, 0, [SEP] 50, Cabinet, -1.976, 1.779, 3.734, 0, 0, 0, [SEP] 51, Cabinet, 0.580, 0.385, 0.819, 0, 0, 0, [SEP] 52, Cabinet, -2.379, 1.408, 1.677, 0, 0, 0, [SEP] 53, Cabinet, -0.419, 1.703, 3.736, 0, 0, 0, [SEP] 54, CounterTop, 0.864, 0.858, 2.371, 0, 0, 0, [SEP] 55, Sink, -1.702, 0.726, 3.828, 0, 180, 0, [SEP] 56, Cabinet, 0.580, 0.385, 2.694, 0, 0, 0, [SEP] 57, Cabinet, -2.379, 0.637, 1.677, 0, 0, 0, [SEP] 58, Cabinet, -0.419, 0.674, 3.736, 0, 0, 0, [SEP] 59, Cabinet, -2.377, 2.014, 2.558, 0, 0, 0, [SEP] 60, Drawer, 0.729, 0.703, 0.980, 0, 0, 0, [SEP] 61, Drawer, -2.114, 0.706, 3.657, 0, 0, 0, [SEP] 62, Cabinet, -2.377, 1.691, 2.572, 0, 0, 0, [SEP] 63, Cabinet, -2.951, 1.925, 3.733, 0, 0, 0, [SEP] 64, Cabinet, 0.580, 0.385, 2.360, 0, 0, 0, [SEP] 65, Cabinet, -2.426, 0.435, 3.421, 0, 0, 0, [SEP] 66, StoveBurner, 0.642, 0.843, 1.375, 0, 0, 0, [SEP] 67, Cabinet, -2.377, 1.927, 1.686, 0, 0, 0, [SEP] 68, Cabinet, -2.377, 2.013, 3.177, 0, 0, 0, [SEP] 69, Cabinet, -1.136, 0.385, 3.516, 0, 0, 0, [SEP] 70, StoveBurner, 0.913, 0.843, 1.768, 0, 0, 0, [SEP] 71, Cabinet, -1.974, 0.385, 3.516, 0, 0, 0, [SEP] 72, CounterTop, -2.081, 0.858, 3.799, 0, 0, 0, [SEP] 73, Cabinet, -2.426, 0.435, 3.174, 0, 0, 0, [SEP] 74, Cabinet, -2.377, 2.014, 1.693, 0, 0, 0, [SEP] 75, Cabinet, -1.986, 0.385, 3.511, 0, 0, 0, [SEP] 76, StoveBurner, 0.642, 0.843, 1.768, 0, 0, 0, [SEP] 77, Cabinet, -1.098, 1.926, 3.729, 0, 0, 0, [SEP] 78, Microwave, -1.529, 1.250, 3.881, 1.622, 180, 0, [SEP] 79, CoffeeMachine, 1.000, 0.812, 2.492, 0, 270, 0, [SEP] 80, LightSwitch, 0.825, 1.396, 4.082, 0, 180, 0, [SEP] 81, Fridge, -2.642, 0.0, 2.134, 0, 180, 0, [SEP] 82, Window, -1.131, 1.673, 0.808, 90, 0, 0, [SEP] 83, GarbageCan, 0.931, -0.000, 2.918, 0, 0, 0, [SEP] 84, SinkBasin, -1.601, 0.686, 3.774, 0, 0, 0, [SEP] 85, StoveKnob, 1.104, 1.002, 1.886, 0, 0, 70.346, [SEP] 86, StoveKnob, 1.104, 1.002, 1.733, 0, 0, 70.346, [SEP] 87, StoveKnob, 1.104, 1.002, 1.321, 0, 0, 70.346, [SEP] 88, StoveKnob, 1.104, 1.002, 1.481, 0, 0, 70.346, [SEP] 89, Toaster, -2.247, 0.812, 3.862, 0, 180, 0, [SEP] 90, DiningTable, -0.917, -0.000, 1.203, 0, 0, 0, [SEP] 91, Stool, -0.932, 0.000, 1.404, 1.196, 21.715, 0, [SEP] 92, Faucet, -1.842, 0.809, 3.984, 0, 180, 0, [SEP] 93, Faucet, -1.371, 0.809, 3.985, 0, 180, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the far end of the table. | STEP 2: Pick up the tomato on the table. | STEP 3: Turn left and walk to the microwave. | STEP 4: Heat the tomato in the microwave. | STEP 5: Turn around and veer right to the fridge. | STEP 6: Place the tomato in the fridge on the fourth shelf to the bottom. | END"]} +{"id": "trial_T20190908_033721_967359-2", "input": "Put a heated tomato in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 2.0, 0, 0, 0, [SEP] 1, DishSponge, 0.736, 0.691, 2.532, 0, 0, 0, 46 [SEP] 2, ButterKnife, -0.524, 0.900, 1.143, 0, 90, 0, 90 [SEP] 3, Pot, 0.913, 0.850, 1.768, 0, 0, 0, 70 [SEP] 4, Pot, 0.642, 0.850, 1.768, 0, 0, 0, 76 [SEP] 5, Spoon, -1.053, 0.901, 1.452, 0, 90, 0, 90 [SEP] 6, Spoon, -1.415, 0.698, 3.774, 0, 90, 0, 84 [SEP] 7, Fork, 0.703, 0.692, 2.163, 0, 90, 0, 43 [SEP] 8, Egg, -1.138, 0.859, 3.836, 0, 0, 0, 72 [SEP] 9, Egg, 1.024, 0.859, 2.458, 0, 0, 0, 54 [SEP] 10, Cup, -0.921, 0.900, 1.555, 0, 90, 0, 90 [SEP] 11, Cup, -0.524, 0.900, 1.349, 0, 90, 0, 90 [SEP] 12, SoapBottle, -2.117, 0.126, 3.711, 0, 0, 0, 75 [SEP] 13, Tomato, -0.657, 0.969, 1.555, 0, 90, 0, 90 [SEP] 14, Tomato, -1.317, 0.969, 1.555, 0, 90, 0, 90 [SEP] 15, Bowl, -2.580, 1.632, 2.687, 0, 0, 0, 62 [SEP] 16, PepperShaker, -1.723, 0.819, 4.012, 0, 0, 0, 72 [SEP] 17, PepperShaker, 0.950, 0.819, 2.285, 0, 0, 0, 54 [SEP] 18, SaltShaker, 0.650, 0.819, 1.072, 0, 0, 0, 49 [SEP] 19, SaltShaker, -0.921, 0.896, 1.349, 0, 90, 0, 90 [SEP] 20, Lettuce, -1.317, 0.976, 1.143, 0, 90, 0, 90 [SEP] 21, Plate, 0.743, 0.129, 2.533, 0, 0, 0, 56 [SEP] 22, Fork, 0.737, 0.691, 1.016, 0, 270, 0, 60 [SEP] 23, Bread, 0.827, 0.861, 2.449, 0, 0, 0, 49 [SEP] 24, Spatula, 0.650, 0.838, 2.111, 0, 90, 0, 54 [SEP] 25, PaperTowelRoll, 0.725, 0.927, 1.028, 0, 0, 0, 49 [SEP] 26, Potato, -0.789, 0.943, 1.555, 0, 90, 0, 90 [SEP] 27, SoapBottle, -2.478, 1.041, 1.220, 0, 0, 0, 52 [SEP] 28, Egg, 0.931, 0.060, 2.859, 0, 0, 0, 83 [SEP] 29, Cup, -2.502, 1.634, 2.989, 0, 0, 0, 68 [SEP] 30, Pot, 0.913, 0.850, 1.375, 0, 0, 0, 48 [SEP] 31, SaltShaker, 0.859, 0.121, 0.903, 0, 0, 0, 51 [SEP] 32, Pan, -2.667, 0.812, 3.74, 0, 137.145, 0, 72 [SEP] 33, PepperShaker, -2.501, 0.153, 1.597, 0, 0, 0, 57 [SEP] 34, ButterKnife, -2.172, 0.812, 3.552, 0, 0, 0, 72 [SEP] 35, Tomato, -0.657, 0.969, 1.246, 0, 90, 0, 90 [SEP] 36, DishSponge, 0.931, 0.023, 2.947, 0, 0, 0, 83 [SEP] 37, Lettuce, -2.694, 1.266, 2.165, 0, 90, 0, 81 [SEP] 38, Spoon, -1.909, 0.698, 3.774, 0, 90, 0, 84 [SEP] 39, Apple, -2.612, 1.668, 2.389, 0, 90, 0, 81 [SEP] 40, Knife, -2.291, 0.819, 3.615, 90, 0, 0, 72 [SEP] 41, Mug, -1.317, 0.895, 0.937, 0, 90, 0, 90 [SEP] 42, Bowl, -1.697, 1.681, 3.858, 0, 0, 0, 44 [SEP] 43, Drawer, 0.729, 0.703, 2.199, 0, 0, 0, [SEP] 44, Cabinet, -1.962, 1.926, 3.733, 0, 0, 0, [SEP] 45, Cabinet, -2.377, 2.014, 1.058, 0, 0, 0, [SEP] 46, Drawer, 0.729, 0.703, 2.532, 0, 0, 0, [SEP] 47, Cabinet, -2.622, 1.925, 3.733, 0, 0, 0, [SEP] 48, StoveBurner, 0.913, 0.843, 1.375, 0, 0, 0, [SEP] 49, CounterTop, 0.864, 0.858, 0.984, 0, 0, 0, [SEP] 50, Cabinet, -1.976, 1.779, 3.734, 0, 0, 0, [SEP] 51, Cabinet, 0.580, 0.385, 0.819, 0, 0, 0, [SEP] 52, Cabinet, -2.379, 1.408, 1.677, 0, 0, 0, [SEP] 53, Cabinet, -0.419, 1.703, 3.736, 0, 0, 0, [SEP] 54, CounterTop, 0.864, 0.858, 2.371, 0, 0, 0, [SEP] 55, Sink, -1.702, 0.726, 3.828, 0, 180, 0, [SEP] 56, Cabinet, 0.580, 0.385, 2.694, 0, 0, 0, [SEP] 57, Cabinet, -2.379, 0.637, 1.677, 0, 0, 0, [SEP] 58, Cabinet, -0.419, 0.674, 3.736, 0, 0, 0, [SEP] 59, Cabinet, -2.377, 2.014, 2.558, 0, 0, 0, [SEP] 60, Drawer, 0.729, 0.703, 0.980, 0, 0, 0, [SEP] 61, Drawer, -2.114, 0.706, 3.657, 0, 0, 0, [SEP] 62, Cabinet, -2.377, 1.691, 2.572, 0, 0, 0, [SEP] 63, Cabinet, -2.951, 1.925, 3.733, 0, 0, 0, [SEP] 64, Cabinet, 0.580, 0.385, 2.360, 0, 0, 0, [SEP] 65, Cabinet, -2.426, 0.435, 3.421, 0, 0, 0, [SEP] 66, StoveBurner, 0.642, 0.843, 1.375, 0, 0, 0, [SEP] 67, Cabinet, -2.377, 1.927, 1.686, 0, 0, 0, [SEP] 68, Cabinet, -2.377, 2.013, 3.177, 0, 0, 0, [SEP] 69, Cabinet, -1.136, 0.385, 3.516, 0, 0, 0, [SEP] 70, StoveBurner, 0.913, 0.843, 1.768, 0, 0, 0, [SEP] 71, Cabinet, -1.974, 0.385, 3.516, 0, 0, 0, [SEP] 72, CounterTop, -2.081, 0.858, 3.799, 0, 0, 0, [SEP] 73, Cabinet, -2.426, 0.435, 3.174, 0, 0, 0, [SEP] 74, Cabinet, -2.377, 2.014, 1.693, 0, 0, 0, [SEP] 75, Cabinet, -1.986, 0.385, 3.511, 0, 0, 0, [SEP] 76, StoveBurner, 0.642, 0.843, 1.768, 0, 0, 0, [SEP] 77, Cabinet, -1.098, 1.926, 3.729, 0, 0, 0, [SEP] 78, Microwave, -1.529, 1.250, 3.881, 1.622, 180, 0, [SEP] 79, CoffeeMachine, 1.000, 0.812, 2.492, 0, 270, 0, [SEP] 80, LightSwitch, 0.825, 1.396, 4.082, 0, 180, 0, [SEP] 81, Fridge, -2.642, 0.0, 2.134, 0, 180, 0, [SEP] 82, Window, -1.131, 1.673, 0.808, 90, 0, 0, [SEP] 83, GarbageCan, 0.931, -0.000, 2.918, 0, 0, 0, [SEP] 84, SinkBasin, -1.601, 0.686, 3.774, 0, 0, 0, [SEP] 85, StoveKnob, 1.104, 1.002, 1.886, 0, 0, 70.346, [SEP] 86, StoveKnob, 1.104, 1.002, 1.733, 0, 0, 70.346, [SEP] 87, StoveKnob, 1.104, 1.002, 1.321, 0, 0, 70.346, [SEP] 88, StoveKnob, 1.104, 1.002, 1.481, 0, 0, 70.346, [SEP] 89, Toaster, -2.247, 0.812, 3.862, 0, 180, 0, [SEP] 90, DiningTable, -0.917, -0.000, 1.203, 0, 0, 0, [SEP] 91, Stool, -0.932, 0.000, 1.404, 1.196, 21.715, 0, [SEP] 92, Faucet, -1.842, 0.809, 3.984, 0, 180, 0, [SEP] 93, Faucet, -1.371, 0.809, 3.985, 0, 180, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Go left and the turn to the left to stand at the end of the white table near the lettuce. | STEP 2: Pick the tomato up from the corner of the white table. | STEP 3: Turn around and cross the room to face the microwave. | STEP 4: Put the tomato in the microwave and turn it on and then take the tomato out and shut the door. | STEP 5: Turn around and then turn right to face the fridge. | STEP 6: Put the tomato in the fridge and shut the door. | END"]} +{"id": "trial_T20190907_041436_588106-0", "input": "Place the wet soap on top of the toilet next to the other soaps. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.901, 2.0, 0, 90, 0, [SEP] 1, SoapBar, -1.912, 0.953, 1.884, 0, 180, 0, 34 [SEP] 2, SoapBar, -1.696, 0.918, 3.933, 0, 0, 0, 22 [SEP] 3, Candle, -1.965, 0.953, 1.821, 0, 180, 0, 34 [SEP] 4, SprayBottle, -1.795, 0.037, 3.316, 0, 0, 0, 25 [SEP] 5, SprayBottle, -1.427, 0.071, 1.380, 0, 0, 0, 31 [SEP] 6, SoapBottle, -1.578, 0.918, 3.196, 0, 90, 0, 22 [SEP] 7, SoapBottle, -1.858, 0.953, 2.071, 0, 270, 0, 34 [SEP] 8, Candle, -1.846, 0.040, 3.678, 0, 0, 0, 28 [SEP] 9, HandTowel, -1.670, 1.496, 3.962, 0, 0, 0, 32 [SEP] 10, SoapBottle, -1.872, 0.918, 2.371, 0, 90, 0, 22 [SEP] 11, Towel, 0.833, 1.160, 2.357, 0, 0, 0, 29 [SEP] 12, Cloth, -1.694, 0.039, 2.508, 0, 0, 0, 19 [SEP] 13, SoapBar, -1.912, 0.953, 1.696, 0, 180, 0, 34 [SEP] 14, ToiletPaper, -1.593, 0.037, 3.360, 0, 0, 0, 25 [SEP] 15, Plunger, -1.876, 0.000, 2.276, 0, 0, 0, Floor|-02.00| [SEP] 16, SprayBottle, -1.694, 0.037, 3.360, 0, 0, 0, 25 [SEP] 17, ToiletPaper, -1.140, 1.013, 1.256, 0, 0, 90, 30 [SEP] 18, ScrubBrush, -1.703, 0.000, 2.217, 0, 0, 0, Floor|-02.00| [SEP] 19, Cabinet, -1.479, 0.348, 2.362, 0, 0, 0, [SEP] 20, Cabinet, -1.483, 0.372, 3.152, 0, 0, 0, [SEP] 21, Sink, -1.746, 0.884, 3.553, 0, 90, 0, [SEP] 22, CounterTop, -1.758, 0.669, 3.164, 0, 0, 0, [SEP] 23, Faucet, -1.894, 1.006, 2.730, 0, 0, 0, [SEP] 24, Mirror, -1.943, 1.532, 3.443, 0, 0, 0, [SEP] 25, Cabinet, -1.479, 0.348, 3.170, 0, 0, 0, [SEP] 26, ShowerDoor, 0.527, 1.039, 2.098, 0, 0, 0, [SEP] 27, Painting, -0.566, 1.591, 1.173, 0, 0, 0, [SEP] 28, Cabinet, -1.483, 0.372, 3.960, 0, 0, 0, [SEP] 29, TowelHolder, 0.833, 1.146, 2.250, 0, 0, 0, [SEP] 30, ToiletPaperHanger, -1.200, 1.013, 1.164, 0, 0, 0, [SEP] 31, GarbageCan, -1.704, -0.032, 1.429, 0, 2.393, 0, [SEP] 32, HandTowelHolder, -1.670, 1.598, 4.000, 0, 90, 0, [SEP] 33, LightSwitch, 1.249, 1.322, 3.635, 0, 270, 0, [SEP] 34, Toilet, -1.447, 0.000, 1.961, 0, 90, 0, [SEP] 35, SinkBasin, -1.671, 0.935, 3.571, 0, 0, 10.090, [SEP] 36, ShowerHead, 0.871, 1.097, 2.009, 0, 270, 0, [SEP] 37, Faucet, -1.894, 1.006, 3.560, 0, 0, 0, [SEP] 38, SinkBasin, -1.671, 0.935, 2.741, 0, 0, 10.090, [SEP] 39, Sink, -1.746, 0.884, 2.723, 0, 90, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and move to the right to face the sink. | STEP 2: Pick the soap up from off of the sink. | STEP 3: Move to the left to face the other sink. | STEP 4: Place the soap in to the sink, turn the water on, turn the water off, and pick up the soap. | STEP 5: Move to left to face the toilet. | STEP 6: Place the soap on top of the toilet. | END"]} +{"id": "trial_T20190907_041436_588106-1", "input": "Move a rinsed off bar of soap from the sink to the back of the toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.901, 2.0, 0, 90, 0, [SEP] 1, SoapBar, -1.912, 0.953, 1.884, 0, 180, 0, 34 [SEP] 2, SoapBar, -1.696, 0.918, 3.933, 0, 0, 0, 22 [SEP] 3, Candle, -1.965, 0.953, 1.821, 0, 180, 0, 34 [SEP] 4, SprayBottle, -1.795, 0.037, 3.316, 0, 0, 0, 25 [SEP] 5, SprayBottle, -1.427, 0.071, 1.380, 0, 0, 0, 31 [SEP] 6, SoapBottle, -1.578, 0.918, 3.196, 0, 90, 0, 22 [SEP] 7, SoapBottle, -1.858, 0.953, 2.071, 0, 270, 0, 34 [SEP] 8, Candle, -1.846, 0.040, 3.678, 0, 0, 0, 28 [SEP] 9, HandTowel, -1.670, 1.496, 3.962, 0, 0, 0, 32 [SEP] 10, SoapBottle, -1.872, 0.918, 2.371, 0, 90, 0, 22 [SEP] 11, Towel, 0.833, 1.160, 2.357, 0, 0, 0, 29 [SEP] 12, Cloth, -1.694, 0.039, 2.508, 0, 0, 0, 19 [SEP] 13, SoapBar, -1.912, 0.953, 1.696, 0, 180, 0, 34 [SEP] 14, ToiletPaper, -1.593, 0.037, 3.360, 0, 0, 0, 25 [SEP] 15, Plunger, -1.876, 0.000, 2.276, 0, 0, 0, Floor|-02.00| [SEP] 16, SprayBottle, -1.694, 0.037, 3.360, 0, 0, 0, 25 [SEP] 17, ToiletPaper, -1.140, 1.013, 1.256, 0, 0, 90, 30 [SEP] 18, ScrubBrush, -1.703, 0.000, 2.217, 0, 0, 0, Floor|-02.00| [SEP] 19, Cabinet, -1.479, 0.348, 2.362, 0, 0, 0, [SEP] 20, Cabinet, -1.483, 0.372, 3.152, 0, 0, 0, [SEP] 21, Sink, -1.746, 0.884, 3.553, 0, 90, 0, [SEP] 22, CounterTop, -1.758, 0.669, 3.164, 0, 0, 0, [SEP] 23, Faucet, -1.894, 1.006, 2.730, 0, 0, 0, [SEP] 24, Mirror, -1.943, 1.532, 3.443, 0, 0, 0, [SEP] 25, Cabinet, -1.479, 0.348, 3.170, 0, 0, 0, [SEP] 26, ShowerDoor, 0.527, 1.039, 2.098, 0, 0, 0, [SEP] 27, Painting, -0.566, 1.591, 1.173, 0, 0, 0, [SEP] 28, Cabinet, -1.483, 0.372, 3.960, 0, 0, 0, [SEP] 29, TowelHolder, 0.833, 1.146, 2.250, 0, 0, 0, [SEP] 30, ToiletPaperHanger, -1.200, 1.013, 1.164, 0, 0, 0, [SEP] 31, GarbageCan, -1.704, -0.032, 1.429, 0, 2.393, 0, [SEP] 32, HandTowelHolder, -1.670, 1.598, 4.000, 0, 90, 0, [SEP] 33, LightSwitch, 1.249, 1.322, 3.635, 0, 270, 0, [SEP] 34, Toilet, -1.447, 0.000, 1.961, 0, 90, 0, [SEP] 35, SinkBasin, -1.671, 0.935, 3.571, 0, 0, 10.090, [SEP] 36, ShowerHead, 0.871, 1.097, 2.009, 0, 270, 0, [SEP] 37, Faucet, -1.894, 1.006, 3.560, 0, 0, 0, [SEP] 38, SinkBasin, -1.671, 0.935, 2.741, 0, 0, 10.090, [SEP] 39, Sink, -1.746, 0.884, 2.723, 0, 90, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Turn and walk to the sink on the right. | STEP 2: Pick up the soap from the sink. | STEP 3: Walk to the sink on the left. | STEP 4: Place the soap in the sink, turn the water on then off, then grab the soap. | STEP 5: Move in between the toilet and the left sink. | STEP 6: Place the soap on the back of the toilet. | END"]} +{"id": "trial_T20190907_041436_588106-2", "input": "Put a bar of soap on the back of the toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.901, 2.0, 0, 90, 0, [SEP] 1, SoapBar, -1.912, 0.953, 1.884, 0, 180, 0, 34 [SEP] 2, SoapBar, -1.696, 0.918, 3.933, 0, 0, 0, 22 [SEP] 3, Candle, -1.965, 0.953, 1.821, 0, 180, 0, 34 [SEP] 4, SprayBottle, -1.795, 0.037, 3.316, 0, 0, 0, 25 [SEP] 5, SprayBottle, -1.427, 0.071, 1.380, 0, 0, 0, 31 [SEP] 6, SoapBottle, -1.578, 0.918, 3.196, 0, 90, 0, 22 [SEP] 7, SoapBottle, -1.858, 0.953, 2.071, 0, 270, 0, 34 [SEP] 8, Candle, -1.846, 0.040, 3.678, 0, 0, 0, 28 [SEP] 9, HandTowel, -1.670, 1.496, 3.962, 0, 0, 0, 32 [SEP] 10, SoapBottle, -1.872, 0.918, 2.371, 0, 90, 0, 22 [SEP] 11, Towel, 0.833, 1.160, 2.357, 0, 0, 0, 29 [SEP] 12, Cloth, -1.694, 0.039, 2.508, 0, 0, 0, 19 [SEP] 13, SoapBar, -1.912, 0.953, 1.696, 0, 180, 0, 34 [SEP] 14, ToiletPaper, -1.593, 0.037, 3.360, 0, 0, 0, 25 [SEP] 15, Plunger, -1.876, 0.000, 2.276, 0, 0, 0, Floor|-02.00| [SEP] 16, SprayBottle, -1.694, 0.037, 3.360, 0, 0, 0, 25 [SEP] 17, ToiletPaper, -1.140, 1.013, 1.256, 0, 0, 90, 30 [SEP] 18, ScrubBrush, -1.703, 0.000, 2.217, 0, 0, 0, Floor|-02.00| [SEP] 19, Cabinet, -1.479, 0.348, 2.362, 0, 0, 0, [SEP] 20, Cabinet, -1.483, 0.372, 3.152, 0, 0, 0, [SEP] 21, Sink, -1.746, 0.884, 3.553, 0, 90, 0, [SEP] 22, CounterTop, -1.758, 0.669, 3.164, 0, 0, 0, [SEP] 23, Faucet, -1.894, 1.006, 2.730, 0, 0, 0, [SEP] 24, Mirror, -1.943, 1.532, 3.443, 0, 0, 0, [SEP] 25, Cabinet, -1.479, 0.348, 3.170, 0, 0, 0, [SEP] 26, ShowerDoor, 0.527, 1.039, 2.098, 0, 0, 0, [SEP] 27, Painting, -0.566, 1.591, 1.173, 0, 0, 0, [SEP] 28, Cabinet, -1.483, 0.372, 3.960, 0, 0, 0, [SEP] 29, TowelHolder, 0.833, 1.146, 2.250, 0, 0, 0, [SEP] 30, ToiletPaperHanger, -1.200, 1.013, 1.164, 0, 0, 0, [SEP] 31, GarbageCan, -1.704, -0.032, 1.429, 0, 2.393, 0, [SEP] 32, HandTowelHolder, -1.670, 1.598, 4.000, 0, 90, 0, [SEP] 33, LightSwitch, 1.249, 1.322, 3.635, 0, 270, 0, [SEP] 34, Toilet, -1.447, 0.000, 1.961, 0, 90, 0, [SEP] 35, SinkBasin, -1.671, 0.935, 3.571, 0, 0, 10.090, [SEP] 36, ShowerHead, 0.871, 1.097, 2.009, 0, 270, 0, [SEP] 37, Faucet, -1.894, 1.006, 3.560, 0, 0, 0, [SEP] 38, SinkBasin, -1.671, 0.935, 2.741, 0, 0, 10.090, [SEP] 39, Sink, -1.746, 0.884, 2.723, 0, 90, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Go left, go forward, then turn left to face the rightmost sink. | STEP 2: Pick up the bar soap, on the counter, to the right of the sink. | STEP 3: Go left, then go forward, then go right to face the leftmost sink. | STEP 4: Wash the soap, in the sink. | STEP 5: Go to the toilet, next to the sink. | STEP 6: Put the bar soap on the back of the toilet, to the left of the hand soap. | END"]} +{"id": "trial_T20190906_173120_350651-0", "input": "Put the plate from the table inside the refrigerator, and then store it in the cabinet under the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.901, 2.0, 0, 180, 0, [SEP] 1, Potato, 2.074, 0.977, 2.162, 0, 0, 0, 53 [SEP] 2, Potato, -0.272, 0.831, 1.049, 0, 0, 0, 80 [SEP] 3, ButterKnife, -0.349, 0.782, 0.881, 0, 0, 0, 80 [SEP] 4, ButterKnife, 1.917, 0.938, 0.583, 0, 180, 0, 64 [SEP] 5, Pot, 2.140, 0.935, 1.504, 0, 180, 0, 48 [SEP] 6, Spatula, -0.167, 0.952, 2.827, 0, 0, 0, 53 [SEP] 7, Spoon, -0.282, 0.938, 2.618, 0, 0, 0, 53 [SEP] 8, Spoon, 1.802, 0.747, 0.652, 0, 90, 0, 62 [SEP] 9, Fork, 0.060, 0.938, 2.618, 0, 270, 0, 53 [SEP] 10, Fork, 0.033, 0.791, 1.386, 0, 90, 0, 80 [SEP] 11, Cup, 0.629, 0.793, 2.750, 0, 0, 0, 77 [SEP] 12, SoapBottle, -0.042, 0.791, 0.545, 0, 0, 0, 80 [SEP] 13, Tomato, 0.033, 0.837, 1.217, 0, 0, 0, 80 [SEP] 14, Bowl, -0.078, 0.078, 2.129, 0, 0, 0, 47 [SEP] 15, Bowl, -0.362, 1.032, 1.961, 0, 90, 0, 78 [SEP] 16, SaltShaker, 0.423, 0.076, 2.562, 0, 0, 0, 60 [SEP] 17, PepperShaker, 0.637, 0.076, 2.562, 0, 0, 0, 60 [SEP] 18, Lettuce, 0.033, 0.852, 0.377, 0, 0, 0, 80 [SEP] 19, Lettuce, 2.179, 1.580, -0.097, 0, 270, 0, 74 [SEP] 20, Mug, 0.495, 0.076, 2.484, 0, 0, 0, 60 [SEP] 21, Mug, 0.033, 0.785, 0.713, 0, 0, 0, 80 [SEP] 22, Egg, 2.112, 1.363, -0.550, 0, 270, 0, 74 [SEP] 23, Lettuce, -0.042, 0.852, 1.049, 0, 90, 0, 80 [SEP] 24, Fork, -0.196, 0.791, 1.386, 0, 0, 0, 80 [SEP] 25, SoapBottle, 1.840, 0.939, 0.435, 0, 0, 0, 64 [SEP] 26, Ladle, 1.673, 0.982, 2.666, 0, 0, 0, 53 [SEP] 27, Ladle, 0.002, 0.790, 2.197, 0, 270, 0, 52 [SEP] 28, Bread, -0.200, 0.824, 0.814, 0, 0, 0, 80 [SEP] 29, SaltShaker, 0.060, 0.932, 2.757, 0, 0, 0, 53 [SEP] 30, Potato, 2.150, 0.977, 1.866, 0, 0, 0, 53 [SEP] 31, Pan, 1.928, 0.070, 0.640, 0, 0, 0, 50 [SEP] 32, WineBottle, 0.174, 0.938, 2.548, 0, 0, 0, 53 [SEP] 33, Spatula, -0.425, 0.805, 1.217, 0, 270, 0, 80 [SEP] 34, Knife, -0.138, 0.771, 2.197, 0, 270, 0, 52 [SEP] 35, Tomato, 1.840, 0.984, 0.583, 0, 0, 0, 64 [SEP] 36, Apple, 1.986, 0.388, -0.279, 0, 270, 0, 74 [SEP] 37, ButterKnife, 1.660, 0.926, 2.473, 0, 352.515, 0, 53 [SEP] 38, Pot, 2.112, 1.321, -0.278, 0, 0, 0, 74 [SEP] 39, PepperShaker, -0.272, 0.785, 1.217, 0, 0, 0, 80 [SEP] 40, Cup, 2.132, 0.336, -0.550, 0, 270, 0, 74 [SEP] 41, DishSponge, 1.941, 0.745, 0.583, 0, 0, 0, 62 [SEP] 42, Plate, -0.312, 0.781, 0.409, 0, 0, 0, 80 [SEP] 43, Spoon, 1.012, 0.796, 2.584, 0, 90, 0, 77 [SEP] 44, Mug, 2.223, 1.318, -0.007, 0, 270, 0, 74 [SEP] 45, Bowl, 2.250, 0.599, -0.460, 0, 270, 0, 74 [SEP] 46, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0, [SEP] 47, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0, [SEP] 48, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0, [SEP] 49, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0, [SEP] 50, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0, [SEP] 51, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0, [SEP] 52, Drawer, -0.024, 0.774, 2.061, 0, 0, 0, [SEP] 53, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0, [SEP] 54, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0, [SEP] 55, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0, [SEP] 56, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0, [SEP] 57, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0, [SEP] 58, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0, [SEP] 59, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0, [SEP] 60, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0, [SEP] 61, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0, [SEP] 62, Drawer, 2.167, 0.774, 0.582, 0, 0, 0, [SEP] 63, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0, [SEP] 64, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0, [SEP] 65, Sink, 0.935, 0.936, 2.646, 0, 0, 0, [SEP] 66, Curtains, 0.964, 2.061, 2.989, 0, 0, 0, [SEP] 67, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0, [SEP] 68, Drawer, 1.911, 0.774, 2.060, 0, 0, 0, [SEP] 69, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0, [SEP] 70, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0, [SEP] 71, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0, [SEP] 72, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0, [SEP] 73, Toaster, 2.126, 0.926, 0.572, 0, 270, 0, [SEP] 74, Fridge, 2.104, 0.0, -0.279, 0, 270, 0, [SEP] 75, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0, [SEP] 76, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0, [SEP] 77, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0, [SEP] 78, Microwave, -0.310, 0.926, 2.077, 0, 90, 0, [SEP] 79, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0, [SEP] 80, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0, [SEP] 81, Faucet, 1.175, 0.926, 2.950, 270, 90, 0, [SEP] 82, Faucet, 0.686, 0.926, 2.950, 270, 90, 0, [SEP] 83, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward, turn right, walk to the table. | STEP 2: Pick up the plate from the table. | STEP 3: Turn around and walk to the refrigerator | STEP 4: Open the refrigerator and put the plate inside of it, then close the refrigerator, wait a few seconds, open the refrigerator, pull the plate out, close the refrigerator | STEP 5: Turn around and walk towards the sink | STEP 6: Open the cabinet under the sink and put the plate inside the cabinet, close the cabinet | END"]} +{"id": "trial_T20190906_173120_350651-1", "input": "Put away the plate. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.901, 2.0, 0, 180, 0, [SEP] 1, Potato, 2.074, 0.977, 2.162, 0, 0, 0, 53 [SEP] 2, Potato, -0.272, 0.831, 1.049, 0, 0, 0, 80 [SEP] 3, ButterKnife, -0.349, 0.782, 0.881, 0, 0, 0, 80 [SEP] 4, ButterKnife, 1.917, 0.938, 0.583, 0, 180, 0, 64 [SEP] 5, Pot, 2.140, 0.935, 1.504, 0, 180, 0, 48 [SEP] 6, Spatula, -0.167, 0.952, 2.827, 0, 0, 0, 53 [SEP] 7, Spoon, -0.282, 0.938, 2.618, 0, 0, 0, 53 [SEP] 8, Spoon, 1.802, 0.747, 0.652, 0, 90, 0, 62 [SEP] 9, Fork, 0.060, 0.938, 2.618, 0, 270, 0, 53 [SEP] 10, Fork, 0.033, 0.791, 1.386, 0, 90, 0, 80 [SEP] 11, Cup, 0.629, 0.793, 2.750, 0, 0, 0, 77 [SEP] 12, SoapBottle, -0.042, 0.791, 0.545, 0, 0, 0, 80 [SEP] 13, Tomato, 0.033, 0.837, 1.217, 0, 0, 0, 80 [SEP] 14, Bowl, -0.078, 0.078, 2.129, 0, 0, 0, 47 [SEP] 15, Bowl, -0.362, 1.032, 1.961, 0, 90, 0, 78 [SEP] 16, SaltShaker, 0.423, 0.076, 2.562, 0, 0, 0, 60 [SEP] 17, PepperShaker, 0.637, 0.076, 2.562, 0, 0, 0, 60 [SEP] 18, Lettuce, 0.033, 0.852, 0.377, 0, 0, 0, 80 [SEP] 19, Lettuce, 2.179, 1.580, -0.097, 0, 270, 0, 74 [SEP] 20, Mug, 0.495, 0.076, 2.484, 0, 0, 0, 60 [SEP] 21, Mug, 0.033, 0.785, 0.713, 0, 0, 0, 80 [SEP] 22, Egg, 2.112, 1.363, -0.550, 0, 270, 0, 74 [SEP] 23, Lettuce, -0.042, 0.852, 1.049, 0, 90, 0, 80 [SEP] 24, Fork, -0.196, 0.791, 1.386, 0, 0, 0, 80 [SEP] 25, SoapBottle, 1.840, 0.939, 0.435, 0, 0, 0, 64 [SEP] 26, Ladle, 1.673, 0.982, 2.666, 0, 0, 0, 53 [SEP] 27, Ladle, 0.002, 0.790, 2.197, 0, 270, 0, 52 [SEP] 28, Bread, -0.200, 0.824, 0.814, 0, 0, 0, 80 [SEP] 29, SaltShaker, 0.060, 0.932, 2.757, 0, 0, 0, 53 [SEP] 30, Potato, 2.150, 0.977, 1.866, 0, 0, 0, 53 [SEP] 31, Pan, 1.928, 0.070, 0.640, 0, 0, 0, 50 [SEP] 32, WineBottle, 0.174, 0.938, 2.548, 0, 0, 0, 53 [SEP] 33, Spatula, -0.425, 0.805, 1.217, 0, 270, 0, 80 [SEP] 34, Knife, -0.138, 0.771, 2.197, 0, 270, 0, 52 [SEP] 35, Tomato, 1.840, 0.984, 0.583, 0, 0, 0, 64 [SEP] 36, Apple, 1.986, 0.388, -0.279, 0, 270, 0, 74 [SEP] 37, ButterKnife, 1.660, 0.926, 2.473, 0, 352.515, 0, 53 [SEP] 38, Pot, 2.112, 1.321, -0.278, 0, 0, 0, 74 [SEP] 39, PepperShaker, -0.272, 0.785, 1.217, 0, 0, 0, 80 [SEP] 40, Cup, 2.132, 0.336, -0.550, 0, 270, 0, 74 [SEP] 41, DishSponge, 1.941, 0.745, 0.583, 0, 0, 0, 62 [SEP] 42, Plate, -0.312, 0.781, 0.409, 0, 0, 0, 80 [SEP] 43, Spoon, 1.012, 0.796, 2.584, 0, 90, 0, 77 [SEP] 44, Mug, 2.223, 1.318, -0.007, 0, 270, 0, 74 [SEP] 45, Bowl, 2.250, 0.599, -0.460, 0, 270, 0, 74 [SEP] 46, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0, [SEP] 47, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0, [SEP] 48, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0, [SEP] 49, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0, [SEP] 50, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0, [SEP] 51, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0, [SEP] 52, Drawer, -0.024, 0.774, 2.061, 0, 0, 0, [SEP] 53, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0, [SEP] 54, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0, [SEP] 55, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0, [SEP] 56, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0, [SEP] 57, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0, [SEP] 58, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0, [SEP] 59, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0, [SEP] 60, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0, [SEP] 61, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0, [SEP] 62, Drawer, 2.167, 0.774, 0.582, 0, 0, 0, [SEP] 63, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0, [SEP] 64, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0, [SEP] 65, Sink, 0.935, 0.936, 2.646, 0, 0, 0, [SEP] 66, Curtains, 0.964, 2.061, 2.989, 0, 0, 0, [SEP] 67, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0, [SEP] 68, Drawer, 1.911, 0.774, 2.060, 0, 0, 0, [SEP] 69, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0, [SEP] 70, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0, [SEP] 71, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0, [SEP] 72, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0, [SEP] 73, Toaster, 2.126, 0.926, 0.572, 0, 270, 0, [SEP] 74, Fridge, 2.104, 0.0, -0.279, 0, 270, 0, [SEP] 75, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0, [SEP] 76, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0, [SEP] 77, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0, [SEP] 78, Microwave, -0.310, 0.926, 2.077, 0, 90, 0, [SEP] 79, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0, [SEP] 80, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0, [SEP] 81, Faucet, 1.175, 0.926, 2.950, 270, 90, 0, [SEP] 82, Faucet, 0.686, 0.926, 2.950, 270, 90, 0, [SEP] 83, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your right, walk forward, and turn to your left and head back to where the white table is. | STEP 2: Pick up the plate. | STEP 3: Turn around and head towards the fridge. | STEP 4: Open the fridge, put the plate in, close it, wait a bit, open the fridge, and take out the plate. | STEP 5: Turn to your left and walk all the way to the other side of the room. | STEP 6: Open the cupboard and place the plate in it. | END"]} +{"id": "trial_T20190906_173120_350651-2", "input": "cool the plate in the refrigerator, put the plate in the right cabinet under the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.901, 2.0, 0, 180, 0, [SEP] 1, Potato, 2.074, 0.977, 2.162, 0, 0, 0, 53 [SEP] 2, Potato, -0.272, 0.831, 1.049, 0, 0, 0, 80 [SEP] 3, ButterKnife, -0.349, 0.782, 0.881, 0, 0, 0, 80 [SEP] 4, ButterKnife, 1.917, 0.938, 0.583, 0, 180, 0, 64 [SEP] 5, Pot, 2.140, 0.935, 1.504, 0, 180, 0, 48 [SEP] 6, Spatula, -0.167, 0.952, 2.827, 0, 0, 0, 53 [SEP] 7, Spoon, -0.282, 0.938, 2.618, 0, 0, 0, 53 [SEP] 8, Spoon, 1.802, 0.747, 0.652, 0, 90, 0, 62 [SEP] 9, Fork, 0.060, 0.938, 2.618, 0, 270, 0, 53 [SEP] 10, Fork, 0.033, 0.791, 1.386, 0, 90, 0, 80 [SEP] 11, Cup, 0.629, 0.793, 2.750, 0, 0, 0, 77 [SEP] 12, SoapBottle, -0.042, 0.791, 0.545, 0, 0, 0, 80 [SEP] 13, Tomato, 0.033, 0.837, 1.217, 0, 0, 0, 80 [SEP] 14, Bowl, -0.078, 0.078, 2.129, 0, 0, 0, 47 [SEP] 15, Bowl, -0.362, 1.032, 1.961, 0, 90, 0, 78 [SEP] 16, SaltShaker, 0.423, 0.076, 2.562, 0, 0, 0, 60 [SEP] 17, PepperShaker, 0.637, 0.076, 2.562, 0, 0, 0, 60 [SEP] 18, Lettuce, 0.033, 0.852, 0.377, 0, 0, 0, 80 [SEP] 19, Lettuce, 2.179, 1.580, -0.097, 0, 270, 0, 74 [SEP] 20, Mug, 0.495, 0.076, 2.484, 0, 0, 0, 60 [SEP] 21, Mug, 0.033, 0.785, 0.713, 0, 0, 0, 80 [SEP] 22, Egg, 2.112, 1.363, -0.550, 0, 270, 0, 74 [SEP] 23, Lettuce, -0.042, 0.852, 1.049, 0, 90, 0, 80 [SEP] 24, Fork, -0.196, 0.791, 1.386, 0, 0, 0, 80 [SEP] 25, SoapBottle, 1.840, 0.939, 0.435, 0, 0, 0, 64 [SEP] 26, Ladle, 1.673, 0.982, 2.666, 0, 0, 0, 53 [SEP] 27, Ladle, 0.002, 0.790, 2.197, 0, 270, 0, 52 [SEP] 28, Bread, -0.200, 0.824, 0.814, 0, 0, 0, 80 [SEP] 29, SaltShaker, 0.060, 0.932, 2.757, 0, 0, 0, 53 [SEP] 30, Potato, 2.150, 0.977, 1.866, 0, 0, 0, 53 [SEP] 31, Pan, 1.928, 0.070, 0.640, 0, 0, 0, 50 [SEP] 32, WineBottle, 0.174, 0.938, 2.548, 0, 0, 0, 53 [SEP] 33, Spatula, -0.425, 0.805, 1.217, 0, 270, 0, 80 [SEP] 34, Knife, -0.138, 0.771, 2.197, 0, 270, 0, 52 [SEP] 35, Tomato, 1.840, 0.984, 0.583, 0, 0, 0, 64 [SEP] 36, Apple, 1.986, 0.388, -0.279, 0, 270, 0, 74 [SEP] 37, ButterKnife, 1.660, 0.926, 2.473, 0, 352.515, 0, 53 [SEP] 38, Pot, 2.112, 1.321, -0.278, 0, 0, 0, 74 [SEP] 39, PepperShaker, -0.272, 0.785, 1.217, 0, 0, 0, 80 [SEP] 40, Cup, 2.132, 0.336, -0.550, 0, 270, 0, 74 [SEP] 41, DishSponge, 1.941, 0.745, 0.583, 0, 0, 0, 62 [SEP] 42, Plate, -0.312, 0.781, 0.409, 0, 0, 0, 80 [SEP] 43, Spoon, 1.012, 0.796, 2.584, 0, 90, 0, 77 [SEP] 44, Mug, 2.223, 1.318, -0.007, 0, 270, 0, 74 [SEP] 45, Bowl, 2.250, 0.599, -0.460, 0, 270, 0, 74 [SEP] 46, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0, [SEP] 47, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0, [SEP] 48, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0, [SEP] 49, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0, [SEP] 50, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0, [SEP] 51, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0, [SEP] 52, Drawer, -0.024, 0.774, 2.061, 0, 0, 0, [SEP] 53, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0, [SEP] 54, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0, [SEP] 55, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0, [SEP] 56, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0, [SEP] 57, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0, [SEP] 58, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0, [SEP] 59, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0, [SEP] 60, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0, [SEP] 61, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0, [SEP] 62, Drawer, 2.167, 0.774, 0.582, 0, 0, 0, [SEP] 63, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0, [SEP] 64, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0, [SEP] 65, Sink, 0.935, 0.936, 2.646, 0, 0, 0, [SEP] 66, Curtains, 0.964, 2.061, 2.989, 0, 0, 0, [SEP] 67, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0, [SEP] 68, Drawer, 1.911, 0.774, 2.060, 0, 0, 0, [SEP] 69, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0, [SEP] 70, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0, [SEP] 71, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0, [SEP] 72, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0, [SEP] 73, Toaster, 2.126, 0.926, 0.572, 0, 270, 0, [SEP] 74, Fridge, 2.104, 0.0, -0.279, 0, 270, 0, [SEP] 75, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0, [SEP] 76, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0, [SEP] 77, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0, [SEP] 78, Microwave, -0.310, 0.926, 2.077, 0, 90, 0, [SEP] 79, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0, [SEP] 80, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0, [SEP] 81, Faucet, 1.175, 0.926, 2.950, 270, 90, 0, [SEP] 82, Faucet, 0.686, 0.926, 2.950, 270, 90, 0, [SEP] 83, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: turn right, walk to the white table | STEP 2: grab the white plate on the table | STEP 3: turn left to the refrigerator | STEP 4: open the refrigerator, put the plate in, wait a while, take the plate out | STEP 5: turn left, walk to the sink | STEP 6: put the plate in the right cabinet | END"]} +{"id": "trial_T20190906_173120_350651-3", "input": "Place a chilled sink in a cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.901, 2.0, 0, 180, 0, [SEP] 1, Potato, 2.074, 0.977, 2.162, 0, 0, 0, 53 [SEP] 2, Potato, -0.272, 0.831, 1.049, 0, 0, 0, 80 [SEP] 3, ButterKnife, -0.349, 0.782, 0.881, 0, 0, 0, 80 [SEP] 4, ButterKnife, 1.917, 0.938, 0.583, 0, 180, 0, 64 [SEP] 5, Pot, 2.140, 0.935, 1.504, 0, 180, 0, 48 [SEP] 6, Spatula, -0.167, 0.952, 2.827, 0, 0, 0, 53 [SEP] 7, Spoon, -0.282, 0.938, 2.618, 0, 0, 0, 53 [SEP] 8, Spoon, 1.802, 0.747, 0.652, 0, 90, 0, 62 [SEP] 9, Fork, 0.060, 0.938, 2.618, 0, 270, 0, 53 [SEP] 10, Fork, 0.033, 0.791, 1.386, 0, 90, 0, 80 [SEP] 11, Cup, 0.629, 0.793, 2.750, 0, 0, 0, 77 [SEP] 12, SoapBottle, -0.042, 0.791, 0.545, 0, 0, 0, 80 [SEP] 13, Tomato, 0.033, 0.837, 1.217, 0, 0, 0, 80 [SEP] 14, Bowl, -0.078, 0.078, 2.129, 0, 0, 0, 47 [SEP] 15, Bowl, -0.362, 1.032, 1.961, 0, 90, 0, 78 [SEP] 16, SaltShaker, 0.423, 0.076, 2.562, 0, 0, 0, 60 [SEP] 17, PepperShaker, 0.637, 0.076, 2.562, 0, 0, 0, 60 [SEP] 18, Lettuce, 0.033, 0.852, 0.377, 0, 0, 0, 80 [SEP] 19, Lettuce, 2.179, 1.580, -0.097, 0, 270, 0, 74 [SEP] 20, Mug, 0.495, 0.076, 2.484, 0, 0, 0, 60 [SEP] 21, Mug, 0.033, 0.785, 0.713, 0, 0, 0, 80 [SEP] 22, Egg, 2.112, 1.363, -0.550, 0, 270, 0, 74 [SEP] 23, Lettuce, -0.042, 0.852, 1.049, 0, 90, 0, 80 [SEP] 24, Fork, -0.196, 0.791, 1.386, 0, 0, 0, 80 [SEP] 25, SoapBottle, 1.840, 0.939, 0.435, 0, 0, 0, 64 [SEP] 26, Ladle, 1.673, 0.982, 2.666, 0, 0, 0, 53 [SEP] 27, Ladle, 0.002, 0.790, 2.197, 0, 270, 0, 52 [SEP] 28, Bread, -0.200, 0.824, 0.814, 0, 0, 0, 80 [SEP] 29, SaltShaker, 0.060, 0.932, 2.757, 0, 0, 0, 53 [SEP] 30, Potato, 2.150, 0.977, 1.866, 0, 0, 0, 53 [SEP] 31, Pan, 1.928, 0.070, 0.640, 0, 0, 0, 50 [SEP] 32, WineBottle, 0.174, 0.938, 2.548, 0, 0, 0, 53 [SEP] 33, Spatula, -0.425, 0.805, 1.217, 0, 270, 0, 80 [SEP] 34, Knife, -0.138, 0.771, 2.197, 0, 270, 0, 52 [SEP] 35, Tomato, 1.840, 0.984, 0.583, 0, 0, 0, 64 [SEP] 36, Apple, 1.986, 0.388, -0.279, 0, 270, 0, 74 [SEP] 37, ButterKnife, 1.660, 0.926, 2.473, 0, 352.515, 0, 53 [SEP] 38, Pot, 2.112, 1.321, -0.278, 0, 0, 0, 74 [SEP] 39, PepperShaker, -0.272, 0.785, 1.217, 0, 0, 0, 80 [SEP] 40, Cup, 2.132, 0.336, -0.550, 0, 270, 0, 74 [SEP] 41, DishSponge, 1.941, 0.745, 0.583, 0, 0, 0, 62 [SEP] 42, Plate, -0.312, 0.781, 0.409, 0, 0, 0, 80 [SEP] 43, Spoon, 1.012, 0.796, 2.584, 0, 90, 0, 77 [SEP] 44, Mug, 2.223, 1.318, -0.007, 0, 270, 0, 74 [SEP] 45, Bowl, 2.250, 0.599, -0.460, 0, 270, 0, 74 [SEP] 46, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0, [SEP] 47, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0, [SEP] 48, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0, [SEP] 49, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0, [SEP] 50, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0, [SEP] 51, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0, [SEP] 52, Drawer, -0.024, 0.774, 2.061, 0, 0, 0, [SEP] 53, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0, [SEP] 54, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0, [SEP] 55, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0, [SEP] 56, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0, [SEP] 57, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0, [SEP] 58, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0, [SEP] 59, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0, [SEP] 60, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0, [SEP] 61, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0, [SEP] 62, Drawer, 2.167, 0.774, 0.582, 0, 0, 0, [SEP] 63, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0, [SEP] 64, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0, [SEP] 65, Sink, 0.935, 0.936, 2.646, 0, 0, 0, [SEP] 66, Curtains, 0.964, 2.061, 2.989, 0, 0, 0, [SEP] 67, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0, [SEP] 68, Drawer, 1.911, 0.774, 2.060, 0, 0, 0, [SEP] 69, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0, [SEP] 70, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0, [SEP] 71, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0, [SEP] 72, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0, [SEP] 73, Toaster, 2.126, 0.926, 0.572, 0, 270, 0, [SEP] 74, Fridge, 2.104, 0.0, -0.279, 0, 270, 0, [SEP] 75, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0, [SEP] 76, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0, [SEP] 77, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0, [SEP] 78, Microwave, -0.310, 0.926, 2.077, 0, 90, 0, [SEP] 79, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0, [SEP] 80, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0, [SEP] 81, Faucet, 1.175, 0.926, 2.950, 270, 90, 0, [SEP] 82, Faucet, 0.686, 0.926, 2.950, 270, 90, 0, [SEP] 83, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, walk, then turn to face the table on your right. | STEP 2: Pick up the white plate from the back of the table. | STEP 3: Turn around and walk to the fridge. | STEP 4: Chill the plate on the middle shelf of the fridge, then pick it up again. | STEP 5: Turn right, then walk across the kitchen to the sink. | STEP 6: Place the plate in the cabinet below the sink to the right. | END"]} +{"id": "trial_T20190906_173120_350651-4", "input": "Place a chilled plate in a cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.901, 2.0, 0, 180, 0, [SEP] 1, Potato, 2.074, 0.977, 2.162, 0, 0, 0, 53 [SEP] 2, Potato, -0.272, 0.831, 1.049, 0, 0, 0, 80 [SEP] 3, ButterKnife, -0.349, 0.782, 0.881, 0, 0, 0, 80 [SEP] 4, ButterKnife, 1.917, 0.938, 0.583, 0, 180, 0, 64 [SEP] 5, Pot, 2.140, 0.935, 1.504, 0, 180, 0, 48 [SEP] 6, Spatula, -0.167, 0.952, 2.827, 0, 0, 0, 53 [SEP] 7, Spoon, -0.282, 0.938, 2.618, 0, 0, 0, 53 [SEP] 8, Spoon, 1.802, 0.747, 0.652, 0, 90, 0, 62 [SEP] 9, Fork, 0.060, 0.938, 2.618, 0, 270, 0, 53 [SEP] 10, Fork, 0.033, 0.791, 1.386, 0, 90, 0, 80 [SEP] 11, Cup, 0.629, 0.793, 2.750, 0, 0, 0, 77 [SEP] 12, SoapBottle, -0.042, 0.791, 0.545, 0, 0, 0, 80 [SEP] 13, Tomato, 0.033, 0.837, 1.217, 0, 0, 0, 80 [SEP] 14, Bowl, -0.078, 0.078, 2.129, 0, 0, 0, 47 [SEP] 15, Bowl, -0.362, 1.032, 1.961, 0, 90, 0, 78 [SEP] 16, SaltShaker, 0.423, 0.076, 2.562, 0, 0, 0, 60 [SEP] 17, PepperShaker, 0.637, 0.076, 2.562, 0, 0, 0, 60 [SEP] 18, Lettuce, 0.033, 0.852, 0.377, 0, 0, 0, 80 [SEP] 19, Lettuce, 2.179, 1.580, -0.097, 0, 270, 0, 74 [SEP] 20, Mug, 0.495, 0.076, 2.484, 0, 0, 0, 60 [SEP] 21, Mug, 0.033, 0.785, 0.713, 0, 0, 0, 80 [SEP] 22, Egg, 2.112, 1.363, -0.550, 0, 270, 0, 74 [SEP] 23, Lettuce, -0.042, 0.852, 1.049, 0, 90, 0, 80 [SEP] 24, Fork, -0.196, 0.791, 1.386, 0, 0, 0, 80 [SEP] 25, SoapBottle, 1.840, 0.939, 0.435, 0, 0, 0, 64 [SEP] 26, Ladle, 1.673, 0.982, 2.666, 0, 0, 0, 53 [SEP] 27, Ladle, 0.002, 0.790, 2.197, 0, 270, 0, 52 [SEP] 28, Bread, -0.200, 0.824, 0.814, 0, 0, 0, 80 [SEP] 29, SaltShaker, 0.060, 0.932, 2.757, 0, 0, 0, 53 [SEP] 30, Potato, 2.150, 0.977, 1.866, 0, 0, 0, 53 [SEP] 31, Pan, 1.928, 0.070, 0.640, 0, 0, 0, 50 [SEP] 32, WineBottle, 0.174, 0.938, 2.548, 0, 0, 0, 53 [SEP] 33, Spatula, -0.425, 0.805, 1.217, 0, 270, 0, 80 [SEP] 34, Knife, -0.138, 0.771, 2.197, 0, 270, 0, 52 [SEP] 35, Tomato, 1.840, 0.984, 0.583, 0, 0, 0, 64 [SEP] 36, Apple, 1.986, 0.388, -0.279, 0, 270, 0, 74 [SEP] 37, ButterKnife, 1.660, 0.926, 2.473, 0, 352.515, 0, 53 [SEP] 38, Pot, 2.112, 1.321, -0.278, 0, 0, 0, 74 [SEP] 39, PepperShaker, -0.272, 0.785, 1.217, 0, 0, 0, 80 [SEP] 40, Cup, 2.132, 0.336, -0.550, 0, 270, 0, 74 [SEP] 41, DishSponge, 1.941, 0.745, 0.583, 0, 0, 0, 62 [SEP] 42, Plate, -0.312, 0.781, 0.409, 0, 0, 0, 80 [SEP] 43, Spoon, 1.012, 0.796, 2.584, 0, 90, 0, 77 [SEP] 44, Mug, 2.223, 1.318, -0.007, 0, 270, 0, 74 [SEP] 45, Bowl, 2.250, 0.599, -0.460, 0, 270, 0, 74 [SEP] 46, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0, [SEP] 47, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0, [SEP] 48, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0, [SEP] 49, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0, [SEP] 50, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0, [SEP] 51, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0, [SEP] 52, Drawer, -0.024, 0.774, 2.061, 0, 0, 0, [SEP] 53, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0, [SEP] 54, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0, [SEP] 55, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0, [SEP] 56, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0, [SEP] 57, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0, [SEP] 58, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0, [SEP] 59, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0, [SEP] 60, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0, [SEP] 61, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0, [SEP] 62, Drawer, 2.167, 0.774, 0.582, 0, 0, 0, [SEP] 63, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0, [SEP] 64, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0, [SEP] 65, Sink, 0.935, 0.936, 2.646, 0, 0, 0, [SEP] 66, Curtains, 0.964, 2.061, 2.989, 0, 0, 0, [SEP] 67, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0, [SEP] 68, Drawer, 1.911, 0.774, 2.060, 0, 0, 0, [SEP] 69, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0, [SEP] 70, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0, [SEP] 71, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0, [SEP] 72, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0, [SEP] 73, Toaster, 2.126, 0.926, 0.572, 0, 270, 0, [SEP] 74, Fridge, 2.104, 0.0, -0.279, 0, 270, 0, [SEP] 75, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0, [SEP] 76, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0, [SEP] 77, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0, [SEP] 78, Microwave, -0.310, 0.926, 2.077, 0, 90, 0, [SEP] 79, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0, [SEP] 80, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0, [SEP] 81, Faucet, 1.175, 0.926, 2.950, 270, 90, 0, [SEP] 82, Faucet, 0.686, 0.926, 2.950, 270, 90, 0, [SEP] 83, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Head to the fridge on your left then turn right and walk to the white table | STEP 2: Pick up the place that is sitting on the table to the left of the loaf of bread | STEP 3: Turn around and walk to the fridge | STEP 4: Open the fridge and place the plate on the middle shelf and close the fridge, then open the fridge and pick up the plate that is on the middle shelf and close the door | STEP 5: Turn around the head to your right towards the sink | STEP 6: Open the right hand cabinet below the sink and place the plate inside then close the cabinet door. | END"]} +{"id": "trial_T20190906_173120_350651-5", "input": "Put a plate in a cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.901, 2.0, 0, 180, 0, [SEP] 1, Potato, 2.074, 0.977, 2.162, 0, 0, 0, 53 [SEP] 2, Potato, -0.272, 0.831, 1.049, 0, 0, 0, 80 [SEP] 3, ButterKnife, -0.349, 0.782, 0.881, 0, 0, 0, 80 [SEP] 4, ButterKnife, 1.917, 0.938, 0.583, 0, 180, 0, 64 [SEP] 5, Pot, 2.140, 0.935, 1.504, 0, 180, 0, 48 [SEP] 6, Spatula, -0.167, 0.952, 2.827, 0, 0, 0, 53 [SEP] 7, Spoon, -0.282, 0.938, 2.618, 0, 0, 0, 53 [SEP] 8, Spoon, 1.802, 0.747, 0.652, 0, 90, 0, 62 [SEP] 9, Fork, 0.060, 0.938, 2.618, 0, 270, 0, 53 [SEP] 10, Fork, 0.033, 0.791, 1.386, 0, 90, 0, 80 [SEP] 11, Cup, 0.629, 0.793, 2.750, 0, 0, 0, 77 [SEP] 12, SoapBottle, -0.042, 0.791, 0.545, 0, 0, 0, 80 [SEP] 13, Tomato, 0.033, 0.837, 1.217, 0, 0, 0, 80 [SEP] 14, Bowl, -0.078, 0.078, 2.129, 0, 0, 0, 47 [SEP] 15, Bowl, -0.362, 1.032, 1.961, 0, 90, 0, 78 [SEP] 16, SaltShaker, 0.423, 0.076, 2.562, 0, 0, 0, 60 [SEP] 17, PepperShaker, 0.637, 0.076, 2.562, 0, 0, 0, 60 [SEP] 18, Lettuce, 0.033, 0.852, 0.377, 0, 0, 0, 80 [SEP] 19, Lettuce, 2.179, 1.580, -0.097, 0, 270, 0, 74 [SEP] 20, Mug, 0.495, 0.076, 2.484, 0, 0, 0, 60 [SEP] 21, Mug, 0.033, 0.785, 0.713, 0, 0, 0, 80 [SEP] 22, Egg, 2.112, 1.363, -0.550, 0, 270, 0, 74 [SEP] 23, Lettuce, -0.042, 0.852, 1.049, 0, 90, 0, 80 [SEP] 24, Fork, -0.196, 0.791, 1.386, 0, 0, 0, 80 [SEP] 25, SoapBottle, 1.840, 0.939, 0.435, 0, 0, 0, 64 [SEP] 26, Ladle, 1.673, 0.982, 2.666, 0, 0, 0, 53 [SEP] 27, Ladle, 0.002, 0.790, 2.197, 0, 270, 0, 52 [SEP] 28, Bread, -0.200, 0.824, 0.814, 0, 0, 0, 80 [SEP] 29, SaltShaker, 0.060, 0.932, 2.757, 0, 0, 0, 53 [SEP] 30, Potato, 2.150, 0.977, 1.866, 0, 0, 0, 53 [SEP] 31, Pan, 1.928, 0.070, 0.640, 0, 0, 0, 50 [SEP] 32, WineBottle, 0.174, 0.938, 2.548, 0, 0, 0, 53 [SEP] 33, Spatula, -0.425, 0.805, 1.217, 0, 270, 0, 80 [SEP] 34, Knife, -0.138, 0.771, 2.197, 0, 270, 0, 52 [SEP] 35, Tomato, 1.840, 0.984, 0.583, 0, 0, 0, 64 [SEP] 36, Apple, 1.986, 0.388, -0.279, 0, 270, 0, 74 [SEP] 37, ButterKnife, 1.660, 0.926, 2.473, 0, 352.515, 0, 53 [SEP] 38, Pot, 2.112, 1.321, -0.278, 0, 0, 0, 74 [SEP] 39, PepperShaker, -0.272, 0.785, 1.217, 0, 0, 0, 80 [SEP] 40, Cup, 2.132, 0.336, -0.550, 0, 270, 0, 74 [SEP] 41, DishSponge, 1.941, 0.745, 0.583, 0, 0, 0, 62 [SEP] 42, Plate, -0.312, 0.781, 0.409, 0, 0, 0, 80 [SEP] 43, Spoon, 1.012, 0.796, 2.584, 0, 90, 0, 77 [SEP] 44, Mug, 2.223, 1.318, -0.007, 0, 270, 0, 74 [SEP] 45, Bowl, 2.250, 0.599, -0.460, 0, 270, 0, 74 [SEP] 46, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0, [SEP] 47, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0, [SEP] 48, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0, [SEP] 49, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0, [SEP] 50, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0, [SEP] 51, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0, [SEP] 52, Drawer, -0.024, 0.774, 2.061, 0, 0, 0, [SEP] 53, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0, [SEP] 54, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0, [SEP] 55, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0, [SEP] 56, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0, [SEP] 57, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0, [SEP] 58, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0, [SEP] 59, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0, [SEP] 60, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0, [SEP] 61, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0, [SEP] 62, Drawer, 2.167, 0.774, 0.582, 0, 0, 0, [SEP] 63, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0, [SEP] 64, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0, [SEP] 65, Sink, 0.935, 0.936, 2.646, 0, 0, 0, [SEP] 66, Curtains, 0.964, 2.061, 2.989, 0, 0, 0, [SEP] 67, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0, [SEP] 68, Drawer, 1.911, 0.774, 2.060, 0, 0, 0, [SEP] 69, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0, [SEP] 70, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0, [SEP] 71, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0, [SEP] 72, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0, [SEP] 73, Toaster, 2.126, 0.926, 0.572, 0, 270, 0, [SEP] 74, Fridge, 2.104, 0.0, -0.279, 0, 270, 0, [SEP] 75, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0, [SEP] 76, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0, [SEP] 77, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0, [SEP] 78, Microwave, -0.310, 0.926, 2.077, 0, 90, 0, [SEP] 79, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0, [SEP] 80, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0, [SEP] 81, Faucet, 1.175, 0.926, 2.950, 270, 90, 0, [SEP] 82, Faucet, 0.686, 0.926, 2.950, 270, 90, 0, [SEP] 83, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Walk ahead and right to the left side of the table. | STEP 2: Pick up the plate. | STEP 3: Turn around and go to the fridge. | STEP 4: Place plate in the fridge on the top shelf and close the door. Wait a moment and take it out of the fridge. | STEP 5: Turn left and walk to the sink. | STEP 6: Put the plate in the bottom right cabinet. | END"]} +{"id": "trial_T20190909_014639_335717-0", "input": "Move mug from coffee maker to microwave and heat, move to cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 1.124, -0.75, 0, 0, 0, [SEP] 1, DishSponge, -1.451, 1.322, -2.981, 0, 0, 0, 49 [SEP] 2, DishSponge, 0.206, 1.322, -3.011, 0, 0, 0, 49 [SEP] 3, WineBottle, -2.049, 1.323, -1.681, 0, 0, 0, 49 [SEP] 4, Spoon, -1.790, 1.324, 1.094, 0, 0, 0, 49 [SEP] 5, Spoon, 0.506, 1.324, -2.794, 0, 0, 0, 49 [SEP] 6, Pot, 1.017, 1.763, 2.171, 0, 270, 0, 62 [SEP] 7, Cup, -1.952, 0.341, 0.613, 0, 0, 0, 47 [SEP] 8, Cup, -1.530, 1.320, 1.094, 0, 0, 0, 49 [SEP] 9, Plate, 0.900, 0.345, -1.854, 0, 180, 0, 48 [SEP] 10, SoapBottle, -1.681, 0.344, 0.412, 0, 0, 0, 47 [SEP] 11, SoapBottle, -1.682, 0.344, 1.317, 0, 0, 0, 50 [SEP] 12, Tomato, -1.826, 1.367, -1.255, 0, 0, 0, 56 [SEP] 13, Bowl, 0.920, 1.522, 1.539, 0, 270, 0, 62 [SEP] 14, SaltShaker, -2.179, 1.318, -2.201, 0, 0, 0, 49 [SEP] 15, PepperShaker, 1.110, 1.202, 1.238, 0, 0, 0, 74 [SEP] 16, PepperShaker, 0.349, 1.318, -3.343, 0, 0, 0, 49 [SEP] 17, Bread, -2.049, 1.397, 2.069, 0, 0, 0, 49 [SEP] 18, Lettuce, -1.451, 1.399, -3.314, 0, 0, 0, 49 [SEP] 19, Mug, -1.920, 1.318, -2.721, 0, 0, 0, 49 [SEP] 20, Apple, -1.698, 1.099, -0.587, 0, 0, 0, 67 [SEP] 21, Bread, -1.660, 1.397, 1.094, 0, 0, 0, 49 [SEP] 22, Pot, -0.125, 1.332, -2.973, 0, 0, 0, 57 [SEP] 23, Knife, 0.492, 1.352, -3.121, 0, 0, 0, 49 [SEP] 24, Bowl, -2.049, 1.321, -2.981, 0, 0, 0, 49 [SEP] 25, Potato, 0.766, 1.362, -1.312, 0, 0, 0, 49 [SEP] 26, SoapBottle, 1.276, 1.207, 1.222, 0, 0, 0, 74 [SEP] 27, Fork, -1.954, 1.051, -0.496, 0, 270, 0, 67 [SEP] 28, Cup, -1.665, 0.341, -2.063, 0, 0, 0, 45 [SEP] 29, Kettle, -0.630, 1.331, -3.301, 0, 180, 0, 46 [SEP] 30, Egg, -2.004, 1.377, -1.186, 0, 0, 0, 56 [SEP] 31, Pan, -1.881, 0.327, -2.035, 0, 0, 0, 45 [SEP] 32, SaltShaker, -1.682, 0.338, 1.213, 0, 0, 0, 50 [SEP] 33, WineBottle, -1.614, 0.344, 0.613, 0, 0, 0, 47 [SEP] 34, Lettuce, -1.891, 1.399, -1.066, 6.904, 0, 355.826, 56 [SEP] 35, Spatula, 0.766, 1.337, -0.942, 0, 0, 0, 49 [SEP] 36, PaperTowelRoll, 1.193, 1.312, 1.254, 0, 0, 0, 74 [SEP] 37, Tomato, 0.938, 1.709, 1.486, 0, 270, 0, 62 [SEP] 38, Plate, 1.053, 0.345, -2.267, 0, 180, 0, 48 [SEP] 39, PepperShaker, 0.206, 1.318, -2.900, 0, 0, 0, 49 [SEP] 40, DishSponge, -2.179, 1.322, -3.241, 0, 0, 0, 49 [SEP] 41, Spoon, 0.983, 0.461, 1.054, 0, 270, 0, 76 [SEP] 42, Apple, -1.657, 0.329, 2.151, 0, 270, 0, 64 [SEP] 43, Mug, 0.965, 1.371, -1.534, 0, 270, 0, 70 [SEP] 44, StoveBurner, -0.239, 1.325, -3.301, 0, 180, 0, [SEP] 45, Cabinet, -1.461, 0.775, -2.002, 0, 0, 0, [SEP] 46, StoveBurner, -0.630, 1.325, -3.301, 0, 180, 0, [SEP] 47, Cabinet, -1.461, 0.775, 0.470, 0, 0, 0, [SEP] 48, Cabinet, 0.578, 0.776, -2.054, 0, 0, 0, [SEP] 49, CounterTop, -1.809, 1.358, 1.182, 0, 0, 0, [SEP] 50, Cabinet, -1.461, 0.775, 1.310, 0, 0, 0, [SEP] 51, Faucet, -2.063, 1.362, -0.726, 0, 39.391, 0, [SEP] 52, StoveBurner, -0.749, 1.325, -2.973, 0, 0, 0, [SEP] 53, Drawer, -1.610, 0.681, -0.430, 0, 0, 0, [SEP] 54, Window, -2.566, 1.799, -0.822, 270, 0, 0, [SEP] 55, Drawer, -1.610, 0.681, -1.217, 0, 0, 0, [SEP] 56, Sink, -1.990, 1.143, -0.975, 0, 0, 0, [SEP] 57, StoveBurner, -0.125, 1.325, -2.973, 0, 0, 0, [SEP] 58, StoveKnob, -0.185, 1.338, -2.741, 0, 270, 180, [SEP] 59, StoveKnob, -0.336, 1.338, -2.741, 0, 270, 180, [SEP] 60, StoveKnob, -0.569, 1.338, -2.741, 0, 270, 180, [SEP] 61, StoveKnob, -0.707, 1.338, -2.741, 0, 270, 180, [SEP] 62, Fridge, 1.013, 0.227, 1.917, 0, 270, 0, [SEP] 63, Microwave, 0.994, 1.310, -2.163, 0, 270, 0, [SEP] 64, GarbageCan, -1.633, 0.212, 2.192, 0, 270, 0, [SEP] 65, LightSwitch, 1.386, 1.565, -0.657, 0, 270, 0, [SEP] 66, HousePlant, -2.027, 1.311, -0.026, 0, 284.058, 0, [SEP] 67, SinkBasin, -1.835, 1.039, -0.542, 0, 0, 0, [SEP] 68, ButterKnife, 0.873, 0.468, 0.651, 0, 0, 0, [SEP] 69, Toaster, -1.885, 1.310, -2.512, 0, 90, 0, [SEP] 70, CoffeeMachine, 1.129, 1.310, -1.426, 0, 270, 0, [SEP] 71, Drawer, 0.647, 1.061, 0.680, 0, 270, 0, [SEP] 72, Drawer, 0.648, 1.061, 1.020, 0, 270, 0, [SEP] 73, Drawer, 0.648, 0.843, 1.020, 0, 270, 0, [SEP] 74, SideTable, 0.975, 0.220, 0.869, 0, 270, 0, [SEP] 75, Drawer, 0.648, 0.602, 0.680, 0, 270, 0, [SEP] 76, Drawer, 0.648, 0.596, 1.020, 0, 270, 0, [SEP] 77, Drawer, 0.648, 0.843, 0.680, 0, 270, 0, [SEP] 78, Stool, 0.606, 0.222, -1.084, 1.233, 280.489, 0, [SEP] 79, NorthWall, , , , , , , [SEP] 80, EastWall, , , , , , , [SEP] 81, SouthWall, , , , , , , [SEP] 82, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, face counter with coffee maker on it. | STEP 2: Remove mug from coffee maker. | STEP 3: Turn left, proceed until microwave on right. Turn right to face microwave. | STEP 4: Open microwave door, put mug in and close door. Wait three seconds, open door, remove mug and close door. | STEP 5: Turn around, cross room to counter. | STEP 6: Open cabinet to right below counter, put mug in directly behind bottle, close cabinet door. | END"]} +{"id": "trial_T20190909_014639_335717-1", "input": "Place a heated cup in the bottom of the counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 1.124, -0.75, 0, 0, 0, [SEP] 1, DishSponge, -1.451, 1.322, -2.981, 0, 0, 0, 49 [SEP] 2, DishSponge, 0.206, 1.322, -3.011, 0, 0, 0, 49 [SEP] 3, WineBottle, -2.049, 1.323, -1.681, 0, 0, 0, 49 [SEP] 4, Spoon, -1.790, 1.324, 1.094, 0, 0, 0, 49 [SEP] 5, Spoon, 0.506, 1.324, -2.794, 0, 0, 0, 49 [SEP] 6, Pot, 1.017, 1.763, 2.171, 0, 270, 0, 62 [SEP] 7, Cup, -1.952, 0.341, 0.613, 0, 0, 0, 47 [SEP] 8, Cup, -1.530, 1.320, 1.094, 0, 0, 0, 49 [SEP] 9, Plate, 0.900, 0.345, -1.854, 0, 180, 0, 48 [SEP] 10, SoapBottle, -1.681, 0.344, 0.412, 0, 0, 0, 47 [SEP] 11, SoapBottle, -1.682, 0.344, 1.317, 0, 0, 0, 50 [SEP] 12, Tomato, -1.826, 1.367, -1.255, 0, 0, 0, 56 [SEP] 13, Bowl, 0.920, 1.522, 1.539, 0, 270, 0, 62 [SEP] 14, SaltShaker, -2.179, 1.318, -2.201, 0, 0, 0, 49 [SEP] 15, PepperShaker, 1.110, 1.202, 1.238, 0, 0, 0, 74 [SEP] 16, PepperShaker, 0.349, 1.318, -3.343, 0, 0, 0, 49 [SEP] 17, Bread, -2.049, 1.397, 2.069, 0, 0, 0, 49 [SEP] 18, Lettuce, -1.451, 1.399, -3.314, 0, 0, 0, 49 [SEP] 19, Mug, -1.920, 1.318, -2.721, 0, 0, 0, 49 [SEP] 20, Apple, -1.698, 1.099, -0.587, 0, 0, 0, 67 [SEP] 21, Bread, -1.660, 1.397, 1.094, 0, 0, 0, 49 [SEP] 22, Pot, -0.125, 1.332, -2.973, 0, 0, 0, 57 [SEP] 23, Knife, 0.492, 1.352, -3.121, 0, 0, 0, 49 [SEP] 24, Bowl, -2.049, 1.321, -2.981, 0, 0, 0, 49 [SEP] 25, Potato, 0.766, 1.362, -1.312, 0, 0, 0, 49 [SEP] 26, SoapBottle, 1.276, 1.207, 1.222, 0, 0, 0, 74 [SEP] 27, Fork, -1.954, 1.051, -0.496, 0, 270, 0, 67 [SEP] 28, Cup, -1.665, 0.341, -2.063, 0, 0, 0, 45 [SEP] 29, Kettle, -0.630, 1.331, -3.301, 0, 180, 0, 46 [SEP] 30, Egg, -2.004, 1.377, -1.186, 0, 0, 0, 56 [SEP] 31, Pan, -1.881, 0.327, -2.035, 0, 0, 0, 45 [SEP] 32, SaltShaker, -1.682, 0.338, 1.213, 0, 0, 0, 50 [SEP] 33, WineBottle, -1.614, 0.344, 0.613, 0, 0, 0, 47 [SEP] 34, Lettuce, -1.891, 1.399, -1.066, 6.904, 0, 355.826, 56 [SEP] 35, Spatula, 0.766, 1.337, -0.942, 0, 0, 0, 49 [SEP] 36, PaperTowelRoll, 1.193, 1.312, 1.254, 0, 0, 0, 74 [SEP] 37, Tomato, 0.938, 1.709, 1.486, 0, 270, 0, 62 [SEP] 38, Plate, 1.053, 0.345, -2.267, 0, 180, 0, 48 [SEP] 39, PepperShaker, 0.206, 1.318, -2.900, 0, 0, 0, 49 [SEP] 40, DishSponge, -2.179, 1.322, -3.241, 0, 0, 0, 49 [SEP] 41, Spoon, 0.983, 0.461, 1.054, 0, 270, 0, 76 [SEP] 42, Apple, -1.657, 0.329, 2.151, 0, 270, 0, 64 [SEP] 43, Mug, 0.965, 1.371, -1.534, 0, 270, 0, 70 [SEP] 44, StoveBurner, -0.239, 1.325, -3.301, 0, 180, 0, [SEP] 45, Cabinet, -1.461, 0.775, -2.002, 0, 0, 0, [SEP] 46, StoveBurner, -0.630, 1.325, -3.301, 0, 180, 0, [SEP] 47, Cabinet, -1.461, 0.775, 0.470, 0, 0, 0, [SEP] 48, Cabinet, 0.578, 0.776, -2.054, 0, 0, 0, [SEP] 49, CounterTop, -1.809, 1.358, 1.182, 0, 0, 0, [SEP] 50, Cabinet, -1.461, 0.775, 1.310, 0, 0, 0, [SEP] 51, Faucet, -2.063, 1.362, -0.726, 0, 39.391, 0, [SEP] 52, StoveBurner, -0.749, 1.325, -2.973, 0, 0, 0, [SEP] 53, Drawer, -1.610, 0.681, -0.430, 0, 0, 0, [SEP] 54, Window, -2.566, 1.799, -0.822, 270, 0, 0, [SEP] 55, Drawer, -1.610, 0.681, -1.217, 0, 0, 0, [SEP] 56, Sink, -1.990, 1.143, -0.975, 0, 0, 0, [SEP] 57, StoveBurner, -0.125, 1.325, -2.973, 0, 0, 0, [SEP] 58, StoveKnob, -0.185, 1.338, -2.741, 0, 270, 180, [SEP] 59, StoveKnob, -0.336, 1.338, -2.741, 0, 270, 180, [SEP] 60, StoveKnob, -0.569, 1.338, -2.741, 0, 270, 180, [SEP] 61, StoveKnob, -0.707, 1.338, -2.741, 0, 270, 180, [SEP] 62, Fridge, 1.013, 0.227, 1.917, 0, 270, 0, [SEP] 63, Microwave, 0.994, 1.310, -2.163, 0, 270, 0, [SEP] 64, GarbageCan, -1.633, 0.212, 2.192, 0, 270, 0, [SEP] 65, LightSwitch, 1.386, 1.565, -0.657, 0, 270, 0, [SEP] 66, HousePlant, -2.027, 1.311, -0.026, 0, 284.058, 0, [SEP] 67, SinkBasin, -1.835, 1.039, -0.542, 0, 0, 0, [SEP] 68, ButterKnife, 0.873, 0.468, 0.651, 0, 0, 0, [SEP] 69, Toaster, -1.885, 1.310, -2.512, 0, 90, 0, [SEP] 70, CoffeeMachine, 1.129, 1.310, -1.426, 0, 270, 0, [SEP] 71, Drawer, 0.647, 1.061, 0.680, 0, 270, 0, [SEP] 72, Drawer, 0.648, 1.061, 1.020, 0, 270, 0, [SEP] 73, Drawer, 0.648, 0.843, 1.020, 0, 270, 0, [SEP] 74, SideTable, 0.975, 0.220, 0.869, 0, 270, 0, [SEP] 75, Drawer, 0.648, 0.602, 0.680, 0, 270, 0, [SEP] 76, Drawer, 0.648, 0.596, 1.020, 0, 270, 0, [SEP] 77, Drawer, 0.648, 0.843, 0.680, 0, 270, 0, [SEP] 78, Stool, 0.606, 0.222, -1.084, 1.233, 280.489, 0, [SEP] 79, NorthWall, , , , , , , [SEP] 80, EastWall, , , , , , , [SEP] 81, SouthWall, , , , , , , [SEP] 82, WestWall, , , , , , , ", "output": ["STEP 1: turn to the right twice and take a few steps and turn to the left facing the counter top | STEP 2: take the cup from the coffee maker on the counter top | STEP 3: turn to the left and go the the front of the microwave and turn to the right facing the microwave | STEP 4: put the cup in the microwave and heat it and when finish heating take out the cup from the microwave | STEP 5: turn to the right and take a few steps and turn to the right and go to the counter | STEP 6: open the bottom right counter door and put the cup in it and close the door | END"]} +{"id": "trial_T20190909_014639_335717-2", "input": "place a microwaved coffee mug inside of the kitchen cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 1.124, -0.75, 0, 0, 0, [SEP] 1, DishSponge, -1.451, 1.322, -2.981, 0, 0, 0, 49 [SEP] 2, DishSponge, 0.206, 1.322, -3.011, 0, 0, 0, 49 [SEP] 3, WineBottle, -2.049, 1.323, -1.681, 0, 0, 0, 49 [SEP] 4, Spoon, -1.790, 1.324, 1.094, 0, 0, 0, 49 [SEP] 5, Spoon, 0.506, 1.324, -2.794, 0, 0, 0, 49 [SEP] 6, Pot, 1.017, 1.763, 2.171, 0, 270, 0, 62 [SEP] 7, Cup, -1.952, 0.341, 0.613, 0, 0, 0, 47 [SEP] 8, Cup, -1.530, 1.320, 1.094, 0, 0, 0, 49 [SEP] 9, Plate, 0.900, 0.345, -1.854, 0, 180, 0, 48 [SEP] 10, SoapBottle, -1.681, 0.344, 0.412, 0, 0, 0, 47 [SEP] 11, SoapBottle, -1.682, 0.344, 1.317, 0, 0, 0, 50 [SEP] 12, Tomato, -1.826, 1.367, -1.255, 0, 0, 0, 56 [SEP] 13, Bowl, 0.920, 1.522, 1.539, 0, 270, 0, 62 [SEP] 14, SaltShaker, -2.179, 1.318, -2.201, 0, 0, 0, 49 [SEP] 15, PepperShaker, 1.110, 1.202, 1.238, 0, 0, 0, 74 [SEP] 16, PepperShaker, 0.349, 1.318, -3.343, 0, 0, 0, 49 [SEP] 17, Bread, -2.049, 1.397, 2.069, 0, 0, 0, 49 [SEP] 18, Lettuce, -1.451, 1.399, -3.314, 0, 0, 0, 49 [SEP] 19, Mug, -1.920, 1.318, -2.721, 0, 0, 0, 49 [SEP] 20, Apple, -1.698, 1.099, -0.587, 0, 0, 0, 67 [SEP] 21, Bread, -1.660, 1.397, 1.094, 0, 0, 0, 49 [SEP] 22, Pot, -0.125, 1.332, -2.973, 0, 0, 0, 57 [SEP] 23, Knife, 0.492, 1.352, -3.121, 0, 0, 0, 49 [SEP] 24, Bowl, -2.049, 1.321, -2.981, 0, 0, 0, 49 [SEP] 25, Potato, 0.766, 1.362, -1.312, 0, 0, 0, 49 [SEP] 26, SoapBottle, 1.276, 1.207, 1.222, 0, 0, 0, 74 [SEP] 27, Fork, -1.954, 1.051, -0.496, 0, 270, 0, 67 [SEP] 28, Cup, -1.665, 0.341, -2.063, 0, 0, 0, 45 [SEP] 29, Kettle, -0.630, 1.331, -3.301, 0, 180, 0, 46 [SEP] 30, Egg, -2.004, 1.377, -1.186, 0, 0, 0, 56 [SEP] 31, Pan, -1.881, 0.327, -2.035, 0, 0, 0, 45 [SEP] 32, SaltShaker, -1.682, 0.338, 1.213, 0, 0, 0, 50 [SEP] 33, WineBottle, -1.614, 0.344, 0.613, 0, 0, 0, 47 [SEP] 34, Lettuce, -1.891, 1.399, -1.066, 6.904, 0, 355.826, 56 [SEP] 35, Spatula, 0.766, 1.337, -0.942, 0, 0, 0, 49 [SEP] 36, PaperTowelRoll, 1.193, 1.312, 1.254, 0, 0, 0, 74 [SEP] 37, Tomato, 0.938, 1.709, 1.486, 0, 270, 0, 62 [SEP] 38, Plate, 1.053, 0.345, -2.267, 0, 180, 0, 48 [SEP] 39, PepperShaker, 0.206, 1.318, -2.900, 0, 0, 0, 49 [SEP] 40, DishSponge, -2.179, 1.322, -3.241, 0, 0, 0, 49 [SEP] 41, Spoon, 0.983, 0.461, 1.054, 0, 270, 0, 76 [SEP] 42, Apple, -1.657, 0.329, 2.151, 0, 270, 0, 64 [SEP] 43, Mug, 0.965, 1.371, -1.534, 0, 270, 0, 70 [SEP] 44, StoveBurner, -0.239, 1.325, -3.301, 0, 180, 0, [SEP] 45, Cabinet, -1.461, 0.775, -2.002, 0, 0, 0, [SEP] 46, StoveBurner, -0.630, 1.325, -3.301, 0, 180, 0, [SEP] 47, Cabinet, -1.461, 0.775, 0.470, 0, 0, 0, [SEP] 48, Cabinet, 0.578, 0.776, -2.054, 0, 0, 0, [SEP] 49, CounterTop, -1.809, 1.358, 1.182, 0, 0, 0, [SEP] 50, Cabinet, -1.461, 0.775, 1.310, 0, 0, 0, [SEP] 51, Faucet, -2.063, 1.362, -0.726, 0, 39.391, 0, [SEP] 52, StoveBurner, -0.749, 1.325, -2.973, 0, 0, 0, [SEP] 53, Drawer, -1.610, 0.681, -0.430, 0, 0, 0, [SEP] 54, Window, -2.566, 1.799, -0.822, 270, 0, 0, [SEP] 55, Drawer, -1.610, 0.681, -1.217, 0, 0, 0, [SEP] 56, Sink, -1.990, 1.143, -0.975, 0, 0, 0, [SEP] 57, StoveBurner, -0.125, 1.325, -2.973, 0, 0, 0, [SEP] 58, StoveKnob, -0.185, 1.338, -2.741, 0, 270, 180, [SEP] 59, StoveKnob, -0.336, 1.338, -2.741, 0, 270, 180, [SEP] 60, StoveKnob, -0.569, 1.338, -2.741, 0, 270, 180, [SEP] 61, StoveKnob, -0.707, 1.338, -2.741, 0, 270, 180, [SEP] 62, Fridge, 1.013, 0.227, 1.917, 0, 270, 0, [SEP] 63, Microwave, 0.994, 1.310, -2.163, 0, 270, 0, [SEP] 64, GarbageCan, -1.633, 0.212, 2.192, 0, 270, 0, [SEP] 65, LightSwitch, 1.386, 1.565, -0.657, 0, 270, 0, [SEP] 66, HousePlant, -2.027, 1.311, -0.026, 0, 284.058, 0, [SEP] 67, SinkBasin, -1.835, 1.039, -0.542, 0, 0, 0, [SEP] 68, ButterKnife, 0.873, 0.468, 0.651, 0, 0, 0, [SEP] 69, Toaster, -1.885, 1.310, -2.512, 0, 90, 0, [SEP] 70, CoffeeMachine, 1.129, 1.310, -1.426, 0, 270, 0, [SEP] 71, Drawer, 0.647, 1.061, 0.680, 0, 270, 0, [SEP] 72, Drawer, 0.648, 1.061, 1.020, 0, 270, 0, [SEP] 73, Drawer, 0.648, 0.843, 1.020, 0, 270, 0, [SEP] 74, SideTable, 0.975, 0.220, 0.869, 0, 270, 0, [SEP] 75, Drawer, 0.648, 0.602, 0.680, 0, 270, 0, [SEP] 76, Drawer, 0.648, 0.596, 1.020, 0, 270, 0, [SEP] 77, Drawer, 0.648, 0.843, 0.680, 0, 270, 0, [SEP] 78, Stool, 0.606, 0.222, -1.084, 1.233, 280.489, 0, [SEP] 79, NorthWall, , , , , , , [SEP] 80, EastWall, , , , , , , [SEP] 81, SouthWall, , , , , , , [SEP] 82, WestWall, , , , , , , ", "output": ["STEP 1: turn around and walk over to the coffee maker on the kitchen counter to the left | STEP 2: grab the coffee mug out from underneath the coffee maker spout | STEP 3: turn left and walk over to the microwave at the end of the room on the right | STEP 4: place the cup inside the microwave, let the microwave microwave the cup for a bit, then take it back out | STEP 5: turn around and walk over to the kitchen counter to the right of the sink at the end of the room | STEP 6: place the cup inside of the cabinet to the bottom right of the sink under the kitchen counter | END"]} +{"id": "trial_T20190907_054906_608944-0", "input": "To place the soap on the rack. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.901, 1.75, 0, 180, 0, [SEP] 1, Cloth, -0.142, 0.053, 1.345, 0, 0, 0, 24 [SEP] 2, SprayBottle, 0.386, 1.048, 3.166, 0, 270, 0, 39 [SEP] 3, SprayBottle, -3.319, 0.236, 0.078, 0, 270, 0, 43 [SEP] 4, DishSponge, -3.093, 0.234, 0.078, 0, 270, 0, 43 [SEP] 5, DishSponge, -0.914, 0.044, 3.86, 0, 0, 0, 36 [SEP] 6, SoapBottle, -2.574, 1.545, 3.849, 0, 0, 0, 35 [SEP] 7, HandTowel, -3.420, 1.356, 0.817, 0, 270, 0, 38 [SEP] 8, Towel, -1.304, 1.059, -0.183, 0, 0, 0, 30 [SEP] 9, HandTowel, -3.419, 1.338, 2.102, 0, 270, 0, 37 [SEP] 10, Plunger, 0.362, 0.000, 2.468, 0, 0, 0, Floor|-01.44| [SEP] 11, SoapBar, -2.387, 1.296, 3.919, 0, 0, 0, 33 [SEP] 12, ToiletPaper, -0.736, 0.627, 1.535, 0, 0, 0, 27 [SEP] 13, SoapBottle, 0.447, 1.049, 2.969, 0, 270, 0, 39 [SEP] 14, ToiletPaper, -3.376, 0.232, 0.234, 0, 270, 0, 43 [SEP] 15, Cloth, -0.227, 0.053, 1.575, 0, 0, 0, 24 [SEP] 16, PaperTowelRoll, -0.723, 0.149, 3.914, 0, 0, 0, 36 [SEP] 17, Candle, 0.324, 1.048, 3.034, 0, 270, 0, 39 [SEP] 18, SprayBottle, 0.294, 1.048, 3.231, 0, 270, 0, 39 [SEP] 19, ScrubBrush, 0.397, 0.000, 2.694, 0, 0, 0, Floor|-01.44| [SEP] 20, DishSponge, -3.007, 0.856, 1.571, 0, 90, 0, 42 [SEP] 21, Faucet, -0.141, 0.524, -0.211, 0, 0, 0, [SEP] 22, Window, -1.507, 1.322, -0.364, 0, 0, 0, [SEP] 23, Faucet, -3.401, 1.017, 1.531, 0, 90, 0, [SEP] 24, BathtubBasin, -0.155, 0.042, 0.884, 0, 0, 0, [SEP] 25, ShowerCurtain, -0.886, 2.196, -0.169, 0, 0, 0, [SEP] 26, ShowerHead, -0.126, 1.447, 2.047, 0, 270, 0, [SEP] 27, Bathtub, -0.205, 0.359, 0.924, 0, 0, 0, [SEP] 28, Mirror, -3.447, 1.575, 1.516, 0, 0, 0, [SEP] 29, TowelHolder, -2.049, 1.045, -0.290, 0, 0, 0, [SEP] 30, TowelHolder, -1.304, 1.045, -0.290, 0, 0, 0, [SEP] 31, ToiletPaperHanger, -0.425, 0.783, 2.278, 0, 0, 0, [SEP] 32, Shelf, -2.587, 0.778, 3.909, 0, 0, 0, [SEP] 33, Shelf, -2.587, 1.287, 3.941, 0, 0, 0, [SEP] 34, Shelf, -2.587, 1.032, 3.941, 0, 0, 0, [SEP] 35, Shelf, -2.587, 1.534, 3.909, 0, 0, 0, [SEP] 36, GarbageCan, 0.047, -0.002, 3.878, 0, 0, 0, [SEP] 37, HandTowelHolder, -3.459, 1.458, 2.098, 0, 0, 0, [SEP] 38, HandTowelHolder, -3.459, 1.458, 0.816, 0, 0, 0, [SEP] 39, Toilet, 0.063, 0.002, 3.096, 0, 0, 0, [SEP] 40, LightSwitch, -3.459, 1.437, 2.496, 0, 90, 0, [SEP] 41, Sink, -3.115, -0.013, 1.531, 0, 90, 0, [SEP] 42, SinkBasin, -3.081, 0.935, 1.537, 0, 90, 0, [SEP] 43, SideTable, -3.171, 0.002, 0.170, 0, 270, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk across the room to the shelves. | STEP 2: Take the soap off the third shelf from the bottom. | STEP 3: Turn around and walk across the room, then turn right to face the rack. | STEP 4: Place the soap on the middle rack. | END"]} +{"id": "trial_T20190907_054906_608944-1", "input": "Move the bar of soap from the shelves to the metal rack. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.901, 1.75, 0, 180, 0, [SEP] 1, Cloth, -0.142, 0.053, 1.345, 0, 0, 0, 24 [SEP] 2, SprayBottle, 0.386, 1.048, 3.166, 0, 270, 0, 39 [SEP] 3, SprayBottle, -3.319, 0.236, 0.078, 0, 270, 0, 43 [SEP] 4, DishSponge, -3.093, 0.234, 0.078, 0, 270, 0, 43 [SEP] 5, DishSponge, -0.914, 0.044, 3.86, 0, 0, 0, 36 [SEP] 6, SoapBottle, -2.574, 1.545, 3.849, 0, 0, 0, 35 [SEP] 7, HandTowel, -3.420, 1.356, 0.817, 0, 270, 0, 38 [SEP] 8, Towel, -1.304, 1.059, -0.183, 0, 0, 0, 30 [SEP] 9, HandTowel, -3.419, 1.338, 2.102, 0, 270, 0, 37 [SEP] 10, Plunger, 0.362, 0.000, 2.468, 0, 0, 0, Floor|-01.44| [SEP] 11, SoapBar, -2.387, 1.296, 3.919, 0, 0, 0, 33 [SEP] 12, ToiletPaper, -0.736, 0.627, 1.535, 0, 0, 0, 27 [SEP] 13, SoapBottle, 0.447, 1.049, 2.969, 0, 270, 0, 39 [SEP] 14, ToiletPaper, -3.376, 0.232, 0.234, 0, 270, 0, 43 [SEP] 15, Cloth, -0.227, 0.053, 1.575, 0, 0, 0, 24 [SEP] 16, PaperTowelRoll, -0.723, 0.149, 3.914, 0, 0, 0, 36 [SEP] 17, Candle, 0.324, 1.048, 3.034, 0, 270, 0, 39 [SEP] 18, SprayBottle, 0.294, 1.048, 3.231, 0, 270, 0, 39 [SEP] 19, ScrubBrush, 0.397, 0.000, 2.694, 0, 0, 0, Floor|-01.44| [SEP] 20, DishSponge, -3.007, 0.856, 1.571, 0, 90, 0, 42 [SEP] 21, Faucet, -0.141, 0.524, -0.211, 0, 0, 0, [SEP] 22, Window, -1.507, 1.322, -0.364, 0, 0, 0, [SEP] 23, Faucet, -3.401, 1.017, 1.531, 0, 90, 0, [SEP] 24, BathtubBasin, -0.155, 0.042, 0.884, 0, 0, 0, [SEP] 25, ShowerCurtain, -0.886, 2.196, -0.169, 0, 0, 0, [SEP] 26, ShowerHead, -0.126, 1.447, 2.047, 0, 270, 0, [SEP] 27, Bathtub, -0.205, 0.359, 0.924, 0, 0, 0, [SEP] 28, Mirror, -3.447, 1.575, 1.516, 0, 0, 0, [SEP] 29, TowelHolder, -2.049, 1.045, -0.290, 0, 0, 0, [SEP] 30, TowelHolder, -1.304, 1.045, -0.290, 0, 0, 0, [SEP] 31, ToiletPaperHanger, -0.425, 0.783, 2.278, 0, 0, 0, [SEP] 32, Shelf, -2.587, 0.778, 3.909, 0, 0, 0, [SEP] 33, Shelf, -2.587, 1.287, 3.941, 0, 0, 0, [SEP] 34, Shelf, -2.587, 1.032, 3.941, 0, 0, 0, [SEP] 35, Shelf, -2.587, 1.534, 3.909, 0, 0, 0, [SEP] 36, GarbageCan, 0.047, -0.002, 3.878, 0, 0, 0, [SEP] 37, HandTowelHolder, -3.459, 1.458, 2.098, 0, 0, 0, [SEP] 38, HandTowelHolder, -3.459, 1.458, 0.816, 0, 0, 0, [SEP] 39, Toilet, 0.063, 0.002, 3.096, 0, 0, 0, [SEP] 40, LightSwitch, -3.459, 1.437, 2.496, 0, 90, 0, [SEP] 41, Sink, -3.115, -0.013, 1.531, 0, 90, 0, [SEP] 42, SinkBasin, -3.081, 0.935, 1.537, 0, 90, 0, [SEP] 43, SideTable, -3.171, 0.002, 0.170, 0, 270, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: Turn and walk to the shelves next to the door. | STEP 2: Pick up the bar of soap. | STEP 3: Turn and walk to the metal rack next to the sink. | STEP 4: Place the bar of soap on the middle rack. | END"]} +{"id": "trial_T20190907_054906_608944-2", "input": "Put a bar of soap on a shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.901, 1.75, 0, 180, 0, [SEP] 1, Cloth, -0.142, 0.053, 1.345, 0, 0, 0, 24 [SEP] 2, SprayBottle, 0.386, 1.048, 3.166, 0, 270, 0, 39 [SEP] 3, SprayBottle, -3.319, 0.236, 0.078, 0, 270, 0, 43 [SEP] 4, DishSponge, -3.093, 0.234, 0.078, 0, 270, 0, 43 [SEP] 5, DishSponge, -0.914, 0.044, 3.86, 0, 0, 0, 36 [SEP] 6, SoapBottle, -2.574, 1.545, 3.849, 0, 0, 0, 35 [SEP] 7, HandTowel, -3.420, 1.356, 0.817, 0, 270, 0, 38 [SEP] 8, Towel, -1.304, 1.059, -0.183, 0, 0, 0, 30 [SEP] 9, HandTowel, -3.419, 1.338, 2.102, 0, 270, 0, 37 [SEP] 10, Plunger, 0.362, 0.000, 2.468, 0, 0, 0, Floor|-01.44| [SEP] 11, SoapBar, -2.387, 1.296, 3.919, 0, 0, 0, 33 [SEP] 12, ToiletPaper, -0.736, 0.627, 1.535, 0, 0, 0, 27 [SEP] 13, SoapBottle, 0.447, 1.049, 2.969, 0, 270, 0, 39 [SEP] 14, ToiletPaper, -3.376, 0.232, 0.234, 0, 270, 0, 43 [SEP] 15, Cloth, -0.227, 0.053, 1.575, 0, 0, 0, 24 [SEP] 16, PaperTowelRoll, -0.723, 0.149, 3.914, 0, 0, 0, 36 [SEP] 17, Candle, 0.324, 1.048, 3.034, 0, 270, 0, 39 [SEP] 18, SprayBottle, 0.294, 1.048, 3.231, 0, 270, 0, 39 [SEP] 19, ScrubBrush, 0.397, 0.000, 2.694, 0, 0, 0, Floor|-01.44| [SEP] 20, DishSponge, -3.007, 0.856, 1.571, 0, 90, 0, 42 [SEP] 21, Faucet, -0.141, 0.524, -0.211, 0, 0, 0, [SEP] 22, Window, -1.507, 1.322, -0.364, 0, 0, 0, [SEP] 23, Faucet, -3.401, 1.017, 1.531, 0, 90, 0, [SEP] 24, BathtubBasin, -0.155, 0.042, 0.884, 0, 0, 0, [SEP] 25, ShowerCurtain, -0.886, 2.196, -0.169, 0, 0, 0, [SEP] 26, ShowerHead, -0.126, 1.447, 2.047, 0, 270, 0, [SEP] 27, Bathtub, -0.205, 0.359, 0.924, 0, 0, 0, [SEP] 28, Mirror, -3.447, 1.575, 1.516, 0, 0, 0, [SEP] 29, TowelHolder, -2.049, 1.045, -0.290, 0, 0, 0, [SEP] 30, TowelHolder, -1.304, 1.045, -0.290, 0, 0, 0, [SEP] 31, ToiletPaperHanger, -0.425, 0.783, 2.278, 0, 0, 0, [SEP] 32, Shelf, -2.587, 0.778, 3.909, 0, 0, 0, [SEP] 33, Shelf, -2.587, 1.287, 3.941, 0, 0, 0, [SEP] 34, Shelf, -2.587, 1.032, 3.941, 0, 0, 0, [SEP] 35, Shelf, -2.587, 1.534, 3.909, 0, 0, 0, [SEP] 36, GarbageCan, 0.047, -0.002, 3.878, 0, 0, 0, [SEP] 37, HandTowelHolder, -3.459, 1.458, 2.098, 0, 0, 0, [SEP] 38, HandTowelHolder, -3.459, 1.458, 0.816, 0, 0, 0, [SEP] 39, Toilet, 0.063, 0.002, 3.096, 0, 0, 0, [SEP] 40, LightSwitch, -3.459, 1.437, 2.496, 0, 90, 0, [SEP] 41, Sink, -3.115, -0.013, 1.531, 0, 90, 0, [SEP] 42, SinkBasin, -3.081, 0.935, 1.537, 0, 90, 0, [SEP] 43, SideTable, -3.171, 0.002, 0.170, 0, 270, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, then turn right again, and go straight to the shelves in front of you. | STEP 2: Take the bar of soap from the shelf. | STEP 3: Turn around, go straight, then turn right at the metal shelf. | STEP 4: Place the bar of soap on the metal shelf. | END"]} +{"id": "trial_T20190909_091246_807206-0", "input": "Place a vase on a coffee table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 2.5, 0, 0, 0, [SEP] 1, KeyChain, 1.600, 0.760, 0.241, 0, 270, 0, 28 [SEP] 2, KeyChain, -1.113, 0.327, 0.847, 0, 90, 0, 36 [SEP] 3, CreditCard, -0.301, 0.477, -0.086, 0, 90, 0, 25 [SEP] 4, CreditCard, -0.384, 0.473, 0.971, 0, 90, 0, 25 [SEP] 5, Pillow, -1.192, 0.455, 0.847, 0, 90, 0, 36 [SEP] 6, Box, -0.007, 0.65, 0.892, 0, 0, 0, 25 [SEP] 7, Laptop, -0.196, 0.470, 0.407, 0, 72.615, 0, 25 [SEP] 8, CreditCard, -1.438, 0.488, 2.013, 0, 0, 0, 35 [SEP] 9, KeyChain, -1.632, 0.489, 1.624, 0, 0, 0, 35 [SEP] 10, Vase, 1.525, 0.765, 0.541, 0, 270, 0, 28 [SEP] 11, Vase, -1.800, 1.616, -1.785, 0, 0, 0, 37 [SEP] 12, Pillow, -1.235, 0.461, -0.025, 0, 75.000, 0, 36 [SEP] 13, RemoteControl, -1.428, 0.338, 0.643, 0, 90, 0, 36 [SEP] 14, Watch, 1.601, 0.179, 0.208, 0, 270, 0, 30 [SEP] 15, Vase, -1.799, 1.315, -1.470, 0, 0, 0, 38 [SEP] 16, Statue, -0.051, 0.487, -0.086, 0, 90, 0, 25 [SEP] 17, Television, 1.826, 1.241, 0.248, 0, 270, 0, [SEP] 18, LightSwitch, -2.0, 1.332, 3.920, 0, 90, 0, [SEP] 19, Window, -0.216, 1.495, -1.878, 90, 0, 0, [SEP] 20, HousePlant, -1.780, 0.468, 1.965, 0, 0, 0, [SEP] 21, Painting, -2.0, 1.577, 0.418, 90, 270, 0, [SEP] 22, GarbageCan, 1.767, -0.001, 3.878, 0, 0, 0, [SEP] 23, FloorLamp, 1.228, 0.000, 3.744, 0, 0, 0, [SEP] 24, Painting, -0.096, 1.578, 4.050, 90, 0, 0, [SEP] 25, CoffeeTable, -0.150, 0.000, 0.421, 0, 270, 0, [SEP] 26, Shelf, 1.663, 0.474, 0.609, 0, 270, 0, [SEP] 27, Shelf, 1.663, 0.273, 0.609, 0, 270, 0, [SEP] 28, TVStand, 1.669, -0.000, 0.243, 0, 270, 0, [SEP] 29, Shelf, 1.663, 0.302, -0.124, 0, 270, 0, [SEP] 30, Shelf, 1.663, 0.442, 0.241, 0, 270, 0, [SEP] 31, Shelf, 1.663, 0.597, -0.124, 0, 270, 0, [SEP] 32, Shelf, 1.663, 0.643, 0.609, 0, 270, 0, [SEP] 33, Cabinet, -1.767, 0.729, -1.593, 0, 91.801, 0, [SEP] 34, Shelf, -1.769, 2.041, -1.593, 0, 91.801, 0, [SEP] 35, SideTable, -1.567, -0.002, 1.818, 0, 90, 0, [SEP] 36, Sofa, -1.445, 0.008, 0.420, 0, 90, 0, [SEP] 37, Shelf, -1.769, 1.744, -1.593, 0, 91.801, 0, [SEP] 38, Shelf, -1.768, 1.452, -1.593, 0, 91.801, 0, [SEP] 39, ArmChair, 0.396, 0.005, 2.194, 0, 180, 0, [SEP] 40, ArmChair, -0.633, 0.005, 2.194, 0, 180, 0, [SEP] 41, ShelvingUnit, -1.786, 0.001, -1.592, 0, 91.801, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and cross the room, turn right and walk to the tc stand on your left, turn to face the tv stand | STEP 2: Pick up the blue vase that is sitting on the tv stand | STEP 3: Turn around to face the black coffee table in | STEP 4: Place the vase on the coffee table to the left of the computer | END"]} +{"id": "trial_T20190909_091246_807206-1", "input": "Place a bowl on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 2.5, 0, 0, 0, [SEP] 1, KeyChain, 1.600, 0.760, 0.241, 0, 270, 0, 28 [SEP] 2, KeyChain, -1.113, 0.327, 0.847, 0, 90, 0, 36 [SEP] 3, CreditCard, -0.301, 0.477, -0.086, 0, 90, 0, 25 [SEP] 4, CreditCard, -0.384, 0.473, 0.971, 0, 90, 0, 25 [SEP] 5, Pillow, -1.192, 0.455, 0.847, 0, 90, 0, 36 [SEP] 6, Box, -0.007, 0.65, 0.892, 0, 0, 0, 25 [SEP] 7, Laptop, -0.196, 0.470, 0.407, 0, 72.615, 0, 25 [SEP] 8, CreditCard, -1.438, 0.488, 2.013, 0, 0, 0, 35 [SEP] 9, KeyChain, -1.632, 0.489, 1.624, 0, 0, 0, 35 [SEP] 10, Vase, 1.525, 0.765, 0.541, 0, 270, 0, 28 [SEP] 11, Vase, -1.800, 1.616, -1.785, 0, 0, 0, 37 [SEP] 12, Pillow, -1.235, 0.461, -0.025, 0, 75.000, 0, 36 [SEP] 13, RemoteControl, -1.428, 0.338, 0.643, 0, 90, 0, 36 [SEP] 14, Watch, 1.601, 0.179, 0.208, 0, 270, 0, 30 [SEP] 15, Vase, -1.799, 1.315, -1.470, 0, 0, 0, 38 [SEP] 16, Statue, -0.051, 0.487, -0.086, 0, 90, 0, 25 [SEP] 17, Television, 1.826, 1.241, 0.248, 0, 270, 0, [SEP] 18, LightSwitch, -2.0, 1.332, 3.920, 0, 90, 0, [SEP] 19, Window, -0.216, 1.495, -1.878, 90, 0, 0, [SEP] 20, HousePlant, -1.780, 0.468, 1.965, 0, 0, 0, [SEP] 21, Painting, -2.0, 1.577, 0.418, 90, 270, 0, [SEP] 22, GarbageCan, 1.767, -0.001, 3.878, 0, 0, 0, [SEP] 23, FloorLamp, 1.228, 0.000, 3.744, 0, 0, 0, [SEP] 24, Painting, -0.096, 1.578, 4.050, 90, 0, 0, [SEP] 25, CoffeeTable, -0.150, 0.000, 0.421, 0, 270, 0, [SEP] 26, Shelf, 1.663, 0.474, 0.609, 0, 270, 0, [SEP] 27, Shelf, 1.663, 0.273, 0.609, 0, 270, 0, [SEP] 28, TVStand, 1.669, -0.000, 0.243, 0, 270, 0, [SEP] 29, Shelf, 1.663, 0.302, -0.124, 0, 270, 0, [SEP] 30, Shelf, 1.663, 0.442, 0.241, 0, 270, 0, [SEP] 31, Shelf, 1.663, 0.597, -0.124, 0, 270, 0, [SEP] 32, Shelf, 1.663, 0.643, 0.609, 0, 270, 0, [SEP] 33, Cabinet, -1.767, 0.729, -1.593, 0, 91.801, 0, [SEP] 34, Shelf, -1.769, 2.041, -1.593, 0, 91.801, 0, [SEP] 35, SideTable, -1.567, -0.002, 1.818, 0, 90, 0, [SEP] 36, Sofa, -1.445, 0.008, 0.420, 0, 90, 0, [SEP] 37, Shelf, -1.769, 1.744, -1.593, 0, 91.801, 0, [SEP] 38, Shelf, -1.768, 1.452, -1.593, 0, 91.801, 0, [SEP] 39, ArmChair, 0.396, 0.005, 2.194, 0, 180, 0, [SEP] 40, ArmChair, -0.633, 0.005, 2.194, 0, 180, 0, [SEP] 41, ShelvingUnit, -1.786, 0.001, -1.592, 0, 91.801, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, take a right at the wall and walk to the front of the black television stand on the left. | STEP 2: Pick up the blue bowl from the left side of the television stand. | STEP 3: Turn around to face the black coffee table. | STEP 4: Put the blue bowl on the back left corner of the table to the left of the laptop computer. | END"]} +{"id": "trial_T20190909_091246_807206-2", "input": "Move bowl to coffee table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 2.5, 0, 0, 0, [SEP] 1, KeyChain, 1.600, 0.760, 0.241, 0, 270, 0, 28 [SEP] 2, KeyChain, -1.113, 0.327, 0.847, 0, 90, 0, 36 [SEP] 3, CreditCard, -0.301, 0.477, -0.086, 0, 90, 0, 25 [SEP] 4, CreditCard, -0.384, 0.473, 0.971, 0, 90, 0, 25 [SEP] 5, Pillow, -1.192, 0.455, 0.847, 0, 90, 0, 36 [SEP] 6, Box, -0.007, 0.65, 0.892, 0, 0, 0, 25 [SEP] 7, Laptop, -0.196, 0.470, 0.407, 0, 72.615, 0, 25 [SEP] 8, CreditCard, -1.438, 0.488, 2.013, 0, 0, 0, 35 [SEP] 9, KeyChain, -1.632, 0.489, 1.624, 0, 0, 0, 35 [SEP] 10, Vase, 1.525, 0.765, 0.541, 0, 270, 0, 28 [SEP] 11, Vase, -1.800, 1.616, -1.785, 0, 0, 0, 37 [SEP] 12, Pillow, -1.235, 0.461, -0.025, 0, 75.000, 0, 36 [SEP] 13, RemoteControl, -1.428, 0.338, 0.643, 0, 90, 0, 36 [SEP] 14, Watch, 1.601, 0.179, 0.208, 0, 270, 0, 30 [SEP] 15, Vase, -1.799, 1.315, -1.470, 0, 0, 0, 38 [SEP] 16, Statue, -0.051, 0.487, -0.086, 0, 90, 0, 25 [SEP] 17, Television, 1.826, 1.241, 0.248, 0, 270, 0, [SEP] 18, LightSwitch, -2.0, 1.332, 3.920, 0, 90, 0, [SEP] 19, Window, -0.216, 1.495, -1.878, 90, 0, 0, [SEP] 20, HousePlant, -1.780, 0.468, 1.965, 0, 0, 0, [SEP] 21, Painting, -2.0, 1.577, 0.418, 90, 270, 0, [SEP] 22, GarbageCan, 1.767, -0.001, 3.878, 0, 0, 0, [SEP] 23, FloorLamp, 1.228, 0.000, 3.744, 0, 0, 0, [SEP] 24, Painting, -0.096, 1.578, 4.050, 90, 0, 0, [SEP] 25, CoffeeTable, -0.150, 0.000, 0.421, 0, 270, 0, [SEP] 26, Shelf, 1.663, 0.474, 0.609, 0, 270, 0, [SEP] 27, Shelf, 1.663, 0.273, 0.609, 0, 270, 0, [SEP] 28, TVStand, 1.669, -0.000, 0.243, 0, 270, 0, [SEP] 29, Shelf, 1.663, 0.302, -0.124, 0, 270, 0, [SEP] 30, Shelf, 1.663, 0.442, 0.241, 0, 270, 0, [SEP] 31, Shelf, 1.663, 0.597, -0.124, 0, 270, 0, [SEP] 32, Shelf, 1.663, 0.643, 0.609, 0, 270, 0, [SEP] 33, Cabinet, -1.767, 0.729, -1.593, 0, 91.801, 0, [SEP] 34, Shelf, -1.769, 2.041, -1.593, 0, 91.801, 0, [SEP] 35, SideTable, -1.567, -0.002, 1.818, 0, 90, 0, [SEP] 36, Sofa, -1.445, 0.008, 0.420, 0, 90, 0, [SEP] 37, Shelf, -1.769, 1.744, -1.593, 0, 91.801, 0, [SEP] 38, Shelf, -1.768, 1.452, -1.593, 0, 91.801, 0, [SEP] 39, ArmChair, 0.396, 0.005, 2.194, 0, 180, 0, [SEP] 40, ArmChair, -0.633, 0.005, 2.194, 0, 180, 0, [SEP] 41, ShelvingUnit, -1.786, 0.001, -1.592, 0, 91.801, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: Turn and go to the tv. | STEP 2: Pick up the bowl that is on the tv stand in front of the tv. | STEP 3: With the bowl in hand turn around to the coffee table that is directly behind you. | STEP 4: Place the bowl on the pile of papers to the left of the lap top | END"]} +{"id": "trial_T20190918_161337_246067-0", "input": "Place a rinsed slice of tomato in the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 1.25, 0, 270, 0, [SEP] 1, Ladle, 0.457, 0.957, -2.169, 0, 0, 0, 61 [SEP] 2, DishSponge, 1.181, 0.118, -1.968, 0, 0, 0, 53 [SEP] 3, DishSponge, -1.254, 2.147, -1.129, 0, 90, 0, 45 [SEP] 4, ButterKnife, 0.408, 0.930, 1.220, 0, 270, 0, 78 [SEP] 5, Pot, 0.408, 0.925, 0.991, 0, 0, 0, 78 [SEP] 6, Fork, 0.408, 0.927, 0.305, 0, 0, 0, 78 [SEP] 7, Fork, -0.356, 0.765, -2.071, 0, 90, 0, 73 [SEP] 8, Egg, -0.210, 0.818, -1.936, 0, 0, 0, 73 [SEP] 9, Cup, 1.466, 0.913, -1.329, 0, 0, 0, 61 [SEP] 10, Plate, 1.359, 0.556, 2.482, 0, 0, 0, 81 [SEP] 11, Knife, -0.283, 0.787, -1.981, 0, 270, 0, 73 [SEP] 12, Tomato, 0.408, 0.978, 0.534, 0, 0, 0, 78 [SEP] 13, Bowl, -0.047, 0.927, 0.305, 0, 0, 0, 78 [SEP] 14, SaltShaker, 0.294, 0.926, 1.448, 0, 0, 0, 78 [SEP] 15, PepperShaker, 1.259, 0.877, 2.510, 0, 0, 0, 87 [SEP] 16, PepperShaker, -0.160, 0.923, 0.991, 0, 0, 0, 78 [SEP] 17, Bread, 0.066, 0.972, 1.220, 0, 0, 0, 78 [SEP] 18, Mug, -0.242, 2.146, -2.120, 0, 270, 0, 46 [SEP] 19, Apple, -0.210, 0.835, -2.116, 0, 0, 0, 73 [SEP] 20, Potato, 0.294, 0.959, 1.220, 0, 0, 0, 78 [SEP] 21, Bowl, -1.380, 1.180, -0.495, 0, 90, 0, 69 [SEP] 22, SoapBottle, 0.522, 0.929, 0.076, 0, 0, 0, 78 [SEP] 23, Fork, -0.064, 0.765, -1.981, 0, 0, 0, 73 [SEP] 24, Ladle, 1.909, 1.702, -1.673, 0, 270, 0, 51 [SEP] 25, Bread, 0.180, 0.972, 0.534, 0, 0, 0, 78 [SEP] 26, Lettuce, 1.738, 0.994, -1.563, 0, 0, 0, 61 [SEP] 27, WineBottle, 1.294, 0.120, -1.806, 0, 0, 0, 53 [SEP] 28, Spatula, -0.047, 0.945, 0.762, 0, 0, 0, 78 [SEP] 29, Plate, 1.647, 0.916, -1.329, 0, 0, 0, 61 [SEP] 30, SaltShaker, -1.036, 0.909, -2.260, 0, 0, 0, 61 [SEP] 31, Pot, -0.117, 0.921, 1.5, 0, 0, 0, 78 [SEP] 32, Cup, 1.466, 0.913, -1.095, 0, 0, 0, 61 [SEP] 33, PepperShaker, 0.180, 0.926, 0.305, 0, 0, 0, 78 [SEP] 34, Pan, 1.824, 0.945, -0.346, 0, 0, 0, 42 [SEP] 35, ButterKnife, -0.047, 0.926, 0.534, 0, 0, 0, 78 [SEP] 36, Tomato, 0.522, 0.982, 0.305, 0, 0, 0, 78 [SEP] 37, DishSponge, 1.850, 0.913, -2.002, 0, 0, 0, 61 [SEP] 38, Egg, 0.066, 0.984, 0.762, 0, 0, 0, 78 [SEP] 39, Spoon, -0.047, 0.931, 0.076, 0, 0, 0, 78 [SEP] 40, Knife, 1.153, 0.936, -2.002, 0, 0, 0, 61 [SEP] 41, Mug, -1.533, 1.499, -0.806, 0, 90, 0, 69 [SEP] 42, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 43, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 44, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 45, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 46, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 47, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 48, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 49, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 50, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 51, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 52, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 53, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 54, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 55, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 56, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 57, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 58, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 59, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 60, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 61, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 62, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 63, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 64, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 65, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 66, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 67, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 68, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 69, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 70, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 71, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 72, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 73, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 74, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 75, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 76, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 77, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 78, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 79, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 80, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 81, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 82, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 83, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 84, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 85, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 86, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 87, , , , , , , , [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: turn right, head to the door, turn right, heads to the shelf, turn right, head to the stove, turn right to face the table | STEP 2: take the tomato in front of the fork | STEP 3: turn left, advance next to the stove and not next to the table, turn right, head to the refrigerator, turn left, head to sink | STEP 4: put tomato in sink on right side | STEP 5: take knife from sink | STEP 6: use knife from sink to make a tomato slice | STEP 7: put knife in sink | STEP 8: take tomato slice from sink | STEP 9: put tomato slice on left side of sink, use water from faucet to cover items in sink with water, take the tomato slice from the left side of the sink | STEP 10: turn right to face microwave | STEP 11: put tomato slice in microwave | END"]} +{"id": "trial_T20190918_161337_246067-1", "input": "Place a washed tomato slice in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 1.25, 0, 270, 0, [SEP] 1, Ladle, 0.457, 0.957, -2.169, 0, 0, 0, 61 [SEP] 2, DishSponge, 1.181, 0.118, -1.968, 0, 0, 0, 53 [SEP] 3, DishSponge, -1.254, 2.147, -1.129, 0, 90, 0, 45 [SEP] 4, ButterKnife, 0.408, 0.930, 1.220, 0, 270, 0, 78 [SEP] 5, Pot, 0.408, 0.925, 0.991, 0, 0, 0, 78 [SEP] 6, Fork, 0.408, 0.927, 0.305, 0, 0, 0, 78 [SEP] 7, Fork, -0.356, 0.765, -2.071, 0, 90, 0, 73 [SEP] 8, Egg, -0.210, 0.818, -1.936, 0, 0, 0, 73 [SEP] 9, Cup, 1.466, 0.913, -1.329, 0, 0, 0, 61 [SEP] 10, Plate, 1.359, 0.556, 2.482, 0, 0, 0, 81 [SEP] 11, Knife, -0.283, 0.787, -1.981, 0, 270, 0, 73 [SEP] 12, Tomato, 0.408, 0.978, 0.534, 0, 0, 0, 78 [SEP] 13, Bowl, -0.047, 0.927, 0.305, 0, 0, 0, 78 [SEP] 14, SaltShaker, 0.294, 0.926, 1.448, 0, 0, 0, 78 [SEP] 15, PepperShaker, 1.259, 0.877, 2.510, 0, 0, 0, 87 [SEP] 16, PepperShaker, -0.160, 0.923, 0.991, 0, 0, 0, 78 [SEP] 17, Bread, 0.066, 0.972, 1.220, 0, 0, 0, 78 [SEP] 18, Mug, -0.242, 2.146, -2.120, 0, 270, 0, 46 [SEP] 19, Apple, -0.210, 0.835, -2.116, 0, 0, 0, 73 [SEP] 20, Potato, 0.294, 0.959, 1.220, 0, 0, 0, 78 [SEP] 21, Bowl, -1.380, 1.180, -0.495, 0, 90, 0, 69 [SEP] 22, SoapBottle, 0.522, 0.929, 0.076, 0, 0, 0, 78 [SEP] 23, Fork, -0.064, 0.765, -1.981, 0, 0, 0, 73 [SEP] 24, Ladle, 1.909, 1.702, -1.673, 0, 270, 0, 51 [SEP] 25, Bread, 0.180, 0.972, 0.534, 0, 0, 0, 78 [SEP] 26, Lettuce, 1.738, 0.994, -1.563, 0, 0, 0, 61 [SEP] 27, WineBottle, 1.294, 0.120, -1.806, 0, 0, 0, 53 [SEP] 28, Spatula, -0.047, 0.945, 0.762, 0, 0, 0, 78 [SEP] 29, Plate, 1.647, 0.916, -1.329, 0, 0, 0, 61 [SEP] 30, SaltShaker, -1.036, 0.909, -2.260, 0, 0, 0, 61 [SEP] 31, Pot, -0.117, 0.921, 1.5, 0, 0, 0, 78 [SEP] 32, Cup, 1.466, 0.913, -1.095, 0, 0, 0, 61 [SEP] 33, PepperShaker, 0.180, 0.926, 0.305, 0, 0, 0, 78 [SEP] 34, Pan, 1.824, 0.945, -0.346, 0, 0, 0, 42 [SEP] 35, ButterKnife, -0.047, 0.926, 0.534, 0, 0, 0, 78 [SEP] 36, Tomato, 0.522, 0.982, 0.305, 0, 0, 0, 78 [SEP] 37, DishSponge, 1.850, 0.913, -2.002, 0, 0, 0, 61 [SEP] 38, Egg, 0.066, 0.984, 0.762, 0, 0, 0, 78 [SEP] 39, Spoon, -0.047, 0.931, 0.076, 0, 0, 0, 78 [SEP] 40, Knife, 1.153, 0.936, -2.002, 0, 0, 0, 61 [SEP] 41, Mug, -1.533, 1.499, -0.806, 0, 90, 0, 69 [SEP] 42, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 43, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 44, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 45, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 46, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 47, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 48, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 49, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 50, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 51, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 52, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 53, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 54, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 55, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 56, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 57, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 58, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 59, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 60, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 61, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 62, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 63, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 64, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 65, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 66, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 67, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 68, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 69, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 70, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 71, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 72, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 73, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 74, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 75, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 76, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 77, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 78, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 79, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 80, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 81, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 82, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 83, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 84, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 85, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 86, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 87, , , , , , , , [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, move to the corner with the brown shelving unit, turn right again and stop between the window and counter, facing the tomatoes. | STEP 2: Pick up the tomato closest to you from the counter. | STEP 3: Carry the tomato to the kitchen sink. | STEP 4: Place the tomato in the kitchen sink. | STEP 5: Pick up the knife from the kitchen sink. | STEP 6: Slice the top off the tomato in the sink. | STEP 7: Place the knife in the sink. | STEP 8: Pick up the slice you just cut from the tomato in the sink. | STEP 9: Place the slice of tomato in the sink, turn the water on, and wash it. | STEP 10: Remove the freshly washed tomato slice from the sink. | STEP 11: Place the tomato slice in the microwave and shut the door. | END"]} +{"id": "trial_T20190918_161337_246067-2", "input": "Cook a sliced tomato in the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 1.25, 0, 270, 0, [SEP] 1, Ladle, 0.457, 0.957, -2.169, 0, 0, 0, 61 [SEP] 2, DishSponge, 1.181, 0.118, -1.968, 0, 0, 0, 53 [SEP] 3, DishSponge, -1.254, 2.147, -1.129, 0, 90, 0, 45 [SEP] 4, ButterKnife, 0.408, 0.930, 1.220, 0, 270, 0, 78 [SEP] 5, Pot, 0.408, 0.925, 0.991, 0, 0, 0, 78 [SEP] 6, Fork, 0.408, 0.927, 0.305, 0, 0, 0, 78 [SEP] 7, Fork, -0.356, 0.765, -2.071, 0, 90, 0, 73 [SEP] 8, Egg, -0.210, 0.818, -1.936, 0, 0, 0, 73 [SEP] 9, Cup, 1.466, 0.913, -1.329, 0, 0, 0, 61 [SEP] 10, Plate, 1.359, 0.556, 2.482, 0, 0, 0, 81 [SEP] 11, Knife, -0.283, 0.787, -1.981, 0, 270, 0, 73 [SEP] 12, Tomato, 0.408, 0.978, 0.534, 0, 0, 0, 78 [SEP] 13, Bowl, -0.047, 0.927, 0.305, 0, 0, 0, 78 [SEP] 14, SaltShaker, 0.294, 0.926, 1.448, 0, 0, 0, 78 [SEP] 15, PepperShaker, 1.259, 0.877, 2.510, 0, 0, 0, 87 [SEP] 16, PepperShaker, -0.160, 0.923, 0.991, 0, 0, 0, 78 [SEP] 17, Bread, 0.066, 0.972, 1.220, 0, 0, 0, 78 [SEP] 18, Mug, -0.242, 2.146, -2.120, 0, 270, 0, 46 [SEP] 19, Apple, -0.210, 0.835, -2.116, 0, 0, 0, 73 [SEP] 20, Potato, 0.294, 0.959, 1.220, 0, 0, 0, 78 [SEP] 21, Bowl, -1.380, 1.180, -0.495, 0, 90, 0, 69 [SEP] 22, SoapBottle, 0.522, 0.929, 0.076, 0, 0, 0, 78 [SEP] 23, Fork, -0.064, 0.765, -1.981, 0, 0, 0, 73 [SEP] 24, Ladle, 1.909, 1.702, -1.673, 0, 270, 0, 51 [SEP] 25, Bread, 0.180, 0.972, 0.534, 0, 0, 0, 78 [SEP] 26, Lettuce, 1.738, 0.994, -1.563, 0, 0, 0, 61 [SEP] 27, WineBottle, 1.294, 0.120, -1.806, 0, 0, 0, 53 [SEP] 28, Spatula, -0.047, 0.945, 0.762, 0, 0, 0, 78 [SEP] 29, Plate, 1.647, 0.916, -1.329, 0, 0, 0, 61 [SEP] 30, SaltShaker, -1.036, 0.909, -2.260, 0, 0, 0, 61 [SEP] 31, Pot, -0.117, 0.921, 1.5, 0, 0, 0, 78 [SEP] 32, Cup, 1.466, 0.913, -1.095, 0, 0, 0, 61 [SEP] 33, PepperShaker, 0.180, 0.926, 0.305, 0, 0, 0, 78 [SEP] 34, Pan, 1.824, 0.945, -0.346, 0, 0, 0, 42 [SEP] 35, ButterKnife, -0.047, 0.926, 0.534, 0, 0, 0, 78 [SEP] 36, Tomato, 0.522, 0.982, 0.305, 0, 0, 0, 78 [SEP] 37, DishSponge, 1.850, 0.913, -2.002, 0, 0, 0, 61 [SEP] 38, Egg, 0.066, 0.984, 0.762, 0, 0, 0, 78 [SEP] 39, Spoon, -0.047, 0.931, 0.076, 0, 0, 0, 78 [SEP] 40, Knife, 1.153, 0.936, -2.002, 0, 0, 0, 61 [SEP] 41, Mug, -1.533, 1.499, -0.806, 0, 90, 0, 69 [SEP] 42, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 43, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 44, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 45, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 46, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 47, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 48, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 49, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 50, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 51, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 52, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 53, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 54, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 55, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 56, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 57, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 58, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 59, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 60, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 61, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 62, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 63, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 64, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 65, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 66, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 67, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 68, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 69, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 70, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 71, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 72, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 73, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 74, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 75, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 76, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 77, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 78, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 79, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 80, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 81, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 82, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 83, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 84, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 85, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 86, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 87, , , , , , , , [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: turn right, walk towards the door, turn right at the door, then turn right at the shelf, stop at the kitchen island | STEP 2: Pick up the the tomato from the island | STEP 3: walk towards the sink next to the refrigerator | STEP 4: put the tomato in the sink | STEP 5: retrieve a knife from the sink | STEP 6: cut the tomato in the sink | STEP 7: put the knife back in the sink | STEP 8: wash the tomato in the sink | STEP 9: take the tomato out of the sink | STEP 10: turn right and walk towards the microwave | STEP 11: put the tomato in the microwave | END"]} +{"id": "trial_T20190908_203806_730562-0", "input": "grab the key chain from the sofa, turn on the floor lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 9.0, 0.902, -0.75, 0, 180, 0, [SEP] 1, Statue, 11.232, 0.597, 0.678, 0, 0, 0, 40 [SEP] 2, KeyChain, 9.305, 0.430, 3.288, 0, 0, 0, 41 [SEP] 3, KeyChain, 14.199, 0.553, 1.390, 0, 0, 0, 39 [SEP] 4, KeyChain, 10.651, 0.591, 1.142, 0, 0, 0, 40 [SEP] 5, Book, 14.428, 0.752, 1.564, 0, 0, 0, 33 [SEP] 6, RemoteControl, 8.273, 0.400, -0.022, 0, 90, 0, 51 [SEP] 7, Book, 14.331, 0.752, 0.519, 0, 0, 0, 33 [SEP] 8, Box, 9.692, 0.679, 3.143, 0, 90, 0, 41 [SEP] 9, CreditCard, 14.038, 0.754, 1.042, 0, 0, 0, 33 [SEP] 10, KeyChain, 14.199, 0.143, 0.708, 0, 270, 0, 37 [SEP] 11, Pillow, 11.448, 0.528, 3.081, 0, 0, 0, 48 [SEP] 12, Statue, 14.135, 0.758, 1.564, 0, 0, 0, 33 [SEP] 13, Laptop, 14.24, 0.747, 2.067, 0, 300.000, 0, 33 [SEP] 14, RemoteControl, 11.038, 0.593, 1.142, 0, 0, 0, 40 [SEP] 15, Watch, 11.510, 0.488, -1.204, 0, 90, 0, 42 [SEP] 16, FloorLamp, 7.864, 0.006, 3.396, 0, 0, 0, [SEP] 17, GarbageCan, 7.785, -0.027, -1.145, 0, 0, 0, [SEP] 18, Painting, 7.492, 1.835, -0.495, 90, 270, 0, [SEP] 19, Painting, 7.492, 1.835, 2.792, 90, 270, 0, [SEP] 20, Television, 14.459, 1.218, 0.925, 358.945, 270, 0, [SEP] 21, LightSwitch, 12.979, 1.399, 3.767, 0, 180, 0, [SEP] 22, Painting, 7.492, 1.779, 1.116, 90, 270, 0, [SEP] 23, Painting, 14.763, 1.753, 1.126, 90, 270, 0, [SEP] 24, HousePlant, 11.374, 0.467, -1.143, 0, 0, 0, [SEP] 25, Window, 12.029, 1.687, -1.595, 90, 180, 0, [SEP] 26, Window, 10.227, 1.687, -1.594, 90, 180, 0, [SEP] 27, Drawer, 14.183, 0.374, 0.556, 0, 270, 0, [SEP] 28, Drawer, 14.183, 0.580, 1.069, 0, 270, 0, [SEP] 29, Drawer, 14.183, 0.580, 2.095, 0, 270, 0, [SEP] 30, Drawer, 14.183, 0.374, 1.582, 0, 270, 0, [SEP] 31, Drawer, 14.183, 0.169, 1.069, 0, 270, 0, [SEP] 32, Drawer, 14.183, 0.374, 1.069, 0, 270, 0, [SEP] 33, Dresser, 14.330, 0.002, 1.323, 0, 270, 0, [SEP] 34, Drawer, 14.183, 0.169, 2.095, 0, 270, 0, [SEP] 35, Drawer, 14.183, 0.374, 2.095, 0, 270, 0, [SEP] 36, Drawer, 14.183, 0.580, 0.556, 0, 270, 0, [SEP] 37, Drawer, 14.183, 0.169, 0.556, 0, 270, 0, [SEP] 38, Drawer, 14.183, 0.169, 1.582, 0, 270, 0, [SEP] 39, Drawer, 14.183, 0.580, 1.582, 0, 270, 0, [SEP] 40, CoffeeTable, 10.821, -0.011, 0.928, 0, 0, 0, [SEP] 41, ArmChair, 9.499, 0.001, 3.265, 0, 180, 0, [SEP] 42, SideTable, 11.377, 0.001, -1.160, 0, 90, 0, [SEP] 43, SideTable, 14.615, -0.001, -0.776, 0, 270, 0, [SEP] 44, SideTable, 14.331, 0.003, 0.069, 0, 0, 0, [SEP] 45, SideTable, 14.331, 0.003, 2.585, 0, 0, 0, [SEP] 46, SideTable, 12.308, 0.001, -1.154, 0, 0, 0, [SEP] 47, Chair, 8.154, 0.006, 1.499, 0, 90, 0, [SEP] 48, Sofa, 11.450, 0.002, 3.211, 0, 180, 0, [SEP] 49, Shelf, 10.794, 0.231, 0.928, 0, 0, 0, [SEP] 50, ArmChair, 8.231, 0.006, 0.769, 0, 90, 0, [SEP] 51, ArmChair, 8.224, 0.006, -0.082, 0, 90, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: turn around, walk to the red sofa, | STEP 2: grab the key chain on the sofa | STEP 3: turn around to the floor lamp | STEP 4: turn on the floor lamp | END"]} +{"id": "trial_T20190908_203806_730562-1", "input": "Examine a key chain by the light of a floor lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 9.0, 0.902, -0.75, 0, 180, 0, [SEP] 1, Statue, 11.232, 0.597, 0.678, 0, 0, 0, 40 [SEP] 2, KeyChain, 9.305, 0.430, 3.288, 0, 0, 0, 41 [SEP] 3, KeyChain, 14.199, 0.553, 1.390, 0, 0, 0, 39 [SEP] 4, KeyChain, 10.651, 0.591, 1.142, 0, 0, 0, 40 [SEP] 5, Book, 14.428, 0.752, 1.564, 0, 0, 0, 33 [SEP] 6, RemoteControl, 8.273, 0.400, -0.022, 0, 90, 0, 51 [SEP] 7, Book, 14.331, 0.752, 0.519, 0, 0, 0, 33 [SEP] 8, Box, 9.692, 0.679, 3.143, 0, 90, 0, 41 [SEP] 9, CreditCard, 14.038, 0.754, 1.042, 0, 0, 0, 33 [SEP] 10, KeyChain, 14.199, 0.143, 0.708, 0, 270, 0, 37 [SEP] 11, Pillow, 11.448, 0.528, 3.081, 0, 0, 0, 48 [SEP] 12, Statue, 14.135, 0.758, 1.564, 0, 0, 0, 33 [SEP] 13, Laptop, 14.24, 0.747, 2.067, 0, 300.000, 0, 33 [SEP] 14, RemoteControl, 11.038, 0.593, 1.142, 0, 0, 0, 40 [SEP] 15, Watch, 11.510, 0.488, -1.204, 0, 90, 0, 42 [SEP] 16, FloorLamp, 7.864, 0.006, 3.396, 0, 0, 0, [SEP] 17, GarbageCan, 7.785, -0.027, -1.145, 0, 0, 0, [SEP] 18, Painting, 7.492, 1.835, -0.495, 90, 270, 0, [SEP] 19, Painting, 7.492, 1.835, 2.792, 90, 270, 0, [SEP] 20, Television, 14.459, 1.218, 0.925, 358.945, 270, 0, [SEP] 21, LightSwitch, 12.979, 1.399, 3.767, 0, 180, 0, [SEP] 22, Painting, 7.492, 1.779, 1.116, 90, 270, 0, [SEP] 23, Painting, 14.763, 1.753, 1.126, 90, 270, 0, [SEP] 24, HousePlant, 11.374, 0.467, -1.143, 0, 0, 0, [SEP] 25, Window, 12.029, 1.687, -1.595, 90, 180, 0, [SEP] 26, Window, 10.227, 1.687, -1.594, 90, 180, 0, [SEP] 27, Drawer, 14.183, 0.374, 0.556, 0, 270, 0, [SEP] 28, Drawer, 14.183, 0.580, 1.069, 0, 270, 0, [SEP] 29, Drawer, 14.183, 0.580, 2.095, 0, 270, 0, [SEP] 30, Drawer, 14.183, 0.374, 1.582, 0, 270, 0, [SEP] 31, Drawer, 14.183, 0.169, 1.069, 0, 270, 0, [SEP] 32, Drawer, 14.183, 0.374, 1.069, 0, 270, 0, [SEP] 33, Dresser, 14.330, 0.002, 1.323, 0, 270, 0, [SEP] 34, Drawer, 14.183, 0.169, 2.095, 0, 270, 0, [SEP] 35, Drawer, 14.183, 0.374, 2.095, 0, 270, 0, [SEP] 36, Drawer, 14.183, 0.580, 0.556, 0, 270, 0, [SEP] 37, Drawer, 14.183, 0.169, 0.556, 0, 270, 0, [SEP] 38, Drawer, 14.183, 0.169, 1.582, 0, 270, 0, [SEP] 39, Drawer, 14.183, 0.580, 1.582, 0, 270, 0, [SEP] 40, CoffeeTable, 10.821, -0.011, 0.928, 0, 0, 0, [SEP] 41, ArmChair, 9.499, 0.001, 3.265, 0, 180, 0, [SEP] 42, SideTable, 11.377, 0.001, -1.160, 0, 90, 0, [SEP] 43, SideTable, 14.615, -0.001, -0.776, 0, 270, 0, [SEP] 44, SideTable, 14.331, 0.003, 0.069, 0, 0, 0, [SEP] 45, SideTable, 14.331, 0.003, 2.585, 0, 0, 0, [SEP] 46, SideTable, 12.308, 0.001, -1.154, 0, 0, 0, [SEP] 47, Chair, 8.154, 0.006, 1.499, 0, 90, 0, [SEP] 48, Sofa, 11.450, 0.002, 3.211, 0, 180, 0, [SEP] 49, Shelf, 10.794, 0.231, 0.928, 0, 0, 0, [SEP] 50, ArmChair, 8.231, 0.006, 0.769, 0, 90, 0, [SEP] 51, ArmChair, 8.224, 0.006, -0.082, 0, 90, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk across the room to the red armchair containing a key chain and an empty box. | STEP 2: Pick up the key chain from the armchair. | STEP 3: Turn around and stand in front of the floor lamp. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190908_203806_730562-2", "input": "Take the keys from the pink arm chair, turn on the lamp in the corner SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 9.0, 0.902, -0.75, 0, 180, 0, [SEP] 1, Statue, 11.232, 0.597, 0.678, 0, 0, 0, 40 [SEP] 2, KeyChain, 9.305, 0.430, 3.288, 0, 0, 0, 41 [SEP] 3, KeyChain, 14.199, 0.553, 1.390, 0, 0, 0, 39 [SEP] 4, KeyChain, 10.651, 0.591, 1.142, 0, 0, 0, 40 [SEP] 5, Book, 14.428, 0.752, 1.564, 0, 0, 0, 33 [SEP] 6, RemoteControl, 8.273, 0.400, -0.022, 0, 90, 0, 51 [SEP] 7, Book, 14.331, 0.752, 0.519, 0, 0, 0, 33 [SEP] 8, Box, 9.692, 0.679, 3.143, 0, 90, 0, 41 [SEP] 9, CreditCard, 14.038, 0.754, 1.042, 0, 0, 0, 33 [SEP] 10, KeyChain, 14.199, 0.143, 0.708, 0, 270, 0, 37 [SEP] 11, Pillow, 11.448, 0.528, 3.081, 0, 0, 0, 48 [SEP] 12, Statue, 14.135, 0.758, 1.564, 0, 0, 0, 33 [SEP] 13, Laptop, 14.24, 0.747, 2.067, 0, 300.000, 0, 33 [SEP] 14, RemoteControl, 11.038, 0.593, 1.142, 0, 0, 0, 40 [SEP] 15, Watch, 11.510, 0.488, -1.204, 0, 90, 0, 42 [SEP] 16, FloorLamp, 7.864, 0.006, 3.396, 0, 0, 0, [SEP] 17, GarbageCan, 7.785, -0.027, -1.145, 0, 0, 0, [SEP] 18, Painting, 7.492, 1.835, -0.495, 90, 270, 0, [SEP] 19, Painting, 7.492, 1.835, 2.792, 90, 270, 0, [SEP] 20, Television, 14.459, 1.218, 0.925, 358.945, 270, 0, [SEP] 21, LightSwitch, 12.979, 1.399, 3.767, 0, 180, 0, [SEP] 22, Painting, 7.492, 1.779, 1.116, 90, 270, 0, [SEP] 23, Painting, 14.763, 1.753, 1.126, 90, 270, 0, [SEP] 24, HousePlant, 11.374, 0.467, -1.143, 0, 0, 0, [SEP] 25, Window, 12.029, 1.687, -1.595, 90, 180, 0, [SEP] 26, Window, 10.227, 1.687, -1.594, 90, 180, 0, [SEP] 27, Drawer, 14.183, 0.374, 0.556, 0, 270, 0, [SEP] 28, Drawer, 14.183, 0.580, 1.069, 0, 270, 0, [SEP] 29, Drawer, 14.183, 0.580, 2.095, 0, 270, 0, [SEP] 30, Drawer, 14.183, 0.374, 1.582, 0, 270, 0, [SEP] 31, Drawer, 14.183, 0.169, 1.069, 0, 270, 0, [SEP] 32, Drawer, 14.183, 0.374, 1.069, 0, 270, 0, [SEP] 33, Dresser, 14.330, 0.002, 1.323, 0, 270, 0, [SEP] 34, Drawer, 14.183, 0.169, 2.095, 0, 270, 0, [SEP] 35, Drawer, 14.183, 0.374, 2.095, 0, 270, 0, [SEP] 36, Drawer, 14.183, 0.580, 0.556, 0, 270, 0, [SEP] 37, Drawer, 14.183, 0.169, 0.556, 0, 270, 0, [SEP] 38, Drawer, 14.183, 0.169, 1.582, 0, 270, 0, [SEP] 39, Drawer, 14.183, 0.580, 1.582, 0, 270, 0, [SEP] 40, CoffeeTable, 10.821, -0.011, 0.928, 0, 0, 0, [SEP] 41, ArmChair, 9.499, 0.001, 3.265, 0, 180, 0, [SEP] 42, SideTable, 11.377, 0.001, -1.160, 0, 90, 0, [SEP] 43, SideTable, 14.615, -0.001, -0.776, 0, 270, 0, [SEP] 44, SideTable, 14.331, 0.003, 0.069, 0, 0, 0, [SEP] 45, SideTable, 14.331, 0.003, 2.585, 0, 0, 0, [SEP] 46, SideTable, 12.308, 0.001, -1.154, 0, 0, 0, [SEP] 47, Chair, 8.154, 0.006, 1.499, 0, 90, 0, [SEP] 48, Sofa, 11.450, 0.002, 3.211, 0, 180, 0, [SEP] 49, Shelf, 10.794, 0.231, 0.928, 0, 0, 0, [SEP] 50, ArmChair, 8.231, 0.006, 0.769, 0, 90, 0, [SEP] 51, ArmChair, 8.224, 0.006, -0.082, 0, 90, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, head to the pink arm chair | STEP 2: Take the keys from the arm chair | STEP 3: Turn around, face the lamp | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190908_122244_451639-0", "input": "Move two remotes to the coffee table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 1.5, 0, 180, 0, [SEP] 1, Statue, 1.547, 0.490, -0.073, 0, 270, 0, 32 [SEP] 2, Statue, 1.525, 0.767, 0.691, 0, 270, 0, 29 [SEP] 3, CreditCard, -1.438, 0.488, 1.753, 0, 0, 0, 36 [SEP] 4, CreditCard, -1.503, 0.488, 2.013, 0, 0, 0, 36 [SEP] 5, RemoteControl, 1.750, 0.759, -0.208, 0, 270, 0, 29 [SEP] 6, Laptop, -0.051, 0.475, -0.086, 0, 90, 0, 26 [SEP] 7, Box, -0.007, 0.65, 0.892, 0, 0, 0, 26 [SEP] 8, Laptop, -0.196, 0.470, 0.407, 0, 72.615, 0, 26 [SEP] 9, CreditCard, 0.630, 0.290, 2.037, 0, 0, 0, 40 [SEP] 10, KeyChain, -1.192, 0.327, 0.032, 0, 180, 0, 37 [SEP] 11, Vase, -1.790, 1.315, -1.778, 0, 0, 0, 39 [SEP] 12, Vase, -1.800, 1.616, -1.785, 0, 0, 0, 38 [SEP] 13, Pillow, -1.235, 0.461, -0.025, 0, 75.000, 0, 37 [SEP] 14, RemoteControl, -1.428, 0.329, -0.171, 0, 90, 0, 37 [SEP] 15, Watch, 1.750, 0.757, 0.691, 0, 270, 0, 29 [SEP] 16, Vase, 1.525, 0.761, -0.058, 0, 270, 0, 29 [SEP] 17, Statue, -0.384, 0.487, 0.089, 0, 90, 0, 26 [SEP] 18, Television, 1.826, 1.241, 0.248, 0, 270, 0, [SEP] 19, LightSwitch, -2.0, 1.332, 3.920, 0, 90, 0, [SEP] 20, Window, -0.216, 1.495, -1.878, 90, 0, 0, [SEP] 21, HousePlant, -1.780, 0.468, 1.965, 0, 0, 0, [SEP] 22, Painting, -2.0, 1.577, 0.418, 90, 270, 0, [SEP] 23, GarbageCan, 1.767, -0.001, 3.878, 0, 0, 0, [SEP] 24, FloorLamp, 1.228, 0.000, 3.744, 0, 0, 0, [SEP] 25, Painting, -0.096, 1.578, 4.050, 90, 0, 0, [SEP] 26, CoffeeTable, -0.150, 0.000, 0.421, 0, 270, 0, [SEP] 27, Shelf, 1.663, 0.474, 0.609, 0, 270, 0, [SEP] 28, Shelf, 1.663, 0.273, 0.609, 0, 270, 0, [SEP] 29, TVStand, 1.669, -0.000, 0.243, 0, 270, 0, [SEP] 30, Shelf, 1.663, 0.302, -0.124, 0, 270, 0, [SEP] 31, Shelf, 1.663, 0.442, 0.241, 0, 270, 0, [SEP] 32, Shelf, 1.663, 0.597, -0.124, 0, 270, 0, [SEP] 33, Shelf, 1.663, 0.643, 0.609, 0, 270, 0, [SEP] 34, Cabinet, -1.767, 0.729, -1.593, 0, 91.801, 0, [SEP] 35, Shelf, -1.769, 2.041, -1.593, 0, 91.801, 0, [SEP] 36, SideTable, -1.567, -0.002, 1.818, 0, 90, 0, [SEP] 37, Sofa, -1.445, 0.008, 0.420, 0, 90, 0, [SEP] 38, Shelf, -1.769, 1.744, -1.593, 0, 91.801, 0, [SEP] 39, Shelf, -1.768, 1.452, -1.593, 0, 91.801, 0, [SEP] 40, ArmChair, 0.396, 0.005, 2.194, 0, 180, 0, [SEP] 41, ArmChair, -0.633, 0.005, 2.194, 0, 180, 0, [SEP] 42, ShelvingUnit, -1.786, 0.001, -1.592, 0, 91.801, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, WestWall, , , , , , , ", "output": ["STEP 1: Move forward and then right beside the couch. Turn right to face the short side of the couch. | STEP 2: Pick up the remote from the edge of the couch. | STEP 3: Carry the remote and turn to the right. Then left and face the coffee table on the left. | STEP 4: Place the remote on the center of the coffee table. | STEP 5: Turn to the left and then the left again to face the short side of the cabinet. | STEP 6: Pick up the remote that is close to the short side of the cabinet. | STEP 7: Carry the remote and turn to the left, and then right and face the coffee table on the left. | STEP 8: Place the remote on the coffee table, next to the other remote. | END"]} +{"id": "trial_T20190908_122244_451639-1", "input": "Move two remotes to the coffee table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 1.5, 0, 180, 0, [SEP] 1, Statue, 1.547, 0.490, -0.073, 0, 270, 0, 32 [SEP] 2, Statue, 1.525, 0.767, 0.691, 0, 270, 0, 29 [SEP] 3, CreditCard, -1.438, 0.488, 1.753, 0, 0, 0, 36 [SEP] 4, CreditCard, -1.503, 0.488, 2.013, 0, 0, 0, 36 [SEP] 5, RemoteControl, 1.750, 0.759, -0.208, 0, 270, 0, 29 [SEP] 6, Laptop, -0.051, 0.475, -0.086, 0, 90, 0, 26 [SEP] 7, Box, -0.007, 0.65, 0.892, 0, 0, 0, 26 [SEP] 8, Laptop, -0.196, 0.470, 0.407, 0, 72.615, 0, 26 [SEP] 9, CreditCard, 0.630, 0.290, 2.037, 0, 0, 0, 40 [SEP] 10, KeyChain, -1.192, 0.327, 0.032, 0, 180, 0, 37 [SEP] 11, Vase, -1.790, 1.315, -1.778, 0, 0, 0, 39 [SEP] 12, Vase, -1.800, 1.616, -1.785, 0, 0, 0, 38 [SEP] 13, Pillow, -1.235, 0.461, -0.025, 0, 75.000, 0, 37 [SEP] 14, RemoteControl, -1.428, 0.329, -0.171, 0, 90, 0, 37 [SEP] 15, Watch, 1.750, 0.757, 0.691, 0, 270, 0, 29 [SEP] 16, Vase, 1.525, 0.761, -0.058, 0, 270, 0, 29 [SEP] 17, Statue, -0.384, 0.487, 0.089, 0, 90, 0, 26 [SEP] 18, Television, 1.826, 1.241, 0.248, 0, 270, 0, [SEP] 19, LightSwitch, -2.0, 1.332, 3.920, 0, 90, 0, [SEP] 20, Window, -0.216, 1.495, -1.878, 90, 0, 0, [SEP] 21, HousePlant, -1.780, 0.468, 1.965, 0, 0, 0, [SEP] 22, Painting, -2.0, 1.577, 0.418, 90, 270, 0, [SEP] 23, GarbageCan, 1.767, -0.001, 3.878, 0, 0, 0, [SEP] 24, FloorLamp, 1.228, 0.000, 3.744, 0, 0, 0, [SEP] 25, Painting, -0.096, 1.578, 4.050, 90, 0, 0, [SEP] 26, CoffeeTable, -0.150, 0.000, 0.421, 0, 270, 0, [SEP] 27, Shelf, 1.663, 0.474, 0.609, 0, 270, 0, [SEP] 28, Shelf, 1.663, 0.273, 0.609, 0, 270, 0, [SEP] 29, TVStand, 1.669, -0.000, 0.243, 0, 270, 0, [SEP] 30, Shelf, 1.663, 0.302, -0.124, 0, 270, 0, [SEP] 31, Shelf, 1.663, 0.442, 0.241, 0, 270, 0, [SEP] 32, Shelf, 1.663, 0.597, -0.124, 0, 270, 0, [SEP] 33, Shelf, 1.663, 0.643, 0.609, 0, 270, 0, [SEP] 34, Cabinet, -1.767, 0.729, -1.593, 0, 91.801, 0, [SEP] 35, Shelf, -1.769, 2.041, -1.593, 0, 91.801, 0, [SEP] 36, SideTable, -1.567, -0.002, 1.818, 0, 90, 0, [SEP] 37, Sofa, -1.445, 0.008, 0.420, 0, 90, 0, [SEP] 38, Shelf, -1.769, 1.744, -1.593, 0, 91.801, 0, [SEP] 39, Shelf, -1.768, 1.452, -1.593, 0, 91.801, 0, [SEP] 40, ArmChair, 0.396, 0.005, 2.194, 0, 180, 0, [SEP] 41, ArmChair, -0.633, 0.005, 2.194, 0, 180, 0, [SEP] 42, ShelvingUnit, -1.786, 0.001, -1.592, 0, 91.801, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, WestWall, , , , , , , ", "output": ["STEP 1: Walk towards the wall, then turn right and walk over to the wall, turn right again to face the couch. | STEP 2: Pick up the remote off of the couch. | STEP 3: Turn right and begin walking across the room, then hang a left and walk to the side of the coffee table. | STEP 4: Put the remote on the coffee table in front of the rightmost laptop. | STEP 5: Turn left and walk forward, then turn left and walk up to the wall, turn left again to face the television. | STEP 6: Pick up the remote off of the table. | STEP 7: Turn left and walk over to the coffee table. | STEP 8: Put the remote on the coffee table to the right of the remote that's already there. | END"]} +{"id": "trial_T20190908_122244_451639-2", "input": "Move two remotes to the center table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 1.5, 0, 180, 0, [SEP] 1, Statue, 1.547, 0.490, -0.073, 0, 270, 0, 32 [SEP] 2, Statue, 1.525, 0.767, 0.691, 0, 270, 0, 29 [SEP] 3, CreditCard, -1.438, 0.488, 1.753, 0, 0, 0, 36 [SEP] 4, CreditCard, -1.503, 0.488, 2.013, 0, 0, 0, 36 [SEP] 5, RemoteControl, 1.750, 0.759, -0.208, 0, 270, 0, 29 [SEP] 6, Laptop, -0.051, 0.475, -0.086, 0, 90, 0, 26 [SEP] 7, Box, -0.007, 0.65, 0.892, 0, 0, 0, 26 [SEP] 8, Laptop, -0.196, 0.470, 0.407, 0, 72.615, 0, 26 [SEP] 9, CreditCard, 0.630, 0.290, 2.037, 0, 0, 0, 40 [SEP] 10, KeyChain, -1.192, 0.327, 0.032, 0, 180, 0, 37 [SEP] 11, Vase, -1.790, 1.315, -1.778, 0, 0, 0, 39 [SEP] 12, Vase, -1.800, 1.616, -1.785, 0, 0, 0, 38 [SEP] 13, Pillow, -1.235, 0.461, -0.025, 0, 75.000, 0, 37 [SEP] 14, RemoteControl, -1.428, 0.329, -0.171, 0, 90, 0, 37 [SEP] 15, Watch, 1.750, 0.757, 0.691, 0, 270, 0, 29 [SEP] 16, Vase, 1.525, 0.761, -0.058, 0, 270, 0, 29 [SEP] 17, Statue, -0.384, 0.487, 0.089, 0, 90, 0, 26 [SEP] 18, Television, 1.826, 1.241, 0.248, 0, 270, 0, [SEP] 19, LightSwitch, -2.0, 1.332, 3.920, 0, 90, 0, [SEP] 20, Window, -0.216, 1.495, -1.878, 90, 0, 0, [SEP] 21, HousePlant, -1.780, 0.468, 1.965, 0, 0, 0, [SEP] 22, Painting, -2.0, 1.577, 0.418, 90, 270, 0, [SEP] 23, GarbageCan, 1.767, -0.001, 3.878, 0, 0, 0, [SEP] 24, FloorLamp, 1.228, 0.000, 3.744, 0, 0, 0, [SEP] 25, Painting, -0.096, 1.578, 4.050, 90, 0, 0, [SEP] 26, CoffeeTable, -0.150, 0.000, 0.421, 0, 270, 0, [SEP] 27, Shelf, 1.663, 0.474, 0.609, 0, 270, 0, [SEP] 28, Shelf, 1.663, 0.273, 0.609, 0, 270, 0, [SEP] 29, TVStand, 1.669, -0.000, 0.243, 0, 270, 0, [SEP] 30, Shelf, 1.663, 0.302, -0.124, 0, 270, 0, [SEP] 31, Shelf, 1.663, 0.442, 0.241, 0, 270, 0, [SEP] 32, Shelf, 1.663, 0.597, -0.124, 0, 270, 0, [SEP] 33, Shelf, 1.663, 0.643, 0.609, 0, 270, 0, [SEP] 34, Cabinet, -1.767, 0.729, -1.593, 0, 91.801, 0, [SEP] 35, Shelf, -1.769, 2.041, -1.593, 0, 91.801, 0, [SEP] 36, SideTable, -1.567, -0.002, 1.818, 0, 90, 0, [SEP] 37, Sofa, -1.445, 0.008, 0.420, 0, 90, 0, [SEP] 38, Shelf, -1.769, 1.744, -1.593, 0, 91.801, 0, [SEP] 39, Shelf, -1.768, 1.452, -1.593, 0, 91.801, 0, [SEP] 40, ArmChair, 0.396, 0.005, 2.194, 0, 180, 0, [SEP] 41, ArmChair, -0.633, 0.005, 2.194, 0, 180, 0, [SEP] 42, ShelvingUnit, -1.786, 0.001, -1.592, 0, 91.801, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, WestWall, , , , , , , ", "output": ["STEP 1: Go to the sofa | STEP 2: Pick up the remote | STEP 3: Go to the center table | STEP 4: Put the remote down | STEP 5: Go to the TV table | STEP 6: Pick up the remote | STEP 7: Go to the center table | STEP 8: Put the remote down on the table | END"]} +{"id": "trial_T20190907_233056_022802-0", "input": "Put a clean mug under the coffee maker. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.901, 2.75, 0, 180, 0, [SEP] 1, Potato, -2.706, 0.961, 3.395, 0, 0, 0, 54 [SEP] 2, Potato, -0.228, 0.926, 3.334, 0, 0, 0, 70 [SEP] 3, Spatula, -1.180, 0.810, 0.281, 0, 90, 0, 65 [SEP] 4, Spatula, -2.583, 0.915, 2.309, 0, 0, 0, 68 [SEP] 5, Spoon, -1.007, 0.797, 0.281, 0, 0, 0, 65 [SEP] 6, Spoon, -2.706, 0.936, 3.302, 0, 0, 0, 54 [SEP] 7, Cup, -2.583, 0.900, 2.706, 0, 0, 0, 68 [SEP] 8, Plate, -0.486, 0.904, 2.530, 0, 0, 0, 70 [SEP] 9, Plate, -0.692, 1.777, 0.160, 0, 0, 0, 45 [SEP] 10, SoapBottle, -2.628, 0.935, 3.766, 0, 90, 0, 54 [SEP] 11, Tomato, -2.816, 0.117, 0.453, 0, 26.101, 0, 61 [SEP] 12, SaltShaker, -1.662, 0.658, 0.409, 0, 0, 0, 50 [SEP] 13, Mug, -2.785, 0.294, 4.501, 0, 90, 0, 64 [SEP] 14, Apple, -2.377, 0.956, 2.309, 0, 0, 0, 68 [SEP] 15, Egg, -1.353, 0.830, 0.226, 0, 0, 0, 65 [SEP] 16, Plate, -2.738, 0.303, 4.278, 0, 90, 0, 64 [SEP] 17, Fork, -2.170, 0.928, 0.602, 0, 0, 0, 47 [SEP] 18, Bread, -2.864, 0.940, 1.983, 0, 0, 0, 68 [SEP] 19, Apple, -0.350, 1.079, 0.267, 0, 0, 0, 66 [SEP] 20, Lettuce, -2.847, 1.266, 4.501, 0, 90, 0, 64 [SEP] 21, Spatula, -1.770, 0.943, 0.433, 0, 0, 0, 47 [SEP] 22, Knife, -2.431, 0.688, 0.355, 0, 90, 0, 55 [SEP] 23, Potato, -0.191, 1.044, 0.235, 0, 0, 0, 66 [SEP] 24, Tomato, -2.943, 0.999, 3.302, 0, 0, 0, 54 [SEP] 25, Cup, -0.228, 0.900, 2.530, 0, 0, 0, 70 [SEP] 26, SaltShaker, -0.657, 0.896, 2.932, 0, 0, 0, 70 [SEP] 27, PepperShaker, -0.314, 0.896, 2.731, 0, 0, 0, 70 [SEP] 28, ButterKnife, -2.480, 0.900, 2.706, 0, 0, 0, 68 [SEP] 29, SoapBottle, -0.572, 0.900, 3.334, 0, 0, 0, 70 [SEP] 30, Pan, -0.254, 0.928, 4.274, 0, 0, 0, 52 [SEP] 31, DishSponge, -2.215, 0.661, 0.409, 0, 0, 0, 55 [SEP] 32, Pot, -2.476, 0.889, 2.050, 0, 0, 0, 68 [SEP] 33, Spoon, -0.314, 0.901, 2.329, 0, 0, 0, 70 [SEP] 34, Mug, -2.778, 1.001, 3.714, 0, 90, 0, 67 [SEP] 35, Bowl, -1.746, 1.770, 0.251, 0, 0, 0, 42 [SEP] 36, Drawer, -0.325, 0.696, 0.413, 0, 0, 0, [SEP] 37, Cabinet, -0.595, 0.490, 0.648, 0, 0, 0, [SEP] 38, Cabinet, -0.555, 0.490, 0.646, 0, 0, 0, [SEP] 39, Cabinet, -1.591, 0.490, 0.646, 0, 0, 0, [SEP] 40, Cabinet, -1.554, 0.490, 0.646, 0, 0, 0, [SEP] 41, Cabinet, -2.550, 0.490, 0.646, 0, 0, 0, [SEP] 42, Cabinet, -1.514, 2.046, 0.392, 0, 0, 0, [SEP] 43, Cabinet, -2.474, 2.046, 0.392, 0, 0, 0, [SEP] 44, Cabinet, -1.478, 2.046, 0.392, 0, 0, 0, [SEP] 45, Cabinet, -0.518, 2.046, 0.392, 0, 0, 0, [SEP] 46, Cabinet, -0.479, 2.046, 0.392, 0, 0, 0, [SEP] 47, CounterTop, -1.366, 0.952, 0.349, 0, 0, 0, [SEP] 48, Sink, -1.108, 0.926, 0.340, 0, 0, 0, [SEP] 49, StoveBurner, -0.254, 0.922, 4.672, 0, 0, 0, [SEP] 50, Drawer, -1.824, 0.696, 0.413, 0, 0, 0, [SEP] 51, StoveBurner, -0.535, 0.922, 4.274, 0, 0, 0, [SEP] 52, StoveBurner, -0.254, 0.922, 4.274, 0, 0, 0, [SEP] 53, StoveBurner, -0.536, 0.922, 4.672, 0, 0, 0, [SEP] 54, CounterTop, -2.780, 0.971, 3.487, 0, 0, 0, [SEP] 55, Drawer, -2.323, 0.696, 0.413, 0, 0, 0, [SEP] 56, StoveKnob, -0.064, 1.090, 4.632, 0, 0, 73.865, [SEP] 57, StoveKnob, -0.064, 1.090, 4.782, 0, 0, 73.865, [SEP] 58, StoveKnob, -0.064, 1.090, 4.382, 0, 0, 73.865, [SEP] 59, StoveKnob, -0.064, 1.090, 4.222, 0, 0, 73.865, [SEP] 60, Toaster, -0.286, 0.861, 3.520, 0, 270, 0, [SEP] 61, GarbageCan, -2.816, -0.014, 0.370, 358.702, 26.614, 2.400, [SEP] 62, LightSwitch, -0.064, 1.447, 1.996, 0, 270, 0, [SEP] 63, Window, -3.075, 1.593, 1.361, 90, 90, 0, [SEP] 64, Fridge, -2.802, 0.0, 4.427, 0, 0, 0, [SEP] 65, SinkBasin, -1.106, 0.785, 0.337, 0, 0, 0, [SEP] 66, Microwave, -0.358, 0.917, 0.224, 0, 0, 0, [SEP] 67, CoffeeMachine, -2.938, 0.925, 3.605, 0, 90, 0, [SEP] 68, DiningTable, -2.733, -0.003, 2.607, 0, 270, 0, [SEP] 69, Faucet, -1.077, 0.920, 0.028, 270, 270, 0, [SEP] 70, DiningTable, -0.488, -0.003, 3.182, 0, 270, 0, [SEP] 71, NorthWall, , , , , , , [SEP] 72, EastWall, , , , , , , [SEP] 73, SouthWall, , , , , , , [SEP] 74, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the end of the white table to your right then turn left and walk to the coffee maker. | STEP 2: Get the dirty mug from under the coffee maker's spout. | STEP 3: Turn left and walk to the counter then move left until you're facing the spot between the microwave and sink. | STEP 4: Wash the mug off in the sink then pick it back up after you shut off the faucet. | STEP 5: Walk back to the coffee maker. | STEP 6: Put the mug back where you got it from. | END"]} +{"id": "trial_T20190907_233056_022802-1", "input": "Place a clean cup in the coffee maker. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.901, 2.75, 0, 180, 0, [SEP] 1, Potato, -2.706, 0.961, 3.395, 0, 0, 0, 54 [SEP] 2, Potato, -0.228, 0.926, 3.334, 0, 0, 0, 70 [SEP] 3, Spatula, -1.180, 0.810, 0.281, 0, 90, 0, 65 [SEP] 4, Spatula, -2.583, 0.915, 2.309, 0, 0, 0, 68 [SEP] 5, Spoon, -1.007, 0.797, 0.281, 0, 0, 0, 65 [SEP] 6, Spoon, -2.706, 0.936, 3.302, 0, 0, 0, 54 [SEP] 7, Cup, -2.583, 0.900, 2.706, 0, 0, 0, 68 [SEP] 8, Plate, -0.486, 0.904, 2.530, 0, 0, 0, 70 [SEP] 9, Plate, -0.692, 1.777, 0.160, 0, 0, 0, 45 [SEP] 10, SoapBottle, -2.628, 0.935, 3.766, 0, 90, 0, 54 [SEP] 11, Tomato, -2.816, 0.117, 0.453, 0, 26.101, 0, 61 [SEP] 12, SaltShaker, -1.662, 0.658, 0.409, 0, 0, 0, 50 [SEP] 13, Mug, -2.785, 0.294, 4.501, 0, 90, 0, 64 [SEP] 14, Apple, -2.377, 0.956, 2.309, 0, 0, 0, 68 [SEP] 15, Egg, -1.353, 0.830, 0.226, 0, 0, 0, 65 [SEP] 16, Plate, -2.738, 0.303, 4.278, 0, 90, 0, 64 [SEP] 17, Fork, -2.170, 0.928, 0.602, 0, 0, 0, 47 [SEP] 18, Bread, -2.864, 0.940, 1.983, 0, 0, 0, 68 [SEP] 19, Apple, -0.350, 1.079, 0.267, 0, 0, 0, 66 [SEP] 20, Lettuce, -2.847, 1.266, 4.501, 0, 90, 0, 64 [SEP] 21, Spatula, -1.770, 0.943, 0.433, 0, 0, 0, 47 [SEP] 22, Knife, -2.431, 0.688, 0.355, 0, 90, 0, 55 [SEP] 23, Potato, -0.191, 1.044, 0.235, 0, 0, 0, 66 [SEP] 24, Tomato, -2.943, 0.999, 3.302, 0, 0, 0, 54 [SEP] 25, Cup, -0.228, 0.900, 2.530, 0, 0, 0, 70 [SEP] 26, SaltShaker, -0.657, 0.896, 2.932, 0, 0, 0, 70 [SEP] 27, PepperShaker, -0.314, 0.896, 2.731, 0, 0, 0, 70 [SEP] 28, ButterKnife, -2.480, 0.900, 2.706, 0, 0, 0, 68 [SEP] 29, SoapBottle, -0.572, 0.900, 3.334, 0, 0, 0, 70 [SEP] 30, Pan, -0.254, 0.928, 4.274, 0, 0, 0, 52 [SEP] 31, DishSponge, -2.215, 0.661, 0.409, 0, 0, 0, 55 [SEP] 32, Pot, -2.476, 0.889, 2.050, 0, 0, 0, 68 [SEP] 33, Spoon, -0.314, 0.901, 2.329, 0, 0, 0, 70 [SEP] 34, Mug, -2.778, 1.001, 3.714, 0, 90, 0, 67 [SEP] 35, Bowl, -1.746, 1.770, 0.251, 0, 0, 0, 42 [SEP] 36, Drawer, -0.325, 0.696, 0.413, 0, 0, 0, [SEP] 37, Cabinet, -0.595, 0.490, 0.648, 0, 0, 0, [SEP] 38, Cabinet, -0.555, 0.490, 0.646, 0, 0, 0, [SEP] 39, Cabinet, -1.591, 0.490, 0.646, 0, 0, 0, [SEP] 40, Cabinet, -1.554, 0.490, 0.646, 0, 0, 0, [SEP] 41, Cabinet, -2.550, 0.490, 0.646, 0, 0, 0, [SEP] 42, Cabinet, -1.514, 2.046, 0.392, 0, 0, 0, [SEP] 43, Cabinet, -2.474, 2.046, 0.392, 0, 0, 0, [SEP] 44, Cabinet, -1.478, 2.046, 0.392, 0, 0, 0, [SEP] 45, Cabinet, -0.518, 2.046, 0.392, 0, 0, 0, [SEP] 46, Cabinet, -0.479, 2.046, 0.392, 0, 0, 0, [SEP] 47, CounterTop, -1.366, 0.952, 0.349, 0, 0, 0, [SEP] 48, Sink, -1.108, 0.926, 0.340, 0, 0, 0, [SEP] 49, StoveBurner, -0.254, 0.922, 4.672, 0, 0, 0, [SEP] 50, Drawer, -1.824, 0.696, 0.413, 0, 0, 0, [SEP] 51, StoveBurner, -0.535, 0.922, 4.274, 0, 0, 0, [SEP] 52, StoveBurner, -0.254, 0.922, 4.274, 0, 0, 0, [SEP] 53, StoveBurner, -0.536, 0.922, 4.672, 0, 0, 0, [SEP] 54, CounterTop, -2.780, 0.971, 3.487, 0, 0, 0, [SEP] 55, Drawer, -2.323, 0.696, 0.413, 0, 0, 0, [SEP] 56, StoveKnob, -0.064, 1.090, 4.632, 0, 0, 73.865, [SEP] 57, StoveKnob, -0.064, 1.090, 4.782, 0, 0, 73.865, [SEP] 58, StoveKnob, -0.064, 1.090, 4.382, 0, 0, 73.865, [SEP] 59, StoveKnob, -0.064, 1.090, 4.222, 0, 0, 73.865, [SEP] 60, Toaster, -0.286, 0.861, 3.520, 0, 270, 0, [SEP] 61, GarbageCan, -2.816, -0.014, 0.370, 358.702, 26.614, 2.400, [SEP] 62, LightSwitch, -0.064, 1.447, 1.996, 0, 270, 0, [SEP] 63, Window, -3.075, 1.593, 1.361, 90, 90, 0, [SEP] 64, Fridge, -2.802, 0.0, 4.427, 0, 0, 0, [SEP] 65, SinkBasin, -1.106, 0.785, 0.337, 0, 0, 0, [SEP] 66, Microwave, -0.358, 0.917, 0.224, 0, 0, 0, [SEP] 67, CoffeeMachine, -2.938, 0.925, 3.605, 0, 90, 0, [SEP] 68, DiningTable, -2.733, -0.003, 2.607, 0, 270, 0, [SEP] 69, Faucet, -1.077, 0.920, 0.028, 270, 270, 0, [SEP] 70, DiningTable, -0.488, -0.003, 3.182, 0, 270, 0, [SEP] 71, NorthWall, , , , , , , [SEP] 72, EastWall, , , , , , , [SEP] 73, SouthWall, , , , , , , [SEP] 74, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk towards the coffee maker. | STEP 2: Remove the cup from the coffee maker. | STEP 3: Turn to your left and approach the sink. | STEP 4: Place the cup in the sink, turn the faucet on and off and remove the cup. | STEP 5: Turn around and approach the coffee maker. | STEP 6: Place the cup in the coffee maker. | END"]} +{"id": "trial_T20190907_233056_022802-2", "input": "drop a clean mug on the coffee maker SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.901, 2.75, 0, 180, 0, [SEP] 1, Potato, -2.706, 0.961, 3.395, 0, 0, 0, 54 [SEP] 2, Potato, -0.228, 0.926, 3.334, 0, 0, 0, 70 [SEP] 3, Spatula, -1.180, 0.810, 0.281, 0, 90, 0, 65 [SEP] 4, Spatula, -2.583, 0.915, 2.309, 0, 0, 0, 68 [SEP] 5, Spoon, -1.007, 0.797, 0.281, 0, 0, 0, 65 [SEP] 6, Spoon, -2.706, 0.936, 3.302, 0, 0, 0, 54 [SEP] 7, Cup, -2.583, 0.900, 2.706, 0, 0, 0, 68 [SEP] 8, Plate, -0.486, 0.904, 2.530, 0, 0, 0, 70 [SEP] 9, Plate, -0.692, 1.777, 0.160, 0, 0, 0, 45 [SEP] 10, SoapBottle, -2.628, 0.935, 3.766, 0, 90, 0, 54 [SEP] 11, Tomato, -2.816, 0.117, 0.453, 0, 26.101, 0, 61 [SEP] 12, SaltShaker, -1.662, 0.658, 0.409, 0, 0, 0, 50 [SEP] 13, Mug, -2.785, 0.294, 4.501, 0, 90, 0, 64 [SEP] 14, Apple, -2.377, 0.956, 2.309, 0, 0, 0, 68 [SEP] 15, Egg, -1.353, 0.830, 0.226, 0, 0, 0, 65 [SEP] 16, Plate, -2.738, 0.303, 4.278, 0, 90, 0, 64 [SEP] 17, Fork, -2.170, 0.928, 0.602, 0, 0, 0, 47 [SEP] 18, Bread, -2.864, 0.940, 1.983, 0, 0, 0, 68 [SEP] 19, Apple, -0.350, 1.079, 0.267, 0, 0, 0, 66 [SEP] 20, Lettuce, -2.847, 1.266, 4.501, 0, 90, 0, 64 [SEP] 21, Spatula, -1.770, 0.943, 0.433, 0, 0, 0, 47 [SEP] 22, Knife, -2.431, 0.688, 0.355, 0, 90, 0, 55 [SEP] 23, Potato, -0.191, 1.044, 0.235, 0, 0, 0, 66 [SEP] 24, Tomato, -2.943, 0.999, 3.302, 0, 0, 0, 54 [SEP] 25, Cup, -0.228, 0.900, 2.530, 0, 0, 0, 70 [SEP] 26, SaltShaker, -0.657, 0.896, 2.932, 0, 0, 0, 70 [SEP] 27, PepperShaker, -0.314, 0.896, 2.731, 0, 0, 0, 70 [SEP] 28, ButterKnife, -2.480, 0.900, 2.706, 0, 0, 0, 68 [SEP] 29, SoapBottle, -0.572, 0.900, 3.334, 0, 0, 0, 70 [SEP] 30, Pan, -0.254, 0.928, 4.274, 0, 0, 0, 52 [SEP] 31, DishSponge, -2.215, 0.661, 0.409, 0, 0, 0, 55 [SEP] 32, Pot, -2.476, 0.889, 2.050, 0, 0, 0, 68 [SEP] 33, Spoon, -0.314, 0.901, 2.329, 0, 0, 0, 70 [SEP] 34, Mug, -2.778, 1.001, 3.714, 0, 90, 0, 67 [SEP] 35, Bowl, -1.746, 1.770, 0.251, 0, 0, 0, 42 [SEP] 36, Drawer, -0.325, 0.696, 0.413, 0, 0, 0, [SEP] 37, Cabinet, -0.595, 0.490, 0.648, 0, 0, 0, [SEP] 38, Cabinet, -0.555, 0.490, 0.646, 0, 0, 0, [SEP] 39, Cabinet, -1.591, 0.490, 0.646, 0, 0, 0, [SEP] 40, Cabinet, -1.554, 0.490, 0.646, 0, 0, 0, [SEP] 41, Cabinet, -2.550, 0.490, 0.646, 0, 0, 0, [SEP] 42, Cabinet, -1.514, 2.046, 0.392, 0, 0, 0, [SEP] 43, Cabinet, -2.474, 2.046, 0.392, 0, 0, 0, [SEP] 44, Cabinet, -1.478, 2.046, 0.392, 0, 0, 0, [SEP] 45, Cabinet, -0.518, 2.046, 0.392, 0, 0, 0, [SEP] 46, Cabinet, -0.479, 2.046, 0.392, 0, 0, 0, [SEP] 47, CounterTop, -1.366, 0.952, 0.349, 0, 0, 0, [SEP] 48, Sink, -1.108, 0.926, 0.340, 0, 0, 0, [SEP] 49, StoveBurner, -0.254, 0.922, 4.672, 0, 0, 0, [SEP] 50, Drawer, -1.824, 0.696, 0.413, 0, 0, 0, [SEP] 51, StoveBurner, -0.535, 0.922, 4.274, 0, 0, 0, [SEP] 52, StoveBurner, -0.254, 0.922, 4.274, 0, 0, 0, [SEP] 53, StoveBurner, -0.536, 0.922, 4.672, 0, 0, 0, [SEP] 54, CounterTop, -2.780, 0.971, 3.487, 0, 0, 0, [SEP] 55, Drawer, -2.323, 0.696, 0.413, 0, 0, 0, [SEP] 56, StoveKnob, -0.064, 1.090, 4.632, 0, 0, 73.865, [SEP] 57, StoveKnob, -0.064, 1.090, 4.782, 0, 0, 73.865, [SEP] 58, StoveKnob, -0.064, 1.090, 4.382, 0, 0, 73.865, [SEP] 59, StoveKnob, -0.064, 1.090, 4.222, 0, 0, 73.865, [SEP] 60, Toaster, -0.286, 0.861, 3.520, 0, 270, 0, [SEP] 61, GarbageCan, -2.816, -0.014, 0.370, 358.702, 26.614, 2.400, [SEP] 62, LightSwitch, -0.064, 1.447, 1.996, 0, 270, 0, [SEP] 63, Window, -3.075, 1.593, 1.361, 90, 90, 0, [SEP] 64, Fridge, -2.802, 0.0, 4.427, 0, 0, 0, [SEP] 65, SinkBasin, -1.106, 0.785, 0.337, 0, 0, 0, [SEP] 66, Microwave, -0.358, 0.917, 0.224, 0, 0, 0, [SEP] 67, CoffeeMachine, -2.938, 0.925, 3.605, 0, 90, 0, [SEP] 68, DiningTable, -2.733, -0.003, 2.607, 0, 270, 0, [SEP] 69, Faucet, -1.077, 0.920, 0.028, 270, 270, 0, [SEP] 70, DiningTable, -0.488, -0.003, 3.182, 0, 270, 0, [SEP] 71, NorthWall, , , , , , , [SEP] 72, EastWall, , , , , , , [SEP] 73, SouthWall, , , , , , , [SEP] 74, WestWall, , , , , , , ", "output": ["STEP 1: turn right to the coffee maker | STEP 2: pick up the mug | STEP 3: turn left to the sink | STEP 4: wash the mug in the sink | STEP 5: turn around to the coffee maker | STEP 6: drop the mug on the coffee maker | END"]} +{"id": "trial_T20190909_032340_274147-0", "input": "Place a CD on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, -0.5, 0, 270, 0, [SEP] 1, Mug, 0.033, 0.618, 0.832, 0, 180, 0, 38 [SEP] 2, Mug, 0.188, 0.618, 0.988, 0, 90, 0, 38 [SEP] 3, CellPhone, 0.995, 0.375, -2.399, 0, 0, 0, 43 [SEP] 4, Pen, -0.121, 0.624, 0.988, 0, 180, 0, 38 [SEP] 5, Pencil, -1.085, 0.681, -2.553, 0, 180, 0, 39 [SEP] 6, Pencil, -0.121, 0.625, 0.599, 0, 180, 0, 38 [SEP] 7, CreditCard, -0.586, 0.618, 0.833, 0, 180, 0, 38 [SEP] 8, CreditCard, 0.188, 0.620, 0.910, 0, 180, 0, 38 [SEP] 9, KeyChain, -0.586, 0.620, 1.066, 0, 270, 0, 38 [SEP] 10, KeyChain, -0.586, 0.621, 0.599, 0, 180, 0, 38 [SEP] 11, Book, 0.064, 0.555, -1.657, 0, 0, 0, 26 [SEP] 12, Laptop, -0.117, 0.554, -0.988, 0, 0, 0, 26 [SEP] 13, Box, 2.453, 0.222, -0.041, 0, 0, 0, [SEP] 14, Book, 0.430, 0.555, -1.434, 0, 0, 0, 26 [SEP] 15, KeyChain, 1.173, 0.681, -2.508, 0, 0, 0, 40 [SEP] 16, Pillow, 0.192, 0.607, -2.307, 0, 0, 0, 26 [SEP] 17, BaseballBat, 0.419, 0.666, 1.044, 10.360, 0, 0, [SEP] 18, Pencil, 0.188, 0.623, 0.755, 0, 180, 0, 38 [SEP] 19, CellPhone, -1.247, 0.375, -2.399, 0, 0, 0, 44 [SEP] 20, CreditCard, 0.909, 0.082, -2.375, 0, 0, 0, 43 [SEP] 21, Pen, -0.431, 0.625, 0.910, 0, 180, 0, 38 [SEP] 22, Laptop, -0.483, 0.554, -1.657, 0, 0, 0, 26 [SEP] 23, AlarmClock, -1.236, 0.673, -2.425, 0, 29.999, 0, 40 [SEP] 24, CD, -1.026, 0.675, -2.374, 0, 0, 0, 39 [SEP] 25, Mug, -0.121, 0.616, 1.066, 0, 180, 0, 38 [SEP] 26, Bed, -0.118, -0.001, -1.699, 0, 180, 0, [SEP] 27, Mirror, 2.644, 1.347, 0.384, 0, 90, 0, [SEP] 28, GarbageCan, 2.467, -0.029, 0.936, 0, 271.107, 0, [SEP] 29, LightSwitch, 0.333, 1.256, 1.149, 0, 180, 0, [SEP] 30, DeskLamp, 0.915, 0.670, -2.435, 0, 0, 0, [SEP] 31, Painting, 0.003, 1.562, -2.687, 90, 180, 0, [SEP] 32, Window, -1.559, 1.414, -1.356, 90, 270, 0, [SEP] 33, Window, -1.559, 1.414, -0.057, 90, 270, 0, [SEP] 34, Shelf, -0.276, 0.351, 0.832, 0, 0, 0, [SEP] 35, Shelf, -0.276, 0.099, 0.832, 0, 0, 0, [SEP] 36, Blinds, -1.462, 2.157, -1.343, 0, 90, 0, [SEP] 37, Blinds, -1.462, 2.157, -0.046, 0, 90, 0, [SEP] 38, Desk, -0.276, -0.001, 0.833, 0, 0, 0, [SEP] 39, SideTable, -1.204, 0.002, -2.456, 0, 0, 0, [SEP] 40, SideTable, 0.948, 0.002, -2.456, 0, 0, 0, [SEP] 41, Drawer, 0.948, 0.166, -2.389, 0, 0, 0, [SEP] 42, Drawer, -1.204, 0.166, -2.389, 0, 0, 0, [SEP] 43, Drawer, 0.948, 0.458, -2.389, 0, 0, 0, [SEP] 44, Drawer, -1.204, 0.458, -2.389, 0, 0, 0, [SEP] 45, , , , , , , , [SEP] 46, NorthWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: Walk ahead and right to the gray table on the right. | STEP 2: Pick up the mug closest to the long side of the table, facing out. | STEP 3: Turn around and walk ahead and right to the side table on the right side of the bed. | STEP 4: Place the mug on the table on top of the CD. | END"]} +{"id": "trial_T20190909_032340_274147-1", "input": "Move a black mug from the desk to the nightstand. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, -0.5, 0, 270, 0, [SEP] 1, Mug, 0.033, 0.618, 0.832, 0, 180, 0, 38 [SEP] 2, Mug, 0.188, 0.618, 0.988, 0, 90, 0, 38 [SEP] 3, CellPhone, 0.995, 0.375, -2.399, 0, 0, 0, 43 [SEP] 4, Pen, -0.121, 0.624, 0.988, 0, 180, 0, 38 [SEP] 5, Pencil, -1.085, 0.681, -2.553, 0, 180, 0, 39 [SEP] 6, Pencil, -0.121, 0.625, 0.599, 0, 180, 0, 38 [SEP] 7, CreditCard, -0.586, 0.618, 0.833, 0, 180, 0, 38 [SEP] 8, CreditCard, 0.188, 0.620, 0.910, 0, 180, 0, 38 [SEP] 9, KeyChain, -0.586, 0.620, 1.066, 0, 270, 0, 38 [SEP] 10, KeyChain, -0.586, 0.621, 0.599, 0, 180, 0, 38 [SEP] 11, Book, 0.064, 0.555, -1.657, 0, 0, 0, 26 [SEP] 12, Laptop, -0.117, 0.554, -0.988, 0, 0, 0, 26 [SEP] 13, Box, 2.453, 0.222, -0.041, 0, 0, 0, [SEP] 14, Book, 0.430, 0.555, -1.434, 0, 0, 0, 26 [SEP] 15, KeyChain, 1.173, 0.681, -2.508, 0, 0, 0, 40 [SEP] 16, Pillow, 0.192, 0.607, -2.307, 0, 0, 0, 26 [SEP] 17, BaseballBat, 0.419, 0.666, 1.044, 10.360, 0, 0, [SEP] 18, Pencil, 0.188, 0.623, 0.755, 0, 180, 0, 38 [SEP] 19, CellPhone, -1.247, 0.375, -2.399, 0, 0, 0, 44 [SEP] 20, CreditCard, 0.909, 0.082, -2.375, 0, 0, 0, 43 [SEP] 21, Pen, -0.431, 0.625, 0.910, 0, 180, 0, 38 [SEP] 22, Laptop, -0.483, 0.554, -1.657, 0, 0, 0, 26 [SEP] 23, AlarmClock, -1.236, 0.673, -2.425, 0, 29.999, 0, 40 [SEP] 24, CD, -1.026, 0.675, -2.374, 0, 0, 0, 39 [SEP] 25, Mug, -0.121, 0.616, 1.066, 0, 180, 0, 38 [SEP] 26, Bed, -0.118, -0.001, -1.699, 0, 180, 0, [SEP] 27, Mirror, 2.644, 1.347, 0.384, 0, 90, 0, [SEP] 28, GarbageCan, 2.467, -0.029, 0.936, 0, 271.107, 0, [SEP] 29, LightSwitch, 0.333, 1.256, 1.149, 0, 180, 0, [SEP] 30, DeskLamp, 0.915, 0.670, -2.435, 0, 0, 0, [SEP] 31, Painting, 0.003, 1.562, -2.687, 90, 180, 0, [SEP] 32, Window, -1.559, 1.414, -1.356, 90, 270, 0, [SEP] 33, Window, -1.559, 1.414, -0.057, 90, 270, 0, [SEP] 34, Shelf, -0.276, 0.351, 0.832, 0, 0, 0, [SEP] 35, Shelf, -0.276, 0.099, 0.832, 0, 0, 0, [SEP] 36, Blinds, -1.462, 2.157, -1.343, 0, 90, 0, [SEP] 37, Blinds, -1.462, 2.157, -0.046, 0, 90, 0, [SEP] 38, Desk, -0.276, -0.001, 0.833, 0, 0, 0, [SEP] 39, SideTable, -1.204, 0.002, -2.456, 0, 0, 0, [SEP] 40, SideTable, 0.948, 0.002, -2.456, 0, 0, 0, [SEP] 41, Drawer, 0.948, 0.166, -2.389, 0, 0, 0, [SEP] 42, Drawer, -1.204, 0.166, -2.389, 0, 0, 0, [SEP] 43, Drawer, 0.948, 0.458, -2.389, 0, 0, 0, [SEP] 44, Drawer, -1.204, 0.458, -2.389, 0, 0, 0, [SEP] 45, , , , , , , , [SEP] 46, NorthWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: Make a right to walk towards the desk. | STEP 2: Pick up the black mug that is closest to you from the desk. | STEP 3: Turn around to walk to the nightstand next to the bed. | STEP 4: Set the black mug down on the nightstand. | END"]} +{"id": "trial_T20190909_032340_274147-2", "input": "Put a mug on the stand. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, -0.5, 0, 270, 0, [SEP] 1, Mug, 0.033, 0.618, 0.832, 0, 180, 0, 38 [SEP] 2, Mug, 0.188, 0.618, 0.988, 0, 90, 0, 38 [SEP] 3, CellPhone, 0.995, 0.375, -2.399, 0, 0, 0, 43 [SEP] 4, Pen, -0.121, 0.624, 0.988, 0, 180, 0, 38 [SEP] 5, Pencil, -1.085, 0.681, -2.553, 0, 180, 0, 39 [SEP] 6, Pencil, -0.121, 0.625, 0.599, 0, 180, 0, 38 [SEP] 7, CreditCard, -0.586, 0.618, 0.833, 0, 180, 0, 38 [SEP] 8, CreditCard, 0.188, 0.620, 0.910, 0, 180, 0, 38 [SEP] 9, KeyChain, -0.586, 0.620, 1.066, 0, 270, 0, 38 [SEP] 10, KeyChain, -0.586, 0.621, 0.599, 0, 180, 0, 38 [SEP] 11, Book, 0.064, 0.555, -1.657, 0, 0, 0, 26 [SEP] 12, Laptop, -0.117, 0.554, -0.988, 0, 0, 0, 26 [SEP] 13, Box, 2.453, 0.222, -0.041, 0, 0, 0, [SEP] 14, Book, 0.430, 0.555, -1.434, 0, 0, 0, 26 [SEP] 15, KeyChain, 1.173, 0.681, -2.508, 0, 0, 0, 40 [SEP] 16, Pillow, 0.192, 0.607, -2.307, 0, 0, 0, 26 [SEP] 17, BaseballBat, 0.419, 0.666, 1.044, 10.360, 0, 0, [SEP] 18, Pencil, 0.188, 0.623, 0.755, 0, 180, 0, 38 [SEP] 19, CellPhone, -1.247, 0.375, -2.399, 0, 0, 0, 44 [SEP] 20, CreditCard, 0.909, 0.082, -2.375, 0, 0, 0, 43 [SEP] 21, Pen, -0.431, 0.625, 0.910, 0, 180, 0, 38 [SEP] 22, Laptop, -0.483, 0.554, -1.657, 0, 0, 0, 26 [SEP] 23, AlarmClock, -1.236, 0.673, -2.425, 0, 29.999, 0, 40 [SEP] 24, CD, -1.026, 0.675, -2.374, 0, 0, 0, 39 [SEP] 25, Mug, -0.121, 0.616, 1.066, 0, 180, 0, 38 [SEP] 26, Bed, -0.118, -0.001, -1.699, 0, 180, 0, [SEP] 27, Mirror, 2.644, 1.347, 0.384, 0, 90, 0, [SEP] 28, GarbageCan, 2.467, -0.029, 0.936, 0, 271.107, 0, [SEP] 29, LightSwitch, 0.333, 1.256, 1.149, 0, 180, 0, [SEP] 30, DeskLamp, 0.915, 0.670, -2.435, 0, 0, 0, [SEP] 31, Painting, 0.003, 1.562, -2.687, 90, 180, 0, [SEP] 32, Window, -1.559, 1.414, -1.356, 90, 270, 0, [SEP] 33, Window, -1.559, 1.414, -0.057, 90, 270, 0, [SEP] 34, Shelf, -0.276, 0.351, 0.832, 0, 0, 0, [SEP] 35, Shelf, -0.276, 0.099, 0.832, 0, 0, 0, [SEP] 36, Blinds, -1.462, 2.157, -1.343, 0, 90, 0, [SEP] 37, Blinds, -1.462, 2.157, -0.046, 0, 90, 0, [SEP] 38, Desk, -0.276, -0.001, 0.833, 0, 0, 0, [SEP] 39, SideTable, -1.204, 0.002, -2.456, 0, 0, 0, [SEP] 40, SideTable, 0.948, 0.002, -2.456, 0, 0, 0, [SEP] 41, Drawer, 0.948, 0.166, -2.389, 0, 0, 0, [SEP] 42, Drawer, -1.204, 0.166, -2.389, 0, 0, 0, [SEP] 43, Drawer, 0.948, 0.458, -2.389, 0, 0, 0, [SEP] 44, Drawer, -1.204, 0.458, -2.389, 0, 0, 0, [SEP] 45, , , , , , , , [SEP] 46, NorthWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward to the laptop on the bed then turn right and walk to the table. | STEP 2: Pick up the mug that's closest to you on the table in front of you. | STEP 3: Turn left and walk to the wall then turn left and walk to the night stand. | STEP 4: Put the mug on the cd. | END"]} +{"id": "trial_T20190909_164840_568811-0", "input": "get ladle, wash it, return it to wooden table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.900, 1.25, 0, 0, 0, [SEP] 1, Potato, -3.593, 0.142, 2.008, 0, 0, 0, 72 [SEP] 2, Ladle, -0.785, 1.086, 2.144, 0, 0, 0, 51 [SEP] 3, Pot, -3.000, 1.133, 0.227, 0, 270, 0, 65 [SEP] 4, Fork, -3.742, 1.125, 0.473, 0, 90, 0, 58 [SEP] 5, Fork, -2.514, 1.125, 0.662, 0, 0, 0, 61 [SEP] 6, Spoon, -2.639, 0.096, 0.545, 0, 90, 0, 54 [SEP] 7, Spoon, -1.465, 0.932, 0.428, 0, 0, 0, 73 [SEP] 8, Egg, -0.538, 1.077, 2.593, 0, 0, 0, 51 [SEP] 9, Egg, -3.380, 0.953, 2.419, 0, 90, 0, 68 [SEP] 10, Cup, -1.195, 0.047, 0.381, 0, 0, 0, 55 [SEP] 11, Plate, -3.506, 1.285, 3.061, 0, 90, 0, 68 [SEP] 12, Plate, -1.522, 0.047, 0.381, 0, 0, 0, 66 [SEP] 13, Knife, -0.292, 1.080, 1.920, 0, 0, 0, 51 [SEP] 14, Bowl, -0.908, 1.045, 3.266, 0, 0, 0, 51 [SEP] 15, SaltShaker, -1.885, 1.121, 0.473, 0, 0, 0, 61 [SEP] 16, SaltShaker, -1.195, 0.045, 0.494, 0, 0, 0, 55 [SEP] 17, PepperShaker, -2.648, 0.899, 0.511, 0, 0, 0, 60 [SEP] 18, PepperShaker, -0.292, 1.044, 2.144, 0, 0, 0, 51 [SEP] 19, Bread, -0.662, 1.133, 2.817, 0, 0, 0, 51 [SEP] 20, Mug, -0.203, 1.223, 0.377, 0, 0, 0, 74 [SEP] 21, Mug, -3.44, 0.906, 3.203, 0, 0, 0, 68 [SEP] 22, Apple, -3.572, 1.627, 3.061, 0, 90, 0, 68 [SEP] 23, Apple, -1.199, 0.998, 0.636, 0, 0, 0, 73 [SEP] 24, Fork, -1.199, 0.932, 0.428, 0, 0, 0, 73 [SEP] 25, SoapBottle, -0.908, 1.048, 3.042, 0, 0, 0, 51 [SEP] 26, Pot, -3.475, 1.133, 0.227, 0, 90, 0, 47 [SEP] 27, Ladle, -2.514, 1.164, 0.379, 0, 0, 0, 61 [SEP] 28, Potato, -1.642, 0.962, 0.498, 0, 0, 0, 73 [SEP] 29, Plate, -0.662, 1.045, 3.266, 0, 0, 0, 51 [SEP] 30, Bread, -2.262, 1.211, 0.567, 0, 0, 0, 61 [SEP] 31, Lettuce, -3.339, 0.969, 3.081, 0, 228.265, 312.447, 68 [SEP] 32, Spatula, -0.939, 1.139, 0.478, 0, 90, 0, 63 [SEP] 33, Pan, -0.266, 1.038, 2.561, 0, 0, 0, 51 [SEP] 34, Egg, -3.240, 1.316, 2.920, 0, 90, 0, 68 [SEP] 35, Cup, -3.814, 1.122, 0.473, 0, 0, 0, 58 [SEP] 36, SaltShaker, -0.785, 1.044, 3.042, 0, 0, 0, 51 [SEP] 37, Knife, -2.262, 1.157, 0.190, 0, 0, 0, 61 [SEP] 38, Bowl, -3.572, 0.909, 2.991, 0, 90, 0, 68 [SEP] 39, PepperShaker, -0.662, 1.044, 3.042, 0, 0, 0, 51 [SEP] 40, ButterKnife, -2.514, 1.124, 0.190, 0, 0, 0, 61 [SEP] 41, Apple, -0.785, 1.114, 1.920, 0, 0, 0, 51 [SEP] 42, Tomato, -0.771, 1.165, 0.569, 0, 0, 0, 63 [SEP] 43, DishSponge, -1.601, 0.048, 0.551, 0, 0, 0, 66 [SEP] 44, Spoon, -2.011, 1.126, 0.662, 0, 0, 0, 61 [SEP] 45, Mug, -0.377, 1.094, 3.194, 0, 270, 0, 67 [SEP] 46, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 47, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 48, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 49, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 50, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 51, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 52, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 53, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 54, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 55, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 56, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 57, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 58, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 59, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 60, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 61, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 62, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 63, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 64, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 65, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 66, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 67, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 68, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 69, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 70, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 71, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 72, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 73, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 74, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 75, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 76, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 77, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 78, NorthWall, , , , , , , [SEP] 79, SouthWall, , , , , , , [SEP] 80, SouthWall, , , , , , , ", "output": ["STEP 1: walk straight to wooden table, stop in front of wooden table | STEP 2: pick up ladle with black handle from wooden table | STEP 3: turn right, walk to kitchen sink, stop at sink | STEP 4: put ladle into kitchen sink basin, wash with water, pick up ladle | STEP 5: turn around and walk to wooden table, stop in front of wooden table | STEP 6: put ladle on table to the right of the loaf of bread | END"]} +{"id": "trial_T20190909_164840_568811-1", "input": "Put a clean spoon on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.900, 1.25, 0, 0, 0, [SEP] 1, Potato, -3.593, 0.142, 2.008, 0, 0, 0, 72 [SEP] 2, Ladle, -0.785, 1.086, 2.144, 0, 0, 0, 51 [SEP] 3, Pot, -3.000, 1.133, 0.227, 0, 270, 0, 65 [SEP] 4, Fork, -3.742, 1.125, 0.473, 0, 90, 0, 58 [SEP] 5, Fork, -2.514, 1.125, 0.662, 0, 0, 0, 61 [SEP] 6, Spoon, -2.639, 0.096, 0.545, 0, 90, 0, 54 [SEP] 7, Spoon, -1.465, 0.932, 0.428, 0, 0, 0, 73 [SEP] 8, Egg, -0.538, 1.077, 2.593, 0, 0, 0, 51 [SEP] 9, Egg, -3.380, 0.953, 2.419, 0, 90, 0, 68 [SEP] 10, Cup, -1.195, 0.047, 0.381, 0, 0, 0, 55 [SEP] 11, Plate, -3.506, 1.285, 3.061, 0, 90, 0, 68 [SEP] 12, Plate, -1.522, 0.047, 0.381, 0, 0, 0, 66 [SEP] 13, Knife, -0.292, 1.080, 1.920, 0, 0, 0, 51 [SEP] 14, Bowl, -0.908, 1.045, 3.266, 0, 0, 0, 51 [SEP] 15, SaltShaker, -1.885, 1.121, 0.473, 0, 0, 0, 61 [SEP] 16, SaltShaker, -1.195, 0.045, 0.494, 0, 0, 0, 55 [SEP] 17, PepperShaker, -2.648, 0.899, 0.511, 0, 0, 0, 60 [SEP] 18, PepperShaker, -0.292, 1.044, 2.144, 0, 0, 0, 51 [SEP] 19, Bread, -0.662, 1.133, 2.817, 0, 0, 0, 51 [SEP] 20, Mug, -0.203, 1.223, 0.377, 0, 0, 0, 74 [SEP] 21, Mug, -3.44, 0.906, 3.203, 0, 0, 0, 68 [SEP] 22, Apple, -3.572, 1.627, 3.061, 0, 90, 0, 68 [SEP] 23, Apple, -1.199, 0.998, 0.636, 0, 0, 0, 73 [SEP] 24, Fork, -1.199, 0.932, 0.428, 0, 0, 0, 73 [SEP] 25, SoapBottle, -0.908, 1.048, 3.042, 0, 0, 0, 51 [SEP] 26, Pot, -3.475, 1.133, 0.227, 0, 90, 0, 47 [SEP] 27, Ladle, -2.514, 1.164, 0.379, 0, 0, 0, 61 [SEP] 28, Potato, -1.642, 0.962, 0.498, 0, 0, 0, 73 [SEP] 29, Plate, -0.662, 1.045, 3.266, 0, 0, 0, 51 [SEP] 30, Bread, -2.262, 1.211, 0.567, 0, 0, 0, 61 [SEP] 31, Lettuce, -3.339, 0.969, 3.081, 0, 228.265, 312.447, 68 [SEP] 32, Spatula, -0.939, 1.139, 0.478, 0, 90, 0, 63 [SEP] 33, Pan, -0.266, 1.038, 2.561, 0, 0, 0, 51 [SEP] 34, Egg, -3.240, 1.316, 2.920, 0, 90, 0, 68 [SEP] 35, Cup, -3.814, 1.122, 0.473, 0, 0, 0, 58 [SEP] 36, SaltShaker, -0.785, 1.044, 3.042, 0, 0, 0, 51 [SEP] 37, Knife, -2.262, 1.157, 0.190, 0, 0, 0, 61 [SEP] 38, Bowl, -3.572, 0.909, 2.991, 0, 90, 0, 68 [SEP] 39, PepperShaker, -0.662, 1.044, 3.042, 0, 0, 0, 51 [SEP] 40, ButterKnife, -2.514, 1.124, 0.190, 0, 0, 0, 61 [SEP] 41, Apple, -0.785, 1.114, 1.920, 0, 0, 0, 51 [SEP] 42, Tomato, -0.771, 1.165, 0.569, 0, 0, 0, 63 [SEP] 43, DishSponge, -1.601, 0.048, 0.551, 0, 0, 0, 66 [SEP] 44, Spoon, -2.011, 1.126, 0.662, 0, 0, 0, 61 [SEP] 45, Mug, -0.377, 1.094, 3.194, 0, 270, 0, 67 [SEP] 46, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 47, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 48, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 49, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 50, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 51, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 52, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 53, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 54, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 55, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 56, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 57, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 58, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 59, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 60, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 61, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 62, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 63, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 64, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 65, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 66, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 67, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 68, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 69, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 70, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 71, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 72, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 73, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 74, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 75, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 76, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 77, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 78, NorthWall, , , , , , , [SEP] 79, SouthWall, , , , , , , [SEP] 80, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right, go forward, turn right again to go to the table. | STEP 2: Pick up the spoon on the table, to the left of the apple. | STEP 3: Turn right, and go to the sink. | STEP 4: Wash the spoon in the sink. | STEP 5: Return to the table behind you. | STEP 6: Place the spoon on the table to the right of the loaf of bread. | END"]} +{"id": "trial_T20190909_164840_568811-2", "input": "Rinse off a laddle and move it to the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.900, 1.25, 0, 0, 0, [SEP] 1, Potato, -3.593, 0.142, 2.008, 0, 0, 0, 72 [SEP] 2, Ladle, -0.785, 1.086, 2.144, 0, 0, 0, 51 [SEP] 3, Pot, -3.000, 1.133, 0.227, 0, 270, 0, 65 [SEP] 4, Fork, -3.742, 1.125, 0.473, 0, 90, 0, 58 [SEP] 5, Fork, -2.514, 1.125, 0.662, 0, 0, 0, 61 [SEP] 6, Spoon, -2.639, 0.096, 0.545, 0, 90, 0, 54 [SEP] 7, Spoon, -1.465, 0.932, 0.428, 0, 0, 0, 73 [SEP] 8, Egg, -0.538, 1.077, 2.593, 0, 0, 0, 51 [SEP] 9, Egg, -3.380, 0.953, 2.419, 0, 90, 0, 68 [SEP] 10, Cup, -1.195, 0.047, 0.381, 0, 0, 0, 55 [SEP] 11, Plate, -3.506, 1.285, 3.061, 0, 90, 0, 68 [SEP] 12, Plate, -1.522, 0.047, 0.381, 0, 0, 0, 66 [SEP] 13, Knife, -0.292, 1.080, 1.920, 0, 0, 0, 51 [SEP] 14, Bowl, -0.908, 1.045, 3.266, 0, 0, 0, 51 [SEP] 15, SaltShaker, -1.885, 1.121, 0.473, 0, 0, 0, 61 [SEP] 16, SaltShaker, -1.195, 0.045, 0.494, 0, 0, 0, 55 [SEP] 17, PepperShaker, -2.648, 0.899, 0.511, 0, 0, 0, 60 [SEP] 18, PepperShaker, -0.292, 1.044, 2.144, 0, 0, 0, 51 [SEP] 19, Bread, -0.662, 1.133, 2.817, 0, 0, 0, 51 [SEP] 20, Mug, -0.203, 1.223, 0.377, 0, 0, 0, 74 [SEP] 21, Mug, -3.44, 0.906, 3.203, 0, 0, 0, 68 [SEP] 22, Apple, -3.572, 1.627, 3.061, 0, 90, 0, 68 [SEP] 23, Apple, -1.199, 0.998, 0.636, 0, 0, 0, 73 [SEP] 24, Fork, -1.199, 0.932, 0.428, 0, 0, 0, 73 [SEP] 25, SoapBottle, -0.908, 1.048, 3.042, 0, 0, 0, 51 [SEP] 26, Pot, -3.475, 1.133, 0.227, 0, 90, 0, 47 [SEP] 27, Ladle, -2.514, 1.164, 0.379, 0, 0, 0, 61 [SEP] 28, Potato, -1.642, 0.962, 0.498, 0, 0, 0, 73 [SEP] 29, Plate, -0.662, 1.045, 3.266, 0, 0, 0, 51 [SEP] 30, Bread, -2.262, 1.211, 0.567, 0, 0, 0, 61 [SEP] 31, Lettuce, -3.339, 0.969, 3.081, 0, 228.265, 312.447, 68 [SEP] 32, Spatula, -0.939, 1.139, 0.478, 0, 90, 0, 63 [SEP] 33, Pan, -0.266, 1.038, 2.561, 0, 0, 0, 51 [SEP] 34, Egg, -3.240, 1.316, 2.920, 0, 90, 0, 68 [SEP] 35, Cup, -3.814, 1.122, 0.473, 0, 0, 0, 58 [SEP] 36, SaltShaker, -0.785, 1.044, 3.042, 0, 0, 0, 51 [SEP] 37, Knife, -2.262, 1.157, 0.190, 0, 0, 0, 61 [SEP] 38, Bowl, -3.572, 0.909, 2.991, 0, 90, 0, 68 [SEP] 39, PepperShaker, -0.662, 1.044, 3.042, 0, 0, 0, 51 [SEP] 40, ButterKnife, -2.514, 1.124, 0.190, 0, 0, 0, 61 [SEP] 41, Apple, -0.785, 1.114, 1.920, 0, 0, 0, 51 [SEP] 42, Tomato, -0.771, 1.165, 0.569, 0, 0, 0, 63 [SEP] 43, DishSponge, -1.601, 0.048, 0.551, 0, 0, 0, 66 [SEP] 44, Spoon, -2.011, 1.126, 0.662, 0, 0, 0, 61 [SEP] 45, Mug, -0.377, 1.094, 3.194, 0, 270, 0, 67 [SEP] 46, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 47, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 48, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 49, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 50, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 51, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 52, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 53, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 54, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 55, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 56, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 57, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 58, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 59, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 60, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 61, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 62, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 63, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 64, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 65, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 66, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 67, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 68, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 69, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 70, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 71, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 72, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 73, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 74, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 75, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 76, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 77, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 78, NorthWall, , , , , , , [SEP] 79, SouthWall, , , , , , , [SEP] 80, SouthWall, , , , , , , ", "output": ["STEP 1: Turn to the right and go back to the brown table. | STEP 2: Pick up the laddle from the front of the table. | STEP 3: Take the laddle and go to the right, over to the counter with the tomato. | STEP 4: Place the laddle in the sink and turn on the water. Turn off the water and pick up the laddle again. | STEP 5: Carry the laddle and turn around. Go to the brown table across the room on the right. | STEP 6: Place the laddle on the table, to the right of the bread. | END"]} +{"id": "trial_T20190907_154618_526741-0", "input": "Grab the disc from the shelf, turn on the lamp on the cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 0.0, 0, 180, 0, [SEP] 1, Bowl, -1.283, 1.824, -0.690, 0, 0, 0, 30 [SEP] 2, Pencil, -0.817, 0.796, -1.760, 0, 0, 0, 44 [SEP] 3, Pencil, -0.523, 0.796, -1.568, 0, 0, 0, 44 [SEP] 4, CreditCard, -0.859, 0.793, -1.275, 0, 53.910, 0, 44 [SEP] 5, CreditCard, 0.305, 0.374, 1.215, 0, 0, 0, 38 [SEP] 6, KeyChain, -1.283, 1.822, -0.515, 0, 0, 0, 30 [SEP] 7, Book, -1.265, 0.794, -0.385, 0, 180, 0, 44 [SEP] 8, Book, 0.150, 0.673, 1.303, 0, 0, 0, 36 [SEP] 9, AlarmClock, -1.112, 0.794, -1.760, 0, 0, 0, 44 [SEP] 10, Book, 1.387, 0.578, -1.373, 0, 0, 0, 45 [SEP] 11, Pencil, -1.194, 0.796, -1.671, 0, 0, 0, 44 [SEP] 12, Laptop, 1.243, 0.574, -0.891, 0, 0, 0, 23 [SEP] 13, Pen, 0.305, 0.696, 1.349, 5.924, 358.865, 352.798, 36 [SEP] 14, TennisRacket, -1.226, 0.301, -0.069, 15.000, 180, 180, [SEP] 15, TeddyBear, 1.629, 0.557, -1.064, 0, 118.287, 0, 45 [SEP] 16, Pillow, 1.098, 0.666, -0.408, 0, 0, 0, 23 [SEP] 17, CellPhone, -1.309, 1.824, -1.519, 0, 0, 0, 31 [SEP] 18, KeyChain, -0.180, 0.837, -2.107, 0, 0, 0, 27 [SEP] 19, AlarmClock, -0.585, 0.838, -2.107, 0, 0, 0, 27 [SEP] 20, CreditCard, -0.523, 0.793, -1.824, 0, 0, 0, 44 [SEP] 21, CD, -1.309, 1.458, -1.168, 0, 0, 0, 28 [SEP] 22, Bowl, 0.414, 0.675, -1.635, 0, 0, 0, 43 [SEP] 23, Bed, 1.242, -0.001, -0.881, 0, 180, 0, [SEP] 24, LightSwitch, 0.010, 1.315, 1.499, 0, 180, 0, [SEP] 25, GarbageCan, 0.840, 0.007, 1.337, 0, 180, 2.168, [SEP] 26, HousePlant, -0.083, 0.828, -2.045, 0, 0, 0, [SEP] 27, Shelf, -0.469, 0.828, -2.038, 0, 0, 0, [SEP] 28, Shelf, -1.286, 1.451, -1.343, 0, 0, 0, [SEP] 29, Shelf, -1.286, 1.451, -0.602, 0, 0, 0, [SEP] 30, Shelf, -1.286, 1.814, -0.602, 0, 0, 0, [SEP] 31, Shelf, -1.286, 1.814, -1.343, 0, 0, 0, [SEP] 32, Painting, 1.111, 1.628, -1.865, 90, 0, 0, [SEP] 33, DeskLamp, 0.473, 0.669, 1.350, 0, 0, 0, [SEP] 34, Mirror, -1.383, 1.565, 0.512, 0, 270, 0, [SEP] 35, Window, -0.472, 1.396, -2.252, 90, 0, 0, [SEP] 36, SideTable, 0.304, -0.001, 1.225, 0, 180, 0, [SEP] 37, Drawer, 0.304, 0.165, 1.159, 0, 180, 0, [SEP] 38, Drawer, 0.304, 0.457, 1.159, 0, 180, 0, [SEP] 39, Blinds, -0.453, 2.156, -2.242, 0, 0, 0, [SEP] 40, Safe, 1.623, 5.960, 0.448, 0, 270, 0, [SEP] 41, Chair, -0.683, 0.000, -1.326, 0, 217.223, 0, [SEP] 42, Drawer, 0.416, 0.532, -1.553, 0, 0, 0, [SEP] 43, SideTable, 0.413, 0.000, -1.684, 0, 0, 0, [SEP] 44, Desk, -0.788, 0.000, -1.032, 0, 90, 0, [SEP] 45, , , , , , , , [SEP] 46, NorthWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the table, turn right | STEP 2: Grab the disc from the shelf above the table | STEP 3: Turn right, walk to the cabinet by the door | STEP 4: Turn on the lamp on the cabinet | END"]} +{"id": "trial_T20190907_154618_526741-1", "input": "Examine a CD under a lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 0.0, 0, 180, 0, [SEP] 1, Bowl, -1.283, 1.824, -0.690, 0, 0, 0, 30 [SEP] 2, Pencil, -0.817, 0.796, -1.760, 0, 0, 0, 44 [SEP] 3, Pencil, -0.523, 0.796, -1.568, 0, 0, 0, 44 [SEP] 4, CreditCard, -0.859, 0.793, -1.275, 0, 53.910, 0, 44 [SEP] 5, CreditCard, 0.305, 0.374, 1.215, 0, 0, 0, 38 [SEP] 6, KeyChain, -1.283, 1.822, -0.515, 0, 0, 0, 30 [SEP] 7, Book, -1.265, 0.794, -0.385, 0, 180, 0, 44 [SEP] 8, Book, 0.150, 0.673, 1.303, 0, 0, 0, 36 [SEP] 9, AlarmClock, -1.112, 0.794, -1.760, 0, 0, 0, 44 [SEP] 10, Book, 1.387, 0.578, -1.373, 0, 0, 0, 45 [SEP] 11, Pencil, -1.194, 0.796, -1.671, 0, 0, 0, 44 [SEP] 12, Laptop, 1.243, 0.574, -0.891, 0, 0, 0, 23 [SEP] 13, Pen, 0.305, 0.696, 1.349, 5.924, 358.865, 352.798, 36 [SEP] 14, TennisRacket, -1.226, 0.301, -0.069, 15.000, 180, 180, [SEP] 15, TeddyBear, 1.629, 0.557, -1.064, 0, 118.287, 0, 45 [SEP] 16, Pillow, 1.098, 0.666, -0.408, 0, 0, 0, 23 [SEP] 17, CellPhone, -1.309, 1.824, -1.519, 0, 0, 0, 31 [SEP] 18, KeyChain, -0.180, 0.837, -2.107, 0, 0, 0, 27 [SEP] 19, AlarmClock, -0.585, 0.838, -2.107, 0, 0, 0, 27 [SEP] 20, CreditCard, -0.523, 0.793, -1.824, 0, 0, 0, 44 [SEP] 21, CD, -1.309, 1.458, -1.168, 0, 0, 0, 28 [SEP] 22, Bowl, 0.414, 0.675, -1.635, 0, 0, 0, 43 [SEP] 23, Bed, 1.242, -0.001, -0.881, 0, 180, 0, [SEP] 24, LightSwitch, 0.010, 1.315, 1.499, 0, 180, 0, [SEP] 25, GarbageCan, 0.840, 0.007, 1.337, 0, 180, 2.168, [SEP] 26, HousePlant, -0.083, 0.828, -2.045, 0, 0, 0, [SEP] 27, Shelf, -0.469, 0.828, -2.038, 0, 0, 0, [SEP] 28, Shelf, -1.286, 1.451, -1.343, 0, 0, 0, [SEP] 29, Shelf, -1.286, 1.451, -0.602, 0, 0, 0, [SEP] 30, Shelf, -1.286, 1.814, -0.602, 0, 0, 0, [SEP] 31, Shelf, -1.286, 1.814, -1.343, 0, 0, 0, [SEP] 32, Painting, 1.111, 1.628, -1.865, 90, 0, 0, [SEP] 33, DeskLamp, 0.473, 0.669, 1.350, 0, 0, 0, [SEP] 34, Mirror, -1.383, 1.565, 0.512, 0, 270, 0, [SEP] 35, Window, -0.472, 1.396, -2.252, 90, 0, 0, [SEP] 36, SideTable, 0.304, -0.001, 1.225, 0, 180, 0, [SEP] 37, Drawer, 0.304, 0.165, 1.159, 0, 180, 0, [SEP] 38, Drawer, 0.304, 0.457, 1.159, 0, 180, 0, [SEP] 39, Blinds, -0.453, 2.156, -2.242, 0, 0, 0, [SEP] 40, Safe, 1.623, 5.960, 0.448, 0, 270, 0, [SEP] 41, Chair, -0.683, 0.000, -1.326, 0, 217.223, 0, [SEP] 42, Drawer, 0.416, 0.532, -1.553, 0, 0, 0, [SEP] 43, SideTable, 0.413, 0.000, -1.684, 0, 0, 0, [SEP] 44, Desk, -0.788, 0.000, -1.032, 0, 90, 0, [SEP] 45, , , , , , , , [SEP] 46, NorthWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the desk in front of you and turn left towards the shelf above it | STEP 2: Pick up the CD that is laying on the shelf | STEP 3: Turn around and walk to the lamp sitting on the stand across the room | STEP 4: Turn on the lamp that is on top of the stand | END"]} +{"id": "trial_T20190907_154618_526741-2", "input": "take a cd from the desk to the small table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 0.0, 0, 180, 0, [SEP] 1, Bowl, -1.283, 1.824, -0.690, 0, 0, 0, 30 [SEP] 2, Pencil, -0.817, 0.796, -1.760, 0, 0, 0, 44 [SEP] 3, Pencil, -0.523, 0.796, -1.568, 0, 0, 0, 44 [SEP] 4, CreditCard, -0.859, 0.793, -1.275, 0, 53.910, 0, 44 [SEP] 5, CreditCard, 0.305, 0.374, 1.215, 0, 0, 0, 38 [SEP] 6, KeyChain, -1.283, 1.822, -0.515, 0, 0, 0, 30 [SEP] 7, Book, -1.265, 0.794, -0.385, 0, 180, 0, 44 [SEP] 8, Book, 0.150, 0.673, 1.303, 0, 0, 0, 36 [SEP] 9, AlarmClock, -1.112, 0.794, -1.760, 0, 0, 0, 44 [SEP] 10, Book, 1.387, 0.578, -1.373, 0, 0, 0, 45 [SEP] 11, Pencil, -1.194, 0.796, -1.671, 0, 0, 0, 44 [SEP] 12, Laptop, 1.243, 0.574, -0.891, 0, 0, 0, 23 [SEP] 13, Pen, 0.305, 0.696, 1.349, 5.924, 358.865, 352.798, 36 [SEP] 14, TennisRacket, -1.226, 0.301, -0.069, 15.000, 180, 180, [SEP] 15, TeddyBear, 1.629, 0.557, -1.064, 0, 118.287, 0, 45 [SEP] 16, Pillow, 1.098, 0.666, -0.408, 0, 0, 0, 23 [SEP] 17, CellPhone, -1.309, 1.824, -1.519, 0, 0, 0, 31 [SEP] 18, KeyChain, -0.180, 0.837, -2.107, 0, 0, 0, 27 [SEP] 19, AlarmClock, -0.585, 0.838, -2.107, 0, 0, 0, 27 [SEP] 20, CreditCard, -0.523, 0.793, -1.824, 0, 0, 0, 44 [SEP] 21, CD, -1.309, 1.458, -1.168, 0, 0, 0, 28 [SEP] 22, Bowl, 0.414, 0.675, -1.635, 0, 0, 0, 43 [SEP] 23, Bed, 1.242, -0.001, -0.881, 0, 180, 0, [SEP] 24, LightSwitch, 0.010, 1.315, 1.499, 0, 180, 0, [SEP] 25, GarbageCan, 0.840, 0.007, 1.337, 0, 180, 2.168, [SEP] 26, HousePlant, -0.083, 0.828, -2.045, 0, 0, 0, [SEP] 27, Shelf, -0.469, 0.828, -2.038, 0, 0, 0, [SEP] 28, Shelf, -1.286, 1.451, -1.343, 0, 0, 0, [SEP] 29, Shelf, -1.286, 1.451, -0.602, 0, 0, 0, [SEP] 30, Shelf, -1.286, 1.814, -0.602, 0, 0, 0, [SEP] 31, Shelf, -1.286, 1.814, -1.343, 0, 0, 0, [SEP] 32, Painting, 1.111, 1.628, -1.865, 90, 0, 0, [SEP] 33, DeskLamp, 0.473, 0.669, 1.350, 0, 0, 0, [SEP] 34, Mirror, -1.383, 1.565, 0.512, 0, 270, 0, [SEP] 35, Window, -0.472, 1.396, -2.252, 90, 0, 0, [SEP] 36, SideTable, 0.304, -0.001, 1.225, 0, 180, 0, [SEP] 37, Drawer, 0.304, 0.165, 1.159, 0, 180, 0, [SEP] 38, Drawer, 0.304, 0.457, 1.159, 0, 180, 0, [SEP] 39, Blinds, -0.453, 2.156, -2.242, 0, 0, 0, [SEP] 40, Safe, 1.623, 5.960, 0.448, 0, 270, 0, [SEP] 41, Chair, -0.683, 0.000, -1.326, 0, 217.223, 0, [SEP] 42, Drawer, 0.416, 0.532, -1.553, 0, 0, 0, [SEP] 43, SideTable, 0.413, 0.000, -1.684, 0, 0, 0, [SEP] 44, Desk, -0.788, 0.000, -1.032, 0, 90, 0, [SEP] 45, , , , , , , , [SEP] 46, NorthWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: turn to the right and stand in front of the desk | STEP 2: pick up the cd that is on the desk | STEP 3: turn to the right and walk towards the small table by the door | STEP 4: face the small table that has a lamp on it | END"]} +{"id": "trial_T20190909_111324_949106-0", "input": "Place a newspaper on a couch. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.916, 1.75, 0, 270, 0, [SEP] 1, Book, 3.160, 0.591, 0.365, 0, 180, 0, 45 [SEP] 2, CellPhone, -2.704, 0.371, -2.196, 0, 29.999, 0, 39 [SEP] 3, CellPhone, -0.204, 0.906, 2.188, 0, 0, 0, 62 [SEP] 4, CreditCard, -0.005, 0.539, -2.089, 0, 0, 0, 41 [SEP] 5, CreditCard, -3.104, 0.545, 0.981, 0, 270, 0, 57 [SEP] 6, RemoteControl, -0.023, 0.907, 2.188, 0, 0, 0, 62 [SEP] 7, RemoteControl, -0.096, 0.161, 1.466, 0, 0, 0, 60 [SEP] 8, Laptop, -2.812, 0.561, 1.187, 0, 270, 0, 57 [SEP] 9, Laptop, -2.812, 0.561, 1.600, 0, 270, 0, 57 [SEP] 10, Book, 0.116, 0.902, 1.073, 0, 29.999, 0, 62 [SEP] 11, Box, 3.173, 0.206, -0.048, 0, 19.470, 0, 48 [SEP] 12, Statue, 0.158, 0.912, 2.431, 0, 0, 0, 62 [SEP] 13, CreditCard, 3.160, 0.589, 1.268, 0, 180, 0, 43 [SEP] 14, Laptop, -2.780, 0.365, -1.874, 0, 0, 0, 39 [SEP] 15, WateringCan, 2.893, 0.014, -1.916, 0, 328.832, 0, [SEP] 16, Newspaper, 3.18, 0.586, -0.543, 0, 259.747, 0, 56 [SEP] 17, Vase, -2.168, 1.195, -2.183, 0, 0, 0, [SEP] 18, CellPhone, -0.145, 0.160, 0.990, 0, 0, 0, 58 [SEP] 19, RemoteControl, -3.031, 0.564, 1.600, 0, 270, 0, 57 [SEP] 20, Vase, -1.046, 1.195, -2.151, 0, 0, 0, [SEP] 21, Pillow, -2.812, 0.623, 2.012, 0, 270, 0, 57 [SEP] 22, KeyChain, -3.031, 0.563, 0.981, 0, 270, 0, 57 [SEP] 23, Cabinet, 0.333, 0.514, -2.015, 0, 0, 0, [SEP] 24, DeskLamp, 3.143, 0.591, 1.457, 0, 270, 0, [SEP] 25, LightSwitch, -0.927, 1.316, 2.846, 0, 180, 0, [SEP] 26, HousePlant, 0.491, 0.874, -1.581, 0, 0, 0, [SEP] 27, Television, 0.069, 1.406, 1.698, 0, 270, 0, [SEP] 28, GarbageCan, 3.164, 0.026, 0.891, 0, 0, 0, [SEP] 29, Painting, -1.561, 1.408, -2.318, 90, 180, 0, [SEP] 30, Painting, 3.367, 1.789, -0.949, 90, 270, 0, [SEP] 31, Painting, -3.488, 1.386, -0.507, 90, 270, 0, [SEP] 32, FloorLamp, 3.103, 0.025, -2.341, 0, 135, 0, [SEP] 33, Window, 1.133, 1.218, -2.740, 90, 0, 0, [SEP] 34, Window, -3.368, 1.180, -1.539, 90, 90, 0, [SEP] 35, Window, 2.898, 1.218, -2.740, 90, 0, 0, [SEP] 36, Window, 2.006, 1.218, -2.740, 90, 0, 0, [SEP] 37, Window, -0.193, 1.157, -2.563, 90, 0, 0, [SEP] 38, Window, -2.970, 1.157, -2.563, 90, 0, 0, [SEP] 39, ArmChair, -2.859, 0.026, -2.036, 0, 29.994, 0, [SEP] 40, SideTable, -0.170, 0.027, -2.279, 0, 0, 0, [SEP] 41, Drawer, -0.173, 0.465, -2.135, 0, 0, 0, [SEP] 42, Drawer, 3.104, 0.167, 1.400, 0, 270, 0, [SEP] 43, SideTable, 3.163, 0.032, 1.400, 0, 270, 0, [SEP] 44, Drawer, 3.103, 0.418, 1.401, 0, 270, 0, [SEP] 45, SideTable, 3.163, 0.032, 0.364, 0, 270, 0, [SEP] 46, Drawer, -3.241, 0.418, -0.490, 0, 90, 0, [SEP] 47, Drawer, 3.104, 0.167, -0.574, 0, 270, 0, [SEP] 48, SideTable, 3.163, 0.032, -0.574, 0, 270, 0, [SEP] 49, Drawer, 3.104, 0.167, 0.364, 0, 270, 0, [SEP] 50, Drawer, 3.104, 0.419, -0.574, 0, 270, 0, [SEP] 51, Drawer, -3.241, 0.167, -0.489, 0, 90, 0, [SEP] 52, SideTable, -3.300, 0.032, -0.489, 0, 90, 0, [SEP] 53, Drawer, 3.104, 0.419, 0.364, 0, 270, 0, [SEP] 54, Chair, 1.049, 0.031, -2.190, 0, 29.997, 0, [SEP] 55, DogBed, 2.739, 0.032, 2.260, 0, 45, 0, [SEP] 56, Chair, 2.037, 0.031, -2.232, 0, 350.485, 0, [SEP] 57, Sofa, -2.957, 0.032, 1.393, 0, 90, 0, [SEP] 58, Drawer, -0.189, 0.232, 0.954, 0, 270, 0, [SEP] 59, Drawer, -0.415, 0.854, 1.921, 0, 270, 0, [SEP] 60, Drawer, -0.415, 0.351, 1.414, 0, 270, 0, [SEP] 61, Drawer, -0.415, 0.603, 1.414, 0, 270, 0, [SEP] 62, Dresser, -0.052, 0.028, 1.667, 0, 270, 0, [SEP] 63, Drawer, -0.190, 0.484, 0.954, 0, 270, 0, [SEP] 64, Drawer, -0.190, 0.736, 0.954, 0, 270, 0, [SEP] 65, Drawer, -0.415, 0.603, 1.921, 0, 270, 0, [SEP] 66, Drawer, -0.415, 0.603, 2.384, 0, 270, 0, [SEP] 67, Drawer, -0.415, 0.351, 2.384, 0, 270, 0, [SEP] 68, Drawer, -0.415, 0.854, 2.384, 0, 270, 0, [SEP] 69, Drawer, -0.415, 0.351, 1.921, 0, 270, 0, [SEP] 70, Drawer, -0.415, 0.854, 1.414, 0, 270, 0, [SEP] 71, Stool, 3.135, 0.029, -1.625, 0, 330.001, 0, [SEP] 72, Chair, 1.631, 0.029, 2.210, 0, 161.562, 0, [SEP] 73, NorthWall, , , , , , , [SEP] 74, EastWall, , , , , , , [SEP] 75, SouthWall, , , , , , , [SEP] 76, WestWall, , , , , , , ", "output": ["STEP 1: Turn ahead and walk towards the fireplace, then walk left to the cabinet with the newspaper on it. | STEP 2: Pick up the newspaper on the cabinet. | STEP 3: Turn around and walk ahead, then veer right to the couch. | STEP 4: Place the newspaper on the couch, to the left of the leftmost laptop. | END"]} +{"id": "trial_T20190909_111324_949106-1", "input": "Place the newspaper next to the left laptop. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.916, 1.75, 0, 270, 0, [SEP] 1, Book, 3.160, 0.591, 0.365, 0, 180, 0, 45 [SEP] 2, CellPhone, -2.704, 0.371, -2.196, 0, 29.999, 0, 39 [SEP] 3, CellPhone, -0.204, 0.906, 2.188, 0, 0, 0, 62 [SEP] 4, CreditCard, -0.005, 0.539, -2.089, 0, 0, 0, 41 [SEP] 5, CreditCard, -3.104, 0.545, 0.981, 0, 270, 0, 57 [SEP] 6, RemoteControl, -0.023, 0.907, 2.188, 0, 0, 0, 62 [SEP] 7, RemoteControl, -0.096, 0.161, 1.466, 0, 0, 0, 60 [SEP] 8, Laptop, -2.812, 0.561, 1.187, 0, 270, 0, 57 [SEP] 9, Laptop, -2.812, 0.561, 1.600, 0, 270, 0, 57 [SEP] 10, Book, 0.116, 0.902, 1.073, 0, 29.999, 0, 62 [SEP] 11, Box, 3.173, 0.206, -0.048, 0, 19.470, 0, 48 [SEP] 12, Statue, 0.158, 0.912, 2.431, 0, 0, 0, 62 [SEP] 13, CreditCard, 3.160, 0.589, 1.268, 0, 180, 0, 43 [SEP] 14, Laptop, -2.780, 0.365, -1.874, 0, 0, 0, 39 [SEP] 15, WateringCan, 2.893, 0.014, -1.916, 0, 328.832, 0, [SEP] 16, Newspaper, 3.18, 0.586, -0.543, 0, 259.747, 0, 56 [SEP] 17, Vase, -2.168, 1.195, -2.183, 0, 0, 0, [SEP] 18, CellPhone, -0.145, 0.160, 0.990, 0, 0, 0, 58 [SEP] 19, RemoteControl, -3.031, 0.564, 1.600, 0, 270, 0, 57 [SEP] 20, Vase, -1.046, 1.195, -2.151, 0, 0, 0, [SEP] 21, Pillow, -2.812, 0.623, 2.012, 0, 270, 0, 57 [SEP] 22, KeyChain, -3.031, 0.563, 0.981, 0, 270, 0, 57 [SEP] 23, Cabinet, 0.333, 0.514, -2.015, 0, 0, 0, [SEP] 24, DeskLamp, 3.143, 0.591, 1.457, 0, 270, 0, [SEP] 25, LightSwitch, -0.927, 1.316, 2.846, 0, 180, 0, [SEP] 26, HousePlant, 0.491, 0.874, -1.581, 0, 0, 0, [SEP] 27, Television, 0.069, 1.406, 1.698, 0, 270, 0, [SEP] 28, GarbageCan, 3.164, 0.026, 0.891, 0, 0, 0, [SEP] 29, Painting, -1.561, 1.408, -2.318, 90, 180, 0, [SEP] 30, Painting, 3.367, 1.789, -0.949, 90, 270, 0, [SEP] 31, Painting, -3.488, 1.386, -0.507, 90, 270, 0, [SEP] 32, FloorLamp, 3.103, 0.025, -2.341, 0, 135, 0, [SEP] 33, Window, 1.133, 1.218, -2.740, 90, 0, 0, [SEP] 34, Window, -3.368, 1.180, -1.539, 90, 90, 0, [SEP] 35, Window, 2.898, 1.218, -2.740, 90, 0, 0, [SEP] 36, Window, 2.006, 1.218, -2.740, 90, 0, 0, [SEP] 37, Window, -0.193, 1.157, -2.563, 90, 0, 0, [SEP] 38, Window, -2.970, 1.157, -2.563, 90, 0, 0, [SEP] 39, ArmChair, -2.859, 0.026, -2.036, 0, 29.994, 0, [SEP] 40, SideTable, -0.170, 0.027, -2.279, 0, 0, 0, [SEP] 41, Drawer, -0.173, 0.465, -2.135, 0, 0, 0, [SEP] 42, Drawer, 3.104, 0.167, 1.400, 0, 270, 0, [SEP] 43, SideTable, 3.163, 0.032, 1.400, 0, 270, 0, [SEP] 44, Drawer, 3.103, 0.418, 1.401, 0, 270, 0, [SEP] 45, SideTable, 3.163, 0.032, 0.364, 0, 270, 0, [SEP] 46, Drawer, -3.241, 0.418, -0.490, 0, 90, 0, [SEP] 47, Drawer, 3.104, 0.167, -0.574, 0, 270, 0, [SEP] 48, SideTable, 3.163, 0.032, -0.574, 0, 270, 0, [SEP] 49, Drawer, 3.104, 0.167, 0.364, 0, 270, 0, [SEP] 50, Drawer, 3.104, 0.419, -0.574, 0, 270, 0, [SEP] 51, Drawer, -3.241, 0.167, -0.489, 0, 90, 0, [SEP] 52, SideTable, -3.300, 0.032, -0.489, 0, 90, 0, [SEP] 53, Drawer, 3.104, 0.419, 0.364, 0, 270, 0, [SEP] 54, Chair, 1.049, 0.031, -2.190, 0, 29.997, 0, [SEP] 55, DogBed, 2.739, 0.032, 2.260, 0, 45, 0, [SEP] 56, Chair, 2.037, 0.031, -2.232, 0, 350.485, 0, [SEP] 57, Sofa, -2.957, 0.032, 1.393, 0, 90, 0, [SEP] 58, Drawer, -0.189, 0.232, 0.954, 0, 270, 0, [SEP] 59, Drawer, -0.415, 0.854, 1.921, 0, 270, 0, [SEP] 60, Drawer, -0.415, 0.351, 1.414, 0, 270, 0, [SEP] 61, Drawer, -0.415, 0.603, 1.414, 0, 270, 0, [SEP] 62, Dresser, -0.052, 0.028, 1.667, 0, 270, 0, [SEP] 63, Drawer, -0.190, 0.484, 0.954, 0, 270, 0, [SEP] 64, Drawer, -0.190, 0.736, 0.954, 0, 270, 0, [SEP] 65, Drawer, -0.415, 0.603, 1.921, 0, 270, 0, [SEP] 66, Drawer, -0.415, 0.603, 2.384, 0, 270, 0, [SEP] 67, Drawer, -0.415, 0.351, 2.384, 0, 270, 0, [SEP] 68, Drawer, -0.415, 0.854, 2.384, 0, 270, 0, [SEP] 69, Drawer, -0.415, 0.351, 1.921, 0, 270, 0, [SEP] 70, Drawer, -0.415, 0.854, 1.414, 0, 270, 0, [SEP] 71, Stool, 3.135, 0.029, -1.625, 0, 330.001, 0, [SEP] 72, Chair, 1.631, 0.029, 2.210, 0, 161.562, 0, [SEP] 73, NorthWall, , , , , , , [SEP] 74, EastWall, , , , , , , [SEP] 75, SouthWall, , , , , , , [SEP] 76, WestWall, , , , , , , ", "output": ["STEP 1: Walk over to the black box with a newspaper on it. | STEP 2: Grab the newspaper. | STEP 3: Walk over to the couch. | STEP 4: Place the newspaper next to the left laptop. | END"]} +{"id": "trial_T20190909_111324_949106-2", "input": "Move a newspaper from a dresser to a black couch. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.916, 1.75, 0, 270, 0, [SEP] 1, Book, 3.160, 0.591, 0.365, 0, 180, 0, 45 [SEP] 2, CellPhone, -2.704, 0.371, -2.196, 0, 29.999, 0, 39 [SEP] 3, CellPhone, -0.204, 0.906, 2.188, 0, 0, 0, 62 [SEP] 4, CreditCard, -0.005, 0.539, -2.089, 0, 0, 0, 41 [SEP] 5, CreditCard, -3.104, 0.545, 0.981, 0, 270, 0, 57 [SEP] 6, RemoteControl, -0.023, 0.907, 2.188, 0, 0, 0, 62 [SEP] 7, RemoteControl, -0.096, 0.161, 1.466, 0, 0, 0, 60 [SEP] 8, Laptop, -2.812, 0.561, 1.187, 0, 270, 0, 57 [SEP] 9, Laptop, -2.812, 0.561, 1.600, 0, 270, 0, 57 [SEP] 10, Book, 0.116, 0.902, 1.073, 0, 29.999, 0, 62 [SEP] 11, Box, 3.173, 0.206, -0.048, 0, 19.470, 0, 48 [SEP] 12, Statue, 0.158, 0.912, 2.431, 0, 0, 0, 62 [SEP] 13, CreditCard, 3.160, 0.589, 1.268, 0, 180, 0, 43 [SEP] 14, Laptop, -2.780, 0.365, -1.874, 0, 0, 0, 39 [SEP] 15, WateringCan, 2.893, 0.014, -1.916, 0, 328.832, 0, [SEP] 16, Newspaper, 3.18, 0.586, -0.543, 0, 259.747, 0, 56 [SEP] 17, Vase, -2.168, 1.195, -2.183, 0, 0, 0, [SEP] 18, CellPhone, -0.145, 0.160, 0.990, 0, 0, 0, 58 [SEP] 19, RemoteControl, -3.031, 0.564, 1.600, 0, 270, 0, 57 [SEP] 20, Vase, -1.046, 1.195, -2.151, 0, 0, 0, [SEP] 21, Pillow, -2.812, 0.623, 2.012, 0, 270, 0, 57 [SEP] 22, KeyChain, -3.031, 0.563, 0.981, 0, 270, 0, 57 [SEP] 23, Cabinet, 0.333, 0.514, -2.015, 0, 0, 0, [SEP] 24, DeskLamp, 3.143, 0.591, 1.457, 0, 270, 0, [SEP] 25, LightSwitch, -0.927, 1.316, 2.846, 0, 180, 0, [SEP] 26, HousePlant, 0.491, 0.874, -1.581, 0, 0, 0, [SEP] 27, Television, 0.069, 1.406, 1.698, 0, 270, 0, [SEP] 28, GarbageCan, 3.164, 0.026, 0.891, 0, 0, 0, [SEP] 29, Painting, -1.561, 1.408, -2.318, 90, 180, 0, [SEP] 30, Painting, 3.367, 1.789, -0.949, 90, 270, 0, [SEP] 31, Painting, -3.488, 1.386, -0.507, 90, 270, 0, [SEP] 32, FloorLamp, 3.103, 0.025, -2.341, 0, 135, 0, [SEP] 33, Window, 1.133, 1.218, -2.740, 90, 0, 0, [SEP] 34, Window, -3.368, 1.180, -1.539, 90, 90, 0, [SEP] 35, Window, 2.898, 1.218, -2.740, 90, 0, 0, [SEP] 36, Window, 2.006, 1.218, -2.740, 90, 0, 0, [SEP] 37, Window, -0.193, 1.157, -2.563, 90, 0, 0, [SEP] 38, Window, -2.970, 1.157, -2.563, 90, 0, 0, [SEP] 39, ArmChair, -2.859, 0.026, -2.036, 0, 29.994, 0, [SEP] 40, SideTable, -0.170, 0.027, -2.279, 0, 0, 0, [SEP] 41, Drawer, -0.173, 0.465, -2.135, 0, 0, 0, [SEP] 42, Drawer, 3.104, 0.167, 1.400, 0, 270, 0, [SEP] 43, SideTable, 3.163, 0.032, 1.400, 0, 270, 0, [SEP] 44, Drawer, 3.103, 0.418, 1.401, 0, 270, 0, [SEP] 45, SideTable, 3.163, 0.032, 0.364, 0, 270, 0, [SEP] 46, Drawer, -3.241, 0.418, -0.490, 0, 90, 0, [SEP] 47, Drawer, 3.104, 0.167, -0.574, 0, 270, 0, [SEP] 48, SideTable, 3.163, 0.032, -0.574, 0, 270, 0, [SEP] 49, Drawer, 3.104, 0.167, 0.364, 0, 270, 0, [SEP] 50, Drawer, 3.104, 0.419, -0.574, 0, 270, 0, [SEP] 51, Drawer, -3.241, 0.167, -0.489, 0, 90, 0, [SEP] 52, SideTable, -3.300, 0.032, -0.489, 0, 90, 0, [SEP] 53, Drawer, 3.104, 0.419, 0.364, 0, 270, 0, [SEP] 54, Chair, 1.049, 0.031, -2.190, 0, 29.997, 0, [SEP] 55, DogBed, 2.739, 0.032, 2.260, 0, 45, 0, [SEP] 56, Chair, 2.037, 0.031, -2.232, 0, 350.485, 0, [SEP] 57, Sofa, -2.957, 0.032, 1.393, 0, 90, 0, [SEP] 58, Drawer, -0.189, 0.232, 0.954, 0, 270, 0, [SEP] 59, Drawer, -0.415, 0.854, 1.921, 0, 270, 0, [SEP] 60, Drawer, -0.415, 0.351, 1.414, 0, 270, 0, [SEP] 61, Drawer, -0.415, 0.603, 1.414, 0, 270, 0, [SEP] 62, Dresser, -0.052, 0.028, 1.667, 0, 270, 0, [SEP] 63, Drawer, -0.190, 0.484, 0.954, 0, 270, 0, [SEP] 64, Drawer, -0.190, 0.736, 0.954, 0, 270, 0, [SEP] 65, Drawer, -0.415, 0.603, 1.921, 0, 270, 0, [SEP] 66, Drawer, -0.415, 0.603, 2.384, 0, 270, 0, [SEP] 67, Drawer, -0.415, 0.351, 2.384, 0, 270, 0, [SEP] 68, Drawer, -0.415, 0.854, 2.384, 0, 270, 0, [SEP] 69, Drawer, -0.415, 0.351, 1.921, 0, 270, 0, [SEP] 70, Drawer, -0.415, 0.854, 1.414, 0, 270, 0, [SEP] 71, Stool, 3.135, 0.029, -1.625, 0, 330.001, 0, [SEP] 72, Chair, 1.631, 0.029, 2.210, 0, 161.562, 0, [SEP] 73, NorthWall, , , , , , , [SEP] 74, EastWall, , , , , , , [SEP] 75, SouthWall, , , , , , , [SEP] 76, WestWall, , , , , , , ", "output": ["STEP 1: Turn around to walk across the room to the small black dresser on the right out of three. | STEP 2: Pick up the newspaper from the dresser. | STEP 3: Turn around to walk across the room to reach the black couch in the far corner. | STEP 4: Set the newspaper down on the black couch. | END"]} +{"id": "trial_T20190909_005709_232606-0", "input": "Put a washed piece of lettuce on the counter by the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.901, -2.5, 0, 90, 0, [SEP] 1, Pan, -0.165, 0.975, -2.450, 0, 0, 0, 74 [SEP] 2, Potato, -3.234, 1.057, -2.064, 0, 90, 0, 83 [SEP] 3, Potato, -3.182, 0.685, -2.002, 0, 90, 0, 83 [SEP] 4, DishSponge, -0.412, 0.745, -2.913, 0, 0, 0, 72 [SEP] 5, ButterKnife, -0.328, 0.913, -2.811, 0, 0, 0, 42 [SEP] 6, Spatula, -0.243, 0.928, -3.804, 0, 0, 0, 42 [SEP] 7, Spoon, -3.561, 0.914, -2.926, 0, 90, 0, 42 [SEP] 8, Fork, -2.740, 0.714, -0.211, 0, 90, 0, 86 [SEP] 9, SoapBottle, -2.581, 0.713, -0.433, 0, 270, 0, 86 [SEP] 10, SoapBottle, -3.155, 0.716, -0.608, 0, 225, 0, 86 [SEP] 11, Bowl, -1.569, 0.080, -3.634, 0, 0, 0, 58 [SEP] 12, Bowl, -0.419, 0.913, -1.432, 0, 0, 0, 69 [SEP] 13, SaltShaker, -0.502, 0.742, -3.347, 0, 0, 0, 70 [SEP] 14, SaltShaker, -2.664, 0.710, -0.294, 0, 225, 0, 86 [SEP] 15, PepperShaker, -2.608, 0.710, -0.150, 0, 225, 0, 86 [SEP] 16, PepperShaker, -0.014, 0.912, -0.507, 0, 0, 0, 69 [SEP] 17, Lettuce, -3.079, 1.486, -2.064, 0, 90, 0, 83 [SEP] 18, Bread, -2.708, 0.757, -0.741, 0, 135, 0, 86 [SEP] 19, Mug, -2.930, 0.763, -0.358, 0, 135, 0, 82 [SEP] 20, Apple, -1.914, 0.833, -3.832, 0, 0, 0, 84 [SEP] 21, Pot, -0.412, 0.916, -3.213, 0, 180, 0, 42 [SEP] 22, Egg, -2.987, 0.949, -3.581, 0, 0, 0, 42 [SEP] 23, Cup, -3.182, 0.641, -2.187, 0, 90, 0, 83 [SEP] 24, Bread, -2.990, 0.754, -0.780, 0, 0, 0, 86 [SEP] 25, Fork, -0.419, 0.916, -0.507, 0, 0, 0, 69 [SEP] 26, Pan, -0.165, 0.975, -2.030, 0, 180, 0, 73 [SEP] 27, Potato, -2.803, 0.760, -0.922, 0, 0, 0, 86 [SEP] 28, Lettuce, -1.324, 0.988, -3.759, 1.621, 253.789, 357.313, 42 [SEP] 29, Tomato, -2.865, 0.766, -0.069, 0, 0, 0, 86 [SEP] 30, Apple, -0.189, 1.055, -0.802, 0, 270, 0, 79 [SEP] 31, SoapBottle, -0.338, 0.915, -1.677, 0, 0, 0, 69 [SEP] 32, Spatula, -0.095, 0.930, -1.616, 0, 90, 0, 69 [SEP] 33, SaltShaker, -2.270, 0.910, -3.655, 0, 0, 0, 42 [SEP] 34, Knife, -2.865, 0.749, -0.780, 0, 0, 0, 86 [SEP] 35, PepperShaker, -2.100, 0.078, -3.674, 0, 0, 0, 63 [SEP] 36, ButterKnife, -2.721, 0.717, -0.552, 0, 135, 0, 86 [SEP] 37, Plate, -3.225, 0.911, -3.126, 0, 0, 0, 42 [SEP] 38, DishSponge, -3.292, 0.713, -0.558, 0, 270, 0, 86 [SEP] 39, Spoon, -3.199, 0.747, -3.023, 0, 90, 0, 64 [SEP] 40, Mug, -3.286, 1.008, -1.941, 0, 90, 0, 83 [SEP] 41, Bowl, -3.176, 1.865, -2.450, 0, 0, 0, 51 [SEP] 42, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0, [SEP] 43, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0, [SEP] 44, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0, [SEP] 45, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0, [SEP] 46, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0, [SEP] 47, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0, [SEP] 48, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0, [SEP] 49, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0, [SEP] 50, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0, [SEP] 51, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0, [SEP] 52, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0, [SEP] 53, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0, [SEP] 54, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0, [SEP] 55, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0, [SEP] 56, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0, [SEP] 57, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0, [SEP] 58, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0, [SEP] 59, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0, [SEP] 60, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0, [SEP] 61, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0, [SEP] 62, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0, [SEP] 63, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0, [SEP] 64, Drawer, -3.104, 0.797, -2.968, 0, 0, 0, [SEP] 65, Drawer, -0.449, 0.797, -1.410, 0, 0, 0, [SEP] 66, Sink, -1.786, 0.902, -3.748, 0, 0, 0, [SEP] 67, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0, [SEP] 68, Drawer, -0.449, 0.797, -0.762, 0, 0, 0, [SEP] 69, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0, [SEP] 70, Drawer, -0.449, 0.797, -3.348, 0, 0, 0, [SEP] 71, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0, [SEP] 72, Drawer, -0.449, 0.797, -2.968, 0, 0, 0, [SEP] 73, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0, [SEP] 74, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0, [SEP] 75, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0, [SEP] 76, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0, [SEP] 77, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0, [SEP] 78, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0, [SEP] 79, Microwave, -0.143, 0.903, -0.908, 0, 270, 0, [SEP] 80, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0, [SEP] 81, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0, [SEP] 82, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0, [SEP] 83, Fridge, -3.188, 0.0, -2.184, 0, 0, 0, [SEP] 84, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0, [SEP] 85, Toaster, -0.230, 0.903, -3.406, 0, 270, 0, [SEP] 86, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0, [SEP] 87, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0, [SEP] 88, Faucet, -1.791, 1.136, -3.913, 0, 270, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Go to the counter to the left of the toaster. | STEP 2: Pick up the butter knife on the counter. | STEP 3: Turn to the counter on the left of the sink. | STEP 4: Slice the lettuce on the counter. | STEP 5: Move away from the counter. | STEP 6: Set the butter knife in front of the lettuce on the counter. | STEP 7: Move back to the counter to the left of the sink. | STEP 8: Pick up a slice of lettuce. | STEP 9: Move over to the sink on the right. | STEP 10: Wash the lettuce in the sink. | STEP 11: Take the cleaned lettuce to the counter to the left of the sink. | STEP 12: Set the lettuce down on the counter. | END"]} +{"id": "trial_T20190909_005709_232606-1", "input": "Put a clean slice of lettuce on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.901, -2.5, 0, 90, 0, [SEP] 1, Pan, -0.165, 0.975, -2.450, 0, 0, 0, 74 [SEP] 2, Potato, -3.234, 1.057, -2.064, 0, 90, 0, 83 [SEP] 3, Potato, -3.182, 0.685, -2.002, 0, 90, 0, 83 [SEP] 4, DishSponge, -0.412, 0.745, -2.913, 0, 0, 0, 72 [SEP] 5, ButterKnife, -0.328, 0.913, -2.811, 0, 0, 0, 42 [SEP] 6, Spatula, -0.243, 0.928, -3.804, 0, 0, 0, 42 [SEP] 7, Spoon, -3.561, 0.914, -2.926, 0, 90, 0, 42 [SEP] 8, Fork, -2.740, 0.714, -0.211, 0, 90, 0, 86 [SEP] 9, SoapBottle, -2.581, 0.713, -0.433, 0, 270, 0, 86 [SEP] 10, SoapBottle, -3.155, 0.716, -0.608, 0, 225, 0, 86 [SEP] 11, Bowl, -1.569, 0.080, -3.634, 0, 0, 0, 58 [SEP] 12, Bowl, -0.419, 0.913, -1.432, 0, 0, 0, 69 [SEP] 13, SaltShaker, -0.502, 0.742, -3.347, 0, 0, 0, 70 [SEP] 14, SaltShaker, -2.664, 0.710, -0.294, 0, 225, 0, 86 [SEP] 15, PepperShaker, -2.608, 0.710, -0.150, 0, 225, 0, 86 [SEP] 16, PepperShaker, -0.014, 0.912, -0.507, 0, 0, 0, 69 [SEP] 17, Lettuce, -3.079, 1.486, -2.064, 0, 90, 0, 83 [SEP] 18, Bread, -2.708, 0.757, -0.741, 0, 135, 0, 86 [SEP] 19, Mug, -2.930, 0.763, -0.358, 0, 135, 0, 82 [SEP] 20, Apple, -1.914, 0.833, -3.832, 0, 0, 0, 84 [SEP] 21, Pot, -0.412, 0.916, -3.213, 0, 180, 0, 42 [SEP] 22, Egg, -2.987, 0.949, -3.581, 0, 0, 0, 42 [SEP] 23, Cup, -3.182, 0.641, -2.187, 0, 90, 0, 83 [SEP] 24, Bread, -2.990, 0.754, -0.780, 0, 0, 0, 86 [SEP] 25, Fork, -0.419, 0.916, -0.507, 0, 0, 0, 69 [SEP] 26, Pan, -0.165, 0.975, -2.030, 0, 180, 0, 73 [SEP] 27, Potato, -2.803, 0.760, -0.922, 0, 0, 0, 86 [SEP] 28, Lettuce, -1.324, 0.988, -3.759, 1.621, 253.789, 357.313, 42 [SEP] 29, Tomato, -2.865, 0.766, -0.069, 0, 0, 0, 86 [SEP] 30, Apple, -0.189, 1.055, -0.802, 0, 270, 0, 79 [SEP] 31, SoapBottle, -0.338, 0.915, -1.677, 0, 0, 0, 69 [SEP] 32, Spatula, -0.095, 0.930, -1.616, 0, 90, 0, 69 [SEP] 33, SaltShaker, -2.270, 0.910, -3.655, 0, 0, 0, 42 [SEP] 34, Knife, -2.865, 0.749, -0.780, 0, 0, 0, 86 [SEP] 35, PepperShaker, -2.100, 0.078, -3.674, 0, 0, 0, 63 [SEP] 36, ButterKnife, -2.721, 0.717, -0.552, 0, 135, 0, 86 [SEP] 37, Plate, -3.225, 0.911, -3.126, 0, 0, 0, 42 [SEP] 38, DishSponge, -3.292, 0.713, -0.558, 0, 270, 0, 86 [SEP] 39, Spoon, -3.199, 0.747, -3.023, 0, 90, 0, 64 [SEP] 40, Mug, -3.286, 1.008, -1.941, 0, 90, 0, 83 [SEP] 41, Bowl, -3.176, 1.865, -2.450, 0, 0, 0, 51 [SEP] 42, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0, [SEP] 43, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0, [SEP] 44, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0, [SEP] 45, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0, [SEP] 46, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0, [SEP] 47, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0, [SEP] 48, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0, [SEP] 49, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0, [SEP] 50, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0, [SEP] 51, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0, [SEP] 52, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0, [SEP] 53, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0, [SEP] 54, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0, [SEP] 55, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0, [SEP] 56, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0, [SEP] 57, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0, [SEP] 58, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0, [SEP] 59, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0, [SEP] 60, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0, [SEP] 61, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0, [SEP] 62, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0, [SEP] 63, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0, [SEP] 64, Drawer, -3.104, 0.797, -2.968, 0, 0, 0, [SEP] 65, Drawer, -0.449, 0.797, -1.410, 0, 0, 0, [SEP] 66, Sink, -1.786, 0.902, -3.748, 0, 0, 0, [SEP] 67, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0, [SEP] 68, Drawer, -0.449, 0.797, -0.762, 0, 0, 0, [SEP] 69, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0, [SEP] 70, Drawer, -0.449, 0.797, -3.348, 0, 0, 0, [SEP] 71, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0, [SEP] 72, Drawer, -0.449, 0.797, -2.968, 0, 0, 0, [SEP] 73, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0, [SEP] 74, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0, [SEP] 75, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0, [SEP] 76, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0, [SEP] 77, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0, [SEP] 78, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0, [SEP] 79, Microwave, -0.143, 0.903, -0.908, 0, 270, 0, [SEP] 80, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0, [SEP] 81, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0, [SEP] 82, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0, [SEP] 83, Fridge, -3.188, 0.0, -2.184, 0, 0, 0, [SEP] 84, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0, [SEP] 85, Toaster, -0.230, 0.903, -3.406, 0, 270, 0, [SEP] 86, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0, [SEP] 87, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0, [SEP] 88, Faucet, -1.791, 1.136, -3.913, 0, 270, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, go towards the sink, turn left and go to the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn right and go to the lettuce beside the sink. | STEP 4: Cut the lettuce on the counter. | STEP 5: Turn left and then turn back around. | STEP 6: Put the knife on the counter in front of the lettuce. | STEP 7: Turn left towards the counter. | STEP 8: Pick up a slice of lettuce. | STEP 9: Turn right and go to the sink. | STEP 10: Put the lettuce in the sink, rinse it and pick it back up. | STEP 11: Turn left and then turn around. | STEP 12: Put the slice of lettuce on the counter by the salt. | END"]} +{"id": "trial_T20190909_005709_232606-2", "input": "put a clean slice of lettuce on to the counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.901, -2.5, 0, 90, 0, [SEP] 1, Pan, -0.165, 0.975, -2.450, 0, 0, 0, 74 [SEP] 2, Potato, -3.234, 1.057, -2.064, 0, 90, 0, 83 [SEP] 3, Potato, -3.182, 0.685, -2.002, 0, 90, 0, 83 [SEP] 4, DishSponge, -0.412, 0.745, -2.913, 0, 0, 0, 72 [SEP] 5, ButterKnife, -0.328, 0.913, -2.811, 0, 0, 0, 42 [SEP] 6, Spatula, -0.243, 0.928, -3.804, 0, 0, 0, 42 [SEP] 7, Spoon, -3.561, 0.914, -2.926, 0, 90, 0, 42 [SEP] 8, Fork, -2.740, 0.714, -0.211, 0, 90, 0, 86 [SEP] 9, SoapBottle, -2.581, 0.713, -0.433, 0, 270, 0, 86 [SEP] 10, SoapBottle, -3.155, 0.716, -0.608, 0, 225, 0, 86 [SEP] 11, Bowl, -1.569, 0.080, -3.634, 0, 0, 0, 58 [SEP] 12, Bowl, -0.419, 0.913, -1.432, 0, 0, 0, 69 [SEP] 13, SaltShaker, -0.502, 0.742, -3.347, 0, 0, 0, 70 [SEP] 14, SaltShaker, -2.664, 0.710, -0.294, 0, 225, 0, 86 [SEP] 15, PepperShaker, -2.608, 0.710, -0.150, 0, 225, 0, 86 [SEP] 16, PepperShaker, -0.014, 0.912, -0.507, 0, 0, 0, 69 [SEP] 17, Lettuce, -3.079, 1.486, -2.064, 0, 90, 0, 83 [SEP] 18, Bread, -2.708, 0.757, -0.741, 0, 135, 0, 86 [SEP] 19, Mug, -2.930, 0.763, -0.358, 0, 135, 0, 82 [SEP] 20, Apple, -1.914, 0.833, -3.832, 0, 0, 0, 84 [SEP] 21, Pot, -0.412, 0.916, -3.213, 0, 180, 0, 42 [SEP] 22, Egg, -2.987, 0.949, -3.581, 0, 0, 0, 42 [SEP] 23, Cup, -3.182, 0.641, -2.187, 0, 90, 0, 83 [SEP] 24, Bread, -2.990, 0.754, -0.780, 0, 0, 0, 86 [SEP] 25, Fork, -0.419, 0.916, -0.507, 0, 0, 0, 69 [SEP] 26, Pan, -0.165, 0.975, -2.030, 0, 180, 0, 73 [SEP] 27, Potato, -2.803, 0.760, -0.922, 0, 0, 0, 86 [SEP] 28, Lettuce, -1.324, 0.988, -3.759, 1.621, 253.789, 357.313, 42 [SEP] 29, Tomato, -2.865, 0.766, -0.069, 0, 0, 0, 86 [SEP] 30, Apple, -0.189, 1.055, -0.802, 0, 270, 0, 79 [SEP] 31, SoapBottle, -0.338, 0.915, -1.677, 0, 0, 0, 69 [SEP] 32, Spatula, -0.095, 0.930, -1.616, 0, 90, 0, 69 [SEP] 33, SaltShaker, -2.270, 0.910, -3.655, 0, 0, 0, 42 [SEP] 34, Knife, -2.865, 0.749, -0.780, 0, 0, 0, 86 [SEP] 35, PepperShaker, -2.100, 0.078, -3.674, 0, 0, 0, 63 [SEP] 36, ButterKnife, -2.721, 0.717, -0.552, 0, 135, 0, 86 [SEP] 37, Plate, -3.225, 0.911, -3.126, 0, 0, 0, 42 [SEP] 38, DishSponge, -3.292, 0.713, -0.558, 0, 270, 0, 86 [SEP] 39, Spoon, -3.199, 0.747, -3.023, 0, 90, 0, 64 [SEP] 40, Mug, -3.286, 1.008, -1.941, 0, 90, 0, 83 [SEP] 41, Bowl, -3.176, 1.865, -2.450, 0, 0, 0, 51 [SEP] 42, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0, [SEP] 43, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0, [SEP] 44, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0, [SEP] 45, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0, [SEP] 46, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0, [SEP] 47, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0, [SEP] 48, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0, [SEP] 49, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0, [SEP] 50, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0, [SEP] 51, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0, [SEP] 52, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0, [SEP] 53, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0, [SEP] 54, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0, [SEP] 55, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0, [SEP] 56, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0, [SEP] 57, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0, [SEP] 58, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0, [SEP] 59, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0, [SEP] 60, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0, [SEP] 61, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0, [SEP] 62, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0, [SEP] 63, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0, [SEP] 64, Drawer, -3.104, 0.797, -2.968, 0, 0, 0, [SEP] 65, Drawer, -0.449, 0.797, -1.410, 0, 0, 0, [SEP] 66, Sink, -1.786, 0.902, -3.748, 0, 0, 0, [SEP] 67, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0, [SEP] 68, Drawer, -0.449, 0.797, -0.762, 0, 0, 0, [SEP] 69, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0, [SEP] 70, Drawer, -0.449, 0.797, -3.348, 0, 0, 0, [SEP] 71, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0, [SEP] 72, Drawer, -0.449, 0.797, -2.968, 0, 0, 0, [SEP] 73, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0, [SEP] 74, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0, [SEP] 75, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0, [SEP] 76, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0, [SEP] 77, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0, [SEP] 78, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0, [SEP] 79, Microwave, -0.143, 0.903, -0.908, 0, 270, 0, [SEP] 80, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0, [SEP] 81, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0, [SEP] 82, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0, [SEP] 83, Fridge, -3.188, 0.0, -2.184, 0, 0, 0, [SEP] 84, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0, [SEP] 85, Toaster, -0.230, 0.903, -3.406, 0, 270, 0, [SEP] 86, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0, [SEP] 87, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0, [SEP] 88, Faucet, -1.791, 1.136, -3.913, 0, 270, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: move forward facing the counter that is to the right of the stove | STEP 2: pick up the butter knife that is on the counter to the right of the stove | STEP 3: turn to the right and move slightly to the right to face the head of lettuce on the counter | STEP 4: cut the head of lettuce that is on the counter with the knife | STEP 5: turn to the right staying in place | STEP 6: put the knife on to the counter in front of the head of lettuce | STEP 7: turn to the left to face the counter with the head of lettuce | STEP 8: pick up the end slice of the lettuce from the counter | STEP 9: move to the right to face the sink | STEP 10: put the lettuce slice in to the sink, turn on the faucet to rinse off the slice, turn off the water and pick up the lettuce slice from the sink | STEP 11: move to the left to face the counter to the left of the sink and to the left of the remaining head of lettuce and turn to the right | STEP 12: put the slice of lettuce on to the counter to the right of the sink next to the salt shaker | END"]} +{"id": "trial_T20190908_193525_796595-0", "input": "Place a chilled apple section into the bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 1.75, 0, 90, 0, [SEP] 1, Pan, -0.244, 0.829, 2.075, 0, 180, 0, 42 [SEP] 2, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 46 [SEP] 3, Potato, -0.092, 0.862, 1.326, 0, 0, 0, 47 [SEP] 4, Ladle, -2.540, 1.893, 1.926, 0, 0, 0, 41 [SEP] 5, DishSponge, -2.840, 0.823, 0.278, 0, 0, 0, 47 [SEP] 6, Fork, -2.211, 0.824, 0.539, 0, 0, 0, 47 [SEP] 7, Fork, -0.363, 0.697, 0.949, 0, 270, 0, 49 [SEP] 8, Egg, -2.781, 1.167, 1.957, 0, 90, 0, 65 [SEP] 9, Egg, -1.709, 0.847, 0.539, 0, 0, 0, 47 [SEP] 10, Cup, -2.671, 1.445, 2.397, 0, 90, 0, 65 [SEP] 11, Cup, -2.726, 1.144, 2.485, 0, 90, 0, 65 [SEP] 12, Plate, -2.000, 0.130, 0.401, 0, 0, 0, 59 [SEP] 13, Tomato, -0.329, 0.106, 2.606, 0, 0, 0, 67 [SEP] 14, Tomato, -2.892, 1.193, 2.485, 0, 90, 0, 65 [SEP] 15, SoapBottle, -2.377, 1.433, 0.142, 0, 0, 0, 54 [SEP] 16, Bowl, -2.810, 0.918, 1.284, 0, 90, 0, 66 [SEP] 17, Bowl, -2.726, 1.442, 2.045, 0, 90, 0, 65 [SEP] 18, Mug, -2.714, 1.430, 0.168, 0, 45, 0, 53 [SEP] 19, Apple, -1.857, 0.770, 0.338, 0, 0, 0, 74 [SEP] 20, Fork, -2.664, 0.693, 1.547, 0, 270, 0, 52 [SEP] 21, Ladle, -2.597, 0.737, 1.511, 0, 90, 0, 52 [SEP] 22, Pan, -2.491, 0.823, 0.278, 0, 0, 0, 47 [SEP] 23, SoapBottle, -0.147, 0.821, 0.278, 0, 0, 0, 47 [SEP] 24, Pot, -0.531, 0.822, 2.096, 0, 0, 0, 44 [SEP] 25, Tomato, -0.314, 0.873, 0.500, 0, 0, 0, 47 [SEP] 26, Potato, -2.892, 1.484, 2.045, 0, 90, 0, 65 [SEP] 27, SaltShaker, -2.599, 1.430, 0.217, 0, 45, 0, 53 [SEP] 28, Plate, -1.522, 0.130, 0.401, 0, 0, 0, 60 [SEP] 29, Spatula, -0.341, 0.696, 1.194, 0, 45, 0, 43 [SEP] 30, Knife, -2.662, 0.819, 0.557, 90, 300.034, 0, 47 [SEP] 31, Egg, -0.429, 0.080, 2.539, 0, 0, 0, 67 [SEP] 32, Cup, -2.540, 1.849, 2.472, 0, 0, 0, 57 [SEP] 33, ButterKnife, -2.493, 0.812, 0.476, 0, 50.734, 0, 47 [SEP] 34, Lettuce, -2.837, 0.908, 2.221, 0, 90, 0, 65 [SEP] 35, PepperShaker, -2.724, 0.818, 0.129, 0, 0, 0, 47 [SEP] 36, DishSponge, -1.105, 0.698, 0.444, 0, 0, 0, 51 [SEP] 37, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 47 [SEP] 38, Spoon, -0.916, 0.711, 0.445, 0, 270, 0, 50 [SEP] 39, Mug, -2.671, 0.819, 2.309, 0, 90, 0, 65 [SEP] 40, Bowl, -2.781, 1.140, 2.133, 0, 90, 0, 65 [SEP] 41, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0, [SEP] 42, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0, [SEP] 43, Drawer, -0.402, 0.703, 1.252, 0, 0, 0, [SEP] 44, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0, [SEP] 45, Sink, -1.838, 0.726, 0.343, 0, 180, 0, [SEP] 46, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0, [SEP] 47, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0, [SEP] 48, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0, [SEP] 49, Drawer, -0.404, 0.704, 0.912, 0, 0, 0, [SEP] 50, Drawer, -0.861, 0.709, 0.420, 0, 0, 0, [SEP] 51, Drawer, -1.133, 0.706, 0.418, 0, 0, 0, [SEP] 52, Drawer, -2.589, 0.703, 1.511, 0, 0, 0, [SEP] 53, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0, [SEP] 54, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0, [SEP] 55, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0, [SEP] 56, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0, [SEP] 57, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0, [SEP] 58, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0, [SEP] 59, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0, [SEP] 60, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0, [SEP] 61, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0, [SEP] 62, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0, [SEP] 63, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0, [SEP] 64, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0, [SEP] 65, Fridge, -2.782, 0.0, 2.221, 0, 0, 0, [SEP] 66, Microwave, -2.794, 0.812, 1.348, 0, 90, 0, [SEP] 67, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0, [SEP] 68, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470, [SEP] 69, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470, [SEP] 70, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470, [SEP] 71, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470, [SEP] 72, Window, -1.720, 1.342, -0.208, 90, 0, 0, [SEP] 73, Toaster, -0.171, 0.812, 0.735, 0, 270, 0, [SEP] 74, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0, [SEP] 75, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0, [SEP] 76, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0, [SEP] 77, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0, [SEP] 78, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0, [SEP] 79, NorthWall, , , , , , , [SEP] 80, EastWall, , , , , , , [SEP] 81, SouthWall, , , , , , , [SEP] 82, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, move to the counter in front of the dishwasher. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn left, move to in front of the sink. | STEP 4: Section the apple in the sink. | STEP 5: Turn right, move to in front of the refrigerator. | STEP 6: Put the knife in the refrigerator. | STEP 7: Turn left, move to in front of the sink. | STEP 8: Pick up a section of apple from the sink. | STEP 9: Turn right, move to in front of the refrigerator. | STEP 10: Put the apple section in the refrigerator, chill it, pick it back up. | STEP 11: Turn right, move to the bin that is left of the stove. | STEP 12: Put the apple section in the bin. | END"]} +{"id": "trial_T20190908_193525_796595-1", "input": "Put the chilled slice apple in the trash bin SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 1.75, 0, 90, 0, [SEP] 1, Pan, -0.244, 0.829, 2.075, 0, 180, 0, 42 [SEP] 2, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 46 [SEP] 3, Potato, -0.092, 0.862, 1.326, 0, 0, 0, 47 [SEP] 4, Ladle, -2.540, 1.893, 1.926, 0, 0, 0, 41 [SEP] 5, DishSponge, -2.840, 0.823, 0.278, 0, 0, 0, 47 [SEP] 6, Fork, -2.211, 0.824, 0.539, 0, 0, 0, 47 [SEP] 7, Fork, -0.363, 0.697, 0.949, 0, 270, 0, 49 [SEP] 8, Egg, -2.781, 1.167, 1.957, 0, 90, 0, 65 [SEP] 9, Egg, -1.709, 0.847, 0.539, 0, 0, 0, 47 [SEP] 10, Cup, -2.671, 1.445, 2.397, 0, 90, 0, 65 [SEP] 11, Cup, -2.726, 1.144, 2.485, 0, 90, 0, 65 [SEP] 12, Plate, -2.000, 0.130, 0.401, 0, 0, 0, 59 [SEP] 13, Tomato, -0.329, 0.106, 2.606, 0, 0, 0, 67 [SEP] 14, Tomato, -2.892, 1.193, 2.485, 0, 90, 0, 65 [SEP] 15, SoapBottle, -2.377, 1.433, 0.142, 0, 0, 0, 54 [SEP] 16, Bowl, -2.810, 0.918, 1.284, 0, 90, 0, 66 [SEP] 17, Bowl, -2.726, 1.442, 2.045, 0, 90, 0, 65 [SEP] 18, Mug, -2.714, 1.430, 0.168, 0, 45, 0, 53 [SEP] 19, Apple, -1.857, 0.770, 0.338, 0, 0, 0, 74 [SEP] 20, Fork, -2.664, 0.693, 1.547, 0, 270, 0, 52 [SEP] 21, Ladle, -2.597, 0.737, 1.511, 0, 90, 0, 52 [SEP] 22, Pan, -2.491, 0.823, 0.278, 0, 0, 0, 47 [SEP] 23, SoapBottle, -0.147, 0.821, 0.278, 0, 0, 0, 47 [SEP] 24, Pot, -0.531, 0.822, 2.096, 0, 0, 0, 44 [SEP] 25, Tomato, -0.314, 0.873, 0.500, 0, 0, 0, 47 [SEP] 26, Potato, -2.892, 1.484, 2.045, 0, 90, 0, 65 [SEP] 27, SaltShaker, -2.599, 1.430, 0.217, 0, 45, 0, 53 [SEP] 28, Plate, -1.522, 0.130, 0.401, 0, 0, 0, 60 [SEP] 29, Spatula, -0.341, 0.696, 1.194, 0, 45, 0, 43 [SEP] 30, Knife, -2.662, 0.819, 0.557, 90, 300.034, 0, 47 [SEP] 31, Egg, -0.429, 0.080, 2.539, 0, 0, 0, 67 [SEP] 32, Cup, -2.540, 1.849, 2.472, 0, 0, 0, 57 [SEP] 33, ButterKnife, -2.493, 0.812, 0.476, 0, 50.734, 0, 47 [SEP] 34, Lettuce, -2.837, 0.908, 2.221, 0, 90, 0, 65 [SEP] 35, PepperShaker, -2.724, 0.818, 0.129, 0, 0, 0, 47 [SEP] 36, DishSponge, -1.105, 0.698, 0.444, 0, 0, 0, 51 [SEP] 37, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 47 [SEP] 38, Spoon, -0.916, 0.711, 0.445, 0, 270, 0, 50 [SEP] 39, Mug, -2.671, 0.819, 2.309, 0, 90, 0, 65 [SEP] 40, Bowl, -2.781, 1.140, 2.133, 0, 90, 0, 65 [SEP] 41, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0, [SEP] 42, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0, [SEP] 43, Drawer, -0.402, 0.703, 1.252, 0, 0, 0, [SEP] 44, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0, [SEP] 45, Sink, -1.838, 0.726, 0.343, 0, 180, 0, [SEP] 46, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0, [SEP] 47, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0, [SEP] 48, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0, [SEP] 49, Drawer, -0.404, 0.704, 0.912, 0, 0, 0, [SEP] 50, Drawer, -0.861, 0.709, 0.420, 0, 0, 0, [SEP] 51, Drawer, -1.133, 0.706, 0.418, 0, 0, 0, [SEP] 52, Drawer, -2.589, 0.703, 1.511, 0, 0, 0, [SEP] 53, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0, [SEP] 54, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0, [SEP] 55, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0, [SEP] 56, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0, [SEP] 57, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0, [SEP] 58, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0, [SEP] 59, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0, [SEP] 60, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0, [SEP] 61, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0, [SEP] 62, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0, [SEP] 63, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0, [SEP] 64, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0, [SEP] 65, Fridge, -2.782, 0.0, 2.221, 0, 0, 0, [SEP] 66, Microwave, -2.794, 0.812, 1.348, 0, 90, 0, [SEP] 67, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0, [SEP] 68, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470, [SEP] 69, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470, [SEP] 70, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470, [SEP] 71, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470, [SEP] 72, Window, -1.720, 1.342, -0.208, 90, 0, 0, [SEP] 73, Toaster, -0.171, 0.812, 0.735, 0, 270, 0, [SEP] 74, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0, [SEP] 75, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0, [SEP] 76, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0, [SEP] 77, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0, [SEP] 78, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0, [SEP] 79, NorthWall, , , , , , , [SEP] 80, EastWall, , , , , , , [SEP] 81, SouthWall, , , , , , , [SEP] 82, WestWall, , , , , , , ", "output": ["STEP 1: Turn right then head to the counter beside the microwave | STEP 2: Pick up the knife on the counter | STEP 3: Turn left then head to the sink | STEP 4: Slice the apple in the sink | STEP 5: Turn right then head to the fridge | STEP 6: Open the fridge put in the knife then close the fridge | STEP 7: Turn left head to the sink | STEP 8: Pick up a slice of apple | STEP 9: Turn right and head to the fridge | STEP 10: Open the fridge put in and out the slice apple | STEP 11: Turn right walk forward to the trash bin | STEP 12: Put the slice apple in the trash bin | END"]} +{"id": "trial_T20190908_193525_796595-2", "input": "Throw out a chilled piece of apple. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 1.75, 0, 90, 0, [SEP] 1, Pan, -0.244, 0.829, 2.075, 0, 180, 0, 42 [SEP] 2, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 46 [SEP] 3, Potato, -0.092, 0.862, 1.326, 0, 0, 0, 47 [SEP] 4, Ladle, -2.540, 1.893, 1.926, 0, 0, 0, 41 [SEP] 5, DishSponge, -2.840, 0.823, 0.278, 0, 0, 0, 47 [SEP] 6, Fork, -2.211, 0.824, 0.539, 0, 0, 0, 47 [SEP] 7, Fork, -0.363, 0.697, 0.949, 0, 270, 0, 49 [SEP] 8, Egg, -2.781, 1.167, 1.957, 0, 90, 0, 65 [SEP] 9, Egg, -1.709, 0.847, 0.539, 0, 0, 0, 47 [SEP] 10, Cup, -2.671, 1.445, 2.397, 0, 90, 0, 65 [SEP] 11, Cup, -2.726, 1.144, 2.485, 0, 90, 0, 65 [SEP] 12, Plate, -2.000, 0.130, 0.401, 0, 0, 0, 59 [SEP] 13, Tomato, -0.329, 0.106, 2.606, 0, 0, 0, 67 [SEP] 14, Tomato, -2.892, 1.193, 2.485, 0, 90, 0, 65 [SEP] 15, SoapBottle, -2.377, 1.433, 0.142, 0, 0, 0, 54 [SEP] 16, Bowl, -2.810, 0.918, 1.284, 0, 90, 0, 66 [SEP] 17, Bowl, -2.726, 1.442, 2.045, 0, 90, 0, 65 [SEP] 18, Mug, -2.714, 1.430, 0.168, 0, 45, 0, 53 [SEP] 19, Apple, -1.857, 0.770, 0.338, 0, 0, 0, 74 [SEP] 20, Fork, -2.664, 0.693, 1.547, 0, 270, 0, 52 [SEP] 21, Ladle, -2.597, 0.737, 1.511, 0, 90, 0, 52 [SEP] 22, Pan, -2.491, 0.823, 0.278, 0, 0, 0, 47 [SEP] 23, SoapBottle, -0.147, 0.821, 0.278, 0, 0, 0, 47 [SEP] 24, Pot, -0.531, 0.822, 2.096, 0, 0, 0, 44 [SEP] 25, Tomato, -0.314, 0.873, 0.500, 0, 0, 0, 47 [SEP] 26, Potato, -2.892, 1.484, 2.045, 0, 90, 0, 65 [SEP] 27, SaltShaker, -2.599, 1.430, 0.217, 0, 45, 0, 53 [SEP] 28, Plate, -1.522, 0.130, 0.401, 0, 0, 0, 60 [SEP] 29, Spatula, -0.341, 0.696, 1.194, 0, 45, 0, 43 [SEP] 30, Knife, -2.662, 0.819, 0.557, 90, 300.034, 0, 47 [SEP] 31, Egg, -0.429, 0.080, 2.539, 0, 0, 0, 67 [SEP] 32, Cup, -2.540, 1.849, 2.472, 0, 0, 0, 57 [SEP] 33, ButterKnife, -2.493, 0.812, 0.476, 0, 50.734, 0, 47 [SEP] 34, Lettuce, -2.837, 0.908, 2.221, 0, 90, 0, 65 [SEP] 35, PepperShaker, -2.724, 0.818, 0.129, 0, 0, 0, 47 [SEP] 36, DishSponge, -1.105, 0.698, 0.444, 0, 0, 0, 51 [SEP] 37, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 47 [SEP] 38, Spoon, -0.916, 0.711, 0.445, 0, 270, 0, 50 [SEP] 39, Mug, -2.671, 0.819, 2.309, 0, 90, 0, 65 [SEP] 40, Bowl, -2.781, 1.140, 2.133, 0, 90, 0, 65 [SEP] 41, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0, [SEP] 42, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0, [SEP] 43, Drawer, -0.402, 0.703, 1.252, 0, 0, 0, [SEP] 44, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0, [SEP] 45, Sink, -1.838, 0.726, 0.343, 0, 180, 0, [SEP] 46, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0, [SEP] 47, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0, [SEP] 48, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0, [SEP] 49, Drawer, -0.404, 0.704, 0.912, 0, 0, 0, [SEP] 50, Drawer, -0.861, 0.709, 0.420, 0, 0, 0, [SEP] 51, Drawer, -1.133, 0.706, 0.418, 0, 0, 0, [SEP] 52, Drawer, -2.589, 0.703, 1.511, 0, 0, 0, [SEP] 53, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0, [SEP] 54, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0, [SEP] 55, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0, [SEP] 56, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0, [SEP] 57, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0, [SEP] 58, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0, [SEP] 59, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0, [SEP] 60, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0, [SEP] 61, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0, [SEP] 62, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0, [SEP] 63, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0, [SEP] 64, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0, [SEP] 65, Fridge, -2.782, 0.0, 2.221, 0, 0, 0, [SEP] 66, Microwave, -2.794, 0.812, 1.348, 0, 90, 0, [SEP] 67, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0, [SEP] 68, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470, [SEP] 69, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470, [SEP] 70, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470, [SEP] 71, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470, [SEP] 72, Window, -1.720, 1.342, -0.208, 90, 0, 0, [SEP] 73, Toaster, -0.171, 0.812, 0.735, 0, 270, 0, [SEP] 74, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0, [SEP] 75, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0, [SEP] 76, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0, [SEP] 77, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0, [SEP] 78, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0, [SEP] 79, NorthWall, , , , , , , [SEP] 80, EastWall, , , , , , , [SEP] 81, SouthWall, , , , , , , [SEP] 82, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the counter with a microwave on top. | STEP 2: Pick up the yellow knife on the counter between the metal bowl and the gray knife. | STEP 3: Turn left and go to the front of the sink. | STEP 4: Cut the apple inside the sink into three parts. | STEP 5: Turn around to go to the front of the refrigerator. | STEP 6: Place the knife inside the refrigerator on the left of the mug. | STEP 7: Turn left to go back to the sink. | STEP 8: Take out one piece of apple from the sink. | STEP 9: Turn around and go back to the front of the refrigerator. | STEP 10: Remove the apple after cooling it on the top shelf in the refrigerator. | STEP 11: Turn around to go to the green trash can on the floor on the left of the stove. | STEP 12: Place the apple inside the trash can. | END"]} +{"id": "trial_T20190907_143000_904569-0", "input": "Move the keys to the computer on the sofa. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.906, 3.25, 0, 180, 0, [SEP] 1, Watch, -0.178, 0.765, 2.828, 0, 270, 0, 41 [SEP] 2, Watch, -0.395, 0.426, 3.150, 0, 270, 0, 36 [SEP] 3, Statue, -0.270, 0.191, 2.678, 0, 270, 0, 39 [SEP] 4, KeyChain, -0.478, 0.762, 2.978, 0, 270, 0, 41 [SEP] 5, KeyChain, -1.740, 0.198, 2.872, 0, 0, 0, 34 [SEP] 6, CreditCard, -4.522, 0.512, 3.257, 0, 0, 0, 32 [SEP] 7, RemoteControl, -4.582, 0.420, 2.146, 0, 270, 0, 43 [SEP] 8, Box, -2.111, 0.293, 2.930, 0, 0, 0, 34 [SEP] 9, CreditCard, -0.553, 0.765, 2.228, 0, 270, 0, 41 [SEP] 10, TissueBox, -0.478, 0.766, 3.128, 0, 270, 0, 41 [SEP] 11, Laptop, -2.865, 0.417, 4.412, 0, 0, 0, 44 [SEP] 12, Vase, -2.880, 1.518, 0.144, 0, 0, 0, [SEP] 13, RemoteControl, -4.503, 0.420, 2.640, 0, 270, 0, 43 [SEP] 14, Pillow, -1.379, 0.479, 4.520, 0, 0, 0, 44 [SEP] 15, KeyChain, -0.102, 0.765, 3.128, 0, 270, 0, 41 [SEP] 16, Watch, -0.403, 0.765, 2.828, 0, 270, 0, 41 [SEP] 17, Newspaper, -0.969, 0.379, 0.712, 0, 0, 0, 35 [SEP] 18, Statue, -0.253, 0.772, 2.978, 0, 270, 0, 41 [SEP] 19, Statue, -0.328, 0.775, 2.678, 0, 0, 0, 41 [SEP] 20, Curtains, -1.030, 2.113, 0.0, 0, 0, 0, [SEP] 21, Curtains, -3.927, 2.113, 0.0, 0, 0, 0, [SEP] 22, HousePlant, -3.127, 1.507, 0.118, 0, 0, 0, [SEP] 23, Television, 0.0, 1.376, 2.661, 0, 270, 0, [SEP] 24, GarbageCan, -0.227, 0.005, 4.778, 0, 0, 0, [SEP] 25, DeskLamp, -4.658, 0.508, 3.318, 0, 270, 0, [SEP] 26, Painting, -2.507, 1.817, 0.108, 90, 0, 0, [SEP] 27, FloorLamp, -4.596, 0.006, 0.399, 0, 65.211, 0, [SEP] 28, LightSwitch, -3.233, 1.343, 5.0, 0, 180, 0, [SEP] 29, Window, -1.011, 1.391, 0.029, 90, 180, 0, [SEP] 30, Window, -3.900, 1.391, 0.029, 90, 180, 0, [SEP] 31, Drawer, -4.433, 0.473, 3.344, 0, 90, 0, [SEP] 32, SideTable, -4.612, 0.009, 3.346, 0, 90, 0, [SEP] 33, Chair, -4.572, 0.005, 3.862, 0, 113.899, 0, [SEP] 34, CoffeeTable, -1.972, 0.002, 2.615, 0, 270, 0, [SEP] 35, ArmChair, -0.875, 0.005, 0.566, 0, 0, 0, [SEP] 36, Shelf, -0.340, 0.480, 3.046, 0, 270, 0, [SEP] 37, Shelf, -0.340, 0.649, 3.046, 0, 270, 0, [SEP] 38, Shelf, -0.340, 0.603, 2.312, 0, 270, 0, [SEP] 39, Shelf, -0.340, 0.448, 2.678, 0, 270, 0, [SEP] 40, Shelf, -0.340, 0.308, 2.312, 0, 270, 0, [SEP] 41, TVStand, -0.335, 0.005, 2.679, 0, 270, 0, [SEP] 42, Shelf, -0.340, 0.279, 3.046, 0, 270, 0, [SEP] 43, Sofa, -4.566, 0.009, 1.880, 0, 90, 0, [SEP] 44, Sofa, -2.124, 0.009, 4.558, 0, 180, 0, [SEP] 45, NorthWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the white coffee table. | STEP 2: Pick up the keys on the coffee table. | STEP 3: Turn around and go to the sofa. | STEP 4: Put the keys next to the computer on the sofa . | STEP 5: Go to the table by the TV. | STEP 6: Pick up the keys on the table. | STEP 7: Turn around and go to the sofa. | STEP 8: Put the keys next to the computer on the sofa . | END"]} +{"id": "trial_T20190907_143000_904569-1", "input": "Places keys on a couch SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.906, 3.25, 0, 180, 0, [SEP] 1, Watch, -0.178, 0.765, 2.828, 0, 270, 0, 41 [SEP] 2, Watch, -0.395, 0.426, 3.150, 0, 270, 0, 36 [SEP] 3, Statue, -0.270, 0.191, 2.678, 0, 270, 0, 39 [SEP] 4, KeyChain, -0.478, 0.762, 2.978, 0, 270, 0, 41 [SEP] 5, KeyChain, -1.740, 0.198, 2.872, 0, 0, 0, 34 [SEP] 6, CreditCard, -4.522, 0.512, 3.257, 0, 0, 0, 32 [SEP] 7, RemoteControl, -4.582, 0.420, 2.146, 0, 270, 0, 43 [SEP] 8, Box, -2.111, 0.293, 2.930, 0, 0, 0, 34 [SEP] 9, CreditCard, -0.553, 0.765, 2.228, 0, 270, 0, 41 [SEP] 10, TissueBox, -0.478, 0.766, 3.128, 0, 270, 0, 41 [SEP] 11, Laptop, -2.865, 0.417, 4.412, 0, 0, 0, 44 [SEP] 12, Vase, -2.880, 1.518, 0.144, 0, 0, 0, [SEP] 13, RemoteControl, -4.503, 0.420, 2.640, 0, 270, 0, 43 [SEP] 14, Pillow, -1.379, 0.479, 4.520, 0, 0, 0, 44 [SEP] 15, KeyChain, -0.102, 0.765, 3.128, 0, 270, 0, 41 [SEP] 16, Watch, -0.403, 0.765, 2.828, 0, 270, 0, 41 [SEP] 17, Newspaper, -0.969, 0.379, 0.712, 0, 0, 0, 35 [SEP] 18, Statue, -0.253, 0.772, 2.978, 0, 270, 0, 41 [SEP] 19, Statue, -0.328, 0.775, 2.678, 0, 0, 0, 41 [SEP] 20, Curtains, -1.030, 2.113, 0.0, 0, 0, 0, [SEP] 21, Curtains, -3.927, 2.113, 0.0, 0, 0, 0, [SEP] 22, HousePlant, -3.127, 1.507, 0.118, 0, 0, 0, [SEP] 23, Television, 0.0, 1.376, 2.661, 0, 270, 0, [SEP] 24, GarbageCan, -0.227, 0.005, 4.778, 0, 0, 0, [SEP] 25, DeskLamp, -4.658, 0.508, 3.318, 0, 270, 0, [SEP] 26, Painting, -2.507, 1.817, 0.108, 90, 0, 0, [SEP] 27, FloorLamp, -4.596, 0.006, 0.399, 0, 65.211, 0, [SEP] 28, LightSwitch, -3.233, 1.343, 5.0, 0, 180, 0, [SEP] 29, Window, -1.011, 1.391, 0.029, 90, 180, 0, [SEP] 30, Window, -3.900, 1.391, 0.029, 90, 180, 0, [SEP] 31, Drawer, -4.433, 0.473, 3.344, 0, 90, 0, [SEP] 32, SideTable, -4.612, 0.009, 3.346, 0, 90, 0, [SEP] 33, Chair, -4.572, 0.005, 3.862, 0, 113.899, 0, [SEP] 34, CoffeeTable, -1.972, 0.002, 2.615, 0, 270, 0, [SEP] 35, ArmChair, -0.875, 0.005, 0.566, 0, 0, 0, [SEP] 36, Shelf, -0.340, 0.480, 3.046, 0, 270, 0, [SEP] 37, Shelf, -0.340, 0.649, 3.046, 0, 270, 0, [SEP] 38, Shelf, -0.340, 0.603, 2.312, 0, 270, 0, [SEP] 39, Shelf, -0.340, 0.448, 2.678, 0, 270, 0, [SEP] 40, Shelf, -0.340, 0.308, 2.312, 0, 270, 0, [SEP] 41, TVStand, -0.335, 0.005, 2.679, 0, 270, 0, [SEP] 42, Shelf, -0.340, 0.279, 3.046, 0, 270, 0, [SEP] 43, Sofa, -4.566, 0.009, 1.880, 0, 90, 0, [SEP] 44, Sofa, -2.124, 0.009, 4.558, 0, 180, 0, [SEP] 45, NorthWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and take a step then turn right and walk across the room, turn right at the table be the wall then turn right to face the pallet that's in the middle of the room | STEP 2: Pick up the keys that are laying on the pallet | STEP 3: turn right and walk to the couch then turn left and walk to the end of the couch and then face the couch | STEP 4: Place the keys on the couch on the very right of the laptop | STEP 5: Turn right and walk to the wall, then turn right and face the table that is against the wall | STEP 6: Pick up the keys that are closest to you on the left side of the table | STEP 7: Turn right and walk to the other end of the couch then turn and face the couch | STEP 8: Place the keys on the couch to the right other keys that are already there. | END"]} +{"id": "trial_T20190907_143000_904569-2", "input": "Place two sets of keys on the same couch cushion as the laptop SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.906, 3.25, 0, 180, 0, [SEP] 1, Watch, -0.178, 0.765, 2.828, 0, 270, 0, 41 [SEP] 2, Watch, -0.395, 0.426, 3.150, 0, 270, 0, 36 [SEP] 3, Statue, -0.270, 0.191, 2.678, 0, 270, 0, 39 [SEP] 4, KeyChain, -0.478, 0.762, 2.978, 0, 270, 0, 41 [SEP] 5, KeyChain, -1.740, 0.198, 2.872, 0, 0, 0, 34 [SEP] 6, CreditCard, -4.522, 0.512, 3.257, 0, 0, 0, 32 [SEP] 7, RemoteControl, -4.582, 0.420, 2.146, 0, 270, 0, 43 [SEP] 8, Box, -2.111, 0.293, 2.930, 0, 0, 0, 34 [SEP] 9, CreditCard, -0.553, 0.765, 2.228, 0, 270, 0, 41 [SEP] 10, TissueBox, -0.478, 0.766, 3.128, 0, 270, 0, 41 [SEP] 11, Laptop, -2.865, 0.417, 4.412, 0, 0, 0, 44 [SEP] 12, Vase, -2.880, 1.518, 0.144, 0, 0, 0, [SEP] 13, RemoteControl, -4.503, 0.420, 2.640, 0, 270, 0, 43 [SEP] 14, Pillow, -1.379, 0.479, 4.520, 0, 0, 0, 44 [SEP] 15, KeyChain, -0.102, 0.765, 3.128, 0, 270, 0, 41 [SEP] 16, Watch, -0.403, 0.765, 2.828, 0, 270, 0, 41 [SEP] 17, Newspaper, -0.969, 0.379, 0.712, 0, 0, 0, 35 [SEP] 18, Statue, -0.253, 0.772, 2.978, 0, 270, 0, 41 [SEP] 19, Statue, -0.328, 0.775, 2.678, 0, 0, 0, 41 [SEP] 20, Curtains, -1.030, 2.113, 0.0, 0, 0, 0, [SEP] 21, Curtains, -3.927, 2.113, 0.0, 0, 0, 0, [SEP] 22, HousePlant, -3.127, 1.507, 0.118, 0, 0, 0, [SEP] 23, Television, 0.0, 1.376, 2.661, 0, 270, 0, [SEP] 24, GarbageCan, -0.227, 0.005, 4.778, 0, 0, 0, [SEP] 25, DeskLamp, -4.658, 0.508, 3.318, 0, 270, 0, [SEP] 26, Painting, -2.507, 1.817, 0.108, 90, 0, 0, [SEP] 27, FloorLamp, -4.596, 0.006, 0.399, 0, 65.211, 0, [SEP] 28, LightSwitch, -3.233, 1.343, 5.0, 0, 180, 0, [SEP] 29, Window, -1.011, 1.391, 0.029, 90, 180, 0, [SEP] 30, Window, -3.900, 1.391, 0.029, 90, 180, 0, [SEP] 31, Drawer, -4.433, 0.473, 3.344, 0, 90, 0, [SEP] 32, SideTable, -4.612, 0.009, 3.346, 0, 90, 0, [SEP] 33, Chair, -4.572, 0.005, 3.862, 0, 113.899, 0, [SEP] 34, CoffeeTable, -1.972, 0.002, 2.615, 0, 270, 0, [SEP] 35, ArmChair, -0.875, 0.005, 0.566, 0, 0, 0, [SEP] 36, Shelf, -0.340, 0.480, 3.046, 0, 270, 0, [SEP] 37, Shelf, -0.340, 0.649, 3.046, 0, 270, 0, [SEP] 38, Shelf, -0.340, 0.603, 2.312, 0, 270, 0, [SEP] 39, Shelf, -0.340, 0.448, 2.678, 0, 270, 0, [SEP] 40, Shelf, -0.340, 0.308, 2.312, 0, 270, 0, [SEP] 41, TVStand, -0.335, 0.005, 2.679, 0, 270, 0, [SEP] 42, Shelf, -0.340, 0.279, 3.046, 0, 270, 0, [SEP] 43, Sofa, -4.566, 0.009, 1.880, 0, 90, 0, [SEP] 44, Sofa, -2.124, 0.009, 4.558, 0, 180, 0, [SEP] 45, NorthWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, SouthWall, , , , , , , ", "output": ["STEP 1: turn right 270 degrees, then cross the room to the end of the couch. Turn right, and move forward to between the coffee table and mantle, then turn right to face the coffee table | STEP 2: take the keys from the coffee table | STEP 3: turn right and move to the couch, then turn left and move along the couch its last cushion. Turn left 270 degrees to face the couch | STEP 4: place the keys on the couch immediately to the right of the laptop | STEP 5: Turn right, and move forward until the wall, then turn right to face the mantle | STEP 6: Take the keys from the mantle | STEP 7: Turn right and return to the couch cushion with the laptop and keys. Rotate 270 degrees to the left to face the couch. | STEP 8: place the keys on the couch to the right of the other keys | END"]} +{"id": "trial_T20190907_143000_904569-3", "input": "Put two sets of keys on a couch. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.906, 3.25, 0, 180, 0, [SEP] 1, Watch, -0.178, 0.765, 2.828, 0, 270, 0, 41 [SEP] 2, Watch, -0.395, 0.426, 3.150, 0, 270, 0, 36 [SEP] 3, Statue, -0.270, 0.191, 2.678, 0, 270, 0, 39 [SEP] 4, KeyChain, -0.478, 0.762, 2.978, 0, 270, 0, 41 [SEP] 5, KeyChain, -1.740, 0.198, 2.872, 0, 0, 0, 34 [SEP] 6, CreditCard, -4.522, 0.512, 3.257, 0, 0, 0, 32 [SEP] 7, RemoteControl, -4.582, 0.420, 2.146, 0, 270, 0, 43 [SEP] 8, Box, -2.111, 0.293, 2.930, 0, 0, 0, 34 [SEP] 9, CreditCard, -0.553, 0.765, 2.228, 0, 270, 0, 41 [SEP] 10, TissueBox, -0.478, 0.766, 3.128, 0, 270, 0, 41 [SEP] 11, Laptop, -2.865, 0.417, 4.412, 0, 0, 0, 44 [SEP] 12, Vase, -2.880, 1.518, 0.144, 0, 0, 0, [SEP] 13, RemoteControl, -4.503, 0.420, 2.640, 0, 270, 0, 43 [SEP] 14, Pillow, -1.379, 0.479, 4.520, 0, 0, 0, 44 [SEP] 15, KeyChain, -0.102, 0.765, 3.128, 0, 270, 0, 41 [SEP] 16, Watch, -0.403, 0.765, 2.828, 0, 270, 0, 41 [SEP] 17, Newspaper, -0.969, 0.379, 0.712, 0, 0, 0, 35 [SEP] 18, Statue, -0.253, 0.772, 2.978, 0, 270, 0, 41 [SEP] 19, Statue, -0.328, 0.775, 2.678, 0, 0, 0, 41 [SEP] 20, Curtains, -1.030, 2.113, 0.0, 0, 0, 0, [SEP] 21, Curtains, -3.927, 2.113, 0.0, 0, 0, 0, [SEP] 22, HousePlant, -3.127, 1.507, 0.118, 0, 0, 0, [SEP] 23, Television, 0.0, 1.376, 2.661, 0, 270, 0, [SEP] 24, GarbageCan, -0.227, 0.005, 4.778, 0, 0, 0, [SEP] 25, DeskLamp, -4.658, 0.508, 3.318, 0, 270, 0, [SEP] 26, Painting, -2.507, 1.817, 0.108, 90, 0, 0, [SEP] 27, FloorLamp, -4.596, 0.006, 0.399, 0, 65.211, 0, [SEP] 28, LightSwitch, -3.233, 1.343, 5.0, 0, 180, 0, [SEP] 29, Window, -1.011, 1.391, 0.029, 90, 180, 0, [SEP] 30, Window, -3.900, 1.391, 0.029, 90, 180, 0, [SEP] 31, Drawer, -4.433, 0.473, 3.344, 0, 90, 0, [SEP] 32, SideTable, -4.612, 0.009, 3.346, 0, 90, 0, [SEP] 33, Chair, -4.572, 0.005, 3.862, 0, 113.899, 0, [SEP] 34, CoffeeTable, -1.972, 0.002, 2.615, 0, 270, 0, [SEP] 35, ArmChair, -0.875, 0.005, 0.566, 0, 0, 0, [SEP] 36, Shelf, -0.340, 0.480, 3.046, 0, 270, 0, [SEP] 37, Shelf, -0.340, 0.649, 3.046, 0, 270, 0, [SEP] 38, Shelf, -0.340, 0.603, 2.312, 0, 270, 0, [SEP] 39, Shelf, -0.340, 0.448, 2.678, 0, 270, 0, [SEP] 40, Shelf, -0.340, 0.308, 2.312, 0, 270, 0, [SEP] 41, TVStand, -0.335, 0.005, 2.679, 0, 270, 0, [SEP] 42, Shelf, -0.340, 0.279, 3.046, 0, 270, 0, [SEP] 43, Sofa, -4.566, 0.009, 1.880, 0, 90, 0, [SEP] 44, Sofa, -2.124, 0.009, 4.558, 0, 180, 0, [SEP] 45, NorthWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, SouthWall, , , , , , , ", "output": ["STEP 1: Cross the room and turn to face the white table with keys on it. | STEP 2: Pick the keys up from the table. | STEP 3: Move around to face the black couch. | STEP 4: Put the keys on the couch. | STEP 5: Turn and walk to face the end of the white cabinet under the television. | STEP 6: Pick the keys up on the left side of the cabinet. | STEP 7: Cross the room and turn to face the couch. | STEP 8: Put the keys down on the couch next to the other keys. | END"]} +{"id": "trial_T20190907_143000_904569-4", "input": "To move two sets of keys to the couch. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.906, 3.25, 0, 180, 0, [SEP] 1, Watch, -0.178, 0.765, 2.828, 0, 270, 0, 41 [SEP] 2, Watch, -0.395, 0.426, 3.150, 0, 270, 0, 36 [SEP] 3, Statue, -0.270, 0.191, 2.678, 0, 270, 0, 39 [SEP] 4, KeyChain, -0.478, 0.762, 2.978, 0, 270, 0, 41 [SEP] 5, KeyChain, -1.740, 0.198, 2.872, 0, 0, 0, 34 [SEP] 6, CreditCard, -4.522, 0.512, 3.257, 0, 0, 0, 32 [SEP] 7, RemoteControl, -4.582, 0.420, 2.146, 0, 270, 0, 43 [SEP] 8, Box, -2.111, 0.293, 2.930, 0, 0, 0, 34 [SEP] 9, CreditCard, -0.553, 0.765, 2.228, 0, 270, 0, 41 [SEP] 10, TissueBox, -0.478, 0.766, 3.128, 0, 270, 0, 41 [SEP] 11, Laptop, -2.865, 0.417, 4.412, 0, 0, 0, 44 [SEP] 12, Vase, -2.880, 1.518, 0.144, 0, 0, 0, [SEP] 13, RemoteControl, -4.503, 0.420, 2.640, 0, 270, 0, 43 [SEP] 14, Pillow, -1.379, 0.479, 4.520, 0, 0, 0, 44 [SEP] 15, KeyChain, -0.102, 0.765, 3.128, 0, 270, 0, 41 [SEP] 16, Watch, -0.403, 0.765, 2.828, 0, 270, 0, 41 [SEP] 17, Newspaper, -0.969, 0.379, 0.712, 0, 0, 0, 35 [SEP] 18, Statue, -0.253, 0.772, 2.978, 0, 270, 0, 41 [SEP] 19, Statue, -0.328, 0.775, 2.678, 0, 0, 0, 41 [SEP] 20, Curtains, -1.030, 2.113, 0.0, 0, 0, 0, [SEP] 21, Curtains, -3.927, 2.113, 0.0, 0, 0, 0, [SEP] 22, HousePlant, -3.127, 1.507, 0.118, 0, 0, 0, [SEP] 23, Television, 0.0, 1.376, 2.661, 0, 270, 0, [SEP] 24, GarbageCan, -0.227, 0.005, 4.778, 0, 0, 0, [SEP] 25, DeskLamp, -4.658, 0.508, 3.318, 0, 270, 0, [SEP] 26, Painting, -2.507, 1.817, 0.108, 90, 0, 0, [SEP] 27, FloorLamp, -4.596, 0.006, 0.399, 0, 65.211, 0, [SEP] 28, LightSwitch, -3.233, 1.343, 5.0, 0, 180, 0, [SEP] 29, Window, -1.011, 1.391, 0.029, 90, 180, 0, [SEP] 30, Window, -3.900, 1.391, 0.029, 90, 180, 0, [SEP] 31, Drawer, -4.433, 0.473, 3.344, 0, 90, 0, [SEP] 32, SideTable, -4.612, 0.009, 3.346, 0, 90, 0, [SEP] 33, Chair, -4.572, 0.005, 3.862, 0, 113.899, 0, [SEP] 34, CoffeeTable, -1.972, 0.002, 2.615, 0, 270, 0, [SEP] 35, ArmChair, -0.875, 0.005, 0.566, 0, 0, 0, [SEP] 36, Shelf, -0.340, 0.480, 3.046, 0, 270, 0, [SEP] 37, Shelf, -0.340, 0.649, 3.046, 0, 270, 0, [SEP] 38, Shelf, -0.340, 0.603, 2.312, 0, 270, 0, [SEP] 39, Shelf, -0.340, 0.448, 2.678, 0, 270, 0, [SEP] 40, Shelf, -0.340, 0.308, 2.312, 0, 270, 0, [SEP] 41, TVStand, -0.335, 0.005, 2.679, 0, 270, 0, [SEP] 42, Shelf, -0.340, 0.279, 3.046, 0, 270, 0, [SEP] 43, Sofa, -4.566, 0.009, 1.880, 0, 90, 0, [SEP] 44, Sofa, -2.124, 0.009, 4.558, 0, 180, 0, [SEP] 45, NorthWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the white table in the middle of the room with the open box on it. | STEP 2: Pick up the keys in front of the open box on the coffee table. | STEP 3: Turn and walk to the front of the left side of the black couch on the right. | STEP 4: Place the keys down to the right of the open lap top on the couch. | STEP 5: Turn right and face the left edge of the white shelf. | STEP 6: Pick up the keys to the left of the tissue box on the white shelf. | STEP 7: Turn and walk back to the front of the left side of the couch. | STEP 8: Place the keys to the right of the first set of keys on the couch. | END"]} +{"id": "trial_T20190907_143000_904569-5", "input": "Move two sets of keys to the couch beside the laptop computer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.906, 3.25, 0, 180, 0, [SEP] 1, Watch, -0.178, 0.765, 2.828, 0, 270, 0, 41 [SEP] 2, Watch, -0.395, 0.426, 3.150, 0, 270, 0, 36 [SEP] 3, Statue, -0.270, 0.191, 2.678, 0, 270, 0, 39 [SEP] 4, KeyChain, -0.478, 0.762, 2.978, 0, 270, 0, 41 [SEP] 5, KeyChain, -1.740, 0.198, 2.872, 0, 0, 0, 34 [SEP] 6, CreditCard, -4.522, 0.512, 3.257, 0, 0, 0, 32 [SEP] 7, RemoteControl, -4.582, 0.420, 2.146, 0, 270, 0, 43 [SEP] 8, Box, -2.111, 0.293, 2.930, 0, 0, 0, 34 [SEP] 9, CreditCard, -0.553, 0.765, 2.228, 0, 270, 0, 41 [SEP] 10, TissueBox, -0.478, 0.766, 3.128, 0, 270, 0, 41 [SEP] 11, Laptop, -2.865, 0.417, 4.412, 0, 0, 0, 44 [SEP] 12, Vase, -2.880, 1.518, 0.144, 0, 0, 0, [SEP] 13, RemoteControl, -4.503, 0.420, 2.640, 0, 270, 0, 43 [SEP] 14, Pillow, -1.379, 0.479, 4.520, 0, 0, 0, 44 [SEP] 15, KeyChain, -0.102, 0.765, 3.128, 0, 270, 0, 41 [SEP] 16, Watch, -0.403, 0.765, 2.828, 0, 270, 0, 41 [SEP] 17, Newspaper, -0.969, 0.379, 0.712, 0, 0, 0, 35 [SEP] 18, Statue, -0.253, 0.772, 2.978, 0, 270, 0, 41 [SEP] 19, Statue, -0.328, 0.775, 2.678, 0, 0, 0, 41 [SEP] 20, Curtains, -1.030, 2.113, 0.0, 0, 0, 0, [SEP] 21, Curtains, -3.927, 2.113, 0.0, 0, 0, 0, [SEP] 22, HousePlant, -3.127, 1.507, 0.118, 0, 0, 0, [SEP] 23, Television, 0.0, 1.376, 2.661, 0, 270, 0, [SEP] 24, GarbageCan, -0.227, 0.005, 4.778, 0, 0, 0, [SEP] 25, DeskLamp, -4.658, 0.508, 3.318, 0, 270, 0, [SEP] 26, Painting, -2.507, 1.817, 0.108, 90, 0, 0, [SEP] 27, FloorLamp, -4.596, 0.006, 0.399, 0, 65.211, 0, [SEP] 28, LightSwitch, -3.233, 1.343, 5.0, 0, 180, 0, [SEP] 29, Window, -1.011, 1.391, 0.029, 90, 180, 0, [SEP] 30, Window, -3.900, 1.391, 0.029, 90, 180, 0, [SEP] 31, Drawer, -4.433, 0.473, 3.344, 0, 90, 0, [SEP] 32, SideTable, -4.612, 0.009, 3.346, 0, 90, 0, [SEP] 33, Chair, -4.572, 0.005, 3.862, 0, 113.899, 0, [SEP] 34, CoffeeTable, -1.972, 0.002, 2.615, 0, 270, 0, [SEP] 35, ArmChair, -0.875, 0.005, 0.566, 0, 0, 0, [SEP] 36, Shelf, -0.340, 0.480, 3.046, 0, 270, 0, [SEP] 37, Shelf, -0.340, 0.649, 3.046, 0, 270, 0, [SEP] 38, Shelf, -0.340, 0.603, 2.312, 0, 270, 0, [SEP] 39, Shelf, -0.340, 0.448, 2.678, 0, 270, 0, [SEP] 40, Shelf, -0.340, 0.308, 2.312, 0, 270, 0, [SEP] 41, TVStand, -0.335, 0.005, 2.679, 0, 270, 0, [SEP] 42, Shelf, -0.340, 0.279, 3.046, 0, 270, 0, [SEP] 43, Sofa, -4.566, 0.009, 1.880, 0, 90, 0, [SEP] 44, Sofa, -2.124, 0.009, 4.558, 0, 180, 0, [SEP] 45, NorthWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around, walk around the coffee table. | STEP 2: Pick up the keys on the white table in front of the box. | STEP 3: Turn to walk around the table, face the couch. | STEP 4: Place the keys to the right of the black laptop on the couch. | STEP 5: Turn right, walk forward turn to face the white TV stand. | STEP 6: Pick up the keys to the left of the tissue box on the TV stand. | STEP 7: Turn left, walk forward, turn to face the couch. | STEP 8: Place the keys to the right of the other set of keys on the couch. | END"]} +{"id": "trial_T20190911_101248_326533-0", "input": "Place the two newsletters in a tv drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.916, 1.25, 0, 90, 0, [SEP] 1, Statue, 3.121, 0.597, -0.507, 0, 180, 0, 46 [SEP] 2, Newspaper, -0.023, 0.916, 2.188, 0, 0, 0, 60 [SEP] 3, KeyChain, -0.046, 0.663, 1.411, 0, 0, 0, 68 [SEP] 4, KeyChain, -3.299, 0.590, -0.622, 0, 0, 0, 50 [SEP] 5, CreditCard, 3.160, 0.589, 0.497, 0, 180, 0, 43 [SEP] 6, RemoteControl, -0.204, 0.907, 1.460, 0, 0, 0, 60 [SEP] 7, Box, -3.376, 0.782, -0.423, 0, 270, 0, 50 [SEP] 8, Book, 0.116, 0.902, 1.073, 0, 29.999, 0, 60 [SEP] 9, Box, -0.113, 1.096, 1.217, 0, 90, 0, 60 [SEP] 10, Statue, 3.160, 0.597, 0.298, 0, 180, 0, 43 [SEP] 11, CreditCard, -2.739, 0.563, 1.600, 0, 270, 0, 55 [SEP] 12, Laptop, -2.780, 0.365, -1.874, 0, 0, 0, 37 [SEP] 13, WateringCan, 2.893, 0.014, -1.916, 0, 328.832, 0, [SEP] 14, Newspaper, -2.885, 0.569, 1.806, 0, 270, 0, 55 [SEP] 15, Vase, -2.168, 1.195, -2.183, 0, 0, 0, [SEP] 16, CellPhone, 3.103, 0.084, -0.573, 0, 180, 0, 45 [SEP] 17, RemoteControl, 0.158, 0.907, 2.431, 0, 0, 0, 60 [SEP] 18, Vase, -1.046, 1.195, -2.151, 0, 0, 0, [SEP] 19, Pillow, -2.893, 0.616, 0.818, 0, 0, 0, 55 [SEP] 20, KeyChain, -2.812, 0.563, 1.600, 0, 0, 0, 55 [SEP] 21, Cabinet, 0.333, 0.514, -2.015, 0, 0, 0, [SEP] 22, DeskLamp, 3.143, 0.591, 1.457, 0, 270, 0, [SEP] 23, LightSwitch, -0.927, 1.316, 2.846, 0, 180, 0, [SEP] 24, HousePlant, 0.491, 0.874, -1.581, 0, 0, 0, [SEP] 25, Television, 0.069, 1.406, 1.698, 0, 270, 0, [SEP] 26, GarbageCan, 3.164, 0.026, 0.891, 0, 0, 0, [SEP] 27, Painting, -1.561, 1.408, -2.318, 90, 180, 0, [SEP] 28, Painting, 3.367, 1.789, -0.949, 90, 270, 0, [SEP] 29, Painting, -3.488, 1.386, -0.507, 90, 270, 0, [SEP] 30, FloorLamp, 3.103, 0.025, -2.341, 0, 135, 0, [SEP] 31, Window, 1.133, 1.218, -2.740, 90, 0, 0, [SEP] 32, Window, -3.368, 1.180, -1.539, 90, 90, 0, [SEP] 33, Window, 2.898, 1.218, -2.740, 90, 0, 0, [SEP] 34, Window, 2.006, 1.218, -2.740, 90, 0, 0, [SEP] 35, Window, -0.193, 1.157, -2.563, 90, 0, 0, [SEP] 36, Window, -2.970, 1.157, -2.563, 90, 0, 0, [SEP] 37, ArmChair, -2.859, 0.026, -2.036, 0, 29.994, 0, [SEP] 38, SideTable, -0.170, 0.027, -2.279, 0, 0, 0, [SEP] 39, Drawer, -0.173, 0.465, -2.135, 0, 0, 0, [SEP] 40, Drawer, 3.104, 0.167, 1.400, 0, 270, 0, [SEP] 41, SideTable, 3.163, 0.032, 1.400, 0, 270, 0, [SEP] 42, Drawer, 3.103, 0.418, 1.401, 0, 270, 0, [SEP] 43, SideTable, 3.163, 0.032, 0.364, 0, 270, 0, [SEP] 44, Drawer, -3.241, 0.418, -0.490, 0, 90, 0, [SEP] 45, Drawer, 3.104, 0.167, -0.574, 0, 270, 0, [SEP] 46, SideTable, 3.163, 0.032, -0.574, 0, 270, 0, [SEP] 47, Drawer, 3.104, 0.167, 0.364, 0, 270, 0, [SEP] 48, Drawer, 3.104, 0.419, -0.574, 0, 270, 0, [SEP] 49, Drawer, -3.241, 0.167, -0.489, 0, 90, 0, [SEP] 50, SideTable, -3.300, 0.032, -0.489, 0, 90, 0, [SEP] 51, Drawer, 3.104, 0.419, 0.364, 0, 270, 0, [SEP] 52, Chair, 1.049, 0.031, -2.190, 0, 29.997, 0, [SEP] 53, DogBed, 2.739, 0.032, 2.260, 0, 45, 0, [SEP] 54, Chair, 2.037, 0.031, -2.232, 0, 350.485, 0, [SEP] 55, Sofa, -2.957, 0.032, 1.393, 0, 90, 0, [SEP] 56, Drawer, -0.189, 0.232, 0.954, 0, 270, 0, [SEP] 57, Drawer, -0.415, 0.854, 1.921, 0, 270, 0, [SEP] 58, Drawer, -0.415, 0.351, 1.414, 0, 270, 0, [SEP] 59, Drawer, -0.415, 0.603, 1.414, 0, 270, 0, [SEP] 60, Dresser, -0.052, 0.028, 1.667, 0, 270, 0, [SEP] 61, Drawer, -0.190, 0.484, 0.954, 0, 270, 0, [SEP] 62, Drawer, -0.190, 0.736, 0.954, 0, 270, 0, [SEP] 63, Drawer, -0.415, 0.603, 1.921, 0, 270, 0, [SEP] 64, Drawer, -0.415, 0.603, 2.384, 0, 270, 0, [SEP] 65, Drawer, -0.415, 0.351, 2.384, 0, 270, 0, [SEP] 66, Drawer, -0.415, 0.854, 2.384, 0, 270, 0, [SEP] 67, Drawer, -0.415, 0.351, 1.921, 0, 270, 0, [SEP] 68, Drawer, -0.415, 0.854, 1.414, 0, 270, 0, [SEP] 69, Stool, 3.135, 0.029, -1.625, 0, 330.001, 0, [SEP] 70, Chair, 1.631, 0.029, 2.210, 0, 161.562, 0, [SEP] 71, NorthWall, , , , , , , [SEP] 72, EastWall, , , , , , , [SEP] 73, SouthWall, , , , , , , [SEP] 74, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, walk to the wall, and then turn right to the tv cabinet. | STEP 2: Pick up the newsletter to the left of the tv. | STEP 3: Take a few steps backwards from where you are. | STEP 4: Pull out the third bottom drawer from your left side and place the newsletter in it. | STEP 5: Turn around and head towards the sofa. | STEP 6: Pick up the newsletter on the sofa. | STEP 7: Turn around and head towards the third bottom drawer from your left side. | STEP 8: Place the newsletter in the drawer and close it. | END"]} +{"id": "trial_T20190911_101248_326533-1", "input": "Put two newspapers away in a drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.916, 1.25, 0, 90, 0, [SEP] 1, Statue, 3.121, 0.597, -0.507, 0, 180, 0, 46 [SEP] 2, Newspaper, -0.023, 0.916, 2.188, 0, 0, 0, 60 [SEP] 3, KeyChain, -0.046, 0.663, 1.411, 0, 0, 0, 68 [SEP] 4, KeyChain, -3.299, 0.590, -0.622, 0, 0, 0, 50 [SEP] 5, CreditCard, 3.160, 0.589, 0.497, 0, 180, 0, 43 [SEP] 6, RemoteControl, -0.204, 0.907, 1.460, 0, 0, 0, 60 [SEP] 7, Box, -3.376, 0.782, -0.423, 0, 270, 0, 50 [SEP] 8, Book, 0.116, 0.902, 1.073, 0, 29.999, 0, 60 [SEP] 9, Box, -0.113, 1.096, 1.217, 0, 90, 0, 60 [SEP] 10, Statue, 3.160, 0.597, 0.298, 0, 180, 0, 43 [SEP] 11, CreditCard, -2.739, 0.563, 1.600, 0, 270, 0, 55 [SEP] 12, Laptop, -2.780, 0.365, -1.874, 0, 0, 0, 37 [SEP] 13, WateringCan, 2.893, 0.014, -1.916, 0, 328.832, 0, [SEP] 14, Newspaper, -2.885, 0.569, 1.806, 0, 270, 0, 55 [SEP] 15, Vase, -2.168, 1.195, -2.183, 0, 0, 0, [SEP] 16, CellPhone, 3.103, 0.084, -0.573, 0, 180, 0, 45 [SEP] 17, RemoteControl, 0.158, 0.907, 2.431, 0, 0, 0, 60 [SEP] 18, Vase, -1.046, 1.195, -2.151, 0, 0, 0, [SEP] 19, Pillow, -2.893, 0.616, 0.818, 0, 0, 0, 55 [SEP] 20, KeyChain, -2.812, 0.563, 1.600, 0, 0, 0, 55 [SEP] 21, Cabinet, 0.333, 0.514, -2.015, 0, 0, 0, [SEP] 22, DeskLamp, 3.143, 0.591, 1.457, 0, 270, 0, [SEP] 23, LightSwitch, -0.927, 1.316, 2.846, 0, 180, 0, [SEP] 24, HousePlant, 0.491, 0.874, -1.581, 0, 0, 0, [SEP] 25, Television, 0.069, 1.406, 1.698, 0, 270, 0, [SEP] 26, GarbageCan, 3.164, 0.026, 0.891, 0, 0, 0, [SEP] 27, Painting, -1.561, 1.408, -2.318, 90, 180, 0, [SEP] 28, Painting, 3.367, 1.789, -0.949, 90, 270, 0, [SEP] 29, Painting, -3.488, 1.386, -0.507, 90, 270, 0, [SEP] 30, FloorLamp, 3.103, 0.025, -2.341, 0, 135, 0, [SEP] 31, Window, 1.133, 1.218, -2.740, 90, 0, 0, [SEP] 32, Window, -3.368, 1.180, -1.539, 90, 90, 0, [SEP] 33, Window, 2.898, 1.218, -2.740, 90, 0, 0, [SEP] 34, Window, 2.006, 1.218, -2.740, 90, 0, 0, [SEP] 35, Window, -0.193, 1.157, -2.563, 90, 0, 0, [SEP] 36, Window, -2.970, 1.157, -2.563, 90, 0, 0, [SEP] 37, ArmChair, -2.859, 0.026, -2.036, 0, 29.994, 0, [SEP] 38, SideTable, -0.170, 0.027, -2.279, 0, 0, 0, [SEP] 39, Drawer, -0.173, 0.465, -2.135, 0, 0, 0, [SEP] 40, Drawer, 3.104, 0.167, 1.400, 0, 270, 0, [SEP] 41, SideTable, 3.163, 0.032, 1.400, 0, 270, 0, [SEP] 42, Drawer, 3.103, 0.418, 1.401, 0, 270, 0, [SEP] 43, SideTable, 3.163, 0.032, 0.364, 0, 270, 0, [SEP] 44, Drawer, -3.241, 0.418, -0.490, 0, 90, 0, [SEP] 45, Drawer, 3.104, 0.167, -0.574, 0, 270, 0, [SEP] 46, SideTable, 3.163, 0.032, -0.574, 0, 270, 0, [SEP] 47, Drawer, 3.104, 0.167, 0.364, 0, 270, 0, [SEP] 48, Drawer, 3.104, 0.419, -0.574, 0, 270, 0, [SEP] 49, Drawer, -3.241, 0.167, -0.489, 0, 90, 0, [SEP] 50, SideTable, -3.300, 0.032, -0.489, 0, 90, 0, [SEP] 51, Drawer, 3.104, 0.419, 0.364, 0, 270, 0, [SEP] 52, Chair, 1.049, 0.031, -2.190, 0, 29.997, 0, [SEP] 53, DogBed, 2.739, 0.032, 2.260, 0, 45, 0, [SEP] 54, Chair, 2.037, 0.031, -2.232, 0, 350.485, 0, [SEP] 55, Sofa, -2.957, 0.032, 1.393, 0, 90, 0, [SEP] 56, Drawer, -0.189, 0.232, 0.954, 0, 270, 0, [SEP] 57, Drawer, -0.415, 0.854, 1.921, 0, 270, 0, [SEP] 58, Drawer, -0.415, 0.351, 1.414, 0, 270, 0, [SEP] 59, Drawer, -0.415, 0.603, 1.414, 0, 270, 0, [SEP] 60, Dresser, -0.052, 0.028, 1.667, 0, 270, 0, [SEP] 61, Drawer, -0.190, 0.484, 0.954, 0, 270, 0, [SEP] 62, Drawer, -0.190, 0.736, 0.954, 0, 270, 0, [SEP] 63, Drawer, -0.415, 0.603, 1.921, 0, 270, 0, [SEP] 64, Drawer, -0.415, 0.603, 2.384, 0, 270, 0, [SEP] 65, Drawer, -0.415, 0.351, 2.384, 0, 270, 0, [SEP] 66, Drawer, -0.415, 0.854, 2.384, 0, 270, 0, [SEP] 67, Drawer, -0.415, 0.351, 1.921, 0, 270, 0, [SEP] 68, Drawer, -0.415, 0.854, 1.414, 0, 270, 0, [SEP] 69, Stool, 3.135, 0.029, -1.625, 0, 330.001, 0, [SEP] 70, Chair, 1.631, 0.029, 2.210, 0, 161.562, 0, [SEP] 71, NorthWall, , , , , , , [SEP] 72, EastWall, , , , , , , [SEP] 73, SouthWall, , , , , , , [SEP] 74, WestWall, , , , , , , ", "output": ["STEP 1: Go to the left side of the desk that is in front of you. | STEP 2: Pick up the newspaper from the desk. | STEP 3: Back away from the desk a little bit and look down at the drawers. | STEP 4: Put the newspaper in the third bottom drawer from the left. | STEP 5: Turn the opposite direction and go to the right side of the loveseat. | STEP 6: Pick up the newspaper from the loveseat. | STEP 7: Turn around and return to the desk. | STEP 8: Put the newspaper in the third bottom drawer from the left, on top of the first newspaper. | END"]} +{"id": "trial_T20190911_101248_326533-2", "input": "Put two papers in a drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.916, 1.25, 0, 90, 0, [SEP] 1, Statue, 3.121, 0.597, -0.507, 0, 180, 0, 46 [SEP] 2, Newspaper, -0.023, 0.916, 2.188, 0, 0, 0, 60 [SEP] 3, KeyChain, -0.046, 0.663, 1.411, 0, 0, 0, 68 [SEP] 4, KeyChain, -3.299, 0.590, -0.622, 0, 0, 0, 50 [SEP] 5, CreditCard, 3.160, 0.589, 0.497, 0, 180, 0, 43 [SEP] 6, RemoteControl, -0.204, 0.907, 1.460, 0, 0, 0, 60 [SEP] 7, Box, -3.376, 0.782, -0.423, 0, 270, 0, 50 [SEP] 8, Book, 0.116, 0.902, 1.073, 0, 29.999, 0, 60 [SEP] 9, Box, -0.113, 1.096, 1.217, 0, 90, 0, 60 [SEP] 10, Statue, 3.160, 0.597, 0.298, 0, 180, 0, 43 [SEP] 11, CreditCard, -2.739, 0.563, 1.600, 0, 270, 0, 55 [SEP] 12, Laptop, -2.780, 0.365, -1.874, 0, 0, 0, 37 [SEP] 13, WateringCan, 2.893, 0.014, -1.916, 0, 328.832, 0, [SEP] 14, Newspaper, -2.885, 0.569, 1.806, 0, 270, 0, 55 [SEP] 15, Vase, -2.168, 1.195, -2.183, 0, 0, 0, [SEP] 16, CellPhone, 3.103, 0.084, -0.573, 0, 180, 0, 45 [SEP] 17, RemoteControl, 0.158, 0.907, 2.431, 0, 0, 0, 60 [SEP] 18, Vase, -1.046, 1.195, -2.151, 0, 0, 0, [SEP] 19, Pillow, -2.893, 0.616, 0.818, 0, 0, 0, 55 [SEP] 20, KeyChain, -2.812, 0.563, 1.600, 0, 0, 0, 55 [SEP] 21, Cabinet, 0.333, 0.514, -2.015, 0, 0, 0, [SEP] 22, DeskLamp, 3.143, 0.591, 1.457, 0, 270, 0, [SEP] 23, LightSwitch, -0.927, 1.316, 2.846, 0, 180, 0, [SEP] 24, HousePlant, 0.491, 0.874, -1.581, 0, 0, 0, [SEP] 25, Television, 0.069, 1.406, 1.698, 0, 270, 0, [SEP] 26, GarbageCan, 3.164, 0.026, 0.891, 0, 0, 0, [SEP] 27, Painting, -1.561, 1.408, -2.318, 90, 180, 0, [SEP] 28, Painting, 3.367, 1.789, -0.949, 90, 270, 0, [SEP] 29, Painting, -3.488, 1.386, -0.507, 90, 270, 0, [SEP] 30, FloorLamp, 3.103, 0.025, -2.341, 0, 135, 0, [SEP] 31, Window, 1.133, 1.218, -2.740, 90, 0, 0, [SEP] 32, Window, -3.368, 1.180, -1.539, 90, 90, 0, [SEP] 33, Window, 2.898, 1.218, -2.740, 90, 0, 0, [SEP] 34, Window, 2.006, 1.218, -2.740, 90, 0, 0, [SEP] 35, Window, -0.193, 1.157, -2.563, 90, 0, 0, [SEP] 36, Window, -2.970, 1.157, -2.563, 90, 0, 0, [SEP] 37, ArmChair, -2.859, 0.026, -2.036, 0, 29.994, 0, [SEP] 38, SideTable, -0.170, 0.027, -2.279, 0, 0, 0, [SEP] 39, Drawer, -0.173, 0.465, -2.135, 0, 0, 0, [SEP] 40, Drawer, 3.104, 0.167, 1.400, 0, 270, 0, [SEP] 41, SideTable, 3.163, 0.032, 1.400, 0, 270, 0, [SEP] 42, Drawer, 3.103, 0.418, 1.401, 0, 270, 0, [SEP] 43, SideTable, 3.163, 0.032, 0.364, 0, 270, 0, [SEP] 44, Drawer, -3.241, 0.418, -0.490, 0, 90, 0, [SEP] 45, Drawer, 3.104, 0.167, -0.574, 0, 270, 0, [SEP] 46, SideTable, 3.163, 0.032, -0.574, 0, 270, 0, [SEP] 47, Drawer, 3.104, 0.167, 0.364, 0, 270, 0, [SEP] 48, Drawer, 3.104, 0.419, -0.574, 0, 270, 0, [SEP] 49, Drawer, -3.241, 0.167, -0.489, 0, 90, 0, [SEP] 50, SideTable, -3.300, 0.032, -0.489, 0, 90, 0, [SEP] 51, Drawer, 3.104, 0.419, 0.364, 0, 270, 0, [SEP] 52, Chair, 1.049, 0.031, -2.190, 0, 29.997, 0, [SEP] 53, DogBed, 2.739, 0.032, 2.260, 0, 45, 0, [SEP] 54, Chair, 2.037, 0.031, -2.232, 0, 350.485, 0, [SEP] 55, Sofa, -2.957, 0.032, 1.393, 0, 90, 0, [SEP] 56, Drawer, -0.189, 0.232, 0.954, 0, 270, 0, [SEP] 57, Drawer, -0.415, 0.854, 1.921, 0, 270, 0, [SEP] 58, Drawer, -0.415, 0.351, 1.414, 0, 270, 0, [SEP] 59, Drawer, -0.415, 0.603, 1.414, 0, 270, 0, [SEP] 60, Dresser, -0.052, 0.028, 1.667, 0, 270, 0, [SEP] 61, Drawer, -0.190, 0.484, 0.954, 0, 270, 0, [SEP] 62, Drawer, -0.190, 0.736, 0.954, 0, 270, 0, [SEP] 63, Drawer, -0.415, 0.603, 1.921, 0, 270, 0, [SEP] 64, Drawer, -0.415, 0.603, 2.384, 0, 270, 0, [SEP] 65, Drawer, -0.415, 0.351, 2.384, 0, 270, 0, [SEP] 66, Drawer, -0.415, 0.854, 2.384, 0, 270, 0, [SEP] 67, Drawer, -0.415, 0.351, 1.921, 0, 270, 0, [SEP] 68, Drawer, -0.415, 0.854, 1.414, 0, 270, 0, [SEP] 69, Stool, 3.135, 0.029, -1.625, 0, 330.001, 0, [SEP] 70, Chair, 1.631, 0.029, 2.210, 0, 161.562, 0, [SEP] 71, NorthWall, , , , , , , [SEP] 72, EastWall, , , , , , , [SEP] 73, SouthWall, , , , , , , [SEP] 74, WestWall, , , , , , , ", "output": ["STEP 1: move to the dresser in front of the couch | STEP 2: pick up a paper from the dresser | STEP 3: move to the front of the dresser in front of the couch | STEP 4: put the paper in a drawer in the dresser | STEP 5: move to couch behind you | STEP 6: pick up the paper from the couch | STEP 7: move to the front of the dresser in front of the couch | STEP 8: put the paper in a drawer in the dresser | END"]} +{"id": "trial_T20190909_010452_388275-0", "input": "Place clean lettuce in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.901, -2.75, 0, 180, 0, [SEP] 1, Potato, -3.182, 1.057, -2.064, 0, 90, 0, 82 [SEP] 2, ButterKnife, -3.393, 0.913, -3.327, 0, 0, 0, 41 [SEP] 3, ButterKnife, -0.095, 0.916, -1.555, 0, 0, 0, 68 [SEP] 4, Pot, -3.225, 0.916, -3.126, 0, 0, 0, 41 [SEP] 5, Pot, -0.376, 0.975, -2.031, 0, 180, 0, 70 [SEP] 6, Fork, -0.095, 0.916, -1.370, 0, 180, 0, 68 [SEP] 7, Egg, -0.065, 1.048, -0.851, 0, 270, 0, 78 [SEP] 8, Egg, -0.419, 0.951, -0.490, 0, 0, 0, 68 [SEP] 9, Plate, -3.292, 0.715, -0.558, 0, 270, 0, 85 [SEP] 10, Plate, -2.676, 0.715, -0.483, 0, 225, 0, 85 [SEP] 11, Knife, -2.270, 0.946, -3.878, 0, 0, 0, 41 [SEP] 12, Tomato, -0.223, 0.129, 0.055, 0, 270, 0, 80 [SEP] 13, Tomato, -3.167, 0.963, -3.655, 0, 0, 0, 41 [SEP] 14, SoapBottle, -2.581, 0.713, -0.683, 0, 270, 0, 85 [SEP] 15, SoapBottle, -2.449, 0.913, -3.655, 0, 0, 0, 41 [SEP] 16, Bowl, -2.990, 0.714, -0.780, 0, 0, 0, 85 [SEP] 17, SaltShaker, -3.169, 0.742, -2.968, 0, 0, 0, 63 [SEP] 18, Bread, -2.753, 0.754, -0.206, 0, 225, 0, 85 [SEP] 19, Apple, -0.189, 1.055, -0.851, 0, 270, 0, 78 [SEP] 20, Pot, -0.854, 0.916, -3.655, 0, 0, 0, 41 [SEP] 21, Egg, -0.220, 1.032, -0.999, 0, 270, 0, 78 [SEP] 22, Cup, -2.652, 0.717, -0.886, 0, 135, 0, 85 [SEP] 23, Bread, -0.327, 0.948, -3.681, 0, 298.222, 0, 41 [SEP] 24, Fork, -2.987, 0.914, -3.729, 0, 0, 0, 41 [SEP] 25, Pan, -0.394, 0.973, -2.414, 0, 0, 0, 66 [SEP] 26, Potato, -2.723, 0.757, -0.683, 0, 270, 0, 85 [SEP] 27, Lettuce, -1.323, 0.988, -3.758, 1.039, 253.596, 356.130, 41 [SEP] 28, Tomato, -3.211, 0.763, -0.753, 0, 225, 0, 85 [SEP] 29, Apple, -0.160, 0.956, -2.811, 0, 0, 0, 41 [SEP] 30, SoapBottle, -0.014, 0.915, -1.555, 0, 0, 0, 68 [SEP] 31, Spatula, -1.914, 0.805, -3.832, 0, 90, 0, 83 [SEP] 32, SaltShaker, -3.313, 1.288, -3.259, 0, 0, 0, 53 [SEP] 33, Knife, -1.895, 0.946, -3.522, 0, 0, 0, 41 [SEP] 34, PepperShaker, -0.441, 0.743, -1.408, 0, 0, 0, 64 [SEP] 35, ButterKnife, -3.309, 0.913, -2.825, 0, 0, 0, 41 [SEP] 36, Plate, -0.338, 0.914, -1.616, 0, 0, 0, 68 [SEP] 37, DishSponge, -3.140, 0.746, -2.857, 0, 0, 0, 63 [SEP] 38, Spoon, -3.140, 0.914, -3.327, 0, 180, 0, 41 [SEP] 39, Mug, -3.286, 1.393, -1.817, 0, 180, 0, 82 [SEP] 40, Bowl, -3.130, 1.396, -2.002, 0, 90, 0, 82 [SEP] 41, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0, [SEP] 42, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0, [SEP] 43, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0, [SEP] 44, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0, [SEP] 45, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0, [SEP] 46, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0, [SEP] 47, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0, [SEP] 48, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0, [SEP] 49, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0, [SEP] 50, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0, [SEP] 51, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0, [SEP] 52, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0, [SEP] 53, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0, [SEP] 54, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0, [SEP] 55, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0, [SEP] 56, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0, [SEP] 57, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0, [SEP] 58, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0, [SEP] 59, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0, [SEP] 60, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0, [SEP] 61, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0, [SEP] 62, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0, [SEP] 63, Drawer, -3.104, 0.797, -2.968, 0, 0, 0, [SEP] 64, Drawer, -0.449, 0.797, -1.410, 0, 0, 0, [SEP] 65, Sink, -1.786, 0.902, -3.748, 0, 0, 0, [SEP] 66, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0, [SEP] 67, Drawer, -0.449, 0.797, -0.762, 0, 0, 0, [SEP] 68, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0, [SEP] 69, Drawer, -0.449, 0.797, -3.348, 0, 0, 0, [SEP] 70, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0, [SEP] 71, Drawer, -0.449, 0.797, -2.968, 0, 0, 0, [SEP] 72, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0, [SEP] 73, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0, [SEP] 74, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0, [SEP] 75, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0, [SEP] 76, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0, [SEP] 77, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0, [SEP] 78, Microwave, -0.143, 0.903, -0.908, 0, 270, 0, [SEP] 79, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0, [SEP] 80, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0, [SEP] 81, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0, [SEP] 82, Fridge, -3.188, 0.0, -2.184, 0, 0, 0, [SEP] 83, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0, [SEP] 84, Toaster, -0.230, 0.903, -3.406, 0, 270, 0, [SEP] 85, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0, [SEP] 86, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0, [SEP] 87, Faucet, -1.791, 1.136, -3.913, 0, 270, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Face the counter in front of you. | STEP 2: Turn right and take the knife off of the counter in front of you. | STEP 3: Turn around and face the counter on your right. | STEP 4: Slice the lettuce in front of you. | STEP 5: Turn left and face the cabinet under the counter in front of you. | STEP 6: Open the cabinet in front of you, place the knife inside then close the cabinet. | STEP 7: Face right and face the counter with the lettuce in front of you. | STEP 8: Take a slice of lettuce from the counter in front of you. | STEP 9: Turn right then face the sink on your left. | STEP 10: Wash the lettuce in the sink then take it out. | STEP 11: Turn around and face the fridge on your right. | STEP 12: Place the lettuce in the fridge in front of you and close it. | END"]} +{"id": "trial_T20190909_010452_388275-1", "input": "To wash a slice of lettuce and place it in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.901, -2.75, 0, 180, 0, [SEP] 1, Potato, -3.182, 1.057, -2.064, 0, 90, 0, 82 [SEP] 2, ButterKnife, -3.393, 0.913, -3.327, 0, 0, 0, 41 [SEP] 3, ButterKnife, -0.095, 0.916, -1.555, 0, 0, 0, 68 [SEP] 4, Pot, -3.225, 0.916, -3.126, 0, 0, 0, 41 [SEP] 5, Pot, -0.376, 0.975, -2.031, 0, 180, 0, 70 [SEP] 6, Fork, -0.095, 0.916, -1.370, 0, 180, 0, 68 [SEP] 7, Egg, -0.065, 1.048, -0.851, 0, 270, 0, 78 [SEP] 8, Egg, -0.419, 0.951, -0.490, 0, 0, 0, 68 [SEP] 9, Plate, -3.292, 0.715, -0.558, 0, 270, 0, 85 [SEP] 10, Plate, -2.676, 0.715, -0.483, 0, 225, 0, 85 [SEP] 11, Knife, -2.270, 0.946, -3.878, 0, 0, 0, 41 [SEP] 12, Tomato, -0.223, 0.129, 0.055, 0, 270, 0, 80 [SEP] 13, Tomato, -3.167, 0.963, -3.655, 0, 0, 0, 41 [SEP] 14, SoapBottle, -2.581, 0.713, -0.683, 0, 270, 0, 85 [SEP] 15, SoapBottle, -2.449, 0.913, -3.655, 0, 0, 0, 41 [SEP] 16, Bowl, -2.990, 0.714, -0.780, 0, 0, 0, 85 [SEP] 17, SaltShaker, -3.169, 0.742, -2.968, 0, 0, 0, 63 [SEP] 18, Bread, -2.753, 0.754, -0.206, 0, 225, 0, 85 [SEP] 19, Apple, -0.189, 1.055, -0.851, 0, 270, 0, 78 [SEP] 20, Pot, -0.854, 0.916, -3.655, 0, 0, 0, 41 [SEP] 21, Egg, -0.220, 1.032, -0.999, 0, 270, 0, 78 [SEP] 22, Cup, -2.652, 0.717, -0.886, 0, 135, 0, 85 [SEP] 23, Bread, -0.327, 0.948, -3.681, 0, 298.222, 0, 41 [SEP] 24, Fork, -2.987, 0.914, -3.729, 0, 0, 0, 41 [SEP] 25, Pan, -0.394, 0.973, -2.414, 0, 0, 0, 66 [SEP] 26, Potato, -2.723, 0.757, -0.683, 0, 270, 0, 85 [SEP] 27, Lettuce, -1.323, 0.988, -3.758, 1.039, 253.596, 356.130, 41 [SEP] 28, Tomato, -3.211, 0.763, -0.753, 0, 225, 0, 85 [SEP] 29, Apple, -0.160, 0.956, -2.811, 0, 0, 0, 41 [SEP] 30, SoapBottle, -0.014, 0.915, -1.555, 0, 0, 0, 68 [SEP] 31, Spatula, -1.914, 0.805, -3.832, 0, 90, 0, 83 [SEP] 32, SaltShaker, -3.313, 1.288, -3.259, 0, 0, 0, 53 [SEP] 33, Knife, -1.895, 0.946, -3.522, 0, 0, 0, 41 [SEP] 34, PepperShaker, -0.441, 0.743, -1.408, 0, 0, 0, 64 [SEP] 35, ButterKnife, -3.309, 0.913, -2.825, 0, 0, 0, 41 [SEP] 36, Plate, -0.338, 0.914, -1.616, 0, 0, 0, 68 [SEP] 37, DishSponge, -3.140, 0.746, -2.857, 0, 0, 0, 63 [SEP] 38, Spoon, -3.140, 0.914, -3.327, 0, 180, 0, 41 [SEP] 39, Mug, -3.286, 1.393, -1.817, 0, 180, 0, 82 [SEP] 40, Bowl, -3.130, 1.396, -2.002, 0, 90, 0, 82 [SEP] 41, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0, [SEP] 42, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0, [SEP] 43, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0, [SEP] 44, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0, [SEP] 45, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0, [SEP] 46, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0, [SEP] 47, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0, [SEP] 48, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0, [SEP] 49, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0, [SEP] 50, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0, [SEP] 51, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0, [SEP] 52, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0, [SEP] 53, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0, [SEP] 54, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0, [SEP] 55, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0, [SEP] 56, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0, [SEP] 57, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0, [SEP] 58, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0, [SEP] 59, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0, [SEP] 60, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0, [SEP] 61, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0, [SEP] 62, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0, [SEP] 63, Drawer, -3.104, 0.797, -2.968, 0, 0, 0, [SEP] 64, Drawer, -0.449, 0.797, -1.410, 0, 0, 0, [SEP] 65, Sink, -1.786, 0.902, -3.748, 0, 0, 0, [SEP] 66, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0, [SEP] 67, Drawer, -0.449, 0.797, -0.762, 0, 0, 0, [SEP] 68, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0, [SEP] 69, Drawer, -0.449, 0.797, -3.348, 0, 0, 0, [SEP] 70, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0, [SEP] 71, Drawer, -0.449, 0.797, -2.968, 0, 0, 0, [SEP] 72, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0, [SEP] 73, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0, [SEP] 74, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0, [SEP] 75, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0, [SEP] 76, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0, [SEP] 77, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0, [SEP] 78, Microwave, -0.143, 0.903, -0.908, 0, 270, 0, [SEP] 79, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0, [SEP] 80, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0, [SEP] 81, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0, [SEP] 82, Fridge, -3.188, 0.0, -2.184, 0, 0, 0, [SEP] 83, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0, [SEP] 84, Toaster, -0.230, 0.903, -3.406, 0, 270, 0, [SEP] 85, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0, [SEP] 86, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0, [SEP] 87, Faucet, -1.791, 1.136, -3.913, 0, 270, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Turn right to step forward to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn around and step forward to face the lettuce on the counter. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn left and look down to face the right most cabinet. | STEP 6: Place the knife in the thin corner cabinet. | STEP 7: Turn right to face the sliced lettuce on the counter. | STEP 8: Pick up the sliced lettuce on the counter. | STEP 9: Take a step to the right to face the sink. | STEP 10: wash the lettuce slice in the sink and remove it. | STEP 11: Turn right and step forward to face the fridge. | STEP 12: Place the slice of lettuce in the fridge. | END"]} +{"id": "trial_T20190909_010452_388275-2", "input": "Put a piece of lettuce in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.901, -2.75, 0, 180, 0, [SEP] 1, Potato, -3.182, 1.057, -2.064, 0, 90, 0, 82 [SEP] 2, ButterKnife, -3.393, 0.913, -3.327, 0, 0, 0, 41 [SEP] 3, ButterKnife, -0.095, 0.916, -1.555, 0, 0, 0, 68 [SEP] 4, Pot, -3.225, 0.916, -3.126, 0, 0, 0, 41 [SEP] 5, Pot, -0.376, 0.975, -2.031, 0, 180, 0, 70 [SEP] 6, Fork, -0.095, 0.916, -1.370, 0, 180, 0, 68 [SEP] 7, Egg, -0.065, 1.048, -0.851, 0, 270, 0, 78 [SEP] 8, Egg, -0.419, 0.951, -0.490, 0, 0, 0, 68 [SEP] 9, Plate, -3.292, 0.715, -0.558, 0, 270, 0, 85 [SEP] 10, Plate, -2.676, 0.715, -0.483, 0, 225, 0, 85 [SEP] 11, Knife, -2.270, 0.946, -3.878, 0, 0, 0, 41 [SEP] 12, Tomato, -0.223, 0.129, 0.055, 0, 270, 0, 80 [SEP] 13, Tomato, -3.167, 0.963, -3.655, 0, 0, 0, 41 [SEP] 14, SoapBottle, -2.581, 0.713, -0.683, 0, 270, 0, 85 [SEP] 15, SoapBottle, -2.449, 0.913, -3.655, 0, 0, 0, 41 [SEP] 16, Bowl, -2.990, 0.714, -0.780, 0, 0, 0, 85 [SEP] 17, SaltShaker, -3.169, 0.742, -2.968, 0, 0, 0, 63 [SEP] 18, Bread, -2.753, 0.754, -0.206, 0, 225, 0, 85 [SEP] 19, Apple, -0.189, 1.055, -0.851, 0, 270, 0, 78 [SEP] 20, Pot, -0.854, 0.916, -3.655, 0, 0, 0, 41 [SEP] 21, Egg, -0.220, 1.032, -0.999, 0, 270, 0, 78 [SEP] 22, Cup, -2.652, 0.717, -0.886, 0, 135, 0, 85 [SEP] 23, Bread, -0.327, 0.948, -3.681, 0, 298.222, 0, 41 [SEP] 24, Fork, -2.987, 0.914, -3.729, 0, 0, 0, 41 [SEP] 25, Pan, -0.394, 0.973, -2.414, 0, 0, 0, 66 [SEP] 26, Potato, -2.723, 0.757, -0.683, 0, 270, 0, 85 [SEP] 27, Lettuce, -1.323, 0.988, -3.758, 1.039, 253.596, 356.130, 41 [SEP] 28, Tomato, -3.211, 0.763, -0.753, 0, 225, 0, 85 [SEP] 29, Apple, -0.160, 0.956, -2.811, 0, 0, 0, 41 [SEP] 30, SoapBottle, -0.014, 0.915, -1.555, 0, 0, 0, 68 [SEP] 31, Spatula, -1.914, 0.805, -3.832, 0, 90, 0, 83 [SEP] 32, SaltShaker, -3.313, 1.288, -3.259, 0, 0, 0, 53 [SEP] 33, Knife, -1.895, 0.946, -3.522, 0, 0, 0, 41 [SEP] 34, PepperShaker, -0.441, 0.743, -1.408, 0, 0, 0, 64 [SEP] 35, ButterKnife, -3.309, 0.913, -2.825, 0, 0, 0, 41 [SEP] 36, Plate, -0.338, 0.914, -1.616, 0, 0, 0, 68 [SEP] 37, DishSponge, -3.140, 0.746, -2.857, 0, 0, 0, 63 [SEP] 38, Spoon, -3.140, 0.914, -3.327, 0, 180, 0, 41 [SEP] 39, Mug, -3.286, 1.393, -1.817, 0, 180, 0, 82 [SEP] 40, Bowl, -3.130, 1.396, -2.002, 0, 90, 0, 82 [SEP] 41, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0, [SEP] 42, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0, [SEP] 43, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0, [SEP] 44, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0, [SEP] 45, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0, [SEP] 46, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0, [SEP] 47, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0, [SEP] 48, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0, [SEP] 49, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0, [SEP] 50, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0, [SEP] 51, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0, [SEP] 52, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0, [SEP] 53, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0, [SEP] 54, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0, [SEP] 55, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0, [SEP] 56, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0, [SEP] 57, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0, [SEP] 58, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0, [SEP] 59, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0, [SEP] 60, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0, [SEP] 61, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0, [SEP] 62, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0, [SEP] 63, Drawer, -3.104, 0.797, -2.968, 0, 0, 0, [SEP] 64, Drawer, -0.449, 0.797, -1.410, 0, 0, 0, [SEP] 65, Sink, -1.786, 0.902, -3.748, 0, 0, 0, [SEP] 66, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0, [SEP] 67, Drawer, -0.449, 0.797, -0.762, 0, 0, 0, [SEP] 68, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0, [SEP] 69, Drawer, -0.449, 0.797, -3.348, 0, 0, 0, [SEP] 70, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0, [SEP] 71, Drawer, -0.449, 0.797, -2.968, 0, 0, 0, [SEP] 72, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0, [SEP] 73, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0, [SEP] 74, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0, [SEP] 75, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0, [SEP] 76, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0, [SEP] 77, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0, [SEP] 78, Microwave, -0.143, 0.903, -0.908, 0, 270, 0, [SEP] 79, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0, [SEP] 80, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0, [SEP] 81, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0, [SEP] 82, Fridge, -3.188, 0.0, -2.184, 0, 0, 0, [SEP] 83, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0, [SEP] 84, Toaster, -0.230, 0.903, -3.406, 0, 270, 0, [SEP] 85, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0, [SEP] 86, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0, [SEP] 87, Faucet, -1.791, 1.136, -3.913, 0, 270, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right and go to the counter. | STEP 2: Pick up the butter knife to the left of the pan. | STEP 3: Turn around and go across the room to the counter on the left of the sink. | STEP 4: Slice the lettuce on the counter. | STEP 5: Go to the cabinet to the right of the stove in the corner. | STEP 6: Put the knife in the cabinet. | STEP 7: Go to the counter on the left of the sink. | STEP 8: Pick up a slice of lettuce. | STEP 9: Move over to the sink. | STEP 10: Wash the lettuce in the sink. | STEP 11: Go to the fridge. | STEP 12: Put the piece of lettuce in the fridge. | END"]} +{"id": "trial_T20190908_124340_258012-0", "input": "Place a credit card on a chair. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.902, 5.5, 0, 0, 0, [SEP] 1, TissueBox, -2.712, 0.690, 1.052, 0, 0, 0, 60 [SEP] 2, Newspaper, -2.668, 0.481, 3.436, 0, 90, 0, 53 [SEP] 3, Statue, -2.269, 0.695, 1.175, 0, 0, 0, 60 [SEP] 4, Statue, -2.490, 0.695, 1.052, 0, 0, 0, 60 [SEP] 5, Vase, -2.164, 0.349, 4.887, 0, 0, 0, 49 [SEP] 6, Vase, -2.473, 0.099, 4.731, 0, 0, 0, 51 [SEP] 7, Pen, -2.164, 0.103, 5.042, 0, 0, 0, 51 [SEP] 8, Pen, -2.259, 0.243, 6.119, 0, 0, 0, 50 [SEP] 9, Pencil, -2.164, 0.101, 4.731, 0, 0, 0, 51 [SEP] 10, Pencil, -2.393, 0.751, -0.202, 0, 0, 0, 55 [SEP] 11, KeyChain, -2.761, 0.238, 6.046, 0, 0, 0, 50 [SEP] 12, KeyChain, -0.333, 0.616, 3.521, 0, 90, 0, 44 [SEP] 13, CreditCard, -2.385, 0.237, 6.046, 0, 0, 0, 50 [SEP] 14, CreditCard, -1.609, 0.479, 3.795, 0, 0, 0, 53 [SEP] 15, Laptop, -2.668, 0.478, 3.705, 0, 0, 0, 53 [SEP] 16, Laptop, -1.874, 0.478, 3.615, 0, 0, 0, 53 [SEP] 17, Book, -1.872, 0.680, 1.167, 0, 0, 0, 57 [SEP] 18, Box, -3.362, 0.219, 6.426, 0, 0, 0, 50 [SEP] 19, Statue, -2.269, 0.695, 1.423, 0, 0, 0, 47 [SEP] 20, Laptop, -1.698, 0.680, 1.659, 0, 329.236, 0, 59 [SEP] 21, TissueBox, -2.318, 0.099, 5.042, 0, 0, 0, 51 [SEP] 22, CreditCard, -1.986, 0.648, -0.050, 0, 0, 0, 56 [SEP] 23, Plate, -2.712, 0.689, 1.299, 0, 0, 0, 60 [SEP] 24, KeyChain, -2.139, 0.480, 3.615, 0, 0, 0, 53 [SEP] 25, Vase, -2.934, 0.693, 1.052, 0, 0, 0, 47 [SEP] 26, Pencil, -2.318, 0.607, 4.887, 0, 0, 0, 48 [SEP] 27, Pillow, -3.271, 0.661, 3.44, 0, 0, 331.220, 53 [SEP] 28, Bowl, -2.241, 0.095, 4.887, 0, 0, 0, 51 [SEP] 29, RemoteControl, -2.712, 0.691, 1.670, 0, 0, 0, 47 [SEP] 30, Watch, -2.510, 0.238, 6.083, 0, 0, 0, 50 [SEP] 31, Pen, -2.490, 0.694, 1.175, 0, 0, 0, 60 [SEP] 32, Newspaper, -2.139, 0.481, 3.346, 0, 0, 0, 53 [SEP] 33, Painting, -2.048, 1.615, -0.303, 0, 0, 0, [SEP] 34, Curtains, -0.083, 2.420, 0.969, 0, 0, 0, [SEP] 35, Television, -2.357, 1.205, 6.245, 0, 180, 0, [SEP] 36, HousePlant, -2.933, 0.595, -0.093, 0, 0, 0, [SEP] 37, GarbageCan, -4.864, -0.001, 0.267, 0, 90, 0, [SEP] 38, FloorLamp, -0.566, 0.002, 0.024, 0, 316.932, 0, [SEP] 39, DeskLamp, -0.273, 0.700, 3.612, 0, 0, 0, [SEP] 40, Window, -0.057, 0.925, 1.764, 90, 270, 0, [SEP] 41, Window, -0.057, 1.130, 4.886, 90, 270, 0, [SEP] 42, LightSwitch, -3.305, 1.340, -0.314, 0, 0, 0, [SEP] 43, SideTable, -0.255, 0.001, 3.369, 0, 270, 0, [SEP] 44, Drawer, -0.306, 0.626, 3.369, 0, 270, 0, [SEP] 45, ArmChair, -4.376, -8.374, 6.016, 0, 152.639, 0, [SEP] 46, ArmChair, -0.847, -8.106, 5.983, 0, 231.318, 0, [SEP] 47, DiningTable, -2.268, -0.016, 1.422, 0, 0, 0, [SEP] 48, CoffeeTable, -2.326, 0.002, 4.922, 0, 0, 0, [SEP] 49, Shelf, -2.326, 0.338, 4.922, 0, 0, 0, [SEP] 50, Shelf, -2.385, 0.238, 6.296, 0, 0, 0, [SEP] 51, Shelf, -2.326, 0.089, 4.922, 0, 0, 0, [SEP] 52, TVStand, -2.385, 0.006, 6.296, 0, 0, 0, [SEP] 53, Sofa, -2.404, -0.003, 3.417, 0, 0, 0, [SEP] 54, SideTable, -2.935, 0.004, -0.103, 0, 0, 0, [SEP] 55, SideTable, -2.113, 0.002, -0.139, 0, 0, 0, [SEP] 56, Drawer, -2.113, 0.654, -0.069, 0, 0, 0, [SEP] 57, Chair, -1.862, 0.020, 1.035, 0, 0, 0, [SEP] 58, Chair, -3.122, 0.020, 1.410, 0, 104.999, 0, [SEP] 59, Chair, -1.864, 0.020, 1.838, 0, 185.032, 0, [SEP] 60, Chair, -2.507, 0.020, 0.991, 0, 6.189, 0, [SEP] 61, Chair, -2.519, 0.020, 1.882, 0, 164.977, 0, [SEP] 62, Chair, -1.335, 0.020, 1.430, 0, 270, 0, [SEP] 63, NorthWall, , , , , , , [SEP] 64, EastWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk around the coffee table to the left side of the couch. | STEP 2: Pick up the red credit card on the couch. | STEP 3: Turn around and veer right to the chair in the corner. | STEP 4: Place the credit card on the chair. | END"]} +{"id": "trial_T20190908_124340_258012-1", "input": "move a card from a couch to a chair SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.902, 5.5, 0, 0, 0, [SEP] 1, TissueBox, -2.712, 0.690, 1.052, 0, 0, 0, 60 [SEP] 2, Newspaper, -2.668, 0.481, 3.436, 0, 90, 0, 53 [SEP] 3, Statue, -2.269, 0.695, 1.175, 0, 0, 0, 60 [SEP] 4, Statue, -2.490, 0.695, 1.052, 0, 0, 0, 60 [SEP] 5, Vase, -2.164, 0.349, 4.887, 0, 0, 0, 49 [SEP] 6, Vase, -2.473, 0.099, 4.731, 0, 0, 0, 51 [SEP] 7, Pen, -2.164, 0.103, 5.042, 0, 0, 0, 51 [SEP] 8, Pen, -2.259, 0.243, 6.119, 0, 0, 0, 50 [SEP] 9, Pencil, -2.164, 0.101, 4.731, 0, 0, 0, 51 [SEP] 10, Pencil, -2.393, 0.751, -0.202, 0, 0, 0, 55 [SEP] 11, KeyChain, -2.761, 0.238, 6.046, 0, 0, 0, 50 [SEP] 12, KeyChain, -0.333, 0.616, 3.521, 0, 90, 0, 44 [SEP] 13, CreditCard, -2.385, 0.237, 6.046, 0, 0, 0, 50 [SEP] 14, CreditCard, -1.609, 0.479, 3.795, 0, 0, 0, 53 [SEP] 15, Laptop, -2.668, 0.478, 3.705, 0, 0, 0, 53 [SEP] 16, Laptop, -1.874, 0.478, 3.615, 0, 0, 0, 53 [SEP] 17, Book, -1.872, 0.680, 1.167, 0, 0, 0, 57 [SEP] 18, Box, -3.362, 0.219, 6.426, 0, 0, 0, 50 [SEP] 19, Statue, -2.269, 0.695, 1.423, 0, 0, 0, 47 [SEP] 20, Laptop, -1.698, 0.680, 1.659, 0, 329.236, 0, 59 [SEP] 21, TissueBox, -2.318, 0.099, 5.042, 0, 0, 0, 51 [SEP] 22, CreditCard, -1.986, 0.648, -0.050, 0, 0, 0, 56 [SEP] 23, Plate, -2.712, 0.689, 1.299, 0, 0, 0, 60 [SEP] 24, KeyChain, -2.139, 0.480, 3.615, 0, 0, 0, 53 [SEP] 25, Vase, -2.934, 0.693, 1.052, 0, 0, 0, 47 [SEP] 26, Pencil, -2.318, 0.607, 4.887, 0, 0, 0, 48 [SEP] 27, Pillow, -3.271, 0.661, 3.44, 0, 0, 331.220, 53 [SEP] 28, Bowl, -2.241, 0.095, 4.887, 0, 0, 0, 51 [SEP] 29, RemoteControl, -2.712, 0.691, 1.670, 0, 0, 0, 47 [SEP] 30, Watch, -2.510, 0.238, 6.083, 0, 0, 0, 50 [SEP] 31, Pen, -2.490, 0.694, 1.175, 0, 0, 0, 60 [SEP] 32, Newspaper, -2.139, 0.481, 3.346, 0, 0, 0, 53 [SEP] 33, Painting, -2.048, 1.615, -0.303, 0, 0, 0, [SEP] 34, Curtains, -0.083, 2.420, 0.969, 0, 0, 0, [SEP] 35, Television, -2.357, 1.205, 6.245, 0, 180, 0, [SEP] 36, HousePlant, -2.933, 0.595, -0.093, 0, 0, 0, [SEP] 37, GarbageCan, -4.864, -0.001, 0.267, 0, 90, 0, [SEP] 38, FloorLamp, -0.566, 0.002, 0.024, 0, 316.932, 0, [SEP] 39, DeskLamp, -0.273, 0.700, 3.612, 0, 0, 0, [SEP] 40, Window, -0.057, 0.925, 1.764, 90, 270, 0, [SEP] 41, Window, -0.057, 1.130, 4.886, 90, 270, 0, [SEP] 42, LightSwitch, -3.305, 1.340, -0.314, 0, 0, 0, [SEP] 43, SideTable, -0.255, 0.001, 3.369, 0, 270, 0, [SEP] 44, Drawer, -0.306, 0.626, 3.369, 0, 270, 0, [SEP] 45, ArmChair, -4.376, -8.374, 6.016, 0, 152.639, 0, [SEP] 46, ArmChair, -0.847, -8.106, 5.983, 0, 231.318, 0, [SEP] 47, DiningTable, -2.268, -0.016, 1.422, 0, 0, 0, [SEP] 48, CoffeeTable, -2.326, 0.002, 4.922, 0, 0, 0, [SEP] 49, Shelf, -2.326, 0.338, 4.922, 0, 0, 0, [SEP] 50, Shelf, -2.385, 0.238, 6.296, 0, 0, 0, [SEP] 51, Shelf, -2.326, 0.089, 4.922, 0, 0, 0, [SEP] 52, TVStand, -2.385, 0.006, 6.296, 0, 0, 0, [SEP] 53, Sofa, -2.404, -0.003, 3.417, 0, 0, 0, [SEP] 54, SideTable, -2.935, 0.004, -0.103, 0, 0, 0, [SEP] 55, SideTable, -2.113, 0.002, -0.139, 0, 0, 0, [SEP] 56, Drawer, -2.113, 0.654, -0.069, 0, 0, 0, [SEP] 57, Chair, -1.862, 0.020, 1.035, 0, 0, 0, [SEP] 58, Chair, -3.122, 0.020, 1.410, 0, 104.999, 0, [SEP] 59, Chair, -1.864, 0.020, 1.838, 0, 185.032, 0, [SEP] 60, Chair, -2.507, 0.020, 0.991, 0, 6.189, 0, [SEP] 61, Chair, -2.519, 0.020, 1.882, 0, 164.977, 0, [SEP] 62, Chair, -1.335, 0.020, 1.430, 0, 270, 0, [SEP] 63, NorthWall, , , , , , , [SEP] 64, EastWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, WestWall, , , , , , , ", "output": ["STEP 1: turn right, walk forward past the table, turn right, walk to the couch | STEP 2: pick up the red credit card that is on the couch | STEP 3: turn around, walk to the chair | STEP 4: put the red credit card on the chair | END"]} +{"id": "trial_T20190908_124340_258012-2", "input": "Put a credit card on a chair SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.902, 5.5, 0, 0, 0, [SEP] 1, TissueBox, -2.712, 0.690, 1.052, 0, 0, 0, 60 [SEP] 2, Newspaper, -2.668, 0.481, 3.436, 0, 90, 0, 53 [SEP] 3, Statue, -2.269, 0.695, 1.175, 0, 0, 0, 60 [SEP] 4, Statue, -2.490, 0.695, 1.052, 0, 0, 0, 60 [SEP] 5, Vase, -2.164, 0.349, 4.887, 0, 0, 0, 49 [SEP] 6, Vase, -2.473, 0.099, 4.731, 0, 0, 0, 51 [SEP] 7, Pen, -2.164, 0.103, 5.042, 0, 0, 0, 51 [SEP] 8, Pen, -2.259, 0.243, 6.119, 0, 0, 0, 50 [SEP] 9, Pencil, -2.164, 0.101, 4.731, 0, 0, 0, 51 [SEP] 10, Pencil, -2.393, 0.751, -0.202, 0, 0, 0, 55 [SEP] 11, KeyChain, -2.761, 0.238, 6.046, 0, 0, 0, 50 [SEP] 12, KeyChain, -0.333, 0.616, 3.521, 0, 90, 0, 44 [SEP] 13, CreditCard, -2.385, 0.237, 6.046, 0, 0, 0, 50 [SEP] 14, CreditCard, -1.609, 0.479, 3.795, 0, 0, 0, 53 [SEP] 15, Laptop, -2.668, 0.478, 3.705, 0, 0, 0, 53 [SEP] 16, Laptop, -1.874, 0.478, 3.615, 0, 0, 0, 53 [SEP] 17, Book, -1.872, 0.680, 1.167, 0, 0, 0, 57 [SEP] 18, Box, -3.362, 0.219, 6.426, 0, 0, 0, 50 [SEP] 19, Statue, -2.269, 0.695, 1.423, 0, 0, 0, 47 [SEP] 20, Laptop, -1.698, 0.680, 1.659, 0, 329.236, 0, 59 [SEP] 21, TissueBox, -2.318, 0.099, 5.042, 0, 0, 0, 51 [SEP] 22, CreditCard, -1.986, 0.648, -0.050, 0, 0, 0, 56 [SEP] 23, Plate, -2.712, 0.689, 1.299, 0, 0, 0, 60 [SEP] 24, KeyChain, -2.139, 0.480, 3.615, 0, 0, 0, 53 [SEP] 25, Vase, -2.934, 0.693, 1.052, 0, 0, 0, 47 [SEP] 26, Pencil, -2.318, 0.607, 4.887, 0, 0, 0, 48 [SEP] 27, Pillow, -3.271, 0.661, 3.44, 0, 0, 331.220, 53 [SEP] 28, Bowl, -2.241, 0.095, 4.887, 0, 0, 0, 51 [SEP] 29, RemoteControl, -2.712, 0.691, 1.670, 0, 0, 0, 47 [SEP] 30, Watch, -2.510, 0.238, 6.083, 0, 0, 0, 50 [SEP] 31, Pen, -2.490, 0.694, 1.175, 0, 0, 0, 60 [SEP] 32, Newspaper, -2.139, 0.481, 3.346, 0, 0, 0, 53 [SEP] 33, Painting, -2.048, 1.615, -0.303, 0, 0, 0, [SEP] 34, Curtains, -0.083, 2.420, 0.969, 0, 0, 0, [SEP] 35, Television, -2.357, 1.205, 6.245, 0, 180, 0, [SEP] 36, HousePlant, -2.933, 0.595, -0.093, 0, 0, 0, [SEP] 37, GarbageCan, -4.864, -0.001, 0.267, 0, 90, 0, [SEP] 38, FloorLamp, -0.566, 0.002, 0.024, 0, 316.932, 0, [SEP] 39, DeskLamp, -0.273, 0.700, 3.612, 0, 0, 0, [SEP] 40, Window, -0.057, 0.925, 1.764, 90, 270, 0, [SEP] 41, Window, -0.057, 1.130, 4.886, 90, 270, 0, [SEP] 42, LightSwitch, -3.305, 1.340, -0.314, 0, 0, 0, [SEP] 43, SideTable, -0.255, 0.001, 3.369, 0, 270, 0, [SEP] 44, Drawer, -0.306, 0.626, 3.369, 0, 270, 0, [SEP] 45, ArmChair, -4.376, -8.374, 6.016, 0, 152.639, 0, [SEP] 46, ArmChair, -0.847, -8.106, 5.983, 0, 231.318, 0, [SEP] 47, DiningTable, -2.268, -0.016, 1.422, 0, 0, 0, [SEP] 48, CoffeeTable, -2.326, 0.002, 4.922, 0, 0, 0, [SEP] 49, Shelf, -2.326, 0.338, 4.922, 0, 0, 0, [SEP] 50, Shelf, -2.385, 0.238, 6.296, 0, 0, 0, [SEP] 51, Shelf, -2.326, 0.089, 4.922, 0, 0, 0, [SEP] 52, TVStand, -2.385, 0.006, 6.296, 0, 0, 0, [SEP] 53, Sofa, -2.404, -0.003, 3.417, 0, 0, 0, [SEP] 54, SideTable, -2.935, 0.004, -0.103, 0, 0, 0, [SEP] 55, SideTable, -2.113, 0.002, -0.139, 0, 0, 0, [SEP] 56, Drawer, -2.113, 0.654, -0.069, 0, 0, 0, [SEP] 57, Chair, -1.862, 0.020, 1.035, 0, 0, 0, [SEP] 58, Chair, -3.122, 0.020, 1.410, 0, 104.999, 0, [SEP] 59, Chair, -1.864, 0.020, 1.838, 0, 185.032, 0, [SEP] 60, Chair, -2.507, 0.020, 0.991, 0, 6.189, 0, [SEP] 61, Chair, -2.519, 0.020, 1.882, 0, 164.977, 0, [SEP] 62, Chair, -1.335, 0.020, 1.430, 0, 270, 0, [SEP] 63, NorthWall, , , , , , , [SEP] 64, EastWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, WestWall, , , , , , , ", "output": ["STEP 1: turn to your right; go the left end of the black couch where the laptop is | STEP 2: pick up the credit card that is next to the laptop | STEP 3: turn around and go too the chair that is in the corner of the room | STEP 4: place the credit card on the cushion of the chair | END"]} +{"id": "trial_T20190908_212725_836398-0", "input": "Put a clean plate on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.901, -2.0, 0, 0, 0, [SEP] 1, Spatula, -2.564, 0.728, -0.194, 0, 45, 0, 81 [SEP] 2, Spatula, -2.865, 0.731, -0.638, 0, 270, 0, 81 [SEP] 3, Fork, -0.257, 0.916, -0.472, 0, 0, 0, 64 [SEP] 4, Fork, -0.095, 0.916, -1.555, 0, 0, 0, 64 [SEP] 5, Egg, -3.199, 0.752, -0.564, 0, 225, 0, 81 [SEP] 6, Egg, -2.449, 0.949, -4.026, 0, 0, 0, 37 [SEP] 7, Cup, -2.998, 0.717, -0.628, 0, 135, 0, 81 [SEP] 8, Plate, -3.182, 0.639, -2.125, 0, 90, 0, 78 [SEP] 9, Plate, -3.167, 0.711, -0.797, 0, 225, 0, 81 [SEP] 10, Knife, -3.024, 0.779, -2.912, 0, 270, 0, 59 [SEP] 11, Knife, -3.255, 0.746, -0.282, 0, 225, 0, 81 [SEP] 12, Tomato, -3.234, 1.063, -2.125, 0, 90, 0, 78 [SEP] 13, PepperShaker, -0.014, 0.912, -1.432, 0, 0, 0, 64 [SEP] 14, Lettuce, -2.708, 0.801, -0.741, 0, 135, 0, 81 [SEP] 15, Mug, -2.930, 0.763, -0.358, 0, 135, 0, 77 [SEP] 16, Pot, -2.836, 0.903, -3.745, 0, 92.628, 0, 37 [SEP] 17, Egg, -2.987, 0.949, -3.878, 0, 0, 0, 37 [SEP] 18, Cup, -0.500, 0.916, -1.432, 0, 0, 0, 64 [SEP] 19, Bread, -0.327, 0.948, -3.681, 0, 298.222, 0, 37 [SEP] 20, Fork, -0.530, 0.746, -0.761, 0, 90, 0, 63 [SEP] 21, Pan, -0.854, 0.912, -3.878, 0, 180, 0, 37 [SEP] 22, Potato, -3.140, 0.957, -3.126, 0, 0, 0, 37 [SEP] 23, Lettuce, -3.130, 1.486, -2.064, 0, 90, 0, 78 [SEP] 24, Tomato, -0.076, 0.963, -3.112, 0, 0, 0, 37 [SEP] 25, Apple, -0.284, 0.122, 0.055, 0, 270, 0, 76 [SEP] 26, SoapBottle, -3.056, 0.913, -3.428, 0, 0, 0, 37 [SEP] 27, Spatula, -0.257, 0.930, -1.432, 0, 0, 0, 64 [SEP] 28, SaltShaker, -0.296, 0.076, -1.492, 0, 0, 0, 42 [SEP] 29, Knife, -0.471, 0.779, -0.912, 0, 90, 0, 63 [SEP] 30, PepperShaker, -0.257, 0.912, -1.555, 0, 0, 0, 64 [SEP] 31, ButterKnife, -2.721, 0.713, -0.439, 0, 225, 0, 81 [SEP] 32, Plate, -1.262, 0.911, -3.804, 0, 0, 0, 37 [SEP] 33, DishSponge, -0.118, 1.293, -0.847, 0, 0, 0, 44 [SEP] 34, Spoon, -0.419, 0.917, -0.542, 0, 0, 0, 64 [SEP] 35, Mug, -2.372, 1.290, -4.005, 0, 0, 0, 50 [SEP] 36, Bowl, -1.614, 0.080, -3.673, 0, 0, 0, 53 [SEP] 37, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0, [SEP] 38, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0, [SEP] 39, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0, [SEP] 40, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0, [SEP] 41, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0, [SEP] 42, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0, [SEP] 43, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0, [SEP] 44, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0, [SEP] 45, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0, [SEP] 46, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0, [SEP] 47, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0, [SEP] 48, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0, [SEP] 49, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0, [SEP] 50, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0, [SEP] 51, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0, [SEP] 52, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0, [SEP] 53, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0, [SEP] 54, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0, [SEP] 55, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0, [SEP] 56, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0, [SEP] 57, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0, [SEP] 58, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0, [SEP] 59, Drawer, -3.104, 0.797, -2.968, 0, 0, 0, [SEP] 60, Drawer, -0.449, 0.797, -1.410, 0, 0, 0, [SEP] 61, Sink, -1.786, 0.902, -3.748, 0, 0, 0, [SEP] 62, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0, [SEP] 63, Drawer, -0.449, 0.797, -0.762, 0, 0, 0, [SEP] 64, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0, [SEP] 65, Drawer, -0.449, 0.797, -3.348, 0, 0, 0, [SEP] 66, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0, [SEP] 67, Drawer, -0.449, 0.797, -2.968, 0, 0, 0, [SEP] 68, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0, [SEP] 69, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0, [SEP] 70, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0, [SEP] 71, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0, [SEP] 72, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0, [SEP] 73, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0, [SEP] 74, Microwave, -0.143, 0.903, -0.908, 0, 270, 0, [SEP] 75, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0, [SEP] 76, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0, [SEP] 77, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0, [SEP] 78, Fridge, -3.188, 0.0, -2.184, 0, 0, 0, [SEP] 79, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0, [SEP] 80, Toaster, -0.230, 0.903, -3.406, 0, 270, 0, [SEP] 81, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0, [SEP] 82, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0, [SEP] 83, Faucet, -1.791, 1.136, -3.913, 0, 270, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and cross the room to face the counter to the left of the sink. | STEP 2: Pick the plate up from the counter. | STEP 3: Go to the right and face the sink. | STEP 4: Put the plate in the sink and turn the water on and then off and pick the plate up again. | STEP 5: Move to the left and stand next to the counter to the left of the sink. | STEP 6: Place the plate down on the counter to the right of the sink. | END"]} +{"id": "trial_T20190908_212725_836398-1", "input": "place a clean plate down on the kitchen counter to the right of the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.901, -2.0, 0, 0, 0, [SEP] 1, Spatula, -2.564, 0.728, -0.194, 0, 45, 0, 81 [SEP] 2, Spatula, -2.865, 0.731, -0.638, 0, 270, 0, 81 [SEP] 3, Fork, -0.257, 0.916, -0.472, 0, 0, 0, 64 [SEP] 4, Fork, -0.095, 0.916, -1.555, 0, 0, 0, 64 [SEP] 5, Egg, -3.199, 0.752, -0.564, 0, 225, 0, 81 [SEP] 6, Egg, -2.449, 0.949, -4.026, 0, 0, 0, 37 [SEP] 7, Cup, -2.998, 0.717, -0.628, 0, 135, 0, 81 [SEP] 8, Plate, -3.182, 0.639, -2.125, 0, 90, 0, 78 [SEP] 9, Plate, -3.167, 0.711, -0.797, 0, 225, 0, 81 [SEP] 10, Knife, -3.024, 0.779, -2.912, 0, 270, 0, 59 [SEP] 11, Knife, -3.255, 0.746, -0.282, 0, 225, 0, 81 [SEP] 12, Tomato, -3.234, 1.063, -2.125, 0, 90, 0, 78 [SEP] 13, PepperShaker, -0.014, 0.912, -1.432, 0, 0, 0, 64 [SEP] 14, Lettuce, -2.708, 0.801, -0.741, 0, 135, 0, 81 [SEP] 15, Mug, -2.930, 0.763, -0.358, 0, 135, 0, 77 [SEP] 16, Pot, -2.836, 0.903, -3.745, 0, 92.628, 0, 37 [SEP] 17, Egg, -2.987, 0.949, -3.878, 0, 0, 0, 37 [SEP] 18, Cup, -0.500, 0.916, -1.432, 0, 0, 0, 64 [SEP] 19, Bread, -0.327, 0.948, -3.681, 0, 298.222, 0, 37 [SEP] 20, Fork, -0.530, 0.746, -0.761, 0, 90, 0, 63 [SEP] 21, Pan, -0.854, 0.912, -3.878, 0, 180, 0, 37 [SEP] 22, Potato, -3.140, 0.957, -3.126, 0, 0, 0, 37 [SEP] 23, Lettuce, -3.130, 1.486, -2.064, 0, 90, 0, 78 [SEP] 24, Tomato, -0.076, 0.963, -3.112, 0, 0, 0, 37 [SEP] 25, Apple, -0.284, 0.122, 0.055, 0, 270, 0, 76 [SEP] 26, SoapBottle, -3.056, 0.913, -3.428, 0, 0, 0, 37 [SEP] 27, Spatula, -0.257, 0.930, -1.432, 0, 0, 0, 64 [SEP] 28, SaltShaker, -0.296, 0.076, -1.492, 0, 0, 0, 42 [SEP] 29, Knife, -0.471, 0.779, -0.912, 0, 90, 0, 63 [SEP] 30, PepperShaker, -0.257, 0.912, -1.555, 0, 0, 0, 64 [SEP] 31, ButterKnife, -2.721, 0.713, -0.439, 0, 225, 0, 81 [SEP] 32, Plate, -1.262, 0.911, -3.804, 0, 0, 0, 37 [SEP] 33, DishSponge, -0.118, 1.293, -0.847, 0, 0, 0, 44 [SEP] 34, Spoon, -0.419, 0.917, -0.542, 0, 0, 0, 64 [SEP] 35, Mug, -2.372, 1.290, -4.005, 0, 0, 0, 50 [SEP] 36, Bowl, -1.614, 0.080, -3.673, 0, 0, 0, 53 [SEP] 37, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0, [SEP] 38, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0, [SEP] 39, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0, [SEP] 40, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0, [SEP] 41, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0, [SEP] 42, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0, [SEP] 43, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0, [SEP] 44, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0, [SEP] 45, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0, [SEP] 46, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0, [SEP] 47, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0, [SEP] 48, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0, [SEP] 49, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0, [SEP] 50, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0, [SEP] 51, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0, [SEP] 52, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0, [SEP] 53, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0, [SEP] 54, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0, [SEP] 55, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0, [SEP] 56, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0, [SEP] 57, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0, [SEP] 58, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0, [SEP] 59, Drawer, -3.104, 0.797, -2.968, 0, 0, 0, [SEP] 60, Drawer, -0.449, 0.797, -1.410, 0, 0, 0, [SEP] 61, Sink, -1.786, 0.902, -3.748, 0, 0, 0, [SEP] 62, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0, [SEP] 63, Drawer, -0.449, 0.797, -0.762, 0, 0, 0, [SEP] 64, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0, [SEP] 65, Drawer, -0.449, 0.797, -3.348, 0, 0, 0, [SEP] 66, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0, [SEP] 67, Drawer, -0.449, 0.797, -2.968, 0, 0, 0, [SEP] 68, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0, [SEP] 69, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0, [SEP] 70, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0, [SEP] 71, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0, [SEP] 72, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0, [SEP] 73, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0, [SEP] 74, Microwave, -0.143, 0.903, -0.908, 0, 270, 0, [SEP] 75, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0, [SEP] 76, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0, [SEP] 77, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0, [SEP] 78, Fridge, -3.188, 0.0, -2.184, 0, 0, 0, [SEP] 79, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0, [SEP] 80, Toaster, -0.230, 0.903, -3.406, 0, 270, 0, [SEP] 81, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0, [SEP] 82, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0, [SEP] 83, Faucet, -1.791, 1.136, -3.913, 0, 270, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: turn around and walk over to the kitchen counter to the left of the sink | STEP 2: grab the dirty plate off of the kitchen counter there | STEP 3: move to the right a bit and face the kitchen sink | STEP 4: place the plate inside the sink and clean it off | STEP 5: move left a bit towards the left side of the kitchen counter to the left of the stove, but then turn right and face away from the counter top | STEP 6: place the plate down on the kitchen counter to the right of the sink | END"]} +{"id": "trial_T20190908_212725_836398-2", "input": "Place a clean plate on a counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.901, -2.0, 0, 0, 0, [SEP] 1, Spatula, -2.564, 0.728, -0.194, 0, 45, 0, 81 [SEP] 2, Spatula, -2.865, 0.731, -0.638, 0, 270, 0, 81 [SEP] 3, Fork, -0.257, 0.916, -0.472, 0, 0, 0, 64 [SEP] 4, Fork, -0.095, 0.916, -1.555, 0, 0, 0, 64 [SEP] 5, Egg, -3.199, 0.752, -0.564, 0, 225, 0, 81 [SEP] 6, Egg, -2.449, 0.949, -4.026, 0, 0, 0, 37 [SEP] 7, Cup, -2.998, 0.717, -0.628, 0, 135, 0, 81 [SEP] 8, Plate, -3.182, 0.639, -2.125, 0, 90, 0, 78 [SEP] 9, Plate, -3.167, 0.711, -0.797, 0, 225, 0, 81 [SEP] 10, Knife, -3.024, 0.779, -2.912, 0, 270, 0, 59 [SEP] 11, Knife, -3.255, 0.746, -0.282, 0, 225, 0, 81 [SEP] 12, Tomato, -3.234, 1.063, -2.125, 0, 90, 0, 78 [SEP] 13, PepperShaker, -0.014, 0.912, -1.432, 0, 0, 0, 64 [SEP] 14, Lettuce, -2.708, 0.801, -0.741, 0, 135, 0, 81 [SEP] 15, Mug, -2.930, 0.763, -0.358, 0, 135, 0, 77 [SEP] 16, Pot, -2.836, 0.903, -3.745, 0, 92.628, 0, 37 [SEP] 17, Egg, -2.987, 0.949, -3.878, 0, 0, 0, 37 [SEP] 18, Cup, -0.500, 0.916, -1.432, 0, 0, 0, 64 [SEP] 19, Bread, -0.327, 0.948, -3.681, 0, 298.222, 0, 37 [SEP] 20, Fork, -0.530, 0.746, -0.761, 0, 90, 0, 63 [SEP] 21, Pan, -0.854, 0.912, -3.878, 0, 180, 0, 37 [SEP] 22, Potato, -3.140, 0.957, -3.126, 0, 0, 0, 37 [SEP] 23, Lettuce, -3.130, 1.486, -2.064, 0, 90, 0, 78 [SEP] 24, Tomato, -0.076, 0.963, -3.112, 0, 0, 0, 37 [SEP] 25, Apple, -0.284, 0.122, 0.055, 0, 270, 0, 76 [SEP] 26, SoapBottle, -3.056, 0.913, -3.428, 0, 0, 0, 37 [SEP] 27, Spatula, -0.257, 0.930, -1.432, 0, 0, 0, 64 [SEP] 28, SaltShaker, -0.296, 0.076, -1.492, 0, 0, 0, 42 [SEP] 29, Knife, -0.471, 0.779, -0.912, 0, 90, 0, 63 [SEP] 30, PepperShaker, -0.257, 0.912, -1.555, 0, 0, 0, 64 [SEP] 31, ButterKnife, -2.721, 0.713, -0.439, 0, 225, 0, 81 [SEP] 32, Plate, -1.262, 0.911, -3.804, 0, 0, 0, 37 [SEP] 33, DishSponge, -0.118, 1.293, -0.847, 0, 0, 0, 44 [SEP] 34, Spoon, -0.419, 0.917, -0.542, 0, 0, 0, 64 [SEP] 35, Mug, -2.372, 1.290, -4.005, 0, 0, 0, 50 [SEP] 36, Bowl, -1.614, 0.080, -3.673, 0, 0, 0, 53 [SEP] 37, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0, [SEP] 38, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0, [SEP] 39, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0, [SEP] 40, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0, [SEP] 41, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0, [SEP] 42, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0, [SEP] 43, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0, [SEP] 44, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0, [SEP] 45, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0, [SEP] 46, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0, [SEP] 47, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0, [SEP] 48, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0, [SEP] 49, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0, [SEP] 50, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0, [SEP] 51, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0, [SEP] 52, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0, [SEP] 53, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0, [SEP] 54, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0, [SEP] 55, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0, [SEP] 56, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0, [SEP] 57, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0, [SEP] 58, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0, [SEP] 59, Drawer, -3.104, 0.797, -2.968, 0, 0, 0, [SEP] 60, Drawer, -0.449, 0.797, -1.410, 0, 0, 0, [SEP] 61, Sink, -1.786, 0.902, -3.748, 0, 0, 0, [SEP] 62, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0, [SEP] 63, Drawer, -0.449, 0.797, -0.762, 0, 0, 0, [SEP] 64, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0, [SEP] 65, Drawer, -0.449, 0.797, -3.348, 0, 0, 0, [SEP] 66, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0, [SEP] 67, Drawer, -0.449, 0.797, -2.968, 0, 0, 0, [SEP] 68, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0, [SEP] 69, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0, [SEP] 70, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0, [SEP] 71, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0, [SEP] 72, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0, [SEP] 73, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0, [SEP] 74, Microwave, -0.143, 0.903, -0.908, 0, 270, 0, [SEP] 75, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0, [SEP] 76, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0, [SEP] 77, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0, [SEP] 78, Fridge, -3.188, 0.0, -2.184, 0, 0, 0, [SEP] 79, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0, [SEP] 80, Toaster, -0.230, 0.903, -3.406, 0, 270, 0, [SEP] 81, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0, [SEP] 82, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0, [SEP] 83, Faucet, -1.791, 1.136, -3.913, 0, 270, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and head to the counter to the left of the sink | STEP 2: Pick up the dirty plate that is sitting on the counter to the right of the pan | STEP 3: Take a step to the right and stand in front of the sink | STEP 4: Place the plate in the sink and turn on the faucet to rinse off the plate, then turn off the faucet and pick up the clean plate | STEP 5: Take a step over to your left to stand in front of the counter to the left of the sink, then turn right to face the counter to the right of the sink | STEP 6: Place the clean plate on the counter to the right of the sink by the egg | END"]} +{"id": "trial_T20190907_060455_935544-0", "input": "Put a plate containing a tomato slice on it, in the refrigerator. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, -0.75, 0, 0, 0, [SEP] 1, Potato, -1.610, 1.212, -1.013, 0, 90, 0, 67 [SEP] 2, DishSponge, -1.277, 1.659, -1.792, 0, 90, 0, 42 [SEP] 3, DishSponge, 1.738, 0.913, -1.095, 0, 0, 0, 59 [SEP] 4, WineBottle, -0.616, 0.914, -2.167, 0, 0, 0, 59 [SEP] 5, Fork, 0.294, 0.927, 0.991, 0, 0, 0, 76 [SEP] 6, Egg, -0.047, 0.984, 0.305, 0, 0, 0, 76 [SEP] 7, Plate, 0.408, 0.930, 0.076, 0, 0, 0, 76 [SEP] 8, Plate, 1.850, 0.916, -2.169, 0, 0, 0, 59 [SEP] 9, Tomato, -1.495, 0.911, -1.013, 0, 90, 0, 67 [SEP] 10, Tomato, 0.294, 0.978, 0.305, 0, 0, 0, 76 [SEP] 11, Tomato, 1.958, 0.138, 0.083, 0, 0, 0, 60 [SEP] 12, Bowl, -0.137, 0.761, -2.026, 0, 90, 0, 71 [SEP] 13, Bowl, 1.462, 0.549, 2.482, 0, 0, 0, 79 [SEP] 14, SaltShaker, 0.180, 0.926, 1.220, 0, 0, 0, 76 [SEP] 15, SaltShaker, 0.522, 0.923, 0.762, 0, 0, 0, 76 [SEP] 16, Bread, 0.180, 0.972, 0.534, 0, 0, 0, 76 [SEP] 17, Apple, -1.323, 0.930, -0.910, 0, 90, 0, 67 [SEP] 18, Potato, 0.063, 0.95, -0.048, 0, 285.000, 0, 76 [SEP] 19, Bowl, 1.218, 0.115, -1.968, 0, 0, 0, 51 [SEP] 20, SoapBottle, 0.294, 0.929, 1.220, 0, 0, 0, 76 [SEP] 21, Fork, -0.963, 0.914, -2.079, 0, 0, 0, 59 [SEP] 22, Ladle, 0.503, 1.703, -2.162, 0, 0, 0, 48 [SEP] 23, Bread, 0.066, 0.972, 0.991, 0, 0, 0, 76 [SEP] 24, Lettuce, -1.572, 1.585, -0.703, 0, 90, 0, 67 [SEP] 25, WineBottle, -1.028, 0.127, -1.426, 0, 90, 0, 54 [SEP] 26, Spatula, 1.618, 0.928, -2.085, 0, 180, 0, 59 [SEP] 27, Plate, -1.438, 1.187, -0.910, 0, 90, 0, 67 [SEP] 28, SaltShaker, -0.617, 0.108, -1.785, 0, 0, 0, 52 [SEP] 29, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 41 [SEP] 30, Cup, -0.984, 0.126, -1.575, 0, 90, 0, 54 [SEP] 31, PepperShaker, -0.160, 0.923, 0.076, 0, 0, 0, 76 [SEP] 32, Pan, 1.845, 0.948, -0.355, 0, 0, 0, 40 [SEP] 33, ButterKnife, -0.772, 0.913, -2.101, 0, 0, 0, 59 [SEP] 34, Tomato, -0.047, 0.978, 1.220, 0, 0, 0, 76 [SEP] 35, DishSponge, -1.072, 0.913, -2.260, 0, 0, 0, 59 [SEP] 36, Egg, 0.408, 0.980, 0.305, 0, 0, 0, 76 [SEP] 37, Spoon, 0.522, 0.928, 1.220, 0, 0, 0, 76 [SEP] 38, Knife, 1.153, 0.936, -2.002, 0, 0, 0, 59 [SEP] 39, Mug, -1.495, 1.499, -0.495, 0, 90, 0, 67 [SEP] 40, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 41, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 42, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 43, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 44, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 45, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 46, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 47, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 48, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 49, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 50, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 51, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 52, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 53, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 54, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 55, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 56, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 57, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 58, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 59, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 60, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 61, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 62, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 63, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 64, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 65, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 66, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 67, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 68, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 69, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 70, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 71, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 72, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 73, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 74, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 75, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 76, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 77, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 78, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 79, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 80, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 81, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 82, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 83, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 84, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 85, NorthWall, , , , , , , [SEP] 86, EastWall, , , , , , , [SEP] 87, SouthWall, , , , , , , [SEP] 88, WestWall, , , , , , , ", "output": ["STEP 1: Turn around so that you are facing the coffee pot and toaster. | STEP 2: Pick up the knife that is on the counter, by the coffee pot. | STEP 3: Turn around and walk towards the stove, stopping at the green bucket on the floor, by the stove, and under the window. | STEP 4: Cut the tomato in the green bucket into slices. | STEP 5: Place the knife in the green bucket. | STEP 6: Pick up one of the slices of tomato. | STEP 7: Turn to your left and walk past the windows, straight across the room, to the wooden shelf. | STEP 8: Place the tomato slice onto a plate from the shelf. | STEP 9: Pick up the plate with the tomato slice on it. | STEP 10: Turn around and walk across the room, past the stove, then turn right at the dishwasher and proceed to the refrigerator. | STEP 11: Place the plate with the tomato on it in the refrigerator, beside the apple. | END"]} +{"id": "trial_T20190907_060455_935544-1", "input": "Place a tomato slice in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, -0.75, 0, 0, 0, [SEP] 1, Potato, -1.610, 1.212, -1.013, 0, 90, 0, 67 [SEP] 2, DishSponge, -1.277, 1.659, -1.792, 0, 90, 0, 42 [SEP] 3, DishSponge, 1.738, 0.913, -1.095, 0, 0, 0, 59 [SEP] 4, WineBottle, -0.616, 0.914, -2.167, 0, 0, 0, 59 [SEP] 5, Fork, 0.294, 0.927, 0.991, 0, 0, 0, 76 [SEP] 6, Egg, -0.047, 0.984, 0.305, 0, 0, 0, 76 [SEP] 7, Plate, 0.408, 0.930, 0.076, 0, 0, 0, 76 [SEP] 8, Plate, 1.850, 0.916, -2.169, 0, 0, 0, 59 [SEP] 9, Tomato, -1.495, 0.911, -1.013, 0, 90, 0, 67 [SEP] 10, Tomato, 0.294, 0.978, 0.305, 0, 0, 0, 76 [SEP] 11, Tomato, 1.958, 0.138, 0.083, 0, 0, 0, 60 [SEP] 12, Bowl, -0.137, 0.761, -2.026, 0, 90, 0, 71 [SEP] 13, Bowl, 1.462, 0.549, 2.482, 0, 0, 0, 79 [SEP] 14, SaltShaker, 0.180, 0.926, 1.220, 0, 0, 0, 76 [SEP] 15, SaltShaker, 0.522, 0.923, 0.762, 0, 0, 0, 76 [SEP] 16, Bread, 0.180, 0.972, 0.534, 0, 0, 0, 76 [SEP] 17, Apple, -1.323, 0.930, -0.910, 0, 90, 0, 67 [SEP] 18, Potato, 0.063, 0.95, -0.048, 0, 285.000, 0, 76 [SEP] 19, Bowl, 1.218, 0.115, -1.968, 0, 0, 0, 51 [SEP] 20, SoapBottle, 0.294, 0.929, 1.220, 0, 0, 0, 76 [SEP] 21, Fork, -0.963, 0.914, -2.079, 0, 0, 0, 59 [SEP] 22, Ladle, 0.503, 1.703, -2.162, 0, 0, 0, 48 [SEP] 23, Bread, 0.066, 0.972, 0.991, 0, 0, 0, 76 [SEP] 24, Lettuce, -1.572, 1.585, -0.703, 0, 90, 0, 67 [SEP] 25, WineBottle, -1.028, 0.127, -1.426, 0, 90, 0, 54 [SEP] 26, Spatula, 1.618, 0.928, -2.085, 0, 180, 0, 59 [SEP] 27, Plate, -1.438, 1.187, -0.910, 0, 90, 0, 67 [SEP] 28, SaltShaker, -0.617, 0.108, -1.785, 0, 0, 0, 52 [SEP] 29, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 41 [SEP] 30, Cup, -0.984, 0.126, -1.575, 0, 90, 0, 54 [SEP] 31, PepperShaker, -0.160, 0.923, 0.076, 0, 0, 0, 76 [SEP] 32, Pan, 1.845, 0.948, -0.355, 0, 0, 0, 40 [SEP] 33, ButterKnife, -0.772, 0.913, -2.101, 0, 0, 0, 59 [SEP] 34, Tomato, -0.047, 0.978, 1.220, 0, 0, 0, 76 [SEP] 35, DishSponge, -1.072, 0.913, -2.260, 0, 0, 0, 59 [SEP] 36, Egg, 0.408, 0.980, 0.305, 0, 0, 0, 76 [SEP] 37, Spoon, 0.522, 0.928, 1.220, 0, 0, 0, 76 [SEP] 38, Knife, 1.153, 0.936, -2.002, 0, 0, 0, 59 [SEP] 39, Mug, -1.495, 1.499, -0.495, 0, 90, 0, 67 [SEP] 40, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 41, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 42, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 43, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 44, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 45, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 46, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 47, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 48, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 49, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 50, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 51, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 52, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 53, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 54, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 55, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 56, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 57, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 58, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 59, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 60, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 61, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 62, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 63, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 64, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 65, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 66, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 67, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 68, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 69, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 70, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 71, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 72, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 73, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 74, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 75, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 76, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 77, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 78, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 79, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 80, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 81, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 82, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 83, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 84, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 85, NorthWall, , , , , , , [SEP] 86, EastWall, , , , , , , [SEP] 87, SouthWall, , , , , , , [SEP] 88, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, then right again to face the coffee maker and knife. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn around then face the green trash can to your right. | STEP 4: Slice the tomato in the green trash can. | STEP 5: Put the knife in the green trash can. | STEP 6: Take a slice of tomato from the green trash can. | STEP 7: Turn left and head towards the brown shelves in front of you. | STEP 8: Put the tomato slice on the plate on the brown shelves. | STEP 9: Take the plate with the tomato slice from the brown shelves. | STEP 10: Turn around, then right and head towards the fridge. | STEP 11: Place the plate with the tomato slice in the fridge and close it. | END"]} +{"id": "trial_T20190907_060455_935544-2", "input": "Refrigerate a tomato slice in a bowl SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, -0.75, 0, 0, 0, [SEP] 1, Potato, -1.610, 1.212, -1.013, 0, 90, 0, 67 [SEP] 2, DishSponge, -1.277, 1.659, -1.792, 0, 90, 0, 42 [SEP] 3, DishSponge, 1.738, 0.913, -1.095, 0, 0, 0, 59 [SEP] 4, WineBottle, -0.616, 0.914, -2.167, 0, 0, 0, 59 [SEP] 5, Fork, 0.294, 0.927, 0.991, 0, 0, 0, 76 [SEP] 6, Egg, -0.047, 0.984, 0.305, 0, 0, 0, 76 [SEP] 7, Plate, 0.408, 0.930, 0.076, 0, 0, 0, 76 [SEP] 8, Plate, 1.850, 0.916, -2.169, 0, 0, 0, 59 [SEP] 9, Tomato, -1.495, 0.911, -1.013, 0, 90, 0, 67 [SEP] 10, Tomato, 0.294, 0.978, 0.305, 0, 0, 0, 76 [SEP] 11, Tomato, 1.958, 0.138, 0.083, 0, 0, 0, 60 [SEP] 12, Bowl, -0.137, 0.761, -2.026, 0, 90, 0, 71 [SEP] 13, Bowl, 1.462, 0.549, 2.482, 0, 0, 0, 79 [SEP] 14, SaltShaker, 0.180, 0.926, 1.220, 0, 0, 0, 76 [SEP] 15, SaltShaker, 0.522, 0.923, 0.762, 0, 0, 0, 76 [SEP] 16, Bread, 0.180, 0.972, 0.534, 0, 0, 0, 76 [SEP] 17, Apple, -1.323, 0.930, -0.910, 0, 90, 0, 67 [SEP] 18, Potato, 0.063, 0.95, -0.048, 0, 285.000, 0, 76 [SEP] 19, Bowl, 1.218, 0.115, -1.968, 0, 0, 0, 51 [SEP] 20, SoapBottle, 0.294, 0.929, 1.220, 0, 0, 0, 76 [SEP] 21, Fork, -0.963, 0.914, -2.079, 0, 0, 0, 59 [SEP] 22, Ladle, 0.503, 1.703, -2.162, 0, 0, 0, 48 [SEP] 23, Bread, 0.066, 0.972, 0.991, 0, 0, 0, 76 [SEP] 24, Lettuce, -1.572, 1.585, -0.703, 0, 90, 0, 67 [SEP] 25, WineBottle, -1.028, 0.127, -1.426, 0, 90, 0, 54 [SEP] 26, Spatula, 1.618, 0.928, -2.085, 0, 180, 0, 59 [SEP] 27, Plate, -1.438, 1.187, -0.910, 0, 90, 0, 67 [SEP] 28, SaltShaker, -0.617, 0.108, -1.785, 0, 0, 0, 52 [SEP] 29, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 41 [SEP] 30, Cup, -0.984, 0.126, -1.575, 0, 90, 0, 54 [SEP] 31, PepperShaker, -0.160, 0.923, 0.076, 0, 0, 0, 76 [SEP] 32, Pan, 1.845, 0.948, -0.355, 0, 0, 0, 40 [SEP] 33, ButterKnife, -0.772, 0.913, -2.101, 0, 0, 0, 59 [SEP] 34, Tomato, -0.047, 0.978, 1.220, 0, 0, 0, 76 [SEP] 35, DishSponge, -1.072, 0.913, -2.260, 0, 0, 0, 59 [SEP] 36, Egg, 0.408, 0.980, 0.305, 0, 0, 0, 76 [SEP] 37, Spoon, 0.522, 0.928, 1.220, 0, 0, 0, 76 [SEP] 38, Knife, 1.153, 0.936, -2.002, 0, 0, 0, 59 [SEP] 39, Mug, -1.495, 1.499, -0.495, 0, 90, 0, 67 [SEP] 40, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 41, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 42, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 43, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 44, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 45, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 46, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 47, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 48, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 49, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 50, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 51, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 52, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 53, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 54, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 55, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 56, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 57, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 58, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 59, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 60, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 61, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 62, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 63, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 64, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 65, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 66, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 67, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 68, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 69, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 70, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 71, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 72, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 73, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 74, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 75, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 76, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 77, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 78, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 79, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 80, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 81, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 82, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 83, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 84, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 85, NorthWall, , , , , , , [SEP] 86, EastWall, , , , , , , [SEP] 87, SouthWall, , , , , , , [SEP] 88, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your right and walk to the stove. | STEP 2: Hang a right and walk to the coffee maker with a yellow-handled knife on it, pick up the knife. | STEP 3: Turn to your left and walk to the green bin at the left side of the stove. | STEP 4: Slice the tomato that is in the green bin. | STEP 5: Place the knife in the bin to the left of the tomato. | STEP 6: Pick up the center slice of the tomato. | STEP 7: Turn to your left and walk to the brown rack against the wall. | STEP 8: Place the tomato slice in the bowl on the second shelf from the bottom. | STEP 9: Pick up the bowl with the tomato in it. | STEP 10: Turn around and walk to the counter with the coffee maker on it, hang a right to the fridge. | STEP 11: Open the fridge door and put the bowl with the tomato on the shelf to the right of the tomato and apple, close the door. | END"]} +{"id": "trial_T20190907_060455_935544-3", "input": "Chill a slice of tomato in the refrigerator. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, -0.75, 0, 0, 0, [SEP] 1, Potato, -1.610, 1.212, -1.013, 0, 90, 0, 67 [SEP] 2, DishSponge, -1.277, 1.659, -1.792, 0, 90, 0, 42 [SEP] 3, DishSponge, 1.738, 0.913, -1.095, 0, 0, 0, 59 [SEP] 4, WineBottle, -0.616, 0.914, -2.167, 0, 0, 0, 59 [SEP] 5, Fork, 0.294, 0.927, 0.991, 0, 0, 0, 76 [SEP] 6, Egg, -0.047, 0.984, 0.305, 0, 0, 0, 76 [SEP] 7, Plate, 0.408, 0.930, 0.076, 0, 0, 0, 76 [SEP] 8, Plate, 1.850, 0.916, -2.169, 0, 0, 0, 59 [SEP] 9, Tomato, -1.495, 0.911, -1.013, 0, 90, 0, 67 [SEP] 10, Tomato, 0.294, 0.978, 0.305, 0, 0, 0, 76 [SEP] 11, Tomato, 1.958, 0.138, 0.083, 0, 0, 0, 60 [SEP] 12, Bowl, -0.137, 0.761, -2.026, 0, 90, 0, 71 [SEP] 13, Bowl, 1.462, 0.549, 2.482, 0, 0, 0, 79 [SEP] 14, SaltShaker, 0.180, 0.926, 1.220, 0, 0, 0, 76 [SEP] 15, SaltShaker, 0.522, 0.923, 0.762, 0, 0, 0, 76 [SEP] 16, Bread, 0.180, 0.972, 0.534, 0, 0, 0, 76 [SEP] 17, Apple, -1.323, 0.930, -0.910, 0, 90, 0, 67 [SEP] 18, Potato, 0.063, 0.95, -0.048, 0, 285.000, 0, 76 [SEP] 19, Bowl, 1.218, 0.115, -1.968, 0, 0, 0, 51 [SEP] 20, SoapBottle, 0.294, 0.929, 1.220, 0, 0, 0, 76 [SEP] 21, Fork, -0.963, 0.914, -2.079, 0, 0, 0, 59 [SEP] 22, Ladle, 0.503, 1.703, -2.162, 0, 0, 0, 48 [SEP] 23, Bread, 0.066, 0.972, 0.991, 0, 0, 0, 76 [SEP] 24, Lettuce, -1.572, 1.585, -0.703, 0, 90, 0, 67 [SEP] 25, WineBottle, -1.028, 0.127, -1.426, 0, 90, 0, 54 [SEP] 26, Spatula, 1.618, 0.928, -2.085, 0, 180, 0, 59 [SEP] 27, Plate, -1.438, 1.187, -0.910, 0, 90, 0, 67 [SEP] 28, SaltShaker, -0.617, 0.108, -1.785, 0, 0, 0, 52 [SEP] 29, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 41 [SEP] 30, Cup, -0.984, 0.126, -1.575, 0, 90, 0, 54 [SEP] 31, PepperShaker, -0.160, 0.923, 0.076, 0, 0, 0, 76 [SEP] 32, Pan, 1.845, 0.948, -0.355, 0, 0, 0, 40 [SEP] 33, ButterKnife, -0.772, 0.913, -2.101, 0, 0, 0, 59 [SEP] 34, Tomato, -0.047, 0.978, 1.220, 0, 0, 0, 76 [SEP] 35, DishSponge, -1.072, 0.913, -2.260, 0, 0, 0, 59 [SEP] 36, Egg, 0.408, 0.980, 0.305, 0, 0, 0, 76 [SEP] 37, Spoon, 0.522, 0.928, 1.220, 0, 0, 0, 76 [SEP] 38, Knife, 1.153, 0.936, -2.002, 0, 0, 0, 59 [SEP] 39, Mug, -1.495, 1.499, -0.495, 0, 90, 0, 67 [SEP] 40, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 41, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 42, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 43, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 44, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 45, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 46, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 47, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 48, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 49, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 50, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 51, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 52, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 53, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 54, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 55, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 56, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 57, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 58, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 59, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 60, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 61, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 62, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 63, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 64, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 65, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 66, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 67, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 68, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 69, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 70, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 71, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 72, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 73, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 74, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 75, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 76, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 77, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 78, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 79, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 80, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 81, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 82, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 83, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 84, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 85, NorthWall, , , , , , , [SEP] 86, EastWall, , , , , , , [SEP] 87, SouthWall, , , , , , , [SEP] 88, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the oven then make another right and walk to the counter. | STEP 2: Pick up the knife with the yellow handle that is on the counter top. | STEP 3: Turn around with the knife and walk forward to a green bin. Turn right to face it. | STEP 4: Slice the tomato that is in the green bin. | STEP 5: Place the knife inside the green bin. | STEP 6: Pick up one slice of the tomato. | STEP 7: Turn left and walk over to the shelf with the tomato slice. | STEP 8: Place the tomato slice inside the bowl. | STEP 9: Pick up the bowl with the tomato slice from the shelf. | STEP 10: Turn to the right and walk forward with the bowl.Turn right again and walk to the refrigerator. | STEP 11: Put the bowl with the tomato slice inside the refrigerator and close it. | END"]} +{"id": "trial_T20190907_060455_935544-4", "input": "Put a bowl with a tomato in it in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, -0.75, 0, 0, 0, [SEP] 1, Potato, -1.610, 1.212, -1.013, 0, 90, 0, 67 [SEP] 2, DishSponge, -1.277, 1.659, -1.792, 0, 90, 0, 42 [SEP] 3, DishSponge, 1.738, 0.913, -1.095, 0, 0, 0, 59 [SEP] 4, WineBottle, -0.616, 0.914, -2.167, 0, 0, 0, 59 [SEP] 5, Fork, 0.294, 0.927, 0.991, 0, 0, 0, 76 [SEP] 6, Egg, -0.047, 0.984, 0.305, 0, 0, 0, 76 [SEP] 7, Plate, 0.408, 0.930, 0.076, 0, 0, 0, 76 [SEP] 8, Plate, 1.850, 0.916, -2.169, 0, 0, 0, 59 [SEP] 9, Tomato, -1.495, 0.911, -1.013, 0, 90, 0, 67 [SEP] 10, Tomato, 0.294, 0.978, 0.305, 0, 0, 0, 76 [SEP] 11, Tomato, 1.958, 0.138, 0.083, 0, 0, 0, 60 [SEP] 12, Bowl, -0.137, 0.761, -2.026, 0, 90, 0, 71 [SEP] 13, Bowl, 1.462, 0.549, 2.482, 0, 0, 0, 79 [SEP] 14, SaltShaker, 0.180, 0.926, 1.220, 0, 0, 0, 76 [SEP] 15, SaltShaker, 0.522, 0.923, 0.762, 0, 0, 0, 76 [SEP] 16, Bread, 0.180, 0.972, 0.534, 0, 0, 0, 76 [SEP] 17, Apple, -1.323, 0.930, -0.910, 0, 90, 0, 67 [SEP] 18, Potato, 0.063, 0.95, -0.048, 0, 285.000, 0, 76 [SEP] 19, Bowl, 1.218, 0.115, -1.968, 0, 0, 0, 51 [SEP] 20, SoapBottle, 0.294, 0.929, 1.220, 0, 0, 0, 76 [SEP] 21, Fork, -0.963, 0.914, -2.079, 0, 0, 0, 59 [SEP] 22, Ladle, 0.503, 1.703, -2.162, 0, 0, 0, 48 [SEP] 23, Bread, 0.066, 0.972, 0.991, 0, 0, 0, 76 [SEP] 24, Lettuce, -1.572, 1.585, -0.703, 0, 90, 0, 67 [SEP] 25, WineBottle, -1.028, 0.127, -1.426, 0, 90, 0, 54 [SEP] 26, Spatula, 1.618, 0.928, -2.085, 0, 180, 0, 59 [SEP] 27, Plate, -1.438, 1.187, -0.910, 0, 90, 0, 67 [SEP] 28, SaltShaker, -0.617, 0.108, -1.785, 0, 0, 0, 52 [SEP] 29, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 41 [SEP] 30, Cup, -0.984, 0.126, -1.575, 0, 90, 0, 54 [SEP] 31, PepperShaker, -0.160, 0.923, 0.076, 0, 0, 0, 76 [SEP] 32, Pan, 1.845, 0.948, -0.355, 0, 0, 0, 40 [SEP] 33, ButterKnife, -0.772, 0.913, -2.101, 0, 0, 0, 59 [SEP] 34, Tomato, -0.047, 0.978, 1.220, 0, 0, 0, 76 [SEP] 35, DishSponge, -1.072, 0.913, -2.260, 0, 0, 0, 59 [SEP] 36, Egg, 0.408, 0.980, 0.305, 0, 0, 0, 76 [SEP] 37, Spoon, 0.522, 0.928, 1.220, 0, 0, 0, 76 [SEP] 38, Knife, 1.153, 0.936, -2.002, 0, 0, 0, 59 [SEP] 39, Mug, -1.495, 1.499, -0.495, 0, 90, 0, 67 [SEP] 40, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 41, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 42, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 43, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 44, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 45, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 46, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 47, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 48, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 49, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 50, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 51, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 52, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 53, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 54, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 55, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 56, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 57, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 58, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 59, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 60, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 61, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 62, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 63, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 64, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 65, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 66, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 67, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 68, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 69, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 70, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 71, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 72, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 73, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 74, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 75, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 76, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 77, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 78, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 79, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 80, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 81, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 82, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 83, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 84, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 85, NorthWall, , , , , , , [SEP] 86, EastWall, , , , , , , [SEP] 87, SouthWall, , , , , , , [SEP] 88, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the stove then turn right and walk to the counter. | STEP 2: Pick up the yellow handled knife. | STEP 3: Turn around and walk past the stove then turn right and walk to the green garbage. | STEP 4: Cut the tomato in the garbage into slices. | STEP 5: Put the knife in the green garbage. | STEP 6: Pick up a slice of potato. | STEP 7: Turn left and walk to the shelves then take a step to your right. | STEP 8: Put the tomato in the clear bowl that's on the shelves in front of you. | STEP 9: Pick up the bowl with the tomato in it. | STEP 10: Turn left and take a step then turn left and walk almost to the counter then turn right and walk to the fridge. | STEP 11: Put the bowl in the fridge to the right of the tomato. | END"]} +{"id": "trial_T20190909_063844_274181-0", "input": "Put a cool tomato on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 2.5, 0, 180, 0, [SEP] 1, Pan, -1.109, 0.930, 1.470, 0, 0, 0, 48 [SEP] 2, Potato, 1.390, 0.102, 2.879, 0, 0, 0, 84 [SEP] 3, Potato, -1.127, 0.970, 2.159, 0, 0, 0, 46 [SEP] 4, DishSponge, -1.126, 0.937, 0.843, 0, 0, 0, 71 [SEP] 5, Fork, 1.746, 0.938, 0.806, 0, 90, 0, 51 [SEP] 6, Spoon, -1.127, 0.939, 2.310, 0, 90, 0, 46 [SEP] 7, Spoon, -0.960, 0.939, 1.076, 0, 0, 0, 71 [SEP] 8, Spatula, 1.669, 0.952, 1.074, 0, 0, 0, 51 [SEP] 9, Spatula, -0.876, 0.952, 0.998, 0, 180, 0, 71 [SEP] 10, Egg, -0.924, 1.534, 0.348, 0, 90, 0, 78 [SEP] 11, Plate, -1.078, 1.506, 0.887, 0, 0, 0, 57 [SEP] 12, Plate, 1.391, 0.086, 0.848, 0, 0, 0, 72 [SEP] 13, Knife, -0.861, 0.768, 0.779, 0, 90, 0, 69 [SEP] 14, Knife, 1.592, 0.959, 0.873, 0, 0, 0, 51 [SEP] 15, Tomato, -1.211, 0.999, 2.310, 0, 0, 0, 46 [SEP] 16, SoapBottle, 1.523, 0.069, 2.879, 0, 0, 0, 84 [SEP] 17, Bowl, -1.106, 1.947, 1.411, 0, 0, 0, 62 [SEP] 18, Bowl, 1.382, 0.097, 0.373, 0, 0, 0, 56 [SEP] 19, SaltShaker, -1.209, 0.934, 0.921, 0, 0, 0, 71 [SEP] 20, SaltShaker, -1.115, 1.824, 0.514, 0, 0, 0, 60 [SEP] 21, PepperShaker, -0.827, 0.743, 2.449, 0, 180, 0, 47 [SEP] 22, PepperShaker, -0.961, 1.497, 2.613, 0, 180, 0, 68 [SEP] 23, Lettuce, -1.126, 1.028, 1.076, 0, 0, 0, 71 [SEP] 24, Mug, -1.075, 1.944, 1.877, 0, 0, 0, 62 [SEP] 25, Lettuce, -0.937, 0.656, 0.195, 0, 90, 0, 78 [SEP] 26, SoapBottle, 1.550, 0.944, 1.631, 0, 180, 0, 73 [SEP] 27, Bread, -0.923, 0.990, 2.265, 0, 302.470, 0, 46 [SEP] 28, Fork, 1.362, 0.938, 2.405, 0, 0, 0, 51 [SEP] 29, Tomato, -1.126, 0.999, 0.687, 0, 0, 0, 71 [SEP] 30, Bowl, -0.971, 1.315, 0.118, 0, 90, 0, 78 [SEP] 31, Pot, -1.109, 0.930, 1.865, 0, 0, 0, 70 [SEP] 32, Spatula, -0.960, 0.952, 0.921, 0, 0, 0, 71 [SEP] 33, Knife, -0.896, 0.768, 2.517, 0, 270, 0, 47 [SEP] 34, SaltShaker, 1.624, 1.944, 1.363, 0, 0, 0, 64 [SEP] 35, Apple, 1.362, 0.993, 1.673, 0, 180, 0, 73 [SEP] 36, PepperShaker, -0.827, 0.743, 1.118, 0, 180, 0, 69 [SEP] 37, ButterKnife, -1.043, 0.937, 0.687, 0, 0, 0, 71 [SEP] 38, Potato, -0.876, 0.970, 0.765, 0, 0, 0, 71 [SEP] 39, Plate, -0.804, 0.086, 2.313, 0, 0, 0, 67 [SEP] 40, DishSponge, -0.960, 0.937, 1.154, 0, 0, 0, 71 [SEP] 41, Egg, 1.587, 1.621, 1.546, 0, 270, 0, 85 [SEP] 42, Cup, 1.585, 1.947, 1.504, 0, 0, 0, 64 [SEP] 43, Pan, 1.378, 1.737, 0.392, 0, 270, 0, 54 [SEP] 44, Spoon, -0.896, 0.747, 1.050, 0, 270, 0, 69 [SEP] 45, Mug, 1.652, 1.591, 1.808, 0, 270, 0, 85 [SEP] 46, CounterTop, -0.973, 0.973, 2.386, 0, 0, 0, [SEP] 47, Drawer, -0.783, 0.774, 2.381, 0, 180, 0, [SEP] 48, StoveBurner, -1.108, 0.922, 1.470, 0, 0, 0, [SEP] 49, Drawer, 1.370, 0.774, 2.391, 0, 0, 0, [SEP] 50, Stool, -0.748, 0.008, 3.116, 0, 0, 0, [SEP] 51, CounterTop, 1.504, 0.973, 2.309, 0, 0, 0, [SEP] 52, Cabinet, 1.219, 1.388, 0.591, 0, 0, 0, [SEP] 53, Cabinet, 1.500, 2.113, 1.164, 0, 0, 0, [SEP] 54, Cabinet, 1.219, 2.010, 0.591, 0, 0, 0, [SEP] 55, Cabinet, 1.219, 0.388, 2.105, 0, 0, 0, [SEP] 56, Cabinet, 1.219, 0.553, 0.591, 0, 0, 0, [SEP] 57, Cabinet, -0.913, 2.113, 1.164, 0, 0, 0, [SEP] 58, Cabinet, -0.633, 0.388, 0.627, 0, 0, 0, [SEP] 59, Cabinet, -0.913, 2.050, -0.329, 0, 0, 0, [SEP] 60, Cabinet, -0.913, 2.113, 0.583, 0, 0, 0, [SEP] 61, Cabinet, -0.913, 2.113, 2.082, 0, 0, 0, [SEP] 62, Cabinet, -0.913, 2.113, 1.207, 0, 0, 0, [SEP] 63, Cabinet, 1.500, 2.113, 2.082, 0, 0, 0, [SEP] 64, Cabinet, 1.500, 2.113, 1.207, 0, 0, 0, [SEP] 65, Cabinet, 1.500, 1.810, 2.691, 0, 0, 0, [SEP] 66, Cabinet, 1.500, 1.810, 2.101, 0, 0, 0, [SEP] 67, Cabinet, -0.633, 0.388, 2.105, 0, 0, 0, [SEP] 68, Cabinet, -0.911, 1.810, 2.700, 0, 180, 0, [SEP] 69, Drawer, -0.783, 0.774, 0.915, 0, 180, 0, [SEP] 70, StoveBurner, -1.108, 0.922, 1.865, 0, 0, 0, [SEP] 71, CounterTop, -0.972, 0.973, 0.921, 0, 0, 0, [SEP] 72, Cabinet, 1.219, 0.388, 0.631, 0, 0, 0, [SEP] 73, Sink, 1.544, 0.869, 1.639, 0, 180, 0, [SEP] 74, StoveBurner, -0.832, 0.922, 1.865, 0, 0, 0, [SEP] 75, StoveBurner, -0.831, 0.922, 1.470, 0, 0, 0, [SEP] 76, Drawer, 1.370, 0.774, 0.916, 0, 0, 0, [SEP] 77, Cabinet, -0.911, 1.810, 2.111, 0, 180, 0, [SEP] 78, Fridge, -1.001, 0.0, 0.119, 0, 0, 0, [SEP] 79, StoveKnob, -0.648, 0.926, 1.923, 0, 270, 0, [SEP] 80, StoveKnob, -0.648, 0.926, 1.363, 0, 270, 0, [SEP] 81, StoveKnob, -0.648, 0.926, 1.513, 0, 270, 0, [SEP] 82, StoveKnob, -0.648, 0.926, 1.763, 0, 270, 0, [SEP] 83, Toaster, -1.002, 0.926, 2.561, 0, 90, 0, [SEP] 84, GarbageCan, 1.451, -0.029, 2.912, 0, 0, 0, [SEP] 85, Microwave, 1.632, 1.480, 1.645, 0, 270, 0, [SEP] 86, Window, 0.224, 1.601, 3.509, 90, 0, 0, [SEP] 87, CoffeeMachine, 1.692, 0.926, 2.453, 0, 270, 0, [SEP] 88, SinkBasin, 1.461, 0.833, 1.369, 0, 180, 0, [SEP] 89, LightSwitch, 0.451, 1.412, -1.674, 0, 0, 0, [SEP] 90, Faucet, 1.707, 0.925, 1.363, 0, 270, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Move forward, then turn right at the counter adjacent to the fridge. | STEP 2: Pick up the tomato on the counter. | STEP 3: Go to the fridge to your left. | STEP 4: Open the fridge, put the tomato inside, chill it, then take the tomato out. | STEP 5: Return to the counter to your right. | STEP 6: Place the tomato on the counter. | END"]} +{"id": "trial_T20190909_063844_274181-1", "input": "Place a cold tomato on the counter top SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 2.5, 0, 180, 0, [SEP] 1, Pan, -1.109, 0.930, 1.470, 0, 0, 0, 48 [SEP] 2, Potato, 1.390, 0.102, 2.879, 0, 0, 0, 84 [SEP] 3, Potato, -1.127, 0.970, 2.159, 0, 0, 0, 46 [SEP] 4, DishSponge, -1.126, 0.937, 0.843, 0, 0, 0, 71 [SEP] 5, Fork, 1.746, 0.938, 0.806, 0, 90, 0, 51 [SEP] 6, Spoon, -1.127, 0.939, 2.310, 0, 90, 0, 46 [SEP] 7, Spoon, -0.960, 0.939, 1.076, 0, 0, 0, 71 [SEP] 8, Spatula, 1.669, 0.952, 1.074, 0, 0, 0, 51 [SEP] 9, Spatula, -0.876, 0.952, 0.998, 0, 180, 0, 71 [SEP] 10, Egg, -0.924, 1.534, 0.348, 0, 90, 0, 78 [SEP] 11, Plate, -1.078, 1.506, 0.887, 0, 0, 0, 57 [SEP] 12, Plate, 1.391, 0.086, 0.848, 0, 0, 0, 72 [SEP] 13, Knife, -0.861, 0.768, 0.779, 0, 90, 0, 69 [SEP] 14, Knife, 1.592, 0.959, 0.873, 0, 0, 0, 51 [SEP] 15, Tomato, -1.211, 0.999, 2.310, 0, 0, 0, 46 [SEP] 16, SoapBottle, 1.523, 0.069, 2.879, 0, 0, 0, 84 [SEP] 17, Bowl, -1.106, 1.947, 1.411, 0, 0, 0, 62 [SEP] 18, Bowl, 1.382, 0.097, 0.373, 0, 0, 0, 56 [SEP] 19, SaltShaker, -1.209, 0.934, 0.921, 0, 0, 0, 71 [SEP] 20, SaltShaker, -1.115, 1.824, 0.514, 0, 0, 0, 60 [SEP] 21, PepperShaker, -0.827, 0.743, 2.449, 0, 180, 0, 47 [SEP] 22, PepperShaker, -0.961, 1.497, 2.613, 0, 180, 0, 68 [SEP] 23, Lettuce, -1.126, 1.028, 1.076, 0, 0, 0, 71 [SEP] 24, Mug, -1.075, 1.944, 1.877, 0, 0, 0, 62 [SEP] 25, Lettuce, -0.937, 0.656, 0.195, 0, 90, 0, 78 [SEP] 26, SoapBottle, 1.550, 0.944, 1.631, 0, 180, 0, 73 [SEP] 27, Bread, -0.923, 0.990, 2.265, 0, 302.470, 0, 46 [SEP] 28, Fork, 1.362, 0.938, 2.405, 0, 0, 0, 51 [SEP] 29, Tomato, -1.126, 0.999, 0.687, 0, 0, 0, 71 [SEP] 30, Bowl, -0.971, 1.315, 0.118, 0, 90, 0, 78 [SEP] 31, Pot, -1.109, 0.930, 1.865, 0, 0, 0, 70 [SEP] 32, Spatula, -0.960, 0.952, 0.921, 0, 0, 0, 71 [SEP] 33, Knife, -0.896, 0.768, 2.517, 0, 270, 0, 47 [SEP] 34, SaltShaker, 1.624, 1.944, 1.363, 0, 0, 0, 64 [SEP] 35, Apple, 1.362, 0.993, 1.673, 0, 180, 0, 73 [SEP] 36, PepperShaker, -0.827, 0.743, 1.118, 0, 180, 0, 69 [SEP] 37, ButterKnife, -1.043, 0.937, 0.687, 0, 0, 0, 71 [SEP] 38, Potato, -0.876, 0.970, 0.765, 0, 0, 0, 71 [SEP] 39, Plate, -0.804, 0.086, 2.313, 0, 0, 0, 67 [SEP] 40, DishSponge, -0.960, 0.937, 1.154, 0, 0, 0, 71 [SEP] 41, Egg, 1.587, 1.621, 1.546, 0, 270, 0, 85 [SEP] 42, Cup, 1.585, 1.947, 1.504, 0, 0, 0, 64 [SEP] 43, Pan, 1.378, 1.737, 0.392, 0, 270, 0, 54 [SEP] 44, Spoon, -0.896, 0.747, 1.050, 0, 270, 0, 69 [SEP] 45, Mug, 1.652, 1.591, 1.808, 0, 270, 0, 85 [SEP] 46, CounterTop, -0.973, 0.973, 2.386, 0, 0, 0, [SEP] 47, Drawer, -0.783, 0.774, 2.381, 0, 180, 0, [SEP] 48, StoveBurner, -1.108, 0.922, 1.470, 0, 0, 0, [SEP] 49, Drawer, 1.370, 0.774, 2.391, 0, 0, 0, [SEP] 50, Stool, -0.748, 0.008, 3.116, 0, 0, 0, [SEP] 51, CounterTop, 1.504, 0.973, 2.309, 0, 0, 0, [SEP] 52, Cabinet, 1.219, 1.388, 0.591, 0, 0, 0, [SEP] 53, Cabinet, 1.500, 2.113, 1.164, 0, 0, 0, [SEP] 54, Cabinet, 1.219, 2.010, 0.591, 0, 0, 0, [SEP] 55, Cabinet, 1.219, 0.388, 2.105, 0, 0, 0, [SEP] 56, Cabinet, 1.219, 0.553, 0.591, 0, 0, 0, [SEP] 57, Cabinet, -0.913, 2.113, 1.164, 0, 0, 0, [SEP] 58, Cabinet, -0.633, 0.388, 0.627, 0, 0, 0, [SEP] 59, Cabinet, -0.913, 2.050, -0.329, 0, 0, 0, [SEP] 60, Cabinet, -0.913, 2.113, 0.583, 0, 0, 0, [SEP] 61, Cabinet, -0.913, 2.113, 2.082, 0, 0, 0, [SEP] 62, Cabinet, -0.913, 2.113, 1.207, 0, 0, 0, [SEP] 63, Cabinet, 1.500, 2.113, 2.082, 0, 0, 0, [SEP] 64, Cabinet, 1.500, 2.113, 1.207, 0, 0, 0, [SEP] 65, Cabinet, 1.500, 1.810, 2.691, 0, 0, 0, [SEP] 66, Cabinet, 1.500, 1.810, 2.101, 0, 0, 0, [SEP] 67, Cabinet, -0.633, 0.388, 2.105, 0, 0, 0, [SEP] 68, Cabinet, -0.911, 1.810, 2.700, 0, 180, 0, [SEP] 69, Drawer, -0.783, 0.774, 0.915, 0, 180, 0, [SEP] 70, StoveBurner, -1.108, 0.922, 1.865, 0, 0, 0, [SEP] 71, CounterTop, -0.972, 0.973, 0.921, 0, 0, 0, [SEP] 72, Cabinet, 1.219, 0.388, 0.631, 0, 0, 0, [SEP] 73, Sink, 1.544, 0.869, 1.639, 0, 180, 0, [SEP] 74, StoveBurner, -0.832, 0.922, 1.865, 0, 0, 0, [SEP] 75, StoveBurner, -0.831, 0.922, 1.470, 0, 0, 0, [SEP] 76, Drawer, 1.370, 0.774, 0.916, 0, 0, 0, [SEP] 77, Cabinet, -0.911, 1.810, 2.111, 0, 180, 0, [SEP] 78, Fridge, -1.001, 0.0, 0.119, 0, 0, 0, [SEP] 79, StoveKnob, -0.648, 0.926, 1.923, 0, 270, 0, [SEP] 80, StoveKnob, -0.648, 0.926, 1.363, 0, 270, 0, [SEP] 81, StoveKnob, -0.648, 0.926, 1.513, 0, 270, 0, [SEP] 82, StoveKnob, -0.648, 0.926, 1.763, 0, 270, 0, [SEP] 83, Toaster, -1.002, 0.926, 2.561, 0, 90, 0, [SEP] 84, GarbageCan, 1.451, -0.029, 2.912, 0, 0, 0, [SEP] 85, Microwave, 1.632, 1.480, 1.645, 0, 270, 0, [SEP] 86, Window, 0.224, 1.601, 3.509, 90, 0, 0, [SEP] 87, CoffeeMachine, 1.692, 0.926, 2.453, 0, 270, 0, [SEP] 88, SinkBasin, 1.461, 0.833, 1.369, 0, 180, 0, [SEP] 89, LightSwitch, 0.451, 1.412, -1.674, 0, 0, 0, [SEP] 90, Faucet, 1.707, 0.925, 1.363, 0, 270, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: go to the end of the counter on the right and turn to the right facing the counter top | STEP 2: pick up the tomato from the counter top | STEP 3: turn to the left and take few steps and turn to the right facing the refrigerator | STEP 4: open the refrigerator door and put the tomato on the shelf and close the door and wait and open the door and take out the tomato and close the refrigerator door | STEP 5: turn to the right and take a few steps and turn to the left facing the counter top | STEP 6: put the tomato on the counter top right of the spatula | END"]} +{"id": "trial_T20190909_063844_274181-2", "input": "Put a cooled tomato on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 2.5, 0, 180, 0, [SEP] 1, Pan, -1.109, 0.930, 1.470, 0, 0, 0, 48 [SEP] 2, Potato, 1.390, 0.102, 2.879, 0, 0, 0, 84 [SEP] 3, Potato, -1.127, 0.970, 2.159, 0, 0, 0, 46 [SEP] 4, DishSponge, -1.126, 0.937, 0.843, 0, 0, 0, 71 [SEP] 5, Fork, 1.746, 0.938, 0.806, 0, 90, 0, 51 [SEP] 6, Spoon, -1.127, 0.939, 2.310, 0, 90, 0, 46 [SEP] 7, Spoon, -0.960, 0.939, 1.076, 0, 0, 0, 71 [SEP] 8, Spatula, 1.669, 0.952, 1.074, 0, 0, 0, 51 [SEP] 9, Spatula, -0.876, 0.952, 0.998, 0, 180, 0, 71 [SEP] 10, Egg, -0.924, 1.534, 0.348, 0, 90, 0, 78 [SEP] 11, Plate, -1.078, 1.506, 0.887, 0, 0, 0, 57 [SEP] 12, Plate, 1.391, 0.086, 0.848, 0, 0, 0, 72 [SEP] 13, Knife, -0.861, 0.768, 0.779, 0, 90, 0, 69 [SEP] 14, Knife, 1.592, 0.959, 0.873, 0, 0, 0, 51 [SEP] 15, Tomato, -1.211, 0.999, 2.310, 0, 0, 0, 46 [SEP] 16, SoapBottle, 1.523, 0.069, 2.879, 0, 0, 0, 84 [SEP] 17, Bowl, -1.106, 1.947, 1.411, 0, 0, 0, 62 [SEP] 18, Bowl, 1.382, 0.097, 0.373, 0, 0, 0, 56 [SEP] 19, SaltShaker, -1.209, 0.934, 0.921, 0, 0, 0, 71 [SEP] 20, SaltShaker, -1.115, 1.824, 0.514, 0, 0, 0, 60 [SEP] 21, PepperShaker, -0.827, 0.743, 2.449, 0, 180, 0, 47 [SEP] 22, PepperShaker, -0.961, 1.497, 2.613, 0, 180, 0, 68 [SEP] 23, Lettuce, -1.126, 1.028, 1.076, 0, 0, 0, 71 [SEP] 24, Mug, -1.075, 1.944, 1.877, 0, 0, 0, 62 [SEP] 25, Lettuce, -0.937, 0.656, 0.195, 0, 90, 0, 78 [SEP] 26, SoapBottle, 1.550, 0.944, 1.631, 0, 180, 0, 73 [SEP] 27, Bread, -0.923, 0.990, 2.265, 0, 302.470, 0, 46 [SEP] 28, Fork, 1.362, 0.938, 2.405, 0, 0, 0, 51 [SEP] 29, Tomato, -1.126, 0.999, 0.687, 0, 0, 0, 71 [SEP] 30, Bowl, -0.971, 1.315, 0.118, 0, 90, 0, 78 [SEP] 31, Pot, -1.109, 0.930, 1.865, 0, 0, 0, 70 [SEP] 32, Spatula, -0.960, 0.952, 0.921, 0, 0, 0, 71 [SEP] 33, Knife, -0.896, 0.768, 2.517, 0, 270, 0, 47 [SEP] 34, SaltShaker, 1.624, 1.944, 1.363, 0, 0, 0, 64 [SEP] 35, Apple, 1.362, 0.993, 1.673, 0, 180, 0, 73 [SEP] 36, PepperShaker, -0.827, 0.743, 1.118, 0, 180, 0, 69 [SEP] 37, ButterKnife, -1.043, 0.937, 0.687, 0, 0, 0, 71 [SEP] 38, Potato, -0.876, 0.970, 0.765, 0, 0, 0, 71 [SEP] 39, Plate, -0.804, 0.086, 2.313, 0, 0, 0, 67 [SEP] 40, DishSponge, -0.960, 0.937, 1.154, 0, 0, 0, 71 [SEP] 41, Egg, 1.587, 1.621, 1.546, 0, 270, 0, 85 [SEP] 42, Cup, 1.585, 1.947, 1.504, 0, 0, 0, 64 [SEP] 43, Pan, 1.378, 1.737, 0.392, 0, 270, 0, 54 [SEP] 44, Spoon, -0.896, 0.747, 1.050, 0, 270, 0, 69 [SEP] 45, Mug, 1.652, 1.591, 1.808, 0, 270, 0, 85 [SEP] 46, CounterTop, -0.973, 0.973, 2.386, 0, 0, 0, [SEP] 47, Drawer, -0.783, 0.774, 2.381, 0, 180, 0, [SEP] 48, StoveBurner, -1.108, 0.922, 1.470, 0, 0, 0, [SEP] 49, Drawer, 1.370, 0.774, 2.391, 0, 0, 0, [SEP] 50, Stool, -0.748, 0.008, 3.116, 0, 0, 0, [SEP] 51, CounterTop, 1.504, 0.973, 2.309, 0, 0, 0, [SEP] 52, Cabinet, 1.219, 1.388, 0.591, 0, 0, 0, [SEP] 53, Cabinet, 1.500, 2.113, 1.164, 0, 0, 0, [SEP] 54, Cabinet, 1.219, 2.010, 0.591, 0, 0, 0, [SEP] 55, Cabinet, 1.219, 0.388, 2.105, 0, 0, 0, [SEP] 56, Cabinet, 1.219, 0.553, 0.591, 0, 0, 0, [SEP] 57, Cabinet, -0.913, 2.113, 1.164, 0, 0, 0, [SEP] 58, Cabinet, -0.633, 0.388, 0.627, 0, 0, 0, [SEP] 59, Cabinet, -0.913, 2.050, -0.329, 0, 0, 0, [SEP] 60, Cabinet, -0.913, 2.113, 0.583, 0, 0, 0, [SEP] 61, Cabinet, -0.913, 2.113, 2.082, 0, 0, 0, [SEP] 62, Cabinet, -0.913, 2.113, 1.207, 0, 0, 0, [SEP] 63, Cabinet, 1.500, 2.113, 2.082, 0, 0, 0, [SEP] 64, Cabinet, 1.500, 2.113, 1.207, 0, 0, 0, [SEP] 65, Cabinet, 1.500, 1.810, 2.691, 0, 0, 0, [SEP] 66, Cabinet, 1.500, 1.810, 2.101, 0, 0, 0, [SEP] 67, Cabinet, -0.633, 0.388, 2.105, 0, 0, 0, [SEP] 68, Cabinet, -0.911, 1.810, 2.700, 0, 180, 0, [SEP] 69, Drawer, -0.783, 0.774, 0.915, 0, 180, 0, [SEP] 70, StoveBurner, -1.108, 0.922, 1.865, 0, 0, 0, [SEP] 71, CounterTop, -0.972, 0.973, 0.921, 0, 0, 0, [SEP] 72, Cabinet, 1.219, 0.388, 0.631, 0, 0, 0, [SEP] 73, Sink, 1.544, 0.869, 1.639, 0, 180, 0, [SEP] 74, StoveBurner, -0.832, 0.922, 1.865, 0, 0, 0, [SEP] 75, StoveBurner, -0.831, 0.922, 1.470, 0, 0, 0, [SEP] 76, Drawer, 1.370, 0.774, 0.916, 0, 0, 0, [SEP] 77, Cabinet, -0.911, 1.810, 2.111, 0, 180, 0, [SEP] 78, Fridge, -1.001, 0.0, 0.119, 0, 0, 0, [SEP] 79, StoveKnob, -0.648, 0.926, 1.923, 0, 270, 0, [SEP] 80, StoveKnob, -0.648, 0.926, 1.363, 0, 270, 0, [SEP] 81, StoveKnob, -0.648, 0.926, 1.513, 0, 270, 0, [SEP] 82, StoveKnob, -0.648, 0.926, 1.763, 0, 270, 0, [SEP] 83, Toaster, -1.002, 0.926, 2.561, 0, 90, 0, [SEP] 84, GarbageCan, 1.451, -0.029, 2.912, 0, 0, 0, [SEP] 85, Microwave, 1.632, 1.480, 1.645, 0, 270, 0, [SEP] 86, Window, 0.224, 1.601, 3.509, 90, 0, 0, [SEP] 87, CoffeeMachine, 1.692, 0.926, 2.453, 0, 270, 0, [SEP] 88, SinkBasin, 1.461, 0.833, 1.369, 0, 180, 0, [SEP] 89, LightSwitch, 0.451, 1.412, -1.674, 0, 0, 0, [SEP] 90, Faucet, 1.707, 0.925, 1.363, 0, 270, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Move forward past the sink on your right, turn right to face the tomato on the counter. | STEP 2: Pick up the tomato on the counter. | STEP 3: Bring the tomato to the fridge on the left. | STEP 4: Cool the tomato in the fridge. | STEP 5: Bring the cooled tomato to the counter, right of the fridge, left of the stove. | STEP 6: Put the cooled tomato on the front right of the counter. | END"]} +{"id": "trial_T20190909_055248_059513-0", "input": "Put a candle on the back of a toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 0.5, 0, 0, 0, [SEP] 1, SoapBar, -1.901, 0.016, -1.537, 0, 0, 0, 30 [SEP] 2, SoapBar, -1.340, 0.909, -1.609, 347.851, 0, 0, 39 [SEP] 3, Candle, -1.300, 0.907, -1.314, 0, 0, 0, 24 [SEP] 4, Candle, 0.500, 0.590, -1.452, 0, 0, 0, 29 [SEP] 5, Candle, -0.140, 0.907, -1.484, 0, 0, 0, 24 [SEP] 6, SprayBottle, -1.963, 1.045, 0.337, 0, 90, 0, 42 [SEP] 7, SoapBottle, -1.969, 0.911, -1.622, 0, 180, 0, 24 [SEP] 8, ToiletPaper, -1.949, 0.905, -1.758, 0, 0, 0, 24 [SEP] 9, Towel, 0.89, 1.368, -1.755, 0, 0, 0, 34 [SEP] 10, HandTowel, -2.028, 1.492, -1.482, 0, 270, 0, 40 [SEP] 11, SoapBar, -0.599, 0.925, -1.534, 347.851, 0, 0, 37 [SEP] 12, ToiletPaper, 0.119, 0.148, -1.506, 0, 90, 0, 41 [SEP] 13, ToiletPaper, 0.099, 0.148, -1.629, 0, 90, 0, 41 [SEP] 14, Cloth, 1.000, 0.171, -1.248, 0, 270, 0, 38 [SEP] 15, SprayBottle, -1.841, 1.045, 0.140, 0, 90, 0, 42 [SEP] 16, ScrubBrush, -1.648, -0.000, 0.649, 0, 0, 0, Floor|-00.27| [SEP] 17, Plunger, -1.885, -0.001, 0.609, 0, 0, 0, Floor|-00.27| [SEP] 18, Candle, 0.450, 0.590, -1.724, 0, 0, 0, 29 [SEP] 19, SoapBottle, -1.042, 0.911, -1.418, 0, 0, 0, 24 [SEP] 20, Cabinet, -1.052, 0.340, -1.327, 0, 0, 0, [SEP] 21, Cabinet, -1.039, 0.340, -1.327, 0, 0, 0, [SEP] 22, ShowerGlass, 0.919, 1.417, -0.206, 0, 0, 0, [SEP] 23, Sink, -1.560, 0.811, -1.598, 0, 0, 0, [SEP] 24, CounterTop, -1.041, 0.884, -1.531, 0, 0, 0, [SEP] 25, ShowerDoor, 0.451, 0.926, 0.696, 0, 0, 0, [SEP] 26, Faucet, -0.505, 0.898, -1.779, 0, 0, 0, [SEP] 27, Cabinet, -0.071, 0.340, -1.327, 0, 0, 0, [SEP] 28, Mirror, -1.014, 1.501, -1.840, 0, 0, 0, [SEP] 29, Bathtub, 0.883, 0.392, -1.154, 0, 0, 0, [SEP] 30, Cabinet, -2.020, 0.340, -1.327, 0, 0, 0, [SEP] 31, Sink, -0.526, 0.811, -1.598, 0, 0, 0, [SEP] 32, Window, 1.532, 1.672, -1.037, 0, 0, 0, [SEP] 33, ShowerCurtain, 0.460, 1.777, -1.522, 0, 0, 0, [SEP] 34, TowelHolder, 0.889, 1.353, -1.861, 0, 0, 0, [SEP] 35, ToiletPaperHanger, -1.182, 0.919, 0.768, 0, 180, 0, [SEP] 36, LightSwitch, 0.224, 1.333, 0.762, 0, 180, 0, [SEP] 37, SinkBasin, -0.536, 0.917, -1.532, 347.851, 0, 0, [SEP] 38, BathtubBasin, 0.938, 0.160, -1.126, 0, 270, 0, [SEP] 39, SinkBasin, -1.571, 0.917, -1.532, 347.851, 0, 0, [SEP] 40, HandTowelHolder, -2.066, 1.594, -1.482, 0, 0, 0, [SEP] 41, GarbageCan, 0.122, -0.002, -1.558, 0, 270, 0, [SEP] 42, Toilet, -1.610, -0.000, 0.209, 0, 180, 0, [SEP] 43, Faucet, -1.537, 0.898, -1.779, 0, 0, 0, [SEP] 44, Faucet, 0.929, 0.509, -1.978, 0, 0, 0, [SEP] 45, Faucet, 0.890, 1.689, 0.724, 0, 0, 0, [SEP] 46, NorthWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and face the counter between the two sinks. | STEP 2: Pick the candle up from in front of the sink on the right. | STEP 3: Turn around and face the toilet. | STEP 4: Put the candle on the back of the toilet. | END"]} +{"id": "trial_T20190909_055248_059513-1", "input": "Move a candle from a counter to the top of a toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 0.5, 0, 0, 0, [SEP] 1, SoapBar, -1.901, 0.016, -1.537, 0, 0, 0, 30 [SEP] 2, SoapBar, -1.340, 0.909, -1.609, 347.851, 0, 0, 39 [SEP] 3, Candle, -1.300, 0.907, -1.314, 0, 0, 0, 24 [SEP] 4, Candle, 0.500, 0.590, -1.452, 0, 0, 0, 29 [SEP] 5, Candle, -0.140, 0.907, -1.484, 0, 0, 0, 24 [SEP] 6, SprayBottle, -1.963, 1.045, 0.337, 0, 90, 0, 42 [SEP] 7, SoapBottle, -1.969, 0.911, -1.622, 0, 180, 0, 24 [SEP] 8, ToiletPaper, -1.949, 0.905, -1.758, 0, 0, 0, 24 [SEP] 9, Towel, 0.89, 1.368, -1.755, 0, 0, 0, 34 [SEP] 10, HandTowel, -2.028, 1.492, -1.482, 0, 270, 0, 40 [SEP] 11, SoapBar, -0.599, 0.925, -1.534, 347.851, 0, 0, 37 [SEP] 12, ToiletPaper, 0.119, 0.148, -1.506, 0, 90, 0, 41 [SEP] 13, ToiletPaper, 0.099, 0.148, -1.629, 0, 90, 0, 41 [SEP] 14, Cloth, 1.000, 0.171, -1.248, 0, 270, 0, 38 [SEP] 15, SprayBottle, -1.841, 1.045, 0.140, 0, 90, 0, 42 [SEP] 16, ScrubBrush, -1.648, -0.000, 0.649, 0, 0, 0, Floor|-00.27| [SEP] 17, Plunger, -1.885, -0.001, 0.609, 0, 0, 0, Floor|-00.27| [SEP] 18, Candle, 0.450, 0.590, -1.724, 0, 0, 0, 29 [SEP] 19, SoapBottle, -1.042, 0.911, -1.418, 0, 0, 0, 24 [SEP] 20, Cabinet, -1.052, 0.340, -1.327, 0, 0, 0, [SEP] 21, Cabinet, -1.039, 0.340, -1.327, 0, 0, 0, [SEP] 22, ShowerGlass, 0.919, 1.417, -0.206, 0, 0, 0, [SEP] 23, Sink, -1.560, 0.811, -1.598, 0, 0, 0, [SEP] 24, CounterTop, -1.041, 0.884, -1.531, 0, 0, 0, [SEP] 25, ShowerDoor, 0.451, 0.926, 0.696, 0, 0, 0, [SEP] 26, Faucet, -0.505, 0.898, -1.779, 0, 0, 0, [SEP] 27, Cabinet, -0.071, 0.340, -1.327, 0, 0, 0, [SEP] 28, Mirror, -1.014, 1.501, -1.840, 0, 0, 0, [SEP] 29, Bathtub, 0.883, 0.392, -1.154, 0, 0, 0, [SEP] 30, Cabinet, -2.020, 0.340, -1.327, 0, 0, 0, [SEP] 31, Sink, -0.526, 0.811, -1.598, 0, 0, 0, [SEP] 32, Window, 1.532, 1.672, -1.037, 0, 0, 0, [SEP] 33, ShowerCurtain, 0.460, 1.777, -1.522, 0, 0, 0, [SEP] 34, TowelHolder, 0.889, 1.353, -1.861, 0, 0, 0, [SEP] 35, ToiletPaperHanger, -1.182, 0.919, 0.768, 0, 180, 0, [SEP] 36, LightSwitch, 0.224, 1.333, 0.762, 0, 180, 0, [SEP] 37, SinkBasin, -0.536, 0.917, -1.532, 347.851, 0, 0, [SEP] 38, BathtubBasin, 0.938, 0.160, -1.126, 0, 270, 0, [SEP] 39, SinkBasin, -1.571, 0.917, -1.532, 347.851, 0, 0, [SEP] 40, HandTowelHolder, -2.066, 1.594, -1.482, 0, 0, 0, [SEP] 41, GarbageCan, 0.122, -0.002, -1.558, 0, 270, 0, [SEP] 42, Toilet, -1.610, -0.000, 0.209, 0, 180, 0, [SEP] 43, Faucet, -1.537, 0.898, -1.779, 0, 0, 0, [SEP] 44, Faucet, 0.929, 0.509, -1.978, 0, 0, 0, [SEP] 45, Faucet, 0.890, 1.689, 0.724, 0, 0, 0, [SEP] 46, NorthWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk forward to the candle on the counter in front of the sink on the right. | STEP 2: Pick up the candle from the counter. | STEP 3: Turn around and walk to the toilet. | STEP 4: Put the candle on the top of the toilet, to the left of the closest spray bottle. | END"]} +{"id": "trial_T20190909_055248_059513-2", "input": "Move candle from counter to toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 0.5, 0, 0, 0, [SEP] 1, SoapBar, -1.901, 0.016, -1.537, 0, 0, 0, 30 [SEP] 2, SoapBar, -1.340, 0.909, -1.609, 347.851, 0, 0, 39 [SEP] 3, Candle, -1.300, 0.907, -1.314, 0, 0, 0, 24 [SEP] 4, Candle, 0.500, 0.590, -1.452, 0, 0, 0, 29 [SEP] 5, Candle, -0.140, 0.907, -1.484, 0, 0, 0, 24 [SEP] 6, SprayBottle, -1.963, 1.045, 0.337, 0, 90, 0, 42 [SEP] 7, SoapBottle, -1.969, 0.911, -1.622, 0, 180, 0, 24 [SEP] 8, ToiletPaper, -1.949, 0.905, -1.758, 0, 0, 0, 24 [SEP] 9, Towel, 0.89, 1.368, -1.755, 0, 0, 0, 34 [SEP] 10, HandTowel, -2.028, 1.492, -1.482, 0, 270, 0, 40 [SEP] 11, SoapBar, -0.599, 0.925, -1.534, 347.851, 0, 0, 37 [SEP] 12, ToiletPaper, 0.119, 0.148, -1.506, 0, 90, 0, 41 [SEP] 13, ToiletPaper, 0.099, 0.148, -1.629, 0, 90, 0, 41 [SEP] 14, Cloth, 1.000, 0.171, -1.248, 0, 270, 0, 38 [SEP] 15, SprayBottle, -1.841, 1.045, 0.140, 0, 90, 0, 42 [SEP] 16, ScrubBrush, -1.648, -0.000, 0.649, 0, 0, 0, Floor|-00.27| [SEP] 17, Plunger, -1.885, -0.001, 0.609, 0, 0, 0, Floor|-00.27| [SEP] 18, Candle, 0.450, 0.590, -1.724, 0, 0, 0, 29 [SEP] 19, SoapBottle, -1.042, 0.911, -1.418, 0, 0, 0, 24 [SEP] 20, Cabinet, -1.052, 0.340, -1.327, 0, 0, 0, [SEP] 21, Cabinet, -1.039, 0.340, -1.327, 0, 0, 0, [SEP] 22, ShowerGlass, 0.919, 1.417, -0.206, 0, 0, 0, [SEP] 23, Sink, -1.560, 0.811, -1.598, 0, 0, 0, [SEP] 24, CounterTop, -1.041, 0.884, -1.531, 0, 0, 0, [SEP] 25, ShowerDoor, 0.451, 0.926, 0.696, 0, 0, 0, [SEP] 26, Faucet, -0.505, 0.898, -1.779, 0, 0, 0, [SEP] 27, Cabinet, -0.071, 0.340, -1.327, 0, 0, 0, [SEP] 28, Mirror, -1.014, 1.501, -1.840, 0, 0, 0, [SEP] 29, Bathtub, 0.883, 0.392, -1.154, 0, 0, 0, [SEP] 30, Cabinet, -2.020, 0.340, -1.327, 0, 0, 0, [SEP] 31, Sink, -0.526, 0.811, -1.598, 0, 0, 0, [SEP] 32, Window, 1.532, 1.672, -1.037, 0, 0, 0, [SEP] 33, ShowerCurtain, 0.460, 1.777, -1.522, 0, 0, 0, [SEP] 34, TowelHolder, 0.889, 1.353, -1.861, 0, 0, 0, [SEP] 35, ToiletPaperHanger, -1.182, 0.919, 0.768, 0, 180, 0, [SEP] 36, LightSwitch, 0.224, 1.333, 0.762, 0, 180, 0, [SEP] 37, SinkBasin, -0.536, 0.917, -1.532, 347.851, 0, 0, [SEP] 38, BathtubBasin, 0.938, 0.160, -1.126, 0, 270, 0, [SEP] 39, SinkBasin, -1.571, 0.917, -1.532, 347.851, 0, 0, [SEP] 40, HandTowelHolder, -2.066, 1.594, -1.482, 0, 0, 0, [SEP] 41, GarbageCan, 0.122, -0.002, -1.558, 0, 270, 0, [SEP] 42, Toilet, -1.610, -0.000, 0.209, 0, 180, 0, [SEP] 43, Faucet, -1.537, 0.898, -1.779, 0, 0, 0, [SEP] 44, Faucet, 0.929, 0.509, -1.978, 0, 0, 0, [SEP] 45, Faucet, 0.890, 1.689, 0.724, 0, 0, 0, [SEP] 46, NorthWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, walk to sink, | STEP 2: Pick up candle in between two sinks | STEP 3: Turn around, walk to toilet | STEP 4: Place candle on top of toilet | END"]} +{"id": "trial_T20190908_133804_285739-0", "input": "Move shaker to a different table, cut a tomato with a knife, move knife to pan on stove, move pan and tomato to table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, -2.25, 0, 270, 0, [SEP] 1, Pan, -0.222, 0.961, -2.243, 0, 0, 0, 65 [SEP] 2, Potato, -2.761, 0.926, -0.633, 0, 270, 0, 83 [SEP] 3, Potato, -0.236, 0.973, -1.362, 0, 0, 0, 64 [SEP] 4, DishSponge, -3.163, 0.894, -0.204, 0, 270, 0, 83 [SEP] 5, DishSponge, -1.151, 0.081, -3.532, 0, 0, 0, 61 [SEP] 6, ButterKnife, -2.761, 0.894, -0.376, 0, 270, 0, 83 [SEP] 7, Fork, -3.647, 0.760, -3.264, 0, 64.125, 0, 82 [SEP] 8, Fork, -1.248, 0.942, -3.673, 0, 0, 0, 46 [SEP] 9, Spoon, -4.122, 0.691, -0.369, 0, 180, 0, 81 [SEP] 10, Spoon, -4.122, 0.692, -0.491, 0, 180, 0, 81 [SEP] 11, Egg, -4.002, 0.731, -0.491, 0, 0, 0, 81 [SEP] 12, Plate, -0.412, 1.517, -3.587, 0, 45, 0, 58 [SEP] 13, Knife, -3.364, 0.920, -0.290, 0, 270, 0, 83 [SEP] 14, SoapBottle, -1.139, 0.940, -3.773, 0, 45, 0, 46 [SEP] 15, Tomato, -0.252, 1.337, -0.762, 0, 270, 0, 76 [SEP] 16, Tomato, -0.972, 0.993, -3.816, 0, 45, 0, 46 [SEP] 17, Tomato, -4.080, 0.810, -3.227, 0, 109.125, 0, 82 [SEP] 18, Bowl, -0.321, 1.487, -0.297, 0, 270, 0, 76 [SEP] 19, Bowl, -4.182, 0.688, -0.187, 0, 0, 0, 81 [SEP] 20, Bread, -3.609, 0.841, -3.487, 0, 334.125, 0, 82 [SEP] 21, Bread, -3.952, 0.841, -3.342, 0, 244.125, 0, 82 [SEP] 22, Lettuce, -4.182, 0.781, -0.430, 0, 0, 0, 81 [SEP] 23, SaltShaker, -2.962, 0.890, -0.462, 0, 270, 0, 83 [SEP] 24, Apple, -3.565, 0.956, -0.204, 0, 270, 0, 83 [SEP] 25, SoapBottle, -3.364, 0.892, -0.204, 0, 270, 0, 83 [SEP] 26, Pot, -0.606, 0.802, -3.419, 0, 315, 0, 75 [SEP] 27, Fork, -2.359, 0.895, -0.376, 0, 270, 0, 83 [SEP] 28, Cup, -0.359, 1.489, -0.994, 0, 270, 0, 76 [SEP] 29, Tomato, -4.002, 0.742, -0.369, 0, 0, 0, 81 [SEP] 30, Pan, -0.437, 0.961, -1.845, 0, 180, 0, 47 [SEP] 31, Plate, -0.201, 1.589, -1.990, 0, 270, 0, 78 [SEP] 32, Bread, -2.984, 0.956, -0.311, 0, 50.592, 0, 83 [SEP] 33, Spatula, -3.370, 0.775, -3.539, 0, 199.125, 0, 82 [SEP] 34, Knife, -0.475, 0.777, -2.792, 0, 90, 0, 51 [SEP] 35, SaltShaker, -3.451, 0.756, -3.214, 0, 199.125, 0, 82 [SEP] 36, PepperShaker, -0.406, 0.748, -2.632, 0, 0, 0, 51 [SEP] 37, ButterKnife, -0.236, 0.941, -1.494, 0, 0, 0, 64 [SEP] 38, Apple, -0.376, 1.348, -0.413, 0, 270, 0, 76 [SEP] 39, DishSponge, -0.243, 0.941, -3.070, 0, 45, 0, 46 [SEP] 40, Potato, -0.252, 1.318, -0.878, 0, 270, 0, 76 [SEP] 41, Egg, -0.167, 1.620, -1.831, 0, 270, 0, 78 [SEP] 42, Spoon, -2.560, 0.895, -0.204, 0, 270, 0, 83 [SEP] 43, Lettuce, -0.283, 1.579, -0.646, 0, 270, 0, 76 [SEP] 44, Mug, -2.761, 0.889, -0.119, 0, 270, 0, 83 [SEP] 45, Bowl, -4.002, 0.688, -0.187, 0, 0, 0, 81 [SEP] 46, CounterTop, -1.937, 0.977, -3.673, 0, 0, 0, [SEP] 47, StoveBurner, -0.437, 0.924, -1.845, 0, 180, 0, [SEP] 48, StoveBurner, -0.222, 0.924, -1.845, 0, 180, 0, [SEP] 49, StoveBurner, -0.437, 0.924, -2.243, 0, 0, 0, [SEP] 50, Drawer, -0.500, 0.779, -1.450, 0, 0, 0, [SEP] 51, Drawer, -0.481, 0.777, -2.739, 0, 0, 0, [SEP] 52, Drawer, -1.154, 0.782, -3.499, 0, 0, 0, [SEP] 53, Cabinet, -0.337, 2.110, -0.390, 0, 0, 0, [SEP] 54, Cabinet, -0.337, 2.110, -1.272, 0, 0, 0, [SEP] 55, Cabinet, -0.337, 2.110, -1.631, 0, 0, 0, [SEP] 56, Cabinet, -0.337, 2.110, -2.497, 0, 0, 0, [SEP] 57, Cabinet, -0.337, 1.891, -1.286, 0, 0, 0, [SEP] 58, Cabinet, -0.346, 1.891, -3.293, 0, 0, 0, [SEP] 59, Cabinet, -0.629, 0.388, -2.513, 0, 0, 0, [SEP] 60, Cabinet, -0.633, 0.388, -3.008, 0, 0, 0, [SEP] 61, Cabinet, -1.010, 0.388, -3.368, 0, 0, 0, [SEP] 62, Cabinet, -0.629, 0.388, -1.614, 0, 0, 0, [SEP] 63, Cabinet, -0.327, 1.886, -2.513, 0, 0, 0, [SEP] 64, CounterTop, -0.326, 0.976, -1.450, 0, 0, 0, [SEP] 65, StoveBurner, -0.222, 0.924, -2.243, 0, 0, 0, [SEP] 66, Sink, -0.600, 0.929, -3.388, 0, 0, 0, [SEP] 67, StoveKnob, -0.617, 0.899, -1.833, 315, 90, 180, [SEP] 68, StoveKnob, -0.617, 0.899, -2.129, 315, 90, 180, [SEP] 69, StoveKnob, -0.617, 0.899, -2.289, 315, 90, 180, [SEP] 70, StoveKnob, -0.617, 0.899, -1.975, 315, 90, 180, [SEP] 71, GarbageCan, -2.418, -0.032, -3.541, 0, 0, 0, [SEP] 72, CoffeeMachine, -2.513, 0.930, -3.797, 0, 0, 0, [SEP] 73, Window, -1.389, 1.610, -4.113, 90, 0, 0, [SEP] 74, LightSwitch, -4.372, 1.493, -1.031, 0, 90, 0, [SEP] 75, SinkBasin, -0.614, 0.802, -3.384, 0, 315, 0, [SEP] 76, Fridge, -0.314, 0.0, -0.646, 0, 0, 0, [SEP] 77, Toaster, -1.970, 0.930, -3.763, 0, 0, 0, [SEP] 78, Microwave, -0.216, 1.470, -2.054, 0, 270, 0, [SEP] 79, Blinds, -1.373, 2.205, -3.961, 0, 0, 0, [SEP] 80, Faucet, -0.393, 0.930, -3.614, 270, 225, 0, [SEP] 81, SideTable, -4.030, 0.002, -0.301, 0, 185.034, 0, [SEP] 82, DiningTable, -3.586, 0.000, -3.258, 0, 0, 0, [SEP] 83, DiningTable, -3.224, -0.003, -0.453, 0, 0, 0, [SEP] 84, Shelf, -4.030, 0.259, -0.301, 0, 185.034, 0, [SEP] 85, Shelf, -4.030, 0.489, -0.301, 0, 185.034, 0, [SEP] 86, EastWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right, go to table across room. | STEP 2: Pick up knife off of table, in front of tomato and pump dispenser. | STEP 3: Turn around, go to table across room. | STEP 4: Slice tomato on table, below the right loaf of bread. | STEP 5: Turn around, go to table across room. | STEP 6: Place knife on table, in front of shaker and to left and above potato. | STEP 7: Turn around, go to table across room. | STEP 8: Pick up end slice of cut tomato off of table. | STEP 9: Turn left, go across room to stove. | STEP 10: Put tomato slice in pan on right back burner of stove. | STEP 11: Pick up pan from back right burner of stove. | STEP 12: Turn around, proceed across room. Turn left, face table table. | STEP 13: Place pan with tomato slice on table, below the two loaves of bread. | END"]} +{"id": "trial_T20190908_133804_285739-1", "input": "Move the pan on the stove with a slice of tomato in it to the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, -2.25, 0, 270, 0, [SEP] 1, Pan, -0.222, 0.961, -2.243, 0, 0, 0, 65 [SEP] 2, Potato, -2.761, 0.926, -0.633, 0, 270, 0, 83 [SEP] 3, Potato, -0.236, 0.973, -1.362, 0, 0, 0, 64 [SEP] 4, DishSponge, -3.163, 0.894, -0.204, 0, 270, 0, 83 [SEP] 5, DishSponge, -1.151, 0.081, -3.532, 0, 0, 0, 61 [SEP] 6, ButterKnife, -2.761, 0.894, -0.376, 0, 270, 0, 83 [SEP] 7, Fork, -3.647, 0.760, -3.264, 0, 64.125, 0, 82 [SEP] 8, Fork, -1.248, 0.942, -3.673, 0, 0, 0, 46 [SEP] 9, Spoon, -4.122, 0.691, -0.369, 0, 180, 0, 81 [SEP] 10, Spoon, -4.122, 0.692, -0.491, 0, 180, 0, 81 [SEP] 11, Egg, -4.002, 0.731, -0.491, 0, 0, 0, 81 [SEP] 12, Plate, -0.412, 1.517, -3.587, 0, 45, 0, 58 [SEP] 13, Knife, -3.364, 0.920, -0.290, 0, 270, 0, 83 [SEP] 14, SoapBottle, -1.139, 0.940, -3.773, 0, 45, 0, 46 [SEP] 15, Tomato, -0.252, 1.337, -0.762, 0, 270, 0, 76 [SEP] 16, Tomato, -0.972, 0.993, -3.816, 0, 45, 0, 46 [SEP] 17, Tomato, -4.080, 0.810, -3.227, 0, 109.125, 0, 82 [SEP] 18, Bowl, -0.321, 1.487, -0.297, 0, 270, 0, 76 [SEP] 19, Bowl, -4.182, 0.688, -0.187, 0, 0, 0, 81 [SEP] 20, Bread, -3.609, 0.841, -3.487, 0, 334.125, 0, 82 [SEP] 21, Bread, -3.952, 0.841, -3.342, 0, 244.125, 0, 82 [SEP] 22, Lettuce, -4.182, 0.781, -0.430, 0, 0, 0, 81 [SEP] 23, SaltShaker, -2.962, 0.890, -0.462, 0, 270, 0, 83 [SEP] 24, Apple, -3.565, 0.956, -0.204, 0, 270, 0, 83 [SEP] 25, SoapBottle, -3.364, 0.892, -0.204, 0, 270, 0, 83 [SEP] 26, Pot, -0.606, 0.802, -3.419, 0, 315, 0, 75 [SEP] 27, Fork, -2.359, 0.895, -0.376, 0, 270, 0, 83 [SEP] 28, Cup, -0.359, 1.489, -0.994, 0, 270, 0, 76 [SEP] 29, Tomato, -4.002, 0.742, -0.369, 0, 0, 0, 81 [SEP] 30, Pan, -0.437, 0.961, -1.845, 0, 180, 0, 47 [SEP] 31, Plate, -0.201, 1.589, -1.990, 0, 270, 0, 78 [SEP] 32, Bread, -2.984, 0.956, -0.311, 0, 50.592, 0, 83 [SEP] 33, Spatula, -3.370, 0.775, -3.539, 0, 199.125, 0, 82 [SEP] 34, Knife, -0.475, 0.777, -2.792, 0, 90, 0, 51 [SEP] 35, SaltShaker, -3.451, 0.756, -3.214, 0, 199.125, 0, 82 [SEP] 36, PepperShaker, -0.406, 0.748, -2.632, 0, 0, 0, 51 [SEP] 37, ButterKnife, -0.236, 0.941, -1.494, 0, 0, 0, 64 [SEP] 38, Apple, -0.376, 1.348, -0.413, 0, 270, 0, 76 [SEP] 39, DishSponge, -0.243, 0.941, -3.070, 0, 45, 0, 46 [SEP] 40, Potato, -0.252, 1.318, -0.878, 0, 270, 0, 76 [SEP] 41, Egg, -0.167, 1.620, -1.831, 0, 270, 0, 78 [SEP] 42, Spoon, -2.560, 0.895, -0.204, 0, 270, 0, 83 [SEP] 43, Lettuce, -0.283, 1.579, -0.646, 0, 270, 0, 76 [SEP] 44, Mug, -2.761, 0.889, -0.119, 0, 270, 0, 83 [SEP] 45, Bowl, -4.002, 0.688, -0.187, 0, 0, 0, 81 [SEP] 46, CounterTop, -1.937, 0.977, -3.673, 0, 0, 0, [SEP] 47, StoveBurner, -0.437, 0.924, -1.845, 0, 180, 0, [SEP] 48, StoveBurner, -0.222, 0.924, -1.845, 0, 180, 0, [SEP] 49, StoveBurner, -0.437, 0.924, -2.243, 0, 0, 0, [SEP] 50, Drawer, -0.500, 0.779, -1.450, 0, 0, 0, [SEP] 51, Drawer, -0.481, 0.777, -2.739, 0, 0, 0, [SEP] 52, Drawer, -1.154, 0.782, -3.499, 0, 0, 0, [SEP] 53, Cabinet, -0.337, 2.110, -0.390, 0, 0, 0, [SEP] 54, Cabinet, -0.337, 2.110, -1.272, 0, 0, 0, [SEP] 55, Cabinet, -0.337, 2.110, -1.631, 0, 0, 0, [SEP] 56, Cabinet, -0.337, 2.110, -2.497, 0, 0, 0, [SEP] 57, Cabinet, -0.337, 1.891, -1.286, 0, 0, 0, [SEP] 58, Cabinet, -0.346, 1.891, -3.293, 0, 0, 0, [SEP] 59, Cabinet, -0.629, 0.388, -2.513, 0, 0, 0, [SEP] 60, Cabinet, -0.633, 0.388, -3.008, 0, 0, 0, [SEP] 61, Cabinet, -1.010, 0.388, -3.368, 0, 0, 0, [SEP] 62, Cabinet, -0.629, 0.388, -1.614, 0, 0, 0, [SEP] 63, Cabinet, -0.327, 1.886, -2.513, 0, 0, 0, [SEP] 64, CounterTop, -0.326, 0.976, -1.450, 0, 0, 0, [SEP] 65, StoveBurner, -0.222, 0.924, -2.243, 0, 0, 0, [SEP] 66, Sink, -0.600, 0.929, -3.388, 0, 0, 0, [SEP] 67, StoveKnob, -0.617, 0.899, -1.833, 315, 90, 180, [SEP] 68, StoveKnob, -0.617, 0.899, -2.129, 315, 90, 180, [SEP] 69, StoveKnob, -0.617, 0.899, -2.289, 315, 90, 180, [SEP] 70, StoveKnob, -0.617, 0.899, -1.975, 315, 90, 180, [SEP] 71, GarbageCan, -2.418, -0.032, -3.541, 0, 0, 0, [SEP] 72, CoffeeMachine, -2.513, 0.930, -3.797, 0, 0, 0, [SEP] 73, Window, -1.389, 1.610, -4.113, 90, 0, 0, [SEP] 74, LightSwitch, -4.372, 1.493, -1.031, 0, 90, 0, [SEP] 75, SinkBasin, -0.614, 0.802, -3.384, 0, 315, 0, [SEP] 76, Fridge, -0.314, 0.0, -0.646, 0, 0, 0, [SEP] 77, Toaster, -1.970, 0.930, -3.763, 0, 0, 0, [SEP] 78, Microwave, -0.216, 1.470, -2.054, 0, 270, 0, [SEP] 79, Blinds, -1.373, 2.205, -3.961, 0, 0, 0, [SEP] 80, Faucet, -0.393, 0.930, -3.614, 270, 225, 0, [SEP] 81, SideTable, -4.030, 0.002, -0.301, 0, 185.034, 0, [SEP] 82, DiningTable, -3.586, 0.000, -3.258, 0, 0, 0, [SEP] 83, DiningTable, -3.224, -0.003, -0.453, 0, 0, 0, [SEP] 84, Shelf, -4.030, 0.259, -0.301, 0, 185.034, 0, [SEP] 85, Shelf, -4.030, 0.489, -0.301, 0, 185.034, 0, [SEP] 86, EastWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right and go to the front of the white table. | STEP 2: Pick up the yellow knife in front of the liquid soap. | STEP 3: Turn around and go to the small round black table in the corner. | STEP 4: Slice the red tomato on the table. | STEP 5: Turn around and go back to the white table. | STEP 6: Place the yellow knife on the table in front of the bread and salt shaker. | STEP 7: Turn around and go back to the black round table with the sliced tomato. | STEP 8: Pick up one slice of tomato from the table. | STEP 9: Turn left and go to the stove. | STEP 10: Place the tomato slice in the brown pan on the right back burner. | STEP 11: Pick up the pan with the tomato slice in it. | STEP 12: Turn around and go back to the black round table. | STEP 13: Place the pan with tomato in it on the table on the right side in front of the bread.. | END"]} +{"id": "trial_T20190908_133804_285739-2", "input": "Move a pan beneath a tomato slice on the black table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, -2.25, 0, 270, 0, [SEP] 1, Pan, -0.222, 0.961, -2.243, 0, 0, 0, 65 [SEP] 2, Potato, -2.761, 0.926, -0.633, 0, 270, 0, 83 [SEP] 3, Potato, -0.236, 0.973, -1.362, 0, 0, 0, 64 [SEP] 4, DishSponge, -3.163, 0.894, -0.204, 0, 270, 0, 83 [SEP] 5, DishSponge, -1.151, 0.081, -3.532, 0, 0, 0, 61 [SEP] 6, ButterKnife, -2.761, 0.894, -0.376, 0, 270, 0, 83 [SEP] 7, Fork, -3.647, 0.760, -3.264, 0, 64.125, 0, 82 [SEP] 8, Fork, -1.248, 0.942, -3.673, 0, 0, 0, 46 [SEP] 9, Spoon, -4.122, 0.691, -0.369, 0, 180, 0, 81 [SEP] 10, Spoon, -4.122, 0.692, -0.491, 0, 180, 0, 81 [SEP] 11, Egg, -4.002, 0.731, -0.491, 0, 0, 0, 81 [SEP] 12, Plate, -0.412, 1.517, -3.587, 0, 45, 0, 58 [SEP] 13, Knife, -3.364, 0.920, -0.290, 0, 270, 0, 83 [SEP] 14, SoapBottle, -1.139, 0.940, -3.773, 0, 45, 0, 46 [SEP] 15, Tomato, -0.252, 1.337, -0.762, 0, 270, 0, 76 [SEP] 16, Tomato, -0.972, 0.993, -3.816, 0, 45, 0, 46 [SEP] 17, Tomato, -4.080, 0.810, -3.227, 0, 109.125, 0, 82 [SEP] 18, Bowl, -0.321, 1.487, -0.297, 0, 270, 0, 76 [SEP] 19, Bowl, -4.182, 0.688, -0.187, 0, 0, 0, 81 [SEP] 20, Bread, -3.609, 0.841, -3.487, 0, 334.125, 0, 82 [SEP] 21, Bread, -3.952, 0.841, -3.342, 0, 244.125, 0, 82 [SEP] 22, Lettuce, -4.182, 0.781, -0.430, 0, 0, 0, 81 [SEP] 23, SaltShaker, -2.962, 0.890, -0.462, 0, 270, 0, 83 [SEP] 24, Apple, -3.565, 0.956, -0.204, 0, 270, 0, 83 [SEP] 25, SoapBottle, -3.364, 0.892, -0.204, 0, 270, 0, 83 [SEP] 26, Pot, -0.606, 0.802, -3.419, 0, 315, 0, 75 [SEP] 27, Fork, -2.359, 0.895, -0.376, 0, 270, 0, 83 [SEP] 28, Cup, -0.359, 1.489, -0.994, 0, 270, 0, 76 [SEP] 29, Tomato, -4.002, 0.742, -0.369, 0, 0, 0, 81 [SEP] 30, Pan, -0.437, 0.961, -1.845, 0, 180, 0, 47 [SEP] 31, Plate, -0.201, 1.589, -1.990, 0, 270, 0, 78 [SEP] 32, Bread, -2.984, 0.956, -0.311, 0, 50.592, 0, 83 [SEP] 33, Spatula, -3.370, 0.775, -3.539, 0, 199.125, 0, 82 [SEP] 34, Knife, -0.475, 0.777, -2.792, 0, 90, 0, 51 [SEP] 35, SaltShaker, -3.451, 0.756, -3.214, 0, 199.125, 0, 82 [SEP] 36, PepperShaker, -0.406, 0.748, -2.632, 0, 0, 0, 51 [SEP] 37, ButterKnife, -0.236, 0.941, -1.494, 0, 0, 0, 64 [SEP] 38, Apple, -0.376, 1.348, -0.413, 0, 270, 0, 76 [SEP] 39, DishSponge, -0.243, 0.941, -3.070, 0, 45, 0, 46 [SEP] 40, Potato, -0.252, 1.318, -0.878, 0, 270, 0, 76 [SEP] 41, Egg, -0.167, 1.620, -1.831, 0, 270, 0, 78 [SEP] 42, Spoon, -2.560, 0.895, -0.204, 0, 270, 0, 83 [SEP] 43, Lettuce, -0.283, 1.579, -0.646, 0, 270, 0, 76 [SEP] 44, Mug, -2.761, 0.889, -0.119, 0, 270, 0, 83 [SEP] 45, Bowl, -4.002, 0.688, -0.187, 0, 0, 0, 81 [SEP] 46, CounterTop, -1.937, 0.977, -3.673, 0, 0, 0, [SEP] 47, StoveBurner, -0.437, 0.924, -1.845, 0, 180, 0, [SEP] 48, StoveBurner, -0.222, 0.924, -1.845, 0, 180, 0, [SEP] 49, StoveBurner, -0.437, 0.924, -2.243, 0, 0, 0, [SEP] 50, Drawer, -0.500, 0.779, -1.450, 0, 0, 0, [SEP] 51, Drawer, -0.481, 0.777, -2.739, 0, 0, 0, [SEP] 52, Drawer, -1.154, 0.782, -3.499, 0, 0, 0, [SEP] 53, Cabinet, -0.337, 2.110, -0.390, 0, 0, 0, [SEP] 54, Cabinet, -0.337, 2.110, -1.272, 0, 0, 0, [SEP] 55, Cabinet, -0.337, 2.110, -1.631, 0, 0, 0, [SEP] 56, Cabinet, -0.337, 2.110, -2.497, 0, 0, 0, [SEP] 57, Cabinet, -0.337, 1.891, -1.286, 0, 0, 0, [SEP] 58, Cabinet, -0.346, 1.891, -3.293, 0, 0, 0, [SEP] 59, Cabinet, -0.629, 0.388, -2.513, 0, 0, 0, [SEP] 60, Cabinet, -0.633, 0.388, -3.008, 0, 0, 0, [SEP] 61, Cabinet, -1.010, 0.388, -3.368, 0, 0, 0, [SEP] 62, Cabinet, -0.629, 0.388, -1.614, 0, 0, 0, [SEP] 63, Cabinet, -0.327, 1.886, -2.513, 0, 0, 0, [SEP] 64, CounterTop, -0.326, 0.976, -1.450, 0, 0, 0, [SEP] 65, StoveBurner, -0.222, 0.924, -2.243, 0, 0, 0, [SEP] 66, Sink, -0.600, 0.929, -3.388, 0, 0, 0, [SEP] 67, StoveKnob, -0.617, 0.899, -1.833, 315, 90, 180, [SEP] 68, StoveKnob, -0.617, 0.899, -2.129, 315, 90, 180, [SEP] 69, StoveKnob, -0.617, 0.899, -2.289, 315, 90, 180, [SEP] 70, StoveKnob, -0.617, 0.899, -1.975, 315, 90, 180, [SEP] 71, GarbageCan, -2.418, -0.032, -3.541, 0, 0, 0, [SEP] 72, CoffeeMachine, -2.513, 0.930, -3.797, 0, 0, 0, [SEP] 73, Window, -1.389, 1.610, -4.113, 90, 0, 0, [SEP] 74, LightSwitch, -4.372, 1.493, -1.031, 0, 90, 0, [SEP] 75, SinkBasin, -0.614, 0.802, -3.384, 0, 315, 0, [SEP] 76, Fridge, -0.314, 0.0, -0.646, 0, 0, 0, [SEP] 77, Toaster, -1.970, 0.930, -3.763, 0, 0, 0, [SEP] 78, Microwave, -0.216, 1.470, -2.054, 0, 270, 0, [SEP] 79, Blinds, -1.373, 2.205, -3.961, 0, 0, 0, [SEP] 80, Faucet, -0.393, 0.930, -3.614, 270, 225, 0, [SEP] 81, SideTable, -4.030, 0.002, -0.301, 0, 185.034, 0, [SEP] 82, DiningTable, -3.586, 0.000, -3.258, 0, 0, 0, [SEP] 83, DiningTable, -3.224, -0.003, -0.453, 0, 0, 0, [SEP] 84, Shelf, -4.030, 0.259, -0.301, 0, 185.034, 0, [SEP] 85, Shelf, -4.030, 0.489, -0.301, 0, 185.034, 0, [SEP] 86, EastWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , ", "output": ["STEP 1: Move forward towards the door, then head right to stand at the white table. | STEP 2: Pick up the sharp knife from the table. | STEP 3: Turn around and carry the knife to the round black table. | STEP 4: Use the knife to slice the tomato on the table. | STEP 5: Turn around again and carry the knife to the white table. | STEP 6: Place the knife on the table in front of the salt shaker. | STEP 7: Turn back around and return to the black table with the tomato. | STEP 8: Pick up a slice of tomato from the table. | STEP 9: Turn left and carry the tomato slice across the kitchen to the stove. | STEP 10: Place the tomato slice in the pan on the back right burner of the stove. | STEP 11: Pick up the pan and tomato from the stove. | STEP 12: Turn around and carry the pan and tomato slice across the kitchen to the black round table on your left. | STEP 13: Place the pan with the tomato slice on the table. | END"]} +{"id": "trial_T20190908_014451_271080-0", "input": "cook the potato with microwave, put the potato in the refrigerator SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 2.0, 0, 180, 0, [SEP] 1, Potato, -0.899, 0.598, 0.195, 0, 90, 0, 67 [SEP] 2, DishSponge, 1.456, 0.936, 1.798, 0, 180, 0, 62 [SEP] 3, DishSponge, 1.597, 0.944, 1.798, 0, 180, 0, 62 [SEP] 4, Fork, -1.127, 0.938, 2.159, 0, 0, 0, 35 [SEP] 5, Spatula, -0.896, 0.761, 0.779, 0, 90, 0, 58 [SEP] 6, Egg, 1.516, 0.973, 1.007, 0, 0, 0, 40 [SEP] 7, Egg, 1.587, 1.631, 1.808, 0, 270, 0, 74 [SEP] 8, SoapBottle, -0.710, 0.937, 1.076, 0, 0, 0, 60 [SEP] 9, Bowl, 1.380, 1.743, 0.066, 0, 0, 0, 43 [SEP] 10, Bowl, -1.043, 0.934, 1.076, 0, 0, 0, 60 [SEP] 11, Bread, -0.971, 1.567, 0.042, 0, 90, 0, 67 [SEP] 12, Apple, -0.877, 1.548, 0.348, 0, 90, 0, 67 [SEP] 13, Apple, -0.971, 1.368, -0.034, 0, 90, 0, 67 [SEP] 14, Lettuce, 1.458, 1.013, 1.675, 5.383, 60.611, 0, 62 [SEP] 15, SoapBottle, 1.423, 0.069, 2.879, 0, 0, 0, 73 [SEP] 16, Bread, -0.923, 0.990, 2.265, 0, 302.470, 0, 35 [SEP] 17, Fork, 1.483, 0.747, 0.916, 0, 90, 0, 65 [SEP] 18, Tomato, -1.043, 0.999, 0.765, 0, 0, 0, 60 [SEP] 19, Bowl, -0.924, 1.315, 0.195, 0, 90, 0, 67 [SEP] 20, Pot, -1.109, 0.930, 1.470, 0, 0, 0, 37 [SEP] 21, Spatula, 1.315, 0.959, 1.798, 0, 270, 0, 62 [SEP] 22, Knife, -0.712, 0.959, 2.386, 0, 90, 0, 35 [SEP] 23, SaltShaker, 1.706, 1.500, 0.965, 0, 0, 0, 42 [SEP] 24, Apple, 1.716, 1.645, 1.598, 0, 270, 0, 74 [SEP] 25, PepperShaker, 1.439, 0.934, 2.118, 0, 0, 0, 40 [SEP] 26, ButterKnife, 1.448, 0.746, 0.984, 0, 90, 0, 65 [SEP] 27, Potato, 1.746, 0.970, 0.873, 0, 0, 0, 40 [SEP] 28, Plate, 1.391, 0.086, 2.321, 0, 0, 0, 44 [SEP] 29, DishSponge, -1.001, 1.500, 2.216, 0, 180, 0, 66 [SEP] 30, Egg, 1.353, 0.878, 1.398, 0, 180, 0, 77 [SEP] 31, Cup, -0.710, 0.936, 0.765, 0, 0, 0, 60 [SEP] 32, Pan, 1.378, 1.737, 0.392, 0, 270, 0, 43 [SEP] 33, Spoon, -0.689, 0.747, 0.914, 0, 270, 0, 58 [SEP] 34, Mug, 1.528, 1.002, 2.345, 0, 270, 0, 40 [SEP] 35, CounterTop, -0.973, 0.973, 2.386, 0, 0, 0, [SEP] 36, Drawer, -0.783, 0.774, 2.381, 0, 180, 0, [SEP] 37, StoveBurner, -1.108, 0.922, 1.470, 0, 0, 0, [SEP] 38, Drawer, 1.370, 0.774, 2.391, 0, 0, 0, [SEP] 39, Stool, -0.748, 0.008, 3.116, 0, 0, 0, [SEP] 40, CounterTop, 1.504, 0.973, 2.309, 0, 0, 0, [SEP] 41, Cabinet, 1.219, 1.388, 0.591, 0, 0, 0, [SEP] 42, Cabinet, 1.500, 2.113, 1.164, 0, 0, 0, [SEP] 43, Cabinet, 1.219, 2.010, 0.591, 0, 0, 0, [SEP] 44, Cabinet, 1.219, 0.388, 2.105, 0, 0, 0, [SEP] 45, Cabinet, 1.219, 0.553, 0.591, 0, 0, 0, [SEP] 46, Cabinet, -0.913, 2.113, 1.164, 0, 0, 0, [SEP] 47, Cabinet, -0.633, 0.388, 0.627, 0, 0, 0, [SEP] 48, Cabinet, -0.913, 2.050, -0.329, 0, 0, 0, [SEP] 49, Cabinet, -0.913, 2.113, 0.583, 0, 0, 0, [SEP] 50, Cabinet, -0.913, 2.113, 2.082, 0, 0, 0, [SEP] 51, Cabinet, -0.913, 2.113, 1.207, 0, 0, 0, [SEP] 52, Cabinet, 1.500, 2.113, 2.082, 0, 0, 0, [SEP] 53, Cabinet, 1.500, 2.113, 1.207, 0, 0, 0, [SEP] 54, Cabinet, 1.500, 1.810, 2.691, 0, 0, 0, [SEP] 55, Cabinet, 1.500, 1.810, 2.101, 0, 0, 0, [SEP] 56, Cabinet, -0.633, 0.388, 2.105, 0, 0, 0, [SEP] 57, Cabinet, -0.911, 1.810, 2.700, 0, 180, 0, [SEP] 58, Drawer, -0.783, 0.774, 0.915, 0, 180, 0, [SEP] 59, StoveBurner, -1.108, 0.922, 1.865, 0, 0, 0, [SEP] 60, CounterTop, -0.972, 0.973, 0.921, 0, 0, 0, [SEP] 61, Cabinet, 1.219, 0.388, 0.631, 0, 0, 0, [SEP] 62, Sink, 1.544, 0.869, 1.639, 0, 180, 0, [SEP] 63, StoveBurner, -0.832, 0.922, 1.865, 0, 0, 0, [SEP] 64, StoveBurner, -0.831, 0.922, 1.470, 0, 0, 0, [SEP] 65, Drawer, 1.370, 0.774, 0.916, 0, 0, 0, [SEP] 66, Cabinet, -0.911, 1.810, 2.111, 0, 180, 0, [SEP] 67, Fridge, -1.001, 0.0, 0.119, 0, 0, 0, [SEP] 68, StoveKnob, -0.648, 0.926, 1.923, 0, 270, 0, [SEP] 69, StoveKnob, -0.648, 0.926, 1.363, 0, 270, 0, [SEP] 70, StoveKnob, -0.648, 0.926, 1.513, 0, 270, 0, [SEP] 71, StoveKnob, -0.648, 0.926, 1.763, 0, 270, 0, [SEP] 72, Toaster, -1.002, 0.926, 2.561, 0, 90, 0, [SEP] 73, GarbageCan, 1.451, -0.029, 2.912, 0, 0, 0, [SEP] 74, Microwave, 1.632, 1.480, 1.645, 0, 270, 0, [SEP] 75, Window, 0.224, 1.601, 3.509, 90, 0, 0, [SEP] 76, CoffeeMachine, 1.692, 0.926, 2.453, 0, 270, 0, [SEP] 77, SinkBasin, 1.461, 0.833, 1.369, 0, 180, 0, [SEP] 78, LightSwitch, 0.451, 1.412, -1.674, 0, 0, 0, [SEP] 79, Faucet, 1.707, 0.925, 1.363, 0, 270, 0, [SEP] 80, NorthWall, , , , , , , [SEP] 81, EastWall, , , , , , , [SEP] 82, SouthWall, , , , , , , [SEP] 83, WestWall, , , , , , , ", "output": ["STEP 1: walk straight to the counter on the left | STEP 2: grab the potato on the counter | STEP 3: walk to the left a little to the microwave | STEP 4: open the microwave,put the potato in, heat the potato, take the potato out | STEP 5: turn right, walk to the refrigerator, | STEP 6: open the refrigerator, put the potato in | END"]} +{"id": "trial_T20190908_014451_271080-1", "input": "Put a microwaved potato inside a refrigerator. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 2.0, 0, 180, 0, [SEP] 1, Potato, -0.899, 0.598, 0.195, 0, 90, 0, 67 [SEP] 2, DishSponge, 1.456, 0.936, 1.798, 0, 180, 0, 62 [SEP] 3, DishSponge, 1.597, 0.944, 1.798, 0, 180, 0, 62 [SEP] 4, Fork, -1.127, 0.938, 2.159, 0, 0, 0, 35 [SEP] 5, Spatula, -0.896, 0.761, 0.779, 0, 90, 0, 58 [SEP] 6, Egg, 1.516, 0.973, 1.007, 0, 0, 0, 40 [SEP] 7, Egg, 1.587, 1.631, 1.808, 0, 270, 0, 74 [SEP] 8, SoapBottle, -0.710, 0.937, 1.076, 0, 0, 0, 60 [SEP] 9, Bowl, 1.380, 1.743, 0.066, 0, 0, 0, 43 [SEP] 10, Bowl, -1.043, 0.934, 1.076, 0, 0, 0, 60 [SEP] 11, Bread, -0.971, 1.567, 0.042, 0, 90, 0, 67 [SEP] 12, Apple, -0.877, 1.548, 0.348, 0, 90, 0, 67 [SEP] 13, Apple, -0.971, 1.368, -0.034, 0, 90, 0, 67 [SEP] 14, Lettuce, 1.458, 1.013, 1.675, 5.383, 60.611, 0, 62 [SEP] 15, SoapBottle, 1.423, 0.069, 2.879, 0, 0, 0, 73 [SEP] 16, Bread, -0.923, 0.990, 2.265, 0, 302.470, 0, 35 [SEP] 17, Fork, 1.483, 0.747, 0.916, 0, 90, 0, 65 [SEP] 18, Tomato, -1.043, 0.999, 0.765, 0, 0, 0, 60 [SEP] 19, Bowl, -0.924, 1.315, 0.195, 0, 90, 0, 67 [SEP] 20, Pot, -1.109, 0.930, 1.470, 0, 0, 0, 37 [SEP] 21, Spatula, 1.315, 0.959, 1.798, 0, 270, 0, 62 [SEP] 22, Knife, -0.712, 0.959, 2.386, 0, 90, 0, 35 [SEP] 23, SaltShaker, 1.706, 1.500, 0.965, 0, 0, 0, 42 [SEP] 24, Apple, 1.716, 1.645, 1.598, 0, 270, 0, 74 [SEP] 25, PepperShaker, 1.439, 0.934, 2.118, 0, 0, 0, 40 [SEP] 26, ButterKnife, 1.448, 0.746, 0.984, 0, 90, 0, 65 [SEP] 27, Potato, 1.746, 0.970, 0.873, 0, 0, 0, 40 [SEP] 28, Plate, 1.391, 0.086, 2.321, 0, 0, 0, 44 [SEP] 29, DishSponge, -1.001, 1.500, 2.216, 0, 180, 0, 66 [SEP] 30, Egg, 1.353, 0.878, 1.398, 0, 180, 0, 77 [SEP] 31, Cup, -0.710, 0.936, 0.765, 0, 0, 0, 60 [SEP] 32, Pan, 1.378, 1.737, 0.392, 0, 270, 0, 43 [SEP] 33, Spoon, -0.689, 0.747, 0.914, 0, 270, 0, 58 [SEP] 34, Mug, 1.528, 1.002, 2.345, 0, 270, 0, 40 [SEP] 35, CounterTop, -0.973, 0.973, 2.386, 0, 0, 0, [SEP] 36, Drawer, -0.783, 0.774, 2.381, 0, 180, 0, [SEP] 37, StoveBurner, -1.108, 0.922, 1.470, 0, 0, 0, [SEP] 38, Drawer, 1.370, 0.774, 2.391, 0, 0, 0, [SEP] 39, Stool, -0.748, 0.008, 3.116, 0, 0, 0, [SEP] 40, CounterTop, 1.504, 0.973, 2.309, 0, 0, 0, [SEP] 41, Cabinet, 1.219, 1.388, 0.591, 0, 0, 0, [SEP] 42, Cabinet, 1.500, 2.113, 1.164, 0, 0, 0, [SEP] 43, Cabinet, 1.219, 2.010, 0.591, 0, 0, 0, [SEP] 44, Cabinet, 1.219, 0.388, 2.105, 0, 0, 0, [SEP] 45, Cabinet, 1.219, 0.553, 0.591, 0, 0, 0, [SEP] 46, Cabinet, -0.913, 2.113, 1.164, 0, 0, 0, [SEP] 47, Cabinet, -0.633, 0.388, 0.627, 0, 0, 0, [SEP] 48, Cabinet, -0.913, 2.050, -0.329, 0, 0, 0, [SEP] 49, Cabinet, -0.913, 2.113, 0.583, 0, 0, 0, [SEP] 50, Cabinet, -0.913, 2.113, 2.082, 0, 0, 0, [SEP] 51, Cabinet, -0.913, 2.113, 1.207, 0, 0, 0, [SEP] 52, Cabinet, 1.500, 2.113, 2.082, 0, 0, 0, [SEP] 53, Cabinet, 1.500, 2.113, 1.207, 0, 0, 0, [SEP] 54, Cabinet, 1.500, 1.810, 2.691, 0, 0, 0, [SEP] 55, Cabinet, 1.500, 1.810, 2.101, 0, 0, 0, [SEP] 56, Cabinet, -0.633, 0.388, 2.105, 0, 0, 0, [SEP] 57, Cabinet, -0.911, 1.810, 2.700, 0, 180, 0, [SEP] 58, Drawer, -0.783, 0.774, 0.915, 0, 180, 0, [SEP] 59, StoveBurner, -1.108, 0.922, 1.865, 0, 0, 0, [SEP] 60, CounterTop, -0.972, 0.973, 0.921, 0, 0, 0, [SEP] 61, Cabinet, 1.219, 0.388, 0.631, 0, 0, 0, [SEP] 62, Sink, 1.544, 0.869, 1.639, 0, 180, 0, [SEP] 63, StoveBurner, -0.832, 0.922, 1.865, 0, 0, 0, [SEP] 64, StoveBurner, -0.831, 0.922, 1.470, 0, 0, 0, [SEP] 65, Drawer, 1.370, 0.774, 0.916, 0, 0, 0, [SEP] 66, Cabinet, -0.911, 1.810, 2.111, 0, 180, 0, [SEP] 67, Fridge, -1.001, 0.0, 0.119, 0, 0, 0, [SEP] 68, StoveKnob, -0.648, 0.926, 1.923, 0, 270, 0, [SEP] 69, StoveKnob, -0.648, 0.926, 1.363, 0, 270, 0, [SEP] 70, StoveKnob, -0.648, 0.926, 1.513, 0, 270, 0, [SEP] 71, StoveKnob, -0.648, 0.926, 1.763, 0, 270, 0, [SEP] 72, Toaster, -1.002, 0.926, 2.561, 0, 90, 0, [SEP] 73, GarbageCan, 1.451, -0.029, 2.912, 0, 0, 0, [SEP] 74, Microwave, 1.632, 1.480, 1.645, 0, 270, 0, [SEP] 75, Window, 0.224, 1.601, 3.509, 90, 0, 0, [SEP] 76, CoffeeMachine, 1.692, 0.926, 2.453, 0, 270, 0, [SEP] 77, SinkBasin, 1.461, 0.833, 1.369, 0, 180, 0, [SEP] 78, LightSwitch, 0.451, 1.412, -1.674, 0, 0, 0, [SEP] 79, Faucet, 1.707, 0.925, 1.363, 0, 270, 0, [SEP] 80, NorthWall, , , , , , , [SEP] 81, EastWall, , , , , , , [SEP] 82, SouthWall, , , , , , , [SEP] 83, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward and turn left at the refrigerator and go to the counter top. | STEP 2: Pick up the potato from the counter top. | STEP 3: Turn left and walk to the microwave above the sink. | STEP 4: Heat the potato for a few seconds in the microwave, then take it out and close the microwave. | STEP 5: Turn around and walk to the refrigerator on the left. | STEP 6: Put the potato in the refrigerator, to the left of the other potato, then close the refrigerator. | END"]} +{"id": "trial_T20190908_014451_271080-2", "input": "place a cooked potato inside the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 2.0, 0, 180, 0, [SEP] 1, Potato, -0.899, 0.598, 0.195, 0, 90, 0, 67 [SEP] 2, DishSponge, 1.456, 0.936, 1.798, 0, 180, 0, 62 [SEP] 3, DishSponge, 1.597, 0.944, 1.798, 0, 180, 0, 62 [SEP] 4, Fork, -1.127, 0.938, 2.159, 0, 0, 0, 35 [SEP] 5, Spatula, -0.896, 0.761, 0.779, 0, 90, 0, 58 [SEP] 6, Egg, 1.516, 0.973, 1.007, 0, 0, 0, 40 [SEP] 7, Egg, 1.587, 1.631, 1.808, 0, 270, 0, 74 [SEP] 8, SoapBottle, -0.710, 0.937, 1.076, 0, 0, 0, 60 [SEP] 9, Bowl, 1.380, 1.743, 0.066, 0, 0, 0, 43 [SEP] 10, Bowl, -1.043, 0.934, 1.076, 0, 0, 0, 60 [SEP] 11, Bread, -0.971, 1.567, 0.042, 0, 90, 0, 67 [SEP] 12, Apple, -0.877, 1.548, 0.348, 0, 90, 0, 67 [SEP] 13, Apple, -0.971, 1.368, -0.034, 0, 90, 0, 67 [SEP] 14, Lettuce, 1.458, 1.013, 1.675, 5.383, 60.611, 0, 62 [SEP] 15, SoapBottle, 1.423, 0.069, 2.879, 0, 0, 0, 73 [SEP] 16, Bread, -0.923, 0.990, 2.265, 0, 302.470, 0, 35 [SEP] 17, Fork, 1.483, 0.747, 0.916, 0, 90, 0, 65 [SEP] 18, Tomato, -1.043, 0.999, 0.765, 0, 0, 0, 60 [SEP] 19, Bowl, -0.924, 1.315, 0.195, 0, 90, 0, 67 [SEP] 20, Pot, -1.109, 0.930, 1.470, 0, 0, 0, 37 [SEP] 21, Spatula, 1.315, 0.959, 1.798, 0, 270, 0, 62 [SEP] 22, Knife, -0.712, 0.959, 2.386, 0, 90, 0, 35 [SEP] 23, SaltShaker, 1.706, 1.500, 0.965, 0, 0, 0, 42 [SEP] 24, Apple, 1.716, 1.645, 1.598, 0, 270, 0, 74 [SEP] 25, PepperShaker, 1.439, 0.934, 2.118, 0, 0, 0, 40 [SEP] 26, ButterKnife, 1.448, 0.746, 0.984, 0, 90, 0, 65 [SEP] 27, Potato, 1.746, 0.970, 0.873, 0, 0, 0, 40 [SEP] 28, Plate, 1.391, 0.086, 2.321, 0, 0, 0, 44 [SEP] 29, DishSponge, -1.001, 1.500, 2.216, 0, 180, 0, 66 [SEP] 30, Egg, 1.353, 0.878, 1.398, 0, 180, 0, 77 [SEP] 31, Cup, -0.710, 0.936, 0.765, 0, 0, 0, 60 [SEP] 32, Pan, 1.378, 1.737, 0.392, 0, 270, 0, 43 [SEP] 33, Spoon, -0.689, 0.747, 0.914, 0, 270, 0, 58 [SEP] 34, Mug, 1.528, 1.002, 2.345, 0, 270, 0, 40 [SEP] 35, CounterTop, -0.973, 0.973, 2.386, 0, 0, 0, [SEP] 36, Drawer, -0.783, 0.774, 2.381, 0, 180, 0, [SEP] 37, StoveBurner, -1.108, 0.922, 1.470, 0, 0, 0, [SEP] 38, Drawer, 1.370, 0.774, 2.391, 0, 0, 0, [SEP] 39, Stool, -0.748, 0.008, 3.116, 0, 0, 0, [SEP] 40, CounterTop, 1.504, 0.973, 2.309, 0, 0, 0, [SEP] 41, Cabinet, 1.219, 1.388, 0.591, 0, 0, 0, [SEP] 42, Cabinet, 1.500, 2.113, 1.164, 0, 0, 0, [SEP] 43, Cabinet, 1.219, 2.010, 0.591, 0, 0, 0, [SEP] 44, Cabinet, 1.219, 0.388, 2.105, 0, 0, 0, [SEP] 45, Cabinet, 1.219, 0.553, 0.591, 0, 0, 0, [SEP] 46, Cabinet, -0.913, 2.113, 1.164, 0, 0, 0, [SEP] 47, Cabinet, -0.633, 0.388, 0.627, 0, 0, 0, [SEP] 48, Cabinet, -0.913, 2.050, -0.329, 0, 0, 0, [SEP] 49, Cabinet, -0.913, 2.113, 0.583, 0, 0, 0, [SEP] 50, Cabinet, -0.913, 2.113, 2.082, 0, 0, 0, [SEP] 51, Cabinet, -0.913, 2.113, 1.207, 0, 0, 0, [SEP] 52, Cabinet, 1.500, 2.113, 2.082, 0, 0, 0, [SEP] 53, Cabinet, 1.500, 2.113, 1.207, 0, 0, 0, [SEP] 54, Cabinet, 1.500, 1.810, 2.691, 0, 0, 0, [SEP] 55, Cabinet, 1.500, 1.810, 2.101, 0, 0, 0, [SEP] 56, Cabinet, -0.633, 0.388, 2.105, 0, 0, 0, [SEP] 57, Cabinet, -0.911, 1.810, 2.700, 0, 180, 0, [SEP] 58, Drawer, -0.783, 0.774, 0.915, 0, 180, 0, [SEP] 59, StoveBurner, -1.108, 0.922, 1.865, 0, 0, 0, [SEP] 60, CounterTop, -0.972, 0.973, 0.921, 0, 0, 0, [SEP] 61, Cabinet, 1.219, 0.388, 0.631, 0, 0, 0, [SEP] 62, Sink, 1.544, 0.869, 1.639, 0, 180, 0, [SEP] 63, StoveBurner, -0.832, 0.922, 1.865, 0, 0, 0, [SEP] 64, StoveBurner, -0.831, 0.922, 1.470, 0, 0, 0, [SEP] 65, Drawer, 1.370, 0.774, 0.916, 0, 0, 0, [SEP] 66, Cabinet, -0.911, 1.810, 2.111, 0, 180, 0, [SEP] 67, Fridge, -1.001, 0.0, 0.119, 0, 0, 0, [SEP] 68, StoveKnob, -0.648, 0.926, 1.923, 0, 270, 0, [SEP] 69, StoveKnob, -0.648, 0.926, 1.363, 0, 270, 0, [SEP] 70, StoveKnob, -0.648, 0.926, 1.513, 0, 270, 0, [SEP] 71, StoveKnob, -0.648, 0.926, 1.763, 0, 270, 0, [SEP] 72, Toaster, -1.002, 0.926, 2.561, 0, 90, 0, [SEP] 73, GarbageCan, 1.451, -0.029, 2.912, 0, 0, 0, [SEP] 74, Microwave, 1.632, 1.480, 1.645, 0, 270, 0, [SEP] 75, Window, 0.224, 1.601, 3.509, 90, 0, 0, [SEP] 76, CoffeeMachine, 1.692, 0.926, 2.453, 0, 270, 0, [SEP] 77, SinkBasin, 1.461, 0.833, 1.369, 0, 180, 0, [SEP] 78, LightSwitch, 0.451, 1.412, -1.674, 0, 0, 0, [SEP] 79, Faucet, 1.707, 0.925, 1.363, 0, 270, 0, [SEP] 80, NorthWall, , , , , , , [SEP] 81, EastWall, , , , , , , [SEP] 82, SouthWall, , , , , , , [SEP] 83, WestWall, , , , , , , ", "output": ["STEP 1: turn left towards the sink | STEP 2: pick up the potato by the side | STEP 3: move up and locate the oven | STEP 4: cook the potato inside the oven and take it out | STEP 5: turn around towards the fridge | STEP 6: place the potato inside the fridge | END"]} +{"id": "trial_T20190906_182952_858723-0", "input": "Put two remotes on an ottoman. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.907, 1.5, 0, 180, 0, [SEP] 1, Bowl, -3.747, 0.756, -0.008, 0, 0, 0, 56 [SEP] 2, Bowl, -4.112, 0.756, -0.626, 0, 0, 0, 53 [SEP] 3, Newspaper, -4.477, 0.761, -0.502, 0, 0, 0, 56 [SEP] 4, Vase, 0.233, 0.554, 2.153, 0, 0, 0, 41 [SEP] 5, Pencil, 0.319, 0.555, 2.304, 0, 0, 0, 41 [SEP] 6, Pencil, 0.405, 0.555, 2.454, 0, 0, 0, 41 [SEP] 7, KeyChain, -1.320, 0.450, 3.268, 0, 0, 0, 57 [SEP] 8, Book, -1.236, 0.882, 0.218, 0, 90, 0, 58 [SEP] 9, CellPhone, 0.628, 0.431, 4.883, 0, 0, 0, 49 [SEP] 10, CreditCard, 0.816, 0.423, 4.121, 0, 90, 0, 48 [SEP] 11, CreditCard, -1.087, 0.454, 3.268, 0, 0, 0, 57 [SEP] 12, RemoteControl, -1.204, 0.452, 2.559, 0, 0, 0, 57 [SEP] 13, Laptop, -1.087, 0.448, 3.031, 0, 0, 0, 57 [SEP] 14, Laptop, -1.204, 0.448, 2.086, 0, 0, 0, 57 [SEP] 15, Book, -4.842, 0.755, -0.131, 0, 0, 0, 52 [SEP] 16, Box, 0.957, 0.286, 6.189, 0, 327.955, 0, 49 [SEP] 17, Pillow, 0.438, 0.581, 5.162, 321.968, 0, 0, 49 [SEP] 18, Bowl, -4.295, 0.756, -0.008, 0, 0, 0, 56 [SEP] 19, WateringCan, -0.816, 0.005, 0.189, 0, 0, 0, [SEP] 20, TissueBox, -4.477, 0.756, -0.749, 0, 0, 0, 54 [SEP] 21, Newspaper, -1.437, 0.456, 3.031, 0, 0, 0, 57 [SEP] 22, CreditCard, 0.315, 0.431, 4.883, 0, 0, 0, 49 [SEP] 23, KeyChain, 0.524, 0.432, 5.171, 0, 0, 0, 49 [SEP] 24, Boots, -6.309, 0.006, 1.252, 0, 92.842, 0, [SEP] 25, Pencil, -6.128, 0.064, 2.776, 0, 0, 0, 36 [SEP] 26, Laptop, 0.379, 0.541, 2.834, 0, 301.058, 0, 41 [SEP] 27, Vase, -4.659, 0.757, -0.379, 0, 0, 0, 56 [SEP] 28, RemoteControl, 0.405, 0.554, 2.153, 0, 0, 0, 41 [SEP] 29, Watch, -0.925, 0.881, 0.257, 0, 90, 0, 58 [SEP] 30, CellPhone, 0.315, 0.431, 4.787, 0, 0, 0, 49 [SEP] 31, Plate, -4.044, 0.748, -0.078, 0, 0, 0, 55 [SEP] 32, Painting, -6.5, 1.759, -0.341, 0, 0, 0, [SEP] 33, Painting, 0.704, 1.778, 0.782, 0, 0, 0, [SEP] 34, Television, 1.5, 1.690, 2.562, 0, 270, 0, [SEP] 35, FloorLamp, 1.111, 0.007, 6.805, 0, 0, 0, [SEP] 36, GarbageCan, -6.128, -0.003, 2.800, 0, 0, 0, [SEP] 37, LightSwitch, -6.5, 1.498, 1.345, 0, 90, 0, [SEP] 38, HousePlant, -0.753, 0.874, 0.209, 0, 0, 0, [SEP] 39, Window, 1.496, 1.712, 4.454, 90, 90, 0, [SEP] 40, Window, -4.210, 1.577, -1.980, 90, 180, 0, [SEP] 41, CoffeeTable, 0.405, 0.008, 2.605, 0, 270, 0, [SEP] 42, Drawer, 0.597, 0.234, 2.604, 0, 270, 0, [SEP] 43, Drawer, 0.214, 0.393, 2.604, 0, 270, 0, [SEP] 44, Drawer, 0.214, 0.234, 2.609, 0, 270, 0, [SEP] 45, Drawer, 0.214, 0.075, 2.604, 0, 270, 0, [SEP] 46, Drawer, 0.597, 0.075, 2.604, 0, 270, 0, [SEP] 47, Drawer, 0.597, 0.393, 2.604, 0, 270, 0, [SEP] 48, Ottoman, 0.493, 0.006, 4.309, 0, 0, 0, [SEP] 49, ArmChair, 0.420, 0.014, 5.129, 0, 180, 0, [SEP] 50, Chair, -4.664, 0.008, 0.164, 0, 180, 0, [SEP] 51, Chair, -3.424, 0.008, -0.321, 0, 270, 0, [SEP] 52, Chair, -4.988, 0.008, -0.401, 0, 90, 0, [SEP] 53, Chair, -3.904, 0.008, -0.827, 0, 0, 0, [SEP] 54, Chair, -4.570, 0.008, -0.831, 0, 0, 0, [SEP] 55, Chair, -3.996, 0.008, 0.091, 0, 180, 0, [SEP] 56, DiningTable, -4.295, 0.006, -0.378, 0, 0, 0, [SEP] 57, Sofa, -1.527, 0.013, 2.559, 0, 90, 0, [SEP] 58, SideTable, -1.030, 0.006, 0.160, 0, 0, 0, [SEP] 59, Drawer, -1.030, 0.780, 0.225, 0, 0, 0, [SEP] 60, NorthWall, , , , , , , [SEP] 61, EastWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and head right so you're in front of the center part of the couch. | STEP 2: Pick up the remote. | STEP 3: Turn right and walk to the purple chair. | STEP 4: Put the remote on the ottoman on top of the red object. | STEP 5: Turn around and walk around the left side of the coffee table to the other short side. | STEP 6: Pick the remote up off of the coffee table. | STEP 7: Walk ahead to the ottoman. | STEP 8: Put the remote on the ottoman to the left of the other remote. | END"]} +{"id": "trial_T20190906_182952_858723-1", "input": "Place two controllers on the bench in front of the couch. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.907, 1.5, 0, 180, 0, [SEP] 1, Bowl, -3.747, 0.756, -0.008, 0, 0, 0, 56 [SEP] 2, Bowl, -4.112, 0.756, -0.626, 0, 0, 0, 53 [SEP] 3, Newspaper, -4.477, 0.761, -0.502, 0, 0, 0, 56 [SEP] 4, Vase, 0.233, 0.554, 2.153, 0, 0, 0, 41 [SEP] 5, Pencil, 0.319, 0.555, 2.304, 0, 0, 0, 41 [SEP] 6, Pencil, 0.405, 0.555, 2.454, 0, 0, 0, 41 [SEP] 7, KeyChain, -1.320, 0.450, 3.268, 0, 0, 0, 57 [SEP] 8, Book, -1.236, 0.882, 0.218, 0, 90, 0, 58 [SEP] 9, CellPhone, 0.628, 0.431, 4.883, 0, 0, 0, 49 [SEP] 10, CreditCard, 0.816, 0.423, 4.121, 0, 90, 0, 48 [SEP] 11, CreditCard, -1.087, 0.454, 3.268, 0, 0, 0, 57 [SEP] 12, RemoteControl, -1.204, 0.452, 2.559, 0, 0, 0, 57 [SEP] 13, Laptop, -1.087, 0.448, 3.031, 0, 0, 0, 57 [SEP] 14, Laptop, -1.204, 0.448, 2.086, 0, 0, 0, 57 [SEP] 15, Book, -4.842, 0.755, -0.131, 0, 0, 0, 52 [SEP] 16, Box, 0.957, 0.286, 6.189, 0, 327.955, 0, 49 [SEP] 17, Pillow, 0.438, 0.581, 5.162, 321.968, 0, 0, 49 [SEP] 18, Bowl, -4.295, 0.756, -0.008, 0, 0, 0, 56 [SEP] 19, WateringCan, -0.816, 0.005, 0.189, 0, 0, 0, [SEP] 20, TissueBox, -4.477, 0.756, -0.749, 0, 0, 0, 54 [SEP] 21, Newspaper, -1.437, 0.456, 3.031, 0, 0, 0, 57 [SEP] 22, CreditCard, 0.315, 0.431, 4.883, 0, 0, 0, 49 [SEP] 23, KeyChain, 0.524, 0.432, 5.171, 0, 0, 0, 49 [SEP] 24, Boots, -6.309, 0.006, 1.252, 0, 92.842, 0, [SEP] 25, Pencil, -6.128, 0.064, 2.776, 0, 0, 0, 36 [SEP] 26, Laptop, 0.379, 0.541, 2.834, 0, 301.058, 0, 41 [SEP] 27, Vase, -4.659, 0.757, -0.379, 0, 0, 0, 56 [SEP] 28, RemoteControl, 0.405, 0.554, 2.153, 0, 0, 0, 41 [SEP] 29, Watch, -0.925, 0.881, 0.257, 0, 90, 0, 58 [SEP] 30, CellPhone, 0.315, 0.431, 4.787, 0, 0, 0, 49 [SEP] 31, Plate, -4.044, 0.748, -0.078, 0, 0, 0, 55 [SEP] 32, Painting, -6.5, 1.759, -0.341, 0, 0, 0, [SEP] 33, Painting, 0.704, 1.778, 0.782, 0, 0, 0, [SEP] 34, Television, 1.5, 1.690, 2.562, 0, 270, 0, [SEP] 35, FloorLamp, 1.111, 0.007, 6.805, 0, 0, 0, [SEP] 36, GarbageCan, -6.128, -0.003, 2.800, 0, 0, 0, [SEP] 37, LightSwitch, -6.5, 1.498, 1.345, 0, 90, 0, [SEP] 38, HousePlant, -0.753, 0.874, 0.209, 0, 0, 0, [SEP] 39, Window, 1.496, 1.712, 4.454, 90, 90, 0, [SEP] 40, Window, -4.210, 1.577, -1.980, 90, 180, 0, [SEP] 41, CoffeeTable, 0.405, 0.008, 2.605, 0, 270, 0, [SEP] 42, Drawer, 0.597, 0.234, 2.604, 0, 270, 0, [SEP] 43, Drawer, 0.214, 0.393, 2.604, 0, 270, 0, [SEP] 44, Drawer, 0.214, 0.234, 2.609, 0, 270, 0, [SEP] 45, Drawer, 0.214, 0.075, 2.604, 0, 270, 0, [SEP] 46, Drawer, 0.597, 0.075, 2.604, 0, 270, 0, [SEP] 47, Drawer, 0.597, 0.393, 2.604, 0, 270, 0, [SEP] 48, Ottoman, 0.493, 0.006, 4.309, 0, 0, 0, [SEP] 49, ArmChair, 0.420, 0.014, 5.129, 0, 180, 0, [SEP] 50, Chair, -4.664, 0.008, 0.164, 0, 180, 0, [SEP] 51, Chair, -3.424, 0.008, -0.321, 0, 270, 0, [SEP] 52, Chair, -4.988, 0.008, -0.401, 0, 90, 0, [SEP] 53, Chair, -3.904, 0.008, -0.827, 0, 0, 0, [SEP] 54, Chair, -4.570, 0.008, -0.831, 0, 0, 0, [SEP] 55, Chair, -3.996, 0.008, 0.091, 0, 180, 0, [SEP] 56, DiningTable, -4.295, 0.006, -0.378, 0, 0, 0, [SEP] 57, Sofa, -1.527, 0.013, 2.559, 0, 90, 0, [SEP] 58, SideTable, -1.030, 0.006, 0.160, 0, 0, 0, [SEP] 59, Drawer, -1.030, 0.780, 0.225, 0, 0, 0, [SEP] 60, NorthWall, , , , , , , [SEP] 61, EastWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk over to the sofa with two computers on it. | STEP 2: Pick up the controller from the sofa. | STEP 3: Turn around and walk over to the bench in front of the chair. | STEP 4: Put the controller on the bench. | STEP 5: Turn around and walk over to the brown table with the vase. | STEP 6: Pick up the controller from the brown table. | STEP 7: Walk back over to the bench. | STEP 8: Put the controller on the bench next to the other one. | END"]} +{"id": "trial_T20190906_182952_858723-2", "input": "Place two remote controls on an ottoman. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.907, 1.5, 0, 180, 0, [SEP] 1, Bowl, -3.747, 0.756, -0.008, 0, 0, 0, 56 [SEP] 2, Bowl, -4.112, 0.756, -0.626, 0, 0, 0, 53 [SEP] 3, Newspaper, -4.477, 0.761, -0.502, 0, 0, 0, 56 [SEP] 4, Vase, 0.233, 0.554, 2.153, 0, 0, 0, 41 [SEP] 5, Pencil, 0.319, 0.555, 2.304, 0, 0, 0, 41 [SEP] 6, Pencil, 0.405, 0.555, 2.454, 0, 0, 0, 41 [SEP] 7, KeyChain, -1.320, 0.450, 3.268, 0, 0, 0, 57 [SEP] 8, Book, -1.236, 0.882, 0.218, 0, 90, 0, 58 [SEP] 9, CellPhone, 0.628, 0.431, 4.883, 0, 0, 0, 49 [SEP] 10, CreditCard, 0.816, 0.423, 4.121, 0, 90, 0, 48 [SEP] 11, CreditCard, -1.087, 0.454, 3.268, 0, 0, 0, 57 [SEP] 12, RemoteControl, -1.204, 0.452, 2.559, 0, 0, 0, 57 [SEP] 13, Laptop, -1.087, 0.448, 3.031, 0, 0, 0, 57 [SEP] 14, Laptop, -1.204, 0.448, 2.086, 0, 0, 0, 57 [SEP] 15, Book, -4.842, 0.755, -0.131, 0, 0, 0, 52 [SEP] 16, Box, 0.957, 0.286, 6.189, 0, 327.955, 0, 49 [SEP] 17, Pillow, 0.438, 0.581, 5.162, 321.968, 0, 0, 49 [SEP] 18, Bowl, -4.295, 0.756, -0.008, 0, 0, 0, 56 [SEP] 19, WateringCan, -0.816, 0.005, 0.189, 0, 0, 0, [SEP] 20, TissueBox, -4.477, 0.756, -0.749, 0, 0, 0, 54 [SEP] 21, Newspaper, -1.437, 0.456, 3.031, 0, 0, 0, 57 [SEP] 22, CreditCard, 0.315, 0.431, 4.883, 0, 0, 0, 49 [SEP] 23, KeyChain, 0.524, 0.432, 5.171, 0, 0, 0, 49 [SEP] 24, Boots, -6.309, 0.006, 1.252, 0, 92.842, 0, [SEP] 25, Pencil, -6.128, 0.064, 2.776, 0, 0, 0, 36 [SEP] 26, Laptop, 0.379, 0.541, 2.834, 0, 301.058, 0, 41 [SEP] 27, Vase, -4.659, 0.757, -0.379, 0, 0, 0, 56 [SEP] 28, RemoteControl, 0.405, 0.554, 2.153, 0, 0, 0, 41 [SEP] 29, Watch, -0.925, 0.881, 0.257, 0, 90, 0, 58 [SEP] 30, CellPhone, 0.315, 0.431, 4.787, 0, 0, 0, 49 [SEP] 31, Plate, -4.044, 0.748, -0.078, 0, 0, 0, 55 [SEP] 32, Painting, -6.5, 1.759, -0.341, 0, 0, 0, [SEP] 33, Painting, 0.704, 1.778, 0.782, 0, 0, 0, [SEP] 34, Television, 1.5, 1.690, 2.562, 0, 270, 0, [SEP] 35, FloorLamp, 1.111, 0.007, 6.805, 0, 0, 0, [SEP] 36, GarbageCan, -6.128, -0.003, 2.800, 0, 0, 0, [SEP] 37, LightSwitch, -6.5, 1.498, 1.345, 0, 90, 0, [SEP] 38, HousePlant, -0.753, 0.874, 0.209, 0, 0, 0, [SEP] 39, Window, 1.496, 1.712, 4.454, 90, 90, 0, [SEP] 40, Window, -4.210, 1.577, -1.980, 90, 180, 0, [SEP] 41, CoffeeTable, 0.405, 0.008, 2.605, 0, 270, 0, [SEP] 42, Drawer, 0.597, 0.234, 2.604, 0, 270, 0, [SEP] 43, Drawer, 0.214, 0.393, 2.604, 0, 270, 0, [SEP] 44, Drawer, 0.214, 0.234, 2.609, 0, 270, 0, [SEP] 45, Drawer, 0.214, 0.075, 2.604, 0, 270, 0, [SEP] 46, Drawer, 0.597, 0.075, 2.604, 0, 270, 0, [SEP] 47, Drawer, 0.597, 0.393, 2.604, 0, 270, 0, [SEP] 48, Ottoman, 0.493, 0.006, 4.309, 0, 0, 0, [SEP] 49, ArmChair, 0.420, 0.014, 5.129, 0, 180, 0, [SEP] 50, Chair, -4.664, 0.008, 0.164, 0, 180, 0, [SEP] 51, Chair, -3.424, 0.008, -0.321, 0, 270, 0, [SEP] 52, Chair, -4.988, 0.008, -0.401, 0, 90, 0, [SEP] 53, Chair, -3.904, 0.008, -0.827, 0, 0, 0, [SEP] 54, Chair, -4.570, 0.008, -0.831, 0, 0, 0, [SEP] 55, Chair, -3.996, 0.008, 0.091, 0, 180, 0, [SEP] 56, DiningTable, -4.295, 0.006, -0.378, 0, 0, 0, [SEP] 57, Sofa, -1.527, 0.013, 2.559, 0, 90, 0, [SEP] 58, SideTable, -1.030, 0.006, 0.160, 0, 0, 0, [SEP] 59, Drawer, -1.030, 0.780, 0.225, 0, 0, 0, [SEP] 60, NorthWall, , , , , , , [SEP] 61, EastWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, hang a right at the couch and turn left at the coffee table to face the couch. | STEP 2: Pick up the remote control in between the two laptop computers. | STEP 3: Turn right, hang a right at the end of the couch, turn right at the wall and turn around to face the ottoman of the chair. | STEP 4: Place the remote at the right corner of the ottoman on top of the red credit card. | STEP 5: Turn around, hang a right at the fireplace and turn right to face the coffee table. | STEP 6: Pick up the remote to the right of the white vase. | STEP 7: Turn right, hang a left at the wall and walk to the ottoman of the chair. | STEP 8: Place the remote to the left of the other remote on the ottoman. | END"]} +{"id": "trial_T20190906_182952_858723-3", "input": "Place remote one and two on the sofa seat. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.907, 1.5, 0, 180, 0, [SEP] 1, Bowl, -3.747, 0.756, -0.008, 0, 0, 0, 56 [SEP] 2, Bowl, -4.112, 0.756, -0.626, 0, 0, 0, 53 [SEP] 3, Newspaper, -4.477, 0.761, -0.502, 0, 0, 0, 56 [SEP] 4, Vase, 0.233, 0.554, 2.153, 0, 0, 0, 41 [SEP] 5, Pencil, 0.319, 0.555, 2.304, 0, 0, 0, 41 [SEP] 6, Pencil, 0.405, 0.555, 2.454, 0, 0, 0, 41 [SEP] 7, KeyChain, -1.320, 0.450, 3.268, 0, 0, 0, 57 [SEP] 8, Book, -1.236, 0.882, 0.218, 0, 90, 0, 58 [SEP] 9, CellPhone, 0.628, 0.431, 4.883, 0, 0, 0, 49 [SEP] 10, CreditCard, 0.816, 0.423, 4.121, 0, 90, 0, 48 [SEP] 11, CreditCard, -1.087, 0.454, 3.268, 0, 0, 0, 57 [SEP] 12, RemoteControl, -1.204, 0.452, 2.559, 0, 0, 0, 57 [SEP] 13, Laptop, -1.087, 0.448, 3.031, 0, 0, 0, 57 [SEP] 14, Laptop, -1.204, 0.448, 2.086, 0, 0, 0, 57 [SEP] 15, Book, -4.842, 0.755, -0.131, 0, 0, 0, 52 [SEP] 16, Box, 0.957, 0.286, 6.189, 0, 327.955, 0, 49 [SEP] 17, Pillow, 0.438, 0.581, 5.162, 321.968, 0, 0, 49 [SEP] 18, Bowl, -4.295, 0.756, -0.008, 0, 0, 0, 56 [SEP] 19, WateringCan, -0.816, 0.005, 0.189, 0, 0, 0, [SEP] 20, TissueBox, -4.477, 0.756, -0.749, 0, 0, 0, 54 [SEP] 21, Newspaper, -1.437, 0.456, 3.031, 0, 0, 0, 57 [SEP] 22, CreditCard, 0.315, 0.431, 4.883, 0, 0, 0, 49 [SEP] 23, KeyChain, 0.524, 0.432, 5.171, 0, 0, 0, 49 [SEP] 24, Boots, -6.309, 0.006, 1.252, 0, 92.842, 0, [SEP] 25, Pencil, -6.128, 0.064, 2.776, 0, 0, 0, 36 [SEP] 26, Laptop, 0.379, 0.541, 2.834, 0, 301.058, 0, 41 [SEP] 27, Vase, -4.659, 0.757, -0.379, 0, 0, 0, 56 [SEP] 28, RemoteControl, 0.405, 0.554, 2.153, 0, 0, 0, 41 [SEP] 29, Watch, -0.925, 0.881, 0.257, 0, 90, 0, 58 [SEP] 30, CellPhone, 0.315, 0.431, 4.787, 0, 0, 0, 49 [SEP] 31, Plate, -4.044, 0.748, -0.078, 0, 0, 0, 55 [SEP] 32, Painting, -6.5, 1.759, -0.341, 0, 0, 0, [SEP] 33, Painting, 0.704, 1.778, 0.782, 0, 0, 0, [SEP] 34, Television, 1.5, 1.690, 2.562, 0, 270, 0, [SEP] 35, FloorLamp, 1.111, 0.007, 6.805, 0, 0, 0, [SEP] 36, GarbageCan, -6.128, -0.003, 2.800, 0, 0, 0, [SEP] 37, LightSwitch, -6.5, 1.498, 1.345, 0, 90, 0, [SEP] 38, HousePlant, -0.753, 0.874, 0.209, 0, 0, 0, [SEP] 39, Window, 1.496, 1.712, 4.454, 90, 90, 0, [SEP] 40, Window, -4.210, 1.577, -1.980, 90, 180, 0, [SEP] 41, CoffeeTable, 0.405, 0.008, 2.605, 0, 270, 0, [SEP] 42, Drawer, 0.597, 0.234, 2.604, 0, 270, 0, [SEP] 43, Drawer, 0.214, 0.393, 2.604, 0, 270, 0, [SEP] 44, Drawer, 0.214, 0.234, 2.609, 0, 270, 0, [SEP] 45, Drawer, 0.214, 0.075, 2.604, 0, 270, 0, [SEP] 46, Drawer, 0.597, 0.075, 2.604, 0, 270, 0, [SEP] 47, Drawer, 0.597, 0.393, 2.604, 0, 270, 0, [SEP] 48, Ottoman, 0.493, 0.006, 4.309, 0, 0, 0, [SEP] 49, ArmChair, 0.420, 0.014, 5.129, 0, 180, 0, [SEP] 50, Chair, -4.664, 0.008, 0.164, 0, 180, 0, [SEP] 51, Chair, -3.424, 0.008, -0.321, 0, 270, 0, [SEP] 52, Chair, -4.988, 0.008, -0.401, 0, 90, 0, [SEP] 53, Chair, -3.904, 0.008, -0.827, 0, 0, 0, [SEP] 54, Chair, -4.570, 0.008, -0.831, 0, 0, 0, [SEP] 55, Chair, -3.996, 0.008, 0.091, 0, 180, 0, [SEP] 56, DiningTable, -4.295, 0.006, -0.378, 0, 0, 0, [SEP] 57, Sofa, -1.527, 0.013, 2.559, 0, 90, 0, [SEP] 58, SideTable, -1.030, 0.006, 0.160, 0, 0, 0, [SEP] 59, Drawer, -1.030, 0.780, 0.225, 0, 0, 0, [SEP] 60, NorthWall, , , , , , , [SEP] 61, EastWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the couch to your right. | STEP 2: Pick up the remote on the couch. | STEP 3: Carrying the remote, walk to the sofa seat on your right. | STEP 4: Place the remote on the sofa seat. | STEP 5: Turn around and walk to the coffee table to your left. | STEP 6: Pick up the remote on the table. | STEP 7: Carrying the remote, walk to the sofa seat straight ahead. | STEP 8: Place the remote next to the other remote. | END"]} +{"id": "trial_T20190906_182952_858723-4", "input": "Gather the two tv remotes to the sofa stool. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.907, 1.5, 0, 180, 0, [SEP] 1, Bowl, -3.747, 0.756, -0.008, 0, 0, 0, 56 [SEP] 2, Bowl, -4.112, 0.756, -0.626, 0, 0, 0, 53 [SEP] 3, Newspaper, -4.477, 0.761, -0.502, 0, 0, 0, 56 [SEP] 4, Vase, 0.233, 0.554, 2.153, 0, 0, 0, 41 [SEP] 5, Pencil, 0.319, 0.555, 2.304, 0, 0, 0, 41 [SEP] 6, Pencil, 0.405, 0.555, 2.454, 0, 0, 0, 41 [SEP] 7, KeyChain, -1.320, 0.450, 3.268, 0, 0, 0, 57 [SEP] 8, Book, -1.236, 0.882, 0.218, 0, 90, 0, 58 [SEP] 9, CellPhone, 0.628, 0.431, 4.883, 0, 0, 0, 49 [SEP] 10, CreditCard, 0.816, 0.423, 4.121, 0, 90, 0, 48 [SEP] 11, CreditCard, -1.087, 0.454, 3.268, 0, 0, 0, 57 [SEP] 12, RemoteControl, -1.204, 0.452, 2.559, 0, 0, 0, 57 [SEP] 13, Laptop, -1.087, 0.448, 3.031, 0, 0, 0, 57 [SEP] 14, Laptop, -1.204, 0.448, 2.086, 0, 0, 0, 57 [SEP] 15, Book, -4.842, 0.755, -0.131, 0, 0, 0, 52 [SEP] 16, Box, 0.957, 0.286, 6.189, 0, 327.955, 0, 49 [SEP] 17, Pillow, 0.438, 0.581, 5.162, 321.968, 0, 0, 49 [SEP] 18, Bowl, -4.295, 0.756, -0.008, 0, 0, 0, 56 [SEP] 19, WateringCan, -0.816, 0.005, 0.189, 0, 0, 0, [SEP] 20, TissueBox, -4.477, 0.756, -0.749, 0, 0, 0, 54 [SEP] 21, Newspaper, -1.437, 0.456, 3.031, 0, 0, 0, 57 [SEP] 22, CreditCard, 0.315, 0.431, 4.883, 0, 0, 0, 49 [SEP] 23, KeyChain, 0.524, 0.432, 5.171, 0, 0, 0, 49 [SEP] 24, Boots, -6.309, 0.006, 1.252, 0, 92.842, 0, [SEP] 25, Pencil, -6.128, 0.064, 2.776, 0, 0, 0, 36 [SEP] 26, Laptop, 0.379, 0.541, 2.834, 0, 301.058, 0, 41 [SEP] 27, Vase, -4.659, 0.757, -0.379, 0, 0, 0, 56 [SEP] 28, RemoteControl, 0.405, 0.554, 2.153, 0, 0, 0, 41 [SEP] 29, Watch, -0.925, 0.881, 0.257, 0, 90, 0, 58 [SEP] 30, CellPhone, 0.315, 0.431, 4.787, 0, 0, 0, 49 [SEP] 31, Plate, -4.044, 0.748, -0.078, 0, 0, 0, 55 [SEP] 32, Painting, -6.5, 1.759, -0.341, 0, 0, 0, [SEP] 33, Painting, 0.704, 1.778, 0.782, 0, 0, 0, [SEP] 34, Television, 1.5, 1.690, 2.562, 0, 270, 0, [SEP] 35, FloorLamp, 1.111, 0.007, 6.805, 0, 0, 0, [SEP] 36, GarbageCan, -6.128, -0.003, 2.800, 0, 0, 0, [SEP] 37, LightSwitch, -6.5, 1.498, 1.345, 0, 90, 0, [SEP] 38, HousePlant, -0.753, 0.874, 0.209, 0, 0, 0, [SEP] 39, Window, 1.496, 1.712, 4.454, 90, 90, 0, [SEP] 40, Window, -4.210, 1.577, -1.980, 90, 180, 0, [SEP] 41, CoffeeTable, 0.405, 0.008, 2.605, 0, 270, 0, [SEP] 42, Drawer, 0.597, 0.234, 2.604, 0, 270, 0, [SEP] 43, Drawer, 0.214, 0.393, 2.604, 0, 270, 0, [SEP] 44, Drawer, 0.214, 0.234, 2.609, 0, 270, 0, [SEP] 45, Drawer, 0.214, 0.075, 2.604, 0, 270, 0, [SEP] 46, Drawer, 0.597, 0.075, 2.604, 0, 270, 0, [SEP] 47, Drawer, 0.597, 0.393, 2.604, 0, 270, 0, [SEP] 48, Ottoman, 0.493, 0.006, 4.309, 0, 0, 0, [SEP] 49, ArmChair, 0.420, 0.014, 5.129, 0, 180, 0, [SEP] 50, Chair, -4.664, 0.008, 0.164, 0, 180, 0, [SEP] 51, Chair, -3.424, 0.008, -0.321, 0, 270, 0, [SEP] 52, Chair, -4.988, 0.008, -0.401, 0, 90, 0, [SEP] 53, Chair, -3.904, 0.008, -0.827, 0, 0, 0, [SEP] 54, Chair, -4.570, 0.008, -0.831, 0, 0, 0, [SEP] 55, Chair, -3.996, 0.008, 0.091, 0, 180, 0, [SEP] 56, DiningTable, -4.295, 0.006, -0.378, 0, 0, 0, [SEP] 57, Sofa, -1.527, 0.013, 2.559, 0, 90, 0, [SEP] 58, SideTable, -1.030, 0.006, 0.160, 0, 0, 0, [SEP] 59, Drawer, -1.030, 0.780, 0.225, 0, 0, 0, [SEP] 60, NorthWall, , , , , , , [SEP] 61, EastWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and head towards the sofa with two computers. | STEP 2: Pick up the remote on the sofa between the two computers. | STEP 3: Turn right head towards the end of the coffee table, hang left towards the sofa stool. | STEP 4: Place the remote on the sofa stool on the bottom right edge. | STEP 5: Turn around and walk towards the other end of the coffee table. | STEP 6: Pick up the tv remote from the table next to the vase. | STEP 7: Head towards the sofa stool. | STEP 8: Place the remote to the left of the other remote on the stool. | END"]} +{"id": "trial_T20190906_182952_858723-5", "input": "Place two remote controls on the ottoman. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.907, 1.5, 0, 180, 0, [SEP] 1, Bowl, -3.747, 0.756, -0.008, 0, 0, 0, 56 [SEP] 2, Bowl, -4.112, 0.756, -0.626, 0, 0, 0, 53 [SEP] 3, Newspaper, -4.477, 0.761, -0.502, 0, 0, 0, 56 [SEP] 4, Vase, 0.233, 0.554, 2.153, 0, 0, 0, 41 [SEP] 5, Pencil, 0.319, 0.555, 2.304, 0, 0, 0, 41 [SEP] 6, Pencil, 0.405, 0.555, 2.454, 0, 0, 0, 41 [SEP] 7, KeyChain, -1.320, 0.450, 3.268, 0, 0, 0, 57 [SEP] 8, Book, -1.236, 0.882, 0.218, 0, 90, 0, 58 [SEP] 9, CellPhone, 0.628, 0.431, 4.883, 0, 0, 0, 49 [SEP] 10, CreditCard, 0.816, 0.423, 4.121, 0, 90, 0, 48 [SEP] 11, CreditCard, -1.087, 0.454, 3.268, 0, 0, 0, 57 [SEP] 12, RemoteControl, -1.204, 0.452, 2.559, 0, 0, 0, 57 [SEP] 13, Laptop, -1.087, 0.448, 3.031, 0, 0, 0, 57 [SEP] 14, Laptop, -1.204, 0.448, 2.086, 0, 0, 0, 57 [SEP] 15, Book, -4.842, 0.755, -0.131, 0, 0, 0, 52 [SEP] 16, Box, 0.957, 0.286, 6.189, 0, 327.955, 0, 49 [SEP] 17, Pillow, 0.438, 0.581, 5.162, 321.968, 0, 0, 49 [SEP] 18, Bowl, -4.295, 0.756, -0.008, 0, 0, 0, 56 [SEP] 19, WateringCan, -0.816, 0.005, 0.189, 0, 0, 0, [SEP] 20, TissueBox, -4.477, 0.756, -0.749, 0, 0, 0, 54 [SEP] 21, Newspaper, -1.437, 0.456, 3.031, 0, 0, 0, 57 [SEP] 22, CreditCard, 0.315, 0.431, 4.883, 0, 0, 0, 49 [SEP] 23, KeyChain, 0.524, 0.432, 5.171, 0, 0, 0, 49 [SEP] 24, Boots, -6.309, 0.006, 1.252, 0, 92.842, 0, [SEP] 25, Pencil, -6.128, 0.064, 2.776, 0, 0, 0, 36 [SEP] 26, Laptop, 0.379, 0.541, 2.834, 0, 301.058, 0, 41 [SEP] 27, Vase, -4.659, 0.757, -0.379, 0, 0, 0, 56 [SEP] 28, RemoteControl, 0.405, 0.554, 2.153, 0, 0, 0, 41 [SEP] 29, Watch, -0.925, 0.881, 0.257, 0, 90, 0, 58 [SEP] 30, CellPhone, 0.315, 0.431, 4.787, 0, 0, 0, 49 [SEP] 31, Plate, -4.044, 0.748, -0.078, 0, 0, 0, 55 [SEP] 32, Painting, -6.5, 1.759, -0.341, 0, 0, 0, [SEP] 33, Painting, 0.704, 1.778, 0.782, 0, 0, 0, [SEP] 34, Television, 1.5, 1.690, 2.562, 0, 270, 0, [SEP] 35, FloorLamp, 1.111, 0.007, 6.805, 0, 0, 0, [SEP] 36, GarbageCan, -6.128, -0.003, 2.800, 0, 0, 0, [SEP] 37, LightSwitch, -6.5, 1.498, 1.345, 0, 90, 0, [SEP] 38, HousePlant, -0.753, 0.874, 0.209, 0, 0, 0, [SEP] 39, Window, 1.496, 1.712, 4.454, 90, 90, 0, [SEP] 40, Window, -4.210, 1.577, -1.980, 90, 180, 0, [SEP] 41, CoffeeTable, 0.405, 0.008, 2.605, 0, 270, 0, [SEP] 42, Drawer, 0.597, 0.234, 2.604, 0, 270, 0, [SEP] 43, Drawer, 0.214, 0.393, 2.604, 0, 270, 0, [SEP] 44, Drawer, 0.214, 0.234, 2.609, 0, 270, 0, [SEP] 45, Drawer, 0.214, 0.075, 2.604, 0, 270, 0, [SEP] 46, Drawer, 0.597, 0.075, 2.604, 0, 270, 0, [SEP] 47, Drawer, 0.597, 0.393, 2.604, 0, 270, 0, [SEP] 48, Ottoman, 0.493, 0.006, 4.309, 0, 0, 0, [SEP] 49, ArmChair, 0.420, 0.014, 5.129, 0, 180, 0, [SEP] 50, Chair, -4.664, 0.008, 0.164, 0, 180, 0, [SEP] 51, Chair, -3.424, 0.008, -0.321, 0, 270, 0, [SEP] 52, Chair, -4.988, 0.008, -0.401, 0, 90, 0, [SEP] 53, Chair, -3.904, 0.008, -0.827, 0, 0, 0, [SEP] 54, Chair, -4.570, 0.008, -0.831, 0, 0, 0, [SEP] 55, Chair, -3.996, 0.008, 0.091, 0, 180, 0, [SEP] 56, DiningTable, -4.295, 0.006, -0.378, 0, 0, 0, [SEP] 57, Sofa, -1.527, 0.013, 2.559, 0, 90, 0, [SEP] 58, SideTable, -1.030, 0.006, 0.160, 0, 0, 0, [SEP] 59, Drawer, -1.030, 0.780, 0.225, 0, 0, 0, [SEP] 60, NorthWall, , , , , , , [SEP] 61, EastWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, move around the coffee table then turn left and face the center of the couch. | STEP 2: Pick up the remote control located between the two laptops from the couch. | STEP 3: Turn right, move around the coffee table then turn left and face the ottoman in front of the chair. | STEP 4: Place the remote control on top of the red credit card on the front right corner of the ottoman. | STEP 5: Turn right, move around the ottoman past the fireplace, then move to and face the end of the coffee table closest to the fireplace. | STEP 6: Pick up the remote control to the right of the vase from the coffee table. | STEP 7: Turn left, move around the coffee table past the laptop and face the ottoman in front of the chair. | STEP 8: Place the remote control on the front center of the ottoman to the left of the remote control already there. | END"]} +{"id": "trial_T20190909_031040_889814-0", "input": "Move a plunger to the cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.902, 1.0, 0, 90, 0, [SEP] 1, Candle, -2.672, 0.102, 3.366, 0, 0, 0, 33 [SEP] 2, DishSponge, -2.546, 0.746, 3.457, 0, 0, 0, 30 [SEP] 3, DishSponge, -2.762, 0.939, 2.081, 0, 90, 0, 42 [SEP] 4, SoapBottle, -2.701, 1.205, 1.460, 0, 270, 0, 35 [SEP] 5, SoapBottle, -2.604, 0.928, 1.714, 0, 0, 0, 34 [SEP] 6, Towel, -0.106, 1.510, 1.943, 0, 270, 0, 36 [SEP] 7, Candle, -2.883, 1.214, 1.520, 0, 270, 0, 35 [SEP] 8, SoapBottle, -2.752, 0.928, 2.691, 0, 0, 0, 34 [SEP] 9, HandTowel, -2.698, 1.521, 2.867, 0, 0, 0, 37 [SEP] 10, Plunger, -2.837, 0.001, 0.131, 0, 0, 0, Floor|-00.99| [SEP] 11, SoapBar, -2.767, 0.745, 3.312, 0, 0, 0, 30 [SEP] 12, ToiletPaper, -2.328, 0.791, 0.079, 0, 0, 270, 39 [SEP] 13, Cloth, -2.605, 1.664, 3.034, 0, 0, 0, 28 [SEP] 14, ToiletPaper, -0.230, 0.053, 0.216, 0, 270, 0, 40 [SEP] 15, SprayBottle, -2.811, 1.078, 0.652, 0, 90, 0, 44 [SEP] 16, PaperTowelRoll, -0.230, 0.162, 0.303, 0, 270, 0, 40 [SEP] 17, ScrubBrush, -2.831, 0.001, 0.295, 0, 0, 0, Floor|-00.99| [SEP] 18, DishSponge, -0.476, 0.196, 1.649, 0, 0, 0, 41 [SEP] 19, Cabinet, -2.410, 0.371, 2.862, 0, 0, 0, [SEP] 20, Mirror, -2.973, 1.613, 2.265, 0, 0, 0, [SEP] 21, Bathtub, -0.435, 0.182, 1.575, 0, 0, 0, [SEP] 22, Cabinet, -2.410, 0.371, 3.570, 0, 0, 0, [SEP] 23, Cabinet, -2.410, 0.371, 2.040, 0, 0, 0, [SEP] 24, Cabinet, -2.410, 1.261, 2.913, 0, 0, 0, [SEP] 25, Faucet, -0.769, 0.416, 1.0, 0, 9.958, 0, [SEP] 26, Cabinet, -2.410, 1.261, 3.570, 0, 0, 0, [SEP] 27, Sink, -2.723, 0.862, 2.231, 0, 90, 0, [SEP] 28, Cabinet, -2.410, 2.022, 2.913, 0, 0, 0, [SEP] 29, Cabinet, -2.410, 0.371, 1.585, 0, 0, 0, [SEP] 30, Drawer, -2.638, 0.767, 3.239, 0, 0, 0, [SEP] 31, Cabinet, -2.410, 2.022, 3.570, 0, 0, 0, [SEP] 32, Faucet, -2.928, 0.978, 2.231, 0, 90, 0, [SEP] 33, Cabinet, -2.410, 0.371, 2.913, 0, 0, 0, [SEP] 34, CounterTop, -2.688, 0.966, 2.260, 0, 0, 0, [SEP] 35, CounterTop, -2.611, 1.243, 1.455, 0, 270, 0, [SEP] 36, TowelHolder, 0.0, 1.496, 1.942, 0, 270, 0, [SEP] 37, HandTowelHolder, -2.698, 1.623, 2.906, 0, 90, 0, [SEP] 38, Window, -2.256, 1.656, -0.021, 90, 0, 0, [SEP] 39, ToiletPaperHanger, -2.288, 0.910, 0.000, 0, 0, 0, [SEP] 40, GarbageCan, -0.403, -0.027, 0.241, 0, 0, 0, [SEP] 41, BathtubBasin, -0.435, 0.185, 1.544, 0, 0, 0, [SEP] 42, SinkBasin, -2.736, 0.929, 2.241, 0, 90, 0, [SEP] 43, LightSwitch, -1.675, 1.442, 3.610, 0, 180, 0, [SEP] 44, Toilet, -2.579, 0.032, 0.656, 0, 180, 0, [SEP] 45, NorthWall, , , , , , , [SEP] 46, EastWall, , , , , , , [SEP] 47, SouthWall, , , , , , , [SEP] 48, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and face the toilet. | STEP 2: Pick up the plunger from the left side. | STEP 3: Carry the plunger and turn to the right, then face the sink on the left. | STEP 4: Open the bottom cabinet, second from the left, and place the plunger inside. | END"]} +{"id": "trial_T20190909_031040_889814-1", "input": "put the plunger away in the cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.902, 1.0, 0, 90, 0, [SEP] 1, Candle, -2.672, 0.102, 3.366, 0, 0, 0, 33 [SEP] 2, DishSponge, -2.546, 0.746, 3.457, 0, 0, 0, 30 [SEP] 3, DishSponge, -2.762, 0.939, 2.081, 0, 90, 0, 42 [SEP] 4, SoapBottle, -2.701, 1.205, 1.460, 0, 270, 0, 35 [SEP] 5, SoapBottle, -2.604, 0.928, 1.714, 0, 0, 0, 34 [SEP] 6, Towel, -0.106, 1.510, 1.943, 0, 270, 0, 36 [SEP] 7, Candle, -2.883, 1.214, 1.520, 0, 270, 0, 35 [SEP] 8, SoapBottle, -2.752, 0.928, 2.691, 0, 0, 0, 34 [SEP] 9, HandTowel, -2.698, 1.521, 2.867, 0, 0, 0, 37 [SEP] 10, Plunger, -2.837, 0.001, 0.131, 0, 0, 0, Floor|-00.99| [SEP] 11, SoapBar, -2.767, 0.745, 3.312, 0, 0, 0, 30 [SEP] 12, ToiletPaper, -2.328, 0.791, 0.079, 0, 0, 270, 39 [SEP] 13, Cloth, -2.605, 1.664, 3.034, 0, 0, 0, 28 [SEP] 14, ToiletPaper, -0.230, 0.053, 0.216, 0, 270, 0, 40 [SEP] 15, SprayBottle, -2.811, 1.078, 0.652, 0, 90, 0, 44 [SEP] 16, PaperTowelRoll, -0.230, 0.162, 0.303, 0, 270, 0, 40 [SEP] 17, ScrubBrush, -2.831, 0.001, 0.295, 0, 0, 0, Floor|-00.99| [SEP] 18, DishSponge, -0.476, 0.196, 1.649, 0, 0, 0, 41 [SEP] 19, Cabinet, -2.410, 0.371, 2.862, 0, 0, 0, [SEP] 20, Mirror, -2.973, 1.613, 2.265, 0, 0, 0, [SEP] 21, Bathtub, -0.435, 0.182, 1.575, 0, 0, 0, [SEP] 22, Cabinet, -2.410, 0.371, 3.570, 0, 0, 0, [SEP] 23, Cabinet, -2.410, 0.371, 2.040, 0, 0, 0, [SEP] 24, Cabinet, -2.410, 1.261, 2.913, 0, 0, 0, [SEP] 25, Faucet, -0.769, 0.416, 1.0, 0, 9.958, 0, [SEP] 26, Cabinet, -2.410, 1.261, 3.570, 0, 0, 0, [SEP] 27, Sink, -2.723, 0.862, 2.231, 0, 90, 0, [SEP] 28, Cabinet, -2.410, 2.022, 2.913, 0, 0, 0, [SEP] 29, Cabinet, -2.410, 0.371, 1.585, 0, 0, 0, [SEP] 30, Drawer, -2.638, 0.767, 3.239, 0, 0, 0, [SEP] 31, Cabinet, -2.410, 2.022, 3.570, 0, 0, 0, [SEP] 32, Faucet, -2.928, 0.978, 2.231, 0, 90, 0, [SEP] 33, Cabinet, -2.410, 0.371, 2.913, 0, 0, 0, [SEP] 34, CounterTop, -2.688, 0.966, 2.260, 0, 0, 0, [SEP] 35, CounterTop, -2.611, 1.243, 1.455, 0, 270, 0, [SEP] 36, TowelHolder, 0.0, 1.496, 1.942, 0, 270, 0, [SEP] 37, HandTowelHolder, -2.698, 1.623, 2.906, 0, 90, 0, [SEP] 38, Window, -2.256, 1.656, -0.021, 90, 0, 0, [SEP] 39, ToiletPaperHanger, -2.288, 0.910, 0.000, 0, 0, 0, [SEP] 40, GarbageCan, -0.403, -0.027, 0.241, 0, 0, 0, [SEP] 41, BathtubBasin, -0.435, 0.185, 1.544, 0, 0, 0, [SEP] 42, SinkBasin, -2.736, 0.929, 2.241, 0, 90, 0, [SEP] 43, LightSwitch, -1.675, 1.442, 3.610, 0, 180, 0, [SEP] 44, Toilet, -2.579, 0.032, 0.656, 0, 180, 0, [SEP] 45, NorthWall, , , , , , , [SEP] 46, EastWall, , , , , , , [SEP] 47, SouthWall, , , , , , , [SEP] 48, WestWall, , , , , , , ", "output": ["STEP 1: turn right, walk to the wall, turn right to face the toilet | STEP 2: pick up the plunger to the left of the toilet | STEP 3: turn right, walk forward a few steps, turn right, take a few steps, turn around, walk to counter | STEP 4: open cabinet under sink, put the plunger in the cabinet, close the cabinet | END"]} +{"id": "trial_T20190909_031040_889814-2", "input": "Put the plunger under the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.902, 1.0, 0, 90, 0, [SEP] 1, Candle, -2.672, 0.102, 3.366, 0, 0, 0, 33 [SEP] 2, DishSponge, -2.546, 0.746, 3.457, 0, 0, 0, 30 [SEP] 3, DishSponge, -2.762, 0.939, 2.081, 0, 90, 0, 42 [SEP] 4, SoapBottle, -2.701, 1.205, 1.460, 0, 270, 0, 35 [SEP] 5, SoapBottle, -2.604, 0.928, 1.714, 0, 0, 0, 34 [SEP] 6, Towel, -0.106, 1.510, 1.943, 0, 270, 0, 36 [SEP] 7, Candle, -2.883, 1.214, 1.520, 0, 270, 0, 35 [SEP] 8, SoapBottle, -2.752, 0.928, 2.691, 0, 0, 0, 34 [SEP] 9, HandTowel, -2.698, 1.521, 2.867, 0, 0, 0, 37 [SEP] 10, Plunger, -2.837, 0.001, 0.131, 0, 0, 0, Floor|-00.99| [SEP] 11, SoapBar, -2.767, 0.745, 3.312, 0, 0, 0, 30 [SEP] 12, ToiletPaper, -2.328, 0.791, 0.079, 0, 0, 270, 39 [SEP] 13, Cloth, -2.605, 1.664, 3.034, 0, 0, 0, 28 [SEP] 14, ToiletPaper, -0.230, 0.053, 0.216, 0, 270, 0, 40 [SEP] 15, SprayBottle, -2.811, 1.078, 0.652, 0, 90, 0, 44 [SEP] 16, PaperTowelRoll, -0.230, 0.162, 0.303, 0, 270, 0, 40 [SEP] 17, ScrubBrush, -2.831, 0.001, 0.295, 0, 0, 0, Floor|-00.99| [SEP] 18, DishSponge, -0.476, 0.196, 1.649, 0, 0, 0, 41 [SEP] 19, Cabinet, -2.410, 0.371, 2.862, 0, 0, 0, [SEP] 20, Mirror, -2.973, 1.613, 2.265, 0, 0, 0, [SEP] 21, Bathtub, -0.435, 0.182, 1.575, 0, 0, 0, [SEP] 22, Cabinet, -2.410, 0.371, 3.570, 0, 0, 0, [SEP] 23, Cabinet, -2.410, 0.371, 2.040, 0, 0, 0, [SEP] 24, Cabinet, -2.410, 1.261, 2.913, 0, 0, 0, [SEP] 25, Faucet, -0.769, 0.416, 1.0, 0, 9.958, 0, [SEP] 26, Cabinet, -2.410, 1.261, 3.570, 0, 0, 0, [SEP] 27, Sink, -2.723, 0.862, 2.231, 0, 90, 0, [SEP] 28, Cabinet, -2.410, 2.022, 2.913, 0, 0, 0, [SEP] 29, Cabinet, -2.410, 0.371, 1.585, 0, 0, 0, [SEP] 30, Drawer, -2.638, 0.767, 3.239, 0, 0, 0, [SEP] 31, Cabinet, -2.410, 2.022, 3.570, 0, 0, 0, [SEP] 32, Faucet, -2.928, 0.978, 2.231, 0, 90, 0, [SEP] 33, Cabinet, -2.410, 0.371, 2.913, 0, 0, 0, [SEP] 34, CounterTop, -2.688, 0.966, 2.260, 0, 0, 0, [SEP] 35, CounterTop, -2.611, 1.243, 1.455, 0, 270, 0, [SEP] 36, TowelHolder, 0.0, 1.496, 1.942, 0, 270, 0, [SEP] 37, HandTowelHolder, -2.698, 1.623, 2.906, 0, 90, 0, [SEP] 38, Window, -2.256, 1.656, -0.021, 90, 0, 0, [SEP] 39, ToiletPaperHanger, -2.288, 0.910, 0.000, 0, 0, 0, [SEP] 40, GarbageCan, -0.403, -0.027, 0.241, 0, 0, 0, [SEP] 41, BathtubBasin, -0.435, 0.185, 1.544, 0, 0, 0, [SEP] 42, SinkBasin, -2.736, 0.929, 2.241, 0, 90, 0, [SEP] 43, LightSwitch, -1.675, 1.442, 3.610, 0, 180, 0, [SEP] 44, Toilet, -2.579, 0.032, 0.656, 0, 180, 0, [SEP] 45, NorthWall, , , , , , , [SEP] 46, EastWall, , , , , , , [SEP] 47, SouthWall, , , , , , , [SEP] 48, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the left corner of the room, past the toilet paper holder. | STEP 2: Pick up the plunger to the left of the toilet bowl cleaner, on the floor, in the corner. | STEP 3: Turn around and go to the cabinets under the sink to your left. | STEP 4: Place the plunger under the sink, in the second cabinet from the left, under the sink. | END"]} +{"id": "trial_T20190907_054459_336922-0", "input": "Put a mug with a spoon in the sink basin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 0.0, 0, 0, 0, [SEP] 1, Potato, -2.206, 0.947, 0.631, 0, 0, 0, 68 [SEP] 2, DishSponge, 0.683, 0.910, -1.369, 0, 0, 0, 50 [SEP] 3, Spoon, -0.730, 0.912, 1.540, 0, 0, 0, 40 [SEP] 4, Spatula, 1.337, 0.934, -1.115, 0, 225, 0, 54 [SEP] 5, Cup, -2.393, 1.298, -0.602, 0, 90, 0, 72 [SEP] 6, Cup, -2.605, 1.936, -0.578, 0, 0, 0, 62 [SEP] 7, Cup, 1.598, 0.908, 0.435, 0, 0, 0, 49 [SEP] 8, Knife, -2.318, 0.799, 0.486, 0, 270, 0, 57 [SEP] 9, Tomato, 1.729, 0.227, 0.706, 0, 0, 0, 79 [SEP] 10, Tomato, -2.390, 0.252, -0.570, 0, 90, 0, 72 [SEP] 11, SoapBottle, -2.560, 1.539, 2.057, 0, 0, 0, 52 [SEP] 12, SoapBottle, 0.048, 0.912, 0.647, 0, 0, 0, 40 [SEP] 13, Bowl, 1.772, 1.660, -0.407, 0, 0, 0, 60 [SEP] 14, SaltShaker, -0.081, 0.905, 1.540, 0, 0, 0, 40 [SEP] 15, Bread, -2.621, 0.996, 1.230, 0, 0, 0, 68 [SEP] 16, Bread, -0.341, 0.996, 1.094, 0, 0, 0, 40 [SEP] 17, Pan, 1.411, 0.929, 0.064, 0, 0, 0, 69 [SEP] 18, Knife, -2.227, 0.798, 0.486, 0, 270, 0, 57 [SEP] 19, Apple, -2.393, 1.362, -0.790, 0, 90, 0, 72 [SEP] 20, Bowl, -2.420, 0.591, -0.603, 0, 90, 0, 72 [SEP] 21, Fork, 1.513, 0.911, -0.768, 0, 0, 0, 50 [SEP] 22, Bread, -2.621, 0.996, 0.631, 0, 0, 0, 68 [SEP] 23, Plate, -0.211, 0.913, 1.764, 0, 0, 0, 40 [SEP] 24, Egg, -2.439, 1.331, -0.885, 0, 90, 0, 72 [SEP] 25, Kettle, -2.638, 1.539, 0.629, 0, 0, 0, 63 [SEP] 26, Potato, 1.426, 0.954, -1.096, 0, 225, 0, 54 [SEP] 27, SaltShaker, -2.313, 0.109, 0.437, 0, 0, 0, 65 [SEP] 28, Lettuce, 1.770, 0.994, -0.726, 0, 0, 0, 50 [SEP] 29, Cup, 1.248, 0.916, -1.134, 0, 225, 0, 54 [SEP] 30, SoapBottle, -0.730, 0.912, 0.870, 0, 0, 0, 40 [SEP] 31, Spatula, -2.318, 0.789, 1.000, 0, 270, 0, 45 [SEP] 32, PaperTowelRoll, -0.471, 1.015, 1.317, 0, 0, 0, 40 [SEP] 33, ButterKnife, -0.081, 0.910, 0.423, 0, 0, 0, 40 [SEP] 34, PepperShaker, -2.642, 1.933, -0.353, 0, 0, 0, 62 [SEP] 35, DishSponge, -2.638, 1.537, 0.846, 0, 0, 0, 64 [SEP] 36, Pot, 1.691, 0.929, 0.064, 0, 0, 0, 51 [SEP] 37, Spoon, 1.291, 0.919, -1.231, 0, 225, 0, 54 [SEP] 38, Tomato, -2.439, 1.342, -1.074, 0, 90, 0, 72 [SEP] 39, Mug, -2.310, 0.109, -0.172, 0, 90, 0, 56 [SEP] 40, CounterTop, -0.360, 0.946, 1.093, 0, 0, 0, [SEP] 41, StoveBurner, 1.412, 0.923, -0.335, 0, 0, 0, [SEP] 42, StoveKnob, 1.878, 1.093, 0.018, 287.989, 90, 0, [SEP] 43, StoveKnob, 1.878, 1.093, -0.306, 287.989, 90, 0, [SEP] 44, Cabinet, -2.446, 1.948, 2.924, 0, 0, 0, [SEP] 45, Drawer, -2.276, 0.792, 0.902, 0, 0, 0, [SEP] 46, Cabinet, -2.145, 0.402, 1.578, 0, 0, 0, [SEP] 47, Cabinet, 0.149, 2.008, -1.603, 0, 90, 0, [SEP] 48, StoveBurner, 1.691, 0.923, -0.335, 0, 0, 0, [SEP] 49, CounterTop, 1.585, 0.946, 0.405, 0, 0, 0, [SEP] 50, CounterTop, 0.474, 0.946, -1.625, 0, 0, 0, [SEP] 51, StoveBurner, 1.691, 0.923, 0.064, 0, 0, 0, [SEP] 52, Cabinet, -2.446, 1.948, 1.687, 0, 0, 0, [SEP] 53, Cabinet, -2.446, 1.948, 1.640, 0, 0, 0, [SEP] 54, Sink, 1.381, 0.810, -1.271, 0, 225, 0, [SEP] 55, StoveKnob, 1.878, 1.093, 0.150, 287.989, 90, 0, [SEP] 56, Cabinet, -2.145, 0.402, -0.236, 0, 0, 0, [SEP] 57, Drawer, -2.276, 0.792, 0.437, 0, 0, 0, [SEP] 58, Drawer, -2.276, 0.792, -0.027, 0, 0, 0, [SEP] 59, Cabinet, 1.572, 2.008, 0.474, 0, 0, 0, [SEP] 60, Cabinet, 1.572, 2.008, -0.775, 0, 0, 0, [SEP] 61, Cabinet, -2.445, 2.148, -1.275, 0, 0, 0, [SEP] 62, Cabinet, -2.446, 2.148, -0.284, 0, 0, 0, [SEP] 63, Cabinet, -2.446, 1.948, 0.355, 0, 0, 0, [SEP] 64, Cabinet, -2.446, 1.948, 0.405, 0, 0, 0, [SEP] 65, Cabinet, -2.145, 0.402, 0.644, 0, 0, 0, [SEP] 66, Cabinet, -2.145, 0.402, 0.695, 0, 0, 0, [SEP] 67, Cabinet, -2.285, 1.968, -1.325, 0, 180, 0, [SEP] 68, CounterTop, -1.485, 0.946, 1.319, 0, 0, 0, [SEP] 69, StoveBurner, 1.411, 0.923, 0.064, 0, 0, 0, [SEP] 70, StoveKnob, 1.878, 1.093, -0.441, 287.989, 90, 0, [SEP] 71, Drawer, -2.276, 0.792, 1.368, 0, 0, 0, [SEP] 72, Fridge, -2.475, 0.0, -0.782, 0, 90, 0, [SEP] 73, LightSwitch, -0.929, 1.350, -1.950, 0, 0, 0, [SEP] 74, Toaster, -2.564, 0.900, 1.876, 0, 90, 0, [SEP] 75, CoffeeMachine, 0.464, 0.900, -1.810, 0, 0, 0, [SEP] 76, Window, 1.508, 1.534, -1.496, 90, 135, 0, [SEP] 77, Window, 1.973, 1.521, 1.121, 90, 90, 0, [SEP] 78, SinkBasin, 1.149, 0.753, -1.380, 0, 225, 0, [SEP] 79, GarbageCan, 1.646, -0.000, 0.679, 0, 0, 0, [SEP] 80, Microwave, -2.580, 0.900, 2.440, 0, 90, 0, [SEP] 81, Stool, 0.439, 0.010, 0.747, 0, 0, 0, [SEP] 82, Stool, -2.303, 0.010, 1.839, 0, 0, 0, [SEP] 83, Faucet, 1.235, 1.138, -1.473, 0, 225, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Look down, then turn around and walk over to the kitchen sink. | STEP 2: Pick up the mug and spoon that is to the left of the sink. | STEP 3: Turn left and take a step forward, then turn right and walk back over to the sink. | STEP 4: Place the mug and spoon into the sink basin. | END"]} +{"id": "trial_T20190907_054459_336922-1", "input": "Put a mug with spoon in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 0.0, 0, 0, 0, [SEP] 1, Potato, -2.206, 0.947, 0.631, 0, 0, 0, 68 [SEP] 2, DishSponge, 0.683, 0.910, -1.369, 0, 0, 0, 50 [SEP] 3, Spoon, -0.730, 0.912, 1.540, 0, 0, 0, 40 [SEP] 4, Spatula, 1.337, 0.934, -1.115, 0, 225, 0, 54 [SEP] 5, Cup, -2.393, 1.298, -0.602, 0, 90, 0, 72 [SEP] 6, Cup, -2.605, 1.936, -0.578, 0, 0, 0, 62 [SEP] 7, Cup, 1.598, 0.908, 0.435, 0, 0, 0, 49 [SEP] 8, Knife, -2.318, 0.799, 0.486, 0, 270, 0, 57 [SEP] 9, Tomato, 1.729, 0.227, 0.706, 0, 0, 0, 79 [SEP] 10, Tomato, -2.390, 0.252, -0.570, 0, 90, 0, 72 [SEP] 11, SoapBottle, -2.560, 1.539, 2.057, 0, 0, 0, 52 [SEP] 12, SoapBottle, 0.048, 0.912, 0.647, 0, 0, 0, 40 [SEP] 13, Bowl, 1.772, 1.660, -0.407, 0, 0, 0, 60 [SEP] 14, SaltShaker, -0.081, 0.905, 1.540, 0, 0, 0, 40 [SEP] 15, Bread, -2.621, 0.996, 1.230, 0, 0, 0, 68 [SEP] 16, Bread, -0.341, 0.996, 1.094, 0, 0, 0, 40 [SEP] 17, Pan, 1.411, 0.929, 0.064, 0, 0, 0, 69 [SEP] 18, Knife, -2.227, 0.798, 0.486, 0, 270, 0, 57 [SEP] 19, Apple, -2.393, 1.362, -0.790, 0, 90, 0, 72 [SEP] 20, Bowl, -2.420, 0.591, -0.603, 0, 90, 0, 72 [SEP] 21, Fork, 1.513, 0.911, -0.768, 0, 0, 0, 50 [SEP] 22, Bread, -2.621, 0.996, 0.631, 0, 0, 0, 68 [SEP] 23, Plate, -0.211, 0.913, 1.764, 0, 0, 0, 40 [SEP] 24, Egg, -2.439, 1.331, -0.885, 0, 90, 0, 72 [SEP] 25, Kettle, -2.638, 1.539, 0.629, 0, 0, 0, 63 [SEP] 26, Potato, 1.426, 0.954, -1.096, 0, 225, 0, 54 [SEP] 27, SaltShaker, -2.313, 0.109, 0.437, 0, 0, 0, 65 [SEP] 28, Lettuce, 1.770, 0.994, -0.726, 0, 0, 0, 50 [SEP] 29, Cup, 1.248, 0.916, -1.134, 0, 225, 0, 54 [SEP] 30, SoapBottle, -0.730, 0.912, 0.870, 0, 0, 0, 40 [SEP] 31, Spatula, -2.318, 0.789, 1.000, 0, 270, 0, 45 [SEP] 32, PaperTowelRoll, -0.471, 1.015, 1.317, 0, 0, 0, 40 [SEP] 33, ButterKnife, -0.081, 0.910, 0.423, 0, 0, 0, 40 [SEP] 34, PepperShaker, -2.642, 1.933, -0.353, 0, 0, 0, 62 [SEP] 35, DishSponge, -2.638, 1.537, 0.846, 0, 0, 0, 64 [SEP] 36, Pot, 1.691, 0.929, 0.064, 0, 0, 0, 51 [SEP] 37, Spoon, 1.291, 0.919, -1.231, 0, 225, 0, 54 [SEP] 38, Tomato, -2.439, 1.342, -1.074, 0, 90, 0, 72 [SEP] 39, Mug, -2.310, 0.109, -0.172, 0, 90, 0, 56 [SEP] 40, CounterTop, -0.360, 0.946, 1.093, 0, 0, 0, [SEP] 41, StoveBurner, 1.412, 0.923, -0.335, 0, 0, 0, [SEP] 42, StoveKnob, 1.878, 1.093, 0.018, 287.989, 90, 0, [SEP] 43, StoveKnob, 1.878, 1.093, -0.306, 287.989, 90, 0, [SEP] 44, Cabinet, -2.446, 1.948, 2.924, 0, 0, 0, [SEP] 45, Drawer, -2.276, 0.792, 0.902, 0, 0, 0, [SEP] 46, Cabinet, -2.145, 0.402, 1.578, 0, 0, 0, [SEP] 47, Cabinet, 0.149, 2.008, -1.603, 0, 90, 0, [SEP] 48, StoveBurner, 1.691, 0.923, -0.335, 0, 0, 0, [SEP] 49, CounterTop, 1.585, 0.946, 0.405, 0, 0, 0, [SEP] 50, CounterTop, 0.474, 0.946, -1.625, 0, 0, 0, [SEP] 51, StoveBurner, 1.691, 0.923, 0.064, 0, 0, 0, [SEP] 52, Cabinet, -2.446, 1.948, 1.687, 0, 0, 0, [SEP] 53, Cabinet, -2.446, 1.948, 1.640, 0, 0, 0, [SEP] 54, Sink, 1.381, 0.810, -1.271, 0, 225, 0, [SEP] 55, StoveKnob, 1.878, 1.093, 0.150, 287.989, 90, 0, [SEP] 56, Cabinet, -2.145, 0.402, -0.236, 0, 0, 0, [SEP] 57, Drawer, -2.276, 0.792, 0.437, 0, 0, 0, [SEP] 58, Drawer, -2.276, 0.792, -0.027, 0, 0, 0, [SEP] 59, Cabinet, 1.572, 2.008, 0.474, 0, 0, 0, [SEP] 60, Cabinet, 1.572, 2.008, -0.775, 0, 0, 0, [SEP] 61, Cabinet, -2.445, 2.148, -1.275, 0, 0, 0, [SEP] 62, Cabinet, -2.446, 2.148, -0.284, 0, 0, 0, [SEP] 63, Cabinet, -2.446, 1.948, 0.355, 0, 0, 0, [SEP] 64, Cabinet, -2.446, 1.948, 0.405, 0, 0, 0, [SEP] 65, Cabinet, -2.145, 0.402, 0.644, 0, 0, 0, [SEP] 66, Cabinet, -2.145, 0.402, 0.695, 0, 0, 0, [SEP] 67, Cabinet, -2.285, 1.968, -1.325, 0, 180, 0, [SEP] 68, CounterTop, -1.485, 0.946, 1.319, 0, 0, 0, [SEP] 69, StoveBurner, 1.411, 0.923, 0.064, 0, 0, 0, [SEP] 70, StoveKnob, 1.878, 1.093, -0.441, 287.989, 90, 0, [SEP] 71, Drawer, -2.276, 0.792, 1.368, 0, 0, 0, [SEP] 72, Fridge, -2.475, 0.0, -0.782, 0, 90, 0, [SEP] 73, LightSwitch, -0.929, 1.350, -1.950, 0, 0, 0, [SEP] 74, Toaster, -2.564, 0.900, 1.876, 0, 90, 0, [SEP] 75, CoffeeMachine, 0.464, 0.900, -1.810, 0, 0, 0, [SEP] 76, Window, 1.508, 1.534, -1.496, 90, 135, 0, [SEP] 77, Window, 1.973, 1.521, 1.121, 90, 90, 0, [SEP] 78, SinkBasin, 1.149, 0.753, -1.380, 0, 225, 0, [SEP] 79, GarbageCan, 1.646, -0.000, 0.679, 0, 0, 0, [SEP] 80, Microwave, -2.580, 0.900, 2.440, 0, 90, 0, [SEP] 81, Stool, 0.439, 0.010, 0.747, 0, 0, 0, [SEP] 82, Stool, -2.303, 0.010, 1.839, 0, 0, 0, [SEP] 83, Faucet, 1.235, 1.138, -1.473, 0, 225, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and head to the sink on the left. | STEP 2: Pick up the mug with spoon next to the sink. | STEP 3: Bring the mug with spoon to the sink to the right. | STEP 4: Put the mug with spoon in the sink. | END"]} +{"id": "trial_T20190907_054459_336922-2", "input": "move the bowl with the spoon from by the sink into the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 0.0, 0, 0, 0, [SEP] 1, Potato, -2.206, 0.947, 0.631, 0, 0, 0, 68 [SEP] 2, DishSponge, 0.683, 0.910, -1.369, 0, 0, 0, 50 [SEP] 3, Spoon, -0.730, 0.912, 1.540, 0, 0, 0, 40 [SEP] 4, Spatula, 1.337, 0.934, -1.115, 0, 225, 0, 54 [SEP] 5, Cup, -2.393, 1.298, -0.602, 0, 90, 0, 72 [SEP] 6, Cup, -2.605, 1.936, -0.578, 0, 0, 0, 62 [SEP] 7, Cup, 1.598, 0.908, 0.435, 0, 0, 0, 49 [SEP] 8, Knife, -2.318, 0.799, 0.486, 0, 270, 0, 57 [SEP] 9, Tomato, 1.729, 0.227, 0.706, 0, 0, 0, 79 [SEP] 10, Tomato, -2.390, 0.252, -0.570, 0, 90, 0, 72 [SEP] 11, SoapBottle, -2.560, 1.539, 2.057, 0, 0, 0, 52 [SEP] 12, SoapBottle, 0.048, 0.912, 0.647, 0, 0, 0, 40 [SEP] 13, Bowl, 1.772, 1.660, -0.407, 0, 0, 0, 60 [SEP] 14, SaltShaker, -0.081, 0.905, 1.540, 0, 0, 0, 40 [SEP] 15, Bread, -2.621, 0.996, 1.230, 0, 0, 0, 68 [SEP] 16, Bread, -0.341, 0.996, 1.094, 0, 0, 0, 40 [SEP] 17, Pan, 1.411, 0.929, 0.064, 0, 0, 0, 69 [SEP] 18, Knife, -2.227, 0.798, 0.486, 0, 270, 0, 57 [SEP] 19, Apple, -2.393, 1.362, -0.790, 0, 90, 0, 72 [SEP] 20, Bowl, -2.420, 0.591, -0.603, 0, 90, 0, 72 [SEP] 21, Fork, 1.513, 0.911, -0.768, 0, 0, 0, 50 [SEP] 22, Bread, -2.621, 0.996, 0.631, 0, 0, 0, 68 [SEP] 23, Plate, -0.211, 0.913, 1.764, 0, 0, 0, 40 [SEP] 24, Egg, -2.439, 1.331, -0.885, 0, 90, 0, 72 [SEP] 25, Kettle, -2.638, 1.539, 0.629, 0, 0, 0, 63 [SEP] 26, Potato, 1.426, 0.954, -1.096, 0, 225, 0, 54 [SEP] 27, SaltShaker, -2.313, 0.109, 0.437, 0, 0, 0, 65 [SEP] 28, Lettuce, 1.770, 0.994, -0.726, 0, 0, 0, 50 [SEP] 29, Cup, 1.248, 0.916, -1.134, 0, 225, 0, 54 [SEP] 30, SoapBottle, -0.730, 0.912, 0.870, 0, 0, 0, 40 [SEP] 31, Spatula, -2.318, 0.789, 1.000, 0, 270, 0, 45 [SEP] 32, PaperTowelRoll, -0.471, 1.015, 1.317, 0, 0, 0, 40 [SEP] 33, ButterKnife, -0.081, 0.910, 0.423, 0, 0, 0, 40 [SEP] 34, PepperShaker, -2.642, 1.933, -0.353, 0, 0, 0, 62 [SEP] 35, DishSponge, -2.638, 1.537, 0.846, 0, 0, 0, 64 [SEP] 36, Pot, 1.691, 0.929, 0.064, 0, 0, 0, 51 [SEP] 37, Spoon, 1.291, 0.919, -1.231, 0, 225, 0, 54 [SEP] 38, Tomato, -2.439, 1.342, -1.074, 0, 90, 0, 72 [SEP] 39, Mug, -2.310, 0.109, -0.172, 0, 90, 0, 56 [SEP] 40, CounterTop, -0.360, 0.946, 1.093, 0, 0, 0, [SEP] 41, StoveBurner, 1.412, 0.923, -0.335, 0, 0, 0, [SEP] 42, StoveKnob, 1.878, 1.093, 0.018, 287.989, 90, 0, [SEP] 43, StoveKnob, 1.878, 1.093, -0.306, 287.989, 90, 0, [SEP] 44, Cabinet, -2.446, 1.948, 2.924, 0, 0, 0, [SEP] 45, Drawer, -2.276, 0.792, 0.902, 0, 0, 0, [SEP] 46, Cabinet, -2.145, 0.402, 1.578, 0, 0, 0, [SEP] 47, Cabinet, 0.149, 2.008, -1.603, 0, 90, 0, [SEP] 48, StoveBurner, 1.691, 0.923, -0.335, 0, 0, 0, [SEP] 49, CounterTop, 1.585, 0.946, 0.405, 0, 0, 0, [SEP] 50, CounterTop, 0.474, 0.946, -1.625, 0, 0, 0, [SEP] 51, StoveBurner, 1.691, 0.923, 0.064, 0, 0, 0, [SEP] 52, Cabinet, -2.446, 1.948, 1.687, 0, 0, 0, [SEP] 53, Cabinet, -2.446, 1.948, 1.640, 0, 0, 0, [SEP] 54, Sink, 1.381, 0.810, -1.271, 0, 225, 0, [SEP] 55, StoveKnob, 1.878, 1.093, 0.150, 287.989, 90, 0, [SEP] 56, Cabinet, -2.145, 0.402, -0.236, 0, 0, 0, [SEP] 57, Drawer, -2.276, 0.792, 0.437, 0, 0, 0, [SEP] 58, Drawer, -2.276, 0.792, -0.027, 0, 0, 0, [SEP] 59, Cabinet, 1.572, 2.008, 0.474, 0, 0, 0, [SEP] 60, Cabinet, 1.572, 2.008, -0.775, 0, 0, 0, [SEP] 61, Cabinet, -2.445, 2.148, -1.275, 0, 0, 0, [SEP] 62, Cabinet, -2.446, 2.148, -0.284, 0, 0, 0, [SEP] 63, Cabinet, -2.446, 1.948, 0.355, 0, 0, 0, [SEP] 64, Cabinet, -2.446, 1.948, 0.405, 0, 0, 0, [SEP] 65, Cabinet, -2.145, 0.402, 0.644, 0, 0, 0, [SEP] 66, Cabinet, -2.145, 0.402, 0.695, 0, 0, 0, [SEP] 67, Cabinet, -2.285, 1.968, -1.325, 0, 180, 0, [SEP] 68, CounterTop, -1.485, 0.946, 1.319, 0, 0, 0, [SEP] 69, StoveBurner, 1.411, 0.923, 0.064, 0, 0, 0, [SEP] 70, StoveKnob, 1.878, 1.093, -0.441, 287.989, 90, 0, [SEP] 71, Drawer, -2.276, 0.792, 1.368, 0, 0, 0, [SEP] 72, Fridge, -2.475, 0.0, -0.782, 0, 90, 0, [SEP] 73, LightSwitch, -0.929, 1.350, -1.950, 0, 0, 0, [SEP] 74, Toaster, -2.564, 0.900, 1.876, 0, 90, 0, [SEP] 75, CoffeeMachine, 0.464, 0.900, -1.810, 0, 0, 0, [SEP] 76, Window, 1.508, 1.534, -1.496, 90, 135, 0, [SEP] 77, Window, 1.973, 1.521, 1.121, 90, 90, 0, [SEP] 78, SinkBasin, 1.149, 0.753, -1.380, 0, 225, 0, [SEP] 79, GarbageCan, 1.646, -0.000, 0.679, 0, 0, 0, [SEP] 80, Microwave, -2.580, 0.900, 2.440, 0, 90, 0, [SEP] 81, Stool, 0.439, 0.010, 0.747, 0, 0, 0, [SEP] 82, Stool, -2.303, 0.010, 1.839, 0, 0, 0, [SEP] 83, Faucet, 1.235, 1.138, -1.473, 0, 225, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: turn around to the sink | STEP 2: grab the bowl and the spoon by the sink | STEP 3: walk to the left a little | STEP 4: put the bowl and the spoon in the sink | END"]} +{"id": "trial_T20190907_054459_336922-3", "input": "Place a cup and spoon into the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 0.0, 0, 0, 0, [SEP] 1, Potato, -2.206, 0.947, 0.631, 0, 0, 0, 68 [SEP] 2, DishSponge, 0.683, 0.910, -1.369, 0, 0, 0, 50 [SEP] 3, Spoon, -0.730, 0.912, 1.540, 0, 0, 0, 40 [SEP] 4, Spatula, 1.337, 0.934, -1.115, 0, 225, 0, 54 [SEP] 5, Cup, -2.393, 1.298, -0.602, 0, 90, 0, 72 [SEP] 6, Cup, -2.605, 1.936, -0.578, 0, 0, 0, 62 [SEP] 7, Cup, 1.598, 0.908, 0.435, 0, 0, 0, 49 [SEP] 8, Knife, -2.318, 0.799, 0.486, 0, 270, 0, 57 [SEP] 9, Tomato, 1.729, 0.227, 0.706, 0, 0, 0, 79 [SEP] 10, Tomato, -2.390, 0.252, -0.570, 0, 90, 0, 72 [SEP] 11, SoapBottle, -2.560, 1.539, 2.057, 0, 0, 0, 52 [SEP] 12, SoapBottle, 0.048, 0.912, 0.647, 0, 0, 0, 40 [SEP] 13, Bowl, 1.772, 1.660, -0.407, 0, 0, 0, 60 [SEP] 14, SaltShaker, -0.081, 0.905, 1.540, 0, 0, 0, 40 [SEP] 15, Bread, -2.621, 0.996, 1.230, 0, 0, 0, 68 [SEP] 16, Bread, -0.341, 0.996, 1.094, 0, 0, 0, 40 [SEP] 17, Pan, 1.411, 0.929, 0.064, 0, 0, 0, 69 [SEP] 18, Knife, -2.227, 0.798, 0.486, 0, 270, 0, 57 [SEP] 19, Apple, -2.393, 1.362, -0.790, 0, 90, 0, 72 [SEP] 20, Bowl, -2.420, 0.591, -0.603, 0, 90, 0, 72 [SEP] 21, Fork, 1.513, 0.911, -0.768, 0, 0, 0, 50 [SEP] 22, Bread, -2.621, 0.996, 0.631, 0, 0, 0, 68 [SEP] 23, Plate, -0.211, 0.913, 1.764, 0, 0, 0, 40 [SEP] 24, Egg, -2.439, 1.331, -0.885, 0, 90, 0, 72 [SEP] 25, Kettle, -2.638, 1.539, 0.629, 0, 0, 0, 63 [SEP] 26, Potato, 1.426, 0.954, -1.096, 0, 225, 0, 54 [SEP] 27, SaltShaker, -2.313, 0.109, 0.437, 0, 0, 0, 65 [SEP] 28, Lettuce, 1.770, 0.994, -0.726, 0, 0, 0, 50 [SEP] 29, Cup, 1.248, 0.916, -1.134, 0, 225, 0, 54 [SEP] 30, SoapBottle, -0.730, 0.912, 0.870, 0, 0, 0, 40 [SEP] 31, Spatula, -2.318, 0.789, 1.000, 0, 270, 0, 45 [SEP] 32, PaperTowelRoll, -0.471, 1.015, 1.317, 0, 0, 0, 40 [SEP] 33, ButterKnife, -0.081, 0.910, 0.423, 0, 0, 0, 40 [SEP] 34, PepperShaker, -2.642, 1.933, -0.353, 0, 0, 0, 62 [SEP] 35, DishSponge, -2.638, 1.537, 0.846, 0, 0, 0, 64 [SEP] 36, Pot, 1.691, 0.929, 0.064, 0, 0, 0, 51 [SEP] 37, Spoon, 1.291, 0.919, -1.231, 0, 225, 0, 54 [SEP] 38, Tomato, -2.439, 1.342, -1.074, 0, 90, 0, 72 [SEP] 39, Mug, -2.310, 0.109, -0.172, 0, 90, 0, 56 [SEP] 40, CounterTop, -0.360, 0.946, 1.093, 0, 0, 0, [SEP] 41, StoveBurner, 1.412, 0.923, -0.335, 0, 0, 0, [SEP] 42, StoveKnob, 1.878, 1.093, 0.018, 287.989, 90, 0, [SEP] 43, StoveKnob, 1.878, 1.093, -0.306, 287.989, 90, 0, [SEP] 44, Cabinet, -2.446, 1.948, 2.924, 0, 0, 0, [SEP] 45, Drawer, -2.276, 0.792, 0.902, 0, 0, 0, [SEP] 46, Cabinet, -2.145, 0.402, 1.578, 0, 0, 0, [SEP] 47, Cabinet, 0.149, 2.008, -1.603, 0, 90, 0, [SEP] 48, StoveBurner, 1.691, 0.923, -0.335, 0, 0, 0, [SEP] 49, CounterTop, 1.585, 0.946, 0.405, 0, 0, 0, [SEP] 50, CounterTop, 0.474, 0.946, -1.625, 0, 0, 0, [SEP] 51, StoveBurner, 1.691, 0.923, 0.064, 0, 0, 0, [SEP] 52, Cabinet, -2.446, 1.948, 1.687, 0, 0, 0, [SEP] 53, Cabinet, -2.446, 1.948, 1.640, 0, 0, 0, [SEP] 54, Sink, 1.381, 0.810, -1.271, 0, 225, 0, [SEP] 55, StoveKnob, 1.878, 1.093, 0.150, 287.989, 90, 0, [SEP] 56, Cabinet, -2.145, 0.402, -0.236, 0, 0, 0, [SEP] 57, Drawer, -2.276, 0.792, 0.437, 0, 0, 0, [SEP] 58, Drawer, -2.276, 0.792, -0.027, 0, 0, 0, [SEP] 59, Cabinet, 1.572, 2.008, 0.474, 0, 0, 0, [SEP] 60, Cabinet, 1.572, 2.008, -0.775, 0, 0, 0, [SEP] 61, Cabinet, -2.445, 2.148, -1.275, 0, 0, 0, [SEP] 62, Cabinet, -2.446, 2.148, -0.284, 0, 0, 0, [SEP] 63, Cabinet, -2.446, 1.948, 0.355, 0, 0, 0, [SEP] 64, Cabinet, -2.446, 1.948, 0.405, 0, 0, 0, [SEP] 65, Cabinet, -2.145, 0.402, 0.644, 0, 0, 0, [SEP] 66, Cabinet, -2.145, 0.402, 0.695, 0, 0, 0, [SEP] 67, Cabinet, -2.285, 1.968, -1.325, 0, 180, 0, [SEP] 68, CounterTop, -1.485, 0.946, 1.319, 0, 0, 0, [SEP] 69, StoveBurner, 1.411, 0.923, 0.064, 0, 0, 0, [SEP] 70, StoveKnob, 1.878, 1.093, -0.441, 287.989, 90, 0, [SEP] 71, Drawer, -2.276, 0.792, 1.368, 0, 0, 0, [SEP] 72, Fridge, -2.475, 0.0, -0.782, 0, 90, 0, [SEP] 73, LightSwitch, -0.929, 1.350, -1.950, 0, 0, 0, [SEP] 74, Toaster, -2.564, 0.900, 1.876, 0, 90, 0, [SEP] 75, CoffeeMachine, 0.464, 0.900, -1.810, 0, 0, 0, [SEP] 76, Window, 1.508, 1.534, -1.496, 90, 135, 0, [SEP] 77, Window, 1.973, 1.521, 1.121, 90, 90, 0, [SEP] 78, SinkBasin, 1.149, 0.753, -1.380, 0, 225, 0, [SEP] 79, GarbageCan, 1.646, -0.000, 0.679, 0, 0, 0, [SEP] 80, Microwave, -2.580, 0.900, 2.440, 0, 90, 0, [SEP] 81, Stool, 0.439, 0.010, 0.747, 0, 0, 0, [SEP] 82, Stool, -2.303, 0.010, 1.839, 0, 0, 0, [SEP] 83, Faucet, 1.235, 1.138, -1.473, 0, 225, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and then turn left so you are facing the sink | STEP 2: Pick up a cup with the spoon attached | STEP 3: Move to your left, and then face the kitchen sink from the opposite angle as before | STEP 4: Place the cup and spoon into the sink | END"]} +{"id": "trial_T20190907_054459_336922-4", "input": "move a mug with spoon in to the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 0.0, 0, 0, 0, [SEP] 1, Potato, -2.206, 0.947, 0.631, 0, 0, 0, 68 [SEP] 2, DishSponge, 0.683, 0.910, -1.369, 0, 0, 0, 50 [SEP] 3, Spoon, -0.730, 0.912, 1.540, 0, 0, 0, 40 [SEP] 4, Spatula, 1.337, 0.934, -1.115, 0, 225, 0, 54 [SEP] 5, Cup, -2.393, 1.298, -0.602, 0, 90, 0, 72 [SEP] 6, Cup, -2.605, 1.936, -0.578, 0, 0, 0, 62 [SEP] 7, Cup, 1.598, 0.908, 0.435, 0, 0, 0, 49 [SEP] 8, Knife, -2.318, 0.799, 0.486, 0, 270, 0, 57 [SEP] 9, Tomato, 1.729, 0.227, 0.706, 0, 0, 0, 79 [SEP] 10, Tomato, -2.390, 0.252, -0.570, 0, 90, 0, 72 [SEP] 11, SoapBottle, -2.560, 1.539, 2.057, 0, 0, 0, 52 [SEP] 12, SoapBottle, 0.048, 0.912, 0.647, 0, 0, 0, 40 [SEP] 13, Bowl, 1.772, 1.660, -0.407, 0, 0, 0, 60 [SEP] 14, SaltShaker, -0.081, 0.905, 1.540, 0, 0, 0, 40 [SEP] 15, Bread, -2.621, 0.996, 1.230, 0, 0, 0, 68 [SEP] 16, Bread, -0.341, 0.996, 1.094, 0, 0, 0, 40 [SEP] 17, Pan, 1.411, 0.929, 0.064, 0, 0, 0, 69 [SEP] 18, Knife, -2.227, 0.798, 0.486, 0, 270, 0, 57 [SEP] 19, Apple, -2.393, 1.362, -0.790, 0, 90, 0, 72 [SEP] 20, Bowl, -2.420, 0.591, -0.603, 0, 90, 0, 72 [SEP] 21, Fork, 1.513, 0.911, -0.768, 0, 0, 0, 50 [SEP] 22, Bread, -2.621, 0.996, 0.631, 0, 0, 0, 68 [SEP] 23, Plate, -0.211, 0.913, 1.764, 0, 0, 0, 40 [SEP] 24, Egg, -2.439, 1.331, -0.885, 0, 90, 0, 72 [SEP] 25, Kettle, -2.638, 1.539, 0.629, 0, 0, 0, 63 [SEP] 26, Potato, 1.426, 0.954, -1.096, 0, 225, 0, 54 [SEP] 27, SaltShaker, -2.313, 0.109, 0.437, 0, 0, 0, 65 [SEP] 28, Lettuce, 1.770, 0.994, -0.726, 0, 0, 0, 50 [SEP] 29, Cup, 1.248, 0.916, -1.134, 0, 225, 0, 54 [SEP] 30, SoapBottle, -0.730, 0.912, 0.870, 0, 0, 0, 40 [SEP] 31, Spatula, -2.318, 0.789, 1.000, 0, 270, 0, 45 [SEP] 32, PaperTowelRoll, -0.471, 1.015, 1.317, 0, 0, 0, 40 [SEP] 33, ButterKnife, -0.081, 0.910, 0.423, 0, 0, 0, 40 [SEP] 34, PepperShaker, -2.642, 1.933, -0.353, 0, 0, 0, 62 [SEP] 35, DishSponge, -2.638, 1.537, 0.846, 0, 0, 0, 64 [SEP] 36, Pot, 1.691, 0.929, 0.064, 0, 0, 0, 51 [SEP] 37, Spoon, 1.291, 0.919, -1.231, 0, 225, 0, 54 [SEP] 38, Tomato, -2.439, 1.342, -1.074, 0, 90, 0, 72 [SEP] 39, Mug, -2.310, 0.109, -0.172, 0, 90, 0, 56 [SEP] 40, CounterTop, -0.360, 0.946, 1.093, 0, 0, 0, [SEP] 41, StoveBurner, 1.412, 0.923, -0.335, 0, 0, 0, [SEP] 42, StoveKnob, 1.878, 1.093, 0.018, 287.989, 90, 0, [SEP] 43, StoveKnob, 1.878, 1.093, -0.306, 287.989, 90, 0, [SEP] 44, Cabinet, -2.446, 1.948, 2.924, 0, 0, 0, [SEP] 45, Drawer, -2.276, 0.792, 0.902, 0, 0, 0, [SEP] 46, Cabinet, -2.145, 0.402, 1.578, 0, 0, 0, [SEP] 47, Cabinet, 0.149, 2.008, -1.603, 0, 90, 0, [SEP] 48, StoveBurner, 1.691, 0.923, -0.335, 0, 0, 0, [SEP] 49, CounterTop, 1.585, 0.946, 0.405, 0, 0, 0, [SEP] 50, CounterTop, 0.474, 0.946, -1.625, 0, 0, 0, [SEP] 51, StoveBurner, 1.691, 0.923, 0.064, 0, 0, 0, [SEP] 52, Cabinet, -2.446, 1.948, 1.687, 0, 0, 0, [SEP] 53, Cabinet, -2.446, 1.948, 1.640, 0, 0, 0, [SEP] 54, Sink, 1.381, 0.810, -1.271, 0, 225, 0, [SEP] 55, StoveKnob, 1.878, 1.093, 0.150, 287.989, 90, 0, [SEP] 56, Cabinet, -2.145, 0.402, -0.236, 0, 0, 0, [SEP] 57, Drawer, -2.276, 0.792, 0.437, 0, 0, 0, [SEP] 58, Drawer, -2.276, 0.792, -0.027, 0, 0, 0, [SEP] 59, Cabinet, 1.572, 2.008, 0.474, 0, 0, 0, [SEP] 60, Cabinet, 1.572, 2.008, -0.775, 0, 0, 0, [SEP] 61, Cabinet, -2.445, 2.148, -1.275, 0, 0, 0, [SEP] 62, Cabinet, -2.446, 2.148, -0.284, 0, 0, 0, [SEP] 63, Cabinet, -2.446, 1.948, 0.355, 0, 0, 0, [SEP] 64, Cabinet, -2.446, 1.948, 0.405, 0, 0, 0, [SEP] 65, Cabinet, -2.145, 0.402, 0.644, 0, 0, 0, [SEP] 66, Cabinet, -2.145, 0.402, 0.695, 0, 0, 0, [SEP] 67, Cabinet, -2.285, 1.968, -1.325, 0, 180, 0, [SEP] 68, CounterTop, -1.485, 0.946, 1.319, 0, 0, 0, [SEP] 69, StoveBurner, 1.411, 0.923, 0.064, 0, 0, 0, [SEP] 70, StoveKnob, 1.878, 1.093, -0.441, 287.989, 90, 0, [SEP] 71, Drawer, -2.276, 0.792, 1.368, 0, 0, 0, [SEP] 72, Fridge, -2.475, 0.0, -0.782, 0, 90, 0, [SEP] 73, LightSwitch, -0.929, 1.350, -1.950, 0, 0, 0, [SEP] 74, Toaster, -2.564, 0.900, 1.876, 0, 90, 0, [SEP] 75, CoffeeMachine, 0.464, 0.900, -1.810, 0, 0, 0, [SEP] 76, Window, 1.508, 1.534, -1.496, 90, 135, 0, [SEP] 77, Window, 1.973, 1.521, 1.121, 90, 90, 0, [SEP] 78, SinkBasin, 1.149, 0.753, -1.380, 0, 225, 0, [SEP] 79, GarbageCan, 1.646, -0.000, 0.679, 0, 0, 0, [SEP] 80, Microwave, -2.580, 0.900, 2.440, 0, 90, 0, [SEP] 81, Stool, 0.439, 0.010, 0.747, 0, 0, 0, [SEP] 82, Stool, -2.303, 0.010, 1.839, 0, 0, 0, [SEP] 83, Faucet, 1.235, 1.138, -1.473, 0, 225, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: turn around, walk forward, turn left to face sink | STEP 2: pick up the mug with spoon that is by the sink | STEP 3: take a few steps to the right | STEP 4: put the mug with spoon in the sink | END"]} +{"id": "trial_T20190907_013001_399963-0", "input": "place a sliced apple down on the black table at the end of the kitchen counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.869, 0.0, 0, 270, 0, [SEP] 1, Potato, 0.672, 0.805, -0.680, 0, 270, 0, 68 [SEP] 2, Potato, 0.661, 0.697, 0.569, 0, 0, 0, 50 [SEP] 3, DishSponge, 0.949, 1.463, -0.207, 0, 0, 0, 56 [SEP] 4, DishSponge, 0.841, 0.772, -0.570, 0, 270, 0, 68 [SEP] 5, ButterKnife, -1.719, 0.701, -0.983, 0, 0, 0, 81 [SEP] 6, ButterKnife, 0.757, 0.772, -0.735, 0, 270, 0, 68 [SEP] 7, Spoon, 0.781, 0.666, 0.326, 0, 180, 0, 50 [SEP] 8, Pot, -2.097, 0.930, 1.049, 0, 0, 0, 52 [SEP] 9, Egg, -1.886, 0.738, -1.307, 0, 0, 0, 81 [SEP] 10, Egg, -0.252, 0.937, 0.758, 0, 270, 0, 71 [SEP] 11, Cup, 0.149, 0.899, 0.758, 0, 270, 0, 71 [SEP] 12, Cup, 0.676, 0.014, 0.076, 0, 0, 0, 55 [SEP] 13, Plate, -2.054, 0.705, -0.983, 0, 0, 0, 81 [SEP] 14, Tomato, -1.599, 0.748, -3.782, 0, 0, 0, 72 [SEP] 15, SoapBottle, 0.149, 0.899, 0.929, 0, 270, 0, 71 [SEP] 16, SoapBottle, 0.901, 0.664, 0.569, 0, 0, 0, 50 [SEP] 17, Bowl, -1.056, 0.899, 1.187, 0, 270, 0, 71 [SEP] 18, Bowl, -0.051, 0.899, 1.015, 0, 270, 0, 71 [SEP] 19, PepperShaker, 0.621, 0.012, -0.768, 0, 0, 0, 48 [SEP] 20, Lettuce, 0.785, 1.461, -2.035, 0, 270, 0, 65 [SEP] 21, Apple, -1.224, 0.105, -3.611, 0, 270, 0, 60 [SEP] 22, Apple, 0.757, 0.826, -0.680, 0, 270, 0, 68 [SEP] 23, Pot, -1.555, 0.930, 1.049, 0, 0, 0, 54 [SEP] 24, Plate, 0.732, 0.019, -0.184, 0, 0, 0, 55 [SEP] 25, Fork, 0.720, 0.760, -0.252, 0, 0, 0, 44 [SEP] 26, SoapBottle, 0.721, 0.663, 0.448, 0, 0, 0, 50 [SEP] 27, Apple, -2.137, 0.755, -1.199, 0, 0, 0, 81 [SEP] 28, Pan, 0.740, -0.007, -0.596, 0, 0, 0, 48 [SEP] 29, Egg, 0.630, 0.809, -0.515, 0, 270, 0, 68 [SEP] 30, Spatula, 0.149, 0.915, 1.187, 0, 0, 0, 71 [SEP] 31, Potato, 0.841, 0.805, -0.790, 0, 270, 0, 68 [SEP] 32, Cup, 0.721, 0.663, 0.265, 0, 0, 0, 50 [SEP] 33, SaltShaker, 0.767, 1.460, -0.146, 0, 0, 0, 56 [SEP] 34, PepperShaker, 0.601, 0.661, 0.265, 0, 0, 0, 50 [SEP] 35, ButterKnife, -1.886, 0.701, -1.524, 0, 0, 0, 81 [SEP] 36, DishSponge, -1.578, 0.699, -3.614, 0, 0, 0, 72 [SEP] 37, Bread, -0.873, 0.931, 0.978, 0, 24.231, 0, 71 [SEP] 38, Lettuce, 0.785, 1.246, -1.802, 0, 270, 0, 65 [SEP] 39, Tomato, 0.669, 1.423, -1.725, 0, 270, 0, 65 [SEP] 40, Spoon, 0.769, 0.761, 0.002, 0, 0, 0, 44 [SEP] 41, Knife, 0.149, 0.923, 1.187, 0, 270, 0, 71 [SEP] 42, Mug, 0.698, 0.941, -1.360, 0, 270, 0, 58 [SEP] 43, Bowl, 0.858, 1.462, 0.411, 0, 0, 0, 57 [SEP] 44, Drawer, 0.706, 0.766, -0.125, 0, 0, 0, [SEP] 45, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0, [SEP] 46, Mirror, 1.093, 1.602, -0.643, 0, 0, 0, [SEP] 47, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0, [SEP] 48, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0, [SEP] 49, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0, [SEP] 50, SideTable, 0.770, -0.030, 0.443, 0, 0, 0, [SEP] 51, Sink, 0.753, 0.882, -0.680, 0, 0, 0, [SEP] 52, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0, [SEP] 53, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489, [SEP] 54, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0, [SEP] 55, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0, [SEP] 56, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0, [SEP] 57, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0, [SEP] 58, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0, [SEP] 59, Toaster, -0.522, 0.886, 1.081, 0, 180, 0, [SEP] 60, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0, [SEP] 61, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180, [SEP] 62, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180, [SEP] 63, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180, [SEP] 64, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180, [SEP] 65, Fridge, 0.680, -0.031, -1.957, 0, 0, 0, [SEP] 66, Window, -2.424, 1.639, -2.453, 90, 270, 0, [SEP] 67, Microwave, -1.994, 0.690, -3.651, 0, 0, 0, [SEP] 68, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0, [SEP] 69, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0, [SEP] 70, Shelf, -0.350, 0.124, 0.857, 0, 0, 0, [SEP] 71, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0, [SEP] 72, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0, [SEP] 73, Blinds, -2.343, 2.151, -2.437, 0, 270, 0, [SEP] 74, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0, [SEP] 75, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0, [SEP] 76, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0, [SEP] 77, Shelf, 0.771, 0.226, 0.445, 0, 0, 0, [SEP] 78, Shelf, 0.771, 0.456, 0.446, 0, 0, 0, [SEP] 79, Faucet, 1.025, 0.873, -0.678, 270, 180, 0, [SEP] 80, Shelf, -0.350, 0.497, 0.857, 0, 0, 0, [SEP] 81, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0, [SEP] 82, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0, [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: turn left and walk forwards until your reach the sink on your left | STEP 2: grab a butter knife out of the sink | STEP 3: cut the apple in the sink | STEP 4: back up a bit to face the sink again | STEP 5: place the butter knife in the cabinet to the bottom left of the sink | STEP 6: walk forwards a bit to the sink again | STEP 7: grab an apple slice from out of the inside of the sink | STEP 8: turn right and walk over to the fridge on your left | STEP 9: place the apple slice in the fridge to cool, then take it back out | STEP 10: turn around to move forwards a bit, then turn right and walk to the end of the room, then turn right to face the kitchen counter | STEP 11: place the apple slice down on the black table at the end of the kitchen counter next to the salt shaker | END"]} +{"id": "trial_T20190907_013001_399963-1", "input": "Put a piece of an apple on a stand. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.869, 0.0, 0, 270, 0, [SEP] 1, Potato, 0.672, 0.805, -0.680, 0, 270, 0, 68 [SEP] 2, Potato, 0.661, 0.697, 0.569, 0, 0, 0, 50 [SEP] 3, DishSponge, 0.949, 1.463, -0.207, 0, 0, 0, 56 [SEP] 4, DishSponge, 0.841, 0.772, -0.570, 0, 270, 0, 68 [SEP] 5, ButterKnife, -1.719, 0.701, -0.983, 0, 0, 0, 81 [SEP] 6, ButterKnife, 0.757, 0.772, -0.735, 0, 270, 0, 68 [SEP] 7, Spoon, 0.781, 0.666, 0.326, 0, 180, 0, 50 [SEP] 8, Pot, -2.097, 0.930, 1.049, 0, 0, 0, 52 [SEP] 9, Egg, -1.886, 0.738, -1.307, 0, 0, 0, 81 [SEP] 10, Egg, -0.252, 0.937, 0.758, 0, 270, 0, 71 [SEP] 11, Cup, 0.149, 0.899, 0.758, 0, 270, 0, 71 [SEP] 12, Cup, 0.676, 0.014, 0.076, 0, 0, 0, 55 [SEP] 13, Plate, -2.054, 0.705, -0.983, 0, 0, 0, 81 [SEP] 14, Tomato, -1.599, 0.748, -3.782, 0, 0, 0, 72 [SEP] 15, SoapBottle, 0.149, 0.899, 0.929, 0, 270, 0, 71 [SEP] 16, SoapBottle, 0.901, 0.664, 0.569, 0, 0, 0, 50 [SEP] 17, Bowl, -1.056, 0.899, 1.187, 0, 270, 0, 71 [SEP] 18, Bowl, -0.051, 0.899, 1.015, 0, 270, 0, 71 [SEP] 19, PepperShaker, 0.621, 0.012, -0.768, 0, 0, 0, 48 [SEP] 20, Lettuce, 0.785, 1.461, -2.035, 0, 270, 0, 65 [SEP] 21, Apple, -1.224, 0.105, -3.611, 0, 270, 0, 60 [SEP] 22, Apple, 0.757, 0.826, -0.680, 0, 270, 0, 68 [SEP] 23, Pot, -1.555, 0.930, 1.049, 0, 0, 0, 54 [SEP] 24, Plate, 0.732, 0.019, -0.184, 0, 0, 0, 55 [SEP] 25, Fork, 0.720, 0.760, -0.252, 0, 0, 0, 44 [SEP] 26, SoapBottle, 0.721, 0.663, 0.448, 0, 0, 0, 50 [SEP] 27, Apple, -2.137, 0.755, -1.199, 0, 0, 0, 81 [SEP] 28, Pan, 0.740, -0.007, -0.596, 0, 0, 0, 48 [SEP] 29, Egg, 0.630, 0.809, -0.515, 0, 270, 0, 68 [SEP] 30, Spatula, 0.149, 0.915, 1.187, 0, 0, 0, 71 [SEP] 31, Potato, 0.841, 0.805, -0.790, 0, 270, 0, 68 [SEP] 32, Cup, 0.721, 0.663, 0.265, 0, 0, 0, 50 [SEP] 33, SaltShaker, 0.767, 1.460, -0.146, 0, 0, 0, 56 [SEP] 34, PepperShaker, 0.601, 0.661, 0.265, 0, 0, 0, 50 [SEP] 35, ButterKnife, -1.886, 0.701, -1.524, 0, 0, 0, 81 [SEP] 36, DishSponge, -1.578, 0.699, -3.614, 0, 0, 0, 72 [SEP] 37, Bread, -0.873, 0.931, 0.978, 0, 24.231, 0, 71 [SEP] 38, Lettuce, 0.785, 1.246, -1.802, 0, 270, 0, 65 [SEP] 39, Tomato, 0.669, 1.423, -1.725, 0, 270, 0, 65 [SEP] 40, Spoon, 0.769, 0.761, 0.002, 0, 0, 0, 44 [SEP] 41, Knife, 0.149, 0.923, 1.187, 0, 270, 0, 71 [SEP] 42, Mug, 0.698, 0.941, -1.360, 0, 270, 0, 58 [SEP] 43, Bowl, 0.858, 1.462, 0.411, 0, 0, 0, 57 [SEP] 44, Drawer, 0.706, 0.766, -0.125, 0, 0, 0, [SEP] 45, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0, [SEP] 46, Mirror, 1.093, 1.602, -0.643, 0, 0, 0, [SEP] 47, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0, [SEP] 48, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0, [SEP] 49, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0, [SEP] 50, SideTable, 0.770, -0.030, 0.443, 0, 0, 0, [SEP] 51, Sink, 0.753, 0.882, -0.680, 0, 0, 0, [SEP] 52, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0, [SEP] 53, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489, [SEP] 54, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0, [SEP] 55, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0, [SEP] 56, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0, [SEP] 57, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0, [SEP] 58, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0, [SEP] 59, Toaster, -0.522, 0.886, 1.081, 0, 180, 0, [SEP] 60, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0, [SEP] 61, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180, [SEP] 62, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180, [SEP] 63, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180, [SEP] 64, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180, [SEP] 65, Fridge, 0.680, -0.031, -1.957, 0, 0, 0, [SEP] 66, Window, -2.424, 1.639, -2.453, 90, 270, 0, [SEP] 67, Microwave, -1.994, 0.690, -3.651, 0, 0, 0, [SEP] 68, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0, [SEP] 69, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0, [SEP] 70, Shelf, -0.350, 0.124, 0.857, 0, 0, 0, [SEP] 71, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0, [SEP] 72, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0, [SEP] 73, Blinds, -2.343, 2.151, -2.437, 0, 270, 0, [SEP] 74, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0, [SEP] 75, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0, [SEP] 76, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0, [SEP] 77, Shelf, 0.771, 0.226, 0.445, 0, 0, 0, [SEP] 78, Shelf, 0.771, 0.456, 0.446, 0, 0, 0, [SEP] 79, Faucet, 1.025, 0.873, -0.678, 270, 180, 0, [SEP] 80, Shelf, -0.350, 0.497, 0.857, 0, 0, 0, [SEP] 81, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0, [SEP] 82, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0, [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and take a step then turn left to face the sink. | STEP 2: Pick up the knife in the middle of the sink. | STEP 3: Cut up the apple in the lower right corner of the sink. | STEP 4: Take a step back. | STEP 5: Open the cupboard on the left and put the knife down there and close the cupboard. | STEP 6: Walk back to the sink. | STEP 7: Get the middle piece of apple. | STEP 8: Take a few steps to your right to stand in front of the fridge. | STEP 9: Open the fridge and put the apple on the top shelf then close the fridge and let it chill for a while before retrieving it and closing the door. | STEP 10: Turn left and walk to the table then turn right and face the black stand to the left of the sink. | STEP 11: Put the apple to the left of the salt shaker. | END"]} +{"id": "trial_T20190907_013001_399963-2", "input": "Place the cool slice apple on the small black table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.869, 0.0, 0, 270, 0, [SEP] 1, Potato, 0.672, 0.805, -0.680, 0, 270, 0, 68 [SEP] 2, Potato, 0.661, 0.697, 0.569, 0, 0, 0, 50 [SEP] 3, DishSponge, 0.949, 1.463, -0.207, 0, 0, 0, 56 [SEP] 4, DishSponge, 0.841, 0.772, -0.570, 0, 270, 0, 68 [SEP] 5, ButterKnife, -1.719, 0.701, -0.983, 0, 0, 0, 81 [SEP] 6, ButterKnife, 0.757, 0.772, -0.735, 0, 270, 0, 68 [SEP] 7, Spoon, 0.781, 0.666, 0.326, 0, 180, 0, 50 [SEP] 8, Pot, -2.097, 0.930, 1.049, 0, 0, 0, 52 [SEP] 9, Egg, -1.886, 0.738, -1.307, 0, 0, 0, 81 [SEP] 10, Egg, -0.252, 0.937, 0.758, 0, 270, 0, 71 [SEP] 11, Cup, 0.149, 0.899, 0.758, 0, 270, 0, 71 [SEP] 12, Cup, 0.676, 0.014, 0.076, 0, 0, 0, 55 [SEP] 13, Plate, -2.054, 0.705, -0.983, 0, 0, 0, 81 [SEP] 14, Tomato, -1.599, 0.748, -3.782, 0, 0, 0, 72 [SEP] 15, SoapBottle, 0.149, 0.899, 0.929, 0, 270, 0, 71 [SEP] 16, SoapBottle, 0.901, 0.664, 0.569, 0, 0, 0, 50 [SEP] 17, Bowl, -1.056, 0.899, 1.187, 0, 270, 0, 71 [SEP] 18, Bowl, -0.051, 0.899, 1.015, 0, 270, 0, 71 [SEP] 19, PepperShaker, 0.621, 0.012, -0.768, 0, 0, 0, 48 [SEP] 20, Lettuce, 0.785, 1.461, -2.035, 0, 270, 0, 65 [SEP] 21, Apple, -1.224, 0.105, -3.611, 0, 270, 0, 60 [SEP] 22, Apple, 0.757, 0.826, -0.680, 0, 270, 0, 68 [SEP] 23, Pot, -1.555, 0.930, 1.049, 0, 0, 0, 54 [SEP] 24, Plate, 0.732, 0.019, -0.184, 0, 0, 0, 55 [SEP] 25, Fork, 0.720, 0.760, -0.252, 0, 0, 0, 44 [SEP] 26, SoapBottle, 0.721, 0.663, 0.448, 0, 0, 0, 50 [SEP] 27, Apple, -2.137, 0.755, -1.199, 0, 0, 0, 81 [SEP] 28, Pan, 0.740, -0.007, -0.596, 0, 0, 0, 48 [SEP] 29, Egg, 0.630, 0.809, -0.515, 0, 270, 0, 68 [SEP] 30, Spatula, 0.149, 0.915, 1.187, 0, 0, 0, 71 [SEP] 31, Potato, 0.841, 0.805, -0.790, 0, 270, 0, 68 [SEP] 32, Cup, 0.721, 0.663, 0.265, 0, 0, 0, 50 [SEP] 33, SaltShaker, 0.767, 1.460, -0.146, 0, 0, 0, 56 [SEP] 34, PepperShaker, 0.601, 0.661, 0.265, 0, 0, 0, 50 [SEP] 35, ButterKnife, -1.886, 0.701, -1.524, 0, 0, 0, 81 [SEP] 36, DishSponge, -1.578, 0.699, -3.614, 0, 0, 0, 72 [SEP] 37, Bread, -0.873, 0.931, 0.978, 0, 24.231, 0, 71 [SEP] 38, Lettuce, 0.785, 1.246, -1.802, 0, 270, 0, 65 [SEP] 39, Tomato, 0.669, 1.423, -1.725, 0, 270, 0, 65 [SEP] 40, Spoon, 0.769, 0.761, 0.002, 0, 0, 0, 44 [SEP] 41, Knife, 0.149, 0.923, 1.187, 0, 270, 0, 71 [SEP] 42, Mug, 0.698, 0.941, -1.360, 0, 270, 0, 58 [SEP] 43, Bowl, 0.858, 1.462, 0.411, 0, 0, 0, 57 [SEP] 44, Drawer, 0.706, 0.766, -0.125, 0, 0, 0, [SEP] 45, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0, [SEP] 46, Mirror, 1.093, 1.602, -0.643, 0, 0, 0, [SEP] 47, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0, [SEP] 48, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0, [SEP] 49, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0, [SEP] 50, SideTable, 0.770, -0.030, 0.443, 0, 0, 0, [SEP] 51, Sink, 0.753, 0.882, -0.680, 0, 0, 0, [SEP] 52, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0, [SEP] 53, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489, [SEP] 54, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0, [SEP] 55, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0, [SEP] 56, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0, [SEP] 57, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0, [SEP] 58, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0, [SEP] 59, Toaster, -0.522, 0.886, 1.081, 0, 180, 0, [SEP] 60, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0, [SEP] 61, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180, [SEP] 62, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180, [SEP] 63, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180, [SEP] 64, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180, [SEP] 65, Fridge, 0.680, -0.031, -1.957, 0, 0, 0, [SEP] 66, Window, -2.424, 1.639, -2.453, 90, 270, 0, [SEP] 67, Microwave, -1.994, 0.690, -3.651, 0, 0, 0, [SEP] 68, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0, [SEP] 69, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0, [SEP] 70, Shelf, -0.350, 0.124, 0.857, 0, 0, 0, [SEP] 71, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0, [SEP] 72, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0, [SEP] 73, Blinds, -2.343, 2.151, -2.437, 0, 270, 0, [SEP] 74, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0, [SEP] 75, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0, [SEP] 76, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0, [SEP] 77, Shelf, 0.771, 0.226, 0.445, 0, 0, 0, [SEP] 78, Shelf, 0.771, 0.456, 0.446, 0, 0, 0, [SEP] 79, Faucet, 1.025, 0.873, -0.678, 270, 180, 0, [SEP] 80, Shelf, -0.350, 0.497, 0.857, 0, 0, 0, [SEP] 81, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0, [SEP] 82, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0, [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and head towards the sink on your left. | STEP 2: Pick up the knife from the sink. | STEP 3: Slice the green apple in the sink in half. | STEP 4: Take a step backwards. | STEP 5: Open the left cabinet below the sink and place the knife on the plate. | STEP 6: Close the cabinet and step towards the sink. | STEP 7: Pick up the middle apple slice from the sink. | STEP 8: Turn right towards the fridge. | STEP 9: Open the fridge, place the slice of apple in the fridge, let it cool, and take it out of the fridge. | STEP 10: Turn left and walk towards the small black table to your right. | STEP 11: Place the slice apple on the table. | END"]} +{"id": "trial_T20190907_080903_889497-0", "input": "Put a wet towel in the cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.904, 0.0, 0, 90, 0, [SEP] 1, Cloth, -0.619, 0.033, 0.352, 0, 0, 0, 28 [SEP] 2, SprayBottle, -3.100, 0.109, -0.440, 0, 0, 0, 20 [SEP] 3, Candle, -3.038, 1.003, -0.365, 0, 0, 0, 30 [SEP] 4, Candle, -3.231, 0.110, -0.022, 0, 0, 0, 25 [SEP] 5, SoapBottle, -3.096, 1.871, 1.675, 0, 0, 0, 21 [SEP] 6, SoapBottle, -2.838, 0.111, -0.022, 0, 0, 0, 25 [SEP] 7, Towel, -1.615, 1.398, 1.800, 0, 180, 0, 32 [SEP] 8, HandTowel, -3.321, 1.464, 0.763, 0, 270, 0, 34 [SEP] 9, SoapBar, -0.476, 0.033, 0.581, 0, 0, 0, 28 [SEP] 10, ToiletPaper, -3.246, 1.039, 1.143, 0, 0, 0, 37 [SEP] 11, ToiletPaper, -3.061, 0.668, 0.690, 347.055, 0, 90, 36 [SEP] 12, Candle, -0.048, 0.514, 0.080, 0, 0, 0, 23 [SEP] 13, ScrubBrush, -3.236, 0.003, 1.79, 0, 0, 0, Floor|-01.69| [SEP] 14, Plunger, -3.043, 0.003, 1.683, 0, 0, 0, Floor|-01.69| [SEP] 15, SoapBottle, -3.009, 1.871, 1.775, 0, 0, 0, 21 [SEP] 16, Cloth, -2.904, 0.108, -0.547, 0, 0, 0, 20 [SEP] 17, SprayBottle, -3.072, 0.050, 0.869, 0, 0, 0, 31 [SEP] 18, Faucet, -0.618, 0.667, 1.805, 0, 0, 0, [SEP] 19, Cabinet, -2.761, 0.446, 0.599, 0, 0, 0, [SEP] 20, Cabinet, -2.756, 0.421, -0.759, 0, 0, 0, [SEP] 21, Cabinet, -2.905, 2.098, 1.878, 0, 0, 0, [SEP] 22, Sink, -3.016, 0.865, 0.207, 0, 90, 0, [SEP] 23, Bathtub, -0.603, 0.286, 0.832, 0, 0, 0, [SEP] 24, SinkBasin, -3.016, 0.874, 0.217, 0, 90, 0, [SEP] 25, Cabinet, -2.756, 0.421, -0.272, 0, 0, 0, [SEP] 26, Faucet, -3.313, 0.989, 0.207, 0, 90, 0, [SEP] 27, Cabinet, -2.900, 2.053, 1.005, 0, 0, 0, [SEP] 28, BathtubBasin, -0.558, 0.023, 0.811, 0, 0, 0, [SEP] 29, Mirror, -3.348, 1.476, 0.020, 0, 0, 0, [SEP] 30, CounterTop, -3.049, 1.039, -0.442, 0, 0, 0, [SEP] 31, GarbageCan, -3.080, -0.007, 0.899, 0, 0, 0, [SEP] 32, TowelHolder, -1.615, 1.383, 1.907, 0, 180, 0, [SEP] 33, HandTowelHolder, -2.960, 1.695, -0.766, 0, 270, 0, [SEP] 34, HandTowelHolder, -3.359, 1.565, 0.763, 0, 0, 0, [SEP] 35, LightSwitch, -2.313, 1.426, -0.766, 0, 0, 0, [SEP] 36, ToiletPaperHanger, -3.105, 0.828, 0.625, 347.055, 0, 0, [SEP] 37, Toilet, -2.931, 0.003, 1.364, 0, 180, 0, [SEP] 38, ShowerCurtain, -1.171, 1.866, -0.108, 0, 0, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and face the gray counter to the left of the sink. | STEP 2: Open the cabinet on the bottom left and take out the red towel. | STEP 3: Go right and stand in front of the sink. | STEP 4: Put the towel in the sink, turn on the water, turn off the water, and take the towel out of the sink. | STEP 5: Go left and stand on the left side of the sink. | STEP 6: Open the bottom left cabinet, put the towel in and shut the door. | END"]} +{"id": "trial_T20190907_080903_889497-1", "input": "To wash the red cloth. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.904, 0.0, 0, 90, 0, [SEP] 1, Cloth, -0.619, 0.033, 0.352, 0, 0, 0, 28 [SEP] 2, SprayBottle, -3.100, 0.109, -0.440, 0, 0, 0, 20 [SEP] 3, Candle, -3.038, 1.003, -0.365, 0, 0, 0, 30 [SEP] 4, Candle, -3.231, 0.110, -0.022, 0, 0, 0, 25 [SEP] 5, SoapBottle, -3.096, 1.871, 1.675, 0, 0, 0, 21 [SEP] 6, SoapBottle, -2.838, 0.111, -0.022, 0, 0, 0, 25 [SEP] 7, Towel, -1.615, 1.398, 1.800, 0, 180, 0, 32 [SEP] 8, HandTowel, -3.321, 1.464, 0.763, 0, 270, 0, 34 [SEP] 9, SoapBar, -0.476, 0.033, 0.581, 0, 0, 0, 28 [SEP] 10, ToiletPaper, -3.246, 1.039, 1.143, 0, 0, 0, 37 [SEP] 11, ToiletPaper, -3.061, 0.668, 0.690, 347.055, 0, 90, 36 [SEP] 12, Candle, -0.048, 0.514, 0.080, 0, 0, 0, 23 [SEP] 13, ScrubBrush, -3.236, 0.003, 1.79, 0, 0, 0, Floor|-01.69| [SEP] 14, Plunger, -3.043, 0.003, 1.683, 0, 0, 0, Floor|-01.69| [SEP] 15, SoapBottle, -3.009, 1.871, 1.775, 0, 0, 0, 21 [SEP] 16, Cloth, -2.904, 0.108, -0.547, 0, 0, 0, 20 [SEP] 17, SprayBottle, -3.072, 0.050, 0.869, 0, 0, 0, 31 [SEP] 18, Faucet, -0.618, 0.667, 1.805, 0, 0, 0, [SEP] 19, Cabinet, -2.761, 0.446, 0.599, 0, 0, 0, [SEP] 20, Cabinet, -2.756, 0.421, -0.759, 0, 0, 0, [SEP] 21, Cabinet, -2.905, 2.098, 1.878, 0, 0, 0, [SEP] 22, Sink, -3.016, 0.865, 0.207, 0, 90, 0, [SEP] 23, Bathtub, -0.603, 0.286, 0.832, 0, 0, 0, [SEP] 24, SinkBasin, -3.016, 0.874, 0.217, 0, 90, 0, [SEP] 25, Cabinet, -2.756, 0.421, -0.272, 0, 0, 0, [SEP] 26, Faucet, -3.313, 0.989, 0.207, 0, 90, 0, [SEP] 27, Cabinet, -2.900, 2.053, 1.005, 0, 0, 0, [SEP] 28, BathtubBasin, -0.558, 0.023, 0.811, 0, 0, 0, [SEP] 29, Mirror, -3.348, 1.476, 0.020, 0, 0, 0, [SEP] 30, CounterTop, -3.049, 1.039, -0.442, 0, 0, 0, [SEP] 31, GarbageCan, -3.080, -0.007, 0.899, 0, 0, 0, [SEP] 32, TowelHolder, -1.615, 1.383, 1.907, 0, 180, 0, [SEP] 33, HandTowelHolder, -2.960, 1.695, -0.766, 0, 270, 0, [SEP] 34, HandTowelHolder, -3.359, 1.565, 0.763, 0, 0, 0, [SEP] 35, LightSwitch, -2.313, 1.426, -0.766, 0, 0, 0, [SEP] 36, ToiletPaperHanger, -3.105, 0.828, 0.625, 347.055, 0, 0, [SEP] 37, Toilet, -2.931, 0.003, 1.364, 0, 180, 0, [SEP] 38, ShowerCurtain, -1.171, 1.866, -0.108, 0, 0, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the counter on the other side of the room. | STEP 2: Open the cupboard on the left and take out the red cloth. | STEP 3: Walk to the right and then turn to the left to face the sink. | STEP 4: Place the red cloth in the sink and turn on the faucet and fill the sink, then turn the sink off. | STEP 5: Turn around and walk across the room, turn right and walk to the door, then turn right to face the sink. | STEP 6: Open the cupboard on the left and put the red cloth on a shelf. | END"]} +{"id": "trial_T20190907_080903_889497-2", "input": "Put a cleaned washcloth away in a cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.904, 0.0, 0, 90, 0, [SEP] 1, Cloth, -0.619, 0.033, 0.352, 0, 0, 0, 28 [SEP] 2, SprayBottle, -3.100, 0.109, -0.440, 0, 0, 0, 20 [SEP] 3, Candle, -3.038, 1.003, -0.365, 0, 0, 0, 30 [SEP] 4, Candle, -3.231, 0.110, -0.022, 0, 0, 0, 25 [SEP] 5, SoapBottle, -3.096, 1.871, 1.675, 0, 0, 0, 21 [SEP] 6, SoapBottle, -2.838, 0.111, -0.022, 0, 0, 0, 25 [SEP] 7, Towel, -1.615, 1.398, 1.800, 0, 180, 0, 32 [SEP] 8, HandTowel, -3.321, 1.464, 0.763, 0, 270, 0, 34 [SEP] 9, SoapBar, -0.476, 0.033, 0.581, 0, 0, 0, 28 [SEP] 10, ToiletPaper, -3.246, 1.039, 1.143, 0, 0, 0, 37 [SEP] 11, ToiletPaper, -3.061, 0.668, 0.690, 347.055, 0, 90, 36 [SEP] 12, Candle, -0.048, 0.514, 0.080, 0, 0, 0, 23 [SEP] 13, ScrubBrush, -3.236, 0.003, 1.79, 0, 0, 0, Floor|-01.69| [SEP] 14, Plunger, -3.043, 0.003, 1.683, 0, 0, 0, Floor|-01.69| [SEP] 15, SoapBottle, -3.009, 1.871, 1.775, 0, 0, 0, 21 [SEP] 16, Cloth, -2.904, 0.108, -0.547, 0, 0, 0, 20 [SEP] 17, SprayBottle, -3.072, 0.050, 0.869, 0, 0, 0, 31 [SEP] 18, Faucet, -0.618, 0.667, 1.805, 0, 0, 0, [SEP] 19, Cabinet, -2.761, 0.446, 0.599, 0, 0, 0, [SEP] 20, Cabinet, -2.756, 0.421, -0.759, 0, 0, 0, [SEP] 21, Cabinet, -2.905, 2.098, 1.878, 0, 0, 0, [SEP] 22, Sink, -3.016, 0.865, 0.207, 0, 90, 0, [SEP] 23, Bathtub, -0.603, 0.286, 0.832, 0, 0, 0, [SEP] 24, SinkBasin, -3.016, 0.874, 0.217, 0, 90, 0, [SEP] 25, Cabinet, -2.756, 0.421, -0.272, 0, 0, 0, [SEP] 26, Faucet, -3.313, 0.989, 0.207, 0, 90, 0, [SEP] 27, Cabinet, -2.900, 2.053, 1.005, 0, 0, 0, [SEP] 28, BathtubBasin, -0.558, 0.023, 0.811, 0, 0, 0, [SEP] 29, Mirror, -3.348, 1.476, 0.020, 0, 0, 0, [SEP] 30, CounterTop, -3.049, 1.039, -0.442, 0, 0, 0, [SEP] 31, GarbageCan, -3.080, -0.007, 0.899, 0, 0, 0, [SEP] 32, TowelHolder, -1.615, 1.383, 1.907, 0, 180, 0, [SEP] 33, HandTowelHolder, -2.960, 1.695, -0.766, 0, 270, 0, [SEP] 34, HandTowelHolder, -3.359, 1.565, 0.763, 0, 0, 0, [SEP] 35, LightSwitch, -2.313, 1.426, -0.766, 0, 0, 0, [SEP] 36, ToiletPaperHanger, -3.105, 0.828, 0.625, 347.055, 0, 0, [SEP] 37, Toilet, -2.931, 0.003, 1.364, 0, 180, 0, [SEP] 38, ShowerCurtain, -1.171, 1.866, -0.108, 0, 0, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, WestWall, , , , , , , ", "output": ["STEP 1: Turn and go to the counter behind you. | STEP 2: Get the red washcloth out of front of the cabinet beneath the left end of the counter. | STEP 3: Take the washcloth to the sink to your right. | STEP 4: Wash the cloth in the sink. | STEP 5: Go back to the cabinet at the left end of the counter. | STEP 6: Put the cloth into the cabinet and close the cabinet door. | END"]} +{"id": "trial_T20190907_114903_411834-0", "input": "Put a spray bottle into a cabinet under the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 1.25, 0, 0, 0, [SEP] 1, Cloth, -0.457, 0.446, 0.200, 0, 0, 0, 18 [SEP] 2, Cloth, -1.786, 0.074, 0.591, 0, 0, 0, 20 [SEP] 3, SoapBar, -1.860, 1.044, 2.009, 0, 90, 0, 37 [SEP] 4, Candle, 0.060, 0.617, 3.863, 0, 0, 0, 42 [SEP] 5, Candle, -1.921, 1.046, 2.009, 0, 90, 0, 37 [SEP] 6, SoapBottle, -1.764, 0.015, 2.246, 0, 90, 0, 21 [SEP] 7, Towel, -0.07, 1.284, 0.106, 0, 0, 0, 29 [SEP] 8, HandTowel, -1.731, 1.333, 3.961, 0, 0, 0, 31 [SEP] 9, SoapBar, -1.827, 0.067, 3.319, 0, 0, 0, 28 [SEP] 10, ToiletPaper, -1.831, 0.584, 2.390, 0, 180, 90, 34 [SEP] 11, ToiletPaper, -1.829, 1.041, 1.878, 0, 90, 0, 37 [SEP] 12, Cloth, -1.527, 0.074, 0.339, 0, 0, 0, 20 [SEP] 13, SprayBottle, 0.499, 1.164, 3.732, 0, 0, 0, 48 [SEP] 14, Candle, -1.747, 0.069, 3.355, 0, 0, 0, 28 [SEP] 15, ScrubBrush, -1.664, -0.000, 3.897, 0, 0, 0, Floor|-02.00| [SEP] 16, Plunger, -1.888, -0.000, 3.885, 0, 0, 0, Floor|-02.00| [SEP] 17, SoapBottle, -0.587, 0.447, 0.163, 0, 90, 0, 18 [SEP] 18, Bathtub, -1.414, -0.002, 0.563, 0, 0, 0, [SEP] 19, CounterTop, -1.799, 0.746, 3.122, 0, 0, 0, [SEP] 20, BathtubBasin, -1.613, 0.052, 0.540, 0, 0, 0, [SEP] 21, Cabinet, -1.613, 0.309, 2.493, 0, 0, 0, [SEP] 22, ShowerDoor, 0.527, 1.037, 2.115, 0, 0, 0, [SEP] 23, Mirror, -1.993, 1.424, 3.107, 0, 0, 0, [SEP] 24, Cabinet, -1.613, 0.309, 3.754, 0, 0, 0, [SEP] 25, Faucet, -1.873, 0.461, 0.641, 0, 0, 0, [SEP] 26, Sink, -1.834, 0.685, 2.777, 0, 90, 0, [SEP] 27, Cabinet, -1.613, 0.309, 3.105, 0, 0, 0, [SEP] 28, Cabinet, -1.613, 0.309, 3.140, 0, 0, 0, [SEP] 29, TowelHolder, -0.070, 1.269, 0.0, 0, 0, 0, [SEP] 30, GarbageCan, 0.932, -0.029, 3.761, 0, 0, 0, [SEP] 31, HandTowelHolder, -1.730, 1.434, 4.0, 0, 90, 0, [SEP] 32, Window, -1.039, 1.393, 0.018, 90, 0, 0, [SEP] 33, Window, -1.986, 1.392, 0.706, 90, 90, 0, [SEP] 34, ToiletPaperHanger, -1.776, 0.681, 2.474, 0, 180, 0, [SEP] 35, SinkBasin, -1.795, 0.694, 2.781, 0, 90, 0, [SEP] 36, LightSwitch, 1.250, 1.330, 3.621, 0, 270, 0, [SEP] 37, Toilet, -1.567, -0.000, 1.815, 0, 180, 0, [SEP] 38, Drawer, 0.204, 0.940, 3.807, 0, 180, 0, [SEP] 39, Dresser, 0.204, 0.000, 3.832, 0, 180, 0, [SEP] 40, Drawer, 0.204, 0.160, 3.807, 0, 180, 0, [SEP] 41, Drawer, 0.204, 0.420, 3.807, 0, 180, 0, [SEP] 42, Drawer, 0.204, 0.680, 3.807, 0, 180, 0, [SEP] 43, SinkBasin, -1.795, 0.694, 3.476, 0, 90, 0, [SEP] 44, Sink, -1.833, 0.685, 3.472, 0, 90, 0, [SEP] 45, Faucet, -1.988, 0.947, 3.472, 0, 180, 0, [SEP] 46, ShowerHead, 0.972, 1.222, 2.015, 0, 270, 0, [SEP] 47, Faucet, -1.988, 0.947, 2.776, 0, 180, 0, [SEP] 48, , , , , , , , [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: Go toward the drawers in front of you. | STEP 2: Pick up the spray bottle from on top of the drawers. | STEP 3: Turn left and carry the spray bottle to the sink. | STEP 4: Put the bottle in the leftmost cabinet under the sink. | END"]} +{"id": "trial_T20190907_114903_411834-1", "input": "place a spray bottle in the bottom left bathroom cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 1.25, 0, 0, 0, [SEP] 1, Cloth, -0.457, 0.446, 0.200, 0, 0, 0, 18 [SEP] 2, Cloth, -1.786, 0.074, 0.591, 0, 0, 0, 20 [SEP] 3, SoapBar, -1.860, 1.044, 2.009, 0, 90, 0, 37 [SEP] 4, Candle, 0.060, 0.617, 3.863, 0, 0, 0, 42 [SEP] 5, Candle, -1.921, 1.046, 2.009, 0, 90, 0, 37 [SEP] 6, SoapBottle, -1.764, 0.015, 2.246, 0, 90, 0, 21 [SEP] 7, Towel, -0.07, 1.284, 0.106, 0, 0, 0, 29 [SEP] 8, HandTowel, -1.731, 1.333, 3.961, 0, 0, 0, 31 [SEP] 9, SoapBar, -1.827, 0.067, 3.319, 0, 0, 0, 28 [SEP] 10, ToiletPaper, -1.831, 0.584, 2.390, 0, 180, 90, 34 [SEP] 11, ToiletPaper, -1.829, 1.041, 1.878, 0, 90, 0, 37 [SEP] 12, Cloth, -1.527, 0.074, 0.339, 0, 0, 0, 20 [SEP] 13, SprayBottle, 0.499, 1.164, 3.732, 0, 0, 0, 48 [SEP] 14, Candle, -1.747, 0.069, 3.355, 0, 0, 0, 28 [SEP] 15, ScrubBrush, -1.664, -0.000, 3.897, 0, 0, 0, Floor|-02.00| [SEP] 16, Plunger, -1.888, -0.000, 3.885, 0, 0, 0, Floor|-02.00| [SEP] 17, SoapBottle, -0.587, 0.447, 0.163, 0, 90, 0, 18 [SEP] 18, Bathtub, -1.414, -0.002, 0.563, 0, 0, 0, [SEP] 19, CounterTop, -1.799, 0.746, 3.122, 0, 0, 0, [SEP] 20, BathtubBasin, -1.613, 0.052, 0.540, 0, 0, 0, [SEP] 21, Cabinet, -1.613, 0.309, 2.493, 0, 0, 0, [SEP] 22, ShowerDoor, 0.527, 1.037, 2.115, 0, 0, 0, [SEP] 23, Mirror, -1.993, 1.424, 3.107, 0, 0, 0, [SEP] 24, Cabinet, -1.613, 0.309, 3.754, 0, 0, 0, [SEP] 25, Faucet, -1.873, 0.461, 0.641, 0, 0, 0, [SEP] 26, Sink, -1.834, 0.685, 2.777, 0, 90, 0, [SEP] 27, Cabinet, -1.613, 0.309, 3.105, 0, 0, 0, [SEP] 28, Cabinet, -1.613, 0.309, 3.140, 0, 0, 0, [SEP] 29, TowelHolder, -0.070, 1.269, 0.0, 0, 0, 0, [SEP] 30, GarbageCan, 0.932, -0.029, 3.761, 0, 0, 0, [SEP] 31, HandTowelHolder, -1.730, 1.434, 4.0, 0, 90, 0, [SEP] 32, Window, -1.039, 1.393, 0.018, 90, 0, 0, [SEP] 33, Window, -1.986, 1.392, 0.706, 90, 90, 0, [SEP] 34, ToiletPaperHanger, -1.776, 0.681, 2.474, 0, 180, 0, [SEP] 35, SinkBasin, -1.795, 0.694, 2.781, 0, 90, 0, [SEP] 36, LightSwitch, 1.250, 1.330, 3.621, 0, 270, 0, [SEP] 37, Toilet, -1.567, -0.000, 1.815, 0, 180, 0, [SEP] 38, Drawer, 0.204, 0.940, 3.807, 0, 180, 0, [SEP] 39, Dresser, 0.204, 0.000, 3.832, 0, 180, 0, [SEP] 40, Drawer, 0.204, 0.160, 3.807, 0, 180, 0, [SEP] 41, Drawer, 0.204, 0.420, 3.807, 0, 180, 0, [SEP] 42, Drawer, 0.204, 0.680, 3.807, 0, 180, 0, [SEP] 43, SinkBasin, -1.795, 0.694, 3.476, 0, 90, 0, [SEP] 44, Sink, -1.833, 0.685, 3.472, 0, 90, 0, [SEP] 45, Faucet, -1.988, 0.947, 3.472, 0, 180, 0, [SEP] 46, ShowerHead, 0.972, 1.222, 2.015, 0, 270, 0, [SEP] 47, Faucet, -1.988, 0.947, 2.776, 0, 180, 0, [SEP] 48, , , , , , , , [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: move forwards and walk to the tall white cabinet at the end of the room | STEP 2: grab the spray bottle off of the top of the cabinet | STEP 3: turn left and walk over to the sinks at the end of the room | STEP 4: place the spray bottle in the bottom left cabinet | END"]} +{"id": "trial_T20190907_114903_411834-2", "input": "get spray from white drawer to sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 1.25, 0, 0, 0, [SEP] 1, Cloth, -0.457, 0.446, 0.200, 0, 0, 0, 18 [SEP] 2, Cloth, -1.786, 0.074, 0.591, 0, 0, 0, 20 [SEP] 3, SoapBar, -1.860, 1.044, 2.009, 0, 90, 0, 37 [SEP] 4, Candle, 0.060, 0.617, 3.863, 0, 0, 0, 42 [SEP] 5, Candle, -1.921, 1.046, 2.009, 0, 90, 0, 37 [SEP] 6, SoapBottle, -1.764, 0.015, 2.246, 0, 90, 0, 21 [SEP] 7, Towel, -0.07, 1.284, 0.106, 0, 0, 0, 29 [SEP] 8, HandTowel, -1.731, 1.333, 3.961, 0, 0, 0, 31 [SEP] 9, SoapBar, -1.827, 0.067, 3.319, 0, 0, 0, 28 [SEP] 10, ToiletPaper, -1.831, 0.584, 2.390, 0, 180, 90, 34 [SEP] 11, ToiletPaper, -1.829, 1.041, 1.878, 0, 90, 0, 37 [SEP] 12, Cloth, -1.527, 0.074, 0.339, 0, 0, 0, 20 [SEP] 13, SprayBottle, 0.499, 1.164, 3.732, 0, 0, 0, 48 [SEP] 14, Candle, -1.747, 0.069, 3.355, 0, 0, 0, 28 [SEP] 15, ScrubBrush, -1.664, -0.000, 3.897, 0, 0, 0, Floor|-02.00| [SEP] 16, Plunger, -1.888, -0.000, 3.885, 0, 0, 0, Floor|-02.00| [SEP] 17, SoapBottle, -0.587, 0.447, 0.163, 0, 90, 0, 18 [SEP] 18, Bathtub, -1.414, -0.002, 0.563, 0, 0, 0, [SEP] 19, CounterTop, -1.799, 0.746, 3.122, 0, 0, 0, [SEP] 20, BathtubBasin, -1.613, 0.052, 0.540, 0, 0, 0, [SEP] 21, Cabinet, -1.613, 0.309, 2.493, 0, 0, 0, [SEP] 22, ShowerDoor, 0.527, 1.037, 2.115, 0, 0, 0, [SEP] 23, Mirror, -1.993, 1.424, 3.107, 0, 0, 0, [SEP] 24, Cabinet, -1.613, 0.309, 3.754, 0, 0, 0, [SEP] 25, Faucet, -1.873, 0.461, 0.641, 0, 0, 0, [SEP] 26, Sink, -1.834, 0.685, 2.777, 0, 90, 0, [SEP] 27, Cabinet, -1.613, 0.309, 3.105, 0, 0, 0, [SEP] 28, Cabinet, -1.613, 0.309, 3.140, 0, 0, 0, [SEP] 29, TowelHolder, -0.070, 1.269, 0.0, 0, 0, 0, [SEP] 30, GarbageCan, 0.932, -0.029, 3.761, 0, 0, 0, [SEP] 31, HandTowelHolder, -1.730, 1.434, 4.0, 0, 90, 0, [SEP] 32, Window, -1.039, 1.393, 0.018, 90, 0, 0, [SEP] 33, Window, -1.986, 1.392, 0.706, 90, 90, 0, [SEP] 34, ToiletPaperHanger, -1.776, 0.681, 2.474, 0, 180, 0, [SEP] 35, SinkBasin, -1.795, 0.694, 2.781, 0, 90, 0, [SEP] 36, LightSwitch, 1.250, 1.330, 3.621, 0, 270, 0, [SEP] 37, Toilet, -1.567, -0.000, 1.815, 0, 180, 0, [SEP] 38, Drawer, 0.204, 0.940, 3.807, 0, 180, 0, [SEP] 39, Dresser, 0.204, 0.000, 3.832, 0, 180, 0, [SEP] 40, Drawer, 0.204, 0.160, 3.807, 0, 180, 0, [SEP] 41, Drawer, 0.204, 0.420, 3.807, 0, 180, 0, [SEP] 42, Drawer, 0.204, 0.680, 3.807, 0, 180, 0, [SEP] 43, SinkBasin, -1.795, 0.694, 3.476, 0, 90, 0, [SEP] 44, Sink, -1.833, 0.685, 3.472, 0, 90, 0, [SEP] 45, Faucet, -1.988, 0.947, 3.472, 0, 180, 0, [SEP] 46, ShowerHead, 0.972, 1.222, 2.015, 0, 270, 0, [SEP] 47, Faucet, -1.988, 0.947, 2.776, 0, 180, 0, [SEP] 48, , , , , , , , [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: walk forward towards white drawer | STEP 2: pick up spray from white drawer | STEP 3: turn around and walk towards sink | STEP 4: put the spray in the sink drawer | END"]} +{"id": "trial_T20190906_194903_710920-0", "input": "Place a pan containing a spatula on the kitchen counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.908, 2.0, 0, 0, 0, [SEP] 1, DishSponge, -1.099, 0.776, 0.174, 0, 180, 0, 64 [SEP] 2, Glassbottle, -1.263, 1.656, -0.204, 0, 0, 0, 50 [SEP] 3, Glassbottle, -1.162, 0.342, 0.778, 0, 90, 0, 82 [SEP] 4, WineBottle, -1.320, 0.752, 0.987, 0, 90, 0, 82 [SEP] 5, Kettle, 0.502, 0.939, -0.740, 0, 90, 0, 69 [SEP] 6, Fork, -1.197, 0.749, 3.015, 0, 0, 0, 43 [SEP] 7, Fork, 1.034, 0.886, 2.477, 0, 0, 0, 94 [SEP] 8, Spatula, 1.367, 0.901, 2.369, 0, 0, 0, 94 [SEP] 9, Cup, -1.206, 0.750, 0.988, 0, 90, 0, 82 [SEP] 10, Cup, -0.144, 0.757, -0.691, 0, 0, 0, 89 [SEP] 11, Knife, 1.450, 0.908, 2.692, 0, 90, 0, 94 [SEP] 12, Bowl, -1.361, 1.013, 0.046, 0, 90, 0, 88 [SEP] 13, Bread, -1.320, 0.814, 1.197, 0, 90, 0, 82 [SEP] 14, SaltShaker, -1.176, 0.113, 0.248, 0, 180, 0, 65 [SEP] 15, Mug, -1.206, 1.631, 0.781, 0, 90, 0, 82 [SEP] 16, Apple, -0.082, 0.818, -0.533, 0, 0, 0, 89 [SEP] 17, Bread, -1.320, 1.484, 1.197, 0, 90, 0, 82 [SEP] 18, Glassbottle, -1.286, 0.912, -0.477, 0, 0, 0, 68 [SEP] 19, Fork, 1.117, 0.886, 2.153, 0, 0, 0, 94 [SEP] 20, Kettle, -1.357, 0.739, 3.024, 0, 240.000, 0, 43 [SEP] 21, Tomato, -1.012, 0.798, 2.087, 0, 0, 0, 43 [SEP] 22, Plate, 1.325, 2.157, 0.555, 0, 0, 0, 53 [SEP] 23, CellPhone, -1.475, 0.747, 1.902, 0, 0, 0, 43 [SEP] 24, Lettuce, 1.367, 0.957, 2.477, 0, 0, 0, 94 [SEP] 25, Pot, 0.802, 0.939, -0.740, 0, 90, 0, 71 [SEP] 26, SoapBottle, -1.513, 0.913, -0.732, 0, 0, 0, 68 [SEP] 27, WineBottle, -1.475, 0.750, 2.459, 0, 0, 0, 43 [SEP] 28, Spatula, -0.813, 0.927, -0.669, 0, 0, 0, 68 [SEP] 29, Bowl, -1.012, 0.747, 2.459, 0, 0, 0, 43 [SEP] 30, Apple, -1.092, 0.811, 1.197, 0, 90, 0, 82 [SEP] 31, Cup, -0.170, 0.115, -0.577, 0, 0, 0, 58 [SEP] 32, Knife, -0.130, 0.934, -0.348, 0, 0, 0, 68 [SEP] 33, Egg, -1.435, 1.671, 0.984, 0, 90, 0, 82 [SEP] 34, SaltShaker, 1.034, 0.882, 2.153, 0, 0, 0, 94 [SEP] 35, PepperShaker, 1.355, 2.150, 1.000, 0, 0, 0, 52 [SEP] 36, Potato, 1.117, 0.931, 2.261, 0, 0, 0, 94 [SEP] 37, ButterKnife, 0.054, 0.912, -0.359, 0, 0, 0, 68 [SEP] 38, DishSponge, 1.175, 0.115, 1.119, 0, 0, 0, 83 [SEP] 39, Pan, 1.034, 0.885, 2.584, 0, 180, 0, 94 [SEP] 40, Spoon, -1.433, 0.913, -0.589, 0, 0, 0, 68 [SEP] 41, SprayBottle, -1.383, 0.749, 2.830, 0, 0, 0, 43 [SEP] 42, Mug, -1.197, 0.743, 2.644, 0, 0, 0, 43 [SEP] 43, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0, [SEP] 44, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0, [SEP] 45, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0, [SEP] 46, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0, [SEP] 47, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0, [SEP] 48, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0, [SEP] 49, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0, [SEP] 50, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0, [SEP] 51, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0, [SEP] 52, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0, [SEP] 53, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0, [SEP] 54, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0, [SEP] 55, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0, [SEP] 56, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0, [SEP] 57, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0, [SEP] 58, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0, [SEP] 59, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0, [SEP] 60, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0, [SEP] 61, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0, [SEP] 62, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0, [SEP] 63, Drawer, 1.116, 0.792, -0.015, 0, 0, 0, [SEP] 64, Drawer, -1.116, 0.792, 0.210, 0, 180, 0, [SEP] 65, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0, [SEP] 66, Drawer, -1.116, 0.792, -0.170, 0, 180, 0, [SEP] 67, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0, [SEP] 68, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0, [SEP] 69, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0, [SEP] 70, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0, [SEP] 71, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0, [SEP] 72, Drawer, 1.116, 0.792, 1.081, 0, 0, 0, [SEP] 73, Sink, -0.013, 0.912, -0.615, 0, 0, 0, [SEP] 74, Drawer, 1.116, 0.792, 0.732, 0, 0, 0, [SEP] 75, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0, [SEP] 76, Drawer, 1.116, 0.792, 0.367, 0, 0, 0, [SEP] 77, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0, [SEP] 78, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0, [SEP] 79, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0, [SEP] 80, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0, [SEP] 81, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0, [SEP] 82, Fridge, -1.300, 0.008, 0.987, 0, 90, 0, [SEP] 83, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0, [SEP] 84, Window, -0.012, 1.641, -0.972, 90, 0, 0, [SEP] 85, Window, 1.598, 1.646, 2.489, 90, 270, 0, [SEP] 86, Toaster, 1.356, 0.900, 1.044, 0, 270, 0, [SEP] 87, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0, [SEP] 88, Microwave, -1.343, 0.900, 0.053, 0, 90, 0, [SEP] 89, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0, [SEP] 90, Faucet, -0.026, 0.927, -0.808, 0, 0, 0, [SEP] 91, Shelf, -1.182, 0.127, 2.414, 0, 90, 0, [SEP] 92, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0, [SEP] 93, Shelf, -1.182, 0.435, 2.414, 0, 90, 0, [SEP] 94, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896, [SEP] 95, NorthWall, , , , , , , [SEP] 96, EastWall, , , , , , , [SEP] 97, SouthWall, , , , , , , [SEP] 98, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and move to the table in front of the window and to the left of the red garbage bin. | STEP 2: Pick up the spatula to the right of the head of lettuce on the table. | STEP 3: Move slightly to the left towards the door and look down at the table. | STEP 4: Place the spatula on the pan to the left of the fork on the table. | STEP 5: Pick up the pan containing the spatula from the table. | STEP 6: Turn right and move past the toaster and towards the range then turn left and face the kitchen counter. | STEP 7: Place the pan containing the spatula on the edge of the kitchen counter to the right of the toaster. | END"]} +{"id": "trial_T20190906_194903_710920-1", "input": "place a sauce pan with a spatula in it on the kitchen counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.908, 2.0, 0, 0, 0, [SEP] 1, DishSponge, -1.099, 0.776, 0.174, 0, 180, 0, 64 [SEP] 2, Glassbottle, -1.263, 1.656, -0.204, 0, 0, 0, 50 [SEP] 3, Glassbottle, -1.162, 0.342, 0.778, 0, 90, 0, 82 [SEP] 4, WineBottle, -1.320, 0.752, 0.987, 0, 90, 0, 82 [SEP] 5, Kettle, 0.502, 0.939, -0.740, 0, 90, 0, 69 [SEP] 6, Fork, -1.197, 0.749, 3.015, 0, 0, 0, 43 [SEP] 7, Fork, 1.034, 0.886, 2.477, 0, 0, 0, 94 [SEP] 8, Spatula, 1.367, 0.901, 2.369, 0, 0, 0, 94 [SEP] 9, Cup, -1.206, 0.750, 0.988, 0, 90, 0, 82 [SEP] 10, Cup, -0.144, 0.757, -0.691, 0, 0, 0, 89 [SEP] 11, Knife, 1.450, 0.908, 2.692, 0, 90, 0, 94 [SEP] 12, Bowl, -1.361, 1.013, 0.046, 0, 90, 0, 88 [SEP] 13, Bread, -1.320, 0.814, 1.197, 0, 90, 0, 82 [SEP] 14, SaltShaker, -1.176, 0.113, 0.248, 0, 180, 0, 65 [SEP] 15, Mug, -1.206, 1.631, 0.781, 0, 90, 0, 82 [SEP] 16, Apple, -0.082, 0.818, -0.533, 0, 0, 0, 89 [SEP] 17, Bread, -1.320, 1.484, 1.197, 0, 90, 0, 82 [SEP] 18, Glassbottle, -1.286, 0.912, -0.477, 0, 0, 0, 68 [SEP] 19, Fork, 1.117, 0.886, 2.153, 0, 0, 0, 94 [SEP] 20, Kettle, -1.357, 0.739, 3.024, 0, 240.000, 0, 43 [SEP] 21, Tomato, -1.012, 0.798, 2.087, 0, 0, 0, 43 [SEP] 22, Plate, 1.325, 2.157, 0.555, 0, 0, 0, 53 [SEP] 23, CellPhone, -1.475, 0.747, 1.902, 0, 0, 0, 43 [SEP] 24, Lettuce, 1.367, 0.957, 2.477, 0, 0, 0, 94 [SEP] 25, Pot, 0.802, 0.939, -0.740, 0, 90, 0, 71 [SEP] 26, SoapBottle, -1.513, 0.913, -0.732, 0, 0, 0, 68 [SEP] 27, WineBottle, -1.475, 0.750, 2.459, 0, 0, 0, 43 [SEP] 28, Spatula, -0.813, 0.927, -0.669, 0, 0, 0, 68 [SEP] 29, Bowl, -1.012, 0.747, 2.459, 0, 0, 0, 43 [SEP] 30, Apple, -1.092, 0.811, 1.197, 0, 90, 0, 82 [SEP] 31, Cup, -0.170, 0.115, -0.577, 0, 0, 0, 58 [SEP] 32, Knife, -0.130, 0.934, -0.348, 0, 0, 0, 68 [SEP] 33, Egg, -1.435, 1.671, 0.984, 0, 90, 0, 82 [SEP] 34, SaltShaker, 1.034, 0.882, 2.153, 0, 0, 0, 94 [SEP] 35, PepperShaker, 1.355, 2.150, 1.000, 0, 0, 0, 52 [SEP] 36, Potato, 1.117, 0.931, 2.261, 0, 0, 0, 94 [SEP] 37, ButterKnife, 0.054, 0.912, -0.359, 0, 0, 0, 68 [SEP] 38, DishSponge, 1.175, 0.115, 1.119, 0, 0, 0, 83 [SEP] 39, Pan, 1.034, 0.885, 2.584, 0, 180, 0, 94 [SEP] 40, Spoon, -1.433, 0.913, -0.589, 0, 0, 0, 68 [SEP] 41, SprayBottle, -1.383, 0.749, 2.830, 0, 0, 0, 43 [SEP] 42, Mug, -1.197, 0.743, 2.644, 0, 0, 0, 43 [SEP] 43, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0, [SEP] 44, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0, [SEP] 45, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0, [SEP] 46, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0, [SEP] 47, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0, [SEP] 48, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0, [SEP] 49, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0, [SEP] 50, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0, [SEP] 51, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0, [SEP] 52, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0, [SEP] 53, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0, [SEP] 54, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0, [SEP] 55, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0, [SEP] 56, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0, [SEP] 57, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0, [SEP] 58, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0, [SEP] 59, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0, [SEP] 60, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0, [SEP] 61, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0, [SEP] 62, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0, [SEP] 63, Drawer, 1.116, 0.792, -0.015, 0, 0, 0, [SEP] 64, Drawer, -1.116, 0.792, 0.210, 0, 180, 0, [SEP] 65, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0, [SEP] 66, Drawer, -1.116, 0.792, -0.170, 0, 180, 0, [SEP] 67, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0, [SEP] 68, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0, [SEP] 69, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0, [SEP] 70, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0, [SEP] 71, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0, [SEP] 72, Drawer, 1.116, 0.792, 1.081, 0, 0, 0, [SEP] 73, Sink, -0.013, 0.912, -0.615, 0, 0, 0, [SEP] 74, Drawer, 1.116, 0.792, 0.732, 0, 0, 0, [SEP] 75, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0, [SEP] 76, Drawer, 1.116, 0.792, 0.367, 0, 0, 0, [SEP] 77, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0, [SEP] 78, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0, [SEP] 79, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0, [SEP] 80, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0, [SEP] 81, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0, [SEP] 82, Fridge, -1.300, 0.008, 0.987, 0, 90, 0, [SEP] 83, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0, [SEP] 84, Window, -0.012, 1.641, -0.972, 90, 0, 0, [SEP] 85, Window, 1.598, 1.646, 2.489, 90, 270, 0, [SEP] 86, Toaster, 1.356, 0.900, 1.044, 0, 270, 0, [SEP] 87, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0, [SEP] 88, Microwave, -1.343, 0.900, 0.053, 0, 90, 0, [SEP] 89, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0, [SEP] 90, Faucet, -0.026, 0.927, -0.808, 0, 0, 0, [SEP] 91, Shelf, -1.182, 0.127, 2.414, 0, 90, 0, [SEP] 92, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0, [SEP] 93, Shelf, -1.182, 0.435, 2.414, 0, 90, 0, [SEP] 94, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896, [SEP] 95, NorthWall, , , , , , , [SEP] 96, EastWall, , , , , , , [SEP] 97, SouthWall, , , , , , , [SEP] 98, WestWall, , , , , , , ", "output": ["STEP 1: go to the small white square table | STEP 2: grab the spatula off of the table | STEP 3: back up a bit and face the center of the table | STEP 4: put the spatula in the sauce pan on the table | STEP 5: pick up the sauce pan off of the table | STEP 6: walk over to the kitchen counter next to the toaster | STEP 7: place the sauce pan down on the counter | END"]} +{"id": "trial_T20190906_194903_710920-2", "input": "Plan a pan with a spatula in it down on the counter to the right of the toaster. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.908, 2.0, 0, 0, 0, [SEP] 1, DishSponge, -1.099, 0.776, 0.174, 0, 180, 0, 64 [SEP] 2, Glassbottle, -1.263, 1.656, -0.204, 0, 0, 0, 50 [SEP] 3, Glassbottle, -1.162, 0.342, 0.778, 0, 90, 0, 82 [SEP] 4, WineBottle, -1.320, 0.752, 0.987, 0, 90, 0, 82 [SEP] 5, Kettle, 0.502, 0.939, -0.740, 0, 90, 0, 69 [SEP] 6, Fork, -1.197, 0.749, 3.015, 0, 0, 0, 43 [SEP] 7, Fork, 1.034, 0.886, 2.477, 0, 0, 0, 94 [SEP] 8, Spatula, 1.367, 0.901, 2.369, 0, 0, 0, 94 [SEP] 9, Cup, -1.206, 0.750, 0.988, 0, 90, 0, 82 [SEP] 10, Cup, -0.144, 0.757, -0.691, 0, 0, 0, 89 [SEP] 11, Knife, 1.450, 0.908, 2.692, 0, 90, 0, 94 [SEP] 12, Bowl, -1.361, 1.013, 0.046, 0, 90, 0, 88 [SEP] 13, Bread, -1.320, 0.814, 1.197, 0, 90, 0, 82 [SEP] 14, SaltShaker, -1.176, 0.113, 0.248, 0, 180, 0, 65 [SEP] 15, Mug, -1.206, 1.631, 0.781, 0, 90, 0, 82 [SEP] 16, Apple, -0.082, 0.818, -0.533, 0, 0, 0, 89 [SEP] 17, Bread, -1.320, 1.484, 1.197, 0, 90, 0, 82 [SEP] 18, Glassbottle, -1.286, 0.912, -0.477, 0, 0, 0, 68 [SEP] 19, Fork, 1.117, 0.886, 2.153, 0, 0, 0, 94 [SEP] 20, Kettle, -1.357, 0.739, 3.024, 0, 240.000, 0, 43 [SEP] 21, Tomato, -1.012, 0.798, 2.087, 0, 0, 0, 43 [SEP] 22, Plate, 1.325, 2.157, 0.555, 0, 0, 0, 53 [SEP] 23, CellPhone, -1.475, 0.747, 1.902, 0, 0, 0, 43 [SEP] 24, Lettuce, 1.367, 0.957, 2.477, 0, 0, 0, 94 [SEP] 25, Pot, 0.802, 0.939, -0.740, 0, 90, 0, 71 [SEP] 26, SoapBottle, -1.513, 0.913, -0.732, 0, 0, 0, 68 [SEP] 27, WineBottle, -1.475, 0.750, 2.459, 0, 0, 0, 43 [SEP] 28, Spatula, -0.813, 0.927, -0.669, 0, 0, 0, 68 [SEP] 29, Bowl, -1.012, 0.747, 2.459, 0, 0, 0, 43 [SEP] 30, Apple, -1.092, 0.811, 1.197, 0, 90, 0, 82 [SEP] 31, Cup, -0.170, 0.115, -0.577, 0, 0, 0, 58 [SEP] 32, Knife, -0.130, 0.934, -0.348, 0, 0, 0, 68 [SEP] 33, Egg, -1.435, 1.671, 0.984, 0, 90, 0, 82 [SEP] 34, SaltShaker, 1.034, 0.882, 2.153, 0, 0, 0, 94 [SEP] 35, PepperShaker, 1.355, 2.150, 1.000, 0, 0, 0, 52 [SEP] 36, Potato, 1.117, 0.931, 2.261, 0, 0, 0, 94 [SEP] 37, ButterKnife, 0.054, 0.912, -0.359, 0, 0, 0, 68 [SEP] 38, DishSponge, 1.175, 0.115, 1.119, 0, 0, 0, 83 [SEP] 39, Pan, 1.034, 0.885, 2.584, 0, 180, 0, 94 [SEP] 40, Spoon, -1.433, 0.913, -0.589, 0, 0, 0, 68 [SEP] 41, SprayBottle, -1.383, 0.749, 2.830, 0, 0, 0, 43 [SEP] 42, Mug, -1.197, 0.743, 2.644, 0, 0, 0, 43 [SEP] 43, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0, [SEP] 44, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0, [SEP] 45, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0, [SEP] 46, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0, [SEP] 47, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0, [SEP] 48, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0, [SEP] 49, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0, [SEP] 50, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0, [SEP] 51, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0, [SEP] 52, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0, [SEP] 53, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0, [SEP] 54, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0, [SEP] 55, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0, [SEP] 56, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0, [SEP] 57, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0, [SEP] 58, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0, [SEP] 59, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0, [SEP] 60, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0, [SEP] 61, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0, [SEP] 62, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0, [SEP] 63, Drawer, 1.116, 0.792, -0.015, 0, 0, 0, [SEP] 64, Drawer, -1.116, 0.792, 0.210, 0, 180, 0, [SEP] 65, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0, [SEP] 66, Drawer, -1.116, 0.792, -0.170, 0, 180, 0, [SEP] 67, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0, [SEP] 68, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0, [SEP] 69, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0, [SEP] 70, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0, [SEP] 71, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0, [SEP] 72, Drawer, 1.116, 0.792, 1.081, 0, 0, 0, [SEP] 73, Sink, -0.013, 0.912, -0.615, 0, 0, 0, [SEP] 74, Drawer, 1.116, 0.792, 0.732, 0, 0, 0, [SEP] 75, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0, [SEP] 76, Drawer, 1.116, 0.792, 0.367, 0, 0, 0, [SEP] 77, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0, [SEP] 78, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0, [SEP] 79, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0, [SEP] 80, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0, [SEP] 81, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0, [SEP] 82, Fridge, -1.300, 0.008, 0.987, 0, 90, 0, [SEP] 83, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0, [SEP] 84, Window, -0.012, 1.641, -0.972, 90, 0, 0, [SEP] 85, Window, 1.598, 1.646, 2.489, 90, 270, 0, [SEP] 86, Toaster, 1.356, 0.900, 1.044, 0, 270, 0, [SEP] 87, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0, [SEP] 88, Microwave, -1.343, 0.900, 0.053, 0, 90, 0, [SEP] 89, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0, [SEP] 90, Faucet, -0.026, 0.927, -0.808, 0, 0, 0, [SEP] 91, Shelf, -1.182, 0.127, 2.414, 0, 90, 0, [SEP] 92, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0, [SEP] 93, Shelf, -1.182, 0.435, 2.414, 0, 90, 0, [SEP] 94, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896, [SEP] 95, NorthWall, , , , , , , [SEP] 96, EastWall, , , , , , , [SEP] 97, SouthWall, , , , , , , [SEP] 98, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right and walk forward to the blue table. | STEP 2: Pick up the spatula next to the head of lettuce. | STEP 3: Walk one step left and turn to face the pan on the table. | STEP 4: Place the spatula inside the pan on the table. | STEP 5: Pick up the pan on the table. | STEP 6: Turn right and walk forward, and then turn to the left and face the counter right after passing the toaster. | STEP 7: Place the pan down on the counter to the right of the toaster. | END"]} +{"id": "trial_T20190908_144357_621068-0", "input": "Put a wet sponge on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.909, 2.25, 0, 90, 0, [SEP] 1, Cloth, -2.121, 0.059, 3.020, 0, 0, 0, 31 [SEP] 2, SprayBottle, -1.704, 0.056, 2.953, 0, 0, 0, 27 [SEP] 3, SprayBottle, -0.625, 1.072, 0.241, 0, 0, 0, 44 [SEP] 4, DishSponge, -2.812, 0.600, 1.467, 0, 0, 0, 39 [SEP] 5, DishSponge, -0.822, 1.072, 0.333, 0, 0, 0, 44 [SEP] 6, SoapBottle, -1.187, 0.601, 0.855, 0, 0, 0, 28 [SEP] 7, Towel, 0.861, 1.358, 2.855, 0, 270, 0, 36 [SEP] 8, HandTowel, -0.242, 1.76, 3.427, 0, 0, 0, 42 [SEP] 9, Plunger, -0.219, 0.026, 0.490, 0, 0, 0, [SEP] 10, SoapBar, -0.691, 1.070, 0.363, 0, 0, 0, 44 [SEP] 11, ToiletPaper, -2.178, 0.051, 3.155, 0, 0, 0, 31 [SEP] 12, SoapBottle, -2.340, 1.106, 3.214, 0, 0, 0, 25 [SEP] 13, ToiletPaper, -0.138, 0.058, 3.297, 0, 0, 0, 40 [SEP] 14, Towel, 0.402, 1.389, 3.359, 0, 0, 0, 37 [SEP] 15, PaperTowelRoll, -0.560, 1.177, 0.332, 0, 0, 0, 44 [SEP] 16, ScrubBrush, -0.351, 0.026, 0.353, 0, 0, 0, [SEP] 17, Cloth, -3.120, 0.603, 1.467, 0, 0, 0, 39 [SEP] 18, Candle, -0.323, 1.103, 3.060, 0, 0, 0, 25 [SEP] 19, DishSponge, -1.856, 0.108, 0.544, 0, 0, 0, 38 [SEP] 20, SprayBottle, -1.003, 0.055, 3.358, 0, 0, 0, 30 [SEP] 21, Window, -3.447, 1.593, 0.648, 0, 0, 0, [SEP] 22, Mirror, -1.386, 1.595, 3.464, 0, 0, 0, [SEP] 23, SinkBasin, -0.837, 0.960, 3.091, 0, 180, 0, [SEP] 24, ShowerDoor, -2.477, 1.774, 2.386, 0, 0, 0, [SEP] 25, CounterTop, -1.358, 1.094, 3.151, 0, 0, 0, [SEP] 26, Sink, -0.846, 0.952, 3.144, 0, 180, 0, [SEP] 27, Cabinet, -1.399, 0.425, 2.867, 0, 0, 0, [SEP] 28, Bathtub, -2.234, 0.288, 0.722, 0, 0, 0, [SEP] 29, Cabinet, -0.337, 0.425, 2.867, 0, 0, 0, [SEP] 30, Cabinet, -1.362, 0.425, 2.867, 0, 0, 0, [SEP] 31, Cabinet, -2.423, 0.425, 2.867, 0, 0, 0, [SEP] 32, ShowerGlass, -2.895, 1.423, 2.342, 0, 0, 0, [SEP] 33, Faucet, -0.853, 1.094, 3.367, 0, 180, 0, [SEP] 34, ShowerHead, -2.949, 2.154, 3.427, 0, 0, 0, [SEP] 35, Window, -2.190, 1.550, 0.086, 0, 0, 0, [SEP] 36, TowelHolder, 0.967, 1.343, 2.855, 0, 270, 0, [SEP] 37, TowelHolder, 0.402, 1.375, 3.466, 0, 180, 0, [SEP] 38, BathtubBasin, -2.322, 0.096, 0.634, 0, 0, 0, [SEP] 39, Shelf, -2.930, 0.589, 1.425, 0, 0, 0, [SEP] 40, GarbageCan, -0.061, -0.001, 3.131, 0, 270, 0, [SEP] 41, LightSwitch, 0.968, 1.432, 1.128, 0, 270, 0, [SEP] 42, HandTowelHolder, -0.241, 1.861, 3.466, 0, 90, 0, [SEP] 43, ToiletPaperHanger, -0.039, 0.958, 0.201, 0, 0, 0, [SEP] 44, Toilet, -0.694, 0.026, 0.656, 0, 90, 0, [SEP] 45, Faucet, -1.944, 1.094, 3.367, 0, 180, 0, [SEP] 46, Sink, -1.934, 0.952, 3.144, 0, 180, 0, [SEP] 47, SinkBasin, -1.926, 0.960, 3.091, 0, 180, 0, [SEP] 48, Faucet, -1.342, 0.638, 0.629, 0, 90, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and take two steps then turn left and walk to the left side of the tub. | STEP 2: Pick up the sponge that's in front of you in the tub. | STEP 3: Turn left and take a step then turn left and walk to the sink. | STEP 4: Get the sponge wet in the sink and then pick it back up and shut off the water. | STEP 5: Take a step to your left. | STEP 6: Put the sponge on the edge of the counter to the right of the left sink. | END"]} +{"id": "trial_T20190908_144357_621068-1", "input": "place a clean sponge on top of the sink counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.909, 2.25, 0, 90, 0, [SEP] 1, Cloth, -2.121, 0.059, 3.020, 0, 0, 0, 31 [SEP] 2, SprayBottle, -1.704, 0.056, 2.953, 0, 0, 0, 27 [SEP] 3, SprayBottle, -0.625, 1.072, 0.241, 0, 0, 0, 44 [SEP] 4, DishSponge, -2.812, 0.600, 1.467, 0, 0, 0, 39 [SEP] 5, DishSponge, -0.822, 1.072, 0.333, 0, 0, 0, 44 [SEP] 6, SoapBottle, -1.187, 0.601, 0.855, 0, 0, 0, 28 [SEP] 7, Towel, 0.861, 1.358, 2.855, 0, 270, 0, 36 [SEP] 8, HandTowel, -0.242, 1.76, 3.427, 0, 0, 0, 42 [SEP] 9, Plunger, -0.219, 0.026, 0.490, 0, 0, 0, [SEP] 10, SoapBar, -0.691, 1.070, 0.363, 0, 0, 0, 44 [SEP] 11, ToiletPaper, -2.178, 0.051, 3.155, 0, 0, 0, 31 [SEP] 12, SoapBottle, -2.340, 1.106, 3.214, 0, 0, 0, 25 [SEP] 13, ToiletPaper, -0.138, 0.058, 3.297, 0, 0, 0, 40 [SEP] 14, Towel, 0.402, 1.389, 3.359, 0, 0, 0, 37 [SEP] 15, PaperTowelRoll, -0.560, 1.177, 0.332, 0, 0, 0, 44 [SEP] 16, ScrubBrush, -0.351, 0.026, 0.353, 0, 0, 0, [SEP] 17, Cloth, -3.120, 0.603, 1.467, 0, 0, 0, 39 [SEP] 18, Candle, -0.323, 1.103, 3.060, 0, 0, 0, 25 [SEP] 19, DishSponge, -1.856, 0.108, 0.544, 0, 0, 0, 38 [SEP] 20, SprayBottle, -1.003, 0.055, 3.358, 0, 0, 0, 30 [SEP] 21, Window, -3.447, 1.593, 0.648, 0, 0, 0, [SEP] 22, Mirror, -1.386, 1.595, 3.464, 0, 0, 0, [SEP] 23, SinkBasin, -0.837, 0.960, 3.091, 0, 180, 0, [SEP] 24, ShowerDoor, -2.477, 1.774, 2.386, 0, 0, 0, [SEP] 25, CounterTop, -1.358, 1.094, 3.151, 0, 0, 0, [SEP] 26, Sink, -0.846, 0.952, 3.144, 0, 180, 0, [SEP] 27, Cabinet, -1.399, 0.425, 2.867, 0, 0, 0, [SEP] 28, Bathtub, -2.234, 0.288, 0.722, 0, 0, 0, [SEP] 29, Cabinet, -0.337, 0.425, 2.867, 0, 0, 0, [SEP] 30, Cabinet, -1.362, 0.425, 2.867, 0, 0, 0, [SEP] 31, Cabinet, -2.423, 0.425, 2.867, 0, 0, 0, [SEP] 32, ShowerGlass, -2.895, 1.423, 2.342, 0, 0, 0, [SEP] 33, Faucet, -0.853, 1.094, 3.367, 0, 180, 0, [SEP] 34, ShowerHead, -2.949, 2.154, 3.427, 0, 0, 0, [SEP] 35, Window, -2.190, 1.550, 0.086, 0, 0, 0, [SEP] 36, TowelHolder, 0.967, 1.343, 2.855, 0, 270, 0, [SEP] 37, TowelHolder, 0.402, 1.375, 3.466, 0, 180, 0, [SEP] 38, BathtubBasin, -2.322, 0.096, 0.634, 0, 0, 0, [SEP] 39, Shelf, -2.930, 0.589, 1.425, 0, 0, 0, [SEP] 40, GarbageCan, -0.061, -0.001, 3.131, 0, 270, 0, [SEP] 41, LightSwitch, 0.968, 1.432, 1.128, 0, 270, 0, [SEP] 42, HandTowelHolder, -0.241, 1.861, 3.466, 0, 90, 0, [SEP] 43, ToiletPaperHanger, -0.039, 0.958, 0.201, 0, 0, 0, [SEP] 44, Toilet, -0.694, 0.026, 0.656, 0, 90, 0, [SEP] 45, Faucet, -1.944, 1.094, 3.367, 0, 180, 0, [SEP] 46, Sink, -1.934, 0.952, 3.144, 0, 180, 0, [SEP] 47, SinkBasin, -1.926, 0.960, 3.091, 0, 180, 0, [SEP] 48, Faucet, -1.342, 0.638, 0.629, 0, 90, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: turn around and walk over to the bath tub on the left side of the room | STEP 2: grab the sponge out of the bath tub | STEP 3: turn left and walk over to the sink on the left side of the room | STEP 4: place the sponge inside of the sink, rinse it off, then take it back out | STEP 5: move to the left a bit and face the sink again | STEP 6: place the clean sponge on top of the sink | END"]} +{"id": "trial_T20190908_144357_621068-2", "input": "Place a clean sponge on a counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.909, 2.25, 0, 90, 0, [SEP] 1, Cloth, -2.121, 0.059, 3.020, 0, 0, 0, 31 [SEP] 2, SprayBottle, -1.704, 0.056, 2.953, 0, 0, 0, 27 [SEP] 3, SprayBottle, -0.625, 1.072, 0.241, 0, 0, 0, 44 [SEP] 4, DishSponge, -2.812, 0.600, 1.467, 0, 0, 0, 39 [SEP] 5, DishSponge, -0.822, 1.072, 0.333, 0, 0, 0, 44 [SEP] 6, SoapBottle, -1.187, 0.601, 0.855, 0, 0, 0, 28 [SEP] 7, Towel, 0.861, 1.358, 2.855, 0, 270, 0, 36 [SEP] 8, HandTowel, -0.242, 1.76, 3.427, 0, 0, 0, 42 [SEP] 9, Plunger, -0.219, 0.026, 0.490, 0, 0, 0, [SEP] 10, SoapBar, -0.691, 1.070, 0.363, 0, 0, 0, 44 [SEP] 11, ToiletPaper, -2.178, 0.051, 3.155, 0, 0, 0, 31 [SEP] 12, SoapBottle, -2.340, 1.106, 3.214, 0, 0, 0, 25 [SEP] 13, ToiletPaper, -0.138, 0.058, 3.297, 0, 0, 0, 40 [SEP] 14, Towel, 0.402, 1.389, 3.359, 0, 0, 0, 37 [SEP] 15, PaperTowelRoll, -0.560, 1.177, 0.332, 0, 0, 0, 44 [SEP] 16, ScrubBrush, -0.351, 0.026, 0.353, 0, 0, 0, [SEP] 17, Cloth, -3.120, 0.603, 1.467, 0, 0, 0, 39 [SEP] 18, Candle, -0.323, 1.103, 3.060, 0, 0, 0, 25 [SEP] 19, DishSponge, -1.856, 0.108, 0.544, 0, 0, 0, 38 [SEP] 20, SprayBottle, -1.003, 0.055, 3.358, 0, 0, 0, 30 [SEP] 21, Window, -3.447, 1.593, 0.648, 0, 0, 0, [SEP] 22, Mirror, -1.386, 1.595, 3.464, 0, 0, 0, [SEP] 23, SinkBasin, -0.837, 0.960, 3.091, 0, 180, 0, [SEP] 24, ShowerDoor, -2.477, 1.774, 2.386, 0, 0, 0, [SEP] 25, CounterTop, -1.358, 1.094, 3.151, 0, 0, 0, [SEP] 26, Sink, -0.846, 0.952, 3.144, 0, 180, 0, [SEP] 27, Cabinet, -1.399, 0.425, 2.867, 0, 0, 0, [SEP] 28, Bathtub, -2.234, 0.288, 0.722, 0, 0, 0, [SEP] 29, Cabinet, -0.337, 0.425, 2.867, 0, 0, 0, [SEP] 30, Cabinet, -1.362, 0.425, 2.867, 0, 0, 0, [SEP] 31, Cabinet, -2.423, 0.425, 2.867, 0, 0, 0, [SEP] 32, ShowerGlass, -2.895, 1.423, 2.342, 0, 0, 0, [SEP] 33, Faucet, -0.853, 1.094, 3.367, 0, 180, 0, [SEP] 34, ShowerHead, -2.949, 2.154, 3.427, 0, 0, 0, [SEP] 35, Window, -2.190, 1.550, 0.086, 0, 0, 0, [SEP] 36, TowelHolder, 0.967, 1.343, 2.855, 0, 270, 0, [SEP] 37, TowelHolder, 0.402, 1.375, 3.466, 0, 180, 0, [SEP] 38, BathtubBasin, -2.322, 0.096, 0.634, 0, 0, 0, [SEP] 39, Shelf, -2.930, 0.589, 1.425, 0, 0, 0, [SEP] 40, GarbageCan, -0.061, -0.001, 3.131, 0, 270, 0, [SEP] 41, LightSwitch, 0.968, 1.432, 1.128, 0, 270, 0, [SEP] 42, HandTowelHolder, -0.241, 1.861, 3.466, 0, 90, 0, [SEP] 43, ToiletPaperHanger, -0.039, 0.958, 0.201, 0, 0, 0, [SEP] 44, Toilet, -0.694, 0.026, 0.656, 0, 90, 0, [SEP] 45, Faucet, -1.944, 1.094, 3.367, 0, 180, 0, [SEP] 46, Sink, -1.934, 0.952, 3.144, 0, 180, 0, [SEP] 47, SinkBasin, -1.926, 0.960, 3.091, 0, 180, 0, [SEP] 48, Faucet, -1.342, 0.638, 0.629, 0, 90, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and slightly right to the tub. | STEP 2: Take the sponge out of the tub. | STEP 3: Turn around and walk to the right sink. | STEP 4: Wash the sponge in the sink. | STEP 5: Take a step left. | STEP 6: Place the sponge on the counter in between the two sinks. | END"]} +{"id": "trial_T20190909_100455_031300-0", "input": "Put a bar of soap in the drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.901, 3.25, 0, 180, 0, [SEP] 1, Cloth, 0.390, 0.215, 3.271, 0, 0, 0, 29 [SEP] 2, Candle, 0.521, 0.821, 2.161, 0, 0, 0, 26 [SEP] 3, SprayBottle, 0.455, 0.820, 3.184, 0, 0, 0, 26 [SEP] 4, SprayBottle, 0.521, 0.820, 3.458, 0, 180, 0, 26 [SEP] 5, SoapBottle, 0.624, 1.052, 1.467, 0, 270, 0, 38 [SEP] 6, ToiletPaper, 0.389, 0.816, 2.271, 0, 0, 0, 26 [SEP] 7, SoapBottle, 0.596, 0.809, 3.415, 0, 225, 0, 26 [SEP] 8, HandTowel, 0.634, 1.512, 3.564, 0, 90, 0, 37 [SEP] 9, Towel, -0.442, 1.375, 1.282, 0, 0, 0, 31 [SEP] 10, SoapBar, 0.356, 0.676, 2.804, 0, 270, 0, 35 [SEP] 11, ToiletPaper, 0.563, 1.041, 1.336, 0, 270, 0, 38 [SEP] 12, ToiletPaper, 0.308, 0.615, 1.912, 0, 180, 90, 33 [SEP] 13, Candle, 0.502, 1.046, 1.467, 0, 270, 0, 38 [SEP] 14, ScrubBrush, 0.553, 0.000, 1.725, 0, 0, 0, [SEP] 15, Cloth, 0.334, 0.215, 2.568, 0, 0, 0, 28 [SEP] 16, Plunger, 0.594, -0.000, 1.898, 0, 0, 0, [SEP] 17, SprayBottle, 0.536, 0.208, 3.824, 0, 0, 0, 34 [SEP] 18, Drawer, 0.443, 0.624, 3.310, 0, 0, 0, [SEP] 19, Drawer, 0.443, 0.323, 2.194, 0, 0, 0, [SEP] 20, ShowerDoor, -0.923, 1.032, 1.155, 0, 0, 0, [SEP] 21, Sink, 0.495, 0.661, 2.756, 0, 270, 0, [SEP] 22, Drawer, 0.443, 0.624, 2.193, 0, 0, 0, [SEP] 23, Faucet, 0.717, 0.982, 2.756, 0, 0, 0, [SEP] 24, Mirror, 0.629, 1.532, 2.697, 0, 0, 0, [SEP] 25, ShowerGlass, -0.152, 1.266, 1.156, 0, 0, 0, [SEP] 26, CounterTop, 0.458, 0.789, 2.759, 0, 0, 0, [SEP] 27, Drawer, 0.443, 0.323, 2.566, 0, 0, 0, [SEP] 28, Drawer, 0.443, 0.323, 2.937, 0, 0, 0, [SEP] 29, Drawer, 0.443, 0.323, 3.310, 0, 0, 0, [SEP] 30, TowelHolder, 0.716, 1.361, 0.583, 0, 270, 0, [SEP] 31, TowelHolder, -0.442, 1.361, 1.175, 0, 0, 0, [SEP] 32, LightSwitch, -1.749, 1.429, 3.325, 0, 90, 0, [SEP] 33, ToiletPaperHanger, 0.376, 0.648, 2.009, 0, 180, 0, [SEP] 34, GarbageCan, 0.412, -0.029, 3.728, 0, 0, 0, [SEP] 35, SinkBasin, 0.440, 0.667, 2.746, 0, 270, 0, [SEP] 36, HandTowelHolder, 0.673, 1.613, 1.891, 0, 180, 0, [SEP] 37, HandTowelHolder, 0.673, 1.613, 3.563, 0, 180, 0, [SEP] 38, Toilet, 0.270, 0.000, 1.463, 0, 0, 0, [SEP] 39, ShowerHead, -1.705, 1.894, 0.587, 0, 270, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Take a small step forward then turn left and walk to the sink. | STEP 2: Pick up the bar of soap that's in front of you in the sink. | STEP 3: Take a step backwards so you can use the drawer. | STEP 4: Open the drawer under the sink all the way to the right and put the soap in there then close the drawer. | END"]} +{"id": "trial_T20190909_100455_031300-1", "input": "Put soap in a drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.901, 3.25, 0, 180, 0, [SEP] 1, Cloth, 0.390, 0.215, 3.271, 0, 0, 0, 29 [SEP] 2, Candle, 0.521, 0.821, 2.161, 0, 0, 0, 26 [SEP] 3, SprayBottle, 0.455, 0.820, 3.184, 0, 0, 0, 26 [SEP] 4, SprayBottle, 0.521, 0.820, 3.458, 0, 180, 0, 26 [SEP] 5, SoapBottle, 0.624, 1.052, 1.467, 0, 270, 0, 38 [SEP] 6, ToiletPaper, 0.389, 0.816, 2.271, 0, 0, 0, 26 [SEP] 7, SoapBottle, 0.596, 0.809, 3.415, 0, 225, 0, 26 [SEP] 8, HandTowel, 0.634, 1.512, 3.564, 0, 90, 0, 37 [SEP] 9, Towel, -0.442, 1.375, 1.282, 0, 0, 0, 31 [SEP] 10, SoapBar, 0.356, 0.676, 2.804, 0, 270, 0, 35 [SEP] 11, ToiletPaper, 0.563, 1.041, 1.336, 0, 270, 0, 38 [SEP] 12, ToiletPaper, 0.308, 0.615, 1.912, 0, 180, 90, 33 [SEP] 13, Candle, 0.502, 1.046, 1.467, 0, 270, 0, 38 [SEP] 14, ScrubBrush, 0.553, 0.000, 1.725, 0, 0, 0, [SEP] 15, Cloth, 0.334, 0.215, 2.568, 0, 0, 0, 28 [SEP] 16, Plunger, 0.594, -0.000, 1.898, 0, 0, 0, [SEP] 17, SprayBottle, 0.536, 0.208, 3.824, 0, 0, 0, 34 [SEP] 18, Drawer, 0.443, 0.624, 3.310, 0, 0, 0, [SEP] 19, Drawer, 0.443, 0.323, 2.194, 0, 0, 0, [SEP] 20, ShowerDoor, -0.923, 1.032, 1.155, 0, 0, 0, [SEP] 21, Sink, 0.495, 0.661, 2.756, 0, 270, 0, [SEP] 22, Drawer, 0.443, 0.624, 2.193, 0, 0, 0, [SEP] 23, Faucet, 0.717, 0.982, 2.756, 0, 0, 0, [SEP] 24, Mirror, 0.629, 1.532, 2.697, 0, 0, 0, [SEP] 25, ShowerGlass, -0.152, 1.266, 1.156, 0, 0, 0, [SEP] 26, CounterTop, 0.458, 0.789, 2.759, 0, 0, 0, [SEP] 27, Drawer, 0.443, 0.323, 2.566, 0, 0, 0, [SEP] 28, Drawer, 0.443, 0.323, 2.937, 0, 0, 0, [SEP] 29, Drawer, 0.443, 0.323, 3.310, 0, 0, 0, [SEP] 30, TowelHolder, 0.716, 1.361, 0.583, 0, 270, 0, [SEP] 31, TowelHolder, -0.442, 1.361, 1.175, 0, 0, 0, [SEP] 32, LightSwitch, -1.749, 1.429, 3.325, 0, 90, 0, [SEP] 33, ToiletPaperHanger, 0.376, 0.648, 2.009, 0, 180, 0, [SEP] 34, GarbageCan, 0.412, -0.029, 3.728, 0, 0, 0, [SEP] 35, SinkBasin, 0.440, 0.667, 2.746, 0, 270, 0, [SEP] 36, HandTowelHolder, 0.673, 1.613, 1.891, 0, 180, 0, [SEP] 37, HandTowelHolder, 0.673, 1.613, 3.563, 0, 180, 0, [SEP] 38, Toilet, 0.270, 0.000, 1.463, 0, 0, 0, [SEP] 39, ShowerHead, -1.705, 1.894, 0.587, 0, 270, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left and face the sink. | STEP 2: Pick the soap up from the sink. | STEP 3: Move to the right to face the top drawer to the right of the sink. | STEP 4: Put the soap in the drawer. | END"]} +{"id": "trial_T20190909_100455_031300-2", "input": "Place soap inside the drawer to the right of the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.901, 3.25, 0, 180, 0, [SEP] 1, Cloth, 0.390, 0.215, 3.271, 0, 0, 0, 29 [SEP] 2, Candle, 0.521, 0.821, 2.161, 0, 0, 0, 26 [SEP] 3, SprayBottle, 0.455, 0.820, 3.184, 0, 0, 0, 26 [SEP] 4, SprayBottle, 0.521, 0.820, 3.458, 0, 180, 0, 26 [SEP] 5, SoapBottle, 0.624, 1.052, 1.467, 0, 270, 0, 38 [SEP] 6, ToiletPaper, 0.389, 0.816, 2.271, 0, 0, 0, 26 [SEP] 7, SoapBottle, 0.596, 0.809, 3.415, 0, 225, 0, 26 [SEP] 8, HandTowel, 0.634, 1.512, 3.564, 0, 90, 0, 37 [SEP] 9, Towel, -0.442, 1.375, 1.282, 0, 0, 0, 31 [SEP] 10, SoapBar, 0.356, 0.676, 2.804, 0, 270, 0, 35 [SEP] 11, ToiletPaper, 0.563, 1.041, 1.336, 0, 270, 0, 38 [SEP] 12, ToiletPaper, 0.308, 0.615, 1.912, 0, 180, 90, 33 [SEP] 13, Candle, 0.502, 1.046, 1.467, 0, 270, 0, 38 [SEP] 14, ScrubBrush, 0.553, 0.000, 1.725, 0, 0, 0, [SEP] 15, Cloth, 0.334, 0.215, 2.568, 0, 0, 0, 28 [SEP] 16, Plunger, 0.594, -0.000, 1.898, 0, 0, 0, [SEP] 17, SprayBottle, 0.536, 0.208, 3.824, 0, 0, 0, 34 [SEP] 18, Drawer, 0.443, 0.624, 3.310, 0, 0, 0, [SEP] 19, Drawer, 0.443, 0.323, 2.194, 0, 0, 0, [SEP] 20, ShowerDoor, -0.923, 1.032, 1.155, 0, 0, 0, [SEP] 21, Sink, 0.495, 0.661, 2.756, 0, 270, 0, [SEP] 22, Drawer, 0.443, 0.624, 2.193, 0, 0, 0, [SEP] 23, Faucet, 0.717, 0.982, 2.756, 0, 0, 0, [SEP] 24, Mirror, 0.629, 1.532, 2.697, 0, 0, 0, [SEP] 25, ShowerGlass, -0.152, 1.266, 1.156, 0, 0, 0, [SEP] 26, CounterTop, 0.458, 0.789, 2.759, 0, 0, 0, [SEP] 27, Drawer, 0.443, 0.323, 2.566, 0, 0, 0, [SEP] 28, Drawer, 0.443, 0.323, 2.937, 0, 0, 0, [SEP] 29, Drawer, 0.443, 0.323, 3.310, 0, 0, 0, [SEP] 30, TowelHolder, 0.716, 1.361, 0.583, 0, 270, 0, [SEP] 31, TowelHolder, -0.442, 1.361, 1.175, 0, 0, 0, [SEP] 32, LightSwitch, -1.749, 1.429, 3.325, 0, 90, 0, [SEP] 33, ToiletPaperHanger, 0.376, 0.648, 2.009, 0, 180, 0, [SEP] 34, GarbageCan, 0.412, -0.029, 3.728, 0, 0, 0, [SEP] 35, SinkBasin, 0.440, 0.667, 2.746, 0, 270, 0, [SEP] 36, HandTowelHolder, 0.673, 1.613, 1.891, 0, 180, 0, [SEP] 37, HandTowelHolder, 0.673, 1.613, 3.563, 0, 180, 0, [SEP] 38, Toilet, 0.270, 0.000, 1.463, 0, 0, 0, [SEP] 39, ShowerHead, -1.705, 1.894, 0.587, 0, 270, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the sink to your left. | STEP 2: Grab the soap in the sink. | STEP 3: Walk to the drawer that's to the right of the sink. | STEP 4: Place the soap inside the drawer and close it. | END"]} +{"id": "trial_T20190908_233333_221307-0", "input": "To move a yellow cup to the sink and put a knife in the yellow cup. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 1.25, 0, 0, 0, [SEP] 1, Pan, 1.328, 0.957, -1.688, 0, 180, 0, 62 [SEP] 2, Pan, 1.328, 0.957, -1.420, 0, 180, 0, 63 [SEP] 3, Statue, -2.733, 0.877, 2.884, 0, 180, 0, 61 [SEP] 4, Vase, -1.516, 0.913, -1.265, 0, 0, 0, 59 [SEP] 5, Potato, 1.578, 0.946, -1.437, 0, 0, 0, 79 [SEP] 6, Potato, 0.479, 0.948, -1.776, 0, 0, 0, 59 [SEP] 7, Book, 0.571, 0.908, -1.369, 0, 0, 0, 59 [SEP] 8, Book, -3.165, 0.875, 3.147, 0, 270, 0, 61 [SEP] 9, DishSponge, -2.845, 0.878, 3.513, 0, 135, 0, 61 [SEP] 10, DishSponge, -3.122, 0.878, 3.475, 0, 135, 0, 61 [SEP] 11, ButterKnife, -2.072, 0.912, 0.037, 0, 0, 0, 59 [SEP] 12, ButterKnife, 0.179, 0.928, -1.501, 0, 270, 0, 56 [SEP] 13, WineBottle, -2.321, 0.875, 3.370, 0, 270, 0, 61 [SEP] 14, Spatula, -2.816, 0.893, 3.379, 0, 315, 0, 61 [SEP] 15, Spatula, -1.682, 0.732, -0.788, 0, 270, 0, 74 [SEP] 16, Pot, 0.974, 0.957, -1.419, 0, 180, 0, 77 [SEP] 17, Fork, -1.849, 0.912, -0.614, 0, 0, 0, 59 [SEP] 18, Plate, -2.405, 0.882, 2.758, 0, 135, 0, 61 [SEP] 19, Plate, -2.300, 0.882, 3.580, 0, 225, 0, 61 [SEP] 20, SoapBottle, -0.897, 0.193, 2.097, 0, 90, 0, 89 [SEP] 21, SoapBottle, -1.961, 0.912, -1.265, 0, 0, 0, 59 [SEP] 22, PepperShaker, 3.793, 0.549, 1.656, 0, 270, 0, 82 [SEP] 23, PepperShaker, -0.217, 0.908, -1.206, 0, 0, 0, 59 [SEP] 24, Lettuce, -2.367, 0.939, 3.035, 0, 135, 0, 61 [SEP] 25, Lettuce, -3.017, 0.939, 3.580, 0, 135, 0, 61 [SEP] 26, Apple, -2.152, 0.929, 3.221, 0, 270, 0, 61 [SEP] 27, Book, -1.94, 0.900, -1.693, 0, 0, 0, 78 [SEP] 28, Fork, -1.738, 0.912, -0.939, 0, 0, 0, 59 [SEP] 29, Tomato, 0.307, 1.619, 2.160, 0, 180, 0, 84 [SEP] 30, Egg, -0.034, 0.828, 2.251, 0, 180, 0, 84 [SEP] 31, Kettle, -0.833, 0.900, -1.757, 0, 0, 0, 59 [SEP] 32, Vase, -1.686, 0.120, -0.841, 0, 0, 0, 64 [SEP] 33, Cup, 0.014, 0.928, -1.646, 0, 270, 0, 56 [SEP] 34, WineBottle, 0.591, 0.117, -1.408, 0, 0, 0, 66 [SEP] 35, Plate, -2.807, 0.878, 3.728, 0, 0, 0, 61 [SEP] 36, Spatula, -2.828, 0.893, 3.073, 0, 180, 0, 61 [SEP] 37, Potato, 0.289, 0.965, -1.718, 0, 270, 0, 56 [SEP] 38, Pot, 0.974, 0.957, -1.688, 0, 180, 0, 58 [SEP] 39, Knife, -1.738, 0.934, -0.614, 0, 90, 0, 59 [SEP] 40, SaltShaker, 0.638, 0.714, -1.376, 0, 0, 0, 76 [SEP] 41, PepperShaker, 0.508, 0.112, -1.333, 0, 0, 0, 66 [SEP] 42, Lettuce, -2.996, 0.943, 3.073, 0, 180, 0, 61 [SEP] 43, ButterKnife, -2.659, 0.874, 3.370, 0, 270, 0, 61 [SEP] 44, Bread, -0.263, 1.655, 2.040, 0, 180, 0, 84 [SEP] 45, Vase, -2.050, 0.120, -1.433, 0, 0, 0, 60 [SEP] 46, DishSponge, -2.050, 0.119, -1.653, 0, 0, 0, 78 [SEP] 47, Apple, -0.292, 0.752, -1.468, 0, 270, 0, 88 [SEP] 48, Pan, 0.972, 0.959, -1.426, 0, 0, 0, 77 [SEP] 49, Spoon, 0.069, 0.929, -1.573, 0, 0, 0, 56 [SEP] 50, SoapBottle, -0.943, 1.654, -1.674, 0, 0, 0, 71 [SEP] 51, Mug, -3.122, 0.869, 2.968, 0, 315, 0, 61 [SEP] 52, Statue, 3.637, 0.560, 1.553, 0, 270, 0, 82 [SEP] 53, Statue, 3.668, 0.540, 1.800, 0, 0, 0, 82 [SEP] 54, Bowl, -0.034, 1.141, 2.206, 0, 180, 0, 84 [SEP] 55, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0, [SEP] 56, Sink, 0.024, 0.771, -1.708, 0, 270, 0, [SEP] 57, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0, [SEP] 58, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0, [SEP] 59, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0, [SEP] 60, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0, [SEP] 61, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0, [SEP] 63, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0, [SEP] 64, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0, [SEP] 65, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0, [SEP] 66, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0, [SEP] 67, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0, [SEP] 68, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0, [SEP] 69, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0, [SEP] 70, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0, [SEP] 71, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0, [SEP] 72, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0, [SEP] 73, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0, [SEP] 74, Drawer, -1.636, 0.683, -0.930, 0, 0, 0, [SEP] 75, Drawer, 1.650, 0.682, -1.396, 0, 0, 0, [SEP] 76, Drawer, 0.600, 0.682, -1.396, 0, 0, 0, [SEP] 77, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0, [SEP] 78, Drawer, -2.062, 0.683, -1.579, 0, 0, 0, [SEP] 79, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0, [SEP] 80, Shelf, 3.725, 0.880, 1.671, 0, 90, 0, [SEP] 81, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0, [SEP] 82, Shelf, 3.726, 0.552, 1.671, 0, 90, 0, [SEP] 83, Microwave, 1.150, 1.655, -1.614, 0, 0, 0, [SEP] 84, Fridge, -0.035, 0.0, 2.177, 0, 180, 0, [SEP] 85, Window, -0.115, 1.802, -1.896, 90, 0, 0, [SEP] 86, Window, -4.009, 1.799, 0.310, 90, 90, 0, [SEP] 87, Shelf, 3.726, 0.172, 1.671, 0, 90, 0, [SEP] 88, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0, [SEP] 89, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0, [SEP] 90, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0, [SEP] 91, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0, [SEP] 92, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0, [SEP] 93, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0, [SEP] 94, Toaster, 1.637, 0.900, -1.673, 0, 0, 0, [SEP] 95, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0, [SEP] 96, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0, [SEP] 97, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0, [SEP] 98, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0, [SEP] 99, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0, [SEP] 100, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0, [SEP] 101, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0, [SEP] 102, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0, [SEP] 103, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0, [SEP] 104, NorthWall, , , , , , , [SEP] 105, EastWall, , , , , , , [SEP] 106, SouthWall, , , , , , , [SEP] 107, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, turn left at the fridge, and walk to the sink. | STEP 2: Pick up the yellow cup from the left side of the sink. | STEP 3: Put the cup down in the right side of the sink. | STEP 4: Move to the left side of the sink. | STEP 5: Pick up the butter knife from the left side of the sink. | STEP 6: Move to face the right side of the sink. | STEP 7: Put the knife in the yellow cup in the sink. | END"]} +{"id": "trial_T20190908_233333_221307-1", "input": "Put a glass and a knife in a sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 1.25, 0, 0, 0, [SEP] 1, Pan, 1.328, 0.957, -1.688, 0, 180, 0, 62 [SEP] 2, Pan, 1.328, 0.957, -1.420, 0, 180, 0, 63 [SEP] 3, Statue, -2.733, 0.877, 2.884, 0, 180, 0, 61 [SEP] 4, Vase, -1.516, 0.913, -1.265, 0, 0, 0, 59 [SEP] 5, Potato, 1.578, 0.946, -1.437, 0, 0, 0, 79 [SEP] 6, Potato, 0.479, 0.948, -1.776, 0, 0, 0, 59 [SEP] 7, Book, 0.571, 0.908, -1.369, 0, 0, 0, 59 [SEP] 8, Book, -3.165, 0.875, 3.147, 0, 270, 0, 61 [SEP] 9, DishSponge, -2.845, 0.878, 3.513, 0, 135, 0, 61 [SEP] 10, DishSponge, -3.122, 0.878, 3.475, 0, 135, 0, 61 [SEP] 11, ButterKnife, -2.072, 0.912, 0.037, 0, 0, 0, 59 [SEP] 12, ButterKnife, 0.179, 0.928, -1.501, 0, 270, 0, 56 [SEP] 13, WineBottle, -2.321, 0.875, 3.370, 0, 270, 0, 61 [SEP] 14, Spatula, -2.816, 0.893, 3.379, 0, 315, 0, 61 [SEP] 15, Spatula, -1.682, 0.732, -0.788, 0, 270, 0, 74 [SEP] 16, Pot, 0.974, 0.957, -1.419, 0, 180, 0, 77 [SEP] 17, Fork, -1.849, 0.912, -0.614, 0, 0, 0, 59 [SEP] 18, Plate, -2.405, 0.882, 2.758, 0, 135, 0, 61 [SEP] 19, Plate, -2.300, 0.882, 3.580, 0, 225, 0, 61 [SEP] 20, SoapBottle, -0.897, 0.193, 2.097, 0, 90, 0, 89 [SEP] 21, SoapBottle, -1.961, 0.912, -1.265, 0, 0, 0, 59 [SEP] 22, PepperShaker, 3.793, 0.549, 1.656, 0, 270, 0, 82 [SEP] 23, PepperShaker, -0.217, 0.908, -1.206, 0, 0, 0, 59 [SEP] 24, Lettuce, -2.367, 0.939, 3.035, 0, 135, 0, 61 [SEP] 25, Lettuce, -3.017, 0.939, 3.580, 0, 135, 0, 61 [SEP] 26, Apple, -2.152, 0.929, 3.221, 0, 270, 0, 61 [SEP] 27, Book, -1.94, 0.900, -1.693, 0, 0, 0, 78 [SEP] 28, Fork, -1.738, 0.912, -0.939, 0, 0, 0, 59 [SEP] 29, Tomato, 0.307, 1.619, 2.160, 0, 180, 0, 84 [SEP] 30, Egg, -0.034, 0.828, 2.251, 0, 180, 0, 84 [SEP] 31, Kettle, -0.833, 0.900, -1.757, 0, 0, 0, 59 [SEP] 32, Vase, -1.686, 0.120, -0.841, 0, 0, 0, 64 [SEP] 33, Cup, 0.014, 0.928, -1.646, 0, 270, 0, 56 [SEP] 34, WineBottle, 0.591, 0.117, -1.408, 0, 0, 0, 66 [SEP] 35, Plate, -2.807, 0.878, 3.728, 0, 0, 0, 61 [SEP] 36, Spatula, -2.828, 0.893, 3.073, 0, 180, 0, 61 [SEP] 37, Potato, 0.289, 0.965, -1.718, 0, 270, 0, 56 [SEP] 38, Pot, 0.974, 0.957, -1.688, 0, 180, 0, 58 [SEP] 39, Knife, -1.738, 0.934, -0.614, 0, 90, 0, 59 [SEP] 40, SaltShaker, 0.638, 0.714, -1.376, 0, 0, 0, 76 [SEP] 41, PepperShaker, 0.508, 0.112, -1.333, 0, 0, 0, 66 [SEP] 42, Lettuce, -2.996, 0.943, 3.073, 0, 180, 0, 61 [SEP] 43, ButterKnife, -2.659, 0.874, 3.370, 0, 270, 0, 61 [SEP] 44, Bread, -0.263, 1.655, 2.040, 0, 180, 0, 84 [SEP] 45, Vase, -2.050, 0.120, -1.433, 0, 0, 0, 60 [SEP] 46, DishSponge, -2.050, 0.119, -1.653, 0, 0, 0, 78 [SEP] 47, Apple, -0.292, 0.752, -1.468, 0, 270, 0, 88 [SEP] 48, Pan, 0.972, 0.959, -1.426, 0, 0, 0, 77 [SEP] 49, Spoon, 0.069, 0.929, -1.573, 0, 0, 0, 56 [SEP] 50, SoapBottle, -0.943, 1.654, -1.674, 0, 0, 0, 71 [SEP] 51, Mug, -3.122, 0.869, 2.968, 0, 315, 0, 61 [SEP] 52, Statue, 3.637, 0.560, 1.553, 0, 270, 0, 82 [SEP] 53, Statue, 3.668, 0.540, 1.800, 0, 0, 0, 82 [SEP] 54, Bowl, -0.034, 1.141, 2.206, 0, 180, 0, 84 [SEP] 55, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0, [SEP] 56, Sink, 0.024, 0.771, -1.708, 0, 270, 0, [SEP] 57, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0, [SEP] 58, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0, [SEP] 59, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0, [SEP] 60, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0, [SEP] 61, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0, [SEP] 63, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0, [SEP] 64, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0, [SEP] 65, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0, [SEP] 66, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0, [SEP] 67, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0, [SEP] 68, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0, [SEP] 69, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0, [SEP] 70, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0, [SEP] 71, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0, [SEP] 72, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0, [SEP] 73, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0, [SEP] 74, Drawer, -1.636, 0.683, -0.930, 0, 0, 0, [SEP] 75, Drawer, 1.650, 0.682, -1.396, 0, 0, 0, [SEP] 76, Drawer, 0.600, 0.682, -1.396, 0, 0, 0, [SEP] 77, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0, [SEP] 78, Drawer, -2.062, 0.683, -1.579, 0, 0, 0, [SEP] 79, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0, [SEP] 80, Shelf, 3.725, 0.880, 1.671, 0, 90, 0, [SEP] 81, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0, [SEP] 82, Shelf, 3.726, 0.552, 1.671, 0, 90, 0, [SEP] 83, Microwave, 1.150, 1.655, -1.614, 0, 0, 0, [SEP] 84, Fridge, -0.035, 0.0, 2.177, 0, 180, 0, [SEP] 85, Window, -0.115, 1.802, -1.896, 90, 0, 0, [SEP] 86, Window, -4.009, 1.799, 0.310, 90, 90, 0, [SEP] 87, Shelf, 3.726, 0.172, 1.671, 0, 90, 0, [SEP] 88, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0, [SEP] 89, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0, [SEP] 90, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0, [SEP] 91, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0, [SEP] 92, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0, [SEP] 93, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0, [SEP] 94, Toaster, 1.637, 0.900, -1.673, 0, 0, 0, [SEP] 95, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0, [SEP] 96, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0, [SEP] 97, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0, [SEP] 98, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0, [SEP] 99, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0, [SEP] 100, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0, [SEP] 101, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0, [SEP] 102, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0, [SEP] 103, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0, [SEP] 104, NorthWall, , , , , , , [SEP] 105, EastWall, , , , , , , [SEP] 106, SouthWall, , , , , , , [SEP] 107, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the sink on the left. | STEP 2: Pick up the orange glass from the left side of the sink. | STEP 3: Put the orange glass into the right side of the sink. | STEP 4: Turn left and walk to the sink on the right. | STEP 5: Pick up the knife to the left of the spoon on the left side of the sink. | STEP 6: Turn right and walk to the sink on the left. | STEP 7: Put the knife inside the orange cup in the sink. | END"]} +{"id": "trial_T20190908_233333_221307-2", "input": "Put a cup with a knife in it in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 1.25, 0, 0, 0, [SEP] 1, Pan, 1.328, 0.957, -1.688, 0, 180, 0, 62 [SEP] 2, Pan, 1.328, 0.957, -1.420, 0, 180, 0, 63 [SEP] 3, Statue, -2.733, 0.877, 2.884, 0, 180, 0, 61 [SEP] 4, Vase, -1.516, 0.913, -1.265, 0, 0, 0, 59 [SEP] 5, Potato, 1.578, 0.946, -1.437, 0, 0, 0, 79 [SEP] 6, Potato, 0.479, 0.948, -1.776, 0, 0, 0, 59 [SEP] 7, Book, 0.571, 0.908, -1.369, 0, 0, 0, 59 [SEP] 8, Book, -3.165, 0.875, 3.147, 0, 270, 0, 61 [SEP] 9, DishSponge, -2.845, 0.878, 3.513, 0, 135, 0, 61 [SEP] 10, DishSponge, -3.122, 0.878, 3.475, 0, 135, 0, 61 [SEP] 11, ButterKnife, -2.072, 0.912, 0.037, 0, 0, 0, 59 [SEP] 12, ButterKnife, 0.179, 0.928, -1.501, 0, 270, 0, 56 [SEP] 13, WineBottle, -2.321, 0.875, 3.370, 0, 270, 0, 61 [SEP] 14, Spatula, -2.816, 0.893, 3.379, 0, 315, 0, 61 [SEP] 15, Spatula, -1.682, 0.732, -0.788, 0, 270, 0, 74 [SEP] 16, Pot, 0.974, 0.957, -1.419, 0, 180, 0, 77 [SEP] 17, Fork, -1.849, 0.912, -0.614, 0, 0, 0, 59 [SEP] 18, Plate, -2.405, 0.882, 2.758, 0, 135, 0, 61 [SEP] 19, Plate, -2.300, 0.882, 3.580, 0, 225, 0, 61 [SEP] 20, SoapBottle, -0.897, 0.193, 2.097, 0, 90, 0, 89 [SEP] 21, SoapBottle, -1.961, 0.912, -1.265, 0, 0, 0, 59 [SEP] 22, PepperShaker, 3.793, 0.549, 1.656, 0, 270, 0, 82 [SEP] 23, PepperShaker, -0.217, 0.908, -1.206, 0, 0, 0, 59 [SEP] 24, Lettuce, -2.367, 0.939, 3.035, 0, 135, 0, 61 [SEP] 25, Lettuce, -3.017, 0.939, 3.580, 0, 135, 0, 61 [SEP] 26, Apple, -2.152, 0.929, 3.221, 0, 270, 0, 61 [SEP] 27, Book, -1.94, 0.900, -1.693, 0, 0, 0, 78 [SEP] 28, Fork, -1.738, 0.912, -0.939, 0, 0, 0, 59 [SEP] 29, Tomato, 0.307, 1.619, 2.160, 0, 180, 0, 84 [SEP] 30, Egg, -0.034, 0.828, 2.251, 0, 180, 0, 84 [SEP] 31, Kettle, -0.833, 0.900, -1.757, 0, 0, 0, 59 [SEP] 32, Vase, -1.686, 0.120, -0.841, 0, 0, 0, 64 [SEP] 33, Cup, 0.014, 0.928, -1.646, 0, 270, 0, 56 [SEP] 34, WineBottle, 0.591, 0.117, -1.408, 0, 0, 0, 66 [SEP] 35, Plate, -2.807, 0.878, 3.728, 0, 0, 0, 61 [SEP] 36, Spatula, -2.828, 0.893, 3.073, 0, 180, 0, 61 [SEP] 37, Potato, 0.289, 0.965, -1.718, 0, 270, 0, 56 [SEP] 38, Pot, 0.974, 0.957, -1.688, 0, 180, 0, 58 [SEP] 39, Knife, -1.738, 0.934, -0.614, 0, 90, 0, 59 [SEP] 40, SaltShaker, 0.638, 0.714, -1.376, 0, 0, 0, 76 [SEP] 41, PepperShaker, 0.508, 0.112, -1.333, 0, 0, 0, 66 [SEP] 42, Lettuce, -2.996, 0.943, 3.073, 0, 180, 0, 61 [SEP] 43, ButterKnife, -2.659, 0.874, 3.370, 0, 270, 0, 61 [SEP] 44, Bread, -0.263, 1.655, 2.040, 0, 180, 0, 84 [SEP] 45, Vase, -2.050, 0.120, -1.433, 0, 0, 0, 60 [SEP] 46, DishSponge, -2.050, 0.119, -1.653, 0, 0, 0, 78 [SEP] 47, Apple, -0.292, 0.752, -1.468, 0, 270, 0, 88 [SEP] 48, Pan, 0.972, 0.959, -1.426, 0, 0, 0, 77 [SEP] 49, Spoon, 0.069, 0.929, -1.573, 0, 0, 0, 56 [SEP] 50, SoapBottle, -0.943, 1.654, -1.674, 0, 0, 0, 71 [SEP] 51, Mug, -3.122, 0.869, 2.968, 0, 315, 0, 61 [SEP] 52, Statue, 3.637, 0.560, 1.553, 0, 270, 0, 82 [SEP] 53, Statue, 3.668, 0.540, 1.800, 0, 0, 0, 82 [SEP] 54, Bowl, -0.034, 1.141, 2.206, 0, 180, 0, 84 [SEP] 55, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0, [SEP] 56, Sink, 0.024, 0.771, -1.708, 0, 270, 0, [SEP] 57, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0, [SEP] 58, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0, [SEP] 59, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0, [SEP] 60, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0, [SEP] 61, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0, [SEP] 63, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0, [SEP] 64, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0, [SEP] 65, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0, [SEP] 66, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0, [SEP] 67, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0, [SEP] 68, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0, [SEP] 69, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0, [SEP] 70, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0, [SEP] 71, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0, [SEP] 72, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0, [SEP] 73, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0, [SEP] 74, Drawer, -1.636, 0.683, -0.930, 0, 0, 0, [SEP] 75, Drawer, 1.650, 0.682, -1.396, 0, 0, 0, [SEP] 76, Drawer, 0.600, 0.682, -1.396, 0, 0, 0, [SEP] 77, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0, [SEP] 78, Drawer, -2.062, 0.683, -1.579, 0, 0, 0, [SEP] 79, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0, [SEP] 80, Shelf, 3.725, 0.880, 1.671, 0, 90, 0, [SEP] 81, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0, [SEP] 82, Shelf, 3.726, 0.552, 1.671, 0, 90, 0, [SEP] 83, Microwave, 1.150, 1.655, -1.614, 0, 0, 0, [SEP] 84, Fridge, -0.035, 0.0, 2.177, 0, 180, 0, [SEP] 85, Window, -0.115, 1.802, -1.896, 90, 0, 0, [SEP] 86, Window, -4.009, 1.799, 0.310, 90, 90, 0, [SEP] 87, Shelf, 3.726, 0.172, 1.671, 0, 90, 0, [SEP] 88, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0, [SEP] 89, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0, [SEP] 90, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0, [SEP] 91, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0, [SEP] 92, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0, [SEP] 93, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0, [SEP] 94, Toaster, 1.637, 0.900, -1.673, 0, 0, 0, [SEP] 95, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0, [SEP] 96, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0, [SEP] 97, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0, [SEP] 98, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0, [SEP] 99, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0, [SEP] 100, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0, [SEP] 101, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0, [SEP] 102, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0, [SEP] 103, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0, [SEP] 104, NorthWall, , , , , , , [SEP] 105, EastWall, , , , , , , [SEP] 106, SouthWall, , , , , , , [SEP] 107, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the sink. | STEP 2: Pick up the cup from the left side of the sink. | STEP 3: Put the cup in the right side of the sink. | STEP 4: Go back to the left side of the sink. | STEP 5: Pick up the knife from the left side of the sink. | STEP 6: Go back to the right side of the sink. | STEP 7: Put the knife in the cup in the sink. | END"]} +{"id": "trial_T20190909_124835_952557-0", "input": "put a spray bottle on top of the water tank SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.75, 0.900, 0.75, 0, 270, 0, [SEP] 1, Cloth, -2.064, 0.850, 0.364, 0, 0, 0, 40 [SEP] 2, Cloth, -3.574, 0.219, 0.777, 0, 0, 0, 39 [SEP] 3, TissueBox, -0.753, 1.134, 0.110, 0, 0, 0, 30 [SEP] 4, SoapBar, -3.511, 0.219, 1.268, 0, 0, 0, 39 [SEP] 5, SoapBottle, -0.203, 0.029, 0.240, 0, 0, 0, 41 [SEP] 6, HandTowel, -1.296, 1.765, 0.040, 0, 180, 0, 36 [SEP] 7, SoapBar, -1.557, 0.812, 0.408, 0, 0, 0, 24 [SEP] 8, ToiletPaper, -0.921, 1.124, 0.210, 0, 0, 0, 30 [SEP] 9, Plunger, -0.735, -0.000, 2.732, 0, 0, 0, Floor|-00.08| [SEP] 10, Candle, -2.165, 0.108, 2.237, 0, 0, 0, 20 [SEP] 11, TissueBox, -1.730, 0.518, 0.263, 0, 0, 0, 18 [SEP] 12, ToiletPaper, -2.057, 1.101, 2.143, 0, 0, 0, 31 [SEP] 13, SoapBottle, -0.318, 0.956, 2.696, 0, 270, 0, 38 [SEP] 14, SprayBottle, -0.931, 1.135, 0.407, 0, 0, 0, 30 [SEP] 15, Towel, -2.760, 1.569, 0.107, 0, 0, 0, 33 [SEP] 16, Cloth, -3.449, 0.219, 0.449, 0, 0, 0, 39 [SEP] 17, ScrubBrush, -0.657, -0.000, 2.560, 0, 0, 0, Floor|-00.08| [SEP] 18, Cabinet, -2.344, 0.457, 0.524, 0, 0, 0, [SEP] 19, Drawer, -0.813, 0.956, 0.384, 0, 270, 0, [SEP] 20, Cabinet, -1.891, 0.443, 1.982, 0, 0, 0, [SEP] 21, Cabinet, -0.605, 0.457, 0.524, 0, 0, 0, [SEP] 22, Drawer, -2.032, 0.942, 2.190, 0, 0, 0, [SEP] 23, Bathtub, -3.450, 0.178, 1.029, 0, 0, 0, [SEP] 24, CounterTop, -1.919, 0.0, 0.288, 0, 0, 0, [SEP] 25, Sink, -1.924, 0.772, 0.326, 0, 0, 0, [SEP] 26, Mirror, -1.934, 1.666, 0.107, 0, 0, 0, [SEP] 27, Faucet, -1.925, 0.958, 0.179, 0, 0, 0, [SEP] 28, Cabinet, -1.891, 1.884, 2.391, 0, 0, 0, [SEP] 29, Cabinet, -0.605, 1.988, 0.524, 0, 0, 0, [SEP] 30, CounterTop, -0.812, 0.093, 0.288, 0, 0, 0, [SEP] 31, Shelf, -2.029, 1.183, 2.189, 0, 0, 0, [SEP] 32, Shelf, -2.123, 1.393, 2.189, 0, 0, 0, [SEP] 33, TowelHolder, -2.760, 1.555, 0.000, 0, 0, 0, [SEP] 34, LightSwitch, 0.0, 1.427, 1.993, 0, 270, 0, [SEP] 35, ToiletPaperHanger, 0.0, 1.014, 2.237, 0, 270, 0, [SEP] 36, HandTowelHolder, -1.297, 1.866, 0.002, 0, 270, 0, [SEP] 37, Window, -4.149, 1.717, 1.154, 90, 270, 0, [SEP] 38, Toilet, -0.456, -0.000, 2.257, 0, 180, 0, [SEP] 39, BathtubBasin, -3.520, 0.210, 0.940, 0, 0, 0, [SEP] 40, SinkBasin, -1.931, 0.841, 0.320, 0, 0, 0, [SEP] 41, GarbageCan, -0.257, -0.000, 0.259, 0, 0, 0, [SEP] 42, ShowerHead, -3.522, 1.719, 1.776, 0, 0, 0, [SEP] 43, ShowerCurtain, -3.391, 2.442, 0.266, 0, 0, 6.838, [SEP] 44, NorthWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, SouthWall, , , , , , , ", "output": ["STEP 1: turn around to the right go forward go right towards the white table | STEP 2: pick up a spray bottle from the white table | STEP 3: turn to the right go forward go right | STEP 4: put the spray bottle on top of the water tank | END"]} +{"id": "trial_T20190909_124835_952557-1", "input": "Put a spray bottle on the toilet tank lid. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.75, 0.900, 0.75, 0, 270, 0, [SEP] 1, Cloth, -2.064, 0.850, 0.364, 0, 0, 0, 40 [SEP] 2, Cloth, -3.574, 0.219, 0.777, 0, 0, 0, 39 [SEP] 3, TissueBox, -0.753, 1.134, 0.110, 0, 0, 0, 30 [SEP] 4, SoapBar, -3.511, 0.219, 1.268, 0, 0, 0, 39 [SEP] 5, SoapBottle, -0.203, 0.029, 0.240, 0, 0, 0, 41 [SEP] 6, HandTowel, -1.296, 1.765, 0.040, 0, 180, 0, 36 [SEP] 7, SoapBar, -1.557, 0.812, 0.408, 0, 0, 0, 24 [SEP] 8, ToiletPaper, -0.921, 1.124, 0.210, 0, 0, 0, 30 [SEP] 9, Plunger, -0.735, -0.000, 2.732, 0, 0, 0, Floor|-00.08| [SEP] 10, Candle, -2.165, 0.108, 2.237, 0, 0, 0, 20 [SEP] 11, TissueBox, -1.730, 0.518, 0.263, 0, 0, 0, 18 [SEP] 12, ToiletPaper, -2.057, 1.101, 2.143, 0, 0, 0, 31 [SEP] 13, SoapBottle, -0.318, 0.956, 2.696, 0, 270, 0, 38 [SEP] 14, SprayBottle, -0.931, 1.135, 0.407, 0, 0, 0, 30 [SEP] 15, Towel, -2.760, 1.569, 0.107, 0, 0, 0, 33 [SEP] 16, Cloth, -3.449, 0.219, 0.449, 0, 0, 0, 39 [SEP] 17, ScrubBrush, -0.657, -0.000, 2.560, 0, 0, 0, Floor|-00.08| [SEP] 18, Cabinet, -2.344, 0.457, 0.524, 0, 0, 0, [SEP] 19, Drawer, -0.813, 0.956, 0.384, 0, 270, 0, [SEP] 20, Cabinet, -1.891, 0.443, 1.982, 0, 0, 0, [SEP] 21, Cabinet, -0.605, 0.457, 0.524, 0, 0, 0, [SEP] 22, Drawer, -2.032, 0.942, 2.190, 0, 0, 0, [SEP] 23, Bathtub, -3.450, 0.178, 1.029, 0, 0, 0, [SEP] 24, CounterTop, -1.919, 0.0, 0.288, 0, 0, 0, [SEP] 25, Sink, -1.924, 0.772, 0.326, 0, 0, 0, [SEP] 26, Mirror, -1.934, 1.666, 0.107, 0, 0, 0, [SEP] 27, Faucet, -1.925, 0.958, 0.179, 0, 0, 0, [SEP] 28, Cabinet, -1.891, 1.884, 2.391, 0, 0, 0, [SEP] 29, Cabinet, -0.605, 1.988, 0.524, 0, 0, 0, [SEP] 30, CounterTop, -0.812, 0.093, 0.288, 0, 0, 0, [SEP] 31, Shelf, -2.029, 1.183, 2.189, 0, 0, 0, [SEP] 32, Shelf, -2.123, 1.393, 2.189, 0, 0, 0, [SEP] 33, TowelHolder, -2.760, 1.555, 0.000, 0, 0, 0, [SEP] 34, LightSwitch, 0.0, 1.427, 1.993, 0, 270, 0, [SEP] 35, ToiletPaperHanger, 0.0, 1.014, 2.237, 0, 270, 0, [SEP] 36, HandTowelHolder, -1.297, 1.866, 0.002, 0, 270, 0, [SEP] 37, Window, -4.149, 1.717, 1.154, 90, 270, 0, [SEP] 38, Toilet, -0.456, -0.000, 2.257, 0, 180, 0, [SEP] 39, BathtubBasin, -3.520, 0.210, 0.940, 0, 0, 0, [SEP] 40, SinkBasin, -1.931, 0.841, 0.320, 0, 0, 0, [SEP] 41, GarbageCan, -0.257, -0.000, 0.259, 0, 0, 0, [SEP] 42, ShowerHead, -3.522, 1.719, 1.776, 0, 0, 0, [SEP] 43, ShowerCurtain, -3.391, 2.442, 0.266, 0, 0, 6.838, [SEP] 44, NorthWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around, move to the cabinet past the sink on the right. | STEP 2: Pick up the spray bottle on the cabinet. | STEP 3: Turn around, bring the bottle to the toilet. | STEP 4: Put the bottle on the toilet tank lid. | END"]} +{"id": "trial_T20190909_124835_952557-2", "input": "Put a bottle on the back of the toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.75, 0.900, 0.75, 0, 270, 0, [SEP] 1, Cloth, -2.064, 0.850, 0.364, 0, 0, 0, 40 [SEP] 2, Cloth, -3.574, 0.219, 0.777, 0, 0, 0, 39 [SEP] 3, TissueBox, -0.753, 1.134, 0.110, 0, 0, 0, 30 [SEP] 4, SoapBar, -3.511, 0.219, 1.268, 0, 0, 0, 39 [SEP] 5, SoapBottle, -0.203, 0.029, 0.240, 0, 0, 0, 41 [SEP] 6, HandTowel, -1.296, 1.765, 0.040, 0, 180, 0, 36 [SEP] 7, SoapBar, -1.557, 0.812, 0.408, 0, 0, 0, 24 [SEP] 8, ToiletPaper, -0.921, 1.124, 0.210, 0, 0, 0, 30 [SEP] 9, Plunger, -0.735, -0.000, 2.732, 0, 0, 0, Floor|-00.08| [SEP] 10, Candle, -2.165, 0.108, 2.237, 0, 0, 0, 20 [SEP] 11, TissueBox, -1.730, 0.518, 0.263, 0, 0, 0, 18 [SEP] 12, ToiletPaper, -2.057, 1.101, 2.143, 0, 0, 0, 31 [SEP] 13, SoapBottle, -0.318, 0.956, 2.696, 0, 270, 0, 38 [SEP] 14, SprayBottle, -0.931, 1.135, 0.407, 0, 0, 0, 30 [SEP] 15, Towel, -2.760, 1.569, 0.107, 0, 0, 0, 33 [SEP] 16, Cloth, -3.449, 0.219, 0.449, 0, 0, 0, 39 [SEP] 17, ScrubBrush, -0.657, -0.000, 2.560, 0, 0, 0, Floor|-00.08| [SEP] 18, Cabinet, -2.344, 0.457, 0.524, 0, 0, 0, [SEP] 19, Drawer, -0.813, 0.956, 0.384, 0, 270, 0, [SEP] 20, Cabinet, -1.891, 0.443, 1.982, 0, 0, 0, [SEP] 21, Cabinet, -0.605, 0.457, 0.524, 0, 0, 0, [SEP] 22, Drawer, -2.032, 0.942, 2.190, 0, 0, 0, [SEP] 23, Bathtub, -3.450, 0.178, 1.029, 0, 0, 0, [SEP] 24, CounterTop, -1.919, 0.0, 0.288, 0, 0, 0, [SEP] 25, Sink, -1.924, 0.772, 0.326, 0, 0, 0, [SEP] 26, Mirror, -1.934, 1.666, 0.107, 0, 0, 0, [SEP] 27, Faucet, -1.925, 0.958, 0.179, 0, 0, 0, [SEP] 28, Cabinet, -1.891, 1.884, 2.391, 0, 0, 0, [SEP] 29, Cabinet, -0.605, 1.988, 0.524, 0, 0, 0, [SEP] 30, CounterTop, -0.812, 0.093, 0.288, 0, 0, 0, [SEP] 31, Shelf, -2.029, 1.183, 2.189, 0, 0, 0, [SEP] 32, Shelf, -2.123, 1.393, 2.189, 0, 0, 0, [SEP] 33, TowelHolder, -2.760, 1.555, 0.000, 0, 0, 0, [SEP] 34, LightSwitch, 0.0, 1.427, 1.993, 0, 270, 0, [SEP] 35, ToiletPaperHanger, 0.0, 1.014, 2.237, 0, 270, 0, [SEP] 36, HandTowelHolder, -1.297, 1.866, 0.002, 0, 270, 0, [SEP] 37, Window, -4.149, 1.717, 1.154, 90, 270, 0, [SEP] 38, Toilet, -0.456, -0.000, 2.257, 0, 180, 0, [SEP] 39, BathtubBasin, -3.520, 0.210, 0.940, 0, 0, 0, [SEP] 40, SinkBasin, -1.931, 0.841, 0.320, 0, 0, 0, [SEP] 41, GarbageCan, -0.257, -0.000, 0.259, 0, 0, 0, [SEP] 42, ShowerHead, -3.522, 1.719, 1.776, 0, 0, 0, [SEP] 43, ShowerCurtain, -3.391, 2.442, 0.266, 0, 0, 6.838, [SEP] 44, NorthWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and cross the room and turn to the right to face the tall cabinet with the white spray bottle on it. | STEP 2: Pick the bottle up from the cabinet. | STEP 3: Go right and then right again and turn to the right to face the toilet. | STEP 4: Put the bottle down on the back of the toilet. | END"]} +{"id": "trial_T20190907_065232_689984-0", "input": "place two knifes in the kitchen drawer SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 5.75, 0, 270, 0, [SEP] 1, Pan, 1.562, 0.988, 3.848, 0, 0, 0, 53 [SEP] 2, DishSponge, -0.244, 0.759, 6.128, 0, 225, 0, 95 [SEP] 3, DishSponge, 1.276, 0.890, 2.034, 0, 90, 0, 82 [SEP] 4, Kettle, -0.530, 0.761, 6.196, 0, 225, 0, 95 [SEP] 5, Kettle, 1.32, 0.988, 3.848, 0, 0, 0, 58 [SEP] 6, Pot, 1.559, 0.988, 4.294, 0, 0, 0, 57 [SEP] 7, Spatula, 0.213, 0.775, 6.763, 0, 315, 0, 95 [SEP] 8, Fork, 0.305, 0.760, 6.604, 0, 270, 0, 95 [SEP] 9, Fork, 1.236, 0.772, 3.360, 0, 0, 0, 52 [SEP] 10, Egg, 1.966, 1.565, 5.626, 0, 270, 0, 81 [SEP] 11, Cup, 0.300, 0.756, 6.284, 0, 135, 0, 95 [SEP] 12, Cup, 1.442, 0.886, 1.983, 0, 90, 0, 82 [SEP] 13, Plate, 1.499, 1.576, 4.694, 0, 0, 0, 63 [SEP] 14, Knife, -0.378, 0.789, 6.698, 0, 135, 0, 95 [SEP] 15, Tomato, 2.137, 1.565, 5.251, 0, 270, 0, 81 [SEP] 16, Bowl, 1.490, 0.139, 2.012, 0, 0, 0, 48 [SEP] 17, Bowl, 1.140, 1.578, 0.295, 0, 0, 0, 66 [SEP] 18, PepperShaker, 0.745, 0.138, 0.655, 0, 0, 0, 65 [SEP] 19, SaltShaker, 1.314, 0.987, 3.324, 0, 0, 0, 59 [SEP] 20, Bread, 0.150, 0.829, 6.479, 0, 270, 0, 95 [SEP] 21, Lettuce, -0.159, 0.848, 6.787, 0, 0, 0, 95 [SEP] 22, Mug, 0.319, 1.574, 0.339, 0, 90, 0, 73 [SEP] 23, Mug, 1.384, 1.043, 0.847, 0, 270, 0, 59 [SEP] 24, Bowl, 0.079, 0.759, 6.063, 0, 135, 0, 95 [SEP] 25, Bread, 1.099, 1.048, 0.434, 0, 0, 0, 59 [SEP] 26, Egg, 0.273, 1.147, 0.180, 0, 0, 0, 75 [SEP] 27, Knife, -0.332, 0.789, 6.217, 0, 315, 0, 95 [SEP] 28, Fork, -0.003, 0.760, 6.604, 0, 270, 0, 95 [SEP] 29, Apple, -0.312, 0.834, 6.541, 0, 270, 0, 95 [SEP] 30, Kettle, 1.593, 0.981, 3.25, 0, 255.000, 0, 59 [SEP] 31, Plate, 0.055, 0.144, 0.429, 0, 0, 0, 68 [SEP] 32, SaltShaker, 1.543, 1.572, 1.471, 0, 0, 0, 69 [SEP] 33, Lettuce, 2.051, 1.604, 6.001, 0, 270, 0, 81 [SEP] 34, SoapBottle, 1.540, 2.207, 4.131, 0, 0, 0, 47 [SEP] 35, Spatula, 1.442, 0.905, 2.239, 0, 0, 0, 82 [SEP] 36, PaperTowelRoll, 0.847, 1.096, 0.303, 0, 0, 0, 59 [SEP] 37, Pot, 1.317, 0.988, 4.294, 0, 0, 0, 54 [SEP] 38, Potato, 1.403, 1.027, 0.668, 0, 0, 0, 59 [SEP] 39, ButterKnife, -0.221, 0.760, 6.941, 0, 0, 0, 95 [SEP] 40, PepperShaker, 0.102, 0.755, 6.305, 0, 135, 0, 95 [SEP] 41, Pan, 1.313, 0.985, 4.284, 0, 0, 0, 54 [SEP] 42, Tomato, 1.442, 0.940, 2.474, 0, 90, 0, 82 [SEP] 43, DishSponge, -0.183, 0.759, 6.237, 0, 135, 0, 95 [SEP] 44, Cup, 1.135, 0.988, 4.762, 0, 0, 0, 60 [SEP] 45, Spoon, -0.034, 0.761, 6.169, 0, 0, 0, 95 [SEP] 46, Mug, 0.064, 1.092, 0.213, 0, 0, 0, 75 [SEP] 47, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 48, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 49, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 50, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 51, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 52, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 53, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 54, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 55, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 56, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 57, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 58, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 59, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 60, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 61, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 62, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 63, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 64, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 65, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 66, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 67, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 68, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 69, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 70, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 71, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 72, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 73, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 74, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 75, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 76, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 77, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 78, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 79, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 80, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 81, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 82, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 83, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 84, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 85, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 86, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 87, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 88, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 89, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 90, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 91, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 92, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 93, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 94, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 95, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 96, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 97, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 98, NorthWall, , , , , , , [SEP] 99, EastWall, , , , , , , [SEP] 100, SouthWall, , , , , , , [SEP] 101, WestWall, , , , , , , ", "output": ["STEP 1: walk to the front of the black table just ahead | STEP 2: grab a knife off of the table | STEP 3: turn around and walk to the end of the kitchen counter tops on your left | STEP 4: put the knife inside of the pullout drawer there | STEP 5: turn around and walk over to the left side of the black table on your right | STEP 6: pick up the second knife off of the table there | STEP 7: turn around and walk over to the end of the kitchen counter tops on your left | STEP 8: place the knife in the same drawer as the other knife went into | END"]} +{"id": "trial_T20190907_065232_689984-1", "input": "Put 2 yellow knives from the round black table to the drawer of the cabinet with a toaster. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 5.75, 0, 270, 0, [SEP] 1, Pan, 1.562, 0.988, 3.848, 0, 0, 0, 53 [SEP] 2, DishSponge, -0.244, 0.759, 6.128, 0, 225, 0, 95 [SEP] 3, DishSponge, 1.276, 0.890, 2.034, 0, 90, 0, 82 [SEP] 4, Kettle, -0.530, 0.761, 6.196, 0, 225, 0, 95 [SEP] 5, Kettle, 1.32, 0.988, 3.848, 0, 0, 0, 58 [SEP] 6, Pot, 1.559, 0.988, 4.294, 0, 0, 0, 57 [SEP] 7, Spatula, 0.213, 0.775, 6.763, 0, 315, 0, 95 [SEP] 8, Fork, 0.305, 0.760, 6.604, 0, 270, 0, 95 [SEP] 9, Fork, 1.236, 0.772, 3.360, 0, 0, 0, 52 [SEP] 10, Egg, 1.966, 1.565, 5.626, 0, 270, 0, 81 [SEP] 11, Cup, 0.300, 0.756, 6.284, 0, 135, 0, 95 [SEP] 12, Cup, 1.442, 0.886, 1.983, 0, 90, 0, 82 [SEP] 13, Plate, 1.499, 1.576, 4.694, 0, 0, 0, 63 [SEP] 14, Knife, -0.378, 0.789, 6.698, 0, 135, 0, 95 [SEP] 15, Tomato, 2.137, 1.565, 5.251, 0, 270, 0, 81 [SEP] 16, Bowl, 1.490, 0.139, 2.012, 0, 0, 0, 48 [SEP] 17, Bowl, 1.140, 1.578, 0.295, 0, 0, 0, 66 [SEP] 18, PepperShaker, 0.745, 0.138, 0.655, 0, 0, 0, 65 [SEP] 19, SaltShaker, 1.314, 0.987, 3.324, 0, 0, 0, 59 [SEP] 20, Bread, 0.150, 0.829, 6.479, 0, 270, 0, 95 [SEP] 21, Lettuce, -0.159, 0.848, 6.787, 0, 0, 0, 95 [SEP] 22, Mug, 0.319, 1.574, 0.339, 0, 90, 0, 73 [SEP] 23, Mug, 1.384, 1.043, 0.847, 0, 270, 0, 59 [SEP] 24, Bowl, 0.079, 0.759, 6.063, 0, 135, 0, 95 [SEP] 25, Bread, 1.099, 1.048, 0.434, 0, 0, 0, 59 [SEP] 26, Egg, 0.273, 1.147, 0.180, 0, 0, 0, 75 [SEP] 27, Knife, -0.332, 0.789, 6.217, 0, 315, 0, 95 [SEP] 28, Fork, -0.003, 0.760, 6.604, 0, 270, 0, 95 [SEP] 29, Apple, -0.312, 0.834, 6.541, 0, 270, 0, 95 [SEP] 30, Kettle, 1.593, 0.981, 3.25, 0, 255.000, 0, 59 [SEP] 31, Plate, 0.055, 0.144, 0.429, 0, 0, 0, 68 [SEP] 32, SaltShaker, 1.543, 1.572, 1.471, 0, 0, 0, 69 [SEP] 33, Lettuce, 2.051, 1.604, 6.001, 0, 270, 0, 81 [SEP] 34, SoapBottle, 1.540, 2.207, 4.131, 0, 0, 0, 47 [SEP] 35, Spatula, 1.442, 0.905, 2.239, 0, 0, 0, 82 [SEP] 36, PaperTowelRoll, 0.847, 1.096, 0.303, 0, 0, 0, 59 [SEP] 37, Pot, 1.317, 0.988, 4.294, 0, 0, 0, 54 [SEP] 38, Potato, 1.403, 1.027, 0.668, 0, 0, 0, 59 [SEP] 39, ButterKnife, -0.221, 0.760, 6.941, 0, 0, 0, 95 [SEP] 40, PepperShaker, 0.102, 0.755, 6.305, 0, 135, 0, 95 [SEP] 41, Pan, 1.313, 0.985, 4.284, 0, 0, 0, 54 [SEP] 42, Tomato, 1.442, 0.940, 2.474, 0, 90, 0, 82 [SEP] 43, DishSponge, -0.183, 0.759, 6.237, 0, 135, 0, 95 [SEP] 44, Cup, 1.135, 0.988, 4.762, 0, 0, 0, 60 [SEP] 45, Spoon, -0.034, 0.761, 6.169, 0, 0, 0, 95 [SEP] 46, Mug, 0.064, 1.092, 0.213, 0, 0, 0, 75 [SEP] 47, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 48, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 49, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 50, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 51, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 52, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 53, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 54, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 55, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 56, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 57, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 58, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 59, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 60, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 61, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 62, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 63, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 64, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 65, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 66, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 67, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 68, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 69, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 70, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 71, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 72, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 73, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 74, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 75, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 76, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 77, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 78, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 79, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 80, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 81, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 82, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 83, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 84, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 85, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 86, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 87, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 88, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 89, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 90, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 91, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 92, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 93, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 94, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 95, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 96, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 97, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 98, NorthWall, , , , , , , [SEP] 99, EastWall, , , , , , , [SEP] 100, SouthWall, , , , , , , [SEP] 101, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the other side of the black round table to face the tea pot. | STEP 2: Pick up the yellow knife next to the green sponge on top of the table. | STEP 3: Walk to the right and go to the first cabinet that has a toaster on top of it. | STEP 4: Open the drawer of the cabinet, put the knife in it and close the drawer. | STEP 5: Turn around, walk straight to the wall, turn right to go back to the black round table. | STEP 6: Pick up another yellow knife next to the apple. | STEP 7: Go back to the drawer of the cabinet with a toaster on top of it. | STEP 8: Open the drawer, put the other knife next to the first knife and close the drawer. | END"]} +{"id": "trial_T20190907_065232_689984-2", "input": "Put two knives from the dining table in the drawer to the left of the stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 5.75, 0, 270, 0, [SEP] 1, Pan, 1.562, 0.988, 3.848, 0, 0, 0, 53 [SEP] 2, DishSponge, -0.244, 0.759, 6.128, 0, 225, 0, 95 [SEP] 3, DishSponge, 1.276, 0.890, 2.034, 0, 90, 0, 82 [SEP] 4, Kettle, -0.530, 0.761, 6.196, 0, 225, 0, 95 [SEP] 5, Kettle, 1.32, 0.988, 3.848, 0, 0, 0, 58 [SEP] 6, Pot, 1.559, 0.988, 4.294, 0, 0, 0, 57 [SEP] 7, Spatula, 0.213, 0.775, 6.763, 0, 315, 0, 95 [SEP] 8, Fork, 0.305, 0.760, 6.604, 0, 270, 0, 95 [SEP] 9, Fork, 1.236, 0.772, 3.360, 0, 0, 0, 52 [SEP] 10, Egg, 1.966, 1.565, 5.626, 0, 270, 0, 81 [SEP] 11, Cup, 0.300, 0.756, 6.284, 0, 135, 0, 95 [SEP] 12, Cup, 1.442, 0.886, 1.983, 0, 90, 0, 82 [SEP] 13, Plate, 1.499, 1.576, 4.694, 0, 0, 0, 63 [SEP] 14, Knife, -0.378, 0.789, 6.698, 0, 135, 0, 95 [SEP] 15, Tomato, 2.137, 1.565, 5.251, 0, 270, 0, 81 [SEP] 16, Bowl, 1.490, 0.139, 2.012, 0, 0, 0, 48 [SEP] 17, Bowl, 1.140, 1.578, 0.295, 0, 0, 0, 66 [SEP] 18, PepperShaker, 0.745, 0.138, 0.655, 0, 0, 0, 65 [SEP] 19, SaltShaker, 1.314, 0.987, 3.324, 0, 0, 0, 59 [SEP] 20, Bread, 0.150, 0.829, 6.479, 0, 270, 0, 95 [SEP] 21, Lettuce, -0.159, 0.848, 6.787, 0, 0, 0, 95 [SEP] 22, Mug, 0.319, 1.574, 0.339, 0, 90, 0, 73 [SEP] 23, Mug, 1.384, 1.043, 0.847, 0, 270, 0, 59 [SEP] 24, Bowl, 0.079, 0.759, 6.063, 0, 135, 0, 95 [SEP] 25, Bread, 1.099, 1.048, 0.434, 0, 0, 0, 59 [SEP] 26, Egg, 0.273, 1.147, 0.180, 0, 0, 0, 75 [SEP] 27, Knife, -0.332, 0.789, 6.217, 0, 315, 0, 95 [SEP] 28, Fork, -0.003, 0.760, 6.604, 0, 270, 0, 95 [SEP] 29, Apple, -0.312, 0.834, 6.541, 0, 270, 0, 95 [SEP] 30, Kettle, 1.593, 0.981, 3.25, 0, 255.000, 0, 59 [SEP] 31, Plate, 0.055, 0.144, 0.429, 0, 0, 0, 68 [SEP] 32, SaltShaker, 1.543, 1.572, 1.471, 0, 0, 0, 69 [SEP] 33, Lettuce, 2.051, 1.604, 6.001, 0, 270, 0, 81 [SEP] 34, SoapBottle, 1.540, 2.207, 4.131, 0, 0, 0, 47 [SEP] 35, Spatula, 1.442, 0.905, 2.239, 0, 0, 0, 82 [SEP] 36, PaperTowelRoll, 0.847, 1.096, 0.303, 0, 0, 0, 59 [SEP] 37, Pot, 1.317, 0.988, 4.294, 0, 0, 0, 54 [SEP] 38, Potato, 1.403, 1.027, 0.668, 0, 0, 0, 59 [SEP] 39, ButterKnife, -0.221, 0.760, 6.941, 0, 0, 0, 95 [SEP] 40, PepperShaker, 0.102, 0.755, 6.305, 0, 135, 0, 95 [SEP] 41, Pan, 1.313, 0.985, 4.284, 0, 0, 0, 54 [SEP] 42, Tomato, 1.442, 0.940, 2.474, 0, 90, 0, 82 [SEP] 43, DishSponge, -0.183, 0.759, 6.237, 0, 135, 0, 95 [SEP] 44, Cup, 1.135, 0.988, 4.762, 0, 0, 0, 60 [SEP] 45, Spoon, -0.034, 0.761, 6.169, 0, 0, 0, 95 [SEP] 46, Mug, 0.064, 1.092, 0.213, 0, 0, 0, 75 [SEP] 47, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 48, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 49, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 50, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 51, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 52, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 53, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 54, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 55, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 56, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 57, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 58, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 59, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 60, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 61, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 62, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 63, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 64, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 65, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 66, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 67, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 68, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 69, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 70, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 71, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 72, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 73, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 74, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 75, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 76, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 77, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 78, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 79, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 80, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 81, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 82, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 83, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 84, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 85, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 86, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 87, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 88, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 89, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 90, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 91, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 92, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 93, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 94, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 95, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 96, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 97, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 98, NorthWall, , , , , , , [SEP] 99, EastWall, , , , , , , [SEP] 100, SouthWall, , , , , , , [SEP] 101, WestWall, , , , , , , ", "output": ["STEP 1: Move to the dining table in front of you. | STEP 2: Pick up a knife from the table. | STEP 3: Move to the left side of the counter to the left of the stove. | STEP 4: Open the drawer and place the knife inside. | STEP 5: Move to the dining table to the left of you. | STEP 6: Pick up a knife from the table. | STEP 7: Move to the left side of the counter to the left of the stove. | STEP 8: Open the drawer and place the knife inside. | END"]} +{"id": "trial_T20190907_065232_689984-3", "input": "Place both knives inside of the drawer at the end of the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 5.75, 0, 270, 0, [SEP] 1, Pan, 1.562, 0.988, 3.848, 0, 0, 0, 53 [SEP] 2, DishSponge, -0.244, 0.759, 6.128, 0, 225, 0, 95 [SEP] 3, DishSponge, 1.276, 0.890, 2.034, 0, 90, 0, 82 [SEP] 4, Kettle, -0.530, 0.761, 6.196, 0, 225, 0, 95 [SEP] 5, Kettle, 1.32, 0.988, 3.848, 0, 0, 0, 58 [SEP] 6, Pot, 1.559, 0.988, 4.294, 0, 0, 0, 57 [SEP] 7, Spatula, 0.213, 0.775, 6.763, 0, 315, 0, 95 [SEP] 8, Fork, 0.305, 0.760, 6.604, 0, 270, 0, 95 [SEP] 9, Fork, 1.236, 0.772, 3.360, 0, 0, 0, 52 [SEP] 10, Egg, 1.966, 1.565, 5.626, 0, 270, 0, 81 [SEP] 11, Cup, 0.300, 0.756, 6.284, 0, 135, 0, 95 [SEP] 12, Cup, 1.442, 0.886, 1.983, 0, 90, 0, 82 [SEP] 13, Plate, 1.499, 1.576, 4.694, 0, 0, 0, 63 [SEP] 14, Knife, -0.378, 0.789, 6.698, 0, 135, 0, 95 [SEP] 15, Tomato, 2.137, 1.565, 5.251, 0, 270, 0, 81 [SEP] 16, Bowl, 1.490, 0.139, 2.012, 0, 0, 0, 48 [SEP] 17, Bowl, 1.140, 1.578, 0.295, 0, 0, 0, 66 [SEP] 18, PepperShaker, 0.745, 0.138, 0.655, 0, 0, 0, 65 [SEP] 19, SaltShaker, 1.314, 0.987, 3.324, 0, 0, 0, 59 [SEP] 20, Bread, 0.150, 0.829, 6.479, 0, 270, 0, 95 [SEP] 21, Lettuce, -0.159, 0.848, 6.787, 0, 0, 0, 95 [SEP] 22, Mug, 0.319, 1.574, 0.339, 0, 90, 0, 73 [SEP] 23, Mug, 1.384, 1.043, 0.847, 0, 270, 0, 59 [SEP] 24, Bowl, 0.079, 0.759, 6.063, 0, 135, 0, 95 [SEP] 25, Bread, 1.099, 1.048, 0.434, 0, 0, 0, 59 [SEP] 26, Egg, 0.273, 1.147, 0.180, 0, 0, 0, 75 [SEP] 27, Knife, -0.332, 0.789, 6.217, 0, 315, 0, 95 [SEP] 28, Fork, -0.003, 0.760, 6.604, 0, 270, 0, 95 [SEP] 29, Apple, -0.312, 0.834, 6.541, 0, 270, 0, 95 [SEP] 30, Kettle, 1.593, 0.981, 3.25, 0, 255.000, 0, 59 [SEP] 31, Plate, 0.055, 0.144, 0.429, 0, 0, 0, 68 [SEP] 32, SaltShaker, 1.543, 1.572, 1.471, 0, 0, 0, 69 [SEP] 33, Lettuce, 2.051, 1.604, 6.001, 0, 270, 0, 81 [SEP] 34, SoapBottle, 1.540, 2.207, 4.131, 0, 0, 0, 47 [SEP] 35, Spatula, 1.442, 0.905, 2.239, 0, 0, 0, 82 [SEP] 36, PaperTowelRoll, 0.847, 1.096, 0.303, 0, 0, 0, 59 [SEP] 37, Pot, 1.317, 0.988, 4.294, 0, 0, 0, 54 [SEP] 38, Potato, 1.403, 1.027, 0.668, 0, 0, 0, 59 [SEP] 39, ButterKnife, -0.221, 0.760, 6.941, 0, 0, 0, 95 [SEP] 40, PepperShaker, 0.102, 0.755, 6.305, 0, 135, 0, 95 [SEP] 41, Pan, 1.313, 0.985, 4.284, 0, 0, 0, 54 [SEP] 42, Tomato, 1.442, 0.940, 2.474, 0, 90, 0, 82 [SEP] 43, DishSponge, -0.183, 0.759, 6.237, 0, 135, 0, 95 [SEP] 44, Cup, 1.135, 0.988, 4.762, 0, 0, 0, 60 [SEP] 45, Spoon, -0.034, 0.761, 6.169, 0, 0, 0, 95 [SEP] 46, Mug, 0.064, 1.092, 0.213, 0, 0, 0, 75 [SEP] 47, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 48, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 49, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 50, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 51, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 52, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 53, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 54, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 55, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 56, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 57, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 58, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 59, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 60, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 61, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 62, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 63, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 64, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 65, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 66, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 67, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 68, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 69, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 70, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 71, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 72, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 73, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 74, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 75, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 76, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 77, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 78, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 79, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 80, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 81, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 82, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 83, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 84, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 85, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 86, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 87, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 88, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 89, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 90, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 91, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 92, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 93, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 94, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 95, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 96, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 97, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 98, NorthWall, , , , , , , [SEP] 99, EastWall, , , , , , , [SEP] 100, SouthWall, , , , , , , [SEP] 101, WestWall, , , , , , , ", "output": ["STEP 1: Turn right to face the black table. | STEP 2: Pick the knife up off of the black table. | STEP 3: Turn around, go to the left and open the drawer at the end of the counter. | STEP 4: Place the knife in the drawer and close it. | STEP 5: Turn around and head right to face the other side of the black table. | STEP 6: Pick the yellow knife up off of the black table. | STEP 7: Turn to the right then to the left to face the drawer at the end of the counter. | STEP 8: Open the drawer and place the knife inside of it. | END"]} +{"id": "trial_T20190907_065232_689984-4", "input": "Putting away yellow handled knives in the drawer SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 5.75, 0, 270, 0, [SEP] 1, Pan, 1.562, 0.988, 3.848, 0, 0, 0, 53 [SEP] 2, DishSponge, -0.244, 0.759, 6.128, 0, 225, 0, 95 [SEP] 3, DishSponge, 1.276, 0.890, 2.034, 0, 90, 0, 82 [SEP] 4, Kettle, -0.530, 0.761, 6.196, 0, 225, 0, 95 [SEP] 5, Kettle, 1.32, 0.988, 3.848, 0, 0, 0, 58 [SEP] 6, Pot, 1.559, 0.988, 4.294, 0, 0, 0, 57 [SEP] 7, Spatula, 0.213, 0.775, 6.763, 0, 315, 0, 95 [SEP] 8, Fork, 0.305, 0.760, 6.604, 0, 270, 0, 95 [SEP] 9, Fork, 1.236, 0.772, 3.360, 0, 0, 0, 52 [SEP] 10, Egg, 1.966, 1.565, 5.626, 0, 270, 0, 81 [SEP] 11, Cup, 0.300, 0.756, 6.284, 0, 135, 0, 95 [SEP] 12, Cup, 1.442, 0.886, 1.983, 0, 90, 0, 82 [SEP] 13, Plate, 1.499, 1.576, 4.694, 0, 0, 0, 63 [SEP] 14, Knife, -0.378, 0.789, 6.698, 0, 135, 0, 95 [SEP] 15, Tomato, 2.137, 1.565, 5.251, 0, 270, 0, 81 [SEP] 16, Bowl, 1.490, 0.139, 2.012, 0, 0, 0, 48 [SEP] 17, Bowl, 1.140, 1.578, 0.295, 0, 0, 0, 66 [SEP] 18, PepperShaker, 0.745, 0.138, 0.655, 0, 0, 0, 65 [SEP] 19, SaltShaker, 1.314, 0.987, 3.324, 0, 0, 0, 59 [SEP] 20, Bread, 0.150, 0.829, 6.479, 0, 270, 0, 95 [SEP] 21, Lettuce, -0.159, 0.848, 6.787, 0, 0, 0, 95 [SEP] 22, Mug, 0.319, 1.574, 0.339, 0, 90, 0, 73 [SEP] 23, Mug, 1.384, 1.043, 0.847, 0, 270, 0, 59 [SEP] 24, Bowl, 0.079, 0.759, 6.063, 0, 135, 0, 95 [SEP] 25, Bread, 1.099, 1.048, 0.434, 0, 0, 0, 59 [SEP] 26, Egg, 0.273, 1.147, 0.180, 0, 0, 0, 75 [SEP] 27, Knife, -0.332, 0.789, 6.217, 0, 315, 0, 95 [SEP] 28, Fork, -0.003, 0.760, 6.604, 0, 270, 0, 95 [SEP] 29, Apple, -0.312, 0.834, 6.541, 0, 270, 0, 95 [SEP] 30, Kettle, 1.593, 0.981, 3.25, 0, 255.000, 0, 59 [SEP] 31, Plate, 0.055, 0.144, 0.429, 0, 0, 0, 68 [SEP] 32, SaltShaker, 1.543, 1.572, 1.471, 0, 0, 0, 69 [SEP] 33, Lettuce, 2.051, 1.604, 6.001, 0, 270, 0, 81 [SEP] 34, SoapBottle, 1.540, 2.207, 4.131, 0, 0, 0, 47 [SEP] 35, Spatula, 1.442, 0.905, 2.239, 0, 0, 0, 82 [SEP] 36, PaperTowelRoll, 0.847, 1.096, 0.303, 0, 0, 0, 59 [SEP] 37, Pot, 1.317, 0.988, 4.294, 0, 0, 0, 54 [SEP] 38, Potato, 1.403, 1.027, 0.668, 0, 0, 0, 59 [SEP] 39, ButterKnife, -0.221, 0.760, 6.941, 0, 0, 0, 95 [SEP] 40, PepperShaker, 0.102, 0.755, 6.305, 0, 135, 0, 95 [SEP] 41, Pan, 1.313, 0.985, 4.284, 0, 0, 0, 54 [SEP] 42, Tomato, 1.442, 0.940, 2.474, 0, 90, 0, 82 [SEP] 43, DishSponge, -0.183, 0.759, 6.237, 0, 135, 0, 95 [SEP] 44, Cup, 1.135, 0.988, 4.762, 0, 0, 0, 60 [SEP] 45, Spoon, -0.034, 0.761, 6.169, 0, 0, 0, 95 [SEP] 46, Mug, 0.064, 1.092, 0.213, 0, 0, 0, 75 [SEP] 47, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 48, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 49, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 50, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 51, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 52, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 53, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 54, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 55, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 56, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 57, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 58, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 59, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 60, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 61, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 62, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 63, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 64, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 65, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 66, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 67, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 68, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 69, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 70, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 71, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 72, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 73, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 74, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 75, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 76, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 77, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 78, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 79, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 80, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 81, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 82, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 83, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 84, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 85, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 86, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 87, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 88, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 89, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 90, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 91, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 92, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 93, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 94, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 95, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 96, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 97, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 98, NorthWall, , , , , , , [SEP] 99, EastWall, , , , , , , [SEP] 100, SouthWall, , , , , , , [SEP] 101, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left then walk straight and face the right black round table | STEP 2: Pick up the yellow handled knife from the table | STEP 3: Turn around walk straight then turn left at the counter next to the refrigerator and face it | STEP 4: Open the top drawer and place the knife inside | STEP 5: Turn around walk straight then turn right and face the black round table | STEP 6: Pick up the yellow handled knife from the table | STEP 7: Turn right then walk straight and then turn left and face the counter left of the refrigerator | STEP 8: Open the top drawer and place the knife inside | END"]} +{"id": "trial_T20190907_065232_689984-5", "input": "Put two knives in a drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 5.75, 0, 270, 0, [SEP] 1, Pan, 1.562, 0.988, 3.848, 0, 0, 0, 53 [SEP] 2, DishSponge, -0.244, 0.759, 6.128, 0, 225, 0, 95 [SEP] 3, DishSponge, 1.276, 0.890, 2.034, 0, 90, 0, 82 [SEP] 4, Kettle, -0.530, 0.761, 6.196, 0, 225, 0, 95 [SEP] 5, Kettle, 1.32, 0.988, 3.848, 0, 0, 0, 58 [SEP] 6, Pot, 1.559, 0.988, 4.294, 0, 0, 0, 57 [SEP] 7, Spatula, 0.213, 0.775, 6.763, 0, 315, 0, 95 [SEP] 8, Fork, 0.305, 0.760, 6.604, 0, 270, 0, 95 [SEP] 9, Fork, 1.236, 0.772, 3.360, 0, 0, 0, 52 [SEP] 10, Egg, 1.966, 1.565, 5.626, 0, 270, 0, 81 [SEP] 11, Cup, 0.300, 0.756, 6.284, 0, 135, 0, 95 [SEP] 12, Cup, 1.442, 0.886, 1.983, 0, 90, 0, 82 [SEP] 13, Plate, 1.499, 1.576, 4.694, 0, 0, 0, 63 [SEP] 14, Knife, -0.378, 0.789, 6.698, 0, 135, 0, 95 [SEP] 15, Tomato, 2.137, 1.565, 5.251, 0, 270, 0, 81 [SEP] 16, Bowl, 1.490, 0.139, 2.012, 0, 0, 0, 48 [SEP] 17, Bowl, 1.140, 1.578, 0.295, 0, 0, 0, 66 [SEP] 18, PepperShaker, 0.745, 0.138, 0.655, 0, 0, 0, 65 [SEP] 19, SaltShaker, 1.314, 0.987, 3.324, 0, 0, 0, 59 [SEP] 20, Bread, 0.150, 0.829, 6.479, 0, 270, 0, 95 [SEP] 21, Lettuce, -0.159, 0.848, 6.787, 0, 0, 0, 95 [SEP] 22, Mug, 0.319, 1.574, 0.339, 0, 90, 0, 73 [SEP] 23, Mug, 1.384, 1.043, 0.847, 0, 270, 0, 59 [SEP] 24, Bowl, 0.079, 0.759, 6.063, 0, 135, 0, 95 [SEP] 25, Bread, 1.099, 1.048, 0.434, 0, 0, 0, 59 [SEP] 26, Egg, 0.273, 1.147, 0.180, 0, 0, 0, 75 [SEP] 27, Knife, -0.332, 0.789, 6.217, 0, 315, 0, 95 [SEP] 28, Fork, -0.003, 0.760, 6.604, 0, 270, 0, 95 [SEP] 29, Apple, -0.312, 0.834, 6.541, 0, 270, 0, 95 [SEP] 30, Kettle, 1.593, 0.981, 3.25, 0, 255.000, 0, 59 [SEP] 31, Plate, 0.055, 0.144, 0.429, 0, 0, 0, 68 [SEP] 32, SaltShaker, 1.543, 1.572, 1.471, 0, 0, 0, 69 [SEP] 33, Lettuce, 2.051, 1.604, 6.001, 0, 270, 0, 81 [SEP] 34, SoapBottle, 1.540, 2.207, 4.131, 0, 0, 0, 47 [SEP] 35, Spatula, 1.442, 0.905, 2.239, 0, 0, 0, 82 [SEP] 36, PaperTowelRoll, 0.847, 1.096, 0.303, 0, 0, 0, 59 [SEP] 37, Pot, 1.317, 0.988, 4.294, 0, 0, 0, 54 [SEP] 38, Potato, 1.403, 1.027, 0.668, 0, 0, 0, 59 [SEP] 39, ButterKnife, -0.221, 0.760, 6.941, 0, 0, 0, 95 [SEP] 40, PepperShaker, 0.102, 0.755, 6.305, 0, 135, 0, 95 [SEP] 41, Pan, 1.313, 0.985, 4.284, 0, 0, 0, 54 [SEP] 42, Tomato, 1.442, 0.940, 2.474, 0, 90, 0, 82 [SEP] 43, DishSponge, -0.183, 0.759, 6.237, 0, 135, 0, 95 [SEP] 44, Cup, 1.135, 0.988, 4.762, 0, 0, 0, 60 [SEP] 45, Spoon, -0.034, 0.761, 6.169, 0, 0, 0, 95 [SEP] 46, Mug, 0.064, 1.092, 0.213, 0, 0, 0, 75 [SEP] 47, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 48, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 49, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 50, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 51, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 52, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 53, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 54, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 55, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 56, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 57, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 58, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 59, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 60, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 61, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 62, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 63, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 64, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 65, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 66, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 67, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 68, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 69, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 70, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 71, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 72, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 73, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 74, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 75, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 76, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 77, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 78, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 79, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 80, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 81, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 82, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 83, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 84, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 85, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 86, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 87, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 88, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 89, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 90, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 91, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 92, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 93, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 94, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 95, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 96, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 97, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 98, NorthWall, , , , , , , [SEP] 99, EastWall, , , , , , , [SEP] 100, SouthWall, , , , , , , [SEP] 101, WestWall, , , , , , , ", "output": ["STEP 1: Back up, turn to the left, turn to the right, go to the dining table. | STEP 2: Pick up the big knife that is on the table between the teapot and sponges. | STEP 3: Turn around and go forward, turn left and go to the drawer between the fridge and stove. | STEP 4: Open the drawer, put the knife in the drawer and close the drawer. | STEP 5: Turn around, go to the wall, hang a right, go to the wall, turn right to the dining table. | STEP 6: Pick up the big knife that is in front of the lettuce on the table. | STEP 7: Turn right and go forward, turn left and go to the drawer between the fridge and stove. | STEP 8: Open the drawer, put the knife in the drawer, close the drawer. | END"]} +{"id": "trial_T20190907_073447_193556-0", "input": "Place a cold potato slice in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.899, 3.0, 0, 270, 0, [SEP] 1, Pan, -0.411, 0.924, 5.273, 0, 0, 0, 59 [SEP] 2, Pencil, -3.374, 0.923, 5.336, 0, 90, 0, 74 [SEP] 3, Pencil, -3.768, 0.746, 1.956, 0, 0, 0, 51 [SEP] 4, DishSponge, -4.067, 0.080, 3.510, 0, 0, 0, 79 [SEP] 5, Fork, -0.334, 0.925, 5.603, 0, 0, 0, 59 [SEP] 6, Spoon, -4.159, 0.792, 3.410, 0, 0, 0, 106 [SEP] 7, Spoon, -1.777, 0.924, 1.875, 0, 0, 0, 56 [SEP] 8, Egg, -0.295, 1.106, 3.726, 0, 270, 0, 107 [SEP] 9, Egg, -4.084, 0.826, 3.347, 0, 270, 0, 106 [SEP] 10, Plate, -3.239, 0.080, 5.232, 0, 90, 0, 52 [SEP] 11, Knife, -4.108, 0.953, 5.159, 0, 270, 0, 74 [SEP] 12, Knife, -0.258, 0.954, 4.944, 0, 0, 0, 59 [SEP] 13, SoapBottle, -4.163, 0.084, 2.726, 0, 0, 0, 66 [SEP] 14, Tomato, -3.675, 0.125, 6.416, 0, 270, 0, 100 [SEP] 15, Bowl, -4.108, 0.920, 3.863, 0, 90, 0, 74 [SEP] 16, Bowl, -4.196, 0.787, 3.159, 0, 270, 0, 106 [SEP] 17, SaltShaker, -4.066, 0.743, 4.735, 0, 90, 0, 81 [SEP] 18, PepperShaker, -1.943, 0.919, 1.951, 0, 0, 0, 56 [SEP] 19, PepperShaker, -1.981, 1.449, 1.573, 0, 0, 0, 93 [SEP] 20, Bread, -0.401, 1.150, 3.603, 0, 270, 0, 107 [SEP] 21, Mug, -0.409, 0.955, 6.557, 0, 270, 0, 95 [SEP] 22, Mug, -2.740, 1.541, 1.666, 0, 0, 0, 104 [SEP] 23, Apple, -4.233, 0.844, 3.347, 0, 270, 0, 106 [SEP] 24, Egg, -0.342, 1.616, 3.168, 0, 270, 0, 107 [SEP] 25, Apple, -4.451, 0.976, 2.766, 0, 0, 0, 74 [SEP] 26, Knife, -0.258, 0.954, 5.932, 0, 90, 0, 59 [SEP] 27, Potato, -2.583, 1.579, 1.698, 0, 0, 0, 104 [SEP] 28, Fork, -0.334, 0.925, 4.615, 0, 0, 0, 59 [SEP] 29, Bowl, -3.531, 0.079, 1.889, 0, 0, 0, 49 [SEP] 30, Plate, -4.102, 0.924, 2.300, 0, 0, 0, 74 [SEP] 31, Lettuce, -0.488, 1.020, 5.932, 0, 0, 0, 59 [SEP] 32, Bread, -1.693, 1.003, 1.8, 0, 0, 0, 56 [SEP] 33, Tomato, -1.943, 0.980, 1.648, 0, 0, 0, 56 [SEP] 34, WineBottle, -4.478, 0.924, 3.548, 0, 0, 0, 74 [SEP] 35, Spatula, -3.852, 0.938, 5.566, 0, 180, 0, 74 [SEP] 36, PaperTowelRoll, -1.860, 1.027, 1.8, 0, 0, 0, 56 [SEP] 37, Cup, -2.109, 0.922, 1.724, 0, 0, 0, 56 [SEP] 38, Pencil, -3.452, 0.747, 5.192, 0, 90, 0, 65 [SEP] 39, Pan, -2.924, 0.930, 2.012, 0, 0, 0, 57 [SEP] 40, Pot, -2.467, 0.930, 2.012, 0, 0, 0, 62 [SEP] 41, SaltShaker, -1.943, 0.919, 1.875, 0, 0, 0, 56 [SEP] 42, SoapBottle, -3.613, 0.923, 5.489, 0, 90, 0, 74 [SEP] 43, PepperShaker, -1.777, 0.919, 1.573, 0, 0, 0, 56 [SEP] 44, ButterKnife, -1.860, 0.923, 2.026, 0, 180, 0, 56 [SEP] 45, DishSponge, -4.381, 0.923, 2.533, 0, 0, 0, 74 [SEP] 46, Spoon, -3.852, 0.924, 5.259, 0, 90, 0, 74 [SEP] 47, Mug, -0.259, 1.680, 3.733, 0, 270, 0, 107 [SEP] 48, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0, [SEP] 49, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0, [SEP] 50, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0, [SEP] 51, Drawer, -3.797, 0.781, 1.961, 0, 0, 0, [SEP] 52, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0, [SEP] 53, Drawer, -0.509, 0.775, 5.268, 0, 270, 0, [SEP] 54, Drawer, -4.125, 0.798, 2.499, 0, 0, 0, [SEP] 55, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0, [SEP] 56, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0, [SEP] 57, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0, [SEP] 58, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0, [SEP] 59, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0, [SEP] 60, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0, [SEP] 61, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0, [SEP] 62, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0, [SEP] 63, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0, [SEP] 64, Drawer, -0.509, 0.775, 4.617, 0, 270, 0, [SEP] 65, Drawer, -3.509, 0.777, 5.157, 0, 180, 0, [SEP] 66, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0, [SEP] 67, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0, [SEP] 68, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0, [SEP] 69, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0, [SEP] 70, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0, [SEP] 71, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0, [SEP] 72, Drawer, -1.859, 0.775, 1.961, 0, 0, 0, [SEP] 73, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0, [SEP] 74, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0, [SEP] 75, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0, [SEP] 76, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0, [SEP] 77, Drawer, -3.801, 0.777, 5.157, 0, 180, 0, [SEP] 78, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0, [SEP] 79, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0, [SEP] 80, Drawer, -3.418, 0.777, 1.961, 0, 0, 0, [SEP] 81, Drawer, -4.090, 0.777, 4.661, 0, 90, 0, [SEP] 82, Faucet, -4.441, 0.909, 3.288, 270, 0, 0, [SEP] 83, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0, [SEP] 84, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0, [SEP] 85, Drawer, -0.509, 0.775, 5.920, 0, 270, 0, [SEP] 86, Drawer, -3.193, 0.777, 5.157, 0, 180, 0, [SEP] 87, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0, [SEP] 88, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0, [SEP] 89, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0, [SEP] 90, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0, [SEP] 91, Sink, -4.190, 0.921, 3.279, 0, 0, 0, [SEP] 92, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0, [SEP] 93, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0, [SEP] 94, Drawer, -0.509, 0.775, 6.568, 0, 270, 0, [SEP] 95, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0, [SEP] 96, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180, [SEP] 97, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180, [SEP] 98, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180, [SEP] 99, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180, [SEP] 100, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0, [SEP] 101, Toaster, -3.578, 0.912, 1.763, 0, 0, 0, [SEP] 102, Curtains, -4.522, 2.252, 3.391, 90, 90, 0, [SEP] 103, Window, -4.868, 1.629, 3.309, 90, 270, 0, [SEP] 104, Microwave, -2.693, 1.430, 1.689, 0, 0, 0, [SEP] 105, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0, [SEP] 106, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0, [SEP] 107, Fridge, -0.324, -0.001, 3.602, 0, 0, 0, [SEP] 108, NorthWall, , , , , , , [SEP] 109, EastWall, , , , , , , [SEP] 110, SouthWall, , , , , , , [SEP] 111, WestWall, , , , , , , ", "output": ["STEP 1: Move forward and face the counter to your right. | STEP 2: Pick up the knife on the counter in front of you. | STEP 3: Turn around and face the microwave on top of the stove in front of you. | STEP 4: Open the microwave, slice the potato inside and close the microwave again. | STEP 5: Turn around and face the fridge to your right. | STEP 6: Place the knife in the fridge in front of you and close it. | STEP 7: Turn around and face the microwave on top of the stove on your left. | STEP 8: Open the the microwave, take out a potato slice from the inside and close the microwave. | STEP 9: Turn around and face the fridge on your right. | STEP 10: Open the fridge, place the potato inside, close it, take the potato out and close the fridge again. | STEP 11: Turn around and head towards the sink in front of you. | STEP 12: Place the potato slice in the sink in front of you. | END"]} +{"id": "trial_T20190907_073447_193556-1", "input": "Chill a potato slice in the refrigerator. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.899, 3.0, 0, 270, 0, [SEP] 1, Pan, -0.411, 0.924, 5.273, 0, 0, 0, 59 [SEP] 2, Pencil, -3.374, 0.923, 5.336, 0, 90, 0, 74 [SEP] 3, Pencil, -3.768, 0.746, 1.956, 0, 0, 0, 51 [SEP] 4, DishSponge, -4.067, 0.080, 3.510, 0, 0, 0, 79 [SEP] 5, Fork, -0.334, 0.925, 5.603, 0, 0, 0, 59 [SEP] 6, Spoon, -4.159, 0.792, 3.410, 0, 0, 0, 106 [SEP] 7, Spoon, -1.777, 0.924, 1.875, 0, 0, 0, 56 [SEP] 8, Egg, -0.295, 1.106, 3.726, 0, 270, 0, 107 [SEP] 9, Egg, -4.084, 0.826, 3.347, 0, 270, 0, 106 [SEP] 10, Plate, -3.239, 0.080, 5.232, 0, 90, 0, 52 [SEP] 11, Knife, -4.108, 0.953, 5.159, 0, 270, 0, 74 [SEP] 12, Knife, -0.258, 0.954, 4.944, 0, 0, 0, 59 [SEP] 13, SoapBottle, -4.163, 0.084, 2.726, 0, 0, 0, 66 [SEP] 14, Tomato, -3.675, 0.125, 6.416, 0, 270, 0, 100 [SEP] 15, Bowl, -4.108, 0.920, 3.863, 0, 90, 0, 74 [SEP] 16, Bowl, -4.196, 0.787, 3.159, 0, 270, 0, 106 [SEP] 17, SaltShaker, -4.066, 0.743, 4.735, 0, 90, 0, 81 [SEP] 18, PepperShaker, -1.943, 0.919, 1.951, 0, 0, 0, 56 [SEP] 19, PepperShaker, -1.981, 1.449, 1.573, 0, 0, 0, 93 [SEP] 20, Bread, -0.401, 1.150, 3.603, 0, 270, 0, 107 [SEP] 21, Mug, -0.409, 0.955, 6.557, 0, 270, 0, 95 [SEP] 22, Mug, -2.740, 1.541, 1.666, 0, 0, 0, 104 [SEP] 23, Apple, -4.233, 0.844, 3.347, 0, 270, 0, 106 [SEP] 24, Egg, -0.342, 1.616, 3.168, 0, 270, 0, 107 [SEP] 25, Apple, -4.451, 0.976, 2.766, 0, 0, 0, 74 [SEP] 26, Knife, -0.258, 0.954, 5.932, 0, 90, 0, 59 [SEP] 27, Potato, -2.583, 1.579, 1.698, 0, 0, 0, 104 [SEP] 28, Fork, -0.334, 0.925, 4.615, 0, 0, 0, 59 [SEP] 29, Bowl, -3.531, 0.079, 1.889, 0, 0, 0, 49 [SEP] 30, Plate, -4.102, 0.924, 2.300, 0, 0, 0, 74 [SEP] 31, Lettuce, -0.488, 1.020, 5.932, 0, 0, 0, 59 [SEP] 32, Bread, -1.693, 1.003, 1.8, 0, 0, 0, 56 [SEP] 33, Tomato, -1.943, 0.980, 1.648, 0, 0, 0, 56 [SEP] 34, WineBottle, -4.478, 0.924, 3.548, 0, 0, 0, 74 [SEP] 35, Spatula, -3.852, 0.938, 5.566, 0, 180, 0, 74 [SEP] 36, PaperTowelRoll, -1.860, 1.027, 1.8, 0, 0, 0, 56 [SEP] 37, Cup, -2.109, 0.922, 1.724, 0, 0, 0, 56 [SEP] 38, Pencil, -3.452, 0.747, 5.192, 0, 90, 0, 65 [SEP] 39, Pan, -2.924, 0.930, 2.012, 0, 0, 0, 57 [SEP] 40, Pot, -2.467, 0.930, 2.012, 0, 0, 0, 62 [SEP] 41, SaltShaker, -1.943, 0.919, 1.875, 0, 0, 0, 56 [SEP] 42, SoapBottle, -3.613, 0.923, 5.489, 0, 90, 0, 74 [SEP] 43, PepperShaker, -1.777, 0.919, 1.573, 0, 0, 0, 56 [SEP] 44, ButterKnife, -1.860, 0.923, 2.026, 0, 180, 0, 56 [SEP] 45, DishSponge, -4.381, 0.923, 2.533, 0, 0, 0, 74 [SEP] 46, Spoon, -3.852, 0.924, 5.259, 0, 90, 0, 74 [SEP] 47, Mug, -0.259, 1.680, 3.733, 0, 270, 0, 107 [SEP] 48, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0, [SEP] 49, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0, [SEP] 50, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0, [SEP] 51, Drawer, -3.797, 0.781, 1.961, 0, 0, 0, [SEP] 52, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0, [SEP] 53, Drawer, -0.509, 0.775, 5.268, 0, 270, 0, [SEP] 54, Drawer, -4.125, 0.798, 2.499, 0, 0, 0, [SEP] 55, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0, [SEP] 56, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0, [SEP] 57, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0, [SEP] 58, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0, [SEP] 59, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0, [SEP] 60, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0, [SEP] 61, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0, [SEP] 62, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0, [SEP] 63, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0, [SEP] 64, Drawer, -0.509, 0.775, 4.617, 0, 270, 0, [SEP] 65, Drawer, -3.509, 0.777, 5.157, 0, 180, 0, [SEP] 66, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0, [SEP] 67, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0, [SEP] 68, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0, [SEP] 69, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0, [SEP] 70, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0, [SEP] 71, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0, [SEP] 72, Drawer, -1.859, 0.775, 1.961, 0, 0, 0, [SEP] 73, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0, [SEP] 74, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0, [SEP] 75, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0, [SEP] 76, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0, [SEP] 77, Drawer, -3.801, 0.777, 5.157, 0, 180, 0, [SEP] 78, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0, [SEP] 79, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0, [SEP] 80, Drawer, -3.418, 0.777, 1.961, 0, 0, 0, [SEP] 81, Drawer, -4.090, 0.777, 4.661, 0, 90, 0, [SEP] 82, Faucet, -4.441, 0.909, 3.288, 270, 0, 0, [SEP] 83, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0, [SEP] 84, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0, [SEP] 85, Drawer, -0.509, 0.775, 5.920, 0, 270, 0, [SEP] 86, Drawer, -3.193, 0.777, 5.157, 0, 180, 0, [SEP] 87, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0, [SEP] 88, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0, [SEP] 89, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0, [SEP] 90, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0, [SEP] 91, Sink, -4.190, 0.921, 3.279, 0, 0, 0, [SEP] 92, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0, [SEP] 93, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0, [SEP] 94, Drawer, -0.509, 0.775, 6.568, 0, 270, 0, [SEP] 95, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0, [SEP] 96, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180, [SEP] 97, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180, [SEP] 98, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180, [SEP] 99, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180, [SEP] 100, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0, [SEP] 101, Toaster, -3.578, 0.912, 1.763, 0, 0, 0, [SEP] 102, Curtains, -4.522, 2.252, 3.391, 90, 90, 0, [SEP] 103, Window, -4.868, 1.629, 3.309, 90, 270, 0, [SEP] 104, Microwave, -2.693, 1.430, 1.689, 0, 0, 0, [SEP] 105, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0, [SEP] 106, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0, [SEP] 107, Fridge, -0.324, -0.001, 3.602, 0, 0, 0, [SEP] 108, NorthWall, , , , , , , [SEP] 109, EastWall, , , , , , , [SEP] 110, SouthWall, , , , , , , [SEP] 111, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and go to the counter. | STEP 2: Pick up a knife on the counter. | STEP 3: Turn around and go to the microwave. | STEP 4: Cut the potato in the microwave. | STEP 5: Turn around and go to the refrigerator. | STEP 6: Put the knife in the refrigerator. | STEP 7: Turn around and go to the microwave. | STEP 8: Take a potato slice out of the microwave. | STEP 9: Turn and go to the refrigerator. | STEP 10: Put the potato slice in the refrigerator. Take the potato slice out of the refrigerator. | STEP 11: Turn around and go to the sink. | STEP 12: Put the potato in the sink. | END"]} +{"id": "trial_T20190907_073447_193556-2", "input": "Put a cold slice of potato in a sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.899, 3.0, 0, 270, 0, [SEP] 1, Pan, -0.411, 0.924, 5.273, 0, 0, 0, 59 [SEP] 2, Pencil, -3.374, 0.923, 5.336, 0, 90, 0, 74 [SEP] 3, Pencil, -3.768, 0.746, 1.956, 0, 0, 0, 51 [SEP] 4, DishSponge, -4.067, 0.080, 3.510, 0, 0, 0, 79 [SEP] 5, Fork, -0.334, 0.925, 5.603, 0, 0, 0, 59 [SEP] 6, Spoon, -4.159, 0.792, 3.410, 0, 0, 0, 106 [SEP] 7, Spoon, -1.777, 0.924, 1.875, 0, 0, 0, 56 [SEP] 8, Egg, -0.295, 1.106, 3.726, 0, 270, 0, 107 [SEP] 9, Egg, -4.084, 0.826, 3.347, 0, 270, 0, 106 [SEP] 10, Plate, -3.239, 0.080, 5.232, 0, 90, 0, 52 [SEP] 11, Knife, -4.108, 0.953, 5.159, 0, 270, 0, 74 [SEP] 12, Knife, -0.258, 0.954, 4.944, 0, 0, 0, 59 [SEP] 13, SoapBottle, -4.163, 0.084, 2.726, 0, 0, 0, 66 [SEP] 14, Tomato, -3.675, 0.125, 6.416, 0, 270, 0, 100 [SEP] 15, Bowl, -4.108, 0.920, 3.863, 0, 90, 0, 74 [SEP] 16, Bowl, -4.196, 0.787, 3.159, 0, 270, 0, 106 [SEP] 17, SaltShaker, -4.066, 0.743, 4.735, 0, 90, 0, 81 [SEP] 18, PepperShaker, -1.943, 0.919, 1.951, 0, 0, 0, 56 [SEP] 19, PepperShaker, -1.981, 1.449, 1.573, 0, 0, 0, 93 [SEP] 20, Bread, -0.401, 1.150, 3.603, 0, 270, 0, 107 [SEP] 21, Mug, -0.409, 0.955, 6.557, 0, 270, 0, 95 [SEP] 22, Mug, -2.740, 1.541, 1.666, 0, 0, 0, 104 [SEP] 23, Apple, -4.233, 0.844, 3.347, 0, 270, 0, 106 [SEP] 24, Egg, -0.342, 1.616, 3.168, 0, 270, 0, 107 [SEP] 25, Apple, -4.451, 0.976, 2.766, 0, 0, 0, 74 [SEP] 26, Knife, -0.258, 0.954, 5.932, 0, 90, 0, 59 [SEP] 27, Potato, -2.583, 1.579, 1.698, 0, 0, 0, 104 [SEP] 28, Fork, -0.334, 0.925, 4.615, 0, 0, 0, 59 [SEP] 29, Bowl, -3.531, 0.079, 1.889, 0, 0, 0, 49 [SEP] 30, Plate, -4.102, 0.924, 2.300, 0, 0, 0, 74 [SEP] 31, Lettuce, -0.488, 1.020, 5.932, 0, 0, 0, 59 [SEP] 32, Bread, -1.693, 1.003, 1.8, 0, 0, 0, 56 [SEP] 33, Tomato, -1.943, 0.980, 1.648, 0, 0, 0, 56 [SEP] 34, WineBottle, -4.478, 0.924, 3.548, 0, 0, 0, 74 [SEP] 35, Spatula, -3.852, 0.938, 5.566, 0, 180, 0, 74 [SEP] 36, PaperTowelRoll, -1.860, 1.027, 1.8, 0, 0, 0, 56 [SEP] 37, Cup, -2.109, 0.922, 1.724, 0, 0, 0, 56 [SEP] 38, Pencil, -3.452, 0.747, 5.192, 0, 90, 0, 65 [SEP] 39, Pan, -2.924, 0.930, 2.012, 0, 0, 0, 57 [SEP] 40, Pot, -2.467, 0.930, 2.012, 0, 0, 0, 62 [SEP] 41, SaltShaker, -1.943, 0.919, 1.875, 0, 0, 0, 56 [SEP] 42, SoapBottle, -3.613, 0.923, 5.489, 0, 90, 0, 74 [SEP] 43, PepperShaker, -1.777, 0.919, 1.573, 0, 0, 0, 56 [SEP] 44, ButterKnife, -1.860, 0.923, 2.026, 0, 180, 0, 56 [SEP] 45, DishSponge, -4.381, 0.923, 2.533, 0, 0, 0, 74 [SEP] 46, Spoon, -3.852, 0.924, 5.259, 0, 90, 0, 74 [SEP] 47, Mug, -0.259, 1.680, 3.733, 0, 270, 0, 107 [SEP] 48, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0, [SEP] 49, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0, [SEP] 50, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0, [SEP] 51, Drawer, -3.797, 0.781, 1.961, 0, 0, 0, [SEP] 52, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0, [SEP] 53, Drawer, -0.509, 0.775, 5.268, 0, 270, 0, [SEP] 54, Drawer, -4.125, 0.798, 2.499, 0, 0, 0, [SEP] 55, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0, [SEP] 56, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0, [SEP] 57, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0, [SEP] 58, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0, [SEP] 59, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0, [SEP] 60, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0, [SEP] 61, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0, [SEP] 62, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0, [SEP] 63, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0, [SEP] 64, Drawer, -0.509, 0.775, 4.617, 0, 270, 0, [SEP] 65, Drawer, -3.509, 0.777, 5.157, 0, 180, 0, [SEP] 66, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0, [SEP] 67, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0, [SEP] 68, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0, [SEP] 69, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0, [SEP] 70, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0, [SEP] 71, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0, [SEP] 72, Drawer, -1.859, 0.775, 1.961, 0, 0, 0, [SEP] 73, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0, [SEP] 74, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0, [SEP] 75, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0, [SEP] 76, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0, [SEP] 77, Drawer, -3.801, 0.777, 5.157, 0, 180, 0, [SEP] 78, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0, [SEP] 79, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0, [SEP] 80, Drawer, -3.418, 0.777, 1.961, 0, 0, 0, [SEP] 81, Drawer, -4.090, 0.777, 4.661, 0, 90, 0, [SEP] 82, Faucet, -4.441, 0.909, 3.288, 270, 0, 0, [SEP] 83, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0, [SEP] 84, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0, [SEP] 85, Drawer, -0.509, 0.775, 5.920, 0, 270, 0, [SEP] 86, Drawer, -3.193, 0.777, 5.157, 0, 180, 0, [SEP] 87, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0, [SEP] 88, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0, [SEP] 89, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0, [SEP] 90, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0, [SEP] 91, Sink, -4.190, 0.921, 3.279, 0, 0, 0, [SEP] 92, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0, [SEP] 93, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0, [SEP] 94, Drawer, -0.509, 0.775, 6.568, 0, 270, 0, [SEP] 95, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0, [SEP] 96, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180, [SEP] 97, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180, [SEP] 98, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180, [SEP] 99, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180, [SEP] 100, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0, [SEP] 101, Toaster, -3.578, 0.912, 1.763, 0, 0, 0, [SEP] 102, Curtains, -4.522, 2.252, 3.391, 90, 90, 0, [SEP] 103, Window, -4.868, 1.629, 3.309, 90, 270, 0, [SEP] 104, Microwave, -2.693, 1.430, 1.689, 0, 0, 0, [SEP] 105, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0, [SEP] 106, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0, [SEP] 107, Fridge, -0.324, -0.001, 3.602, 0, 0, 0, [SEP] 108, NorthWall, , , , , , , [SEP] 109, EastWall, , , , , , , [SEP] 110, SouthWall, , , , , , , [SEP] 111, WestWall, , , , , , , ", "output": ["STEP 1: Go forward to the counter, hang a right and go to the counter. | STEP 2: Pick up the big knife that is on the counter to your left. | STEP 3: Turn to the left, go forward, turn to the right and go forward to the microwave. | STEP 4: Open the microwave, use the knife to cut the potato inside the microwave into slices. | STEP 5: Turn around and go forward, then hang a right and go to the fridge. | STEP 6: Open the fridge, put the knife in the fridge, close the door. | STEP 7: Turn around and go forward, then hang a left and go to the microwave. | STEP 8: Open the microwave, pick up a slice of potato, close the microwave. | STEP 9: Turn around and go forward, hang a right and go to the fridge. | STEP 10: Put the potato in the fridge to get cold, then remove the potato from the fridge. | STEP 11: Turn around and go forward to the sink. | STEP 12: Put the cold potato in the sink. | END"]} +{"id": "trial_T20190907_073447_193556-3", "input": "Put the slice potato from the fridge going to the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.899, 3.0, 0, 270, 0, [SEP] 1, Pan, -0.411, 0.924, 5.273, 0, 0, 0, 59 [SEP] 2, Pencil, -3.374, 0.923, 5.336, 0, 90, 0, 74 [SEP] 3, Pencil, -3.768, 0.746, 1.956, 0, 0, 0, 51 [SEP] 4, DishSponge, -4.067, 0.080, 3.510, 0, 0, 0, 79 [SEP] 5, Fork, -0.334, 0.925, 5.603, 0, 0, 0, 59 [SEP] 6, Spoon, -4.159, 0.792, 3.410, 0, 0, 0, 106 [SEP] 7, Spoon, -1.777, 0.924, 1.875, 0, 0, 0, 56 [SEP] 8, Egg, -0.295, 1.106, 3.726, 0, 270, 0, 107 [SEP] 9, Egg, -4.084, 0.826, 3.347, 0, 270, 0, 106 [SEP] 10, Plate, -3.239, 0.080, 5.232, 0, 90, 0, 52 [SEP] 11, Knife, -4.108, 0.953, 5.159, 0, 270, 0, 74 [SEP] 12, Knife, -0.258, 0.954, 4.944, 0, 0, 0, 59 [SEP] 13, SoapBottle, -4.163, 0.084, 2.726, 0, 0, 0, 66 [SEP] 14, Tomato, -3.675, 0.125, 6.416, 0, 270, 0, 100 [SEP] 15, Bowl, -4.108, 0.920, 3.863, 0, 90, 0, 74 [SEP] 16, Bowl, -4.196, 0.787, 3.159, 0, 270, 0, 106 [SEP] 17, SaltShaker, -4.066, 0.743, 4.735, 0, 90, 0, 81 [SEP] 18, PepperShaker, -1.943, 0.919, 1.951, 0, 0, 0, 56 [SEP] 19, PepperShaker, -1.981, 1.449, 1.573, 0, 0, 0, 93 [SEP] 20, Bread, -0.401, 1.150, 3.603, 0, 270, 0, 107 [SEP] 21, Mug, -0.409, 0.955, 6.557, 0, 270, 0, 95 [SEP] 22, Mug, -2.740, 1.541, 1.666, 0, 0, 0, 104 [SEP] 23, Apple, -4.233, 0.844, 3.347, 0, 270, 0, 106 [SEP] 24, Egg, -0.342, 1.616, 3.168, 0, 270, 0, 107 [SEP] 25, Apple, -4.451, 0.976, 2.766, 0, 0, 0, 74 [SEP] 26, Knife, -0.258, 0.954, 5.932, 0, 90, 0, 59 [SEP] 27, Potato, -2.583, 1.579, 1.698, 0, 0, 0, 104 [SEP] 28, Fork, -0.334, 0.925, 4.615, 0, 0, 0, 59 [SEP] 29, Bowl, -3.531, 0.079, 1.889, 0, 0, 0, 49 [SEP] 30, Plate, -4.102, 0.924, 2.300, 0, 0, 0, 74 [SEP] 31, Lettuce, -0.488, 1.020, 5.932, 0, 0, 0, 59 [SEP] 32, Bread, -1.693, 1.003, 1.8, 0, 0, 0, 56 [SEP] 33, Tomato, -1.943, 0.980, 1.648, 0, 0, 0, 56 [SEP] 34, WineBottle, -4.478, 0.924, 3.548, 0, 0, 0, 74 [SEP] 35, Spatula, -3.852, 0.938, 5.566, 0, 180, 0, 74 [SEP] 36, PaperTowelRoll, -1.860, 1.027, 1.8, 0, 0, 0, 56 [SEP] 37, Cup, -2.109, 0.922, 1.724, 0, 0, 0, 56 [SEP] 38, Pencil, -3.452, 0.747, 5.192, 0, 90, 0, 65 [SEP] 39, Pan, -2.924, 0.930, 2.012, 0, 0, 0, 57 [SEP] 40, Pot, -2.467, 0.930, 2.012, 0, 0, 0, 62 [SEP] 41, SaltShaker, -1.943, 0.919, 1.875, 0, 0, 0, 56 [SEP] 42, SoapBottle, -3.613, 0.923, 5.489, 0, 90, 0, 74 [SEP] 43, PepperShaker, -1.777, 0.919, 1.573, 0, 0, 0, 56 [SEP] 44, ButterKnife, -1.860, 0.923, 2.026, 0, 180, 0, 56 [SEP] 45, DishSponge, -4.381, 0.923, 2.533, 0, 0, 0, 74 [SEP] 46, Spoon, -3.852, 0.924, 5.259, 0, 90, 0, 74 [SEP] 47, Mug, -0.259, 1.680, 3.733, 0, 270, 0, 107 [SEP] 48, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0, [SEP] 49, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0, [SEP] 50, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0, [SEP] 51, Drawer, -3.797, 0.781, 1.961, 0, 0, 0, [SEP] 52, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0, [SEP] 53, Drawer, -0.509, 0.775, 5.268, 0, 270, 0, [SEP] 54, Drawer, -4.125, 0.798, 2.499, 0, 0, 0, [SEP] 55, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0, [SEP] 56, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0, [SEP] 57, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0, [SEP] 58, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0, [SEP] 59, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0, [SEP] 60, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0, [SEP] 61, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0, [SEP] 62, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0, [SEP] 63, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0, [SEP] 64, Drawer, -0.509, 0.775, 4.617, 0, 270, 0, [SEP] 65, Drawer, -3.509, 0.777, 5.157, 0, 180, 0, [SEP] 66, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0, [SEP] 67, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0, [SEP] 68, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0, [SEP] 69, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0, [SEP] 70, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0, [SEP] 71, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0, [SEP] 72, Drawer, -1.859, 0.775, 1.961, 0, 0, 0, [SEP] 73, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0, [SEP] 74, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0, [SEP] 75, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0, [SEP] 76, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0, [SEP] 77, Drawer, -3.801, 0.777, 5.157, 0, 180, 0, [SEP] 78, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0, [SEP] 79, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0, [SEP] 80, Drawer, -3.418, 0.777, 1.961, 0, 0, 0, [SEP] 81, Drawer, -4.090, 0.777, 4.661, 0, 90, 0, [SEP] 82, Faucet, -4.441, 0.909, 3.288, 270, 0, 0, [SEP] 83, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0, [SEP] 84, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0, [SEP] 85, Drawer, -0.509, 0.775, 5.920, 0, 270, 0, [SEP] 86, Drawer, -3.193, 0.777, 5.157, 0, 180, 0, [SEP] 87, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0, [SEP] 88, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0, [SEP] 89, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0, [SEP] 90, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0, [SEP] 91, Sink, -4.190, 0.921, 3.279, 0, 0, 0, [SEP] 92, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0, [SEP] 93, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0, [SEP] 94, Drawer, -0.509, 0.775, 6.568, 0, 270, 0, [SEP] 95, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0, [SEP] 96, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180, [SEP] 97, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180, [SEP] 98, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180, [SEP] 99, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180, [SEP] 100, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0, [SEP] 101, Toaster, -3.578, 0.912, 1.763, 0, 0, 0, [SEP] 102, Curtains, -4.522, 2.252, 3.391, 90, 90, 0, [SEP] 103, Window, -4.868, 1.629, 3.309, 90, 270, 0, [SEP] 104, Microwave, -2.693, 1.430, 1.689, 0, 0, 0, [SEP] 105, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0, [SEP] 106, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0, [SEP] 107, Fridge, -0.324, -0.001, 3.602, 0, 0, 0, [SEP] 108, NorthWall, , , , , , , [SEP] 109, EastWall, , , , , , , [SEP] 110, SouthWall, , , , , , , [SEP] 111, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your right then walk straight to the far right of the counter | STEP 2: Pick up the knife on the left side of the counter beside the spoon | STEP 3: Turn to your right then head to the microwave above the stove | STEP 4: Open the microwave and slice the potato inside beside the mug, then close the microwave | STEP 5: Turn around to your left then walk towards the fridge on your right | STEP 6: Open the fridge put inside the knife then close the door | STEP 7: \nTurn to your right, then to your left and face the microwave | STEP 8: Open the microwave and pick up the slice potato inside then close the microwave | STEP 9: Turn around to your left walk straight to the fridge | STEP 10: Open the fridge, then put in the potato slice in and out then close the fridge | STEP 11: Turn to your right then head to the sink | STEP 12: Put the potato on the sink | END"]} +{"id": "trial_T20190907_073447_193556-4", "input": "Place a chilled potato slice in the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.899, 3.0, 0, 270, 0, [SEP] 1, Pan, -0.411, 0.924, 5.273, 0, 0, 0, 59 [SEP] 2, Pencil, -3.374, 0.923, 5.336, 0, 90, 0, 74 [SEP] 3, Pencil, -3.768, 0.746, 1.956, 0, 0, 0, 51 [SEP] 4, DishSponge, -4.067, 0.080, 3.510, 0, 0, 0, 79 [SEP] 5, Fork, -0.334, 0.925, 5.603, 0, 0, 0, 59 [SEP] 6, Spoon, -4.159, 0.792, 3.410, 0, 0, 0, 106 [SEP] 7, Spoon, -1.777, 0.924, 1.875, 0, 0, 0, 56 [SEP] 8, Egg, -0.295, 1.106, 3.726, 0, 270, 0, 107 [SEP] 9, Egg, -4.084, 0.826, 3.347, 0, 270, 0, 106 [SEP] 10, Plate, -3.239, 0.080, 5.232, 0, 90, 0, 52 [SEP] 11, Knife, -4.108, 0.953, 5.159, 0, 270, 0, 74 [SEP] 12, Knife, -0.258, 0.954, 4.944, 0, 0, 0, 59 [SEP] 13, SoapBottle, -4.163, 0.084, 2.726, 0, 0, 0, 66 [SEP] 14, Tomato, -3.675, 0.125, 6.416, 0, 270, 0, 100 [SEP] 15, Bowl, -4.108, 0.920, 3.863, 0, 90, 0, 74 [SEP] 16, Bowl, -4.196, 0.787, 3.159, 0, 270, 0, 106 [SEP] 17, SaltShaker, -4.066, 0.743, 4.735, 0, 90, 0, 81 [SEP] 18, PepperShaker, -1.943, 0.919, 1.951, 0, 0, 0, 56 [SEP] 19, PepperShaker, -1.981, 1.449, 1.573, 0, 0, 0, 93 [SEP] 20, Bread, -0.401, 1.150, 3.603, 0, 270, 0, 107 [SEP] 21, Mug, -0.409, 0.955, 6.557, 0, 270, 0, 95 [SEP] 22, Mug, -2.740, 1.541, 1.666, 0, 0, 0, 104 [SEP] 23, Apple, -4.233, 0.844, 3.347, 0, 270, 0, 106 [SEP] 24, Egg, -0.342, 1.616, 3.168, 0, 270, 0, 107 [SEP] 25, Apple, -4.451, 0.976, 2.766, 0, 0, 0, 74 [SEP] 26, Knife, -0.258, 0.954, 5.932, 0, 90, 0, 59 [SEP] 27, Potato, -2.583, 1.579, 1.698, 0, 0, 0, 104 [SEP] 28, Fork, -0.334, 0.925, 4.615, 0, 0, 0, 59 [SEP] 29, Bowl, -3.531, 0.079, 1.889, 0, 0, 0, 49 [SEP] 30, Plate, -4.102, 0.924, 2.300, 0, 0, 0, 74 [SEP] 31, Lettuce, -0.488, 1.020, 5.932, 0, 0, 0, 59 [SEP] 32, Bread, -1.693, 1.003, 1.8, 0, 0, 0, 56 [SEP] 33, Tomato, -1.943, 0.980, 1.648, 0, 0, 0, 56 [SEP] 34, WineBottle, -4.478, 0.924, 3.548, 0, 0, 0, 74 [SEP] 35, Spatula, -3.852, 0.938, 5.566, 0, 180, 0, 74 [SEP] 36, PaperTowelRoll, -1.860, 1.027, 1.8, 0, 0, 0, 56 [SEP] 37, Cup, -2.109, 0.922, 1.724, 0, 0, 0, 56 [SEP] 38, Pencil, -3.452, 0.747, 5.192, 0, 90, 0, 65 [SEP] 39, Pan, -2.924, 0.930, 2.012, 0, 0, 0, 57 [SEP] 40, Pot, -2.467, 0.930, 2.012, 0, 0, 0, 62 [SEP] 41, SaltShaker, -1.943, 0.919, 1.875, 0, 0, 0, 56 [SEP] 42, SoapBottle, -3.613, 0.923, 5.489, 0, 90, 0, 74 [SEP] 43, PepperShaker, -1.777, 0.919, 1.573, 0, 0, 0, 56 [SEP] 44, ButterKnife, -1.860, 0.923, 2.026, 0, 180, 0, 56 [SEP] 45, DishSponge, -4.381, 0.923, 2.533, 0, 0, 0, 74 [SEP] 46, Spoon, -3.852, 0.924, 5.259, 0, 90, 0, 74 [SEP] 47, Mug, -0.259, 1.680, 3.733, 0, 270, 0, 107 [SEP] 48, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0, [SEP] 49, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0, [SEP] 50, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0, [SEP] 51, Drawer, -3.797, 0.781, 1.961, 0, 0, 0, [SEP] 52, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0, [SEP] 53, Drawer, -0.509, 0.775, 5.268, 0, 270, 0, [SEP] 54, Drawer, -4.125, 0.798, 2.499, 0, 0, 0, [SEP] 55, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0, [SEP] 56, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0, [SEP] 57, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0, [SEP] 58, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0, [SEP] 59, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0, [SEP] 60, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0, [SEP] 61, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0, [SEP] 62, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0, [SEP] 63, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0, [SEP] 64, Drawer, -0.509, 0.775, 4.617, 0, 270, 0, [SEP] 65, Drawer, -3.509, 0.777, 5.157, 0, 180, 0, [SEP] 66, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0, [SEP] 67, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0, [SEP] 68, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0, [SEP] 69, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0, [SEP] 70, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0, [SEP] 71, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0, [SEP] 72, Drawer, -1.859, 0.775, 1.961, 0, 0, 0, [SEP] 73, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0, [SEP] 74, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0, [SEP] 75, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0, [SEP] 76, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0, [SEP] 77, Drawer, -3.801, 0.777, 5.157, 0, 180, 0, [SEP] 78, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0, [SEP] 79, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0, [SEP] 80, Drawer, -3.418, 0.777, 1.961, 0, 0, 0, [SEP] 81, Drawer, -4.090, 0.777, 4.661, 0, 90, 0, [SEP] 82, Faucet, -4.441, 0.909, 3.288, 270, 0, 0, [SEP] 83, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0, [SEP] 84, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0, [SEP] 85, Drawer, -0.509, 0.775, 5.920, 0, 270, 0, [SEP] 86, Drawer, -3.193, 0.777, 5.157, 0, 180, 0, [SEP] 87, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0, [SEP] 88, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0, [SEP] 89, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0, [SEP] 90, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0, [SEP] 91, Sink, -4.190, 0.921, 3.279, 0, 0, 0, [SEP] 92, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0, [SEP] 93, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0, [SEP] 94, Drawer, -0.509, 0.775, 6.568, 0, 270, 0, [SEP] 95, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0, [SEP] 96, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180, [SEP] 97, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180, [SEP] 98, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180, [SEP] 99, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180, [SEP] 100, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0, [SEP] 101, Toaster, -3.578, 0.912, 1.763, 0, 0, 0, [SEP] 102, Curtains, -4.522, 2.252, 3.391, 90, 90, 0, [SEP] 103, Window, -4.868, 1.629, 3.309, 90, 270, 0, [SEP] 104, Microwave, -2.693, 1.430, 1.689, 0, 0, 0, [SEP] 105, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0, [SEP] 106, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0, [SEP] 107, Fridge, -0.324, -0.001, 3.602, 0, 0, 0, [SEP] 108, NorthWall, , , , , , , [SEP] 109, EastWall, , , , , , , [SEP] 110, SouthWall, , , , , , , [SEP] 111, WestWall, , , , , , , ", "output": ["STEP 1: turn to your right and go all the way to the end of the countertop where utensils are sitting on the counter | STEP 2: pick up the sharp knife with a yellow handle | STEP 3: turn back around and carry the knife to the stove area | STEP 4: open then close the microwave door | STEP 5: turn around and go left towards the black fridge | STEP 6: place the knife on the shelf inside the fridge | STEP 7: turn around go back to the microwave, open the door | STEP 8: remove a slice of potato from the microwave | STEP 9: take the potato slice back to the black fridge | STEP 10: place the potato slice in the fridge and chill it for a few seconds; remove the slice from the fridge | STEP 11: turn around and carry the chilled slice of potato to the sink directly in front of you | STEP 12: place the potato slice in the sink in the right front corner | END"]} +{"id": "trial_T20190907_073447_193556-5", "input": "drop a cold potato slice in the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.899, 3.0, 0, 270, 0, [SEP] 1, Pan, -0.411, 0.924, 5.273, 0, 0, 0, 59 [SEP] 2, Pencil, -3.374, 0.923, 5.336, 0, 90, 0, 74 [SEP] 3, Pencil, -3.768, 0.746, 1.956, 0, 0, 0, 51 [SEP] 4, DishSponge, -4.067, 0.080, 3.510, 0, 0, 0, 79 [SEP] 5, Fork, -0.334, 0.925, 5.603, 0, 0, 0, 59 [SEP] 6, Spoon, -4.159, 0.792, 3.410, 0, 0, 0, 106 [SEP] 7, Spoon, -1.777, 0.924, 1.875, 0, 0, 0, 56 [SEP] 8, Egg, -0.295, 1.106, 3.726, 0, 270, 0, 107 [SEP] 9, Egg, -4.084, 0.826, 3.347, 0, 270, 0, 106 [SEP] 10, Plate, -3.239, 0.080, 5.232, 0, 90, 0, 52 [SEP] 11, Knife, -4.108, 0.953, 5.159, 0, 270, 0, 74 [SEP] 12, Knife, -0.258, 0.954, 4.944, 0, 0, 0, 59 [SEP] 13, SoapBottle, -4.163, 0.084, 2.726, 0, 0, 0, 66 [SEP] 14, Tomato, -3.675, 0.125, 6.416, 0, 270, 0, 100 [SEP] 15, Bowl, -4.108, 0.920, 3.863, 0, 90, 0, 74 [SEP] 16, Bowl, -4.196, 0.787, 3.159, 0, 270, 0, 106 [SEP] 17, SaltShaker, -4.066, 0.743, 4.735, 0, 90, 0, 81 [SEP] 18, PepperShaker, -1.943, 0.919, 1.951, 0, 0, 0, 56 [SEP] 19, PepperShaker, -1.981, 1.449, 1.573, 0, 0, 0, 93 [SEP] 20, Bread, -0.401, 1.150, 3.603, 0, 270, 0, 107 [SEP] 21, Mug, -0.409, 0.955, 6.557, 0, 270, 0, 95 [SEP] 22, Mug, -2.740, 1.541, 1.666, 0, 0, 0, 104 [SEP] 23, Apple, -4.233, 0.844, 3.347, 0, 270, 0, 106 [SEP] 24, Egg, -0.342, 1.616, 3.168, 0, 270, 0, 107 [SEP] 25, Apple, -4.451, 0.976, 2.766, 0, 0, 0, 74 [SEP] 26, Knife, -0.258, 0.954, 5.932, 0, 90, 0, 59 [SEP] 27, Potato, -2.583, 1.579, 1.698, 0, 0, 0, 104 [SEP] 28, Fork, -0.334, 0.925, 4.615, 0, 0, 0, 59 [SEP] 29, Bowl, -3.531, 0.079, 1.889, 0, 0, 0, 49 [SEP] 30, Plate, -4.102, 0.924, 2.300, 0, 0, 0, 74 [SEP] 31, Lettuce, -0.488, 1.020, 5.932, 0, 0, 0, 59 [SEP] 32, Bread, -1.693, 1.003, 1.8, 0, 0, 0, 56 [SEP] 33, Tomato, -1.943, 0.980, 1.648, 0, 0, 0, 56 [SEP] 34, WineBottle, -4.478, 0.924, 3.548, 0, 0, 0, 74 [SEP] 35, Spatula, -3.852, 0.938, 5.566, 0, 180, 0, 74 [SEP] 36, PaperTowelRoll, -1.860, 1.027, 1.8, 0, 0, 0, 56 [SEP] 37, Cup, -2.109, 0.922, 1.724, 0, 0, 0, 56 [SEP] 38, Pencil, -3.452, 0.747, 5.192, 0, 90, 0, 65 [SEP] 39, Pan, -2.924, 0.930, 2.012, 0, 0, 0, 57 [SEP] 40, Pot, -2.467, 0.930, 2.012, 0, 0, 0, 62 [SEP] 41, SaltShaker, -1.943, 0.919, 1.875, 0, 0, 0, 56 [SEP] 42, SoapBottle, -3.613, 0.923, 5.489, 0, 90, 0, 74 [SEP] 43, PepperShaker, -1.777, 0.919, 1.573, 0, 0, 0, 56 [SEP] 44, ButterKnife, -1.860, 0.923, 2.026, 0, 180, 0, 56 [SEP] 45, DishSponge, -4.381, 0.923, 2.533, 0, 0, 0, 74 [SEP] 46, Spoon, -3.852, 0.924, 5.259, 0, 90, 0, 74 [SEP] 47, Mug, -0.259, 1.680, 3.733, 0, 270, 0, 107 [SEP] 48, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0, [SEP] 49, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0, [SEP] 50, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0, [SEP] 51, Drawer, -3.797, 0.781, 1.961, 0, 0, 0, [SEP] 52, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0, [SEP] 53, Drawer, -0.509, 0.775, 5.268, 0, 270, 0, [SEP] 54, Drawer, -4.125, 0.798, 2.499, 0, 0, 0, [SEP] 55, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0, [SEP] 56, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0, [SEP] 57, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0, [SEP] 58, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0, [SEP] 59, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0, [SEP] 60, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0, [SEP] 61, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0, [SEP] 62, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0, [SEP] 63, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0, [SEP] 64, Drawer, -0.509, 0.775, 4.617, 0, 270, 0, [SEP] 65, Drawer, -3.509, 0.777, 5.157, 0, 180, 0, [SEP] 66, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0, [SEP] 67, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0, [SEP] 68, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0, [SEP] 69, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0, [SEP] 70, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0, [SEP] 71, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0, [SEP] 72, Drawer, -1.859, 0.775, 1.961, 0, 0, 0, [SEP] 73, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0, [SEP] 74, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0, [SEP] 75, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0, [SEP] 76, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0, [SEP] 77, Drawer, -3.801, 0.777, 5.157, 0, 180, 0, [SEP] 78, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0, [SEP] 79, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0, [SEP] 80, Drawer, -3.418, 0.777, 1.961, 0, 0, 0, [SEP] 81, Drawer, -4.090, 0.777, 4.661, 0, 90, 0, [SEP] 82, Faucet, -4.441, 0.909, 3.288, 270, 0, 0, [SEP] 83, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0, [SEP] 84, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0, [SEP] 85, Drawer, -0.509, 0.775, 5.920, 0, 270, 0, [SEP] 86, Drawer, -3.193, 0.777, 5.157, 0, 180, 0, [SEP] 87, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0, [SEP] 88, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0, [SEP] 89, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0, [SEP] 90, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0, [SEP] 91, Sink, -4.190, 0.921, 3.279, 0, 0, 0, [SEP] 92, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0, [SEP] 93, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0, [SEP] 94, Drawer, -0.509, 0.775, 6.568, 0, 270, 0, [SEP] 95, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0, [SEP] 96, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180, [SEP] 97, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180, [SEP] 98, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180, [SEP] 99, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180, [SEP] 100, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0, [SEP] 101, Toaster, -3.578, 0.912, 1.763, 0, 0, 0, [SEP] 102, Curtains, -4.522, 2.252, 3.391, 90, 90, 0, [SEP] 103, Window, -4.868, 1.629, 3.309, 90, 270, 0, [SEP] 104, Microwave, -2.693, 1.430, 1.689, 0, 0, 0, [SEP] 105, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0, [SEP] 106, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0, [SEP] 107, Fridge, -0.324, -0.001, 3.602, 0, 0, 0, [SEP] 108, NorthWall, , , , , , , [SEP] 109, EastWall, , , , , , , [SEP] 110, SouthWall, , , , , , , [SEP] 111, WestWall, , , , , , , ", "output": ["STEP 1: turn right towards the table | STEP 2: pick up the knife | STEP 3: turn around and head for the oven | STEP 4: slice the potato inside the oven | STEP 5: turn left towards the fridge | STEP 6: place the knife inside the fridge | STEP 7: turn right towards the oven | STEP 8: take out a slice | STEP 9: turn left towards the fridge | STEP 10: place it to cool and then take it out | STEP 11: turn around and head for the sink | STEP 12: drop the slice in the sink | END"]} +{"id": "trial_T20190908_052007_212776-0", "input": "Place a rinsed knife inside a drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.0, 0.930, 0.25, 0, 270, 0, [SEP] 1, Potato, 1.164, 0.749, -1.459, 0, 0, 0, 107 [SEP] 2, Potato, -1.119, 1.036, 1.470, 0, 90, 0, 109 [SEP] 3, DishSponge, -0.192, 0.899, -1.542, 0, 45, 0, 82 [SEP] 4, ButterKnife, -0.935, 0.900, -0.047, 0, 0, 0, 61 [SEP] 5, Glassbottle, 3.084, 0.176, -0.404, 0, 0, 0, 72 [SEP] 6, Glassbottle, 0.454, 1.260, -1.776, 0, 0, 0, 77 [SEP] 7, Pot, 3.031, 1.464, -1.235, 0, 270, 0, 75 [SEP] 8, Spatula, 3.069, 0.762, 0.032, 0, 90, 0, 106 [SEP] 9, Spatula, -0.909, 0.721, 0.163, 0, 270, 0, 61 [SEP] 10, Spoon, 3.028, 0.748, 0.032, 0, 180, 0, 106 [SEP] 11, Spoon, 0.156, 0.901, -1.379, 0, 45, 0, 82 [SEP] 12, Fork, 1.622, 0.908, 0.747, 0, 0, 0, 92 [SEP] 13, CellPhone, 0.468, 0.703, -1.434, 0, 0, 0, 69 [SEP] 14, Mug, -0.299, 1.258, -1.534, 0, 135, 0, 78 [SEP] 15, Lettuce, -0.806, 0.965, -0.722, 0, 45, 0, 61 [SEP] 16, SaltShaker, 0.239, 0.509, -1.475, 0, 0, 0, 47 [SEP] 17, PepperShaker, 2.966, 0.897, -0.499, 0, 0, 0, 60 [SEP] 18, SoapBottle, 0.494, 0.909, -1.373, 0, 0, 0, 82 [SEP] 19, Cup, 2.971, 0.173, -0.702, 0, 0, 0, 73 [SEP] 20, Knife, 0.716, 0.936, 0.135, 0, 36.810, 0, 92 [SEP] 21, Knife, 0.622, 0.936, 0.727, 0, 0, 0, 92 [SEP] 22, Plate, 3.181, 1.477, -1.648, 0, 0, 0, 59 [SEP] 23, Glassbottle, 0.254, 1.260, -1.741, 0, 0, 0, 77 [SEP] 24, SoapBottle, 0.101, 0.909, -1.660, 0, 0, 0, 82 [SEP] 25, Potato, 1.008, 1.111, -1.503, 0, 0, 0, 107 [SEP] 26, Fork, 0.783, 0.908, 0.572, 0, 36.810, 0, 92 [SEP] 27, Ladle, 1.009, 0.945, 0.525, 0, 36.810, 0, 92 [SEP] 28, Pot, -0.600, 0.902, -1.090, 0, 135, 0, 50 [SEP] 29, Kettle, -0.237, 0.900, -1.099, 0, 45, 0, 90 [SEP] 30, Spatula, -0.827, 0.341, 0.163, 0, 270, 0, 66 [SEP] 31, Knife, -0.285, 0.925, -1.450, 0, 135, 0, 82 [SEP] 32, Lettuce, 0.798, 0.973, 0.426, 0, 0, 0, 92 [SEP] 33, Cup, 3.122, 0.898, -0.599, 0, 0, 0, 60 [SEP] 34, SaltShaker, -0.005, 0.129, -1.280, 0, 45, 0, 86 [SEP] 35, Egg, 0.836, 0.963, 0.747, 0, 0, 0, 92 [SEP] 36, PepperShaker, -0.745, 0.127, 0.576, 0, 0, 0, 62 [SEP] 37, ButterKnife, 0.667, 0.908, 0.416, 0, 36.810, 0, 92 [SEP] 38, Apple, -1.052, 1.071, 1.258, 0, 90, 0, 109 [SEP] 39, Pan, 0.341, 0.873, -1.649, 0, 167.065, 0, 82 [SEP] 40, Bread, -1.008, 0.979, 0.399, 0, 0, 0, 61 [SEP] 41, CellPhone, 0.497, 0.908, 0.421, 0, 36.810, 0, 92 [SEP] 42, DishSponge, -0.909, 0.130, -0.186, 0, 0, 0, 81 [SEP] 43, Tomato, 0.356, 0.945, 0.527, 0, 0, 0, 92 [SEP] 44, Spoon, 3.111, 0.748, 0.298, 0, 0, 0, 106 [SEP] 45, Bowl, 0.760, 1.671, -1.410, 0, 0, 0, 76 [SEP] 46, Mug, 3.049, 0.966, 0.591, 0, 270, 0, 104 [SEP] 47, Drawer, 0.376, 0.572, -1.509, 0, 0, 0, [SEP] 48, Drawer, 3.020, 0.769, -0.783, 0, 180, 0, [SEP] 49, Drawer, -0.860, 0.577, 1.429, 0, 0, 0, [SEP] 50, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0, [SEP] 51, Drawer, 0.376, 0.191, -1.509, 0, 0, 0, [SEP] 52, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0, [SEP] 53, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0, [SEP] 54, Drawer, -0.860, 0.765, 1.429, 0, 0, 0, [SEP] 55, Drawer, -0.677, 0.765, -0.700, 0, 0, 0, [SEP] 56, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0, [SEP] 57, Drawer, 3.020, 0.769, -0.407, 0, 180, 0, [SEP] 58, Drawer, -0.860, 0.577, 0.663, 0, 0, 0, [SEP] 59, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0, [SEP] 60, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0, [SEP] 61, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0, [SEP] 62, Drawer, -0.860, 0.385, 0.663, 0, 0, 0, [SEP] 63, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0, [SEP] 64, Drawer, -0.047, 0.573, -1.324, 0, 0, 0, [SEP] 65, Drawer, -0.860, 0.765, 0.663, 0, 0, 0, [SEP] 66, Drawer, -0.860, 0.385, -0.100, 0, 0, 0, [SEP] 67, Drawer, 0.376, 0.380, -1.509, 0, 0, 0, [SEP] 68, Drawer, -0.860, 0.765, -0.100, 0, 0, 0, [SEP] 69, Drawer, 0.376, 0.765, -1.509, 0, 0, 0, [SEP] 70, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0, [SEP] 71, Drawer, -0.047, 0.765, -1.324, 0, 0, 0, [SEP] 72, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0, [SEP] 73, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0, [SEP] 74, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0, [SEP] 75, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0, [SEP] 76, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0, [SEP] 77, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0, [SEP] 78, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0, [SEP] 79, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0, [SEP] 80, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0, [SEP] 81, Drawer, -0.860, 0.190, -0.100, 0, 0, 0, [SEP] 82, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0, [SEP] 83, Drawer, 3.020, 0.769, 0.695, 0, 180, 0, [SEP] 84, Drawer, -0.677, 0.577, -0.700, 0, 0, 0, [SEP] 85, Drawer, -0.860, 0.190, 1.429, 0, 0, 0, [SEP] 86, Drawer, -0.047, 0.192, -1.324, 0, 0, 0, [SEP] 87, Drawer, -0.677, 0.193, -0.700, 0, 0, 0, [SEP] 88, Drawer, -0.860, 0.577, -0.100, 0, 0, 0, [SEP] 89, Sink, 3.078, 0.887, 0.086, 0, 0, 0, [SEP] 90, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0, [SEP] 91, Drawer, -0.860, 0.190, 0.663, 0, 0, 0, [SEP] 92, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0, [SEP] 93, Drawer, -0.047, 0.381, -1.324, 0, 0, 0, [SEP] 94, Drawer, -0.677, 0.387, -0.700, 0, 0, 0, [SEP] 95, Mirror, -1.295, 1.630, 0.045, 0, 0, 0, [SEP] 96, Drawer, -0.860, 0.385, 1.429, 0, 0, 0, [SEP] 97, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0, [SEP] 98, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0, [SEP] 99, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0, [SEP] 100, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0, [SEP] 101, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0, [SEP] 102, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0, [SEP] 103, Window, 3.703, 1.675, 0.046, 90, 90, 0, [SEP] 104, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0, [SEP] 105, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0, [SEP] 106, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0, [SEP] 107, Fridge, 1.008, 0.029, -1.467, 0, 0, 0, [SEP] 108, Toaster, -1.035, 0.873, -0.396, 0, 90, 0, [SEP] 109, Microwave, -1.034, 0.874, 1.428, 0, 90, 0, [SEP] 110, Faucet, 3.305, 0.886, 0.094, 270, 180, 0, [SEP] 111, NorthWall, , , , , , , [SEP] 112, EastWall, , , , , , , [SEP] 113, SouthWall, , , , , , , [SEP] 114, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, hang a right around the counter and walk to the counter ahead with the toaster. | STEP 2: Pick up the knife to the right of the toaster on the counter. | STEP 3: Turn left, hang a left at the stove and walk to the sink ahead. | STEP 4: Put the knife inside the sink to the right of the spoon, rinse it for a few seconds and pick it back up. | STEP 5: Turn around, walk towards the fridge, and turn around again to face the cabinets under the counter to the right of the sink. | STEP 6: Put the rinsed knife inside the far right drawer and close the drawer. | END"]} +{"id": "trial_T20190908_052007_212776-1", "input": "Put a cleaned knife in a drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.0, 0.930, 0.25, 0, 270, 0, [SEP] 1, Potato, 1.164, 0.749, -1.459, 0, 0, 0, 107 [SEP] 2, Potato, -1.119, 1.036, 1.470, 0, 90, 0, 109 [SEP] 3, DishSponge, -0.192, 0.899, -1.542, 0, 45, 0, 82 [SEP] 4, ButterKnife, -0.935, 0.900, -0.047, 0, 0, 0, 61 [SEP] 5, Glassbottle, 3.084, 0.176, -0.404, 0, 0, 0, 72 [SEP] 6, Glassbottle, 0.454, 1.260, -1.776, 0, 0, 0, 77 [SEP] 7, Pot, 3.031, 1.464, -1.235, 0, 270, 0, 75 [SEP] 8, Spatula, 3.069, 0.762, 0.032, 0, 90, 0, 106 [SEP] 9, Spatula, -0.909, 0.721, 0.163, 0, 270, 0, 61 [SEP] 10, Spoon, 3.028, 0.748, 0.032, 0, 180, 0, 106 [SEP] 11, Spoon, 0.156, 0.901, -1.379, 0, 45, 0, 82 [SEP] 12, Fork, 1.622, 0.908, 0.747, 0, 0, 0, 92 [SEP] 13, CellPhone, 0.468, 0.703, -1.434, 0, 0, 0, 69 [SEP] 14, Mug, -0.299, 1.258, -1.534, 0, 135, 0, 78 [SEP] 15, Lettuce, -0.806, 0.965, -0.722, 0, 45, 0, 61 [SEP] 16, SaltShaker, 0.239, 0.509, -1.475, 0, 0, 0, 47 [SEP] 17, PepperShaker, 2.966, 0.897, -0.499, 0, 0, 0, 60 [SEP] 18, SoapBottle, 0.494, 0.909, -1.373, 0, 0, 0, 82 [SEP] 19, Cup, 2.971, 0.173, -0.702, 0, 0, 0, 73 [SEP] 20, Knife, 0.716, 0.936, 0.135, 0, 36.810, 0, 92 [SEP] 21, Knife, 0.622, 0.936, 0.727, 0, 0, 0, 92 [SEP] 22, Plate, 3.181, 1.477, -1.648, 0, 0, 0, 59 [SEP] 23, Glassbottle, 0.254, 1.260, -1.741, 0, 0, 0, 77 [SEP] 24, SoapBottle, 0.101, 0.909, -1.660, 0, 0, 0, 82 [SEP] 25, Potato, 1.008, 1.111, -1.503, 0, 0, 0, 107 [SEP] 26, Fork, 0.783, 0.908, 0.572, 0, 36.810, 0, 92 [SEP] 27, Ladle, 1.009, 0.945, 0.525, 0, 36.810, 0, 92 [SEP] 28, Pot, -0.600, 0.902, -1.090, 0, 135, 0, 50 [SEP] 29, Kettle, -0.237, 0.900, -1.099, 0, 45, 0, 90 [SEP] 30, Spatula, -0.827, 0.341, 0.163, 0, 270, 0, 66 [SEP] 31, Knife, -0.285, 0.925, -1.450, 0, 135, 0, 82 [SEP] 32, Lettuce, 0.798, 0.973, 0.426, 0, 0, 0, 92 [SEP] 33, Cup, 3.122, 0.898, -0.599, 0, 0, 0, 60 [SEP] 34, SaltShaker, -0.005, 0.129, -1.280, 0, 45, 0, 86 [SEP] 35, Egg, 0.836, 0.963, 0.747, 0, 0, 0, 92 [SEP] 36, PepperShaker, -0.745, 0.127, 0.576, 0, 0, 0, 62 [SEP] 37, ButterKnife, 0.667, 0.908, 0.416, 0, 36.810, 0, 92 [SEP] 38, Apple, -1.052, 1.071, 1.258, 0, 90, 0, 109 [SEP] 39, Pan, 0.341, 0.873, -1.649, 0, 167.065, 0, 82 [SEP] 40, Bread, -1.008, 0.979, 0.399, 0, 0, 0, 61 [SEP] 41, CellPhone, 0.497, 0.908, 0.421, 0, 36.810, 0, 92 [SEP] 42, DishSponge, -0.909, 0.130, -0.186, 0, 0, 0, 81 [SEP] 43, Tomato, 0.356, 0.945, 0.527, 0, 0, 0, 92 [SEP] 44, Spoon, 3.111, 0.748, 0.298, 0, 0, 0, 106 [SEP] 45, Bowl, 0.760, 1.671, -1.410, 0, 0, 0, 76 [SEP] 46, Mug, 3.049, 0.966, 0.591, 0, 270, 0, 104 [SEP] 47, Drawer, 0.376, 0.572, -1.509, 0, 0, 0, [SEP] 48, Drawer, 3.020, 0.769, -0.783, 0, 180, 0, [SEP] 49, Drawer, -0.860, 0.577, 1.429, 0, 0, 0, [SEP] 50, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0, [SEP] 51, Drawer, 0.376, 0.191, -1.509, 0, 0, 0, [SEP] 52, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0, [SEP] 53, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0, [SEP] 54, Drawer, -0.860, 0.765, 1.429, 0, 0, 0, [SEP] 55, Drawer, -0.677, 0.765, -0.700, 0, 0, 0, [SEP] 56, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0, [SEP] 57, Drawer, 3.020, 0.769, -0.407, 0, 180, 0, [SEP] 58, Drawer, -0.860, 0.577, 0.663, 0, 0, 0, [SEP] 59, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0, [SEP] 60, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0, [SEP] 61, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0, [SEP] 62, Drawer, -0.860, 0.385, 0.663, 0, 0, 0, [SEP] 63, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0, [SEP] 64, Drawer, -0.047, 0.573, -1.324, 0, 0, 0, [SEP] 65, Drawer, -0.860, 0.765, 0.663, 0, 0, 0, [SEP] 66, Drawer, -0.860, 0.385, -0.100, 0, 0, 0, [SEP] 67, Drawer, 0.376, 0.380, -1.509, 0, 0, 0, [SEP] 68, Drawer, -0.860, 0.765, -0.100, 0, 0, 0, [SEP] 69, Drawer, 0.376, 0.765, -1.509, 0, 0, 0, [SEP] 70, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0, [SEP] 71, Drawer, -0.047, 0.765, -1.324, 0, 0, 0, [SEP] 72, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0, [SEP] 73, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0, [SEP] 74, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0, [SEP] 75, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0, [SEP] 76, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0, [SEP] 77, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0, [SEP] 78, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0, [SEP] 79, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0, [SEP] 80, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0, [SEP] 81, Drawer, -0.860, 0.190, -0.100, 0, 0, 0, [SEP] 82, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0, [SEP] 83, Drawer, 3.020, 0.769, 0.695, 0, 180, 0, [SEP] 84, Drawer, -0.677, 0.577, -0.700, 0, 0, 0, [SEP] 85, Drawer, -0.860, 0.190, 1.429, 0, 0, 0, [SEP] 86, Drawer, -0.047, 0.192, -1.324, 0, 0, 0, [SEP] 87, Drawer, -0.677, 0.193, -0.700, 0, 0, 0, [SEP] 88, Drawer, -0.860, 0.577, -0.100, 0, 0, 0, [SEP] 89, Sink, 3.078, 0.887, 0.086, 0, 0, 0, [SEP] 90, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0, [SEP] 91, Drawer, -0.860, 0.190, 0.663, 0, 0, 0, [SEP] 92, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0, [SEP] 93, Drawer, -0.047, 0.381, -1.324, 0, 0, 0, [SEP] 94, Drawer, -0.677, 0.387, -0.700, 0, 0, 0, [SEP] 95, Mirror, -1.295, 1.630, 0.045, 0, 0, 0, [SEP] 96, Drawer, -0.860, 0.385, 1.429, 0, 0, 0, [SEP] 97, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0, [SEP] 98, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0, [SEP] 99, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0, [SEP] 100, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0, [SEP] 101, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0, [SEP] 102, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0, [SEP] 103, Window, 3.703, 1.675, 0.046, 90, 90, 0, [SEP] 104, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0, [SEP] 105, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0, [SEP] 106, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0, [SEP] 107, Fridge, 1.008, 0.029, -1.467, 0, 0, 0, [SEP] 108, Toaster, -1.035, 0.873, -0.396, 0, 90, 0, [SEP] 109, Microwave, -1.034, 0.874, 1.428, 0, 90, 0, [SEP] 110, Faucet, 3.305, 0.886, 0.094, 270, 180, 0, [SEP] 111, NorthWall, , , , , , , [SEP] 112, EastWall, , , , , , , [SEP] 113, SouthWall, , , , , , , [SEP] 114, WestWall, , , , , , , ", "output": ["STEP 1: Move around the left side of the island, go to the toaster on the counter. | STEP 2: Pick up the knife next to the toaster. | STEP 3: Turn around, bring the knife to the sink on the other side of the island. | STEP 4: Wash the knife in the sink. | STEP 5: Bring the knife to the the second drawer, right of the sink. | STEP 6: Put the knife in the right drawer. | END"]} +{"id": "trial_T20190908_052007_212776-2", "input": "place a clean knife in the drawer SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.0, 0.930, 0.25, 0, 270, 0, [SEP] 1, Potato, 1.164, 0.749, -1.459, 0, 0, 0, 107 [SEP] 2, Potato, -1.119, 1.036, 1.470, 0, 90, 0, 109 [SEP] 3, DishSponge, -0.192, 0.899, -1.542, 0, 45, 0, 82 [SEP] 4, ButterKnife, -0.935, 0.900, -0.047, 0, 0, 0, 61 [SEP] 5, Glassbottle, 3.084, 0.176, -0.404, 0, 0, 0, 72 [SEP] 6, Glassbottle, 0.454, 1.260, -1.776, 0, 0, 0, 77 [SEP] 7, Pot, 3.031, 1.464, -1.235, 0, 270, 0, 75 [SEP] 8, Spatula, 3.069, 0.762, 0.032, 0, 90, 0, 106 [SEP] 9, Spatula, -0.909, 0.721, 0.163, 0, 270, 0, 61 [SEP] 10, Spoon, 3.028, 0.748, 0.032, 0, 180, 0, 106 [SEP] 11, Spoon, 0.156, 0.901, -1.379, 0, 45, 0, 82 [SEP] 12, Fork, 1.622, 0.908, 0.747, 0, 0, 0, 92 [SEP] 13, CellPhone, 0.468, 0.703, -1.434, 0, 0, 0, 69 [SEP] 14, Mug, -0.299, 1.258, -1.534, 0, 135, 0, 78 [SEP] 15, Lettuce, -0.806, 0.965, -0.722, 0, 45, 0, 61 [SEP] 16, SaltShaker, 0.239, 0.509, -1.475, 0, 0, 0, 47 [SEP] 17, PepperShaker, 2.966, 0.897, -0.499, 0, 0, 0, 60 [SEP] 18, SoapBottle, 0.494, 0.909, -1.373, 0, 0, 0, 82 [SEP] 19, Cup, 2.971, 0.173, -0.702, 0, 0, 0, 73 [SEP] 20, Knife, 0.716, 0.936, 0.135, 0, 36.810, 0, 92 [SEP] 21, Knife, 0.622, 0.936, 0.727, 0, 0, 0, 92 [SEP] 22, Plate, 3.181, 1.477, -1.648, 0, 0, 0, 59 [SEP] 23, Glassbottle, 0.254, 1.260, -1.741, 0, 0, 0, 77 [SEP] 24, SoapBottle, 0.101, 0.909, -1.660, 0, 0, 0, 82 [SEP] 25, Potato, 1.008, 1.111, -1.503, 0, 0, 0, 107 [SEP] 26, Fork, 0.783, 0.908, 0.572, 0, 36.810, 0, 92 [SEP] 27, Ladle, 1.009, 0.945, 0.525, 0, 36.810, 0, 92 [SEP] 28, Pot, -0.600, 0.902, -1.090, 0, 135, 0, 50 [SEP] 29, Kettle, -0.237, 0.900, -1.099, 0, 45, 0, 90 [SEP] 30, Spatula, -0.827, 0.341, 0.163, 0, 270, 0, 66 [SEP] 31, Knife, -0.285, 0.925, -1.450, 0, 135, 0, 82 [SEP] 32, Lettuce, 0.798, 0.973, 0.426, 0, 0, 0, 92 [SEP] 33, Cup, 3.122, 0.898, -0.599, 0, 0, 0, 60 [SEP] 34, SaltShaker, -0.005, 0.129, -1.280, 0, 45, 0, 86 [SEP] 35, Egg, 0.836, 0.963, 0.747, 0, 0, 0, 92 [SEP] 36, PepperShaker, -0.745, 0.127, 0.576, 0, 0, 0, 62 [SEP] 37, ButterKnife, 0.667, 0.908, 0.416, 0, 36.810, 0, 92 [SEP] 38, Apple, -1.052, 1.071, 1.258, 0, 90, 0, 109 [SEP] 39, Pan, 0.341, 0.873, -1.649, 0, 167.065, 0, 82 [SEP] 40, Bread, -1.008, 0.979, 0.399, 0, 0, 0, 61 [SEP] 41, CellPhone, 0.497, 0.908, 0.421, 0, 36.810, 0, 92 [SEP] 42, DishSponge, -0.909, 0.130, -0.186, 0, 0, 0, 81 [SEP] 43, Tomato, 0.356, 0.945, 0.527, 0, 0, 0, 92 [SEP] 44, Spoon, 3.111, 0.748, 0.298, 0, 0, 0, 106 [SEP] 45, Bowl, 0.760, 1.671, -1.410, 0, 0, 0, 76 [SEP] 46, Mug, 3.049, 0.966, 0.591, 0, 270, 0, 104 [SEP] 47, Drawer, 0.376, 0.572, -1.509, 0, 0, 0, [SEP] 48, Drawer, 3.020, 0.769, -0.783, 0, 180, 0, [SEP] 49, Drawer, -0.860, 0.577, 1.429, 0, 0, 0, [SEP] 50, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0, [SEP] 51, Drawer, 0.376, 0.191, -1.509, 0, 0, 0, [SEP] 52, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0, [SEP] 53, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0, [SEP] 54, Drawer, -0.860, 0.765, 1.429, 0, 0, 0, [SEP] 55, Drawer, -0.677, 0.765, -0.700, 0, 0, 0, [SEP] 56, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0, [SEP] 57, Drawer, 3.020, 0.769, -0.407, 0, 180, 0, [SEP] 58, Drawer, -0.860, 0.577, 0.663, 0, 0, 0, [SEP] 59, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0, [SEP] 60, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0, [SEP] 61, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0, [SEP] 62, Drawer, -0.860, 0.385, 0.663, 0, 0, 0, [SEP] 63, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0, [SEP] 64, Drawer, -0.047, 0.573, -1.324, 0, 0, 0, [SEP] 65, Drawer, -0.860, 0.765, 0.663, 0, 0, 0, [SEP] 66, Drawer, -0.860, 0.385, -0.100, 0, 0, 0, [SEP] 67, Drawer, 0.376, 0.380, -1.509, 0, 0, 0, [SEP] 68, Drawer, -0.860, 0.765, -0.100, 0, 0, 0, [SEP] 69, Drawer, 0.376, 0.765, -1.509, 0, 0, 0, [SEP] 70, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0, [SEP] 71, Drawer, -0.047, 0.765, -1.324, 0, 0, 0, [SEP] 72, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0, [SEP] 73, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0, [SEP] 74, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0, [SEP] 75, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0, [SEP] 76, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0, [SEP] 77, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0, [SEP] 78, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0, [SEP] 79, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0, [SEP] 80, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0, [SEP] 81, Drawer, -0.860, 0.190, -0.100, 0, 0, 0, [SEP] 82, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0, [SEP] 83, Drawer, 3.020, 0.769, 0.695, 0, 180, 0, [SEP] 84, Drawer, -0.677, 0.577, -0.700, 0, 0, 0, [SEP] 85, Drawer, -0.860, 0.190, 1.429, 0, 0, 0, [SEP] 86, Drawer, -0.047, 0.192, -1.324, 0, 0, 0, [SEP] 87, Drawer, -0.677, 0.193, -0.700, 0, 0, 0, [SEP] 88, Drawer, -0.860, 0.577, -0.100, 0, 0, 0, [SEP] 89, Sink, 3.078, 0.887, 0.086, 0, 0, 0, [SEP] 90, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0, [SEP] 91, Drawer, -0.860, 0.190, 0.663, 0, 0, 0, [SEP] 92, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0, [SEP] 93, Drawer, -0.047, 0.381, -1.324, 0, 0, 0, [SEP] 94, Drawer, -0.677, 0.387, -0.700, 0, 0, 0, [SEP] 95, Mirror, -1.295, 1.630, 0.045, 0, 0, 0, [SEP] 96, Drawer, -0.860, 0.385, 1.429, 0, 0, 0, [SEP] 97, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0, [SEP] 98, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0, [SEP] 99, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0, [SEP] 100, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0, [SEP] 101, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0, [SEP] 102, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0, [SEP] 103, Window, 3.703, 1.675, 0.046, 90, 90, 0, [SEP] 104, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0, [SEP] 105, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0, [SEP] 106, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0, [SEP] 107, Fridge, 1.008, 0.029, -1.467, 0, 0, 0, [SEP] 108, Toaster, -1.035, 0.873, -0.396, 0, 90, 0, [SEP] 109, Microwave, -1.034, 0.874, 1.428, 0, 90, 0, [SEP] 110, Faucet, 3.305, 0.886, 0.094, 270, 180, 0, [SEP] 111, NorthWall, , , , , , , [SEP] 112, EastWall, , , , , , , [SEP] 113, SouthWall, , , , , , , [SEP] 114, WestWall, , , , , , , ", "output": ["STEP 1: move forward to the table | STEP 2: pick up the knife from the table | STEP 3: head right to the sink | STEP 4: rinse the knife in the sink | STEP 5: turn right and head to the drawer by the sink | STEP 6: place the knife in the drawer | END"]} +{"id": "trial_T20190907_113142_479158-0", "input": "place a pan down on the kitchen table with a potato inside of it SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.869, -2.5, 0, 0, 0, [SEP] 1, Potato, 0.661, 0.698, 0.508, 0, 0, 0, 43 [SEP] 2, Potato, 0.803, 0.916, -0.314, 0, 0, 0, 38 [SEP] 3, Potato, 0.669, 1.407, -1.725, 0, 270, 0, 58 [SEP] 4, ButterKnife, 0.877, 0.883, -0.176, 0, 0, 0, 38 [SEP] 5, ButterKnife, 0.149, 0.900, 1.187, 0, 270, 0, 64 [SEP] 6, Fork, 0.757, 0.773, -0.570, 0, 270, 0, 61 [SEP] 7, Pot, -2.097, 0.930, 0.785, 0, 0, 0, 40 [SEP] 8, Egg, 0.708, 0.502, -1.958, 0, 270, 0, 58 [SEP] 9, Cup, 0.621, 0.014, -0.768, 0, 0, 0, 41 [SEP] 10, Cup, 0.842, 0.014, 0.011, 0, 0, 0, 48 [SEP] 11, Knife, -0.453, 0.923, 1.272, 0, 0, 0, 64 [SEP] 12, Tomato, 0.841, 0.712, 0.448, 0, 0, 0, 43 [SEP] 13, Tomato, 0.841, 0.820, -0.790, 0, 270, 0, 61 [SEP] 14, SoapBottle, -1.803, 0.701, -1.524, 0, 0, 0, 74 [SEP] 15, Lettuce, 0.785, 0.751, -1.958, 0, 270, 0, 58 [SEP] 16, Pot, -1.555, 0.930, 1.049, 0, 0, 0, 47 [SEP] 17, Plate, -1.719, 0.705, -0.983, 0, 0, 0, 74 [SEP] 18, Fork, 0.961, 0.665, 0.387, 0, 90, 0, 43 [SEP] 19, SoapBottle, -1.297, 0.051, -3.647, 0, 270, 0, 53 [SEP] 20, Apple, 0.582, 0.937, -0.314, 0, 0, 0, 38 [SEP] 21, Pan, -0.051, 0.899, 1.101, 0, 0, 0, 64 [SEP] 22, Egg, -1.949, 0.836, -3.673, 0, 0, 0, 60 [SEP] 23, Spatula, 0.817, 0.774, -0.252, 0, 90, 0, 37 [SEP] 24, Potato, -1.790, 0.832, -3.738, 0, 0, 0, 60 [SEP] 25, Cup, 0.149, 0.899, 1.015, 0, 270, 0, 64 [SEP] 26, SaltShaker, 0.655, 0.879, -0.245, 0, 0, 0, 38 [SEP] 27, PepperShaker, 0.661, 0.661, 0.265, 0, 0, 0, 43 [SEP] 28, ButterKnife, -1.056, 0.900, 1.101, 0, 270, 0, 64 [SEP] 29, DishSponge, -1.620, 0.699, -3.614, 0, 0, 0, 65 [SEP] 30, Bread, -0.873, 0.931, 0.978, 0, 24.231, 0, 64 [SEP] 31, Lettuce, 0.746, 1.246, -1.802, 0, 270, 0, 58 [SEP] 32, Tomato, 0.824, 0.713, -1.802, 0, 270, 0, 58 [SEP] 33, Spoon, -1.056, 0.901, 0.843, 0, 270, 0, 64 [SEP] 34, Knife, 0.623, 0.783, 0.002, 0, 270, 0, 37 [SEP] 35, Mug, 0.785, 1.153, -2.035, 0, 270, 0, 58 [SEP] 36, Bowl, 0.732, 0.014, -0.184, 0, 0, 0, 48 [SEP] 37, Drawer, 0.706, 0.766, -0.125, 0, 0, 0, [SEP] 38, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0, [SEP] 39, Mirror, 1.093, 1.602, -0.643, 0, 0, 0, [SEP] 40, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0, [SEP] 41, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0, [SEP] 42, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0, [SEP] 43, SideTable, 0.770, -0.030, 0.443, 0, 0, 0, [SEP] 44, Sink, 0.753, 0.882, -0.680, 0, 0, 0, [SEP] 45, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0, [SEP] 46, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489, [SEP] 47, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0, [SEP] 48, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0, [SEP] 49, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0, [SEP] 50, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0, [SEP] 51, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0, [SEP] 52, Toaster, -0.522, 0.886, 1.081, 0, 180, 0, [SEP] 53, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0, [SEP] 54, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180, [SEP] 55, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180, [SEP] 56, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180, [SEP] 57, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180, [SEP] 58, Fridge, 0.680, -0.031, -1.957, 0, 0, 0, [SEP] 59, Window, -2.424, 1.639, -2.453, 90, 270, 0, [SEP] 60, Microwave, -1.994, 0.690, -3.651, 0, 0, 0, [SEP] 61, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0, [SEP] 62, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0, [SEP] 63, Shelf, -0.350, 0.124, 0.857, 0, 0, 0, [SEP] 64, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0, [SEP] 65, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0, [SEP] 66, Blinds, -2.343, 2.151, -2.437, 0, 270, 0, [SEP] 67, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0, [SEP] 68, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0, [SEP] 69, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0, [SEP] 70, Shelf, 0.771, 0.226, 0.445, 0, 0, 0, [SEP] 71, Shelf, 0.771, 0.456, 0.446, 0, 0, 0, [SEP] 72, Faucet, 1.025, 0.873, -0.678, 270, 180, 0, [SEP] 73, Shelf, -0.350, 0.497, 0.857, 0, 0, 0, [SEP] 74, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0, [SEP] 75, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0, [SEP] 76, NorthWall, , , , , , , [SEP] 77, EastWall, , , , , , , [SEP] 78, SouthWall, , , , , , , [SEP] 79, WestWall, , , , , , , ", "output": ["STEP 1: walk straight ahead, and then to the sink on your right | STEP 2: grab the butter knife off of the kitchen counter to the left of the sink | STEP 3: slice up the potato on top of the kitchen counter | STEP 4: place the knife down on the kitchen counter | STEP 5: pick up a potato slice off of the kitchen counter | STEP 6: turn around and walk over to the kitchen stove on the right at the end of the room | STEP 7: place the potato slice in the pan on the bottom left burner | STEP 8: pick the pan up off of the burner | STEP 9: turn around and walk over to the kitchen table on your right | STEP 10: place the pan down on top of the kitchen table | END"]} +{"id": "trial_T20190907_113142_479158-1", "input": "Place a pan containing sliced potato's on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.869, -2.5, 0, 0, 0, [SEP] 1, Potato, 0.661, 0.698, 0.508, 0, 0, 0, 43 [SEP] 2, Potato, 0.803, 0.916, -0.314, 0, 0, 0, 38 [SEP] 3, Potato, 0.669, 1.407, -1.725, 0, 270, 0, 58 [SEP] 4, ButterKnife, 0.877, 0.883, -0.176, 0, 0, 0, 38 [SEP] 5, ButterKnife, 0.149, 0.900, 1.187, 0, 270, 0, 64 [SEP] 6, Fork, 0.757, 0.773, -0.570, 0, 270, 0, 61 [SEP] 7, Pot, -2.097, 0.930, 0.785, 0, 0, 0, 40 [SEP] 8, Egg, 0.708, 0.502, -1.958, 0, 270, 0, 58 [SEP] 9, Cup, 0.621, 0.014, -0.768, 0, 0, 0, 41 [SEP] 10, Cup, 0.842, 0.014, 0.011, 0, 0, 0, 48 [SEP] 11, Knife, -0.453, 0.923, 1.272, 0, 0, 0, 64 [SEP] 12, Tomato, 0.841, 0.712, 0.448, 0, 0, 0, 43 [SEP] 13, Tomato, 0.841, 0.820, -0.790, 0, 270, 0, 61 [SEP] 14, SoapBottle, -1.803, 0.701, -1.524, 0, 0, 0, 74 [SEP] 15, Lettuce, 0.785, 0.751, -1.958, 0, 270, 0, 58 [SEP] 16, Pot, -1.555, 0.930, 1.049, 0, 0, 0, 47 [SEP] 17, Plate, -1.719, 0.705, -0.983, 0, 0, 0, 74 [SEP] 18, Fork, 0.961, 0.665, 0.387, 0, 90, 0, 43 [SEP] 19, SoapBottle, -1.297, 0.051, -3.647, 0, 270, 0, 53 [SEP] 20, Apple, 0.582, 0.937, -0.314, 0, 0, 0, 38 [SEP] 21, Pan, -0.051, 0.899, 1.101, 0, 0, 0, 64 [SEP] 22, Egg, -1.949, 0.836, -3.673, 0, 0, 0, 60 [SEP] 23, Spatula, 0.817, 0.774, -0.252, 0, 90, 0, 37 [SEP] 24, Potato, -1.790, 0.832, -3.738, 0, 0, 0, 60 [SEP] 25, Cup, 0.149, 0.899, 1.015, 0, 270, 0, 64 [SEP] 26, SaltShaker, 0.655, 0.879, -0.245, 0, 0, 0, 38 [SEP] 27, PepperShaker, 0.661, 0.661, 0.265, 0, 0, 0, 43 [SEP] 28, ButterKnife, -1.056, 0.900, 1.101, 0, 270, 0, 64 [SEP] 29, DishSponge, -1.620, 0.699, -3.614, 0, 0, 0, 65 [SEP] 30, Bread, -0.873, 0.931, 0.978, 0, 24.231, 0, 64 [SEP] 31, Lettuce, 0.746, 1.246, -1.802, 0, 270, 0, 58 [SEP] 32, Tomato, 0.824, 0.713, -1.802, 0, 270, 0, 58 [SEP] 33, Spoon, -1.056, 0.901, 0.843, 0, 270, 0, 64 [SEP] 34, Knife, 0.623, 0.783, 0.002, 0, 270, 0, 37 [SEP] 35, Mug, 0.785, 1.153, -2.035, 0, 270, 0, 58 [SEP] 36, Bowl, 0.732, 0.014, -0.184, 0, 0, 0, 48 [SEP] 37, Drawer, 0.706, 0.766, -0.125, 0, 0, 0, [SEP] 38, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0, [SEP] 39, Mirror, 1.093, 1.602, -0.643, 0, 0, 0, [SEP] 40, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0, [SEP] 41, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0, [SEP] 42, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0, [SEP] 43, SideTable, 0.770, -0.030, 0.443, 0, 0, 0, [SEP] 44, Sink, 0.753, 0.882, -0.680, 0, 0, 0, [SEP] 45, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0, [SEP] 46, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489, [SEP] 47, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0, [SEP] 48, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0, [SEP] 49, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0, [SEP] 50, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0, [SEP] 51, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0, [SEP] 52, Toaster, -0.522, 0.886, 1.081, 0, 180, 0, [SEP] 53, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0, [SEP] 54, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180, [SEP] 55, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180, [SEP] 56, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180, [SEP] 57, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180, [SEP] 58, Fridge, 0.680, -0.031, -1.957, 0, 0, 0, [SEP] 59, Window, -2.424, 1.639, -2.453, 90, 270, 0, [SEP] 60, Microwave, -1.994, 0.690, -3.651, 0, 0, 0, [SEP] 61, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0, [SEP] 62, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0, [SEP] 63, Shelf, -0.350, 0.124, 0.857, 0, 0, 0, [SEP] 64, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0, [SEP] 65, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0, [SEP] 66, Blinds, -2.343, 2.151, -2.437, 0, 270, 0, [SEP] 67, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0, [SEP] 68, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0, [SEP] 69, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0, [SEP] 70, Shelf, 0.771, 0.226, 0.445, 0, 0, 0, [SEP] 71, Shelf, 0.771, 0.456, 0.446, 0, 0, 0, [SEP] 72, Faucet, 1.025, 0.873, -0.678, 270, 180, 0, [SEP] 73, Shelf, -0.350, 0.497, 0.857, 0, 0, 0, [SEP] 74, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0, [SEP] 75, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0, [SEP] 76, NorthWall, , , , , , , [SEP] 77, EastWall, , , , , , , [SEP] 78, SouthWall, , , , , , , [SEP] 79, WestWall, , , , , , , ", "output": ["STEP 1: Walk across the room and turn right at the sink so that you are facing it. | STEP 2: Pick up the butter knife located to the left of the salt on the kitchen counter. | STEP 3: Cut the potato that is behind the salt into slices. . | STEP 4: Place the butter knife back on the counter, beside the salt. | STEP 5: Pick up one of the potato slices previously cut. | STEP 6: Turn around and walk across the kitchen, turning right at the stove so that you are facing it. | STEP 7: Place the potato slice in the pan on the front, left, burner. | STEP 8: Remove the pan with the potato slice in it from the stove. | STEP 9: Turn around so that you are standing in between the sink and the dining table but facing the dining table. | STEP 10: Place the pan with the potato inside it, on the table, in the middle, between the pump bottle and the plate. | END"]} +{"id": "trial_T20190907_113142_479158-2", "input": "Put a pot with a potato on the small table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.869, -2.5, 0, 0, 0, [SEP] 1, Potato, 0.661, 0.698, 0.508, 0, 0, 0, 43 [SEP] 2, Potato, 0.803, 0.916, -0.314, 0, 0, 0, 38 [SEP] 3, Potato, 0.669, 1.407, -1.725, 0, 270, 0, 58 [SEP] 4, ButterKnife, 0.877, 0.883, -0.176, 0, 0, 0, 38 [SEP] 5, ButterKnife, 0.149, 0.900, 1.187, 0, 270, 0, 64 [SEP] 6, Fork, 0.757, 0.773, -0.570, 0, 270, 0, 61 [SEP] 7, Pot, -2.097, 0.930, 0.785, 0, 0, 0, 40 [SEP] 8, Egg, 0.708, 0.502, -1.958, 0, 270, 0, 58 [SEP] 9, Cup, 0.621, 0.014, -0.768, 0, 0, 0, 41 [SEP] 10, Cup, 0.842, 0.014, 0.011, 0, 0, 0, 48 [SEP] 11, Knife, -0.453, 0.923, 1.272, 0, 0, 0, 64 [SEP] 12, Tomato, 0.841, 0.712, 0.448, 0, 0, 0, 43 [SEP] 13, Tomato, 0.841, 0.820, -0.790, 0, 270, 0, 61 [SEP] 14, SoapBottle, -1.803, 0.701, -1.524, 0, 0, 0, 74 [SEP] 15, Lettuce, 0.785, 0.751, -1.958, 0, 270, 0, 58 [SEP] 16, Pot, -1.555, 0.930, 1.049, 0, 0, 0, 47 [SEP] 17, Plate, -1.719, 0.705, -0.983, 0, 0, 0, 74 [SEP] 18, Fork, 0.961, 0.665, 0.387, 0, 90, 0, 43 [SEP] 19, SoapBottle, -1.297, 0.051, -3.647, 0, 270, 0, 53 [SEP] 20, Apple, 0.582, 0.937, -0.314, 0, 0, 0, 38 [SEP] 21, Pan, -0.051, 0.899, 1.101, 0, 0, 0, 64 [SEP] 22, Egg, -1.949, 0.836, -3.673, 0, 0, 0, 60 [SEP] 23, Spatula, 0.817, 0.774, -0.252, 0, 90, 0, 37 [SEP] 24, Potato, -1.790, 0.832, -3.738, 0, 0, 0, 60 [SEP] 25, Cup, 0.149, 0.899, 1.015, 0, 270, 0, 64 [SEP] 26, SaltShaker, 0.655, 0.879, -0.245, 0, 0, 0, 38 [SEP] 27, PepperShaker, 0.661, 0.661, 0.265, 0, 0, 0, 43 [SEP] 28, ButterKnife, -1.056, 0.900, 1.101, 0, 270, 0, 64 [SEP] 29, DishSponge, -1.620, 0.699, -3.614, 0, 0, 0, 65 [SEP] 30, Bread, -0.873, 0.931, 0.978, 0, 24.231, 0, 64 [SEP] 31, Lettuce, 0.746, 1.246, -1.802, 0, 270, 0, 58 [SEP] 32, Tomato, 0.824, 0.713, -1.802, 0, 270, 0, 58 [SEP] 33, Spoon, -1.056, 0.901, 0.843, 0, 270, 0, 64 [SEP] 34, Knife, 0.623, 0.783, 0.002, 0, 270, 0, 37 [SEP] 35, Mug, 0.785, 1.153, -2.035, 0, 270, 0, 58 [SEP] 36, Bowl, 0.732, 0.014, -0.184, 0, 0, 0, 48 [SEP] 37, Drawer, 0.706, 0.766, -0.125, 0, 0, 0, [SEP] 38, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0, [SEP] 39, Mirror, 1.093, 1.602, -0.643, 0, 0, 0, [SEP] 40, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0, [SEP] 41, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0, [SEP] 42, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0, [SEP] 43, SideTable, 0.770, -0.030, 0.443, 0, 0, 0, [SEP] 44, Sink, 0.753, 0.882, -0.680, 0, 0, 0, [SEP] 45, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0, [SEP] 46, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489, [SEP] 47, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0, [SEP] 48, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0, [SEP] 49, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0, [SEP] 50, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0, [SEP] 51, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0, [SEP] 52, Toaster, -0.522, 0.886, 1.081, 0, 180, 0, [SEP] 53, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0, [SEP] 54, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180, [SEP] 55, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180, [SEP] 56, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180, [SEP] 57, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180, [SEP] 58, Fridge, 0.680, -0.031, -1.957, 0, 0, 0, [SEP] 59, Window, -2.424, 1.639, -2.453, 90, 270, 0, [SEP] 60, Microwave, -1.994, 0.690, -3.651, 0, 0, 0, [SEP] 61, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0, [SEP] 62, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0, [SEP] 63, Shelf, -0.350, 0.124, 0.857, 0, 0, 0, [SEP] 64, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0, [SEP] 65, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0, [SEP] 66, Blinds, -2.343, 2.151, -2.437, 0, 270, 0, [SEP] 67, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0, [SEP] 68, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0, [SEP] 69, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0, [SEP] 70, Shelf, 0.771, 0.226, 0.445, 0, 0, 0, [SEP] 71, Shelf, 0.771, 0.456, 0.446, 0, 0, 0, [SEP] 72, Faucet, 1.025, 0.873, -0.678, 270, 180, 0, [SEP] 73, Shelf, -0.350, 0.497, 0.857, 0, 0, 0, [SEP] 74, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0, [SEP] 75, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0, [SEP] 76, NorthWall, , , , , , , [SEP] 77, EastWall, , , , , , , [SEP] 78, SouthWall, , , , , , , [SEP] 79, WestWall, , , , , , , ", "output": ["STEP 1: Go to the counter by the sink | STEP 2: Pick up the knife on the counter | STEP 3: Cut the potato on the counter with the knife. | STEP 4: Put the knife on the counter. | STEP 5: Pick up the potato slice on the counter. | STEP 6: Turn around and go to the stove. | STEP 7: Put the potato slice in a pot on the left of the stove. | STEP 8: Pick up the pot from the stove. | STEP 9: Turn around and go to the small table. | STEP 10: Put the pot on the small table. | END"]} +{"id": "trial_T20190907_113142_479158-3", "input": "Put a metal pot a potato slice in it on a white table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.869, -2.5, 0, 0, 0, [SEP] 1, Potato, 0.661, 0.698, 0.508, 0, 0, 0, 43 [SEP] 2, Potato, 0.803, 0.916, -0.314, 0, 0, 0, 38 [SEP] 3, Potato, 0.669, 1.407, -1.725, 0, 270, 0, 58 [SEP] 4, ButterKnife, 0.877, 0.883, -0.176, 0, 0, 0, 38 [SEP] 5, ButterKnife, 0.149, 0.900, 1.187, 0, 270, 0, 64 [SEP] 6, Fork, 0.757, 0.773, -0.570, 0, 270, 0, 61 [SEP] 7, Pot, -2.097, 0.930, 0.785, 0, 0, 0, 40 [SEP] 8, Egg, 0.708, 0.502, -1.958, 0, 270, 0, 58 [SEP] 9, Cup, 0.621, 0.014, -0.768, 0, 0, 0, 41 [SEP] 10, Cup, 0.842, 0.014, 0.011, 0, 0, 0, 48 [SEP] 11, Knife, -0.453, 0.923, 1.272, 0, 0, 0, 64 [SEP] 12, Tomato, 0.841, 0.712, 0.448, 0, 0, 0, 43 [SEP] 13, Tomato, 0.841, 0.820, -0.790, 0, 270, 0, 61 [SEP] 14, SoapBottle, -1.803, 0.701, -1.524, 0, 0, 0, 74 [SEP] 15, Lettuce, 0.785, 0.751, -1.958, 0, 270, 0, 58 [SEP] 16, Pot, -1.555, 0.930, 1.049, 0, 0, 0, 47 [SEP] 17, Plate, -1.719, 0.705, -0.983, 0, 0, 0, 74 [SEP] 18, Fork, 0.961, 0.665, 0.387, 0, 90, 0, 43 [SEP] 19, SoapBottle, -1.297, 0.051, -3.647, 0, 270, 0, 53 [SEP] 20, Apple, 0.582, 0.937, -0.314, 0, 0, 0, 38 [SEP] 21, Pan, -0.051, 0.899, 1.101, 0, 0, 0, 64 [SEP] 22, Egg, -1.949, 0.836, -3.673, 0, 0, 0, 60 [SEP] 23, Spatula, 0.817, 0.774, -0.252, 0, 90, 0, 37 [SEP] 24, Potato, -1.790, 0.832, -3.738, 0, 0, 0, 60 [SEP] 25, Cup, 0.149, 0.899, 1.015, 0, 270, 0, 64 [SEP] 26, SaltShaker, 0.655, 0.879, -0.245, 0, 0, 0, 38 [SEP] 27, PepperShaker, 0.661, 0.661, 0.265, 0, 0, 0, 43 [SEP] 28, ButterKnife, -1.056, 0.900, 1.101, 0, 270, 0, 64 [SEP] 29, DishSponge, -1.620, 0.699, -3.614, 0, 0, 0, 65 [SEP] 30, Bread, -0.873, 0.931, 0.978, 0, 24.231, 0, 64 [SEP] 31, Lettuce, 0.746, 1.246, -1.802, 0, 270, 0, 58 [SEP] 32, Tomato, 0.824, 0.713, -1.802, 0, 270, 0, 58 [SEP] 33, Spoon, -1.056, 0.901, 0.843, 0, 270, 0, 64 [SEP] 34, Knife, 0.623, 0.783, 0.002, 0, 270, 0, 37 [SEP] 35, Mug, 0.785, 1.153, -2.035, 0, 270, 0, 58 [SEP] 36, Bowl, 0.732, 0.014, -0.184, 0, 0, 0, 48 [SEP] 37, Drawer, 0.706, 0.766, -0.125, 0, 0, 0, [SEP] 38, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0, [SEP] 39, Mirror, 1.093, 1.602, -0.643, 0, 0, 0, [SEP] 40, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0, [SEP] 41, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0, [SEP] 42, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0, [SEP] 43, SideTable, 0.770, -0.030, 0.443, 0, 0, 0, [SEP] 44, Sink, 0.753, 0.882, -0.680, 0, 0, 0, [SEP] 45, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0, [SEP] 46, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489, [SEP] 47, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0, [SEP] 48, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0, [SEP] 49, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0, [SEP] 50, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0, [SEP] 51, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0, [SEP] 52, Toaster, -0.522, 0.886, 1.081, 0, 180, 0, [SEP] 53, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0, [SEP] 54, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180, [SEP] 55, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180, [SEP] 56, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180, [SEP] 57, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180, [SEP] 58, Fridge, 0.680, -0.031, -1.957, 0, 0, 0, [SEP] 59, Window, -2.424, 1.639, -2.453, 90, 270, 0, [SEP] 60, Microwave, -1.994, 0.690, -3.651, 0, 0, 0, [SEP] 61, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0, [SEP] 62, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0, [SEP] 63, Shelf, -0.350, 0.124, 0.857, 0, 0, 0, [SEP] 64, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0, [SEP] 65, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0, [SEP] 66, Blinds, -2.343, 2.151, -2.437, 0, 270, 0, [SEP] 67, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0, [SEP] 68, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0, [SEP] 69, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0, [SEP] 70, Shelf, 0.771, 0.226, 0.445, 0, 0, 0, [SEP] 71, Shelf, 0.771, 0.456, 0.446, 0, 0, 0, [SEP] 72, Faucet, 1.025, 0.873, -0.678, 270, 180, 0, [SEP] 73, Shelf, -0.350, 0.497, 0.857, 0, 0, 0, [SEP] 74, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0, [SEP] 75, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0, [SEP] 76, NorthWall, , , , , , , [SEP] 77, EastWall, , , , , , , [SEP] 78, SouthWall, , , , , , , [SEP] 79, WestWall, , , , , , , ", "output": ["STEP 1: Begin walking across the room, then hang a right and walk up to the kitchen sink. | STEP 2: Pick up the butter knife that is on the counter to the left of the sink. | STEP 3: Slice up the sweet potato that is on the counter to the left of the sink. | STEP 4: Put the knife on the counter standing up in front of the salt shaker. | STEP 5: Pick up a piece of sliced potato. | STEP 6: Turn around and walk over to the wall, then turn right and walk up to the oven. | STEP 7: Place the piece of sliced potato in the metal pot that is on the front left burner of the stove. | STEP 8: Pick up the metal pot with the piece of sliced potato in it. | STEP 9: Turn right and begin walking across the room, then hang a right and walk over to the small white table on your right. | STEP 10: Place the metal pot with the potato slice in it onto the table in between the plate and bottle of lotion. | END"]} +{"id": "trial_T20190907_113142_479158-4", "input": "Cook a slice of potato and serve it on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.869, -2.5, 0, 0, 0, [SEP] 1, Potato, 0.661, 0.698, 0.508, 0, 0, 0, 43 [SEP] 2, Potato, 0.803, 0.916, -0.314, 0, 0, 0, 38 [SEP] 3, Potato, 0.669, 1.407, -1.725, 0, 270, 0, 58 [SEP] 4, ButterKnife, 0.877, 0.883, -0.176, 0, 0, 0, 38 [SEP] 5, ButterKnife, 0.149, 0.900, 1.187, 0, 270, 0, 64 [SEP] 6, Fork, 0.757, 0.773, -0.570, 0, 270, 0, 61 [SEP] 7, Pot, -2.097, 0.930, 0.785, 0, 0, 0, 40 [SEP] 8, Egg, 0.708, 0.502, -1.958, 0, 270, 0, 58 [SEP] 9, Cup, 0.621, 0.014, -0.768, 0, 0, 0, 41 [SEP] 10, Cup, 0.842, 0.014, 0.011, 0, 0, 0, 48 [SEP] 11, Knife, -0.453, 0.923, 1.272, 0, 0, 0, 64 [SEP] 12, Tomato, 0.841, 0.712, 0.448, 0, 0, 0, 43 [SEP] 13, Tomato, 0.841, 0.820, -0.790, 0, 270, 0, 61 [SEP] 14, SoapBottle, -1.803, 0.701, -1.524, 0, 0, 0, 74 [SEP] 15, Lettuce, 0.785, 0.751, -1.958, 0, 270, 0, 58 [SEP] 16, Pot, -1.555, 0.930, 1.049, 0, 0, 0, 47 [SEP] 17, Plate, -1.719, 0.705, -0.983, 0, 0, 0, 74 [SEP] 18, Fork, 0.961, 0.665, 0.387, 0, 90, 0, 43 [SEP] 19, SoapBottle, -1.297, 0.051, -3.647, 0, 270, 0, 53 [SEP] 20, Apple, 0.582, 0.937, -0.314, 0, 0, 0, 38 [SEP] 21, Pan, -0.051, 0.899, 1.101, 0, 0, 0, 64 [SEP] 22, Egg, -1.949, 0.836, -3.673, 0, 0, 0, 60 [SEP] 23, Spatula, 0.817, 0.774, -0.252, 0, 90, 0, 37 [SEP] 24, Potato, -1.790, 0.832, -3.738, 0, 0, 0, 60 [SEP] 25, Cup, 0.149, 0.899, 1.015, 0, 270, 0, 64 [SEP] 26, SaltShaker, 0.655, 0.879, -0.245, 0, 0, 0, 38 [SEP] 27, PepperShaker, 0.661, 0.661, 0.265, 0, 0, 0, 43 [SEP] 28, ButterKnife, -1.056, 0.900, 1.101, 0, 270, 0, 64 [SEP] 29, DishSponge, -1.620, 0.699, -3.614, 0, 0, 0, 65 [SEP] 30, Bread, -0.873, 0.931, 0.978, 0, 24.231, 0, 64 [SEP] 31, Lettuce, 0.746, 1.246, -1.802, 0, 270, 0, 58 [SEP] 32, Tomato, 0.824, 0.713, -1.802, 0, 270, 0, 58 [SEP] 33, Spoon, -1.056, 0.901, 0.843, 0, 270, 0, 64 [SEP] 34, Knife, 0.623, 0.783, 0.002, 0, 270, 0, 37 [SEP] 35, Mug, 0.785, 1.153, -2.035, 0, 270, 0, 58 [SEP] 36, Bowl, 0.732, 0.014, -0.184, 0, 0, 0, 48 [SEP] 37, Drawer, 0.706, 0.766, -0.125, 0, 0, 0, [SEP] 38, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0, [SEP] 39, Mirror, 1.093, 1.602, -0.643, 0, 0, 0, [SEP] 40, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0, [SEP] 41, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0, [SEP] 42, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0, [SEP] 43, SideTable, 0.770, -0.030, 0.443, 0, 0, 0, [SEP] 44, Sink, 0.753, 0.882, -0.680, 0, 0, 0, [SEP] 45, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0, [SEP] 46, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489, [SEP] 47, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0, [SEP] 48, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0, [SEP] 49, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0, [SEP] 50, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0, [SEP] 51, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0, [SEP] 52, Toaster, -0.522, 0.886, 1.081, 0, 180, 0, [SEP] 53, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0, [SEP] 54, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180, [SEP] 55, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180, [SEP] 56, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180, [SEP] 57, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180, [SEP] 58, Fridge, 0.680, -0.031, -1.957, 0, 0, 0, [SEP] 59, Window, -2.424, 1.639, -2.453, 90, 270, 0, [SEP] 60, Microwave, -1.994, 0.690, -3.651, 0, 0, 0, [SEP] 61, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0, [SEP] 62, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0, [SEP] 63, Shelf, -0.350, 0.124, 0.857, 0, 0, 0, [SEP] 64, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0, [SEP] 65, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0, [SEP] 66, Blinds, -2.343, 2.151, -2.437, 0, 270, 0, [SEP] 67, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0, [SEP] 68, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0, [SEP] 69, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0, [SEP] 70, Shelf, 0.771, 0.226, 0.445, 0, 0, 0, [SEP] 71, Shelf, 0.771, 0.456, 0.446, 0, 0, 0, [SEP] 72, Faucet, 1.025, 0.873, -0.678, 270, 180, 0, [SEP] 73, Shelf, -0.350, 0.497, 0.857, 0, 0, 0, [SEP] 74, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0, [SEP] 75, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0, [SEP] 76, NorthWall, , , , , , , [SEP] 77, EastWall, , , , , , , [SEP] 78, SouthWall, , , , , , , [SEP] 79, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the counter next to the sink | STEP 2: Pick up the knife on the counter | STEP 3: slice the potato next to the sink | STEP 4: pick up a slice of potato | STEP 5: put the knife back on the counter | STEP 6: turn around and carry the slice of potato to the stove | STEP 7: place the slice of potato in the pan on the left side of the stove | STEP 8: pick up the pan from the stove | STEP 9: turn around and carry the pan to the square table with the plate on it | STEP 10: place the pan on the table with the handle pointing at the chair and the tip of the pan on the edge of the plate | END"]} +{"id": "trial_T20190907_113142_479158-5", "input": "Prepare a potato to eat. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.869, -2.5, 0, 0, 0, [SEP] 1, Potato, 0.661, 0.698, 0.508, 0, 0, 0, 43 [SEP] 2, Potato, 0.803, 0.916, -0.314, 0, 0, 0, 38 [SEP] 3, Potato, 0.669, 1.407, -1.725, 0, 270, 0, 58 [SEP] 4, ButterKnife, 0.877, 0.883, -0.176, 0, 0, 0, 38 [SEP] 5, ButterKnife, 0.149, 0.900, 1.187, 0, 270, 0, 64 [SEP] 6, Fork, 0.757, 0.773, -0.570, 0, 270, 0, 61 [SEP] 7, Pot, -2.097, 0.930, 0.785, 0, 0, 0, 40 [SEP] 8, Egg, 0.708, 0.502, -1.958, 0, 270, 0, 58 [SEP] 9, Cup, 0.621, 0.014, -0.768, 0, 0, 0, 41 [SEP] 10, Cup, 0.842, 0.014, 0.011, 0, 0, 0, 48 [SEP] 11, Knife, -0.453, 0.923, 1.272, 0, 0, 0, 64 [SEP] 12, Tomato, 0.841, 0.712, 0.448, 0, 0, 0, 43 [SEP] 13, Tomato, 0.841, 0.820, -0.790, 0, 270, 0, 61 [SEP] 14, SoapBottle, -1.803, 0.701, -1.524, 0, 0, 0, 74 [SEP] 15, Lettuce, 0.785, 0.751, -1.958, 0, 270, 0, 58 [SEP] 16, Pot, -1.555, 0.930, 1.049, 0, 0, 0, 47 [SEP] 17, Plate, -1.719, 0.705, -0.983, 0, 0, 0, 74 [SEP] 18, Fork, 0.961, 0.665, 0.387, 0, 90, 0, 43 [SEP] 19, SoapBottle, -1.297, 0.051, -3.647, 0, 270, 0, 53 [SEP] 20, Apple, 0.582, 0.937, -0.314, 0, 0, 0, 38 [SEP] 21, Pan, -0.051, 0.899, 1.101, 0, 0, 0, 64 [SEP] 22, Egg, -1.949, 0.836, -3.673, 0, 0, 0, 60 [SEP] 23, Spatula, 0.817, 0.774, -0.252, 0, 90, 0, 37 [SEP] 24, Potato, -1.790, 0.832, -3.738, 0, 0, 0, 60 [SEP] 25, Cup, 0.149, 0.899, 1.015, 0, 270, 0, 64 [SEP] 26, SaltShaker, 0.655, 0.879, -0.245, 0, 0, 0, 38 [SEP] 27, PepperShaker, 0.661, 0.661, 0.265, 0, 0, 0, 43 [SEP] 28, ButterKnife, -1.056, 0.900, 1.101, 0, 270, 0, 64 [SEP] 29, DishSponge, -1.620, 0.699, -3.614, 0, 0, 0, 65 [SEP] 30, Bread, -0.873, 0.931, 0.978, 0, 24.231, 0, 64 [SEP] 31, Lettuce, 0.746, 1.246, -1.802, 0, 270, 0, 58 [SEP] 32, Tomato, 0.824, 0.713, -1.802, 0, 270, 0, 58 [SEP] 33, Spoon, -1.056, 0.901, 0.843, 0, 270, 0, 64 [SEP] 34, Knife, 0.623, 0.783, 0.002, 0, 270, 0, 37 [SEP] 35, Mug, 0.785, 1.153, -2.035, 0, 270, 0, 58 [SEP] 36, Bowl, 0.732, 0.014, -0.184, 0, 0, 0, 48 [SEP] 37, Drawer, 0.706, 0.766, -0.125, 0, 0, 0, [SEP] 38, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0, [SEP] 39, Mirror, 1.093, 1.602, -0.643, 0, 0, 0, [SEP] 40, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0, [SEP] 41, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0, [SEP] 42, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0, [SEP] 43, SideTable, 0.770, -0.030, 0.443, 0, 0, 0, [SEP] 44, Sink, 0.753, 0.882, -0.680, 0, 0, 0, [SEP] 45, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0, [SEP] 46, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489, [SEP] 47, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0, [SEP] 48, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0, [SEP] 49, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0, [SEP] 50, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0, [SEP] 51, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0, [SEP] 52, Toaster, -0.522, 0.886, 1.081, 0, 180, 0, [SEP] 53, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0, [SEP] 54, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180, [SEP] 55, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180, [SEP] 56, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180, [SEP] 57, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180, [SEP] 58, Fridge, 0.680, -0.031, -1.957, 0, 0, 0, [SEP] 59, Window, -2.424, 1.639, -2.453, 90, 270, 0, [SEP] 60, Microwave, -1.994, 0.690, -3.651, 0, 0, 0, [SEP] 61, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0, [SEP] 62, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0, [SEP] 63, Shelf, -0.350, 0.124, 0.857, 0, 0, 0, [SEP] 64, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0, [SEP] 65, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0, [SEP] 66, Blinds, -2.343, 2.151, -2.437, 0, 270, 0, [SEP] 67, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0, [SEP] 68, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0, [SEP] 69, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0, [SEP] 70, Shelf, 0.771, 0.226, 0.445, 0, 0, 0, [SEP] 71, Shelf, 0.771, 0.456, 0.446, 0, 0, 0, [SEP] 72, Faucet, 1.025, 0.873, -0.678, 270, 180, 0, [SEP] 73, Shelf, -0.350, 0.497, 0.857, 0, 0, 0, [SEP] 74, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0, [SEP] 75, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0, [SEP] 76, NorthWall, , , , , , , [SEP] 77, EastWall, , , , , , , [SEP] 78, SouthWall, , , , , , , [SEP] 79, WestWall, , , , , , , ", "output": ["STEP 1: Walk to table, turn right to face counter next to sink. | STEP 2: Pick up knife that is next to potato. | STEP 3: Cut potato in half with knife. | STEP 4: Place knife on top of salt shaker on the counter. | STEP 5: Pick up a middle slice of the potato. | STEP 6: Turn around and walk to the stove on the right. Face the stove. | STEP 7: Place potato slice in the pot on the left side of the stove top. | STEP 8: Pick up the pot from the stove that contains the potato, on the left hand side. | STEP 9: Turn around and carry the pot with the potato to the table behind you. | STEP 10: Place the pot on the table, on the edge of the plate. | END"]} +{"id": "trial_T20190909_002804_564168-0", "input": "Place a spatula on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 3.0, 0, 90, 0, [SEP] 1, Potato, -2.388, 1.155, 0.284, 0, 0, 0, 57 [SEP] 2, Potato, -3.778, 1.155, 0.284, 0, 0, 0, 54 [SEP] 3, Ladle, -2.262, 1.164, 0.662, 0, 0, 0, 57 [SEP] 4, Fork, -1.553, 0.932, 0.290, 0, 0, 0, 69 [SEP] 5, Spoon, -0.292, 1.048, 1.920, 0, 0, 0, 47 [SEP] 6, Spatula, -2.514, 1.139, 0.473, 0, 0, 0, 57 [SEP] 7, Egg, -3.639, 1.590, 3.061, 0, 90, 0, 64 [SEP] 8, Egg, -3.798, 0.142, 2.008, 0, 0, 0, 68 [SEP] 9, Cup, -1.111, 0.929, 0.428, 0, 0, 0, 69 [SEP] 10, Plate, -1.195, 0.047, 0.551, 0, 0, 0, 51 [SEP] 11, Plate, -0.827, 1.123, 0.206, 0, 0, 0, 59 [SEP] 12, SoapBottle, -0.538, 1.047, 3.266, 0, 0, 0, 47 [SEP] 13, SoapBottle, -2.497, 0.096, 0.512, 0, 0, 0, 50 [SEP] 14, Tomato, -3.307, 0.952, 3.061, 0, 90, 0, 64 [SEP] 15, Tomato, -3.593, 0.153, 2.038, 0, 0, 0, 68 [SEP] 16, SaltShaker, -1.995, 0.091, 0.613, 0, 0, 0, 49 [SEP] 17, Bread, -0.785, 1.133, 3.042, 0, 0, 0, 47 [SEP] 18, Lettuce, -0.662, 1.125, 2.817, 0, 0, 0, 47 [SEP] 19, Lettuce, -0.785, 1.125, 3.266, 0, 0, 0, 47 [SEP] 20, Fork, -2.388, 1.125, 0.190, 0, 0, 0, 57 [SEP] 21, SoapBottle, -0.662, 1.047, 2.593, 0, 0, 0, 47 [SEP] 22, Pot, -3.000, 1.133, 0.480, 0, 270, 0, 52 [SEP] 23, Ladle, -0.715, 1.164, 0.569, 0, 0, 0, 59 [SEP] 24, Potato, -0.309, 1.243, 0.410, 0, 0, 0, 70 [SEP] 25, Plate, -1.562, 0.047, 0.551, 0, 0, 0, 62 [SEP] 26, Bread, -0.908, 1.134, 2.144, 0, 0, 0, 47 [SEP] 27, Lettuce, -0.785, 1.124, 1.920, 0, 0, 0, 47 [SEP] 28, Spatula, -0.662, 1.062, 1.920, 0, 90, 0, 47 [SEP] 29, Pan, -0.266, 1.038, 2.561, 0, 0, 0, 47 [SEP] 30, Egg, -2.388, 1.155, 0.473, 0, 0, 0, 57 [SEP] 31, Cup, -1.568, 1.151, 0.095, 0, 0, 0, 44 [SEP] 32, SaltShaker, -2.555, 0.899, 0.578, 0, 0, 0, 56 [SEP] 33, Knife, -1.199, 0.963, 0.359, 0, 0, 0, 69 [SEP] 34, Bowl, -3.307, 0.909, 2.849, 0, 90, 0, 64 [SEP] 35, PepperShaker, -1.195, 0.045, 0.324, 0, 0, 0, 51 [SEP] 36, ButterKnife, -2.6, 1.113, 0.577, 0, 315, 0, 57 [SEP] 37, Apple, -3.291, 0.990, 2.419, 0, 270, 0, 64 [SEP] 38, Tomato, -3.506, 0.952, 3.132, 0, 90, 0, 64 [SEP] 39, DishSponge, -1.885, 1.124, 0.662, 0, 0, 0, 57 [SEP] 40, Spoon, -2.088, 0.904, 0.544, 0, 90, 0, 55 [SEP] 41, Mug, -3.440, 1.557, 2.920, 0, 90, 0, 64 [SEP] 42, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 43, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 44, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 45, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 46, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 47, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 48, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 49, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 50, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 51, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 52, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 53, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 54, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 55, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 56, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 57, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 58, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 59, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 60, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 61, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 62, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 63, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 64, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 65, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 66, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 67, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 68, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 69, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 70, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 71, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 72, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 73, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 74, NorthWall, , , , , , , [SEP] 75, SouthWall, , , , , , , [SEP] 76, SouthWall, , , , , , , ", "output": ["STEP 1: Walk to your right to the side of the table where the other loaf of bread is sitting. | STEP 2: Grab the spatula behind the lettuce on the table. | STEP 3: Take the spatula to the sink to your right. | STEP 4: Place the spatula in the sink, wash it and remove it from the sink. | STEP 5: Turn around and walk to the end of the table to your right. | STEP 6: Place the spatula standing next to the lettuce to the left of the bread. | END"]} +{"id": "trial_T20190909_002804_564168-1", "input": "Put a clean spatula on a wooden table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 3.0, 0, 90, 0, [SEP] 1, Potato, -2.388, 1.155, 0.284, 0, 0, 0, 57 [SEP] 2, Potato, -3.778, 1.155, 0.284, 0, 0, 0, 54 [SEP] 3, Ladle, -2.262, 1.164, 0.662, 0, 0, 0, 57 [SEP] 4, Fork, -1.553, 0.932, 0.290, 0, 0, 0, 69 [SEP] 5, Spoon, -0.292, 1.048, 1.920, 0, 0, 0, 47 [SEP] 6, Spatula, -2.514, 1.139, 0.473, 0, 0, 0, 57 [SEP] 7, Egg, -3.639, 1.590, 3.061, 0, 90, 0, 64 [SEP] 8, Egg, -3.798, 0.142, 2.008, 0, 0, 0, 68 [SEP] 9, Cup, -1.111, 0.929, 0.428, 0, 0, 0, 69 [SEP] 10, Plate, -1.195, 0.047, 0.551, 0, 0, 0, 51 [SEP] 11, Plate, -0.827, 1.123, 0.206, 0, 0, 0, 59 [SEP] 12, SoapBottle, -0.538, 1.047, 3.266, 0, 0, 0, 47 [SEP] 13, SoapBottle, -2.497, 0.096, 0.512, 0, 0, 0, 50 [SEP] 14, Tomato, -3.307, 0.952, 3.061, 0, 90, 0, 64 [SEP] 15, Tomato, -3.593, 0.153, 2.038, 0, 0, 0, 68 [SEP] 16, SaltShaker, -1.995, 0.091, 0.613, 0, 0, 0, 49 [SEP] 17, Bread, -0.785, 1.133, 3.042, 0, 0, 0, 47 [SEP] 18, Lettuce, -0.662, 1.125, 2.817, 0, 0, 0, 47 [SEP] 19, Lettuce, -0.785, 1.125, 3.266, 0, 0, 0, 47 [SEP] 20, Fork, -2.388, 1.125, 0.190, 0, 0, 0, 57 [SEP] 21, SoapBottle, -0.662, 1.047, 2.593, 0, 0, 0, 47 [SEP] 22, Pot, -3.000, 1.133, 0.480, 0, 270, 0, 52 [SEP] 23, Ladle, -0.715, 1.164, 0.569, 0, 0, 0, 59 [SEP] 24, Potato, -0.309, 1.243, 0.410, 0, 0, 0, 70 [SEP] 25, Plate, -1.562, 0.047, 0.551, 0, 0, 0, 62 [SEP] 26, Bread, -0.908, 1.134, 2.144, 0, 0, 0, 47 [SEP] 27, Lettuce, -0.785, 1.124, 1.920, 0, 0, 0, 47 [SEP] 28, Spatula, -0.662, 1.062, 1.920, 0, 90, 0, 47 [SEP] 29, Pan, -0.266, 1.038, 2.561, 0, 0, 0, 47 [SEP] 30, Egg, -2.388, 1.155, 0.473, 0, 0, 0, 57 [SEP] 31, Cup, -1.568, 1.151, 0.095, 0, 0, 0, 44 [SEP] 32, SaltShaker, -2.555, 0.899, 0.578, 0, 0, 0, 56 [SEP] 33, Knife, -1.199, 0.963, 0.359, 0, 0, 0, 69 [SEP] 34, Bowl, -3.307, 0.909, 2.849, 0, 90, 0, 64 [SEP] 35, PepperShaker, -1.195, 0.045, 0.324, 0, 0, 0, 51 [SEP] 36, ButterKnife, -2.6, 1.113, 0.577, 0, 315, 0, 57 [SEP] 37, Apple, -3.291, 0.990, 2.419, 0, 270, 0, 64 [SEP] 38, Tomato, -3.506, 0.952, 3.132, 0, 90, 0, 64 [SEP] 39, DishSponge, -1.885, 1.124, 0.662, 0, 0, 0, 57 [SEP] 40, Spoon, -2.088, 0.904, 0.544, 0, 90, 0, 55 [SEP] 41, Mug, -3.440, 1.557, 2.920, 0, 90, 0, 64 [SEP] 42, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 43, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 44, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 45, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 46, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 47, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 48, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 49, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 50, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 51, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 52, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 53, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 54, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 55, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 56, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 57, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 58, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 59, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 60, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 61, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 62, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 63, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 64, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 65, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 66, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 67, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 68, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 69, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 70, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 71, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 72, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 73, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 74, NorthWall, , , , , , , [SEP] 75, SouthWall, , , , , , , [SEP] 76, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right and walk toward the sink, then turn left and walk up to the wooden table. | STEP 2: Pick up the metal spatula off of the wooden table. | STEP 3: Turn right and walk over to the sink. | STEP 4: Put the spatula in the sink and turn on the water, after a couple seconds turn the water off and remove the now clean spatula. | STEP 5: Turn right and take a step forward, then turn right and walk over to the wall, turn right again to face the wooden table. | STEP 6: Put the clean spatula on the wooden table in front of the leftmost head of lettuce. | END"]} +{"id": "trial_T20190909_002804_564168-2", "input": "put a washed spatula on a table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 3.0, 0, 90, 0, [SEP] 1, Potato, -2.388, 1.155, 0.284, 0, 0, 0, 57 [SEP] 2, Potato, -3.778, 1.155, 0.284, 0, 0, 0, 54 [SEP] 3, Ladle, -2.262, 1.164, 0.662, 0, 0, 0, 57 [SEP] 4, Fork, -1.553, 0.932, 0.290, 0, 0, 0, 69 [SEP] 5, Spoon, -0.292, 1.048, 1.920, 0, 0, 0, 47 [SEP] 6, Spatula, -2.514, 1.139, 0.473, 0, 0, 0, 57 [SEP] 7, Egg, -3.639, 1.590, 3.061, 0, 90, 0, 64 [SEP] 8, Egg, -3.798, 0.142, 2.008, 0, 0, 0, 68 [SEP] 9, Cup, -1.111, 0.929, 0.428, 0, 0, 0, 69 [SEP] 10, Plate, -1.195, 0.047, 0.551, 0, 0, 0, 51 [SEP] 11, Plate, -0.827, 1.123, 0.206, 0, 0, 0, 59 [SEP] 12, SoapBottle, -0.538, 1.047, 3.266, 0, 0, 0, 47 [SEP] 13, SoapBottle, -2.497, 0.096, 0.512, 0, 0, 0, 50 [SEP] 14, Tomato, -3.307, 0.952, 3.061, 0, 90, 0, 64 [SEP] 15, Tomato, -3.593, 0.153, 2.038, 0, 0, 0, 68 [SEP] 16, SaltShaker, -1.995, 0.091, 0.613, 0, 0, 0, 49 [SEP] 17, Bread, -0.785, 1.133, 3.042, 0, 0, 0, 47 [SEP] 18, Lettuce, -0.662, 1.125, 2.817, 0, 0, 0, 47 [SEP] 19, Lettuce, -0.785, 1.125, 3.266, 0, 0, 0, 47 [SEP] 20, Fork, -2.388, 1.125, 0.190, 0, 0, 0, 57 [SEP] 21, SoapBottle, -0.662, 1.047, 2.593, 0, 0, 0, 47 [SEP] 22, Pot, -3.000, 1.133, 0.480, 0, 270, 0, 52 [SEP] 23, Ladle, -0.715, 1.164, 0.569, 0, 0, 0, 59 [SEP] 24, Potato, -0.309, 1.243, 0.410, 0, 0, 0, 70 [SEP] 25, Plate, -1.562, 0.047, 0.551, 0, 0, 0, 62 [SEP] 26, Bread, -0.908, 1.134, 2.144, 0, 0, 0, 47 [SEP] 27, Lettuce, -0.785, 1.124, 1.920, 0, 0, 0, 47 [SEP] 28, Spatula, -0.662, 1.062, 1.920, 0, 90, 0, 47 [SEP] 29, Pan, -0.266, 1.038, 2.561, 0, 0, 0, 47 [SEP] 30, Egg, -2.388, 1.155, 0.473, 0, 0, 0, 57 [SEP] 31, Cup, -1.568, 1.151, 0.095, 0, 0, 0, 44 [SEP] 32, SaltShaker, -2.555, 0.899, 0.578, 0, 0, 0, 56 [SEP] 33, Knife, -1.199, 0.963, 0.359, 0, 0, 0, 69 [SEP] 34, Bowl, -3.307, 0.909, 2.849, 0, 90, 0, 64 [SEP] 35, PepperShaker, -1.195, 0.045, 0.324, 0, 0, 0, 51 [SEP] 36, ButterKnife, -2.6, 1.113, 0.577, 0, 315, 0, 57 [SEP] 37, Apple, -3.291, 0.990, 2.419, 0, 270, 0, 64 [SEP] 38, Tomato, -3.506, 0.952, 3.132, 0, 90, 0, 64 [SEP] 39, DishSponge, -1.885, 1.124, 0.662, 0, 0, 0, 57 [SEP] 40, Spoon, -2.088, 0.904, 0.544, 0, 90, 0, 55 [SEP] 41, Mug, -3.440, 1.557, 2.920, 0, 90, 0, 64 [SEP] 42, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 43, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 44, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 45, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 46, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 47, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 48, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 49, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 50, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 51, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 52, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 53, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 54, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 55, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 56, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 57, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 58, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 59, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 60, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 61, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 62, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 63, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 64, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 65, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 66, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 67, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 68, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 69, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 70, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 71, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 72, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 73, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 74, NorthWall, , , , , , , [SEP] 75, SouthWall, , , , , , , [SEP] 76, SouthWall, , , , , , , ", "output": ["STEP 1: walk to face wooden table | STEP 2: pick up spatula from the table | STEP 3: walk to face kitchen sink | STEP 4: wash spatula in sink, pick up spatula | STEP 5: turn around to face left side of wooden table | STEP 6: put spatula onto the table in front of the lettuce on the left | END"]} +{"id": "trial_T20190906_162502_940304-0", "input": "move the red cloth from the cabinet to the tub SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.904, 0.0, 0, 180, 0, [SEP] 1, SprayBottle, -3.053, 1.870, 1.574, 0, 180, 0, 19 [SEP] 2, SprayBottle, -2.810, 1.003, -0.365, 0, 0, 0, 28 [SEP] 3, Candle, -3.009, 1.870, 1.524, 0, 0, 0, 19 [SEP] 4, SoapBottle, -3.193, 1.050, 1.263, 0, 90, 0, 35 [SEP] 5, Towel, -1.615, 1.398, 1.800, 0, 180, 0, 30 [SEP] 6, HandTowel, -2.96, 1.593, -0.728, 0, 180, 0, 31 [SEP] 7, SoapBar, -1.066, 0.512, 0.080, 0, 0, 0, 21 [SEP] 8, ToiletPaper, -3.189, 0.999, -0.680, 0, 0, 0, 28 [SEP] 9, ToiletPaper, -3.061, 0.668, 0.690, 347.055, 0, 90, 34 [SEP] 10, Candle, -3.224, 1.050, 1.394, 0, 90, 0, 35 [SEP] 11, ScrubBrush, -3.236, 0.003, 1.79, 0, 0, 0, Floor|-01.69| [SEP] 12, Plunger, -3.043, 0.003, 1.683, 0, 0, 0, Floor|-01.69| [SEP] 13, SoapBottle, -2.974, 0.051, 0.869, 0, 0, 0, 29 [SEP] 14, Cloth, -2.970, 0.108, -0.600, 0, 0, 0, 18 [SEP] 15, SprayBottle, -2.969, 0.110, -0.022, 0, 0, 0, 23 [SEP] 16, Faucet, -0.618, 0.667, 1.805, 0, 0, 0, [SEP] 17, Cabinet, -2.761, 0.446, 0.599, 0, 0, 0, [SEP] 18, Cabinet, -2.756, 0.421, -0.759, 0, 0, 0, [SEP] 19, Cabinet, -2.905, 2.098, 1.878, 0, 0, 0, [SEP] 20, Sink, -3.016, 0.865, 0.207, 0, 90, 0, [SEP] 21, Bathtub, -0.603, 0.286, 0.832, 0, 0, 0, [SEP] 22, SinkBasin, -3.016, 0.874, 0.217, 0, 90, 0, [SEP] 23, Cabinet, -2.756, 0.421, -0.272, 0, 0, 0, [SEP] 24, Faucet, -3.313, 0.989, 0.207, 0, 90, 0, [SEP] 25, Cabinet, -2.900, 2.053, 1.005, 0, 0, 0, [SEP] 26, BathtubBasin, -0.558, 0.023, 0.811, 0, 0, 0, [SEP] 27, Mirror, -3.348, 1.476, 0.020, 0, 0, 0, [SEP] 28, CounterTop, -3.049, 1.039, -0.442, 0, 0, 0, [SEP] 29, GarbageCan, -3.080, -0.007, 0.899, 0, 0, 0, [SEP] 30, TowelHolder, -1.615, 1.383, 1.907, 0, 180, 0, [SEP] 31, HandTowelHolder, -2.960, 1.695, -0.766, 0, 270, 0, [SEP] 32, HandTowelHolder, -3.359, 1.565, 0.763, 0, 0, 0, [SEP] 33, LightSwitch, -2.313, 1.426, -0.766, 0, 0, 0, [SEP] 34, ToiletPaperHanger, -3.105, 0.828, 0.625, 347.055, 0, 0, [SEP] 35, Toilet, -2.931, 0.003, 1.364, 0, 180, 0, [SEP] 36, ShowerCurtain, -1.171, 1.866, -0.108, 0, 0, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, EastWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, WestWall, , , , , , , ", "output": ["STEP 1: turn right to the vanity | STEP 2: open the left cabinet door, take the red cloth out of the cabinet | STEP 3: turn right, walk to the tub | STEP 4: put the cloth in the tub | END"]} +{"id": "trial_T20190906_162502_940304-1", "input": "move a rag from cabinet to the tub SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.904, 0.0, 0, 180, 0, [SEP] 1, SprayBottle, -3.053, 1.870, 1.574, 0, 180, 0, 19 [SEP] 2, SprayBottle, -2.810, 1.003, -0.365, 0, 0, 0, 28 [SEP] 3, Candle, -3.009, 1.870, 1.524, 0, 0, 0, 19 [SEP] 4, SoapBottle, -3.193, 1.050, 1.263, 0, 90, 0, 35 [SEP] 5, Towel, -1.615, 1.398, 1.800, 0, 180, 0, 30 [SEP] 6, HandTowel, -2.96, 1.593, -0.728, 0, 180, 0, 31 [SEP] 7, SoapBar, -1.066, 0.512, 0.080, 0, 0, 0, 21 [SEP] 8, ToiletPaper, -3.189, 0.999, -0.680, 0, 0, 0, 28 [SEP] 9, ToiletPaper, -3.061, 0.668, 0.690, 347.055, 0, 90, 34 [SEP] 10, Candle, -3.224, 1.050, 1.394, 0, 90, 0, 35 [SEP] 11, ScrubBrush, -3.236, 0.003, 1.79, 0, 0, 0, Floor|-01.69| [SEP] 12, Plunger, -3.043, 0.003, 1.683, 0, 0, 0, Floor|-01.69| [SEP] 13, SoapBottle, -2.974, 0.051, 0.869, 0, 0, 0, 29 [SEP] 14, Cloth, -2.970, 0.108, -0.600, 0, 0, 0, 18 [SEP] 15, SprayBottle, -2.969, 0.110, -0.022, 0, 0, 0, 23 [SEP] 16, Faucet, -0.618, 0.667, 1.805, 0, 0, 0, [SEP] 17, Cabinet, -2.761, 0.446, 0.599, 0, 0, 0, [SEP] 18, Cabinet, -2.756, 0.421, -0.759, 0, 0, 0, [SEP] 19, Cabinet, -2.905, 2.098, 1.878, 0, 0, 0, [SEP] 20, Sink, -3.016, 0.865, 0.207, 0, 90, 0, [SEP] 21, Bathtub, -0.603, 0.286, 0.832, 0, 0, 0, [SEP] 22, SinkBasin, -3.016, 0.874, 0.217, 0, 90, 0, [SEP] 23, Cabinet, -2.756, 0.421, -0.272, 0, 0, 0, [SEP] 24, Faucet, -3.313, 0.989, 0.207, 0, 90, 0, [SEP] 25, Cabinet, -2.900, 2.053, 1.005, 0, 0, 0, [SEP] 26, BathtubBasin, -0.558, 0.023, 0.811, 0, 0, 0, [SEP] 27, Mirror, -3.348, 1.476, 0.020, 0, 0, 0, [SEP] 28, CounterTop, -3.049, 1.039, -0.442, 0, 0, 0, [SEP] 29, GarbageCan, -3.080, -0.007, 0.899, 0, 0, 0, [SEP] 30, TowelHolder, -1.615, 1.383, 1.907, 0, 180, 0, [SEP] 31, HandTowelHolder, -2.960, 1.695, -0.766, 0, 270, 0, [SEP] 32, HandTowelHolder, -3.359, 1.565, 0.763, 0, 0, 0, [SEP] 33, LightSwitch, -2.313, 1.426, -0.766, 0, 0, 0, [SEP] 34, ToiletPaperHanger, -3.105, 0.828, 0.625, 347.055, 0, 0, [SEP] 35, Toilet, -2.931, 0.003, 1.364, 0, 180, 0, [SEP] 36, ShowerCurtain, -1.171, 1.866, -0.108, 0, 0, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, EastWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, WestWall, , , , , , , ", "output": ["STEP 1: turn right, walk towards counter in front of you | STEP 2: open the cabinet under the counter, take out a red rag, close cabinet | STEP 3: turn right, walk towards the toilet, turn right, walk towards tub, | STEP 4: put the red rag in the tub | END"]} +{"id": "trial_T20190906_162502_940304-2", "input": "place a rag inside the tub SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.904, 0.0, 0, 180, 0, [SEP] 1, SprayBottle, -3.053, 1.870, 1.574, 0, 180, 0, 19 [SEP] 2, SprayBottle, -2.810, 1.003, -0.365, 0, 0, 0, 28 [SEP] 3, Candle, -3.009, 1.870, 1.524, 0, 0, 0, 19 [SEP] 4, SoapBottle, -3.193, 1.050, 1.263, 0, 90, 0, 35 [SEP] 5, Towel, -1.615, 1.398, 1.800, 0, 180, 0, 30 [SEP] 6, HandTowel, -2.96, 1.593, -0.728, 0, 180, 0, 31 [SEP] 7, SoapBar, -1.066, 0.512, 0.080, 0, 0, 0, 21 [SEP] 8, ToiletPaper, -3.189, 0.999, -0.680, 0, 0, 0, 28 [SEP] 9, ToiletPaper, -3.061, 0.668, 0.690, 347.055, 0, 90, 34 [SEP] 10, Candle, -3.224, 1.050, 1.394, 0, 90, 0, 35 [SEP] 11, ScrubBrush, -3.236, 0.003, 1.79, 0, 0, 0, Floor|-01.69| [SEP] 12, Plunger, -3.043, 0.003, 1.683, 0, 0, 0, Floor|-01.69| [SEP] 13, SoapBottle, -2.974, 0.051, 0.869, 0, 0, 0, 29 [SEP] 14, Cloth, -2.970, 0.108, -0.600, 0, 0, 0, 18 [SEP] 15, SprayBottle, -2.969, 0.110, -0.022, 0, 0, 0, 23 [SEP] 16, Faucet, -0.618, 0.667, 1.805, 0, 0, 0, [SEP] 17, Cabinet, -2.761, 0.446, 0.599, 0, 0, 0, [SEP] 18, Cabinet, -2.756, 0.421, -0.759, 0, 0, 0, [SEP] 19, Cabinet, -2.905, 2.098, 1.878, 0, 0, 0, [SEP] 20, Sink, -3.016, 0.865, 0.207, 0, 90, 0, [SEP] 21, Bathtub, -0.603, 0.286, 0.832, 0, 0, 0, [SEP] 22, SinkBasin, -3.016, 0.874, 0.217, 0, 90, 0, [SEP] 23, Cabinet, -2.756, 0.421, -0.272, 0, 0, 0, [SEP] 24, Faucet, -3.313, 0.989, 0.207, 0, 90, 0, [SEP] 25, Cabinet, -2.900, 2.053, 1.005, 0, 0, 0, [SEP] 26, BathtubBasin, -0.558, 0.023, 0.811, 0, 0, 0, [SEP] 27, Mirror, -3.348, 1.476, 0.020, 0, 0, 0, [SEP] 28, CounterTop, -3.049, 1.039, -0.442, 0, 0, 0, [SEP] 29, GarbageCan, -3.080, -0.007, 0.899, 0, 0, 0, [SEP] 30, TowelHolder, -1.615, 1.383, 1.907, 0, 180, 0, [SEP] 31, HandTowelHolder, -2.960, 1.695, -0.766, 0, 270, 0, [SEP] 32, HandTowelHolder, -3.359, 1.565, 0.763, 0, 0, 0, [SEP] 33, LightSwitch, -2.313, 1.426, -0.766, 0, 0, 0, [SEP] 34, ToiletPaperHanger, -3.105, 0.828, 0.625, 347.055, 0, 0, [SEP] 35, Toilet, -2.931, 0.003, 1.364, 0, 180, 0, [SEP] 36, ShowerCurtain, -1.171, 1.866, -0.108, 0, 0, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, EastWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, WestWall, , , , , , , ", "output": ["STEP 1: turn right towards the shelf | STEP 2: pick up the rag | STEP 3: turn around and head for the bath tub | STEP 4: place the rag inside the tub | END"]} +{"id": "trial_T20190906_162502_940304-3", "input": "Put a cloth in a bath tub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.904, 0.0, 0, 180, 0, [SEP] 1, SprayBottle, -3.053, 1.870, 1.574, 0, 180, 0, 19 [SEP] 2, SprayBottle, -2.810, 1.003, -0.365, 0, 0, 0, 28 [SEP] 3, Candle, -3.009, 1.870, 1.524, 0, 0, 0, 19 [SEP] 4, SoapBottle, -3.193, 1.050, 1.263, 0, 90, 0, 35 [SEP] 5, Towel, -1.615, 1.398, 1.800, 0, 180, 0, 30 [SEP] 6, HandTowel, -2.96, 1.593, -0.728, 0, 180, 0, 31 [SEP] 7, SoapBar, -1.066, 0.512, 0.080, 0, 0, 0, 21 [SEP] 8, ToiletPaper, -3.189, 0.999, -0.680, 0, 0, 0, 28 [SEP] 9, ToiletPaper, -3.061, 0.668, 0.690, 347.055, 0, 90, 34 [SEP] 10, Candle, -3.224, 1.050, 1.394, 0, 90, 0, 35 [SEP] 11, ScrubBrush, -3.236, 0.003, 1.79, 0, 0, 0, Floor|-01.69| [SEP] 12, Plunger, -3.043, 0.003, 1.683, 0, 0, 0, Floor|-01.69| [SEP] 13, SoapBottle, -2.974, 0.051, 0.869, 0, 0, 0, 29 [SEP] 14, Cloth, -2.970, 0.108, -0.600, 0, 0, 0, 18 [SEP] 15, SprayBottle, -2.969, 0.110, -0.022, 0, 0, 0, 23 [SEP] 16, Faucet, -0.618, 0.667, 1.805, 0, 0, 0, [SEP] 17, Cabinet, -2.761, 0.446, 0.599, 0, 0, 0, [SEP] 18, Cabinet, -2.756, 0.421, -0.759, 0, 0, 0, [SEP] 19, Cabinet, -2.905, 2.098, 1.878, 0, 0, 0, [SEP] 20, Sink, -3.016, 0.865, 0.207, 0, 90, 0, [SEP] 21, Bathtub, -0.603, 0.286, 0.832, 0, 0, 0, [SEP] 22, SinkBasin, -3.016, 0.874, 0.217, 0, 90, 0, [SEP] 23, Cabinet, -2.756, 0.421, -0.272, 0, 0, 0, [SEP] 24, Faucet, -3.313, 0.989, 0.207, 0, 90, 0, [SEP] 25, Cabinet, -2.900, 2.053, 1.005, 0, 0, 0, [SEP] 26, BathtubBasin, -0.558, 0.023, 0.811, 0, 0, 0, [SEP] 27, Mirror, -3.348, 1.476, 0.020, 0, 0, 0, [SEP] 28, CounterTop, -3.049, 1.039, -0.442, 0, 0, 0, [SEP] 29, GarbageCan, -3.080, -0.007, 0.899, 0, 0, 0, [SEP] 30, TowelHolder, -1.615, 1.383, 1.907, 0, 180, 0, [SEP] 31, HandTowelHolder, -2.960, 1.695, -0.766, 0, 270, 0, [SEP] 32, HandTowelHolder, -3.359, 1.565, 0.763, 0, 0, 0, [SEP] 33, LightSwitch, -2.313, 1.426, -0.766, 0, 0, 0, [SEP] 34, ToiletPaperHanger, -3.105, 0.828, 0.625, 347.055, 0, 0, [SEP] 35, Toilet, -2.931, 0.003, 1.364, 0, 180, 0, [SEP] 36, ShowerCurtain, -1.171, 1.866, -0.108, 0, 0, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, EastWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the sink. | STEP 2: Open the bottom left cabinet and pick up the red cloth. | STEP 3: Turn around and walk to the tub. | STEP 4: Put the cloth in the tub. | END"]} +{"id": "trial_T20190906_162502_940304-4", "input": "Put the red rag into the bathtub SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.904, 0.0, 0, 180, 0, [SEP] 1, SprayBottle, -3.053, 1.870, 1.574, 0, 180, 0, 19 [SEP] 2, SprayBottle, -2.810, 1.003, -0.365, 0, 0, 0, 28 [SEP] 3, Candle, -3.009, 1.870, 1.524, 0, 0, 0, 19 [SEP] 4, SoapBottle, -3.193, 1.050, 1.263, 0, 90, 0, 35 [SEP] 5, Towel, -1.615, 1.398, 1.800, 0, 180, 0, 30 [SEP] 6, HandTowel, -2.96, 1.593, -0.728, 0, 180, 0, 31 [SEP] 7, SoapBar, -1.066, 0.512, 0.080, 0, 0, 0, 21 [SEP] 8, ToiletPaper, -3.189, 0.999, -0.680, 0, 0, 0, 28 [SEP] 9, ToiletPaper, -3.061, 0.668, 0.690, 347.055, 0, 90, 34 [SEP] 10, Candle, -3.224, 1.050, 1.394, 0, 90, 0, 35 [SEP] 11, ScrubBrush, -3.236, 0.003, 1.79, 0, 0, 0, Floor|-01.69| [SEP] 12, Plunger, -3.043, 0.003, 1.683, 0, 0, 0, Floor|-01.69| [SEP] 13, SoapBottle, -2.974, 0.051, 0.869, 0, 0, 0, 29 [SEP] 14, Cloth, -2.970, 0.108, -0.600, 0, 0, 0, 18 [SEP] 15, SprayBottle, -2.969, 0.110, -0.022, 0, 0, 0, 23 [SEP] 16, Faucet, -0.618, 0.667, 1.805, 0, 0, 0, [SEP] 17, Cabinet, -2.761, 0.446, 0.599, 0, 0, 0, [SEP] 18, Cabinet, -2.756, 0.421, -0.759, 0, 0, 0, [SEP] 19, Cabinet, -2.905, 2.098, 1.878, 0, 0, 0, [SEP] 20, Sink, -3.016, 0.865, 0.207, 0, 90, 0, [SEP] 21, Bathtub, -0.603, 0.286, 0.832, 0, 0, 0, [SEP] 22, SinkBasin, -3.016, 0.874, 0.217, 0, 90, 0, [SEP] 23, Cabinet, -2.756, 0.421, -0.272, 0, 0, 0, [SEP] 24, Faucet, -3.313, 0.989, 0.207, 0, 90, 0, [SEP] 25, Cabinet, -2.900, 2.053, 1.005, 0, 0, 0, [SEP] 26, BathtubBasin, -0.558, 0.023, 0.811, 0, 0, 0, [SEP] 27, Mirror, -3.348, 1.476, 0.020, 0, 0, 0, [SEP] 28, CounterTop, -3.049, 1.039, -0.442, 0, 0, 0, [SEP] 29, GarbageCan, -3.080, -0.007, 0.899, 0, 0, 0, [SEP] 30, TowelHolder, -1.615, 1.383, 1.907, 0, 180, 0, [SEP] 31, HandTowelHolder, -2.960, 1.695, -0.766, 0, 270, 0, [SEP] 32, HandTowelHolder, -3.359, 1.565, 0.763, 0, 0, 0, [SEP] 33, LightSwitch, -2.313, 1.426, -0.766, 0, 0, 0, [SEP] 34, ToiletPaperHanger, -3.105, 0.828, 0.625, 347.055, 0, 0, [SEP] 35, Toilet, -2.931, 0.003, 1.364, 0, 180, 0, [SEP] 36, ShowerCurtain, -1.171, 1.866, -0.108, 0, 0, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, EastWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk over to the counter left of the sink | STEP 2: Open the bottom cabinet and take the red rag from it | STEP 3: Turn around and walk to the bathtub | STEP 4: Put the red rag into the bathtub | END"]} +{"id": "trial_T20190906_162502_940304-5", "input": "Move the rag from the bottom left cupboard to the bath tub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.904, 0.0, 0, 180, 0, [SEP] 1, SprayBottle, -3.053, 1.870, 1.574, 0, 180, 0, 19 [SEP] 2, SprayBottle, -2.810, 1.003, -0.365, 0, 0, 0, 28 [SEP] 3, Candle, -3.009, 1.870, 1.524, 0, 0, 0, 19 [SEP] 4, SoapBottle, -3.193, 1.050, 1.263, 0, 90, 0, 35 [SEP] 5, Towel, -1.615, 1.398, 1.800, 0, 180, 0, 30 [SEP] 6, HandTowel, -2.96, 1.593, -0.728, 0, 180, 0, 31 [SEP] 7, SoapBar, -1.066, 0.512, 0.080, 0, 0, 0, 21 [SEP] 8, ToiletPaper, -3.189, 0.999, -0.680, 0, 0, 0, 28 [SEP] 9, ToiletPaper, -3.061, 0.668, 0.690, 347.055, 0, 90, 34 [SEP] 10, Candle, -3.224, 1.050, 1.394, 0, 90, 0, 35 [SEP] 11, ScrubBrush, -3.236, 0.003, 1.79, 0, 0, 0, Floor|-01.69| [SEP] 12, Plunger, -3.043, 0.003, 1.683, 0, 0, 0, Floor|-01.69| [SEP] 13, SoapBottle, -2.974, 0.051, 0.869, 0, 0, 0, 29 [SEP] 14, Cloth, -2.970, 0.108, -0.600, 0, 0, 0, 18 [SEP] 15, SprayBottle, -2.969, 0.110, -0.022, 0, 0, 0, 23 [SEP] 16, Faucet, -0.618, 0.667, 1.805, 0, 0, 0, [SEP] 17, Cabinet, -2.761, 0.446, 0.599, 0, 0, 0, [SEP] 18, Cabinet, -2.756, 0.421, -0.759, 0, 0, 0, [SEP] 19, Cabinet, -2.905, 2.098, 1.878, 0, 0, 0, [SEP] 20, Sink, -3.016, 0.865, 0.207, 0, 90, 0, [SEP] 21, Bathtub, -0.603, 0.286, 0.832, 0, 0, 0, [SEP] 22, SinkBasin, -3.016, 0.874, 0.217, 0, 90, 0, [SEP] 23, Cabinet, -2.756, 0.421, -0.272, 0, 0, 0, [SEP] 24, Faucet, -3.313, 0.989, 0.207, 0, 90, 0, [SEP] 25, Cabinet, -2.900, 2.053, 1.005, 0, 0, 0, [SEP] 26, BathtubBasin, -0.558, 0.023, 0.811, 0, 0, 0, [SEP] 27, Mirror, -3.348, 1.476, 0.020, 0, 0, 0, [SEP] 28, CounterTop, -3.049, 1.039, -0.442, 0, 0, 0, [SEP] 29, GarbageCan, -3.080, -0.007, 0.899, 0, 0, 0, [SEP] 30, TowelHolder, -1.615, 1.383, 1.907, 0, 180, 0, [SEP] 31, HandTowelHolder, -2.960, 1.695, -0.766, 0, 270, 0, [SEP] 32, HandTowelHolder, -3.359, 1.565, 0.763, 0, 0, 0, [SEP] 33, LightSwitch, -2.313, 1.426, -0.766, 0, 0, 0, [SEP] 34, ToiletPaperHanger, -3.105, 0.828, 0.625, 347.055, 0, 0, [SEP] 35, Toilet, -2.931, 0.003, 1.364, 0, 180, 0, [SEP] 36, ShowerCurtain, -1.171, 1.866, -0.108, 0, 0, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, EastWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward to the corner, then turn right and walk to the counter. | STEP 2: Open the bottom left cupboard and take the rag from inside, then close the cupboard. | STEP 3: Turn right and walk to the toilet, then turn right and walk to the bath tub. | STEP 4: Drop the rag in the bath tub. | END"]} +{"id": "trial_T20190910_222914_814642-0", "input": "Put the green spray bottles on the toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 2.5, 0, 180, 0, [SEP] 1, TissueBox, -3.655, 0.541, 1.477, 0, 90, 0, 23 [SEP] 2, Cloth, -0.193, 1.045, 3.223, 0, 270, 0, 42 [SEP] 3, Cloth, -3.701, 0.185, 2.194, 0, 0, 0, 21 [SEP] 4, Candle, -1.181, 0.972, 4.933, 0, 0, 0, 28 [SEP] 5, Candle, -0.252, 0.972, 4.877, 0, 0, 0, 28 [SEP] 6, SprayBottle, -0.761, 0.038, 4.768, 0, 0, 0, 31 [SEP] 7, SoapBottle, -3.770, 0.546, 0.557, 0, 90, 0, 38 [SEP] 8, ToiletPaper, -0.153, 1.126, 3.705, 0, 270, 270, 41 [SEP] 9, Candle, -0.394, 0.048, 4.946, 0, 0, 0, 22 [SEP] 10, SoapBottle, -1.095, 0.968, 4.668, 0, 0, 0, 28 [SEP] 11, HandTowel, -2.093, 1.442, 5.107, 0, 0, 0, 39 [SEP] 12, Towel, -1.719, 1.228, 1.846, 0, 0, 0, 35 [SEP] 13, SoapBar, -2.872, 0.676, 2.630, 0, 348.434, 0, 23 [SEP] 14, ToiletPaper, -3.828, 0.538, 1.109, 0, 90, 0, 38 [SEP] 15, TissueBox, -1.696, 0.038, 4.827, 0, 0, 0, 30 [SEP] 16, Cloth, -3.770, 0.541, 0.741, 0, 90, 0, 38 [SEP] 17, ToiletPaper, -1.179, 0.036, 4.828, 0, 0, 0, 32 [SEP] 18, SprayBottle, -2.202, 0.035, 4.948, 0, 0, 0, 37 [SEP] 19, ScrubBrush, -0.231, -0.000, 3.857, 0, 0, 0, Floor|+00.00| [SEP] 20, Plunger, -0.212, -0.000, 3.536, 0, 0, 0, Floor|+00.00| [SEP] 21, BathtubBasin, -3.404, 0.166, 2.904, 0, 0, 0, [SEP] 22, Cabinet, -0.124, 0.364, 4.634, 0, 0, 0, [SEP] 23, Bathtub, -2.896, 0.667, 2.860, 0, 0, 0, [SEP] 24, Faucet, -3.475, 0.711, 3.811, 0, 0, 0, [SEP] 25, ShowerGlass, 0.0, 0.0, 0.0, 0, 0, 0, [SEP] 26, ShowerDoor, -0.282, 1.228, 1.730, 0, 0, 0, [SEP] 27, Faucet, -1.524, 1.047, 5.096, 0, 180, 0, [SEP] 28, CounterTop, -1.023, 0.954, 4.884, 0, 0, 0, [SEP] 29, Mirror, -0.975, 1.577, 5.145, 0, 0, 0, [SEP] 30, Cabinet, -1.962, 0.364, 4.634, 0, 0, 0, [SEP] 31, Cabinet, -1.027, 0.364, 4.634, 0, 0, 0, [SEP] 32, Cabinet, -1.059, 0.364, 4.634, 0, 0, 0, [SEP] 33, Window, -1.993, 1.888, 0.144, 0, 0, 0, [SEP] 34, LightSwitch, -2.496, 1.366, 5.146, 0, 180, 0, [SEP] 35, TowelHolder, -1.720, 1.213, 1.740, 0, 0, 0, [SEP] 36, TowelHolder, -0.074, 1.404, 2.424, 0, 270, 0, [SEP] 37, GarbageCan, -2.346, 0.002, 4.878, 0, 180, 0, [SEP] 38, Shelf, -3.713, 0.531, 0.951, 0, 90, 0, [SEP] 39, HandTowelHolder, -2.094, 1.544, 5.145, 0, 90, 0, [SEP] 40, HandTowelHolder, -0.074, 1.569, 4.810, 0, 180, 0, [SEP] 41, ToiletPaperHanger, -0.074, 1.126, 3.686, 0, 270, 0, [SEP] 42, Toilet, -0.517, -0.000, 3.220, 0, 0, 0, [SEP] 43, ShowerHead, -0.182, 1.256, 0.875, 0, 0, 0, [SEP] 44, SinkBasin, -0.569, 0.986, 4.886, 0, 180, 0, [SEP] 45, Sink, -0.579, 0.926, 4.874, 0, 180, 0, [SEP] 46, Sink, -1.524, 0.926, 4.874, 0, 180, 0, [SEP] 47, SinkBasin, -1.514, 0.986, 4.886, 0, 180, 0, [SEP] 48, Faucet, -0.583, 1.047, 5.096, 0, 180, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk over to the right bathroom sink | STEP 2: Open the left cabinet below the right sink and pick up the green spray bottle | STEP 3: Turn around and walk to the opposite side of the toilet and turn back to face it | STEP 4: Put the spray bottle on top of the back of the toilet | STEP 5: Walk a few feet to the left then turn right and walk forward to the trash bin | STEP 6: Pick up the green spray bottle from the trash bin | STEP 7: Turn around and walk back over to the left side of the toilet | STEP 8: Put the spray bottle on top of the back of the toilet | END"]} +{"id": "trial_T20190910_222914_814642-1", "input": "Place two bottles of cleaning spray o the toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 2.5, 0, 180, 0, [SEP] 1, TissueBox, -3.655, 0.541, 1.477, 0, 90, 0, 23 [SEP] 2, Cloth, -0.193, 1.045, 3.223, 0, 270, 0, 42 [SEP] 3, Cloth, -3.701, 0.185, 2.194, 0, 0, 0, 21 [SEP] 4, Candle, -1.181, 0.972, 4.933, 0, 0, 0, 28 [SEP] 5, Candle, -0.252, 0.972, 4.877, 0, 0, 0, 28 [SEP] 6, SprayBottle, -0.761, 0.038, 4.768, 0, 0, 0, 31 [SEP] 7, SoapBottle, -3.770, 0.546, 0.557, 0, 90, 0, 38 [SEP] 8, ToiletPaper, -0.153, 1.126, 3.705, 0, 270, 270, 41 [SEP] 9, Candle, -0.394, 0.048, 4.946, 0, 0, 0, 22 [SEP] 10, SoapBottle, -1.095, 0.968, 4.668, 0, 0, 0, 28 [SEP] 11, HandTowel, -2.093, 1.442, 5.107, 0, 0, 0, 39 [SEP] 12, Towel, -1.719, 1.228, 1.846, 0, 0, 0, 35 [SEP] 13, SoapBar, -2.872, 0.676, 2.630, 0, 348.434, 0, 23 [SEP] 14, ToiletPaper, -3.828, 0.538, 1.109, 0, 90, 0, 38 [SEP] 15, TissueBox, -1.696, 0.038, 4.827, 0, 0, 0, 30 [SEP] 16, Cloth, -3.770, 0.541, 0.741, 0, 90, 0, 38 [SEP] 17, ToiletPaper, -1.179, 0.036, 4.828, 0, 0, 0, 32 [SEP] 18, SprayBottle, -2.202, 0.035, 4.948, 0, 0, 0, 37 [SEP] 19, ScrubBrush, -0.231, -0.000, 3.857, 0, 0, 0, Floor|+00.00| [SEP] 20, Plunger, -0.212, -0.000, 3.536, 0, 0, 0, Floor|+00.00| [SEP] 21, BathtubBasin, -3.404, 0.166, 2.904, 0, 0, 0, [SEP] 22, Cabinet, -0.124, 0.364, 4.634, 0, 0, 0, [SEP] 23, Bathtub, -2.896, 0.667, 2.860, 0, 0, 0, [SEP] 24, Faucet, -3.475, 0.711, 3.811, 0, 0, 0, [SEP] 25, ShowerGlass, 0.0, 0.0, 0.0, 0, 0, 0, [SEP] 26, ShowerDoor, -0.282, 1.228, 1.730, 0, 0, 0, [SEP] 27, Faucet, -1.524, 1.047, 5.096, 0, 180, 0, [SEP] 28, CounterTop, -1.023, 0.954, 4.884, 0, 0, 0, [SEP] 29, Mirror, -0.975, 1.577, 5.145, 0, 0, 0, [SEP] 30, Cabinet, -1.962, 0.364, 4.634, 0, 0, 0, [SEP] 31, Cabinet, -1.027, 0.364, 4.634, 0, 0, 0, [SEP] 32, Cabinet, -1.059, 0.364, 4.634, 0, 0, 0, [SEP] 33, Window, -1.993, 1.888, 0.144, 0, 0, 0, [SEP] 34, LightSwitch, -2.496, 1.366, 5.146, 0, 180, 0, [SEP] 35, TowelHolder, -1.720, 1.213, 1.740, 0, 0, 0, [SEP] 36, TowelHolder, -0.074, 1.404, 2.424, 0, 270, 0, [SEP] 37, GarbageCan, -2.346, 0.002, 4.878, 0, 180, 0, [SEP] 38, Shelf, -3.713, 0.531, 0.951, 0, 90, 0, [SEP] 39, HandTowelHolder, -2.094, 1.544, 5.145, 0, 90, 0, [SEP] 40, HandTowelHolder, -0.074, 1.569, 4.810, 0, 180, 0, [SEP] 41, ToiletPaperHanger, -0.074, 1.126, 3.686, 0, 270, 0, [SEP] 42, Toilet, -0.517, -0.000, 3.220, 0, 0, 0, [SEP] 43, ShowerHead, -0.182, 1.256, 0.875, 0, 0, 0, [SEP] 44, SinkBasin, -0.569, 0.986, 4.886, 0, 180, 0, [SEP] 45, Sink, -0.579, 0.926, 4.874, 0, 180, 0, [SEP] 46, Sink, -1.524, 0.926, 4.874, 0, 180, 0, [SEP] 47, SinkBasin, -1.514, 0.986, 4.886, 0, 180, 0, [SEP] 48, Faucet, -0.583, 1.047, 5.096, 0, 180, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the sink to your right. | STEP 2: Grab the cleaner from the cabinet below the sink. | STEP 3: Turn left and bring the cleaner to the toilet to your left. | STEP 4: Place the cleaner on top of the toilet. | STEP 5: Walk to the basket to your left. | STEP 6: Grab the cleaner from the basket. | STEP 7: Turn around and bring the cleaner to the toilet to your left. | STEP 8: Place the cleaner next to the other cleaner. | END"]} +{"id": "trial_T20190910_222914_814642-2", "input": "Put two spray bottles on a toilet's tank. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 2.5, 0, 180, 0, [SEP] 1, TissueBox, -3.655, 0.541, 1.477, 0, 90, 0, 23 [SEP] 2, Cloth, -0.193, 1.045, 3.223, 0, 270, 0, 42 [SEP] 3, Cloth, -3.701, 0.185, 2.194, 0, 0, 0, 21 [SEP] 4, Candle, -1.181, 0.972, 4.933, 0, 0, 0, 28 [SEP] 5, Candle, -0.252, 0.972, 4.877, 0, 0, 0, 28 [SEP] 6, SprayBottle, -0.761, 0.038, 4.768, 0, 0, 0, 31 [SEP] 7, SoapBottle, -3.770, 0.546, 0.557, 0, 90, 0, 38 [SEP] 8, ToiletPaper, -0.153, 1.126, 3.705, 0, 270, 270, 41 [SEP] 9, Candle, -0.394, 0.048, 4.946, 0, 0, 0, 22 [SEP] 10, SoapBottle, -1.095, 0.968, 4.668, 0, 0, 0, 28 [SEP] 11, HandTowel, -2.093, 1.442, 5.107, 0, 0, 0, 39 [SEP] 12, Towel, -1.719, 1.228, 1.846, 0, 0, 0, 35 [SEP] 13, SoapBar, -2.872, 0.676, 2.630, 0, 348.434, 0, 23 [SEP] 14, ToiletPaper, -3.828, 0.538, 1.109, 0, 90, 0, 38 [SEP] 15, TissueBox, -1.696, 0.038, 4.827, 0, 0, 0, 30 [SEP] 16, Cloth, -3.770, 0.541, 0.741, 0, 90, 0, 38 [SEP] 17, ToiletPaper, -1.179, 0.036, 4.828, 0, 0, 0, 32 [SEP] 18, SprayBottle, -2.202, 0.035, 4.948, 0, 0, 0, 37 [SEP] 19, ScrubBrush, -0.231, -0.000, 3.857, 0, 0, 0, Floor|+00.00| [SEP] 20, Plunger, -0.212, -0.000, 3.536, 0, 0, 0, Floor|+00.00| [SEP] 21, BathtubBasin, -3.404, 0.166, 2.904, 0, 0, 0, [SEP] 22, Cabinet, -0.124, 0.364, 4.634, 0, 0, 0, [SEP] 23, Bathtub, -2.896, 0.667, 2.860, 0, 0, 0, [SEP] 24, Faucet, -3.475, 0.711, 3.811, 0, 0, 0, [SEP] 25, ShowerGlass, 0.0, 0.0, 0.0, 0, 0, 0, [SEP] 26, ShowerDoor, -0.282, 1.228, 1.730, 0, 0, 0, [SEP] 27, Faucet, -1.524, 1.047, 5.096, 0, 180, 0, [SEP] 28, CounterTop, -1.023, 0.954, 4.884, 0, 0, 0, [SEP] 29, Mirror, -0.975, 1.577, 5.145, 0, 0, 0, [SEP] 30, Cabinet, -1.962, 0.364, 4.634, 0, 0, 0, [SEP] 31, Cabinet, -1.027, 0.364, 4.634, 0, 0, 0, [SEP] 32, Cabinet, -1.059, 0.364, 4.634, 0, 0, 0, [SEP] 33, Window, -1.993, 1.888, 0.144, 0, 0, 0, [SEP] 34, LightSwitch, -2.496, 1.366, 5.146, 0, 180, 0, [SEP] 35, TowelHolder, -1.720, 1.213, 1.740, 0, 0, 0, [SEP] 36, TowelHolder, -0.074, 1.404, 2.424, 0, 270, 0, [SEP] 37, GarbageCan, -2.346, 0.002, 4.878, 0, 180, 0, [SEP] 38, Shelf, -3.713, 0.531, 0.951, 0, 90, 0, [SEP] 39, HandTowelHolder, -2.094, 1.544, 5.145, 0, 90, 0, [SEP] 40, HandTowelHolder, -0.074, 1.569, 4.810, 0, 180, 0, [SEP] 41, ToiletPaperHanger, -0.074, 1.126, 3.686, 0, 270, 0, [SEP] 42, Toilet, -0.517, -0.000, 3.220, 0, 0, 0, [SEP] 43, ShowerHead, -0.182, 1.256, 0.875, 0, 0, 0, [SEP] 44, SinkBasin, -0.569, 0.986, 4.886, 0, 180, 0, [SEP] 45, Sink, -0.579, 0.926, 4.874, 0, 180, 0, [SEP] 46, Sink, -1.524, 0.926, 4.874, 0, 180, 0, [SEP] 47, SinkBasin, -1.514, 0.986, 4.886, 0, 180, 0, [SEP] 48, Faucet, -0.583, 1.047, 5.096, 0, 180, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, go forward a step, turn right, go forward a step, turn right, go forward to the toilet paper holder, turn left, go to the right sink. | STEP 2: Take the green spray bottle from the left cabinet under the sink. | STEP 3: Turn left, go forward a step, turn left at the sink, go forward, turn left after passing the toilet, go forward to the wall, turn left. | STEP 4: Put the bottle on the toilet tank. | STEP 5: Turn left, go forward to the tub, turn right, go forward to the trash bin. | STEP 6: Take the green spray bottle from the trash bin. | STEP 7: Turn around, go forward, turn left after passing the toilet, go forward, turn left to face the toilet. | STEP 8: Put the bottle on the toilet tank. | END"]} +{"id": "trial_T20190909_102940_350963-0", "input": "Put a slice of bread into a microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -0.5, 0, 270, 0, [SEP] 1, Kettle, -0.493, 1.329, -1.809, 0, 180, 0, 46 [SEP] 2, Potato, -0.872, 1.045, -1.770, 0, 0, 0, 74 [SEP] 3, Potato, 1.907, 0.942, 0.292, 0, 0, 0, 67 [SEP] 4, DishSponge, 1.907, 0.911, 0.623, 0, 0, 0, 67 [SEP] 5, DishSponge, 0.209, 0.108, -1.472, 0, 180, 0, 49 [SEP] 6, ButterKnife, -2.614, 0.952, 0.435, 0, 270, 0, 85 [SEP] 7, ButterKnife, -2.340, 0.952, 0.524, 0, 90, 0, 85 [SEP] 8, Pot, 1.007, 0.962, 0.561, 0, 270, 0, 54 [SEP] 9, Fork, 1.846, 0.912, 0.209, 0, 0, 0, 67 [SEP] 10, Fork, 0.908, 0.920, -1.582, 0, 270, 0, 50 [SEP] 11, Spoon, 0.377, 0.777, -1.552, 0, 270, 0, 75 [SEP] 12, Spoon, 0.649, 0.920, -1.582, 0, 270, 0, 50 [SEP] 13, Egg, -0.267, 0.947, -1.489, 0, 0, 0, 52 [SEP] 14, Cup, 1.601, 0.910, 0.706, 0, 0, 0, 67 [SEP] 15, Plate, 0.445, 0.111, 0.308, 0, 0, 0, 63 [SEP] 16, Tomato, -0.362, 0.119, 0.569, 0, 90, 0, 81 [SEP] 17, SaltShaker, -1.791, 0.948, 0.255, 0, 90, 0, 85 [SEP] 18, SaltShaker, -0.634, 0.107, -1.397, 0, 0, 0, 66 [SEP] 19, PepperShaker, -2.203, 0.948, 0.704, 0, 90, 0, 85 [SEP] 20, Bread, 0.035, 0.995, 0.458, 0, 0, 0, 51 [SEP] 21, Lettuce, -1.791, 1.042, 0.614, 0, 90, 0, 85 [SEP] 22, Apple, -0.096, 0.979, 0.209, 0, 0, 0, 51 [SEP] 23, Bread, -0.359, 0.995, -1.820, 0, 0, 0, 52 [SEP] 24, Knife, 0.167, 0.937, 0.209, 0, 0, 0, 51 [SEP] 25, Fork, 0.753, 0.920, -1.449, 0, 0, 0, 50 [SEP] 26, Bowl, 1.658, 0.911, -1.820, 0, 0, 0, 52 [SEP] 27, Kettle, -2.477, 0.953, 0.614, 0, 90, 0, 85 [SEP] 28, Cup, -1.872, 1.491, -1.849, 0, 0, 0, 82 [SEP] 29, Tomato, 0.908, 0.968, -1.516, 0, 270, 0, 50 [SEP] 30, SoapBottle, -0.096, 0.109, -1.582, 0, 0, 0, 61 [SEP] 31, Plate, 1.754, 1.329, -1.809, 0, 180, 0, 68 [SEP] 32, Pot, 1.361, 0.962, 0.561, 0, 270, 0, 57 [SEP] 33, Spatula, 1.903, 0.927, -1.406, 0, 0, 0, 52 [SEP] 34, PaperTowelRoll, -2.203, 1.056, 0.255, 0, 90, 0, 85 [SEP] 35, Egg, -2.310, 0.297, -1.886, 0, 0, 0, 82 [SEP] 36, Lettuce, 1.785, 1.002, 0.458, 0, 0, 0, 67 [SEP] 37, SaltShaker, -0.443, 0.107, -1.582, 0, 0, 0, 66 [SEP] 38, PepperShaker, -2.065, 0.948, 0.704, 0, 90, 0, 85 [SEP] 39, Apple, -2.135, 1.559, -1.763, 0, 0, 0, 82 [SEP] 40, ButterKnife, -0.175, 0.912, -1.820, 0, 0, 0, 52 [SEP] 41, Potato, -1.959, 1.522, -1.677, 0, 0, 0, 82 [SEP] 42, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 64 [SEP] 43, DishSponge, -1.928, 0.951, 0.255, 0, 90, 0, 85 [SEP] 44, Spoon, -1.791, 0.953, 0.435, 0, 90, 0, 85 [SEP] 45, Mug, 0.618, 0.945, 0.469, 0, 180, 0, 76 [SEP] 46, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0, [SEP] 47, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0, [SEP] 48, Drawer, 0.499, 0.792, 0.296, 0, 0, 0, [SEP] 49, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0, [SEP] 50, Sink, 0.711, 0.817, -1.772, 0, 270, 0, [SEP] 51, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0, [SEP] 52, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0, [SEP] 53, Drawer, 1.825, 0.792, 0.296, 0, 0, 0, [SEP] 54, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0, [SEP] 55, Drawer, -0.150, 0.792, -1.496, 0, 0, 0, [SEP] 56, Drawer, -0.586, 0.792, -1.496, 0, 0, 0, [SEP] 57, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0, [SEP] 58, Drawer, 0.024, 0.792, 0.296, 0, 0, 0, [SEP] 59, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0, [SEP] 60, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0, [SEP] 61, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0, [SEP] 62, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0, [SEP] 63, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0, [SEP] 64, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0, [SEP] 65, Drawer, -1.100, 0.792, -1.496, 0, 0, 0, [SEP] 66, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0, [SEP] 67, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0, [SEP] 68, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0, [SEP] 69, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0, [SEP] 70, Toaster, 0.305, 0.900, 0.552, 0, 180, 0, [SEP] 71, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0, [SEP] 72, Window, 0.582, 1.613, -1.967, 90, 0, 0, [SEP] 73, Window, 1.969, 1.5, -0.615, 90, 270, 0, [SEP] 74, Microwave, -1.037, 0.900, -1.723, 0, 0, 0, [SEP] 75, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0, [SEP] 76, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0, [SEP] 77, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0, [SEP] 78, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0, [SEP] 79, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0, [SEP] 80, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0, [SEP] 81, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0, [SEP] 82, Fridge, -2.134, 0.0, -1.690, 0, 0, 0, [SEP] 83, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0, [SEP] 84, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0, [SEP] 85, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, turn left, walk straight, turn right to the table next to the sink | STEP 2: Pick up the knife on the table | STEP 3: Cut the bread on the table into slices | STEP 4: Turn right, walk straight, turn left to the microwave | STEP 5: Open the microwave, put the knife inside, close the microwave. | STEP 6: Turn left, walk straight, turn right to the table next to the sink | STEP 7: Pick up a slice of bread from the table | STEP 8: Turn right, walk straight, turn left to the fridge | STEP 9: Open the fridge, put the bread inside, close the fridge. Open the fridge, take out the bread inside, close the fridge. | STEP 10: Turn left, walk straight, turn right to microwave | STEP 11: Open the microwave, put the bread inside, close the microwave. | END"]} +{"id": "trial_T20190909_102940_350963-1", "input": "To cool a bread slice and place it in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -0.5, 0, 270, 0, [SEP] 1, Kettle, -0.493, 1.329, -1.809, 0, 180, 0, 46 [SEP] 2, Potato, -0.872, 1.045, -1.770, 0, 0, 0, 74 [SEP] 3, Potato, 1.907, 0.942, 0.292, 0, 0, 0, 67 [SEP] 4, DishSponge, 1.907, 0.911, 0.623, 0, 0, 0, 67 [SEP] 5, DishSponge, 0.209, 0.108, -1.472, 0, 180, 0, 49 [SEP] 6, ButterKnife, -2.614, 0.952, 0.435, 0, 270, 0, 85 [SEP] 7, ButterKnife, -2.340, 0.952, 0.524, 0, 90, 0, 85 [SEP] 8, Pot, 1.007, 0.962, 0.561, 0, 270, 0, 54 [SEP] 9, Fork, 1.846, 0.912, 0.209, 0, 0, 0, 67 [SEP] 10, Fork, 0.908, 0.920, -1.582, 0, 270, 0, 50 [SEP] 11, Spoon, 0.377, 0.777, -1.552, 0, 270, 0, 75 [SEP] 12, Spoon, 0.649, 0.920, -1.582, 0, 270, 0, 50 [SEP] 13, Egg, -0.267, 0.947, -1.489, 0, 0, 0, 52 [SEP] 14, Cup, 1.601, 0.910, 0.706, 0, 0, 0, 67 [SEP] 15, Plate, 0.445, 0.111, 0.308, 0, 0, 0, 63 [SEP] 16, Tomato, -0.362, 0.119, 0.569, 0, 90, 0, 81 [SEP] 17, SaltShaker, -1.791, 0.948, 0.255, 0, 90, 0, 85 [SEP] 18, SaltShaker, -0.634, 0.107, -1.397, 0, 0, 0, 66 [SEP] 19, PepperShaker, -2.203, 0.948, 0.704, 0, 90, 0, 85 [SEP] 20, Bread, 0.035, 0.995, 0.458, 0, 0, 0, 51 [SEP] 21, Lettuce, -1.791, 1.042, 0.614, 0, 90, 0, 85 [SEP] 22, Apple, -0.096, 0.979, 0.209, 0, 0, 0, 51 [SEP] 23, Bread, -0.359, 0.995, -1.820, 0, 0, 0, 52 [SEP] 24, Knife, 0.167, 0.937, 0.209, 0, 0, 0, 51 [SEP] 25, Fork, 0.753, 0.920, -1.449, 0, 0, 0, 50 [SEP] 26, Bowl, 1.658, 0.911, -1.820, 0, 0, 0, 52 [SEP] 27, Kettle, -2.477, 0.953, 0.614, 0, 90, 0, 85 [SEP] 28, Cup, -1.872, 1.491, -1.849, 0, 0, 0, 82 [SEP] 29, Tomato, 0.908, 0.968, -1.516, 0, 270, 0, 50 [SEP] 30, SoapBottle, -0.096, 0.109, -1.582, 0, 0, 0, 61 [SEP] 31, Plate, 1.754, 1.329, -1.809, 0, 180, 0, 68 [SEP] 32, Pot, 1.361, 0.962, 0.561, 0, 270, 0, 57 [SEP] 33, Spatula, 1.903, 0.927, -1.406, 0, 0, 0, 52 [SEP] 34, PaperTowelRoll, -2.203, 1.056, 0.255, 0, 90, 0, 85 [SEP] 35, Egg, -2.310, 0.297, -1.886, 0, 0, 0, 82 [SEP] 36, Lettuce, 1.785, 1.002, 0.458, 0, 0, 0, 67 [SEP] 37, SaltShaker, -0.443, 0.107, -1.582, 0, 0, 0, 66 [SEP] 38, PepperShaker, -2.065, 0.948, 0.704, 0, 90, 0, 85 [SEP] 39, Apple, -2.135, 1.559, -1.763, 0, 0, 0, 82 [SEP] 40, ButterKnife, -0.175, 0.912, -1.820, 0, 0, 0, 52 [SEP] 41, Potato, -1.959, 1.522, -1.677, 0, 0, 0, 82 [SEP] 42, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 64 [SEP] 43, DishSponge, -1.928, 0.951, 0.255, 0, 90, 0, 85 [SEP] 44, Spoon, -1.791, 0.953, 0.435, 0, 90, 0, 85 [SEP] 45, Mug, 0.618, 0.945, 0.469, 0, 180, 0, 76 [SEP] 46, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0, [SEP] 47, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0, [SEP] 48, Drawer, 0.499, 0.792, 0.296, 0, 0, 0, [SEP] 49, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0, [SEP] 50, Sink, 0.711, 0.817, -1.772, 0, 270, 0, [SEP] 51, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0, [SEP] 52, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0, [SEP] 53, Drawer, 1.825, 0.792, 0.296, 0, 0, 0, [SEP] 54, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0, [SEP] 55, Drawer, -0.150, 0.792, -1.496, 0, 0, 0, [SEP] 56, Drawer, -0.586, 0.792, -1.496, 0, 0, 0, [SEP] 57, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0, [SEP] 58, Drawer, 0.024, 0.792, 0.296, 0, 0, 0, [SEP] 59, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0, [SEP] 60, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0, [SEP] 61, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0, [SEP] 62, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0, [SEP] 63, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0, [SEP] 64, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0, [SEP] 65, Drawer, -1.100, 0.792, -1.496, 0, 0, 0, [SEP] 66, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0, [SEP] 67, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0, [SEP] 68, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0, [SEP] 69, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0, [SEP] 70, Toaster, 0.305, 0.900, 0.552, 0, 180, 0, [SEP] 71, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0, [SEP] 72, Window, 0.582, 1.613, -1.967, 90, 0, 0, [SEP] 73, Window, 1.969, 1.5, -0.615, 90, 270, 0, [SEP] 74, Microwave, -1.037, 0.900, -1.723, 0, 0, 0, [SEP] 75, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0, [SEP] 76, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0, [SEP] 77, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0, [SEP] 78, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0, [SEP] 79, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0, [SEP] 80, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0, [SEP] 81, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0, [SEP] 82, Fridge, -2.134, 0.0, -1.690, 0, 0, 0, [SEP] 83, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0, [SEP] 84, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0, [SEP] 85, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and step forward to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Cut the bread on the counter into slices. | STEP 4: Step right to face the microwave. | STEP 5: Place the knife in the microwave. | STEP 6: Step to the left to face the bread on the counter. | STEP 7: Pick up a slice of bread on the counter. | STEP 8: Turn right and walk forward and turn left to face the fridge. | STEP 9: Cool the bread slice in the fridge and remove it. | STEP 10: Step to the left to face the microwave. | STEP 11: Place the bread slice in the microwave. | END"]} +{"id": "trial_T20190909_102940_350963-2", "input": "Cool a slice of bread and put it in the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -0.5, 0, 270, 0, [SEP] 1, Kettle, -0.493, 1.329, -1.809, 0, 180, 0, 46 [SEP] 2, Potato, -0.872, 1.045, -1.770, 0, 0, 0, 74 [SEP] 3, Potato, 1.907, 0.942, 0.292, 0, 0, 0, 67 [SEP] 4, DishSponge, 1.907, 0.911, 0.623, 0, 0, 0, 67 [SEP] 5, DishSponge, 0.209, 0.108, -1.472, 0, 180, 0, 49 [SEP] 6, ButterKnife, -2.614, 0.952, 0.435, 0, 270, 0, 85 [SEP] 7, ButterKnife, -2.340, 0.952, 0.524, 0, 90, 0, 85 [SEP] 8, Pot, 1.007, 0.962, 0.561, 0, 270, 0, 54 [SEP] 9, Fork, 1.846, 0.912, 0.209, 0, 0, 0, 67 [SEP] 10, Fork, 0.908, 0.920, -1.582, 0, 270, 0, 50 [SEP] 11, Spoon, 0.377, 0.777, -1.552, 0, 270, 0, 75 [SEP] 12, Spoon, 0.649, 0.920, -1.582, 0, 270, 0, 50 [SEP] 13, Egg, -0.267, 0.947, -1.489, 0, 0, 0, 52 [SEP] 14, Cup, 1.601, 0.910, 0.706, 0, 0, 0, 67 [SEP] 15, Plate, 0.445, 0.111, 0.308, 0, 0, 0, 63 [SEP] 16, Tomato, -0.362, 0.119, 0.569, 0, 90, 0, 81 [SEP] 17, SaltShaker, -1.791, 0.948, 0.255, 0, 90, 0, 85 [SEP] 18, SaltShaker, -0.634, 0.107, -1.397, 0, 0, 0, 66 [SEP] 19, PepperShaker, -2.203, 0.948, 0.704, 0, 90, 0, 85 [SEP] 20, Bread, 0.035, 0.995, 0.458, 0, 0, 0, 51 [SEP] 21, Lettuce, -1.791, 1.042, 0.614, 0, 90, 0, 85 [SEP] 22, Apple, -0.096, 0.979, 0.209, 0, 0, 0, 51 [SEP] 23, Bread, -0.359, 0.995, -1.820, 0, 0, 0, 52 [SEP] 24, Knife, 0.167, 0.937, 0.209, 0, 0, 0, 51 [SEP] 25, Fork, 0.753, 0.920, -1.449, 0, 0, 0, 50 [SEP] 26, Bowl, 1.658, 0.911, -1.820, 0, 0, 0, 52 [SEP] 27, Kettle, -2.477, 0.953, 0.614, 0, 90, 0, 85 [SEP] 28, Cup, -1.872, 1.491, -1.849, 0, 0, 0, 82 [SEP] 29, Tomato, 0.908, 0.968, -1.516, 0, 270, 0, 50 [SEP] 30, SoapBottle, -0.096, 0.109, -1.582, 0, 0, 0, 61 [SEP] 31, Plate, 1.754, 1.329, -1.809, 0, 180, 0, 68 [SEP] 32, Pot, 1.361, 0.962, 0.561, 0, 270, 0, 57 [SEP] 33, Spatula, 1.903, 0.927, -1.406, 0, 0, 0, 52 [SEP] 34, PaperTowelRoll, -2.203, 1.056, 0.255, 0, 90, 0, 85 [SEP] 35, Egg, -2.310, 0.297, -1.886, 0, 0, 0, 82 [SEP] 36, Lettuce, 1.785, 1.002, 0.458, 0, 0, 0, 67 [SEP] 37, SaltShaker, -0.443, 0.107, -1.582, 0, 0, 0, 66 [SEP] 38, PepperShaker, -2.065, 0.948, 0.704, 0, 90, 0, 85 [SEP] 39, Apple, -2.135, 1.559, -1.763, 0, 0, 0, 82 [SEP] 40, ButterKnife, -0.175, 0.912, -1.820, 0, 0, 0, 52 [SEP] 41, Potato, -1.959, 1.522, -1.677, 0, 0, 0, 82 [SEP] 42, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 64 [SEP] 43, DishSponge, -1.928, 0.951, 0.255, 0, 90, 0, 85 [SEP] 44, Spoon, -1.791, 0.953, 0.435, 0, 90, 0, 85 [SEP] 45, Mug, 0.618, 0.945, 0.469, 0, 180, 0, 76 [SEP] 46, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0, [SEP] 47, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0, [SEP] 48, Drawer, 0.499, 0.792, 0.296, 0, 0, 0, [SEP] 49, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0, [SEP] 50, Sink, 0.711, 0.817, -1.772, 0, 270, 0, [SEP] 51, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0, [SEP] 52, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0, [SEP] 53, Drawer, 1.825, 0.792, 0.296, 0, 0, 0, [SEP] 54, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0, [SEP] 55, Drawer, -0.150, 0.792, -1.496, 0, 0, 0, [SEP] 56, Drawer, -0.586, 0.792, -1.496, 0, 0, 0, [SEP] 57, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0, [SEP] 58, Drawer, 0.024, 0.792, 0.296, 0, 0, 0, [SEP] 59, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0, [SEP] 60, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0, [SEP] 61, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0, [SEP] 62, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0, [SEP] 63, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0, [SEP] 64, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0, [SEP] 65, Drawer, -1.100, 0.792, -1.496, 0, 0, 0, [SEP] 66, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0, [SEP] 67, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0, [SEP] 68, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0, [SEP] 69, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0, [SEP] 70, Toaster, 0.305, 0.900, 0.552, 0, 180, 0, [SEP] 71, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0, [SEP] 72, Window, 0.582, 1.613, -1.967, 90, 0, 0, [SEP] 73, Window, 1.969, 1.5, -0.615, 90, 270, 0, [SEP] 74, Microwave, -1.037, 0.900, -1.723, 0, 0, 0, [SEP] 75, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0, [SEP] 76, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0, [SEP] 77, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0, [SEP] 78, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0, [SEP] 79, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0, [SEP] 80, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0, [SEP] 81, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0, [SEP] 82, Fridge, -2.134, 0.0, -1.690, 0, 0, 0, [SEP] 83, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0, [SEP] 84, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0, [SEP] 85, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, go forward, turn right before the sink | STEP 2: Pick up the knife on the counter | STEP 3: Slice the bread on the counter | STEP 4: Move a bit to the right to the front of the microwave | STEP 5: Put the knife in the microwave | STEP 6: Move a bit to the left | STEP 7: Pick up a bread slice from the counter | STEP 8: Turn right,go forward, turn left at the fridge | STEP 9: Put the bread slice in the fridge, wait, pick up the bread slice from the fridge | STEP 10: Turn left, go forward, turn right at the microwave | STEP 11: Put the bread in the microwave | END"]} +{"id": "trial_T20190906_190942_706186-0", "input": "Put a spray bottle on top of the toilet's water tank. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, -0.5, 0, 0, 0, [SEP] 1, Cloth, -2.443, 0.806, -3.591, 0, 0, 0, 27 [SEP] 2, Cloth, -2.764, 0.066, -3.506, 0, 0, 0, 25 [SEP] 3, Candle, -2.708, 0.815, -3.649, 0, 0, 0, 27 [SEP] 4, Candle, -2.462, 0.075, -3.382, 0, 0, 0, 25 [SEP] 5, SprayBottle, -2.462, 0.067, -3.506, 0, 0, 0, 25 [SEP] 6, SoapBottle, -0.099, 1.047, -2.917, 0, 270, 0, 36 [SEP] 7, SoapBottle, -2.532, 0.808, -2.459, 0, 0, 0, 27 [SEP] 8, ToiletPaper, -2.537, 0.062, -2.436, 0, 0, 0, 24 [SEP] 9, Candle, -2.355, 0.815, -3.532, 0, 0, 0, 27 [SEP] 10, Cloth, -2.848, 0.797, -2.452, 0, 104.999, 0, 27 [SEP] 11, HandTowel, -2.962, 1.584, -2.569, 0, 270, 0, 31 [SEP] 12, Plunger, -0.125, 0.000, -3.493, 0, 0, 0, Floor|-00.04| [SEP] 13, SoapBar, -2.700, 0.872, -3.037, 0, 90, 0, 33 [SEP] 14, ToiletPaper, -2.884, 0.803, -3.707, 0, 0, 0, 27 [SEP] 15, ToiletPaper, -2.613, 0.063, -3.081, 0, 0, 0, 20 [SEP] 16, Towel, -1.291, 1.386, -0.63, 0, 270, 0, 28 [SEP] 17, SoapBottle, -2.688, 0.067, -2.320, 0, 180, 0, 24 [SEP] 18, SprayBottle, -2.443, 0.807, -3.823, 0, 0, 0, 27 [SEP] 19, ScrubBrush, -0.325, 0.000, -3.342, 0, 0, 0, Floor|-00.04| [SEP] 20, Cabinet, -2.293, 0.324, -3.254, 0, 0, 0, [SEP] 21, Mirror, -3.0, 1.659, -3.069, 0, 0, 0, [SEP] 22, Sink, -2.661, 0.785, -3.069, 0, 90, 0, [SEP] 23, ShowerGlass, -0.599, 1.097, -1.124, 0, 0, 0, [SEP] 24, Cabinet, -2.299, 0.345, -2.250, 0, 0, 0, [SEP] 25, Cabinet, -2.293, 0.324, -3.814, 0, 0, 0, [SEP] 26, ShowerDoor, -1.179, 1.090, -1.220, 0, 0, 0, [SEP] 27, CounterTop, -2.632, 0.843, -3.040, 0, 0, 0, [SEP] 28, TowelHolder, -1.184, 1.371, -0.629, 0, 270, 0, [SEP] 29, ToiletPaperHanger, 0.0, 0.943, -2.536, 0, 270, 0, [SEP] 30, HandTowelHolder, -3.000, 1.685, -3.550, 0, 0, 0, [SEP] 31, HandTowelHolder, -3.000, 1.685, -2.569, 0, 0, 0, [SEP] 32, Window, -0.567, 1.706, -4.002, 90, 0, 0, [SEP] 33, SinkBasin, -2.669, 0.863, -3.063, 0, 90, 0, [SEP] 34, GarbageCan, -0.459, -0.043, -3.769, 0, 0, 0, [SEP] 35, LightSwitch, -1.945, 1.503, 0.000, 0, 180, 0, [SEP] 36, Toilet, -0.452, 0.000, -3.052, 0, 0, 0, [SEP] 37, Faucet, -3.0, 1.167, -3.073, 0, 180, 0, [SEP] 38, ShowerHead, -0.614, 1.934, -0.013, 0, 0, 0, [SEP] 39, EastWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and head to the end of the sink counter on your right. | STEP 2: Pick up the spray bottle sitting on the counter. | STEP 3: Turn around and face the toilet behind you. | STEP 4: Place the spray bottle on top of the toilet's water tank, in front of the dispenser that is already there. | END"]} +{"id": "trial_T20190906_190942_706186-1", "input": "Place a bottle of cleaning spray on the top of the toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, -0.5, 0, 0, 0, [SEP] 1, Cloth, -2.443, 0.806, -3.591, 0, 0, 0, 27 [SEP] 2, Cloth, -2.764, 0.066, -3.506, 0, 0, 0, 25 [SEP] 3, Candle, -2.708, 0.815, -3.649, 0, 0, 0, 27 [SEP] 4, Candle, -2.462, 0.075, -3.382, 0, 0, 0, 25 [SEP] 5, SprayBottle, -2.462, 0.067, -3.506, 0, 0, 0, 25 [SEP] 6, SoapBottle, -0.099, 1.047, -2.917, 0, 270, 0, 36 [SEP] 7, SoapBottle, -2.532, 0.808, -2.459, 0, 0, 0, 27 [SEP] 8, ToiletPaper, -2.537, 0.062, -2.436, 0, 0, 0, 24 [SEP] 9, Candle, -2.355, 0.815, -3.532, 0, 0, 0, 27 [SEP] 10, Cloth, -2.848, 0.797, -2.452, 0, 104.999, 0, 27 [SEP] 11, HandTowel, -2.962, 1.584, -2.569, 0, 270, 0, 31 [SEP] 12, Plunger, -0.125, 0.000, -3.493, 0, 0, 0, Floor|-00.04| [SEP] 13, SoapBar, -2.700, 0.872, -3.037, 0, 90, 0, 33 [SEP] 14, ToiletPaper, -2.884, 0.803, -3.707, 0, 0, 0, 27 [SEP] 15, ToiletPaper, -2.613, 0.063, -3.081, 0, 0, 0, 20 [SEP] 16, Towel, -1.291, 1.386, -0.63, 0, 270, 0, 28 [SEP] 17, SoapBottle, -2.688, 0.067, -2.320, 0, 180, 0, 24 [SEP] 18, SprayBottle, -2.443, 0.807, -3.823, 0, 0, 0, 27 [SEP] 19, ScrubBrush, -0.325, 0.000, -3.342, 0, 0, 0, Floor|-00.04| [SEP] 20, Cabinet, -2.293, 0.324, -3.254, 0, 0, 0, [SEP] 21, Mirror, -3.0, 1.659, -3.069, 0, 0, 0, [SEP] 22, Sink, -2.661, 0.785, -3.069, 0, 90, 0, [SEP] 23, ShowerGlass, -0.599, 1.097, -1.124, 0, 0, 0, [SEP] 24, Cabinet, -2.299, 0.345, -2.250, 0, 0, 0, [SEP] 25, Cabinet, -2.293, 0.324, -3.814, 0, 0, 0, [SEP] 26, ShowerDoor, -1.179, 1.090, -1.220, 0, 0, 0, [SEP] 27, CounterTop, -2.632, 0.843, -3.040, 0, 0, 0, [SEP] 28, TowelHolder, -1.184, 1.371, -0.629, 0, 270, 0, [SEP] 29, ToiletPaperHanger, 0.0, 0.943, -2.536, 0, 270, 0, [SEP] 30, HandTowelHolder, -3.000, 1.685, -3.550, 0, 0, 0, [SEP] 31, HandTowelHolder, -3.000, 1.685, -2.569, 0, 0, 0, [SEP] 32, Window, -0.567, 1.706, -4.002, 90, 0, 0, [SEP] 33, SinkBasin, -2.669, 0.863, -3.063, 0, 90, 0, [SEP] 34, GarbageCan, -0.459, -0.043, -3.769, 0, 0, 0, [SEP] 35, LightSwitch, -1.945, 1.503, 0.000, 0, 180, 0, [SEP] 36, Toilet, -0.452, 0.000, -3.052, 0, 0, 0, [SEP] 37, Faucet, -3.0, 1.167, -3.073, 0, 180, 0, [SEP] 38, ShowerHead, -0.614, 1.934, -0.013, 0, 0, 0, [SEP] 39, EastWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the far edge of the counter on the right. | STEP 2: Pick up the bottle of cleaning spray from the counter. | STEP 3: Turn around and move to the toilet. | STEP 4: Put the bottle of cleaning spray on the top of the toilet. | END"]} +{"id": "trial_T20190906_190942_706186-2", "input": "Place a spray bottle on the top of the toilet tank. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, -0.5, 0, 0, 0, [SEP] 1, Cloth, -2.443, 0.806, -3.591, 0, 0, 0, 27 [SEP] 2, Cloth, -2.764, 0.066, -3.506, 0, 0, 0, 25 [SEP] 3, Candle, -2.708, 0.815, -3.649, 0, 0, 0, 27 [SEP] 4, Candle, -2.462, 0.075, -3.382, 0, 0, 0, 25 [SEP] 5, SprayBottle, -2.462, 0.067, -3.506, 0, 0, 0, 25 [SEP] 6, SoapBottle, -0.099, 1.047, -2.917, 0, 270, 0, 36 [SEP] 7, SoapBottle, -2.532, 0.808, -2.459, 0, 0, 0, 27 [SEP] 8, ToiletPaper, -2.537, 0.062, -2.436, 0, 0, 0, 24 [SEP] 9, Candle, -2.355, 0.815, -3.532, 0, 0, 0, 27 [SEP] 10, Cloth, -2.848, 0.797, -2.452, 0, 104.999, 0, 27 [SEP] 11, HandTowel, -2.962, 1.584, -2.569, 0, 270, 0, 31 [SEP] 12, Plunger, -0.125, 0.000, -3.493, 0, 0, 0, Floor|-00.04| [SEP] 13, SoapBar, -2.700, 0.872, -3.037, 0, 90, 0, 33 [SEP] 14, ToiletPaper, -2.884, 0.803, -3.707, 0, 0, 0, 27 [SEP] 15, ToiletPaper, -2.613, 0.063, -3.081, 0, 0, 0, 20 [SEP] 16, Towel, -1.291, 1.386, -0.63, 0, 270, 0, 28 [SEP] 17, SoapBottle, -2.688, 0.067, -2.320, 0, 180, 0, 24 [SEP] 18, SprayBottle, -2.443, 0.807, -3.823, 0, 0, 0, 27 [SEP] 19, ScrubBrush, -0.325, 0.000, -3.342, 0, 0, 0, Floor|-00.04| [SEP] 20, Cabinet, -2.293, 0.324, -3.254, 0, 0, 0, [SEP] 21, Mirror, -3.0, 1.659, -3.069, 0, 0, 0, [SEP] 22, Sink, -2.661, 0.785, -3.069, 0, 90, 0, [SEP] 23, ShowerGlass, -0.599, 1.097, -1.124, 0, 0, 0, [SEP] 24, Cabinet, -2.299, 0.345, -2.250, 0, 0, 0, [SEP] 25, Cabinet, -2.293, 0.324, -3.814, 0, 0, 0, [SEP] 26, ShowerDoor, -1.179, 1.090, -1.220, 0, 0, 0, [SEP] 27, CounterTop, -2.632, 0.843, -3.040, 0, 0, 0, [SEP] 28, TowelHolder, -1.184, 1.371, -0.629, 0, 270, 0, [SEP] 29, ToiletPaperHanger, 0.0, 0.943, -2.536, 0, 270, 0, [SEP] 30, HandTowelHolder, -3.000, 1.685, -3.550, 0, 0, 0, [SEP] 31, HandTowelHolder, -3.000, 1.685, -2.569, 0, 0, 0, [SEP] 32, Window, -0.567, 1.706, -4.002, 90, 0, 0, [SEP] 33, SinkBasin, -2.669, 0.863, -3.063, 0, 90, 0, [SEP] 34, GarbageCan, -0.459, -0.043, -3.769, 0, 0, 0, [SEP] 35, LightSwitch, -1.945, 1.503, 0.000, 0, 180, 0, [SEP] 36, Toilet, -0.452, 0.000, -3.052, 0, 0, 0, [SEP] 37, Faucet, -3.0, 1.167, -3.073, 0, 180, 0, [SEP] 38, ShowerHead, -0.614, 1.934, -0.013, 0, 0, 0, [SEP] 39, EastWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around, walk across the room and turn right to face the sink counter when you reach the wall. | STEP 2: Pick up the spray bottle off of the sink counter. | STEP 3: Turn right and begin walking across the room, then hang a right before the shower and walk towards the toilet. | STEP 4: Place the spray bottle on the top of the toilet tank in front of the soap bottle. | END"]} +{"id": "trial_T20190906_195826_107019-0", "input": "Place the cup from the table in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.901, -3.25, 0, 0, 0, [SEP] 1, DishSponge, -2.431, 0.713, -0.326, 0, 225, 0, 82 [SEP] 2, DishSponge, -3.275, 1.867, -2.084, 0, 0, 0, 48 [SEP] 3, Spoon, -0.257, 0.917, -0.472, 0, 0, 0, 65 [SEP] 4, Cup, -0.014, 0.916, -0.507, 0, 0, 0, 65 [SEP] 5, Plate, -0.419, 0.914, -1.370, 0, 0, 0, 65 [SEP] 6, Knife, -3.561, 0.946, -3.227, 0, 90, 0, 38 [SEP] 7, Tomato, -2.865, 0.766, -0.069, 0, 0, 0, 82 [SEP] 8, Tomato, -2.740, 0.766, -0.922, 0, 0, 0, 82 [SEP] 9, Bowl, -1.262, 0.911, -3.729, 0, 0, 0, 38 [SEP] 10, Bowl, -3.182, 1.396, -1.879, 0, 90, 0, 79 [SEP] 11, SaltShaker, -3.111, 0.710, -0.652, 0, 225, 0, 82 [SEP] 12, Lettuce, -0.160, 1.001, -2.911, 0, 0, 0, 38 [SEP] 13, Bread, -2.765, 0.754, -0.596, 0, 135, 0, 82 [SEP] 14, Mug, -2.439, 0.708, -0.558, 0, 270, 0, 82 [SEP] 15, Apple, -2.620, 0.759, -0.652, 0, 135, 0, 82 [SEP] 16, Apple, -3.059, 0.929, -2.440, 0, 90, 0, 79 [SEP] 17, Pot, -3.140, 0.916, -3.126, 0, 0, 0, 38 [SEP] 18, Egg, -0.447, 0.949, -4.026, 0, 0, 0, 38 [SEP] 19, Cup, -3.123, 0.717, -0.841, 0, 225, 0, 82 [SEP] 20, Bread, -0.327, 0.948, -3.681, 0, 298.222, 0, 38 [SEP] 21, Fork, -3.477, 0.914, -3.026, 0, 0, 0, 38 [SEP] 22, Pan, -0.165, 0.975, -2.030, 0, 180, 0, 69 [SEP] 23, Potato, -3.027, 0.685, -1.879, 0, 90, 0, 79 [SEP] 24, Lettuce, -3.309, 1.001, -2.926, 0, 0, 0, 38 [SEP] 25, Tomato, -2.519, 0.763, -0.753, 0, 135, 0, 82 [SEP] 26, Apple, -0.189, 1.055, -0.802, 0, 270, 0, 75 [SEP] 27, SoapBottle, -0.314, 0.079, 0.055, 0, 270, 0, 77 [SEP] 28, Spatula, -3.199, 0.731, -0.564, 0, 315, 0, 82 [SEP] 29, SaltShaker, -2.632, 0.710, -0.528, 0, 225, 0, 82 [SEP] 30, Knife, -0.382, 0.778, -0.912, 0, 90, 0, 64 [SEP] 31, PepperShaker, -3.111, 0.742, -3.078, 0, 0, 0, 60 [SEP] 32, ButterKnife, -2.987, 0.913, -3.729, 0, 0, 0, 38 [SEP] 33, Plate, -3.346, 0.911, -3.952, 0, 0, 0, 38 [SEP] 34, DishSponge, -0.412, 0.745, -1.563, 0, 0, 0, 61 [SEP] 35, Spoon, -2.581, 0.718, -0.371, 0, 270, 0, 82 [SEP] 36, Mug, -0.127, 1.007, -0.900, 0, 270, 0, 75 [SEP] 37, Bowl, -3.130, 0.638, -2.125, 0, 90, 0, 79 [SEP] 38, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0, [SEP] 39, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0, [SEP] 40, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0, [SEP] 41, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0, [SEP] 42, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0, [SEP] 43, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0, [SEP] 44, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0, [SEP] 45, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0, [SEP] 46, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0, [SEP] 47, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0, [SEP] 48, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0, [SEP] 49, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0, [SEP] 50, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0, [SEP] 51, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0, [SEP] 52, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0, [SEP] 53, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0, [SEP] 54, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0, [SEP] 55, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0, [SEP] 56, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0, [SEP] 57, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0, [SEP] 58, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0, [SEP] 59, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0, [SEP] 60, Drawer, -3.104, 0.797, -2.968, 0, 0, 0, [SEP] 61, Drawer, -0.449, 0.797, -1.410, 0, 0, 0, [SEP] 62, Sink, -1.786, 0.902, -3.748, 0, 0, 0, [SEP] 63, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0, [SEP] 64, Drawer, -0.449, 0.797, -0.762, 0, 0, 0, [SEP] 65, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0, [SEP] 66, Drawer, -0.449, 0.797, -3.348, 0, 0, 0, [SEP] 67, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0, [SEP] 68, Drawer, -0.449, 0.797, -2.968, 0, 0, 0, [SEP] 69, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0, [SEP] 70, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0, [SEP] 71, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0, [SEP] 72, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0, [SEP] 73, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0, [SEP] 74, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0, [SEP] 75, Microwave, -0.143, 0.903, -0.908, 0, 270, 0, [SEP] 76, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0, [SEP] 77, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0, [SEP] 78, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0, [SEP] 79, Fridge, -3.188, 0.0, -2.184, 0, 0, 0, [SEP] 80, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0, [SEP] 81, Toaster, -0.230, 0.903, -3.406, 0, 270, 0, [SEP] 82, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0, [SEP] 83, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0, [SEP] 84, Faucet, -1.791, 1.136, -3.913, 0, 270, 0, [SEP] 85, NorthWall, , , , , , , [SEP] 86, EastWall, , , , , , , [SEP] 87, SouthWall, , , , , , , [SEP] 88, WestWall, , , , , , , ", "output": ["STEP 1: Walk towards the table at the end of the room. | STEP 2: Pick up the cup off of the table. | STEP 3: Turn to the left and face the refrigerator. | STEP 4: Open the refrigerator, set the cup in it, close the refrigerator, wait a second, open the refrigerator again, and remove the cup. | STEP 5: Turn to the left and face the sink. | STEP 6: Place the cup in the sink. | END"]} +{"id": "trial_T20190906_195826_107019-1", "input": "place a cooled cup in the kitchen sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.901, -3.25, 0, 0, 0, [SEP] 1, DishSponge, -2.431, 0.713, -0.326, 0, 225, 0, 82 [SEP] 2, DishSponge, -3.275, 1.867, -2.084, 0, 0, 0, 48 [SEP] 3, Spoon, -0.257, 0.917, -0.472, 0, 0, 0, 65 [SEP] 4, Cup, -0.014, 0.916, -0.507, 0, 0, 0, 65 [SEP] 5, Plate, -0.419, 0.914, -1.370, 0, 0, 0, 65 [SEP] 6, Knife, -3.561, 0.946, -3.227, 0, 90, 0, 38 [SEP] 7, Tomato, -2.865, 0.766, -0.069, 0, 0, 0, 82 [SEP] 8, Tomato, -2.740, 0.766, -0.922, 0, 0, 0, 82 [SEP] 9, Bowl, -1.262, 0.911, -3.729, 0, 0, 0, 38 [SEP] 10, Bowl, -3.182, 1.396, -1.879, 0, 90, 0, 79 [SEP] 11, SaltShaker, -3.111, 0.710, -0.652, 0, 225, 0, 82 [SEP] 12, Lettuce, -0.160, 1.001, -2.911, 0, 0, 0, 38 [SEP] 13, Bread, -2.765, 0.754, -0.596, 0, 135, 0, 82 [SEP] 14, Mug, -2.439, 0.708, -0.558, 0, 270, 0, 82 [SEP] 15, Apple, -2.620, 0.759, -0.652, 0, 135, 0, 82 [SEP] 16, Apple, -3.059, 0.929, -2.440, 0, 90, 0, 79 [SEP] 17, Pot, -3.140, 0.916, -3.126, 0, 0, 0, 38 [SEP] 18, Egg, -0.447, 0.949, -4.026, 0, 0, 0, 38 [SEP] 19, Cup, -3.123, 0.717, -0.841, 0, 225, 0, 82 [SEP] 20, Bread, -0.327, 0.948, -3.681, 0, 298.222, 0, 38 [SEP] 21, Fork, -3.477, 0.914, -3.026, 0, 0, 0, 38 [SEP] 22, Pan, -0.165, 0.975, -2.030, 0, 180, 0, 69 [SEP] 23, Potato, -3.027, 0.685, -1.879, 0, 90, 0, 79 [SEP] 24, Lettuce, -3.309, 1.001, -2.926, 0, 0, 0, 38 [SEP] 25, Tomato, -2.519, 0.763, -0.753, 0, 135, 0, 82 [SEP] 26, Apple, -0.189, 1.055, -0.802, 0, 270, 0, 75 [SEP] 27, SoapBottle, -0.314, 0.079, 0.055, 0, 270, 0, 77 [SEP] 28, Spatula, -3.199, 0.731, -0.564, 0, 315, 0, 82 [SEP] 29, SaltShaker, -2.632, 0.710, -0.528, 0, 225, 0, 82 [SEP] 30, Knife, -0.382, 0.778, -0.912, 0, 90, 0, 64 [SEP] 31, PepperShaker, -3.111, 0.742, -3.078, 0, 0, 0, 60 [SEP] 32, ButterKnife, -2.987, 0.913, -3.729, 0, 0, 0, 38 [SEP] 33, Plate, -3.346, 0.911, -3.952, 0, 0, 0, 38 [SEP] 34, DishSponge, -0.412, 0.745, -1.563, 0, 0, 0, 61 [SEP] 35, Spoon, -2.581, 0.718, -0.371, 0, 270, 0, 82 [SEP] 36, Mug, -0.127, 1.007, -0.900, 0, 270, 0, 75 [SEP] 37, Bowl, -3.130, 0.638, -2.125, 0, 90, 0, 79 [SEP] 38, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0, [SEP] 39, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0, [SEP] 40, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0, [SEP] 41, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0, [SEP] 42, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0, [SEP] 43, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0, [SEP] 44, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0, [SEP] 45, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0, [SEP] 46, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0, [SEP] 47, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0, [SEP] 48, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0, [SEP] 49, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0, [SEP] 50, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0, [SEP] 51, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0, [SEP] 52, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0, [SEP] 53, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0, [SEP] 54, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0, [SEP] 55, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0, [SEP] 56, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0, [SEP] 57, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0, [SEP] 58, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0, [SEP] 59, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0, [SEP] 60, Drawer, -3.104, 0.797, -2.968, 0, 0, 0, [SEP] 61, Drawer, -0.449, 0.797, -1.410, 0, 0, 0, [SEP] 62, Sink, -1.786, 0.902, -3.748, 0, 0, 0, [SEP] 63, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0, [SEP] 64, Drawer, -0.449, 0.797, -0.762, 0, 0, 0, [SEP] 65, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0, [SEP] 66, Drawer, -0.449, 0.797, -3.348, 0, 0, 0, [SEP] 67, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0, [SEP] 68, Drawer, -0.449, 0.797, -2.968, 0, 0, 0, [SEP] 69, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0, [SEP] 70, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0, [SEP] 71, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0, [SEP] 72, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0, [SEP] 73, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0, [SEP] 74, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0, [SEP] 75, Microwave, -0.143, 0.903, -0.908, 0, 270, 0, [SEP] 76, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0, [SEP] 77, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0, [SEP] 78, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0, [SEP] 79, Fridge, -3.188, 0.0, -2.184, 0, 0, 0, [SEP] 80, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0, [SEP] 81, Toaster, -0.230, 0.903, -3.406, 0, 270, 0, [SEP] 82, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0, [SEP] 83, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0, [SEP] 84, Faucet, -1.791, 1.136, -3.913, 0, 270, 0, [SEP] 85, NorthWall, , , , , , , [SEP] 86, EastWall, , , , , , , [SEP] 87, SouthWall, , , , , , , [SEP] 88, WestWall, , , , , , , ", "output": ["STEP 1: walk to the table in front of you to the left | STEP 2: grab a from from the table | STEP 3: turn around and walk to face the fridge | STEP 4: place the cup inside of the fridge, and then take it back out | STEP 5: turn and walk towards the kitchen sink | STEP 6: place the cup in the sink | END"]} +{"id": "trial_T20190906_195826_107019-2", "input": "Take a glass from the table, to the fridge, to the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.901, -3.25, 0, 0, 0, [SEP] 1, DishSponge, -2.431, 0.713, -0.326, 0, 225, 0, 82 [SEP] 2, DishSponge, -3.275, 1.867, -2.084, 0, 0, 0, 48 [SEP] 3, Spoon, -0.257, 0.917, -0.472, 0, 0, 0, 65 [SEP] 4, Cup, -0.014, 0.916, -0.507, 0, 0, 0, 65 [SEP] 5, Plate, -0.419, 0.914, -1.370, 0, 0, 0, 65 [SEP] 6, Knife, -3.561, 0.946, -3.227, 0, 90, 0, 38 [SEP] 7, Tomato, -2.865, 0.766, -0.069, 0, 0, 0, 82 [SEP] 8, Tomato, -2.740, 0.766, -0.922, 0, 0, 0, 82 [SEP] 9, Bowl, -1.262, 0.911, -3.729, 0, 0, 0, 38 [SEP] 10, Bowl, -3.182, 1.396, -1.879, 0, 90, 0, 79 [SEP] 11, SaltShaker, -3.111, 0.710, -0.652, 0, 225, 0, 82 [SEP] 12, Lettuce, -0.160, 1.001, -2.911, 0, 0, 0, 38 [SEP] 13, Bread, -2.765, 0.754, -0.596, 0, 135, 0, 82 [SEP] 14, Mug, -2.439, 0.708, -0.558, 0, 270, 0, 82 [SEP] 15, Apple, -2.620, 0.759, -0.652, 0, 135, 0, 82 [SEP] 16, Apple, -3.059, 0.929, -2.440, 0, 90, 0, 79 [SEP] 17, Pot, -3.140, 0.916, -3.126, 0, 0, 0, 38 [SEP] 18, Egg, -0.447, 0.949, -4.026, 0, 0, 0, 38 [SEP] 19, Cup, -3.123, 0.717, -0.841, 0, 225, 0, 82 [SEP] 20, Bread, -0.327, 0.948, -3.681, 0, 298.222, 0, 38 [SEP] 21, Fork, -3.477, 0.914, -3.026, 0, 0, 0, 38 [SEP] 22, Pan, -0.165, 0.975, -2.030, 0, 180, 0, 69 [SEP] 23, Potato, -3.027, 0.685, -1.879, 0, 90, 0, 79 [SEP] 24, Lettuce, -3.309, 1.001, -2.926, 0, 0, 0, 38 [SEP] 25, Tomato, -2.519, 0.763, -0.753, 0, 135, 0, 82 [SEP] 26, Apple, -0.189, 1.055, -0.802, 0, 270, 0, 75 [SEP] 27, SoapBottle, -0.314, 0.079, 0.055, 0, 270, 0, 77 [SEP] 28, Spatula, -3.199, 0.731, -0.564, 0, 315, 0, 82 [SEP] 29, SaltShaker, -2.632, 0.710, -0.528, 0, 225, 0, 82 [SEP] 30, Knife, -0.382, 0.778, -0.912, 0, 90, 0, 64 [SEP] 31, PepperShaker, -3.111, 0.742, -3.078, 0, 0, 0, 60 [SEP] 32, ButterKnife, -2.987, 0.913, -3.729, 0, 0, 0, 38 [SEP] 33, Plate, -3.346, 0.911, -3.952, 0, 0, 0, 38 [SEP] 34, DishSponge, -0.412, 0.745, -1.563, 0, 0, 0, 61 [SEP] 35, Spoon, -2.581, 0.718, -0.371, 0, 270, 0, 82 [SEP] 36, Mug, -0.127, 1.007, -0.900, 0, 270, 0, 75 [SEP] 37, Bowl, -3.130, 0.638, -2.125, 0, 90, 0, 79 [SEP] 38, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0, [SEP] 39, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0, [SEP] 40, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0, [SEP] 41, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0, [SEP] 42, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0, [SEP] 43, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0, [SEP] 44, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0, [SEP] 45, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0, [SEP] 46, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0, [SEP] 47, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0, [SEP] 48, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0, [SEP] 49, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0, [SEP] 50, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0, [SEP] 51, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0, [SEP] 52, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0, [SEP] 53, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0, [SEP] 54, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0, [SEP] 55, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0, [SEP] 56, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0, [SEP] 57, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0, [SEP] 58, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0, [SEP] 59, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0, [SEP] 60, Drawer, -3.104, 0.797, -2.968, 0, 0, 0, [SEP] 61, Drawer, -0.449, 0.797, -1.410, 0, 0, 0, [SEP] 62, Sink, -1.786, 0.902, -3.748, 0, 0, 0, [SEP] 63, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0, [SEP] 64, Drawer, -0.449, 0.797, -0.762, 0, 0, 0, [SEP] 65, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0, [SEP] 66, Drawer, -0.449, 0.797, -3.348, 0, 0, 0, [SEP] 67, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0, [SEP] 68, Drawer, -0.449, 0.797, -2.968, 0, 0, 0, [SEP] 69, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0, [SEP] 70, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0, [SEP] 71, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0, [SEP] 72, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0, [SEP] 73, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0, [SEP] 74, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0, [SEP] 75, Microwave, -0.143, 0.903, -0.908, 0, 270, 0, [SEP] 76, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0, [SEP] 77, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0, [SEP] 78, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0, [SEP] 79, Fridge, -3.188, 0.0, -2.184, 0, 0, 0, [SEP] 80, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0, [SEP] 81, Toaster, -0.230, 0.903, -3.406, 0, 270, 0, [SEP] 82, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0, [SEP] 83, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0, [SEP] 84, Faucet, -1.791, 1.136, -3.913, 0, 270, 0, [SEP] 85, NorthWall, , , , , , , [SEP] 86, EastWall, , , , , , , [SEP] 87, SouthWall, , , , , , , [SEP] 88, WestWall, , , , , , , ", "output": ["STEP 1: Go towards the door. Turn left at the table. Turn and face the table. | STEP 2: Pick up the glass that is on the table. | STEP 3: Turn right and move forward. Then turn right and face the sink. Move forward and turn right and face the in front of the fridge. | STEP 4: Open the fridge. Set the glass on the top right shelf. Shut the fridge. Open the fridge. Get the glass on the top right shelf. Close the fridge. | STEP 5: Turn all the way around. Go to the left and go to the sink. | STEP 6: Put the glass in to the sink. | END"]} +{"id": "trial_T20190909_141915_002879-0", "input": "Put a plate with tissues on it onto the dining table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.907, 6.75, 0, 180, 0, [SEP] 1, Bowl, 0.319, 0.553, 2.454, 0, 0, 0, 36 [SEP] 2, Watch, 0.161, 0.200, 2.993, 0, 180, 0, 39 [SEP] 3, Vase, -1.236, 0.882, 0.140, 0, 90, 0, 53 [SEP] 4, Book, -1.554, 0.450, 2.795, 0, 0, 0, 52 [SEP] 5, CellPhone, -1.204, 0.450, 2.559, 0, 0, 0, 52 [SEP] 6, CellPhone, 0.258, 0.037, 2.475, 0, 180, 0, 40 [SEP] 7, CreditCard, 0.315, 0.431, 5.075, 0, 0, 0, 44 [SEP] 8, CreditCard, -4.477, 0.754, -0.626, 0, 0, 0, 51 [SEP] 9, Laptop, 0.492, 0.549, 2.153, 0, 0, 0, 36 [SEP] 10, Book, -0.970, 0.455, 2.795, 0, 0, 0, 52 [SEP] 11, Box, 0.957, 0.286, 6.189, 0, 327.955, 0, 44 [SEP] 12, Pillow, -1.437, 0.524, 2.086, 0, 0, 0, 52 [SEP] 13, Bowl, -3.747, 0.756, -0.131, 0, 0, 0, 51 [SEP] 14, WateringCan, -0.816, 0.005, 0.189, 0, 0, 0, [SEP] 15, TissueBox, -4.295, 0.756, -0.749, 0, 0, 0, 49 [SEP] 16, Newspaper, -4.842, 0.761, -0.379, 0, 0, 0, 47 [SEP] 17, CreditCard, 0.524, 0.431, 4.979, 0, 0, 0, 44 [SEP] 18, KeyChain, 0.107, 0.435, 5.075, 0, 0, 0, 44 [SEP] 19, Boots, -6.309, 0.006, 1.252, 0, 92.842, 0, [SEP] 20, Pencil, 0.147, 0.555, 3.056, 0, 0, 0, 36 [SEP] 21, Laptop, 0.379, 0.541, 2.834, 0, 301.058, 0, 36 [SEP] 22, Vase, -4.659, 0.757, -0.379, 0, 0, 0, 51 [SEP] 23, RemoteControl, -0.970, 0.456, 3.031, 0, 0, 0, 52 [SEP] 24, Watch, -3.747, 0.754, -0.626, 0, 0, 0, 48 [SEP] 25, CellPhone, 0.211, 0.435, 4.787, 0, 0, 0, 44 [SEP] 26, Plate, 0.578, 0.555, 2.454, 0, 0, 0, 36 [SEP] 27, Painting, -6.5, 1.759, -0.341, 0, 0, 0, [SEP] 28, Painting, 0.704, 1.778, 0.782, 0, 0, 0, [SEP] 29, Television, 1.5, 1.690, 2.562, 0, 270, 0, [SEP] 30, FloorLamp, 1.111, 0.007, 6.805, 0, 0, 0, [SEP] 31, GarbageCan, -6.128, -0.003, 2.800, 0, 0, 0, [SEP] 32, LightSwitch, -6.5, 1.498, 1.345, 0, 90, 0, [SEP] 33, HousePlant, -0.753, 0.874, 0.209, 0, 0, 0, [SEP] 34, Window, 1.496, 1.712, 4.454, 90, 90, 0, [SEP] 35, Window, -4.210, 1.577, -1.980, 90, 180, 0, [SEP] 36, CoffeeTable, 0.405, 0.008, 2.605, 0, 270, 0, [SEP] 37, Drawer, 0.597, 0.234, 2.604, 0, 270, 0, [SEP] 38, Drawer, 0.214, 0.393, 2.604, 0, 270, 0, [SEP] 39, Drawer, 0.214, 0.234, 2.609, 0, 270, 0, [SEP] 40, Drawer, 0.214, 0.075, 2.604, 0, 270, 0, [SEP] 41, Drawer, 0.597, 0.075, 2.604, 0, 270, 0, [SEP] 42, Drawer, 0.597, 0.393, 2.604, 0, 270, 0, [SEP] 43, Ottoman, 0.493, 0.006, 4.309, 0, 0, 0, [SEP] 44, ArmChair, 0.420, 0.014, 5.129, 0, 180, 0, [SEP] 45, Chair, -4.664, 0.008, 0.164, 0, 180, 0, [SEP] 46, Chair, -3.424, 0.008, -0.321, 0, 270, 0, [SEP] 47, Chair, -4.988, 0.008, -0.401, 0, 90, 0, [SEP] 48, Chair, -3.904, 0.008, -0.827, 0, 0, 0, [SEP] 49, Chair, -4.570, 0.008, -0.831, 0, 0, 0, [SEP] 50, Chair, -3.996, 0.008, 0.091, 0, 180, 0, [SEP] 51, DiningTable, -4.295, 0.006, -0.378, 0, 0, 0, [SEP] 52, Sofa, -1.527, 0.013, 2.559, 0, 90, 0, [SEP] 53, SideTable, -1.030, 0.006, 0.160, 0, 0, 0, [SEP] 54, Drawer, -1.030, 0.780, 0.225, 0, 0, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: Go across the room to the side of the coffee table closest to the window. | STEP 2: Pick up the plate on the coffee table. | STEP 3: Go across the room to the dining table on the side by the windows. | STEP 4: Set the plate down on the table. | STEP 5: Pick up the box of tissues on the table. | STEP 6: Put the box on tissues on the plate. | END"]} +{"id": "trial_T20190909_141915_002879-1", "input": "take a dish to the table to put tissue box on it SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.907, 6.75, 0, 180, 0, [SEP] 1, Bowl, 0.319, 0.553, 2.454, 0, 0, 0, 36 [SEP] 2, Watch, 0.161, 0.200, 2.993, 0, 180, 0, 39 [SEP] 3, Vase, -1.236, 0.882, 0.140, 0, 90, 0, 53 [SEP] 4, Book, -1.554, 0.450, 2.795, 0, 0, 0, 52 [SEP] 5, CellPhone, -1.204, 0.450, 2.559, 0, 0, 0, 52 [SEP] 6, CellPhone, 0.258, 0.037, 2.475, 0, 180, 0, 40 [SEP] 7, CreditCard, 0.315, 0.431, 5.075, 0, 0, 0, 44 [SEP] 8, CreditCard, -4.477, 0.754, -0.626, 0, 0, 0, 51 [SEP] 9, Laptop, 0.492, 0.549, 2.153, 0, 0, 0, 36 [SEP] 10, Book, -0.970, 0.455, 2.795, 0, 0, 0, 52 [SEP] 11, Box, 0.957, 0.286, 6.189, 0, 327.955, 0, 44 [SEP] 12, Pillow, -1.437, 0.524, 2.086, 0, 0, 0, 52 [SEP] 13, Bowl, -3.747, 0.756, -0.131, 0, 0, 0, 51 [SEP] 14, WateringCan, -0.816, 0.005, 0.189, 0, 0, 0, [SEP] 15, TissueBox, -4.295, 0.756, -0.749, 0, 0, 0, 49 [SEP] 16, Newspaper, -4.842, 0.761, -0.379, 0, 0, 0, 47 [SEP] 17, CreditCard, 0.524, 0.431, 4.979, 0, 0, 0, 44 [SEP] 18, KeyChain, 0.107, 0.435, 5.075, 0, 0, 0, 44 [SEP] 19, Boots, -6.309, 0.006, 1.252, 0, 92.842, 0, [SEP] 20, Pencil, 0.147, 0.555, 3.056, 0, 0, 0, 36 [SEP] 21, Laptop, 0.379, 0.541, 2.834, 0, 301.058, 0, 36 [SEP] 22, Vase, -4.659, 0.757, -0.379, 0, 0, 0, 51 [SEP] 23, RemoteControl, -0.970, 0.456, 3.031, 0, 0, 0, 52 [SEP] 24, Watch, -3.747, 0.754, -0.626, 0, 0, 0, 48 [SEP] 25, CellPhone, 0.211, 0.435, 4.787, 0, 0, 0, 44 [SEP] 26, Plate, 0.578, 0.555, 2.454, 0, 0, 0, 36 [SEP] 27, Painting, -6.5, 1.759, -0.341, 0, 0, 0, [SEP] 28, Painting, 0.704, 1.778, 0.782, 0, 0, 0, [SEP] 29, Television, 1.5, 1.690, 2.562, 0, 270, 0, [SEP] 30, FloorLamp, 1.111, 0.007, 6.805, 0, 0, 0, [SEP] 31, GarbageCan, -6.128, -0.003, 2.800, 0, 0, 0, [SEP] 32, LightSwitch, -6.5, 1.498, 1.345, 0, 90, 0, [SEP] 33, HousePlant, -0.753, 0.874, 0.209, 0, 0, 0, [SEP] 34, Window, 1.496, 1.712, 4.454, 90, 90, 0, [SEP] 35, Window, -4.210, 1.577, -1.980, 90, 180, 0, [SEP] 36, CoffeeTable, 0.405, 0.008, 2.605, 0, 270, 0, [SEP] 37, Drawer, 0.597, 0.234, 2.604, 0, 270, 0, [SEP] 38, Drawer, 0.214, 0.393, 2.604, 0, 270, 0, [SEP] 39, Drawer, 0.214, 0.234, 2.609, 0, 270, 0, [SEP] 40, Drawer, 0.214, 0.075, 2.604, 0, 270, 0, [SEP] 41, Drawer, 0.597, 0.075, 2.604, 0, 270, 0, [SEP] 42, Drawer, 0.597, 0.393, 2.604, 0, 270, 0, [SEP] 43, Ottoman, 0.493, 0.006, 4.309, 0, 0, 0, [SEP] 44, ArmChair, 0.420, 0.014, 5.129, 0, 180, 0, [SEP] 45, Chair, -4.664, 0.008, 0.164, 0, 180, 0, [SEP] 46, Chair, -3.424, 0.008, -0.321, 0, 270, 0, [SEP] 47, Chair, -4.988, 0.008, -0.401, 0, 90, 0, [SEP] 48, Chair, -3.904, 0.008, -0.827, 0, 0, 0, [SEP] 49, Chair, -4.570, 0.008, -0.831, 0, 0, 0, [SEP] 50, Chair, -3.996, 0.008, 0.091, 0, 180, 0, [SEP] 51, DiningTable, -4.295, 0.006, -0.378, 0, 0, 0, [SEP] 52, Sofa, -1.527, 0.013, 2.559, 0, 90, 0, [SEP] 53, SideTable, -1.030, 0.006, 0.160, 0, 0, 0, [SEP] 54, Drawer, -1.030, 0.780, 0.225, 0, 0, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: walk towards couch, turn left, walk towards ottoman, walk past ottoman, turn right after coffee table, stop and face coffee table in front of wall | STEP 2: pick up the dish that is on the coffee table | STEP 3: turn left, walk around coffee table, walk past on left side of couch, walk in to kitchen, turn left, turn right to go around table, stop to turn and face table on the right | STEP 4: put dish on to table | STEP 5: pick up the tissue box that is on the table | STEP 6: put tissue box on to dish that is on the table | END"]} +{"id": "trial_T20190909_141915_002879-2", "input": "Grab the plate from coffee table, put it on dining table, put the tissue box in it SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.907, 6.75, 0, 180, 0, [SEP] 1, Bowl, 0.319, 0.553, 2.454, 0, 0, 0, 36 [SEP] 2, Watch, 0.161, 0.200, 2.993, 0, 180, 0, 39 [SEP] 3, Vase, -1.236, 0.882, 0.140, 0, 90, 0, 53 [SEP] 4, Book, -1.554, 0.450, 2.795, 0, 0, 0, 52 [SEP] 5, CellPhone, -1.204, 0.450, 2.559, 0, 0, 0, 52 [SEP] 6, CellPhone, 0.258, 0.037, 2.475, 0, 180, 0, 40 [SEP] 7, CreditCard, 0.315, 0.431, 5.075, 0, 0, 0, 44 [SEP] 8, CreditCard, -4.477, 0.754, -0.626, 0, 0, 0, 51 [SEP] 9, Laptop, 0.492, 0.549, 2.153, 0, 0, 0, 36 [SEP] 10, Book, -0.970, 0.455, 2.795, 0, 0, 0, 52 [SEP] 11, Box, 0.957, 0.286, 6.189, 0, 327.955, 0, 44 [SEP] 12, Pillow, -1.437, 0.524, 2.086, 0, 0, 0, 52 [SEP] 13, Bowl, -3.747, 0.756, -0.131, 0, 0, 0, 51 [SEP] 14, WateringCan, -0.816, 0.005, 0.189, 0, 0, 0, [SEP] 15, TissueBox, -4.295, 0.756, -0.749, 0, 0, 0, 49 [SEP] 16, Newspaper, -4.842, 0.761, -0.379, 0, 0, 0, 47 [SEP] 17, CreditCard, 0.524, 0.431, 4.979, 0, 0, 0, 44 [SEP] 18, KeyChain, 0.107, 0.435, 5.075, 0, 0, 0, 44 [SEP] 19, Boots, -6.309, 0.006, 1.252, 0, 92.842, 0, [SEP] 20, Pencil, 0.147, 0.555, 3.056, 0, 0, 0, 36 [SEP] 21, Laptop, 0.379, 0.541, 2.834, 0, 301.058, 0, 36 [SEP] 22, Vase, -4.659, 0.757, -0.379, 0, 0, 0, 51 [SEP] 23, RemoteControl, -0.970, 0.456, 3.031, 0, 0, 0, 52 [SEP] 24, Watch, -3.747, 0.754, -0.626, 0, 0, 0, 48 [SEP] 25, CellPhone, 0.211, 0.435, 4.787, 0, 0, 0, 44 [SEP] 26, Plate, 0.578, 0.555, 2.454, 0, 0, 0, 36 [SEP] 27, Painting, -6.5, 1.759, -0.341, 0, 0, 0, [SEP] 28, Painting, 0.704, 1.778, 0.782, 0, 0, 0, [SEP] 29, Television, 1.5, 1.690, 2.562, 0, 270, 0, [SEP] 30, FloorLamp, 1.111, 0.007, 6.805, 0, 0, 0, [SEP] 31, GarbageCan, -6.128, -0.003, 2.800, 0, 0, 0, [SEP] 32, LightSwitch, -6.5, 1.498, 1.345, 0, 90, 0, [SEP] 33, HousePlant, -0.753, 0.874, 0.209, 0, 0, 0, [SEP] 34, Window, 1.496, 1.712, 4.454, 90, 90, 0, [SEP] 35, Window, -4.210, 1.577, -1.980, 90, 180, 0, [SEP] 36, CoffeeTable, 0.405, 0.008, 2.605, 0, 270, 0, [SEP] 37, Drawer, 0.597, 0.234, 2.604, 0, 270, 0, [SEP] 38, Drawer, 0.214, 0.393, 2.604, 0, 270, 0, [SEP] 39, Drawer, 0.214, 0.234, 2.609, 0, 270, 0, [SEP] 40, Drawer, 0.214, 0.075, 2.604, 0, 270, 0, [SEP] 41, Drawer, 0.597, 0.075, 2.604, 0, 270, 0, [SEP] 42, Drawer, 0.597, 0.393, 2.604, 0, 270, 0, [SEP] 43, Ottoman, 0.493, 0.006, 4.309, 0, 0, 0, [SEP] 44, ArmChair, 0.420, 0.014, 5.129, 0, 180, 0, [SEP] 45, Chair, -4.664, 0.008, 0.164, 0, 180, 0, [SEP] 46, Chair, -3.424, 0.008, -0.321, 0, 270, 0, [SEP] 47, Chair, -4.988, 0.008, -0.401, 0, 90, 0, [SEP] 48, Chair, -3.904, 0.008, -0.827, 0, 0, 0, [SEP] 49, Chair, -4.570, 0.008, -0.831, 0, 0, 0, [SEP] 50, Chair, -3.996, 0.008, 0.091, 0, 180, 0, [SEP] 51, DiningTable, -4.295, 0.006, -0.378, 0, 0, 0, [SEP] 52, Sofa, -1.527, 0.013, 2.559, 0, 90, 0, [SEP] 53, SideTable, -1.030, 0.006, 0.160, 0, 0, 0, [SEP] 54, Drawer, -1.030, 0.780, 0.225, 0, 0, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: walk to the sofa, turn left, walk to the wall, turn around to the coffee table | STEP 2: Grab the plate on the coffee table | STEP 3: Turn left, walk across the room to the dining table by the window | STEP 4: put the plate down on the table | STEP 5: grab the tissue box near the window | STEP 6: put the tissue box in the plate | END"]} +{"id": "trial_T20190906_195919_700947-0", "input": "Put away spatula in the container on black table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.0, 0.900, -2.5, 0, 90, 0, [SEP] 1, Pan, -0.222, 0.961, -2.243, 0, 0, 0, 62 [SEP] 2, Potato, -1.471, 0.974, -3.908, 0, 0, 0, 43 [SEP] 3, Fork, -2.962, 0.895, -0.462, 0, 270, 0, 80 [SEP] 4, Spoon, -1.123, 0.754, -3.505, 0, 0, 0, 49 [SEP] 5, Spoon, -0.315, 0.942, -1.450, 0, 0, 0, 61 [SEP] 6, Spatula, -0.244, 0.957, -2.729, 0, 0, 0, 43 [SEP] 7, Egg, -0.490, 0.854, -3.260, 0, 315, 0, 72 [SEP] 8, Egg, -0.397, 1.529, -0.878, 0, 270, 0, 73 [SEP] 9, Cup, -0.469, 0.081, -2.681, 0, 0, 0, 56 [SEP] 10, Cup, -0.334, 1.287, -0.413, 0, 270, 0, 73 [SEP] 11, Plate, -0.741, 0.094, -3.348, 0, 45, 0, 58 [SEP] 12, Knife, -3.364, 0.920, -0.119, 0, 0, 0, 80 [SEP] 13, Knife, -2.359, 0.920, -0.376, 0, 270, 0, 80 [SEP] 14, SoapBottle, -2.485, 0.097, -3.505, 0, 0, 0, 68 [SEP] 15, SoapBottle, -3.942, 0.688, -0.491, 0, 0, 0, 78 [SEP] 16, Tomato, -0.473, 0.992, -1.406, 0, 0, 0, 61 [SEP] 17, Bowl, -3.409, 0.758, -2.902, 0, 199.125, 0, 79 [SEP] 18, Bowl, -3.565, 0.892, -0.204, 0, 270, 0, 80 [SEP] 19, Bread, -3.364, 0.976, -0.376, 0, 270, 0, 80 [SEP] 20, Bread, -4.002, 0.772, -0.248, 0, 0, 0, 78 [SEP] 21, Apple, -3.163, 0.956, -0.119, 0, 270, 0, 80 [SEP] 22, SoapBottle, -0.057, 1.500, -2.788, 0, 270, 0, 43 [SEP] 23, Pot, -0.437, 0.961, -1.845, 0, 180, 0, 44 [SEP] 24, Fork, -0.407, 0.747, -1.413, 0, 270, 0, 47 [SEP] 25, Cup, -3.305, 0.760, -3.684, 0, 334.125, 0, 79 [SEP] 26, Tomato, -3.674, 0.810, -3.207, 0, 244.125, 0, 79 [SEP] 27, Pan, -2.560, 0.892, -0.204, 0, 0, 0, 80 [SEP] 28, Plate, -3.952, 0.774, -3.342, 0, 244.125, 0, 79 [SEP] 29, Bread, -2.560, 0.976, -0.633, 0, 270, 0, 80 [SEP] 30, Spatula, -0.078, 0.956, -1.538, 0, 0, 0, 61 [SEP] 31, Knife, -4.062, 0.716, -0.308, 0, 0, 0, 78 [SEP] 32, SaltShaker, -1.218, 0.078, -3.493, 0, 0, 0, 58 [SEP] 33, PepperShaker, -3.831, 0.756, -3.737, 0, 199.125, 0, 79 [SEP] 34, ButterKnife, -3.163, 0.894, -0.290, 0, 270, 0, 80 [SEP] 35, Apple, -2.452, 0.161, -3.604, 0, 0, 0, 68 [SEP] 36, DishSponge, -0.509, 0.750, -2.846, 0, 0, 0, 48 [SEP] 37, Potato, -0.245, 1.520, -0.994, 0, 270, 0, 73 [SEP] 38, Egg, -0.359, 1.529, -0.529, 0, 270, 0, 73 [SEP] 39, Spoon, -3.755, 0.761, -3.043, 0, 334.125, 0, 79 [SEP] 40, Lettuce, -1.694, 1.033, -3.595, 0, 0, 0, 43 [SEP] 41, Mug, -0.359, 1.483, -0.994, 0, 270, 0, 73 [SEP] 42, Bowl, -0.167, 1.573, -1.990, 0, 270, 0, 75 [SEP] 43, CounterTop, -1.937, 0.977, -3.673, 0, 0, 0, [SEP] 44, StoveBurner, -0.437, 0.924, -1.845, 0, 180, 0, [SEP] 45, StoveBurner, -0.222, 0.924, -1.845, 0, 180, 0, [SEP] 46, StoveBurner, -0.437, 0.924, -2.243, 0, 0, 0, [SEP] 47, Drawer, -0.500, 0.779, -1.450, 0, 0, 0, [SEP] 48, Drawer, -0.481, 0.777, -2.739, 0, 0, 0, [SEP] 49, Drawer, -1.154, 0.782, -3.499, 0, 0, 0, [SEP] 50, Cabinet, -0.337, 2.110, -0.390, 0, 0, 0, [SEP] 51, Cabinet, -0.337, 2.110, -1.272, 0, 0, 0, [SEP] 52, Cabinet, -0.337, 2.110, -1.631, 0, 0, 0, [SEP] 53, Cabinet, -0.337, 2.110, -2.497, 0, 0, 0, [SEP] 54, Cabinet, -0.337, 1.891, -1.286, 0, 0, 0, [SEP] 55, Cabinet, -0.346, 1.891, -3.293, 0, 0, 0, [SEP] 56, Cabinet, -0.629, 0.388, -2.513, 0, 0, 0, [SEP] 57, Cabinet, -0.633, 0.388, -3.008, 0, 0, 0, [SEP] 58, Cabinet, -1.010, 0.388, -3.368, 0, 0, 0, [SEP] 59, Cabinet, -0.629, 0.388, -1.614, 0, 0, 0, [SEP] 60, Cabinet, -0.327, 1.886, -2.513, 0, 0, 0, [SEP] 61, CounterTop, -0.326, 0.976, -1.450, 0, 0, 0, [SEP] 62, StoveBurner, -0.222, 0.924, -2.243, 0, 0, 0, [SEP] 63, Sink, -0.600, 0.929, -3.388, 0, 0, 0, [SEP] 64, StoveKnob, -0.617, 0.899, -1.833, 315, 90, 180, [SEP] 65, StoveKnob, -0.617, 0.899, -2.129, 315, 90, 180, [SEP] 66, StoveKnob, -0.617, 0.899, -2.289, 315, 90, 180, [SEP] 67, StoveKnob, -0.617, 0.899, -1.975, 315, 90, 180, [SEP] 68, GarbageCan, -2.418, -0.032, -3.541, 0, 0, 0, [SEP] 69, CoffeeMachine, -2.513, 0.930, -3.797, 0, 0, 0, [SEP] 70, Window, -1.389, 1.610, -4.113, 90, 0, 0, [SEP] 71, LightSwitch, -4.372, 1.493, -1.031, 0, 90, 0, [SEP] 72, SinkBasin, -0.614, 0.802, -3.384, 0, 315, 0, [SEP] 73, Fridge, -0.314, 0.0, -0.646, 0, 0, 0, [SEP] 74, Toaster, -1.970, 0.930, -3.763, 0, 0, 0, [SEP] 75, Microwave, -0.216, 1.470, -2.054, 0, 270, 0, [SEP] 76, Blinds, -1.373, 2.205, -3.961, 0, 0, 0, [SEP] 77, Faucet, -0.393, 0.930, -3.614, 270, 225, 0, [SEP] 78, SideTable, -4.030, 0.002, -0.301, 0, 185.034, 0, [SEP] 79, DiningTable, -3.586, 0.000, -3.258, 0, 0, 0, [SEP] 80, DiningTable, -3.224, -0.003, -0.453, 0, 0, 0, [SEP] 81, Shelf, -4.030, 0.259, -0.301, 0, 185.034, 0, [SEP] 82, Shelf, -4.030, 0.489, -0.301, 0, 185.034, 0, [SEP] 83, EastWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , ", "output": ["STEP 1: Go to counter between refrigerator and stove | STEP 2: Pick up spatula from back of counter | STEP 3: Turn around, go to white table on right | STEP 4: Place spatula in container on far left corner of white table | STEP 5: Pick up contain with spatual | STEP 6: Go to black table on right | STEP 7: Place container on black table | END"]} +{"id": "trial_T20190906_195919_700947-1", "input": "Place a container with a spatula in it on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.0, 0.900, -2.5, 0, 90, 0, [SEP] 1, Pan, -0.222, 0.961, -2.243, 0, 0, 0, 62 [SEP] 2, Potato, -1.471, 0.974, -3.908, 0, 0, 0, 43 [SEP] 3, Fork, -2.962, 0.895, -0.462, 0, 270, 0, 80 [SEP] 4, Spoon, -1.123, 0.754, -3.505, 0, 0, 0, 49 [SEP] 5, Spoon, -0.315, 0.942, -1.450, 0, 0, 0, 61 [SEP] 6, Spatula, -0.244, 0.957, -2.729, 0, 0, 0, 43 [SEP] 7, Egg, -0.490, 0.854, -3.260, 0, 315, 0, 72 [SEP] 8, Egg, -0.397, 1.529, -0.878, 0, 270, 0, 73 [SEP] 9, Cup, -0.469, 0.081, -2.681, 0, 0, 0, 56 [SEP] 10, Cup, -0.334, 1.287, -0.413, 0, 270, 0, 73 [SEP] 11, Plate, -0.741, 0.094, -3.348, 0, 45, 0, 58 [SEP] 12, Knife, -3.364, 0.920, -0.119, 0, 0, 0, 80 [SEP] 13, Knife, -2.359, 0.920, -0.376, 0, 270, 0, 80 [SEP] 14, SoapBottle, -2.485, 0.097, -3.505, 0, 0, 0, 68 [SEP] 15, SoapBottle, -3.942, 0.688, -0.491, 0, 0, 0, 78 [SEP] 16, Tomato, -0.473, 0.992, -1.406, 0, 0, 0, 61 [SEP] 17, Bowl, -3.409, 0.758, -2.902, 0, 199.125, 0, 79 [SEP] 18, Bowl, -3.565, 0.892, -0.204, 0, 270, 0, 80 [SEP] 19, Bread, -3.364, 0.976, -0.376, 0, 270, 0, 80 [SEP] 20, Bread, -4.002, 0.772, -0.248, 0, 0, 0, 78 [SEP] 21, Apple, -3.163, 0.956, -0.119, 0, 270, 0, 80 [SEP] 22, SoapBottle, -0.057, 1.500, -2.788, 0, 270, 0, 43 [SEP] 23, Pot, -0.437, 0.961, -1.845, 0, 180, 0, 44 [SEP] 24, Fork, -0.407, 0.747, -1.413, 0, 270, 0, 47 [SEP] 25, Cup, -3.305, 0.760, -3.684, 0, 334.125, 0, 79 [SEP] 26, Tomato, -3.674, 0.810, -3.207, 0, 244.125, 0, 79 [SEP] 27, Pan, -2.560, 0.892, -0.204, 0, 0, 0, 80 [SEP] 28, Plate, -3.952, 0.774, -3.342, 0, 244.125, 0, 79 [SEP] 29, Bread, -2.560, 0.976, -0.633, 0, 270, 0, 80 [SEP] 30, Spatula, -0.078, 0.956, -1.538, 0, 0, 0, 61 [SEP] 31, Knife, -4.062, 0.716, -0.308, 0, 0, 0, 78 [SEP] 32, SaltShaker, -1.218, 0.078, -3.493, 0, 0, 0, 58 [SEP] 33, PepperShaker, -3.831, 0.756, -3.737, 0, 199.125, 0, 79 [SEP] 34, ButterKnife, -3.163, 0.894, -0.290, 0, 270, 0, 80 [SEP] 35, Apple, -2.452, 0.161, -3.604, 0, 0, 0, 68 [SEP] 36, DishSponge, -0.509, 0.750, -2.846, 0, 0, 0, 48 [SEP] 37, Potato, -0.245, 1.520, -0.994, 0, 270, 0, 73 [SEP] 38, Egg, -0.359, 1.529, -0.529, 0, 270, 0, 73 [SEP] 39, Spoon, -3.755, 0.761, -3.043, 0, 334.125, 0, 79 [SEP] 40, Lettuce, -1.694, 1.033, -3.595, 0, 0, 0, 43 [SEP] 41, Mug, -0.359, 1.483, -0.994, 0, 270, 0, 73 [SEP] 42, Bowl, -0.167, 1.573, -1.990, 0, 270, 0, 75 [SEP] 43, CounterTop, -1.937, 0.977, -3.673, 0, 0, 0, [SEP] 44, StoveBurner, -0.437, 0.924, -1.845, 0, 180, 0, [SEP] 45, StoveBurner, -0.222, 0.924, -1.845, 0, 180, 0, [SEP] 46, StoveBurner, -0.437, 0.924, -2.243, 0, 0, 0, [SEP] 47, Drawer, -0.500, 0.779, -1.450, 0, 0, 0, [SEP] 48, Drawer, -0.481, 0.777, -2.739, 0, 0, 0, [SEP] 49, Drawer, -1.154, 0.782, -3.499, 0, 0, 0, [SEP] 50, Cabinet, -0.337, 2.110, -0.390, 0, 0, 0, [SEP] 51, Cabinet, -0.337, 2.110, -1.272, 0, 0, 0, [SEP] 52, Cabinet, -0.337, 2.110, -1.631, 0, 0, 0, [SEP] 53, Cabinet, -0.337, 2.110, -2.497, 0, 0, 0, [SEP] 54, Cabinet, -0.337, 1.891, -1.286, 0, 0, 0, [SEP] 55, Cabinet, -0.346, 1.891, -3.293, 0, 0, 0, [SEP] 56, Cabinet, -0.629, 0.388, -2.513, 0, 0, 0, [SEP] 57, Cabinet, -0.633, 0.388, -3.008, 0, 0, 0, [SEP] 58, Cabinet, -1.010, 0.388, -3.368, 0, 0, 0, [SEP] 59, Cabinet, -0.629, 0.388, -1.614, 0, 0, 0, [SEP] 60, Cabinet, -0.327, 1.886, -2.513, 0, 0, 0, [SEP] 61, CounterTop, -0.326, 0.976, -1.450, 0, 0, 0, [SEP] 62, StoveBurner, -0.222, 0.924, -2.243, 0, 0, 0, [SEP] 63, Sink, -0.600, 0.929, -3.388, 0, 0, 0, [SEP] 64, StoveKnob, -0.617, 0.899, -1.833, 315, 90, 180, [SEP] 65, StoveKnob, -0.617, 0.899, -2.129, 315, 90, 180, [SEP] 66, StoveKnob, -0.617, 0.899, -2.289, 315, 90, 180, [SEP] 67, StoveKnob, -0.617, 0.899, -1.975, 315, 90, 180, [SEP] 68, GarbageCan, -2.418, -0.032, -3.541, 0, 0, 0, [SEP] 69, CoffeeMachine, -2.513, 0.930, -3.797, 0, 0, 0, [SEP] 70, Window, -1.389, 1.610, -4.113, 90, 0, 0, [SEP] 71, LightSwitch, -4.372, 1.493, -1.031, 0, 90, 0, [SEP] 72, SinkBasin, -0.614, 0.802, -3.384, 0, 315, 0, [SEP] 73, Fridge, -0.314, 0.0, -0.646, 0, 0, 0, [SEP] 74, Toaster, -1.970, 0.930, -3.763, 0, 0, 0, [SEP] 75, Microwave, -0.216, 1.470, -2.054, 0, 270, 0, [SEP] 76, Blinds, -1.373, 2.205, -3.961, 0, 0, 0, [SEP] 77, Faucet, -0.393, 0.930, -3.614, 270, 225, 0, [SEP] 78, SideTable, -4.030, 0.002, -0.301, 0, 185.034, 0, [SEP] 79, DiningTable, -3.586, 0.000, -3.258, 0, 0, 0, [SEP] 80, DiningTable, -3.224, -0.003, -0.453, 0, 0, 0, [SEP] 81, Shelf, -4.030, 0.259, -0.301, 0, 185.034, 0, [SEP] 82, Shelf, -4.030, 0.489, -0.301, 0, 185.034, 0, [SEP] 83, EastWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , ", "output": ["STEP 1: Go forward and a bit right to the counter to the left of the stove. | STEP 2: Pick up the spatula behind the tomato. | STEP 3: Turn around and veer right to the white table. | STEP 4: Place the spatula in the container on the left back corner of the table. | STEP 5: Pick up the container off the table. | STEP 6: Take a step left. | STEP 7: Place the container on the front left corner of the table. | END"]} +{"id": "trial_T20190906_195919_700947-2", "input": "it picks up the spatula from and takes it to the edge of the kitchen table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.0, 0.900, -2.5, 0, 90, 0, [SEP] 1, Pan, -0.222, 0.961, -2.243, 0, 0, 0, 62 [SEP] 2, Potato, -1.471, 0.974, -3.908, 0, 0, 0, 43 [SEP] 3, Fork, -2.962, 0.895, -0.462, 0, 270, 0, 80 [SEP] 4, Spoon, -1.123, 0.754, -3.505, 0, 0, 0, 49 [SEP] 5, Spoon, -0.315, 0.942, -1.450, 0, 0, 0, 61 [SEP] 6, Spatula, -0.244, 0.957, -2.729, 0, 0, 0, 43 [SEP] 7, Egg, -0.490, 0.854, -3.260, 0, 315, 0, 72 [SEP] 8, Egg, -0.397, 1.529, -0.878, 0, 270, 0, 73 [SEP] 9, Cup, -0.469, 0.081, -2.681, 0, 0, 0, 56 [SEP] 10, Cup, -0.334, 1.287, -0.413, 0, 270, 0, 73 [SEP] 11, Plate, -0.741, 0.094, -3.348, 0, 45, 0, 58 [SEP] 12, Knife, -3.364, 0.920, -0.119, 0, 0, 0, 80 [SEP] 13, Knife, -2.359, 0.920, -0.376, 0, 270, 0, 80 [SEP] 14, SoapBottle, -2.485, 0.097, -3.505, 0, 0, 0, 68 [SEP] 15, SoapBottle, -3.942, 0.688, -0.491, 0, 0, 0, 78 [SEP] 16, Tomato, -0.473, 0.992, -1.406, 0, 0, 0, 61 [SEP] 17, Bowl, -3.409, 0.758, -2.902, 0, 199.125, 0, 79 [SEP] 18, Bowl, -3.565, 0.892, -0.204, 0, 270, 0, 80 [SEP] 19, Bread, -3.364, 0.976, -0.376, 0, 270, 0, 80 [SEP] 20, Bread, -4.002, 0.772, -0.248, 0, 0, 0, 78 [SEP] 21, Apple, -3.163, 0.956, -0.119, 0, 270, 0, 80 [SEP] 22, SoapBottle, -0.057, 1.500, -2.788, 0, 270, 0, 43 [SEP] 23, Pot, -0.437, 0.961, -1.845, 0, 180, 0, 44 [SEP] 24, Fork, -0.407, 0.747, -1.413, 0, 270, 0, 47 [SEP] 25, Cup, -3.305, 0.760, -3.684, 0, 334.125, 0, 79 [SEP] 26, Tomato, -3.674, 0.810, -3.207, 0, 244.125, 0, 79 [SEP] 27, Pan, -2.560, 0.892, -0.204, 0, 0, 0, 80 [SEP] 28, Plate, -3.952, 0.774, -3.342, 0, 244.125, 0, 79 [SEP] 29, Bread, -2.560, 0.976, -0.633, 0, 270, 0, 80 [SEP] 30, Spatula, -0.078, 0.956, -1.538, 0, 0, 0, 61 [SEP] 31, Knife, -4.062, 0.716, -0.308, 0, 0, 0, 78 [SEP] 32, SaltShaker, -1.218, 0.078, -3.493, 0, 0, 0, 58 [SEP] 33, PepperShaker, -3.831, 0.756, -3.737, 0, 199.125, 0, 79 [SEP] 34, ButterKnife, -3.163, 0.894, -0.290, 0, 270, 0, 80 [SEP] 35, Apple, -2.452, 0.161, -3.604, 0, 0, 0, 68 [SEP] 36, DishSponge, -0.509, 0.750, -2.846, 0, 0, 0, 48 [SEP] 37, Potato, -0.245, 1.520, -0.994, 0, 270, 0, 73 [SEP] 38, Egg, -0.359, 1.529, -0.529, 0, 270, 0, 73 [SEP] 39, Spoon, -3.755, 0.761, -3.043, 0, 334.125, 0, 79 [SEP] 40, Lettuce, -1.694, 1.033, -3.595, 0, 0, 0, 43 [SEP] 41, Mug, -0.359, 1.483, -0.994, 0, 270, 0, 73 [SEP] 42, Bowl, -0.167, 1.573, -1.990, 0, 270, 0, 75 [SEP] 43, CounterTop, -1.937, 0.977, -3.673, 0, 0, 0, [SEP] 44, StoveBurner, -0.437, 0.924, -1.845, 0, 180, 0, [SEP] 45, StoveBurner, -0.222, 0.924, -1.845, 0, 180, 0, [SEP] 46, StoveBurner, -0.437, 0.924, -2.243, 0, 0, 0, [SEP] 47, Drawer, -0.500, 0.779, -1.450, 0, 0, 0, [SEP] 48, Drawer, -0.481, 0.777, -2.739, 0, 0, 0, [SEP] 49, Drawer, -1.154, 0.782, -3.499, 0, 0, 0, [SEP] 50, Cabinet, -0.337, 2.110, -0.390, 0, 0, 0, [SEP] 51, Cabinet, -0.337, 2.110, -1.272, 0, 0, 0, [SEP] 52, Cabinet, -0.337, 2.110, -1.631, 0, 0, 0, [SEP] 53, Cabinet, -0.337, 2.110, -2.497, 0, 0, 0, [SEP] 54, Cabinet, -0.337, 1.891, -1.286, 0, 0, 0, [SEP] 55, Cabinet, -0.346, 1.891, -3.293, 0, 0, 0, [SEP] 56, Cabinet, -0.629, 0.388, -2.513, 0, 0, 0, [SEP] 57, Cabinet, -0.633, 0.388, -3.008, 0, 0, 0, [SEP] 58, Cabinet, -1.010, 0.388, -3.368, 0, 0, 0, [SEP] 59, Cabinet, -0.629, 0.388, -1.614, 0, 0, 0, [SEP] 60, Cabinet, -0.327, 1.886, -2.513, 0, 0, 0, [SEP] 61, CounterTop, -0.326, 0.976, -1.450, 0, 0, 0, [SEP] 62, StoveBurner, -0.222, 0.924, -2.243, 0, 0, 0, [SEP] 63, Sink, -0.600, 0.929, -3.388, 0, 0, 0, [SEP] 64, StoveKnob, -0.617, 0.899, -1.833, 315, 90, 180, [SEP] 65, StoveKnob, -0.617, 0.899, -2.129, 315, 90, 180, [SEP] 66, StoveKnob, -0.617, 0.899, -2.289, 315, 90, 180, [SEP] 67, StoveKnob, -0.617, 0.899, -1.975, 315, 90, 180, [SEP] 68, GarbageCan, -2.418, -0.032, -3.541, 0, 0, 0, [SEP] 69, CoffeeMachine, -2.513, 0.930, -3.797, 0, 0, 0, [SEP] 70, Window, -1.389, 1.610, -4.113, 90, 0, 0, [SEP] 71, LightSwitch, -4.372, 1.493, -1.031, 0, 90, 0, [SEP] 72, SinkBasin, -0.614, 0.802, -3.384, 0, 315, 0, [SEP] 73, Fridge, -0.314, 0.0, -0.646, 0, 0, 0, [SEP] 74, Toaster, -1.970, 0.930, -3.763, 0, 0, 0, [SEP] 75, Microwave, -0.216, 1.470, -2.054, 0, 270, 0, [SEP] 76, Blinds, -1.373, 2.205, -3.961, 0, 0, 0, [SEP] 77, Faucet, -0.393, 0.930, -3.614, 270, 225, 0, [SEP] 78, SideTable, -4.030, 0.002, -0.301, 0, 185.034, 0, [SEP] 79, DiningTable, -3.586, 0.000, -3.258, 0, 0, 0, [SEP] 80, DiningTable, -3.224, -0.003, -0.453, 0, 0, 0, [SEP] 81, Shelf, -4.030, 0.259, -0.301, 0, 185.034, 0, [SEP] 82, Shelf, -4.030, 0.489, -0.301, 0, 185.034, 0, [SEP] 83, EastWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , ", "output": ["STEP 1: looks down at the floor moves left and moves right and moves forward close to the shelves | STEP 2: picks up the spatula close to the tomatoes\n | STEP 3: heads back and turns around towards the door and turns right to the table | STEP 4: puts the spatula on the bowl | STEP 5: picks the bowl up with the spatula | STEP 6: turns 360 degrees at same spot | STEP 7: it drops the bowl and spatula on the black table | END"]} +{"id": "trial_T20190909_044151_889150-0", "input": "Put a cooked slice of tomato in a sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.914, 1.75, 0, 270, 0, [SEP] 1, DishSponge, -2.511, 0.080, 3.664, 0, 0, 0, 55 [SEP] 2, DishSponge, -0.994, 0.891, 0.255, 0, 90, 0, 80 [SEP] 3, ButterKnife, -3.463, 0.915, 1.440, 0, 0, 0, 53 [SEP] 4, Spatula, -3.081, 0.930, 1.607, 0, 270, 0, 53 [SEP] 5, Fork, -1.524, 0.880, 0.050, 0, 90, 0, 80 [SEP] 6, Fork, -1.655, 0.880, 0.152, 0, 180, 0, 80 [SEP] 7, Pot, -3.424, 0.966, 1.971, 0, 0, 0, 52 [SEP] 8, Knife, -1.711, 0.939, 3.475, 0, 0, 0, 44 [SEP] 9, Knife, -3.097, 0.768, 1.510, 0, 270, 0, 45 [SEP] 10, Tomato, -2.905, 0.984, 3.998, 0, 0, 0, 44 [SEP] 11, Tomato, -3.081, 0.984, 2.844, 0, 0, 0, 44 [SEP] 12, SoapBottle, -1.127, 0.891, -0.053, 0, 90, 0, 80 [SEP] 13, Bowl, -2.840, 0.079, 3.624, 0, 0, 0, 56 [SEP] 14, Bowl, -0.323, 1.272, 4.062, 0, 180, 0, 70 [SEP] 15, SaltShaker, -2.022, 0.911, 4.104, 0, 0, 0, 44 [SEP] 16, PepperShaker, -3.097, 0.743, 3.083, 0, 0, 0, 46 [SEP] 17, Lettuce, -1.711, 1.001, 4.146, 0, 0, 0, 44 [SEP] 18, Lettuce, -1.259, 0.977, 0.255, 0, 90, 0, 80 [SEP] 19, Apple, -0.673, 1.601, 4.067, 0, 180, 0, 70 [SEP] 20, Apple, -3.505, 1.606, 2.172, 0, 90, 0, 75 [SEP] 21, Egg, -3.176, 0.950, 3.336, 0, 0, 0, 44 [SEP] 22, Knife, -3.272, 0.939, 1.273, 0, 0, 0, 53 [SEP] 23, Fork, -2.402, 0.916, 3.998, 0, 0, 0, 44 [SEP] 24, Bread, -1.520, 0.963, 0.290, 0, 280.330, 0, 80 [SEP] 25, Potato, -0.556, 1.018, 3.988, 0, 180, 0, 70 [SEP] 26, Plate, -3.006, 0.904, 3.677, 0, 0, 0, 44 [SEP] 27, Pot, -3.424, 0.966, 2.374, 0, 0, 0, 50 [SEP] 28, Kettle, -3.145, 0.069, 2.920, 0, 270, 0, 57 [SEP] 29, WineBottle, -1.256, 0.088, 3.852, 0, 270, 0, 76 [SEP] 30, Bowl, -3.508, 1.458, 2.846, 0, 0, 0, 51 [SEP] 31, Tomato, -1.523, 0.960, 0.564, 0, 90, 0, 80 [SEP] 32, Cup, -1.127, 0.891, 0.461, 0, 90, 0, 80 [SEP] 33, Spatula, -3.654, 0.930, 1.106, 0, 90, 0, 53 [SEP] 34, SoapBottle, -3.231, 0.083, 1.591, 0, 0, 0, 63 [SEP] 35, Lettuce, -0.790, 1.072, 4.051, 0, 180, 0, 70 [SEP] 36, Pan, -2.614, 0.902, 3.620, 0, 0, 0, 44 [SEP] 37, Apple, -1.921, 0.849, 3.662, 0, 0, 0, 74 [SEP] 38, SaltShaker, -3.538, 1.451, 3.729, 0, 0, 0, 61 [SEP] 39, PepperShaker, -3.185, 0.743, 3.027, 0, 0, 0, 46 [SEP] 40, ButterKnife, -3.176, 0.915, 3.827, 0, 0, 0, 44 [SEP] 41, DishSponge, -3.098, 0.746, 3.326, 0, 0, 0, 54 [SEP] 42, Spoon, -1.815, 0.916, 4.188, 0, 0, 0, 44 [SEP] 43, Mug, -3.191, 0.078, 1.122, 0, 0, 0, 63 [SEP] 44, CounterTop, -3.381, 0.950, 3.335, 0, 0, 0, [SEP] 45, Drawer, -3.121, 0.775, 1.357, 0, 0, 0, [SEP] 46, Drawer, -3.121, 0.777, 2.916, 0, 0, 0, [SEP] 47, StoveBurner, -3.148, 0.958, 2.374, 0, 0, 0, [SEP] 48, Sink, -1.797, 0.917, 3.660, 0, 0, 0, [SEP] 49, Cabinet, -1.421, 0.388, 3.459, 0, 0, 0, [SEP] 50, StoveBurner, -3.424, 0.958, 2.374, 0, 0, 0, [SEP] 51, Cabinet, -3.365, 1.931, 2.676, 0, 0, 0, [SEP] 52, StoveBurner, -3.424, 0.958, 1.971, 0, 0, 0, [SEP] 53, CounterTop, -3.381, 0.951, 1.356, 0, 0, 0, [SEP] 54, Drawer, -3.121, 0.781, 3.295, 0, 0, 0, [SEP] 55, Cabinet, -2.205, 0.388, 3.459, 0, 0, 0, [SEP] 56, Cabinet, -2.963, 0.388, 3.459, 0, 0, 0, [SEP] 57, Cabinet, -2.992, 0.388, 2.683, 0, 0, 0, [SEP] 58, Cabinet, -3.352, 2.205, 1.715, 0, 0, 0, [SEP] 59, Cabinet, -3.352, 2.205, 2.653, 0, 0, 0, [SEP] 60, Cabinet, -2.189, 0.388, 3.466, 0, 0, 0, [SEP] 61, Cabinet, -3.365, 1.931, 3.963, 0, 0, 0, [SEP] 62, Cabinet, -3.365, 1.931, 1.056, 0, 0, 0, [SEP] 63, Cabinet, -2.992, 0.388, 1.037, 0, 0, 0, [SEP] 64, StoveBurner, -3.143, 0.958, 1.971, 0, 0, 0, [SEP] 65, StoveKnob, -3.599, 1.110, 2.017, 0, 0, 105.000, [SEP] 66, StoveKnob, -3.599, 1.110, 1.867, 0, 0, 105.000, [SEP] 67, StoveKnob, -3.599, 1.110, 2.267, 0, 0, 105.000, [SEP] 68, StoveKnob, -3.599, 1.110, 2.427, 0, 0, 105.000, [SEP] 69, Toaster, -2.654, 0.902, 4.064, 0, 180, 0, [SEP] 70, Fridge, -0.439, 0.014, 3.996, 0, 0, 0, [SEP] 71, LightSwitch, 0.25, 1.383, 2.085, 0, 270, 0, [SEP] 72, Window, -1.430, 1.338, -0.347, 90, 0, 0, [SEP] 73, CoffeeMachine, -3.550, 0.902, 3.274, 0, 90, 0, [SEP] 74, SinkBasin, -1.802, 0.778, 3.700, 0, 0, 0, [SEP] 75, Microwave, -3.484, 1.430, 2.182, 0, 90, 0, [SEP] 76, GarbageCan, -1.184, -0.020, 3.794, 0, 270, 0, [SEP] 77, Blinds, -1.404, 2.092, -0.296, 0, 0, 0, [SEP] 78, Stool, -1.373, 0.014, 1.048, 1.214, 20.754, 0, [SEP] 79, Faucet, -1.788, 0.903, 3.931, 270, 90, 0, [SEP] 80, DiningTable, -1.399, 0.010, 0.238, 0, 0, 0, [SEP] 81, GarbageBag, -0.291, 0.336, -0.034, 272.372, 348.812, 147.313, [SEP] 82, NorthWall, , , , , , , [SEP] 83, EastWall, , , , , , , [SEP] 84, SouthWall, , , , , , , [SEP] 85, WestWall, , , , , , , ", "output": ["STEP 1: Go forward all the way, turn right, go forward all the way to the counter with the toaster. | STEP 2: Take the knife on the counter from behind the plate. | STEP 3: Stay at the counter. | STEP 4: Cut the tomato on the counter into slices. | STEP 5: Turn to the left. | STEP 6: Put the knife on the counter to the right of the tomato. | STEP 7: Turn to the right. | STEP 8: Take a slice of tomato from the counter. | STEP 9: Turn around, go forward, turn right to the oven. | STEP 10: Cook the tomato in the microwave about the oven then take it out. | STEP 11: Turn around, go forward, turn left at the sink, go to the sink. | STEP 12: Put the tomato on the right side of the sink. | END"]} +{"id": "trial_T20190909_044151_889150-1", "input": "Putting a hot sliced tomato in the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.914, 1.75, 0, 270, 0, [SEP] 1, DishSponge, -2.511, 0.080, 3.664, 0, 0, 0, 55 [SEP] 2, DishSponge, -0.994, 0.891, 0.255, 0, 90, 0, 80 [SEP] 3, ButterKnife, -3.463, 0.915, 1.440, 0, 0, 0, 53 [SEP] 4, Spatula, -3.081, 0.930, 1.607, 0, 270, 0, 53 [SEP] 5, Fork, -1.524, 0.880, 0.050, 0, 90, 0, 80 [SEP] 6, Fork, -1.655, 0.880, 0.152, 0, 180, 0, 80 [SEP] 7, Pot, -3.424, 0.966, 1.971, 0, 0, 0, 52 [SEP] 8, Knife, -1.711, 0.939, 3.475, 0, 0, 0, 44 [SEP] 9, Knife, -3.097, 0.768, 1.510, 0, 270, 0, 45 [SEP] 10, Tomato, -2.905, 0.984, 3.998, 0, 0, 0, 44 [SEP] 11, Tomato, -3.081, 0.984, 2.844, 0, 0, 0, 44 [SEP] 12, SoapBottle, -1.127, 0.891, -0.053, 0, 90, 0, 80 [SEP] 13, Bowl, -2.840, 0.079, 3.624, 0, 0, 0, 56 [SEP] 14, Bowl, -0.323, 1.272, 4.062, 0, 180, 0, 70 [SEP] 15, SaltShaker, -2.022, 0.911, 4.104, 0, 0, 0, 44 [SEP] 16, PepperShaker, -3.097, 0.743, 3.083, 0, 0, 0, 46 [SEP] 17, Lettuce, -1.711, 1.001, 4.146, 0, 0, 0, 44 [SEP] 18, Lettuce, -1.259, 0.977, 0.255, 0, 90, 0, 80 [SEP] 19, Apple, -0.673, 1.601, 4.067, 0, 180, 0, 70 [SEP] 20, Apple, -3.505, 1.606, 2.172, 0, 90, 0, 75 [SEP] 21, Egg, -3.176, 0.950, 3.336, 0, 0, 0, 44 [SEP] 22, Knife, -3.272, 0.939, 1.273, 0, 0, 0, 53 [SEP] 23, Fork, -2.402, 0.916, 3.998, 0, 0, 0, 44 [SEP] 24, Bread, -1.520, 0.963, 0.290, 0, 280.330, 0, 80 [SEP] 25, Potato, -0.556, 1.018, 3.988, 0, 180, 0, 70 [SEP] 26, Plate, -3.006, 0.904, 3.677, 0, 0, 0, 44 [SEP] 27, Pot, -3.424, 0.966, 2.374, 0, 0, 0, 50 [SEP] 28, Kettle, -3.145, 0.069, 2.920, 0, 270, 0, 57 [SEP] 29, WineBottle, -1.256, 0.088, 3.852, 0, 270, 0, 76 [SEP] 30, Bowl, -3.508, 1.458, 2.846, 0, 0, 0, 51 [SEP] 31, Tomato, -1.523, 0.960, 0.564, 0, 90, 0, 80 [SEP] 32, Cup, -1.127, 0.891, 0.461, 0, 90, 0, 80 [SEP] 33, Spatula, -3.654, 0.930, 1.106, 0, 90, 0, 53 [SEP] 34, SoapBottle, -3.231, 0.083, 1.591, 0, 0, 0, 63 [SEP] 35, Lettuce, -0.790, 1.072, 4.051, 0, 180, 0, 70 [SEP] 36, Pan, -2.614, 0.902, 3.620, 0, 0, 0, 44 [SEP] 37, Apple, -1.921, 0.849, 3.662, 0, 0, 0, 74 [SEP] 38, SaltShaker, -3.538, 1.451, 3.729, 0, 0, 0, 61 [SEP] 39, PepperShaker, -3.185, 0.743, 3.027, 0, 0, 0, 46 [SEP] 40, ButterKnife, -3.176, 0.915, 3.827, 0, 0, 0, 44 [SEP] 41, DishSponge, -3.098, 0.746, 3.326, 0, 0, 0, 54 [SEP] 42, Spoon, -1.815, 0.916, 4.188, 0, 0, 0, 44 [SEP] 43, Mug, -3.191, 0.078, 1.122, 0, 0, 0, 63 [SEP] 44, CounterTop, -3.381, 0.950, 3.335, 0, 0, 0, [SEP] 45, Drawer, -3.121, 0.775, 1.357, 0, 0, 0, [SEP] 46, Drawer, -3.121, 0.777, 2.916, 0, 0, 0, [SEP] 47, StoveBurner, -3.148, 0.958, 2.374, 0, 0, 0, [SEP] 48, Sink, -1.797, 0.917, 3.660, 0, 0, 0, [SEP] 49, Cabinet, -1.421, 0.388, 3.459, 0, 0, 0, [SEP] 50, StoveBurner, -3.424, 0.958, 2.374, 0, 0, 0, [SEP] 51, Cabinet, -3.365, 1.931, 2.676, 0, 0, 0, [SEP] 52, StoveBurner, -3.424, 0.958, 1.971, 0, 0, 0, [SEP] 53, CounterTop, -3.381, 0.951, 1.356, 0, 0, 0, [SEP] 54, Drawer, -3.121, 0.781, 3.295, 0, 0, 0, [SEP] 55, Cabinet, -2.205, 0.388, 3.459, 0, 0, 0, [SEP] 56, Cabinet, -2.963, 0.388, 3.459, 0, 0, 0, [SEP] 57, Cabinet, -2.992, 0.388, 2.683, 0, 0, 0, [SEP] 58, Cabinet, -3.352, 2.205, 1.715, 0, 0, 0, [SEP] 59, Cabinet, -3.352, 2.205, 2.653, 0, 0, 0, [SEP] 60, Cabinet, -2.189, 0.388, 3.466, 0, 0, 0, [SEP] 61, Cabinet, -3.365, 1.931, 3.963, 0, 0, 0, [SEP] 62, Cabinet, -3.365, 1.931, 1.056, 0, 0, 0, [SEP] 63, Cabinet, -2.992, 0.388, 1.037, 0, 0, 0, [SEP] 64, StoveBurner, -3.143, 0.958, 1.971, 0, 0, 0, [SEP] 65, StoveKnob, -3.599, 1.110, 2.017, 0, 0, 105.000, [SEP] 66, StoveKnob, -3.599, 1.110, 1.867, 0, 0, 105.000, [SEP] 67, StoveKnob, -3.599, 1.110, 2.267, 0, 0, 105.000, [SEP] 68, StoveKnob, -3.599, 1.110, 2.427, 0, 0, 105.000, [SEP] 69, Toaster, -2.654, 0.902, 4.064, 0, 180, 0, [SEP] 70, Fridge, -0.439, 0.014, 3.996, 0, 0, 0, [SEP] 71, LightSwitch, 0.25, 1.383, 2.085, 0, 270, 0, [SEP] 72, Window, -1.430, 1.338, -0.347, 90, 0, 0, [SEP] 73, CoffeeMachine, -3.550, 0.902, 3.274, 0, 90, 0, [SEP] 74, SinkBasin, -1.802, 0.778, 3.700, 0, 0, 0, [SEP] 75, Microwave, -3.484, 1.430, 2.182, 0, 90, 0, [SEP] 76, GarbageCan, -1.184, -0.020, 3.794, 0, 270, 0, [SEP] 77, Blinds, -1.404, 2.092, -0.296, 0, 0, 0, [SEP] 78, Stool, -1.373, 0.014, 1.048, 1.214, 20.754, 0, [SEP] 79, Faucet, -1.788, 0.903, 3.931, 270, 90, 0, [SEP] 80, DiningTable, -1.399, 0.010, 0.238, 0, 0, 0, [SEP] 81, GarbageBag, -0.291, 0.336, -0.034, 272.372, 348.812, 147.313, [SEP] 82, NorthWall, , , , , , , [SEP] 83, EastWall, , , , , , , [SEP] 84, SouthWall, , , , , , , [SEP] 85, WestWall, , , , , , , ", "output": ["STEP 1: Go to the corner of the counter | STEP 2: Grab the knife off of the counter | STEP 3: Look up at the counter | STEP 4: Slice the tomato on the counter | STEP 5: Turn to the left and face the counter | STEP 6: Put the knife down on the counter | STEP 7: Turn to the right and face the counter | STEP 8: Grab a slice of tomato | STEP 9: Turn around and go to the microwave | STEP 10: Heat the sliced tomato in the microwave and then take it out | STEP 11: Turn around and go to the sink | STEP 12: Put the sliced tomato in the sink | END"]} +{"id": "trial_T20190909_044151_889150-2", "input": "slice a tomato, heat it up in the microwave, and place it in the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.914, 1.75, 0, 270, 0, [SEP] 1, DishSponge, -2.511, 0.080, 3.664, 0, 0, 0, 55 [SEP] 2, DishSponge, -0.994, 0.891, 0.255, 0, 90, 0, 80 [SEP] 3, ButterKnife, -3.463, 0.915, 1.440, 0, 0, 0, 53 [SEP] 4, Spatula, -3.081, 0.930, 1.607, 0, 270, 0, 53 [SEP] 5, Fork, -1.524, 0.880, 0.050, 0, 90, 0, 80 [SEP] 6, Fork, -1.655, 0.880, 0.152, 0, 180, 0, 80 [SEP] 7, Pot, -3.424, 0.966, 1.971, 0, 0, 0, 52 [SEP] 8, Knife, -1.711, 0.939, 3.475, 0, 0, 0, 44 [SEP] 9, Knife, -3.097, 0.768, 1.510, 0, 270, 0, 45 [SEP] 10, Tomato, -2.905, 0.984, 3.998, 0, 0, 0, 44 [SEP] 11, Tomato, -3.081, 0.984, 2.844, 0, 0, 0, 44 [SEP] 12, SoapBottle, -1.127, 0.891, -0.053, 0, 90, 0, 80 [SEP] 13, Bowl, -2.840, 0.079, 3.624, 0, 0, 0, 56 [SEP] 14, Bowl, -0.323, 1.272, 4.062, 0, 180, 0, 70 [SEP] 15, SaltShaker, -2.022, 0.911, 4.104, 0, 0, 0, 44 [SEP] 16, PepperShaker, -3.097, 0.743, 3.083, 0, 0, 0, 46 [SEP] 17, Lettuce, -1.711, 1.001, 4.146, 0, 0, 0, 44 [SEP] 18, Lettuce, -1.259, 0.977, 0.255, 0, 90, 0, 80 [SEP] 19, Apple, -0.673, 1.601, 4.067, 0, 180, 0, 70 [SEP] 20, Apple, -3.505, 1.606, 2.172, 0, 90, 0, 75 [SEP] 21, Egg, -3.176, 0.950, 3.336, 0, 0, 0, 44 [SEP] 22, Knife, -3.272, 0.939, 1.273, 0, 0, 0, 53 [SEP] 23, Fork, -2.402, 0.916, 3.998, 0, 0, 0, 44 [SEP] 24, Bread, -1.520, 0.963, 0.290, 0, 280.330, 0, 80 [SEP] 25, Potato, -0.556, 1.018, 3.988, 0, 180, 0, 70 [SEP] 26, Plate, -3.006, 0.904, 3.677, 0, 0, 0, 44 [SEP] 27, Pot, -3.424, 0.966, 2.374, 0, 0, 0, 50 [SEP] 28, Kettle, -3.145, 0.069, 2.920, 0, 270, 0, 57 [SEP] 29, WineBottle, -1.256, 0.088, 3.852, 0, 270, 0, 76 [SEP] 30, Bowl, -3.508, 1.458, 2.846, 0, 0, 0, 51 [SEP] 31, Tomato, -1.523, 0.960, 0.564, 0, 90, 0, 80 [SEP] 32, Cup, -1.127, 0.891, 0.461, 0, 90, 0, 80 [SEP] 33, Spatula, -3.654, 0.930, 1.106, 0, 90, 0, 53 [SEP] 34, SoapBottle, -3.231, 0.083, 1.591, 0, 0, 0, 63 [SEP] 35, Lettuce, -0.790, 1.072, 4.051, 0, 180, 0, 70 [SEP] 36, Pan, -2.614, 0.902, 3.620, 0, 0, 0, 44 [SEP] 37, Apple, -1.921, 0.849, 3.662, 0, 0, 0, 74 [SEP] 38, SaltShaker, -3.538, 1.451, 3.729, 0, 0, 0, 61 [SEP] 39, PepperShaker, -3.185, 0.743, 3.027, 0, 0, 0, 46 [SEP] 40, ButterKnife, -3.176, 0.915, 3.827, 0, 0, 0, 44 [SEP] 41, DishSponge, -3.098, 0.746, 3.326, 0, 0, 0, 54 [SEP] 42, Spoon, -1.815, 0.916, 4.188, 0, 0, 0, 44 [SEP] 43, Mug, -3.191, 0.078, 1.122, 0, 0, 0, 63 [SEP] 44, CounterTop, -3.381, 0.950, 3.335, 0, 0, 0, [SEP] 45, Drawer, -3.121, 0.775, 1.357, 0, 0, 0, [SEP] 46, Drawer, -3.121, 0.777, 2.916, 0, 0, 0, [SEP] 47, StoveBurner, -3.148, 0.958, 2.374, 0, 0, 0, [SEP] 48, Sink, -1.797, 0.917, 3.660, 0, 0, 0, [SEP] 49, Cabinet, -1.421, 0.388, 3.459, 0, 0, 0, [SEP] 50, StoveBurner, -3.424, 0.958, 2.374, 0, 0, 0, [SEP] 51, Cabinet, -3.365, 1.931, 2.676, 0, 0, 0, [SEP] 52, StoveBurner, -3.424, 0.958, 1.971, 0, 0, 0, [SEP] 53, CounterTop, -3.381, 0.951, 1.356, 0, 0, 0, [SEP] 54, Drawer, -3.121, 0.781, 3.295, 0, 0, 0, [SEP] 55, Cabinet, -2.205, 0.388, 3.459, 0, 0, 0, [SEP] 56, Cabinet, -2.963, 0.388, 3.459, 0, 0, 0, [SEP] 57, Cabinet, -2.992, 0.388, 2.683, 0, 0, 0, [SEP] 58, Cabinet, -3.352, 2.205, 1.715, 0, 0, 0, [SEP] 59, Cabinet, -3.352, 2.205, 2.653, 0, 0, 0, [SEP] 60, Cabinet, -2.189, 0.388, 3.466, 0, 0, 0, [SEP] 61, Cabinet, -3.365, 1.931, 3.963, 0, 0, 0, [SEP] 62, Cabinet, -3.365, 1.931, 1.056, 0, 0, 0, [SEP] 63, Cabinet, -2.992, 0.388, 1.037, 0, 0, 0, [SEP] 64, StoveBurner, -3.143, 0.958, 1.971, 0, 0, 0, [SEP] 65, StoveKnob, -3.599, 1.110, 2.017, 0, 0, 105.000, [SEP] 66, StoveKnob, -3.599, 1.110, 1.867, 0, 0, 105.000, [SEP] 67, StoveKnob, -3.599, 1.110, 2.267, 0, 0, 105.000, [SEP] 68, StoveKnob, -3.599, 1.110, 2.427, 0, 0, 105.000, [SEP] 69, Toaster, -2.654, 0.902, 4.064, 0, 180, 0, [SEP] 70, Fridge, -0.439, 0.014, 3.996, 0, 0, 0, [SEP] 71, LightSwitch, 0.25, 1.383, 2.085, 0, 270, 0, [SEP] 72, Window, -1.430, 1.338, -0.347, 90, 0, 0, [SEP] 73, CoffeeMachine, -3.550, 0.902, 3.274, 0, 90, 0, [SEP] 74, SinkBasin, -1.802, 0.778, 3.700, 0, 0, 0, [SEP] 75, Microwave, -3.484, 1.430, 2.182, 0, 90, 0, [SEP] 76, GarbageCan, -1.184, -0.020, 3.794, 0, 270, 0, [SEP] 77, Blinds, -1.404, 2.092, -0.296, 0, 0, 0, [SEP] 78, Stool, -1.373, 0.014, 1.048, 1.214, 20.754, 0, [SEP] 79, Faucet, -1.788, 0.903, 3.931, 270, 90, 0, [SEP] 80, DiningTable, -1.399, 0.010, 0.238, 0, 0, 0, [SEP] 81, GarbageBag, -0.291, 0.336, -0.034, 272.372, 348.812, 147.313, [SEP] 82, NorthWall, , , , , , , [SEP] 83, EastWall, , , , , , , [SEP] 84, SouthWall, , , , , , , [SEP] 85, WestWall, , , , , , , ", "output": ["STEP 1: go straight, then turn right and face the counter top to the right of the stove top | STEP 2: pick up the knife to the left of the toaster | STEP 3: face the counter top with the toaster | STEP 4: slice the tomato on the counter top to the left of the toaster | STEP 5: turn left and face the counter top immediately to the right of the stove top | STEP 6: place the knife down on the counter top to the right of the whole tomato | STEP 7: face the toaster area of the counter top again | STEP 8: pick up a slice of tomato on the counter top | STEP 9: go to the stove top and look up at the microwave | STEP 10: open the microwave door and place the tomato on the far right, heat it up for several seconds, then remove it | STEP 11: turn around, then move right to the sink | STEP 12: place the tomato slice on the far right of the sink | END"]} +{"id": "trial_T20190907_232225_725376-0", "input": "Place a cooked slice of apple to the right of the yellow knife on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 2.25, 0, 180, 0, [SEP] 1, ButterKnife, 1.796, 0.911, -1.717, 0, 90, 0, 48 [SEP] 2, DishSponge, 1.739, 0.069, 1.731, 0, 270, 0, 62 [SEP] 3, Fork, 0.220, 0.911, 1.180, 0, 90, 0, 44 [SEP] 4, Spoon, 1.757, 0.911, 1.092, 0, 180, 0, 44 [SEP] 5, Spoon, 1.796, 0.912, -1.374, 0, 90, 0, 48 [SEP] 6, Spatula, 0.732, 0.925, 1.004, 0, 180, 0, 44 [SEP] 7, Spatula, 0.220, 0.925, 0.915, 0, 90, 0, 44 [SEP] 8, Egg, 1.673, 1.050, -0.729, 0, 270, 0, 68 [SEP] 9, Egg, -0.838, 0.781, -1.524, 0, 0, 0, 71 [SEP] 10, Cup, 1.726, 0.909, -1.802, 0, 90, 0, 48 [SEP] 11, Cup, -0.741, 0.458, -1.412, 0, 0, 0, 71 [SEP] 12, Knife, 0.732, 0.943, 0.827, 0, 180, 0, 44 [SEP] 13, SoapBottle, 1.878, 2.135, 0.842, 0, 0, 0, 52 [SEP] 14, Tomato, 1.684, 0.974, 0.518, 0, 90, 0, 44 [SEP] 15, Bowl, 0.220, 0.909, 0.827, 0, 90, 0, 44 [SEP] 16, SaltShaker, 1.917, 0.905, 0.622, 0, 90, 0, 44 [SEP] 17, SaltShaker, 0.926, 0.906, -1.247, 0, 90, 0, 48 [SEP] 18, Mug, 1.839, 0.905, 0.311, 0, 0, 0, 44 [SEP] 19, Mug, 0.476, 0.905, 1.092, 0, 90, 0, 44 [SEP] 20, Apple, 1.170, 0.817, -1.654, 0, 0, 0, 63 [SEP] 21, Apple, -0.838, 0.807, -1.629, 0, 0, 0, 71 [SEP] 22, Plate, 1.802, 1.647, -0.000, 0, 0, 0, 54 [SEP] 23, SoapBottle, 1.757, 0.908, 1.180, 0, 90, 0, 44 [SEP] 24, Cup, 1.586, 0.909, -1.802, 0, 90, 0, 48 [SEP] 25, Egg, 1.738, 1.042, -0.782, 0, 270, 0, 68 [SEP] 26, Fork, 1.684, 0.911, 0.415, 0, 180, 0, 44 [SEP] 27, Ladle, 1.201, 0.926, 0.743, 3.373, 0, 346.986, 44 [SEP] 28, Apple, 1.830, 0.127, 1.731, 0, 270, 0, 62 [SEP] 29, SaltShaker, 1.529, 0.905, 0.415, 0, 90, 0, 44 [SEP] 30, Pan, 1.543, 0.909, -0.320, 0, 90, 0, 47 [SEP] 31, Tomato, 1.656, 0.975, -1.288, 0, 90, 0, 48 [SEP] 32, Spatula, 1.245, 0.925, 1.092, 0, 270, 0, 44 [SEP] 33, Potato, 1.865, 0.951, -1.802, 0, 90, 0, 48 [SEP] 34, Knife, 1.139, 0.760, -1.584, 271.476, 81.690, 278.491, 63 [SEP] 35, ButterKnife, 0.296, 0.9, -1.296, 0, 14.568, 0, 48 [SEP] 36, Bread, 1.615, 0.977, 0.761, 0, 50.525, 0, 44 [SEP] 37, Lettuce, 0.856, 0.989, 1.120, 0, 270, 1.892, 44 [SEP] 38, PepperShaker, 1.808, 1.634, 0.319, 0, 0, 0, 53 [SEP] 39, Pot, 1.534, 0.908, 0.058, 0, 195.000, 0, 50 [SEP] 40, DishSponge, 1.800, 0.069, 1.540, 0, 270, 0, 62 [SEP] 41, Spoon, 1.165, 0.750, -1.494, 0, 342.866, 0, 63 [SEP] 42, Bowl, 1.809, 2.134, 1.159, 0, 0, 0, 51 [SEP] 43, Mug, 1.803, 1.010, -0.676, 0, 270, 0, 68 [SEP] 44, CounterTop, 0.989, 0.946, 1.016, 0, 90, 0, [SEP] 45, StoveBurner, 1.807, 0.907, 0.075, 0, 180, 0, [SEP] 46, StoveBurner, 1.807, 0.907, -0.320, 0, 180, 0, [SEP] 47, StoveBurner, 1.543, 0.907, -0.320, 0, 90, 0, [SEP] 48, CounterTop, 0.989, 0.946, -1.516, 0, 90, 0, [SEP] 49, Sink, 1.100, 0.906, -1.599, 0, 0, 0, [SEP] 50, StoveBurner, 1.548, 0.907, 0.075, 0, 180, 0, [SEP] 51, Cabinet, 1.658, 2.299, 1.313, 0, 0, 0, [SEP] 52, Cabinet, 1.658, 2.299, 0.686, 0, 0, 0, [SEP] 53, Cabinet, 1.658, 2.049, 0.673, 0, 0, 0, [SEP] 54, Cabinet, 1.658, 2.059, 0.193, 0, 0, 0, [SEP] 55, Cabinet, 1.658, 2.059, -0.593, 0, 0, 0, [SEP] 56, Cabinet, 1.658, 2.049, -0.606, 0, 0, 0, [SEP] 57, Cabinet, 1.658, 2.049, -1.206, 0, 0, 0, [SEP] 58, Cabinet, 1.658, 2.049, -1.893, 0, 0, 0, [SEP] 59, Toaster, 0.131, 0.900, -1.589, 0, 0, 0, [SEP] 60, Window, -0.372, 1.588, 3.349, 90, 0, 0, [SEP] 61, Window, 0.782, 1.741, -1.893, 90, 0, 0, [SEP] 62, GarbageCan, 1.770, -0.029, 1.685, 0, 270, 0, [SEP] 63, SinkBasin, 1.091, 0.740, -1.599, 0, 0, 0, [SEP] 64, StoveKnob, 1.364, 0.821, 0.086, 48.421, 270, 0, [SEP] 65, StoveKnob, 1.364, 0.821, -0.180, 48.421, 270, 0, [SEP] 66, StoveKnob, 1.364, 0.821, -0.317, 48.421, 270, 0, [SEP] 67, StoveKnob, 1.364, 0.821, -0.054, 48.421, 270, 0, [SEP] 68, Microwave, 1.752, 0.900, -0.843, 0, 270, 0, [SEP] 69, LightSwitch, 2.0, 1.261, 3.094, 0, 270, 0, [SEP] 70, CoffeeMachine, 0.501, 0.900, -1.600, 0, 0, 0, [SEP] 71, Fridge, -0.533, 0.0, -1.554, 0, 0, 0, [SEP] 72, Chair, 1.068, 0.000, 1.752, 0, 191.622, 0, [SEP] 73, Faucet, 1.110, 1.138, -1.764, 0, 270, 0, [SEP] 74, Chair, 0.357, 0.000, 1.710, 0, 178.899, 0, [SEP] 75, NorthWall, , , , , , , [SEP] 76, EastWall, , , , , , , [SEP] 77, SouthWall, , , , , , , [SEP] 78, WestWall, , , , , , , ", "output": ["STEP 1: Walk straight to the wall, turn left to the stove, and turn right to the sink. | STEP 2: Pick up the yellow knife from the sink. | STEP 3: Cut the apple in the sink into three pieces. | STEP 4: Place the knife in the sink. | STEP 5: Pick up a slice of apple from the sink. | STEP 6: Turn left to face the microwave. | STEP 7: Place the apple on the plate in the microwave, heat it up, and take apple back out. | STEP 8: Turn left and walk towards the counter. | STEP 9: Place the apple piece to the right of the yellow knife on the counter. | END"]} +{"id": "trial_T20190907_232225_725376-1", "input": "Slice an apple, cook it and set it on the counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 2.25, 0, 180, 0, [SEP] 1, ButterKnife, 1.796, 0.911, -1.717, 0, 90, 0, 48 [SEP] 2, DishSponge, 1.739, 0.069, 1.731, 0, 270, 0, 62 [SEP] 3, Fork, 0.220, 0.911, 1.180, 0, 90, 0, 44 [SEP] 4, Spoon, 1.757, 0.911, 1.092, 0, 180, 0, 44 [SEP] 5, Spoon, 1.796, 0.912, -1.374, 0, 90, 0, 48 [SEP] 6, Spatula, 0.732, 0.925, 1.004, 0, 180, 0, 44 [SEP] 7, Spatula, 0.220, 0.925, 0.915, 0, 90, 0, 44 [SEP] 8, Egg, 1.673, 1.050, -0.729, 0, 270, 0, 68 [SEP] 9, Egg, -0.838, 0.781, -1.524, 0, 0, 0, 71 [SEP] 10, Cup, 1.726, 0.909, -1.802, 0, 90, 0, 48 [SEP] 11, Cup, -0.741, 0.458, -1.412, 0, 0, 0, 71 [SEP] 12, Knife, 0.732, 0.943, 0.827, 0, 180, 0, 44 [SEP] 13, SoapBottle, 1.878, 2.135, 0.842, 0, 0, 0, 52 [SEP] 14, Tomato, 1.684, 0.974, 0.518, 0, 90, 0, 44 [SEP] 15, Bowl, 0.220, 0.909, 0.827, 0, 90, 0, 44 [SEP] 16, SaltShaker, 1.917, 0.905, 0.622, 0, 90, 0, 44 [SEP] 17, SaltShaker, 0.926, 0.906, -1.247, 0, 90, 0, 48 [SEP] 18, Mug, 1.839, 0.905, 0.311, 0, 0, 0, 44 [SEP] 19, Mug, 0.476, 0.905, 1.092, 0, 90, 0, 44 [SEP] 20, Apple, 1.170, 0.817, -1.654, 0, 0, 0, 63 [SEP] 21, Apple, -0.838, 0.807, -1.629, 0, 0, 0, 71 [SEP] 22, Plate, 1.802, 1.647, -0.000, 0, 0, 0, 54 [SEP] 23, SoapBottle, 1.757, 0.908, 1.180, 0, 90, 0, 44 [SEP] 24, Cup, 1.586, 0.909, -1.802, 0, 90, 0, 48 [SEP] 25, Egg, 1.738, 1.042, -0.782, 0, 270, 0, 68 [SEP] 26, Fork, 1.684, 0.911, 0.415, 0, 180, 0, 44 [SEP] 27, Ladle, 1.201, 0.926, 0.743, 3.373, 0, 346.986, 44 [SEP] 28, Apple, 1.830, 0.127, 1.731, 0, 270, 0, 62 [SEP] 29, SaltShaker, 1.529, 0.905, 0.415, 0, 90, 0, 44 [SEP] 30, Pan, 1.543, 0.909, -0.320, 0, 90, 0, 47 [SEP] 31, Tomato, 1.656, 0.975, -1.288, 0, 90, 0, 48 [SEP] 32, Spatula, 1.245, 0.925, 1.092, 0, 270, 0, 44 [SEP] 33, Potato, 1.865, 0.951, -1.802, 0, 90, 0, 48 [SEP] 34, Knife, 1.139, 0.760, -1.584, 271.476, 81.690, 278.491, 63 [SEP] 35, ButterKnife, 0.296, 0.9, -1.296, 0, 14.568, 0, 48 [SEP] 36, Bread, 1.615, 0.977, 0.761, 0, 50.525, 0, 44 [SEP] 37, Lettuce, 0.856, 0.989, 1.120, 0, 270, 1.892, 44 [SEP] 38, PepperShaker, 1.808, 1.634, 0.319, 0, 0, 0, 53 [SEP] 39, Pot, 1.534, 0.908, 0.058, 0, 195.000, 0, 50 [SEP] 40, DishSponge, 1.800, 0.069, 1.540, 0, 270, 0, 62 [SEP] 41, Spoon, 1.165, 0.750, -1.494, 0, 342.866, 0, 63 [SEP] 42, Bowl, 1.809, 2.134, 1.159, 0, 0, 0, 51 [SEP] 43, Mug, 1.803, 1.010, -0.676, 0, 270, 0, 68 [SEP] 44, CounterTop, 0.989, 0.946, 1.016, 0, 90, 0, [SEP] 45, StoveBurner, 1.807, 0.907, 0.075, 0, 180, 0, [SEP] 46, StoveBurner, 1.807, 0.907, -0.320, 0, 180, 0, [SEP] 47, StoveBurner, 1.543, 0.907, -0.320, 0, 90, 0, [SEP] 48, CounterTop, 0.989, 0.946, -1.516, 0, 90, 0, [SEP] 49, Sink, 1.100, 0.906, -1.599, 0, 0, 0, [SEP] 50, StoveBurner, 1.548, 0.907, 0.075, 0, 180, 0, [SEP] 51, Cabinet, 1.658, 2.299, 1.313, 0, 0, 0, [SEP] 52, Cabinet, 1.658, 2.299, 0.686, 0, 0, 0, [SEP] 53, Cabinet, 1.658, 2.049, 0.673, 0, 0, 0, [SEP] 54, Cabinet, 1.658, 2.059, 0.193, 0, 0, 0, [SEP] 55, Cabinet, 1.658, 2.059, -0.593, 0, 0, 0, [SEP] 56, Cabinet, 1.658, 2.049, -0.606, 0, 0, 0, [SEP] 57, Cabinet, 1.658, 2.049, -1.206, 0, 0, 0, [SEP] 58, Cabinet, 1.658, 2.049, -1.893, 0, 0, 0, [SEP] 59, Toaster, 0.131, 0.900, -1.589, 0, 0, 0, [SEP] 60, Window, -0.372, 1.588, 3.349, 90, 0, 0, [SEP] 61, Window, 0.782, 1.741, -1.893, 90, 0, 0, [SEP] 62, GarbageCan, 1.770, -0.029, 1.685, 0, 270, 0, [SEP] 63, SinkBasin, 1.091, 0.740, -1.599, 0, 0, 0, [SEP] 64, StoveKnob, 1.364, 0.821, 0.086, 48.421, 270, 0, [SEP] 65, StoveKnob, 1.364, 0.821, -0.180, 48.421, 270, 0, [SEP] 66, StoveKnob, 1.364, 0.821, -0.317, 48.421, 270, 0, [SEP] 67, StoveKnob, 1.364, 0.821, -0.054, 48.421, 270, 0, [SEP] 68, Microwave, 1.752, 0.900, -0.843, 0, 270, 0, [SEP] 69, LightSwitch, 2.0, 1.261, 3.094, 0, 270, 0, [SEP] 70, CoffeeMachine, 0.501, 0.900, -1.600, 0, 0, 0, [SEP] 71, Fridge, -0.533, 0.0, -1.554, 0, 0, 0, [SEP] 72, Chair, 1.068, 0.000, 1.752, 0, 191.622, 0, [SEP] 73, Faucet, 1.110, 1.138, -1.764, 0, 270, 0, [SEP] 74, Chair, 0.357, 0.000, 1.710, 0, 178.899, 0, [SEP] 75, NorthWall, , , , , , , [SEP] 76, EastWall, , , , , , , [SEP] 77, SouthWall, , , , , , , [SEP] 78, WestWall, , , , , , , ", "output": ["STEP 1: Go forward, turn to your left and then turn right so that you are facing the sink | STEP 2: Pick up the knife from the sink | STEP 3: Slice the apple that is in the sink | STEP 4: Put the knife back in to the sink | STEP 5: Pick up a chunk of apple | STEP 6: Turn to face your left | STEP 7: Put the piece of apple in the microwave and cook it for a few seconds, before taking it back out | STEP 8: Walk to your left and face the counter top | STEP 9: Set the piece of apple down on the counter top | END"]} +{"id": "trial_T20190907_232225_725376-2", "input": "Put a warm apple slice on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 2.25, 0, 180, 0, [SEP] 1, ButterKnife, 1.796, 0.911, -1.717, 0, 90, 0, 48 [SEP] 2, DishSponge, 1.739, 0.069, 1.731, 0, 270, 0, 62 [SEP] 3, Fork, 0.220, 0.911, 1.180, 0, 90, 0, 44 [SEP] 4, Spoon, 1.757, 0.911, 1.092, 0, 180, 0, 44 [SEP] 5, Spoon, 1.796, 0.912, -1.374, 0, 90, 0, 48 [SEP] 6, Spatula, 0.732, 0.925, 1.004, 0, 180, 0, 44 [SEP] 7, Spatula, 0.220, 0.925, 0.915, 0, 90, 0, 44 [SEP] 8, Egg, 1.673, 1.050, -0.729, 0, 270, 0, 68 [SEP] 9, Egg, -0.838, 0.781, -1.524, 0, 0, 0, 71 [SEP] 10, Cup, 1.726, 0.909, -1.802, 0, 90, 0, 48 [SEP] 11, Cup, -0.741, 0.458, -1.412, 0, 0, 0, 71 [SEP] 12, Knife, 0.732, 0.943, 0.827, 0, 180, 0, 44 [SEP] 13, SoapBottle, 1.878, 2.135, 0.842, 0, 0, 0, 52 [SEP] 14, Tomato, 1.684, 0.974, 0.518, 0, 90, 0, 44 [SEP] 15, Bowl, 0.220, 0.909, 0.827, 0, 90, 0, 44 [SEP] 16, SaltShaker, 1.917, 0.905, 0.622, 0, 90, 0, 44 [SEP] 17, SaltShaker, 0.926, 0.906, -1.247, 0, 90, 0, 48 [SEP] 18, Mug, 1.839, 0.905, 0.311, 0, 0, 0, 44 [SEP] 19, Mug, 0.476, 0.905, 1.092, 0, 90, 0, 44 [SEP] 20, Apple, 1.170, 0.817, -1.654, 0, 0, 0, 63 [SEP] 21, Apple, -0.838, 0.807, -1.629, 0, 0, 0, 71 [SEP] 22, Plate, 1.802, 1.647, -0.000, 0, 0, 0, 54 [SEP] 23, SoapBottle, 1.757, 0.908, 1.180, 0, 90, 0, 44 [SEP] 24, Cup, 1.586, 0.909, -1.802, 0, 90, 0, 48 [SEP] 25, Egg, 1.738, 1.042, -0.782, 0, 270, 0, 68 [SEP] 26, Fork, 1.684, 0.911, 0.415, 0, 180, 0, 44 [SEP] 27, Ladle, 1.201, 0.926, 0.743, 3.373, 0, 346.986, 44 [SEP] 28, Apple, 1.830, 0.127, 1.731, 0, 270, 0, 62 [SEP] 29, SaltShaker, 1.529, 0.905, 0.415, 0, 90, 0, 44 [SEP] 30, Pan, 1.543, 0.909, -0.320, 0, 90, 0, 47 [SEP] 31, Tomato, 1.656, 0.975, -1.288, 0, 90, 0, 48 [SEP] 32, Spatula, 1.245, 0.925, 1.092, 0, 270, 0, 44 [SEP] 33, Potato, 1.865, 0.951, -1.802, 0, 90, 0, 48 [SEP] 34, Knife, 1.139, 0.760, -1.584, 271.476, 81.690, 278.491, 63 [SEP] 35, ButterKnife, 0.296, 0.9, -1.296, 0, 14.568, 0, 48 [SEP] 36, Bread, 1.615, 0.977, 0.761, 0, 50.525, 0, 44 [SEP] 37, Lettuce, 0.856, 0.989, 1.120, 0, 270, 1.892, 44 [SEP] 38, PepperShaker, 1.808, 1.634, 0.319, 0, 0, 0, 53 [SEP] 39, Pot, 1.534, 0.908, 0.058, 0, 195.000, 0, 50 [SEP] 40, DishSponge, 1.800, 0.069, 1.540, 0, 270, 0, 62 [SEP] 41, Spoon, 1.165, 0.750, -1.494, 0, 342.866, 0, 63 [SEP] 42, Bowl, 1.809, 2.134, 1.159, 0, 0, 0, 51 [SEP] 43, Mug, 1.803, 1.010, -0.676, 0, 270, 0, 68 [SEP] 44, CounterTop, 0.989, 0.946, 1.016, 0, 90, 0, [SEP] 45, StoveBurner, 1.807, 0.907, 0.075, 0, 180, 0, [SEP] 46, StoveBurner, 1.807, 0.907, -0.320, 0, 180, 0, [SEP] 47, StoveBurner, 1.543, 0.907, -0.320, 0, 90, 0, [SEP] 48, CounterTop, 0.989, 0.946, -1.516, 0, 90, 0, [SEP] 49, Sink, 1.100, 0.906, -1.599, 0, 0, 0, [SEP] 50, StoveBurner, 1.548, 0.907, 0.075, 0, 180, 0, [SEP] 51, Cabinet, 1.658, 2.299, 1.313, 0, 0, 0, [SEP] 52, Cabinet, 1.658, 2.299, 0.686, 0, 0, 0, [SEP] 53, Cabinet, 1.658, 2.049, 0.673, 0, 0, 0, [SEP] 54, Cabinet, 1.658, 2.059, 0.193, 0, 0, 0, [SEP] 55, Cabinet, 1.658, 2.059, -0.593, 0, 0, 0, [SEP] 56, Cabinet, 1.658, 2.049, -0.606, 0, 0, 0, [SEP] 57, Cabinet, 1.658, 2.049, -1.206, 0, 0, 0, [SEP] 58, Cabinet, 1.658, 2.049, -1.893, 0, 0, 0, [SEP] 59, Toaster, 0.131, 0.900, -1.589, 0, 0, 0, [SEP] 60, Window, -0.372, 1.588, 3.349, 90, 0, 0, [SEP] 61, Window, 0.782, 1.741, -1.893, 90, 0, 0, [SEP] 62, GarbageCan, 1.770, -0.029, 1.685, 0, 270, 0, [SEP] 63, SinkBasin, 1.091, 0.740, -1.599, 0, 0, 0, [SEP] 64, StoveKnob, 1.364, 0.821, 0.086, 48.421, 270, 0, [SEP] 65, StoveKnob, 1.364, 0.821, -0.180, 48.421, 270, 0, [SEP] 66, StoveKnob, 1.364, 0.821, -0.317, 48.421, 270, 0, [SEP] 67, StoveKnob, 1.364, 0.821, -0.054, 48.421, 270, 0, [SEP] 68, Microwave, 1.752, 0.900, -0.843, 0, 270, 0, [SEP] 69, LightSwitch, 2.0, 1.261, 3.094, 0, 270, 0, [SEP] 70, CoffeeMachine, 0.501, 0.900, -1.600, 0, 0, 0, [SEP] 71, Fridge, -0.533, 0.0, -1.554, 0, 0, 0, [SEP] 72, Chair, 1.068, 0.000, 1.752, 0, 191.622, 0, [SEP] 73, Faucet, 1.110, 1.138, -1.764, 0, 270, 0, [SEP] 74, Chair, 0.357, 0.000, 1.710, 0, 178.899, 0, [SEP] 75, NorthWall, , , , , , , [SEP] 76, EastWall, , , , , , , [SEP] 77, SouthWall, , , , , , , [SEP] 78, WestWall, , , , , , , ", "output": ["STEP 1: Go straight towards the fridge, then make a left at the refrigerator, walk to the center of the kitchen and turn to the sink at your right. | STEP 2: Pick up the knife in the sink. | STEP 3: Cut the apple in the sink into slices. | STEP 4: Place the knife back into the sink. | STEP 5: Pick up an apple slice from the sink. | STEP 6: Turn to the microwave, on your left. | STEP 7: Place the apple slice in the microwave, heat it up, then remove the apple from the microwave. | STEP 8: Turn to your left and walk to the counter. | STEP 9: Place the apple slice on the counter, between the knife and the ladle. | END"]} +{"id": "trial_T20190919_001342_371546-0", "input": "Place a plate with a cut apple slice in the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.899, 3.75, 0, 90, 0, [SEP] 1, Pencil, -1.860, 0.923, 2.026, 0, 0, 0, 71 [SEP] 2, Potato, -3.340, 0.956, 1.799, 0, 0, 0, 73 [SEP] 3, Potato, -0.383, 1.614, 3.289, 0, 270, 0, 106 [SEP] 4, DishSponge, -0.532, 0.745, 4.693, 0, 270, 0, 63 [SEP] 5, DishSponge, -1.860, 0.923, 1.648, 0, 0, 0, 55 [SEP] 6, WineBottle, -3.859, 0.924, 1.724, 0, 0, 0, 73 [SEP] 7, Pot, -2.924, 0.930, 1.712, 0, 180, 0, 70 [SEP] 8, Pot, -2.924, 0.930, 2.012, 0, 0, 0, 56 [SEP] 9, Spatula, -2.109, 0.938, 1.724, 0, 90, 0, 55 [SEP] 10, Spatula, -4.132, 0.770, 2.235, 0, 90, 0, 53 [SEP] 11, Cup, -4.054, 0.076, 2.246, 0, 0, 0, 83 [SEP] 12, Knife, -1.943, 0.953, 2.026, 0, 0, 0, 55 [SEP] 13, Knife, -0.411, 0.954, 4.615, 0, 0, 0, 58 [SEP] 14, SoapBottle, -3.374, 0.923, 5.412, 0, 180, 0, 73 [SEP] 15, SoapBottle, -3.748, 0.068, 6.457, 0, 270, 0, 99 [SEP] 16, Tomato, -0.259, 1.392, 3.602, 0, 270, 0, 106 [SEP] 17, Tomato, -3.675, 0.125, 6.333, 0, 270, 0, 99 [SEP] 18, Bowl, -0.258, 0.922, 5.603, 0, 0, 0, 58 [SEP] 19, PepperShaker, -0.258, 0.921, 4.615, 0, 0, 0, 63 [SEP] 20, PepperShaker, -4.066, 0.743, 4.735, 0, 90, 0, 80 [SEP] 21, Lettuce, -0.401, 1.165, 3.603, 0, 270, 0, 106 [SEP] 22, Lettuce, -1.777, 1.018, 1.8, 0, 0, 0, 55 [SEP] 23, Egg, -0.411, 0.960, 5.932, 0, 0, 0, 107 [SEP] 24, Apple, -4.271, 0.844, 3.097, 0, 270, 0, 105 [SEP] 25, Knife, -3.852, 0.953, 5.336, 0, 90, 0, 73 [SEP] 26, Potato, -0.242, 1.104, 3.726, 0, 270, 0, 106 [SEP] 27, Fork, -3.255, 0.924, 5.182, 0, 90, 0, 73 [SEP] 28, Bowl, -2.688, 1.543, 1.666, 0, 0, 0, 103 [SEP] 29, Plate, -0.258, 0.925, 5.932, 0, 0, 0, 58 [SEP] 30, Lettuce, -4.196, 0.886, 3.222, 0, 270, 0, 105 [SEP] 31, Bread, -4.204, 1.003, 1.875, 0, 0, 0, 73 [SEP] 32, Tomato, -0.259, 1.742, 3.854, 0, 270, 0, 106 [SEP] 33, WineBottle, -3.449, 1.454, 1.638, 0, 0, 0, 47 [SEP] 34, Spatula, -4.335, 0.938, 4.122, 0, 90, 0, 73 [SEP] 35, PaperTowelRoll, -0.334, 1.029, 5.273, 0, 0, 0, 58 [SEP] 36, Cup, -0.295, 1.069, 3.355, 0, 270, 0, 106 [SEP] 37, Pencil, -0.503, 0.746, 6.722, 0, 270, 0, 93 [SEP] 38, Pan, -0.488, 0.924, 4.944, 0, 0, 0, 58 [SEP] 39, Pot, -2.469, 0.930, 1.712, 0, 270, 0, 88 [SEP] 40, SaltShaker, -1.693, 0.919, 1.648, 0, 0, 0, 55 [SEP] 41, SoapBottle, -1.610, 0.923, 2.026, 0, 90, 0, 55 [SEP] 42, PepperShaker, -3.807, 0.075, 5.077, 0, 90, 0, 87 [SEP] 43, ButterKnife, -4.411, 0.923, 4.122, 0, 270, 0, 73 [SEP] 44, DishSponge, -0.503, 0.746, 5.500, 0, 270, 0, 52 [SEP] 45, Spoon, -1.777, 0.924, 2.026, 0, 180, 0, 55 [SEP] 46, Mug, -0.383, 1.330, 3.231, 0, 270, 0, 106 [SEP] 47, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0, [SEP] 48, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0, [SEP] 49, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0, [SEP] 50, Drawer, -3.797, 0.781, 1.961, 0, 0, 0, [SEP] 51, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0, [SEP] 52, Drawer, -0.509, 0.775, 5.268, 0, 270, 0, [SEP] 53, Drawer, -4.125, 0.798, 2.499, 0, 0, 0, [SEP] 54, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0, [SEP] 55, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0, [SEP] 56, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0, [SEP] 57, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0, [SEP] 58, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0, [SEP] 59, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0, [SEP] 60, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0, [SEP] 61, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0, [SEP] 62, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0, [SEP] 63, Drawer, -0.509, 0.775, 4.617, 0, 270, 0, [SEP] 64, Drawer, -3.509, 0.777, 5.157, 0, 180, 0, [SEP] 65, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0, [SEP] 66, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0, [SEP] 67, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0, [SEP] 68, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0, [SEP] 69, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0, [SEP] 70, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0, [SEP] 71, Drawer, -1.859, 0.775, 1.961, 0, 0, 0, [SEP] 72, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0, [SEP] 73, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0, [SEP] 74, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0, [SEP] 75, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0, [SEP] 76, Drawer, -3.801, 0.777, 5.157, 0, 180, 0, [SEP] 77, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0, [SEP] 78, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0, [SEP] 79, Drawer, -3.418, 0.777, 1.961, 0, 0, 0, [SEP] 80, Drawer, -4.090, 0.777, 4.661, 0, 90, 0, [SEP] 81, Faucet, -4.441, 0.909, 3.288, 270, 0, 0, [SEP] 82, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0, [SEP] 83, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0, [SEP] 84, Drawer, -0.509, 0.775, 5.920, 0, 270, 0, [SEP] 85, Drawer, -3.193, 0.777, 5.157, 0, 180, 0, [SEP] 86, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0, [SEP] 87, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0, [SEP] 88, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0, [SEP] 89, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0, [SEP] 90, Sink, -4.190, 0.921, 3.279, 0, 0, 0, [SEP] 91, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0, [SEP] 92, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0, [SEP] 93, Drawer, -0.509, 0.775, 6.568, 0, 270, 0, [SEP] 94, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0, [SEP] 95, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180, [SEP] 96, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180, [SEP] 97, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180, [SEP] 98, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180, [SEP] 99, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0, [SEP] 100, Toaster, -3.578, 0.912, 1.763, 0, 0, 0, [SEP] 101, Curtains, -4.522, 2.252, 3.391, 90, 90, 0, [SEP] 102, Window, -4.868, 1.629, 3.309, 90, 270, 0, [SEP] 103, Microwave, -2.693, 1.430, 1.689, 0, 0, 0, [SEP] 104, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0, [SEP] 105, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0, [SEP] 106, Fridge, -0.324, -0.001, 3.602, 0, 0, 0, [SEP] 107, , , , , , , , [SEP] 108, NorthWall, , , , , , , [SEP] 109, EastWall, , , , , , , [SEP] 110, SouthWall, , , , , , , [SEP] 111, WestWall, , , , , , , ", "output": ["STEP 1: Go to the counter left of the fridge | STEP 2: Pick up the knife | STEP 3: Go to the sink | STEP 4: Cut the apple in the sink | STEP 5: Go to the fridge | STEP 6: Put the knife in the fridge | STEP 7: Go to the sink | STEP 8: Pick up an apple slice | STEP 9: Go to the right of the coffeemaker | STEP 10: Put the apple slice on the blue plate | STEP 11: Pick up the blue plate | STEP 12: Go to the fridge | STEP 13: Put the plate in the fridge | END"]} +{"id": "trial_T20190919_001342_371546-1", "input": "Put a slice of apple on a plate in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.899, 3.75, 0, 90, 0, [SEP] 1, Pencil, -1.860, 0.923, 2.026, 0, 0, 0, 71 [SEP] 2, Potato, -3.340, 0.956, 1.799, 0, 0, 0, 73 [SEP] 3, Potato, -0.383, 1.614, 3.289, 0, 270, 0, 106 [SEP] 4, DishSponge, -0.532, 0.745, 4.693, 0, 270, 0, 63 [SEP] 5, DishSponge, -1.860, 0.923, 1.648, 0, 0, 0, 55 [SEP] 6, WineBottle, -3.859, 0.924, 1.724, 0, 0, 0, 73 [SEP] 7, Pot, -2.924, 0.930, 1.712, 0, 180, 0, 70 [SEP] 8, Pot, -2.924, 0.930, 2.012, 0, 0, 0, 56 [SEP] 9, Spatula, -2.109, 0.938, 1.724, 0, 90, 0, 55 [SEP] 10, Spatula, -4.132, 0.770, 2.235, 0, 90, 0, 53 [SEP] 11, Cup, -4.054, 0.076, 2.246, 0, 0, 0, 83 [SEP] 12, Knife, -1.943, 0.953, 2.026, 0, 0, 0, 55 [SEP] 13, Knife, -0.411, 0.954, 4.615, 0, 0, 0, 58 [SEP] 14, SoapBottle, -3.374, 0.923, 5.412, 0, 180, 0, 73 [SEP] 15, SoapBottle, -3.748, 0.068, 6.457, 0, 270, 0, 99 [SEP] 16, Tomato, -0.259, 1.392, 3.602, 0, 270, 0, 106 [SEP] 17, Tomato, -3.675, 0.125, 6.333, 0, 270, 0, 99 [SEP] 18, Bowl, -0.258, 0.922, 5.603, 0, 0, 0, 58 [SEP] 19, PepperShaker, -0.258, 0.921, 4.615, 0, 0, 0, 63 [SEP] 20, PepperShaker, -4.066, 0.743, 4.735, 0, 90, 0, 80 [SEP] 21, Lettuce, -0.401, 1.165, 3.603, 0, 270, 0, 106 [SEP] 22, Lettuce, -1.777, 1.018, 1.8, 0, 0, 0, 55 [SEP] 23, Egg, -0.411, 0.960, 5.932, 0, 0, 0, 107 [SEP] 24, Apple, -4.271, 0.844, 3.097, 0, 270, 0, 105 [SEP] 25, Knife, -3.852, 0.953, 5.336, 0, 90, 0, 73 [SEP] 26, Potato, -0.242, 1.104, 3.726, 0, 270, 0, 106 [SEP] 27, Fork, -3.255, 0.924, 5.182, 0, 90, 0, 73 [SEP] 28, Bowl, -2.688, 1.543, 1.666, 0, 0, 0, 103 [SEP] 29, Plate, -0.258, 0.925, 5.932, 0, 0, 0, 58 [SEP] 30, Lettuce, -4.196, 0.886, 3.222, 0, 270, 0, 105 [SEP] 31, Bread, -4.204, 1.003, 1.875, 0, 0, 0, 73 [SEP] 32, Tomato, -0.259, 1.742, 3.854, 0, 270, 0, 106 [SEP] 33, WineBottle, -3.449, 1.454, 1.638, 0, 0, 0, 47 [SEP] 34, Spatula, -4.335, 0.938, 4.122, 0, 90, 0, 73 [SEP] 35, PaperTowelRoll, -0.334, 1.029, 5.273, 0, 0, 0, 58 [SEP] 36, Cup, -0.295, 1.069, 3.355, 0, 270, 0, 106 [SEP] 37, Pencil, -0.503, 0.746, 6.722, 0, 270, 0, 93 [SEP] 38, Pan, -0.488, 0.924, 4.944, 0, 0, 0, 58 [SEP] 39, Pot, -2.469, 0.930, 1.712, 0, 270, 0, 88 [SEP] 40, SaltShaker, -1.693, 0.919, 1.648, 0, 0, 0, 55 [SEP] 41, SoapBottle, -1.610, 0.923, 2.026, 0, 90, 0, 55 [SEP] 42, PepperShaker, -3.807, 0.075, 5.077, 0, 90, 0, 87 [SEP] 43, ButterKnife, -4.411, 0.923, 4.122, 0, 270, 0, 73 [SEP] 44, DishSponge, -0.503, 0.746, 5.500, 0, 270, 0, 52 [SEP] 45, Spoon, -1.777, 0.924, 2.026, 0, 180, 0, 55 [SEP] 46, Mug, -0.383, 1.330, 3.231, 0, 270, 0, 106 [SEP] 47, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0, [SEP] 48, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0, [SEP] 49, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0, [SEP] 50, Drawer, -3.797, 0.781, 1.961, 0, 0, 0, [SEP] 51, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0, [SEP] 52, Drawer, -0.509, 0.775, 5.268, 0, 270, 0, [SEP] 53, Drawer, -4.125, 0.798, 2.499, 0, 0, 0, [SEP] 54, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0, [SEP] 55, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0, [SEP] 56, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0, [SEP] 57, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0, [SEP] 58, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0, [SEP] 59, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0, [SEP] 60, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0, [SEP] 61, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0, [SEP] 62, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0, [SEP] 63, Drawer, -0.509, 0.775, 4.617, 0, 270, 0, [SEP] 64, Drawer, -3.509, 0.777, 5.157, 0, 180, 0, [SEP] 65, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0, [SEP] 66, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0, [SEP] 67, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0, [SEP] 68, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0, [SEP] 69, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0, [SEP] 70, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0, [SEP] 71, Drawer, -1.859, 0.775, 1.961, 0, 0, 0, [SEP] 72, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0, [SEP] 73, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0, [SEP] 74, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0, [SEP] 75, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0, [SEP] 76, Drawer, -3.801, 0.777, 5.157, 0, 180, 0, [SEP] 77, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0, [SEP] 78, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0, [SEP] 79, Drawer, -3.418, 0.777, 1.961, 0, 0, 0, [SEP] 80, Drawer, -4.090, 0.777, 4.661, 0, 90, 0, [SEP] 81, Faucet, -4.441, 0.909, 3.288, 270, 0, 0, [SEP] 82, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0, [SEP] 83, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0, [SEP] 84, Drawer, -0.509, 0.775, 5.920, 0, 270, 0, [SEP] 85, Drawer, -3.193, 0.777, 5.157, 0, 180, 0, [SEP] 86, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0, [SEP] 87, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0, [SEP] 88, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0, [SEP] 89, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0, [SEP] 90, Sink, -4.190, 0.921, 3.279, 0, 0, 0, [SEP] 91, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0, [SEP] 92, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0, [SEP] 93, Drawer, -0.509, 0.775, 6.568, 0, 270, 0, [SEP] 94, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0, [SEP] 95, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180, [SEP] 96, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180, [SEP] 97, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180, [SEP] 98, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180, [SEP] 99, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0, [SEP] 100, Toaster, -3.578, 0.912, 1.763, 0, 0, 0, [SEP] 101, Curtains, -4.522, 2.252, 3.391, 90, 90, 0, [SEP] 102, Window, -4.868, 1.629, 3.309, 90, 270, 0, [SEP] 103, Microwave, -2.693, 1.430, 1.689, 0, 0, 0, [SEP] 104, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0, [SEP] 105, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0, [SEP] 106, Fridge, -0.324, -0.001, 3.602, 0, 0, 0, [SEP] 107, , , , , , , , [SEP] 108, NorthWall, , , , , , , [SEP] 109, EastWall, , , , , , , [SEP] 110, SouthWall, , , , , , , [SEP] 111, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and go to the counter on the left of the fridge. | STEP 2: Pick up the knife off of the counter. | STEP 3: Turn around and head to the sink. | STEP 4: Cut the apple in the sink. | STEP 5: Turn around and go to the fridge. | STEP 6: Put the knife in the fridge. | STEP 7: Turn around and head back to the sink. | STEP 8: Pick up a slice of apple from the sink. | STEP 9: Turn around and go to the counter to the right of the coffee maker with a blue plate. | STEP 10: Put the slice of apple on the blue plate. | STEP 11: Pick up the blue plate from the counter. | STEP 12: Turn right and head to the fridge. | STEP 13: Put the plate in the fridge to the left of the knife. | END"]} +{"id": "trial_T20190919_001342_371546-2", "input": "Put a plate with an apple on it in a fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.899, 3.75, 0, 90, 0, [SEP] 1, Pencil, -1.860, 0.923, 2.026, 0, 0, 0, 71 [SEP] 2, Potato, -3.340, 0.956, 1.799, 0, 0, 0, 73 [SEP] 3, Potato, -0.383, 1.614, 3.289, 0, 270, 0, 106 [SEP] 4, DishSponge, -0.532, 0.745, 4.693, 0, 270, 0, 63 [SEP] 5, DishSponge, -1.860, 0.923, 1.648, 0, 0, 0, 55 [SEP] 6, WineBottle, -3.859, 0.924, 1.724, 0, 0, 0, 73 [SEP] 7, Pot, -2.924, 0.930, 1.712, 0, 180, 0, 70 [SEP] 8, Pot, -2.924, 0.930, 2.012, 0, 0, 0, 56 [SEP] 9, Spatula, -2.109, 0.938, 1.724, 0, 90, 0, 55 [SEP] 10, Spatula, -4.132, 0.770, 2.235, 0, 90, 0, 53 [SEP] 11, Cup, -4.054, 0.076, 2.246, 0, 0, 0, 83 [SEP] 12, Knife, -1.943, 0.953, 2.026, 0, 0, 0, 55 [SEP] 13, Knife, -0.411, 0.954, 4.615, 0, 0, 0, 58 [SEP] 14, SoapBottle, -3.374, 0.923, 5.412, 0, 180, 0, 73 [SEP] 15, SoapBottle, -3.748, 0.068, 6.457, 0, 270, 0, 99 [SEP] 16, Tomato, -0.259, 1.392, 3.602, 0, 270, 0, 106 [SEP] 17, Tomato, -3.675, 0.125, 6.333, 0, 270, 0, 99 [SEP] 18, Bowl, -0.258, 0.922, 5.603, 0, 0, 0, 58 [SEP] 19, PepperShaker, -0.258, 0.921, 4.615, 0, 0, 0, 63 [SEP] 20, PepperShaker, -4.066, 0.743, 4.735, 0, 90, 0, 80 [SEP] 21, Lettuce, -0.401, 1.165, 3.603, 0, 270, 0, 106 [SEP] 22, Lettuce, -1.777, 1.018, 1.8, 0, 0, 0, 55 [SEP] 23, Egg, -0.411, 0.960, 5.932, 0, 0, 0, 107 [SEP] 24, Apple, -4.271, 0.844, 3.097, 0, 270, 0, 105 [SEP] 25, Knife, -3.852, 0.953, 5.336, 0, 90, 0, 73 [SEP] 26, Potato, -0.242, 1.104, 3.726, 0, 270, 0, 106 [SEP] 27, Fork, -3.255, 0.924, 5.182, 0, 90, 0, 73 [SEP] 28, Bowl, -2.688, 1.543, 1.666, 0, 0, 0, 103 [SEP] 29, Plate, -0.258, 0.925, 5.932, 0, 0, 0, 58 [SEP] 30, Lettuce, -4.196, 0.886, 3.222, 0, 270, 0, 105 [SEP] 31, Bread, -4.204, 1.003, 1.875, 0, 0, 0, 73 [SEP] 32, Tomato, -0.259, 1.742, 3.854, 0, 270, 0, 106 [SEP] 33, WineBottle, -3.449, 1.454, 1.638, 0, 0, 0, 47 [SEP] 34, Spatula, -4.335, 0.938, 4.122, 0, 90, 0, 73 [SEP] 35, PaperTowelRoll, -0.334, 1.029, 5.273, 0, 0, 0, 58 [SEP] 36, Cup, -0.295, 1.069, 3.355, 0, 270, 0, 106 [SEP] 37, Pencil, -0.503, 0.746, 6.722, 0, 270, 0, 93 [SEP] 38, Pan, -0.488, 0.924, 4.944, 0, 0, 0, 58 [SEP] 39, Pot, -2.469, 0.930, 1.712, 0, 270, 0, 88 [SEP] 40, SaltShaker, -1.693, 0.919, 1.648, 0, 0, 0, 55 [SEP] 41, SoapBottle, -1.610, 0.923, 2.026, 0, 90, 0, 55 [SEP] 42, PepperShaker, -3.807, 0.075, 5.077, 0, 90, 0, 87 [SEP] 43, ButterKnife, -4.411, 0.923, 4.122, 0, 270, 0, 73 [SEP] 44, DishSponge, -0.503, 0.746, 5.500, 0, 270, 0, 52 [SEP] 45, Spoon, -1.777, 0.924, 2.026, 0, 180, 0, 55 [SEP] 46, Mug, -0.383, 1.330, 3.231, 0, 270, 0, 106 [SEP] 47, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0, [SEP] 48, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0, [SEP] 49, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0, [SEP] 50, Drawer, -3.797, 0.781, 1.961, 0, 0, 0, [SEP] 51, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0, [SEP] 52, Drawer, -0.509, 0.775, 5.268, 0, 270, 0, [SEP] 53, Drawer, -4.125, 0.798, 2.499, 0, 0, 0, [SEP] 54, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0, [SEP] 55, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0, [SEP] 56, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0, [SEP] 57, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0, [SEP] 58, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0, [SEP] 59, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0, [SEP] 60, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0, [SEP] 61, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0, [SEP] 62, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0, [SEP] 63, Drawer, -0.509, 0.775, 4.617, 0, 270, 0, [SEP] 64, Drawer, -3.509, 0.777, 5.157, 0, 180, 0, [SEP] 65, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0, [SEP] 66, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0, [SEP] 67, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0, [SEP] 68, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0, [SEP] 69, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0, [SEP] 70, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0, [SEP] 71, Drawer, -1.859, 0.775, 1.961, 0, 0, 0, [SEP] 72, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0, [SEP] 73, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0, [SEP] 74, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0, [SEP] 75, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0, [SEP] 76, Drawer, -3.801, 0.777, 5.157, 0, 180, 0, [SEP] 77, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0, [SEP] 78, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0, [SEP] 79, Drawer, -3.418, 0.777, 1.961, 0, 0, 0, [SEP] 80, Drawer, -4.090, 0.777, 4.661, 0, 90, 0, [SEP] 81, Faucet, -4.441, 0.909, 3.288, 270, 0, 0, [SEP] 82, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0, [SEP] 83, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0, [SEP] 84, Drawer, -0.509, 0.775, 5.920, 0, 270, 0, [SEP] 85, Drawer, -3.193, 0.777, 5.157, 0, 180, 0, [SEP] 86, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0, [SEP] 87, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0, [SEP] 88, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0, [SEP] 89, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0, [SEP] 90, Sink, -4.190, 0.921, 3.279, 0, 0, 0, [SEP] 91, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0, [SEP] 92, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0, [SEP] 93, Drawer, -0.509, 0.775, 6.568, 0, 270, 0, [SEP] 94, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0, [SEP] 95, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180, [SEP] 96, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180, [SEP] 97, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180, [SEP] 98, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180, [SEP] 99, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0, [SEP] 100, Toaster, -3.578, 0.912, 1.763, 0, 0, 0, [SEP] 101, Curtains, -4.522, 2.252, 3.391, 90, 90, 0, [SEP] 102, Window, -4.868, 1.629, 3.309, 90, 270, 0, [SEP] 103, Microwave, -2.693, 1.430, 1.689, 0, 0, 0, [SEP] 104, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0, [SEP] 105, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0, [SEP] 106, Fridge, -0.324, -0.001, 3.602, 0, 0, 0, [SEP] 107, , , , , , , , [SEP] 108, NorthWall, , , , , , , [SEP] 109, EastWall, , , , , , , [SEP] 110, SouthWall, , , , , , , [SEP] 111, WestWall, , , , , , , ", "output": ["STEP 1: Go to the counter to the left of the fridge. | STEP 2: Take the knife from the counter. | STEP 3: Turn right, go forward, at the fridge turn right, go forward to the left side of the sink. | STEP 4: Cut the apple in the sink into pieces. | STEP 5: Turn around go forward to the fridge. | STEP 6: Put the knife on the bottom shelf of the fridge. | STEP 7: Turn around, go back to the sink with the apple. | STEP 8: Take a piece of apple from the sink. | STEP 9: Go forward and to the left to the counter space to the right of the coffee machine in the left corner. | STEP 10: Put the apple piece on the blue plate on the counter. | STEP 11: Take the plate from the counter. | STEP 12: Turn right, go forward, turn left at the fridge. | STEP 13: Put the plate on the left side of the bottom shelf of the fridge. | END"]} +{"id": "trial_T20190907_182211_592010-0", "input": "Put two watches on the tv stand. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.901, 4.75, 0, 90, 0, [SEP] 1, Watch, -1.732, 0.756, 1.695, 0, 0, 0, 44 [SEP] 2, Statue, -1.939, 0.847, 6.699, 0, 0, 0, 41 [SEP] 3, Statue, -1.169, 0.761, 1.133, 0, 0, 0, 44 [SEP] 4, KeyChain, -2.986, 0.376, 6.723, 0, 0, 0, 29 [SEP] 5, CreditCard, -3.045, 0.066, 6.699, 0, 0, 0, 32 [SEP] 6, RemoteControl, -2.485, 0.403, 3.701, 0, 0, 0, 34 [SEP] 7, RemoteControl, -4.115, 0.486, 3.626, 0, 0, 0, 28 [SEP] 8, Laptop, -2.485, 0.460, 3.626, 0, 0, 0, 34 [SEP] 9, Laptop, -1.873, 0.753, 0.993, 0, 0, 0, 44 [SEP] 10, Box, -1.607, 0.151, 6.854, 0, 0, 0, 41 [SEP] 11, Statue, -1.169, 0.761, 1.695, 0, 0, 0, 44 [SEP] 12, Watch, -1.873, 0.756, 1.274, 0, 0, 0, 44 [SEP] 13, WateringCan, -0.208, -0.000, 3.225, 0, 63.928, 0, [SEP] 14, Laptop, -1.683, 0.747, 1.489, 0, 338.703, 0, 44 [SEP] 15, CreditCard, -3.664, 0.396, 3.811, 0, 0, 0, 43 [SEP] 16, KeyChain, -4.300, 0.478, 5.556, 0, 0, 0, 35 [SEP] 17, Pillow, -4.335, 0.465, 4.398, 0, 0, 0, 35 [SEP] 18, RemoteControl, -1.310, 0.758, 1.414, 0, 0, 0, 44 [SEP] 19, Curtains, -0.037, 2.148, 0.999, 0, 0, 0, [SEP] 20, Painting, -0.016, 2.061, 5.380, 0, 0, 0, [SEP] 21, GarbageCan, -0.256, -0.010, 6.799, 0, 0, 0, [SEP] 22, FloorLamp, -4.721, -0.001, 3.687, 0, 0, 0, [SEP] 23, Television, -3.192, 1.184, 6.767, 0, 180, 0, [SEP] 24, HousePlant, -0.173, 0.610, 3.994, 0, 0, 0, [SEP] 25, LightSwitch, -3.483, 1.470, 0.001, 0, 0, 0, [SEP] 26, DeskLamp, -0.258, 0.611, 3.312, 0, 0, 0, [SEP] 27, Window, -0.008, 1.340, 1.725, 90, 270, 0, [SEP] 28, SideTable, -4.190, 0.000, 3.587, 0, 0, 0, [SEP] 29, Drawer, -2.925, 0.475, 6.717, 0, 180, 0, [SEP] 30, Drawer, -3.476, 0.475, 6.717, 0, 180, 0, [SEP] 31, Dresser, -3.201, -0.001, 6.791, 0, 180, 0, [SEP] 32, Drawer, -2.925, 0.165, 6.719, 0, 180, 0, [SEP] 33, Drawer, -3.476, 0.165, 6.719, 0, 180, 0, [SEP] 34, ArmChair, -2.448, 0.002, 3.501, 0, 0, 0, [SEP] 35, Sofa, -4.425, 0.014, 5.062, 0, 90, 0, [SEP] 36, Ottoman, -2.374, 0.000, 4.483, 0, 0, 0, [SEP] 37, Chair, -2.151, 0.004, 1.284, 0, 90, 0, [SEP] 38, Chair, -1.549, 0.004, 1.780, 0, 195.000, 0, [SEP] 39, Chair, -1.626, 0.004, 0.778, 0, 10.166, 0, [SEP] 40, Chair, -1.076, 0.004, 1.292, 0, 265.171, 0, [SEP] 41, SideTable, -2.071, 0.000, 6.699, 0, 0, 0, [SEP] 42, SideTable, -0.244, -0.000, 3.524, 0, 270, 0, [SEP] 43, ArmChair, -3.545, 0.005, 3.579, 0, 0, 0, [SEP] 44, DiningTable, -1.592, 0.006, 1.274, 0, 0, 0, [SEP] 45, NorthWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, SouthWall, , , , , , , ", "output": ["STEP 1: Take a half step left and walk until you are about two feet from the fireplace then turn right and walk to the chair then turn right and walk to the red couch and turn left and walk to the chair at the table and turn left. | STEP 2: Pick up the watch you see on the table. | STEP 3: Turn left and walk to the red chair then turn right and walk past the red chair and turn left and walk and stand in front of the tv you can see in front of you. | STEP 4: Put the watch in the middle of the tv stand. | STEP 5: Turn right and walk to the fireplace and then turn right and walk to the chair. | STEP 6: Pick up the watch you see on the table. | STEP 7: Walk back to where you put the first watch. | STEP 8: Put the watch to the left of the first one. | END"]} +{"id": "trial_T20190907_182211_592010-1", "input": "Pick up watches from the table, one-at-a-time, put them on the TV stand. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.901, 4.75, 0, 90, 0, [SEP] 1, Watch, -1.732, 0.756, 1.695, 0, 0, 0, 44 [SEP] 2, Statue, -1.939, 0.847, 6.699, 0, 0, 0, 41 [SEP] 3, Statue, -1.169, 0.761, 1.133, 0, 0, 0, 44 [SEP] 4, KeyChain, -2.986, 0.376, 6.723, 0, 0, 0, 29 [SEP] 5, CreditCard, -3.045, 0.066, 6.699, 0, 0, 0, 32 [SEP] 6, RemoteControl, -2.485, 0.403, 3.701, 0, 0, 0, 34 [SEP] 7, RemoteControl, -4.115, 0.486, 3.626, 0, 0, 0, 28 [SEP] 8, Laptop, -2.485, 0.460, 3.626, 0, 0, 0, 34 [SEP] 9, Laptop, -1.873, 0.753, 0.993, 0, 0, 0, 44 [SEP] 10, Box, -1.607, 0.151, 6.854, 0, 0, 0, 41 [SEP] 11, Statue, -1.169, 0.761, 1.695, 0, 0, 0, 44 [SEP] 12, Watch, -1.873, 0.756, 1.274, 0, 0, 0, 44 [SEP] 13, WateringCan, -0.208, -0.000, 3.225, 0, 63.928, 0, [SEP] 14, Laptop, -1.683, 0.747, 1.489, 0, 338.703, 0, 44 [SEP] 15, CreditCard, -3.664, 0.396, 3.811, 0, 0, 0, 43 [SEP] 16, KeyChain, -4.300, 0.478, 5.556, 0, 0, 0, 35 [SEP] 17, Pillow, -4.335, 0.465, 4.398, 0, 0, 0, 35 [SEP] 18, RemoteControl, -1.310, 0.758, 1.414, 0, 0, 0, 44 [SEP] 19, Curtains, -0.037, 2.148, 0.999, 0, 0, 0, [SEP] 20, Painting, -0.016, 2.061, 5.380, 0, 0, 0, [SEP] 21, GarbageCan, -0.256, -0.010, 6.799, 0, 0, 0, [SEP] 22, FloorLamp, -4.721, -0.001, 3.687, 0, 0, 0, [SEP] 23, Television, -3.192, 1.184, 6.767, 0, 180, 0, [SEP] 24, HousePlant, -0.173, 0.610, 3.994, 0, 0, 0, [SEP] 25, LightSwitch, -3.483, 1.470, 0.001, 0, 0, 0, [SEP] 26, DeskLamp, -0.258, 0.611, 3.312, 0, 0, 0, [SEP] 27, Window, -0.008, 1.340, 1.725, 90, 270, 0, [SEP] 28, SideTable, -4.190, 0.000, 3.587, 0, 0, 0, [SEP] 29, Drawer, -2.925, 0.475, 6.717, 0, 180, 0, [SEP] 30, Drawer, -3.476, 0.475, 6.717, 0, 180, 0, [SEP] 31, Dresser, -3.201, -0.001, 6.791, 0, 180, 0, [SEP] 32, Drawer, -2.925, 0.165, 6.719, 0, 180, 0, [SEP] 33, Drawer, -3.476, 0.165, 6.719, 0, 180, 0, [SEP] 34, ArmChair, -2.448, 0.002, 3.501, 0, 0, 0, [SEP] 35, Sofa, -4.425, 0.014, 5.062, 0, 90, 0, [SEP] 36, Ottoman, -2.374, 0.000, 4.483, 0, 0, 0, [SEP] 37, Chair, -2.151, 0.004, 1.284, 0, 90, 0, [SEP] 38, Chair, -1.549, 0.004, 1.780, 0, 195.000, 0, [SEP] 39, Chair, -1.626, 0.004, 0.778, 0, 10.166, 0, [SEP] 40, Chair, -1.076, 0.004, 1.292, 0, 265.171, 0, [SEP] 41, SideTable, -2.071, 0.000, 6.699, 0, 0, 0, [SEP] 42, SideTable, -0.244, -0.000, 3.524, 0, 270, 0, [SEP] 43, ArmChair, -3.545, 0.005, 3.579, 0, 0, 0, [SEP] 44, DiningTable, -1.592, 0.006, 1.274, 0, 0, 0, [SEP] 45, NorthWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, SouthWall, , , , , , , ", "output": ["STEP 1: Take one step to the right, turn left for several steps, turn right past the red chair, turn right for one steps, take a left and stop at the table. | STEP 2: Pick up the watch from the table that is next to the lap top, closest to the wall. | STEP 3: Turn to the left and walk three steps, turn right at the red chair for three steps, take a left for seven steps, turn left again for five steps, turn right and walk three steps to the TV stand. | STEP 4: Set the watch down on the TV stand, in front of the TV at the center of the stand. | STEP 5: Turn right for five steps, turn right and walk to the table with the lap tops. | STEP 6: Pick up the watch by the lap top on the table in front of the chair. | STEP 7: Turn around and walk eight steps, turn left for five steps, turn right for 3 steps, stop in front of the TV stand. | STEP 8: Put the watch on the TV stand to the left of the watch on the stand. | END"]} +{"id": "trial_T20190907_182211_592010-2", "input": "Put two watches on the TV stand. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.901, 4.75, 0, 90, 0, [SEP] 1, Watch, -1.732, 0.756, 1.695, 0, 0, 0, 44 [SEP] 2, Statue, -1.939, 0.847, 6.699, 0, 0, 0, 41 [SEP] 3, Statue, -1.169, 0.761, 1.133, 0, 0, 0, 44 [SEP] 4, KeyChain, -2.986, 0.376, 6.723, 0, 0, 0, 29 [SEP] 5, CreditCard, -3.045, 0.066, 6.699, 0, 0, 0, 32 [SEP] 6, RemoteControl, -2.485, 0.403, 3.701, 0, 0, 0, 34 [SEP] 7, RemoteControl, -4.115, 0.486, 3.626, 0, 0, 0, 28 [SEP] 8, Laptop, -2.485, 0.460, 3.626, 0, 0, 0, 34 [SEP] 9, Laptop, -1.873, 0.753, 0.993, 0, 0, 0, 44 [SEP] 10, Box, -1.607, 0.151, 6.854, 0, 0, 0, 41 [SEP] 11, Statue, -1.169, 0.761, 1.695, 0, 0, 0, 44 [SEP] 12, Watch, -1.873, 0.756, 1.274, 0, 0, 0, 44 [SEP] 13, WateringCan, -0.208, -0.000, 3.225, 0, 63.928, 0, [SEP] 14, Laptop, -1.683, 0.747, 1.489, 0, 338.703, 0, 44 [SEP] 15, CreditCard, -3.664, 0.396, 3.811, 0, 0, 0, 43 [SEP] 16, KeyChain, -4.300, 0.478, 5.556, 0, 0, 0, 35 [SEP] 17, Pillow, -4.335, 0.465, 4.398, 0, 0, 0, 35 [SEP] 18, RemoteControl, -1.310, 0.758, 1.414, 0, 0, 0, 44 [SEP] 19, Curtains, -0.037, 2.148, 0.999, 0, 0, 0, [SEP] 20, Painting, -0.016, 2.061, 5.380, 0, 0, 0, [SEP] 21, GarbageCan, -0.256, -0.010, 6.799, 0, 0, 0, [SEP] 22, FloorLamp, -4.721, -0.001, 3.687, 0, 0, 0, [SEP] 23, Television, -3.192, 1.184, 6.767, 0, 180, 0, [SEP] 24, HousePlant, -0.173, 0.610, 3.994, 0, 0, 0, [SEP] 25, LightSwitch, -3.483, 1.470, 0.001, 0, 0, 0, [SEP] 26, DeskLamp, -0.258, 0.611, 3.312, 0, 0, 0, [SEP] 27, Window, -0.008, 1.340, 1.725, 90, 270, 0, [SEP] 28, SideTable, -4.190, 0.000, 3.587, 0, 0, 0, [SEP] 29, Drawer, -2.925, 0.475, 6.717, 0, 180, 0, [SEP] 30, Drawer, -3.476, 0.475, 6.717, 0, 180, 0, [SEP] 31, Dresser, -3.201, -0.001, 6.791, 0, 180, 0, [SEP] 32, Drawer, -2.925, 0.165, 6.719, 0, 180, 0, [SEP] 33, Drawer, -3.476, 0.165, 6.719, 0, 180, 0, [SEP] 34, ArmChair, -2.448, 0.002, 3.501, 0, 0, 0, [SEP] 35, Sofa, -4.425, 0.014, 5.062, 0, 90, 0, [SEP] 36, Ottoman, -2.374, 0.000, 4.483, 0, 0, 0, [SEP] 37, Chair, -2.151, 0.004, 1.284, 0, 90, 0, [SEP] 38, Chair, -1.549, 0.004, 1.780, 0, 195.000, 0, [SEP] 39, Chair, -1.626, 0.004, 0.778, 0, 10.166, 0, [SEP] 40, Chair, -1.076, 0.004, 1.292, 0, 265.171, 0, [SEP] 41, SideTable, -2.071, 0.000, 6.699, 0, 0, 0, [SEP] 42, SideTable, -0.244, -0.000, 3.524, 0, 270, 0, [SEP] 43, ArmChair, -3.545, 0.005, 3.579, 0, 0, 0, [SEP] 44, DiningTable, -1.592, 0.006, 1.274, 0, 0, 0, [SEP] 45, NorthWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, SouthWall, , , , , , , ", "output": ["STEP 1: Move to the dining table to the left of the door | STEP 2: pick up a watch from the table | STEP 3: move to the TV stand to the left of you | STEP 4: put the watch on the stand | STEP 5: move to the dining table to the left of the door | STEP 6: pick up a watch from the table | STEP 7: move to the TV stand to the left of you | STEP 8: put the watch on the stand | END"]} +{"id": "trial_T20190907_061934_041977-0", "input": "Place a towel inside a sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 1.0, 0, 270, 0, [SEP] 1, Cloth, -2.064, 0.850, 0.364, 0, 0, 0, 40 [SEP] 2, Cloth, -2.117, 1.301, 2.143, 0, 0, 0, 32 [SEP] 3, TissueBox, -1.825, 0.518, 0.313, 0, 0, 0, 18 [SEP] 4, TissueBox, -0.753, 1.134, 0.466, 0, 0, 0, 30 [SEP] 5, SprayBottle, -0.931, 1.135, 0.169, 0, 0, 0, 30 [SEP] 6, HandTowel, -1.296, 1.765, 0.040, 0, 180, 0, 36 [SEP] 7, SoapBar, -1.850, 0.850, 0.276, 0, 0, 0, 40 [SEP] 8, ToiletPaper, -0.813, 0.857, 0.439, 0, 270, 0, 19 [SEP] 9, Plunger, -0.735, -0.000, 2.732, 0, 0, 0, Floor|-00.08| [SEP] 10, Candle, -2.255, 0.108, 2.328, 0, 0, 0, 20 [SEP] 11, TissueBox, -2.016, 0.125, 0.314, 0, 0, 0, 18 [SEP] 12, ToiletPaper, -0.067, 1.015, 2.171, 0, 270, 270, 35 [SEP] 13, SoapBottle, -0.631, 0.956, 2.696, 0, 270, 0, 38 [SEP] 14, SprayBottle, -0.767, 1.655, 0.262, 0, 0, 0, 29 [SEP] 15, Towel, -2.760, 1.569, 0.107, 0, 0, 0, 33 [SEP] 16, Cloth, -3.574, 0.219, 1.268, 0, 0, 0, 39 [SEP] 17, ScrubBrush, -0.657, -0.000, 2.560, 0, 0, 0, Floor|-00.08| [SEP] 18, Cabinet, -2.344, 0.457, 0.524, 0, 0, 0, [SEP] 19, Drawer, -0.813, 0.956, 0.384, 0, 270, 0, [SEP] 20, Cabinet, -1.891, 0.443, 1.982, 0, 0, 0, [SEP] 21, Cabinet, -0.605, 0.457, 0.524, 0, 0, 0, [SEP] 22, Drawer, -2.032, 0.942, 2.190, 0, 0, 0, [SEP] 23, Bathtub, -3.450, 0.178, 1.029, 0, 0, 0, [SEP] 24, CounterTop, -1.919, 0.0, 0.288, 0, 0, 0, [SEP] 25, Sink, -1.924, 0.772, 0.326, 0, 0, 0, [SEP] 26, Mirror, -1.934, 1.666, 0.107, 0, 0, 0, [SEP] 27, Faucet, -1.925, 0.958, 0.179, 0, 0, 0, [SEP] 28, Cabinet, -1.891, 1.884, 2.391, 0, 0, 0, [SEP] 29, Cabinet, -0.605, 1.988, 0.524, 0, 0, 0, [SEP] 30, CounterTop, -0.812, 0.093, 0.288, 0, 0, 0, [SEP] 31, Shelf, -2.029, 1.183, 2.189, 0, 0, 0, [SEP] 32, Shelf, -2.123, 1.393, 2.189, 0, 0, 0, [SEP] 33, TowelHolder, -2.760, 1.555, 0.000, 0, 0, 0, [SEP] 34, LightSwitch, 0.0, 1.427, 1.993, 0, 270, 0, [SEP] 35, ToiletPaperHanger, 0.0, 1.014, 2.237, 0, 270, 0, [SEP] 36, HandTowelHolder, -1.297, 1.866, 0.002, 0, 270, 0, [SEP] 37, Window, -4.149, 1.717, 1.154, 90, 270, 0, [SEP] 38, Toilet, -0.456, -0.000, 2.257, 0, 180, 0, [SEP] 39, BathtubBasin, -3.520, 0.210, 0.940, 0, 0, 0, [SEP] 40, SinkBasin, -1.931, 0.841, 0.320, 0, 0, 0, [SEP] 41, GarbageCan, -0.257, -0.000, 0.259, 0, 0, 0, [SEP] 42, ShowerHead, -3.522, 1.719, 1.776, 0, 0, 0, [SEP] 43, ShowerCurtain, -3.391, 2.442, 0.266, 0, 0, 6.838, [SEP] 44, NorthWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, SouthWall, , , , , , , ", "output": ["STEP 1: Take a step forward then turn to your left to the towel holder that is in between the two counters | STEP 2: Pick up the towel that is hanging on the towel holder | STEP 3: Turn to the right to face the sink | STEP 4: Place the towel inside the sink | END"]} +{"id": "trial_T20190907_061934_041977-1", "input": "move the towel from the wall to the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 1.0, 0, 270, 0, [SEP] 1, Cloth, -2.064, 0.850, 0.364, 0, 0, 0, 40 [SEP] 2, Cloth, -2.117, 1.301, 2.143, 0, 0, 0, 32 [SEP] 3, TissueBox, -1.825, 0.518, 0.313, 0, 0, 0, 18 [SEP] 4, TissueBox, -0.753, 1.134, 0.466, 0, 0, 0, 30 [SEP] 5, SprayBottle, -0.931, 1.135, 0.169, 0, 0, 0, 30 [SEP] 6, HandTowel, -1.296, 1.765, 0.040, 0, 180, 0, 36 [SEP] 7, SoapBar, -1.850, 0.850, 0.276, 0, 0, 0, 40 [SEP] 8, ToiletPaper, -0.813, 0.857, 0.439, 0, 270, 0, 19 [SEP] 9, Plunger, -0.735, -0.000, 2.732, 0, 0, 0, Floor|-00.08| [SEP] 10, Candle, -2.255, 0.108, 2.328, 0, 0, 0, 20 [SEP] 11, TissueBox, -2.016, 0.125, 0.314, 0, 0, 0, 18 [SEP] 12, ToiletPaper, -0.067, 1.015, 2.171, 0, 270, 270, 35 [SEP] 13, SoapBottle, -0.631, 0.956, 2.696, 0, 270, 0, 38 [SEP] 14, SprayBottle, -0.767, 1.655, 0.262, 0, 0, 0, 29 [SEP] 15, Towel, -2.760, 1.569, 0.107, 0, 0, 0, 33 [SEP] 16, Cloth, -3.574, 0.219, 1.268, 0, 0, 0, 39 [SEP] 17, ScrubBrush, -0.657, -0.000, 2.560, 0, 0, 0, Floor|-00.08| [SEP] 18, Cabinet, -2.344, 0.457, 0.524, 0, 0, 0, [SEP] 19, Drawer, -0.813, 0.956, 0.384, 0, 270, 0, [SEP] 20, Cabinet, -1.891, 0.443, 1.982, 0, 0, 0, [SEP] 21, Cabinet, -0.605, 0.457, 0.524, 0, 0, 0, [SEP] 22, Drawer, -2.032, 0.942, 2.190, 0, 0, 0, [SEP] 23, Bathtub, -3.450, 0.178, 1.029, 0, 0, 0, [SEP] 24, CounterTop, -1.919, 0.0, 0.288, 0, 0, 0, [SEP] 25, Sink, -1.924, 0.772, 0.326, 0, 0, 0, [SEP] 26, Mirror, -1.934, 1.666, 0.107, 0, 0, 0, [SEP] 27, Faucet, -1.925, 0.958, 0.179, 0, 0, 0, [SEP] 28, Cabinet, -1.891, 1.884, 2.391, 0, 0, 0, [SEP] 29, Cabinet, -0.605, 1.988, 0.524, 0, 0, 0, [SEP] 30, CounterTop, -0.812, 0.093, 0.288, 0, 0, 0, [SEP] 31, Shelf, -2.029, 1.183, 2.189, 0, 0, 0, [SEP] 32, Shelf, -2.123, 1.393, 2.189, 0, 0, 0, [SEP] 33, TowelHolder, -2.760, 1.555, 0.000, 0, 0, 0, [SEP] 34, LightSwitch, 0.0, 1.427, 1.993, 0, 270, 0, [SEP] 35, ToiletPaperHanger, 0.0, 1.014, 2.237, 0, 270, 0, [SEP] 36, HandTowelHolder, -1.297, 1.866, 0.002, 0, 270, 0, [SEP] 37, Window, -4.149, 1.717, 1.154, 90, 270, 0, [SEP] 38, Toilet, -0.456, -0.000, 2.257, 0, 180, 0, [SEP] 39, BathtubBasin, -3.520, 0.210, 0.940, 0, 0, 0, [SEP] 40, SinkBasin, -1.931, 0.841, 0.320, 0, 0, 0, [SEP] 41, GarbageCan, -0.257, -0.000, 0.259, 0, 0, 0, [SEP] 42, ShowerHead, -3.522, 1.719, 1.776, 0, 0, 0, [SEP] 43, ShowerCurtain, -3.391, 2.442, 0.266, 0, 0, 6.838, [SEP] 44, NorthWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, SouthWall, , , , , , , ", "output": ["STEP 1: turn left, face the towel on the wall | STEP 2: grab the towel on the wall | STEP 3: turn right to the sink | STEP 4: put the towel in the sink | END"]} +{"id": "trial_T20190907_061934_041977-2", "input": "Getting the towel ready to be used SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 1.0, 0, 270, 0, [SEP] 1, Cloth, -2.064, 0.850, 0.364, 0, 0, 0, 40 [SEP] 2, Cloth, -2.117, 1.301, 2.143, 0, 0, 0, 32 [SEP] 3, TissueBox, -1.825, 0.518, 0.313, 0, 0, 0, 18 [SEP] 4, TissueBox, -0.753, 1.134, 0.466, 0, 0, 0, 30 [SEP] 5, SprayBottle, -0.931, 1.135, 0.169, 0, 0, 0, 30 [SEP] 6, HandTowel, -1.296, 1.765, 0.040, 0, 180, 0, 36 [SEP] 7, SoapBar, -1.850, 0.850, 0.276, 0, 0, 0, 40 [SEP] 8, ToiletPaper, -0.813, 0.857, 0.439, 0, 270, 0, 19 [SEP] 9, Plunger, -0.735, -0.000, 2.732, 0, 0, 0, Floor|-00.08| [SEP] 10, Candle, -2.255, 0.108, 2.328, 0, 0, 0, 20 [SEP] 11, TissueBox, -2.016, 0.125, 0.314, 0, 0, 0, 18 [SEP] 12, ToiletPaper, -0.067, 1.015, 2.171, 0, 270, 270, 35 [SEP] 13, SoapBottle, -0.631, 0.956, 2.696, 0, 270, 0, 38 [SEP] 14, SprayBottle, -0.767, 1.655, 0.262, 0, 0, 0, 29 [SEP] 15, Towel, -2.760, 1.569, 0.107, 0, 0, 0, 33 [SEP] 16, Cloth, -3.574, 0.219, 1.268, 0, 0, 0, 39 [SEP] 17, ScrubBrush, -0.657, -0.000, 2.560, 0, 0, 0, Floor|-00.08| [SEP] 18, Cabinet, -2.344, 0.457, 0.524, 0, 0, 0, [SEP] 19, Drawer, -0.813, 0.956, 0.384, 0, 270, 0, [SEP] 20, Cabinet, -1.891, 0.443, 1.982, 0, 0, 0, [SEP] 21, Cabinet, -0.605, 0.457, 0.524, 0, 0, 0, [SEP] 22, Drawer, -2.032, 0.942, 2.190, 0, 0, 0, [SEP] 23, Bathtub, -3.450, 0.178, 1.029, 0, 0, 0, [SEP] 24, CounterTop, -1.919, 0.0, 0.288, 0, 0, 0, [SEP] 25, Sink, -1.924, 0.772, 0.326, 0, 0, 0, [SEP] 26, Mirror, -1.934, 1.666, 0.107, 0, 0, 0, [SEP] 27, Faucet, -1.925, 0.958, 0.179, 0, 0, 0, [SEP] 28, Cabinet, -1.891, 1.884, 2.391, 0, 0, 0, [SEP] 29, Cabinet, -0.605, 1.988, 0.524, 0, 0, 0, [SEP] 30, CounterTop, -0.812, 0.093, 0.288, 0, 0, 0, [SEP] 31, Shelf, -2.029, 1.183, 2.189, 0, 0, 0, [SEP] 32, Shelf, -2.123, 1.393, 2.189, 0, 0, 0, [SEP] 33, TowelHolder, -2.760, 1.555, 0.000, 0, 0, 0, [SEP] 34, LightSwitch, 0.0, 1.427, 1.993, 0, 270, 0, [SEP] 35, ToiletPaperHanger, 0.0, 1.014, 2.237, 0, 270, 0, [SEP] 36, HandTowelHolder, -1.297, 1.866, 0.002, 0, 270, 0, [SEP] 37, Window, -4.149, 1.717, 1.154, 90, 270, 0, [SEP] 38, Toilet, -0.456, -0.000, 2.257, 0, 180, 0, [SEP] 39, BathtubBasin, -3.520, 0.210, 0.940, 0, 0, 0, [SEP] 40, SinkBasin, -1.931, 0.841, 0.320, 0, 0, 0, [SEP] 41, GarbageCan, -0.257, -0.000, 0.259, 0, 0, 0, [SEP] 42, ShowerHead, -3.522, 1.719, 1.776, 0, 0, 0, [SEP] 43, ShowerCurtain, -3.391, 2.442, 0.266, 0, 0, 6.838, [SEP] 44, NorthWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, SouthWall, , , , , , , ", "output": ["STEP 1: Walk to the towel ring | STEP 2: Grab the towel from the towel ring | STEP 3: Walk to the counter | STEP 4: Put the towel on the sink counter | END"]} +{"id": "trial_T20190907_061934_041977-3", "input": "move the towel from the towel rack to the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 1.0, 0, 270, 0, [SEP] 1, Cloth, -2.064, 0.850, 0.364, 0, 0, 0, 40 [SEP] 2, Cloth, -2.117, 1.301, 2.143, 0, 0, 0, 32 [SEP] 3, TissueBox, -1.825, 0.518, 0.313, 0, 0, 0, 18 [SEP] 4, TissueBox, -0.753, 1.134, 0.466, 0, 0, 0, 30 [SEP] 5, SprayBottle, -0.931, 1.135, 0.169, 0, 0, 0, 30 [SEP] 6, HandTowel, -1.296, 1.765, 0.040, 0, 180, 0, 36 [SEP] 7, SoapBar, -1.850, 0.850, 0.276, 0, 0, 0, 40 [SEP] 8, ToiletPaper, -0.813, 0.857, 0.439, 0, 270, 0, 19 [SEP] 9, Plunger, -0.735, -0.000, 2.732, 0, 0, 0, Floor|-00.08| [SEP] 10, Candle, -2.255, 0.108, 2.328, 0, 0, 0, 20 [SEP] 11, TissueBox, -2.016, 0.125, 0.314, 0, 0, 0, 18 [SEP] 12, ToiletPaper, -0.067, 1.015, 2.171, 0, 270, 270, 35 [SEP] 13, SoapBottle, -0.631, 0.956, 2.696, 0, 270, 0, 38 [SEP] 14, SprayBottle, -0.767, 1.655, 0.262, 0, 0, 0, 29 [SEP] 15, Towel, -2.760, 1.569, 0.107, 0, 0, 0, 33 [SEP] 16, Cloth, -3.574, 0.219, 1.268, 0, 0, 0, 39 [SEP] 17, ScrubBrush, -0.657, -0.000, 2.560, 0, 0, 0, Floor|-00.08| [SEP] 18, Cabinet, -2.344, 0.457, 0.524, 0, 0, 0, [SEP] 19, Drawer, -0.813, 0.956, 0.384, 0, 270, 0, [SEP] 20, Cabinet, -1.891, 0.443, 1.982, 0, 0, 0, [SEP] 21, Cabinet, -0.605, 0.457, 0.524, 0, 0, 0, [SEP] 22, Drawer, -2.032, 0.942, 2.190, 0, 0, 0, [SEP] 23, Bathtub, -3.450, 0.178, 1.029, 0, 0, 0, [SEP] 24, CounterTop, -1.919, 0.0, 0.288, 0, 0, 0, [SEP] 25, Sink, -1.924, 0.772, 0.326, 0, 0, 0, [SEP] 26, Mirror, -1.934, 1.666, 0.107, 0, 0, 0, [SEP] 27, Faucet, -1.925, 0.958, 0.179, 0, 0, 0, [SEP] 28, Cabinet, -1.891, 1.884, 2.391, 0, 0, 0, [SEP] 29, Cabinet, -0.605, 1.988, 0.524, 0, 0, 0, [SEP] 30, CounterTop, -0.812, 0.093, 0.288, 0, 0, 0, [SEP] 31, Shelf, -2.029, 1.183, 2.189, 0, 0, 0, [SEP] 32, Shelf, -2.123, 1.393, 2.189, 0, 0, 0, [SEP] 33, TowelHolder, -2.760, 1.555, 0.000, 0, 0, 0, [SEP] 34, LightSwitch, 0.0, 1.427, 1.993, 0, 270, 0, [SEP] 35, ToiletPaperHanger, 0.0, 1.014, 2.237, 0, 270, 0, [SEP] 36, HandTowelHolder, -1.297, 1.866, 0.002, 0, 270, 0, [SEP] 37, Window, -4.149, 1.717, 1.154, 90, 270, 0, [SEP] 38, Toilet, -0.456, -0.000, 2.257, 0, 180, 0, [SEP] 39, BathtubBasin, -3.520, 0.210, 0.940, 0, 0, 0, [SEP] 40, SinkBasin, -1.931, 0.841, 0.320, 0, 0, 0, [SEP] 41, GarbageCan, -0.257, -0.000, 0.259, 0, 0, 0, [SEP] 42, ShowerHead, -3.522, 1.719, 1.776, 0, 0, 0, [SEP] 43, ShowerCurtain, -3.391, 2.442, 0.266, 0, 0, 6.838, [SEP] 44, NorthWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, SouthWall, , , , , , , ", "output": ["STEP 1: turn left, face the towel that is hanging on the wall | STEP 2: take the towel down from the rack | STEP 3: turn right to face the sink | STEP 4: put the towel on the sink | END"]} +{"id": "trial_T20190906_192823_237997-0", "input": "Place a chilled cup on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.869, -2.5, 0, 180, 0, [SEP] 1, DishSponge, -1.056, 0.900, 1.015, 0, 270, 0, 65 [SEP] 2, ButterKnife, 0.671, 0.759, -0.061, 0, 90, 0, 38 [SEP] 3, Spatula, -0.051, 0.915, 1.015, 0, 0, 0, 65 [SEP] 4, Spoon, -0.051, 0.901, 1.272, 0, 0, 0, 65 [SEP] 5, Fork, 0.720, 0.760, 0.002, 0, 270, 0, 38 [SEP] 6, Egg, -0.051, 0.937, 1.101, 0, 270, 0, 65 [SEP] 7, Egg, -0.855, 0.937, 1.272, 0, 270, 0, 65 [SEP] 8, Cup, 0.149, 0.899, 0.758, 0, 270, 0, 65 [SEP] 9, Cup, -0.051, 0.899, 1.187, 0, 270, 0, 65 [SEP] 10, Cup, 0.721, 0.664, 0.387, 0, 0, 0, 44 [SEP] 11, Tomato, 0.841, 0.820, -0.625, 0, 270, 0, 62 [SEP] 12, Bowl, 0.903, 1.462, -0.146, 0, 0, 0, 50 [SEP] 13, PepperShaker, -1.556, 0.692, -3.361, 0, 0, 0, 66 [SEP] 14, Bread, -0.051, 0.944, 0.843, 0, 270, 0, 65 [SEP] 15, Lettuce, 0.149, 0.987, 1.101, 0, 270, 0, 65 [SEP] 16, Mug, 0.698, 0.941, -1.360, 0, 270, 0, 52 [SEP] 17, Pot, -1.552, 0.930, 0.785, 0, 0, 0, 43 [SEP] 18, Plate, -2.023, 0.692, -1.447, 0, 0, 0, 75 [SEP] 19, Fork, 0.781, 0.665, 0.326, 0, 180, 0, 44 [SEP] 20, SoapBottle, -1.187, 0.051, -3.611, 0, 270, 0, 54 [SEP] 21, Apple, 0.721, 0.718, 0.630, 0, 0, 0, 44 [SEP] 22, Pan, -2.097, 0.930, 1.049, 0, 0, 0, 46 [SEP] 23, Egg, -0.252, 0.937, 1.101, 0, 270, 0, 65 [SEP] 24, Spatula, 0.574, 0.775, -0.124, 0, 90, 0, 38 [SEP] 25, Potato, 0.799, 0.805, -0.845, 0, 270, 0, 62 [SEP] 26, Cup, 0.877, 0.882, -0.245, 0, 0, 0, 39 [SEP] 27, SaltShaker, 0.898, 0.012, -0.506, 0, 0, 0, 42 [SEP] 28, PepperShaker, 0.601, 0.661, 0.630, 0, 0, 0, 44 [SEP] 29, ButterKnife, 0.754, 0.755, -0.743, 0, 45, 0, 62 [SEP] 30, DishSponge, 0.961, 0.664, 0.448, 0, 0, 0, 44 [SEP] 31, Bread, -0.873, 0.931, 0.978, 0, 24.231, 0, 65 [SEP] 32, Lettuce, 0.746, 0.751, -1.880, 0, 270, 0, 59 [SEP] 33, Tomato, 0.746, 0.514, -1.880, 0, 270, 0, 59 [SEP] 34, Spoon, 0.781, 0.666, 0.569, 0, 0, 0, 44 [SEP] 35, Knife, 0.817, 0.782, 0.002, 0, 270, 0, 38 [SEP] 36, Mug, -1.056, 0.895, 1.187, 0, 270, 0, 65 [SEP] 37, Bowl, -2.038, 0.691, -1.003, 0, 0, 0, 75 [SEP] 38, Drawer, 0.706, 0.766, -0.125, 0, 0, 0, [SEP] 39, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0, [SEP] 40, Mirror, 1.093, 1.602, -0.643, 0, 0, 0, [SEP] 41, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0, [SEP] 42, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0, [SEP] 43, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0, [SEP] 44, SideTable, 0.770, -0.030, 0.443, 0, 0, 0, [SEP] 45, Sink, 0.753, 0.882, -0.680, 0, 0, 0, [SEP] 46, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0, [SEP] 47, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489, [SEP] 48, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0, [SEP] 49, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0, [SEP] 50, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0, [SEP] 51, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0, [SEP] 52, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0, [SEP] 53, Toaster, -0.522, 0.886, 1.081, 0, 180, 0, [SEP] 54, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0, [SEP] 55, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180, [SEP] 56, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180, [SEP] 57, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180, [SEP] 58, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180, [SEP] 59, Fridge, 0.680, -0.031, -1.957, 0, 0, 0, [SEP] 60, Window, -2.424, 1.639, -2.453, 90, 270, 0, [SEP] 61, Microwave, -1.994, 0.690, -3.651, 0, 0, 0, [SEP] 62, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0, [SEP] 63, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0, [SEP] 64, Shelf, -0.350, 0.124, 0.857, 0, 0, 0, [SEP] 65, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0, [SEP] 66, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0, [SEP] 67, Blinds, -2.343, 2.151, -2.437, 0, 270, 0, [SEP] 68, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0, [SEP] 69, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0, [SEP] 70, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0, [SEP] 71, Shelf, 0.771, 0.226, 0.445, 0, 0, 0, [SEP] 72, Shelf, 0.771, 0.456, 0.446, 0, 0, 0, [SEP] 73, Faucet, 1.025, 0.873, -0.678, 270, 180, 0, [SEP] 74, Shelf, -0.350, 0.497, 0.857, 0, 0, 0, [SEP] 75, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0, [SEP] 76, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0, [SEP] 77, NorthWall, , , , , , , [SEP] 78, EastWall, , , , , , , [SEP] 79, SouthWall, , , , , , , [SEP] 80, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and move towards the refrigerator, then turn left and move to the table with the toaster on top. | STEP 2: Pick up the cup between the knife and the egg from the rear of the table. | STEP 3: Turn around and move to the refrigerator and then turn around to face the door of the refrigerator. | STEP 4: Open the refrigerator, place the cup on the top shelf to the left of the lettuce, chill the cup, open the refrigerator, pick up the cup from the top shelf, then close the refrigerator. | STEP 5: Turn to the right, move past the sink to the table next to the oven, then turn towards the small table in between the garbage bag and the counter. | STEP 6: Place the cup on the front center of the table; to the right of the salt shaker and in front of the cup. | END"]} +{"id": "trial_T20190906_192823_237997-1", "input": "Put a cold cup on a stand. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.869, -2.5, 0, 180, 0, [SEP] 1, DishSponge, -1.056, 0.900, 1.015, 0, 270, 0, 65 [SEP] 2, ButterKnife, 0.671, 0.759, -0.061, 0, 90, 0, 38 [SEP] 3, Spatula, -0.051, 0.915, 1.015, 0, 0, 0, 65 [SEP] 4, Spoon, -0.051, 0.901, 1.272, 0, 0, 0, 65 [SEP] 5, Fork, 0.720, 0.760, 0.002, 0, 270, 0, 38 [SEP] 6, Egg, -0.051, 0.937, 1.101, 0, 270, 0, 65 [SEP] 7, Egg, -0.855, 0.937, 1.272, 0, 270, 0, 65 [SEP] 8, Cup, 0.149, 0.899, 0.758, 0, 270, 0, 65 [SEP] 9, Cup, -0.051, 0.899, 1.187, 0, 270, 0, 65 [SEP] 10, Cup, 0.721, 0.664, 0.387, 0, 0, 0, 44 [SEP] 11, Tomato, 0.841, 0.820, -0.625, 0, 270, 0, 62 [SEP] 12, Bowl, 0.903, 1.462, -0.146, 0, 0, 0, 50 [SEP] 13, PepperShaker, -1.556, 0.692, -3.361, 0, 0, 0, 66 [SEP] 14, Bread, -0.051, 0.944, 0.843, 0, 270, 0, 65 [SEP] 15, Lettuce, 0.149, 0.987, 1.101, 0, 270, 0, 65 [SEP] 16, Mug, 0.698, 0.941, -1.360, 0, 270, 0, 52 [SEP] 17, Pot, -1.552, 0.930, 0.785, 0, 0, 0, 43 [SEP] 18, Plate, -2.023, 0.692, -1.447, 0, 0, 0, 75 [SEP] 19, Fork, 0.781, 0.665, 0.326, 0, 180, 0, 44 [SEP] 20, SoapBottle, -1.187, 0.051, -3.611, 0, 270, 0, 54 [SEP] 21, Apple, 0.721, 0.718, 0.630, 0, 0, 0, 44 [SEP] 22, Pan, -2.097, 0.930, 1.049, 0, 0, 0, 46 [SEP] 23, Egg, -0.252, 0.937, 1.101, 0, 270, 0, 65 [SEP] 24, Spatula, 0.574, 0.775, -0.124, 0, 90, 0, 38 [SEP] 25, Potato, 0.799, 0.805, -0.845, 0, 270, 0, 62 [SEP] 26, Cup, 0.877, 0.882, -0.245, 0, 0, 0, 39 [SEP] 27, SaltShaker, 0.898, 0.012, -0.506, 0, 0, 0, 42 [SEP] 28, PepperShaker, 0.601, 0.661, 0.630, 0, 0, 0, 44 [SEP] 29, ButterKnife, 0.754, 0.755, -0.743, 0, 45, 0, 62 [SEP] 30, DishSponge, 0.961, 0.664, 0.448, 0, 0, 0, 44 [SEP] 31, Bread, -0.873, 0.931, 0.978, 0, 24.231, 0, 65 [SEP] 32, Lettuce, 0.746, 0.751, -1.880, 0, 270, 0, 59 [SEP] 33, Tomato, 0.746, 0.514, -1.880, 0, 270, 0, 59 [SEP] 34, Spoon, 0.781, 0.666, 0.569, 0, 0, 0, 44 [SEP] 35, Knife, 0.817, 0.782, 0.002, 0, 270, 0, 38 [SEP] 36, Mug, -1.056, 0.895, 1.187, 0, 270, 0, 65 [SEP] 37, Bowl, -2.038, 0.691, -1.003, 0, 0, 0, 75 [SEP] 38, Drawer, 0.706, 0.766, -0.125, 0, 0, 0, [SEP] 39, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0, [SEP] 40, Mirror, 1.093, 1.602, -0.643, 0, 0, 0, [SEP] 41, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0, [SEP] 42, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0, [SEP] 43, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0, [SEP] 44, SideTable, 0.770, -0.030, 0.443, 0, 0, 0, [SEP] 45, Sink, 0.753, 0.882, -0.680, 0, 0, 0, [SEP] 46, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0, [SEP] 47, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489, [SEP] 48, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0, [SEP] 49, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0, [SEP] 50, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0, [SEP] 51, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0, [SEP] 52, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0, [SEP] 53, Toaster, -0.522, 0.886, 1.081, 0, 180, 0, [SEP] 54, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0, [SEP] 55, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180, [SEP] 56, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180, [SEP] 57, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180, [SEP] 58, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180, [SEP] 59, Fridge, 0.680, -0.031, -1.957, 0, 0, 0, [SEP] 60, Window, -2.424, 1.639, -2.453, 90, 270, 0, [SEP] 61, Microwave, -1.994, 0.690, -3.651, 0, 0, 0, [SEP] 62, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0, [SEP] 63, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0, [SEP] 64, Shelf, -0.350, 0.124, 0.857, 0, 0, 0, [SEP] 65, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0, [SEP] 66, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0, [SEP] 67, Blinds, -2.343, 2.151, -2.437, 0, 270, 0, [SEP] 68, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0, [SEP] 69, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0, [SEP] 70, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0, [SEP] 71, Shelf, 0.771, 0.226, 0.445, 0, 0, 0, [SEP] 72, Shelf, 0.771, 0.456, 0.446, 0, 0, 0, [SEP] 73, Faucet, 1.025, 0.873, -0.678, 270, 180, 0, [SEP] 74, Shelf, -0.350, 0.497, 0.857, 0, 0, 0, [SEP] 75, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0, [SEP] 76, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0, [SEP] 77, NorthWall, , , , , , , [SEP] 78, EastWall, , , , , , , [SEP] 79, SouthWall, , , , , , , [SEP] 80, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, go to the refrigerator, turn left, go to the white table with the toaster on it. | STEP 2: Take the cup on the table closest to the wall. | STEP 3: Turn around, go to the refrigerator. | STEP 4: Put the cup to the right of the lettuce in the refrigerator. Close then open the refrigerator. Take the cup from the refrigerator. | STEP 5: Turn left, go to the black stand next to the end of the sink counter and a black trash bag. | STEP 6: Put the cup in front of and to the left of the cup on the stand. | END"]} +{"id": "trial_T20190906_192823_237997-2", "input": "Put a chilled vase on the three tiered black table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.869, -2.5, 0, 180, 0, [SEP] 1, DishSponge, -1.056, 0.900, 1.015, 0, 270, 0, 65 [SEP] 2, ButterKnife, 0.671, 0.759, -0.061, 0, 90, 0, 38 [SEP] 3, Spatula, -0.051, 0.915, 1.015, 0, 0, 0, 65 [SEP] 4, Spoon, -0.051, 0.901, 1.272, 0, 0, 0, 65 [SEP] 5, Fork, 0.720, 0.760, 0.002, 0, 270, 0, 38 [SEP] 6, Egg, -0.051, 0.937, 1.101, 0, 270, 0, 65 [SEP] 7, Egg, -0.855, 0.937, 1.272, 0, 270, 0, 65 [SEP] 8, Cup, 0.149, 0.899, 0.758, 0, 270, 0, 65 [SEP] 9, Cup, -0.051, 0.899, 1.187, 0, 270, 0, 65 [SEP] 10, Cup, 0.721, 0.664, 0.387, 0, 0, 0, 44 [SEP] 11, Tomato, 0.841, 0.820, -0.625, 0, 270, 0, 62 [SEP] 12, Bowl, 0.903, 1.462, -0.146, 0, 0, 0, 50 [SEP] 13, PepperShaker, -1.556, 0.692, -3.361, 0, 0, 0, 66 [SEP] 14, Bread, -0.051, 0.944, 0.843, 0, 270, 0, 65 [SEP] 15, Lettuce, 0.149, 0.987, 1.101, 0, 270, 0, 65 [SEP] 16, Mug, 0.698, 0.941, -1.360, 0, 270, 0, 52 [SEP] 17, Pot, -1.552, 0.930, 0.785, 0, 0, 0, 43 [SEP] 18, Plate, -2.023, 0.692, -1.447, 0, 0, 0, 75 [SEP] 19, Fork, 0.781, 0.665, 0.326, 0, 180, 0, 44 [SEP] 20, SoapBottle, -1.187, 0.051, -3.611, 0, 270, 0, 54 [SEP] 21, Apple, 0.721, 0.718, 0.630, 0, 0, 0, 44 [SEP] 22, Pan, -2.097, 0.930, 1.049, 0, 0, 0, 46 [SEP] 23, Egg, -0.252, 0.937, 1.101, 0, 270, 0, 65 [SEP] 24, Spatula, 0.574, 0.775, -0.124, 0, 90, 0, 38 [SEP] 25, Potato, 0.799, 0.805, -0.845, 0, 270, 0, 62 [SEP] 26, Cup, 0.877, 0.882, -0.245, 0, 0, 0, 39 [SEP] 27, SaltShaker, 0.898, 0.012, -0.506, 0, 0, 0, 42 [SEP] 28, PepperShaker, 0.601, 0.661, 0.630, 0, 0, 0, 44 [SEP] 29, ButterKnife, 0.754, 0.755, -0.743, 0, 45, 0, 62 [SEP] 30, DishSponge, 0.961, 0.664, 0.448, 0, 0, 0, 44 [SEP] 31, Bread, -0.873, 0.931, 0.978, 0, 24.231, 0, 65 [SEP] 32, Lettuce, 0.746, 0.751, -1.880, 0, 270, 0, 59 [SEP] 33, Tomato, 0.746, 0.514, -1.880, 0, 270, 0, 59 [SEP] 34, Spoon, 0.781, 0.666, 0.569, 0, 0, 0, 44 [SEP] 35, Knife, 0.817, 0.782, 0.002, 0, 270, 0, 38 [SEP] 36, Mug, -1.056, 0.895, 1.187, 0, 270, 0, 65 [SEP] 37, Bowl, -2.038, 0.691, -1.003, 0, 0, 0, 75 [SEP] 38, Drawer, 0.706, 0.766, -0.125, 0, 0, 0, [SEP] 39, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0, [SEP] 40, Mirror, 1.093, 1.602, -0.643, 0, 0, 0, [SEP] 41, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0, [SEP] 42, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0, [SEP] 43, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0, [SEP] 44, SideTable, 0.770, -0.030, 0.443, 0, 0, 0, [SEP] 45, Sink, 0.753, 0.882, -0.680, 0, 0, 0, [SEP] 46, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0, [SEP] 47, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489, [SEP] 48, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0, [SEP] 49, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0, [SEP] 50, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0, [SEP] 51, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0, [SEP] 52, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0, [SEP] 53, Toaster, -0.522, 0.886, 1.081, 0, 180, 0, [SEP] 54, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0, [SEP] 55, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180, [SEP] 56, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180, [SEP] 57, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180, [SEP] 58, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180, [SEP] 59, Fridge, 0.680, -0.031, -1.957, 0, 0, 0, [SEP] 60, Window, -2.424, 1.639, -2.453, 90, 270, 0, [SEP] 61, Microwave, -1.994, 0.690, -3.651, 0, 0, 0, [SEP] 62, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0, [SEP] 63, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0, [SEP] 64, Shelf, -0.350, 0.124, 0.857, 0, 0, 0, [SEP] 65, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0, [SEP] 66, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0, [SEP] 67, Blinds, -2.343, 2.151, -2.437, 0, 270, 0, [SEP] 68, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0, [SEP] 69, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0, [SEP] 70, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0, [SEP] 71, Shelf, 0.771, 0.226, 0.445, 0, 0, 0, [SEP] 72, Shelf, 0.771, 0.456, 0.446, 0, 0, 0, [SEP] 73, Faucet, 1.025, 0.873, -0.678, 270, 180, 0, [SEP] 74, Shelf, -0.350, 0.497, 0.857, 0, 0, 0, [SEP] 75, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0, [SEP] 76, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0, [SEP] 77, NorthWall, , , , , , , [SEP] 78, EastWall, , , , , , , [SEP] 79, SouthWall, , , , , , , [SEP] 80, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and move across the room to the white table on the right. | STEP 2: Pick up the gray vase at the back of the table, closest to the wall. | STEP 3: Turn around and move to the refrigerator on the left. | STEP 4: Open the fridge and place the vase on the top shelf. close the door, wait a moment, and take the vase out of the fridge | STEP 5: Turn left and move across the room to the black three tiered table on the right. | STEP 6: Put the vase on the top shelf of the table in front and slightly left of the other vase. | END"]} +{"id": "trial_T20190909_082934_483899-0", "input": "Put a frozen tomato in to garbage bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -0.5, 0, 0, 0, [SEP] 1, Potato, -2.538, 0.947, 1.230, 0, 0, 0, 70 [SEP] 2, DishSponge, 1.145, 0.770, -1.376, 0, 225, 0, 80 [SEP] 3, Kettle, 1.494, 0.911, -0.841, 0, 45, 0, 52 [SEP] 4, Kettle, -0.211, 0.911, 1.317, 0, 0, 0, 42 [SEP] 5, Fork, -2.372, 0.911, 0.331, 0, 0, 0, 59 [SEP] 6, Spoon, -2.289, 0.912, 0.031, 0, 0, 0, 70 [SEP] 7, Spoon, -2.257, 0.774, 1.417, 0, 90, 0, 73 [SEP] 8, Spatula, -2.318, 0.789, 1.465, 0, 270, 0, 73 [SEP] 9, Pot, 1.411, 0.929, 0.064, 0, 0, 0, 71 [SEP] 10, Egg, -2.570, 1.028, 2.380, 0, 90, 0, 82 [SEP] 11, Plate, -0.471, 0.913, 1.764, 0, 0, 0, 42 [SEP] 12, Knife, 1.364, 0.945, -1.088, 0, 225, 0, 56 [SEP] 13, Knife, -2.348, 0.799, -0.073, 0, 90, 0, 60 [SEP] 14, Tomato, 1.604, 0.227, 0.651, 0, 0, 0, 81 [SEP] 15, Lettuce, -2.621, 0.994, 1.530, 0, 0, 0, 70 [SEP] 16, Bread, -2.372, 0.996, 1.530, 0, 0, 0, 70 [SEP] 17, Apple, -0.730, 0.972, 0.870, 0, 0, 0, 42 [SEP] 18, Apple, 0.737, 0.972, -1.403, 0, 45, 0, 52 [SEP] 19, Pan, 1.412, 0.929, -0.335, 0, 0, 0, 43 [SEP] 20, Knife, -0.211, 0.936, 0.423, 0, 0, 0, 42 [SEP] 21, Apple, 0.195, 0.972, -1.539, 0, 0, 0, 52 [SEP] 22, Bowl, -2.485, 1.297, -0.979, 0, 90, 0, 74 [SEP] 23, Fork, 1.598, 0.911, 0.465, 0, 0, 0, 51 [SEP] 24, Bread, -0.081, 0.996, 1.764, 0, 0, 0, 42 [SEP] 25, Plate, -2.538, 0.913, 0.631, 0, 0, 0, 70 [SEP] 26, Egg, 1.221, 0.949, -1.161, 0, 225, 0, 56 [SEP] 27, Kettle, 0.854, 0.900, -1.790, 0, 0, 0, 52 [SEP] 28, Potato, -2.603, 1.051, 2.481, 0, 90, 0, 82 [SEP] 29, SaltShaker, -0.211, 0.905, 0.647, 0, 0, 0, 42 [SEP] 30, Lettuce, -2.485, 1.172, -0.696, 0, 90, 0, 74 [SEP] 31, Cup, -0.601, 0.908, 1.094, 0, 0, 0, 42 [SEP] 32, SoapBottle, -2.638, 1.539, 1.912, 0, 0, 0, 54 [SEP] 33, Spatula, -0.601, 0.925, 1.540, 0, 0, 0, 42 [SEP] 34, PaperTowelRoll, 1.739, 1.015, -0.865, 0, 0, 0, 52 [SEP] 35, ButterKnife, -0.471, 0.910, 0.423, 0, 0, 0, 42 [SEP] 36, PepperShaker, 1.771, 1.651, 0.165, 0, 0, 0, 61 [SEP] 37, DishSponge, -2.484, 1.583, -1.631, 0, 180, 0, 69 [SEP] 38, Pot, 1.691, 0.929, -0.335, 0, 0, 0, 50 [SEP] 39, Spoon, 1.291, 0.922, -1.231, 0, 225, 0, 56 [SEP] 40, Tomato, -0.341, 0.953, 0.423, 0, 0, 0, 42 [SEP] 41, Mug, -0.730, 0.905, 0.423, 0, 0, 0, 42 [SEP] 42, CounterTop, -0.360, 0.946, 1.093, 0, 0, 0, [SEP] 43, StoveBurner, 1.412, 0.923, -0.335, 0, 0, 0, [SEP] 44, StoveKnob, 1.878, 1.093, 0.018, 287.989, 90, 0, [SEP] 45, StoveKnob, 1.878, 1.093, -0.306, 287.989, 90, 0, [SEP] 46, Cabinet, -2.446, 1.948, 2.924, 0, 0, 0, [SEP] 47, Drawer, -2.276, 0.792, 0.902, 0, 0, 0, [SEP] 48, Cabinet, -2.145, 0.402, 1.578, 0, 0, 0, [SEP] 49, Cabinet, 0.149, 2.008, -1.603, 0, 90, 0, [SEP] 50, StoveBurner, 1.691, 0.923, -0.335, 0, 0, 0, [SEP] 51, CounterTop, 1.585, 0.946, 0.405, 0, 0, 0, [SEP] 52, CounterTop, 0.474, 0.946, -1.625, 0, 0, 0, [SEP] 53, StoveBurner, 1.691, 0.923, 0.064, 0, 0, 0, [SEP] 54, Cabinet, -2.446, 1.948, 1.687, 0, 0, 0, [SEP] 55, Cabinet, -2.446, 1.948, 1.640, 0, 0, 0, [SEP] 56, Sink, 1.381, 0.810, -1.271, 0, 225, 0, [SEP] 57, StoveKnob, 1.878, 1.093, 0.150, 287.989, 90, 0, [SEP] 58, Cabinet, -2.145, 0.402, -0.236, 0, 0, 0, [SEP] 59, Drawer, -2.276, 0.792, 0.437, 0, 0, 0, [SEP] 60, Drawer, -2.276, 0.792, -0.027, 0, 0, 0, [SEP] 61, Cabinet, 1.572, 2.008, 0.474, 0, 0, 0, [SEP] 62, Cabinet, 1.572, 2.008, -0.775, 0, 0, 0, [SEP] 63, Cabinet, -2.445, 2.148, -1.275, 0, 0, 0, [SEP] 64, Cabinet, -2.446, 2.148, -0.284, 0, 0, 0, [SEP] 65, Cabinet, -2.446, 1.948, 0.355, 0, 0, 0, [SEP] 66, Cabinet, -2.446, 1.948, 0.405, 0, 0, 0, [SEP] 67, Cabinet, -2.145, 0.402, 0.644, 0, 0, 0, [SEP] 68, Cabinet, -2.145, 0.402, 0.695, 0, 0, 0, [SEP] 69, Cabinet, -2.285, 1.968, -1.325, 0, 180, 0, [SEP] 70, CounterTop, -1.485, 0.946, 1.319, 0, 0, 0, [SEP] 71, StoveBurner, 1.411, 0.923, 0.064, 0, 0, 0, [SEP] 72, StoveKnob, 1.878, 1.093, -0.441, 287.989, 90, 0, [SEP] 73, Drawer, -2.276, 0.792, 1.368, 0, 0, 0, [SEP] 74, Fridge, -2.475, 0.0, -0.782, 0, 90, 0, [SEP] 75, LightSwitch, -0.929, 1.350, -1.950, 0, 0, 0, [SEP] 76, Toaster, -2.564, 0.900, 1.876, 0, 90, 0, [SEP] 77, CoffeeMachine, 0.464, 0.900, -1.810, 0, 0, 0, [SEP] 78, Window, 1.508, 1.534, -1.496, 90, 135, 0, [SEP] 79, Window, 1.973, 1.521, 1.121, 90, 90, 0, [SEP] 80, SinkBasin, 1.149, 0.753, -1.380, 0, 225, 0, [SEP] 81, GarbageCan, 1.646, -0.000, 0.679, 0, 0, 0, [SEP] 82, Microwave, -2.580, 0.900, 2.440, 0, 90, 0, [SEP] 83, Stool, 0.439, 0.010, 0.747, 0, 0, 0, [SEP] 84, Stool, -2.303, 0.010, 1.839, 0, 0, 0, [SEP] 85, Faucet, 1.235, 1.138, -1.473, 0, 225, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your right and go past the kitchen island, then turn to your left and go to the garbage bin on the floor, past the counter, on your right. | STEP 2: Pull out the tomato that is in the garbage bin on the floor. | STEP 3: Turn to your right and go to the stove, then turn to your right again and go across the kitchen to the refrigerator. | STEP 4: Place the tomato on the on the bottom shelf of the refrigerator, to the right of the lettuce, in the freezer, wait a moment for the tomato to freeze, then remove the tomato from the freezer. | STEP 5: Turn around and go across the kitchen to the refrigerator, then turn left and go past the counter on your right, to the garbage bin on the floor to your right. | STEP 6: Put the tomato back in the garbage bin. | END"]} +{"id": "trial_T20190909_082934_483899-1", "input": "Put a cold tomato in the trash. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -0.5, 0, 0, 0, [SEP] 1, Potato, -2.538, 0.947, 1.230, 0, 0, 0, 70 [SEP] 2, DishSponge, 1.145, 0.770, -1.376, 0, 225, 0, 80 [SEP] 3, Kettle, 1.494, 0.911, -0.841, 0, 45, 0, 52 [SEP] 4, Kettle, -0.211, 0.911, 1.317, 0, 0, 0, 42 [SEP] 5, Fork, -2.372, 0.911, 0.331, 0, 0, 0, 59 [SEP] 6, Spoon, -2.289, 0.912, 0.031, 0, 0, 0, 70 [SEP] 7, Spoon, -2.257, 0.774, 1.417, 0, 90, 0, 73 [SEP] 8, Spatula, -2.318, 0.789, 1.465, 0, 270, 0, 73 [SEP] 9, Pot, 1.411, 0.929, 0.064, 0, 0, 0, 71 [SEP] 10, Egg, -2.570, 1.028, 2.380, 0, 90, 0, 82 [SEP] 11, Plate, -0.471, 0.913, 1.764, 0, 0, 0, 42 [SEP] 12, Knife, 1.364, 0.945, -1.088, 0, 225, 0, 56 [SEP] 13, Knife, -2.348, 0.799, -0.073, 0, 90, 0, 60 [SEP] 14, Tomato, 1.604, 0.227, 0.651, 0, 0, 0, 81 [SEP] 15, Lettuce, -2.621, 0.994, 1.530, 0, 0, 0, 70 [SEP] 16, Bread, -2.372, 0.996, 1.530, 0, 0, 0, 70 [SEP] 17, Apple, -0.730, 0.972, 0.870, 0, 0, 0, 42 [SEP] 18, Apple, 0.737, 0.972, -1.403, 0, 45, 0, 52 [SEP] 19, Pan, 1.412, 0.929, -0.335, 0, 0, 0, 43 [SEP] 20, Knife, -0.211, 0.936, 0.423, 0, 0, 0, 42 [SEP] 21, Apple, 0.195, 0.972, -1.539, 0, 0, 0, 52 [SEP] 22, Bowl, -2.485, 1.297, -0.979, 0, 90, 0, 74 [SEP] 23, Fork, 1.598, 0.911, 0.465, 0, 0, 0, 51 [SEP] 24, Bread, -0.081, 0.996, 1.764, 0, 0, 0, 42 [SEP] 25, Plate, -2.538, 0.913, 0.631, 0, 0, 0, 70 [SEP] 26, Egg, 1.221, 0.949, -1.161, 0, 225, 0, 56 [SEP] 27, Kettle, 0.854, 0.900, -1.790, 0, 0, 0, 52 [SEP] 28, Potato, -2.603, 1.051, 2.481, 0, 90, 0, 82 [SEP] 29, SaltShaker, -0.211, 0.905, 0.647, 0, 0, 0, 42 [SEP] 30, Lettuce, -2.485, 1.172, -0.696, 0, 90, 0, 74 [SEP] 31, Cup, -0.601, 0.908, 1.094, 0, 0, 0, 42 [SEP] 32, SoapBottle, -2.638, 1.539, 1.912, 0, 0, 0, 54 [SEP] 33, Spatula, -0.601, 0.925, 1.540, 0, 0, 0, 42 [SEP] 34, PaperTowelRoll, 1.739, 1.015, -0.865, 0, 0, 0, 52 [SEP] 35, ButterKnife, -0.471, 0.910, 0.423, 0, 0, 0, 42 [SEP] 36, PepperShaker, 1.771, 1.651, 0.165, 0, 0, 0, 61 [SEP] 37, DishSponge, -2.484, 1.583, -1.631, 0, 180, 0, 69 [SEP] 38, Pot, 1.691, 0.929, -0.335, 0, 0, 0, 50 [SEP] 39, Spoon, 1.291, 0.922, -1.231, 0, 225, 0, 56 [SEP] 40, Tomato, -0.341, 0.953, 0.423, 0, 0, 0, 42 [SEP] 41, Mug, -0.730, 0.905, 0.423, 0, 0, 0, 42 [SEP] 42, CounterTop, -0.360, 0.946, 1.093, 0, 0, 0, [SEP] 43, StoveBurner, 1.412, 0.923, -0.335, 0, 0, 0, [SEP] 44, StoveKnob, 1.878, 1.093, 0.018, 287.989, 90, 0, [SEP] 45, StoveKnob, 1.878, 1.093, -0.306, 287.989, 90, 0, [SEP] 46, Cabinet, -2.446, 1.948, 2.924, 0, 0, 0, [SEP] 47, Drawer, -2.276, 0.792, 0.902, 0, 0, 0, [SEP] 48, Cabinet, -2.145, 0.402, 1.578, 0, 0, 0, [SEP] 49, Cabinet, 0.149, 2.008, -1.603, 0, 90, 0, [SEP] 50, StoveBurner, 1.691, 0.923, -0.335, 0, 0, 0, [SEP] 51, CounterTop, 1.585, 0.946, 0.405, 0, 0, 0, [SEP] 52, CounterTop, 0.474, 0.946, -1.625, 0, 0, 0, [SEP] 53, StoveBurner, 1.691, 0.923, 0.064, 0, 0, 0, [SEP] 54, Cabinet, -2.446, 1.948, 1.687, 0, 0, 0, [SEP] 55, Cabinet, -2.446, 1.948, 1.640, 0, 0, 0, [SEP] 56, Sink, 1.381, 0.810, -1.271, 0, 225, 0, [SEP] 57, StoveKnob, 1.878, 1.093, 0.150, 287.989, 90, 0, [SEP] 58, Cabinet, -2.145, 0.402, -0.236, 0, 0, 0, [SEP] 59, Drawer, -2.276, 0.792, 0.437, 0, 0, 0, [SEP] 60, Drawer, -2.276, 0.792, -0.027, 0, 0, 0, [SEP] 61, Cabinet, 1.572, 2.008, 0.474, 0, 0, 0, [SEP] 62, Cabinet, 1.572, 2.008, -0.775, 0, 0, 0, [SEP] 63, Cabinet, -2.445, 2.148, -1.275, 0, 0, 0, [SEP] 64, Cabinet, -2.446, 2.148, -0.284, 0, 0, 0, [SEP] 65, Cabinet, -2.446, 1.948, 0.355, 0, 0, 0, [SEP] 66, Cabinet, -2.446, 1.948, 0.405, 0, 0, 0, [SEP] 67, Cabinet, -2.145, 0.402, 0.644, 0, 0, 0, [SEP] 68, Cabinet, -2.145, 0.402, 0.695, 0, 0, 0, [SEP] 69, Cabinet, -2.285, 1.968, -1.325, 0, 180, 0, [SEP] 70, CounterTop, -1.485, 0.946, 1.319, 0, 0, 0, [SEP] 71, StoveBurner, 1.411, 0.923, 0.064, 0, 0, 0, [SEP] 72, StoveKnob, 1.878, 1.093, -0.441, 287.989, 90, 0, [SEP] 73, Drawer, -2.276, 0.792, 1.368, 0, 0, 0, [SEP] 74, Fridge, -2.475, 0.0, -0.782, 0, 90, 0, [SEP] 75, LightSwitch, -0.929, 1.350, -1.950, 0, 0, 0, [SEP] 76, Toaster, -2.564, 0.900, 1.876, 0, 90, 0, [SEP] 77, CoffeeMachine, 0.464, 0.900, -1.810, 0, 0, 0, [SEP] 78, Window, 1.508, 1.534, -1.496, 90, 135, 0, [SEP] 79, Window, 1.973, 1.521, 1.121, 90, 90, 0, [SEP] 80, SinkBasin, 1.149, 0.753, -1.380, 0, 225, 0, [SEP] 81, GarbageCan, 1.646, -0.000, 0.679, 0, 0, 0, [SEP] 82, Microwave, -2.580, 0.900, 2.440, 0, 90, 0, [SEP] 83, Stool, 0.439, 0.010, 0.747, 0, 0, 0, [SEP] 84, Stool, -2.303, 0.010, 1.839, 0, 0, 0, [SEP] 85, Faucet, 1.235, 1.138, -1.473, 0, 225, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Move forward, turn right to go towards the stove, turn left and move forward, then turn right to face the trash bin | STEP 2: Pick up a tomato from the trash bin. | STEP 3: Turn around and move forward, go left to the counter, then turn right and go forward to the fridge. | STEP 4: Open the fridge, put the tomato inside and chill it, then take it out. | STEP 5: Turn around and go to the stove ahead, turn left and go forward, then turn right to face the trash bin. | STEP 6: Put the tomato in the trash bin. | END"]} +{"id": "trial_T20190909_082934_483899-2", "input": "To cool a tomato and place it in the trash can. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -0.5, 0, 0, 0, [SEP] 1, Potato, -2.538, 0.947, 1.230, 0, 0, 0, 70 [SEP] 2, DishSponge, 1.145, 0.770, -1.376, 0, 225, 0, 80 [SEP] 3, Kettle, 1.494, 0.911, -0.841, 0, 45, 0, 52 [SEP] 4, Kettle, -0.211, 0.911, 1.317, 0, 0, 0, 42 [SEP] 5, Fork, -2.372, 0.911, 0.331, 0, 0, 0, 59 [SEP] 6, Spoon, -2.289, 0.912, 0.031, 0, 0, 0, 70 [SEP] 7, Spoon, -2.257, 0.774, 1.417, 0, 90, 0, 73 [SEP] 8, Spatula, -2.318, 0.789, 1.465, 0, 270, 0, 73 [SEP] 9, Pot, 1.411, 0.929, 0.064, 0, 0, 0, 71 [SEP] 10, Egg, -2.570, 1.028, 2.380, 0, 90, 0, 82 [SEP] 11, Plate, -0.471, 0.913, 1.764, 0, 0, 0, 42 [SEP] 12, Knife, 1.364, 0.945, -1.088, 0, 225, 0, 56 [SEP] 13, Knife, -2.348, 0.799, -0.073, 0, 90, 0, 60 [SEP] 14, Tomato, 1.604, 0.227, 0.651, 0, 0, 0, 81 [SEP] 15, Lettuce, -2.621, 0.994, 1.530, 0, 0, 0, 70 [SEP] 16, Bread, -2.372, 0.996, 1.530, 0, 0, 0, 70 [SEP] 17, Apple, -0.730, 0.972, 0.870, 0, 0, 0, 42 [SEP] 18, Apple, 0.737, 0.972, -1.403, 0, 45, 0, 52 [SEP] 19, Pan, 1.412, 0.929, -0.335, 0, 0, 0, 43 [SEP] 20, Knife, -0.211, 0.936, 0.423, 0, 0, 0, 42 [SEP] 21, Apple, 0.195, 0.972, -1.539, 0, 0, 0, 52 [SEP] 22, Bowl, -2.485, 1.297, -0.979, 0, 90, 0, 74 [SEP] 23, Fork, 1.598, 0.911, 0.465, 0, 0, 0, 51 [SEP] 24, Bread, -0.081, 0.996, 1.764, 0, 0, 0, 42 [SEP] 25, Plate, -2.538, 0.913, 0.631, 0, 0, 0, 70 [SEP] 26, Egg, 1.221, 0.949, -1.161, 0, 225, 0, 56 [SEP] 27, Kettle, 0.854, 0.900, -1.790, 0, 0, 0, 52 [SEP] 28, Potato, -2.603, 1.051, 2.481, 0, 90, 0, 82 [SEP] 29, SaltShaker, -0.211, 0.905, 0.647, 0, 0, 0, 42 [SEP] 30, Lettuce, -2.485, 1.172, -0.696, 0, 90, 0, 74 [SEP] 31, Cup, -0.601, 0.908, 1.094, 0, 0, 0, 42 [SEP] 32, SoapBottle, -2.638, 1.539, 1.912, 0, 0, 0, 54 [SEP] 33, Spatula, -0.601, 0.925, 1.540, 0, 0, 0, 42 [SEP] 34, PaperTowelRoll, 1.739, 1.015, -0.865, 0, 0, 0, 52 [SEP] 35, ButterKnife, -0.471, 0.910, 0.423, 0, 0, 0, 42 [SEP] 36, PepperShaker, 1.771, 1.651, 0.165, 0, 0, 0, 61 [SEP] 37, DishSponge, -2.484, 1.583, -1.631, 0, 180, 0, 69 [SEP] 38, Pot, 1.691, 0.929, -0.335, 0, 0, 0, 50 [SEP] 39, Spoon, 1.291, 0.922, -1.231, 0, 225, 0, 56 [SEP] 40, Tomato, -0.341, 0.953, 0.423, 0, 0, 0, 42 [SEP] 41, Mug, -0.730, 0.905, 0.423, 0, 0, 0, 42 [SEP] 42, CounterTop, -0.360, 0.946, 1.093, 0, 0, 0, [SEP] 43, StoveBurner, 1.412, 0.923, -0.335, 0, 0, 0, [SEP] 44, StoveKnob, 1.878, 1.093, 0.018, 287.989, 90, 0, [SEP] 45, StoveKnob, 1.878, 1.093, -0.306, 287.989, 90, 0, [SEP] 46, Cabinet, -2.446, 1.948, 2.924, 0, 0, 0, [SEP] 47, Drawer, -2.276, 0.792, 0.902, 0, 0, 0, [SEP] 48, Cabinet, -2.145, 0.402, 1.578, 0, 0, 0, [SEP] 49, Cabinet, 0.149, 2.008, -1.603, 0, 90, 0, [SEP] 50, StoveBurner, 1.691, 0.923, -0.335, 0, 0, 0, [SEP] 51, CounterTop, 1.585, 0.946, 0.405, 0, 0, 0, [SEP] 52, CounterTop, 0.474, 0.946, -1.625, 0, 0, 0, [SEP] 53, StoveBurner, 1.691, 0.923, 0.064, 0, 0, 0, [SEP] 54, Cabinet, -2.446, 1.948, 1.687, 0, 0, 0, [SEP] 55, Cabinet, -2.446, 1.948, 1.640, 0, 0, 0, [SEP] 56, Sink, 1.381, 0.810, -1.271, 0, 225, 0, [SEP] 57, StoveKnob, 1.878, 1.093, 0.150, 287.989, 90, 0, [SEP] 58, Cabinet, -2.145, 0.402, -0.236, 0, 0, 0, [SEP] 59, Drawer, -2.276, 0.792, 0.437, 0, 0, 0, [SEP] 60, Drawer, -2.276, 0.792, -0.027, 0, 0, 0, [SEP] 61, Cabinet, 1.572, 2.008, 0.474, 0, 0, 0, [SEP] 62, Cabinet, 1.572, 2.008, -0.775, 0, 0, 0, [SEP] 63, Cabinet, -2.445, 2.148, -1.275, 0, 0, 0, [SEP] 64, Cabinet, -2.446, 2.148, -0.284, 0, 0, 0, [SEP] 65, Cabinet, -2.446, 1.948, 0.355, 0, 0, 0, [SEP] 66, Cabinet, -2.446, 1.948, 0.405, 0, 0, 0, [SEP] 67, Cabinet, -2.145, 0.402, 0.644, 0, 0, 0, [SEP] 68, Cabinet, -2.145, 0.402, 0.695, 0, 0, 0, [SEP] 69, Cabinet, -2.285, 1.968, -1.325, 0, 180, 0, [SEP] 70, CounterTop, -1.485, 0.946, 1.319, 0, 0, 0, [SEP] 71, StoveBurner, 1.411, 0.923, 0.064, 0, 0, 0, [SEP] 72, StoveKnob, 1.878, 1.093, -0.441, 287.989, 90, 0, [SEP] 73, Drawer, -2.276, 0.792, 1.368, 0, 0, 0, [SEP] 74, Fridge, -2.475, 0.0, -0.782, 0, 90, 0, [SEP] 75, LightSwitch, -0.929, 1.350, -1.950, 0, 0, 0, [SEP] 76, Toaster, -2.564, 0.900, 1.876, 0, 90, 0, [SEP] 77, CoffeeMachine, 0.464, 0.900, -1.810, 0, 0, 0, [SEP] 78, Window, 1.508, 1.534, -1.496, 90, 135, 0, [SEP] 79, Window, 1.973, 1.521, 1.121, 90, 90, 0, [SEP] 80, SinkBasin, 1.149, 0.753, -1.380, 0, 225, 0, [SEP] 81, GarbageCan, 1.646, -0.000, 0.679, 0, 0, 0, [SEP] 82, Microwave, -2.580, 0.900, 2.440, 0, 90, 0, [SEP] 83, Stool, 0.439, 0.010, 0.747, 0, 0, 0, [SEP] 84, Stool, -2.303, 0.010, 1.839, 0, 0, 0, [SEP] 85, Faucet, 1.235, 1.138, -1.473, 0, 225, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk across the room to face the trash can. | STEP 2: Pick up the tomato in the trash can. | STEP 3: Turn around and walk across the room to face the fridge. | STEP 4: Cool the tomato in the fridge and remove it. | STEP 5: Turn around and walk across the room to face the trash can. | STEP 6: Place the tomato in the trash can. | END"]} +{"id": "trial_T20190908_055221_984342-0", "input": "Put a clean bar of soap under the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.900, 4.25, 0, 0, 0, [SEP] 1, SoapBar, -3.597, 0.541, 1.477, 0, 90, 0, 39 [SEP] 2, SoapBar, -2.905, 0.676, 2.906, 0, 348.434, 0, 24 [SEP] 3, SoapBar, -2.202, 0.034, 4.922, 0, 0, 0, 38 [SEP] 4, Candle, -0.965, 0.972, 4.933, 0, 0, 0, 29 [SEP] 5, Candle, -2.706, 0.685, 2.381, 0, 348.434, 0, 24 [SEP] 6, SprayBottle, -3.770, 0.542, 0.557, 0, 90, 0, 39 [SEP] 7, SprayBottle, -1.379, 0.040, 4.769, 0, 90, 0, 33 [SEP] 8, SoapBottle, -1.379, 0.044, 4.887, 0, 0, 0, 33 [SEP] 9, Towel, -1.719, 1.228, 1.846, 0, 0, 0, 36 [SEP] 10, Candle, -1.430, 0.048, 4.709, 0, 0, 0, 33 [SEP] 11, SoapBottle, -3.713, 0.546, 0.925, 0, 90, 0, 39 [SEP] 12, HandTowel, -2.093, 1.442, 5.107, 0, 0, 0, 40 [SEP] 13, Towel, -0.181, 1.419, 2.425, 0, 270, 0, 37 [SEP] 14, SoapBar, -3.828, 0.541, 1.109, 0, 90, 0, 39 [SEP] 15, ToiletPaper, -0.188, 1.036, 3.374, 0, 0, 0, 43 [SEP] 16, TissueBox, -3.712, 0.541, 0.741, 0, 90, 0, 39 [SEP] 17, Cloth, -3.597, 0.541, 1.109, 0, 90, 0, 39 [SEP] 18, ToiletPaper, -0.153, 1.126, 3.705, 0, 270, 270, 42 [SEP] 19, SprayBottle, -0.444, 0.040, 5.006, 0, 0, 0, 23 [SEP] 20, ScrubBrush, -0.231, -0.000, 3.857, 0, 0, 0, Floor|+00.00| [SEP] 21, Plunger, -0.212, -0.000, 3.536, 0, 0, 0, Floor|+00.00| [SEP] 22, BathtubBasin, -3.404, 0.166, 2.904, 0, 0, 0, [SEP] 23, Cabinet, -0.124, 0.364, 4.634, 0, 0, 0, [SEP] 24, Bathtub, -2.896, 0.667, 2.860, 0, 0, 0, [SEP] 25, Faucet, -3.475, 0.711, 3.811, 0, 0, 0, [SEP] 26, ShowerGlass, 0.0, 0.0, 0.0, 0, 0, 0, [SEP] 27, ShowerDoor, -0.282, 1.228, 1.730, 0, 0, 0, [SEP] 28, Faucet, -1.524, 1.047, 5.096, 0, 180, 0, [SEP] 29, CounterTop, -1.023, 0.954, 4.884, 0, 0, 0, [SEP] 30, Mirror, -0.975, 1.577, 5.145, 0, 0, 0, [SEP] 31, Cabinet, -1.962, 0.364, 4.634, 0, 0, 0, [SEP] 32, Cabinet, -1.027, 0.364, 4.634, 0, 0, 0, [SEP] 33, Cabinet, -1.059, 0.364, 4.634, 0, 0, 0, [SEP] 34, Window, -1.993, 1.888, 0.144, 0, 0, 0, [SEP] 35, LightSwitch, -2.496, 1.366, 5.146, 0, 180, 0, [SEP] 36, TowelHolder, -1.720, 1.213, 1.740, 0, 0, 0, [SEP] 37, TowelHolder, -0.074, 1.404, 2.424, 0, 270, 0, [SEP] 38, GarbageCan, -2.346, 0.002, 4.878, 0, 180, 0, [SEP] 39, Shelf, -3.713, 0.531, 0.951, 0, 90, 0, [SEP] 40, HandTowelHolder, -2.094, 1.544, 5.145, 0, 90, 0, [SEP] 41, HandTowelHolder, -0.074, 1.569, 4.810, 0, 180, 0, [SEP] 42, ToiletPaperHanger, -0.074, 1.126, 3.686, 0, 270, 0, [SEP] 43, Toilet, -0.517, -0.000, 3.220, 0, 0, 0, [SEP] 44, ShowerHead, -0.182, 1.256, 0.875, 0, 0, 0, [SEP] 45, SinkBasin, -0.569, 0.986, 4.886, 0, 180, 0, [SEP] 46, Sink, -0.579, 0.926, 4.874, 0, 180, 0, [SEP] 47, Sink, -1.524, 0.926, 4.874, 0, 180, 0, [SEP] 48, SinkBasin, -1.514, 0.986, 4.886, 0, 180, 0, [SEP] 49, Faucet, -0.583, 1.047, 5.096, 0, 180, 0, [SEP] 50, NorthWall, , , , , , , [SEP] 51, EastWall, , , , , , , [SEP] 52, SouthWall, , , , , , , [SEP] 53, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the garbage can, on the floor to your right. | STEP 2: Pull out the bar of soap inside the garbage can. | STEP 3: Move to your right, away from the sink, then go across the room to the last sink on your left. | STEP 4: Place the bar of soap in the sink, turn the water on, rinse the soap off, turn the water off, and remove the bar of soap from the sink. | STEP 5: Step back from the sink. | STEP 6: Place the bar of soap in the right cabinet, under the sink. | END"]} +{"id": "trial_T20190908_055221_984342-1", "input": "wash the pink bar, put the pink bar in the cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.900, 4.25, 0, 0, 0, [SEP] 1, SoapBar, -3.597, 0.541, 1.477, 0, 90, 0, 39 [SEP] 2, SoapBar, -2.905, 0.676, 2.906, 0, 348.434, 0, 24 [SEP] 3, SoapBar, -2.202, 0.034, 4.922, 0, 0, 0, 38 [SEP] 4, Candle, -0.965, 0.972, 4.933, 0, 0, 0, 29 [SEP] 5, Candle, -2.706, 0.685, 2.381, 0, 348.434, 0, 24 [SEP] 6, SprayBottle, -3.770, 0.542, 0.557, 0, 90, 0, 39 [SEP] 7, SprayBottle, -1.379, 0.040, 4.769, 0, 90, 0, 33 [SEP] 8, SoapBottle, -1.379, 0.044, 4.887, 0, 0, 0, 33 [SEP] 9, Towel, -1.719, 1.228, 1.846, 0, 0, 0, 36 [SEP] 10, Candle, -1.430, 0.048, 4.709, 0, 0, 0, 33 [SEP] 11, SoapBottle, -3.713, 0.546, 0.925, 0, 90, 0, 39 [SEP] 12, HandTowel, -2.093, 1.442, 5.107, 0, 0, 0, 40 [SEP] 13, Towel, -0.181, 1.419, 2.425, 0, 270, 0, 37 [SEP] 14, SoapBar, -3.828, 0.541, 1.109, 0, 90, 0, 39 [SEP] 15, ToiletPaper, -0.188, 1.036, 3.374, 0, 0, 0, 43 [SEP] 16, TissueBox, -3.712, 0.541, 0.741, 0, 90, 0, 39 [SEP] 17, Cloth, -3.597, 0.541, 1.109, 0, 90, 0, 39 [SEP] 18, ToiletPaper, -0.153, 1.126, 3.705, 0, 270, 270, 42 [SEP] 19, SprayBottle, -0.444, 0.040, 5.006, 0, 0, 0, 23 [SEP] 20, ScrubBrush, -0.231, -0.000, 3.857, 0, 0, 0, Floor|+00.00| [SEP] 21, Plunger, -0.212, -0.000, 3.536, 0, 0, 0, Floor|+00.00| [SEP] 22, BathtubBasin, -3.404, 0.166, 2.904, 0, 0, 0, [SEP] 23, Cabinet, -0.124, 0.364, 4.634, 0, 0, 0, [SEP] 24, Bathtub, -2.896, 0.667, 2.860, 0, 0, 0, [SEP] 25, Faucet, -3.475, 0.711, 3.811, 0, 0, 0, [SEP] 26, ShowerGlass, 0.0, 0.0, 0.0, 0, 0, 0, [SEP] 27, ShowerDoor, -0.282, 1.228, 1.730, 0, 0, 0, [SEP] 28, Faucet, -1.524, 1.047, 5.096, 0, 180, 0, [SEP] 29, CounterTop, -1.023, 0.954, 4.884, 0, 0, 0, [SEP] 30, Mirror, -0.975, 1.577, 5.145, 0, 0, 0, [SEP] 31, Cabinet, -1.962, 0.364, 4.634, 0, 0, 0, [SEP] 32, Cabinet, -1.027, 0.364, 4.634, 0, 0, 0, [SEP] 33, Cabinet, -1.059, 0.364, 4.634, 0, 0, 0, [SEP] 34, Window, -1.993, 1.888, 0.144, 0, 0, 0, [SEP] 35, LightSwitch, -2.496, 1.366, 5.146, 0, 180, 0, [SEP] 36, TowelHolder, -1.720, 1.213, 1.740, 0, 0, 0, [SEP] 37, TowelHolder, -0.074, 1.404, 2.424, 0, 270, 0, [SEP] 38, GarbageCan, -2.346, 0.002, 4.878, 0, 180, 0, [SEP] 39, Shelf, -3.713, 0.531, 0.951, 0, 90, 0, [SEP] 40, HandTowelHolder, -2.094, 1.544, 5.145, 0, 90, 0, [SEP] 41, HandTowelHolder, -0.074, 1.569, 4.810, 0, 180, 0, [SEP] 42, ToiletPaperHanger, -0.074, 1.126, 3.686, 0, 270, 0, [SEP] 43, Toilet, -0.517, -0.000, 3.220, 0, 0, 0, [SEP] 44, ShowerHead, -0.182, 1.256, 0.875, 0, 0, 0, [SEP] 45, SinkBasin, -0.569, 0.986, 4.886, 0, 180, 0, [SEP] 46, Sink, -0.579, 0.926, 4.874, 0, 180, 0, [SEP] 47, Sink, -1.524, 0.926, 4.874, 0, 180, 0, [SEP] 48, SinkBasin, -1.514, 0.986, 4.886, 0, 180, 0, [SEP] 49, Faucet, -0.583, 1.047, 5.096, 0, 180, 0, [SEP] 50, NorthWall, , , , , , , [SEP] 51, EastWall, , , , , , , [SEP] 52, SouthWall, , , , , , , [SEP] 53, WestWall, , , , , , , ", "output": ["STEP 1: turn right, walk to the trash bin | STEP 2: grab the pink bar from the trash bin | STEP 3: turn right, walk to the sink | STEP 4: put the pink bar in the sink, wash the bar, take it out | STEP 5: turn around, turn around to the cabinet under the sink | STEP 6: open the right door, put the pink bar in | END"]} +{"id": "trial_T20190908_055221_984342-2", "input": "drop a wet soap in the cupboard under the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.900, 4.25, 0, 0, 0, [SEP] 1, SoapBar, -3.597, 0.541, 1.477, 0, 90, 0, 39 [SEP] 2, SoapBar, -2.905, 0.676, 2.906, 0, 348.434, 0, 24 [SEP] 3, SoapBar, -2.202, 0.034, 4.922, 0, 0, 0, 38 [SEP] 4, Candle, -0.965, 0.972, 4.933, 0, 0, 0, 29 [SEP] 5, Candle, -2.706, 0.685, 2.381, 0, 348.434, 0, 24 [SEP] 6, SprayBottle, -3.770, 0.542, 0.557, 0, 90, 0, 39 [SEP] 7, SprayBottle, -1.379, 0.040, 4.769, 0, 90, 0, 33 [SEP] 8, SoapBottle, -1.379, 0.044, 4.887, 0, 0, 0, 33 [SEP] 9, Towel, -1.719, 1.228, 1.846, 0, 0, 0, 36 [SEP] 10, Candle, -1.430, 0.048, 4.709, 0, 0, 0, 33 [SEP] 11, SoapBottle, -3.713, 0.546, 0.925, 0, 90, 0, 39 [SEP] 12, HandTowel, -2.093, 1.442, 5.107, 0, 0, 0, 40 [SEP] 13, Towel, -0.181, 1.419, 2.425, 0, 270, 0, 37 [SEP] 14, SoapBar, -3.828, 0.541, 1.109, 0, 90, 0, 39 [SEP] 15, ToiletPaper, -0.188, 1.036, 3.374, 0, 0, 0, 43 [SEP] 16, TissueBox, -3.712, 0.541, 0.741, 0, 90, 0, 39 [SEP] 17, Cloth, -3.597, 0.541, 1.109, 0, 90, 0, 39 [SEP] 18, ToiletPaper, -0.153, 1.126, 3.705, 0, 270, 270, 42 [SEP] 19, SprayBottle, -0.444, 0.040, 5.006, 0, 0, 0, 23 [SEP] 20, ScrubBrush, -0.231, -0.000, 3.857, 0, 0, 0, Floor|+00.00| [SEP] 21, Plunger, -0.212, -0.000, 3.536, 0, 0, 0, Floor|+00.00| [SEP] 22, BathtubBasin, -3.404, 0.166, 2.904, 0, 0, 0, [SEP] 23, Cabinet, -0.124, 0.364, 4.634, 0, 0, 0, [SEP] 24, Bathtub, -2.896, 0.667, 2.860, 0, 0, 0, [SEP] 25, Faucet, -3.475, 0.711, 3.811, 0, 0, 0, [SEP] 26, ShowerGlass, 0.0, 0.0, 0.0, 0, 0, 0, [SEP] 27, ShowerDoor, -0.282, 1.228, 1.730, 0, 0, 0, [SEP] 28, Faucet, -1.524, 1.047, 5.096, 0, 180, 0, [SEP] 29, CounterTop, -1.023, 0.954, 4.884, 0, 0, 0, [SEP] 30, Mirror, -0.975, 1.577, 5.145, 0, 0, 0, [SEP] 31, Cabinet, -1.962, 0.364, 4.634, 0, 0, 0, [SEP] 32, Cabinet, -1.027, 0.364, 4.634, 0, 0, 0, [SEP] 33, Cabinet, -1.059, 0.364, 4.634, 0, 0, 0, [SEP] 34, Window, -1.993, 1.888, 0.144, 0, 0, 0, [SEP] 35, LightSwitch, -2.496, 1.366, 5.146, 0, 180, 0, [SEP] 36, TowelHolder, -1.720, 1.213, 1.740, 0, 0, 0, [SEP] 37, TowelHolder, -0.074, 1.404, 2.424, 0, 270, 0, [SEP] 38, GarbageCan, -2.346, 0.002, 4.878, 0, 180, 0, [SEP] 39, Shelf, -3.713, 0.531, 0.951, 0, 90, 0, [SEP] 40, HandTowelHolder, -2.094, 1.544, 5.145, 0, 90, 0, [SEP] 41, HandTowelHolder, -0.074, 1.569, 4.810, 0, 180, 0, [SEP] 42, ToiletPaperHanger, -0.074, 1.126, 3.686, 0, 270, 0, [SEP] 43, Toilet, -0.517, -0.000, 3.220, 0, 0, 0, [SEP] 44, ShowerHead, -0.182, 1.256, 0.875, 0, 0, 0, [SEP] 45, SinkBasin, -0.569, 0.986, 4.886, 0, 180, 0, [SEP] 46, Sink, -0.579, 0.926, 4.874, 0, 180, 0, [SEP] 47, Sink, -1.524, 0.926, 4.874, 0, 180, 0, [SEP] 48, SinkBasin, -1.514, 0.986, 4.886, 0, 180, 0, [SEP] 49, Faucet, -0.583, 1.047, 5.096, 0, 180, 0, [SEP] 50, NorthWall, , , , , , , [SEP] 51, EastWall, , , , , , , [SEP] 52, SouthWall, , , , , , , [SEP] 53, WestWall, , , , , , , ", "output": ["STEP 1: turn right and head for the bin | STEP 2: pick up the soap from the bin | STEP 3: head right towards the sink | STEP 4: wet the soap in the sink | STEP 5: move below the sink to the cupboard | STEP 6: drop the soap in the cupboard below the sink | END"]} +{"id": "trial_T20190907_224451_655673-0", "input": "Carry a CD while turning on a lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, 0.25, 0, 0, 0, [SEP] 1, CD, 0.647, 0.684, -1.622, 0, 0, 0, 30 [SEP] 2, CD, 1.318, 0.711, 0.215, 0, 270, 0, 41 [SEP] 3, Pen, -1.815, 0.679, 1.062, 0, 0, 0, 38 [SEP] 4, Pencil, 1.687, 0.053, 1.706, 0, 270, 0, 25 [SEP] 5, CreditCard, -1.628, 0.287, 1.515, 0, 270, 0, 36 [SEP] 6, CreditCard, 1.408, 0.711, 0.602, 0, 270, 0, 41 [SEP] 7, Laptop, -1.301, 0.538, -0.830, 0, 0, 0, 22 [SEP] 8, Book, -1.695, 0.640, 0.448, 0, 180, 0, 38 [SEP] 9, AlarmClock, -1.875, 1.071, 1.067, 0, 270, 0, 37 [SEP] 10, BasketBall, 1.510, 0.120, -0.105, 0, 0, 0, [SEP] 11, TeddyBear, -1.7, 0.475, -0.331, 0, 225, 0, 22 [SEP] 12, TennisRacket, 1.551, 0.000, 0.654, 270, 336.082, 0, [SEP] 13, Pen, -1.683, 0.679, 1.062, 0, 0, 0, 38 [SEP] 14, Pencil, -1.695, 0.644, 0.213, 0, 180, 0, 38 [SEP] 15, KeyChain, -1.875, 1.071, 1.634, 0, 270, 0, 37 [SEP] 16, CreditCard, 1.318, 0.711, 0.602, 0, 270, 0, 41 [SEP] 17, Laptop, -0.583, 0.538, -0.408, 0, 0, 0, 22 [SEP] 18, CellPhone, 1.318, 0.712, 0.409, 0, 270, 0, 41 [SEP] 19, Pillow, -1.757, 0.569, -0.768, 0, 285.000, 0, 22 [SEP] 20, CD, -1.734, 0.065, 1.648, 0, 270, 0, 35 [SEP] 21, Curtains, 1.865, 2.039, -0.495, 0, 0, 0, [SEP] 22, Bed, -1.037, 0.009, -0.690, 0, 270, 0, [SEP] 23, Mirror, 0.549, 1.494, 1.880, 0, 0, 0, [SEP] 24, Curtains, 0.486, 2.035, -1.853, 0, 90, 0, [SEP] 25, GarbageCan, 1.683, -0.018, 1.670, 0, 270, 0, [SEP] 26, LightSwitch, -0.119, 1.317, 1.853, 0, 180, 0, [SEP] 27, DeskLamp, -1.845, 1.057, 0.756, 0, 0, 0, [SEP] 28, Window, 1.932, 1.409, -0.507, 90, 270, 0, [SEP] 29, Window, 0.481, 1.411, -1.932, 90, 0, 0, [SEP] 30, SideTable, 0.626, 0.0, -1.705, 0, 0, 0, [SEP] 31, Footstool, 0.176, 0.006, -0.358, 0, 0, 0, [SEP] 32, Dumbbell, 1.596, 0.715, 0.772, 0, 0, 0, [SEP] 33, Dumbbell, 1.776, 0.717, 0.772, 0, 0, 0, [SEP] 34, Shelf, -1.700, 0.573, 1.540, 0, 90, 0, [SEP] 35, Shelf, -1.700, 0.156, 1.540, 0, 90, 0, [SEP] 36, Shelf, -1.700, 0.377, 1.540, 0, 90, 0, [SEP] 37, Shelf, -1.839, 1.084, 1.235, 0, 90, 0, [SEP] 38, Desk, -1.722, 0.003, 0.920, 0, 90, 0, [SEP] 39, Footstool, 0.175, 0.004, -0.652, 0, 0, 0, [SEP] 40, GarbageBag, 1.624, 0.319, -1.609, 270, 90, 83.418, [SEP] 41, Desk, 1.519, 1.823, 0.385, 0, 270, 0, [SEP] 42, Chair, -1.459, 0.003, 0.929, 0, 292.527, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: Move across the room to face the white desk top next to the window | STEP 2: Pick up the CD on top of the white desk | STEP 3: Carry the CD over to the lamp on top of the wood desk shelf | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190907_224451_655673-1", "input": "Take the CD from the table, turn on the desk lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, 0.25, 0, 0, 0, [SEP] 1, CD, 0.647, 0.684, -1.622, 0, 0, 0, 30 [SEP] 2, CD, 1.318, 0.711, 0.215, 0, 270, 0, 41 [SEP] 3, Pen, -1.815, 0.679, 1.062, 0, 0, 0, 38 [SEP] 4, Pencil, 1.687, 0.053, 1.706, 0, 270, 0, 25 [SEP] 5, CreditCard, -1.628, 0.287, 1.515, 0, 270, 0, 36 [SEP] 6, CreditCard, 1.408, 0.711, 0.602, 0, 270, 0, 41 [SEP] 7, Laptop, -1.301, 0.538, -0.830, 0, 0, 0, 22 [SEP] 8, Book, -1.695, 0.640, 0.448, 0, 180, 0, 38 [SEP] 9, AlarmClock, -1.875, 1.071, 1.067, 0, 270, 0, 37 [SEP] 10, BasketBall, 1.510, 0.120, -0.105, 0, 0, 0, [SEP] 11, TeddyBear, -1.7, 0.475, -0.331, 0, 225, 0, 22 [SEP] 12, TennisRacket, 1.551, 0.000, 0.654, 270, 336.082, 0, [SEP] 13, Pen, -1.683, 0.679, 1.062, 0, 0, 0, 38 [SEP] 14, Pencil, -1.695, 0.644, 0.213, 0, 180, 0, 38 [SEP] 15, KeyChain, -1.875, 1.071, 1.634, 0, 270, 0, 37 [SEP] 16, CreditCard, 1.318, 0.711, 0.602, 0, 270, 0, 41 [SEP] 17, Laptop, -0.583, 0.538, -0.408, 0, 0, 0, 22 [SEP] 18, CellPhone, 1.318, 0.712, 0.409, 0, 270, 0, 41 [SEP] 19, Pillow, -1.757, 0.569, -0.768, 0, 285.000, 0, 22 [SEP] 20, CD, -1.734, 0.065, 1.648, 0, 270, 0, 35 [SEP] 21, Curtains, 1.865, 2.039, -0.495, 0, 0, 0, [SEP] 22, Bed, -1.037, 0.009, -0.690, 0, 270, 0, [SEP] 23, Mirror, 0.549, 1.494, 1.880, 0, 0, 0, [SEP] 24, Curtains, 0.486, 2.035, -1.853, 0, 90, 0, [SEP] 25, GarbageCan, 1.683, -0.018, 1.670, 0, 270, 0, [SEP] 26, LightSwitch, -0.119, 1.317, 1.853, 0, 180, 0, [SEP] 27, DeskLamp, -1.845, 1.057, 0.756, 0, 0, 0, [SEP] 28, Window, 1.932, 1.409, -0.507, 90, 270, 0, [SEP] 29, Window, 0.481, 1.411, -1.932, 90, 0, 0, [SEP] 30, SideTable, 0.626, 0.0, -1.705, 0, 0, 0, [SEP] 31, Footstool, 0.176, 0.006, -0.358, 0, 0, 0, [SEP] 32, Dumbbell, 1.596, 0.715, 0.772, 0, 0, 0, [SEP] 33, Dumbbell, 1.776, 0.717, 0.772, 0, 0, 0, [SEP] 34, Shelf, -1.700, 0.573, 1.540, 0, 90, 0, [SEP] 35, Shelf, -1.700, 0.156, 1.540, 0, 90, 0, [SEP] 36, Shelf, -1.700, 0.377, 1.540, 0, 90, 0, [SEP] 37, Shelf, -1.839, 1.084, 1.235, 0, 90, 0, [SEP] 38, Desk, -1.722, 0.003, 0.920, 0, 90, 0, [SEP] 39, Footstool, 0.175, 0.004, -0.652, 0, 0, 0, [SEP] 40, GarbageBag, 1.624, 0.319, -1.609, 270, 90, 83.418, [SEP] 41, Desk, 1.519, 1.823, 0.385, 0, 270, 0, [SEP] 42, Chair, -1.459, 0.003, 0.929, 0, 292.527, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, head across the room to the white table | STEP 2: Take the CD from the table | STEP 3: Turn around, head to the desk across the room | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190907_224451_655673-2", "input": "Put a CD on a desk SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, 0.25, 0, 0, 0, [SEP] 1, CD, 0.647, 0.684, -1.622, 0, 0, 0, 30 [SEP] 2, CD, 1.318, 0.711, 0.215, 0, 270, 0, 41 [SEP] 3, Pen, -1.815, 0.679, 1.062, 0, 0, 0, 38 [SEP] 4, Pencil, 1.687, 0.053, 1.706, 0, 270, 0, 25 [SEP] 5, CreditCard, -1.628, 0.287, 1.515, 0, 270, 0, 36 [SEP] 6, CreditCard, 1.408, 0.711, 0.602, 0, 270, 0, 41 [SEP] 7, Laptop, -1.301, 0.538, -0.830, 0, 0, 0, 22 [SEP] 8, Book, -1.695, 0.640, 0.448, 0, 180, 0, 38 [SEP] 9, AlarmClock, -1.875, 1.071, 1.067, 0, 270, 0, 37 [SEP] 10, BasketBall, 1.510, 0.120, -0.105, 0, 0, 0, [SEP] 11, TeddyBear, -1.7, 0.475, -0.331, 0, 225, 0, 22 [SEP] 12, TennisRacket, 1.551, 0.000, 0.654, 270, 336.082, 0, [SEP] 13, Pen, -1.683, 0.679, 1.062, 0, 0, 0, 38 [SEP] 14, Pencil, -1.695, 0.644, 0.213, 0, 180, 0, 38 [SEP] 15, KeyChain, -1.875, 1.071, 1.634, 0, 270, 0, 37 [SEP] 16, CreditCard, 1.318, 0.711, 0.602, 0, 270, 0, 41 [SEP] 17, Laptop, -0.583, 0.538, -0.408, 0, 0, 0, 22 [SEP] 18, CellPhone, 1.318, 0.712, 0.409, 0, 270, 0, 41 [SEP] 19, Pillow, -1.757, 0.569, -0.768, 0, 285.000, 0, 22 [SEP] 20, CD, -1.734, 0.065, 1.648, 0, 270, 0, 35 [SEP] 21, Curtains, 1.865, 2.039, -0.495, 0, 0, 0, [SEP] 22, Bed, -1.037, 0.009, -0.690, 0, 270, 0, [SEP] 23, Mirror, 0.549, 1.494, 1.880, 0, 0, 0, [SEP] 24, Curtains, 0.486, 2.035, -1.853, 0, 90, 0, [SEP] 25, GarbageCan, 1.683, -0.018, 1.670, 0, 270, 0, [SEP] 26, LightSwitch, -0.119, 1.317, 1.853, 0, 180, 0, [SEP] 27, DeskLamp, -1.845, 1.057, 0.756, 0, 0, 0, [SEP] 28, Window, 1.932, 1.409, -0.507, 90, 270, 0, [SEP] 29, Window, 0.481, 1.411, -1.932, 90, 0, 0, [SEP] 30, SideTable, 0.626, 0.0, -1.705, 0, 0, 0, [SEP] 31, Footstool, 0.176, 0.006, -0.358, 0, 0, 0, [SEP] 32, Dumbbell, 1.596, 0.715, 0.772, 0, 0, 0, [SEP] 33, Dumbbell, 1.776, 0.717, 0.772, 0, 0, 0, [SEP] 34, Shelf, -1.700, 0.573, 1.540, 0, 90, 0, [SEP] 35, Shelf, -1.700, 0.156, 1.540, 0, 90, 0, [SEP] 36, Shelf, -1.700, 0.377, 1.540, 0, 90, 0, [SEP] 37, Shelf, -1.839, 1.084, 1.235, 0, 90, 0, [SEP] 38, Desk, -1.722, 0.003, 0.920, 0, 90, 0, [SEP] 39, Footstool, 0.175, 0.004, -0.652, 0, 0, 0, [SEP] 40, GarbageBag, 1.624, 0.319, -1.609, 270, 90, 83.418, [SEP] 41, Desk, 1.519, 1.823, 0.385, 0, 270, 0, [SEP] 42, Chair, -1.459, 0.003, 0.929, 0, 292.527, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: turn around and go to the white low table directly behind you | STEP 2: pick up the CD that is on the table | STEP 3: turn back around and carry the CD to the desk next to the bed | STEP 4: place the CD on the table on top of the book | END"]} +{"id": "trial_T20190909_103008_353204-0", "input": "put heated apple in sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 1.5, 0, 90, 0, [SEP] 1, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 44 [SEP] 2, Potato, -2.837, 0.863, 2.485, 0, 90, 0, 63 [SEP] 3, DishSponge, -2.540, 1.848, 1.926, 0, 0, 0, 39 [SEP] 4, DishSponge, -2.664, 1.434, 0.283, 0, 45, 0, 51 [SEP] 5, Spoon, -2.597, 0.693, 1.511, 0, 0, 0, 50 [SEP] 6, Spoon, -1.151, 0.824, 0.352, 0, 90, 0, 45 [SEP] 7, Egg, -2.892, 1.167, 2.397, 0, 90, 0, 63 [SEP] 8, Egg, -0.817, 0.847, 0.055, 0, 0, 0, 45 [SEP] 9, Cup, -2.608, 0.823, 0.129, 0, 0, 0, 45 [SEP] 10, Cup, -2.837, 1.445, 1.957, 0, 90, 0, 63 [SEP] 11, SoapBottle, -2.905, 1.433, 0.640, 0, 0, 0, 54 [SEP] 12, Bowl, -2.726, 0.821, 2.133, 0, 90, 0, 63 [SEP] 13, SaltShaker, -1.637, 0.120, 0.401, 0, 0, 0, 58 [SEP] 14, SaltShaker, -2.840, 0.818, 0.352, 0, 0, 0, 45 [SEP] 15, Mug, -2.837, 1.440, 2.397, 0, 90, 0, 63 [SEP] 16, Apple, -2.837, 1.216, 2.221, 0, 90, 0, 63 [SEP] 17, Apple, -2.837, 1.216, 2.485, 0, 90, 0, 63 [SEP] 18, Fork, -2.840, 0.824, 0.203, 0, 270, 0, 45 [SEP] 19, Ladle, -2.540, 1.893, 2.316, 0, 0, 0, 55 [SEP] 20, Pan, -0.244, 0.829, 2.075, 0, 180, 0, 40 [SEP] 21, SoapBottle, -0.295, 0.054, 2.640, 0, 0, 0, 65 [SEP] 22, Pot, -0.531, 0.822, 2.096, 0, 0, 0, 42 [SEP] 23, Tomato, -2.892, 0.874, 1.957, 0, 90, 0, 63 [SEP] 24, Potato, -2.616, 1.182, 2.485, 0, 90, 0, 63 [SEP] 25, SaltShaker, -1.695, 0.120, 0.284, 0, 0, 0, 58 [SEP] 26, Plate, -1.407, 0.130, 0.401, 0, 0, 0, 58 [SEP] 27, Spatula, -2.491, 0.838, 0.352, 0, 180, 0, 45 [SEP] 28, Knife, -2.581, 0.849, 0.462, 0, 0, 0, 45 [SEP] 29, Egg, -2.837, 1.167, 2.397, 0, 90, 0, 63 [SEP] 30, Cup, -2.504, 0.823, 0.707, 0, 0, 0, 45 [SEP] 31, ButterKnife, -2.493, 0.812, 0.476, 0, 50.734, 0, 45 [SEP] 32, Lettuce, -1.836, 0.741, 0.238, 0, 55.910, 0, 72 [SEP] 33, PepperShaker, -2.375, 0.818, 0.129, 0, 0, 0, 45 [SEP] 34, DishSponge, -0.832, 0.709, 0.445, 0, 0, 0, 48 [SEP] 35, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 45 [SEP] 36, Spoon, -2.496, 0.693, 1.474, 0, 90, 0, 50 [SEP] 37, Mug, -2.782, 1.440, 2.221, 0, 90, 0, 63 [SEP] 38, Bowl, -2.648, 0.118, 1.510, 0, 0, 0, 56 [SEP] 39, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0, [SEP] 40, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0, [SEP] 41, Drawer, -0.402, 0.703, 1.252, 0, 0, 0, [SEP] 42, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0, [SEP] 43, Sink, -1.838, 0.726, 0.343, 0, 180, 0, [SEP] 44, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0, [SEP] 45, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0, [SEP] 46, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0, [SEP] 47, Drawer, -0.404, 0.704, 0.912, 0, 0, 0, [SEP] 48, Drawer, -0.861, 0.709, 0.420, 0, 0, 0, [SEP] 49, Drawer, -1.133, 0.706, 0.418, 0, 0, 0, [SEP] 50, Drawer, -2.589, 0.703, 1.511, 0, 0, 0, [SEP] 51, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0, [SEP] 52, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0, [SEP] 53, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0, [SEP] 54, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0, [SEP] 55, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0, [SEP] 56, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0, [SEP] 57, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0, [SEP] 58, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0, [SEP] 59, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0, [SEP] 60, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0, [SEP] 61, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0, [SEP] 62, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0, [SEP] 63, Fridge, -2.782, 0.0, 2.221, 0, 0, 0, [SEP] 64, Microwave, -2.794, 0.812, 1.348, 0, 90, 0, [SEP] 65, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0, [SEP] 66, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470, [SEP] 67, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470, [SEP] 68, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470, [SEP] 69, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470, [SEP] 70, Window, -1.720, 1.342, -0.208, 90, 0, 0, [SEP] 71, Toaster, -0.171, 0.812, 0.735, 0, 270, 0, [SEP] 72, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0, [SEP] 73, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0, [SEP] 74, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0, [SEP] 75, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0, [SEP] 76, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0, [SEP] 77, NorthWall, , , , , , , [SEP] 78, EastWall, , , , , , , [SEP] 79, SouthWall, , , , , , , [SEP] 80, WestWall, , , , , , , ", "output": ["STEP 1: walk to face fridge | STEP 2: remove apple from fridge | STEP 3: walk to face microwave | STEP 4: heat and remove apple from microwave | STEP 5: walk to face sink | STEP 6: put apple in left sink | END"]} +{"id": "trial_T20190909_103008_353204-1", "input": "Put a warm apple in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 1.5, 0, 90, 0, [SEP] 1, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 44 [SEP] 2, Potato, -2.837, 0.863, 2.485, 0, 90, 0, 63 [SEP] 3, DishSponge, -2.540, 1.848, 1.926, 0, 0, 0, 39 [SEP] 4, DishSponge, -2.664, 1.434, 0.283, 0, 45, 0, 51 [SEP] 5, Spoon, -2.597, 0.693, 1.511, 0, 0, 0, 50 [SEP] 6, Spoon, -1.151, 0.824, 0.352, 0, 90, 0, 45 [SEP] 7, Egg, -2.892, 1.167, 2.397, 0, 90, 0, 63 [SEP] 8, Egg, -0.817, 0.847, 0.055, 0, 0, 0, 45 [SEP] 9, Cup, -2.608, 0.823, 0.129, 0, 0, 0, 45 [SEP] 10, Cup, -2.837, 1.445, 1.957, 0, 90, 0, 63 [SEP] 11, SoapBottle, -2.905, 1.433, 0.640, 0, 0, 0, 54 [SEP] 12, Bowl, -2.726, 0.821, 2.133, 0, 90, 0, 63 [SEP] 13, SaltShaker, -1.637, 0.120, 0.401, 0, 0, 0, 58 [SEP] 14, SaltShaker, -2.840, 0.818, 0.352, 0, 0, 0, 45 [SEP] 15, Mug, -2.837, 1.440, 2.397, 0, 90, 0, 63 [SEP] 16, Apple, -2.837, 1.216, 2.221, 0, 90, 0, 63 [SEP] 17, Apple, -2.837, 1.216, 2.485, 0, 90, 0, 63 [SEP] 18, Fork, -2.840, 0.824, 0.203, 0, 270, 0, 45 [SEP] 19, Ladle, -2.540, 1.893, 2.316, 0, 0, 0, 55 [SEP] 20, Pan, -0.244, 0.829, 2.075, 0, 180, 0, 40 [SEP] 21, SoapBottle, -0.295, 0.054, 2.640, 0, 0, 0, 65 [SEP] 22, Pot, -0.531, 0.822, 2.096, 0, 0, 0, 42 [SEP] 23, Tomato, -2.892, 0.874, 1.957, 0, 90, 0, 63 [SEP] 24, Potato, -2.616, 1.182, 2.485, 0, 90, 0, 63 [SEP] 25, SaltShaker, -1.695, 0.120, 0.284, 0, 0, 0, 58 [SEP] 26, Plate, -1.407, 0.130, 0.401, 0, 0, 0, 58 [SEP] 27, Spatula, -2.491, 0.838, 0.352, 0, 180, 0, 45 [SEP] 28, Knife, -2.581, 0.849, 0.462, 0, 0, 0, 45 [SEP] 29, Egg, -2.837, 1.167, 2.397, 0, 90, 0, 63 [SEP] 30, Cup, -2.504, 0.823, 0.707, 0, 0, 0, 45 [SEP] 31, ButterKnife, -2.493, 0.812, 0.476, 0, 50.734, 0, 45 [SEP] 32, Lettuce, -1.836, 0.741, 0.238, 0, 55.910, 0, 72 [SEP] 33, PepperShaker, -2.375, 0.818, 0.129, 0, 0, 0, 45 [SEP] 34, DishSponge, -0.832, 0.709, 0.445, 0, 0, 0, 48 [SEP] 35, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 45 [SEP] 36, Spoon, -2.496, 0.693, 1.474, 0, 90, 0, 50 [SEP] 37, Mug, -2.782, 1.440, 2.221, 0, 90, 0, 63 [SEP] 38, Bowl, -2.648, 0.118, 1.510, 0, 0, 0, 56 [SEP] 39, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0, [SEP] 40, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0, [SEP] 41, Drawer, -0.402, 0.703, 1.252, 0, 0, 0, [SEP] 42, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0, [SEP] 43, Sink, -1.838, 0.726, 0.343, 0, 180, 0, [SEP] 44, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0, [SEP] 45, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0, [SEP] 46, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0, [SEP] 47, Drawer, -0.404, 0.704, 0.912, 0, 0, 0, [SEP] 48, Drawer, -0.861, 0.709, 0.420, 0, 0, 0, [SEP] 49, Drawer, -1.133, 0.706, 0.418, 0, 0, 0, [SEP] 50, Drawer, -2.589, 0.703, 1.511, 0, 0, 0, [SEP] 51, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0, [SEP] 52, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0, [SEP] 53, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0, [SEP] 54, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0, [SEP] 55, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0, [SEP] 56, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0, [SEP] 57, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0, [SEP] 58, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0, [SEP] 59, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0, [SEP] 60, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0, [SEP] 61, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0, [SEP] 62, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0, [SEP] 63, Fridge, -2.782, 0.0, 2.221, 0, 0, 0, [SEP] 64, Microwave, -2.794, 0.812, 1.348, 0, 90, 0, [SEP] 65, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0, [SEP] 66, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470, [SEP] 67, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470, [SEP] 68, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470, [SEP] 69, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470, [SEP] 70, Window, -1.720, 1.342, -0.208, 90, 0, 0, [SEP] 71, Toaster, -0.171, 0.812, 0.735, 0, 270, 0, [SEP] 72, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0, [SEP] 73, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0, [SEP] 74, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0, [SEP] 75, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0, [SEP] 76, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0, [SEP] 77, NorthWall, , , , , , , [SEP] 78, EastWall, , , , , , , [SEP] 79, SouthWall, , , , , , , [SEP] 80, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and go toward the wall, then turn left to face the fridge. | STEP 2: Open the fridge and take out the rightmost apple from inside. | STEP 3: Go to the microwave to the left of the fridge. | STEP 4: Open the microwave, put the apple inside and heat it up, then take it out. | STEP 5: Turn around and move forward, then turn right to go to the sink. | STEP 6: Put the apple in the left sink basin. | END"]} +{"id": "trial_T20190909_103008_353204-2", "input": "Grab an apple, cook it and put it in the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 1.5, 0, 90, 0, [SEP] 1, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 44 [SEP] 2, Potato, -2.837, 0.863, 2.485, 0, 90, 0, 63 [SEP] 3, DishSponge, -2.540, 1.848, 1.926, 0, 0, 0, 39 [SEP] 4, DishSponge, -2.664, 1.434, 0.283, 0, 45, 0, 51 [SEP] 5, Spoon, -2.597, 0.693, 1.511, 0, 0, 0, 50 [SEP] 6, Spoon, -1.151, 0.824, 0.352, 0, 90, 0, 45 [SEP] 7, Egg, -2.892, 1.167, 2.397, 0, 90, 0, 63 [SEP] 8, Egg, -0.817, 0.847, 0.055, 0, 0, 0, 45 [SEP] 9, Cup, -2.608, 0.823, 0.129, 0, 0, 0, 45 [SEP] 10, Cup, -2.837, 1.445, 1.957, 0, 90, 0, 63 [SEP] 11, SoapBottle, -2.905, 1.433, 0.640, 0, 0, 0, 54 [SEP] 12, Bowl, -2.726, 0.821, 2.133, 0, 90, 0, 63 [SEP] 13, SaltShaker, -1.637, 0.120, 0.401, 0, 0, 0, 58 [SEP] 14, SaltShaker, -2.840, 0.818, 0.352, 0, 0, 0, 45 [SEP] 15, Mug, -2.837, 1.440, 2.397, 0, 90, 0, 63 [SEP] 16, Apple, -2.837, 1.216, 2.221, 0, 90, 0, 63 [SEP] 17, Apple, -2.837, 1.216, 2.485, 0, 90, 0, 63 [SEP] 18, Fork, -2.840, 0.824, 0.203, 0, 270, 0, 45 [SEP] 19, Ladle, -2.540, 1.893, 2.316, 0, 0, 0, 55 [SEP] 20, Pan, -0.244, 0.829, 2.075, 0, 180, 0, 40 [SEP] 21, SoapBottle, -0.295, 0.054, 2.640, 0, 0, 0, 65 [SEP] 22, Pot, -0.531, 0.822, 2.096, 0, 0, 0, 42 [SEP] 23, Tomato, -2.892, 0.874, 1.957, 0, 90, 0, 63 [SEP] 24, Potato, -2.616, 1.182, 2.485, 0, 90, 0, 63 [SEP] 25, SaltShaker, -1.695, 0.120, 0.284, 0, 0, 0, 58 [SEP] 26, Plate, -1.407, 0.130, 0.401, 0, 0, 0, 58 [SEP] 27, Spatula, -2.491, 0.838, 0.352, 0, 180, 0, 45 [SEP] 28, Knife, -2.581, 0.849, 0.462, 0, 0, 0, 45 [SEP] 29, Egg, -2.837, 1.167, 2.397, 0, 90, 0, 63 [SEP] 30, Cup, -2.504, 0.823, 0.707, 0, 0, 0, 45 [SEP] 31, ButterKnife, -2.493, 0.812, 0.476, 0, 50.734, 0, 45 [SEP] 32, Lettuce, -1.836, 0.741, 0.238, 0, 55.910, 0, 72 [SEP] 33, PepperShaker, -2.375, 0.818, 0.129, 0, 0, 0, 45 [SEP] 34, DishSponge, -0.832, 0.709, 0.445, 0, 0, 0, 48 [SEP] 35, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 45 [SEP] 36, Spoon, -2.496, 0.693, 1.474, 0, 90, 0, 50 [SEP] 37, Mug, -2.782, 1.440, 2.221, 0, 90, 0, 63 [SEP] 38, Bowl, -2.648, 0.118, 1.510, 0, 0, 0, 56 [SEP] 39, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0, [SEP] 40, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0, [SEP] 41, Drawer, -0.402, 0.703, 1.252, 0, 0, 0, [SEP] 42, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0, [SEP] 43, Sink, -1.838, 0.726, 0.343, 0, 180, 0, [SEP] 44, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0, [SEP] 45, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0, [SEP] 46, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0, [SEP] 47, Drawer, -0.404, 0.704, 0.912, 0, 0, 0, [SEP] 48, Drawer, -0.861, 0.709, 0.420, 0, 0, 0, [SEP] 49, Drawer, -1.133, 0.706, 0.418, 0, 0, 0, [SEP] 50, Drawer, -2.589, 0.703, 1.511, 0, 0, 0, [SEP] 51, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0, [SEP] 52, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0, [SEP] 53, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0, [SEP] 54, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0, [SEP] 55, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0, [SEP] 56, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0, [SEP] 57, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0, [SEP] 58, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0, [SEP] 59, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0, [SEP] 60, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0, [SEP] 61, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0, [SEP] 62, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0, [SEP] 63, Fridge, -2.782, 0.0, 2.221, 0, 0, 0, [SEP] 64, Microwave, -2.794, 0.812, 1.348, 0, 90, 0, [SEP] 65, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0, [SEP] 66, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470, [SEP] 67, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470, [SEP] 68, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470, [SEP] 69, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470, [SEP] 70, Window, -1.720, 1.342, -0.208, 90, 0, 0, [SEP] 71, Toaster, -0.171, 0.812, 0.735, 0, 270, 0, [SEP] 72, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0, [SEP] 73, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0, [SEP] 74, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0, [SEP] 75, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0, [SEP] 76, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0, [SEP] 77, NorthWall, , , , , , , [SEP] 78, EastWall, , , , , , , [SEP] 79, SouthWall, , , , , , , [SEP] 80, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your left twice so that you are facing the fridge | STEP 2: Open the fridge, grab an apple from the shelf and close the fridge door | STEP 3: Walk to the left of the fridge to face the microwave | STEP 4: Put the apple in the microwave and cook it for a few seconds before taking it back out and closing the microwave | STEP 5: Turn to face your left | STEP 6: Put the apple in the sink | END"]} +{"id": "trial_T20190906_202601_548273-0", "input": "Examine the keys under the light of the table lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 1.0, 0, 90, 0, [SEP] 1, Bowl, 1.226, 0.383, -0.386, 0, 270, 0, 42 [SEP] 2, Bowl, 1.260, 1.410, 0.195, 0, 270, 0, 43 [SEP] 3, CD, -1.400, 0.395, -2.259, 0, 0, 0, 56 [SEP] 4, CD, 1.120, 0.370, -1.605, 0, 0, 0, 38 [SEP] 5, CellPhone, -0.842, 0.611, 0.337, 0, 0, 0, 32 [SEP] 6, CellPhone, -0.842, 0.611, 0.618, 0, 0, 0, 32 [SEP] 7, Pencil, -1.332, 0.704, -1.755, 0, 0, 0, 55 [SEP] 8, Pencil, -1.611, 1.527, -2.148, 0, 270, 0, 44 [SEP] 9, KeyChain, -1.519, 0.698, -2.046, 0, 0, 0, 55 [SEP] 10, KeyChain, -1.334, 0.397, -2.046, 0, 0, 0, 56 [SEP] 11, KeyChain, 1.293, 1.412, -0.382, 0, 270, 0, 41 [SEP] 12, CreditCard, 1.226, 0.383, -0.531, 0, 270, 0, 42 [SEP] 13, CreditCard, 1.224, 0.238, -1.570, 0, 0, 0, 35 [SEP] 14, Book, -1.323, 0.610, 0.618, 0, 0, 0, 32 [SEP] 15, Pillow, -1.323, 0.713, 0.057, 0, 0, 0, 32 [SEP] 16, Book, 0.623, 0.569, -2.471, 0, 350.999, 0, 39 [SEP] 17, KeyChain, 1.327, 0.384, -0.675, 0, 0, 0, 42 [SEP] 18, BaseballBat, 1.436, 0.636, 1.985, 21.882, 0, 0, [SEP] 19, BasketBall, 1.270, 0.12, -1.290, 0, 345.557, 0, [SEP] 20, Pencil, -1.394, 0.701, -2.191, 0, 0, 0, 55 [SEP] 21, CellPhone, -1.519, 0.697, -1.755, 0, 0, 0, 55 [SEP] 22, CreditCard, 1.068, 0.105, -1.894, 0, 0, 0, 31 [SEP] 23, Laptop, 0.076, 0.569, -2.456, 0, 0, 0, 50 [SEP] 24, Pillow, -1.170, 0.684, -0.990, 0, 0, 0, 32 [SEP] 25, Boots, 1.288, 0.000, -0.961, 0, 177.912, 0, [SEP] 26, Pen, 1.293, 1.416, -0.238, 0, 270, 0, 43 [SEP] 27, AlarmClock, 1.192, 0.383, 0.191, 0, 270, 0, 42 [SEP] 28, CD, -1.269, 0.699, -2.481, 0, 0, 0, 55 [SEP] 29, Bowl, 1.260, 0.383, -0.097, 0, 270, 0, 42 [SEP] 30, Drawer, 0.980, 0.271, -1.963, 0, 0, 0, [SEP] 31, Drawer, 0.980, 0.139, -1.963, 0, 0, 0, [SEP] 32, Bed, -1.209, 0.016, -0.266, 0, 180, 1.624, [SEP] 33, Shelf, 1.220, 0.859, -1.802, 0, 270, 0, [SEP] 34, Drawer, 0.980, 0.404, -1.963, 0, 0, 0, [SEP] 35, Drawer, 0.980, 0.272, -1.639, 0, 0, 0, [SEP] 36, Mirror, 0.740, 1.491, 2.099, 0, 0, 0, [SEP] 37, Drawer, 0.980, 0.139, -1.639, 0, 0, 0, [SEP] 38, Drawer, 0.980, 0.404, -1.639, 0, 0, 0, [SEP] 39, Chair, 0.280, -0.001, -2.264, 0, 180, 0, [SEP] 40, GarbageCan, -1.542, 0.013, 1.919, 2.249, 116.925, 355.175, [SEP] 41, Shelf, 1.259, 0.903, -0.269, 0, 270, 0, [SEP] 42, Shelf, 1.259, 0.375, -0.263, 0, 270, 0, [SEP] 43, Shelf, 1.259, 1.402, -0.259, 0, 270, 0, [SEP] 44, Shelf, -1.577, 1.513, -2.025, 0, 270, 0, [SEP] 45, LightSwitch, -0.755, 1.176, 2.099, 0, 180, 0, [SEP] 46, DeskLamp, -1.489, 0.669, -2.419, 0, 0, 0, [SEP] 47, Window, 0.243, 0.963, -2.678, 90, 0, 0, [SEP] 48, Window, -0.361, 0.963, -2.679, 90, 0, 0, [SEP] 49, Window, -0.962, 0.963, -2.678, 90, 0, 0, [SEP] 50, Desk, 0.445, 0.001, -2.430, 0, 0, 0, [SEP] 51, Blinds, -0.349, 2.186, -2.685, 0, 0, 0, [SEP] 52, Blinds, 0.250, 2.186, -2.685, 0, 0, 0, [SEP] 53, Blinds, -0.952, 2.186, -2.685, 0, 0, 0, [SEP] 54, Drawer, -1.314, 0.163, -2.051, 0, 90, 0, [SEP] 55, SideTable, -1.444, -0.001, -2.051, 0, 90, 0, [SEP] 56, Drawer, -1.314, 0.455, -2.051, 0, 90, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, EastWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk across the room to the dresser by the bed | STEP 2: Pick up the keys from the dresser | STEP 3: Move left to the lamp on the same dresser | STEP 4: Turn on the table lamp | END"]} +{"id": "trial_T20190906_202601_548273-1", "input": "Inspect keys near a lit lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 1.0, 0, 90, 0, [SEP] 1, Bowl, 1.226, 0.383, -0.386, 0, 270, 0, 42 [SEP] 2, Bowl, 1.260, 1.410, 0.195, 0, 270, 0, 43 [SEP] 3, CD, -1.400, 0.395, -2.259, 0, 0, 0, 56 [SEP] 4, CD, 1.120, 0.370, -1.605, 0, 0, 0, 38 [SEP] 5, CellPhone, -0.842, 0.611, 0.337, 0, 0, 0, 32 [SEP] 6, CellPhone, -0.842, 0.611, 0.618, 0, 0, 0, 32 [SEP] 7, Pencil, -1.332, 0.704, -1.755, 0, 0, 0, 55 [SEP] 8, Pencil, -1.611, 1.527, -2.148, 0, 270, 0, 44 [SEP] 9, KeyChain, -1.519, 0.698, -2.046, 0, 0, 0, 55 [SEP] 10, KeyChain, -1.334, 0.397, -2.046, 0, 0, 0, 56 [SEP] 11, KeyChain, 1.293, 1.412, -0.382, 0, 270, 0, 41 [SEP] 12, CreditCard, 1.226, 0.383, -0.531, 0, 270, 0, 42 [SEP] 13, CreditCard, 1.224, 0.238, -1.570, 0, 0, 0, 35 [SEP] 14, Book, -1.323, 0.610, 0.618, 0, 0, 0, 32 [SEP] 15, Pillow, -1.323, 0.713, 0.057, 0, 0, 0, 32 [SEP] 16, Book, 0.623, 0.569, -2.471, 0, 350.999, 0, 39 [SEP] 17, KeyChain, 1.327, 0.384, -0.675, 0, 0, 0, 42 [SEP] 18, BaseballBat, 1.436, 0.636, 1.985, 21.882, 0, 0, [SEP] 19, BasketBall, 1.270, 0.12, -1.290, 0, 345.557, 0, [SEP] 20, Pencil, -1.394, 0.701, -2.191, 0, 0, 0, 55 [SEP] 21, CellPhone, -1.519, 0.697, -1.755, 0, 0, 0, 55 [SEP] 22, CreditCard, 1.068, 0.105, -1.894, 0, 0, 0, 31 [SEP] 23, Laptop, 0.076, 0.569, -2.456, 0, 0, 0, 50 [SEP] 24, Pillow, -1.170, 0.684, -0.990, 0, 0, 0, 32 [SEP] 25, Boots, 1.288, 0.000, -0.961, 0, 177.912, 0, [SEP] 26, Pen, 1.293, 1.416, -0.238, 0, 270, 0, 43 [SEP] 27, AlarmClock, 1.192, 0.383, 0.191, 0, 270, 0, 42 [SEP] 28, CD, -1.269, 0.699, -2.481, 0, 0, 0, 55 [SEP] 29, Bowl, 1.260, 0.383, -0.097, 0, 270, 0, 42 [SEP] 30, Drawer, 0.980, 0.271, -1.963, 0, 0, 0, [SEP] 31, Drawer, 0.980, 0.139, -1.963, 0, 0, 0, [SEP] 32, Bed, -1.209, 0.016, -0.266, 0, 180, 1.624, [SEP] 33, Shelf, 1.220, 0.859, -1.802, 0, 270, 0, [SEP] 34, Drawer, 0.980, 0.404, -1.963, 0, 0, 0, [SEP] 35, Drawer, 0.980, 0.272, -1.639, 0, 0, 0, [SEP] 36, Mirror, 0.740, 1.491, 2.099, 0, 0, 0, [SEP] 37, Drawer, 0.980, 0.139, -1.639, 0, 0, 0, [SEP] 38, Drawer, 0.980, 0.404, -1.639, 0, 0, 0, [SEP] 39, Chair, 0.280, -0.001, -2.264, 0, 180, 0, [SEP] 40, GarbageCan, -1.542, 0.013, 1.919, 2.249, 116.925, 355.175, [SEP] 41, Shelf, 1.259, 0.903, -0.269, 0, 270, 0, [SEP] 42, Shelf, 1.259, 0.375, -0.263, 0, 270, 0, [SEP] 43, Shelf, 1.259, 1.402, -0.259, 0, 270, 0, [SEP] 44, Shelf, -1.577, 1.513, -2.025, 0, 270, 0, [SEP] 45, LightSwitch, -0.755, 1.176, 2.099, 0, 180, 0, [SEP] 46, DeskLamp, -1.489, 0.669, -2.419, 0, 0, 0, [SEP] 47, Window, 0.243, 0.963, -2.678, 90, 0, 0, [SEP] 48, Window, -0.361, 0.963, -2.679, 90, 0, 0, [SEP] 49, Window, -0.962, 0.963, -2.678, 90, 0, 0, [SEP] 50, Desk, 0.445, 0.001, -2.430, 0, 0, 0, [SEP] 51, Blinds, -0.349, 2.186, -2.685, 0, 0, 0, [SEP] 52, Blinds, 0.250, 2.186, -2.685, 0, 0, 0, [SEP] 53, Blinds, -0.952, 2.186, -2.685, 0, 0, 0, [SEP] 54, Drawer, -1.314, 0.163, -2.051, 0, 90, 0, [SEP] 55, SideTable, -1.444, -0.001, -2.051, 0, 90, 0, [SEP] 56, Drawer, -1.314, 0.455, -2.051, 0, 90, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, EastWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and go to the dresser at the far right corner by the end of the bed. | STEP 2: Take the keys between the lamp and the phone on the dresser. | STEP 3: Go to the left of the dresser. | STEP 4: Turn on the lamp on the dresser. | END"]} +{"id": "trial_T20190906_202601_548273-2", "input": "Take the keys on the dresser and turn on the lamp on the dresser. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 1.0, 0, 90, 0, [SEP] 1, Bowl, 1.226, 0.383, -0.386, 0, 270, 0, 42 [SEP] 2, Bowl, 1.260, 1.410, 0.195, 0, 270, 0, 43 [SEP] 3, CD, -1.400, 0.395, -2.259, 0, 0, 0, 56 [SEP] 4, CD, 1.120, 0.370, -1.605, 0, 0, 0, 38 [SEP] 5, CellPhone, -0.842, 0.611, 0.337, 0, 0, 0, 32 [SEP] 6, CellPhone, -0.842, 0.611, 0.618, 0, 0, 0, 32 [SEP] 7, Pencil, -1.332, 0.704, -1.755, 0, 0, 0, 55 [SEP] 8, Pencil, -1.611, 1.527, -2.148, 0, 270, 0, 44 [SEP] 9, KeyChain, -1.519, 0.698, -2.046, 0, 0, 0, 55 [SEP] 10, KeyChain, -1.334, 0.397, -2.046, 0, 0, 0, 56 [SEP] 11, KeyChain, 1.293, 1.412, -0.382, 0, 270, 0, 41 [SEP] 12, CreditCard, 1.226, 0.383, -0.531, 0, 270, 0, 42 [SEP] 13, CreditCard, 1.224, 0.238, -1.570, 0, 0, 0, 35 [SEP] 14, Book, -1.323, 0.610, 0.618, 0, 0, 0, 32 [SEP] 15, Pillow, -1.323, 0.713, 0.057, 0, 0, 0, 32 [SEP] 16, Book, 0.623, 0.569, -2.471, 0, 350.999, 0, 39 [SEP] 17, KeyChain, 1.327, 0.384, -0.675, 0, 0, 0, 42 [SEP] 18, BaseballBat, 1.436, 0.636, 1.985, 21.882, 0, 0, [SEP] 19, BasketBall, 1.270, 0.12, -1.290, 0, 345.557, 0, [SEP] 20, Pencil, -1.394, 0.701, -2.191, 0, 0, 0, 55 [SEP] 21, CellPhone, -1.519, 0.697, -1.755, 0, 0, 0, 55 [SEP] 22, CreditCard, 1.068, 0.105, -1.894, 0, 0, 0, 31 [SEP] 23, Laptop, 0.076, 0.569, -2.456, 0, 0, 0, 50 [SEP] 24, Pillow, -1.170, 0.684, -0.990, 0, 0, 0, 32 [SEP] 25, Boots, 1.288, 0.000, -0.961, 0, 177.912, 0, [SEP] 26, Pen, 1.293, 1.416, -0.238, 0, 270, 0, 43 [SEP] 27, AlarmClock, 1.192, 0.383, 0.191, 0, 270, 0, 42 [SEP] 28, CD, -1.269, 0.699, -2.481, 0, 0, 0, 55 [SEP] 29, Bowl, 1.260, 0.383, -0.097, 0, 270, 0, 42 [SEP] 30, Drawer, 0.980, 0.271, -1.963, 0, 0, 0, [SEP] 31, Drawer, 0.980, 0.139, -1.963, 0, 0, 0, [SEP] 32, Bed, -1.209, 0.016, -0.266, 0, 180, 1.624, [SEP] 33, Shelf, 1.220, 0.859, -1.802, 0, 270, 0, [SEP] 34, Drawer, 0.980, 0.404, -1.963, 0, 0, 0, [SEP] 35, Drawer, 0.980, 0.272, -1.639, 0, 0, 0, [SEP] 36, Mirror, 0.740, 1.491, 2.099, 0, 0, 0, [SEP] 37, Drawer, 0.980, 0.139, -1.639, 0, 0, 0, [SEP] 38, Drawer, 0.980, 0.404, -1.639, 0, 0, 0, [SEP] 39, Chair, 0.280, -0.001, -2.264, 0, 180, 0, [SEP] 40, GarbageCan, -1.542, 0.013, 1.919, 2.249, 116.925, 355.175, [SEP] 41, Shelf, 1.259, 0.903, -0.269, 0, 270, 0, [SEP] 42, Shelf, 1.259, 0.375, -0.263, 0, 270, 0, [SEP] 43, Shelf, 1.259, 1.402, -0.259, 0, 270, 0, [SEP] 44, Shelf, -1.577, 1.513, -2.025, 0, 270, 0, [SEP] 45, LightSwitch, -0.755, 1.176, 2.099, 0, 180, 0, [SEP] 46, DeskLamp, -1.489, 0.669, -2.419, 0, 0, 0, [SEP] 47, Window, 0.243, 0.963, -2.678, 90, 0, 0, [SEP] 48, Window, -0.361, 0.963, -2.679, 90, 0, 0, [SEP] 49, Window, -0.962, 0.963, -2.678, 90, 0, 0, [SEP] 50, Desk, 0.445, 0.001, -2.430, 0, 0, 0, [SEP] 51, Blinds, -0.349, 2.186, -2.685, 0, 0, 0, [SEP] 52, Blinds, 0.250, 2.186, -2.685, 0, 0, 0, [SEP] 53, Blinds, -0.952, 2.186, -2.685, 0, 0, 0, [SEP] 54, Drawer, -1.314, 0.163, -2.051, 0, 90, 0, [SEP] 55, SideTable, -1.444, -0.001, -2.051, 0, 90, 0, [SEP] 56, Drawer, -1.314, 0.455, -2.051, 0, 90, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, EastWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk across the room, then turn right and walk towards the desk, and then turn right again and walk towards the dresser. | STEP 2: Pick up the keys on the dresser. | STEP 3: Turn left and walk towards the door, then turn right towards the dresser. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190907_144556_144188-0", "input": "Move the spray bottles to the cabinet under the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, 0.25, 0, 180, 0, [SEP] 1, Cloth, -1.413, 0.934, -1.497, 347.851, 0, 0, 39 [SEP] 2, Cloth, -0.379, 0.926, -1.534, 347.851, 0, 0, 37 [SEP] 3, SoapBar, -0.489, 0.017, -1.688, 0, 0, 0, 27 [SEP] 4, Candle, -1.841, 1.042, 0.206, 0, 90, 0, 42 [SEP] 5, Candle, -0.158, 0.907, -1.349, 0, 0, 0, 24 [SEP] 6, SprayBottle, -1.902, 1.045, 0.337, 0, 90, 0, 42 [SEP] 7, SoapBottle, -1.843, 0.018, -1.588, 0, 0, 0, 30 [SEP] 8, SoapBottle, -1.667, 0.018, -1.639, 0, 0, 0, 30 [SEP] 9, Towel, 0.89, 1.368, -1.755, 0, 0, 0, 34 [SEP] 10, HandTowel, -2.028, 1.492, -1.482, 0, 270, 0, 40 [SEP] 11, SoapBar, -0.103, 0.908, -1.687, 0, 0, 0, 24 [SEP] 12, ToiletPaper, -1.199, 0.919, 0.680, 0, 180, 270, 35 [SEP] 13, ToiletPaper, -1.949, 0.905, -1.350, 0, 0, 0, 24 [SEP] 14, Cloth, -0.803, 0.017, -1.537, 0, 0, 0, 21 [SEP] 15, SprayBottle, -1.969, 0.910, -1.758, 0, 0, 0, 24 [SEP] 16, ScrubBrush, -1.648, -0.000, 0.649, 0, 0, 0, Floor|-00.27| [SEP] 17, Plunger, -1.885, -0.001, 0.609, 0, 0, 0, Floor|-00.27| [SEP] 18, Candle, -1.963, 1.042, 0.403, 0, 90, 0, 42 [SEP] 19, SoapBottle, 0.119, 0.154, -1.598, 0, 270, 0, 41 [SEP] 20, Cabinet, -1.052, 0.340, -1.327, 0, 0, 0, [SEP] 21, Cabinet, -1.039, 0.340, -1.327, 0, 0, 0, [SEP] 22, ShowerGlass, 0.919, 1.417, -0.206, 0, 0, 0, [SEP] 23, Sink, -1.560, 0.811, -1.598, 0, 0, 0, [SEP] 24, CounterTop, -1.041, 0.884, -1.531, 0, 0, 0, [SEP] 25, ShowerDoor, 0.451, 0.926, 0.696, 0, 0, 0, [SEP] 26, Faucet, -0.505, 0.898, -1.779, 0, 0, 0, [SEP] 27, Cabinet, -0.071, 0.340, -1.327, 0, 0, 0, [SEP] 28, Mirror, -1.014, 1.501, -1.840, 0, 0, 0, [SEP] 29, Bathtub, 0.883, 0.392, -1.154, 0, 0, 0, [SEP] 30, Cabinet, -2.020, 0.340, -1.327, 0, 0, 0, [SEP] 31, Sink, -0.526, 0.811, -1.598, 0, 0, 0, [SEP] 32, Window, 1.532, 1.672, -1.037, 0, 0, 0, [SEP] 33, ShowerCurtain, 0.460, 1.777, -1.522, 0, 0, 0, [SEP] 34, TowelHolder, 0.889, 1.353, -1.861, 0, 0, 0, [SEP] 35, ToiletPaperHanger, -1.182, 0.919, 0.768, 0, 180, 0, [SEP] 36, LightSwitch, 0.224, 1.333, 0.762, 0, 180, 0, [SEP] 37, SinkBasin, -0.536, 0.917, -1.532, 347.851, 0, 0, [SEP] 38, BathtubBasin, 0.938, 0.160, -1.126, 0, 270, 0, [SEP] 39, SinkBasin, -1.571, 0.917, -1.532, 347.851, 0, 0, [SEP] 40, HandTowelHolder, -2.066, 1.594, -1.482, 0, 0, 0, [SEP] 41, GarbageCan, 0.122, -0.002, -1.558, 0, 270, 0, [SEP] 42, Toilet, -1.610, -0.000, 0.209, 0, 180, 0, [SEP] 43, Faucet, -1.537, 0.898, -1.779, 0, 0, 0, [SEP] 44, Faucet, 0.929, 0.509, -1.978, 0, 0, 0, [SEP] 45, Faucet, 0.890, 1.689, 0.724, 0, 0, 0, [SEP] 46, NorthWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: Turn and go to the sink on the right. | STEP 2: Pick up the spray bottle by the sink. | STEP 3: Go to the cabinets under the sink on the right. | STEP 4: Put the spray bottle in the cabinets under the sink. | STEP 5: Turn around and go to the toilet. | STEP 6: Pick up the spray bottle on the toilet. | STEP 7: Turn around and go to the cabinets under the sink on the right. | STEP 8: Put the spray bottle in the cabinet under the sink. | END"]} +{"id": "trial_T20190907_144556_144188-1", "input": "Put two bottles in a cabinet under the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, 0.25, 0, 180, 0, [SEP] 1, Cloth, -1.413, 0.934, -1.497, 347.851, 0, 0, 39 [SEP] 2, Cloth, -0.379, 0.926, -1.534, 347.851, 0, 0, 37 [SEP] 3, SoapBar, -0.489, 0.017, -1.688, 0, 0, 0, 27 [SEP] 4, Candle, -1.841, 1.042, 0.206, 0, 90, 0, 42 [SEP] 5, Candle, -0.158, 0.907, -1.349, 0, 0, 0, 24 [SEP] 6, SprayBottle, -1.902, 1.045, 0.337, 0, 90, 0, 42 [SEP] 7, SoapBottle, -1.843, 0.018, -1.588, 0, 0, 0, 30 [SEP] 8, SoapBottle, -1.667, 0.018, -1.639, 0, 0, 0, 30 [SEP] 9, Towel, 0.89, 1.368, -1.755, 0, 0, 0, 34 [SEP] 10, HandTowel, -2.028, 1.492, -1.482, 0, 270, 0, 40 [SEP] 11, SoapBar, -0.103, 0.908, -1.687, 0, 0, 0, 24 [SEP] 12, ToiletPaper, -1.199, 0.919, 0.680, 0, 180, 270, 35 [SEP] 13, ToiletPaper, -1.949, 0.905, -1.350, 0, 0, 0, 24 [SEP] 14, Cloth, -0.803, 0.017, -1.537, 0, 0, 0, 21 [SEP] 15, SprayBottle, -1.969, 0.910, -1.758, 0, 0, 0, 24 [SEP] 16, ScrubBrush, -1.648, -0.000, 0.649, 0, 0, 0, Floor|-00.27| [SEP] 17, Plunger, -1.885, -0.001, 0.609, 0, 0, 0, Floor|-00.27| [SEP] 18, Candle, -1.963, 1.042, 0.403, 0, 90, 0, 42 [SEP] 19, SoapBottle, 0.119, 0.154, -1.598, 0, 270, 0, 41 [SEP] 20, Cabinet, -1.052, 0.340, -1.327, 0, 0, 0, [SEP] 21, Cabinet, -1.039, 0.340, -1.327, 0, 0, 0, [SEP] 22, ShowerGlass, 0.919, 1.417, -0.206, 0, 0, 0, [SEP] 23, Sink, -1.560, 0.811, -1.598, 0, 0, 0, [SEP] 24, CounterTop, -1.041, 0.884, -1.531, 0, 0, 0, [SEP] 25, ShowerDoor, 0.451, 0.926, 0.696, 0, 0, 0, [SEP] 26, Faucet, -0.505, 0.898, -1.779, 0, 0, 0, [SEP] 27, Cabinet, -0.071, 0.340, -1.327, 0, 0, 0, [SEP] 28, Mirror, -1.014, 1.501, -1.840, 0, 0, 0, [SEP] 29, Bathtub, 0.883, 0.392, -1.154, 0, 0, 0, [SEP] 30, Cabinet, -2.020, 0.340, -1.327, 0, 0, 0, [SEP] 31, Sink, -0.526, 0.811, -1.598, 0, 0, 0, [SEP] 32, Window, 1.532, 1.672, -1.037, 0, 0, 0, [SEP] 33, ShowerCurtain, 0.460, 1.777, -1.522, 0, 0, 0, [SEP] 34, TowelHolder, 0.889, 1.353, -1.861, 0, 0, 0, [SEP] 35, ToiletPaperHanger, -1.182, 0.919, 0.768, 0, 180, 0, [SEP] 36, LightSwitch, 0.224, 1.333, 0.762, 0, 180, 0, [SEP] 37, SinkBasin, -0.536, 0.917, -1.532, 347.851, 0, 0, [SEP] 38, BathtubBasin, 0.938, 0.160, -1.126, 0, 270, 0, [SEP] 39, SinkBasin, -1.571, 0.917, -1.532, 347.851, 0, 0, [SEP] 40, HandTowelHolder, -2.066, 1.594, -1.482, 0, 0, 0, [SEP] 41, GarbageCan, 0.122, -0.002, -1.558, 0, 270, 0, [SEP] 42, Toilet, -1.610, -0.000, 0.209, 0, 180, 0, [SEP] 43, Faucet, -1.537, 0.898, -1.779, 0, 0, 0, [SEP] 44, Faucet, 0.929, 0.509, -1.978, 0, 0, 0, [SEP] 45, Faucet, 0.890, 1.689, 0.724, 0, 0, 0, [SEP] 46, NorthWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: Move to the sink to the left of the toilet | STEP 2: Pick up a bottle from the counter | STEP 3: Move to the cabinet to the second from the right against the wall | STEP 4: Put the bottle in the cabinet | STEP 5: Move to the toilet behind you | STEP 6: Pick up a bottle from the toilet | STEP 7: Move to the cabinet to the second from the right against the wall | STEP 8: Put the bottle in the cabinet | END"]} +{"id": "trial_T20190907_144556_144188-2", "input": "Put two spray bottles in the cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, 0.25, 0, 180, 0, [SEP] 1, Cloth, -1.413, 0.934, -1.497, 347.851, 0, 0, 39 [SEP] 2, Cloth, -0.379, 0.926, -1.534, 347.851, 0, 0, 37 [SEP] 3, SoapBar, -0.489, 0.017, -1.688, 0, 0, 0, 27 [SEP] 4, Candle, -1.841, 1.042, 0.206, 0, 90, 0, 42 [SEP] 5, Candle, -0.158, 0.907, -1.349, 0, 0, 0, 24 [SEP] 6, SprayBottle, -1.902, 1.045, 0.337, 0, 90, 0, 42 [SEP] 7, SoapBottle, -1.843, 0.018, -1.588, 0, 0, 0, 30 [SEP] 8, SoapBottle, -1.667, 0.018, -1.639, 0, 0, 0, 30 [SEP] 9, Towel, 0.89, 1.368, -1.755, 0, 0, 0, 34 [SEP] 10, HandTowel, -2.028, 1.492, -1.482, 0, 270, 0, 40 [SEP] 11, SoapBar, -0.103, 0.908, -1.687, 0, 0, 0, 24 [SEP] 12, ToiletPaper, -1.199, 0.919, 0.680, 0, 180, 270, 35 [SEP] 13, ToiletPaper, -1.949, 0.905, -1.350, 0, 0, 0, 24 [SEP] 14, Cloth, -0.803, 0.017, -1.537, 0, 0, 0, 21 [SEP] 15, SprayBottle, -1.969, 0.910, -1.758, 0, 0, 0, 24 [SEP] 16, ScrubBrush, -1.648, -0.000, 0.649, 0, 0, 0, Floor|-00.27| [SEP] 17, Plunger, -1.885, -0.001, 0.609, 0, 0, 0, Floor|-00.27| [SEP] 18, Candle, -1.963, 1.042, 0.403, 0, 90, 0, 42 [SEP] 19, SoapBottle, 0.119, 0.154, -1.598, 0, 270, 0, 41 [SEP] 20, Cabinet, -1.052, 0.340, -1.327, 0, 0, 0, [SEP] 21, Cabinet, -1.039, 0.340, -1.327, 0, 0, 0, [SEP] 22, ShowerGlass, 0.919, 1.417, -0.206, 0, 0, 0, [SEP] 23, Sink, -1.560, 0.811, -1.598, 0, 0, 0, [SEP] 24, CounterTop, -1.041, 0.884, -1.531, 0, 0, 0, [SEP] 25, ShowerDoor, 0.451, 0.926, 0.696, 0, 0, 0, [SEP] 26, Faucet, -0.505, 0.898, -1.779, 0, 0, 0, [SEP] 27, Cabinet, -0.071, 0.340, -1.327, 0, 0, 0, [SEP] 28, Mirror, -1.014, 1.501, -1.840, 0, 0, 0, [SEP] 29, Bathtub, 0.883, 0.392, -1.154, 0, 0, 0, [SEP] 30, Cabinet, -2.020, 0.340, -1.327, 0, 0, 0, [SEP] 31, Sink, -0.526, 0.811, -1.598, 0, 0, 0, [SEP] 32, Window, 1.532, 1.672, -1.037, 0, 0, 0, [SEP] 33, ShowerCurtain, 0.460, 1.777, -1.522, 0, 0, 0, [SEP] 34, TowelHolder, 0.889, 1.353, -1.861, 0, 0, 0, [SEP] 35, ToiletPaperHanger, -1.182, 0.919, 0.768, 0, 180, 0, [SEP] 36, LightSwitch, 0.224, 1.333, 0.762, 0, 180, 0, [SEP] 37, SinkBasin, -0.536, 0.917, -1.532, 347.851, 0, 0, [SEP] 38, BathtubBasin, 0.938, 0.160, -1.126, 0, 270, 0, [SEP] 39, SinkBasin, -1.571, 0.917, -1.532, 347.851, 0, 0, [SEP] 40, HandTowelHolder, -2.066, 1.594, -1.482, 0, 0, 0, [SEP] 41, GarbageCan, 0.122, -0.002, -1.558, 0, 270, 0, [SEP] 42, Toilet, -1.610, -0.000, 0.209, 0, 180, 0, [SEP] 43, Faucet, -1.537, 0.898, -1.779, 0, 0, 0, [SEP] 44, Faucet, 0.929, 0.509, -1.978, 0, 0, 0, [SEP] 45, Faucet, 0.890, 1.689, 0.724, 0, 0, 0, [SEP] 46, NorthWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: Take a step forward then turn right and walk to the wall then turn left and walk to the sink in front of you. | STEP 2: Pick up the blue spray bottle. | STEP 3: Back up a step. | STEP 4: Open the left cabinet door under the sink and put the spray bottle down there and close the door. | STEP 5: Turn around and walk to the toilet. | STEP 6: Pick up the blue spray bottle. | STEP 7: Go back to where you put the first spray bottle. | STEP 8: Put the spray bottle next to the other one and close the door. | END"]} +{"id": "trial_T20190907_144556_144188-3", "input": "Put two spray bottles in the cabinet under the sink against the wall. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, 0.25, 0, 180, 0, [SEP] 1, Cloth, -1.413, 0.934, -1.497, 347.851, 0, 0, 39 [SEP] 2, Cloth, -0.379, 0.926, -1.534, 347.851, 0, 0, 37 [SEP] 3, SoapBar, -0.489, 0.017, -1.688, 0, 0, 0, 27 [SEP] 4, Candle, -1.841, 1.042, 0.206, 0, 90, 0, 42 [SEP] 5, Candle, -0.158, 0.907, -1.349, 0, 0, 0, 24 [SEP] 6, SprayBottle, -1.902, 1.045, 0.337, 0, 90, 0, 42 [SEP] 7, SoapBottle, -1.843, 0.018, -1.588, 0, 0, 0, 30 [SEP] 8, SoapBottle, -1.667, 0.018, -1.639, 0, 0, 0, 30 [SEP] 9, Towel, 0.89, 1.368, -1.755, 0, 0, 0, 34 [SEP] 10, HandTowel, -2.028, 1.492, -1.482, 0, 270, 0, 40 [SEP] 11, SoapBar, -0.103, 0.908, -1.687, 0, 0, 0, 24 [SEP] 12, ToiletPaper, -1.199, 0.919, 0.680, 0, 180, 270, 35 [SEP] 13, ToiletPaper, -1.949, 0.905, -1.350, 0, 0, 0, 24 [SEP] 14, Cloth, -0.803, 0.017, -1.537, 0, 0, 0, 21 [SEP] 15, SprayBottle, -1.969, 0.910, -1.758, 0, 0, 0, 24 [SEP] 16, ScrubBrush, -1.648, -0.000, 0.649, 0, 0, 0, Floor|-00.27| [SEP] 17, Plunger, -1.885, -0.001, 0.609, 0, 0, 0, Floor|-00.27| [SEP] 18, Candle, -1.963, 1.042, 0.403, 0, 90, 0, 42 [SEP] 19, SoapBottle, 0.119, 0.154, -1.598, 0, 270, 0, 41 [SEP] 20, Cabinet, -1.052, 0.340, -1.327, 0, 0, 0, [SEP] 21, Cabinet, -1.039, 0.340, -1.327, 0, 0, 0, [SEP] 22, ShowerGlass, 0.919, 1.417, -0.206, 0, 0, 0, [SEP] 23, Sink, -1.560, 0.811, -1.598, 0, 0, 0, [SEP] 24, CounterTop, -1.041, 0.884, -1.531, 0, 0, 0, [SEP] 25, ShowerDoor, 0.451, 0.926, 0.696, 0, 0, 0, [SEP] 26, Faucet, -0.505, 0.898, -1.779, 0, 0, 0, [SEP] 27, Cabinet, -0.071, 0.340, -1.327, 0, 0, 0, [SEP] 28, Mirror, -1.014, 1.501, -1.840, 0, 0, 0, [SEP] 29, Bathtub, 0.883, 0.392, -1.154, 0, 0, 0, [SEP] 30, Cabinet, -2.020, 0.340, -1.327, 0, 0, 0, [SEP] 31, Sink, -0.526, 0.811, -1.598, 0, 0, 0, [SEP] 32, Window, 1.532, 1.672, -1.037, 0, 0, 0, [SEP] 33, ShowerCurtain, 0.460, 1.777, -1.522, 0, 0, 0, [SEP] 34, TowelHolder, 0.889, 1.353, -1.861, 0, 0, 0, [SEP] 35, ToiletPaperHanger, -1.182, 0.919, 0.768, 0, 180, 0, [SEP] 36, LightSwitch, 0.224, 1.333, 0.762, 0, 180, 0, [SEP] 37, SinkBasin, -0.536, 0.917, -1.532, 347.851, 0, 0, [SEP] 38, BathtubBasin, 0.938, 0.160, -1.126, 0, 270, 0, [SEP] 39, SinkBasin, -1.571, 0.917, -1.532, 347.851, 0, 0, [SEP] 40, HandTowelHolder, -2.066, 1.594, -1.482, 0, 0, 0, [SEP] 41, GarbageCan, 0.122, -0.002, -1.558, 0, 270, 0, [SEP] 42, Toilet, -1.610, -0.000, 0.209, 0, 180, 0, [SEP] 43, Faucet, -1.537, 0.898, -1.779, 0, 0, 0, [SEP] 44, Faucet, 0.929, 0.509, -1.978, 0, 0, 0, [SEP] 45, Faucet, 0.890, 1.689, 0.724, 0, 0, 0, [SEP] 46, NorthWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: Move to the sink against the wall. | STEP 2: Pick up a spray bottle from the counter. | STEP 3: Move back a few steps from the sink. | STEP 4: Open the cabinet to the left under the sink ahead of you and place the bottle inside and close it. | STEP 5: Turn around to the toilet. | STEP 6: Pick up the bottle on the toilet. | STEP 7: Turn around to the sink behind you. | STEP 8: Open the cabinet to the left under the sink ahead of you and place the bottle inside and close it. | END"]} +{"id": "trial_T20190907_144556_144188-4", "input": "Put two spray bottles in a cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, 0.25, 0, 180, 0, [SEP] 1, Cloth, -1.413, 0.934, -1.497, 347.851, 0, 0, 39 [SEP] 2, Cloth, -0.379, 0.926, -1.534, 347.851, 0, 0, 37 [SEP] 3, SoapBar, -0.489, 0.017, -1.688, 0, 0, 0, 27 [SEP] 4, Candle, -1.841, 1.042, 0.206, 0, 90, 0, 42 [SEP] 5, Candle, -0.158, 0.907, -1.349, 0, 0, 0, 24 [SEP] 6, SprayBottle, -1.902, 1.045, 0.337, 0, 90, 0, 42 [SEP] 7, SoapBottle, -1.843, 0.018, -1.588, 0, 0, 0, 30 [SEP] 8, SoapBottle, -1.667, 0.018, -1.639, 0, 0, 0, 30 [SEP] 9, Towel, 0.89, 1.368, -1.755, 0, 0, 0, 34 [SEP] 10, HandTowel, -2.028, 1.492, -1.482, 0, 270, 0, 40 [SEP] 11, SoapBar, -0.103, 0.908, -1.687, 0, 0, 0, 24 [SEP] 12, ToiletPaper, -1.199, 0.919, 0.680, 0, 180, 270, 35 [SEP] 13, ToiletPaper, -1.949, 0.905, -1.350, 0, 0, 0, 24 [SEP] 14, Cloth, -0.803, 0.017, -1.537, 0, 0, 0, 21 [SEP] 15, SprayBottle, -1.969, 0.910, -1.758, 0, 0, 0, 24 [SEP] 16, ScrubBrush, -1.648, -0.000, 0.649, 0, 0, 0, Floor|-00.27| [SEP] 17, Plunger, -1.885, -0.001, 0.609, 0, 0, 0, Floor|-00.27| [SEP] 18, Candle, -1.963, 1.042, 0.403, 0, 90, 0, 42 [SEP] 19, SoapBottle, 0.119, 0.154, -1.598, 0, 270, 0, 41 [SEP] 20, Cabinet, -1.052, 0.340, -1.327, 0, 0, 0, [SEP] 21, Cabinet, -1.039, 0.340, -1.327, 0, 0, 0, [SEP] 22, ShowerGlass, 0.919, 1.417, -0.206, 0, 0, 0, [SEP] 23, Sink, -1.560, 0.811, -1.598, 0, 0, 0, [SEP] 24, CounterTop, -1.041, 0.884, -1.531, 0, 0, 0, [SEP] 25, ShowerDoor, 0.451, 0.926, 0.696, 0, 0, 0, [SEP] 26, Faucet, -0.505, 0.898, -1.779, 0, 0, 0, [SEP] 27, Cabinet, -0.071, 0.340, -1.327, 0, 0, 0, [SEP] 28, Mirror, -1.014, 1.501, -1.840, 0, 0, 0, [SEP] 29, Bathtub, 0.883, 0.392, -1.154, 0, 0, 0, [SEP] 30, Cabinet, -2.020, 0.340, -1.327, 0, 0, 0, [SEP] 31, Sink, -0.526, 0.811, -1.598, 0, 0, 0, [SEP] 32, Window, 1.532, 1.672, -1.037, 0, 0, 0, [SEP] 33, ShowerCurtain, 0.460, 1.777, -1.522, 0, 0, 0, [SEP] 34, TowelHolder, 0.889, 1.353, -1.861, 0, 0, 0, [SEP] 35, ToiletPaperHanger, -1.182, 0.919, 0.768, 0, 180, 0, [SEP] 36, LightSwitch, 0.224, 1.333, 0.762, 0, 180, 0, [SEP] 37, SinkBasin, -0.536, 0.917, -1.532, 347.851, 0, 0, [SEP] 38, BathtubBasin, 0.938, 0.160, -1.126, 0, 270, 0, [SEP] 39, SinkBasin, -1.571, 0.917, -1.532, 347.851, 0, 0, [SEP] 40, HandTowelHolder, -2.066, 1.594, -1.482, 0, 0, 0, [SEP] 41, GarbageCan, 0.122, -0.002, -1.558, 0, 270, 0, [SEP] 42, Toilet, -1.610, -0.000, 0.209, 0, 180, 0, [SEP] 43, Faucet, -1.537, 0.898, -1.779, 0, 0, 0, [SEP] 44, Faucet, 0.929, 0.509, -1.978, 0, 0, 0, [SEP] 45, Faucet, 0.890, 1.689, 0.724, 0, 0, 0, [SEP] 46, NorthWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: Take a step forward, then turn right and walk over to the wall, after that turn left and walk up to the sink. | STEP 2: Pick up the blue spray bottle off of the counter. | STEP 3: Turn around and walk over to the toilet, then turn around to face the sink. | STEP 4: Open the second cabinet door from the right and place the spray bottle inside on the front right edge. | STEP 5: Turn around and walk up to the toilet. | STEP 6: Pick up the spray bottle off of the toilet tank. | STEP 7: Turn around and take a step forward. | STEP 8: Open the second cabinet door from the right and place the spray bottle inside to the left of the spray bottle that is already in there. | END"]} +{"id": "trial_T20190907_144556_144188-5", "input": "To move two spray bottles to the cabinet below the sink on the right side. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, 0.25, 0, 180, 0, [SEP] 1, Cloth, -1.413, 0.934, -1.497, 347.851, 0, 0, 39 [SEP] 2, Cloth, -0.379, 0.926, -1.534, 347.851, 0, 0, 37 [SEP] 3, SoapBar, -0.489, 0.017, -1.688, 0, 0, 0, 27 [SEP] 4, Candle, -1.841, 1.042, 0.206, 0, 90, 0, 42 [SEP] 5, Candle, -0.158, 0.907, -1.349, 0, 0, 0, 24 [SEP] 6, SprayBottle, -1.902, 1.045, 0.337, 0, 90, 0, 42 [SEP] 7, SoapBottle, -1.843, 0.018, -1.588, 0, 0, 0, 30 [SEP] 8, SoapBottle, -1.667, 0.018, -1.639, 0, 0, 0, 30 [SEP] 9, Towel, 0.89, 1.368, -1.755, 0, 0, 0, 34 [SEP] 10, HandTowel, -2.028, 1.492, -1.482, 0, 270, 0, 40 [SEP] 11, SoapBar, -0.103, 0.908, -1.687, 0, 0, 0, 24 [SEP] 12, ToiletPaper, -1.199, 0.919, 0.680, 0, 180, 270, 35 [SEP] 13, ToiletPaper, -1.949, 0.905, -1.350, 0, 0, 0, 24 [SEP] 14, Cloth, -0.803, 0.017, -1.537, 0, 0, 0, 21 [SEP] 15, SprayBottle, -1.969, 0.910, -1.758, 0, 0, 0, 24 [SEP] 16, ScrubBrush, -1.648, -0.000, 0.649, 0, 0, 0, Floor|-00.27| [SEP] 17, Plunger, -1.885, -0.001, 0.609, 0, 0, 0, Floor|-00.27| [SEP] 18, Candle, -1.963, 1.042, 0.403, 0, 90, 0, 42 [SEP] 19, SoapBottle, 0.119, 0.154, -1.598, 0, 270, 0, 41 [SEP] 20, Cabinet, -1.052, 0.340, -1.327, 0, 0, 0, [SEP] 21, Cabinet, -1.039, 0.340, -1.327, 0, 0, 0, [SEP] 22, ShowerGlass, 0.919, 1.417, -0.206, 0, 0, 0, [SEP] 23, Sink, -1.560, 0.811, -1.598, 0, 0, 0, [SEP] 24, CounterTop, -1.041, 0.884, -1.531, 0, 0, 0, [SEP] 25, ShowerDoor, 0.451, 0.926, 0.696, 0, 0, 0, [SEP] 26, Faucet, -0.505, 0.898, -1.779, 0, 0, 0, [SEP] 27, Cabinet, -0.071, 0.340, -1.327, 0, 0, 0, [SEP] 28, Mirror, -1.014, 1.501, -1.840, 0, 0, 0, [SEP] 29, Bathtub, 0.883, 0.392, -1.154, 0, 0, 0, [SEP] 30, Cabinet, -2.020, 0.340, -1.327, 0, 0, 0, [SEP] 31, Sink, -0.526, 0.811, -1.598, 0, 0, 0, [SEP] 32, Window, 1.532, 1.672, -1.037, 0, 0, 0, [SEP] 33, ShowerCurtain, 0.460, 1.777, -1.522, 0, 0, 0, [SEP] 34, TowelHolder, 0.889, 1.353, -1.861, 0, 0, 0, [SEP] 35, ToiletPaperHanger, -1.182, 0.919, 0.768, 0, 180, 0, [SEP] 36, LightSwitch, 0.224, 1.333, 0.762, 0, 180, 0, [SEP] 37, SinkBasin, -0.536, 0.917, -1.532, 347.851, 0, 0, [SEP] 38, BathtubBasin, 0.938, 0.160, -1.126, 0, 270, 0, [SEP] 39, SinkBasin, -1.571, 0.917, -1.532, 347.851, 0, 0, [SEP] 40, HandTowelHolder, -2.066, 1.594, -1.482, 0, 0, 0, [SEP] 41, GarbageCan, 0.122, -0.002, -1.558, 0, 270, 0, [SEP] 42, Toilet, -1.610, -0.000, 0.209, 0, 180, 0, [SEP] 43, Faucet, -1.537, 0.898, -1.779, 0, 0, 0, [SEP] 44, Faucet, 0.929, 0.509, -1.978, 0, 0, 0, [SEP] 45, Faucet, 0.890, 1.689, 0.724, 0, 0, 0, [SEP] 46, NorthWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the front of the sink on the right side of the counter ahead. | STEP 2: Pick up the blue spray bottle that's to the right of the faucet. | STEP 3: Face the cabinets below the sink on the right side. | STEP 4: Open the cabinet on the left side below the right sink, place the blue spray bottle in the cabinet, and close the door. | STEP 5: Turn around and face the back of the toilet. | STEP 6: Pick up the blue spray bottle from the back of the toilet in between the two candles. | STEP 7: Turn around and face the cabinets below the right side sink. | STEP 8: Open the door on the left side, place the blue spray bottle to the left of the first spray bottle, and close the door. | END"]} +{"id": "trial_T20190908_165525_911839-0", "input": "Put a chilled slice of tomato in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 0.0, 0, 90, 0, [SEP] 1, Pan, -1.109, 0.930, 1.865, 0, 0, 0, 60 [SEP] 2, ButterKnife, 1.503, 0.944, 1.714, 0, 180, 0, 63 [SEP] 3, Fork, -0.689, 0.747, 0.914, 0, 270, 0, 59 [SEP] 4, Fork, -0.876, 0.938, 0.765, 0, 0, 0, 61 [SEP] 5, Spatula, 1.448, 0.761, 0.780, 0, 90, 0, 66 [SEP] 6, Egg, -0.860, 0.600, 0.119, 0, 90, 0, 68 [SEP] 7, Knife, 1.275, 0.768, 0.780, 0, 90, 0, 66 [SEP] 8, SaltShaker, -1.189, 1.946, 1.830, 0, 0, 0, 51 [SEP] 9, SaltShaker, -1.211, 0.934, 2.159, 0, 0, 0, 36 [SEP] 10, PepperShaker, 1.469, 0.078, 1.059, 0, 0, 0, 62 [SEP] 11, PepperShaker, -0.758, 0.743, 0.779, 0, 180, 0, 59 [SEP] 12, Lettuce, 1.362, 1.028, 1.007, 0, 0, 0, 41 [SEP] 13, Mug, -1.126, 0.932, 0.921, 0, 0, 0, 61 [SEP] 14, Mug, 1.346, 0.095, 0.272, 0, 0, 0, 46 [SEP] 15, Lettuce, 1.669, 1.028, 0.873, 0, 0, 0, 41 [SEP] 16, SoapBottle, 1.455, 0.100, 0.070, 0, 0, 0, 46 [SEP] 17, Bread, -0.923, 0.990, 2.265, 0, 302.470, 0, 36 [SEP] 18, Fork, -0.793, 0.938, 0.921, 0, 0, 0, 61 [SEP] 19, Tomato, 1.409, 1.005, 1.631, 0, 180, 0, 63 [SEP] 20, Bowl, 1.391, 0.078, 2.251, 0, 0, 0, 45 [SEP] 21, Pot, -1.109, 0.930, 1.470, 0, 0, 0, 38 [SEP] 22, Spatula, 1.275, 0.761, 2.323, 0, 90, 0, 39 [SEP] 23, Knife, -1.043, 0.959, 0.765, 0, 90, 0, 61 [SEP] 24, SaltShaker, -1.116, 1.498, 0.692, 0, 0, 0, 47 [SEP] 25, Apple, -1.065, 1.548, 0.348, 0, 90, 0, 68 [SEP] 26, PepperShaker, -1.038, 1.824, 0.303, 0, 0, 0, 50 [SEP] 27, ButterKnife, 1.344, 0.746, 2.323, 0, 90, 0, 39 [SEP] 28, Potato, 1.503, 0.977, 1.798, 0, 180, 0, 63 [SEP] 29, Plate, -1.077, 1.833, -0.127, 0, 0, 0, 49 [SEP] 30, DishSponge, 1.423, 0.069, 2.945, 0, 0, 0, 74 [SEP] 31, Egg, -0.940, 0.850, 0.195, 0, 90, 0, 68 [SEP] 32, Cup, 1.469, 0.080, 0.848, 0, 0, 0, 62 [SEP] 33, Pan, 1.378, 1.737, 0.392, 0, 270, 0, 44 [SEP] 34, Spoon, -0.960, 0.939, 1.154, 0, 0, 0, 61 [SEP] 35, Mug, 1.528, 1.002, 2.345, 0, 270, 0, 41 [SEP] 36, CounterTop, -0.973, 0.973, 2.386, 0, 0, 0, [SEP] 37, Drawer, -0.783, 0.774, 2.381, 0, 180, 0, [SEP] 38, StoveBurner, -1.108, 0.922, 1.470, 0, 0, 0, [SEP] 39, Drawer, 1.370, 0.774, 2.391, 0, 0, 0, [SEP] 40, Stool, -0.748, 0.008, 3.116, 0, 0, 0, [SEP] 41, CounterTop, 1.504, 0.973, 2.309, 0, 0, 0, [SEP] 42, Cabinet, 1.219, 1.388, 0.591, 0, 0, 0, [SEP] 43, Cabinet, 1.500, 2.113, 1.164, 0, 0, 0, [SEP] 44, Cabinet, 1.219, 2.010, 0.591, 0, 0, 0, [SEP] 45, Cabinet, 1.219, 0.388, 2.105, 0, 0, 0, [SEP] 46, Cabinet, 1.219, 0.553, 0.591, 0, 0, 0, [SEP] 47, Cabinet, -0.913, 2.113, 1.164, 0, 0, 0, [SEP] 48, Cabinet, -0.633, 0.388, 0.627, 0, 0, 0, [SEP] 49, Cabinet, -0.913, 2.050, -0.329, 0, 0, 0, [SEP] 50, Cabinet, -0.913, 2.113, 0.583, 0, 0, 0, [SEP] 51, Cabinet, -0.913, 2.113, 2.082, 0, 0, 0, [SEP] 52, Cabinet, -0.913, 2.113, 1.207, 0, 0, 0, [SEP] 53, Cabinet, 1.500, 2.113, 2.082, 0, 0, 0, [SEP] 54, Cabinet, 1.500, 2.113, 1.207, 0, 0, 0, [SEP] 55, Cabinet, 1.500, 1.810, 2.691, 0, 0, 0, [SEP] 56, Cabinet, 1.500, 1.810, 2.101, 0, 0, 0, [SEP] 57, Cabinet, -0.633, 0.388, 2.105, 0, 0, 0, [SEP] 58, Cabinet, -0.911, 1.810, 2.700, 0, 180, 0, [SEP] 59, Drawer, -0.783, 0.774, 0.915, 0, 180, 0, [SEP] 60, StoveBurner, -1.108, 0.922, 1.865, 0, 0, 0, [SEP] 61, CounterTop, -0.972, 0.973, 0.921, 0, 0, 0, [SEP] 62, Cabinet, 1.219, 0.388, 0.631, 0, 0, 0, [SEP] 63, Sink, 1.544, 0.869, 1.639, 0, 180, 0, [SEP] 64, StoveBurner, -0.832, 0.922, 1.865, 0, 0, 0, [SEP] 65, StoveBurner, -0.831, 0.922, 1.470, 0, 0, 0, [SEP] 66, Drawer, 1.370, 0.774, 0.916, 0, 0, 0, [SEP] 67, Cabinet, -0.911, 1.810, 2.111, 0, 180, 0, [SEP] 68, Fridge, -1.001, 0.0, 0.119, 0, 0, 0, [SEP] 69, StoveKnob, -0.648, 0.926, 1.923, 0, 270, 0, [SEP] 70, StoveKnob, -0.648, 0.926, 1.363, 0, 270, 0, [SEP] 71, StoveKnob, -0.648, 0.926, 1.513, 0, 270, 0, [SEP] 72, StoveKnob, -0.648, 0.926, 1.763, 0, 270, 0, [SEP] 73, Toaster, -1.002, 0.926, 2.561, 0, 90, 0, [SEP] 74, GarbageCan, 1.451, -0.029, 2.912, 0, 0, 0, [SEP] 75, Microwave, 1.632, 1.480, 1.645, 0, 270, 0, [SEP] 76, Window, 0.224, 1.601, 3.509, 90, 0, 0, [SEP] 77, CoffeeMachine, 1.692, 0.926, 2.453, 0, 270, 0, [SEP] 78, SinkBasin, 1.461, 0.833, 1.369, 0, 180, 0, [SEP] 79, LightSwitch, 0.451, 1.412, -1.674, 0, 0, 0, [SEP] 80, Faucet, 1.707, 0.925, 1.363, 0, 270, 0, [SEP] 81, NorthWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , [SEP] 84, WestWall, , , , , , , ", "output": ["STEP 1: Turn and go to the counter by the sink. | STEP 2: Pick up the knife on the counter. | STEP 3: Cut the tomato on the counter. | STEP 4: Turn and go to the microwave. | STEP 5: Put the knife in the microwave. | STEP 6: Turn and go to the counter by the sink. | STEP 7: Pick up a slice of tomato on the counter. | STEP 8: Turn and go to the refrigerator. | STEP 9: Chill the slice of tomato in the refrigerator. | STEP 10: Turn and go to the microwave. | STEP 11: Put the slice of tomato in the microwave. | END"]} +{"id": "trial_T20190908_165525_911839-1", "input": "Put the chilled sliced tomato in the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 0.0, 0, 90, 0, [SEP] 1, Pan, -1.109, 0.930, 1.865, 0, 0, 0, 60 [SEP] 2, ButterKnife, 1.503, 0.944, 1.714, 0, 180, 0, 63 [SEP] 3, Fork, -0.689, 0.747, 0.914, 0, 270, 0, 59 [SEP] 4, Fork, -0.876, 0.938, 0.765, 0, 0, 0, 61 [SEP] 5, Spatula, 1.448, 0.761, 0.780, 0, 90, 0, 66 [SEP] 6, Egg, -0.860, 0.600, 0.119, 0, 90, 0, 68 [SEP] 7, Knife, 1.275, 0.768, 0.780, 0, 90, 0, 66 [SEP] 8, SaltShaker, -1.189, 1.946, 1.830, 0, 0, 0, 51 [SEP] 9, SaltShaker, -1.211, 0.934, 2.159, 0, 0, 0, 36 [SEP] 10, PepperShaker, 1.469, 0.078, 1.059, 0, 0, 0, 62 [SEP] 11, PepperShaker, -0.758, 0.743, 0.779, 0, 180, 0, 59 [SEP] 12, Lettuce, 1.362, 1.028, 1.007, 0, 0, 0, 41 [SEP] 13, Mug, -1.126, 0.932, 0.921, 0, 0, 0, 61 [SEP] 14, Mug, 1.346, 0.095, 0.272, 0, 0, 0, 46 [SEP] 15, Lettuce, 1.669, 1.028, 0.873, 0, 0, 0, 41 [SEP] 16, SoapBottle, 1.455, 0.100, 0.070, 0, 0, 0, 46 [SEP] 17, Bread, -0.923, 0.990, 2.265, 0, 302.470, 0, 36 [SEP] 18, Fork, -0.793, 0.938, 0.921, 0, 0, 0, 61 [SEP] 19, Tomato, 1.409, 1.005, 1.631, 0, 180, 0, 63 [SEP] 20, Bowl, 1.391, 0.078, 2.251, 0, 0, 0, 45 [SEP] 21, Pot, -1.109, 0.930, 1.470, 0, 0, 0, 38 [SEP] 22, Spatula, 1.275, 0.761, 2.323, 0, 90, 0, 39 [SEP] 23, Knife, -1.043, 0.959, 0.765, 0, 90, 0, 61 [SEP] 24, SaltShaker, -1.116, 1.498, 0.692, 0, 0, 0, 47 [SEP] 25, Apple, -1.065, 1.548, 0.348, 0, 90, 0, 68 [SEP] 26, PepperShaker, -1.038, 1.824, 0.303, 0, 0, 0, 50 [SEP] 27, ButterKnife, 1.344, 0.746, 2.323, 0, 90, 0, 39 [SEP] 28, Potato, 1.503, 0.977, 1.798, 0, 180, 0, 63 [SEP] 29, Plate, -1.077, 1.833, -0.127, 0, 0, 0, 49 [SEP] 30, DishSponge, 1.423, 0.069, 2.945, 0, 0, 0, 74 [SEP] 31, Egg, -0.940, 0.850, 0.195, 0, 90, 0, 68 [SEP] 32, Cup, 1.469, 0.080, 0.848, 0, 0, 0, 62 [SEP] 33, Pan, 1.378, 1.737, 0.392, 0, 270, 0, 44 [SEP] 34, Spoon, -0.960, 0.939, 1.154, 0, 0, 0, 61 [SEP] 35, Mug, 1.528, 1.002, 2.345, 0, 270, 0, 41 [SEP] 36, CounterTop, -0.973, 0.973, 2.386, 0, 0, 0, [SEP] 37, Drawer, -0.783, 0.774, 2.381, 0, 180, 0, [SEP] 38, StoveBurner, -1.108, 0.922, 1.470, 0, 0, 0, [SEP] 39, Drawer, 1.370, 0.774, 2.391, 0, 0, 0, [SEP] 40, Stool, -0.748, 0.008, 3.116, 0, 0, 0, [SEP] 41, CounterTop, 1.504, 0.973, 2.309, 0, 0, 0, [SEP] 42, Cabinet, 1.219, 1.388, 0.591, 0, 0, 0, [SEP] 43, Cabinet, 1.500, 2.113, 1.164, 0, 0, 0, [SEP] 44, Cabinet, 1.219, 2.010, 0.591, 0, 0, 0, [SEP] 45, Cabinet, 1.219, 0.388, 2.105, 0, 0, 0, [SEP] 46, Cabinet, 1.219, 0.553, 0.591, 0, 0, 0, [SEP] 47, Cabinet, -0.913, 2.113, 1.164, 0, 0, 0, [SEP] 48, Cabinet, -0.633, 0.388, 0.627, 0, 0, 0, [SEP] 49, Cabinet, -0.913, 2.050, -0.329, 0, 0, 0, [SEP] 50, Cabinet, -0.913, 2.113, 0.583, 0, 0, 0, [SEP] 51, Cabinet, -0.913, 2.113, 2.082, 0, 0, 0, [SEP] 52, Cabinet, -0.913, 2.113, 1.207, 0, 0, 0, [SEP] 53, Cabinet, 1.500, 2.113, 2.082, 0, 0, 0, [SEP] 54, Cabinet, 1.500, 2.113, 1.207, 0, 0, 0, [SEP] 55, Cabinet, 1.500, 1.810, 2.691, 0, 0, 0, [SEP] 56, Cabinet, 1.500, 1.810, 2.101, 0, 0, 0, [SEP] 57, Cabinet, -0.633, 0.388, 2.105, 0, 0, 0, [SEP] 58, Cabinet, -0.911, 1.810, 2.700, 0, 180, 0, [SEP] 59, Drawer, -0.783, 0.774, 0.915, 0, 180, 0, [SEP] 60, StoveBurner, -1.108, 0.922, 1.865, 0, 0, 0, [SEP] 61, CounterTop, -0.972, 0.973, 0.921, 0, 0, 0, [SEP] 62, Cabinet, 1.219, 0.388, 0.631, 0, 0, 0, [SEP] 63, Sink, 1.544, 0.869, 1.639, 0, 180, 0, [SEP] 64, StoveBurner, -0.832, 0.922, 1.865, 0, 0, 0, [SEP] 65, StoveBurner, -0.831, 0.922, 1.470, 0, 0, 0, [SEP] 66, Drawer, 1.370, 0.774, 0.916, 0, 0, 0, [SEP] 67, Cabinet, -0.911, 1.810, 2.111, 0, 180, 0, [SEP] 68, Fridge, -1.001, 0.0, 0.119, 0, 0, 0, [SEP] 69, StoveKnob, -0.648, 0.926, 1.923, 0, 270, 0, [SEP] 70, StoveKnob, -0.648, 0.926, 1.363, 0, 270, 0, [SEP] 71, StoveKnob, -0.648, 0.926, 1.513, 0, 270, 0, [SEP] 72, StoveKnob, -0.648, 0.926, 1.763, 0, 270, 0, [SEP] 73, Toaster, -1.002, 0.926, 2.561, 0, 90, 0, [SEP] 74, GarbageCan, 1.451, -0.029, 2.912, 0, 0, 0, [SEP] 75, Microwave, 1.632, 1.480, 1.645, 0, 270, 0, [SEP] 76, Window, 0.224, 1.601, 3.509, 90, 0, 0, [SEP] 77, CoffeeMachine, 1.692, 0.926, 2.453, 0, 270, 0, [SEP] 78, SinkBasin, 1.461, 0.833, 1.369, 0, 180, 0, [SEP] 79, LightSwitch, 0.451, 1.412, -1.674, 0, 0, 0, [SEP] 80, Faucet, 1.707, 0.925, 1.363, 0, 270, 0, [SEP] 81, NorthWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , [SEP] 84, WestWall, , , , , , , ", "output": ["STEP 1: Turn left then face the sink counter | STEP 2: Pick up the bread knife on the left counter | STEP 3: Slice the tomato on the sink | STEP 4: Turn right then face on your left to the microwave | STEP 5: Open the microwave put in the knife in the microwave, close the microwave | STEP 6: Look down and step on the side to face the tomato | STEP 7: Pick up a slice tomato | STEP 8: Turn right and head to the fridge | STEP 9: Open the fridge then put in and out the fridge then close it | STEP 10: Turn right then then back to the microwave | STEP 11: Open the microwave and put in the slice tomato then close it | END"]} +{"id": "trial_T20190908_165525_911839-2", "input": "Place a tomato and a knife in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 0.0, 0, 90, 0, [SEP] 1, Pan, -1.109, 0.930, 1.865, 0, 0, 0, 60 [SEP] 2, ButterKnife, 1.503, 0.944, 1.714, 0, 180, 0, 63 [SEP] 3, Fork, -0.689, 0.747, 0.914, 0, 270, 0, 59 [SEP] 4, Fork, -0.876, 0.938, 0.765, 0, 0, 0, 61 [SEP] 5, Spatula, 1.448, 0.761, 0.780, 0, 90, 0, 66 [SEP] 6, Egg, -0.860, 0.600, 0.119, 0, 90, 0, 68 [SEP] 7, Knife, 1.275, 0.768, 0.780, 0, 90, 0, 66 [SEP] 8, SaltShaker, -1.189, 1.946, 1.830, 0, 0, 0, 51 [SEP] 9, SaltShaker, -1.211, 0.934, 2.159, 0, 0, 0, 36 [SEP] 10, PepperShaker, 1.469, 0.078, 1.059, 0, 0, 0, 62 [SEP] 11, PepperShaker, -0.758, 0.743, 0.779, 0, 180, 0, 59 [SEP] 12, Lettuce, 1.362, 1.028, 1.007, 0, 0, 0, 41 [SEP] 13, Mug, -1.126, 0.932, 0.921, 0, 0, 0, 61 [SEP] 14, Mug, 1.346, 0.095, 0.272, 0, 0, 0, 46 [SEP] 15, Lettuce, 1.669, 1.028, 0.873, 0, 0, 0, 41 [SEP] 16, SoapBottle, 1.455, 0.100, 0.070, 0, 0, 0, 46 [SEP] 17, Bread, -0.923, 0.990, 2.265, 0, 302.470, 0, 36 [SEP] 18, Fork, -0.793, 0.938, 0.921, 0, 0, 0, 61 [SEP] 19, Tomato, 1.409, 1.005, 1.631, 0, 180, 0, 63 [SEP] 20, Bowl, 1.391, 0.078, 2.251, 0, 0, 0, 45 [SEP] 21, Pot, -1.109, 0.930, 1.470, 0, 0, 0, 38 [SEP] 22, Spatula, 1.275, 0.761, 2.323, 0, 90, 0, 39 [SEP] 23, Knife, -1.043, 0.959, 0.765, 0, 90, 0, 61 [SEP] 24, SaltShaker, -1.116, 1.498, 0.692, 0, 0, 0, 47 [SEP] 25, Apple, -1.065, 1.548, 0.348, 0, 90, 0, 68 [SEP] 26, PepperShaker, -1.038, 1.824, 0.303, 0, 0, 0, 50 [SEP] 27, ButterKnife, 1.344, 0.746, 2.323, 0, 90, 0, 39 [SEP] 28, Potato, 1.503, 0.977, 1.798, 0, 180, 0, 63 [SEP] 29, Plate, -1.077, 1.833, -0.127, 0, 0, 0, 49 [SEP] 30, DishSponge, 1.423, 0.069, 2.945, 0, 0, 0, 74 [SEP] 31, Egg, -0.940, 0.850, 0.195, 0, 90, 0, 68 [SEP] 32, Cup, 1.469, 0.080, 0.848, 0, 0, 0, 62 [SEP] 33, Pan, 1.378, 1.737, 0.392, 0, 270, 0, 44 [SEP] 34, Spoon, -0.960, 0.939, 1.154, 0, 0, 0, 61 [SEP] 35, Mug, 1.528, 1.002, 2.345, 0, 270, 0, 41 [SEP] 36, CounterTop, -0.973, 0.973, 2.386, 0, 0, 0, [SEP] 37, Drawer, -0.783, 0.774, 2.381, 0, 180, 0, [SEP] 38, StoveBurner, -1.108, 0.922, 1.470, 0, 0, 0, [SEP] 39, Drawer, 1.370, 0.774, 2.391, 0, 0, 0, [SEP] 40, Stool, -0.748, 0.008, 3.116, 0, 0, 0, [SEP] 41, CounterTop, 1.504, 0.973, 2.309, 0, 0, 0, [SEP] 42, Cabinet, 1.219, 1.388, 0.591, 0, 0, 0, [SEP] 43, Cabinet, 1.500, 2.113, 1.164, 0, 0, 0, [SEP] 44, Cabinet, 1.219, 2.010, 0.591, 0, 0, 0, [SEP] 45, Cabinet, 1.219, 0.388, 2.105, 0, 0, 0, [SEP] 46, Cabinet, 1.219, 0.553, 0.591, 0, 0, 0, [SEP] 47, Cabinet, -0.913, 2.113, 1.164, 0, 0, 0, [SEP] 48, Cabinet, -0.633, 0.388, 0.627, 0, 0, 0, [SEP] 49, Cabinet, -0.913, 2.050, -0.329, 0, 0, 0, [SEP] 50, Cabinet, -0.913, 2.113, 0.583, 0, 0, 0, [SEP] 51, Cabinet, -0.913, 2.113, 2.082, 0, 0, 0, [SEP] 52, Cabinet, -0.913, 2.113, 1.207, 0, 0, 0, [SEP] 53, Cabinet, 1.500, 2.113, 2.082, 0, 0, 0, [SEP] 54, Cabinet, 1.500, 2.113, 1.207, 0, 0, 0, [SEP] 55, Cabinet, 1.500, 1.810, 2.691, 0, 0, 0, [SEP] 56, Cabinet, 1.500, 1.810, 2.101, 0, 0, 0, [SEP] 57, Cabinet, -0.633, 0.388, 2.105, 0, 0, 0, [SEP] 58, Cabinet, -0.911, 1.810, 2.700, 0, 180, 0, [SEP] 59, Drawer, -0.783, 0.774, 0.915, 0, 180, 0, [SEP] 60, StoveBurner, -1.108, 0.922, 1.865, 0, 0, 0, [SEP] 61, CounterTop, -0.972, 0.973, 0.921, 0, 0, 0, [SEP] 62, Cabinet, 1.219, 0.388, 0.631, 0, 0, 0, [SEP] 63, Sink, 1.544, 0.869, 1.639, 0, 180, 0, [SEP] 64, StoveBurner, -0.832, 0.922, 1.865, 0, 0, 0, [SEP] 65, StoveBurner, -0.831, 0.922, 1.470, 0, 0, 0, [SEP] 66, Drawer, 1.370, 0.774, 0.916, 0, 0, 0, [SEP] 67, Cabinet, -0.911, 1.810, 2.111, 0, 180, 0, [SEP] 68, Fridge, -1.001, 0.0, 0.119, 0, 0, 0, [SEP] 69, StoveKnob, -0.648, 0.926, 1.923, 0, 270, 0, [SEP] 70, StoveKnob, -0.648, 0.926, 1.363, 0, 270, 0, [SEP] 71, StoveKnob, -0.648, 0.926, 1.513, 0, 270, 0, [SEP] 72, StoveKnob, -0.648, 0.926, 1.763, 0, 270, 0, [SEP] 73, Toaster, -1.002, 0.926, 2.561, 0, 90, 0, [SEP] 74, GarbageCan, 1.451, -0.029, 2.912, 0, 0, 0, [SEP] 75, Microwave, 1.632, 1.480, 1.645, 0, 270, 0, [SEP] 76, Window, 0.224, 1.601, 3.509, 90, 0, 0, [SEP] 77, CoffeeMachine, 1.692, 0.926, 2.453, 0, 270, 0, [SEP] 78, SinkBasin, 1.461, 0.833, 1.369, 0, 180, 0, [SEP] 79, LightSwitch, 0.451, 1.412, -1.674, 0, 0, 0, [SEP] 80, Faucet, 1.707, 0.925, 1.363, 0, 270, 0, [SEP] 81, NorthWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , [SEP] 84, WestWall, , , , , , , ", "output": ["STEP 1: Turn left then face the sink on your right. | STEP 2: Take the knife from the sink in front of you. | STEP 3: Slice the tomato on the sink in front of you. | STEP 4: Turn right then face the microwave above the sink to your left. | STEP 5: Place the knife in the microwave then close it. | STEP 6: Turn left then face the tomato on the sink to your right. | STEP 7: Take a tomato slice from the sink in front of you. | STEP 8: Turn right then face the fridge to your right. | STEP 9: Place the tomato slice in the fridge then take it out. | STEP 10: Turn right then face the microwave above the sink on your right. | STEP 11: Place the tomato slice in the microwave and close it. | END"]} +{"id": "trial_T20190906_205421_980666-0", "input": "Place a glass with a fork in it on the table in front of a glass pitcher. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.0, 0.900, -0.25, 0, 90, 0, [SEP] 1, Pencil, -0.749, 0.746, -3.556, 0, 0, 0, 52 [SEP] 2, Potato, -2.438, 0.954, -2.345, 0, 0, 0, 78 [SEP] 3, Potato, -1.912, 0.058, -3.835, 0, 0, 0, 69 [SEP] 4, DishSponge, -2.780, 0.923, -2.345, 0, 0, 0, 78 [SEP] 5, ButterKnife, -2.666, 0.923, -1.654, 0, 0, 0, 78 [SEP] 6, WineBottle, -2.324, 0.924, -2.115, 0, 0, 0, 78 [SEP] 7, WineBottle, -0.600, 0.916, -3.555, 0, 0, 0, 53 [SEP] 8, Pot, -1.515, 0.935, -3.497, 0, 0, 0, 50 [SEP] 9, Spatula, -0.528, 0.911, -3.697, 0, 0, 0, 53 [SEP] 10, Fork, -0.398, 0.797, -2.082, 0, 180, 0, 71 [SEP] 11, Fork, -2.324, 0.924, -1.654, 0, 90, 0, 78 [SEP] 12, Fork, -2.096, 0.924, -1.423, 0, 0, 0, 78 [SEP] 13, Spoon, -2.552, 0.924, -1.884, 0, 0, 0, 78 [SEP] 14, Knife, -2.666, 0.946, -2.345, 0, 90, 0, 78 [SEP] 15, Cup, -0.716, 0.081, -3.662, 0, 0, 0, 59 [SEP] 16, Egg, -0.350, 0.830, -1.934, 0, 270, 0, 71 [SEP] 17, SaltShaker, -0.420, 0.743, -3.238, 0, 0, 0, 64 [SEP] 18, PepperShaker, -0.383, 0.077, -1.666, 0, 0, 0, 58 [SEP] 19, PepperShaker, -0.383, 0.077, -1.895, 0, 0, 0, 58 [SEP] 20, Mug, -0.351, 0.962, -3.144, 0, 270, 0, 67 [SEP] 21, Mug, -0.671, 0.910, -3.909, 0, 180, 0, 53 [SEP] 22, Apple, -0.246, 1.464, -0.874, 0, 270, 0, 70 [SEP] 23, Apple, -1.362, 1.703, -3.903, 0, 0, 0, 66 [SEP] 24, Lettuce, -2.780, 1.016, -2.115, 0, 0, 0, 78 [SEP] 25, Glassbottle, -2.324, 0.924, -1.884, 0, 0, 0, 78 [SEP] 26, Egg, -0.447, 0.830, -2.229, 0, 270, 0, 71 [SEP] 27, Pen, -0.743, 0.918, -3.626, 0, 0, 0, 53 [SEP] 28, Fork, -2.096, 0.924, -1.884, 0, 90, 0, 78 [SEP] 29, SoapBottle, -2.324, 0.922, -2.345, 0, 0, 0, 78 [SEP] 30, Pencil, -1.975, 0.027, -3.763, 0, 0, 0, 69 [SEP] 31, WineBottle, -2.438, 0.924, -0.963, 0, 0, 0, 78 [SEP] 32, Spatula, -2.438, 0.938, -1.654, 0, 0, 0, 78 [SEP] 33, Bread, -0.415, 0.955, -3.626, 0, 0, 358.981, 53 [SEP] 34, Tomato, -0.228, 1.754, -0.455, 0, 270, 0, 70 [SEP] 35, Pan, -0.343, 1.098, -0.979, 0, 180, 0, 70 [SEP] 36, Cup, -0.392, 1.389, -0.979, 0, 270, 0, 70 [SEP] 37, Pot, -1.129, 0.935, -3.498, 0, 0, 0, 51 [SEP] 38, SaltShaker, -0.690, 0.743, -3.527, 0, 0, 0, 52 [SEP] 39, Potato, -0.254, 0.828, -1.934, 0, 270, 0, 71 [SEP] 40, PepperShaker, -0.538, 0.077, -3.236, 0, 0, 0, 59 [SEP] 41, ButterKnife, -2.324, 0.923, -0.963, 0, 90, 0, 78 [SEP] 42, DishSponge, -1.100, 1.969, -3.773, 0, 0, 0, 54 [SEP] 43, Spoon, -2.438, 0.924, -1.423, 0, 0, 0, 78 [SEP] 44, Plate, -2.096, 0.925, -2.115, 0, 0, 0, 78 [SEP] 45, Knife, -2.324, 0.946, -1.193, 0, 0, 0, 78 [SEP] 46, Mug, -0.422, 0.076, -1.758, 0, 0, 0, 48 [SEP] 47, Bowl, -0.308, 1.689, -0.77, 0, 270, 0, 70 [SEP] 48, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0, [SEP] 49, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0, [SEP] 50, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0, [SEP] 51, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0, [SEP] 52, Drawer, -0.749, 0.779, -3.551, 0, 0, 0, [SEP] 53, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0, [SEP] 54, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0, [SEP] 55, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0, [SEP] 56, Sink, -0.349, 0.907, -2.014, 0, 0, 0, [SEP] 57, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0, [SEP] 58, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0, [SEP] 59, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0, [SEP] 60, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0, [SEP] 61, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0, [SEP] 62, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0, [SEP] 63, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0, [SEP] 64, Drawer, -0.454, 0.779, -3.268, 0, 0, 0, [SEP] 65, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0, [SEP] 66, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0, [SEP] 67, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0, [SEP] 68, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0, [SEP] 69, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0, [SEP] 70, Fridge, -0.330, 0.0, -0.769, 0, 270, 0, [SEP] 71, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0, [SEP] 72, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0, [SEP] 73, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0, [SEP] 74, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0, [SEP] 75, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0, [SEP] 76, Toaster, -0.181, 0.903, -2.764, 0, 270, 0, [SEP] 77, Window, -2.503, 1.782, -4.185, 90, 180, 0, [SEP] 78, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0, [SEP] 79, Shelf, -2.432, 0.150, -1.694, 0, 270, 0, [SEP] 80, Blinds, -2.536, 2.699, -3.959, 0, 0, 0, [SEP] 81, Faucet, -0.079, 0.904, -2.034, 270, 180, 0, [SEP] 82, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0, [SEP] 83, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0, [SEP] 84, Shelf, -2.432, 0.523, -1.694, 0, 270, 0, [SEP] 85, NorthWall, , , , , , , [SEP] 86, EastWall, , , , , , , [SEP] 87, SouthWall, , , , , , , [SEP] 88, WestWall, , , , , , , ", "output": ["STEP 1: Move forward, turn right at the refrigerator, turn left at the stove and face the sink. | STEP 2: Pick up the fork from in the sink. | STEP 3: Turn to the left, move forward, turn to the right and face the refrigerator. | STEP 4: Open the refrigerator door and place the fork in a glass next to an apple on the top shelf. | STEP 5: Take the glass out of the refrigerator and close the door. | STEP 6: Turn to the right, move forward slightly, turn to the right again and face the table. | STEP 7: Place the glass with the fork on the table in front of the glass pitcher. | END"]} +{"id": "trial_T20190906_205421_980666-1", "input": "place a wine cup with a fork in it on the kitchen table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.0, 0.900, -0.25, 0, 90, 0, [SEP] 1, Pencil, -0.749, 0.746, -3.556, 0, 0, 0, 52 [SEP] 2, Potato, -2.438, 0.954, -2.345, 0, 0, 0, 78 [SEP] 3, Potato, -1.912, 0.058, -3.835, 0, 0, 0, 69 [SEP] 4, DishSponge, -2.780, 0.923, -2.345, 0, 0, 0, 78 [SEP] 5, ButterKnife, -2.666, 0.923, -1.654, 0, 0, 0, 78 [SEP] 6, WineBottle, -2.324, 0.924, -2.115, 0, 0, 0, 78 [SEP] 7, WineBottle, -0.600, 0.916, -3.555, 0, 0, 0, 53 [SEP] 8, Pot, -1.515, 0.935, -3.497, 0, 0, 0, 50 [SEP] 9, Spatula, -0.528, 0.911, -3.697, 0, 0, 0, 53 [SEP] 10, Fork, -0.398, 0.797, -2.082, 0, 180, 0, 71 [SEP] 11, Fork, -2.324, 0.924, -1.654, 0, 90, 0, 78 [SEP] 12, Fork, -2.096, 0.924, -1.423, 0, 0, 0, 78 [SEP] 13, Spoon, -2.552, 0.924, -1.884, 0, 0, 0, 78 [SEP] 14, Knife, -2.666, 0.946, -2.345, 0, 90, 0, 78 [SEP] 15, Cup, -0.716, 0.081, -3.662, 0, 0, 0, 59 [SEP] 16, Egg, -0.350, 0.830, -1.934, 0, 270, 0, 71 [SEP] 17, SaltShaker, -0.420, 0.743, -3.238, 0, 0, 0, 64 [SEP] 18, PepperShaker, -0.383, 0.077, -1.666, 0, 0, 0, 58 [SEP] 19, PepperShaker, -0.383, 0.077, -1.895, 0, 0, 0, 58 [SEP] 20, Mug, -0.351, 0.962, -3.144, 0, 270, 0, 67 [SEP] 21, Mug, -0.671, 0.910, -3.909, 0, 180, 0, 53 [SEP] 22, Apple, -0.246, 1.464, -0.874, 0, 270, 0, 70 [SEP] 23, Apple, -1.362, 1.703, -3.903, 0, 0, 0, 66 [SEP] 24, Lettuce, -2.780, 1.016, -2.115, 0, 0, 0, 78 [SEP] 25, Glassbottle, -2.324, 0.924, -1.884, 0, 0, 0, 78 [SEP] 26, Egg, -0.447, 0.830, -2.229, 0, 270, 0, 71 [SEP] 27, Pen, -0.743, 0.918, -3.626, 0, 0, 0, 53 [SEP] 28, Fork, -2.096, 0.924, -1.884, 0, 90, 0, 78 [SEP] 29, SoapBottle, -2.324, 0.922, -2.345, 0, 0, 0, 78 [SEP] 30, Pencil, -1.975, 0.027, -3.763, 0, 0, 0, 69 [SEP] 31, WineBottle, -2.438, 0.924, -0.963, 0, 0, 0, 78 [SEP] 32, Spatula, -2.438, 0.938, -1.654, 0, 0, 0, 78 [SEP] 33, Bread, -0.415, 0.955, -3.626, 0, 0, 358.981, 53 [SEP] 34, Tomato, -0.228, 1.754, -0.455, 0, 270, 0, 70 [SEP] 35, Pan, -0.343, 1.098, -0.979, 0, 180, 0, 70 [SEP] 36, Cup, -0.392, 1.389, -0.979, 0, 270, 0, 70 [SEP] 37, Pot, -1.129, 0.935, -3.498, 0, 0, 0, 51 [SEP] 38, SaltShaker, -0.690, 0.743, -3.527, 0, 0, 0, 52 [SEP] 39, Potato, -0.254, 0.828, -1.934, 0, 270, 0, 71 [SEP] 40, PepperShaker, -0.538, 0.077, -3.236, 0, 0, 0, 59 [SEP] 41, ButterKnife, -2.324, 0.923, -0.963, 0, 90, 0, 78 [SEP] 42, DishSponge, -1.100, 1.969, -3.773, 0, 0, 0, 54 [SEP] 43, Spoon, -2.438, 0.924, -1.423, 0, 0, 0, 78 [SEP] 44, Plate, -2.096, 0.925, -2.115, 0, 0, 0, 78 [SEP] 45, Knife, -2.324, 0.946, -1.193, 0, 0, 0, 78 [SEP] 46, Mug, -0.422, 0.076, -1.758, 0, 0, 0, 48 [SEP] 47, Bowl, -0.308, 1.689, -0.77, 0, 270, 0, 70 [SEP] 48, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0, [SEP] 49, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0, [SEP] 50, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0, [SEP] 51, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0, [SEP] 52, Drawer, -0.749, 0.779, -3.551, 0, 0, 0, [SEP] 53, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0, [SEP] 54, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0, [SEP] 55, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0, [SEP] 56, Sink, -0.349, 0.907, -2.014, 0, 0, 0, [SEP] 57, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0, [SEP] 58, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0, [SEP] 59, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0, [SEP] 60, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0, [SEP] 61, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0, [SEP] 62, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0, [SEP] 63, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0, [SEP] 64, Drawer, -0.454, 0.779, -3.268, 0, 0, 0, [SEP] 65, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0, [SEP] 66, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0, [SEP] 67, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0, [SEP] 68, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0, [SEP] 69, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0, [SEP] 70, Fridge, -0.330, 0.0, -0.769, 0, 270, 0, [SEP] 71, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0, [SEP] 72, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0, [SEP] 73, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0, [SEP] 74, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0, [SEP] 75, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0, [SEP] 76, Toaster, -0.181, 0.903, -2.764, 0, 270, 0, [SEP] 77, Window, -2.503, 1.782, -4.185, 90, 180, 0, [SEP] 78, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0, [SEP] 79, Shelf, -2.432, 0.150, -1.694, 0, 270, 0, [SEP] 80, Blinds, -2.536, 2.699, -3.959, 0, 0, 0, [SEP] 81, Faucet, -0.079, 0.904, -2.034, 270, 180, 0, [SEP] 82, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0, [SEP] 83, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0, [SEP] 84, Shelf, -2.432, 0.523, -1.694, 0, 270, 0, [SEP] 85, NorthWall, , , , , , , [SEP] 86, EastWall, , , , , , , [SEP] 87, SouthWall, , , , , , , [SEP] 88, WestWall, , , , , , , ", "output": ["STEP 1: walk to the kitchen sink | STEP 2: grab the fork out of the kitchen sink | STEP 3: walk to the refrigerator to the left | STEP 4: put the fork in the wine cup | STEP 5: take the wine cup out of the fridge | STEP 6: turn around and walk to the kitchen table | STEP 7: place the wine cup on the kitchen table | END"]} +{"id": "trial_T20190906_205421_980666-2", "input": "Place a chilled martini glass with a fork in it on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.0, 0.900, -0.25, 0, 90, 0, [SEP] 1, Pencil, -0.749, 0.746, -3.556, 0, 0, 0, 52 [SEP] 2, Potato, -2.438, 0.954, -2.345, 0, 0, 0, 78 [SEP] 3, Potato, -1.912, 0.058, -3.835, 0, 0, 0, 69 [SEP] 4, DishSponge, -2.780, 0.923, -2.345, 0, 0, 0, 78 [SEP] 5, ButterKnife, -2.666, 0.923, -1.654, 0, 0, 0, 78 [SEP] 6, WineBottle, -2.324, 0.924, -2.115, 0, 0, 0, 78 [SEP] 7, WineBottle, -0.600, 0.916, -3.555, 0, 0, 0, 53 [SEP] 8, Pot, -1.515, 0.935, -3.497, 0, 0, 0, 50 [SEP] 9, Spatula, -0.528, 0.911, -3.697, 0, 0, 0, 53 [SEP] 10, Fork, -0.398, 0.797, -2.082, 0, 180, 0, 71 [SEP] 11, Fork, -2.324, 0.924, -1.654, 0, 90, 0, 78 [SEP] 12, Fork, -2.096, 0.924, -1.423, 0, 0, 0, 78 [SEP] 13, Spoon, -2.552, 0.924, -1.884, 0, 0, 0, 78 [SEP] 14, Knife, -2.666, 0.946, -2.345, 0, 90, 0, 78 [SEP] 15, Cup, -0.716, 0.081, -3.662, 0, 0, 0, 59 [SEP] 16, Egg, -0.350, 0.830, -1.934, 0, 270, 0, 71 [SEP] 17, SaltShaker, -0.420, 0.743, -3.238, 0, 0, 0, 64 [SEP] 18, PepperShaker, -0.383, 0.077, -1.666, 0, 0, 0, 58 [SEP] 19, PepperShaker, -0.383, 0.077, -1.895, 0, 0, 0, 58 [SEP] 20, Mug, -0.351, 0.962, -3.144, 0, 270, 0, 67 [SEP] 21, Mug, -0.671, 0.910, -3.909, 0, 180, 0, 53 [SEP] 22, Apple, -0.246, 1.464, -0.874, 0, 270, 0, 70 [SEP] 23, Apple, -1.362, 1.703, -3.903, 0, 0, 0, 66 [SEP] 24, Lettuce, -2.780, 1.016, -2.115, 0, 0, 0, 78 [SEP] 25, Glassbottle, -2.324, 0.924, -1.884, 0, 0, 0, 78 [SEP] 26, Egg, -0.447, 0.830, -2.229, 0, 270, 0, 71 [SEP] 27, Pen, -0.743, 0.918, -3.626, 0, 0, 0, 53 [SEP] 28, Fork, -2.096, 0.924, -1.884, 0, 90, 0, 78 [SEP] 29, SoapBottle, -2.324, 0.922, -2.345, 0, 0, 0, 78 [SEP] 30, Pencil, -1.975, 0.027, -3.763, 0, 0, 0, 69 [SEP] 31, WineBottle, -2.438, 0.924, -0.963, 0, 0, 0, 78 [SEP] 32, Spatula, -2.438, 0.938, -1.654, 0, 0, 0, 78 [SEP] 33, Bread, -0.415, 0.955, -3.626, 0, 0, 358.981, 53 [SEP] 34, Tomato, -0.228, 1.754, -0.455, 0, 270, 0, 70 [SEP] 35, Pan, -0.343, 1.098, -0.979, 0, 180, 0, 70 [SEP] 36, Cup, -0.392, 1.389, -0.979, 0, 270, 0, 70 [SEP] 37, Pot, -1.129, 0.935, -3.498, 0, 0, 0, 51 [SEP] 38, SaltShaker, -0.690, 0.743, -3.527, 0, 0, 0, 52 [SEP] 39, Potato, -0.254, 0.828, -1.934, 0, 270, 0, 71 [SEP] 40, PepperShaker, -0.538, 0.077, -3.236, 0, 0, 0, 59 [SEP] 41, ButterKnife, -2.324, 0.923, -0.963, 0, 90, 0, 78 [SEP] 42, DishSponge, -1.100, 1.969, -3.773, 0, 0, 0, 54 [SEP] 43, Spoon, -2.438, 0.924, -1.423, 0, 0, 0, 78 [SEP] 44, Plate, -2.096, 0.925, -2.115, 0, 0, 0, 78 [SEP] 45, Knife, -2.324, 0.946, -1.193, 0, 0, 0, 78 [SEP] 46, Mug, -0.422, 0.076, -1.758, 0, 0, 0, 48 [SEP] 47, Bowl, -0.308, 1.689, -0.77, 0, 270, 0, 70 [SEP] 48, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0, [SEP] 49, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0, [SEP] 50, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0, [SEP] 51, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0, [SEP] 52, Drawer, -0.749, 0.779, -3.551, 0, 0, 0, [SEP] 53, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0, [SEP] 54, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0, [SEP] 55, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0, [SEP] 56, Sink, -0.349, 0.907, -2.014, 0, 0, 0, [SEP] 57, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0, [SEP] 58, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0, [SEP] 59, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0, [SEP] 60, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0, [SEP] 61, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0, [SEP] 62, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0, [SEP] 63, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0, [SEP] 64, Drawer, -0.454, 0.779, -3.268, 0, 0, 0, [SEP] 65, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0, [SEP] 66, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0, [SEP] 67, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0, [SEP] 68, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0, [SEP] 69, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0, [SEP] 70, Fridge, -0.330, 0.0, -0.769, 0, 270, 0, [SEP] 71, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0, [SEP] 72, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0, [SEP] 73, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0, [SEP] 74, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0, [SEP] 75, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0, [SEP] 76, Toaster, -0.181, 0.903, -2.764, 0, 270, 0, [SEP] 77, Window, -2.503, 1.782, -4.185, 90, 180, 0, [SEP] 78, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0, [SEP] 79, Shelf, -2.432, 0.150, -1.694, 0, 270, 0, [SEP] 80, Blinds, -2.536, 2.699, -3.959, 0, 0, 0, [SEP] 81, Faucet, -0.079, 0.904, -2.034, 270, 180, 0, [SEP] 82, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0, [SEP] 83, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0, [SEP] 84, Shelf, -2.432, 0.523, -1.694, 0, 270, 0, [SEP] 85, NorthWall, , , , , , , [SEP] 86, EastWall, , , , , , , [SEP] 87, SouthWall, , , , , , , [SEP] 88, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, head into the kitchen, and go to the sink on the left, next to the fridge. | STEP 2: Pick up the fork that is in the sink. | STEP 3: Turn left and walk to the fridge that is next to the sink. | STEP 4: Open the fridge and pick up the martini glass that is on the top shelf. | STEP 5: Place the fork in the martini glass. | STEP 6: Turn around and go to the green table. | STEP 7: \nPlace the martini glass with the fork inside on the table in front of the clear bottle | END"]} +{"id": "trial_T20190908_070653_021555-0", "input": "Microwave the tomato and put it in the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, -0.5, 0, 0, 0, [SEP] 1, Kettle, 1.007, 0.962, 0.561, 0, 270, 0, 43 [SEP] 2, ButterKnife, -2.203, 0.952, 0.524, 0, 90, 0, 74 [SEP] 3, Cup, 1.907, 0.910, 0.209, 0, 0, 0, 56 [SEP] 4, Knife, -1.928, 0.977, 0.435, 0, 90, 0, 74 [SEP] 5, Knife, 1.289, 0.937, -1.737, 0, 180, 0, 41 [SEP] 6, SoapBottle, 1.601, 0.910, 0.292, 0, 0, 0, 56 [SEP] 7, PepperShaker, -0.096, 0.908, 0.375, 0, 0, 0, 40 [SEP] 8, Bread, 1.658, 0.995, -1.489, 0, 0, 0, 41 [SEP] 9, Lettuce, 1.785, 1.002, 0.375, 0, 0, 0, 56 [SEP] 10, Apple, -1.928, 1.019, 0.165, 0, 90, 0, 74 [SEP] 11, Apple, -2.31, 0.578, -1.763, 0, 0, 0, 71 [SEP] 12, Bread, -2.065, 1.035, 0.345, 0, 90, 0, 74 [SEP] 13, Knife, 0.035, 0.937, 0.375, 0, 180, 0, 40 [SEP] 14, Fork, 1.663, 0.912, 0.209, 0, 180, 0, 56 [SEP] 15, Bowl, 0.271, 0.108, -1.472, 0, 180, 0, 38 [SEP] 16, Kettle, -2.065, 0.953, 0.524, 0, 90, 0, 74 [SEP] 17, Cup, 0.504, 0.108, 0.233, 0, 0, 0, 52 [SEP] 18, Tomato, -2.31, 1.100, -1.806, 0, 0, 0, 71 [SEP] 19, SoapBottle, -0.361, 0.068, 0.439, 0, 90, 0, 70 [SEP] 20, Plate, -0.198, 0.111, -1.508, 0, 0, 0, 50 [SEP] 21, Pot, 1.361, 0.962, 0.561, 0, 270, 0, 46 [SEP] 22, Spatula, 0.960, 0.934, -1.582, 0, 270, 0, 39 [SEP] 23, PaperTowelRoll, -2.477, 1.056, 0.704, 0, 90, 0, 74 [SEP] 24, Egg, -2.340, 0.987, 0.704, 0, 90, 0, 74 [SEP] 25, Lettuce, 0.851, 1.001, -1.537, 0, 231.490, 0, 39 [SEP] 26, SaltShaker, 0.035, 0.908, 0.623, 0, 0, 0, 40 [SEP] 27, PepperShaker, -2.614, 0.948, 0.614, 0, 90, 0, 74 [SEP] 28, Apple, 0.300, 0.979, 0.292, 0, 0, 0, 40 [SEP] 29, ButterKnife, -2.477, 0.952, 0.345, 0, 90, 0, 74 [SEP] 30, Potato, -0.872, 1.045, -1.770, 0, 0, 0, 63 [SEP] 31, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 53 [SEP] 32, DishSponge, -2.614, 0.951, 0.345, 0, 90, 0, 74 [SEP] 33, Spoon, 1.535, 0.913, -1.406, 0, 0, 0, 41 [SEP] 34, Mug, -2.203, 0.947, 0.165, 0, 90, 0, 74 [SEP] 35, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0, [SEP] 36, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0, [SEP] 37, Drawer, 0.499, 0.792, 0.296, 0, 0, 0, [SEP] 38, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0, [SEP] 39, Sink, 0.711, 0.817, -1.772, 0, 270, 0, [SEP] 40, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0, [SEP] 41, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0, [SEP] 42, Drawer, 1.825, 0.792, 0.296, 0, 0, 0, [SEP] 43, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0, [SEP] 44, Drawer, -0.150, 0.792, -1.496, 0, 0, 0, [SEP] 45, Drawer, -0.586, 0.792, -1.496, 0, 0, 0, [SEP] 46, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0, [SEP] 47, Drawer, 0.024, 0.792, 0.296, 0, 0, 0, [SEP] 48, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0, [SEP] 49, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0, [SEP] 50, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0, [SEP] 51, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0, [SEP] 52, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0, [SEP] 53, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0, [SEP] 54, Drawer, -1.100, 0.792, -1.496, 0, 0, 0, [SEP] 55, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0, [SEP] 56, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0, [SEP] 57, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0, [SEP] 58, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0, [SEP] 59, Toaster, 0.305, 0.900, 0.552, 0, 180, 0, [SEP] 60, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0, [SEP] 61, Window, 0.582, 1.613, -1.967, 90, 0, 0, [SEP] 62, Window, 1.969, 1.5, -0.615, 90, 270, 0, [SEP] 63, Microwave, -1.037, 0.900, -1.723, 0, 0, 0, [SEP] 64, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0, [SEP] 65, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0, [SEP] 66, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0, [SEP] 67, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0, [SEP] 68, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0, [SEP] 69, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0, [SEP] 70, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0, [SEP] 71, Fridge, -2.134, 0.0, -1.690, 0, 0, 0, [SEP] 72, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0, [SEP] 73, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0, [SEP] 74, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0, [SEP] 75, NorthWall, , , , , , , [SEP] 76, EastWall, , , , , , , [SEP] 77, SouthWall, , , , , , , [SEP] 78, WestWall, , , , , , , ", "output": ["STEP 1: Go left to the refrigerator on the left | STEP 2: Open the door and take the tomato from the top shelf | STEP 3: Turn left and go to the microwave | STEP 4: Open the microwave, place the tomato in the center, close the door then open it and take the tomato out of the microwave | STEP 5: Turn left and go the the sink on the right | STEP 6: Place the tomato in the sink on the right | END"]} +{"id": "trial_T20190908_070653_021555-1", "input": "Place a microwaved tomato in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, -0.5, 0, 0, 0, [SEP] 1, Kettle, 1.007, 0.962, 0.561, 0, 270, 0, 43 [SEP] 2, ButterKnife, -2.203, 0.952, 0.524, 0, 90, 0, 74 [SEP] 3, Cup, 1.907, 0.910, 0.209, 0, 0, 0, 56 [SEP] 4, Knife, -1.928, 0.977, 0.435, 0, 90, 0, 74 [SEP] 5, Knife, 1.289, 0.937, -1.737, 0, 180, 0, 41 [SEP] 6, SoapBottle, 1.601, 0.910, 0.292, 0, 0, 0, 56 [SEP] 7, PepperShaker, -0.096, 0.908, 0.375, 0, 0, 0, 40 [SEP] 8, Bread, 1.658, 0.995, -1.489, 0, 0, 0, 41 [SEP] 9, Lettuce, 1.785, 1.002, 0.375, 0, 0, 0, 56 [SEP] 10, Apple, -1.928, 1.019, 0.165, 0, 90, 0, 74 [SEP] 11, Apple, -2.31, 0.578, -1.763, 0, 0, 0, 71 [SEP] 12, Bread, -2.065, 1.035, 0.345, 0, 90, 0, 74 [SEP] 13, Knife, 0.035, 0.937, 0.375, 0, 180, 0, 40 [SEP] 14, Fork, 1.663, 0.912, 0.209, 0, 180, 0, 56 [SEP] 15, Bowl, 0.271, 0.108, -1.472, 0, 180, 0, 38 [SEP] 16, Kettle, -2.065, 0.953, 0.524, 0, 90, 0, 74 [SEP] 17, Cup, 0.504, 0.108, 0.233, 0, 0, 0, 52 [SEP] 18, Tomato, -2.31, 1.100, -1.806, 0, 0, 0, 71 [SEP] 19, SoapBottle, -0.361, 0.068, 0.439, 0, 90, 0, 70 [SEP] 20, Plate, -0.198, 0.111, -1.508, 0, 0, 0, 50 [SEP] 21, Pot, 1.361, 0.962, 0.561, 0, 270, 0, 46 [SEP] 22, Spatula, 0.960, 0.934, -1.582, 0, 270, 0, 39 [SEP] 23, PaperTowelRoll, -2.477, 1.056, 0.704, 0, 90, 0, 74 [SEP] 24, Egg, -2.340, 0.987, 0.704, 0, 90, 0, 74 [SEP] 25, Lettuce, 0.851, 1.001, -1.537, 0, 231.490, 0, 39 [SEP] 26, SaltShaker, 0.035, 0.908, 0.623, 0, 0, 0, 40 [SEP] 27, PepperShaker, -2.614, 0.948, 0.614, 0, 90, 0, 74 [SEP] 28, Apple, 0.300, 0.979, 0.292, 0, 0, 0, 40 [SEP] 29, ButterKnife, -2.477, 0.952, 0.345, 0, 90, 0, 74 [SEP] 30, Potato, -0.872, 1.045, -1.770, 0, 0, 0, 63 [SEP] 31, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 53 [SEP] 32, DishSponge, -2.614, 0.951, 0.345, 0, 90, 0, 74 [SEP] 33, Spoon, 1.535, 0.913, -1.406, 0, 0, 0, 41 [SEP] 34, Mug, -2.203, 0.947, 0.165, 0, 90, 0, 74 [SEP] 35, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0, [SEP] 36, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0, [SEP] 37, Drawer, 0.499, 0.792, 0.296, 0, 0, 0, [SEP] 38, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0, [SEP] 39, Sink, 0.711, 0.817, -1.772, 0, 270, 0, [SEP] 40, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0, [SEP] 41, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0, [SEP] 42, Drawer, 1.825, 0.792, 0.296, 0, 0, 0, [SEP] 43, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0, [SEP] 44, Drawer, -0.150, 0.792, -1.496, 0, 0, 0, [SEP] 45, Drawer, -0.586, 0.792, -1.496, 0, 0, 0, [SEP] 46, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0, [SEP] 47, Drawer, 0.024, 0.792, 0.296, 0, 0, 0, [SEP] 48, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0, [SEP] 49, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0, [SEP] 50, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0, [SEP] 51, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0, [SEP] 52, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0, [SEP] 53, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0, [SEP] 54, Drawer, -1.100, 0.792, -1.496, 0, 0, 0, [SEP] 55, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0, [SEP] 56, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0, [SEP] 57, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0, [SEP] 58, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0, [SEP] 59, Toaster, 0.305, 0.900, 0.552, 0, 180, 0, [SEP] 60, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0, [SEP] 61, Window, 0.582, 1.613, -1.967, 90, 0, 0, [SEP] 62, Window, 1.969, 1.5, -0.615, 90, 270, 0, [SEP] 63, Microwave, -1.037, 0.900, -1.723, 0, 0, 0, [SEP] 64, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0, [SEP] 65, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0, [SEP] 66, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0, [SEP] 67, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0, [SEP] 68, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0, [SEP] 69, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0, [SEP] 70, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0, [SEP] 71, Fridge, -2.134, 0.0, -1.690, 0, 0, 0, [SEP] 72, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0, [SEP] 73, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0, [SEP] 74, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0, [SEP] 75, NorthWall, , , , , , , [SEP] 76, EastWall, , , , , , , [SEP] 77, SouthWall, , , , , , , [SEP] 78, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the fridge. | STEP 2: Pick up the tomato from the top shelf in the fridge. | STEP 3: Turn left and walk to the microwave. | STEP 4: Microwave the tomato and then pick the tomato up from the microwave. | STEP 5: Turn left and walk to the sink. | STEP 6: Place the tomato in the sink on the right. | END"]} +{"id": "trial_T20190908_070653_021555-2", "input": "Place a heated tomato in a sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, -0.5, 0, 0, 0, [SEP] 1, Kettle, 1.007, 0.962, 0.561, 0, 270, 0, 43 [SEP] 2, ButterKnife, -2.203, 0.952, 0.524, 0, 90, 0, 74 [SEP] 3, Cup, 1.907, 0.910, 0.209, 0, 0, 0, 56 [SEP] 4, Knife, -1.928, 0.977, 0.435, 0, 90, 0, 74 [SEP] 5, Knife, 1.289, 0.937, -1.737, 0, 180, 0, 41 [SEP] 6, SoapBottle, 1.601, 0.910, 0.292, 0, 0, 0, 56 [SEP] 7, PepperShaker, -0.096, 0.908, 0.375, 0, 0, 0, 40 [SEP] 8, Bread, 1.658, 0.995, -1.489, 0, 0, 0, 41 [SEP] 9, Lettuce, 1.785, 1.002, 0.375, 0, 0, 0, 56 [SEP] 10, Apple, -1.928, 1.019, 0.165, 0, 90, 0, 74 [SEP] 11, Apple, -2.31, 0.578, -1.763, 0, 0, 0, 71 [SEP] 12, Bread, -2.065, 1.035, 0.345, 0, 90, 0, 74 [SEP] 13, Knife, 0.035, 0.937, 0.375, 0, 180, 0, 40 [SEP] 14, Fork, 1.663, 0.912, 0.209, 0, 180, 0, 56 [SEP] 15, Bowl, 0.271, 0.108, -1.472, 0, 180, 0, 38 [SEP] 16, Kettle, -2.065, 0.953, 0.524, 0, 90, 0, 74 [SEP] 17, Cup, 0.504, 0.108, 0.233, 0, 0, 0, 52 [SEP] 18, Tomato, -2.31, 1.100, -1.806, 0, 0, 0, 71 [SEP] 19, SoapBottle, -0.361, 0.068, 0.439, 0, 90, 0, 70 [SEP] 20, Plate, -0.198, 0.111, -1.508, 0, 0, 0, 50 [SEP] 21, Pot, 1.361, 0.962, 0.561, 0, 270, 0, 46 [SEP] 22, Spatula, 0.960, 0.934, -1.582, 0, 270, 0, 39 [SEP] 23, PaperTowelRoll, -2.477, 1.056, 0.704, 0, 90, 0, 74 [SEP] 24, Egg, -2.340, 0.987, 0.704, 0, 90, 0, 74 [SEP] 25, Lettuce, 0.851, 1.001, -1.537, 0, 231.490, 0, 39 [SEP] 26, SaltShaker, 0.035, 0.908, 0.623, 0, 0, 0, 40 [SEP] 27, PepperShaker, -2.614, 0.948, 0.614, 0, 90, 0, 74 [SEP] 28, Apple, 0.300, 0.979, 0.292, 0, 0, 0, 40 [SEP] 29, ButterKnife, -2.477, 0.952, 0.345, 0, 90, 0, 74 [SEP] 30, Potato, -0.872, 1.045, -1.770, 0, 0, 0, 63 [SEP] 31, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 53 [SEP] 32, DishSponge, -2.614, 0.951, 0.345, 0, 90, 0, 74 [SEP] 33, Spoon, 1.535, 0.913, -1.406, 0, 0, 0, 41 [SEP] 34, Mug, -2.203, 0.947, 0.165, 0, 90, 0, 74 [SEP] 35, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0, [SEP] 36, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0, [SEP] 37, Drawer, 0.499, 0.792, 0.296, 0, 0, 0, [SEP] 38, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0, [SEP] 39, Sink, 0.711, 0.817, -1.772, 0, 270, 0, [SEP] 40, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0, [SEP] 41, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0, [SEP] 42, Drawer, 1.825, 0.792, 0.296, 0, 0, 0, [SEP] 43, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0, [SEP] 44, Drawer, -0.150, 0.792, -1.496, 0, 0, 0, [SEP] 45, Drawer, -0.586, 0.792, -1.496, 0, 0, 0, [SEP] 46, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0, [SEP] 47, Drawer, 0.024, 0.792, 0.296, 0, 0, 0, [SEP] 48, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0, [SEP] 49, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0, [SEP] 50, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0, [SEP] 51, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0, [SEP] 52, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0, [SEP] 53, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0, [SEP] 54, Drawer, -1.100, 0.792, -1.496, 0, 0, 0, [SEP] 55, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0, [SEP] 56, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0, [SEP] 57, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0, [SEP] 58, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0, [SEP] 59, Toaster, 0.305, 0.900, 0.552, 0, 180, 0, [SEP] 60, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0, [SEP] 61, Window, 0.582, 1.613, -1.967, 90, 0, 0, [SEP] 62, Window, 1.969, 1.5, -0.615, 90, 270, 0, [SEP] 63, Microwave, -1.037, 0.900, -1.723, 0, 0, 0, [SEP] 64, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0, [SEP] 65, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0, [SEP] 66, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0, [SEP] 67, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0, [SEP] 68, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0, [SEP] 69, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0, [SEP] 70, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0, [SEP] 71, Fridge, -2.134, 0.0, -1.690, 0, 0, 0, [SEP] 72, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0, [SEP] 73, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0, [SEP] 74, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0, [SEP] 75, NorthWall, , , , , , , [SEP] 76, EastWall, , , , , , , [SEP] 77, SouthWall, , , , , , , [SEP] 78, WestWall, , , , , , , ", "output": ["STEP 1: Go left and turn left at the door to walk to the fridge. | STEP 2: Open the fridge, remove the chilled tomato from the top shelf and close the door. | STEP 3: Head left and turn to the microwave on the counter to the right side. | STEP 4: Put the tomato inside the microwave on the black plate, heat it for a few seconds, remove it and close the door. | STEP 5: Turn left and walk to the sink on the right. | STEP 6: Put the heated tomato in the sink on the left side. | END"]} +{"id": "trial_T20190908_122858_883968-0", "input": "Put an empty toilet paper roll on a toilet paper holder. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.903, 4.0, 0, 0, 0, [SEP] 1, Cloth, 0.379, 0.097, 2.352, 0, 0, 0, 24 [SEP] 2, SprayBottle, 0.524, 0.098, 2.738, 0, 0, 0, 24 [SEP] 3, SprayBottle, 0.578, 1.055, 4.116, 0, 0, 0, 22 [SEP] 4, SoapBottle, 0.232, 0.101, 3.070, 0, 0, 0, 18 [SEP] 5, Towel, -2.393, 1.478, 0.580, 0, 90, 0, 25 [SEP] 6, Candle, 0.597, 0.106, 2.448, 0, 0, 0, 24 [SEP] 7, Cloth, 0.668, 1.047, 4.408, 0, 270, 0, 31 [SEP] 8, HandTowel, 0.397, 1.656, 2.039, 0, 180, 0, 29 [SEP] 9, Plunger, 0.480, 0.002, 4.793, 0, 0, 0, [SEP] 10, SoapBar, 0.597, 0.097, 2.255, 0, 0, 0, 24 [SEP] 11, ToiletPaper, 0.234, 0.094, 2.158, 0, 0, 0, 24 [SEP] 12, ToiletPaper, -1.252, 0.701, 1.080, 0, 0, 0, 19 [SEP] 13, SoapBottle, -0.144, 0.155, 1.349, 0, 90, 0, 30 [SEP] 14, SprayBottle, 0.219, 1.055, 2.108, 0, 0, 0, 22 [SEP] 15, ScrubBrush, 0.688, 0.002, 4.867, 0, 0, 0, [SEP] 16, Sink, 0.426, 1.037, 2.947, 0, 270, 0, [SEP] 17, Window, -2.548, 1.673, 2.405, 0, 0, 0, [SEP] 18, Cabinet, 0.068, 0.366, 3.772, 0, 0, 0, [SEP] 19, Bathtub, -1.042, 0.155, 0.558, 0, 0, 0, [SEP] 20, SinkBasin, 0.404, 0.926, 2.926, 0, 270, 0, [SEP] 21, Mirror, 0.858, 1.863, 2.972, 0, 0, 0, [SEP] 22, CounterTop, 0.487, 1.015, 3.090, 0, 0, 0, [SEP] 23, Faucet, -0.207, 0.687, 0.546, 0, 0, 0, [SEP] 24, Cabinet, 0.074, 0.379, 2.045, 0, 0, 0, [SEP] 25, TowelHolder, -2.5, 1.463, 0.579, 0, 90, 0, [SEP] 26, ToiletPaperHanger, -0.081, 0.971, 5.0, 0, 180, 0, [SEP] 27, LightSwitch, -1.121, 1.333, 5.000, 0, 180, 0, [SEP] 28, BathtubBasin, -1.062, 0.153, 0.556, 0, 0, 0, [SEP] 29, HandTowelHolder, 0.398, 1.758, 2.000, 0, 270, 0, [SEP] 30, GarbageCan, -0.229, 0.001, 1.445, 0, 270, 0, [SEP] 31, Toilet, 0.376, 0.002, 4.470, 0, 0, 0, [SEP] 32, Faucet, 0.661, 1.043, 3.371, 0, 270, 0, [SEP] 33, Faucet, 0.661, 1.043, 2.520, 0, 270, 0, [SEP] 34, NorthWall, , , , , , , [SEP] 35, EastWall, , , , , , , [SEP] 36, SouthWall, , , , , , , [SEP] 37, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and then left again to stand in front of the tub. | STEP 2: Pick the empty toilet paper roll up from the side of the tub. | STEP 3: Turn around and cross the room and then go right to face the toilet paper holder on the wall to the left of the toilet. | STEP 4: Put the empty roll on the toilet paper holder. | END"]} +{"id": "trial_T20190908_122858_883968-1", "input": "Pick up the toilet paper roll and put it by the toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.903, 4.0, 0, 0, 0, [SEP] 1, Cloth, 0.379, 0.097, 2.352, 0, 0, 0, 24 [SEP] 2, SprayBottle, 0.524, 0.098, 2.738, 0, 0, 0, 24 [SEP] 3, SprayBottle, 0.578, 1.055, 4.116, 0, 0, 0, 22 [SEP] 4, SoapBottle, 0.232, 0.101, 3.070, 0, 0, 0, 18 [SEP] 5, Towel, -2.393, 1.478, 0.580, 0, 90, 0, 25 [SEP] 6, Candle, 0.597, 0.106, 2.448, 0, 0, 0, 24 [SEP] 7, Cloth, 0.668, 1.047, 4.408, 0, 270, 0, 31 [SEP] 8, HandTowel, 0.397, 1.656, 2.039, 0, 180, 0, 29 [SEP] 9, Plunger, 0.480, 0.002, 4.793, 0, 0, 0, [SEP] 10, SoapBar, 0.597, 0.097, 2.255, 0, 0, 0, 24 [SEP] 11, ToiletPaper, 0.234, 0.094, 2.158, 0, 0, 0, 24 [SEP] 12, ToiletPaper, -1.252, 0.701, 1.080, 0, 0, 0, 19 [SEP] 13, SoapBottle, -0.144, 0.155, 1.349, 0, 90, 0, 30 [SEP] 14, SprayBottle, 0.219, 1.055, 2.108, 0, 0, 0, 22 [SEP] 15, ScrubBrush, 0.688, 0.002, 4.867, 0, 0, 0, [SEP] 16, Sink, 0.426, 1.037, 2.947, 0, 270, 0, [SEP] 17, Window, -2.548, 1.673, 2.405, 0, 0, 0, [SEP] 18, Cabinet, 0.068, 0.366, 3.772, 0, 0, 0, [SEP] 19, Bathtub, -1.042, 0.155, 0.558, 0, 0, 0, [SEP] 20, SinkBasin, 0.404, 0.926, 2.926, 0, 270, 0, [SEP] 21, Mirror, 0.858, 1.863, 2.972, 0, 0, 0, [SEP] 22, CounterTop, 0.487, 1.015, 3.090, 0, 0, 0, [SEP] 23, Faucet, -0.207, 0.687, 0.546, 0, 0, 0, [SEP] 24, Cabinet, 0.074, 0.379, 2.045, 0, 0, 0, [SEP] 25, TowelHolder, -2.5, 1.463, 0.579, 0, 90, 0, [SEP] 26, ToiletPaperHanger, -0.081, 0.971, 5.0, 0, 180, 0, [SEP] 27, LightSwitch, -1.121, 1.333, 5.000, 0, 180, 0, [SEP] 28, BathtubBasin, -1.062, 0.153, 0.556, 0, 0, 0, [SEP] 29, HandTowelHolder, 0.398, 1.758, 2.000, 0, 270, 0, [SEP] 30, GarbageCan, -0.229, 0.001, 1.445, 0, 270, 0, [SEP] 31, Toilet, 0.376, 0.002, 4.470, 0, 0, 0, [SEP] 32, Faucet, 0.661, 1.043, 3.371, 0, 270, 0, [SEP] 33, Faucet, 0.661, 1.043, 2.520, 0, 270, 0, [SEP] 34, NorthWall, , , , , , , [SEP] 35, EastWall, , , , , , , [SEP] 36, SouthWall, , , , , , , [SEP] 37, WestWall, , , , , , , ", "output": ["STEP 1: Turn left keeping the black door on your right and go to the sink across the room from it. | STEP 2: Pick up the toilet paper roll in the sink. | STEP 3: Turn around and go towards the black door turning right to get to the toilet. | STEP 4: Put the toilet paper roll on the hanger next to the toilet on the left. | END"]} +{"id": "trial_T20190908_122858_883968-2", "input": "Put an empty toilet paper roll on the toilet paper dispenser. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.903, 4.0, 0, 0, 0, [SEP] 1, Cloth, 0.379, 0.097, 2.352, 0, 0, 0, 24 [SEP] 2, SprayBottle, 0.524, 0.098, 2.738, 0, 0, 0, 24 [SEP] 3, SprayBottle, 0.578, 1.055, 4.116, 0, 0, 0, 22 [SEP] 4, SoapBottle, 0.232, 0.101, 3.070, 0, 0, 0, 18 [SEP] 5, Towel, -2.393, 1.478, 0.580, 0, 90, 0, 25 [SEP] 6, Candle, 0.597, 0.106, 2.448, 0, 0, 0, 24 [SEP] 7, Cloth, 0.668, 1.047, 4.408, 0, 270, 0, 31 [SEP] 8, HandTowel, 0.397, 1.656, 2.039, 0, 180, 0, 29 [SEP] 9, Plunger, 0.480, 0.002, 4.793, 0, 0, 0, [SEP] 10, SoapBar, 0.597, 0.097, 2.255, 0, 0, 0, 24 [SEP] 11, ToiletPaper, 0.234, 0.094, 2.158, 0, 0, 0, 24 [SEP] 12, ToiletPaper, -1.252, 0.701, 1.080, 0, 0, 0, 19 [SEP] 13, SoapBottle, -0.144, 0.155, 1.349, 0, 90, 0, 30 [SEP] 14, SprayBottle, 0.219, 1.055, 2.108, 0, 0, 0, 22 [SEP] 15, ScrubBrush, 0.688, 0.002, 4.867, 0, 0, 0, [SEP] 16, Sink, 0.426, 1.037, 2.947, 0, 270, 0, [SEP] 17, Window, -2.548, 1.673, 2.405, 0, 0, 0, [SEP] 18, Cabinet, 0.068, 0.366, 3.772, 0, 0, 0, [SEP] 19, Bathtub, -1.042, 0.155, 0.558, 0, 0, 0, [SEP] 20, SinkBasin, 0.404, 0.926, 2.926, 0, 270, 0, [SEP] 21, Mirror, 0.858, 1.863, 2.972, 0, 0, 0, [SEP] 22, CounterTop, 0.487, 1.015, 3.090, 0, 0, 0, [SEP] 23, Faucet, -0.207, 0.687, 0.546, 0, 0, 0, [SEP] 24, Cabinet, 0.074, 0.379, 2.045, 0, 0, 0, [SEP] 25, TowelHolder, -2.5, 1.463, 0.579, 0, 90, 0, [SEP] 26, ToiletPaperHanger, -0.081, 0.971, 5.0, 0, 180, 0, [SEP] 27, LightSwitch, -1.121, 1.333, 5.000, 0, 180, 0, [SEP] 28, BathtubBasin, -1.062, 0.153, 0.556, 0, 0, 0, [SEP] 29, HandTowelHolder, 0.398, 1.758, 2.000, 0, 270, 0, [SEP] 30, GarbageCan, -0.229, 0.001, 1.445, 0, 270, 0, [SEP] 31, Toilet, 0.376, 0.002, 4.470, 0, 0, 0, [SEP] 32, Faucet, 0.661, 1.043, 3.371, 0, 270, 0, [SEP] 33, Faucet, 0.661, 1.043, 2.520, 0, 270, 0, [SEP] 34, NorthWall, , , , , , , [SEP] 35, EastWall, , , , , , , [SEP] 36, SouthWall, , , , , , , [SEP] 37, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go across the bathroom to the bathtub. | STEP 2: Pick up the empty toilet paper roll on the edge of the bathtub. | STEP 3: Turn back around and go to the toilet paper holder, on the wall, to the left of the toilet. | STEP 4: Place the empty toilet paper roll on the toilet paper holder, hanging from the wall. | END"]} +{"id": "trial_T20190909_012524_159092-0", "input": "Put a cold tomato in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 5.25, 0, 270, 0, [SEP] 1, Pan, 1.562, 0.988, 3.848, 0, 0, 0, 51 [SEP] 2, Potato, 0.999, 1.027, 0.212, 0, 0, 0, 57 [SEP] 3, DishSponge, -0.083, 0.143, 0.353, 0, 0, 0, 66 [SEP] 4, DishSponge, 1.180, 0.771, 3.429, 0, 0, 0, 50 [SEP] 5, Kettle, -0.034, 0.761, 6.941, 0, 0, 0, 93 [SEP] 6, Kettle, 1.573, 0.141, 1.864, 0, 0, 0, 46 [SEP] 7, Spoon, 1.292, 0.772, 3.360, 0, 0, 0, 50 [SEP] 8, Spoon, 1.236, 0.772, 3.223, 0, 0, 0, 50 [SEP] 9, Spatula, -0.284, 0.775, 6.787, 0, 90, 0, 93 [SEP] 10, Spatula, 0.328, 0.786, 0.451, 0, 90, 0, 54 [SEP] 11, Fork, -0.621, 0.760, 6.416, 0, 270, 0, 93 [SEP] 12, Fork, 0.150, 0.760, 6.541, 0, 0, 0, 93 [SEP] 13, Egg, 1.276, 0.941, 2.525, 0, 90, 0, 80 [SEP] 14, Cup, -0.621, 0.756, 6.604, 0, 270, 0, 93 [SEP] 15, Knife, 1.387, 0.920, 2.525, 0, 90, 0, 80 [SEP] 16, Knife, 0.260, 0.801, 0.451, 0, 90, 0, 54 [SEP] 17, Tomato, -0.180, 0.809, 6.677, 0, 135, 0, 93 [SEP] 18, SoapBottle, 1.322, 0.140, 2.086, 0, 0, 0, 69 [SEP] 19, PepperShaker, -0.034, 0.755, 6.787, 0, 0, 0, 93 [SEP] 20, Bread, -0.535, 1.062, 0.303, 0, 0, 0, 57 [SEP] 21, Apple, 0.221, 1.171, 0.310, 0, 0, 0, 73 [SEP] 22, Bowl, 1.400, 0.140, 4.724, 0, 0, 0, 59 [SEP] 23, Bread, 0.147, 0.829, 6.349, 0, 135, 0, 93 [SEP] 24, Egg, -0.621, 0.810, 6.479, 0, 270, 0, 93 [SEP] 25, Knife, 1.493, 1.022, 3.417, 0, 0, 0, 57 [SEP] 26, Fork, -0.346, 0.760, 6.323, 0, 270, 0, 93 [SEP] 27, Apple, -0.312, 0.834, 6.479, 0, 270, 0, 93 [SEP] 28, Kettle, 1.317, 0.988, 4.294, 0, 0, 0, 52 [SEP] 29, Plate, 0.440, 1.580, 0.251, 0, 0, 0, 71 [SEP] 30, SaltShaker, -0.346, 0.755, 6.787, 0, 0, 0, 93 [SEP] 31, Lettuce, 1.449, 0.932, 2.050, 0, 0, 0, 80 [SEP] 32, SoapBottle, 1.585, 2.207, 4.262, 0, 180, 0, 45 [SEP] 33, Spatula, -0.549, 0.786, 0.395, 0, 90, 0, 53 [SEP] 34, PaperTowelRoll, 0.257, 0.864, 6.719, 0, 225, 0, 93 [SEP] 35, Pot, 1.32, 0.988, 3.848, 0, 0, 0, 56 [SEP] 36, Potato, 1.135, 1.027, 1.122, 0, 0, 0, 57 [SEP] 37, ButterKnife, 1.493, 0.992, 1.577, 0, 0, 0, 57 [SEP] 38, PepperShaker, -0.443, 0.755, 6.851, 0, 135, 0, 93 [SEP] 39, Pan, 1.559, 0.988, 4.294, 0, 0, 0, 55 [SEP] 40, Tomato, 0.544, 1.042, 0.120, 0, 0, 0, 57 [SEP] 41, DishSponge, 1.292, 0.771, 3.291, 0, 0, 0, 50 [SEP] 42, Cup, 1.500, 1.573, 1.166, 0, 0, 0, 57 [SEP] 43, Spoon, -0.011, 0.772, 0.451, 0, 0, 0, 54 [SEP] 44, Mug, 1.384, 1.043, 0.847, 0, 270, 0, 57 [SEP] 45, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 46, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 47, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 48, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 49, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 50, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 51, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 52, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 53, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 54, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 55, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 56, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 57, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 58, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 59, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 60, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 61, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 62, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 63, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 64, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 65, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 66, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 67, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 68, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 69, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 70, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 71, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 72, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 73, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 74, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 75, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 76, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 77, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 78, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 79, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 80, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 81, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 82, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 83, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 84, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 85, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 86, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 87, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 88, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 89, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 90, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 91, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 92, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 93, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 94, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 95, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 96, NorthWall, , , , , , , [SEP] 97, EastWall, , , , , , , [SEP] 98, SouthWall, , , , , , , [SEP] 99, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and cross the room to stand in front of the microwave. | STEP 2: Pick up the tomato from the counter next to the microwave. | STEP 3: Turn around and carry the tomato to the fridge. | STEP 4: Place the tomato on the top shelf in the fridge, close the door, and then open the door to remove it after a few seconds. | STEP 5: Turn right and carry the tomato across the room to the microwave. | STEP 6: Place the tomato in the microwave. | END"]} +{"id": "trial_T20190909_012524_159092-1", "input": "Chill a tomato and heat it. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 5.25, 0, 270, 0, [SEP] 1, Pan, 1.562, 0.988, 3.848, 0, 0, 0, 51 [SEP] 2, Potato, 0.999, 1.027, 0.212, 0, 0, 0, 57 [SEP] 3, DishSponge, -0.083, 0.143, 0.353, 0, 0, 0, 66 [SEP] 4, DishSponge, 1.180, 0.771, 3.429, 0, 0, 0, 50 [SEP] 5, Kettle, -0.034, 0.761, 6.941, 0, 0, 0, 93 [SEP] 6, Kettle, 1.573, 0.141, 1.864, 0, 0, 0, 46 [SEP] 7, Spoon, 1.292, 0.772, 3.360, 0, 0, 0, 50 [SEP] 8, Spoon, 1.236, 0.772, 3.223, 0, 0, 0, 50 [SEP] 9, Spatula, -0.284, 0.775, 6.787, 0, 90, 0, 93 [SEP] 10, Spatula, 0.328, 0.786, 0.451, 0, 90, 0, 54 [SEP] 11, Fork, -0.621, 0.760, 6.416, 0, 270, 0, 93 [SEP] 12, Fork, 0.150, 0.760, 6.541, 0, 0, 0, 93 [SEP] 13, Egg, 1.276, 0.941, 2.525, 0, 90, 0, 80 [SEP] 14, Cup, -0.621, 0.756, 6.604, 0, 270, 0, 93 [SEP] 15, Knife, 1.387, 0.920, 2.525, 0, 90, 0, 80 [SEP] 16, Knife, 0.260, 0.801, 0.451, 0, 90, 0, 54 [SEP] 17, Tomato, -0.180, 0.809, 6.677, 0, 135, 0, 93 [SEP] 18, SoapBottle, 1.322, 0.140, 2.086, 0, 0, 0, 69 [SEP] 19, PepperShaker, -0.034, 0.755, 6.787, 0, 0, 0, 93 [SEP] 20, Bread, -0.535, 1.062, 0.303, 0, 0, 0, 57 [SEP] 21, Apple, 0.221, 1.171, 0.310, 0, 0, 0, 73 [SEP] 22, Bowl, 1.400, 0.140, 4.724, 0, 0, 0, 59 [SEP] 23, Bread, 0.147, 0.829, 6.349, 0, 135, 0, 93 [SEP] 24, Egg, -0.621, 0.810, 6.479, 0, 270, 0, 93 [SEP] 25, Knife, 1.493, 1.022, 3.417, 0, 0, 0, 57 [SEP] 26, Fork, -0.346, 0.760, 6.323, 0, 270, 0, 93 [SEP] 27, Apple, -0.312, 0.834, 6.479, 0, 270, 0, 93 [SEP] 28, Kettle, 1.317, 0.988, 4.294, 0, 0, 0, 52 [SEP] 29, Plate, 0.440, 1.580, 0.251, 0, 0, 0, 71 [SEP] 30, SaltShaker, -0.346, 0.755, 6.787, 0, 0, 0, 93 [SEP] 31, Lettuce, 1.449, 0.932, 2.050, 0, 0, 0, 80 [SEP] 32, SoapBottle, 1.585, 2.207, 4.262, 0, 180, 0, 45 [SEP] 33, Spatula, -0.549, 0.786, 0.395, 0, 90, 0, 53 [SEP] 34, PaperTowelRoll, 0.257, 0.864, 6.719, 0, 225, 0, 93 [SEP] 35, Pot, 1.32, 0.988, 3.848, 0, 0, 0, 56 [SEP] 36, Potato, 1.135, 1.027, 1.122, 0, 0, 0, 57 [SEP] 37, ButterKnife, 1.493, 0.992, 1.577, 0, 0, 0, 57 [SEP] 38, PepperShaker, -0.443, 0.755, 6.851, 0, 135, 0, 93 [SEP] 39, Pan, 1.559, 0.988, 4.294, 0, 0, 0, 55 [SEP] 40, Tomato, 0.544, 1.042, 0.120, 0, 0, 0, 57 [SEP] 41, DishSponge, 1.292, 0.771, 3.291, 0, 0, 0, 50 [SEP] 42, Cup, 1.500, 1.573, 1.166, 0, 0, 0, 57 [SEP] 43, Spoon, -0.011, 0.772, 0.451, 0, 0, 0, 54 [SEP] 44, Mug, 1.384, 1.043, 0.847, 0, 270, 0, 57 [SEP] 45, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 46, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 47, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 48, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 49, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 50, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 51, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 52, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 53, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 54, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 55, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 56, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 57, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 58, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 59, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 60, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 61, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 62, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 63, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 64, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 65, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 66, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 67, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 68, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 69, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 70, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 71, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 72, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 73, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 74, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 75, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 76, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 77, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 78, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 79, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 80, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 81, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 82, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 83, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 84, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 85, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 86, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 87, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 88, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 89, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 90, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 91, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 92, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 93, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 94, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 95, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 96, NorthWall, , , , , , , [SEP] 97, EastWall, , , , , , , [SEP] 98, SouthWall, , , , , , , [SEP] 99, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the microwave behind you. | STEP 2: Grab a tomato from the counter. | STEP 3: Walk to the fridge on the left of the kitchen counters. | STEP 4: Put the tomato in the fridge, then take it out. | STEP 5: Walk to the microwave on your right. | STEP 6: Put the tomato in the microwave. | END"]} +{"id": "trial_T20190909_012524_159092-2", "input": "Putting a cooled tomato in the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 5.25, 0, 270, 0, [SEP] 1, Pan, 1.562, 0.988, 3.848, 0, 0, 0, 51 [SEP] 2, Potato, 0.999, 1.027, 0.212, 0, 0, 0, 57 [SEP] 3, DishSponge, -0.083, 0.143, 0.353, 0, 0, 0, 66 [SEP] 4, DishSponge, 1.180, 0.771, 3.429, 0, 0, 0, 50 [SEP] 5, Kettle, -0.034, 0.761, 6.941, 0, 0, 0, 93 [SEP] 6, Kettle, 1.573, 0.141, 1.864, 0, 0, 0, 46 [SEP] 7, Spoon, 1.292, 0.772, 3.360, 0, 0, 0, 50 [SEP] 8, Spoon, 1.236, 0.772, 3.223, 0, 0, 0, 50 [SEP] 9, Spatula, -0.284, 0.775, 6.787, 0, 90, 0, 93 [SEP] 10, Spatula, 0.328, 0.786, 0.451, 0, 90, 0, 54 [SEP] 11, Fork, -0.621, 0.760, 6.416, 0, 270, 0, 93 [SEP] 12, Fork, 0.150, 0.760, 6.541, 0, 0, 0, 93 [SEP] 13, Egg, 1.276, 0.941, 2.525, 0, 90, 0, 80 [SEP] 14, Cup, -0.621, 0.756, 6.604, 0, 270, 0, 93 [SEP] 15, Knife, 1.387, 0.920, 2.525, 0, 90, 0, 80 [SEP] 16, Knife, 0.260, 0.801, 0.451, 0, 90, 0, 54 [SEP] 17, Tomato, -0.180, 0.809, 6.677, 0, 135, 0, 93 [SEP] 18, SoapBottle, 1.322, 0.140, 2.086, 0, 0, 0, 69 [SEP] 19, PepperShaker, -0.034, 0.755, 6.787, 0, 0, 0, 93 [SEP] 20, Bread, -0.535, 1.062, 0.303, 0, 0, 0, 57 [SEP] 21, Apple, 0.221, 1.171, 0.310, 0, 0, 0, 73 [SEP] 22, Bowl, 1.400, 0.140, 4.724, 0, 0, 0, 59 [SEP] 23, Bread, 0.147, 0.829, 6.349, 0, 135, 0, 93 [SEP] 24, Egg, -0.621, 0.810, 6.479, 0, 270, 0, 93 [SEP] 25, Knife, 1.493, 1.022, 3.417, 0, 0, 0, 57 [SEP] 26, Fork, -0.346, 0.760, 6.323, 0, 270, 0, 93 [SEP] 27, Apple, -0.312, 0.834, 6.479, 0, 270, 0, 93 [SEP] 28, Kettle, 1.317, 0.988, 4.294, 0, 0, 0, 52 [SEP] 29, Plate, 0.440, 1.580, 0.251, 0, 0, 0, 71 [SEP] 30, SaltShaker, -0.346, 0.755, 6.787, 0, 0, 0, 93 [SEP] 31, Lettuce, 1.449, 0.932, 2.050, 0, 0, 0, 80 [SEP] 32, SoapBottle, 1.585, 2.207, 4.262, 0, 180, 0, 45 [SEP] 33, Spatula, -0.549, 0.786, 0.395, 0, 90, 0, 53 [SEP] 34, PaperTowelRoll, 0.257, 0.864, 6.719, 0, 225, 0, 93 [SEP] 35, Pot, 1.32, 0.988, 3.848, 0, 0, 0, 56 [SEP] 36, Potato, 1.135, 1.027, 1.122, 0, 0, 0, 57 [SEP] 37, ButterKnife, 1.493, 0.992, 1.577, 0, 0, 0, 57 [SEP] 38, PepperShaker, -0.443, 0.755, 6.851, 0, 135, 0, 93 [SEP] 39, Pan, 1.559, 0.988, 4.294, 0, 0, 0, 55 [SEP] 40, Tomato, 0.544, 1.042, 0.120, 0, 0, 0, 57 [SEP] 41, DishSponge, 1.292, 0.771, 3.291, 0, 0, 0, 50 [SEP] 42, Cup, 1.500, 1.573, 1.166, 0, 0, 0, 57 [SEP] 43, Spoon, -0.011, 0.772, 0.451, 0, 0, 0, 54 [SEP] 44, Mug, 1.384, 1.043, 0.847, 0, 270, 0, 57 [SEP] 45, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 46, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 47, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 48, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 49, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 50, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 51, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 52, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 53, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 54, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 55, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 56, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 57, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 58, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 59, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 60, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 61, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 62, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 63, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 64, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 65, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 66, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 67, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 68, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 69, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 70, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 71, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 72, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 73, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 74, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 75, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 76, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 77, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 78, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 79, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 80, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 81, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 82, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 83, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 84, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 85, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 86, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 87, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 88, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 89, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 90, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 91, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 92, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 93, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 94, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 95, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 96, NorthWall, , , , , , , [SEP] 97, EastWall, , , , , , , [SEP] 98, SouthWall, , , , , , , [SEP] 99, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and go to the counter with the microwave | STEP 2: Grab the tomato off of the counter | STEP 3: Turn around and go to the fridge | STEP 4: Put the tomato in the fridge and then close the door. Then take the tomato out | STEP 5: Turn right and go to the microwave | STEP 6: Put the apple in the microwave | END"]} +{"id": "trial_T20190907_234650_780308-0", "input": "Place an apple slice into the refrigerator on the bottom shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.901, 1.5, 0, 0, 0, [SEP] 1, Potato, -0.138, 1.044, 0.267, 0, 0, 0, 74 [SEP] 2, Potato, -0.244, 1.044, 0.203, 0, 0, 0, 74 [SEP] 3, DishSponge, -0.414, 1.773, 0.205, 0, 0, 0, 53 [SEP] 4, DishSponge, -2.377, 0.900, 2.045, 0, 0, 0, 76 [SEP] 5, Spatula, -2.485, 0.677, 0.519, 0, 270, 0, 63 [SEP] 6, Spatula, -1.352, 0.943, 0.650, 0, 0, 0, 55 [SEP] 7, Spoon, -1.007, 0.797, 0.337, 0, 0, 0, 73 [SEP] 8, Fork, -2.686, 0.901, 1.913, 0, 0, 0, 76 [SEP] 9, Fork, -2.269, 0.662, 0.300, 0, 90, 0, 63 [SEP] 10, Pot, -0.535, 0.928, 4.274, 0, 0, 0, 59 [SEP] 11, Cup, -1.770, 0.927, 0.518, 0, 0, 0, 55 [SEP] 12, Cup, -0.657, 0.900, 2.530, 0, 0, 0, 78 [SEP] 13, Plate, -0.486, 0.904, 2.329, 0, 0, 0, 78 [SEP] 14, Knife, -0.486, 0.926, 3.334, 0, 0, 0, 78 [SEP] 15, Knife, -2.628, 0.961, 3.209, 0, 0, 0, 62 [SEP] 16, SoapBottle, -1.636, 1.773, 0.114, 0, 0, 0, 50 [SEP] 17, SoapBottle, -0.143, 0.900, 3.133, 0, 0, 0, 78 [SEP] 18, SaltShaker, -1.824, 0.658, 0.245, 0, 0, 0, 58 [SEP] 19, Bread, -2.686, 0.957, 2.309, 0, 0, 0, 76 [SEP] 20, Mug, -2.778, 1.001, 3.714, 0, 90, 0, 75 [SEP] 21, Mug, -0.403, 1.018, 0.171, 0, 0, 0, 74 [SEP] 22, Apple, -2.377, 0.956, 2.706, 0, 0, 0, 76 [SEP] 23, Egg, -0.244, 1.056, 0.108, 0, 0, 0, 74 [SEP] 24, Plate, -0.747, 1.777, 0.251, 0, 0, 0, 53 [SEP] 25, Fork, -2.215, 0.662, 0.300, 0, 90, 0, 63 [SEP] 26, Bread, -2.805, 1.243, 4.352, 0, 90, 0, 72 [SEP] 27, Apple, -1.266, 0.852, 0.226, 0, 0, 0, 73 [SEP] 28, Lettuce, -2.785, 0.378, 4.575, 0, 90, 0, 72 [SEP] 29, Spatula, -1.353, 0.812, 0.392, 0, 270, 0, 73 [SEP] 30, Knife, -2.170, 0.953, 0.433, 0, 180, 0, 55 [SEP] 31, Potato, -3.022, 0.961, 3.209, 0, 0, 0, 62 [SEP] 32, Tomato, -2.686, 0.964, 2.045, 0, 0, 0, 76 [SEP] 33, Cup, -2.888, 0.632, 4.278, 0, 90, 0, 72 [SEP] 34, SaltShaker, -1.662, 0.658, 0.300, 0, 0, 0, 58 [SEP] 35, PepperShaker, -2.892, 0.896, 2.706, 0, 0, 0, 76 [SEP] 36, ButterKnife, -0.272, 0.662, 0.355, 0, 0, 0, 44 [SEP] 37, SoapBottle, -2.628, 0.935, 3.580, 0, 90, 0, 62 [SEP] 38, Pan, -0.250, 0.926, 4.651, 0, 0, 0, 57 [SEP] 39, DishSponge, -0.486, 0.900, 2.530, 0, 0, 0, 78 [SEP] 40, Pot, -0.314, 0.900, 2.932, 0, 0, 0, 78 [SEP] 41, Spoon, -2.892, 0.901, 2.045, 0, 0, 0, 76 [SEP] 42, Mug, -2.549, 0.930, 3.766, 0, 0, 0, 62 [SEP] 43, Bowl, -2.995, 0.897, 2.441, 0, 0, 0, 76 [SEP] 44, Drawer, -0.325, 0.696, 0.413, 0, 0, 0, [SEP] 45, Cabinet, -0.595, 0.490, 0.648, 0, 0, 0, [SEP] 46, Cabinet, -0.555, 0.490, 0.646, 0, 0, 0, [SEP] 47, Cabinet, -1.591, 0.490, 0.646, 0, 0, 0, [SEP] 48, Cabinet, -1.554, 0.490, 0.646, 0, 0, 0, [SEP] 49, Cabinet, -2.550, 0.490, 0.646, 0, 0, 0, [SEP] 50, Cabinet, -1.514, 2.046, 0.392, 0, 0, 0, [SEP] 51, Cabinet, -2.474, 2.046, 0.392, 0, 0, 0, [SEP] 52, Cabinet, -1.478, 2.046, 0.392, 0, 0, 0, [SEP] 53, Cabinet, -0.518, 2.046, 0.392, 0, 0, 0, [SEP] 54, Cabinet, -0.479, 2.046, 0.392, 0, 0, 0, [SEP] 55, CounterTop, -1.366, 0.952, 0.349, 0, 0, 0, [SEP] 56, Sink, -1.108, 0.926, 0.340, 0, 0, 0, [SEP] 57, StoveBurner, -0.254, 0.922, 4.672, 0, 0, 0, [SEP] 58, Drawer, -1.824, 0.696, 0.413, 0, 0, 0, [SEP] 59, StoveBurner, -0.535, 0.922, 4.274, 0, 0, 0, [SEP] 60, StoveBurner, -0.254, 0.922, 4.274, 0, 0, 0, [SEP] 61, StoveBurner, -0.536, 0.922, 4.672, 0, 0, 0, [SEP] 62, CounterTop, -2.780, 0.971, 3.487, 0, 0, 0, [SEP] 63, Drawer, -2.323, 0.696, 0.413, 0, 0, 0, [SEP] 64, StoveKnob, -0.064, 1.090, 4.632, 0, 0, 73.865, [SEP] 65, StoveKnob, -0.064, 1.090, 4.782, 0, 0, 73.865, [SEP] 66, StoveKnob, -0.064, 1.090, 4.382, 0, 0, 73.865, [SEP] 67, StoveKnob, -0.064, 1.090, 4.222, 0, 0, 73.865, [SEP] 68, Toaster, -0.286, 0.861, 3.520, 0, 270, 0, [SEP] 69, GarbageCan, -2.816, -0.014, 0.370, 358.702, 26.614, 2.400, [SEP] 70, LightSwitch, -0.064, 1.447, 1.996, 0, 270, 0, [SEP] 71, Window, -3.075, 1.593, 1.361, 90, 90, 0, [SEP] 72, Fridge, -2.802, 0.0, 4.427, 0, 0, 0, [SEP] 73, SinkBasin, -1.106, 0.785, 0.337, 0, 0, 0, [SEP] 74, Microwave, -0.358, 0.917, 0.224, 0, 0, 0, [SEP] 75, CoffeeMachine, -2.938, 0.925, 3.605, 0, 90, 0, [SEP] 76, DiningTable, -2.733, -0.003, 2.607, 0, 270, 0, [SEP] 77, Faucet, -1.077, 0.920, 0.028, 270, 270, 0, [SEP] 78, DiningTable, -0.488, -0.003, 3.182, 0, 270, 0, [SEP] 79, NorthWall, , , , , , , [SEP] 80, EastWall, , , , , , , [SEP] 81, SouthWall, , , , , , , [SEP] 82, WestWall, , , , , , , ", "output": ["STEP 1: Head towards the wall then turn left, walk towards the coffee maker. | STEP 2: Pick up the knife off the brown cabinet against the wall. | STEP 3: Turn around, then walk towards the white table, turn right, then walk towards the sink. | STEP 4: Cut the apple in the sink. | STEP 5: Turn around then walk towards the wall, turn left then walk towards the refrigerator. | STEP 6: Open the door, place the knife on the top shelf, then close the door. | STEP 7: Turn around, walk towards the stove, turn right then walk towards the sink. | STEP 8: Pick up a slice of apple out of the sink. | STEP 9: Turn all the way around, then walk towards the door, then turn right to the microwave. | STEP 10: Place the apple slice in the microwave on the blue plate in front of the black cup, then turn it on. | STEP 11: Take the apple out of the microwave, turn around, then walk towards the wall, turn left towards the refrigerator. | STEP 12: Place the apple next to the cabbage on the bottom shelf of the refrigerator. | END"]} +{"id": "trial_T20190907_234650_780308-1", "input": "To heat a piece of apple and place it in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.901, 1.5, 0, 0, 0, [SEP] 1, Potato, -0.138, 1.044, 0.267, 0, 0, 0, 74 [SEP] 2, Potato, -0.244, 1.044, 0.203, 0, 0, 0, 74 [SEP] 3, DishSponge, -0.414, 1.773, 0.205, 0, 0, 0, 53 [SEP] 4, DishSponge, -2.377, 0.900, 2.045, 0, 0, 0, 76 [SEP] 5, Spatula, -2.485, 0.677, 0.519, 0, 270, 0, 63 [SEP] 6, Spatula, -1.352, 0.943, 0.650, 0, 0, 0, 55 [SEP] 7, Spoon, -1.007, 0.797, 0.337, 0, 0, 0, 73 [SEP] 8, Fork, -2.686, 0.901, 1.913, 0, 0, 0, 76 [SEP] 9, Fork, -2.269, 0.662, 0.300, 0, 90, 0, 63 [SEP] 10, Pot, -0.535, 0.928, 4.274, 0, 0, 0, 59 [SEP] 11, Cup, -1.770, 0.927, 0.518, 0, 0, 0, 55 [SEP] 12, Cup, -0.657, 0.900, 2.530, 0, 0, 0, 78 [SEP] 13, Plate, -0.486, 0.904, 2.329, 0, 0, 0, 78 [SEP] 14, Knife, -0.486, 0.926, 3.334, 0, 0, 0, 78 [SEP] 15, Knife, -2.628, 0.961, 3.209, 0, 0, 0, 62 [SEP] 16, SoapBottle, -1.636, 1.773, 0.114, 0, 0, 0, 50 [SEP] 17, SoapBottle, -0.143, 0.900, 3.133, 0, 0, 0, 78 [SEP] 18, SaltShaker, -1.824, 0.658, 0.245, 0, 0, 0, 58 [SEP] 19, Bread, -2.686, 0.957, 2.309, 0, 0, 0, 76 [SEP] 20, Mug, -2.778, 1.001, 3.714, 0, 90, 0, 75 [SEP] 21, Mug, -0.403, 1.018, 0.171, 0, 0, 0, 74 [SEP] 22, Apple, -2.377, 0.956, 2.706, 0, 0, 0, 76 [SEP] 23, Egg, -0.244, 1.056, 0.108, 0, 0, 0, 74 [SEP] 24, Plate, -0.747, 1.777, 0.251, 0, 0, 0, 53 [SEP] 25, Fork, -2.215, 0.662, 0.300, 0, 90, 0, 63 [SEP] 26, Bread, -2.805, 1.243, 4.352, 0, 90, 0, 72 [SEP] 27, Apple, -1.266, 0.852, 0.226, 0, 0, 0, 73 [SEP] 28, Lettuce, -2.785, 0.378, 4.575, 0, 90, 0, 72 [SEP] 29, Spatula, -1.353, 0.812, 0.392, 0, 270, 0, 73 [SEP] 30, Knife, -2.170, 0.953, 0.433, 0, 180, 0, 55 [SEP] 31, Potato, -3.022, 0.961, 3.209, 0, 0, 0, 62 [SEP] 32, Tomato, -2.686, 0.964, 2.045, 0, 0, 0, 76 [SEP] 33, Cup, -2.888, 0.632, 4.278, 0, 90, 0, 72 [SEP] 34, SaltShaker, -1.662, 0.658, 0.300, 0, 0, 0, 58 [SEP] 35, PepperShaker, -2.892, 0.896, 2.706, 0, 0, 0, 76 [SEP] 36, ButterKnife, -0.272, 0.662, 0.355, 0, 0, 0, 44 [SEP] 37, SoapBottle, -2.628, 0.935, 3.580, 0, 90, 0, 62 [SEP] 38, Pan, -0.250, 0.926, 4.651, 0, 0, 0, 57 [SEP] 39, DishSponge, -0.486, 0.900, 2.530, 0, 0, 0, 78 [SEP] 40, Pot, -0.314, 0.900, 2.932, 0, 0, 0, 78 [SEP] 41, Spoon, -2.892, 0.901, 2.045, 0, 0, 0, 76 [SEP] 42, Mug, -2.549, 0.930, 3.766, 0, 0, 0, 62 [SEP] 43, Bowl, -2.995, 0.897, 2.441, 0, 0, 0, 76 [SEP] 44, Drawer, -0.325, 0.696, 0.413, 0, 0, 0, [SEP] 45, Cabinet, -0.595, 0.490, 0.648, 0, 0, 0, [SEP] 46, Cabinet, -0.555, 0.490, 0.646, 0, 0, 0, [SEP] 47, Cabinet, -1.591, 0.490, 0.646, 0, 0, 0, [SEP] 48, Cabinet, -1.554, 0.490, 0.646, 0, 0, 0, [SEP] 49, Cabinet, -2.550, 0.490, 0.646, 0, 0, 0, [SEP] 50, Cabinet, -1.514, 2.046, 0.392, 0, 0, 0, [SEP] 51, Cabinet, -2.474, 2.046, 0.392, 0, 0, 0, [SEP] 52, Cabinet, -1.478, 2.046, 0.392, 0, 0, 0, [SEP] 53, Cabinet, -0.518, 2.046, 0.392, 0, 0, 0, [SEP] 54, Cabinet, -0.479, 2.046, 0.392, 0, 0, 0, [SEP] 55, CounterTop, -1.366, 0.952, 0.349, 0, 0, 0, [SEP] 56, Sink, -1.108, 0.926, 0.340, 0, 0, 0, [SEP] 57, StoveBurner, -0.254, 0.922, 4.672, 0, 0, 0, [SEP] 58, Drawer, -1.824, 0.696, 0.413, 0, 0, 0, [SEP] 59, StoveBurner, -0.535, 0.922, 4.274, 0, 0, 0, [SEP] 60, StoveBurner, -0.254, 0.922, 4.274, 0, 0, 0, [SEP] 61, StoveBurner, -0.536, 0.922, 4.672, 0, 0, 0, [SEP] 62, CounterTop, -2.780, 0.971, 3.487, 0, 0, 0, [SEP] 63, Drawer, -2.323, 0.696, 0.413, 0, 0, 0, [SEP] 64, StoveKnob, -0.064, 1.090, 4.632, 0, 0, 73.865, [SEP] 65, StoveKnob, -0.064, 1.090, 4.782, 0, 0, 73.865, [SEP] 66, StoveKnob, -0.064, 1.090, 4.382, 0, 0, 73.865, [SEP] 67, StoveKnob, -0.064, 1.090, 4.222, 0, 0, 73.865, [SEP] 68, Toaster, -0.286, 0.861, 3.520, 0, 270, 0, [SEP] 69, GarbageCan, -2.816, -0.014, 0.370, 358.702, 26.614, 2.400, [SEP] 70, LightSwitch, -0.064, 1.447, 1.996, 0, 270, 0, [SEP] 71, Window, -3.075, 1.593, 1.361, 90, 90, 0, [SEP] 72, Fridge, -2.802, 0.0, 4.427, 0, 0, 0, [SEP] 73, SinkBasin, -1.106, 0.785, 0.337, 0, 0, 0, [SEP] 74, Microwave, -0.358, 0.917, 0.224, 0, 0, 0, [SEP] 75, CoffeeMachine, -2.938, 0.925, 3.605, 0, 90, 0, [SEP] 76, DiningTable, -2.733, -0.003, 2.607, 0, 270, 0, [SEP] 77, Faucet, -1.077, 0.920, 0.028, 270, 270, 0, [SEP] 78, DiningTable, -0.488, -0.003, 3.182, 0, 270, 0, [SEP] 79, NorthWall, , , , , , , [SEP] 80, EastWall, , , , , , , [SEP] 81, SouthWall, , , , , , , [SEP] 82, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left and walk forward to face the black cabinet. | STEP 2: Pick up the knife on the top of the black cabinet. | STEP 3: Turn to the left and walk across the room the face the sink. | STEP 4: Cut the apple on the table into three pieces. | STEP 5: Turn around and walk across the room and turn left to face the fridge. | STEP 6: Place the knife on the top rack in the fridge. | STEP 7: Turn left and walk across the room to face the sink. | STEP 8: Pick up a piece of apple in the sink. | STEP 9: Step to the left and face the microwave. | STEP 10: Warm the piece of apple in the microwave and then remove it. | STEP 11: Turn around and walk across the room and turn left to face the fridge. | STEP 12: Place the piece of apple in the fridge. | END"]} +{"id": "trial_T20190907_234650_780308-2", "input": "drop a cooked apple slice in the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.901, 1.5, 0, 0, 0, [SEP] 1, Potato, -0.138, 1.044, 0.267, 0, 0, 0, 74 [SEP] 2, Potato, -0.244, 1.044, 0.203, 0, 0, 0, 74 [SEP] 3, DishSponge, -0.414, 1.773, 0.205, 0, 0, 0, 53 [SEP] 4, DishSponge, -2.377, 0.900, 2.045, 0, 0, 0, 76 [SEP] 5, Spatula, -2.485, 0.677, 0.519, 0, 270, 0, 63 [SEP] 6, Spatula, -1.352, 0.943, 0.650, 0, 0, 0, 55 [SEP] 7, Spoon, -1.007, 0.797, 0.337, 0, 0, 0, 73 [SEP] 8, Fork, -2.686, 0.901, 1.913, 0, 0, 0, 76 [SEP] 9, Fork, -2.269, 0.662, 0.300, 0, 90, 0, 63 [SEP] 10, Pot, -0.535, 0.928, 4.274, 0, 0, 0, 59 [SEP] 11, Cup, -1.770, 0.927, 0.518, 0, 0, 0, 55 [SEP] 12, Cup, -0.657, 0.900, 2.530, 0, 0, 0, 78 [SEP] 13, Plate, -0.486, 0.904, 2.329, 0, 0, 0, 78 [SEP] 14, Knife, -0.486, 0.926, 3.334, 0, 0, 0, 78 [SEP] 15, Knife, -2.628, 0.961, 3.209, 0, 0, 0, 62 [SEP] 16, SoapBottle, -1.636, 1.773, 0.114, 0, 0, 0, 50 [SEP] 17, SoapBottle, -0.143, 0.900, 3.133, 0, 0, 0, 78 [SEP] 18, SaltShaker, -1.824, 0.658, 0.245, 0, 0, 0, 58 [SEP] 19, Bread, -2.686, 0.957, 2.309, 0, 0, 0, 76 [SEP] 20, Mug, -2.778, 1.001, 3.714, 0, 90, 0, 75 [SEP] 21, Mug, -0.403, 1.018, 0.171, 0, 0, 0, 74 [SEP] 22, Apple, -2.377, 0.956, 2.706, 0, 0, 0, 76 [SEP] 23, Egg, -0.244, 1.056, 0.108, 0, 0, 0, 74 [SEP] 24, Plate, -0.747, 1.777, 0.251, 0, 0, 0, 53 [SEP] 25, Fork, -2.215, 0.662, 0.300, 0, 90, 0, 63 [SEP] 26, Bread, -2.805, 1.243, 4.352, 0, 90, 0, 72 [SEP] 27, Apple, -1.266, 0.852, 0.226, 0, 0, 0, 73 [SEP] 28, Lettuce, -2.785, 0.378, 4.575, 0, 90, 0, 72 [SEP] 29, Spatula, -1.353, 0.812, 0.392, 0, 270, 0, 73 [SEP] 30, Knife, -2.170, 0.953, 0.433, 0, 180, 0, 55 [SEP] 31, Potato, -3.022, 0.961, 3.209, 0, 0, 0, 62 [SEP] 32, Tomato, -2.686, 0.964, 2.045, 0, 0, 0, 76 [SEP] 33, Cup, -2.888, 0.632, 4.278, 0, 90, 0, 72 [SEP] 34, SaltShaker, -1.662, 0.658, 0.300, 0, 0, 0, 58 [SEP] 35, PepperShaker, -2.892, 0.896, 2.706, 0, 0, 0, 76 [SEP] 36, ButterKnife, -0.272, 0.662, 0.355, 0, 0, 0, 44 [SEP] 37, SoapBottle, -2.628, 0.935, 3.580, 0, 90, 0, 62 [SEP] 38, Pan, -0.250, 0.926, 4.651, 0, 0, 0, 57 [SEP] 39, DishSponge, -0.486, 0.900, 2.530, 0, 0, 0, 78 [SEP] 40, Pot, -0.314, 0.900, 2.932, 0, 0, 0, 78 [SEP] 41, Spoon, -2.892, 0.901, 2.045, 0, 0, 0, 76 [SEP] 42, Mug, -2.549, 0.930, 3.766, 0, 0, 0, 62 [SEP] 43, Bowl, -2.995, 0.897, 2.441, 0, 0, 0, 76 [SEP] 44, Drawer, -0.325, 0.696, 0.413, 0, 0, 0, [SEP] 45, Cabinet, -0.595, 0.490, 0.648, 0, 0, 0, [SEP] 46, Cabinet, -0.555, 0.490, 0.646, 0, 0, 0, [SEP] 47, Cabinet, -1.591, 0.490, 0.646, 0, 0, 0, [SEP] 48, Cabinet, -1.554, 0.490, 0.646, 0, 0, 0, [SEP] 49, Cabinet, -2.550, 0.490, 0.646, 0, 0, 0, [SEP] 50, Cabinet, -1.514, 2.046, 0.392, 0, 0, 0, [SEP] 51, Cabinet, -2.474, 2.046, 0.392, 0, 0, 0, [SEP] 52, Cabinet, -1.478, 2.046, 0.392, 0, 0, 0, [SEP] 53, Cabinet, -0.518, 2.046, 0.392, 0, 0, 0, [SEP] 54, Cabinet, -0.479, 2.046, 0.392, 0, 0, 0, [SEP] 55, CounterTop, -1.366, 0.952, 0.349, 0, 0, 0, [SEP] 56, Sink, -1.108, 0.926, 0.340, 0, 0, 0, [SEP] 57, StoveBurner, -0.254, 0.922, 4.672, 0, 0, 0, [SEP] 58, Drawer, -1.824, 0.696, 0.413, 0, 0, 0, [SEP] 59, StoveBurner, -0.535, 0.922, 4.274, 0, 0, 0, [SEP] 60, StoveBurner, -0.254, 0.922, 4.274, 0, 0, 0, [SEP] 61, StoveBurner, -0.536, 0.922, 4.672, 0, 0, 0, [SEP] 62, CounterTop, -2.780, 0.971, 3.487, 0, 0, 0, [SEP] 63, Drawer, -2.323, 0.696, 0.413, 0, 0, 0, [SEP] 64, StoveKnob, -0.064, 1.090, 4.632, 0, 0, 73.865, [SEP] 65, StoveKnob, -0.064, 1.090, 4.782, 0, 0, 73.865, [SEP] 66, StoveKnob, -0.064, 1.090, 4.382, 0, 0, 73.865, [SEP] 67, StoveKnob, -0.064, 1.090, 4.222, 0, 0, 73.865, [SEP] 68, Toaster, -0.286, 0.861, 3.520, 0, 270, 0, [SEP] 69, GarbageCan, -2.816, -0.014, 0.370, 358.702, 26.614, 2.400, [SEP] 70, LightSwitch, -0.064, 1.447, 1.996, 0, 270, 0, [SEP] 71, Window, -3.075, 1.593, 1.361, 90, 90, 0, [SEP] 72, Fridge, -2.802, 0.0, 4.427, 0, 0, 0, [SEP] 73, SinkBasin, -1.106, 0.785, 0.337, 0, 0, 0, [SEP] 74, Microwave, -0.358, 0.917, 0.224, 0, 0, 0, [SEP] 75, CoffeeMachine, -2.938, 0.925, 3.605, 0, 90, 0, [SEP] 76, DiningTable, -2.733, -0.003, 2.607, 0, 270, 0, [SEP] 77, Faucet, -1.077, 0.920, 0.028, 270, 270, 0, [SEP] 78, DiningTable, -0.488, -0.003, 3.182, 0, 270, 0, [SEP] 79, NorthWall, , , , , , , [SEP] 80, EastWall, , , , , , , [SEP] 81, SouthWall, , , , , , , [SEP] 82, WestWall, , , , , , , ", "output": ["STEP 1: turn left towards the table | STEP 2: pick up the knife | STEP 3: turn left to the sink | STEP 4: slice the apple in the sink | STEP 5: turn around to the fridge | STEP 6: drop the apple in the fridge | STEP 7: turn left to the sink | STEP 8: pick up the apple slice | STEP 9: turn left to the oven | STEP 10: place the slice to cook and take it out | STEP 11: turn around and head to the fridge | STEP 12: drop the apple slice on the fridge | END"]} +{"id": "trial_T20190908_175253_104175-0", "input": "Put a clean cloth on the back of the toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 1.0, 0, 180, 0, [SEP] 1, SoapBar, -0.925, 0.073, 0.285, 0, 315, 0, 19 [SEP] 2, Candle, 0.349, 0.353, 3.792, 0, 0, 0, 40 [SEP] 3, SprayBottle, 0.401, 1.160, 3.861, 0, 0, 0, 38 [SEP] 4, SprayBottle, -1.795, 0.015, 2.246, 0, 0, 0, 20 [SEP] 5, SoapBottle, -0.544, 0.447, 0.090, 0, 0, 0, 17 [SEP] 6, Towel, -0.07, 1.284, 0.106, 0, 0, 0, 28 [SEP] 7, HandTowel, -1.731, 1.333, 3.961, 0, 0, 0, 30 [SEP] 8, SoapBar, -1.188, 0.073, 0.548, 0, 315, 0, 19 [SEP] 9, ToiletPaper, 0.008, 1.156, 3.797, 0, 0, 0, 47 [SEP] 10, ToiletPaper, 0.277, 0.612, 3.792, 0, 0, 0, 41 [SEP] 11, Cloth, -1.527, 0.074, 0.970, 0, 0, 0, 19 [SEP] 12, SprayBottle, -1.887, 0.772, 3.765, 0, 0, 0, 18 [SEP] 13, Candle, 0.204, 0.094, 3.839, 0, 0, 0, 39 [SEP] 14, ScrubBrush, -1.664, -0.000, 3.897, 0, 0, 0, Floor|-02.00| [SEP] 15, Plunger, -1.888, -0.000, 3.885, 0, 0, 0, Floor|-02.00| [SEP] 16, SoapBottle, -1.747, 0.069, 3.212, 0, 0, 0, 27 [SEP] 17, Bathtub, -1.414, -0.002, 0.563, 0, 0, 0, [SEP] 18, CounterTop, -1.799, 0.746, 3.122, 0, 0, 0, [SEP] 19, BathtubBasin, -1.613, 0.052, 0.540, 0, 0, 0, [SEP] 20, Cabinet, -1.613, 0.309, 2.493, 0, 0, 0, [SEP] 21, ShowerDoor, 0.527, 1.037, 2.115, 0, 0, 0, [SEP] 22, Mirror, -1.993, 1.424, 3.107, 0, 0, 0, [SEP] 23, Cabinet, -1.613, 0.309, 3.754, 0, 0, 0, [SEP] 24, Faucet, -1.873, 0.461, 0.641, 0, 0, 0, [SEP] 25, Sink, -1.834, 0.685, 2.777, 0, 90, 0, [SEP] 26, Cabinet, -1.613, 0.309, 3.105, 0, 0, 0, [SEP] 27, Cabinet, -1.613, 0.309, 3.140, 0, 0, 0, [SEP] 28, TowelHolder, -0.070, 1.269, 0.0, 0, 0, 0, [SEP] 29, GarbageCan, 0.932, -0.029, 3.761, 0, 0, 0, [SEP] 30, HandTowelHolder, -1.730, 1.434, 4.0, 0, 90, 0, [SEP] 31, Window, -1.039, 1.393, 0.018, 90, 0, 0, [SEP] 32, Window, -1.986, 1.392, 0.706, 90, 90, 0, [SEP] 33, ToiletPaperHanger, -1.776, 0.681, 2.474, 0, 180, 0, [SEP] 34, SinkBasin, -1.795, 0.694, 2.781, 0, 90, 0, [SEP] 35, LightSwitch, 1.250, 1.330, 3.621, 0, 270, 0, [SEP] 36, Toilet, -1.567, -0.000, 1.815, 0, 180, 0, [SEP] 37, Drawer, 0.204, 0.940, 3.807, 0, 180, 0, [SEP] 38, Dresser, 0.204, 0.000, 3.832, 0, 180, 0, [SEP] 39, Drawer, 0.204, 0.160, 3.807, 0, 180, 0, [SEP] 40, Drawer, 0.204, 0.420, 3.807, 0, 180, 0, [SEP] 41, Drawer, 0.204, 0.680, 3.807, 0, 180, 0, [SEP] 42, SinkBasin, -1.795, 0.694, 3.476, 0, 90, 0, [SEP] 43, Sink, -1.833, 0.685, 3.472, 0, 90, 0, [SEP] 44, Faucet, -1.988, 0.947, 3.472, 0, 180, 0, [SEP] 45, ShowerHead, 0.972, 1.222, 2.015, 0, 270, 0, [SEP] 46, Faucet, -1.988, 0.947, 2.776, 0, 180, 0, [SEP] 47, , , , , , , , [SEP] 48, NorthWall, , , , , , , [SEP] 49, EastWall, , , , , , , [SEP] 50, SouthWall, , , , , , , [SEP] 51, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right and face the tub. | STEP 2: Pick the dark rag up from the tub. | STEP 3: Turn around and cross the room and turn to the left to face the sink on the left. | STEP 4: Put the cloth in the sink on the left and turn the water on and then off and pick the cloth up again. | STEP 5: Turn to the left and face the toilet. | STEP 6: Put the cloth on the back of the toilet. | END"]} +{"id": "trial_T20190908_175253_104175-1", "input": "Put a SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 1.0, 0, 180, 0, [SEP] 1, SoapBar, -0.925, 0.073, 0.285, 0, 315, 0, 19 [SEP] 2, Candle, 0.349, 0.353, 3.792, 0, 0, 0, 40 [SEP] 3, SprayBottle, 0.401, 1.160, 3.861, 0, 0, 0, 38 [SEP] 4, SprayBottle, -1.795, 0.015, 2.246, 0, 0, 0, 20 [SEP] 5, SoapBottle, -0.544, 0.447, 0.090, 0, 0, 0, 17 [SEP] 6, Towel, -0.07, 1.284, 0.106, 0, 0, 0, 28 [SEP] 7, HandTowel, -1.731, 1.333, 3.961, 0, 0, 0, 30 [SEP] 8, SoapBar, -1.188, 0.073, 0.548, 0, 315, 0, 19 [SEP] 9, ToiletPaper, 0.008, 1.156, 3.797, 0, 0, 0, 47 [SEP] 10, ToiletPaper, 0.277, 0.612, 3.792, 0, 0, 0, 41 [SEP] 11, Cloth, -1.527, 0.074, 0.970, 0, 0, 0, 19 [SEP] 12, SprayBottle, -1.887, 0.772, 3.765, 0, 0, 0, 18 [SEP] 13, Candle, 0.204, 0.094, 3.839, 0, 0, 0, 39 [SEP] 14, ScrubBrush, -1.664, -0.000, 3.897, 0, 0, 0, Floor|-02.00| [SEP] 15, Plunger, -1.888, -0.000, 3.885, 0, 0, 0, Floor|-02.00| [SEP] 16, SoapBottle, -1.747, 0.069, 3.212, 0, 0, 0, 27 [SEP] 17, Bathtub, -1.414, -0.002, 0.563, 0, 0, 0, [SEP] 18, CounterTop, -1.799, 0.746, 3.122, 0, 0, 0, [SEP] 19, BathtubBasin, -1.613, 0.052, 0.540, 0, 0, 0, [SEP] 20, Cabinet, -1.613, 0.309, 2.493, 0, 0, 0, [SEP] 21, ShowerDoor, 0.527, 1.037, 2.115, 0, 0, 0, [SEP] 22, Mirror, -1.993, 1.424, 3.107, 0, 0, 0, [SEP] 23, Cabinet, -1.613, 0.309, 3.754, 0, 0, 0, [SEP] 24, Faucet, -1.873, 0.461, 0.641, 0, 0, 0, [SEP] 25, Sink, -1.834, 0.685, 2.777, 0, 90, 0, [SEP] 26, Cabinet, -1.613, 0.309, 3.105, 0, 0, 0, [SEP] 27, Cabinet, -1.613, 0.309, 3.140, 0, 0, 0, [SEP] 28, TowelHolder, -0.070, 1.269, 0.0, 0, 0, 0, [SEP] 29, GarbageCan, 0.932, -0.029, 3.761, 0, 0, 0, [SEP] 30, HandTowelHolder, -1.730, 1.434, 4.0, 0, 90, 0, [SEP] 31, Window, -1.039, 1.393, 0.018, 90, 0, 0, [SEP] 32, Window, -1.986, 1.392, 0.706, 90, 90, 0, [SEP] 33, ToiletPaperHanger, -1.776, 0.681, 2.474, 0, 180, 0, [SEP] 34, SinkBasin, -1.795, 0.694, 2.781, 0, 90, 0, [SEP] 35, LightSwitch, 1.250, 1.330, 3.621, 0, 270, 0, [SEP] 36, Toilet, -1.567, -0.000, 1.815, 0, 180, 0, [SEP] 37, Drawer, 0.204, 0.940, 3.807, 0, 180, 0, [SEP] 38, Dresser, 0.204, 0.000, 3.832, 0, 180, 0, [SEP] 39, Drawer, 0.204, 0.160, 3.807, 0, 180, 0, [SEP] 40, Drawer, 0.204, 0.420, 3.807, 0, 180, 0, [SEP] 41, Drawer, 0.204, 0.680, 3.807, 0, 180, 0, [SEP] 42, SinkBasin, -1.795, 0.694, 3.476, 0, 90, 0, [SEP] 43, Sink, -1.833, 0.685, 3.472, 0, 90, 0, [SEP] 44, Faucet, -1.988, 0.947, 3.472, 0, 180, 0, [SEP] 45, ShowerHead, 0.972, 1.222, 2.015, 0, 270, 0, [SEP] 46, Faucet, -1.988, 0.947, 2.776, 0, 180, 0, [SEP] 47, , , , , , , , [SEP] 48, NorthWall, , , , , , , [SEP] 49, EastWall, , , , , , , [SEP] 50, SouthWall, , , , , , , [SEP] 51, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right toward the tub. | STEP 2: Pick up the towel in the tub. | STEP 3: Turn to the right and walk toward the wall. Turn to the left toward the sinks. | STEP 4: Put the towel into the sink on the left side of the counter. Turn the knobs to turn on the water in order to fill the sink. Turn the knobs to turn the water off. Pick up the towel. | STEP 5: Turn to the right toward the wall. Turn to the left back toward the sinks. Turn to the left toward the tub. | STEP 6: Put the towel on top of the toilet. | END"]} +{"id": "trial_T20190908_175253_104175-2", "input": "Put a clean rag on the toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 1.0, 0, 180, 0, [SEP] 1, SoapBar, -0.925, 0.073, 0.285, 0, 315, 0, 19 [SEP] 2, Candle, 0.349, 0.353, 3.792, 0, 0, 0, 40 [SEP] 3, SprayBottle, 0.401, 1.160, 3.861, 0, 0, 0, 38 [SEP] 4, SprayBottle, -1.795, 0.015, 2.246, 0, 0, 0, 20 [SEP] 5, SoapBottle, -0.544, 0.447, 0.090, 0, 0, 0, 17 [SEP] 6, Towel, -0.07, 1.284, 0.106, 0, 0, 0, 28 [SEP] 7, HandTowel, -1.731, 1.333, 3.961, 0, 0, 0, 30 [SEP] 8, SoapBar, -1.188, 0.073, 0.548, 0, 315, 0, 19 [SEP] 9, ToiletPaper, 0.008, 1.156, 3.797, 0, 0, 0, 47 [SEP] 10, ToiletPaper, 0.277, 0.612, 3.792, 0, 0, 0, 41 [SEP] 11, Cloth, -1.527, 0.074, 0.970, 0, 0, 0, 19 [SEP] 12, SprayBottle, -1.887, 0.772, 3.765, 0, 0, 0, 18 [SEP] 13, Candle, 0.204, 0.094, 3.839, 0, 0, 0, 39 [SEP] 14, ScrubBrush, -1.664, -0.000, 3.897, 0, 0, 0, Floor|-02.00| [SEP] 15, Plunger, -1.888, -0.000, 3.885, 0, 0, 0, Floor|-02.00| [SEP] 16, SoapBottle, -1.747, 0.069, 3.212, 0, 0, 0, 27 [SEP] 17, Bathtub, -1.414, -0.002, 0.563, 0, 0, 0, [SEP] 18, CounterTop, -1.799, 0.746, 3.122, 0, 0, 0, [SEP] 19, BathtubBasin, -1.613, 0.052, 0.540, 0, 0, 0, [SEP] 20, Cabinet, -1.613, 0.309, 2.493, 0, 0, 0, [SEP] 21, ShowerDoor, 0.527, 1.037, 2.115, 0, 0, 0, [SEP] 22, Mirror, -1.993, 1.424, 3.107, 0, 0, 0, [SEP] 23, Cabinet, -1.613, 0.309, 3.754, 0, 0, 0, [SEP] 24, Faucet, -1.873, 0.461, 0.641, 0, 0, 0, [SEP] 25, Sink, -1.834, 0.685, 2.777, 0, 90, 0, [SEP] 26, Cabinet, -1.613, 0.309, 3.105, 0, 0, 0, [SEP] 27, Cabinet, -1.613, 0.309, 3.140, 0, 0, 0, [SEP] 28, TowelHolder, -0.070, 1.269, 0.0, 0, 0, 0, [SEP] 29, GarbageCan, 0.932, -0.029, 3.761, 0, 0, 0, [SEP] 30, HandTowelHolder, -1.730, 1.434, 4.0, 0, 90, 0, [SEP] 31, Window, -1.039, 1.393, 0.018, 90, 0, 0, [SEP] 32, Window, -1.986, 1.392, 0.706, 90, 90, 0, [SEP] 33, ToiletPaperHanger, -1.776, 0.681, 2.474, 0, 180, 0, [SEP] 34, SinkBasin, -1.795, 0.694, 2.781, 0, 90, 0, [SEP] 35, LightSwitch, 1.250, 1.330, 3.621, 0, 270, 0, [SEP] 36, Toilet, -1.567, -0.000, 1.815, 0, 180, 0, [SEP] 37, Drawer, 0.204, 0.940, 3.807, 0, 180, 0, [SEP] 38, Dresser, 0.204, 0.000, 3.832, 0, 180, 0, [SEP] 39, Drawer, 0.204, 0.160, 3.807, 0, 180, 0, [SEP] 40, Drawer, 0.204, 0.420, 3.807, 0, 180, 0, [SEP] 41, Drawer, 0.204, 0.680, 3.807, 0, 180, 0, [SEP] 42, SinkBasin, -1.795, 0.694, 3.476, 0, 90, 0, [SEP] 43, Sink, -1.833, 0.685, 3.472, 0, 90, 0, [SEP] 44, Faucet, -1.988, 0.947, 3.472, 0, 180, 0, [SEP] 45, ShowerHead, 0.972, 1.222, 2.015, 0, 270, 0, [SEP] 46, Faucet, -1.988, 0.947, 2.776, 0, 180, 0, [SEP] 47, , , , , , , , [SEP] 48, NorthWall, , , , , , , [SEP] 49, EastWall, , , , , , , [SEP] 50, SouthWall, , , , , , , [SEP] 51, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the corner bath tub on your right. | STEP 2: Pick up the rag in the right side of the bath tub. | STEP 3: Turn to your right and go to the first sink on your left. | STEP 4: Place the rag in the sink, turn the water on, rinse out the rag, turn the water off, and remove the rag from the sink. | STEP 5: Turn to your left and go to the toilet to your left. | STEP 6: Place the rag on the back of the toilet, above the handle. | END"]} +{"id": "trial_T20190910_112922_368384-0", "input": "Place a soap container on a counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.901, -1.5, 0, 0, 0, [SEP] 1, Candle, -2.719, 0.080, -0.847, 0, 0, 0, 21 [SEP] 2, SoapBar, -2.872, 0.078, -0.465, 0, 0, 0, 23 [SEP] 3, SprayBottle, -2.668, 0.079, -1.597, 0, 0, 0, 25 [SEP] 4, SoapBottle, -0.679, 1.048, -3.887, 0, 0, 0, 33 [SEP] 5, SoapBottle, -2.567, 0.082, -1.116, 0, 270, 0, 21 [SEP] 6, Towel, -1.051, 1.535, -2.887, 0, 90, 0, 26 [SEP] 7, HandTowel, -2.591, 1.635, -0.047, 0, 0, 0, 28 [SEP] 8, SoapBar, -2.770, 0.078, -1.327, 0, 0, 0, 25 [SEP] 9, ToiletPaper, -2.640, 0.069, -1.888, 0, 0, 0, 19 [SEP] 10, ToiletPaper, -0.548, 1.042, -3.826, 0, 0, 0, 33 [SEP] 11, SoapBottle, -2.719, 0.082, -1.008, 0, 0, 0, 21 [SEP] 12, Candle, -2.872, 0.080, -1.489, 0, 0, 0, 25 [SEP] 13, ScrubBrush, -1.048, 0.000, -3.830, 0, 0, 0, 29 [SEP] 14, Plunger, -1.066, 0.000, -3.527, 0, 0, 0, Floor|-00.04| [SEP] 15, Cloth, -2.770, 0.078, -0.573, 0, 180, 0, 23 [SEP] 16, SprayBottle, -2.868, 0.996, -2.188, 0, 0, 0, 20 [SEP] 17, ShowerDoor, -2.204, 1.044, -2.503, 0, 0, 0, [SEP] 18, Mirror, -2.947, 1.559, -1.194, 0, 0, 0, [SEP] 19, Cabinet, -2.504, 0.400, -2.208, 0, 0, 0, [SEP] 20, CounterTop, -2.744, 0.986, -1.243, 0, 0, 0, [SEP] 21, Cabinet, -2.504, 0.400, -1.238, 0, 0, 0, [SEP] 22, ShowerGlass, -2.079, 1.482, -3.264, 0, 0, 0, [SEP] 23, Cabinet, -2.508, 0.426, -0.290, 0, 0, 0, [SEP] 24, Sink, -2.907, 0.986, -1.761, 0, 90, 0, [SEP] 25, Cabinet, -2.508, 0.426, -1.260, 0, 0, 0, [SEP] 26, TowelHolder, -1.158, 1.521, -2.887, 0, 90, 0, [SEP] 27, ToiletPaperHanger, 0.0, 0.984, -2.651, 0, 270, 0, [SEP] 28, HandTowelHolder, -2.591, 1.737, -0.009, 0, 90, 0, [SEP] 29, GarbageCan, -0.908, -0.031, -3.646, 0, 90, 0, [SEP] 30, Window, -0.566, 1.730, -4.102, 90, 0, 0, [SEP] 31, LightSwitch, -1.332, 1.391, 0.001, 0, 180, 0, [SEP] 32, SinkBasin, -2.724, 0.916, -1.755, 351.180, 90, 0, [SEP] 33, Toilet, -0.319, 0.000, -3.533, 0, 90, 0, [SEP] 34, Faucet, -2.907, 0.993, -1.761, 0, 90, 0, [SEP] 35, SinkBasin, -2.724, 0.916, -0.726, 351.180, 90, 0, [SEP] 36, Sink, -2.907, 0.986, -0.732, 0, 90, 0, [SEP] 37, Faucet, -2.907, 0.993, -0.731, 0, 90, 0, [SEP] 38, ShowerHead, -2.868, 1.219, -3.223, 0, 180, 0, [SEP] 39, EastWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the right sink. | STEP 2: Open the bottom left cabinet and take out the closest soap container. | STEP 3: Take a step left. | STEP 4: Place the soap container on the counter in between the two sinks. | END"]} +{"id": "trial_T20190910_112922_368384-1", "input": "Place the hand Soap bottle on the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.901, -1.5, 0, 0, 0, [SEP] 1, Candle, -2.719, 0.080, -0.847, 0, 0, 0, 21 [SEP] 2, SoapBar, -2.872, 0.078, -0.465, 0, 0, 0, 23 [SEP] 3, SprayBottle, -2.668, 0.079, -1.597, 0, 0, 0, 25 [SEP] 4, SoapBottle, -0.679, 1.048, -3.887, 0, 0, 0, 33 [SEP] 5, SoapBottle, -2.567, 0.082, -1.116, 0, 270, 0, 21 [SEP] 6, Towel, -1.051, 1.535, -2.887, 0, 90, 0, 26 [SEP] 7, HandTowel, -2.591, 1.635, -0.047, 0, 0, 0, 28 [SEP] 8, SoapBar, -2.770, 0.078, -1.327, 0, 0, 0, 25 [SEP] 9, ToiletPaper, -2.640, 0.069, -1.888, 0, 0, 0, 19 [SEP] 10, ToiletPaper, -0.548, 1.042, -3.826, 0, 0, 0, 33 [SEP] 11, SoapBottle, -2.719, 0.082, -1.008, 0, 0, 0, 21 [SEP] 12, Candle, -2.872, 0.080, -1.489, 0, 0, 0, 25 [SEP] 13, ScrubBrush, -1.048, 0.000, -3.830, 0, 0, 0, 29 [SEP] 14, Plunger, -1.066, 0.000, -3.527, 0, 0, 0, Floor|-00.04| [SEP] 15, Cloth, -2.770, 0.078, -0.573, 0, 180, 0, 23 [SEP] 16, SprayBottle, -2.868, 0.996, -2.188, 0, 0, 0, 20 [SEP] 17, ShowerDoor, -2.204, 1.044, -2.503, 0, 0, 0, [SEP] 18, Mirror, -2.947, 1.559, -1.194, 0, 0, 0, [SEP] 19, Cabinet, -2.504, 0.400, -2.208, 0, 0, 0, [SEP] 20, CounterTop, -2.744, 0.986, -1.243, 0, 0, 0, [SEP] 21, Cabinet, -2.504, 0.400, -1.238, 0, 0, 0, [SEP] 22, ShowerGlass, -2.079, 1.482, -3.264, 0, 0, 0, [SEP] 23, Cabinet, -2.508, 0.426, -0.290, 0, 0, 0, [SEP] 24, Sink, -2.907, 0.986, -1.761, 0, 90, 0, [SEP] 25, Cabinet, -2.508, 0.426, -1.260, 0, 0, 0, [SEP] 26, TowelHolder, -1.158, 1.521, -2.887, 0, 90, 0, [SEP] 27, ToiletPaperHanger, 0.0, 0.984, -2.651, 0, 270, 0, [SEP] 28, HandTowelHolder, -2.591, 1.737, -0.009, 0, 90, 0, [SEP] 29, GarbageCan, -0.908, -0.031, -3.646, 0, 90, 0, [SEP] 30, Window, -0.566, 1.730, -4.102, 90, 0, 0, [SEP] 31, LightSwitch, -1.332, 1.391, 0.001, 0, 180, 0, [SEP] 32, SinkBasin, -2.724, 0.916, -1.755, 351.180, 90, 0, [SEP] 33, Toilet, -0.319, 0.000, -3.533, 0, 90, 0, [SEP] 34, Faucet, -2.907, 0.993, -1.761, 0, 90, 0, [SEP] 35, SinkBasin, -2.724, 0.916, -0.726, 351.180, 90, 0, [SEP] 36, Sink, -2.907, 0.986, -0.732, 0, 90, 0, [SEP] 37, Faucet, -2.907, 0.993, -0.731, 0, 90, 0, [SEP] 38, ShowerHead, -2.868, 1.219, -3.223, 0, 180, 0, [SEP] 39, EastWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , ", "output": ["STEP 1: One step ahead then turn right, go towards the sink. | STEP 2: Open the left side cabinet and pick up the white hand soap bottle in front. | STEP 3: Turn left take one step then turn right in front of the counter. | STEP 4: Put the hand soap bottle left side of the right sink. | END"]} +{"id": "trial_T20190910_112922_368384-2", "input": "PUt a pump bottle on the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.901, -1.5, 0, 0, 0, [SEP] 1, Candle, -2.719, 0.080, -0.847, 0, 0, 0, 21 [SEP] 2, SoapBar, -2.872, 0.078, -0.465, 0, 0, 0, 23 [SEP] 3, SprayBottle, -2.668, 0.079, -1.597, 0, 0, 0, 25 [SEP] 4, SoapBottle, -0.679, 1.048, -3.887, 0, 0, 0, 33 [SEP] 5, SoapBottle, -2.567, 0.082, -1.116, 0, 270, 0, 21 [SEP] 6, Towel, -1.051, 1.535, -2.887, 0, 90, 0, 26 [SEP] 7, HandTowel, -2.591, 1.635, -0.047, 0, 0, 0, 28 [SEP] 8, SoapBar, -2.770, 0.078, -1.327, 0, 0, 0, 25 [SEP] 9, ToiletPaper, -2.640, 0.069, -1.888, 0, 0, 0, 19 [SEP] 10, ToiletPaper, -0.548, 1.042, -3.826, 0, 0, 0, 33 [SEP] 11, SoapBottle, -2.719, 0.082, -1.008, 0, 0, 0, 21 [SEP] 12, Candle, -2.872, 0.080, -1.489, 0, 0, 0, 25 [SEP] 13, ScrubBrush, -1.048, 0.000, -3.830, 0, 0, 0, 29 [SEP] 14, Plunger, -1.066, 0.000, -3.527, 0, 0, 0, Floor|-00.04| [SEP] 15, Cloth, -2.770, 0.078, -0.573, 0, 180, 0, 23 [SEP] 16, SprayBottle, -2.868, 0.996, -2.188, 0, 0, 0, 20 [SEP] 17, ShowerDoor, -2.204, 1.044, -2.503, 0, 0, 0, [SEP] 18, Mirror, -2.947, 1.559, -1.194, 0, 0, 0, [SEP] 19, Cabinet, -2.504, 0.400, -2.208, 0, 0, 0, [SEP] 20, CounterTop, -2.744, 0.986, -1.243, 0, 0, 0, [SEP] 21, Cabinet, -2.504, 0.400, -1.238, 0, 0, 0, [SEP] 22, ShowerGlass, -2.079, 1.482, -3.264, 0, 0, 0, [SEP] 23, Cabinet, -2.508, 0.426, -0.290, 0, 0, 0, [SEP] 24, Sink, -2.907, 0.986, -1.761, 0, 90, 0, [SEP] 25, Cabinet, -2.508, 0.426, -1.260, 0, 0, 0, [SEP] 26, TowelHolder, -1.158, 1.521, -2.887, 0, 90, 0, [SEP] 27, ToiletPaperHanger, 0.0, 0.984, -2.651, 0, 270, 0, [SEP] 28, HandTowelHolder, -2.591, 1.737, -0.009, 0, 90, 0, [SEP] 29, GarbageCan, -0.908, -0.031, -3.646, 0, 90, 0, [SEP] 30, Window, -0.566, 1.730, -4.102, 90, 0, 0, [SEP] 31, LightSwitch, -1.332, 1.391, 0.001, 0, 180, 0, [SEP] 32, SinkBasin, -2.724, 0.916, -1.755, 351.180, 90, 0, [SEP] 33, Toilet, -0.319, 0.000, -3.533, 0, 90, 0, [SEP] 34, Faucet, -2.907, 0.993, -1.761, 0, 90, 0, [SEP] 35, SinkBasin, -2.724, 0.916, -0.726, 351.180, 90, 0, [SEP] 36, Sink, -2.907, 0.986, -0.732, 0, 90, 0, [SEP] 37, Faucet, -2.907, 0.993, -0.731, 0, 90, 0, [SEP] 38, ShowerHead, -2.868, 1.219, -3.223, 0, 180, 0, [SEP] 39, EastWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , ", "output": ["STEP 1: turn to your left to the double sinks | STEP 2: open the cabinet below the sink; remove the pump bottle | STEP 3: go between the two sinks | STEP 4: place the pump bottle on the counter top between the sinks | END"]} +{"id": "trial_T20190909_081908_677973-0", "input": "Put a candle on a rack. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.901, 2.25, 0, 0, 0, [SEP] 1, Cloth, -2.667, 1.543, 3.909, 0, 0, 0, 33 [SEP] 2, SprayBottle, -3.319, 0.864, 0.156, 0, 270, 0, 41 [SEP] 3, SprayBottle, -3.319, 0.234, 0.234, 0, 270, 0, 41 [SEP] 4, DishSponge, -3.206, 0.234, 0.156, 0, 270, 0, 41 [SEP] 5, SoapBottle, -2.574, 0.790, 3.909, 0, 0, 0, 30 [SEP] 6, Towel, -2.05, 1.059, -0.183, 0, 0, 0, 27 [SEP] 7, HandTowel, -3.420, 1.356, 0.816, 0, 270, 0, 36 [SEP] 8, Plunger, 0.362, 0.000, 2.468, 0, 0, 0, Floor|-01.44| [SEP] 9, SoapBar, -0.395, 0.052, 0.654, 0, 0, 0, 22 [SEP] 10, ToiletPaper, -2.293, 1.540, 3.940, 0, 0, 0, 33 [SEP] 11, SoapBottle, -0.867, 0.045, 3.914, 0, 0, 0, 34 [SEP] 12, ToiletPaper, -2.310, 0.777, 3.875, 0, 0, 0, 30 [SEP] 13, Cloth, -0.311, 0.053, 0.193, 0, 0, 0, 22 [SEP] 14, PaperTowelRoll, 0.497, 0.736, 0.627, 0, 0, 0, 25 [SEP] 15, Candle, 0.447, 1.048, 3.166, 0, 270, 0, 37 [SEP] 16, SprayBottle, 0.355, 1.048, 3.100, 0, 270, 0, 37 [SEP] 17, ScrubBrush, 0.397, 0.000, 2.694, 0, 0, 0, Floor|-01.44| [SEP] 18, DishSponge, -3.007, 0.856, 1.451, 0, 90, 0, 40 [SEP] 19, Faucet, -0.141, 0.524, -0.211, 0, 0, 0, [SEP] 20, Window, -1.507, 1.322, -0.364, 0, 0, 0, [SEP] 21, Faucet, -3.401, 1.017, 1.531, 0, 90, 0, [SEP] 22, BathtubBasin, -0.155, 0.042, 0.884, 0, 0, 0, [SEP] 23, ShowerCurtain, -0.886, 2.196, -0.169, 0, 0, 0, [SEP] 24, ShowerHead, -0.126, 1.447, 2.047, 0, 270, 0, [SEP] 25, Bathtub, -0.205, 0.359, 0.924, 0, 0, 0, [SEP] 26, Mirror, -3.447, 1.575, 1.516, 0, 0, 0, [SEP] 27, TowelHolder, -2.049, 1.045, -0.290, 0, 0, 0, [SEP] 28, TowelHolder, -1.304, 1.045, -0.290, 0, 0, 0, [SEP] 29, ToiletPaperHanger, -0.425, 0.783, 2.278, 0, 0, 0, [SEP] 30, Shelf, -2.587, 0.778, 3.909, 0, 0, 0, [SEP] 31, Shelf, -2.587, 1.287, 3.941, 0, 0, 0, [SEP] 32, Shelf, -2.587, 1.032, 3.941, 0, 0, 0, [SEP] 33, Shelf, -2.587, 1.534, 3.909, 0, 0, 0, [SEP] 34, GarbageCan, 0.047, -0.002, 3.878, 0, 0, 0, [SEP] 35, HandTowelHolder, -3.459, 1.458, 2.098, 0, 0, 0, [SEP] 36, HandTowelHolder, -3.459, 1.458, 0.816, 0, 0, 0, [SEP] 37, Toilet, 0.063, 0.002, 3.096, 0, 0, 0, [SEP] 38, LightSwitch, -3.459, 1.437, 2.496, 0, 90, 0, [SEP] 39, Sink, -3.115, -0.013, 1.531, 0, 90, 0, [SEP] 40, SinkBasin, -3.081, 0.935, 1.537, 0, 90, 0, [SEP] 41, SideTable, -3.171, 0.002, 0.170, 0, 270, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward to the wall then turn right and walk to the toilet. | STEP 2: Pick up the candle that's in front of you on the back of the toilet. | STEP 3: Turn around and take two steps then turn left and walk to the wall then turn right and walk to the metal rack. | STEP 4: Put the candle on the metal rack on the top shelf. | END"]} +{"id": "trial_T20190909_081908_677973-1", "input": "Place a candle on a metal cart. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.901, 2.25, 0, 0, 0, [SEP] 1, Cloth, -2.667, 1.543, 3.909, 0, 0, 0, 33 [SEP] 2, SprayBottle, -3.319, 0.864, 0.156, 0, 270, 0, 41 [SEP] 3, SprayBottle, -3.319, 0.234, 0.234, 0, 270, 0, 41 [SEP] 4, DishSponge, -3.206, 0.234, 0.156, 0, 270, 0, 41 [SEP] 5, SoapBottle, -2.574, 0.790, 3.909, 0, 0, 0, 30 [SEP] 6, Towel, -2.05, 1.059, -0.183, 0, 0, 0, 27 [SEP] 7, HandTowel, -3.420, 1.356, 0.816, 0, 270, 0, 36 [SEP] 8, Plunger, 0.362, 0.000, 2.468, 0, 0, 0, Floor|-01.44| [SEP] 9, SoapBar, -0.395, 0.052, 0.654, 0, 0, 0, 22 [SEP] 10, ToiletPaper, -2.293, 1.540, 3.940, 0, 0, 0, 33 [SEP] 11, SoapBottle, -0.867, 0.045, 3.914, 0, 0, 0, 34 [SEP] 12, ToiletPaper, -2.310, 0.777, 3.875, 0, 0, 0, 30 [SEP] 13, Cloth, -0.311, 0.053, 0.193, 0, 0, 0, 22 [SEP] 14, PaperTowelRoll, 0.497, 0.736, 0.627, 0, 0, 0, 25 [SEP] 15, Candle, 0.447, 1.048, 3.166, 0, 270, 0, 37 [SEP] 16, SprayBottle, 0.355, 1.048, 3.100, 0, 270, 0, 37 [SEP] 17, ScrubBrush, 0.397, 0.000, 2.694, 0, 0, 0, Floor|-01.44| [SEP] 18, DishSponge, -3.007, 0.856, 1.451, 0, 90, 0, 40 [SEP] 19, Faucet, -0.141, 0.524, -0.211, 0, 0, 0, [SEP] 20, Window, -1.507, 1.322, -0.364, 0, 0, 0, [SEP] 21, Faucet, -3.401, 1.017, 1.531, 0, 90, 0, [SEP] 22, BathtubBasin, -0.155, 0.042, 0.884, 0, 0, 0, [SEP] 23, ShowerCurtain, -0.886, 2.196, -0.169, 0, 0, 0, [SEP] 24, ShowerHead, -0.126, 1.447, 2.047, 0, 270, 0, [SEP] 25, Bathtub, -0.205, 0.359, 0.924, 0, 0, 0, [SEP] 26, Mirror, -3.447, 1.575, 1.516, 0, 0, 0, [SEP] 27, TowelHolder, -2.049, 1.045, -0.290, 0, 0, 0, [SEP] 28, TowelHolder, -1.304, 1.045, -0.290, 0, 0, 0, [SEP] 29, ToiletPaperHanger, -0.425, 0.783, 2.278, 0, 0, 0, [SEP] 30, Shelf, -2.587, 0.778, 3.909, 0, 0, 0, [SEP] 31, Shelf, -2.587, 1.287, 3.941, 0, 0, 0, [SEP] 32, Shelf, -2.587, 1.032, 3.941, 0, 0, 0, [SEP] 33, Shelf, -2.587, 1.534, 3.909, 0, 0, 0, [SEP] 34, GarbageCan, 0.047, -0.002, 3.878, 0, 0, 0, [SEP] 35, HandTowelHolder, -3.459, 1.458, 2.098, 0, 0, 0, [SEP] 36, HandTowelHolder, -3.459, 1.458, 0.816, 0, 0, 0, [SEP] 37, Toilet, 0.063, 0.002, 3.096, 0, 0, 0, [SEP] 38, LightSwitch, -3.459, 1.437, 2.496, 0, 90, 0, [SEP] 39, Sink, -3.115, -0.013, 1.531, 0, 90, 0, [SEP] 40, SinkBasin, -3.081, 0.935, 1.537, 0, 90, 0, [SEP] 41, SideTable, -3.171, 0.002, 0.170, 0, 270, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the toilet. | STEP 2: Pick up the candle on the toilet tank. | STEP 3: Turn around and walk ahead, then veer left to the cart in the corner of the room. | STEP 4: Place the candle on the top shelf of the cart near the front ledge. | END"]} +{"id": "trial_T20190909_081908_677973-2", "input": "Move a candle from the lid of the toilet tank to the metal shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.901, 2.25, 0, 0, 0, [SEP] 1, Cloth, -2.667, 1.543, 3.909, 0, 0, 0, 33 [SEP] 2, SprayBottle, -3.319, 0.864, 0.156, 0, 270, 0, 41 [SEP] 3, SprayBottle, -3.319, 0.234, 0.234, 0, 270, 0, 41 [SEP] 4, DishSponge, -3.206, 0.234, 0.156, 0, 270, 0, 41 [SEP] 5, SoapBottle, -2.574, 0.790, 3.909, 0, 0, 0, 30 [SEP] 6, Towel, -2.05, 1.059, -0.183, 0, 0, 0, 27 [SEP] 7, HandTowel, -3.420, 1.356, 0.816, 0, 270, 0, 36 [SEP] 8, Plunger, 0.362, 0.000, 2.468, 0, 0, 0, Floor|-01.44| [SEP] 9, SoapBar, -0.395, 0.052, 0.654, 0, 0, 0, 22 [SEP] 10, ToiletPaper, -2.293, 1.540, 3.940, 0, 0, 0, 33 [SEP] 11, SoapBottle, -0.867, 0.045, 3.914, 0, 0, 0, 34 [SEP] 12, ToiletPaper, -2.310, 0.777, 3.875, 0, 0, 0, 30 [SEP] 13, Cloth, -0.311, 0.053, 0.193, 0, 0, 0, 22 [SEP] 14, PaperTowelRoll, 0.497, 0.736, 0.627, 0, 0, 0, 25 [SEP] 15, Candle, 0.447, 1.048, 3.166, 0, 270, 0, 37 [SEP] 16, SprayBottle, 0.355, 1.048, 3.100, 0, 270, 0, 37 [SEP] 17, ScrubBrush, 0.397, 0.000, 2.694, 0, 0, 0, Floor|-01.44| [SEP] 18, DishSponge, -3.007, 0.856, 1.451, 0, 90, 0, 40 [SEP] 19, Faucet, -0.141, 0.524, -0.211, 0, 0, 0, [SEP] 20, Window, -1.507, 1.322, -0.364, 0, 0, 0, [SEP] 21, Faucet, -3.401, 1.017, 1.531, 0, 90, 0, [SEP] 22, BathtubBasin, -0.155, 0.042, 0.884, 0, 0, 0, [SEP] 23, ShowerCurtain, -0.886, 2.196, -0.169, 0, 0, 0, [SEP] 24, ShowerHead, -0.126, 1.447, 2.047, 0, 270, 0, [SEP] 25, Bathtub, -0.205, 0.359, 0.924, 0, 0, 0, [SEP] 26, Mirror, -3.447, 1.575, 1.516, 0, 0, 0, [SEP] 27, TowelHolder, -2.049, 1.045, -0.290, 0, 0, 0, [SEP] 28, TowelHolder, -1.304, 1.045, -0.290, 0, 0, 0, [SEP] 29, ToiletPaperHanger, -0.425, 0.783, 2.278, 0, 0, 0, [SEP] 30, Shelf, -2.587, 0.778, 3.909, 0, 0, 0, [SEP] 31, Shelf, -2.587, 1.287, 3.941, 0, 0, 0, [SEP] 32, Shelf, -2.587, 1.032, 3.941, 0, 0, 0, [SEP] 33, Shelf, -2.587, 1.534, 3.909, 0, 0, 0, [SEP] 34, GarbageCan, 0.047, -0.002, 3.878, 0, 0, 0, [SEP] 35, HandTowelHolder, -3.459, 1.458, 2.098, 0, 0, 0, [SEP] 36, HandTowelHolder, -3.459, 1.458, 0.816, 0, 0, 0, [SEP] 37, Toilet, 0.063, 0.002, 3.096, 0, 0, 0, [SEP] 38, LightSwitch, -3.459, 1.437, 2.496, 0, 90, 0, [SEP] 39, Sink, -3.115, -0.013, 1.531, 0, 90, 0, [SEP] 40, SinkBasin, -3.081, 0.935, 1.537, 0, 90, 0, [SEP] 41, SideTable, -3.171, 0.002, 0.170, 0, 270, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: Make a right to head to the toilet. | STEP 2: Pick up the candle from behind the spray bottle. | STEP 3: Make a right, then a left to walk to the far corner where the metal shelf is. | STEP 4: Set the candle down on the second shelf down on the metal shelf. | END"]} +{"id": "trial_T20190908_121728_511866-0", "input": "Put a clean butter knife in a drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, -0.75, 0, 180, 0, [SEP] 1, Potato, 1.988, 1.030, -0.651, 0, 270, 0, 90 [SEP] 2, CellPhone, 1.824, 0.118, 0.454, 0, 270, 0, 61 [SEP] 3, CellPhone, -0.751, 0.669, -1.332, 0, 0, 0, 60 [SEP] 4, ButterKnife, 0.107, 0.925, 0.273, 0, 0, 0, 77 [SEP] 5, ButterKnife, -1.050, 0.911, -1.513, 0, 0, 0, 69 [SEP] 6, ButterKnife, -0.213, 0.925, 0.970, 0, 0, 0, 77 [SEP] 7, Fork, 1.714, 0.584, 0.052, 0, 270, 0, 54 [SEP] 8, Spatula, 1.612, 0.156, 1.153, 0, 90, 0, 78 [SEP] 9, Egg, -1.592, 1.526, 0.201, 0, 90, 0, 92 [SEP] 10, Cup, 1.892, 1.004, -0.599, 0, 270, 0, 90 [SEP] 11, Plate, 0.194, 0.111, -1.471, 0, 0, 0, 58 [SEP] 12, Plate, 1.962, 1.658, -1.129, 0, 270, 0, 57 [SEP] 13, SoapBottle, -1.668, 0.915, -1.318, 0, 0, 0, 69 [SEP] 14, SoapBottle, 0.305, 0.116, -1.282, 0, 0, 0, 58 [SEP] 15, Tomato, -1.721, 0.618, 0.013, 0, 90, 0, 92 [SEP] 16, Tomato, -0.106, 0.980, 0.970, 0, 0, 0, 77 [SEP] 17, PepperShaker, 1.660, 0.691, 0.178, 0, 0, 0, 53 [SEP] 18, Bread, 1.802, 0.992, -1.610, 0, 0, 0, 69 [SEP] 19, Bread, -0.106, 1.006, 0.506, 0, 0, 0, 77 [SEP] 20, Lettuce, 0.321, 1.002, 0.273, 0, 0, 0, 77 [SEP] 21, Lettuce, 0.170, 0.837, -1.435, 0, 0, 0, 93 [SEP] 22, Mug, -1.197, 0.108, -1.423, 0, 0, 0, 81 [SEP] 23, Apple, -1.697, 1.726, -0.269, 0, 90, 0, 92 [SEP] 24, SoapBottle, 1.986, 0.915, 1.107, 0, 0, 0, 69 [SEP] 25, Cup, -1.697, 1.467, -0.269, 0, 90, 0, 92 [SEP] 26, Pot, 1.975, 0.938, 0.384, 0, 180, 0, 55 [SEP] 27, Fork, 1.610, 0.347, 0.462, 0, 90, 0, 63 [SEP] 28, Ladle, -0.213, 0.969, 0.041, 0, 0, 0, 77 [SEP] 29, Kettle, 1.681, 0.9, 0.091, 0, 0, 0, 69 [SEP] 30, Egg, 0.107, 0.982, 0.738, 0, 0, 0, 77 [SEP] 31, Plate, 0.000, 0.924, 0.041, 0, 0, 0, 77 [SEP] 32, Pan, -1.286, 0.9, -1.348, 0, 79.769, 0, 69 [SEP] 33, Lettuce, -0.088, 0.837, -1.435, 0, 0, 0, 93 [SEP] 34, Spatula, -0.175, 0.775, -1.546, 0, 90, 0, 93 [SEP] 35, Apple, -1.750, 1.522, 0.013, 0, 90, 0, 92 [SEP] 36, Knife, -0.106, 0.947, -0.190, 0, 0, 0, 77 [SEP] 37, SaltShaker, -1.290, 0.109, -1.296, 0, 0, 0, 81 [SEP] 38, PepperShaker, -0.418, 0.111, -1.347, 0, 0, 0, 48 [SEP] 39, CellPhone, -0.844, 0.909, -1.318, 0, 0, 0, 69 [SEP] 40, ButterKnife, -0.213, 0.925, 1.202, 0, 0, 0, 77 [SEP] 41, Bread, -0.106, 1.006, 1.202, 0, 0, 0, 77 [SEP] 42, Tomato, -1.796, 0.097, 1.288, 0, 270, 0, 83 [SEP] 43, Potato, 0.000, 0.949, 0.738, 0, 0, 0, 77 [SEP] 44, DishSponge, 1.712, 0.224, 1.350, 0, 0, 0, 78 [SEP] 45, Spoon, 0.214, 0.926, 0.738, 0, 0, 0, 77 [SEP] 46, Mug, 2.020, 1.001, -0.808, 0, 0, 0, 90 [SEP] 47, Bowl, 0.972, 1.678, -1.577, 0, 0, 0, 68 [SEP] 48, Cabinet, -0.495, 0.474, -1.149, 0, 0, 0, [SEP] 49, Window, -0.010, 1.582, -1.821, 0, 0, 0, [SEP] 50, Drawer, 0.805, 0.475, -1.159, 0, 0, 0, [SEP] 51, StoveBurner, 1.764, 0.902, 0.601, 0, 270, 0, [SEP] 52, Drawer, 1.5, 0.196, -0.019, 0, 0, 0, [SEP] 53, Drawer, 1.5, 0.629, -0.018, 0, 0, 0, [SEP] 54, Drawer, 1.5, 0.602, -0.019, 0, 270, 0, [SEP] 55, StoveBurner, 1.975, 0.902, 0.384, 0, 270, 0, [SEP] 56, Cabinet, -1.703, 2.022, -1.453, 0, 90, 0, [SEP] 57, Cabinet, 1.789, 2.019, -0.819, 0, 270, 0, [SEP] 58, Cabinet, 0.494, 0.474, -1.149, 0, 0, 0, [SEP] 59, Cabinet, 0.409, 0.475, 0.444, 0, 0, 0, [SEP] 60, Drawer, -0.696, 0.475, -1.159, 0, 0, 0, [SEP] 61, Drawer, 1.5, 0.140, 0.599, 0, 270, 0, [SEP] 62, Cabinet, 1.389, 0.474, -1.149, 0, 0, 0, [SEP] 63, Drawer, 1.5, 0.305, 0.600, 0, 0, 0, [SEP] 64, StoveBurner, 1.975, 0.902, 0.601, 0, 270, 0, [SEP] 65, Drawer, 1.5, 0.429, -0.019, 0, 0, 0, [SEP] 66, StoveBurner, 1.764, 0.902, 0.819, 0, 270, 0, [SEP] 67, Drawer, 1.5, 0.519, 1.220, 0, 0, 0, [SEP] 68, Cabinet, 1.705, 2.019, -1.449, 0, 0, 0, [SEP] 69, CounterTop, 0.002, 0.947, -1.513, 0, 0, 0, [SEP] 70, Drawer, 1.5, 0.629, 0.605, 0, 0, 0, [SEP] 71, Cabinet, -0.627, 2.019, -1.449, 0, 0, 0, [SEP] 72, StoveBurner, 1.764, 0.902, 0.384, 0, 270, 0, [SEP] 73, Drawer, 1.5, 0.538, 0.600, 0, 0, 0, [SEP] 74, Sink, 0.0, 0.893, -1.434, 0, 0, 0, [SEP] 75, Drawer, 1.5, 0.782, 1.220, 0, 270, 0, [SEP] 76, Window, 2.217, 1.565, -0.384, 0, 0, 0, [SEP] 77, CounterTop, -0.014, 0.961, 0.505, 0, 0, 0, [SEP] 78, Drawer, 1.5, 0.200, 1.220, 0, 0, 0, [SEP] 79, StoveBurner, 1.975, 0.902, 0.819, 0, 270, 0, [SEP] 80, Window, -3.240, 1.616, 2.693, 0, 270, 0, [SEP] 81, Cabinet, -1.389, 0.474, -1.149, 0, 0, 0, [SEP] 82, LightSwitch, -0.153, 1.291, 3.700, 0, 180, 0, [SEP] 83, GarbageCan, -1.796, 0.009, 1.330, 0, 270, 358.295, [SEP] 84, StoveKnob, 1.602, 0.917, 0.570, 0, 270, 180, [SEP] 85, StoveKnob, 1.602, 0.917, 0.625, 0, 270, 180, [SEP] 86, StoveKnob, 1.602, 0.917, 0.739, 0, 270, 180, [SEP] 87, StoveKnob, 1.602, 0.917, 0.680, 0, 270, 180, [SEP] 88, StoveKnob, 1.602, 0.917, 0.462, 0, 270, 180, [SEP] 89, StoveKnob, 1.602, 0.917, 0.517, 0, 270, 180, [SEP] 90, Microwave, 1.932, 0.899, -0.766, 0, 270, 0, [SEP] 91, CoffeeMachine, 1.355, 0.899, -1.596, 0, 0, 0, [SEP] 92, Fridge, -1.764, 0.0, 0.014, 0, 90, 0, [SEP] 93, SinkBasin, -0.014, 0.736, -1.435, 0, 0, 0, [SEP] 94, Toaster, 1.977, 0.900, -0.336, 0, 270, 0, [SEP] 95, Faucet, -0.020, 1.137, -1.605, 0, 270, 0, [SEP] 96, Chair, -9.354, 0.000, 1.242, 0, 180, 0, [SEP] 97, NorthWall, , , , , , , [SEP] 98, EastWall, , , , , , , [SEP] 99, SouthWall, , , , , , , [SEP] 100, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk over to the counter, then turn left to face the counter. | STEP 2: Pick up the butter knife off of the counter. | STEP 3: Turn left and walk over to the sink. | STEP 4: Put the butter knife in the sink and turn on the water, after a couple seconds turn off the water and remove the now clean butter knife. | STEP 5: Turn left and walk over to the counter. | STEP 6: Open the third drawer from the top to the left of the dish washer and put the clean butter knife inside then close the drawer. | END"]} +{"id": "trial_T20190908_121728_511866-1", "input": "Put a cleaned knife in a drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, -0.75, 0, 180, 0, [SEP] 1, Potato, 1.988, 1.030, -0.651, 0, 270, 0, 90 [SEP] 2, CellPhone, 1.824, 0.118, 0.454, 0, 270, 0, 61 [SEP] 3, CellPhone, -0.751, 0.669, -1.332, 0, 0, 0, 60 [SEP] 4, ButterKnife, 0.107, 0.925, 0.273, 0, 0, 0, 77 [SEP] 5, ButterKnife, -1.050, 0.911, -1.513, 0, 0, 0, 69 [SEP] 6, ButterKnife, -0.213, 0.925, 0.970, 0, 0, 0, 77 [SEP] 7, Fork, 1.714, 0.584, 0.052, 0, 270, 0, 54 [SEP] 8, Spatula, 1.612, 0.156, 1.153, 0, 90, 0, 78 [SEP] 9, Egg, -1.592, 1.526, 0.201, 0, 90, 0, 92 [SEP] 10, Cup, 1.892, 1.004, -0.599, 0, 270, 0, 90 [SEP] 11, Plate, 0.194, 0.111, -1.471, 0, 0, 0, 58 [SEP] 12, Plate, 1.962, 1.658, -1.129, 0, 270, 0, 57 [SEP] 13, SoapBottle, -1.668, 0.915, -1.318, 0, 0, 0, 69 [SEP] 14, SoapBottle, 0.305, 0.116, -1.282, 0, 0, 0, 58 [SEP] 15, Tomato, -1.721, 0.618, 0.013, 0, 90, 0, 92 [SEP] 16, Tomato, -0.106, 0.980, 0.970, 0, 0, 0, 77 [SEP] 17, PepperShaker, 1.660, 0.691, 0.178, 0, 0, 0, 53 [SEP] 18, Bread, 1.802, 0.992, -1.610, 0, 0, 0, 69 [SEP] 19, Bread, -0.106, 1.006, 0.506, 0, 0, 0, 77 [SEP] 20, Lettuce, 0.321, 1.002, 0.273, 0, 0, 0, 77 [SEP] 21, Lettuce, 0.170, 0.837, -1.435, 0, 0, 0, 93 [SEP] 22, Mug, -1.197, 0.108, -1.423, 0, 0, 0, 81 [SEP] 23, Apple, -1.697, 1.726, -0.269, 0, 90, 0, 92 [SEP] 24, SoapBottle, 1.986, 0.915, 1.107, 0, 0, 0, 69 [SEP] 25, Cup, -1.697, 1.467, -0.269, 0, 90, 0, 92 [SEP] 26, Pot, 1.975, 0.938, 0.384, 0, 180, 0, 55 [SEP] 27, Fork, 1.610, 0.347, 0.462, 0, 90, 0, 63 [SEP] 28, Ladle, -0.213, 0.969, 0.041, 0, 0, 0, 77 [SEP] 29, Kettle, 1.681, 0.9, 0.091, 0, 0, 0, 69 [SEP] 30, Egg, 0.107, 0.982, 0.738, 0, 0, 0, 77 [SEP] 31, Plate, 0.000, 0.924, 0.041, 0, 0, 0, 77 [SEP] 32, Pan, -1.286, 0.9, -1.348, 0, 79.769, 0, 69 [SEP] 33, Lettuce, -0.088, 0.837, -1.435, 0, 0, 0, 93 [SEP] 34, Spatula, -0.175, 0.775, -1.546, 0, 90, 0, 93 [SEP] 35, Apple, -1.750, 1.522, 0.013, 0, 90, 0, 92 [SEP] 36, Knife, -0.106, 0.947, -0.190, 0, 0, 0, 77 [SEP] 37, SaltShaker, -1.290, 0.109, -1.296, 0, 0, 0, 81 [SEP] 38, PepperShaker, -0.418, 0.111, -1.347, 0, 0, 0, 48 [SEP] 39, CellPhone, -0.844, 0.909, -1.318, 0, 0, 0, 69 [SEP] 40, ButterKnife, -0.213, 0.925, 1.202, 0, 0, 0, 77 [SEP] 41, Bread, -0.106, 1.006, 1.202, 0, 0, 0, 77 [SEP] 42, Tomato, -1.796, 0.097, 1.288, 0, 270, 0, 83 [SEP] 43, Potato, 0.000, 0.949, 0.738, 0, 0, 0, 77 [SEP] 44, DishSponge, 1.712, 0.224, 1.350, 0, 0, 0, 78 [SEP] 45, Spoon, 0.214, 0.926, 0.738, 0, 0, 0, 77 [SEP] 46, Mug, 2.020, 1.001, -0.808, 0, 0, 0, 90 [SEP] 47, Bowl, 0.972, 1.678, -1.577, 0, 0, 0, 68 [SEP] 48, Cabinet, -0.495, 0.474, -1.149, 0, 0, 0, [SEP] 49, Window, -0.010, 1.582, -1.821, 0, 0, 0, [SEP] 50, Drawer, 0.805, 0.475, -1.159, 0, 0, 0, [SEP] 51, StoveBurner, 1.764, 0.902, 0.601, 0, 270, 0, [SEP] 52, Drawer, 1.5, 0.196, -0.019, 0, 0, 0, [SEP] 53, Drawer, 1.5, 0.629, -0.018, 0, 0, 0, [SEP] 54, Drawer, 1.5, 0.602, -0.019, 0, 270, 0, [SEP] 55, StoveBurner, 1.975, 0.902, 0.384, 0, 270, 0, [SEP] 56, Cabinet, -1.703, 2.022, -1.453, 0, 90, 0, [SEP] 57, Cabinet, 1.789, 2.019, -0.819, 0, 270, 0, [SEP] 58, Cabinet, 0.494, 0.474, -1.149, 0, 0, 0, [SEP] 59, Cabinet, 0.409, 0.475, 0.444, 0, 0, 0, [SEP] 60, Drawer, -0.696, 0.475, -1.159, 0, 0, 0, [SEP] 61, Drawer, 1.5, 0.140, 0.599, 0, 270, 0, [SEP] 62, Cabinet, 1.389, 0.474, -1.149, 0, 0, 0, [SEP] 63, Drawer, 1.5, 0.305, 0.600, 0, 0, 0, [SEP] 64, StoveBurner, 1.975, 0.902, 0.601, 0, 270, 0, [SEP] 65, Drawer, 1.5, 0.429, -0.019, 0, 0, 0, [SEP] 66, StoveBurner, 1.764, 0.902, 0.819, 0, 270, 0, [SEP] 67, Drawer, 1.5, 0.519, 1.220, 0, 0, 0, [SEP] 68, Cabinet, 1.705, 2.019, -1.449, 0, 0, 0, [SEP] 69, CounterTop, 0.002, 0.947, -1.513, 0, 0, 0, [SEP] 70, Drawer, 1.5, 0.629, 0.605, 0, 0, 0, [SEP] 71, Cabinet, -0.627, 2.019, -1.449, 0, 0, 0, [SEP] 72, StoveBurner, 1.764, 0.902, 0.384, 0, 270, 0, [SEP] 73, Drawer, 1.5, 0.538, 0.600, 0, 0, 0, [SEP] 74, Sink, 0.0, 0.893, -1.434, 0, 0, 0, [SEP] 75, Drawer, 1.5, 0.782, 1.220, 0, 270, 0, [SEP] 76, Window, 2.217, 1.565, -0.384, 0, 0, 0, [SEP] 77, CounterTop, -0.014, 0.961, 0.505, 0, 0, 0, [SEP] 78, Drawer, 1.5, 0.200, 1.220, 0, 0, 0, [SEP] 79, StoveBurner, 1.975, 0.902, 0.819, 0, 270, 0, [SEP] 80, Window, -3.240, 1.616, 2.693, 0, 270, 0, [SEP] 81, Cabinet, -1.389, 0.474, -1.149, 0, 0, 0, [SEP] 82, LightSwitch, -0.153, 1.291, 3.700, 0, 180, 0, [SEP] 83, GarbageCan, -1.796, 0.009, 1.330, 0, 270, 358.295, [SEP] 84, StoveKnob, 1.602, 0.917, 0.570, 0, 270, 180, [SEP] 85, StoveKnob, 1.602, 0.917, 0.625, 0, 270, 180, [SEP] 86, StoveKnob, 1.602, 0.917, 0.739, 0, 270, 180, [SEP] 87, StoveKnob, 1.602, 0.917, 0.680, 0, 270, 180, [SEP] 88, StoveKnob, 1.602, 0.917, 0.462, 0, 270, 180, [SEP] 89, StoveKnob, 1.602, 0.917, 0.517, 0, 270, 180, [SEP] 90, Microwave, 1.932, 0.899, -0.766, 0, 270, 0, [SEP] 91, CoffeeMachine, 1.355, 0.899, -1.596, 0, 0, 0, [SEP] 92, Fridge, -1.764, 0.0, 0.014, 0, 90, 0, [SEP] 93, SinkBasin, -0.014, 0.736, -1.435, 0, 0, 0, [SEP] 94, Toaster, 1.977, 0.900, -0.336, 0, 270, 0, [SEP] 95, Faucet, -0.020, 1.137, -1.605, 0, 270, 0, [SEP] 96, Chair, -9.354, 0.000, 1.242, 0, 180, 0, [SEP] 97, NorthWall, , , , , , , [SEP] 98, EastWall, , , , , , , [SEP] 99, SouthWall, , , , , , , [SEP] 100, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, move to the counter right of the sink. | STEP 2: Pick up the knife on the counter. | STEP 3: Bring the knife to the sink on the left. | STEP 4: Wash the knife in the sink with water. | STEP 5: Bring the knife to the left, to the drawer left of the dishwasher. | STEP 6: Open the drawer left of dishwasher and put the cleaned knife in there. | END"]} +{"id": "trial_T20190908_121728_511866-2", "input": "Put a cleaned knife in a drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, -0.75, 0, 180, 0, [SEP] 1, Potato, 1.988, 1.030, -0.651, 0, 270, 0, 90 [SEP] 2, CellPhone, 1.824, 0.118, 0.454, 0, 270, 0, 61 [SEP] 3, CellPhone, -0.751, 0.669, -1.332, 0, 0, 0, 60 [SEP] 4, ButterKnife, 0.107, 0.925, 0.273, 0, 0, 0, 77 [SEP] 5, ButterKnife, -1.050, 0.911, -1.513, 0, 0, 0, 69 [SEP] 6, ButterKnife, -0.213, 0.925, 0.970, 0, 0, 0, 77 [SEP] 7, Fork, 1.714, 0.584, 0.052, 0, 270, 0, 54 [SEP] 8, Spatula, 1.612, 0.156, 1.153, 0, 90, 0, 78 [SEP] 9, Egg, -1.592, 1.526, 0.201, 0, 90, 0, 92 [SEP] 10, Cup, 1.892, 1.004, -0.599, 0, 270, 0, 90 [SEP] 11, Plate, 0.194, 0.111, -1.471, 0, 0, 0, 58 [SEP] 12, Plate, 1.962, 1.658, -1.129, 0, 270, 0, 57 [SEP] 13, SoapBottle, -1.668, 0.915, -1.318, 0, 0, 0, 69 [SEP] 14, SoapBottle, 0.305, 0.116, -1.282, 0, 0, 0, 58 [SEP] 15, Tomato, -1.721, 0.618, 0.013, 0, 90, 0, 92 [SEP] 16, Tomato, -0.106, 0.980, 0.970, 0, 0, 0, 77 [SEP] 17, PepperShaker, 1.660, 0.691, 0.178, 0, 0, 0, 53 [SEP] 18, Bread, 1.802, 0.992, -1.610, 0, 0, 0, 69 [SEP] 19, Bread, -0.106, 1.006, 0.506, 0, 0, 0, 77 [SEP] 20, Lettuce, 0.321, 1.002, 0.273, 0, 0, 0, 77 [SEP] 21, Lettuce, 0.170, 0.837, -1.435, 0, 0, 0, 93 [SEP] 22, Mug, -1.197, 0.108, -1.423, 0, 0, 0, 81 [SEP] 23, Apple, -1.697, 1.726, -0.269, 0, 90, 0, 92 [SEP] 24, SoapBottle, 1.986, 0.915, 1.107, 0, 0, 0, 69 [SEP] 25, Cup, -1.697, 1.467, -0.269, 0, 90, 0, 92 [SEP] 26, Pot, 1.975, 0.938, 0.384, 0, 180, 0, 55 [SEP] 27, Fork, 1.610, 0.347, 0.462, 0, 90, 0, 63 [SEP] 28, Ladle, -0.213, 0.969, 0.041, 0, 0, 0, 77 [SEP] 29, Kettle, 1.681, 0.9, 0.091, 0, 0, 0, 69 [SEP] 30, Egg, 0.107, 0.982, 0.738, 0, 0, 0, 77 [SEP] 31, Plate, 0.000, 0.924, 0.041, 0, 0, 0, 77 [SEP] 32, Pan, -1.286, 0.9, -1.348, 0, 79.769, 0, 69 [SEP] 33, Lettuce, -0.088, 0.837, -1.435, 0, 0, 0, 93 [SEP] 34, Spatula, -0.175, 0.775, -1.546, 0, 90, 0, 93 [SEP] 35, Apple, -1.750, 1.522, 0.013, 0, 90, 0, 92 [SEP] 36, Knife, -0.106, 0.947, -0.190, 0, 0, 0, 77 [SEP] 37, SaltShaker, -1.290, 0.109, -1.296, 0, 0, 0, 81 [SEP] 38, PepperShaker, -0.418, 0.111, -1.347, 0, 0, 0, 48 [SEP] 39, CellPhone, -0.844, 0.909, -1.318, 0, 0, 0, 69 [SEP] 40, ButterKnife, -0.213, 0.925, 1.202, 0, 0, 0, 77 [SEP] 41, Bread, -0.106, 1.006, 1.202, 0, 0, 0, 77 [SEP] 42, Tomato, -1.796, 0.097, 1.288, 0, 270, 0, 83 [SEP] 43, Potato, 0.000, 0.949, 0.738, 0, 0, 0, 77 [SEP] 44, DishSponge, 1.712, 0.224, 1.350, 0, 0, 0, 78 [SEP] 45, Spoon, 0.214, 0.926, 0.738, 0, 0, 0, 77 [SEP] 46, Mug, 2.020, 1.001, -0.808, 0, 0, 0, 90 [SEP] 47, Bowl, 0.972, 1.678, -1.577, 0, 0, 0, 68 [SEP] 48, Cabinet, -0.495, 0.474, -1.149, 0, 0, 0, [SEP] 49, Window, -0.010, 1.582, -1.821, 0, 0, 0, [SEP] 50, Drawer, 0.805, 0.475, -1.159, 0, 0, 0, [SEP] 51, StoveBurner, 1.764, 0.902, 0.601, 0, 270, 0, [SEP] 52, Drawer, 1.5, 0.196, -0.019, 0, 0, 0, [SEP] 53, Drawer, 1.5, 0.629, -0.018, 0, 0, 0, [SEP] 54, Drawer, 1.5, 0.602, -0.019, 0, 270, 0, [SEP] 55, StoveBurner, 1.975, 0.902, 0.384, 0, 270, 0, [SEP] 56, Cabinet, -1.703, 2.022, -1.453, 0, 90, 0, [SEP] 57, Cabinet, 1.789, 2.019, -0.819, 0, 270, 0, [SEP] 58, Cabinet, 0.494, 0.474, -1.149, 0, 0, 0, [SEP] 59, Cabinet, 0.409, 0.475, 0.444, 0, 0, 0, [SEP] 60, Drawer, -0.696, 0.475, -1.159, 0, 0, 0, [SEP] 61, Drawer, 1.5, 0.140, 0.599, 0, 270, 0, [SEP] 62, Cabinet, 1.389, 0.474, -1.149, 0, 0, 0, [SEP] 63, Drawer, 1.5, 0.305, 0.600, 0, 0, 0, [SEP] 64, StoveBurner, 1.975, 0.902, 0.601, 0, 270, 0, [SEP] 65, Drawer, 1.5, 0.429, -0.019, 0, 0, 0, [SEP] 66, StoveBurner, 1.764, 0.902, 0.819, 0, 270, 0, [SEP] 67, Drawer, 1.5, 0.519, 1.220, 0, 0, 0, [SEP] 68, Cabinet, 1.705, 2.019, -1.449, 0, 0, 0, [SEP] 69, CounterTop, 0.002, 0.947, -1.513, 0, 0, 0, [SEP] 70, Drawer, 1.5, 0.629, 0.605, 0, 0, 0, [SEP] 71, Cabinet, -0.627, 2.019, -1.449, 0, 0, 0, [SEP] 72, StoveBurner, 1.764, 0.902, 0.384, 0, 270, 0, [SEP] 73, Drawer, 1.5, 0.538, 0.600, 0, 0, 0, [SEP] 74, Sink, 0.0, 0.893, -1.434, 0, 0, 0, [SEP] 75, Drawer, 1.5, 0.782, 1.220, 0, 270, 0, [SEP] 76, Window, 2.217, 1.565, -0.384, 0, 0, 0, [SEP] 77, CounterTop, -0.014, 0.961, 0.505, 0, 0, 0, [SEP] 78, Drawer, 1.5, 0.200, 1.220, 0, 0, 0, [SEP] 79, StoveBurner, 1.975, 0.902, 0.819, 0, 270, 0, [SEP] 80, Window, -3.240, 1.616, 2.693, 0, 270, 0, [SEP] 81, Cabinet, -1.389, 0.474, -1.149, 0, 0, 0, [SEP] 82, LightSwitch, -0.153, 1.291, 3.700, 0, 180, 0, [SEP] 83, GarbageCan, -1.796, 0.009, 1.330, 0, 270, 358.295, [SEP] 84, StoveKnob, 1.602, 0.917, 0.570, 0, 270, 180, [SEP] 85, StoveKnob, 1.602, 0.917, 0.625, 0, 270, 180, [SEP] 86, StoveKnob, 1.602, 0.917, 0.739, 0, 270, 180, [SEP] 87, StoveKnob, 1.602, 0.917, 0.680, 0, 270, 180, [SEP] 88, StoveKnob, 1.602, 0.917, 0.462, 0, 270, 180, [SEP] 89, StoveKnob, 1.602, 0.917, 0.517, 0, 270, 180, [SEP] 90, Microwave, 1.932, 0.899, -0.766, 0, 270, 0, [SEP] 91, CoffeeMachine, 1.355, 0.899, -1.596, 0, 0, 0, [SEP] 92, Fridge, -1.764, 0.0, 0.014, 0, 90, 0, [SEP] 93, SinkBasin, -0.014, 0.736, -1.435, 0, 0, 0, [SEP] 94, Toaster, 1.977, 0.900, -0.336, 0, 270, 0, [SEP] 95, Faucet, -0.020, 1.137, -1.605, 0, 270, 0, [SEP] 96, Chair, -9.354, 0.000, 1.242, 0, 180, 0, [SEP] 97, NorthWall, , , , , , , [SEP] 98, EastWall, , , , , , , [SEP] 99, SouthWall, , , , , , , [SEP] 100, WestWall, , , , , , , ", "output": ["STEP 1: move to the counter to the right of the sink | STEP 2: pick up a knife from the counter | STEP 3: move to the sink to the left | STEP 4: clean the knife in the sink | STEP 5: move to the counter to the left of the dishwasher | STEP 6: put the knife in the drawer to the left of the dishwasher | END"]} +{"id": "trial_T20190909_022535_813547-0", "input": "Place a cold apple slice on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 7.0, 0, 180, 0, [SEP] 1, Pan, 1.32, 0.988, 3.848, 0, 0, 0, 54 [SEP] 2, Potato, 1.135, 1.027, 4.762, 0, 0, 0, 56 [SEP] 3, Potato, 2.094, 1.550, 5.251, 0, 270, 0, 77 [SEP] 4, ButterKnife, -0.384, 0.992, 0.670, 0, 0, 0, 55 [SEP] 5, ButterKnife, -0.487, 0.760, 6.807, 0, 135, 0, 91 [SEP] 6, Kettle, 1.562, 0.988, 3.848, 0, 0, 0, 49 [SEP] 7, Kettle, -0.575, 0.761, 6.719, 0, 135, 0, 91 [SEP] 8, Spoon, 1.292, 0.772, 3.291, 0, 0, 0, 48 [SEP] 9, Fork, -0.422, 0.760, 6.653, 0, 135, 0, 91 [SEP] 10, Cup, 0.107, 1.575, 0.163, 0, 0, 0, 68 [SEP] 11, Plate, 2.051, 1.516, 5.501, 0, 270, 0, 77 [SEP] 12, Tomato, 1.497, 0.940, 2.188, 0, 90, 0, 78 [SEP] 13, Tomato, -0.221, 0.809, 6.632, 0, 0, 0, 91 [SEP] 14, SoapBottle, -0.467, 0.760, 6.416, 0, 0, 0, 91 [SEP] 15, SoapBottle, 0.193, 0.144, 0.201, 0, 0, 0, 64 [SEP] 16, PepperShaker, 0.150, 0.755, 6.666, 0, 270, 0, 91 [SEP] 17, Lettuce, 0.102, 0.848, 6.305, 0, 135, 0, 91 [SEP] 18, Lettuce, -0.687, 1.081, 0.395, 0, 0, 0, 55 [SEP] 19, Mug, 1.384, 1.043, 0.847, 0, 270, 0, 55 [SEP] 20, Bowl, 1.490, 0.139, 3.365, 0, 0, 0, 66 [SEP] 21, Bread, 1.099, 1.048, 0.434, 0, 0, 0, 55 [SEP] 22, Egg, -0.762, 1.042, 0.212, 0, 0, 0, 55 [SEP] 23, Knife, -0.003, 0.789, 6.541, 0, 0, 0, 91 [SEP] 24, Fork, 0.668, 0.772, 0.395, 0, 90, 0, 47 [SEP] 25, Apple, 1.225, 1.067, 3.511, 0, 0, 0, 55 [SEP] 26, Kettle, 1.317, 0.988, 4.294, 0, 0, 0, 50 [SEP] 27, Plate, -0.552, 0.144, 0.506, 0, 0, 0, 63 [SEP] 28, SaltShaker, 0.534, 0.138, 0.418, 0, 0, 0, 61 [SEP] 29, Lettuce, -0.289, 0.848, 6.786, 0, 135, 0, 91 [SEP] 30, SoapBottle, 1.406, 0.140, 2.012, 0, 0, 0, 67 [SEP] 31, Spatula, -0.308, 1.007, 0.303, 0, 90, 0, 55 [SEP] 32, PaperTowelRoll, -0.535, 1.096, 0.578, 0, 0, 0, 55 [SEP] 33, Pot, 0.734, 0.981, 0.38, 0, 0, 0, 55 [SEP] 34, Potato, -0.034, 0.794, 6.632, 0, 0, 0, 91 [SEP] 35, ButterKnife, 0.620, 0.992, 0.578, 0, 0, 0, 55 [SEP] 36, PepperShaker, 1.140, 1.574, 0.251, 0, 0, 0, 69 [SEP] 37, Pan, 1.559, 0.988, 4.294, 0, 0, 0, 53 [SEP] 38, Tomato, 1.907, 0.130, 6.469, 0, 0, 0, 79 [SEP] 39, DishSponge, 1.403, 0.992, 0.668, 0, 0, 0, 55 [SEP] 40, Cup, 1.442, 0.886, 2.034, 0, 90, 0, 78 [SEP] 41, Spoon, 1.225, 0.993, 3.417, 0, 0, 0, 55 [SEP] 42, Mug, -0.621, 0.755, 6.416, 0, 90, 0, 91 [SEP] 43, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 44, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 45, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 46, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 47, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 48, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 49, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 50, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 51, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 52, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 53, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 54, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 55, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 56, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 57, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 58, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 59, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 60, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 61, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 62, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 63, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 64, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 65, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 66, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 67, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 68, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 69, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 70, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 71, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 72, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 73, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 74, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 75, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 76, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 77, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 78, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 79, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 80, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 81, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 82, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 83, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 84, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 85, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 86, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 87, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 88, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 89, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 90, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 91, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 92, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 93, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Move forward and face the stove on your left. | STEP 2: Take the apple from the counter in front of you. | STEP 3: Turn left and face the black table to your left. | STEP 4: Place the apple on the table in front of you. | STEP 5: Take the knife from the table in front of you. | STEP 6: Slice the apple on the table in front of you. | STEP 7: Place the knife on the table in front of you. | STEP 8: Take the apple slice off the table in front of you. | STEP 9: Turn left and face the fridge to your left. | STEP 10: Place the apple inside of the fridge and take it out again. | STEP 11: Turn left and face the table to your left. | STEP 12: Place the apple slice on the table in front of you. | END"]} +{"id": "trial_T20190909_022535_813547-1", "input": "Cut an apple, cool a piece and bring it to the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 7.0, 0, 180, 0, [SEP] 1, Pan, 1.32, 0.988, 3.848, 0, 0, 0, 54 [SEP] 2, Potato, 1.135, 1.027, 4.762, 0, 0, 0, 56 [SEP] 3, Potato, 2.094, 1.550, 5.251, 0, 270, 0, 77 [SEP] 4, ButterKnife, -0.384, 0.992, 0.670, 0, 0, 0, 55 [SEP] 5, ButterKnife, -0.487, 0.760, 6.807, 0, 135, 0, 91 [SEP] 6, Kettle, 1.562, 0.988, 3.848, 0, 0, 0, 49 [SEP] 7, Kettle, -0.575, 0.761, 6.719, 0, 135, 0, 91 [SEP] 8, Spoon, 1.292, 0.772, 3.291, 0, 0, 0, 48 [SEP] 9, Fork, -0.422, 0.760, 6.653, 0, 135, 0, 91 [SEP] 10, Cup, 0.107, 1.575, 0.163, 0, 0, 0, 68 [SEP] 11, Plate, 2.051, 1.516, 5.501, 0, 270, 0, 77 [SEP] 12, Tomato, 1.497, 0.940, 2.188, 0, 90, 0, 78 [SEP] 13, Tomato, -0.221, 0.809, 6.632, 0, 0, 0, 91 [SEP] 14, SoapBottle, -0.467, 0.760, 6.416, 0, 0, 0, 91 [SEP] 15, SoapBottle, 0.193, 0.144, 0.201, 0, 0, 0, 64 [SEP] 16, PepperShaker, 0.150, 0.755, 6.666, 0, 270, 0, 91 [SEP] 17, Lettuce, 0.102, 0.848, 6.305, 0, 135, 0, 91 [SEP] 18, Lettuce, -0.687, 1.081, 0.395, 0, 0, 0, 55 [SEP] 19, Mug, 1.384, 1.043, 0.847, 0, 270, 0, 55 [SEP] 20, Bowl, 1.490, 0.139, 3.365, 0, 0, 0, 66 [SEP] 21, Bread, 1.099, 1.048, 0.434, 0, 0, 0, 55 [SEP] 22, Egg, -0.762, 1.042, 0.212, 0, 0, 0, 55 [SEP] 23, Knife, -0.003, 0.789, 6.541, 0, 0, 0, 91 [SEP] 24, Fork, 0.668, 0.772, 0.395, 0, 90, 0, 47 [SEP] 25, Apple, 1.225, 1.067, 3.511, 0, 0, 0, 55 [SEP] 26, Kettle, 1.317, 0.988, 4.294, 0, 0, 0, 50 [SEP] 27, Plate, -0.552, 0.144, 0.506, 0, 0, 0, 63 [SEP] 28, SaltShaker, 0.534, 0.138, 0.418, 0, 0, 0, 61 [SEP] 29, Lettuce, -0.289, 0.848, 6.786, 0, 135, 0, 91 [SEP] 30, SoapBottle, 1.406, 0.140, 2.012, 0, 0, 0, 67 [SEP] 31, Spatula, -0.308, 1.007, 0.303, 0, 90, 0, 55 [SEP] 32, PaperTowelRoll, -0.535, 1.096, 0.578, 0, 0, 0, 55 [SEP] 33, Pot, 0.734, 0.981, 0.38, 0, 0, 0, 55 [SEP] 34, Potato, -0.034, 0.794, 6.632, 0, 0, 0, 91 [SEP] 35, ButterKnife, 0.620, 0.992, 0.578, 0, 0, 0, 55 [SEP] 36, PepperShaker, 1.140, 1.574, 0.251, 0, 0, 0, 69 [SEP] 37, Pan, 1.559, 0.988, 4.294, 0, 0, 0, 53 [SEP] 38, Tomato, 1.907, 0.130, 6.469, 0, 0, 0, 79 [SEP] 39, DishSponge, 1.403, 0.992, 0.668, 0, 0, 0, 55 [SEP] 40, Cup, 1.442, 0.886, 2.034, 0, 90, 0, 78 [SEP] 41, Spoon, 1.225, 0.993, 3.417, 0, 0, 0, 55 [SEP] 42, Mug, -0.621, 0.755, 6.416, 0, 90, 0, 91 [SEP] 43, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 44, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 45, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 46, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 47, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 48, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 49, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 50, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 51, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 52, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 53, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 54, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 55, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 56, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 57, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 58, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 59, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 60, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 61, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 62, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 63, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 64, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 65, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 66, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 67, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 68, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 69, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 70, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 71, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 72, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 73, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 74, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 75, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 76, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 77, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 78, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 79, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 80, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 81, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 82, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 83, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 84, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 85, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 86, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 87, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 88, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 89, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 90, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 91, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 92, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 93, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Go forward, turn left after the stove, go to the counter | STEP 2: Pick up the apple on the counter | STEP 3: Turn right, go to the table, turn left | STEP 4: Put the apple on the table | STEP 5: Pick up the knife on the table | STEP 6: Cut the apple on the table | STEP 7: Put the knife on the table | STEP 8: Pick up an apple piece from the table | STEP 9: Turn around and go to the fridge | STEP 10: Put the apple piece in the fridge, wait, pick up the apple piece from the fridge | STEP 11: Turn left, go forward, turn left to the table | STEP 12: Put the apple piece on the table | END"]} +{"id": "trial_T20190909_022535_813547-2", "input": "pick up apple, pick up knife, cut apple, place into fridge, remove, place onto table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 7.0, 0, 180, 0, [SEP] 1, Pan, 1.32, 0.988, 3.848, 0, 0, 0, 54 [SEP] 2, Potato, 1.135, 1.027, 4.762, 0, 0, 0, 56 [SEP] 3, Potato, 2.094, 1.550, 5.251, 0, 270, 0, 77 [SEP] 4, ButterKnife, -0.384, 0.992, 0.670, 0, 0, 0, 55 [SEP] 5, ButterKnife, -0.487, 0.760, 6.807, 0, 135, 0, 91 [SEP] 6, Kettle, 1.562, 0.988, 3.848, 0, 0, 0, 49 [SEP] 7, Kettle, -0.575, 0.761, 6.719, 0, 135, 0, 91 [SEP] 8, Spoon, 1.292, 0.772, 3.291, 0, 0, 0, 48 [SEP] 9, Fork, -0.422, 0.760, 6.653, 0, 135, 0, 91 [SEP] 10, Cup, 0.107, 1.575, 0.163, 0, 0, 0, 68 [SEP] 11, Plate, 2.051, 1.516, 5.501, 0, 270, 0, 77 [SEP] 12, Tomato, 1.497, 0.940, 2.188, 0, 90, 0, 78 [SEP] 13, Tomato, -0.221, 0.809, 6.632, 0, 0, 0, 91 [SEP] 14, SoapBottle, -0.467, 0.760, 6.416, 0, 0, 0, 91 [SEP] 15, SoapBottle, 0.193, 0.144, 0.201, 0, 0, 0, 64 [SEP] 16, PepperShaker, 0.150, 0.755, 6.666, 0, 270, 0, 91 [SEP] 17, Lettuce, 0.102, 0.848, 6.305, 0, 135, 0, 91 [SEP] 18, Lettuce, -0.687, 1.081, 0.395, 0, 0, 0, 55 [SEP] 19, Mug, 1.384, 1.043, 0.847, 0, 270, 0, 55 [SEP] 20, Bowl, 1.490, 0.139, 3.365, 0, 0, 0, 66 [SEP] 21, Bread, 1.099, 1.048, 0.434, 0, 0, 0, 55 [SEP] 22, Egg, -0.762, 1.042, 0.212, 0, 0, 0, 55 [SEP] 23, Knife, -0.003, 0.789, 6.541, 0, 0, 0, 91 [SEP] 24, Fork, 0.668, 0.772, 0.395, 0, 90, 0, 47 [SEP] 25, Apple, 1.225, 1.067, 3.511, 0, 0, 0, 55 [SEP] 26, Kettle, 1.317, 0.988, 4.294, 0, 0, 0, 50 [SEP] 27, Plate, -0.552, 0.144, 0.506, 0, 0, 0, 63 [SEP] 28, SaltShaker, 0.534, 0.138, 0.418, 0, 0, 0, 61 [SEP] 29, Lettuce, -0.289, 0.848, 6.786, 0, 135, 0, 91 [SEP] 30, SoapBottle, 1.406, 0.140, 2.012, 0, 0, 0, 67 [SEP] 31, Spatula, -0.308, 1.007, 0.303, 0, 90, 0, 55 [SEP] 32, PaperTowelRoll, -0.535, 1.096, 0.578, 0, 0, 0, 55 [SEP] 33, Pot, 0.734, 0.981, 0.38, 0, 0, 0, 55 [SEP] 34, Potato, -0.034, 0.794, 6.632, 0, 0, 0, 91 [SEP] 35, ButterKnife, 0.620, 0.992, 0.578, 0, 0, 0, 55 [SEP] 36, PepperShaker, 1.140, 1.574, 0.251, 0, 0, 0, 69 [SEP] 37, Pan, 1.559, 0.988, 4.294, 0, 0, 0, 53 [SEP] 38, Tomato, 1.907, 0.130, 6.469, 0, 0, 0, 79 [SEP] 39, DishSponge, 1.403, 0.992, 0.668, 0, 0, 0, 55 [SEP] 40, Cup, 1.442, 0.886, 2.034, 0, 90, 0, 78 [SEP] 41, Spoon, 1.225, 0.993, 3.417, 0, 0, 0, 55 [SEP] 42, Mug, -0.621, 0.755, 6.416, 0, 90, 0, 91 [SEP] 43, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 44, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 45, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 46, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 47, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 48, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 49, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 50, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 51, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 52, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 53, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 54, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 55, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 56, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 57, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 58, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 59, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 60, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 61, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 62, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 63, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 64, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 65, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 66, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 67, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 68, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 69, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 70, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 71, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 72, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 73, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 74, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 75, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 76, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 77, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 78, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 79, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 80, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 81, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 82, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 83, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 84, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 85, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 86, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 87, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 88, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 89, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 90, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 91, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 92, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 93, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: walk straight, turn left to the counter | STEP 2: pick up apple from the counter | STEP 3: turn left, straight, right, left to the table | STEP 4: place apple on to the table | STEP 5: pick up knife from the table | STEP 6: slice into the apple | STEP 7: place knife on the table | STEP 8: pick up apple slice from table | STEP 9: turn around , turn right, turn left to the fridge | STEP 10: open door, put apple on shelf, close door, open door, take apple out, close door | STEP 11: turn left, turn left to the table | STEP 12: place apple on to the table | END"]} +{"id": "trial_T20190909_090126_143408-0", "input": "Place a plate with a spoon on a counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, 3.25, 0, 90, 0, [SEP] 1, Ladle, -0.538, 1.087, 3.042, 0, 0, 0, 50 [SEP] 2, DishSponge, -0.785, 1.047, 3.042, 0, 0, 0, 50 [SEP] 3, DishSponge, -0.908, 1.046, 1.920, 0, 0, 0, 50 [SEP] 4, ButterKnife, -1.465, 0.931, 0.428, 0, 0, 0, 72 [SEP] 5, Pot, -3.000, 1.133, 0.480, 0, 270, 0, 55 [SEP] 6, Spoon, -0.908, 1.048, 3.266, 0, 0, 0, 50 [SEP] 7, Spoon, -1.199, 0.932, 0.567, 0, 180, 0, 72 [SEP] 8, Egg, -3.240, 0.942, 2.991, 0, 90, 0, 67 [SEP] 9, Egg, -0.908, 1.078, 2.593, 0, 0, 0, 50 [SEP] 10, Plate, -3.373, 1.558, 3.132, 0, 90, 0, 67 [SEP] 11, Plate, -1.235, 0.047, 0.494, 0, 0, 0, 54 [SEP] 12, Plate, -3.44, 0.910, 2.920, 0, 90, 0, 67 [SEP] 13, Knife, -0.538, 1.079, 2.593, 0, 0, 0, 50 [SEP] 14, Knife, -1.376, 0.963, 0.498, 0, 180, 0, 72 [SEP] 15, SoapBottle, -1.601, 0.049, 0.608, 0, 0, 0, 65 [SEP] 16, SoapBottle, -1.663, 1.154, 0.095, 0, 0, 0, 47 [SEP] 17, Bowl, -3.307, 1.284, 3.132, 0, 90, 0, 67 [SEP] 18, PepperShaker, -1.156, 0.045, 0.664, 0, 0, 0, 54 [SEP] 19, Bread, -0.785, 1.134, 2.144, 0, 0, 0, 50 [SEP] 20, Lettuce, -0.785, 1.125, 3.266, 0, 0, 0, 50 [SEP] 21, Mug, -3.639, 1.555, 3.061, 0, 90, 0, 67 [SEP] 22, Apple, -1.199, 0.998, 0.221, 0, 0, 0, 72 [SEP] 23, Fork, -2.042, 0.096, 0.579, 0, 0, 0, 52 [SEP] 24, SoapBottle, -2.545, 0.096, 0.545, 0, 0, 0, 53 [SEP] 25, Pot, -3.475, 1.133, 0.227, 0, 90, 0, 46 [SEP] 26, Ladle, -0.908, 1.086, 2.144, 0, 90, 0, 50 [SEP] 27, Potato, -1.111, 0.962, 0.498, 0, 0, 0, 72 [SEP] 28, Plate, -3.506, 0.910, 3.132, 0, 90, 0, 67 [SEP] 29, Bread, -0.908, 1.134, 2.817, 0, 0, 0, 50 [SEP] 30, Lettuce, -3.506, 1.639, 2.849, 0, 90, 0, 67 [SEP] 31, Spatula, -0.785, 1.063, 2.593, 0, 90, 0, 50 [SEP] 32, Pan, -0.266, 1.038, 2.561, 0, 0, 0, 50 [SEP] 33, Egg, -0.256, 1.258, 0.508, 0, 0, 0, 73 [SEP] 34, Cup, -0.662, 1.045, 2.144, 0, 0, 0, 50 [SEP] 35, SaltShaker, -2.370, 0.898, 0.612, 0, 0, 0, 59 [SEP] 36, Knife, -0.292, 1.080, 1.920, 0, 0, 0, 50 [SEP] 37, Bowl, -0.495, 1.038, 2.223, 0, 0, 0, 50 [SEP] 38, PepperShaker, -1.483, 0.045, 0.381, 0, 0, 0, 65 [SEP] 39, ButterKnife, -0.292, 1.048, 2.144, 0, 0, 0, 50 [SEP] 40, Apple, -1.553, 0.998, 0.636, 0, 0, 0, 72 [SEP] 41, Tomato, -0.746, 1.081, 2.399, 0, 0, 0, 50 [SEP] 42, DishSponge, -3.593, 0.112, 1.978, 0, 0, 0, 71 [SEP] 43, Spoon, -0.538, 1.048, 2.817, 0, 0, 0, 50 [SEP] 44, Mug, -0.538, 1.042, 3.266, 0, 0, 0, 50 [SEP] 45, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 46, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 47, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 48, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 49, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 50, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 51, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 52, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 53, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 54, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 55, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 56, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 57, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 58, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 59, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 60, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 61, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 62, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 63, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 64, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 65, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 66, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 67, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 68, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 69, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 70, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 71, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 72, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 73, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 74, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 75, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 76, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 77, NorthWall, , , , , , , [SEP] 78, SouthWall, , , , , , , [SEP] 79, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the large wooden table on the left. | STEP 2: Pick up the spoon with the black handle to the right of the coffee maker on the table. | STEP 3: Turn right and walk to the sink. | STEP 4: Open the lower left cabinet under the sink and put the spoon on the black plate inside the cabinet. | STEP 5: Pick up the plate with the spoon from inside the cabinet and close the door. | STEP 6: Turn left and walk to the counter on the right. | STEP 7: Put the plate with the spoon on the counter. | END"]} +{"id": "trial_T20190909_090126_143408-1", "input": "Put a plate with a ladle on it on a counter top. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, 3.25, 0, 90, 0, [SEP] 1, Ladle, -0.538, 1.087, 3.042, 0, 0, 0, 50 [SEP] 2, DishSponge, -0.785, 1.047, 3.042, 0, 0, 0, 50 [SEP] 3, DishSponge, -0.908, 1.046, 1.920, 0, 0, 0, 50 [SEP] 4, ButterKnife, -1.465, 0.931, 0.428, 0, 0, 0, 72 [SEP] 5, Pot, -3.000, 1.133, 0.480, 0, 270, 0, 55 [SEP] 6, Spoon, -0.908, 1.048, 3.266, 0, 0, 0, 50 [SEP] 7, Spoon, -1.199, 0.932, 0.567, 0, 180, 0, 72 [SEP] 8, Egg, -3.240, 0.942, 2.991, 0, 90, 0, 67 [SEP] 9, Egg, -0.908, 1.078, 2.593, 0, 0, 0, 50 [SEP] 10, Plate, -3.373, 1.558, 3.132, 0, 90, 0, 67 [SEP] 11, Plate, -1.235, 0.047, 0.494, 0, 0, 0, 54 [SEP] 12, Plate, -3.44, 0.910, 2.920, 0, 90, 0, 67 [SEP] 13, Knife, -0.538, 1.079, 2.593, 0, 0, 0, 50 [SEP] 14, Knife, -1.376, 0.963, 0.498, 0, 180, 0, 72 [SEP] 15, SoapBottle, -1.601, 0.049, 0.608, 0, 0, 0, 65 [SEP] 16, SoapBottle, -1.663, 1.154, 0.095, 0, 0, 0, 47 [SEP] 17, Bowl, -3.307, 1.284, 3.132, 0, 90, 0, 67 [SEP] 18, PepperShaker, -1.156, 0.045, 0.664, 0, 0, 0, 54 [SEP] 19, Bread, -0.785, 1.134, 2.144, 0, 0, 0, 50 [SEP] 20, Lettuce, -0.785, 1.125, 3.266, 0, 0, 0, 50 [SEP] 21, Mug, -3.639, 1.555, 3.061, 0, 90, 0, 67 [SEP] 22, Apple, -1.199, 0.998, 0.221, 0, 0, 0, 72 [SEP] 23, Fork, -2.042, 0.096, 0.579, 0, 0, 0, 52 [SEP] 24, SoapBottle, -2.545, 0.096, 0.545, 0, 0, 0, 53 [SEP] 25, Pot, -3.475, 1.133, 0.227, 0, 90, 0, 46 [SEP] 26, Ladle, -0.908, 1.086, 2.144, 0, 90, 0, 50 [SEP] 27, Potato, -1.111, 0.962, 0.498, 0, 0, 0, 72 [SEP] 28, Plate, -3.506, 0.910, 3.132, 0, 90, 0, 67 [SEP] 29, Bread, -0.908, 1.134, 2.817, 0, 0, 0, 50 [SEP] 30, Lettuce, -3.506, 1.639, 2.849, 0, 90, 0, 67 [SEP] 31, Spatula, -0.785, 1.063, 2.593, 0, 90, 0, 50 [SEP] 32, Pan, -0.266, 1.038, 2.561, 0, 0, 0, 50 [SEP] 33, Egg, -0.256, 1.258, 0.508, 0, 0, 0, 73 [SEP] 34, Cup, -0.662, 1.045, 2.144, 0, 0, 0, 50 [SEP] 35, SaltShaker, -2.370, 0.898, 0.612, 0, 0, 0, 59 [SEP] 36, Knife, -0.292, 1.080, 1.920, 0, 0, 0, 50 [SEP] 37, Bowl, -0.495, 1.038, 2.223, 0, 0, 0, 50 [SEP] 38, PepperShaker, -1.483, 0.045, 0.381, 0, 0, 0, 65 [SEP] 39, ButterKnife, -0.292, 1.048, 2.144, 0, 0, 0, 50 [SEP] 40, Apple, -1.553, 0.998, 0.636, 0, 0, 0, 72 [SEP] 41, Tomato, -0.746, 1.081, 2.399, 0, 0, 0, 50 [SEP] 42, DishSponge, -3.593, 0.112, 1.978, 0, 0, 0, 71 [SEP] 43, Spoon, -0.538, 1.048, 2.817, 0, 0, 0, 50 [SEP] 44, Mug, -0.538, 1.042, 3.266, 0, 0, 0, 50 [SEP] 45, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 46, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 47, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 48, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 49, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 50, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 51, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 52, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 53, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 54, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 55, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 56, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 57, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 58, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 59, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 60, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 61, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 62, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 63, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 64, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 65, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 66, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 67, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 68, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 69, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 70, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 71, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 72, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 73, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 74, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 75, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 76, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 77, NorthWall, , , , , , , [SEP] 78, SouthWall, , , , , , , [SEP] 79, SouthWall, , , , , , , ", "output": ["STEP 1: Walk forward to the dining table in front of you. | STEP 2: Pick up the ladle from the table. | STEP 3: Turn right and walk forward to the sink. | STEP 4: Open the cabinet on the left below the sink and put the ladle on the plate. | STEP 5: Pick up the plate from the cabinet and close the cabinet door. | STEP 6: Walk slightly to the left and turn right towards the counter top. | STEP 7: Put the plate on the counter to the left of the sink. | END"]} +{"id": "trial_T20190909_090126_143408-2", "input": "put a bowl and spoon on the counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, 3.25, 0, 90, 0, [SEP] 1, Ladle, -0.538, 1.087, 3.042, 0, 0, 0, 50 [SEP] 2, DishSponge, -0.785, 1.047, 3.042, 0, 0, 0, 50 [SEP] 3, DishSponge, -0.908, 1.046, 1.920, 0, 0, 0, 50 [SEP] 4, ButterKnife, -1.465, 0.931, 0.428, 0, 0, 0, 72 [SEP] 5, Pot, -3.000, 1.133, 0.480, 0, 270, 0, 55 [SEP] 6, Spoon, -0.908, 1.048, 3.266, 0, 0, 0, 50 [SEP] 7, Spoon, -1.199, 0.932, 0.567, 0, 180, 0, 72 [SEP] 8, Egg, -3.240, 0.942, 2.991, 0, 90, 0, 67 [SEP] 9, Egg, -0.908, 1.078, 2.593, 0, 0, 0, 50 [SEP] 10, Plate, -3.373, 1.558, 3.132, 0, 90, 0, 67 [SEP] 11, Plate, -1.235, 0.047, 0.494, 0, 0, 0, 54 [SEP] 12, Plate, -3.44, 0.910, 2.920, 0, 90, 0, 67 [SEP] 13, Knife, -0.538, 1.079, 2.593, 0, 0, 0, 50 [SEP] 14, Knife, -1.376, 0.963, 0.498, 0, 180, 0, 72 [SEP] 15, SoapBottle, -1.601, 0.049, 0.608, 0, 0, 0, 65 [SEP] 16, SoapBottle, -1.663, 1.154, 0.095, 0, 0, 0, 47 [SEP] 17, Bowl, -3.307, 1.284, 3.132, 0, 90, 0, 67 [SEP] 18, PepperShaker, -1.156, 0.045, 0.664, 0, 0, 0, 54 [SEP] 19, Bread, -0.785, 1.134, 2.144, 0, 0, 0, 50 [SEP] 20, Lettuce, -0.785, 1.125, 3.266, 0, 0, 0, 50 [SEP] 21, Mug, -3.639, 1.555, 3.061, 0, 90, 0, 67 [SEP] 22, Apple, -1.199, 0.998, 0.221, 0, 0, 0, 72 [SEP] 23, Fork, -2.042, 0.096, 0.579, 0, 0, 0, 52 [SEP] 24, SoapBottle, -2.545, 0.096, 0.545, 0, 0, 0, 53 [SEP] 25, Pot, -3.475, 1.133, 0.227, 0, 90, 0, 46 [SEP] 26, Ladle, -0.908, 1.086, 2.144, 0, 90, 0, 50 [SEP] 27, Potato, -1.111, 0.962, 0.498, 0, 0, 0, 72 [SEP] 28, Plate, -3.506, 0.910, 3.132, 0, 90, 0, 67 [SEP] 29, Bread, -0.908, 1.134, 2.817, 0, 0, 0, 50 [SEP] 30, Lettuce, -3.506, 1.639, 2.849, 0, 90, 0, 67 [SEP] 31, Spatula, -0.785, 1.063, 2.593, 0, 90, 0, 50 [SEP] 32, Pan, -0.266, 1.038, 2.561, 0, 0, 0, 50 [SEP] 33, Egg, -0.256, 1.258, 0.508, 0, 0, 0, 73 [SEP] 34, Cup, -0.662, 1.045, 2.144, 0, 0, 0, 50 [SEP] 35, SaltShaker, -2.370, 0.898, 0.612, 0, 0, 0, 59 [SEP] 36, Knife, -0.292, 1.080, 1.920, 0, 0, 0, 50 [SEP] 37, Bowl, -0.495, 1.038, 2.223, 0, 0, 0, 50 [SEP] 38, PepperShaker, -1.483, 0.045, 0.381, 0, 0, 0, 65 [SEP] 39, ButterKnife, -0.292, 1.048, 2.144, 0, 0, 0, 50 [SEP] 40, Apple, -1.553, 0.998, 0.636, 0, 0, 0, 72 [SEP] 41, Tomato, -0.746, 1.081, 2.399, 0, 0, 0, 50 [SEP] 42, DishSponge, -3.593, 0.112, 1.978, 0, 0, 0, 71 [SEP] 43, Spoon, -0.538, 1.048, 2.817, 0, 0, 0, 50 [SEP] 44, Mug, -0.538, 1.042, 3.266, 0, 0, 0, 50 [SEP] 45, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 46, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 47, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 48, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 49, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 50, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 51, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 52, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 53, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 54, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 55, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 56, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 57, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 58, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 59, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 60, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 61, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 62, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 63, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 64, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 65, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 66, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 67, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 68, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 69, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 70, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 71, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 72, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 73, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 74, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 75, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 76, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 77, NorthWall, , , , , , , [SEP] 78, SouthWall, , , , , , , [SEP] 79, SouthWall, , , , , , , ", "output": ["STEP 1: go to the dining table | STEP 2: pick up the measuring spoon | STEP 3: take the spoon to the sink | STEP 4: put the spoon in the bowl in the cabinet to the left below the sink | STEP 5: pick up the bowl and spoon from the cabinet | STEP 6: take the bowl to the counter to the left of the sink | STEP 7: put the bowl on the counter | END"]} +{"id": "trial_T20190909_114508_617301-0", "input": "To wash an knife and place it on the kitchen table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 2.75, 0, 90, 0, [SEP] 1, Pan, 2.116, 1.027, -1.84, 0, 270, 0, 61 [SEP] 2, Potato, 1.777, 1.068, 1.555, 0, 136.999, 0, 57 [SEP] 3, Potato, 2.719, 1.068, 1.597, 0, 136.999, 0, 57 [SEP] 4, Ladle, 1.230, 1.066, -1.987, 0, 90, 0, 57 [SEP] 5, ButterKnife, -0.669, 1.027, 2.434, 0, 0, 0, 60 [SEP] 6, ButterKnife, 2.336, 1.026, 1.797, 0, 136.999, 0, 57 [SEP] 7, ButterKnife, 2.815, 0.764, 4.124, 0, 225, 0, 58 [SEP] 8, WineBottle, 2.451, 0.765, 3.97, 0, 225, 0, 58 [SEP] 9, WineBottle, -0.360, 1.028, 1.356, 0, 0, 0, 60 [SEP] 10, Glassbottle, -0.669, 1.028, 2.189, 0, 0, 0, 60 [SEP] 11, Glassbottle, -0.916, 0.077, 2.779, 0, 0, 0, 112 [SEP] 12, Pot, 2.177, 1.027, -1.599, 0, 0, 0, 56 [SEP] 13, Spatula, -0.920, 1.042, 1.821, 0, 0, 0, 60 [SEP] 14, Spatula, -0.544, 1.042, 0.508, 0, 0, 0, 60 [SEP] 15, Cup, -0.851, 0.815, 1.414, 0, 90, 0, 114 [SEP] 16, Cup, 2.489, 1.779, -1.833, 0, 0, 0, 96 [SEP] 17, Plate, 2.991, 0.033, -1.074, 0, 0, 0, 99 [SEP] 18, Plate, -0.418, 1.027, 0.600, 0, 0, 0, 60 [SEP] 19, Knife, 2.664, 0.826, 0.788, 0, 47.0, 0, 69 [SEP] 20, Bowl, -0.852, 2.288, -0.489, 0, 0, 0, 89 [SEP] 21, Bowl, 2.525, 0.762, 3.62, 0, 0, 0, 58 [SEP] 22, SaltShaker, -0.660, 0.797, 1.844, 0, 0, 0, 62 [SEP] 23, SaltShaker, 1.350, 1.023, -1.881, 0, 90, 0, 57 [SEP] 24, PepperShaker, 2.801, 0.760, 3.747, 0, 270, 0, 58 [SEP] 25, Lettuce, -0.947, 0.844, -0.184, 0, 90, 0, 101 [SEP] 26, Lettuce, 2.976, 0.822, 3.970, 0, 270, 0, 58 [SEP] 27, Apple, -0.782, 0.866, 1.181, 0, 90, 0, 114 [SEP] 28, Apple, -0.645, 0.866, 1.492, 0, 90, 0, 114 [SEP] 29, Pan, 2.042, 1.017, 1.779, 0, 0, 0, 57 [SEP] 30, Glassbottle, 2.113, 0.765, 3.527, 0, 225, 0, 58 [SEP] 31, Knife, -0.714, 0.841, 1.103, 0, 180, 0, 114 [SEP] 32, SoapBottle, 2.425, 1.025, -1.454, 0, 90, 0, 57 [SEP] 33, Egg, 2.106, 1.905, -1.910, 0, 0, 0, 103 [SEP] 34, Fork, 2.761, 0.800, -0.699, 0, 0, 0, 66 [SEP] 35, Potato, -1.074, 1.069, 1.243, 0, 0, 0, 60 [SEP] 36, Ladle, 2.276, 0.803, 3.895, 0, 0, 0, 58 [SEP] 37, Tomato, 2.599, 0.818, 3.445, 0, 0, 0, 58 [SEP] 38, Pot, 1.761, 1.027, -1.599, 0, 0, 0, 100 [SEP] 39, WineBottle, 2.626, 0.765, 3.970, 0, 270, 0, 58 [SEP] 40, Plate, 2.525, 0.764, 4.495, 0, 0, 0, 58 [SEP] 41, Spatula, -0.418, 1.042, 1.821, 0, 90, 0, 60 [SEP] 42, PaperTowelRoll, 2.451, 0.868, 3.747, 0, 270, 0, 58 [SEP] 43, Lettuce, 2.276, 0.822, 3.747, 0, 270, 0, 58 [SEP] 44, Apple, -1.038, 0.127, 2.748, 0, 0, 0, 112 [SEP] 45, SaltShaker, 1.198, 0.787, -1.415, 0, 0, 0, 57 [SEP] 46, PepperShaker, 2.706, 1.023, -0.236, 0, 0, 0, 57 [SEP] 47, ButterKnife, -0.590, 0.802, 0.535, 0, 0, 0, 59 [SEP] 48, Bread, 2.046, 0.832, 4.372, 0, 329.999, 0, 58 [SEP] 49, Cup, -0.968, 1.440, -0.516, 0, 90, 0, 101 [SEP] 50, DishSponge, 2.100, 0.764, 4.192, 0, 270, 0, 58 [SEP] 51, Bowl, 2.302, 0.762, 4.32, 0, 0, 0, 58 [SEP] 52, Spoon, -0.645, 0.817, 1.181, 0, 180, 0, 114 [SEP] 53, Mug, 2.790, 0.759, 3.529, 0, 329.999, 0, 58 [SEP] 54, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 55, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 56, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 57, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 58, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 59, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 60, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 61, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 62, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 63, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 64, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 65, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 66, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 67, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 68, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 69, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 70, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 71, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 72, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 73, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 74, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 75, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 76, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 77, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 78, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 79, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 80, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 81, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 82, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 83, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 84, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 85, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 86, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 87, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 88, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 89, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 90, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 91, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 92, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 93, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 94, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 95, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 96, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 97, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 98, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 99, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 100, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 101, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 102, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 103, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 104, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 105, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 106, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 107, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 108, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 109, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 110, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 111, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 112, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 113, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 114, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 115, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 116, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 117, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 118, , , , , , , , [SEP] 119, NorthWall, , , , , , , [SEP] 120, EastWall, , , , , , , [SEP] 121, SouthWall, , , , , , , [SEP] 122, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk forward to face the knife on the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Take a step to the left to face the sink. | STEP 4: Wash the knife in the sink and remove it. | STEP 5: Turn around and cross the room and turn left to face the kitchen table. | STEP 6: Place the knife on the kitchen table. | END"]} +{"id": "trial_T20190909_114508_617301-1", "input": "Put a clean butter knife on a round white table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 2.75, 0, 90, 0, [SEP] 1, Pan, 2.116, 1.027, -1.84, 0, 270, 0, 61 [SEP] 2, Potato, 1.777, 1.068, 1.555, 0, 136.999, 0, 57 [SEP] 3, Potato, 2.719, 1.068, 1.597, 0, 136.999, 0, 57 [SEP] 4, Ladle, 1.230, 1.066, -1.987, 0, 90, 0, 57 [SEP] 5, ButterKnife, -0.669, 1.027, 2.434, 0, 0, 0, 60 [SEP] 6, ButterKnife, 2.336, 1.026, 1.797, 0, 136.999, 0, 57 [SEP] 7, ButterKnife, 2.815, 0.764, 4.124, 0, 225, 0, 58 [SEP] 8, WineBottle, 2.451, 0.765, 3.97, 0, 225, 0, 58 [SEP] 9, WineBottle, -0.360, 1.028, 1.356, 0, 0, 0, 60 [SEP] 10, Glassbottle, -0.669, 1.028, 2.189, 0, 0, 0, 60 [SEP] 11, Glassbottle, -0.916, 0.077, 2.779, 0, 0, 0, 112 [SEP] 12, Pot, 2.177, 1.027, -1.599, 0, 0, 0, 56 [SEP] 13, Spatula, -0.920, 1.042, 1.821, 0, 0, 0, 60 [SEP] 14, Spatula, -0.544, 1.042, 0.508, 0, 0, 0, 60 [SEP] 15, Cup, -0.851, 0.815, 1.414, 0, 90, 0, 114 [SEP] 16, Cup, 2.489, 1.779, -1.833, 0, 0, 0, 96 [SEP] 17, Plate, 2.991, 0.033, -1.074, 0, 0, 0, 99 [SEP] 18, Plate, -0.418, 1.027, 0.600, 0, 0, 0, 60 [SEP] 19, Knife, 2.664, 0.826, 0.788, 0, 47.0, 0, 69 [SEP] 20, Bowl, -0.852, 2.288, -0.489, 0, 0, 0, 89 [SEP] 21, Bowl, 2.525, 0.762, 3.62, 0, 0, 0, 58 [SEP] 22, SaltShaker, -0.660, 0.797, 1.844, 0, 0, 0, 62 [SEP] 23, SaltShaker, 1.350, 1.023, -1.881, 0, 90, 0, 57 [SEP] 24, PepperShaker, 2.801, 0.760, 3.747, 0, 270, 0, 58 [SEP] 25, Lettuce, -0.947, 0.844, -0.184, 0, 90, 0, 101 [SEP] 26, Lettuce, 2.976, 0.822, 3.970, 0, 270, 0, 58 [SEP] 27, Apple, -0.782, 0.866, 1.181, 0, 90, 0, 114 [SEP] 28, Apple, -0.645, 0.866, 1.492, 0, 90, 0, 114 [SEP] 29, Pan, 2.042, 1.017, 1.779, 0, 0, 0, 57 [SEP] 30, Glassbottle, 2.113, 0.765, 3.527, 0, 225, 0, 58 [SEP] 31, Knife, -0.714, 0.841, 1.103, 0, 180, 0, 114 [SEP] 32, SoapBottle, 2.425, 1.025, -1.454, 0, 90, 0, 57 [SEP] 33, Egg, 2.106, 1.905, -1.910, 0, 0, 0, 103 [SEP] 34, Fork, 2.761, 0.800, -0.699, 0, 0, 0, 66 [SEP] 35, Potato, -1.074, 1.069, 1.243, 0, 0, 0, 60 [SEP] 36, Ladle, 2.276, 0.803, 3.895, 0, 0, 0, 58 [SEP] 37, Tomato, 2.599, 0.818, 3.445, 0, 0, 0, 58 [SEP] 38, Pot, 1.761, 1.027, -1.599, 0, 0, 0, 100 [SEP] 39, WineBottle, 2.626, 0.765, 3.970, 0, 270, 0, 58 [SEP] 40, Plate, 2.525, 0.764, 4.495, 0, 0, 0, 58 [SEP] 41, Spatula, -0.418, 1.042, 1.821, 0, 90, 0, 60 [SEP] 42, PaperTowelRoll, 2.451, 0.868, 3.747, 0, 270, 0, 58 [SEP] 43, Lettuce, 2.276, 0.822, 3.747, 0, 270, 0, 58 [SEP] 44, Apple, -1.038, 0.127, 2.748, 0, 0, 0, 112 [SEP] 45, SaltShaker, 1.198, 0.787, -1.415, 0, 0, 0, 57 [SEP] 46, PepperShaker, 2.706, 1.023, -0.236, 0, 0, 0, 57 [SEP] 47, ButterKnife, -0.590, 0.802, 0.535, 0, 0, 0, 59 [SEP] 48, Bread, 2.046, 0.832, 4.372, 0, 329.999, 0, 58 [SEP] 49, Cup, -0.968, 1.440, -0.516, 0, 90, 0, 101 [SEP] 50, DishSponge, 2.100, 0.764, 4.192, 0, 270, 0, 58 [SEP] 51, Bowl, 2.302, 0.762, 4.32, 0, 0, 0, 58 [SEP] 52, Spoon, -0.645, 0.817, 1.181, 0, 180, 0, 114 [SEP] 53, Mug, 2.790, 0.759, 3.529, 0, 329.999, 0, 58 [SEP] 54, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 55, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 56, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 57, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 58, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 59, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 60, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 61, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 62, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 63, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 64, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 65, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 66, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 67, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 68, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 69, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 70, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 71, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 72, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 73, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 74, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 75, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 76, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 77, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 78, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 79, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 80, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 81, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 82, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 83, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 84, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 85, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 86, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 87, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 88, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 89, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 90, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 91, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 92, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 93, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 94, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 95, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 96, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 97, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 98, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 99, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 100, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 101, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 102, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 103, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 104, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 105, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 106, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 107, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 108, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 109, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 110, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 111, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 112, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 113, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 114, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 115, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 116, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 117, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 118, , , , , , , , [SEP] 119, NorthWall, , , , , , , [SEP] 120, EastWall, , , , , , , [SEP] 121, SouthWall, , , , , , , [SEP] 122, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk forward, then turn right again and walk over to the counter. | STEP 2: Pick up the metal butter knife off of the counter. | STEP 3: Turn left and walk over to the sink. | STEP 4: Put the butter knife in the sink then turn on the water, after a couple seconds turn the water off and remove the now clean butter knife. | STEP 5: Turn right and walk towards the wall, then hang a right and walk over to the round white table in the corner of the room. | STEP 6: Put the clean butter knife on the round white table. | END"]} +{"id": "trial_T20190909_114508_617301-2", "input": "Put a clean knife on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 2.75, 0, 90, 0, [SEP] 1, Pan, 2.116, 1.027, -1.84, 0, 270, 0, 61 [SEP] 2, Potato, 1.777, 1.068, 1.555, 0, 136.999, 0, 57 [SEP] 3, Potato, 2.719, 1.068, 1.597, 0, 136.999, 0, 57 [SEP] 4, Ladle, 1.230, 1.066, -1.987, 0, 90, 0, 57 [SEP] 5, ButterKnife, -0.669, 1.027, 2.434, 0, 0, 0, 60 [SEP] 6, ButterKnife, 2.336, 1.026, 1.797, 0, 136.999, 0, 57 [SEP] 7, ButterKnife, 2.815, 0.764, 4.124, 0, 225, 0, 58 [SEP] 8, WineBottle, 2.451, 0.765, 3.97, 0, 225, 0, 58 [SEP] 9, WineBottle, -0.360, 1.028, 1.356, 0, 0, 0, 60 [SEP] 10, Glassbottle, -0.669, 1.028, 2.189, 0, 0, 0, 60 [SEP] 11, Glassbottle, -0.916, 0.077, 2.779, 0, 0, 0, 112 [SEP] 12, Pot, 2.177, 1.027, -1.599, 0, 0, 0, 56 [SEP] 13, Spatula, -0.920, 1.042, 1.821, 0, 0, 0, 60 [SEP] 14, Spatula, -0.544, 1.042, 0.508, 0, 0, 0, 60 [SEP] 15, Cup, -0.851, 0.815, 1.414, 0, 90, 0, 114 [SEP] 16, Cup, 2.489, 1.779, -1.833, 0, 0, 0, 96 [SEP] 17, Plate, 2.991, 0.033, -1.074, 0, 0, 0, 99 [SEP] 18, Plate, -0.418, 1.027, 0.600, 0, 0, 0, 60 [SEP] 19, Knife, 2.664, 0.826, 0.788, 0, 47.0, 0, 69 [SEP] 20, Bowl, -0.852, 2.288, -0.489, 0, 0, 0, 89 [SEP] 21, Bowl, 2.525, 0.762, 3.62, 0, 0, 0, 58 [SEP] 22, SaltShaker, -0.660, 0.797, 1.844, 0, 0, 0, 62 [SEP] 23, SaltShaker, 1.350, 1.023, -1.881, 0, 90, 0, 57 [SEP] 24, PepperShaker, 2.801, 0.760, 3.747, 0, 270, 0, 58 [SEP] 25, Lettuce, -0.947, 0.844, -0.184, 0, 90, 0, 101 [SEP] 26, Lettuce, 2.976, 0.822, 3.970, 0, 270, 0, 58 [SEP] 27, Apple, -0.782, 0.866, 1.181, 0, 90, 0, 114 [SEP] 28, Apple, -0.645, 0.866, 1.492, 0, 90, 0, 114 [SEP] 29, Pan, 2.042, 1.017, 1.779, 0, 0, 0, 57 [SEP] 30, Glassbottle, 2.113, 0.765, 3.527, 0, 225, 0, 58 [SEP] 31, Knife, -0.714, 0.841, 1.103, 0, 180, 0, 114 [SEP] 32, SoapBottle, 2.425, 1.025, -1.454, 0, 90, 0, 57 [SEP] 33, Egg, 2.106, 1.905, -1.910, 0, 0, 0, 103 [SEP] 34, Fork, 2.761, 0.800, -0.699, 0, 0, 0, 66 [SEP] 35, Potato, -1.074, 1.069, 1.243, 0, 0, 0, 60 [SEP] 36, Ladle, 2.276, 0.803, 3.895, 0, 0, 0, 58 [SEP] 37, Tomato, 2.599, 0.818, 3.445, 0, 0, 0, 58 [SEP] 38, Pot, 1.761, 1.027, -1.599, 0, 0, 0, 100 [SEP] 39, WineBottle, 2.626, 0.765, 3.970, 0, 270, 0, 58 [SEP] 40, Plate, 2.525, 0.764, 4.495, 0, 0, 0, 58 [SEP] 41, Spatula, -0.418, 1.042, 1.821, 0, 90, 0, 60 [SEP] 42, PaperTowelRoll, 2.451, 0.868, 3.747, 0, 270, 0, 58 [SEP] 43, Lettuce, 2.276, 0.822, 3.747, 0, 270, 0, 58 [SEP] 44, Apple, -1.038, 0.127, 2.748, 0, 0, 0, 112 [SEP] 45, SaltShaker, 1.198, 0.787, -1.415, 0, 0, 0, 57 [SEP] 46, PepperShaker, 2.706, 1.023, -0.236, 0, 0, 0, 57 [SEP] 47, ButterKnife, -0.590, 0.802, 0.535, 0, 0, 0, 59 [SEP] 48, Bread, 2.046, 0.832, 4.372, 0, 329.999, 0, 58 [SEP] 49, Cup, -0.968, 1.440, -0.516, 0, 90, 0, 101 [SEP] 50, DishSponge, 2.100, 0.764, 4.192, 0, 270, 0, 58 [SEP] 51, Bowl, 2.302, 0.762, 4.32, 0, 0, 0, 58 [SEP] 52, Spoon, -0.645, 0.817, 1.181, 0, 180, 0, 114 [SEP] 53, Mug, 2.790, 0.759, 3.529, 0, 329.999, 0, 58 [SEP] 54, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 55, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 56, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 57, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 58, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 59, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 60, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 61, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 62, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 63, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 64, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 65, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 66, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 67, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 68, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 69, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 70, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 71, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 72, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 73, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 74, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 75, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 76, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 77, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 78, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 79, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 80, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 81, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 82, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 83, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 84, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 85, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 86, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 87, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 88, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 89, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 90, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 91, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 92, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 93, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 94, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 95, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 96, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 97, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 98, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 99, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 100, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 101, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 102, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 103, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 104, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 105, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 106, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 107, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 108, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 109, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 110, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 111, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 112, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 113, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 114, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 115, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 116, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 117, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 118, , , , , , , , [SEP] 119, NorthWall, , , , , , , [SEP] 120, EastWall, , , , , , , [SEP] 121, SouthWall, , , , , , , [SEP] 122, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left and go to the sink. | STEP 4: Rinse the knife off in the sink and pick it back up. | STEP 5: Turn around and go to the round white table. | STEP 6: Put the knife on the table to the left of the tomato. | END"]} +{"id": "trial_T20190909_105559_983897-0", "input": "wash the butter knife and put it back on the counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 1.5, 0, 180, 0, [SEP] 1, SprayBottle, -2.107, 0.111, -1.487, 0, 0, 0, 74 [SEP] 2, SprayBottle, 0.710, 0.116, -1.537, 0, 90, 0, 65 [SEP] 3, ButterKnife, -1.886, 0.910, -1.534, 0, 0, 0, 69 [SEP] 4, ButterKnife, -2.323, 0.910, 0.032, 0, 0, 0, 73 [SEP] 5, DishSponge, -1.886, 0.910, -1.879, 0, 0, 0, 69 [SEP] 6, Spoon, -2.047, 0.775, -1.565, 0, 90, 0, 66 [SEP] 7, Spatula, 1.533, 1.177, -1.002, 0, 90, 0, 77 [SEP] 8, Spatula, -0.778, 0.926, -1.789, 0, 90, 0, 71 [SEP] 9, Pot, -1.081, 0.949, -1.81, 0, 0, 0, 67 [SEP] 10, Cup, 1.454, 1.162, -1.002, 0, 0, 0, 77 [SEP] 11, Cup, 1.090, 0.115, -0.773, 0, 0, 0, 55 [SEP] 12, Knife, 0.285, 0.949, -1.657, 0, 270, 0, 50 [SEP] 13, SoapBottle, 0.251, 0.919, -1.758, 0, 270, 0, 50 [SEP] 14, SoapBottle, 1.381, 0.214, 1.137, 0, 90, 0, 88 [SEP] 15, Bowl, 1.092, 0.118, 0.547, 0, 0, 0, 54 [SEP] 16, Bowl, 1.325, 1.368, 1.726, 0, 270, 0, 90 [SEP] 17, SaltShaker, -2.201, 0.905, 0.291, 0, 0, 0, 73 [SEP] 18, SaltShaker, 0.970, 1.650, -1.876, 0, 0, 0, 60 [SEP] 19, Bread, -2.079, 0.988, 0.204, 0, 0, 0, 73 [SEP] 20, Mug, -2.445, 0.905, 0.204, 0, 0, 0, 73 [SEP] 21, Mug, -0.081, 0.906, -1.423, 0, 0, 0, 71 [SEP] 22, Tomato, 0.149, 0.959, -1.808, 0, 270, 0, 50 [SEP] 23, Glassbottle, -2.445, 0.911, 0.377, 0, 0, 0, 73 [SEP] 24, Knife, 0.664, 0.941, -1.534, 0, 0, 0, 71 [SEP] 25, Plate, 1.093, 0.115, -1.071, 0, 0, 0, 56 [SEP] 26, Fork, -1.835, 0.911, 0.549, 0, 0, 0, 73 [SEP] 27, Ladle, 0.110, 0.158, -1.631, 0, 90, 0, 68 [SEP] 28, Potato, 0.149, 0.961, -1.607, 0, 270, 0, 50 [SEP] 29, Lettuce, 1.414, 1.231, -0.659, 0, 0, 0, 77 [SEP] 30, Kettle, -1.431, 0.949, -1.81, 0, 0, 0, 81 [SEP] 31, Pen, 1.093, 0.913, -0.65, 0, 0, 0, 71 [SEP] 32, SaltShaker, -1.835, 0.905, 0.032, 0, 90, 0, 73 [SEP] 33, Cup, 1.376, 1.367, 2.476, 0, 270, 0, 90 [SEP] 34, Egg, -0.627, 0.940, -1.534, 0, 0, 0, 71 [SEP] 35, Spatula, 1.176, 0.926, -1.331, 0, 0, 0, 71 [SEP] 36, Bowl, 1.342, 1.656, -1.264, 0, 0, 0, 63 [SEP] 37, SprayBottle, 0.199, 0.910, -1.395, 0, 0, 0, 50 [SEP] 38, Pan, -1.079, 0.945, -1.528, 0, 0, 0, 72 [SEP] 39, SoapBottle, 1.375, 1.162, -1.688, 0, 0, 0, 77 [SEP] 40, Pot, -1.431, 0.949, -1.525, 0, 0, 0, 79 [SEP] 41, ButterKnife, 1.176, 0.911, -0.990, 0, 0, 0, 71 [SEP] 42, PepperShaker, -1.886, 0.905, -1.620, 0, 0, 0, 69 [SEP] 43, DishSponge, 0.528, 0.772, -1.533, 0, 0, 0, 75 [SEP] 44, Bread, 1.343, 0.989, -1.331, 0, 0, 0, 71 [SEP] 45, Apple, -1.957, 0.945, 0.463, 0, 0, 0, 73 [SEP] 46, Spoon, 1.414, 1.163, -1.345, 0, 0, 0, 77 [SEP] 47, Mug, 1.505, 1.260, -0.021, 0, 270, 0, 93 [SEP] 48, Drawer, 0.860, 0.75, 0.430, 0, 0, 0, [SEP] 49, Drawer, 0.871, 0.75, -1.134, 0, 0, 0, [SEP] 50, Sink, 0.156, 0.817, -1.801, 0, 270, 0, [SEP] 51, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0, [SEP] 52, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0, [SEP] 53, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0, [SEP] 54, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0, [SEP] 55, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0, [SEP] 56, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0, [SEP] 57, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0, [SEP] 58, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0, [SEP] 59, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0, [SEP] 60, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0, [SEP] 61, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0, [SEP] 62, Drawer, 0.860, 0.75, -0.699, 0, 0, 0, [SEP] 63, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0, [SEP] 64, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0, [SEP] 65, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0, [SEP] 66, Drawer, -2.105, 0.75, -1.389, 0, 0, 0, [SEP] 67, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0, [SEP] 68, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0, [SEP] 69, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0, [SEP] 70, Drawer, -0.375, 0.75, -1.389, 0, 0, 0, [SEP] 71, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0, [SEP] 72, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0, [SEP] 73, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0, [SEP] 74, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0, [SEP] 75, Drawer, 0.584, 0.75, -1.389, 0, 0, 0, [SEP] 76, Drawer, -1.795, 0.75, -1.389, 0, 0, 0, [SEP] 77, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0, [SEP] 78, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0, [SEP] 79, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0, [SEP] 80, Drawer, -0.685, 0.75, -1.389, 0, 0, 0, [SEP] 81, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0, [SEP] 82, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0, [SEP] 83, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0, [SEP] 84, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0, [SEP] 85, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0, [SEP] 86, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0, [SEP] 87, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0, [SEP] 88, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0, [SEP] 89, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0, [SEP] 90, Fridge, 1.417, 0.0, 2.101, 0, 0, 0, [SEP] 91, Window, -0.486, 1.452, 3.302, 90, 0, 0, [SEP] 92, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0, [SEP] 93, Microwave, 1.422, 1.150, 0.022, 0, 270, 0, [SEP] 94, Toaster, -2.066, 0.900, -1.848, 0, 0, 0, [SEP] 95, Stool, -1.994, 0.010, 0.882, 0, 0, 0, [SEP] 96, Faucet, -0.096, 1.041, -1.867, 0, 270, 0, [SEP] 97, NorthWall, , , , , , , [SEP] 98, EastWall, , , , , , , [SEP] 99, SouthWall, , , , , , , [SEP] 100, WestWall, , , , , , , ", "output": ["STEP 1: Walk over to the counter | STEP 2: Grab the butter knife | STEP 3: Walk over to the sink | STEP 4: Wash the butter knife | STEP 5: Grab the butter knife and head back to the counter | STEP 6: Place the butter knife on the counter | END"]} +{"id": "trial_T20190909_105559_983897-1", "input": "Place a cleaned knife on a counter top. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 1.5, 0, 180, 0, [SEP] 1, SprayBottle, -2.107, 0.111, -1.487, 0, 0, 0, 74 [SEP] 2, SprayBottle, 0.710, 0.116, -1.537, 0, 90, 0, 65 [SEP] 3, ButterKnife, -1.886, 0.910, -1.534, 0, 0, 0, 69 [SEP] 4, ButterKnife, -2.323, 0.910, 0.032, 0, 0, 0, 73 [SEP] 5, DishSponge, -1.886, 0.910, -1.879, 0, 0, 0, 69 [SEP] 6, Spoon, -2.047, 0.775, -1.565, 0, 90, 0, 66 [SEP] 7, Spatula, 1.533, 1.177, -1.002, 0, 90, 0, 77 [SEP] 8, Spatula, -0.778, 0.926, -1.789, 0, 90, 0, 71 [SEP] 9, Pot, -1.081, 0.949, -1.81, 0, 0, 0, 67 [SEP] 10, Cup, 1.454, 1.162, -1.002, 0, 0, 0, 77 [SEP] 11, Cup, 1.090, 0.115, -0.773, 0, 0, 0, 55 [SEP] 12, Knife, 0.285, 0.949, -1.657, 0, 270, 0, 50 [SEP] 13, SoapBottle, 0.251, 0.919, -1.758, 0, 270, 0, 50 [SEP] 14, SoapBottle, 1.381, 0.214, 1.137, 0, 90, 0, 88 [SEP] 15, Bowl, 1.092, 0.118, 0.547, 0, 0, 0, 54 [SEP] 16, Bowl, 1.325, 1.368, 1.726, 0, 270, 0, 90 [SEP] 17, SaltShaker, -2.201, 0.905, 0.291, 0, 0, 0, 73 [SEP] 18, SaltShaker, 0.970, 1.650, -1.876, 0, 0, 0, 60 [SEP] 19, Bread, -2.079, 0.988, 0.204, 0, 0, 0, 73 [SEP] 20, Mug, -2.445, 0.905, 0.204, 0, 0, 0, 73 [SEP] 21, Mug, -0.081, 0.906, -1.423, 0, 0, 0, 71 [SEP] 22, Tomato, 0.149, 0.959, -1.808, 0, 270, 0, 50 [SEP] 23, Glassbottle, -2.445, 0.911, 0.377, 0, 0, 0, 73 [SEP] 24, Knife, 0.664, 0.941, -1.534, 0, 0, 0, 71 [SEP] 25, Plate, 1.093, 0.115, -1.071, 0, 0, 0, 56 [SEP] 26, Fork, -1.835, 0.911, 0.549, 0, 0, 0, 73 [SEP] 27, Ladle, 0.110, 0.158, -1.631, 0, 90, 0, 68 [SEP] 28, Potato, 0.149, 0.961, -1.607, 0, 270, 0, 50 [SEP] 29, Lettuce, 1.414, 1.231, -0.659, 0, 0, 0, 77 [SEP] 30, Kettle, -1.431, 0.949, -1.81, 0, 0, 0, 81 [SEP] 31, Pen, 1.093, 0.913, -0.65, 0, 0, 0, 71 [SEP] 32, SaltShaker, -1.835, 0.905, 0.032, 0, 90, 0, 73 [SEP] 33, Cup, 1.376, 1.367, 2.476, 0, 270, 0, 90 [SEP] 34, Egg, -0.627, 0.940, -1.534, 0, 0, 0, 71 [SEP] 35, Spatula, 1.176, 0.926, -1.331, 0, 0, 0, 71 [SEP] 36, Bowl, 1.342, 1.656, -1.264, 0, 0, 0, 63 [SEP] 37, SprayBottle, 0.199, 0.910, -1.395, 0, 0, 0, 50 [SEP] 38, Pan, -1.079, 0.945, -1.528, 0, 0, 0, 72 [SEP] 39, SoapBottle, 1.375, 1.162, -1.688, 0, 0, 0, 77 [SEP] 40, Pot, -1.431, 0.949, -1.525, 0, 0, 0, 79 [SEP] 41, ButterKnife, 1.176, 0.911, -0.990, 0, 0, 0, 71 [SEP] 42, PepperShaker, -1.886, 0.905, -1.620, 0, 0, 0, 69 [SEP] 43, DishSponge, 0.528, 0.772, -1.533, 0, 0, 0, 75 [SEP] 44, Bread, 1.343, 0.989, -1.331, 0, 0, 0, 71 [SEP] 45, Apple, -1.957, 0.945, 0.463, 0, 0, 0, 73 [SEP] 46, Spoon, 1.414, 1.163, -1.345, 0, 0, 0, 77 [SEP] 47, Mug, 1.505, 1.260, -0.021, 0, 270, 0, 93 [SEP] 48, Drawer, 0.860, 0.75, 0.430, 0, 0, 0, [SEP] 49, Drawer, 0.871, 0.75, -1.134, 0, 0, 0, [SEP] 50, Sink, 0.156, 0.817, -1.801, 0, 270, 0, [SEP] 51, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0, [SEP] 52, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0, [SEP] 53, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0, [SEP] 54, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0, [SEP] 55, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0, [SEP] 56, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0, [SEP] 57, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0, [SEP] 58, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0, [SEP] 59, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0, [SEP] 60, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0, [SEP] 61, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0, [SEP] 62, Drawer, 0.860, 0.75, -0.699, 0, 0, 0, [SEP] 63, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0, [SEP] 64, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0, [SEP] 65, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0, [SEP] 66, Drawer, -2.105, 0.75, -1.389, 0, 0, 0, [SEP] 67, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0, [SEP] 68, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0, [SEP] 69, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0, [SEP] 70, Drawer, -0.375, 0.75, -1.389, 0, 0, 0, [SEP] 71, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0, [SEP] 72, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0, [SEP] 73, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0, [SEP] 74, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0, [SEP] 75, Drawer, 0.584, 0.75, -1.389, 0, 0, 0, [SEP] 76, Drawer, -1.795, 0.75, -1.389, 0, 0, 0, [SEP] 77, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0, [SEP] 78, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0, [SEP] 79, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0, [SEP] 80, Drawer, -0.685, 0.75, -1.389, 0, 0, 0, [SEP] 81, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0, [SEP] 82, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0, [SEP] 83, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0, [SEP] 84, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0, [SEP] 85, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0, [SEP] 86, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0, [SEP] 87, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0, [SEP] 88, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0, [SEP] 89, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0, [SEP] 90, Fridge, 1.417, 0.0, 2.101, 0, 0, 0, [SEP] 91, Window, -0.486, 1.452, 3.302, 90, 0, 0, [SEP] 92, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0, [SEP] 93, Microwave, 1.422, 1.150, 0.022, 0, 270, 0, [SEP] 94, Toaster, -2.066, 0.900, -1.848, 0, 0, 0, [SEP] 95, Stool, -1.994, 0.010, 0.882, 0, 0, 0, [SEP] 96, Faucet, -0.096, 1.041, -1.867, 0, 270, 0, [SEP] 97, NorthWall, , , , , , , [SEP] 98, EastWall, , , , , , , [SEP] 99, SouthWall, , , , , , , [SEP] 100, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward to the sink, then turn left and walk to the knife on the counter. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn around and walk to the sink. | STEP 4: Put the knife in the sink, rinse it off, and take it back out. | STEP 5: Turn left and walk back to the counter. | STEP 6: Put the knife on the front of the counter, in between the pen and spatula. | END"]} +{"id": "trial_T20190909_105559_983897-2", "input": "clean the knife and put it back on the counter top SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 1.5, 0, 180, 0, [SEP] 1, SprayBottle, -2.107, 0.111, -1.487, 0, 0, 0, 74 [SEP] 2, SprayBottle, 0.710, 0.116, -1.537, 0, 90, 0, 65 [SEP] 3, ButterKnife, -1.886, 0.910, -1.534, 0, 0, 0, 69 [SEP] 4, ButterKnife, -2.323, 0.910, 0.032, 0, 0, 0, 73 [SEP] 5, DishSponge, -1.886, 0.910, -1.879, 0, 0, 0, 69 [SEP] 6, Spoon, -2.047, 0.775, -1.565, 0, 90, 0, 66 [SEP] 7, Spatula, 1.533, 1.177, -1.002, 0, 90, 0, 77 [SEP] 8, Spatula, -0.778, 0.926, -1.789, 0, 90, 0, 71 [SEP] 9, Pot, -1.081, 0.949, -1.81, 0, 0, 0, 67 [SEP] 10, Cup, 1.454, 1.162, -1.002, 0, 0, 0, 77 [SEP] 11, Cup, 1.090, 0.115, -0.773, 0, 0, 0, 55 [SEP] 12, Knife, 0.285, 0.949, -1.657, 0, 270, 0, 50 [SEP] 13, SoapBottle, 0.251, 0.919, -1.758, 0, 270, 0, 50 [SEP] 14, SoapBottle, 1.381, 0.214, 1.137, 0, 90, 0, 88 [SEP] 15, Bowl, 1.092, 0.118, 0.547, 0, 0, 0, 54 [SEP] 16, Bowl, 1.325, 1.368, 1.726, 0, 270, 0, 90 [SEP] 17, SaltShaker, -2.201, 0.905, 0.291, 0, 0, 0, 73 [SEP] 18, SaltShaker, 0.970, 1.650, -1.876, 0, 0, 0, 60 [SEP] 19, Bread, -2.079, 0.988, 0.204, 0, 0, 0, 73 [SEP] 20, Mug, -2.445, 0.905, 0.204, 0, 0, 0, 73 [SEP] 21, Mug, -0.081, 0.906, -1.423, 0, 0, 0, 71 [SEP] 22, Tomato, 0.149, 0.959, -1.808, 0, 270, 0, 50 [SEP] 23, Glassbottle, -2.445, 0.911, 0.377, 0, 0, 0, 73 [SEP] 24, Knife, 0.664, 0.941, -1.534, 0, 0, 0, 71 [SEP] 25, Plate, 1.093, 0.115, -1.071, 0, 0, 0, 56 [SEP] 26, Fork, -1.835, 0.911, 0.549, 0, 0, 0, 73 [SEP] 27, Ladle, 0.110, 0.158, -1.631, 0, 90, 0, 68 [SEP] 28, Potato, 0.149, 0.961, -1.607, 0, 270, 0, 50 [SEP] 29, Lettuce, 1.414, 1.231, -0.659, 0, 0, 0, 77 [SEP] 30, Kettle, -1.431, 0.949, -1.81, 0, 0, 0, 81 [SEP] 31, Pen, 1.093, 0.913, -0.65, 0, 0, 0, 71 [SEP] 32, SaltShaker, -1.835, 0.905, 0.032, 0, 90, 0, 73 [SEP] 33, Cup, 1.376, 1.367, 2.476, 0, 270, 0, 90 [SEP] 34, Egg, -0.627, 0.940, -1.534, 0, 0, 0, 71 [SEP] 35, Spatula, 1.176, 0.926, -1.331, 0, 0, 0, 71 [SEP] 36, Bowl, 1.342, 1.656, -1.264, 0, 0, 0, 63 [SEP] 37, SprayBottle, 0.199, 0.910, -1.395, 0, 0, 0, 50 [SEP] 38, Pan, -1.079, 0.945, -1.528, 0, 0, 0, 72 [SEP] 39, SoapBottle, 1.375, 1.162, -1.688, 0, 0, 0, 77 [SEP] 40, Pot, -1.431, 0.949, -1.525, 0, 0, 0, 79 [SEP] 41, ButterKnife, 1.176, 0.911, -0.990, 0, 0, 0, 71 [SEP] 42, PepperShaker, -1.886, 0.905, -1.620, 0, 0, 0, 69 [SEP] 43, DishSponge, 0.528, 0.772, -1.533, 0, 0, 0, 75 [SEP] 44, Bread, 1.343, 0.989, -1.331, 0, 0, 0, 71 [SEP] 45, Apple, -1.957, 0.945, 0.463, 0, 0, 0, 73 [SEP] 46, Spoon, 1.414, 1.163, -1.345, 0, 0, 0, 77 [SEP] 47, Mug, 1.505, 1.260, -0.021, 0, 270, 0, 93 [SEP] 48, Drawer, 0.860, 0.75, 0.430, 0, 0, 0, [SEP] 49, Drawer, 0.871, 0.75, -1.134, 0, 0, 0, [SEP] 50, Sink, 0.156, 0.817, -1.801, 0, 270, 0, [SEP] 51, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0, [SEP] 52, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0, [SEP] 53, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0, [SEP] 54, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0, [SEP] 55, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0, [SEP] 56, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0, [SEP] 57, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0, [SEP] 58, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0, [SEP] 59, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0, [SEP] 60, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0, [SEP] 61, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0, [SEP] 62, Drawer, 0.860, 0.75, -0.699, 0, 0, 0, [SEP] 63, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0, [SEP] 64, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0, [SEP] 65, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0, [SEP] 66, Drawer, -2.105, 0.75, -1.389, 0, 0, 0, [SEP] 67, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0, [SEP] 68, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0, [SEP] 69, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0, [SEP] 70, Drawer, -0.375, 0.75, -1.389, 0, 0, 0, [SEP] 71, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0, [SEP] 72, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0, [SEP] 73, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0, [SEP] 74, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0, [SEP] 75, Drawer, 0.584, 0.75, -1.389, 0, 0, 0, [SEP] 76, Drawer, -1.795, 0.75, -1.389, 0, 0, 0, [SEP] 77, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0, [SEP] 78, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0, [SEP] 79, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0, [SEP] 80, Drawer, -0.685, 0.75, -1.389, 0, 0, 0, [SEP] 81, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0, [SEP] 82, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0, [SEP] 83, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0, [SEP] 84, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0, [SEP] 85, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0, [SEP] 86, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0, [SEP] 87, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0, [SEP] 88, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0, [SEP] 89, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0, [SEP] 90, Fridge, 1.417, 0.0, 2.101, 0, 0, 0, [SEP] 91, Window, -0.486, 1.452, 3.302, 90, 0, 0, [SEP] 92, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0, [SEP] 93, Microwave, 1.422, 1.150, 0.022, 0, 270, 0, [SEP] 94, Toaster, -2.066, 0.900, -1.848, 0, 0, 0, [SEP] 95, Stool, -1.994, 0.010, 0.882, 0, 0, 0, [SEP] 96, Faucet, -0.096, 1.041, -1.867, 0, 270, 0, [SEP] 97, NorthWall, , , , , , , [SEP] 98, EastWall, , , , , , , [SEP] 99, SouthWall, , , , , , , [SEP] 100, WestWall, , , , , , , ", "output": ["STEP 1: walk straight towards the sink then turn left towards the counter | STEP 2: pick up the knife on the counter | STEP 3: turn around and walk straight then turn left towards the sink | STEP 4: put the knife in the sink and fill it with water then drain the sink and remove the knife | STEP 5: turn left and walk straight towards the counter | STEP 6: put the knife down on the counter | END"]} +{"id": "trial_T20190909_044933_815840-0", "input": "put a chilled apple on a kitchen counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 2.25, 0, 180, 0, [SEP] 1, Pan, 1.807, 0.909, -0.320, 0, 180, 0, 45 [SEP] 2, ButterKnife, 1.245, 0.910, 1.004, 0, 90, 0, 43 [SEP] 3, DishSponge, 0.926, 0.910, -1.230, 0, 90, 0, 47 [SEP] 4, Fork, 0.220, 0.911, 0.915, 0, 90, 0, 43 [SEP] 5, Spoon, 1.726, 0.912, -1.545, 0, 180, 0, 47 [SEP] 6, Knife, 1.451, 0.943, 0.518, 0, 270, 0, 43 [SEP] 7, Knife, 1.726, 0.943, -1.631, 0, 180, 0, 47 [SEP] 8, SoapBottle, 1.809, 2.134, 1.236, 0, 0, 0, 50 [SEP] 9, SoapBottle, 1.607, 0.908, 0.570, 0, 90, 0, 43 [SEP] 10, Tomato, 1.757, 0.974, 1.180, 0, 90, 0, 43 [SEP] 11, Tomato, 1.762, 0.974, 0.518, 0, 90, 0, 43 [SEP] 12, Bowl, 1.805, 1.631, -0.973, 0, 0, 0, 55 [SEP] 13, SaltShaker, 0.476, 0.905, 1.180, 0, 90, 0, 43 [SEP] 14, SaltShaker, 1.733, 2.132, 0.805, 0, 0, 0, 51 [SEP] 15, PepperShaker, 1.878, 2.132, 0.805, 0, 0, 0, 51 [SEP] 16, PepperShaker, 1.935, 0.906, -1.802, 0, 90, 0, 47 [SEP] 17, Lettuce, 1.726, 1.011, -1.717, 0, 90, 0, 47 [SEP] 18, Bread, 1.796, 0.988, -1.374, 0, 90, 0, 47 [SEP] 19, Bread, -0.692, 0.537, -1.541, 0, 0, 0, 70 [SEP] 20, Mug, 1.935, 0.906, -1.545, 0, 90, 0, 47 [SEP] 21, Plate, -0.741, 1.390, -1.594, 0, 0, 0, 70 [SEP] 22, SoapBottle, 1.800, 0.068, 1.731, 0, 270, 0, 61 [SEP] 23, Cup, 0.356, 0.909, -1.263, 0, 90, 0, 47 [SEP] 24, Egg, -0.887, 0.495, -1.348, 0, 0, 0, 70 [SEP] 25, Fork, 0.732, 0.911, 1.004, 0, 180, 0, 43 [SEP] 26, Ladle, 1.808, 1.683, 0.487, 0, 0, 0, 52 [SEP] 27, Apple, 1.738, 1.072, -0.676, 0, 270, 0, 67 [SEP] 28, SaltShaker, 1.841, 1.630, -1.297, 0, 0, 0, 56 [SEP] 29, Pan, 1.543, 0.909, -0.320, 0, 90, 0, 46 [SEP] 30, Tomato, 1.917, 0.974, 0.415, 0, 90, 0, 43 [SEP] 31, Spatula, 1.696, 1.080, 0.074, 0, 0, 49.769, 49 [SEP] 32, Potato, 0.476, 0.950, 0.827, 0, 0, 0, 43 [SEP] 33, Knife, 1.839, 0.943, 0.311, 0, 0, 0, 43 [SEP] 34, ButterKnife, 1.308, 0.760, -1.599, 0, 90, 0, 62 [SEP] 35, Bread, 1.615, 0.977, 0.760, 0, 50.525, 0, 43 [SEP] 36, Lettuce, 0.856, 0.989, 1.119, 0, 270, 2.382, 43 [SEP] 37, PepperShaker, 1.012, 0.906, -1.264, 0, 90, 0, 47 [SEP] 38, Pot, 1.534, 0.908, 0.058, 0, 195.000, 0, 49 [SEP] 39, DishSponge, 1.355, 0.910, -1.247, 0, 90, 0, 47 [SEP] 40, Spoon, 0.553, 0.912, -1.352, 0, 90, 0, 47 [SEP] 41, Bowl, -0.692, 0.749, -1.594, 0, 0, 0, 70 [SEP] 42, Mug, -0.692, 1.678, -1.524, 0, 0, 0, 70 [SEP] 43, CounterTop, 0.989, 0.946, 1.016, 0, 90, 0, [SEP] 44, StoveBurner, 1.807, 0.907, 0.075, 0, 180, 0, [SEP] 45, StoveBurner, 1.807, 0.907, -0.320, 0, 180, 0, [SEP] 46, StoveBurner, 1.543, 0.907, -0.320, 0, 90, 0, [SEP] 47, CounterTop, 0.989, 0.946, -1.516, 0, 90, 0, [SEP] 48, Sink, 1.100, 0.906, -1.599, 0, 0, 0, [SEP] 49, StoveBurner, 1.548, 0.907, 0.075, 0, 180, 0, [SEP] 50, Cabinet, 1.658, 2.299, 1.313, 0, 0, 0, [SEP] 51, Cabinet, 1.658, 2.299, 0.686, 0, 0, 0, [SEP] 52, Cabinet, 1.658, 2.049, 0.673, 0, 0, 0, [SEP] 53, Cabinet, 1.658, 2.059, 0.193, 0, 0, 0, [SEP] 54, Cabinet, 1.658, 2.059, -0.593, 0, 0, 0, [SEP] 55, Cabinet, 1.658, 2.049, -0.606, 0, 0, 0, [SEP] 56, Cabinet, 1.658, 2.049, -1.206, 0, 0, 0, [SEP] 57, Cabinet, 1.658, 2.049, -1.893, 0, 0, 0, [SEP] 58, Toaster, 0.131, 0.900, -1.589, 0, 0, 0, [SEP] 59, Window, -0.372, 1.588, 3.349, 90, 0, 0, [SEP] 60, Window, 0.782, 1.741, -1.893, 90, 0, 0, [SEP] 61, GarbageCan, 1.770, -0.029, 1.685, 0, 270, 0, [SEP] 62, SinkBasin, 1.091, 0.740, -1.599, 0, 0, 0, [SEP] 63, StoveKnob, 1.364, 0.821, 0.086, 48.421, 270, 0, [SEP] 64, StoveKnob, 1.364, 0.821, -0.180, 48.421, 270, 0, [SEP] 65, StoveKnob, 1.364, 0.821, -0.317, 48.421, 270, 0, [SEP] 66, StoveKnob, 1.364, 0.821, -0.054, 48.421, 270, 0, [SEP] 67, Microwave, 1.752, 0.900, -0.843, 0, 270, 0, [SEP] 68, LightSwitch, 2.0, 1.261, 3.094, 0, 270, 0, [SEP] 69, CoffeeMachine, 0.501, 0.900, -1.600, 0, 0, 0, [SEP] 70, Fridge, -0.533, 0.0, -1.554, 0, 0, 0, [SEP] 71, Chair, 1.068, 0.000, 1.752, 0, 191.622, 0, [SEP] 72, Faucet, 1.110, 1.138, -1.764, 0, 270, 0, [SEP] 73, Chair, 0.357, 0.000, 1.710, 0, 178.899, 0, [SEP] 74, NorthWall, , , , , , , [SEP] 75, EastWall, , , , , , , [SEP] 76, SouthWall, , , , , , , [SEP] 77, WestWall, , , , , , , ", "output": ["STEP 1: walk through kitchen to face microwave | STEP 2: remove apple from inside microwave | STEP 3: walk to face fridge | STEP 4: chill apple in fridge, remove apple from fridge | STEP 5: walk to face counter to right of sink | STEP 6: put apple on counter in front of coffee maker | END"]} +{"id": "trial_T20190909_044933_815840-1", "input": "Get an apple and place it on the counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 2.25, 0, 180, 0, [SEP] 1, Pan, 1.807, 0.909, -0.320, 0, 180, 0, 45 [SEP] 2, ButterKnife, 1.245, 0.910, 1.004, 0, 90, 0, 43 [SEP] 3, DishSponge, 0.926, 0.910, -1.230, 0, 90, 0, 47 [SEP] 4, Fork, 0.220, 0.911, 0.915, 0, 90, 0, 43 [SEP] 5, Spoon, 1.726, 0.912, -1.545, 0, 180, 0, 47 [SEP] 6, Knife, 1.451, 0.943, 0.518, 0, 270, 0, 43 [SEP] 7, Knife, 1.726, 0.943, -1.631, 0, 180, 0, 47 [SEP] 8, SoapBottle, 1.809, 2.134, 1.236, 0, 0, 0, 50 [SEP] 9, SoapBottle, 1.607, 0.908, 0.570, 0, 90, 0, 43 [SEP] 10, Tomato, 1.757, 0.974, 1.180, 0, 90, 0, 43 [SEP] 11, Tomato, 1.762, 0.974, 0.518, 0, 90, 0, 43 [SEP] 12, Bowl, 1.805, 1.631, -0.973, 0, 0, 0, 55 [SEP] 13, SaltShaker, 0.476, 0.905, 1.180, 0, 90, 0, 43 [SEP] 14, SaltShaker, 1.733, 2.132, 0.805, 0, 0, 0, 51 [SEP] 15, PepperShaker, 1.878, 2.132, 0.805, 0, 0, 0, 51 [SEP] 16, PepperShaker, 1.935, 0.906, -1.802, 0, 90, 0, 47 [SEP] 17, Lettuce, 1.726, 1.011, -1.717, 0, 90, 0, 47 [SEP] 18, Bread, 1.796, 0.988, -1.374, 0, 90, 0, 47 [SEP] 19, Bread, -0.692, 0.537, -1.541, 0, 0, 0, 70 [SEP] 20, Mug, 1.935, 0.906, -1.545, 0, 90, 0, 47 [SEP] 21, Plate, -0.741, 1.390, -1.594, 0, 0, 0, 70 [SEP] 22, SoapBottle, 1.800, 0.068, 1.731, 0, 270, 0, 61 [SEP] 23, Cup, 0.356, 0.909, -1.263, 0, 90, 0, 47 [SEP] 24, Egg, -0.887, 0.495, -1.348, 0, 0, 0, 70 [SEP] 25, Fork, 0.732, 0.911, 1.004, 0, 180, 0, 43 [SEP] 26, Ladle, 1.808, 1.683, 0.487, 0, 0, 0, 52 [SEP] 27, Apple, 1.738, 1.072, -0.676, 0, 270, 0, 67 [SEP] 28, SaltShaker, 1.841, 1.630, -1.297, 0, 0, 0, 56 [SEP] 29, Pan, 1.543, 0.909, -0.320, 0, 90, 0, 46 [SEP] 30, Tomato, 1.917, 0.974, 0.415, 0, 90, 0, 43 [SEP] 31, Spatula, 1.696, 1.080, 0.074, 0, 0, 49.769, 49 [SEP] 32, Potato, 0.476, 0.950, 0.827, 0, 0, 0, 43 [SEP] 33, Knife, 1.839, 0.943, 0.311, 0, 0, 0, 43 [SEP] 34, ButterKnife, 1.308, 0.760, -1.599, 0, 90, 0, 62 [SEP] 35, Bread, 1.615, 0.977, 0.760, 0, 50.525, 0, 43 [SEP] 36, Lettuce, 0.856, 0.989, 1.119, 0, 270, 2.382, 43 [SEP] 37, PepperShaker, 1.012, 0.906, -1.264, 0, 90, 0, 47 [SEP] 38, Pot, 1.534, 0.908, 0.058, 0, 195.000, 0, 49 [SEP] 39, DishSponge, 1.355, 0.910, -1.247, 0, 90, 0, 47 [SEP] 40, Spoon, 0.553, 0.912, -1.352, 0, 90, 0, 47 [SEP] 41, Bowl, -0.692, 0.749, -1.594, 0, 0, 0, 70 [SEP] 42, Mug, -0.692, 1.678, -1.524, 0, 0, 0, 70 [SEP] 43, CounterTop, 0.989, 0.946, 1.016, 0, 90, 0, [SEP] 44, StoveBurner, 1.807, 0.907, 0.075, 0, 180, 0, [SEP] 45, StoveBurner, 1.807, 0.907, -0.320, 0, 180, 0, [SEP] 46, StoveBurner, 1.543, 0.907, -0.320, 0, 90, 0, [SEP] 47, CounterTop, 0.989, 0.946, -1.516, 0, 90, 0, [SEP] 48, Sink, 1.100, 0.906, -1.599, 0, 0, 0, [SEP] 49, StoveBurner, 1.548, 0.907, 0.075, 0, 180, 0, [SEP] 50, Cabinet, 1.658, 2.299, 1.313, 0, 0, 0, [SEP] 51, Cabinet, 1.658, 2.299, 0.686, 0, 0, 0, [SEP] 52, Cabinet, 1.658, 2.049, 0.673, 0, 0, 0, [SEP] 53, Cabinet, 1.658, 2.059, 0.193, 0, 0, 0, [SEP] 54, Cabinet, 1.658, 2.059, -0.593, 0, 0, 0, [SEP] 55, Cabinet, 1.658, 2.049, -0.606, 0, 0, 0, [SEP] 56, Cabinet, 1.658, 2.049, -1.206, 0, 0, 0, [SEP] 57, Cabinet, 1.658, 2.049, -1.893, 0, 0, 0, [SEP] 58, Toaster, 0.131, 0.900, -1.589, 0, 0, 0, [SEP] 59, Window, -0.372, 1.588, 3.349, 90, 0, 0, [SEP] 60, Window, 0.782, 1.741, -1.893, 90, 0, 0, [SEP] 61, GarbageCan, 1.770, -0.029, 1.685, 0, 270, 0, [SEP] 62, SinkBasin, 1.091, 0.740, -1.599, 0, 0, 0, [SEP] 63, StoveKnob, 1.364, 0.821, 0.086, 48.421, 270, 0, [SEP] 64, StoveKnob, 1.364, 0.821, -0.180, 48.421, 270, 0, [SEP] 65, StoveKnob, 1.364, 0.821, -0.317, 48.421, 270, 0, [SEP] 66, StoveKnob, 1.364, 0.821, -0.054, 48.421, 270, 0, [SEP] 67, Microwave, 1.752, 0.900, -0.843, 0, 270, 0, [SEP] 68, LightSwitch, 2.0, 1.261, 3.094, 0, 270, 0, [SEP] 69, CoffeeMachine, 0.501, 0.900, -1.600, 0, 0, 0, [SEP] 70, Fridge, -0.533, 0.0, -1.554, 0, 0, 0, [SEP] 71, Chair, 1.068, 0.000, 1.752, 0, 191.622, 0, [SEP] 72, Faucet, 1.110, 1.138, -1.764, 0, 270, 0, [SEP] 73, Chair, 0.357, 0.000, 1.710, 0, 178.899, 0, [SEP] 74, NorthWall, , , , , , , [SEP] 75, EastWall, , , , , , , [SEP] 76, SouthWall, , , , , , , [SEP] 77, WestWall, , , , , , , ", "output": ["STEP 1: Move forward to the refrigerator and turn left | STEP 2: Move forward to the microwave, open the door, and take out the apple | STEP 3: Turn around, walk across the kitchen, and turn left to face the refrigerator. | STEP 4: Open the refrigerator door, put the apple inside the tray on the right, close the refrigerator door, open the refrigerator door, and pick up the apple | STEP 5: Turn left, walk across the kitchen and turn right to face the machine | STEP 6: Set the apple on the counter next to the spoon | END"]} +{"id": "trial_T20190909_044933_815840-2", "input": "Chill the apple in the refrigerator and put it on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 2.25, 0, 180, 0, [SEP] 1, Pan, 1.807, 0.909, -0.320, 0, 180, 0, 45 [SEP] 2, ButterKnife, 1.245, 0.910, 1.004, 0, 90, 0, 43 [SEP] 3, DishSponge, 0.926, 0.910, -1.230, 0, 90, 0, 47 [SEP] 4, Fork, 0.220, 0.911, 0.915, 0, 90, 0, 43 [SEP] 5, Spoon, 1.726, 0.912, -1.545, 0, 180, 0, 47 [SEP] 6, Knife, 1.451, 0.943, 0.518, 0, 270, 0, 43 [SEP] 7, Knife, 1.726, 0.943, -1.631, 0, 180, 0, 47 [SEP] 8, SoapBottle, 1.809, 2.134, 1.236, 0, 0, 0, 50 [SEP] 9, SoapBottle, 1.607, 0.908, 0.570, 0, 90, 0, 43 [SEP] 10, Tomato, 1.757, 0.974, 1.180, 0, 90, 0, 43 [SEP] 11, Tomato, 1.762, 0.974, 0.518, 0, 90, 0, 43 [SEP] 12, Bowl, 1.805, 1.631, -0.973, 0, 0, 0, 55 [SEP] 13, SaltShaker, 0.476, 0.905, 1.180, 0, 90, 0, 43 [SEP] 14, SaltShaker, 1.733, 2.132, 0.805, 0, 0, 0, 51 [SEP] 15, PepperShaker, 1.878, 2.132, 0.805, 0, 0, 0, 51 [SEP] 16, PepperShaker, 1.935, 0.906, -1.802, 0, 90, 0, 47 [SEP] 17, Lettuce, 1.726, 1.011, -1.717, 0, 90, 0, 47 [SEP] 18, Bread, 1.796, 0.988, -1.374, 0, 90, 0, 47 [SEP] 19, Bread, -0.692, 0.537, -1.541, 0, 0, 0, 70 [SEP] 20, Mug, 1.935, 0.906, -1.545, 0, 90, 0, 47 [SEP] 21, Plate, -0.741, 1.390, -1.594, 0, 0, 0, 70 [SEP] 22, SoapBottle, 1.800, 0.068, 1.731, 0, 270, 0, 61 [SEP] 23, Cup, 0.356, 0.909, -1.263, 0, 90, 0, 47 [SEP] 24, Egg, -0.887, 0.495, -1.348, 0, 0, 0, 70 [SEP] 25, Fork, 0.732, 0.911, 1.004, 0, 180, 0, 43 [SEP] 26, Ladle, 1.808, 1.683, 0.487, 0, 0, 0, 52 [SEP] 27, Apple, 1.738, 1.072, -0.676, 0, 270, 0, 67 [SEP] 28, SaltShaker, 1.841, 1.630, -1.297, 0, 0, 0, 56 [SEP] 29, Pan, 1.543, 0.909, -0.320, 0, 90, 0, 46 [SEP] 30, Tomato, 1.917, 0.974, 0.415, 0, 90, 0, 43 [SEP] 31, Spatula, 1.696, 1.080, 0.074, 0, 0, 49.769, 49 [SEP] 32, Potato, 0.476, 0.950, 0.827, 0, 0, 0, 43 [SEP] 33, Knife, 1.839, 0.943, 0.311, 0, 0, 0, 43 [SEP] 34, ButterKnife, 1.308, 0.760, -1.599, 0, 90, 0, 62 [SEP] 35, Bread, 1.615, 0.977, 0.760, 0, 50.525, 0, 43 [SEP] 36, Lettuce, 0.856, 0.989, 1.119, 0, 270, 2.382, 43 [SEP] 37, PepperShaker, 1.012, 0.906, -1.264, 0, 90, 0, 47 [SEP] 38, Pot, 1.534, 0.908, 0.058, 0, 195.000, 0, 49 [SEP] 39, DishSponge, 1.355, 0.910, -1.247, 0, 90, 0, 47 [SEP] 40, Spoon, 0.553, 0.912, -1.352, 0, 90, 0, 47 [SEP] 41, Bowl, -0.692, 0.749, -1.594, 0, 0, 0, 70 [SEP] 42, Mug, -0.692, 1.678, -1.524, 0, 0, 0, 70 [SEP] 43, CounterTop, 0.989, 0.946, 1.016, 0, 90, 0, [SEP] 44, StoveBurner, 1.807, 0.907, 0.075, 0, 180, 0, [SEP] 45, StoveBurner, 1.807, 0.907, -0.320, 0, 180, 0, [SEP] 46, StoveBurner, 1.543, 0.907, -0.320, 0, 90, 0, [SEP] 47, CounterTop, 0.989, 0.946, -1.516, 0, 90, 0, [SEP] 48, Sink, 1.100, 0.906, -1.599, 0, 0, 0, [SEP] 49, StoveBurner, 1.548, 0.907, 0.075, 0, 180, 0, [SEP] 50, Cabinet, 1.658, 2.299, 1.313, 0, 0, 0, [SEP] 51, Cabinet, 1.658, 2.299, 0.686, 0, 0, 0, [SEP] 52, Cabinet, 1.658, 2.049, 0.673, 0, 0, 0, [SEP] 53, Cabinet, 1.658, 2.059, 0.193, 0, 0, 0, [SEP] 54, Cabinet, 1.658, 2.059, -0.593, 0, 0, 0, [SEP] 55, Cabinet, 1.658, 2.049, -0.606, 0, 0, 0, [SEP] 56, Cabinet, 1.658, 2.049, -1.206, 0, 0, 0, [SEP] 57, Cabinet, 1.658, 2.049, -1.893, 0, 0, 0, [SEP] 58, Toaster, 0.131, 0.900, -1.589, 0, 0, 0, [SEP] 59, Window, -0.372, 1.588, 3.349, 90, 0, 0, [SEP] 60, Window, 0.782, 1.741, -1.893, 90, 0, 0, [SEP] 61, GarbageCan, 1.770, -0.029, 1.685, 0, 270, 0, [SEP] 62, SinkBasin, 1.091, 0.740, -1.599, 0, 0, 0, [SEP] 63, StoveKnob, 1.364, 0.821, 0.086, 48.421, 270, 0, [SEP] 64, StoveKnob, 1.364, 0.821, -0.180, 48.421, 270, 0, [SEP] 65, StoveKnob, 1.364, 0.821, -0.317, 48.421, 270, 0, [SEP] 66, StoveKnob, 1.364, 0.821, -0.054, 48.421, 270, 0, [SEP] 67, Microwave, 1.752, 0.900, -0.843, 0, 270, 0, [SEP] 68, LightSwitch, 2.0, 1.261, 3.094, 0, 270, 0, [SEP] 69, CoffeeMachine, 0.501, 0.900, -1.600, 0, 0, 0, [SEP] 70, Fridge, -0.533, 0.0, -1.554, 0, 0, 0, [SEP] 71, Chair, 1.068, 0.000, 1.752, 0, 191.622, 0, [SEP] 72, Faucet, 1.110, 1.138, -1.764, 0, 270, 0, [SEP] 73, Chair, 0.357, 0.000, 1.710, 0, 178.899, 0, [SEP] 74, NorthWall, , , , , , , [SEP] 75, EastWall, , , , , , , [SEP] 76, SouthWall, , , , , , , [SEP] 77, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward to the refrigerator, turn left, walk to the microwave. | STEP 2: Open the microwave door, take out the apple, and close the microwave door. | STEP 3: Turn completely around, walk to the refrigerator, turn left so you are facing the refrigerator. | STEP 4: Open the refrigerator doors, put the apple on the shelf in front of the bread, close the refrigerator door. Open the refrigerator door, pick up the apple, and close the refrigerator door. | STEP 5: Turn left, walk half way to the dishwasher, turn right and face the counter with the coffee maker on it. | STEP 6: Put the apple on the counter between the spoon and the green sponge. | END"]} +{"id": "trial_T20190907_001129_214240-0", "input": "To put two cards in a safe. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, -0.75, 0, 180, 0, [SEP] 1, Mug, 2.556, 0.894, -3.389, 0, 0, 0, 39 [SEP] 2, CD, 1.633, 0.360, -3.063, 0, 0, 0, 36 [SEP] 3, CD, 2.039, 0.896, -3.389, 0, 0, 0, 39 [SEP] 4, CellPhone, 2.113, 0.307, 0.596, 0, 0, 0, 34 [SEP] 5, Pencil, 2.685, 1.232, 1.511, 0, 270, 0, 46 [SEP] 6, CreditCard, -2.405, 0.082, -3.035, 0, 270, 0, 40 [SEP] 7, CreditCard, 2.826, 1.228, 1.397, 0, 270, 0, 46 [SEP] 8, CreditCard, 2.039, 0.896, -3.113, 0, 0, 0, 39 [SEP] 9, KeyChain, 2.211, 0.896, -3.113, 0, 0, 0, 39 [SEP] 10, KeyChain, 2.638, 1.228, 1.283, 0, 270, 0, 46 [SEP] 11, Laptop, -1.025, 0.617, -2.461, 0, 0, 0, 26 [SEP] 12, Book, 1.935, 0.642, -3.062, 0, 270, 0, 37 [SEP] 13, CreditCard, 2.556, 0.896, -3.182, 0, 0, 0, 39 [SEP] 14, Pen, 2.591, 1.234, 1.626, 0, 90, 0, 46 [SEP] 15, Pencil, 2.713, 0.926, 1.426, 0, 270, 0, 44 [SEP] 16, TeddyBear, -0.667, 0.612, -1.364, 0, 81.467, 0, 26 [SEP] 17, Laptop, -1.591, 0.617, -2.061, 0, 0, 0, 26 [SEP] 18, AlarmClock, -2.484, 0.684, -3.304, 0, 90, 0, 41 [SEP] 19, CellPhone, 2.039, 0.307, -0.296, 0, 0, 0, 34 [SEP] 20, KeyChain, 2.643, 0.094, 1.342, 0, 270, 0, 43 [SEP] 21, Pillow, -1.591, 0.680, -1.661, 0, 0, 0, 26 [SEP] 22, Pillow, -2.157, 0.680, -1.861, 0, 0, 0, 26 [SEP] 23, CD, 1.344, 0.019, -3.375, 0, 0, 0, 30 [SEP] 24, Mug, 1.867, 0.894, -3.251, 0, 0, 0, 39 [SEP] 25, Bowl, -2.439, 0.683, -2.995, 0, 90, 0, 41 [SEP] 26, Bed, -1.613, -0.028, -1.861, 0, 270, 0, [SEP] 27, DeskLamp, 2.760, 0.890, -3.317, 0, 90, 0, [SEP] 28, DeskLamp, -2.459, 0.668, -0.532, 0, 90, 0, [SEP] 29, LightSwitch, -0.700, 1.016, 0.334, 0, 90, 0, [SEP] 30, GarbageCan, 1.343, 1.087, -3.374, 0, 0, 0, [SEP] 31, Mirror, 0.532, 1.419, 2.0, 0, 0, 0, [SEP] 32, Window, -0.834, 1.394, -3.653, 90, 0, 0, [SEP] 33, Window, 2.958, 1.508, -1.019, 90, 270, 0, [SEP] 34, Sofa, 2.383, 0.008, -0.288, 0, 270, 0, [SEP] 35, Safe, 2.721, 1.228, 1.784, 0, 270, 0, [SEP] 36, Drawer, 1.979, 0.486, -2.988, 0, 0, 0, [SEP] 37, Drawer, 1.979, 0.728, -2.988, 0, 0, 0, [SEP] 38, Drawer, 1.979, 0.208, -2.988, 0, 0, 0, [SEP] 39, Desk, 2.318, -0.009, -3.214, 0, 0, 0, [SEP] 40, Drawer, -2.349, 0.163, -3.150, 0, 90, 0, [SEP] 41, SideTable, -2.416, -0.001, -3.149, 0, 90, 0, [SEP] 42, Drawer, -2.349, 0.455, -3.150, 0, 90, 0, [SEP] 43, Drawer, 2.641, 0.172, 1.511, 0, 270, 0, [SEP] 44, Drawer, 2.641, 1.002, 1.511, 0, 270, 0, [SEP] 45, Drawer, 2.641, 0.448, 1.511, 0, 270, 0, [SEP] 46, Dresser, 2.676, 0.002, 1.511, 0, 270, 0, [SEP] 47, Drawer, 2.641, 0.725, 1.511, 0, 270, 0, [SEP] 48, SideTable, -2.416, -0.001, -0.514, 0, 90, 0, [SEP] 49, Drawer, -2.349, 0.163, -0.514, 0, 90, 0, [SEP] 50, Drawer, -2.349, 0.455, -0.514, 0, 90, 0, [SEP] 51, Blinds, -0.800, 2.087, -3.627, 0, 0, 0, [SEP] 52, Blinds, 2.931, 2.166, -1.0, 0, 270, 0, [SEP] 53, Chair, 2.574, 0.002, -2.881, 0, 175.162, 0, [SEP] 54, NorthWall, , , , , , , [SEP] 55, EastWall, , , , , , , [SEP] 56, SouthWall, , , , , , , [SEP] 57, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the table on your right. | STEP 2: Grab the credit card from the table. | STEP 3: Move over to the safe on your right. | STEP 4: Open the safe and put the card in. | STEP 5: Turn right and head to the table. | STEP 6: Pick up the card from the table. | STEP 7: Turn around and go to the safe on the right that's on top of the table. | STEP 8: Put the card in the safe and close it. | END"]} +{"id": "trial_T20190907_001129_214240-1", "input": "Place two credit cards inside a small white safe. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, -0.75, 0, 180, 0, [SEP] 1, Mug, 2.556, 0.894, -3.389, 0, 0, 0, 39 [SEP] 2, CD, 1.633, 0.360, -3.063, 0, 0, 0, 36 [SEP] 3, CD, 2.039, 0.896, -3.389, 0, 0, 0, 39 [SEP] 4, CellPhone, 2.113, 0.307, 0.596, 0, 0, 0, 34 [SEP] 5, Pencil, 2.685, 1.232, 1.511, 0, 270, 0, 46 [SEP] 6, CreditCard, -2.405, 0.082, -3.035, 0, 270, 0, 40 [SEP] 7, CreditCard, 2.826, 1.228, 1.397, 0, 270, 0, 46 [SEP] 8, CreditCard, 2.039, 0.896, -3.113, 0, 0, 0, 39 [SEP] 9, KeyChain, 2.211, 0.896, -3.113, 0, 0, 0, 39 [SEP] 10, KeyChain, 2.638, 1.228, 1.283, 0, 270, 0, 46 [SEP] 11, Laptop, -1.025, 0.617, -2.461, 0, 0, 0, 26 [SEP] 12, Book, 1.935, 0.642, -3.062, 0, 270, 0, 37 [SEP] 13, CreditCard, 2.556, 0.896, -3.182, 0, 0, 0, 39 [SEP] 14, Pen, 2.591, 1.234, 1.626, 0, 90, 0, 46 [SEP] 15, Pencil, 2.713, 0.926, 1.426, 0, 270, 0, 44 [SEP] 16, TeddyBear, -0.667, 0.612, -1.364, 0, 81.467, 0, 26 [SEP] 17, Laptop, -1.591, 0.617, -2.061, 0, 0, 0, 26 [SEP] 18, AlarmClock, -2.484, 0.684, -3.304, 0, 90, 0, 41 [SEP] 19, CellPhone, 2.039, 0.307, -0.296, 0, 0, 0, 34 [SEP] 20, KeyChain, 2.643, 0.094, 1.342, 0, 270, 0, 43 [SEP] 21, Pillow, -1.591, 0.680, -1.661, 0, 0, 0, 26 [SEP] 22, Pillow, -2.157, 0.680, -1.861, 0, 0, 0, 26 [SEP] 23, CD, 1.344, 0.019, -3.375, 0, 0, 0, 30 [SEP] 24, Mug, 1.867, 0.894, -3.251, 0, 0, 0, 39 [SEP] 25, Bowl, -2.439, 0.683, -2.995, 0, 90, 0, 41 [SEP] 26, Bed, -1.613, -0.028, -1.861, 0, 270, 0, [SEP] 27, DeskLamp, 2.760, 0.890, -3.317, 0, 90, 0, [SEP] 28, DeskLamp, -2.459, 0.668, -0.532, 0, 90, 0, [SEP] 29, LightSwitch, -0.700, 1.016, 0.334, 0, 90, 0, [SEP] 30, GarbageCan, 1.343, 1.087, -3.374, 0, 0, 0, [SEP] 31, Mirror, 0.532, 1.419, 2.0, 0, 0, 0, [SEP] 32, Window, -0.834, 1.394, -3.653, 90, 0, 0, [SEP] 33, Window, 2.958, 1.508, -1.019, 90, 270, 0, [SEP] 34, Sofa, 2.383, 0.008, -0.288, 0, 270, 0, [SEP] 35, Safe, 2.721, 1.228, 1.784, 0, 270, 0, [SEP] 36, Drawer, 1.979, 0.486, -2.988, 0, 0, 0, [SEP] 37, Drawer, 1.979, 0.728, -2.988, 0, 0, 0, [SEP] 38, Drawer, 1.979, 0.208, -2.988, 0, 0, 0, [SEP] 39, Desk, 2.318, -0.009, -3.214, 0, 0, 0, [SEP] 40, Drawer, -2.349, 0.163, -3.150, 0, 90, 0, [SEP] 41, SideTable, -2.416, -0.001, -3.149, 0, 90, 0, [SEP] 42, Drawer, -2.349, 0.455, -3.150, 0, 90, 0, [SEP] 43, Drawer, 2.641, 0.172, 1.511, 0, 270, 0, [SEP] 44, Drawer, 2.641, 1.002, 1.511, 0, 270, 0, [SEP] 45, Drawer, 2.641, 0.448, 1.511, 0, 270, 0, [SEP] 46, Dresser, 2.676, 0.002, 1.511, 0, 270, 0, [SEP] 47, Drawer, 2.641, 0.725, 1.511, 0, 270, 0, [SEP] 48, SideTable, -2.416, -0.001, -0.514, 0, 90, 0, [SEP] 49, Drawer, -2.349, 0.163, -0.514, 0, 90, 0, [SEP] 50, Drawer, -2.349, 0.455, -0.514, 0, 90, 0, [SEP] 51, Blinds, -0.800, 2.087, -3.627, 0, 0, 0, [SEP] 52, Blinds, 2.931, 2.166, -1.0, 0, 270, 0, [SEP] 53, Chair, 2.574, 0.002, -2.881, 0, 175.162, 0, [SEP] 54, NorthWall, , , , , , , [SEP] 55, EastWall, , , , , , , [SEP] 56, SouthWall, , , , , , , [SEP] 57, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and begin walking across the room, then hang right and walk over to the dresser in the corner of the room. | STEP 2: Pick up the credit card on the back of the wooden dresser. | STEP 3: Turn around and take a step forward, then turn around and face the wooden dresser again. | STEP 4: Open the small white safe and place the credit card inside to the right, then close the safe door. | STEP 5: Turn around and begin walking towards the door, then hang left and walk over to the small wooden desk in the corner of the room. | STEP 6: Pick up the right most blue credit card off of the wooden desk. | STEP 7: Turn around and walk back to the white safe on the wooden dresser. | STEP 8: Open the safe door and place the second credit card inside to the left of the first credit card, then close the safe door. | END"]} +{"id": "trial_T20190907_001129_214240-2", "input": "Place two credit cards in the safe. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, -0.75, 0, 180, 0, [SEP] 1, Mug, 2.556, 0.894, -3.389, 0, 0, 0, 39 [SEP] 2, CD, 1.633, 0.360, -3.063, 0, 0, 0, 36 [SEP] 3, CD, 2.039, 0.896, -3.389, 0, 0, 0, 39 [SEP] 4, CellPhone, 2.113, 0.307, 0.596, 0, 0, 0, 34 [SEP] 5, Pencil, 2.685, 1.232, 1.511, 0, 270, 0, 46 [SEP] 6, CreditCard, -2.405, 0.082, -3.035, 0, 270, 0, 40 [SEP] 7, CreditCard, 2.826, 1.228, 1.397, 0, 270, 0, 46 [SEP] 8, CreditCard, 2.039, 0.896, -3.113, 0, 0, 0, 39 [SEP] 9, KeyChain, 2.211, 0.896, -3.113, 0, 0, 0, 39 [SEP] 10, KeyChain, 2.638, 1.228, 1.283, 0, 270, 0, 46 [SEP] 11, Laptop, -1.025, 0.617, -2.461, 0, 0, 0, 26 [SEP] 12, Book, 1.935, 0.642, -3.062, 0, 270, 0, 37 [SEP] 13, CreditCard, 2.556, 0.896, -3.182, 0, 0, 0, 39 [SEP] 14, Pen, 2.591, 1.234, 1.626, 0, 90, 0, 46 [SEP] 15, Pencil, 2.713, 0.926, 1.426, 0, 270, 0, 44 [SEP] 16, TeddyBear, -0.667, 0.612, -1.364, 0, 81.467, 0, 26 [SEP] 17, Laptop, -1.591, 0.617, -2.061, 0, 0, 0, 26 [SEP] 18, AlarmClock, -2.484, 0.684, -3.304, 0, 90, 0, 41 [SEP] 19, CellPhone, 2.039, 0.307, -0.296, 0, 0, 0, 34 [SEP] 20, KeyChain, 2.643, 0.094, 1.342, 0, 270, 0, 43 [SEP] 21, Pillow, -1.591, 0.680, -1.661, 0, 0, 0, 26 [SEP] 22, Pillow, -2.157, 0.680, -1.861, 0, 0, 0, 26 [SEP] 23, CD, 1.344, 0.019, -3.375, 0, 0, 0, 30 [SEP] 24, Mug, 1.867, 0.894, -3.251, 0, 0, 0, 39 [SEP] 25, Bowl, -2.439, 0.683, -2.995, 0, 90, 0, 41 [SEP] 26, Bed, -1.613, -0.028, -1.861, 0, 270, 0, [SEP] 27, DeskLamp, 2.760, 0.890, -3.317, 0, 90, 0, [SEP] 28, DeskLamp, -2.459, 0.668, -0.532, 0, 90, 0, [SEP] 29, LightSwitch, -0.700, 1.016, 0.334, 0, 90, 0, [SEP] 30, GarbageCan, 1.343, 1.087, -3.374, 0, 0, 0, [SEP] 31, Mirror, 0.532, 1.419, 2.0, 0, 0, 0, [SEP] 32, Window, -0.834, 1.394, -3.653, 90, 0, 0, [SEP] 33, Window, 2.958, 1.508, -1.019, 90, 270, 0, [SEP] 34, Sofa, 2.383, 0.008, -0.288, 0, 270, 0, [SEP] 35, Safe, 2.721, 1.228, 1.784, 0, 270, 0, [SEP] 36, Drawer, 1.979, 0.486, -2.988, 0, 0, 0, [SEP] 37, Drawer, 1.979, 0.728, -2.988, 0, 0, 0, [SEP] 38, Drawer, 1.979, 0.208, -2.988, 0, 0, 0, [SEP] 39, Desk, 2.318, -0.009, -3.214, 0, 0, 0, [SEP] 40, Drawer, -2.349, 0.163, -3.150, 0, 90, 0, [SEP] 41, SideTable, -2.416, -0.001, -3.149, 0, 90, 0, [SEP] 42, Drawer, -2.349, 0.455, -3.150, 0, 90, 0, [SEP] 43, Drawer, 2.641, 0.172, 1.511, 0, 270, 0, [SEP] 44, Drawer, 2.641, 1.002, 1.511, 0, 270, 0, [SEP] 45, Drawer, 2.641, 0.448, 1.511, 0, 270, 0, [SEP] 46, Dresser, 2.676, 0.002, 1.511, 0, 270, 0, [SEP] 47, Drawer, 2.641, 0.725, 1.511, 0, 270, 0, [SEP] 48, SideTable, -2.416, -0.001, -0.514, 0, 90, 0, [SEP] 49, Drawer, -2.349, 0.163, -0.514, 0, 90, 0, [SEP] 50, Drawer, -2.349, 0.455, -0.514, 0, 90, 0, [SEP] 51, Blinds, -0.800, 2.087, -3.627, 0, 0, 0, [SEP] 52, Blinds, 2.931, 2.166, -1.0, 0, 270, 0, [SEP] 53, Chair, 2.574, 0.002, -2.881, 0, 175.162, 0, [SEP] 54, NorthWall, , , , , , , [SEP] 55, EastWall, , , , , , , [SEP] 56, SouthWall, , , , , , , [SEP] 57, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the wall then turn right and walk and stand in front of the table facing it. | STEP 2: Pick up the credit card that's near the wall. | STEP 3: Back up a little bit and stand facing the table and wall. | STEP 4: Open the safe that's on the left side of the table and put the credit card in it. | STEP 5: Turn around and walk a step then turn left and walk so you are facing the middle of the desk on that side of the room. | STEP 6: Pick up the credit card to the right side of the desk. | STEP 7: Walk back to the table with the safe on it. | STEP 8: Open the safe again and place the other credit card inside before closing it again. | END"]} +{"id": "trial_T20190907_160619_888539-0", "input": "Put away the remote in the box on the bench. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.920, 3.0, 0, 270, 0, [SEP] 1, Newspaper, -2.494, 0.546, 0.793, 0, 0, 0, 40 [SEP] 2, KeyChain, -3.015, 0.447, 4.722, 0, 0, 0, 41 [SEP] 3, CreditCard, -2.402, 0.447, 4.279, 0, 0, 0, 41 [SEP] 4, RemoteControl, -2.893, 0.450, 4.058, 0, 0, 0, 41 [SEP] 5, RemoteControl, -2.648, 0.448, 4.279, 0, 0, 0, 41 [SEP] 6, Box, -2.402, 0.571, 4.501, 0, 180, 0, 41 [SEP] 7, Plate, -2.893, 0.453, 4.501, 0, 0, 0, 41 [SEP] 8, Vase, -2.770, 0.447, 4.722, 0, 0, 0, 41 [SEP] 9, WateringCan, -3.015, 0.450, 3.614, 0, 0, 0, 41 [SEP] 10, Newspaper, -3.015, 0.455, 4.058, 0, 90, 0, 41 [SEP] 11, Vase, -0.585, 1.452, 6.434, 0, 0, 0, 24 [SEP] 12, KeyChain, -4.305, 0.465, 6.262, 0, 0, 0, 42 [SEP] 13, Pillow, -1.578, 0.608, 0.667, 0, 0, 0, 40 [SEP] 14, Statue, -2.893, 0.452, 3.393, 0, 0, 0, 41 [SEP] 15, RemoteControl, -0.750, 0.617, 0.764, 0, 0, 0, 38 [SEP] 16, CreditCard, -0.672, 0.616, 0.686, 0, 0, 0, 38 [SEP] 17, Statue, -0.525, 1.453, 5.351, 0, 294.738, 0, 24 [SEP] 18, Laptop, -4.279, 0.538, 2.929, 0, 90, 0, 39 [SEP] 19, Statue, -0.598, 1.452, 6.794, 0, 284.797, 0, 24 [SEP] 20, Curtains, -2.827, 2.473, 0.039, 357.605, 0, 0, [SEP] 21, Curtains, -2.184, 2.473, 0.039, 357.605, 0, 0, [SEP] 22, Curtains, -0.046, 2.474, 2.633, 0, 0, 357.064, [SEP] 23, DeskLamp, -0.484, 0.612, 0.691, 0, 0, 1.144, [SEP] 24, Shelf, -0.391, 1.452, 5.953, 0, 270, 0, [SEP] 25, Shelf, -0.398, 0.270, 5.961, 0, 270, 0, [SEP] 26, Television, -0.75, 1.661, 3.936, 0, 270, 0, [SEP] 27, GarbageCan, -0.525, -0.009, 2.822, 0, 0, 0, [SEP] 28, Painting, -2.670, 1.574, 7.000, 90, 180, 0, [SEP] 29, Bowl, -2.400, 0.464, 3.442, 0, 0, 0, [SEP] 30, LightSwitch, -5.0, 1.246, 5.857, 0, 90, 0, [SEP] 31, Window, -1.373, 1.565, 0.008, 90, 180, 0, [SEP] 32, Window, -0.014, 1.567, 1.496, 90, 270, 0, [SEP] 33, Window, -3.726, 1.565, 0.008, 90, 180, 0, [SEP] 34, FloorLamp, -4.514, 0.027, 0.663, 0, 0, 0, [SEP] 35, HousePlant, -2.659, 0.466, 4.165, 0, 0, 0, [SEP] 36, Shelf, -0.594, 0.104, 0.841, 0, 0, 0, [SEP] 37, Shelf, -0.594, 0.359, 0.841, 0, 0, 0, [SEP] 38, SideTable, -0.594, 0.018, 0.841, 0, 0, 0, [SEP] 39, Sofa, -4.360, 0.028, 2.929, 0, 90, 0, [SEP] 40, Sofa, -2.493, 0.028, 0.725, 0, 0, 0, [SEP] 41, CoffeeTable, -2.648, 0.019, 4.058, 0, 270, 0, [SEP] 42, ArmChair, -4.446, 0.017, 6.450, 0, 90, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the end table in the corner. | STEP 2: Pick up the remote off of the end table. | STEP 3: Turn around and go to the coffee table. | STEP 4: Put the remote in the box on the coffee table. | STEP 5: Pick up the remote and box. | STEP 6: Turn right and right again and go to the bench. | STEP 7: Set the box with the remote on top of the bench. | END"]} +{"id": "trial_T20190907_160619_888539-1", "input": "Place the remote in the box on the brown bench. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.920, 3.0, 0, 270, 0, [SEP] 1, Newspaper, -2.494, 0.546, 0.793, 0, 0, 0, 40 [SEP] 2, KeyChain, -3.015, 0.447, 4.722, 0, 0, 0, 41 [SEP] 3, CreditCard, -2.402, 0.447, 4.279, 0, 0, 0, 41 [SEP] 4, RemoteControl, -2.893, 0.450, 4.058, 0, 0, 0, 41 [SEP] 5, RemoteControl, -2.648, 0.448, 4.279, 0, 0, 0, 41 [SEP] 6, Box, -2.402, 0.571, 4.501, 0, 180, 0, 41 [SEP] 7, Plate, -2.893, 0.453, 4.501, 0, 0, 0, 41 [SEP] 8, Vase, -2.770, 0.447, 4.722, 0, 0, 0, 41 [SEP] 9, WateringCan, -3.015, 0.450, 3.614, 0, 0, 0, 41 [SEP] 10, Newspaper, -3.015, 0.455, 4.058, 0, 90, 0, 41 [SEP] 11, Vase, -0.585, 1.452, 6.434, 0, 0, 0, 24 [SEP] 12, KeyChain, -4.305, 0.465, 6.262, 0, 0, 0, 42 [SEP] 13, Pillow, -1.578, 0.608, 0.667, 0, 0, 0, 40 [SEP] 14, Statue, -2.893, 0.452, 3.393, 0, 0, 0, 41 [SEP] 15, RemoteControl, -0.750, 0.617, 0.764, 0, 0, 0, 38 [SEP] 16, CreditCard, -0.672, 0.616, 0.686, 0, 0, 0, 38 [SEP] 17, Statue, -0.525, 1.453, 5.351, 0, 294.738, 0, 24 [SEP] 18, Laptop, -4.279, 0.538, 2.929, 0, 90, 0, 39 [SEP] 19, Statue, -0.598, 1.452, 6.794, 0, 284.797, 0, 24 [SEP] 20, Curtains, -2.827, 2.473, 0.039, 357.605, 0, 0, [SEP] 21, Curtains, -2.184, 2.473, 0.039, 357.605, 0, 0, [SEP] 22, Curtains, -0.046, 2.474, 2.633, 0, 0, 357.064, [SEP] 23, DeskLamp, -0.484, 0.612, 0.691, 0, 0, 1.144, [SEP] 24, Shelf, -0.391, 1.452, 5.953, 0, 270, 0, [SEP] 25, Shelf, -0.398, 0.270, 5.961, 0, 270, 0, [SEP] 26, Television, -0.75, 1.661, 3.936, 0, 270, 0, [SEP] 27, GarbageCan, -0.525, -0.009, 2.822, 0, 0, 0, [SEP] 28, Painting, -2.670, 1.574, 7.000, 90, 180, 0, [SEP] 29, Bowl, -2.400, 0.464, 3.442, 0, 0, 0, [SEP] 30, LightSwitch, -5.0, 1.246, 5.857, 0, 90, 0, [SEP] 31, Window, -1.373, 1.565, 0.008, 90, 180, 0, [SEP] 32, Window, -0.014, 1.567, 1.496, 90, 270, 0, [SEP] 33, Window, -3.726, 1.565, 0.008, 90, 180, 0, [SEP] 34, FloorLamp, -4.514, 0.027, 0.663, 0, 0, 0, [SEP] 35, HousePlant, -2.659, 0.466, 4.165, 0, 0, 0, [SEP] 36, Shelf, -0.594, 0.104, 0.841, 0, 0, 0, [SEP] 37, Shelf, -0.594, 0.359, 0.841, 0, 0, 0, [SEP] 38, SideTable, -0.594, 0.018, 0.841, 0, 0, 0, [SEP] 39, Sofa, -4.360, 0.028, 2.929, 0, 90, 0, [SEP] 40, Sofa, -2.493, 0.028, 0.725, 0, 0, 0, [SEP] 41, CoffeeTable, -2.648, 0.019, 4.058, 0, 270, 0, [SEP] 42, ArmChair, -4.446, 0.017, 6.450, 0, 90, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around, walk across the room and turn right to face the black end table. | STEP 2: Pick up the remote from off of the end table. | STEP 3: Turn around and move to the left to face the coffee table. | STEP 4: Place the remote in the box on the coffee table. | STEP 5: Pick up the box from off of the coffee table.\nPick the box up from off of the coffee table. | STEP 6: Turn around and face the brown bench. | STEP 7: Place the box on the bench. | END"]} +{"id": "trial_T20190907_160619_888539-2", "input": "Put a box with a remote on the display table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.920, 3.0, 0, 270, 0, [SEP] 1, Newspaper, -2.494, 0.546, 0.793, 0, 0, 0, 40 [SEP] 2, KeyChain, -3.015, 0.447, 4.722, 0, 0, 0, 41 [SEP] 3, CreditCard, -2.402, 0.447, 4.279, 0, 0, 0, 41 [SEP] 4, RemoteControl, -2.893, 0.450, 4.058, 0, 0, 0, 41 [SEP] 5, RemoteControl, -2.648, 0.448, 4.279, 0, 0, 0, 41 [SEP] 6, Box, -2.402, 0.571, 4.501, 0, 180, 0, 41 [SEP] 7, Plate, -2.893, 0.453, 4.501, 0, 0, 0, 41 [SEP] 8, Vase, -2.770, 0.447, 4.722, 0, 0, 0, 41 [SEP] 9, WateringCan, -3.015, 0.450, 3.614, 0, 0, 0, 41 [SEP] 10, Newspaper, -3.015, 0.455, 4.058, 0, 90, 0, 41 [SEP] 11, Vase, -0.585, 1.452, 6.434, 0, 0, 0, 24 [SEP] 12, KeyChain, -4.305, 0.465, 6.262, 0, 0, 0, 42 [SEP] 13, Pillow, -1.578, 0.608, 0.667, 0, 0, 0, 40 [SEP] 14, Statue, -2.893, 0.452, 3.393, 0, 0, 0, 41 [SEP] 15, RemoteControl, -0.750, 0.617, 0.764, 0, 0, 0, 38 [SEP] 16, CreditCard, -0.672, 0.616, 0.686, 0, 0, 0, 38 [SEP] 17, Statue, -0.525, 1.453, 5.351, 0, 294.738, 0, 24 [SEP] 18, Laptop, -4.279, 0.538, 2.929, 0, 90, 0, 39 [SEP] 19, Statue, -0.598, 1.452, 6.794, 0, 284.797, 0, 24 [SEP] 20, Curtains, -2.827, 2.473, 0.039, 357.605, 0, 0, [SEP] 21, Curtains, -2.184, 2.473, 0.039, 357.605, 0, 0, [SEP] 22, Curtains, -0.046, 2.474, 2.633, 0, 0, 357.064, [SEP] 23, DeskLamp, -0.484, 0.612, 0.691, 0, 0, 1.144, [SEP] 24, Shelf, -0.391, 1.452, 5.953, 0, 270, 0, [SEP] 25, Shelf, -0.398, 0.270, 5.961, 0, 270, 0, [SEP] 26, Television, -0.75, 1.661, 3.936, 0, 270, 0, [SEP] 27, GarbageCan, -0.525, -0.009, 2.822, 0, 0, 0, [SEP] 28, Painting, -2.670, 1.574, 7.000, 90, 180, 0, [SEP] 29, Bowl, -2.400, 0.464, 3.442, 0, 0, 0, [SEP] 30, LightSwitch, -5.0, 1.246, 5.857, 0, 90, 0, [SEP] 31, Window, -1.373, 1.565, 0.008, 90, 180, 0, [SEP] 32, Window, -0.014, 1.567, 1.496, 90, 270, 0, [SEP] 33, Window, -3.726, 1.565, 0.008, 90, 180, 0, [SEP] 34, FloorLamp, -4.514, 0.027, 0.663, 0, 0, 0, [SEP] 35, HousePlant, -2.659, 0.466, 4.165, 0, 0, 0, [SEP] 36, Shelf, -0.594, 0.104, 0.841, 0, 0, 0, [SEP] 37, Shelf, -0.594, 0.359, 0.841, 0, 0, 0, [SEP] 38, SideTable, -0.594, 0.018, 0.841, 0, 0, 0, [SEP] 39, Sofa, -4.360, 0.028, 2.929, 0, 90, 0, [SEP] 40, Sofa, -2.493, 0.028, 0.725, 0, 0, 0, [SEP] 41, CoffeeTable, -2.648, 0.019, 4.058, 0, 270, 0, [SEP] 42, ArmChair, -4.446, 0.017, 6.450, 0, 90, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, SouthWall, , , , , , , ", "output": ["STEP 1: Move to the end table to the left of the couch under the window | STEP 2: Pick up a remote from the table | STEP 3: Move to the coffee table behind you | STEP 4: put the remote in a box on the table | STEP 5: Pick up box from the coffee table | STEP 6: Move to display shelf behind you | STEP 7: Put box on shelf | END"]} +{"id": "trial_T20190906_181233_363875-0", "input": "Put two books on a desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 0.75, 0, 270, 0, [SEP] 1, Bowl, -1.283, 1.824, -0.778, 0, 0, 0, 31 [SEP] 2, Bowl, -1.283, 1.460, -1.168, 0, 0, 0, 29 [SEP] 3, CellPhone, 0.227, 0.682, 1.348, 0, 0, 0, 37 [SEP] 4, Pencil, -0.670, 0.796, -1.760, 0, 0, 0, 45 [SEP] 5, Pen, -1.361, 1.828, -1.344, 0, 90, 0, 32 [SEP] 6, KeyChain, 0.323, 0.677, -1.830, 0, 90, 0, 44 [SEP] 7, KeyChain, -1.256, 1.822, -1.256, 0, 0, 0, 32 [SEP] 8, Book, 1.243, 0.578, -1.373, 0, 0, 0, 24 [SEP] 9, Book, 0.459, 0.675, -1.635, 0, 0, 0, 44 [SEP] 10, AlarmClock, -0.981, 0.794, -0.385, 0, 0, 0, 45 [SEP] 11, Book, 1.676, 0.578, -1.373, 0, 0, 0, 46 [SEP] 12, Pencil, 0.150, 0.684, 1.393, 0, 0, 0, 37 [SEP] 13, Laptop, -1.005, 0.780, -1.477, 0, 31.363, 0, 45 [SEP] 14, Pen, 0.150, 0.686, 1.257, 0, 0, 0, 37 [SEP] 15, TennisRacket, -1.226, 0.301, -0.069, 15.000, 180, 180, [SEP] 16, TeddyBear, 1.629, 0.557, -1.064, 0, 118.287, 0, 46 [SEP] 17, Pillow, 1.215, 0.641, -1.663, 0, 0, 0, 24 [SEP] 18, CellPhone, 1.693, 0.041, 0.435, 0, 0, 0, 41 [SEP] 19, KeyChain, 1.640, 0.039, 0.595, 0, 0, 0, 41 [SEP] 20, AlarmClock, -0.315, 0.838, -1.968, 0, 0, 0, 28 [SEP] 21, CreditCard, -1.283, 1.822, -0.515, 0, 0, 0, 31 [SEP] 22, CD, -0.670, 0.792, -1.824, 0, 0, 0, 45 [SEP] 23, Bowl, -0.809, 0.824, -2.085, 0, 0, 0, 28 [SEP] 24, Bed, 1.242, -0.001, -0.881, 0, 180, 0, [SEP] 25, LightSwitch, 0.010, 1.315, 1.499, 0, 180, 0, [SEP] 26, GarbageCan, 0.840, 0.007, 1.337, 0, 180, 2.168, [SEP] 27, HousePlant, -0.083, 0.828, -2.045, 0, 0, 0, [SEP] 28, Shelf, -0.469, 0.828, -2.038, 0, 0, 0, [SEP] 29, Shelf, -1.286, 1.451, -1.343, 0, 0, 0, [SEP] 30, Shelf, -1.286, 1.451, -0.602, 0, 0, 0, [SEP] 31, Shelf, -1.286, 1.814, -0.602, 0, 0, 0, [SEP] 32, Shelf, -1.286, 1.814, -1.343, 0, 0, 0, [SEP] 33, Painting, 1.111, 1.628, -1.865, 90, 0, 0, [SEP] 34, DeskLamp, 0.473, 0.669, 1.350, 0, 0, 0, [SEP] 35, Mirror, -1.383, 1.565, 0.512, 0, 270, 0, [SEP] 36, Window, -0.472, 1.396, -2.252, 90, 0, 0, [SEP] 37, SideTable, 0.304, -0.001, 1.225, 0, 180, 0, [SEP] 38, Drawer, 0.304, 0.165, 1.159, 0, 180, 0, [SEP] 39, Drawer, 0.304, 0.457, 1.159, 0, 180, 0, [SEP] 40, Blinds, -0.453, 2.156, -2.242, 0, 0, 0, [SEP] 41, Safe, 1.623, 5.960, 0.448, 0, 270, 0, [SEP] 42, Chair, -0.683, 0.000, -1.326, 0, 217.223, 0, [SEP] 43, Drawer, 0.416, 0.532, -1.553, 0, 0, 0, [SEP] 44, SideTable, 0.413, 0.000, -1.684, 0, 0, 0, [SEP] 45, Desk, -0.788, 0.000, -1.032, 0, 90, 0, [SEP] 46, , , , , , , , [SEP] 47, NorthWall, , , , , , , [SEP] 48, EastWall, , , , , , , [SEP] 49, SouthWall, , , , , , , [SEP] 50, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and hang right to the side table next to the bed. | STEP 2: Pick up the book on the side table. | STEP 3: Turn around and walk to the desk. | STEP 4: Place the book on the desk to the left of the alarm clock. | STEP 5: Turn around and walk to the bed. | STEP 6: Pick up the book closest to you on the bed. | STEP 7: Turn around and go back to the desk. | STEP 8: Place the book on the desk behind the first one. | END"]} +{"id": "trial_T20190906_181233_363875-1", "input": "Move books in the room over to the desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 0.75, 0, 270, 0, [SEP] 1, Bowl, -1.283, 1.824, -0.778, 0, 0, 0, 31 [SEP] 2, Bowl, -1.283, 1.460, -1.168, 0, 0, 0, 29 [SEP] 3, CellPhone, 0.227, 0.682, 1.348, 0, 0, 0, 37 [SEP] 4, Pencil, -0.670, 0.796, -1.760, 0, 0, 0, 45 [SEP] 5, Pen, -1.361, 1.828, -1.344, 0, 90, 0, 32 [SEP] 6, KeyChain, 0.323, 0.677, -1.830, 0, 90, 0, 44 [SEP] 7, KeyChain, -1.256, 1.822, -1.256, 0, 0, 0, 32 [SEP] 8, Book, 1.243, 0.578, -1.373, 0, 0, 0, 24 [SEP] 9, Book, 0.459, 0.675, -1.635, 0, 0, 0, 44 [SEP] 10, AlarmClock, -0.981, 0.794, -0.385, 0, 0, 0, 45 [SEP] 11, Book, 1.676, 0.578, -1.373, 0, 0, 0, 46 [SEP] 12, Pencil, 0.150, 0.684, 1.393, 0, 0, 0, 37 [SEP] 13, Laptop, -1.005, 0.780, -1.477, 0, 31.363, 0, 45 [SEP] 14, Pen, 0.150, 0.686, 1.257, 0, 0, 0, 37 [SEP] 15, TennisRacket, -1.226, 0.301, -0.069, 15.000, 180, 180, [SEP] 16, TeddyBear, 1.629, 0.557, -1.064, 0, 118.287, 0, 46 [SEP] 17, Pillow, 1.215, 0.641, -1.663, 0, 0, 0, 24 [SEP] 18, CellPhone, 1.693, 0.041, 0.435, 0, 0, 0, 41 [SEP] 19, KeyChain, 1.640, 0.039, 0.595, 0, 0, 0, 41 [SEP] 20, AlarmClock, -0.315, 0.838, -1.968, 0, 0, 0, 28 [SEP] 21, CreditCard, -1.283, 1.822, -0.515, 0, 0, 0, 31 [SEP] 22, CD, -0.670, 0.792, -1.824, 0, 0, 0, 45 [SEP] 23, Bowl, -0.809, 0.824, -2.085, 0, 0, 0, 28 [SEP] 24, Bed, 1.242, -0.001, -0.881, 0, 180, 0, [SEP] 25, LightSwitch, 0.010, 1.315, 1.499, 0, 180, 0, [SEP] 26, GarbageCan, 0.840, 0.007, 1.337, 0, 180, 2.168, [SEP] 27, HousePlant, -0.083, 0.828, -2.045, 0, 0, 0, [SEP] 28, Shelf, -0.469, 0.828, -2.038, 0, 0, 0, [SEP] 29, Shelf, -1.286, 1.451, -1.343, 0, 0, 0, [SEP] 30, Shelf, -1.286, 1.451, -0.602, 0, 0, 0, [SEP] 31, Shelf, -1.286, 1.814, -0.602, 0, 0, 0, [SEP] 32, Shelf, -1.286, 1.814, -1.343, 0, 0, 0, [SEP] 33, Painting, 1.111, 1.628, -1.865, 90, 0, 0, [SEP] 34, DeskLamp, 0.473, 0.669, 1.350, 0, 0, 0, [SEP] 35, Mirror, -1.383, 1.565, 0.512, 0, 270, 0, [SEP] 36, Window, -0.472, 1.396, -2.252, 90, 0, 0, [SEP] 37, SideTable, 0.304, -0.001, 1.225, 0, 180, 0, [SEP] 38, Drawer, 0.304, 0.165, 1.159, 0, 180, 0, [SEP] 39, Drawer, 0.304, 0.457, 1.159, 0, 180, 0, [SEP] 40, Blinds, -0.453, 2.156, -2.242, 0, 0, 0, [SEP] 41, Safe, 1.623, 5.960, 0.448, 0, 270, 0, [SEP] 42, Chair, -0.683, 0.000, -1.326, 0, 217.223, 0, [SEP] 43, Drawer, 0.416, 0.532, -1.553, 0, 0, 0, [SEP] 44, SideTable, 0.413, 0.000, -1.684, 0, 0, 0, [SEP] 45, Desk, -0.788, 0.000, -1.032, 0, 90, 0, [SEP] 46, , , , , , , , [SEP] 47, NorthWall, , , , , , , [SEP] 48, EastWall, , , , , , , [SEP] 49, SouthWall, , , , , , , [SEP] 50, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and face the dresser next to the bed on your left. | STEP 2: Pick up the book on the dresser. | STEP 3: Turn around and face the open space on the desk. | STEP 4: Place the book on to the desk in front of you. | STEP 5: Turn around and move to the bed behind you. | STEP 6: Pick up the book closest to you on the bed. | STEP 7: Turn around and move back to the desk where the book is. | STEP 8: Place that book behind the other book on the desk. | END"]} +{"id": "trial_T20190906_181233_363875-2", "input": "Relocate two books to a bedroom desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 0.75, 0, 270, 0, [SEP] 1, Bowl, -1.283, 1.824, -0.778, 0, 0, 0, 31 [SEP] 2, Bowl, -1.283, 1.460, -1.168, 0, 0, 0, 29 [SEP] 3, CellPhone, 0.227, 0.682, 1.348, 0, 0, 0, 37 [SEP] 4, Pencil, -0.670, 0.796, -1.760, 0, 0, 0, 45 [SEP] 5, Pen, -1.361, 1.828, -1.344, 0, 90, 0, 32 [SEP] 6, KeyChain, 0.323, 0.677, -1.830, 0, 90, 0, 44 [SEP] 7, KeyChain, -1.256, 1.822, -1.256, 0, 0, 0, 32 [SEP] 8, Book, 1.243, 0.578, -1.373, 0, 0, 0, 24 [SEP] 9, Book, 0.459, 0.675, -1.635, 0, 0, 0, 44 [SEP] 10, AlarmClock, -0.981, 0.794, -0.385, 0, 0, 0, 45 [SEP] 11, Book, 1.676, 0.578, -1.373, 0, 0, 0, 46 [SEP] 12, Pencil, 0.150, 0.684, 1.393, 0, 0, 0, 37 [SEP] 13, Laptop, -1.005, 0.780, -1.477, 0, 31.363, 0, 45 [SEP] 14, Pen, 0.150, 0.686, 1.257, 0, 0, 0, 37 [SEP] 15, TennisRacket, -1.226, 0.301, -0.069, 15.000, 180, 180, [SEP] 16, TeddyBear, 1.629, 0.557, -1.064, 0, 118.287, 0, 46 [SEP] 17, Pillow, 1.215, 0.641, -1.663, 0, 0, 0, 24 [SEP] 18, CellPhone, 1.693, 0.041, 0.435, 0, 0, 0, 41 [SEP] 19, KeyChain, 1.640, 0.039, 0.595, 0, 0, 0, 41 [SEP] 20, AlarmClock, -0.315, 0.838, -1.968, 0, 0, 0, 28 [SEP] 21, CreditCard, -1.283, 1.822, -0.515, 0, 0, 0, 31 [SEP] 22, CD, -0.670, 0.792, -1.824, 0, 0, 0, 45 [SEP] 23, Bowl, -0.809, 0.824, -2.085, 0, 0, 0, 28 [SEP] 24, Bed, 1.242, -0.001, -0.881, 0, 180, 0, [SEP] 25, LightSwitch, 0.010, 1.315, 1.499, 0, 180, 0, [SEP] 26, GarbageCan, 0.840, 0.007, 1.337, 0, 180, 2.168, [SEP] 27, HousePlant, -0.083, 0.828, -2.045, 0, 0, 0, [SEP] 28, Shelf, -0.469, 0.828, -2.038, 0, 0, 0, [SEP] 29, Shelf, -1.286, 1.451, -1.343, 0, 0, 0, [SEP] 30, Shelf, -1.286, 1.451, -0.602, 0, 0, 0, [SEP] 31, Shelf, -1.286, 1.814, -0.602, 0, 0, 0, [SEP] 32, Shelf, -1.286, 1.814, -1.343, 0, 0, 0, [SEP] 33, Painting, 1.111, 1.628, -1.865, 90, 0, 0, [SEP] 34, DeskLamp, 0.473, 0.669, 1.350, 0, 0, 0, [SEP] 35, Mirror, -1.383, 1.565, 0.512, 0, 270, 0, [SEP] 36, Window, -0.472, 1.396, -2.252, 90, 0, 0, [SEP] 37, SideTable, 0.304, -0.001, 1.225, 0, 180, 0, [SEP] 38, Drawer, 0.304, 0.165, 1.159, 0, 180, 0, [SEP] 39, Drawer, 0.304, 0.457, 1.159, 0, 180, 0, [SEP] 40, Blinds, -0.453, 2.156, -2.242, 0, 0, 0, [SEP] 41, Safe, 1.623, 5.960, 0.448, 0, 270, 0, [SEP] 42, Chair, -0.683, 0.000, -1.326, 0, 217.223, 0, [SEP] 43, Drawer, 0.416, 0.532, -1.553, 0, 0, 0, [SEP] 44, SideTable, 0.413, 0.000, -1.684, 0, 0, 0, [SEP] 45, Desk, -0.788, 0.000, -1.032, 0, 90, 0, [SEP] 46, , , , , , , , [SEP] 47, NorthWall, , , , , , , [SEP] 48, EastWall, , , , , , , [SEP] 49, SouthWall, , , , , , , [SEP] 50, WestWall, , , , , , , ", "output": ["STEP 1: Go to your left, to the nightstand near the head of the bed. | STEP 2: Pick up the book from the nightstand. | STEP 3: Take the book to the desk behind you. | STEP 4: Put the book on the right hand side of the desk, near the center for the front of the desk. | STEP 5: Turn around and go back to face the bed, near the nightstand. | STEP 6: Pick up the book that is touching the purple pillow. | STEP 7: Turn back around and return to the desk. | STEP 8: Place the book onto the desk, between the first book and the wall. | END"]} +{"id": "trial_T20190906_181233_363875-3", "input": "Put two books on the desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 0.75, 0, 270, 0, [SEP] 1, Bowl, -1.283, 1.824, -0.778, 0, 0, 0, 31 [SEP] 2, Bowl, -1.283, 1.460, -1.168, 0, 0, 0, 29 [SEP] 3, CellPhone, 0.227, 0.682, 1.348, 0, 0, 0, 37 [SEP] 4, Pencil, -0.670, 0.796, -1.760, 0, 0, 0, 45 [SEP] 5, Pen, -1.361, 1.828, -1.344, 0, 90, 0, 32 [SEP] 6, KeyChain, 0.323, 0.677, -1.830, 0, 90, 0, 44 [SEP] 7, KeyChain, -1.256, 1.822, -1.256, 0, 0, 0, 32 [SEP] 8, Book, 1.243, 0.578, -1.373, 0, 0, 0, 24 [SEP] 9, Book, 0.459, 0.675, -1.635, 0, 0, 0, 44 [SEP] 10, AlarmClock, -0.981, 0.794, -0.385, 0, 0, 0, 45 [SEP] 11, Book, 1.676, 0.578, -1.373, 0, 0, 0, 46 [SEP] 12, Pencil, 0.150, 0.684, 1.393, 0, 0, 0, 37 [SEP] 13, Laptop, -1.005, 0.780, -1.477, 0, 31.363, 0, 45 [SEP] 14, Pen, 0.150, 0.686, 1.257, 0, 0, 0, 37 [SEP] 15, TennisRacket, -1.226, 0.301, -0.069, 15.000, 180, 180, [SEP] 16, TeddyBear, 1.629, 0.557, -1.064, 0, 118.287, 0, 46 [SEP] 17, Pillow, 1.215, 0.641, -1.663, 0, 0, 0, 24 [SEP] 18, CellPhone, 1.693, 0.041, 0.435, 0, 0, 0, 41 [SEP] 19, KeyChain, 1.640, 0.039, 0.595, 0, 0, 0, 41 [SEP] 20, AlarmClock, -0.315, 0.838, -1.968, 0, 0, 0, 28 [SEP] 21, CreditCard, -1.283, 1.822, -0.515, 0, 0, 0, 31 [SEP] 22, CD, -0.670, 0.792, -1.824, 0, 0, 0, 45 [SEP] 23, Bowl, -0.809, 0.824, -2.085, 0, 0, 0, 28 [SEP] 24, Bed, 1.242, -0.001, -0.881, 0, 180, 0, [SEP] 25, LightSwitch, 0.010, 1.315, 1.499, 0, 180, 0, [SEP] 26, GarbageCan, 0.840, 0.007, 1.337, 0, 180, 2.168, [SEP] 27, HousePlant, -0.083, 0.828, -2.045, 0, 0, 0, [SEP] 28, Shelf, -0.469, 0.828, -2.038, 0, 0, 0, [SEP] 29, Shelf, -1.286, 1.451, -1.343, 0, 0, 0, [SEP] 30, Shelf, -1.286, 1.451, -0.602, 0, 0, 0, [SEP] 31, Shelf, -1.286, 1.814, -0.602, 0, 0, 0, [SEP] 32, Shelf, -1.286, 1.814, -1.343, 0, 0, 0, [SEP] 33, Painting, 1.111, 1.628, -1.865, 90, 0, 0, [SEP] 34, DeskLamp, 0.473, 0.669, 1.350, 0, 0, 0, [SEP] 35, Mirror, -1.383, 1.565, 0.512, 0, 270, 0, [SEP] 36, Window, -0.472, 1.396, -2.252, 90, 0, 0, [SEP] 37, SideTable, 0.304, -0.001, 1.225, 0, 180, 0, [SEP] 38, Drawer, 0.304, 0.165, 1.159, 0, 180, 0, [SEP] 39, Drawer, 0.304, 0.457, 1.159, 0, 180, 0, [SEP] 40, Blinds, -0.453, 2.156, -2.242, 0, 0, 0, [SEP] 41, Safe, 1.623, 5.960, 0.448, 0, 270, 0, [SEP] 42, Chair, -0.683, 0.000, -1.326, 0, 217.223, 0, [SEP] 43, Drawer, 0.416, 0.532, -1.553, 0, 0, 0, [SEP] 44, SideTable, 0.413, 0.000, -1.684, 0, 0, 0, [SEP] 45, Desk, -0.788, 0.000, -1.032, 0, 90, 0, [SEP] 46, , , , , , , , [SEP] 47, NorthWall, , , , , , , [SEP] 48, EastWall, , , , , , , [SEP] 49, SouthWall, , , , , , , [SEP] 50, WestWall, , , , , , , ", "output": ["STEP 1: move to the end table to the right of the bed | STEP 2: pick up the book from the table | STEP 3: move to the desk to the right of the bed | STEP 4: put the book on the desk | STEP 5: move to the bed behind you | STEP 6: pick up the book from the bed | STEP 7: move to the desk behind you | STEP 8: put the book on the desk | END"]} +{"id": "trial_T20190906_181233_363875-4", "input": "Put the books on the desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 0.75, 0, 270, 0, [SEP] 1, Bowl, -1.283, 1.824, -0.778, 0, 0, 0, 31 [SEP] 2, Bowl, -1.283, 1.460, -1.168, 0, 0, 0, 29 [SEP] 3, CellPhone, 0.227, 0.682, 1.348, 0, 0, 0, 37 [SEP] 4, Pencil, -0.670, 0.796, -1.760, 0, 0, 0, 45 [SEP] 5, Pen, -1.361, 1.828, -1.344, 0, 90, 0, 32 [SEP] 6, KeyChain, 0.323, 0.677, -1.830, 0, 90, 0, 44 [SEP] 7, KeyChain, -1.256, 1.822, -1.256, 0, 0, 0, 32 [SEP] 8, Book, 1.243, 0.578, -1.373, 0, 0, 0, 24 [SEP] 9, Book, 0.459, 0.675, -1.635, 0, 0, 0, 44 [SEP] 10, AlarmClock, -0.981, 0.794, -0.385, 0, 0, 0, 45 [SEP] 11, Book, 1.676, 0.578, -1.373, 0, 0, 0, 46 [SEP] 12, Pencil, 0.150, 0.684, 1.393, 0, 0, 0, 37 [SEP] 13, Laptop, -1.005, 0.780, -1.477, 0, 31.363, 0, 45 [SEP] 14, Pen, 0.150, 0.686, 1.257, 0, 0, 0, 37 [SEP] 15, TennisRacket, -1.226, 0.301, -0.069, 15.000, 180, 180, [SEP] 16, TeddyBear, 1.629, 0.557, -1.064, 0, 118.287, 0, 46 [SEP] 17, Pillow, 1.215, 0.641, -1.663, 0, 0, 0, 24 [SEP] 18, CellPhone, 1.693, 0.041, 0.435, 0, 0, 0, 41 [SEP] 19, KeyChain, 1.640, 0.039, 0.595, 0, 0, 0, 41 [SEP] 20, AlarmClock, -0.315, 0.838, -1.968, 0, 0, 0, 28 [SEP] 21, CreditCard, -1.283, 1.822, -0.515, 0, 0, 0, 31 [SEP] 22, CD, -0.670, 0.792, -1.824, 0, 0, 0, 45 [SEP] 23, Bowl, -0.809, 0.824, -2.085, 0, 0, 0, 28 [SEP] 24, Bed, 1.242, -0.001, -0.881, 0, 180, 0, [SEP] 25, LightSwitch, 0.010, 1.315, 1.499, 0, 180, 0, [SEP] 26, GarbageCan, 0.840, 0.007, 1.337, 0, 180, 2.168, [SEP] 27, HousePlant, -0.083, 0.828, -2.045, 0, 0, 0, [SEP] 28, Shelf, -0.469, 0.828, -2.038, 0, 0, 0, [SEP] 29, Shelf, -1.286, 1.451, -1.343, 0, 0, 0, [SEP] 30, Shelf, -1.286, 1.451, -0.602, 0, 0, 0, [SEP] 31, Shelf, -1.286, 1.814, -0.602, 0, 0, 0, [SEP] 32, Shelf, -1.286, 1.814, -1.343, 0, 0, 0, [SEP] 33, Painting, 1.111, 1.628, -1.865, 90, 0, 0, [SEP] 34, DeskLamp, 0.473, 0.669, 1.350, 0, 0, 0, [SEP] 35, Mirror, -1.383, 1.565, 0.512, 0, 270, 0, [SEP] 36, Window, -0.472, 1.396, -2.252, 90, 0, 0, [SEP] 37, SideTable, 0.304, -0.001, 1.225, 0, 180, 0, [SEP] 38, Drawer, 0.304, 0.165, 1.159, 0, 180, 0, [SEP] 39, Drawer, 0.304, 0.457, 1.159, 0, 180, 0, [SEP] 40, Blinds, -0.453, 2.156, -2.242, 0, 0, 0, [SEP] 41, Safe, 1.623, 5.960, 0.448, 0, 270, 0, [SEP] 42, Chair, -0.683, 0.000, -1.326, 0, 217.223, 0, [SEP] 43, Drawer, 0.416, 0.532, -1.553, 0, 0, 0, [SEP] 44, SideTable, 0.413, 0.000, -1.684, 0, 0, 0, [SEP] 45, Desk, -0.788, 0.000, -1.032, 0, 90, 0, [SEP] 46, , , , , , , , [SEP] 47, NorthWall, , , , , , , [SEP] 48, EastWall, , , , , , , [SEP] 49, SouthWall, , , , , , , [SEP] 50, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, walk across the room, turn left, walk towards the bed, turn right, and walk towards the night stand. | STEP 2: Pick up the Deep Learning book from the top of the night stand. | STEP 3: Turn left, walk forward, then turn left and walk to the desk with the clock. | STEP 4: Place the Deep Learning book on the desk to the left of the clock. | STEP 5: Turn around, turn right, then walk towards the bed. | STEP 6: Pick up the book on the bed. | STEP 7: Turn around and walk towards the desk directly behind the Deep Learning book. | STEP 8: Place the book on top of the desk | END"]} +{"id": "trial_T20190906_181233_363875-5", "input": "drop two books on the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 0.75, 0, 270, 0, [SEP] 1, Bowl, -1.283, 1.824, -0.778, 0, 0, 0, 31 [SEP] 2, Bowl, -1.283, 1.460, -1.168, 0, 0, 0, 29 [SEP] 3, CellPhone, 0.227, 0.682, 1.348, 0, 0, 0, 37 [SEP] 4, Pencil, -0.670, 0.796, -1.760, 0, 0, 0, 45 [SEP] 5, Pen, -1.361, 1.828, -1.344, 0, 90, 0, 32 [SEP] 6, KeyChain, 0.323, 0.677, -1.830, 0, 90, 0, 44 [SEP] 7, KeyChain, -1.256, 1.822, -1.256, 0, 0, 0, 32 [SEP] 8, Book, 1.243, 0.578, -1.373, 0, 0, 0, 24 [SEP] 9, Book, 0.459, 0.675, -1.635, 0, 0, 0, 44 [SEP] 10, AlarmClock, -0.981, 0.794, -0.385, 0, 0, 0, 45 [SEP] 11, Book, 1.676, 0.578, -1.373, 0, 0, 0, 46 [SEP] 12, Pencil, 0.150, 0.684, 1.393, 0, 0, 0, 37 [SEP] 13, Laptop, -1.005, 0.780, -1.477, 0, 31.363, 0, 45 [SEP] 14, Pen, 0.150, 0.686, 1.257, 0, 0, 0, 37 [SEP] 15, TennisRacket, -1.226, 0.301, -0.069, 15.000, 180, 180, [SEP] 16, TeddyBear, 1.629, 0.557, -1.064, 0, 118.287, 0, 46 [SEP] 17, Pillow, 1.215, 0.641, -1.663, 0, 0, 0, 24 [SEP] 18, CellPhone, 1.693, 0.041, 0.435, 0, 0, 0, 41 [SEP] 19, KeyChain, 1.640, 0.039, 0.595, 0, 0, 0, 41 [SEP] 20, AlarmClock, -0.315, 0.838, -1.968, 0, 0, 0, 28 [SEP] 21, CreditCard, -1.283, 1.822, -0.515, 0, 0, 0, 31 [SEP] 22, CD, -0.670, 0.792, -1.824, 0, 0, 0, 45 [SEP] 23, Bowl, -0.809, 0.824, -2.085, 0, 0, 0, 28 [SEP] 24, Bed, 1.242, -0.001, -0.881, 0, 180, 0, [SEP] 25, LightSwitch, 0.010, 1.315, 1.499, 0, 180, 0, [SEP] 26, GarbageCan, 0.840, 0.007, 1.337, 0, 180, 2.168, [SEP] 27, HousePlant, -0.083, 0.828, -2.045, 0, 0, 0, [SEP] 28, Shelf, -0.469, 0.828, -2.038, 0, 0, 0, [SEP] 29, Shelf, -1.286, 1.451, -1.343, 0, 0, 0, [SEP] 30, Shelf, -1.286, 1.451, -0.602, 0, 0, 0, [SEP] 31, Shelf, -1.286, 1.814, -0.602, 0, 0, 0, [SEP] 32, Shelf, -1.286, 1.814, -1.343, 0, 0, 0, [SEP] 33, Painting, 1.111, 1.628, -1.865, 90, 0, 0, [SEP] 34, DeskLamp, 0.473, 0.669, 1.350, 0, 0, 0, [SEP] 35, Mirror, -1.383, 1.565, 0.512, 0, 270, 0, [SEP] 36, Window, -0.472, 1.396, -2.252, 90, 0, 0, [SEP] 37, SideTable, 0.304, -0.001, 1.225, 0, 180, 0, [SEP] 38, Drawer, 0.304, 0.165, 1.159, 0, 180, 0, [SEP] 39, Drawer, 0.304, 0.457, 1.159, 0, 180, 0, [SEP] 40, Blinds, -0.453, 2.156, -2.242, 0, 0, 0, [SEP] 41, Safe, 1.623, 5.960, 0.448, 0, 270, 0, [SEP] 42, Chair, -0.683, 0.000, -1.326, 0, 217.223, 0, [SEP] 43, Drawer, 0.416, 0.532, -1.553, 0, 0, 0, [SEP] 44, SideTable, 0.413, 0.000, -1.684, 0, 0, 0, [SEP] 45, Desk, -0.788, 0.000, -1.032, 0, 90, 0, [SEP] 46, , , , , , , , [SEP] 47, NorthWall, , , , , , , [SEP] 48, EastWall, , , , , , , [SEP] 49, SouthWall, , , , , , , [SEP] 50, WestWall, , , , , , , ", "output": ["STEP 1: turn around towards the bed stool | STEP 2: pick up the book | STEP 3: turn around towards the table | STEP 4: drop the book on the table | STEP 5: turn around to the bed | STEP 6: pick up the book | STEP 7: turn around to the table | STEP 8: drop the book on the table | END"]} +{"id": "trial_T20190908_100138_446072-0", "input": "place clean lettuce inside of the kitchen fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, -2.0, 0, 0, 0, [SEP] 1, ButterKnife, -3.292, 0.717, -0.433, 0, 270, 0, 79 [SEP] 2, Pot, -0.165, 0.975, -2.030, 0, 180, 0, 66 [SEP] 3, Spatula, -2.803, 0.728, -0.780, 0, 270, 0, 79 [SEP] 4, Fork, -2.721, 0.717, -0.552, 0, 135, 0, 79 [SEP] 5, Fork, -0.530, 0.746, -0.761, 0, 90, 0, 61 [SEP] 6, Egg, -2.431, 0.749, -0.326, 0, 225, 0, 79 [SEP] 7, Plate, -3.292, 0.715, -0.620, 0, 270, 0, 79 [SEP] 8, Knife, -2.865, 0.746, -0.638, 0, 180, 0, 79 [SEP] 9, SoapBottle, -0.223, 0.079, -0.072, 0, 270, 0, 74 [SEP] 10, SoapBottle, -0.792, 1.292, -4.005, 0, 0, 0, 49 [SEP] 11, SaltShaker, -2.897, 0.710, -0.729, 0, 135, 0, 79 [SEP] 12, SaltShaker, -3.477, 0.910, -2.926, 0, 0, 0, 35 [SEP] 13, Mug, -0.065, 1.007, -0.950, 0, 0, 0, 72 [SEP] 14, Pot, -0.650, 0.916, -3.729, 0, 90, 0, 35 [SEP] 15, Egg, -0.421, 0.115, -0.062, 0, 270, 0, 74 [SEP] 16, Cup, -1.845, 0.790, -3.832, 0, 0, 0, 77 [SEP] 17, Bread, -3.167, 0.954, -3.804, 0, 0, 0, 35 [SEP] 18, Fork, -0.257, 0.916, -1.493, 0, 0, 0, 62 [SEP] 19, Pan, -0.394, 0.973, -2.414, 0, 0, 0, 60 [SEP] 20, Potato, -3.027, 1.442, -1.941, 0, 90, 0, 76 [SEP] 21, Lettuce, -3.140, 1.001, -3.126, 0, 0, 0, 35 [SEP] 22, Tomato, -1.845, 0.840, -3.704, 0, 0, 0, 77 [SEP] 23, Apple, -2.740, 0.756, -0.211, 0, 0, 0, 79 [SEP] 24, SoapBottle, -3.150, 0.716, -0.558, 0, 270, 0, 79 [SEP] 25, Spatula, -0.095, 0.930, -1.616, 0, 90, 0, 62 [SEP] 26, SaltShaker, -3.313, 1.288, -3.032, 0, 0, 0, 47 [SEP] 27, Knife, -3.155, 0.746, -0.383, 0, 225, 0, 79 [SEP] 28, PepperShaker, -0.472, 0.742, -3.406, 0, 0, 0, 63 [SEP] 29, ButterKnife, -0.160, 0.913, -3.012, 0, 0, 0, 35 [SEP] 30, Plate, -3.123, 0.711, -0.841, 0, 225, 0, 79 [SEP] 31, DishSponge, -0.039, 0.913, -3.878, 0, 0, 0, 35 [SEP] 32, Spoon, -1.638, 0.791, -3.790, 0, 0, 0, 77 [SEP] 33, Mug, -0.419, 0.910, -0.524, 0, 0, 0, 62 [SEP] 34, Bowl, -3.182, 0.638, -1.941, 0, 90, 0, 76 [SEP] 35, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0, [SEP] 36, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0, [SEP] 37, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0, [SEP] 38, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0, [SEP] 39, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0, [SEP] 40, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0, [SEP] 41, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0, [SEP] 42, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0, [SEP] 43, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0, [SEP] 44, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0, [SEP] 45, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0, [SEP] 46, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0, [SEP] 47, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0, [SEP] 48, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0, [SEP] 49, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0, [SEP] 50, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0, [SEP] 51, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0, [SEP] 52, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0, [SEP] 53, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0, [SEP] 54, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0, [SEP] 55, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0, [SEP] 56, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0, [SEP] 57, Drawer, -3.104, 0.797, -2.968, 0, 0, 0, [SEP] 58, Drawer, -0.449, 0.797, -1.410, 0, 0, 0, [SEP] 59, Sink, -1.786, 0.902, -3.748, 0, 0, 0, [SEP] 60, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0, [SEP] 61, Drawer, -0.449, 0.797, -0.762, 0, 0, 0, [SEP] 62, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0, [SEP] 63, Drawer, -0.449, 0.797, -3.348, 0, 0, 0, [SEP] 64, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0, [SEP] 65, Drawer, -0.449, 0.797, -2.968, 0, 0, 0, [SEP] 66, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0, [SEP] 67, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0, [SEP] 68, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0, [SEP] 69, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0, [SEP] 70, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0, [SEP] 71, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0, [SEP] 72, Microwave, -0.143, 0.903, -0.908, 0, 270, 0, [SEP] 73, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0, [SEP] 74, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0, [SEP] 75, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0, [SEP] 76, Fridge, -3.188, 0.0, -2.184, 0, 0, 0, [SEP] 77, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0, [SEP] 78, Toaster, -0.230, 0.903, -3.406, 0, 270, 0, [SEP] 79, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0, [SEP] 80, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0, [SEP] 81, Faucet, -1.791, 1.136, -3.913, 0, 270, 0, [SEP] 82, NorthWall, , , , , , , [SEP] 83, EastWall, , , , , , , [SEP] 84, SouthWall, , , , , , , [SEP] 85, WestWall, , , , , , , ", "output": ["STEP 1: turn around and walk to the kitchen counter ahead, then hang a right and walk to the kitchen counter on the other side of the room | STEP 2: grab the lettuce off of the counter there | STEP 3: turn around and walk over to the kitchen counter on the right | STEP 4: place the lettuce inside of the of the sink, rinse it off, then take it back out | STEP 5: turn right and walk over to the front of the fridge | STEP 6: place the lettuce inside of the fridge | END"]} +{"id": "trial_T20190908_100138_446072-1", "input": "Put washed lettuce in the refrigerator. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, -2.0, 0, 0, 0, [SEP] 1, ButterKnife, -3.292, 0.717, -0.433, 0, 270, 0, 79 [SEP] 2, Pot, -0.165, 0.975, -2.030, 0, 180, 0, 66 [SEP] 3, Spatula, -2.803, 0.728, -0.780, 0, 270, 0, 79 [SEP] 4, Fork, -2.721, 0.717, -0.552, 0, 135, 0, 79 [SEP] 5, Fork, -0.530, 0.746, -0.761, 0, 90, 0, 61 [SEP] 6, Egg, -2.431, 0.749, -0.326, 0, 225, 0, 79 [SEP] 7, Plate, -3.292, 0.715, -0.620, 0, 270, 0, 79 [SEP] 8, Knife, -2.865, 0.746, -0.638, 0, 180, 0, 79 [SEP] 9, SoapBottle, -0.223, 0.079, -0.072, 0, 270, 0, 74 [SEP] 10, SoapBottle, -0.792, 1.292, -4.005, 0, 0, 0, 49 [SEP] 11, SaltShaker, -2.897, 0.710, -0.729, 0, 135, 0, 79 [SEP] 12, SaltShaker, -3.477, 0.910, -2.926, 0, 0, 0, 35 [SEP] 13, Mug, -0.065, 1.007, -0.950, 0, 0, 0, 72 [SEP] 14, Pot, -0.650, 0.916, -3.729, 0, 90, 0, 35 [SEP] 15, Egg, -0.421, 0.115, -0.062, 0, 270, 0, 74 [SEP] 16, Cup, -1.845, 0.790, -3.832, 0, 0, 0, 77 [SEP] 17, Bread, -3.167, 0.954, -3.804, 0, 0, 0, 35 [SEP] 18, Fork, -0.257, 0.916, -1.493, 0, 0, 0, 62 [SEP] 19, Pan, -0.394, 0.973, -2.414, 0, 0, 0, 60 [SEP] 20, Potato, -3.027, 1.442, -1.941, 0, 90, 0, 76 [SEP] 21, Lettuce, -3.140, 1.001, -3.126, 0, 0, 0, 35 [SEP] 22, Tomato, -1.845, 0.840, -3.704, 0, 0, 0, 77 [SEP] 23, Apple, -2.740, 0.756, -0.211, 0, 0, 0, 79 [SEP] 24, SoapBottle, -3.150, 0.716, -0.558, 0, 270, 0, 79 [SEP] 25, Spatula, -0.095, 0.930, -1.616, 0, 90, 0, 62 [SEP] 26, SaltShaker, -3.313, 1.288, -3.032, 0, 0, 0, 47 [SEP] 27, Knife, -3.155, 0.746, -0.383, 0, 225, 0, 79 [SEP] 28, PepperShaker, -0.472, 0.742, -3.406, 0, 0, 0, 63 [SEP] 29, ButterKnife, -0.160, 0.913, -3.012, 0, 0, 0, 35 [SEP] 30, Plate, -3.123, 0.711, -0.841, 0, 225, 0, 79 [SEP] 31, DishSponge, -0.039, 0.913, -3.878, 0, 0, 0, 35 [SEP] 32, Spoon, -1.638, 0.791, -3.790, 0, 0, 0, 77 [SEP] 33, Mug, -0.419, 0.910, -0.524, 0, 0, 0, 62 [SEP] 34, Bowl, -3.182, 0.638, -1.941, 0, 90, 0, 76 [SEP] 35, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0, [SEP] 36, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0, [SEP] 37, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0, [SEP] 38, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0, [SEP] 39, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0, [SEP] 40, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0, [SEP] 41, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0, [SEP] 42, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0, [SEP] 43, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0, [SEP] 44, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0, [SEP] 45, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0, [SEP] 46, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0, [SEP] 47, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0, [SEP] 48, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0, [SEP] 49, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0, [SEP] 50, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0, [SEP] 51, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0, [SEP] 52, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0, [SEP] 53, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0, [SEP] 54, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0, [SEP] 55, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0, [SEP] 56, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0, [SEP] 57, Drawer, -3.104, 0.797, -2.968, 0, 0, 0, [SEP] 58, Drawer, -0.449, 0.797, -1.410, 0, 0, 0, [SEP] 59, Sink, -1.786, 0.902, -3.748, 0, 0, 0, [SEP] 60, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0, [SEP] 61, Drawer, -0.449, 0.797, -0.762, 0, 0, 0, [SEP] 62, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0, [SEP] 63, Drawer, -0.449, 0.797, -3.348, 0, 0, 0, [SEP] 64, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0, [SEP] 65, Drawer, -0.449, 0.797, -2.968, 0, 0, 0, [SEP] 66, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0, [SEP] 67, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0, [SEP] 68, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0, [SEP] 69, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0, [SEP] 70, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0, [SEP] 71, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0, [SEP] 72, Microwave, -0.143, 0.903, -0.908, 0, 270, 0, [SEP] 73, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0, [SEP] 74, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0, [SEP] 75, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0, [SEP] 76, Fridge, -3.188, 0.0, -2.184, 0, 0, 0, [SEP] 77, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0, [SEP] 78, Toaster, -0.230, 0.903, -3.406, 0, 270, 0, [SEP] 79, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0, [SEP] 80, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0, [SEP] 81, Faucet, -1.791, 1.136, -3.913, 0, 270, 0, [SEP] 82, NorthWall, , , , , , , [SEP] 83, EastWall, , , , , , , [SEP] 84, SouthWall, , , , , , , [SEP] 85, WestWall, , , , , , , ", "output": ["STEP 1: Turn and go to the counter by the refrigerator. | STEP 2: Pick up the lettuce on the counter. | STEP 3: Turn and go to the sink. | STEP 4: Wash the lettuce in the sink. | STEP 5: Turn and go to the refrigerator. | STEP 6: Put the lettuce in the refrigerator. | END"]} +{"id": "trial_T20190908_100138_446072-2", "input": "Place washed lettuce in a fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, -2.0, 0, 0, 0, [SEP] 1, ButterKnife, -3.292, 0.717, -0.433, 0, 270, 0, 79 [SEP] 2, Pot, -0.165, 0.975, -2.030, 0, 180, 0, 66 [SEP] 3, Spatula, -2.803, 0.728, -0.780, 0, 270, 0, 79 [SEP] 4, Fork, -2.721, 0.717, -0.552, 0, 135, 0, 79 [SEP] 5, Fork, -0.530, 0.746, -0.761, 0, 90, 0, 61 [SEP] 6, Egg, -2.431, 0.749, -0.326, 0, 225, 0, 79 [SEP] 7, Plate, -3.292, 0.715, -0.620, 0, 270, 0, 79 [SEP] 8, Knife, -2.865, 0.746, -0.638, 0, 180, 0, 79 [SEP] 9, SoapBottle, -0.223, 0.079, -0.072, 0, 270, 0, 74 [SEP] 10, SoapBottle, -0.792, 1.292, -4.005, 0, 0, 0, 49 [SEP] 11, SaltShaker, -2.897, 0.710, -0.729, 0, 135, 0, 79 [SEP] 12, SaltShaker, -3.477, 0.910, -2.926, 0, 0, 0, 35 [SEP] 13, Mug, -0.065, 1.007, -0.950, 0, 0, 0, 72 [SEP] 14, Pot, -0.650, 0.916, -3.729, 0, 90, 0, 35 [SEP] 15, Egg, -0.421, 0.115, -0.062, 0, 270, 0, 74 [SEP] 16, Cup, -1.845, 0.790, -3.832, 0, 0, 0, 77 [SEP] 17, Bread, -3.167, 0.954, -3.804, 0, 0, 0, 35 [SEP] 18, Fork, -0.257, 0.916, -1.493, 0, 0, 0, 62 [SEP] 19, Pan, -0.394, 0.973, -2.414, 0, 0, 0, 60 [SEP] 20, Potato, -3.027, 1.442, -1.941, 0, 90, 0, 76 [SEP] 21, Lettuce, -3.140, 1.001, -3.126, 0, 0, 0, 35 [SEP] 22, Tomato, -1.845, 0.840, -3.704, 0, 0, 0, 77 [SEP] 23, Apple, -2.740, 0.756, -0.211, 0, 0, 0, 79 [SEP] 24, SoapBottle, -3.150, 0.716, -0.558, 0, 270, 0, 79 [SEP] 25, Spatula, -0.095, 0.930, -1.616, 0, 90, 0, 62 [SEP] 26, SaltShaker, -3.313, 1.288, -3.032, 0, 0, 0, 47 [SEP] 27, Knife, -3.155, 0.746, -0.383, 0, 225, 0, 79 [SEP] 28, PepperShaker, -0.472, 0.742, -3.406, 0, 0, 0, 63 [SEP] 29, ButterKnife, -0.160, 0.913, -3.012, 0, 0, 0, 35 [SEP] 30, Plate, -3.123, 0.711, -0.841, 0, 225, 0, 79 [SEP] 31, DishSponge, -0.039, 0.913, -3.878, 0, 0, 0, 35 [SEP] 32, Spoon, -1.638, 0.791, -3.790, 0, 0, 0, 77 [SEP] 33, Mug, -0.419, 0.910, -0.524, 0, 0, 0, 62 [SEP] 34, Bowl, -3.182, 0.638, -1.941, 0, 90, 0, 76 [SEP] 35, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0, [SEP] 36, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0, [SEP] 37, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0, [SEP] 38, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0, [SEP] 39, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0, [SEP] 40, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0, [SEP] 41, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0, [SEP] 42, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0, [SEP] 43, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0, [SEP] 44, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0, [SEP] 45, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0, [SEP] 46, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0, [SEP] 47, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0, [SEP] 48, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0, [SEP] 49, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0, [SEP] 50, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0, [SEP] 51, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0, [SEP] 52, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0, [SEP] 53, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0, [SEP] 54, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0, [SEP] 55, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0, [SEP] 56, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0, [SEP] 57, Drawer, -3.104, 0.797, -2.968, 0, 0, 0, [SEP] 58, Drawer, -0.449, 0.797, -1.410, 0, 0, 0, [SEP] 59, Sink, -1.786, 0.902, -3.748, 0, 0, 0, [SEP] 60, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0, [SEP] 61, Drawer, -0.449, 0.797, -0.762, 0, 0, 0, [SEP] 62, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0, [SEP] 63, Drawer, -0.449, 0.797, -3.348, 0, 0, 0, [SEP] 64, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0, [SEP] 65, Drawer, -0.449, 0.797, -2.968, 0, 0, 0, [SEP] 66, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0, [SEP] 67, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0, [SEP] 68, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0, [SEP] 69, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0, [SEP] 70, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0, [SEP] 71, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0, [SEP] 72, Microwave, -0.143, 0.903, -0.908, 0, 270, 0, [SEP] 73, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0, [SEP] 74, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0, [SEP] 75, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0, [SEP] 76, Fridge, -3.188, 0.0, -2.184, 0, 0, 0, [SEP] 77, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0, [SEP] 78, Toaster, -0.230, 0.903, -3.406, 0, 270, 0, [SEP] 79, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0, [SEP] 80, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0, [SEP] 81, Faucet, -1.791, 1.136, -3.913, 0, 270, 0, [SEP] 82, NorthWall, , , , , , , [SEP] 83, EastWall, , , , , , , [SEP] 84, SouthWall, , , , , , , [SEP] 85, WestWall, , , , , , , ", "output": ["STEP 1: Go to the counter left of the fridge | STEP 2: Pick up the lettuce on the counter | STEP 3: Go to the sink | STEP 4: Wash the lettuce in the sink | STEP 5: Go to the fridge | STEP 6: Put the lettuce in the fridge | END"]} +{"id": "trial_T20190910_180358_375701-0", "input": "Put the cooked tomato slice on the kitchen island SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -0.5, 0, 270, 0, [SEP] 1, Potato, -1.796, 0.065, 1.329, 0, 270, 0, 83 [SEP] 2, CellPhone, 0.107, 0.923, 0.273, 0, 0, 0, 77 [SEP] 3, Ladle, -1.668, 0.955, -1.513, 0, 0, 0, 69 [SEP] 4, Kettle, 0.107, 0.926, 0.041, 0, 0, 0, 77 [SEP] 5, DishSponge, 1.712, 0.544, 1.088, 0, 0, 0, 67 [SEP] 6, DishSponge, -0.002, 0.760, -1.324, 0, 0, 0, 93 [SEP] 7, Spatula, 1.117, 0.926, -1.513, 0, 0, 0, 69 [SEP] 8, Spatula, 1.610, 0.364, 0.116, 0, 270, 0, 65 [SEP] 9, Pot, 1.975, 0.938, 0.384, 0, 180, 0, 55 [SEP] 10, Egg, -0.175, 0.817, -1.546, 0, 0, 0, 93 [SEP] 11, Cup, -1.789, 1.027, -0.081, 0, 90, 0, 92 [SEP] 12, Knife, 0.214, 0.947, 0.506, 0, 0, 0, 77 [SEP] 13, SoapBottle, -0.213, 0.929, 0.970, 0, 0, 0, 77 [SEP] 14, Tomato, -1.682, 0.894, 0.201, 0, 90, 0, 92 [SEP] 15, Tomato, -0.320, 0.980, 0.041, 0, 0, 0, 77 [SEP] 16, SaltShaker, -1.463, 0.907, -1.013, 0, 0, 0, 69 [SEP] 17, SaltShaker, 0.972, 1.675, -1.501, 0, 0, 0, 68 [SEP] 18, PepperShaker, -1.814, 0.907, -1.113, 0, 0, 0, 69 [SEP] 19, PepperShaker, 0.321, 0.921, 0.273, 0, 0, 0, 77 [SEP] 20, Bread, -0.213, 1.006, 0.273, 0, 0, 0, 77 [SEP] 21, Lettuce, -0.002, 0.837, -1.490, 0, 0, 0, 93 [SEP] 22, Mug, 1.355, 0.955, -1.362, 0, 0, 0, 91 [SEP] 23, Mug, -0.106, 0.920, 0.738, 0, 0, 0, 77 [SEP] 24, SoapBottle, 0.305, 0.116, -1.282, 0, 0, 0, 58 [SEP] 25, Cup, 1.156, 0.107, -1.479, 0, 0, 0, 62 [SEP] 26, Pot, 0.107, 0.929, 0.738, 0, 0, 0, 77 [SEP] 27, Fork, -0.088, 0.760, -1.490, 0, 90, 0, 93 [SEP] 28, Ladle, 0.107, 0.969, 1.202, 0, 0, 0, 77 [SEP] 29, Kettle, -0.106, 0.926, -0.190, 0, 0, 0, 77 [SEP] 30, Egg, 1.924, 1.063, -0.651, 0, 270, 0, 90 [SEP] 31, Plate, -0.305, 0.113, -1.347, 0, 0, 0, 48 [SEP] 32, Pan, -1.286, 0.9, -1.348, 0, 79.769, 0, 69 [SEP] 33, Lettuce, -0.844, 0.988, -1.513, 0, 0, 0, 69 [SEP] 34, Spatula, 1.714, 0.135, 0.672, 0, 270, 0, 61 [SEP] 35, Apple, 1.986, 0.964, 1.484, 0, 0, 0, 69 [SEP] 36, Knife, -0.106, 0.947, 0.506, 0, 180, 0, 77 [SEP] 37, SaltShaker, 1.095, 1.675, -1.614, 0, 0, 0, 68 [SEP] 38, PepperShaker, -1.059, 0.109, -1.296, 0, 0, 0, 81 [SEP] 39, CellPhone, 1.603, 0.760, 1.220, 0, 270, 0, 75 [SEP] 40, ButterKnife, 1.900, 0.911, 1.182, 0, 0, 0, 69 [SEP] 41, Bread, -0.320, 1.006, 0.506, 0, 0, 0, 77 [SEP] 42, Tomato, 0.170, 0.815, -1.380, 0, 0, 0, 93 [SEP] 43, Potato, -1.749, 0.863, -0.269, 0, 90, 0, 92 [SEP] 44, DishSponge, 1.839, 0.911, -0.053, 0, 0, 0, 69 [SEP] 45, Spoon, -0.751, 0.672, -1.301, 0, 0, 0, 60 [SEP] 46, Mug, -1.803, 1.464, -0.269, 0, 90, 0, 92 [SEP] 47, Bowl, -1.750, 1.467, -0.081, 0, 90, 0, 92 [SEP] 48, Cabinet, -0.495, 0.474, -1.149, 0, 0, 0, [SEP] 49, Window, -0.010, 1.582, -1.821, 0, 0, 0, [SEP] 50, Drawer, 0.805, 0.475, -1.159, 0, 0, 0, [SEP] 51, StoveBurner, 1.764, 0.902, 0.601, 0, 270, 0, [SEP] 52, Drawer, 1.5, 0.196, -0.019, 0, 0, 0, [SEP] 53, Drawer, 1.5, 0.629, -0.018, 0, 0, 0, [SEP] 54, Drawer, 1.5, 0.602, -0.019, 0, 270, 0, [SEP] 55, StoveBurner, 1.975, 0.902, 0.384, 0, 270, 0, [SEP] 56, Cabinet, -1.703, 2.022, -1.453, 0, 90, 0, [SEP] 57, Cabinet, 1.789, 2.019, -0.819, 0, 270, 0, [SEP] 58, Cabinet, 0.494, 0.474, -1.149, 0, 0, 0, [SEP] 59, Cabinet, 0.409, 0.475, 0.444, 0, 0, 0, [SEP] 60, Drawer, -0.696, 0.475, -1.159, 0, 0, 0, [SEP] 61, Drawer, 1.5, 0.140, 0.599, 0, 270, 0, [SEP] 62, Cabinet, 1.389, 0.474, -1.149, 0, 0, 0, [SEP] 63, Drawer, 1.5, 0.305, 0.600, 0, 0, 0, [SEP] 64, StoveBurner, 1.975, 0.902, 0.601, 0, 270, 0, [SEP] 65, Drawer, 1.5, 0.429, -0.019, 0, 0, 0, [SEP] 66, StoveBurner, 1.764, 0.902, 0.819, 0, 270, 0, [SEP] 67, Drawer, 1.5, 0.519, 1.220, 0, 0, 0, [SEP] 68, Cabinet, 1.705, 2.019, -1.449, 0, 0, 0, [SEP] 69, CounterTop, 0.002, 0.947, -1.513, 0, 0, 0, [SEP] 70, Drawer, 1.5, 0.629, 0.605, 0, 0, 0, [SEP] 71, Cabinet, -0.627, 2.019, -1.449, 0, 0, 0, [SEP] 72, StoveBurner, 1.764, 0.902, 0.384, 0, 270, 0, [SEP] 73, Drawer, 1.5, 0.538, 0.600, 0, 0, 0, [SEP] 74, Sink, 0.0, 0.893, -1.434, 0, 0, 0, [SEP] 75, Drawer, 1.5, 0.782, 1.220, 0, 270, 0, [SEP] 76, Window, 2.217, 1.565, -0.384, 0, 0, 0, [SEP] 77, CounterTop, -0.014, 0.961, 0.505, 0, 0, 0, [SEP] 78, Drawer, 1.5, 0.200, 1.220, 0, 0, 0, [SEP] 79, StoveBurner, 1.975, 0.902, 0.819, 0, 270, 0, [SEP] 80, Window, -3.240, 1.616, 2.693, 0, 270, 0, [SEP] 81, Cabinet, -1.389, 0.474, -1.149, 0, 0, 0, [SEP] 82, LightSwitch, -0.153, 1.291, 3.700, 0, 180, 0, [SEP] 83, GarbageCan, -1.796, 0.009, 1.330, 0, 270, 358.295, [SEP] 84, StoveKnob, 1.602, 0.917, 0.570, 0, 270, 180, [SEP] 85, StoveKnob, 1.602, 0.917, 0.625, 0, 270, 180, [SEP] 86, StoveKnob, 1.602, 0.917, 0.739, 0, 270, 180, [SEP] 87, StoveKnob, 1.602, 0.917, 0.680, 0, 270, 180, [SEP] 88, StoveKnob, 1.602, 0.917, 0.462, 0, 270, 180, [SEP] 89, StoveKnob, 1.602, 0.917, 0.517, 0, 270, 180, [SEP] 90, Microwave, 1.932, 0.899, -0.766, 0, 270, 0, [SEP] 91, CoffeeMachine, 1.355, 0.899, -1.596, 0, 0, 0, [SEP] 92, Fridge, -1.764, 0.0, 0.014, 0, 90, 0, [SEP] 93, SinkBasin, -0.014, 0.736, -1.435, 0, 0, 0, [SEP] 94, Toaster, 1.977, 0.900, -0.336, 0, 270, 0, [SEP] 95, Faucet, -0.020, 1.137, -1.605, 0, 270, 0, [SEP] 96, Chair, -9.354, 0.000, 1.242, 0, 180, 0, [SEP] 97, NorthWall, , , , , , , [SEP] 98, EastWall, , , , , , , [SEP] 99, SouthWall, , , , , , , [SEP] 100, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk up to the kitchen island | STEP 2: Pick up the nearest knife from the counter | STEP 3: Turn right and walk around the kitchen island to face the sink | STEP 4: Cut the tomato in the sink with the knife | STEP 5: Turn left and walk around to face the kitchen island above the oven | STEP 6: Put the knife down on the kitchen island | STEP 7: Turn left and walk back to the kitchen sink | STEP 8: Pick up a slice of tomato from the sink | STEP 9: Turn left and walk forward to the microwave | STEP 10: Cook the tomato in the microwave and then remove it | STEP 11: Turn left and walk forward then turn left to face the kitchen island | STEP 12: Put the tomato slice down on the kitchen island | END"]} +{"id": "trial_T20190910_180358_375701-1", "input": "Set a heated tomato slice on the island. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -0.5, 0, 270, 0, [SEP] 1, Potato, -1.796, 0.065, 1.329, 0, 270, 0, 83 [SEP] 2, CellPhone, 0.107, 0.923, 0.273, 0, 0, 0, 77 [SEP] 3, Ladle, -1.668, 0.955, -1.513, 0, 0, 0, 69 [SEP] 4, Kettle, 0.107, 0.926, 0.041, 0, 0, 0, 77 [SEP] 5, DishSponge, 1.712, 0.544, 1.088, 0, 0, 0, 67 [SEP] 6, DishSponge, -0.002, 0.760, -1.324, 0, 0, 0, 93 [SEP] 7, Spatula, 1.117, 0.926, -1.513, 0, 0, 0, 69 [SEP] 8, Spatula, 1.610, 0.364, 0.116, 0, 270, 0, 65 [SEP] 9, Pot, 1.975, 0.938, 0.384, 0, 180, 0, 55 [SEP] 10, Egg, -0.175, 0.817, -1.546, 0, 0, 0, 93 [SEP] 11, Cup, -1.789, 1.027, -0.081, 0, 90, 0, 92 [SEP] 12, Knife, 0.214, 0.947, 0.506, 0, 0, 0, 77 [SEP] 13, SoapBottle, -0.213, 0.929, 0.970, 0, 0, 0, 77 [SEP] 14, Tomato, -1.682, 0.894, 0.201, 0, 90, 0, 92 [SEP] 15, Tomato, -0.320, 0.980, 0.041, 0, 0, 0, 77 [SEP] 16, SaltShaker, -1.463, 0.907, -1.013, 0, 0, 0, 69 [SEP] 17, SaltShaker, 0.972, 1.675, -1.501, 0, 0, 0, 68 [SEP] 18, PepperShaker, -1.814, 0.907, -1.113, 0, 0, 0, 69 [SEP] 19, PepperShaker, 0.321, 0.921, 0.273, 0, 0, 0, 77 [SEP] 20, Bread, -0.213, 1.006, 0.273, 0, 0, 0, 77 [SEP] 21, Lettuce, -0.002, 0.837, -1.490, 0, 0, 0, 93 [SEP] 22, Mug, 1.355, 0.955, -1.362, 0, 0, 0, 91 [SEP] 23, Mug, -0.106, 0.920, 0.738, 0, 0, 0, 77 [SEP] 24, SoapBottle, 0.305, 0.116, -1.282, 0, 0, 0, 58 [SEP] 25, Cup, 1.156, 0.107, -1.479, 0, 0, 0, 62 [SEP] 26, Pot, 0.107, 0.929, 0.738, 0, 0, 0, 77 [SEP] 27, Fork, -0.088, 0.760, -1.490, 0, 90, 0, 93 [SEP] 28, Ladle, 0.107, 0.969, 1.202, 0, 0, 0, 77 [SEP] 29, Kettle, -0.106, 0.926, -0.190, 0, 0, 0, 77 [SEP] 30, Egg, 1.924, 1.063, -0.651, 0, 270, 0, 90 [SEP] 31, Plate, -0.305, 0.113, -1.347, 0, 0, 0, 48 [SEP] 32, Pan, -1.286, 0.9, -1.348, 0, 79.769, 0, 69 [SEP] 33, Lettuce, -0.844, 0.988, -1.513, 0, 0, 0, 69 [SEP] 34, Spatula, 1.714, 0.135, 0.672, 0, 270, 0, 61 [SEP] 35, Apple, 1.986, 0.964, 1.484, 0, 0, 0, 69 [SEP] 36, Knife, -0.106, 0.947, 0.506, 0, 180, 0, 77 [SEP] 37, SaltShaker, 1.095, 1.675, -1.614, 0, 0, 0, 68 [SEP] 38, PepperShaker, -1.059, 0.109, -1.296, 0, 0, 0, 81 [SEP] 39, CellPhone, 1.603, 0.760, 1.220, 0, 270, 0, 75 [SEP] 40, ButterKnife, 1.900, 0.911, 1.182, 0, 0, 0, 69 [SEP] 41, Bread, -0.320, 1.006, 0.506, 0, 0, 0, 77 [SEP] 42, Tomato, 0.170, 0.815, -1.380, 0, 0, 0, 93 [SEP] 43, Potato, -1.749, 0.863, -0.269, 0, 90, 0, 92 [SEP] 44, DishSponge, 1.839, 0.911, -0.053, 0, 0, 0, 69 [SEP] 45, Spoon, -0.751, 0.672, -1.301, 0, 0, 0, 60 [SEP] 46, Mug, -1.803, 1.464, -0.269, 0, 90, 0, 92 [SEP] 47, Bowl, -1.750, 1.467, -0.081, 0, 90, 0, 92 [SEP] 48, Cabinet, -0.495, 0.474, -1.149, 0, 0, 0, [SEP] 49, Window, -0.010, 1.582, -1.821, 0, 0, 0, [SEP] 50, Drawer, 0.805, 0.475, -1.159, 0, 0, 0, [SEP] 51, StoveBurner, 1.764, 0.902, 0.601, 0, 270, 0, [SEP] 52, Drawer, 1.5, 0.196, -0.019, 0, 0, 0, [SEP] 53, Drawer, 1.5, 0.629, -0.018, 0, 0, 0, [SEP] 54, Drawer, 1.5, 0.602, -0.019, 0, 270, 0, [SEP] 55, StoveBurner, 1.975, 0.902, 0.384, 0, 270, 0, [SEP] 56, Cabinet, -1.703, 2.022, -1.453, 0, 90, 0, [SEP] 57, Cabinet, 1.789, 2.019, -0.819, 0, 270, 0, [SEP] 58, Cabinet, 0.494, 0.474, -1.149, 0, 0, 0, [SEP] 59, Cabinet, 0.409, 0.475, 0.444, 0, 0, 0, [SEP] 60, Drawer, -0.696, 0.475, -1.159, 0, 0, 0, [SEP] 61, Drawer, 1.5, 0.140, 0.599, 0, 270, 0, [SEP] 62, Cabinet, 1.389, 0.474, -1.149, 0, 0, 0, [SEP] 63, Drawer, 1.5, 0.305, 0.600, 0, 0, 0, [SEP] 64, StoveBurner, 1.975, 0.902, 0.601, 0, 270, 0, [SEP] 65, Drawer, 1.5, 0.429, -0.019, 0, 0, 0, [SEP] 66, StoveBurner, 1.764, 0.902, 0.819, 0, 270, 0, [SEP] 67, Drawer, 1.5, 0.519, 1.220, 0, 0, 0, [SEP] 68, Cabinet, 1.705, 2.019, -1.449, 0, 0, 0, [SEP] 69, CounterTop, 0.002, 0.947, -1.513, 0, 0, 0, [SEP] 70, Drawer, 1.5, 0.629, 0.605, 0, 0, 0, [SEP] 71, Cabinet, -0.627, 2.019, -1.449, 0, 0, 0, [SEP] 72, StoveBurner, 1.764, 0.902, 0.384, 0, 270, 0, [SEP] 73, Drawer, 1.5, 0.538, 0.600, 0, 0, 0, [SEP] 74, Sink, 0.0, 0.893, -1.434, 0, 0, 0, [SEP] 75, Drawer, 1.5, 0.782, 1.220, 0, 270, 0, [SEP] 76, Window, 2.217, 1.565, -0.384, 0, 0, 0, [SEP] 77, CounterTop, -0.014, 0.961, 0.505, 0, 0, 0, [SEP] 78, Drawer, 1.5, 0.200, 1.220, 0, 0, 0, [SEP] 79, StoveBurner, 1.975, 0.902, 0.819, 0, 270, 0, [SEP] 80, Window, -3.240, 1.616, 2.693, 0, 270, 0, [SEP] 81, Cabinet, -1.389, 0.474, -1.149, 0, 0, 0, [SEP] 82, LightSwitch, -0.153, 1.291, 3.700, 0, 180, 0, [SEP] 83, GarbageCan, -1.796, 0.009, 1.330, 0, 270, 358.295, [SEP] 84, StoveKnob, 1.602, 0.917, 0.570, 0, 270, 180, [SEP] 85, StoveKnob, 1.602, 0.917, 0.625, 0, 270, 180, [SEP] 86, StoveKnob, 1.602, 0.917, 0.739, 0, 270, 180, [SEP] 87, StoveKnob, 1.602, 0.917, 0.680, 0, 270, 180, [SEP] 88, StoveKnob, 1.602, 0.917, 0.462, 0, 270, 180, [SEP] 89, StoveKnob, 1.602, 0.917, 0.517, 0, 270, 180, [SEP] 90, Microwave, 1.932, 0.899, -0.766, 0, 270, 0, [SEP] 91, CoffeeMachine, 1.355, 0.899, -1.596, 0, 0, 0, [SEP] 92, Fridge, -1.764, 0.0, 0.014, 0, 90, 0, [SEP] 93, SinkBasin, -0.014, 0.736, -1.435, 0, 0, 0, [SEP] 94, Toaster, 1.977, 0.900, -0.336, 0, 270, 0, [SEP] 95, Faucet, -0.020, 1.137, -1.605, 0, 270, 0, [SEP] 96, Chair, -9.354, 0.000, 1.242, 0, 180, 0, [SEP] 97, NorthWall, , , , , , , [SEP] 98, EastWall, , , , , , , [SEP] 99, SouthWall, , , , , , , [SEP] 100, WestWall, , , , , , , ", "output": ["STEP 1: Turn around to the right and go to the island. | STEP 2: Pick up the closest chef's knife to you. | STEP 3: Turn and go to the sink. | STEP 4: Slice the tomato in the sink. | STEP 5: Turn and go to the island above the oven. | STEP 6: Set the chef's knife on top of the other chef's knife. | STEP 7: Go back to the sink behind you. | STEP 8: Pick up a slice of tomato. | STEP 9: Move to the microwave. | STEP 10: Heat the tomato slice in the microwave. | STEP 11: Take the heated tomato slice to the island above the oven. | STEP 12: Set the tomato clice down to the right of the chef's knife. | END"]} +{"id": "trial_T20190910_180358_375701-2", "input": "Put a knife plus a slice of tomato on the counter by the other knife and black kettle. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -0.5, 0, 270, 0, [SEP] 1, Potato, -1.796, 0.065, 1.329, 0, 270, 0, 83 [SEP] 2, CellPhone, 0.107, 0.923, 0.273, 0, 0, 0, 77 [SEP] 3, Ladle, -1.668, 0.955, -1.513, 0, 0, 0, 69 [SEP] 4, Kettle, 0.107, 0.926, 0.041, 0, 0, 0, 77 [SEP] 5, DishSponge, 1.712, 0.544, 1.088, 0, 0, 0, 67 [SEP] 6, DishSponge, -0.002, 0.760, -1.324, 0, 0, 0, 93 [SEP] 7, Spatula, 1.117, 0.926, -1.513, 0, 0, 0, 69 [SEP] 8, Spatula, 1.610, 0.364, 0.116, 0, 270, 0, 65 [SEP] 9, Pot, 1.975, 0.938, 0.384, 0, 180, 0, 55 [SEP] 10, Egg, -0.175, 0.817, -1.546, 0, 0, 0, 93 [SEP] 11, Cup, -1.789, 1.027, -0.081, 0, 90, 0, 92 [SEP] 12, Knife, 0.214, 0.947, 0.506, 0, 0, 0, 77 [SEP] 13, SoapBottle, -0.213, 0.929, 0.970, 0, 0, 0, 77 [SEP] 14, Tomato, -1.682, 0.894, 0.201, 0, 90, 0, 92 [SEP] 15, Tomato, -0.320, 0.980, 0.041, 0, 0, 0, 77 [SEP] 16, SaltShaker, -1.463, 0.907, -1.013, 0, 0, 0, 69 [SEP] 17, SaltShaker, 0.972, 1.675, -1.501, 0, 0, 0, 68 [SEP] 18, PepperShaker, -1.814, 0.907, -1.113, 0, 0, 0, 69 [SEP] 19, PepperShaker, 0.321, 0.921, 0.273, 0, 0, 0, 77 [SEP] 20, Bread, -0.213, 1.006, 0.273, 0, 0, 0, 77 [SEP] 21, Lettuce, -0.002, 0.837, -1.490, 0, 0, 0, 93 [SEP] 22, Mug, 1.355, 0.955, -1.362, 0, 0, 0, 91 [SEP] 23, Mug, -0.106, 0.920, 0.738, 0, 0, 0, 77 [SEP] 24, SoapBottle, 0.305, 0.116, -1.282, 0, 0, 0, 58 [SEP] 25, Cup, 1.156, 0.107, -1.479, 0, 0, 0, 62 [SEP] 26, Pot, 0.107, 0.929, 0.738, 0, 0, 0, 77 [SEP] 27, Fork, -0.088, 0.760, -1.490, 0, 90, 0, 93 [SEP] 28, Ladle, 0.107, 0.969, 1.202, 0, 0, 0, 77 [SEP] 29, Kettle, -0.106, 0.926, -0.190, 0, 0, 0, 77 [SEP] 30, Egg, 1.924, 1.063, -0.651, 0, 270, 0, 90 [SEP] 31, Plate, -0.305, 0.113, -1.347, 0, 0, 0, 48 [SEP] 32, Pan, -1.286, 0.9, -1.348, 0, 79.769, 0, 69 [SEP] 33, Lettuce, -0.844, 0.988, -1.513, 0, 0, 0, 69 [SEP] 34, Spatula, 1.714, 0.135, 0.672, 0, 270, 0, 61 [SEP] 35, Apple, 1.986, 0.964, 1.484, 0, 0, 0, 69 [SEP] 36, Knife, -0.106, 0.947, 0.506, 0, 180, 0, 77 [SEP] 37, SaltShaker, 1.095, 1.675, -1.614, 0, 0, 0, 68 [SEP] 38, PepperShaker, -1.059, 0.109, -1.296, 0, 0, 0, 81 [SEP] 39, CellPhone, 1.603, 0.760, 1.220, 0, 270, 0, 75 [SEP] 40, ButterKnife, 1.900, 0.911, 1.182, 0, 0, 0, 69 [SEP] 41, Bread, -0.320, 1.006, 0.506, 0, 0, 0, 77 [SEP] 42, Tomato, 0.170, 0.815, -1.380, 0, 0, 0, 93 [SEP] 43, Potato, -1.749, 0.863, -0.269, 0, 90, 0, 92 [SEP] 44, DishSponge, 1.839, 0.911, -0.053, 0, 0, 0, 69 [SEP] 45, Spoon, -0.751, 0.672, -1.301, 0, 0, 0, 60 [SEP] 46, Mug, -1.803, 1.464, -0.269, 0, 90, 0, 92 [SEP] 47, Bowl, -1.750, 1.467, -0.081, 0, 90, 0, 92 [SEP] 48, Cabinet, -0.495, 0.474, -1.149, 0, 0, 0, [SEP] 49, Window, -0.010, 1.582, -1.821, 0, 0, 0, [SEP] 50, Drawer, 0.805, 0.475, -1.159, 0, 0, 0, [SEP] 51, StoveBurner, 1.764, 0.902, 0.601, 0, 270, 0, [SEP] 52, Drawer, 1.5, 0.196, -0.019, 0, 0, 0, [SEP] 53, Drawer, 1.5, 0.629, -0.018, 0, 0, 0, [SEP] 54, Drawer, 1.5, 0.602, -0.019, 0, 270, 0, [SEP] 55, StoveBurner, 1.975, 0.902, 0.384, 0, 270, 0, [SEP] 56, Cabinet, -1.703, 2.022, -1.453, 0, 90, 0, [SEP] 57, Cabinet, 1.789, 2.019, -0.819, 0, 270, 0, [SEP] 58, Cabinet, 0.494, 0.474, -1.149, 0, 0, 0, [SEP] 59, Cabinet, 0.409, 0.475, 0.444, 0, 0, 0, [SEP] 60, Drawer, -0.696, 0.475, -1.159, 0, 0, 0, [SEP] 61, Drawer, 1.5, 0.140, 0.599, 0, 270, 0, [SEP] 62, Cabinet, 1.389, 0.474, -1.149, 0, 0, 0, [SEP] 63, Drawer, 1.5, 0.305, 0.600, 0, 0, 0, [SEP] 64, StoveBurner, 1.975, 0.902, 0.601, 0, 270, 0, [SEP] 65, Drawer, 1.5, 0.429, -0.019, 0, 0, 0, [SEP] 66, StoveBurner, 1.764, 0.902, 0.819, 0, 270, 0, [SEP] 67, Drawer, 1.5, 0.519, 1.220, 0, 0, 0, [SEP] 68, Cabinet, 1.705, 2.019, -1.449, 0, 0, 0, [SEP] 69, CounterTop, 0.002, 0.947, -1.513, 0, 0, 0, [SEP] 70, Drawer, 1.5, 0.629, 0.605, 0, 0, 0, [SEP] 71, Cabinet, -0.627, 2.019, -1.449, 0, 0, 0, [SEP] 72, StoveBurner, 1.764, 0.902, 0.384, 0, 270, 0, [SEP] 73, Drawer, 1.5, 0.538, 0.600, 0, 0, 0, [SEP] 74, Sink, 0.0, 0.893, -1.434, 0, 0, 0, [SEP] 75, Drawer, 1.5, 0.782, 1.220, 0, 270, 0, [SEP] 76, Window, 2.217, 1.565, -0.384, 0, 0, 0, [SEP] 77, CounterTop, -0.014, 0.961, 0.505, 0, 0, 0, [SEP] 78, Drawer, 1.5, 0.200, 1.220, 0, 0, 0, [SEP] 79, StoveBurner, 1.975, 0.902, 0.819, 0, 270, 0, [SEP] 80, Window, -3.240, 1.616, 2.693, 0, 270, 0, [SEP] 81, Cabinet, -1.389, 0.474, -1.149, 0, 0, 0, [SEP] 82, LightSwitch, -0.153, 1.291, 3.700, 0, 180, 0, [SEP] 83, GarbageCan, -1.796, 0.009, 1.330, 0, 270, 358.295, [SEP] 84, StoveKnob, 1.602, 0.917, 0.570, 0, 270, 180, [SEP] 85, StoveKnob, 1.602, 0.917, 0.625, 0, 270, 180, [SEP] 86, StoveKnob, 1.602, 0.917, 0.739, 0, 270, 180, [SEP] 87, StoveKnob, 1.602, 0.917, 0.680, 0, 270, 180, [SEP] 88, StoveKnob, 1.602, 0.917, 0.462, 0, 270, 180, [SEP] 89, StoveKnob, 1.602, 0.917, 0.517, 0, 270, 180, [SEP] 90, Microwave, 1.932, 0.899, -0.766, 0, 270, 0, [SEP] 91, CoffeeMachine, 1.355, 0.899, -1.596, 0, 0, 0, [SEP] 92, Fridge, -1.764, 0.0, 0.014, 0, 90, 0, [SEP] 93, SinkBasin, -0.014, 0.736, -1.435, 0, 0, 0, [SEP] 94, Toaster, 1.977, 0.900, -0.336, 0, 270, 0, [SEP] 95, Faucet, -0.020, 1.137, -1.605, 0, 270, 0, [SEP] 96, Chair, -9.354, 0.000, 1.242, 0, 180, 0, [SEP] 97, NorthWall, , , , , , , [SEP] 98, EastWall, , , , , , , [SEP] 99, SouthWall, , , , , , , [SEP] 100, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, walk three steps forward and then turn left to face the counter. | STEP 2: Pick up the knife next to the loaves of bread. | STEP 3: Turn right and to the sink. | STEP 4: Use the knife to slice the tomato in the sink. | STEP 5: Turn left toward the microwave then turn right and to the knife on the counter. | STEP 6: Put the knife down so it is resting on the other knife with the bladed end touching the salt shaker. | STEP 7: Turn left and go back to the sink. | STEP 8: Pick up the middle piece of sliced tomato. | STEP 9: Turn left and go to the microwave. | STEP 10: Open the microwave, put the tomato inside, turn it on then take the tomato out and close it. | STEP 11: Turn left and walk back to the knives on the counter. | STEP 12: Put the tomato slice down so it is standing up in front of the black kettle. | END"]} +{"id": "trial_T20190908_183331_203888-0", "input": "Put two spatulas away in a drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.899, 0.5, 0, 0, 0, [SEP] 1, Pencil, -0.104, 0.925, 4.944, 0, 0, 0, 62 [SEP] 2, Potato, -2.688, 1.579, 1.633, 0, 0, 0, 107 [SEP] 3, Potato, -0.342, 1.369, 3.355, 0, 270, 0, 110 [SEP] 4, ButterKnife, -0.411, 0.925, 5.273, 0, 0, 0, 62 [SEP] 5, ButterKnife, -2.109, 0.923, 1.951, 0, 90, 0, 59 [SEP] 6, WineBottle, -4.102, 0.924, 2.882, 0, 0, 0, 77 [SEP] 7, WineBottle, -0.565, 0.926, 6.261, 0, 0, 0, 62 [SEP] 8, Pot, -2.924, 0.930, 1.712, 0, 180, 0, 74 [SEP] 9, Fork, -4.033, 0.924, 5.418, 0, 90, 0, 77 [SEP] 10, Fork, -1.943, 0.924, 2.026, 0, 0, 0, 59 [SEP] 11, Spoon, -3.135, 0.924, 5.489, 0, 90, 0, 77 [SEP] 12, Spoon, -4.233, 0.792, 3.285, 0, 90, 0, 109 [SEP] 13, Spatula, -3.686, 0.938, 1.951, 0, 0, 0, 77 [SEP] 14, Egg, -0.218, 1.371, 3.850, 0, 270, 0, 110 [SEP] 15, Plate, -3.323, 1.460, 5.512, 0, 90, 0, 63 [SEP] 16, Knife, -0.181, 0.954, 5.603, 0, 0, 0, 62 [SEP] 17, Tomato, -0.334, 0.982, 5.603, 0, 0, 0, 62 [SEP] 18, Bowl, -1.905, 1.450, 1.638, 0, 0, 0, 96 [SEP] 19, Bowl, -0.301, 1.577, 3.349, 0, 270, 0, 110 [SEP] 20, PepperShaker, -0.488, 0.921, 5.603, 0, 0, 0, 62 [SEP] 21, Lettuce, -4.335, 1.018, 4.381, 0, 90, 0, 77 [SEP] 22, Lettuce, -4.233, 0.886, 3.222, 0, 270, 0, 109 [SEP] 23, Bread, -4.26, 1.003, 5.159, 0, 90, 0, 77 [SEP] 24, Mug, -0.409, 0.955, 6.557, 0, 270, 0, 98 [SEP] 25, Apple, -2.635, 1.599, 1.731, 0, 0, 0, 107 [SEP] 26, Apple, -0.301, 1.739, 4.035, 0, 270, 0, 110 [SEP] 27, Egg, -0.565, 0.960, 5.932, 0, 0, 0, 111 [SEP] 28, Apple, -4.271, 0.844, 3.410, 0, 270, 0, 109 [SEP] 29, Knife, -0.258, 0.954, 4.944, 0, 0, 0, 62 [SEP] 30, Potato, -0.342, 1.369, 3.850, 0, 270, 0, 110 [SEP] 31, Fork, -1.777, 0.924, 2.026, 0, 0, 0, 59 [SEP] 32, Bowl, -0.488, 0.922, 4.944, 0, 0, 0, 62 [SEP] 33, Plate, -4.335, 0.924, 3.863, 0, 90, 0, 77 [SEP] 34, Lettuce, -4.204, 1.018, 1.951, 0, 180, 0, 77 [SEP] 35, Bread, -0.258, 1.004, 5.273, 0, 0, 0, 62 [SEP] 36, Tomato, -3.712, 0.125, 6.333, 0, 270, 0, 103 [SEP] 37, WineBottle, -0.565, 0.926, 5.273, 0, 0, 0, 62 [SEP] 38, Spatula, -1.610, 0.938, 1.724, 0, 0, 0, 59 [SEP] 39, PaperTowelRoll, -0.565, 1.029, 6.591, 0, 0, 0, 62 [SEP] 40, Cup, -3.127, 1.458, 5.403, 0, 90, 0, 63 [SEP] 41, Pencil, -4.451, 0.923, 2.649, 0, 0, 0, 77 [SEP] 42, Pan, -2.454, 0.933, 2.023, 0, 240.000, 0, 65 [SEP] 43, Pot, -2.924, 0.930, 2.012, 0, 0, 0, 60 [SEP] 44, SaltShaker, -3.481, 0.741, 5.162, 0, 180, 0, 68 [SEP] 45, SoapBottle, -0.242, 2.133, 3.181, 0, 180, 0, 79 [SEP] 46, PepperShaker, -4.184, 0.919, 4.900, 0, 90, 0, 77 [SEP] 47, ButterKnife, -3.255, 0.923, 5.336, 0, 90, 0, 77 [SEP] 48, DishSponge, -3.419, 0.081, 1.889, 0, 0, 0, 52 [SEP] 49, Spoon, -4.196, 0.792, 3.159, 0, 270, 0, 109 [SEP] 50, Mug, -0.348, 1.065, 3.726, 0, 270, 0, 110 [SEP] 51, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0, [SEP] 52, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0, [SEP] 53, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0, [SEP] 54, Drawer, -3.797, 0.781, 1.961, 0, 0, 0, [SEP] 55, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0, [SEP] 56, Drawer, -0.509, 0.775, 5.268, 0, 270, 0, [SEP] 57, Drawer, -4.125, 0.798, 2.499, 0, 0, 0, [SEP] 58, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0, [SEP] 59, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0, [SEP] 60, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0, [SEP] 61, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0, [SEP] 62, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0, [SEP] 63, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0, [SEP] 64, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0, [SEP] 65, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0, [SEP] 66, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0, [SEP] 67, Drawer, -0.509, 0.775, 4.617, 0, 270, 0, [SEP] 68, Drawer, -3.509, 0.777, 5.157, 0, 180, 0, [SEP] 69, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0, [SEP] 70, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0, [SEP] 71, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0, [SEP] 72, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0, [SEP] 73, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0, [SEP] 74, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0, [SEP] 75, Drawer, -1.859, 0.775, 1.961, 0, 0, 0, [SEP] 76, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0, [SEP] 77, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0, [SEP] 78, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0, [SEP] 79, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0, [SEP] 80, Drawer, -3.801, 0.777, 5.157, 0, 180, 0, [SEP] 81, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0, [SEP] 82, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0, [SEP] 83, Drawer, -3.418, 0.777, 1.961, 0, 0, 0, [SEP] 84, Drawer, -4.090, 0.777, 4.661, 0, 90, 0, [SEP] 85, Faucet, -4.441, 0.909, 3.288, 270, 0, 0, [SEP] 86, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0, [SEP] 87, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0, [SEP] 88, Drawer, -0.509, 0.775, 5.920, 0, 270, 0, [SEP] 89, Drawer, -3.193, 0.777, 5.157, 0, 180, 0, [SEP] 90, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0, [SEP] 91, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0, [SEP] 92, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0, [SEP] 93, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0, [SEP] 94, Sink, -4.190, 0.921, 3.279, 0, 0, 0, [SEP] 95, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0, [SEP] 96, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0, [SEP] 97, Drawer, -0.509, 0.775, 6.568, 0, 270, 0, [SEP] 98, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0, [SEP] 99, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180, [SEP] 100, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180, [SEP] 101, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180, [SEP] 102, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180, [SEP] 103, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0, [SEP] 104, Toaster, -3.578, 0.912, 1.763, 0, 0, 0, [SEP] 105, Curtains, -4.522, 2.252, 3.391, 90, 90, 0, [SEP] 106, Window, -4.868, 1.629, 3.309, 90, 270, 0, [SEP] 107, Microwave, -2.693, 1.430, 1.689, 0, 0, 0, [SEP] 108, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0, [SEP] 109, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0, [SEP] 110, Fridge, -0.324, -0.001, 3.602, 0, 0, 0, [SEP] 111, , , , , , , , [SEP] 112, NorthWall, , , , , , , [SEP] 113, EastWall, , , , , , , [SEP] 114, SouthWall, , , , , , , [SEP] 115, WestWall, , , , , , , ", "output": ["STEP 1: Go to the counter to the right of the stove where the toaster is. | STEP 2: Pick up the spatula that is on the right side of the toaster. | STEP 3: With the spatula in your hand turn to your left and move in front of the stove. | STEP 4: Open the top drawer that is to the left of the stove while holding the spatula. Place the spatula in the drawer in the front left. Close the drawer. | STEP 5: Go to the side of the counter that is to the left of the stove where the spatula is. | STEP 6: Pick up the spatula that is on the counter. | STEP 7: With the spatula in your hand turn and go to the stove but face to the left so the stove is on your right. | STEP 8: Open the drawer that is to the left of the stove with the spatula in your hand. Place the spatula in your hand in the drawer behind the spatula that is in there. Close the drawer. | END"]} +{"id": "trial_T20190908_183331_203888-1", "input": "Put two spatulas in the drawer SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.899, 0.5, 0, 0, 0, [SEP] 1, Pencil, -0.104, 0.925, 4.944, 0, 0, 0, 62 [SEP] 2, Potato, -2.688, 1.579, 1.633, 0, 0, 0, 107 [SEP] 3, Potato, -0.342, 1.369, 3.355, 0, 270, 0, 110 [SEP] 4, ButterKnife, -0.411, 0.925, 5.273, 0, 0, 0, 62 [SEP] 5, ButterKnife, -2.109, 0.923, 1.951, 0, 90, 0, 59 [SEP] 6, WineBottle, -4.102, 0.924, 2.882, 0, 0, 0, 77 [SEP] 7, WineBottle, -0.565, 0.926, 6.261, 0, 0, 0, 62 [SEP] 8, Pot, -2.924, 0.930, 1.712, 0, 180, 0, 74 [SEP] 9, Fork, -4.033, 0.924, 5.418, 0, 90, 0, 77 [SEP] 10, Fork, -1.943, 0.924, 2.026, 0, 0, 0, 59 [SEP] 11, Spoon, -3.135, 0.924, 5.489, 0, 90, 0, 77 [SEP] 12, Spoon, -4.233, 0.792, 3.285, 0, 90, 0, 109 [SEP] 13, Spatula, -3.686, 0.938, 1.951, 0, 0, 0, 77 [SEP] 14, Egg, -0.218, 1.371, 3.850, 0, 270, 0, 110 [SEP] 15, Plate, -3.323, 1.460, 5.512, 0, 90, 0, 63 [SEP] 16, Knife, -0.181, 0.954, 5.603, 0, 0, 0, 62 [SEP] 17, Tomato, -0.334, 0.982, 5.603, 0, 0, 0, 62 [SEP] 18, Bowl, -1.905, 1.450, 1.638, 0, 0, 0, 96 [SEP] 19, Bowl, -0.301, 1.577, 3.349, 0, 270, 0, 110 [SEP] 20, PepperShaker, -0.488, 0.921, 5.603, 0, 0, 0, 62 [SEP] 21, Lettuce, -4.335, 1.018, 4.381, 0, 90, 0, 77 [SEP] 22, Lettuce, -4.233, 0.886, 3.222, 0, 270, 0, 109 [SEP] 23, Bread, -4.26, 1.003, 5.159, 0, 90, 0, 77 [SEP] 24, Mug, -0.409, 0.955, 6.557, 0, 270, 0, 98 [SEP] 25, Apple, -2.635, 1.599, 1.731, 0, 0, 0, 107 [SEP] 26, Apple, -0.301, 1.739, 4.035, 0, 270, 0, 110 [SEP] 27, Egg, -0.565, 0.960, 5.932, 0, 0, 0, 111 [SEP] 28, Apple, -4.271, 0.844, 3.410, 0, 270, 0, 109 [SEP] 29, Knife, -0.258, 0.954, 4.944, 0, 0, 0, 62 [SEP] 30, Potato, -0.342, 1.369, 3.850, 0, 270, 0, 110 [SEP] 31, Fork, -1.777, 0.924, 2.026, 0, 0, 0, 59 [SEP] 32, Bowl, -0.488, 0.922, 4.944, 0, 0, 0, 62 [SEP] 33, Plate, -4.335, 0.924, 3.863, 0, 90, 0, 77 [SEP] 34, Lettuce, -4.204, 1.018, 1.951, 0, 180, 0, 77 [SEP] 35, Bread, -0.258, 1.004, 5.273, 0, 0, 0, 62 [SEP] 36, Tomato, -3.712, 0.125, 6.333, 0, 270, 0, 103 [SEP] 37, WineBottle, -0.565, 0.926, 5.273, 0, 0, 0, 62 [SEP] 38, Spatula, -1.610, 0.938, 1.724, 0, 0, 0, 59 [SEP] 39, PaperTowelRoll, -0.565, 1.029, 6.591, 0, 0, 0, 62 [SEP] 40, Cup, -3.127, 1.458, 5.403, 0, 90, 0, 63 [SEP] 41, Pencil, -4.451, 0.923, 2.649, 0, 0, 0, 77 [SEP] 42, Pan, -2.454, 0.933, 2.023, 0, 240.000, 0, 65 [SEP] 43, Pot, -2.924, 0.930, 2.012, 0, 0, 0, 60 [SEP] 44, SaltShaker, -3.481, 0.741, 5.162, 0, 180, 0, 68 [SEP] 45, SoapBottle, -0.242, 2.133, 3.181, 0, 180, 0, 79 [SEP] 46, PepperShaker, -4.184, 0.919, 4.900, 0, 90, 0, 77 [SEP] 47, ButterKnife, -3.255, 0.923, 5.336, 0, 90, 0, 77 [SEP] 48, DishSponge, -3.419, 0.081, 1.889, 0, 0, 0, 52 [SEP] 49, Spoon, -4.196, 0.792, 3.159, 0, 270, 0, 109 [SEP] 50, Mug, -0.348, 1.065, 3.726, 0, 270, 0, 110 [SEP] 51, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0, [SEP] 52, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0, [SEP] 53, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0, [SEP] 54, Drawer, -3.797, 0.781, 1.961, 0, 0, 0, [SEP] 55, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0, [SEP] 56, Drawer, -0.509, 0.775, 5.268, 0, 270, 0, [SEP] 57, Drawer, -4.125, 0.798, 2.499, 0, 0, 0, [SEP] 58, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0, [SEP] 59, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0, [SEP] 60, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0, [SEP] 61, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0, [SEP] 62, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0, [SEP] 63, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0, [SEP] 64, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0, [SEP] 65, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0, [SEP] 66, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0, [SEP] 67, Drawer, -0.509, 0.775, 4.617, 0, 270, 0, [SEP] 68, Drawer, -3.509, 0.777, 5.157, 0, 180, 0, [SEP] 69, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0, [SEP] 70, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0, [SEP] 71, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0, [SEP] 72, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0, [SEP] 73, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0, [SEP] 74, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0, [SEP] 75, Drawer, -1.859, 0.775, 1.961, 0, 0, 0, [SEP] 76, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0, [SEP] 77, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0, [SEP] 78, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0, [SEP] 79, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0, [SEP] 80, Drawer, -3.801, 0.777, 5.157, 0, 180, 0, [SEP] 81, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0, [SEP] 82, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0, [SEP] 83, Drawer, -3.418, 0.777, 1.961, 0, 0, 0, [SEP] 84, Drawer, -4.090, 0.777, 4.661, 0, 90, 0, [SEP] 85, Faucet, -4.441, 0.909, 3.288, 270, 0, 0, [SEP] 86, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0, [SEP] 87, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0, [SEP] 88, Drawer, -0.509, 0.775, 5.920, 0, 270, 0, [SEP] 89, Drawer, -3.193, 0.777, 5.157, 0, 180, 0, [SEP] 90, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0, [SEP] 91, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0, [SEP] 92, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0, [SEP] 93, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0, [SEP] 94, Sink, -4.190, 0.921, 3.279, 0, 0, 0, [SEP] 95, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0, [SEP] 96, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0, [SEP] 97, Drawer, -0.509, 0.775, 6.568, 0, 270, 0, [SEP] 98, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0, [SEP] 99, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180, [SEP] 100, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180, [SEP] 101, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180, [SEP] 102, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180, [SEP] 103, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0, [SEP] 104, Toaster, -3.578, 0.912, 1.763, 0, 0, 0, [SEP] 105, Curtains, -4.522, 2.252, 3.391, 90, 90, 0, [SEP] 106, Window, -4.868, 1.629, 3.309, 90, 270, 0, [SEP] 107, Microwave, -2.693, 1.430, 1.689, 0, 0, 0, [SEP] 108, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0, [SEP] 109, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0, [SEP] 110, Fridge, -0.324, -0.001, 3.602, 0, 0, 0, [SEP] 111, , , , , , , , [SEP] 112, NorthWall, , , , , , , [SEP] 113, EastWall, , , , , , , [SEP] 114, SouthWall, , , , , , , [SEP] 115, WestWall, , , , , , , ", "output": ["STEP 1: Go forward, turn left, go forward, turn left at the counter | STEP 2: Pick up the spatula on the counter | STEP 3: Turn right, go forward to the end of the counter | STEP 4: Put the spatula in the drawer | STEP 5: Turn left, go forward a bit, turn right, go forward a bit, turn right and face the counter | STEP 6: Pick up the spatula on the counter | STEP 7: Turn right, go forward a bit, turn left, go forward a bit, turn around | STEP 8: Put the spatula in the drawer | END"]} +{"id": "trial_T20190908_183331_203888-2", "input": "Put two spatulas in the drawer by the stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.899, 0.5, 0, 0, 0, [SEP] 1, Pencil, -0.104, 0.925, 4.944, 0, 0, 0, 62 [SEP] 2, Potato, -2.688, 1.579, 1.633, 0, 0, 0, 107 [SEP] 3, Potato, -0.342, 1.369, 3.355, 0, 270, 0, 110 [SEP] 4, ButterKnife, -0.411, 0.925, 5.273, 0, 0, 0, 62 [SEP] 5, ButterKnife, -2.109, 0.923, 1.951, 0, 90, 0, 59 [SEP] 6, WineBottle, -4.102, 0.924, 2.882, 0, 0, 0, 77 [SEP] 7, WineBottle, -0.565, 0.926, 6.261, 0, 0, 0, 62 [SEP] 8, Pot, -2.924, 0.930, 1.712, 0, 180, 0, 74 [SEP] 9, Fork, -4.033, 0.924, 5.418, 0, 90, 0, 77 [SEP] 10, Fork, -1.943, 0.924, 2.026, 0, 0, 0, 59 [SEP] 11, Spoon, -3.135, 0.924, 5.489, 0, 90, 0, 77 [SEP] 12, Spoon, -4.233, 0.792, 3.285, 0, 90, 0, 109 [SEP] 13, Spatula, -3.686, 0.938, 1.951, 0, 0, 0, 77 [SEP] 14, Egg, -0.218, 1.371, 3.850, 0, 270, 0, 110 [SEP] 15, Plate, -3.323, 1.460, 5.512, 0, 90, 0, 63 [SEP] 16, Knife, -0.181, 0.954, 5.603, 0, 0, 0, 62 [SEP] 17, Tomato, -0.334, 0.982, 5.603, 0, 0, 0, 62 [SEP] 18, Bowl, -1.905, 1.450, 1.638, 0, 0, 0, 96 [SEP] 19, Bowl, -0.301, 1.577, 3.349, 0, 270, 0, 110 [SEP] 20, PepperShaker, -0.488, 0.921, 5.603, 0, 0, 0, 62 [SEP] 21, Lettuce, -4.335, 1.018, 4.381, 0, 90, 0, 77 [SEP] 22, Lettuce, -4.233, 0.886, 3.222, 0, 270, 0, 109 [SEP] 23, Bread, -4.26, 1.003, 5.159, 0, 90, 0, 77 [SEP] 24, Mug, -0.409, 0.955, 6.557, 0, 270, 0, 98 [SEP] 25, Apple, -2.635, 1.599, 1.731, 0, 0, 0, 107 [SEP] 26, Apple, -0.301, 1.739, 4.035, 0, 270, 0, 110 [SEP] 27, Egg, -0.565, 0.960, 5.932, 0, 0, 0, 111 [SEP] 28, Apple, -4.271, 0.844, 3.410, 0, 270, 0, 109 [SEP] 29, Knife, -0.258, 0.954, 4.944, 0, 0, 0, 62 [SEP] 30, Potato, -0.342, 1.369, 3.850, 0, 270, 0, 110 [SEP] 31, Fork, -1.777, 0.924, 2.026, 0, 0, 0, 59 [SEP] 32, Bowl, -0.488, 0.922, 4.944, 0, 0, 0, 62 [SEP] 33, Plate, -4.335, 0.924, 3.863, 0, 90, 0, 77 [SEP] 34, Lettuce, -4.204, 1.018, 1.951, 0, 180, 0, 77 [SEP] 35, Bread, -0.258, 1.004, 5.273, 0, 0, 0, 62 [SEP] 36, Tomato, -3.712, 0.125, 6.333, 0, 270, 0, 103 [SEP] 37, WineBottle, -0.565, 0.926, 5.273, 0, 0, 0, 62 [SEP] 38, Spatula, -1.610, 0.938, 1.724, 0, 0, 0, 59 [SEP] 39, PaperTowelRoll, -0.565, 1.029, 6.591, 0, 0, 0, 62 [SEP] 40, Cup, -3.127, 1.458, 5.403, 0, 90, 0, 63 [SEP] 41, Pencil, -4.451, 0.923, 2.649, 0, 0, 0, 77 [SEP] 42, Pan, -2.454, 0.933, 2.023, 0, 240.000, 0, 65 [SEP] 43, Pot, -2.924, 0.930, 2.012, 0, 0, 0, 60 [SEP] 44, SaltShaker, -3.481, 0.741, 5.162, 0, 180, 0, 68 [SEP] 45, SoapBottle, -0.242, 2.133, 3.181, 0, 180, 0, 79 [SEP] 46, PepperShaker, -4.184, 0.919, 4.900, 0, 90, 0, 77 [SEP] 47, ButterKnife, -3.255, 0.923, 5.336, 0, 90, 0, 77 [SEP] 48, DishSponge, -3.419, 0.081, 1.889, 0, 0, 0, 52 [SEP] 49, Spoon, -4.196, 0.792, 3.159, 0, 270, 0, 109 [SEP] 50, Mug, -0.348, 1.065, 3.726, 0, 270, 0, 110 [SEP] 51, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0, [SEP] 52, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0, [SEP] 53, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0, [SEP] 54, Drawer, -3.797, 0.781, 1.961, 0, 0, 0, [SEP] 55, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0, [SEP] 56, Drawer, -0.509, 0.775, 5.268, 0, 270, 0, [SEP] 57, Drawer, -4.125, 0.798, 2.499, 0, 0, 0, [SEP] 58, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0, [SEP] 59, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0, [SEP] 60, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0, [SEP] 61, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0, [SEP] 62, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0, [SEP] 63, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0, [SEP] 64, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0, [SEP] 65, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0, [SEP] 66, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0, [SEP] 67, Drawer, -0.509, 0.775, 4.617, 0, 270, 0, [SEP] 68, Drawer, -3.509, 0.777, 5.157, 0, 180, 0, [SEP] 69, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0, [SEP] 70, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0, [SEP] 71, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0, [SEP] 72, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0, [SEP] 73, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0, [SEP] 74, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0, [SEP] 75, Drawer, -1.859, 0.775, 1.961, 0, 0, 0, [SEP] 76, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0, [SEP] 77, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0, [SEP] 78, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0, [SEP] 79, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0, [SEP] 80, Drawer, -3.801, 0.777, 5.157, 0, 180, 0, [SEP] 81, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0, [SEP] 82, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0, [SEP] 83, Drawer, -3.418, 0.777, 1.961, 0, 0, 0, [SEP] 84, Drawer, -4.090, 0.777, 4.661, 0, 90, 0, [SEP] 85, Faucet, -4.441, 0.909, 3.288, 270, 0, 0, [SEP] 86, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0, [SEP] 87, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0, [SEP] 88, Drawer, -0.509, 0.775, 5.920, 0, 270, 0, [SEP] 89, Drawer, -3.193, 0.777, 5.157, 0, 180, 0, [SEP] 90, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0, [SEP] 91, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0, [SEP] 92, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0, [SEP] 93, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0, [SEP] 94, Sink, -4.190, 0.921, 3.279, 0, 0, 0, [SEP] 95, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0, [SEP] 96, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0, [SEP] 97, Drawer, -0.509, 0.775, 6.568, 0, 270, 0, [SEP] 98, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0, [SEP] 99, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180, [SEP] 100, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180, [SEP] 101, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180, [SEP] 102, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180, [SEP] 103, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0, [SEP] 104, Toaster, -3.578, 0.912, 1.763, 0, 0, 0, [SEP] 105, Curtains, -4.522, 2.252, 3.391, 90, 90, 0, [SEP] 106, Window, -4.868, 1.629, 3.309, 90, 270, 0, [SEP] 107, Microwave, -2.693, 1.430, 1.689, 0, 0, 0, [SEP] 108, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0, [SEP] 109, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0, [SEP] 110, Fridge, -0.324, -0.001, 3.602, 0, 0, 0, [SEP] 111, , , , , , , , [SEP] 112, NorthWall, , , , , , , [SEP] 113, EastWall, , , , , , , [SEP] 114, SouthWall, , , , , , , [SEP] 115, WestWall, , , , , , , ", "output": ["STEP 1: Turn and go to the counter by the stove. | STEP 2: Pick up the spatula on the counter. | STEP 3: Turn and go to the drawer by the stove. | STEP 4: Put the spatula in the drawer by the stove. | STEP 5: Turn left and go to the counter by the stove. | STEP 6: Pick up the spatula on the counter. | STEP 7: Turn and go to the drawer by the stove. | STEP 8: Put the spatula in the drawer by the stove. | END"]} +{"id": "trial_T20190907_173251_960848-0", "input": "Heat a glass and place it in the cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.900, 1.75, 0, 90, 0, [SEP] 1, Fork, 0.836, 1.112, 0.729, 0, 315, 0, 63 [SEP] 2, Fork, 0.307, 0.748, -1.095, 0, 90, 0, 71 [SEP] 3, Spatula, -1.418, 0.864, -1.305, 0, 90, 0, 80 [SEP] 4, Cup, -2.853, 0.909, -0.062, 0, 0, 0, 62 [SEP] 5, Cup, -1.591, 0.848, -1.305, 0, 0, 0, 80 [SEP] 6, Cup, -2.553, 0.113, -0.107, 0, 0, 0, 51 [SEP] 7, Plate, -1.602, 1.664, -1.397, 0, 0, 0, 44 [SEP] 8, Tomato, 1.240, 1.161, 0.787, 0, 315, 0, 63 [SEP] 9, Bowl, -1.102, 1.661, -1.360, 0, 0, 0, 59 [SEP] 10, PepperShaker, -2.438, 0.907, -0.062, 0, 0, 0, 62 [SEP] 11, PepperShaker, -0.137, 1.108, 1.555, 0, 315, 0, 63 [SEP] 12, SaltShaker, -2.735, 1.661, 0.300, 0, 0, 0, 56 [SEP] 13, SaltShaker, 0.765, 0.907, -0.948, 0, 0, 0, 70 [SEP] 14, Bread, 0.842, 0.965, -1.199, 0, 0, 0, 70 [SEP] 15, Bread, -2.800, 1.528, 1.013, 0, 90, 0, 82 [SEP] 16, Mug, 1.029, 1.145, 0.209, 0, 228.424, 0, 73 [SEP] 17, Apple, 0.241, 1.060, -1.347, 0, 0, 0, 83 [SEP] 18, Pan, -2.59, 0.9, -1.147, 0, 0, 0, 70 [SEP] 19, Apple, -1.332, 0.901, -1.360, 0, 0, 0, 80 [SEP] 20, Fork, -2.521, 0.911, -0.062, 0, 0, 0, 62 [SEP] 21, Kettle, -2.620, 0.922, -0.724, 0, 0, 0, 61 [SEP] 22, CreditCard, -1.987, 0.743, -1.094, 0, 0, 0, 65 [SEP] 23, Bread, -0.401, 0.948, -1.291, 0, 0, 0, 70 [SEP] 24, Plate, 0.307, 1.113, 1.866, 0, 315, 0, 63 [SEP] 25, SoapBottle, -0.165, 1.112, 1.718, 0, 315, 0, 63 [SEP] 26, Spatula, -2.236, 0.926, -0.948, 0, 0, 0, 70 [SEP] 27, Lettuce, -2.660, 0.874, 0.983, 31.046, 0, 0, 82 [SEP] 28, SaltShaker, 0.032, 1.108, 1.940, 0, 315, 0, 63 [SEP] 29, Tomato, 0.817, 1.161, 1.056, 0, 315, 0, 63 [SEP] 30, PepperShaker, -2.936, 0.907, -0.147, 0, 0, 0, 62 [SEP] 31, ButterKnife, -2.714, 0.746, 0.163, 0, 90, 0, 68 [SEP] 32, Pot, -2.622, 0.928, -0.396, 0, 0, 0, 64 [SEP] 33, Potato, -0.598, 0.933, -1.119, 0, 47.530, 0, 70 [SEP] 34, DishSponge, -2.786, 0.035, 1.466, 0, 0, 0, 81 [SEP] 35, Egg, 0.136, 1.136, 1.274, 0, 0, 0, 63 [SEP] 36, Spoon, -2.671, 0.747, 0.036, 0, 90, 0, 68 [SEP] 37, Knife, 0.060, 1.106, 1.587, 270, 209.997, 0, 63 [SEP] 38, Cup, -1.159, 0.850, -1.360, 0, 0, 0, 80 [SEP] 39, Mug, -2.619, 1.468, 0.690, 0, 0, 0, 82 [SEP] 40, Bowl, -2.740, 0.377, 0.690, 0, 90, 0, 82 [SEP] 41, Cabinet, -2.647, 2.075, -0.875, 0, 0, 0, [SEP] 42, Cabinet, -2.647, 2.075, -0.234, 0, 0, 0, [SEP] 43, Cabinet, -0.824, 0.469, -0.907, 0, 0, 0, [SEP] 44, Cabinet, -1.764, 2.009, -1.197, 0, 0, 0, [SEP] 45, Cabinet, -1.834, 2.009, -1.197, 0, 0, 0, [SEP] 46, Cabinet, -1.850, 0.389, -0.897, 0, 0, 0, [SEP] 47, Cabinet, -1.801, 0.469, -0.907, 0, 0, 0, [SEP] 48, Cabinet, 1.115, 2.009, -1.197, 0, 0, 0, [SEP] 49, Cabinet, 0.235, 2.009, -1.197, 0, 0, 0, [SEP] 50, Cabinet, 1.125, 0.470, -0.897, 0, 0, 0, [SEP] 51, Cabinet, -2.387, 0.389, 0.375, 0, 0, 0, [SEP] 52, Cabinet, 0.484, 0.389, -0.897, 0, 0, 0, [SEP] 53, Cabinet, -2.625, 2.009, -1.197, 0, 0, 0, [SEP] 54, Cabinet, -2.647, 2.009, -0.945, 0, 0, 0, [SEP] 55, Cabinet, -2.647, 2.200, 1.664, 0, 0, 0, [SEP] 56, Cabinet, -2.647, 2.009, 0.364, 0, 0, 0, [SEP] 57, Cabinet, 0.164, 2.009, -1.197, 0, 0, 0, [SEP] 58, Cabinet, -0.765, 2.009, -1.197, 0, 0, 0, [SEP] 59, Cabinet, -0.834, 2.009, -1.197, 0, 0, 0, [SEP] 60, Cabinet, -2.647, 2.200, 0.434, 0, 0, 0, [SEP] 61, StoveBurner, -2.622, 0.886, -0.711, 0, 0, 0, [SEP] 62, CounterTop, -2.699, 0.946, 0.106, 0, 0, 0, [SEP] 63, CounterTop, 0.908, 1.147, 0.788, 0, 315, 0, [SEP] 64, StoveBurner, -2.622, 0.886, -0.396, 0, 0, 0, [SEP] 65, Drawer, -2.026, 0.779, -1.082, 0, 0, 0, [SEP] 66, Sink, -1.328, 0.916, -1.225, 0, 0, 0, [SEP] 67, StoveBurner, -2.822, 0.886, -0.711, 0, 0, 0, [SEP] 68, Drawer, -2.572, 0.779, 0.099, 0, 0, 0, [SEP] 69, StoveBurner, -2.822, 0.886, -0.396, 0, 0, 0, [SEP] 70, CounterTop, 0.071, 0.946, -1.199, 0, 0, 0, [SEP] 71, Drawer, 0.254, 0.779, -1.082, 0, 0, 0, [SEP] 72, LightSwitch, -1.167, 1.307, 3.0, 0, 180, 0, [SEP] 73, CoffeeMachine, 1.124, 1.100, 0.312, 0, 227.685, 0, [SEP] 74, StoveKnob, -2.429, 0.863, -0.621, 311.864, 270, 180, [SEP] 75, StoveKnob, -2.429, 0.863, -0.477, 311.864, 270, 180, [SEP] 76, StoveKnob, -2.429, 0.863, -0.782, 311.864, 270, 180, [SEP] 77, StoveKnob, -2.429, 0.863, -0.324, 311.864, 270, 180, [SEP] 78, Window, 0.321, 1.449, 3.088, 90, 0, 0, [SEP] 79, Toaster, -2.823, 0.899, 0.246, 0, 90, 0, [SEP] 80, SinkBasin, -1.344, 0.838, -1.25, 0, 0, 0, [SEP] 81, GarbageCan, -2.757, 1.886, 1.466, 0, 0, 0, [SEP] 82, Fridge, -2.855, 0.0, 0.851, 0, 0, 0, [SEP] 83, Microwave, 0.283, 0.900, -1.331, 0, 0, 0, [SEP] 84, Stool, 1.541, 0.010, 1.328, 0, 45, 0, [SEP] 85, Stool, 0.983, 0.010, 1.793, 0, 47.459, 0, [SEP] 86, Faucet, -1.392, 1.136, -1.399, 0, 270, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go across the room. Turn left and go back to the sink. | STEP 2: Pick up a glass from the left side of the sink. | STEP 3: Hold the glass and take a few steps to the left. | STEP 4: Place the glass inside the microwave and turn it on. Take the glass out of the microwave and shut the door. | STEP 5: Hold the glass and look up to the cabinets. | STEP 6: Place the glass in the left cabinet and shut the door. | END"]} +{"id": "trial_T20190907_173251_960848-1", "input": "heat the wine glasses with microwave, put it in the cabinet above SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.900, 1.75, 0, 90, 0, [SEP] 1, Fork, 0.836, 1.112, 0.729, 0, 315, 0, 63 [SEP] 2, Fork, 0.307, 0.748, -1.095, 0, 90, 0, 71 [SEP] 3, Spatula, -1.418, 0.864, -1.305, 0, 90, 0, 80 [SEP] 4, Cup, -2.853, 0.909, -0.062, 0, 0, 0, 62 [SEP] 5, Cup, -1.591, 0.848, -1.305, 0, 0, 0, 80 [SEP] 6, Cup, -2.553, 0.113, -0.107, 0, 0, 0, 51 [SEP] 7, Plate, -1.602, 1.664, -1.397, 0, 0, 0, 44 [SEP] 8, Tomato, 1.240, 1.161, 0.787, 0, 315, 0, 63 [SEP] 9, Bowl, -1.102, 1.661, -1.360, 0, 0, 0, 59 [SEP] 10, PepperShaker, -2.438, 0.907, -0.062, 0, 0, 0, 62 [SEP] 11, PepperShaker, -0.137, 1.108, 1.555, 0, 315, 0, 63 [SEP] 12, SaltShaker, -2.735, 1.661, 0.300, 0, 0, 0, 56 [SEP] 13, SaltShaker, 0.765, 0.907, -0.948, 0, 0, 0, 70 [SEP] 14, Bread, 0.842, 0.965, -1.199, 0, 0, 0, 70 [SEP] 15, Bread, -2.800, 1.528, 1.013, 0, 90, 0, 82 [SEP] 16, Mug, 1.029, 1.145, 0.209, 0, 228.424, 0, 73 [SEP] 17, Apple, 0.241, 1.060, -1.347, 0, 0, 0, 83 [SEP] 18, Pan, -2.59, 0.9, -1.147, 0, 0, 0, 70 [SEP] 19, Apple, -1.332, 0.901, -1.360, 0, 0, 0, 80 [SEP] 20, Fork, -2.521, 0.911, -0.062, 0, 0, 0, 62 [SEP] 21, Kettle, -2.620, 0.922, -0.724, 0, 0, 0, 61 [SEP] 22, CreditCard, -1.987, 0.743, -1.094, 0, 0, 0, 65 [SEP] 23, Bread, -0.401, 0.948, -1.291, 0, 0, 0, 70 [SEP] 24, Plate, 0.307, 1.113, 1.866, 0, 315, 0, 63 [SEP] 25, SoapBottle, -0.165, 1.112, 1.718, 0, 315, 0, 63 [SEP] 26, Spatula, -2.236, 0.926, -0.948, 0, 0, 0, 70 [SEP] 27, Lettuce, -2.660, 0.874, 0.983, 31.046, 0, 0, 82 [SEP] 28, SaltShaker, 0.032, 1.108, 1.940, 0, 315, 0, 63 [SEP] 29, Tomato, 0.817, 1.161, 1.056, 0, 315, 0, 63 [SEP] 30, PepperShaker, -2.936, 0.907, -0.147, 0, 0, 0, 62 [SEP] 31, ButterKnife, -2.714, 0.746, 0.163, 0, 90, 0, 68 [SEP] 32, Pot, -2.622, 0.928, -0.396, 0, 0, 0, 64 [SEP] 33, Potato, -0.598, 0.933, -1.119, 0, 47.530, 0, 70 [SEP] 34, DishSponge, -2.786, 0.035, 1.466, 0, 0, 0, 81 [SEP] 35, Egg, 0.136, 1.136, 1.274, 0, 0, 0, 63 [SEP] 36, Spoon, -2.671, 0.747, 0.036, 0, 90, 0, 68 [SEP] 37, Knife, 0.060, 1.106, 1.587, 270, 209.997, 0, 63 [SEP] 38, Cup, -1.159, 0.850, -1.360, 0, 0, 0, 80 [SEP] 39, Mug, -2.619, 1.468, 0.690, 0, 0, 0, 82 [SEP] 40, Bowl, -2.740, 0.377, 0.690, 0, 90, 0, 82 [SEP] 41, Cabinet, -2.647, 2.075, -0.875, 0, 0, 0, [SEP] 42, Cabinet, -2.647, 2.075, -0.234, 0, 0, 0, [SEP] 43, Cabinet, -0.824, 0.469, -0.907, 0, 0, 0, [SEP] 44, Cabinet, -1.764, 2.009, -1.197, 0, 0, 0, [SEP] 45, Cabinet, -1.834, 2.009, -1.197, 0, 0, 0, [SEP] 46, Cabinet, -1.850, 0.389, -0.897, 0, 0, 0, [SEP] 47, Cabinet, -1.801, 0.469, -0.907, 0, 0, 0, [SEP] 48, Cabinet, 1.115, 2.009, -1.197, 0, 0, 0, [SEP] 49, Cabinet, 0.235, 2.009, -1.197, 0, 0, 0, [SEP] 50, Cabinet, 1.125, 0.470, -0.897, 0, 0, 0, [SEP] 51, Cabinet, -2.387, 0.389, 0.375, 0, 0, 0, [SEP] 52, Cabinet, 0.484, 0.389, -0.897, 0, 0, 0, [SEP] 53, Cabinet, -2.625, 2.009, -1.197, 0, 0, 0, [SEP] 54, Cabinet, -2.647, 2.009, -0.945, 0, 0, 0, [SEP] 55, Cabinet, -2.647, 2.200, 1.664, 0, 0, 0, [SEP] 56, Cabinet, -2.647, 2.009, 0.364, 0, 0, 0, [SEP] 57, Cabinet, 0.164, 2.009, -1.197, 0, 0, 0, [SEP] 58, Cabinet, -0.765, 2.009, -1.197, 0, 0, 0, [SEP] 59, Cabinet, -0.834, 2.009, -1.197, 0, 0, 0, [SEP] 60, Cabinet, -2.647, 2.200, 0.434, 0, 0, 0, [SEP] 61, StoveBurner, -2.622, 0.886, -0.711, 0, 0, 0, [SEP] 62, CounterTop, -2.699, 0.946, 0.106, 0, 0, 0, [SEP] 63, CounterTop, 0.908, 1.147, 0.788, 0, 315, 0, [SEP] 64, StoveBurner, -2.622, 0.886, -0.396, 0, 0, 0, [SEP] 65, Drawer, -2.026, 0.779, -1.082, 0, 0, 0, [SEP] 66, Sink, -1.328, 0.916, -1.225, 0, 0, 0, [SEP] 67, StoveBurner, -2.822, 0.886, -0.711, 0, 0, 0, [SEP] 68, Drawer, -2.572, 0.779, 0.099, 0, 0, 0, [SEP] 69, StoveBurner, -2.822, 0.886, -0.396, 0, 0, 0, [SEP] 70, CounterTop, 0.071, 0.946, -1.199, 0, 0, 0, [SEP] 71, Drawer, 0.254, 0.779, -1.082, 0, 0, 0, [SEP] 72, LightSwitch, -1.167, 1.307, 3.0, 0, 180, 0, [SEP] 73, CoffeeMachine, 1.124, 1.100, 0.312, 0, 227.685, 0, [SEP] 74, StoveKnob, -2.429, 0.863, -0.621, 311.864, 270, 180, [SEP] 75, StoveKnob, -2.429, 0.863, -0.477, 311.864, 270, 180, [SEP] 76, StoveKnob, -2.429, 0.863, -0.782, 311.864, 270, 180, [SEP] 77, StoveKnob, -2.429, 0.863, -0.324, 311.864, 270, 180, [SEP] 78, Window, 0.321, 1.449, 3.088, 90, 0, 0, [SEP] 79, Toaster, -2.823, 0.899, 0.246, 0, 90, 0, [SEP] 80, SinkBasin, -1.344, 0.838, -1.25, 0, 0, 0, [SEP] 81, GarbageCan, -2.757, 1.886, 1.466, 0, 0, 0, [SEP] 82, Fridge, -2.855, 0.0, 0.851, 0, 0, 0, [SEP] 83, Microwave, 0.283, 0.900, -1.331, 0, 0, 0, [SEP] 84, Stool, 1.541, 0.010, 1.328, 0, 45, 0, [SEP] 85, Stool, 0.983, 0.010, 1.793, 0, 47.459, 0, [SEP] 86, Faucet, -1.392, 1.136, -1.399, 0, 270, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: turn around, walk to the sink | STEP 2: grab the wine glasses in the sink | STEP 3: walk to the left a little | STEP 4: open the microwave, put the glasses in, heat the glasses, take the glasses out | STEP 5: look above the the microwave | STEP 6: open the cabinet on the left, put the glasses in the cabinet, close the cabinet | END"]} +{"id": "trial_T20190907_173251_960848-2", "input": "Microwave a glass, put it in the cupboard SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.900, 1.75, 0, 90, 0, [SEP] 1, Fork, 0.836, 1.112, 0.729, 0, 315, 0, 63 [SEP] 2, Fork, 0.307, 0.748, -1.095, 0, 90, 0, 71 [SEP] 3, Spatula, -1.418, 0.864, -1.305, 0, 90, 0, 80 [SEP] 4, Cup, -2.853, 0.909, -0.062, 0, 0, 0, 62 [SEP] 5, Cup, -1.591, 0.848, -1.305, 0, 0, 0, 80 [SEP] 6, Cup, -2.553, 0.113, -0.107, 0, 0, 0, 51 [SEP] 7, Plate, -1.602, 1.664, -1.397, 0, 0, 0, 44 [SEP] 8, Tomato, 1.240, 1.161, 0.787, 0, 315, 0, 63 [SEP] 9, Bowl, -1.102, 1.661, -1.360, 0, 0, 0, 59 [SEP] 10, PepperShaker, -2.438, 0.907, -0.062, 0, 0, 0, 62 [SEP] 11, PepperShaker, -0.137, 1.108, 1.555, 0, 315, 0, 63 [SEP] 12, SaltShaker, -2.735, 1.661, 0.300, 0, 0, 0, 56 [SEP] 13, SaltShaker, 0.765, 0.907, -0.948, 0, 0, 0, 70 [SEP] 14, Bread, 0.842, 0.965, -1.199, 0, 0, 0, 70 [SEP] 15, Bread, -2.800, 1.528, 1.013, 0, 90, 0, 82 [SEP] 16, Mug, 1.029, 1.145, 0.209, 0, 228.424, 0, 73 [SEP] 17, Apple, 0.241, 1.060, -1.347, 0, 0, 0, 83 [SEP] 18, Pan, -2.59, 0.9, -1.147, 0, 0, 0, 70 [SEP] 19, Apple, -1.332, 0.901, -1.360, 0, 0, 0, 80 [SEP] 20, Fork, -2.521, 0.911, -0.062, 0, 0, 0, 62 [SEP] 21, Kettle, -2.620, 0.922, -0.724, 0, 0, 0, 61 [SEP] 22, CreditCard, -1.987, 0.743, -1.094, 0, 0, 0, 65 [SEP] 23, Bread, -0.401, 0.948, -1.291, 0, 0, 0, 70 [SEP] 24, Plate, 0.307, 1.113, 1.866, 0, 315, 0, 63 [SEP] 25, SoapBottle, -0.165, 1.112, 1.718, 0, 315, 0, 63 [SEP] 26, Spatula, -2.236, 0.926, -0.948, 0, 0, 0, 70 [SEP] 27, Lettuce, -2.660, 0.874, 0.983, 31.046, 0, 0, 82 [SEP] 28, SaltShaker, 0.032, 1.108, 1.940, 0, 315, 0, 63 [SEP] 29, Tomato, 0.817, 1.161, 1.056, 0, 315, 0, 63 [SEP] 30, PepperShaker, -2.936, 0.907, -0.147, 0, 0, 0, 62 [SEP] 31, ButterKnife, -2.714, 0.746, 0.163, 0, 90, 0, 68 [SEP] 32, Pot, -2.622, 0.928, -0.396, 0, 0, 0, 64 [SEP] 33, Potato, -0.598, 0.933, -1.119, 0, 47.530, 0, 70 [SEP] 34, DishSponge, -2.786, 0.035, 1.466, 0, 0, 0, 81 [SEP] 35, Egg, 0.136, 1.136, 1.274, 0, 0, 0, 63 [SEP] 36, Spoon, -2.671, 0.747, 0.036, 0, 90, 0, 68 [SEP] 37, Knife, 0.060, 1.106, 1.587, 270, 209.997, 0, 63 [SEP] 38, Cup, -1.159, 0.850, -1.360, 0, 0, 0, 80 [SEP] 39, Mug, -2.619, 1.468, 0.690, 0, 0, 0, 82 [SEP] 40, Bowl, -2.740, 0.377, 0.690, 0, 90, 0, 82 [SEP] 41, Cabinet, -2.647, 2.075, -0.875, 0, 0, 0, [SEP] 42, Cabinet, -2.647, 2.075, -0.234, 0, 0, 0, [SEP] 43, Cabinet, -0.824, 0.469, -0.907, 0, 0, 0, [SEP] 44, Cabinet, -1.764, 2.009, -1.197, 0, 0, 0, [SEP] 45, Cabinet, -1.834, 2.009, -1.197, 0, 0, 0, [SEP] 46, Cabinet, -1.850, 0.389, -0.897, 0, 0, 0, [SEP] 47, Cabinet, -1.801, 0.469, -0.907, 0, 0, 0, [SEP] 48, Cabinet, 1.115, 2.009, -1.197, 0, 0, 0, [SEP] 49, Cabinet, 0.235, 2.009, -1.197, 0, 0, 0, [SEP] 50, Cabinet, 1.125, 0.470, -0.897, 0, 0, 0, [SEP] 51, Cabinet, -2.387, 0.389, 0.375, 0, 0, 0, [SEP] 52, Cabinet, 0.484, 0.389, -0.897, 0, 0, 0, [SEP] 53, Cabinet, -2.625, 2.009, -1.197, 0, 0, 0, [SEP] 54, Cabinet, -2.647, 2.009, -0.945, 0, 0, 0, [SEP] 55, Cabinet, -2.647, 2.200, 1.664, 0, 0, 0, [SEP] 56, Cabinet, -2.647, 2.009, 0.364, 0, 0, 0, [SEP] 57, Cabinet, 0.164, 2.009, -1.197, 0, 0, 0, [SEP] 58, Cabinet, -0.765, 2.009, -1.197, 0, 0, 0, [SEP] 59, Cabinet, -0.834, 2.009, -1.197, 0, 0, 0, [SEP] 60, Cabinet, -2.647, 2.200, 0.434, 0, 0, 0, [SEP] 61, StoveBurner, -2.622, 0.886, -0.711, 0, 0, 0, [SEP] 62, CounterTop, -2.699, 0.946, 0.106, 0, 0, 0, [SEP] 63, CounterTop, 0.908, 1.147, 0.788, 0, 315, 0, [SEP] 64, StoveBurner, -2.622, 0.886, -0.396, 0, 0, 0, [SEP] 65, Drawer, -2.026, 0.779, -1.082, 0, 0, 0, [SEP] 66, Sink, -1.328, 0.916, -1.225, 0, 0, 0, [SEP] 67, StoveBurner, -2.822, 0.886, -0.711, 0, 0, 0, [SEP] 68, Drawer, -2.572, 0.779, 0.099, 0, 0, 0, [SEP] 69, StoveBurner, -2.822, 0.886, -0.396, 0, 0, 0, [SEP] 70, CounterTop, 0.071, 0.946, -1.199, 0, 0, 0, [SEP] 71, Drawer, 0.254, 0.779, -1.082, 0, 0, 0, [SEP] 72, LightSwitch, -1.167, 1.307, 3.0, 0, 180, 0, [SEP] 73, CoffeeMachine, 1.124, 1.100, 0.312, 0, 227.685, 0, [SEP] 74, StoveKnob, -2.429, 0.863, -0.621, 311.864, 270, 180, [SEP] 75, StoveKnob, -2.429, 0.863, -0.477, 311.864, 270, 180, [SEP] 76, StoveKnob, -2.429, 0.863, -0.782, 311.864, 270, 180, [SEP] 77, StoveKnob, -2.429, 0.863, -0.324, 311.864, 270, 180, [SEP] 78, Window, 0.321, 1.449, 3.088, 90, 0, 0, [SEP] 79, Toaster, -2.823, 0.899, 0.246, 0, 90, 0, [SEP] 80, SinkBasin, -1.344, 0.838, -1.25, 0, 0, 0, [SEP] 81, GarbageCan, -2.757, 1.886, 1.466, 0, 0, 0, [SEP] 82, Fridge, -2.855, 0.0, 0.851, 0, 0, 0, [SEP] 83, Microwave, 0.283, 0.900, -1.331, 0, 0, 0, [SEP] 84, Stool, 1.541, 0.010, 1.328, 0, 45, 0, [SEP] 85, Stool, 0.983, 0.010, 1.793, 0, 47.459, 0, [SEP] 86, Faucet, -1.392, 1.136, -1.399, 0, 270, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, go to the wall, turn left, go towards the door, turn right, go to the sink | STEP 2: Pick up a glass from the sink | STEP 3: Turn left, go forward, turn right at the microwave | STEP 4: Put the glass in the microwave, start the microwave, wait, pick up the glass | STEP 5: Look upwards to the left cupboard | STEP 6: Open the cupboard on the left and put the glass in it, close the cupboard | END"]} +{"id": "trial_T20190918_184236_557252-0", "input": "place a knife on the microwave oven table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 1.124, -0.25, 0, 270, 0, [SEP] 1, Potato, -1.698, 1.090, -0.587, 0, 0, 0, 69 [SEP] 2, DishSponge, -1.237, 1.322, -2.870, 0, 0, 0, 51 [SEP] 3, Kettle, -0.630, 1.331, -3.301, 0, 180, 0, 48 [SEP] 4, Fork, -1.790, 1.323, -1.681, 0, 0, 0, 51 [SEP] 5, Fork, -1.790, 1.323, -2.721, 0, 270, 0, 51 [SEP] 6, Spoon, 0.349, 1.324, -3.121, 0, 0, 0, 51 [SEP] 7, Spatula, -2.004, 1.343, -0.911, 0, 180, 0, 58 [SEP] 8, Cup, -1.886, 0.341, 1.523, 0, 0, 0, 52 [SEP] 9, Cup, 0.982, 1.943, 1.730, 0, 270, 0, 64 [SEP] 10, Knife, -1.165, 1.352, -3.203, 0, 0, 0, 51 [SEP] 11, Knife, -2.004, 1.366, -1.117, 0, 180, 0, 58 [SEP] 12, Knife, -1.737, 1.358, -0.911, 0, 180, 0, 58 [SEP] 13, Tomato, -1.954, 1.084, -0.587, 0, 0, 0, 69 [SEP] 14, Bowl, -2.093, 1.332, -1.186, 0, 0, 0, 58 [SEP] 15, PepperShaker, -1.308, 1.318, -2.760, 0, 0, 0, 51 [SEP] 16, PepperShaker, 0.778, 1.202, 1.238, 0, 0, 0, 76 [SEP] 17, Bread, -2.049, 1.397, 1.419, 0, 0, 0, 51 [SEP] 18, Lettuce, -1.660, 1.399, -2.201, 0, 0, 0, 51 [SEP] 19, Lettuce, -1.660, 1.399, 2.069, 0, 0, 0, 51 [SEP] 20, Mug, -1.698, 1.046, -0.451, 0, 0, 0, 69 [SEP] 21, Apple, -2.179, 1.371, 1.094, 0, 0, 0, 51 [SEP] 22, Apple, 0.938, 1.724, 1.722, 0, 270, 0, 64 [SEP] 23, Bread, -1.401, 1.397, 1.094, 0, 0, 0, 51 [SEP] 24, Pot, -0.749, 1.332, -2.973, 0, 0, 0, 54 [SEP] 25, Knife, 0.715, 1.317, -2.202, 90, 27.324, 0, 51 [SEP] 26, Bowl, -1.826, 1.331, -0.980, 0, 0, 0, 58 [SEP] 27, Potato, 0.349, 1.362, -3.343, 0, 90, 0, 51 [SEP] 28, SoapBottle, -1.681, 0.344, 0.412, 0, 0, 0, 49 [SEP] 29, Fork, 0.420, 1.323, -2.789, 0, 0, 0, 51 [SEP] 30, Cup, -1.826, 1.061, -0.542, 0, 0, 0, 69 [SEP] 31, Kettle, -1.691, 1.310, -3.156, 0, 150.000, 0, 51 [SEP] 32, Egg, -1.522, 1.363, -2.981, 0, 0, 0, 51 [SEP] 33, Pan, -1.920, 1.322, 1.744, 0, 90, 0, 51 [SEP] 34, SaltShaker, -1.920, 1.318, -1.941, 0, 0, 0, 51 [SEP] 35, WineBottle, -1.884, 0.344, 0.713, 0, 0, 0, 49 [SEP] 36, Lettuce, 1.017, 1.833, 2.112, 0, 270, 0, 64 [SEP] 37, Spatula, -2.049, 1.337, -2.721, 0, 0, 0, 51 [SEP] 38, PaperTowelRoll, -1.530, 1.427, 1.419, 0, 0, 0, 51 [SEP] 39, Tomato, 1.027, 1.241, 1.254, 0, 0, 0, 76 [SEP] 40, Plate, 0.900, 0.345, -1.854, 0, 180, 0, 50 [SEP] 41, PepperShaker, -1.660, 1.318, -2.721, 0, 0, 0, 51 [SEP] 42, DishSponge, -1.826, 1.050, -0.633, 0, 0, 0, 69 [SEP] 43, Spoon, -1.530, 1.324, 1.744, 0, 0, 0, 51 [SEP] 44, Apple, -1.657, 0.329, 2.234, 0, 270, 0, 66 [SEP] 45, Mug, 1.276, 1.202, 1.238, 0, 0, 0, 76 [SEP] 46, StoveBurner, -0.239, 1.325, -3.301, 0, 180, 0, [SEP] 47, Cabinet, -1.461, 0.775, -2.002, 0, 0, 0, [SEP] 48, StoveBurner, -0.630, 1.325, -3.301, 0, 180, 0, [SEP] 49, Cabinet, -1.461, 0.775, 0.470, 0, 0, 0, [SEP] 50, Cabinet, 0.578, 0.776, -2.054, 0, 0, 0, [SEP] 51, CounterTop, -1.809, 1.358, 1.182, 0, 0, 0, [SEP] 52, Cabinet, -1.461, 0.775, 1.310, 0, 0, 0, [SEP] 53, Faucet, -2.063, 1.362, -0.726, 0, 39.391, 0, [SEP] 54, StoveBurner, -0.749, 1.325, -2.973, 0, 0, 0, [SEP] 55, Drawer, -1.610, 0.681, -0.430, 0, 0, 0, [SEP] 56, Window, -2.566, 1.799, -0.822, 270, 0, 0, [SEP] 57, Drawer, -1.610, 0.681, -1.217, 0, 0, 0, [SEP] 58, Sink, -1.990, 1.143, -0.975, 0, 0, 0, [SEP] 59, StoveBurner, -0.125, 1.325, -2.973, 0, 0, 0, [SEP] 60, StoveKnob, -0.185, 1.338, -2.741, 0, 270, 180, [SEP] 61, StoveKnob, -0.336, 1.338, -2.741, 0, 270, 180, [SEP] 62, StoveKnob, -0.569, 1.338, -2.741, 0, 270, 180, [SEP] 63, StoveKnob, -0.707, 1.338, -2.741, 0, 270, 180, [SEP] 64, Fridge, 1.013, 0.227, 1.917, 0, 270, 0, [SEP] 65, Microwave, 0.994, 1.310, -2.163, 0, 270, 0, [SEP] 66, GarbageCan, -1.633, 0.212, 2.192, 0, 270, 0, [SEP] 67, LightSwitch, 1.386, 1.565, -0.657, 0, 270, 0, [SEP] 68, HousePlant, -2.027, 1.311, -0.026, 0, 284.058, 0, [SEP] 69, SinkBasin, -1.835, 1.039, -0.542, 0, 0, 0, [SEP] 70, ButterKnife, 0.873, 0.468, 0.651, 0, 0, 0, [SEP] 71, Toaster, -1.885, 1.310, -2.512, 0, 90, 0, [SEP] 72, CoffeeMachine, 1.129, 1.310, -1.426, 0, 270, 0, [SEP] 73, Drawer, 0.647, 1.061, 0.680, 0, 270, 0, [SEP] 74, Drawer, 0.648, 1.061, 1.020, 0, 270, 0, [SEP] 75, Drawer, 0.648, 0.843, 1.020, 0, 270, 0, [SEP] 76, SideTable, 0.975, 0.220, 0.869, 0, 270, 0, [SEP] 77, Drawer, 0.648, 0.602, 0.680, 0, 270, 0, [SEP] 78, Drawer, 0.648, 0.596, 1.020, 0, 270, 0, [SEP] 79, Drawer, 0.648, 0.843, 0.680, 0, 270, 0, [SEP] 80, Stool, 0.606, 0.222, -1.084, 1.233, 280.489, 0, [SEP] 81, NorthWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , [SEP] 84, WestWall, , , , , , , ", "output": ["STEP 1: move forward towards the sink | STEP 2: pick up a knife from the top of the sink | STEP 3: turnaround and heat towards the microwave oven | STEP 4: place the knife on the table of the microwave oven | END"]} +{"id": "trial_T20190918_184236_557252-1", "input": "Put a knife on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 1.124, -0.25, 0, 270, 0, [SEP] 1, Potato, -1.698, 1.090, -0.587, 0, 0, 0, 69 [SEP] 2, DishSponge, -1.237, 1.322, -2.870, 0, 0, 0, 51 [SEP] 3, Kettle, -0.630, 1.331, -3.301, 0, 180, 0, 48 [SEP] 4, Fork, -1.790, 1.323, -1.681, 0, 0, 0, 51 [SEP] 5, Fork, -1.790, 1.323, -2.721, 0, 270, 0, 51 [SEP] 6, Spoon, 0.349, 1.324, -3.121, 0, 0, 0, 51 [SEP] 7, Spatula, -2.004, 1.343, -0.911, 0, 180, 0, 58 [SEP] 8, Cup, -1.886, 0.341, 1.523, 0, 0, 0, 52 [SEP] 9, Cup, 0.982, 1.943, 1.730, 0, 270, 0, 64 [SEP] 10, Knife, -1.165, 1.352, -3.203, 0, 0, 0, 51 [SEP] 11, Knife, -2.004, 1.366, -1.117, 0, 180, 0, 58 [SEP] 12, Knife, -1.737, 1.358, -0.911, 0, 180, 0, 58 [SEP] 13, Tomato, -1.954, 1.084, -0.587, 0, 0, 0, 69 [SEP] 14, Bowl, -2.093, 1.332, -1.186, 0, 0, 0, 58 [SEP] 15, PepperShaker, -1.308, 1.318, -2.760, 0, 0, 0, 51 [SEP] 16, PepperShaker, 0.778, 1.202, 1.238, 0, 0, 0, 76 [SEP] 17, Bread, -2.049, 1.397, 1.419, 0, 0, 0, 51 [SEP] 18, Lettuce, -1.660, 1.399, -2.201, 0, 0, 0, 51 [SEP] 19, Lettuce, -1.660, 1.399, 2.069, 0, 0, 0, 51 [SEP] 20, Mug, -1.698, 1.046, -0.451, 0, 0, 0, 69 [SEP] 21, Apple, -2.179, 1.371, 1.094, 0, 0, 0, 51 [SEP] 22, Apple, 0.938, 1.724, 1.722, 0, 270, 0, 64 [SEP] 23, Bread, -1.401, 1.397, 1.094, 0, 0, 0, 51 [SEP] 24, Pot, -0.749, 1.332, -2.973, 0, 0, 0, 54 [SEP] 25, Knife, 0.715, 1.317, -2.202, 90, 27.324, 0, 51 [SEP] 26, Bowl, -1.826, 1.331, -0.980, 0, 0, 0, 58 [SEP] 27, Potato, 0.349, 1.362, -3.343, 0, 90, 0, 51 [SEP] 28, SoapBottle, -1.681, 0.344, 0.412, 0, 0, 0, 49 [SEP] 29, Fork, 0.420, 1.323, -2.789, 0, 0, 0, 51 [SEP] 30, Cup, -1.826, 1.061, -0.542, 0, 0, 0, 69 [SEP] 31, Kettle, -1.691, 1.310, -3.156, 0, 150.000, 0, 51 [SEP] 32, Egg, -1.522, 1.363, -2.981, 0, 0, 0, 51 [SEP] 33, Pan, -1.920, 1.322, 1.744, 0, 90, 0, 51 [SEP] 34, SaltShaker, -1.920, 1.318, -1.941, 0, 0, 0, 51 [SEP] 35, WineBottle, -1.884, 0.344, 0.713, 0, 0, 0, 49 [SEP] 36, Lettuce, 1.017, 1.833, 2.112, 0, 270, 0, 64 [SEP] 37, Spatula, -2.049, 1.337, -2.721, 0, 0, 0, 51 [SEP] 38, PaperTowelRoll, -1.530, 1.427, 1.419, 0, 0, 0, 51 [SEP] 39, Tomato, 1.027, 1.241, 1.254, 0, 0, 0, 76 [SEP] 40, Plate, 0.900, 0.345, -1.854, 0, 180, 0, 50 [SEP] 41, PepperShaker, -1.660, 1.318, -2.721, 0, 0, 0, 51 [SEP] 42, DishSponge, -1.826, 1.050, -0.633, 0, 0, 0, 69 [SEP] 43, Spoon, -1.530, 1.324, 1.744, 0, 0, 0, 51 [SEP] 44, Apple, -1.657, 0.329, 2.234, 0, 270, 0, 66 [SEP] 45, Mug, 1.276, 1.202, 1.238, 0, 0, 0, 76 [SEP] 46, StoveBurner, -0.239, 1.325, -3.301, 0, 180, 0, [SEP] 47, Cabinet, -1.461, 0.775, -2.002, 0, 0, 0, [SEP] 48, StoveBurner, -0.630, 1.325, -3.301, 0, 180, 0, [SEP] 49, Cabinet, -1.461, 0.775, 0.470, 0, 0, 0, [SEP] 50, Cabinet, 0.578, 0.776, -2.054, 0, 0, 0, [SEP] 51, CounterTop, -1.809, 1.358, 1.182, 0, 0, 0, [SEP] 52, Cabinet, -1.461, 0.775, 1.310, 0, 0, 0, [SEP] 53, Faucet, -2.063, 1.362, -0.726, 0, 39.391, 0, [SEP] 54, StoveBurner, -0.749, 1.325, -2.973, 0, 0, 0, [SEP] 55, Drawer, -1.610, 0.681, -0.430, 0, 0, 0, [SEP] 56, Window, -2.566, 1.799, -0.822, 270, 0, 0, [SEP] 57, Drawer, -1.610, 0.681, -1.217, 0, 0, 0, [SEP] 58, Sink, -1.990, 1.143, -0.975, 0, 0, 0, [SEP] 59, StoveBurner, -0.125, 1.325, -2.973, 0, 0, 0, [SEP] 60, StoveKnob, -0.185, 1.338, -2.741, 0, 270, 180, [SEP] 61, StoveKnob, -0.336, 1.338, -2.741, 0, 270, 180, [SEP] 62, StoveKnob, -0.569, 1.338, -2.741, 0, 270, 180, [SEP] 63, StoveKnob, -0.707, 1.338, -2.741, 0, 270, 180, [SEP] 64, Fridge, 1.013, 0.227, 1.917, 0, 270, 0, [SEP] 65, Microwave, 0.994, 1.310, -2.163, 0, 270, 0, [SEP] 66, GarbageCan, -1.633, 0.212, 2.192, 0, 270, 0, [SEP] 67, LightSwitch, 1.386, 1.565, -0.657, 0, 270, 0, [SEP] 68, HousePlant, -2.027, 1.311, -0.026, 0, 284.058, 0, [SEP] 69, SinkBasin, -1.835, 1.039, -0.542, 0, 0, 0, [SEP] 70, ButterKnife, 0.873, 0.468, 0.651, 0, 0, 0, [SEP] 71, Toaster, -1.885, 1.310, -2.512, 0, 90, 0, [SEP] 72, CoffeeMachine, 1.129, 1.310, -1.426, 0, 270, 0, [SEP] 73, Drawer, 0.647, 1.061, 0.680, 0, 270, 0, [SEP] 74, Drawer, 0.648, 1.061, 1.020, 0, 270, 0, [SEP] 75, Drawer, 0.648, 0.843, 1.020, 0, 270, 0, [SEP] 76, SideTable, 0.975, 0.220, 0.869, 0, 270, 0, [SEP] 77, Drawer, 0.648, 0.602, 0.680, 0, 270, 0, [SEP] 78, Drawer, 0.648, 0.596, 1.020, 0, 270, 0, [SEP] 79, Drawer, 0.648, 0.843, 0.680, 0, 270, 0, [SEP] 80, Stool, 0.606, 0.222, -1.084, 1.233, 280.489, 0, [SEP] 81, NorthWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , [SEP] 84, WestWall, , , , , , , ", "output": ["STEP 1: Go left, then right to got to the sink. | STEP 2: Pick up the knife from between the bowls. | STEP 3: Turn right, then turn right and go to the microwave on the counter. | STEP 4: Place the knife on the counter, to the right of the tomato. | END"]} +{"id": "trial_T20190918_184236_557252-2", "input": "move a knife over to the microwaves cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 1.124, -0.25, 0, 270, 0, [SEP] 1, Potato, -1.698, 1.090, -0.587, 0, 0, 0, 69 [SEP] 2, DishSponge, -1.237, 1.322, -2.870, 0, 0, 0, 51 [SEP] 3, Kettle, -0.630, 1.331, -3.301, 0, 180, 0, 48 [SEP] 4, Fork, -1.790, 1.323, -1.681, 0, 0, 0, 51 [SEP] 5, Fork, -1.790, 1.323, -2.721, 0, 270, 0, 51 [SEP] 6, Spoon, 0.349, 1.324, -3.121, 0, 0, 0, 51 [SEP] 7, Spatula, -2.004, 1.343, -0.911, 0, 180, 0, 58 [SEP] 8, Cup, -1.886, 0.341, 1.523, 0, 0, 0, 52 [SEP] 9, Cup, 0.982, 1.943, 1.730, 0, 270, 0, 64 [SEP] 10, Knife, -1.165, 1.352, -3.203, 0, 0, 0, 51 [SEP] 11, Knife, -2.004, 1.366, -1.117, 0, 180, 0, 58 [SEP] 12, Knife, -1.737, 1.358, -0.911, 0, 180, 0, 58 [SEP] 13, Tomato, -1.954, 1.084, -0.587, 0, 0, 0, 69 [SEP] 14, Bowl, -2.093, 1.332, -1.186, 0, 0, 0, 58 [SEP] 15, PepperShaker, -1.308, 1.318, -2.760, 0, 0, 0, 51 [SEP] 16, PepperShaker, 0.778, 1.202, 1.238, 0, 0, 0, 76 [SEP] 17, Bread, -2.049, 1.397, 1.419, 0, 0, 0, 51 [SEP] 18, Lettuce, -1.660, 1.399, -2.201, 0, 0, 0, 51 [SEP] 19, Lettuce, -1.660, 1.399, 2.069, 0, 0, 0, 51 [SEP] 20, Mug, -1.698, 1.046, -0.451, 0, 0, 0, 69 [SEP] 21, Apple, -2.179, 1.371, 1.094, 0, 0, 0, 51 [SEP] 22, Apple, 0.938, 1.724, 1.722, 0, 270, 0, 64 [SEP] 23, Bread, -1.401, 1.397, 1.094, 0, 0, 0, 51 [SEP] 24, Pot, -0.749, 1.332, -2.973, 0, 0, 0, 54 [SEP] 25, Knife, 0.715, 1.317, -2.202, 90, 27.324, 0, 51 [SEP] 26, Bowl, -1.826, 1.331, -0.980, 0, 0, 0, 58 [SEP] 27, Potato, 0.349, 1.362, -3.343, 0, 90, 0, 51 [SEP] 28, SoapBottle, -1.681, 0.344, 0.412, 0, 0, 0, 49 [SEP] 29, Fork, 0.420, 1.323, -2.789, 0, 0, 0, 51 [SEP] 30, Cup, -1.826, 1.061, -0.542, 0, 0, 0, 69 [SEP] 31, Kettle, -1.691, 1.310, -3.156, 0, 150.000, 0, 51 [SEP] 32, Egg, -1.522, 1.363, -2.981, 0, 0, 0, 51 [SEP] 33, Pan, -1.920, 1.322, 1.744, 0, 90, 0, 51 [SEP] 34, SaltShaker, -1.920, 1.318, -1.941, 0, 0, 0, 51 [SEP] 35, WineBottle, -1.884, 0.344, 0.713, 0, 0, 0, 49 [SEP] 36, Lettuce, 1.017, 1.833, 2.112, 0, 270, 0, 64 [SEP] 37, Spatula, -2.049, 1.337, -2.721, 0, 0, 0, 51 [SEP] 38, PaperTowelRoll, -1.530, 1.427, 1.419, 0, 0, 0, 51 [SEP] 39, Tomato, 1.027, 1.241, 1.254, 0, 0, 0, 76 [SEP] 40, Plate, 0.900, 0.345, -1.854, 0, 180, 0, 50 [SEP] 41, PepperShaker, -1.660, 1.318, -2.721, 0, 0, 0, 51 [SEP] 42, DishSponge, -1.826, 1.050, -0.633, 0, 0, 0, 69 [SEP] 43, Spoon, -1.530, 1.324, 1.744, 0, 0, 0, 51 [SEP] 44, Apple, -1.657, 0.329, 2.234, 0, 270, 0, 66 [SEP] 45, Mug, 1.276, 1.202, 1.238, 0, 0, 0, 76 [SEP] 46, StoveBurner, -0.239, 1.325, -3.301, 0, 180, 0, [SEP] 47, Cabinet, -1.461, 0.775, -2.002, 0, 0, 0, [SEP] 48, StoveBurner, -0.630, 1.325, -3.301, 0, 180, 0, [SEP] 49, Cabinet, -1.461, 0.775, 0.470, 0, 0, 0, [SEP] 50, Cabinet, 0.578, 0.776, -2.054, 0, 0, 0, [SEP] 51, CounterTop, -1.809, 1.358, 1.182, 0, 0, 0, [SEP] 52, Cabinet, -1.461, 0.775, 1.310, 0, 0, 0, [SEP] 53, Faucet, -2.063, 1.362, -0.726, 0, 39.391, 0, [SEP] 54, StoveBurner, -0.749, 1.325, -2.973, 0, 0, 0, [SEP] 55, Drawer, -1.610, 0.681, -0.430, 0, 0, 0, [SEP] 56, Window, -2.566, 1.799, -0.822, 270, 0, 0, [SEP] 57, Drawer, -1.610, 0.681, -1.217, 0, 0, 0, [SEP] 58, Sink, -1.990, 1.143, -0.975, 0, 0, 0, [SEP] 59, StoveBurner, -0.125, 1.325, -2.973, 0, 0, 0, [SEP] 60, StoveKnob, -0.185, 1.338, -2.741, 0, 270, 180, [SEP] 61, StoveKnob, -0.336, 1.338, -2.741, 0, 270, 180, [SEP] 62, StoveKnob, -0.569, 1.338, -2.741, 0, 270, 180, [SEP] 63, StoveKnob, -0.707, 1.338, -2.741, 0, 270, 180, [SEP] 64, Fridge, 1.013, 0.227, 1.917, 0, 270, 0, [SEP] 65, Microwave, 0.994, 1.310, -2.163, 0, 270, 0, [SEP] 66, GarbageCan, -1.633, 0.212, 2.192, 0, 270, 0, [SEP] 67, LightSwitch, 1.386, 1.565, -0.657, 0, 270, 0, [SEP] 68, HousePlant, -2.027, 1.311, -0.026, 0, 284.058, 0, [SEP] 69, SinkBasin, -1.835, 1.039, -0.542, 0, 0, 0, [SEP] 70, ButterKnife, 0.873, 0.468, 0.651, 0, 0, 0, [SEP] 71, Toaster, -1.885, 1.310, -2.512, 0, 90, 0, [SEP] 72, CoffeeMachine, 1.129, 1.310, -1.426, 0, 270, 0, [SEP] 73, Drawer, 0.647, 1.061, 0.680, 0, 270, 0, [SEP] 74, Drawer, 0.648, 1.061, 1.020, 0, 270, 0, [SEP] 75, Drawer, 0.648, 0.843, 1.020, 0, 270, 0, [SEP] 76, SideTable, 0.975, 0.220, 0.869, 0, 270, 0, [SEP] 77, Drawer, 0.648, 0.602, 0.680, 0, 270, 0, [SEP] 78, Drawer, 0.648, 0.596, 1.020, 0, 270, 0, [SEP] 79, Drawer, 0.648, 0.843, 0.680, 0, 270, 0, [SEP] 80, Stool, 0.606, 0.222, -1.084, 1.233, 280.489, 0, [SEP] 81, NorthWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , [SEP] 84, WestWall, , , , , , , ", "output": ["STEP 1: walk over to the kitchen sink | STEP 2: grab the knife next to the bowl in the back on the kitchen sink | STEP 3: walk over to the microwave | STEP 4: place the knife on the left side of the cabinet the microwave is on | END"]} +{"id": "trial_T20190908_232648_241836-0", "input": "Put a chilled pan on a kitchen table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.900, 0.5, 0, 180, 0, [SEP] 1, Potato, 1.316, 1.798, -1.629, 0, 0, 0, 73 [SEP] 2, Potato, 1.614, 0.946, -1.437, 0, 0, 0, 69 [SEP] 3, ButterKnife, 0.124, 0.928, -1.646, 0, 270, 0, 46 [SEP] 4, ButterKnife, -1.961, 0.912, 0.037, 0, 0, 0, 49 [SEP] 5, WineBottle, -2.510, 0.879, 2.884, 0, 0, 0, 51 [SEP] 6, WineBottle, 3.634, 0.881, 1.759, 0, 270, 0, 70 [SEP] 7, Spatula, 0.179, 0.943, -1.356, 0, 0, 0, 46 [SEP] 8, Spatula, -2.539, 0.893, 3.341, 0, 135, 0, 51 [SEP] 9, Pot, 3.689, 0.555, 1.553, 0, 270, 0, 72 [SEP] 10, Cup, 0.571, 0.910, -1.471, 0, 0, 0, 49 [SEP] 11, Knife, 1.760, 0.932, -1.528, 0, 90, 0, 69 [SEP] 12, Bowl, -1.738, 0.910, -0.614, 0, 0, 0, 49 [SEP] 13, SaltShaker, -3.069, 0.871, 2.916, 0, 225, 0, 51 [SEP] 14, Bread, -2.315, 0.958, 3.355, 0, 225, 0, 51 [SEP] 15, Mug, -1.112, 0.958, -1.479, 0, 0, 0, 86 [SEP] 16, Mug, 1.157, 1.756, -1.629, 0, 0, 0, 73 [SEP] 17, Book, -3.165, 0.875, 3.221, 0, 270, 0, 51 [SEP] 18, Fork, -2.859, 0.879, 3.737, 0, 225, 0, 51 [SEP] 19, Tomato, -2.196, 0.922, 2.968, 0, 135, 0, 51 [SEP] 20, Egg, -1.568, 0.929, -0.469, 0, 0, 0, 49 [SEP] 21, Kettle, 1.328, 0.957, -1.420, 0, 180, 0, 53 [SEP] 22, Vase, 3.671, 0.168, 1.841, 0, 0, 0, 72 [SEP] 23, Cup, 1.651, 0.908, -1.346, 0, 0, 0, 69 [SEP] 24, WineBottle, -0.844, 0.193, 2.097, 0, 90, 0, 79 [SEP] 25, Plate, 0.591, 0.120, -1.445, 0, 0, 0, 56 [SEP] 26, Spatula, -2.584, 0.889, 3.559, 0, 0, 0, 51 [SEP] 27, Potato, -2.733, 0.911, 3.728, 0, 0, 0, 51 [SEP] 28, Pot, 0.974, 0.957, -1.688, 0, 180, 0, 48 [SEP] 29, Knife, -1.748, 0.741, -0.788, 0, 270, 0, 64 [SEP] 30, SaltShaker, -2.436, 0.874, 3.728, 0, 0, 0, 51 [SEP] 31, PepperShaker, -1.583, 0.714, -1.144, 0, 0, 0, 64 [SEP] 32, Lettuce, -2.353, 0.939, 2.811, 0, 135, 0, 51 [SEP] 33, ButterKnife, 0.069, 0.928, -1.790, 0, 0, 0, 46 [SEP] 34, Bread, -2.659, 0.958, 2.715, 0, 0, 0, 51 [SEP] 35, Vase, -1.961, 0.913, -0.288, 0, 0, 0, 49 [SEP] 36, DishSponge, -2.996, 0.878, 2.999, 0, 270, 0, 51 [SEP] 37, Apple, 0.234, 0.983, -1.501, 0, 270, 0, 46 [SEP] 38, Pan, 0.972, 0.959, -1.426, 0, 0, 0, 67 [SEP] 39, Spoon, -0.330, 0.698, -1.626, 0, 270, 0, 78 [SEP] 40, SoapBottle, 3.689, 0.881, 1.452, 0, 270, 0, 70 [SEP] 41, Mug, -1.944, 1.652, -1.674, 0, 0, 0, 45 [SEP] 42, Statue, 3.716, 0.887, 1.656, 0, 270, 0, 70 [SEP] 43, Statue, -1.961, 0.910, -0.939, 0, 90, 0, 49 [SEP] 44, Bowl, -0.292, 0.119, -1.413, 0, 0, 0, 58 [SEP] 45, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0, [SEP] 46, Sink, 0.024, 0.771, -1.708, 0, 270, 0, [SEP] 47, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0, [SEP] 48, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0, [SEP] 49, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0, [SEP] 50, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0, [SEP] 51, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0, [SEP] 52, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0, [SEP] 53, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0, [SEP] 54, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0, [SEP] 55, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0, [SEP] 56, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0, [SEP] 57, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0, [SEP] 58, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0, [SEP] 59, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0, [SEP] 60, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0, [SEP] 61, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0, [SEP] 62, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0, [SEP] 63, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0, [SEP] 64, Drawer, -1.636, 0.683, -0.930, 0, 0, 0, [SEP] 65, Drawer, 1.650, 0.682, -1.396, 0, 0, 0, [SEP] 66, Drawer, 0.600, 0.682, -1.396, 0, 0, 0, [SEP] 67, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0, [SEP] 68, Drawer, -2.062, 0.683, -1.579, 0, 0, 0, [SEP] 69, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0, [SEP] 70, Shelf, 3.725, 0.880, 1.671, 0, 90, 0, [SEP] 71, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0, [SEP] 72, Shelf, 3.726, 0.552, 1.671, 0, 90, 0, [SEP] 73, Microwave, 1.150, 1.655, -1.614, 0, 0, 0, [SEP] 74, Fridge, -0.035, 0.0, 2.177, 0, 180, 0, [SEP] 75, Window, -0.115, 1.802, -1.896, 90, 0, 0, [SEP] 76, Window, -4.009, 1.799, 0.310, 90, 90, 0, [SEP] 77, Shelf, 3.726, 0.172, 1.671, 0, 90, 0, [SEP] 78, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0, [SEP] 79, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0, [SEP] 80, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0, [SEP] 81, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0, [SEP] 82, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0, [SEP] 83, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0, [SEP] 84, Toaster, 1.637, 0.900, -1.673, 0, 0, 0, [SEP] 85, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0, [SEP] 86, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0, [SEP] 87, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0, [SEP] 88, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0, [SEP] 89, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0, [SEP] 90, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0, [SEP] 91, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0, [SEP] 92, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0, [SEP] 93, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go past the edge of the counter on the right, then turn right and go past the fridge, then turn right and go to the stove | STEP 2: Pick up the pan from the front right burner | STEP 3: Turn right and go as far as the sink then turn right and go to the fridge | STEP 4: Chill the pan in the fridge, then take the pan out of the fridge | STEP 5: Turn left and go to the far wall then turn right and go to the chair then turn right to face the table | STEP 6: Put the pan on the table to the left of the notepad | END"]} +{"id": "trial_T20190908_232648_241836-1", "input": "Chill a pan and place it on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.900, 0.5, 0, 180, 0, [SEP] 1, Potato, 1.316, 1.798, -1.629, 0, 0, 0, 73 [SEP] 2, Potato, 1.614, 0.946, -1.437, 0, 0, 0, 69 [SEP] 3, ButterKnife, 0.124, 0.928, -1.646, 0, 270, 0, 46 [SEP] 4, ButterKnife, -1.961, 0.912, 0.037, 0, 0, 0, 49 [SEP] 5, WineBottle, -2.510, 0.879, 2.884, 0, 0, 0, 51 [SEP] 6, WineBottle, 3.634, 0.881, 1.759, 0, 270, 0, 70 [SEP] 7, Spatula, 0.179, 0.943, -1.356, 0, 0, 0, 46 [SEP] 8, Spatula, -2.539, 0.893, 3.341, 0, 135, 0, 51 [SEP] 9, Pot, 3.689, 0.555, 1.553, 0, 270, 0, 72 [SEP] 10, Cup, 0.571, 0.910, -1.471, 0, 0, 0, 49 [SEP] 11, Knife, 1.760, 0.932, -1.528, 0, 90, 0, 69 [SEP] 12, Bowl, -1.738, 0.910, -0.614, 0, 0, 0, 49 [SEP] 13, SaltShaker, -3.069, 0.871, 2.916, 0, 225, 0, 51 [SEP] 14, Bread, -2.315, 0.958, 3.355, 0, 225, 0, 51 [SEP] 15, Mug, -1.112, 0.958, -1.479, 0, 0, 0, 86 [SEP] 16, Mug, 1.157, 1.756, -1.629, 0, 0, 0, 73 [SEP] 17, Book, -3.165, 0.875, 3.221, 0, 270, 0, 51 [SEP] 18, Fork, -2.859, 0.879, 3.737, 0, 225, 0, 51 [SEP] 19, Tomato, -2.196, 0.922, 2.968, 0, 135, 0, 51 [SEP] 20, Egg, -1.568, 0.929, -0.469, 0, 0, 0, 49 [SEP] 21, Kettle, 1.328, 0.957, -1.420, 0, 180, 0, 53 [SEP] 22, Vase, 3.671, 0.168, 1.841, 0, 0, 0, 72 [SEP] 23, Cup, 1.651, 0.908, -1.346, 0, 0, 0, 69 [SEP] 24, WineBottle, -0.844, 0.193, 2.097, 0, 90, 0, 79 [SEP] 25, Plate, 0.591, 0.120, -1.445, 0, 0, 0, 56 [SEP] 26, Spatula, -2.584, 0.889, 3.559, 0, 0, 0, 51 [SEP] 27, Potato, -2.733, 0.911, 3.728, 0, 0, 0, 51 [SEP] 28, Pot, 0.974, 0.957, -1.688, 0, 180, 0, 48 [SEP] 29, Knife, -1.748, 0.741, -0.788, 0, 270, 0, 64 [SEP] 30, SaltShaker, -2.436, 0.874, 3.728, 0, 0, 0, 51 [SEP] 31, PepperShaker, -1.583, 0.714, -1.144, 0, 0, 0, 64 [SEP] 32, Lettuce, -2.353, 0.939, 2.811, 0, 135, 0, 51 [SEP] 33, ButterKnife, 0.069, 0.928, -1.790, 0, 0, 0, 46 [SEP] 34, Bread, -2.659, 0.958, 2.715, 0, 0, 0, 51 [SEP] 35, Vase, -1.961, 0.913, -0.288, 0, 0, 0, 49 [SEP] 36, DishSponge, -2.996, 0.878, 2.999, 0, 270, 0, 51 [SEP] 37, Apple, 0.234, 0.983, -1.501, 0, 270, 0, 46 [SEP] 38, Pan, 0.972, 0.959, -1.426, 0, 0, 0, 67 [SEP] 39, Spoon, -0.330, 0.698, -1.626, 0, 270, 0, 78 [SEP] 40, SoapBottle, 3.689, 0.881, 1.452, 0, 270, 0, 70 [SEP] 41, Mug, -1.944, 1.652, -1.674, 0, 0, 0, 45 [SEP] 42, Statue, 3.716, 0.887, 1.656, 0, 270, 0, 70 [SEP] 43, Statue, -1.961, 0.910, -0.939, 0, 90, 0, 49 [SEP] 44, Bowl, -0.292, 0.119, -1.413, 0, 0, 0, 58 [SEP] 45, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0, [SEP] 46, Sink, 0.024, 0.771, -1.708, 0, 270, 0, [SEP] 47, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0, [SEP] 48, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0, [SEP] 49, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0, [SEP] 50, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0, [SEP] 51, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0, [SEP] 52, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0, [SEP] 53, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0, [SEP] 54, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0, [SEP] 55, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0, [SEP] 56, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0, [SEP] 57, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0, [SEP] 58, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0, [SEP] 59, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0, [SEP] 60, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0, [SEP] 61, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0, [SEP] 62, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0, [SEP] 63, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0, [SEP] 64, Drawer, -1.636, 0.683, -0.930, 0, 0, 0, [SEP] 65, Drawer, 1.650, 0.682, -1.396, 0, 0, 0, [SEP] 66, Drawer, 0.600, 0.682, -1.396, 0, 0, 0, [SEP] 67, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0, [SEP] 68, Drawer, -2.062, 0.683, -1.579, 0, 0, 0, [SEP] 69, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0, [SEP] 70, Shelf, 3.725, 0.880, 1.671, 0, 90, 0, [SEP] 71, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0, [SEP] 72, Shelf, 3.726, 0.552, 1.671, 0, 90, 0, [SEP] 73, Microwave, 1.150, 1.655, -1.614, 0, 0, 0, [SEP] 74, Fridge, -0.035, 0.0, 2.177, 0, 180, 0, [SEP] 75, Window, -0.115, 1.802, -1.896, 90, 0, 0, [SEP] 76, Window, -4.009, 1.799, 0.310, 90, 90, 0, [SEP] 77, Shelf, 3.726, 0.172, 1.671, 0, 90, 0, [SEP] 78, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0, [SEP] 79, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0, [SEP] 80, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0, [SEP] 81, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0, [SEP] 82, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0, [SEP] 83, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0, [SEP] 84, Toaster, 1.637, 0.900, -1.673, 0, 0, 0, [SEP] 85, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0, [SEP] 86, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0, [SEP] 87, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0, [SEP] 88, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0, [SEP] 89, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0, [SEP] 90, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0, [SEP] 91, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0, [SEP] 92, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0, [SEP] 93, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and then turn right. Turn right again to find the stove. | STEP 2: Pick up the Pan from the front right burner of the stove. | STEP 3: Carry the pan and turn to the right, then the right again to the fridge. | STEP 4: Open the fridge and place the pan inside. Shut the door and then open it again. Take out the pan and shut the door. | STEP 5: Hold the pan and turn to the left. Turn to the right and find the round table. | STEP 6: Place the pan on the far left side of the table, in the corner of the room. | END"]} +{"id": "trial_T20190908_232648_241836-2", "input": "Move a chilled pot to the round table in the corner. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.900, 0.5, 0, 180, 0, [SEP] 1, Potato, 1.316, 1.798, -1.629, 0, 0, 0, 73 [SEP] 2, Potato, 1.614, 0.946, -1.437, 0, 0, 0, 69 [SEP] 3, ButterKnife, 0.124, 0.928, -1.646, 0, 270, 0, 46 [SEP] 4, ButterKnife, -1.961, 0.912, 0.037, 0, 0, 0, 49 [SEP] 5, WineBottle, -2.510, 0.879, 2.884, 0, 0, 0, 51 [SEP] 6, WineBottle, 3.634, 0.881, 1.759, 0, 270, 0, 70 [SEP] 7, Spatula, 0.179, 0.943, -1.356, 0, 0, 0, 46 [SEP] 8, Spatula, -2.539, 0.893, 3.341, 0, 135, 0, 51 [SEP] 9, Pot, 3.689, 0.555, 1.553, 0, 270, 0, 72 [SEP] 10, Cup, 0.571, 0.910, -1.471, 0, 0, 0, 49 [SEP] 11, Knife, 1.760, 0.932, -1.528, 0, 90, 0, 69 [SEP] 12, Bowl, -1.738, 0.910, -0.614, 0, 0, 0, 49 [SEP] 13, SaltShaker, -3.069, 0.871, 2.916, 0, 225, 0, 51 [SEP] 14, Bread, -2.315, 0.958, 3.355, 0, 225, 0, 51 [SEP] 15, Mug, -1.112, 0.958, -1.479, 0, 0, 0, 86 [SEP] 16, Mug, 1.157, 1.756, -1.629, 0, 0, 0, 73 [SEP] 17, Book, -3.165, 0.875, 3.221, 0, 270, 0, 51 [SEP] 18, Fork, -2.859, 0.879, 3.737, 0, 225, 0, 51 [SEP] 19, Tomato, -2.196, 0.922, 2.968, 0, 135, 0, 51 [SEP] 20, Egg, -1.568, 0.929, -0.469, 0, 0, 0, 49 [SEP] 21, Kettle, 1.328, 0.957, -1.420, 0, 180, 0, 53 [SEP] 22, Vase, 3.671, 0.168, 1.841, 0, 0, 0, 72 [SEP] 23, Cup, 1.651, 0.908, -1.346, 0, 0, 0, 69 [SEP] 24, WineBottle, -0.844, 0.193, 2.097, 0, 90, 0, 79 [SEP] 25, Plate, 0.591, 0.120, -1.445, 0, 0, 0, 56 [SEP] 26, Spatula, -2.584, 0.889, 3.559, 0, 0, 0, 51 [SEP] 27, Potato, -2.733, 0.911, 3.728, 0, 0, 0, 51 [SEP] 28, Pot, 0.974, 0.957, -1.688, 0, 180, 0, 48 [SEP] 29, Knife, -1.748, 0.741, -0.788, 0, 270, 0, 64 [SEP] 30, SaltShaker, -2.436, 0.874, 3.728, 0, 0, 0, 51 [SEP] 31, PepperShaker, -1.583, 0.714, -1.144, 0, 0, 0, 64 [SEP] 32, Lettuce, -2.353, 0.939, 2.811, 0, 135, 0, 51 [SEP] 33, ButterKnife, 0.069, 0.928, -1.790, 0, 0, 0, 46 [SEP] 34, Bread, -2.659, 0.958, 2.715, 0, 0, 0, 51 [SEP] 35, Vase, -1.961, 0.913, -0.288, 0, 0, 0, 49 [SEP] 36, DishSponge, -2.996, 0.878, 2.999, 0, 270, 0, 51 [SEP] 37, Apple, 0.234, 0.983, -1.501, 0, 270, 0, 46 [SEP] 38, Pan, 0.972, 0.959, -1.426, 0, 0, 0, 67 [SEP] 39, Spoon, -0.330, 0.698, -1.626, 0, 270, 0, 78 [SEP] 40, SoapBottle, 3.689, 0.881, 1.452, 0, 270, 0, 70 [SEP] 41, Mug, -1.944, 1.652, -1.674, 0, 0, 0, 45 [SEP] 42, Statue, 3.716, 0.887, 1.656, 0, 270, 0, 70 [SEP] 43, Statue, -1.961, 0.910, -0.939, 0, 90, 0, 49 [SEP] 44, Bowl, -0.292, 0.119, -1.413, 0, 0, 0, 58 [SEP] 45, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0, [SEP] 46, Sink, 0.024, 0.771, -1.708, 0, 270, 0, [SEP] 47, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0, [SEP] 48, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0, [SEP] 49, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0, [SEP] 50, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0, [SEP] 51, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0, [SEP] 52, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0, [SEP] 53, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0, [SEP] 54, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0, [SEP] 55, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0, [SEP] 56, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0, [SEP] 57, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0, [SEP] 58, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0, [SEP] 59, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0, [SEP] 60, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0, [SEP] 61, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0, [SEP] 62, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0, [SEP] 63, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0, [SEP] 64, Drawer, -1.636, 0.683, -0.930, 0, 0, 0, [SEP] 65, Drawer, 1.650, 0.682, -1.396, 0, 0, 0, [SEP] 66, Drawer, 0.600, 0.682, -1.396, 0, 0, 0, [SEP] 67, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0, [SEP] 68, Drawer, -2.062, 0.683, -1.579, 0, 0, 0, [SEP] 69, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0, [SEP] 70, Shelf, 3.725, 0.880, 1.671, 0, 90, 0, [SEP] 71, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0, [SEP] 72, Shelf, 3.726, 0.552, 1.671, 0, 90, 0, [SEP] 73, Microwave, 1.150, 1.655, -1.614, 0, 0, 0, [SEP] 74, Fridge, -0.035, 0.0, 2.177, 0, 180, 0, [SEP] 75, Window, -0.115, 1.802, -1.896, 90, 0, 0, [SEP] 76, Window, -4.009, 1.799, 0.310, 90, 90, 0, [SEP] 77, Shelf, 3.726, 0.172, 1.671, 0, 90, 0, [SEP] 78, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0, [SEP] 79, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0, [SEP] 80, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0, [SEP] 81, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0, [SEP] 82, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0, [SEP] 83, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0, [SEP] 84, Toaster, 1.637, 0.900, -1.673, 0, 0, 0, [SEP] 85, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0, [SEP] 86, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0, [SEP] 87, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0, [SEP] 88, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0, [SEP] 89, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0, [SEP] 90, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0, [SEP] 91, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0, [SEP] 92, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0, [SEP] 93, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Turn and go to the stove. | STEP 2: Pick up a pot on the stove. | STEP 3: Turn and go to the refrigerator. | STEP 4: Chill the pot in the refrigerator. | STEP 5: Turn and go to the round table in the corner. | STEP 6: Put the pot on the round table. | END"]} +{"id": "trial_T20190908_173610_612042-0", "input": "examine the credit card under a lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.927, 1.0, 0, 0, 0, [SEP] 1, KeyChain, -3.007, 0.301, 1.932, 0, 0, 0, 76 [SEP] 2, CreditCard, -2.925, 0.276, 3.312, 0, 0, 0, 73 [SEP] 3, CreditCard, -3.006, 0.300, 2.071, 0, 0, 0, 76 [SEP] 4, Box, -5.817, 0.823, 3.617, 0, 90, 0, 72 [SEP] 5, Box, -6.062, 0.823, 3.266, 0, 0, 0, 72 [SEP] 6, Box, -2.598, 0.481, 1.998, 0, 0, 0, 76 [SEP] 7, Statue, -6.589, 1.022, 5.172, 0, 180, 0, 33 [SEP] 8, KeyChain, -3.291, 1.039, 5.205, 0, 0, 0, 55 [SEP] 9, Vase, -1.701, 0.930, 0.179, 0, 0, 0, 27 [SEP] 10, Vase, -0.764, 0.940, 0.203, 0, 0, 0, 44 [SEP] 11, Vase, -5.939, 0.646, 1.861, 0, 0, 0, 72 [SEP] 12, Newspaper, -0.941, 1.273, 0.220, 0, 180, 0, 51 [SEP] 13, CreditCard, -3.848, 0.485, 0.115, 0, 90, 0, 45 [SEP] 14, RemoteControl, -5.986, 0.749, 5.216, 0, 90, 0, 36 [SEP] 15, Laptop, -5.571, 0.639, 2.915, 0, 0, 0, 72 [SEP] 16, Pillow, -1.515, 0.438, 3.319, 0, 300.000, 90, 75 [SEP] 17, Vase, -2.321, 0.723, 5.201, 0, 0, 0, 59 [SEP] 18, Statue, -5.694, 0.651, 2.564, 0, 90, 0, 72 [SEP] 19, Vase, -1.352, 1.258, 0.228, 0, 0, 0, 51 [SEP] 20, Plate, -5.572, 0.634, 1.699, 0, 0, 0, 72 [SEP] 21, Vase, -4.958, 0.940, 5.201, 0, 0, 0, 41 [SEP] 22, Statue, -5.033, 1.566, 5.212, 0, 180, 0, 54 [SEP] 23, Statue, -0.812, 1.565, 0.209, 0, 0, 0, 46 [SEP] 24, Statue, -3.851, 0.930, 5.169, 0, 0, 0, 32 [SEP] 25, Statue, -3.174, 1.105, 5.193, 0, 0, 0, 55 [SEP] 26, Statue, -5.865, 0.634, 2.786, 0, 65.579, 0, 72 [SEP] 27, Shelf, -1.776, 0.988, 0.184, 0, 180, 0, [SEP] 28, Chair, -5.413, 0.024, 1.780, 0, 0, 0, [SEP] 29, Cabinet, -5.365, 1.170, 5.031, 0, 0, 0, [SEP] 30, Chair, -5.388, 0.024, 3.369, 0, 355.695, 0, [SEP] 31, Chair, -6.211, 0.024, 2.517, 0, 172.601, 0, [SEP] 32, Shelf, -3.937, 0.988, 5.170, 0, 0, 0, [SEP] 33, Shelf, -6.572, 1.144, 5.170, 0, 0, 0, [SEP] 34, Cabinet, -4.181, 1.873, 5.029, 0, 0, 0, [SEP] 35, Shelf, -5.606, 0.444, 5.170, 0, 0, 0, [SEP] 36, Drawer, -6.324, 0.823, 5.001, 0, 0, 0, [SEP] 37, Cabinet, -2.017, 1.714, 0.323, 0, 180, 0, [SEP] 38, Cabinet, -2.465, 1.329, 5.029, 0, 0, 0, [SEP] 39, Drawer, -1.093, 0.233, 0.462, 0, 0, 0, [SEP] 40, Shelf, -4.672, 1.317, 5.170, 0, 0, 0, [SEP] 41, Shelf, -4.672, 0.998, 5.170, 0, 0, 0, [SEP] 42, Shelf, -2.221, 0.444, 5.170, 0, 0, 0, [SEP] 43, Drawer, -6.324, 0.508, 5.001, 0, 0, 0, [SEP] 44, Shelf, -1.041, 0.998, 0.184, 0, 180, 0, [SEP] 45, Drawer, -4.264, 0.233, 0.462, 0, 0, 0, [SEP] 46, Shelf, -0.810, 1.688, 0.185, 0, 180, 0, [SEP] 47, Shelf, -2.671, 0.610, 0.272, 0, 90, 0, [SEP] 48, Drawer, -2.681, 0.233, 0.462, 0, 0, 0, [SEP] 49, Drawer, -2.940, 0.508, 5.001, 0, 0, 0, [SEP] 50, Cabinet, -3.696, 1.714, 5.031, 0, 0, 0, [SEP] 51, Shelf, -1.041, 1.317, 0.184, 0, 180, 0, [SEP] 52, Cabinet, -1.532, 1.873, 0.325, 0, 180, 0, [SEP] 53, Chair, -5.382, 0.024, 2.695, 0, 6.230, 0, [SEP] 54, Shelf, -4.903, 1.688, 5.170, 0, 0, 0, [SEP] 55, Shelf, -3.187, 1.144, 5.170, 0, 0, 0, [SEP] 56, Drawer, -2.940, 0.823, 5.001, 0, 0, 0, [SEP] 57, Chair, -6.252, 0.024, 3.427, 0, 195.000, 0, [SEP] 58, Cabinet, -5.850, 1.329, 5.029, 0, 0, 0, [SEP] 59, Cabinet, -1.980, 1.170, 5.031, 0, 0, 0, [SEP] 60, Chair, -6.296, 0.024, 1.672, 0, 180, 0, [SEP] 61, FloorLamp, -0.369, 0.016, 4.992, 0, 59.992, 0, [SEP] 62, GarbageCan, -6.846, 0.024, 0.258, 0, 91.057, 0, [SEP] 63, Television, -3.503, 1.506, 0.001, 0, 0, 0, [SEP] 64, LightSwitch, 0.0, 1.184, 4.410, 0, 270, 0, [SEP] 65, HousePlant, -1.105, 0.315, 2.740, 0, 0, 0, [SEP] 66, Painting, -5.769, 1.394, -0.026, 90, 180, 0, [SEP] 67, Window, 0.001, 1.246, 2.471, 90, 270, 0, [SEP] 68, Window, 0.001, 1.246, 3.558, 90, 270, 0, [SEP] 69, Window, 0.001, 1.246, 1.368, 90, 270, 0, [SEP] 70, Painting, -0.967, 1.396, 5.268, 90, 180, 0, [SEP] 71, CoffeeTable, -3.002, 0.028, 1.726, 0, 0, 0, [SEP] 72, DiningTable, -5.816, 0.025, 2.563, 0, 270, 0, [SEP] 73, Sofa, -3.328, 0.023, 3.632, 0, 180, 0, [SEP] 74, ArmChair, -1.012, 0.028, 2.084, 0, 270, 0, [SEP] 75, ArmChair, -1.577, 0.028, 3.295, 0, 210.000, 0, [SEP] 76, CoffeeTable, -2.667, 0.025, 1.999, 0, 5.810, 0, [SEP] 77, NorthWall, , , , , , , [SEP] 78, EastWall, , , , , , , [SEP] 79, SouthWall, , , , , , , [SEP] 80, WestWall, , , , , , , ", "output": ["STEP 1: go to the coffee table | STEP 2: pick up the credit card from the table | STEP 3: take the card to the lamp | STEP 4: turn on the lamp | END"]} +{"id": "trial_T20190908_173610_612042-1", "input": "turn on a living room floor lamp while holding credit card SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.927, 1.0, 0, 0, 0, [SEP] 1, KeyChain, -3.007, 0.301, 1.932, 0, 0, 0, 76 [SEP] 2, CreditCard, -2.925, 0.276, 3.312, 0, 0, 0, 73 [SEP] 3, CreditCard, -3.006, 0.300, 2.071, 0, 0, 0, 76 [SEP] 4, Box, -5.817, 0.823, 3.617, 0, 90, 0, 72 [SEP] 5, Box, -6.062, 0.823, 3.266, 0, 0, 0, 72 [SEP] 6, Box, -2.598, 0.481, 1.998, 0, 0, 0, 76 [SEP] 7, Statue, -6.589, 1.022, 5.172, 0, 180, 0, 33 [SEP] 8, KeyChain, -3.291, 1.039, 5.205, 0, 0, 0, 55 [SEP] 9, Vase, -1.701, 0.930, 0.179, 0, 0, 0, 27 [SEP] 10, Vase, -0.764, 0.940, 0.203, 0, 0, 0, 44 [SEP] 11, Vase, -5.939, 0.646, 1.861, 0, 0, 0, 72 [SEP] 12, Newspaper, -0.941, 1.273, 0.220, 0, 180, 0, 51 [SEP] 13, CreditCard, -3.848, 0.485, 0.115, 0, 90, 0, 45 [SEP] 14, RemoteControl, -5.986, 0.749, 5.216, 0, 90, 0, 36 [SEP] 15, Laptop, -5.571, 0.639, 2.915, 0, 0, 0, 72 [SEP] 16, Pillow, -1.515, 0.438, 3.319, 0, 300.000, 90, 75 [SEP] 17, Vase, -2.321, 0.723, 5.201, 0, 0, 0, 59 [SEP] 18, Statue, -5.694, 0.651, 2.564, 0, 90, 0, 72 [SEP] 19, Vase, -1.352, 1.258, 0.228, 0, 0, 0, 51 [SEP] 20, Plate, -5.572, 0.634, 1.699, 0, 0, 0, 72 [SEP] 21, Vase, -4.958, 0.940, 5.201, 0, 0, 0, 41 [SEP] 22, Statue, -5.033, 1.566, 5.212, 0, 180, 0, 54 [SEP] 23, Statue, -0.812, 1.565, 0.209, 0, 0, 0, 46 [SEP] 24, Statue, -3.851, 0.930, 5.169, 0, 0, 0, 32 [SEP] 25, Statue, -3.174, 1.105, 5.193, 0, 0, 0, 55 [SEP] 26, Statue, -5.865, 0.634, 2.786, 0, 65.579, 0, 72 [SEP] 27, Shelf, -1.776, 0.988, 0.184, 0, 180, 0, [SEP] 28, Chair, -5.413, 0.024, 1.780, 0, 0, 0, [SEP] 29, Cabinet, -5.365, 1.170, 5.031, 0, 0, 0, [SEP] 30, Chair, -5.388, 0.024, 3.369, 0, 355.695, 0, [SEP] 31, Chair, -6.211, 0.024, 2.517, 0, 172.601, 0, [SEP] 32, Shelf, -3.937, 0.988, 5.170, 0, 0, 0, [SEP] 33, Shelf, -6.572, 1.144, 5.170, 0, 0, 0, [SEP] 34, Cabinet, -4.181, 1.873, 5.029, 0, 0, 0, [SEP] 35, Shelf, -5.606, 0.444, 5.170, 0, 0, 0, [SEP] 36, Drawer, -6.324, 0.823, 5.001, 0, 0, 0, [SEP] 37, Cabinet, -2.017, 1.714, 0.323, 0, 180, 0, [SEP] 38, Cabinet, -2.465, 1.329, 5.029, 0, 0, 0, [SEP] 39, Drawer, -1.093, 0.233, 0.462, 0, 0, 0, [SEP] 40, Shelf, -4.672, 1.317, 5.170, 0, 0, 0, [SEP] 41, Shelf, -4.672, 0.998, 5.170, 0, 0, 0, [SEP] 42, Shelf, -2.221, 0.444, 5.170, 0, 0, 0, [SEP] 43, Drawer, -6.324, 0.508, 5.001, 0, 0, 0, [SEP] 44, Shelf, -1.041, 0.998, 0.184, 0, 180, 0, [SEP] 45, Drawer, -4.264, 0.233, 0.462, 0, 0, 0, [SEP] 46, Shelf, -0.810, 1.688, 0.185, 0, 180, 0, [SEP] 47, Shelf, -2.671, 0.610, 0.272, 0, 90, 0, [SEP] 48, Drawer, -2.681, 0.233, 0.462, 0, 0, 0, [SEP] 49, Drawer, -2.940, 0.508, 5.001, 0, 0, 0, [SEP] 50, Cabinet, -3.696, 1.714, 5.031, 0, 0, 0, [SEP] 51, Shelf, -1.041, 1.317, 0.184, 0, 180, 0, [SEP] 52, Cabinet, -1.532, 1.873, 0.325, 0, 180, 0, [SEP] 53, Chair, -5.382, 0.024, 2.695, 0, 6.230, 0, [SEP] 54, Shelf, -4.903, 1.688, 5.170, 0, 0, 0, [SEP] 55, Shelf, -3.187, 1.144, 5.170, 0, 0, 0, [SEP] 56, Drawer, -2.940, 0.823, 5.001, 0, 0, 0, [SEP] 57, Chair, -6.252, 0.024, 3.427, 0, 195.000, 0, [SEP] 58, Cabinet, -5.850, 1.329, 5.029, 0, 0, 0, [SEP] 59, Cabinet, -1.980, 1.170, 5.031, 0, 0, 0, [SEP] 60, Chair, -6.296, 0.024, 1.672, 0, 180, 0, [SEP] 61, FloorLamp, -0.369, 0.016, 4.992, 0, 59.992, 0, [SEP] 62, GarbageCan, -6.846, 0.024, 0.258, 0, 91.057, 0, [SEP] 63, Television, -3.503, 1.506, 0.001, 0, 0, 0, [SEP] 64, LightSwitch, 0.0, 1.184, 4.410, 0, 270, 0, [SEP] 65, HousePlant, -1.105, 0.315, 2.740, 0, 0, 0, [SEP] 66, Painting, -5.769, 1.394, -0.026, 90, 180, 0, [SEP] 67, Window, 0.001, 1.246, 2.471, 90, 270, 0, [SEP] 68, Window, 0.001, 1.246, 3.558, 90, 270, 0, [SEP] 69, Window, 0.001, 1.246, 1.368, 90, 270, 0, [SEP] 70, Painting, -0.967, 1.396, 5.268, 90, 180, 0, [SEP] 71, CoffeeTable, -3.002, 0.028, 1.726, 0, 0, 0, [SEP] 72, DiningTable, -5.816, 0.025, 2.563, 0, 270, 0, [SEP] 73, Sofa, -3.328, 0.023, 3.632, 0, 180, 0, [SEP] 74, ArmChair, -1.012, 0.028, 2.084, 0, 270, 0, [SEP] 75, ArmChair, -1.577, 0.028, 3.295, 0, 210.000, 0, [SEP] 76, CoffeeTable, -2.667, 0.025, 1.999, 0, 5.810, 0, [SEP] 77, NorthWall, , , , , , , [SEP] 78, EastWall, , , , , , , [SEP] 79, SouthWall, , , , , , , [SEP] 80, WestWall, , , , , , , ", "output": ["STEP 1: walk to face round coffee table | STEP 2: pick up blue credit card from table | STEP 3: walk to the floor lamp behind the couches | STEP 4: turn on the floor lamp | END"]} +{"id": "trial_T20190908_173610_612042-2", "input": "examine the credit card with the lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.927, 1.0, 0, 0, 0, [SEP] 1, KeyChain, -3.007, 0.301, 1.932, 0, 0, 0, 76 [SEP] 2, CreditCard, -2.925, 0.276, 3.312, 0, 0, 0, 73 [SEP] 3, CreditCard, -3.006, 0.300, 2.071, 0, 0, 0, 76 [SEP] 4, Box, -5.817, 0.823, 3.617, 0, 90, 0, 72 [SEP] 5, Box, -6.062, 0.823, 3.266, 0, 0, 0, 72 [SEP] 6, Box, -2.598, 0.481, 1.998, 0, 0, 0, 76 [SEP] 7, Statue, -6.589, 1.022, 5.172, 0, 180, 0, 33 [SEP] 8, KeyChain, -3.291, 1.039, 5.205, 0, 0, 0, 55 [SEP] 9, Vase, -1.701, 0.930, 0.179, 0, 0, 0, 27 [SEP] 10, Vase, -0.764, 0.940, 0.203, 0, 0, 0, 44 [SEP] 11, Vase, -5.939, 0.646, 1.861, 0, 0, 0, 72 [SEP] 12, Newspaper, -0.941, 1.273, 0.220, 0, 180, 0, 51 [SEP] 13, CreditCard, -3.848, 0.485, 0.115, 0, 90, 0, 45 [SEP] 14, RemoteControl, -5.986, 0.749, 5.216, 0, 90, 0, 36 [SEP] 15, Laptop, -5.571, 0.639, 2.915, 0, 0, 0, 72 [SEP] 16, Pillow, -1.515, 0.438, 3.319, 0, 300.000, 90, 75 [SEP] 17, Vase, -2.321, 0.723, 5.201, 0, 0, 0, 59 [SEP] 18, Statue, -5.694, 0.651, 2.564, 0, 90, 0, 72 [SEP] 19, Vase, -1.352, 1.258, 0.228, 0, 0, 0, 51 [SEP] 20, Plate, -5.572, 0.634, 1.699, 0, 0, 0, 72 [SEP] 21, Vase, -4.958, 0.940, 5.201, 0, 0, 0, 41 [SEP] 22, Statue, -5.033, 1.566, 5.212, 0, 180, 0, 54 [SEP] 23, Statue, -0.812, 1.565, 0.209, 0, 0, 0, 46 [SEP] 24, Statue, -3.851, 0.930, 5.169, 0, 0, 0, 32 [SEP] 25, Statue, -3.174, 1.105, 5.193, 0, 0, 0, 55 [SEP] 26, Statue, -5.865, 0.634, 2.786, 0, 65.579, 0, 72 [SEP] 27, Shelf, -1.776, 0.988, 0.184, 0, 180, 0, [SEP] 28, Chair, -5.413, 0.024, 1.780, 0, 0, 0, [SEP] 29, Cabinet, -5.365, 1.170, 5.031, 0, 0, 0, [SEP] 30, Chair, -5.388, 0.024, 3.369, 0, 355.695, 0, [SEP] 31, Chair, -6.211, 0.024, 2.517, 0, 172.601, 0, [SEP] 32, Shelf, -3.937, 0.988, 5.170, 0, 0, 0, [SEP] 33, Shelf, -6.572, 1.144, 5.170, 0, 0, 0, [SEP] 34, Cabinet, -4.181, 1.873, 5.029, 0, 0, 0, [SEP] 35, Shelf, -5.606, 0.444, 5.170, 0, 0, 0, [SEP] 36, Drawer, -6.324, 0.823, 5.001, 0, 0, 0, [SEP] 37, Cabinet, -2.017, 1.714, 0.323, 0, 180, 0, [SEP] 38, Cabinet, -2.465, 1.329, 5.029, 0, 0, 0, [SEP] 39, Drawer, -1.093, 0.233, 0.462, 0, 0, 0, [SEP] 40, Shelf, -4.672, 1.317, 5.170, 0, 0, 0, [SEP] 41, Shelf, -4.672, 0.998, 5.170, 0, 0, 0, [SEP] 42, Shelf, -2.221, 0.444, 5.170, 0, 0, 0, [SEP] 43, Drawer, -6.324, 0.508, 5.001, 0, 0, 0, [SEP] 44, Shelf, -1.041, 0.998, 0.184, 0, 180, 0, [SEP] 45, Drawer, -4.264, 0.233, 0.462, 0, 0, 0, [SEP] 46, Shelf, -0.810, 1.688, 0.185, 0, 180, 0, [SEP] 47, Shelf, -2.671, 0.610, 0.272, 0, 90, 0, [SEP] 48, Drawer, -2.681, 0.233, 0.462, 0, 0, 0, [SEP] 49, Drawer, -2.940, 0.508, 5.001, 0, 0, 0, [SEP] 50, Cabinet, -3.696, 1.714, 5.031, 0, 0, 0, [SEP] 51, Shelf, -1.041, 1.317, 0.184, 0, 180, 0, [SEP] 52, Cabinet, -1.532, 1.873, 0.325, 0, 180, 0, [SEP] 53, Chair, -5.382, 0.024, 2.695, 0, 6.230, 0, [SEP] 54, Shelf, -4.903, 1.688, 5.170, 0, 0, 0, [SEP] 55, Shelf, -3.187, 1.144, 5.170, 0, 0, 0, [SEP] 56, Drawer, -2.940, 0.823, 5.001, 0, 0, 0, [SEP] 57, Chair, -6.252, 0.024, 3.427, 0, 195.000, 0, [SEP] 58, Cabinet, -5.850, 1.329, 5.029, 0, 0, 0, [SEP] 59, Cabinet, -1.980, 1.170, 5.031, 0, 0, 0, [SEP] 60, Chair, -6.296, 0.024, 1.672, 0, 180, 0, [SEP] 61, FloorLamp, -0.369, 0.016, 4.992, 0, 59.992, 0, [SEP] 62, GarbageCan, -6.846, 0.024, 0.258, 0, 91.057, 0, [SEP] 63, Television, -3.503, 1.506, 0.001, 0, 0, 0, [SEP] 64, LightSwitch, 0.0, 1.184, 4.410, 0, 270, 0, [SEP] 65, HousePlant, -1.105, 0.315, 2.740, 0, 0, 0, [SEP] 66, Painting, -5.769, 1.394, -0.026, 90, 180, 0, [SEP] 67, Window, 0.001, 1.246, 2.471, 90, 270, 0, [SEP] 68, Window, 0.001, 1.246, 3.558, 90, 270, 0, [SEP] 69, Window, 0.001, 1.246, 1.368, 90, 270, 0, [SEP] 70, Painting, -0.967, 1.396, 5.268, 90, 180, 0, [SEP] 71, CoffeeTable, -3.002, 0.028, 1.726, 0, 0, 0, [SEP] 72, DiningTable, -5.816, 0.025, 2.563, 0, 270, 0, [SEP] 73, Sofa, -3.328, 0.023, 3.632, 0, 180, 0, [SEP] 74, ArmChair, -1.012, 0.028, 2.084, 0, 270, 0, [SEP] 75, ArmChair, -1.577, 0.028, 3.295, 0, 210.000, 0, [SEP] 76, CoffeeTable, -2.667, 0.025, 1.999, 0, 5.810, 0, [SEP] 77, NorthWall, , , , , , , [SEP] 78, EastWall, , , , , , , [SEP] 79, SouthWall, , , , , , , [SEP] 80, WestWall, , , , , , , ", "output": ["STEP 1: turn left, walk forward, turn right after round black table, turn right to face the table | STEP 2: pick up the credit card that is on the table | STEP 3: turn around, walk to dining table, turn right, walk past couch, turn right, walk forward to lamp in the left corner, hold credit card up | STEP 4: turn the lamp on | END"]} +{"id": "trial_T20190909_091314_636733-0", "input": "cook an egg then put it back inside the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 1.0, 0, 180, 0, [SEP] 1, Ladle, 0.220, 0.954, 0.827, 0, 90, 0, 46 [SEP] 2, ButterKnife, 1.757, 0.910, 1.004, 0, 90, 0, 46 [SEP] 3, DishSponge, 1.800, 0.069, 1.540, 0, 270, 0, 64 [SEP] 4, DishSponge, 0.732, 0.910, 0.739, 0, 90, 0, 46 [SEP] 5, Pot, 1.548, 0.909, 0.075, 0, 180, 0, 52 [SEP] 6, Fork, 1.762, 0.911, 0.415, 0, 90, 0, 46 [SEP] 7, Fork, 1.757, 0.911, 0.827, 0, 90, 0, 46 [SEP] 8, Spoon, 1.656, 0.912, -1.374, 0, 90, 0, 50 [SEP] 9, Spoon, 1.607, 0.911, 0.467, 0, 90, 0, 46 [SEP] 10, Egg, -0.413, 1.094, -1.357, 0, 0, 0, 73 [SEP] 11, Egg, -0.334, 1.099, -1.357, 0, 0, 0, 73 [SEP] 12, Egg, 1.709, 0.105, 1.540, 0, 270, 0, 64 [SEP] 13, Cup, -0.644, 0.458, -1.605, 0, 0, 0, 73 [SEP] 14, Cup, 1.012, 0.909, -1.247, 0, 90, 0, 50 [SEP] 15, Plate, -0.790, 1.684, -1.594, 0, 0, 0, 73 [SEP] 16, SoapBottle, 1.736, 1.637, 0.543, 0, 0, 0, 55 [SEP] 17, SoapBottle, 1.733, 1.652, -0.449, 0, 0, 0, 57 [SEP] 18, SaltShaker, 1.451, 0.905, 0.570, 0, 90, 0, 46 [SEP] 19, PepperShaker, 1.796, 0.906, -1.802, 0, 90, 0, 50 [SEP] 20, Lettuce, -0.741, 1.488, -1.594, 0, 0, 0, 73 [SEP] 21, Bread, 1.796, 0.988, -1.545, 0, 90, 0, 50 [SEP] 22, Mug, 1.877, 1.630, -1.419, 0, 0, 0, 59 [SEP] 23, Mug, 0.502, 0.940, -1.460, 0, 0, 0, 72 [SEP] 24, Plate, 1.802, 1.647, -0.000, 0, 0, 0, 56 [SEP] 25, SoapBottle, 1.800, 0.068, 1.684, 0, 270, 0, 64 [SEP] 26, Cup, 1.501, 0.908, 0.739, 0, 90, 0, 46 [SEP] 27, Egg, 1.77, 0.105, 1.827, 0, 270, 0, 64 [SEP] 28, Fork, 1.501, 0.911, 0.827, 0, 90, 0, 46 [SEP] 29, Ladle, 1.201, 0.926, 0.743, 3.367, 0, 346.985, 46 [SEP] 30, Apple, 1.170, 0.817, -1.654, 0, 0, 0, 65 [SEP] 31, SaltShaker, 1.917, 0.905, 0.570, 0, 90, 0, 46 [SEP] 32, Pan, 1.543, 0.909, -0.320, 0, 90, 0, 49 [SEP] 33, Tomato, 0.989, 0.974, 0.915, 0, 90, 0, 46 [SEP] 34, Spatula, 1.696, 1.080, 0.074, 0, 0, 49.769, 52 [SEP] 35, Potato, -0.838, 1.131, -1.594, 0, 0, 0, 73 [SEP] 36, Knife, 1.139, 0.761, -1.584, 271.544, 82.459, 277.720, 65 [SEP] 37, ButterKnife, 0.732, 0.910, 1.004, 0, 270, 0, 46 [SEP] 38, Bread, 1.757, 0.987, 1.180, 0, 90, 0, 46 [SEP] 39, Lettuce, 0.856, 0.989, 1.120, 0, 270, 1.809, 46 [SEP] 40, PepperShaker, 1.684, 0.905, 0.311, 0, 90, 0, 46 [SEP] 41, Pot, 1.807, 0.909, 0.075, 0, 180, 0, 47 [SEP] 42, DishSponge, 1.183, 0.910, -1.247, 0, 90, 0, 50 [SEP] 43, Spoon, 1.501, 0.911, 1.092, 0, 180, 0, 46 [SEP] 44, Bowl, 1.245, 0.909, 1.180, 0, 90, 0, 46 [SEP] 45, Mug, 0.963, 0.755, -1.654, 0, 270, 0, 65 [SEP] 46, CounterTop, 0.989, 0.946, 1.016, 0, 90, 0, [SEP] 47, StoveBurner, 1.807, 0.907, 0.075, 0, 180, 0, [SEP] 48, StoveBurner, 1.807, 0.907, -0.320, 0, 180, 0, [SEP] 49, StoveBurner, 1.543, 0.907, -0.320, 0, 90, 0, [SEP] 50, CounterTop, 0.989, 0.946, -1.516, 0, 90, 0, [SEP] 51, Sink, 1.100, 0.906, -1.599, 0, 0, 0, [SEP] 52, StoveBurner, 1.548, 0.907, 0.075, 0, 180, 0, [SEP] 53, Cabinet, 1.658, 2.299, 1.313, 0, 0, 0, [SEP] 54, Cabinet, 1.658, 2.299, 0.686, 0, 0, 0, [SEP] 55, Cabinet, 1.658, 2.049, 0.673, 0, 0, 0, [SEP] 56, Cabinet, 1.658, 2.059, 0.193, 0, 0, 0, [SEP] 57, Cabinet, 1.658, 2.059, -0.593, 0, 0, 0, [SEP] 58, Cabinet, 1.658, 2.049, -0.606, 0, 0, 0, [SEP] 59, Cabinet, 1.658, 2.049, -1.206, 0, 0, 0, [SEP] 60, Cabinet, 1.658, 2.049, -1.893, 0, 0, 0, [SEP] 61, Toaster, 0.131, 0.900, -1.589, 0, 0, 0, [SEP] 62, Window, -0.372, 1.588, 3.349, 90, 0, 0, [SEP] 63, Window, 0.782, 1.741, -1.893, 90, 0, 0, [SEP] 64, GarbageCan, 1.770, -0.029, 1.685, 0, 270, 0, [SEP] 65, SinkBasin, 1.091, 0.740, -1.599, 0, 0, 0, [SEP] 66, StoveKnob, 1.364, 0.821, 0.086, 48.421, 270, 0, [SEP] 67, StoveKnob, 1.364, 0.821, -0.180, 48.421, 270, 0, [SEP] 68, StoveKnob, 1.364, 0.821, -0.317, 48.421, 270, 0, [SEP] 69, StoveKnob, 1.364, 0.821, -0.054, 48.421, 270, 0, [SEP] 70, Microwave, 1.752, 0.900, -0.843, 0, 270, 0, [SEP] 71, LightSwitch, 2.0, 1.261, 3.094, 0, 270, 0, [SEP] 72, CoffeeMachine, 0.501, 0.900, -1.600, 0, 0, 0, [SEP] 73, Fridge, -0.533, 0.0, -1.554, 0, 0, 0, [SEP] 74, Chair, 1.068, 0.000, 1.752, 0, 191.622, 0, [SEP] 75, Faucet, 1.110, 1.138, -1.764, 0, 270, 0, [SEP] 76, Chair, 0.357, 0.000, 1.710, 0, 178.899, 0, [SEP] 77, NorthWall, , , , , , , [SEP] 78, EastWall, , , , , , , [SEP] 79, SouthWall, , , , , , , [SEP] 80, WestWall, , , , , , , ", "output": ["STEP 1: turn left and walk straight then turn right and walk straight towards the fridge | STEP 2: open the fridge and take the egg out and then close the door | STEP 3: turn left and walk straight towards the microwave | STEP 4: open the microwave door put the egg inside and set the timer and then open the door and take the egg out and close the door | STEP 5: turn around and walk straight towards the fridge and turn left | STEP 6: open the fridge and put the egg inside and close the door | END"]} +{"id": "trial_T20190909_091314_636733-1", "input": "To put a heated egg in the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 1.0, 0, 180, 0, [SEP] 1, Ladle, 0.220, 0.954, 0.827, 0, 90, 0, 46 [SEP] 2, ButterKnife, 1.757, 0.910, 1.004, 0, 90, 0, 46 [SEP] 3, DishSponge, 1.800, 0.069, 1.540, 0, 270, 0, 64 [SEP] 4, DishSponge, 0.732, 0.910, 0.739, 0, 90, 0, 46 [SEP] 5, Pot, 1.548, 0.909, 0.075, 0, 180, 0, 52 [SEP] 6, Fork, 1.762, 0.911, 0.415, 0, 90, 0, 46 [SEP] 7, Fork, 1.757, 0.911, 0.827, 0, 90, 0, 46 [SEP] 8, Spoon, 1.656, 0.912, -1.374, 0, 90, 0, 50 [SEP] 9, Spoon, 1.607, 0.911, 0.467, 0, 90, 0, 46 [SEP] 10, Egg, -0.413, 1.094, -1.357, 0, 0, 0, 73 [SEP] 11, Egg, -0.334, 1.099, -1.357, 0, 0, 0, 73 [SEP] 12, Egg, 1.709, 0.105, 1.540, 0, 270, 0, 64 [SEP] 13, Cup, -0.644, 0.458, -1.605, 0, 0, 0, 73 [SEP] 14, Cup, 1.012, 0.909, -1.247, 0, 90, 0, 50 [SEP] 15, Plate, -0.790, 1.684, -1.594, 0, 0, 0, 73 [SEP] 16, SoapBottle, 1.736, 1.637, 0.543, 0, 0, 0, 55 [SEP] 17, SoapBottle, 1.733, 1.652, -0.449, 0, 0, 0, 57 [SEP] 18, SaltShaker, 1.451, 0.905, 0.570, 0, 90, 0, 46 [SEP] 19, PepperShaker, 1.796, 0.906, -1.802, 0, 90, 0, 50 [SEP] 20, Lettuce, -0.741, 1.488, -1.594, 0, 0, 0, 73 [SEP] 21, Bread, 1.796, 0.988, -1.545, 0, 90, 0, 50 [SEP] 22, Mug, 1.877, 1.630, -1.419, 0, 0, 0, 59 [SEP] 23, Mug, 0.502, 0.940, -1.460, 0, 0, 0, 72 [SEP] 24, Plate, 1.802, 1.647, -0.000, 0, 0, 0, 56 [SEP] 25, SoapBottle, 1.800, 0.068, 1.684, 0, 270, 0, 64 [SEP] 26, Cup, 1.501, 0.908, 0.739, 0, 90, 0, 46 [SEP] 27, Egg, 1.77, 0.105, 1.827, 0, 270, 0, 64 [SEP] 28, Fork, 1.501, 0.911, 0.827, 0, 90, 0, 46 [SEP] 29, Ladle, 1.201, 0.926, 0.743, 3.367, 0, 346.985, 46 [SEP] 30, Apple, 1.170, 0.817, -1.654, 0, 0, 0, 65 [SEP] 31, SaltShaker, 1.917, 0.905, 0.570, 0, 90, 0, 46 [SEP] 32, Pan, 1.543, 0.909, -0.320, 0, 90, 0, 49 [SEP] 33, Tomato, 0.989, 0.974, 0.915, 0, 90, 0, 46 [SEP] 34, Spatula, 1.696, 1.080, 0.074, 0, 0, 49.769, 52 [SEP] 35, Potato, -0.838, 1.131, -1.594, 0, 0, 0, 73 [SEP] 36, Knife, 1.139, 0.761, -1.584, 271.544, 82.459, 277.720, 65 [SEP] 37, ButterKnife, 0.732, 0.910, 1.004, 0, 270, 0, 46 [SEP] 38, Bread, 1.757, 0.987, 1.180, 0, 90, 0, 46 [SEP] 39, Lettuce, 0.856, 0.989, 1.120, 0, 270, 1.809, 46 [SEP] 40, PepperShaker, 1.684, 0.905, 0.311, 0, 90, 0, 46 [SEP] 41, Pot, 1.807, 0.909, 0.075, 0, 180, 0, 47 [SEP] 42, DishSponge, 1.183, 0.910, -1.247, 0, 90, 0, 50 [SEP] 43, Spoon, 1.501, 0.911, 1.092, 0, 180, 0, 46 [SEP] 44, Bowl, 1.245, 0.909, 1.180, 0, 90, 0, 46 [SEP] 45, Mug, 0.963, 0.755, -1.654, 0, 270, 0, 65 [SEP] 46, CounterTop, 0.989, 0.946, 1.016, 0, 90, 0, [SEP] 47, StoveBurner, 1.807, 0.907, 0.075, 0, 180, 0, [SEP] 48, StoveBurner, 1.807, 0.907, -0.320, 0, 180, 0, [SEP] 49, StoveBurner, 1.543, 0.907, -0.320, 0, 90, 0, [SEP] 50, CounterTop, 0.989, 0.946, -1.516, 0, 90, 0, [SEP] 51, Sink, 1.100, 0.906, -1.599, 0, 0, 0, [SEP] 52, StoveBurner, 1.548, 0.907, 0.075, 0, 180, 0, [SEP] 53, Cabinet, 1.658, 2.299, 1.313, 0, 0, 0, [SEP] 54, Cabinet, 1.658, 2.299, 0.686, 0, 0, 0, [SEP] 55, Cabinet, 1.658, 2.049, 0.673, 0, 0, 0, [SEP] 56, Cabinet, 1.658, 2.059, 0.193, 0, 0, 0, [SEP] 57, Cabinet, 1.658, 2.059, -0.593, 0, 0, 0, [SEP] 58, Cabinet, 1.658, 2.049, -0.606, 0, 0, 0, [SEP] 59, Cabinet, 1.658, 2.049, -1.206, 0, 0, 0, [SEP] 60, Cabinet, 1.658, 2.049, -1.893, 0, 0, 0, [SEP] 61, Toaster, 0.131, 0.900, -1.589, 0, 0, 0, [SEP] 62, Window, -0.372, 1.588, 3.349, 90, 0, 0, [SEP] 63, Window, 0.782, 1.741, -1.893, 90, 0, 0, [SEP] 64, GarbageCan, 1.770, -0.029, 1.685, 0, 270, 0, [SEP] 65, SinkBasin, 1.091, 0.740, -1.599, 0, 0, 0, [SEP] 66, StoveKnob, 1.364, 0.821, 0.086, 48.421, 270, 0, [SEP] 67, StoveKnob, 1.364, 0.821, -0.180, 48.421, 270, 0, [SEP] 68, StoveKnob, 1.364, 0.821, -0.317, 48.421, 270, 0, [SEP] 69, StoveKnob, 1.364, 0.821, -0.054, 48.421, 270, 0, [SEP] 70, Microwave, 1.752, 0.900, -0.843, 0, 270, 0, [SEP] 71, LightSwitch, 2.0, 1.261, 3.094, 0, 270, 0, [SEP] 72, CoffeeMachine, 0.501, 0.900, -1.600, 0, 0, 0, [SEP] 73, Fridge, -0.533, 0.0, -1.554, 0, 0, 0, [SEP] 74, Chair, 1.068, 0.000, 1.752, 0, 191.622, 0, [SEP] 75, Faucet, 1.110, 1.138, -1.764, 0, 270, 0, [SEP] 76, Chair, 0.357, 0.000, 1.710, 0, 178.899, 0, [SEP] 77, NorthWall, , , , , , , [SEP] 78, EastWall, , , , , , , [SEP] 79, SouthWall, , , , , , , [SEP] 80, WestWall, , , , , , , ", "output": ["STEP 1: Go to the fridge | STEP 2: Take a white egg from the fridge | STEP 3: Go to the microwave | STEP 4: Warm the egg in the microwave for a few seconds and take it out | STEP 5: Go back to the fridge | STEP 6: Put the heated egg back in the fridge | END"]} +{"id": "trial_T20190909_091314_636733-2", "input": "Heat an egg up and put it back in the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 1.0, 0, 180, 0, [SEP] 1, Ladle, 0.220, 0.954, 0.827, 0, 90, 0, 46 [SEP] 2, ButterKnife, 1.757, 0.910, 1.004, 0, 90, 0, 46 [SEP] 3, DishSponge, 1.800, 0.069, 1.540, 0, 270, 0, 64 [SEP] 4, DishSponge, 0.732, 0.910, 0.739, 0, 90, 0, 46 [SEP] 5, Pot, 1.548, 0.909, 0.075, 0, 180, 0, 52 [SEP] 6, Fork, 1.762, 0.911, 0.415, 0, 90, 0, 46 [SEP] 7, Fork, 1.757, 0.911, 0.827, 0, 90, 0, 46 [SEP] 8, Spoon, 1.656, 0.912, -1.374, 0, 90, 0, 50 [SEP] 9, Spoon, 1.607, 0.911, 0.467, 0, 90, 0, 46 [SEP] 10, Egg, -0.413, 1.094, -1.357, 0, 0, 0, 73 [SEP] 11, Egg, -0.334, 1.099, -1.357, 0, 0, 0, 73 [SEP] 12, Egg, 1.709, 0.105, 1.540, 0, 270, 0, 64 [SEP] 13, Cup, -0.644, 0.458, -1.605, 0, 0, 0, 73 [SEP] 14, Cup, 1.012, 0.909, -1.247, 0, 90, 0, 50 [SEP] 15, Plate, -0.790, 1.684, -1.594, 0, 0, 0, 73 [SEP] 16, SoapBottle, 1.736, 1.637, 0.543, 0, 0, 0, 55 [SEP] 17, SoapBottle, 1.733, 1.652, -0.449, 0, 0, 0, 57 [SEP] 18, SaltShaker, 1.451, 0.905, 0.570, 0, 90, 0, 46 [SEP] 19, PepperShaker, 1.796, 0.906, -1.802, 0, 90, 0, 50 [SEP] 20, Lettuce, -0.741, 1.488, -1.594, 0, 0, 0, 73 [SEP] 21, Bread, 1.796, 0.988, -1.545, 0, 90, 0, 50 [SEP] 22, Mug, 1.877, 1.630, -1.419, 0, 0, 0, 59 [SEP] 23, Mug, 0.502, 0.940, -1.460, 0, 0, 0, 72 [SEP] 24, Plate, 1.802, 1.647, -0.000, 0, 0, 0, 56 [SEP] 25, SoapBottle, 1.800, 0.068, 1.684, 0, 270, 0, 64 [SEP] 26, Cup, 1.501, 0.908, 0.739, 0, 90, 0, 46 [SEP] 27, Egg, 1.77, 0.105, 1.827, 0, 270, 0, 64 [SEP] 28, Fork, 1.501, 0.911, 0.827, 0, 90, 0, 46 [SEP] 29, Ladle, 1.201, 0.926, 0.743, 3.367, 0, 346.985, 46 [SEP] 30, Apple, 1.170, 0.817, -1.654, 0, 0, 0, 65 [SEP] 31, SaltShaker, 1.917, 0.905, 0.570, 0, 90, 0, 46 [SEP] 32, Pan, 1.543, 0.909, -0.320, 0, 90, 0, 49 [SEP] 33, Tomato, 0.989, 0.974, 0.915, 0, 90, 0, 46 [SEP] 34, Spatula, 1.696, 1.080, 0.074, 0, 0, 49.769, 52 [SEP] 35, Potato, -0.838, 1.131, -1.594, 0, 0, 0, 73 [SEP] 36, Knife, 1.139, 0.761, -1.584, 271.544, 82.459, 277.720, 65 [SEP] 37, ButterKnife, 0.732, 0.910, 1.004, 0, 270, 0, 46 [SEP] 38, Bread, 1.757, 0.987, 1.180, 0, 90, 0, 46 [SEP] 39, Lettuce, 0.856, 0.989, 1.120, 0, 270, 1.809, 46 [SEP] 40, PepperShaker, 1.684, 0.905, 0.311, 0, 90, 0, 46 [SEP] 41, Pot, 1.807, 0.909, 0.075, 0, 180, 0, 47 [SEP] 42, DishSponge, 1.183, 0.910, -1.247, 0, 90, 0, 50 [SEP] 43, Spoon, 1.501, 0.911, 1.092, 0, 180, 0, 46 [SEP] 44, Bowl, 1.245, 0.909, 1.180, 0, 90, 0, 46 [SEP] 45, Mug, 0.963, 0.755, -1.654, 0, 270, 0, 65 [SEP] 46, CounterTop, 0.989, 0.946, 1.016, 0, 90, 0, [SEP] 47, StoveBurner, 1.807, 0.907, 0.075, 0, 180, 0, [SEP] 48, StoveBurner, 1.807, 0.907, -0.320, 0, 180, 0, [SEP] 49, StoveBurner, 1.543, 0.907, -0.320, 0, 90, 0, [SEP] 50, CounterTop, 0.989, 0.946, -1.516, 0, 90, 0, [SEP] 51, Sink, 1.100, 0.906, -1.599, 0, 0, 0, [SEP] 52, StoveBurner, 1.548, 0.907, 0.075, 0, 180, 0, [SEP] 53, Cabinet, 1.658, 2.299, 1.313, 0, 0, 0, [SEP] 54, Cabinet, 1.658, 2.299, 0.686, 0, 0, 0, [SEP] 55, Cabinet, 1.658, 2.049, 0.673, 0, 0, 0, [SEP] 56, Cabinet, 1.658, 2.059, 0.193, 0, 0, 0, [SEP] 57, Cabinet, 1.658, 2.059, -0.593, 0, 0, 0, [SEP] 58, Cabinet, 1.658, 2.049, -0.606, 0, 0, 0, [SEP] 59, Cabinet, 1.658, 2.049, -1.206, 0, 0, 0, [SEP] 60, Cabinet, 1.658, 2.049, -1.893, 0, 0, 0, [SEP] 61, Toaster, 0.131, 0.900, -1.589, 0, 0, 0, [SEP] 62, Window, -0.372, 1.588, 3.349, 90, 0, 0, [SEP] 63, Window, 0.782, 1.741, -1.893, 90, 0, 0, [SEP] 64, GarbageCan, 1.770, -0.029, 1.685, 0, 270, 0, [SEP] 65, SinkBasin, 1.091, 0.740, -1.599, 0, 0, 0, [SEP] 66, StoveKnob, 1.364, 0.821, 0.086, 48.421, 270, 0, [SEP] 67, StoveKnob, 1.364, 0.821, -0.180, 48.421, 270, 0, [SEP] 68, StoveKnob, 1.364, 0.821, -0.317, 48.421, 270, 0, [SEP] 69, StoveKnob, 1.364, 0.821, -0.054, 48.421, 270, 0, [SEP] 70, Microwave, 1.752, 0.900, -0.843, 0, 270, 0, [SEP] 71, LightSwitch, 2.0, 1.261, 3.094, 0, 270, 0, [SEP] 72, CoffeeMachine, 0.501, 0.900, -1.600, 0, 0, 0, [SEP] 73, Fridge, -0.533, 0.0, -1.554, 0, 0, 0, [SEP] 74, Chair, 1.068, 0.000, 1.752, 0, 191.622, 0, [SEP] 75, Faucet, 1.110, 1.138, -1.764, 0, 270, 0, [SEP] 76, Chair, 0.357, 0.000, 1.710, 0, 178.899, 0, [SEP] 77, NorthWall, , , , , , , [SEP] 78, EastWall, , , , , , , [SEP] 79, SouthWall, , , , , , , [SEP] 80, WestWall, , , , , , , ", "output": ["STEP 1: Walk over to the fridge | STEP 2: Grab an egg out of the fridge | STEP 3: Walk over to the microwave | STEP 4: Heat the egg in the microwave | STEP 5: Grab the egg back and head back to the fridge | STEP 6: Place the egg in the fridge | END"]} +{"id": "trial_T20190909_071128_012892-0", "input": "to grab a pencil from the night stand and place it on the dresser SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -2.5, 0, 90, 0, [SEP] 1, Statue, -1.699, 1.156, -2.073, 0, 90, 0, 36 [SEP] 2, CD, 1.731, 0.680, 2.217, 0, 0, 0, 51 [SEP] 3, CreditCard, 2.690, 0.437, 1.921, 0, 90, 0, 57 [SEP] 4, KeyChain, 2.315, 0.434, 1.672, 0, 270, 0, 57 [SEP] 5, KeyChain, -1.668, 1.639, -1.959, 0, 90, 0, 35 [SEP] 6, Book, -1.550, 0.799, -0.723, 0, 0, 0, 42 [SEP] 7, Book, 2.410, 0.451, 1.841, 0, 90, 0, 57 [SEP] 8, KeyChain, -1.583, 0.973, -0.540, 0, 0, 0, 41 [SEP] 9, AlarmClock, -1.583, 0.972, -0.742, 0, 0, 0, 41 [SEP] 10, Pillow, 1.413, 0.794, -1.505, 0, 0, 0, 23 [SEP] 11, Pillow, 1.743, 0.836, 0.188, 0, 0, 0, 23 [SEP] 12, Vase, 2.283, 0.681, -1.581, 0, 0, 0, 54 [SEP] 13, Laptop, 0.296, 0.773, -1.579, 0, 0, 0, 23 [SEP] 14, Vase, -1.650, 1.626, -2.316, 0, 0, 0, 35 [SEP] 15, Pencil, 2.515, 0.686, -1.626, 0, 0, 0, 54 [SEP] 16, CreditCard, 1.633, 0.374, 2.201, 0, 0, 0, 53 [SEP] 17, Boots, -1.842, 0.000, -1.077, 0, 135, 0, [SEP] 18, Pen, -1.663, 0.805, 0.349, 0, 0, 0, 46 [SEP] 19, CellPhone, 0.537, 0.775, -0.990, 0, 0, 0, 23 [SEP] 20, CD, -1.494, 0.800, -0.536, 0, 0, 0, 42 [SEP] 21, Bowl, -1.684, 1.135, -2.300, 0, 346.900, 0, 36 [SEP] 22, Statue, 1.576, 0.691, 2.217, 0, 0, 0, 51 [SEP] 23, Bed, 1.017, 0.003, -0.686, 0, 180, 0, [SEP] 24, HousePlant, -1.749, 0.971, 0.463, 0, 0, 0, [SEP] 25, GarbageCan, -1.665, -0.000, 0.953, 0, 45, 0, [SEP] 26, Painting, 0.381, 1.976, -1.895, 90, 0, 0, [SEP] 27, Painting, 0.879, 1.976, -1.895, 90, 0, 0, [SEP] 28, Painting, 1.373, 1.976, -1.895, 90, 0, 0, [SEP] 29, LightSwitch, -0.164, 1.085, 2.450, 0, 180, 0, [SEP] 30, Mirror, -1.950, 1.735, -0.206, 0, 270, 0, [SEP] 31, Window, -1.098, 1.570, -3.230, 90, 0, 0, [SEP] 32, DeskLamp, 1.404, 0.668, 2.209, 0, 0, 0, [SEP] 33, DeskLamp, 2.596, 0.668, -1.710, 0, 0, 0, [SEP] 34, Blinds, -1.062, 2.361, -3.173, 0, 0, 0, [SEP] 35, Shelf, -1.675, 1.871, -2.053, 0, 90, 0, [SEP] 36, Shelf, -1.675, 1.383, -2.053, 0, 90, 0, [SEP] 37, Drawer, -1.715, 0.832, -2.053, 0, 90, 0, [SEP] 38, ShelvingUnit, -1.723, 0.007, -2.053, 0, 90, 0, [SEP] 39, Drawer, -1.713, 0.339, -2.053, 0, 90, 0, [SEP] 40, Drawer, -1.629, 0.104, 0.243, 0, 90, 0, [SEP] 41, Dresser, -1.674, 0.000, -0.153, 0, 90, 0, [SEP] 42, Drawer, -1.630, 0.868, -0.550, 0, 90, 0, [SEP] 43, Drawer, -1.630, 0.680, 0.243, 0, 90, 0, [SEP] 44, Drawer, -1.629, 0.104, -0.550, 0, 90, 0, [SEP] 45, Drawer, -1.630, 0.680, -0.550, 0, 90, 0, [SEP] 46, Drawer, -1.630, 0.868, 0.243, 0, 90, 0, [SEP] 47, Drawer, -1.629, 0.486, -0.550, 0, 90, 0, [SEP] 48, Drawer, -1.629, 0.291, 0.243, 0, 90, 0, [SEP] 49, Drawer, -1.629, 0.291, -0.550, 0, 90, 0, [SEP] 50, Drawer, -1.630, 0.486, 0.243, 0, 90, 0, [SEP] 51, SideTable, 1.576, -0.001, 2.137, 0, 180, 0, [SEP] 52, Drawer, 1.576, 0.163, 2.070, 0, 180, 0, [SEP] 53, Drawer, 1.576, 0.455, 2.070, 0, 180, 0, [SEP] 54, SideTable, 2.437, -0.001, -1.603, 0, 0, 0, [SEP] 55, Drawer, 2.438, 0.163, -1.536, 0, 0, 0, [SEP] 56, Drawer, 2.438, 0.455, -1.536, 0, 0, 0, [SEP] 57, ArmChair, 2.393, -0.001, 1.943, 0, 180, 0, [SEP] 58, NorthWall, , , , , , , [SEP] 59, EastWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, WestWall, , , , , , , ", "output": ["STEP 1: look at the wall then turn left walk forward towards the door. Then turn right and walk towards the wall turn right towards the night stand | STEP 2: pick up the pencil from the night stand | STEP 3: turn right towards the bed and turn back towards the chair turn left at the end of the bed walk towards the recycling bin and turn left then turn right towards the dresser | STEP 4: place the pencil on a stand on the dresser | END"]} +{"id": "trial_T20190909_071128_012892-1", "input": "Put a pencil on the dresser. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -2.5, 0, 90, 0, [SEP] 1, Statue, -1.699, 1.156, -2.073, 0, 90, 0, 36 [SEP] 2, CD, 1.731, 0.680, 2.217, 0, 0, 0, 51 [SEP] 3, CreditCard, 2.690, 0.437, 1.921, 0, 90, 0, 57 [SEP] 4, KeyChain, 2.315, 0.434, 1.672, 0, 270, 0, 57 [SEP] 5, KeyChain, -1.668, 1.639, -1.959, 0, 90, 0, 35 [SEP] 6, Book, -1.550, 0.799, -0.723, 0, 0, 0, 42 [SEP] 7, Book, 2.410, 0.451, 1.841, 0, 90, 0, 57 [SEP] 8, KeyChain, -1.583, 0.973, -0.540, 0, 0, 0, 41 [SEP] 9, AlarmClock, -1.583, 0.972, -0.742, 0, 0, 0, 41 [SEP] 10, Pillow, 1.413, 0.794, -1.505, 0, 0, 0, 23 [SEP] 11, Pillow, 1.743, 0.836, 0.188, 0, 0, 0, 23 [SEP] 12, Vase, 2.283, 0.681, -1.581, 0, 0, 0, 54 [SEP] 13, Laptop, 0.296, 0.773, -1.579, 0, 0, 0, 23 [SEP] 14, Vase, -1.650, 1.626, -2.316, 0, 0, 0, 35 [SEP] 15, Pencil, 2.515, 0.686, -1.626, 0, 0, 0, 54 [SEP] 16, CreditCard, 1.633, 0.374, 2.201, 0, 0, 0, 53 [SEP] 17, Boots, -1.842, 0.000, -1.077, 0, 135, 0, [SEP] 18, Pen, -1.663, 0.805, 0.349, 0, 0, 0, 46 [SEP] 19, CellPhone, 0.537, 0.775, -0.990, 0, 0, 0, 23 [SEP] 20, CD, -1.494, 0.800, -0.536, 0, 0, 0, 42 [SEP] 21, Bowl, -1.684, 1.135, -2.300, 0, 346.900, 0, 36 [SEP] 22, Statue, 1.576, 0.691, 2.217, 0, 0, 0, 51 [SEP] 23, Bed, 1.017, 0.003, -0.686, 0, 180, 0, [SEP] 24, HousePlant, -1.749, 0.971, 0.463, 0, 0, 0, [SEP] 25, GarbageCan, -1.665, -0.000, 0.953, 0, 45, 0, [SEP] 26, Painting, 0.381, 1.976, -1.895, 90, 0, 0, [SEP] 27, Painting, 0.879, 1.976, -1.895, 90, 0, 0, [SEP] 28, Painting, 1.373, 1.976, -1.895, 90, 0, 0, [SEP] 29, LightSwitch, -0.164, 1.085, 2.450, 0, 180, 0, [SEP] 30, Mirror, -1.950, 1.735, -0.206, 0, 270, 0, [SEP] 31, Window, -1.098, 1.570, -3.230, 90, 0, 0, [SEP] 32, DeskLamp, 1.404, 0.668, 2.209, 0, 0, 0, [SEP] 33, DeskLamp, 2.596, 0.668, -1.710, 0, 0, 0, [SEP] 34, Blinds, -1.062, 2.361, -3.173, 0, 0, 0, [SEP] 35, Shelf, -1.675, 1.871, -2.053, 0, 90, 0, [SEP] 36, Shelf, -1.675, 1.383, -2.053, 0, 90, 0, [SEP] 37, Drawer, -1.715, 0.832, -2.053, 0, 90, 0, [SEP] 38, ShelvingUnit, -1.723, 0.007, -2.053, 0, 90, 0, [SEP] 39, Drawer, -1.713, 0.339, -2.053, 0, 90, 0, [SEP] 40, Drawer, -1.629, 0.104, 0.243, 0, 90, 0, [SEP] 41, Dresser, -1.674, 0.000, -0.153, 0, 90, 0, [SEP] 42, Drawer, -1.630, 0.868, -0.550, 0, 90, 0, [SEP] 43, Drawer, -1.630, 0.680, 0.243, 0, 90, 0, [SEP] 44, Drawer, -1.629, 0.104, -0.550, 0, 90, 0, [SEP] 45, Drawer, -1.630, 0.680, -0.550, 0, 90, 0, [SEP] 46, Drawer, -1.630, 0.868, 0.243, 0, 90, 0, [SEP] 47, Drawer, -1.629, 0.486, -0.550, 0, 90, 0, [SEP] 48, Drawer, -1.629, 0.291, 0.243, 0, 90, 0, [SEP] 49, Drawer, -1.629, 0.291, -0.550, 0, 90, 0, [SEP] 50, Drawer, -1.630, 0.486, 0.243, 0, 90, 0, [SEP] 51, SideTable, 1.576, -0.001, 2.137, 0, 180, 0, [SEP] 52, Drawer, 1.576, 0.163, 2.070, 0, 180, 0, [SEP] 53, Drawer, 1.576, 0.455, 2.070, 0, 180, 0, [SEP] 54, SideTable, 2.437, -0.001, -1.603, 0, 0, 0, [SEP] 55, Drawer, 2.438, 0.163, -1.536, 0, 0, 0, [SEP] 56, Drawer, 2.438, 0.455, -1.536, 0, 0, 0, [SEP] 57, ArmChair, 2.393, -0.001, 1.943, 0, 180, 0, [SEP] 58, NorthWall, , , , , , , [SEP] 59, EastWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your left and go across the room, the turn right at the end of the bed and go past the bed again, then go to the night stand to the left of the bed. | STEP 2: Pick up the pencil to the right of the lamp, on the night stand. | STEP 3: Turn around and go past the bed, turn left and go across the room to the dresser against the wall. | STEP 4: Place the pencil on the keys, on the dresser. | END"]} +{"id": "trial_T20190909_071128_012892-2", "input": "put pencil on bureau top SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -2.5, 0, 90, 0, [SEP] 1, Statue, -1.699, 1.156, -2.073, 0, 90, 0, 36 [SEP] 2, CD, 1.731, 0.680, 2.217, 0, 0, 0, 51 [SEP] 3, CreditCard, 2.690, 0.437, 1.921, 0, 90, 0, 57 [SEP] 4, KeyChain, 2.315, 0.434, 1.672, 0, 270, 0, 57 [SEP] 5, KeyChain, -1.668, 1.639, -1.959, 0, 90, 0, 35 [SEP] 6, Book, -1.550, 0.799, -0.723, 0, 0, 0, 42 [SEP] 7, Book, 2.410, 0.451, 1.841, 0, 90, 0, 57 [SEP] 8, KeyChain, -1.583, 0.973, -0.540, 0, 0, 0, 41 [SEP] 9, AlarmClock, -1.583, 0.972, -0.742, 0, 0, 0, 41 [SEP] 10, Pillow, 1.413, 0.794, -1.505, 0, 0, 0, 23 [SEP] 11, Pillow, 1.743, 0.836, 0.188, 0, 0, 0, 23 [SEP] 12, Vase, 2.283, 0.681, -1.581, 0, 0, 0, 54 [SEP] 13, Laptop, 0.296, 0.773, -1.579, 0, 0, 0, 23 [SEP] 14, Vase, -1.650, 1.626, -2.316, 0, 0, 0, 35 [SEP] 15, Pencil, 2.515, 0.686, -1.626, 0, 0, 0, 54 [SEP] 16, CreditCard, 1.633, 0.374, 2.201, 0, 0, 0, 53 [SEP] 17, Boots, -1.842, 0.000, -1.077, 0, 135, 0, [SEP] 18, Pen, -1.663, 0.805, 0.349, 0, 0, 0, 46 [SEP] 19, CellPhone, 0.537, 0.775, -0.990, 0, 0, 0, 23 [SEP] 20, CD, -1.494, 0.800, -0.536, 0, 0, 0, 42 [SEP] 21, Bowl, -1.684, 1.135, -2.300, 0, 346.900, 0, 36 [SEP] 22, Statue, 1.576, 0.691, 2.217, 0, 0, 0, 51 [SEP] 23, Bed, 1.017, 0.003, -0.686, 0, 180, 0, [SEP] 24, HousePlant, -1.749, 0.971, 0.463, 0, 0, 0, [SEP] 25, GarbageCan, -1.665, -0.000, 0.953, 0, 45, 0, [SEP] 26, Painting, 0.381, 1.976, -1.895, 90, 0, 0, [SEP] 27, Painting, 0.879, 1.976, -1.895, 90, 0, 0, [SEP] 28, Painting, 1.373, 1.976, -1.895, 90, 0, 0, [SEP] 29, LightSwitch, -0.164, 1.085, 2.450, 0, 180, 0, [SEP] 30, Mirror, -1.950, 1.735, -0.206, 0, 270, 0, [SEP] 31, Window, -1.098, 1.570, -3.230, 90, 0, 0, [SEP] 32, DeskLamp, 1.404, 0.668, 2.209, 0, 0, 0, [SEP] 33, DeskLamp, 2.596, 0.668, -1.710, 0, 0, 0, [SEP] 34, Blinds, -1.062, 2.361, -3.173, 0, 0, 0, [SEP] 35, Shelf, -1.675, 1.871, -2.053, 0, 90, 0, [SEP] 36, Shelf, -1.675, 1.383, -2.053, 0, 90, 0, [SEP] 37, Drawer, -1.715, 0.832, -2.053, 0, 90, 0, [SEP] 38, ShelvingUnit, -1.723, 0.007, -2.053, 0, 90, 0, [SEP] 39, Drawer, -1.713, 0.339, -2.053, 0, 90, 0, [SEP] 40, Drawer, -1.629, 0.104, 0.243, 0, 90, 0, [SEP] 41, Dresser, -1.674, 0.000, -0.153, 0, 90, 0, [SEP] 42, Drawer, -1.630, 0.868, -0.550, 0, 90, 0, [SEP] 43, Drawer, -1.630, 0.680, 0.243, 0, 90, 0, [SEP] 44, Drawer, -1.629, 0.104, -0.550, 0, 90, 0, [SEP] 45, Drawer, -1.630, 0.680, -0.550, 0, 90, 0, [SEP] 46, Drawer, -1.630, 0.868, 0.243, 0, 90, 0, [SEP] 47, Drawer, -1.629, 0.486, -0.550, 0, 90, 0, [SEP] 48, Drawer, -1.629, 0.291, 0.243, 0, 90, 0, [SEP] 49, Drawer, -1.629, 0.291, -0.550, 0, 90, 0, [SEP] 50, Drawer, -1.630, 0.486, 0.243, 0, 90, 0, [SEP] 51, SideTable, 1.576, -0.001, 2.137, 0, 180, 0, [SEP] 52, Drawer, 1.576, 0.163, 2.070, 0, 180, 0, [SEP] 53, Drawer, 1.576, 0.455, 2.070, 0, 180, 0, [SEP] 54, SideTable, 2.437, -0.001, -1.603, 0, 0, 0, [SEP] 55, Drawer, 2.438, 0.163, -1.536, 0, 0, 0, [SEP] 56, Drawer, 2.438, 0.455, -1.536, 0, 0, 0, [SEP] 57, ArmChair, 2.393, -0.001, 1.943, 0, 180, 0, [SEP] 58, NorthWall, , , , , , , [SEP] 59, EastWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, WestWall, , , , , , , ", "output": ["STEP 1: walk to face night table on left side of bed | STEP 2: pick up pencil from table | STEP 3: walk to face left side of bureau | STEP 4: put pencil on bureau top | END"]} +{"id": "trial_T20190909_152837_739016-0", "input": "Put the mug on the dresser with the television. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.910, 4.5, 0, 90, 0, [SEP] 1, CD, 2.367, 0.806, 3.053, 0, 0, 0, 40 [SEP] 2, CD, -0.749, 0.913, 4.166, 0, 0, 0, 29 [SEP] 3, CellPhone, 2.784, 0.807, 2.613, 0, 0, 0, 40 [SEP] 4, CellPhone, 2.784, 0.807, 3.715, 0, 0, 0, 40 [SEP] 5, Pen, 2.447, 0.750, -1.588, 0, 0, 0, 37 [SEP] 6, Pen, -0.749, 0.919, 3.799, 0, 0, 0, 29 [SEP] 7, CreditCard, 2.660, 0.097, 0.721, 0, 0, 0, 42 [SEP] 8, CreditCard, 2.575, 0.458, 0.721, 0, 0, 0, 43 [SEP] 9, KeyChain, -1.307, 0.400, -1.053, 0, 90, 0, 38 [SEP] 10, RemoteControl, 2.850, 0.844, 0.230, 0, 0, 0, 41 [SEP] 11, Pillow, -1.312, 0.785, 1.408, 0, 0, 0, 26 [SEP] 12, Book, -0.749, 0.912, 4.533, 0, 0, 0, 29 [SEP] 13, AlarmClock, 2.262, 0.816, 2.613, 0, 0, 0, 40 [SEP] 14, CellPhone, -0.116, 0.714, 1.408, 0, 0, 0, 26 [SEP] 15, Bowl, -0.815, 0.915, 3.982, 0, 0, 0, 29 [SEP] 16, CreditCard, 2.490, 0.458, 0.819, 0, 0, 0, 43 [SEP] 17, KeyChain, 2.595, 0.745, -1.372, 0, 90, 0, 49 [SEP] 18, RemoteControl, 2.618, 0.098, 0.526, 0, 0, 0, 42 [SEP] 19, Laptop, -1.217, 0.397, -1.227, 0, 90, 0, 38 [SEP] 20, Pencil, 2.644, 0.749, -1.300, 0, 0, 0, 49 [SEP] 21, Pillow, -0.594, 0.785, 1.973, 0, 0, 0, 26 [SEP] 22, Pillow, -0.594, 0.785, 1.408, 0, 0, 0, 26 [SEP] 23, CD, 2.609, 0.842, 1.017, 0, 0, 0, 41 [SEP] 24, Pen, 2.262, 0.813, 3.494, 0, 0, 0, 40 [SEP] 25, Mug, 2.262, 0.805, 3.715, 0, 90, 0, 40 [SEP] 26, Bed, -0.594, 0.009, 2.298, 0, 0, 0, [SEP] 27, Mirror, -1.184, 1.603, 4.348, 0, 0, 0, [SEP] 28, Television, 2.738, 1.330, 0.622, 0, 270, 0, [SEP] 29, CounterTop, -0.890, 0.951, 4.349, 0, 0, 0, [SEP] 30, LightSwitch, 0.800, 1.371, 5.245, 0, 90, 0, [SEP] 31, Painting, 2.992, 1.529, 3.415, 90, 270, 0, [SEP] 32, Painting, 2.992, 1.529, 2.553, 90, 270, 0, [SEP] 33, DeskLamp, 2.625, 0.772, -1.469, 0, 0, 0, [SEP] 34, DeskLamp, 2.668, 0.810, 3.082, 0, 358.947, 0, [SEP] 35, GarbageCan, -0.626, -0.009, 3.742, 0, 0, 0, [SEP] 36, Window, -0.453, 1.450, -2.058, 90, 180, 0, [SEP] 37, SideTable, 2.565, 0.009, -1.534, 0, 0, 0, [SEP] 38, ArmChair, -1.277, 0.009, -1.169, 0, 90, 0, [SEP] 39, Blinds, -0.5, 2.174, -1.957, 0, 0, 0, [SEP] 40, Desk, 2.572, 0.011, 3.054, 0, 270, 0, [SEP] 41, SideTable, 2.645, 0.009, 0.624, 0, 270, 0, [SEP] 42, Drawer, 2.525, 0.214, 0.624, 0, 270, 0, [SEP] 43, Drawer, 2.525, 0.578, 0.624, 0, 270, 0, [SEP] 44, ArmChair, 2.424, 0.009, -0.564, 0, 270, 0, [SEP] 45, LaundryHamper, 3.457, 0.009, 4.555, 0, 270, 0, [SEP] 46, Chair, 2.591, 0.020, 2.015, 0, 0, 0, [SEP] 47, Chair, 2.184, 0.020, 3.440, 0, 120.016, 0, [SEP] 48, Chair, 2.211, 0.020, 2.592, 0, 74.981, 0, [SEP] 49, , , , , , , , [SEP] 50, NorthWall, , , , , , , [SEP] 51, EastWall, , , , , , , [SEP] 52, SouthWall, , , , , , , [SEP] 53, WestWall, , , , , , , ", "output": ["STEP 1: Go to the left side of the desk. | STEP 2: Pick up the white mug on the desk. | STEP 3: Go to the television. | STEP 4: Put the mug in front of the television to the right of the CD. | END"]} +{"id": "trial_T20190909_152837_739016-1", "input": "Place a mug on a TV stand. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.910, 4.5, 0, 90, 0, [SEP] 1, CD, 2.367, 0.806, 3.053, 0, 0, 0, 40 [SEP] 2, CD, -0.749, 0.913, 4.166, 0, 0, 0, 29 [SEP] 3, CellPhone, 2.784, 0.807, 2.613, 0, 0, 0, 40 [SEP] 4, CellPhone, 2.784, 0.807, 3.715, 0, 0, 0, 40 [SEP] 5, Pen, 2.447, 0.750, -1.588, 0, 0, 0, 37 [SEP] 6, Pen, -0.749, 0.919, 3.799, 0, 0, 0, 29 [SEP] 7, CreditCard, 2.660, 0.097, 0.721, 0, 0, 0, 42 [SEP] 8, CreditCard, 2.575, 0.458, 0.721, 0, 0, 0, 43 [SEP] 9, KeyChain, -1.307, 0.400, -1.053, 0, 90, 0, 38 [SEP] 10, RemoteControl, 2.850, 0.844, 0.230, 0, 0, 0, 41 [SEP] 11, Pillow, -1.312, 0.785, 1.408, 0, 0, 0, 26 [SEP] 12, Book, -0.749, 0.912, 4.533, 0, 0, 0, 29 [SEP] 13, AlarmClock, 2.262, 0.816, 2.613, 0, 0, 0, 40 [SEP] 14, CellPhone, -0.116, 0.714, 1.408, 0, 0, 0, 26 [SEP] 15, Bowl, -0.815, 0.915, 3.982, 0, 0, 0, 29 [SEP] 16, CreditCard, 2.490, 0.458, 0.819, 0, 0, 0, 43 [SEP] 17, KeyChain, 2.595, 0.745, -1.372, 0, 90, 0, 49 [SEP] 18, RemoteControl, 2.618, 0.098, 0.526, 0, 0, 0, 42 [SEP] 19, Laptop, -1.217, 0.397, -1.227, 0, 90, 0, 38 [SEP] 20, Pencil, 2.644, 0.749, -1.300, 0, 0, 0, 49 [SEP] 21, Pillow, -0.594, 0.785, 1.973, 0, 0, 0, 26 [SEP] 22, Pillow, -0.594, 0.785, 1.408, 0, 0, 0, 26 [SEP] 23, CD, 2.609, 0.842, 1.017, 0, 0, 0, 41 [SEP] 24, Pen, 2.262, 0.813, 3.494, 0, 0, 0, 40 [SEP] 25, Mug, 2.262, 0.805, 3.715, 0, 90, 0, 40 [SEP] 26, Bed, -0.594, 0.009, 2.298, 0, 0, 0, [SEP] 27, Mirror, -1.184, 1.603, 4.348, 0, 0, 0, [SEP] 28, Television, 2.738, 1.330, 0.622, 0, 270, 0, [SEP] 29, CounterTop, -0.890, 0.951, 4.349, 0, 0, 0, [SEP] 30, LightSwitch, 0.800, 1.371, 5.245, 0, 90, 0, [SEP] 31, Painting, 2.992, 1.529, 3.415, 90, 270, 0, [SEP] 32, Painting, 2.992, 1.529, 2.553, 90, 270, 0, [SEP] 33, DeskLamp, 2.625, 0.772, -1.469, 0, 0, 0, [SEP] 34, DeskLamp, 2.668, 0.810, 3.082, 0, 358.947, 0, [SEP] 35, GarbageCan, -0.626, -0.009, 3.742, 0, 0, 0, [SEP] 36, Window, -0.453, 1.450, -2.058, 90, 180, 0, [SEP] 37, SideTable, 2.565, 0.009, -1.534, 0, 0, 0, [SEP] 38, ArmChair, -1.277, 0.009, -1.169, 0, 90, 0, [SEP] 39, Blinds, -0.5, 2.174, -1.957, 0, 0, 0, [SEP] 40, Desk, 2.572, 0.011, 3.054, 0, 270, 0, [SEP] 41, SideTable, 2.645, 0.009, 0.624, 0, 270, 0, [SEP] 42, Drawer, 2.525, 0.214, 0.624, 0, 270, 0, [SEP] 43, Drawer, 2.525, 0.578, 0.624, 0, 270, 0, [SEP] 44, ArmChair, 2.424, 0.009, -0.564, 0, 270, 0, [SEP] 45, LaundryHamper, 3.457, 0.009, 4.555, 0, 270, 0, [SEP] 46, Chair, 2.591, 0.020, 2.015, 0, 0, 0, [SEP] 47, Chair, 2.184, 0.020, 3.440, 0, 120.016, 0, [SEP] 48, Chair, 2.211, 0.020, 2.592, 0, 74.981, 0, [SEP] 49, , , , , , , , [SEP] 50, NorthWall, , , , , , , [SEP] 51, EastWall, , , , , , , [SEP] 52, SouthWall, , , , , , , [SEP] 53, WestWall, , , , , , , ", "output": ["STEP 1: Walk ahead and right to the desk. | STEP 2: Pick up the mug on the desk. | STEP 3: Turn right and walk to the TV stand. | STEP 4: Place the mug on the TV stand, in front and to the right of the CD. | END"]} +{"id": "trial_T20190909_152837_739016-2", "input": "Put a mug in front of a television. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.910, 4.5, 0, 90, 0, [SEP] 1, CD, 2.367, 0.806, 3.053, 0, 0, 0, 40 [SEP] 2, CD, -0.749, 0.913, 4.166, 0, 0, 0, 29 [SEP] 3, CellPhone, 2.784, 0.807, 2.613, 0, 0, 0, 40 [SEP] 4, CellPhone, 2.784, 0.807, 3.715, 0, 0, 0, 40 [SEP] 5, Pen, 2.447, 0.750, -1.588, 0, 0, 0, 37 [SEP] 6, Pen, -0.749, 0.919, 3.799, 0, 0, 0, 29 [SEP] 7, CreditCard, 2.660, 0.097, 0.721, 0, 0, 0, 42 [SEP] 8, CreditCard, 2.575, 0.458, 0.721, 0, 0, 0, 43 [SEP] 9, KeyChain, -1.307, 0.400, -1.053, 0, 90, 0, 38 [SEP] 10, RemoteControl, 2.850, 0.844, 0.230, 0, 0, 0, 41 [SEP] 11, Pillow, -1.312, 0.785, 1.408, 0, 0, 0, 26 [SEP] 12, Book, -0.749, 0.912, 4.533, 0, 0, 0, 29 [SEP] 13, AlarmClock, 2.262, 0.816, 2.613, 0, 0, 0, 40 [SEP] 14, CellPhone, -0.116, 0.714, 1.408, 0, 0, 0, 26 [SEP] 15, Bowl, -0.815, 0.915, 3.982, 0, 0, 0, 29 [SEP] 16, CreditCard, 2.490, 0.458, 0.819, 0, 0, 0, 43 [SEP] 17, KeyChain, 2.595, 0.745, -1.372, 0, 90, 0, 49 [SEP] 18, RemoteControl, 2.618, 0.098, 0.526, 0, 0, 0, 42 [SEP] 19, Laptop, -1.217, 0.397, -1.227, 0, 90, 0, 38 [SEP] 20, Pencil, 2.644, 0.749, -1.300, 0, 0, 0, 49 [SEP] 21, Pillow, -0.594, 0.785, 1.973, 0, 0, 0, 26 [SEP] 22, Pillow, -0.594, 0.785, 1.408, 0, 0, 0, 26 [SEP] 23, CD, 2.609, 0.842, 1.017, 0, 0, 0, 41 [SEP] 24, Pen, 2.262, 0.813, 3.494, 0, 0, 0, 40 [SEP] 25, Mug, 2.262, 0.805, 3.715, 0, 90, 0, 40 [SEP] 26, Bed, -0.594, 0.009, 2.298, 0, 0, 0, [SEP] 27, Mirror, -1.184, 1.603, 4.348, 0, 0, 0, [SEP] 28, Television, 2.738, 1.330, 0.622, 0, 270, 0, [SEP] 29, CounterTop, -0.890, 0.951, 4.349, 0, 0, 0, [SEP] 30, LightSwitch, 0.800, 1.371, 5.245, 0, 90, 0, [SEP] 31, Painting, 2.992, 1.529, 3.415, 90, 270, 0, [SEP] 32, Painting, 2.992, 1.529, 2.553, 90, 270, 0, [SEP] 33, DeskLamp, 2.625, 0.772, -1.469, 0, 0, 0, [SEP] 34, DeskLamp, 2.668, 0.810, 3.082, 0, 358.947, 0, [SEP] 35, GarbageCan, -0.626, -0.009, 3.742, 0, 0, 0, [SEP] 36, Window, -0.453, 1.450, -2.058, 90, 180, 0, [SEP] 37, SideTable, 2.565, 0.009, -1.534, 0, 0, 0, [SEP] 38, ArmChair, -1.277, 0.009, -1.169, 0, 90, 0, [SEP] 39, Blinds, -0.5, 2.174, -1.957, 0, 0, 0, [SEP] 40, Desk, 2.572, 0.011, 3.054, 0, 270, 0, [SEP] 41, SideTable, 2.645, 0.009, 0.624, 0, 270, 0, [SEP] 42, Drawer, 2.525, 0.214, 0.624, 0, 270, 0, [SEP] 43, Drawer, 2.525, 0.578, 0.624, 0, 270, 0, [SEP] 44, ArmChair, 2.424, 0.009, -0.564, 0, 270, 0, [SEP] 45, LaundryHamper, 3.457, 0.009, 4.555, 0, 270, 0, [SEP] 46, Chair, 2.591, 0.020, 2.015, 0, 0, 0, [SEP] 47, Chair, 2.184, 0.020, 3.440, 0, 120.016, 0, [SEP] 48, Chair, 2.211, 0.020, 2.592, 0, 74.981, 0, [SEP] 49, , , , , , , , [SEP] 50, NorthWall, , , , , , , [SEP] 51, EastWall, , , , , , , [SEP] 52, SouthWall, , , , , , , [SEP] 53, WestWall, , , , , , , ", "output": ["STEP 1: Go forward and face the black table with the cup on it. | STEP 2: Pick the white mug up from the black table. | STEP 3: Move to the right and face the cabinet with the television on it. | STEP 4: Put the mug down in front of the television. | END"]} +{"id": "trial_T20190910_173916_331859-0", "input": "Put a chilled tomato in the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.899, 0.25, 0, 90, 0, [SEP] 1, Pan, -3.859, 0.923, 1.951, 0, 90, 0, 47 [SEP] 2, ButterKnife, -0.334, 0.925, 5.603, 0, 0, 0, 57 [SEP] 3, WineBottle, -4.411, 0.924, 3.863, 0, 90, 0, 72 [SEP] 4, Fork, -4.132, 0.754, 2.590, 0, 0, 0, 52 [SEP] 5, Fork, -0.258, 0.925, 4.944, 0, 0, 0, 57 [SEP] 6, Spatula, -4.016, 0.770, 2.235, 0, 90, 0, 52 [SEP] 7, Cup, -1.777, 0.922, 1.724, 0, 0, 0, 54 [SEP] 8, Cup, -1.943, 0.922, 1.951, 0, 0, 0, 54 [SEP] 9, Egg, -4.308, 0.826, 3.472, 0, 270, 0, 104 [SEP] 10, Egg, -4.308, 0.826, 3.285, 0, 270, 0, 104 [SEP] 11, SoapBottle, -1.905, 1.452, 1.605, 0, 0, 0, 91 [SEP] 12, Tomato, -0.488, 0.982, 5.273, 0, 0, 0, 57 [SEP] 13, Tomato, -4.26, 0.980, 4.900, 0, 90, 0, 72 [SEP] 14, Tomato, -4.102, 0.980, 2.300, 0, 0, 0, 72 [SEP] 15, Bowl, -1.943, 0.920, 1.648, 0, 0, 0, 54 [SEP] 16, SaltShaker, -3.531, 0.078, 1.850, 0, 0, 0, 47 [SEP] 17, SaltShaker, -4.036, 0.741, 4.510, 0, 90, 0, 79 [SEP] 18, PepperShaker, -1.943, 0.919, 1.8, 0, 0, 0, 54 [SEP] 19, PepperShaker, -0.532, 0.743, 4.849, 0, 270, 0, 62 [SEP] 20, Mug, -4.159, 0.785, 3.410, 0, 270, 0, 104 [SEP] 21, Mug, -0.409, 0.955, 6.557, 0, 270, 0, 93 [SEP] 22, Egg, -4.411, 0.959, 5.159, 0, 90, 0, 72 [SEP] 23, Apple, -4.196, 0.844, 3.097, 0, 270, 0, 104 [SEP] 24, Knife, -1.777, 0.953, 2.026, 0, 0, 0, 54 [SEP] 25, Potato, -4.26, 0.956, 5.159, 0, 90, 0, 72 [SEP] 26, Fork, -1.860, 0.924, 1.951, 0, 90, 0, 54 [SEP] 27, Bowl, -0.258, 0.922, 4.615, 0, 0, 0, 57 [SEP] 28, Plate, -4.132, 0.078, 2.286, 0, 0, 0, 82 [SEP] 29, Lettuce, -3.613, 1.018, 5.489, 0, 90, 0, 72 [SEP] 30, Bread, -4.234, 0.990, 3.985, 0, 0, 0, 72 [SEP] 31, Tomato, -3.712, 0.125, 6.457, 0, 270, 0, 98 [SEP] 32, WineBottle, -3.748, 0.069, 6.333, 0, 270, 0, 98 [SEP] 33, Spatula, -1.693, 0.938, 1.8, 0, 90, 0, 54 [SEP] 34, PaperTowelRoll, -1.610, 1.027, 1.573, 0, 0, 0, 54 [SEP] 35, Cup, -0.181, 0.923, 4.944, 0, 0, 0, 57 [SEP] 36, Pencil, -0.488, 0.925, 6.261, 0, 0, 0, 57 [SEP] 37, Pan, -2.924, 0.930, 2.012, 0, 0, 0, 55 [SEP] 38, Pot, -2.924, 0.930, 1.712, 0, 180, 0, 69 [SEP] 39, SaltShaker, -0.181, 0.921, 5.273, 0, 0, 0, 51 [SEP] 40, SoapBottle, -0.565, 0.924, 4.944, 0, 0, 0, 57 [SEP] 41, PepperShaker, -3.830, 0.743, 5.133, 0, 180, 0, 75 [SEP] 42, ButterKnife, -4.312, 0.923, 2.766, 0, 0, 0, 72 [SEP] 43, DishSponge, -4.028, 1.455, 1.735, 0, 45, 0, 73 [SEP] 44, Spoon, -4.517, 0.924, 3.432, 0, 90, 0, 72 [SEP] 45, Mug, -4.196, 0.785, 3.222, 0, 270, 0, 104 [SEP] 46, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0, [SEP] 47, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0, [SEP] 48, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0, [SEP] 49, Drawer, -3.797, 0.781, 1.961, 0, 0, 0, [SEP] 50, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0, [SEP] 51, Drawer, -0.509, 0.775, 5.268, 0, 270, 0, [SEP] 52, Drawer, -4.125, 0.798, 2.499, 0, 0, 0, [SEP] 53, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0, [SEP] 54, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0, [SEP] 55, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0, [SEP] 56, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0, [SEP] 57, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0, [SEP] 58, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0, [SEP] 59, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0, [SEP] 60, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0, [SEP] 61, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0, [SEP] 62, Drawer, -0.509, 0.775, 4.617, 0, 270, 0, [SEP] 63, Drawer, -3.509, 0.777, 5.157, 0, 180, 0, [SEP] 64, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0, [SEP] 65, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0, [SEP] 66, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0, [SEP] 67, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0, [SEP] 68, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0, [SEP] 69, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0, [SEP] 70, Drawer, -1.859, 0.775, 1.961, 0, 0, 0, [SEP] 71, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0, [SEP] 72, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0, [SEP] 73, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0, [SEP] 74, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0, [SEP] 75, Drawer, -3.801, 0.777, 5.157, 0, 180, 0, [SEP] 76, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0, [SEP] 77, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0, [SEP] 78, Drawer, -3.418, 0.777, 1.961, 0, 0, 0, [SEP] 79, Drawer, -4.090, 0.777, 4.661, 0, 90, 0, [SEP] 80, Faucet, -4.441, 0.909, 3.288, 270, 0, 0, [SEP] 81, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0, [SEP] 82, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0, [SEP] 83, Drawer, -0.509, 0.775, 5.920, 0, 270, 0, [SEP] 84, Drawer, -3.193, 0.777, 5.157, 0, 180, 0, [SEP] 85, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0, [SEP] 86, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0, [SEP] 87, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0, [SEP] 88, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0, [SEP] 89, Sink, -4.190, 0.921, 3.279, 0, 0, 0, [SEP] 90, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0, [SEP] 91, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0, [SEP] 92, Drawer, -0.509, 0.775, 6.568, 0, 270, 0, [SEP] 93, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0, [SEP] 94, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180, [SEP] 95, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180, [SEP] 96, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180, [SEP] 97, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180, [SEP] 98, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0, [SEP] 99, Toaster, -3.578, 0.912, 1.763, 0, 0, 0, [SEP] 100, Curtains, -4.522, 2.252, 3.391, 90, 90, 0, [SEP] 101, Window, -4.868, 1.629, 3.309, 90, 270, 0, [SEP] 102, Microwave, -2.693, 1.430, 1.689, 0, 0, 0, [SEP] 103, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0, [SEP] 104, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0, [SEP] 105, Fridge, -0.324, -0.001, 3.602, 0, 0, 0, [SEP] 106, NorthWall, , , , , , , [SEP] 107, EastWall, , , , , , , [SEP] 108, SouthWall, , , , , , , [SEP] 109, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and go through the kitchen to the front of the counter top on the left of the sink | STEP 2: Pick up the red tomato on the left side of the counter. | STEP 3: Turn around and go to the front of the refrigerator. | STEP 4: Chill the tomato in the refrigerator and take it out. | STEP 5: Turn around and go left to the front of the microwave above the stove. | STEP 6: Place the chilled tomato in the microwave and close it. | END"]} +{"id": "trial_T20190910_173916_331859-1", "input": "Cool a tomato and put it in the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.899, 0.25, 0, 90, 0, [SEP] 1, Pan, -3.859, 0.923, 1.951, 0, 90, 0, 47 [SEP] 2, ButterKnife, -0.334, 0.925, 5.603, 0, 0, 0, 57 [SEP] 3, WineBottle, -4.411, 0.924, 3.863, 0, 90, 0, 72 [SEP] 4, Fork, -4.132, 0.754, 2.590, 0, 0, 0, 52 [SEP] 5, Fork, -0.258, 0.925, 4.944, 0, 0, 0, 57 [SEP] 6, Spatula, -4.016, 0.770, 2.235, 0, 90, 0, 52 [SEP] 7, Cup, -1.777, 0.922, 1.724, 0, 0, 0, 54 [SEP] 8, Cup, -1.943, 0.922, 1.951, 0, 0, 0, 54 [SEP] 9, Egg, -4.308, 0.826, 3.472, 0, 270, 0, 104 [SEP] 10, Egg, -4.308, 0.826, 3.285, 0, 270, 0, 104 [SEP] 11, SoapBottle, -1.905, 1.452, 1.605, 0, 0, 0, 91 [SEP] 12, Tomato, -0.488, 0.982, 5.273, 0, 0, 0, 57 [SEP] 13, Tomato, -4.26, 0.980, 4.900, 0, 90, 0, 72 [SEP] 14, Tomato, -4.102, 0.980, 2.300, 0, 0, 0, 72 [SEP] 15, Bowl, -1.943, 0.920, 1.648, 0, 0, 0, 54 [SEP] 16, SaltShaker, -3.531, 0.078, 1.850, 0, 0, 0, 47 [SEP] 17, SaltShaker, -4.036, 0.741, 4.510, 0, 90, 0, 79 [SEP] 18, PepperShaker, -1.943, 0.919, 1.8, 0, 0, 0, 54 [SEP] 19, PepperShaker, -0.532, 0.743, 4.849, 0, 270, 0, 62 [SEP] 20, Mug, -4.159, 0.785, 3.410, 0, 270, 0, 104 [SEP] 21, Mug, -0.409, 0.955, 6.557, 0, 270, 0, 93 [SEP] 22, Egg, -4.411, 0.959, 5.159, 0, 90, 0, 72 [SEP] 23, Apple, -4.196, 0.844, 3.097, 0, 270, 0, 104 [SEP] 24, Knife, -1.777, 0.953, 2.026, 0, 0, 0, 54 [SEP] 25, Potato, -4.26, 0.956, 5.159, 0, 90, 0, 72 [SEP] 26, Fork, -1.860, 0.924, 1.951, 0, 90, 0, 54 [SEP] 27, Bowl, -0.258, 0.922, 4.615, 0, 0, 0, 57 [SEP] 28, Plate, -4.132, 0.078, 2.286, 0, 0, 0, 82 [SEP] 29, Lettuce, -3.613, 1.018, 5.489, 0, 90, 0, 72 [SEP] 30, Bread, -4.234, 0.990, 3.985, 0, 0, 0, 72 [SEP] 31, Tomato, -3.712, 0.125, 6.457, 0, 270, 0, 98 [SEP] 32, WineBottle, -3.748, 0.069, 6.333, 0, 270, 0, 98 [SEP] 33, Spatula, -1.693, 0.938, 1.8, 0, 90, 0, 54 [SEP] 34, PaperTowelRoll, -1.610, 1.027, 1.573, 0, 0, 0, 54 [SEP] 35, Cup, -0.181, 0.923, 4.944, 0, 0, 0, 57 [SEP] 36, Pencil, -0.488, 0.925, 6.261, 0, 0, 0, 57 [SEP] 37, Pan, -2.924, 0.930, 2.012, 0, 0, 0, 55 [SEP] 38, Pot, -2.924, 0.930, 1.712, 0, 180, 0, 69 [SEP] 39, SaltShaker, -0.181, 0.921, 5.273, 0, 0, 0, 51 [SEP] 40, SoapBottle, -0.565, 0.924, 4.944, 0, 0, 0, 57 [SEP] 41, PepperShaker, -3.830, 0.743, 5.133, 0, 180, 0, 75 [SEP] 42, ButterKnife, -4.312, 0.923, 2.766, 0, 0, 0, 72 [SEP] 43, DishSponge, -4.028, 1.455, 1.735, 0, 45, 0, 73 [SEP] 44, Spoon, -4.517, 0.924, 3.432, 0, 90, 0, 72 [SEP] 45, Mug, -4.196, 0.785, 3.222, 0, 270, 0, 104 [SEP] 46, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0, [SEP] 47, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0, [SEP] 48, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0, [SEP] 49, Drawer, -3.797, 0.781, 1.961, 0, 0, 0, [SEP] 50, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0, [SEP] 51, Drawer, -0.509, 0.775, 5.268, 0, 270, 0, [SEP] 52, Drawer, -4.125, 0.798, 2.499, 0, 0, 0, [SEP] 53, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0, [SEP] 54, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0, [SEP] 55, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0, [SEP] 56, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0, [SEP] 57, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0, [SEP] 58, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0, [SEP] 59, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0, [SEP] 60, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0, [SEP] 61, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0, [SEP] 62, Drawer, -0.509, 0.775, 4.617, 0, 270, 0, [SEP] 63, Drawer, -3.509, 0.777, 5.157, 0, 180, 0, [SEP] 64, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0, [SEP] 65, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0, [SEP] 66, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0, [SEP] 67, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0, [SEP] 68, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0, [SEP] 69, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0, [SEP] 70, Drawer, -1.859, 0.775, 1.961, 0, 0, 0, [SEP] 71, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0, [SEP] 72, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0, [SEP] 73, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0, [SEP] 74, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0, [SEP] 75, Drawer, -3.801, 0.777, 5.157, 0, 180, 0, [SEP] 76, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0, [SEP] 77, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0, [SEP] 78, Drawer, -3.418, 0.777, 1.961, 0, 0, 0, [SEP] 79, Drawer, -4.090, 0.777, 4.661, 0, 90, 0, [SEP] 80, Faucet, -4.441, 0.909, 3.288, 270, 0, 0, [SEP] 81, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0, [SEP] 82, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0, [SEP] 83, Drawer, -0.509, 0.775, 5.920, 0, 270, 0, [SEP] 84, Drawer, -3.193, 0.777, 5.157, 0, 180, 0, [SEP] 85, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0, [SEP] 86, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0, [SEP] 87, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0, [SEP] 88, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0, [SEP] 89, Sink, -4.190, 0.921, 3.279, 0, 0, 0, [SEP] 90, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0, [SEP] 91, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0, [SEP] 92, Drawer, -0.509, 0.775, 6.568, 0, 270, 0, [SEP] 93, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0, [SEP] 94, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180, [SEP] 95, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180, [SEP] 96, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180, [SEP] 97, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180, [SEP] 98, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0, [SEP] 99, Toaster, -3.578, 0.912, 1.763, 0, 0, 0, [SEP] 100, Curtains, -4.522, 2.252, 3.391, 90, 90, 0, [SEP] 101, Window, -4.868, 1.629, 3.309, 90, 270, 0, [SEP] 102, Microwave, -2.693, 1.430, 1.689, 0, 0, 0, [SEP] 103, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0, [SEP] 104, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0, [SEP] 105, Fridge, -0.324, -0.001, 3.602, 0, 0, 0, [SEP] 106, NorthWall, , , , , , , [SEP] 107, EastWall, , , , , , , [SEP] 108, SouthWall, , , , , , , [SEP] 109, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, go forward, turn left and go to the counter | STEP 2: Pick up the tomato on the counter | STEP 3: Turn right, go forward a bit, turn right and go to the fridge | STEP 4: Put the tomato in the fridge, wait, pick up the tomato | STEP 5: Turn around, go forward a bit, turn left and go to the microwave | STEP 6: Put the tomato in the microwave | END"]} +{"id": "trial_T20190910_173916_331859-2", "input": "Chill a tomato and place it in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.899, 0.25, 0, 90, 0, [SEP] 1, Pan, -3.859, 0.923, 1.951, 0, 90, 0, 47 [SEP] 2, ButterKnife, -0.334, 0.925, 5.603, 0, 0, 0, 57 [SEP] 3, WineBottle, -4.411, 0.924, 3.863, 0, 90, 0, 72 [SEP] 4, Fork, -4.132, 0.754, 2.590, 0, 0, 0, 52 [SEP] 5, Fork, -0.258, 0.925, 4.944, 0, 0, 0, 57 [SEP] 6, Spatula, -4.016, 0.770, 2.235, 0, 90, 0, 52 [SEP] 7, Cup, -1.777, 0.922, 1.724, 0, 0, 0, 54 [SEP] 8, Cup, -1.943, 0.922, 1.951, 0, 0, 0, 54 [SEP] 9, Egg, -4.308, 0.826, 3.472, 0, 270, 0, 104 [SEP] 10, Egg, -4.308, 0.826, 3.285, 0, 270, 0, 104 [SEP] 11, SoapBottle, -1.905, 1.452, 1.605, 0, 0, 0, 91 [SEP] 12, Tomato, -0.488, 0.982, 5.273, 0, 0, 0, 57 [SEP] 13, Tomato, -4.26, 0.980, 4.900, 0, 90, 0, 72 [SEP] 14, Tomato, -4.102, 0.980, 2.300, 0, 0, 0, 72 [SEP] 15, Bowl, -1.943, 0.920, 1.648, 0, 0, 0, 54 [SEP] 16, SaltShaker, -3.531, 0.078, 1.850, 0, 0, 0, 47 [SEP] 17, SaltShaker, -4.036, 0.741, 4.510, 0, 90, 0, 79 [SEP] 18, PepperShaker, -1.943, 0.919, 1.8, 0, 0, 0, 54 [SEP] 19, PepperShaker, -0.532, 0.743, 4.849, 0, 270, 0, 62 [SEP] 20, Mug, -4.159, 0.785, 3.410, 0, 270, 0, 104 [SEP] 21, Mug, -0.409, 0.955, 6.557, 0, 270, 0, 93 [SEP] 22, Egg, -4.411, 0.959, 5.159, 0, 90, 0, 72 [SEP] 23, Apple, -4.196, 0.844, 3.097, 0, 270, 0, 104 [SEP] 24, Knife, -1.777, 0.953, 2.026, 0, 0, 0, 54 [SEP] 25, Potato, -4.26, 0.956, 5.159, 0, 90, 0, 72 [SEP] 26, Fork, -1.860, 0.924, 1.951, 0, 90, 0, 54 [SEP] 27, Bowl, -0.258, 0.922, 4.615, 0, 0, 0, 57 [SEP] 28, Plate, -4.132, 0.078, 2.286, 0, 0, 0, 82 [SEP] 29, Lettuce, -3.613, 1.018, 5.489, 0, 90, 0, 72 [SEP] 30, Bread, -4.234, 0.990, 3.985, 0, 0, 0, 72 [SEP] 31, Tomato, -3.712, 0.125, 6.457, 0, 270, 0, 98 [SEP] 32, WineBottle, -3.748, 0.069, 6.333, 0, 270, 0, 98 [SEP] 33, Spatula, -1.693, 0.938, 1.8, 0, 90, 0, 54 [SEP] 34, PaperTowelRoll, -1.610, 1.027, 1.573, 0, 0, 0, 54 [SEP] 35, Cup, -0.181, 0.923, 4.944, 0, 0, 0, 57 [SEP] 36, Pencil, -0.488, 0.925, 6.261, 0, 0, 0, 57 [SEP] 37, Pan, -2.924, 0.930, 2.012, 0, 0, 0, 55 [SEP] 38, Pot, -2.924, 0.930, 1.712, 0, 180, 0, 69 [SEP] 39, SaltShaker, -0.181, 0.921, 5.273, 0, 0, 0, 51 [SEP] 40, SoapBottle, -0.565, 0.924, 4.944, 0, 0, 0, 57 [SEP] 41, PepperShaker, -3.830, 0.743, 5.133, 0, 180, 0, 75 [SEP] 42, ButterKnife, -4.312, 0.923, 2.766, 0, 0, 0, 72 [SEP] 43, DishSponge, -4.028, 1.455, 1.735, 0, 45, 0, 73 [SEP] 44, Spoon, -4.517, 0.924, 3.432, 0, 90, 0, 72 [SEP] 45, Mug, -4.196, 0.785, 3.222, 0, 270, 0, 104 [SEP] 46, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0, [SEP] 47, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0, [SEP] 48, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0, [SEP] 49, Drawer, -3.797, 0.781, 1.961, 0, 0, 0, [SEP] 50, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0, [SEP] 51, Drawer, -0.509, 0.775, 5.268, 0, 270, 0, [SEP] 52, Drawer, -4.125, 0.798, 2.499, 0, 0, 0, [SEP] 53, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0, [SEP] 54, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0, [SEP] 55, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0, [SEP] 56, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0, [SEP] 57, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0, [SEP] 58, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0, [SEP] 59, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0, [SEP] 60, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0, [SEP] 61, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0, [SEP] 62, Drawer, -0.509, 0.775, 4.617, 0, 270, 0, [SEP] 63, Drawer, -3.509, 0.777, 5.157, 0, 180, 0, [SEP] 64, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0, [SEP] 65, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0, [SEP] 66, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0, [SEP] 67, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0, [SEP] 68, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0, [SEP] 69, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0, [SEP] 70, Drawer, -1.859, 0.775, 1.961, 0, 0, 0, [SEP] 71, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0, [SEP] 72, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0, [SEP] 73, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0, [SEP] 74, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0, [SEP] 75, Drawer, -3.801, 0.777, 5.157, 0, 180, 0, [SEP] 76, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0, [SEP] 77, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0, [SEP] 78, Drawer, -3.418, 0.777, 1.961, 0, 0, 0, [SEP] 79, Drawer, -4.090, 0.777, 4.661, 0, 90, 0, [SEP] 80, Faucet, -4.441, 0.909, 3.288, 270, 0, 0, [SEP] 81, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0, [SEP] 82, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0, [SEP] 83, Drawer, -0.509, 0.775, 5.920, 0, 270, 0, [SEP] 84, Drawer, -3.193, 0.777, 5.157, 0, 180, 0, [SEP] 85, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0, [SEP] 86, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0, [SEP] 87, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0, [SEP] 88, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0, [SEP] 89, Sink, -4.190, 0.921, 3.279, 0, 0, 0, [SEP] 90, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0, [SEP] 91, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0, [SEP] 92, Drawer, -0.509, 0.775, 6.568, 0, 270, 0, [SEP] 93, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0, [SEP] 94, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180, [SEP] 95, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180, [SEP] 96, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180, [SEP] 97, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180, [SEP] 98, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0, [SEP] 99, Toaster, -3.578, 0.912, 1.763, 0, 0, 0, [SEP] 100, Curtains, -4.522, 2.252, 3.391, 90, 90, 0, [SEP] 101, Window, -4.868, 1.629, 3.309, 90, 270, 0, [SEP] 102, Microwave, -2.693, 1.430, 1.689, 0, 0, 0, [SEP] 103, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0, [SEP] 104, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0, [SEP] 105, Fridge, -0.324, -0.001, 3.602, 0, 0, 0, [SEP] 106, NorthWall, , , , , , , [SEP] 107, EastWall, , , , , , , [SEP] 108, SouthWall, , , , , , , [SEP] 109, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left, and then the left again to face the counter. | STEP 2: Pick up the tomato from the left side of the counter. | STEP 3: Carry the tomato and move to the right, then turn around to locate the fridge. | STEP 4: Open the fridge and place the tomato inside. Shut the fridge, then open it. Take the tomato out and shut the door. | STEP 5: Take the tomato and turn around, then left to find the stove. Look up to the microwave. | STEP 6: Open the microwave and place the tomato inside. | END"]} +{"id": "trial_T20190908_053502_505422-0", "input": "Put a towel in a tub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.902, -0.75, 0, 180, 0, [SEP] 1, Candle, -1.670, 1.001, 0.922, 0, 0, 0, 16 [SEP] 2, Candle, -3.051, 1.002, 0.488, 0, 0, 0, 16 [SEP] 3, SprayBottle, -0.926, 1.036, 0.937, 0, 0, 0, 32 [SEP] 4, Towel, -0.490, 1.367, 0.902, 0, 180, 0, 26 [SEP] 5, Candle, -3.066, 1.002, 0.844, 0, 0, 0, 16 [SEP] 6, HandTowel, -3.096, 1.587, 0.744, 0, 270, 0, 30 [SEP] 7, SoapBar, -1.493, 0.960, 0.771, 0, 0, 0, 16 [SEP] 8, ToiletPaper, -1.416, 0.816, 0.665, 0, 90, 270, 31 [SEP] 9, Cloth, -2.858, 0.081, 0.825, 0, 0, 0, 15 [SEP] 10, ToiletPaper, -0.832, 1.062, 0.943, 356.636, 13.086, 263.034, 32 [SEP] 11, SprayBottle, -1.687, 0.082, 0.502, 0, 0, 0, 19 [SEP] 12, ScrubBrush, -0.485, 0.001, 0.873, 0, 0, 0, Floor|-00.81| [SEP] 13, SoapBottle, -1.777, 0.083, 0.825, 0, 0, 0, 19 [SEP] 14, Plunger, -0.710, 0.000, 0.828, 0, 0, 0, Floor|-00.81| [SEP] 15, Cabinet, -3.094, 0.390, 0.421, 0, 0, 0, [SEP] 16, CounterTop, -2.298, 0.953, 0.689, 0, 0, 0, [SEP] 17, Cabinet, -2.305, 0.415, 0.425, 0, 0, 0, [SEP] 18, Bathtub, 0.286, 0.290, -0.077, 0, 0, 0, [SEP] 19, Cabinet, -1.496, 0.415, 0.425, 0, 0, 0, [SEP] 20, Cabinet, -2.286, 0.390, 0.421, 0, 0, 0, [SEP] 21, Sink, -1.924, 0.930, 0.675, 0, 180, 0, [SEP] 22, Faucet, -1.922, 1.015, 0.887, 0, 0, 0, [SEP] 23, Mirror, -2.306, 1.526, 1.001, 0, 0, 0, [SEP] 24, Faucet, -2.681, 1.015, 0.887, 0, 0, 0, [SEP] 25, LightSwitch, -1.389, 1.263, -1.693, 0, 0, 0, [SEP] 26, TowelHolder, -0.490, 1.353, 1.009, 0, 180, 0, [SEP] 27, GarbageCan, -2.857, 0.016, -1.487, 0, 0, 0, [SEP] 28, BathtubBasin, 0.349, 0.023, -0.135, 0, 270, 0, [SEP] 29, SinkBasin, -1.908, 0.961, 0.669, 0, 180, 0, [SEP] 30, HandTowelHolder, -3.134, 1.689, 0.744, 0, 0, 0, [SEP] 31, ToiletPaperHanger, -1.485, 0.805, 0.691, 0, 90, 0, [SEP] 32, Toilet, -1.054, 0.001, 0.552, 0, 270, 0, [SEP] 33, ShowerCurtain, -0.292, 1.886, -1.033, 0, 0, 0, [SEP] 34, Faucet, 0.270, 0.670, 0.906, 0, 0, 0, [SEP] 35, SinkBasin, -2.666, 0.961, 0.669, 0, 180, 0, [SEP] 36, Sink, -2.681, 0.930, 0.675, 0, 180, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, EastWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right and then the right again to face the sink on the left. | STEP 2: Pick up the green towel on the wall to the left of the sink. | STEP 3: Go right and move to face the tub. | STEP 4: Put the green towel in the tub. | END"]} +{"id": "trial_T20190908_053502_505422-1", "input": "Put a towel in the bath tub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.902, -0.75, 0, 180, 0, [SEP] 1, Candle, -1.670, 1.001, 0.922, 0, 0, 0, 16 [SEP] 2, Candle, -3.051, 1.002, 0.488, 0, 0, 0, 16 [SEP] 3, SprayBottle, -0.926, 1.036, 0.937, 0, 0, 0, 32 [SEP] 4, Towel, -0.490, 1.367, 0.902, 0, 180, 0, 26 [SEP] 5, Candle, -3.066, 1.002, 0.844, 0, 0, 0, 16 [SEP] 6, HandTowel, -3.096, 1.587, 0.744, 0, 270, 0, 30 [SEP] 7, SoapBar, -1.493, 0.960, 0.771, 0, 0, 0, 16 [SEP] 8, ToiletPaper, -1.416, 0.816, 0.665, 0, 90, 270, 31 [SEP] 9, Cloth, -2.858, 0.081, 0.825, 0, 0, 0, 15 [SEP] 10, ToiletPaper, -0.832, 1.062, 0.943, 356.636, 13.086, 263.034, 32 [SEP] 11, SprayBottle, -1.687, 0.082, 0.502, 0, 0, 0, 19 [SEP] 12, ScrubBrush, -0.485, 0.001, 0.873, 0, 0, 0, Floor|-00.81| [SEP] 13, SoapBottle, -1.777, 0.083, 0.825, 0, 0, 0, 19 [SEP] 14, Plunger, -0.710, 0.000, 0.828, 0, 0, 0, Floor|-00.81| [SEP] 15, Cabinet, -3.094, 0.390, 0.421, 0, 0, 0, [SEP] 16, CounterTop, -2.298, 0.953, 0.689, 0, 0, 0, [SEP] 17, Cabinet, -2.305, 0.415, 0.425, 0, 0, 0, [SEP] 18, Bathtub, 0.286, 0.290, -0.077, 0, 0, 0, [SEP] 19, Cabinet, -1.496, 0.415, 0.425, 0, 0, 0, [SEP] 20, Cabinet, -2.286, 0.390, 0.421, 0, 0, 0, [SEP] 21, Sink, -1.924, 0.930, 0.675, 0, 180, 0, [SEP] 22, Faucet, -1.922, 1.015, 0.887, 0, 0, 0, [SEP] 23, Mirror, -2.306, 1.526, 1.001, 0, 0, 0, [SEP] 24, Faucet, -2.681, 1.015, 0.887, 0, 0, 0, [SEP] 25, LightSwitch, -1.389, 1.263, -1.693, 0, 0, 0, [SEP] 26, TowelHolder, -0.490, 1.353, 1.009, 0, 180, 0, [SEP] 27, GarbageCan, -2.857, 0.016, -1.487, 0, 0, 0, [SEP] 28, BathtubBasin, 0.349, 0.023, -0.135, 0, 270, 0, [SEP] 29, SinkBasin, -1.908, 0.961, 0.669, 0, 180, 0, [SEP] 30, HandTowelHolder, -3.134, 1.689, 0.744, 0, 0, 0, [SEP] 31, ToiletPaperHanger, -1.485, 0.805, 0.691, 0, 90, 0, [SEP] 32, Toilet, -1.054, 0.001, 0.552, 0, 270, 0, [SEP] 33, ShowerCurtain, -0.292, 1.886, -1.033, 0, 0, 0, [SEP] 34, Faucet, 0.270, 0.670, 0.906, 0, 0, 0, [SEP] 35, SinkBasin, -2.666, 0.961, 0.669, 0, 180, 0, [SEP] 36, Sink, -2.681, 0.930, 0.675, 0, 180, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, EastWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the sink. | STEP 2: Grab the green towel hanging from the towel holder on the wall to your left. | STEP 3: Turn to your right and go to the bath tub. | STEP 4: Place the green towel in the bath tub. | END"]} +{"id": "trial_T20190908_053502_505422-2", "input": "Carry a towel to the bath tub SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.902, -0.75, 0, 180, 0, [SEP] 1, Candle, -1.670, 1.001, 0.922, 0, 0, 0, 16 [SEP] 2, Candle, -3.051, 1.002, 0.488, 0, 0, 0, 16 [SEP] 3, SprayBottle, -0.926, 1.036, 0.937, 0, 0, 0, 32 [SEP] 4, Towel, -0.490, 1.367, 0.902, 0, 180, 0, 26 [SEP] 5, Candle, -3.066, 1.002, 0.844, 0, 0, 0, 16 [SEP] 6, HandTowel, -3.096, 1.587, 0.744, 0, 270, 0, 30 [SEP] 7, SoapBar, -1.493, 0.960, 0.771, 0, 0, 0, 16 [SEP] 8, ToiletPaper, -1.416, 0.816, 0.665, 0, 90, 270, 31 [SEP] 9, Cloth, -2.858, 0.081, 0.825, 0, 0, 0, 15 [SEP] 10, ToiletPaper, -0.832, 1.062, 0.943, 356.636, 13.086, 263.034, 32 [SEP] 11, SprayBottle, -1.687, 0.082, 0.502, 0, 0, 0, 19 [SEP] 12, ScrubBrush, -0.485, 0.001, 0.873, 0, 0, 0, Floor|-00.81| [SEP] 13, SoapBottle, -1.777, 0.083, 0.825, 0, 0, 0, 19 [SEP] 14, Plunger, -0.710, 0.000, 0.828, 0, 0, 0, Floor|-00.81| [SEP] 15, Cabinet, -3.094, 0.390, 0.421, 0, 0, 0, [SEP] 16, CounterTop, -2.298, 0.953, 0.689, 0, 0, 0, [SEP] 17, Cabinet, -2.305, 0.415, 0.425, 0, 0, 0, [SEP] 18, Bathtub, 0.286, 0.290, -0.077, 0, 0, 0, [SEP] 19, Cabinet, -1.496, 0.415, 0.425, 0, 0, 0, [SEP] 20, Cabinet, -2.286, 0.390, 0.421, 0, 0, 0, [SEP] 21, Sink, -1.924, 0.930, 0.675, 0, 180, 0, [SEP] 22, Faucet, -1.922, 1.015, 0.887, 0, 0, 0, [SEP] 23, Mirror, -2.306, 1.526, 1.001, 0, 0, 0, [SEP] 24, Faucet, -2.681, 1.015, 0.887, 0, 0, 0, [SEP] 25, LightSwitch, -1.389, 1.263, -1.693, 0, 0, 0, [SEP] 26, TowelHolder, -0.490, 1.353, 1.009, 0, 180, 0, [SEP] 27, GarbageCan, -2.857, 0.016, -1.487, 0, 0, 0, [SEP] 28, BathtubBasin, 0.349, 0.023, -0.135, 0, 270, 0, [SEP] 29, SinkBasin, -1.908, 0.961, 0.669, 0, 180, 0, [SEP] 30, HandTowelHolder, -3.134, 1.689, 0.744, 0, 0, 0, [SEP] 31, ToiletPaperHanger, -1.485, 0.805, 0.691, 0, 90, 0, [SEP] 32, Toilet, -1.054, 0.001, 0.552, 0, 270, 0, [SEP] 33, ShowerCurtain, -0.292, 1.886, -1.033, 0, 0, 0, [SEP] 34, Faucet, 0.270, 0.670, 0.906, 0, 0, 0, [SEP] 35, SinkBasin, -2.666, 0.961, 0.669, 0, 180, 0, [SEP] 36, Sink, -2.681, 0.930, 0.675, 0, 180, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, EastWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, WestWall, , , , , , , ", "output": ["STEP 1: Move right next to the wall by the sink on the far left side | STEP 2: Pick up the green towel on the towel ring on the wall left of the sink | STEP 3: Turn around then move to the bath tub while carrying the green towel | STEP 4: Place the green towel inside the middle of the bath tub | END"]} +{"id": "trial_T20190909_045605_307949-0", "input": "Chill the bread from the counter in the fridge and put it to the left of the stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 0.0, 0, 180, 0, [SEP] 1, Pan, 0.974, 0.957, -1.419, 0, 180, 0, 71 [SEP] 2, Pan, 1.328, 0.957, -1.688, 0, 180, 0, 56 [SEP] 3, Book, 0.665, 1.650, -1.712, 0, 0, 0, 64 [SEP] 4, ButterKnife, -2.807, 0.874, 3.728, 0, 0, 0, 55 [SEP] 5, WineBottle, -2.881, 0.879, 2.884, 0, 0, 0, 55 [SEP] 6, WineBottle, -0.292, 0.122, -1.413, 0, 0, 0, 62 [SEP] 7, Spatula, -2.996, 0.889, 3.296, 0, 270, 0, 55 [SEP] 8, Spoon, -2.367, 0.875, 3.035, 0, 135, 0, 55 [SEP] 9, Spoon, -3.165, 0.875, 3.221, 0, 270, 0, 55 [SEP] 10, Cup, -1.723, 0.117, -1.141, 0, 0, 0, 58 [SEP] 11, Plate, -2.733, 0.878, 2.715, 0, 0, 0, 55 [SEP] 12, Plate, -1.388, 1.661, -1.710, 0, 0, 0, 66 [SEP] 13, Knife, 0.234, 0.950, -1.573, 0, 270, 0, 50 [SEP] 14, Knife, -0.833, 0.934, -1.471, 0, 0, 0, 53 [SEP] 15, SoapBottle, -1.849, 0.912, -0.288, 0, 0, 0, 53 [SEP] 16, SoapBottle, -0.871, 0.193, 2.213, 0, 90, 0, 83 [SEP] 17, SaltShaker, -1.682, 0.714, -1.001, 0, 0, 0, 68 [SEP] 18, SaltShaker, 3.534, 0.549, 1.656, 0, 270, 0, 76 [SEP] 19, PepperShaker, -1.614, 1.653, -1.674, 0, 0, 0, 66 [SEP] 20, Lettuce, -2.859, 0.943, 3.737, 0, 135, 0, 55 [SEP] 21, Book, 1.631, 1.651, -1.709, 0, 0, 0, 63 [SEP] 22, Fork, 0.069, 0.929, -1.429, 0, 270, 0, 50 [SEP] 23, Tomato, -2.584, 0.922, 2.884, 0, 0, 0, 55 [SEP] 24, Egg, -1.568, 0.929, -0.469, 0, 0, 0, 53 [SEP] 25, Kettle, -0.833, 0.900, -1.757, 0, 0, 0, 53 [SEP] 26, Vase, 3.671, 0.168, 1.841, 0, 0, 0, 76 [SEP] 27, Cup, -2.152, 0.873, 3.147, 0, 270, 0, 55 [SEP] 28, WineBottle, 3.716, 0.881, 1.963, 0, 270, 0, 74 [SEP] 29, Plate, -0.330, 0.711, -1.573, 0, 270, 0, 82 [SEP] 30, Spatula, -3.017, 0.889, 3.580, 0, 135, 0, 55 [SEP] 31, Potato, 0.124, 0.967, -1.718, 0, 270, 0, 50 [SEP] 32, Pot, 1.328, 0.957, -1.420, 0, 180, 0, 57 [SEP] 33, Knife, -1.748, 0.741, -1.073, 0, 90, 0, 68 [SEP] 34, SaltShaker, -1.682, 0.714, -0.788, 0, 0, 0, 68 [SEP] 35, PepperShaker, -3.069, 0.874, 2.916, 0, 225, 0, 55 [SEP] 36, Lettuce, -2.458, 0.943, 2.706, 0, 135, 0, 55 [SEP] 37, ButterKnife, -1.849, 0.912, -0.939, 0, 0, 0, 53 [SEP] 38, Bread, -1.961, 0.995, -1.591, 0, 0, 0, 53 [SEP] 39, Vase, -2.088, 0.120, -1.506, 0, 0, 0, 54 [SEP] 40, DishSponge, 0.124, 0.928, -1.573, 0, 270, 0, 50 [SEP] 41, Apple, -2.845, 0.929, 3.513, 0, 135, 0, 55 [SEP] 42, Pan, -1.961, 0.911, -0.614, 0, 0, 0, 53 [SEP] 43, Spoon, 1.568, 0.720, -1.410, 0, 90, 0, 69 [SEP] 44, SoapBottle, -2.490, 0.875, 3.370, 0, 0, 0, 55 [SEP] 45, Mug, -2.539, 0.873, 3.102, 0, 135, 0, 55 [SEP] 46, Statue, 3.676, 0.168, 1.410, 0, 334.521, 0, 76 [SEP] 47, Statue, 3.689, 0.551, 1.449, 0, 270, 0, 76 [SEP] 48, Bowl, -2.300, 0.872, 3.580, 0, 225, 0, 55 [SEP] 49, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0, [SEP] 50, Sink, 0.024, 0.771, -1.708, 0, 270, 0, [SEP] 51, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0, [SEP] 52, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0, [SEP] 53, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0, [SEP] 54, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0, [SEP] 55, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0, [SEP] 56, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0, [SEP] 57, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0, [SEP] 58, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0, [SEP] 59, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0, [SEP] 60, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0, [SEP] 61, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0, [SEP] 62, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0, [SEP] 63, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0, [SEP] 64, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0, [SEP] 65, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0, [SEP] 66, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0, [SEP] 67, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0, [SEP] 68, Drawer, -1.636, 0.683, -0.930, 0, 0, 0, [SEP] 69, Drawer, 1.650, 0.682, -1.396, 0, 0, 0, [SEP] 70, Drawer, 0.600, 0.682, -1.396, 0, 0, 0, [SEP] 71, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0, [SEP] 72, Drawer, -2.062, 0.683, -1.579, 0, 0, 0, [SEP] 73, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0, [SEP] 74, Shelf, 3.725, 0.880, 1.671, 0, 90, 0, [SEP] 75, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0, [SEP] 76, Shelf, 3.726, 0.552, 1.671, 0, 90, 0, [SEP] 77, Microwave, 1.150, 1.655, -1.614, 0, 0, 0, [SEP] 78, Fridge, -0.035, 0.0, 2.177, 0, 180, 0, [SEP] 79, Window, -0.115, 1.802, -1.896, 90, 0, 0, [SEP] 80, Window, -4.009, 1.799, 0.310, 90, 90, 0, [SEP] 81, Shelf, 3.726, 0.172, 1.671, 0, 90, 0, [SEP] 82, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0, [SEP] 83, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0, [SEP] 84, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0, [SEP] 85, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0, [SEP] 86, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0, [SEP] 87, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0, [SEP] 88, Toaster, 1.637, 0.900, -1.673, 0, 0, 0, [SEP] 89, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0, [SEP] 90, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0, [SEP] 91, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0, [SEP] 92, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0, [SEP] 93, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0, [SEP] 94, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0, [SEP] 95, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0, [SEP] 96, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0, [SEP] 97, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0, [SEP] 98, NorthWall, , , , , , , [SEP] 99, EastWall, , , , , , , [SEP] 100, SouthWall, , , , , , , [SEP] 101, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, move to the counter and walk around it to face the opposite side. | STEP 2: Grab the bread from the far end of the counter near the door. | STEP 3: Walk around the counter and turn left to face the fridge. | STEP 4: Chill the bread in the fridge and remove it. | STEP 5: Turn around and walk to the front of the stove. | STEP 6: Put the bread on the counter to the left of the stove. | END"]} +{"id": "trial_T20190909_045605_307949-1", "input": "Chill a loaf of bread and place it on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 0.0, 0, 180, 0, [SEP] 1, Pan, 0.974, 0.957, -1.419, 0, 180, 0, 71 [SEP] 2, Pan, 1.328, 0.957, -1.688, 0, 180, 0, 56 [SEP] 3, Book, 0.665, 1.650, -1.712, 0, 0, 0, 64 [SEP] 4, ButterKnife, -2.807, 0.874, 3.728, 0, 0, 0, 55 [SEP] 5, WineBottle, -2.881, 0.879, 2.884, 0, 0, 0, 55 [SEP] 6, WineBottle, -0.292, 0.122, -1.413, 0, 0, 0, 62 [SEP] 7, Spatula, -2.996, 0.889, 3.296, 0, 270, 0, 55 [SEP] 8, Spoon, -2.367, 0.875, 3.035, 0, 135, 0, 55 [SEP] 9, Spoon, -3.165, 0.875, 3.221, 0, 270, 0, 55 [SEP] 10, Cup, -1.723, 0.117, -1.141, 0, 0, 0, 58 [SEP] 11, Plate, -2.733, 0.878, 2.715, 0, 0, 0, 55 [SEP] 12, Plate, -1.388, 1.661, -1.710, 0, 0, 0, 66 [SEP] 13, Knife, 0.234, 0.950, -1.573, 0, 270, 0, 50 [SEP] 14, Knife, -0.833, 0.934, -1.471, 0, 0, 0, 53 [SEP] 15, SoapBottle, -1.849, 0.912, -0.288, 0, 0, 0, 53 [SEP] 16, SoapBottle, -0.871, 0.193, 2.213, 0, 90, 0, 83 [SEP] 17, SaltShaker, -1.682, 0.714, -1.001, 0, 0, 0, 68 [SEP] 18, SaltShaker, 3.534, 0.549, 1.656, 0, 270, 0, 76 [SEP] 19, PepperShaker, -1.614, 1.653, -1.674, 0, 0, 0, 66 [SEP] 20, Lettuce, -2.859, 0.943, 3.737, 0, 135, 0, 55 [SEP] 21, Book, 1.631, 1.651, -1.709, 0, 0, 0, 63 [SEP] 22, Fork, 0.069, 0.929, -1.429, 0, 270, 0, 50 [SEP] 23, Tomato, -2.584, 0.922, 2.884, 0, 0, 0, 55 [SEP] 24, Egg, -1.568, 0.929, -0.469, 0, 0, 0, 53 [SEP] 25, Kettle, -0.833, 0.900, -1.757, 0, 0, 0, 53 [SEP] 26, Vase, 3.671, 0.168, 1.841, 0, 0, 0, 76 [SEP] 27, Cup, -2.152, 0.873, 3.147, 0, 270, 0, 55 [SEP] 28, WineBottle, 3.716, 0.881, 1.963, 0, 270, 0, 74 [SEP] 29, Plate, -0.330, 0.711, -1.573, 0, 270, 0, 82 [SEP] 30, Spatula, -3.017, 0.889, 3.580, 0, 135, 0, 55 [SEP] 31, Potato, 0.124, 0.967, -1.718, 0, 270, 0, 50 [SEP] 32, Pot, 1.328, 0.957, -1.420, 0, 180, 0, 57 [SEP] 33, Knife, -1.748, 0.741, -1.073, 0, 90, 0, 68 [SEP] 34, SaltShaker, -1.682, 0.714, -0.788, 0, 0, 0, 68 [SEP] 35, PepperShaker, -3.069, 0.874, 2.916, 0, 225, 0, 55 [SEP] 36, Lettuce, -2.458, 0.943, 2.706, 0, 135, 0, 55 [SEP] 37, ButterKnife, -1.849, 0.912, -0.939, 0, 0, 0, 53 [SEP] 38, Bread, -1.961, 0.995, -1.591, 0, 0, 0, 53 [SEP] 39, Vase, -2.088, 0.120, -1.506, 0, 0, 0, 54 [SEP] 40, DishSponge, 0.124, 0.928, -1.573, 0, 270, 0, 50 [SEP] 41, Apple, -2.845, 0.929, 3.513, 0, 135, 0, 55 [SEP] 42, Pan, -1.961, 0.911, -0.614, 0, 0, 0, 53 [SEP] 43, Spoon, 1.568, 0.720, -1.410, 0, 90, 0, 69 [SEP] 44, SoapBottle, -2.490, 0.875, 3.370, 0, 0, 0, 55 [SEP] 45, Mug, -2.539, 0.873, 3.102, 0, 135, 0, 55 [SEP] 46, Statue, 3.676, 0.168, 1.410, 0, 334.521, 0, 76 [SEP] 47, Statue, 3.689, 0.551, 1.449, 0, 270, 0, 76 [SEP] 48, Bowl, -2.300, 0.872, 3.580, 0, 225, 0, 55 [SEP] 49, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0, [SEP] 50, Sink, 0.024, 0.771, -1.708, 0, 270, 0, [SEP] 51, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0, [SEP] 52, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0, [SEP] 53, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0, [SEP] 54, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0, [SEP] 55, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0, [SEP] 56, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0, [SEP] 57, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0, [SEP] 58, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0, [SEP] 59, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0, [SEP] 60, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0, [SEP] 61, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0, [SEP] 62, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0, [SEP] 63, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0, [SEP] 64, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0, [SEP] 65, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0, [SEP] 66, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0, [SEP] 67, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0, [SEP] 68, Drawer, -1.636, 0.683, -0.930, 0, 0, 0, [SEP] 69, Drawer, 1.650, 0.682, -1.396, 0, 0, 0, [SEP] 70, Drawer, 0.600, 0.682, -1.396, 0, 0, 0, [SEP] 71, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0, [SEP] 72, Drawer, -2.062, 0.683, -1.579, 0, 0, 0, [SEP] 73, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0, [SEP] 74, Shelf, 3.725, 0.880, 1.671, 0, 90, 0, [SEP] 75, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0, [SEP] 76, Shelf, 3.726, 0.552, 1.671, 0, 90, 0, [SEP] 77, Microwave, 1.150, 1.655, -1.614, 0, 0, 0, [SEP] 78, Fridge, -0.035, 0.0, 2.177, 0, 180, 0, [SEP] 79, Window, -0.115, 1.802, -1.896, 90, 0, 0, [SEP] 80, Window, -4.009, 1.799, 0.310, 90, 90, 0, [SEP] 81, Shelf, 3.726, 0.172, 1.671, 0, 90, 0, [SEP] 82, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0, [SEP] 83, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0, [SEP] 84, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0, [SEP] 85, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0, [SEP] 86, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0, [SEP] 87, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0, [SEP] 88, Toaster, 1.637, 0.900, -1.673, 0, 0, 0, [SEP] 89, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0, [SEP] 90, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0, [SEP] 91, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0, [SEP] 92, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0, [SEP] 93, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0, [SEP] 94, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0, [SEP] 95, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0, [SEP] 96, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0, [SEP] 97, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0, [SEP] 98, NorthWall, , , , , , , [SEP] 99, EastWall, , , , , , , [SEP] 100, SouthWall, , , , , , , [SEP] 101, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right move to the counter. Turn right and then left and left around the counter. Face the counter on the left side. | STEP 2: Pick up the bread from the counter, on the right side. | STEP 3: Carry the bread and turn to the left. Move forward and turn right and then face the fridge on the left. | STEP 4: Open the fridge and place the bread inside. Shut the door then open the door. Take out the bread and shut the door. | STEP 5: Carry the bread and turn to the right then the right again to find the stove. | STEP 6: Place the bread on the counter, to the left of the stove. | END"]} +{"id": "trial_T20190909_045605_307949-2", "input": "Put chilled bread on the counter by the stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 0.0, 0, 180, 0, [SEP] 1, Pan, 0.974, 0.957, -1.419, 0, 180, 0, 71 [SEP] 2, Pan, 1.328, 0.957, -1.688, 0, 180, 0, 56 [SEP] 3, Book, 0.665, 1.650, -1.712, 0, 0, 0, 64 [SEP] 4, ButterKnife, -2.807, 0.874, 3.728, 0, 0, 0, 55 [SEP] 5, WineBottle, -2.881, 0.879, 2.884, 0, 0, 0, 55 [SEP] 6, WineBottle, -0.292, 0.122, -1.413, 0, 0, 0, 62 [SEP] 7, Spatula, -2.996, 0.889, 3.296, 0, 270, 0, 55 [SEP] 8, Spoon, -2.367, 0.875, 3.035, 0, 135, 0, 55 [SEP] 9, Spoon, -3.165, 0.875, 3.221, 0, 270, 0, 55 [SEP] 10, Cup, -1.723, 0.117, -1.141, 0, 0, 0, 58 [SEP] 11, Plate, -2.733, 0.878, 2.715, 0, 0, 0, 55 [SEP] 12, Plate, -1.388, 1.661, -1.710, 0, 0, 0, 66 [SEP] 13, Knife, 0.234, 0.950, -1.573, 0, 270, 0, 50 [SEP] 14, Knife, -0.833, 0.934, -1.471, 0, 0, 0, 53 [SEP] 15, SoapBottle, -1.849, 0.912, -0.288, 0, 0, 0, 53 [SEP] 16, SoapBottle, -0.871, 0.193, 2.213, 0, 90, 0, 83 [SEP] 17, SaltShaker, -1.682, 0.714, -1.001, 0, 0, 0, 68 [SEP] 18, SaltShaker, 3.534, 0.549, 1.656, 0, 270, 0, 76 [SEP] 19, PepperShaker, -1.614, 1.653, -1.674, 0, 0, 0, 66 [SEP] 20, Lettuce, -2.859, 0.943, 3.737, 0, 135, 0, 55 [SEP] 21, Book, 1.631, 1.651, -1.709, 0, 0, 0, 63 [SEP] 22, Fork, 0.069, 0.929, -1.429, 0, 270, 0, 50 [SEP] 23, Tomato, -2.584, 0.922, 2.884, 0, 0, 0, 55 [SEP] 24, Egg, -1.568, 0.929, -0.469, 0, 0, 0, 53 [SEP] 25, Kettle, -0.833, 0.900, -1.757, 0, 0, 0, 53 [SEP] 26, Vase, 3.671, 0.168, 1.841, 0, 0, 0, 76 [SEP] 27, Cup, -2.152, 0.873, 3.147, 0, 270, 0, 55 [SEP] 28, WineBottle, 3.716, 0.881, 1.963, 0, 270, 0, 74 [SEP] 29, Plate, -0.330, 0.711, -1.573, 0, 270, 0, 82 [SEP] 30, Spatula, -3.017, 0.889, 3.580, 0, 135, 0, 55 [SEP] 31, Potato, 0.124, 0.967, -1.718, 0, 270, 0, 50 [SEP] 32, Pot, 1.328, 0.957, -1.420, 0, 180, 0, 57 [SEP] 33, Knife, -1.748, 0.741, -1.073, 0, 90, 0, 68 [SEP] 34, SaltShaker, -1.682, 0.714, -0.788, 0, 0, 0, 68 [SEP] 35, PepperShaker, -3.069, 0.874, 2.916, 0, 225, 0, 55 [SEP] 36, Lettuce, -2.458, 0.943, 2.706, 0, 135, 0, 55 [SEP] 37, ButterKnife, -1.849, 0.912, -0.939, 0, 0, 0, 53 [SEP] 38, Bread, -1.961, 0.995, -1.591, 0, 0, 0, 53 [SEP] 39, Vase, -2.088, 0.120, -1.506, 0, 0, 0, 54 [SEP] 40, DishSponge, 0.124, 0.928, -1.573, 0, 270, 0, 50 [SEP] 41, Apple, -2.845, 0.929, 3.513, 0, 135, 0, 55 [SEP] 42, Pan, -1.961, 0.911, -0.614, 0, 0, 0, 53 [SEP] 43, Spoon, 1.568, 0.720, -1.410, 0, 90, 0, 69 [SEP] 44, SoapBottle, -2.490, 0.875, 3.370, 0, 0, 0, 55 [SEP] 45, Mug, -2.539, 0.873, 3.102, 0, 135, 0, 55 [SEP] 46, Statue, 3.676, 0.168, 1.410, 0, 334.521, 0, 76 [SEP] 47, Statue, 3.689, 0.551, 1.449, 0, 270, 0, 76 [SEP] 48, Bowl, -2.300, 0.872, 3.580, 0, 225, 0, 55 [SEP] 49, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0, [SEP] 50, Sink, 0.024, 0.771, -1.708, 0, 270, 0, [SEP] 51, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0, [SEP] 52, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0, [SEP] 53, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0, [SEP] 54, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0, [SEP] 55, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0, [SEP] 56, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0, [SEP] 57, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0, [SEP] 58, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0, [SEP] 59, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0, [SEP] 60, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0, [SEP] 61, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0, [SEP] 62, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0, [SEP] 63, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0, [SEP] 64, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0, [SEP] 65, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0, [SEP] 66, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0, [SEP] 67, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0, [SEP] 68, Drawer, -1.636, 0.683, -0.930, 0, 0, 0, [SEP] 69, Drawer, 1.650, 0.682, -1.396, 0, 0, 0, [SEP] 70, Drawer, 0.600, 0.682, -1.396, 0, 0, 0, [SEP] 71, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0, [SEP] 72, Drawer, -2.062, 0.683, -1.579, 0, 0, 0, [SEP] 73, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0, [SEP] 74, Shelf, 3.725, 0.880, 1.671, 0, 90, 0, [SEP] 75, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0, [SEP] 76, Shelf, 3.726, 0.552, 1.671, 0, 90, 0, [SEP] 77, Microwave, 1.150, 1.655, -1.614, 0, 0, 0, [SEP] 78, Fridge, -0.035, 0.0, 2.177, 0, 180, 0, [SEP] 79, Window, -0.115, 1.802, -1.896, 90, 0, 0, [SEP] 80, Window, -4.009, 1.799, 0.310, 90, 90, 0, [SEP] 81, Shelf, 3.726, 0.172, 1.671, 0, 90, 0, [SEP] 82, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0, [SEP] 83, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0, [SEP] 84, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0, [SEP] 85, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0, [SEP] 86, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0, [SEP] 87, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0, [SEP] 88, Toaster, 1.637, 0.900, -1.673, 0, 0, 0, [SEP] 89, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0, [SEP] 90, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0, [SEP] 91, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0, [SEP] 92, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0, [SEP] 93, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0, [SEP] 94, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0, [SEP] 95, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0, [SEP] 96, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0, [SEP] 97, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0, [SEP] 98, NorthWall, , , , , , , [SEP] 99, EastWall, , , , , , , [SEP] 100, SouthWall, , , , , , , [SEP] 101, WestWall, , , , , , , ", "output": ["STEP 1: Turn and go to the counter by the door. | STEP 2: Pick up the bread on the counter. | STEP 3: Turn and go to the refrigerator. | STEP 4: Chill the bread in the refrigerator. | STEP 5: Turn and go to the counter by the stove. | STEP 6: Put the bread on the counter by the stove. | END"]} +{"id": "trial_T20190909_004531_429065-0", "input": "Put a cold pot on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.869, -2.25, 0, 90, 0, [SEP] 1, DishSponge, 0.841, 0.772, -0.735, 0, 270, 0, 57 [SEP] 2, DishSponge, 0.787, 0.015, -0.053, 0, 0, 0, 44 [SEP] 3, Fork, 0.623, 0.760, -0.124, 0, 90, 0, 33 [SEP] 4, Fork, 0.720, 0.761, 0.002, 0, 270, 0, 33 [SEP] 5, Knife, 0.574, 0.782, 0.002, 0, 270, 0, 33 [SEP] 6, Knife, 0.866, 0.783, -0.252, 0, 90, 0, 33 [SEP] 7, SoapBottle, 0.781, 0.663, 0.326, 0, 0, 0, 39 [SEP] 8, SoapBottle, 0.842, 0.014, -0.184, 0, 0, 0, 44 [SEP] 9, SaltShaker, 1.040, 1.460, 0.411, 0, 0, 0, 46 [SEP] 10, Mug, -1.896, 0.794, -3.673, 0, 0, 0, 56 [SEP] 11, Apple, 0.781, 0.718, 0.448, 0, 0, 0, 39 [SEP] 12, Pot, -1.552, 0.930, 0.785, 0, 0, 0, 38 [SEP] 13, Plate, -2.024, 0.692, -1.447, 0, 0, 0, 70 [SEP] 14, Fork, 0.721, 0.665, 0.448, 0, 0, 0, 39 [SEP] 15, SoapBottle, -1.334, 0.051, -3.611, 0, 270, 0, 49 [SEP] 16, Apple, 0.757, 0.826, -0.680, 0, 270, 0, 57 [SEP] 17, Pan, -2.097, 0.930, 0.785, 0, 0, 0, 36 [SEP] 18, Egg, -2.002, 0.836, -3.673, 0, 0, 0, 56 [SEP] 19, Spatula, 0.672, 0.787, -0.845, 0, 180, 0, 57 [SEP] 20, Potato, -1.187, 0.085, -3.647, 0, 270, 0, 49 [SEP] 21, Cup, 0.901, 0.663, 0.387, 0, 0, 0, 39 [SEP] 22, SaltShaker, 1.025, 0.879, -0.913, 0, 0, 0, 34 [SEP] 23, PepperShaker, 1.040, 1.460, 0.534, 0, 0, 0, 46 [SEP] 24, ButterKnife, 0.671, 0.760, -0.061, 0, 0, 0, 33 [SEP] 25, DishSponge, 0.812, 1.463, 0.473, 0, 0, 0, 46 [SEP] 26, Bread, -0.873, 0.931, 0.978, 0, 24.231, 0, 60 [SEP] 27, Lettuce, 0.655, 0.970, -0.039, 0, 0, 0, 34 [SEP] 28, Tomato, 0.901, 0.712, 0.569, 0, 0, 0, 39 [SEP] 29, Spoon, 0.721, 0.665, 0.326, 0, 0, 0, 39 [SEP] 30, Knife, 1.070, 0.906, -0.687, 0, 90, 0, 34 [SEP] 31, Mug, 0.621, 0.010, -0.250, 0, 0, 0, 44 [SEP] 32, Bowl, 0.903, 1.462, -0.146, 0, 0, 0, 45 [SEP] 33, Drawer, 0.706, 0.766, -0.125, 0, 0, 0, [SEP] 34, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0, [SEP] 35, Mirror, 1.093, 1.602, -0.643, 0, 0, 0, [SEP] 36, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0, [SEP] 37, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0, [SEP] 38, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0, [SEP] 39, SideTable, 0.770, -0.030, 0.443, 0, 0, 0, [SEP] 40, Sink, 0.753, 0.882, -0.680, 0, 0, 0, [SEP] 41, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0, [SEP] 42, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489, [SEP] 43, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0, [SEP] 44, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0, [SEP] 45, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0, [SEP] 46, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0, [SEP] 47, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0, [SEP] 48, Toaster, -0.522, 0.886, 1.081, 0, 180, 0, [SEP] 49, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0, [SEP] 50, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180, [SEP] 51, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180, [SEP] 52, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180, [SEP] 53, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180, [SEP] 54, Fridge, 0.680, -0.031, -1.957, 0, 0, 0, [SEP] 55, Window, -2.424, 1.639, -2.453, 90, 270, 0, [SEP] 56, Microwave, -1.994, 0.690, -3.651, 0, 0, 0, [SEP] 57, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0, [SEP] 58, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0, [SEP] 59, Shelf, -0.350, 0.124, 0.857, 0, 0, 0, [SEP] 60, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0, [SEP] 61, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0, [SEP] 62, Blinds, -2.343, 2.151, -2.437, 0, 270, 0, [SEP] 63, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0, [SEP] 64, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0, [SEP] 65, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0, [SEP] 66, Shelf, 0.771, 0.226, 0.445, 0, 0, 0, [SEP] 67, Shelf, 0.771, 0.456, 0.446, 0, 0, 0, [SEP] 68, Faucet, 1.025, 0.873, -0.678, 270, 180, 0, [SEP] 69, Shelf, -0.350, 0.497, 0.857, 0, 0, 0, [SEP] 70, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0, [SEP] 71, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0, [SEP] 72, NorthWall, , , , , , , [SEP] 73, EastWall, , , , , , , [SEP] 74, SouthWall, , , , , , , [SEP] 75, WestWall, , , , , , , ", "output": ["STEP 1: Take a step forward, turn left, go forward and face right side of the oven. | STEP 2: Take the pot from the right side of the stove top. | STEP 3: Turn right, go forward a step, turn right, go forward, turn left at the fridge, go forward to the fridge. | STEP 4: Chill the pot on the top shelf of the fridge. Take the pot from the fridge. | STEP 5: Turn left, go forward, turn left at the square white table, go to the table. | STEP 6: Put the pot on the table. | END"]} +{"id": "trial_T20190909_004531_429065-1", "input": "Put a cold pot on the white table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.869, -2.25, 0, 90, 0, [SEP] 1, DishSponge, 0.841, 0.772, -0.735, 0, 270, 0, 57 [SEP] 2, DishSponge, 0.787, 0.015, -0.053, 0, 0, 0, 44 [SEP] 3, Fork, 0.623, 0.760, -0.124, 0, 90, 0, 33 [SEP] 4, Fork, 0.720, 0.761, 0.002, 0, 270, 0, 33 [SEP] 5, Knife, 0.574, 0.782, 0.002, 0, 270, 0, 33 [SEP] 6, Knife, 0.866, 0.783, -0.252, 0, 90, 0, 33 [SEP] 7, SoapBottle, 0.781, 0.663, 0.326, 0, 0, 0, 39 [SEP] 8, SoapBottle, 0.842, 0.014, -0.184, 0, 0, 0, 44 [SEP] 9, SaltShaker, 1.040, 1.460, 0.411, 0, 0, 0, 46 [SEP] 10, Mug, -1.896, 0.794, -3.673, 0, 0, 0, 56 [SEP] 11, Apple, 0.781, 0.718, 0.448, 0, 0, 0, 39 [SEP] 12, Pot, -1.552, 0.930, 0.785, 0, 0, 0, 38 [SEP] 13, Plate, -2.024, 0.692, -1.447, 0, 0, 0, 70 [SEP] 14, Fork, 0.721, 0.665, 0.448, 0, 0, 0, 39 [SEP] 15, SoapBottle, -1.334, 0.051, -3.611, 0, 270, 0, 49 [SEP] 16, Apple, 0.757, 0.826, -0.680, 0, 270, 0, 57 [SEP] 17, Pan, -2.097, 0.930, 0.785, 0, 0, 0, 36 [SEP] 18, Egg, -2.002, 0.836, -3.673, 0, 0, 0, 56 [SEP] 19, Spatula, 0.672, 0.787, -0.845, 0, 180, 0, 57 [SEP] 20, Potato, -1.187, 0.085, -3.647, 0, 270, 0, 49 [SEP] 21, Cup, 0.901, 0.663, 0.387, 0, 0, 0, 39 [SEP] 22, SaltShaker, 1.025, 0.879, -0.913, 0, 0, 0, 34 [SEP] 23, PepperShaker, 1.040, 1.460, 0.534, 0, 0, 0, 46 [SEP] 24, ButterKnife, 0.671, 0.760, -0.061, 0, 0, 0, 33 [SEP] 25, DishSponge, 0.812, 1.463, 0.473, 0, 0, 0, 46 [SEP] 26, Bread, -0.873, 0.931, 0.978, 0, 24.231, 0, 60 [SEP] 27, Lettuce, 0.655, 0.970, -0.039, 0, 0, 0, 34 [SEP] 28, Tomato, 0.901, 0.712, 0.569, 0, 0, 0, 39 [SEP] 29, Spoon, 0.721, 0.665, 0.326, 0, 0, 0, 39 [SEP] 30, Knife, 1.070, 0.906, -0.687, 0, 90, 0, 34 [SEP] 31, Mug, 0.621, 0.010, -0.250, 0, 0, 0, 44 [SEP] 32, Bowl, 0.903, 1.462, -0.146, 0, 0, 0, 45 [SEP] 33, Drawer, 0.706, 0.766, -0.125, 0, 0, 0, [SEP] 34, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0, [SEP] 35, Mirror, 1.093, 1.602, -0.643, 0, 0, 0, [SEP] 36, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0, [SEP] 37, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0, [SEP] 38, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0, [SEP] 39, SideTable, 0.770, -0.030, 0.443, 0, 0, 0, [SEP] 40, Sink, 0.753, 0.882, -0.680, 0, 0, 0, [SEP] 41, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0, [SEP] 42, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489, [SEP] 43, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0, [SEP] 44, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0, [SEP] 45, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0, [SEP] 46, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0, [SEP] 47, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0, [SEP] 48, Toaster, -0.522, 0.886, 1.081, 0, 180, 0, [SEP] 49, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0, [SEP] 50, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180, [SEP] 51, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180, [SEP] 52, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180, [SEP] 53, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180, [SEP] 54, Fridge, 0.680, -0.031, -1.957, 0, 0, 0, [SEP] 55, Window, -2.424, 1.639, -2.453, 90, 270, 0, [SEP] 56, Microwave, -1.994, 0.690, -3.651, 0, 0, 0, [SEP] 57, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0, [SEP] 58, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0, [SEP] 59, Shelf, -0.350, 0.124, 0.857, 0, 0, 0, [SEP] 60, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0, [SEP] 61, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0, [SEP] 62, Blinds, -2.343, 2.151, -2.437, 0, 270, 0, [SEP] 63, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0, [SEP] 64, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0, [SEP] 65, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0, [SEP] 66, Shelf, 0.771, 0.226, 0.445, 0, 0, 0, [SEP] 67, Shelf, 0.771, 0.456, 0.446, 0, 0, 0, [SEP] 68, Faucet, 1.025, 0.873, -0.678, 270, 180, 0, [SEP] 69, Shelf, -0.350, 0.497, 0.857, 0, 0, 0, [SEP] 70, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0, [SEP] 71, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0, [SEP] 72, NorthWall, , , , , , , [SEP] 73, EastWall, , , , , , , [SEP] 74, SouthWall, , , , , , , [SEP] 75, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and go forward to the stove. | STEP 2: Pick up the pot on the right side of the stove. | STEP 3: Turn around and go straight, then turn left to go to the fridge. | STEP 4: Open the fridge, put the pot inside and chill it, then take the pot out. | STEP 5: Turn around and go to the white table. | STEP 6: Put the pot on the white table. | END"]} +{"id": "trial_T20190909_004531_429065-2", "input": "Place a frying pan in the fridge and take it out. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.869, -2.25, 0, 90, 0, [SEP] 1, DishSponge, 0.841, 0.772, -0.735, 0, 270, 0, 57 [SEP] 2, DishSponge, 0.787, 0.015, -0.053, 0, 0, 0, 44 [SEP] 3, Fork, 0.623, 0.760, -0.124, 0, 90, 0, 33 [SEP] 4, Fork, 0.720, 0.761, 0.002, 0, 270, 0, 33 [SEP] 5, Knife, 0.574, 0.782, 0.002, 0, 270, 0, 33 [SEP] 6, Knife, 0.866, 0.783, -0.252, 0, 90, 0, 33 [SEP] 7, SoapBottle, 0.781, 0.663, 0.326, 0, 0, 0, 39 [SEP] 8, SoapBottle, 0.842, 0.014, -0.184, 0, 0, 0, 44 [SEP] 9, SaltShaker, 1.040, 1.460, 0.411, 0, 0, 0, 46 [SEP] 10, Mug, -1.896, 0.794, -3.673, 0, 0, 0, 56 [SEP] 11, Apple, 0.781, 0.718, 0.448, 0, 0, 0, 39 [SEP] 12, Pot, -1.552, 0.930, 0.785, 0, 0, 0, 38 [SEP] 13, Plate, -2.024, 0.692, -1.447, 0, 0, 0, 70 [SEP] 14, Fork, 0.721, 0.665, 0.448, 0, 0, 0, 39 [SEP] 15, SoapBottle, -1.334, 0.051, -3.611, 0, 270, 0, 49 [SEP] 16, Apple, 0.757, 0.826, -0.680, 0, 270, 0, 57 [SEP] 17, Pan, -2.097, 0.930, 0.785, 0, 0, 0, 36 [SEP] 18, Egg, -2.002, 0.836, -3.673, 0, 0, 0, 56 [SEP] 19, Spatula, 0.672, 0.787, -0.845, 0, 180, 0, 57 [SEP] 20, Potato, -1.187, 0.085, -3.647, 0, 270, 0, 49 [SEP] 21, Cup, 0.901, 0.663, 0.387, 0, 0, 0, 39 [SEP] 22, SaltShaker, 1.025, 0.879, -0.913, 0, 0, 0, 34 [SEP] 23, PepperShaker, 1.040, 1.460, 0.534, 0, 0, 0, 46 [SEP] 24, ButterKnife, 0.671, 0.760, -0.061, 0, 0, 0, 33 [SEP] 25, DishSponge, 0.812, 1.463, 0.473, 0, 0, 0, 46 [SEP] 26, Bread, -0.873, 0.931, 0.978, 0, 24.231, 0, 60 [SEP] 27, Lettuce, 0.655, 0.970, -0.039, 0, 0, 0, 34 [SEP] 28, Tomato, 0.901, 0.712, 0.569, 0, 0, 0, 39 [SEP] 29, Spoon, 0.721, 0.665, 0.326, 0, 0, 0, 39 [SEP] 30, Knife, 1.070, 0.906, -0.687, 0, 90, 0, 34 [SEP] 31, Mug, 0.621, 0.010, -0.250, 0, 0, 0, 44 [SEP] 32, Bowl, 0.903, 1.462, -0.146, 0, 0, 0, 45 [SEP] 33, Drawer, 0.706, 0.766, -0.125, 0, 0, 0, [SEP] 34, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0, [SEP] 35, Mirror, 1.093, 1.602, -0.643, 0, 0, 0, [SEP] 36, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0, [SEP] 37, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0, [SEP] 38, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0, [SEP] 39, SideTable, 0.770, -0.030, 0.443, 0, 0, 0, [SEP] 40, Sink, 0.753, 0.882, -0.680, 0, 0, 0, [SEP] 41, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0, [SEP] 42, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489, [SEP] 43, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0, [SEP] 44, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0, [SEP] 45, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0, [SEP] 46, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0, [SEP] 47, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0, [SEP] 48, Toaster, -0.522, 0.886, 1.081, 0, 180, 0, [SEP] 49, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0, [SEP] 50, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180, [SEP] 51, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180, [SEP] 52, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180, [SEP] 53, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180, [SEP] 54, Fridge, 0.680, -0.031, -1.957, 0, 0, 0, [SEP] 55, Window, -2.424, 1.639, -2.453, 90, 270, 0, [SEP] 56, Microwave, -1.994, 0.690, -3.651, 0, 0, 0, [SEP] 57, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0, [SEP] 58, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0, [SEP] 59, Shelf, -0.350, 0.124, 0.857, 0, 0, 0, [SEP] 60, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0, [SEP] 61, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0, [SEP] 62, Blinds, -2.343, 2.151, -2.437, 0, 270, 0, [SEP] 63, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0, [SEP] 64, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0, [SEP] 65, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0, [SEP] 66, Shelf, 0.771, 0.226, 0.445, 0, 0, 0, [SEP] 67, Shelf, 0.771, 0.456, 0.446, 0, 0, 0, [SEP] 68, Faucet, 1.025, 0.873, -0.678, 270, 180, 0, [SEP] 69, Shelf, -0.350, 0.497, 0.857, 0, 0, 0, [SEP] 70, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0, [SEP] 71, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0, [SEP] 72, NorthWall, , , , , , , [SEP] 73, EastWall, , , , , , , [SEP] 74, SouthWall, , , , , , , [SEP] 75, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and go around the table. Turn slight left again and go forward to the oven. | STEP 2: Pick up the frying pan from the oven. | STEP 3: Turn around to the right and go forward. Turn left and face the fridge. | STEP 4: Place the frying pan in the fridge and then take it out. | STEP 5: Turn to the left then turn left again to turn completely around and walk forward to the table. | STEP 6: Place the frying pan on the table. | END"]} +{"id": "trial_T20190908_150807_823817-0", "input": "Put a chilled apple in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 0.75, 0, 0, 0, [SEP] 1, Pan, -1.056, 0.956, -0.672, 0, 180, 0, 48 [SEP] 2, Ladle, -0.264, 0.153, 0.163, 0, 180, 0, 64 [SEP] 3, DishSponge, -0.691, 0.691, -1.802, 0, 0, 0, 46 [SEP] 4, ButterKnife, -1.247, 0.901, -0.170, 0, 0, 0, 69 [SEP] 5, ButterKnife, -0.205, 0.913, 0.083, 0, 0, 0, 69 [SEP] 6, Pot, -1.289, 0.957, -1.02, 0, 0, 0, 66 [SEP] 7, Spatula, -0.634, 0.928, 0.241, 0, 0, 0, 69 [SEP] 8, Fork, 1.419, 0.911, -1.929, 0, 0, 0, 76 [SEP] 9, Spoon, -0.152, 1.132, 0.529, 0, 0, 0, 72 [SEP] 10, Spoon, -0.117, 0.764, -1.952, 0, 0, 0, 86 [SEP] 11, Egg, -0.290, 0.797, -2.008, 0, 0, 0, 86 [SEP] 12, Tomato, -1.413, 0.963, -0.292, 0, 0, 0, 69 [SEP] 13, Bowl, 2.000, 0.814, -0.737, 0, 270, 0, 83 [SEP] 14, SaltShaker, -0.657, 0.688, -1.891, 0, 0, 0, 46 [SEP] 15, SaltShaker, -0.120, 0.112, 0.245, 0, 180, 0, 64 [SEP] 16, Lettuce, 0.055, 0.839, -2.063, 0, 90, 0, 86 [SEP] 17, Lettuce, 1.924, 0.139, 0.109, 0, 270, 0, 79 [SEP] 18, Pan, -1.056, 0.956, -1.127, 0, 0, 0, 73 [SEP] 19, Knife, -1.045, 1.155, 0.529, 0, 0, 0, 72 [SEP] 20, Bowl, 1.945, 1.424, -0.644, 0, 270, 0, 83 [SEP] 21, Fork, -0.589, 0.694, -1.935, 0, 90, 0, 46 [SEP] 22, Cup, 0.101, 0.750, -1.938, 0, 0, 0, 86 [SEP] 23, Ladle, -0.598, 1.168, 0.706, 0, 0, 0, 72 [SEP] 24, Apple, -1.330, 0.962, -0.414, 0, 0, 0, 69 [SEP] 25, Kettle, -0.777, 0.912, -2.014, 0, 0, 0, 76 [SEP] 26, Vase, -1.356, 1.660, -1.789, 0, 0, 0, 58 [SEP] 27, Potato, 2.110, 1.458, -0.271, 0, 270, 0, 83 [SEP] 28, Pot, 1.688, 0.118, -1.266, 0, 0, 0, 50 [SEP] 29, Bread, -1.148, 0.981, -0.192, 0, 0, 0, 69 [SEP] 30, Plate, 1.914, 1.650, -1.802, 0, 0, 0, 54 [SEP] 31, Spatula, -0.376, 0.778, -2.118, 0, 90, 0, 86 [SEP] 32, PaperTowelRoll, 2.900, 0.984, 0.195, 0, 180, 0, 80 [SEP] 33, Vase, -1.278, 1.664, -1.600, 0, 0, 0, 58 [SEP] 34, Egg, 1.945, 1.461, -0.458, 0, 270, 0, 83 [SEP] 35, SoapBottle, 1.513, 0.116, -1.462, 0, 0, 0, 50 [SEP] 36, SaltShaker, -0.119, 0.693, 0.263, 0, 180, 0, 75 [SEP] 37, Lettuce, 1.419, 0.987, -2.183, 0, 0, 0, 76 [SEP] 38, PepperShaker, 2.902, 0.548, 0.090, 0, 180, 0, 82 [SEP] 39, ButterKnife, -1.278, 0.913, 0.188, 0, 0, 0, 69 [SEP] 40, DishSponge, -0.611, 0.693, 0.190, 0, 180, 0, 70 [SEP] 41, Vase, -0.985, 0.133, -0.250, 0, 0, 0, 63 [SEP] 42, Spoon, -0.152, 1.132, 0.706, 0, 0, 0, 72 [SEP] 43, Tomato, -0.420, 0.963, 0.083, 0, 0, 0, 69 [SEP] 44, Mug, 0.501, 0.955, -1.900, 0, 0, 0, 92 [SEP] 45, Statue, 2.694, 0.559, 0.038, 0, 0, 0, 82 [SEP] 46, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 47, Cabinet, -1.149, 2.264, -0.838, 0, 90, 0, [SEP] 48, StoveBurner, -1.056, 0.949, -0.671, 0, 180, 0, [SEP] 49, Cabinet, 1.738, 2.019, -2.000, 0, 0, 0, [SEP] 50, Cabinet, 1.389, 0.469, -1.059, 0, 0, 0, [SEP] 51, StoveBurner, -1.289, 0.949, -0.755, 0, 180, 0, [SEP] 52, Faucet, -0.157, 1.052, -2.196, 0, 270, 0, [SEP] 53, Cabinet, 1.75, 2.019, -1.029, 0, 0, 0, [SEP] 54, Cabinet, 1.75, 2.019, -1.399, 0, 0, 0, [SEP] 55, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 56, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 57, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 58, Cabinet, -1.149, 2.019, -1.979, 0, 0, 0, [SEP] 59, Cabinet, -1.149, 2.019, -0.770, 0, 0, 0, [SEP] 60, Cabinet, -1.149, 2.019, 0.380, 0, 0, 0, [SEP] 61, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 62, Cabinet, -0.839, 0.469, -1.664, 0, 0, 0, [SEP] 63, Cabinet, -0.839, 0.469, -0.049, 0, 0, 0, [SEP] 64, Cabinet, -0.414, 0.370, -0.009, 0, 0, 0, [SEP] 65, Sink, -0.118, 0.875, -2.009, 0, 0, 0, [SEP] 66, StoveBurner, -1.289, 0.949, -1.019, 0, 0, 0, [SEP] 67, Cabinet, 0.119, 2.264, -2.0, 0, 0, 0, [SEP] 68, Cabinet, -0.459, 2.264, -2.0, 0, 0, 0, [SEP] 69, CounterTop, -0.665, 0.949, 0.188, 0, 0, 0, [SEP] 70, Drawer, -0.449, 0.75, -0.010, 0, 180, 0, [SEP] 71, Cabinet, -0.450, 0.469, -0.009, 0, 0, 0, [SEP] 72, CounterTop, -0.630, 1.167, 0.573, 0, 0, 0, [SEP] 73, StoveBurner, -1.056, 0.949, -1.126, 0, 0, 0, [SEP] 74, Cabinet, 1.376, 0.460, -1.685, 0, 0, 0, [SEP] 75, Drawer, -0.070, 0.75, -0.009, 0, 180, 0, [SEP] 76, CounterTop, 1.159, 0.946, -2.013, 0, 0, 0, [SEP] 77, Cabinet, -1.150, 2.264, -1.418, 0, 90, 0, [SEP] 78, HousePlant, -1.246, 1.108, 0.606, 0, 0, 0, [SEP] 79, GarbageCan, 1.923, -0.010, 0.137, 0, 0, 0, [SEP] 80, Shelf, 2.759, 0.880, 0.144, 0, 0, 0, [SEP] 81, Microwave, 1.827, 0.900, -1.354, 0, 270, 0, [SEP] 82, Shelf, 2.759, 0.552, 0.145, 0, 0, 0, [SEP] 83, Fridge, 1.975, 0.0, -0.537, 0, 0, 0, [SEP] 84, LightSwitch, 0.404, 1.297, 2.0, 0, 180, 0, [SEP] 85, Shelf, 2.760, 0.172, 0.145, 0, 0, 0, [SEP] 86, SinkBasin, -0.129, 0.752, -2.007, 0, 0, 0, [SEP] 87, StoveKnob, -0.873, 0.903, -0.827, 45, 90, 0, [SEP] 88, StoveKnob, -0.873, 0.903, -0.676, 45, 90, 0, [SEP] 89, StoveKnob, -0.873, 0.903, -0.966, 45, 90, 0, [SEP] 90, StoveKnob, -0.873, 0.903, -1.123, 45, 90, 0, [SEP] 91, Toaster, 0.840, 0.900, -2.057, 0, 0, 0, [SEP] 92, CoffeeMachine, 0.501, 0.900, -2.125, 0, 0, 0, [SEP] 93, ShelvingUnit, 2.760, 0.006, 0.144, 0, 0, 0, [SEP] 94, Stool, -0.826, 0.010, 0.908, 0, 347.513, 0, [SEP] 95, Stool, -0.132, 0.010, 0.883, 0, 71.555, 0, [SEP] 96, NorthWall, , , , , , , [SEP] 97, EastWall, , , , , , , [SEP] 98, SouthWall, , , , , , , [SEP] 99, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the counter by the sink. | STEP 2: Pick up an apple on the counter. | STEP 3: Turn around and go to the refrigerator. | STEP 4: Chill the apple in the refrigerator. | STEP 5: Turn and go to the microwave. | STEP 6: Put the apple in the microwave. | END"]} +{"id": "trial_T20190908_150807_823817-1", "input": "Put a chilled apple in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 0.75, 0, 0, 0, [SEP] 1, Pan, -1.056, 0.956, -0.672, 0, 180, 0, 48 [SEP] 2, Ladle, -0.264, 0.153, 0.163, 0, 180, 0, 64 [SEP] 3, DishSponge, -0.691, 0.691, -1.802, 0, 0, 0, 46 [SEP] 4, ButterKnife, -1.247, 0.901, -0.170, 0, 0, 0, 69 [SEP] 5, ButterKnife, -0.205, 0.913, 0.083, 0, 0, 0, 69 [SEP] 6, Pot, -1.289, 0.957, -1.02, 0, 0, 0, 66 [SEP] 7, Spatula, -0.634, 0.928, 0.241, 0, 0, 0, 69 [SEP] 8, Fork, 1.419, 0.911, -1.929, 0, 0, 0, 76 [SEP] 9, Spoon, -0.152, 1.132, 0.529, 0, 0, 0, 72 [SEP] 10, Spoon, -0.117, 0.764, -1.952, 0, 0, 0, 86 [SEP] 11, Egg, -0.290, 0.797, -2.008, 0, 0, 0, 86 [SEP] 12, Tomato, -1.413, 0.963, -0.292, 0, 0, 0, 69 [SEP] 13, Bowl, 2.000, 0.814, -0.737, 0, 270, 0, 83 [SEP] 14, SaltShaker, -0.657, 0.688, -1.891, 0, 0, 0, 46 [SEP] 15, SaltShaker, -0.120, 0.112, 0.245, 0, 180, 0, 64 [SEP] 16, Lettuce, 0.055, 0.839, -2.063, 0, 90, 0, 86 [SEP] 17, Lettuce, 1.924, 0.139, 0.109, 0, 270, 0, 79 [SEP] 18, Pan, -1.056, 0.956, -1.127, 0, 0, 0, 73 [SEP] 19, Knife, -1.045, 1.155, 0.529, 0, 0, 0, 72 [SEP] 20, Bowl, 1.945, 1.424, -0.644, 0, 270, 0, 83 [SEP] 21, Fork, -0.589, 0.694, -1.935, 0, 90, 0, 46 [SEP] 22, Cup, 0.101, 0.750, -1.938, 0, 0, 0, 86 [SEP] 23, Ladle, -0.598, 1.168, 0.706, 0, 0, 0, 72 [SEP] 24, Apple, -1.330, 0.962, -0.414, 0, 0, 0, 69 [SEP] 25, Kettle, -0.777, 0.912, -2.014, 0, 0, 0, 76 [SEP] 26, Vase, -1.356, 1.660, -1.789, 0, 0, 0, 58 [SEP] 27, Potato, 2.110, 1.458, -0.271, 0, 270, 0, 83 [SEP] 28, Pot, 1.688, 0.118, -1.266, 0, 0, 0, 50 [SEP] 29, Bread, -1.148, 0.981, -0.192, 0, 0, 0, 69 [SEP] 30, Plate, 1.914, 1.650, -1.802, 0, 0, 0, 54 [SEP] 31, Spatula, -0.376, 0.778, -2.118, 0, 90, 0, 86 [SEP] 32, PaperTowelRoll, 2.900, 0.984, 0.195, 0, 180, 0, 80 [SEP] 33, Vase, -1.278, 1.664, -1.600, 0, 0, 0, 58 [SEP] 34, Egg, 1.945, 1.461, -0.458, 0, 270, 0, 83 [SEP] 35, SoapBottle, 1.513, 0.116, -1.462, 0, 0, 0, 50 [SEP] 36, SaltShaker, -0.119, 0.693, 0.263, 0, 180, 0, 75 [SEP] 37, Lettuce, 1.419, 0.987, -2.183, 0, 0, 0, 76 [SEP] 38, PepperShaker, 2.902, 0.548, 0.090, 0, 180, 0, 82 [SEP] 39, ButterKnife, -1.278, 0.913, 0.188, 0, 0, 0, 69 [SEP] 40, DishSponge, -0.611, 0.693, 0.190, 0, 180, 0, 70 [SEP] 41, Vase, -0.985, 0.133, -0.250, 0, 0, 0, 63 [SEP] 42, Spoon, -0.152, 1.132, 0.706, 0, 0, 0, 72 [SEP] 43, Tomato, -0.420, 0.963, 0.083, 0, 0, 0, 69 [SEP] 44, Mug, 0.501, 0.955, -1.900, 0, 0, 0, 92 [SEP] 45, Statue, 2.694, 0.559, 0.038, 0, 0, 0, 82 [SEP] 46, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 47, Cabinet, -1.149, 2.264, -0.838, 0, 90, 0, [SEP] 48, StoveBurner, -1.056, 0.949, -0.671, 0, 180, 0, [SEP] 49, Cabinet, 1.738, 2.019, -2.000, 0, 0, 0, [SEP] 50, Cabinet, 1.389, 0.469, -1.059, 0, 0, 0, [SEP] 51, StoveBurner, -1.289, 0.949, -0.755, 0, 180, 0, [SEP] 52, Faucet, -0.157, 1.052, -2.196, 0, 270, 0, [SEP] 53, Cabinet, 1.75, 2.019, -1.029, 0, 0, 0, [SEP] 54, Cabinet, 1.75, 2.019, -1.399, 0, 0, 0, [SEP] 55, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 56, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 57, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 58, Cabinet, -1.149, 2.019, -1.979, 0, 0, 0, [SEP] 59, Cabinet, -1.149, 2.019, -0.770, 0, 0, 0, [SEP] 60, Cabinet, -1.149, 2.019, 0.380, 0, 0, 0, [SEP] 61, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 62, Cabinet, -0.839, 0.469, -1.664, 0, 0, 0, [SEP] 63, Cabinet, -0.839, 0.469, -0.049, 0, 0, 0, [SEP] 64, Cabinet, -0.414, 0.370, -0.009, 0, 0, 0, [SEP] 65, Sink, -0.118, 0.875, -2.009, 0, 0, 0, [SEP] 66, StoveBurner, -1.289, 0.949, -1.019, 0, 0, 0, [SEP] 67, Cabinet, 0.119, 2.264, -2.0, 0, 0, 0, [SEP] 68, Cabinet, -0.459, 2.264, -2.0, 0, 0, 0, [SEP] 69, CounterTop, -0.665, 0.949, 0.188, 0, 0, 0, [SEP] 70, Drawer, -0.449, 0.75, -0.010, 0, 180, 0, [SEP] 71, Cabinet, -0.450, 0.469, -0.009, 0, 0, 0, [SEP] 72, CounterTop, -0.630, 1.167, 0.573, 0, 0, 0, [SEP] 73, StoveBurner, -1.056, 0.949, -1.126, 0, 0, 0, [SEP] 74, Cabinet, 1.376, 0.460, -1.685, 0, 0, 0, [SEP] 75, Drawer, -0.070, 0.75, -0.009, 0, 180, 0, [SEP] 76, CounterTop, 1.159, 0.946, -2.013, 0, 0, 0, [SEP] 77, Cabinet, -1.150, 2.264, -1.418, 0, 90, 0, [SEP] 78, HousePlant, -1.246, 1.108, 0.606, 0, 0, 0, [SEP] 79, GarbageCan, 1.923, -0.010, 0.137, 0, 0, 0, [SEP] 80, Shelf, 2.759, 0.880, 0.144, 0, 0, 0, [SEP] 81, Microwave, 1.827, 0.900, -1.354, 0, 270, 0, [SEP] 82, Shelf, 2.759, 0.552, 0.145, 0, 0, 0, [SEP] 83, Fridge, 1.975, 0.0, -0.537, 0, 0, 0, [SEP] 84, LightSwitch, 0.404, 1.297, 2.0, 0, 180, 0, [SEP] 85, Shelf, 2.760, 0.172, 0.145, 0, 0, 0, [SEP] 86, SinkBasin, -0.129, 0.752, -2.007, 0, 0, 0, [SEP] 87, StoveKnob, -0.873, 0.903, -0.827, 45, 90, 0, [SEP] 88, StoveKnob, -0.873, 0.903, -0.676, 45, 90, 0, [SEP] 89, StoveKnob, -0.873, 0.903, -0.966, 45, 90, 0, [SEP] 90, StoveKnob, -0.873, 0.903, -1.123, 45, 90, 0, [SEP] 91, Toaster, 0.840, 0.900, -2.057, 0, 0, 0, [SEP] 92, CoffeeMachine, 0.501, 0.900, -2.125, 0, 0, 0, [SEP] 93, ShelvingUnit, 2.760, 0.006, 0.144, 0, 0, 0, [SEP] 94, Stool, -0.826, 0.010, 0.908, 0, 347.513, 0, [SEP] 95, Stool, -0.132, 0.010, 0.883, 0, 71.555, 0, [SEP] 96, NorthWall, , , , , , , [SEP] 97, EastWall, , , , , , , [SEP] 98, SouthWall, , , , , , , [SEP] 99, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the counter on the right side of the stove. | STEP 2: Pick up the apple on the left side of the bread. | STEP 3: Turn around and go to the front of the refrigerator. | STEP 4: Chill the apple on the middle shelf in the refrigerator and take it out. | STEP 5: Go to the microwave on the counter top on the right. | STEP 6: Place the apple inside the microwave. | END"]} +{"id": "trial_T20190908_150807_823817-2", "input": "To cool an apple as well as place it in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 0.75, 0, 0, 0, [SEP] 1, Pan, -1.056, 0.956, -0.672, 0, 180, 0, 48 [SEP] 2, Ladle, -0.264, 0.153, 0.163, 0, 180, 0, 64 [SEP] 3, DishSponge, -0.691, 0.691, -1.802, 0, 0, 0, 46 [SEP] 4, ButterKnife, -1.247, 0.901, -0.170, 0, 0, 0, 69 [SEP] 5, ButterKnife, -0.205, 0.913, 0.083, 0, 0, 0, 69 [SEP] 6, Pot, -1.289, 0.957, -1.02, 0, 0, 0, 66 [SEP] 7, Spatula, -0.634, 0.928, 0.241, 0, 0, 0, 69 [SEP] 8, Fork, 1.419, 0.911, -1.929, 0, 0, 0, 76 [SEP] 9, Spoon, -0.152, 1.132, 0.529, 0, 0, 0, 72 [SEP] 10, Spoon, -0.117, 0.764, -1.952, 0, 0, 0, 86 [SEP] 11, Egg, -0.290, 0.797, -2.008, 0, 0, 0, 86 [SEP] 12, Tomato, -1.413, 0.963, -0.292, 0, 0, 0, 69 [SEP] 13, Bowl, 2.000, 0.814, -0.737, 0, 270, 0, 83 [SEP] 14, SaltShaker, -0.657, 0.688, -1.891, 0, 0, 0, 46 [SEP] 15, SaltShaker, -0.120, 0.112, 0.245, 0, 180, 0, 64 [SEP] 16, Lettuce, 0.055, 0.839, -2.063, 0, 90, 0, 86 [SEP] 17, Lettuce, 1.924, 0.139, 0.109, 0, 270, 0, 79 [SEP] 18, Pan, -1.056, 0.956, -1.127, 0, 0, 0, 73 [SEP] 19, Knife, -1.045, 1.155, 0.529, 0, 0, 0, 72 [SEP] 20, Bowl, 1.945, 1.424, -0.644, 0, 270, 0, 83 [SEP] 21, Fork, -0.589, 0.694, -1.935, 0, 90, 0, 46 [SEP] 22, Cup, 0.101, 0.750, -1.938, 0, 0, 0, 86 [SEP] 23, Ladle, -0.598, 1.168, 0.706, 0, 0, 0, 72 [SEP] 24, Apple, -1.330, 0.962, -0.414, 0, 0, 0, 69 [SEP] 25, Kettle, -0.777, 0.912, -2.014, 0, 0, 0, 76 [SEP] 26, Vase, -1.356, 1.660, -1.789, 0, 0, 0, 58 [SEP] 27, Potato, 2.110, 1.458, -0.271, 0, 270, 0, 83 [SEP] 28, Pot, 1.688, 0.118, -1.266, 0, 0, 0, 50 [SEP] 29, Bread, -1.148, 0.981, -0.192, 0, 0, 0, 69 [SEP] 30, Plate, 1.914, 1.650, -1.802, 0, 0, 0, 54 [SEP] 31, Spatula, -0.376, 0.778, -2.118, 0, 90, 0, 86 [SEP] 32, PaperTowelRoll, 2.900, 0.984, 0.195, 0, 180, 0, 80 [SEP] 33, Vase, -1.278, 1.664, -1.600, 0, 0, 0, 58 [SEP] 34, Egg, 1.945, 1.461, -0.458, 0, 270, 0, 83 [SEP] 35, SoapBottle, 1.513, 0.116, -1.462, 0, 0, 0, 50 [SEP] 36, SaltShaker, -0.119, 0.693, 0.263, 0, 180, 0, 75 [SEP] 37, Lettuce, 1.419, 0.987, -2.183, 0, 0, 0, 76 [SEP] 38, PepperShaker, 2.902, 0.548, 0.090, 0, 180, 0, 82 [SEP] 39, ButterKnife, -1.278, 0.913, 0.188, 0, 0, 0, 69 [SEP] 40, DishSponge, -0.611, 0.693, 0.190, 0, 180, 0, 70 [SEP] 41, Vase, -0.985, 0.133, -0.250, 0, 0, 0, 63 [SEP] 42, Spoon, -0.152, 1.132, 0.706, 0, 0, 0, 72 [SEP] 43, Tomato, -0.420, 0.963, 0.083, 0, 0, 0, 69 [SEP] 44, Mug, 0.501, 0.955, -1.900, 0, 0, 0, 92 [SEP] 45, Statue, 2.694, 0.559, 0.038, 0, 0, 0, 82 [SEP] 46, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 47, Cabinet, -1.149, 2.264, -0.838, 0, 90, 0, [SEP] 48, StoveBurner, -1.056, 0.949, -0.671, 0, 180, 0, [SEP] 49, Cabinet, 1.738, 2.019, -2.000, 0, 0, 0, [SEP] 50, Cabinet, 1.389, 0.469, -1.059, 0, 0, 0, [SEP] 51, StoveBurner, -1.289, 0.949, -0.755, 0, 180, 0, [SEP] 52, Faucet, -0.157, 1.052, -2.196, 0, 270, 0, [SEP] 53, Cabinet, 1.75, 2.019, -1.029, 0, 0, 0, [SEP] 54, Cabinet, 1.75, 2.019, -1.399, 0, 0, 0, [SEP] 55, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 56, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 57, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 58, Cabinet, -1.149, 2.019, -1.979, 0, 0, 0, [SEP] 59, Cabinet, -1.149, 2.019, -0.770, 0, 0, 0, [SEP] 60, Cabinet, -1.149, 2.019, 0.380, 0, 0, 0, [SEP] 61, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 62, Cabinet, -0.839, 0.469, -1.664, 0, 0, 0, [SEP] 63, Cabinet, -0.839, 0.469, -0.049, 0, 0, 0, [SEP] 64, Cabinet, -0.414, 0.370, -0.009, 0, 0, 0, [SEP] 65, Sink, -0.118, 0.875, -2.009, 0, 0, 0, [SEP] 66, StoveBurner, -1.289, 0.949, -1.019, 0, 0, 0, [SEP] 67, Cabinet, 0.119, 2.264, -2.0, 0, 0, 0, [SEP] 68, Cabinet, -0.459, 2.264, -2.0, 0, 0, 0, [SEP] 69, CounterTop, -0.665, 0.949, 0.188, 0, 0, 0, [SEP] 70, Drawer, -0.449, 0.75, -0.010, 0, 180, 0, [SEP] 71, Cabinet, -0.450, 0.469, -0.009, 0, 0, 0, [SEP] 72, CounterTop, -0.630, 1.167, 0.573, 0, 0, 0, [SEP] 73, StoveBurner, -1.056, 0.949, -1.126, 0, 0, 0, [SEP] 74, Cabinet, 1.376, 0.460, -1.685, 0, 0, 0, [SEP] 75, Drawer, -0.070, 0.75, -0.009, 0, 180, 0, [SEP] 76, CounterTop, 1.159, 0.946, -2.013, 0, 0, 0, [SEP] 77, Cabinet, -1.150, 2.264, -1.418, 0, 90, 0, [SEP] 78, HousePlant, -1.246, 1.108, 0.606, 0, 0, 0, [SEP] 79, GarbageCan, 1.923, -0.010, 0.137, 0, 0, 0, [SEP] 80, Shelf, 2.759, 0.880, 0.144, 0, 0, 0, [SEP] 81, Microwave, 1.827, 0.900, -1.354, 0, 270, 0, [SEP] 82, Shelf, 2.759, 0.552, 0.145, 0, 0, 0, [SEP] 83, Fridge, 1.975, 0.0, -0.537, 0, 0, 0, [SEP] 84, LightSwitch, 0.404, 1.297, 2.0, 0, 180, 0, [SEP] 85, Shelf, 2.760, 0.172, 0.145, 0, 0, 0, [SEP] 86, SinkBasin, -0.129, 0.752, -2.007, 0, 0, 0, [SEP] 87, StoveKnob, -0.873, 0.903, -0.827, 45, 90, 0, [SEP] 88, StoveKnob, -0.873, 0.903, -0.676, 45, 90, 0, [SEP] 89, StoveKnob, -0.873, 0.903, -0.966, 45, 90, 0, [SEP] 90, StoveKnob, -0.873, 0.903, -1.123, 45, 90, 0, [SEP] 91, Toaster, 0.840, 0.900, -2.057, 0, 0, 0, [SEP] 92, CoffeeMachine, 0.501, 0.900, -2.125, 0, 0, 0, [SEP] 93, ShelvingUnit, 2.760, 0.006, 0.144, 0, 0, 0, [SEP] 94, Stool, -0.826, 0.010, 0.908, 0, 347.513, 0, [SEP] 95, Stool, -0.132, 0.010, 0.883, 0, 71.555, 0, [SEP] 96, NorthWall, , , , , , , [SEP] 97, EastWall, , , , , , , [SEP] 98, SouthWall, , , , , , , [SEP] 99, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk across the room, then turn right and walk forward to face the right end of the counter. | STEP 2: Pick up the apple on the counter. | STEP 3: Turn around and walk across the room to face the fridge. | STEP 4: Cool the apple in the fridge and then remove it. | STEP 5: Take a step to the right to face the microwave on the counter. | STEP 6: Place the apple in the microwave. | END"]} +{"id": "trial_T20190909_193045_208933-0", "input": "Examine a statue by the light of a small lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.0, 0.900, -3.0, 0, 0, 0, [SEP] 1, TissueBox, -1.047, 0.900, 1.327, 0, 0, 0, 44 [SEP] 2, TissueBox, 0.667, 0.658, 1.342, 0, 0, 0, 33 [SEP] 3, Newspaper, -1.226, 0.127, 1.202, 0, 0, 0, 42 [SEP] 4, Newspaper, 1.267, 0.656, 1.118, 0, 0, 0, 33 [SEP] 5, Statue, -1.276, 1.000, 1.327, 0, 0, 0, 44 [SEP] 6, Statue, 0.098, 1.000, 1.187, 0, 0, 0, 44 [SEP] 7, KeyChain, -2.214, 0.510, -1.293, 0, 0, 0, 35 [SEP] 8, KeyChain, 0.870, 0.458, 0.965, 0, 0, 0, 34 [SEP] 9, RemoteControl, -0.589, 0.900, 1.280, 0, 0, 0, 44 [SEP] 10, Box, -3.780, 1.305, 0.457, 0, 0, 0, 32 [SEP] 11, Vase, -0.971, 0.114, 1.197, 0, 0, 0, 42 [SEP] 12, TissueBox, -4.273, 1.064, 0.321, 0, 270, 0, 32 [SEP] 13, Newspaper, -0.130, 0.898, 1.234, 0, 0, 0, 44 [SEP] 14, KeyChain, 1.118, 0.457, 0.965, 0, 0, 0, 34 [SEP] 15, Vase, 1.568, 0.666, 0.968, 0, 0, 0, 33 [SEP] 16, Statue, 1.492, 0.661, -1.338, 0, 0, 0, 37 [SEP] 17, RemoteControl, -0.396, 0.543, -1.319, 0, 0, 0, 41 [SEP] 18, Pillow, -1.827, 0.585, -1.251, 0, 0, 0, 35 [SEP] 19, CreditCard, -0.623, 0.533, -0.983, 0, 0, 0, 41 [SEP] 20, Laptop, 0.434, 0.541, -1.187, 0, 0, 0, 41 [SEP] 21, Vase, -0.516, 0.114, 1.201, 0, 0, 0, 42 [SEP] 22, Statue, 1.568, 0.758, 1.342, 0, 0, 0, 33 [SEP] 23, DeskLamp, 1.657, 0.654, -1.605, 0, 0, 0, [SEP] 24, FloorLamp, -4.569, 0.005, -1.616, 0, 15.092, 0, [SEP] 25, LightSwitch, -2.464, 1.230, -1.950, 0, 0, 0, [SEP] 26, GarbageCan, -4.581, -0.032, 1.126, 0, 90, 0, [SEP] 27, Television, -0.549, 1.516, 1.450, 0, 180, 0, [SEP] 28, HousePlant, 1.555, 0.650, 1.166, 0, 0, 0, [SEP] 29, Window, -2.012, 1.501, 1.468, 90, 0, 0, [SEP] 30, Window, 0.986, 1.501, 1.468, 90, 0, 0, [SEP] 31, Painting, -0.698, 1.835, -1.911, 90, 0, 0, [SEP] 32, DiningTable, -3.941, 0.005, 0.257, 0, 0, 0, [SEP] 33, SideTable, 1.102, -0.000, 1.118, 0, 180, 0, [SEP] 34, Drawer, 1.103, 0.519, 0.834, 0, 180, 0, [SEP] 35, ArmChair, -1.832, 0.010, -1.349, 0, 0, 0, [SEP] 36, Drawer, 1.581, 0.523, -1.199, 0, 0, 0, [SEP] 37, SideTable, 1.581, 0.003, -1.488, 0, 0, 0, [SEP] 38, Painting, -4.910, 1.763, -0.098, 90, 270, 0, [SEP] 39, Chair, -4.398, 0.002, 0.274, 0, 85.162, 0, [SEP] 40, Chair, -3.825, 0.002, -0.223, 0, 340.163, 0, [SEP] 41, Sofa, 0.057, -0.002, -1.386, 0, 0, 0, [SEP] 42, Shelf, -0.552, 0.114, 1.252, 0, 180, 0, [SEP] 43, Drawer, -1.020, 0.728, 1.032, 0, 180, 0, [SEP] 44, SideTable, -0.589, 0.000, 1.227, 0, 180, 0, [SEP] 45, Drawer, -0.157, 0.728, 1.032, 0, 180, 0, [SEP] 46, NorthWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: Hang a right at the round table, turn left at the wall and walk to the wooden table by the window. | STEP 2: Pick up the tall statue at the back right corner of the table. | STEP 3: Turn around and walk to the small table next to the couch. | STEP 4: Turn on the small lamp on the table. | END"]} +{"id": "trial_T20190909_193045_208933-1", "input": "Pick up the statue from the table and turn on the lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.0, 0.900, -3.0, 0, 0, 0, [SEP] 1, TissueBox, -1.047, 0.900, 1.327, 0, 0, 0, 44 [SEP] 2, TissueBox, 0.667, 0.658, 1.342, 0, 0, 0, 33 [SEP] 3, Newspaper, -1.226, 0.127, 1.202, 0, 0, 0, 42 [SEP] 4, Newspaper, 1.267, 0.656, 1.118, 0, 0, 0, 33 [SEP] 5, Statue, -1.276, 1.000, 1.327, 0, 0, 0, 44 [SEP] 6, Statue, 0.098, 1.000, 1.187, 0, 0, 0, 44 [SEP] 7, KeyChain, -2.214, 0.510, -1.293, 0, 0, 0, 35 [SEP] 8, KeyChain, 0.870, 0.458, 0.965, 0, 0, 0, 34 [SEP] 9, RemoteControl, -0.589, 0.900, 1.280, 0, 0, 0, 44 [SEP] 10, Box, -3.780, 1.305, 0.457, 0, 0, 0, 32 [SEP] 11, Vase, -0.971, 0.114, 1.197, 0, 0, 0, 42 [SEP] 12, TissueBox, -4.273, 1.064, 0.321, 0, 270, 0, 32 [SEP] 13, Newspaper, -0.130, 0.898, 1.234, 0, 0, 0, 44 [SEP] 14, KeyChain, 1.118, 0.457, 0.965, 0, 0, 0, 34 [SEP] 15, Vase, 1.568, 0.666, 0.968, 0, 0, 0, 33 [SEP] 16, Statue, 1.492, 0.661, -1.338, 0, 0, 0, 37 [SEP] 17, RemoteControl, -0.396, 0.543, -1.319, 0, 0, 0, 41 [SEP] 18, Pillow, -1.827, 0.585, -1.251, 0, 0, 0, 35 [SEP] 19, CreditCard, -0.623, 0.533, -0.983, 0, 0, 0, 41 [SEP] 20, Laptop, 0.434, 0.541, -1.187, 0, 0, 0, 41 [SEP] 21, Vase, -0.516, 0.114, 1.201, 0, 0, 0, 42 [SEP] 22, Statue, 1.568, 0.758, 1.342, 0, 0, 0, 33 [SEP] 23, DeskLamp, 1.657, 0.654, -1.605, 0, 0, 0, [SEP] 24, FloorLamp, -4.569, 0.005, -1.616, 0, 15.092, 0, [SEP] 25, LightSwitch, -2.464, 1.230, -1.950, 0, 0, 0, [SEP] 26, GarbageCan, -4.581, -0.032, 1.126, 0, 90, 0, [SEP] 27, Television, -0.549, 1.516, 1.450, 0, 180, 0, [SEP] 28, HousePlant, 1.555, 0.650, 1.166, 0, 0, 0, [SEP] 29, Window, -2.012, 1.501, 1.468, 90, 0, 0, [SEP] 30, Window, 0.986, 1.501, 1.468, 90, 0, 0, [SEP] 31, Painting, -0.698, 1.835, -1.911, 90, 0, 0, [SEP] 32, DiningTable, -3.941, 0.005, 0.257, 0, 0, 0, [SEP] 33, SideTable, 1.102, -0.000, 1.118, 0, 180, 0, [SEP] 34, Drawer, 1.103, 0.519, 0.834, 0, 180, 0, [SEP] 35, ArmChair, -1.832, 0.010, -1.349, 0, 0, 0, [SEP] 36, Drawer, 1.581, 0.523, -1.199, 0, 0, 0, [SEP] 37, SideTable, 1.581, 0.003, -1.488, 0, 0, 0, [SEP] 38, Painting, -4.910, 1.763, -0.098, 90, 270, 0, [SEP] 39, Chair, -4.398, 0.002, 0.274, 0, 85.162, 0, [SEP] 40, Chair, -3.825, 0.002, -0.223, 0, 340.163, 0, [SEP] 41, Sofa, 0.057, -0.002, -1.386, 0, 0, 0, [SEP] 42, Shelf, -0.552, 0.114, 1.252, 0, 180, 0, [SEP] 43, Drawer, -1.020, 0.728, 1.032, 0, 180, 0, [SEP] 44, SideTable, -0.589, 0.000, 1.227, 0, 180, 0, [SEP] 45, Drawer, -0.157, 0.728, 1.032, 0, 180, 0, [SEP] 46, NorthWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: Walk towards the table then turn right and walk forwards. | STEP 2: Turn left and pick up the statue that is on the wooden side-table. | STEP 3: Turn around and walk towards the wooden side-table next to the couch. | STEP 4: Turn on the lamp on top of the table. | END"]} +{"id": "trial_T20190909_193045_208933-2", "input": "To pick up the statue and turn on the lamp next to the couch. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.0, 0.900, -3.0, 0, 0, 0, [SEP] 1, TissueBox, -1.047, 0.900, 1.327, 0, 0, 0, 44 [SEP] 2, TissueBox, 0.667, 0.658, 1.342, 0, 0, 0, 33 [SEP] 3, Newspaper, -1.226, 0.127, 1.202, 0, 0, 0, 42 [SEP] 4, Newspaper, 1.267, 0.656, 1.118, 0, 0, 0, 33 [SEP] 5, Statue, -1.276, 1.000, 1.327, 0, 0, 0, 44 [SEP] 6, Statue, 0.098, 1.000, 1.187, 0, 0, 0, 44 [SEP] 7, KeyChain, -2.214, 0.510, -1.293, 0, 0, 0, 35 [SEP] 8, KeyChain, 0.870, 0.458, 0.965, 0, 0, 0, 34 [SEP] 9, RemoteControl, -0.589, 0.900, 1.280, 0, 0, 0, 44 [SEP] 10, Box, -3.780, 1.305, 0.457, 0, 0, 0, 32 [SEP] 11, Vase, -0.971, 0.114, 1.197, 0, 0, 0, 42 [SEP] 12, TissueBox, -4.273, 1.064, 0.321, 0, 270, 0, 32 [SEP] 13, Newspaper, -0.130, 0.898, 1.234, 0, 0, 0, 44 [SEP] 14, KeyChain, 1.118, 0.457, 0.965, 0, 0, 0, 34 [SEP] 15, Vase, 1.568, 0.666, 0.968, 0, 0, 0, 33 [SEP] 16, Statue, 1.492, 0.661, -1.338, 0, 0, 0, 37 [SEP] 17, RemoteControl, -0.396, 0.543, -1.319, 0, 0, 0, 41 [SEP] 18, Pillow, -1.827, 0.585, -1.251, 0, 0, 0, 35 [SEP] 19, CreditCard, -0.623, 0.533, -0.983, 0, 0, 0, 41 [SEP] 20, Laptop, 0.434, 0.541, -1.187, 0, 0, 0, 41 [SEP] 21, Vase, -0.516, 0.114, 1.201, 0, 0, 0, 42 [SEP] 22, Statue, 1.568, 0.758, 1.342, 0, 0, 0, 33 [SEP] 23, DeskLamp, 1.657, 0.654, -1.605, 0, 0, 0, [SEP] 24, FloorLamp, -4.569, 0.005, -1.616, 0, 15.092, 0, [SEP] 25, LightSwitch, -2.464, 1.230, -1.950, 0, 0, 0, [SEP] 26, GarbageCan, -4.581, -0.032, 1.126, 0, 90, 0, [SEP] 27, Television, -0.549, 1.516, 1.450, 0, 180, 0, [SEP] 28, HousePlant, 1.555, 0.650, 1.166, 0, 0, 0, [SEP] 29, Window, -2.012, 1.501, 1.468, 90, 0, 0, [SEP] 30, Window, 0.986, 1.501, 1.468, 90, 0, 0, [SEP] 31, Painting, -0.698, 1.835, -1.911, 90, 0, 0, [SEP] 32, DiningTable, -3.941, 0.005, 0.257, 0, 0, 0, [SEP] 33, SideTable, 1.102, -0.000, 1.118, 0, 180, 0, [SEP] 34, Drawer, 1.103, 0.519, 0.834, 0, 180, 0, [SEP] 35, ArmChair, -1.832, 0.010, -1.349, 0, 0, 0, [SEP] 36, Drawer, 1.581, 0.523, -1.199, 0, 0, 0, [SEP] 37, SideTable, 1.581, 0.003, -1.488, 0, 0, 0, [SEP] 38, Painting, -4.910, 1.763, -0.098, 90, 270, 0, [SEP] 39, Chair, -4.398, 0.002, 0.274, 0, 85.162, 0, [SEP] 40, Chair, -3.825, 0.002, -0.223, 0, 340.163, 0, [SEP] 41, Sofa, 0.057, -0.002, -1.386, 0, 0, 0, [SEP] 42, Shelf, -0.552, 0.114, 1.252, 0, 180, 0, [SEP] 43, Drawer, -1.020, 0.728, 1.032, 0, 180, 0, [SEP] 44, SideTable, -0.589, 0.000, 1.227, 0, 180, 0, [SEP] 45, Drawer, -0.157, 0.728, 1.032, 0, 180, 0, [SEP] 46, NorthWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: Walk down the hallway into the living room and turn right, walk past the couch and turn left towards the brown coffee table. | STEP 2: Pick up the brown statue behind the plant in the gold pot. | STEP 3: Turn around and head to the small brown coffee table next to the couch with the lamp. | STEP 4: Turn the lamp on that's on the small table next to the couch. | END"]} +{"id": "trial_T20190909_080302_174780-0", "input": "Put two rolls of toilet paper on the back of a toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.902, -0.75, 0, 90, 0, [SEP] 1, Candle, -0.860, 1.087, 0.814, 0, 180, 0, 37 [SEP] 2, Candle, -0.173, 0.558, 0.690, 0, 0, 0, 23 [SEP] 3, SoapBar, -2.112, 0.970, 0.645, 0, 180, 0, 34 [SEP] 4, SoapBar, -2.541, 0.081, 0.889, 0, 0, 0, 22 [SEP] 5, SoapBottle, -2.992, 0.083, 0.825, 0, 0, 0, 20 [SEP] 6, SoapBottle, -2.496, 0.083, 0.567, 0, 0, 0, 22 [SEP] 7, ToiletPaper, -2.902, 0.078, 0.502, 0, 0, 0, 20 [SEP] 8, ToiletPaper, -2.902, 0.078, 0.696, 0, 0, 0, 20 [SEP] 9, Towel, -0.490, 1.367, 0.902, 0, 180, 0, 31 [SEP] 10, Candle, -0.173, 0.558, 0.178, 0, 0, 0, 23 [SEP] 11, HandTowel, -3.096, 1.587, 0.744, 0, 270, 0, 35 [SEP] 12, SoapBar, -0.991, 1.045, 0.845, 0, 180, 0, 37 [SEP] 13, ToiletPaper, -1.416, 0.816, 0.665, 0, 90, 270, 36 [SEP] 14, Cloth, -1.687, 0.081, 0.825, 0, 0, 0, 24 [SEP] 15, ToiletPaper, -2.924, 0.179, -1.56, 0, 0, 0, 32 [SEP] 16, SprayBottle, -2.451, 0.082, 0.825, 0, 0, 0, 22 [SEP] 17, ScrubBrush, -0.485, 0.001, 0.873, 0, 0, 0, Floor|-00.81| [SEP] 18, SoapBottle, -0.926, 1.047, 0.937, 0, 180, 0, 37 [SEP] 19, Plunger, -0.710, 0.000, 0.828, 0, 0, 0, Floor|-00.81| [SEP] 20, Cabinet, -3.094, 0.390, 0.421, 0, 0, 0, [SEP] 21, CounterTop, -2.298, 0.953, 0.689, 0, 0, 0, [SEP] 22, Cabinet, -2.305, 0.415, 0.425, 0, 0, 0, [SEP] 23, Bathtub, 0.286, 0.290, -0.077, 0, 0, 0, [SEP] 24, Cabinet, -1.496, 0.415, 0.425, 0, 0, 0, [SEP] 25, Cabinet, -2.286, 0.390, 0.421, 0, 0, 0, [SEP] 26, Sink, -1.924, 0.930, 0.675, 0, 180, 0, [SEP] 27, Faucet, -1.922, 1.015, 0.887, 0, 0, 0, [SEP] 28, Mirror, -2.306, 1.526, 1.001, 0, 0, 0, [SEP] 29, Faucet, -2.681, 1.015, 0.887, 0, 0, 0, [SEP] 30, LightSwitch, -1.389, 1.263, -1.693, 0, 0, 0, [SEP] 31, TowelHolder, -0.490, 1.353, 1.009, 0, 180, 0, [SEP] 32, GarbageCan, -2.857, 0.016, -1.487, 0, 0, 0, [SEP] 33, BathtubBasin, 0.349, 0.023, -0.135, 0, 270, 0, [SEP] 34, SinkBasin, -1.908, 0.961, 0.669, 0, 180, 0, [SEP] 35, HandTowelHolder, -3.134, 1.689, 0.744, 0, 0, 0, [SEP] 36, ToiletPaperHanger, -1.485, 0.805, 0.691, 0, 90, 0, [SEP] 37, Toilet, -1.054, 0.001, 0.552, 0, 270, 0, [SEP] 38, ShowerCurtain, -0.292, 1.886, -1.033, 0, 0, 0, [SEP] 39, Faucet, 0.270, 0.670, 0.906, 0, 0, 0, [SEP] 40, SinkBasin, -2.666, 0.961, 0.669, 0, 180, 0, [SEP] 41, Sink, -2.681, 0.930, 0.675, 0, 180, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left and face the toilet paper holder to the left of the toilet. | STEP 2: Pick the toilet paper roll up from the holder. | STEP 3: Turn to stand on the right side of the toilet. | STEP 4: Put the toilet paper on the back of the toilet. | STEP 5: Cross the room to stand in front of the sink on the left. | STEP 6: Open the cabinet on the bottom left and pick up the toilet paper and shut the cabinet. | STEP 7: Cross the room to stand on the right side of the toilet. | STEP 8: Put the toilet paper on the back of the toilet. | END"]} +{"id": "trial_T20190909_080302_174780-1", "input": "place two toilet paper rolls on toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.902, -0.75, 0, 90, 0, [SEP] 1, Candle, -0.860, 1.087, 0.814, 0, 180, 0, 37 [SEP] 2, Candle, -0.173, 0.558, 0.690, 0, 0, 0, 23 [SEP] 3, SoapBar, -2.112, 0.970, 0.645, 0, 180, 0, 34 [SEP] 4, SoapBar, -2.541, 0.081, 0.889, 0, 0, 0, 22 [SEP] 5, SoapBottle, -2.992, 0.083, 0.825, 0, 0, 0, 20 [SEP] 6, SoapBottle, -2.496, 0.083, 0.567, 0, 0, 0, 22 [SEP] 7, ToiletPaper, -2.902, 0.078, 0.502, 0, 0, 0, 20 [SEP] 8, ToiletPaper, -2.902, 0.078, 0.696, 0, 0, 0, 20 [SEP] 9, Towel, -0.490, 1.367, 0.902, 0, 180, 0, 31 [SEP] 10, Candle, -0.173, 0.558, 0.178, 0, 0, 0, 23 [SEP] 11, HandTowel, -3.096, 1.587, 0.744, 0, 270, 0, 35 [SEP] 12, SoapBar, -0.991, 1.045, 0.845, 0, 180, 0, 37 [SEP] 13, ToiletPaper, -1.416, 0.816, 0.665, 0, 90, 270, 36 [SEP] 14, Cloth, -1.687, 0.081, 0.825, 0, 0, 0, 24 [SEP] 15, ToiletPaper, -2.924, 0.179, -1.56, 0, 0, 0, 32 [SEP] 16, SprayBottle, -2.451, 0.082, 0.825, 0, 0, 0, 22 [SEP] 17, ScrubBrush, -0.485, 0.001, 0.873, 0, 0, 0, Floor|-00.81| [SEP] 18, SoapBottle, -0.926, 1.047, 0.937, 0, 180, 0, 37 [SEP] 19, Plunger, -0.710, 0.000, 0.828, 0, 0, 0, Floor|-00.81| [SEP] 20, Cabinet, -3.094, 0.390, 0.421, 0, 0, 0, [SEP] 21, CounterTop, -2.298, 0.953, 0.689, 0, 0, 0, [SEP] 22, Cabinet, -2.305, 0.415, 0.425, 0, 0, 0, [SEP] 23, Bathtub, 0.286, 0.290, -0.077, 0, 0, 0, [SEP] 24, Cabinet, -1.496, 0.415, 0.425, 0, 0, 0, [SEP] 25, Cabinet, -2.286, 0.390, 0.421, 0, 0, 0, [SEP] 26, Sink, -1.924, 0.930, 0.675, 0, 180, 0, [SEP] 27, Faucet, -1.922, 1.015, 0.887, 0, 0, 0, [SEP] 28, Mirror, -2.306, 1.526, 1.001, 0, 0, 0, [SEP] 29, Faucet, -2.681, 1.015, 0.887, 0, 0, 0, [SEP] 30, LightSwitch, -1.389, 1.263, -1.693, 0, 0, 0, [SEP] 31, TowelHolder, -0.490, 1.353, 1.009, 0, 180, 0, [SEP] 32, GarbageCan, -2.857, 0.016, -1.487, 0, 0, 0, [SEP] 33, BathtubBasin, 0.349, 0.023, -0.135, 0, 270, 0, [SEP] 34, SinkBasin, -1.908, 0.961, 0.669, 0, 180, 0, [SEP] 35, HandTowelHolder, -3.134, 1.689, 0.744, 0, 0, 0, [SEP] 36, ToiletPaperHanger, -1.485, 0.805, 0.691, 0, 90, 0, [SEP] 37, Toilet, -1.054, 0.001, 0.552, 0, 270, 0, [SEP] 38, ShowerCurtain, -0.292, 1.886, -1.033, 0, 0, 0, [SEP] 39, Faucet, 0.270, 0.670, 0.906, 0, 0, 0, [SEP] 40, SinkBasin, -2.666, 0.961, 0.669, 0, 180, 0, [SEP] 41, Sink, -2.681, 0.930, 0.675, 0, 180, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: go to left side of toilet to the left | STEP 2: pick up toilet paper roll from holder to the left of toilet | STEP 3: go to right side of toilet | STEP 4: place toilet paper roll on center of toilet | STEP 5: go to sink closest to wall, look at cabinet closest to wall under sink | STEP 6: open lower cabinet closest to wall, pick up toilet paper behind toilet paper roll from cabinet, close cabinet | STEP 7: turn right, go to right side of toilet | STEP 8: place toilet paper roll behind toilet paper roll on toilet | END"]} +{"id": "trial_T20190909_080302_174780-2", "input": "put two toilet papers on toilet tank lid SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.902, -0.75, 0, 90, 0, [SEP] 1, Candle, -0.860, 1.087, 0.814, 0, 180, 0, 37 [SEP] 2, Candle, -0.173, 0.558, 0.690, 0, 0, 0, 23 [SEP] 3, SoapBar, -2.112, 0.970, 0.645, 0, 180, 0, 34 [SEP] 4, SoapBar, -2.541, 0.081, 0.889, 0, 0, 0, 22 [SEP] 5, SoapBottle, -2.992, 0.083, 0.825, 0, 0, 0, 20 [SEP] 6, SoapBottle, -2.496, 0.083, 0.567, 0, 0, 0, 22 [SEP] 7, ToiletPaper, -2.902, 0.078, 0.502, 0, 0, 0, 20 [SEP] 8, ToiletPaper, -2.902, 0.078, 0.696, 0, 0, 0, 20 [SEP] 9, Towel, -0.490, 1.367, 0.902, 0, 180, 0, 31 [SEP] 10, Candle, -0.173, 0.558, 0.178, 0, 0, 0, 23 [SEP] 11, HandTowel, -3.096, 1.587, 0.744, 0, 270, 0, 35 [SEP] 12, SoapBar, -0.991, 1.045, 0.845, 0, 180, 0, 37 [SEP] 13, ToiletPaper, -1.416, 0.816, 0.665, 0, 90, 270, 36 [SEP] 14, Cloth, -1.687, 0.081, 0.825, 0, 0, 0, 24 [SEP] 15, ToiletPaper, -2.924, 0.179, -1.56, 0, 0, 0, 32 [SEP] 16, SprayBottle, -2.451, 0.082, 0.825, 0, 0, 0, 22 [SEP] 17, ScrubBrush, -0.485, 0.001, 0.873, 0, 0, 0, Floor|-00.81| [SEP] 18, SoapBottle, -0.926, 1.047, 0.937, 0, 180, 0, 37 [SEP] 19, Plunger, -0.710, 0.000, 0.828, 0, 0, 0, Floor|-00.81| [SEP] 20, Cabinet, -3.094, 0.390, 0.421, 0, 0, 0, [SEP] 21, CounterTop, -2.298, 0.953, 0.689, 0, 0, 0, [SEP] 22, Cabinet, -2.305, 0.415, 0.425, 0, 0, 0, [SEP] 23, Bathtub, 0.286, 0.290, -0.077, 0, 0, 0, [SEP] 24, Cabinet, -1.496, 0.415, 0.425, 0, 0, 0, [SEP] 25, Cabinet, -2.286, 0.390, 0.421, 0, 0, 0, [SEP] 26, Sink, -1.924, 0.930, 0.675, 0, 180, 0, [SEP] 27, Faucet, -1.922, 1.015, 0.887, 0, 0, 0, [SEP] 28, Mirror, -2.306, 1.526, 1.001, 0, 0, 0, [SEP] 29, Faucet, -2.681, 1.015, 0.887, 0, 0, 0, [SEP] 30, LightSwitch, -1.389, 1.263, -1.693, 0, 0, 0, [SEP] 31, TowelHolder, -0.490, 1.353, 1.009, 0, 180, 0, [SEP] 32, GarbageCan, -2.857, 0.016, -1.487, 0, 0, 0, [SEP] 33, BathtubBasin, 0.349, 0.023, -0.135, 0, 270, 0, [SEP] 34, SinkBasin, -1.908, 0.961, 0.669, 0, 180, 0, [SEP] 35, HandTowelHolder, -3.134, 1.689, 0.744, 0, 0, 0, [SEP] 36, ToiletPaperHanger, -1.485, 0.805, 0.691, 0, 90, 0, [SEP] 37, Toilet, -1.054, 0.001, 0.552, 0, 270, 0, [SEP] 38, ShowerCurtain, -0.292, 1.886, -1.033, 0, 0, 0, [SEP] 39, Faucet, 0.270, 0.670, 0.906, 0, 0, 0, [SEP] 40, SinkBasin, -2.666, 0.961, 0.669, 0, 180, 0, [SEP] 41, Sink, -2.681, 0.930, 0.675, 0, 180, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: walk to face toilet | STEP 2: pick up toilet paper from hanger | STEP 3: walk to face right side of toilet | STEP 4: put toilet paper on toilet tank lid | STEP 5: walk to face left hand cabinets under sink | STEP 6: pick up toilet paper from cabinet | STEP 7: walk to face right side of toilet | STEP 8: put toilet paper on toilet tank lid | END"]} +{"id": "trial_T20190909_004537_873323-0", "input": "to cook a sliced tomato to throw it in the trash. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, -1.75, 0, 90, 0, [SEP] 1, Ladle, -0.794, 1.066, 1.943, 0, 0, 0, 56 [SEP] 2, DishSponge, -0.577, 0.816, 1.414, 0, 90, 0, 110 [SEP] 3, DishSponge, 2.509, 1.026, 1.401, 0, 136.999, 0, 53 [SEP] 4, ButterKnife, -0.714, 0.824, 1.337, 0, 90, 0, 110 [SEP] 5, Pot, 1.761, 1.027, -1.599, 0, 0, 0, 96 [SEP] 6, Spatula, 2.138, 0.779, 4.213, 0, 149.999, 0, 54 [SEP] 7, Spatula, 2.425, 1.041, -1.774, 0, 90, 0, 53 [SEP] 8, Spoon, 1.738, 0.802, 1.694, 0, 317.0, 0, 68 [SEP] 9, Spoon, 2.570, 0.765, 3.614, 0, 329.999, 0, 54 [SEP] 10, Fork, 2.705, 0.800, -0.699, 0, 180, 0, 62 [SEP] 11, Knife, -0.669, 1.052, 0.416, 0, 180, 0, 56 [SEP] 12, Knife, 2.579, 0.789, 4.044, 0, 239.999, 0, 54 [SEP] 13, Tomato, 2.626, 0.818, 4.118, 0, 270, 0, 54 [SEP] 14, Tomato, -0.851, 0.870, 1.259, 0, 90, 0, 110 [SEP] 15, SoapBottle, 2.451, 0.763, 4.145, 0, 0, 0, 54 [SEP] 16, SoapBottle, 2.398, 0.763, 4.022, 0, 225, 0, 54 [SEP] 17, Bowl, -0.645, 0.814, 1.181, 0, 90, 0, 110 [SEP] 18, SaltShaker, 2.673, 0.760, 3.795, 0, 0, 0, 54 [SEP] 19, PepperShaker, 2.267, 0.760, 4.288, 0, 329.999, 0, 54 [SEP] 20, PepperShaker, 2.649, 0.796, -0.792, 0, 0, 0, 62 [SEP] 21, Bread, -0.987, 0.854, -0.184, 0, 90, 0, 97 [SEP] 22, Bread, 2.276, 0.832, 3.821, 0, 270, 0, 54 [SEP] 23, Apple, -0.851, 0.866, 1.414, 0, 90, 0, 110 [SEP] 24, Apple, 2.719, 1.077, 1.597, 0, 136.999, 0, 53 [SEP] 25, Pan, 2.116, 1.027, -1.84, 0, 270, 0, 57 [SEP] 26, Glassbottle, 1.529, 1.027, -1.881, 0, 90, 0, 53 [SEP] 27, Knife, 2.299, 1.052, 1.205, 0, 136.999, 0, 66 [SEP] 28, SoapBottle, -0.997, 0.075, 2.811, 0, 0, 0, 108 [SEP] 29, Egg, 1.895, 1.905, -1.876, 0, 0, 0, 99 [SEP] 30, Fork, 2.228, 0.765, 3.62, 0, 270, 0, 54 [SEP] 31, Potato, -0.877, 1.484, -0.738, 0, 90, 0, 97 [SEP] 32, Ladle, 2.621, 1.066, -0.541, 0, 0, 0, 53 [SEP] 33, Tomato, 2.621, 1.080, -1.151, 0, 0, 0, 53 [SEP] 34, Pot, 1.836, 1.027, -1.84, 0, 90, 0, 51 [SEP] 35, WineBottle, 2.683, 1.027, 1.004, 0, 136.999, 0, 53 [SEP] 36, Plate, -1.045, 1.027, 2.556, 0, 0, 0, 56 [SEP] 37, Spatula, 2.162, 0.816, 1.036, 0, 227.0, 0, 66 [SEP] 38, PaperTowelRoll, 2.302, 0.868, 4.145, 0, 0, 0, 54 [SEP] 39, Lettuce, -0.968, 1.500, -0.295, 0, 90, 0, 97 [SEP] 40, Apple, 1.350, 1.077, -1.987, 0, 90, 0, 53 [SEP] 41, SaltShaker, 2.976, 0.760, 4.044, 0, 270, 0, 54 [SEP] 42, PepperShaker, -1.059, 1.776, 2.254, 0, 0, 0, 91 [SEP] 43, ButterKnife, 2.599, 0.764, 4.32, 0, 0, 0, 54 [SEP] 44, Bread, 2.790, 1.094, -0.236, 0, 0, 0, 53 [SEP] 45, Cup, -0.906, 1.780, 1.247, 0, 0, 0, 87 [SEP] 46, DishSponge, -1.130, 1.027, 1.243, 0, 0, 0, 56 [SEP] 47, Bowl, 2.304, 0.762, 4.521, 0, 329.999, 0, 54 [SEP] 48, Spoon, -0.851, 0.817, 1.492, 0, 180, 0, 110 [SEP] 49, Mug, -1.069, 0.781, -0.406, 0, 90, 0, 97 [SEP] 50, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 51, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 52, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 53, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 54, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 55, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 56, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 57, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 58, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 59, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 60, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 61, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 62, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 63, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 64, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 65, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 66, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 67, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 68, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 69, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 70, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 71, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 72, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 73, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 74, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 75, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 76, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 77, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 78, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 79, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 80, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 81, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 82, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 83, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 84, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 85, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 86, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 87, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 88, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 89, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 90, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 91, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 92, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 93, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 94, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 95, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 96, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 97, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 98, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 99, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 100, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 101, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 102, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 103, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 104, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 105, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 106, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 107, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 108, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 109, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 110, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 111, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 112, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 113, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 114, , , , , , , , [SEP] 115, NorthWall, , , , , , , [SEP] 116, EastWall, , , , , , , [SEP] 117, SouthWall, , , , , , , [SEP] 118, WestWall, , , , , , , ", "output": ["STEP 1: walk forward towards the counter turn left then turn right. Turn left and follow the counter | STEP 2: pick up the knife from the counter | STEP 3: turn right then walk towards the stove turn left | STEP 4: slice up the tomato on the counter | STEP 5: turn left and follow the counter. Turn left again and go straight towards the wall then turn left again towards the trash can | STEP 6: put knife in the trash can | STEP 7: turn left and then turn right walk towards the door then turn left | STEP 8: pick up a tomato slice from the counter | STEP 9: turn right towards the stove then turn right then back to the stove cook tomato then pull tomato back out of the microwave | STEP 10: open the microwave and place tomato in shut the door and | STEP 11: turn around with the tomato walk towards the back wall then turn left | STEP 12: throw the tomato in the trash | END"]} +{"id": "trial_T20190909_004537_873323-1", "input": "Place a cooked tomato slice into the bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, -1.75, 0, 90, 0, [SEP] 1, Ladle, -0.794, 1.066, 1.943, 0, 0, 0, 56 [SEP] 2, DishSponge, -0.577, 0.816, 1.414, 0, 90, 0, 110 [SEP] 3, DishSponge, 2.509, 1.026, 1.401, 0, 136.999, 0, 53 [SEP] 4, ButterKnife, -0.714, 0.824, 1.337, 0, 90, 0, 110 [SEP] 5, Pot, 1.761, 1.027, -1.599, 0, 0, 0, 96 [SEP] 6, Spatula, 2.138, 0.779, 4.213, 0, 149.999, 0, 54 [SEP] 7, Spatula, 2.425, 1.041, -1.774, 0, 90, 0, 53 [SEP] 8, Spoon, 1.738, 0.802, 1.694, 0, 317.0, 0, 68 [SEP] 9, Spoon, 2.570, 0.765, 3.614, 0, 329.999, 0, 54 [SEP] 10, Fork, 2.705, 0.800, -0.699, 0, 180, 0, 62 [SEP] 11, Knife, -0.669, 1.052, 0.416, 0, 180, 0, 56 [SEP] 12, Knife, 2.579, 0.789, 4.044, 0, 239.999, 0, 54 [SEP] 13, Tomato, 2.626, 0.818, 4.118, 0, 270, 0, 54 [SEP] 14, Tomato, -0.851, 0.870, 1.259, 0, 90, 0, 110 [SEP] 15, SoapBottle, 2.451, 0.763, 4.145, 0, 0, 0, 54 [SEP] 16, SoapBottle, 2.398, 0.763, 4.022, 0, 225, 0, 54 [SEP] 17, Bowl, -0.645, 0.814, 1.181, 0, 90, 0, 110 [SEP] 18, SaltShaker, 2.673, 0.760, 3.795, 0, 0, 0, 54 [SEP] 19, PepperShaker, 2.267, 0.760, 4.288, 0, 329.999, 0, 54 [SEP] 20, PepperShaker, 2.649, 0.796, -0.792, 0, 0, 0, 62 [SEP] 21, Bread, -0.987, 0.854, -0.184, 0, 90, 0, 97 [SEP] 22, Bread, 2.276, 0.832, 3.821, 0, 270, 0, 54 [SEP] 23, Apple, -0.851, 0.866, 1.414, 0, 90, 0, 110 [SEP] 24, Apple, 2.719, 1.077, 1.597, 0, 136.999, 0, 53 [SEP] 25, Pan, 2.116, 1.027, -1.84, 0, 270, 0, 57 [SEP] 26, Glassbottle, 1.529, 1.027, -1.881, 0, 90, 0, 53 [SEP] 27, Knife, 2.299, 1.052, 1.205, 0, 136.999, 0, 66 [SEP] 28, SoapBottle, -0.997, 0.075, 2.811, 0, 0, 0, 108 [SEP] 29, Egg, 1.895, 1.905, -1.876, 0, 0, 0, 99 [SEP] 30, Fork, 2.228, 0.765, 3.62, 0, 270, 0, 54 [SEP] 31, Potato, -0.877, 1.484, -0.738, 0, 90, 0, 97 [SEP] 32, Ladle, 2.621, 1.066, -0.541, 0, 0, 0, 53 [SEP] 33, Tomato, 2.621, 1.080, -1.151, 0, 0, 0, 53 [SEP] 34, Pot, 1.836, 1.027, -1.84, 0, 90, 0, 51 [SEP] 35, WineBottle, 2.683, 1.027, 1.004, 0, 136.999, 0, 53 [SEP] 36, Plate, -1.045, 1.027, 2.556, 0, 0, 0, 56 [SEP] 37, Spatula, 2.162, 0.816, 1.036, 0, 227.0, 0, 66 [SEP] 38, PaperTowelRoll, 2.302, 0.868, 4.145, 0, 0, 0, 54 [SEP] 39, Lettuce, -0.968, 1.500, -0.295, 0, 90, 0, 97 [SEP] 40, Apple, 1.350, 1.077, -1.987, 0, 90, 0, 53 [SEP] 41, SaltShaker, 2.976, 0.760, 4.044, 0, 270, 0, 54 [SEP] 42, PepperShaker, -1.059, 1.776, 2.254, 0, 0, 0, 91 [SEP] 43, ButterKnife, 2.599, 0.764, 4.32, 0, 0, 0, 54 [SEP] 44, Bread, 2.790, 1.094, -0.236, 0, 0, 0, 53 [SEP] 45, Cup, -0.906, 1.780, 1.247, 0, 0, 0, 87 [SEP] 46, DishSponge, -1.130, 1.027, 1.243, 0, 0, 0, 56 [SEP] 47, Bowl, 2.304, 0.762, 4.521, 0, 329.999, 0, 54 [SEP] 48, Spoon, -0.851, 0.817, 1.492, 0, 180, 0, 110 [SEP] 49, Mug, -1.069, 0.781, -0.406, 0, 90, 0, 97 [SEP] 50, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 51, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 52, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 53, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 54, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 55, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 56, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 57, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 58, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 59, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 60, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 61, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 62, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 63, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 64, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 65, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 66, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 67, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 68, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 69, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 70, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 71, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 72, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 73, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 74, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 75, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 76, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 77, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 78, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 79, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 80, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 81, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 82, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 83, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 84, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 85, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 86, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 87, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 88, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 89, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 90, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 91, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 92, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 93, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 94, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 95, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 96, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 97, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 98, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 99, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 100, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 101, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 102, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 103, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 104, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 105, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 106, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 107, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 108, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 109, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 110, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 111, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 112, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 113, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 114, , , , , , , , [SEP] 115, NorthWall, , , , , , , [SEP] 116, EastWall, , , , , , , [SEP] 117, SouthWall, , , , , , , [SEP] 118, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, move to the counter near the bottle of wine. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn right, move to the counter right of the bread, near the tomato. | STEP 4: Slice the tomato on the counter. | STEP 5: Turn right, move to the end of the counter, in front of the bin. | STEP 6: Put the knife in the bin. | STEP 7: Turn left, move to the counter right of the bread, near the tomato. | STEP 8: Pick up a slice of tomato from the counter. | STEP 9: Turn right, move to the counter in front of the stove. | STEP 10: Put the tomato slice in the microwave, cook it, pick it back up. | STEP 11: Turn right, move to the end of the counter, in front of the bin. | STEP 12: Put the tomato slice in the bin. | END"]} +{"id": "trial_T20190909_004537_873323-2", "input": "Put a hot slice of tomato and knife in the trash can. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, -1.75, 0, 90, 0, [SEP] 1, Ladle, -0.794, 1.066, 1.943, 0, 0, 0, 56 [SEP] 2, DishSponge, -0.577, 0.816, 1.414, 0, 90, 0, 110 [SEP] 3, DishSponge, 2.509, 1.026, 1.401, 0, 136.999, 0, 53 [SEP] 4, ButterKnife, -0.714, 0.824, 1.337, 0, 90, 0, 110 [SEP] 5, Pot, 1.761, 1.027, -1.599, 0, 0, 0, 96 [SEP] 6, Spatula, 2.138, 0.779, 4.213, 0, 149.999, 0, 54 [SEP] 7, Spatula, 2.425, 1.041, -1.774, 0, 90, 0, 53 [SEP] 8, Spoon, 1.738, 0.802, 1.694, 0, 317.0, 0, 68 [SEP] 9, Spoon, 2.570, 0.765, 3.614, 0, 329.999, 0, 54 [SEP] 10, Fork, 2.705, 0.800, -0.699, 0, 180, 0, 62 [SEP] 11, Knife, -0.669, 1.052, 0.416, 0, 180, 0, 56 [SEP] 12, Knife, 2.579, 0.789, 4.044, 0, 239.999, 0, 54 [SEP] 13, Tomato, 2.626, 0.818, 4.118, 0, 270, 0, 54 [SEP] 14, Tomato, -0.851, 0.870, 1.259, 0, 90, 0, 110 [SEP] 15, SoapBottle, 2.451, 0.763, 4.145, 0, 0, 0, 54 [SEP] 16, SoapBottle, 2.398, 0.763, 4.022, 0, 225, 0, 54 [SEP] 17, Bowl, -0.645, 0.814, 1.181, 0, 90, 0, 110 [SEP] 18, SaltShaker, 2.673, 0.760, 3.795, 0, 0, 0, 54 [SEP] 19, PepperShaker, 2.267, 0.760, 4.288, 0, 329.999, 0, 54 [SEP] 20, PepperShaker, 2.649, 0.796, -0.792, 0, 0, 0, 62 [SEP] 21, Bread, -0.987, 0.854, -0.184, 0, 90, 0, 97 [SEP] 22, Bread, 2.276, 0.832, 3.821, 0, 270, 0, 54 [SEP] 23, Apple, -0.851, 0.866, 1.414, 0, 90, 0, 110 [SEP] 24, Apple, 2.719, 1.077, 1.597, 0, 136.999, 0, 53 [SEP] 25, Pan, 2.116, 1.027, -1.84, 0, 270, 0, 57 [SEP] 26, Glassbottle, 1.529, 1.027, -1.881, 0, 90, 0, 53 [SEP] 27, Knife, 2.299, 1.052, 1.205, 0, 136.999, 0, 66 [SEP] 28, SoapBottle, -0.997, 0.075, 2.811, 0, 0, 0, 108 [SEP] 29, Egg, 1.895, 1.905, -1.876, 0, 0, 0, 99 [SEP] 30, Fork, 2.228, 0.765, 3.62, 0, 270, 0, 54 [SEP] 31, Potato, -0.877, 1.484, -0.738, 0, 90, 0, 97 [SEP] 32, Ladle, 2.621, 1.066, -0.541, 0, 0, 0, 53 [SEP] 33, Tomato, 2.621, 1.080, -1.151, 0, 0, 0, 53 [SEP] 34, Pot, 1.836, 1.027, -1.84, 0, 90, 0, 51 [SEP] 35, WineBottle, 2.683, 1.027, 1.004, 0, 136.999, 0, 53 [SEP] 36, Plate, -1.045, 1.027, 2.556, 0, 0, 0, 56 [SEP] 37, Spatula, 2.162, 0.816, 1.036, 0, 227.0, 0, 66 [SEP] 38, PaperTowelRoll, 2.302, 0.868, 4.145, 0, 0, 0, 54 [SEP] 39, Lettuce, -0.968, 1.500, -0.295, 0, 90, 0, 97 [SEP] 40, Apple, 1.350, 1.077, -1.987, 0, 90, 0, 53 [SEP] 41, SaltShaker, 2.976, 0.760, 4.044, 0, 270, 0, 54 [SEP] 42, PepperShaker, -1.059, 1.776, 2.254, 0, 0, 0, 91 [SEP] 43, ButterKnife, 2.599, 0.764, 4.32, 0, 0, 0, 54 [SEP] 44, Bread, 2.790, 1.094, -0.236, 0, 0, 0, 53 [SEP] 45, Cup, -0.906, 1.780, 1.247, 0, 0, 0, 87 [SEP] 46, DishSponge, -1.130, 1.027, 1.243, 0, 0, 0, 56 [SEP] 47, Bowl, 2.304, 0.762, 4.521, 0, 329.999, 0, 54 [SEP] 48, Spoon, -0.851, 0.817, 1.492, 0, 180, 0, 110 [SEP] 49, Mug, -1.069, 0.781, -0.406, 0, 90, 0, 97 [SEP] 50, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 51, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 52, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 53, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 54, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 55, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 56, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 57, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 58, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 59, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 60, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 61, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 62, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 63, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 64, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 65, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 66, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 67, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 68, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 69, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 70, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 71, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 72, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 73, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 74, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 75, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 76, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 77, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 78, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 79, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 80, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 81, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 82, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 83, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 84, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 85, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 86, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 87, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 88, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 89, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 90, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 91, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 92, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 93, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 94, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 95, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 96, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 97, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 98, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 99, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 100, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 101, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 102, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 103, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 104, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 105, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 106, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 107, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 108, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 109, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 110, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 111, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 112, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 113, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 114, , , , , , , , [SEP] 115, NorthWall, , , , , , , [SEP] 116, EastWall, , , , , , , [SEP] 117, SouthWall, , , , , , , [SEP] 118, WestWall, , , , , , , ", "output": ["STEP 1: Go to the counter across the room from the fridge with the wine bottle on it. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn right and go to the end of the counter and to the left of the stove. | STEP 4: Slice the tomato on the counter. | STEP 5: Go to the trash can at the end of the counter. | STEP 6: Put the knife in the trash can. | STEP 7: Go back to the counter with the tomato slices. | STEP 8: Pick up a slice of tomato. | STEP 9: Go to the microwave. | STEP 10: Heat the slice of tomato in the microwave. | STEP 11: Take the hot tomato to the trash can at the end of the counter. | STEP 12: Put the cooked tomato in the trash can. | END"]} +{"id": "trial_T20190909_153609_373481-0", "input": "move the remote from the table to the couch SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 0.0, 0, 180, 0, [SEP] 1, Statue, 1.600, 0.767, 0.391, 0, 270, 0, 31 [SEP] 2, KeyChain, 1.901, 0.760, 0.391, 0, 270, 0, 31 [SEP] 3, KeyChain, -1.568, 0.489, 1.948, 0, 0, 0, 38 [SEP] 4, CreditCard, -1.428, 0.327, 1.051, 0, 90, 0, 39 [SEP] 5, RemoteControl, 0.031, 0.479, 0.618, 0, 90, 0, 28 [SEP] 6, RemoteControl, -1.438, 0.491, 1.883, 0, 0, 0, 38 [SEP] 7, RemoteControl, -1.697, 0.491, 1.818, 0, 0, 0, 38 [SEP] 8, Laptop, -0.134, 0.471, -0.086, 0, 90, 0, 28 [SEP] 9, Box, -1.349, 0.506, 0.847, 0, 180, 0, 39 [SEP] 10, Laptop, -0.196, 0.470, 0.407, 0, 72.615, 0, 28 [SEP] 11, CreditCard, 0.397, 0.290, 1.956, 0, 0, 0, 42 [SEP] 12, KeyChain, 0.114, 0.478, -0.086, 0, 90, 0, 28 [SEP] 13, Vase, 1.600, 0.765, 0.691, 0, 270, 0, 31 [SEP] 14, Vase, -0.051, 0.481, 0.971, 0, 90, 0, 28 [SEP] 15, Pillow, -1.235, 0.461, -0.025, 0, 75.000, 0, 39 [SEP] 16, RemoteControl, 1.600, 0.762, 0.241, 0, 270, 0, 31 [SEP] 17, Watch, 1.535, 0.179, 0.241, 0, 270, 0, 33 [SEP] 18, Vase, 1.525, 0.764, -0.058, 0, 270, 0, 31 [SEP] 19, Statue, 1.472, 0.168, -0.149, 0, 90, 0, 34 [SEP] 20, Television, 1.826, 1.241, 0.248, 0, 270, 0, [SEP] 21, LightSwitch, -2.0, 1.332, 3.920, 0, 90, 0, [SEP] 22, Window, -0.216, 1.495, -1.878, 90, 0, 0, [SEP] 23, HousePlant, -1.780, 0.468, 1.965, 0, 0, 0, [SEP] 24, Painting, -2.0, 1.577, 0.418, 90, 270, 0, [SEP] 25, GarbageCan, 1.767, -0.001, 3.878, 0, 0, 0, [SEP] 26, FloorLamp, 1.228, 0.000, 3.744, 0, 0, 0, [SEP] 27, Painting, -0.096, 1.578, 4.050, 90, 0, 0, [SEP] 28, CoffeeTable, -0.150, 0.000, 0.421, 0, 270, 0, [SEP] 29, Shelf, 1.663, 0.474, 0.609, 0, 270, 0, [SEP] 30, Shelf, 1.663, 0.273, 0.609, 0, 270, 0, [SEP] 31, TVStand, 1.669, -0.000, 0.243, 0, 270, 0, [SEP] 32, Shelf, 1.663, 0.302, -0.124, 0, 270, 0, [SEP] 33, Shelf, 1.663, 0.442, 0.241, 0, 270, 0, [SEP] 34, Shelf, 1.663, 0.597, -0.124, 0, 270, 0, [SEP] 35, Shelf, 1.663, 0.643, 0.609, 0, 270, 0, [SEP] 36, Cabinet, -1.767, 0.729, -1.593, 0, 91.801, 0, [SEP] 37, Shelf, -1.769, 2.041, -1.593, 0, 91.801, 0, [SEP] 38, SideTable, -1.567, -0.002, 1.818, 0, 90, 0, [SEP] 39, Sofa, -1.445, 0.008, 0.420, 0, 90, 0, [SEP] 40, Shelf, -1.769, 1.744, -1.593, 0, 91.801, 0, [SEP] 41, Shelf, -1.768, 1.452, -1.593, 0, 91.801, 0, [SEP] 42, ArmChair, 0.396, 0.005, 2.194, 0, 180, 0, [SEP] 43, ArmChair, -0.633, 0.005, 2.194, 0, 180, 0, [SEP] 44, ShelvingUnit, -1.786, 0.001, -1.592, 0, 91.801, 0, [SEP] 45, NorthWall, , , , , , , [SEP] 46, EastWall, , , , , , , [SEP] 47, SouthWall, , , , , , , [SEP] 48, WestWall, , , , , , , ", "output": ["STEP 1: turn around and walk straight then turn left towards the table | STEP 2: pick up the remote on the table | STEP 3: turn left towards the wall then turn right and walk straight then turn right towards the couch | STEP 4: put the remote down on the couch | END"]} +{"id": "trial_T20190909_153609_373481-1", "input": "Put a remote control on the couch SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 0.0, 0, 180, 0, [SEP] 1, Statue, 1.600, 0.767, 0.391, 0, 270, 0, 31 [SEP] 2, KeyChain, 1.901, 0.760, 0.391, 0, 270, 0, 31 [SEP] 3, KeyChain, -1.568, 0.489, 1.948, 0, 0, 0, 38 [SEP] 4, CreditCard, -1.428, 0.327, 1.051, 0, 90, 0, 39 [SEP] 5, RemoteControl, 0.031, 0.479, 0.618, 0, 90, 0, 28 [SEP] 6, RemoteControl, -1.438, 0.491, 1.883, 0, 0, 0, 38 [SEP] 7, RemoteControl, -1.697, 0.491, 1.818, 0, 0, 0, 38 [SEP] 8, Laptop, -0.134, 0.471, -0.086, 0, 90, 0, 28 [SEP] 9, Box, -1.349, 0.506, 0.847, 0, 180, 0, 39 [SEP] 10, Laptop, -0.196, 0.470, 0.407, 0, 72.615, 0, 28 [SEP] 11, CreditCard, 0.397, 0.290, 1.956, 0, 0, 0, 42 [SEP] 12, KeyChain, 0.114, 0.478, -0.086, 0, 90, 0, 28 [SEP] 13, Vase, 1.600, 0.765, 0.691, 0, 270, 0, 31 [SEP] 14, Vase, -0.051, 0.481, 0.971, 0, 90, 0, 28 [SEP] 15, Pillow, -1.235, 0.461, -0.025, 0, 75.000, 0, 39 [SEP] 16, RemoteControl, 1.600, 0.762, 0.241, 0, 270, 0, 31 [SEP] 17, Watch, 1.535, 0.179, 0.241, 0, 270, 0, 33 [SEP] 18, Vase, 1.525, 0.764, -0.058, 0, 270, 0, 31 [SEP] 19, Statue, 1.472, 0.168, -0.149, 0, 90, 0, 34 [SEP] 20, Television, 1.826, 1.241, 0.248, 0, 270, 0, [SEP] 21, LightSwitch, -2.0, 1.332, 3.920, 0, 90, 0, [SEP] 22, Window, -0.216, 1.495, -1.878, 90, 0, 0, [SEP] 23, HousePlant, -1.780, 0.468, 1.965, 0, 0, 0, [SEP] 24, Painting, -2.0, 1.577, 0.418, 90, 270, 0, [SEP] 25, GarbageCan, 1.767, -0.001, 3.878, 0, 0, 0, [SEP] 26, FloorLamp, 1.228, 0.000, 3.744, 0, 0, 0, [SEP] 27, Painting, -0.096, 1.578, 4.050, 90, 0, 0, [SEP] 28, CoffeeTable, -0.150, 0.000, 0.421, 0, 270, 0, [SEP] 29, Shelf, 1.663, 0.474, 0.609, 0, 270, 0, [SEP] 30, Shelf, 1.663, 0.273, 0.609, 0, 270, 0, [SEP] 31, TVStand, 1.669, -0.000, 0.243, 0, 270, 0, [SEP] 32, Shelf, 1.663, 0.302, -0.124, 0, 270, 0, [SEP] 33, Shelf, 1.663, 0.442, 0.241, 0, 270, 0, [SEP] 34, Shelf, 1.663, 0.597, -0.124, 0, 270, 0, [SEP] 35, Shelf, 1.663, 0.643, 0.609, 0, 270, 0, [SEP] 36, Cabinet, -1.767, 0.729, -1.593, 0, 91.801, 0, [SEP] 37, Shelf, -1.769, 2.041, -1.593, 0, 91.801, 0, [SEP] 38, SideTable, -1.567, -0.002, 1.818, 0, 90, 0, [SEP] 39, Sofa, -1.445, 0.008, 0.420, 0, 90, 0, [SEP] 40, Shelf, -1.769, 1.744, -1.593, 0, 91.801, 0, [SEP] 41, Shelf, -1.768, 1.452, -1.593, 0, 91.801, 0, [SEP] 42, ArmChair, 0.396, 0.005, 2.194, 0, 180, 0, [SEP] 43, ArmChair, -0.633, 0.005, 2.194, 0, 180, 0, [SEP] 44, ShelvingUnit, -1.786, 0.001, -1.592, 0, 91.801, 0, [SEP] 45, NorthWall, , , , , , , [SEP] 46, EastWall, , , , , , , [SEP] 47, SouthWall, , , , , , , [SEP] 48, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right to face the black table | STEP 2: Pick up the remote control from the table | STEP 3: Turn left and walk around the table to the couch | STEP 4: Place the remote on the couch behind the blue pillow | END"]} +{"id": "trial_T20190909_153609_373481-2", "input": "put remote on couch SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 0.0, 0, 180, 0, [SEP] 1, Statue, 1.600, 0.767, 0.391, 0, 270, 0, 31 [SEP] 2, KeyChain, 1.901, 0.760, 0.391, 0, 270, 0, 31 [SEP] 3, KeyChain, -1.568, 0.489, 1.948, 0, 0, 0, 38 [SEP] 4, CreditCard, -1.428, 0.327, 1.051, 0, 90, 0, 39 [SEP] 5, RemoteControl, 0.031, 0.479, 0.618, 0, 90, 0, 28 [SEP] 6, RemoteControl, -1.438, 0.491, 1.883, 0, 0, 0, 38 [SEP] 7, RemoteControl, -1.697, 0.491, 1.818, 0, 0, 0, 38 [SEP] 8, Laptop, -0.134, 0.471, -0.086, 0, 90, 0, 28 [SEP] 9, Box, -1.349, 0.506, 0.847, 0, 180, 0, 39 [SEP] 10, Laptop, -0.196, 0.470, 0.407, 0, 72.615, 0, 28 [SEP] 11, CreditCard, 0.397, 0.290, 1.956, 0, 0, 0, 42 [SEP] 12, KeyChain, 0.114, 0.478, -0.086, 0, 90, 0, 28 [SEP] 13, Vase, 1.600, 0.765, 0.691, 0, 270, 0, 31 [SEP] 14, Vase, -0.051, 0.481, 0.971, 0, 90, 0, 28 [SEP] 15, Pillow, -1.235, 0.461, -0.025, 0, 75.000, 0, 39 [SEP] 16, RemoteControl, 1.600, 0.762, 0.241, 0, 270, 0, 31 [SEP] 17, Watch, 1.535, 0.179, 0.241, 0, 270, 0, 33 [SEP] 18, Vase, 1.525, 0.764, -0.058, 0, 270, 0, 31 [SEP] 19, Statue, 1.472, 0.168, -0.149, 0, 90, 0, 34 [SEP] 20, Television, 1.826, 1.241, 0.248, 0, 270, 0, [SEP] 21, LightSwitch, -2.0, 1.332, 3.920, 0, 90, 0, [SEP] 22, Window, -0.216, 1.495, -1.878, 90, 0, 0, [SEP] 23, HousePlant, -1.780, 0.468, 1.965, 0, 0, 0, [SEP] 24, Painting, -2.0, 1.577, 0.418, 90, 270, 0, [SEP] 25, GarbageCan, 1.767, -0.001, 3.878, 0, 0, 0, [SEP] 26, FloorLamp, 1.228, 0.000, 3.744, 0, 0, 0, [SEP] 27, Painting, -0.096, 1.578, 4.050, 90, 0, 0, [SEP] 28, CoffeeTable, -0.150, 0.000, 0.421, 0, 270, 0, [SEP] 29, Shelf, 1.663, 0.474, 0.609, 0, 270, 0, [SEP] 30, Shelf, 1.663, 0.273, 0.609, 0, 270, 0, [SEP] 31, TVStand, 1.669, -0.000, 0.243, 0, 270, 0, [SEP] 32, Shelf, 1.663, 0.302, -0.124, 0, 270, 0, [SEP] 33, Shelf, 1.663, 0.442, 0.241, 0, 270, 0, [SEP] 34, Shelf, 1.663, 0.597, -0.124, 0, 270, 0, [SEP] 35, Shelf, 1.663, 0.643, 0.609, 0, 270, 0, [SEP] 36, Cabinet, -1.767, 0.729, -1.593, 0, 91.801, 0, [SEP] 37, Shelf, -1.769, 2.041, -1.593, 0, 91.801, 0, [SEP] 38, SideTable, -1.567, -0.002, 1.818, 0, 90, 0, [SEP] 39, Sofa, -1.445, 0.008, 0.420, 0, 90, 0, [SEP] 40, Shelf, -1.769, 1.744, -1.593, 0, 91.801, 0, [SEP] 41, Shelf, -1.768, 1.452, -1.593, 0, 91.801, 0, [SEP] 42, ArmChair, 0.396, 0.005, 2.194, 0, 180, 0, [SEP] 43, ArmChair, -0.633, 0.005, 2.194, 0, 180, 0, [SEP] 44, ShelvingUnit, -1.786, 0.001, -1.592, 0, 91.801, 0, [SEP] 45, NorthWall, , , , , , , [SEP] 46, EastWall, , , , , , , [SEP] 47, SouthWall, , , , , , , [SEP] 48, WestWall, , , , , , , ", "output": ["STEP 1: walk to face coffee table | STEP 2: pick up remote from table | STEP 3: walk to face left side of couch | STEP 4: put remote on couch | END"]} +{"id": "trial_T20190908_191121_189259-0", "input": "Wash a soap bar and put it in the tub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 3.5, 0, 180, 0, [SEP] 1, Cloth, -1.747, 0.068, 2.637, 0, 0, 0, 20 [SEP] 2, SoapBar, -0.544, 0.446, 0.163, 0, 0, 0, 17 [SEP] 3, Candle, -0.089, 1.164, 3.926, 0, 0, 0, 47 [SEP] 4, SprayBottle, 0.303, 1.164, 3.829, 0, 0, 0, 47 [SEP] 5, ToiletPaper, -1.860, 1.041, 2.009, 0, 90, 0, 36 [SEP] 6, Towel, -0.07, 1.284, 0.106, 0, 0, 0, 28 [SEP] 7, HandTowel, -1.731, 1.333, 3.961, 0, 0, 0, 30 [SEP] 8, SoapBar, -1.795, 0.013, 2.22, 0, 0, 0, 20 [SEP] 9, ToiletPaper, -0.370, 0.443, 0.236, 0, 0, 0, 17 [SEP] 10, ToiletPaper, 0.277, 0.873, 3.839, 0, 0, 0, 37 [SEP] 11, Cloth, -1.028, 0.074, 0.444, 0, 315, 0, 19 [SEP] 12, SprayBottle, -1.867, 0.068, 3.319, 0, 0, 0, 27 [SEP] 13, Candle, 0.422, 0.617, 3.839, 0, 0, 0, 41 [SEP] 14, ScrubBrush, -1.664, -0.000, 3.897, 0, 0, 0, Floor|-02.00| [SEP] 15, Plunger, -1.888, -0.000, 3.885, 0, 0, 0, Floor|-02.00| [SEP] 16, SoapBottle, -1.907, 0.069, 2.565, 0, 90, 0, 20 [SEP] 17, Bathtub, -1.414, -0.002, 0.563, 0, 0, 0, [SEP] 18, CounterTop, -1.799, 0.746, 3.122, 0, 0, 0, [SEP] 19, BathtubBasin, -1.613, 0.052, 0.540, 0, 0, 0, [SEP] 20, Cabinet, -1.613, 0.309, 2.493, 0, 0, 0, [SEP] 21, ShowerDoor, 0.527, 1.037, 2.115, 0, 0, 0, [SEP] 22, Mirror, -1.993, 1.424, 3.107, 0, 0, 0, [SEP] 23, Cabinet, -1.613, 0.309, 3.754, 0, 0, 0, [SEP] 24, Faucet, -1.873, 0.461, 0.641, 0, 0, 0, [SEP] 25, Sink, -1.834, 0.685, 2.777, 0, 90, 0, [SEP] 26, Cabinet, -1.613, 0.309, 3.105, 0, 0, 0, [SEP] 27, Cabinet, -1.613, 0.309, 3.140, 0, 0, 0, [SEP] 28, TowelHolder, -0.070, 1.269, 0.0, 0, 0, 0, [SEP] 29, GarbageCan, 0.932, -0.029, 3.761, 0, 0, 0, [SEP] 30, HandTowelHolder, -1.730, 1.434, 4.0, 0, 90, 0, [SEP] 31, Window, -1.039, 1.393, 0.018, 90, 0, 0, [SEP] 32, Window, -1.986, 1.392, 0.706, 90, 90, 0, [SEP] 33, ToiletPaperHanger, -1.776, 0.681, 2.474, 0, 180, 0, [SEP] 34, SinkBasin, -1.795, 0.694, 2.781, 0, 90, 0, [SEP] 35, LightSwitch, 1.250, 1.330, 3.621, 0, 270, 0, [SEP] 36, Toilet, -1.567, -0.000, 1.815, 0, 180, 0, [SEP] 37, Drawer, 0.204, 0.940, 3.807, 0, 180, 0, [SEP] 38, Dresser, 0.204, 0.000, 3.832, 0, 180, 0, [SEP] 39, Drawer, 0.204, 0.160, 3.807, 0, 180, 0, [SEP] 40, Drawer, 0.204, 0.420, 3.807, 0, 180, 0, [SEP] 41, Drawer, 0.204, 0.680, 3.807, 0, 180, 0, [SEP] 42, SinkBasin, -1.795, 0.694, 3.476, 0, 90, 0, [SEP] 43, Sink, -1.833, 0.685, 3.472, 0, 90, 0, [SEP] 44, Faucet, -1.988, 0.947, 3.472, 0, 180, 0, [SEP] 45, ShowerHead, 0.972, 1.222, 2.015, 0, 270, 0, [SEP] 46, Faucet, -1.988, 0.947, 2.776, 0, 180, 0, [SEP] 47, , , , , , , , [SEP] 48, NorthWall, , , , , , , [SEP] 49, EastWall, , , , , , , [SEP] 50, SouthWall, , , , , , , [SEP] 51, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the trash can on your right. | STEP 2: Grab the soap from the trash can. | STEP 3: Walk to the left kitchen sink. | STEP 4: Wash the soap bar in the sink, then grab it. | STEP 5: Walk to the tub on your left. | STEP 6: Place the soap in the tub. | END"]} +{"id": "trial_T20190908_191121_189259-1", "input": "put a washed bar of soap into the bath tub SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 3.5, 0, 180, 0, [SEP] 1, Cloth, -1.747, 0.068, 2.637, 0, 0, 0, 20 [SEP] 2, SoapBar, -0.544, 0.446, 0.163, 0, 0, 0, 17 [SEP] 3, Candle, -0.089, 1.164, 3.926, 0, 0, 0, 47 [SEP] 4, SprayBottle, 0.303, 1.164, 3.829, 0, 0, 0, 47 [SEP] 5, ToiletPaper, -1.860, 1.041, 2.009, 0, 90, 0, 36 [SEP] 6, Towel, -0.07, 1.284, 0.106, 0, 0, 0, 28 [SEP] 7, HandTowel, -1.731, 1.333, 3.961, 0, 0, 0, 30 [SEP] 8, SoapBar, -1.795, 0.013, 2.22, 0, 0, 0, 20 [SEP] 9, ToiletPaper, -0.370, 0.443, 0.236, 0, 0, 0, 17 [SEP] 10, ToiletPaper, 0.277, 0.873, 3.839, 0, 0, 0, 37 [SEP] 11, Cloth, -1.028, 0.074, 0.444, 0, 315, 0, 19 [SEP] 12, SprayBottle, -1.867, 0.068, 3.319, 0, 0, 0, 27 [SEP] 13, Candle, 0.422, 0.617, 3.839, 0, 0, 0, 41 [SEP] 14, ScrubBrush, -1.664, -0.000, 3.897, 0, 0, 0, Floor|-02.00| [SEP] 15, Plunger, -1.888, -0.000, 3.885, 0, 0, 0, Floor|-02.00| [SEP] 16, SoapBottle, -1.907, 0.069, 2.565, 0, 90, 0, 20 [SEP] 17, Bathtub, -1.414, -0.002, 0.563, 0, 0, 0, [SEP] 18, CounterTop, -1.799, 0.746, 3.122, 0, 0, 0, [SEP] 19, BathtubBasin, -1.613, 0.052, 0.540, 0, 0, 0, [SEP] 20, Cabinet, -1.613, 0.309, 2.493, 0, 0, 0, [SEP] 21, ShowerDoor, 0.527, 1.037, 2.115, 0, 0, 0, [SEP] 22, Mirror, -1.993, 1.424, 3.107, 0, 0, 0, [SEP] 23, Cabinet, -1.613, 0.309, 3.754, 0, 0, 0, [SEP] 24, Faucet, -1.873, 0.461, 0.641, 0, 0, 0, [SEP] 25, Sink, -1.834, 0.685, 2.777, 0, 90, 0, [SEP] 26, Cabinet, -1.613, 0.309, 3.105, 0, 0, 0, [SEP] 27, Cabinet, -1.613, 0.309, 3.140, 0, 0, 0, [SEP] 28, TowelHolder, -0.070, 1.269, 0.0, 0, 0, 0, [SEP] 29, GarbageCan, 0.932, -0.029, 3.761, 0, 0, 0, [SEP] 30, HandTowelHolder, -1.730, 1.434, 4.0, 0, 90, 0, [SEP] 31, Window, -1.039, 1.393, 0.018, 90, 0, 0, [SEP] 32, Window, -1.986, 1.392, 0.706, 90, 90, 0, [SEP] 33, ToiletPaperHanger, -1.776, 0.681, 2.474, 0, 180, 0, [SEP] 34, SinkBasin, -1.795, 0.694, 2.781, 0, 90, 0, [SEP] 35, LightSwitch, 1.250, 1.330, 3.621, 0, 270, 0, [SEP] 36, Toilet, -1.567, -0.000, 1.815, 0, 180, 0, [SEP] 37, Drawer, 0.204, 0.940, 3.807, 0, 180, 0, [SEP] 38, Dresser, 0.204, 0.000, 3.832, 0, 180, 0, [SEP] 39, Drawer, 0.204, 0.160, 3.807, 0, 180, 0, [SEP] 40, Drawer, 0.204, 0.420, 3.807, 0, 180, 0, [SEP] 41, Drawer, 0.204, 0.680, 3.807, 0, 180, 0, [SEP] 42, SinkBasin, -1.795, 0.694, 3.476, 0, 90, 0, [SEP] 43, Sink, -1.833, 0.685, 3.472, 0, 90, 0, [SEP] 44, Faucet, -1.988, 0.947, 3.472, 0, 180, 0, [SEP] 45, ShowerHead, 0.972, 1.222, 2.015, 0, 270, 0, [SEP] 46, Faucet, -1.988, 0.947, 2.776, 0, 180, 0, [SEP] 47, , , , , , , , [SEP] 48, NorthWall, , , , , , , [SEP] 49, EastWall, , , , , , , [SEP] 50, SouthWall, , , , , , , [SEP] 51, WestWall, , , , , , , ", "output": ["STEP 1: turn to face the red trash bin between the sink and toilet | STEP 2: pick up the soap bar from the trash bin | STEP 3: turn to face the sink | STEP 4: wash the soap in the sink, pick up the soap from the sink | STEP 5: walk over to face the bath tub | STEP 6: put the soap into the bath tub basin | END"]} +{"id": "trial_T20190908_191121_189259-2", "input": "Put a clean bar of soap in the tub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 3.5, 0, 180, 0, [SEP] 1, Cloth, -1.747, 0.068, 2.637, 0, 0, 0, 20 [SEP] 2, SoapBar, -0.544, 0.446, 0.163, 0, 0, 0, 17 [SEP] 3, Candle, -0.089, 1.164, 3.926, 0, 0, 0, 47 [SEP] 4, SprayBottle, 0.303, 1.164, 3.829, 0, 0, 0, 47 [SEP] 5, ToiletPaper, -1.860, 1.041, 2.009, 0, 90, 0, 36 [SEP] 6, Towel, -0.07, 1.284, 0.106, 0, 0, 0, 28 [SEP] 7, HandTowel, -1.731, 1.333, 3.961, 0, 0, 0, 30 [SEP] 8, SoapBar, -1.795, 0.013, 2.22, 0, 0, 0, 20 [SEP] 9, ToiletPaper, -0.370, 0.443, 0.236, 0, 0, 0, 17 [SEP] 10, ToiletPaper, 0.277, 0.873, 3.839, 0, 0, 0, 37 [SEP] 11, Cloth, -1.028, 0.074, 0.444, 0, 315, 0, 19 [SEP] 12, SprayBottle, -1.867, 0.068, 3.319, 0, 0, 0, 27 [SEP] 13, Candle, 0.422, 0.617, 3.839, 0, 0, 0, 41 [SEP] 14, ScrubBrush, -1.664, -0.000, 3.897, 0, 0, 0, Floor|-02.00| [SEP] 15, Plunger, -1.888, -0.000, 3.885, 0, 0, 0, Floor|-02.00| [SEP] 16, SoapBottle, -1.907, 0.069, 2.565, 0, 90, 0, 20 [SEP] 17, Bathtub, -1.414, -0.002, 0.563, 0, 0, 0, [SEP] 18, CounterTop, -1.799, 0.746, 3.122, 0, 0, 0, [SEP] 19, BathtubBasin, -1.613, 0.052, 0.540, 0, 0, 0, [SEP] 20, Cabinet, -1.613, 0.309, 2.493, 0, 0, 0, [SEP] 21, ShowerDoor, 0.527, 1.037, 2.115, 0, 0, 0, [SEP] 22, Mirror, -1.993, 1.424, 3.107, 0, 0, 0, [SEP] 23, Cabinet, -1.613, 0.309, 3.754, 0, 0, 0, [SEP] 24, Faucet, -1.873, 0.461, 0.641, 0, 0, 0, [SEP] 25, Sink, -1.834, 0.685, 2.777, 0, 90, 0, [SEP] 26, Cabinet, -1.613, 0.309, 3.105, 0, 0, 0, [SEP] 27, Cabinet, -1.613, 0.309, 3.140, 0, 0, 0, [SEP] 28, TowelHolder, -0.070, 1.269, 0.0, 0, 0, 0, [SEP] 29, GarbageCan, 0.932, -0.029, 3.761, 0, 0, 0, [SEP] 30, HandTowelHolder, -1.730, 1.434, 4.0, 0, 90, 0, [SEP] 31, Window, -1.039, 1.393, 0.018, 90, 0, 0, [SEP] 32, Window, -1.986, 1.392, 0.706, 90, 90, 0, [SEP] 33, ToiletPaperHanger, -1.776, 0.681, 2.474, 0, 180, 0, [SEP] 34, SinkBasin, -1.795, 0.694, 2.781, 0, 90, 0, [SEP] 35, LightSwitch, 1.250, 1.330, 3.621, 0, 270, 0, [SEP] 36, Toilet, -1.567, -0.000, 1.815, 0, 180, 0, [SEP] 37, Drawer, 0.204, 0.940, 3.807, 0, 180, 0, [SEP] 38, Dresser, 0.204, 0.000, 3.832, 0, 180, 0, [SEP] 39, Drawer, 0.204, 0.160, 3.807, 0, 180, 0, [SEP] 40, Drawer, 0.204, 0.420, 3.807, 0, 180, 0, [SEP] 41, Drawer, 0.204, 0.680, 3.807, 0, 180, 0, [SEP] 42, SinkBasin, -1.795, 0.694, 3.476, 0, 90, 0, [SEP] 43, Sink, -1.833, 0.685, 3.472, 0, 90, 0, [SEP] 44, Faucet, -1.988, 0.947, 3.472, 0, 180, 0, [SEP] 45, ShowerHead, 0.972, 1.222, 2.015, 0, 270, 0, [SEP] 46, Faucet, -1.988, 0.947, 2.776, 0, 180, 0, [SEP] 47, , , , , , , , [SEP] 48, NorthWall, , , , , , , [SEP] 49, EastWall, , , , , , , [SEP] 50, SouthWall, , , , , , , [SEP] 51, WestWall, , , , , , , ", "output": ["STEP 1: Walk up to the toilet, then turn right and look down at the small red bin. | STEP 2: Pick up the bar of soap out of the small red bin. | STEP 3: Turn right and walk forward, then turn left and walk up to the counter. | STEP 4: Put the bar of soap in the left sink basin and turn on the water, after a couple seconds turn the water off and remove the now clean bar of soap. | STEP 5: Walk over to the tub on your left. | STEP 6: Put the clean bar of soap into the tub to the left of the rag. | END"]} +{"id": "trial_T20190909_115736_122556-0", "input": "Place a cooked potato slice in the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.899, 2.5, 0, 180, 0, [SEP] 1, Pan, -4.108, 0.923, 4.640, 0, 90, 0, 72 [SEP] 2, Pencil, -0.532, 0.747, 5.841, 0, 270, 0, 83 [SEP] 3, DishSponge, -4.054, 0.077, 2.367, 0, 0, 0, 82 [SEP] 4, ButterKnife, -3.374, 0.923, 5.412, 0, 90, 0, 72 [SEP] 5, ButterKnife, -1.777, 0.923, 2.026, 0, 180, 0, 54 [SEP] 6, Pot, -2.924, 0.930, 2.012, 0, 0, 0, 55 [SEP] 7, Fork, -4.249, 0.756, 2.679, 0, 90, 0, 52 [SEP] 8, Fork, -0.258, 0.925, 4.615, 0, 0, 0, 57 [SEP] 9, Spoon, -1.943, 0.924, 1.724, 0, 0, 0, 54 [SEP] 10, Spoon, -4.172, 0.924, 2.300, 0, 0, 0, 72 [SEP] 11, Cup, -0.104, 0.923, 4.615, 0, 0, 0, 57 [SEP] 12, Plate, -0.488, 0.925, 4.615, 0, 0, 0, 57 [SEP] 13, Tomato, -0.342, 1.742, 3.915, 0, 270, 0, 105 [SEP] 14, Bowl, -4.171, 0.074, 2.246, 0, 0, 0, 82 [SEP] 15, Bowl, -1.981, 1.450, 1.638, 0, 0, 0, 91 [SEP] 16, PepperShaker, -0.334, 0.921, 4.944, 0, 0, 0, 62 [SEP] 17, Lettuce, -3.494, 1.018, 5.489, 0, 90, 0, 72 [SEP] 18, Lettuce, -4.233, 0.886, 3.410, 0, 270, 0, 104 [SEP] 19, Bread, -0.411, 1.004, 5.273, 0, 0, 0, 57 [SEP] 20, Apple, -3.135, 0.976, 5.566, 0, 90, 0, 72 [SEP] 21, Apple, -4.312, 0.976, 2.649, 0, 0, 0, 72 [SEP] 22, Egg, -2.026, 0.959, 1.648, 0, 0, 0, 54 [SEP] 23, Apple, -4.159, 0.844, 3.222, 0, 270, 0, 104 [SEP] 24, Knife, -3.852, 0.953, 5.336, 0, 90, 0, 72 [SEP] 25, Potato, -0.242, 1.104, 3.602, 0, 270, 0, 105 [SEP] 26, Fork, -4.033, 0.924, 4.122, 0, 90, 0, 72 [SEP] 27, Bowl, -0.401, 1.067, 3.726, 0, 270, 0, 105 [SEP] 28, Plate, -1.943, 0.924, 1.951, 0, 0, 0, 54 [SEP] 29, Lettuce, -3.748, 0.164, 6.292, 0, 270, 0, 98 [SEP] 30, Bread, -0.565, 1.004, 4.944, 0, 0, 0, 57 [SEP] 31, Tomato, -0.259, 1.392, 3.974, 0, 270, 0, 105 [SEP] 32, WineBottle, -4.051, 0.078, 4.584, 0, 0, 0, 65 [SEP] 33, Spatula, -0.181, 0.940, 5.603, 0, 0, 0, 57 [SEP] 34, PaperTowelRoll, -0.181, 1.029, 5.273, 0, 0, 0, 57 [SEP] 35, Cup, -2.530, 1.545, 1.633, 0, 0, 0, 102 [SEP] 36, Pencil, -0.258, 0.925, 4.615, 0, 0, 0, 57 [SEP] 37, Pan, -2.454, 0.933, 2.023, 0, 240.000, 0, 60 [SEP] 38, Pot, -2.469, 0.930, 1.712, 0, 270, 0, 87 [SEP] 39, SaltShaker, -0.488, 0.921, 5.603, 0, 0, 0, 51 [SEP] 40, SoapBottle, -2.109, 0.923, 1.875, 0, 0, 0, 54 [SEP] 41, PepperShaker, -3.474, 0.079, 5.074, 0, 90, 0, 90 [SEP] 42, ButterKnife, -1.777, 0.923, 1.875, 0, 0, 0, 54 [SEP] 43, DishSponge, -4.312, 0.923, 2.533, 0, 0, 0, 72 [SEP] 44, Spoon, -4.312, 0.924, 2.882, 0, 180, 0, 72 [SEP] 45, Mug, -0.409, 0.955, 6.557, 0, 270, 0, 93 [SEP] 46, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0, [SEP] 47, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0, [SEP] 48, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0, [SEP] 49, Drawer, -3.797, 0.781, 1.961, 0, 0, 0, [SEP] 50, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0, [SEP] 51, Drawer, -0.509, 0.775, 5.268, 0, 270, 0, [SEP] 52, Drawer, -4.125, 0.798, 2.499, 0, 0, 0, [SEP] 53, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0, [SEP] 54, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0, [SEP] 55, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0, [SEP] 56, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0, [SEP] 57, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0, [SEP] 58, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0, [SEP] 59, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0, [SEP] 60, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0, [SEP] 61, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0, [SEP] 62, Drawer, -0.509, 0.775, 4.617, 0, 270, 0, [SEP] 63, Drawer, -3.509, 0.777, 5.157, 0, 180, 0, [SEP] 64, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0, [SEP] 65, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0, [SEP] 66, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0, [SEP] 67, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0, [SEP] 68, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0, [SEP] 69, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0, [SEP] 70, Drawer, -1.859, 0.775, 1.961, 0, 0, 0, [SEP] 71, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0, [SEP] 72, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0, [SEP] 73, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0, [SEP] 74, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0, [SEP] 75, Drawer, -3.801, 0.777, 5.157, 0, 180, 0, [SEP] 76, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0, [SEP] 77, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0, [SEP] 78, Drawer, -3.418, 0.777, 1.961, 0, 0, 0, [SEP] 79, Drawer, -4.090, 0.777, 4.661, 0, 90, 0, [SEP] 80, Faucet, -4.441, 0.909, 3.288, 270, 0, 0, [SEP] 81, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0, [SEP] 82, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0, [SEP] 83, Drawer, -0.509, 0.775, 5.920, 0, 270, 0, [SEP] 84, Drawer, -3.193, 0.777, 5.157, 0, 180, 0, [SEP] 85, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0, [SEP] 86, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0, [SEP] 87, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0, [SEP] 88, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0, [SEP] 89, Sink, -4.190, 0.921, 3.279, 0, 0, 0, [SEP] 90, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0, [SEP] 91, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0, [SEP] 92, Drawer, -0.509, 0.775, 6.568, 0, 270, 0, [SEP] 93, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0, [SEP] 94, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180, [SEP] 95, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180, [SEP] 96, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180, [SEP] 97, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180, [SEP] 98, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0, [SEP] 99, Toaster, -3.578, 0.912, 1.763, 0, 0, 0, [SEP] 100, Curtains, -4.522, 2.252, 3.391, 90, 90, 0, [SEP] 101, Window, -4.868, 1.629, 3.309, 90, 270, 0, [SEP] 102, Microwave, -2.693, 1.430, 1.689, 0, 0, 0, [SEP] 103, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0, [SEP] 104, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0, [SEP] 105, Fridge, -0.324, -0.001, 3.602, 0, 0, 0, [SEP] 106, NorthWall, , , , , , , [SEP] 107, EastWall, , , , , , , [SEP] 108, SouthWall, , , , , , , [SEP] 109, WestWall, , , , , , , ", "output": ["STEP 1: turn to the right twice and to to the end of the counter top and turn to the left and go to the end of the counter top | STEP 2: take the knife from the counter top | STEP 3: turn to the left and go to the front of the refrigerator and turn to the left and go to the refrigerator | STEP 4: open the refrigerator door and slice up the potato on the shelf with the knife and close the refrigerator door | STEP 5: turn to the right twice and take a few steps and turn to the left and go to the microwave | STEP 6: open the microwave door and put the knife in it and close the microwave door | STEP 7: turn to the left twice and take a few step and turn to the right and go to the refrigerator | STEP 8: open the refrigerator door and take a potato slice from the shelf and close the refrigerator door | STEP 9: turn to the right twice and take a few steps and turn to the left and go to the microwave | STEP 10: put the potato slice in the microwave and cook it and when finish cooking take out the potato slice from the microwave | STEP 11: turn to the right twice and take a few steps and turn to the left and go to the sink | STEP 12: put the potato slice in the sink | END"]} +{"id": "trial_T20190909_115736_122556-1", "input": "Put a cooked piece of potato in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.899, 2.5, 0, 180, 0, [SEP] 1, Pan, -4.108, 0.923, 4.640, 0, 90, 0, 72 [SEP] 2, Pencil, -0.532, 0.747, 5.841, 0, 270, 0, 83 [SEP] 3, DishSponge, -4.054, 0.077, 2.367, 0, 0, 0, 82 [SEP] 4, ButterKnife, -3.374, 0.923, 5.412, 0, 90, 0, 72 [SEP] 5, ButterKnife, -1.777, 0.923, 2.026, 0, 180, 0, 54 [SEP] 6, Pot, -2.924, 0.930, 2.012, 0, 0, 0, 55 [SEP] 7, Fork, -4.249, 0.756, 2.679, 0, 90, 0, 52 [SEP] 8, Fork, -0.258, 0.925, 4.615, 0, 0, 0, 57 [SEP] 9, Spoon, -1.943, 0.924, 1.724, 0, 0, 0, 54 [SEP] 10, Spoon, -4.172, 0.924, 2.300, 0, 0, 0, 72 [SEP] 11, Cup, -0.104, 0.923, 4.615, 0, 0, 0, 57 [SEP] 12, Plate, -0.488, 0.925, 4.615, 0, 0, 0, 57 [SEP] 13, Tomato, -0.342, 1.742, 3.915, 0, 270, 0, 105 [SEP] 14, Bowl, -4.171, 0.074, 2.246, 0, 0, 0, 82 [SEP] 15, Bowl, -1.981, 1.450, 1.638, 0, 0, 0, 91 [SEP] 16, PepperShaker, -0.334, 0.921, 4.944, 0, 0, 0, 62 [SEP] 17, Lettuce, -3.494, 1.018, 5.489, 0, 90, 0, 72 [SEP] 18, Lettuce, -4.233, 0.886, 3.410, 0, 270, 0, 104 [SEP] 19, Bread, -0.411, 1.004, 5.273, 0, 0, 0, 57 [SEP] 20, Apple, -3.135, 0.976, 5.566, 0, 90, 0, 72 [SEP] 21, Apple, -4.312, 0.976, 2.649, 0, 0, 0, 72 [SEP] 22, Egg, -2.026, 0.959, 1.648, 0, 0, 0, 54 [SEP] 23, Apple, -4.159, 0.844, 3.222, 0, 270, 0, 104 [SEP] 24, Knife, -3.852, 0.953, 5.336, 0, 90, 0, 72 [SEP] 25, Potato, -0.242, 1.104, 3.602, 0, 270, 0, 105 [SEP] 26, Fork, -4.033, 0.924, 4.122, 0, 90, 0, 72 [SEP] 27, Bowl, -0.401, 1.067, 3.726, 0, 270, 0, 105 [SEP] 28, Plate, -1.943, 0.924, 1.951, 0, 0, 0, 54 [SEP] 29, Lettuce, -3.748, 0.164, 6.292, 0, 270, 0, 98 [SEP] 30, Bread, -0.565, 1.004, 4.944, 0, 0, 0, 57 [SEP] 31, Tomato, -0.259, 1.392, 3.974, 0, 270, 0, 105 [SEP] 32, WineBottle, -4.051, 0.078, 4.584, 0, 0, 0, 65 [SEP] 33, Spatula, -0.181, 0.940, 5.603, 0, 0, 0, 57 [SEP] 34, PaperTowelRoll, -0.181, 1.029, 5.273, 0, 0, 0, 57 [SEP] 35, Cup, -2.530, 1.545, 1.633, 0, 0, 0, 102 [SEP] 36, Pencil, -0.258, 0.925, 4.615, 0, 0, 0, 57 [SEP] 37, Pan, -2.454, 0.933, 2.023, 0, 240.000, 0, 60 [SEP] 38, Pot, -2.469, 0.930, 1.712, 0, 270, 0, 87 [SEP] 39, SaltShaker, -0.488, 0.921, 5.603, 0, 0, 0, 51 [SEP] 40, SoapBottle, -2.109, 0.923, 1.875, 0, 0, 0, 54 [SEP] 41, PepperShaker, -3.474, 0.079, 5.074, 0, 90, 0, 90 [SEP] 42, ButterKnife, -1.777, 0.923, 1.875, 0, 0, 0, 54 [SEP] 43, DishSponge, -4.312, 0.923, 2.533, 0, 0, 0, 72 [SEP] 44, Spoon, -4.312, 0.924, 2.882, 0, 180, 0, 72 [SEP] 45, Mug, -0.409, 0.955, 6.557, 0, 270, 0, 93 [SEP] 46, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0, [SEP] 47, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0, [SEP] 48, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0, [SEP] 49, Drawer, -3.797, 0.781, 1.961, 0, 0, 0, [SEP] 50, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0, [SEP] 51, Drawer, -0.509, 0.775, 5.268, 0, 270, 0, [SEP] 52, Drawer, -4.125, 0.798, 2.499, 0, 0, 0, [SEP] 53, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0, [SEP] 54, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0, [SEP] 55, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0, [SEP] 56, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0, [SEP] 57, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0, [SEP] 58, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0, [SEP] 59, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0, [SEP] 60, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0, [SEP] 61, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0, [SEP] 62, Drawer, -0.509, 0.775, 4.617, 0, 270, 0, [SEP] 63, Drawer, -3.509, 0.777, 5.157, 0, 180, 0, [SEP] 64, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0, [SEP] 65, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0, [SEP] 66, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0, [SEP] 67, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0, [SEP] 68, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0, [SEP] 69, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0, [SEP] 70, Drawer, -1.859, 0.775, 1.961, 0, 0, 0, [SEP] 71, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0, [SEP] 72, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0, [SEP] 73, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0, [SEP] 74, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0, [SEP] 75, Drawer, -3.801, 0.777, 5.157, 0, 180, 0, [SEP] 76, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0, [SEP] 77, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0, [SEP] 78, Drawer, -3.418, 0.777, 1.961, 0, 0, 0, [SEP] 79, Drawer, -4.090, 0.777, 4.661, 0, 90, 0, [SEP] 80, Faucet, -4.441, 0.909, 3.288, 270, 0, 0, [SEP] 81, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0, [SEP] 82, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0, [SEP] 83, Drawer, -0.509, 0.775, 5.920, 0, 270, 0, [SEP] 84, Drawer, -3.193, 0.777, 5.157, 0, 180, 0, [SEP] 85, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0, [SEP] 86, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0, [SEP] 87, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0, [SEP] 88, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0, [SEP] 89, Sink, -4.190, 0.921, 3.279, 0, 0, 0, [SEP] 90, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0, [SEP] 91, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0, [SEP] 92, Drawer, -0.509, 0.775, 6.568, 0, 270, 0, [SEP] 93, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0, [SEP] 94, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180, [SEP] 95, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180, [SEP] 96, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180, [SEP] 97, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180, [SEP] 98, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0, [SEP] 99, Toaster, -3.578, 0.912, 1.763, 0, 0, 0, [SEP] 100, Curtains, -4.522, 2.252, 3.391, 90, 90, 0, [SEP] 101, Window, -4.868, 1.629, 3.309, 90, 270, 0, [SEP] 102, Microwave, -2.693, 1.430, 1.689, 0, 0, 0, [SEP] 103, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0, [SEP] 104, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0, [SEP] 105, Fridge, -0.324, -0.001, 3.602, 0, 0, 0, [SEP] 106, NorthWall, , , , , , , [SEP] 107, EastWall, , , , , , , [SEP] 108, SouthWall, , , , , , , [SEP] 109, WestWall, , , , , , , ", "output": ["STEP 1: Go to the counter across the room from the stove. | STEP 2: Pick up the butter knife on the counter. | STEP 3: Go to the fridge. | STEP 4: Cut the potato in the fridge. | STEP 5: Take the knife to the microwave. | STEP 6: Put the knife in the microwave. | STEP 7: Go to the fridge. | STEP 8: Pick up the potato slice in the fridge. | STEP 9: Take the potato slice to the microwave. | STEP 10: Cook the potato in the microwave. | STEP 11: Take the cooked potato slice to the sink. | STEP 12: Put the potato slice in the sink. | END"]} +{"id": "trial_T20190909_115736_122556-2", "input": "Put a sliced egg inside the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.899, 2.5, 0, 180, 0, [SEP] 1, Pan, -4.108, 0.923, 4.640, 0, 90, 0, 72 [SEP] 2, Pencil, -0.532, 0.747, 5.841, 0, 270, 0, 83 [SEP] 3, DishSponge, -4.054, 0.077, 2.367, 0, 0, 0, 82 [SEP] 4, ButterKnife, -3.374, 0.923, 5.412, 0, 90, 0, 72 [SEP] 5, ButterKnife, -1.777, 0.923, 2.026, 0, 180, 0, 54 [SEP] 6, Pot, -2.924, 0.930, 2.012, 0, 0, 0, 55 [SEP] 7, Fork, -4.249, 0.756, 2.679, 0, 90, 0, 52 [SEP] 8, Fork, -0.258, 0.925, 4.615, 0, 0, 0, 57 [SEP] 9, Spoon, -1.943, 0.924, 1.724, 0, 0, 0, 54 [SEP] 10, Spoon, -4.172, 0.924, 2.300, 0, 0, 0, 72 [SEP] 11, Cup, -0.104, 0.923, 4.615, 0, 0, 0, 57 [SEP] 12, Plate, -0.488, 0.925, 4.615, 0, 0, 0, 57 [SEP] 13, Tomato, -0.342, 1.742, 3.915, 0, 270, 0, 105 [SEP] 14, Bowl, -4.171, 0.074, 2.246, 0, 0, 0, 82 [SEP] 15, Bowl, -1.981, 1.450, 1.638, 0, 0, 0, 91 [SEP] 16, PepperShaker, -0.334, 0.921, 4.944, 0, 0, 0, 62 [SEP] 17, Lettuce, -3.494, 1.018, 5.489, 0, 90, 0, 72 [SEP] 18, Lettuce, -4.233, 0.886, 3.410, 0, 270, 0, 104 [SEP] 19, Bread, -0.411, 1.004, 5.273, 0, 0, 0, 57 [SEP] 20, Apple, -3.135, 0.976, 5.566, 0, 90, 0, 72 [SEP] 21, Apple, -4.312, 0.976, 2.649, 0, 0, 0, 72 [SEP] 22, Egg, -2.026, 0.959, 1.648, 0, 0, 0, 54 [SEP] 23, Apple, -4.159, 0.844, 3.222, 0, 270, 0, 104 [SEP] 24, Knife, -3.852, 0.953, 5.336, 0, 90, 0, 72 [SEP] 25, Potato, -0.242, 1.104, 3.602, 0, 270, 0, 105 [SEP] 26, Fork, -4.033, 0.924, 4.122, 0, 90, 0, 72 [SEP] 27, Bowl, -0.401, 1.067, 3.726, 0, 270, 0, 105 [SEP] 28, Plate, -1.943, 0.924, 1.951, 0, 0, 0, 54 [SEP] 29, Lettuce, -3.748, 0.164, 6.292, 0, 270, 0, 98 [SEP] 30, Bread, -0.565, 1.004, 4.944, 0, 0, 0, 57 [SEP] 31, Tomato, -0.259, 1.392, 3.974, 0, 270, 0, 105 [SEP] 32, WineBottle, -4.051, 0.078, 4.584, 0, 0, 0, 65 [SEP] 33, Spatula, -0.181, 0.940, 5.603, 0, 0, 0, 57 [SEP] 34, PaperTowelRoll, -0.181, 1.029, 5.273, 0, 0, 0, 57 [SEP] 35, Cup, -2.530, 1.545, 1.633, 0, 0, 0, 102 [SEP] 36, Pencil, -0.258, 0.925, 4.615, 0, 0, 0, 57 [SEP] 37, Pan, -2.454, 0.933, 2.023, 0, 240.000, 0, 60 [SEP] 38, Pot, -2.469, 0.930, 1.712, 0, 270, 0, 87 [SEP] 39, SaltShaker, -0.488, 0.921, 5.603, 0, 0, 0, 51 [SEP] 40, SoapBottle, -2.109, 0.923, 1.875, 0, 0, 0, 54 [SEP] 41, PepperShaker, -3.474, 0.079, 5.074, 0, 90, 0, 90 [SEP] 42, ButterKnife, -1.777, 0.923, 1.875, 0, 0, 0, 54 [SEP] 43, DishSponge, -4.312, 0.923, 2.533, 0, 0, 0, 72 [SEP] 44, Spoon, -4.312, 0.924, 2.882, 0, 180, 0, 72 [SEP] 45, Mug, -0.409, 0.955, 6.557, 0, 270, 0, 93 [SEP] 46, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0, [SEP] 47, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0, [SEP] 48, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0, [SEP] 49, Drawer, -3.797, 0.781, 1.961, 0, 0, 0, [SEP] 50, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0, [SEP] 51, Drawer, -0.509, 0.775, 5.268, 0, 270, 0, [SEP] 52, Drawer, -4.125, 0.798, 2.499, 0, 0, 0, [SEP] 53, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0, [SEP] 54, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0, [SEP] 55, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0, [SEP] 56, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0, [SEP] 57, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0, [SEP] 58, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0, [SEP] 59, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0, [SEP] 60, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0, [SEP] 61, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0, [SEP] 62, Drawer, -0.509, 0.775, 4.617, 0, 270, 0, [SEP] 63, Drawer, -3.509, 0.777, 5.157, 0, 180, 0, [SEP] 64, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0, [SEP] 65, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0, [SEP] 66, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0, [SEP] 67, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0, [SEP] 68, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0, [SEP] 69, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0, [SEP] 70, Drawer, -1.859, 0.775, 1.961, 0, 0, 0, [SEP] 71, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0, [SEP] 72, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0, [SEP] 73, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0, [SEP] 74, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0, [SEP] 75, Drawer, -3.801, 0.777, 5.157, 0, 180, 0, [SEP] 76, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0, [SEP] 77, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0, [SEP] 78, Drawer, -3.418, 0.777, 1.961, 0, 0, 0, [SEP] 79, Drawer, -4.090, 0.777, 4.661, 0, 90, 0, [SEP] 80, Faucet, -4.441, 0.909, 3.288, 270, 0, 0, [SEP] 81, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0, [SEP] 82, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0, [SEP] 83, Drawer, -0.509, 0.775, 5.920, 0, 270, 0, [SEP] 84, Drawer, -3.193, 0.777, 5.157, 0, 180, 0, [SEP] 85, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0, [SEP] 86, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0, [SEP] 87, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0, [SEP] 88, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0, [SEP] 89, Sink, -4.190, 0.921, 3.279, 0, 0, 0, [SEP] 90, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0, [SEP] 91, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0, [SEP] 92, Drawer, -0.509, 0.775, 6.568, 0, 270, 0, [SEP] 93, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0, [SEP] 94, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180, [SEP] 95, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180, [SEP] 96, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180, [SEP] 97, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180, [SEP] 98, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0, [SEP] 99, Toaster, -3.578, 0.912, 1.763, 0, 0, 0, [SEP] 100, Curtains, -4.522, 2.252, 3.391, 90, 90, 0, [SEP] 101, Window, -4.868, 1.629, 3.309, 90, 270, 0, [SEP] 102, Microwave, -2.693, 1.430, 1.689, 0, 0, 0, [SEP] 103, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0, [SEP] 104, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0, [SEP] 105, Fridge, -0.324, -0.001, 3.602, 0, 0, 0, [SEP] 106, NorthWall, , , , , , , [SEP] 107, EastWall, , , , , , , [SEP] 108, SouthWall, , , , , , , [SEP] 109, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, turn right, walk straight, turn left, walk to the counter | STEP 2: Pick up the knife on top of the counter | STEP 3: Turn left, walk straight, turn left, walk straight to the fridge | STEP 4: Open the fridge, slice the egg inside, close the fridge | STEP 5: Turn right, turn right, walk straight to the oven | STEP 6: Open the microwave, put the knife inside, close the microwave | STEP 7: Turn left, turn left, walk straight, turn right, walk straight to the fridge | STEP 8: Open the fridge, take out the sliced egg inside, close the fridge | STEP 9: Turn right, turn right, walk straight to the oven | STEP 10: Open the microwave, put the sliced egg inside, close the microwave, turn on the microwave. Open the microwave, take out the sliced egg inside, close the microwave. | STEP 11: Turn right, turn right, turn left, walk straight to the sink | STEP 12: Put the sliced egg in the sink | END"]} +{"id": "trial_T20190907_223227_631229-0", "input": "Move a knife to the kitchen sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, -0.75, 0, 270, 0, [SEP] 1, WineBottle, 1.528, 1.660, -2.086, 0, 0, 0, 47 [SEP] 2, WineBottle, -1.072, 0.127, -1.426, 0, 90, 0, 55 [SEP] 3, Pot, -1.438, 1.181, -0.806, 0, 180, 0, 68 [SEP] 4, Spatula, 1.466, 0.928, -1.095, 0, 270, 0, 60 [SEP] 5, Spoon, 1.618, 0.914, -2.169, 0, 90, 0, 60 [SEP] 6, Fork, -0.210, 0.765, -2.026, 0, 0, 0, 72 [SEP] 7, Egg, -0.160, 0.984, 0.991, 0, 0, 0, 77 [SEP] 8, Cup, 1.255, 0.553, 2.431, 0, 0, 0, 86 [SEP] 9, Knife, 0.180, 0.953, 0.534, 0, 180, 0, 77 [SEP] 10, SoapBottle, -0.160, 0.929, 0.762, 0, 0, 0, 77 [SEP] 11, Bowl, -1.533, 1.501, -0.495, 0, 90, 0, 68 [SEP] 12, SaltShaker, 0.119, 0.909, -1.713, 0, 0, 0, 60 [SEP] 13, SaltShaker, -0.657, 0.108, -1.917, 0, 0, 0, 53 [SEP] 14, Bread, 0.066, 0.975, 1.220, 0, 0, 0, 77 [SEP] 15, Bread, 0.066, 0.972, 0.534, 0, 0, 0, 77 [SEP] 16, Apple, -0.720, 0.984, -2.233, 0, 0, 0, 60 [SEP] 17, Apple, -1.186, 1.086, -1.794, 0, 90, 0, 66 [SEP] 18, Apple, -1.219, 1.086, -1.638, 0, 90, 0, 66 [SEP] 19, Potato, 0.294, 0.959, 1.448, 0, 0, 0, 77 [SEP] 20, Bowl, -1.533, 1.501, -0.806, 0, 90, 0, 68 [SEP] 21, SoapBottle, 1.466, 0.912, -1.563, 0, 0, 0, 60 [SEP] 22, Fork, -0.047, 0.931, 0.762, 0, 0, 0, 77 [SEP] 23, Ladle, 1.557, 0.957, -1.329, 0, 0, 0, 60 [SEP] 24, Bread, 1.850, 0.958, -2.002, 0, 0, 0, 60 [SEP] 25, Lettuce, 0.522, 1.008, 0.534, 0, 0, 0, 77 [SEP] 26, WineBottle, 1.653, 1.660, -2.124, 0, 0, 0, 47 [SEP] 27, Spatula, 0.522, 0.945, 0.076, 0, 0, 0, 77 [SEP] 28, Plate, 1.670, 0.556, 2.534, 0, 0, 0, 86 [SEP] 29, SaltShaker, -0.927, 0.909, -2.188, 0, 0, 0, 60 [SEP] 30, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 42 [SEP] 31, Cup, 0.921, 0.913, -1.751, 0, 0, 0, 60 [SEP] 32, PepperShaker, -0.047, 0.923, 0.991, 0, 0, 0, 77 [SEP] 33, Pan, -1.495, 0.859, -0.495, 0, 0, 0, 68 [SEP] 34, ButterKnife, -0.047, 0.930, 0.076, 0, 0, 0, 77 [SEP] 35, Tomato, 0.294, 0.982, 0.305, 0, 0, 0, 77 [SEP] 36, DishSponge, -0.047, 0.930, 0.305, 0, 0, 0, 77 [SEP] 37, Egg, 2.009, 0.967, -1.095, 0, 0, 0, 60 [SEP] 38, Spoon, 0.921, 0.914, -1.918, 0, 180, 0, 60 [SEP] 39, Knife, 1.828, 0.936, -1.680, 0, 90, 0, 60 [SEP] 40, Mug, -0.210, 0.759, -1.936, 0, 0, 0, 72 [SEP] 41, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 42, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 43, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 44, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 45, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 46, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 47, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 48, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 49, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 50, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 51, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 52, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 53, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 54, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 55, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 56, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 57, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 58, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 59, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 60, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 61, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 62, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 63, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 64, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 65, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 66, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 67, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 68, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 69, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 70, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 71, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 72, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 73, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 74, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 75, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 76, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 77, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 78, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 79, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 80, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 81, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 82, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 83, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 84, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 85, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 86, , , , , , , , [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Turn completely around and walk up to the kitchen counter. | STEP 2: Pick up the yellow handled knife that is on the counter. | STEP 3: Turn around and walk a few steps forward before turning left to face the kitchen sink. | STEP 4: Place the knife in the drain of the sink. | END"]} +{"id": "trial_T20190907_223227_631229-1", "input": "Put a large metal knife in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, -0.75, 0, 270, 0, [SEP] 1, WineBottle, 1.528, 1.660, -2.086, 0, 0, 0, 47 [SEP] 2, WineBottle, -1.072, 0.127, -1.426, 0, 90, 0, 55 [SEP] 3, Pot, -1.438, 1.181, -0.806, 0, 180, 0, 68 [SEP] 4, Spatula, 1.466, 0.928, -1.095, 0, 270, 0, 60 [SEP] 5, Spoon, 1.618, 0.914, -2.169, 0, 90, 0, 60 [SEP] 6, Fork, -0.210, 0.765, -2.026, 0, 0, 0, 72 [SEP] 7, Egg, -0.160, 0.984, 0.991, 0, 0, 0, 77 [SEP] 8, Cup, 1.255, 0.553, 2.431, 0, 0, 0, 86 [SEP] 9, Knife, 0.180, 0.953, 0.534, 0, 180, 0, 77 [SEP] 10, SoapBottle, -0.160, 0.929, 0.762, 0, 0, 0, 77 [SEP] 11, Bowl, -1.533, 1.501, -0.495, 0, 90, 0, 68 [SEP] 12, SaltShaker, 0.119, 0.909, -1.713, 0, 0, 0, 60 [SEP] 13, SaltShaker, -0.657, 0.108, -1.917, 0, 0, 0, 53 [SEP] 14, Bread, 0.066, 0.975, 1.220, 0, 0, 0, 77 [SEP] 15, Bread, 0.066, 0.972, 0.534, 0, 0, 0, 77 [SEP] 16, Apple, -0.720, 0.984, -2.233, 0, 0, 0, 60 [SEP] 17, Apple, -1.186, 1.086, -1.794, 0, 90, 0, 66 [SEP] 18, Apple, -1.219, 1.086, -1.638, 0, 90, 0, 66 [SEP] 19, Potato, 0.294, 0.959, 1.448, 0, 0, 0, 77 [SEP] 20, Bowl, -1.533, 1.501, -0.806, 0, 90, 0, 68 [SEP] 21, SoapBottle, 1.466, 0.912, -1.563, 0, 0, 0, 60 [SEP] 22, Fork, -0.047, 0.931, 0.762, 0, 0, 0, 77 [SEP] 23, Ladle, 1.557, 0.957, -1.329, 0, 0, 0, 60 [SEP] 24, Bread, 1.850, 0.958, -2.002, 0, 0, 0, 60 [SEP] 25, Lettuce, 0.522, 1.008, 0.534, 0, 0, 0, 77 [SEP] 26, WineBottle, 1.653, 1.660, -2.124, 0, 0, 0, 47 [SEP] 27, Spatula, 0.522, 0.945, 0.076, 0, 0, 0, 77 [SEP] 28, Plate, 1.670, 0.556, 2.534, 0, 0, 0, 86 [SEP] 29, SaltShaker, -0.927, 0.909, -2.188, 0, 0, 0, 60 [SEP] 30, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 42 [SEP] 31, Cup, 0.921, 0.913, -1.751, 0, 0, 0, 60 [SEP] 32, PepperShaker, -0.047, 0.923, 0.991, 0, 0, 0, 77 [SEP] 33, Pan, -1.495, 0.859, -0.495, 0, 0, 0, 68 [SEP] 34, ButterKnife, -0.047, 0.930, 0.076, 0, 0, 0, 77 [SEP] 35, Tomato, 0.294, 0.982, 0.305, 0, 0, 0, 77 [SEP] 36, DishSponge, -0.047, 0.930, 0.305, 0, 0, 0, 77 [SEP] 37, Egg, 2.009, 0.967, -1.095, 0, 0, 0, 60 [SEP] 38, Spoon, 0.921, 0.914, -1.918, 0, 180, 0, 60 [SEP] 39, Knife, 1.828, 0.936, -1.680, 0, 90, 0, 60 [SEP] 40, Mug, -0.210, 0.759, -1.936, 0, 0, 0, 72 [SEP] 41, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 42, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 43, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 44, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 45, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 46, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 47, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 48, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 49, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 50, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 51, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 52, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 53, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 54, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 55, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 56, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 57, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 58, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 59, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 60, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 61, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 62, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 63, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 64, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 65, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 66, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 67, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 68, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 69, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 70, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 71, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 72, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 73, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 74, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 75, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 76, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 77, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 78, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 79, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 80, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 81, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 82, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 83, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 84, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 85, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 86, , , , , , , , [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk up to the sink, then turn left and walk over to the counter. | STEP 2: Pick up the large metal knife with a golden handle off of the counter. | STEP 3: Turn around and walk forward, then turn left to face the sink. | STEP 4: Put the large metal knife into the sink basin tip down. | END"]} +{"id": "trial_T20190907_223227_631229-2", "input": "Place a knife in the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, -0.75, 0, 270, 0, [SEP] 1, WineBottle, 1.528, 1.660, -2.086, 0, 0, 0, 47 [SEP] 2, WineBottle, -1.072, 0.127, -1.426, 0, 90, 0, 55 [SEP] 3, Pot, -1.438, 1.181, -0.806, 0, 180, 0, 68 [SEP] 4, Spatula, 1.466, 0.928, -1.095, 0, 270, 0, 60 [SEP] 5, Spoon, 1.618, 0.914, -2.169, 0, 90, 0, 60 [SEP] 6, Fork, -0.210, 0.765, -2.026, 0, 0, 0, 72 [SEP] 7, Egg, -0.160, 0.984, 0.991, 0, 0, 0, 77 [SEP] 8, Cup, 1.255, 0.553, 2.431, 0, 0, 0, 86 [SEP] 9, Knife, 0.180, 0.953, 0.534, 0, 180, 0, 77 [SEP] 10, SoapBottle, -0.160, 0.929, 0.762, 0, 0, 0, 77 [SEP] 11, Bowl, -1.533, 1.501, -0.495, 0, 90, 0, 68 [SEP] 12, SaltShaker, 0.119, 0.909, -1.713, 0, 0, 0, 60 [SEP] 13, SaltShaker, -0.657, 0.108, -1.917, 0, 0, 0, 53 [SEP] 14, Bread, 0.066, 0.975, 1.220, 0, 0, 0, 77 [SEP] 15, Bread, 0.066, 0.972, 0.534, 0, 0, 0, 77 [SEP] 16, Apple, -0.720, 0.984, -2.233, 0, 0, 0, 60 [SEP] 17, Apple, -1.186, 1.086, -1.794, 0, 90, 0, 66 [SEP] 18, Apple, -1.219, 1.086, -1.638, 0, 90, 0, 66 [SEP] 19, Potato, 0.294, 0.959, 1.448, 0, 0, 0, 77 [SEP] 20, Bowl, -1.533, 1.501, -0.806, 0, 90, 0, 68 [SEP] 21, SoapBottle, 1.466, 0.912, -1.563, 0, 0, 0, 60 [SEP] 22, Fork, -0.047, 0.931, 0.762, 0, 0, 0, 77 [SEP] 23, Ladle, 1.557, 0.957, -1.329, 0, 0, 0, 60 [SEP] 24, Bread, 1.850, 0.958, -2.002, 0, 0, 0, 60 [SEP] 25, Lettuce, 0.522, 1.008, 0.534, 0, 0, 0, 77 [SEP] 26, WineBottle, 1.653, 1.660, -2.124, 0, 0, 0, 47 [SEP] 27, Spatula, 0.522, 0.945, 0.076, 0, 0, 0, 77 [SEP] 28, Plate, 1.670, 0.556, 2.534, 0, 0, 0, 86 [SEP] 29, SaltShaker, -0.927, 0.909, -2.188, 0, 0, 0, 60 [SEP] 30, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 42 [SEP] 31, Cup, 0.921, 0.913, -1.751, 0, 0, 0, 60 [SEP] 32, PepperShaker, -0.047, 0.923, 0.991, 0, 0, 0, 77 [SEP] 33, Pan, -1.495, 0.859, -0.495, 0, 0, 0, 68 [SEP] 34, ButterKnife, -0.047, 0.930, 0.076, 0, 0, 0, 77 [SEP] 35, Tomato, 0.294, 0.982, 0.305, 0, 0, 0, 77 [SEP] 36, DishSponge, -0.047, 0.930, 0.305, 0, 0, 0, 77 [SEP] 37, Egg, 2.009, 0.967, -1.095, 0, 0, 0, 60 [SEP] 38, Spoon, 0.921, 0.914, -1.918, 0, 180, 0, 60 [SEP] 39, Knife, 1.828, 0.936, -1.680, 0, 90, 0, 60 [SEP] 40, Mug, -0.210, 0.759, -1.936, 0, 0, 0, 72 [SEP] 41, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 42, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 43, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 44, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 45, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 46, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 47, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 48, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 49, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 50, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 51, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 52, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 53, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 54, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 55, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 56, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 57, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 58, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 59, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 60, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 61, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 62, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 63, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 64, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 65, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 66, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 67, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 68, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 69, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 70, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 71, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 72, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 73, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 74, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 75, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 76, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 77, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 78, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 79, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 80, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 81, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 82, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 83, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 84, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 85, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 86, , , , , , , , [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: turn to the left and go forward to the sink and turn to the left and go to the counter | STEP 2: pick up the knife with the yellow handle from the counter top | STEP 3: turn to the right twice and go to the front of the sink and turn left facing the sink | STEP 4: put the knife in the sink | END"]} +{"id": "trial_T20190908_192636_561572-0", "input": "Put a spoon in a pan on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 2.0, 0, 270, 0, [SEP] 1, Ladle, -0.662, 1.086, 2.593, 0, 0, 0, 37 [SEP] 2, DishSponge, -2.450, 0.486, 0.579, 0, 0, 0, 50 [SEP] 3, Pot, -3.475, 1.133, 0.48, 0, 90, 0, 35 [SEP] 4, Fork, -2.497, 0.095, 0.579, 0, 0, 0, 40 [SEP] 5, Cup, -1.522, 0.047, 0.551, 0, 0, 0, 52 [SEP] 6, SoapBottle, -2.639, 1.125, 0.567, 0, 0, 0, 47 [SEP] 7, Tomato, -0.715, 1.165, 0.115, 0, 0, 0, 49 [SEP] 8, SaltShaker, -2.262, 1.121, 0.567, 0, 0, 0, 47 [SEP] 9, Lettuce, -0.785, 1.125, 3.266, 0, 0, 0, 37 [SEP] 10, Fork, -0.662, 1.047, 2.817, 0, 0, 0, 37 [SEP] 11, SoapBottle, -3.798, 0.113, 2.008, 0, 0, 0, 58 [SEP] 12, Pot, -3.506, 1.291, 2.991, 0, 90, 0, 54 [SEP] 13, Ladle, -3.778, 1.164, 0.567, 0, 90, 0, 44 [SEP] 14, Potato, -3.291, 0.953, 2.419, 0, 90, 0, 54 [SEP] 15, Plate, -1.885, 1.123, 0.190, 0, 0, 0, 47 [SEP] 16, Bread, -0.183, 1.119, 1.892, 0, 0, 0, 37 [SEP] 17, Lettuce, -0.908, 1.124, 1.920, 0, 0, 0, 37 [SEP] 18, Spatula, -2.388, 1.139, 0.095, 0, 90, 0, 47 [SEP] 19, Pan, -3.44, 0.911, 2.920, 0, 180, 0, 54 [SEP] 20, Egg, -1.092, 1.184, 0.108, 0, 0, 0, 34 [SEP] 21, Cup, -1.116, 0.047, 0.494, 0, 0, 0, 41 [SEP] 22, SaltShaker, -1.116, 0.045, 0.608, 0, 0, 0, 41 [SEP] 23, Knife, -0.785, 1.079, 2.817, 0, 0, 0, 37 [SEP] 24, Bowl, -0.908, 1.044, 2.369, 0, 0, 0, 37 [SEP] 25, PepperShaker, -2.592, 0.091, 0.512, 0, 0, 0, 40 [SEP] 26, ButterKnife, -2.514, 1.124, 0.190, 0, 0, 0, 47 [SEP] 27, Apple, -0.415, 1.115, 2.593, 0, 0, 0, 37 [SEP] 28, Tomato, -0.908, 1.088, 2.593, 0, 0, 0, 37 [SEP] 29, DishSponge, -3.644, 0.112, 2.038, 0, 0, 0, 58 [SEP] 30, Spoon, -2.388, 1.126, 0.473, 0, 0, 0, 47 [SEP] 31, Mug, -1.601, 0.044, 0.381, 0, 0, 0, 52 [SEP] 32, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 33, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 34, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 35, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 36, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 37, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 38, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 39, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 40, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 41, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 42, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 43, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 44, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 45, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 46, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 47, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 48, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 49, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 50, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 51, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 52, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 53, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 54, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 55, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 56, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 57, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 58, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 59, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 60, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 61, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 62, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 63, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the table with the kitchen table. | STEP 2: Pick up the spoon. | STEP 3: Turn around and walk to the refrigerator. | STEP 4: Open the refrigerator. Put the spoon on the pan in the refrigerator. | STEP 5: Grab the pan out of the refrigerator with the spoon. | STEP 6: Close the door and turn left. Walk to the oven and counter, turn left and walk to the wall. Turn right before the microwave. | STEP 7: Put the pan with the spoon on the counter. | END"]} +{"id": "trial_T20190908_192636_561572-1", "input": "Put a pan with spoon in it, in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 2.0, 0, 270, 0, [SEP] 1, Ladle, -0.662, 1.086, 2.593, 0, 0, 0, 37 [SEP] 2, DishSponge, -2.450, 0.486, 0.579, 0, 0, 0, 50 [SEP] 3, Pot, -3.475, 1.133, 0.48, 0, 90, 0, 35 [SEP] 4, Fork, -2.497, 0.095, 0.579, 0, 0, 0, 40 [SEP] 5, Cup, -1.522, 0.047, 0.551, 0, 0, 0, 52 [SEP] 6, SoapBottle, -2.639, 1.125, 0.567, 0, 0, 0, 47 [SEP] 7, Tomato, -0.715, 1.165, 0.115, 0, 0, 0, 49 [SEP] 8, SaltShaker, -2.262, 1.121, 0.567, 0, 0, 0, 47 [SEP] 9, Lettuce, -0.785, 1.125, 3.266, 0, 0, 0, 37 [SEP] 10, Fork, -0.662, 1.047, 2.817, 0, 0, 0, 37 [SEP] 11, SoapBottle, -3.798, 0.113, 2.008, 0, 0, 0, 58 [SEP] 12, Pot, -3.506, 1.291, 2.991, 0, 90, 0, 54 [SEP] 13, Ladle, -3.778, 1.164, 0.567, 0, 90, 0, 44 [SEP] 14, Potato, -3.291, 0.953, 2.419, 0, 90, 0, 54 [SEP] 15, Plate, -1.885, 1.123, 0.190, 0, 0, 0, 47 [SEP] 16, Bread, -0.183, 1.119, 1.892, 0, 0, 0, 37 [SEP] 17, Lettuce, -0.908, 1.124, 1.920, 0, 0, 0, 37 [SEP] 18, Spatula, -2.388, 1.139, 0.095, 0, 90, 0, 47 [SEP] 19, Pan, -3.44, 0.911, 2.920, 0, 180, 0, 54 [SEP] 20, Egg, -1.092, 1.184, 0.108, 0, 0, 0, 34 [SEP] 21, Cup, -1.116, 0.047, 0.494, 0, 0, 0, 41 [SEP] 22, SaltShaker, -1.116, 0.045, 0.608, 0, 0, 0, 41 [SEP] 23, Knife, -0.785, 1.079, 2.817, 0, 0, 0, 37 [SEP] 24, Bowl, -0.908, 1.044, 2.369, 0, 0, 0, 37 [SEP] 25, PepperShaker, -2.592, 0.091, 0.512, 0, 0, 0, 40 [SEP] 26, ButterKnife, -2.514, 1.124, 0.190, 0, 0, 0, 47 [SEP] 27, Apple, -0.415, 1.115, 2.593, 0, 0, 0, 37 [SEP] 28, Tomato, -0.908, 1.088, 2.593, 0, 0, 0, 37 [SEP] 29, DishSponge, -3.644, 0.112, 2.038, 0, 0, 0, 58 [SEP] 30, Spoon, -2.388, 1.126, 0.473, 0, 0, 0, 47 [SEP] 31, Mug, -1.601, 0.044, 0.381, 0, 0, 0, 52 [SEP] 32, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 33, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 34, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 35, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 36, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 37, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 38, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 39, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 40, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 41, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 42, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 43, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 44, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 45, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 46, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 47, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 48, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 49, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 50, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 51, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 52, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 53, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 54, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 55, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 56, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 57, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 58, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 59, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 60, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 61, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 62, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 63, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around, move to the table in front of you. | STEP 2: Pick up the spoon on the table. | STEP 3: Turn around, bring the spoon to the fridge in front of you. | STEP 4: Put the spoon in the pan in the fridge. | STEP 5: Pick up the pan with spoon in the fridge. | STEP 6: Bring the pan back to the sink, behind you to the left. | STEP 7: Put the pan with spoon in the sink. | END"]} +{"id": "trial_T20190908_192636_561572-2", "input": "put pan and ladle into kitchen sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 2.0, 0, 270, 0, [SEP] 1, Ladle, -0.662, 1.086, 2.593, 0, 0, 0, 37 [SEP] 2, DishSponge, -2.450, 0.486, 0.579, 0, 0, 0, 50 [SEP] 3, Pot, -3.475, 1.133, 0.48, 0, 90, 0, 35 [SEP] 4, Fork, -2.497, 0.095, 0.579, 0, 0, 0, 40 [SEP] 5, Cup, -1.522, 0.047, 0.551, 0, 0, 0, 52 [SEP] 6, SoapBottle, -2.639, 1.125, 0.567, 0, 0, 0, 47 [SEP] 7, Tomato, -0.715, 1.165, 0.115, 0, 0, 0, 49 [SEP] 8, SaltShaker, -2.262, 1.121, 0.567, 0, 0, 0, 47 [SEP] 9, Lettuce, -0.785, 1.125, 3.266, 0, 0, 0, 37 [SEP] 10, Fork, -0.662, 1.047, 2.817, 0, 0, 0, 37 [SEP] 11, SoapBottle, -3.798, 0.113, 2.008, 0, 0, 0, 58 [SEP] 12, Pot, -3.506, 1.291, 2.991, 0, 90, 0, 54 [SEP] 13, Ladle, -3.778, 1.164, 0.567, 0, 90, 0, 44 [SEP] 14, Potato, -3.291, 0.953, 2.419, 0, 90, 0, 54 [SEP] 15, Plate, -1.885, 1.123, 0.190, 0, 0, 0, 47 [SEP] 16, Bread, -0.183, 1.119, 1.892, 0, 0, 0, 37 [SEP] 17, Lettuce, -0.908, 1.124, 1.920, 0, 0, 0, 37 [SEP] 18, Spatula, -2.388, 1.139, 0.095, 0, 90, 0, 47 [SEP] 19, Pan, -3.44, 0.911, 2.920, 0, 180, 0, 54 [SEP] 20, Egg, -1.092, 1.184, 0.108, 0, 0, 0, 34 [SEP] 21, Cup, -1.116, 0.047, 0.494, 0, 0, 0, 41 [SEP] 22, SaltShaker, -1.116, 0.045, 0.608, 0, 0, 0, 41 [SEP] 23, Knife, -0.785, 1.079, 2.817, 0, 0, 0, 37 [SEP] 24, Bowl, -0.908, 1.044, 2.369, 0, 0, 0, 37 [SEP] 25, PepperShaker, -2.592, 0.091, 0.512, 0, 0, 0, 40 [SEP] 26, ButterKnife, -2.514, 1.124, 0.190, 0, 0, 0, 47 [SEP] 27, Apple, -0.415, 1.115, 2.593, 0, 0, 0, 37 [SEP] 28, Tomato, -0.908, 1.088, 2.593, 0, 0, 0, 37 [SEP] 29, DishSponge, -3.644, 0.112, 2.038, 0, 0, 0, 58 [SEP] 30, Spoon, -2.388, 1.126, 0.473, 0, 0, 0, 47 [SEP] 31, Mug, -1.601, 0.044, 0.381, 0, 0, 0, 52 [SEP] 32, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 33, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 34, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 35, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 36, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 37, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 38, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 39, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 40, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 41, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 42, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 43, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 44, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 45, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 46, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 47, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 48, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 49, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 50, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 51, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 52, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 53, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 54, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 55, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 56, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 57, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 58, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 59, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 60, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 61, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 62, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 63, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, SouthWall, , , , , , , ", "output": ["STEP 1: walk to face wooden table | STEP 2: pick up ladle from table | STEP 3: walk to face fridge | STEP 4: put ladle inside pan in fridge | STEP 5: take out pan from fridge | STEP 6: walk to face sink | STEP 7: put ladle into sink basin | END"]} +{"id": "trial_T20190909_183724_205399-0", "input": "Put a clean large metal spoon on the round white table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, -0.5, 0, 270, 0, [SEP] 1, Potato, -0.669, 1.069, 2.066, 0, 0, 0, 57 [SEP] 2, Potato, 1.672, 1.068, 1.457, 0, 136.999, 0, 54 [SEP] 3, DishSponge, -0.577, 0.816, 1.181, 0, 90, 0, 111 [SEP] 4, ButterKnife, -0.661, 0.801, 2.418, 0, 0, 0, 60 [SEP] 5, ButterKnife, 2.584, 0.801, 0.776, 0, 317.0, 0, 66 [SEP] 6, WineBottle, -0.360, 1.028, 1.171, 0, 0, 0, 57 [SEP] 7, Spatula, 1.743, 1.041, 1.802, 0, 226.999, 0, 54 [SEP] 8, Spoon, -1.171, 1.028, 2.556, 0, 0, 0, 57 [SEP] 9, Fork, 2.086, 0.765, 3.815, 0, 225, 0, 55 [SEP] 10, Egg, -0.851, 0.860, 1.259, 0, 90, 0, 111 [SEP] 11, Egg, -1.028, 0.830, -0.627, 0, 90, 0, 98 [SEP] 12, Knife, 2.698, 0.789, 3.688, 0, 329.999, 0, 55 [SEP] 13, Knife, 2.008, 0.789, 3.632, 0, 225, 0, 55 [SEP] 14, Tomato, 1.848, 1.080, 1.900, 0, 136.999, 0, 54 [SEP] 15, SoapBottle, 2.404, 1.025, 1.303, 0, 136.999, 0, 54 [SEP] 16, Bowl, -1.013, 1.440, -0.516, 0, 90, 0, 98 [SEP] 17, Bowl, -0.858, 0.332, -0.516, 0, 90, 0, 98 [SEP] 18, SaltShaker, 2.762, 0.797, -0.313, 0, 0, 0, 64 [SEP] 19, SaltShaker, 2.537, 0.796, -0.746, 0, 0, 0, 63 [SEP] 20, Bread, 2.478, 0.832, 3.773, 0, 329.999, 0, 55 [SEP] 21, Lettuce, 2.919, 0.822, 3.604, 0, 329.999, 0, 55 [SEP] 22, Lettuce, 2.801, 0.822, 3.747, 0, 270, 0, 55 [SEP] 23, Mug, -0.906, 1.775, 2.543, 0, 270, 0, 92 [SEP] 24, Mug, -0.803, 1.070, 0.646, 0, 90, 0, 107 [SEP] 25, Apple, -1.069, 0.836, -0.516, 0, 90, 0, 98 [SEP] 26, Pan, 2.042, 1.017, 1.779, 0, 0, 0, 54 [SEP] 27, Glassbottle, 1.350, 1.027, -1.987, 0, 90, 0, 54 [SEP] 28, Knife, 1.916, 0.827, 1.399, 0, 227.0, 0, 68 [SEP] 29, SoapBottle, 2.976, 0.763, 3.895, 0, 270, 0, 55 [SEP] 30, Egg, -0.968, 1.486, -0.184, 0, 90, 0, 98 [SEP] 31, Fork, -0.782, 0.817, 1.181, 0, 180, 0, 111 [SEP] 32, Potato, 2.294, 0.806, 4.091, 0, 329.999, 0, 55 [SEP] 33, Ladle, 2.599, 0.803, 4.32, 0, 0, 0, 55 [SEP] 34, Tomato, 2.840, 0.818, 4.359, 0, 225, 0, 55 [SEP] 35, Pot, 2.177, 1.027, -1.599, 0, 0, 0, 53 [SEP] 36, WineBottle, 2.626, 0.765, 3.895, 0, 270, 0, 55 [SEP] 37, Plate, 1.668, 2.280, -1.873, 0, 0, 0, 70 [SEP] 38, Spatula, 2.998, 0.779, 4.202, 0, 315, 0, 55 [SEP] 39, PaperTowelRoll, -1.187, 1.131, 1.243, 0, 0, 0, 57 [SEP] 40, Lettuce, -1.069, 0.844, -0.184, 0, 180, 0, 98 [SEP] 41, Apple, -0.906, 0.836, -0.184, 0, 90, 0, 98 [SEP] 42, SaltShaker, 2.800, 0.760, 4.192, 0, 270, 0, 55 [SEP] 43, PepperShaker, -0.661, 0.797, 2.510, 0, 0, 0, 60 [SEP] 44, ButterKnife, 2.376, 0.764, 4.495, 0, 0, 0, 55 [SEP] 45, Bread, 2.599, 0.832, 3.445, 0, 0, 0, 55 [SEP] 46, Cup, 2.228, 0.763, 3.62, 0, 0, 0, 55 [SEP] 47, DishSponge, 2.706, 1.026, -0.236, 0, 0, 0, 54 [SEP] 48, Bowl, 1.895, 1.859, -1.843, 0, 0, 0, 100 [SEP] 49, Spoon, 2.268, 0.765, 3.892, 0, 225, 0, 55 [SEP] 50, Mug, -0.577, 0.811, 1.337, 0, 90, 0, 111 [SEP] 51, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 52, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 53, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 54, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 55, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 56, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 57, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 58, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 59, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 60, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 61, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 62, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 63, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 64, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 65, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 66, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 67, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 68, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 69, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 70, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 71, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 72, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 73, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 74, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 75, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 76, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 77, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 78, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 79, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 80, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 81, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 82, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 83, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 84, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 85, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 86, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 87, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 88, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 89, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 90, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 91, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 92, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 93, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 94, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 95, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 96, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 97, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 98, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 99, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 100, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 101, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 102, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 103, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 104, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 105, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 106, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 107, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 108, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 109, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 110, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 111, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 112, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 113, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 114, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 115, , , , , , , , [SEP] 116, NorthWall, , , , , , , [SEP] 117, EastWall, , , , , , , [SEP] 118, SouthWall, , , , , , , [SEP] 119, WestWall, , , , , , , ", "output": ["STEP 1: Begin walking forward, then hang a right and walk over to the round white table in the corner of the room. | STEP 2: Pick up the large metal spoon white a black handle off of the round white table. | STEP 3: Turn left and begin walking across the room, then turn left again and walk over to the kitchen sink. | STEP 4: Wash the large metal spoon in the kitchen sink, then pick it back up. | STEP 5: Turn right and begin walking to the wall, then hang a right and walk over to the round white table in the corner of the room. | STEP 6: Place the clean large metal spoon on the table to the left of the loaves of bread. | END"]} +{"id": "trial_T20190909_183724_205399-1", "input": "To clean a ladle and put it back on the kitchen table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, -0.5, 0, 270, 0, [SEP] 1, Potato, -0.669, 1.069, 2.066, 0, 0, 0, 57 [SEP] 2, Potato, 1.672, 1.068, 1.457, 0, 136.999, 0, 54 [SEP] 3, DishSponge, -0.577, 0.816, 1.181, 0, 90, 0, 111 [SEP] 4, ButterKnife, -0.661, 0.801, 2.418, 0, 0, 0, 60 [SEP] 5, ButterKnife, 2.584, 0.801, 0.776, 0, 317.0, 0, 66 [SEP] 6, WineBottle, -0.360, 1.028, 1.171, 0, 0, 0, 57 [SEP] 7, Spatula, 1.743, 1.041, 1.802, 0, 226.999, 0, 54 [SEP] 8, Spoon, -1.171, 1.028, 2.556, 0, 0, 0, 57 [SEP] 9, Fork, 2.086, 0.765, 3.815, 0, 225, 0, 55 [SEP] 10, Egg, -0.851, 0.860, 1.259, 0, 90, 0, 111 [SEP] 11, Egg, -1.028, 0.830, -0.627, 0, 90, 0, 98 [SEP] 12, Knife, 2.698, 0.789, 3.688, 0, 329.999, 0, 55 [SEP] 13, Knife, 2.008, 0.789, 3.632, 0, 225, 0, 55 [SEP] 14, Tomato, 1.848, 1.080, 1.900, 0, 136.999, 0, 54 [SEP] 15, SoapBottle, 2.404, 1.025, 1.303, 0, 136.999, 0, 54 [SEP] 16, Bowl, -1.013, 1.440, -0.516, 0, 90, 0, 98 [SEP] 17, Bowl, -0.858, 0.332, -0.516, 0, 90, 0, 98 [SEP] 18, SaltShaker, 2.762, 0.797, -0.313, 0, 0, 0, 64 [SEP] 19, SaltShaker, 2.537, 0.796, -0.746, 0, 0, 0, 63 [SEP] 20, Bread, 2.478, 0.832, 3.773, 0, 329.999, 0, 55 [SEP] 21, Lettuce, 2.919, 0.822, 3.604, 0, 329.999, 0, 55 [SEP] 22, Lettuce, 2.801, 0.822, 3.747, 0, 270, 0, 55 [SEP] 23, Mug, -0.906, 1.775, 2.543, 0, 270, 0, 92 [SEP] 24, Mug, -0.803, 1.070, 0.646, 0, 90, 0, 107 [SEP] 25, Apple, -1.069, 0.836, -0.516, 0, 90, 0, 98 [SEP] 26, Pan, 2.042, 1.017, 1.779, 0, 0, 0, 54 [SEP] 27, Glassbottle, 1.350, 1.027, -1.987, 0, 90, 0, 54 [SEP] 28, Knife, 1.916, 0.827, 1.399, 0, 227.0, 0, 68 [SEP] 29, SoapBottle, 2.976, 0.763, 3.895, 0, 270, 0, 55 [SEP] 30, Egg, -0.968, 1.486, -0.184, 0, 90, 0, 98 [SEP] 31, Fork, -0.782, 0.817, 1.181, 0, 180, 0, 111 [SEP] 32, Potato, 2.294, 0.806, 4.091, 0, 329.999, 0, 55 [SEP] 33, Ladle, 2.599, 0.803, 4.32, 0, 0, 0, 55 [SEP] 34, Tomato, 2.840, 0.818, 4.359, 0, 225, 0, 55 [SEP] 35, Pot, 2.177, 1.027, -1.599, 0, 0, 0, 53 [SEP] 36, WineBottle, 2.626, 0.765, 3.895, 0, 270, 0, 55 [SEP] 37, Plate, 1.668, 2.280, -1.873, 0, 0, 0, 70 [SEP] 38, Spatula, 2.998, 0.779, 4.202, 0, 315, 0, 55 [SEP] 39, PaperTowelRoll, -1.187, 1.131, 1.243, 0, 0, 0, 57 [SEP] 40, Lettuce, -1.069, 0.844, -0.184, 0, 180, 0, 98 [SEP] 41, Apple, -0.906, 0.836, -0.184, 0, 90, 0, 98 [SEP] 42, SaltShaker, 2.800, 0.760, 4.192, 0, 270, 0, 55 [SEP] 43, PepperShaker, -0.661, 0.797, 2.510, 0, 0, 0, 60 [SEP] 44, ButterKnife, 2.376, 0.764, 4.495, 0, 0, 0, 55 [SEP] 45, Bread, 2.599, 0.832, 3.445, 0, 0, 0, 55 [SEP] 46, Cup, 2.228, 0.763, 3.62, 0, 0, 0, 55 [SEP] 47, DishSponge, 2.706, 1.026, -0.236, 0, 0, 0, 54 [SEP] 48, Bowl, 1.895, 1.859, -1.843, 0, 0, 0, 100 [SEP] 49, Spoon, 2.268, 0.765, 3.892, 0, 225, 0, 55 [SEP] 50, Mug, -0.577, 0.811, 1.337, 0, 90, 0, 111 [SEP] 51, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 52, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 53, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 54, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 55, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 56, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 57, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 58, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 59, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 60, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 61, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 62, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 63, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 64, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 65, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 66, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 67, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 68, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 69, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 70, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 71, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 72, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 73, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 74, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 75, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 76, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 77, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 78, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 79, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 80, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 81, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 82, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 83, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 84, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 85, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 86, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 87, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 88, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 89, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 90, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 91, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 92, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 93, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 94, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 95, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 96, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 97, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 98, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 99, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 100, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 101, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 102, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 103, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 104, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 105, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 106, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 107, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 108, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 109, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 110, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 111, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 112, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 113, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 114, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 115, , , , , , , , [SEP] 116, NorthWall, , , , , , , [SEP] 117, EastWall, , , , , , , [SEP] 118, SouthWall, , , , , , , [SEP] 119, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk across the room and take a right past the counter and walk forward and turn to face the kitchen table on the left. | STEP 2: Pick up the ladle on the far side of the kitchen table. | STEP 3: Turn left and walk forward and to the left to face the sink. | STEP 4: Wash the ladle in the sink, then pick it back up. | STEP 5: Turn around and walk forward and to the left to face the right side of the kitchen table. | STEP 6: Place the ladle back in the spot it was originally in. | END"]} +{"id": "trial_T20190909_183724_205399-2", "input": "Place a washed spoon on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, -0.5, 0, 270, 0, [SEP] 1, Potato, -0.669, 1.069, 2.066, 0, 0, 0, 57 [SEP] 2, Potato, 1.672, 1.068, 1.457, 0, 136.999, 0, 54 [SEP] 3, DishSponge, -0.577, 0.816, 1.181, 0, 90, 0, 111 [SEP] 4, ButterKnife, -0.661, 0.801, 2.418, 0, 0, 0, 60 [SEP] 5, ButterKnife, 2.584, 0.801, 0.776, 0, 317.0, 0, 66 [SEP] 6, WineBottle, -0.360, 1.028, 1.171, 0, 0, 0, 57 [SEP] 7, Spatula, 1.743, 1.041, 1.802, 0, 226.999, 0, 54 [SEP] 8, Spoon, -1.171, 1.028, 2.556, 0, 0, 0, 57 [SEP] 9, Fork, 2.086, 0.765, 3.815, 0, 225, 0, 55 [SEP] 10, Egg, -0.851, 0.860, 1.259, 0, 90, 0, 111 [SEP] 11, Egg, -1.028, 0.830, -0.627, 0, 90, 0, 98 [SEP] 12, Knife, 2.698, 0.789, 3.688, 0, 329.999, 0, 55 [SEP] 13, Knife, 2.008, 0.789, 3.632, 0, 225, 0, 55 [SEP] 14, Tomato, 1.848, 1.080, 1.900, 0, 136.999, 0, 54 [SEP] 15, SoapBottle, 2.404, 1.025, 1.303, 0, 136.999, 0, 54 [SEP] 16, Bowl, -1.013, 1.440, -0.516, 0, 90, 0, 98 [SEP] 17, Bowl, -0.858, 0.332, -0.516, 0, 90, 0, 98 [SEP] 18, SaltShaker, 2.762, 0.797, -0.313, 0, 0, 0, 64 [SEP] 19, SaltShaker, 2.537, 0.796, -0.746, 0, 0, 0, 63 [SEP] 20, Bread, 2.478, 0.832, 3.773, 0, 329.999, 0, 55 [SEP] 21, Lettuce, 2.919, 0.822, 3.604, 0, 329.999, 0, 55 [SEP] 22, Lettuce, 2.801, 0.822, 3.747, 0, 270, 0, 55 [SEP] 23, Mug, -0.906, 1.775, 2.543, 0, 270, 0, 92 [SEP] 24, Mug, -0.803, 1.070, 0.646, 0, 90, 0, 107 [SEP] 25, Apple, -1.069, 0.836, -0.516, 0, 90, 0, 98 [SEP] 26, Pan, 2.042, 1.017, 1.779, 0, 0, 0, 54 [SEP] 27, Glassbottle, 1.350, 1.027, -1.987, 0, 90, 0, 54 [SEP] 28, Knife, 1.916, 0.827, 1.399, 0, 227.0, 0, 68 [SEP] 29, SoapBottle, 2.976, 0.763, 3.895, 0, 270, 0, 55 [SEP] 30, Egg, -0.968, 1.486, -0.184, 0, 90, 0, 98 [SEP] 31, Fork, -0.782, 0.817, 1.181, 0, 180, 0, 111 [SEP] 32, Potato, 2.294, 0.806, 4.091, 0, 329.999, 0, 55 [SEP] 33, Ladle, 2.599, 0.803, 4.32, 0, 0, 0, 55 [SEP] 34, Tomato, 2.840, 0.818, 4.359, 0, 225, 0, 55 [SEP] 35, Pot, 2.177, 1.027, -1.599, 0, 0, 0, 53 [SEP] 36, WineBottle, 2.626, 0.765, 3.895, 0, 270, 0, 55 [SEP] 37, Plate, 1.668, 2.280, -1.873, 0, 0, 0, 70 [SEP] 38, Spatula, 2.998, 0.779, 4.202, 0, 315, 0, 55 [SEP] 39, PaperTowelRoll, -1.187, 1.131, 1.243, 0, 0, 0, 57 [SEP] 40, Lettuce, -1.069, 0.844, -0.184, 0, 180, 0, 98 [SEP] 41, Apple, -0.906, 0.836, -0.184, 0, 90, 0, 98 [SEP] 42, SaltShaker, 2.800, 0.760, 4.192, 0, 270, 0, 55 [SEP] 43, PepperShaker, -0.661, 0.797, 2.510, 0, 0, 0, 60 [SEP] 44, ButterKnife, 2.376, 0.764, 4.495, 0, 0, 0, 55 [SEP] 45, Bread, 2.599, 0.832, 3.445, 0, 0, 0, 55 [SEP] 46, Cup, 2.228, 0.763, 3.62, 0, 0, 0, 55 [SEP] 47, DishSponge, 2.706, 1.026, -0.236, 0, 0, 0, 54 [SEP] 48, Bowl, 1.895, 1.859, -1.843, 0, 0, 0, 100 [SEP] 49, Spoon, 2.268, 0.765, 3.892, 0, 225, 0, 55 [SEP] 50, Mug, -0.577, 0.811, 1.337, 0, 90, 0, 111 [SEP] 51, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 52, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 53, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 54, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 55, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 56, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 57, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 58, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 59, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 60, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 61, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 62, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 63, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 64, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 65, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 66, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 67, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 68, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 69, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 70, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 71, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 72, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 73, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 74, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 75, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 76, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 77, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 78, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 79, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 80, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 81, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 82, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 83, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 84, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 85, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 86, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 87, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 88, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 89, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 90, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 91, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 92, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 93, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 94, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 95, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 96, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 97, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 98, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 99, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 100, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 101, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 102, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 103, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 104, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 105, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 106, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 107, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 108, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 109, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 110, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 111, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 112, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 113, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 114, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 115, , , , , , , , [SEP] 116, NorthWall, , , , , , , [SEP] 117, EastWall, , , , , , , [SEP] 118, SouthWall, , , , , , , [SEP] 119, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk across the kitchen until you get to the round table. | STEP 2: Grab the spoon to the left of the tomato. | STEP 3: Turn left, then turn right at the counter and walk until you reach the sink. | STEP 4: Wash the spoon in the sink. | STEP 5: Walk back to the round table. | STEP 6: Place the spoon to the left of the first loaf of bread on the table. | END"]} +{"id": "trial_T20190906_181023_216915-0", "input": "Place a chilled frying pan on the stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 0.5, 0, 90, 0, [SEP] 1, Potato, -0.467, 0.794, 6.604, 0, 270, 0, 92 [SEP] 2, DishSponge, 1.402, 2.206, 3.887, 0, 0, 0, 47 [SEP] 3, DishSponge, -0.346, 0.759, 6.169, 0, 0, 0, 92 [SEP] 4, ButterKnife, -0.413, 0.772, 0.451, 0, 0, 0, 52 [SEP] 5, ButterKnife, 0.123, 0.760, 6.107, 0, 135, 0, 92 [SEP] 6, Spoon, 0.124, 0.772, 0.451, 0, 0, 0, 53 [SEP] 7, Spoon, -0.617, 0.773, 0.395, 0, 0, 0, 52 [SEP] 8, Fork, -0.487, 0.760, 6.807, 0, 135, 0, 92 [SEP] 9, Plate, 1.225, 0.993, 0.213, 0, 0, 0, 56 [SEP] 10, Knife, 0.192, 0.801, 0.563, 0, 270, 0, 53 [SEP] 11, Knife, 0.923, 1.022, 0.212, 0, 0, 0, 56 [SEP] 12, SoapBottle, 0.301, 0.760, 6.674, 0, 315, 0, 92 [SEP] 13, SoapBottle, 1.367, 1.576, 4.633, 0, 90, 0, 60 [SEP] 14, Bowl, 0.305, 0.759, 6.479, 0, 270, 0, 92 [SEP] 15, SaltShaker, 1.445, 2.202, 3.654, 0, 0, 0, 47 [SEP] 16, SaltShaker, 0.058, 0.755, 6.261, 0, 135, 0, 92 [SEP] 17, Lettuce, -0.159, 0.848, 6.941, 0, 0, 0, 92 [SEP] 18, Mug, 1.332, 0.891, 2.525, 0, 270, 0, 79 [SEP] 19, Apple, 1.135, 1.067, 3.511, 0, 0, 0, 56 [SEP] 20, Apple, 0.015, 0.834, 6.742, 0, 225, 0, 92 [SEP] 21, Bowl, -0.483, 0.143, 0.506, 0, 0, 0, 64 [SEP] 22, Bread, -0.535, 1.062, 0.303, 0, 0, 0, 56 [SEP] 23, Egg, 1.403, 1.042, 3.417, 0, 0, 0, 56 [SEP] 24, Knife, 0.260, 0.801, 0.563, 0, 270, 0, 53 [SEP] 25, Fork, -0.034, 0.760, 6.632, 0, 0, 0, 92 [SEP] 26, Apple, -0.312, 0.834, 6.541, 0, 270, 0, 92 [SEP] 27, Kettle, 1.593, 0.981, 3.25, 0, 255.000, 0, 56 [SEP] 28, Plate, -0.013, 1.580, 0.251, 0, 0, 0, 69 [SEP] 29, SaltShaker, 1.135, 0.987, 4.579, 0, 0, 0, 57 [SEP] 30, Lettuce, 1.449, 0.932, 2.050, 0, 0, 0, 79 [SEP] 31, SoapBottle, -0.384, 0.992, 0.395, 0, 0, 0, 56 [SEP] 32, Spatula, -0.079, 0.786, 0.507, 0, 90, 0, 53 [SEP] 33, PaperTowelRoll, -0.467, 0.864, 6.291, 0, 270, 0, 92 [SEP] 34, Pot, 1.562, 0.988, 3.848, 0, 0, 0, 50 [SEP] 35, Potato, 1.493, 1.027, 2.950, 0, 0, 0, 56 [SEP] 36, ButterKnife, 1.284, 0.981, 1.339, 0, 14.185, 0, 56 [SEP] 37, PepperShaker, 0.150, 0.755, 6.416, 0, 270, 0, 92 [SEP] 38, Pan, 1.313, 0.985, 4.284, 0, 0, 0, 51 [SEP] 39, Tomato, -0.618, 0.809, 6.284, 0, 225, 0, 92 [SEP] 40, DishSponge, 1.135, 0.992, 4.670, 0, 0, 0, 57 [SEP] 41, Cup, 1.577, 2.203, 3.840, 0, 0, 0, 47 [SEP] 42, Spoon, 0.803, 0.773, 0.451, 0, 0, 0, 48 [SEP] 43, Mug, 0.064, 1.092, 0.180, 0, 90, 0, 72 [SEP] 44, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 45, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 46, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 47, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 48, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 49, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 50, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 51, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 52, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 53, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 54, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 55, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 56, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 57, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 58, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 59, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 60, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 61, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 62, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 63, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 64, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 65, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 66, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 67, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 68, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 69, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 70, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 71, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 72, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 73, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 74, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 75, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 76, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 77, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 78, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 79, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 80, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 81, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 82, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 83, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 84, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 85, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 86, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 87, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 88, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 89, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 90, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 91, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 92, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 93, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 94, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 95, NorthWall, , , , , , , [SEP] 96, EastWall, , , , , , , [SEP] 97, SouthWall, , , , , , , [SEP] 98, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk halfway across the room until you are even with the stove then turn right and walk to the stove so you are facing the front of it. | STEP 2: Pick up the frying pan on the bottom left burner. | STEP 3: Turn left and walk to the fridge and face it. | STEP 4: Open the fridge and place the frying pan on the top shelf to the right and close the door letting it chill for a while before retrieving it and closing the door. | STEP 5: Position yourself back in front of the stove where you were before. | STEP 6: Place the frying pan back on the stove but on the top left burner this time. | END"]} +{"id": "trial_T20190906_181023_216915-1", "input": "Place a chilled pan on a stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 0.5, 0, 90, 0, [SEP] 1, Potato, -0.467, 0.794, 6.604, 0, 270, 0, 92 [SEP] 2, DishSponge, 1.402, 2.206, 3.887, 0, 0, 0, 47 [SEP] 3, DishSponge, -0.346, 0.759, 6.169, 0, 0, 0, 92 [SEP] 4, ButterKnife, -0.413, 0.772, 0.451, 0, 0, 0, 52 [SEP] 5, ButterKnife, 0.123, 0.760, 6.107, 0, 135, 0, 92 [SEP] 6, Spoon, 0.124, 0.772, 0.451, 0, 0, 0, 53 [SEP] 7, Spoon, -0.617, 0.773, 0.395, 0, 0, 0, 52 [SEP] 8, Fork, -0.487, 0.760, 6.807, 0, 135, 0, 92 [SEP] 9, Plate, 1.225, 0.993, 0.213, 0, 0, 0, 56 [SEP] 10, Knife, 0.192, 0.801, 0.563, 0, 270, 0, 53 [SEP] 11, Knife, 0.923, 1.022, 0.212, 0, 0, 0, 56 [SEP] 12, SoapBottle, 0.301, 0.760, 6.674, 0, 315, 0, 92 [SEP] 13, SoapBottle, 1.367, 1.576, 4.633, 0, 90, 0, 60 [SEP] 14, Bowl, 0.305, 0.759, 6.479, 0, 270, 0, 92 [SEP] 15, SaltShaker, 1.445, 2.202, 3.654, 0, 0, 0, 47 [SEP] 16, SaltShaker, 0.058, 0.755, 6.261, 0, 135, 0, 92 [SEP] 17, Lettuce, -0.159, 0.848, 6.941, 0, 0, 0, 92 [SEP] 18, Mug, 1.332, 0.891, 2.525, 0, 270, 0, 79 [SEP] 19, Apple, 1.135, 1.067, 3.511, 0, 0, 0, 56 [SEP] 20, Apple, 0.015, 0.834, 6.742, 0, 225, 0, 92 [SEP] 21, Bowl, -0.483, 0.143, 0.506, 0, 0, 0, 64 [SEP] 22, Bread, -0.535, 1.062, 0.303, 0, 0, 0, 56 [SEP] 23, Egg, 1.403, 1.042, 3.417, 0, 0, 0, 56 [SEP] 24, Knife, 0.260, 0.801, 0.563, 0, 270, 0, 53 [SEP] 25, Fork, -0.034, 0.760, 6.632, 0, 0, 0, 92 [SEP] 26, Apple, -0.312, 0.834, 6.541, 0, 270, 0, 92 [SEP] 27, Kettle, 1.593, 0.981, 3.25, 0, 255.000, 0, 56 [SEP] 28, Plate, -0.013, 1.580, 0.251, 0, 0, 0, 69 [SEP] 29, SaltShaker, 1.135, 0.987, 4.579, 0, 0, 0, 57 [SEP] 30, Lettuce, 1.449, 0.932, 2.050, 0, 0, 0, 79 [SEP] 31, SoapBottle, -0.384, 0.992, 0.395, 0, 0, 0, 56 [SEP] 32, Spatula, -0.079, 0.786, 0.507, 0, 90, 0, 53 [SEP] 33, PaperTowelRoll, -0.467, 0.864, 6.291, 0, 270, 0, 92 [SEP] 34, Pot, 1.562, 0.988, 3.848, 0, 0, 0, 50 [SEP] 35, Potato, 1.493, 1.027, 2.950, 0, 0, 0, 56 [SEP] 36, ButterKnife, 1.284, 0.981, 1.339, 0, 14.185, 0, 56 [SEP] 37, PepperShaker, 0.150, 0.755, 6.416, 0, 270, 0, 92 [SEP] 38, Pan, 1.313, 0.985, 4.284, 0, 0, 0, 51 [SEP] 39, Tomato, -0.618, 0.809, 6.284, 0, 225, 0, 92 [SEP] 40, DishSponge, 1.135, 0.992, 4.670, 0, 0, 0, 57 [SEP] 41, Cup, 1.577, 2.203, 3.840, 0, 0, 0, 47 [SEP] 42, Spoon, 0.803, 0.773, 0.451, 0, 0, 0, 48 [SEP] 43, Mug, 0.064, 1.092, 0.180, 0, 90, 0, 72 [SEP] 44, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 45, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 46, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 47, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 48, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 49, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 50, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 51, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 52, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 53, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 54, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 55, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 56, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 57, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 58, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 59, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 60, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 61, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 62, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 63, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 64, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 65, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 66, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 67, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 68, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 69, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 70, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 71, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 72, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 73, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 74, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 75, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 76, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 77, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 78, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 79, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 80, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 81, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 82, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 83, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 84, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 85, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 86, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 87, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 88, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 89, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 90, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 91, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 92, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 93, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 94, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 95, NorthWall, , , , , , , [SEP] 96, EastWall, , , , , , , [SEP] 97, SouthWall, , , , , , , [SEP] 98, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, go forward, and hang right to face the stove. | STEP 2: Pick up the pan on the front left burner. | STEP 3: Turn left and walk to the fridge. | STEP 4: Open the fridge, place the pan on the right shelf. Close the door, wait a moment, and take the pan back out. | STEP 5: Turn right and take a few steps. Face the stove. | STEP 6: Place the pan on the back left burner of the stove. | END"]} +{"id": "trial_T20190906_181023_216915-2", "input": "Place a chilled plate on a stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 0.5, 0, 90, 0, [SEP] 1, Potato, -0.467, 0.794, 6.604, 0, 270, 0, 92 [SEP] 2, DishSponge, 1.402, 2.206, 3.887, 0, 0, 0, 47 [SEP] 3, DishSponge, -0.346, 0.759, 6.169, 0, 0, 0, 92 [SEP] 4, ButterKnife, -0.413, 0.772, 0.451, 0, 0, 0, 52 [SEP] 5, ButterKnife, 0.123, 0.760, 6.107, 0, 135, 0, 92 [SEP] 6, Spoon, 0.124, 0.772, 0.451, 0, 0, 0, 53 [SEP] 7, Spoon, -0.617, 0.773, 0.395, 0, 0, 0, 52 [SEP] 8, Fork, -0.487, 0.760, 6.807, 0, 135, 0, 92 [SEP] 9, Plate, 1.225, 0.993, 0.213, 0, 0, 0, 56 [SEP] 10, Knife, 0.192, 0.801, 0.563, 0, 270, 0, 53 [SEP] 11, Knife, 0.923, 1.022, 0.212, 0, 0, 0, 56 [SEP] 12, SoapBottle, 0.301, 0.760, 6.674, 0, 315, 0, 92 [SEP] 13, SoapBottle, 1.367, 1.576, 4.633, 0, 90, 0, 60 [SEP] 14, Bowl, 0.305, 0.759, 6.479, 0, 270, 0, 92 [SEP] 15, SaltShaker, 1.445, 2.202, 3.654, 0, 0, 0, 47 [SEP] 16, SaltShaker, 0.058, 0.755, 6.261, 0, 135, 0, 92 [SEP] 17, Lettuce, -0.159, 0.848, 6.941, 0, 0, 0, 92 [SEP] 18, Mug, 1.332, 0.891, 2.525, 0, 270, 0, 79 [SEP] 19, Apple, 1.135, 1.067, 3.511, 0, 0, 0, 56 [SEP] 20, Apple, 0.015, 0.834, 6.742, 0, 225, 0, 92 [SEP] 21, Bowl, -0.483, 0.143, 0.506, 0, 0, 0, 64 [SEP] 22, Bread, -0.535, 1.062, 0.303, 0, 0, 0, 56 [SEP] 23, Egg, 1.403, 1.042, 3.417, 0, 0, 0, 56 [SEP] 24, Knife, 0.260, 0.801, 0.563, 0, 270, 0, 53 [SEP] 25, Fork, -0.034, 0.760, 6.632, 0, 0, 0, 92 [SEP] 26, Apple, -0.312, 0.834, 6.541, 0, 270, 0, 92 [SEP] 27, Kettle, 1.593, 0.981, 3.25, 0, 255.000, 0, 56 [SEP] 28, Plate, -0.013, 1.580, 0.251, 0, 0, 0, 69 [SEP] 29, SaltShaker, 1.135, 0.987, 4.579, 0, 0, 0, 57 [SEP] 30, Lettuce, 1.449, 0.932, 2.050, 0, 0, 0, 79 [SEP] 31, SoapBottle, -0.384, 0.992, 0.395, 0, 0, 0, 56 [SEP] 32, Spatula, -0.079, 0.786, 0.507, 0, 90, 0, 53 [SEP] 33, PaperTowelRoll, -0.467, 0.864, 6.291, 0, 270, 0, 92 [SEP] 34, Pot, 1.562, 0.988, 3.848, 0, 0, 0, 50 [SEP] 35, Potato, 1.493, 1.027, 2.950, 0, 0, 0, 56 [SEP] 36, ButterKnife, 1.284, 0.981, 1.339, 0, 14.185, 0, 56 [SEP] 37, PepperShaker, 0.150, 0.755, 6.416, 0, 270, 0, 92 [SEP] 38, Pan, 1.313, 0.985, 4.284, 0, 0, 0, 51 [SEP] 39, Tomato, -0.618, 0.809, 6.284, 0, 225, 0, 92 [SEP] 40, DishSponge, 1.135, 0.992, 4.670, 0, 0, 0, 57 [SEP] 41, Cup, 1.577, 2.203, 3.840, 0, 0, 0, 47 [SEP] 42, Spoon, 0.803, 0.773, 0.451, 0, 0, 0, 48 [SEP] 43, Mug, 0.064, 1.092, 0.180, 0, 90, 0, 72 [SEP] 44, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 45, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 46, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 47, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 48, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 49, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 50, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 51, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 52, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 53, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 54, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 55, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 56, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 57, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 58, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 59, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 60, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 61, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 62, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 63, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 64, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 65, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 66, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 67, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 68, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 69, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 70, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 71, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 72, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 73, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 74, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 75, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 76, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 77, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 78, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 79, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 80, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 81, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 82, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 83, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 84, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 85, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 86, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 87, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 88, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 89, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 90, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 91, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 92, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 93, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 94, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 95, NorthWall, , , , , , , [SEP] 96, EastWall, , , , , , , [SEP] 97, SouthWall, , , , , , , [SEP] 98, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk ahead, veering right to the stove. | STEP 2: Pick up the pan on the left side of the stove. | STEP 3: Take a few steps left. | STEP 4: Place the pan in the fridge and close the door. Wait a moment and take the pan back out. | STEP 5: Take a few steps back until you're facing the stove again. | STEP 6: Place the pan on the back left burner on the stove. | END"]} +{"id": "trial_T20190906_181023_216915-3", "input": "To place the pan in the fridge to go back on the stove top. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 0.5, 0, 90, 0, [SEP] 1, Potato, -0.467, 0.794, 6.604, 0, 270, 0, 92 [SEP] 2, DishSponge, 1.402, 2.206, 3.887, 0, 0, 0, 47 [SEP] 3, DishSponge, -0.346, 0.759, 6.169, 0, 0, 0, 92 [SEP] 4, ButterKnife, -0.413, 0.772, 0.451, 0, 0, 0, 52 [SEP] 5, ButterKnife, 0.123, 0.760, 6.107, 0, 135, 0, 92 [SEP] 6, Spoon, 0.124, 0.772, 0.451, 0, 0, 0, 53 [SEP] 7, Spoon, -0.617, 0.773, 0.395, 0, 0, 0, 52 [SEP] 8, Fork, -0.487, 0.760, 6.807, 0, 135, 0, 92 [SEP] 9, Plate, 1.225, 0.993, 0.213, 0, 0, 0, 56 [SEP] 10, Knife, 0.192, 0.801, 0.563, 0, 270, 0, 53 [SEP] 11, Knife, 0.923, 1.022, 0.212, 0, 0, 0, 56 [SEP] 12, SoapBottle, 0.301, 0.760, 6.674, 0, 315, 0, 92 [SEP] 13, SoapBottle, 1.367, 1.576, 4.633, 0, 90, 0, 60 [SEP] 14, Bowl, 0.305, 0.759, 6.479, 0, 270, 0, 92 [SEP] 15, SaltShaker, 1.445, 2.202, 3.654, 0, 0, 0, 47 [SEP] 16, SaltShaker, 0.058, 0.755, 6.261, 0, 135, 0, 92 [SEP] 17, Lettuce, -0.159, 0.848, 6.941, 0, 0, 0, 92 [SEP] 18, Mug, 1.332, 0.891, 2.525, 0, 270, 0, 79 [SEP] 19, Apple, 1.135, 1.067, 3.511, 0, 0, 0, 56 [SEP] 20, Apple, 0.015, 0.834, 6.742, 0, 225, 0, 92 [SEP] 21, Bowl, -0.483, 0.143, 0.506, 0, 0, 0, 64 [SEP] 22, Bread, -0.535, 1.062, 0.303, 0, 0, 0, 56 [SEP] 23, Egg, 1.403, 1.042, 3.417, 0, 0, 0, 56 [SEP] 24, Knife, 0.260, 0.801, 0.563, 0, 270, 0, 53 [SEP] 25, Fork, -0.034, 0.760, 6.632, 0, 0, 0, 92 [SEP] 26, Apple, -0.312, 0.834, 6.541, 0, 270, 0, 92 [SEP] 27, Kettle, 1.593, 0.981, 3.25, 0, 255.000, 0, 56 [SEP] 28, Plate, -0.013, 1.580, 0.251, 0, 0, 0, 69 [SEP] 29, SaltShaker, 1.135, 0.987, 4.579, 0, 0, 0, 57 [SEP] 30, Lettuce, 1.449, 0.932, 2.050, 0, 0, 0, 79 [SEP] 31, SoapBottle, -0.384, 0.992, 0.395, 0, 0, 0, 56 [SEP] 32, Spatula, -0.079, 0.786, 0.507, 0, 90, 0, 53 [SEP] 33, PaperTowelRoll, -0.467, 0.864, 6.291, 0, 270, 0, 92 [SEP] 34, Pot, 1.562, 0.988, 3.848, 0, 0, 0, 50 [SEP] 35, Potato, 1.493, 1.027, 2.950, 0, 0, 0, 56 [SEP] 36, ButterKnife, 1.284, 0.981, 1.339, 0, 14.185, 0, 56 [SEP] 37, PepperShaker, 0.150, 0.755, 6.416, 0, 270, 0, 92 [SEP] 38, Pan, 1.313, 0.985, 4.284, 0, 0, 0, 51 [SEP] 39, Tomato, -0.618, 0.809, 6.284, 0, 225, 0, 92 [SEP] 40, DishSponge, 1.135, 0.992, 4.670, 0, 0, 0, 57 [SEP] 41, Cup, 1.577, 2.203, 3.840, 0, 0, 0, 47 [SEP] 42, Spoon, 0.803, 0.773, 0.451, 0, 0, 0, 48 [SEP] 43, Mug, 0.064, 1.092, 0.180, 0, 90, 0, 72 [SEP] 44, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 45, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 46, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 47, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 48, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 49, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 50, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 51, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 52, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 53, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 54, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 55, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 56, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 57, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 58, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 59, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 60, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 61, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 62, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 63, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 64, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 65, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 66, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 67, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 68, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 69, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 70, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 71, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 72, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 73, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 74, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 75, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 76, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 77, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 78, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 79, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 80, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 81, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 82, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 83, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 84, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 85, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 86, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 87, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 88, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 89, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 90, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 91, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 92, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 93, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 94, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 95, NorthWall, , , , , , , [SEP] 96, EastWall, , , , , , , [SEP] 97, SouthWall, , , , , , , [SEP] 98, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk straight. Halfway turn right and go to the stove. | STEP 2: Pick up the frying pan on the stove. | STEP 3: Turn left, walk straight making a right to face the fridge. | STEP 4: Put the frying pan on the shelf in the fridge and shut the door. After a few seconds take the pan back out. | STEP 5: Turn around to take a step towards the table and turn left. Walk to the stove and turn left to face it. | STEP 6: Place the frying pan on the back burner. | END"]} +{"id": "trial_T20190906_181023_216915-4", "input": "Put a cooled down pan onto the back of the stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 0.5, 0, 90, 0, [SEP] 1, Potato, -0.467, 0.794, 6.604, 0, 270, 0, 92 [SEP] 2, DishSponge, 1.402, 2.206, 3.887, 0, 0, 0, 47 [SEP] 3, DishSponge, -0.346, 0.759, 6.169, 0, 0, 0, 92 [SEP] 4, ButterKnife, -0.413, 0.772, 0.451, 0, 0, 0, 52 [SEP] 5, ButterKnife, 0.123, 0.760, 6.107, 0, 135, 0, 92 [SEP] 6, Spoon, 0.124, 0.772, 0.451, 0, 0, 0, 53 [SEP] 7, Spoon, -0.617, 0.773, 0.395, 0, 0, 0, 52 [SEP] 8, Fork, -0.487, 0.760, 6.807, 0, 135, 0, 92 [SEP] 9, Plate, 1.225, 0.993, 0.213, 0, 0, 0, 56 [SEP] 10, Knife, 0.192, 0.801, 0.563, 0, 270, 0, 53 [SEP] 11, Knife, 0.923, 1.022, 0.212, 0, 0, 0, 56 [SEP] 12, SoapBottle, 0.301, 0.760, 6.674, 0, 315, 0, 92 [SEP] 13, SoapBottle, 1.367, 1.576, 4.633, 0, 90, 0, 60 [SEP] 14, Bowl, 0.305, 0.759, 6.479, 0, 270, 0, 92 [SEP] 15, SaltShaker, 1.445, 2.202, 3.654, 0, 0, 0, 47 [SEP] 16, SaltShaker, 0.058, 0.755, 6.261, 0, 135, 0, 92 [SEP] 17, Lettuce, -0.159, 0.848, 6.941, 0, 0, 0, 92 [SEP] 18, Mug, 1.332, 0.891, 2.525, 0, 270, 0, 79 [SEP] 19, Apple, 1.135, 1.067, 3.511, 0, 0, 0, 56 [SEP] 20, Apple, 0.015, 0.834, 6.742, 0, 225, 0, 92 [SEP] 21, Bowl, -0.483, 0.143, 0.506, 0, 0, 0, 64 [SEP] 22, Bread, -0.535, 1.062, 0.303, 0, 0, 0, 56 [SEP] 23, Egg, 1.403, 1.042, 3.417, 0, 0, 0, 56 [SEP] 24, Knife, 0.260, 0.801, 0.563, 0, 270, 0, 53 [SEP] 25, Fork, -0.034, 0.760, 6.632, 0, 0, 0, 92 [SEP] 26, Apple, -0.312, 0.834, 6.541, 0, 270, 0, 92 [SEP] 27, Kettle, 1.593, 0.981, 3.25, 0, 255.000, 0, 56 [SEP] 28, Plate, -0.013, 1.580, 0.251, 0, 0, 0, 69 [SEP] 29, SaltShaker, 1.135, 0.987, 4.579, 0, 0, 0, 57 [SEP] 30, Lettuce, 1.449, 0.932, 2.050, 0, 0, 0, 79 [SEP] 31, SoapBottle, -0.384, 0.992, 0.395, 0, 0, 0, 56 [SEP] 32, Spatula, -0.079, 0.786, 0.507, 0, 90, 0, 53 [SEP] 33, PaperTowelRoll, -0.467, 0.864, 6.291, 0, 270, 0, 92 [SEP] 34, Pot, 1.562, 0.988, 3.848, 0, 0, 0, 50 [SEP] 35, Potato, 1.493, 1.027, 2.950, 0, 0, 0, 56 [SEP] 36, ButterKnife, 1.284, 0.981, 1.339, 0, 14.185, 0, 56 [SEP] 37, PepperShaker, 0.150, 0.755, 6.416, 0, 270, 0, 92 [SEP] 38, Pan, 1.313, 0.985, 4.284, 0, 0, 0, 51 [SEP] 39, Tomato, -0.618, 0.809, 6.284, 0, 225, 0, 92 [SEP] 40, DishSponge, 1.135, 0.992, 4.670, 0, 0, 0, 57 [SEP] 41, Cup, 1.577, 2.203, 3.840, 0, 0, 0, 47 [SEP] 42, Spoon, 0.803, 0.773, 0.451, 0, 0, 0, 48 [SEP] 43, Mug, 0.064, 1.092, 0.180, 0, 90, 0, 72 [SEP] 44, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 45, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 46, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 47, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 48, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 49, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 50, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 51, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 52, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 53, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 54, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 55, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 56, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 57, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 58, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 59, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 60, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 61, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 62, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 63, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 64, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 65, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 66, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 67, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 68, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 69, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 70, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 71, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 72, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 73, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 74, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 75, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 76, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 77, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 78, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 79, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 80, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 81, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 82, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 83, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 84, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 85, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 86, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 87, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 88, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 89, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 90, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 91, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 92, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 93, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 94, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 95, NorthWall, , , , , , , [SEP] 96, EastWall, , , , , , , [SEP] 97, SouthWall, , , , , , , [SEP] 98, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk over to the stove. | STEP 2: Pick up the pan on the left side of the stove. | STEP 3: Turn around and walk to the refrigerator. | STEP 4: Open the refrigerator and put the pan inside then close the door. Wait a few seconds then open the door and take the pan out. Close the door. | STEP 5: Walk back over to the stove. | STEP 6: Put the pan onto the back of the stove. | END"]} +{"id": "trial_T20190906_181023_216915-5", "input": "place a cold pan on the gas SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 0.5, 0, 90, 0, [SEP] 1, Potato, -0.467, 0.794, 6.604, 0, 270, 0, 92 [SEP] 2, DishSponge, 1.402, 2.206, 3.887, 0, 0, 0, 47 [SEP] 3, DishSponge, -0.346, 0.759, 6.169, 0, 0, 0, 92 [SEP] 4, ButterKnife, -0.413, 0.772, 0.451, 0, 0, 0, 52 [SEP] 5, ButterKnife, 0.123, 0.760, 6.107, 0, 135, 0, 92 [SEP] 6, Spoon, 0.124, 0.772, 0.451, 0, 0, 0, 53 [SEP] 7, Spoon, -0.617, 0.773, 0.395, 0, 0, 0, 52 [SEP] 8, Fork, -0.487, 0.760, 6.807, 0, 135, 0, 92 [SEP] 9, Plate, 1.225, 0.993, 0.213, 0, 0, 0, 56 [SEP] 10, Knife, 0.192, 0.801, 0.563, 0, 270, 0, 53 [SEP] 11, Knife, 0.923, 1.022, 0.212, 0, 0, 0, 56 [SEP] 12, SoapBottle, 0.301, 0.760, 6.674, 0, 315, 0, 92 [SEP] 13, SoapBottle, 1.367, 1.576, 4.633, 0, 90, 0, 60 [SEP] 14, Bowl, 0.305, 0.759, 6.479, 0, 270, 0, 92 [SEP] 15, SaltShaker, 1.445, 2.202, 3.654, 0, 0, 0, 47 [SEP] 16, SaltShaker, 0.058, 0.755, 6.261, 0, 135, 0, 92 [SEP] 17, Lettuce, -0.159, 0.848, 6.941, 0, 0, 0, 92 [SEP] 18, Mug, 1.332, 0.891, 2.525, 0, 270, 0, 79 [SEP] 19, Apple, 1.135, 1.067, 3.511, 0, 0, 0, 56 [SEP] 20, Apple, 0.015, 0.834, 6.742, 0, 225, 0, 92 [SEP] 21, Bowl, -0.483, 0.143, 0.506, 0, 0, 0, 64 [SEP] 22, Bread, -0.535, 1.062, 0.303, 0, 0, 0, 56 [SEP] 23, Egg, 1.403, 1.042, 3.417, 0, 0, 0, 56 [SEP] 24, Knife, 0.260, 0.801, 0.563, 0, 270, 0, 53 [SEP] 25, Fork, -0.034, 0.760, 6.632, 0, 0, 0, 92 [SEP] 26, Apple, -0.312, 0.834, 6.541, 0, 270, 0, 92 [SEP] 27, Kettle, 1.593, 0.981, 3.25, 0, 255.000, 0, 56 [SEP] 28, Plate, -0.013, 1.580, 0.251, 0, 0, 0, 69 [SEP] 29, SaltShaker, 1.135, 0.987, 4.579, 0, 0, 0, 57 [SEP] 30, Lettuce, 1.449, 0.932, 2.050, 0, 0, 0, 79 [SEP] 31, SoapBottle, -0.384, 0.992, 0.395, 0, 0, 0, 56 [SEP] 32, Spatula, -0.079, 0.786, 0.507, 0, 90, 0, 53 [SEP] 33, PaperTowelRoll, -0.467, 0.864, 6.291, 0, 270, 0, 92 [SEP] 34, Pot, 1.562, 0.988, 3.848, 0, 0, 0, 50 [SEP] 35, Potato, 1.493, 1.027, 2.950, 0, 0, 0, 56 [SEP] 36, ButterKnife, 1.284, 0.981, 1.339, 0, 14.185, 0, 56 [SEP] 37, PepperShaker, 0.150, 0.755, 6.416, 0, 270, 0, 92 [SEP] 38, Pan, 1.313, 0.985, 4.284, 0, 0, 0, 51 [SEP] 39, Tomato, -0.618, 0.809, 6.284, 0, 225, 0, 92 [SEP] 40, DishSponge, 1.135, 0.992, 4.670, 0, 0, 0, 57 [SEP] 41, Cup, 1.577, 2.203, 3.840, 0, 0, 0, 47 [SEP] 42, Spoon, 0.803, 0.773, 0.451, 0, 0, 0, 48 [SEP] 43, Mug, 0.064, 1.092, 0.180, 0, 90, 0, 72 [SEP] 44, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 45, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 46, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 47, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 48, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 49, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 50, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 51, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 52, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 53, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 54, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 55, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 56, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 57, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 58, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 59, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 60, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 61, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 62, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 63, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 64, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 65, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 66, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 67, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 68, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 69, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 70, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 71, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 72, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 73, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 74, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 75, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 76, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 77, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 78, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 79, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 80, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 81, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 82, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 83, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 84, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 85, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 86, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 87, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 88, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 89, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 90, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 91, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 92, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 93, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 94, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 95, NorthWall, , , , , , , [SEP] 96, EastWall, , , , , , , [SEP] 97, SouthWall, , , , , , , [SEP] 98, WestWall, , , , , , , ", "output": ["STEP 1: move left towards the gas | STEP 2: pick up the pan from the gas | STEP 3: move left towards the fridge | STEP 4: place the pan in the fridge to cool and then take it out | STEP 5: turn right and head for the gas | STEP 6: place the pan on the gas | END"]} +{"id": "trial_T20190909_010644_297017-0", "input": "Put the credit card in the drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.927, 1.25, 0, 180, 0, [SEP] 1, Plate, -0.904, 0.492, 0.264, 0, 90, 0, 51 [SEP] 2, Plate, -4.437, 0.492, 0.264, 0, 90, 0, 51 [SEP] 3, Newspaper, -2.531, 0.299, 1.771, 0, 270, 0, 80 [SEP] 4, KeyChain, -5.694, 0.643, 2.212, 0, 0, 0, 76 [SEP] 5, RemoteControl, -2.925, 0.278, 3.381, 0, 0, 0, 77 [SEP] 6, RemoteControl, -3.934, 0.278, 3.591, 0, 0, 0, 77 [SEP] 7, Box, -5.694, 0.823, 3.617, 0, 180, 0, 76 [SEP] 8, Laptop, -2.665, 0.298, 2.225, 0, 270, 0, 80 [SEP] 9, Pillow, -2.723, 0.332, 3.521, 0, 0, 0, 77 [SEP] 10, Box, -5.939, 0.823, 2.564, 0, 0, 0, 76 [SEP] 11, Statue, -6.062, 0.647, 2.915, 0, 0, 0, 76 [SEP] 12, KeyChain, -1.085, 0.271, 2.238, 0, 270, 0, 78 [SEP] 13, Vase, -1.701, 0.930, 0.179, 0, 0, 0, 31 [SEP] 14, Vase, -0.764, 0.940, 0.203, 0, 0, 0, 48 [SEP] 15, Vase, -5.939, 0.646, 1.861, 0, 0, 0, 76 [SEP] 16, Newspaper, -5.939, 0.641, 3.617, 0, 0, 0, 76 [SEP] 17, CreditCard, -6.185, 0.641, 3.617, 0, 0, 0, 76 [SEP] 18, RemoteControl, -2.863, 0.167, 0.282, 0, 0, 0, 52 [SEP] 19, Laptop, -5.571, 0.639, 3.266, 0, 0, 0, 76 [SEP] 20, Pillow, -1.515, 0.438, 3.319, 0, 300.000, 90, 79 [SEP] 21, Vase, -5.713, 0.386, 5.136, 0, 0, 0, 39 [SEP] 22, Statue, -5.817, 0.651, 1.510, 0, 0, 0, 76 [SEP] 23, Vase, -1.352, 1.258, 0.228, 0, 0, 0, 55 [SEP] 24, Plate, -6.062, 0.648, 3.266, 0, 0, 0, 76 [SEP] 25, Vase, -4.958, 0.940, 5.201, 0, 0, 0, 45 [SEP] 26, Statue, -5.033, 1.566, 5.212, 0, 180, 0, 58 [SEP] 27, Statue, -0.812, 1.565, 0.209, 0, 0, 0, 50 [SEP] 28, Statue, -5.694, 0.651, 1.861, 0, 0, 0, 76 [SEP] 29, Statue, -3.174, 1.105, 5.193, 0, 0, 0, 59 [SEP] 30, Statue, -5.865, 0.634, 2.786, 0, 65.579, 0, 76 [SEP] 31, Shelf, -1.776, 0.988, 0.184, 0, 180, 0, [SEP] 32, Chair, -5.413, 0.024, 1.780, 0, 0, 0, [SEP] 33, Cabinet, -5.365, 1.170, 5.031, 0, 0, 0, [SEP] 34, Chair, -5.388, 0.024, 3.369, 0, 355.695, 0, [SEP] 35, Chair, -6.211, 0.024, 2.517, 0, 172.601, 0, [SEP] 36, Shelf, -3.937, 0.988, 5.170, 0, 0, 0, [SEP] 37, Shelf, -6.572, 1.144, 5.170, 0, 0, 0, [SEP] 38, Cabinet, -4.181, 1.873, 5.029, 0, 0, 0, [SEP] 39, Shelf, -5.606, 0.444, 5.170, 0, 0, 0, [SEP] 40, Drawer, -6.324, 0.823, 5.001, 0, 0, 0, [SEP] 41, Cabinet, -2.017, 1.714, 0.323, 0, 180, 0, [SEP] 42, Cabinet, -2.465, 1.329, 5.029, 0, 0, 0, [SEP] 43, Drawer, -1.093, 0.233, 0.462, 0, 0, 0, [SEP] 44, Shelf, -4.672, 1.317, 5.170, 0, 0, 0, [SEP] 45, Shelf, -4.672, 0.998, 5.170, 0, 0, 0, [SEP] 46, Shelf, -2.221, 0.444, 5.170, 0, 0, 0, [SEP] 47, Drawer, -6.324, 0.508, 5.001, 0, 0, 0, [SEP] 48, Shelf, -1.041, 0.998, 0.184, 0, 180, 0, [SEP] 49, Drawer, -4.264, 0.233, 0.462, 0, 0, 0, [SEP] 50, Shelf, -0.810, 1.688, 0.185, 0, 180, 0, [SEP] 51, Shelf, -2.671, 0.610, 0.272, 0, 90, 0, [SEP] 52, Drawer, -2.681, 0.233, 0.462, 0, 0, 0, [SEP] 53, Drawer, -2.940, 0.508, 5.001, 0, 0, 0, [SEP] 54, Cabinet, -3.696, 1.714, 5.031, 0, 0, 0, [SEP] 55, Shelf, -1.041, 1.317, 0.184, 0, 180, 0, [SEP] 56, Cabinet, -1.532, 1.873, 0.325, 0, 180, 0, [SEP] 57, Chair, -5.382, 0.024, 2.695, 0, 6.230, 0, [SEP] 58, Shelf, -4.903, 1.688, 5.170, 0, 0, 0, [SEP] 59, Shelf, -3.187, 1.144, 5.170, 0, 0, 0, [SEP] 60, Drawer, -2.940, 0.823, 5.001, 0, 0, 0, [SEP] 61, Chair, -6.252, 0.024, 3.427, 0, 195.000, 0, [SEP] 62, Cabinet, -5.850, 1.329, 5.029, 0, 0, 0, [SEP] 63, Cabinet, -1.980, 1.170, 5.031, 0, 0, 0, [SEP] 64, Chair, -6.296, 0.024, 1.672, 0, 180, 0, [SEP] 65, FloorLamp, -0.369, 0.016, 4.992, 0, 59.992, 0, [SEP] 66, GarbageCan, -6.846, 0.024, 0.258, 0, 91.057, 0, [SEP] 67, Television, -3.503, 1.506, 0.001, 0, 0, 0, [SEP] 68, LightSwitch, 0.0, 1.184, 4.410, 0, 270, 0, [SEP] 69, HousePlant, -1.105, 0.315, 2.740, 0, 0, 0, [SEP] 70, Painting, -5.769, 1.394, -0.026, 90, 180, 0, [SEP] 71, Window, 0.001, 1.246, 2.471, 90, 270, 0, [SEP] 72, Window, 0.001, 1.246, 3.558, 90, 270, 0, [SEP] 73, Window, 0.001, 1.246, 1.368, 90, 270, 0, [SEP] 74, Painting, -0.967, 1.396, 5.268, 90, 180, 0, [SEP] 75, CoffeeTable, -3.002, 0.028, 1.726, 0, 0, 0, [SEP] 76, DiningTable, -5.816, 0.025, 2.563, 0, 270, 0, [SEP] 77, Sofa, -3.328, 0.023, 3.632, 0, 180, 0, [SEP] 78, ArmChair, -1.012, 0.028, 2.084, 0, 270, 0, [SEP] 79, ArmChair, -1.577, 0.028, 3.295, 0, 210.000, 0, [SEP] 80, CoffeeTable, -2.667, 0.025, 1.999, 0, 5.810, 0, [SEP] 81, NorthWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , [SEP] 84, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and go forward to the wall, then turn right and go to the end of the table, then turn right to face the table. | STEP 2: Pick up the credit card on the table. | STEP 3: Turn left and go to the wall, then turn right and go straight, then turn around to face the drawer. | STEP 4: Open the top drawer and put the credit card inside. | END"]} +{"id": "trial_T20190909_010644_297017-1", "input": "Place a credit card into a drawer SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.927, 1.25, 0, 180, 0, [SEP] 1, Plate, -0.904, 0.492, 0.264, 0, 90, 0, 51 [SEP] 2, Plate, -4.437, 0.492, 0.264, 0, 90, 0, 51 [SEP] 3, Newspaper, -2.531, 0.299, 1.771, 0, 270, 0, 80 [SEP] 4, KeyChain, -5.694, 0.643, 2.212, 0, 0, 0, 76 [SEP] 5, RemoteControl, -2.925, 0.278, 3.381, 0, 0, 0, 77 [SEP] 6, RemoteControl, -3.934, 0.278, 3.591, 0, 0, 0, 77 [SEP] 7, Box, -5.694, 0.823, 3.617, 0, 180, 0, 76 [SEP] 8, Laptop, -2.665, 0.298, 2.225, 0, 270, 0, 80 [SEP] 9, Pillow, -2.723, 0.332, 3.521, 0, 0, 0, 77 [SEP] 10, Box, -5.939, 0.823, 2.564, 0, 0, 0, 76 [SEP] 11, Statue, -6.062, 0.647, 2.915, 0, 0, 0, 76 [SEP] 12, KeyChain, -1.085, 0.271, 2.238, 0, 270, 0, 78 [SEP] 13, Vase, -1.701, 0.930, 0.179, 0, 0, 0, 31 [SEP] 14, Vase, -0.764, 0.940, 0.203, 0, 0, 0, 48 [SEP] 15, Vase, -5.939, 0.646, 1.861, 0, 0, 0, 76 [SEP] 16, Newspaper, -5.939, 0.641, 3.617, 0, 0, 0, 76 [SEP] 17, CreditCard, -6.185, 0.641, 3.617, 0, 0, 0, 76 [SEP] 18, RemoteControl, -2.863, 0.167, 0.282, 0, 0, 0, 52 [SEP] 19, Laptop, -5.571, 0.639, 3.266, 0, 0, 0, 76 [SEP] 20, Pillow, -1.515, 0.438, 3.319, 0, 300.000, 90, 79 [SEP] 21, Vase, -5.713, 0.386, 5.136, 0, 0, 0, 39 [SEP] 22, Statue, -5.817, 0.651, 1.510, 0, 0, 0, 76 [SEP] 23, Vase, -1.352, 1.258, 0.228, 0, 0, 0, 55 [SEP] 24, Plate, -6.062, 0.648, 3.266, 0, 0, 0, 76 [SEP] 25, Vase, -4.958, 0.940, 5.201, 0, 0, 0, 45 [SEP] 26, Statue, -5.033, 1.566, 5.212, 0, 180, 0, 58 [SEP] 27, Statue, -0.812, 1.565, 0.209, 0, 0, 0, 50 [SEP] 28, Statue, -5.694, 0.651, 1.861, 0, 0, 0, 76 [SEP] 29, Statue, -3.174, 1.105, 5.193, 0, 0, 0, 59 [SEP] 30, Statue, -5.865, 0.634, 2.786, 0, 65.579, 0, 76 [SEP] 31, Shelf, -1.776, 0.988, 0.184, 0, 180, 0, [SEP] 32, Chair, -5.413, 0.024, 1.780, 0, 0, 0, [SEP] 33, Cabinet, -5.365, 1.170, 5.031, 0, 0, 0, [SEP] 34, Chair, -5.388, 0.024, 3.369, 0, 355.695, 0, [SEP] 35, Chair, -6.211, 0.024, 2.517, 0, 172.601, 0, [SEP] 36, Shelf, -3.937, 0.988, 5.170, 0, 0, 0, [SEP] 37, Shelf, -6.572, 1.144, 5.170, 0, 0, 0, [SEP] 38, Cabinet, -4.181, 1.873, 5.029, 0, 0, 0, [SEP] 39, Shelf, -5.606, 0.444, 5.170, 0, 0, 0, [SEP] 40, Drawer, -6.324, 0.823, 5.001, 0, 0, 0, [SEP] 41, Cabinet, -2.017, 1.714, 0.323, 0, 180, 0, [SEP] 42, Cabinet, -2.465, 1.329, 5.029, 0, 0, 0, [SEP] 43, Drawer, -1.093, 0.233, 0.462, 0, 0, 0, [SEP] 44, Shelf, -4.672, 1.317, 5.170, 0, 0, 0, [SEP] 45, Shelf, -4.672, 0.998, 5.170, 0, 0, 0, [SEP] 46, Shelf, -2.221, 0.444, 5.170, 0, 0, 0, [SEP] 47, Drawer, -6.324, 0.508, 5.001, 0, 0, 0, [SEP] 48, Shelf, -1.041, 0.998, 0.184, 0, 180, 0, [SEP] 49, Drawer, -4.264, 0.233, 0.462, 0, 0, 0, [SEP] 50, Shelf, -0.810, 1.688, 0.185, 0, 180, 0, [SEP] 51, Shelf, -2.671, 0.610, 0.272, 0, 90, 0, [SEP] 52, Drawer, -2.681, 0.233, 0.462, 0, 0, 0, [SEP] 53, Drawer, -2.940, 0.508, 5.001, 0, 0, 0, [SEP] 54, Cabinet, -3.696, 1.714, 5.031, 0, 0, 0, [SEP] 55, Shelf, -1.041, 1.317, 0.184, 0, 180, 0, [SEP] 56, Cabinet, -1.532, 1.873, 0.325, 0, 180, 0, [SEP] 57, Chair, -5.382, 0.024, 2.695, 0, 6.230, 0, [SEP] 58, Shelf, -4.903, 1.688, 5.170, 0, 0, 0, [SEP] 59, Shelf, -3.187, 1.144, 5.170, 0, 0, 0, [SEP] 60, Drawer, -2.940, 0.823, 5.001, 0, 0, 0, [SEP] 61, Chair, -6.252, 0.024, 3.427, 0, 195.000, 0, [SEP] 62, Cabinet, -5.850, 1.329, 5.029, 0, 0, 0, [SEP] 63, Cabinet, -1.980, 1.170, 5.031, 0, 0, 0, [SEP] 64, Chair, -6.296, 0.024, 1.672, 0, 180, 0, [SEP] 65, FloorLamp, -0.369, 0.016, 4.992, 0, 59.992, 0, [SEP] 66, GarbageCan, -6.846, 0.024, 0.258, 0, 91.057, 0, [SEP] 67, Television, -3.503, 1.506, 0.001, 0, 0, 0, [SEP] 68, LightSwitch, 0.0, 1.184, 4.410, 0, 270, 0, [SEP] 69, HousePlant, -1.105, 0.315, 2.740, 0, 0, 0, [SEP] 70, Painting, -5.769, 1.394, -0.026, 90, 180, 0, [SEP] 71, Window, 0.001, 1.246, 2.471, 90, 270, 0, [SEP] 72, Window, 0.001, 1.246, 3.558, 90, 270, 0, [SEP] 73, Window, 0.001, 1.246, 1.368, 90, 270, 0, [SEP] 74, Painting, -0.967, 1.396, 5.268, 90, 180, 0, [SEP] 75, CoffeeTable, -3.002, 0.028, 1.726, 0, 0, 0, [SEP] 76, DiningTable, -5.816, 0.025, 2.563, 0, 270, 0, [SEP] 77, Sofa, -3.328, 0.023, 3.632, 0, 180, 0, [SEP] 78, ArmChair, -1.012, 0.028, 2.084, 0, 270, 0, [SEP] 79, ArmChair, -1.577, 0.028, 3.295, 0, 210.000, 0, [SEP] 80, CoffeeTable, -2.667, 0.025, 1.999, 0, 5.810, 0, [SEP] 81, NorthWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , [SEP] 84, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right and cross the room, turn right and walk to the end of the table on your right. | STEP 2: Pick up the blue credit card that is sitting on the table in front of the newspaper | STEP 3: Turn left and walk to the drawers and shelves that are built into the wall | STEP 4: Open the top drawer, the one that is directly below the black empty shelf space, and place the credit card inside then close the door | END"]} +{"id": "trial_T20190909_010644_297017-2", "input": "Move a credit card from a dining table to a drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.927, 1.25, 0, 180, 0, [SEP] 1, Plate, -0.904, 0.492, 0.264, 0, 90, 0, 51 [SEP] 2, Plate, -4.437, 0.492, 0.264, 0, 90, 0, 51 [SEP] 3, Newspaper, -2.531, 0.299, 1.771, 0, 270, 0, 80 [SEP] 4, KeyChain, -5.694, 0.643, 2.212, 0, 0, 0, 76 [SEP] 5, RemoteControl, -2.925, 0.278, 3.381, 0, 0, 0, 77 [SEP] 6, RemoteControl, -3.934, 0.278, 3.591, 0, 0, 0, 77 [SEP] 7, Box, -5.694, 0.823, 3.617, 0, 180, 0, 76 [SEP] 8, Laptop, -2.665, 0.298, 2.225, 0, 270, 0, 80 [SEP] 9, Pillow, -2.723, 0.332, 3.521, 0, 0, 0, 77 [SEP] 10, Box, -5.939, 0.823, 2.564, 0, 0, 0, 76 [SEP] 11, Statue, -6.062, 0.647, 2.915, 0, 0, 0, 76 [SEP] 12, KeyChain, -1.085, 0.271, 2.238, 0, 270, 0, 78 [SEP] 13, Vase, -1.701, 0.930, 0.179, 0, 0, 0, 31 [SEP] 14, Vase, -0.764, 0.940, 0.203, 0, 0, 0, 48 [SEP] 15, Vase, -5.939, 0.646, 1.861, 0, 0, 0, 76 [SEP] 16, Newspaper, -5.939, 0.641, 3.617, 0, 0, 0, 76 [SEP] 17, CreditCard, -6.185, 0.641, 3.617, 0, 0, 0, 76 [SEP] 18, RemoteControl, -2.863, 0.167, 0.282, 0, 0, 0, 52 [SEP] 19, Laptop, -5.571, 0.639, 3.266, 0, 0, 0, 76 [SEP] 20, Pillow, -1.515, 0.438, 3.319, 0, 300.000, 90, 79 [SEP] 21, Vase, -5.713, 0.386, 5.136, 0, 0, 0, 39 [SEP] 22, Statue, -5.817, 0.651, 1.510, 0, 0, 0, 76 [SEP] 23, Vase, -1.352, 1.258, 0.228, 0, 0, 0, 55 [SEP] 24, Plate, -6.062, 0.648, 3.266, 0, 0, 0, 76 [SEP] 25, Vase, -4.958, 0.940, 5.201, 0, 0, 0, 45 [SEP] 26, Statue, -5.033, 1.566, 5.212, 0, 180, 0, 58 [SEP] 27, Statue, -0.812, 1.565, 0.209, 0, 0, 0, 50 [SEP] 28, Statue, -5.694, 0.651, 1.861, 0, 0, 0, 76 [SEP] 29, Statue, -3.174, 1.105, 5.193, 0, 0, 0, 59 [SEP] 30, Statue, -5.865, 0.634, 2.786, 0, 65.579, 0, 76 [SEP] 31, Shelf, -1.776, 0.988, 0.184, 0, 180, 0, [SEP] 32, Chair, -5.413, 0.024, 1.780, 0, 0, 0, [SEP] 33, Cabinet, -5.365, 1.170, 5.031, 0, 0, 0, [SEP] 34, Chair, -5.388, 0.024, 3.369, 0, 355.695, 0, [SEP] 35, Chair, -6.211, 0.024, 2.517, 0, 172.601, 0, [SEP] 36, Shelf, -3.937, 0.988, 5.170, 0, 0, 0, [SEP] 37, Shelf, -6.572, 1.144, 5.170, 0, 0, 0, [SEP] 38, Cabinet, -4.181, 1.873, 5.029, 0, 0, 0, [SEP] 39, Shelf, -5.606, 0.444, 5.170, 0, 0, 0, [SEP] 40, Drawer, -6.324, 0.823, 5.001, 0, 0, 0, [SEP] 41, Cabinet, -2.017, 1.714, 0.323, 0, 180, 0, [SEP] 42, Cabinet, -2.465, 1.329, 5.029, 0, 0, 0, [SEP] 43, Drawer, -1.093, 0.233, 0.462, 0, 0, 0, [SEP] 44, Shelf, -4.672, 1.317, 5.170, 0, 0, 0, [SEP] 45, Shelf, -4.672, 0.998, 5.170, 0, 0, 0, [SEP] 46, Shelf, -2.221, 0.444, 5.170, 0, 0, 0, [SEP] 47, Drawer, -6.324, 0.508, 5.001, 0, 0, 0, [SEP] 48, Shelf, -1.041, 0.998, 0.184, 0, 180, 0, [SEP] 49, Drawer, -4.264, 0.233, 0.462, 0, 0, 0, [SEP] 50, Shelf, -0.810, 1.688, 0.185, 0, 180, 0, [SEP] 51, Shelf, -2.671, 0.610, 0.272, 0, 90, 0, [SEP] 52, Drawer, -2.681, 0.233, 0.462, 0, 0, 0, [SEP] 53, Drawer, -2.940, 0.508, 5.001, 0, 0, 0, [SEP] 54, Cabinet, -3.696, 1.714, 5.031, 0, 0, 0, [SEP] 55, Shelf, -1.041, 1.317, 0.184, 0, 180, 0, [SEP] 56, Cabinet, -1.532, 1.873, 0.325, 0, 180, 0, [SEP] 57, Chair, -5.382, 0.024, 2.695, 0, 6.230, 0, [SEP] 58, Shelf, -4.903, 1.688, 5.170, 0, 0, 0, [SEP] 59, Shelf, -3.187, 1.144, 5.170, 0, 0, 0, [SEP] 60, Drawer, -2.940, 0.823, 5.001, 0, 0, 0, [SEP] 61, Chair, -6.252, 0.024, 3.427, 0, 195.000, 0, [SEP] 62, Cabinet, -5.850, 1.329, 5.029, 0, 0, 0, [SEP] 63, Cabinet, -1.980, 1.170, 5.031, 0, 0, 0, [SEP] 64, Chair, -6.296, 0.024, 1.672, 0, 180, 0, [SEP] 65, FloorLamp, -0.369, 0.016, 4.992, 0, 59.992, 0, [SEP] 66, GarbageCan, -6.846, 0.024, 0.258, 0, 91.057, 0, [SEP] 67, Television, -3.503, 1.506, 0.001, 0, 0, 0, [SEP] 68, LightSwitch, 0.0, 1.184, 4.410, 0, 270, 0, [SEP] 69, HousePlant, -1.105, 0.315, 2.740, 0, 0, 0, [SEP] 70, Painting, -5.769, 1.394, -0.026, 90, 180, 0, [SEP] 71, Window, 0.001, 1.246, 2.471, 90, 270, 0, [SEP] 72, Window, 0.001, 1.246, 3.558, 90, 270, 0, [SEP] 73, Window, 0.001, 1.246, 1.368, 90, 270, 0, [SEP] 74, Painting, -0.967, 1.396, 5.268, 90, 180, 0, [SEP] 75, CoffeeTable, -3.002, 0.028, 1.726, 0, 0, 0, [SEP] 76, DiningTable, -5.816, 0.025, 2.563, 0, 270, 0, [SEP] 77, Sofa, -3.328, 0.023, 3.632, 0, 180, 0, [SEP] 78, ArmChair, -1.012, 0.028, 2.084, 0, 270, 0, [SEP] 79, ArmChair, -1.577, 0.028, 3.295, 0, 210.000, 0, [SEP] 80, CoffeeTable, -2.667, 0.025, 1.999, 0, 5.810, 0, [SEP] 81, NorthWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , [SEP] 84, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, walk forward all the way across the room to the wall, then turn right and walk to the credit card on the dining table. | STEP 2: Pick up the credit card from the dining table. | STEP 3: Turn left and walk to the wall, then turn right and walk slightly forward and turn around towards the drawers in the wall. | STEP 4: Put the credit card in the top drawer and then close the drawer. | END"]} +{"id": "trial_T20190909_120047_968274-0", "input": "Place a cell phone on a chair. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.901, -0.5, 0, 90, 0, [SEP] 1, Mug, -0.692, 0.675, 1.245, 0, 90, 0, 39 [SEP] 2, Mug, -0.745, 0.063, 2.452, 0, 0, 0, 38 [SEP] 3, CD, -0.855, 0.668, 2.988, 0, 90, 0, 49 [SEP] 4, CD, 1.768, 0.521, -0.685, 0, 90, 0, 61 [SEP] 5, CellPhone, -0.386, 0.671, 2.988, 0, 90, 0, 49 [SEP] 6, CellPhone, -0.607, 0.418, -1.486, 0, 0, 0, 56 [SEP] 7, Pencil, 2.100, 0.730, 0.236, 0, 270, 0, 63 [SEP] 8, Pencil, -0.949, 0.672, 2.988, 0, 90, 0, 49 [SEP] 9, CreditCard, 1.608, 0.522, -0.408, 0, 90, 0, 62 [SEP] 10, CreditCard, 1.926, 0.442, 1.883, 0, 180, 0, 66 [SEP] 11, KeyChain, 1.502, 0.522, -0.501, 0, 180, 0, 62 [SEP] 12, Book, -0.867, 1.504, -0.942, 0, 0, 0, 53 [SEP] 13, Book, 2.003, 0.729, -0.256, 0, 270, 0, 63 [SEP] 14, Laptop, -1.002, 1.498, -0.496, 0, 0, 0, 53 [SEP] 15, AlarmClock, -0.949, 0.669, 3.162, 0, 90, 0, 49 [SEP] 16, AlarmClock, -0.761, 0.669, 3.249, 0, 90, 0, 49 [SEP] 17, Book, 1.905, 0.730, -0.748, 0, 270, 0, 63 [SEP] 18, Box, -0.493, 0.2, -0.286, 0, 84.024, 0, [SEP] 19, TennisRacket, -1.345, 0.288, 0.233, 30.000, 270, 180, [SEP] 20, Pen, 2.011, 0.074, -1.190, 0, 270, 0, 33 [SEP] 21, AlarmClock, -0.626, 0.979, -1.228, 0, 0, 0, 54 [SEP] 22, Pillow, -0.63, 1.871, 3.047, 0, 0, 0, 58 [SEP] 23, Pillow, -0.829, 1.549, -1.533, 0, 0, 0, 53 [SEP] 24, CellPhone, -0.596, 1.502, -0.496, 0, 0, 0, 53 [SEP] 25, KeyChain, -0.655, 0.417, -1.237, 0, 0, 0, 57 [SEP] 26, CreditCard, 1.417, 0.432, 1.512, 0, 180, 0, 66 [SEP] 27, CD, 1.587, 0.432, 1.419, 0, 180, 0, 66 [SEP] 28, Pencil, 1.662, 0.109, -0.824, 0, 90, 0, 59 [SEP] 29, Laptop, -0.603, 0.675, 2.177, 0, 90, 0, 39 [SEP] 30, Mug, -0.672, 0.063, 2.163, 0, 0, 0, 38 [SEP] 31, DeskLamp, 2.016, 0.701, 0.708, 0, 0, 0, [SEP] 32, Painting, 2.199, 1.771, -0.101, 90, 270, 0, [SEP] 33, GarbageCan, 2.022, -0.037, -1.239, 0, 270, 0, [SEP] 34, Mirror, 2.229, 1.254, 2.664, 0, 90, 0, [SEP] 35, LightSwitch, 2.199, 1.258, 1.988, 0, 270, 0, [SEP] 36, Window, 1.575, 1.559, -1.953, 90, 180, 0, [SEP] 37, Drawer, -0.551, 0.578, 2.246, 0, 90, 0, [SEP] 38, Cabinet, -0.649, 0.270, 2.247, 0, 90, 0, [SEP] 39, Desk, -0.655, 0.006, 1.814, 0, 90, 0, [SEP] 40, Shelf, 1.769, 0.184, 0.757, 0, 270, 0, [SEP] 41, Shelf, 1.769, 0.572, 0.757, 0, 270, 0, [SEP] 42, Shelf, 1.769, 0.572, 0.935, 0, 270, 0, [SEP] 43, Shelf, 1.769, 0.378, 0.935, 0, 270, 0, [SEP] 44, Shelf, 1.769, 0.378, 0.757, 0, 270, 0, [SEP] 45, Shelf, 1.769, 0.184, 0.935, 0, 270, 0, [SEP] 46, Blinds, 1.547, 2.434, -1.886, 0, 0, 0, [SEP] 47, Drawer, -0.553, 0.155, 2.942, 0, 90, 0, [SEP] 48, Drawer, -0.553, 0.572, 2.942, 0, 90, 0, [SEP] 49, Dresser, -0.665, 0.001, 2.939, 0, 90, 0, [SEP] 50, Drawer, -0.553, 0.376, 2.942, 0, 90, 0, [SEP] 51, Chair, 1.482, 0.012, 0.223, 0, 77.085, 0, [SEP] 52, Chair, -0.199, 0.012, 1.538, 0, 287.086, 0, [SEP] 53, Bed, -0.866, 0.007, -0.919, 0, 0, 0, [SEP] 54, Dresser, -0.772, 0.001, -1.313, 0, 90, 0, [SEP] 55, Drawer, -0.660, 0.830, -1.309, 0, 90, 0, [SEP] 56, Drawer, -0.660, 0.225, -1.309, 0, 90, 0, [SEP] 57, Drawer, -0.660, 0.547, -1.309, 0, 90, 0, [SEP] 58, Bed, -0.872, 1.637, 2.188, 0, 0, 0, [SEP] 59, Drawer, 1.685, 0.160, -0.805, 0, 270, 0, [SEP] 60, Drawer, 1.685, 0.160, -0.378, 0, 270, 0, [SEP] 61, Drawer, 1.685, 0.547, -0.805, 0, 270, 0, [SEP] 62, Drawer, 1.685, 0.547, -0.378, 0, 270, 0, [SEP] 63, Desk, 1.812, 0.003, -0.014, 0, 270, 0, [SEP] 64, Drawer, 1.685, 0.354, -0.805, 0, 270, 0, [SEP] 65, Drawer, 1.685, 0.354, -0.378, 0, 270, 0, [SEP] 66, ArmChair, 1.712, -0.000, 1.532, 0, 270, 0, [SEP] 67, NorthWall, , , , , , , [SEP] 68, EastWall, , , , , , , [SEP] 69, SouthWall, , , , , , , [SEP] 70, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the wall, then turn left to the counter. | STEP 2: Pick up the cell phone on the counter. | STEP 3: Turn around and walk ahead and slightly right to the multicolored chair. | STEP 4: Place the cell phone on the chair, to the left of the credit card and CD. | END"]} +{"id": "trial_T20190909_120047_968274-1", "input": "Move a phone to the chair SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.901, -0.5, 0, 90, 0, [SEP] 1, Mug, -0.692, 0.675, 1.245, 0, 90, 0, 39 [SEP] 2, Mug, -0.745, 0.063, 2.452, 0, 0, 0, 38 [SEP] 3, CD, -0.855, 0.668, 2.988, 0, 90, 0, 49 [SEP] 4, CD, 1.768, 0.521, -0.685, 0, 90, 0, 61 [SEP] 5, CellPhone, -0.386, 0.671, 2.988, 0, 90, 0, 49 [SEP] 6, CellPhone, -0.607, 0.418, -1.486, 0, 0, 0, 56 [SEP] 7, Pencil, 2.100, 0.730, 0.236, 0, 270, 0, 63 [SEP] 8, Pencil, -0.949, 0.672, 2.988, 0, 90, 0, 49 [SEP] 9, CreditCard, 1.608, 0.522, -0.408, 0, 90, 0, 62 [SEP] 10, CreditCard, 1.926, 0.442, 1.883, 0, 180, 0, 66 [SEP] 11, KeyChain, 1.502, 0.522, -0.501, 0, 180, 0, 62 [SEP] 12, Book, -0.867, 1.504, -0.942, 0, 0, 0, 53 [SEP] 13, Book, 2.003, 0.729, -0.256, 0, 270, 0, 63 [SEP] 14, Laptop, -1.002, 1.498, -0.496, 0, 0, 0, 53 [SEP] 15, AlarmClock, -0.949, 0.669, 3.162, 0, 90, 0, 49 [SEP] 16, AlarmClock, -0.761, 0.669, 3.249, 0, 90, 0, 49 [SEP] 17, Book, 1.905, 0.730, -0.748, 0, 270, 0, 63 [SEP] 18, Box, -0.493, 0.2, -0.286, 0, 84.024, 0, [SEP] 19, TennisRacket, -1.345, 0.288, 0.233, 30.000, 270, 180, [SEP] 20, Pen, 2.011, 0.074, -1.190, 0, 270, 0, 33 [SEP] 21, AlarmClock, -0.626, 0.979, -1.228, 0, 0, 0, 54 [SEP] 22, Pillow, -0.63, 1.871, 3.047, 0, 0, 0, 58 [SEP] 23, Pillow, -0.829, 1.549, -1.533, 0, 0, 0, 53 [SEP] 24, CellPhone, -0.596, 1.502, -0.496, 0, 0, 0, 53 [SEP] 25, KeyChain, -0.655, 0.417, -1.237, 0, 0, 0, 57 [SEP] 26, CreditCard, 1.417, 0.432, 1.512, 0, 180, 0, 66 [SEP] 27, CD, 1.587, 0.432, 1.419, 0, 180, 0, 66 [SEP] 28, Pencil, 1.662, 0.109, -0.824, 0, 90, 0, 59 [SEP] 29, Laptop, -0.603, 0.675, 2.177, 0, 90, 0, 39 [SEP] 30, Mug, -0.672, 0.063, 2.163, 0, 0, 0, 38 [SEP] 31, DeskLamp, 2.016, 0.701, 0.708, 0, 0, 0, [SEP] 32, Painting, 2.199, 1.771, -0.101, 90, 270, 0, [SEP] 33, GarbageCan, 2.022, -0.037, -1.239, 0, 270, 0, [SEP] 34, Mirror, 2.229, 1.254, 2.664, 0, 90, 0, [SEP] 35, LightSwitch, 2.199, 1.258, 1.988, 0, 270, 0, [SEP] 36, Window, 1.575, 1.559, -1.953, 90, 180, 0, [SEP] 37, Drawer, -0.551, 0.578, 2.246, 0, 90, 0, [SEP] 38, Cabinet, -0.649, 0.270, 2.247, 0, 90, 0, [SEP] 39, Desk, -0.655, 0.006, 1.814, 0, 90, 0, [SEP] 40, Shelf, 1.769, 0.184, 0.757, 0, 270, 0, [SEP] 41, Shelf, 1.769, 0.572, 0.757, 0, 270, 0, [SEP] 42, Shelf, 1.769, 0.572, 0.935, 0, 270, 0, [SEP] 43, Shelf, 1.769, 0.378, 0.935, 0, 270, 0, [SEP] 44, Shelf, 1.769, 0.378, 0.757, 0, 270, 0, [SEP] 45, Shelf, 1.769, 0.184, 0.935, 0, 270, 0, [SEP] 46, Blinds, 1.547, 2.434, -1.886, 0, 0, 0, [SEP] 47, Drawer, -0.553, 0.155, 2.942, 0, 90, 0, [SEP] 48, Drawer, -0.553, 0.572, 2.942, 0, 90, 0, [SEP] 49, Dresser, -0.665, 0.001, 2.939, 0, 90, 0, [SEP] 50, Drawer, -0.553, 0.376, 2.942, 0, 90, 0, [SEP] 51, Chair, 1.482, 0.012, 0.223, 0, 77.085, 0, [SEP] 52, Chair, -0.199, 0.012, 1.538, 0, 287.086, 0, [SEP] 53, Bed, -0.866, 0.007, -0.919, 0, 0, 0, [SEP] 54, Dresser, -0.772, 0.001, -1.313, 0, 90, 0, [SEP] 55, Drawer, -0.660, 0.830, -1.309, 0, 90, 0, [SEP] 56, Drawer, -0.660, 0.225, -1.309, 0, 90, 0, [SEP] 57, Drawer, -0.660, 0.547, -1.309, 0, 90, 0, [SEP] 58, Bed, -0.872, 1.637, 2.188, 0, 0, 0, [SEP] 59, Drawer, 1.685, 0.160, -0.805, 0, 270, 0, [SEP] 60, Drawer, 1.685, 0.160, -0.378, 0, 270, 0, [SEP] 61, Drawer, 1.685, 0.547, -0.805, 0, 270, 0, [SEP] 62, Drawer, 1.685, 0.547, -0.378, 0, 270, 0, [SEP] 63, Desk, 1.812, 0.003, -0.014, 0, 270, 0, [SEP] 64, Drawer, 1.685, 0.354, -0.805, 0, 270, 0, [SEP] 65, Drawer, 1.685, 0.354, -0.378, 0, 270, 0, [SEP] 66, ArmChair, 1.712, -0.000, 1.532, 0, 270, 0, [SEP] 67, NorthWall, , , , , , , [SEP] 68, EastWall, , , , , , , [SEP] 69, SouthWall, , , , , , , [SEP] 70, WestWall, , , , , , , ", "output": ["STEP 1: Move to the right side of the wood desk top in the corner of the room | STEP 2: Pick up the phone on top of the right side of the desk | STEP 3: Carry the phone over to the single chair with flowers on it | STEP 4: Place the phone on top of the chair to the left | END"]} +{"id": "trial_T20190909_120047_968274-2", "input": "Put a phone on a chair. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.901, -0.5, 0, 90, 0, [SEP] 1, Mug, -0.692, 0.675, 1.245, 0, 90, 0, 39 [SEP] 2, Mug, -0.745, 0.063, 2.452, 0, 0, 0, 38 [SEP] 3, CD, -0.855, 0.668, 2.988, 0, 90, 0, 49 [SEP] 4, CD, 1.768, 0.521, -0.685, 0, 90, 0, 61 [SEP] 5, CellPhone, -0.386, 0.671, 2.988, 0, 90, 0, 49 [SEP] 6, CellPhone, -0.607, 0.418, -1.486, 0, 0, 0, 56 [SEP] 7, Pencil, 2.100, 0.730, 0.236, 0, 270, 0, 63 [SEP] 8, Pencil, -0.949, 0.672, 2.988, 0, 90, 0, 49 [SEP] 9, CreditCard, 1.608, 0.522, -0.408, 0, 90, 0, 62 [SEP] 10, CreditCard, 1.926, 0.442, 1.883, 0, 180, 0, 66 [SEP] 11, KeyChain, 1.502, 0.522, -0.501, 0, 180, 0, 62 [SEP] 12, Book, -0.867, 1.504, -0.942, 0, 0, 0, 53 [SEP] 13, Book, 2.003, 0.729, -0.256, 0, 270, 0, 63 [SEP] 14, Laptop, -1.002, 1.498, -0.496, 0, 0, 0, 53 [SEP] 15, AlarmClock, -0.949, 0.669, 3.162, 0, 90, 0, 49 [SEP] 16, AlarmClock, -0.761, 0.669, 3.249, 0, 90, 0, 49 [SEP] 17, Book, 1.905, 0.730, -0.748, 0, 270, 0, 63 [SEP] 18, Box, -0.493, 0.2, -0.286, 0, 84.024, 0, [SEP] 19, TennisRacket, -1.345, 0.288, 0.233, 30.000, 270, 180, [SEP] 20, Pen, 2.011, 0.074, -1.190, 0, 270, 0, 33 [SEP] 21, AlarmClock, -0.626, 0.979, -1.228, 0, 0, 0, 54 [SEP] 22, Pillow, -0.63, 1.871, 3.047, 0, 0, 0, 58 [SEP] 23, Pillow, -0.829, 1.549, -1.533, 0, 0, 0, 53 [SEP] 24, CellPhone, -0.596, 1.502, -0.496, 0, 0, 0, 53 [SEP] 25, KeyChain, -0.655, 0.417, -1.237, 0, 0, 0, 57 [SEP] 26, CreditCard, 1.417, 0.432, 1.512, 0, 180, 0, 66 [SEP] 27, CD, 1.587, 0.432, 1.419, 0, 180, 0, 66 [SEP] 28, Pencil, 1.662, 0.109, -0.824, 0, 90, 0, 59 [SEP] 29, Laptop, -0.603, 0.675, 2.177, 0, 90, 0, 39 [SEP] 30, Mug, -0.672, 0.063, 2.163, 0, 0, 0, 38 [SEP] 31, DeskLamp, 2.016, 0.701, 0.708, 0, 0, 0, [SEP] 32, Painting, 2.199, 1.771, -0.101, 90, 270, 0, [SEP] 33, GarbageCan, 2.022, -0.037, -1.239, 0, 270, 0, [SEP] 34, Mirror, 2.229, 1.254, 2.664, 0, 90, 0, [SEP] 35, LightSwitch, 2.199, 1.258, 1.988, 0, 270, 0, [SEP] 36, Window, 1.575, 1.559, -1.953, 90, 180, 0, [SEP] 37, Drawer, -0.551, 0.578, 2.246, 0, 90, 0, [SEP] 38, Cabinet, -0.649, 0.270, 2.247, 0, 90, 0, [SEP] 39, Desk, -0.655, 0.006, 1.814, 0, 90, 0, [SEP] 40, Shelf, 1.769, 0.184, 0.757, 0, 270, 0, [SEP] 41, Shelf, 1.769, 0.572, 0.757, 0, 270, 0, [SEP] 42, Shelf, 1.769, 0.572, 0.935, 0, 270, 0, [SEP] 43, Shelf, 1.769, 0.378, 0.935, 0, 270, 0, [SEP] 44, Shelf, 1.769, 0.378, 0.757, 0, 270, 0, [SEP] 45, Shelf, 1.769, 0.184, 0.935, 0, 270, 0, [SEP] 46, Blinds, 1.547, 2.434, -1.886, 0, 0, 0, [SEP] 47, Drawer, -0.553, 0.155, 2.942, 0, 90, 0, [SEP] 48, Drawer, -0.553, 0.572, 2.942, 0, 90, 0, [SEP] 49, Dresser, -0.665, 0.001, 2.939, 0, 90, 0, [SEP] 50, Drawer, -0.553, 0.376, 2.942, 0, 90, 0, [SEP] 51, Chair, 1.482, 0.012, 0.223, 0, 77.085, 0, [SEP] 52, Chair, -0.199, 0.012, 1.538, 0, 287.086, 0, [SEP] 53, Bed, -0.866, 0.007, -0.919, 0, 0, 0, [SEP] 54, Dresser, -0.772, 0.001, -1.313, 0, 90, 0, [SEP] 55, Drawer, -0.660, 0.830, -1.309, 0, 90, 0, [SEP] 56, Drawer, -0.660, 0.225, -1.309, 0, 90, 0, [SEP] 57, Drawer, -0.660, 0.547, -1.309, 0, 90, 0, [SEP] 58, Bed, -0.872, 1.637, 2.188, 0, 0, 0, [SEP] 59, Drawer, 1.685, 0.160, -0.805, 0, 270, 0, [SEP] 60, Drawer, 1.685, 0.160, -0.378, 0, 270, 0, [SEP] 61, Drawer, 1.685, 0.547, -0.805, 0, 270, 0, [SEP] 62, Drawer, 1.685, 0.547, -0.378, 0, 270, 0, [SEP] 63, Desk, 1.812, 0.003, -0.014, 0, 270, 0, [SEP] 64, Drawer, 1.685, 0.354, -0.805, 0, 270, 0, [SEP] 65, Drawer, 1.685, 0.354, -0.378, 0, 270, 0, [SEP] 66, ArmChair, 1.712, -0.000, 1.532, 0, 270, 0, [SEP] 67, NorthWall, , , , , , , [SEP] 68, EastWall, , , , , , , [SEP] 69, SouthWall, , , , , , , [SEP] 70, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and then left again to face the desk with clocks and a phone on it. | STEP 2: Pick the phone up from the brown desk. | STEP 3: Turn around and face the chair with flowers on it. | STEP 4: Put the phone on the chair. | END"]} +{"id": "trial_T20190909_055649_717880-0", "input": "Put two bars of soap into the trash can. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, -2.75, 0, 90, 0, [SEP] 1, Cloth, -2.443, 0.806, -2.525, 0, 0, 0, 26 [SEP] 2, SoapBar, -2.708, 0.806, -3.823, 0, 0, 0, 26 [SEP] 3, SoapBar, -2.732, 0.872, -3.037, 0, 90, 0, 32 [SEP] 4, SprayBottle, -2.884, 0.807, -2.656, 0, 0, 0, 26 [SEP] 5, SoapBottle, -2.387, 0.068, -3.568, 0, 0, 0, 24 [SEP] 6, HandTowel, -2.962, 1.584, -3.550, 0, 270, 0, 29 [SEP] 7, ToiletPaper, -2.689, 0.063, -3.444, 0, 0, 0, 24 [SEP] 8, Candle, -2.796, 0.815, -3.532, 0, 0, 0, 26 [SEP] 9, Cloth, -2.538, 0.066, -2.964, 0, 0, 0, 19 [SEP] 10, HandTowel, -2.962, 1.584, -2.569, 0, 270, 0, 30 [SEP] 11, Plunger, -0.125, 0.000, -3.493, 0, 0, 0, Floor|-00.04| [SEP] 12, SoapBar, -2.355, 0.806, -2.263, 0, 0, 0, 26 [SEP] 13, ToiletPaper, -2.708, 0.803, -2.394, 0, 0, 0, 26 [SEP] 14, ToiletPaper, -2.462, 0.062, -2.378, 0, 0, 0, 23 [SEP] 15, Towel, -1.291, 1.386, -0.63, 0, 270, 0, 27 [SEP] 16, SoapBottle, -0.160, 1.047, -3.048, 0, 270, 0, 35 [SEP] 17, SprayBottle, -2.764, 0.067, -3.755, 0, 270, 0, 24 [SEP] 18, ScrubBrush, -0.325, 0.000, -3.342, 0, 0, 0, Floor|-00.04| [SEP] 19, Cabinet, -2.293, 0.324, -3.254, 0, 0, 0, [SEP] 20, Mirror, -3.0, 1.659, -3.069, 0, 0, 0, [SEP] 21, Sink, -2.661, 0.785, -3.069, 0, 90, 0, [SEP] 22, ShowerGlass, -0.599, 1.097, -1.124, 0, 0, 0, [SEP] 23, Cabinet, -2.299, 0.345, -2.250, 0, 0, 0, [SEP] 24, Cabinet, -2.293, 0.324, -3.814, 0, 0, 0, [SEP] 25, ShowerDoor, -1.179, 1.090, -1.220, 0, 0, 0, [SEP] 26, CounterTop, -2.632, 0.843, -3.040, 0, 0, 0, [SEP] 27, TowelHolder, -1.184, 1.371, -0.629, 0, 270, 0, [SEP] 28, ToiletPaperHanger, 0.0, 0.943, -2.536, 0, 270, 0, [SEP] 29, HandTowelHolder, -3.000, 1.685, -3.550, 0, 0, 0, [SEP] 30, HandTowelHolder, -3.000, 1.685, -2.569, 0, 0, 0, [SEP] 31, Window, -0.567, 1.706, -4.002, 90, 0, 0, [SEP] 32, SinkBasin, -2.669, 0.863, -3.063, 0, 90, 0, [SEP] 33, GarbageCan, -0.459, -0.043, -3.769, 0, 0, 0, [SEP] 34, LightSwitch, -1.945, 1.503, 0.000, 0, 180, 0, [SEP] 35, Toilet, -0.452, 0.000, -3.052, 0, 0, 0, [SEP] 36, Faucet, -3.0, 1.167, -3.073, 0, 180, 0, [SEP] 37, ShowerHead, -0.614, 1.934, -0.013, 0, 0, 0, [SEP] 38, EastWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , ", "output": ["STEP 1: Make a left to reach the sink. | STEP 2: Pick up the pink soap next to the sink on the left. | STEP 3: Turn around and walk to the trash can next to the toilet. | STEP 4: Put the pink soap in the trash can. | STEP 5: Turn around to walk to the sink. | STEP 6: Pick up the bar of pink soap in the sink basin. | STEP 7: Turn around the walk to the trash can. | STEP 8: Put the other bar of pink soap in the trash can. | END"]} +{"id": "trial_T20190909_055649_717880-1", "input": "Put two soap in the trash bin SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, -2.75, 0, 90, 0, [SEP] 1, Cloth, -2.443, 0.806, -2.525, 0, 0, 0, 26 [SEP] 2, SoapBar, -2.708, 0.806, -3.823, 0, 0, 0, 26 [SEP] 3, SoapBar, -2.732, 0.872, -3.037, 0, 90, 0, 32 [SEP] 4, SprayBottle, -2.884, 0.807, -2.656, 0, 0, 0, 26 [SEP] 5, SoapBottle, -2.387, 0.068, -3.568, 0, 0, 0, 24 [SEP] 6, HandTowel, -2.962, 1.584, -3.550, 0, 270, 0, 29 [SEP] 7, ToiletPaper, -2.689, 0.063, -3.444, 0, 0, 0, 24 [SEP] 8, Candle, -2.796, 0.815, -3.532, 0, 0, 0, 26 [SEP] 9, Cloth, -2.538, 0.066, -2.964, 0, 0, 0, 19 [SEP] 10, HandTowel, -2.962, 1.584, -2.569, 0, 270, 0, 30 [SEP] 11, Plunger, -0.125, 0.000, -3.493, 0, 0, 0, Floor|-00.04| [SEP] 12, SoapBar, -2.355, 0.806, -2.263, 0, 0, 0, 26 [SEP] 13, ToiletPaper, -2.708, 0.803, -2.394, 0, 0, 0, 26 [SEP] 14, ToiletPaper, -2.462, 0.062, -2.378, 0, 0, 0, 23 [SEP] 15, Towel, -1.291, 1.386, -0.63, 0, 270, 0, 27 [SEP] 16, SoapBottle, -0.160, 1.047, -3.048, 0, 270, 0, 35 [SEP] 17, SprayBottle, -2.764, 0.067, -3.755, 0, 270, 0, 24 [SEP] 18, ScrubBrush, -0.325, 0.000, -3.342, 0, 0, 0, Floor|-00.04| [SEP] 19, Cabinet, -2.293, 0.324, -3.254, 0, 0, 0, [SEP] 20, Mirror, -3.0, 1.659, -3.069, 0, 0, 0, [SEP] 21, Sink, -2.661, 0.785, -3.069, 0, 90, 0, [SEP] 22, ShowerGlass, -0.599, 1.097, -1.124, 0, 0, 0, [SEP] 23, Cabinet, -2.299, 0.345, -2.250, 0, 0, 0, [SEP] 24, Cabinet, -2.293, 0.324, -3.814, 0, 0, 0, [SEP] 25, ShowerDoor, -1.179, 1.090, -1.220, 0, 0, 0, [SEP] 26, CounterTop, -2.632, 0.843, -3.040, 0, 0, 0, [SEP] 27, TowelHolder, -1.184, 1.371, -0.629, 0, 270, 0, [SEP] 28, ToiletPaperHanger, 0.0, 0.943, -2.536, 0, 270, 0, [SEP] 29, HandTowelHolder, -3.000, 1.685, -3.550, 0, 0, 0, [SEP] 30, HandTowelHolder, -3.000, 1.685, -2.569, 0, 0, 0, [SEP] 31, Window, -0.567, 1.706, -4.002, 90, 0, 0, [SEP] 32, SinkBasin, -2.669, 0.863, -3.063, 0, 90, 0, [SEP] 33, GarbageCan, -0.459, -0.043, -3.769, 0, 0, 0, [SEP] 34, LightSwitch, -1.945, 1.503, 0.000, 0, 180, 0, [SEP] 35, Toilet, -0.452, 0.000, -3.052, 0, 0, 0, [SEP] 36, Faucet, -3.0, 1.167, -3.073, 0, 180, 0, [SEP] 37, ShowerHead, -0.614, 1.934, -0.013, 0, 0, 0, [SEP] 38, EastWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right then face the sink counter on your left | STEP 2: Pick up the soap on the counter | STEP 3: Turn left then head to the trash bin | STEP 4: Put the soap in the trash bin | STEP 5: Turn left then head to the sink | STEP 6: Pick up the soap in the sink | STEP 7: Turn around then head to the trash bin | STEP 8: Put the soap in the trash bin | END"]} +{"id": "trial_T20190909_055649_717880-2", "input": "Putting two bars of soap in the trash can SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, -2.75, 0, 90, 0, [SEP] 1, Cloth, -2.443, 0.806, -2.525, 0, 0, 0, 26 [SEP] 2, SoapBar, -2.708, 0.806, -3.823, 0, 0, 0, 26 [SEP] 3, SoapBar, -2.732, 0.872, -3.037, 0, 90, 0, 32 [SEP] 4, SprayBottle, -2.884, 0.807, -2.656, 0, 0, 0, 26 [SEP] 5, SoapBottle, -2.387, 0.068, -3.568, 0, 0, 0, 24 [SEP] 6, HandTowel, -2.962, 1.584, -3.550, 0, 270, 0, 29 [SEP] 7, ToiletPaper, -2.689, 0.063, -3.444, 0, 0, 0, 24 [SEP] 8, Candle, -2.796, 0.815, -3.532, 0, 0, 0, 26 [SEP] 9, Cloth, -2.538, 0.066, -2.964, 0, 0, 0, 19 [SEP] 10, HandTowel, -2.962, 1.584, -2.569, 0, 270, 0, 30 [SEP] 11, Plunger, -0.125, 0.000, -3.493, 0, 0, 0, Floor|-00.04| [SEP] 12, SoapBar, -2.355, 0.806, -2.263, 0, 0, 0, 26 [SEP] 13, ToiletPaper, -2.708, 0.803, -2.394, 0, 0, 0, 26 [SEP] 14, ToiletPaper, -2.462, 0.062, -2.378, 0, 0, 0, 23 [SEP] 15, Towel, -1.291, 1.386, -0.63, 0, 270, 0, 27 [SEP] 16, SoapBottle, -0.160, 1.047, -3.048, 0, 270, 0, 35 [SEP] 17, SprayBottle, -2.764, 0.067, -3.755, 0, 270, 0, 24 [SEP] 18, ScrubBrush, -0.325, 0.000, -3.342, 0, 0, 0, Floor|-00.04| [SEP] 19, Cabinet, -2.293, 0.324, -3.254, 0, 0, 0, [SEP] 20, Mirror, -3.0, 1.659, -3.069, 0, 0, 0, [SEP] 21, Sink, -2.661, 0.785, -3.069, 0, 90, 0, [SEP] 22, ShowerGlass, -0.599, 1.097, -1.124, 0, 0, 0, [SEP] 23, Cabinet, -2.299, 0.345, -2.250, 0, 0, 0, [SEP] 24, Cabinet, -2.293, 0.324, -3.814, 0, 0, 0, [SEP] 25, ShowerDoor, -1.179, 1.090, -1.220, 0, 0, 0, [SEP] 26, CounterTop, -2.632, 0.843, -3.040, 0, 0, 0, [SEP] 27, TowelHolder, -1.184, 1.371, -0.629, 0, 270, 0, [SEP] 28, ToiletPaperHanger, 0.0, 0.943, -2.536, 0, 270, 0, [SEP] 29, HandTowelHolder, -3.000, 1.685, -3.550, 0, 0, 0, [SEP] 30, HandTowelHolder, -3.000, 1.685, -2.569, 0, 0, 0, [SEP] 31, Window, -0.567, 1.706, -4.002, 90, 0, 0, [SEP] 32, SinkBasin, -2.669, 0.863, -3.063, 0, 90, 0, [SEP] 33, GarbageCan, -0.459, -0.043, -3.769, 0, 0, 0, [SEP] 34, LightSwitch, -1.945, 1.503, 0.000, 0, 180, 0, [SEP] 35, Toilet, -0.452, 0.000, -3.052, 0, 0, 0, [SEP] 36, Faucet, -3.0, 1.167, -3.073, 0, 180, 0, [SEP] 37, ShowerHead, -0.614, 1.934, -0.013, 0, 0, 0, [SEP] 38, EastWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the left of the sink | STEP 2: Grab the bar of soap off of the counter | STEP 3: Turn around and go to the trash can | STEP 4: Put the soap in the trash can | STEP 5: Turn around and go to the sink | STEP 6: Grab the bar of soap out of the sink | STEP 7: Turn around and go to the trash can | STEP 8: Put the soap in the trash can | END"]} +{"id": "trial_T20190908_232929_254246-0", "input": "Examine a remote control by the light of a floor lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, 3.0, 0, 270, 0, [SEP] 1, Book, 0.373, 0.241, 0.506, 0, 0, 0, 30 [SEP] 2, Book, 0.753, 0.241, 0.506, 0, 0, 0, 30 [SEP] 3, Statue, -1.335, 0.453, 2.441, 0, 0, 0, 27 [SEP] 4, KeyChain, -1.351, 0.546, 0.650, 0, 0, 0, 28 [SEP] 5, KeyChain, -1.499, 0.711, 3.539, 0, 0, 0, 29 [SEP] 6, CreditCard, -1.948, 0.710, 3.978, 0, 0, 0, 29 [SEP] 7, Pillow, -1.101, 0.635, 0.740, 0, 0, 0, 28 [SEP] 8, Book, -1.648, 0.712, 3.869, 0, 0, 0, 29 [SEP] 9, Box, 0.332, 0.892, 0.488, 0, 0, 0, 26 [SEP] 10, Laptop, -1.602, 0.544, 0.560, 0, 0, 0, 28 [SEP] 11, KeyChain, -0.351, 0.546, 0.830, 0, 0, 0, 28 [SEP] 12, Pillow, -2.949, 0.653, 0.754, 0, 0, 0, 31 [SEP] 13, Statue, -1.587, 0.453, 2.361, 0, 0, 0, 27 [SEP] 14, RemoteControl, -2.093, 0.449, 2.521, 0, 0, 0, 27 [SEP] 15, CreditCard, -1.351, 0.546, 0.560, 0, 0, 0, 28 [SEP] 16, Watch, 0.500, 0.714, 0.583, 0, 0, 0, 26 [SEP] 17, Painting, -3.049, 1.690, 4.341, 0, 0, 0, [SEP] 18, Curtains, -3.973, 2.254, 1.453, 0, 0, 0, [SEP] 19, Painting, -1.096, 1.773, -0.017, 0, 0, 0, [SEP] 20, LightSwitch, -0.129, 1.407, 4.348, 0, 180, 0, [SEP] 21, GarbageCan, -0.376, 0.003, 4.103, 0, 180, 0, [SEP] 22, Television, -1.504, 1.189, 4.126, 0, 180, 0, [SEP] 23, HousePlant, -2.015, 0.447, 2.357, 0, 0, 0, [SEP] 24, FloorLamp, -3.686, -0.001, 4.013, 0, 0, 0, [SEP] 25, Window, -4.051, 1.197, 1.312, 90, 270, 0, [SEP] 26, SideTable, 0.626, 0.006, 0.340, 0, 0, 0, [SEP] 27, CoffeeTable, -1.735, 0.005, 2.360, 0, 0, 0, [SEP] 28, Sofa, -1.135, -0.004, 0.517, 0, 0, 0, [SEP] 29, TVStand, -1.566, 0.004, 3.869, 0, 0, 0, [SEP] 30, Shelf, 0.622, 0.238, 0.340, 0, 0, 0, [SEP] 31, ArmChair, -3.063, 0.000, 0.517, 0, 0, 0, [SEP] 32, NorthWall, , , , , , , [SEP] 33, EastWall, , , , , , , [SEP] 34, SouthWall, , , , , , , [SEP] 35, WestWall, , , , , , , ", "output": ["STEP 1: Turn left towards the remote control on the coffee table. | STEP 2: Pick up the remote control from the coffee table. | STEP 3: Turn right and walk to the tall lamp in the corner. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190908_232929_254246-1", "input": "Examine the remote control under the light of the floor lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, 3.0, 0, 270, 0, [SEP] 1, Book, 0.373, 0.241, 0.506, 0, 0, 0, 30 [SEP] 2, Book, 0.753, 0.241, 0.506, 0, 0, 0, 30 [SEP] 3, Statue, -1.335, 0.453, 2.441, 0, 0, 0, 27 [SEP] 4, KeyChain, -1.351, 0.546, 0.650, 0, 0, 0, 28 [SEP] 5, KeyChain, -1.499, 0.711, 3.539, 0, 0, 0, 29 [SEP] 6, CreditCard, -1.948, 0.710, 3.978, 0, 0, 0, 29 [SEP] 7, Pillow, -1.101, 0.635, 0.740, 0, 0, 0, 28 [SEP] 8, Book, -1.648, 0.712, 3.869, 0, 0, 0, 29 [SEP] 9, Box, 0.332, 0.892, 0.488, 0, 0, 0, 26 [SEP] 10, Laptop, -1.602, 0.544, 0.560, 0, 0, 0, 28 [SEP] 11, KeyChain, -0.351, 0.546, 0.830, 0, 0, 0, 28 [SEP] 12, Pillow, -2.949, 0.653, 0.754, 0, 0, 0, 31 [SEP] 13, Statue, -1.587, 0.453, 2.361, 0, 0, 0, 27 [SEP] 14, RemoteControl, -2.093, 0.449, 2.521, 0, 0, 0, 27 [SEP] 15, CreditCard, -1.351, 0.546, 0.560, 0, 0, 0, 28 [SEP] 16, Watch, 0.500, 0.714, 0.583, 0, 0, 0, 26 [SEP] 17, Painting, -3.049, 1.690, 4.341, 0, 0, 0, [SEP] 18, Curtains, -3.973, 2.254, 1.453, 0, 0, 0, [SEP] 19, Painting, -1.096, 1.773, -0.017, 0, 0, 0, [SEP] 20, LightSwitch, -0.129, 1.407, 4.348, 0, 180, 0, [SEP] 21, GarbageCan, -0.376, 0.003, 4.103, 0, 180, 0, [SEP] 22, Television, -1.504, 1.189, 4.126, 0, 180, 0, [SEP] 23, HousePlant, -2.015, 0.447, 2.357, 0, 0, 0, [SEP] 24, FloorLamp, -3.686, -0.001, 4.013, 0, 0, 0, [SEP] 25, Window, -4.051, 1.197, 1.312, 90, 270, 0, [SEP] 26, SideTable, 0.626, 0.006, 0.340, 0, 0, 0, [SEP] 27, CoffeeTable, -1.735, 0.005, 2.360, 0, 0, 0, [SEP] 28, Sofa, -1.135, -0.004, 0.517, 0, 0, 0, [SEP] 29, TVStand, -1.566, 0.004, 3.869, 0, 0, 0, [SEP] 30, Shelf, 0.622, 0.238, 0.340, 0, 0, 0, [SEP] 31, ArmChair, -3.063, 0.000, 0.517, 0, 0, 0, [SEP] 32, NorthWall, , , , , , , [SEP] 33, EastWall, , , , , , , [SEP] 34, SouthWall, , , , , , , [SEP] 35, WestWall, , , , , , , ", "output": ["STEP 1: Walk slightly forward and turn left to face the coffee table | STEP 2: Pick up the remote control from the coffee table | STEP 3: Turn right and walk up to the floor lamp in the corner | STEP 4: Turn on the floor lamp | END"]} +{"id": "trial_T20190908_232929_254246-2", "input": "Examine the remote by the light of the lamp.\n SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, 3.0, 0, 270, 0, [SEP] 1, Book, 0.373, 0.241, 0.506, 0, 0, 0, 30 [SEP] 2, Book, 0.753, 0.241, 0.506, 0, 0, 0, 30 [SEP] 3, Statue, -1.335, 0.453, 2.441, 0, 0, 0, 27 [SEP] 4, KeyChain, -1.351, 0.546, 0.650, 0, 0, 0, 28 [SEP] 5, KeyChain, -1.499, 0.711, 3.539, 0, 0, 0, 29 [SEP] 6, CreditCard, -1.948, 0.710, 3.978, 0, 0, 0, 29 [SEP] 7, Pillow, -1.101, 0.635, 0.740, 0, 0, 0, 28 [SEP] 8, Book, -1.648, 0.712, 3.869, 0, 0, 0, 29 [SEP] 9, Box, 0.332, 0.892, 0.488, 0, 0, 0, 26 [SEP] 10, Laptop, -1.602, 0.544, 0.560, 0, 0, 0, 28 [SEP] 11, KeyChain, -0.351, 0.546, 0.830, 0, 0, 0, 28 [SEP] 12, Pillow, -2.949, 0.653, 0.754, 0, 0, 0, 31 [SEP] 13, Statue, -1.587, 0.453, 2.361, 0, 0, 0, 27 [SEP] 14, RemoteControl, -2.093, 0.449, 2.521, 0, 0, 0, 27 [SEP] 15, CreditCard, -1.351, 0.546, 0.560, 0, 0, 0, 28 [SEP] 16, Watch, 0.500, 0.714, 0.583, 0, 0, 0, 26 [SEP] 17, Painting, -3.049, 1.690, 4.341, 0, 0, 0, [SEP] 18, Curtains, -3.973, 2.254, 1.453, 0, 0, 0, [SEP] 19, Painting, -1.096, 1.773, -0.017, 0, 0, 0, [SEP] 20, LightSwitch, -0.129, 1.407, 4.348, 0, 180, 0, [SEP] 21, GarbageCan, -0.376, 0.003, 4.103, 0, 180, 0, [SEP] 22, Television, -1.504, 1.189, 4.126, 0, 180, 0, [SEP] 23, HousePlant, -2.015, 0.447, 2.357, 0, 0, 0, [SEP] 24, FloorLamp, -3.686, -0.001, 4.013, 0, 0, 0, [SEP] 25, Window, -4.051, 1.197, 1.312, 90, 270, 0, [SEP] 26, SideTable, 0.626, 0.006, 0.340, 0, 0, 0, [SEP] 27, CoffeeTable, -1.735, 0.005, 2.360, 0, 0, 0, [SEP] 28, Sofa, -1.135, -0.004, 0.517, 0, 0, 0, [SEP] 29, TVStand, -1.566, 0.004, 3.869, 0, 0, 0, [SEP] 30, Shelf, 0.622, 0.238, 0.340, 0, 0, 0, [SEP] 31, ArmChair, -3.063, 0.000, 0.517, 0, 0, 0, [SEP] 32, NorthWall, , , , , , , [SEP] 33, EastWall, , , , , , , [SEP] 34, SouthWall, , , , , , , [SEP] 35, WestWall, , , , , , , ", "output": ["STEP 1: Turn around to face the coffee table. | STEP 2: Pick up the remote control from the coffee table. | STEP 3: Turn right and carry the remote to the wall, then head right again to the lamp in the corner. | STEP 4: Turn on the lamp in the corner to look at the remote. | END"]} +{"id": "trial_T20190908_070424_700178-0", "input": "Slice the bread, cook a slice in the microwave, put it in the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, -2.75, 0, 270, 0, [SEP] 1, DishSponge, -0.447, 0.913, -3.952, 0, 0, 0, 44 [SEP] 2, ButterKnife, -2.270, 0.913, -3.655, 0, 0, 0, 44 [SEP] 3, ButterKnife, -2.664, 0.717, -0.294, 0, 135, 0, 88 [SEP] 4, Pot, -0.165, 0.975, -2.030, 0, 180, 0, 75 [SEP] 5, Spatula, -0.500, 0.761, -0.912, 0, 90, 0, 70 [SEP] 6, Fork, -1.914, 0.791, -3.790, 0, 90, 0, 86 [SEP] 7, Fork, -2.865, 0.714, -0.780, 0, 90, 0, 88 [SEP] 8, Egg, -1.436, 0.949, -4.008, 0, 0, 0, 44 [SEP] 9, Egg, -1.569, 0.826, -3.704, 0, 0, 0, 86 [SEP] 10, Cup, -3.079, 1.399, -2.064, 0, 90, 0, 85 [SEP] 11, Cup, -3.346, 0.914, -3.878, 0, 0, 0, 44 [SEP] 12, Plate, -3.182, 0.639, -1.941, 0, 90, 0, 85 [SEP] 13, Knife, -0.854, 0.946, -3.804, 0, 0, 0, 44 [SEP] 14, SoapBottle, -3.007, 0.716, -0.683, 0, 270, 0, 88 [SEP] 15, SoapBottle, -2.803, 0.716, -0.496, 0, 0, 0, 88 [SEP] 16, SaltShaker, -2.865, 0.713, -0.069, 0, 0, 0, 88 [SEP] 17, SaltShaker, -2.934, 0.713, -0.829, 0, 225, 0, 88 [SEP] 18, Lettuce, -2.723, 0.801, -0.621, 0, 270, 0, 88 [SEP] 19, Mug, -0.338, 0.911, -1.370, 0, 0, 0, 71 [SEP] 20, Mug, -3.286, 1.393, -2.064, 0, 90, 0, 85 [SEP] 21, Apple, -0.284, 0.122, -0.072, 0, 270, 0, 83 [SEP] 22, Apple, -3.234, 1.056, -2.002, 0, 90, 0, 85 [SEP] 23, Pot, -3.140, 0.916, -2.926, 0, 0, 0, 44 [SEP] 24, Egg, -2.975, 0.677, -1.817, 0, 90, 0, 85 [SEP] 25, Cup, -3.027, 1.013, -2.125, 0, 90, 0, 85 [SEP] 26, Bread, -0.327, 0.948, -3.681, 0, 298.222, 0, 44 [SEP] 27, Fork, -2.740, 0.717, -0.922, 0, 0, 0, 88 [SEP] 28, Pan, -3.393, 0.912, -3.327, 0, 270, 0, 44 [SEP] 29, Potato, -3.079, 0.685, -2.125, 0, 90, 0, 85 [SEP] 30, Lettuce, -0.650, 1.001, -3.655, 0, 0, 0, 44 [SEP] 31, Tomato, -0.500, 0.965, -1.432, 0, 0, 0, 71 [SEP] 32, Apple, -2.449, 0.956, -4.026, 0, 0, 0, 44 [SEP] 33, SoapBottle, -2.532, 0.716, -0.427, 0, 225, 0, 88 [SEP] 34, Spatula, -0.257, 0.930, -0.542, 0, 0, 0, 71 [SEP] 35, SaltShaker, -0.441, 0.742, -1.408, 0, 0, 0, 67 [SEP] 36, Knife, -0.382, 0.779, -1.253, 0, 270, 0, 67 [SEP] 37, PepperShaker, -2.987, 0.910, -4.026, 0, 0, 0, 44 [SEP] 38, ButterKnife, -1.058, 0.913, -3.655, 0, 0, 0, 44 [SEP] 39, Plate, -0.374, 0.078, -1.570, 0, 0, 0, 49 [SEP] 40, DishSponge, -0.443, 0.746, -3.376, 0, 0, 0, 72 [SEP] 41, Spoon, -2.519, 0.718, -0.753, 0, 135, 0, 88 [SEP] 42, Mug, -0.244, 0.908, -3.213, 0, 0, 0, 44 [SEP] 43, Bowl, -0.419, 0.913, -1.616, 0, 0, 0, 71 [SEP] 44, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0, [SEP] 45, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0, [SEP] 46, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0, [SEP] 47, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0, [SEP] 48, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0, [SEP] 49, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0, [SEP] 50, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0, [SEP] 51, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0, [SEP] 52, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0, [SEP] 53, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0, [SEP] 54, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0, [SEP] 55, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0, [SEP] 56, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0, [SEP] 57, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0, [SEP] 58, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0, [SEP] 59, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0, [SEP] 60, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0, [SEP] 61, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0, [SEP] 62, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0, [SEP] 63, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0, [SEP] 64, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0, [SEP] 65, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0, [SEP] 66, Drawer, -3.104, 0.797, -2.968, 0, 0, 0, [SEP] 67, Drawer, -0.449, 0.797, -1.410, 0, 0, 0, [SEP] 68, Sink, -1.786, 0.902, -3.748, 0, 0, 0, [SEP] 69, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0, [SEP] 70, Drawer, -0.449, 0.797, -0.762, 0, 0, 0, [SEP] 71, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0, [SEP] 72, Drawer, -0.449, 0.797, -3.348, 0, 0, 0, [SEP] 73, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0, [SEP] 74, Drawer, -0.449, 0.797, -2.968, 0, 0, 0, [SEP] 75, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0, [SEP] 76, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0, [SEP] 77, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0, [SEP] 78, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0, [SEP] 79, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0, [SEP] 80, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0, [SEP] 81, Microwave, -0.143, 0.903, -0.908, 0, 270, 0, [SEP] 82, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0, [SEP] 83, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0, [SEP] 84, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0, [SEP] 85, Fridge, -3.188, 0.0, -2.184, 0, 0, 0, [SEP] 86, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0, [SEP] 87, Toaster, -0.230, 0.903, -3.406, 0, 270, 0, [SEP] 88, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0, [SEP] 89, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0, [SEP] 90, Faucet, -1.791, 1.136, -3.913, 0, 270, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Walk towards the counter | STEP 2: Grab a knife from the counter | STEP 3: Slice the bread on the counter | STEP 4: Walk with the knife towards the microwave | STEP 5: Put the knife in the microwave | STEP 6: Walk towards the counter | STEP 7: Grab a slice of bread | STEP 8: Walk with the slice of bread towards the microwave | STEP 9: Put the slice of bread inside the microwave | STEP 10: Cook the slice of bread and take it out | STEP 11: Walk with the slice of bread towards the fridge | STEP 12: Put the bread slice inside the fridge | END"]} +{"id": "trial_T20190908_070424_700178-1", "input": "Put a microwaved slice of bread in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, -2.75, 0, 270, 0, [SEP] 1, DishSponge, -0.447, 0.913, -3.952, 0, 0, 0, 44 [SEP] 2, ButterKnife, -2.270, 0.913, -3.655, 0, 0, 0, 44 [SEP] 3, ButterKnife, -2.664, 0.717, -0.294, 0, 135, 0, 88 [SEP] 4, Pot, -0.165, 0.975, -2.030, 0, 180, 0, 75 [SEP] 5, Spatula, -0.500, 0.761, -0.912, 0, 90, 0, 70 [SEP] 6, Fork, -1.914, 0.791, -3.790, 0, 90, 0, 86 [SEP] 7, Fork, -2.865, 0.714, -0.780, 0, 90, 0, 88 [SEP] 8, Egg, -1.436, 0.949, -4.008, 0, 0, 0, 44 [SEP] 9, Egg, -1.569, 0.826, -3.704, 0, 0, 0, 86 [SEP] 10, Cup, -3.079, 1.399, -2.064, 0, 90, 0, 85 [SEP] 11, Cup, -3.346, 0.914, -3.878, 0, 0, 0, 44 [SEP] 12, Plate, -3.182, 0.639, -1.941, 0, 90, 0, 85 [SEP] 13, Knife, -0.854, 0.946, -3.804, 0, 0, 0, 44 [SEP] 14, SoapBottle, -3.007, 0.716, -0.683, 0, 270, 0, 88 [SEP] 15, SoapBottle, -2.803, 0.716, -0.496, 0, 0, 0, 88 [SEP] 16, SaltShaker, -2.865, 0.713, -0.069, 0, 0, 0, 88 [SEP] 17, SaltShaker, -2.934, 0.713, -0.829, 0, 225, 0, 88 [SEP] 18, Lettuce, -2.723, 0.801, -0.621, 0, 270, 0, 88 [SEP] 19, Mug, -0.338, 0.911, -1.370, 0, 0, 0, 71 [SEP] 20, Mug, -3.286, 1.393, -2.064, 0, 90, 0, 85 [SEP] 21, Apple, -0.284, 0.122, -0.072, 0, 270, 0, 83 [SEP] 22, Apple, -3.234, 1.056, -2.002, 0, 90, 0, 85 [SEP] 23, Pot, -3.140, 0.916, -2.926, 0, 0, 0, 44 [SEP] 24, Egg, -2.975, 0.677, -1.817, 0, 90, 0, 85 [SEP] 25, Cup, -3.027, 1.013, -2.125, 0, 90, 0, 85 [SEP] 26, Bread, -0.327, 0.948, -3.681, 0, 298.222, 0, 44 [SEP] 27, Fork, -2.740, 0.717, -0.922, 0, 0, 0, 88 [SEP] 28, Pan, -3.393, 0.912, -3.327, 0, 270, 0, 44 [SEP] 29, Potato, -3.079, 0.685, -2.125, 0, 90, 0, 85 [SEP] 30, Lettuce, -0.650, 1.001, -3.655, 0, 0, 0, 44 [SEP] 31, Tomato, -0.500, 0.965, -1.432, 0, 0, 0, 71 [SEP] 32, Apple, -2.449, 0.956, -4.026, 0, 0, 0, 44 [SEP] 33, SoapBottle, -2.532, 0.716, -0.427, 0, 225, 0, 88 [SEP] 34, Spatula, -0.257, 0.930, -0.542, 0, 0, 0, 71 [SEP] 35, SaltShaker, -0.441, 0.742, -1.408, 0, 0, 0, 67 [SEP] 36, Knife, -0.382, 0.779, -1.253, 0, 270, 0, 67 [SEP] 37, PepperShaker, -2.987, 0.910, -4.026, 0, 0, 0, 44 [SEP] 38, ButterKnife, -1.058, 0.913, -3.655, 0, 0, 0, 44 [SEP] 39, Plate, -0.374, 0.078, -1.570, 0, 0, 0, 49 [SEP] 40, DishSponge, -0.443, 0.746, -3.376, 0, 0, 0, 72 [SEP] 41, Spoon, -2.519, 0.718, -0.753, 0, 135, 0, 88 [SEP] 42, Mug, -0.244, 0.908, -3.213, 0, 0, 0, 44 [SEP] 43, Bowl, -0.419, 0.913, -1.616, 0, 0, 0, 71 [SEP] 44, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0, [SEP] 45, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0, [SEP] 46, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0, [SEP] 47, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0, [SEP] 48, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0, [SEP] 49, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0, [SEP] 50, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0, [SEP] 51, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0, [SEP] 52, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0, [SEP] 53, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0, [SEP] 54, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0, [SEP] 55, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0, [SEP] 56, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0, [SEP] 57, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0, [SEP] 58, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0, [SEP] 59, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0, [SEP] 60, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0, [SEP] 61, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0, [SEP] 62, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0, [SEP] 63, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0, [SEP] 64, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0, [SEP] 65, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0, [SEP] 66, Drawer, -3.104, 0.797, -2.968, 0, 0, 0, [SEP] 67, Drawer, -0.449, 0.797, -1.410, 0, 0, 0, [SEP] 68, Sink, -1.786, 0.902, -3.748, 0, 0, 0, [SEP] 69, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0, [SEP] 70, Drawer, -0.449, 0.797, -0.762, 0, 0, 0, [SEP] 71, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0, [SEP] 72, Drawer, -0.449, 0.797, -3.348, 0, 0, 0, [SEP] 73, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0, [SEP] 74, Drawer, -0.449, 0.797, -2.968, 0, 0, 0, [SEP] 75, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0, [SEP] 76, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0, [SEP] 77, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0, [SEP] 78, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0, [SEP] 79, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0, [SEP] 80, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0, [SEP] 81, Microwave, -0.143, 0.903, -0.908, 0, 270, 0, [SEP] 82, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0, [SEP] 83, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0, [SEP] 84, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0, [SEP] 85, Fridge, -3.188, 0.0, -2.184, 0, 0, 0, [SEP] 86, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0, [SEP] 87, Toaster, -0.230, 0.903, -3.406, 0, 270, 0, [SEP] 88, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0, [SEP] 89, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0, [SEP] 90, Faucet, -1.791, 1.136, -3.913, 0, 270, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk toward the stove, then turn right to face the counter. | STEP 2: Take the silver knife on the counter. | STEP 3: Turn left and face the loaf of bread. | STEP 4: Slice the loaf of bread on the counter. | STEP 5: Turn left and walk to the microwave on the right. | STEP 6: Open the microwave door, put the knife inside, and close the door. | STEP 7: Turn right, then walk toward the toaster on the left. | STEP 8: Take a slice of bread from the loaf. | STEP 9: Turn left and walk back to the microwave on the right. | STEP 10: Open the microwave door, put the slice inside, close the door, and turn it on. Remove it when it's done and close the door. | STEP 11: Turn around and walk to the fridge. | STEP 12: Open the door, put the slice inside, and close the door. | END"]} +{"id": "trial_T20190908_070424_700178-2", "input": "Put a slice of heated bread in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, -2.75, 0, 270, 0, [SEP] 1, DishSponge, -0.447, 0.913, -3.952, 0, 0, 0, 44 [SEP] 2, ButterKnife, -2.270, 0.913, -3.655, 0, 0, 0, 44 [SEP] 3, ButterKnife, -2.664, 0.717, -0.294, 0, 135, 0, 88 [SEP] 4, Pot, -0.165, 0.975, -2.030, 0, 180, 0, 75 [SEP] 5, Spatula, -0.500, 0.761, -0.912, 0, 90, 0, 70 [SEP] 6, Fork, -1.914, 0.791, -3.790, 0, 90, 0, 86 [SEP] 7, Fork, -2.865, 0.714, -0.780, 0, 90, 0, 88 [SEP] 8, Egg, -1.436, 0.949, -4.008, 0, 0, 0, 44 [SEP] 9, Egg, -1.569, 0.826, -3.704, 0, 0, 0, 86 [SEP] 10, Cup, -3.079, 1.399, -2.064, 0, 90, 0, 85 [SEP] 11, Cup, -3.346, 0.914, -3.878, 0, 0, 0, 44 [SEP] 12, Plate, -3.182, 0.639, -1.941, 0, 90, 0, 85 [SEP] 13, Knife, -0.854, 0.946, -3.804, 0, 0, 0, 44 [SEP] 14, SoapBottle, -3.007, 0.716, -0.683, 0, 270, 0, 88 [SEP] 15, SoapBottle, -2.803, 0.716, -0.496, 0, 0, 0, 88 [SEP] 16, SaltShaker, -2.865, 0.713, -0.069, 0, 0, 0, 88 [SEP] 17, SaltShaker, -2.934, 0.713, -0.829, 0, 225, 0, 88 [SEP] 18, Lettuce, -2.723, 0.801, -0.621, 0, 270, 0, 88 [SEP] 19, Mug, -0.338, 0.911, -1.370, 0, 0, 0, 71 [SEP] 20, Mug, -3.286, 1.393, -2.064, 0, 90, 0, 85 [SEP] 21, Apple, -0.284, 0.122, -0.072, 0, 270, 0, 83 [SEP] 22, Apple, -3.234, 1.056, -2.002, 0, 90, 0, 85 [SEP] 23, Pot, -3.140, 0.916, -2.926, 0, 0, 0, 44 [SEP] 24, Egg, -2.975, 0.677, -1.817, 0, 90, 0, 85 [SEP] 25, Cup, -3.027, 1.013, -2.125, 0, 90, 0, 85 [SEP] 26, Bread, -0.327, 0.948, -3.681, 0, 298.222, 0, 44 [SEP] 27, Fork, -2.740, 0.717, -0.922, 0, 0, 0, 88 [SEP] 28, Pan, -3.393, 0.912, -3.327, 0, 270, 0, 44 [SEP] 29, Potato, -3.079, 0.685, -2.125, 0, 90, 0, 85 [SEP] 30, Lettuce, -0.650, 1.001, -3.655, 0, 0, 0, 44 [SEP] 31, Tomato, -0.500, 0.965, -1.432, 0, 0, 0, 71 [SEP] 32, Apple, -2.449, 0.956, -4.026, 0, 0, 0, 44 [SEP] 33, SoapBottle, -2.532, 0.716, -0.427, 0, 225, 0, 88 [SEP] 34, Spatula, -0.257, 0.930, -0.542, 0, 0, 0, 71 [SEP] 35, SaltShaker, -0.441, 0.742, -1.408, 0, 0, 0, 67 [SEP] 36, Knife, -0.382, 0.779, -1.253, 0, 270, 0, 67 [SEP] 37, PepperShaker, -2.987, 0.910, -4.026, 0, 0, 0, 44 [SEP] 38, ButterKnife, -1.058, 0.913, -3.655, 0, 0, 0, 44 [SEP] 39, Plate, -0.374, 0.078, -1.570, 0, 0, 0, 49 [SEP] 40, DishSponge, -0.443, 0.746, -3.376, 0, 0, 0, 72 [SEP] 41, Spoon, -2.519, 0.718, -0.753, 0, 135, 0, 88 [SEP] 42, Mug, -0.244, 0.908, -3.213, 0, 0, 0, 44 [SEP] 43, Bowl, -0.419, 0.913, -1.616, 0, 0, 0, 71 [SEP] 44, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0, [SEP] 45, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0, [SEP] 46, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0, [SEP] 47, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0, [SEP] 48, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0, [SEP] 49, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0, [SEP] 50, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0, [SEP] 51, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0, [SEP] 52, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0, [SEP] 53, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0, [SEP] 54, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0, [SEP] 55, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0, [SEP] 56, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0, [SEP] 57, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0, [SEP] 58, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0, [SEP] 59, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0, [SEP] 60, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0, [SEP] 61, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0, [SEP] 62, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0, [SEP] 63, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0, [SEP] 64, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0, [SEP] 65, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0, [SEP] 66, Drawer, -3.104, 0.797, -2.968, 0, 0, 0, [SEP] 67, Drawer, -0.449, 0.797, -1.410, 0, 0, 0, [SEP] 68, Sink, -1.786, 0.902, -3.748, 0, 0, 0, [SEP] 69, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0, [SEP] 70, Drawer, -0.449, 0.797, -0.762, 0, 0, 0, [SEP] 71, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0, [SEP] 72, Drawer, -0.449, 0.797, -3.348, 0, 0, 0, [SEP] 73, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0, [SEP] 74, Drawer, -0.449, 0.797, -2.968, 0, 0, 0, [SEP] 75, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0, [SEP] 76, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0, [SEP] 77, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0, [SEP] 78, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0, [SEP] 79, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0, [SEP] 80, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0, [SEP] 81, Microwave, -0.143, 0.903, -0.908, 0, 270, 0, [SEP] 82, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0, [SEP] 83, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0, [SEP] 84, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0, [SEP] 85, Fridge, -3.188, 0.0, -2.184, 0, 0, 0, [SEP] 86, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0, [SEP] 87, Toaster, -0.230, 0.903, -3.406, 0, 270, 0, [SEP] 88, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0, [SEP] 89, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0, [SEP] 90, Faucet, -1.791, 1.136, -3.913, 0, 270, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: move to the counter to the right of the stove | STEP 2: pick up a knife from the counter | STEP 3: turn to the left to the counter | STEP 4: cut a slice of bread on the counter | STEP 5: move to the microwave to the left of the stove | STEP 6: put the knife in the microwave | STEP 7: move to the counter to the right of the stove | STEP 8: pick up a slice of bread from the counter | STEP 9: move to the microwave to the left of the stove | STEP 10: heat the bread in the microwave | STEP 11: move to the fridge to the right of you | STEP 12: put the bread in the microwave | END"]} +{"id": "trial_T20190909_050524_644477-0", "input": "Put a warm potato in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 4.75, 0, 0, 0, [SEP] 1, Pan, 1.559, 0.988, 4.294, 0, 0, 0, 62 [SEP] 2, Potato, 1.276, 0.925, 2.034, 0, 90, 0, 87 [SEP] 3, ButterKnife, 1.582, 0.992, 3.511, 0, 0, 0, 64 [SEP] 4, Kettle, 0.745, 0.144, 0.576, 0, 0, 0, 70 [SEP] 5, Kettle, -0.028, 0.761, 6.786, 0, 225, 0, 100 [SEP] 6, Pot, 1.317, 0.988, 4.294, 0, 0, 0, 59 [SEP] 7, Spoon, 0.923, 0.993, 0.212, 0, 0, 0, 64 [SEP] 8, Spatula, -0.575, 0.775, 6.719, 0, 135, 0, 100 [SEP] 9, Fork, 0.056, 0.772, 0.451, 0, 0, 0, 61 [SEP] 10, Fork, -0.159, 0.760, 6.169, 0, 0, 0, 100 [SEP] 11, Egg, -0.467, 0.810, 6.479, 0, 270, 0, 100 [SEP] 12, Egg, 2.137, 1.565, 5.501, 0, 270, 0, 86 [SEP] 13, Cup, 2.051, 1.511, 5.876, 0, 270, 0, 86 [SEP] 14, Plate, 0.193, 0.144, 0.277, 0, 0, 0, 73 [SEP] 15, Knife, 0.803, 0.802, 0.507, 0, 0, 0, 56 [SEP] 16, Knife, -0.549, 0.802, 0.563, 0, 270, 0, 60 [SEP] 17, Tomato, 2.009, 1.565, 5.251, 0, 270, 0, 86 [SEP] 18, Tomato, 2.137, 1.565, 5.751, 0, 270, 0, 86 [SEP] 19, SoapBottle, 1.543, 1.576, 4.511, 0, 0, 0, 68 [SEP] 20, Bowl, 1.495, 2.206, 4.131, 0, 0, 0, 52 [SEP] 21, Bowl, 1.573, 0.139, 2.086, 0, 0, 0, 53 [SEP] 22, PepperShaker, 0.305, 0.755, 6.604, 0, 270, 0, 100 [SEP] 23, PepperShaker, -0.621, 0.139, 0.353, 0, 0, 0, 72 [SEP] 24, SaltShaker, 0.885, 0.138, 0.418, 0, 0, 0, 70 [SEP] 25, SaltShaker, 1.455, 1.571, 4.815, 0, 0, 0, 68 [SEP] 26, Bread, -0.334, 0.829, 6.742, 0, 135, 0, 100 [SEP] 27, Apple, 1.314, 1.067, 3.417, 0, 0, 0, 64 [SEP] 28, Apple, -0.005, 0.834, 6.544, 0, 225, 0, 100 [SEP] 29, Bowl, 1.322, 0.139, 2.794, 0, 0, 0, 76 [SEP] 30, Bread, 1.099, 1.048, 0.434, 0, 0, 0, 64 [SEP] 31, Egg, 1.332, 0.946, 2.525, 0, 90, 0, 87 [SEP] 32, Knife, 0.803, 0.802, 0.451, 0, 90, 0, 56 [SEP] 33, Fork, -0.685, 0.771, 0.395, 0, 90, 0, 60 [SEP] 34, Apple, 2.051, 1.590, 6.001, 0, 270, 0, 86 [SEP] 35, Kettle, -0.621, 0.761, 6.354, 0, 270, 0, 100 [SEP] 36, Plate, 1.238, 0.141, 1.864, 0, 0, 0, 53 [SEP] 37, SaltShaker, 1.657, 0.135, 2.572, 0, 0, 0, 76 [SEP] 38, Lettuce, -0.535, 1.081, 0.486, 0, 0, 0, 64 [SEP] 39, SoapBottle, 1.406, 0.140, 3.143, 0, 0, 0, 75 [SEP] 40, Spatula, -0.611, 1.007, 0.395, 0, 0, 0, 64 [SEP] 41, PaperTowelRoll, 1.493, 1.096, 0.440, 0, 0, 0, 64 [SEP] 42, Pot, 1.32, 0.988, 3.848, 0, 0, 0, 63 [SEP] 43, Potato, 1.966, 1.550, 5.501, 0, 270, 0, 86 [SEP] 44, ButterKnife, 1.284, 0.981, 1.339, 0, 14.185, 0, 64 [SEP] 45, PepperShaker, 0.213, 0.755, 6.763, 0, 225, 0, 100 [SEP] 46, Pan, 1.313, 0.985, 4.284, 0, 0, 0, 59 [SEP] 47, Tomato, 2.137, 1.565, 5.251, 0, 270, 0, 86 [SEP] 48, DishSponge, 1.314, 0.992, 1.577, 0, 0, 0, 64 [SEP] 49, Cup, 1.155, 0.136, 2.086, 0, 0, 0, 53 [SEP] 50, Spoon, -0.345, 0.772, 0.451, 0, 0, 0, 60 [SEP] 51, Mug, 1.966, 1.510, 5.626, 0, 270, 0, 86 [SEP] 52, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 53, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 54, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 55, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 56, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 57, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 58, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 59, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 60, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 61, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 62, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 63, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 64, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 65, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 66, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 67, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 68, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 69, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 70, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 71, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 72, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 73, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 74, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 75, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 76, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 77, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 78, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 79, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 80, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 81, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 82, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 83, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 84, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 85, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 86, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 87, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 88, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 89, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 90, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 91, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 92, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 93, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 94, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 95, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 96, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 97, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 98, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 99, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 100, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 101, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 102, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go forward, then turn left to go to the sink. | STEP 2: Pick up the potato from the right sink basin. | STEP 3: Turn around and step forward, then turn left to go to the microwave. | STEP 4: Open the microwave, put the potato inside and heat it up, then take the potato out. | STEP 5: Turn around and step forward, then turn right to face the sink. | STEP 6: Put the potato in the right sink basin. | END"]} +{"id": "trial_T20190909_050524_644477-1", "input": "Put a cooked potato in a kitchen sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 4.75, 0, 0, 0, [SEP] 1, Pan, 1.559, 0.988, 4.294, 0, 0, 0, 62 [SEP] 2, Potato, 1.276, 0.925, 2.034, 0, 90, 0, 87 [SEP] 3, ButterKnife, 1.582, 0.992, 3.511, 0, 0, 0, 64 [SEP] 4, Kettle, 0.745, 0.144, 0.576, 0, 0, 0, 70 [SEP] 5, Kettle, -0.028, 0.761, 6.786, 0, 225, 0, 100 [SEP] 6, Pot, 1.317, 0.988, 4.294, 0, 0, 0, 59 [SEP] 7, Spoon, 0.923, 0.993, 0.212, 0, 0, 0, 64 [SEP] 8, Spatula, -0.575, 0.775, 6.719, 0, 135, 0, 100 [SEP] 9, Fork, 0.056, 0.772, 0.451, 0, 0, 0, 61 [SEP] 10, Fork, -0.159, 0.760, 6.169, 0, 0, 0, 100 [SEP] 11, Egg, -0.467, 0.810, 6.479, 0, 270, 0, 100 [SEP] 12, Egg, 2.137, 1.565, 5.501, 0, 270, 0, 86 [SEP] 13, Cup, 2.051, 1.511, 5.876, 0, 270, 0, 86 [SEP] 14, Plate, 0.193, 0.144, 0.277, 0, 0, 0, 73 [SEP] 15, Knife, 0.803, 0.802, 0.507, 0, 0, 0, 56 [SEP] 16, Knife, -0.549, 0.802, 0.563, 0, 270, 0, 60 [SEP] 17, Tomato, 2.009, 1.565, 5.251, 0, 270, 0, 86 [SEP] 18, Tomato, 2.137, 1.565, 5.751, 0, 270, 0, 86 [SEP] 19, SoapBottle, 1.543, 1.576, 4.511, 0, 0, 0, 68 [SEP] 20, Bowl, 1.495, 2.206, 4.131, 0, 0, 0, 52 [SEP] 21, Bowl, 1.573, 0.139, 2.086, 0, 0, 0, 53 [SEP] 22, PepperShaker, 0.305, 0.755, 6.604, 0, 270, 0, 100 [SEP] 23, PepperShaker, -0.621, 0.139, 0.353, 0, 0, 0, 72 [SEP] 24, SaltShaker, 0.885, 0.138, 0.418, 0, 0, 0, 70 [SEP] 25, SaltShaker, 1.455, 1.571, 4.815, 0, 0, 0, 68 [SEP] 26, Bread, -0.334, 0.829, 6.742, 0, 135, 0, 100 [SEP] 27, Apple, 1.314, 1.067, 3.417, 0, 0, 0, 64 [SEP] 28, Apple, -0.005, 0.834, 6.544, 0, 225, 0, 100 [SEP] 29, Bowl, 1.322, 0.139, 2.794, 0, 0, 0, 76 [SEP] 30, Bread, 1.099, 1.048, 0.434, 0, 0, 0, 64 [SEP] 31, Egg, 1.332, 0.946, 2.525, 0, 90, 0, 87 [SEP] 32, Knife, 0.803, 0.802, 0.451, 0, 90, 0, 56 [SEP] 33, Fork, -0.685, 0.771, 0.395, 0, 90, 0, 60 [SEP] 34, Apple, 2.051, 1.590, 6.001, 0, 270, 0, 86 [SEP] 35, Kettle, -0.621, 0.761, 6.354, 0, 270, 0, 100 [SEP] 36, Plate, 1.238, 0.141, 1.864, 0, 0, 0, 53 [SEP] 37, SaltShaker, 1.657, 0.135, 2.572, 0, 0, 0, 76 [SEP] 38, Lettuce, -0.535, 1.081, 0.486, 0, 0, 0, 64 [SEP] 39, SoapBottle, 1.406, 0.140, 3.143, 0, 0, 0, 75 [SEP] 40, Spatula, -0.611, 1.007, 0.395, 0, 0, 0, 64 [SEP] 41, PaperTowelRoll, 1.493, 1.096, 0.440, 0, 0, 0, 64 [SEP] 42, Pot, 1.32, 0.988, 3.848, 0, 0, 0, 63 [SEP] 43, Potato, 1.966, 1.550, 5.501, 0, 270, 0, 86 [SEP] 44, ButterKnife, 1.284, 0.981, 1.339, 0, 14.185, 0, 64 [SEP] 45, PepperShaker, 0.213, 0.755, 6.763, 0, 225, 0, 100 [SEP] 46, Pan, 1.313, 0.985, 4.284, 0, 0, 0, 59 [SEP] 47, Tomato, 2.137, 1.565, 5.251, 0, 270, 0, 86 [SEP] 48, DishSponge, 1.314, 0.992, 1.577, 0, 0, 0, 64 [SEP] 49, Cup, 1.155, 0.136, 2.086, 0, 0, 0, 53 [SEP] 50, Spoon, -0.345, 0.772, 0.451, 0, 0, 0, 60 [SEP] 51, Mug, 1.966, 1.510, 5.626, 0, 270, 0, 86 [SEP] 52, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 53, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 54, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 55, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 56, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 57, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 58, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 59, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 60, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 61, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 62, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 63, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 64, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 65, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 66, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 67, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 68, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 69, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 70, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 71, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 72, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 73, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 74, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 75, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 76, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 77, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 78, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 79, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 80, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 81, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 82, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 83, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 84, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 85, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 86, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 87, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 88, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 89, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 90, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 91, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 92, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 93, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 94, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 95, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 96, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 97, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 98, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 99, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 100, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 101, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 102, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: Turn the opposite direction and go along the counter to your left to the right side of the sink. | STEP 2: Get the potato from the sink. | STEP 3: Carry the potato to the microwave on your right. | STEP 4: Heat the potato in the microwave. | STEP 5: Carry the potato back to the sink. | STEP 6: Put the potato back in the right side of the sink. | END"]} +{"id": "trial_T20190909_050524_644477-2", "input": "Put a microwaved potato in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 4.75, 0, 0, 0, [SEP] 1, Pan, 1.559, 0.988, 4.294, 0, 0, 0, 62 [SEP] 2, Potato, 1.276, 0.925, 2.034, 0, 90, 0, 87 [SEP] 3, ButterKnife, 1.582, 0.992, 3.511, 0, 0, 0, 64 [SEP] 4, Kettle, 0.745, 0.144, 0.576, 0, 0, 0, 70 [SEP] 5, Kettle, -0.028, 0.761, 6.786, 0, 225, 0, 100 [SEP] 6, Pot, 1.317, 0.988, 4.294, 0, 0, 0, 59 [SEP] 7, Spoon, 0.923, 0.993, 0.212, 0, 0, 0, 64 [SEP] 8, Spatula, -0.575, 0.775, 6.719, 0, 135, 0, 100 [SEP] 9, Fork, 0.056, 0.772, 0.451, 0, 0, 0, 61 [SEP] 10, Fork, -0.159, 0.760, 6.169, 0, 0, 0, 100 [SEP] 11, Egg, -0.467, 0.810, 6.479, 0, 270, 0, 100 [SEP] 12, Egg, 2.137, 1.565, 5.501, 0, 270, 0, 86 [SEP] 13, Cup, 2.051, 1.511, 5.876, 0, 270, 0, 86 [SEP] 14, Plate, 0.193, 0.144, 0.277, 0, 0, 0, 73 [SEP] 15, Knife, 0.803, 0.802, 0.507, 0, 0, 0, 56 [SEP] 16, Knife, -0.549, 0.802, 0.563, 0, 270, 0, 60 [SEP] 17, Tomato, 2.009, 1.565, 5.251, 0, 270, 0, 86 [SEP] 18, Tomato, 2.137, 1.565, 5.751, 0, 270, 0, 86 [SEP] 19, SoapBottle, 1.543, 1.576, 4.511, 0, 0, 0, 68 [SEP] 20, Bowl, 1.495, 2.206, 4.131, 0, 0, 0, 52 [SEP] 21, Bowl, 1.573, 0.139, 2.086, 0, 0, 0, 53 [SEP] 22, PepperShaker, 0.305, 0.755, 6.604, 0, 270, 0, 100 [SEP] 23, PepperShaker, -0.621, 0.139, 0.353, 0, 0, 0, 72 [SEP] 24, SaltShaker, 0.885, 0.138, 0.418, 0, 0, 0, 70 [SEP] 25, SaltShaker, 1.455, 1.571, 4.815, 0, 0, 0, 68 [SEP] 26, Bread, -0.334, 0.829, 6.742, 0, 135, 0, 100 [SEP] 27, Apple, 1.314, 1.067, 3.417, 0, 0, 0, 64 [SEP] 28, Apple, -0.005, 0.834, 6.544, 0, 225, 0, 100 [SEP] 29, Bowl, 1.322, 0.139, 2.794, 0, 0, 0, 76 [SEP] 30, Bread, 1.099, 1.048, 0.434, 0, 0, 0, 64 [SEP] 31, Egg, 1.332, 0.946, 2.525, 0, 90, 0, 87 [SEP] 32, Knife, 0.803, 0.802, 0.451, 0, 90, 0, 56 [SEP] 33, Fork, -0.685, 0.771, 0.395, 0, 90, 0, 60 [SEP] 34, Apple, 2.051, 1.590, 6.001, 0, 270, 0, 86 [SEP] 35, Kettle, -0.621, 0.761, 6.354, 0, 270, 0, 100 [SEP] 36, Plate, 1.238, 0.141, 1.864, 0, 0, 0, 53 [SEP] 37, SaltShaker, 1.657, 0.135, 2.572, 0, 0, 0, 76 [SEP] 38, Lettuce, -0.535, 1.081, 0.486, 0, 0, 0, 64 [SEP] 39, SoapBottle, 1.406, 0.140, 3.143, 0, 0, 0, 75 [SEP] 40, Spatula, -0.611, 1.007, 0.395, 0, 0, 0, 64 [SEP] 41, PaperTowelRoll, 1.493, 1.096, 0.440, 0, 0, 0, 64 [SEP] 42, Pot, 1.32, 0.988, 3.848, 0, 0, 0, 63 [SEP] 43, Potato, 1.966, 1.550, 5.501, 0, 270, 0, 86 [SEP] 44, ButterKnife, 1.284, 0.981, 1.339, 0, 14.185, 0, 64 [SEP] 45, PepperShaker, 0.213, 0.755, 6.763, 0, 225, 0, 100 [SEP] 46, Pan, 1.313, 0.985, 4.284, 0, 0, 0, 59 [SEP] 47, Tomato, 2.137, 1.565, 5.251, 0, 270, 0, 86 [SEP] 48, DishSponge, 1.314, 0.992, 1.577, 0, 0, 0, 64 [SEP] 49, Cup, 1.155, 0.136, 2.086, 0, 0, 0, 53 [SEP] 50, Spoon, -0.345, 0.772, 0.451, 0, 0, 0, 60 [SEP] 51, Mug, 1.966, 1.510, 5.626, 0, 270, 0, 86 [SEP] 52, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 53, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 54, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 55, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 56, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 57, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 58, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 59, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 60, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 61, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 62, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 63, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 64, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 65, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 66, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 67, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 68, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 69, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 70, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 71, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 72, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 73, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 74, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 75, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 76, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 77, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 78, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 79, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 80, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 81, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 82, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 83, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 84, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 85, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 86, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 87, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 88, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 89, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 90, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 91, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 92, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 93, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 94, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 95, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 96, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 97, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 98, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 99, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 100, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 101, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 102, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: Turn and go to the sink. | STEP 2: Pick up a potato in the sink. | STEP 3: Turn and go to the microwave. | STEP 4: Heat the potato in the microwave. | STEP 5: Turn and go to the sink. | STEP 6: Put the potato in the sink. | END"]} +{"id": "trial_T20190909_055538_380023-0", "input": "To move two bars of soap to the black bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, -1.25, 0, 270, 0, [SEP] 1, Cloth, -2.764, 0.066, -3.630, 0, 0, 0, 27 [SEP] 2, Cloth, -2.796, 0.806, -3.707, 0, 0, 0, 29 [SEP] 3, SoapBar, -2.884, 0.806, -2.263, 0, 0, 0, 29 [SEP] 4, SoapBar, -2.669, 0.872, -3.098, 0, 90, 0, 35 [SEP] 5, SoapBar, -2.700, 0.872, -3.007, 0, 90, 0, 35 [SEP] 6, Candle, -2.620, 0.815, -3.474, 0, 0, 0, 29 [SEP] 7, SprayBottle, -0.099, 1.046, -2.917, 0, 270, 0, 38 [SEP] 8, SprayBottle, -0.190, 1.046, -3.048, 0, 270, 0, 38 [SEP] 9, SoapBottle, -2.620, 0.808, -3.707, 0, 0, 0, 29 [SEP] 10, HandTowel, -2.962, 1.584, -2.569, 0, 270, 0, 33 [SEP] 11, Candle, -0.221, 1.054, -2.917, 0, 270, 0, 38 [SEP] 12, Cloth, -2.689, 0.066, -3.023, 0, 0, 0, 22 [SEP] 13, HandTowel, -2.962, 1.584, -3.550, 0, 270, 0, 32 [SEP] 14, Plunger, -0.125, 0.000, -3.493, 0, 0, 0, Floor|-00.04| [SEP] 15, SoapBar, -2.443, 0.806, -3.591, 0, 0, 0, 29 [SEP] 16, ToiletPaper, -0.093, 0.842, -2.618, 0, 270, 270, 31 [SEP] 17, ToiletPaper, -0.099, 1.042, -3.245, 0, 270, 0, 38 [SEP] 18, Towel, -1.291, 1.386, -0.63, 0, 270, 0, 30 [SEP] 19, SoapBottle, -2.532, 0.808, -2.459, 0, 0, 0, 29 [SEP] 20, SprayBottle, -2.443, 0.807, -2.590, 0, 0, 0, 29 [SEP] 21, ScrubBrush, -0.325, 0.000, -3.342, 0, 0, 0, Floor|-00.04| [SEP] 22, Cabinet, -2.293, 0.324, -3.254, 0, 0, 0, [SEP] 23, Mirror, -3.0, 1.659, -3.069, 0, 0, 0, [SEP] 24, Sink, -2.661, 0.785, -3.069, 0, 90, 0, [SEP] 25, ShowerGlass, -0.599, 1.097, -1.124, 0, 0, 0, [SEP] 26, Cabinet, -2.299, 0.345, -2.250, 0, 0, 0, [SEP] 27, Cabinet, -2.293, 0.324, -3.814, 0, 0, 0, [SEP] 28, ShowerDoor, -1.179, 1.090, -1.220, 0, 0, 0, [SEP] 29, CounterTop, -2.632, 0.843, -3.040, 0, 0, 0, [SEP] 30, TowelHolder, -1.184, 1.371, -0.629, 0, 270, 0, [SEP] 31, ToiletPaperHanger, 0.0, 0.943, -2.536, 0, 270, 0, [SEP] 32, HandTowelHolder, -3.000, 1.685, -3.550, 0, 0, 0, [SEP] 33, HandTowelHolder, -3.000, 1.685, -2.569, 0, 0, 0, [SEP] 34, Window, -0.567, 1.706, -4.002, 90, 0, 0, [SEP] 35, SinkBasin, -2.669, 0.863, -3.063, 0, 90, 0, [SEP] 36, GarbageCan, -0.459, -0.043, -3.769, 0, 0, 0, [SEP] 37, LightSwitch, -1.945, 1.503, 0.000, 0, 180, 0, [SEP] 38, Toilet, -0.452, 0.000, -3.052, 0, 0, 0, [SEP] 39, Faucet, -3.0, 1.167, -3.073, 0, 180, 0, [SEP] 40, ShowerHead, -0.614, 1.934, -0.013, 0, 0, 0, [SEP] 41, EastWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the sink on the right. | STEP 2: Pick up the bar of soap to the right in the sink. | STEP 3: Turn around and walk to the black bin to the right of the toilet. | STEP 4: Put the soap inside of the black bin. | STEP 5: Turn around and walk back over to the sink. | STEP 6: Pick up the bar of soap from the sink. | STEP 7: Turn around and walk back to the black bin. | STEP 8: Put the bar of soap inside the black bin and to the right of the first bar of soap. | END"]} +{"id": "trial_T20190909_055538_380023-1", "input": "Move two bars of soap from the sink to a small black bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, -1.25, 0, 270, 0, [SEP] 1, Cloth, -2.764, 0.066, -3.630, 0, 0, 0, 27 [SEP] 2, Cloth, -2.796, 0.806, -3.707, 0, 0, 0, 29 [SEP] 3, SoapBar, -2.884, 0.806, -2.263, 0, 0, 0, 29 [SEP] 4, SoapBar, -2.669, 0.872, -3.098, 0, 90, 0, 35 [SEP] 5, SoapBar, -2.700, 0.872, -3.007, 0, 90, 0, 35 [SEP] 6, Candle, -2.620, 0.815, -3.474, 0, 0, 0, 29 [SEP] 7, SprayBottle, -0.099, 1.046, -2.917, 0, 270, 0, 38 [SEP] 8, SprayBottle, -0.190, 1.046, -3.048, 0, 270, 0, 38 [SEP] 9, SoapBottle, -2.620, 0.808, -3.707, 0, 0, 0, 29 [SEP] 10, HandTowel, -2.962, 1.584, -2.569, 0, 270, 0, 33 [SEP] 11, Candle, -0.221, 1.054, -2.917, 0, 270, 0, 38 [SEP] 12, Cloth, -2.689, 0.066, -3.023, 0, 0, 0, 22 [SEP] 13, HandTowel, -2.962, 1.584, -3.550, 0, 270, 0, 32 [SEP] 14, Plunger, -0.125, 0.000, -3.493, 0, 0, 0, Floor|-00.04| [SEP] 15, SoapBar, -2.443, 0.806, -3.591, 0, 0, 0, 29 [SEP] 16, ToiletPaper, -0.093, 0.842, -2.618, 0, 270, 270, 31 [SEP] 17, ToiletPaper, -0.099, 1.042, -3.245, 0, 270, 0, 38 [SEP] 18, Towel, -1.291, 1.386, -0.63, 0, 270, 0, 30 [SEP] 19, SoapBottle, -2.532, 0.808, -2.459, 0, 0, 0, 29 [SEP] 20, SprayBottle, -2.443, 0.807, -2.590, 0, 0, 0, 29 [SEP] 21, ScrubBrush, -0.325, 0.000, -3.342, 0, 0, 0, Floor|-00.04| [SEP] 22, Cabinet, -2.293, 0.324, -3.254, 0, 0, 0, [SEP] 23, Mirror, -3.0, 1.659, -3.069, 0, 0, 0, [SEP] 24, Sink, -2.661, 0.785, -3.069, 0, 90, 0, [SEP] 25, ShowerGlass, -0.599, 1.097, -1.124, 0, 0, 0, [SEP] 26, Cabinet, -2.299, 0.345, -2.250, 0, 0, 0, [SEP] 27, Cabinet, -2.293, 0.324, -3.814, 0, 0, 0, [SEP] 28, ShowerDoor, -1.179, 1.090, -1.220, 0, 0, 0, [SEP] 29, CounterTop, -2.632, 0.843, -3.040, 0, 0, 0, [SEP] 30, TowelHolder, -1.184, 1.371, -0.629, 0, 270, 0, [SEP] 31, ToiletPaperHanger, 0.0, 0.943, -2.536, 0, 270, 0, [SEP] 32, HandTowelHolder, -3.000, 1.685, -3.550, 0, 0, 0, [SEP] 33, HandTowelHolder, -3.000, 1.685, -2.569, 0, 0, 0, [SEP] 34, Window, -0.567, 1.706, -4.002, 90, 0, 0, [SEP] 35, SinkBasin, -2.669, 0.863, -3.063, 0, 90, 0, [SEP] 36, GarbageCan, -0.459, -0.043, -3.769, 0, 0, 0, [SEP] 37, LightSwitch, -1.945, 1.503, 0.000, 0, 180, 0, [SEP] 38, Toilet, -0.452, 0.000, -3.052, 0, 0, 0, [SEP] 39, Faucet, -3.0, 1.167, -3.073, 0, 180, 0, [SEP] 40, ShowerHead, -0.614, 1.934, -0.013, 0, 0, 0, [SEP] 41, EastWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left and walk towards the wall, then hang a right and walk up to the sink. | STEP 2: Pick up the rightmost bar of soap out of the sink basin. | STEP 3: Turn left and walk over to the wall, then hang a left and walk up to the small black bin on the ground. | STEP 4: Put the bar of soap in the small black bin. | STEP 5: Walk back over to the sink behind you. | STEP 6: Pick up the bar of soap out of the sink. | STEP 7: Turn left and walk over to the wall, then turn left and walk up to the small black bin in the corner of the room. | STEP 8: Put the bar of soap into the small black bin. | END"]} +{"id": "trial_T20190909_055538_380023-2", "input": "put two soap bars in bin SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, -1.25, 0, 270, 0, [SEP] 1, Cloth, -2.764, 0.066, -3.630, 0, 0, 0, 27 [SEP] 2, Cloth, -2.796, 0.806, -3.707, 0, 0, 0, 29 [SEP] 3, SoapBar, -2.884, 0.806, -2.263, 0, 0, 0, 29 [SEP] 4, SoapBar, -2.669, 0.872, -3.098, 0, 90, 0, 35 [SEP] 5, SoapBar, -2.700, 0.872, -3.007, 0, 90, 0, 35 [SEP] 6, Candle, -2.620, 0.815, -3.474, 0, 0, 0, 29 [SEP] 7, SprayBottle, -0.099, 1.046, -2.917, 0, 270, 0, 38 [SEP] 8, SprayBottle, -0.190, 1.046, -3.048, 0, 270, 0, 38 [SEP] 9, SoapBottle, -2.620, 0.808, -3.707, 0, 0, 0, 29 [SEP] 10, HandTowel, -2.962, 1.584, -2.569, 0, 270, 0, 33 [SEP] 11, Candle, -0.221, 1.054, -2.917, 0, 270, 0, 38 [SEP] 12, Cloth, -2.689, 0.066, -3.023, 0, 0, 0, 22 [SEP] 13, HandTowel, -2.962, 1.584, -3.550, 0, 270, 0, 32 [SEP] 14, Plunger, -0.125, 0.000, -3.493, 0, 0, 0, Floor|-00.04| [SEP] 15, SoapBar, -2.443, 0.806, -3.591, 0, 0, 0, 29 [SEP] 16, ToiletPaper, -0.093, 0.842, -2.618, 0, 270, 270, 31 [SEP] 17, ToiletPaper, -0.099, 1.042, -3.245, 0, 270, 0, 38 [SEP] 18, Towel, -1.291, 1.386, -0.63, 0, 270, 0, 30 [SEP] 19, SoapBottle, -2.532, 0.808, -2.459, 0, 0, 0, 29 [SEP] 20, SprayBottle, -2.443, 0.807, -2.590, 0, 0, 0, 29 [SEP] 21, ScrubBrush, -0.325, 0.000, -3.342, 0, 0, 0, Floor|-00.04| [SEP] 22, Cabinet, -2.293, 0.324, -3.254, 0, 0, 0, [SEP] 23, Mirror, -3.0, 1.659, -3.069, 0, 0, 0, [SEP] 24, Sink, -2.661, 0.785, -3.069, 0, 90, 0, [SEP] 25, ShowerGlass, -0.599, 1.097, -1.124, 0, 0, 0, [SEP] 26, Cabinet, -2.299, 0.345, -2.250, 0, 0, 0, [SEP] 27, Cabinet, -2.293, 0.324, -3.814, 0, 0, 0, [SEP] 28, ShowerDoor, -1.179, 1.090, -1.220, 0, 0, 0, [SEP] 29, CounterTop, -2.632, 0.843, -3.040, 0, 0, 0, [SEP] 30, TowelHolder, -1.184, 1.371, -0.629, 0, 270, 0, [SEP] 31, ToiletPaperHanger, 0.0, 0.943, -2.536, 0, 270, 0, [SEP] 32, HandTowelHolder, -3.000, 1.685, -3.550, 0, 0, 0, [SEP] 33, HandTowelHolder, -3.000, 1.685, -2.569, 0, 0, 0, [SEP] 34, Window, -0.567, 1.706, -4.002, 90, 0, 0, [SEP] 35, SinkBasin, -2.669, 0.863, -3.063, 0, 90, 0, [SEP] 36, GarbageCan, -0.459, -0.043, -3.769, 0, 0, 0, [SEP] 37, LightSwitch, -1.945, 1.503, 0.000, 0, 180, 0, [SEP] 38, Toilet, -0.452, 0.000, -3.052, 0, 0, 0, [SEP] 39, Faucet, -3.0, 1.167, -3.073, 0, 180, 0, [SEP] 40, ShowerHead, -0.614, 1.934, -0.013, 0, 0, 0, [SEP] 41, EastWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , ", "output": ["STEP 1: walk to face bathroom sink | STEP 2: pick up pink soap bar from sink | STEP 3: walk to face trash bin next to toilet | STEP 4: put soap bar in bin | STEP 5: walk to face bathroom sink | STEP 6: pick up pink soap bar from sink | STEP 7: walk to face trash bin next to toilet | STEP 8: put soap bar in bin | END"]} +{"id": "trial_T20190909_023218_500741-0", "input": "Put a mug with a pen in it on the shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.937, 2.25, 0, 270, 0, [SEP] 1, CD, 1.721, 0.093, -2.945, 0, 90, 0, 52 [SEP] 2, CD, -3.080, 0.190, 3.197, 0, 149.999, 0, 53 [SEP] 3, Pen, 1.681, 0.558, 2.490, 0, 180, 0, 54 [SEP] 4, Pen, 1.537, 0.558, 2.440, 0, 90, 0, 54 [SEP] 5, CreditCard, -0.632, 0.582, -2.986, 0, 0, 0, 29 [SEP] 6, CreditCard, -0.850, 0.190, 3.495, 0, 175.771, 0, 46 [SEP] 7, Book, -1.227, 1.115, -2.902, 0, 0, 0, 34 [SEP] 8, Book, -2.625, 0.082, -3.055, 0, 0, 0, 28 [SEP] 9, RemoteControl, -0.602, 1.118, -3.073, 0, 0, 0, 34 [SEP] 10, RemoteControl, -1.539, 1.118, -3.158, 0, 0, 0, 34 [SEP] 11, AlarmClock, 1.706, 0.555, 2.612, 0, 0, 0, 54 [SEP] 12, Pillow, 0.958, 0.940, 0.975, 0, 0, 0, 27 [SEP] 13, Book, -3.401, 0.190, 3.430, 0, 149.999, 0, 53 [SEP] 14, AlarmClock, -1.227, 1.118, -2.732, 0, 0, 0, 34 [SEP] 15, CellPhone, -1.248, 0.087, -2.986, 0, 0, 0, 32 [SEP] 16, Pillow, 0.104, 0.940, 1.456, 0, 0, 0, 27 [SEP] 17, Pillow, 0.104, 0.940, 0.735, 0, 0, 0, 27 [SEP] 18, TeddyBear, 1.868, 0.036, -0.561, 0, 59.999, 0, Floor|-00.06| [SEP] 19, CreditCard, -1.071, 0.084, -2.778, 0, 0, 0, 32 [SEP] 20, KeyChain, 1.561, 0.095, -2.893, 0, 180, 0, 52 [SEP] 21, Pencil, -1.227, 1.119, -3.073, 0, 0, 0, 34 [SEP] 22, Laptop, -0.914, 1.114, -3.073, 0, 0, 0, 34 [SEP] 23, RemoteControl, 1.609, 0.555, 2.342, 0, 90, 0, 54 [SEP] 24, CD, -0.602, 1.115, -2.902, 0, 0, 0, 34 [SEP] 25, Pen, -0.602, 1.121, -2.732, 0, 0, 0, 34 [SEP] 26, Mug, 1.657, 0.550, 2.181, 0, 0, 0, 54 [SEP] 27, Bed, 0.967, 0.049, 0.667, 0, 90, 0, [SEP] 28, Cabinet, -3.0, 1.497, -2.643, 0, 0, 0, [SEP] 29, Drawer, -0.365, 0.785, -2.848, 0, 0, 0, [SEP] 30, Drawer, -1.159, 0.785, -2.848, 0, 0, 0, [SEP] 31, Cabinet, 2.064, 1.497, -2.643, 0, 0, 0, [SEP] 32, Drawer, -1.159, 0.285, -2.848, 0, 0, 0, [SEP] 33, Drawer, -0.365, 0.285, -2.848, 0, 0, 0, [SEP] 34, Desk, -1.271, 1.169, -2.987, 0, 0, 0, [SEP] 35, LightSwitch, -0.159, 1.281, 3.999, 0, 180, 0, [SEP] 36, GarbageCan, -3.338, 0.022, -2.797, 0, 4.809, 0, [SEP] 37, HousePlant, -0.195, 1.105, -3.084, 0, 0, 0, [SEP] 38, DeskLamp, 1.863, 0.581, 2.431, 0, 0, 0, [SEP] 39, Mirror, -1.603, 1.447, 3.999, 0, 0, 0, [SEP] 40, Television, -3.883, 1.771, 2.122, 0, 90, 0, [SEP] 41, Window, -1.952, 2.148, -3.302, 90, 180, 0, [SEP] 42, Window, -0.467, 2.148, -3.302, 90, 180, 0, [SEP] 43, Window, -3.894, 1.751, 0.582, 90, 270, 0, [SEP] 44, Window, -3.894, 1.751, -0.675, 90, 270, 0, [SEP] 45, LaundryHamper, 1.831, 0.058, 3.689, 0, 354.434, 1.354, [SEP] 46, ArmChair, -0.948, 0.051, 3.583, 0, 175.988, 0, [SEP] 47, ArmChair, -2.172, 0.051, 3.598, 0, 180, 0, [SEP] 48, Blinds, -0.477, 2.785, -3.253, 0, 0, 0, [SEP] 49, Blinds, -1.957, 2.785, -3.253, 0, 0, 0, [SEP] 50, Blinds, -3.799, 2.506, 0.602, 0, 90, 0, [SEP] 51, Blinds, -3.799, 2.506, -0.647, 0, 90, 0, [SEP] 52, Safe, 1.673, 0.054, -3.004, 0, 0, 0, [SEP] 53, ArmChair, -3.349, 0.051, 3.375, 0, 150.096, 0, [SEP] 54, SideTable, 1.775, 0.048, 2.377, 0, 0, 0, [SEP] 55, Chair, -2.002, 0.050, -2.532, 0, 165.000, 0, [SEP] 56, NorthWall, , , , , , , [SEP] 57, EastWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, WestWall, , , , , , , ", "output": ["STEP 1: Go to the shelf to your left with the plant on it. | STEP 2: Pick up the pen from the shelf. | STEP 3: Turn around and move forward to cross the room, then turn right at the end of the bed and go to the nightstand ahead. | STEP 4: Put the pen in the mug on the nightstand. | STEP 5: Pick up the mug from the nightstand. | STEP 6: Turn around and move forward to the end of the bed, then turn left and return to the shelf ahead. | STEP 7: Put the mug on the shelf in front of you. | END"]} +{"id": "trial_T20190909_023218_500741-1", "input": "place a cup with a pencil in it on top of the cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.937, 2.25, 0, 270, 0, [SEP] 1, CD, 1.721, 0.093, -2.945, 0, 90, 0, 52 [SEP] 2, CD, -3.080, 0.190, 3.197, 0, 149.999, 0, 53 [SEP] 3, Pen, 1.681, 0.558, 2.490, 0, 180, 0, 54 [SEP] 4, Pen, 1.537, 0.558, 2.440, 0, 90, 0, 54 [SEP] 5, CreditCard, -0.632, 0.582, -2.986, 0, 0, 0, 29 [SEP] 6, CreditCard, -0.850, 0.190, 3.495, 0, 175.771, 0, 46 [SEP] 7, Book, -1.227, 1.115, -2.902, 0, 0, 0, 34 [SEP] 8, Book, -2.625, 0.082, -3.055, 0, 0, 0, 28 [SEP] 9, RemoteControl, -0.602, 1.118, -3.073, 0, 0, 0, 34 [SEP] 10, RemoteControl, -1.539, 1.118, -3.158, 0, 0, 0, 34 [SEP] 11, AlarmClock, 1.706, 0.555, 2.612, 0, 0, 0, 54 [SEP] 12, Pillow, 0.958, 0.940, 0.975, 0, 0, 0, 27 [SEP] 13, Book, -3.401, 0.190, 3.430, 0, 149.999, 0, 53 [SEP] 14, AlarmClock, -1.227, 1.118, -2.732, 0, 0, 0, 34 [SEP] 15, CellPhone, -1.248, 0.087, -2.986, 0, 0, 0, 32 [SEP] 16, Pillow, 0.104, 0.940, 1.456, 0, 0, 0, 27 [SEP] 17, Pillow, 0.104, 0.940, 0.735, 0, 0, 0, 27 [SEP] 18, TeddyBear, 1.868, 0.036, -0.561, 0, 59.999, 0, Floor|-00.06| [SEP] 19, CreditCard, -1.071, 0.084, -2.778, 0, 0, 0, 32 [SEP] 20, KeyChain, 1.561, 0.095, -2.893, 0, 180, 0, 52 [SEP] 21, Pencil, -1.227, 1.119, -3.073, 0, 0, 0, 34 [SEP] 22, Laptop, -0.914, 1.114, -3.073, 0, 0, 0, 34 [SEP] 23, RemoteControl, 1.609, 0.555, 2.342, 0, 90, 0, 54 [SEP] 24, CD, -0.602, 1.115, -2.902, 0, 0, 0, 34 [SEP] 25, Pen, -0.602, 1.121, -2.732, 0, 0, 0, 34 [SEP] 26, Mug, 1.657, 0.550, 2.181, 0, 0, 0, 54 [SEP] 27, Bed, 0.967, 0.049, 0.667, 0, 90, 0, [SEP] 28, Cabinet, -3.0, 1.497, -2.643, 0, 0, 0, [SEP] 29, Drawer, -0.365, 0.785, -2.848, 0, 0, 0, [SEP] 30, Drawer, -1.159, 0.785, -2.848, 0, 0, 0, [SEP] 31, Cabinet, 2.064, 1.497, -2.643, 0, 0, 0, [SEP] 32, Drawer, -1.159, 0.285, -2.848, 0, 0, 0, [SEP] 33, Drawer, -0.365, 0.285, -2.848, 0, 0, 0, [SEP] 34, Desk, -1.271, 1.169, -2.987, 0, 0, 0, [SEP] 35, LightSwitch, -0.159, 1.281, 3.999, 0, 180, 0, [SEP] 36, GarbageCan, -3.338, 0.022, -2.797, 0, 4.809, 0, [SEP] 37, HousePlant, -0.195, 1.105, -3.084, 0, 0, 0, [SEP] 38, DeskLamp, 1.863, 0.581, 2.431, 0, 0, 0, [SEP] 39, Mirror, -1.603, 1.447, 3.999, 0, 0, 0, [SEP] 40, Television, -3.883, 1.771, 2.122, 0, 90, 0, [SEP] 41, Window, -1.952, 2.148, -3.302, 90, 180, 0, [SEP] 42, Window, -0.467, 2.148, -3.302, 90, 180, 0, [SEP] 43, Window, -3.894, 1.751, 0.582, 90, 270, 0, [SEP] 44, Window, -3.894, 1.751, -0.675, 90, 270, 0, [SEP] 45, LaundryHamper, 1.831, 0.058, 3.689, 0, 354.434, 1.354, [SEP] 46, ArmChair, -0.948, 0.051, 3.583, 0, 175.988, 0, [SEP] 47, ArmChair, -2.172, 0.051, 3.598, 0, 180, 0, [SEP] 48, Blinds, -0.477, 2.785, -3.253, 0, 0, 0, [SEP] 49, Blinds, -1.957, 2.785, -3.253, 0, 0, 0, [SEP] 50, Blinds, -3.799, 2.506, 0.602, 0, 90, 0, [SEP] 51, Blinds, -3.799, 2.506, -0.647, 0, 90, 0, [SEP] 52, Safe, 1.673, 0.054, -3.004, 0, 0, 0, [SEP] 53, ArmChair, -3.349, 0.051, 3.375, 0, 150.096, 0, [SEP] 54, SideTable, 1.775, 0.048, 2.377, 0, 0, 0, [SEP] 55, Chair, -2.002, 0.050, -2.532, 0, 165.000, 0, [SEP] 56, NorthWall, , , , , , , [SEP] 57, EastWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, WestWall, , , , , , , ", "output": ["STEP 1: turn left and walk to the end of the room | STEP 2: grab a pencil off of the cabinet there | STEP 3: turn around and walk past the foot of the bed on your right, then turn right and walk over to the night stand on the left side of the bed | STEP 4: place the pencil inside a cup on the nightstand | STEP 5: pick up the cup with the pencil in it off of the nightstand | STEP 6: turn around and walk past the bed on your left, then take a left and walk to the end of the room where the cabinet is | STEP 7: place the cup on top of the cabinet | END"]} +{"id": "trial_T20190909_023218_500741-2", "input": "Put a mug with a pen in it on a white dresser. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.937, 2.25, 0, 270, 0, [SEP] 1, CD, 1.721, 0.093, -2.945, 0, 90, 0, 52 [SEP] 2, CD, -3.080, 0.190, 3.197, 0, 149.999, 0, 53 [SEP] 3, Pen, 1.681, 0.558, 2.490, 0, 180, 0, 54 [SEP] 4, Pen, 1.537, 0.558, 2.440, 0, 90, 0, 54 [SEP] 5, CreditCard, -0.632, 0.582, -2.986, 0, 0, 0, 29 [SEP] 6, CreditCard, -0.850, 0.190, 3.495, 0, 175.771, 0, 46 [SEP] 7, Book, -1.227, 1.115, -2.902, 0, 0, 0, 34 [SEP] 8, Book, -2.625, 0.082, -3.055, 0, 0, 0, 28 [SEP] 9, RemoteControl, -0.602, 1.118, -3.073, 0, 0, 0, 34 [SEP] 10, RemoteControl, -1.539, 1.118, -3.158, 0, 0, 0, 34 [SEP] 11, AlarmClock, 1.706, 0.555, 2.612, 0, 0, 0, 54 [SEP] 12, Pillow, 0.958, 0.940, 0.975, 0, 0, 0, 27 [SEP] 13, Book, -3.401, 0.190, 3.430, 0, 149.999, 0, 53 [SEP] 14, AlarmClock, -1.227, 1.118, -2.732, 0, 0, 0, 34 [SEP] 15, CellPhone, -1.248, 0.087, -2.986, 0, 0, 0, 32 [SEP] 16, Pillow, 0.104, 0.940, 1.456, 0, 0, 0, 27 [SEP] 17, Pillow, 0.104, 0.940, 0.735, 0, 0, 0, 27 [SEP] 18, TeddyBear, 1.868, 0.036, -0.561, 0, 59.999, 0, Floor|-00.06| [SEP] 19, CreditCard, -1.071, 0.084, -2.778, 0, 0, 0, 32 [SEP] 20, KeyChain, 1.561, 0.095, -2.893, 0, 180, 0, 52 [SEP] 21, Pencil, -1.227, 1.119, -3.073, 0, 0, 0, 34 [SEP] 22, Laptop, -0.914, 1.114, -3.073, 0, 0, 0, 34 [SEP] 23, RemoteControl, 1.609, 0.555, 2.342, 0, 90, 0, 54 [SEP] 24, CD, -0.602, 1.115, -2.902, 0, 0, 0, 34 [SEP] 25, Pen, -0.602, 1.121, -2.732, 0, 0, 0, 34 [SEP] 26, Mug, 1.657, 0.550, 2.181, 0, 0, 0, 54 [SEP] 27, Bed, 0.967, 0.049, 0.667, 0, 90, 0, [SEP] 28, Cabinet, -3.0, 1.497, -2.643, 0, 0, 0, [SEP] 29, Drawer, -0.365, 0.785, -2.848, 0, 0, 0, [SEP] 30, Drawer, -1.159, 0.785, -2.848, 0, 0, 0, [SEP] 31, Cabinet, 2.064, 1.497, -2.643, 0, 0, 0, [SEP] 32, Drawer, -1.159, 0.285, -2.848, 0, 0, 0, [SEP] 33, Drawer, -0.365, 0.285, -2.848, 0, 0, 0, [SEP] 34, Desk, -1.271, 1.169, -2.987, 0, 0, 0, [SEP] 35, LightSwitch, -0.159, 1.281, 3.999, 0, 180, 0, [SEP] 36, GarbageCan, -3.338, 0.022, -2.797, 0, 4.809, 0, [SEP] 37, HousePlant, -0.195, 1.105, -3.084, 0, 0, 0, [SEP] 38, DeskLamp, 1.863, 0.581, 2.431, 0, 0, 0, [SEP] 39, Mirror, -1.603, 1.447, 3.999, 0, 0, 0, [SEP] 40, Television, -3.883, 1.771, 2.122, 0, 90, 0, [SEP] 41, Window, -1.952, 2.148, -3.302, 90, 180, 0, [SEP] 42, Window, -0.467, 2.148, -3.302, 90, 180, 0, [SEP] 43, Window, -3.894, 1.751, 0.582, 90, 270, 0, [SEP] 44, Window, -3.894, 1.751, -0.675, 90, 270, 0, [SEP] 45, LaundryHamper, 1.831, 0.058, 3.689, 0, 354.434, 1.354, [SEP] 46, ArmChair, -0.948, 0.051, 3.583, 0, 175.988, 0, [SEP] 47, ArmChair, -2.172, 0.051, 3.598, 0, 180, 0, [SEP] 48, Blinds, -0.477, 2.785, -3.253, 0, 0, 0, [SEP] 49, Blinds, -1.957, 2.785, -3.253, 0, 0, 0, [SEP] 50, Blinds, -3.799, 2.506, 0.602, 0, 90, 0, [SEP] 51, Blinds, -3.799, 2.506, -0.647, 0, 90, 0, [SEP] 52, Safe, 1.673, 0.054, -3.004, 0, 0, 0, [SEP] 53, ArmChair, -3.349, 0.051, 3.375, 0, 150.096, 0, [SEP] 54, SideTable, 1.775, 0.048, 2.377, 0, 0, 0, [SEP] 55, Chair, -2.002, 0.050, -2.532, 0, 165.000, 0, [SEP] 56, NorthWall, , , , , , , [SEP] 57, EastWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and take a step forward, then turn right and walk over to the white dresser. | STEP 2: Pick up the black pen off of the white dresser. | STEP 3: Turn around and begin walking across the room, then turn right and walk up to the small wooden table. | STEP 4: Put the pen in the white mug on the small wooden table. | STEP 5: Pick up the white mug with the pen in it off of the wooden table. | STEP 6: Turn around and begin walking across the room, then hang a left and walk up to the white dresser. | STEP 7: Put the mug with the pen in it on the dresser in front of the laptop. | END"]} +{"id": "trial_T20190908_075813_148407-0", "input": "Slice the bread, take a slice, put the slice in the fridge, put the slice on the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.901, 2.0, 0, 180, 0, [SEP] 1, Potato, 1.840, 0.978, 0.583, 0, 0, 0, 56 [SEP] 2, Potato, 0.174, 0.977, 2.757, 0, 0, 0, 45 [SEP] 3, DishSponge, -0.425, 0.790, 0.881, 0, 0, 0, 72 [SEP] 4, ButterKnife, -0.053, 0.937, 2.688, 0, 0, 0, 45 [SEP] 5, ButterKnife, -0.196, 0.791, 1.386, 0, 0, 0, 72 [SEP] 6, Spoon, 0.002, 0.747, 1.993, 0, 0, 0, 44 [SEP] 7, Spoon, -0.138, 0.747, 2.061, 0, 90, 0, 44 [SEP] 8, Cup, 0.033, 0.789, 0.881, 0, 0, 0, 72 [SEP] 9, Bowl, -0.282, 0.934, 2.757, 0, 0, 0, 45 [SEP] 10, Bowl, 2.207, 0.599, -0.097, 0, 270, 0, 66 [SEP] 11, SaltShaker, -0.041, 0.076, 2.061, 0, 0, 0, 39 [SEP] 12, Apple, 2.168, 1.371, -0.550, 0, 270, 0, 66 [SEP] 13, Apple, -0.119, 0.840, 1.217, 0, 0, 0, 72 [SEP] 14, Egg, -0.042, 0.833, 1.049, 0, 0, 0, 72 [SEP] 15, Lettuce, 0.033, 0.852, 0.545, 0, 0, 0, 72 [SEP] 16, Fork, -0.068, 0.747, 2.129, 0, 90, 0, 44 [SEP] 17, SoapBottle, 1.840, 0.939, 0.731, 0, 0, 0, 56 [SEP] 18, Ladle, 1.884, 0.790, 1.922, 0, 90, 0, 60 [SEP] 19, Ladle, -0.096, 0.942, 2.546, 6.888, 45, 340.409, 45 [SEP] 20, Bread, -0.199, 0.823, 0.813, 0, 0, 0, 72 [SEP] 21, SaltShaker, 1.855, 1.498, 2.730, 0, 0, 0, 46 [SEP] 22, Potato, 2.112, 1.363, -0.369, 0, 270, 0, 66 [SEP] 23, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 40 [SEP] 24, WineBottle, 2.304, 0.938, 2.260, 0, 0, 0, 45 [SEP] 25, Spatula, -0.272, 0.805, 1.217, 0, 180, 0, 72 [SEP] 26, Knife, -0.349, 0.816, 0.713, 0, 90, 0, 72 [SEP] 27, Tomato, -0.326, 0.083, -0.864, 0, 90, 0, 67 [SEP] 28, Apple, -0.328, 1.085, 2.014, 0, 90, 0, 70 [SEP] 29, ButterKnife, -0.119, 0.782, 0.377, 0, 0, 0, 72 [SEP] 30, Pot, 1.854, 0.937, 1.497, 0, 0, 0, 49 [SEP] 31, PepperShaker, 2.320, 1.496, 2.010, 0, 270, 0, 48 [SEP] 32, Cup, -0.395, 1.034, 1.907, 0, 90, 0, 70 [SEP] 33, DishSponge, 2.280, 1.503, 0.418, 0, 0, 0, 43 [SEP] 34, Plate, -0.312, 0.781, 0.409, 0, 0, 0, 72 [SEP] 35, Spoon, 1.276, 0.796, 2.64, 0, 0, 0, 69 [SEP] 36, Mug, 0.788, 0.790, 2.529, 0, 0, 0, 69 [SEP] 37, Bowl, 2.167, 1.498, 1.963, 0, 0, 0, 48 [SEP] 38, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0, [SEP] 39, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0, [SEP] 40, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0, [SEP] 41, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0, [SEP] 42, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0, [SEP] 43, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0, [SEP] 44, Drawer, -0.024, 0.774, 2.061, 0, 0, 0, [SEP] 45, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0, [SEP] 46, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0, [SEP] 47, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0, [SEP] 48, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0, [SEP] 49, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0, [SEP] 50, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0, [SEP] 51, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0, [SEP] 52, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0, [SEP] 53, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0, [SEP] 54, Drawer, 2.167, 0.774, 0.582, 0, 0, 0, [SEP] 55, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0, [SEP] 56, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0, [SEP] 57, Sink, 0.935, 0.936, 2.646, 0, 0, 0, [SEP] 58, Curtains, 0.964, 2.061, 2.989, 0, 0, 0, [SEP] 59, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0, [SEP] 60, Drawer, 1.911, 0.774, 2.060, 0, 0, 0, [SEP] 61, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0, [SEP] 62, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0, [SEP] 63, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0, [SEP] 64, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0, [SEP] 65, Toaster, 2.126, 0.926, 0.572, 0, 270, 0, [SEP] 66, Fridge, 2.104, 0.0, -0.279, 0, 270, 0, [SEP] 67, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0, [SEP] 68, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0, [SEP] 69, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0, [SEP] 70, Microwave, -0.310, 0.926, 2.077, 0, 90, 0, [SEP] 71, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0, [SEP] 72, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0, [SEP] 73, Faucet, 1.175, 0.926, 2.950, 270, 90, 0, [SEP] 74, Faucet, 0.686, 0.926, 2.950, 270, 90, 0, [SEP] 75, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0, [SEP] 76, NorthWall, , , , , , , [SEP] 77, EastWall, , , , , , , [SEP] 78, SouthWall, , , , , , , [SEP] 79, WestWall, , , , , , , ", "output": ["STEP 1: Walk towards the white table | STEP 2: Grab a yellow knife from the table | STEP 3: Slice the bread on the table | STEP 4: Look down on the table | STEP 5: Put knife on the table | STEP 6: Look up from the table | STEP 7: Grab a bread slice from the table | STEP 8: Walk with the bread slice towards the fridge | STEP 9: Put the bread slice in the fridge, and take it out | STEP 10: Walk with the bread slice towards the white table | STEP 11: Put the bread slice on the table | END"]} +{"id": "trial_T20190908_075813_148407-1", "input": "Slice bread and chill it in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.901, 2.0, 0, 180, 0, [SEP] 1, Potato, 1.840, 0.978, 0.583, 0, 0, 0, 56 [SEP] 2, Potato, 0.174, 0.977, 2.757, 0, 0, 0, 45 [SEP] 3, DishSponge, -0.425, 0.790, 0.881, 0, 0, 0, 72 [SEP] 4, ButterKnife, -0.053, 0.937, 2.688, 0, 0, 0, 45 [SEP] 5, ButterKnife, -0.196, 0.791, 1.386, 0, 0, 0, 72 [SEP] 6, Spoon, 0.002, 0.747, 1.993, 0, 0, 0, 44 [SEP] 7, Spoon, -0.138, 0.747, 2.061, 0, 90, 0, 44 [SEP] 8, Cup, 0.033, 0.789, 0.881, 0, 0, 0, 72 [SEP] 9, Bowl, -0.282, 0.934, 2.757, 0, 0, 0, 45 [SEP] 10, Bowl, 2.207, 0.599, -0.097, 0, 270, 0, 66 [SEP] 11, SaltShaker, -0.041, 0.076, 2.061, 0, 0, 0, 39 [SEP] 12, Apple, 2.168, 1.371, -0.550, 0, 270, 0, 66 [SEP] 13, Apple, -0.119, 0.840, 1.217, 0, 0, 0, 72 [SEP] 14, Egg, -0.042, 0.833, 1.049, 0, 0, 0, 72 [SEP] 15, Lettuce, 0.033, 0.852, 0.545, 0, 0, 0, 72 [SEP] 16, Fork, -0.068, 0.747, 2.129, 0, 90, 0, 44 [SEP] 17, SoapBottle, 1.840, 0.939, 0.731, 0, 0, 0, 56 [SEP] 18, Ladle, 1.884, 0.790, 1.922, 0, 90, 0, 60 [SEP] 19, Ladle, -0.096, 0.942, 2.546, 6.888, 45, 340.409, 45 [SEP] 20, Bread, -0.199, 0.823, 0.813, 0, 0, 0, 72 [SEP] 21, SaltShaker, 1.855, 1.498, 2.730, 0, 0, 0, 46 [SEP] 22, Potato, 2.112, 1.363, -0.369, 0, 270, 0, 66 [SEP] 23, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 40 [SEP] 24, WineBottle, 2.304, 0.938, 2.260, 0, 0, 0, 45 [SEP] 25, Spatula, -0.272, 0.805, 1.217, 0, 180, 0, 72 [SEP] 26, Knife, -0.349, 0.816, 0.713, 0, 90, 0, 72 [SEP] 27, Tomato, -0.326, 0.083, -0.864, 0, 90, 0, 67 [SEP] 28, Apple, -0.328, 1.085, 2.014, 0, 90, 0, 70 [SEP] 29, ButterKnife, -0.119, 0.782, 0.377, 0, 0, 0, 72 [SEP] 30, Pot, 1.854, 0.937, 1.497, 0, 0, 0, 49 [SEP] 31, PepperShaker, 2.320, 1.496, 2.010, 0, 270, 0, 48 [SEP] 32, Cup, -0.395, 1.034, 1.907, 0, 90, 0, 70 [SEP] 33, DishSponge, 2.280, 1.503, 0.418, 0, 0, 0, 43 [SEP] 34, Plate, -0.312, 0.781, 0.409, 0, 0, 0, 72 [SEP] 35, Spoon, 1.276, 0.796, 2.64, 0, 0, 0, 69 [SEP] 36, Mug, 0.788, 0.790, 2.529, 0, 0, 0, 69 [SEP] 37, Bowl, 2.167, 1.498, 1.963, 0, 0, 0, 48 [SEP] 38, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0, [SEP] 39, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0, [SEP] 40, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0, [SEP] 41, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0, [SEP] 42, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0, [SEP] 43, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0, [SEP] 44, Drawer, -0.024, 0.774, 2.061, 0, 0, 0, [SEP] 45, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0, [SEP] 46, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0, [SEP] 47, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0, [SEP] 48, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0, [SEP] 49, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0, [SEP] 50, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0, [SEP] 51, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0, [SEP] 52, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0, [SEP] 53, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0, [SEP] 54, Drawer, 2.167, 0.774, 0.582, 0, 0, 0, [SEP] 55, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0, [SEP] 56, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0, [SEP] 57, Sink, 0.935, 0.936, 2.646, 0, 0, 0, [SEP] 58, Curtains, 0.964, 2.061, 2.989, 0, 0, 0, [SEP] 59, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0, [SEP] 60, Drawer, 1.911, 0.774, 2.060, 0, 0, 0, [SEP] 61, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0, [SEP] 62, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0, [SEP] 63, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0, [SEP] 64, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0, [SEP] 65, Toaster, 2.126, 0.926, 0.572, 0, 270, 0, [SEP] 66, Fridge, 2.104, 0.0, -0.279, 0, 270, 0, [SEP] 67, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0, [SEP] 68, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0, [SEP] 69, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0, [SEP] 70, Microwave, -0.310, 0.926, 2.077, 0, 90, 0, [SEP] 71, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0, [SEP] 72, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0, [SEP] 73, Faucet, 1.175, 0.926, 2.950, 270, 90, 0, [SEP] 74, Faucet, 0.686, 0.926, 2.950, 270, 90, 0, [SEP] 75, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0, [SEP] 76, NorthWall, , , , , , , [SEP] 77, EastWall, , , , , , , [SEP] 78, SouthWall, , , , , , , [SEP] 79, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward and turn to the right. Walk to the table. | STEP 2: Pick up the knife from the table. | STEP 3: Slice the bread on the table. | STEP 4: Look the table up and down. | STEP 5: Place the knife on the table. | STEP 6: Look the table up and down. | STEP 7: Pick up the slice of bread. | STEP 8: Turn to the left and walk forward. Turn to the left again and walk to the fridge. | STEP 9: Open the fridge and place the bread in the fridge. Take out the bread. | STEP 10: Turn around completely and walk back to the table. | STEP 11: Place the slice of bread on the table. | END"]} +{"id": "trial_T20190908_075813_148407-2", "input": "slice a loaf of bread put the slice on top of the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.901, 2.0, 0, 180, 0, [SEP] 1, Potato, 1.840, 0.978, 0.583, 0, 0, 0, 56 [SEP] 2, Potato, 0.174, 0.977, 2.757, 0, 0, 0, 45 [SEP] 3, DishSponge, -0.425, 0.790, 0.881, 0, 0, 0, 72 [SEP] 4, ButterKnife, -0.053, 0.937, 2.688, 0, 0, 0, 45 [SEP] 5, ButterKnife, -0.196, 0.791, 1.386, 0, 0, 0, 72 [SEP] 6, Spoon, 0.002, 0.747, 1.993, 0, 0, 0, 44 [SEP] 7, Spoon, -0.138, 0.747, 2.061, 0, 90, 0, 44 [SEP] 8, Cup, 0.033, 0.789, 0.881, 0, 0, 0, 72 [SEP] 9, Bowl, -0.282, 0.934, 2.757, 0, 0, 0, 45 [SEP] 10, Bowl, 2.207, 0.599, -0.097, 0, 270, 0, 66 [SEP] 11, SaltShaker, -0.041, 0.076, 2.061, 0, 0, 0, 39 [SEP] 12, Apple, 2.168, 1.371, -0.550, 0, 270, 0, 66 [SEP] 13, Apple, -0.119, 0.840, 1.217, 0, 0, 0, 72 [SEP] 14, Egg, -0.042, 0.833, 1.049, 0, 0, 0, 72 [SEP] 15, Lettuce, 0.033, 0.852, 0.545, 0, 0, 0, 72 [SEP] 16, Fork, -0.068, 0.747, 2.129, 0, 90, 0, 44 [SEP] 17, SoapBottle, 1.840, 0.939, 0.731, 0, 0, 0, 56 [SEP] 18, Ladle, 1.884, 0.790, 1.922, 0, 90, 0, 60 [SEP] 19, Ladle, -0.096, 0.942, 2.546, 6.888, 45, 340.409, 45 [SEP] 20, Bread, -0.199, 0.823, 0.813, 0, 0, 0, 72 [SEP] 21, SaltShaker, 1.855, 1.498, 2.730, 0, 0, 0, 46 [SEP] 22, Potato, 2.112, 1.363, -0.369, 0, 270, 0, 66 [SEP] 23, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 40 [SEP] 24, WineBottle, 2.304, 0.938, 2.260, 0, 0, 0, 45 [SEP] 25, Spatula, -0.272, 0.805, 1.217, 0, 180, 0, 72 [SEP] 26, Knife, -0.349, 0.816, 0.713, 0, 90, 0, 72 [SEP] 27, Tomato, -0.326, 0.083, -0.864, 0, 90, 0, 67 [SEP] 28, Apple, -0.328, 1.085, 2.014, 0, 90, 0, 70 [SEP] 29, ButterKnife, -0.119, 0.782, 0.377, 0, 0, 0, 72 [SEP] 30, Pot, 1.854, 0.937, 1.497, 0, 0, 0, 49 [SEP] 31, PepperShaker, 2.320, 1.496, 2.010, 0, 270, 0, 48 [SEP] 32, Cup, -0.395, 1.034, 1.907, 0, 90, 0, 70 [SEP] 33, DishSponge, 2.280, 1.503, 0.418, 0, 0, 0, 43 [SEP] 34, Plate, -0.312, 0.781, 0.409, 0, 0, 0, 72 [SEP] 35, Spoon, 1.276, 0.796, 2.64, 0, 0, 0, 69 [SEP] 36, Mug, 0.788, 0.790, 2.529, 0, 0, 0, 69 [SEP] 37, Bowl, 2.167, 1.498, 1.963, 0, 0, 0, 48 [SEP] 38, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0, [SEP] 39, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0, [SEP] 40, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0, [SEP] 41, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0, [SEP] 42, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0, [SEP] 43, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0, [SEP] 44, Drawer, -0.024, 0.774, 2.061, 0, 0, 0, [SEP] 45, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0, [SEP] 46, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0, [SEP] 47, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0, [SEP] 48, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0, [SEP] 49, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0, [SEP] 50, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0, [SEP] 51, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0, [SEP] 52, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0, [SEP] 53, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0, [SEP] 54, Drawer, 2.167, 0.774, 0.582, 0, 0, 0, [SEP] 55, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0, [SEP] 56, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0, [SEP] 57, Sink, 0.935, 0.936, 2.646, 0, 0, 0, [SEP] 58, Curtains, 0.964, 2.061, 2.989, 0, 0, 0, [SEP] 59, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0, [SEP] 60, Drawer, 1.911, 0.774, 2.060, 0, 0, 0, [SEP] 61, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0, [SEP] 62, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0, [SEP] 63, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0, [SEP] 64, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0, [SEP] 65, Toaster, 2.126, 0.926, 0.572, 0, 270, 0, [SEP] 66, Fridge, 2.104, 0.0, -0.279, 0, 270, 0, [SEP] 67, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0, [SEP] 68, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0, [SEP] 69, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0, [SEP] 70, Microwave, -0.310, 0.926, 2.077, 0, 90, 0, [SEP] 71, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0, [SEP] 72, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0, [SEP] 73, Faucet, 1.175, 0.926, 2.950, 270, 90, 0, [SEP] 74, Faucet, 0.686, 0.926, 2.950, 270, 90, 0, [SEP] 75, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0, [SEP] 76, NorthWall, , , , , , , [SEP] 77, EastWall, , , , , , , [SEP] 78, SouthWall, , , , , , , [SEP] 79, WestWall, , , , , , , ", "output": ["STEP 1: forward go to the right face the white table | STEP 2: pick up a knife from the table | STEP 3: slice a loaf of bread | STEP 4: pick up a slice of the bread | STEP 5: turn to the left | STEP 6: open the refrigerator door | STEP 7: put the slice of bread in the refrigerator | STEP 8: close the refrigerator get the slice back out from the refrigerator | STEP 9: turn to the left | STEP 10: turn to the left | STEP 11: put the slice of bread on top of the white table | END"]} +{"id": "trial_T20190909_063754_216554-0", "input": "Put a chilled tomato on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, -0.75, 0, 270, 0, [SEP] 1, Potato, -1.126, 0.970, 0.687, 0, 0, 0, 63 [SEP] 2, Fork, -0.960, 0.938, 0.921, 0, 90, 0, 63 [SEP] 3, Spoon, 1.448, 0.747, 2.323, 0, 90, 0, 41 [SEP] 4, Spoon, 1.503, 0.945, 1.798, 0, 180, 0, 65 [SEP] 5, Egg, -1.211, 0.973, 2.386, 0, 0, 0, 38 [SEP] 6, Egg, -1.044, 0.973, 2.159, 0, 0, 0, 38 [SEP] 7, Cup, 1.439, 0.936, 0.739, 0, 0, 0, 43 [SEP] 8, Knife, -0.876, 0.959, 1.154, 0, 0, 0, 63 [SEP] 9, Tomato, 1.423, 0.131, 2.912, 0, 0, 0, 76 [SEP] 10, Bowl, 1.670, 1.497, 2.248, 0, 0, 0, 58 [SEP] 11, Bowl, -0.829, 0.080, 0.985, 0, 0, 0, 50 [SEP] 12, SaltShaker, 1.469, 0.078, 2.321, 0, 0, 0, 47 [SEP] 13, SaltShaker, -1.081, 1.497, 2.275, 0, 180, 0, 69 [SEP] 14, PepperShaker, 1.362, 0.934, 0.940, 0, 0, 0, 43 [SEP] 15, PepperShaker, -0.723, 0.742, 0.914, 0, 180, 0, 61 [SEP] 16, Mug, 1.716, 1.591, 1.756, 0, 270, 0, 77 [SEP] 17, Lettuce, -1.043, 1.028, 1.076, 0, 0, 0, 63 [SEP] 18, SoapBottle, 1.592, 0.937, 0.806, 0, 0, 0, 43 [SEP] 19, Bread, -0.923, 0.990, 2.264, 0, 302.404, 0, 38 [SEP] 20, Fork, -0.792, 0.747, 1.050, 0, 270, 0, 61 [SEP] 21, Tomato, 1.456, 1.005, 1.631, 0, 180, 0, 65 [SEP] 22, Bowl, -0.924, 1.495, 0.195, 0, 90, 0, 70 [SEP] 23, Pot, -1.109, 0.930, 1.470, 0, 0, 0, 40 [SEP] 24, Spatula, 1.344, 0.761, 2.391, 0, 90, 0, 41 [SEP] 25, Knife, 1.414, 0.768, 0.780, 0, 90, 0, 68 [SEP] 26, SaltShaker, -0.792, 0.743, 0.847, 0, 180, 0, 61 [SEP] 27, Apple, 1.422, 0.892, 1.369, 0, 180, 0, 80 [SEP] 28, PepperShaker, 1.285, 0.934, 2.597, 0, 0, 0, 43 [SEP] 29, ButterKnife, -1.127, 0.927, 2.234, 0, 0, 0, 38 [SEP] 30, Potato, -1.014, 0.598, 0.118, 0, 90, 0, 70 [SEP] 31, Plate, 1.385, 1.076, 0.376, 0, 0, 0, 44 [SEP] 32, DishSponge, 1.315, 0.944, 1.673, 0, 180, 0, 65 [SEP] 33, Egg, 1.357, 0.105, 3.010, 0, 0, 0, 76 [SEP] 34, Cup, -0.860, 0.564, -0.110, 0, 90, 0, 70 [SEP] 35, Pan, 1.378, 1.737, 0.392, 0, 270, 0, 46 [SEP] 36, Spoon, -0.689, 0.747, 2.245, 0, 270, 0, 39 [SEP] 37, Mug, 1.528, 1.002, 2.345, 0, 270, 0, 43 [SEP] 38, CounterTop, -0.973, 0.973, 2.386, 0, 0, 0, [SEP] 39, Drawer, -0.783, 0.774, 2.381, 0, 180, 0, [SEP] 40, StoveBurner, -1.108, 0.922, 1.470, 0, 0, 0, [SEP] 41, Drawer, 1.370, 0.774, 2.391, 0, 0, 0, [SEP] 42, Stool, -0.748, 0.008, 3.116, 0, 0, 0, [SEP] 43, CounterTop, 1.504, 0.973, 2.309, 0, 0, 0, [SEP] 44, Cabinet, 1.219, 1.388, 0.591, 0, 0, 0, [SEP] 45, Cabinet, 1.500, 2.113, 1.164, 0, 0, 0, [SEP] 46, Cabinet, 1.219, 2.010, 0.591, 0, 0, 0, [SEP] 47, Cabinet, 1.219, 0.388, 2.105, 0, 0, 0, [SEP] 48, Cabinet, 1.219, 0.553, 0.591, 0, 0, 0, [SEP] 49, Cabinet, -0.913, 2.113, 1.164, 0, 0, 0, [SEP] 50, Cabinet, -0.633, 0.388, 0.627, 0, 0, 0, [SEP] 51, Cabinet, -0.913, 2.050, -0.329, 0, 0, 0, [SEP] 52, Cabinet, -0.913, 2.113, 0.583, 0, 0, 0, [SEP] 53, Cabinet, -0.913, 2.113, 2.082, 0, 0, 0, [SEP] 54, Cabinet, -0.913, 2.113, 1.207, 0, 0, 0, [SEP] 55, Cabinet, 1.500, 2.113, 2.082, 0, 0, 0, [SEP] 56, Cabinet, 1.500, 2.113, 1.207, 0, 0, 0, [SEP] 57, Cabinet, 1.500, 1.810, 2.691, 0, 0, 0, [SEP] 58, Cabinet, 1.500, 1.810, 2.101, 0, 0, 0, [SEP] 59, Cabinet, -0.633, 0.388, 2.105, 0, 0, 0, [SEP] 60, Cabinet, -0.911, 1.810, 2.700, 0, 180, 0, [SEP] 61, Drawer, -0.783, 0.774, 0.915, 0, 180, 0, [SEP] 62, StoveBurner, -1.108, 0.922, 1.865, 0, 0, 0, [SEP] 63, CounterTop, -0.972, 0.973, 0.921, 0, 0, 0, [SEP] 64, Cabinet, 1.219, 0.388, 0.631, 0, 0, 0, [SEP] 65, Sink, 1.544, 0.869, 1.639, 0, 180, 0, [SEP] 66, StoveBurner, -0.832, 0.922, 1.865, 0, 0, 0, [SEP] 67, StoveBurner, -0.831, 0.922, 1.470, 0, 0, 0, [SEP] 68, Drawer, 1.370, 0.774, 0.916, 0, 0, 0, [SEP] 69, Cabinet, -0.911, 1.810, 2.111, 0, 180, 0, [SEP] 70, Fridge, -1.001, 0.0, 0.119, 0, 0, 0, [SEP] 71, StoveKnob, -0.648, 0.926, 1.923, 0, 270, 0, [SEP] 72, StoveKnob, -0.648, 0.926, 1.363, 0, 270, 0, [SEP] 73, StoveKnob, -0.648, 0.926, 1.513, 0, 270, 0, [SEP] 74, StoveKnob, -0.648, 0.926, 1.763, 0, 270, 0, [SEP] 75, Toaster, -1.002, 0.926, 2.561, 0, 90, 0, [SEP] 76, GarbageCan, 1.451, -0.029, 2.912, 0, 0, 0, [SEP] 77, Microwave, 1.632, 1.480, 1.645, 0, 270, 0, [SEP] 78, Window, 0.224, 1.601, 3.509, 90, 0, 0, [SEP] 79, CoffeeMachine, 1.692, 0.926, 2.453, 0, 270, 0, [SEP] 80, SinkBasin, 1.461, 0.833, 1.369, 0, 180, 0, [SEP] 81, LightSwitch, 0.451, 1.412, -1.674, 0, 0, 0, [SEP] 82, Faucet, 1.707, 0.925, 1.363, 0, 270, 0, [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and begin walking across the room, then hang a right and walk up to the sink. | STEP 2: Pick up the tomato off of the counter to the left of the sink. | STEP 3: Turn right and walk forward, then hang a right and walk up to the fridge. | STEP 4: Open the fridge and put the tomato inside then close the door, after a couple seconds open the fridge back up and remove the now chilled tomato then close the door. | STEP 5: Turn right and walk forward, then turn left to face the counter. | STEP 6: Put the chilled tomato on the front edge of the counter. | END"]} +{"id": "trial_T20190909_063754_216554-1", "input": "place a cooled tomato down on top of the kitchen counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, -0.75, 0, 270, 0, [SEP] 1, Potato, -1.126, 0.970, 0.687, 0, 0, 0, 63 [SEP] 2, Fork, -0.960, 0.938, 0.921, 0, 90, 0, 63 [SEP] 3, Spoon, 1.448, 0.747, 2.323, 0, 90, 0, 41 [SEP] 4, Spoon, 1.503, 0.945, 1.798, 0, 180, 0, 65 [SEP] 5, Egg, -1.211, 0.973, 2.386, 0, 0, 0, 38 [SEP] 6, Egg, -1.044, 0.973, 2.159, 0, 0, 0, 38 [SEP] 7, Cup, 1.439, 0.936, 0.739, 0, 0, 0, 43 [SEP] 8, Knife, -0.876, 0.959, 1.154, 0, 0, 0, 63 [SEP] 9, Tomato, 1.423, 0.131, 2.912, 0, 0, 0, 76 [SEP] 10, Bowl, 1.670, 1.497, 2.248, 0, 0, 0, 58 [SEP] 11, Bowl, -0.829, 0.080, 0.985, 0, 0, 0, 50 [SEP] 12, SaltShaker, 1.469, 0.078, 2.321, 0, 0, 0, 47 [SEP] 13, SaltShaker, -1.081, 1.497, 2.275, 0, 180, 0, 69 [SEP] 14, PepperShaker, 1.362, 0.934, 0.940, 0, 0, 0, 43 [SEP] 15, PepperShaker, -0.723, 0.742, 0.914, 0, 180, 0, 61 [SEP] 16, Mug, 1.716, 1.591, 1.756, 0, 270, 0, 77 [SEP] 17, Lettuce, -1.043, 1.028, 1.076, 0, 0, 0, 63 [SEP] 18, SoapBottle, 1.592, 0.937, 0.806, 0, 0, 0, 43 [SEP] 19, Bread, -0.923, 0.990, 2.264, 0, 302.404, 0, 38 [SEP] 20, Fork, -0.792, 0.747, 1.050, 0, 270, 0, 61 [SEP] 21, Tomato, 1.456, 1.005, 1.631, 0, 180, 0, 65 [SEP] 22, Bowl, -0.924, 1.495, 0.195, 0, 90, 0, 70 [SEP] 23, Pot, -1.109, 0.930, 1.470, 0, 0, 0, 40 [SEP] 24, Spatula, 1.344, 0.761, 2.391, 0, 90, 0, 41 [SEP] 25, Knife, 1.414, 0.768, 0.780, 0, 90, 0, 68 [SEP] 26, SaltShaker, -0.792, 0.743, 0.847, 0, 180, 0, 61 [SEP] 27, Apple, 1.422, 0.892, 1.369, 0, 180, 0, 80 [SEP] 28, PepperShaker, 1.285, 0.934, 2.597, 0, 0, 0, 43 [SEP] 29, ButterKnife, -1.127, 0.927, 2.234, 0, 0, 0, 38 [SEP] 30, Potato, -1.014, 0.598, 0.118, 0, 90, 0, 70 [SEP] 31, Plate, 1.385, 1.076, 0.376, 0, 0, 0, 44 [SEP] 32, DishSponge, 1.315, 0.944, 1.673, 0, 180, 0, 65 [SEP] 33, Egg, 1.357, 0.105, 3.010, 0, 0, 0, 76 [SEP] 34, Cup, -0.860, 0.564, -0.110, 0, 90, 0, 70 [SEP] 35, Pan, 1.378, 1.737, 0.392, 0, 270, 0, 46 [SEP] 36, Spoon, -0.689, 0.747, 2.245, 0, 270, 0, 39 [SEP] 37, Mug, 1.528, 1.002, 2.345, 0, 270, 0, 43 [SEP] 38, CounterTop, -0.973, 0.973, 2.386, 0, 0, 0, [SEP] 39, Drawer, -0.783, 0.774, 2.381, 0, 180, 0, [SEP] 40, StoveBurner, -1.108, 0.922, 1.470, 0, 0, 0, [SEP] 41, Drawer, 1.370, 0.774, 2.391, 0, 0, 0, [SEP] 42, Stool, -0.748, 0.008, 3.116, 0, 0, 0, [SEP] 43, CounterTop, 1.504, 0.973, 2.309, 0, 0, 0, [SEP] 44, Cabinet, 1.219, 1.388, 0.591, 0, 0, 0, [SEP] 45, Cabinet, 1.500, 2.113, 1.164, 0, 0, 0, [SEP] 46, Cabinet, 1.219, 2.010, 0.591, 0, 0, 0, [SEP] 47, Cabinet, 1.219, 0.388, 2.105, 0, 0, 0, [SEP] 48, Cabinet, 1.219, 0.553, 0.591, 0, 0, 0, [SEP] 49, Cabinet, -0.913, 2.113, 1.164, 0, 0, 0, [SEP] 50, Cabinet, -0.633, 0.388, 0.627, 0, 0, 0, [SEP] 51, Cabinet, -0.913, 2.050, -0.329, 0, 0, 0, [SEP] 52, Cabinet, -0.913, 2.113, 0.583, 0, 0, 0, [SEP] 53, Cabinet, -0.913, 2.113, 2.082, 0, 0, 0, [SEP] 54, Cabinet, -0.913, 2.113, 1.207, 0, 0, 0, [SEP] 55, Cabinet, 1.500, 2.113, 2.082, 0, 0, 0, [SEP] 56, Cabinet, 1.500, 2.113, 1.207, 0, 0, 0, [SEP] 57, Cabinet, 1.500, 1.810, 2.691, 0, 0, 0, [SEP] 58, Cabinet, 1.500, 1.810, 2.101, 0, 0, 0, [SEP] 59, Cabinet, -0.633, 0.388, 2.105, 0, 0, 0, [SEP] 60, Cabinet, -0.911, 1.810, 2.700, 0, 180, 0, [SEP] 61, Drawer, -0.783, 0.774, 0.915, 0, 180, 0, [SEP] 62, StoveBurner, -1.108, 0.922, 1.865, 0, 0, 0, [SEP] 63, CounterTop, -0.972, 0.973, 0.921, 0, 0, 0, [SEP] 64, Cabinet, 1.219, 0.388, 0.631, 0, 0, 0, [SEP] 65, Sink, 1.544, 0.869, 1.639, 0, 180, 0, [SEP] 66, StoveBurner, -0.832, 0.922, 1.865, 0, 0, 0, [SEP] 67, StoveBurner, -0.831, 0.922, 1.470, 0, 0, 0, [SEP] 68, Drawer, 1.370, 0.774, 0.916, 0, 0, 0, [SEP] 69, Cabinet, -0.911, 1.810, 2.111, 0, 180, 0, [SEP] 70, Fridge, -1.001, 0.0, 0.119, 0, 0, 0, [SEP] 71, StoveKnob, -0.648, 0.926, 1.923, 0, 270, 0, [SEP] 72, StoveKnob, -0.648, 0.926, 1.363, 0, 270, 0, [SEP] 73, StoveKnob, -0.648, 0.926, 1.513, 0, 270, 0, [SEP] 74, StoveKnob, -0.648, 0.926, 1.763, 0, 270, 0, [SEP] 75, Toaster, -1.002, 0.926, 2.561, 0, 90, 0, [SEP] 76, GarbageCan, 1.451, -0.029, 2.912, 0, 0, 0, [SEP] 77, Microwave, 1.632, 1.480, 1.645, 0, 270, 0, [SEP] 78, Window, 0.224, 1.601, 3.509, 90, 0, 0, [SEP] 79, CoffeeMachine, 1.692, 0.926, 2.453, 0, 270, 0, [SEP] 80, SinkBasin, 1.461, 0.833, 1.369, 0, 180, 0, [SEP] 81, LightSwitch, 0.451, 1.412, -1.674, 0, 0, 0, [SEP] 82, Faucet, 1.707, 0.925, 1.363, 0, 270, 0, [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: turn right and walk over to the sink on the right up ahead | STEP 2: grab a tomato off of the left side of the sink | STEP 3: turn around and walk over to the fridge at the end of the room on the left | STEP 4: place the tomato inside the fridge, let it cool, then take it back out | STEP 5: move to the right a bit and face the kitchen counter to the left of the stove | STEP 6: place the tomato down on top of the kitchen counter there | END"]} +{"id": "trial_T20190909_063754_216554-2", "input": "Chill a tomato in the refrigerator and place it on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, -0.75, 0, 270, 0, [SEP] 1, Potato, -1.126, 0.970, 0.687, 0, 0, 0, 63 [SEP] 2, Fork, -0.960, 0.938, 0.921, 0, 90, 0, 63 [SEP] 3, Spoon, 1.448, 0.747, 2.323, 0, 90, 0, 41 [SEP] 4, Spoon, 1.503, 0.945, 1.798, 0, 180, 0, 65 [SEP] 5, Egg, -1.211, 0.973, 2.386, 0, 0, 0, 38 [SEP] 6, Egg, -1.044, 0.973, 2.159, 0, 0, 0, 38 [SEP] 7, Cup, 1.439, 0.936, 0.739, 0, 0, 0, 43 [SEP] 8, Knife, -0.876, 0.959, 1.154, 0, 0, 0, 63 [SEP] 9, Tomato, 1.423, 0.131, 2.912, 0, 0, 0, 76 [SEP] 10, Bowl, 1.670, 1.497, 2.248, 0, 0, 0, 58 [SEP] 11, Bowl, -0.829, 0.080, 0.985, 0, 0, 0, 50 [SEP] 12, SaltShaker, 1.469, 0.078, 2.321, 0, 0, 0, 47 [SEP] 13, SaltShaker, -1.081, 1.497, 2.275, 0, 180, 0, 69 [SEP] 14, PepperShaker, 1.362, 0.934, 0.940, 0, 0, 0, 43 [SEP] 15, PepperShaker, -0.723, 0.742, 0.914, 0, 180, 0, 61 [SEP] 16, Mug, 1.716, 1.591, 1.756, 0, 270, 0, 77 [SEP] 17, Lettuce, -1.043, 1.028, 1.076, 0, 0, 0, 63 [SEP] 18, SoapBottle, 1.592, 0.937, 0.806, 0, 0, 0, 43 [SEP] 19, Bread, -0.923, 0.990, 2.264, 0, 302.404, 0, 38 [SEP] 20, Fork, -0.792, 0.747, 1.050, 0, 270, 0, 61 [SEP] 21, Tomato, 1.456, 1.005, 1.631, 0, 180, 0, 65 [SEP] 22, Bowl, -0.924, 1.495, 0.195, 0, 90, 0, 70 [SEP] 23, Pot, -1.109, 0.930, 1.470, 0, 0, 0, 40 [SEP] 24, Spatula, 1.344, 0.761, 2.391, 0, 90, 0, 41 [SEP] 25, Knife, 1.414, 0.768, 0.780, 0, 90, 0, 68 [SEP] 26, SaltShaker, -0.792, 0.743, 0.847, 0, 180, 0, 61 [SEP] 27, Apple, 1.422, 0.892, 1.369, 0, 180, 0, 80 [SEP] 28, PepperShaker, 1.285, 0.934, 2.597, 0, 0, 0, 43 [SEP] 29, ButterKnife, -1.127, 0.927, 2.234, 0, 0, 0, 38 [SEP] 30, Potato, -1.014, 0.598, 0.118, 0, 90, 0, 70 [SEP] 31, Plate, 1.385, 1.076, 0.376, 0, 0, 0, 44 [SEP] 32, DishSponge, 1.315, 0.944, 1.673, 0, 180, 0, 65 [SEP] 33, Egg, 1.357, 0.105, 3.010, 0, 0, 0, 76 [SEP] 34, Cup, -0.860, 0.564, -0.110, 0, 90, 0, 70 [SEP] 35, Pan, 1.378, 1.737, 0.392, 0, 270, 0, 46 [SEP] 36, Spoon, -0.689, 0.747, 2.245, 0, 270, 0, 39 [SEP] 37, Mug, 1.528, 1.002, 2.345, 0, 270, 0, 43 [SEP] 38, CounterTop, -0.973, 0.973, 2.386, 0, 0, 0, [SEP] 39, Drawer, -0.783, 0.774, 2.381, 0, 180, 0, [SEP] 40, StoveBurner, -1.108, 0.922, 1.470, 0, 0, 0, [SEP] 41, Drawer, 1.370, 0.774, 2.391, 0, 0, 0, [SEP] 42, Stool, -0.748, 0.008, 3.116, 0, 0, 0, [SEP] 43, CounterTop, 1.504, 0.973, 2.309, 0, 0, 0, [SEP] 44, Cabinet, 1.219, 1.388, 0.591, 0, 0, 0, [SEP] 45, Cabinet, 1.500, 2.113, 1.164, 0, 0, 0, [SEP] 46, Cabinet, 1.219, 2.010, 0.591, 0, 0, 0, [SEP] 47, Cabinet, 1.219, 0.388, 2.105, 0, 0, 0, [SEP] 48, Cabinet, 1.219, 0.553, 0.591, 0, 0, 0, [SEP] 49, Cabinet, -0.913, 2.113, 1.164, 0, 0, 0, [SEP] 50, Cabinet, -0.633, 0.388, 0.627, 0, 0, 0, [SEP] 51, Cabinet, -0.913, 2.050, -0.329, 0, 0, 0, [SEP] 52, Cabinet, -0.913, 2.113, 0.583, 0, 0, 0, [SEP] 53, Cabinet, -0.913, 2.113, 2.082, 0, 0, 0, [SEP] 54, Cabinet, -0.913, 2.113, 1.207, 0, 0, 0, [SEP] 55, Cabinet, 1.500, 2.113, 2.082, 0, 0, 0, [SEP] 56, Cabinet, 1.500, 2.113, 1.207, 0, 0, 0, [SEP] 57, Cabinet, 1.500, 1.810, 2.691, 0, 0, 0, [SEP] 58, Cabinet, 1.500, 1.810, 2.101, 0, 0, 0, [SEP] 59, Cabinet, -0.633, 0.388, 2.105, 0, 0, 0, [SEP] 60, Cabinet, -0.911, 1.810, 2.700, 0, 180, 0, [SEP] 61, Drawer, -0.783, 0.774, 0.915, 0, 180, 0, [SEP] 62, StoveBurner, -1.108, 0.922, 1.865, 0, 0, 0, [SEP] 63, CounterTop, -0.972, 0.973, 0.921, 0, 0, 0, [SEP] 64, Cabinet, 1.219, 0.388, 0.631, 0, 0, 0, [SEP] 65, Sink, 1.544, 0.869, 1.639, 0, 180, 0, [SEP] 66, StoveBurner, -0.832, 0.922, 1.865, 0, 0, 0, [SEP] 67, StoveBurner, -0.831, 0.922, 1.470, 0, 0, 0, [SEP] 68, Drawer, 1.370, 0.774, 0.916, 0, 0, 0, [SEP] 69, Cabinet, -0.911, 1.810, 2.111, 0, 180, 0, [SEP] 70, Fridge, -1.001, 0.0, 0.119, 0, 0, 0, [SEP] 71, StoveKnob, -0.648, 0.926, 1.923, 0, 270, 0, [SEP] 72, StoveKnob, -0.648, 0.926, 1.363, 0, 270, 0, [SEP] 73, StoveKnob, -0.648, 0.926, 1.513, 0, 270, 0, [SEP] 74, StoveKnob, -0.648, 0.926, 1.763, 0, 270, 0, [SEP] 75, Toaster, -1.002, 0.926, 2.561, 0, 90, 0, [SEP] 76, GarbageCan, 1.451, -0.029, 2.912, 0, 0, 0, [SEP] 77, Microwave, 1.632, 1.480, 1.645, 0, 270, 0, [SEP] 78, Window, 0.224, 1.601, 3.509, 90, 0, 0, [SEP] 79, CoffeeMachine, 1.692, 0.926, 2.453, 0, 270, 0, [SEP] 80, SinkBasin, 1.461, 0.833, 1.369, 0, 180, 0, [SEP] 81, LightSwitch, 0.451, 1.412, -1.674, 0, 0, 0, [SEP] 82, Faucet, 1.707, 0.925, 1.363, 0, 270, 0, [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your right and go to the left side of the sink beside the coffee maker. | STEP 2: Pick up the Tomato off the counter top. | STEP 3: Turn to your right and go back to the refrigerator. | STEP 4: Open the bottom door of the refrigerator and place on the middle shelf now close the refrigerator. | STEP 5: Let the Tomato cool and then remove it from the refrigerator. | STEP 6: After you have you closed refrigerator door place the tomato on the counter top to the right of you. | END"]} +{"id": "trial_T20190909_090729_088825-0", "input": "Put a heated mug down on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.869, -0.25, 0, 0, 0, [SEP] 1, Spoon, 0.720, 0.760, -0.252, 0, 0, 0, 34 [SEP] 2, Spoon, 0.769, 0.760, 0.002, 0, 0, 0, 34 [SEP] 3, Fork, 0.769, 0.760, -0.124, 0, 0, 0, 34 [SEP] 4, Egg, -1.297, 0.088, -3.684, 0, 270, 0, 50 [SEP] 5, Knife, 0.671, 0.782, -0.252, 0, 90, 0, 34 [SEP] 6, Tomato, 0.669, 1.207, -2.035, 0, 270, 0, 55 [SEP] 7, Tomato, 0.661, 0.713, 0.387, 0, 0, 0, 40 [SEP] 8, PepperShaker, 1.024, 0.879, -0.176, 0, 0, 0, 35 [SEP] 9, Bread, -0.051, 0.944, 0.843, 0, 270, 0, 61 [SEP] 10, Bread, -1.719, 0.745, -1.307, 0, 0, 0, 71 [SEP] 11, Lettuce, 0.785, 1.461, -1.880, 0, 270, 0, 55 [SEP] 12, Apple, -1.896, 0.852, -3.705, 0, 0, 0, 57 [SEP] 13, Pot, -1.552, 0.930, 0.785, 0, 0, 0, 39 [SEP] 14, Plate, -2.024, 0.692, -1.447, 0, 0, 0, 71 [SEP] 15, Fork, -0.453, 0.901, 1.272, 0, 0, 0, 61 [SEP] 16, SoapBottle, 0.841, 0.664, 0.387, 0, 0, 0, 40 [SEP] 17, Apple, 0.715, 0.826, -0.735, 0, 270, 0, 58 [SEP] 18, Pan, -2.097, 0.930, 0.785, 0, 0, 0, 37 [SEP] 19, Egg, -2.054, 0.836, -3.771, 0, 0, 0, 57 [SEP] 20, Spatula, 0.950, 0.898, 0.029, 0, 0, 0, 35 [SEP] 21, Potato, 0.785, 0.698, -2.035, 0, 270, 0, 55 [SEP] 22, Cup, 0.787, 0.014, 0.011, 0, 0, 0, 45 [SEP] 23, SaltShaker, 0.566, 0.012, -0.702, 0, 0, 0, 38 [SEP] 24, PepperShaker, -0.855, 0.896, 1.272, 0, 270, 0, 61 [SEP] 25, ButterKnife, 0.757, 0.772, -0.680, 0, 270, 0, 58 [SEP] 26, DishSponge, 0.949, 1.463, 0.288, 0, 0, 0, 47 [SEP] 27, Bread, -0.873, 0.931, 0.978, 0, 24.231, 0, 61 [SEP] 28, Lettuce, 0.708, 1.245, -1.802, 0, 270, 0, 55 [SEP] 29, Tomato, -1.224, 0.100, -3.611, 0, 270, 0, 50 [SEP] 30, Spoon, 0.841, 0.665, 0.630, 0, 180, 0, 40 [SEP] 31, Knife, 0.961, 0.687, 0.387, 0, 90, 0, 40 [SEP] 32, Mug, 0.698, 0.941, -1.360, 0, 270, 0, 48 [SEP] 33, Bowl, 0.858, 1.462, 0.473, 0, 0, 0, 47 [SEP] 34, Drawer, 0.706, 0.766, -0.125, 0, 0, 0, [SEP] 35, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0, [SEP] 36, Mirror, 1.093, 1.602, -0.643, 0, 0, 0, [SEP] 37, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0, [SEP] 38, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0, [SEP] 39, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0, [SEP] 40, SideTable, 0.770, -0.030, 0.443, 0, 0, 0, [SEP] 41, Sink, 0.753, 0.882, -0.680, 0, 0, 0, [SEP] 42, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0, [SEP] 43, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489, [SEP] 44, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0, [SEP] 45, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0, [SEP] 46, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0, [SEP] 47, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0, [SEP] 48, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0, [SEP] 49, Toaster, -0.522, 0.886, 1.081, 0, 180, 0, [SEP] 50, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0, [SEP] 51, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180, [SEP] 52, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180, [SEP] 53, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180, [SEP] 54, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180, [SEP] 55, Fridge, 0.680, -0.031, -1.957, 0, 0, 0, [SEP] 56, Window, -2.424, 1.639, -2.453, 90, 270, 0, [SEP] 57, Microwave, -1.994, 0.690, -3.651, 0, 0, 0, [SEP] 58, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0, [SEP] 59, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0, [SEP] 60, Shelf, -0.350, 0.124, 0.857, 0, 0, 0, [SEP] 61, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0, [SEP] 62, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0, [SEP] 63, Blinds, -2.343, 2.151, -2.437, 0, 270, 0, [SEP] 64, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0, [SEP] 65, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0, [SEP] 66, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0, [SEP] 67, Shelf, 0.771, 0.226, 0.445, 0, 0, 0, [SEP] 68, Shelf, 0.771, 0.456, 0.446, 0, 0, 0, [SEP] 69, Faucet, 1.025, 0.873, -0.678, 270, 180, 0, [SEP] 70, Shelf, -0.350, 0.497, 0.857, 0, 0, 0, [SEP] 71, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0, [SEP] 72, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0, [SEP] 73, NorthWall, , , , , , , [SEP] 74, EastWall, , , , , , , [SEP] 75, SouthWall, , , , , , , [SEP] 76, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and then face the counter to the right of the sink where the coffee maker is. | STEP 2: Pick the mug up from under the coffee maker. | STEP 3: Turn around and cross the room and turn left to face the microwave. | STEP 4: Put the mug in the microwave and shut the door and then open the door and pick the mug up again. | STEP 5: Go left and cross the room and turn to the right to face the small black table next to the counter. | STEP 6: Put the mug down on the black table. | END"]} +{"id": "trial_T20190909_090729_088825-1", "input": "Put a heated mug on the small black table, left of the tomato. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.869, -0.25, 0, 0, 0, [SEP] 1, Spoon, 0.720, 0.760, -0.252, 0, 0, 0, 34 [SEP] 2, Spoon, 0.769, 0.760, 0.002, 0, 0, 0, 34 [SEP] 3, Fork, 0.769, 0.760, -0.124, 0, 0, 0, 34 [SEP] 4, Egg, -1.297, 0.088, -3.684, 0, 270, 0, 50 [SEP] 5, Knife, 0.671, 0.782, -0.252, 0, 90, 0, 34 [SEP] 6, Tomato, 0.669, 1.207, -2.035, 0, 270, 0, 55 [SEP] 7, Tomato, 0.661, 0.713, 0.387, 0, 0, 0, 40 [SEP] 8, PepperShaker, 1.024, 0.879, -0.176, 0, 0, 0, 35 [SEP] 9, Bread, -0.051, 0.944, 0.843, 0, 270, 0, 61 [SEP] 10, Bread, -1.719, 0.745, -1.307, 0, 0, 0, 71 [SEP] 11, Lettuce, 0.785, 1.461, -1.880, 0, 270, 0, 55 [SEP] 12, Apple, -1.896, 0.852, -3.705, 0, 0, 0, 57 [SEP] 13, Pot, -1.552, 0.930, 0.785, 0, 0, 0, 39 [SEP] 14, Plate, -2.024, 0.692, -1.447, 0, 0, 0, 71 [SEP] 15, Fork, -0.453, 0.901, 1.272, 0, 0, 0, 61 [SEP] 16, SoapBottle, 0.841, 0.664, 0.387, 0, 0, 0, 40 [SEP] 17, Apple, 0.715, 0.826, -0.735, 0, 270, 0, 58 [SEP] 18, Pan, -2.097, 0.930, 0.785, 0, 0, 0, 37 [SEP] 19, Egg, -2.054, 0.836, -3.771, 0, 0, 0, 57 [SEP] 20, Spatula, 0.950, 0.898, 0.029, 0, 0, 0, 35 [SEP] 21, Potato, 0.785, 0.698, -2.035, 0, 270, 0, 55 [SEP] 22, Cup, 0.787, 0.014, 0.011, 0, 0, 0, 45 [SEP] 23, SaltShaker, 0.566, 0.012, -0.702, 0, 0, 0, 38 [SEP] 24, PepperShaker, -0.855, 0.896, 1.272, 0, 270, 0, 61 [SEP] 25, ButterKnife, 0.757, 0.772, -0.680, 0, 270, 0, 58 [SEP] 26, DishSponge, 0.949, 1.463, 0.288, 0, 0, 0, 47 [SEP] 27, Bread, -0.873, 0.931, 0.978, 0, 24.231, 0, 61 [SEP] 28, Lettuce, 0.708, 1.245, -1.802, 0, 270, 0, 55 [SEP] 29, Tomato, -1.224, 0.100, -3.611, 0, 270, 0, 50 [SEP] 30, Spoon, 0.841, 0.665, 0.630, 0, 180, 0, 40 [SEP] 31, Knife, 0.961, 0.687, 0.387, 0, 90, 0, 40 [SEP] 32, Mug, 0.698, 0.941, -1.360, 0, 270, 0, 48 [SEP] 33, Bowl, 0.858, 1.462, 0.473, 0, 0, 0, 47 [SEP] 34, Drawer, 0.706, 0.766, -0.125, 0, 0, 0, [SEP] 35, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0, [SEP] 36, Mirror, 1.093, 1.602, -0.643, 0, 0, 0, [SEP] 37, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0, [SEP] 38, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0, [SEP] 39, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0, [SEP] 40, SideTable, 0.770, -0.030, 0.443, 0, 0, 0, [SEP] 41, Sink, 0.753, 0.882, -0.680, 0, 0, 0, [SEP] 42, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0, [SEP] 43, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489, [SEP] 44, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0, [SEP] 45, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0, [SEP] 46, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0, [SEP] 47, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0, [SEP] 48, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0, [SEP] 49, Toaster, -0.522, 0.886, 1.081, 0, 180, 0, [SEP] 50, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0, [SEP] 51, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180, [SEP] 52, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180, [SEP] 53, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180, [SEP] 54, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180, [SEP] 55, Fridge, 0.680, -0.031, -1.957, 0, 0, 0, [SEP] 56, Window, -2.424, 1.639, -2.453, 90, 270, 0, [SEP] 57, Microwave, -1.994, 0.690, -3.651, 0, 0, 0, [SEP] 58, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0, [SEP] 59, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0, [SEP] 60, Shelf, -0.350, 0.124, 0.857, 0, 0, 0, [SEP] 61, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0, [SEP] 62, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0, [SEP] 63, Blinds, -2.343, 2.151, -2.437, 0, 270, 0, [SEP] 64, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0, [SEP] 65, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0, [SEP] 66, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0, [SEP] 67, Shelf, 0.771, 0.226, 0.445, 0, 0, 0, [SEP] 68, Shelf, 0.771, 0.456, 0.446, 0, 0, 0, [SEP] 69, Faucet, 1.025, 0.873, -0.678, 270, 180, 0, [SEP] 70, Shelf, -0.350, 0.497, 0.857, 0, 0, 0, [SEP] 71, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0, [SEP] 72, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0, [SEP] 73, NorthWall, , , , , , , [SEP] 74, EastWall, , , , , , , [SEP] 75, SouthWall, , , , , , , [SEP] 76, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, move to the coffee machine on the left. | STEP 2: Pick up the mug on the coffee machine. | STEP 3: Turn around, bring the mug to the microwave in the corner to the left. | STEP 4: Heat the mug in the microwave. | STEP 5: Take the heated mug back across the room to the small black table in the right corner. | STEP 6: Put the heated mug on the small black table, left of the tomato. | END"]} +{"id": "trial_T20190909_090729_088825-2", "input": "Put a microwaved cup on a black table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.869, -0.25, 0, 0, 0, [SEP] 1, Spoon, 0.720, 0.760, -0.252, 0, 0, 0, 34 [SEP] 2, Spoon, 0.769, 0.760, 0.002, 0, 0, 0, 34 [SEP] 3, Fork, 0.769, 0.760, -0.124, 0, 0, 0, 34 [SEP] 4, Egg, -1.297, 0.088, -3.684, 0, 270, 0, 50 [SEP] 5, Knife, 0.671, 0.782, -0.252, 0, 90, 0, 34 [SEP] 6, Tomato, 0.669, 1.207, -2.035, 0, 270, 0, 55 [SEP] 7, Tomato, 0.661, 0.713, 0.387, 0, 0, 0, 40 [SEP] 8, PepperShaker, 1.024, 0.879, -0.176, 0, 0, 0, 35 [SEP] 9, Bread, -0.051, 0.944, 0.843, 0, 270, 0, 61 [SEP] 10, Bread, -1.719, 0.745, -1.307, 0, 0, 0, 71 [SEP] 11, Lettuce, 0.785, 1.461, -1.880, 0, 270, 0, 55 [SEP] 12, Apple, -1.896, 0.852, -3.705, 0, 0, 0, 57 [SEP] 13, Pot, -1.552, 0.930, 0.785, 0, 0, 0, 39 [SEP] 14, Plate, -2.024, 0.692, -1.447, 0, 0, 0, 71 [SEP] 15, Fork, -0.453, 0.901, 1.272, 0, 0, 0, 61 [SEP] 16, SoapBottle, 0.841, 0.664, 0.387, 0, 0, 0, 40 [SEP] 17, Apple, 0.715, 0.826, -0.735, 0, 270, 0, 58 [SEP] 18, Pan, -2.097, 0.930, 0.785, 0, 0, 0, 37 [SEP] 19, Egg, -2.054, 0.836, -3.771, 0, 0, 0, 57 [SEP] 20, Spatula, 0.950, 0.898, 0.029, 0, 0, 0, 35 [SEP] 21, Potato, 0.785, 0.698, -2.035, 0, 270, 0, 55 [SEP] 22, Cup, 0.787, 0.014, 0.011, 0, 0, 0, 45 [SEP] 23, SaltShaker, 0.566, 0.012, -0.702, 0, 0, 0, 38 [SEP] 24, PepperShaker, -0.855, 0.896, 1.272, 0, 270, 0, 61 [SEP] 25, ButterKnife, 0.757, 0.772, -0.680, 0, 270, 0, 58 [SEP] 26, DishSponge, 0.949, 1.463, 0.288, 0, 0, 0, 47 [SEP] 27, Bread, -0.873, 0.931, 0.978, 0, 24.231, 0, 61 [SEP] 28, Lettuce, 0.708, 1.245, -1.802, 0, 270, 0, 55 [SEP] 29, Tomato, -1.224, 0.100, -3.611, 0, 270, 0, 50 [SEP] 30, Spoon, 0.841, 0.665, 0.630, 0, 180, 0, 40 [SEP] 31, Knife, 0.961, 0.687, 0.387, 0, 90, 0, 40 [SEP] 32, Mug, 0.698, 0.941, -1.360, 0, 270, 0, 48 [SEP] 33, Bowl, 0.858, 1.462, 0.473, 0, 0, 0, 47 [SEP] 34, Drawer, 0.706, 0.766, -0.125, 0, 0, 0, [SEP] 35, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0, [SEP] 36, Mirror, 1.093, 1.602, -0.643, 0, 0, 0, [SEP] 37, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0, [SEP] 38, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0, [SEP] 39, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0, [SEP] 40, SideTable, 0.770, -0.030, 0.443, 0, 0, 0, [SEP] 41, Sink, 0.753, 0.882, -0.680, 0, 0, 0, [SEP] 42, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0, [SEP] 43, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489, [SEP] 44, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0, [SEP] 45, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0, [SEP] 46, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0, [SEP] 47, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0, [SEP] 48, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0, [SEP] 49, Toaster, -0.522, 0.886, 1.081, 0, 180, 0, [SEP] 50, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0, [SEP] 51, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180, [SEP] 52, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180, [SEP] 53, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180, [SEP] 54, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180, [SEP] 55, Fridge, 0.680, -0.031, -1.957, 0, 0, 0, [SEP] 56, Window, -2.424, 1.639, -2.453, 90, 270, 0, [SEP] 57, Microwave, -1.994, 0.690, -3.651, 0, 0, 0, [SEP] 58, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0, [SEP] 59, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0, [SEP] 60, Shelf, -0.350, 0.124, 0.857, 0, 0, 0, [SEP] 61, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0, [SEP] 62, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0, [SEP] 63, Blinds, -2.343, 2.151, -2.437, 0, 270, 0, [SEP] 64, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0, [SEP] 65, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0, [SEP] 66, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0, [SEP] 67, Shelf, 0.771, 0.226, 0.445, 0, 0, 0, [SEP] 68, Shelf, 0.771, 0.456, 0.446, 0, 0, 0, [SEP] 69, Faucet, 1.025, 0.873, -0.678, 270, 180, 0, [SEP] 70, Shelf, -0.350, 0.497, 0.857, 0, 0, 0, [SEP] 71, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0, [SEP] 72, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0, [SEP] 73, NorthWall, , , , , , , [SEP] 74, EastWall, , , , , , , [SEP] 75, SouthWall, , , , , , , [SEP] 76, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, walk to the coffee machine and look at it. | STEP 2: Pick up the coffee cup from the coffee machine. | STEP 3: Turn around and go to the table with the microwave in the corner of the room. | STEP 4: Microwave the cup and take it back out of the microwave. | STEP 5: Go to the black table on the opposite side of the room. | STEP 6: Place the cup to the left of the tomato on the table. | END"]} +{"id": "trial_T20190907_200154_378982-0", "input": "Put a wine bottle on the second from the bottom shelf, in the kitchen. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 1.0, 0, 270, 0, [SEP] 1, Vase, 1.631, 1.656, -1.709, 0, 0, 0, 68 [SEP] 2, Potato, 0.193, 1.608, 2.100, 0, 180, 0, 83 [SEP] 3, Potato, -0.923, 0.229, 2.058, 0, 90, 0, 88 [SEP] 4, Book, -1.649, 0.716, -1.001, 0, 90, 0, 73 [SEP] 5, DishSponge, 0.124, 0.928, -1.573, 0, 270, 0, 55 [SEP] 6, DishSponge, -2.539, 0.878, 3.341, 0, 225, 0, 60 [SEP] 7, ButterKnife, -2.196, 0.874, 3.475, 0, 225, 0, 60 [SEP] 8, Spatula, -2.081, 0.734, -1.716, 0, 90, 0, 77 [SEP] 9, Spatula, -2.321, 0.889, 3.221, 0, 0, 0, 60 [SEP] 10, Pot, 1.328, 0.957, -1.420, 0, 180, 0, 62 [SEP] 11, Pot, -2.072, 0.914, -0.614, 0, 0, 0, 58 [SEP] 12, Fork, 0.014, 0.929, -1.429, 0, 270, 0, 55 [SEP] 13, Fork, -2.584, 0.879, 3.728, 0, 0, 0, 60 [SEP] 14, Spoon, 0.234, 0.929, -1.429, 0, 270, 0, 55 [SEP] 15, Egg, -0.035, 0.414, 2.054, 0, 180, 0, 83 [SEP] 16, Plate, -0.263, 1.576, 2.219, 0, 180, 0, 83 [SEP] 17, Plate, 0.663, 0.916, -1.776, 0, 0, 0, 58 [SEP] 18, Knife, -2.472, 0.900, 3.513, 0, 225, 0, 60 [SEP] 19, Tomato, -2.659, 0.925, 3.444, 0, 270, 0, 60 [SEP] 20, Tomato, 1.651, 0.957, -1.346, 0, 0, 0, 78 [SEP] 21, SaltShaker, -2.828, 0.874, 3.370, 0, 270, 0, 60 [SEP] 22, SaltShaker, 0.638, 0.714, -1.476, 0, 0, 0, 75 [SEP] 23, Bread, -2.367, 0.961, 3.035, 0, 135, 0, 60 [SEP] 24, Mug, 1.104, 1.756, -1.629, 0, 0, 0, 82 [SEP] 25, Apple, -3.165, 0.929, 3.370, 0, 270, 0, 60 [SEP] 26, Book, -3.165, 0.871, 3.073, 0, 270, 0, 60 [SEP] 27, Fork, -2.148, 0.719, -1.647, 0, 90, 0, 77 [SEP] 28, Tomato, -0.035, 1.619, 1.981, 0, 180, 0, 83 [SEP] 29, Egg, -0.149, 0.414, 1.967, 0, 180, 0, 83 [SEP] 30, Kettle, -2.659, 0.879, 2.884, 0, 0, 0, 60 [SEP] 31, Vase, -2.183, 0.913, -1.265, 0, 0, 0, 58 [SEP] 32, Cup, -0.377, 0.801, 2.137, 0, 180, 0, 83 [SEP] 33, WineBottle, -2.152, 0.875, 3.073, 0, 270, 0, 60 [SEP] 34, Plate, 0.307, 0.393, 2.025, 0, 180, 0, 83 [SEP] 35, Spatula, -1.738, 0.927, -0.288, 0, 0, 0, 58 [SEP] 36, Potato, 0.179, 0.967, -1.718, 0, 270, 0, 55 [SEP] 37, Pot, 0.974, 0.957, -1.419, 0, 180, 0, 76 [SEP] 38, Knife, -2.072, 0.934, 0.037, 0, 0, 0, 58 [SEP] 39, SaltShaker, -1.944, 1.653, -1.674, 0, 0, 0, 71 [SEP] 40, PepperShaker, 1.595, 0.716, -1.443, 0, 0, 0, 74 [SEP] 41, Lettuce, 0.079, 0.867, 2.194, 0, 180, 0, 83 [SEP] 42, ButterKnife, -0.330, 0.707, -1.573, 0, 270, 0, 87 [SEP] 43, Bread, -2.733, 0.958, 3.728, 0, 0, 0, 60 [SEP] 44, Vase, 3.689, 0.882, 1.861, 0, 270, 0, 79 [SEP] 45, DishSponge, -2.964, 0.878, 2.811, 0, 225, 0, 60 [SEP] 46, Apple, -1.378, 0.967, -1.369, 0, 0, 0, 58 [SEP] 47, Pan, 0.972, 0.959, -1.426, 0, 0, 0, 76 [SEP] 48, Spoon, 1.676, 0.720, -1.377, 0, 270, 0, 74 [SEP] 49, SoapBottle, 3.743, 0.881, 1.452, 0, 270, 0, 79 [SEP] 50, Mug, 0.997, 2.151, -1.747, 0, 0, 0, 72 [SEP] 51, Statue, 3.637, 0.560, 1.656, 0, 270, 0, 81 [SEP] 52, Statue, 3.668, 0.540, 1.800, 0, 0, 0, 81 [SEP] 53, Bowl, -1.627, 0.910, -1.265, 0, 0, 0, 58 [SEP] 54, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0, [SEP] 55, Sink, 0.024, 0.771, -1.708, 0, 270, 0, [SEP] 56, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0, [SEP] 57, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0, [SEP] 58, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0, [SEP] 59, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0, [SEP] 60, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0, [SEP] 62, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0, [SEP] 63, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0, [SEP] 64, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0, [SEP] 65, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0, [SEP] 66, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0, [SEP] 67, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0, [SEP] 68, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0, [SEP] 69, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0, [SEP] 70, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0, [SEP] 71, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0, [SEP] 72, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0, [SEP] 73, Drawer, -1.636, 0.683, -0.930, 0, 0, 0, [SEP] 74, Drawer, 1.650, 0.682, -1.396, 0, 0, 0, [SEP] 75, Drawer, 0.600, 0.682, -1.396, 0, 0, 0, [SEP] 76, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0, [SEP] 77, Drawer, -2.062, 0.683, -1.579, 0, 0, 0, [SEP] 78, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0, [SEP] 79, Shelf, 3.725, 0.880, 1.671, 0, 90, 0, [SEP] 80, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0, [SEP] 81, Shelf, 3.726, 0.552, 1.671, 0, 90, 0, [SEP] 82, Microwave, 1.150, 1.655, -1.614, 0, 0, 0, [SEP] 83, Fridge, -0.035, 0.0, 2.177, 0, 180, 0, [SEP] 84, Window, -0.115, 1.802, -1.896, 90, 0, 0, [SEP] 85, Window, -4.009, 1.799, 0.310, 90, 90, 0, [SEP] 86, Shelf, 3.726, 0.172, 1.671, 0, 90, 0, [SEP] 87, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0, [SEP] 88, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0, [SEP] 89, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0, [SEP] 90, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0, [SEP] 91, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0, [SEP] 92, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0, [SEP] 93, Toaster, 1.637, 0.900, -1.673, 0, 0, 0, [SEP] 94, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0, [SEP] 95, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0, [SEP] 96, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0, [SEP] 97, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0, [SEP] 98, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0, [SEP] 99, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0, [SEP] 100, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0, [SEP] 101, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0, [SEP] 102, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: Walk across the room and turn right past the kitchen counter, then walk to the light brown dining table. | STEP 2: Pick up the wine bottle on the table, between the bread and the chair. | STEP 3: Turn around and walk to the kitchen counter then make left and walk to the tall, wooden shelf at the end of the room. | STEP 4: Place the wine bottle on the second shelf from the bottom. | END"]} +{"id": "trial_T20190907_200154_378982-1", "input": "Put away the bottle of wine SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 1.0, 0, 270, 0, [SEP] 1, Vase, 1.631, 1.656, -1.709, 0, 0, 0, 68 [SEP] 2, Potato, 0.193, 1.608, 2.100, 0, 180, 0, 83 [SEP] 3, Potato, -0.923, 0.229, 2.058, 0, 90, 0, 88 [SEP] 4, Book, -1.649, 0.716, -1.001, 0, 90, 0, 73 [SEP] 5, DishSponge, 0.124, 0.928, -1.573, 0, 270, 0, 55 [SEP] 6, DishSponge, -2.539, 0.878, 3.341, 0, 225, 0, 60 [SEP] 7, ButterKnife, -2.196, 0.874, 3.475, 0, 225, 0, 60 [SEP] 8, Spatula, -2.081, 0.734, -1.716, 0, 90, 0, 77 [SEP] 9, Spatula, -2.321, 0.889, 3.221, 0, 0, 0, 60 [SEP] 10, Pot, 1.328, 0.957, -1.420, 0, 180, 0, 62 [SEP] 11, Pot, -2.072, 0.914, -0.614, 0, 0, 0, 58 [SEP] 12, Fork, 0.014, 0.929, -1.429, 0, 270, 0, 55 [SEP] 13, Fork, -2.584, 0.879, 3.728, 0, 0, 0, 60 [SEP] 14, Spoon, 0.234, 0.929, -1.429, 0, 270, 0, 55 [SEP] 15, Egg, -0.035, 0.414, 2.054, 0, 180, 0, 83 [SEP] 16, Plate, -0.263, 1.576, 2.219, 0, 180, 0, 83 [SEP] 17, Plate, 0.663, 0.916, -1.776, 0, 0, 0, 58 [SEP] 18, Knife, -2.472, 0.900, 3.513, 0, 225, 0, 60 [SEP] 19, Tomato, -2.659, 0.925, 3.444, 0, 270, 0, 60 [SEP] 20, Tomato, 1.651, 0.957, -1.346, 0, 0, 0, 78 [SEP] 21, SaltShaker, -2.828, 0.874, 3.370, 0, 270, 0, 60 [SEP] 22, SaltShaker, 0.638, 0.714, -1.476, 0, 0, 0, 75 [SEP] 23, Bread, -2.367, 0.961, 3.035, 0, 135, 0, 60 [SEP] 24, Mug, 1.104, 1.756, -1.629, 0, 0, 0, 82 [SEP] 25, Apple, -3.165, 0.929, 3.370, 0, 270, 0, 60 [SEP] 26, Book, -3.165, 0.871, 3.073, 0, 270, 0, 60 [SEP] 27, Fork, -2.148, 0.719, -1.647, 0, 90, 0, 77 [SEP] 28, Tomato, -0.035, 1.619, 1.981, 0, 180, 0, 83 [SEP] 29, Egg, -0.149, 0.414, 1.967, 0, 180, 0, 83 [SEP] 30, Kettle, -2.659, 0.879, 2.884, 0, 0, 0, 60 [SEP] 31, Vase, -2.183, 0.913, -1.265, 0, 0, 0, 58 [SEP] 32, Cup, -0.377, 0.801, 2.137, 0, 180, 0, 83 [SEP] 33, WineBottle, -2.152, 0.875, 3.073, 0, 270, 0, 60 [SEP] 34, Plate, 0.307, 0.393, 2.025, 0, 180, 0, 83 [SEP] 35, Spatula, -1.738, 0.927, -0.288, 0, 0, 0, 58 [SEP] 36, Potato, 0.179, 0.967, -1.718, 0, 270, 0, 55 [SEP] 37, Pot, 0.974, 0.957, -1.419, 0, 180, 0, 76 [SEP] 38, Knife, -2.072, 0.934, 0.037, 0, 0, 0, 58 [SEP] 39, SaltShaker, -1.944, 1.653, -1.674, 0, 0, 0, 71 [SEP] 40, PepperShaker, 1.595, 0.716, -1.443, 0, 0, 0, 74 [SEP] 41, Lettuce, 0.079, 0.867, 2.194, 0, 180, 0, 83 [SEP] 42, ButterKnife, -0.330, 0.707, -1.573, 0, 270, 0, 87 [SEP] 43, Bread, -2.733, 0.958, 3.728, 0, 0, 0, 60 [SEP] 44, Vase, 3.689, 0.882, 1.861, 0, 270, 0, 79 [SEP] 45, DishSponge, -2.964, 0.878, 2.811, 0, 225, 0, 60 [SEP] 46, Apple, -1.378, 0.967, -1.369, 0, 0, 0, 58 [SEP] 47, Pan, 0.972, 0.959, -1.426, 0, 0, 0, 76 [SEP] 48, Spoon, 1.676, 0.720, -1.377, 0, 270, 0, 74 [SEP] 49, SoapBottle, 3.743, 0.881, 1.452, 0, 270, 0, 79 [SEP] 50, Mug, 0.997, 2.151, -1.747, 0, 0, 0, 72 [SEP] 51, Statue, 3.637, 0.560, 1.656, 0, 270, 0, 81 [SEP] 52, Statue, 3.668, 0.540, 1.800, 0, 0, 0, 81 [SEP] 53, Bowl, -1.627, 0.910, -1.265, 0, 0, 0, 58 [SEP] 54, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0, [SEP] 55, Sink, 0.024, 0.771, -1.708, 0, 270, 0, [SEP] 56, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0, [SEP] 57, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0, [SEP] 58, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0, [SEP] 59, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0, [SEP] 60, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0, [SEP] 62, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0, [SEP] 63, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0, [SEP] 64, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0, [SEP] 65, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0, [SEP] 66, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0, [SEP] 67, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0, [SEP] 68, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0, [SEP] 69, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0, [SEP] 70, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0, [SEP] 71, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0, [SEP] 72, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0, [SEP] 73, Drawer, -1.636, 0.683, -0.930, 0, 0, 0, [SEP] 74, Drawer, 1.650, 0.682, -1.396, 0, 0, 0, [SEP] 75, Drawer, 0.600, 0.682, -1.396, 0, 0, 0, [SEP] 76, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0, [SEP] 77, Drawer, -2.062, 0.683, -1.579, 0, 0, 0, [SEP] 78, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0, [SEP] 79, Shelf, 3.725, 0.880, 1.671, 0, 90, 0, [SEP] 80, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0, [SEP] 81, Shelf, 3.726, 0.552, 1.671, 0, 90, 0, [SEP] 82, Microwave, 1.150, 1.655, -1.614, 0, 0, 0, [SEP] 83, Fridge, -0.035, 0.0, 2.177, 0, 180, 0, [SEP] 84, Window, -0.115, 1.802, -1.896, 90, 0, 0, [SEP] 85, Window, -4.009, 1.799, 0.310, 90, 90, 0, [SEP] 86, Shelf, 3.726, 0.172, 1.671, 0, 90, 0, [SEP] 87, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0, [SEP] 88, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0, [SEP] 89, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0, [SEP] 90, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0, [SEP] 91, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0, [SEP] 92, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0, [SEP] 93, Toaster, 1.637, 0.900, -1.673, 0, 0, 0, [SEP] 94, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0, [SEP] 95, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0, [SEP] 96, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0, [SEP] 97, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0, [SEP] 98, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0, [SEP] 99, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0, [SEP] 100, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0, [SEP] 101, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0, [SEP] 102, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: Walk straight in the kitchen | STEP 2: Turn to the right at the end of the counter to go to the table | STEP 3: Pick up the bottle of wine | STEP 4: Carry the bottle of wine to the shelf that is against the wall | END"]} +{"id": "trial_T20190907_200154_378982-2", "input": "Move a wine bottle to the shelf SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 1.0, 0, 270, 0, [SEP] 1, Vase, 1.631, 1.656, -1.709, 0, 0, 0, 68 [SEP] 2, Potato, 0.193, 1.608, 2.100, 0, 180, 0, 83 [SEP] 3, Potato, -0.923, 0.229, 2.058, 0, 90, 0, 88 [SEP] 4, Book, -1.649, 0.716, -1.001, 0, 90, 0, 73 [SEP] 5, DishSponge, 0.124, 0.928, -1.573, 0, 270, 0, 55 [SEP] 6, DishSponge, -2.539, 0.878, 3.341, 0, 225, 0, 60 [SEP] 7, ButterKnife, -2.196, 0.874, 3.475, 0, 225, 0, 60 [SEP] 8, Spatula, -2.081, 0.734, -1.716, 0, 90, 0, 77 [SEP] 9, Spatula, -2.321, 0.889, 3.221, 0, 0, 0, 60 [SEP] 10, Pot, 1.328, 0.957, -1.420, 0, 180, 0, 62 [SEP] 11, Pot, -2.072, 0.914, -0.614, 0, 0, 0, 58 [SEP] 12, Fork, 0.014, 0.929, -1.429, 0, 270, 0, 55 [SEP] 13, Fork, -2.584, 0.879, 3.728, 0, 0, 0, 60 [SEP] 14, Spoon, 0.234, 0.929, -1.429, 0, 270, 0, 55 [SEP] 15, Egg, -0.035, 0.414, 2.054, 0, 180, 0, 83 [SEP] 16, Plate, -0.263, 1.576, 2.219, 0, 180, 0, 83 [SEP] 17, Plate, 0.663, 0.916, -1.776, 0, 0, 0, 58 [SEP] 18, Knife, -2.472, 0.900, 3.513, 0, 225, 0, 60 [SEP] 19, Tomato, -2.659, 0.925, 3.444, 0, 270, 0, 60 [SEP] 20, Tomato, 1.651, 0.957, -1.346, 0, 0, 0, 78 [SEP] 21, SaltShaker, -2.828, 0.874, 3.370, 0, 270, 0, 60 [SEP] 22, SaltShaker, 0.638, 0.714, -1.476, 0, 0, 0, 75 [SEP] 23, Bread, -2.367, 0.961, 3.035, 0, 135, 0, 60 [SEP] 24, Mug, 1.104, 1.756, -1.629, 0, 0, 0, 82 [SEP] 25, Apple, -3.165, 0.929, 3.370, 0, 270, 0, 60 [SEP] 26, Book, -3.165, 0.871, 3.073, 0, 270, 0, 60 [SEP] 27, Fork, -2.148, 0.719, -1.647, 0, 90, 0, 77 [SEP] 28, Tomato, -0.035, 1.619, 1.981, 0, 180, 0, 83 [SEP] 29, Egg, -0.149, 0.414, 1.967, 0, 180, 0, 83 [SEP] 30, Kettle, -2.659, 0.879, 2.884, 0, 0, 0, 60 [SEP] 31, Vase, -2.183, 0.913, -1.265, 0, 0, 0, 58 [SEP] 32, Cup, -0.377, 0.801, 2.137, 0, 180, 0, 83 [SEP] 33, WineBottle, -2.152, 0.875, 3.073, 0, 270, 0, 60 [SEP] 34, Plate, 0.307, 0.393, 2.025, 0, 180, 0, 83 [SEP] 35, Spatula, -1.738, 0.927, -0.288, 0, 0, 0, 58 [SEP] 36, Potato, 0.179, 0.967, -1.718, 0, 270, 0, 55 [SEP] 37, Pot, 0.974, 0.957, -1.419, 0, 180, 0, 76 [SEP] 38, Knife, -2.072, 0.934, 0.037, 0, 0, 0, 58 [SEP] 39, SaltShaker, -1.944, 1.653, -1.674, 0, 0, 0, 71 [SEP] 40, PepperShaker, 1.595, 0.716, -1.443, 0, 0, 0, 74 [SEP] 41, Lettuce, 0.079, 0.867, 2.194, 0, 180, 0, 83 [SEP] 42, ButterKnife, -0.330, 0.707, -1.573, 0, 270, 0, 87 [SEP] 43, Bread, -2.733, 0.958, 3.728, 0, 0, 0, 60 [SEP] 44, Vase, 3.689, 0.882, 1.861, 0, 270, 0, 79 [SEP] 45, DishSponge, -2.964, 0.878, 2.811, 0, 225, 0, 60 [SEP] 46, Apple, -1.378, 0.967, -1.369, 0, 0, 0, 58 [SEP] 47, Pan, 0.972, 0.959, -1.426, 0, 0, 0, 76 [SEP] 48, Spoon, 1.676, 0.720, -1.377, 0, 270, 0, 74 [SEP] 49, SoapBottle, 3.743, 0.881, 1.452, 0, 270, 0, 79 [SEP] 50, Mug, 0.997, 2.151, -1.747, 0, 0, 0, 72 [SEP] 51, Statue, 3.637, 0.560, 1.656, 0, 270, 0, 81 [SEP] 52, Statue, 3.668, 0.540, 1.800, 0, 0, 0, 81 [SEP] 53, Bowl, -1.627, 0.910, -1.265, 0, 0, 0, 58 [SEP] 54, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0, [SEP] 55, Sink, 0.024, 0.771, -1.708, 0, 270, 0, [SEP] 56, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0, [SEP] 57, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0, [SEP] 58, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0, [SEP] 59, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0, [SEP] 60, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0, [SEP] 62, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0, [SEP] 63, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0, [SEP] 64, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0, [SEP] 65, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0, [SEP] 66, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0, [SEP] 67, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0, [SEP] 68, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0, [SEP] 69, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0, [SEP] 70, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0, [SEP] 71, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0, [SEP] 72, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0, [SEP] 73, Drawer, -1.636, 0.683, -0.930, 0, 0, 0, [SEP] 74, Drawer, 1.650, 0.682, -1.396, 0, 0, 0, [SEP] 75, Drawer, 0.600, 0.682, -1.396, 0, 0, 0, [SEP] 76, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0, [SEP] 77, Drawer, -2.062, 0.683, -1.579, 0, 0, 0, [SEP] 78, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0, [SEP] 79, Shelf, 3.725, 0.880, 1.671, 0, 90, 0, [SEP] 80, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0, [SEP] 81, Shelf, 3.726, 0.552, 1.671, 0, 90, 0, [SEP] 82, Microwave, 1.150, 1.655, -1.614, 0, 0, 0, [SEP] 83, Fridge, -0.035, 0.0, 2.177, 0, 180, 0, [SEP] 84, Window, -0.115, 1.802, -1.896, 90, 0, 0, [SEP] 85, Window, -4.009, 1.799, 0.310, 90, 90, 0, [SEP] 86, Shelf, 3.726, 0.172, 1.671, 0, 90, 0, [SEP] 87, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0, [SEP] 88, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0, [SEP] 89, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0, [SEP] 90, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0, [SEP] 91, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0, [SEP] 92, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0, [SEP] 93, Toaster, 1.637, 0.900, -1.673, 0, 0, 0, [SEP] 94, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0, [SEP] 95, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0, [SEP] 96, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0, [SEP] 97, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0, [SEP] 98, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0, [SEP] 99, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0, [SEP] 100, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0, [SEP] 101, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0, [SEP] 102, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: Move across the room to the round wood dining table | STEP 2: Pick up the green wine bottle on top of the table to the left of the bread | STEP 3: Carry the green wine bottle to the wood shelves in the corner of the room | STEP 4: Place the green wine bottle on the middle shelf on the far right side | END"]} +{"id": "trial_T20190909_113844_191747-0", "input": "Place a rinsed spoon on a counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, -0.5, 0, 270, 0, [SEP] 1, Potato, -0.838, 0.790, -1.559, 0, 0, 0, 68 [SEP] 2, ButterKnife, 0.476, 0.910, 1.092, 0, 90, 0, 41 [SEP] 3, Pot, 1.548, 0.909, 0.075, 0, 180, 0, 47 [SEP] 4, Fork, 0.732, 0.911, 0.827, 0, 180, 0, 41 [SEP] 5, Spoon, 1.501, 0.911, 1.092, 0, 180, 0, 41 [SEP] 6, Spatula, 0.894, 0.775, -1.654, 0, 90, 0, 60 [SEP] 7, Knife, 1.839, 0.943, 0.622, 0, 0, 0, 41 [SEP] 8, SoapBottle, 0.220, 0.908, 1.269, 0, 90, 0, 41 [SEP] 9, Tomato, -0.692, 0.524, -1.605, 0, 0, 0, 68 [SEP] 10, Tomato, -0.790, 1.452, -1.664, 0, 0, 0, 68 [SEP] 11, Bowl, 1.805, 1.644, -1.724, 0, 0, 0, 55 [SEP] 12, Bowl, 1.529, 0.909, 0.467, 0, 90, 0, 41 [SEP] 13, SaltShaker, 1.841, 1.648, -0.257, 0, 0, 0, 52 [SEP] 14, SaltShaker, 1.770, 1.630, -1.378, 0, 0, 0, 54 [SEP] 15, PepperShaker, 1.762, 0.905, 0.363, 0, 270, 0, 41 [SEP] 16, PepperShaker, 1.726, 0.906, -1.460, 0, 90, 0, 45 [SEP] 17, Lettuce, 0.220, 1.010, 0.915, 0, 90, 0, 41 [SEP] 18, Mug, 1.771, 1.010, -0.676, 0, 270, 0, 65 [SEP] 19, Plate, 1.757, 0.912, 1.092, 0, 90, 0, 41 [SEP] 20, SoapBottle, 1.805, 2.135, 0.842, 0, 0, 0, 49 [SEP] 21, Cup, 1.170, 0.758, -1.488, 0, 0, 0, 60 [SEP] 22, Egg, 1.835, 1.050, -0.888, 0, 270, 0, 65 [SEP] 23, Fork, 1.245, 0.911, 1.004, 0, 90, 0, 41 [SEP] 24, Ladle, 1.201, 0.926, 0.743, 3.362, 0, 347.001, 41 [SEP] 25, Apple, 1.739, 0.127, 1.684, 0, 270, 0, 59 [SEP] 26, SaltShaker, 1.772, 1.634, 0.543, 0, 0, 0, 50 [SEP] 27, Pan, 1.543, 0.909, -0.320, 0, 90, 0, 44 [SEP] 28, Tomato, 0.508, 0.963, 0.837, 0, 0, 0, 41 [SEP] 29, Spatula, 1.865, 0.926, -1.374, 0, 0, 0, 45 [SEP] 30, Potato, 0.989, 0.950, 0.915, 0, 90, 0, 41 [SEP] 31, Knife, 1.865, 0.943, -1.802, 0, 0, 0, 45 [SEP] 32, ButterKnife, 1.170, 0.760, -1.599, 0, 0, 0, 60 [SEP] 33, Bread, 0.732, 0.987, 1.269, 0, 90, 0, 41 [SEP] 34, Lettuce, 1.865, 1.011, -1.631, 0, 90, 0, 45 [SEP] 35, PepperShaker, 0.926, 0.906, -1.247, 0, 90, 0, 45 [SEP] 36, Pot, 1.807, 0.909, 0.075, 0, 180, 0, 42 [SEP] 37, DishSponge, 0.553, 0.910, -1.263, 0, 90, 0, 45 [SEP] 38, Spoon, 0.220, 0.911, 1.004, 0, 90, 0, 41 [SEP] 39, Bowl, 1.809, 2.134, 1.159, 0, 0, 0, 48 [SEP] 40, Mug, 0.502, 0.940, -1.460, 0, 0, 0, 67 [SEP] 41, CounterTop, 0.989, 0.946, 1.016, 0, 90, 0, [SEP] 42, StoveBurner, 1.807, 0.907, 0.075, 0, 180, 0, [SEP] 43, StoveBurner, 1.807, 0.907, -0.320, 0, 180, 0, [SEP] 44, StoveBurner, 1.543, 0.907, -0.320, 0, 90, 0, [SEP] 45, CounterTop, 0.989, 0.946, -1.516, 0, 90, 0, [SEP] 46, Sink, 1.100, 0.906, -1.599, 0, 0, 0, [SEP] 47, StoveBurner, 1.548, 0.907, 0.075, 0, 180, 0, [SEP] 48, Cabinet, 1.658, 2.299, 1.313, 0, 0, 0, [SEP] 49, Cabinet, 1.658, 2.299, 0.686, 0, 0, 0, [SEP] 50, Cabinet, 1.658, 2.049, 0.673, 0, 0, 0, [SEP] 51, Cabinet, 1.658, 2.059, 0.193, 0, 0, 0, [SEP] 52, Cabinet, 1.658, 2.059, -0.593, 0, 0, 0, [SEP] 53, Cabinet, 1.658, 2.049, -0.606, 0, 0, 0, [SEP] 54, Cabinet, 1.658, 2.049, -1.206, 0, 0, 0, [SEP] 55, Cabinet, 1.658, 2.049, -1.893, 0, 0, 0, [SEP] 56, Toaster, 0.131, 0.900, -1.589, 0, 0, 0, [SEP] 57, Window, -0.372, 1.588, 3.349, 90, 0, 0, [SEP] 58, Window, 0.782, 1.741, -1.893, 90, 0, 0, [SEP] 59, GarbageCan, 1.770, -0.029, 1.685, 0, 270, 0, [SEP] 60, SinkBasin, 1.091, 0.740, -1.599, 0, 0, 0, [SEP] 61, StoveKnob, 1.364, 0.821, 0.086, 48.421, 270, 0, [SEP] 62, StoveKnob, 1.364, 0.821, -0.180, 48.421, 270, 0, [SEP] 63, StoveKnob, 1.364, 0.821, -0.317, 48.421, 270, 0, [SEP] 64, StoveKnob, 1.364, 0.821, -0.054, 48.421, 270, 0, [SEP] 65, Microwave, 1.752, 0.900, -0.843, 0, 270, 0, [SEP] 66, LightSwitch, 2.0, 1.261, 3.094, 0, 270, 0, [SEP] 67, CoffeeMachine, 0.501, 0.900, -1.600, 0, 0, 0, [SEP] 68, Fridge, -0.533, 0.0, -1.554, 0, 0, 0, [SEP] 69, Chair, 1.068, 0.000, 1.752, 0, 191.622, 0, [SEP] 70, Faucet, 1.110, 1.138, -1.764, 0, 270, 0, [SEP] 71, Chair, 0.357, 0.000, 1.710, 0, 178.899, 0, [SEP] 72, NorthWall, , , , , , , [SEP] 73, EastWall, , , , , , , [SEP] 74, SouthWall, , , , , , , [SEP] 75, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the counter. | STEP 2: Pick up the spoon with the blue handle on the right side of the counter. | STEP 3: Turn around and walk to the sink by the window. | STEP 4: Put the spoon inside the sink, rinse it for a few seconds and pick it back up. | STEP 5: Turn right and walk to the counter with the coffee maker on the left. | STEP 6: Put the rinsed spoon in front of the coffee maker to the right of the green sponge on the counter. | END"]} +{"id": "trial_T20190909_113844_191747-1", "input": "Place a clean ladle on a counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, -0.5, 0, 270, 0, [SEP] 1, Potato, -0.838, 0.790, -1.559, 0, 0, 0, 68 [SEP] 2, ButterKnife, 0.476, 0.910, 1.092, 0, 90, 0, 41 [SEP] 3, Pot, 1.548, 0.909, 0.075, 0, 180, 0, 47 [SEP] 4, Fork, 0.732, 0.911, 0.827, 0, 180, 0, 41 [SEP] 5, Spoon, 1.501, 0.911, 1.092, 0, 180, 0, 41 [SEP] 6, Spatula, 0.894, 0.775, -1.654, 0, 90, 0, 60 [SEP] 7, Knife, 1.839, 0.943, 0.622, 0, 0, 0, 41 [SEP] 8, SoapBottle, 0.220, 0.908, 1.269, 0, 90, 0, 41 [SEP] 9, Tomato, -0.692, 0.524, -1.605, 0, 0, 0, 68 [SEP] 10, Tomato, -0.790, 1.452, -1.664, 0, 0, 0, 68 [SEP] 11, Bowl, 1.805, 1.644, -1.724, 0, 0, 0, 55 [SEP] 12, Bowl, 1.529, 0.909, 0.467, 0, 90, 0, 41 [SEP] 13, SaltShaker, 1.841, 1.648, -0.257, 0, 0, 0, 52 [SEP] 14, SaltShaker, 1.770, 1.630, -1.378, 0, 0, 0, 54 [SEP] 15, PepperShaker, 1.762, 0.905, 0.363, 0, 270, 0, 41 [SEP] 16, PepperShaker, 1.726, 0.906, -1.460, 0, 90, 0, 45 [SEP] 17, Lettuce, 0.220, 1.010, 0.915, 0, 90, 0, 41 [SEP] 18, Mug, 1.771, 1.010, -0.676, 0, 270, 0, 65 [SEP] 19, Plate, 1.757, 0.912, 1.092, 0, 90, 0, 41 [SEP] 20, SoapBottle, 1.805, 2.135, 0.842, 0, 0, 0, 49 [SEP] 21, Cup, 1.170, 0.758, -1.488, 0, 0, 0, 60 [SEP] 22, Egg, 1.835, 1.050, -0.888, 0, 270, 0, 65 [SEP] 23, Fork, 1.245, 0.911, 1.004, 0, 90, 0, 41 [SEP] 24, Ladle, 1.201, 0.926, 0.743, 3.362, 0, 347.001, 41 [SEP] 25, Apple, 1.739, 0.127, 1.684, 0, 270, 0, 59 [SEP] 26, SaltShaker, 1.772, 1.634, 0.543, 0, 0, 0, 50 [SEP] 27, Pan, 1.543, 0.909, -0.320, 0, 90, 0, 44 [SEP] 28, Tomato, 0.508, 0.963, 0.837, 0, 0, 0, 41 [SEP] 29, Spatula, 1.865, 0.926, -1.374, 0, 0, 0, 45 [SEP] 30, Potato, 0.989, 0.950, 0.915, 0, 90, 0, 41 [SEP] 31, Knife, 1.865, 0.943, -1.802, 0, 0, 0, 45 [SEP] 32, ButterKnife, 1.170, 0.760, -1.599, 0, 0, 0, 60 [SEP] 33, Bread, 0.732, 0.987, 1.269, 0, 90, 0, 41 [SEP] 34, Lettuce, 1.865, 1.011, -1.631, 0, 90, 0, 45 [SEP] 35, PepperShaker, 0.926, 0.906, -1.247, 0, 90, 0, 45 [SEP] 36, Pot, 1.807, 0.909, 0.075, 0, 180, 0, 42 [SEP] 37, DishSponge, 0.553, 0.910, -1.263, 0, 90, 0, 45 [SEP] 38, Spoon, 0.220, 0.911, 1.004, 0, 90, 0, 41 [SEP] 39, Bowl, 1.809, 2.134, 1.159, 0, 0, 0, 48 [SEP] 40, Mug, 0.502, 0.940, -1.460, 0, 0, 0, 67 [SEP] 41, CounterTop, 0.989, 0.946, 1.016, 0, 90, 0, [SEP] 42, StoveBurner, 1.807, 0.907, 0.075, 0, 180, 0, [SEP] 43, StoveBurner, 1.807, 0.907, -0.320, 0, 180, 0, [SEP] 44, StoveBurner, 1.543, 0.907, -0.320, 0, 90, 0, [SEP] 45, CounterTop, 0.989, 0.946, -1.516, 0, 90, 0, [SEP] 46, Sink, 1.100, 0.906, -1.599, 0, 0, 0, [SEP] 47, StoveBurner, 1.548, 0.907, 0.075, 0, 180, 0, [SEP] 48, Cabinet, 1.658, 2.299, 1.313, 0, 0, 0, [SEP] 49, Cabinet, 1.658, 2.299, 0.686, 0, 0, 0, [SEP] 50, Cabinet, 1.658, 2.049, 0.673, 0, 0, 0, [SEP] 51, Cabinet, 1.658, 2.059, 0.193, 0, 0, 0, [SEP] 52, Cabinet, 1.658, 2.059, -0.593, 0, 0, 0, [SEP] 53, Cabinet, 1.658, 2.049, -0.606, 0, 0, 0, [SEP] 54, Cabinet, 1.658, 2.049, -1.206, 0, 0, 0, [SEP] 55, Cabinet, 1.658, 2.049, -1.893, 0, 0, 0, [SEP] 56, Toaster, 0.131, 0.900, -1.589, 0, 0, 0, [SEP] 57, Window, -0.372, 1.588, 3.349, 90, 0, 0, [SEP] 58, Window, 0.782, 1.741, -1.893, 90, 0, 0, [SEP] 59, GarbageCan, 1.770, -0.029, 1.685, 0, 270, 0, [SEP] 60, SinkBasin, 1.091, 0.740, -1.599, 0, 0, 0, [SEP] 61, StoveKnob, 1.364, 0.821, 0.086, 48.421, 270, 0, [SEP] 62, StoveKnob, 1.364, 0.821, -0.180, 48.421, 270, 0, [SEP] 63, StoveKnob, 1.364, 0.821, -0.317, 48.421, 270, 0, [SEP] 64, StoveKnob, 1.364, 0.821, -0.054, 48.421, 270, 0, [SEP] 65, Microwave, 1.752, 0.900, -0.843, 0, 270, 0, [SEP] 66, LightSwitch, 2.0, 1.261, 3.094, 0, 270, 0, [SEP] 67, CoffeeMachine, 0.501, 0.900, -1.600, 0, 0, 0, [SEP] 68, Fridge, -0.533, 0.0, -1.554, 0, 0, 0, [SEP] 69, Chair, 1.068, 0.000, 1.752, 0, 191.622, 0, [SEP] 70, Faucet, 1.110, 1.138, -1.764, 0, 270, 0, [SEP] 71, Chair, 0.357, 0.000, 1.710, 0, 178.899, 0, [SEP] 72, NorthWall, , , , , , , [SEP] 73, EastWall, , , , , , , [SEP] 74, SouthWall, , , , , , , [SEP] 75, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the counter. | STEP 2: Pick up the ladle on the counter. | STEP 3: Turn around and walk to the sink. | STEP 4: Clean the ladle in the sink. | STEP 5: Take a step right. | STEP 6: Place the ladle on the counter, to the right of the sponge. | END"]} +{"id": "trial_T20190909_113844_191747-2", "input": "To wash a ladle and place it on the counter by the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, -0.5, 0, 270, 0, [SEP] 1, Potato, -0.838, 0.790, -1.559, 0, 0, 0, 68 [SEP] 2, ButterKnife, 0.476, 0.910, 1.092, 0, 90, 0, 41 [SEP] 3, Pot, 1.548, 0.909, 0.075, 0, 180, 0, 47 [SEP] 4, Fork, 0.732, 0.911, 0.827, 0, 180, 0, 41 [SEP] 5, Spoon, 1.501, 0.911, 1.092, 0, 180, 0, 41 [SEP] 6, Spatula, 0.894, 0.775, -1.654, 0, 90, 0, 60 [SEP] 7, Knife, 1.839, 0.943, 0.622, 0, 0, 0, 41 [SEP] 8, SoapBottle, 0.220, 0.908, 1.269, 0, 90, 0, 41 [SEP] 9, Tomato, -0.692, 0.524, -1.605, 0, 0, 0, 68 [SEP] 10, Tomato, -0.790, 1.452, -1.664, 0, 0, 0, 68 [SEP] 11, Bowl, 1.805, 1.644, -1.724, 0, 0, 0, 55 [SEP] 12, Bowl, 1.529, 0.909, 0.467, 0, 90, 0, 41 [SEP] 13, SaltShaker, 1.841, 1.648, -0.257, 0, 0, 0, 52 [SEP] 14, SaltShaker, 1.770, 1.630, -1.378, 0, 0, 0, 54 [SEP] 15, PepperShaker, 1.762, 0.905, 0.363, 0, 270, 0, 41 [SEP] 16, PepperShaker, 1.726, 0.906, -1.460, 0, 90, 0, 45 [SEP] 17, Lettuce, 0.220, 1.010, 0.915, 0, 90, 0, 41 [SEP] 18, Mug, 1.771, 1.010, -0.676, 0, 270, 0, 65 [SEP] 19, Plate, 1.757, 0.912, 1.092, 0, 90, 0, 41 [SEP] 20, SoapBottle, 1.805, 2.135, 0.842, 0, 0, 0, 49 [SEP] 21, Cup, 1.170, 0.758, -1.488, 0, 0, 0, 60 [SEP] 22, Egg, 1.835, 1.050, -0.888, 0, 270, 0, 65 [SEP] 23, Fork, 1.245, 0.911, 1.004, 0, 90, 0, 41 [SEP] 24, Ladle, 1.201, 0.926, 0.743, 3.362, 0, 347.001, 41 [SEP] 25, Apple, 1.739, 0.127, 1.684, 0, 270, 0, 59 [SEP] 26, SaltShaker, 1.772, 1.634, 0.543, 0, 0, 0, 50 [SEP] 27, Pan, 1.543, 0.909, -0.320, 0, 90, 0, 44 [SEP] 28, Tomato, 0.508, 0.963, 0.837, 0, 0, 0, 41 [SEP] 29, Spatula, 1.865, 0.926, -1.374, 0, 0, 0, 45 [SEP] 30, Potato, 0.989, 0.950, 0.915, 0, 90, 0, 41 [SEP] 31, Knife, 1.865, 0.943, -1.802, 0, 0, 0, 45 [SEP] 32, ButterKnife, 1.170, 0.760, -1.599, 0, 0, 0, 60 [SEP] 33, Bread, 0.732, 0.987, 1.269, 0, 90, 0, 41 [SEP] 34, Lettuce, 1.865, 1.011, -1.631, 0, 90, 0, 45 [SEP] 35, PepperShaker, 0.926, 0.906, -1.247, 0, 90, 0, 45 [SEP] 36, Pot, 1.807, 0.909, 0.075, 0, 180, 0, 42 [SEP] 37, DishSponge, 0.553, 0.910, -1.263, 0, 90, 0, 45 [SEP] 38, Spoon, 0.220, 0.911, 1.004, 0, 90, 0, 41 [SEP] 39, Bowl, 1.809, 2.134, 1.159, 0, 0, 0, 48 [SEP] 40, Mug, 0.502, 0.940, -1.460, 0, 0, 0, 67 [SEP] 41, CounterTop, 0.989, 0.946, 1.016, 0, 90, 0, [SEP] 42, StoveBurner, 1.807, 0.907, 0.075, 0, 180, 0, [SEP] 43, StoveBurner, 1.807, 0.907, -0.320, 0, 180, 0, [SEP] 44, StoveBurner, 1.543, 0.907, -0.320, 0, 90, 0, [SEP] 45, CounterTop, 0.989, 0.946, -1.516, 0, 90, 0, [SEP] 46, Sink, 1.100, 0.906, -1.599, 0, 0, 0, [SEP] 47, StoveBurner, 1.548, 0.907, 0.075, 0, 180, 0, [SEP] 48, Cabinet, 1.658, 2.299, 1.313, 0, 0, 0, [SEP] 49, Cabinet, 1.658, 2.299, 0.686, 0, 0, 0, [SEP] 50, Cabinet, 1.658, 2.049, 0.673, 0, 0, 0, [SEP] 51, Cabinet, 1.658, 2.059, 0.193, 0, 0, 0, [SEP] 52, Cabinet, 1.658, 2.059, -0.593, 0, 0, 0, [SEP] 53, Cabinet, 1.658, 2.049, -0.606, 0, 0, 0, [SEP] 54, Cabinet, 1.658, 2.049, -1.206, 0, 0, 0, [SEP] 55, Cabinet, 1.658, 2.049, -1.893, 0, 0, 0, [SEP] 56, Toaster, 0.131, 0.900, -1.589, 0, 0, 0, [SEP] 57, Window, -0.372, 1.588, 3.349, 90, 0, 0, [SEP] 58, Window, 0.782, 1.741, -1.893, 90, 0, 0, [SEP] 59, GarbageCan, 1.770, -0.029, 1.685, 0, 270, 0, [SEP] 60, SinkBasin, 1.091, 0.740, -1.599, 0, 0, 0, [SEP] 61, StoveKnob, 1.364, 0.821, 0.086, 48.421, 270, 0, [SEP] 62, StoveKnob, 1.364, 0.821, -0.180, 48.421, 270, 0, [SEP] 63, StoveKnob, 1.364, 0.821, -0.317, 48.421, 270, 0, [SEP] 64, StoveKnob, 1.364, 0.821, -0.054, 48.421, 270, 0, [SEP] 65, Microwave, 1.752, 0.900, -0.843, 0, 270, 0, [SEP] 66, LightSwitch, 2.0, 1.261, 3.094, 0, 270, 0, [SEP] 67, CoffeeMachine, 0.501, 0.900, -1.600, 0, 0, 0, [SEP] 68, Fridge, -0.533, 0.0, -1.554, 0, 0, 0, [SEP] 69, Chair, 1.068, 0.000, 1.752, 0, 191.622, 0, [SEP] 70, Faucet, 1.110, 1.138, -1.764, 0, 270, 0, [SEP] 71, Chair, 0.357, 0.000, 1.710, 0, 178.899, 0, [SEP] 72, NorthWall, , , , , , , [SEP] 73, EastWall, , , , , , , [SEP] 74, SouthWall, , , , , , , [SEP] 75, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and step forward to face the counter. | STEP 2: Pick up the ladle on the counter. | STEP 3: Turn around and step forward to face the sink. | STEP 4: Wash the ladle in the sink and remove it. | STEP 5: Step to the right to face the counter. | STEP 6: Place the ladle on the counter to the right of the sink. | END"]} +{"id": "trial_T20190908_071602_531614-0", "input": "To move two bars of soap to the back of the toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.899, -1.75, 0, 270, 0, [SEP] 1, Cloth, -3.483, 0.083, -2.042, 0, 90, 0, 17 [SEP] 2, SoapBar, -3.392, 0.925, -2.015, 0, 90, 0, 30 [SEP] 3, Candle, -3.295, 0.124, -0.649, 0, 0, 0, 26 [SEP] 4, Candle, -3.232, 0.124, -1.499, 0, 0, 0, 22 [SEP] 5, SoapBottle, -3.594, 0.118, -0.436, 0, 0, 0, 29 [SEP] 6, Towel, 0.136, 1.121, -2.080, 0, 0, 0, 28 [SEP] 7, Candle, -1.761, 1.085, -2.122, 0, 0, 0, 34 [SEP] 8, Cloth, -3.420, 0.083, -1.143, 0, 0, 0, 20 [SEP] 9, HandTowel, -3.711, 1.474, -0.410, 0, 270, 0, 31 [SEP] 10, Plunger, -2.207, -0.001, -2.076, 0, 0, 0, Floor|+00.00| [SEP] 11, SoapBottle, -3.278, 0.911, -1.412, 0, 0, 0, 27 [SEP] 12, SoapBar, -3.307, 0.925, -1.056, 0, 90, 0, 39 [SEP] 13, ToiletPaper, -3.564, 0.907, -1.380, 0, 0, 0, 27 [SEP] 14, ToiletPaper, -3.483, 0.080, -1.278, 0, 0, 0, 20 [SEP] 15, SprayBottle, -3.421, 0.912, -1.316, 0, 0, 0, 27 [SEP] 16, ScrubBrush, -2.407, -0.001, -2.092, 0, 0, 0, Floor|+00.00| [SEP] 17, Cabinet, -3.169, 0.370, -2.188, 0, 0, 0, [SEP] 18, Window, -1.737, 1.292, -2.286, 0, 0, 0, [SEP] 19, ShowerDoor, -0.447, 0.909, -2.191, 0, 0, 0, [SEP] 20, Cabinet, -3.169, 0.370, -1.379, 0, 0, 0, [SEP] 21, Mirror, -3.730, 1.481, -1.427, 0, 0, 0, [SEP] 22, Cabinet, -3.169, 0.370, -1.398, 0, 0, 0, [SEP] 23, ShowerGlass, -0.964, 0.907, -0.120, 0, 0, 0, [SEP] 24, Sink, -3.391, 0.841, -1.828, 0, 90, 0, [SEP] 25, FloorLamp, -3.539, 1.020, -0.932, 0, 90, 0, [SEP] 26, Cabinet, -3.169, 0.370, -0.592, 0, 0, 0, [SEP] 27, CounterTop, -3.426, 0.883, -1.384, 0, 0, 0, [SEP] 28, TowelHolder, 0.136, 1.106, -2.187, 0, 0, 0, [SEP] 29, GarbageCan, -3.520, -0.030, -0.349, 0, 0, 0, [SEP] 30, SinkBasin, -3.392, 0.916, -1.820, 0, 90, 0, [SEP] 31, HandTowelHolder, -3.750, 1.575, -0.410, 0, 0, 0, [SEP] 32, HandTowelHolder, -3.332, 1.621, -2.198, 0, 270, 0, [SEP] 33, ToiletPaperHanger, -2.375, 0.886, -2.199, 0, 0, 0, [SEP] 34, Toilet, -1.896, -0.001, -1.738, 0, 90, 0, [SEP] 35, LightSwitch, -2.052, 1.292, 1.000, 0, 180, 0, [SEP] 36, FloorLamp, -3.539, 1.020, -1.830, 0, 90, 0, [SEP] 37, ShowerHead, 0.232, 1.026, 0.375, 0, 315, 0, [SEP] 38, Sink, -3.391, 0.841, -0.931, 0, 90, 0, [SEP] 39, SinkBasin, -3.392, 0.916, -0.923, 0, 90, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the sink on the left side. | STEP 2: Pick up the bar of soap from the left side of the sink. | STEP 3: Turn around to face the back of the toilet. | STEP 4: Place the soap on the back of the toilet. | STEP 5: Turn around and face the sink on the right side. | STEP 6: Pick up the bar of soap from the left side of the sink. | STEP 7: Turn around and face the back of the toilet. | STEP 8: Place the soap on the back of the toilet, to the right of the first bar of soap. | END"]} +{"id": "trial_T20190908_071602_531614-1", "input": "Put the soap bars on top of the toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.899, -1.75, 0, 270, 0, [SEP] 1, Cloth, -3.483, 0.083, -2.042, 0, 90, 0, 17 [SEP] 2, SoapBar, -3.392, 0.925, -2.015, 0, 90, 0, 30 [SEP] 3, Candle, -3.295, 0.124, -0.649, 0, 0, 0, 26 [SEP] 4, Candle, -3.232, 0.124, -1.499, 0, 0, 0, 22 [SEP] 5, SoapBottle, -3.594, 0.118, -0.436, 0, 0, 0, 29 [SEP] 6, Towel, 0.136, 1.121, -2.080, 0, 0, 0, 28 [SEP] 7, Candle, -1.761, 1.085, -2.122, 0, 0, 0, 34 [SEP] 8, Cloth, -3.420, 0.083, -1.143, 0, 0, 0, 20 [SEP] 9, HandTowel, -3.711, 1.474, -0.410, 0, 270, 0, 31 [SEP] 10, Plunger, -2.207, -0.001, -2.076, 0, 0, 0, Floor|+00.00| [SEP] 11, SoapBottle, -3.278, 0.911, -1.412, 0, 0, 0, 27 [SEP] 12, SoapBar, -3.307, 0.925, -1.056, 0, 90, 0, 39 [SEP] 13, ToiletPaper, -3.564, 0.907, -1.380, 0, 0, 0, 27 [SEP] 14, ToiletPaper, -3.483, 0.080, -1.278, 0, 0, 0, 20 [SEP] 15, SprayBottle, -3.421, 0.912, -1.316, 0, 0, 0, 27 [SEP] 16, ScrubBrush, -2.407, -0.001, -2.092, 0, 0, 0, Floor|+00.00| [SEP] 17, Cabinet, -3.169, 0.370, -2.188, 0, 0, 0, [SEP] 18, Window, -1.737, 1.292, -2.286, 0, 0, 0, [SEP] 19, ShowerDoor, -0.447, 0.909, -2.191, 0, 0, 0, [SEP] 20, Cabinet, -3.169, 0.370, -1.379, 0, 0, 0, [SEP] 21, Mirror, -3.730, 1.481, -1.427, 0, 0, 0, [SEP] 22, Cabinet, -3.169, 0.370, -1.398, 0, 0, 0, [SEP] 23, ShowerGlass, -0.964, 0.907, -0.120, 0, 0, 0, [SEP] 24, Sink, -3.391, 0.841, -1.828, 0, 90, 0, [SEP] 25, FloorLamp, -3.539, 1.020, -0.932, 0, 90, 0, [SEP] 26, Cabinet, -3.169, 0.370, -0.592, 0, 0, 0, [SEP] 27, CounterTop, -3.426, 0.883, -1.384, 0, 0, 0, [SEP] 28, TowelHolder, 0.136, 1.106, -2.187, 0, 0, 0, [SEP] 29, GarbageCan, -3.520, -0.030, -0.349, 0, 0, 0, [SEP] 30, SinkBasin, -3.392, 0.916, -1.820, 0, 90, 0, [SEP] 31, HandTowelHolder, -3.750, 1.575, -0.410, 0, 0, 0, [SEP] 32, HandTowelHolder, -3.332, 1.621, -2.198, 0, 270, 0, [SEP] 33, ToiletPaperHanger, -2.375, 0.886, -2.199, 0, 0, 0, [SEP] 34, Toilet, -1.896, -0.001, -1.738, 0, 90, 0, [SEP] 35, LightSwitch, -2.052, 1.292, 1.000, 0, 180, 0, [SEP] 36, FloorLamp, -3.539, 1.020, -1.830, 0, 90, 0, [SEP] 37, ShowerHead, 0.232, 1.026, 0.375, 0, 315, 0, [SEP] 38, Sink, -3.391, 0.841, -0.931, 0, 90, 0, [SEP] 39, SinkBasin, -3.392, 0.916, -0.923, 0, 90, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward and around the toilet to left bathroom sink | STEP 2: Pick up the soap bar from the sink | STEP 3: Turn around and walk up to the right side of the toilet | STEP 4: Put the soap bar on top of the back of the toilet | STEP 5: Turn around and walk up to the right bathroom sink | STEP 6: Pick up the soap bar from the sink | STEP 7: Turn around and walk back to the right side of the toilet | STEP 8: Put the soap bar on top of the back of the toilet | END"]} +{"id": "trial_T20190908_071602_531614-2", "input": "Place two bars of soap on a toilet tank. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.899, -1.75, 0, 270, 0, [SEP] 1, Cloth, -3.483, 0.083, -2.042, 0, 90, 0, 17 [SEP] 2, SoapBar, -3.392, 0.925, -2.015, 0, 90, 0, 30 [SEP] 3, Candle, -3.295, 0.124, -0.649, 0, 0, 0, 26 [SEP] 4, Candle, -3.232, 0.124, -1.499, 0, 0, 0, 22 [SEP] 5, SoapBottle, -3.594, 0.118, -0.436, 0, 0, 0, 29 [SEP] 6, Towel, 0.136, 1.121, -2.080, 0, 0, 0, 28 [SEP] 7, Candle, -1.761, 1.085, -2.122, 0, 0, 0, 34 [SEP] 8, Cloth, -3.420, 0.083, -1.143, 0, 0, 0, 20 [SEP] 9, HandTowel, -3.711, 1.474, -0.410, 0, 270, 0, 31 [SEP] 10, Plunger, -2.207, -0.001, -2.076, 0, 0, 0, Floor|+00.00| [SEP] 11, SoapBottle, -3.278, 0.911, -1.412, 0, 0, 0, 27 [SEP] 12, SoapBar, -3.307, 0.925, -1.056, 0, 90, 0, 39 [SEP] 13, ToiletPaper, -3.564, 0.907, -1.380, 0, 0, 0, 27 [SEP] 14, ToiletPaper, -3.483, 0.080, -1.278, 0, 0, 0, 20 [SEP] 15, SprayBottle, -3.421, 0.912, -1.316, 0, 0, 0, 27 [SEP] 16, ScrubBrush, -2.407, -0.001, -2.092, 0, 0, 0, Floor|+00.00| [SEP] 17, Cabinet, -3.169, 0.370, -2.188, 0, 0, 0, [SEP] 18, Window, -1.737, 1.292, -2.286, 0, 0, 0, [SEP] 19, ShowerDoor, -0.447, 0.909, -2.191, 0, 0, 0, [SEP] 20, Cabinet, -3.169, 0.370, -1.379, 0, 0, 0, [SEP] 21, Mirror, -3.730, 1.481, -1.427, 0, 0, 0, [SEP] 22, Cabinet, -3.169, 0.370, -1.398, 0, 0, 0, [SEP] 23, ShowerGlass, -0.964, 0.907, -0.120, 0, 0, 0, [SEP] 24, Sink, -3.391, 0.841, -1.828, 0, 90, 0, [SEP] 25, FloorLamp, -3.539, 1.020, -0.932, 0, 90, 0, [SEP] 26, Cabinet, -3.169, 0.370, -0.592, 0, 0, 0, [SEP] 27, CounterTop, -3.426, 0.883, -1.384, 0, 0, 0, [SEP] 28, TowelHolder, 0.136, 1.106, -2.187, 0, 0, 0, [SEP] 29, GarbageCan, -3.520, -0.030, -0.349, 0, 0, 0, [SEP] 30, SinkBasin, -3.392, 0.916, -1.820, 0, 90, 0, [SEP] 31, HandTowelHolder, -3.750, 1.575, -0.410, 0, 0, 0, [SEP] 32, HandTowelHolder, -3.332, 1.621, -2.198, 0, 270, 0, [SEP] 33, ToiletPaperHanger, -2.375, 0.886, -2.199, 0, 0, 0, [SEP] 34, Toilet, -1.896, -0.001, -1.738, 0, 90, 0, [SEP] 35, LightSwitch, -2.052, 1.292, 1.000, 0, 180, 0, [SEP] 36, FloorLamp, -3.539, 1.020, -1.830, 0, 90, 0, [SEP] 37, ShowerHead, 0.232, 1.026, 0.375, 0, 315, 0, [SEP] 38, Sink, -3.391, 0.841, -0.931, 0, 90, 0, [SEP] 39, SinkBasin, -3.392, 0.916, -0.923, 0, 90, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Walk around the toilet to the leftmost sink. | STEP 2: Pick up the soap from inside the sink. | STEP 3: Turn around and face the side of the toilet. | STEP 4: Place the bar of soap on the toilet tank, close to the front left corner. | STEP 5: Turn left and walk to the rightmost sink. | STEP 6: Pick up the soap from inside the sink. | STEP 7: Turn left and walk again to the closest side of the toilet. | STEP 8: Place the bar of soap on the toilet tank behind the other bar of soap. | END"]} +{"id": "trial_T20190908_233922_171295-0", "input": "Place a rinsed fork on a counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.0, 0.900, -2.75, 0, 90, 0, [SEP] 1, Pencil, -2.780, 0.923, -1.654, 0, 0, 0, 83 [SEP] 2, Pencil, -0.478, 0.747, -3.297, 0, 270, 0, 69 [SEP] 3, Potato, -0.348, 1.722, -1.084, 0, 270, 0, 75 [SEP] 4, Potato, -2.210, 0.954, -1.884, 0, 0, 0, 83 [SEP] 5, DishSponge, -0.499, 0.080, -2.109, 0, 0, 0, 63 [SEP] 6, WineBottle, -0.383, 0.082, -2.293, 0, 0, 0, 63 [SEP] 7, WineBottle, -0.343, 1.531, -3.520, 0, 45, 0, 66 [SEP] 8, Pot, -2.666, 0.922, -2.345, 0, 0, 0, 83 [SEP] 9, Fork, -2.210, 0.924, -2.115, 0, 270, 0, 83 [SEP] 10, Fork, -2.438, 0.924, -1.423, 0, 0, 0, 83 [SEP] 11, Fork, -2.666, 0.924, -1.193, 0, 0, 0, 83 [SEP] 12, Spoon, -2.666, 0.924, -1.884, 0, 0, 0, 83 [SEP] 13, Spoon, -2.096, 0.924, -1.423, 0, 0, 0, 83 [SEP] 14, Knife, -2.666, 0.946, -2.115, 0, 0, 0, 83 [SEP] 15, Tomato, -2.552, 0.987, -1.884, 0, 0, 0, 83 [SEP] 16, Tomato, -0.295, 1.162, -0.770, 0, 270, 0, 75 [SEP] 17, Bowl, -2.666, 0.922, -1.654, 0, 0, 0, 83 [SEP] 18, Bowl, -0.421, 0.080, -3.267, 0, 0, 0, 64 [SEP] 19, Lettuce, -0.308, 1.783, -0.665, 0, 270, 0, 75 [SEP] 20, Bread, -0.343, 1.151, -0.979, 0, 270, 0, 75 [SEP] 21, SaltShaker, -0.235, 1.524, -3.230, 0, 0, 0, 70 [SEP] 22, SaltShaker, -0.420, 0.743, -3.267, 0, 0, 0, 69 [SEP] 23, PepperShaker, -0.067, 0.912, -2.301, 0, 0, 0, 58 [SEP] 24, PepperShaker, -2.324, 0.919, -1.654, 0, 0, 0, 83 [SEP] 25, Mug, -1.048, 1.964, -3.773, 0, 0, 0, 59 [SEP] 26, Apple, -1.309, 1.703, -3.903, 0, 0, 0, 71 [SEP] 27, Apple, -0.228, 1.764, -0.979, 0, 270, 0, 75 [SEP] 28, Apple, -1.943, 0.100, -3.727, 0, 0, 0, 74 [SEP] 29, Lettuce, -0.743, 1.008, -3.555, 0, 0, 0, 58 [SEP] 30, Glassbottle, -0.383, 0.082, -2.109, 0, 0, 0, 63 [SEP] 31, Egg, -0.295, 1.423, -0.874, 0, 270, 0, 75 [SEP] 32, Pen, -2.210, 0.926, -1.654, 0, 0, 0, 83 [SEP] 33, Fork, -2.438, 0.924, -0.963, 0, 0, 0, 83 [SEP] 34, SoapBottle, -2.780, 0.922, -1.423, 0, 0, 0, 83 [SEP] 35, Pencil, -2.438, 0.923, -1.884, 0, 0, 0, 83 [SEP] 36, WineBottle, -2.438, 0.924, -1.654, 0, 0, 0, 83 [SEP] 37, Spatula, -2.210, 0.938, -1.423, 0, 0, 0, 83 [SEP] 38, Bread, -0.415, 0.952, -3.625, 0, 0, 0, 58 [SEP] 39, Tomato, -0.295, 1.454, -0.770, 0, 270, 0, 75 [SEP] 40, Pan, -2.174, 0.913, -1.099, 0, 0, 0, 83 [SEP] 41, Cup, -0.186, 1.526, -2.809, 0, 0, 0, 70 [SEP] 42, Pot, -1.515, 0.935, -3.497, 0, 0, 0, 55 [SEP] 43, SaltShaker, -0.809, 0.078, -3.701, 0, 0, 0, 62 [SEP] 44, Potato, -0.392, 1.422, -0.560, 0, 270, 0, 75 [SEP] 45, PepperShaker, -0.690, 0.743, -3.527, 0, 0, 0, 57 [SEP] 46, ButterKnife, -2.552, 0.923, -2.115, 0, 0, 0, 83 [SEP] 47, DishSponge, -1.443, 1.969, -3.890, 0, 0, 0, 67 [SEP] 48, Spoon, -2.324, 0.924, -2.345, 0, 0, 0, 83 [SEP] 49, Plate, -2.096, 0.925, -1.654, 0, 0, 0, 83 [SEP] 50, Knife, -0.671, 0.938, -3.485, 0, 180, 0, 58 [SEP] 51, Mug, -0.383, 0.076, -1.804, 0, 0, 0, 53 [SEP] 52, Bowl, -2.438, 0.922, -1.193, 0, 0, 0, 83 [SEP] 53, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0, [SEP] 54, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0, [SEP] 55, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0, [SEP] 56, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0, [SEP] 57, Drawer, -0.749, 0.779, -3.551, 0, 0, 0, [SEP] 58, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0, [SEP] 59, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0, [SEP] 60, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0, [SEP] 61, Sink, -0.349, 0.907, -2.014, 0, 0, 0, [SEP] 62, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0, [SEP] 63, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0, [SEP] 64, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0, [SEP] 65, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0, [SEP] 66, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0, [SEP] 67, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0, [SEP] 68, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0, [SEP] 69, Drawer, -0.454, 0.779, -3.268, 0, 0, 0, [SEP] 70, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0, [SEP] 71, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0, [SEP] 72, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0, [SEP] 73, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0, [SEP] 74, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0, [SEP] 75, Fridge, -0.330, 0.0, -0.769, 0, 270, 0, [SEP] 76, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0, [SEP] 77, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0, [SEP] 78, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0, [SEP] 79, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0, [SEP] 80, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0, [SEP] 81, Toaster, -0.181, 0.903, -2.764, 0, 270, 0, [SEP] 82, Window, -2.503, 1.782, -4.185, 90, 180, 0, [SEP] 83, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0, [SEP] 84, Shelf, -2.432, 0.150, -1.694, 0, 270, 0, [SEP] 85, Blinds, -2.536, 2.699, -3.959, 0, 0, 0, [SEP] 86, Faucet, -0.079, 0.904, -2.034, 270, 180, 0, [SEP] 87, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0, [SEP] 88, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0, [SEP] 89, Shelf, -2.432, 0.523, -1.694, 0, 270, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Hang a left at the stove and walk to the green table on the left. | STEP 2: Pick up the fork on the table in between the bottle and the pan near the back. | STEP 3: Turn around and walk to the sink ahead. | STEP 4: Put the fork in the sink, rinse it for a few seconds, and pick it back up. | STEP 5: Turn right and look up at the counter top. | STEP 6: Put the rinsed fork on the counter to the left of the coffee maker. | END"]} +{"id": "trial_T20190908_233922_171295-1", "input": "Wash a dirty fork to place on a counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.0, 0.900, -2.75, 0, 90, 0, [SEP] 1, Pencil, -2.780, 0.923, -1.654, 0, 0, 0, 83 [SEP] 2, Pencil, -0.478, 0.747, -3.297, 0, 270, 0, 69 [SEP] 3, Potato, -0.348, 1.722, -1.084, 0, 270, 0, 75 [SEP] 4, Potato, -2.210, 0.954, -1.884, 0, 0, 0, 83 [SEP] 5, DishSponge, -0.499, 0.080, -2.109, 0, 0, 0, 63 [SEP] 6, WineBottle, -0.383, 0.082, -2.293, 0, 0, 0, 63 [SEP] 7, WineBottle, -0.343, 1.531, -3.520, 0, 45, 0, 66 [SEP] 8, Pot, -2.666, 0.922, -2.345, 0, 0, 0, 83 [SEP] 9, Fork, -2.210, 0.924, -2.115, 0, 270, 0, 83 [SEP] 10, Fork, -2.438, 0.924, -1.423, 0, 0, 0, 83 [SEP] 11, Fork, -2.666, 0.924, -1.193, 0, 0, 0, 83 [SEP] 12, Spoon, -2.666, 0.924, -1.884, 0, 0, 0, 83 [SEP] 13, Spoon, -2.096, 0.924, -1.423, 0, 0, 0, 83 [SEP] 14, Knife, -2.666, 0.946, -2.115, 0, 0, 0, 83 [SEP] 15, Tomato, -2.552, 0.987, -1.884, 0, 0, 0, 83 [SEP] 16, Tomato, -0.295, 1.162, -0.770, 0, 270, 0, 75 [SEP] 17, Bowl, -2.666, 0.922, -1.654, 0, 0, 0, 83 [SEP] 18, Bowl, -0.421, 0.080, -3.267, 0, 0, 0, 64 [SEP] 19, Lettuce, -0.308, 1.783, -0.665, 0, 270, 0, 75 [SEP] 20, Bread, -0.343, 1.151, -0.979, 0, 270, 0, 75 [SEP] 21, SaltShaker, -0.235, 1.524, -3.230, 0, 0, 0, 70 [SEP] 22, SaltShaker, -0.420, 0.743, -3.267, 0, 0, 0, 69 [SEP] 23, PepperShaker, -0.067, 0.912, -2.301, 0, 0, 0, 58 [SEP] 24, PepperShaker, -2.324, 0.919, -1.654, 0, 0, 0, 83 [SEP] 25, Mug, -1.048, 1.964, -3.773, 0, 0, 0, 59 [SEP] 26, Apple, -1.309, 1.703, -3.903, 0, 0, 0, 71 [SEP] 27, Apple, -0.228, 1.764, -0.979, 0, 270, 0, 75 [SEP] 28, Apple, -1.943, 0.100, -3.727, 0, 0, 0, 74 [SEP] 29, Lettuce, -0.743, 1.008, -3.555, 0, 0, 0, 58 [SEP] 30, Glassbottle, -0.383, 0.082, -2.109, 0, 0, 0, 63 [SEP] 31, Egg, -0.295, 1.423, -0.874, 0, 270, 0, 75 [SEP] 32, Pen, -2.210, 0.926, -1.654, 0, 0, 0, 83 [SEP] 33, Fork, -2.438, 0.924, -0.963, 0, 0, 0, 83 [SEP] 34, SoapBottle, -2.780, 0.922, -1.423, 0, 0, 0, 83 [SEP] 35, Pencil, -2.438, 0.923, -1.884, 0, 0, 0, 83 [SEP] 36, WineBottle, -2.438, 0.924, -1.654, 0, 0, 0, 83 [SEP] 37, Spatula, -2.210, 0.938, -1.423, 0, 0, 0, 83 [SEP] 38, Bread, -0.415, 0.952, -3.625, 0, 0, 0, 58 [SEP] 39, Tomato, -0.295, 1.454, -0.770, 0, 270, 0, 75 [SEP] 40, Pan, -2.174, 0.913, -1.099, 0, 0, 0, 83 [SEP] 41, Cup, -0.186, 1.526, -2.809, 0, 0, 0, 70 [SEP] 42, Pot, -1.515, 0.935, -3.497, 0, 0, 0, 55 [SEP] 43, SaltShaker, -0.809, 0.078, -3.701, 0, 0, 0, 62 [SEP] 44, Potato, -0.392, 1.422, -0.560, 0, 270, 0, 75 [SEP] 45, PepperShaker, -0.690, 0.743, -3.527, 0, 0, 0, 57 [SEP] 46, ButterKnife, -2.552, 0.923, -2.115, 0, 0, 0, 83 [SEP] 47, DishSponge, -1.443, 1.969, -3.890, 0, 0, 0, 67 [SEP] 48, Spoon, -2.324, 0.924, -2.345, 0, 0, 0, 83 [SEP] 49, Plate, -2.096, 0.925, -1.654, 0, 0, 0, 83 [SEP] 50, Knife, -0.671, 0.938, -3.485, 0, 180, 0, 58 [SEP] 51, Mug, -0.383, 0.076, -1.804, 0, 0, 0, 53 [SEP] 52, Bowl, -2.438, 0.922, -1.193, 0, 0, 0, 83 [SEP] 53, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0, [SEP] 54, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0, [SEP] 55, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0, [SEP] 56, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0, [SEP] 57, Drawer, -0.749, 0.779, -3.551, 0, 0, 0, [SEP] 58, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0, [SEP] 59, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0, [SEP] 60, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0, [SEP] 61, Sink, -0.349, 0.907, -2.014, 0, 0, 0, [SEP] 62, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0, [SEP] 63, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0, [SEP] 64, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0, [SEP] 65, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0, [SEP] 66, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0, [SEP] 67, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0, [SEP] 68, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0, [SEP] 69, Drawer, -0.454, 0.779, -3.268, 0, 0, 0, [SEP] 70, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0, [SEP] 71, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0, [SEP] 72, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0, [SEP] 73, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0, [SEP] 74, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0, [SEP] 75, Fridge, -0.330, 0.0, -0.769, 0, 270, 0, [SEP] 76, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0, [SEP] 77, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0, [SEP] 78, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0, [SEP] 79, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0, [SEP] 80, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0, [SEP] 81, Toaster, -0.181, 0.903, -2.764, 0, 270, 0, [SEP] 82, Window, -2.503, 1.782, -4.185, 90, 180, 0, [SEP] 83, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0, [SEP] 84, Shelf, -2.432, 0.150, -1.694, 0, 270, 0, [SEP] 85, Blinds, -2.536, 2.699, -3.959, 0, 0, 0, [SEP] 86, Faucet, -0.079, 0.904, -2.034, 270, 180, 0, [SEP] 87, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0, [SEP] 88, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0, [SEP] 89, Shelf, -2.432, 0.523, -1.694, 0, 270, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the kitchen table in front of the plate. | STEP 2: Grab a fork from the table. | STEP 3: Walk to the kitchen sink behind you. | STEP 4: Put the fork in the sink, wash it, then grab it. | STEP 5: Turn around to the kitchen counter on the right of the sink. | STEP 6: Place the fork on the counter. | END"]} +{"id": "trial_T20190908_233922_171295-2", "input": "Place a clean fork on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.0, 0.900, -2.75, 0, 90, 0, [SEP] 1, Pencil, -2.780, 0.923, -1.654, 0, 0, 0, 83 [SEP] 2, Pencil, -0.478, 0.747, -3.297, 0, 270, 0, 69 [SEP] 3, Potato, -0.348, 1.722, -1.084, 0, 270, 0, 75 [SEP] 4, Potato, -2.210, 0.954, -1.884, 0, 0, 0, 83 [SEP] 5, DishSponge, -0.499, 0.080, -2.109, 0, 0, 0, 63 [SEP] 6, WineBottle, -0.383, 0.082, -2.293, 0, 0, 0, 63 [SEP] 7, WineBottle, -0.343, 1.531, -3.520, 0, 45, 0, 66 [SEP] 8, Pot, -2.666, 0.922, -2.345, 0, 0, 0, 83 [SEP] 9, Fork, -2.210, 0.924, -2.115, 0, 270, 0, 83 [SEP] 10, Fork, -2.438, 0.924, -1.423, 0, 0, 0, 83 [SEP] 11, Fork, -2.666, 0.924, -1.193, 0, 0, 0, 83 [SEP] 12, Spoon, -2.666, 0.924, -1.884, 0, 0, 0, 83 [SEP] 13, Spoon, -2.096, 0.924, -1.423, 0, 0, 0, 83 [SEP] 14, Knife, -2.666, 0.946, -2.115, 0, 0, 0, 83 [SEP] 15, Tomato, -2.552, 0.987, -1.884, 0, 0, 0, 83 [SEP] 16, Tomato, -0.295, 1.162, -0.770, 0, 270, 0, 75 [SEP] 17, Bowl, -2.666, 0.922, -1.654, 0, 0, 0, 83 [SEP] 18, Bowl, -0.421, 0.080, -3.267, 0, 0, 0, 64 [SEP] 19, Lettuce, -0.308, 1.783, -0.665, 0, 270, 0, 75 [SEP] 20, Bread, -0.343, 1.151, -0.979, 0, 270, 0, 75 [SEP] 21, SaltShaker, -0.235, 1.524, -3.230, 0, 0, 0, 70 [SEP] 22, SaltShaker, -0.420, 0.743, -3.267, 0, 0, 0, 69 [SEP] 23, PepperShaker, -0.067, 0.912, -2.301, 0, 0, 0, 58 [SEP] 24, PepperShaker, -2.324, 0.919, -1.654, 0, 0, 0, 83 [SEP] 25, Mug, -1.048, 1.964, -3.773, 0, 0, 0, 59 [SEP] 26, Apple, -1.309, 1.703, -3.903, 0, 0, 0, 71 [SEP] 27, Apple, -0.228, 1.764, -0.979, 0, 270, 0, 75 [SEP] 28, Apple, -1.943, 0.100, -3.727, 0, 0, 0, 74 [SEP] 29, Lettuce, -0.743, 1.008, -3.555, 0, 0, 0, 58 [SEP] 30, Glassbottle, -0.383, 0.082, -2.109, 0, 0, 0, 63 [SEP] 31, Egg, -0.295, 1.423, -0.874, 0, 270, 0, 75 [SEP] 32, Pen, -2.210, 0.926, -1.654, 0, 0, 0, 83 [SEP] 33, Fork, -2.438, 0.924, -0.963, 0, 0, 0, 83 [SEP] 34, SoapBottle, -2.780, 0.922, -1.423, 0, 0, 0, 83 [SEP] 35, Pencil, -2.438, 0.923, -1.884, 0, 0, 0, 83 [SEP] 36, WineBottle, -2.438, 0.924, -1.654, 0, 0, 0, 83 [SEP] 37, Spatula, -2.210, 0.938, -1.423, 0, 0, 0, 83 [SEP] 38, Bread, -0.415, 0.952, -3.625, 0, 0, 0, 58 [SEP] 39, Tomato, -0.295, 1.454, -0.770, 0, 270, 0, 75 [SEP] 40, Pan, -2.174, 0.913, -1.099, 0, 0, 0, 83 [SEP] 41, Cup, -0.186, 1.526, -2.809, 0, 0, 0, 70 [SEP] 42, Pot, -1.515, 0.935, -3.497, 0, 0, 0, 55 [SEP] 43, SaltShaker, -0.809, 0.078, -3.701, 0, 0, 0, 62 [SEP] 44, Potato, -0.392, 1.422, -0.560, 0, 270, 0, 75 [SEP] 45, PepperShaker, -0.690, 0.743, -3.527, 0, 0, 0, 57 [SEP] 46, ButterKnife, -2.552, 0.923, -2.115, 0, 0, 0, 83 [SEP] 47, DishSponge, -1.443, 1.969, -3.890, 0, 0, 0, 67 [SEP] 48, Spoon, -2.324, 0.924, -2.345, 0, 0, 0, 83 [SEP] 49, Plate, -2.096, 0.925, -1.654, 0, 0, 0, 83 [SEP] 50, Knife, -0.671, 0.938, -3.485, 0, 180, 0, 58 [SEP] 51, Mug, -0.383, 0.076, -1.804, 0, 0, 0, 53 [SEP] 52, Bowl, -2.438, 0.922, -1.193, 0, 0, 0, 83 [SEP] 53, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0, [SEP] 54, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0, [SEP] 55, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0, [SEP] 56, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0, [SEP] 57, Drawer, -0.749, 0.779, -3.551, 0, 0, 0, [SEP] 58, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0, [SEP] 59, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0, [SEP] 60, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0, [SEP] 61, Sink, -0.349, 0.907, -2.014, 0, 0, 0, [SEP] 62, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0, [SEP] 63, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0, [SEP] 64, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0, [SEP] 65, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0, [SEP] 66, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0, [SEP] 67, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0, [SEP] 68, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0, [SEP] 69, Drawer, -0.454, 0.779, -3.268, 0, 0, 0, [SEP] 70, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0, [SEP] 71, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0, [SEP] 72, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0, [SEP] 73, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0, [SEP] 74, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0, [SEP] 75, Fridge, -0.330, 0.0, -0.769, 0, 270, 0, [SEP] 76, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0, [SEP] 77, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0, [SEP] 78, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0, [SEP] 79, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0, [SEP] 80, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0, [SEP] 81, Toaster, -0.181, 0.903, -2.764, 0, 270, 0, [SEP] 82, Window, -2.503, 1.782, -4.185, 90, 180, 0, [SEP] 83, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0, [SEP] 84, Shelf, -2.432, 0.150, -1.694, 0, 270, 0, [SEP] 85, Blinds, -2.536, 2.699, -3.959, 0, 0, 0, [SEP] 86, Faucet, -0.079, 0.904, -2.034, 270, 180, 0, [SEP] 87, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0, [SEP] 88, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0, [SEP] 89, Shelf, -2.432, 0.523, -1.694, 0, 270, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Look down and walk to the table to your right, to where a yellow plate sits. | STEP 2: Grab the fork on the table. | STEP 3: Turn around, walk straight to the sink and look down. | STEP 4: Place the fork inside the sink, wash it and remove it. | STEP 5: With the fork, turn to your right and look up. | STEP 6: Place the clean fork on the counter to your left. | END"]} +{"id": "trial_T20190908_122951_021026-0", "input": "Place a heated egg on the kitchen island. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.900, 2.25, 0, 90, 0, [SEP] 1, Pan, -0.844, 0.911, -1.707, 0, 180, 0, 67 [SEP] 2, Potato, -1.750, 1.492, 0.295, 0, 90, 0, 90 [SEP] 3, Potato, -0.213, 0.949, 0.041, 0, 0, 0, 75 [SEP] 4, ButterKnife, 1.662, 0.141, 1.219, 0, 0, 0, 76 [SEP] 5, Fork, 0.214, 0.926, 0.506, 0, 0, 0, 75 [SEP] 6, Spoon, 1.117, 0.912, -1.610, 0, 0, 0, 67 [SEP] 7, Spoon, -0.175, 0.761, -1.380, 0, 0, 0, 91 [SEP] 8, Spatula, 0.321, 0.940, 0.041, 0, 0, 0, 75 [SEP] 9, Pot, 1.975, 0.938, 0.384, 0, 180, 0, 53 [SEP] 10, Egg, -0.213, 0.982, 0.506, 0, 0, 0, 75 [SEP] 11, Egg, 0.107, 0.982, 1.202, 0, 0, 0, 75 [SEP] 12, Plate, 0.250, 0.111, -1.408, 0, 0, 0, 56 [SEP] 13, Plate, -1.803, 1.467, -0.081, 0, 90, 0, 90 [SEP] 14, SoapBottle, 1.095, 1.683, -1.577, 0, 0, 0, 66 [SEP] 15, SoapBottle, -1.551, 0.915, -0.964, 0, 0, 0, 67 [SEP] 16, Tomato, 1.813, 0.966, 1.333, 0, 0, 0, 67 [SEP] 17, Tomato, 1.640, 0.966, 1.032, 0, 0, 0, 67 [SEP] 18, Bowl, -0.088, 0.758, -1.380, 0, 0, 0, 91 [SEP] 19, Bread, 0.321, 1.006, 0.738, 0, 0, 0, 75 [SEP] 20, Lettuce, 0.107, 1.002, 0.506, 0, 0, 0, 75 [SEP] 21, Mug, 1.117, 0.104, -1.542, 0, 0, 0, 56 [SEP] 22, SoapBottle, 2.030, 0.915, -1.415, 0, 0, 0, 67 [SEP] 23, Cup, 0.170, 0.758, -1.546, 0, 0, 0, 91 [SEP] 24, Pot, 0.000, 0.929, 0.041, 0, 0, 0, 75 [SEP] 25, Fork, 1.574, 0.912, -1.513, 0, 0, 0, 67 [SEP] 26, Ladle, 0.000, 0.969, 0.738, 0, 0, 0, 75 [SEP] 27, Kettle, -0.106, 0.926, 0.273, 0, 0, 0, 75 [SEP] 28, Egg, 0.107, 0.982, 0.970, 0, 0, 0, 75 [SEP] 29, Plate, -0.193, 0.113, -1.347, 0, 0, 0, 46 [SEP] 30, Pan, -1.750, 1.675, -0.175, 0, 180, 0, 90 [SEP] 31, Lettuce, -1.668, 0.988, -1.707, 0, 0, 0, 67 [SEP] 32, Spatula, 1.658, 0.136, 0.672, 0, 270, 0, 59 [SEP] 33, Apple, -0.638, 0.964, -1.707, 0, 0, 0, 67 [SEP] 34, Knife, 0.214, 0.947, -0.190, 0, 0, 0, 75 [SEP] 35, SaltShaker, 1.273, 0.105, -1.352, 0, 0, 0, 60 [SEP] 36, PepperShaker, -1.290, 0.109, -1.423, 0, 0, 0, 79 [SEP] 37, CellPhone, -0.320, 0.923, -0.190, 0, 0, 0, 75 [SEP] 38, ButterKnife, 1.117, 0.911, -1.513, 0, 0, 0, 67 [SEP] 39, Bread, -0.106, 1.006, 1.202, 0, 0, 0, 75 [SEP] 40, Tomato, -0.213, 0.980, 0.970, 0, 0, 0, 75 [SEP] 41, Potato, -0.088, 0.784, -1.546, 0, 0, 0, 91 [SEP] 42, DishSponge, 0.889, 0.911, -1.415, 0, 0, 0, 67 [SEP] 43, Spoon, 1.658, 0.583, -0.165, 0, 270, 0, 52 [SEP] 44, Mug, -1.753, 1.024, 0.013, 0, 90, 0, 90 [SEP] 45, Bowl, -1.692, 0.561, -0.175, 0, 90, 0, 90 [SEP] 46, Cabinet, -0.495, 0.474, -1.149, 0, 0, 0, [SEP] 47, Window, -0.010, 1.582, -1.821, 0, 0, 0, [SEP] 48, Drawer, 0.805, 0.475, -1.159, 0, 0, 0, [SEP] 49, StoveBurner, 1.764, 0.902, 0.601, 0, 270, 0, [SEP] 50, Drawer, 1.5, 0.196, -0.019, 0, 0, 0, [SEP] 51, Drawer, 1.5, 0.629, -0.018, 0, 0, 0, [SEP] 52, Drawer, 1.5, 0.602, -0.019, 0, 270, 0, [SEP] 53, StoveBurner, 1.975, 0.902, 0.384, 0, 270, 0, [SEP] 54, Cabinet, -1.703, 2.022, -1.453, 0, 90, 0, [SEP] 55, Cabinet, 1.789, 2.019, -0.819, 0, 270, 0, [SEP] 56, Cabinet, 0.494, 0.474, -1.149, 0, 0, 0, [SEP] 57, Cabinet, 0.409, 0.475, 0.444, 0, 0, 0, [SEP] 58, Drawer, -0.696, 0.475, -1.159, 0, 0, 0, [SEP] 59, Drawer, 1.5, 0.140, 0.599, 0, 270, 0, [SEP] 60, Cabinet, 1.389, 0.474, -1.149, 0, 0, 0, [SEP] 61, Drawer, 1.5, 0.305, 0.600, 0, 0, 0, [SEP] 62, StoveBurner, 1.975, 0.902, 0.601, 0, 270, 0, [SEP] 63, Drawer, 1.5, 0.429, -0.019, 0, 0, 0, [SEP] 64, StoveBurner, 1.764, 0.902, 0.819, 0, 270, 0, [SEP] 65, Drawer, 1.5, 0.519, 1.220, 0, 0, 0, [SEP] 66, Cabinet, 1.705, 2.019, -1.449, 0, 0, 0, [SEP] 67, CounterTop, 0.002, 0.947, -1.513, 0, 0, 0, [SEP] 68, Drawer, 1.5, 0.629, 0.605, 0, 0, 0, [SEP] 69, Cabinet, -0.627, 2.019, -1.449, 0, 0, 0, [SEP] 70, StoveBurner, 1.764, 0.902, 0.384, 0, 270, 0, [SEP] 71, Drawer, 1.5, 0.538, 0.600, 0, 0, 0, [SEP] 72, Sink, 0.0, 0.893, -1.434, 0, 0, 0, [SEP] 73, Drawer, 1.5, 0.782, 1.220, 0, 270, 0, [SEP] 74, Window, 2.217, 1.565, -0.384, 0, 0, 0, [SEP] 75, CounterTop, -0.014, 0.961, 0.505, 0, 0, 0, [SEP] 76, Drawer, 1.5, 0.200, 1.220, 0, 0, 0, [SEP] 77, StoveBurner, 1.975, 0.902, 0.819, 0, 270, 0, [SEP] 78, Window, -3.240, 1.616, 2.693, 0, 270, 0, [SEP] 79, Cabinet, -1.389, 0.474, -1.149, 0, 0, 0, [SEP] 80, LightSwitch, -0.153, 1.291, 3.700, 0, 180, 0, [SEP] 81, GarbageCan, -1.796, 0.009, 1.330, 0, 270, 358.295, [SEP] 82, StoveKnob, 1.602, 0.917, 0.570, 0, 270, 180, [SEP] 83, StoveKnob, 1.602, 0.917, 0.625, 0, 270, 180, [SEP] 84, StoveKnob, 1.602, 0.917, 0.739, 0, 270, 180, [SEP] 85, StoveKnob, 1.602, 0.917, 0.680, 0, 270, 180, [SEP] 86, StoveKnob, 1.602, 0.917, 0.462, 0, 270, 180, [SEP] 87, StoveKnob, 1.602, 0.917, 0.517, 0, 270, 180, [SEP] 88, Microwave, 1.932, 0.899, -0.766, 0, 270, 0, [SEP] 89, CoffeeMachine, 1.355, 0.899, -1.596, 0, 0, 0, [SEP] 90, Fridge, -1.764, 0.0, 0.014, 0, 90, 0, [SEP] 91, SinkBasin, -0.014, 0.736, -1.435, 0, 0, 0, [SEP] 92, Toaster, 1.977, 0.900, -0.336, 0, 270, 0, [SEP] 93, Faucet, -0.020, 1.137, -1.605, 0, 270, 0, [SEP] 94, Chair, -9.354, 0.000, 1.242, 0, 180, 0, [SEP] 95, NorthWall, , , , , , , [SEP] 96, EastWall, , , , , , , [SEP] 97, SouthWall, , , , , , , [SEP] 98, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward to the wall, make a right, then walk over and face the kitchen island that is on your right. | STEP 2: Pick up the egg that is on the kitchen island, in front of the tomato. | STEP 3: Turn to the left, walk past the oven, then turn left to face the dishwasher. | STEP 4: Heat up the egg in the microwave before taking it back out. | STEP 5: Turn left, walk a few steps, then turn left again to face the kitchen island. | STEP 6: Place the egg on the kitchen island, above the oven. | END"]} +{"id": "trial_T20190908_122951_021026-1", "input": "Heat an egg and move it to the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.900, 2.25, 0, 90, 0, [SEP] 1, Pan, -0.844, 0.911, -1.707, 0, 180, 0, 67 [SEP] 2, Potato, -1.750, 1.492, 0.295, 0, 90, 0, 90 [SEP] 3, Potato, -0.213, 0.949, 0.041, 0, 0, 0, 75 [SEP] 4, ButterKnife, 1.662, 0.141, 1.219, 0, 0, 0, 76 [SEP] 5, Fork, 0.214, 0.926, 0.506, 0, 0, 0, 75 [SEP] 6, Spoon, 1.117, 0.912, -1.610, 0, 0, 0, 67 [SEP] 7, Spoon, -0.175, 0.761, -1.380, 0, 0, 0, 91 [SEP] 8, Spatula, 0.321, 0.940, 0.041, 0, 0, 0, 75 [SEP] 9, Pot, 1.975, 0.938, 0.384, 0, 180, 0, 53 [SEP] 10, Egg, -0.213, 0.982, 0.506, 0, 0, 0, 75 [SEP] 11, Egg, 0.107, 0.982, 1.202, 0, 0, 0, 75 [SEP] 12, Plate, 0.250, 0.111, -1.408, 0, 0, 0, 56 [SEP] 13, Plate, -1.803, 1.467, -0.081, 0, 90, 0, 90 [SEP] 14, SoapBottle, 1.095, 1.683, -1.577, 0, 0, 0, 66 [SEP] 15, SoapBottle, -1.551, 0.915, -0.964, 0, 0, 0, 67 [SEP] 16, Tomato, 1.813, 0.966, 1.333, 0, 0, 0, 67 [SEP] 17, Tomato, 1.640, 0.966, 1.032, 0, 0, 0, 67 [SEP] 18, Bowl, -0.088, 0.758, -1.380, 0, 0, 0, 91 [SEP] 19, Bread, 0.321, 1.006, 0.738, 0, 0, 0, 75 [SEP] 20, Lettuce, 0.107, 1.002, 0.506, 0, 0, 0, 75 [SEP] 21, Mug, 1.117, 0.104, -1.542, 0, 0, 0, 56 [SEP] 22, SoapBottle, 2.030, 0.915, -1.415, 0, 0, 0, 67 [SEP] 23, Cup, 0.170, 0.758, -1.546, 0, 0, 0, 91 [SEP] 24, Pot, 0.000, 0.929, 0.041, 0, 0, 0, 75 [SEP] 25, Fork, 1.574, 0.912, -1.513, 0, 0, 0, 67 [SEP] 26, Ladle, 0.000, 0.969, 0.738, 0, 0, 0, 75 [SEP] 27, Kettle, -0.106, 0.926, 0.273, 0, 0, 0, 75 [SEP] 28, Egg, 0.107, 0.982, 0.970, 0, 0, 0, 75 [SEP] 29, Plate, -0.193, 0.113, -1.347, 0, 0, 0, 46 [SEP] 30, Pan, -1.750, 1.675, -0.175, 0, 180, 0, 90 [SEP] 31, Lettuce, -1.668, 0.988, -1.707, 0, 0, 0, 67 [SEP] 32, Spatula, 1.658, 0.136, 0.672, 0, 270, 0, 59 [SEP] 33, Apple, -0.638, 0.964, -1.707, 0, 0, 0, 67 [SEP] 34, Knife, 0.214, 0.947, -0.190, 0, 0, 0, 75 [SEP] 35, SaltShaker, 1.273, 0.105, -1.352, 0, 0, 0, 60 [SEP] 36, PepperShaker, -1.290, 0.109, -1.423, 0, 0, 0, 79 [SEP] 37, CellPhone, -0.320, 0.923, -0.190, 0, 0, 0, 75 [SEP] 38, ButterKnife, 1.117, 0.911, -1.513, 0, 0, 0, 67 [SEP] 39, Bread, -0.106, 1.006, 1.202, 0, 0, 0, 75 [SEP] 40, Tomato, -0.213, 0.980, 0.970, 0, 0, 0, 75 [SEP] 41, Potato, -0.088, 0.784, -1.546, 0, 0, 0, 91 [SEP] 42, DishSponge, 0.889, 0.911, -1.415, 0, 0, 0, 67 [SEP] 43, Spoon, 1.658, 0.583, -0.165, 0, 270, 0, 52 [SEP] 44, Mug, -1.753, 1.024, 0.013, 0, 90, 0, 90 [SEP] 45, Bowl, -1.692, 0.561, -0.175, 0, 90, 0, 90 [SEP] 46, Cabinet, -0.495, 0.474, -1.149, 0, 0, 0, [SEP] 47, Window, -0.010, 1.582, -1.821, 0, 0, 0, [SEP] 48, Drawer, 0.805, 0.475, -1.159, 0, 0, 0, [SEP] 49, StoveBurner, 1.764, 0.902, 0.601, 0, 270, 0, [SEP] 50, Drawer, 1.5, 0.196, -0.019, 0, 0, 0, [SEP] 51, Drawer, 1.5, 0.629, -0.018, 0, 0, 0, [SEP] 52, Drawer, 1.5, 0.602, -0.019, 0, 270, 0, [SEP] 53, StoveBurner, 1.975, 0.902, 0.384, 0, 270, 0, [SEP] 54, Cabinet, -1.703, 2.022, -1.453, 0, 90, 0, [SEP] 55, Cabinet, 1.789, 2.019, -0.819, 0, 270, 0, [SEP] 56, Cabinet, 0.494, 0.474, -1.149, 0, 0, 0, [SEP] 57, Cabinet, 0.409, 0.475, 0.444, 0, 0, 0, [SEP] 58, Drawer, -0.696, 0.475, -1.159, 0, 0, 0, [SEP] 59, Drawer, 1.5, 0.140, 0.599, 0, 270, 0, [SEP] 60, Cabinet, 1.389, 0.474, -1.149, 0, 0, 0, [SEP] 61, Drawer, 1.5, 0.305, 0.600, 0, 0, 0, [SEP] 62, StoveBurner, 1.975, 0.902, 0.601, 0, 270, 0, [SEP] 63, Drawer, 1.5, 0.429, -0.019, 0, 0, 0, [SEP] 64, StoveBurner, 1.764, 0.902, 0.819, 0, 270, 0, [SEP] 65, Drawer, 1.5, 0.519, 1.220, 0, 0, 0, [SEP] 66, Cabinet, 1.705, 2.019, -1.449, 0, 0, 0, [SEP] 67, CounterTop, 0.002, 0.947, -1.513, 0, 0, 0, [SEP] 68, Drawer, 1.5, 0.629, 0.605, 0, 0, 0, [SEP] 69, Cabinet, -0.627, 2.019, -1.449, 0, 0, 0, [SEP] 70, StoveBurner, 1.764, 0.902, 0.384, 0, 270, 0, [SEP] 71, Drawer, 1.5, 0.538, 0.600, 0, 0, 0, [SEP] 72, Sink, 0.0, 0.893, -1.434, 0, 0, 0, [SEP] 73, Drawer, 1.5, 0.782, 1.220, 0, 270, 0, [SEP] 74, Window, 2.217, 1.565, -0.384, 0, 0, 0, [SEP] 75, CounterTop, -0.014, 0.961, 0.505, 0, 0, 0, [SEP] 76, Drawer, 1.5, 0.200, 1.220, 0, 0, 0, [SEP] 77, StoveBurner, 1.975, 0.902, 0.819, 0, 270, 0, [SEP] 78, Window, -3.240, 1.616, 2.693, 0, 270, 0, [SEP] 79, Cabinet, -1.389, 0.474, -1.149, 0, 0, 0, [SEP] 80, LightSwitch, -0.153, 1.291, 3.700, 0, 180, 0, [SEP] 81, GarbageCan, -1.796, 0.009, 1.330, 0, 270, 358.295, [SEP] 82, StoveKnob, 1.602, 0.917, 0.570, 0, 270, 180, [SEP] 83, StoveKnob, 1.602, 0.917, 0.625, 0, 270, 180, [SEP] 84, StoveKnob, 1.602, 0.917, 0.739, 0, 270, 180, [SEP] 85, StoveKnob, 1.602, 0.917, 0.680, 0, 270, 180, [SEP] 86, StoveKnob, 1.602, 0.917, 0.462, 0, 270, 180, [SEP] 87, StoveKnob, 1.602, 0.917, 0.517, 0, 270, 180, [SEP] 88, Microwave, 1.932, 0.899, -0.766, 0, 270, 0, [SEP] 89, CoffeeMachine, 1.355, 0.899, -1.596, 0, 0, 0, [SEP] 90, Fridge, -1.764, 0.0, 0.014, 0, 90, 0, [SEP] 91, SinkBasin, -0.014, 0.736, -1.435, 0, 0, 0, [SEP] 92, Toaster, 1.977, 0.900, -0.336, 0, 270, 0, [SEP] 93, Faucet, -0.020, 1.137, -1.605, 0, 270, 0, [SEP] 94, Chair, -9.354, 0.000, 1.242, 0, 180, 0, [SEP] 95, NorthWall, , , , , , , [SEP] 96, EastWall, , , , , , , [SEP] 97, SouthWall, , , , , , , [SEP] 98, WestWall, , , , , , , ", "output": ["STEP 1: Move forward and turn right at the island and face it on the right. | STEP 2: Pick up the egg from the right side, but closer to the loaf of bread. | STEP 3: Hold the egg and turn to the left and face the microwave on the left. | STEP 4: Open the microwave and place the egg inside. Then open the microwave and take the egg out, and shut the door. | STEP 5: Hold the egg and turn to the left and then face the island on the left. | STEP 6: Place the egg in the front portion of the island, centered and in front of the tea pot. | END"]} +{"id": "trial_T20190908_122951_021026-2", "input": "Heat an egg and return it to the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.900, 2.25, 0, 90, 0, [SEP] 1, Pan, -0.844, 0.911, -1.707, 0, 180, 0, 67 [SEP] 2, Potato, -1.750, 1.492, 0.295, 0, 90, 0, 90 [SEP] 3, Potato, -0.213, 0.949, 0.041, 0, 0, 0, 75 [SEP] 4, ButterKnife, 1.662, 0.141, 1.219, 0, 0, 0, 76 [SEP] 5, Fork, 0.214, 0.926, 0.506, 0, 0, 0, 75 [SEP] 6, Spoon, 1.117, 0.912, -1.610, 0, 0, 0, 67 [SEP] 7, Spoon, -0.175, 0.761, -1.380, 0, 0, 0, 91 [SEP] 8, Spatula, 0.321, 0.940, 0.041, 0, 0, 0, 75 [SEP] 9, Pot, 1.975, 0.938, 0.384, 0, 180, 0, 53 [SEP] 10, Egg, -0.213, 0.982, 0.506, 0, 0, 0, 75 [SEP] 11, Egg, 0.107, 0.982, 1.202, 0, 0, 0, 75 [SEP] 12, Plate, 0.250, 0.111, -1.408, 0, 0, 0, 56 [SEP] 13, Plate, -1.803, 1.467, -0.081, 0, 90, 0, 90 [SEP] 14, SoapBottle, 1.095, 1.683, -1.577, 0, 0, 0, 66 [SEP] 15, SoapBottle, -1.551, 0.915, -0.964, 0, 0, 0, 67 [SEP] 16, Tomato, 1.813, 0.966, 1.333, 0, 0, 0, 67 [SEP] 17, Tomato, 1.640, 0.966, 1.032, 0, 0, 0, 67 [SEP] 18, Bowl, -0.088, 0.758, -1.380, 0, 0, 0, 91 [SEP] 19, Bread, 0.321, 1.006, 0.738, 0, 0, 0, 75 [SEP] 20, Lettuce, 0.107, 1.002, 0.506, 0, 0, 0, 75 [SEP] 21, Mug, 1.117, 0.104, -1.542, 0, 0, 0, 56 [SEP] 22, SoapBottle, 2.030, 0.915, -1.415, 0, 0, 0, 67 [SEP] 23, Cup, 0.170, 0.758, -1.546, 0, 0, 0, 91 [SEP] 24, Pot, 0.000, 0.929, 0.041, 0, 0, 0, 75 [SEP] 25, Fork, 1.574, 0.912, -1.513, 0, 0, 0, 67 [SEP] 26, Ladle, 0.000, 0.969, 0.738, 0, 0, 0, 75 [SEP] 27, Kettle, -0.106, 0.926, 0.273, 0, 0, 0, 75 [SEP] 28, Egg, 0.107, 0.982, 0.970, 0, 0, 0, 75 [SEP] 29, Plate, -0.193, 0.113, -1.347, 0, 0, 0, 46 [SEP] 30, Pan, -1.750, 1.675, -0.175, 0, 180, 0, 90 [SEP] 31, Lettuce, -1.668, 0.988, -1.707, 0, 0, 0, 67 [SEP] 32, Spatula, 1.658, 0.136, 0.672, 0, 270, 0, 59 [SEP] 33, Apple, -0.638, 0.964, -1.707, 0, 0, 0, 67 [SEP] 34, Knife, 0.214, 0.947, -0.190, 0, 0, 0, 75 [SEP] 35, SaltShaker, 1.273, 0.105, -1.352, 0, 0, 0, 60 [SEP] 36, PepperShaker, -1.290, 0.109, -1.423, 0, 0, 0, 79 [SEP] 37, CellPhone, -0.320, 0.923, -0.190, 0, 0, 0, 75 [SEP] 38, ButterKnife, 1.117, 0.911, -1.513, 0, 0, 0, 67 [SEP] 39, Bread, -0.106, 1.006, 1.202, 0, 0, 0, 75 [SEP] 40, Tomato, -0.213, 0.980, 0.970, 0, 0, 0, 75 [SEP] 41, Potato, -0.088, 0.784, -1.546, 0, 0, 0, 91 [SEP] 42, DishSponge, 0.889, 0.911, -1.415, 0, 0, 0, 67 [SEP] 43, Spoon, 1.658, 0.583, -0.165, 0, 270, 0, 52 [SEP] 44, Mug, -1.753, 1.024, 0.013, 0, 90, 0, 90 [SEP] 45, Bowl, -1.692, 0.561, -0.175, 0, 90, 0, 90 [SEP] 46, Cabinet, -0.495, 0.474, -1.149, 0, 0, 0, [SEP] 47, Window, -0.010, 1.582, -1.821, 0, 0, 0, [SEP] 48, Drawer, 0.805, 0.475, -1.159, 0, 0, 0, [SEP] 49, StoveBurner, 1.764, 0.902, 0.601, 0, 270, 0, [SEP] 50, Drawer, 1.5, 0.196, -0.019, 0, 0, 0, [SEP] 51, Drawer, 1.5, 0.629, -0.018, 0, 0, 0, [SEP] 52, Drawer, 1.5, 0.602, -0.019, 0, 270, 0, [SEP] 53, StoveBurner, 1.975, 0.902, 0.384, 0, 270, 0, [SEP] 54, Cabinet, -1.703, 2.022, -1.453, 0, 90, 0, [SEP] 55, Cabinet, 1.789, 2.019, -0.819, 0, 270, 0, [SEP] 56, Cabinet, 0.494, 0.474, -1.149, 0, 0, 0, [SEP] 57, Cabinet, 0.409, 0.475, 0.444, 0, 0, 0, [SEP] 58, Drawer, -0.696, 0.475, -1.159, 0, 0, 0, [SEP] 59, Drawer, 1.5, 0.140, 0.599, 0, 270, 0, [SEP] 60, Cabinet, 1.389, 0.474, -1.149, 0, 0, 0, [SEP] 61, Drawer, 1.5, 0.305, 0.600, 0, 0, 0, [SEP] 62, StoveBurner, 1.975, 0.902, 0.601, 0, 270, 0, [SEP] 63, Drawer, 1.5, 0.429, -0.019, 0, 0, 0, [SEP] 64, StoveBurner, 1.764, 0.902, 0.819, 0, 270, 0, [SEP] 65, Drawer, 1.5, 0.519, 1.220, 0, 0, 0, [SEP] 66, Cabinet, 1.705, 2.019, -1.449, 0, 0, 0, [SEP] 67, CounterTop, 0.002, 0.947, -1.513, 0, 0, 0, [SEP] 68, Drawer, 1.5, 0.629, 0.605, 0, 0, 0, [SEP] 69, Cabinet, -0.627, 2.019, -1.449, 0, 0, 0, [SEP] 70, StoveBurner, 1.764, 0.902, 0.384, 0, 270, 0, [SEP] 71, Drawer, 1.5, 0.538, 0.600, 0, 0, 0, [SEP] 72, Sink, 0.0, 0.893, -1.434, 0, 0, 0, [SEP] 73, Drawer, 1.5, 0.782, 1.220, 0, 270, 0, [SEP] 74, Window, 2.217, 1.565, -0.384, 0, 0, 0, [SEP] 75, CounterTop, -0.014, 0.961, 0.505, 0, 0, 0, [SEP] 76, Drawer, 1.5, 0.200, 1.220, 0, 0, 0, [SEP] 77, StoveBurner, 1.975, 0.902, 0.819, 0, 270, 0, [SEP] 78, Window, -3.240, 1.616, 2.693, 0, 270, 0, [SEP] 79, Cabinet, -1.389, 0.474, -1.149, 0, 0, 0, [SEP] 80, LightSwitch, -0.153, 1.291, 3.700, 0, 180, 0, [SEP] 81, GarbageCan, -1.796, 0.009, 1.330, 0, 270, 358.295, [SEP] 82, StoveKnob, 1.602, 0.917, 0.570, 0, 270, 180, [SEP] 83, StoveKnob, 1.602, 0.917, 0.625, 0, 270, 180, [SEP] 84, StoveKnob, 1.602, 0.917, 0.739, 0, 270, 180, [SEP] 85, StoveKnob, 1.602, 0.917, 0.680, 0, 270, 180, [SEP] 86, StoveKnob, 1.602, 0.917, 0.462, 0, 270, 180, [SEP] 87, StoveKnob, 1.602, 0.917, 0.517, 0, 270, 180, [SEP] 88, Microwave, 1.932, 0.899, -0.766, 0, 270, 0, [SEP] 89, CoffeeMachine, 1.355, 0.899, -1.596, 0, 0, 0, [SEP] 90, Fridge, -1.764, 0.0, 0.014, 0, 90, 0, [SEP] 91, SinkBasin, -0.014, 0.736, -1.435, 0, 0, 0, [SEP] 92, Toaster, 1.977, 0.900, -0.336, 0, 270, 0, [SEP] 93, Faucet, -0.020, 1.137, -1.605, 0, 270, 0, [SEP] 94, Chair, -9.354, 0.000, 1.242, 0, 180, 0, [SEP] 95, NorthWall, , , , , , , [SEP] 96, EastWall, , , , , , , [SEP] 97, SouthWall, , , , , , , [SEP] 98, WestWall, , , , , , , ", "output": ["STEP 1: Go to the kitchen island | STEP 2: Pick up an egg | STEP 3: Go to the microwave | STEP 4: Heat the egg | STEP 5: Go to the kitchen island | STEP 6: Place the egg down | END"]} +{"id": "trial_T20190907_111251_461099-0", "input": "To take the toilet paper on top of the toilet and place it in a drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.901, 1.5, 0, 90, 0, [SEP] 1, Cloth, -3.559, 0.190, 1.414, 0, 270, 0, 44 [SEP] 2, Candle, -0.363, 0.218, 2.547, 0, 0, 0, 21 [SEP] 3, SprayBottle, -1.816, 0.019, 0.165, 0, 0, 0, 36 [SEP] 4, SoapBottle, -2.704, 0.954, 3.193, 0, 270, 0, 42 [SEP] 5, HandTowel, -0.034, 1.537, 3.105, 0, 90, 0, 38 [SEP] 6, ToiletPaper, -2.829, 0.950, 3.220, 0, 270, 0, 42 [SEP] 7, HandTowel, -0.034, 1.537, 2.309, 0, 90, 0, 39 [SEP] 8, Towel, -1.513, 1.496, 0.109, 0, 0, 0, 34 [SEP] 9, Cloth, -2.117, 0.811, 0.342, 0, 0, 0, 30 [SEP] 10, SoapBar, -3.653, 0.191, 1.273, 0, 270, 0, 44 [SEP] 11, ToiletPaper, -3.017, 0.951, 3.193, 0, 270, 0, 42 [SEP] 12, Plunger, -2.530, 0.000, 3.026, 0, 0, 0, [SEP] 13, Candle, -3.122, 0.813, 0.467, 0, 0, 0, 30 [SEP] 14, SoapBottle, -0.219, 0.813, 2.870, 0, 0, 0, 33 [SEP] 15, ToiletPaper, -0.091, 0.809, 1.554, 0, 0, 0, 33 [SEP] 16, SprayBottle, -0.284, 0.813, 2.350, 0, 0, 0, 33 [SEP] 17, ScrubBrush, -2.332, 0.000, 3.163, 0, 0, 0, [SEP] 18, Drawer, -0.325, 0.319, 2.155, 0, 0, 0, [SEP] 19, Mirror, 0.0, 1.473, 1.917, 0, 270, 0, [SEP] 20, Drawer, -0.325, 0.319, 1.717, 0, 0, 0, [SEP] 21, Drawer, -0.325, 0.319, 2.592, 0, 0, 0, [SEP] 22, Bathtub, -3.589, 0.107, 1.521, 0, 0, 0, [SEP] 23, Drawer, -0.325, 0.619, 2.592, 0, 0, 0, [SEP] 24, Drawer, -2.249, 0.319, 0.280, 0, 0, 0, [SEP] 25, Drawer, -0.325, 0.319, 3.030, 0, 0, 0, [SEP] 26, Mirror, 0.0, 1.473, 2.700, 0, 270, 0, [SEP] 27, Drawer, -0.325, 0.619, 3.030, 0, 0, 0, [SEP] 28, ShowerGlass, -0.494, 1.490, 0.528, 0, 0, 0, [SEP] 29, Sink, -2.539, 0.661, 0.252, 0, 0, 0, [SEP] 30, CounterTop, -2.540, 0.805, 0.280, 0, 0, 0, [SEP] 31, Drawer, -2.844, 0.319, 0.280, 0, 0, 0, [SEP] 32, ShowerDoor, -1.074, 1.033, 0.519, 0, 0, 0, [SEP] 33, CounterTop, -0.277, 0.785, 1.931, 0, 0, 0, [SEP] 34, TowelHolder, -1.513, 1.481, 0.002, 0, 0, 0, [SEP] 35, LightSwitch, -0.776, 1.371, 3.300, 0, 180, 0, [SEP] 36, GarbageCan, -1.754, 0.001, 0.227, 0, 0, 0, [SEP] 37, HandTowelHolder, -3.210, 1.588, 0.340, 0, 0, 0, [SEP] 38, HandTowelHolder, 0.004, 1.639, 3.105, 0, 180, 0, [SEP] 39, HandTowelHolder, 0.004, 1.639, 2.309, 0, 180, 0, [SEP] 40, HandTowelHolder, 0.004, 1.639, 1.542, 0, 180, 0, [SEP] 41, Window, -4.127, 1.519, 1.495, 90, 270, 0, [SEP] 42, Toilet, -2.842, 0.000, 2.755, 0, 180, 0, [SEP] 43, SinkBasin, -2.542, 0.706, 0.269, 0, 0, 0, [SEP] 44, BathtubBasin, -3.606, 0.182, 1.536, 0, 270, 0, [SEP] 45, ToiletPaperHanger, -2.349, 0.824, 3.299, 0, 180, 0, [SEP] 46, Faucet, -2.540, 0.794, 0.111, 0, 0, 0, [SEP] 47, Faucet, -0.111, 0.794, 1.921, 0, 270, 0, [SEP] 48, ShowerHead, -3.612, 1.776, 2.299, 0, 0, 0, [SEP] 49, ShowerHead, -0.079, 1.151, 0.662, 0, 0, 0, [SEP] 50, ShowerCurtain, -3.213, 2.098, 2.186, 0, 180, 0, [SEP] 51, Sink, -0.260, 0.661, 1.922, 0, 270, 0, [SEP] 52, SinkBasin, -0.277, 0.706, 1.920, 0, 270, 0, [SEP] 53, NorthWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and walk across the room to the bath tub before turning right to face the toilet. | STEP 2: Take the roll of toilet paper on top of the toilet, next to the soap dispenser. | STEP 3: Turn around and walk across the room | STEP 4: Open the drawer on the left and place the roll of toilet paper inside. | STEP 5: Turn around and walk back across the room to the toilet. | STEP 6: Take the roll of toilet paper on the left side of the top of the toilet. | STEP 7: Turn around and walk across the room. | STEP 8: Open the drawer on the left and place the roll of toilet paper inside the drawer. | END"]} +{"id": "trial_T20190907_111251_461099-1", "input": "Put two rolls of toilet paper in a drawer under the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.901, 1.5, 0, 90, 0, [SEP] 1, Cloth, -3.559, 0.190, 1.414, 0, 270, 0, 44 [SEP] 2, Candle, -0.363, 0.218, 2.547, 0, 0, 0, 21 [SEP] 3, SprayBottle, -1.816, 0.019, 0.165, 0, 0, 0, 36 [SEP] 4, SoapBottle, -2.704, 0.954, 3.193, 0, 270, 0, 42 [SEP] 5, HandTowel, -0.034, 1.537, 3.105, 0, 90, 0, 38 [SEP] 6, ToiletPaper, -2.829, 0.950, 3.220, 0, 270, 0, 42 [SEP] 7, HandTowel, -0.034, 1.537, 2.309, 0, 90, 0, 39 [SEP] 8, Towel, -1.513, 1.496, 0.109, 0, 0, 0, 34 [SEP] 9, Cloth, -2.117, 0.811, 0.342, 0, 0, 0, 30 [SEP] 10, SoapBar, -3.653, 0.191, 1.273, 0, 270, 0, 44 [SEP] 11, ToiletPaper, -3.017, 0.951, 3.193, 0, 270, 0, 42 [SEP] 12, Plunger, -2.530, 0.000, 3.026, 0, 0, 0, [SEP] 13, Candle, -3.122, 0.813, 0.467, 0, 0, 0, 30 [SEP] 14, SoapBottle, -0.219, 0.813, 2.870, 0, 0, 0, 33 [SEP] 15, ToiletPaper, -0.091, 0.809, 1.554, 0, 0, 0, 33 [SEP] 16, SprayBottle, -0.284, 0.813, 2.350, 0, 0, 0, 33 [SEP] 17, ScrubBrush, -2.332, 0.000, 3.163, 0, 0, 0, [SEP] 18, Drawer, -0.325, 0.319, 2.155, 0, 0, 0, [SEP] 19, Mirror, 0.0, 1.473, 1.917, 0, 270, 0, [SEP] 20, Drawer, -0.325, 0.319, 1.717, 0, 0, 0, [SEP] 21, Drawer, -0.325, 0.319, 2.592, 0, 0, 0, [SEP] 22, Bathtub, -3.589, 0.107, 1.521, 0, 0, 0, [SEP] 23, Drawer, -0.325, 0.619, 2.592, 0, 0, 0, [SEP] 24, Drawer, -2.249, 0.319, 0.280, 0, 0, 0, [SEP] 25, Drawer, -0.325, 0.319, 3.030, 0, 0, 0, [SEP] 26, Mirror, 0.0, 1.473, 2.700, 0, 270, 0, [SEP] 27, Drawer, -0.325, 0.619, 3.030, 0, 0, 0, [SEP] 28, ShowerGlass, -0.494, 1.490, 0.528, 0, 0, 0, [SEP] 29, Sink, -2.539, 0.661, 0.252, 0, 0, 0, [SEP] 30, CounterTop, -2.540, 0.805, 0.280, 0, 0, 0, [SEP] 31, Drawer, -2.844, 0.319, 0.280, 0, 0, 0, [SEP] 32, ShowerDoor, -1.074, 1.033, 0.519, 0, 0, 0, [SEP] 33, CounterTop, -0.277, 0.785, 1.931, 0, 0, 0, [SEP] 34, TowelHolder, -1.513, 1.481, 0.002, 0, 0, 0, [SEP] 35, LightSwitch, -0.776, 1.371, 3.300, 0, 180, 0, [SEP] 36, GarbageCan, -1.754, 0.001, 0.227, 0, 0, 0, [SEP] 37, HandTowelHolder, -3.210, 1.588, 0.340, 0, 0, 0, [SEP] 38, HandTowelHolder, 0.004, 1.639, 3.105, 0, 180, 0, [SEP] 39, HandTowelHolder, 0.004, 1.639, 2.309, 0, 180, 0, [SEP] 40, HandTowelHolder, 0.004, 1.639, 1.542, 0, 180, 0, [SEP] 41, Window, -4.127, 1.519, 1.495, 90, 270, 0, [SEP] 42, Toilet, -2.842, 0.000, 2.755, 0, 180, 0, [SEP] 43, SinkBasin, -2.542, 0.706, 0.269, 0, 0, 0, [SEP] 44, BathtubBasin, -3.606, 0.182, 1.536, 0, 270, 0, [SEP] 45, ToiletPaperHanger, -2.349, 0.824, 3.299, 0, 180, 0, [SEP] 46, Faucet, -2.540, 0.794, 0.111, 0, 0, 0, [SEP] 47, Faucet, -0.111, 0.794, 1.921, 0, 270, 0, [SEP] 48, ShowerHead, -3.612, 1.776, 2.299, 0, 0, 0, [SEP] 49, ShowerHead, -0.079, 1.151, 0.662, 0, 0, 0, [SEP] 50, ShowerCurtain, -3.213, 2.098, 2.186, 0, 180, 0, [SEP] 51, Sink, -0.260, 0.661, 1.922, 0, 270, 0, [SEP] 52, SinkBasin, -0.277, 0.706, 1.920, 0, 270, 0, [SEP] 53, NorthWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the toilet and face it. | STEP 2: Pick up the roll of toilet paper in the middle on the back of the toilet. | STEP 3: Turn around and approach the black cabinet under the sink. | STEP 4: Open the bottom left drawer and put the toilet paper in and then shut the drawer. | STEP 5: Turn around and face the toilet. | STEP 6: Pick up the roll of toilet paper. | STEP 7: Turn around and face the black cabinet under the sink. | STEP 8: Open the bottom left drawer and put the toilet paper in and then shut the drawer. | END"]} +{"id": "trial_T20190907_111251_461099-2", "input": "Put two rolls of toilet paper into a drawer underneath the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.901, 1.5, 0, 90, 0, [SEP] 1, Cloth, -3.559, 0.190, 1.414, 0, 270, 0, 44 [SEP] 2, Candle, -0.363, 0.218, 2.547, 0, 0, 0, 21 [SEP] 3, SprayBottle, -1.816, 0.019, 0.165, 0, 0, 0, 36 [SEP] 4, SoapBottle, -2.704, 0.954, 3.193, 0, 270, 0, 42 [SEP] 5, HandTowel, -0.034, 1.537, 3.105, 0, 90, 0, 38 [SEP] 6, ToiletPaper, -2.829, 0.950, 3.220, 0, 270, 0, 42 [SEP] 7, HandTowel, -0.034, 1.537, 2.309, 0, 90, 0, 39 [SEP] 8, Towel, -1.513, 1.496, 0.109, 0, 0, 0, 34 [SEP] 9, Cloth, -2.117, 0.811, 0.342, 0, 0, 0, 30 [SEP] 10, SoapBar, -3.653, 0.191, 1.273, 0, 270, 0, 44 [SEP] 11, ToiletPaper, -3.017, 0.951, 3.193, 0, 270, 0, 42 [SEP] 12, Plunger, -2.530, 0.000, 3.026, 0, 0, 0, [SEP] 13, Candle, -3.122, 0.813, 0.467, 0, 0, 0, 30 [SEP] 14, SoapBottle, -0.219, 0.813, 2.870, 0, 0, 0, 33 [SEP] 15, ToiletPaper, -0.091, 0.809, 1.554, 0, 0, 0, 33 [SEP] 16, SprayBottle, -0.284, 0.813, 2.350, 0, 0, 0, 33 [SEP] 17, ScrubBrush, -2.332, 0.000, 3.163, 0, 0, 0, [SEP] 18, Drawer, -0.325, 0.319, 2.155, 0, 0, 0, [SEP] 19, Mirror, 0.0, 1.473, 1.917, 0, 270, 0, [SEP] 20, Drawer, -0.325, 0.319, 1.717, 0, 0, 0, [SEP] 21, Drawer, -0.325, 0.319, 2.592, 0, 0, 0, [SEP] 22, Bathtub, -3.589, 0.107, 1.521, 0, 0, 0, [SEP] 23, Drawer, -0.325, 0.619, 2.592, 0, 0, 0, [SEP] 24, Drawer, -2.249, 0.319, 0.280, 0, 0, 0, [SEP] 25, Drawer, -0.325, 0.319, 3.030, 0, 0, 0, [SEP] 26, Mirror, 0.0, 1.473, 2.700, 0, 270, 0, [SEP] 27, Drawer, -0.325, 0.619, 3.030, 0, 0, 0, [SEP] 28, ShowerGlass, -0.494, 1.490, 0.528, 0, 0, 0, [SEP] 29, Sink, -2.539, 0.661, 0.252, 0, 0, 0, [SEP] 30, CounterTop, -2.540, 0.805, 0.280, 0, 0, 0, [SEP] 31, Drawer, -2.844, 0.319, 0.280, 0, 0, 0, [SEP] 32, ShowerDoor, -1.074, 1.033, 0.519, 0, 0, 0, [SEP] 33, CounterTop, -0.277, 0.785, 1.931, 0, 0, 0, [SEP] 34, TowelHolder, -1.513, 1.481, 0.002, 0, 0, 0, [SEP] 35, LightSwitch, -0.776, 1.371, 3.300, 0, 180, 0, [SEP] 36, GarbageCan, -1.754, 0.001, 0.227, 0, 0, 0, [SEP] 37, HandTowelHolder, -3.210, 1.588, 0.340, 0, 0, 0, [SEP] 38, HandTowelHolder, 0.004, 1.639, 3.105, 0, 180, 0, [SEP] 39, HandTowelHolder, 0.004, 1.639, 2.309, 0, 180, 0, [SEP] 40, HandTowelHolder, 0.004, 1.639, 1.542, 0, 180, 0, [SEP] 41, Window, -4.127, 1.519, 1.495, 90, 270, 0, [SEP] 42, Toilet, -2.842, 0.000, 2.755, 0, 180, 0, [SEP] 43, SinkBasin, -2.542, 0.706, 0.269, 0, 0, 0, [SEP] 44, BathtubBasin, -3.606, 0.182, 1.536, 0, 270, 0, [SEP] 45, ToiletPaperHanger, -2.349, 0.824, 3.299, 0, 180, 0, [SEP] 46, Faucet, -2.540, 0.794, 0.111, 0, 0, 0, [SEP] 47, Faucet, -0.111, 0.794, 1.921, 0, 270, 0, [SEP] 48, ShowerHead, -3.612, 1.776, 2.299, 0, 0, 0, [SEP] 49, ShowerHead, -0.079, 1.151, 0.662, 0, 0, 0, [SEP] 50, ShowerCurtain, -3.213, 2.098, 2.186, 0, 180, 0, [SEP] 51, Sink, -0.260, 0.661, 1.922, 0, 270, 0, [SEP] 52, SinkBasin, -0.277, 0.706, 1.920, 0, 270, 0, [SEP] 53, NorthWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around 180 degrees, walk to the bath tub, then turn right 90 degrees to face the toilet. | STEP 2: Pick up the roll of toilet paper that is on the back of the toilet in between the soap dispenser and the other roll of toilet paper. | STEP 3: Turn around 180 degrees, keeping the bath tub on the right hand side, and walk towards the sink. | STEP 4: Open the drawer on the left that is underneath the sink, place the roll of toilet paper inside the drawer in the front left corner (near you), and close the drawer. | STEP 5: Turn around 180 degrees and walk back to the toilet. | STEP 6: Pick up the other roll of toilet paper on the back of the toilet on the left hand side. | STEP 7: Turn around 180 degrees, keeping the bath tub on the right hand side, and walk towards the sink. | STEP 8: Open the drawer on the left that is underneath the sink, place the roll of toilet paper inside the drawer directly behind (away from you) the other roll of toilet paper, and close the drawer. | END"]} +{"id": "trial_T20190909_112854_740612-0", "input": "Place a rinsed plate in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, -1.0, 0, 0, 0, [SEP] 1, Potato, -0.993, 0.941, -1.722, 0, 0, 0, 73 [SEP] 2, Potato, -1.259, 0.941, -2.182, 0, 0, 0, 73 [SEP] 3, DishSponge, -0.053, 0.696, 0.098, 0, 180, 0, 72 [SEP] 4, DishSponge, 1.963, 0.062, 0.166, 0, 0, 0, 76 [SEP] 5, Pot, -0.420, 0.915, 0.135, 0, 0, 0, 66 [SEP] 6, Spatula, -0.598, 1.146, 0.706, 0, 0, 0, 69 [SEP] 7, Fork, -1.239, 0.911, -1.722, 0, 0, 0, 73 [SEP] 8, Egg, 0.071, 1.165, 0.706, 0, 0, 0, 69 [SEP] 9, Plate, -1.313, 1.660, 0.025, 0, 0, 0, 57 [SEP] 10, Knife, -0.997, 0.937, -0.231, 0, 0, 0, 66 [SEP] 11, Knife, -0.152, 1.155, 0.706, 0, 0, 0, 69 [SEP] 12, Bowl, 1.813, 1.012, -1.350, 0, 270, 0, 78 [SEP] 13, Bowl, 1.945, 1.424, -0.365, 0, 270, 0, 80 [SEP] 14, PepperShaker, 2.491, 0.876, 0.141, 0, 180, 0, 77 [SEP] 15, Pan, -1.056, 0.956, -0.672, 0, 180, 0, 45 [SEP] 16, Knife, 0.744, 0.934, -1.929, 0, 0, 0, 73 [SEP] 17, Bowl, 1.891, 0.814, -0.365, 0, 270, 0, 80 [SEP] 18, Fork, -0.598, 1.132, 0.441, 0, 0, 0, 69 [SEP] 19, Cup, 0.101, 0.750, -1.938, 0, 0, 0, 83 [SEP] 20, Ladle, 1.409, 1.690, -2.055, 0, 180, 0, 46 [SEP] 21, Apple, -0.913, 0.962, -0.414, 0, 0, 0, 66 [SEP] 22, Kettle, -1.047, 0.953, -2.094, 0, 0, 0, 73 [SEP] 23, Vase, 2.798, 0.554, 0.090, 0, 180, 0, 79 [SEP] 24, Potato, 1.845, 0.093, 0.080, 0, 0, 0, 76 [SEP] 25, Pot, -1.289, 0.957, -1.02, 0, 0, 0, 63 [SEP] 26, Bread, -0.849, 0.995, 0.188, 0, 0, 0, 66 [SEP] 27, Plate, -0.152, 1.129, 0.529, 0, 0, 0, 69 [SEP] 28, Spatula, 0.969, 0.926, -2.098, 0, 180, 0, 73 [SEP] 29, PaperTowelRoll, 2.042, 0.167, 0.195, 0, 0, 0, 76 [SEP] 30, Vase, -1.322, 0.917, -1.469, 0, 0, 0, 73 [SEP] 31, Egg, 2.055, 0.850, -0.644, 0, 270, 0, 80 [SEP] 32, SoapBottle, -0.777, 0.911, -1.845, 0, 0, 0, 73 [SEP] 33, SaltShaker, -0.623, 0.688, -1.846, 0, 0, 0, 43 [SEP] 34, Lettuce, -1.278, 0.990, 0.241, 0, 0, 0, 66 [SEP] 35, PepperShaker, -0.985, 0.132, -0.204, 0, 0, 0, 60 [SEP] 36, ButterKnife, -1.045, 1.131, 0.706, 0, 0, 0, 69 [SEP] 37, DishSponge, -0.053, 0.695, 0.222, 0, 180, 0, 72 [SEP] 38, Vase, 0.330, 1.658, -2.198, 0, 0, 0, 53 [SEP] 39, Spoon, -0.186, 0.698, 0.222, 0, 270, 0, 72 [SEP] 40, Tomato, 2.055, 0.866, -0.271, 0, 270, 0, 80 [SEP] 41, Mug, 1.836, 0.812, -0.644, 0, 270, 0, 80 [SEP] 42, Statue, 2.591, 0.559, 0.090, 0, 180, 0, 79 [SEP] 43, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 44, Cabinet, -1.149, 2.264, -0.838, 0, 90, 0, [SEP] 45, StoveBurner, -1.056, 0.949, -0.671, 0, 180, 0, [SEP] 46, Cabinet, 1.738, 2.019, -2.000, 0, 0, 0, [SEP] 47, Cabinet, 1.389, 0.469, -1.059, 0, 0, 0, [SEP] 48, StoveBurner, -1.289, 0.949, -0.755, 0, 180, 0, [SEP] 49, Faucet, -0.157, 1.052, -2.196, 0, 270, 0, [SEP] 50, Cabinet, 1.75, 2.019, -1.029, 0, 0, 0, [SEP] 51, Cabinet, 1.75, 2.019, -1.399, 0, 0, 0, [SEP] 52, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 53, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 54, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 55, Cabinet, -1.149, 2.019, -1.979, 0, 0, 0, [SEP] 56, Cabinet, -1.149, 2.019, -0.770, 0, 0, 0, [SEP] 57, Cabinet, -1.149, 2.019, 0.380, 0, 0, 0, [SEP] 58, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 59, Cabinet, -0.839, 0.469, -1.664, 0, 0, 0, [SEP] 60, Cabinet, -0.839, 0.469, -0.049, 0, 0, 0, [SEP] 61, Cabinet, -0.414, 0.370, -0.009, 0, 0, 0, [SEP] 62, Sink, -0.118, 0.875, -2.009, 0, 0, 0, [SEP] 63, StoveBurner, -1.289, 0.949, -1.019, 0, 0, 0, [SEP] 64, Cabinet, 0.119, 2.264, -2.0, 0, 0, 0, [SEP] 65, Cabinet, -0.459, 2.264, -2.0, 0, 0, 0, [SEP] 66, CounterTop, -0.665, 0.949, 0.188, 0, 0, 0, [SEP] 67, Drawer, -0.449, 0.75, -0.010, 0, 180, 0, [SEP] 68, Cabinet, -0.450, 0.469, -0.009, 0, 0, 0, [SEP] 69, CounterTop, -0.630, 1.167, 0.573, 0, 0, 0, [SEP] 70, StoveBurner, -1.056, 0.949, -1.126, 0, 0, 0, [SEP] 71, Cabinet, 1.376, 0.460, -1.685, 0, 0, 0, [SEP] 72, Drawer, -0.070, 0.75, -0.009, 0, 180, 0, [SEP] 73, CounterTop, 1.159, 0.946, -2.013, 0, 0, 0, [SEP] 74, Cabinet, -1.150, 2.264, -1.418, 0, 90, 0, [SEP] 75, HousePlant, -1.246, 1.108, 0.606, 0, 0, 0, [SEP] 76, GarbageCan, 1.923, -0.010, 0.137, 0, 0, 0, [SEP] 77, Shelf, 2.759, 0.880, 0.144, 0, 0, 0, [SEP] 78, Microwave, 1.827, 0.900, -1.354, 0, 270, 0, [SEP] 79, Shelf, 2.759, 0.552, 0.145, 0, 0, 0, [SEP] 80, Fridge, 1.975, 0.0, -0.537, 0, 0, 0, [SEP] 81, LightSwitch, 0.404, 1.297, 2.0, 0, 180, 0, [SEP] 82, Shelf, 2.760, 0.172, 0.145, 0, 0, 0, [SEP] 83, SinkBasin, -0.129, 0.752, -2.007, 0, 0, 0, [SEP] 84, StoveKnob, -0.873, 0.903, -0.827, 45, 90, 0, [SEP] 85, StoveKnob, -0.873, 0.903, -0.676, 45, 90, 0, [SEP] 86, StoveKnob, -0.873, 0.903, -0.966, 45, 90, 0, [SEP] 87, StoveKnob, -0.873, 0.903, -1.123, 45, 90, 0, [SEP] 88, Toaster, 0.840, 0.900, -2.057, 0, 0, 0, [SEP] 89, CoffeeMachine, 0.501, 0.900, -2.125, 0, 0, 0, [SEP] 90, ShelvingUnit, 2.760, 0.006, 0.144, 0, 0, 0, [SEP] 91, Stool, -0.826, 0.010, 0.908, 0, 347.513, 0, [SEP] 92, Stool, -0.132, 0.010, 0.883, 0, 71.555, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Walk ahead to the door, then turn left and take a step, then turn left and face the counter. | STEP 2: Pick up the dirty plate on the counter. | STEP 3: Walk left around the counter, and straight to the sink. | STEP 4: Clean the plate in the sink. | STEP 5: Turn left and walk to the fridge. | STEP 6: Place the plate on the top shelf of the fridge. | END"]} +{"id": "trial_T20190909_112854_740612-1", "input": "put washed plate inside fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, -1.0, 0, 0, 0, [SEP] 1, Potato, -0.993, 0.941, -1.722, 0, 0, 0, 73 [SEP] 2, Potato, -1.259, 0.941, -2.182, 0, 0, 0, 73 [SEP] 3, DishSponge, -0.053, 0.696, 0.098, 0, 180, 0, 72 [SEP] 4, DishSponge, 1.963, 0.062, 0.166, 0, 0, 0, 76 [SEP] 5, Pot, -0.420, 0.915, 0.135, 0, 0, 0, 66 [SEP] 6, Spatula, -0.598, 1.146, 0.706, 0, 0, 0, 69 [SEP] 7, Fork, -1.239, 0.911, -1.722, 0, 0, 0, 73 [SEP] 8, Egg, 0.071, 1.165, 0.706, 0, 0, 0, 69 [SEP] 9, Plate, -1.313, 1.660, 0.025, 0, 0, 0, 57 [SEP] 10, Knife, -0.997, 0.937, -0.231, 0, 0, 0, 66 [SEP] 11, Knife, -0.152, 1.155, 0.706, 0, 0, 0, 69 [SEP] 12, Bowl, 1.813, 1.012, -1.350, 0, 270, 0, 78 [SEP] 13, Bowl, 1.945, 1.424, -0.365, 0, 270, 0, 80 [SEP] 14, PepperShaker, 2.491, 0.876, 0.141, 0, 180, 0, 77 [SEP] 15, Pan, -1.056, 0.956, -0.672, 0, 180, 0, 45 [SEP] 16, Knife, 0.744, 0.934, -1.929, 0, 0, 0, 73 [SEP] 17, Bowl, 1.891, 0.814, -0.365, 0, 270, 0, 80 [SEP] 18, Fork, -0.598, 1.132, 0.441, 0, 0, 0, 69 [SEP] 19, Cup, 0.101, 0.750, -1.938, 0, 0, 0, 83 [SEP] 20, Ladle, 1.409, 1.690, -2.055, 0, 180, 0, 46 [SEP] 21, Apple, -0.913, 0.962, -0.414, 0, 0, 0, 66 [SEP] 22, Kettle, -1.047, 0.953, -2.094, 0, 0, 0, 73 [SEP] 23, Vase, 2.798, 0.554, 0.090, 0, 180, 0, 79 [SEP] 24, Potato, 1.845, 0.093, 0.080, 0, 0, 0, 76 [SEP] 25, Pot, -1.289, 0.957, -1.02, 0, 0, 0, 63 [SEP] 26, Bread, -0.849, 0.995, 0.188, 0, 0, 0, 66 [SEP] 27, Plate, -0.152, 1.129, 0.529, 0, 0, 0, 69 [SEP] 28, Spatula, 0.969, 0.926, -2.098, 0, 180, 0, 73 [SEP] 29, PaperTowelRoll, 2.042, 0.167, 0.195, 0, 0, 0, 76 [SEP] 30, Vase, -1.322, 0.917, -1.469, 0, 0, 0, 73 [SEP] 31, Egg, 2.055, 0.850, -0.644, 0, 270, 0, 80 [SEP] 32, SoapBottle, -0.777, 0.911, -1.845, 0, 0, 0, 73 [SEP] 33, SaltShaker, -0.623, 0.688, -1.846, 0, 0, 0, 43 [SEP] 34, Lettuce, -1.278, 0.990, 0.241, 0, 0, 0, 66 [SEP] 35, PepperShaker, -0.985, 0.132, -0.204, 0, 0, 0, 60 [SEP] 36, ButterKnife, -1.045, 1.131, 0.706, 0, 0, 0, 69 [SEP] 37, DishSponge, -0.053, 0.695, 0.222, 0, 180, 0, 72 [SEP] 38, Vase, 0.330, 1.658, -2.198, 0, 0, 0, 53 [SEP] 39, Spoon, -0.186, 0.698, 0.222, 0, 270, 0, 72 [SEP] 40, Tomato, 2.055, 0.866, -0.271, 0, 270, 0, 80 [SEP] 41, Mug, 1.836, 0.812, -0.644, 0, 270, 0, 80 [SEP] 42, Statue, 2.591, 0.559, 0.090, 0, 180, 0, 79 [SEP] 43, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 44, Cabinet, -1.149, 2.264, -0.838, 0, 90, 0, [SEP] 45, StoveBurner, -1.056, 0.949, -0.671, 0, 180, 0, [SEP] 46, Cabinet, 1.738, 2.019, -2.000, 0, 0, 0, [SEP] 47, Cabinet, 1.389, 0.469, -1.059, 0, 0, 0, [SEP] 48, StoveBurner, -1.289, 0.949, -0.755, 0, 180, 0, [SEP] 49, Faucet, -0.157, 1.052, -2.196, 0, 270, 0, [SEP] 50, Cabinet, 1.75, 2.019, -1.029, 0, 0, 0, [SEP] 51, Cabinet, 1.75, 2.019, -1.399, 0, 0, 0, [SEP] 52, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 53, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 54, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 55, Cabinet, -1.149, 2.019, -1.979, 0, 0, 0, [SEP] 56, Cabinet, -1.149, 2.019, -0.770, 0, 0, 0, [SEP] 57, Cabinet, -1.149, 2.019, 0.380, 0, 0, 0, [SEP] 58, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 59, Cabinet, -0.839, 0.469, -1.664, 0, 0, 0, [SEP] 60, Cabinet, -0.839, 0.469, -0.049, 0, 0, 0, [SEP] 61, Cabinet, -0.414, 0.370, -0.009, 0, 0, 0, [SEP] 62, Sink, -0.118, 0.875, -2.009, 0, 0, 0, [SEP] 63, StoveBurner, -1.289, 0.949, -1.019, 0, 0, 0, [SEP] 64, Cabinet, 0.119, 2.264, -2.0, 0, 0, 0, [SEP] 65, Cabinet, -0.459, 2.264, -2.0, 0, 0, 0, [SEP] 66, CounterTop, -0.665, 0.949, 0.188, 0, 0, 0, [SEP] 67, Drawer, -0.449, 0.75, -0.010, 0, 180, 0, [SEP] 68, Cabinet, -0.450, 0.469, -0.009, 0, 0, 0, [SEP] 69, CounterTop, -0.630, 1.167, 0.573, 0, 0, 0, [SEP] 70, StoveBurner, -1.056, 0.949, -1.126, 0, 0, 0, [SEP] 71, Cabinet, 1.376, 0.460, -1.685, 0, 0, 0, [SEP] 72, Drawer, -0.070, 0.75, -0.009, 0, 180, 0, [SEP] 73, CounterTop, 1.159, 0.946, -2.013, 0, 0, 0, [SEP] 74, Cabinet, -1.150, 2.264, -1.418, 0, 90, 0, [SEP] 75, HousePlant, -1.246, 1.108, 0.606, 0, 0, 0, [SEP] 76, GarbageCan, 1.923, -0.010, 0.137, 0, 0, 0, [SEP] 77, Shelf, 2.759, 0.880, 0.144, 0, 0, 0, [SEP] 78, Microwave, 1.827, 0.900, -1.354, 0, 270, 0, [SEP] 79, Shelf, 2.759, 0.552, 0.145, 0, 0, 0, [SEP] 80, Fridge, 1.975, 0.0, -0.537, 0, 0, 0, [SEP] 81, LightSwitch, 0.404, 1.297, 2.0, 0, 180, 0, [SEP] 82, Shelf, 2.760, 0.172, 0.145, 0, 0, 0, [SEP] 83, SinkBasin, -0.129, 0.752, -2.007, 0, 0, 0, [SEP] 84, StoveKnob, -0.873, 0.903, -0.827, 45, 90, 0, [SEP] 85, StoveKnob, -0.873, 0.903, -0.676, 45, 90, 0, [SEP] 86, StoveKnob, -0.873, 0.903, -0.966, 45, 90, 0, [SEP] 87, StoveKnob, -0.873, 0.903, -1.123, 45, 90, 0, [SEP] 88, Toaster, 0.840, 0.900, -2.057, 0, 0, 0, [SEP] 89, CoffeeMachine, 0.501, 0.900, -2.125, 0, 0, 0, [SEP] 90, ShelvingUnit, 2.760, 0.006, 0.144, 0, 0, 0, [SEP] 91, Stool, -0.826, 0.010, 0.908, 0, 347.513, 0, [SEP] 92, Stool, -0.132, 0.010, 0.883, 0, 71.555, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: walk to face bar counter top | STEP 2: pick up plate from counter | STEP 3: walk to face sink | STEP 4: wash and remove plate from sink | STEP 5: walk to face fridge | STEP 6: put plate inside fridge | END"]} +{"id": "trial_T20190909_112854_740612-2", "input": "Put a washed plate in a fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, -1.0, 0, 0, 0, [SEP] 1, Potato, -0.993, 0.941, -1.722, 0, 0, 0, 73 [SEP] 2, Potato, -1.259, 0.941, -2.182, 0, 0, 0, 73 [SEP] 3, DishSponge, -0.053, 0.696, 0.098, 0, 180, 0, 72 [SEP] 4, DishSponge, 1.963, 0.062, 0.166, 0, 0, 0, 76 [SEP] 5, Pot, -0.420, 0.915, 0.135, 0, 0, 0, 66 [SEP] 6, Spatula, -0.598, 1.146, 0.706, 0, 0, 0, 69 [SEP] 7, Fork, -1.239, 0.911, -1.722, 0, 0, 0, 73 [SEP] 8, Egg, 0.071, 1.165, 0.706, 0, 0, 0, 69 [SEP] 9, Plate, -1.313, 1.660, 0.025, 0, 0, 0, 57 [SEP] 10, Knife, -0.997, 0.937, -0.231, 0, 0, 0, 66 [SEP] 11, Knife, -0.152, 1.155, 0.706, 0, 0, 0, 69 [SEP] 12, Bowl, 1.813, 1.012, -1.350, 0, 270, 0, 78 [SEP] 13, Bowl, 1.945, 1.424, -0.365, 0, 270, 0, 80 [SEP] 14, PepperShaker, 2.491, 0.876, 0.141, 0, 180, 0, 77 [SEP] 15, Pan, -1.056, 0.956, -0.672, 0, 180, 0, 45 [SEP] 16, Knife, 0.744, 0.934, -1.929, 0, 0, 0, 73 [SEP] 17, Bowl, 1.891, 0.814, -0.365, 0, 270, 0, 80 [SEP] 18, Fork, -0.598, 1.132, 0.441, 0, 0, 0, 69 [SEP] 19, Cup, 0.101, 0.750, -1.938, 0, 0, 0, 83 [SEP] 20, Ladle, 1.409, 1.690, -2.055, 0, 180, 0, 46 [SEP] 21, Apple, -0.913, 0.962, -0.414, 0, 0, 0, 66 [SEP] 22, Kettle, -1.047, 0.953, -2.094, 0, 0, 0, 73 [SEP] 23, Vase, 2.798, 0.554, 0.090, 0, 180, 0, 79 [SEP] 24, Potato, 1.845, 0.093, 0.080, 0, 0, 0, 76 [SEP] 25, Pot, -1.289, 0.957, -1.02, 0, 0, 0, 63 [SEP] 26, Bread, -0.849, 0.995, 0.188, 0, 0, 0, 66 [SEP] 27, Plate, -0.152, 1.129, 0.529, 0, 0, 0, 69 [SEP] 28, Spatula, 0.969, 0.926, -2.098, 0, 180, 0, 73 [SEP] 29, PaperTowelRoll, 2.042, 0.167, 0.195, 0, 0, 0, 76 [SEP] 30, Vase, -1.322, 0.917, -1.469, 0, 0, 0, 73 [SEP] 31, Egg, 2.055, 0.850, -0.644, 0, 270, 0, 80 [SEP] 32, SoapBottle, -0.777, 0.911, -1.845, 0, 0, 0, 73 [SEP] 33, SaltShaker, -0.623, 0.688, -1.846, 0, 0, 0, 43 [SEP] 34, Lettuce, -1.278, 0.990, 0.241, 0, 0, 0, 66 [SEP] 35, PepperShaker, -0.985, 0.132, -0.204, 0, 0, 0, 60 [SEP] 36, ButterKnife, -1.045, 1.131, 0.706, 0, 0, 0, 69 [SEP] 37, DishSponge, -0.053, 0.695, 0.222, 0, 180, 0, 72 [SEP] 38, Vase, 0.330, 1.658, -2.198, 0, 0, 0, 53 [SEP] 39, Spoon, -0.186, 0.698, 0.222, 0, 270, 0, 72 [SEP] 40, Tomato, 2.055, 0.866, -0.271, 0, 270, 0, 80 [SEP] 41, Mug, 1.836, 0.812, -0.644, 0, 270, 0, 80 [SEP] 42, Statue, 2.591, 0.559, 0.090, 0, 180, 0, 79 [SEP] 43, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 44, Cabinet, -1.149, 2.264, -0.838, 0, 90, 0, [SEP] 45, StoveBurner, -1.056, 0.949, -0.671, 0, 180, 0, [SEP] 46, Cabinet, 1.738, 2.019, -2.000, 0, 0, 0, [SEP] 47, Cabinet, 1.389, 0.469, -1.059, 0, 0, 0, [SEP] 48, StoveBurner, -1.289, 0.949, -0.755, 0, 180, 0, [SEP] 49, Faucet, -0.157, 1.052, -2.196, 0, 270, 0, [SEP] 50, Cabinet, 1.75, 2.019, -1.029, 0, 0, 0, [SEP] 51, Cabinet, 1.75, 2.019, -1.399, 0, 0, 0, [SEP] 52, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 53, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 54, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 55, Cabinet, -1.149, 2.019, -1.979, 0, 0, 0, [SEP] 56, Cabinet, -1.149, 2.019, -0.770, 0, 0, 0, [SEP] 57, Cabinet, -1.149, 2.019, 0.380, 0, 0, 0, [SEP] 58, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 59, Cabinet, -0.839, 0.469, -1.664, 0, 0, 0, [SEP] 60, Cabinet, -0.839, 0.469, -0.049, 0, 0, 0, [SEP] 61, Cabinet, -0.414, 0.370, -0.009, 0, 0, 0, [SEP] 62, Sink, -0.118, 0.875, -2.009, 0, 0, 0, [SEP] 63, StoveBurner, -1.289, 0.949, -1.019, 0, 0, 0, [SEP] 64, Cabinet, 0.119, 2.264, -2.0, 0, 0, 0, [SEP] 65, Cabinet, -0.459, 2.264, -2.0, 0, 0, 0, [SEP] 66, CounterTop, -0.665, 0.949, 0.188, 0, 0, 0, [SEP] 67, Drawer, -0.449, 0.75, -0.010, 0, 180, 0, [SEP] 68, Cabinet, -0.450, 0.469, -0.009, 0, 0, 0, [SEP] 69, CounterTop, -0.630, 1.167, 0.573, 0, 0, 0, [SEP] 70, StoveBurner, -1.056, 0.949, -1.126, 0, 0, 0, [SEP] 71, Cabinet, 1.376, 0.460, -1.685, 0, 0, 0, [SEP] 72, Drawer, -0.070, 0.75, -0.009, 0, 180, 0, [SEP] 73, CounterTop, 1.159, 0.946, -2.013, 0, 0, 0, [SEP] 74, Cabinet, -1.150, 2.264, -1.418, 0, 90, 0, [SEP] 75, HousePlant, -1.246, 1.108, 0.606, 0, 0, 0, [SEP] 76, GarbageCan, 1.923, -0.010, 0.137, 0, 0, 0, [SEP] 77, Shelf, 2.759, 0.880, 0.144, 0, 0, 0, [SEP] 78, Microwave, 1.827, 0.900, -1.354, 0, 270, 0, [SEP] 79, Shelf, 2.759, 0.552, 0.145, 0, 0, 0, [SEP] 80, Fridge, 1.975, 0.0, -0.537, 0, 0, 0, [SEP] 81, LightSwitch, 0.404, 1.297, 2.0, 0, 180, 0, [SEP] 82, Shelf, 2.760, 0.172, 0.145, 0, 0, 0, [SEP] 83, SinkBasin, -0.129, 0.752, -2.007, 0, 0, 0, [SEP] 84, StoveKnob, -0.873, 0.903, -0.827, 45, 90, 0, [SEP] 85, StoveKnob, -0.873, 0.903, -0.676, 45, 90, 0, [SEP] 86, StoveKnob, -0.873, 0.903, -0.966, 45, 90, 0, [SEP] 87, StoveKnob, -0.873, 0.903, -1.123, 45, 90, 0, [SEP] 88, Toaster, 0.840, 0.900, -2.057, 0, 0, 0, [SEP] 89, CoffeeMachine, 0.501, 0.900, -2.125, 0, 0, 0, [SEP] 90, ShelvingUnit, 2.760, 0.006, 0.144, 0, 0, 0, [SEP] 91, Stool, -0.826, 0.010, 0.908, 0, 347.513, 0, [SEP] 92, Stool, -0.132, 0.010, 0.883, 0, 71.555, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Go forward and right to the door, turn left, go forward, turn left at the chairs. | STEP 2: Take the plate from the counter. | STEP 3: Turn left, go forward, after passing the counter's end turn right, go forward, turn right after passing the counter, go forward, turn left, go forward to the sink. | STEP 4: Wash the plate in the sink, take the plate from the sink. | STEP 5: Turn around, go forward, turn right, go forward to the fridge. | STEP 6: Put the plate behind the tomato in the fridge. | END"]} +{"id": "trial_T20190906_181501_970690-0", "input": "Put cabbage in the refrigerator, use the knife to cut the cabbage SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -0.5, 0, 270, 0, [SEP] 1, Potato, -1.852, 0.800, -1.673, 0, 90, 0, 97 [SEP] 2, Potato, -2.040, 1.533, 1.260, 0, 90, 0, 95 [SEP] 3, Plate, -1.200, 0.133, -2.453, 0, 0, 0, 80 [SEP] 4, Plate, -0.059, 1.108, -0.759, 0, 0, 0, 62 [SEP] 5, Cup, 0.217, 1.109, -0.759, 0, 0, 0, 62 [SEP] 6, Tomato, 0.453, 0.949, -2.253, 0, 0, 0, 64 [SEP] 7, SaltShaker, -1.740, 0.150, -0.342, 0, 90, 0, 85 [SEP] 8, SaltShaker, -1.693, 0.907, -2.256, 0, 0, 0, 87 [SEP] 9, PepperShaker, -0.059, 1.107, -0.253, 0, 0, 0, 62 [SEP] 10, Bread, -1.774, 0.983, -0.698, 0, 0, 0, 87 [SEP] 11, Lettuce, 0.355, 1.191, 0.251, 0, 0, 0, 62 [SEP] 12, Lettuce, -0.197, 1.191, 0.757, 0, 0, 0, 62 [SEP] 13, Lettuce, 0.217, 1.191, -0.001, 0, 0, 0, 62 [SEP] 14, Apple, -1.982, 1.356, 1.092, 0, 90, 0, 95 [SEP] 15, Apple, -0.197, 1.162, -0.253, 0, 0, 0, 62 [SEP] 16, Knife, 0.217, 1.136, -0.253, 0, 0, 0, 62 [SEP] 17, Fork, 0.355, 1.112, -0.506, 0, 0, 0, 62 [SEP] 18, Spoon, -0.197, 1.112, -0.001, 0, 0, 0, 62 [SEP] 19, Spoon, -1.694, 0.479, -0.293, 0, 90, 0, 77 [SEP] 20, Mug, -2.122, 1.497, 0.925, 0, 90, 0, 95 [SEP] 21, Spatula, 0.453, 0.925, -2.637, 0, 90, 0, 64 [SEP] 22, ButterKnife, -1.908, 0.769, -1.587, 0, 90, 0, 97 [SEP] 23, WineBottle, 1.119, 1.661, -2.564, 0, 0, 0, 84 [SEP] 24, DishSponge, -1.852, 0.769, -1.242, 0, 90, 0, 97 [SEP] 25, DishSponge, -0.059, 1.111, -0.506, 0, 0, 0, 62 [SEP] 26, Bowl, -1.797, 0.766, -1.501, 0, 90, 0, 97 [SEP] 27, Book, -0.335, 1.110, -0.759, 0, 0, 0, 62 [SEP] 28, Glassbottle, 0.324, 0.911, -2.253, 0, 0, 0, 64 [SEP] 29, Knife, -1.609, 0.936, -1.309, 0, 90, 0, 87 [SEP] 30, Bread, -0.522, 1.170, -0.028, 0, 0, 0, 62 [SEP] 31, Fork, -1.143, 0.911, -2.637, 0, 0, 0, 87 [SEP] 32, Potato, -1.995, 0.828, 0.920, 0, 90, 0, 95 [SEP] 33, SoapBottle, -1.740, 0.155, -0.053, 0, 90, 0, 85 [SEP] 34, Kettle, 0.840, 0.911, -2.330, 0, 0, 0, 64 [SEP] 35, Pan, -0.465, 0.950, -2.576, 0, 90, 0, 71 [SEP] 36, Plate, -2.038, 0.537, 0.920, 0, 90, 0, 95 [SEP] 37, Tomato, -1.962, 0.087, 2.029, 0, 270, 0, 93 [SEP] 38, Vase, 2.042, 0.540, -2.495, 0, 0, 0, 92 [SEP] 39, Egg, -2.018, 0.804, -1.760, 0, 90, 0, 97 [SEP] 40, CreditCard, 1.993, 0.877, -2.563, 0, 180, 0, 89 [SEP] 41, Statue, 1.955, 0.168, -2.543, 0, 0, 0, 94 [SEP] 42, WineBottle, -1.104, 0.137, -2.301, 0, 0, 0, 80 [SEP] 43, Pot, -0.036, 0.950, -2.372, 0, 270, 0, 57 [SEP] 44, Spatula, 0.217, 1.126, -0.506, 0, 0, 0, 62 [SEP] 45, PaperTowelRoll, -1.935, 0.152, 2.124, 0, 0, 0, 93 [SEP] 46, Cup, -1.615, 0.127, 0.294, 0, 90, 0, 68 [SEP] 47, Vase, 0.355, 1.109, 0.504, 0, 0, 0, 62 [SEP] 48, Bowl, 0.582, 0.907, -2.637, 0, 0, 0, 64 [SEP] 49, SaltShaker, 0.950, 0.138, -2.286, 0, 0, 0, 82 [SEP] 50, PepperShaker, -0.197, 1.107, 0.504, 0, 0, 0, 62 [SEP] 51, Lettuce, -0.197, 1.191, 0.251, 0, 0, 0, 62 [SEP] 52, ButterKnife, -1.693, 0.911, -2.475, 0, 0, 0, 87 [SEP] 53, Apple, -0.173, 1.841, -2.610, 0, 0, 0, 88 [SEP] 54, DishSponge, -1.855, 0.135, -1.623, 0, 90, 0, 63 [SEP] 55, Spoon, -1.852, 0.770, -1.328, 0, 90, 0, 97 [SEP] 56, Mug, -1.731, 0.956, -0.168, 0, 90, 0, 96 [SEP] 57, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0, [SEP] 58, Drawer, 0.949, 0.832, -2.197, 0, 0, 0, [SEP] 59, Drawer, -1.560, 0.839, 0.204, 0, 90, 0, [SEP] 60, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0, [SEP] 61, Drawer, -1.560, 0.839, -0.197, 0, 90, 0, [SEP] 62, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0, [SEP] 63, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0, [SEP] 64, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0, [SEP] 65, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0, [SEP] 66, Drawer, 0.949, 0.393, -2.200, 0, 0, 0, [SEP] 67, Drawer, 0.949, 0.708, -2.200, 0, 0, 0, [SEP] 68, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0, [SEP] 69, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0, [SEP] 70, Drawer, 0.949, 0.560, -2.201, 0, 0, 0, [SEP] 71, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0, [SEP] 72, Window, -2.230, 1.429, -1.203, 0, 0, 0, [SEP] 73, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0, [SEP] 74, Sink, -1.899, 0.964, -1.5, 0, 90, 0, [SEP] 75, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0, [SEP] 76, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0, [SEP] 77, Drawer, -1.560, 0.655, -0.196, 0, 90, 0, [SEP] 78, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0, [SEP] 79, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0, [SEP] 80, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0, [SEP] 81, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0, [SEP] 82, Drawer, 0.949, 0.221, -2.200, 0, 0, 0, [SEP] 83, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0, [SEP] 84, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0, [SEP] 85, Drawer, -1.560, 0.331, -0.196, 0, 90, 0, [SEP] 86, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0, [SEP] 87, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0, [SEP] 88, Microwave, -0.236, 1.689, -2.525, 0, 0, 0, [SEP] 89, Shelf, 1.751, 0.880, -2.560, 0, 0, 0, [SEP] 90, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0, [SEP] 91, Toaster, -1.835, 0.900, 0.134, 0, 90, 0, [SEP] 92, Shelf, 1.750, 0.552, -2.559, 0, 0, 0, [SEP] 93, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0, [SEP] 94, Shelf, 1.750, 0.172, -2.559, 0, 0, 0, [SEP] 95, Fridge, -2.096, 0.0, 1.088, 0, 0, 0, [SEP] 96, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0, [SEP] 97, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0, [SEP] 98, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0, [SEP] 99, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0, [SEP] 100, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0, [SEP] 101, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0, [SEP] 102, Faucet, -2.070, 1.132, -1.514, 0, 0, 0, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: Turn left walk to the end and turn left and get around the counter to in between the two stools. | STEP 2: Grab the cabbage that is nearest to the edge | STEP 3: Turn right and turn right and walk to the refrigerator | STEP 4: Open the refrigerator and put the cabbage on the first shelf, close the refrigerator | STEP 5: Turn left and walk to the sink | STEP 6: Grab the knife from the sink | STEP 7: Turn right and walk to the refrigerator | STEP 8: Open the refrigerator on the left | STEP 9: Put the knife on the first shelf, close the refrigerator, open the refrigerator and grab the knife | STEP 10: Put the knife back on the first shelf, close the refrigerator | STEP 11: Turn around and face the kitchen island | STEP 12: Grab the cabbage in the middle | STEP 13: Turn around to the refrigerator | STEP 14: Open the refrigerator and put the cabbage on the second shelf | STEP 15: Grab the knife on the first shelf and slice the cabbage on the second shelf | STEP 16: Close the refrigerator | END"]} +{"id": "trial_T20190906_181501_970690-1", "input": "Place lettuce into a refrigerator, retrieving a cooled knife from the refrigerator. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -0.5, 0, 270, 0, [SEP] 1, Potato, -1.852, 0.800, -1.673, 0, 90, 0, 97 [SEP] 2, Potato, -2.040, 1.533, 1.260, 0, 90, 0, 95 [SEP] 3, Plate, -1.200, 0.133, -2.453, 0, 0, 0, 80 [SEP] 4, Plate, -0.059, 1.108, -0.759, 0, 0, 0, 62 [SEP] 5, Cup, 0.217, 1.109, -0.759, 0, 0, 0, 62 [SEP] 6, Tomato, 0.453, 0.949, -2.253, 0, 0, 0, 64 [SEP] 7, SaltShaker, -1.740, 0.150, -0.342, 0, 90, 0, 85 [SEP] 8, SaltShaker, -1.693, 0.907, -2.256, 0, 0, 0, 87 [SEP] 9, PepperShaker, -0.059, 1.107, -0.253, 0, 0, 0, 62 [SEP] 10, Bread, -1.774, 0.983, -0.698, 0, 0, 0, 87 [SEP] 11, Lettuce, 0.355, 1.191, 0.251, 0, 0, 0, 62 [SEP] 12, Lettuce, -0.197, 1.191, 0.757, 0, 0, 0, 62 [SEP] 13, Lettuce, 0.217, 1.191, -0.001, 0, 0, 0, 62 [SEP] 14, Apple, -1.982, 1.356, 1.092, 0, 90, 0, 95 [SEP] 15, Apple, -0.197, 1.162, -0.253, 0, 0, 0, 62 [SEP] 16, Knife, 0.217, 1.136, -0.253, 0, 0, 0, 62 [SEP] 17, Fork, 0.355, 1.112, -0.506, 0, 0, 0, 62 [SEP] 18, Spoon, -0.197, 1.112, -0.001, 0, 0, 0, 62 [SEP] 19, Spoon, -1.694, 0.479, -0.293, 0, 90, 0, 77 [SEP] 20, Mug, -2.122, 1.497, 0.925, 0, 90, 0, 95 [SEP] 21, Spatula, 0.453, 0.925, -2.637, 0, 90, 0, 64 [SEP] 22, ButterKnife, -1.908, 0.769, -1.587, 0, 90, 0, 97 [SEP] 23, WineBottle, 1.119, 1.661, -2.564, 0, 0, 0, 84 [SEP] 24, DishSponge, -1.852, 0.769, -1.242, 0, 90, 0, 97 [SEP] 25, DishSponge, -0.059, 1.111, -0.506, 0, 0, 0, 62 [SEP] 26, Bowl, -1.797, 0.766, -1.501, 0, 90, 0, 97 [SEP] 27, Book, -0.335, 1.110, -0.759, 0, 0, 0, 62 [SEP] 28, Glassbottle, 0.324, 0.911, -2.253, 0, 0, 0, 64 [SEP] 29, Knife, -1.609, 0.936, -1.309, 0, 90, 0, 87 [SEP] 30, Bread, -0.522, 1.170, -0.028, 0, 0, 0, 62 [SEP] 31, Fork, -1.143, 0.911, -2.637, 0, 0, 0, 87 [SEP] 32, Potato, -1.995, 0.828, 0.920, 0, 90, 0, 95 [SEP] 33, SoapBottle, -1.740, 0.155, -0.053, 0, 90, 0, 85 [SEP] 34, Kettle, 0.840, 0.911, -2.330, 0, 0, 0, 64 [SEP] 35, Pan, -0.465, 0.950, -2.576, 0, 90, 0, 71 [SEP] 36, Plate, -2.038, 0.537, 0.920, 0, 90, 0, 95 [SEP] 37, Tomato, -1.962, 0.087, 2.029, 0, 270, 0, 93 [SEP] 38, Vase, 2.042, 0.540, -2.495, 0, 0, 0, 92 [SEP] 39, Egg, -2.018, 0.804, -1.760, 0, 90, 0, 97 [SEP] 40, CreditCard, 1.993, 0.877, -2.563, 0, 180, 0, 89 [SEP] 41, Statue, 1.955, 0.168, -2.543, 0, 0, 0, 94 [SEP] 42, WineBottle, -1.104, 0.137, -2.301, 0, 0, 0, 80 [SEP] 43, Pot, -0.036, 0.950, -2.372, 0, 270, 0, 57 [SEP] 44, Spatula, 0.217, 1.126, -0.506, 0, 0, 0, 62 [SEP] 45, PaperTowelRoll, -1.935, 0.152, 2.124, 0, 0, 0, 93 [SEP] 46, Cup, -1.615, 0.127, 0.294, 0, 90, 0, 68 [SEP] 47, Vase, 0.355, 1.109, 0.504, 0, 0, 0, 62 [SEP] 48, Bowl, 0.582, 0.907, -2.637, 0, 0, 0, 64 [SEP] 49, SaltShaker, 0.950, 0.138, -2.286, 0, 0, 0, 82 [SEP] 50, PepperShaker, -0.197, 1.107, 0.504, 0, 0, 0, 62 [SEP] 51, Lettuce, -0.197, 1.191, 0.251, 0, 0, 0, 62 [SEP] 52, ButterKnife, -1.693, 0.911, -2.475, 0, 0, 0, 87 [SEP] 53, Apple, -0.173, 1.841, -2.610, 0, 0, 0, 88 [SEP] 54, DishSponge, -1.855, 0.135, -1.623, 0, 90, 0, 63 [SEP] 55, Spoon, -1.852, 0.770, -1.328, 0, 90, 0, 97 [SEP] 56, Mug, -1.731, 0.956, -0.168, 0, 90, 0, 96 [SEP] 57, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0, [SEP] 58, Drawer, 0.949, 0.832, -2.197, 0, 0, 0, [SEP] 59, Drawer, -1.560, 0.839, 0.204, 0, 90, 0, [SEP] 60, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0, [SEP] 61, Drawer, -1.560, 0.839, -0.197, 0, 90, 0, [SEP] 62, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0, [SEP] 63, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0, [SEP] 64, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0, [SEP] 65, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0, [SEP] 66, Drawer, 0.949, 0.393, -2.200, 0, 0, 0, [SEP] 67, Drawer, 0.949, 0.708, -2.200, 0, 0, 0, [SEP] 68, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0, [SEP] 69, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0, [SEP] 70, Drawer, 0.949, 0.560, -2.201, 0, 0, 0, [SEP] 71, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0, [SEP] 72, Window, -2.230, 1.429, -1.203, 0, 0, 0, [SEP] 73, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0, [SEP] 74, Sink, -1.899, 0.964, -1.5, 0, 90, 0, [SEP] 75, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0, [SEP] 76, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0, [SEP] 77, Drawer, -1.560, 0.655, -0.196, 0, 90, 0, [SEP] 78, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0, [SEP] 79, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0, [SEP] 80, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0, [SEP] 81, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0, [SEP] 82, Drawer, 0.949, 0.221, -2.200, 0, 0, 0, [SEP] 83, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0, [SEP] 84, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0, [SEP] 85, Drawer, -1.560, 0.331, -0.196, 0, 90, 0, [SEP] 86, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0, [SEP] 87, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0, [SEP] 88, Microwave, -0.236, 1.689, -2.525, 0, 0, 0, [SEP] 89, Shelf, 1.751, 0.880, -2.560, 0, 0, 0, [SEP] 90, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0, [SEP] 91, Toaster, -1.835, 0.900, 0.134, 0, 90, 0, [SEP] 92, Shelf, 1.750, 0.552, -2.559, 0, 0, 0, [SEP] 93, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0, [SEP] 94, Shelf, 1.750, 0.172, -2.559, 0, 0, 0, [SEP] 95, Fridge, -2.096, 0.0, 1.088, 0, 0, 0, [SEP] 96, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0, [SEP] 97, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0, [SEP] 98, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0, [SEP] 99, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0, [SEP] 100, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0, [SEP] 101, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0, [SEP] 102, Faucet, -2.070, 1.132, -1.514, 0, 0, 0, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: Back up, turn around to the left, walk around the island to the very end. | STEP 2: Turn toward the left to face the end of the island and pick up the lettuce. | STEP 3: Turn around to the right and walk to the refrigerator. | STEP 4: Open the refrigerator and place the lettuce on the top shelf. | STEP 5: Close the refrigerator, turn to the left and walk to the sink. | STEP 6: Pick up the solid silver knife that is in the sink basin. | STEP 7: Turn right and walk back to the refrigerator. | STEP 8: Open the refrigerator and place the knife on the top shelf. | STEP 9: Close the refrigerator, open the refrigerator, and take the knife out. | STEP 10: Replace the knife into the refrigerator and close the door. | STEP 11: Turn around to the left and face the island. | STEP 12: Pick up the lettuce that is between the salt shaker and spoon | STEP 13: Turn around to the right to face the refrigerator. | STEP 14: Open the door and place the lettuce inside. | STEP 15: Grab the knife from the refrigerator. | STEP 16: Close the refrigerator door. | END"]} +{"id": "trial_T20190906_181501_970690-2", "input": "Move a butter knife and two heads of lettuce to the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -0.5, 0, 270, 0, [SEP] 1, Potato, -1.852, 0.800, -1.673, 0, 90, 0, 97 [SEP] 2, Potato, -2.040, 1.533, 1.260, 0, 90, 0, 95 [SEP] 3, Plate, -1.200, 0.133, -2.453, 0, 0, 0, 80 [SEP] 4, Plate, -0.059, 1.108, -0.759, 0, 0, 0, 62 [SEP] 5, Cup, 0.217, 1.109, -0.759, 0, 0, 0, 62 [SEP] 6, Tomato, 0.453, 0.949, -2.253, 0, 0, 0, 64 [SEP] 7, SaltShaker, -1.740, 0.150, -0.342, 0, 90, 0, 85 [SEP] 8, SaltShaker, -1.693, 0.907, -2.256, 0, 0, 0, 87 [SEP] 9, PepperShaker, -0.059, 1.107, -0.253, 0, 0, 0, 62 [SEP] 10, Bread, -1.774, 0.983, -0.698, 0, 0, 0, 87 [SEP] 11, Lettuce, 0.355, 1.191, 0.251, 0, 0, 0, 62 [SEP] 12, Lettuce, -0.197, 1.191, 0.757, 0, 0, 0, 62 [SEP] 13, Lettuce, 0.217, 1.191, -0.001, 0, 0, 0, 62 [SEP] 14, Apple, -1.982, 1.356, 1.092, 0, 90, 0, 95 [SEP] 15, Apple, -0.197, 1.162, -0.253, 0, 0, 0, 62 [SEP] 16, Knife, 0.217, 1.136, -0.253, 0, 0, 0, 62 [SEP] 17, Fork, 0.355, 1.112, -0.506, 0, 0, 0, 62 [SEP] 18, Spoon, -0.197, 1.112, -0.001, 0, 0, 0, 62 [SEP] 19, Spoon, -1.694, 0.479, -0.293, 0, 90, 0, 77 [SEP] 20, Mug, -2.122, 1.497, 0.925, 0, 90, 0, 95 [SEP] 21, Spatula, 0.453, 0.925, -2.637, 0, 90, 0, 64 [SEP] 22, ButterKnife, -1.908, 0.769, -1.587, 0, 90, 0, 97 [SEP] 23, WineBottle, 1.119, 1.661, -2.564, 0, 0, 0, 84 [SEP] 24, DishSponge, -1.852, 0.769, -1.242, 0, 90, 0, 97 [SEP] 25, DishSponge, -0.059, 1.111, -0.506, 0, 0, 0, 62 [SEP] 26, Bowl, -1.797, 0.766, -1.501, 0, 90, 0, 97 [SEP] 27, Book, -0.335, 1.110, -0.759, 0, 0, 0, 62 [SEP] 28, Glassbottle, 0.324, 0.911, -2.253, 0, 0, 0, 64 [SEP] 29, Knife, -1.609, 0.936, -1.309, 0, 90, 0, 87 [SEP] 30, Bread, -0.522, 1.170, -0.028, 0, 0, 0, 62 [SEP] 31, Fork, -1.143, 0.911, -2.637, 0, 0, 0, 87 [SEP] 32, Potato, -1.995, 0.828, 0.920, 0, 90, 0, 95 [SEP] 33, SoapBottle, -1.740, 0.155, -0.053, 0, 90, 0, 85 [SEP] 34, Kettle, 0.840, 0.911, -2.330, 0, 0, 0, 64 [SEP] 35, Pan, -0.465, 0.950, -2.576, 0, 90, 0, 71 [SEP] 36, Plate, -2.038, 0.537, 0.920, 0, 90, 0, 95 [SEP] 37, Tomato, -1.962, 0.087, 2.029, 0, 270, 0, 93 [SEP] 38, Vase, 2.042, 0.540, -2.495, 0, 0, 0, 92 [SEP] 39, Egg, -2.018, 0.804, -1.760, 0, 90, 0, 97 [SEP] 40, CreditCard, 1.993, 0.877, -2.563, 0, 180, 0, 89 [SEP] 41, Statue, 1.955, 0.168, -2.543, 0, 0, 0, 94 [SEP] 42, WineBottle, -1.104, 0.137, -2.301, 0, 0, 0, 80 [SEP] 43, Pot, -0.036, 0.950, -2.372, 0, 270, 0, 57 [SEP] 44, Spatula, 0.217, 1.126, -0.506, 0, 0, 0, 62 [SEP] 45, PaperTowelRoll, -1.935, 0.152, 2.124, 0, 0, 0, 93 [SEP] 46, Cup, -1.615, 0.127, 0.294, 0, 90, 0, 68 [SEP] 47, Vase, 0.355, 1.109, 0.504, 0, 0, 0, 62 [SEP] 48, Bowl, 0.582, 0.907, -2.637, 0, 0, 0, 64 [SEP] 49, SaltShaker, 0.950, 0.138, -2.286, 0, 0, 0, 82 [SEP] 50, PepperShaker, -0.197, 1.107, 0.504, 0, 0, 0, 62 [SEP] 51, Lettuce, -0.197, 1.191, 0.251, 0, 0, 0, 62 [SEP] 52, ButterKnife, -1.693, 0.911, -2.475, 0, 0, 0, 87 [SEP] 53, Apple, -0.173, 1.841, -2.610, 0, 0, 0, 88 [SEP] 54, DishSponge, -1.855, 0.135, -1.623, 0, 90, 0, 63 [SEP] 55, Spoon, -1.852, 0.770, -1.328, 0, 90, 0, 97 [SEP] 56, Mug, -1.731, 0.956, -0.168, 0, 90, 0, 96 [SEP] 57, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0, [SEP] 58, Drawer, 0.949, 0.832, -2.197, 0, 0, 0, [SEP] 59, Drawer, -1.560, 0.839, 0.204, 0, 90, 0, [SEP] 60, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0, [SEP] 61, Drawer, -1.560, 0.839, -0.197, 0, 90, 0, [SEP] 62, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0, [SEP] 63, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0, [SEP] 64, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0, [SEP] 65, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0, [SEP] 66, Drawer, 0.949, 0.393, -2.200, 0, 0, 0, [SEP] 67, Drawer, 0.949, 0.708, -2.200, 0, 0, 0, [SEP] 68, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0, [SEP] 69, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0, [SEP] 70, Drawer, 0.949, 0.560, -2.201, 0, 0, 0, [SEP] 71, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0, [SEP] 72, Window, -2.230, 1.429, -1.203, 0, 0, 0, [SEP] 73, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0, [SEP] 74, Sink, -1.899, 0.964, -1.5, 0, 90, 0, [SEP] 75, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0, [SEP] 76, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0, [SEP] 77, Drawer, -1.560, 0.655, -0.196, 0, 90, 0, [SEP] 78, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0, [SEP] 79, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0, [SEP] 80, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0, [SEP] 81, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0, [SEP] 82, Drawer, 0.949, 0.221, -2.200, 0, 0, 0, [SEP] 83, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0, [SEP] 84, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0, [SEP] 85, Drawer, -1.560, 0.331, -0.196, 0, 90, 0, [SEP] 86, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0, [SEP] 87, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0, [SEP] 88, Microwave, -0.236, 1.689, -2.525, 0, 0, 0, [SEP] 89, Shelf, 1.751, 0.880, -2.560, 0, 0, 0, [SEP] 90, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0, [SEP] 91, Toaster, -1.835, 0.900, 0.134, 0, 90, 0, [SEP] 92, Shelf, 1.750, 0.552, -2.559, 0, 0, 0, [SEP] 93, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0, [SEP] 94, Shelf, 1.750, 0.172, -2.559, 0, 0, 0, [SEP] 95, Fridge, -2.096, 0.0, 1.088, 0, 0, 0, [SEP] 96, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0, [SEP] 97, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0, [SEP] 98, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0, [SEP] 99, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0, [SEP] 100, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0, [SEP] 101, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0, [SEP] 102, Faucet, -2.070, 1.132, -1.514, 0, 0, 0, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and turn around so that you can walk to the other side of the kitchen island where the barstools sit. | STEP 2: Pick up the lettuce that is closest to you on the right. | STEP 3: Turn around completely, turn left to move past the barstool, turn left again to walk past the island, and walk up to the fridge. | STEP 4: Place the lettuce to the right of the potato before closing the fridge door. | STEP 5: Turn to your left, walking forward a bit before turning right to face the kitchen sink. | STEP 6: Pick up the butter knife that is in the kitchen sink. | STEP 7: Turn to the right, walk to the end of the kitchen island, then turn left to face the fridge. | STEP 8: Open up the refrigerator door in front of you. | STEP 9: Cool off the butter knife in the fridge. | STEP 10: Take the butter knife out of the fridge, put it back down, and close the door. | STEP 11: Turn left, walk forward a few steps, then turn left again to face the kitchen island. | STEP 12: Pick up the middle head of lettuce that is on the island. | STEP 13: Turn to your left, walk to the end of the kitchen island, then left again to face the fridge. | STEP 14: Place the lettuce to the right of the plate in the fridge. | STEP 15: Take the butter knife out of the refrigerator. | STEP 16: Close the fridge door that is in front of you. | END"]} +{"id": "trial_T20190906_181501_970690-3", "input": "Put two heads of lettuce with a knife into the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -0.5, 0, 270, 0, [SEP] 1, Potato, -1.852, 0.800, -1.673, 0, 90, 0, 97 [SEP] 2, Potato, -2.040, 1.533, 1.260, 0, 90, 0, 95 [SEP] 3, Plate, -1.200, 0.133, -2.453, 0, 0, 0, 80 [SEP] 4, Plate, -0.059, 1.108, -0.759, 0, 0, 0, 62 [SEP] 5, Cup, 0.217, 1.109, -0.759, 0, 0, 0, 62 [SEP] 6, Tomato, 0.453, 0.949, -2.253, 0, 0, 0, 64 [SEP] 7, SaltShaker, -1.740, 0.150, -0.342, 0, 90, 0, 85 [SEP] 8, SaltShaker, -1.693, 0.907, -2.256, 0, 0, 0, 87 [SEP] 9, PepperShaker, -0.059, 1.107, -0.253, 0, 0, 0, 62 [SEP] 10, Bread, -1.774, 0.983, -0.698, 0, 0, 0, 87 [SEP] 11, Lettuce, 0.355, 1.191, 0.251, 0, 0, 0, 62 [SEP] 12, Lettuce, -0.197, 1.191, 0.757, 0, 0, 0, 62 [SEP] 13, Lettuce, 0.217, 1.191, -0.001, 0, 0, 0, 62 [SEP] 14, Apple, -1.982, 1.356, 1.092, 0, 90, 0, 95 [SEP] 15, Apple, -0.197, 1.162, -0.253, 0, 0, 0, 62 [SEP] 16, Knife, 0.217, 1.136, -0.253, 0, 0, 0, 62 [SEP] 17, Fork, 0.355, 1.112, -0.506, 0, 0, 0, 62 [SEP] 18, Spoon, -0.197, 1.112, -0.001, 0, 0, 0, 62 [SEP] 19, Spoon, -1.694, 0.479, -0.293, 0, 90, 0, 77 [SEP] 20, Mug, -2.122, 1.497, 0.925, 0, 90, 0, 95 [SEP] 21, Spatula, 0.453, 0.925, -2.637, 0, 90, 0, 64 [SEP] 22, ButterKnife, -1.908, 0.769, -1.587, 0, 90, 0, 97 [SEP] 23, WineBottle, 1.119, 1.661, -2.564, 0, 0, 0, 84 [SEP] 24, DishSponge, -1.852, 0.769, -1.242, 0, 90, 0, 97 [SEP] 25, DishSponge, -0.059, 1.111, -0.506, 0, 0, 0, 62 [SEP] 26, Bowl, -1.797, 0.766, -1.501, 0, 90, 0, 97 [SEP] 27, Book, -0.335, 1.110, -0.759, 0, 0, 0, 62 [SEP] 28, Glassbottle, 0.324, 0.911, -2.253, 0, 0, 0, 64 [SEP] 29, Knife, -1.609, 0.936, -1.309, 0, 90, 0, 87 [SEP] 30, Bread, -0.522, 1.170, -0.028, 0, 0, 0, 62 [SEP] 31, Fork, -1.143, 0.911, -2.637, 0, 0, 0, 87 [SEP] 32, Potato, -1.995, 0.828, 0.920, 0, 90, 0, 95 [SEP] 33, SoapBottle, -1.740, 0.155, -0.053, 0, 90, 0, 85 [SEP] 34, Kettle, 0.840, 0.911, -2.330, 0, 0, 0, 64 [SEP] 35, Pan, -0.465, 0.950, -2.576, 0, 90, 0, 71 [SEP] 36, Plate, -2.038, 0.537, 0.920, 0, 90, 0, 95 [SEP] 37, Tomato, -1.962, 0.087, 2.029, 0, 270, 0, 93 [SEP] 38, Vase, 2.042, 0.540, -2.495, 0, 0, 0, 92 [SEP] 39, Egg, -2.018, 0.804, -1.760, 0, 90, 0, 97 [SEP] 40, CreditCard, 1.993, 0.877, -2.563, 0, 180, 0, 89 [SEP] 41, Statue, 1.955, 0.168, -2.543, 0, 0, 0, 94 [SEP] 42, WineBottle, -1.104, 0.137, -2.301, 0, 0, 0, 80 [SEP] 43, Pot, -0.036, 0.950, -2.372, 0, 270, 0, 57 [SEP] 44, Spatula, 0.217, 1.126, -0.506, 0, 0, 0, 62 [SEP] 45, PaperTowelRoll, -1.935, 0.152, 2.124, 0, 0, 0, 93 [SEP] 46, Cup, -1.615, 0.127, 0.294, 0, 90, 0, 68 [SEP] 47, Vase, 0.355, 1.109, 0.504, 0, 0, 0, 62 [SEP] 48, Bowl, 0.582, 0.907, -2.637, 0, 0, 0, 64 [SEP] 49, SaltShaker, 0.950, 0.138, -2.286, 0, 0, 0, 82 [SEP] 50, PepperShaker, -0.197, 1.107, 0.504, 0, 0, 0, 62 [SEP] 51, Lettuce, -0.197, 1.191, 0.251, 0, 0, 0, 62 [SEP] 52, ButterKnife, -1.693, 0.911, -2.475, 0, 0, 0, 87 [SEP] 53, Apple, -0.173, 1.841, -2.610, 0, 0, 0, 88 [SEP] 54, DishSponge, -1.855, 0.135, -1.623, 0, 90, 0, 63 [SEP] 55, Spoon, -1.852, 0.770, -1.328, 0, 90, 0, 97 [SEP] 56, Mug, -1.731, 0.956, -0.168, 0, 90, 0, 96 [SEP] 57, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0, [SEP] 58, Drawer, 0.949, 0.832, -2.197, 0, 0, 0, [SEP] 59, Drawer, -1.560, 0.839, 0.204, 0, 90, 0, [SEP] 60, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0, [SEP] 61, Drawer, -1.560, 0.839, -0.197, 0, 90, 0, [SEP] 62, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0, [SEP] 63, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0, [SEP] 64, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0, [SEP] 65, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0, [SEP] 66, Drawer, 0.949, 0.393, -2.200, 0, 0, 0, [SEP] 67, Drawer, 0.949, 0.708, -2.200, 0, 0, 0, [SEP] 68, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0, [SEP] 69, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0, [SEP] 70, Drawer, 0.949, 0.560, -2.201, 0, 0, 0, [SEP] 71, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0, [SEP] 72, Window, -2.230, 1.429, -1.203, 0, 0, 0, [SEP] 73, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0, [SEP] 74, Sink, -1.899, 0.964, -1.5, 0, 90, 0, [SEP] 75, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0, [SEP] 76, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0, [SEP] 77, Drawer, -1.560, 0.655, -0.196, 0, 90, 0, [SEP] 78, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0, [SEP] 79, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0, [SEP] 80, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0, [SEP] 81, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0, [SEP] 82, Drawer, 0.949, 0.221, -2.200, 0, 0, 0, [SEP] 83, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0, [SEP] 84, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0, [SEP] 85, Drawer, -1.560, 0.331, -0.196, 0, 90, 0, [SEP] 86, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0, [SEP] 87, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0, [SEP] 88, Microwave, -0.236, 1.689, -2.525, 0, 0, 0, [SEP] 89, Shelf, 1.751, 0.880, -2.560, 0, 0, 0, [SEP] 90, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0, [SEP] 91, Toaster, -1.835, 0.900, 0.134, 0, 90, 0, [SEP] 92, Shelf, 1.750, 0.552, -2.559, 0, 0, 0, [SEP] 93, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0, [SEP] 94, Shelf, 1.750, 0.172, -2.559, 0, 0, 0, [SEP] 95, Fridge, -2.096, 0.0, 1.088, 0, 0, 0, [SEP] 96, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0, [SEP] 97, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0, [SEP] 98, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0, [SEP] 99, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0, [SEP] 100, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0, [SEP] 101, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0, [SEP] 102, Faucet, -2.070, 1.132, -1.514, 0, 0, 0, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, hang a left at the counter, take a left at the wall towards the black chairs and turn left to face the counter. | STEP 2: Pick up the head of lettuce to the far right near the edge of the counter. | STEP 3: Turn around to face the brown door, turn left, hang a left at the wall, go towards the white fridge, turn left and face the white fridge on your right. | STEP 4: Open the fridge door, place the lettuce to the right of the potato on the top shelf and close the door. | STEP 5: Turn left, cross the room until you reach the counter and turn right to face the sink. | STEP 6: Pick up the knife from inside the sink behind the potato. | STEP 7: Turn right, go towards the white fridge and turn right to face the fridge. | STEP 8: Open the door and pull the head of lettuce towards you a little bit. | STEP 9: Place the knife onto the shelf in front of the lettuce, close the door to let the knife get cold, then open the door and pick up the knife. | STEP 10: Put the knife back down onto the top shelf in front of the lettuce and close the door. | STEP 11: Turn left, go towards the loaf of bread on the counter to your left side. | STEP 12: Pick up the head of lettuce between the salt shaker and the spoon in the middle of the counter. | STEP 13: Turn left, head towards the wall and turn left to face the white fridge. | STEP 14: Open the door and place the lettuce on the middle shelf to the right of the white plate. | STEP 15: Pick up the silver knife from the top shelf in front of the lettuce. | STEP 16: Pull the head of lettuce on the middle shelf next to the plate towards you a little bit towards the edge of the shelf and close the door. | END"]} +{"id": "trial_T20190906_181501_970690-4", "input": "Put both lettuce in the fridge, slice both lettuce SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -0.5, 0, 270, 0, [SEP] 1, Potato, -1.852, 0.800, -1.673, 0, 90, 0, 97 [SEP] 2, Potato, -2.040, 1.533, 1.260, 0, 90, 0, 95 [SEP] 3, Plate, -1.200, 0.133, -2.453, 0, 0, 0, 80 [SEP] 4, Plate, -0.059, 1.108, -0.759, 0, 0, 0, 62 [SEP] 5, Cup, 0.217, 1.109, -0.759, 0, 0, 0, 62 [SEP] 6, Tomato, 0.453, 0.949, -2.253, 0, 0, 0, 64 [SEP] 7, SaltShaker, -1.740, 0.150, -0.342, 0, 90, 0, 85 [SEP] 8, SaltShaker, -1.693, 0.907, -2.256, 0, 0, 0, 87 [SEP] 9, PepperShaker, -0.059, 1.107, -0.253, 0, 0, 0, 62 [SEP] 10, Bread, -1.774, 0.983, -0.698, 0, 0, 0, 87 [SEP] 11, Lettuce, 0.355, 1.191, 0.251, 0, 0, 0, 62 [SEP] 12, Lettuce, -0.197, 1.191, 0.757, 0, 0, 0, 62 [SEP] 13, Lettuce, 0.217, 1.191, -0.001, 0, 0, 0, 62 [SEP] 14, Apple, -1.982, 1.356, 1.092, 0, 90, 0, 95 [SEP] 15, Apple, -0.197, 1.162, -0.253, 0, 0, 0, 62 [SEP] 16, Knife, 0.217, 1.136, -0.253, 0, 0, 0, 62 [SEP] 17, Fork, 0.355, 1.112, -0.506, 0, 0, 0, 62 [SEP] 18, Spoon, -0.197, 1.112, -0.001, 0, 0, 0, 62 [SEP] 19, Spoon, -1.694, 0.479, -0.293, 0, 90, 0, 77 [SEP] 20, Mug, -2.122, 1.497, 0.925, 0, 90, 0, 95 [SEP] 21, Spatula, 0.453, 0.925, -2.637, 0, 90, 0, 64 [SEP] 22, ButterKnife, -1.908, 0.769, -1.587, 0, 90, 0, 97 [SEP] 23, WineBottle, 1.119, 1.661, -2.564, 0, 0, 0, 84 [SEP] 24, DishSponge, -1.852, 0.769, -1.242, 0, 90, 0, 97 [SEP] 25, DishSponge, -0.059, 1.111, -0.506, 0, 0, 0, 62 [SEP] 26, Bowl, -1.797, 0.766, -1.501, 0, 90, 0, 97 [SEP] 27, Book, -0.335, 1.110, -0.759, 0, 0, 0, 62 [SEP] 28, Glassbottle, 0.324, 0.911, -2.253, 0, 0, 0, 64 [SEP] 29, Knife, -1.609, 0.936, -1.309, 0, 90, 0, 87 [SEP] 30, Bread, -0.522, 1.170, -0.028, 0, 0, 0, 62 [SEP] 31, Fork, -1.143, 0.911, -2.637, 0, 0, 0, 87 [SEP] 32, Potato, -1.995, 0.828, 0.920, 0, 90, 0, 95 [SEP] 33, SoapBottle, -1.740, 0.155, -0.053, 0, 90, 0, 85 [SEP] 34, Kettle, 0.840, 0.911, -2.330, 0, 0, 0, 64 [SEP] 35, Pan, -0.465, 0.950, -2.576, 0, 90, 0, 71 [SEP] 36, Plate, -2.038, 0.537, 0.920, 0, 90, 0, 95 [SEP] 37, Tomato, -1.962, 0.087, 2.029, 0, 270, 0, 93 [SEP] 38, Vase, 2.042, 0.540, -2.495, 0, 0, 0, 92 [SEP] 39, Egg, -2.018, 0.804, -1.760, 0, 90, 0, 97 [SEP] 40, CreditCard, 1.993, 0.877, -2.563, 0, 180, 0, 89 [SEP] 41, Statue, 1.955, 0.168, -2.543, 0, 0, 0, 94 [SEP] 42, WineBottle, -1.104, 0.137, -2.301, 0, 0, 0, 80 [SEP] 43, Pot, -0.036, 0.950, -2.372, 0, 270, 0, 57 [SEP] 44, Spatula, 0.217, 1.126, -0.506, 0, 0, 0, 62 [SEP] 45, PaperTowelRoll, -1.935, 0.152, 2.124, 0, 0, 0, 93 [SEP] 46, Cup, -1.615, 0.127, 0.294, 0, 90, 0, 68 [SEP] 47, Vase, 0.355, 1.109, 0.504, 0, 0, 0, 62 [SEP] 48, Bowl, 0.582, 0.907, -2.637, 0, 0, 0, 64 [SEP] 49, SaltShaker, 0.950, 0.138, -2.286, 0, 0, 0, 82 [SEP] 50, PepperShaker, -0.197, 1.107, 0.504, 0, 0, 0, 62 [SEP] 51, Lettuce, -0.197, 1.191, 0.251, 0, 0, 0, 62 [SEP] 52, ButterKnife, -1.693, 0.911, -2.475, 0, 0, 0, 87 [SEP] 53, Apple, -0.173, 1.841, -2.610, 0, 0, 0, 88 [SEP] 54, DishSponge, -1.855, 0.135, -1.623, 0, 90, 0, 63 [SEP] 55, Spoon, -1.852, 0.770, -1.328, 0, 90, 0, 97 [SEP] 56, Mug, -1.731, 0.956, -0.168, 0, 90, 0, 96 [SEP] 57, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0, [SEP] 58, Drawer, 0.949, 0.832, -2.197, 0, 0, 0, [SEP] 59, Drawer, -1.560, 0.839, 0.204, 0, 90, 0, [SEP] 60, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0, [SEP] 61, Drawer, -1.560, 0.839, -0.197, 0, 90, 0, [SEP] 62, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0, [SEP] 63, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0, [SEP] 64, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0, [SEP] 65, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0, [SEP] 66, Drawer, 0.949, 0.393, -2.200, 0, 0, 0, [SEP] 67, Drawer, 0.949, 0.708, -2.200, 0, 0, 0, [SEP] 68, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0, [SEP] 69, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0, [SEP] 70, Drawer, 0.949, 0.560, -2.201, 0, 0, 0, [SEP] 71, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0, [SEP] 72, Window, -2.230, 1.429, -1.203, 0, 0, 0, [SEP] 73, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0, [SEP] 74, Sink, -1.899, 0.964, -1.5, 0, 90, 0, [SEP] 75, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0, [SEP] 76, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0, [SEP] 77, Drawer, -1.560, 0.655, -0.196, 0, 90, 0, [SEP] 78, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0, [SEP] 79, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0, [SEP] 80, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0, [SEP] 81, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0, [SEP] 82, Drawer, 0.949, 0.221, -2.200, 0, 0, 0, [SEP] 83, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0, [SEP] 84, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0, [SEP] 85, Drawer, -1.560, 0.331, -0.196, 0, 90, 0, [SEP] 86, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0, [SEP] 87, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0, [SEP] 88, Microwave, -0.236, 1.689, -2.525, 0, 0, 0, [SEP] 89, Shelf, 1.751, 0.880, -2.560, 0, 0, 0, [SEP] 90, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0, [SEP] 91, Toaster, -1.835, 0.900, 0.134, 0, 90, 0, [SEP] 92, Shelf, 1.750, 0.552, -2.559, 0, 0, 0, [SEP] 93, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0, [SEP] 94, Shelf, 1.750, 0.172, -2.559, 0, 0, 0, [SEP] 95, Fridge, -2.096, 0.0, 1.088, 0, 0, 0, [SEP] 96, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0, [SEP] 97, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0, [SEP] 98, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0, [SEP] 99, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0, [SEP] 100, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0, [SEP] 101, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0, [SEP] 102, Faucet, -2.070, 1.132, -1.514, 0, 0, 0, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: Walk towards the island counter | STEP 2: Grab a lettuce from the counter | STEP 3: Walk with the lettuce towards the fridge | STEP 4: Put the lettuce on the fridge | STEP 5: Walk towards the sink | STEP 6: Grab a knife from the sink | STEP 7: Walk with the knife towards the fridge | STEP 8: Slice the lettuce in the fridge | STEP 9: Put the knife in the fridge and take it again | STEP 10: Put the knife in the fridge | STEP 11: Walk towards the island counter | STEP 12: Take a lettuce from the counter | STEP 13: Walk towards the fridge with the lettuce | STEP 14: Put the lettuce in the fridge | STEP 15: Take the knife from the fridge | STEP 16: Slice lettuce in the fridge | END"]} +{"id": "trial_T20190906_181501_970690-5", "input": "Hold a knife in front of a closed fridge door. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -0.5, 0, 270, 0, [SEP] 1, Potato, -1.852, 0.800, -1.673, 0, 90, 0, 97 [SEP] 2, Potato, -2.040, 1.533, 1.260, 0, 90, 0, 95 [SEP] 3, Plate, -1.200, 0.133, -2.453, 0, 0, 0, 80 [SEP] 4, Plate, -0.059, 1.108, -0.759, 0, 0, 0, 62 [SEP] 5, Cup, 0.217, 1.109, -0.759, 0, 0, 0, 62 [SEP] 6, Tomato, 0.453, 0.949, -2.253, 0, 0, 0, 64 [SEP] 7, SaltShaker, -1.740, 0.150, -0.342, 0, 90, 0, 85 [SEP] 8, SaltShaker, -1.693, 0.907, -2.256, 0, 0, 0, 87 [SEP] 9, PepperShaker, -0.059, 1.107, -0.253, 0, 0, 0, 62 [SEP] 10, Bread, -1.774, 0.983, -0.698, 0, 0, 0, 87 [SEP] 11, Lettuce, 0.355, 1.191, 0.251, 0, 0, 0, 62 [SEP] 12, Lettuce, -0.197, 1.191, 0.757, 0, 0, 0, 62 [SEP] 13, Lettuce, 0.217, 1.191, -0.001, 0, 0, 0, 62 [SEP] 14, Apple, -1.982, 1.356, 1.092, 0, 90, 0, 95 [SEP] 15, Apple, -0.197, 1.162, -0.253, 0, 0, 0, 62 [SEP] 16, Knife, 0.217, 1.136, -0.253, 0, 0, 0, 62 [SEP] 17, Fork, 0.355, 1.112, -0.506, 0, 0, 0, 62 [SEP] 18, Spoon, -0.197, 1.112, -0.001, 0, 0, 0, 62 [SEP] 19, Spoon, -1.694, 0.479, -0.293, 0, 90, 0, 77 [SEP] 20, Mug, -2.122, 1.497, 0.925, 0, 90, 0, 95 [SEP] 21, Spatula, 0.453, 0.925, -2.637, 0, 90, 0, 64 [SEP] 22, ButterKnife, -1.908, 0.769, -1.587, 0, 90, 0, 97 [SEP] 23, WineBottle, 1.119, 1.661, -2.564, 0, 0, 0, 84 [SEP] 24, DishSponge, -1.852, 0.769, -1.242, 0, 90, 0, 97 [SEP] 25, DishSponge, -0.059, 1.111, -0.506, 0, 0, 0, 62 [SEP] 26, Bowl, -1.797, 0.766, -1.501, 0, 90, 0, 97 [SEP] 27, Book, -0.335, 1.110, -0.759, 0, 0, 0, 62 [SEP] 28, Glassbottle, 0.324, 0.911, -2.253, 0, 0, 0, 64 [SEP] 29, Knife, -1.609, 0.936, -1.309, 0, 90, 0, 87 [SEP] 30, Bread, -0.522, 1.170, -0.028, 0, 0, 0, 62 [SEP] 31, Fork, -1.143, 0.911, -2.637, 0, 0, 0, 87 [SEP] 32, Potato, -1.995, 0.828, 0.920, 0, 90, 0, 95 [SEP] 33, SoapBottle, -1.740, 0.155, -0.053, 0, 90, 0, 85 [SEP] 34, Kettle, 0.840, 0.911, -2.330, 0, 0, 0, 64 [SEP] 35, Pan, -0.465, 0.950, -2.576, 0, 90, 0, 71 [SEP] 36, Plate, -2.038, 0.537, 0.920, 0, 90, 0, 95 [SEP] 37, Tomato, -1.962, 0.087, 2.029, 0, 270, 0, 93 [SEP] 38, Vase, 2.042, 0.540, -2.495, 0, 0, 0, 92 [SEP] 39, Egg, -2.018, 0.804, -1.760, 0, 90, 0, 97 [SEP] 40, CreditCard, 1.993, 0.877, -2.563, 0, 180, 0, 89 [SEP] 41, Statue, 1.955, 0.168, -2.543, 0, 0, 0, 94 [SEP] 42, WineBottle, -1.104, 0.137, -2.301, 0, 0, 0, 80 [SEP] 43, Pot, -0.036, 0.950, -2.372, 0, 270, 0, 57 [SEP] 44, Spatula, 0.217, 1.126, -0.506, 0, 0, 0, 62 [SEP] 45, PaperTowelRoll, -1.935, 0.152, 2.124, 0, 0, 0, 93 [SEP] 46, Cup, -1.615, 0.127, 0.294, 0, 90, 0, 68 [SEP] 47, Vase, 0.355, 1.109, 0.504, 0, 0, 0, 62 [SEP] 48, Bowl, 0.582, 0.907, -2.637, 0, 0, 0, 64 [SEP] 49, SaltShaker, 0.950, 0.138, -2.286, 0, 0, 0, 82 [SEP] 50, PepperShaker, -0.197, 1.107, 0.504, 0, 0, 0, 62 [SEP] 51, Lettuce, -0.197, 1.191, 0.251, 0, 0, 0, 62 [SEP] 52, ButterKnife, -1.693, 0.911, -2.475, 0, 0, 0, 87 [SEP] 53, Apple, -0.173, 1.841, -2.610, 0, 0, 0, 88 [SEP] 54, DishSponge, -1.855, 0.135, -1.623, 0, 90, 0, 63 [SEP] 55, Spoon, -1.852, 0.770, -1.328, 0, 90, 0, 97 [SEP] 56, Mug, -1.731, 0.956, -0.168, 0, 90, 0, 96 [SEP] 57, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0, [SEP] 58, Drawer, 0.949, 0.832, -2.197, 0, 0, 0, [SEP] 59, Drawer, -1.560, 0.839, 0.204, 0, 90, 0, [SEP] 60, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0, [SEP] 61, Drawer, -1.560, 0.839, -0.197, 0, 90, 0, [SEP] 62, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0, [SEP] 63, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0, [SEP] 64, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0, [SEP] 65, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0, [SEP] 66, Drawer, 0.949, 0.393, -2.200, 0, 0, 0, [SEP] 67, Drawer, 0.949, 0.708, -2.200, 0, 0, 0, [SEP] 68, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0, [SEP] 69, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0, [SEP] 70, Drawer, 0.949, 0.560, -2.201, 0, 0, 0, [SEP] 71, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0, [SEP] 72, Window, -2.230, 1.429, -1.203, 0, 0, 0, [SEP] 73, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0, [SEP] 74, Sink, -1.899, 0.964, -1.5, 0, 90, 0, [SEP] 75, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0, [SEP] 76, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0, [SEP] 77, Drawer, -1.560, 0.655, -0.196, 0, 90, 0, [SEP] 78, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0, [SEP] 79, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0, [SEP] 80, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0, [SEP] 81, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0, [SEP] 82, Drawer, 0.949, 0.221, -2.200, 0, 0, 0, [SEP] 83, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0, [SEP] 84, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0, [SEP] 85, Drawer, -1.560, 0.331, -0.196, 0, 90, 0, [SEP] 86, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0, [SEP] 87, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0, [SEP] 88, Microwave, -0.236, 1.689, -2.525, 0, 0, 0, [SEP] 89, Shelf, 1.751, 0.880, -2.560, 0, 0, 0, [SEP] 90, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0, [SEP] 91, Toaster, -1.835, 0.900, 0.134, 0, 90, 0, [SEP] 92, Shelf, 1.750, 0.552, -2.559, 0, 0, 0, [SEP] 93, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0, [SEP] 94, Shelf, 1.750, 0.172, -2.559, 0, 0, 0, [SEP] 95, Fridge, -2.096, 0.0, 1.088, 0, 0, 0, [SEP] 96, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0, [SEP] 97, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0, [SEP] 98, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0, [SEP] 99, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0, [SEP] 100, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0, [SEP] 101, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0, [SEP] 102, Faucet, -2.070, 1.132, -1.514, 0, 0, 0, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk around to the other side of the kitchen island. | STEP 2: Pick up the lettuce closest to you. | STEP 3: Turn around and take the lettuce to the fridge. | STEP 4: Open the fridge and put the lettuce on the top shelf to the right of the kiwi. Close the fridge door. | STEP 5: Turn left and walk to the sink. | STEP 6: Pick up the knife in the sink behind the kiwi. | STEP 7: Turn right and walk back to the fridge. | STEP 8: Open the fridge and pull the lettuce on the top shelf forward. | STEP 9: Place the knife horizontally on the top shelf in front of the lettuce. Close the door then open it again, then pick up the knife again. | STEP 10: Put the knife back down in front of the lettuce on the top shelf and close the door. | STEP 11: Turn around and face the kitchen island. | STEP 12: Pick up the lettuce to the right of the pepper on the island. | STEP 13: Turn around to take the lettuce to the fridge. | STEP 14: Open the fridge and place the lettuce on the second shelf to the right of the plate. | STEP 15: Pick up the knife from the top shelf and adjust the lettuce on the second shelf. | STEP 16: Close the door of the fridge. | END"]} +{"id": "trial_T20190907_161729_798002-0", "input": "Put two dispensers in the bottom drawer of the dresser. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -1.5, 0, 90, 0, [SEP] 1, Cloth, -2.524, 0.085, -0.822, 0, 90, 0, 30 [SEP] 2, SprayBottle, -0.116, 1.162, -3.595, 0, 90, 0, 38 [SEP] 3, SoapBar, -2.649, 0.080, -0.391, 0, 90, 0, 30 [SEP] 4, SoapBottle, -2.841, 0.994, -2.125, 0, 0, 0, 24 [SEP] 5, SoapBottle, -0.148, 1.162, -3.202, 0, 90, 0, 38 [SEP] 6, ToiletPaper, -0.185, 0.875, -3.471, 0, 90, 0, 37 [SEP] 7, HandTowel, -0.038, 1.481, -2.661, 0, 90, 0, 27 [SEP] 8, SoapBar, -2.544, 0.357, -2.714, 0, 0, 0, 22 [SEP] 9, ToiletPaper, -0.103, 0.866, -1.033, 0, 270, 270, 31 [SEP] 10, ToiletPaper, -2.694, 0.989, -2.657, 0, 0, 0, 24 [SEP] 11, Towel, -1.338, 1.193, -0.106, 0, 180, 0, 25 [SEP] 12, SoapBottle, -0.148, 1.166, -3.497, 0, 90, 0, 38 [SEP] 13, ScrubBrush, -0.136, -0.000, -0.105, 0, 0, 0, Floor|-01.15| [SEP] 14, Cloth, -2.768, 0.997, -3.454, 0, 0, 0, 24 [SEP] 15, Plunger, -0.370, -0.000, -0.097, 0, 0, 0, Floor|-01.15| [SEP] 16, Candle, -0.088, 1.043, -0.675, 0, 270, 0, 33 [SEP] 17, SprayBottle, -2.620, 0.993, -2.391, 0, 0, 0, 24 [SEP] 18, Bathtub, -2.104, 0.524, -0.828, 0, 0, 0, [SEP] 19, Faucet, -0.040, 1.017, -2.076, 0, 270, 0, [SEP] 20, Sink, -0.307, 0.0, -2.076, 0, 270, 0, [SEP] 21, Mirror, -2.983, 1.565, -2.900, 0, 0, 0, [SEP] 22, Shelf, -2.581, 0.395, -2.923, 0, 0, 0, [SEP] 23, Shelf, -2.539, 0.130, -2.923, 0, 0, 0, [SEP] 24, CounterTop, -2.704, 1.029, -2.923, 0, 0, 0, [SEP] 25, TowelHolder, -1.338, 1.179, 0.0, 0, 180, 0, [SEP] 26, LightSwitch, -0.363, 1.330, -3.999, 0, 0, 0, [SEP] 27, HandTowelHolder, 0.0, 1.582, -2.661, 0, 180, 0, [SEP] 28, HandTowelHolder, 0.0, 1.582, -1.549, 0, 180, 0, [SEP] 29, SinkBasin, -0.310, 0.859, -2.076, 0, 0, 0, [SEP] 30, BathtubBasin, -2.586, 0.071, -0.801, 0, 90, 0, [SEP] 31, ToiletPaperHanger, 0.0, 0.866, -0.968, 0, 270, 0, [SEP] 32, GarbageCan, -0.266, -0.034, -2.751, 0, 0, 0, [SEP] 33, Toilet, -0.411, -0.000, -0.547, 0, 0, 0, [SEP] 34, Drawer, -0.229, 0.161, -3.398, 0, 270, 0, [SEP] 35, Drawer, -0.229, 0.420, -3.398, 0, 270, 0, [SEP] 36, Drawer, -0.229, 0.680, -3.398, 0, 270, 0, [SEP] 37, Drawer, -0.229, 0.940, -3.398, 0, 270, 0, [SEP] 38, Dresser, -0.205, 0.000, -3.398, 0, 270, 0, [SEP] 39, ShowerHead, -2.579, 1.261, -0.064, 0, 270, 0, [SEP] 40, ShowerCurtain, -2.188, 1.915, -1.560, 0, 0, 0, [SEP] 41, EastWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , ", "output": ["STEP 1: Move to the dresser to the right of the sink | STEP 2: Pick up a dispenser from the dresser | STEP 3: Move to the right of the sink to the left of the dresser | STEP 4: Place the dispenser in the bottom drawer and close it | STEP 5: Move to the shelf behind you | STEP 6: Pick up a dispenser from the shelf | STEP 7: Move to the right of the sink to the left of the dresser | STEP 8: Place the dispenser in the bottom drawer and close it | END"]} +{"id": "trial_T20190907_161729_798002-1", "input": "get two silver bottles with brown pumps, put them in dresser drawer SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -1.5, 0, 90, 0, [SEP] 1, Cloth, -2.524, 0.085, -0.822, 0, 90, 0, 30 [SEP] 2, SprayBottle, -0.116, 1.162, -3.595, 0, 90, 0, 38 [SEP] 3, SoapBar, -2.649, 0.080, -0.391, 0, 90, 0, 30 [SEP] 4, SoapBottle, -2.841, 0.994, -2.125, 0, 0, 0, 24 [SEP] 5, SoapBottle, -0.148, 1.162, -3.202, 0, 90, 0, 38 [SEP] 6, ToiletPaper, -0.185, 0.875, -3.471, 0, 90, 0, 37 [SEP] 7, HandTowel, -0.038, 1.481, -2.661, 0, 90, 0, 27 [SEP] 8, SoapBar, -2.544, 0.357, -2.714, 0, 0, 0, 22 [SEP] 9, ToiletPaper, -0.103, 0.866, -1.033, 0, 270, 270, 31 [SEP] 10, ToiletPaper, -2.694, 0.989, -2.657, 0, 0, 0, 24 [SEP] 11, Towel, -1.338, 1.193, -0.106, 0, 180, 0, 25 [SEP] 12, SoapBottle, -0.148, 1.166, -3.497, 0, 90, 0, 38 [SEP] 13, ScrubBrush, -0.136, -0.000, -0.105, 0, 0, 0, Floor|-01.15| [SEP] 14, Cloth, -2.768, 0.997, -3.454, 0, 0, 0, 24 [SEP] 15, Plunger, -0.370, -0.000, -0.097, 0, 0, 0, Floor|-01.15| [SEP] 16, Candle, -0.088, 1.043, -0.675, 0, 270, 0, 33 [SEP] 17, SprayBottle, -2.620, 0.993, -2.391, 0, 0, 0, 24 [SEP] 18, Bathtub, -2.104, 0.524, -0.828, 0, 0, 0, [SEP] 19, Faucet, -0.040, 1.017, -2.076, 0, 270, 0, [SEP] 20, Sink, -0.307, 0.0, -2.076, 0, 270, 0, [SEP] 21, Mirror, -2.983, 1.565, -2.900, 0, 0, 0, [SEP] 22, Shelf, -2.581, 0.395, -2.923, 0, 0, 0, [SEP] 23, Shelf, -2.539, 0.130, -2.923, 0, 0, 0, [SEP] 24, CounterTop, -2.704, 1.029, -2.923, 0, 0, 0, [SEP] 25, TowelHolder, -1.338, 1.179, 0.0, 0, 180, 0, [SEP] 26, LightSwitch, -0.363, 1.330, -3.999, 0, 0, 0, [SEP] 27, HandTowelHolder, 0.0, 1.582, -2.661, 0, 180, 0, [SEP] 28, HandTowelHolder, 0.0, 1.582, -1.549, 0, 180, 0, [SEP] 29, SinkBasin, -0.310, 0.859, -2.076, 0, 0, 0, [SEP] 30, BathtubBasin, -2.586, 0.071, -0.801, 0, 90, 0, [SEP] 31, ToiletPaperHanger, 0.0, 0.866, -0.968, 0, 270, 0, [SEP] 32, GarbageCan, -0.266, -0.034, -2.751, 0, 0, 0, [SEP] 33, Toilet, -0.411, -0.000, -0.547, 0, 0, 0, [SEP] 34, Drawer, -0.229, 0.161, -3.398, 0, 270, 0, [SEP] 35, Drawer, -0.229, 0.420, -3.398, 0, 270, 0, [SEP] 36, Drawer, -0.229, 0.680, -3.398, 0, 270, 0, [SEP] 37, Drawer, -0.229, 0.940, -3.398, 0, 270, 0, [SEP] 38, Dresser, -0.205, 0.000, -3.398, 0, 270, 0, [SEP] 39, ShowerHead, -2.579, 1.261, -0.064, 0, 270, 0, [SEP] 40, ShowerCurtain, -2.188, 1.915, -1.560, 0, 0, 0, [SEP] 41, EastWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , ", "output": ["STEP 1: turn to the right, walk straight until white dresser drawers are on left side, turn left and face dresser | STEP 2: pick up silver bottle with brown pump from on top of dresser | STEP 3: back up and face sink, garbage can, and dresser | STEP 4: open bottom dresser drawer, place bottle inside, close drawer | STEP 5: turn around, face open white shelves underneath a mirror | STEP 6: pick up silver bottle with brown pump from on top of shelves | STEP 7: turn around, face sink, garbage can, and dresser | STEP 8: open bottom dresser drawer, put bottle inside to the left of the other bottle, close drawer | END"]} +{"id": "trial_T20190907_161729_798002-2", "input": "Move two bottles of lotion into a drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -1.5, 0, 90, 0, [SEP] 1, Cloth, -2.524, 0.085, -0.822, 0, 90, 0, 30 [SEP] 2, SprayBottle, -0.116, 1.162, -3.595, 0, 90, 0, 38 [SEP] 3, SoapBar, -2.649, 0.080, -0.391, 0, 90, 0, 30 [SEP] 4, SoapBottle, -2.841, 0.994, -2.125, 0, 0, 0, 24 [SEP] 5, SoapBottle, -0.148, 1.162, -3.202, 0, 90, 0, 38 [SEP] 6, ToiletPaper, -0.185, 0.875, -3.471, 0, 90, 0, 37 [SEP] 7, HandTowel, -0.038, 1.481, -2.661, 0, 90, 0, 27 [SEP] 8, SoapBar, -2.544, 0.357, -2.714, 0, 0, 0, 22 [SEP] 9, ToiletPaper, -0.103, 0.866, -1.033, 0, 270, 270, 31 [SEP] 10, ToiletPaper, -2.694, 0.989, -2.657, 0, 0, 0, 24 [SEP] 11, Towel, -1.338, 1.193, -0.106, 0, 180, 0, 25 [SEP] 12, SoapBottle, -0.148, 1.166, -3.497, 0, 90, 0, 38 [SEP] 13, ScrubBrush, -0.136, -0.000, -0.105, 0, 0, 0, Floor|-01.15| [SEP] 14, Cloth, -2.768, 0.997, -3.454, 0, 0, 0, 24 [SEP] 15, Plunger, -0.370, -0.000, -0.097, 0, 0, 0, Floor|-01.15| [SEP] 16, Candle, -0.088, 1.043, -0.675, 0, 270, 0, 33 [SEP] 17, SprayBottle, -2.620, 0.993, -2.391, 0, 0, 0, 24 [SEP] 18, Bathtub, -2.104, 0.524, -0.828, 0, 0, 0, [SEP] 19, Faucet, -0.040, 1.017, -2.076, 0, 270, 0, [SEP] 20, Sink, -0.307, 0.0, -2.076, 0, 270, 0, [SEP] 21, Mirror, -2.983, 1.565, -2.900, 0, 0, 0, [SEP] 22, Shelf, -2.581, 0.395, -2.923, 0, 0, 0, [SEP] 23, Shelf, -2.539, 0.130, -2.923, 0, 0, 0, [SEP] 24, CounterTop, -2.704, 1.029, -2.923, 0, 0, 0, [SEP] 25, TowelHolder, -1.338, 1.179, 0.0, 0, 180, 0, [SEP] 26, LightSwitch, -0.363, 1.330, -3.999, 0, 0, 0, [SEP] 27, HandTowelHolder, 0.0, 1.582, -2.661, 0, 180, 0, [SEP] 28, HandTowelHolder, 0.0, 1.582, -1.549, 0, 180, 0, [SEP] 29, SinkBasin, -0.310, 0.859, -2.076, 0, 0, 0, [SEP] 30, BathtubBasin, -2.586, 0.071, -0.801, 0, 90, 0, [SEP] 31, ToiletPaperHanger, 0.0, 0.866, -0.968, 0, 270, 0, [SEP] 32, GarbageCan, -0.266, -0.034, -2.751, 0, 0, 0, [SEP] 33, Toilet, -0.411, -0.000, -0.547, 0, 0, 0, [SEP] 34, Drawer, -0.229, 0.161, -3.398, 0, 270, 0, [SEP] 35, Drawer, -0.229, 0.420, -3.398, 0, 270, 0, [SEP] 36, Drawer, -0.229, 0.680, -3.398, 0, 270, 0, [SEP] 37, Drawer, -0.229, 0.940, -3.398, 0, 270, 0, [SEP] 38, Dresser, -0.205, 0.000, -3.398, 0, 270, 0, [SEP] 39, ShowerHead, -2.579, 1.261, -0.064, 0, 270, 0, [SEP] 40, ShowerCurtain, -2.188, 1.915, -1.560, 0, 0, 0, [SEP] 41, EastWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right and begin walking across the room, then hang a left and walk up to the tall white dresser. | STEP 2: Pick up the rightmost bottle of lotion off of the white dresser. | STEP 3: Turn around walk across the room, then hang a right and walk forward then turn right to face the tall white dresser. | STEP 4: Open the bottom drawer of the tall white dresser and put the bottle of lotion inside all the way to the right. | STEP 5: Turn left and take a step forward, then turn left again and walk up to the white table. | STEP 6: Pick up the bottle of lotion off of the table. | STEP 7: Turn left and take a step forward, then turn left again and walk up to the tall white dresser. | STEP 8: Open the bottom drawer of the dresser and put the bottle of lotion inside to the left of the bottle that's already in there. | END"]} +{"id": "trial_T20190908_103955_680867-0", "input": "Put a pot with sponge in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 0.0, 0, 0, 0, [SEP] 1, Pan, -1.693, 0.911, -2.146, 0, 0, 0, 86 [SEP] 2, Vase, 1.686, 0.878, -2.563, 0, 180, 0, 88 [SEP] 3, Potato, -0.335, 1.142, 0.757, 0, 0, 0, 61 [SEP] 4, Potato, -2.081, 1.533, 0.925, 0, 90, 0, 94 [SEP] 5, Plate, 0.969, 0.907, -2.484, 0, 0, 0, 63 [SEP] 6, Plate, 0.505, 1.656, -2.596, 0, 0, 0, 85 [SEP] 7, Cup, -1.999, 0.224, 1.251, 0, 90, 0, 94 [SEP] 8, SaltShaker, 1.478, 0.549, -2.407, 0, 180, 0, 91 [SEP] 9, SaltShaker, 1.008, 0.311, -2.238, 0, 0, 0, 65 [SEP] 10, PepperShaker, -0.473, 1.107, 0.504, 0, 0, 0, 61 [SEP] 11, PepperShaker, -1.586, 0.907, -2.056, 0, 0, 0, 86 [SEP] 12, Lettuce, -1.143, 0.991, -2.483, 0, 0, 0, 86 [SEP] 13, Lettuce, 0.453, 0.990, -2.330, 0, 0, 0, 63 [SEP] 14, Apple, -0.335, 1.162, -0.253, 0, 0, 0, 61 [SEP] 15, Fork, 0.217, 1.112, -0.253, 0, 0, 0, 61 [SEP] 16, Spoon, 1.007, 0.646, -2.333, 0, 0, 0, 66 [SEP] 17, Mug, -2.026, 1.301, 1.260, 0, 90, 0, 94 [SEP] 18, Mug, -0.225, 1.785, -2.546, 0, 0, 0, 87 [SEP] 19, Spatula, -2.100, 0.926, -2.585, 0, 90, 0, 86 [SEP] 20, Pot, -2.038, 0.544, 0.920, 0, 90, 0, 94 [SEP] 21, ButterKnife, -1.937, 0.911, -0.698, 0, 0, 0, 86 [SEP] 22, ButterKnife, -1.937, 0.911, -0.513, 0, 0, 0, 86 [SEP] 23, Kettle, -0.036, 0.950, -2.576, 0, 270, 0, 64 [SEP] 24, Glassbottle, -1.104, 0.137, -2.402, 0, 0, 0, 79 [SEP] 25, Glassbottle, -0.197, 1.112, 0.757, 0, 0, 0, 61 [SEP] 26, Book, 0.155, 1.1, 0.617, 0, 315, 0, 61 [SEP] 27, Glassbottle, -1.935, 0.048, 2.076, 0, 270, 0, 92 [SEP] 28, Knife, -0.995, 0.936, -2.406, 0, 0, 0, 86 [SEP] 29, Bread, 0.453, 0.983, -2.637, 0, 0, 0, 63 [SEP] 30, Fork, -1.782, 0.794, 0.199, 0, 90, 0, 58 [SEP] 31, Potato, -2.121, 0.570, 1.085, 0, 90, 0, 94 [SEP] 32, SoapBottle, 2.100, 0.554, -2.614, 0, 180, 0, 91 [SEP] 33, Kettle, -0.465, 0.950, -2.372, 0, 90, 0, 59 [SEP] 34, Pan, 0.721, 0.9, -2.415, 0, 0, 0, 63 [SEP] 35, Plate, 0.563, 0.137, -2.387, 0, 0, 0, 78 [SEP] 36, Tomato, -1.999, 1.542, 1.260, 0, 90, 0, 94 [SEP] 37, Vase, -0.335, 1.113, -0.001, 0, 0, 0, 61 [SEP] 38, Egg, -1.962, 0.083, 1.933, 0, 270, 0, 92 [SEP] 39, CreditCard, 0.892, 0.139, -2.431, 0, 0, 0, 81 [SEP] 40, Statue, 1.685, 0.551, -2.511, 0, 180, 0, 91 [SEP] 41, WineBottle, 2.096, 0.881, -2.617, 0, 180, 0, 88 [SEP] 42, Pot, -2.026, 1.313, 0.925, 0, 90, 0, 94 [SEP] 43, Spatula, 0.079, 1.126, -0.253, 0, 0, 0, 61 [SEP] 44, PaperTowelRoll, -0.059, 1.215, -0.001, 0, 0, 0, 61 [SEP] 45, Cup, 0.355, 1.109, -0.506, 0, 0, 0, 61 [SEP] 46, Vase, -1.805, 0.133, -1.740, 0, 90, 0, 62 [SEP] 47, Bowl, 0.839, 1.657, -2.564, 0, 0, 0, 83 [SEP] 48, SaltShaker, -1.512, 1.654, -2.604, 0, 0, 0, 77 [SEP] 49, PepperShaker, 0.324, 0.907, -2.253, 0, 0, 0, 63 [SEP] 50, Lettuce, -0.059, 1.191, 0.251, 0, 0, 0, 61 [SEP] 51, ButterKnife, 0.079, 1.111, -0.759, 0, 0, 0, 61 [SEP] 52, Apple, -0.070, 1.841, -2.610, 0, 0, 0, 87 [SEP] 53, DishSponge, -1.611, 0.910, -2.475, 0, 0, 0, 86 [SEP] 54, Spoon, 0.950, 0.482, -2.380, 0, 0, 0, 69 [SEP] 55, Mug, -1.731, 0.956, -0.168, 0, 90, 0, 95 [SEP] 56, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0, [SEP] 57, Drawer, 0.949, 0.832, -2.197, 0, 0, 0, [SEP] 58, Drawer, -1.560, 0.839, 0.204, 0, 90, 0, [SEP] 59, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0, [SEP] 60, Drawer, -1.560, 0.839, -0.197, 0, 90, 0, [SEP] 61, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0, [SEP] 62, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0, [SEP] 63, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0, [SEP] 64, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0, [SEP] 65, Drawer, 0.949, 0.393, -2.200, 0, 0, 0, [SEP] 66, Drawer, 0.949, 0.708, -2.200, 0, 0, 0, [SEP] 67, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0, [SEP] 68, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0, [SEP] 69, Drawer, 0.949, 0.560, -2.201, 0, 0, 0, [SEP] 70, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0, [SEP] 71, Window, -2.230, 1.429, -1.203, 0, 0, 0, [SEP] 72, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0, [SEP] 73, Sink, -1.899, 0.964, -1.5, 0, 90, 0, [SEP] 74, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0, [SEP] 75, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0, [SEP] 76, Drawer, -1.560, 0.655, -0.196, 0, 90, 0, [SEP] 77, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0, [SEP] 78, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0, [SEP] 79, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0, [SEP] 80, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0, [SEP] 81, Drawer, 0.949, 0.221, -2.200, 0, 0, 0, [SEP] 82, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0, [SEP] 83, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0, [SEP] 84, Drawer, -1.560, 0.331, -0.196, 0, 90, 0, [SEP] 85, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0, [SEP] 86, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0, [SEP] 87, Microwave, -0.236, 1.689, -2.525, 0, 0, 0, [SEP] 88, Shelf, 1.751, 0.880, -2.560, 0, 0, 0, [SEP] 89, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0, [SEP] 90, Toaster, -1.835, 0.900, 0.134, 0, 90, 0, [SEP] 91, Shelf, 1.750, 0.552, -2.559, 0, 0, 0, [SEP] 92, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0, [SEP] 93, Shelf, 1.750, 0.172, -2.559, 0, 0, 0, [SEP] 94, Fridge, -2.096, 0.0, 1.088, 0, 0, 0, [SEP] 95, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0, [SEP] 96, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0, [SEP] 97, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0, [SEP] 98, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0, [SEP] 99, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0, [SEP] 100, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0, [SEP] 101, Faucet, -2.070, 1.132, -1.514, 0, 0, 0, [SEP] 102, NorthWall, , , , , , , [SEP] 103, EastWall, , , , , , , [SEP] 104, SouthWall, , , , , , , [SEP] 105, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, move around the island to the right, move to the sink, turn left, go to the sponge on the counter left of the sink. | STEP 2: Pick up the sponge on the counter. | STEP 3: Turn around, move forward, bring the sponge to the fridge on the left. | STEP 4: Put the sponge in the pot in the fridge. | STEP 5: Pick up the pot with sponge in the fridge. | STEP 6: Bring the pot with sponge to the sink on the left. | STEP 7: Put the pot with sponge in the sink. | END"]} +{"id": "trial_T20190908_103955_680867-1", "input": "Move the pot with the green sponge from the refrigerator to the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 0.0, 0, 0, 0, [SEP] 1, Pan, -1.693, 0.911, -2.146, 0, 0, 0, 86 [SEP] 2, Vase, 1.686, 0.878, -2.563, 0, 180, 0, 88 [SEP] 3, Potato, -0.335, 1.142, 0.757, 0, 0, 0, 61 [SEP] 4, Potato, -2.081, 1.533, 0.925, 0, 90, 0, 94 [SEP] 5, Plate, 0.969, 0.907, -2.484, 0, 0, 0, 63 [SEP] 6, Plate, 0.505, 1.656, -2.596, 0, 0, 0, 85 [SEP] 7, Cup, -1.999, 0.224, 1.251, 0, 90, 0, 94 [SEP] 8, SaltShaker, 1.478, 0.549, -2.407, 0, 180, 0, 91 [SEP] 9, SaltShaker, 1.008, 0.311, -2.238, 0, 0, 0, 65 [SEP] 10, PepperShaker, -0.473, 1.107, 0.504, 0, 0, 0, 61 [SEP] 11, PepperShaker, -1.586, 0.907, -2.056, 0, 0, 0, 86 [SEP] 12, Lettuce, -1.143, 0.991, -2.483, 0, 0, 0, 86 [SEP] 13, Lettuce, 0.453, 0.990, -2.330, 0, 0, 0, 63 [SEP] 14, Apple, -0.335, 1.162, -0.253, 0, 0, 0, 61 [SEP] 15, Fork, 0.217, 1.112, -0.253, 0, 0, 0, 61 [SEP] 16, Spoon, 1.007, 0.646, -2.333, 0, 0, 0, 66 [SEP] 17, Mug, -2.026, 1.301, 1.260, 0, 90, 0, 94 [SEP] 18, Mug, -0.225, 1.785, -2.546, 0, 0, 0, 87 [SEP] 19, Spatula, -2.100, 0.926, -2.585, 0, 90, 0, 86 [SEP] 20, Pot, -2.038, 0.544, 0.920, 0, 90, 0, 94 [SEP] 21, ButterKnife, -1.937, 0.911, -0.698, 0, 0, 0, 86 [SEP] 22, ButterKnife, -1.937, 0.911, -0.513, 0, 0, 0, 86 [SEP] 23, Kettle, -0.036, 0.950, -2.576, 0, 270, 0, 64 [SEP] 24, Glassbottle, -1.104, 0.137, -2.402, 0, 0, 0, 79 [SEP] 25, Glassbottle, -0.197, 1.112, 0.757, 0, 0, 0, 61 [SEP] 26, Book, 0.155, 1.1, 0.617, 0, 315, 0, 61 [SEP] 27, Glassbottle, -1.935, 0.048, 2.076, 0, 270, 0, 92 [SEP] 28, Knife, -0.995, 0.936, -2.406, 0, 0, 0, 86 [SEP] 29, Bread, 0.453, 0.983, -2.637, 0, 0, 0, 63 [SEP] 30, Fork, -1.782, 0.794, 0.199, 0, 90, 0, 58 [SEP] 31, Potato, -2.121, 0.570, 1.085, 0, 90, 0, 94 [SEP] 32, SoapBottle, 2.100, 0.554, -2.614, 0, 180, 0, 91 [SEP] 33, Kettle, -0.465, 0.950, -2.372, 0, 90, 0, 59 [SEP] 34, Pan, 0.721, 0.9, -2.415, 0, 0, 0, 63 [SEP] 35, Plate, 0.563, 0.137, -2.387, 0, 0, 0, 78 [SEP] 36, Tomato, -1.999, 1.542, 1.260, 0, 90, 0, 94 [SEP] 37, Vase, -0.335, 1.113, -0.001, 0, 0, 0, 61 [SEP] 38, Egg, -1.962, 0.083, 1.933, 0, 270, 0, 92 [SEP] 39, CreditCard, 0.892, 0.139, -2.431, 0, 0, 0, 81 [SEP] 40, Statue, 1.685, 0.551, -2.511, 0, 180, 0, 91 [SEP] 41, WineBottle, 2.096, 0.881, -2.617, 0, 180, 0, 88 [SEP] 42, Pot, -2.026, 1.313, 0.925, 0, 90, 0, 94 [SEP] 43, Spatula, 0.079, 1.126, -0.253, 0, 0, 0, 61 [SEP] 44, PaperTowelRoll, -0.059, 1.215, -0.001, 0, 0, 0, 61 [SEP] 45, Cup, 0.355, 1.109, -0.506, 0, 0, 0, 61 [SEP] 46, Vase, -1.805, 0.133, -1.740, 0, 90, 0, 62 [SEP] 47, Bowl, 0.839, 1.657, -2.564, 0, 0, 0, 83 [SEP] 48, SaltShaker, -1.512, 1.654, -2.604, 0, 0, 0, 77 [SEP] 49, PepperShaker, 0.324, 0.907, -2.253, 0, 0, 0, 63 [SEP] 50, Lettuce, -0.059, 1.191, 0.251, 0, 0, 0, 61 [SEP] 51, ButterKnife, 0.079, 1.111, -0.759, 0, 0, 0, 61 [SEP] 52, Apple, -0.070, 1.841, -2.610, 0, 0, 0, 87 [SEP] 53, DishSponge, -1.611, 0.910, -2.475, 0, 0, 0, 86 [SEP] 54, Spoon, 0.950, 0.482, -2.380, 0, 0, 0, 69 [SEP] 55, Mug, -1.731, 0.956, -0.168, 0, 90, 0, 95 [SEP] 56, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0, [SEP] 57, Drawer, 0.949, 0.832, -2.197, 0, 0, 0, [SEP] 58, Drawer, -1.560, 0.839, 0.204, 0, 90, 0, [SEP] 59, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0, [SEP] 60, Drawer, -1.560, 0.839, -0.197, 0, 90, 0, [SEP] 61, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0, [SEP] 62, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0, [SEP] 63, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0, [SEP] 64, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0, [SEP] 65, Drawer, 0.949, 0.393, -2.200, 0, 0, 0, [SEP] 66, Drawer, 0.949, 0.708, -2.200, 0, 0, 0, [SEP] 67, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0, [SEP] 68, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0, [SEP] 69, Drawer, 0.949, 0.560, -2.201, 0, 0, 0, [SEP] 70, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0, [SEP] 71, Window, -2.230, 1.429, -1.203, 0, 0, 0, [SEP] 72, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0, [SEP] 73, Sink, -1.899, 0.964, -1.5, 0, 90, 0, [SEP] 74, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0, [SEP] 75, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0, [SEP] 76, Drawer, -1.560, 0.655, -0.196, 0, 90, 0, [SEP] 77, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0, [SEP] 78, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0, [SEP] 79, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0, [SEP] 80, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0, [SEP] 81, Drawer, 0.949, 0.221, -2.200, 0, 0, 0, [SEP] 82, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0, [SEP] 83, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0, [SEP] 84, Drawer, -1.560, 0.331, -0.196, 0, 90, 0, [SEP] 85, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0, [SEP] 86, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0, [SEP] 87, Microwave, -0.236, 1.689, -2.525, 0, 0, 0, [SEP] 88, Shelf, 1.751, 0.880, -2.560, 0, 0, 0, [SEP] 89, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0, [SEP] 90, Toaster, -1.835, 0.900, 0.134, 0, 90, 0, [SEP] 91, Shelf, 1.750, 0.552, -2.559, 0, 0, 0, [SEP] 92, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0, [SEP] 93, Shelf, 1.750, 0.172, -2.559, 0, 0, 0, [SEP] 94, Fridge, -2.096, 0.0, 1.088, 0, 0, 0, [SEP] 95, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0, [SEP] 96, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0, [SEP] 97, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0, [SEP] 98, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0, [SEP] 99, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0, [SEP] 100, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0, [SEP] 101, Faucet, -2.070, 1.132, -1.514, 0, 0, 0, [SEP] 102, NorthWall, , , , , , , [SEP] 103, EastWall, , , , , , , [SEP] 104, SouthWall, , , , , , , [SEP] 105, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go around the kitchen island to the counter on the right of the stove. | STEP 2: Pick up the green sponge on the right side on the top of the counter. | STEP 3: Turn around and go to the front of the refrigerator. | STEP 4: Place the green sponge inside the pot in the refrigerator. | STEP 5: Pick up the pot with the green sponge in it. | STEP 6: Turn left to go the front of the sink. | STEP 7: Place the pot with the green sponge inside into the sink. | END"]} +{"id": "trial_T20190908_103955_680867-2", "input": "Put a pot with a sponge in it in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 0.0, 0, 0, 0, [SEP] 1, Pan, -1.693, 0.911, -2.146, 0, 0, 0, 86 [SEP] 2, Vase, 1.686, 0.878, -2.563, 0, 180, 0, 88 [SEP] 3, Potato, -0.335, 1.142, 0.757, 0, 0, 0, 61 [SEP] 4, Potato, -2.081, 1.533, 0.925, 0, 90, 0, 94 [SEP] 5, Plate, 0.969, 0.907, -2.484, 0, 0, 0, 63 [SEP] 6, Plate, 0.505, 1.656, -2.596, 0, 0, 0, 85 [SEP] 7, Cup, -1.999, 0.224, 1.251, 0, 90, 0, 94 [SEP] 8, SaltShaker, 1.478, 0.549, -2.407, 0, 180, 0, 91 [SEP] 9, SaltShaker, 1.008, 0.311, -2.238, 0, 0, 0, 65 [SEP] 10, PepperShaker, -0.473, 1.107, 0.504, 0, 0, 0, 61 [SEP] 11, PepperShaker, -1.586, 0.907, -2.056, 0, 0, 0, 86 [SEP] 12, Lettuce, -1.143, 0.991, -2.483, 0, 0, 0, 86 [SEP] 13, Lettuce, 0.453, 0.990, -2.330, 0, 0, 0, 63 [SEP] 14, Apple, -0.335, 1.162, -0.253, 0, 0, 0, 61 [SEP] 15, Fork, 0.217, 1.112, -0.253, 0, 0, 0, 61 [SEP] 16, Spoon, 1.007, 0.646, -2.333, 0, 0, 0, 66 [SEP] 17, Mug, -2.026, 1.301, 1.260, 0, 90, 0, 94 [SEP] 18, Mug, -0.225, 1.785, -2.546, 0, 0, 0, 87 [SEP] 19, Spatula, -2.100, 0.926, -2.585, 0, 90, 0, 86 [SEP] 20, Pot, -2.038, 0.544, 0.920, 0, 90, 0, 94 [SEP] 21, ButterKnife, -1.937, 0.911, -0.698, 0, 0, 0, 86 [SEP] 22, ButterKnife, -1.937, 0.911, -0.513, 0, 0, 0, 86 [SEP] 23, Kettle, -0.036, 0.950, -2.576, 0, 270, 0, 64 [SEP] 24, Glassbottle, -1.104, 0.137, -2.402, 0, 0, 0, 79 [SEP] 25, Glassbottle, -0.197, 1.112, 0.757, 0, 0, 0, 61 [SEP] 26, Book, 0.155, 1.1, 0.617, 0, 315, 0, 61 [SEP] 27, Glassbottle, -1.935, 0.048, 2.076, 0, 270, 0, 92 [SEP] 28, Knife, -0.995, 0.936, -2.406, 0, 0, 0, 86 [SEP] 29, Bread, 0.453, 0.983, -2.637, 0, 0, 0, 63 [SEP] 30, Fork, -1.782, 0.794, 0.199, 0, 90, 0, 58 [SEP] 31, Potato, -2.121, 0.570, 1.085, 0, 90, 0, 94 [SEP] 32, SoapBottle, 2.100, 0.554, -2.614, 0, 180, 0, 91 [SEP] 33, Kettle, -0.465, 0.950, -2.372, 0, 90, 0, 59 [SEP] 34, Pan, 0.721, 0.9, -2.415, 0, 0, 0, 63 [SEP] 35, Plate, 0.563, 0.137, -2.387, 0, 0, 0, 78 [SEP] 36, Tomato, -1.999, 1.542, 1.260, 0, 90, 0, 94 [SEP] 37, Vase, -0.335, 1.113, -0.001, 0, 0, 0, 61 [SEP] 38, Egg, -1.962, 0.083, 1.933, 0, 270, 0, 92 [SEP] 39, CreditCard, 0.892, 0.139, -2.431, 0, 0, 0, 81 [SEP] 40, Statue, 1.685, 0.551, -2.511, 0, 180, 0, 91 [SEP] 41, WineBottle, 2.096, 0.881, -2.617, 0, 180, 0, 88 [SEP] 42, Pot, -2.026, 1.313, 0.925, 0, 90, 0, 94 [SEP] 43, Spatula, 0.079, 1.126, -0.253, 0, 0, 0, 61 [SEP] 44, PaperTowelRoll, -0.059, 1.215, -0.001, 0, 0, 0, 61 [SEP] 45, Cup, 0.355, 1.109, -0.506, 0, 0, 0, 61 [SEP] 46, Vase, -1.805, 0.133, -1.740, 0, 90, 0, 62 [SEP] 47, Bowl, 0.839, 1.657, -2.564, 0, 0, 0, 83 [SEP] 48, SaltShaker, -1.512, 1.654, -2.604, 0, 0, 0, 77 [SEP] 49, PepperShaker, 0.324, 0.907, -2.253, 0, 0, 0, 63 [SEP] 50, Lettuce, -0.059, 1.191, 0.251, 0, 0, 0, 61 [SEP] 51, ButterKnife, 0.079, 1.111, -0.759, 0, 0, 0, 61 [SEP] 52, Apple, -0.070, 1.841, -2.610, 0, 0, 0, 87 [SEP] 53, DishSponge, -1.611, 0.910, -2.475, 0, 0, 0, 86 [SEP] 54, Spoon, 0.950, 0.482, -2.380, 0, 0, 0, 69 [SEP] 55, Mug, -1.731, 0.956, -0.168, 0, 90, 0, 95 [SEP] 56, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0, [SEP] 57, Drawer, 0.949, 0.832, -2.197, 0, 0, 0, [SEP] 58, Drawer, -1.560, 0.839, 0.204, 0, 90, 0, [SEP] 59, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0, [SEP] 60, Drawer, -1.560, 0.839, -0.197, 0, 90, 0, [SEP] 61, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0, [SEP] 62, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0, [SEP] 63, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0, [SEP] 64, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0, [SEP] 65, Drawer, 0.949, 0.393, -2.200, 0, 0, 0, [SEP] 66, Drawer, 0.949, 0.708, -2.200, 0, 0, 0, [SEP] 67, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0, [SEP] 68, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0, [SEP] 69, Drawer, 0.949, 0.560, -2.201, 0, 0, 0, [SEP] 70, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0, [SEP] 71, Window, -2.230, 1.429, -1.203, 0, 0, 0, [SEP] 72, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0, [SEP] 73, Sink, -1.899, 0.964, -1.5, 0, 90, 0, [SEP] 74, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0, [SEP] 75, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0, [SEP] 76, Drawer, -1.560, 0.655, -0.196, 0, 90, 0, [SEP] 77, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0, [SEP] 78, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0, [SEP] 79, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0, [SEP] 80, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0, [SEP] 81, Drawer, 0.949, 0.221, -2.200, 0, 0, 0, [SEP] 82, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0, [SEP] 83, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0, [SEP] 84, Drawer, -1.560, 0.331, -0.196, 0, 90, 0, [SEP] 85, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0, [SEP] 86, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0, [SEP] 87, Microwave, -0.236, 1.689, -2.525, 0, 0, 0, [SEP] 88, Shelf, 1.751, 0.880, -2.560, 0, 0, 0, [SEP] 89, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0, [SEP] 90, Toaster, -1.835, 0.900, 0.134, 0, 90, 0, [SEP] 91, Shelf, 1.750, 0.552, -2.559, 0, 0, 0, [SEP] 92, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0, [SEP] 93, Shelf, 1.750, 0.172, -2.559, 0, 0, 0, [SEP] 94, Fridge, -2.096, 0.0, 1.088, 0, 0, 0, [SEP] 95, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0, [SEP] 96, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0, [SEP] 97, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0, [SEP] 98, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0, [SEP] 99, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0, [SEP] 100, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0, [SEP] 101, Faucet, -2.070, 1.132, -1.514, 0, 0, 0, [SEP] 102, NorthWall, , , , , , , [SEP] 103, EastWall, , , , , , , [SEP] 104, SouthWall, , , , , , , [SEP] 105, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, go forward, turn right to go around the kitchen island, then go forward and turn left at the sink. | STEP 2: Pick up the sponge on the counter. | STEP 3: Turn around, go forward until you reach the fridge then turn left. | STEP 4: Open the fridge and put the sponge in the pot, in the fridge. | STEP 5: Take the pot from the fridge. | STEP 6: Turn left and go forward to the end of the counter, then turn right to face the sink. | STEP 7: Put the pot in the center of the sink. | END"]} +{"id": "trial_T20190909_051630_092360-0", "input": "Retrieve green vegetable from table, wash it in the sink, put it on the right side counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, -1.5, 0, 0, 0, [SEP] 1, Pan, 1.836, 1.027, -1.84, 0, 90, 0, 48 [SEP] 2, DishSponge, 2.395, 0.764, 4.362, 0, 329.999, 0, 51 [SEP] 3, WineBottle, 2.801, 0.765, 4.044, 0, 270, 0, 51 [SEP] 4, WineBottle, 1.350, 0.036, -1.592, 0, 0, 0, 50 [SEP] 5, Glassbottle, -0.794, 1.028, 0.416, 0, 0, 0, 53 [SEP] 6, Spatula, -0.794, 1.042, 2.311, 0, 180, 0, 53 [SEP] 7, Spatula, -0.782, 0.831, 1.337, 0, 180, 0, 107 [SEP] 8, Spoon, 2.595, 0.802, -0.359, 0, 90, 0, 50 [SEP] 9, Cup, 2.607, 0.763, 3.848, 0, 329.999, 0, 51 [SEP] 10, Plate, -0.968, 1.442, -0.184, 0, 90, 0, 94 [SEP] 11, Plate, 2.302, 0.764, 3.97, 0, 0, 0, 51 [SEP] 12, Tomato, -0.858, 0.388, -0.738, 0, 90, 0, 94 [SEP] 13, Bowl, 2.875, 1.025, -1.456, 0, 0, 0, 50 [SEP] 14, Bowl, 1.956, 0.762, 3.685, 0, 225, 0, 51 [SEP] 15, SaltShaker, 1.350, 0.031, -1.683, 0, 0, 0, 69 [SEP] 16, PepperShaker, 2.607, 1.777, -1.872, 0, 0, 0, 89 [SEP] 17, PepperShaker, 2.601, 0.797, 0.855, 0, 317.0, 0, 62 [SEP] 18, Lettuce, 2.525, 0.822, 4.32, 0, 0, 0, 51 [SEP] 19, Mug, 2.138, 0.759, 3.762, 0, 225, 0, 51 [SEP] 20, Apple, -0.645, 0.866, 1.414, 0, 90, 0, 107 [SEP] 21, Apple, -0.851, 0.866, 1.414, 0, 90, 0, 107 [SEP] 22, Pan, 1.761, 1.027, -1.599, 0, 0, 0, 93 [SEP] 23, Glassbottle, 2.959, 1.027, -0.236, 0, 0, 0, 50 [SEP] 24, Knife, 2.451, 0.789, 3.97, 0, 59.999, 0, 51 [SEP] 25, SoapBottle, -0.669, 1.026, 2.556, 0, 0, 0, 53 [SEP] 26, Egg, 2.228, 0.808, 4.495, 0, 0, 0, 51 [SEP] 27, Fork, 2.649, 0.801, -0.746, 0, 0, 0, 59 [SEP] 28, Potato, -1.028, 0.828, -0.516, 0, 90, 0, 94 [SEP] 29, Ladle, 2.762, 0.841, -1.132, 0, 0, 0, 58 [SEP] 30, Tomato, -0.544, 1.081, 2.189, 0, 0, 0, 53 [SEP] 31, Pot, 2.116, 1.027, -1.84, 0, 270, 0, 54 [SEP] 32, WineBottle, 2.404, 1.027, 1.303, 0, 136.999, 0, 50 [SEP] 33, Plate, -0.968, 1.442, -0.516, 0, 90, 0, 94 [SEP] 34, Spatula, -0.920, 1.042, 1.943, 0, 270, 0, 53 [SEP] 35, PaperTowelRoll, 2.228, 0.868, 3.795, 0, 90, 0, 51 [SEP] 36, Lettuce, 2.633, 0.822, 4.047, 0, 225, 0, 51 [SEP] 37, Apple, 2.160, 1.077, 1.354, 0, 136.999, 0, 50 [SEP] 38, SaltShaker, 3.043, 1.023, -1.151, 0, 0, 0, 50 [SEP] 39, PepperShaker, 1.450, 0.031, -1.501, 0, 0, 0, 69 [SEP] 40, ButterKnife, -0.544, 1.027, 0.785, 0, 0, 0, 53 [SEP] 41, Bread, 2.959, 1.094, -0.846, 0, 0, 0, 50 [SEP] 42, Cup, 1.895, 1.859, -1.775, 0, 0, 0, 96 [SEP] 43, DishSponge, 2.801, 0.764, 3.821, 0, 270, 0, 51 [SEP] 44, Bowl, 2.451, 0.762, 3.445, 0, 0, 0, 51 [SEP] 45, Spoon, 2.788, 0.765, 4.412, 0, 225, 0, 51 [SEP] 46, Mug, -0.803, 1.070, 0.646, 0, 90, 0, 103 [SEP] 47, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 48, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 49, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 50, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 51, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 52, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 53, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 54, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 55, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 56, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 57, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 58, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 59, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 60, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 61, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 62, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 63, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 64, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 65, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 66, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 67, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 68, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 69, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 70, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 71, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 72, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 73, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 74, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 75, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 76, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 77, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 78, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 79, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 80, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 81, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 82, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 83, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 84, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 85, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 86, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 87, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 88, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 89, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 90, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 91, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 92, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 93, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 94, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 95, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 96, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 97, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 98, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 99, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 100, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 101, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 102, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 103, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 104, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 105, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 106, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 107, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 108, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 109, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 110, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 111, , , , , , , , [SEP] 112, NorthWall, , , , , , , [SEP] 113, EastWall, , , , , , , [SEP] 114, SouthWall, , , , , , , [SEP] 115, WestWall, , , , , , , ", "output": ["STEP 1: Walk over to the right side of the table | STEP 2: Pick up the green vegetable closest to the wine | STEP 3: Turn around and move to the sink | STEP 4: Put the green vegetable in the sink, fill the sink with water, remove the green vegetable from the sink | STEP 5: Move to the counter on the right side of the sink | STEP 6: Put the green vegetable on the counter in front of the tomato | END"]} +{"id": "trial_T20190909_051630_092360-1", "input": "rinse off lettuce and put it down on the counter top SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, -1.5, 0, 0, 0, [SEP] 1, Pan, 1.836, 1.027, -1.84, 0, 90, 0, 48 [SEP] 2, DishSponge, 2.395, 0.764, 4.362, 0, 329.999, 0, 51 [SEP] 3, WineBottle, 2.801, 0.765, 4.044, 0, 270, 0, 51 [SEP] 4, WineBottle, 1.350, 0.036, -1.592, 0, 0, 0, 50 [SEP] 5, Glassbottle, -0.794, 1.028, 0.416, 0, 0, 0, 53 [SEP] 6, Spatula, -0.794, 1.042, 2.311, 0, 180, 0, 53 [SEP] 7, Spatula, -0.782, 0.831, 1.337, 0, 180, 0, 107 [SEP] 8, Spoon, 2.595, 0.802, -0.359, 0, 90, 0, 50 [SEP] 9, Cup, 2.607, 0.763, 3.848, 0, 329.999, 0, 51 [SEP] 10, Plate, -0.968, 1.442, -0.184, 0, 90, 0, 94 [SEP] 11, Plate, 2.302, 0.764, 3.97, 0, 0, 0, 51 [SEP] 12, Tomato, -0.858, 0.388, -0.738, 0, 90, 0, 94 [SEP] 13, Bowl, 2.875, 1.025, -1.456, 0, 0, 0, 50 [SEP] 14, Bowl, 1.956, 0.762, 3.685, 0, 225, 0, 51 [SEP] 15, SaltShaker, 1.350, 0.031, -1.683, 0, 0, 0, 69 [SEP] 16, PepperShaker, 2.607, 1.777, -1.872, 0, 0, 0, 89 [SEP] 17, PepperShaker, 2.601, 0.797, 0.855, 0, 317.0, 0, 62 [SEP] 18, Lettuce, 2.525, 0.822, 4.32, 0, 0, 0, 51 [SEP] 19, Mug, 2.138, 0.759, 3.762, 0, 225, 0, 51 [SEP] 20, Apple, -0.645, 0.866, 1.414, 0, 90, 0, 107 [SEP] 21, Apple, -0.851, 0.866, 1.414, 0, 90, 0, 107 [SEP] 22, Pan, 1.761, 1.027, -1.599, 0, 0, 0, 93 [SEP] 23, Glassbottle, 2.959, 1.027, -0.236, 0, 0, 0, 50 [SEP] 24, Knife, 2.451, 0.789, 3.97, 0, 59.999, 0, 51 [SEP] 25, SoapBottle, -0.669, 1.026, 2.556, 0, 0, 0, 53 [SEP] 26, Egg, 2.228, 0.808, 4.495, 0, 0, 0, 51 [SEP] 27, Fork, 2.649, 0.801, -0.746, 0, 0, 0, 59 [SEP] 28, Potato, -1.028, 0.828, -0.516, 0, 90, 0, 94 [SEP] 29, Ladle, 2.762, 0.841, -1.132, 0, 0, 0, 58 [SEP] 30, Tomato, -0.544, 1.081, 2.189, 0, 0, 0, 53 [SEP] 31, Pot, 2.116, 1.027, -1.84, 0, 270, 0, 54 [SEP] 32, WineBottle, 2.404, 1.027, 1.303, 0, 136.999, 0, 50 [SEP] 33, Plate, -0.968, 1.442, -0.516, 0, 90, 0, 94 [SEP] 34, Spatula, -0.920, 1.042, 1.943, 0, 270, 0, 53 [SEP] 35, PaperTowelRoll, 2.228, 0.868, 3.795, 0, 90, 0, 51 [SEP] 36, Lettuce, 2.633, 0.822, 4.047, 0, 225, 0, 51 [SEP] 37, Apple, 2.160, 1.077, 1.354, 0, 136.999, 0, 50 [SEP] 38, SaltShaker, 3.043, 1.023, -1.151, 0, 0, 0, 50 [SEP] 39, PepperShaker, 1.450, 0.031, -1.501, 0, 0, 0, 69 [SEP] 40, ButterKnife, -0.544, 1.027, 0.785, 0, 0, 0, 53 [SEP] 41, Bread, 2.959, 1.094, -0.846, 0, 0, 0, 50 [SEP] 42, Cup, 1.895, 1.859, -1.775, 0, 0, 0, 96 [SEP] 43, DishSponge, 2.801, 0.764, 3.821, 0, 270, 0, 51 [SEP] 44, Bowl, 2.451, 0.762, 3.445, 0, 0, 0, 51 [SEP] 45, Spoon, 2.788, 0.765, 4.412, 0, 225, 0, 51 [SEP] 46, Mug, -0.803, 1.070, 0.646, 0, 90, 0, 103 [SEP] 47, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 48, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 49, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 50, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 51, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 52, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 53, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 54, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 55, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 56, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 57, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 58, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 59, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 60, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 61, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 62, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 63, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 64, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 65, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 66, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 67, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 68, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 69, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 70, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 71, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 72, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 73, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 74, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 75, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 76, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 77, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 78, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 79, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 80, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 81, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 82, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 83, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 84, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 85, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 86, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 87, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 88, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 89, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 90, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 91, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 92, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 93, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 94, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 95, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 96, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 97, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 98, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 99, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 100, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 101, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 102, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 103, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 104, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 105, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 106, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 107, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 108, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 109, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 110, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 111, , , , , , , , [SEP] 112, NorthWall, , , , , , , [SEP] 113, EastWall, , , , , , , [SEP] 114, SouthWall, , , , , , , [SEP] 115, WestWall, , , , , , , ", "output": ["STEP 1: walk straight towards the wall and then turn right and walk straight towards the wall then turn left towards the table | STEP 2: pick up the lettuce on the table | STEP 3: turn left and walk straight then turn left and walk straight then turn right and walk towards the sink | STEP 4: put the lettuce into the sink and fill it with water then drain the sink and remove the lettuce | STEP 5: turn right then walk straight then turn left towards the counter | STEP 6: put the lettuce down on the counter | END"]} +{"id": "trial_T20190909_051630_092360-2", "input": "Put cleaned lettuce on the counter, right of the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, -1.5, 0, 0, 0, [SEP] 1, Pan, 1.836, 1.027, -1.84, 0, 90, 0, 48 [SEP] 2, DishSponge, 2.395, 0.764, 4.362, 0, 329.999, 0, 51 [SEP] 3, WineBottle, 2.801, 0.765, 4.044, 0, 270, 0, 51 [SEP] 4, WineBottle, 1.350, 0.036, -1.592, 0, 0, 0, 50 [SEP] 5, Glassbottle, -0.794, 1.028, 0.416, 0, 0, 0, 53 [SEP] 6, Spatula, -0.794, 1.042, 2.311, 0, 180, 0, 53 [SEP] 7, Spatula, -0.782, 0.831, 1.337, 0, 180, 0, 107 [SEP] 8, Spoon, 2.595, 0.802, -0.359, 0, 90, 0, 50 [SEP] 9, Cup, 2.607, 0.763, 3.848, 0, 329.999, 0, 51 [SEP] 10, Plate, -0.968, 1.442, -0.184, 0, 90, 0, 94 [SEP] 11, Plate, 2.302, 0.764, 3.97, 0, 0, 0, 51 [SEP] 12, Tomato, -0.858, 0.388, -0.738, 0, 90, 0, 94 [SEP] 13, Bowl, 2.875, 1.025, -1.456, 0, 0, 0, 50 [SEP] 14, Bowl, 1.956, 0.762, 3.685, 0, 225, 0, 51 [SEP] 15, SaltShaker, 1.350, 0.031, -1.683, 0, 0, 0, 69 [SEP] 16, PepperShaker, 2.607, 1.777, -1.872, 0, 0, 0, 89 [SEP] 17, PepperShaker, 2.601, 0.797, 0.855, 0, 317.0, 0, 62 [SEP] 18, Lettuce, 2.525, 0.822, 4.32, 0, 0, 0, 51 [SEP] 19, Mug, 2.138, 0.759, 3.762, 0, 225, 0, 51 [SEP] 20, Apple, -0.645, 0.866, 1.414, 0, 90, 0, 107 [SEP] 21, Apple, -0.851, 0.866, 1.414, 0, 90, 0, 107 [SEP] 22, Pan, 1.761, 1.027, -1.599, 0, 0, 0, 93 [SEP] 23, Glassbottle, 2.959, 1.027, -0.236, 0, 0, 0, 50 [SEP] 24, Knife, 2.451, 0.789, 3.97, 0, 59.999, 0, 51 [SEP] 25, SoapBottle, -0.669, 1.026, 2.556, 0, 0, 0, 53 [SEP] 26, Egg, 2.228, 0.808, 4.495, 0, 0, 0, 51 [SEP] 27, Fork, 2.649, 0.801, -0.746, 0, 0, 0, 59 [SEP] 28, Potato, -1.028, 0.828, -0.516, 0, 90, 0, 94 [SEP] 29, Ladle, 2.762, 0.841, -1.132, 0, 0, 0, 58 [SEP] 30, Tomato, -0.544, 1.081, 2.189, 0, 0, 0, 53 [SEP] 31, Pot, 2.116, 1.027, -1.84, 0, 270, 0, 54 [SEP] 32, WineBottle, 2.404, 1.027, 1.303, 0, 136.999, 0, 50 [SEP] 33, Plate, -0.968, 1.442, -0.516, 0, 90, 0, 94 [SEP] 34, Spatula, -0.920, 1.042, 1.943, 0, 270, 0, 53 [SEP] 35, PaperTowelRoll, 2.228, 0.868, 3.795, 0, 90, 0, 51 [SEP] 36, Lettuce, 2.633, 0.822, 4.047, 0, 225, 0, 51 [SEP] 37, Apple, 2.160, 1.077, 1.354, 0, 136.999, 0, 50 [SEP] 38, SaltShaker, 3.043, 1.023, -1.151, 0, 0, 0, 50 [SEP] 39, PepperShaker, 1.450, 0.031, -1.501, 0, 0, 0, 69 [SEP] 40, ButterKnife, -0.544, 1.027, 0.785, 0, 0, 0, 53 [SEP] 41, Bread, 2.959, 1.094, -0.846, 0, 0, 0, 50 [SEP] 42, Cup, 1.895, 1.859, -1.775, 0, 0, 0, 96 [SEP] 43, DishSponge, 2.801, 0.764, 3.821, 0, 270, 0, 51 [SEP] 44, Bowl, 2.451, 0.762, 3.445, 0, 0, 0, 51 [SEP] 45, Spoon, 2.788, 0.765, 4.412, 0, 225, 0, 51 [SEP] 46, Mug, -0.803, 1.070, 0.646, 0, 90, 0, 103 [SEP] 47, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 48, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 49, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 50, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 51, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 52, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 53, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 54, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 55, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 56, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 57, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 58, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 59, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 60, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 61, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 62, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 63, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 64, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 65, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 66, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 67, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 68, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 69, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 70, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 71, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 72, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 73, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 74, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 75, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 76, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 77, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 78, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 79, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 80, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 81, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 82, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 83, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 84, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 85, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 86, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 87, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 88, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 89, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 90, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 91, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 92, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 93, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 94, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 95, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 96, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 97, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 98, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 99, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 100, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 101, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 102, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 103, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 104, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 105, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 106, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 107, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 108, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 109, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 110, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 111, , , , , , , , [SEP] 112, NorthWall, , , , , , , [SEP] 113, EastWall, , , , , , , [SEP] 114, SouthWall, , , , , , , [SEP] 115, WestWall, , , , , , , ", "output": ["STEP 1: Move forward, head right to the round table in the far corner. | STEP 2: Pick up the lettuce on the table. | STEP 3: Turn to face the trash can on the left, bring the lettuce to the sink on the left. | STEP 4: Wash the lettuce in the sink. | STEP 5: Bring the cleaned lettuce to the counter right of the sink. | STEP 6: Put the lettuce on the counter, left of the tomato. | END"]} +{"id": "trial_T20190906_200927_069627-0", "input": "Put two cardboard boxes on the coffee table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 11.5, 0.902, -0.25, 0, 270, 0, [SEP] 1, Statue, 9.692, 0.436, 3.143, 0, 0, 0, 43 [SEP] 2, Watch, 11.232, 0.591, 0.678, 0, 0, 0, 43 [SEP] 3, Watch, 14.305, 0.348, 2.245, 0, 0, 0, 38 [SEP] 4, Book, 14.252, 0.143, 1.677, 0, 270, 0, 41 [SEP] 5, Book, 10.651, 0.591, 0.771, 0, 0, 0, 43 [SEP] 6, Box, 14.233, 1.001, 0.519, 0, 90, 0, 36 [SEP] 7, Box, 14.331, 1.001, 1.825, 0, 0, 0, 36 [SEP] 8, Laptop, 9.402, 0.427, 3.143, 0, 0, 0, 44 [SEP] 9, Laptop, 11.661, 0.454, 3.155, 0, 0, 0, 44 [SEP] 10, Book, 8.273, 0.399, -0.082, 0, 90, 0, 54 [SEP] 11, Box, 11.020, 0.706, 3.155, 0, 0, 0, Floor|+09.92| [SEP] 12, CreditCard, 14.526, 0.754, 0.519, 0, 0, 0, 36 [SEP] 13, KeyChain, 14.577, 0.518, -0.776, 0, 0, 0, 46 [SEP] 14, Pillow, 12.048, 0.52, 3.228, 0, 0, 0, 51 [SEP] 15, Statue, 14.233, 0.758, 1.042, 0, 0, 0, 36 [SEP] 16, Laptop, 11.232, 0.588, 1.142, 0, 0, 0, 43 [SEP] 17, RemoteControl, 11.426, 0.593, 0.863, 0, 0, 0, 43 [SEP] 18, Watch, 14.146, 0.553, 1.448, 0, 0, 0, 42 [SEP] 19, FloorLamp, 7.864, 0.006, 3.396, 0, 0, 0, [SEP] 20, GarbageCan, 7.785, -0.027, -1.145, 0, 0, 0, [SEP] 21, Painting, 7.492, 1.835, -0.495, 90, 270, 0, [SEP] 22, Painting, 7.492, 1.835, 2.792, 90, 270, 0, [SEP] 23, Television, 14.459, 1.218, 0.925, 358.945, 270, 0, [SEP] 24, LightSwitch, 12.979, 1.399, 3.767, 0, 180, 0, [SEP] 25, Painting, 7.492, 1.779, 1.116, 90, 270, 0, [SEP] 26, Painting, 14.763, 1.753, 1.126, 90, 270, 0, [SEP] 27, HousePlant, 11.374, 0.467, -1.143, 0, 0, 0, [SEP] 28, Window, 12.029, 1.687, -1.595, 90, 180, 0, [SEP] 29, Window, 10.227, 1.687, -1.594, 90, 180, 0, [SEP] 30, Drawer, 14.183, 0.374, 0.556, 0, 270, 0, [SEP] 31, Drawer, 14.183, 0.580, 1.069, 0, 270, 0, [SEP] 32, Drawer, 14.183, 0.580, 2.095, 0, 270, 0, [SEP] 33, Drawer, 14.183, 0.374, 1.582, 0, 270, 0, [SEP] 34, Drawer, 14.183, 0.169, 1.069, 0, 270, 0, [SEP] 35, Drawer, 14.183, 0.374, 1.069, 0, 270, 0, [SEP] 36, Dresser, 14.330, 0.002, 1.323, 0, 270, 0, [SEP] 37, Drawer, 14.183, 0.169, 2.095, 0, 270, 0, [SEP] 38, Drawer, 14.183, 0.374, 2.095, 0, 270, 0, [SEP] 39, Drawer, 14.183, 0.580, 0.556, 0, 270, 0, [SEP] 40, Drawer, 14.183, 0.169, 0.556, 0, 270, 0, [SEP] 41, Drawer, 14.183, 0.169, 1.582, 0, 270, 0, [SEP] 42, Drawer, 14.183, 0.580, 1.582, 0, 270, 0, [SEP] 43, CoffeeTable, 10.821, -0.011, 0.928, 0, 0, 0, [SEP] 44, ArmChair, 9.499, 0.001, 3.265, 0, 180, 0, [SEP] 45, SideTable, 11.377, 0.001, -1.160, 0, 90, 0, [SEP] 46, SideTable, 14.615, -0.001, -0.776, 0, 270, 0, [SEP] 47, SideTable, 14.331, 0.003, 0.069, 0, 0, 0, [SEP] 48, SideTable, 14.331, 0.003, 2.585, 0, 0, 0, [SEP] 49, SideTable, 12.308, 0.001, -1.154, 0, 0, 0, [SEP] 50, Chair, 8.154, 0.006, 1.499, 0, 90, 0, [SEP] 51, Sofa, 11.450, 0.002, 3.211, 0, 180, 0, [SEP] 52, Shelf, 10.794, 0.231, 0.928, 0, 0, 0, [SEP] 53, ArmChair, 8.231, 0.006, 0.769, 0, 90, 0, [SEP] 54, ArmChair, 8.224, 0.006, -0.082, 0, 90, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and take a half a step then turn left and walk to the couch then move so you are facing the left side of the couch in front of you. | STEP 2: Pick up the cardboard box in front of you. | STEP 3: Turn around and walk to the coffee table that's in front of you. | STEP 4: Put the box to the right of the laptop. | STEP 5: Turn left and walk until you clear the coffee table to your right then turn right and walk to the half circle table then turn left and walk until you can't anymore then turn left. | STEP 6: Pick up the cardboard box on the tv stand. | STEP 7: Walk back to to where you put the first box. | STEP 8: Put this box to the right of the other box. | END"]} +{"id": "trial_T20190906_200927_069627-1", "input": "Place two empty boxes on a coffee table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 11.5, 0.902, -0.25, 0, 270, 0, [SEP] 1, Statue, 9.692, 0.436, 3.143, 0, 0, 0, 43 [SEP] 2, Watch, 11.232, 0.591, 0.678, 0, 0, 0, 43 [SEP] 3, Watch, 14.305, 0.348, 2.245, 0, 0, 0, 38 [SEP] 4, Book, 14.252, 0.143, 1.677, 0, 270, 0, 41 [SEP] 5, Book, 10.651, 0.591, 0.771, 0, 0, 0, 43 [SEP] 6, Box, 14.233, 1.001, 0.519, 0, 90, 0, 36 [SEP] 7, Box, 14.331, 1.001, 1.825, 0, 0, 0, 36 [SEP] 8, Laptop, 9.402, 0.427, 3.143, 0, 0, 0, 44 [SEP] 9, Laptop, 11.661, 0.454, 3.155, 0, 0, 0, 44 [SEP] 10, Book, 8.273, 0.399, -0.082, 0, 90, 0, 54 [SEP] 11, Box, 11.020, 0.706, 3.155, 0, 0, 0, Floor|+09.92| [SEP] 12, CreditCard, 14.526, 0.754, 0.519, 0, 0, 0, 36 [SEP] 13, KeyChain, 14.577, 0.518, -0.776, 0, 0, 0, 46 [SEP] 14, Pillow, 12.048, 0.52, 3.228, 0, 0, 0, 51 [SEP] 15, Statue, 14.233, 0.758, 1.042, 0, 0, 0, 36 [SEP] 16, Laptop, 11.232, 0.588, 1.142, 0, 0, 0, 43 [SEP] 17, RemoteControl, 11.426, 0.593, 0.863, 0, 0, 0, 43 [SEP] 18, Watch, 14.146, 0.553, 1.448, 0, 0, 0, 42 [SEP] 19, FloorLamp, 7.864, 0.006, 3.396, 0, 0, 0, [SEP] 20, GarbageCan, 7.785, -0.027, -1.145, 0, 0, 0, [SEP] 21, Painting, 7.492, 1.835, -0.495, 90, 270, 0, [SEP] 22, Painting, 7.492, 1.835, 2.792, 90, 270, 0, [SEP] 23, Television, 14.459, 1.218, 0.925, 358.945, 270, 0, [SEP] 24, LightSwitch, 12.979, 1.399, 3.767, 0, 180, 0, [SEP] 25, Painting, 7.492, 1.779, 1.116, 90, 270, 0, [SEP] 26, Painting, 14.763, 1.753, 1.126, 90, 270, 0, [SEP] 27, HousePlant, 11.374, 0.467, -1.143, 0, 0, 0, [SEP] 28, Window, 12.029, 1.687, -1.595, 90, 180, 0, [SEP] 29, Window, 10.227, 1.687, -1.594, 90, 180, 0, [SEP] 30, Drawer, 14.183, 0.374, 0.556, 0, 270, 0, [SEP] 31, Drawer, 14.183, 0.580, 1.069, 0, 270, 0, [SEP] 32, Drawer, 14.183, 0.580, 2.095, 0, 270, 0, [SEP] 33, Drawer, 14.183, 0.374, 1.582, 0, 270, 0, [SEP] 34, Drawer, 14.183, 0.169, 1.069, 0, 270, 0, [SEP] 35, Drawer, 14.183, 0.374, 1.069, 0, 270, 0, [SEP] 36, Dresser, 14.330, 0.002, 1.323, 0, 270, 0, [SEP] 37, Drawer, 14.183, 0.169, 2.095, 0, 270, 0, [SEP] 38, Drawer, 14.183, 0.374, 2.095, 0, 270, 0, [SEP] 39, Drawer, 14.183, 0.580, 0.556, 0, 270, 0, [SEP] 40, Drawer, 14.183, 0.169, 0.556, 0, 270, 0, [SEP] 41, Drawer, 14.183, 0.169, 1.582, 0, 270, 0, [SEP] 42, Drawer, 14.183, 0.580, 1.582, 0, 270, 0, [SEP] 43, CoffeeTable, 10.821, -0.011, 0.928, 0, 0, 0, [SEP] 44, ArmChair, 9.499, 0.001, 3.265, 0, 180, 0, [SEP] 45, SideTable, 11.377, 0.001, -1.160, 0, 90, 0, [SEP] 46, SideTable, 14.615, -0.001, -0.776, 0, 270, 0, [SEP] 47, SideTable, 14.331, 0.003, 0.069, 0, 0, 0, [SEP] 48, SideTable, 14.331, 0.003, 2.585, 0, 0, 0, [SEP] 49, SideTable, 12.308, 0.001, -1.154, 0, 0, 0, [SEP] 50, Chair, 8.154, 0.006, 1.499, 0, 90, 0, [SEP] 51, Sofa, 11.450, 0.002, 3.211, 0, 180, 0, [SEP] 52, Shelf, 10.794, 0.231, 0.928, 0, 0, 0, [SEP] 53, ArmChair, 8.231, 0.006, 0.769, 0, 90, 0, [SEP] 54, ArmChair, 8.224, 0.006, -0.082, 0, 90, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the couch. | STEP 2: Pick up the empty box on the couch. | STEP 3: Turn around and face the coffee table. | STEP 4: Place the box on the table to the right of the laptop. | STEP 5: Turn left and veer right to the right side of the TV stand. | STEP 6: Pick up the box to the right of the TV. | STEP 7: Turn around and walk back to the coffee table. | STEP 8: Place the box to the right of the other box. | END"]} +{"id": "trial_T20190906_200927_069627-2", "input": "Gather boxes to be placed on the coffee table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 11.5, 0.902, -0.25, 0, 270, 0, [SEP] 1, Statue, 9.692, 0.436, 3.143, 0, 0, 0, 43 [SEP] 2, Watch, 11.232, 0.591, 0.678, 0, 0, 0, 43 [SEP] 3, Watch, 14.305, 0.348, 2.245, 0, 0, 0, 38 [SEP] 4, Book, 14.252, 0.143, 1.677, 0, 270, 0, 41 [SEP] 5, Book, 10.651, 0.591, 0.771, 0, 0, 0, 43 [SEP] 6, Box, 14.233, 1.001, 0.519, 0, 90, 0, 36 [SEP] 7, Box, 14.331, 1.001, 1.825, 0, 0, 0, 36 [SEP] 8, Laptop, 9.402, 0.427, 3.143, 0, 0, 0, 44 [SEP] 9, Laptop, 11.661, 0.454, 3.155, 0, 0, 0, 44 [SEP] 10, Book, 8.273, 0.399, -0.082, 0, 90, 0, 54 [SEP] 11, Box, 11.020, 0.706, 3.155, 0, 0, 0, Floor|+09.92| [SEP] 12, CreditCard, 14.526, 0.754, 0.519, 0, 0, 0, 36 [SEP] 13, KeyChain, 14.577, 0.518, -0.776, 0, 0, 0, 46 [SEP] 14, Pillow, 12.048, 0.52, 3.228, 0, 0, 0, 51 [SEP] 15, Statue, 14.233, 0.758, 1.042, 0, 0, 0, 36 [SEP] 16, Laptop, 11.232, 0.588, 1.142, 0, 0, 0, 43 [SEP] 17, RemoteControl, 11.426, 0.593, 0.863, 0, 0, 0, 43 [SEP] 18, Watch, 14.146, 0.553, 1.448, 0, 0, 0, 42 [SEP] 19, FloorLamp, 7.864, 0.006, 3.396, 0, 0, 0, [SEP] 20, GarbageCan, 7.785, -0.027, -1.145, 0, 0, 0, [SEP] 21, Painting, 7.492, 1.835, -0.495, 90, 270, 0, [SEP] 22, Painting, 7.492, 1.835, 2.792, 90, 270, 0, [SEP] 23, Television, 14.459, 1.218, 0.925, 358.945, 270, 0, [SEP] 24, LightSwitch, 12.979, 1.399, 3.767, 0, 180, 0, [SEP] 25, Painting, 7.492, 1.779, 1.116, 90, 270, 0, [SEP] 26, Painting, 14.763, 1.753, 1.126, 90, 270, 0, [SEP] 27, HousePlant, 11.374, 0.467, -1.143, 0, 0, 0, [SEP] 28, Window, 12.029, 1.687, -1.595, 90, 180, 0, [SEP] 29, Window, 10.227, 1.687, -1.594, 90, 180, 0, [SEP] 30, Drawer, 14.183, 0.374, 0.556, 0, 270, 0, [SEP] 31, Drawer, 14.183, 0.580, 1.069, 0, 270, 0, [SEP] 32, Drawer, 14.183, 0.580, 2.095, 0, 270, 0, [SEP] 33, Drawer, 14.183, 0.374, 1.582, 0, 270, 0, [SEP] 34, Drawer, 14.183, 0.169, 1.069, 0, 270, 0, [SEP] 35, Drawer, 14.183, 0.374, 1.069, 0, 270, 0, [SEP] 36, Dresser, 14.330, 0.002, 1.323, 0, 270, 0, [SEP] 37, Drawer, 14.183, 0.169, 2.095, 0, 270, 0, [SEP] 38, Drawer, 14.183, 0.374, 2.095, 0, 270, 0, [SEP] 39, Drawer, 14.183, 0.580, 0.556, 0, 270, 0, [SEP] 40, Drawer, 14.183, 0.169, 0.556, 0, 270, 0, [SEP] 41, Drawer, 14.183, 0.169, 1.582, 0, 270, 0, [SEP] 42, Drawer, 14.183, 0.580, 1.582, 0, 270, 0, [SEP] 43, CoffeeTable, 10.821, -0.011, 0.928, 0, 0, 0, [SEP] 44, ArmChair, 9.499, 0.001, 3.265, 0, 180, 0, [SEP] 45, SideTable, 11.377, 0.001, -1.160, 0, 90, 0, [SEP] 46, SideTable, 14.615, -0.001, -0.776, 0, 270, 0, [SEP] 47, SideTable, 14.331, 0.003, 0.069, 0, 0, 0, [SEP] 48, SideTable, 14.331, 0.003, 2.585, 0, 0, 0, [SEP] 49, SideTable, 12.308, 0.001, -1.154, 0, 0, 0, [SEP] 50, Chair, 8.154, 0.006, 1.499, 0, 90, 0, [SEP] 51, Sofa, 11.450, 0.002, 3.211, 0, 180, 0, [SEP] 52, Shelf, 10.794, 0.231, 0.928, 0, 0, 0, [SEP] 53, ArmChair, 8.231, 0.006, 0.769, 0, 90, 0, [SEP] 54, ArmChair, 8.224, 0.006, -0.082, 0, 90, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: Move across the room to the pink sofa. | STEP 2: Pick up the box that is on the sofa. | STEP 3: Turn around and move forward to the long, short brown table. | STEP 4: Put the box on the table on the right side of the computer. | STEP 5: Move across the room to the table that the TV is on. | STEP 6: Pick up the box that is near the TV. | STEP 7: Move across the room to the long, short brown table. | STEP 8: Place the box on the table next to the other box. | END"]} +{"id": "trial_T20190907_112652_334388-0", "input": "place a black plate with a spoon in it on top of the kitchen table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.914, 2.0, 0, 90, 0, [SEP] 1, Pan, -0.673, 0.985, 4.051, 0, 0, 0, 66 [SEP] 2, DishSponge, -3.368, 0.915, 1.273, 0, 0, 0, 49 [SEP] 3, ButterKnife, -3.176, 0.915, 1.357, 0, 0, 0, 49 [SEP] 4, WineBottle, -3.272, 0.916, 1.189, 0, 0, 0, 49 [SEP] 5, Spatula, -2.402, 0.930, 3.998, 0, 90, 0, 40 [SEP] 6, Spatula, -3.068, 0.760, 1.279, 0, 90, 0, 41 [SEP] 7, Fork, -3.155, 0.745, 1.510, 0, 90, 0, 41 [SEP] 8, Egg, -1.129, 0.122, 3.756, 0, 270, 0, 72 [SEP] 9, Knife, -3.176, 0.939, 3.827, 0, 0, 0, 40 [SEP] 10, SoapBottle, -3.492, 1.995, 2.363, 0, 0, 0, 55 [SEP] 11, SoapBottle, -1.224, 0.086, 3.756, 0, 270, 0, 72 [SEP] 12, Bowl, -0.673, 1.272, 4.097, 0, 180, 0, 66 [SEP] 13, Bowl, -0.556, 1.540, 4.102, 0, 180, 0, 66 [SEP] 14, SaltShaker, -3.475, 1.455, 1.227, 0, 0, 0, 58 [SEP] 15, PepperShaker, -3.492, 1.990, 1.999, 0, 0, 0, 54 [SEP] 16, Lettuce, -3.463, 1.001, 1.440, 0, 0, 0, 49 [SEP] 17, Egg, -0.089, 1.576, 4.102, 0, 180, 0, 66 [SEP] 18, Knife, -3.368, 0.939, 2.844, 0, 90, 0, 40 [SEP] 19, Fork, -1.857, 0.790, 3.7, 0, 0, 0, 70 [SEP] 20, Bread, -1.522, 0.963, 0.276, 0, 280.313, 0, 76 [SEP] 21, Potato, -1.919, 0.947, 4.188, 0, 0, 0, 40 [SEP] 22, Plate, -3.006, 0.904, 3.677, 0, 0, 0, 40 [SEP] 23, Pot, -3.424, 0.966, 2.374, 0, 0, 0, 46 [SEP] 24, Kettle, -3.148, 0.966, 2.374, 0, 0, 0, 43 [SEP] 25, WineBottle, -3.113, 0.084, 1.591, 0, 0, 0, 59 [SEP] 26, Bowl, -3.654, 0.914, 1.607, 0, 0, 0, 49 [SEP] 27, Tomato, -3.176, 0.984, 1.524, 0, 0, 0, 49 [SEP] 28, Cup, -3.654, 0.915, 1.440, 0, 0, 0, 49 [SEP] 29, Spatula, -2.503, 0.930, 3.890, 0, 180, 0, 40 [SEP] 30, SoapBottle, -2.905, 0.915, 4.106, 0, 0, 0, 40 [SEP] 31, Lettuce, -0.323, 1.072, 4.051, 0, 180, 0, 66 [SEP] 32, Pan, -2.614, 0.902, 3.620, 0, 0, 0, 40 [SEP] 33, Apple, -1.504, 0.975, 4.146, 0, 0, 0, 40 [SEP] 34, SaltShaker, -3.155, 0.742, 1.356, 0, 0, 0, 41 [SEP] 35, PepperShaker, -3.559, 0.912, 1.106, 0, 0, 0, 49 [SEP] 36, ButterKnife, -3.176, 0.915, 1.189, 0, 0, 0, 49 [SEP] 37, DishSponge, -1.666, 0.789, 3.662, 0, 0, 0, 70 [SEP] 38, Spoon, -2.022, 0.916, 4.146, 0, 0, 0, 40 [SEP] 39, Mug, -3.654, 0.910, 1.106, 0, 0, 0, 49 [SEP] 40, CounterTop, -3.381, 0.950, 3.335, 0, 0, 0, [SEP] 41, Drawer, -3.121, 0.775, 1.357, 0, 0, 0, [SEP] 42, Drawer, -3.121, 0.777, 2.916, 0, 0, 0, [SEP] 43, StoveBurner, -3.148, 0.958, 2.374, 0, 0, 0, [SEP] 44, Sink, -1.797, 0.917, 3.660, 0, 0, 0, [SEP] 45, Cabinet, -1.421, 0.388, 3.459, 0, 0, 0, [SEP] 46, StoveBurner, -3.424, 0.958, 2.374, 0, 0, 0, [SEP] 47, Cabinet, -3.365, 1.931, 2.676, 0, 0, 0, [SEP] 48, StoveBurner, -3.424, 0.958, 1.971, 0, 0, 0, [SEP] 49, CounterTop, -3.381, 0.951, 1.356, 0, 0, 0, [SEP] 50, Drawer, -3.121, 0.781, 3.295, 0, 0, 0, [SEP] 51, Cabinet, -2.205, 0.388, 3.459, 0, 0, 0, [SEP] 52, Cabinet, -2.963, 0.388, 3.459, 0, 0, 0, [SEP] 53, Cabinet, -2.992, 0.388, 2.683, 0, 0, 0, [SEP] 54, Cabinet, -3.352, 2.205, 1.715, 0, 0, 0, [SEP] 55, Cabinet, -3.352, 2.205, 2.653, 0, 0, 0, [SEP] 56, Cabinet, -2.189, 0.388, 3.466, 0, 0, 0, [SEP] 57, Cabinet, -3.365, 1.931, 3.963, 0, 0, 0, [SEP] 58, Cabinet, -3.365, 1.931, 1.056, 0, 0, 0, [SEP] 59, Cabinet, -2.992, 0.388, 1.037, 0, 0, 0, [SEP] 60, StoveBurner, -3.143, 0.958, 1.971, 0, 0, 0, [SEP] 61, StoveKnob, -3.599, 1.110, 2.017, 0, 0, 105.000, [SEP] 62, StoveKnob, -3.599, 1.110, 1.867, 0, 0, 105.000, [SEP] 63, StoveKnob, -3.599, 1.110, 2.267, 0, 0, 105.000, [SEP] 64, StoveKnob, -3.599, 1.110, 2.427, 0, 0, 105.000, [SEP] 65, Toaster, -2.654, 0.902, 4.064, 0, 180, 0, [SEP] 66, Fridge, -0.439, 0.014, 3.996, 0, 0, 0, [SEP] 67, LightSwitch, 0.25, 1.383, 2.085, 0, 270, 0, [SEP] 68, Window, -1.430, 1.338, -0.347, 90, 0, 0, [SEP] 69, CoffeeMachine, -3.550, 0.902, 3.274, 0, 90, 0, [SEP] 70, SinkBasin, -1.802, 0.778, 3.700, 0, 0, 0, [SEP] 71, Microwave, -3.484, 1.430, 2.182, 0, 90, 0, [SEP] 72, GarbageCan, -1.184, -0.020, 3.794, 0, 270, 0, [SEP] 73, Blinds, -1.404, 2.092, -0.296, 0, 0, 0, [SEP] 74, Stool, -1.373, 0.014, 1.048, 1.214, 20.754, 0, [SEP] 75, Faucet, -1.788, 0.903, 3.931, 270, 90, 0, [SEP] 76, DiningTable, -1.399, 0.010, 0.238, 0, 0, 0, [SEP] 77, GarbageBag, -0.291, 0.336, -0.034, 272.372, 348.812, 147.313, [SEP] 78, NorthWall, , , , , , , [SEP] 79, EastWall, , , , , , , [SEP] 80, SouthWall, , , , , , , [SEP] 81, WestWall, , , , , , , ", "output": ["STEP 1: turn around to walk over to the kitchen sink on your right | STEP 2: grab a spoon off of the counter behind the sink | STEP 3: turn left and walk to the kitchen counter corner, turn right to face the counter on the right | STEP 4: place the spoon down on the black plate | STEP 5: pick the black plate up off of the counter | STEP 6: turn right and walk to the end of the room, then turn right and walk to the small white kitchen table at the end of the room, turn right to face the small white table | STEP 7: put down the black plate there on the kitchen table | END"]} +{"id": "trial_T20190907_112652_334388-1", "input": "Set plate on the kitchen table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.914, 2.0, 0, 90, 0, [SEP] 1, Pan, -0.673, 0.985, 4.051, 0, 0, 0, 66 [SEP] 2, DishSponge, -3.368, 0.915, 1.273, 0, 0, 0, 49 [SEP] 3, ButterKnife, -3.176, 0.915, 1.357, 0, 0, 0, 49 [SEP] 4, WineBottle, -3.272, 0.916, 1.189, 0, 0, 0, 49 [SEP] 5, Spatula, -2.402, 0.930, 3.998, 0, 90, 0, 40 [SEP] 6, Spatula, -3.068, 0.760, 1.279, 0, 90, 0, 41 [SEP] 7, Fork, -3.155, 0.745, 1.510, 0, 90, 0, 41 [SEP] 8, Egg, -1.129, 0.122, 3.756, 0, 270, 0, 72 [SEP] 9, Knife, -3.176, 0.939, 3.827, 0, 0, 0, 40 [SEP] 10, SoapBottle, -3.492, 1.995, 2.363, 0, 0, 0, 55 [SEP] 11, SoapBottle, -1.224, 0.086, 3.756, 0, 270, 0, 72 [SEP] 12, Bowl, -0.673, 1.272, 4.097, 0, 180, 0, 66 [SEP] 13, Bowl, -0.556, 1.540, 4.102, 0, 180, 0, 66 [SEP] 14, SaltShaker, -3.475, 1.455, 1.227, 0, 0, 0, 58 [SEP] 15, PepperShaker, -3.492, 1.990, 1.999, 0, 0, 0, 54 [SEP] 16, Lettuce, -3.463, 1.001, 1.440, 0, 0, 0, 49 [SEP] 17, Egg, -0.089, 1.576, 4.102, 0, 180, 0, 66 [SEP] 18, Knife, -3.368, 0.939, 2.844, 0, 90, 0, 40 [SEP] 19, Fork, -1.857, 0.790, 3.7, 0, 0, 0, 70 [SEP] 20, Bread, -1.522, 0.963, 0.276, 0, 280.313, 0, 76 [SEP] 21, Potato, -1.919, 0.947, 4.188, 0, 0, 0, 40 [SEP] 22, Plate, -3.006, 0.904, 3.677, 0, 0, 0, 40 [SEP] 23, Pot, -3.424, 0.966, 2.374, 0, 0, 0, 46 [SEP] 24, Kettle, -3.148, 0.966, 2.374, 0, 0, 0, 43 [SEP] 25, WineBottle, -3.113, 0.084, 1.591, 0, 0, 0, 59 [SEP] 26, Bowl, -3.654, 0.914, 1.607, 0, 0, 0, 49 [SEP] 27, Tomato, -3.176, 0.984, 1.524, 0, 0, 0, 49 [SEP] 28, Cup, -3.654, 0.915, 1.440, 0, 0, 0, 49 [SEP] 29, Spatula, -2.503, 0.930, 3.890, 0, 180, 0, 40 [SEP] 30, SoapBottle, -2.905, 0.915, 4.106, 0, 0, 0, 40 [SEP] 31, Lettuce, -0.323, 1.072, 4.051, 0, 180, 0, 66 [SEP] 32, Pan, -2.614, 0.902, 3.620, 0, 0, 0, 40 [SEP] 33, Apple, -1.504, 0.975, 4.146, 0, 0, 0, 40 [SEP] 34, SaltShaker, -3.155, 0.742, 1.356, 0, 0, 0, 41 [SEP] 35, PepperShaker, -3.559, 0.912, 1.106, 0, 0, 0, 49 [SEP] 36, ButterKnife, -3.176, 0.915, 1.189, 0, 0, 0, 49 [SEP] 37, DishSponge, -1.666, 0.789, 3.662, 0, 0, 0, 70 [SEP] 38, Spoon, -2.022, 0.916, 4.146, 0, 0, 0, 40 [SEP] 39, Mug, -3.654, 0.910, 1.106, 0, 0, 0, 49 [SEP] 40, CounterTop, -3.381, 0.950, 3.335, 0, 0, 0, [SEP] 41, Drawer, -3.121, 0.775, 1.357, 0, 0, 0, [SEP] 42, Drawer, -3.121, 0.777, 2.916, 0, 0, 0, [SEP] 43, StoveBurner, -3.148, 0.958, 2.374, 0, 0, 0, [SEP] 44, Sink, -1.797, 0.917, 3.660, 0, 0, 0, [SEP] 45, Cabinet, -1.421, 0.388, 3.459, 0, 0, 0, [SEP] 46, StoveBurner, -3.424, 0.958, 2.374, 0, 0, 0, [SEP] 47, Cabinet, -3.365, 1.931, 2.676, 0, 0, 0, [SEP] 48, StoveBurner, -3.424, 0.958, 1.971, 0, 0, 0, [SEP] 49, CounterTop, -3.381, 0.951, 1.356, 0, 0, 0, [SEP] 50, Drawer, -3.121, 0.781, 3.295, 0, 0, 0, [SEP] 51, Cabinet, -2.205, 0.388, 3.459, 0, 0, 0, [SEP] 52, Cabinet, -2.963, 0.388, 3.459, 0, 0, 0, [SEP] 53, Cabinet, -2.992, 0.388, 2.683, 0, 0, 0, [SEP] 54, Cabinet, -3.352, 2.205, 1.715, 0, 0, 0, [SEP] 55, Cabinet, -3.352, 2.205, 2.653, 0, 0, 0, [SEP] 56, Cabinet, -2.189, 0.388, 3.466, 0, 0, 0, [SEP] 57, Cabinet, -3.365, 1.931, 3.963, 0, 0, 0, [SEP] 58, Cabinet, -3.365, 1.931, 1.056, 0, 0, 0, [SEP] 59, Cabinet, -2.992, 0.388, 1.037, 0, 0, 0, [SEP] 60, StoveBurner, -3.143, 0.958, 1.971, 0, 0, 0, [SEP] 61, StoveKnob, -3.599, 1.110, 2.017, 0, 0, 105.000, [SEP] 62, StoveKnob, -3.599, 1.110, 1.867, 0, 0, 105.000, [SEP] 63, StoveKnob, -3.599, 1.110, 2.267, 0, 0, 105.000, [SEP] 64, StoveKnob, -3.599, 1.110, 2.427, 0, 0, 105.000, [SEP] 65, Toaster, -2.654, 0.902, 4.064, 0, 180, 0, [SEP] 66, Fridge, -0.439, 0.014, 3.996, 0, 0, 0, [SEP] 67, LightSwitch, 0.25, 1.383, 2.085, 0, 270, 0, [SEP] 68, Window, -1.430, 1.338, -0.347, 90, 0, 0, [SEP] 69, CoffeeMachine, -3.550, 0.902, 3.274, 0, 90, 0, [SEP] 70, SinkBasin, -1.802, 0.778, 3.700, 0, 0, 0, [SEP] 71, Microwave, -3.484, 1.430, 2.182, 0, 90, 0, [SEP] 72, GarbageCan, -1.184, -0.020, 3.794, 0, 270, 0, [SEP] 73, Blinds, -1.404, 2.092, -0.296, 0, 0, 0, [SEP] 74, Stool, -1.373, 0.014, 1.048, 1.214, 20.754, 0, [SEP] 75, Faucet, -1.788, 0.903, 3.931, 270, 90, 0, [SEP] 76, DiningTable, -1.399, 0.010, 0.238, 0, 0, 0, [SEP] 77, GarbageBag, -0.291, 0.336, -0.034, 272.372, 348.812, 147.313, [SEP] 78, NorthWall, , , , , , , [SEP] 79, EastWall, , , , , , , [SEP] 80, SouthWall, , , , , , , [SEP] 81, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the right towards the sink and face it | STEP 2: Pick up the metal spoon from the sink | STEP 3: Turn to the counter on your left and face it, in front of the toaster | STEP 4: Place the spoon on the plate on the counter | STEP 5: Pick up the plate and spoon together on the counter | STEP 6: Turn around and walk to the white kitchen table in the corner right of the room | STEP 7: Place the plate and spoon down on the white table | END"]} +{"id": "trial_T20190907_112652_334388-2", "input": "Move the plate to the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.914, 2.0, 0, 90, 0, [SEP] 1, Pan, -0.673, 0.985, 4.051, 0, 0, 0, 66 [SEP] 2, DishSponge, -3.368, 0.915, 1.273, 0, 0, 0, 49 [SEP] 3, ButterKnife, -3.176, 0.915, 1.357, 0, 0, 0, 49 [SEP] 4, WineBottle, -3.272, 0.916, 1.189, 0, 0, 0, 49 [SEP] 5, Spatula, -2.402, 0.930, 3.998, 0, 90, 0, 40 [SEP] 6, Spatula, -3.068, 0.760, 1.279, 0, 90, 0, 41 [SEP] 7, Fork, -3.155, 0.745, 1.510, 0, 90, 0, 41 [SEP] 8, Egg, -1.129, 0.122, 3.756, 0, 270, 0, 72 [SEP] 9, Knife, -3.176, 0.939, 3.827, 0, 0, 0, 40 [SEP] 10, SoapBottle, -3.492, 1.995, 2.363, 0, 0, 0, 55 [SEP] 11, SoapBottle, -1.224, 0.086, 3.756, 0, 270, 0, 72 [SEP] 12, Bowl, -0.673, 1.272, 4.097, 0, 180, 0, 66 [SEP] 13, Bowl, -0.556, 1.540, 4.102, 0, 180, 0, 66 [SEP] 14, SaltShaker, -3.475, 1.455, 1.227, 0, 0, 0, 58 [SEP] 15, PepperShaker, -3.492, 1.990, 1.999, 0, 0, 0, 54 [SEP] 16, Lettuce, -3.463, 1.001, 1.440, 0, 0, 0, 49 [SEP] 17, Egg, -0.089, 1.576, 4.102, 0, 180, 0, 66 [SEP] 18, Knife, -3.368, 0.939, 2.844, 0, 90, 0, 40 [SEP] 19, Fork, -1.857, 0.790, 3.7, 0, 0, 0, 70 [SEP] 20, Bread, -1.522, 0.963, 0.276, 0, 280.313, 0, 76 [SEP] 21, Potato, -1.919, 0.947, 4.188, 0, 0, 0, 40 [SEP] 22, Plate, -3.006, 0.904, 3.677, 0, 0, 0, 40 [SEP] 23, Pot, -3.424, 0.966, 2.374, 0, 0, 0, 46 [SEP] 24, Kettle, -3.148, 0.966, 2.374, 0, 0, 0, 43 [SEP] 25, WineBottle, -3.113, 0.084, 1.591, 0, 0, 0, 59 [SEP] 26, Bowl, -3.654, 0.914, 1.607, 0, 0, 0, 49 [SEP] 27, Tomato, -3.176, 0.984, 1.524, 0, 0, 0, 49 [SEP] 28, Cup, -3.654, 0.915, 1.440, 0, 0, 0, 49 [SEP] 29, Spatula, -2.503, 0.930, 3.890, 0, 180, 0, 40 [SEP] 30, SoapBottle, -2.905, 0.915, 4.106, 0, 0, 0, 40 [SEP] 31, Lettuce, -0.323, 1.072, 4.051, 0, 180, 0, 66 [SEP] 32, Pan, -2.614, 0.902, 3.620, 0, 0, 0, 40 [SEP] 33, Apple, -1.504, 0.975, 4.146, 0, 0, 0, 40 [SEP] 34, SaltShaker, -3.155, 0.742, 1.356, 0, 0, 0, 41 [SEP] 35, PepperShaker, -3.559, 0.912, 1.106, 0, 0, 0, 49 [SEP] 36, ButterKnife, -3.176, 0.915, 1.189, 0, 0, 0, 49 [SEP] 37, DishSponge, -1.666, 0.789, 3.662, 0, 0, 0, 70 [SEP] 38, Spoon, -2.022, 0.916, 4.146, 0, 0, 0, 40 [SEP] 39, Mug, -3.654, 0.910, 1.106, 0, 0, 0, 49 [SEP] 40, CounterTop, -3.381, 0.950, 3.335, 0, 0, 0, [SEP] 41, Drawer, -3.121, 0.775, 1.357, 0, 0, 0, [SEP] 42, Drawer, -3.121, 0.777, 2.916, 0, 0, 0, [SEP] 43, StoveBurner, -3.148, 0.958, 2.374, 0, 0, 0, [SEP] 44, Sink, -1.797, 0.917, 3.660, 0, 0, 0, [SEP] 45, Cabinet, -1.421, 0.388, 3.459, 0, 0, 0, [SEP] 46, StoveBurner, -3.424, 0.958, 2.374, 0, 0, 0, [SEP] 47, Cabinet, -3.365, 1.931, 2.676, 0, 0, 0, [SEP] 48, StoveBurner, -3.424, 0.958, 1.971, 0, 0, 0, [SEP] 49, CounterTop, -3.381, 0.951, 1.356, 0, 0, 0, [SEP] 50, Drawer, -3.121, 0.781, 3.295, 0, 0, 0, [SEP] 51, Cabinet, -2.205, 0.388, 3.459, 0, 0, 0, [SEP] 52, Cabinet, -2.963, 0.388, 3.459, 0, 0, 0, [SEP] 53, Cabinet, -2.992, 0.388, 2.683, 0, 0, 0, [SEP] 54, Cabinet, -3.352, 2.205, 1.715, 0, 0, 0, [SEP] 55, Cabinet, -3.352, 2.205, 2.653, 0, 0, 0, [SEP] 56, Cabinet, -2.189, 0.388, 3.466, 0, 0, 0, [SEP] 57, Cabinet, -3.365, 1.931, 3.963, 0, 0, 0, [SEP] 58, Cabinet, -3.365, 1.931, 1.056, 0, 0, 0, [SEP] 59, Cabinet, -2.992, 0.388, 1.037, 0, 0, 0, [SEP] 60, StoveBurner, -3.143, 0.958, 1.971, 0, 0, 0, [SEP] 61, StoveKnob, -3.599, 1.110, 2.017, 0, 0, 105.000, [SEP] 62, StoveKnob, -3.599, 1.110, 1.867, 0, 0, 105.000, [SEP] 63, StoveKnob, -3.599, 1.110, 2.267, 0, 0, 105.000, [SEP] 64, StoveKnob, -3.599, 1.110, 2.427, 0, 0, 105.000, [SEP] 65, Toaster, -2.654, 0.902, 4.064, 0, 180, 0, [SEP] 66, Fridge, -0.439, 0.014, 3.996, 0, 0, 0, [SEP] 67, LightSwitch, 0.25, 1.383, 2.085, 0, 270, 0, [SEP] 68, Window, -1.430, 1.338, -0.347, 90, 0, 0, [SEP] 69, CoffeeMachine, -3.550, 0.902, 3.274, 0, 90, 0, [SEP] 70, SinkBasin, -1.802, 0.778, 3.700, 0, 0, 0, [SEP] 71, Microwave, -3.484, 1.430, 2.182, 0, 90, 0, [SEP] 72, GarbageCan, -1.184, -0.020, 3.794, 0, 270, 0, [SEP] 73, Blinds, -1.404, 2.092, -0.296, 0, 0, 0, [SEP] 74, Stool, -1.373, 0.014, 1.048, 1.214, 20.754, 0, [SEP] 75, Faucet, -1.788, 0.903, 3.931, 270, 90, 0, [SEP] 76, DiningTable, -1.399, 0.010, 0.238, 0, 0, 0, [SEP] 77, GarbageBag, -0.291, 0.336, -0.034, 272.372, 348.812, 147.313, [SEP] 78, NorthWall, , , , , , , [SEP] 79, EastWall, , , , , , , [SEP] 80, SouthWall, , , , , , , [SEP] 81, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the sink. | STEP 2: Pick up a spoon from the sink. | STEP 3: Turn and go to the counter next to the sink. | STEP 4: Put the spoon on the black plate on the counter. | STEP 5: Pick up the plate on the counter. | STEP 6: Turn around and go to the table. | STEP 7: Put the plate on the table. | END"]} +{"id": "trial_T20190907_042856_259139-0", "input": "Move a book from a desk to a sofa. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.922, 3.0, 0, 270, 0, [SEP] 1, TissueBox, -0.337, 0.771, 1.449, 0, 0, 0, 49 [SEP] 2, TissueBox, -0.072, 0.771, 1.449, 0, 0, 0, 49 [SEP] 3, Statue, -5.927, 0.736, 2.551, 0, 90, 0, 43 [SEP] 4, Pencil, -5.618, 0.731, 0.219, 0, 90, 0, 41 [SEP] 5, Pencil, -0.228, 0.772, 0.456, 0, 0, 0, 48 [SEP] 6, Pen, -0.138, 0.775, 1.306, 0, 0, 0, 49 [SEP] 7, Pen, -5.642, 0.733, 0.391, 0, 0, 0, 41 [SEP] 8, KeyChain, -2.824, 0.421, 0.399, 0, 90, 0, 40 [SEP] 9, KeyChain, -3.041, 0.414, 2.244, 0, 0, 0, 42 [SEP] 10, RemoteControl, -5.788, 0.730, 0.342, 0, 0, 0, 41 [SEP] 11, RemoteControl, -5.788, 0.727, 2.250, 0, 0, 0, 43 [SEP] 12, Book, -0.205, 0.768, 1.663, 0, 0, 0, 49 [SEP] 13, Box, -3.426, 0.635, 2.439, 0, 330.427, 0, 42 [SEP] 14, KeyChain, -2.824, 0.428, 0.602, 0, 270, 0, 40 [SEP] 15, Pillow, -2.147, 0.615, 0.59, 0, 0, 42.945, 40 [SEP] 16, WateringCan, -5.238, 0.020, 0.136, 0, 0, 0, Floor|+00.00| [SEP] 17, TissueBox, -3.041, 0.418, 2.054, 0, 0, 0, 42 [SEP] 18, CreditCard, -5.881, 0.722, 2.551, 0, 0, 0, 43 [SEP] 19, RemoteControl, -5.742, 0.724, 2.401, 0, 0, 0, 43 [SEP] 20, Boots, 0.034, 0.021, 3.091, 0, 259.598, 0, Floor|+00.00| [SEP] 21, CellPhone, -5.720, 0.405, 2.127, 0, 0, 0, 54 [SEP] 22, Pen, -5.422, 0.733, 0.342, 0, 180, 0, 41 [SEP] 23, Laptop, -0.334, 0.765, 0.722, 0, 296.906, 0, 48 [SEP] 24, Pencil, -3.188, 0.416, 2.530, 0, 0, 0, 42 [SEP] 25, Statue, -0.294, 0.781, 0.314, 0, 180, 0, 48 [SEP] 26, Statue, -2.749, 0.423, 2.530, 0, 0, 0, 42 [SEP] 27, FloorLamp, -0.199, 0.015, 4.493, 0, 45, 0, [SEP] 28, GarbageCan, -5.800, -0.029, 4.632, 0, 137.350, 0, [SEP] 29, HousePlant, -5.539, 0.725, 0.303, 0, 0, 0, [SEP] 30, LightSwitch, -2.499, 1.526, 4.850, 0, 180, 0, [SEP] 31, Window, 0.129, 2.384, 2.414, 90, 270, 0, [SEP] 32, Painting, -0.048, 1.220, 0.462, 90, 270, 0, [SEP] 33, Painting, -0.048, 1.868, 0.504, 90, 270, 0, [SEP] 34, Television, -5.696, 1.209, 2.396, 0, 90, 0, [SEP] 35, Window, 0.172, 1.735, 3.507, 90, 90, 0, [SEP] 36, Window, 0.172, 1.735, 1.383, 90, 90, 0, [SEP] 37, Window, 0.172, 1.021, 2.442, 90, 90, 0, [SEP] 38, Painting, -0.995, 1.703, 0.035, 90, 0, 0, [SEP] 39, Painting, -3.309, 1.667, 0.035, 90, 0, 0, [SEP] 40, Sofa, -3.126, 0.031, 0.609, 0, 0, 0, [SEP] 41, SideTable, -5.569, 0.022, 0.293, 0, 0, 0, [SEP] 42, CoffeeTable, -3.041, 0.001, 2.339, 0, 0, 0, [SEP] 43, Dresser, -5.695, 0.024, 2.401, 0, 90, 0, [SEP] 44, Drawer, -5.495, 0.518, 2.125, 0, 90, 0, [SEP] 45, Drawer, -5.495, 0.209, 2.676, 0, 90, 0, [SEP] 46, Drawer, -5.495, 0.519, 2.676, 0, 90, 0, [SEP] 47, Drawer, -5.495, 0.209, 2.125, 0, 90, 0, [SEP] 48, Desk, -0.305, 0.025, 0.620, 0, 270, 0, [SEP] 49, SideTable, -0.309, 0.024, 1.520, 0, 0, 0, [SEP] 50, Chair, -0.664, 0.030, 0.521, 0, 72.144, 0, [SEP] 51, Chair, -2.162, 0.030, 3.876, 0, 192.243, 0, [SEP] 52, Chair, -4.005, 0.030, 3.896, 0, 156.546, 0, [SEP] 53, ArmChair, -1.319, 0.026, 3.645, 0, 209.038, 0, [SEP] 54, , , , , , , , [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the book on the desk. | STEP 2: Pick up the book from the desk. | STEP 3: Turn around and walk to the sofa on the left. | STEP 4: Put the book on the middle of the sofa, to the right of the keys. | END"]} +{"id": "trial_T20190907_042856_259139-1", "input": "move the book to the couch SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.922, 3.0, 0, 270, 0, [SEP] 1, TissueBox, -0.337, 0.771, 1.449, 0, 0, 0, 49 [SEP] 2, TissueBox, -0.072, 0.771, 1.449, 0, 0, 0, 49 [SEP] 3, Statue, -5.927, 0.736, 2.551, 0, 90, 0, 43 [SEP] 4, Pencil, -5.618, 0.731, 0.219, 0, 90, 0, 41 [SEP] 5, Pencil, -0.228, 0.772, 0.456, 0, 0, 0, 48 [SEP] 6, Pen, -0.138, 0.775, 1.306, 0, 0, 0, 49 [SEP] 7, Pen, -5.642, 0.733, 0.391, 0, 0, 0, 41 [SEP] 8, KeyChain, -2.824, 0.421, 0.399, 0, 90, 0, 40 [SEP] 9, KeyChain, -3.041, 0.414, 2.244, 0, 0, 0, 42 [SEP] 10, RemoteControl, -5.788, 0.730, 0.342, 0, 0, 0, 41 [SEP] 11, RemoteControl, -5.788, 0.727, 2.250, 0, 0, 0, 43 [SEP] 12, Book, -0.205, 0.768, 1.663, 0, 0, 0, 49 [SEP] 13, Box, -3.426, 0.635, 2.439, 0, 330.427, 0, 42 [SEP] 14, KeyChain, -2.824, 0.428, 0.602, 0, 270, 0, 40 [SEP] 15, Pillow, -2.147, 0.615, 0.59, 0, 0, 42.945, 40 [SEP] 16, WateringCan, -5.238, 0.020, 0.136, 0, 0, 0, Floor|+00.00| [SEP] 17, TissueBox, -3.041, 0.418, 2.054, 0, 0, 0, 42 [SEP] 18, CreditCard, -5.881, 0.722, 2.551, 0, 0, 0, 43 [SEP] 19, RemoteControl, -5.742, 0.724, 2.401, 0, 0, 0, 43 [SEP] 20, Boots, 0.034, 0.021, 3.091, 0, 259.598, 0, Floor|+00.00| [SEP] 21, CellPhone, -5.720, 0.405, 2.127, 0, 0, 0, 54 [SEP] 22, Pen, -5.422, 0.733, 0.342, 0, 180, 0, 41 [SEP] 23, Laptop, -0.334, 0.765, 0.722, 0, 296.906, 0, 48 [SEP] 24, Pencil, -3.188, 0.416, 2.530, 0, 0, 0, 42 [SEP] 25, Statue, -0.294, 0.781, 0.314, 0, 180, 0, 48 [SEP] 26, Statue, -2.749, 0.423, 2.530, 0, 0, 0, 42 [SEP] 27, FloorLamp, -0.199, 0.015, 4.493, 0, 45, 0, [SEP] 28, GarbageCan, -5.800, -0.029, 4.632, 0, 137.350, 0, [SEP] 29, HousePlant, -5.539, 0.725, 0.303, 0, 0, 0, [SEP] 30, LightSwitch, -2.499, 1.526, 4.850, 0, 180, 0, [SEP] 31, Window, 0.129, 2.384, 2.414, 90, 270, 0, [SEP] 32, Painting, -0.048, 1.220, 0.462, 90, 270, 0, [SEP] 33, Painting, -0.048, 1.868, 0.504, 90, 270, 0, [SEP] 34, Television, -5.696, 1.209, 2.396, 0, 90, 0, [SEP] 35, Window, 0.172, 1.735, 3.507, 90, 90, 0, [SEP] 36, Window, 0.172, 1.735, 1.383, 90, 90, 0, [SEP] 37, Window, 0.172, 1.021, 2.442, 90, 90, 0, [SEP] 38, Painting, -0.995, 1.703, 0.035, 90, 0, 0, [SEP] 39, Painting, -3.309, 1.667, 0.035, 90, 0, 0, [SEP] 40, Sofa, -3.126, 0.031, 0.609, 0, 0, 0, [SEP] 41, SideTable, -5.569, 0.022, 0.293, 0, 0, 0, [SEP] 42, CoffeeTable, -3.041, 0.001, 2.339, 0, 0, 0, [SEP] 43, Dresser, -5.695, 0.024, 2.401, 0, 90, 0, [SEP] 44, Drawer, -5.495, 0.518, 2.125, 0, 90, 0, [SEP] 45, Drawer, -5.495, 0.209, 2.676, 0, 90, 0, [SEP] 46, Drawer, -5.495, 0.519, 2.676, 0, 90, 0, [SEP] 47, Drawer, -5.495, 0.209, 2.125, 0, 90, 0, [SEP] 48, Desk, -0.305, 0.025, 0.620, 0, 270, 0, [SEP] 49, SideTable, -0.309, 0.024, 1.520, 0, 0, 0, [SEP] 50, Chair, -0.664, 0.030, 0.521, 0, 72.144, 0, [SEP] 51, Chair, -2.162, 0.030, 3.876, 0, 192.243, 0, [SEP] 52, Chair, -4.005, 0.030, 3.896, 0, 156.546, 0, [SEP] 53, ArmChair, -1.319, 0.026, 3.645, 0, 209.038, 0, [SEP] 54, , , , , , , , [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: turn to the left walk forward turn to the left | STEP 2: pick up the book on the table | STEP 3: turn to the right turn to the right walk forward until you reach the end of the couch turn to the left | STEP 4: put the book on the couch | END"]} +{"id": "trial_T20190907_042856_259139-2", "input": "Move the book from the table to the sofa SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.922, 3.0, 0, 270, 0, [SEP] 1, TissueBox, -0.337, 0.771, 1.449, 0, 0, 0, 49 [SEP] 2, TissueBox, -0.072, 0.771, 1.449, 0, 0, 0, 49 [SEP] 3, Statue, -5.927, 0.736, 2.551, 0, 90, 0, 43 [SEP] 4, Pencil, -5.618, 0.731, 0.219, 0, 90, 0, 41 [SEP] 5, Pencil, -0.228, 0.772, 0.456, 0, 0, 0, 48 [SEP] 6, Pen, -0.138, 0.775, 1.306, 0, 0, 0, 49 [SEP] 7, Pen, -5.642, 0.733, 0.391, 0, 0, 0, 41 [SEP] 8, KeyChain, -2.824, 0.421, 0.399, 0, 90, 0, 40 [SEP] 9, KeyChain, -3.041, 0.414, 2.244, 0, 0, 0, 42 [SEP] 10, RemoteControl, -5.788, 0.730, 0.342, 0, 0, 0, 41 [SEP] 11, RemoteControl, -5.788, 0.727, 2.250, 0, 0, 0, 43 [SEP] 12, Book, -0.205, 0.768, 1.663, 0, 0, 0, 49 [SEP] 13, Box, -3.426, 0.635, 2.439, 0, 330.427, 0, 42 [SEP] 14, KeyChain, -2.824, 0.428, 0.602, 0, 270, 0, 40 [SEP] 15, Pillow, -2.147, 0.615, 0.59, 0, 0, 42.945, 40 [SEP] 16, WateringCan, -5.238, 0.020, 0.136, 0, 0, 0, Floor|+00.00| [SEP] 17, TissueBox, -3.041, 0.418, 2.054, 0, 0, 0, 42 [SEP] 18, CreditCard, -5.881, 0.722, 2.551, 0, 0, 0, 43 [SEP] 19, RemoteControl, -5.742, 0.724, 2.401, 0, 0, 0, 43 [SEP] 20, Boots, 0.034, 0.021, 3.091, 0, 259.598, 0, Floor|+00.00| [SEP] 21, CellPhone, -5.720, 0.405, 2.127, 0, 0, 0, 54 [SEP] 22, Pen, -5.422, 0.733, 0.342, 0, 180, 0, 41 [SEP] 23, Laptop, -0.334, 0.765, 0.722, 0, 296.906, 0, 48 [SEP] 24, Pencil, -3.188, 0.416, 2.530, 0, 0, 0, 42 [SEP] 25, Statue, -0.294, 0.781, 0.314, 0, 180, 0, 48 [SEP] 26, Statue, -2.749, 0.423, 2.530, 0, 0, 0, 42 [SEP] 27, FloorLamp, -0.199, 0.015, 4.493, 0, 45, 0, [SEP] 28, GarbageCan, -5.800, -0.029, 4.632, 0, 137.350, 0, [SEP] 29, HousePlant, -5.539, 0.725, 0.303, 0, 0, 0, [SEP] 30, LightSwitch, -2.499, 1.526, 4.850, 0, 180, 0, [SEP] 31, Window, 0.129, 2.384, 2.414, 90, 270, 0, [SEP] 32, Painting, -0.048, 1.220, 0.462, 90, 270, 0, [SEP] 33, Painting, -0.048, 1.868, 0.504, 90, 270, 0, [SEP] 34, Television, -5.696, 1.209, 2.396, 0, 90, 0, [SEP] 35, Window, 0.172, 1.735, 3.507, 90, 90, 0, [SEP] 36, Window, 0.172, 1.735, 1.383, 90, 90, 0, [SEP] 37, Window, 0.172, 1.021, 2.442, 90, 90, 0, [SEP] 38, Painting, -0.995, 1.703, 0.035, 90, 0, 0, [SEP] 39, Painting, -3.309, 1.667, 0.035, 90, 0, 0, [SEP] 40, Sofa, -3.126, 0.031, 0.609, 0, 0, 0, [SEP] 41, SideTable, -5.569, 0.022, 0.293, 0, 0, 0, [SEP] 42, CoffeeTable, -3.041, 0.001, 2.339, 0, 0, 0, [SEP] 43, Dresser, -5.695, 0.024, 2.401, 0, 90, 0, [SEP] 44, Drawer, -5.495, 0.518, 2.125, 0, 90, 0, [SEP] 45, Drawer, -5.495, 0.209, 2.676, 0, 90, 0, [SEP] 46, Drawer, -5.495, 0.519, 2.676, 0, 90, 0, [SEP] 47, Drawer, -5.495, 0.209, 2.125, 0, 90, 0, [SEP] 48, Desk, -0.305, 0.025, 0.620, 0, 270, 0, [SEP] 49, SideTable, -0.309, 0.024, 1.520, 0, 0, 0, [SEP] 50, Chair, -0.664, 0.030, 0.521, 0, 72.144, 0, [SEP] 51, Chair, -2.162, 0.030, 3.876, 0, 192.243, 0, [SEP] 52, Chair, -4.005, 0.030, 3.896, 0, 156.546, 0, [SEP] 53, ArmChair, -1.319, 0.026, 3.645, 0, 209.038, 0, [SEP] 54, , , , , , , , [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, walk to the table by the window | STEP 2: Grab the book on the table | STEP 3: Turn around, walk to the grey sofa on the left | STEP 4: Put the book down on the sofa | END"]} +{"id": "trial_T20190909_062333_424779-0", "input": "place microwaved black mug in upper cabinet in between microwave and sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.901, 1.0, 0, 180, 0, [SEP] 1, Potato, -2.866, 0.080, 0.351, 0, 26.101, 0, 68 [SEP] 2, Potato, -2.628, 0.961, 3.580, 0, 0, 0, 61 [SEP] 3, DishSponge, -1.180, 0.795, 0.447, 0, 0, 0, 72 [SEP] 4, Spoon, -2.480, 0.901, 1.913, 0, 0, 0, 75 [SEP] 5, Fork, -0.314, 0.901, 2.530, 0, 0, 0, 77 [SEP] 6, Fork, -0.314, 0.901, 3.133, 0, 0, 0, 77 [SEP] 7, Pot, -0.486, 0.900, 3.334, 0, 0, 0, 77 [SEP] 8, Egg, -2.764, 1.219, 4.278, 0, 90, 0, 71 [SEP] 9, Egg, -2.785, 0.332, 4.501, 0, 90, 0, 71 [SEP] 10, Cup, -2.480, 0.900, 2.706, 0, 0, 0, 75 [SEP] 11, Plate, -0.747, 1.777, 0.205, 0, 0, 0, 52 [SEP] 12, Knife, -2.785, 0.961, 3.209, 0, 180, 0, 61 [SEP] 13, Knife, -1.662, 0.688, 0.409, 0, 90, 0, 57 [SEP] 14, SoapBottle, -0.228, 0.900, 2.329, 0, 0, 0, 77 [SEP] 15, Bowl, -1.303, 1.770, 0.297, 0, 90, 0, 51 [SEP] 16, Bowl, -2.805, 1.182, 4.427, 0, 90, 0, 71 [SEP] 17, SaltShaker, -2.864, 0.931, 3.302, 0, 0, 0, 61 [SEP] 18, Bread, -0.486, 0.957, 2.530, 0, 0, 0, 77 [SEP] 19, Mug, -2.995, 0.895, 2.573, 0, 0, 0, 75 [SEP] 20, Mug, -2.549, 0.930, 3.395, 0, 180, 0, 61 [SEP] 21, Mug, -2.778, 1.001, 3.714, 0, 90, 0, 74 [SEP] 22, Egg, -2.549, 0.968, 3.673, 0, 0, 0, 61 [SEP] 23, Plate, -2.789, 0.904, 2.309, 0, 0, 0, 75 [SEP] 24, Fork, -0.486, 0.901, 2.932, 0, 0, 0, 77 [SEP] 25, Bread, -2.864, 0.940, 1.983, 0, 0, 0, 75 [SEP] 26, Apple, -2.691, 0.355, 4.204, 0, 90, 0, Floor|-00.05| [SEP] 27, Lettuce, -2.480, 0.980, 2.309, 0, 0, 0, 75 [SEP] 28, Spatula, -0.164, 0.677, 0.464, 0, 270, 0, 43 [SEP] 29, Knife, -2.706, 0.961, 3.766, 0, 180, 0, 61 [SEP] 30, Potato, -2.377, 0.926, 2.706, 0, 0, 0, 75 [SEP] 31, Tomato, -2.995, 0.964, 2.441, 0, 0, 0, 75 [SEP] 32, Cup, -2.995, 0.900, 2.309, 0, 0, 0, 75 [SEP] 33, SaltShaker, -1.824, 0.658, 0.519, 0, 0, 0, 57 [SEP] 34, PepperShaker, -0.380, 0.658, 0.573, 0, 0, 0, 43 [SEP] 35, ButterKnife, -2.892, 0.900, 2.706, 0, 0, 0, 75 [SEP] 36, SoapBottle, -2.480, 0.900, 2.573, 0, 0, 0, 75 [SEP] 37, Pan, -0.250, 0.926, 4.651, 0, 0, 0, 56 [SEP] 38, DishSponge, -0.272, 0.661, 0.464, 0, 0, 0, 43 [SEP] 39, Pot, -0.535, 0.928, 4.274, 0, 0, 0, 58 [SEP] 40, Spoon, -1.353, 0.797, 0.337, 0, 90, 0, 72 [SEP] 41, Mug, -1.636, 1.768, 0.160, 0, 0, 0, 49 [SEP] 42, Bowl, -2.831, 0.295, 4.278, 0, 90, 0, 71 [SEP] 43, Drawer, -0.325, 0.696, 0.413, 0, 0, 0, [SEP] 44, Cabinet, -0.595, 0.490, 0.648, 0, 0, 0, [SEP] 45, Cabinet, -0.555, 0.490, 0.646, 0, 0, 0, [SEP] 46, Cabinet, -1.591, 0.490, 0.646, 0, 0, 0, [SEP] 47, Cabinet, -1.554, 0.490, 0.646, 0, 0, 0, [SEP] 48, Cabinet, -2.550, 0.490, 0.646, 0, 0, 0, [SEP] 49, Cabinet, -1.514, 2.046, 0.392, 0, 0, 0, [SEP] 50, Cabinet, -2.474, 2.046, 0.392, 0, 0, 0, [SEP] 51, Cabinet, -1.478, 2.046, 0.392, 0, 0, 0, [SEP] 52, Cabinet, -0.518, 2.046, 0.392, 0, 0, 0, [SEP] 53, Cabinet, -0.479, 2.046, 0.392, 0, 0, 0, [SEP] 54, CounterTop, -1.366, 0.952, 0.349, 0, 0, 0, [SEP] 55, Sink, -1.108, 0.926, 0.340, 0, 0, 0, [SEP] 56, StoveBurner, -0.254, 0.922, 4.672, 0, 0, 0, [SEP] 57, Drawer, -1.824, 0.696, 0.413, 0, 0, 0, [SEP] 58, StoveBurner, -0.535, 0.922, 4.274, 0, 0, 0, [SEP] 59, StoveBurner, -0.254, 0.922, 4.274, 0, 0, 0, [SEP] 60, StoveBurner, -0.536, 0.922, 4.672, 0, 0, 0, [SEP] 61, CounterTop, -2.780, 0.971, 3.487, 0, 0, 0, [SEP] 62, Drawer, -2.323, 0.696, 0.413, 0, 0, 0, [SEP] 63, StoveKnob, -0.064, 1.090, 4.632, 0, 0, 73.865, [SEP] 64, StoveKnob, -0.064, 1.090, 4.782, 0, 0, 73.865, [SEP] 65, StoveKnob, -0.064, 1.090, 4.382, 0, 0, 73.865, [SEP] 66, StoveKnob, -0.064, 1.090, 4.222, 0, 0, 73.865, [SEP] 67, Toaster, -0.286, 0.861, 3.520, 0, 270, 0, [SEP] 68, GarbageCan, -2.816, -0.014, 0.370, 358.702, 26.614, 2.400, [SEP] 69, LightSwitch, -0.064, 1.447, 1.996, 0, 270, 0, [SEP] 70, Window, -3.075, 1.593, 1.361, 90, 90, 0, [SEP] 71, Fridge, -2.802, 0.0, 4.427, 0, 0, 0, [SEP] 72, SinkBasin, -1.106, 0.785, 0.337, 0, 0, 0, [SEP] 73, Microwave, -0.358, 0.917, 0.224, 0, 0, 0, [SEP] 74, CoffeeMachine, -2.938, 0.925, 3.605, 0, 90, 0, [SEP] 75, DiningTable, -2.733, -0.003, 2.607, 0, 270, 0, [SEP] 76, Faucet, -1.077, 0.920, 0.028, 270, 270, 0, [SEP] 77, DiningTable, -0.488, -0.003, 3.182, 0, 270, 0, [SEP] 78, NorthWall, , , , , , , [SEP] 79, EastWall, , , , , , , [SEP] 80, SouthWall, , , , , , , [SEP] 81, WestWall, , , , , , , ", "output": ["STEP 1: go to the black mug above the brown paper bag to the left | STEP 2: pick up the black mug above the brown paper bag | STEP 3: go to the counter with the microwave to the left | STEP 4: open microwave, put black mug on plate in microwave, close microwave, turn on microwave, pick up black mug from microwave, close microwave | STEP 5: look to upper cabinet in between microwave and sink | STEP 6: open upper cabinet, place black mug on right side of cabinet, close cabinet | END"]} +{"id": "trial_T20190909_062333_424779-1", "input": "put a heated mug into a cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.901, 1.0, 0, 180, 0, [SEP] 1, Potato, -2.866, 0.080, 0.351, 0, 26.101, 0, 68 [SEP] 2, Potato, -2.628, 0.961, 3.580, 0, 0, 0, 61 [SEP] 3, DishSponge, -1.180, 0.795, 0.447, 0, 0, 0, 72 [SEP] 4, Spoon, -2.480, 0.901, 1.913, 0, 0, 0, 75 [SEP] 5, Fork, -0.314, 0.901, 2.530, 0, 0, 0, 77 [SEP] 6, Fork, -0.314, 0.901, 3.133, 0, 0, 0, 77 [SEP] 7, Pot, -0.486, 0.900, 3.334, 0, 0, 0, 77 [SEP] 8, Egg, -2.764, 1.219, 4.278, 0, 90, 0, 71 [SEP] 9, Egg, -2.785, 0.332, 4.501, 0, 90, 0, 71 [SEP] 10, Cup, -2.480, 0.900, 2.706, 0, 0, 0, 75 [SEP] 11, Plate, -0.747, 1.777, 0.205, 0, 0, 0, 52 [SEP] 12, Knife, -2.785, 0.961, 3.209, 0, 180, 0, 61 [SEP] 13, Knife, -1.662, 0.688, 0.409, 0, 90, 0, 57 [SEP] 14, SoapBottle, -0.228, 0.900, 2.329, 0, 0, 0, 77 [SEP] 15, Bowl, -1.303, 1.770, 0.297, 0, 90, 0, 51 [SEP] 16, Bowl, -2.805, 1.182, 4.427, 0, 90, 0, 71 [SEP] 17, SaltShaker, -2.864, 0.931, 3.302, 0, 0, 0, 61 [SEP] 18, Bread, -0.486, 0.957, 2.530, 0, 0, 0, 77 [SEP] 19, Mug, -2.995, 0.895, 2.573, 0, 0, 0, 75 [SEP] 20, Mug, -2.549, 0.930, 3.395, 0, 180, 0, 61 [SEP] 21, Mug, -2.778, 1.001, 3.714, 0, 90, 0, 74 [SEP] 22, Egg, -2.549, 0.968, 3.673, 0, 0, 0, 61 [SEP] 23, Plate, -2.789, 0.904, 2.309, 0, 0, 0, 75 [SEP] 24, Fork, -0.486, 0.901, 2.932, 0, 0, 0, 77 [SEP] 25, Bread, -2.864, 0.940, 1.983, 0, 0, 0, 75 [SEP] 26, Apple, -2.691, 0.355, 4.204, 0, 90, 0, Floor|-00.05| [SEP] 27, Lettuce, -2.480, 0.980, 2.309, 0, 0, 0, 75 [SEP] 28, Spatula, -0.164, 0.677, 0.464, 0, 270, 0, 43 [SEP] 29, Knife, -2.706, 0.961, 3.766, 0, 180, 0, 61 [SEP] 30, Potato, -2.377, 0.926, 2.706, 0, 0, 0, 75 [SEP] 31, Tomato, -2.995, 0.964, 2.441, 0, 0, 0, 75 [SEP] 32, Cup, -2.995, 0.900, 2.309, 0, 0, 0, 75 [SEP] 33, SaltShaker, -1.824, 0.658, 0.519, 0, 0, 0, 57 [SEP] 34, PepperShaker, -0.380, 0.658, 0.573, 0, 0, 0, 43 [SEP] 35, ButterKnife, -2.892, 0.900, 2.706, 0, 0, 0, 75 [SEP] 36, SoapBottle, -2.480, 0.900, 2.573, 0, 0, 0, 75 [SEP] 37, Pan, -0.250, 0.926, 4.651, 0, 0, 0, 56 [SEP] 38, DishSponge, -0.272, 0.661, 0.464, 0, 0, 0, 43 [SEP] 39, Pot, -0.535, 0.928, 4.274, 0, 0, 0, 58 [SEP] 40, Spoon, -1.353, 0.797, 0.337, 0, 90, 0, 72 [SEP] 41, Mug, -1.636, 1.768, 0.160, 0, 0, 0, 49 [SEP] 42, Bowl, -2.831, 0.295, 4.278, 0, 90, 0, 71 [SEP] 43, Drawer, -0.325, 0.696, 0.413, 0, 0, 0, [SEP] 44, Cabinet, -0.595, 0.490, 0.648, 0, 0, 0, [SEP] 45, Cabinet, -0.555, 0.490, 0.646, 0, 0, 0, [SEP] 46, Cabinet, -1.591, 0.490, 0.646, 0, 0, 0, [SEP] 47, Cabinet, -1.554, 0.490, 0.646, 0, 0, 0, [SEP] 48, Cabinet, -2.550, 0.490, 0.646, 0, 0, 0, [SEP] 49, Cabinet, -1.514, 2.046, 0.392, 0, 0, 0, [SEP] 50, Cabinet, -2.474, 2.046, 0.392, 0, 0, 0, [SEP] 51, Cabinet, -1.478, 2.046, 0.392, 0, 0, 0, [SEP] 52, Cabinet, -0.518, 2.046, 0.392, 0, 0, 0, [SEP] 53, Cabinet, -0.479, 2.046, 0.392, 0, 0, 0, [SEP] 54, CounterTop, -1.366, 0.952, 0.349, 0, 0, 0, [SEP] 55, Sink, -1.108, 0.926, 0.340, 0, 0, 0, [SEP] 56, StoveBurner, -0.254, 0.922, 4.672, 0, 0, 0, [SEP] 57, Drawer, -1.824, 0.696, 0.413, 0, 0, 0, [SEP] 58, StoveBurner, -0.535, 0.922, 4.274, 0, 0, 0, [SEP] 59, StoveBurner, -0.254, 0.922, 4.274, 0, 0, 0, [SEP] 60, StoveBurner, -0.536, 0.922, 4.672, 0, 0, 0, [SEP] 61, CounterTop, -2.780, 0.971, 3.487, 0, 0, 0, [SEP] 62, Drawer, -2.323, 0.696, 0.413, 0, 0, 0, [SEP] 63, StoveKnob, -0.064, 1.090, 4.632, 0, 0, 73.865, [SEP] 64, StoveKnob, -0.064, 1.090, 4.782, 0, 0, 73.865, [SEP] 65, StoveKnob, -0.064, 1.090, 4.382, 0, 0, 73.865, [SEP] 66, StoveKnob, -0.064, 1.090, 4.222, 0, 0, 73.865, [SEP] 67, Toaster, -0.286, 0.861, 3.520, 0, 270, 0, [SEP] 68, GarbageCan, -2.816, -0.014, 0.370, 358.702, 26.614, 2.400, [SEP] 69, LightSwitch, -0.064, 1.447, 1.996, 0, 270, 0, [SEP] 70, Window, -3.075, 1.593, 1.361, 90, 90, 0, [SEP] 71, Fridge, -2.802, 0.0, 4.427, 0, 0, 0, [SEP] 72, SinkBasin, -1.106, 0.785, 0.337, 0, 0, 0, [SEP] 73, Microwave, -0.358, 0.917, 0.224, 0, 0, 0, [SEP] 74, CoffeeMachine, -2.938, 0.925, 3.605, 0, 90, 0, [SEP] 75, DiningTable, -2.733, -0.003, 2.607, 0, 270, 0, [SEP] 76, Faucet, -1.077, 0.920, 0.028, 270, 270, 0, [SEP] 77, DiningTable, -0.488, -0.003, 3.182, 0, 270, 0, [SEP] 78, NorthWall, , , , , , , [SEP] 79, EastWall, , , , , , , [SEP] 80, SouthWall, , , , , , , [SEP] 81, WestWall, , , , , , , ", "output": ["STEP 1: walk to face counter top to the right of the sink | STEP 2: pick up black mug from above the paper bag on the counter | STEP 3: walk to the left to face the microwave | STEP 4: heat the mug in microwave, pick up mug from microwave | STEP 5: walk right to face cabinet above sink | STEP 6: put the mug inside the cabinet | END"]} +{"id": "trial_T20190909_062333_424779-2", "input": "Put a warm mug in the cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.901, 1.0, 0, 180, 0, [SEP] 1, Potato, -2.866, 0.080, 0.351, 0, 26.101, 0, 68 [SEP] 2, Potato, -2.628, 0.961, 3.580, 0, 0, 0, 61 [SEP] 3, DishSponge, -1.180, 0.795, 0.447, 0, 0, 0, 72 [SEP] 4, Spoon, -2.480, 0.901, 1.913, 0, 0, 0, 75 [SEP] 5, Fork, -0.314, 0.901, 2.530, 0, 0, 0, 77 [SEP] 6, Fork, -0.314, 0.901, 3.133, 0, 0, 0, 77 [SEP] 7, Pot, -0.486, 0.900, 3.334, 0, 0, 0, 77 [SEP] 8, Egg, -2.764, 1.219, 4.278, 0, 90, 0, 71 [SEP] 9, Egg, -2.785, 0.332, 4.501, 0, 90, 0, 71 [SEP] 10, Cup, -2.480, 0.900, 2.706, 0, 0, 0, 75 [SEP] 11, Plate, -0.747, 1.777, 0.205, 0, 0, 0, 52 [SEP] 12, Knife, -2.785, 0.961, 3.209, 0, 180, 0, 61 [SEP] 13, Knife, -1.662, 0.688, 0.409, 0, 90, 0, 57 [SEP] 14, SoapBottle, -0.228, 0.900, 2.329, 0, 0, 0, 77 [SEP] 15, Bowl, -1.303, 1.770, 0.297, 0, 90, 0, 51 [SEP] 16, Bowl, -2.805, 1.182, 4.427, 0, 90, 0, 71 [SEP] 17, SaltShaker, -2.864, 0.931, 3.302, 0, 0, 0, 61 [SEP] 18, Bread, -0.486, 0.957, 2.530, 0, 0, 0, 77 [SEP] 19, Mug, -2.995, 0.895, 2.573, 0, 0, 0, 75 [SEP] 20, Mug, -2.549, 0.930, 3.395, 0, 180, 0, 61 [SEP] 21, Mug, -2.778, 1.001, 3.714, 0, 90, 0, 74 [SEP] 22, Egg, -2.549, 0.968, 3.673, 0, 0, 0, 61 [SEP] 23, Plate, -2.789, 0.904, 2.309, 0, 0, 0, 75 [SEP] 24, Fork, -0.486, 0.901, 2.932, 0, 0, 0, 77 [SEP] 25, Bread, -2.864, 0.940, 1.983, 0, 0, 0, 75 [SEP] 26, Apple, -2.691, 0.355, 4.204, 0, 90, 0, Floor|-00.05| [SEP] 27, Lettuce, -2.480, 0.980, 2.309, 0, 0, 0, 75 [SEP] 28, Spatula, -0.164, 0.677, 0.464, 0, 270, 0, 43 [SEP] 29, Knife, -2.706, 0.961, 3.766, 0, 180, 0, 61 [SEP] 30, Potato, -2.377, 0.926, 2.706, 0, 0, 0, 75 [SEP] 31, Tomato, -2.995, 0.964, 2.441, 0, 0, 0, 75 [SEP] 32, Cup, -2.995, 0.900, 2.309, 0, 0, 0, 75 [SEP] 33, SaltShaker, -1.824, 0.658, 0.519, 0, 0, 0, 57 [SEP] 34, PepperShaker, -0.380, 0.658, 0.573, 0, 0, 0, 43 [SEP] 35, ButterKnife, -2.892, 0.900, 2.706, 0, 0, 0, 75 [SEP] 36, SoapBottle, -2.480, 0.900, 2.573, 0, 0, 0, 75 [SEP] 37, Pan, -0.250, 0.926, 4.651, 0, 0, 0, 56 [SEP] 38, DishSponge, -0.272, 0.661, 0.464, 0, 0, 0, 43 [SEP] 39, Pot, -0.535, 0.928, 4.274, 0, 0, 0, 58 [SEP] 40, Spoon, -1.353, 0.797, 0.337, 0, 90, 0, 72 [SEP] 41, Mug, -1.636, 1.768, 0.160, 0, 0, 0, 49 [SEP] 42, Bowl, -2.831, 0.295, 4.278, 0, 90, 0, 71 [SEP] 43, Drawer, -0.325, 0.696, 0.413, 0, 0, 0, [SEP] 44, Cabinet, -0.595, 0.490, 0.648, 0, 0, 0, [SEP] 45, Cabinet, -0.555, 0.490, 0.646, 0, 0, 0, [SEP] 46, Cabinet, -1.591, 0.490, 0.646, 0, 0, 0, [SEP] 47, Cabinet, -1.554, 0.490, 0.646, 0, 0, 0, [SEP] 48, Cabinet, -2.550, 0.490, 0.646, 0, 0, 0, [SEP] 49, Cabinet, -1.514, 2.046, 0.392, 0, 0, 0, [SEP] 50, Cabinet, -2.474, 2.046, 0.392, 0, 0, 0, [SEP] 51, Cabinet, -1.478, 2.046, 0.392, 0, 0, 0, [SEP] 52, Cabinet, -0.518, 2.046, 0.392, 0, 0, 0, [SEP] 53, Cabinet, -0.479, 2.046, 0.392, 0, 0, 0, [SEP] 54, CounterTop, -1.366, 0.952, 0.349, 0, 0, 0, [SEP] 55, Sink, -1.108, 0.926, 0.340, 0, 0, 0, [SEP] 56, StoveBurner, -0.254, 0.922, 4.672, 0, 0, 0, [SEP] 57, Drawer, -1.824, 0.696, 0.413, 0, 0, 0, [SEP] 58, StoveBurner, -0.535, 0.922, 4.274, 0, 0, 0, [SEP] 59, StoveBurner, -0.254, 0.922, 4.274, 0, 0, 0, [SEP] 60, StoveBurner, -0.536, 0.922, 4.672, 0, 0, 0, [SEP] 61, CounterTop, -2.780, 0.971, 3.487, 0, 0, 0, [SEP] 62, Drawer, -2.323, 0.696, 0.413, 0, 0, 0, [SEP] 63, StoveKnob, -0.064, 1.090, 4.632, 0, 0, 73.865, [SEP] 64, StoveKnob, -0.064, 1.090, 4.782, 0, 0, 73.865, [SEP] 65, StoveKnob, -0.064, 1.090, 4.382, 0, 0, 73.865, [SEP] 66, StoveKnob, -0.064, 1.090, 4.222, 0, 0, 73.865, [SEP] 67, Toaster, -0.286, 0.861, 3.520, 0, 270, 0, [SEP] 68, GarbageCan, -2.816, -0.014, 0.370, 358.702, 26.614, 2.400, [SEP] 69, LightSwitch, -0.064, 1.447, 1.996, 0, 270, 0, [SEP] 70, Window, -3.075, 1.593, 1.361, 90, 90, 0, [SEP] 71, Fridge, -2.802, 0.0, 4.427, 0, 0, 0, [SEP] 72, SinkBasin, -1.106, 0.785, 0.337, 0, 0, 0, [SEP] 73, Microwave, -0.358, 0.917, 0.224, 0, 0, 0, [SEP] 74, CoffeeMachine, -2.938, 0.925, 3.605, 0, 90, 0, [SEP] 75, DiningTable, -2.733, -0.003, 2.607, 0, 270, 0, [SEP] 76, Faucet, -1.077, 0.920, 0.028, 270, 270, 0, [SEP] 77, DiningTable, -0.488, -0.003, 3.182, 0, 270, 0, [SEP] 78, NorthWall, , , , , , , [SEP] 79, EastWall, , , , , , , [SEP] 80, SouthWall, , , , , , , [SEP] 81, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, move forward, then turn right to face the counter next to the sink. | STEP 2: Pick up the mug on top of the bag. | STEP 3: Turn around and step forward, then turn right to go toward the door, then turn right to face the microwave. | STEP 4: Open the microwave, heat the mug inside of it, then take the mug out. | STEP 5: Look up to the cabinet above the counter. | STEP 6: Open the cabinet and put the mug inside, and close it. | END"]} +{"id": "trial_T20190909_124425_112757-0", "input": "Place a clean knife in a drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 0.75, 0, 90, 0, [SEP] 1, Pan, -1.431, 0.949, -1.525, 0, 0, 0, 89 [SEP] 2, Pen, -2.116, 0.913, -1.534, 0, 0, 0, 76 [SEP] 3, Pen, -2.445, 0.913, 0.463, 0, 180, 0, 83 [SEP] 4, Ladle, -1.886, 0.954, -1.448, 0, 0, 0, 79 [SEP] 5, Kettle, -1.431, 0.949, -1.81, 0, 0, 0, 91 [SEP] 6, ButterKnife, 0.320, 0.919, -1.657, 0, 270, 0, 60 [SEP] 7, DishSponge, 1.454, 1.161, -1.345, 0, 0, 0, 87 [SEP] 8, Glassbottle, -0.438, 0.117, -1.683, 0, 0, 0, 67 [SEP] 9, Glassbottle, 1.459, 0.215, 1.137, 0, 0, 0, 98 [SEP] 10, Spoon, 1.036, 0.776, -0.665, 0, 270, 0, 72 [SEP] 11, Spoon, -2.079, 0.911, 0.377, 0, 0, 0, 83 [SEP] 12, Spatula, -1.809, 0.925, -1.707, 0, 90, 0, 79 [SEP] 13, Spatula, -2.201, 0.925, 0.032, 0, 0, 0, 83 [SEP] 14, Egg, -0.627, 0.940, -1.448, 0, 0, 0, 81 [SEP] 15, Egg, -1.886, 0.939, -1.879, 0, 0, 0, 79 [SEP] 16, Cup, -1.764, 0.117, -1.538, 0, 0, 0, 88 [SEP] 17, Cup, 1.408, 1.265, -0.021, 0, 270, 0, 103 [SEP] 18, Plate, 0.589, 0.117, -1.585, 0, 90, 0, 75 [SEP] 19, Plate, 1.376, 1.368, 2.226, 0, 270, 0, 100 [SEP] 20, SoapBottle, -1.957, 0.910, 0.463, 0, 0, 0, 83 [SEP] 21, SoapBottle, 1.031, 0.114, -0.773, 0, 0, 0, 65 [SEP] 22, Tomato, 1.388, 1.760, 1.838, 0, 270, 0, 100 [SEP] 23, Tomato, 1.454, 1.202, -1.002, 0, 0, 0, 87 [SEP] 24, PepperShaker, 0.927, 0.906, -0.65, 0, 180, 0, 81 [SEP] 25, PepperShaker, -0.751, 0.106, -1.632, 0, 0, 0, 68 [SEP] 26, SaltShaker, -1.039, 1.845, -1.875, 0, 0, 0, 61 [SEP] 27, Bread, 0.664, 0.989, -1.534, 0, 0, 0, 81 [SEP] 28, Lettuce, 1.010, 0.980, -0.309, 0, 0, 0, 81 [SEP] 29, Lettuce, 1.376, 1.436, 2.476, 0, 270, 0, 100 [SEP] 30, Mug, 0.149, 0.914, -1.708, 0, 270, 0, 60 [SEP] 31, Apple, -0.086, 0.817, -1.707, 0, 270, 0, 102 [SEP] 32, Tomato, 1.426, 1.407, 1.850, 0, 270, 0, 100 [SEP] 33, Glassbottle, -0.309, 0.117, -1.586, 0, 0, 0, 67 [SEP] 34, Knife, 0.916, 0.802, -1.068, 0, 270, 0, 59 [SEP] 35, Plate, -0.477, 0.911, -1.874, 0, 0, 0, 81 [SEP] 36, Fork, -1.835, 0.911, 0.204, 0, 0, 0, 83 [SEP] 37, Ladle, -2.323, 0.954, 0.204, 0, 0, 0, 83 [SEP] 38, Potato, 1.332, 1.859, 2.432, 0, 270, 0, 100 [SEP] 39, Lettuce, -2.201, 0.979, 0.291, 0, 0, 0, 83 [SEP] 40, Kettle, -1.712, 0.911, 0.377, 0, 0, 0, 83 [SEP] 41, Pen, -2.103, 0.775, -1.565, 0, 270, 0, 76 [SEP] 42, SaltShaker, -0.386, 1.650, -1.839, 0, 0, 0, 63 [SEP] 43, Cup, -2.140, 0.112, -1.535, 0, 0, 0, 84 [SEP] 44, Egg, 1.414, 1.191, -1.688, 0, 0, 0, 87 [SEP] 45, Spatula, 1.015, 0.789, -1.013, 0, 270, 0, 59 [SEP] 46, Bowl, 1.283, 1.656, -0.658, 0, 0, 0, 69 [SEP] 47, SprayBottle, 1.341, 0.213, 1.137, 0, 0, 0, 98 [SEP] 48, Pan, -1.081, 0.949, -1.81, 0, 0, 0, 77 [SEP] 49, SoapBottle, 1.375, 1.162, -0.315, 0, 180, 0, 87 [SEP] 50, Pot, 0.967, 0.9, 0.249, 0, 0, 0, 81 [SEP] 51, ButterKnife, -1.886, 0.910, -1.620, 0, 0, 0, 79 [SEP] 52, PepperShaker, 0.919, 0.110, -1.186, 0, 0, 0, 66 [SEP] 53, DishSponge, 0.217, 0.919, -1.556, 0, 270, 0, 60 [SEP] 54, Bread, -0.703, 0.989, -1.789, 0, 0, 0, 81 [SEP] 55, Apple, 0.251, 0.954, -1.808, 0, 270, 0, 60 [SEP] 56, Spoon, 1.176, 0.912, -0.309, 0, 0, 0, 87 [SEP] 57, Mug, 1.070, 0.957, -1.641, 0, 0, 0, 97 [SEP] 58, Drawer, 0.860, 0.75, 0.430, 0, 0, 0, [SEP] 59, Drawer, 0.871, 0.75, -1.134, 0, 0, 0, [SEP] 60, Sink, 0.156, 0.817, -1.801, 0, 270, 0, [SEP] 61, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0, [SEP] 62, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0, [SEP] 63, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0, [SEP] 64, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0, [SEP] 65, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0, [SEP] 66, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0, [SEP] 67, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0, [SEP] 68, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0, [SEP] 69, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0, [SEP] 70, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0, [SEP] 71, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0, [SEP] 72, Drawer, 0.860, 0.75, -0.699, 0, 0, 0, [SEP] 73, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0, [SEP] 74, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0, [SEP] 75, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0, [SEP] 76, Drawer, -2.105, 0.75, -1.389, 0, 0, 0, [SEP] 77, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0, [SEP] 78, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0, [SEP] 79, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0, [SEP] 80, Drawer, -0.375, 0.75, -1.389, 0, 0, 0, [SEP] 81, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0, [SEP] 82, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0, [SEP] 83, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0, [SEP] 84, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0, [SEP] 85, Drawer, 0.584, 0.75, -1.389, 0, 0, 0, [SEP] 86, Drawer, -1.795, 0.75, -1.389, 0, 0, 0, [SEP] 87, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0, [SEP] 88, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0, [SEP] 89, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0, [SEP] 90, Drawer, -0.685, 0.75, -1.389, 0, 0, 0, [SEP] 91, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0, [SEP] 92, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0, [SEP] 93, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0, [SEP] 94, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0, [SEP] 95, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0, [SEP] 96, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0, [SEP] 97, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0, [SEP] 98, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0, [SEP] 99, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0, [SEP] 100, Fridge, 1.417, 0.0, 2.101, 0, 0, 0, [SEP] 101, Window, -0.486, 1.452, 3.302, 90, 0, 0, [SEP] 102, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0, [SEP] 103, Microwave, 1.422, 1.150, 0.022, 0, 270, 0, [SEP] 104, Toaster, -2.066, 0.900, -1.848, 0, 0, 0, [SEP] 105, Stool, -1.994, 0.010, 0.882, 0, 0, 0, [SEP] 106, Faucet, -0.096, 1.041, -1.867, 0, 270, 0, [SEP] 107, NorthWall, , , , , , , [SEP] 108, EastWall, , , , , , , [SEP] 109, SouthWall, , , , , , , [SEP] 110, WestWall, , , , , , , ", "output": ["STEP 1: Walk ahead, and then veer right to the sink. | STEP 2: Pick up the knife to the left of the sink. | STEP 3: Take a step right. | STEP 4: Wash the knife in the sink. | STEP 5: Turn left. | STEP 6: Open the drawer in the corner, the one on the right side counter. Place the knife in it. | END"]} +{"id": "trial_T20190909_124425_112757-1", "input": "Put a clean butter knife in a drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 0.75, 0, 90, 0, [SEP] 1, Pan, -1.431, 0.949, -1.525, 0, 0, 0, 89 [SEP] 2, Pen, -2.116, 0.913, -1.534, 0, 0, 0, 76 [SEP] 3, Pen, -2.445, 0.913, 0.463, 0, 180, 0, 83 [SEP] 4, Ladle, -1.886, 0.954, -1.448, 0, 0, 0, 79 [SEP] 5, Kettle, -1.431, 0.949, -1.81, 0, 0, 0, 91 [SEP] 6, ButterKnife, 0.320, 0.919, -1.657, 0, 270, 0, 60 [SEP] 7, DishSponge, 1.454, 1.161, -1.345, 0, 0, 0, 87 [SEP] 8, Glassbottle, -0.438, 0.117, -1.683, 0, 0, 0, 67 [SEP] 9, Glassbottle, 1.459, 0.215, 1.137, 0, 0, 0, 98 [SEP] 10, Spoon, 1.036, 0.776, -0.665, 0, 270, 0, 72 [SEP] 11, Spoon, -2.079, 0.911, 0.377, 0, 0, 0, 83 [SEP] 12, Spatula, -1.809, 0.925, -1.707, 0, 90, 0, 79 [SEP] 13, Spatula, -2.201, 0.925, 0.032, 0, 0, 0, 83 [SEP] 14, Egg, -0.627, 0.940, -1.448, 0, 0, 0, 81 [SEP] 15, Egg, -1.886, 0.939, -1.879, 0, 0, 0, 79 [SEP] 16, Cup, -1.764, 0.117, -1.538, 0, 0, 0, 88 [SEP] 17, Cup, 1.408, 1.265, -0.021, 0, 270, 0, 103 [SEP] 18, Plate, 0.589, 0.117, -1.585, 0, 90, 0, 75 [SEP] 19, Plate, 1.376, 1.368, 2.226, 0, 270, 0, 100 [SEP] 20, SoapBottle, -1.957, 0.910, 0.463, 0, 0, 0, 83 [SEP] 21, SoapBottle, 1.031, 0.114, -0.773, 0, 0, 0, 65 [SEP] 22, Tomato, 1.388, 1.760, 1.838, 0, 270, 0, 100 [SEP] 23, Tomato, 1.454, 1.202, -1.002, 0, 0, 0, 87 [SEP] 24, PepperShaker, 0.927, 0.906, -0.65, 0, 180, 0, 81 [SEP] 25, PepperShaker, -0.751, 0.106, -1.632, 0, 0, 0, 68 [SEP] 26, SaltShaker, -1.039, 1.845, -1.875, 0, 0, 0, 61 [SEP] 27, Bread, 0.664, 0.989, -1.534, 0, 0, 0, 81 [SEP] 28, Lettuce, 1.010, 0.980, -0.309, 0, 0, 0, 81 [SEP] 29, Lettuce, 1.376, 1.436, 2.476, 0, 270, 0, 100 [SEP] 30, Mug, 0.149, 0.914, -1.708, 0, 270, 0, 60 [SEP] 31, Apple, -0.086, 0.817, -1.707, 0, 270, 0, 102 [SEP] 32, Tomato, 1.426, 1.407, 1.850, 0, 270, 0, 100 [SEP] 33, Glassbottle, -0.309, 0.117, -1.586, 0, 0, 0, 67 [SEP] 34, Knife, 0.916, 0.802, -1.068, 0, 270, 0, 59 [SEP] 35, Plate, -0.477, 0.911, -1.874, 0, 0, 0, 81 [SEP] 36, Fork, -1.835, 0.911, 0.204, 0, 0, 0, 83 [SEP] 37, Ladle, -2.323, 0.954, 0.204, 0, 0, 0, 83 [SEP] 38, Potato, 1.332, 1.859, 2.432, 0, 270, 0, 100 [SEP] 39, Lettuce, -2.201, 0.979, 0.291, 0, 0, 0, 83 [SEP] 40, Kettle, -1.712, 0.911, 0.377, 0, 0, 0, 83 [SEP] 41, Pen, -2.103, 0.775, -1.565, 0, 270, 0, 76 [SEP] 42, SaltShaker, -0.386, 1.650, -1.839, 0, 0, 0, 63 [SEP] 43, Cup, -2.140, 0.112, -1.535, 0, 0, 0, 84 [SEP] 44, Egg, 1.414, 1.191, -1.688, 0, 0, 0, 87 [SEP] 45, Spatula, 1.015, 0.789, -1.013, 0, 270, 0, 59 [SEP] 46, Bowl, 1.283, 1.656, -0.658, 0, 0, 0, 69 [SEP] 47, SprayBottle, 1.341, 0.213, 1.137, 0, 0, 0, 98 [SEP] 48, Pan, -1.081, 0.949, -1.81, 0, 0, 0, 77 [SEP] 49, SoapBottle, 1.375, 1.162, -0.315, 0, 180, 0, 87 [SEP] 50, Pot, 0.967, 0.9, 0.249, 0, 0, 0, 81 [SEP] 51, ButterKnife, -1.886, 0.910, -1.620, 0, 0, 0, 79 [SEP] 52, PepperShaker, 0.919, 0.110, -1.186, 0, 0, 0, 66 [SEP] 53, DishSponge, 0.217, 0.919, -1.556, 0, 270, 0, 60 [SEP] 54, Bread, -0.703, 0.989, -1.789, 0, 0, 0, 81 [SEP] 55, Apple, 0.251, 0.954, -1.808, 0, 270, 0, 60 [SEP] 56, Spoon, 1.176, 0.912, -0.309, 0, 0, 0, 87 [SEP] 57, Mug, 1.070, 0.957, -1.641, 0, 0, 0, 97 [SEP] 58, Drawer, 0.860, 0.75, 0.430, 0, 0, 0, [SEP] 59, Drawer, 0.871, 0.75, -1.134, 0, 0, 0, [SEP] 60, Sink, 0.156, 0.817, -1.801, 0, 270, 0, [SEP] 61, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0, [SEP] 62, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0, [SEP] 63, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0, [SEP] 64, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0, [SEP] 65, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0, [SEP] 66, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0, [SEP] 67, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0, [SEP] 68, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0, [SEP] 69, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0, [SEP] 70, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0, [SEP] 71, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0, [SEP] 72, Drawer, 0.860, 0.75, -0.699, 0, 0, 0, [SEP] 73, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0, [SEP] 74, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0, [SEP] 75, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0, [SEP] 76, Drawer, -2.105, 0.75, -1.389, 0, 0, 0, [SEP] 77, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0, [SEP] 78, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0, [SEP] 79, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0, [SEP] 80, Drawer, -0.375, 0.75, -1.389, 0, 0, 0, [SEP] 81, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0, [SEP] 82, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0, [SEP] 83, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0, [SEP] 84, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0, [SEP] 85, Drawer, 0.584, 0.75, -1.389, 0, 0, 0, [SEP] 86, Drawer, -1.795, 0.75, -1.389, 0, 0, 0, [SEP] 87, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0, [SEP] 88, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0, [SEP] 89, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0, [SEP] 90, Drawer, -0.685, 0.75, -1.389, 0, 0, 0, [SEP] 91, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0, [SEP] 92, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0, [SEP] 93, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0, [SEP] 94, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0, [SEP] 95, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0, [SEP] 96, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0, [SEP] 97, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0, [SEP] 98, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0, [SEP] 99, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0, [SEP] 100, Fridge, 1.417, 0.0, 2.101, 0, 0, 0, [SEP] 101, Window, -0.486, 1.452, 3.302, 90, 0, 0, [SEP] 102, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0, [SEP] 103, Microwave, 1.422, 1.150, 0.022, 0, 270, 0, [SEP] 104, Toaster, -2.066, 0.900, -1.848, 0, 0, 0, [SEP] 105, Stool, -1.994, 0.010, 0.882, 0, 0, 0, [SEP] 106, Faucet, -0.096, 1.041, -1.867, 0, 270, 0, [SEP] 107, NorthWall, , , , , , , [SEP] 108, EastWall, , , , , , , [SEP] 109, SouthWall, , , , , , , [SEP] 110, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward, then hang a left and walk over to the sink. | STEP 2: Pick up the butter knife off of the counter to the left of the sink. | STEP 3: Turn right and walk forward, then turn left to face the sink. | STEP 4: Put the butter knife in the sink and turn on the water, after a couple seconds turn the water off and remove the now clean butter knife. | STEP 5: Turn left to face the counter. | STEP 6: Open the last drawer on your right and put the clean butter knife inside, then close the drawer. | END"]} +{"id": "trial_T20190909_124425_112757-2", "input": "Put a rinsed off knife in the drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 0.75, 0, 90, 0, [SEP] 1, Pan, -1.431, 0.949, -1.525, 0, 0, 0, 89 [SEP] 2, Pen, -2.116, 0.913, -1.534, 0, 0, 0, 76 [SEP] 3, Pen, -2.445, 0.913, 0.463, 0, 180, 0, 83 [SEP] 4, Ladle, -1.886, 0.954, -1.448, 0, 0, 0, 79 [SEP] 5, Kettle, -1.431, 0.949, -1.81, 0, 0, 0, 91 [SEP] 6, ButterKnife, 0.320, 0.919, -1.657, 0, 270, 0, 60 [SEP] 7, DishSponge, 1.454, 1.161, -1.345, 0, 0, 0, 87 [SEP] 8, Glassbottle, -0.438, 0.117, -1.683, 0, 0, 0, 67 [SEP] 9, Glassbottle, 1.459, 0.215, 1.137, 0, 0, 0, 98 [SEP] 10, Spoon, 1.036, 0.776, -0.665, 0, 270, 0, 72 [SEP] 11, Spoon, -2.079, 0.911, 0.377, 0, 0, 0, 83 [SEP] 12, Spatula, -1.809, 0.925, -1.707, 0, 90, 0, 79 [SEP] 13, Spatula, -2.201, 0.925, 0.032, 0, 0, 0, 83 [SEP] 14, Egg, -0.627, 0.940, -1.448, 0, 0, 0, 81 [SEP] 15, Egg, -1.886, 0.939, -1.879, 0, 0, 0, 79 [SEP] 16, Cup, -1.764, 0.117, -1.538, 0, 0, 0, 88 [SEP] 17, Cup, 1.408, 1.265, -0.021, 0, 270, 0, 103 [SEP] 18, Plate, 0.589, 0.117, -1.585, 0, 90, 0, 75 [SEP] 19, Plate, 1.376, 1.368, 2.226, 0, 270, 0, 100 [SEP] 20, SoapBottle, -1.957, 0.910, 0.463, 0, 0, 0, 83 [SEP] 21, SoapBottle, 1.031, 0.114, -0.773, 0, 0, 0, 65 [SEP] 22, Tomato, 1.388, 1.760, 1.838, 0, 270, 0, 100 [SEP] 23, Tomato, 1.454, 1.202, -1.002, 0, 0, 0, 87 [SEP] 24, PepperShaker, 0.927, 0.906, -0.65, 0, 180, 0, 81 [SEP] 25, PepperShaker, -0.751, 0.106, -1.632, 0, 0, 0, 68 [SEP] 26, SaltShaker, -1.039, 1.845, -1.875, 0, 0, 0, 61 [SEP] 27, Bread, 0.664, 0.989, -1.534, 0, 0, 0, 81 [SEP] 28, Lettuce, 1.010, 0.980, -0.309, 0, 0, 0, 81 [SEP] 29, Lettuce, 1.376, 1.436, 2.476, 0, 270, 0, 100 [SEP] 30, Mug, 0.149, 0.914, -1.708, 0, 270, 0, 60 [SEP] 31, Apple, -0.086, 0.817, -1.707, 0, 270, 0, 102 [SEP] 32, Tomato, 1.426, 1.407, 1.850, 0, 270, 0, 100 [SEP] 33, Glassbottle, -0.309, 0.117, -1.586, 0, 0, 0, 67 [SEP] 34, Knife, 0.916, 0.802, -1.068, 0, 270, 0, 59 [SEP] 35, Plate, -0.477, 0.911, -1.874, 0, 0, 0, 81 [SEP] 36, Fork, -1.835, 0.911, 0.204, 0, 0, 0, 83 [SEP] 37, Ladle, -2.323, 0.954, 0.204, 0, 0, 0, 83 [SEP] 38, Potato, 1.332, 1.859, 2.432, 0, 270, 0, 100 [SEP] 39, Lettuce, -2.201, 0.979, 0.291, 0, 0, 0, 83 [SEP] 40, Kettle, -1.712, 0.911, 0.377, 0, 0, 0, 83 [SEP] 41, Pen, -2.103, 0.775, -1.565, 0, 270, 0, 76 [SEP] 42, SaltShaker, -0.386, 1.650, -1.839, 0, 0, 0, 63 [SEP] 43, Cup, -2.140, 0.112, -1.535, 0, 0, 0, 84 [SEP] 44, Egg, 1.414, 1.191, -1.688, 0, 0, 0, 87 [SEP] 45, Spatula, 1.015, 0.789, -1.013, 0, 270, 0, 59 [SEP] 46, Bowl, 1.283, 1.656, -0.658, 0, 0, 0, 69 [SEP] 47, SprayBottle, 1.341, 0.213, 1.137, 0, 0, 0, 98 [SEP] 48, Pan, -1.081, 0.949, -1.81, 0, 0, 0, 77 [SEP] 49, SoapBottle, 1.375, 1.162, -0.315, 0, 180, 0, 87 [SEP] 50, Pot, 0.967, 0.9, 0.249, 0, 0, 0, 81 [SEP] 51, ButterKnife, -1.886, 0.910, -1.620, 0, 0, 0, 79 [SEP] 52, PepperShaker, 0.919, 0.110, -1.186, 0, 0, 0, 66 [SEP] 53, DishSponge, 0.217, 0.919, -1.556, 0, 270, 0, 60 [SEP] 54, Bread, -0.703, 0.989, -1.789, 0, 0, 0, 81 [SEP] 55, Apple, 0.251, 0.954, -1.808, 0, 270, 0, 60 [SEP] 56, Spoon, 1.176, 0.912, -0.309, 0, 0, 0, 87 [SEP] 57, Mug, 1.070, 0.957, -1.641, 0, 0, 0, 97 [SEP] 58, Drawer, 0.860, 0.75, 0.430, 0, 0, 0, [SEP] 59, Drawer, 0.871, 0.75, -1.134, 0, 0, 0, [SEP] 60, Sink, 0.156, 0.817, -1.801, 0, 270, 0, [SEP] 61, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0, [SEP] 62, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0, [SEP] 63, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0, [SEP] 64, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0, [SEP] 65, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0, [SEP] 66, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0, [SEP] 67, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0, [SEP] 68, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0, [SEP] 69, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0, [SEP] 70, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0, [SEP] 71, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0, [SEP] 72, Drawer, 0.860, 0.75, -0.699, 0, 0, 0, [SEP] 73, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0, [SEP] 74, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0, [SEP] 75, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0, [SEP] 76, Drawer, -2.105, 0.75, -1.389, 0, 0, 0, [SEP] 77, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0, [SEP] 78, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0, [SEP] 79, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0, [SEP] 80, Drawer, -0.375, 0.75, -1.389, 0, 0, 0, [SEP] 81, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0, [SEP] 82, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0, [SEP] 83, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0, [SEP] 84, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0, [SEP] 85, Drawer, 0.584, 0.75, -1.389, 0, 0, 0, [SEP] 86, Drawer, -1.795, 0.75, -1.389, 0, 0, 0, [SEP] 87, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0, [SEP] 88, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0, [SEP] 89, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0, [SEP] 90, Drawer, -0.685, 0.75, -1.389, 0, 0, 0, [SEP] 91, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0, [SEP] 92, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0, [SEP] 93, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0, [SEP] 94, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0, [SEP] 95, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0, [SEP] 96, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0, [SEP] 97, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0, [SEP] 98, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0, [SEP] 99, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0, [SEP] 100, Fridge, 1.417, 0.0, 2.101, 0, 0, 0, [SEP] 101, Window, -0.486, 1.452, 3.302, 90, 0, 0, [SEP] 102, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0, [SEP] 103, Microwave, 1.422, 1.150, 0.022, 0, 270, 0, [SEP] 104, Toaster, -2.066, 0.900, -1.848, 0, 0, 0, [SEP] 105, Stool, -1.994, 0.010, 0.882, 0, 0, 0, [SEP] 106, Faucet, -0.096, 1.041, -1.867, 0, 270, 0, [SEP] 107, NorthWall, , , , , , , [SEP] 108, EastWall, , , , , , , [SEP] 109, SouthWall, , , , , , , [SEP] 110, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and go to the sink. | STEP 2: Pick up the knife on the left side of the sink. | STEP 3: Go to the right side of the sink. | STEP 4: Rinse off the knife in the sink and pick it back up. | STEP 5: Turn left toward the bread on the counter. | STEP 6: Put the knife in the drawer below the bread. | END"]} +{"id": "trial_T20190907_201243_698086-0", "input": "Heat a tomato and place it on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 3.0, 0, 270, 0, [SEP] 1, Pan, 2.605, 0.764, 4.334, 0, 225, 0, 56 [SEP] 2, DishSponge, 2.662, 0.764, 3.455, 0, 329.999, 0, 56 [SEP] 3, ButterKnife, 2.138, 0.764, 3.762, 0, 225, 0, 56 [SEP] 4, WineBottle, -0.858, 0.335, -0.295, 0, 90, 0, 99 [SEP] 5, Glassbottle, 2.579, 0.765, 4.044, 0, 329.999, 0, 56 [SEP] 6, Spatula, 2.790, 1.041, 0.068, 0, 180, 0, 55 [SEP] 7, Spatula, -0.714, 0.831, 1.337, 0, 180, 0, 112 [SEP] 8, Fork, 2.681, 0.801, 0.867, 0, 47.0, 0, 67 [SEP] 9, Fork, -0.544, 1.028, 2.311, 0, 0, 0, 58 [SEP] 10, Egg, -0.782, 0.860, 1.181, 0, 90, 0, 112 [SEP] 11, Egg, -0.645, 0.860, 1.103, 0, 90, 0, 112 [SEP] 12, Cup, -0.947, 0.784, -0.516, 0, 90, 0, 99 [SEP] 13, Cup, 2.790, 0.763, 3.529, 0, 329.999, 0, 56 [SEP] 14, Plate, 2.346, 0.764, 4.074, 0, 225, 0, 56 [SEP] 15, Knife, -0.519, 0.825, 0.615, 0, 0, 0, 57 [SEP] 16, Knife, -0.714, 0.841, 1.259, 0, 180, 0, 112 [SEP] 17, Tomato, -0.877, 1.495, -0.184, 0, 90, 0, 99 [SEP] 18, Tomato, -1.038, 0.130, 2.842, 0, 0, 0, 110 [SEP] 19, SoapBottle, 2.451, 0.763, 3.821, 0, 270, 0, 56 [SEP] 20, Bowl, 2.959, 1.025, -0.846, 0, 0, 0, 55 [SEP] 21, Bowl, 2.506, 0.762, 3.577, 0, 329.999, 0, 56 [SEP] 22, SaltShaker, 1.801, 0.797, 1.627, 0, 317.0, 0, 70 [SEP] 23, PepperShaker, 2.228, 0.760, 3.97, 0, 0, 0, 56 [SEP] 24, PepperShaker, 2.632, 0.797, 0.822, 0, 317.0, 0, 67 [SEP] 25, Lettuce, -0.851, 0.874, 1.414, 0, 90, 0, 112 [SEP] 26, Mug, 2.302, 0.759, 4.32, 0, 0, 0, 56 [SEP] 27, Pan, 1.836, 1.027, -1.84, 0, 90, 0, 53 [SEP] 28, Glassbottle, 2.735, 0.765, 3.922, 0, 329.999, 0, 56 [SEP] 29, Knife, 2.976, 0.789, 4.044, 0, 270, 0, 56 [SEP] 30, SoapBottle, -0.669, 1.026, 2.311, 0, 0, 0, 58 [SEP] 31, Egg, -0.782, 0.860, 1.570, 0, 90, 0, 112 [SEP] 32, Fork, 2.651, 0.801, -0.221, 0, 0, 0, 55 [SEP] 33, Potato, 1.230, 1.068, -1.667, 0, 90, 0, 55 [SEP] 34, Ladle, -0.794, 1.066, 2.556, 0, 0, 0, 58 [SEP] 35, Tomato, 2.166, 0.818, 3.475, 0, 225, 0, 56 [SEP] 36, Pot, 1.334, 0.023, -1.670, 0, 270, 0, 74 [SEP] 37, WineBottle, 1.743, 1.027, 1.802, 0, 136.999, 0, 55 [SEP] 38, Plate, 1.409, 1.027, -1.881, 0, 90, 0, 55 [SEP] 39, Spatula, -0.669, 1.042, 0.600, 0, 180, 0, 58 [SEP] 40, PaperTowelRoll, -1.171, 1.131, 1.821, 0, 0, 0, 58 [SEP] 41, Lettuce, 2.621, 1.085, -1.151, 0, 0, 0, 55 [SEP] 42, Apple, -0.418, 1.077, 2.434, 0, 0, 0, 58 [SEP] 43, SaltShaker, 2.169, 2.275, -1.793, 0, 0, 0, 83 [SEP] 44, PepperShaker, 2.874, 0.796, -0.792, 0, 0, 0, 64 [SEP] 45, ButterKnife, 2.100, 0.764, 4.044, 0, 270, 0, 56 [SEP] 46, Bread, 2.706, 1.094, -0.236, 0, 0, 0, 55 [SEP] 47, Cup, 2.893, 1.025, 1.200, 0, 136.999, 0, 55 [SEP] 48, DishSponge, 2.645, 0.032, -0.323, 0, 0, 0, 81 [SEP] 49, Bowl, 1.409, 1.025, -1.560, 0, 90, 0, 55 [SEP] 50, Spoon, 2.231, 1.028, 1.699, 0, 136.999, 0, 55 [SEP] 51, Mug, 2.451, 0.759, 4.32, 0, 0, 0, 56 [SEP] 52, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 53, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 54, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 55, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 56, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 57, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 58, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 59, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 60, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 61, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 62, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 63, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 64, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 65, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 66, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 67, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 68, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 69, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 70, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 71, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 72, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 73, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 74, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 75, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 76, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 77, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 78, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 79, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 80, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 81, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 82, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 83, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 84, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 85, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 86, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 87, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 88, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 89, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 90, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 91, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 92, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 93, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 94, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 95, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 96, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 97, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 98, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 99, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 100, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 101, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 102, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 103, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 104, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 105, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 106, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 107, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 108, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 109, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 110, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 111, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 112, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 113, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 114, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 115, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 116, , , , , , , , [SEP] 117, NorthWall, , , , , , , [SEP] 118, EastWall, , , , , , , [SEP] 119, SouthWall, , , , , , , [SEP] 120, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go forward, and face the white table on the left. | STEP 2: Pick up the tomato at the front of the table. | STEP 3: Take the tomato and turn around. Go straight back, and turn left to locate the stove. | STEP 4: Place the tomato in the microwave and turn it on. Take out the tomato and shut the door. | STEP 5: Hold the tomato and turn around, then right to find the white table on the left. | STEP 6: Place the tomato on the table in the front. | END"]} +{"id": "trial_T20190907_201243_698086-1", "input": "Place a cooked tomato on a table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 3.0, 0, 270, 0, [SEP] 1, Pan, 2.605, 0.764, 4.334, 0, 225, 0, 56 [SEP] 2, DishSponge, 2.662, 0.764, 3.455, 0, 329.999, 0, 56 [SEP] 3, ButterKnife, 2.138, 0.764, 3.762, 0, 225, 0, 56 [SEP] 4, WineBottle, -0.858, 0.335, -0.295, 0, 90, 0, 99 [SEP] 5, Glassbottle, 2.579, 0.765, 4.044, 0, 329.999, 0, 56 [SEP] 6, Spatula, 2.790, 1.041, 0.068, 0, 180, 0, 55 [SEP] 7, Spatula, -0.714, 0.831, 1.337, 0, 180, 0, 112 [SEP] 8, Fork, 2.681, 0.801, 0.867, 0, 47.0, 0, 67 [SEP] 9, Fork, -0.544, 1.028, 2.311, 0, 0, 0, 58 [SEP] 10, Egg, -0.782, 0.860, 1.181, 0, 90, 0, 112 [SEP] 11, Egg, -0.645, 0.860, 1.103, 0, 90, 0, 112 [SEP] 12, Cup, -0.947, 0.784, -0.516, 0, 90, 0, 99 [SEP] 13, Cup, 2.790, 0.763, 3.529, 0, 329.999, 0, 56 [SEP] 14, Plate, 2.346, 0.764, 4.074, 0, 225, 0, 56 [SEP] 15, Knife, -0.519, 0.825, 0.615, 0, 0, 0, 57 [SEP] 16, Knife, -0.714, 0.841, 1.259, 0, 180, 0, 112 [SEP] 17, Tomato, -0.877, 1.495, -0.184, 0, 90, 0, 99 [SEP] 18, Tomato, -1.038, 0.130, 2.842, 0, 0, 0, 110 [SEP] 19, SoapBottle, 2.451, 0.763, 3.821, 0, 270, 0, 56 [SEP] 20, Bowl, 2.959, 1.025, -0.846, 0, 0, 0, 55 [SEP] 21, Bowl, 2.506, 0.762, 3.577, 0, 329.999, 0, 56 [SEP] 22, SaltShaker, 1.801, 0.797, 1.627, 0, 317.0, 0, 70 [SEP] 23, PepperShaker, 2.228, 0.760, 3.97, 0, 0, 0, 56 [SEP] 24, PepperShaker, 2.632, 0.797, 0.822, 0, 317.0, 0, 67 [SEP] 25, Lettuce, -0.851, 0.874, 1.414, 0, 90, 0, 112 [SEP] 26, Mug, 2.302, 0.759, 4.32, 0, 0, 0, 56 [SEP] 27, Pan, 1.836, 1.027, -1.84, 0, 90, 0, 53 [SEP] 28, Glassbottle, 2.735, 0.765, 3.922, 0, 329.999, 0, 56 [SEP] 29, Knife, 2.976, 0.789, 4.044, 0, 270, 0, 56 [SEP] 30, SoapBottle, -0.669, 1.026, 2.311, 0, 0, 0, 58 [SEP] 31, Egg, -0.782, 0.860, 1.570, 0, 90, 0, 112 [SEP] 32, Fork, 2.651, 0.801, -0.221, 0, 0, 0, 55 [SEP] 33, Potato, 1.230, 1.068, -1.667, 0, 90, 0, 55 [SEP] 34, Ladle, -0.794, 1.066, 2.556, 0, 0, 0, 58 [SEP] 35, Tomato, 2.166, 0.818, 3.475, 0, 225, 0, 56 [SEP] 36, Pot, 1.334, 0.023, -1.670, 0, 270, 0, 74 [SEP] 37, WineBottle, 1.743, 1.027, 1.802, 0, 136.999, 0, 55 [SEP] 38, Plate, 1.409, 1.027, -1.881, 0, 90, 0, 55 [SEP] 39, Spatula, -0.669, 1.042, 0.600, 0, 180, 0, 58 [SEP] 40, PaperTowelRoll, -1.171, 1.131, 1.821, 0, 0, 0, 58 [SEP] 41, Lettuce, 2.621, 1.085, -1.151, 0, 0, 0, 55 [SEP] 42, Apple, -0.418, 1.077, 2.434, 0, 0, 0, 58 [SEP] 43, SaltShaker, 2.169, 2.275, -1.793, 0, 0, 0, 83 [SEP] 44, PepperShaker, 2.874, 0.796, -0.792, 0, 0, 0, 64 [SEP] 45, ButterKnife, 2.100, 0.764, 4.044, 0, 270, 0, 56 [SEP] 46, Bread, 2.706, 1.094, -0.236, 0, 0, 0, 55 [SEP] 47, Cup, 2.893, 1.025, 1.200, 0, 136.999, 0, 55 [SEP] 48, DishSponge, 2.645, 0.032, -0.323, 0, 0, 0, 81 [SEP] 49, Bowl, 1.409, 1.025, -1.560, 0, 90, 0, 55 [SEP] 50, Spoon, 2.231, 1.028, 1.699, 0, 136.999, 0, 55 [SEP] 51, Mug, 2.451, 0.759, 4.32, 0, 0, 0, 56 [SEP] 52, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 53, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 54, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 55, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 56, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 57, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 58, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 59, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 60, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 61, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 62, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 63, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 64, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 65, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 66, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 67, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 68, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 69, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 70, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 71, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 72, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 73, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 74, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 75, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 76, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 77, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 78, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 79, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 80, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 81, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 82, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 83, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 84, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 85, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 86, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 87, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 88, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 89, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 90, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 91, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 92, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 93, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 94, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 95, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 96, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 97, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 98, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 99, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 100, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 101, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 102, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 103, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 104, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 105, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 106, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 107, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 108, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 109, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 110, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 111, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 112, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 113, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 114, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 115, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 116, , , , , , , , [SEP] 117, NorthWall, , , , , , , [SEP] 118, EastWall, , , , , , , [SEP] 119, SouthWall, , , , , , , [SEP] 120, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and cross the room and turn left to face the white, round table | STEP 2: Pick up the tomato that is sitting on the white table | STEP 3: Turn left and take a few steps then cross the room to the stove that is to the left | STEP 4: Open the microwave that is above the stove and place the tomato inside, then close the microwave and turn it on. Open the microwave and pick up the tomato then close the microwave | STEP 5: Turn around and cross the room, after you pass the counter take a right and walk to the wall, then turn left and face the round, white table | STEP 6: Place the tomato on the table to the left of the brown bowl. | END"]} +{"id": "trial_T20190907_201243_698086-2", "input": "Put a warmed tomato on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 3.0, 0, 270, 0, [SEP] 1, Pan, 2.605, 0.764, 4.334, 0, 225, 0, 56 [SEP] 2, DishSponge, 2.662, 0.764, 3.455, 0, 329.999, 0, 56 [SEP] 3, ButterKnife, 2.138, 0.764, 3.762, 0, 225, 0, 56 [SEP] 4, WineBottle, -0.858, 0.335, -0.295, 0, 90, 0, 99 [SEP] 5, Glassbottle, 2.579, 0.765, 4.044, 0, 329.999, 0, 56 [SEP] 6, Spatula, 2.790, 1.041, 0.068, 0, 180, 0, 55 [SEP] 7, Spatula, -0.714, 0.831, 1.337, 0, 180, 0, 112 [SEP] 8, Fork, 2.681, 0.801, 0.867, 0, 47.0, 0, 67 [SEP] 9, Fork, -0.544, 1.028, 2.311, 0, 0, 0, 58 [SEP] 10, Egg, -0.782, 0.860, 1.181, 0, 90, 0, 112 [SEP] 11, Egg, -0.645, 0.860, 1.103, 0, 90, 0, 112 [SEP] 12, Cup, -0.947, 0.784, -0.516, 0, 90, 0, 99 [SEP] 13, Cup, 2.790, 0.763, 3.529, 0, 329.999, 0, 56 [SEP] 14, Plate, 2.346, 0.764, 4.074, 0, 225, 0, 56 [SEP] 15, Knife, -0.519, 0.825, 0.615, 0, 0, 0, 57 [SEP] 16, Knife, -0.714, 0.841, 1.259, 0, 180, 0, 112 [SEP] 17, Tomato, -0.877, 1.495, -0.184, 0, 90, 0, 99 [SEP] 18, Tomato, -1.038, 0.130, 2.842, 0, 0, 0, 110 [SEP] 19, SoapBottle, 2.451, 0.763, 3.821, 0, 270, 0, 56 [SEP] 20, Bowl, 2.959, 1.025, -0.846, 0, 0, 0, 55 [SEP] 21, Bowl, 2.506, 0.762, 3.577, 0, 329.999, 0, 56 [SEP] 22, SaltShaker, 1.801, 0.797, 1.627, 0, 317.0, 0, 70 [SEP] 23, PepperShaker, 2.228, 0.760, 3.97, 0, 0, 0, 56 [SEP] 24, PepperShaker, 2.632, 0.797, 0.822, 0, 317.0, 0, 67 [SEP] 25, Lettuce, -0.851, 0.874, 1.414, 0, 90, 0, 112 [SEP] 26, Mug, 2.302, 0.759, 4.32, 0, 0, 0, 56 [SEP] 27, Pan, 1.836, 1.027, -1.84, 0, 90, 0, 53 [SEP] 28, Glassbottle, 2.735, 0.765, 3.922, 0, 329.999, 0, 56 [SEP] 29, Knife, 2.976, 0.789, 4.044, 0, 270, 0, 56 [SEP] 30, SoapBottle, -0.669, 1.026, 2.311, 0, 0, 0, 58 [SEP] 31, Egg, -0.782, 0.860, 1.570, 0, 90, 0, 112 [SEP] 32, Fork, 2.651, 0.801, -0.221, 0, 0, 0, 55 [SEP] 33, Potato, 1.230, 1.068, -1.667, 0, 90, 0, 55 [SEP] 34, Ladle, -0.794, 1.066, 2.556, 0, 0, 0, 58 [SEP] 35, Tomato, 2.166, 0.818, 3.475, 0, 225, 0, 56 [SEP] 36, Pot, 1.334, 0.023, -1.670, 0, 270, 0, 74 [SEP] 37, WineBottle, 1.743, 1.027, 1.802, 0, 136.999, 0, 55 [SEP] 38, Plate, 1.409, 1.027, -1.881, 0, 90, 0, 55 [SEP] 39, Spatula, -0.669, 1.042, 0.600, 0, 180, 0, 58 [SEP] 40, PaperTowelRoll, -1.171, 1.131, 1.821, 0, 0, 0, 58 [SEP] 41, Lettuce, 2.621, 1.085, -1.151, 0, 0, 0, 55 [SEP] 42, Apple, -0.418, 1.077, 2.434, 0, 0, 0, 58 [SEP] 43, SaltShaker, 2.169, 2.275, -1.793, 0, 0, 0, 83 [SEP] 44, PepperShaker, 2.874, 0.796, -0.792, 0, 0, 0, 64 [SEP] 45, ButterKnife, 2.100, 0.764, 4.044, 0, 270, 0, 56 [SEP] 46, Bread, 2.706, 1.094, -0.236, 0, 0, 0, 55 [SEP] 47, Cup, 2.893, 1.025, 1.200, 0, 136.999, 0, 55 [SEP] 48, DishSponge, 2.645, 0.032, -0.323, 0, 0, 0, 81 [SEP] 49, Bowl, 1.409, 1.025, -1.560, 0, 90, 0, 55 [SEP] 50, Spoon, 2.231, 1.028, 1.699, 0, 136.999, 0, 55 [SEP] 51, Mug, 2.451, 0.759, 4.32, 0, 0, 0, 56 [SEP] 52, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 53, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 54, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 55, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 56, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 57, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 58, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 59, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 60, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 61, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 62, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 63, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 64, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 65, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 66, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 67, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 68, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 69, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 70, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 71, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 72, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 73, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 74, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 75, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 76, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 77, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 78, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 79, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 80, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 81, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 82, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 83, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 84, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 85, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 86, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 87, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 88, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 89, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 90, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 91, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 92, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 93, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 94, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 95, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 96, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 97, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 98, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 99, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 100, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 101, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 102, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 103, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 104, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 105, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 106, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 107, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 108, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 109, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 110, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 111, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 112, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 113, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 114, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 115, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 116, , , , , , , , [SEP] 117, NorthWall, , , , , , , [SEP] 118, EastWall, , , , , , , [SEP] 119, SouthWall, , , , , , , [SEP] 120, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and cross the room to stand in front of the white table. | STEP 2: Pick the tomato up from the white table. | STEP 3: Go left to cross the room and then turn left again to face the microwave. | STEP 4: Put the tomato into the microwave and turn it on and then off and take the tomato out and shut the door. | STEP 5: Turn around and cross the room and move to stand in front of the white table. | STEP 6: Put the tomato on the table. | END"]} +{"id": "trial_T20190909_001852_804129-0", "input": "Put the warm slice apple in the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.930, -0.5, 0, 180, 0, [SEP] 1, Potato, 0.887, 0.949, 0.326, 0, 0, 0, 92 [SEP] 2, Ladle, 1.491, 0.945, 0.180, 0, 0, 0, 92 [SEP] 3, Ladle, 3.373, 0.937, 0.232, 0, 90, 0, 60 [SEP] 4, DishSponge, -0.786, 0.325, 1.255, 0, 0, 0, 96 [SEP] 5, ButterKnife, -1.008, 0.900, 0.176, 0, 0, 0, 61 [SEP] 6, ButterKnife, 0.436, 0.908, 0.223, 0, 36.810, 0, 92 [SEP] 7, Kettle, 0.836, 0.909, 0.038, 0, 0, 0, 92 [SEP] 8, Kettle, -0.420, 0.902, -0.920, 0, 135, 0, 56 [SEP] 9, Spatula, -0.950, 0.533, -0.361, 0, 90, 0, 88 [SEP] 10, CellPhone, -0.909, 0.128, 1.430, 0, 0, 0, 85 [SEP] 11, CellPhone, 0.179, 0.897, -1.445, 0, 0, 0, 82 [SEP] 12, Apple, -0.803, 0.974, -0.827, 0, 45, 0, 61 [SEP] 13, SaltShaker, 0.952, 1.671, -1.689, 0, 0, 0, 76 [SEP] 14, PepperShaker, 0.330, 0.317, -1.475, 0, 0, 0, 67 [SEP] 15, PepperShaker, 3.028, 0.172, -0.702, 0, 0, 0, 73 [SEP] 16, Bowl, 1.255, 1.671, -1.550, 0, 0, 0, 52 [SEP] 17, SoapBottle, 0.101, 0.909, -1.731, 0, 0, 0, 82 [SEP] 18, Egg, 1.164, 0.763, -1.433, 0, 0, 0, 107 [SEP] 19, Egg, 0.710, 0.963, 0.727, 0, 0, 0, 92 [SEP] 20, Plate, 3.084, 0.190, 0.700, 0, 0, 0, 70 [SEP] 21, Knife, -1.008, 0.925, -0.047, 0, 0, 0, 61 [SEP] 22, Plate, 3.141, 0.188, -0.404, 0, 0, 0, 72 [SEP] 23, Glassbottle, -0.136, 0.901, -1.393, 0, 45, 0, 82 [SEP] 24, SoapBottle, 2.976, 1.473, -1.746, 0, 0, 0, 59 [SEP] 25, Potato, 1.086, 0.749, -1.354, 0, 0, 0, 107 [SEP] 26, Fork, 0.022, 0.900, -1.660, 0, 270, 0, 82 [SEP] 27, Ladle, 3.044, 0.937, -0.698, 0, 0, 0, 60 [SEP] 28, Pot, 0.423, 0.900, 0.869, 0, 0, 0, 92 [SEP] 29, Kettle, -1.008, 0.901, 0.623, 0, 0, 0, 61 [SEP] 30, Spatula, 3.152, 0.762, -0.100, 0, 0, 0, 106 [SEP] 31, Knife, 0.664, 0.936, 0.296, 0, 36.810, 0, 92 [SEP] 32, Lettuce, -0.702, 0.965, -0.726, 0, 45, 0, 61 [SEP] 33, Cup, 0.929, 0.711, -1.433, 0, 0, 0, 107 [SEP] 34, SaltShaker, 3.070, 0.709, -0.408, 0, 180, 0, 57 [SEP] 35, Egg, 1.086, 0.938, -1.503, 0, 0, 0, 107 [SEP] 36, PepperShaker, -0.827, 0.702, -0.011, 0, 0, 0, 68 [SEP] 37, ButterKnife, 0.728, 0.908, 0.613, 0, 36.810, 0, 92 [SEP] 38, Apple, -0.043, 0.974, -1.486, 0, 45, 0, 82 [SEP] 39, Pan, 0.341, 0.873, -1.649, 0, 167.065, 0, 82 [SEP] 40, Bread, 1.491, 0.986, 0.747, 0, 0, 0, 92 [SEP] 41, CellPhone, -1.039, 0.897, -0.797, 0, 45, 0, 61 [SEP] 42, DishSponge, -0.868, 0.130, 1.693, 0, 0, 0, 85 [SEP] 43, Tomato, 1.064, 0.947, 0.483, 0, 36.810, 0, 92 [SEP] 44, Spoon, 3.111, 0.748, 0.032, 0, 0, 0, 106 [SEP] 45, Bowl, 0.760, 1.671, -1.410, 0, 0, 0, 76 [SEP] 46, Mug, 1.008, 1.068, -1.503, 0, 0, 0, 107 [SEP] 47, Drawer, 0.376, 0.572, -1.509, 0, 0, 0, [SEP] 48, Drawer, 3.020, 0.769, -0.783, 0, 180, 0, [SEP] 49, Drawer, -0.860, 0.577, 1.429, 0, 0, 0, [SEP] 50, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0, [SEP] 51, Drawer, 0.376, 0.191, -1.509, 0, 0, 0, [SEP] 52, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0, [SEP] 53, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0, [SEP] 54, Drawer, -0.860, 0.765, 1.429, 0, 0, 0, [SEP] 55, Drawer, -0.677, 0.765, -0.700, 0, 0, 0, [SEP] 56, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0, [SEP] 57, Drawer, 3.020, 0.769, -0.407, 0, 180, 0, [SEP] 58, Drawer, -0.860, 0.577, 0.663, 0, 0, 0, [SEP] 59, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0, [SEP] 60, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0, [SEP] 61, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0, [SEP] 62, Drawer, -0.860, 0.385, 0.663, 0, 0, 0, [SEP] 63, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0, [SEP] 64, Drawer, -0.047, 0.573, -1.324, 0, 0, 0, [SEP] 65, Drawer, -0.860, 0.765, 0.663, 0, 0, 0, [SEP] 66, Drawer, -0.860, 0.385, -0.100, 0, 0, 0, [SEP] 67, Drawer, 0.376, 0.380, -1.509, 0, 0, 0, [SEP] 68, Drawer, -0.860, 0.765, -0.100, 0, 0, 0, [SEP] 69, Drawer, 0.376, 0.765, -1.509, 0, 0, 0, [SEP] 70, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0, [SEP] 71, Drawer, -0.047, 0.765, -1.324, 0, 0, 0, [SEP] 72, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0, [SEP] 73, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0, [SEP] 74, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0, [SEP] 75, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0, [SEP] 76, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0, [SEP] 77, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0, [SEP] 78, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0, [SEP] 79, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0, [SEP] 80, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0, [SEP] 81, Drawer, -0.860, 0.190, -0.100, 0, 0, 0, [SEP] 82, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0, [SEP] 83, Drawer, 3.020, 0.769, 0.695, 0, 180, 0, [SEP] 84, Drawer, -0.677, 0.577, -0.700, 0, 0, 0, [SEP] 85, Drawer, -0.860, 0.190, 1.429, 0, 0, 0, [SEP] 86, Drawer, -0.047, 0.192, -1.324, 0, 0, 0, [SEP] 87, Drawer, -0.677, 0.193, -0.700, 0, 0, 0, [SEP] 88, Drawer, -0.860, 0.577, -0.100, 0, 0, 0, [SEP] 89, Sink, 3.078, 0.887, 0.086, 0, 0, 0, [SEP] 90, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0, [SEP] 91, Drawer, -0.860, 0.190, 0.663, 0, 0, 0, [SEP] 92, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0, [SEP] 93, Drawer, -0.047, 0.381, -1.324, 0, 0, 0, [SEP] 94, Drawer, -0.677, 0.387, -0.700, 0, 0, 0, [SEP] 95, Mirror, -1.295, 1.630, 0.045, 0, 0, 0, [SEP] 96, Drawer, -0.860, 0.385, 1.429, 0, 0, 0, [SEP] 97, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0, [SEP] 98, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0, [SEP] 99, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0, [SEP] 100, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0, [SEP] 101, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0, [SEP] 102, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0, [SEP] 103, Window, 3.703, 1.675, 0.046, 90, 90, 0, [SEP] 104, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0, [SEP] 105, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0, [SEP] 106, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0, [SEP] 107, Fridge, 1.008, 0.029, -1.467, 0, 0, 0, [SEP] 108, Toaster, -1.035, 0.873, -0.396, 0, 90, 0, [SEP] 109, Microwave, -1.034, 0.874, 1.428, 0, 90, 0, [SEP] 110, Faucet, 3.305, 0.886, 0.094, 270, 180, 0, [SEP] 111, NorthWall, , , , , , , [SEP] 112, EastWall, , , , , , , [SEP] 113, SouthWall, , , , , , , [SEP] 114, WestWall, , , , , , , ", "output": ["STEP 1: Turn right then head to the counter on your left | STEP 2: Pick up the knife on the counter beside the toaster | STEP 3: Turn left then head to the left side stove counter | STEP 4: Slice the apple beside the stove | STEP 5: Turn left then head the sink | STEP 6: Put the knife in the sink | STEP 7: Turn right then head to the stove counter on you left | STEP 8: Pick up a slice of apple on the counter | STEP 9: Turn right then head to the microwave | STEP 10: Open the microwave put in and out the microwave | STEP 11: Turn left then head to the sink | STEP 12: Put the slice apple in the sink | END"]} +{"id": "trial_T20190909_001852_804129-1", "input": "To heat a piece of apple and place it in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.930, -0.5, 0, 180, 0, [SEP] 1, Potato, 0.887, 0.949, 0.326, 0, 0, 0, 92 [SEP] 2, Ladle, 1.491, 0.945, 0.180, 0, 0, 0, 92 [SEP] 3, Ladle, 3.373, 0.937, 0.232, 0, 90, 0, 60 [SEP] 4, DishSponge, -0.786, 0.325, 1.255, 0, 0, 0, 96 [SEP] 5, ButterKnife, -1.008, 0.900, 0.176, 0, 0, 0, 61 [SEP] 6, ButterKnife, 0.436, 0.908, 0.223, 0, 36.810, 0, 92 [SEP] 7, Kettle, 0.836, 0.909, 0.038, 0, 0, 0, 92 [SEP] 8, Kettle, -0.420, 0.902, -0.920, 0, 135, 0, 56 [SEP] 9, Spatula, -0.950, 0.533, -0.361, 0, 90, 0, 88 [SEP] 10, CellPhone, -0.909, 0.128, 1.430, 0, 0, 0, 85 [SEP] 11, CellPhone, 0.179, 0.897, -1.445, 0, 0, 0, 82 [SEP] 12, Apple, -0.803, 0.974, -0.827, 0, 45, 0, 61 [SEP] 13, SaltShaker, 0.952, 1.671, -1.689, 0, 0, 0, 76 [SEP] 14, PepperShaker, 0.330, 0.317, -1.475, 0, 0, 0, 67 [SEP] 15, PepperShaker, 3.028, 0.172, -0.702, 0, 0, 0, 73 [SEP] 16, Bowl, 1.255, 1.671, -1.550, 0, 0, 0, 52 [SEP] 17, SoapBottle, 0.101, 0.909, -1.731, 0, 0, 0, 82 [SEP] 18, Egg, 1.164, 0.763, -1.433, 0, 0, 0, 107 [SEP] 19, Egg, 0.710, 0.963, 0.727, 0, 0, 0, 92 [SEP] 20, Plate, 3.084, 0.190, 0.700, 0, 0, 0, 70 [SEP] 21, Knife, -1.008, 0.925, -0.047, 0, 0, 0, 61 [SEP] 22, Plate, 3.141, 0.188, -0.404, 0, 0, 0, 72 [SEP] 23, Glassbottle, -0.136, 0.901, -1.393, 0, 45, 0, 82 [SEP] 24, SoapBottle, 2.976, 1.473, -1.746, 0, 0, 0, 59 [SEP] 25, Potato, 1.086, 0.749, -1.354, 0, 0, 0, 107 [SEP] 26, Fork, 0.022, 0.900, -1.660, 0, 270, 0, 82 [SEP] 27, Ladle, 3.044, 0.937, -0.698, 0, 0, 0, 60 [SEP] 28, Pot, 0.423, 0.900, 0.869, 0, 0, 0, 92 [SEP] 29, Kettle, -1.008, 0.901, 0.623, 0, 0, 0, 61 [SEP] 30, Spatula, 3.152, 0.762, -0.100, 0, 0, 0, 106 [SEP] 31, Knife, 0.664, 0.936, 0.296, 0, 36.810, 0, 92 [SEP] 32, Lettuce, -0.702, 0.965, -0.726, 0, 45, 0, 61 [SEP] 33, Cup, 0.929, 0.711, -1.433, 0, 0, 0, 107 [SEP] 34, SaltShaker, 3.070, 0.709, -0.408, 0, 180, 0, 57 [SEP] 35, Egg, 1.086, 0.938, -1.503, 0, 0, 0, 107 [SEP] 36, PepperShaker, -0.827, 0.702, -0.011, 0, 0, 0, 68 [SEP] 37, ButterKnife, 0.728, 0.908, 0.613, 0, 36.810, 0, 92 [SEP] 38, Apple, -0.043, 0.974, -1.486, 0, 45, 0, 82 [SEP] 39, Pan, 0.341, 0.873, -1.649, 0, 167.065, 0, 82 [SEP] 40, Bread, 1.491, 0.986, 0.747, 0, 0, 0, 92 [SEP] 41, CellPhone, -1.039, 0.897, -0.797, 0, 45, 0, 61 [SEP] 42, DishSponge, -0.868, 0.130, 1.693, 0, 0, 0, 85 [SEP] 43, Tomato, 1.064, 0.947, 0.483, 0, 36.810, 0, 92 [SEP] 44, Spoon, 3.111, 0.748, 0.032, 0, 0, 0, 106 [SEP] 45, Bowl, 0.760, 1.671, -1.410, 0, 0, 0, 76 [SEP] 46, Mug, 1.008, 1.068, -1.503, 0, 0, 0, 107 [SEP] 47, Drawer, 0.376, 0.572, -1.509, 0, 0, 0, [SEP] 48, Drawer, 3.020, 0.769, -0.783, 0, 180, 0, [SEP] 49, Drawer, -0.860, 0.577, 1.429, 0, 0, 0, [SEP] 50, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0, [SEP] 51, Drawer, 0.376, 0.191, -1.509, 0, 0, 0, [SEP] 52, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0, [SEP] 53, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0, [SEP] 54, Drawer, -0.860, 0.765, 1.429, 0, 0, 0, [SEP] 55, Drawer, -0.677, 0.765, -0.700, 0, 0, 0, [SEP] 56, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0, [SEP] 57, Drawer, 3.020, 0.769, -0.407, 0, 180, 0, [SEP] 58, Drawer, -0.860, 0.577, 0.663, 0, 0, 0, [SEP] 59, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0, [SEP] 60, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0, [SEP] 61, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0, [SEP] 62, Drawer, -0.860, 0.385, 0.663, 0, 0, 0, [SEP] 63, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0, [SEP] 64, Drawer, -0.047, 0.573, -1.324, 0, 0, 0, [SEP] 65, Drawer, -0.860, 0.765, 0.663, 0, 0, 0, [SEP] 66, Drawer, -0.860, 0.385, -0.100, 0, 0, 0, [SEP] 67, Drawer, 0.376, 0.380, -1.509, 0, 0, 0, [SEP] 68, Drawer, -0.860, 0.765, -0.100, 0, 0, 0, [SEP] 69, Drawer, 0.376, 0.765, -1.509, 0, 0, 0, [SEP] 70, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0, [SEP] 71, Drawer, -0.047, 0.765, -1.324, 0, 0, 0, [SEP] 72, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0, [SEP] 73, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0, [SEP] 74, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0, [SEP] 75, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0, [SEP] 76, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0, [SEP] 77, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0, [SEP] 78, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0, [SEP] 79, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0, [SEP] 80, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0, [SEP] 81, Drawer, -0.860, 0.190, -0.100, 0, 0, 0, [SEP] 82, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0, [SEP] 83, Drawer, 3.020, 0.769, 0.695, 0, 180, 0, [SEP] 84, Drawer, -0.677, 0.577, -0.700, 0, 0, 0, [SEP] 85, Drawer, -0.860, 0.190, 1.429, 0, 0, 0, [SEP] 86, Drawer, -0.047, 0.192, -1.324, 0, 0, 0, [SEP] 87, Drawer, -0.677, 0.193, -0.700, 0, 0, 0, [SEP] 88, Drawer, -0.860, 0.577, -0.100, 0, 0, 0, [SEP] 89, Sink, 3.078, 0.887, 0.086, 0, 0, 0, [SEP] 90, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0, [SEP] 91, Drawer, -0.860, 0.190, 0.663, 0, 0, 0, [SEP] 92, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0, [SEP] 93, Drawer, -0.047, 0.381, -1.324, 0, 0, 0, [SEP] 94, Drawer, -0.677, 0.387, -0.700, 0, 0, 0, [SEP] 95, Mirror, -1.295, 1.630, 0.045, 0, 0, 0, [SEP] 96, Drawer, -0.860, 0.385, 1.429, 0, 0, 0, [SEP] 97, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0, [SEP] 98, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0, [SEP] 99, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0, [SEP] 100, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0, [SEP] 101, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0, [SEP] 102, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0, [SEP] 103, Window, 3.703, 1.675, 0.046, 90, 90, 0, [SEP] 104, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0, [SEP] 105, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0, [SEP] 106, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0, [SEP] 107, Fridge, 1.008, 0.029, -1.467, 0, 0, 0, [SEP] 108, Toaster, -1.035, 0.873, -0.396, 0, 90, 0, [SEP] 109, Microwave, -1.034, 0.874, 1.428, 0, 90, 0, [SEP] 110, Faucet, 3.305, 0.886, 0.094, 270, 180, 0, [SEP] 111, NorthWall, , , , , , , [SEP] 112, EastWall, , , , , , , [SEP] 113, SouthWall, , , , , , , [SEP] 114, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk forward to face the knife on the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left and walk forward to face the apple on the counter. | STEP 4: Cut the apple on the counter into three pieces. | STEP 5: Turn left and walk across the room to face the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn around and walk forward to face the apple pieces on the counter. | STEP 8: Pick up a piece of apple on the counter. | STEP 9: Turn right and walk to the end of the counter and turn left to face the microwave. | STEP 10: Heat the apple piece in the microwave and remove it. | STEP 11: Walk around the room to face the sink. | STEP 12: Place the piece of apple in the sink. | END"]} +{"id": "trial_T20190909_001852_804129-2", "input": "Put a knife and microwaved apple slice in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.930, -0.5, 0, 180, 0, [SEP] 1, Potato, 0.887, 0.949, 0.326, 0, 0, 0, 92 [SEP] 2, Ladle, 1.491, 0.945, 0.180, 0, 0, 0, 92 [SEP] 3, Ladle, 3.373, 0.937, 0.232, 0, 90, 0, 60 [SEP] 4, DishSponge, -0.786, 0.325, 1.255, 0, 0, 0, 96 [SEP] 5, ButterKnife, -1.008, 0.900, 0.176, 0, 0, 0, 61 [SEP] 6, ButterKnife, 0.436, 0.908, 0.223, 0, 36.810, 0, 92 [SEP] 7, Kettle, 0.836, 0.909, 0.038, 0, 0, 0, 92 [SEP] 8, Kettle, -0.420, 0.902, -0.920, 0, 135, 0, 56 [SEP] 9, Spatula, -0.950, 0.533, -0.361, 0, 90, 0, 88 [SEP] 10, CellPhone, -0.909, 0.128, 1.430, 0, 0, 0, 85 [SEP] 11, CellPhone, 0.179, 0.897, -1.445, 0, 0, 0, 82 [SEP] 12, Apple, -0.803, 0.974, -0.827, 0, 45, 0, 61 [SEP] 13, SaltShaker, 0.952, 1.671, -1.689, 0, 0, 0, 76 [SEP] 14, PepperShaker, 0.330, 0.317, -1.475, 0, 0, 0, 67 [SEP] 15, PepperShaker, 3.028, 0.172, -0.702, 0, 0, 0, 73 [SEP] 16, Bowl, 1.255, 1.671, -1.550, 0, 0, 0, 52 [SEP] 17, SoapBottle, 0.101, 0.909, -1.731, 0, 0, 0, 82 [SEP] 18, Egg, 1.164, 0.763, -1.433, 0, 0, 0, 107 [SEP] 19, Egg, 0.710, 0.963, 0.727, 0, 0, 0, 92 [SEP] 20, Plate, 3.084, 0.190, 0.700, 0, 0, 0, 70 [SEP] 21, Knife, -1.008, 0.925, -0.047, 0, 0, 0, 61 [SEP] 22, Plate, 3.141, 0.188, -0.404, 0, 0, 0, 72 [SEP] 23, Glassbottle, -0.136, 0.901, -1.393, 0, 45, 0, 82 [SEP] 24, SoapBottle, 2.976, 1.473, -1.746, 0, 0, 0, 59 [SEP] 25, Potato, 1.086, 0.749, -1.354, 0, 0, 0, 107 [SEP] 26, Fork, 0.022, 0.900, -1.660, 0, 270, 0, 82 [SEP] 27, Ladle, 3.044, 0.937, -0.698, 0, 0, 0, 60 [SEP] 28, Pot, 0.423, 0.900, 0.869, 0, 0, 0, 92 [SEP] 29, Kettle, -1.008, 0.901, 0.623, 0, 0, 0, 61 [SEP] 30, Spatula, 3.152, 0.762, -0.100, 0, 0, 0, 106 [SEP] 31, Knife, 0.664, 0.936, 0.296, 0, 36.810, 0, 92 [SEP] 32, Lettuce, -0.702, 0.965, -0.726, 0, 45, 0, 61 [SEP] 33, Cup, 0.929, 0.711, -1.433, 0, 0, 0, 107 [SEP] 34, SaltShaker, 3.070, 0.709, -0.408, 0, 180, 0, 57 [SEP] 35, Egg, 1.086, 0.938, -1.503, 0, 0, 0, 107 [SEP] 36, PepperShaker, -0.827, 0.702, -0.011, 0, 0, 0, 68 [SEP] 37, ButterKnife, 0.728, 0.908, 0.613, 0, 36.810, 0, 92 [SEP] 38, Apple, -0.043, 0.974, -1.486, 0, 45, 0, 82 [SEP] 39, Pan, 0.341, 0.873, -1.649, 0, 167.065, 0, 82 [SEP] 40, Bread, 1.491, 0.986, 0.747, 0, 0, 0, 92 [SEP] 41, CellPhone, -1.039, 0.897, -0.797, 0, 45, 0, 61 [SEP] 42, DishSponge, -0.868, 0.130, 1.693, 0, 0, 0, 85 [SEP] 43, Tomato, 1.064, 0.947, 0.483, 0, 36.810, 0, 92 [SEP] 44, Spoon, 3.111, 0.748, 0.032, 0, 0, 0, 106 [SEP] 45, Bowl, 0.760, 1.671, -1.410, 0, 0, 0, 76 [SEP] 46, Mug, 1.008, 1.068, -1.503, 0, 0, 0, 107 [SEP] 47, Drawer, 0.376, 0.572, -1.509, 0, 0, 0, [SEP] 48, Drawer, 3.020, 0.769, -0.783, 0, 180, 0, [SEP] 49, Drawer, -0.860, 0.577, 1.429, 0, 0, 0, [SEP] 50, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0, [SEP] 51, Drawer, 0.376, 0.191, -1.509, 0, 0, 0, [SEP] 52, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0, [SEP] 53, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0, [SEP] 54, Drawer, -0.860, 0.765, 1.429, 0, 0, 0, [SEP] 55, Drawer, -0.677, 0.765, -0.700, 0, 0, 0, [SEP] 56, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0, [SEP] 57, Drawer, 3.020, 0.769, -0.407, 0, 180, 0, [SEP] 58, Drawer, -0.860, 0.577, 0.663, 0, 0, 0, [SEP] 59, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0, [SEP] 60, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0, [SEP] 61, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0, [SEP] 62, Drawer, -0.860, 0.385, 0.663, 0, 0, 0, [SEP] 63, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0, [SEP] 64, Drawer, -0.047, 0.573, -1.324, 0, 0, 0, [SEP] 65, Drawer, -0.860, 0.765, 0.663, 0, 0, 0, [SEP] 66, Drawer, -0.860, 0.385, -0.100, 0, 0, 0, [SEP] 67, Drawer, 0.376, 0.380, -1.509, 0, 0, 0, [SEP] 68, Drawer, -0.860, 0.765, -0.100, 0, 0, 0, [SEP] 69, Drawer, 0.376, 0.765, -1.509, 0, 0, 0, [SEP] 70, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0, [SEP] 71, Drawer, -0.047, 0.765, -1.324, 0, 0, 0, [SEP] 72, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0, [SEP] 73, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0, [SEP] 74, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0, [SEP] 75, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0, [SEP] 76, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0, [SEP] 77, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0, [SEP] 78, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0, [SEP] 79, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0, [SEP] 80, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0, [SEP] 81, Drawer, -0.860, 0.190, -0.100, 0, 0, 0, [SEP] 82, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0, [SEP] 83, Drawer, 3.020, 0.769, 0.695, 0, 180, 0, [SEP] 84, Drawer, -0.677, 0.577, -0.700, 0, 0, 0, [SEP] 85, Drawer, -0.860, 0.190, 1.429, 0, 0, 0, [SEP] 86, Drawer, -0.047, 0.192, -1.324, 0, 0, 0, [SEP] 87, Drawer, -0.677, 0.193, -0.700, 0, 0, 0, [SEP] 88, Drawer, -0.860, 0.577, -0.100, 0, 0, 0, [SEP] 89, Sink, 3.078, 0.887, 0.086, 0, 0, 0, [SEP] 90, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0, [SEP] 91, Drawer, -0.860, 0.190, 0.663, 0, 0, 0, [SEP] 92, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0, [SEP] 93, Drawer, -0.047, 0.381, -1.324, 0, 0, 0, [SEP] 94, Drawer, -0.677, 0.387, -0.700, 0, 0, 0, [SEP] 95, Mirror, -1.295, 1.630, 0.045, 0, 0, 0, [SEP] 96, Drawer, -0.860, 0.385, 1.429, 0, 0, 0, [SEP] 97, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0, [SEP] 98, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0, [SEP] 99, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0, [SEP] 100, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0, [SEP] 101, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0, [SEP] 102, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0, [SEP] 103, Window, 3.703, 1.675, 0.046, 90, 90, 0, [SEP] 104, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0, [SEP] 105, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0, [SEP] 106, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0, [SEP] 107, Fridge, 1.008, 0.029, -1.467, 0, 0, 0, [SEP] 108, Toaster, -1.035, 0.873, -0.396, 0, 90, 0, [SEP] 109, Microwave, -1.034, 0.874, 1.428, 0, 90, 0, [SEP] 110, Faucet, 3.305, 0.886, 0.094, 270, 180, 0, [SEP] 111, NorthWall, , , , , , , [SEP] 112, EastWall, , , , , , , [SEP] 113, SouthWall, , , , , , , [SEP] 114, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the knife on the counter to the left. | STEP 2: Pick up the knife from the counter. | STEP 3: Walk to the counter corner by the refrigerator with the phone on it. | STEP 4: Use the knife to cut the yellow apple in three pieces. | STEP 5: Turn around then go right to the sink. | STEP 6: Put the knife in the sink to the left of the spoon. | STEP 7: Walk back over to the counter corner by the refrigerator. | STEP 8: Pick up the apple slice that is farthest to the right. | STEP 9: Turn around and then go forward to the microwave on the left. | STEP 10: Open the microwave, put the apple inside, turn it on then take the apple out and close it. | STEP 11: Turn left, then left again at the oven, then go straight ahead to the sink. | STEP 12: Put the apple slice in the sink to the left of the knife. | END"]} +{"id": "trial_T20190907_060234_011675-0", "input": "Put a heated apple on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.901, 2.75, 0, 180, 0, [SEP] 1, DishSponge, -2.480, 0.900, 2.177, 0, 0, 0, 71 [SEP] 2, DishSponge, -1.138, 1.773, 0.114, 0, 0, 0, 47 [SEP] 3, ButterKnife, -2.706, 0.935, 3.209, 0, 0, 0, 57 [SEP] 4, Egg, -0.456, 1.056, 0.203, 0, 0, 0, 69 [SEP] 5, Egg, -0.400, 0.933, 3.133, 0, 0, 0, 73 [SEP] 6, Cup, -0.657, 0.900, 3.535, 0, 0, 0, 73 [SEP] 7, Cup, -1.801, 1.773, 0.251, 0, 0, 0, 46 [SEP] 8, Plate, -2.805, 1.190, 4.352, 0, 90, 0, 67 [SEP] 9, Plate, -0.194, 1.777, 0.160, 0, 0, 0, 49 [SEP] 10, Knife, -2.170, 0.953, 0.518, 0, 180, 0, 50 [SEP] 11, SoapBottle, -0.400, 0.900, 2.530, 0, 0, 0, 73 [SEP] 12, Bowl, -2.878, 0.295, 4.501, 0, 90, 0, 67 [SEP] 13, PepperShaker, -0.487, 0.658, 0.573, 0, 0, 0, 39 [SEP] 14, PepperShaker, -0.218, 0.658, 0.464, 0, 0, 0, 39 [SEP] 15, Bread, -0.228, 0.957, 2.329, 0, 0, 0, 73 [SEP] 16, Bread, -2.480, 0.957, 2.441, 0, 0, 0, 71 [SEP] 17, Mug, -2.549, 0.930, 3.673, 0, 0, 0, 57 [SEP] 18, Egg, -2.738, 0.332, 4.649, 0, 90, 0, Floor|-00.05| [SEP] 19, Plate, -0.747, 1.777, 0.205, 0, 0, 0, 48 [SEP] 20, Fork, -2.583, 0.901, 2.177, 0, 0, 0, 71 [SEP] 21, Bread, -2.864, 0.940, 1.983, 0, 0, 0, 71 [SEP] 22, Apple, -0.143, 0.956, 2.932, 0, 0, 0, 73 [SEP] 23, Lettuce, -2.785, 0.378, 4.278, 0, 90, 0, 67 [SEP] 24, Spatula, -2.686, 0.915, 2.573, 0, 0, 0, 71 [SEP] 25, Knife, -1.662, 0.688, 0.355, 0, 90, 0, 53 [SEP] 26, Potato, -2.377, 0.926, 2.177, 0, 0, 0, 71 [SEP] 27, Tomato, -2.691, 0.362, 4.501, 0, 90, 0, 67 [SEP] 28, Cup, -2.888, 0.632, 4.204, 0, 90, 0, 67 [SEP] 29, SaltShaker, -1.932, 0.658, 0.300, 0, 0, 0, 53 [SEP] 30, PepperShaker, -0.400, 0.896, 2.932, 0, 0, 0, 73 [SEP] 31, ButterKnife, -2.480, 0.900, 1.913, 0, 0, 0, 71 [SEP] 32, SoapBottle, -0.657, 0.900, 2.731, 0, 0, 0, 73 [SEP] 33, Pan, -0.254, 0.928, 4.672, 0, 0, 0, 52 [SEP] 34, DishSponge, -1.911, 1.773, 0.114, 0, 0, 0, 45 [SEP] 35, Pot, -0.535, 0.928, 4.274, 0, 0, 0, 54 [SEP] 36, Spoon, -1.007, 0.797, 0.337, 0, 0, 0, 68 [SEP] 37, Mug, -0.244, 1.013, 0.203, 0, 0, 0, 69 [SEP] 38, Bowl, -2.037, 0.924, 0.348, 0, 0, 0, 50 [SEP] 39, Drawer, -0.325, 0.696, 0.413, 0, 0, 0, [SEP] 40, Cabinet, -0.595, 0.490, 0.648, 0, 0, 0, [SEP] 41, Cabinet, -0.555, 0.490, 0.646, 0, 0, 0, [SEP] 42, Cabinet, -1.591, 0.490, 0.646, 0, 0, 0, [SEP] 43, Cabinet, -1.554, 0.490, 0.646, 0, 0, 0, [SEP] 44, Cabinet, -2.550, 0.490, 0.646, 0, 0, 0, [SEP] 45, Cabinet, -1.514, 2.046, 0.392, 0, 0, 0, [SEP] 46, Cabinet, -2.474, 2.046, 0.392, 0, 0, 0, [SEP] 47, Cabinet, -1.478, 2.046, 0.392, 0, 0, 0, [SEP] 48, Cabinet, -0.518, 2.046, 0.392, 0, 0, 0, [SEP] 49, Cabinet, -0.479, 2.046, 0.392, 0, 0, 0, [SEP] 50, CounterTop, -1.366, 0.952, 0.349, 0, 0, 0, [SEP] 51, Sink, -1.108, 0.926, 0.340, 0, 0, 0, [SEP] 52, StoveBurner, -0.254, 0.922, 4.672, 0, 0, 0, [SEP] 53, Drawer, -1.824, 0.696, 0.413, 0, 0, 0, [SEP] 54, StoveBurner, -0.535, 0.922, 4.274, 0, 0, 0, [SEP] 55, StoveBurner, -0.254, 0.922, 4.274, 0, 0, 0, [SEP] 56, StoveBurner, -0.536, 0.922, 4.672, 0, 0, 0, [SEP] 57, CounterTop, -2.780, 0.971, 3.487, 0, 0, 0, [SEP] 58, Drawer, -2.323, 0.696, 0.413, 0, 0, 0, [SEP] 59, StoveKnob, -0.064, 1.090, 4.632, 0, 0, 73.865, [SEP] 60, StoveKnob, -0.064, 1.090, 4.782, 0, 0, 73.865, [SEP] 61, StoveKnob, -0.064, 1.090, 4.382, 0, 0, 73.865, [SEP] 62, StoveKnob, -0.064, 1.090, 4.222, 0, 0, 73.865, [SEP] 63, Toaster, -0.286, 0.861, 3.520, 0, 270, 0, [SEP] 64, GarbageCan, -2.816, -0.014, 0.370, 358.702, 26.614, 2.400, [SEP] 65, LightSwitch, -0.064, 1.447, 1.996, 0, 270, 0, [SEP] 66, Window, -3.075, 1.593, 1.361, 90, 90, 0, [SEP] 67, Fridge, -2.802, 0.0, 4.427, 0, 0, 0, [SEP] 68, SinkBasin, -1.106, 0.785, 0.337, 0, 0, 0, [SEP] 69, Microwave, -0.358, 0.917, 0.224, 0, 0, 0, [SEP] 70, CoffeeMachine, -2.938, 0.925, 3.605, 0, 90, 0, [SEP] 71, DiningTable, -2.733, -0.003, 2.607, 0, 270, 0, [SEP] 72, Faucet, -1.077, 0.920, 0.028, 270, 270, 0, [SEP] 73, DiningTable, -0.488, -0.003, 3.182, 0, 270, 0, [SEP] 74, NorthWall, , , , , , , [SEP] 75, EastWall, , , , , , , [SEP] 76, SouthWall, , , , , , , [SEP] 77, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and go to the table. | STEP 2: Pick up the apple on the table. | STEP 3: Go right and bring the apple to the microwave. | STEP 4: Heat the apple in the microwave. | STEP 5: Bring the heated apple back to the table on the side. | STEP 6: Put the heated apple on the table in front of the salt. | END"]} +{"id": "trial_T20190907_060234_011675-1", "input": "Put a cooked apple on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.901, 2.75, 0, 180, 0, [SEP] 1, DishSponge, -2.480, 0.900, 2.177, 0, 0, 0, 71 [SEP] 2, DishSponge, -1.138, 1.773, 0.114, 0, 0, 0, 47 [SEP] 3, ButterKnife, -2.706, 0.935, 3.209, 0, 0, 0, 57 [SEP] 4, Egg, -0.456, 1.056, 0.203, 0, 0, 0, 69 [SEP] 5, Egg, -0.400, 0.933, 3.133, 0, 0, 0, 73 [SEP] 6, Cup, -0.657, 0.900, 3.535, 0, 0, 0, 73 [SEP] 7, Cup, -1.801, 1.773, 0.251, 0, 0, 0, 46 [SEP] 8, Plate, -2.805, 1.190, 4.352, 0, 90, 0, 67 [SEP] 9, Plate, -0.194, 1.777, 0.160, 0, 0, 0, 49 [SEP] 10, Knife, -2.170, 0.953, 0.518, 0, 180, 0, 50 [SEP] 11, SoapBottle, -0.400, 0.900, 2.530, 0, 0, 0, 73 [SEP] 12, Bowl, -2.878, 0.295, 4.501, 0, 90, 0, 67 [SEP] 13, PepperShaker, -0.487, 0.658, 0.573, 0, 0, 0, 39 [SEP] 14, PepperShaker, -0.218, 0.658, 0.464, 0, 0, 0, 39 [SEP] 15, Bread, -0.228, 0.957, 2.329, 0, 0, 0, 73 [SEP] 16, Bread, -2.480, 0.957, 2.441, 0, 0, 0, 71 [SEP] 17, Mug, -2.549, 0.930, 3.673, 0, 0, 0, 57 [SEP] 18, Egg, -2.738, 0.332, 4.649, 0, 90, 0, Floor|-00.05| [SEP] 19, Plate, -0.747, 1.777, 0.205, 0, 0, 0, 48 [SEP] 20, Fork, -2.583, 0.901, 2.177, 0, 0, 0, 71 [SEP] 21, Bread, -2.864, 0.940, 1.983, 0, 0, 0, 71 [SEP] 22, Apple, -0.143, 0.956, 2.932, 0, 0, 0, 73 [SEP] 23, Lettuce, -2.785, 0.378, 4.278, 0, 90, 0, 67 [SEP] 24, Spatula, -2.686, 0.915, 2.573, 0, 0, 0, 71 [SEP] 25, Knife, -1.662, 0.688, 0.355, 0, 90, 0, 53 [SEP] 26, Potato, -2.377, 0.926, 2.177, 0, 0, 0, 71 [SEP] 27, Tomato, -2.691, 0.362, 4.501, 0, 90, 0, 67 [SEP] 28, Cup, -2.888, 0.632, 4.204, 0, 90, 0, 67 [SEP] 29, SaltShaker, -1.932, 0.658, 0.300, 0, 0, 0, 53 [SEP] 30, PepperShaker, -0.400, 0.896, 2.932, 0, 0, 0, 73 [SEP] 31, ButterKnife, -2.480, 0.900, 1.913, 0, 0, 0, 71 [SEP] 32, SoapBottle, -0.657, 0.900, 2.731, 0, 0, 0, 73 [SEP] 33, Pan, -0.254, 0.928, 4.672, 0, 0, 0, 52 [SEP] 34, DishSponge, -1.911, 1.773, 0.114, 0, 0, 0, 45 [SEP] 35, Pot, -0.535, 0.928, 4.274, 0, 0, 0, 54 [SEP] 36, Spoon, -1.007, 0.797, 0.337, 0, 0, 0, 68 [SEP] 37, Mug, -0.244, 1.013, 0.203, 0, 0, 0, 69 [SEP] 38, Bowl, -2.037, 0.924, 0.348, 0, 0, 0, 50 [SEP] 39, Drawer, -0.325, 0.696, 0.413, 0, 0, 0, [SEP] 40, Cabinet, -0.595, 0.490, 0.648, 0, 0, 0, [SEP] 41, Cabinet, -0.555, 0.490, 0.646, 0, 0, 0, [SEP] 42, Cabinet, -1.591, 0.490, 0.646, 0, 0, 0, [SEP] 43, Cabinet, -1.554, 0.490, 0.646, 0, 0, 0, [SEP] 44, Cabinet, -2.550, 0.490, 0.646, 0, 0, 0, [SEP] 45, Cabinet, -1.514, 2.046, 0.392, 0, 0, 0, [SEP] 46, Cabinet, -2.474, 2.046, 0.392, 0, 0, 0, [SEP] 47, Cabinet, -1.478, 2.046, 0.392, 0, 0, 0, [SEP] 48, Cabinet, -0.518, 2.046, 0.392, 0, 0, 0, [SEP] 49, Cabinet, -0.479, 2.046, 0.392, 0, 0, 0, [SEP] 50, CounterTop, -1.366, 0.952, 0.349, 0, 0, 0, [SEP] 51, Sink, -1.108, 0.926, 0.340, 0, 0, 0, [SEP] 52, StoveBurner, -0.254, 0.922, 4.672, 0, 0, 0, [SEP] 53, Drawer, -1.824, 0.696, 0.413, 0, 0, 0, [SEP] 54, StoveBurner, -0.535, 0.922, 4.274, 0, 0, 0, [SEP] 55, StoveBurner, -0.254, 0.922, 4.274, 0, 0, 0, [SEP] 56, StoveBurner, -0.536, 0.922, 4.672, 0, 0, 0, [SEP] 57, CounterTop, -2.780, 0.971, 3.487, 0, 0, 0, [SEP] 58, Drawer, -2.323, 0.696, 0.413, 0, 0, 0, [SEP] 59, StoveKnob, -0.064, 1.090, 4.632, 0, 0, 73.865, [SEP] 60, StoveKnob, -0.064, 1.090, 4.782, 0, 0, 73.865, [SEP] 61, StoveKnob, -0.064, 1.090, 4.382, 0, 0, 73.865, [SEP] 62, StoveKnob, -0.064, 1.090, 4.222, 0, 0, 73.865, [SEP] 63, Toaster, -0.286, 0.861, 3.520, 0, 270, 0, [SEP] 64, GarbageCan, -2.816, -0.014, 0.370, 358.702, 26.614, 2.400, [SEP] 65, LightSwitch, -0.064, 1.447, 1.996, 0, 270, 0, [SEP] 66, Window, -3.075, 1.593, 1.361, 90, 90, 0, [SEP] 67, Fridge, -2.802, 0.0, 4.427, 0, 0, 0, [SEP] 68, SinkBasin, -1.106, 0.785, 0.337, 0, 0, 0, [SEP] 69, Microwave, -0.358, 0.917, 0.224, 0, 0, 0, [SEP] 70, CoffeeMachine, -2.938, 0.925, 3.605, 0, 90, 0, [SEP] 71, DiningTable, -2.733, -0.003, 2.607, 0, 270, 0, [SEP] 72, Faucet, -1.077, 0.920, 0.028, 270, 270, 0, [SEP] 73, DiningTable, -0.488, -0.003, 3.182, 0, 270, 0, [SEP] 74, NorthWall, , , , , , , [SEP] 75, EastWall, , , , , , , [SEP] 76, SouthWall, , , , , , , [SEP] 77, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, will forward, then turn right to face the table. | STEP 2: Pick up the apple from the table. | STEP 3: Turn right, move forward, turn left, then move forward and to approach the microwave. | STEP 4: Cook the apple in the microwave. | STEP 5: Turn right, move forward, turn right, move forward, then turn right into approach the table. | STEP 6: Place the apple on the table, in front of the pepper and to the right of the soap. | END"]} +{"id": "trial_T20190907_060234_011675-2", "input": "Put a heated apple on the table by the stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.901, 2.75, 0, 180, 0, [SEP] 1, DishSponge, -2.480, 0.900, 2.177, 0, 0, 0, 71 [SEP] 2, DishSponge, -1.138, 1.773, 0.114, 0, 0, 0, 47 [SEP] 3, ButterKnife, -2.706, 0.935, 3.209, 0, 0, 0, 57 [SEP] 4, Egg, -0.456, 1.056, 0.203, 0, 0, 0, 69 [SEP] 5, Egg, -0.400, 0.933, 3.133, 0, 0, 0, 73 [SEP] 6, Cup, -0.657, 0.900, 3.535, 0, 0, 0, 73 [SEP] 7, Cup, -1.801, 1.773, 0.251, 0, 0, 0, 46 [SEP] 8, Plate, -2.805, 1.190, 4.352, 0, 90, 0, 67 [SEP] 9, Plate, -0.194, 1.777, 0.160, 0, 0, 0, 49 [SEP] 10, Knife, -2.170, 0.953, 0.518, 0, 180, 0, 50 [SEP] 11, SoapBottle, -0.400, 0.900, 2.530, 0, 0, 0, 73 [SEP] 12, Bowl, -2.878, 0.295, 4.501, 0, 90, 0, 67 [SEP] 13, PepperShaker, -0.487, 0.658, 0.573, 0, 0, 0, 39 [SEP] 14, PepperShaker, -0.218, 0.658, 0.464, 0, 0, 0, 39 [SEP] 15, Bread, -0.228, 0.957, 2.329, 0, 0, 0, 73 [SEP] 16, Bread, -2.480, 0.957, 2.441, 0, 0, 0, 71 [SEP] 17, Mug, -2.549, 0.930, 3.673, 0, 0, 0, 57 [SEP] 18, Egg, -2.738, 0.332, 4.649, 0, 90, 0, Floor|-00.05| [SEP] 19, Plate, -0.747, 1.777, 0.205, 0, 0, 0, 48 [SEP] 20, Fork, -2.583, 0.901, 2.177, 0, 0, 0, 71 [SEP] 21, Bread, -2.864, 0.940, 1.983, 0, 0, 0, 71 [SEP] 22, Apple, -0.143, 0.956, 2.932, 0, 0, 0, 73 [SEP] 23, Lettuce, -2.785, 0.378, 4.278, 0, 90, 0, 67 [SEP] 24, Spatula, -2.686, 0.915, 2.573, 0, 0, 0, 71 [SEP] 25, Knife, -1.662, 0.688, 0.355, 0, 90, 0, 53 [SEP] 26, Potato, -2.377, 0.926, 2.177, 0, 0, 0, 71 [SEP] 27, Tomato, -2.691, 0.362, 4.501, 0, 90, 0, 67 [SEP] 28, Cup, -2.888, 0.632, 4.204, 0, 90, 0, 67 [SEP] 29, SaltShaker, -1.932, 0.658, 0.300, 0, 0, 0, 53 [SEP] 30, PepperShaker, -0.400, 0.896, 2.932, 0, 0, 0, 73 [SEP] 31, ButterKnife, -2.480, 0.900, 1.913, 0, 0, 0, 71 [SEP] 32, SoapBottle, -0.657, 0.900, 2.731, 0, 0, 0, 73 [SEP] 33, Pan, -0.254, 0.928, 4.672, 0, 0, 0, 52 [SEP] 34, DishSponge, -1.911, 1.773, 0.114, 0, 0, 0, 45 [SEP] 35, Pot, -0.535, 0.928, 4.274, 0, 0, 0, 54 [SEP] 36, Spoon, -1.007, 0.797, 0.337, 0, 0, 0, 68 [SEP] 37, Mug, -0.244, 1.013, 0.203, 0, 0, 0, 69 [SEP] 38, Bowl, -2.037, 0.924, 0.348, 0, 0, 0, 50 [SEP] 39, Drawer, -0.325, 0.696, 0.413, 0, 0, 0, [SEP] 40, Cabinet, -0.595, 0.490, 0.648, 0, 0, 0, [SEP] 41, Cabinet, -0.555, 0.490, 0.646, 0, 0, 0, [SEP] 42, Cabinet, -1.591, 0.490, 0.646, 0, 0, 0, [SEP] 43, Cabinet, -1.554, 0.490, 0.646, 0, 0, 0, [SEP] 44, Cabinet, -2.550, 0.490, 0.646, 0, 0, 0, [SEP] 45, Cabinet, -1.514, 2.046, 0.392, 0, 0, 0, [SEP] 46, Cabinet, -2.474, 2.046, 0.392, 0, 0, 0, [SEP] 47, Cabinet, -1.478, 2.046, 0.392, 0, 0, 0, [SEP] 48, Cabinet, -0.518, 2.046, 0.392, 0, 0, 0, [SEP] 49, Cabinet, -0.479, 2.046, 0.392, 0, 0, 0, [SEP] 50, CounterTop, -1.366, 0.952, 0.349, 0, 0, 0, [SEP] 51, Sink, -1.108, 0.926, 0.340, 0, 0, 0, [SEP] 52, StoveBurner, -0.254, 0.922, 4.672, 0, 0, 0, [SEP] 53, Drawer, -1.824, 0.696, 0.413, 0, 0, 0, [SEP] 54, StoveBurner, -0.535, 0.922, 4.274, 0, 0, 0, [SEP] 55, StoveBurner, -0.254, 0.922, 4.274, 0, 0, 0, [SEP] 56, StoveBurner, -0.536, 0.922, 4.672, 0, 0, 0, [SEP] 57, CounterTop, -2.780, 0.971, 3.487, 0, 0, 0, [SEP] 58, Drawer, -2.323, 0.696, 0.413, 0, 0, 0, [SEP] 59, StoveKnob, -0.064, 1.090, 4.632, 0, 0, 73.865, [SEP] 60, StoveKnob, -0.064, 1.090, 4.782, 0, 0, 73.865, [SEP] 61, StoveKnob, -0.064, 1.090, 4.382, 0, 0, 73.865, [SEP] 62, StoveKnob, -0.064, 1.090, 4.222, 0, 0, 73.865, [SEP] 63, Toaster, -0.286, 0.861, 3.520, 0, 270, 0, [SEP] 64, GarbageCan, -2.816, -0.014, 0.370, 358.702, 26.614, 2.400, [SEP] 65, LightSwitch, -0.064, 1.447, 1.996, 0, 270, 0, [SEP] 66, Window, -3.075, 1.593, 1.361, 90, 90, 0, [SEP] 67, Fridge, -2.802, 0.0, 4.427, 0, 0, 0, [SEP] 68, SinkBasin, -1.106, 0.785, 0.337, 0, 0, 0, [SEP] 69, Microwave, -0.358, 0.917, 0.224, 0, 0, 0, [SEP] 70, CoffeeMachine, -2.938, 0.925, 3.605, 0, 90, 0, [SEP] 71, DiningTable, -2.733, -0.003, 2.607, 0, 270, 0, [SEP] 72, Faucet, -1.077, 0.920, 0.028, 270, 270, 0, [SEP] 73, DiningTable, -0.488, -0.003, 3.182, 0, 270, 0, [SEP] 74, NorthWall, , , , , , , [SEP] 75, EastWall, , , , , , , [SEP] 76, SouthWall, , , , , , , [SEP] 77, WestWall, , , , , , , ", "output": ["STEP 1: Move to the table to the left of the door to the right of the stove. | STEP 2: Pick up an apple from the table. | STEP 3: Move to the microwave to the right of the door. | STEP 4: Heat the apple with the microwave before removing it and closing the door. | STEP 5: Move to the table to the right of the stove from before. | STEP 6: Place the apple on top of the table. | END"]} +{"id": "trial_T20190906_200341_074379-0", "input": "put the plunger inside the cupboard SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.903, 1.5, 0, 270, 0, [SEP] 1, SoapBar, -1.869, 0.704, 1.099, 0, 0, 0, 22 [SEP] 2, SoapBar, 0.668, 1.047, 4.605, 0, 270, 0, 34 [SEP] 3, Candle, 0.594, 0.106, 3.558, 0, 0, 0, 21 [SEP] 4, SprayBottle, 0.729, 1.048, 4.539, 0, 270, 0, 34 [SEP] 5, SoapBottle, -2.084, 0.707, 0.717, 0, 0, 0, 22 [SEP] 6, SoapBottle, -2.243, 0.707, 0.572, 0, 0, 0, 22 [SEP] 7, ToiletPaper, -0.145, 0.148, 1.450, 0, 90, 0, 33 [SEP] 8, Towel, -2.393, 1.478, 0.580, 0, 90, 0, 28 [SEP] 9, Candle, 0.234, 0.106, 2.448, 0, 0, 0, 27 [SEP] 10, Cloth, -0.503, 0.164, 0.465, 0, 0, 0, 31 [SEP] 11, HandTowel, 0.397, 1.656, 2.039, 0, 180, 0, 32 [SEP] 12, Plunger, 0.480, 0.002, 4.793, 0, 0, 0, [SEP] 13, SoapBar, -2.163, 0.704, 0.135, 0, 0, 0, 22 [SEP] 14, ToiletPaper, -0.047, 0.971, 4.911, 0, 180, 90, 29 [SEP] 15, ToiletPaper, -0.122, 0.148, 1.315, 0, 90, 0, 33 [SEP] 16, SoapBottle, -0.636, 0.707, 1.099, 0, 0, 0, 22 [SEP] 17, SprayBottle, 0.699, 1.048, 4.277, 0, 270, 0, 34 [SEP] 18, ScrubBrush, 0.688, 0.002, 4.867, 0, 0, 0, [SEP] 19, Sink, 0.426, 1.037, 2.947, 0, 270, 0, [SEP] 20, Window, -2.548, 1.673, 2.405, 0, 0, 0, [SEP] 21, Cabinet, 0.068, 0.366, 3.772, 0, 0, 0, [SEP] 22, Bathtub, -1.042, 0.155, 0.558, 0, 0, 0, [SEP] 23, SinkBasin, 0.404, 0.926, 2.926, 0, 270, 0, [SEP] 24, Mirror, 0.858, 1.863, 2.972, 0, 0, 0, [SEP] 25, CounterTop, 0.487, 1.015, 3.090, 0, 0, 0, [SEP] 26, Faucet, -0.207, 0.687, 0.546, 0, 0, 0, [SEP] 27, Cabinet, 0.074, 0.379, 2.045, 0, 0, 0, [SEP] 28, TowelHolder, -2.5, 1.463, 0.579, 0, 90, 0, [SEP] 29, ToiletPaperHanger, -0.081, 0.971, 5.0, 0, 180, 0, [SEP] 30, LightSwitch, -1.121, 1.333, 5.000, 0, 180, 0, [SEP] 31, BathtubBasin, -1.062, 0.153, 0.556, 0, 0, 0, [SEP] 32, HandTowelHolder, 0.398, 1.758, 2.000, 0, 270, 0, [SEP] 33, GarbageCan, -0.229, 0.001, 1.445, 0, 270, 0, [SEP] 34, Toilet, 0.376, 0.002, 4.470, 0, 0, 0, [SEP] 35, Faucet, 0.661, 1.043, 3.371, 0, 270, 0, [SEP] 36, Faucet, 0.661, 1.043, 2.520, 0, 270, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, EastWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, WestWall, , , , , , , ", "output": ["STEP 1: turn right towards the door and then right towards the water closet | STEP 2: pick up the plunger by the water closet | STEP 3: turn right towards the cupboard under the wash | STEP 4: put the plunger inside the cupboard | END"]} +{"id": "trial_T20190906_200341_074379-1", "input": "Put the plunger into the bathroom cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.903, 1.5, 0, 270, 0, [SEP] 1, SoapBar, -1.869, 0.704, 1.099, 0, 0, 0, 22 [SEP] 2, SoapBar, 0.668, 1.047, 4.605, 0, 270, 0, 34 [SEP] 3, Candle, 0.594, 0.106, 3.558, 0, 0, 0, 21 [SEP] 4, SprayBottle, 0.729, 1.048, 4.539, 0, 270, 0, 34 [SEP] 5, SoapBottle, -2.084, 0.707, 0.717, 0, 0, 0, 22 [SEP] 6, SoapBottle, -2.243, 0.707, 0.572, 0, 0, 0, 22 [SEP] 7, ToiletPaper, -0.145, 0.148, 1.450, 0, 90, 0, 33 [SEP] 8, Towel, -2.393, 1.478, 0.580, 0, 90, 0, 28 [SEP] 9, Candle, 0.234, 0.106, 2.448, 0, 0, 0, 27 [SEP] 10, Cloth, -0.503, 0.164, 0.465, 0, 0, 0, 31 [SEP] 11, HandTowel, 0.397, 1.656, 2.039, 0, 180, 0, 32 [SEP] 12, Plunger, 0.480, 0.002, 4.793, 0, 0, 0, [SEP] 13, SoapBar, -2.163, 0.704, 0.135, 0, 0, 0, 22 [SEP] 14, ToiletPaper, -0.047, 0.971, 4.911, 0, 180, 90, 29 [SEP] 15, ToiletPaper, -0.122, 0.148, 1.315, 0, 90, 0, 33 [SEP] 16, SoapBottle, -0.636, 0.707, 1.099, 0, 0, 0, 22 [SEP] 17, SprayBottle, 0.699, 1.048, 4.277, 0, 270, 0, 34 [SEP] 18, ScrubBrush, 0.688, 0.002, 4.867, 0, 0, 0, [SEP] 19, Sink, 0.426, 1.037, 2.947, 0, 270, 0, [SEP] 20, Window, -2.548, 1.673, 2.405, 0, 0, 0, [SEP] 21, Cabinet, 0.068, 0.366, 3.772, 0, 0, 0, [SEP] 22, Bathtub, -1.042, 0.155, 0.558, 0, 0, 0, [SEP] 23, SinkBasin, 0.404, 0.926, 2.926, 0, 270, 0, [SEP] 24, Mirror, 0.858, 1.863, 2.972, 0, 0, 0, [SEP] 25, CounterTop, 0.487, 1.015, 3.090, 0, 0, 0, [SEP] 26, Faucet, -0.207, 0.687, 0.546, 0, 0, 0, [SEP] 27, Cabinet, 0.074, 0.379, 2.045, 0, 0, 0, [SEP] 28, TowelHolder, -2.5, 1.463, 0.579, 0, 90, 0, [SEP] 29, ToiletPaperHanger, -0.081, 0.971, 5.0, 0, 180, 0, [SEP] 30, LightSwitch, -1.121, 1.333, 5.000, 0, 180, 0, [SEP] 31, BathtubBasin, -1.062, 0.153, 0.556, 0, 0, 0, [SEP] 32, HandTowelHolder, 0.398, 1.758, 2.000, 0, 270, 0, [SEP] 33, GarbageCan, -0.229, 0.001, 1.445, 0, 270, 0, [SEP] 34, Toilet, 0.376, 0.002, 4.470, 0, 0, 0, [SEP] 35, Faucet, 0.661, 1.043, 3.371, 0, 270, 0, [SEP] 36, Faucet, 0.661, 1.043, 2.520, 0, 270, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, EastWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk over to the toilet | STEP 2: Pick up the plunger from the left side of the toilet | STEP 3: Turn right and walk up to the left side of the bathroom counter | STEP 4: Open the bottom left cabinet and put the plunger in it | END"]} +{"id": "trial_T20190906_200341_074379-2", "input": "Put the plunger in the cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.903, 1.5, 0, 270, 0, [SEP] 1, SoapBar, -1.869, 0.704, 1.099, 0, 0, 0, 22 [SEP] 2, SoapBar, 0.668, 1.047, 4.605, 0, 270, 0, 34 [SEP] 3, Candle, 0.594, 0.106, 3.558, 0, 0, 0, 21 [SEP] 4, SprayBottle, 0.729, 1.048, 4.539, 0, 270, 0, 34 [SEP] 5, SoapBottle, -2.084, 0.707, 0.717, 0, 0, 0, 22 [SEP] 6, SoapBottle, -2.243, 0.707, 0.572, 0, 0, 0, 22 [SEP] 7, ToiletPaper, -0.145, 0.148, 1.450, 0, 90, 0, 33 [SEP] 8, Towel, -2.393, 1.478, 0.580, 0, 90, 0, 28 [SEP] 9, Candle, 0.234, 0.106, 2.448, 0, 0, 0, 27 [SEP] 10, Cloth, -0.503, 0.164, 0.465, 0, 0, 0, 31 [SEP] 11, HandTowel, 0.397, 1.656, 2.039, 0, 180, 0, 32 [SEP] 12, Plunger, 0.480, 0.002, 4.793, 0, 0, 0, [SEP] 13, SoapBar, -2.163, 0.704, 0.135, 0, 0, 0, 22 [SEP] 14, ToiletPaper, -0.047, 0.971, 4.911, 0, 180, 90, 29 [SEP] 15, ToiletPaper, -0.122, 0.148, 1.315, 0, 90, 0, 33 [SEP] 16, SoapBottle, -0.636, 0.707, 1.099, 0, 0, 0, 22 [SEP] 17, SprayBottle, 0.699, 1.048, 4.277, 0, 270, 0, 34 [SEP] 18, ScrubBrush, 0.688, 0.002, 4.867, 0, 0, 0, [SEP] 19, Sink, 0.426, 1.037, 2.947, 0, 270, 0, [SEP] 20, Window, -2.548, 1.673, 2.405, 0, 0, 0, [SEP] 21, Cabinet, 0.068, 0.366, 3.772, 0, 0, 0, [SEP] 22, Bathtub, -1.042, 0.155, 0.558, 0, 0, 0, [SEP] 23, SinkBasin, 0.404, 0.926, 2.926, 0, 270, 0, [SEP] 24, Mirror, 0.858, 1.863, 2.972, 0, 0, 0, [SEP] 25, CounterTop, 0.487, 1.015, 3.090, 0, 0, 0, [SEP] 26, Faucet, -0.207, 0.687, 0.546, 0, 0, 0, [SEP] 27, Cabinet, 0.074, 0.379, 2.045, 0, 0, 0, [SEP] 28, TowelHolder, -2.5, 1.463, 0.579, 0, 90, 0, [SEP] 29, ToiletPaperHanger, -0.081, 0.971, 5.0, 0, 180, 0, [SEP] 30, LightSwitch, -1.121, 1.333, 5.000, 0, 180, 0, [SEP] 31, BathtubBasin, -1.062, 0.153, 0.556, 0, 0, 0, [SEP] 32, HandTowelHolder, 0.398, 1.758, 2.000, 0, 270, 0, [SEP] 33, GarbageCan, -0.229, 0.001, 1.445, 0, 270, 0, [SEP] 34, Toilet, 0.376, 0.002, 4.470, 0, 0, 0, [SEP] 35, Faucet, 0.661, 1.043, 3.371, 0, 270, 0, [SEP] 36, Faucet, 0.661, 1.043, 2.520, 0, 270, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, EastWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, WestWall, , , , , , , ", "output": ["STEP 1: Move over to the toilet. | STEP 2: Pick up the plunger next to the toilet. | STEP 3: Bring the plunger over to the cabinet under the sink. | STEP 4: Put the plunger in the cabinet. | END"]} +{"id": "trial_T20190906_201106_979461-0", "input": "place clean soap on top of the toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.900, 2.5, 0, 270, 0, [SEP] 1, Cloth, -1.979, 0.542, 1.832, 0, 0, 0, 24 [SEP] 2, SoapBar, -3.432, 0.826, 1.439, 0, 0, 0, 18 [SEP] 3, SoapBar, -1.064, 0.120, 3.640, 0, 90, 0, 37 [SEP] 4, Candle, -3.122, 0.278, 1.935, 0, 0, 0, 23 [SEP] 5, Towel, -4.739, 1.522, 2.425, 0, 90, 0, 31 [SEP] 6, HandTowel, -0.923, 1.59, 2.018, 0, 90, 0, 35 [SEP] 7, Candle, -0.982, 0.835, 1.756, 0, 0, 0, 18 [SEP] 8, HandTowel, -3.726, 1.646, 1.330, 0, 180, 0, 36 [SEP] 9, Plunger, -1.064, -0.000, 4.838, 0, 0, 0, Floor|-03.84| [SEP] 10, SoapBar, -3.122, 0.537, 1.728, 0, 0, 0, 25 [SEP] 11, ToiletPaper, -0.968, 0.888, 3.960, 0, 270, 270, 39 [SEP] 12, Cloth, -1.017, 1.049, 4.591, 0, 270, 0, 38 [SEP] 13, ToiletPaper, -2.462, 0.823, 1.862, 0, 0, 0, 18 [SEP] 14, Towel, -4.739, 1.522, 3.359, 0, 90, 0, 30 [SEP] 15, ScrubBrush, -1.065, -0.000, 4.052, 0, 0, 0, Floor|-03.84| [SEP] 16, SoapBottle, -1.018, 1.046, 4.263, 0, 270, 0, 38 [SEP] 17, SprayBottle, -2.205, 0.827, 2.132, 0, 0, 0, 18 [SEP] 18, CounterTop, -2.177, 0.782, 1.889, 0, 0, 0, [SEP] 19, Drawer, -1.307, 0.606, 1.890, 0, 0, 0, [SEP] 20, Drawer, -1.307, 0.337, 1.890, 0, 0, 0, [SEP] 21, Faucet, -4.646, 0.448, 1.689, 0, 0, 0, [SEP] 22, ShowerDoor, -4.873, 1.235, 3.947, 0, 0, 0, [SEP] 23, Drawer, -3.029, 0.337, 1.890, 0, 0, 0, [SEP] 24, Drawer, -2.169, 0.606, 1.890, 0, 0, 0, [SEP] 25, Drawer, -3.029, 0.606, 1.890, 0, 0, 0, [SEP] 26, Bathtub, -4.080, 0.297, 2.480, 0, 345.000, 0, [SEP] 27, Drawer, -2.169, 0.337, 1.890, 0, 0, 0, [SEP] 28, Mirror, -2.177, 1.856, 1.390, 0, 0, 0, [SEP] 29, Sink, -1.421, 0.837, 1.776, 0, 0, 0, [SEP] 30, TowelHolder, -4.846, 1.508, 3.358, 0, 90, 0, [SEP] 31, TowelHolder, -4.846, 1.508, 2.424, 0, 90, 0, [SEP] 32, LightSwitch, -2.165, 1.450, 4.972, 0, 180, 0, [SEP] 33, BathtubBasin, -4.309, 0.192, 2.328, 0, 270, 0, [SEP] 34, SinkBasin, -1.442, 0.874, 1.785, 0, 0, 0, [SEP] 35, HandTowelHolder, -0.884, 1.692, 2.017, 0, 180, 0, [SEP] 36, HandTowelHolder, -3.726, 1.748, 1.292, 0, 270, 0, [SEP] 37, GarbageCan, -1.116, -0.037, 3.598, 0, 270, 0, [SEP] 38, Toilet, -1.340, -0.000, 4.456, 0, 0, 0, [SEP] 39, ToiletPaperHanger, -0.884, 0.888, 3.911, 0, 270, 0, [SEP] 40, Faucet, -1.421, 0.954, 1.507, 0, 0, 0, [SEP] 41, ShowerHead, -5.257, 1.733, 4.030, 0, 90, 0, [SEP] 42, Faucet, -2.944, 0.954, 1.507, 0, 0, 0, [SEP] 43, Sink, -2.943, 0.837, 1.776, 0, 0, 0, [SEP] 44, SinkBasin, -2.964, 0.874, 1.785, 0, 0, 0, [SEP] 45, NorthWall, , , , , , , [SEP] 46, EastWall, , , , , , , [SEP] 47, SouthWall, , , , , , , [SEP] 48, WestWall, , , , , , , ", "output": ["STEP 1: go to the toilet in the bathroom | STEP 2: pick up the soap out of the black bin to the right of the toilet | STEP 3: walk over to the bathroom sink | STEP 4: place the soap inside the sink and rinse it off, then pick it back up | STEP 5: walk over to the toilet again | STEP 6: place the soap on top of the toilet | END"]} +{"id": "trial_T20190906_201106_979461-1", "input": "Put a clean bar of soap on top of a toilet's tank. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.900, 2.5, 0, 270, 0, [SEP] 1, Cloth, -1.979, 0.542, 1.832, 0, 0, 0, 24 [SEP] 2, SoapBar, -3.432, 0.826, 1.439, 0, 0, 0, 18 [SEP] 3, SoapBar, -1.064, 0.120, 3.640, 0, 90, 0, 37 [SEP] 4, Candle, -3.122, 0.278, 1.935, 0, 0, 0, 23 [SEP] 5, Towel, -4.739, 1.522, 2.425, 0, 90, 0, 31 [SEP] 6, HandTowel, -0.923, 1.59, 2.018, 0, 90, 0, 35 [SEP] 7, Candle, -0.982, 0.835, 1.756, 0, 0, 0, 18 [SEP] 8, HandTowel, -3.726, 1.646, 1.330, 0, 180, 0, 36 [SEP] 9, Plunger, -1.064, -0.000, 4.838, 0, 0, 0, Floor|-03.84| [SEP] 10, SoapBar, -3.122, 0.537, 1.728, 0, 0, 0, 25 [SEP] 11, ToiletPaper, -0.968, 0.888, 3.960, 0, 270, 270, 39 [SEP] 12, Cloth, -1.017, 1.049, 4.591, 0, 270, 0, 38 [SEP] 13, ToiletPaper, -2.462, 0.823, 1.862, 0, 0, 0, 18 [SEP] 14, Towel, -4.739, 1.522, 3.359, 0, 90, 0, 30 [SEP] 15, ScrubBrush, -1.065, -0.000, 4.052, 0, 0, 0, Floor|-03.84| [SEP] 16, SoapBottle, -1.018, 1.046, 4.263, 0, 270, 0, 38 [SEP] 17, SprayBottle, -2.205, 0.827, 2.132, 0, 0, 0, 18 [SEP] 18, CounterTop, -2.177, 0.782, 1.889, 0, 0, 0, [SEP] 19, Drawer, -1.307, 0.606, 1.890, 0, 0, 0, [SEP] 20, Drawer, -1.307, 0.337, 1.890, 0, 0, 0, [SEP] 21, Faucet, -4.646, 0.448, 1.689, 0, 0, 0, [SEP] 22, ShowerDoor, -4.873, 1.235, 3.947, 0, 0, 0, [SEP] 23, Drawer, -3.029, 0.337, 1.890, 0, 0, 0, [SEP] 24, Drawer, -2.169, 0.606, 1.890, 0, 0, 0, [SEP] 25, Drawer, -3.029, 0.606, 1.890, 0, 0, 0, [SEP] 26, Bathtub, -4.080, 0.297, 2.480, 0, 345.000, 0, [SEP] 27, Drawer, -2.169, 0.337, 1.890, 0, 0, 0, [SEP] 28, Mirror, -2.177, 1.856, 1.390, 0, 0, 0, [SEP] 29, Sink, -1.421, 0.837, 1.776, 0, 0, 0, [SEP] 30, TowelHolder, -4.846, 1.508, 3.358, 0, 90, 0, [SEP] 31, TowelHolder, -4.846, 1.508, 2.424, 0, 90, 0, [SEP] 32, LightSwitch, -2.165, 1.450, 4.972, 0, 180, 0, [SEP] 33, BathtubBasin, -4.309, 0.192, 2.328, 0, 270, 0, [SEP] 34, SinkBasin, -1.442, 0.874, 1.785, 0, 0, 0, [SEP] 35, HandTowelHolder, -0.884, 1.692, 2.017, 0, 180, 0, [SEP] 36, HandTowelHolder, -3.726, 1.748, 1.292, 0, 270, 0, [SEP] 37, GarbageCan, -1.116, -0.037, 3.598, 0, 270, 0, [SEP] 38, Toilet, -1.340, -0.000, 4.456, 0, 0, 0, [SEP] 39, ToiletPaperHanger, -0.884, 0.888, 3.911, 0, 270, 0, [SEP] 40, Faucet, -1.421, 0.954, 1.507, 0, 0, 0, [SEP] 41, ShowerHead, -5.257, 1.733, 4.030, 0, 90, 0, [SEP] 42, Faucet, -2.944, 0.954, 1.507, 0, 0, 0, [SEP] 43, Sink, -2.943, 0.837, 1.776, 0, 0, 0, [SEP] 44, SinkBasin, -2.964, 0.874, 1.785, 0, 0, 0, [SEP] 45, NorthWall, , , , , , , [SEP] 46, EastWall, , , , , , , [SEP] 47, SouthWall, , , , , , , [SEP] 48, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, go straight, then turn and face the trash bin to the right of the toilet. | STEP 2: Take the pink soap from the trash bin. | STEP 3: Turn right and go to the left sink. | STEP 4: Put the soap in the sink. Turn the water on then off. Take the soap from the sink. | STEP 5: Turn left, go to the toilet ahead. | STEP 6: Put the soap on top of the tank of the toilet. | END"]} +{"id": "trial_T20190906_201106_979461-2", "input": "Wash bar soap from the trash to place back on the toilet tank SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.900, 2.5, 0, 270, 0, [SEP] 1, Cloth, -1.979, 0.542, 1.832, 0, 0, 0, 24 [SEP] 2, SoapBar, -3.432, 0.826, 1.439, 0, 0, 0, 18 [SEP] 3, SoapBar, -1.064, 0.120, 3.640, 0, 90, 0, 37 [SEP] 4, Candle, -3.122, 0.278, 1.935, 0, 0, 0, 23 [SEP] 5, Towel, -4.739, 1.522, 2.425, 0, 90, 0, 31 [SEP] 6, HandTowel, -0.923, 1.59, 2.018, 0, 90, 0, 35 [SEP] 7, Candle, -0.982, 0.835, 1.756, 0, 0, 0, 18 [SEP] 8, HandTowel, -3.726, 1.646, 1.330, 0, 180, 0, 36 [SEP] 9, Plunger, -1.064, -0.000, 4.838, 0, 0, 0, Floor|-03.84| [SEP] 10, SoapBar, -3.122, 0.537, 1.728, 0, 0, 0, 25 [SEP] 11, ToiletPaper, -0.968, 0.888, 3.960, 0, 270, 270, 39 [SEP] 12, Cloth, -1.017, 1.049, 4.591, 0, 270, 0, 38 [SEP] 13, ToiletPaper, -2.462, 0.823, 1.862, 0, 0, 0, 18 [SEP] 14, Towel, -4.739, 1.522, 3.359, 0, 90, 0, 30 [SEP] 15, ScrubBrush, -1.065, -0.000, 4.052, 0, 0, 0, Floor|-03.84| [SEP] 16, SoapBottle, -1.018, 1.046, 4.263, 0, 270, 0, 38 [SEP] 17, SprayBottle, -2.205, 0.827, 2.132, 0, 0, 0, 18 [SEP] 18, CounterTop, -2.177, 0.782, 1.889, 0, 0, 0, [SEP] 19, Drawer, -1.307, 0.606, 1.890, 0, 0, 0, [SEP] 20, Drawer, -1.307, 0.337, 1.890, 0, 0, 0, [SEP] 21, Faucet, -4.646, 0.448, 1.689, 0, 0, 0, [SEP] 22, ShowerDoor, -4.873, 1.235, 3.947, 0, 0, 0, [SEP] 23, Drawer, -3.029, 0.337, 1.890, 0, 0, 0, [SEP] 24, Drawer, -2.169, 0.606, 1.890, 0, 0, 0, [SEP] 25, Drawer, -3.029, 0.606, 1.890, 0, 0, 0, [SEP] 26, Bathtub, -4.080, 0.297, 2.480, 0, 345.000, 0, [SEP] 27, Drawer, -2.169, 0.337, 1.890, 0, 0, 0, [SEP] 28, Mirror, -2.177, 1.856, 1.390, 0, 0, 0, [SEP] 29, Sink, -1.421, 0.837, 1.776, 0, 0, 0, [SEP] 30, TowelHolder, -4.846, 1.508, 3.358, 0, 90, 0, [SEP] 31, TowelHolder, -4.846, 1.508, 2.424, 0, 90, 0, [SEP] 32, LightSwitch, -2.165, 1.450, 4.972, 0, 180, 0, [SEP] 33, BathtubBasin, -4.309, 0.192, 2.328, 0, 270, 0, [SEP] 34, SinkBasin, -1.442, 0.874, 1.785, 0, 0, 0, [SEP] 35, HandTowelHolder, -0.884, 1.692, 2.017, 0, 180, 0, [SEP] 36, HandTowelHolder, -3.726, 1.748, 1.292, 0, 270, 0, [SEP] 37, GarbageCan, -1.116, -0.037, 3.598, 0, 270, 0, [SEP] 38, Toilet, -1.340, -0.000, 4.456, 0, 0, 0, [SEP] 39, ToiletPaperHanger, -0.884, 0.888, 3.911, 0, 270, 0, [SEP] 40, Faucet, -1.421, 0.954, 1.507, 0, 0, 0, [SEP] 41, ShowerHead, -5.257, 1.733, 4.030, 0, 90, 0, [SEP] 42, Faucet, -2.944, 0.954, 1.507, 0, 0, 0, [SEP] 43, Sink, -2.943, 0.837, 1.776, 0, 0, 0, [SEP] 44, SinkBasin, -2.964, 0.874, 1.785, 0, 0, 0, [SEP] 45, NorthWall, , , , , , , [SEP] 46, EastWall, , , , , , , [SEP] 47, SouthWall, , , , , , , [SEP] 48, WestWall, , , , , , , ", "output": ["STEP 1: Move to the black trash bin to the right of the toilet | STEP 2: Pickup the pink bar soap in the trash | STEP 3: Take the bar soap to the sink | STEP 4: Place bar soap in the sink and turn on the water then turn it off, pick up soap again | STEP 5: Head to the toilet | STEP 6: Place the bar soap on top of the toilet tank | END"]} +{"id": "trial_T20190909_101835_683416-0", "input": "put a chilled, cut slice of lettuce in the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.914, 2.5, 0, 90, 0, [SEP] 1, Potato, -3.081, 0.948, 1.607, 0, 0, 0, 55 [SEP] 2, Potato, -3.463, 0.948, 1.607, 0, 0, 0, 55 [SEP] 3, DishSponge, -3.559, 0.915, 1.440, 0, 0, 0, 55 [SEP] 4, Kettle, -3.508, 1.460, 2.846, 0, 0, 0, 53 [SEP] 5, Kettle, -3.272, 0.916, 1.524, 0, 0, 0, 55 [SEP] 6, Spatula, -1.391, 0.906, 0.255, 0, 90, 0, 82 [SEP] 7, Spatula, -3.126, 0.761, 1.202, 0, 90, 0, 47 [SEP] 8, Spoon, -2.804, 0.902, 3.567, 0, 0, 0, 46 [SEP] 9, Fork, -3.214, 0.746, 1.356, 0, 270, 0, 47 [SEP] 10, Fork, -2.503, 0.916, 4.106, 0, 90, 0, 46 [SEP] 11, Egg, -1.224, 0.122, 3.692, 0, 270, 0, 78 [SEP] 12, Egg, -3.654, 0.950, 1.357, 0, 0, 0, 55 [SEP] 13, Cup, -2.022, 0.915, 4.188, 0, 0, 0, 46 [SEP] 14, Knife, -3.185, 0.769, 1.510, 0, 270, 0, 47 [SEP] 15, Knife, -3.463, 0.939, 1.189, 0, 90, 0, 55 [SEP] 16, Tomato, -1.523, 0.960, 0.564, 0, 90, 0, 82 [SEP] 17, SoapBottle, -3.231, 0.083, 1.434, 0, 0, 0, 65 [SEP] 18, SaltShaker, -3.368, 0.912, 1.189, 0, 0, 0, 55 [SEP] 19, SaltShaker, -3.185, 0.743, 3.027, 0, 0, 0, 48 [SEP] 20, Bread, -1.127, 0.972, 0.255, 0, 90, 0, 82 [SEP] 21, Mug, -1.127, 0.886, 0.461, 0, 90, 0, 82 [SEP] 22, Apple, -3.473, 1.606, 2.016, 0, 90, 0, 77 [SEP] 23, Egg, -1.256, 0.122, 3.788, 0, 270, 0, 78 [SEP] 24, Knife, -1.787, 0.915, 0.358, 0, 180, 0, 82 [SEP] 25, Fork, -3.559, 0.916, 2.844, 0, 0, 0, 46 [SEP] 26, Bread, -1.259, 0.972, -0.053, 0, 90, 0, 82 [SEP] 27, Potato, -1.655, 0.923, 0.564, 0, 90, 0, 82 [SEP] 28, Plate, -3.006, 0.904, 3.677, 0, 0, 0, 46 [SEP] 29, Pot, -3.144, 0.963, 2.374, 0, 0, 0, 49 [SEP] 30, Kettle, -3.424, 0.966, 2.374, 0, 0, 0, 52 [SEP] 31, WineBottle, -1.815, 0.916, 4.062, 0, 0, 0, 46 [SEP] 32, Bowl, -3.195, 0.080, 2.920, 0, 0, 0, 59 [SEP] 33, Tomato, -1.857, 0.858, 3.662, 0, 0, 0, 76 [SEP] 34, Cup, -1.711, 0.915, 4.146, 0, 0, 0, 46 [SEP] 35, Spatula, -0.994, 0.906, 0.049, 0, 90, 0, 82 [SEP] 36, SoapBottle, -1.161, 0.087, 3.788, 0, 270, 0, 78 [SEP] 37, Lettuce, -1.759, 0.974, 0.085, 0, 0, 0, 82 [SEP] 38, Pan, -3.143, 0.966, 1.971, 0, 0, 0, 66 [SEP] 39, Apple, -3.654, 0.975, 1.189, 0, 0, 0, 55 [SEP] 40, SaltShaker, -3.463, 0.911, 3.827, 0, 0, 0, 46 [SEP] 41, PepperShaker, -3.127, 0.742, 3.326, 0, 0, 0, 56 [SEP] 42, ButterKnife, -2.402, 0.915, 3.890, 0, 0, 0, 46 [SEP] 43, DishSponge, -1.523, 0.891, -0.053, 0, 90, 0, 82 [SEP] 44, Spoon, -1.608, 0.916, 4.188, 0, 0, 0, 46 [SEP] 45, Mug, -3.505, 1.541, 2.224, 0, 90, 0, 77 [SEP] 46, CounterTop, -3.381, 0.950, 3.335, 0, 0, 0, [SEP] 47, Drawer, -3.121, 0.775, 1.357, 0, 0, 0, [SEP] 48, Drawer, -3.121, 0.777, 2.916, 0, 0, 0, [SEP] 49, StoveBurner, -3.148, 0.958, 2.374, 0, 0, 0, [SEP] 50, Sink, -1.797, 0.917, 3.660, 0, 0, 0, [SEP] 51, Cabinet, -1.421, 0.388, 3.459, 0, 0, 0, [SEP] 52, StoveBurner, -3.424, 0.958, 2.374, 0, 0, 0, [SEP] 53, Cabinet, -3.365, 1.931, 2.676, 0, 0, 0, [SEP] 54, StoveBurner, -3.424, 0.958, 1.971, 0, 0, 0, [SEP] 55, CounterTop, -3.381, 0.951, 1.356, 0, 0, 0, [SEP] 56, Drawer, -3.121, 0.781, 3.295, 0, 0, 0, [SEP] 57, Cabinet, -2.205, 0.388, 3.459, 0, 0, 0, [SEP] 58, Cabinet, -2.963, 0.388, 3.459, 0, 0, 0, [SEP] 59, Cabinet, -2.992, 0.388, 2.683, 0, 0, 0, [SEP] 60, Cabinet, -3.352, 2.205, 1.715, 0, 0, 0, [SEP] 61, Cabinet, -3.352, 2.205, 2.653, 0, 0, 0, [SEP] 62, Cabinet, -2.189, 0.388, 3.466, 0, 0, 0, [SEP] 63, Cabinet, -3.365, 1.931, 3.963, 0, 0, 0, [SEP] 64, Cabinet, -3.365, 1.931, 1.056, 0, 0, 0, [SEP] 65, Cabinet, -2.992, 0.388, 1.037, 0, 0, 0, [SEP] 66, StoveBurner, -3.143, 0.958, 1.971, 0, 0, 0, [SEP] 67, StoveKnob, -3.599, 1.110, 2.017, 0, 0, 105.000, [SEP] 68, StoveKnob, -3.599, 1.110, 1.867, 0, 0, 105.000, [SEP] 69, StoveKnob, -3.599, 1.110, 2.267, 0, 0, 105.000, [SEP] 70, StoveKnob, -3.599, 1.110, 2.427, 0, 0, 105.000, [SEP] 71, Toaster, -2.654, 0.902, 4.064, 0, 180, 0, [SEP] 72, Fridge, -0.439, 0.014, 3.996, 0, 0, 0, [SEP] 73, LightSwitch, 0.25, 1.383, 2.085, 0, 270, 0, [SEP] 74, Window, -1.430, 1.338, -0.347, 90, 0, 0, [SEP] 75, CoffeeMachine, -3.550, 0.902, 3.274, 0, 90, 0, [SEP] 76, SinkBasin, -1.802, 0.778, 3.700, 0, 0, 0, [SEP] 77, Microwave, -3.484, 1.430, 2.182, 0, 90, 0, [SEP] 78, GarbageCan, -1.184, -0.020, 3.794, 0, 270, 0, [SEP] 79, Blinds, -1.404, 2.092, -0.296, 0, 0, 0, [SEP] 80, Stool, -1.373, 0.014, 1.048, 1.214, 20.754, 0, [SEP] 81, Faucet, -1.788, 0.903, 3.931, 270, 90, 0, [SEP] 82, DiningTable, -1.399, 0.010, 0.238, 0, 0, 0, [SEP] 83, GarbageBag, -0.291, 0.336, -0.034, 272.372, 348.812, 147.313, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: go to the counter to the left of the sink | STEP 2: pick up the knife | STEP 3: take the knife to the table | STEP 4: cut the head of lettuce on the table | STEP 5: take the knife to the fridge | STEP 6: put the knife in the fridge | STEP 7: go back to the table with the lettuce | STEP 8: pick up one slice of lettuce | STEP 9: take the slice to the fridge | STEP 10: chill the slice then remove | STEP 11: take the slice to the sink | STEP 12: put the chilled slice in the sink | END"]} +{"id": "trial_T20190909_101835_683416-1", "input": "Put a cold piece of lettuce in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.914, 2.5, 0, 90, 0, [SEP] 1, Potato, -3.081, 0.948, 1.607, 0, 0, 0, 55 [SEP] 2, Potato, -3.463, 0.948, 1.607, 0, 0, 0, 55 [SEP] 3, DishSponge, -3.559, 0.915, 1.440, 0, 0, 0, 55 [SEP] 4, Kettle, -3.508, 1.460, 2.846, 0, 0, 0, 53 [SEP] 5, Kettle, -3.272, 0.916, 1.524, 0, 0, 0, 55 [SEP] 6, Spatula, -1.391, 0.906, 0.255, 0, 90, 0, 82 [SEP] 7, Spatula, -3.126, 0.761, 1.202, 0, 90, 0, 47 [SEP] 8, Spoon, -2.804, 0.902, 3.567, 0, 0, 0, 46 [SEP] 9, Fork, -3.214, 0.746, 1.356, 0, 270, 0, 47 [SEP] 10, Fork, -2.503, 0.916, 4.106, 0, 90, 0, 46 [SEP] 11, Egg, -1.224, 0.122, 3.692, 0, 270, 0, 78 [SEP] 12, Egg, -3.654, 0.950, 1.357, 0, 0, 0, 55 [SEP] 13, Cup, -2.022, 0.915, 4.188, 0, 0, 0, 46 [SEP] 14, Knife, -3.185, 0.769, 1.510, 0, 270, 0, 47 [SEP] 15, Knife, -3.463, 0.939, 1.189, 0, 90, 0, 55 [SEP] 16, Tomato, -1.523, 0.960, 0.564, 0, 90, 0, 82 [SEP] 17, SoapBottle, -3.231, 0.083, 1.434, 0, 0, 0, 65 [SEP] 18, SaltShaker, -3.368, 0.912, 1.189, 0, 0, 0, 55 [SEP] 19, SaltShaker, -3.185, 0.743, 3.027, 0, 0, 0, 48 [SEP] 20, Bread, -1.127, 0.972, 0.255, 0, 90, 0, 82 [SEP] 21, Mug, -1.127, 0.886, 0.461, 0, 90, 0, 82 [SEP] 22, Apple, -3.473, 1.606, 2.016, 0, 90, 0, 77 [SEP] 23, Egg, -1.256, 0.122, 3.788, 0, 270, 0, 78 [SEP] 24, Knife, -1.787, 0.915, 0.358, 0, 180, 0, 82 [SEP] 25, Fork, -3.559, 0.916, 2.844, 0, 0, 0, 46 [SEP] 26, Bread, -1.259, 0.972, -0.053, 0, 90, 0, 82 [SEP] 27, Potato, -1.655, 0.923, 0.564, 0, 90, 0, 82 [SEP] 28, Plate, -3.006, 0.904, 3.677, 0, 0, 0, 46 [SEP] 29, Pot, -3.144, 0.963, 2.374, 0, 0, 0, 49 [SEP] 30, Kettle, -3.424, 0.966, 2.374, 0, 0, 0, 52 [SEP] 31, WineBottle, -1.815, 0.916, 4.062, 0, 0, 0, 46 [SEP] 32, Bowl, -3.195, 0.080, 2.920, 0, 0, 0, 59 [SEP] 33, Tomato, -1.857, 0.858, 3.662, 0, 0, 0, 76 [SEP] 34, Cup, -1.711, 0.915, 4.146, 0, 0, 0, 46 [SEP] 35, Spatula, -0.994, 0.906, 0.049, 0, 90, 0, 82 [SEP] 36, SoapBottle, -1.161, 0.087, 3.788, 0, 270, 0, 78 [SEP] 37, Lettuce, -1.759, 0.974, 0.085, 0, 0, 0, 82 [SEP] 38, Pan, -3.143, 0.966, 1.971, 0, 0, 0, 66 [SEP] 39, Apple, -3.654, 0.975, 1.189, 0, 0, 0, 55 [SEP] 40, SaltShaker, -3.463, 0.911, 3.827, 0, 0, 0, 46 [SEP] 41, PepperShaker, -3.127, 0.742, 3.326, 0, 0, 0, 56 [SEP] 42, ButterKnife, -2.402, 0.915, 3.890, 0, 0, 0, 46 [SEP] 43, DishSponge, -1.523, 0.891, -0.053, 0, 90, 0, 82 [SEP] 44, Spoon, -1.608, 0.916, 4.188, 0, 0, 0, 46 [SEP] 45, Mug, -3.505, 1.541, 2.224, 0, 90, 0, 77 [SEP] 46, CounterTop, -3.381, 0.950, 3.335, 0, 0, 0, [SEP] 47, Drawer, -3.121, 0.775, 1.357, 0, 0, 0, [SEP] 48, Drawer, -3.121, 0.777, 2.916, 0, 0, 0, [SEP] 49, StoveBurner, -3.148, 0.958, 2.374, 0, 0, 0, [SEP] 50, Sink, -1.797, 0.917, 3.660, 0, 0, 0, [SEP] 51, Cabinet, -1.421, 0.388, 3.459, 0, 0, 0, [SEP] 52, StoveBurner, -3.424, 0.958, 2.374, 0, 0, 0, [SEP] 53, Cabinet, -3.365, 1.931, 2.676, 0, 0, 0, [SEP] 54, StoveBurner, -3.424, 0.958, 1.971, 0, 0, 0, [SEP] 55, CounterTop, -3.381, 0.951, 1.356, 0, 0, 0, [SEP] 56, Drawer, -3.121, 0.781, 3.295, 0, 0, 0, [SEP] 57, Cabinet, -2.205, 0.388, 3.459, 0, 0, 0, [SEP] 58, Cabinet, -2.963, 0.388, 3.459, 0, 0, 0, [SEP] 59, Cabinet, -2.992, 0.388, 2.683, 0, 0, 0, [SEP] 60, Cabinet, -3.352, 2.205, 1.715, 0, 0, 0, [SEP] 61, Cabinet, -3.352, 2.205, 2.653, 0, 0, 0, [SEP] 62, Cabinet, -2.189, 0.388, 3.466, 0, 0, 0, [SEP] 63, Cabinet, -3.365, 1.931, 3.963, 0, 0, 0, [SEP] 64, Cabinet, -3.365, 1.931, 1.056, 0, 0, 0, [SEP] 65, Cabinet, -2.992, 0.388, 1.037, 0, 0, 0, [SEP] 66, StoveBurner, -3.143, 0.958, 1.971, 0, 0, 0, [SEP] 67, StoveKnob, -3.599, 1.110, 2.017, 0, 0, 105.000, [SEP] 68, StoveKnob, -3.599, 1.110, 1.867, 0, 0, 105.000, [SEP] 69, StoveKnob, -3.599, 1.110, 2.267, 0, 0, 105.000, [SEP] 70, StoveKnob, -3.599, 1.110, 2.427, 0, 0, 105.000, [SEP] 71, Toaster, -2.654, 0.902, 4.064, 0, 180, 0, [SEP] 72, Fridge, -0.439, 0.014, 3.996, 0, 0, 0, [SEP] 73, LightSwitch, 0.25, 1.383, 2.085, 0, 270, 0, [SEP] 74, Window, -1.430, 1.338, -0.347, 90, 0, 0, [SEP] 75, CoffeeMachine, -3.550, 0.902, 3.274, 0, 90, 0, [SEP] 76, SinkBasin, -1.802, 0.778, 3.700, 0, 0, 0, [SEP] 77, Microwave, -3.484, 1.430, 2.182, 0, 90, 0, [SEP] 78, GarbageCan, -1.184, -0.020, 3.794, 0, 270, 0, [SEP] 79, Blinds, -1.404, 2.092, -0.296, 0, 0, 0, [SEP] 80, Stool, -1.373, 0.014, 1.048, 1.214, 20.754, 0, [SEP] 81, Faucet, -1.788, 0.903, 3.931, 270, 90, 0, [SEP] 82, DiningTable, -1.399, 0.010, 0.238, 0, 0, 0, [SEP] 83, GarbageBag, -0.291, 0.336, -0.034, 272.372, 348.812, 147.313, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Go to the counter to the left of the stove. | STEP 2: Pick up the knife on the counter. | STEP 3: Go past the door on the right to the table. | STEP 4: Slice the lettuce on the table. | STEP 5: Take the knife to the fridge. | STEP 6: Put the knife in the fridge. | STEP 7: Go back past the stove on the right to the table. | STEP 8: Pick up a lettuce slice on the table. | STEP 9: Take the lettuce to the fridge. | STEP 10: Chill the lettuce in the fridge. | STEP 11: Go to the sink. | STEP 12: Put the cold lettuce in the sink. | END"]} +{"id": "trial_T20190909_101835_683416-2", "input": "Chill a knife and place a chilled slice of lettuce in a sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.914, 2.5, 0, 90, 0, [SEP] 1, Potato, -3.081, 0.948, 1.607, 0, 0, 0, 55 [SEP] 2, Potato, -3.463, 0.948, 1.607, 0, 0, 0, 55 [SEP] 3, DishSponge, -3.559, 0.915, 1.440, 0, 0, 0, 55 [SEP] 4, Kettle, -3.508, 1.460, 2.846, 0, 0, 0, 53 [SEP] 5, Kettle, -3.272, 0.916, 1.524, 0, 0, 0, 55 [SEP] 6, Spatula, -1.391, 0.906, 0.255, 0, 90, 0, 82 [SEP] 7, Spatula, -3.126, 0.761, 1.202, 0, 90, 0, 47 [SEP] 8, Spoon, -2.804, 0.902, 3.567, 0, 0, 0, 46 [SEP] 9, Fork, -3.214, 0.746, 1.356, 0, 270, 0, 47 [SEP] 10, Fork, -2.503, 0.916, 4.106, 0, 90, 0, 46 [SEP] 11, Egg, -1.224, 0.122, 3.692, 0, 270, 0, 78 [SEP] 12, Egg, -3.654, 0.950, 1.357, 0, 0, 0, 55 [SEP] 13, Cup, -2.022, 0.915, 4.188, 0, 0, 0, 46 [SEP] 14, Knife, -3.185, 0.769, 1.510, 0, 270, 0, 47 [SEP] 15, Knife, -3.463, 0.939, 1.189, 0, 90, 0, 55 [SEP] 16, Tomato, -1.523, 0.960, 0.564, 0, 90, 0, 82 [SEP] 17, SoapBottle, -3.231, 0.083, 1.434, 0, 0, 0, 65 [SEP] 18, SaltShaker, -3.368, 0.912, 1.189, 0, 0, 0, 55 [SEP] 19, SaltShaker, -3.185, 0.743, 3.027, 0, 0, 0, 48 [SEP] 20, Bread, -1.127, 0.972, 0.255, 0, 90, 0, 82 [SEP] 21, Mug, -1.127, 0.886, 0.461, 0, 90, 0, 82 [SEP] 22, Apple, -3.473, 1.606, 2.016, 0, 90, 0, 77 [SEP] 23, Egg, -1.256, 0.122, 3.788, 0, 270, 0, 78 [SEP] 24, Knife, -1.787, 0.915, 0.358, 0, 180, 0, 82 [SEP] 25, Fork, -3.559, 0.916, 2.844, 0, 0, 0, 46 [SEP] 26, Bread, -1.259, 0.972, -0.053, 0, 90, 0, 82 [SEP] 27, Potato, -1.655, 0.923, 0.564, 0, 90, 0, 82 [SEP] 28, Plate, -3.006, 0.904, 3.677, 0, 0, 0, 46 [SEP] 29, Pot, -3.144, 0.963, 2.374, 0, 0, 0, 49 [SEP] 30, Kettle, -3.424, 0.966, 2.374, 0, 0, 0, 52 [SEP] 31, WineBottle, -1.815, 0.916, 4.062, 0, 0, 0, 46 [SEP] 32, Bowl, -3.195, 0.080, 2.920, 0, 0, 0, 59 [SEP] 33, Tomato, -1.857, 0.858, 3.662, 0, 0, 0, 76 [SEP] 34, Cup, -1.711, 0.915, 4.146, 0, 0, 0, 46 [SEP] 35, Spatula, -0.994, 0.906, 0.049, 0, 90, 0, 82 [SEP] 36, SoapBottle, -1.161, 0.087, 3.788, 0, 270, 0, 78 [SEP] 37, Lettuce, -1.759, 0.974, 0.085, 0, 0, 0, 82 [SEP] 38, Pan, -3.143, 0.966, 1.971, 0, 0, 0, 66 [SEP] 39, Apple, -3.654, 0.975, 1.189, 0, 0, 0, 55 [SEP] 40, SaltShaker, -3.463, 0.911, 3.827, 0, 0, 0, 46 [SEP] 41, PepperShaker, -3.127, 0.742, 3.326, 0, 0, 0, 56 [SEP] 42, ButterKnife, -2.402, 0.915, 3.890, 0, 0, 0, 46 [SEP] 43, DishSponge, -1.523, 0.891, -0.053, 0, 90, 0, 82 [SEP] 44, Spoon, -1.608, 0.916, 4.188, 0, 0, 0, 46 [SEP] 45, Mug, -3.505, 1.541, 2.224, 0, 90, 0, 77 [SEP] 46, CounterTop, -3.381, 0.950, 3.335, 0, 0, 0, [SEP] 47, Drawer, -3.121, 0.775, 1.357, 0, 0, 0, [SEP] 48, Drawer, -3.121, 0.777, 2.916, 0, 0, 0, [SEP] 49, StoveBurner, -3.148, 0.958, 2.374, 0, 0, 0, [SEP] 50, Sink, -1.797, 0.917, 3.660, 0, 0, 0, [SEP] 51, Cabinet, -1.421, 0.388, 3.459, 0, 0, 0, [SEP] 52, StoveBurner, -3.424, 0.958, 2.374, 0, 0, 0, [SEP] 53, Cabinet, -3.365, 1.931, 2.676, 0, 0, 0, [SEP] 54, StoveBurner, -3.424, 0.958, 1.971, 0, 0, 0, [SEP] 55, CounterTop, -3.381, 0.951, 1.356, 0, 0, 0, [SEP] 56, Drawer, -3.121, 0.781, 3.295, 0, 0, 0, [SEP] 57, Cabinet, -2.205, 0.388, 3.459, 0, 0, 0, [SEP] 58, Cabinet, -2.963, 0.388, 3.459, 0, 0, 0, [SEP] 59, Cabinet, -2.992, 0.388, 2.683, 0, 0, 0, [SEP] 60, Cabinet, -3.352, 2.205, 1.715, 0, 0, 0, [SEP] 61, Cabinet, -3.352, 2.205, 2.653, 0, 0, 0, [SEP] 62, Cabinet, -2.189, 0.388, 3.466, 0, 0, 0, [SEP] 63, Cabinet, -3.365, 1.931, 3.963, 0, 0, 0, [SEP] 64, Cabinet, -3.365, 1.931, 1.056, 0, 0, 0, [SEP] 65, Cabinet, -2.992, 0.388, 1.037, 0, 0, 0, [SEP] 66, StoveBurner, -3.143, 0.958, 1.971, 0, 0, 0, [SEP] 67, StoveKnob, -3.599, 1.110, 2.017, 0, 0, 105.000, [SEP] 68, StoveKnob, -3.599, 1.110, 1.867, 0, 0, 105.000, [SEP] 69, StoveKnob, -3.599, 1.110, 2.267, 0, 0, 105.000, [SEP] 70, StoveKnob, -3.599, 1.110, 2.427, 0, 0, 105.000, [SEP] 71, Toaster, -2.654, 0.902, 4.064, 0, 180, 0, [SEP] 72, Fridge, -0.439, 0.014, 3.996, 0, 0, 0, [SEP] 73, LightSwitch, 0.25, 1.383, 2.085, 0, 270, 0, [SEP] 74, Window, -1.430, 1.338, -0.347, 90, 0, 0, [SEP] 75, CoffeeMachine, -3.550, 0.902, 3.274, 0, 90, 0, [SEP] 76, SinkBasin, -1.802, 0.778, 3.700, 0, 0, 0, [SEP] 77, Microwave, -3.484, 1.430, 2.182, 0, 90, 0, [SEP] 78, GarbageCan, -1.184, -0.020, 3.794, 0, 270, 0, [SEP] 79, Blinds, -1.404, 2.092, -0.296, 0, 0, 0, [SEP] 80, Stool, -1.373, 0.014, 1.048, 1.214, 20.754, 0, [SEP] 81, Faucet, -1.788, 0.903, 3.931, 270, 90, 0, [SEP] 82, DiningTable, -1.399, 0.010, 0.238, 0, 0, 0, [SEP] 83, GarbageBag, -0.291, 0.336, -0.034, 272.372, 348.812, 147.313, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the counter to the left of the white stove. | STEP 2: Pick up the knife with the yellow handle on the counter. | STEP 3: Turn around and walk to the white table on the right. | STEP 4: Slice the head of lettuce on the table. | STEP 5: Turn left, take a right and walk to the black fridge on the left. | STEP 6: Put the knife inside the fridge on the bottom shelf and close the door. | STEP 7: Turn left, hang a left at the counter and walk to the white table on the left. | STEP 8: Pick up a slice of lettuce from the table. | STEP 9: Turn left, take a right and walk to the black fridge on the left. | STEP 10: Put the slice of lettuce on the top shelf inside the fridge, chill it, remove it and close the door. | STEP 11: Turn left and walk to the sink on the right. | STEP 12: Put the slice of chilled lettuce inside the sink. | END"]} +{"id": "trial_T20190908_065238_500229-0", "input": "Move two spoons to the kitchen counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -2.0, 0, 90, 0, [SEP] 1, Pan, -1.129, 0.935, -3.498, 0, 0, 0, 51 [SEP] 2, Glassbottle, -0.447, 0.797, -1.860, 0, 270, 0, 71 [SEP] 3, Pencil, -1.975, 0.027, -3.763, 0, 0, 0, 69 [SEP] 4, Pen, -1.881, 0.029, -3.727, 0, 90, 0, 69 [SEP] 5, Pen, -2.780, 0.926, -1.884, 0, 0, 0, 78 [SEP] 6, Potato, -0.815, 0.947, -3.626, 0, 0, 0, 53 [SEP] 7, ButterKnife, -0.743, 0.915, -3.555, 0, 0, 0, 53 [SEP] 8, WineBottle, -0.302, 1.531, -3.699, 0, 45, 0, 61 [SEP] 9, Spatula, -2.438, 0.938, -2.345, 0, 180, 0, 78 [SEP] 10, Spatula, -2.324, 0.938, -1.423, 0, 0, 0, 78 [SEP] 11, Fork, -2.096, 0.924, -2.115, 0, 0, 0, 78 [SEP] 12, Fork, -2.210, 0.924, -2.115, 0, 270, 0, 78 [SEP] 13, Spoon, -0.350, 0.798, -2.082, 0, 0, 0, 71 [SEP] 14, Knife, -2.552, 0.946, -1.654, 0, 0, 0, 78 [SEP] 15, Knife, -0.525, 0.927, -3.626, 0, 0, 354.470, 53 [SEP] 16, Cup, -0.228, 1.689, -0.874, 0, 270, 0, 70 [SEP] 17, Cup, -1.601, 1.968, -3.851, 0, 0, 0, 62 [SEP] 18, Tomato, -0.343, 1.162, -0.979, 0, 270, 0, 70 [SEP] 19, Tomato, -2.780, 0.987, -1.654, 0, 0, 0, 78 [SEP] 20, Lettuce, -2.780, 1.016, -2.115, 0, 0, 0, 78 [SEP] 21, Bread, -0.295, 1.443, -0.560, 0, 270, 0, 70 [SEP] 22, Mug, -1.309, 1.625, -3.936, 0, 90, 0, 66 [SEP] 23, Apple, -0.508, 0.989, -2.764, 0, 0, 0, 53 [SEP] 24, Lettuce, -2.780, 1.016, -2.345, 0, 0, 0, 78 [SEP] 25, Glassbottle, -2.552, 0.924, -1.193, 0, 0, 0, 78 [SEP] 26, Egg, -2.552, 0.956, -1.884, 0, 0, 0, 78 [SEP] 27, Pen, -2.780, 0.926, -0.963, 0, 270, 0, 78 [SEP] 28, Fork, -2.096, 0.924, -1.884, 0, 90, 0, 78 [SEP] 29, SoapBottle, -0.344, 0.079, -1.804, 0, 0, 0, 58 [SEP] 30, Pencil, -0.361, 0.747, -3.238, 0, 90, 0, 64 [SEP] 31, WineBottle, -0.411, 1.531, -3.589, 0, 45, 0, 61 [SEP] 32, Spatula, -2.324, 0.938, -0.963, 0, 0, 0, 78 [SEP] 33, Bread, -0.389, 0.976, -3.630, 0, 1.307, 349.394, 53 [SEP] 34, Tomato, -0.246, 1.162, -0.665, 0, 270, 0, 70 [SEP] 35, Pan, -2.174, 0.913, -1.099, 0, 0, 0, 78 [SEP] 36, Cup, -2.552, 0.922, -1.423, 0, 0, 0, 78 [SEP] 37, Pot, -1.515, 0.935, -3.497, 0, 0, 0, 50 [SEP] 38, SaltShaker, -0.600, 0.912, -3.768, 0, 0, 0, 53 [SEP] 39, Potato, -1.204, 1.661, -3.870, 0, 0, 0, 66 [SEP] 40, PepperShaker, -2.210, 0.919, -1.884, 0, 0, 0, 78 [SEP] 41, ButterKnife, -0.600, 0.915, -3.839, 0, 0, 0, 53 [SEP] 42, DishSponge, -0.230, 1.970, -2.249, 0, 0, 0, 60 [SEP] 43, Spoon, -2.552, 0.924, -2.345, 0, 0, 0, 78 [SEP] 44, Plate, -2.121, 0.913, -2.422, 0, 0, 0, 78 [SEP] 45, Knife, -2.324, 0.946, -1.654, 0, 0, 0, 78 [SEP] 46, Mug, -0.382, 0.076, -3.267, 0, 0, 0, 59 [SEP] 47, Bowl, -2.552, 0.922, -2.115, 0, 0, 0, 78 [SEP] 48, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0, [SEP] 49, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0, [SEP] 50, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0, [SEP] 51, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0, [SEP] 52, Drawer, -0.749, 0.779, -3.551, 0, 0, 0, [SEP] 53, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0, [SEP] 54, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0, [SEP] 55, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0, [SEP] 56, Sink, -0.349, 0.907, -2.014, 0, 0, 0, [SEP] 57, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0, [SEP] 58, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0, [SEP] 59, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0, [SEP] 60, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0, [SEP] 61, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0, [SEP] 62, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0, [SEP] 63, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0, [SEP] 64, Drawer, -0.454, 0.779, -3.268, 0, 0, 0, [SEP] 65, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0, [SEP] 66, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0, [SEP] 67, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0, [SEP] 68, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0, [SEP] 69, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0, [SEP] 70, Fridge, -0.330, 0.0, -0.769, 0, 270, 0, [SEP] 71, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0, [SEP] 72, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0, [SEP] 73, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0, [SEP] 74, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0, [SEP] 75, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0, [SEP] 76, Toaster, -0.181, 0.903, -2.764, 0, 270, 0, [SEP] 77, Window, -2.503, 1.782, -4.185, 90, 180, 0, [SEP] 78, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0, [SEP] 79, Shelf, -2.432, 0.150, -1.694, 0, 270, 0, [SEP] 80, Blinds, -2.536, 2.699, -3.959, 0, 0, 0, [SEP] 81, Faucet, -0.079, 0.904, -2.034, 270, 180, 0, [SEP] 82, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0, [SEP] 83, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0, [SEP] 84, Shelf, -2.432, 0.523, -1.694, 0, 270, 0, [SEP] 85, NorthWall, , , , , , , [SEP] 86, EastWall, , , , , , , [SEP] 87, SouthWall, , , , , , , [SEP] 88, WestWall, , , , , , , ", "output": ["STEP 1: Look down at the sink in front of you. | STEP 2: Pick up the spoon that is in the sink. | STEP 3: Turn around so that the dishwasher is in front of you, to your left side. | STEP 4: Place the spoon on the counter space above the dishwasher, to the left of the tomato. | STEP 5: Walk forward, hanging a right once you reach the stove, then walk a few steps, and turn right again to face the green table. | STEP 6: Pick up the spoon that is between the head of lettuce and the metal spatula on the table. | STEP 7: Turn to your right, hang a left when the stove is on your right, then walk to the kitchen sink and face the stove area. | STEP 8: Place the spoon behind the tomato that sits on the kitchen counter. | END"]} +{"id": "trial_T20190908_065238_500229-1", "input": "Pick up the spoons from the sink and table, put them both on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -2.0, 0, 90, 0, [SEP] 1, Pan, -1.129, 0.935, -3.498, 0, 0, 0, 51 [SEP] 2, Glassbottle, -0.447, 0.797, -1.860, 0, 270, 0, 71 [SEP] 3, Pencil, -1.975, 0.027, -3.763, 0, 0, 0, 69 [SEP] 4, Pen, -1.881, 0.029, -3.727, 0, 90, 0, 69 [SEP] 5, Pen, -2.780, 0.926, -1.884, 0, 0, 0, 78 [SEP] 6, Potato, -0.815, 0.947, -3.626, 0, 0, 0, 53 [SEP] 7, ButterKnife, -0.743, 0.915, -3.555, 0, 0, 0, 53 [SEP] 8, WineBottle, -0.302, 1.531, -3.699, 0, 45, 0, 61 [SEP] 9, Spatula, -2.438, 0.938, -2.345, 0, 180, 0, 78 [SEP] 10, Spatula, -2.324, 0.938, -1.423, 0, 0, 0, 78 [SEP] 11, Fork, -2.096, 0.924, -2.115, 0, 0, 0, 78 [SEP] 12, Fork, -2.210, 0.924, -2.115, 0, 270, 0, 78 [SEP] 13, Spoon, -0.350, 0.798, -2.082, 0, 0, 0, 71 [SEP] 14, Knife, -2.552, 0.946, -1.654, 0, 0, 0, 78 [SEP] 15, Knife, -0.525, 0.927, -3.626, 0, 0, 354.470, 53 [SEP] 16, Cup, -0.228, 1.689, -0.874, 0, 270, 0, 70 [SEP] 17, Cup, -1.601, 1.968, -3.851, 0, 0, 0, 62 [SEP] 18, Tomato, -0.343, 1.162, -0.979, 0, 270, 0, 70 [SEP] 19, Tomato, -2.780, 0.987, -1.654, 0, 0, 0, 78 [SEP] 20, Lettuce, -2.780, 1.016, -2.115, 0, 0, 0, 78 [SEP] 21, Bread, -0.295, 1.443, -0.560, 0, 270, 0, 70 [SEP] 22, Mug, -1.309, 1.625, -3.936, 0, 90, 0, 66 [SEP] 23, Apple, -0.508, 0.989, -2.764, 0, 0, 0, 53 [SEP] 24, Lettuce, -2.780, 1.016, -2.345, 0, 0, 0, 78 [SEP] 25, Glassbottle, -2.552, 0.924, -1.193, 0, 0, 0, 78 [SEP] 26, Egg, -2.552, 0.956, -1.884, 0, 0, 0, 78 [SEP] 27, Pen, -2.780, 0.926, -0.963, 0, 270, 0, 78 [SEP] 28, Fork, -2.096, 0.924, -1.884, 0, 90, 0, 78 [SEP] 29, SoapBottle, -0.344, 0.079, -1.804, 0, 0, 0, 58 [SEP] 30, Pencil, -0.361, 0.747, -3.238, 0, 90, 0, 64 [SEP] 31, WineBottle, -0.411, 1.531, -3.589, 0, 45, 0, 61 [SEP] 32, Spatula, -2.324, 0.938, -0.963, 0, 0, 0, 78 [SEP] 33, Bread, -0.389, 0.976, -3.630, 0, 1.307, 349.394, 53 [SEP] 34, Tomato, -0.246, 1.162, -0.665, 0, 270, 0, 70 [SEP] 35, Pan, -2.174, 0.913, -1.099, 0, 0, 0, 78 [SEP] 36, Cup, -2.552, 0.922, -1.423, 0, 0, 0, 78 [SEP] 37, Pot, -1.515, 0.935, -3.497, 0, 0, 0, 50 [SEP] 38, SaltShaker, -0.600, 0.912, -3.768, 0, 0, 0, 53 [SEP] 39, Potato, -1.204, 1.661, -3.870, 0, 0, 0, 66 [SEP] 40, PepperShaker, -2.210, 0.919, -1.884, 0, 0, 0, 78 [SEP] 41, ButterKnife, -0.600, 0.915, -3.839, 0, 0, 0, 53 [SEP] 42, DishSponge, -0.230, 1.970, -2.249, 0, 0, 0, 60 [SEP] 43, Spoon, -2.552, 0.924, -2.345, 0, 0, 0, 78 [SEP] 44, Plate, -2.121, 0.913, -2.422, 0, 0, 0, 78 [SEP] 45, Knife, -2.324, 0.946, -1.654, 0, 0, 0, 78 [SEP] 46, Mug, -0.382, 0.076, -3.267, 0, 0, 0, 59 [SEP] 47, Bowl, -2.552, 0.922, -2.115, 0, 0, 0, 78 [SEP] 48, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0, [SEP] 49, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0, [SEP] 50, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0, [SEP] 51, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0, [SEP] 52, Drawer, -0.749, 0.779, -3.551, 0, 0, 0, [SEP] 53, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0, [SEP] 54, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0, [SEP] 55, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0, [SEP] 56, Sink, -0.349, 0.907, -2.014, 0, 0, 0, [SEP] 57, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0, [SEP] 58, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0, [SEP] 59, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0, [SEP] 60, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0, [SEP] 61, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0, [SEP] 62, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0, [SEP] 63, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0, [SEP] 64, Drawer, -0.454, 0.779, -3.268, 0, 0, 0, [SEP] 65, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0, [SEP] 66, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0, [SEP] 67, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0, [SEP] 68, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0, [SEP] 69, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0, [SEP] 70, Fridge, -0.330, 0.0, -0.769, 0, 270, 0, [SEP] 71, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0, [SEP] 72, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0, [SEP] 73, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0, [SEP] 74, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0, [SEP] 75, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0, [SEP] 76, Toaster, -0.181, 0.903, -2.764, 0, 270, 0, [SEP] 77, Window, -2.503, 1.782, -4.185, 90, 180, 0, [SEP] 78, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0, [SEP] 79, Shelf, -2.432, 0.150, -1.694, 0, 270, 0, [SEP] 80, Blinds, -2.536, 2.699, -3.959, 0, 0, 0, [SEP] 81, Faucet, -0.079, 0.904, -2.034, 270, 180, 0, [SEP] 82, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0, [SEP] 83, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0, [SEP] 84, Shelf, -2.432, 0.523, -1.694, 0, 270, 0, [SEP] 85, NorthWall, , , , , , , [SEP] 86, EastWall, , , , , , , [SEP] 87, SouthWall, , , , , , , [SEP] 88, WestWall, , , , , , , ", "output": ["STEP 1: Move forward to the sink. | STEP 2: Pick up the spoon from inside the sink next to the bottle. | STEP 3: Turn right and to the right of the sink. | STEP 4: Put the spoon on the counter on the right side of the sink. | STEP 5: Approach the stove and turn right to the head of the table. | STEP 6: Pick up the spoon closest to you, slightly under the spatula handle. | STEP 7: Turn right and go to the right side of the sink. | STEP 8: Put the spoon on the counter behind the apple. | END"]} +{"id": "trial_T20190908_065238_500229-2", "input": "Place two spoons on a counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -2.0, 0, 90, 0, [SEP] 1, Pan, -1.129, 0.935, -3.498, 0, 0, 0, 51 [SEP] 2, Glassbottle, -0.447, 0.797, -1.860, 0, 270, 0, 71 [SEP] 3, Pencil, -1.975, 0.027, -3.763, 0, 0, 0, 69 [SEP] 4, Pen, -1.881, 0.029, -3.727, 0, 90, 0, 69 [SEP] 5, Pen, -2.780, 0.926, -1.884, 0, 0, 0, 78 [SEP] 6, Potato, -0.815, 0.947, -3.626, 0, 0, 0, 53 [SEP] 7, ButterKnife, -0.743, 0.915, -3.555, 0, 0, 0, 53 [SEP] 8, WineBottle, -0.302, 1.531, -3.699, 0, 45, 0, 61 [SEP] 9, Spatula, -2.438, 0.938, -2.345, 0, 180, 0, 78 [SEP] 10, Spatula, -2.324, 0.938, -1.423, 0, 0, 0, 78 [SEP] 11, Fork, -2.096, 0.924, -2.115, 0, 0, 0, 78 [SEP] 12, Fork, -2.210, 0.924, -2.115, 0, 270, 0, 78 [SEP] 13, Spoon, -0.350, 0.798, -2.082, 0, 0, 0, 71 [SEP] 14, Knife, -2.552, 0.946, -1.654, 0, 0, 0, 78 [SEP] 15, Knife, -0.525, 0.927, -3.626, 0, 0, 354.470, 53 [SEP] 16, Cup, -0.228, 1.689, -0.874, 0, 270, 0, 70 [SEP] 17, Cup, -1.601, 1.968, -3.851, 0, 0, 0, 62 [SEP] 18, Tomato, -0.343, 1.162, -0.979, 0, 270, 0, 70 [SEP] 19, Tomato, -2.780, 0.987, -1.654, 0, 0, 0, 78 [SEP] 20, Lettuce, -2.780, 1.016, -2.115, 0, 0, 0, 78 [SEP] 21, Bread, -0.295, 1.443, -0.560, 0, 270, 0, 70 [SEP] 22, Mug, -1.309, 1.625, -3.936, 0, 90, 0, 66 [SEP] 23, Apple, -0.508, 0.989, -2.764, 0, 0, 0, 53 [SEP] 24, Lettuce, -2.780, 1.016, -2.345, 0, 0, 0, 78 [SEP] 25, Glassbottle, -2.552, 0.924, -1.193, 0, 0, 0, 78 [SEP] 26, Egg, -2.552, 0.956, -1.884, 0, 0, 0, 78 [SEP] 27, Pen, -2.780, 0.926, -0.963, 0, 270, 0, 78 [SEP] 28, Fork, -2.096, 0.924, -1.884, 0, 90, 0, 78 [SEP] 29, SoapBottle, -0.344, 0.079, -1.804, 0, 0, 0, 58 [SEP] 30, Pencil, -0.361, 0.747, -3.238, 0, 90, 0, 64 [SEP] 31, WineBottle, -0.411, 1.531, -3.589, 0, 45, 0, 61 [SEP] 32, Spatula, -2.324, 0.938, -0.963, 0, 0, 0, 78 [SEP] 33, Bread, -0.389, 0.976, -3.630, 0, 1.307, 349.394, 53 [SEP] 34, Tomato, -0.246, 1.162, -0.665, 0, 270, 0, 70 [SEP] 35, Pan, -2.174, 0.913, -1.099, 0, 0, 0, 78 [SEP] 36, Cup, -2.552, 0.922, -1.423, 0, 0, 0, 78 [SEP] 37, Pot, -1.515, 0.935, -3.497, 0, 0, 0, 50 [SEP] 38, SaltShaker, -0.600, 0.912, -3.768, 0, 0, 0, 53 [SEP] 39, Potato, -1.204, 1.661, -3.870, 0, 0, 0, 66 [SEP] 40, PepperShaker, -2.210, 0.919, -1.884, 0, 0, 0, 78 [SEP] 41, ButterKnife, -0.600, 0.915, -3.839, 0, 0, 0, 53 [SEP] 42, DishSponge, -0.230, 1.970, -2.249, 0, 0, 0, 60 [SEP] 43, Spoon, -2.552, 0.924, -2.345, 0, 0, 0, 78 [SEP] 44, Plate, -2.121, 0.913, -2.422, 0, 0, 0, 78 [SEP] 45, Knife, -2.324, 0.946, -1.654, 0, 0, 0, 78 [SEP] 46, Mug, -0.382, 0.076, -3.267, 0, 0, 0, 59 [SEP] 47, Bowl, -2.552, 0.922, -2.115, 0, 0, 0, 78 [SEP] 48, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0, [SEP] 49, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0, [SEP] 50, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0, [SEP] 51, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0, [SEP] 52, Drawer, -0.749, 0.779, -3.551, 0, 0, 0, [SEP] 53, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0, [SEP] 54, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0, [SEP] 55, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0, [SEP] 56, Sink, -0.349, 0.907, -2.014, 0, 0, 0, [SEP] 57, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0, [SEP] 58, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0, [SEP] 59, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0, [SEP] 60, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0, [SEP] 61, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0, [SEP] 62, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0, [SEP] 63, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0, [SEP] 64, Drawer, -0.454, 0.779, -3.268, 0, 0, 0, [SEP] 65, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0, [SEP] 66, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0, [SEP] 67, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0, [SEP] 68, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0, [SEP] 69, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0, [SEP] 70, Fridge, -0.330, 0.0, -0.769, 0, 270, 0, [SEP] 71, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0, [SEP] 72, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0, [SEP] 73, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0, [SEP] 74, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0, [SEP] 75, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0, [SEP] 76, Toaster, -0.181, 0.903, -2.764, 0, 270, 0, [SEP] 77, Window, -2.503, 1.782, -4.185, 90, 180, 0, [SEP] 78, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0, [SEP] 79, Shelf, -2.432, 0.150, -1.694, 0, 270, 0, [SEP] 80, Blinds, -2.536, 2.699, -3.959, 0, 0, 0, [SEP] 81, Faucet, -0.079, 0.904, -2.034, 270, 180, 0, [SEP] 82, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0, [SEP] 83, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0, [SEP] 84, Shelf, -2.432, 0.523, -1.694, 0, 270, 0, [SEP] 85, NorthWall, , , , , , , [SEP] 86, EastWall, , , , , , , [SEP] 87, SouthWall, , , , , , , [SEP] 88, WestWall, , , , , , , ", "output": ["STEP 1: Look down at the cabinets under the counter and walk to the sink ahead. | STEP 2: Pick up the spoon from inside the sink in the middle. | STEP 3: Turn around, turn left at the green table and face towards the white stove ahead. | STEP 4: Put the spoon on the counter to the left side in front of the tomato. | STEP 5: Cross the room, hang a right at the stove and turn right just beyond the stove to face the green table. | STEP 6: Pick up the spoon to the left of the spatula on the table. | STEP 7: Turn right, hang a left at the stove, turn right just before the black fridge and face right towards the stove ahead. | STEP 8: Put the spoon on the green counter to the left in between the other spoon and the tomato. | END"]} +{"id": "trial_T20190909_082320_103350-0", "input": "Place a tomato back in the refrigerator when done heating in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.900, -0.5, 0, 90, 0, [SEP] 1, Glassbottle, -2.210, 0.924, -1.884, 0, 0, 0, 82 [SEP] 2, Glassbottle, -0.343, 0.081, -3.299, 0, 0, 0, 63 [SEP] 3, Pen, -2.438, 0.926, -1.654, 0, 0, 0, 82 [SEP] 4, Pen, -2.666, 0.926, -1.654, 0, 0, 0, 82 [SEP] 5, Potato, -1.362, 1.661, -3.804, 0, 0, 0, 70 [SEP] 6, Potato, -0.388, 1.722, -0.560, 0, 270, 0, 74 [SEP] 7, DishSponge, -0.743, 0.915, -3.555, 0, 0, 0, 57 [SEP] 8, DishSponge, -1.443, 1.969, -3.773, 0, 0, 0, 66 [SEP] 9, ButterKnife, -2.324, 0.923, -0.963, 0, 90, 0, 82 [SEP] 10, WineBottle, -0.508, 0.916, -2.966, 0, 0, 0, 57 [SEP] 11, WineBottle, -1.912, 0.027, -3.690, 0, 0, 0, 73 [SEP] 12, Pot, -1.515, 0.935, -3.497, 0, 0, 0, 54 [SEP] 13, Spoon, -2.324, 0.924, -2.345, 0, 180, 0, 82 [SEP] 14, Plate, -0.422, 0.083, -2.201, 0, 0, 0, 62 [SEP] 15, SoapBottle, -2.552, 0.922, -0.963, 0, 0, 0, 82 [SEP] 16, SoapBottle, -2.780, 0.922, -1.654, 0, 0, 0, 82 [SEP] 17, Tomato, -0.436, 0.979, -2.764, 0, 0, 0, 57 [SEP] 18, Tomato, -0.343, 1.162, -0.560, 0, 270, 0, 74 [SEP] 19, Tomato, -0.348, 1.754, -0.769, 0, 270, 0, 74 [SEP] 20, Lettuce, -2.780, 1.016, -1.423, 0, 0, 0, 82 [SEP] 21, Lettuce, -2.780, 1.016, -2.345, 0, 0, 0, 82 [SEP] 22, SaltShaker, -2.552, 0.919, -2.345, 0, 0, 0, 82 [SEP] 23, PepperShaker, -0.815, 0.912, -3.697, 0, 0, 0, 57 [SEP] 24, Mug, -0.295, 1.093, -0.770, 0, 270, 0, 74 [SEP] 25, Apple, -1.881, 0.100, -3.799, 0, 0, 0, 73 [SEP] 26, Apple, -0.528, 0.989, -3.909, 0, 0, 0, 57 [SEP] 27, Apple, -0.388, 1.764, -1.084, 0, 270, 0, 74 [SEP] 28, Lettuce, -2.562, 1.002, -1.677, 36.385, 0, 0, 82 [SEP] 29, Glassbottle, -0.384, 1.531, -3.617, 0, 45, 0, 65 [SEP] 30, Egg, -1.257, 1.663, -3.936, 0, 0, 0, 70 [SEP] 31, Pen, -2.666, 0.926, -1.884, 0, 0, 0, 82 [SEP] 32, Fork, -0.295, 0.788, -1.858, 0, 0, 0, 75 [SEP] 33, SoapBottle, -2.096, 0.922, -2.115, 0, 0, 0, 82 [SEP] 34, Pencil, -0.420, 0.747, -3.238, 0, 90, 0, 68 [SEP] 35, WineBottle, -0.499, 0.082, -1.758, 0, 0, 0, 52 [SEP] 36, Spatula, -0.3, 0.915, -2.544, 0, 22.903, 0, 57 [SEP] 37, Bread, -0.414, 0.952, -3.625, 0, 0, 0, 57 [SEP] 38, Tomato, -2.438, 0.987, -1.193, 0, 0, 0, 82 [SEP] 39, Pan, -2.174, 0.913, -1.099, 0, 0, 0, 82 [SEP] 40, Cup, -0.343, 1.389, -0.665, 0, 270, 0, 74 [SEP] 41, Pot, -1.129, 0.935, -3.498, 0, 0, 0, 55 [SEP] 42, SaltShaker, -2.552, 0.919, -1.423, 0, 0, 0, 82 [SEP] 43, Potato, -2.210, 0.954, -1.654, 0, 0, 0, 82 [SEP] 44, PepperShaker, -0.749, 0.742, -3.527, 0, 0, 0, 56 [SEP] 45, ButterKnife, -0.350, 0.797, -2.155, 0, 270, 0, 75 [SEP] 46, DishSponge, -2.780, 0.923, -2.115, 0, 0, 0, 82 [SEP] 47, Spoon, -2.552, 0.924, -2.115, 0, 0, 0, 82 [SEP] 48, Plate, -0.747, 0.084, -3.545, 0, 0, 0, 63 [SEP] 49, Knife, -2.324, 0.946, -1.423, 0, 0, 0, 82 [SEP] 50, Mug, -0.254, 0.792, -2.082, 0, 90, 0, 75 [SEP] 51, Bowl, -2.754, 0.913, -1.174, 0, 18.855, 0, 82 [SEP] 52, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0, [SEP] 53, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0, [SEP] 54, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0, [SEP] 55, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0, [SEP] 56, Drawer, -0.749, 0.779, -3.551, 0, 0, 0, [SEP] 57, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0, [SEP] 58, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0, [SEP] 59, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0, [SEP] 60, Sink, -0.349, 0.907, -2.014, 0, 0, 0, [SEP] 61, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0, [SEP] 62, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0, [SEP] 63, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0, [SEP] 64, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0, [SEP] 65, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0, [SEP] 66, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0, [SEP] 67, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0, [SEP] 68, Drawer, -0.454, 0.779, -3.268, 0, 0, 0, [SEP] 69, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0, [SEP] 70, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0, [SEP] 71, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0, [SEP] 72, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0, [SEP] 73, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0, [SEP] 74, Fridge, -0.330, 0.0, -0.769, 0, 270, 0, [SEP] 75, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0, [SEP] 76, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0, [SEP] 77, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0, [SEP] 78, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0, [SEP] 79, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0, [SEP] 80, Toaster, -0.181, 0.903, -2.764, 0, 270, 0, [SEP] 81, Window, -2.503, 1.782, -4.185, 90, 180, 0, [SEP] 82, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0, [SEP] 83, Shelf, -2.432, 0.150, -1.694, 0, 270, 0, [SEP] 84, Blinds, -2.536, 2.699, -3.959, 0, 0, 0, [SEP] 85, Faucet, -0.079, 0.904, -2.034, 270, 180, 0, [SEP] 86, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0, [SEP] 87, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0, [SEP] 88, Shelf, -2.432, 0.523, -1.694, 0, 270, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Head to the front of the refrigerator. | STEP 2: Open the refrigerator door and take out the tomato and close the door. | STEP 3: Turn to your right and go to the microwave above the stove. | STEP 4: Place the tomato in the microwave and remove after heating. | STEP 5: After closing the microwave head back to the refrigerator. | STEP 6: Open the refrigerator and place the tomato back on the top shelf and close it. | END"]} +{"id": "trial_T20190909_082320_103350-1", "input": "Place a heated tomato in a fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.900, -0.5, 0, 90, 0, [SEP] 1, Glassbottle, -2.210, 0.924, -1.884, 0, 0, 0, 82 [SEP] 2, Glassbottle, -0.343, 0.081, -3.299, 0, 0, 0, 63 [SEP] 3, Pen, -2.438, 0.926, -1.654, 0, 0, 0, 82 [SEP] 4, Pen, -2.666, 0.926, -1.654, 0, 0, 0, 82 [SEP] 5, Potato, -1.362, 1.661, -3.804, 0, 0, 0, 70 [SEP] 6, Potato, -0.388, 1.722, -0.560, 0, 270, 0, 74 [SEP] 7, DishSponge, -0.743, 0.915, -3.555, 0, 0, 0, 57 [SEP] 8, DishSponge, -1.443, 1.969, -3.773, 0, 0, 0, 66 [SEP] 9, ButterKnife, -2.324, 0.923, -0.963, 0, 90, 0, 82 [SEP] 10, WineBottle, -0.508, 0.916, -2.966, 0, 0, 0, 57 [SEP] 11, WineBottle, -1.912, 0.027, -3.690, 0, 0, 0, 73 [SEP] 12, Pot, -1.515, 0.935, -3.497, 0, 0, 0, 54 [SEP] 13, Spoon, -2.324, 0.924, -2.345, 0, 180, 0, 82 [SEP] 14, Plate, -0.422, 0.083, -2.201, 0, 0, 0, 62 [SEP] 15, SoapBottle, -2.552, 0.922, -0.963, 0, 0, 0, 82 [SEP] 16, SoapBottle, -2.780, 0.922, -1.654, 0, 0, 0, 82 [SEP] 17, Tomato, -0.436, 0.979, -2.764, 0, 0, 0, 57 [SEP] 18, Tomato, -0.343, 1.162, -0.560, 0, 270, 0, 74 [SEP] 19, Tomato, -0.348, 1.754, -0.769, 0, 270, 0, 74 [SEP] 20, Lettuce, -2.780, 1.016, -1.423, 0, 0, 0, 82 [SEP] 21, Lettuce, -2.780, 1.016, -2.345, 0, 0, 0, 82 [SEP] 22, SaltShaker, -2.552, 0.919, -2.345, 0, 0, 0, 82 [SEP] 23, PepperShaker, -0.815, 0.912, -3.697, 0, 0, 0, 57 [SEP] 24, Mug, -0.295, 1.093, -0.770, 0, 270, 0, 74 [SEP] 25, Apple, -1.881, 0.100, -3.799, 0, 0, 0, 73 [SEP] 26, Apple, -0.528, 0.989, -3.909, 0, 0, 0, 57 [SEP] 27, Apple, -0.388, 1.764, -1.084, 0, 270, 0, 74 [SEP] 28, Lettuce, -2.562, 1.002, -1.677, 36.385, 0, 0, 82 [SEP] 29, Glassbottle, -0.384, 1.531, -3.617, 0, 45, 0, 65 [SEP] 30, Egg, -1.257, 1.663, -3.936, 0, 0, 0, 70 [SEP] 31, Pen, -2.666, 0.926, -1.884, 0, 0, 0, 82 [SEP] 32, Fork, -0.295, 0.788, -1.858, 0, 0, 0, 75 [SEP] 33, SoapBottle, -2.096, 0.922, -2.115, 0, 0, 0, 82 [SEP] 34, Pencil, -0.420, 0.747, -3.238, 0, 90, 0, 68 [SEP] 35, WineBottle, -0.499, 0.082, -1.758, 0, 0, 0, 52 [SEP] 36, Spatula, -0.3, 0.915, -2.544, 0, 22.903, 0, 57 [SEP] 37, Bread, -0.414, 0.952, -3.625, 0, 0, 0, 57 [SEP] 38, Tomato, -2.438, 0.987, -1.193, 0, 0, 0, 82 [SEP] 39, Pan, -2.174, 0.913, -1.099, 0, 0, 0, 82 [SEP] 40, Cup, -0.343, 1.389, -0.665, 0, 270, 0, 74 [SEP] 41, Pot, -1.129, 0.935, -3.498, 0, 0, 0, 55 [SEP] 42, SaltShaker, -2.552, 0.919, -1.423, 0, 0, 0, 82 [SEP] 43, Potato, -2.210, 0.954, -1.654, 0, 0, 0, 82 [SEP] 44, PepperShaker, -0.749, 0.742, -3.527, 0, 0, 0, 56 [SEP] 45, ButterKnife, -0.350, 0.797, -2.155, 0, 270, 0, 75 [SEP] 46, DishSponge, -2.780, 0.923, -2.115, 0, 0, 0, 82 [SEP] 47, Spoon, -2.552, 0.924, -2.115, 0, 0, 0, 82 [SEP] 48, Plate, -0.747, 0.084, -3.545, 0, 0, 0, 63 [SEP] 49, Knife, -2.324, 0.946, -1.423, 0, 0, 0, 82 [SEP] 50, Mug, -0.254, 0.792, -2.082, 0, 90, 0, 75 [SEP] 51, Bowl, -2.754, 0.913, -1.174, 0, 18.855, 0, 82 [SEP] 52, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0, [SEP] 53, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0, [SEP] 54, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0, [SEP] 55, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0, [SEP] 56, Drawer, -0.749, 0.779, -3.551, 0, 0, 0, [SEP] 57, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0, [SEP] 58, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0, [SEP] 59, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0, [SEP] 60, Sink, -0.349, 0.907, -2.014, 0, 0, 0, [SEP] 61, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0, [SEP] 62, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0, [SEP] 63, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0, [SEP] 64, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0, [SEP] 65, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0, [SEP] 66, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0, [SEP] 67, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0, [SEP] 68, Drawer, -0.454, 0.779, -3.268, 0, 0, 0, [SEP] 69, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0, [SEP] 70, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0, [SEP] 71, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0, [SEP] 72, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0, [SEP] 73, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0, [SEP] 74, Fridge, -0.330, 0.0, -0.769, 0, 270, 0, [SEP] 75, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0, [SEP] 76, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0, [SEP] 77, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0, [SEP] 78, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0, [SEP] 79, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0, [SEP] 80, Toaster, -0.181, 0.903, -2.764, 0, 270, 0, [SEP] 81, Window, -2.503, 1.782, -4.185, 90, 180, 0, [SEP] 82, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0, [SEP] 83, Shelf, -2.432, 0.150, -1.694, 0, 270, 0, [SEP] 84, Blinds, -2.536, 2.699, -3.959, 0, 0, 0, [SEP] 85, Faucet, -0.079, 0.904, -2.034, 270, 180, 0, [SEP] 86, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0, [SEP] 87, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0, [SEP] 88, Shelf, -2.432, 0.523, -1.694, 0, 270, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Walk ahead to the fridge. | STEP 2: Take the tomato out of the fridge. | STEP 3: Turn right and walk to the stove. | STEP 4: Heat the tomato in the microwave. | STEP 5: Turn around and walk ahead to the fridge on the right. | STEP 6: Place the tomato on the top shelf in the fridge, near the center of the shelf. | END"]} +{"id": "trial_T20190909_082320_103350-2", "input": "place a microwaved potato inside of the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.900, -0.5, 0, 90, 0, [SEP] 1, Glassbottle, -2.210, 0.924, -1.884, 0, 0, 0, 82 [SEP] 2, Glassbottle, -0.343, 0.081, -3.299, 0, 0, 0, 63 [SEP] 3, Pen, -2.438, 0.926, -1.654, 0, 0, 0, 82 [SEP] 4, Pen, -2.666, 0.926, -1.654, 0, 0, 0, 82 [SEP] 5, Potato, -1.362, 1.661, -3.804, 0, 0, 0, 70 [SEP] 6, Potato, -0.388, 1.722, -0.560, 0, 270, 0, 74 [SEP] 7, DishSponge, -0.743, 0.915, -3.555, 0, 0, 0, 57 [SEP] 8, DishSponge, -1.443, 1.969, -3.773, 0, 0, 0, 66 [SEP] 9, ButterKnife, -2.324, 0.923, -0.963, 0, 90, 0, 82 [SEP] 10, WineBottle, -0.508, 0.916, -2.966, 0, 0, 0, 57 [SEP] 11, WineBottle, -1.912, 0.027, -3.690, 0, 0, 0, 73 [SEP] 12, Pot, -1.515, 0.935, -3.497, 0, 0, 0, 54 [SEP] 13, Spoon, -2.324, 0.924, -2.345, 0, 180, 0, 82 [SEP] 14, Plate, -0.422, 0.083, -2.201, 0, 0, 0, 62 [SEP] 15, SoapBottle, -2.552, 0.922, -0.963, 0, 0, 0, 82 [SEP] 16, SoapBottle, -2.780, 0.922, -1.654, 0, 0, 0, 82 [SEP] 17, Tomato, -0.436, 0.979, -2.764, 0, 0, 0, 57 [SEP] 18, Tomato, -0.343, 1.162, -0.560, 0, 270, 0, 74 [SEP] 19, Tomato, -0.348, 1.754, -0.769, 0, 270, 0, 74 [SEP] 20, Lettuce, -2.780, 1.016, -1.423, 0, 0, 0, 82 [SEP] 21, Lettuce, -2.780, 1.016, -2.345, 0, 0, 0, 82 [SEP] 22, SaltShaker, -2.552, 0.919, -2.345, 0, 0, 0, 82 [SEP] 23, PepperShaker, -0.815, 0.912, -3.697, 0, 0, 0, 57 [SEP] 24, Mug, -0.295, 1.093, -0.770, 0, 270, 0, 74 [SEP] 25, Apple, -1.881, 0.100, -3.799, 0, 0, 0, 73 [SEP] 26, Apple, -0.528, 0.989, -3.909, 0, 0, 0, 57 [SEP] 27, Apple, -0.388, 1.764, -1.084, 0, 270, 0, 74 [SEP] 28, Lettuce, -2.562, 1.002, -1.677, 36.385, 0, 0, 82 [SEP] 29, Glassbottle, -0.384, 1.531, -3.617, 0, 45, 0, 65 [SEP] 30, Egg, -1.257, 1.663, -3.936, 0, 0, 0, 70 [SEP] 31, Pen, -2.666, 0.926, -1.884, 0, 0, 0, 82 [SEP] 32, Fork, -0.295, 0.788, -1.858, 0, 0, 0, 75 [SEP] 33, SoapBottle, -2.096, 0.922, -2.115, 0, 0, 0, 82 [SEP] 34, Pencil, -0.420, 0.747, -3.238, 0, 90, 0, 68 [SEP] 35, WineBottle, -0.499, 0.082, -1.758, 0, 0, 0, 52 [SEP] 36, Spatula, -0.3, 0.915, -2.544, 0, 22.903, 0, 57 [SEP] 37, Bread, -0.414, 0.952, -3.625, 0, 0, 0, 57 [SEP] 38, Tomato, -2.438, 0.987, -1.193, 0, 0, 0, 82 [SEP] 39, Pan, -2.174, 0.913, -1.099, 0, 0, 0, 82 [SEP] 40, Cup, -0.343, 1.389, -0.665, 0, 270, 0, 74 [SEP] 41, Pot, -1.129, 0.935, -3.498, 0, 0, 0, 55 [SEP] 42, SaltShaker, -2.552, 0.919, -1.423, 0, 0, 0, 82 [SEP] 43, Potato, -2.210, 0.954, -1.654, 0, 0, 0, 82 [SEP] 44, PepperShaker, -0.749, 0.742, -3.527, 0, 0, 0, 56 [SEP] 45, ButterKnife, -0.350, 0.797, -2.155, 0, 270, 0, 75 [SEP] 46, DishSponge, -2.780, 0.923, -2.115, 0, 0, 0, 82 [SEP] 47, Spoon, -2.552, 0.924, -2.115, 0, 0, 0, 82 [SEP] 48, Plate, -0.747, 0.084, -3.545, 0, 0, 0, 63 [SEP] 49, Knife, -2.324, 0.946, -1.423, 0, 0, 0, 82 [SEP] 50, Mug, -0.254, 0.792, -2.082, 0, 90, 0, 75 [SEP] 51, Bowl, -2.754, 0.913, -1.174, 0, 18.855, 0, 82 [SEP] 52, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0, [SEP] 53, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0, [SEP] 54, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0, [SEP] 55, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0, [SEP] 56, Drawer, -0.749, 0.779, -3.551, 0, 0, 0, [SEP] 57, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0, [SEP] 58, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0, [SEP] 59, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0, [SEP] 60, Sink, -0.349, 0.907, -2.014, 0, 0, 0, [SEP] 61, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0, [SEP] 62, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0, [SEP] 63, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0, [SEP] 64, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0, [SEP] 65, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0, [SEP] 66, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0, [SEP] 67, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0, [SEP] 68, Drawer, -0.454, 0.779, -3.268, 0, 0, 0, [SEP] 69, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0, [SEP] 70, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0, [SEP] 71, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0, [SEP] 72, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0, [SEP] 73, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0, [SEP] 74, Fridge, -0.330, 0.0, -0.769, 0, 270, 0, [SEP] 75, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0, [SEP] 76, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0, [SEP] 77, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0, [SEP] 78, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0, [SEP] 79, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0, [SEP] 80, Toaster, -0.181, 0.903, -2.764, 0, 270, 0, [SEP] 81, Window, -2.503, 1.782, -4.185, 90, 180, 0, [SEP] 82, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0, [SEP] 83, Shelf, -2.432, 0.150, -1.694, 0, 270, 0, [SEP] 84, Blinds, -2.536, 2.699, -3.959, 0, 0, 0, [SEP] 85, Faucet, -0.079, 0.904, -2.034, 270, 180, 0, [SEP] 86, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0, [SEP] 87, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0, [SEP] 88, Shelf, -2.432, 0.523, -1.694, 0, 270, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: turn right and walk over to the fridge up ahead at the end of the room | STEP 2: grab a tomato out of the fridge | STEP 3: turn right and walk over to the stove at the end of the room | STEP 4: place the tomato inside of the microwave above the kitchen stove, let it cook, then take it back out | STEP 5: turn around and walk over to the fridge at the end of the room on the right | STEP 6: place the tomato inside of the fridge | END"]} +{"id": "trial_T20190908_054742_818364-0", "input": "Put a spray bottle in a garbage bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, 2.5, 0, 180, 0, [SEP] 1, Cloth, 0.446, 0.216, 3.271, 0, 0, 0, 26 [SEP] 2, Candle, 0.594, 1.046, 1.467, 0, 270, 0, 35 [SEP] 3, SprayBottle, 0.532, 1.046, 1.336, 0, 270, 0, 35 [SEP] 4, SoapBottle, 0.655, 1.052, 1.270, 0, 270, 0, 35 [SEP] 5, HandTowel, 0.634, 1.512, 1.892, 0, 90, 0, 33 [SEP] 6, Towel, 0.609, 1.376, 0.583, 0, 270, 0, 27 [SEP] 7, SoapBar, 0.558, 0.511, 2.275, 0, 0, 0, 19 [SEP] 8, ToiletPaper, 0.361, 0.504, 2.174, 0, 0, 0, 19 [SEP] 9, ToiletPaper, 0.655, 1.041, 1.598, 0, 270, 0, 35 [SEP] 10, Candle, 0.334, 0.212, 2.819, 0, 0, 0, 24 [SEP] 11, ScrubBrush, 0.553, 0.000, 1.725, 0, 0, 0, [SEP] 12, Cloth, 0.558, 0.215, 2.527, 0, 0, 0, 16 [SEP] 13, Plunger, 0.594, -0.000, 1.898, 0, 0, 0, [SEP] 14, SprayBottle, 0.455, 0.820, 2.271, 0, 0, 0, 23 [SEP] 15, Drawer, 0.443, 0.624, 3.310, 0, 0, 0, [SEP] 16, Drawer, 0.443, 0.323, 2.194, 0, 0, 0, [SEP] 17, ShowerDoor, -0.923, 1.032, 1.155, 0, 0, 0, [SEP] 18, Sink, 0.495, 0.661, 2.756, 0, 270, 0, [SEP] 19, Drawer, 0.443, 0.624, 2.193, 0, 0, 0, [SEP] 20, Faucet, 0.717, 0.982, 2.756, 0, 0, 0, [SEP] 21, Mirror, 0.629, 1.532, 2.697, 0, 0, 0, [SEP] 22, ShowerGlass, -0.152, 1.266, 1.156, 0, 0, 0, [SEP] 23, CounterTop, 0.458, 0.789, 2.759, 0, 0, 0, [SEP] 24, Drawer, 0.443, 0.323, 2.566, 0, 0, 0, [SEP] 25, Drawer, 0.443, 0.323, 2.937, 0, 0, 0, [SEP] 26, Drawer, 0.443, 0.323, 3.310, 0, 0, 0, [SEP] 27, TowelHolder, 0.716, 1.361, 0.583, 0, 270, 0, [SEP] 28, TowelHolder, -0.442, 1.361, 1.175, 0, 0, 0, [SEP] 29, LightSwitch, -1.749, 1.429, 3.325, 0, 90, 0, [SEP] 30, ToiletPaperHanger, 0.376, 0.648, 2.009, 0, 180, 0, [SEP] 31, GarbageCan, 0.412, -0.029, 3.728, 0, 0, 0, [SEP] 32, SinkBasin, 0.440, 0.667, 2.746, 0, 270, 0, [SEP] 33, HandTowelHolder, 0.673, 1.613, 1.891, 0, 180, 0, [SEP] 34, HandTowelHolder, 0.673, 1.613, 3.563, 0, 180, 0, [SEP] 35, Toilet, 0.270, 0.000, 1.463, 0, 0, 0, [SEP] 36, ShowerHead, -1.705, 1.894, 0.587, 0, 270, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, EastWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the spray bottle on the counter top. | STEP 2: Pick up the spray bottle from the counter top. | STEP 3: Turn left and walk to the garbage bin on the floor to the left of the counter. | STEP 4: Put the spray bottle in the garbage bin. | END"]} +{"id": "trial_T20190908_054742_818364-1", "input": "Place a spray bottle into a recycling bin SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, 2.5, 0, 180, 0, [SEP] 1, Cloth, 0.446, 0.216, 3.271, 0, 0, 0, 26 [SEP] 2, Candle, 0.594, 1.046, 1.467, 0, 270, 0, 35 [SEP] 3, SprayBottle, 0.532, 1.046, 1.336, 0, 270, 0, 35 [SEP] 4, SoapBottle, 0.655, 1.052, 1.270, 0, 270, 0, 35 [SEP] 5, HandTowel, 0.634, 1.512, 1.892, 0, 90, 0, 33 [SEP] 6, Towel, 0.609, 1.376, 0.583, 0, 270, 0, 27 [SEP] 7, SoapBar, 0.558, 0.511, 2.275, 0, 0, 0, 19 [SEP] 8, ToiletPaper, 0.361, 0.504, 2.174, 0, 0, 0, 19 [SEP] 9, ToiletPaper, 0.655, 1.041, 1.598, 0, 270, 0, 35 [SEP] 10, Candle, 0.334, 0.212, 2.819, 0, 0, 0, 24 [SEP] 11, ScrubBrush, 0.553, 0.000, 1.725, 0, 0, 0, [SEP] 12, Cloth, 0.558, 0.215, 2.527, 0, 0, 0, 16 [SEP] 13, Plunger, 0.594, -0.000, 1.898, 0, 0, 0, [SEP] 14, SprayBottle, 0.455, 0.820, 2.271, 0, 0, 0, 23 [SEP] 15, Drawer, 0.443, 0.624, 3.310, 0, 0, 0, [SEP] 16, Drawer, 0.443, 0.323, 2.194, 0, 0, 0, [SEP] 17, ShowerDoor, -0.923, 1.032, 1.155, 0, 0, 0, [SEP] 18, Sink, 0.495, 0.661, 2.756, 0, 270, 0, [SEP] 19, Drawer, 0.443, 0.624, 2.193, 0, 0, 0, [SEP] 20, Faucet, 0.717, 0.982, 2.756, 0, 0, 0, [SEP] 21, Mirror, 0.629, 1.532, 2.697, 0, 0, 0, [SEP] 22, ShowerGlass, -0.152, 1.266, 1.156, 0, 0, 0, [SEP] 23, CounterTop, 0.458, 0.789, 2.759, 0, 0, 0, [SEP] 24, Drawer, 0.443, 0.323, 2.566, 0, 0, 0, [SEP] 25, Drawer, 0.443, 0.323, 2.937, 0, 0, 0, [SEP] 26, Drawer, 0.443, 0.323, 3.310, 0, 0, 0, [SEP] 27, TowelHolder, 0.716, 1.361, 0.583, 0, 270, 0, [SEP] 28, TowelHolder, -0.442, 1.361, 1.175, 0, 0, 0, [SEP] 29, LightSwitch, -1.749, 1.429, 3.325, 0, 90, 0, [SEP] 30, ToiletPaperHanger, 0.376, 0.648, 2.009, 0, 180, 0, [SEP] 31, GarbageCan, 0.412, -0.029, 3.728, 0, 0, 0, [SEP] 32, SinkBasin, 0.440, 0.667, 2.746, 0, 270, 0, [SEP] 33, HandTowelHolder, 0.673, 1.613, 1.891, 0, 180, 0, [SEP] 34, HandTowelHolder, 0.673, 1.613, 3.563, 0, 180, 0, [SEP] 35, Toilet, 0.270, 0.000, 1.463, 0, 0, 0, [SEP] 36, ShowerHead, -1.705, 1.894, 0.587, 0, 270, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, EastWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, WestWall, , , , , , , ", "output": ["STEP 1: urn left and head to the counter to the right of the sink | STEP 2: Pick up the gray spray bottle that is sitting on the counter to the right of the sink | STEP 3: Turn around and step forward, the turn right and head to the wall, then turn right and face the blue recycling bin that is to the left of the sink vanity | STEP 4: Place the spray bottle into the recycling bin | END"]} +{"id": "trial_T20190908_054742_818364-2", "input": "Put the spray bottle in the garbage bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, 2.5, 0, 180, 0, [SEP] 1, Cloth, 0.446, 0.216, 3.271, 0, 0, 0, 26 [SEP] 2, Candle, 0.594, 1.046, 1.467, 0, 270, 0, 35 [SEP] 3, SprayBottle, 0.532, 1.046, 1.336, 0, 270, 0, 35 [SEP] 4, SoapBottle, 0.655, 1.052, 1.270, 0, 270, 0, 35 [SEP] 5, HandTowel, 0.634, 1.512, 1.892, 0, 90, 0, 33 [SEP] 6, Towel, 0.609, 1.376, 0.583, 0, 270, 0, 27 [SEP] 7, SoapBar, 0.558, 0.511, 2.275, 0, 0, 0, 19 [SEP] 8, ToiletPaper, 0.361, 0.504, 2.174, 0, 0, 0, 19 [SEP] 9, ToiletPaper, 0.655, 1.041, 1.598, 0, 270, 0, 35 [SEP] 10, Candle, 0.334, 0.212, 2.819, 0, 0, 0, 24 [SEP] 11, ScrubBrush, 0.553, 0.000, 1.725, 0, 0, 0, [SEP] 12, Cloth, 0.558, 0.215, 2.527, 0, 0, 0, 16 [SEP] 13, Plunger, 0.594, -0.000, 1.898, 0, 0, 0, [SEP] 14, SprayBottle, 0.455, 0.820, 2.271, 0, 0, 0, 23 [SEP] 15, Drawer, 0.443, 0.624, 3.310, 0, 0, 0, [SEP] 16, Drawer, 0.443, 0.323, 2.194, 0, 0, 0, [SEP] 17, ShowerDoor, -0.923, 1.032, 1.155, 0, 0, 0, [SEP] 18, Sink, 0.495, 0.661, 2.756, 0, 270, 0, [SEP] 19, Drawer, 0.443, 0.624, 2.193, 0, 0, 0, [SEP] 20, Faucet, 0.717, 0.982, 2.756, 0, 0, 0, [SEP] 21, Mirror, 0.629, 1.532, 2.697, 0, 0, 0, [SEP] 22, ShowerGlass, -0.152, 1.266, 1.156, 0, 0, 0, [SEP] 23, CounterTop, 0.458, 0.789, 2.759, 0, 0, 0, [SEP] 24, Drawer, 0.443, 0.323, 2.566, 0, 0, 0, [SEP] 25, Drawer, 0.443, 0.323, 2.937, 0, 0, 0, [SEP] 26, Drawer, 0.443, 0.323, 3.310, 0, 0, 0, [SEP] 27, TowelHolder, 0.716, 1.361, 0.583, 0, 270, 0, [SEP] 28, TowelHolder, -0.442, 1.361, 1.175, 0, 0, 0, [SEP] 29, LightSwitch, -1.749, 1.429, 3.325, 0, 90, 0, [SEP] 30, ToiletPaperHanger, 0.376, 0.648, 2.009, 0, 180, 0, [SEP] 31, GarbageCan, 0.412, -0.029, 3.728, 0, 0, 0, [SEP] 32, SinkBasin, 0.440, 0.667, 2.746, 0, 270, 0, [SEP] 33, HandTowelHolder, 0.673, 1.613, 1.891, 0, 180, 0, [SEP] 34, HandTowelHolder, 0.673, 1.613, 3.563, 0, 180, 0, [SEP] 35, Toilet, 0.270, 0.000, 1.463, 0, 0, 0, [SEP] 36, ShowerHead, -1.705, 1.894, 0.587, 0, 270, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, EastWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your left and go to the sink. | STEP 2: Pick up the grey spray bottle, to the right of the sink, on the counter top. | STEP 3: Turn to your left and walk to the end of the room, then turn to your right facing the blue garbage bin. | STEP 4: Place the grey spray bottle in the garbage can. | END"]} +{"id": "trial_T20190908_124829_632660-0", "input": "Put a tomato in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.899, 3.5, 0, 180, 0, [SEP] 1, Pencil, -0.181, 0.925, 5.603, 0, 0, 0, 57 [SEP] 2, Fork, -4.242, 0.924, 2.882, 0, 0, 0, 72 [SEP] 3, Spoon, -3.494, 0.924, 5.182, 0, 180, 0, 72 [SEP] 4, Spatula, -4.204, 0.938, 2.026, 0, 0, 0, 72 [SEP] 5, Spatula, -3.135, 0.938, 5.182, 0, 90, 0, 72 [SEP] 6, Cup, -0.301, 1.334, 3.231, 0, 270, 0, 105 [SEP] 7, Cup, -2.092, 0.080, 1.931, 0, 0, 0, 88 [SEP] 8, SoapBottle, -4.004, 0.083, 2.992, 0, 270, 0, 85 [SEP] 9, SoapBottle, -3.712, 0.068, 6.292, 0, 180, 0, 98 [SEP] 10, Tomato, -4.121, 0.848, 3.222, 0, 270, 0, 104 [SEP] 11, Tomato, -0.342, 1.637, 3.470, 0, 270, 0, 105 [SEP] 12, Tomato, -4.271, 0.848, 3.159, 0, 270, 0, 104 [SEP] 13, Bowl, -0.258, 0.922, 5.603, 0, 0, 0, 57 [SEP] 14, Bowl, -0.258, 0.922, 4.615, 0, 0, 0, 57 [SEP] 15, SaltShaker, -0.443, 0.742, 5.763, 0, 270, 0, 51 [SEP] 16, SaltShaker, -3.830, 0.741, 5.133, 0, 180, 0, 75 [SEP] 17, Lettuce, -4.26, 1.018, 3.863, 0, 180, 0, 72 [SEP] 18, Bread, -3.733, 1.003, 5.259, 0, 90, 0, 72 [SEP] 19, Bread, -1.777, 1.003, 1.648, 0, 0, 0, 54 [SEP] 20, Apple, -3.712, 0.122, 6.375, 0, 270, 0, 98 [SEP] 21, Apple, -4.159, 0.844, 3.347, 0, 270, 0, 104 [SEP] 22, Egg, -3.859, 0.959, 2.026, 0, 0, 0, 72 [SEP] 23, Apple, -0.242, 1.124, 3.726, 0, 270, 0, 105 [SEP] 24, Knife, -4.031, 0.953, 1.951, 0, 0, 0, 72 [SEP] 25, Potato, -2.530, 1.579, 1.666, 0, 0, 0, 102 [SEP] 26, Fork, -0.334, 0.925, 4.944, 0, 0, 0, 57 [SEP] 27, Bowl, -0.348, 1.067, 3.479, 0, 270, 0, 105 [SEP] 28, Plate, -3.419, 0.083, 1.927, 0, 0, 0, 47 [SEP] 29, Lettuce, -1.943, 1.018, 1.951, 0, 0, 0, 54 [SEP] 30, Bread, -0.301, 1.765, 3.915, 0, 270, 0, 105 [SEP] 31, Tomato, -0.401, 1.127, 3.726, 0, 270, 0, 105 [SEP] 32, WineBottle, -1.943, 0.924, 1.648, 0, 0, 0, 54 [SEP] 33, Spatula, -2.026, 0.938, 1.875, 0, 90, 0, 54 [SEP] 34, PaperTowelRoll, -0.565, 1.029, 4.944, 0, 0, 0, 57 [SEP] 35, Cup, -0.383, 1.334, 3.603, 0, 270, 0, 105 [SEP] 36, Pencil, -3.472, 0.747, 1.927, 0, 0, 0, 78 [SEP] 37, Pan, -2.924, 0.930, 2.012, 0, 0, 0, 55 [SEP] 38, Pot, -0.396, 0.912, 5.933, 0, 0, 0, 57 [SEP] 39, SaltShaker, -3.452, 0.743, 5.221, 0, 180, 0, 63 [SEP] 40, SoapBottle, -0.181, 0.924, 5.273, 0, 0, 0, 57 [SEP] 41, PepperShaker, -3.374, 0.919, 5.412, 0, 90, 0, 72 [SEP] 42, ButterKnife, -0.488, 0.925, 5.603, 0, 0, 0, 57 [SEP] 43, DishSponge, -4.335, 0.923, 4.381, 0, 90, 0, 72 [SEP] 44, Spoon, -4.132, 0.755, 2.501, 0, 0, 0, 52 [SEP] 45, Mug, -4.121, 0.785, 3.472, 0, 270, 0, 104 [SEP] 46, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0, [SEP] 47, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0, [SEP] 48, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0, [SEP] 49, Drawer, -3.797, 0.781, 1.961, 0, 0, 0, [SEP] 50, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0, [SEP] 51, Drawer, -0.509, 0.775, 5.268, 0, 270, 0, [SEP] 52, Drawer, -4.125, 0.798, 2.499, 0, 0, 0, [SEP] 53, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0, [SEP] 54, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0, [SEP] 55, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0, [SEP] 56, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0, [SEP] 57, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0, [SEP] 58, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0, [SEP] 59, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0, [SEP] 60, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0, [SEP] 61, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0, [SEP] 62, Drawer, -0.509, 0.775, 4.617, 0, 270, 0, [SEP] 63, Drawer, -3.509, 0.777, 5.157, 0, 180, 0, [SEP] 64, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0, [SEP] 65, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0, [SEP] 66, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0, [SEP] 67, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0, [SEP] 68, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0, [SEP] 69, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0, [SEP] 70, Drawer, -1.859, 0.775, 1.961, 0, 0, 0, [SEP] 71, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0, [SEP] 72, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0, [SEP] 73, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0, [SEP] 74, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0, [SEP] 75, Drawer, -3.801, 0.777, 5.157, 0, 180, 0, [SEP] 76, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0, [SEP] 77, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0, [SEP] 78, Drawer, -3.418, 0.777, 1.961, 0, 0, 0, [SEP] 79, Drawer, -4.090, 0.777, 4.661, 0, 90, 0, [SEP] 80, Faucet, -4.441, 0.909, 3.288, 270, 0, 0, [SEP] 81, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0, [SEP] 82, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0, [SEP] 83, Drawer, -0.509, 0.775, 5.920, 0, 270, 0, [SEP] 84, Drawer, -3.193, 0.777, 5.157, 0, 180, 0, [SEP] 85, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0, [SEP] 86, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0, [SEP] 87, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0, [SEP] 88, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0, [SEP] 89, Sink, -4.190, 0.921, 3.279, 0, 0, 0, [SEP] 90, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0, [SEP] 91, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0, [SEP] 92, Drawer, -0.509, 0.775, 6.568, 0, 270, 0, [SEP] 93, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0, [SEP] 94, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180, [SEP] 95, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180, [SEP] 96, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180, [SEP] 97, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180, [SEP] 98, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0, [SEP] 99, Toaster, -3.578, 0.912, 1.763, 0, 0, 0, [SEP] 100, Curtains, -4.522, 2.252, 3.391, 90, 90, 0, [SEP] 101, Window, -4.868, 1.629, 3.309, 90, 270, 0, [SEP] 102, Microwave, -2.693, 1.430, 1.689, 0, 0, 0, [SEP] 103, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0, [SEP] 104, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0, [SEP] 105, Fridge, -0.324, -0.001, 3.602, 0, 0, 0, [SEP] 106, NorthWall, , , , , , , [SEP] 107, EastWall, , , , , , , [SEP] 108, SouthWall, , , , , , , [SEP] 109, WestWall, , , , , , , ", "output": ["STEP 1: Take a small step forward then turn right and walk to the sink. | STEP 2: Pick up the top left tomato that's in the sink. | STEP 3: Turn around and take two steps or until you're even with the stove on the right and when you are even with it turn right and walk to it. | STEP 4: Put the tomato in the microwave that's above the stove and close the door after it's in there. | END"]} +{"id": "trial_T20190908_124829_632660-1", "input": "Place a tomato in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.899, 3.5, 0, 180, 0, [SEP] 1, Pencil, -0.181, 0.925, 5.603, 0, 0, 0, 57 [SEP] 2, Fork, -4.242, 0.924, 2.882, 0, 0, 0, 72 [SEP] 3, Spoon, -3.494, 0.924, 5.182, 0, 180, 0, 72 [SEP] 4, Spatula, -4.204, 0.938, 2.026, 0, 0, 0, 72 [SEP] 5, Spatula, -3.135, 0.938, 5.182, 0, 90, 0, 72 [SEP] 6, Cup, -0.301, 1.334, 3.231, 0, 270, 0, 105 [SEP] 7, Cup, -2.092, 0.080, 1.931, 0, 0, 0, 88 [SEP] 8, SoapBottle, -4.004, 0.083, 2.992, 0, 270, 0, 85 [SEP] 9, SoapBottle, -3.712, 0.068, 6.292, 0, 180, 0, 98 [SEP] 10, Tomato, -4.121, 0.848, 3.222, 0, 270, 0, 104 [SEP] 11, Tomato, -0.342, 1.637, 3.470, 0, 270, 0, 105 [SEP] 12, Tomato, -4.271, 0.848, 3.159, 0, 270, 0, 104 [SEP] 13, Bowl, -0.258, 0.922, 5.603, 0, 0, 0, 57 [SEP] 14, Bowl, -0.258, 0.922, 4.615, 0, 0, 0, 57 [SEP] 15, SaltShaker, -0.443, 0.742, 5.763, 0, 270, 0, 51 [SEP] 16, SaltShaker, -3.830, 0.741, 5.133, 0, 180, 0, 75 [SEP] 17, Lettuce, -4.26, 1.018, 3.863, 0, 180, 0, 72 [SEP] 18, Bread, -3.733, 1.003, 5.259, 0, 90, 0, 72 [SEP] 19, Bread, -1.777, 1.003, 1.648, 0, 0, 0, 54 [SEP] 20, Apple, -3.712, 0.122, 6.375, 0, 270, 0, 98 [SEP] 21, Apple, -4.159, 0.844, 3.347, 0, 270, 0, 104 [SEP] 22, Egg, -3.859, 0.959, 2.026, 0, 0, 0, 72 [SEP] 23, Apple, -0.242, 1.124, 3.726, 0, 270, 0, 105 [SEP] 24, Knife, -4.031, 0.953, 1.951, 0, 0, 0, 72 [SEP] 25, Potato, -2.530, 1.579, 1.666, 0, 0, 0, 102 [SEP] 26, Fork, -0.334, 0.925, 4.944, 0, 0, 0, 57 [SEP] 27, Bowl, -0.348, 1.067, 3.479, 0, 270, 0, 105 [SEP] 28, Plate, -3.419, 0.083, 1.927, 0, 0, 0, 47 [SEP] 29, Lettuce, -1.943, 1.018, 1.951, 0, 0, 0, 54 [SEP] 30, Bread, -0.301, 1.765, 3.915, 0, 270, 0, 105 [SEP] 31, Tomato, -0.401, 1.127, 3.726, 0, 270, 0, 105 [SEP] 32, WineBottle, -1.943, 0.924, 1.648, 0, 0, 0, 54 [SEP] 33, Spatula, -2.026, 0.938, 1.875, 0, 90, 0, 54 [SEP] 34, PaperTowelRoll, -0.565, 1.029, 4.944, 0, 0, 0, 57 [SEP] 35, Cup, -0.383, 1.334, 3.603, 0, 270, 0, 105 [SEP] 36, Pencil, -3.472, 0.747, 1.927, 0, 0, 0, 78 [SEP] 37, Pan, -2.924, 0.930, 2.012, 0, 0, 0, 55 [SEP] 38, Pot, -0.396, 0.912, 5.933, 0, 0, 0, 57 [SEP] 39, SaltShaker, -3.452, 0.743, 5.221, 0, 180, 0, 63 [SEP] 40, SoapBottle, -0.181, 0.924, 5.273, 0, 0, 0, 57 [SEP] 41, PepperShaker, -3.374, 0.919, 5.412, 0, 90, 0, 72 [SEP] 42, ButterKnife, -0.488, 0.925, 5.603, 0, 0, 0, 57 [SEP] 43, DishSponge, -4.335, 0.923, 4.381, 0, 90, 0, 72 [SEP] 44, Spoon, -4.132, 0.755, 2.501, 0, 0, 0, 52 [SEP] 45, Mug, -4.121, 0.785, 3.472, 0, 270, 0, 104 [SEP] 46, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0, [SEP] 47, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0, [SEP] 48, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0, [SEP] 49, Drawer, -3.797, 0.781, 1.961, 0, 0, 0, [SEP] 50, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0, [SEP] 51, Drawer, -0.509, 0.775, 5.268, 0, 270, 0, [SEP] 52, Drawer, -4.125, 0.798, 2.499, 0, 0, 0, [SEP] 53, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0, [SEP] 54, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0, [SEP] 55, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0, [SEP] 56, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0, [SEP] 57, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0, [SEP] 58, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0, [SEP] 59, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0, [SEP] 60, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0, [SEP] 61, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0, [SEP] 62, Drawer, -0.509, 0.775, 4.617, 0, 270, 0, [SEP] 63, Drawer, -3.509, 0.777, 5.157, 0, 180, 0, [SEP] 64, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0, [SEP] 65, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0, [SEP] 66, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0, [SEP] 67, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0, [SEP] 68, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0, [SEP] 69, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0, [SEP] 70, Drawer, -1.859, 0.775, 1.961, 0, 0, 0, [SEP] 71, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0, [SEP] 72, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0, [SEP] 73, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0, [SEP] 74, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0, [SEP] 75, Drawer, -3.801, 0.777, 5.157, 0, 180, 0, [SEP] 76, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0, [SEP] 77, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0, [SEP] 78, Drawer, -3.418, 0.777, 1.961, 0, 0, 0, [SEP] 79, Drawer, -4.090, 0.777, 4.661, 0, 90, 0, [SEP] 80, Faucet, -4.441, 0.909, 3.288, 270, 0, 0, [SEP] 81, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0, [SEP] 82, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0, [SEP] 83, Drawer, -0.509, 0.775, 5.920, 0, 270, 0, [SEP] 84, Drawer, -3.193, 0.777, 5.157, 0, 180, 0, [SEP] 85, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0, [SEP] 86, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0, [SEP] 87, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0, [SEP] 88, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0, [SEP] 89, Sink, -4.190, 0.921, 3.279, 0, 0, 0, [SEP] 90, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0, [SEP] 91, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0, [SEP] 92, Drawer, -0.509, 0.775, 6.568, 0, 270, 0, [SEP] 93, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0, [SEP] 94, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180, [SEP] 95, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180, [SEP] 96, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180, [SEP] 97, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180, [SEP] 98, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0, [SEP] 99, Toaster, -3.578, 0.912, 1.763, 0, 0, 0, [SEP] 100, Curtains, -4.522, 2.252, 3.391, 90, 90, 0, [SEP] 101, Window, -4.868, 1.629, 3.309, 90, 270, 0, [SEP] 102, Microwave, -2.693, 1.430, 1.689, 0, 0, 0, [SEP] 103, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0, [SEP] 104, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0, [SEP] 105, Fridge, -0.324, -0.001, 3.602, 0, 0, 0, [SEP] 106, NorthWall, , , , , , , [SEP] 107, EastWall, , , , , , , [SEP] 108, SouthWall, , , , , , , [SEP] 109, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left and locate the sink. | STEP 2: Pick up the tomato from the far back left of the sink. | STEP 3: Carry the tomato and turn around, the face the stove on the right. | STEP 4: Open the microwave and place the tomato inside. Shut the door. | END"]} +{"id": "trial_T20190908_124829_632660-2", "input": "Place a tomato in a microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.899, 3.5, 0, 180, 0, [SEP] 1, Pencil, -0.181, 0.925, 5.603, 0, 0, 0, 57 [SEP] 2, Fork, -4.242, 0.924, 2.882, 0, 0, 0, 72 [SEP] 3, Spoon, -3.494, 0.924, 5.182, 0, 180, 0, 72 [SEP] 4, Spatula, -4.204, 0.938, 2.026, 0, 0, 0, 72 [SEP] 5, Spatula, -3.135, 0.938, 5.182, 0, 90, 0, 72 [SEP] 6, Cup, -0.301, 1.334, 3.231, 0, 270, 0, 105 [SEP] 7, Cup, -2.092, 0.080, 1.931, 0, 0, 0, 88 [SEP] 8, SoapBottle, -4.004, 0.083, 2.992, 0, 270, 0, 85 [SEP] 9, SoapBottle, -3.712, 0.068, 6.292, 0, 180, 0, 98 [SEP] 10, Tomato, -4.121, 0.848, 3.222, 0, 270, 0, 104 [SEP] 11, Tomato, -0.342, 1.637, 3.470, 0, 270, 0, 105 [SEP] 12, Tomato, -4.271, 0.848, 3.159, 0, 270, 0, 104 [SEP] 13, Bowl, -0.258, 0.922, 5.603, 0, 0, 0, 57 [SEP] 14, Bowl, -0.258, 0.922, 4.615, 0, 0, 0, 57 [SEP] 15, SaltShaker, -0.443, 0.742, 5.763, 0, 270, 0, 51 [SEP] 16, SaltShaker, -3.830, 0.741, 5.133, 0, 180, 0, 75 [SEP] 17, Lettuce, -4.26, 1.018, 3.863, 0, 180, 0, 72 [SEP] 18, Bread, -3.733, 1.003, 5.259, 0, 90, 0, 72 [SEP] 19, Bread, -1.777, 1.003, 1.648, 0, 0, 0, 54 [SEP] 20, Apple, -3.712, 0.122, 6.375, 0, 270, 0, 98 [SEP] 21, Apple, -4.159, 0.844, 3.347, 0, 270, 0, 104 [SEP] 22, Egg, -3.859, 0.959, 2.026, 0, 0, 0, 72 [SEP] 23, Apple, -0.242, 1.124, 3.726, 0, 270, 0, 105 [SEP] 24, Knife, -4.031, 0.953, 1.951, 0, 0, 0, 72 [SEP] 25, Potato, -2.530, 1.579, 1.666, 0, 0, 0, 102 [SEP] 26, Fork, -0.334, 0.925, 4.944, 0, 0, 0, 57 [SEP] 27, Bowl, -0.348, 1.067, 3.479, 0, 270, 0, 105 [SEP] 28, Plate, -3.419, 0.083, 1.927, 0, 0, 0, 47 [SEP] 29, Lettuce, -1.943, 1.018, 1.951, 0, 0, 0, 54 [SEP] 30, Bread, -0.301, 1.765, 3.915, 0, 270, 0, 105 [SEP] 31, Tomato, -0.401, 1.127, 3.726, 0, 270, 0, 105 [SEP] 32, WineBottle, -1.943, 0.924, 1.648, 0, 0, 0, 54 [SEP] 33, Spatula, -2.026, 0.938, 1.875, 0, 90, 0, 54 [SEP] 34, PaperTowelRoll, -0.565, 1.029, 4.944, 0, 0, 0, 57 [SEP] 35, Cup, -0.383, 1.334, 3.603, 0, 270, 0, 105 [SEP] 36, Pencil, -3.472, 0.747, 1.927, 0, 0, 0, 78 [SEP] 37, Pan, -2.924, 0.930, 2.012, 0, 0, 0, 55 [SEP] 38, Pot, -0.396, 0.912, 5.933, 0, 0, 0, 57 [SEP] 39, SaltShaker, -3.452, 0.743, 5.221, 0, 180, 0, 63 [SEP] 40, SoapBottle, -0.181, 0.924, 5.273, 0, 0, 0, 57 [SEP] 41, PepperShaker, -3.374, 0.919, 5.412, 0, 90, 0, 72 [SEP] 42, ButterKnife, -0.488, 0.925, 5.603, 0, 0, 0, 57 [SEP] 43, DishSponge, -4.335, 0.923, 4.381, 0, 90, 0, 72 [SEP] 44, Spoon, -4.132, 0.755, 2.501, 0, 0, 0, 52 [SEP] 45, Mug, -4.121, 0.785, 3.472, 0, 270, 0, 104 [SEP] 46, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0, [SEP] 47, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0, [SEP] 48, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0, [SEP] 49, Drawer, -3.797, 0.781, 1.961, 0, 0, 0, [SEP] 50, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0, [SEP] 51, Drawer, -0.509, 0.775, 5.268, 0, 270, 0, [SEP] 52, Drawer, -4.125, 0.798, 2.499, 0, 0, 0, [SEP] 53, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0, [SEP] 54, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0, [SEP] 55, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0, [SEP] 56, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0, [SEP] 57, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0, [SEP] 58, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0, [SEP] 59, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0, [SEP] 60, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0, [SEP] 61, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0, [SEP] 62, Drawer, -0.509, 0.775, 4.617, 0, 270, 0, [SEP] 63, Drawer, -3.509, 0.777, 5.157, 0, 180, 0, [SEP] 64, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0, [SEP] 65, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0, [SEP] 66, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0, [SEP] 67, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0, [SEP] 68, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0, [SEP] 69, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0, [SEP] 70, Drawer, -1.859, 0.775, 1.961, 0, 0, 0, [SEP] 71, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0, [SEP] 72, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0, [SEP] 73, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0, [SEP] 74, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0, [SEP] 75, Drawer, -3.801, 0.777, 5.157, 0, 180, 0, [SEP] 76, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0, [SEP] 77, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0, [SEP] 78, Drawer, -3.418, 0.777, 1.961, 0, 0, 0, [SEP] 79, Drawer, -4.090, 0.777, 4.661, 0, 90, 0, [SEP] 80, Faucet, -4.441, 0.909, 3.288, 270, 0, 0, [SEP] 81, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0, [SEP] 82, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0, [SEP] 83, Drawer, -0.509, 0.775, 5.920, 0, 270, 0, [SEP] 84, Drawer, -3.193, 0.777, 5.157, 0, 180, 0, [SEP] 85, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0, [SEP] 86, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0, [SEP] 87, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0, [SEP] 88, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0, [SEP] 89, Sink, -4.190, 0.921, 3.279, 0, 0, 0, [SEP] 90, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0, [SEP] 91, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0, [SEP] 92, Drawer, -0.509, 0.775, 6.568, 0, 270, 0, [SEP] 93, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0, [SEP] 94, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180, [SEP] 95, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180, [SEP] 96, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180, [SEP] 97, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180, [SEP] 98, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0, [SEP] 99, Toaster, -3.578, 0.912, 1.763, 0, 0, 0, [SEP] 100, Curtains, -4.522, 2.252, 3.391, 90, 90, 0, [SEP] 101, Window, -4.868, 1.629, 3.309, 90, 270, 0, [SEP] 102, Microwave, -2.693, 1.430, 1.689, 0, 0, 0, [SEP] 103, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0, [SEP] 104, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0, [SEP] 105, Fridge, -0.324, -0.001, 3.602, 0, 0, 0, [SEP] 106, NorthWall, , , , , , , [SEP] 107, EastWall, , , , , , , [SEP] 108, SouthWall, , , , , , , [SEP] 109, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the sink. | STEP 2: Pick up the back left tomato inside the sink. | STEP 3: Turn around and walk to the white stove on the right. | STEP 4: Put the tomato inside the microwave above the stove and close the door. | END"]} +{"id": "trial_T20190908_170503_844252-0", "input": "Pick up a towel and turn a light on. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.901, -0.75, 0, 0, 0, [SEP] 1, Mug, -1.515, 0.597, -0.533, 0, 0, 0, 51 [SEP] 2, Mug, 0.536, 0.726, -2.705, 0, 180, 0, 44 [SEP] 3, CD, 1.320, 0.977, -2.319, 0, 0, 0, 30 [SEP] 4, CellPhone, -1.714, 0.599, -0.533, 0, 0, 0, 51 [SEP] 5, Pen, 1.257, 1.184, -2.235, 0, 0, 0, 32 [SEP] 6, Pencil, -1.582, 0.602, -0.675, 0, 0, 0, 51 [SEP] 7, KeyChain, 1.853, 0.978, -2.298, 0, 0, 0, 31 [SEP] 8, KeyChain, 0.766, 0.731, -2.822, 0, 180, 0, 44 [SEP] 9, Pillow, -1.024, 0.491, -1.610, 0, 0, 0, 50 [SEP] 10, Laptop, -0.564, 0.415, -1.977, 0, 0, 0, 50 [SEP] 11, AlarmClock, -1.582, 0.599, -0.392, 0, 0, 0, 51 [SEP] 12, AlarmClock, 0.076, 0.729, -2.530, 0, 180, 0, 44 [SEP] 13, Box, 1.996, 0.316, -1.042, 0, 254.839, 0, [SEP] 14, Book, 0.339, 0.723, -2.65, 0, 165.000, 0, 44 [SEP] 15, Pillow, -1.548, 0.457, -1.831, 0, 90, 0, 50 [SEP] 16, CellPhone, -1.485, 0.417, -1.488, 0, 0, 0, 50 [SEP] 17, Vase, -1.648, 0.599, -0.816, 0, 0, 0, 51 [SEP] 18, BaseballBat, -1.629, 0.649, 0.416, 14.491, 0, 0, [SEP] 19, CreditCard, -1.912, 0.599, 0.031, 0, 0, 0, 51 [SEP] 20, TennisRacket, 2.244, 0.279, -1.901, 335.402, 251.974, 201.714, [SEP] 21, KeyChain, -1.791, 0.509, -1.065, 0, 0, 0, 53 [SEP] 22, AlarmClock, 0.766, 0.730, -2.647, 0, 180, 0, 44 [SEP] 23, Cloth, 2.176, 0.0, -0.571, 0, 335.474, 0, [SEP] 24, Laptop, -1.764, 0.591, -0.112, 0, 113.510, 0, 51 [SEP] 25, CD, 0.766, 0.730, -2.471, 0, 180, 0, 44 [SEP] 26, CD, 2.261, 0.044, 0.265, 0, 225, 0, 39 [SEP] 27, Pen, 0.191, 0.736, -2.705, 0, 180, 0, 44 [SEP] 28, Pencil, 1.917, 1.182, -2.256, 0, 0, 0, 33 [SEP] 29, Mug, 1.851, 0.353, -2.324, 0, 90, 0, 59 [SEP] 30, Shelf, 1.311, 0.969, -2.298, 0, 0, 0, [SEP] 31, Shelf, 1.843, 0.969, -2.298, 0, 0, 0, [SEP] 32, Shelf, 1.311, 1.171, -2.298, 0, 0, 0, [SEP] 33, Shelf, 1.843, 1.171, -2.298, 0, 0, 0, [SEP] 34, Shelf, 1.311, 1.368, -2.298, 0, 0, 0, [SEP] 35, Shelf, 1.843, 1.570, -2.298, 0, 0, 0, [SEP] 36, Shelf, 1.843, 1.368, -2.298, 0, 0, 0, [SEP] 37, Shelf, 1.311, 1.570, -2.298, 0, 0, 0, [SEP] 38, DeskLamp, -1.848, 0.592, -0.786, 0, 90, 0, [SEP] 39, GarbageCan, 2.197, -0.007, 0.298, 0, 232.025, 0, [SEP] 40, LightSwitch, -0.638, 1.149, 0.499, 0, 180, 0, [SEP] 41, Poster, 0.001, 1.495, -2.642, 90, 90, 0, [SEP] 42, Mirror, -1.072, 1.469, 0.497, 0, 0, 0, [SEP] 43, Window, 0.435, 1.398, -2.855, 90, 0, 0, [SEP] 44, SideTable, 0.435, 0.036, -2.647, 0, 0, 0, [SEP] 45, Drawer, 0.433, 0.203, -2.445, 0, 0, 0, [SEP] 46, Drawer, 0.433, 0.505, -2.445, 0, 0, 0, [SEP] 47, Dumbbell, -1.656, 0.602, -0.534, 0, 90, 0, [SEP] 48, Blinds, 0.449, 2.164, -2.845, 0, 0, 0, [SEP] 49, GarbageBag, 1.730, 0.318, 0.222, 270, 90, 83.412, [SEP] 50, Bed, -1.047, -0.000, -1.851, 0, 270, 0, [SEP] 51, Desk, -1.710, 0.000, -0.374, 0, 90, 0, [SEP] 52, Drawer, -1.790, 0.245, -1.144, 0, 90, 0, [SEP] 53, SideTable, -1.824, 0.000, -1.144, 0, 90, 0, [SEP] 54, Drawer, -1.790, 0.392, -1.144, 0, 90, 0, [SEP] 55, Drawer, -1.790, 0.097, -1.144, 0, 90, 0, [SEP] 56, Chair, -1.453, 0.005, -0.311, 0, 286.095, 0, [SEP] 57, Shelf, 1.591, 0.606, -2.305, 0, 0, 0, [SEP] 58, ShelvingUnit, 1.588, 0.004, -2.326, 0, 0, 0, [SEP] 59, Shelf, 1.854, 0.453, -2.298, 0, 0, 0, [SEP] 60, Shelf, 1.321, 0.155, -2.296, 0, 0, 0, [SEP] 61, Shelf, 1.323, 0.456, -2.300, 0, 0, 0, [SEP] 62, Shelf, 1.852, 0.152, -2.294, 0, 0, 0, [SEP] 63, NorthWall, , , , , , , [SEP] 64, EastWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right and face the blue towel on the floor. | STEP 2: Pick the blue towel up from the floor. | STEP 3: Go right and cross the room to stand in front of the table to the right of the bed and night stand that has a lamp on it. | STEP 4: Turn the lamp on. | END"]} +{"id": "trial_T20190908_170503_844252-1", "input": "Examine the rag by the light of the lamp on the desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.901, -0.75, 0, 0, 0, [SEP] 1, Mug, -1.515, 0.597, -0.533, 0, 0, 0, 51 [SEP] 2, Mug, 0.536, 0.726, -2.705, 0, 180, 0, 44 [SEP] 3, CD, 1.320, 0.977, -2.319, 0, 0, 0, 30 [SEP] 4, CellPhone, -1.714, 0.599, -0.533, 0, 0, 0, 51 [SEP] 5, Pen, 1.257, 1.184, -2.235, 0, 0, 0, 32 [SEP] 6, Pencil, -1.582, 0.602, -0.675, 0, 0, 0, 51 [SEP] 7, KeyChain, 1.853, 0.978, -2.298, 0, 0, 0, 31 [SEP] 8, KeyChain, 0.766, 0.731, -2.822, 0, 180, 0, 44 [SEP] 9, Pillow, -1.024, 0.491, -1.610, 0, 0, 0, 50 [SEP] 10, Laptop, -0.564, 0.415, -1.977, 0, 0, 0, 50 [SEP] 11, AlarmClock, -1.582, 0.599, -0.392, 0, 0, 0, 51 [SEP] 12, AlarmClock, 0.076, 0.729, -2.530, 0, 180, 0, 44 [SEP] 13, Box, 1.996, 0.316, -1.042, 0, 254.839, 0, [SEP] 14, Book, 0.339, 0.723, -2.65, 0, 165.000, 0, 44 [SEP] 15, Pillow, -1.548, 0.457, -1.831, 0, 90, 0, 50 [SEP] 16, CellPhone, -1.485, 0.417, -1.488, 0, 0, 0, 50 [SEP] 17, Vase, -1.648, 0.599, -0.816, 0, 0, 0, 51 [SEP] 18, BaseballBat, -1.629, 0.649, 0.416, 14.491, 0, 0, [SEP] 19, CreditCard, -1.912, 0.599, 0.031, 0, 0, 0, 51 [SEP] 20, TennisRacket, 2.244, 0.279, -1.901, 335.402, 251.974, 201.714, [SEP] 21, KeyChain, -1.791, 0.509, -1.065, 0, 0, 0, 53 [SEP] 22, AlarmClock, 0.766, 0.730, -2.647, 0, 180, 0, 44 [SEP] 23, Cloth, 2.176, 0.0, -0.571, 0, 335.474, 0, [SEP] 24, Laptop, -1.764, 0.591, -0.112, 0, 113.510, 0, 51 [SEP] 25, CD, 0.766, 0.730, -2.471, 0, 180, 0, 44 [SEP] 26, CD, 2.261, 0.044, 0.265, 0, 225, 0, 39 [SEP] 27, Pen, 0.191, 0.736, -2.705, 0, 180, 0, 44 [SEP] 28, Pencil, 1.917, 1.182, -2.256, 0, 0, 0, 33 [SEP] 29, Mug, 1.851, 0.353, -2.324, 0, 90, 0, 59 [SEP] 30, Shelf, 1.311, 0.969, -2.298, 0, 0, 0, [SEP] 31, Shelf, 1.843, 0.969, -2.298, 0, 0, 0, [SEP] 32, Shelf, 1.311, 1.171, -2.298, 0, 0, 0, [SEP] 33, Shelf, 1.843, 1.171, -2.298, 0, 0, 0, [SEP] 34, Shelf, 1.311, 1.368, -2.298, 0, 0, 0, [SEP] 35, Shelf, 1.843, 1.570, -2.298, 0, 0, 0, [SEP] 36, Shelf, 1.843, 1.368, -2.298, 0, 0, 0, [SEP] 37, Shelf, 1.311, 1.570, -2.298, 0, 0, 0, [SEP] 38, DeskLamp, -1.848, 0.592, -0.786, 0, 90, 0, [SEP] 39, GarbageCan, 2.197, -0.007, 0.298, 0, 232.025, 0, [SEP] 40, LightSwitch, -0.638, 1.149, 0.499, 0, 180, 0, [SEP] 41, Poster, 0.001, 1.495, -2.642, 90, 90, 0, [SEP] 42, Mirror, -1.072, 1.469, 0.497, 0, 0, 0, [SEP] 43, Window, 0.435, 1.398, -2.855, 90, 0, 0, [SEP] 44, SideTable, 0.435, 0.036, -2.647, 0, 0, 0, [SEP] 45, Drawer, 0.433, 0.203, -2.445, 0, 0, 0, [SEP] 46, Drawer, 0.433, 0.505, -2.445, 0, 0, 0, [SEP] 47, Dumbbell, -1.656, 0.602, -0.534, 0, 90, 0, [SEP] 48, Blinds, 0.449, 2.164, -2.845, 0, 0, 0, [SEP] 49, GarbageBag, 1.730, 0.318, 0.222, 270, 90, 83.412, [SEP] 50, Bed, -1.047, -0.000, -1.851, 0, 270, 0, [SEP] 51, Desk, -1.710, 0.000, -0.374, 0, 90, 0, [SEP] 52, Drawer, -1.790, 0.245, -1.144, 0, 90, 0, [SEP] 53, SideTable, -1.824, 0.000, -1.144, 0, 90, 0, [SEP] 54, Drawer, -1.790, 0.392, -1.144, 0, 90, 0, [SEP] 55, Drawer, -1.790, 0.097, -1.144, 0, 90, 0, [SEP] 56, Chair, -1.453, 0.005, -0.311, 0, 286.095, 0, [SEP] 57, Shelf, 1.591, 0.606, -2.305, 0, 0, 0, [SEP] 58, ShelvingUnit, 1.588, 0.004, -2.326, 0, 0, 0, [SEP] 59, Shelf, 1.854, 0.453, -2.298, 0, 0, 0, [SEP] 60, Shelf, 1.321, 0.155, -2.296, 0, 0, 0, [SEP] 61, Shelf, 1.323, 0.456, -2.300, 0, 0, 0, [SEP] 62, Shelf, 1.852, 0.152, -2.294, 0, 0, 0, [SEP] 63, NorthWall, , , , , , , [SEP] 64, EastWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, WestWall, , , , , , , ", "output": ["STEP 1: Turn right to face the rag on the floor. | STEP 2: Pick up the rag on the floor. | STEP 3: Turn around, bring the rag to the desk next to the bed. | STEP 4: Turn on the lamp on the desk. | END"]} +{"id": "trial_T20190908_170503_844252-2", "input": "Examine a blue cloth by the light of a desk lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.901, -0.75, 0, 0, 0, [SEP] 1, Mug, -1.515, 0.597, -0.533, 0, 0, 0, 51 [SEP] 2, Mug, 0.536, 0.726, -2.705, 0, 180, 0, 44 [SEP] 3, CD, 1.320, 0.977, -2.319, 0, 0, 0, 30 [SEP] 4, CellPhone, -1.714, 0.599, -0.533, 0, 0, 0, 51 [SEP] 5, Pen, 1.257, 1.184, -2.235, 0, 0, 0, 32 [SEP] 6, Pencil, -1.582, 0.602, -0.675, 0, 0, 0, 51 [SEP] 7, KeyChain, 1.853, 0.978, -2.298, 0, 0, 0, 31 [SEP] 8, KeyChain, 0.766, 0.731, -2.822, 0, 180, 0, 44 [SEP] 9, Pillow, -1.024, 0.491, -1.610, 0, 0, 0, 50 [SEP] 10, Laptop, -0.564, 0.415, -1.977, 0, 0, 0, 50 [SEP] 11, AlarmClock, -1.582, 0.599, -0.392, 0, 0, 0, 51 [SEP] 12, AlarmClock, 0.076, 0.729, -2.530, 0, 180, 0, 44 [SEP] 13, Box, 1.996, 0.316, -1.042, 0, 254.839, 0, [SEP] 14, Book, 0.339, 0.723, -2.65, 0, 165.000, 0, 44 [SEP] 15, Pillow, -1.548, 0.457, -1.831, 0, 90, 0, 50 [SEP] 16, CellPhone, -1.485, 0.417, -1.488, 0, 0, 0, 50 [SEP] 17, Vase, -1.648, 0.599, -0.816, 0, 0, 0, 51 [SEP] 18, BaseballBat, -1.629, 0.649, 0.416, 14.491, 0, 0, [SEP] 19, CreditCard, -1.912, 0.599, 0.031, 0, 0, 0, 51 [SEP] 20, TennisRacket, 2.244, 0.279, -1.901, 335.402, 251.974, 201.714, [SEP] 21, KeyChain, -1.791, 0.509, -1.065, 0, 0, 0, 53 [SEP] 22, AlarmClock, 0.766, 0.730, -2.647, 0, 180, 0, 44 [SEP] 23, Cloth, 2.176, 0.0, -0.571, 0, 335.474, 0, [SEP] 24, Laptop, -1.764, 0.591, -0.112, 0, 113.510, 0, 51 [SEP] 25, CD, 0.766, 0.730, -2.471, 0, 180, 0, 44 [SEP] 26, CD, 2.261, 0.044, 0.265, 0, 225, 0, 39 [SEP] 27, Pen, 0.191, 0.736, -2.705, 0, 180, 0, 44 [SEP] 28, Pencil, 1.917, 1.182, -2.256, 0, 0, 0, 33 [SEP] 29, Mug, 1.851, 0.353, -2.324, 0, 90, 0, 59 [SEP] 30, Shelf, 1.311, 0.969, -2.298, 0, 0, 0, [SEP] 31, Shelf, 1.843, 0.969, -2.298, 0, 0, 0, [SEP] 32, Shelf, 1.311, 1.171, -2.298, 0, 0, 0, [SEP] 33, Shelf, 1.843, 1.171, -2.298, 0, 0, 0, [SEP] 34, Shelf, 1.311, 1.368, -2.298, 0, 0, 0, [SEP] 35, Shelf, 1.843, 1.570, -2.298, 0, 0, 0, [SEP] 36, Shelf, 1.843, 1.368, -2.298, 0, 0, 0, [SEP] 37, Shelf, 1.311, 1.570, -2.298, 0, 0, 0, [SEP] 38, DeskLamp, -1.848, 0.592, -0.786, 0, 90, 0, [SEP] 39, GarbageCan, 2.197, -0.007, 0.298, 0, 232.025, 0, [SEP] 40, LightSwitch, -0.638, 1.149, 0.499, 0, 180, 0, [SEP] 41, Poster, 0.001, 1.495, -2.642, 90, 90, 0, [SEP] 42, Mirror, -1.072, 1.469, 0.497, 0, 0, 0, [SEP] 43, Window, 0.435, 1.398, -2.855, 90, 0, 0, [SEP] 44, SideTable, 0.435, 0.036, -2.647, 0, 0, 0, [SEP] 45, Drawer, 0.433, 0.203, -2.445, 0, 0, 0, [SEP] 46, Drawer, 0.433, 0.505, -2.445, 0, 0, 0, [SEP] 47, Dumbbell, -1.656, 0.602, -0.534, 0, 90, 0, [SEP] 48, Blinds, 0.449, 2.164, -2.845, 0, 0, 0, [SEP] 49, GarbageBag, 1.730, 0.318, 0.222, 270, 90, 83.412, [SEP] 50, Bed, -1.047, -0.000, -1.851, 0, 270, 0, [SEP] 51, Desk, -1.710, 0.000, -0.374, 0, 90, 0, [SEP] 52, Drawer, -1.790, 0.245, -1.144, 0, 90, 0, [SEP] 53, SideTable, -1.824, 0.000, -1.144, 0, 90, 0, [SEP] 54, Drawer, -1.790, 0.392, -1.144, 0, 90, 0, [SEP] 55, Drawer, -1.790, 0.097, -1.144, 0, 90, 0, [SEP] 56, Chair, -1.453, 0.005, -0.311, 0, 286.095, 0, [SEP] 57, Shelf, 1.591, 0.606, -2.305, 0, 0, 0, [SEP] 58, ShelvingUnit, 1.588, 0.004, -2.326, 0, 0, 0, [SEP] 59, Shelf, 1.854, 0.453, -2.298, 0, 0, 0, [SEP] 60, Shelf, 1.321, 0.155, -2.296, 0, 0, 0, [SEP] 61, Shelf, 1.323, 0.456, -2.300, 0, 0, 0, [SEP] 62, Shelf, 1.852, 0.152, -2.294, 0, 0, 0, [SEP] 63, NorthWall, , , , , , , [SEP] 64, EastWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, WestWall, , , , , , , ", "output": ["STEP 1: Turn right towards the blue cloth on the floor. | STEP 2: Pick up the cloth from the floor. | STEP 3: Turn around and walk forward to the lamp on the desk at the other end of the room. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190908_053153_077977-0", "input": "Look at a pillow by the light of a lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 0.5, 0, 180, 0, [SEP] 1, Mug, 2.039, 0.894, -2.975, 0, 0, 0, 34 [SEP] 2, CellPhone, -1.025, 0.619, -2.261, 0, 0, 0, 21 [SEP] 3, CellPhone, -2.394, 0.680, -3.227, 0, 90, 0, 36 [SEP] 4, CreditCard, -2.394, 0.680, -0.668, 0, 90, 0, 43 [SEP] 5, KeyChain, 2.728, 0.896, -3.113, 0, 0, 0, 34 [SEP] 6, KeyChain, -2.530, 0.681, -0.359, 0, 270, 0, 43 [SEP] 7, Book, -1.591, 0.618, -2.261, 0, 0, 0, 21 [SEP] 8, CreditCard, -2.428, 0.374, -0.514, 0, 270, 0, 45 [SEP] 9, Pen, -2.575, 0.686, -0.668, 0, 90, 0, 43 [SEP] 10, Pencil, 2.384, 0.901, -3.182, 0, 0, 0, 34 [SEP] 11, TeddyBear, -0.667, 0.612, -1.364, 0, 81.467, 0, 21 [SEP] 12, Laptop, -0.742, 0.617, -2.061, 0, 0, 0, 21 [SEP] 13, AlarmClock, 2.638, 1.232, 1.397, 0, 270, 0, 41 [SEP] 14, CellPhone, 2.039, 0.896, -3.320, 0, 0, 0, 34 [SEP] 15, KeyChain, 2.735, 1.249, 1.825, 0, 0, 0, 30 [SEP] 16, Pillow, -2.124, 0.658, -1.522, 0, 28.296, 0, 21 [SEP] 17, Pillow, -2.378, 0.637, -2.330, 0, 0, 0, 21 [SEP] 18, CD, 1.344, 0.019, -3.310, 0, 0, 0, 25 [SEP] 19, Mug, 2.211, 0.894, -3.044, 0, 0, 0, 34 [SEP] 20, Bowl, 1.840, 0.889, -3.239, 0, 0, 0, 34 [SEP] 21, Bed, -1.613, -0.028, -1.861, 0, 270, 0, [SEP] 22, DeskLamp, 2.760, 0.890, -3.317, 0, 90, 0, [SEP] 23, DeskLamp, -2.459, 0.668, -0.532, 0, 90, 0, [SEP] 24, LightSwitch, -0.700, 1.016, 0.334, 0, 90, 0, [SEP] 25, GarbageCan, 1.343, 1.087, -3.374, 0, 0, 0, [SEP] 26, Mirror, 0.532, 1.419, 2.0, 0, 0, 0, [SEP] 27, Window, -0.834, 1.394, -3.653, 90, 0, 0, [SEP] 28, Window, 2.958, 1.508, -1.019, 90, 270, 0, [SEP] 29, Sofa, 2.383, 0.008, -0.288, 0, 270, 0, [SEP] 30, Safe, 2.721, 1.228, 1.784, 0, 270, 0, [SEP] 31, Drawer, 1.979, 0.486, -2.988, 0, 0, 0, [SEP] 32, Drawer, 1.979, 0.728, -2.988, 0, 0, 0, [SEP] 33, Drawer, 1.979, 0.208, -2.988, 0, 0, 0, [SEP] 34, Desk, 2.318, -0.009, -3.214, 0, 0, 0, [SEP] 35, Drawer, -2.349, 0.163, -3.150, 0, 90, 0, [SEP] 36, SideTable, -2.416, -0.001, -3.149, 0, 90, 0, [SEP] 37, Drawer, -2.349, 0.455, -3.150, 0, 90, 0, [SEP] 38, Drawer, 2.641, 0.172, 1.511, 0, 270, 0, [SEP] 39, Drawer, 2.641, 1.002, 1.511, 0, 270, 0, [SEP] 40, Drawer, 2.641, 0.448, 1.511, 0, 270, 0, [SEP] 41, Dresser, 2.676, 0.002, 1.511, 0, 270, 0, [SEP] 42, Drawer, 2.641, 0.725, 1.511, 0, 270, 0, [SEP] 43, SideTable, -2.416, -0.001, -0.514, 0, 90, 0, [SEP] 44, Drawer, -2.349, 0.163, -0.514, 0, 90, 0, [SEP] 45, Drawer, -2.349, 0.455, -0.514, 0, 90, 0, [SEP] 46, Blinds, -0.800, 2.087, -3.627, 0, 0, 0, [SEP] 47, Blinds, 2.931, 2.166, -1.0, 0, 270, 0, [SEP] 48, Chair, 2.574, 0.002, -2.881, 0, 175.162, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, move to the bed and go past the toy bear. | STEP 2: Pick up the near pillow. | STEP 3: Turn right, move to the night stand that is right of the bed. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190908_053153_077977-1", "input": "Examine the pillow in the light of the lamp on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 0.5, 0, 180, 0, [SEP] 1, Mug, 2.039, 0.894, -2.975, 0, 0, 0, 34 [SEP] 2, CellPhone, -1.025, 0.619, -2.261, 0, 0, 0, 21 [SEP] 3, CellPhone, -2.394, 0.680, -3.227, 0, 90, 0, 36 [SEP] 4, CreditCard, -2.394, 0.680, -0.668, 0, 90, 0, 43 [SEP] 5, KeyChain, 2.728, 0.896, -3.113, 0, 0, 0, 34 [SEP] 6, KeyChain, -2.530, 0.681, -0.359, 0, 270, 0, 43 [SEP] 7, Book, -1.591, 0.618, -2.261, 0, 0, 0, 21 [SEP] 8, CreditCard, -2.428, 0.374, -0.514, 0, 270, 0, 45 [SEP] 9, Pen, -2.575, 0.686, -0.668, 0, 90, 0, 43 [SEP] 10, Pencil, 2.384, 0.901, -3.182, 0, 0, 0, 34 [SEP] 11, TeddyBear, -0.667, 0.612, -1.364, 0, 81.467, 0, 21 [SEP] 12, Laptop, -0.742, 0.617, -2.061, 0, 0, 0, 21 [SEP] 13, AlarmClock, 2.638, 1.232, 1.397, 0, 270, 0, 41 [SEP] 14, CellPhone, 2.039, 0.896, -3.320, 0, 0, 0, 34 [SEP] 15, KeyChain, 2.735, 1.249, 1.825, 0, 0, 0, 30 [SEP] 16, Pillow, -2.124, 0.658, -1.522, 0, 28.296, 0, 21 [SEP] 17, Pillow, -2.378, 0.637, -2.330, 0, 0, 0, 21 [SEP] 18, CD, 1.344, 0.019, -3.310, 0, 0, 0, 25 [SEP] 19, Mug, 2.211, 0.894, -3.044, 0, 0, 0, 34 [SEP] 20, Bowl, 1.840, 0.889, -3.239, 0, 0, 0, 34 [SEP] 21, Bed, -1.613, -0.028, -1.861, 0, 270, 0, [SEP] 22, DeskLamp, 2.760, 0.890, -3.317, 0, 90, 0, [SEP] 23, DeskLamp, -2.459, 0.668, -0.532, 0, 90, 0, [SEP] 24, LightSwitch, -0.700, 1.016, 0.334, 0, 90, 0, [SEP] 25, GarbageCan, 1.343, 1.087, -3.374, 0, 0, 0, [SEP] 26, Mirror, 0.532, 1.419, 2.0, 0, 0, 0, [SEP] 27, Window, -0.834, 1.394, -3.653, 90, 0, 0, [SEP] 28, Window, 2.958, 1.508, -1.019, 90, 270, 0, [SEP] 29, Sofa, 2.383, 0.008, -0.288, 0, 270, 0, [SEP] 30, Safe, 2.721, 1.228, 1.784, 0, 270, 0, [SEP] 31, Drawer, 1.979, 0.486, -2.988, 0, 0, 0, [SEP] 32, Drawer, 1.979, 0.728, -2.988, 0, 0, 0, [SEP] 33, Drawer, 1.979, 0.208, -2.988, 0, 0, 0, [SEP] 34, Desk, 2.318, -0.009, -3.214, 0, 0, 0, [SEP] 35, Drawer, -2.349, 0.163, -3.150, 0, 90, 0, [SEP] 36, SideTable, -2.416, -0.001, -3.149, 0, 90, 0, [SEP] 37, Drawer, -2.349, 0.455, -3.150, 0, 90, 0, [SEP] 38, Drawer, 2.641, 0.172, 1.511, 0, 270, 0, [SEP] 39, Drawer, 2.641, 1.002, 1.511, 0, 270, 0, [SEP] 40, Drawer, 2.641, 0.448, 1.511, 0, 270, 0, [SEP] 41, Dresser, 2.676, 0.002, 1.511, 0, 270, 0, [SEP] 42, Drawer, 2.641, 0.725, 1.511, 0, 270, 0, [SEP] 43, SideTable, -2.416, -0.001, -0.514, 0, 90, 0, [SEP] 44, Drawer, -2.349, 0.163, -0.514, 0, 90, 0, [SEP] 45, Drawer, -2.349, 0.455, -0.514, 0, 90, 0, [SEP] 46, Blinds, -0.800, 2.087, -3.627, 0, 0, 0, [SEP] 47, Blinds, 2.931, 2.166, -1.0, 0, 270, 0, [SEP] 48, Chair, 2.574, 0.002, -2.881, 0, 175.162, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, head to the right side of the bed, turn left to face the pillow on the bed. | STEP 2: Pick up the pillow on the right side of the bed. | STEP 3: Turn right, bring the pillow to the lamp on the small table. | STEP 4: Turn on the lamp on the table. | END"]} +{"id": "trial_T20190908_053153_077977-2", "input": "Pick up a pillow and turn a lamp on. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 0.5, 0, 180, 0, [SEP] 1, Mug, 2.039, 0.894, -2.975, 0, 0, 0, 34 [SEP] 2, CellPhone, -1.025, 0.619, -2.261, 0, 0, 0, 21 [SEP] 3, CellPhone, -2.394, 0.680, -3.227, 0, 90, 0, 36 [SEP] 4, CreditCard, -2.394, 0.680, -0.668, 0, 90, 0, 43 [SEP] 5, KeyChain, 2.728, 0.896, -3.113, 0, 0, 0, 34 [SEP] 6, KeyChain, -2.530, 0.681, -0.359, 0, 270, 0, 43 [SEP] 7, Book, -1.591, 0.618, -2.261, 0, 0, 0, 21 [SEP] 8, CreditCard, -2.428, 0.374, -0.514, 0, 270, 0, 45 [SEP] 9, Pen, -2.575, 0.686, -0.668, 0, 90, 0, 43 [SEP] 10, Pencil, 2.384, 0.901, -3.182, 0, 0, 0, 34 [SEP] 11, TeddyBear, -0.667, 0.612, -1.364, 0, 81.467, 0, 21 [SEP] 12, Laptop, -0.742, 0.617, -2.061, 0, 0, 0, 21 [SEP] 13, AlarmClock, 2.638, 1.232, 1.397, 0, 270, 0, 41 [SEP] 14, CellPhone, 2.039, 0.896, -3.320, 0, 0, 0, 34 [SEP] 15, KeyChain, 2.735, 1.249, 1.825, 0, 0, 0, 30 [SEP] 16, Pillow, -2.124, 0.658, -1.522, 0, 28.296, 0, 21 [SEP] 17, Pillow, -2.378, 0.637, -2.330, 0, 0, 0, 21 [SEP] 18, CD, 1.344, 0.019, -3.310, 0, 0, 0, 25 [SEP] 19, Mug, 2.211, 0.894, -3.044, 0, 0, 0, 34 [SEP] 20, Bowl, 1.840, 0.889, -3.239, 0, 0, 0, 34 [SEP] 21, Bed, -1.613, -0.028, -1.861, 0, 270, 0, [SEP] 22, DeskLamp, 2.760, 0.890, -3.317, 0, 90, 0, [SEP] 23, DeskLamp, -2.459, 0.668, -0.532, 0, 90, 0, [SEP] 24, LightSwitch, -0.700, 1.016, 0.334, 0, 90, 0, [SEP] 25, GarbageCan, 1.343, 1.087, -3.374, 0, 0, 0, [SEP] 26, Mirror, 0.532, 1.419, 2.0, 0, 0, 0, [SEP] 27, Window, -0.834, 1.394, -3.653, 90, 0, 0, [SEP] 28, Window, 2.958, 1.508, -1.019, 90, 270, 0, [SEP] 29, Sofa, 2.383, 0.008, -0.288, 0, 270, 0, [SEP] 30, Safe, 2.721, 1.228, 1.784, 0, 270, 0, [SEP] 31, Drawer, 1.979, 0.486, -2.988, 0, 0, 0, [SEP] 32, Drawer, 1.979, 0.728, -2.988, 0, 0, 0, [SEP] 33, Drawer, 1.979, 0.208, -2.988, 0, 0, 0, [SEP] 34, Desk, 2.318, -0.009, -3.214, 0, 0, 0, [SEP] 35, Drawer, -2.349, 0.163, -3.150, 0, 90, 0, [SEP] 36, SideTable, -2.416, -0.001, -3.149, 0, 90, 0, [SEP] 37, Drawer, -2.349, 0.455, -3.150, 0, 90, 0, [SEP] 38, Drawer, 2.641, 0.172, 1.511, 0, 270, 0, [SEP] 39, Drawer, 2.641, 1.002, 1.511, 0, 270, 0, [SEP] 40, Drawer, 2.641, 0.448, 1.511, 0, 270, 0, [SEP] 41, Dresser, 2.676, 0.002, 1.511, 0, 270, 0, [SEP] 42, Drawer, 2.641, 0.725, 1.511, 0, 270, 0, [SEP] 43, SideTable, -2.416, -0.001, -0.514, 0, 90, 0, [SEP] 44, Drawer, -2.349, 0.163, -0.514, 0, 90, 0, [SEP] 45, Drawer, -2.349, 0.455, -0.514, 0, 90, 0, [SEP] 46, Blinds, -0.800, 2.087, -3.627, 0, 0, 0, [SEP] 47, Blinds, 2.931, 2.166, -1.0, 0, 270, 0, [SEP] 48, Chair, 2.574, 0.002, -2.881, 0, 175.162, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: Go right and then turn left to face the bed while standing in front of the night stand on the right of the bed. | STEP 2: Pick the closest pink pillow up from the bed. | STEP 3: Turn to the right and face the lamp on the table. | STEP 4: Turn the lamp on. | END"]} +{"id": "trial_T20190908_050518_595510-0", "input": "Put a roll of toilet paper on the toilet paper holder. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -0.5, 0, 270, 0, [SEP] 1, Cloth, -2.694, 0.997, -3.188, 0, 0, 0, 24 [SEP] 2, Cloth, -2.576, 0.362, -3.131, 0, 0, 0, 22 [SEP] 3, Candle, -0.162, 0.616, -3.181, 0, 90, 0, 36 [SEP] 4, Candle, -0.026, 1.043, -0.413, 0, 270, 0, 33 [SEP] 5, SprayBottle, -0.116, 1.162, -3.104, 0, 90, 0, 38 [SEP] 6, HandTowel, -0.038, 1.481, -1.549, 0, 90, 0, 28 [SEP] 7, HandTowel, -0.038, 1.481, -2.661, 0, 90, 0, 27 [SEP] 8, SoapBar, -0.138, 0.878, -3.471, 0, 90, 0, 37 [SEP] 9, ToiletPaper, -0.104, 1.035, -0.385, 0, 0, 0, 33 [SEP] 10, ToiletPaper, -0.138, 0.350, -3.399, 0, 90, 0, 35 [SEP] 11, Towel, -1.338, 1.193, -0.106, 0, 180, 0, 25 [SEP] 12, SoapBottle, -0.162, 0.619, -3.471, 0, 90, 0, 36 [SEP] 13, ScrubBrush, -0.136, -0.000, -0.105, 0, 0, 0, Floor|-01.15| [SEP] 14, Cloth, -2.587, 0.085, -0.391, 0, 90, 0, 30 [SEP] 15, Plunger, -0.370, -0.000, -0.097, 0, 0, 0, Floor|-01.15| [SEP] 16, Candle, -2.608, 0.356, -2.923, 0, 0, 0, 22 [SEP] 17, SprayBottle, -2.915, 0.993, -3.454, 0, 0, 0, 24 [SEP] 18, Bathtub, -2.104, 0.524, -0.828, 0, 0, 0, [SEP] 19, Faucet, -0.040, 1.017, -2.076, 0, 270, 0, [SEP] 20, Sink, -0.307, 0.0, -2.076, 0, 270, 0, [SEP] 21, Mirror, -2.983, 1.565, -2.900, 0, 0, 0, [SEP] 22, Shelf, -2.581, 0.395, -2.923, 0, 0, 0, [SEP] 23, Shelf, -2.539, 0.130, -2.923, 0, 0, 0, [SEP] 24, CounterTop, -2.704, 1.029, -2.923, 0, 0, 0, [SEP] 25, TowelHolder, -1.338, 1.179, 0.0, 0, 180, 0, [SEP] 26, LightSwitch, -0.363, 1.330, -3.999, 0, 0, 0, [SEP] 27, HandTowelHolder, 0.0, 1.582, -2.661, 0, 180, 0, [SEP] 28, HandTowelHolder, 0.0, 1.582, -1.549, 0, 180, 0, [SEP] 29, SinkBasin, -0.310, 0.859, -2.076, 0, 0, 0, [SEP] 30, BathtubBasin, -2.586, 0.071, -0.801, 0, 90, 0, [SEP] 31, ToiletPaperHanger, 0.0, 0.866, -0.968, 0, 270, 0, [SEP] 32, GarbageCan, -0.266, -0.034, -2.751, 0, 0, 0, [SEP] 33, Toilet, -0.411, -0.000, -0.547, 0, 0, 0, [SEP] 34, Drawer, -0.229, 0.161, -3.398, 0, 270, 0, [SEP] 35, Drawer, -0.229, 0.420, -3.398, 0, 270, 0, [SEP] 36, Drawer, -0.229, 0.680, -3.398, 0, 270, 0, [SEP] 37, Drawer, -0.229, 0.940, -3.398, 0, 270, 0, [SEP] 38, Dresser, -0.205, 0.000, -3.398, 0, 270, 0, [SEP] 39, ShowerHead, -2.579, 1.261, -0.064, 0, 270, 0, [SEP] 40, ShowerCurtain, -2.188, 1.915, -1.560, 0, 0, 0, [SEP] 41, EastWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , ", "output": ["STEP 1: Turn and go to the right side of the toilet. | STEP 2: Pick up the toilet paper on the back of the toilet. | STEP 3: Look down to the toilet paper holder. | STEP 4: Put the toilet paper on the holder. | END"]} +{"id": "trial_T20190908_050518_595510-1", "input": "Place toilet paper in a holder. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -0.5, 0, 270, 0, [SEP] 1, Cloth, -2.694, 0.997, -3.188, 0, 0, 0, 24 [SEP] 2, Cloth, -2.576, 0.362, -3.131, 0, 0, 0, 22 [SEP] 3, Candle, -0.162, 0.616, -3.181, 0, 90, 0, 36 [SEP] 4, Candle, -0.026, 1.043, -0.413, 0, 270, 0, 33 [SEP] 5, SprayBottle, -0.116, 1.162, -3.104, 0, 90, 0, 38 [SEP] 6, HandTowel, -0.038, 1.481, -1.549, 0, 90, 0, 28 [SEP] 7, HandTowel, -0.038, 1.481, -2.661, 0, 90, 0, 27 [SEP] 8, SoapBar, -0.138, 0.878, -3.471, 0, 90, 0, 37 [SEP] 9, ToiletPaper, -0.104, 1.035, -0.385, 0, 0, 0, 33 [SEP] 10, ToiletPaper, -0.138, 0.350, -3.399, 0, 90, 0, 35 [SEP] 11, Towel, -1.338, 1.193, -0.106, 0, 180, 0, 25 [SEP] 12, SoapBottle, -0.162, 0.619, -3.471, 0, 90, 0, 36 [SEP] 13, ScrubBrush, -0.136, -0.000, -0.105, 0, 0, 0, Floor|-01.15| [SEP] 14, Cloth, -2.587, 0.085, -0.391, 0, 90, 0, 30 [SEP] 15, Plunger, -0.370, -0.000, -0.097, 0, 0, 0, Floor|-01.15| [SEP] 16, Candle, -2.608, 0.356, -2.923, 0, 0, 0, 22 [SEP] 17, SprayBottle, -2.915, 0.993, -3.454, 0, 0, 0, 24 [SEP] 18, Bathtub, -2.104, 0.524, -0.828, 0, 0, 0, [SEP] 19, Faucet, -0.040, 1.017, -2.076, 0, 270, 0, [SEP] 20, Sink, -0.307, 0.0, -2.076, 0, 270, 0, [SEP] 21, Mirror, -2.983, 1.565, -2.900, 0, 0, 0, [SEP] 22, Shelf, -2.581, 0.395, -2.923, 0, 0, 0, [SEP] 23, Shelf, -2.539, 0.130, -2.923, 0, 0, 0, [SEP] 24, CounterTop, -2.704, 1.029, -2.923, 0, 0, 0, [SEP] 25, TowelHolder, -1.338, 1.179, 0.0, 0, 180, 0, [SEP] 26, LightSwitch, -0.363, 1.330, -3.999, 0, 0, 0, [SEP] 27, HandTowelHolder, 0.0, 1.582, -2.661, 0, 180, 0, [SEP] 28, HandTowelHolder, 0.0, 1.582, -1.549, 0, 180, 0, [SEP] 29, SinkBasin, -0.310, 0.859, -2.076, 0, 0, 0, [SEP] 30, BathtubBasin, -2.586, 0.071, -0.801, 0, 90, 0, [SEP] 31, ToiletPaperHanger, 0.0, 0.866, -0.968, 0, 270, 0, [SEP] 32, GarbageCan, -0.266, -0.034, -2.751, 0, 0, 0, [SEP] 33, Toilet, -0.411, -0.000, -0.547, 0, 0, 0, [SEP] 34, Drawer, -0.229, 0.161, -3.398, 0, 270, 0, [SEP] 35, Drawer, -0.229, 0.420, -3.398, 0, 270, 0, [SEP] 36, Drawer, -0.229, 0.680, -3.398, 0, 270, 0, [SEP] 37, Drawer, -0.229, 0.940, -3.398, 0, 270, 0, [SEP] 38, Dresser, -0.205, 0.000, -3.398, 0, 270, 0, [SEP] 39, ShowerHead, -2.579, 1.261, -0.064, 0, 270, 0, [SEP] 40, ShowerCurtain, -2.188, 1.915, -1.560, 0, 0, 0, [SEP] 41, EastWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , ", "output": ["STEP 1: Walk to the toilet on its right side. | STEP 2: Grab the toilet paper off the toilet. | STEP 3: Locate the toilet paper holder next to the toilet. | STEP 4: Put the paper in the holder. | END"]} +{"id": "trial_T20190908_050518_595510-2", "input": "Place a roll of toilet paper on a toilet paper holder. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -0.5, 0, 270, 0, [SEP] 1, Cloth, -2.694, 0.997, -3.188, 0, 0, 0, 24 [SEP] 2, Cloth, -2.576, 0.362, -3.131, 0, 0, 0, 22 [SEP] 3, Candle, -0.162, 0.616, -3.181, 0, 90, 0, 36 [SEP] 4, Candle, -0.026, 1.043, -0.413, 0, 270, 0, 33 [SEP] 5, SprayBottle, -0.116, 1.162, -3.104, 0, 90, 0, 38 [SEP] 6, HandTowel, -0.038, 1.481, -1.549, 0, 90, 0, 28 [SEP] 7, HandTowel, -0.038, 1.481, -2.661, 0, 90, 0, 27 [SEP] 8, SoapBar, -0.138, 0.878, -3.471, 0, 90, 0, 37 [SEP] 9, ToiletPaper, -0.104, 1.035, -0.385, 0, 0, 0, 33 [SEP] 10, ToiletPaper, -0.138, 0.350, -3.399, 0, 90, 0, 35 [SEP] 11, Towel, -1.338, 1.193, -0.106, 0, 180, 0, 25 [SEP] 12, SoapBottle, -0.162, 0.619, -3.471, 0, 90, 0, 36 [SEP] 13, ScrubBrush, -0.136, -0.000, -0.105, 0, 0, 0, Floor|-01.15| [SEP] 14, Cloth, -2.587, 0.085, -0.391, 0, 90, 0, 30 [SEP] 15, Plunger, -0.370, -0.000, -0.097, 0, 0, 0, Floor|-01.15| [SEP] 16, Candle, -2.608, 0.356, -2.923, 0, 0, 0, 22 [SEP] 17, SprayBottle, -2.915, 0.993, -3.454, 0, 0, 0, 24 [SEP] 18, Bathtub, -2.104, 0.524, -0.828, 0, 0, 0, [SEP] 19, Faucet, -0.040, 1.017, -2.076, 0, 270, 0, [SEP] 20, Sink, -0.307, 0.0, -2.076, 0, 270, 0, [SEP] 21, Mirror, -2.983, 1.565, -2.900, 0, 0, 0, [SEP] 22, Shelf, -2.581, 0.395, -2.923, 0, 0, 0, [SEP] 23, Shelf, -2.539, 0.130, -2.923, 0, 0, 0, [SEP] 24, CounterTop, -2.704, 1.029, -2.923, 0, 0, 0, [SEP] 25, TowelHolder, -1.338, 1.179, 0.0, 0, 180, 0, [SEP] 26, LightSwitch, -0.363, 1.330, -3.999, 0, 0, 0, [SEP] 27, HandTowelHolder, 0.0, 1.582, -2.661, 0, 180, 0, [SEP] 28, HandTowelHolder, 0.0, 1.582, -1.549, 0, 180, 0, [SEP] 29, SinkBasin, -0.310, 0.859, -2.076, 0, 0, 0, [SEP] 30, BathtubBasin, -2.586, 0.071, -0.801, 0, 90, 0, [SEP] 31, ToiletPaperHanger, 0.0, 0.866, -0.968, 0, 270, 0, [SEP] 32, GarbageCan, -0.266, -0.034, -2.751, 0, 0, 0, [SEP] 33, Toilet, -0.411, -0.000, -0.547, 0, 0, 0, [SEP] 34, Drawer, -0.229, 0.161, -3.398, 0, 270, 0, [SEP] 35, Drawer, -0.229, 0.420, -3.398, 0, 270, 0, [SEP] 36, Drawer, -0.229, 0.680, -3.398, 0, 270, 0, [SEP] 37, Drawer, -0.229, 0.940, -3.398, 0, 270, 0, [SEP] 38, Dresser, -0.205, 0.000, -3.398, 0, 270, 0, [SEP] 39, ShowerHead, -2.579, 1.261, -0.064, 0, 270, 0, [SEP] 40, ShowerCurtain, -2.188, 1.915, -1.560, 0, 0, 0, [SEP] 41, EastWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and head to the toilet paper holder that is hanging on the wall to the right of the toilet, then turn left to face the side of the toilet | STEP 2: Pick up the roll of toilet paper that is sitting on the back of the toilet | STEP 3: Continue to stand facing the side of the toilet but focus your line of view back on the toilet paper holder | STEP 4: Place the roll of toilet paper on the toilet paper holder | END"]} +{"id": "trial_T20190909_030908_402835-0", "input": "pick up keys, turn on lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.902, 1.0, 0, 270, 0, [SEP] 1, CreditCard, -1.685, 0.452, 3.910, 0, 0, 0, 67 [SEP] 2, RemoteControl, -0.565, 0.693, 5.965, 0, 315, 0, 48 [SEP] 3, RemoteControl, -2.106, 0.454, 3.771, 0, 0, 0, 67 [SEP] 4, Laptop, -3.483, 0.392, 4.415, 0, 90, 0, 57 [SEP] 5, Laptop, -2.011, 0.653, -2.074, 0, 0, 0, 54 [SEP] 6, Box, -0.847, 1.032, 1.690, 0, 0, 0, 33 [SEP] 7, Vase, -0.129, 0.701, 5.321, 0, 315, 0, 48 [SEP] 8, CellPhone, -1.093, 0.745, 1.202, 0, 0, 0, 33 [SEP] 9, WateringCan, -3.580, 0.003, 5.507, 2.684, 0, 0, Floor|-04.41| [SEP] 10, KeyChain, -0.600, 0.693, 5.930, 0, 315, 0, 48 [SEP] 11, Vase, -4.242, 0.789, 1.181, 0, 0, 0, 26 [SEP] 12, Vase, -0.108, 0.747, 1.593, 0, 0, 0, 33 [SEP] 13, Laptop, -1.556, 0.653, -2.202, 0, 0, 0, 54 [SEP] 14, Pillow, -3.587, 0.643, 5.016, 317.310, 0, 0, 57 [SEP] 15, RemoteControl, -0.355, 0.742, 1.593, 0, 0, 0, 33 [SEP] 16, CreditCard, -1.545, 0.452, 4.048, 0, 0, 0, 67 [SEP] 17, Vase, -4.225, 0.789, 0.382, 0, 0, 0, 26 [SEP] 18, Statue, -1.685, 0.454, 4.187, 0, 270, 0, 67 [SEP] 19, Statue, -2.106, 0.462, 4.187, 0, 0, 0, 67 [SEP] 20, Statue, -1.825, 0.554, 4.602, 0, 0, 0, 67 [SEP] 21, Shelf, -4.253, 2.157, 0.771, 0, 0, 0, [SEP] 22, Painting, -3.368, 1.741, -0.298, 0, 0, 0, [SEP] 23, Shelf, -4.253, 1.306, 0.771, 0, 0, 0, [SEP] 24, Painting, -1.756, 1.424, -3.595, 0, 0, 0, [SEP] 25, Shelf, -4.253, 1.690, 0.771, 0, 0, 0, [SEP] 26, Shelf, -4.261, 0.833, 0.771, 0, 0, 0, [SEP] 27, Drawer, 0.411, 0.581, 1.221, 0, 180, 0, [SEP] 28, Drawer, -0.000, 0.170, 1.221, 0, 180, 0, [SEP] 29, Drawer, -0.000, 0.581, 1.221, 0, 180, 0, [SEP] 30, Drawer, 0.411, 0.375, 1.221, 0, 180, 0, [SEP] 31, Drawer, 0.411, 0.170, 1.221, 0, 180, 0, [SEP] 32, Drawer, -0.000, 0.375, 1.221, 0, 180, 0, [SEP] 33, Desk, -0.352, 0.003, 1.371, 0, 180, 0, [SEP] 34, FloorLamp, 0.391, -0.001, 5.157, 0, 0, 0, [SEP] 35, Window, -2.828, 0.470, -0.157, 90, 199.328, 0, [SEP] 36, Window, -4.410, 1.702, 1.787, 90, 270, 0, [SEP] 37, Window, -3.638, 1.702, 6.735, 90, 0, 0, [SEP] 38, Window, -4.410, 1.702, 2.790, 90, 270, 0, [SEP] 39, Window, -2.827, 1.702, -0.157, 90, 199.328, 0, [SEP] 40, Window, -0.131, 1.702, 6.735, 90, 0, 0, [SEP] 41, Window, -1.013, 1.702, -0.154, 90, 159.633, 0, [SEP] 42, Window, -4.410, 1.702, 5.980, 90, 270, 0, [SEP] 43, Television, -0.153, 1.176, 5.790, 0, 225, 0, [SEP] 44, GarbageCan, 0.357, 0.003, 2.159, 0, 90, 0, [SEP] 45, DeskLamp, 0.277, 0.735, 1.381, 0, 0, 0, [SEP] 46, HousePlant, -1.819, 0.641, -2.011, 0, 315, 0, [SEP] 47, LightSwitch, -2.740, 1.495, -0.405, 0, 180, 0, [SEP] 48, TVStand, -0.118, 0.001, 5.874, 0, 45, 0, [SEP] 49, Chair, -1.353, 0.002, -2.872, 0, 349.207, 0, [SEP] 50, Chair, -2.220, 0.002, -1.298, 0, 168.118, 0, [SEP] 51, Chair, -1.515, 0.007, -1.331, 358.639, 187.454, 0, [SEP] 52, Chair, -2.189, 0.002, -2.835, 0, 2.328, 0, [SEP] 53, Safe, 0.174, 0.001, -0.071, 0, 323.940, 0, [SEP] 54, DiningTable, -1.783, 0.003, -2.039, 0, 0, 0, [SEP] 55, Chair, -0.636, 0.010, 0.993, 0, 358.396, 0, [SEP] 56, Sofa, -2.161, 0.006, 6.115, 0, 180, 0, [SEP] 57, Sofa, -3.782, 0.006, 4.153, 0, 90, 0, [SEP] 58, Shelf, -1.095, 0.607, 1.321, 0, 180, 0, [SEP] 59, Shelf, -1.267, 0.607, 1.321, 0, 180, 0, [SEP] 60, Shelf, -1.267, 0.401, 1.321, 0, 180, 0, [SEP] 61, Shelf, -1.095, 0.196, 1.320, 0, 180, 0, [SEP] 62, Shelf, -1.095, 0.401, 1.321, 0, 180, 0, [SEP] 63, Shelf, -1.267, 0.196, 1.320, 0, 180, 0, [SEP] 64, ArmChair, -2.628, 0.009, 2.421, 0, 0, 0, [SEP] 65, Chair, -0.485, 0.010, 4.452, 0, 270, 0, [SEP] 66, Chair, -0.431, 0.010, 3.595, 0, 270, 0, [SEP] 67, CoffeeTable, -1.965, 0.000, 4.187, 0, 0, 0, [SEP] 68, NorthWall, , , , , , , [SEP] 69, EastWall, , , , , , , [SEP] 70, SouthWall, , , , , , , [SEP] 71, WestWall, , , , , , , ", "output": ["STEP 1: turn right, go to black table with television to the right | STEP 2: pick up keys in front of remote from black table with television | STEP 3: turn right, go to lamp to the right of black table with television | STEP 4: turn on lamp to the right of television | END"]} +{"id": "trial_T20190909_030908_402835-1", "input": "Look at a set of keys under a lit tall lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.902, 1.0, 0, 270, 0, [SEP] 1, CreditCard, -1.685, 0.452, 3.910, 0, 0, 0, 67 [SEP] 2, RemoteControl, -0.565, 0.693, 5.965, 0, 315, 0, 48 [SEP] 3, RemoteControl, -2.106, 0.454, 3.771, 0, 0, 0, 67 [SEP] 4, Laptop, -3.483, 0.392, 4.415, 0, 90, 0, 57 [SEP] 5, Laptop, -2.011, 0.653, -2.074, 0, 0, 0, 54 [SEP] 6, Box, -0.847, 1.032, 1.690, 0, 0, 0, 33 [SEP] 7, Vase, -0.129, 0.701, 5.321, 0, 315, 0, 48 [SEP] 8, CellPhone, -1.093, 0.745, 1.202, 0, 0, 0, 33 [SEP] 9, WateringCan, -3.580, 0.003, 5.507, 2.684, 0, 0, Floor|-04.41| [SEP] 10, KeyChain, -0.600, 0.693, 5.930, 0, 315, 0, 48 [SEP] 11, Vase, -4.242, 0.789, 1.181, 0, 0, 0, 26 [SEP] 12, Vase, -0.108, 0.747, 1.593, 0, 0, 0, 33 [SEP] 13, Laptop, -1.556, 0.653, -2.202, 0, 0, 0, 54 [SEP] 14, Pillow, -3.587, 0.643, 5.016, 317.310, 0, 0, 57 [SEP] 15, RemoteControl, -0.355, 0.742, 1.593, 0, 0, 0, 33 [SEP] 16, CreditCard, -1.545, 0.452, 4.048, 0, 0, 0, 67 [SEP] 17, Vase, -4.225, 0.789, 0.382, 0, 0, 0, 26 [SEP] 18, Statue, -1.685, 0.454, 4.187, 0, 270, 0, 67 [SEP] 19, Statue, -2.106, 0.462, 4.187, 0, 0, 0, 67 [SEP] 20, Statue, -1.825, 0.554, 4.602, 0, 0, 0, 67 [SEP] 21, Shelf, -4.253, 2.157, 0.771, 0, 0, 0, [SEP] 22, Painting, -3.368, 1.741, -0.298, 0, 0, 0, [SEP] 23, Shelf, -4.253, 1.306, 0.771, 0, 0, 0, [SEP] 24, Painting, -1.756, 1.424, -3.595, 0, 0, 0, [SEP] 25, Shelf, -4.253, 1.690, 0.771, 0, 0, 0, [SEP] 26, Shelf, -4.261, 0.833, 0.771, 0, 0, 0, [SEP] 27, Drawer, 0.411, 0.581, 1.221, 0, 180, 0, [SEP] 28, Drawer, -0.000, 0.170, 1.221, 0, 180, 0, [SEP] 29, Drawer, -0.000, 0.581, 1.221, 0, 180, 0, [SEP] 30, Drawer, 0.411, 0.375, 1.221, 0, 180, 0, [SEP] 31, Drawer, 0.411, 0.170, 1.221, 0, 180, 0, [SEP] 32, Drawer, -0.000, 0.375, 1.221, 0, 180, 0, [SEP] 33, Desk, -0.352, 0.003, 1.371, 0, 180, 0, [SEP] 34, FloorLamp, 0.391, -0.001, 5.157, 0, 0, 0, [SEP] 35, Window, -2.828, 0.470, -0.157, 90, 199.328, 0, [SEP] 36, Window, -4.410, 1.702, 1.787, 90, 270, 0, [SEP] 37, Window, -3.638, 1.702, 6.735, 90, 0, 0, [SEP] 38, Window, -4.410, 1.702, 2.790, 90, 270, 0, [SEP] 39, Window, -2.827, 1.702, -0.157, 90, 199.328, 0, [SEP] 40, Window, -0.131, 1.702, 6.735, 90, 0, 0, [SEP] 41, Window, -1.013, 1.702, -0.154, 90, 159.633, 0, [SEP] 42, Window, -4.410, 1.702, 5.980, 90, 270, 0, [SEP] 43, Television, -0.153, 1.176, 5.790, 0, 225, 0, [SEP] 44, GarbageCan, 0.357, 0.003, 2.159, 0, 90, 0, [SEP] 45, DeskLamp, 0.277, 0.735, 1.381, 0, 0, 0, [SEP] 46, HousePlant, -1.819, 0.641, -2.011, 0, 315, 0, [SEP] 47, LightSwitch, -2.740, 1.495, -0.405, 0, 180, 0, [SEP] 48, TVStand, -0.118, 0.001, 5.874, 0, 45, 0, [SEP] 49, Chair, -1.353, 0.002, -2.872, 0, 349.207, 0, [SEP] 50, Chair, -2.220, 0.002, -1.298, 0, 168.118, 0, [SEP] 51, Chair, -1.515, 0.007, -1.331, 358.639, 187.454, 0, [SEP] 52, Chair, -2.189, 0.002, -2.835, 0, 2.328, 0, [SEP] 53, Safe, 0.174, 0.001, -0.071, 0, 323.940, 0, [SEP] 54, DiningTable, -1.783, 0.003, -2.039, 0, 0, 0, [SEP] 55, Chair, -0.636, 0.010, 0.993, 0, 358.396, 0, [SEP] 56, Sofa, -2.161, 0.006, 6.115, 0, 180, 0, [SEP] 57, Sofa, -3.782, 0.006, 4.153, 0, 90, 0, [SEP] 58, Shelf, -1.095, 0.607, 1.321, 0, 180, 0, [SEP] 59, Shelf, -1.267, 0.607, 1.321, 0, 180, 0, [SEP] 60, Shelf, -1.267, 0.401, 1.321, 0, 180, 0, [SEP] 61, Shelf, -1.095, 0.196, 1.320, 0, 180, 0, [SEP] 62, Shelf, -1.095, 0.401, 1.321, 0, 180, 0, [SEP] 63, Shelf, -1.267, 0.196, 1.320, 0, 180, 0, [SEP] 64, ArmChair, -2.628, 0.009, 2.421, 0, 0, 0, [SEP] 65, Chair, -0.485, 0.010, 4.452, 0, 270, 0, [SEP] 66, Chair, -0.431, 0.010, 3.595, 0, 270, 0, [SEP] 67, CoffeeTable, -1.965, 0.000, 4.187, 0, 0, 0, [SEP] 68, NorthWall, , , , , , , [SEP] 69, EastWall, , , , , , , [SEP] 70, SouthWall, , , , , , , [SEP] 71, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk forwards, then make a left at the desk to reach the TV set in the corner of the room. | STEP 2: Pick up the keys from the TV console. | STEP 3: Walk to face the tall lamp on the right of the TV set. | STEP 4: Turn on the tall lamp next to the TV set. | END"]} +{"id": "trial_T20190909_030908_402835-2", "input": "Turn on the living room lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.902, 1.0, 0, 270, 0, [SEP] 1, CreditCard, -1.685, 0.452, 3.910, 0, 0, 0, 67 [SEP] 2, RemoteControl, -0.565, 0.693, 5.965, 0, 315, 0, 48 [SEP] 3, RemoteControl, -2.106, 0.454, 3.771, 0, 0, 0, 67 [SEP] 4, Laptop, -3.483, 0.392, 4.415, 0, 90, 0, 57 [SEP] 5, Laptop, -2.011, 0.653, -2.074, 0, 0, 0, 54 [SEP] 6, Box, -0.847, 1.032, 1.690, 0, 0, 0, 33 [SEP] 7, Vase, -0.129, 0.701, 5.321, 0, 315, 0, 48 [SEP] 8, CellPhone, -1.093, 0.745, 1.202, 0, 0, 0, 33 [SEP] 9, WateringCan, -3.580, 0.003, 5.507, 2.684, 0, 0, Floor|-04.41| [SEP] 10, KeyChain, -0.600, 0.693, 5.930, 0, 315, 0, 48 [SEP] 11, Vase, -4.242, 0.789, 1.181, 0, 0, 0, 26 [SEP] 12, Vase, -0.108, 0.747, 1.593, 0, 0, 0, 33 [SEP] 13, Laptop, -1.556, 0.653, -2.202, 0, 0, 0, 54 [SEP] 14, Pillow, -3.587, 0.643, 5.016, 317.310, 0, 0, 57 [SEP] 15, RemoteControl, -0.355, 0.742, 1.593, 0, 0, 0, 33 [SEP] 16, CreditCard, -1.545, 0.452, 4.048, 0, 0, 0, 67 [SEP] 17, Vase, -4.225, 0.789, 0.382, 0, 0, 0, 26 [SEP] 18, Statue, -1.685, 0.454, 4.187, 0, 270, 0, 67 [SEP] 19, Statue, -2.106, 0.462, 4.187, 0, 0, 0, 67 [SEP] 20, Statue, -1.825, 0.554, 4.602, 0, 0, 0, 67 [SEP] 21, Shelf, -4.253, 2.157, 0.771, 0, 0, 0, [SEP] 22, Painting, -3.368, 1.741, -0.298, 0, 0, 0, [SEP] 23, Shelf, -4.253, 1.306, 0.771, 0, 0, 0, [SEP] 24, Painting, -1.756, 1.424, -3.595, 0, 0, 0, [SEP] 25, Shelf, -4.253, 1.690, 0.771, 0, 0, 0, [SEP] 26, Shelf, -4.261, 0.833, 0.771, 0, 0, 0, [SEP] 27, Drawer, 0.411, 0.581, 1.221, 0, 180, 0, [SEP] 28, Drawer, -0.000, 0.170, 1.221, 0, 180, 0, [SEP] 29, Drawer, -0.000, 0.581, 1.221, 0, 180, 0, [SEP] 30, Drawer, 0.411, 0.375, 1.221, 0, 180, 0, [SEP] 31, Drawer, 0.411, 0.170, 1.221, 0, 180, 0, [SEP] 32, Drawer, -0.000, 0.375, 1.221, 0, 180, 0, [SEP] 33, Desk, -0.352, 0.003, 1.371, 0, 180, 0, [SEP] 34, FloorLamp, 0.391, -0.001, 5.157, 0, 0, 0, [SEP] 35, Window, -2.828, 0.470, -0.157, 90, 199.328, 0, [SEP] 36, Window, -4.410, 1.702, 1.787, 90, 270, 0, [SEP] 37, Window, -3.638, 1.702, 6.735, 90, 0, 0, [SEP] 38, Window, -4.410, 1.702, 2.790, 90, 270, 0, [SEP] 39, Window, -2.827, 1.702, -0.157, 90, 199.328, 0, [SEP] 40, Window, -0.131, 1.702, 6.735, 90, 0, 0, [SEP] 41, Window, -1.013, 1.702, -0.154, 90, 159.633, 0, [SEP] 42, Window, -4.410, 1.702, 5.980, 90, 270, 0, [SEP] 43, Television, -0.153, 1.176, 5.790, 0, 225, 0, [SEP] 44, GarbageCan, 0.357, 0.003, 2.159, 0, 90, 0, [SEP] 45, DeskLamp, 0.277, 0.735, 1.381, 0, 0, 0, [SEP] 46, HousePlant, -1.819, 0.641, -2.011, 0, 315, 0, [SEP] 47, LightSwitch, -2.740, 1.495, -0.405, 0, 180, 0, [SEP] 48, TVStand, -0.118, 0.001, 5.874, 0, 45, 0, [SEP] 49, Chair, -1.353, 0.002, -2.872, 0, 349.207, 0, [SEP] 50, Chair, -2.220, 0.002, -1.298, 0, 168.118, 0, [SEP] 51, Chair, -1.515, 0.007, -1.331, 358.639, 187.454, 0, [SEP] 52, Chair, -2.189, 0.002, -2.835, 0, 2.328, 0, [SEP] 53, Safe, 0.174, 0.001, -0.071, 0, 323.940, 0, [SEP] 54, DiningTable, -1.783, 0.003, -2.039, 0, 0, 0, [SEP] 55, Chair, -0.636, 0.010, 0.993, 0, 358.396, 0, [SEP] 56, Sofa, -2.161, 0.006, 6.115, 0, 180, 0, [SEP] 57, Sofa, -3.782, 0.006, 4.153, 0, 90, 0, [SEP] 58, Shelf, -1.095, 0.607, 1.321, 0, 180, 0, [SEP] 59, Shelf, -1.267, 0.607, 1.321, 0, 180, 0, [SEP] 60, Shelf, -1.267, 0.401, 1.321, 0, 180, 0, [SEP] 61, Shelf, -1.095, 0.196, 1.320, 0, 180, 0, [SEP] 62, Shelf, -1.095, 0.401, 1.321, 0, 180, 0, [SEP] 63, Shelf, -1.267, 0.196, 1.320, 0, 180, 0, [SEP] 64, ArmChair, -2.628, 0.009, 2.421, 0, 0, 0, [SEP] 65, Chair, -0.485, 0.010, 4.452, 0, 270, 0, [SEP] 66, Chair, -0.431, 0.010, 3.595, 0, 270, 0, [SEP] 67, CoffeeTable, -1.965, 0.000, 4.187, 0, 0, 0, [SEP] 68, NorthWall, , , , , , , [SEP] 69, EastWall, , , , , , , [SEP] 70, SouthWall, , , , , , , [SEP] 71, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your right and go between the grey chair and the black desk to the TV stand across the room, in the right corner of the room. | STEP 2: Pick up the keys, in front of the remote, on the TV stand. | STEP 3: Turn around and go between the red chairs and the TV stand to your left. | STEP 4: Turn on the lamp, in the corner, to your left. | END"]} +{"id": "trial_T20190909_121908_219603-0", "input": "Place a clean ladle on a counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 0.25, 0, 0, 0, [SEP] 1, SprayBottle, 0.927, 0.910, -0.990, 0, 0, 0, 78 [SEP] 2, Pen, -2.079, 0.913, 0.377, 0, 0, 0, 74 [SEP] 3, Potato, -1.835, 0.952, 0.549, 0, 0, 0, 74 [SEP] 4, Potato, -2.445, 0.952, 0.377, 0, 0, 0, 74 [SEP] 5, DishSponge, -0.342, 0.116, -1.586, 0, 0, 0, 58 [SEP] 6, Glassbottle, 1.275, 1.368, 1.976, 0, 270, 0, 91 [SEP] 7, Fork, 0.115, 0.920, -1.758, 0, 270, 0, 51 [SEP] 8, Pot, 1.092, 0.120, 0.372, 0, 0, 0, 55 [SEP] 9, Pot, -1.431, 0.949, -1.81, 0, 0, 0, 82 [SEP] 10, Egg, 0.285, 0.948, -1.859, 0, 270, 0, 51 [SEP] 11, Cup, 1.275, 1.367, 2.476, 0, 270, 0, 91 [SEP] 12, SoapBottle, 1.302, 0.214, 1.022, 0, 0, 0, 89 [SEP] 13, Bowl, 0.977, 0.115, -1.129, 0, 0, 0, 57 [SEP] 14, PepperShaker, -1.481, 1.853, -1.874, 0, 0, 0, 65 [SEP] 15, SaltShaker, -1.809, 0.905, -1.965, 0, 0, 0, 70 [SEP] 16, SaltShaker, -1.168, 1.845, -1.949, 0, 0, 0, 52 [SEP] 17, Lettuce, -2.323, 0.979, 0.118, 0, 0, 0, 74 [SEP] 18, Lettuce, 1.343, 0.980, -0.65, 0, 0, 0, 72 [SEP] 19, Mug, -0.133, 0.109, -1.536, 0, 90, 0, 69 [SEP] 20, Mug, 1.476, 1.362, 1.850, 0, 270, 0, 91 [SEP] 21, Apple, 1.420, 1.754, 1.650, 0, 270, 0, 91 [SEP] 22, Apple, 0.149, 0.954, -1.657, 0, 270, 0, 51 [SEP] 23, Tomato, 1.388, 1.760, 1.901, 0, 270, 0, 91 [SEP] 24, Glassbottle, 1.376, 1.368, 2.351, 0, 270, 0, 91 [SEP] 25, Knife, 0.949, 0.804, -1.068, 0, 270, 0, 50 [SEP] 26, Plate, 0.200, 1.656, -1.839, 0, 0, 0, 62 [SEP] 27, Fork, 1.533, 1.162, -1.345, 0, 90, 0, 78 [SEP] 28, Ladle, -1.957, 0.954, 0.032, 0, 0, 0, 74 [SEP] 29, Potato, 1.375, 1.203, 0.370, 0, 90, 0, 78 [SEP] 30, Lettuce, 1.325, 1.436, 1.851, 0, 270, 0, 91 [SEP] 31, Kettle, -1.431, 0.949, -1.525, 0, 0, 0, 80 [SEP] 32, Pen, 1.454, 1.164, -1.002, 0, 0, 0, 78 [SEP] 33, SaltShaker, -2.323, 0.905, 0.291, 0, 0, 0, 74 [SEP] 34, Cup, 1.335, 1.162, -1.688, 0, 0, 0, 78 [SEP] 35, Egg, -2.193, 0.939, -1.879, 0, 0, 0, 70 [SEP] 36, Spatula, -1.957, 0.925, 0.204, 0, 180, 0, 74 [SEP] 37, Bowl, 0.589, 0.117, -1.633, 0, 90, 0, 66 [SEP] 38, SprayBottle, -1.809, 0.909, -1.707, 0, 0, 0, 70 [SEP] 39, Pan, -1.079, 0.945, -1.528, 0, 0, 0, 73 [SEP] 40, SoapBottle, 1.401, 1.655, -0.736, 0, 0, 0, 60 [SEP] 41, Pot, -1.081, 0.949, -1.81, 0, 0, 0, 68 [SEP] 42, ButterKnife, 0.320, 0.919, -1.758, 0, 270, 0, 51 [SEP] 43, PepperShaker, -1.886, 0.905, -1.793, 0, 0, 0, 70 [SEP] 44, DishSponge, -0.652, 0.111, -1.681, 0, 0, 0, 59 [SEP] 45, Bread, -0.552, 0.989, -1.534, 0, 0, 0, 72 [SEP] 46, Apple, 1.454, 1.196, -1.345, 0, 0, 0, 78 [SEP] 47, Spoon, 1.035, 0.774, 0.377, 0, 0, 0, 49 [SEP] 48, Mug, -1.732, 0.905, -1.534, 0, 0, 0, 70 [SEP] 49, Drawer, 0.860, 0.75, 0.430, 0, 0, 0, [SEP] 50, Drawer, 0.871, 0.75, -1.134, 0, 0, 0, [SEP] 51, Sink, 0.156, 0.817, -1.801, 0, 270, 0, [SEP] 52, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0, [SEP] 53, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0, [SEP] 54, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0, [SEP] 55, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0, [SEP] 56, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0, [SEP] 57, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0, [SEP] 58, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0, [SEP] 59, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0, [SEP] 60, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0, [SEP] 61, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0, [SEP] 62, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0, [SEP] 63, Drawer, 0.860, 0.75, -0.699, 0, 0, 0, [SEP] 64, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0, [SEP] 65, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0, [SEP] 66, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0, [SEP] 67, Drawer, -2.105, 0.75, -1.389, 0, 0, 0, [SEP] 68, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0, [SEP] 69, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0, [SEP] 70, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0, [SEP] 71, Drawer, -0.375, 0.75, -1.389, 0, 0, 0, [SEP] 72, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0, [SEP] 73, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0, [SEP] 74, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0, [SEP] 75, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0, [SEP] 76, Drawer, 0.584, 0.75, -1.389, 0, 0, 0, [SEP] 77, Drawer, -1.795, 0.75, -1.389, 0, 0, 0, [SEP] 78, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0, [SEP] 79, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0, [SEP] 80, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0, [SEP] 81, Drawer, -0.685, 0.75, -1.389, 0, 0, 0, [SEP] 82, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0, [SEP] 83, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0, [SEP] 84, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0, [SEP] 85, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0, [SEP] 86, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0, [SEP] 87, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0, [SEP] 88, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0, [SEP] 89, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0, [SEP] 90, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0, [SEP] 91, Fridge, 1.417, 0.0, 2.101, 0, 0, 0, [SEP] 92, Window, -0.486, 1.452, 3.302, 90, 0, 0, [SEP] 93, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0, [SEP] 94, Microwave, 1.422, 1.150, 0.022, 0, 270, 0, [SEP] 95, Toaster, -2.066, 0.900, -1.848, 0, 0, 0, [SEP] 96, Stool, -1.994, 0.010, 0.882, 0, 0, 0, [SEP] 97, Faucet, -0.096, 1.041, -1.867, 0, 270, 0, [SEP] 98, NorthWall, , , , , , , [SEP] 99, EastWall, , , , , , , [SEP] 100, SouthWall, , , , , , , [SEP] 101, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the counter, then walk to the left side and face it. | STEP 2: Pick up the ladle on the counter. | STEP 3: Turn right and walk to the sink. | STEP 4: Wash the ladle in the sink. | STEP 5: Turn left and walk to the counter. | STEP 6: Place the ladle on the counter to the right of the spray bottle. | END"]} +{"id": "trial_T20190909_121908_219603-1", "input": "Put a clean ice cream scoop on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 0.25, 0, 0, 0, [SEP] 1, SprayBottle, 0.927, 0.910, -0.990, 0, 0, 0, 78 [SEP] 2, Pen, -2.079, 0.913, 0.377, 0, 0, 0, 74 [SEP] 3, Potato, -1.835, 0.952, 0.549, 0, 0, 0, 74 [SEP] 4, Potato, -2.445, 0.952, 0.377, 0, 0, 0, 74 [SEP] 5, DishSponge, -0.342, 0.116, -1.586, 0, 0, 0, 58 [SEP] 6, Glassbottle, 1.275, 1.368, 1.976, 0, 270, 0, 91 [SEP] 7, Fork, 0.115, 0.920, -1.758, 0, 270, 0, 51 [SEP] 8, Pot, 1.092, 0.120, 0.372, 0, 0, 0, 55 [SEP] 9, Pot, -1.431, 0.949, -1.81, 0, 0, 0, 82 [SEP] 10, Egg, 0.285, 0.948, -1.859, 0, 270, 0, 51 [SEP] 11, Cup, 1.275, 1.367, 2.476, 0, 270, 0, 91 [SEP] 12, SoapBottle, 1.302, 0.214, 1.022, 0, 0, 0, 89 [SEP] 13, Bowl, 0.977, 0.115, -1.129, 0, 0, 0, 57 [SEP] 14, PepperShaker, -1.481, 1.853, -1.874, 0, 0, 0, 65 [SEP] 15, SaltShaker, -1.809, 0.905, -1.965, 0, 0, 0, 70 [SEP] 16, SaltShaker, -1.168, 1.845, -1.949, 0, 0, 0, 52 [SEP] 17, Lettuce, -2.323, 0.979, 0.118, 0, 0, 0, 74 [SEP] 18, Lettuce, 1.343, 0.980, -0.65, 0, 0, 0, 72 [SEP] 19, Mug, -0.133, 0.109, -1.536, 0, 90, 0, 69 [SEP] 20, Mug, 1.476, 1.362, 1.850, 0, 270, 0, 91 [SEP] 21, Apple, 1.420, 1.754, 1.650, 0, 270, 0, 91 [SEP] 22, Apple, 0.149, 0.954, -1.657, 0, 270, 0, 51 [SEP] 23, Tomato, 1.388, 1.760, 1.901, 0, 270, 0, 91 [SEP] 24, Glassbottle, 1.376, 1.368, 2.351, 0, 270, 0, 91 [SEP] 25, Knife, 0.949, 0.804, -1.068, 0, 270, 0, 50 [SEP] 26, Plate, 0.200, 1.656, -1.839, 0, 0, 0, 62 [SEP] 27, Fork, 1.533, 1.162, -1.345, 0, 90, 0, 78 [SEP] 28, Ladle, -1.957, 0.954, 0.032, 0, 0, 0, 74 [SEP] 29, Potato, 1.375, 1.203, 0.370, 0, 90, 0, 78 [SEP] 30, Lettuce, 1.325, 1.436, 1.851, 0, 270, 0, 91 [SEP] 31, Kettle, -1.431, 0.949, -1.525, 0, 0, 0, 80 [SEP] 32, Pen, 1.454, 1.164, -1.002, 0, 0, 0, 78 [SEP] 33, SaltShaker, -2.323, 0.905, 0.291, 0, 0, 0, 74 [SEP] 34, Cup, 1.335, 1.162, -1.688, 0, 0, 0, 78 [SEP] 35, Egg, -2.193, 0.939, -1.879, 0, 0, 0, 70 [SEP] 36, Spatula, -1.957, 0.925, 0.204, 0, 180, 0, 74 [SEP] 37, Bowl, 0.589, 0.117, -1.633, 0, 90, 0, 66 [SEP] 38, SprayBottle, -1.809, 0.909, -1.707, 0, 0, 0, 70 [SEP] 39, Pan, -1.079, 0.945, -1.528, 0, 0, 0, 73 [SEP] 40, SoapBottle, 1.401, 1.655, -0.736, 0, 0, 0, 60 [SEP] 41, Pot, -1.081, 0.949, -1.81, 0, 0, 0, 68 [SEP] 42, ButterKnife, 0.320, 0.919, -1.758, 0, 270, 0, 51 [SEP] 43, PepperShaker, -1.886, 0.905, -1.793, 0, 0, 0, 70 [SEP] 44, DishSponge, -0.652, 0.111, -1.681, 0, 0, 0, 59 [SEP] 45, Bread, -0.552, 0.989, -1.534, 0, 0, 0, 72 [SEP] 46, Apple, 1.454, 1.196, -1.345, 0, 0, 0, 78 [SEP] 47, Spoon, 1.035, 0.774, 0.377, 0, 0, 0, 49 [SEP] 48, Mug, -1.732, 0.905, -1.534, 0, 0, 0, 70 [SEP] 49, Drawer, 0.860, 0.75, 0.430, 0, 0, 0, [SEP] 50, Drawer, 0.871, 0.75, -1.134, 0, 0, 0, [SEP] 51, Sink, 0.156, 0.817, -1.801, 0, 270, 0, [SEP] 52, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0, [SEP] 53, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0, [SEP] 54, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0, [SEP] 55, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0, [SEP] 56, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0, [SEP] 57, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0, [SEP] 58, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0, [SEP] 59, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0, [SEP] 60, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0, [SEP] 61, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0, [SEP] 62, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0, [SEP] 63, Drawer, 0.860, 0.75, -0.699, 0, 0, 0, [SEP] 64, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0, [SEP] 65, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0, [SEP] 66, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0, [SEP] 67, Drawer, -2.105, 0.75, -1.389, 0, 0, 0, [SEP] 68, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0, [SEP] 69, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0, [SEP] 70, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0, [SEP] 71, Drawer, -0.375, 0.75, -1.389, 0, 0, 0, [SEP] 72, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0, [SEP] 73, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0, [SEP] 74, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0, [SEP] 75, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0, [SEP] 76, Drawer, 0.584, 0.75, -1.389, 0, 0, 0, [SEP] 77, Drawer, -1.795, 0.75, -1.389, 0, 0, 0, [SEP] 78, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0, [SEP] 79, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0, [SEP] 80, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0, [SEP] 81, Drawer, -0.685, 0.75, -1.389, 0, 0, 0, [SEP] 82, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0, [SEP] 83, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0, [SEP] 84, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0, [SEP] 85, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0, [SEP] 86, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0, [SEP] 87, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0, [SEP] 88, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0, [SEP] 89, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0, [SEP] 90, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0, [SEP] 91, Fridge, 1.417, 0.0, 2.101, 0, 0, 0, [SEP] 92, Window, -0.486, 1.452, 3.302, 90, 0, 0, [SEP] 93, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0, [SEP] 94, Microwave, 1.422, 1.150, 0.022, 0, 270, 0, [SEP] 95, Toaster, -2.066, 0.900, -1.848, 0, 0, 0, [SEP] 96, Stool, -1.994, 0.010, 0.882, 0, 0, 0, [SEP] 97, Faucet, -0.096, 1.041, -1.867, 0, 270, 0, [SEP] 98, NorthWall, , , , , , , [SEP] 99, EastWall, , , , , , , [SEP] 100, SouthWall, , , , , , , [SEP] 101, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the counter then move to your left until you're past the counter and walk to the lip of the wall in front of you and turn right. | STEP 2: Pick up the ice cream scoop that's in front of you. | STEP 3: Turn right and walk to the sink that's on your right and stand in front of it facing it. | STEP 4: Wash the ice cream scoop in the sink and then pick it back up and shut off the water. | STEP 5: Turn left and walk to the counter. | STEP 6: Put the scoop to the right of the blue spray bottle. | END"]} +{"id": "trial_T20190909_121908_219603-2", "input": "put washed ladle on counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 0.25, 0, 0, 0, [SEP] 1, SprayBottle, 0.927, 0.910, -0.990, 0, 0, 0, 78 [SEP] 2, Pen, -2.079, 0.913, 0.377, 0, 0, 0, 74 [SEP] 3, Potato, -1.835, 0.952, 0.549, 0, 0, 0, 74 [SEP] 4, Potato, -2.445, 0.952, 0.377, 0, 0, 0, 74 [SEP] 5, DishSponge, -0.342, 0.116, -1.586, 0, 0, 0, 58 [SEP] 6, Glassbottle, 1.275, 1.368, 1.976, 0, 270, 0, 91 [SEP] 7, Fork, 0.115, 0.920, -1.758, 0, 270, 0, 51 [SEP] 8, Pot, 1.092, 0.120, 0.372, 0, 0, 0, 55 [SEP] 9, Pot, -1.431, 0.949, -1.81, 0, 0, 0, 82 [SEP] 10, Egg, 0.285, 0.948, -1.859, 0, 270, 0, 51 [SEP] 11, Cup, 1.275, 1.367, 2.476, 0, 270, 0, 91 [SEP] 12, SoapBottle, 1.302, 0.214, 1.022, 0, 0, 0, 89 [SEP] 13, Bowl, 0.977, 0.115, -1.129, 0, 0, 0, 57 [SEP] 14, PepperShaker, -1.481, 1.853, -1.874, 0, 0, 0, 65 [SEP] 15, SaltShaker, -1.809, 0.905, -1.965, 0, 0, 0, 70 [SEP] 16, SaltShaker, -1.168, 1.845, -1.949, 0, 0, 0, 52 [SEP] 17, Lettuce, -2.323, 0.979, 0.118, 0, 0, 0, 74 [SEP] 18, Lettuce, 1.343, 0.980, -0.65, 0, 0, 0, 72 [SEP] 19, Mug, -0.133, 0.109, -1.536, 0, 90, 0, 69 [SEP] 20, Mug, 1.476, 1.362, 1.850, 0, 270, 0, 91 [SEP] 21, Apple, 1.420, 1.754, 1.650, 0, 270, 0, 91 [SEP] 22, Apple, 0.149, 0.954, -1.657, 0, 270, 0, 51 [SEP] 23, Tomato, 1.388, 1.760, 1.901, 0, 270, 0, 91 [SEP] 24, Glassbottle, 1.376, 1.368, 2.351, 0, 270, 0, 91 [SEP] 25, Knife, 0.949, 0.804, -1.068, 0, 270, 0, 50 [SEP] 26, Plate, 0.200, 1.656, -1.839, 0, 0, 0, 62 [SEP] 27, Fork, 1.533, 1.162, -1.345, 0, 90, 0, 78 [SEP] 28, Ladle, -1.957, 0.954, 0.032, 0, 0, 0, 74 [SEP] 29, Potato, 1.375, 1.203, 0.370, 0, 90, 0, 78 [SEP] 30, Lettuce, 1.325, 1.436, 1.851, 0, 270, 0, 91 [SEP] 31, Kettle, -1.431, 0.949, -1.525, 0, 0, 0, 80 [SEP] 32, Pen, 1.454, 1.164, -1.002, 0, 0, 0, 78 [SEP] 33, SaltShaker, -2.323, 0.905, 0.291, 0, 0, 0, 74 [SEP] 34, Cup, 1.335, 1.162, -1.688, 0, 0, 0, 78 [SEP] 35, Egg, -2.193, 0.939, -1.879, 0, 0, 0, 70 [SEP] 36, Spatula, -1.957, 0.925, 0.204, 0, 180, 0, 74 [SEP] 37, Bowl, 0.589, 0.117, -1.633, 0, 90, 0, 66 [SEP] 38, SprayBottle, -1.809, 0.909, -1.707, 0, 0, 0, 70 [SEP] 39, Pan, -1.079, 0.945, -1.528, 0, 0, 0, 73 [SEP] 40, SoapBottle, 1.401, 1.655, -0.736, 0, 0, 0, 60 [SEP] 41, Pot, -1.081, 0.949, -1.81, 0, 0, 0, 68 [SEP] 42, ButterKnife, 0.320, 0.919, -1.758, 0, 270, 0, 51 [SEP] 43, PepperShaker, -1.886, 0.905, -1.793, 0, 0, 0, 70 [SEP] 44, DishSponge, -0.652, 0.111, -1.681, 0, 0, 0, 59 [SEP] 45, Bread, -0.552, 0.989, -1.534, 0, 0, 0, 72 [SEP] 46, Apple, 1.454, 1.196, -1.345, 0, 0, 0, 78 [SEP] 47, Spoon, 1.035, 0.774, 0.377, 0, 0, 0, 49 [SEP] 48, Mug, -1.732, 0.905, -1.534, 0, 0, 0, 70 [SEP] 49, Drawer, 0.860, 0.75, 0.430, 0, 0, 0, [SEP] 50, Drawer, 0.871, 0.75, -1.134, 0, 0, 0, [SEP] 51, Sink, 0.156, 0.817, -1.801, 0, 270, 0, [SEP] 52, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0, [SEP] 53, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0, [SEP] 54, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0, [SEP] 55, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0, [SEP] 56, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0, [SEP] 57, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0, [SEP] 58, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0, [SEP] 59, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0, [SEP] 60, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0, [SEP] 61, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0, [SEP] 62, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0, [SEP] 63, Drawer, 0.860, 0.75, -0.699, 0, 0, 0, [SEP] 64, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0, [SEP] 65, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0, [SEP] 66, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0, [SEP] 67, Drawer, -2.105, 0.75, -1.389, 0, 0, 0, [SEP] 68, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0, [SEP] 69, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0, [SEP] 70, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0, [SEP] 71, Drawer, -0.375, 0.75, -1.389, 0, 0, 0, [SEP] 72, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0, [SEP] 73, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0, [SEP] 74, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0, [SEP] 75, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0, [SEP] 76, Drawer, 0.584, 0.75, -1.389, 0, 0, 0, [SEP] 77, Drawer, -1.795, 0.75, -1.389, 0, 0, 0, [SEP] 78, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0, [SEP] 79, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0, [SEP] 80, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0, [SEP] 81, Drawer, -0.685, 0.75, -1.389, 0, 0, 0, [SEP] 82, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0, [SEP] 83, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0, [SEP] 84, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0, [SEP] 85, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0, [SEP] 86, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0, [SEP] 87, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0, [SEP] 88, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0, [SEP] 89, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0, [SEP] 90, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0, [SEP] 91, Fridge, 1.417, 0.0, 2.101, 0, 0, 0, [SEP] 92, Window, -0.486, 1.452, 3.302, 90, 0, 0, [SEP] 93, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0, [SEP] 94, Microwave, 1.422, 1.150, 0.022, 0, 270, 0, [SEP] 95, Toaster, -2.066, 0.900, -1.848, 0, 0, 0, [SEP] 96, Stool, -1.994, 0.010, 0.882, 0, 0, 0, [SEP] 97, Faucet, -0.096, 1.041, -1.867, 0, 270, 0, [SEP] 98, NorthWall, , , , , , , [SEP] 99, EastWall, , , , , , , [SEP] 100, SouthWall, , , , , , , [SEP] 101, WestWall, , , , , , , ", "output": ["STEP 1: walk to face small table | STEP 2: pick up ladle from table | STEP 3: walk to face sink | STEP 4: wash and remove ladle from sink | STEP 5: walk to face counter with spray bottle | STEP 6: put ladle on counter | END"]} +{"id": "trial_T20190906_180021_201134-0", "input": "Put a cut apple in a pot. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 1.0, 0, 90, 0, [SEP] 1, DishSponge, -1.948, 0.487, 0.613, 0, 0, 0, 49 [SEP] 2, DishSponge, -1.642, 0.931, 0.428, 0, 0, 0, 70 [SEP] 3, ButterKnife, -2.388, 1.124, 0.190, 0, 0, 0, 58 [SEP] 4, ButterKnife, -0.771, 1.124, 0.659, 0, 0, 0, 60 [SEP] 5, Pot, -3.000, 1.133, 0.227, 0, 270, 0, 62 [SEP] 6, Pot, -0.785, 1.052, 2.593, 0, 0, 0, 48 [SEP] 7, Fork, -2.388, 1.125, 0.473, 0, 0, 0, 58 [SEP] 8, SoapBottle, -0.538, 1.048, 2.144, 0, 0, 0, 48 [SEP] 9, SoapBottle, -1.562, 0.049, 0.325, 0, 0, 0, 63 [SEP] 10, Tomato, -3.506, 1.601, 2.991, 0, 90, 0, 65 [SEP] 11, Bowl, -1.156, 0.047, 0.551, 0, 0, 0, 52 [SEP] 12, Bowl, -0.538, 1.044, 2.593, 0, 0, 0, 48 [SEP] 13, SaltShaker, -0.168, 1.044, 2.369, 0, 0, 0, 48 [SEP] 14, PepperShaker, -0.715, 1.121, 0.387, 0, 0, 0, 60 [SEP] 15, Bread, -0.168, 1.133, 2.144, 0, 0, 0, 48 [SEP] 16, Lettuce, -0.662, 1.124, 3.266, 0, 0, 0, 48 [SEP] 17, Lettuce, -3.373, 1.637, 3.132, 0, 90, 0, 65 [SEP] 18, Mug, -0.908, 1.043, 3.266, 0, 0, 0, 48 [SEP] 19, Apple, -0.785, 1.114, 1.920, 0, 0, 0, 48 [SEP] 20, Apple, -1.288, 0.998, 0.567, 0, 0, 0, 70 [SEP] 21, Fork, -0.292, 1.047, 1.920, 0, 0, 0, 48 [SEP] 22, SoapBottle, -0.785, 1.047, 3.266, 0, 0, 0, 48 [SEP] 23, Pot, -3.475, 1.133, 0.48, 0, 90, 0, 46 [SEP] 24, Ladle, -0.662, 1.086, 1.920, 0, 0, 0, 48 [SEP] 25, Potato, -3.44, 0.942, 3.203, 0, 90, 0, 65 [SEP] 26, Plate, -1.601, 0.047, 0.551, 0, 0, 0, 63 [SEP] 27, Bread, -3.373, 0.998, 3.061, 0, 90, 0, 65 [SEP] 28, Lettuce, -3.506, 1.639, 2.849, 0, 90, 0, 65 [SEP] 29, Spatula, -1.288, 0.946, 0.290, 0, 90, 0, 70 [SEP] 30, Pan, -0.266, 1.038, 2.561, 0, 0, 0, 48 [SEP] 31, Egg, -3.572, 0.942, 3.061, 0, 90, 0, 65 [SEP] 32, Cup, -0.203, 1.226, 0.443, 0, 0, 0, 71 [SEP] 33, SaltShaker, -2.184, 0.484, 0.545, 0, 0, 0, 49 [SEP] 34, Knife, -1.376, 0.963, 0.290, 0, 90, 0, 70 [SEP] 35, Bowl, -2.262, 1.122, 0.473, 0, 0, 0, 58 [SEP] 36, PepperShaker, -1.948, 0.091, 0.512, 0, 0, 0, 50 [SEP] 37, ButterKnife, -0.538, 1.048, 3.266, 0, 0, 0, 48 [SEP] 38, Apple, -0.415, 1.295, 0.443, 0, 0, 0, 71 [SEP] 39, Tomato, -3.778, 1.165, 0.662, 0, 0, 0, 55 [SEP] 40, DishSponge, -3.814, 1.124, 0.284, 0, 0, 0, 55 [SEP] 41, Spoon, -0.662, 1.048, 3.042, 0, 0, 0, 48 [SEP] 42, Mug, -0.662, 1.043, 2.817, 0, 0, 0, 48 [SEP] 43, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 44, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 45, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 46, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 47, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 48, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 49, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 50, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 51, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 52, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 53, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 54, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 55, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 56, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 57, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 58, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 59, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 60, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 61, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 62, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 63, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 64, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 65, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 66, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 67, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 68, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 69, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 70, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 71, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 72, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 73, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 74, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 75, NorthWall, , , , , , , [SEP] 76, SouthWall, , , , , , , [SEP] 77, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and face the stove. | STEP 2: Pick up the pot on the right burner. | STEP 3: Turn left and walk to the counter to the left of the sink. | STEP 4: Place the pot on the counter to the right of and behind the salt shaker. | STEP 5: Step right and walk to the sink. | STEP 6: Take the apple out of the sink. | STEP 7: Step left to where the pot now is. | STEP 8: Put the apple in the pot. | STEP 9: Go back to the sink. | STEP 10: Pick up the knife. | STEP 11: Walk back to the counter where the pot is and put the apple in the pot. | STEP 12: Cut the apple in the pot. | END"]} +{"id": "trial_T20190906_180021_201134-1", "input": "Cut the apple in the pot in half with a knife. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 1.0, 0, 90, 0, [SEP] 1, DishSponge, -1.948, 0.487, 0.613, 0, 0, 0, 49 [SEP] 2, DishSponge, -1.642, 0.931, 0.428, 0, 0, 0, 70 [SEP] 3, ButterKnife, -2.388, 1.124, 0.190, 0, 0, 0, 58 [SEP] 4, ButterKnife, -0.771, 1.124, 0.659, 0, 0, 0, 60 [SEP] 5, Pot, -3.000, 1.133, 0.227, 0, 270, 0, 62 [SEP] 6, Pot, -0.785, 1.052, 2.593, 0, 0, 0, 48 [SEP] 7, Fork, -2.388, 1.125, 0.473, 0, 0, 0, 58 [SEP] 8, SoapBottle, -0.538, 1.048, 2.144, 0, 0, 0, 48 [SEP] 9, SoapBottle, -1.562, 0.049, 0.325, 0, 0, 0, 63 [SEP] 10, Tomato, -3.506, 1.601, 2.991, 0, 90, 0, 65 [SEP] 11, Bowl, -1.156, 0.047, 0.551, 0, 0, 0, 52 [SEP] 12, Bowl, -0.538, 1.044, 2.593, 0, 0, 0, 48 [SEP] 13, SaltShaker, -0.168, 1.044, 2.369, 0, 0, 0, 48 [SEP] 14, PepperShaker, -0.715, 1.121, 0.387, 0, 0, 0, 60 [SEP] 15, Bread, -0.168, 1.133, 2.144, 0, 0, 0, 48 [SEP] 16, Lettuce, -0.662, 1.124, 3.266, 0, 0, 0, 48 [SEP] 17, Lettuce, -3.373, 1.637, 3.132, 0, 90, 0, 65 [SEP] 18, Mug, -0.908, 1.043, 3.266, 0, 0, 0, 48 [SEP] 19, Apple, -0.785, 1.114, 1.920, 0, 0, 0, 48 [SEP] 20, Apple, -1.288, 0.998, 0.567, 0, 0, 0, 70 [SEP] 21, Fork, -0.292, 1.047, 1.920, 0, 0, 0, 48 [SEP] 22, SoapBottle, -0.785, 1.047, 3.266, 0, 0, 0, 48 [SEP] 23, Pot, -3.475, 1.133, 0.48, 0, 90, 0, 46 [SEP] 24, Ladle, -0.662, 1.086, 1.920, 0, 0, 0, 48 [SEP] 25, Potato, -3.44, 0.942, 3.203, 0, 90, 0, 65 [SEP] 26, Plate, -1.601, 0.047, 0.551, 0, 0, 0, 63 [SEP] 27, Bread, -3.373, 0.998, 3.061, 0, 90, 0, 65 [SEP] 28, Lettuce, -3.506, 1.639, 2.849, 0, 90, 0, 65 [SEP] 29, Spatula, -1.288, 0.946, 0.290, 0, 90, 0, 70 [SEP] 30, Pan, -0.266, 1.038, 2.561, 0, 0, 0, 48 [SEP] 31, Egg, -3.572, 0.942, 3.061, 0, 90, 0, 65 [SEP] 32, Cup, -0.203, 1.226, 0.443, 0, 0, 0, 71 [SEP] 33, SaltShaker, -2.184, 0.484, 0.545, 0, 0, 0, 49 [SEP] 34, Knife, -1.376, 0.963, 0.290, 0, 90, 0, 70 [SEP] 35, Bowl, -2.262, 1.122, 0.473, 0, 0, 0, 58 [SEP] 36, PepperShaker, -1.948, 0.091, 0.512, 0, 0, 0, 50 [SEP] 37, ButterKnife, -0.538, 1.048, 3.266, 0, 0, 0, 48 [SEP] 38, Apple, -0.415, 1.295, 0.443, 0, 0, 0, 71 [SEP] 39, Tomato, -3.778, 1.165, 0.662, 0, 0, 0, 55 [SEP] 40, DishSponge, -3.814, 1.124, 0.284, 0, 0, 0, 55 [SEP] 41, Spoon, -0.662, 1.048, 3.042, 0, 0, 0, 48 [SEP] 42, Mug, -0.662, 1.043, 2.817, 0, 0, 0, 48 [SEP] 43, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 44, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 45, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 46, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 47, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 48, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 49, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 50, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 51, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 52, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 53, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 54, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 55, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 56, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 57, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 58, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 59, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 60, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 61, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 62, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 63, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 64, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 65, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 66, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 67, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 68, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 69, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 70, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 71, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 72, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 73, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 74, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 75, NorthWall, , , , , , , [SEP] 76, SouthWall, , , , , , , [SEP] 77, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and walk forward, then face the stove to your left. | STEP 2: Pick up the pot on the bottom right burner. | STEP 3: Turn left and walk forward, then face the counter to the left of the sink. | STEP 4: Place the pot on the counter behind the salt. | STEP 5: Turn right, then face the sink to your left. | STEP 6: Pick up the apple that is in the sink. | STEP 7: Turn left and carry the apple to the counter to your right. | STEP 8: Place the apple in the pot that is on the counter. | STEP 9: Turn right and go back to the sink. | STEP 10: Pick up the knife that is next to the turner in the sink. | STEP 11: Turn left and go back to face the counter. | STEP 12: Use the knife to cut the apple in the pot in half. | END"]} +{"id": "trial_T20190906_180021_201134-2", "input": "Cut an apple inside a pot. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 1.0, 0, 90, 0, [SEP] 1, DishSponge, -1.948, 0.487, 0.613, 0, 0, 0, 49 [SEP] 2, DishSponge, -1.642, 0.931, 0.428, 0, 0, 0, 70 [SEP] 3, ButterKnife, -2.388, 1.124, 0.190, 0, 0, 0, 58 [SEP] 4, ButterKnife, -0.771, 1.124, 0.659, 0, 0, 0, 60 [SEP] 5, Pot, -3.000, 1.133, 0.227, 0, 270, 0, 62 [SEP] 6, Pot, -0.785, 1.052, 2.593, 0, 0, 0, 48 [SEP] 7, Fork, -2.388, 1.125, 0.473, 0, 0, 0, 58 [SEP] 8, SoapBottle, -0.538, 1.048, 2.144, 0, 0, 0, 48 [SEP] 9, SoapBottle, -1.562, 0.049, 0.325, 0, 0, 0, 63 [SEP] 10, Tomato, -3.506, 1.601, 2.991, 0, 90, 0, 65 [SEP] 11, Bowl, -1.156, 0.047, 0.551, 0, 0, 0, 52 [SEP] 12, Bowl, -0.538, 1.044, 2.593, 0, 0, 0, 48 [SEP] 13, SaltShaker, -0.168, 1.044, 2.369, 0, 0, 0, 48 [SEP] 14, PepperShaker, -0.715, 1.121, 0.387, 0, 0, 0, 60 [SEP] 15, Bread, -0.168, 1.133, 2.144, 0, 0, 0, 48 [SEP] 16, Lettuce, -0.662, 1.124, 3.266, 0, 0, 0, 48 [SEP] 17, Lettuce, -3.373, 1.637, 3.132, 0, 90, 0, 65 [SEP] 18, Mug, -0.908, 1.043, 3.266, 0, 0, 0, 48 [SEP] 19, Apple, -0.785, 1.114, 1.920, 0, 0, 0, 48 [SEP] 20, Apple, -1.288, 0.998, 0.567, 0, 0, 0, 70 [SEP] 21, Fork, -0.292, 1.047, 1.920, 0, 0, 0, 48 [SEP] 22, SoapBottle, -0.785, 1.047, 3.266, 0, 0, 0, 48 [SEP] 23, Pot, -3.475, 1.133, 0.48, 0, 90, 0, 46 [SEP] 24, Ladle, -0.662, 1.086, 1.920, 0, 0, 0, 48 [SEP] 25, Potato, -3.44, 0.942, 3.203, 0, 90, 0, 65 [SEP] 26, Plate, -1.601, 0.047, 0.551, 0, 0, 0, 63 [SEP] 27, Bread, -3.373, 0.998, 3.061, 0, 90, 0, 65 [SEP] 28, Lettuce, -3.506, 1.639, 2.849, 0, 90, 0, 65 [SEP] 29, Spatula, -1.288, 0.946, 0.290, 0, 90, 0, 70 [SEP] 30, Pan, -0.266, 1.038, 2.561, 0, 0, 0, 48 [SEP] 31, Egg, -3.572, 0.942, 3.061, 0, 90, 0, 65 [SEP] 32, Cup, -0.203, 1.226, 0.443, 0, 0, 0, 71 [SEP] 33, SaltShaker, -2.184, 0.484, 0.545, 0, 0, 0, 49 [SEP] 34, Knife, -1.376, 0.963, 0.290, 0, 90, 0, 70 [SEP] 35, Bowl, -2.262, 1.122, 0.473, 0, 0, 0, 58 [SEP] 36, PepperShaker, -1.948, 0.091, 0.512, 0, 0, 0, 50 [SEP] 37, ButterKnife, -0.538, 1.048, 3.266, 0, 0, 0, 48 [SEP] 38, Apple, -0.415, 1.295, 0.443, 0, 0, 0, 71 [SEP] 39, Tomato, -3.778, 1.165, 0.662, 0, 0, 0, 55 [SEP] 40, DishSponge, -3.814, 1.124, 0.284, 0, 0, 0, 55 [SEP] 41, Spoon, -0.662, 1.048, 3.042, 0, 0, 0, 48 [SEP] 42, Mug, -0.662, 1.043, 2.817, 0, 0, 0, 48 [SEP] 43, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 44, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 45, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 46, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 47, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 48, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 49, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 50, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 51, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 52, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 53, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 54, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 55, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 56, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 57, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 58, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 59, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 60, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 61, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 62, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 63, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 64, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 65, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 66, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 67, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 68, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 69, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 70, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 71, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 72, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 73, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 74, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 75, NorthWall, , , , , , , [SEP] 76, SouthWall, , , , , , , [SEP] 77, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the front of the stove. | STEP 2: Pick up the pot on the front burner. | STEP 3: Turn left to go to the sink and turn towards it | STEP 4: Place the pot on the counter on the left of the sink. | STEP 5: Turn right to go to the sink and turn towards it. | STEP 6: Pick up the apple inside the sink. | STEP 7: Move over left to the pot on the counter. | STEP 8: Place the apple inside the pot on the counter. | STEP 9: Move to the right to the sink. | STEP 10: Pick up the knife inside the sink. | STEP 11: Move back left to the pot on the counter. | STEP 12: Cut the apple inside the pot. | END"]} +{"id": "trial_T20190906_180021_201134-3", "input": "place a knife with an apple inside a pot SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 1.0, 0, 90, 0, [SEP] 1, DishSponge, -1.948, 0.487, 0.613, 0, 0, 0, 49 [SEP] 2, DishSponge, -1.642, 0.931, 0.428, 0, 0, 0, 70 [SEP] 3, ButterKnife, -2.388, 1.124, 0.190, 0, 0, 0, 58 [SEP] 4, ButterKnife, -0.771, 1.124, 0.659, 0, 0, 0, 60 [SEP] 5, Pot, -3.000, 1.133, 0.227, 0, 270, 0, 62 [SEP] 6, Pot, -0.785, 1.052, 2.593, 0, 0, 0, 48 [SEP] 7, Fork, -2.388, 1.125, 0.473, 0, 0, 0, 58 [SEP] 8, SoapBottle, -0.538, 1.048, 2.144, 0, 0, 0, 48 [SEP] 9, SoapBottle, -1.562, 0.049, 0.325, 0, 0, 0, 63 [SEP] 10, Tomato, -3.506, 1.601, 2.991, 0, 90, 0, 65 [SEP] 11, Bowl, -1.156, 0.047, 0.551, 0, 0, 0, 52 [SEP] 12, Bowl, -0.538, 1.044, 2.593, 0, 0, 0, 48 [SEP] 13, SaltShaker, -0.168, 1.044, 2.369, 0, 0, 0, 48 [SEP] 14, PepperShaker, -0.715, 1.121, 0.387, 0, 0, 0, 60 [SEP] 15, Bread, -0.168, 1.133, 2.144, 0, 0, 0, 48 [SEP] 16, Lettuce, -0.662, 1.124, 3.266, 0, 0, 0, 48 [SEP] 17, Lettuce, -3.373, 1.637, 3.132, 0, 90, 0, 65 [SEP] 18, Mug, -0.908, 1.043, 3.266, 0, 0, 0, 48 [SEP] 19, Apple, -0.785, 1.114, 1.920, 0, 0, 0, 48 [SEP] 20, Apple, -1.288, 0.998, 0.567, 0, 0, 0, 70 [SEP] 21, Fork, -0.292, 1.047, 1.920, 0, 0, 0, 48 [SEP] 22, SoapBottle, -0.785, 1.047, 3.266, 0, 0, 0, 48 [SEP] 23, Pot, -3.475, 1.133, 0.48, 0, 90, 0, 46 [SEP] 24, Ladle, -0.662, 1.086, 1.920, 0, 0, 0, 48 [SEP] 25, Potato, -3.44, 0.942, 3.203, 0, 90, 0, 65 [SEP] 26, Plate, -1.601, 0.047, 0.551, 0, 0, 0, 63 [SEP] 27, Bread, -3.373, 0.998, 3.061, 0, 90, 0, 65 [SEP] 28, Lettuce, -3.506, 1.639, 2.849, 0, 90, 0, 65 [SEP] 29, Spatula, -1.288, 0.946, 0.290, 0, 90, 0, 70 [SEP] 30, Pan, -0.266, 1.038, 2.561, 0, 0, 0, 48 [SEP] 31, Egg, -3.572, 0.942, 3.061, 0, 90, 0, 65 [SEP] 32, Cup, -0.203, 1.226, 0.443, 0, 0, 0, 71 [SEP] 33, SaltShaker, -2.184, 0.484, 0.545, 0, 0, 0, 49 [SEP] 34, Knife, -1.376, 0.963, 0.290, 0, 90, 0, 70 [SEP] 35, Bowl, -2.262, 1.122, 0.473, 0, 0, 0, 58 [SEP] 36, PepperShaker, -1.948, 0.091, 0.512, 0, 0, 0, 50 [SEP] 37, ButterKnife, -0.538, 1.048, 3.266, 0, 0, 0, 48 [SEP] 38, Apple, -0.415, 1.295, 0.443, 0, 0, 0, 71 [SEP] 39, Tomato, -3.778, 1.165, 0.662, 0, 0, 0, 55 [SEP] 40, DishSponge, -3.814, 1.124, 0.284, 0, 0, 0, 55 [SEP] 41, Spoon, -0.662, 1.048, 3.042, 0, 0, 0, 48 [SEP] 42, Mug, -0.662, 1.043, 2.817, 0, 0, 0, 48 [SEP] 43, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 44, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 45, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 46, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 47, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 48, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 49, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 50, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 51, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 52, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 53, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 54, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 55, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 56, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 57, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 58, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 59, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 60, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 61, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 62, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 63, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 64, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 65, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 66, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 67, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 68, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 69, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 70, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 71, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 72, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 73, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 74, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 75, NorthWall, , , , , , , [SEP] 76, SouthWall, , , , , , , [SEP] 77, SouthWall, , , , , , , ", "output": ["STEP 1: turn around and head to the gas | STEP 2: pick up the pot | STEP 3: turn left and head to the pavement | STEP 4: drop the pot on the pavement | STEP 5: turn right to the sink | STEP 6: pick up the apple from the sink | STEP 7: turn left to the pot | STEP 8: place the apple in the pot | STEP 9: turn right to the sink | STEP 10: pick up the knife | STEP 11: then left to the pot | STEP 12: place the knife in the pot | END"]} +{"id": "trial_T20190906_180021_201134-4", "input": "Slice the apple in the pot. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 1.0, 0, 90, 0, [SEP] 1, DishSponge, -1.948, 0.487, 0.613, 0, 0, 0, 49 [SEP] 2, DishSponge, -1.642, 0.931, 0.428, 0, 0, 0, 70 [SEP] 3, ButterKnife, -2.388, 1.124, 0.190, 0, 0, 0, 58 [SEP] 4, ButterKnife, -0.771, 1.124, 0.659, 0, 0, 0, 60 [SEP] 5, Pot, -3.000, 1.133, 0.227, 0, 270, 0, 62 [SEP] 6, Pot, -0.785, 1.052, 2.593, 0, 0, 0, 48 [SEP] 7, Fork, -2.388, 1.125, 0.473, 0, 0, 0, 58 [SEP] 8, SoapBottle, -0.538, 1.048, 2.144, 0, 0, 0, 48 [SEP] 9, SoapBottle, -1.562, 0.049, 0.325, 0, 0, 0, 63 [SEP] 10, Tomato, -3.506, 1.601, 2.991, 0, 90, 0, 65 [SEP] 11, Bowl, -1.156, 0.047, 0.551, 0, 0, 0, 52 [SEP] 12, Bowl, -0.538, 1.044, 2.593, 0, 0, 0, 48 [SEP] 13, SaltShaker, -0.168, 1.044, 2.369, 0, 0, 0, 48 [SEP] 14, PepperShaker, -0.715, 1.121, 0.387, 0, 0, 0, 60 [SEP] 15, Bread, -0.168, 1.133, 2.144, 0, 0, 0, 48 [SEP] 16, Lettuce, -0.662, 1.124, 3.266, 0, 0, 0, 48 [SEP] 17, Lettuce, -3.373, 1.637, 3.132, 0, 90, 0, 65 [SEP] 18, Mug, -0.908, 1.043, 3.266, 0, 0, 0, 48 [SEP] 19, Apple, -0.785, 1.114, 1.920, 0, 0, 0, 48 [SEP] 20, Apple, -1.288, 0.998, 0.567, 0, 0, 0, 70 [SEP] 21, Fork, -0.292, 1.047, 1.920, 0, 0, 0, 48 [SEP] 22, SoapBottle, -0.785, 1.047, 3.266, 0, 0, 0, 48 [SEP] 23, Pot, -3.475, 1.133, 0.48, 0, 90, 0, 46 [SEP] 24, Ladle, -0.662, 1.086, 1.920, 0, 0, 0, 48 [SEP] 25, Potato, -3.44, 0.942, 3.203, 0, 90, 0, 65 [SEP] 26, Plate, -1.601, 0.047, 0.551, 0, 0, 0, 63 [SEP] 27, Bread, -3.373, 0.998, 3.061, 0, 90, 0, 65 [SEP] 28, Lettuce, -3.506, 1.639, 2.849, 0, 90, 0, 65 [SEP] 29, Spatula, -1.288, 0.946, 0.290, 0, 90, 0, 70 [SEP] 30, Pan, -0.266, 1.038, 2.561, 0, 0, 0, 48 [SEP] 31, Egg, -3.572, 0.942, 3.061, 0, 90, 0, 65 [SEP] 32, Cup, -0.203, 1.226, 0.443, 0, 0, 0, 71 [SEP] 33, SaltShaker, -2.184, 0.484, 0.545, 0, 0, 0, 49 [SEP] 34, Knife, -1.376, 0.963, 0.290, 0, 90, 0, 70 [SEP] 35, Bowl, -2.262, 1.122, 0.473, 0, 0, 0, 58 [SEP] 36, PepperShaker, -1.948, 0.091, 0.512, 0, 0, 0, 50 [SEP] 37, ButterKnife, -0.538, 1.048, 3.266, 0, 0, 0, 48 [SEP] 38, Apple, -0.415, 1.295, 0.443, 0, 0, 0, 71 [SEP] 39, Tomato, -3.778, 1.165, 0.662, 0, 0, 0, 55 [SEP] 40, DishSponge, -3.814, 1.124, 0.284, 0, 0, 0, 55 [SEP] 41, Spoon, -0.662, 1.048, 3.042, 0, 0, 0, 48 [SEP] 42, Mug, -0.662, 1.043, 2.817, 0, 0, 0, 48 [SEP] 43, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 44, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 45, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 46, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 47, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 48, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 49, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 50, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 51, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 52, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 53, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 54, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 55, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 56, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 57, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 58, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 59, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 60, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 61, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 62, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 63, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 64, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 65, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 66, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 67, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 68, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 69, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 70, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 71, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 72, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 73, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 74, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 75, NorthWall, , , , , , , [SEP] 76, SouthWall, , , , , , , [SEP] 77, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and walk towards the stove on the left. | STEP 2: Pick up the pot on the right of the stove. | STEP 3: Turn left and head towards the microwave on the left. | STEP 4: Put the pot to the right of the microwave on the counter. | STEP 5: Turn right and look into the sink on the left. | STEP 6: Pick up the apple from the sink. | STEP 7: Turn left and head towards the pot next to the microwave. | STEP 8: Put the apple inside the pot. | STEP 9: Turn right and look into the sink on the left. | STEP 10: Pick up the knife from the sink. | STEP 11: Turn left and head towards the pot next to the microwave. | STEP 12: Slice the apple in the pot with the knife. | END"]} +{"id": "trial_T20190908_024426_412044-0", "input": "Set a chilled bottle of wine on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.908, 3.25, 0, 90, 0, [SEP] 1, CellPhone, -1.475, 0.747, 1.902, 0, 0, 0, 57 [SEP] 2, DishSponge, 1.367, 0.885, 2.153, 0, 0, 0, 108 [SEP] 3, DishSponge, -0.919, 0.748, 2.459, 0, 0, 0, 57 [SEP] 4, ButterKnife, 1.128, 0.911, -0.428, 0, 0, 0, 76 [SEP] 5, ButterKnife, -1.383, 0.749, 3.015, 0, 0, 0, 57 [SEP] 6, Kettle, 1.284, 0.887, 2.477, 0, 0, 0, 108 [SEP] 7, Kettle, -1.132, 0.118, 0.248, 0, 180, 0, 79 [SEP] 8, Spoon, -1.184, 0.777, 0.174, 0, 90, 0, 78 [SEP] 9, Spoon, 1.042, 0.777, -0.014, 0, 90, 0, 77 [SEP] 10, Fork, 1.444, 0.912, 0.422, 0, 90, 0, 76 [SEP] 11, Spatula, 1.117, 0.881, 2.692, 0, 180, 0, 108 [SEP] 12, Spatula, -1.135, 0.927, -0.817, 0, 90, 0, 82 [SEP] 13, Egg, -0.082, 0.792, -0.612, 0, 0, 0, 103 [SEP] 14, Egg, 0.041, 0.792, -0.533, 0, 0, 0, 103 [SEP] 15, Cup, -1.149, 1.636, 0.680, 0, 90, 0, 96 [SEP] 16, Cup, 1.523, 0.910, -0.144, 0, 0, 0, 76 [SEP] 17, Plate, -1.012, 0.749, 2.087, 0, 0, 0, 57 [SEP] 18, Plate, -1.290, 0.750, 2.644, 0, 0, 0, 57 [SEP] 19, Knife, -1.012, 0.770, 2.459, 0, 90, 0, 57 [SEP] 20, Knife, -1.012, 0.770, 1.902, 0, 0, 0, 57 [SEP] 21, Tomato, 1.450, 0.936, 2.261, 0, 0, 0, 108 [SEP] 22, Tomato, -1.105, 0.799, 2.459, 0, 0, 0, 57 [SEP] 23, SoapBottle, -1.437, 0.913, -0.392, 0, 0, 0, 82 [SEP] 24, SoapBottle, -0.919, 0.750, 2.644, 0, 0, 0, 57 [SEP] 25, Bowl, -1.320, 1.635, 1.086, 0, 90, 0, 96 [SEP] 26, Bowl, 1.128, 0.909, 0.139, 0, 0, 0, 76 [SEP] 27, PepperShaker, -1.060, 0.908, -0.817, 0, 0, 0, 82 [SEP] 28, Mug, 1.174, 0.112, -0.011, 0, 0, 0, 70 [SEP] 29, Apple, -1.361, 1.075, -0.005, 0, 90, 0, 102 [SEP] 30, Apple, -1.378, 0.811, 0.987, 0, 90, 0, 96 [SEP] 31, Bread, 1.068, 0.939, 2.686, 0, 0, 2.362, 108 [SEP] 32, Glassbottle, 0.927, 2.156, -0.819, 0, 0, 0, 60 [SEP] 33, Fork, -0.813, 0.912, -0.748, 0, 0, 0, 82 [SEP] 34, Kettle, 0.802, 0.939, -0.740, 0, 90, 0, 85 [SEP] 35, Tomato, 1.444, 0.961, 0.706, 0, 0, 0, 76 [SEP] 36, Plate, -1.325, 2.154, 0.706, 0, 0, 0, 75 [SEP] 37, CellPhone, -0.919, 0.747, 2.273, 0, 0, 0, 57 [SEP] 38, Lettuce, -1.012, 0.820, 2.830, 0, 0, 0, 57 [SEP] 39, Pot, 0.510, 0.936, -0.491, 0, 0, 0, 89 [SEP] 40, SoapBottle, 1.365, 0.912, 0.422, 0, 0, 0, 76 [SEP] 41, WineBottle, 1.450, 0.887, 2.692, 0, 0, 0, 108 [SEP] 42, Spatula, 1.117, 0.901, 2.261, 0, 180, 0, 108 [SEP] 43, Bowl, 1.034, 0.884, 2.261, 0, 0, 0, 108 [SEP] 44, Apple, 1.189, 0.146, 1.440, 0, 0, 0, 97 [SEP] 45, Cup, -0.144, 0.757, -0.691, 0, 0, 0, 103 [SEP] 46, Knife, -1.105, 0.770, 3.015, 0, 0, 0, 57 [SEP] 47, Egg, 1.286, 0.945, 0.706, 0, 0, 0, 76 [SEP] 48, SaltShaker, 1.128, 0.907, 0.706, 0, 0, 0, 76 [SEP] 49, PepperShaker, 1.049, 0.907, 0.706, 0, 0, 0, 76 [SEP] 50, Potato, -1.263, 1.466, 0.778, 0, 90, 0, 96 [SEP] 51, ButterKnife, 1.367, 0.886, 2.261, 0, 0, 0, 108 [SEP] 52, DishSponge, -0.144, 0.758, -0.533, 0, 0, 0, 103 [SEP] 53, Pan, -1.332, 0.9, -0.699, 0, 345.0, 0, 82 [SEP] 54, Spoon, 1.128, 0.912, -0.144, 0, 0, 0, 76 [SEP] 55, SprayBottle, -1.383, 0.749, 1.902, 0, 0, 0, 57 [SEP] 56, Mug, -1.427, 1.010, -0.109, 0, 180, 0, 102 [SEP] 57, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0, [SEP] 58, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0, [SEP] 59, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0, [SEP] 60, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0, [SEP] 61, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0, [SEP] 62, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0, [SEP] 63, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0, [SEP] 64, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0, [SEP] 65, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0, [SEP] 66, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0, [SEP] 67, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0, [SEP] 68, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0, [SEP] 69, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0, [SEP] 70, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0, [SEP] 71, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0, [SEP] 72, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0, [SEP] 73, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0, [SEP] 74, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0, [SEP] 75, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0, [SEP] 76, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0, [SEP] 77, Drawer, 1.116, 0.792, -0.015, 0, 0, 0, [SEP] 78, Drawer, -1.116, 0.792, 0.210, 0, 180, 0, [SEP] 79, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0, [SEP] 80, Drawer, -1.116, 0.792, -0.170, 0, 180, 0, [SEP] 81, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0, [SEP] 82, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0, [SEP] 83, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0, [SEP] 84, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0, [SEP] 85, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0, [SEP] 86, Drawer, 1.116, 0.792, 1.081, 0, 0, 0, [SEP] 87, Sink, -0.013, 0.912, -0.615, 0, 0, 0, [SEP] 88, Drawer, 1.116, 0.792, 0.732, 0, 0, 0, [SEP] 89, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0, [SEP] 90, Drawer, 1.116, 0.792, 0.367, 0, 0, 0, [SEP] 91, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0, [SEP] 92, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0, [SEP] 93, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0, [SEP] 94, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0, [SEP] 95, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0, [SEP] 96, Fridge, -1.300, 0.008, 0.987, 0, 90, 0, [SEP] 97, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0, [SEP] 98, Window, -0.012, 1.641, -0.972, 90, 0, 0, [SEP] 99, Window, 1.598, 1.646, 2.489, 90, 270, 0, [SEP] 100, Toaster, 1.356, 0.900, 1.044, 0, 270, 0, [SEP] 101, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0, [SEP] 102, Microwave, -1.343, 0.900, 0.053, 0, 90, 0, [SEP] 103, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0, [SEP] 104, Faucet, -0.026, 0.927, -0.808, 0, 0, 0, [SEP] 105, Shelf, -1.182, 0.127, 2.414, 0, 90, 0, [SEP] 106, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0, [SEP] 107, Shelf, -1.182, 0.435, 2.414, 0, 90, 0, [SEP] 108, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896, [SEP] 109, NorthWall, , , , , , , [SEP] 110, EastWall, , , , , , , [SEP] 111, SouthWall, , , , , , , [SEP] 112, WestWall, , , , , , , ", "output": ["STEP 1: Go across the room to the table. | STEP 2: Pick up the wine bottle on the table. | STEP 3: Go across the room to the fridge. | STEP 4: Chill the wine in the fridge. | STEP 5: Turn right and go to the table on the left past the fridge. | STEP 6: Set the chilled wine down on the front right corner of the table. | END"]} +{"id": "trial_T20190908_024426_412044-1", "input": "Pick the bottle, cool it and serve on the white table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.908, 3.25, 0, 90, 0, [SEP] 1, CellPhone, -1.475, 0.747, 1.902, 0, 0, 0, 57 [SEP] 2, DishSponge, 1.367, 0.885, 2.153, 0, 0, 0, 108 [SEP] 3, DishSponge, -0.919, 0.748, 2.459, 0, 0, 0, 57 [SEP] 4, ButterKnife, 1.128, 0.911, -0.428, 0, 0, 0, 76 [SEP] 5, ButterKnife, -1.383, 0.749, 3.015, 0, 0, 0, 57 [SEP] 6, Kettle, 1.284, 0.887, 2.477, 0, 0, 0, 108 [SEP] 7, Kettle, -1.132, 0.118, 0.248, 0, 180, 0, 79 [SEP] 8, Spoon, -1.184, 0.777, 0.174, 0, 90, 0, 78 [SEP] 9, Spoon, 1.042, 0.777, -0.014, 0, 90, 0, 77 [SEP] 10, Fork, 1.444, 0.912, 0.422, 0, 90, 0, 76 [SEP] 11, Spatula, 1.117, 0.881, 2.692, 0, 180, 0, 108 [SEP] 12, Spatula, -1.135, 0.927, -0.817, 0, 90, 0, 82 [SEP] 13, Egg, -0.082, 0.792, -0.612, 0, 0, 0, 103 [SEP] 14, Egg, 0.041, 0.792, -0.533, 0, 0, 0, 103 [SEP] 15, Cup, -1.149, 1.636, 0.680, 0, 90, 0, 96 [SEP] 16, Cup, 1.523, 0.910, -0.144, 0, 0, 0, 76 [SEP] 17, Plate, -1.012, 0.749, 2.087, 0, 0, 0, 57 [SEP] 18, Plate, -1.290, 0.750, 2.644, 0, 0, 0, 57 [SEP] 19, Knife, -1.012, 0.770, 2.459, 0, 90, 0, 57 [SEP] 20, Knife, -1.012, 0.770, 1.902, 0, 0, 0, 57 [SEP] 21, Tomato, 1.450, 0.936, 2.261, 0, 0, 0, 108 [SEP] 22, Tomato, -1.105, 0.799, 2.459, 0, 0, 0, 57 [SEP] 23, SoapBottle, -1.437, 0.913, -0.392, 0, 0, 0, 82 [SEP] 24, SoapBottle, -0.919, 0.750, 2.644, 0, 0, 0, 57 [SEP] 25, Bowl, -1.320, 1.635, 1.086, 0, 90, 0, 96 [SEP] 26, Bowl, 1.128, 0.909, 0.139, 0, 0, 0, 76 [SEP] 27, PepperShaker, -1.060, 0.908, -0.817, 0, 0, 0, 82 [SEP] 28, Mug, 1.174, 0.112, -0.011, 0, 0, 0, 70 [SEP] 29, Apple, -1.361, 1.075, -0.005, 0, 90, 0, 102 [SEP] 30, Apple, -1.378, 0.811, 0.987, 0, 90, 0, 96 [SEP] 31, Bread, 1.068, 0.939, 2.686, 0, 0, 2.362, 108 [SEP] 32, Glassbottle, 0.927, 2.156, -0.819, 0, 0, 0, 60 [SEP] 33, Fork, -0.813, 0.912, -0.748, 0, 0, 0, 82 [SEP] 34, Kettle, 0.802, 0.939, -0.740, 0, 90, 0, 85 [SEP] 35, Tomato, 1.444, 0.961, 0.706, 0, 0, 0, 76 [SEP] 36, Plate, -1.325, 2.154, 0.706, 0, 0, 0, 75 [SEP] 37, CellPhone, -0.919, 0.747, 2.273, 0, 0, 0, 57 [SEP] 38, Lettuce, -1.012, 0.820, 2.830, 0, 0, 0, 57 [SEP] 39, Pot, 0.510, 0.936, -0.491, 0, 0, 0, 89 [SEP] 40, SoapBottle, 1.365, 0.912, 0.422, 0, 0, 0, 76 [SEP] 41, WineBottle, 1.450, 0.887, 2.692, 0, 0, 0, 108 [SEP] 42, Spatula, 1.117, 0.901, 2.261, 0, 180, 0, 108 [SEP] 43, Bowl, 1.034, 0.884, 2.261, 0, 0, 0, 108 [SEP] 44, Apple, 1.189, 0.146, 1.440, 0, 0, 0, 97 [SEP] 45, Cup, -0.144, 0.757, -0.691, 0, 0, 0, 103 [SEP] 46, Knife, -1.105, 0.770, 3.015, 0, 0, 0, 57 [SEP] 47, Egg, 1.286, 0.945, 0.706, 0, 0, 0, 76 [SEP] 48, SaltShaker, 1.128, 0.907, 0.706, 0, 0, 0, 76 [SEP] 49, PepperShaker, 1.049, 0.907, 0.706, 0, 0, 0, 76 [SEP] 50, Potato, -1.263, 1.466, 0.778, 0, 90, 0, 96 [SEP] 51, ButterKnife, 1.367, 0.886, 2.261, 0, 0, 0, 108 [SEP] 52, DishSponge, -0.144, 0.758, -0.533, 0, 0, 0, 103 [SEP] 53, Pan, -1.332, 0.9, -0.699, 0, 345.0, 0, 82 [SEP] 54, Spoon, 1.128, 0.912, -0.144, 0, 0, 0, 76 [SEP] 55, SprayBottle, -1.383, 0.749, 1.902, 0, 0, 0, 57 [SEP] 56, Mug, -1.427, 1.010, -0.109, 0, 180, 0, 102 [SEP] 57, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0, [SEP] 58, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0, [SEP] 59, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0, [SEP] 60, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0, [SEP] 61, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0, [SEP] 62, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0, [SEP] 63, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0, [SEP] 64, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0, [SEP] 65, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0, [SEP] 66, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0, [SEP] 67, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0, [SEP] 68, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0, [SEP] 69, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0, [SEP] 70, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0, [SEP] 71, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0, [SEP] 72, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0, [SEP] 73, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0, [SEP] 74, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0, [SEP] 75, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0, [SEP] 76, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0, [SEP] 77, Drawer, 1.116, 0.792, -0.015, 0, 0, 0, [SEP] 78, Drawer, -1.116, 0.792, 0.210, 0, 180, 0, [SEP] 79, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0, [SEP] 80, Drawer, -1.116, 0.792, -0.170, 0, 180, 0, [SEP] 81, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0, [SEP] 82, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0, [SEP] 83, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0, [SEP] 84, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0, [SEP] 85, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0, [SEP] 86, Drawer, 1.116, 0.792, 1.081, 0, 0, 0, [SEP] 87, Sink, -0.013, 0.912, -0.615, 0, 0, 0, [SEP] 88, Drawer, 1.116, 0.792, 0.732, 0, 0, 0, [SEP] 89, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0, [SEP] 90, Drawer, 1.116, 0.792, 0.367, 0, 0, 0, [SEP] 91, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0, [SEP] 92, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0, [SEP] 93, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0, [SEP] 94, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0, [SEP] 95, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0, [SEP] 96, Fridge, -1.300, 0.008, 0.987, 0, 90, 0, [SEP] 97, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0, [SEP] 98, Window, -0.012, 1.641, -0.972, 90, 0, 0, [SEP] 99, Window, 1.598, 1.646, 2.489, 90, 270, 0, [SEP] 100, Toaster, 1.356, 0.900, 1.044, 0, 270, 0, [SEP] 101, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0, [SEP] 102, Microwave, -1.343, 0.900, 0.053, 0, 90, 0, [SEP] 103, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0, [SEP] 104, Faucet, -0.026, 0.927, -0.808, 0, 0, 0, [SEP] 105, Shelf, -1.182, 0.127, 2.414, 0, 90, 0, [SEP] 106, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0, [SEP] 107, Shelf, -1.182, 0.435, 2.414, 0, 90, 0, [SEP] 108, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896, [SEP] 109, NorthWall, , , , , , , [SEP] 110, EastWall, , , , , , , [SEP] 111, SouthWall, , , , , , , [SEP] 112, WestWall, , , , , , , ", "output": ["STEP 1: Go straight and turn right at the white table. | STEP 2: Pick up the bottle from the table. | STEP 3: Turn right and take two steps and then turn left walk toward the fridge then turn right and face towards the fridge. | STEP 4: Open the Fridge and put the bottle in the fridge and close the fridge and wait to get it cold. | STEP 5: Open the Fridge and take out the bottle then turn right towards the white table on your left then turn right and turn around towards the white table. | STEP 6: Put the bottle on the right corner of the white table. | END"]} +{"id": "trial_T20190908_024426_412044-2", "input": "Place a cooled wine bottle next to the yellow knife on the white table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.908, 3.25, 0, 90, 0, [SEP] 1, CellPhone, -1.475, 0.747, 1.902, 0, 0, 0, 57 [SEP] 2, DishSponge, 1.367, 0.885, 2.153, 0, 0, 0, 108 [SEP] 3, DishSponge, -0.919, 0.748, 2.459, 0, 0, 0, 57 [SEP] 4, ButterKnife, 1.128, 0.911, -0.428, 0, 0, 0, 76 [SEP] 5, ButterKnife, -1.383, 0.749, 3.015, 0, 0, 0, 57 [SEP] 6, Kettle, 1.284, 0.887, 2.477, 0, 0, 0, 108 [SEP] 7, Kettle, -1.132, 0.118, 0.248, 0, 180, 0, 79 [SEP] 8, Spoon, -1.184, 0.777, 0.174, 0, 90, 0, 78 [SEP] 9, Spoon, 1.042, 0.777, -0.014, 0, 90, 0, 77 [SEP] 10, Fork, 1.444, 0.912, 0.422, 0, 90, 0, 76 [SEP] 11, Spatula, 1.117, 0.881, 2.692, 0, 180, 0, 108 [SEP] 12, Spatula, -1.135, 0.927, -0.817, 0, 90, 0, 82 [SEP] 13, Egg, -0.082, 0.792, -0.612, 0, 0, 0, 103 [SEP] 14, Egg, 0.041, 0.792, -0.533, 0, 0, 0, 103 [SEP] 15, Cup, -1.149, 1.636, 0.680, 0, 90, 0, 96 [SEP] 16, Cup, 1.523, 0.910, -0.144, 0, 0, 0, 76 [SEP] 17, Plate, -1.012, 0.749, 2.087, 0, 0, 0, 57 [SEP] 18, Plate, -1.290, 0.750, 2.644, 0, 0, 0, 57 [SEP] 19, Knife, -1.012, 0.770, 2.459, 0, 90, 0, 57 [SEP] 20, Knife, -1.012, 0.770, 1.902, 0, 0, 0, 57 [SEP] 21, Tomato, 1.450, 0.936, 2.261, 0, 0, 0, 108 [SEP] 22, Tomato, -1.105, 0.799, 2.459, 0, 0, 0, 57 [SEP] 23, SoapBottle, -1.437, 0.913, -0.392, 0, 0, 0, 82 [SEP] 24, SoapBottle, -0.919, 0.750, 2.644, 0, 0, 0, 57 [SEP] 25, Bowl, -1.320, 1.635, 1.086, 0, 90, 0, 96 [SEP] 26, Bowl, 1.128, 0.909, 0.139, 0, 0, 0, 76 [SEP] 27, PepperShaker, -1.060, 0.908, -0.817, 0, 0, 0, 82 [SEP] 28, Mug, 1.174, 0.112, -0.011, 0, 0, 0, 70 [SEP] 29, Apple, -1.361, 1.075, -0.005, 0, 90, 0, 102 [SEP] 30, Apple, -1.378, 0.811, 0.987, 0, 90, 0, 96 [SEP] 31, Bread, 1.068, 0.939, 2.686, 0, 0, 2.362, 108 [SEP] 32, Glassbottle, 0.927, 2.156, -0.819, 0, 0, 0, 60 [SEP] 33, Fork, -0.813, 0.912, -0.748, 0, 0, 0, 82 [SEP] 34, Kettle, 0.802, 0.939, -0.740, 0, 90, 0, 85 [SEP] 35, Tomato, 1.444, 0.961, 0.706, 0, 0, 0, 76 [SEP] 36, Plate, -1.325, 2.154, 0.706, 0, 0, 0, 75 [SEP] 37, CellPhone, -0.919, 0.747, 2.273, 0, 0, 0, 57 [SEP] 38, Lettuce, -1.012, 0.820, 2.830, 0, 0, 0, 57 [SEP] 39, Pot, 0.510, 0.936, -0.491, 0, 0, 0, 89 [SEP] 40, SoapBottle, 1.365, 0.912, 0.422, 0, 0, 0, 76 [SEP] 41, WineBottle, 1.450, 0.887, 2.692, 0, 0, 0, 108 [SEP] 42, Spatula, 1.117, 0.901, 2.261, 0, 180, 0, 108 [SEP] 43, Bowl, 1.034, 0.884, 2.261, 0, 0, 0, 108 [SEP] 44, Apple, 1.189, 0.146, 1.440, 0, 0, 0, 97 [SEP] 45, Cup, -0.144, 0.757, -0.691, 0, 0, 0, 103 [SEP] 46, Knife, -1.105, 0.770, 3.015, 0, 0, 0, 57 [SEP] 47, Egg, 1.286, 0.945, 0.706, 0, 0, 0, 76 [SEP] 48, SaltShaker, 1.128, 0.907, 0.706, 0, 0, 0, 76 [SEP] 49, PepperShaker, 1.049, 0.907, 0.706, 0, 0, 0, 76 [SEP] 50, Potato, -1.263, 1.466, 0.778, 0, 90, 0, 96 [SEP] 51, ButterKnife, 1.367, 0.886, 2.261, 0, 0, 0, 108 [SEP] 52, DishSponge, -0.144, 0.758, -0.533, 0, 0, 0, 103 [SEP] 53, Pan, -1.332, 0.9, -0.699, 0, 345.0, 0, 82 [SEP] 54, Spoon, 1.128, 0.912, -0.144, 0, 0, 0, 76 [SEP] 55, SprayBottle, -1.383, 0.749, 1.902, 0, 0, 0, 57 [SEP] 56, Mug, -1.427, 1.010, -0.109, 0, 180, 0, 102 [SEP] 57, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0, [SEP] 58, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0, [SEP] 59, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0, [SEP] 60, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0, [SEP] 61, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0, [SEP] 62, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0, [SEP] 63, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0, [SEP] 64, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0, [SEP] 65, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0, [SEP] 66, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0, [SEP] 67, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0, [SEP] 68, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0, [SEP] 69, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0, [SEP] 70, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0, [SEP] 71, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0, [SEP] 72, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0, [SEP] 73, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0, [SEP] 74, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0, [SEP] 75, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0, [SEP] 76, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0, [SEP] 77, Drawer, 1.116, 0.792, -0.015, 0, 0, 0, [SEP] 78, Drawer, -1.116, 0.792, 0.210, 0, 180, 0, [SEP] 79, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0, [SEP] 80, Drawer, -1.116, 0.792, -0.170, 0, 180, 0, [SEP] 81, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0, [SEP] 82, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0, [SEP] 83, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0, [SEP] 84, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0, [SEP] 85, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0, [SEP] 86, Drawer, 1.116, 0.792, 1.081, 0, 0, 0, [SEP] 87, Sink, -0.013, 0.912, -0.615, 0, 0, 0, [SEP] 88, Drawer, 1.116, 0.792, 0.732, 0, 0, 0, [SEP] 89, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0, [SEP] 90, Drawer, 1.116, 0.792, 0.367, 0, 0, 0, [SEP] 91, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0, [SEP] 92, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0, [SEP] 93, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0, [SEP] 94, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0, [SEP] 95, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0, [SEP] 96, Fridge, -1.300, 0.008, 0.987, 0, 90, 0, [SEP] 97, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0, [SEP] 98, Window, -0.012, 1.641, -0.972, 90, 0, 0, [SEP] 99, Window, 1.598, 1.646, 2.489, 90, 270, 0, [SEP] 100, Toaster, 1.356, 0.900, 1.044, 0, 270, 0, [SEP] 101, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0, [SEP] 102, Microwave, -1.343, 0.900, 0.053, 0, 90, 0, [SEP] 103, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0, [SEP] 104, Faucet, -0.026, 0.927, -0.808, 0, 0, 0, [SEP] 105, Shelf, -1.182, 0.127, 2.414, 0, 90, 0, [SEP] 106, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0, [SEP] 107, Shelf, -1.182, 0.435, 2.414, 0, 90, 0, [SEP] 108, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896, [SEP] 109, NorthWall, , , , , , , [SEP] 110, EastWall, , , , , , , [SEP] 111, SouthWall, , , , , , , [SEP] 112, WestWall, , , , , , , ", "output": ["STEP 1: Walk straight to the wall and then turn left to face the white table. | STEP 2: Pick up the wine bottle from the table. | STEP 3: Turn right, walk towards the door, turn left towards the dishwasher and then turn right to find the fridge. | STEP 4: Place the bottle in the fridge, let it cool, and take it back out. | STEP 5: Turn right and walk to the middle of the long white table. | STEP 6: Place the wine bottle at the right corner beside the yellow knife on the table. | END"]} +{"id": "trial_T20190909_075955_678702-0", "input": " put the spray bottle on the back of the toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -2.25, 0, 270, 0, [SEP] 1, Cloth, -2.649, 0.085, -1.253, 0, 90, 0, 35 [SEP] 2, Cloth, -2.587, 0.085, -0.678, 0, 90, 0, 35 [SEP] 3, Candle, -0.149, 1.043, -0.478, 0, 270, 0, 38 [SEP] 4, Candle, -0.116, 1.159, -3.399, 0, 90, 0, 43 [SEP] 5, SprayBottle, -0.251, 0.045, -2.772, 0, 90, 0, 37 [SEP] 6, SprayBottle, -0.148, 1.162, -3.497, 0, 90, 0, 43 [SEP] 7, SprayBottle, -2.620, 0.993, -3.454, 0, 0, 0, 29 [SEP] 8, SoapBar, -0.307, 0.868, -2.143, 0, 0, 0, 34 [SEP] 9, SoapBottle, -2.512, 0.095, -2.714, 0, 0, 0, 28 [SEP] 10, SoapBottle, -0.116, 1.162, -3.104, 0, 90, 0, 43 [SEP] 11, HandTowel, -0.038, 1.481, -2.661, 0, 90, 0, 32 [SEP] 12, HandTowel, -0.038, 1.481, -1.549, 0, 90, 0, 33 [SEP] 13, SoapBar, -2.694, 0.992, -2.657, 0, 0, 0, 29 [SEP] 14, ToiletPaper, -0.104, 1.035, -0.385, 0, 0, 0, 38 [SEP] 15, ToiletPaper, -0.149, 1.041, -0.741, 0, 270, 0, 38 [SEP] 16, Towel, -1.338, 1.193, -0.106, 0, 180, 0, 30 [SEP] 17, SoapBottle, -0.116, 1.162, -3.595, 0, 90, 0, 43 [SEP] 18, ScrubBrush, -0.136, -0.000, -0.105, 0, 0, 0, Floor|-01.15| [SEP] 19, Cloth, -2.524, 0.085, -0.391, 0, 90, 0, 35 [SEP] 20, Plunger, -0.370, -0.000, -0.097, 0, 0, 0, Floor|-01.15| [SEP] 21, Candle, -0.091, 0.616, -3.616, 0, 90, 0, 41 [SEP] 22, SprayBottle, -2.544, 0.358, -2.505, 0, 0, 0, 27 [SEP] 23, Bathtub, -2.104, 0.524, -0.828, 0, 0, 0, [SEP] 24, Faucet, -0.040, 1.017, -2.076, 0, 270, 0, [SEP] 25, Sink, -0.307, 0.0, -2.076, 0, 270, 0, [SEP] 26, Mirror, -2.983, 1.565, -2.900, 0, 0, 0, [SEP] 27, Shelf, -2.581, 0.395, -2.923, 0, 0, 0, [SEP] 28, Shelf, -2.539, 0.130, -2.923, 0, 0, 0, [SEP] 29, CounterTop, -2.704, 1.029, -2.923, 0, 0, 0, [SEP] 30, TowelHolder, -1.338, 1.179, 0.0, 0, 180, 0, [SEP] 31, LightSwitch, -0.363, 1.330, -3.999, 0, 0, 0, [SEP] 32, HandTowelHolder, 0.0, 1.582, -2.661, 0, 180, 0, [SEP] 33, HandTowelHolder, 0.0, 1.582, -1.549, 0, 180, 0, [SEP] 34, SinkBasin, -0.310, 0.859, -2.076, 0, 0, 0, [SEP] 35, BathtubBasin, -2.586, 0.071, -0.801, 0, 90, 0, [SEP] 36, ToiletPaperHanger, 0.0, 0.866, -0.968, 0, 270, 0, [SEP] 37, GarbageCan, -0.266, -0.034, -2.751, 0, 0, 0, [SEP] 38, Toilet, -0.411, -0.000, -0.547, 0, 0, 0, [SEP] 39, Drawer, -0.229, 0.161, -3.398, 0, 270, 0, [SEP] 40, Drawer, -0.229, 0.420, -3.398, 0, 270, 0, [SEP] 41, Drawer, -0.229, 0.680, -3.398, 0, 270, 0, [SEP] 42, Drawer, -0.229, 0.940, -3.398, 0, 270, 0, [SEP] 43, Dresser, -0.205, 0.000, -3.398, 0, 270, 0, [SEP] 44, ShowerHead, -2.579, 1.261, -0.064, 0, 270, 0, [SEP] 45, ShowerCurtain, -2.188, 1.915, -1.560, 0, 0, 0, [SEP] 46, EastWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , ", "output": ["STEP 1: pick up the spray bottle that is on the cabinet | STEP 2: turn to face the toilet | STEP 3: walk to the toilet | STEP 4: set the spray bottle down on the back of the toilet | END"]} +{"id": "trial_T20190909_075955_678702-1", "input": "knock an empty toilet paper roll off of the back of the toilet while placing a spray bottle next to it SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -2.25, 0, 270, 0, [SEP] 1, Cloth, -2.649, 0.085, -1.253, 0, 90, 0, 35 [SEP] 2, Cloth, -2.587, 0.085, -0.678, 0, 90, 0, 35 [SEP] 3, Candle, -0.149, 1.043, -0.478, 0, 270, 0, 38 [SEP] 4, Candle, -0.116, 1.159, -3.399, 0, 90, 0, 43 [SEP] 5, SprayBottle, -0.251, 0.045, -2.772, 0, 90, 0, 37 [SEP] 6, SprayBottle, -0.148, 1.162, -3.497, 0, 90, 0, 43 [SEP] 7, SprayBottle, -2.620, 0.993, -3.454, 0, 0, 0, 29 [SEP] 8, SoapBar, -0.307, 0.868, -2.143, 0, 0, 0, 34 [SEP] 9, SoapBottle, -2.512, 0.095, -2.714, 0, 0, 0, 28 [SEP] 10, SoapBottle, -0.116, 1.162, -3.104, 0, 90, 0, 43 [SEP] 11, HandTowel, -0.038, 1.481, -2.661, 0, 90, 0, 32 [SEP] 12, HandTowel, -0.038, 1.481, -1.549, 0, 90, 0, 33 [SEP] 13, SoapBar, -2.694, 0.992, -2.657, 0, 0, 0, 29 [SEP] 14, ToiletPaper, -0.104, 1.035, -0.385, 0, 0, 0, 38 [SEP] 15, ToiletPaper, -0.149, 1.041, -0.741, 0, 270, 0, 38 [SEP] 16, Towel, -1.338, 1.193, -0.106, 0, 180, 0, 30 [SEP] 17, SoapBottle, -0.116, 1.162, -3.595, 0, 90, 0, 43 [SEP] 18, ScrubBrush, -0.136, -0.000, -0.105, 0, 0, 0, Floor|-01.15| [SEP] 19, Cloth, -2.524, 0.085, -0.391, 0, 90, 0, 35 [SEP] 20, Plunger, -0.370, -0.000, -0.097, 0, 0, 0, Floor|-01.15| [SEP] 21, Candle, -0.091, 0.616, -3.616, 0, 90, 0, 41 [SEP] 22, SprayBottle, -2.544, 0.358, -2.505, 0, 0, 0, 27 [SEP] 23, Bathtub, -2.104, 0.524, -0.828, 0, 0, 0, [SEP] 24, Faucet, -0.040, 1.017, -2.076, 0, 270, 0, [SEP] 25, Sink, -0.307, 0.0, -2.076, 0, 270, 0, [SEP] 26, Mirror, -2.983, 1.565, -2.900, 0, 0, 0, [SEP] 27, Shelf, -2.581, 0.395, -2.923, 0, 0, 0, [SEP] 28, Shelf, -2.539, 0.130, -2.923, 0, 0, 0, [SEP] 29, CounterTop, -2.704, 1.029, -2.923, 0, 0, 0, [SEP] 30, TowelHolder, -1.338, 1.179, 0.0, 0, 180, 0, [SEP] 31, LightSwitch, -0.363, 1.330, -3.999, 0, 0, 0, [SEP] 32, HandTowelHolder, 0.0, 1.582, -2.661, 0, 180, 0, [SEP] 33, HandTowelHolder, 0.0, 1.582, -1.549, 0, 180, 0, [SEP] 34, SinkBasin, -0.310, 0.859, -2.076, 0, 0, 0, [SEP] 35, BathtubBasin, -2.586, 0.071, -0.801, 0, 90, 0, [SEP] 36, ToiletPaperHanger, 0.0, 0.866, -0.968, 0, 270, 0, [SEP] 37, GarbageCan, -0.266, -0.034, -2.751, 0, 0, 0, [SEP] 38, Toilet, -0.411, -0.000, -0.547, 0, 0, 0, [SEP] 39, Drawer, -0.229, 0.161, -3.398, 0, 270, 0, [SEP] 40, Drawer, -0.229, 0.420, -3.398, 0, 270, 0, [SEP] 41, Drawer, -0.229, 0.680, -3.398, 0, 270, 0, [SEP] 42, Drawer, -0.229, 0.940, -3.398, 0, 270, 0, [SEP] 43, Dresser, -0.205, 0.000, -3.398, 0, 270, 0, [SEP] 44, ShowerHead, -2.579, 1.261, -0.064, 0, 270, 0, [SEP] 45, ShowerCurtain, -2.188, 1.915, -1.560, 0, 0, 0, [SEP] 46, EastWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , ", "output": ["STEP 1: move to the left of the counter to face the gray spray bottle | STEP 2: pick up the gray spray bottle off of the counter | STEP 3: turn to the right and move to the toilet at the end of the bathroom on the right | STEP 4: put the spray bottle on to the back of the toilet next to the empty toilet paper roll, so close that it knocks the toilet paper roll off the back of the toilet | END"]} +{"id": "trial_T20190909_075955_678702-2", "input": "Place a spray bottle on a toilet tank. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -2.25, 0, 270, 0, [SEP] 1, Cloth, -2.649, 0.085, -1.253, 0, 90, 0, 35 [SEP] 2, Cloth, -2.587, 0.085, -0.678, 0, 90, 0, 35 [SEP] 3, Candle, -0.149, 1.043, -0.478, 0, 270, 0, 38 [SEP] 4, Candle, -0.116, 1.159, -3.399, 0, 90, 0, 43 [SEP] 5, SprayBottle, -0.251, 0.045, -2.772, 0, 90, 0, 37 [SEP] 6, SprayBottle, -0.148, 1.162, -3.497, 0, 90, 0, 43 [SEP] 7, SprayBottle, -2.620, 0.993, -3.454, 0, 0, 0, 29 [SEP] 8, SoapBar, -0.307, 0.868, -2.143, 0, 0, 0, 34 [SEP] 9, SoapBottle, -2.512, 0.095, -2.714, 0, 0, 0, 28 [SEP] 10, SoapBottle, -0.116, 1.162, -3.104, 0, 90, 0, 43 [SEP] 11, HandTowel, -0.038, 1.481, -2.661, 0, 90, 0, 32 [SEP] 12, HandTowel, -0.038, 1.481, -1.549, 0, 90, 0, 33 [SEP] 13, SoapBar, -2.694, 0.992, -2.657, 0, 0, 0, 29 [SEP] 14, ToiletPaper, -0.104, 1.035, -0.385, 0, 0, 0, 38 [SEP] 15, ToiletPaper, -0.149, 1.041, -0.741, 0, 270, 0, 38 [SEP] 16, Towel, -1.338, 1.193, -0.106, 0, 180, 0, 30 [SEP] 17, SoapBottle, -0.116, 1.162, -3.595, 0, 90, 0, 43 [SEP] 18, ScrubBrush, -0.136, -0.000, -0.105, 0, 0, 0, Floor|-01.15| [SEP] 19, Cloth, -2.524, 0.085, -0.391, 0, 90, 0, 35 [SEP] 20, Plunger, -0.370, -0.000, -0.097, 0, 0, 0, Floor|-01.15| [SEP] 21, Candle, -0.091, 0.616, -3.616, 0, 90, 0, 41 [SEP] 22, SprayBottle, -2.544, 0.358, -2.505, 0, 0, 0, 27 [SEP] 23, Bathtub, -2.104, 0.524, -0.828, 0, 0, 0, [SEP] 24, Faucet, -0.040, 1.017, -2.076, 0, 270, 0, [SEP] 25, Sink, -0.307, 0.0, -2.076, 0, 270, 0, [SEP] 26, Mirror, -2.983, 1.565, -2.900, 0, 0, 0, [SEP] 27, Shelf, -2.581, 0.395, -2.923, 0, 0, 0, [SEP] 28, Shelf, -2.539, 0.130, -2.923, 0, 0, 0, [SEP] 29, CounterTop, -2.704, 1.029, -2.923, 0, 0, 0, [SEP] 30, TowelHolder, -1.338, 1.179, 0.0, 0, 180, 0, [SEP] 31, LightSwitch, -0.363, 1.330, -3.999, 0, 0, 0, [SEP] 32, HandTowelHolder, 0.0, 1.582, -2.661, 0, 180, 0, [SEP] 33, HandTowelHolder, 0.0, 1.582, -1.549, 0, 180, 0, [SEP] 34, SinkBasin, -0.310, 0.859, -2.076, 0, 0, 0, [SEP] 35, BathtubBasin, -2.586, 0.071, -0.801, 0, 90, 0, [SEP] 36, ToiletPaperHanger, 0.0, 0.866, -0.968, 0, 270, 0, [SEP] 37, GarbageCan, -0.266, -0.034, -2.751, 0, 0, 0, [SEP] 38, Toilet, -0.411, -0.000, -0.547, 0, 0, 0, [SEP] 39, Drawer, -0.229, 0.161, -3.398, 0, 270, 0, [SEP] 40, Drawer, -0.229, 0.420, -3.398, 0, 270, 0, [SEP] 41, Drawer, -0.229, 0.680, -3.398, 0, 270, 0, [SEP] 42, Drawer, -0.229, 0.940, -3.398, 0, 270, 0, [SEP] 43, Dresser, -0.205, 0.000, -3.398, 0, 270, 0, [SEP] 44, ShowerHead, -2.579, 1.261, -0.064, 0, 270, 0, [SEP] 45, ShowerCurtain, -2.188, 1.915, -1.560, 0, 0, 0, [SEP] 46, EastWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , ", "output": ["STEP 1: Head left to the wall and walk to the white counter on the right. | STEP 2: Pick up the black spray bottle from the counter. | STEP 3: Turn around, hang a left at the white dresser, turn right at the sink and face the toilet to the left. | STEP 4: Put the spray bottle on the right side of the toilet tank to the left of the empty toilet paper roll. | END"]} +{"id": "trial_T20190907_070303_578496-0", "input": "Put a plate with a ladle in the cabinet closest to the stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.0, 0.900, -0.25, 0, 270, 0, [SEP] 1, Ladle, 2.875, 1.066, -1.151, 0, 0, 0, 58 [SEP] 2, Ladle, 2.790, 1.066, -1.762, 0, 0, 0, 58 [SEP] 3, Ladle, -0.794, 1.066, 2.556, 0, 0, 0, 61 [SEP] 4, WineBottle, 2.919, 0.765, 3.604, 0, 329.999, 0, 59 [SEP] 5, Glassbottle, -0.418, 1.028, 0.508, 0, 0, 0, 61 [SEP] 6, Pot, 2.177, 1.027, -1.599, 0, 0, 0, 57 [SEP] 7, Spatula, -0.418, 1.042, 2.066, 0, 90, 0, 61 [SEP] 8, Spatula, 1.707, 0.815, 1.728, 0, 317.0, 0, 73 [SEP] 9, Fork, -0.661, 0.802, 0.535, 0, 0, 0, 60 [SEP] 10, Cup, 1.925, 0.763, 3.969, 0, 270, 0, 59 [SEP] 11, Plate, 2.113, 0.764, 3.527, 0, 225, 0, 59 [SEP] 12, Plate, 1.230, 1.027, -1.881, 0, 90, 0, 58 [SEP] 13, Knife, -0.448, 0.825, 0.696, 0, 90, 0, 60 [SEP] 14, Knife, 2.874, 0.826, -0.221, 0, 270, 0, 69 [SEP] 15, Tomato, -0.851, 0.870, 1.337, 0, 90, 0, 115 [SEP] 16, SoapBottle, -1.038, 0.075, 2.842, 0, 0, 0, 113 [SEP] 17, SoapBottle, 2.515, 0.763, 4.007, 0, 329.999, 0, 59 [SEP] 18, Bowl, -0.922, 1.440, -0.184, 0, 90, 0, 102 [SEP] 19, Bowl, -1.021, 1.778, 2.485, 0, 0, 0, 96 [SEP] 20, SaltShaker, 2.101, 0.760, 3.747, 0, 270, 0, 59 [SEP] 21, SaltShaker, 1.409, 1.023, -1.774, 0, 90, 0, 58 [SEP] 22, PepperShaker, -0.455, 0.044, 2.569, 0, 0, 0, 64 [SEP] 23, PepperShaker, 2.540, 0.797, -0.221, 0, 0, 0, 68 [SEP] 24, Bread, 2.790, 1.094, -0.541, 0, 0, 0, 58 [SEP] 25, Lettuce, 1.926, 0.822, 3.747, 0, 270, 0, 59 [SEP] 26, Lettuce, 2.673, 0.822, 4.145, 0, 0, 0, 59 [SEP] 27, Mug, -0.645, 0.811, 1.259, 0, 270, 0, 115 [SEP] 28, Apple, 2.275, 0.814, 4.192, 0, 270, 0, 59 [SEP] 29, Apple, -1.171, 1.077, 2.434, 0, 0, 0, 61 [SEP] 30, Pan, 2.042, 1.017, 1.779, 0, 0, 0, 58 [SEP] 31, Glassbottle, -0.987, 0.786, -0.406, 0, 90, 0, 102 [SEP] 32, Knife, -0.590, 0.827, 0.696, 0, 0, 0, 60 [SEP] 33, SoapBottle, 2.533, 0.763, 3.381, 0, 329.999, 0, 59 [SEP] 34, Egg, 2.525, 0.808, 4.145, 0, 0, 0, 59 [SEP] 35, Fork, 2.404, 1.027, 1.303, 0, 136.999, 0, 58 [SEP] 36, Potato, -0.782, 0.858, 1.492, 0, 90, 0, 115 [SEP] 37, Ladle, 2.304, 0.803, 4.521, 0, 329.999, 0, 59 [SEP] 38, Tomato, 2.859, 1.080, 1.447, 0, 136.999, 0, 58 [SEP] 39, Pot, 1.836, 1.027, -1.84, 0, 90, 0, 56 [SEP] 40, WineBottle, 1.982, 0.765, 4.335, 0, 329.999, 0, 59 [SEP] 41, Plate, 2.801, 0.764, 3.821, 0, 270, 0, 59 [SEP] 42, Spatula, -0.448, 0.815, 1.844, 0, 90, 0, 63 [SEP] 43, PaperTowelRoll, 2.801, 0.868, 4.044, 0, 270, 0, 59 [SEP] 44, Lettuce, 2.386, 0.822, 3.932, 0, 329.999, 0, 59 [SEP] 45, Apple, -1.028, 0.836, -0.295, 0, 90, 0, 102 [SEP] 46, SaltShaker, 2.451, 0.760, 3.747, 0, 270, 0, 59 [SEP] 47, PepperShaker, 2.551, 0.760, 4.240, 0, 329.999, 0, 59 [SEP] 48, ButterKnife, 2.304, 0.764, 4.521, 0, 329.999, 0, 59 [SEP] 49, Bread, 2.741, 1.085, 0.059, 0, 0, 0, 58 [SEP] 50, Cup, 2.100, 0.763, 3.895, 0, 270, 0, 59 [SEP] 51, DishSponge, 1.836, 0.801, 1.387, 0, 317.0, 0, 72 [SEP] 52, Bowl, -0.897, 2.288, -0.551, 0, 0, 0, 90 [SEP] 53, Spoon, 2.818, 0.802, -0.267, 0, 0, 0, 58 [SEP] 54, Mug, -1.074, 1.022, 1.519, 0, 0, 0, 61 [SEP] 55, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 56, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 57, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 58, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 59, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 60, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 61, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 62, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 63, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 64, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 65, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 66, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 67, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 68, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 69, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 70, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 71, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 72, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 73, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 74, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 75, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 76, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 77, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 78, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 79, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 80, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 81, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 82, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 83, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 84, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 85, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 86, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 87, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 88, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 89, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 90, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 91, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 92, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 93, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 94, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 95, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 96, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 97, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 98, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 99, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 100, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 101, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 102, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 103, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 104, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 105, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 106, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 107, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 108, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 109, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 110, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 111, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 112, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 113, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 114, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 115, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 116, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 117, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 118, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 119, , , , , , , , [SEP] 120, NorthWall, , , , , , , [SEP] 121, EastWall, , , , , , , [SEP] 122, SouthWall, , , , , , , [SEP] 123, WestWall, , , , , , , ", "output": ["STEP 1: Move to the stove to the across from the fridge. | STEP 2: Pick up a ladle from the stove. | STEP 3: Move to the end of the counter to the right of you before the fridge. | STEP 4: Place ladle on a plate on the counter. | STEP 5: Pick up the plate from the counter. | STEP 6: Move to the lower cabinet closest to the stove. | STEP 7: Open the cabinet and place the plate inside with the ladle and close the door. | END"]} +{"id": "trial_T20190907_070303_578496-1", "input": "Plae a plate with a ladle on it in a cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.0, 0.900, -0.25, 0, 270, 0, [SEP] 1, Ladle, 2.875, 1.066, -1.151, 0, 0, 0, 58 [SEP] 2, Ladle, 2.790, 1.066, -1.762, 0, 0, 0, 58 [SEP] 3, Ladle, -0.794, 1.066, 2.556, 0, 0, 0, 61 [SEP] 4, WineBottle, 2.919, 0.765, 3.604, 0, 329.999, 0, 59 [SEP] 5, Glassbottle, -0.418, 1.028, 0.508, 0, 0, 0, 61 [SEP] 6, Pot, 2.177, 1.027, -1.599, 0, 0, 0, 57 [SEP] 7, Spatula, -0.418, 1.042, 2.066, 0, 90, 0, 61 [SEP] 8, Spatula, 1.707, 0.815, 1.728, 0, 317.0, 0, 73 [SEP] 9, Fork, -0.661, 0.802, 0.535, 0, 0, 0, 60 [SEP] 10, Cup, 1.925, 0.763, 3.969, 0, 270, 0, 59 [SEP] 11, Plate, 2.113, 0.764, 3.527, 0, 225, 0, 59 [SEP] 12, Plate, 1.230, 1.027, -1.881, 0, 90, 0, 58 [SEP] 13, Knife, -0.448, 0.825, 0.696, 0, 90, 0, 60 [SEP] 14, Knife, 2.874, 0.826, -0.221, 0, 270, 0, 69 [SEP] 15, Tomato, -0.851, 0.870, 1.337, 0, 90, 0, 115 [SEP] 16, SoapBottle, -1.038, 0.075, 2.842, 0, 0, 0, 113 [SEP] 17, SoapBottle, 2.515, 0.763, 4.007, 0, 329.999, 0, 59 [SEP] 18, Bowl, -0.922, 1.440, -0.184, 0, 90, 0, 102 [SEP] 19, Bowl, -1.021, 1.778, 2.485, 0, 0, 0, 96 [SEP] 20, SaltShaker, 2.101, 0.760, 3.747, 0, 270, 0, 59 [SEP] 21, SaltShaker, 1.409, 1.023, -1.774, 0, 90, 0, 58 [SEP] 22, PepperShaker, -0.455, 0.044, 2.569, 0, 0, 0, 64 [SEP] 23, PepperShaker, 2.540, 0.797, -0.221, 0, 0, 0, 68 [SEP] 24, Bread, 2.790, 1.094, -0.541, 0, 0, 0, 58 [SEP] 25, Lettuce, 1.926, 0.822, 3.747, 0, 270, 0, 59 [SEP] 26, Lettuce, 2.673, 0.822, 4.145, 0, 0, 0, 59 [SEP] 27, Mug, -0.645, 0.811, 1.259, 0, 270, 0, 115 [SEP] 28, Apple, 2.275, 0.814, 4.192, 0, 270, 0, 59 [SEP] 29, Apple, -1.171, 1.077, 2.434, 0, 0, 0, 61 [SEP] 30, Pan, 2.042, 1.017, 1.779, 0, 0, 0, 58 [SEP] 31, Glassbottle, -0.987, 0.786, -0.406, 0, 90, 0, 102 [SEP] 32, Knife, -0.590, 0.827, 0.696, 0, 0, 0, 60 [SEP] 33, SoapBottle, 2.533, 0.763, 3.381, 0, 329.999, 0, 59 [SEP] 34, Egg, 2.525, 0.808, 4.145, 0, 0, 0, 59 [SEP] 35, Fork, 2.404, 1.027, 1.303, 0, 136.999, 0, 58 [SEP] 36, Potato, -0.782, 0.858, 1.492, 0, 90, 0, 115 [SEP] 37, Ladle, 2.304, 0.803, 4.521, 0, 329.999, 0, 59 [SEP] 38, Tomato, 2.859, 1.080, 1.447, 0, 136.999, 0, 58 [SEP] 39, Pot, 1.836, 1.027, -1.84, 0, 90, 0, 56 [SEP] 40, WineBottle, 1.982, 0.765, 4.335, 0, 329.999, 0, 59 [SEP] 41, Plate, 2.801, 0.764, 3.821, 0, 270, 0, 59 [SEP] 42, Spatula, -0.448, 0.815, 1.844, 0, 90, 0, 63 [SEP] 43, PaperTowelRoll, 2.801, 0.868, 4.044, 0, 270, 0, 59 [SEP] 44, Lettuce, 2.386, 0.822, 3.932, 0, 329.999, 0, 59 [SEP] 45, Apple, -1.028, 0.836, -0.295, 0, 90, 0, 102 [SEP] 46, SaltShaker, 2.451, 0.760, 3.747, 0, 270, 0, 59 [SEP] 47, PepperShaker, 2.551, 0.760, 4.240, 0, 329.999, 0, 59 [SEP] 48, ButterKnife, 2.304, 0.764, 4.521, 0, 329.999, 0, 59 [SEP] 49, Bread, 2.741, 1.085, 0.059, 0, 0, 0, 58 [SEP] 50, Cup, 2.100, 0.763, 3.895, 0, 270, 0, 59 [SEP] 51, DishSponge, 1.836, 0.801, 1.387, 0, 317.0, 0, 72 [SEP] 52, Bowl, -0.897, 2.288, -0.551, 0, 0, 0, 90 [SEP] 53, Spoon, 2.818, 0.802, -0.267, 0, 0, 0, 58 [SEP] 54, Mug, -1.074, 1.022, 1.519, 0, 0, 0, 61 [SEP] 55, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 56, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 57, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 58, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 59, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 60, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 61, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 62, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 63, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 64, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 65, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 66, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 67, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 68, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 69, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 70, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 71, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 72, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 73, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 74, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 75, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 76, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 77, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 78, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 79, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 80, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 81, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 82, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 83, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 84, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 85, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 86, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 87, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 88, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 89, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 90, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 91, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 92, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 93, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 94, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 95, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 96, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 97, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 98, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 99, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 100, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 101, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 102, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 103, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 104, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 105, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 106, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 107, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 108, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 109, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 110, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 111, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 112, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 113, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 114, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 115, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 116, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 117, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 118, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 119, , , , , , , , [SEP] 120, NorthWall, , , , , , , [SEP] 121, EastWall, , , , , , , [SEP] 122, SouthWall, , , , , , , [SEP] 123, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk towards the stove. | STEP 2: Pick up the ladle to the left of the stove. | STEP 3: Walk to the end of the counter to the right of the stove. | STEP 4: Place the ladle on a plate to the right of the counter. | STEP 5: Pick up the plate from the counter. | STEP 6: Walk back around to the stove and look at the cabinet under the counter to the left of the stove. | STEP 7: Place the plate in the cabinet. | END"]} +{"id": "trial_T20190907_070303_578496-2", "input": "Place a plate with a spoon inside the cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.0, 0.900, -0.25, 0, 270, 0, [SEP] 1, Ladle, 2.875, 1.066, -1.151, 0, 0, 0, 58 [SEP] 2, Ladle, 2.790, 1.066, -1.762, 0, 0, 0, 58 [SEP] 3, Ladle, -0.794, 1.066, 2.556, 0, 0, 0, 61 [SEP] 4, WineBottle, 2.919, 0.765, 3.604, 0, 329.999, 0, 59 [SEP] 5, Glassbottle, -0.418, 1.028, 0.508, 0, 0, 0, 61 [SEP] 6, Pot, 2.177, 1.027, -1.599, 0, 0, 0, 57 [SEP] 7, Spatula, -0.418, 1.042, 2.066, 0, 90, 0, 61 [SEP] 8, Spatula, 1.707, 0.815, 1.728, 0, 317.0, 0, 73 [SEP] 9, Fork, -0.661, 0.802, 0.535, 0, 0, 0, 60 [SEP] 10, Cup, 1.925, 0.763, 3.969, 0, 270, 0, 59 [SEP] 11, Plate, 2.113, 0.764, 3.527, 0, 225, 0, 59 [SEP] 12, Plate, 1.230, 1.027, -1.881, 0, 90, 0, 58 [SEP] 13, Knife, -0.448, 0.825, 0.696, 0, 90, 0, 60 [SEP] 14, Knife, 2.874, 0.826, -0.221, 0, 270, 0, 69 [SEP] 15, Tomato, -0.851, 0.870, 1.337, 0, 90, 0, 115 [SEP] 16, SoapBottle, -1.038, 0.075, 2.842, 0, 0, 0, 113 [SEP] 17, SoapBottle, 2.515, 0.763, 4.007, 0, 329.999, 0, 59 [SEP] 18, Bowl, -0.922, 1.440, -0.184, 0, 90, 0, 102 [SEP] 19, Bowl, -1.021, 1.778, 2.485, 0, 0, 0, 96 [SEP] 20, SaltShaker, 2.101, 0.760, 3.747, 0, 270, 0, 59 [SEP] 21, SaltShaker, 1.409, 1.023, -1.774, 0, 90, 0, 58 [SEP] 22, PepperShaker, -0.455, 0.044, 2.569, 0, 0, 0, 64 [SEP] 23, PepperShaker, 2.540, 0.797, -0.221, 0, 0, 0, 68 [SEP] 24, Bread, 2.790, 1.094, -0.541, 0, 0, 0, 58 [SEP] 25, Lettuce, 1.926, 0.822, 3.747, 0, 270, 0, 59 [SEP] 26, Lettuce, 2.673, 0.822, 4.145, 0, 0, 0, 59 [SEP] 27, Mug, -0.645, 0.811, 1.259, 0, 270, 0, 115 [SEP] 28, Apple, 2.275, 0.814, 4.192, 0, 270, 0, 59 [SEP] 29, Apple, -1.171, 1.077, 2.434, 0, 0, 0, 61 [SEP] 30, Pan, 2.042, 1.017, 1.779, 0, 0, 0, 58 [SEP] 31, Glassbottle, -0.987, 0.786, -0.406, 0, 90, 0, 102 [SEP] 32, Knife, -0.590, 0.827, 0.696, 0, 0, 0, 60 [SEP] 33, SoapBottle, 2.533, 0.763, 3.381, 0, 329.999, 0, 59 [SEP] 34, Egg, 2.525, 0.808, 4.145, 0, 0, 0, 59 [SEP] 35, Fork, 2.404, 1.027, 1.303, 0, 136.999, 0, 58 [SEP] 36, Potato, -0.782, 0.858, 1.492, 0, 90, 0, 115 [SEP] 37, Ladle, 2.304, 0.803, 4.521, 0, 329.999, 0, 59 [SEP] 38, Tomato, 2.859, 1.080, 1.447, 0, 136.999, 0, 58 [SEP] 39, Pot, 1.836, 1.027, -1.84, 0, 90, 0, 56 [SEP] 40, WineBottle, 1.982, 0.765, 4.335, 0, 329.999, 0, 59 [SEP] 41, Plate, 2.801, 0.764, 3.821, 0, 270, 0, 59 [SEP] 42, Spatula, -0.448, 0.815, 1.844, 0, 90, 0, 63 [SEP] 43, PaperTowelRoll, 2.801, 0.868, 4.044, 0, 270, 0, 59 [SEP] 44, Lettuce, 2.386, 0.822, 3.932, 0, 329.999, 0, 59 [SEP] 45, Apple, -1.028, 0.836, -0.295, 0, 90, 0, 102 [SEP] 46, SaltShaker, 2.451, 0.760, 3.747, 0, 270, 0, 59 [SEP] 47, PepperShaker, 2.551, 0.760, 4.240, 0, 329.999, 0, 59 [SEP] 48, ButterKnife, 2.304, 0.764, 4.521, 0, 329.999, 0, 59 [SEP] 49, Bread, 2.741, 1.085, 0.059, 0, 0, 0, 58 [SEP] 50, Cup, 2.100, 0.763, 3.895, 0, 270, 0, 59 [SEP] 51, DishSponge, 1.836, 0.801, 1.387, 0, 317.0, 0, 72 [SEP] 52, Bowl, -0.897, 2.288, -0.551, 0, 0, 0, 90 [SEP] 53, Spoon, 2.818, 0.802, -0.267, 0, 0, 0, 58 [SEP] 54, Mug, -1.074, 1.022, 1.519, 0, 0, 0, 61 [SEP] 55, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 56, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 57, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 58, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 59, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 60, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 61, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 62, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 63, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 64, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 65, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 66, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 67, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 68, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 69, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 70, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 71, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 72, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 73, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 74, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 75, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 76, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 77, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 78, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 79, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 80, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 81, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 82, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 83, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 84, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 85, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 86, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 87, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 88, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 89, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 90, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 91, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 92, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 93, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 94, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 95, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 96, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 97, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 98, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 99, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 100, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 101, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 102, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 103, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 104, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 105, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 106, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 107, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 108, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 109, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 110, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 111, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 112, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 113, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 114, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 115, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 116, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 117, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 118, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 119, , , , , , , , [SEP] 120, NorthWall, , , , , , , [SEP] 121, EastWall, , , , , , , [SEP] 122, SouthWall, , , , , , , [SEP] 123, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and head towards the stove. | STEP 2: Pick up the spoon to the left of the stove. | STEP 3: Turn right and walk towards the end of the counter. | STEP 4: Place the spoon on the plate that is on the counter. | STEP 5: Pick up the plate from the counter. | STEP 6: Turn left and walk towards the counter at the end. | STEP 7: Open the cabinet below the counter and place the plate in it. | END"]} +{"id": "trial_T20190908_102840_789300-0", "input": "Put two sets of keys on the couch. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.901, 1.75, 0, 270, 0, [SEP] 1, Statue, -1.714, 0.453, 2.441, 0, 0, 0, 29 [SEP] 2, KeyChain, -1.200, 0.711, 3.759, 0, 0, 0, 31 [SEP] 3, KeyChain, 0.500, 0.240, 0.387, 0, 0, 0, 32 [SEP] 4, KeyChain, 0.627, 0.714, 0.421, 0, 0, 0, 28 [SEP] 5, CreditCard, -0.851, 0.546, 0.471, 0, 0, 0, 30 [SEP] 6, RemoteControl, -2.093, 0.449, 2.521, 0, 0, 0, 29 [SEP] 7, RemoteControl, -0.351, 0.547, 0.740, 0, 0, 0, 30 [SEP] 8, Laptop, -1.499, 0.708, 3.649, 0, 0, 0, 31 [SEP] 9, Laptop, -2.824, 0.561, 0.754, 0, 0, 0, 33 [SEP] 10, Book, -3.200, 0.565, 0.568, 0, 0, 0, 33 [SEP] 11, Box, 0.332, 0.892, 0.488, 0, 0, 0, 28 [SEP] 12, Laptop, -1.101, 0.544, 0.471, 0, 0, 0, 30 [SEP] 13, KeyChain, 0.247, 0.240, 0.387, 0, 0, 0, 32 [SEP] 14, Pillow, -0.506, 0.664, 0.431, 36.288, 0, 0, 30 [SEP] 15, Statue, -1.461, 0.453, 2.361, 0, 0, 0, 29 [SEP] 16, RemoteControl, -1.966, 0.449, 2.200, 0, 0, 0, 29 [SEP] 17, CreditCard, -3.075, 0.564, 0.847, 0, 0, 0, 33 [SEP] 18, Watch, 0.627, 0.240, 0.624, 0, 0, 0, 32 [SEP] 19, Painting, -3.049, 1.690, 4.341, 0, 0, 0, [SEP] 20, Curtains, -3.973, 2.254, 1.453, 0, 0, 0, [SEP] 21, Painting, -1.096, 1.773, -0.017, 0, 0, 0, [SEP] 22, LightSwitch, -0.129, 1.407, 4.348, 0, 180, 0, [SEP] 23, GarbageCan, -0.376, 0.003, 4.103, 0, 180, 0, [SEP] 24, Television, -1.504, 1.189, 4.126, 0, 180, 0, [SEP] 25, HousePlant, -2.015, 0.447, 2.357, 0, 0, 0, [SEP] 26, FloorLamp, -3.686, -0.001, 4.013, 0, 0, 0, [SEP] 27, Window, -4.051, 1.197, 1.312, 90, 270, 0, [SEP] 28, SideTable, 0.626, 0.006, 0.340, 0, 0, 0, [SEP] 29, CoffeeTable, -1.735, 0.005, 2.360, 0, 0, 0, [SEP] 30, Sofa, -1.135, -0.004, 0.517, 0, 0, 0, [SEP] 31, TVStand, -1.566, 0.004, 3.869, 0, 0, 0, [SEP] 32, Shelf, 0.622, 0.238, 0.340, 0, 0, 0, [SEP] 33, ArmChair, -3.063, 0.000, 0.517, 0, 0, 0, [SEP] 34, NorthWall, , , , , , , [SEP] 35, EastWall, , , , , , , [SEP] 36, SouthWall, , , , , , , [SEP] 37, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk across the room to the side table on your right. | STEP 2: Pick the set of keys up off the table. | STEP 3: Turn right and walk to the furthest end of the couch on your left. | STEP 4: Set the keys on the right couch cushion to the right of the laptop. | STEP 5: Turn around and walk to the TV stand on the other side of the room. | STEP 6: Pick up the set of keys on the right of the laptop. | STEP 7: Turn around and move back to the right side of the couch. | STEP 8: Set the second set of keys down on the couch in front of the laptop where the cushions meet. | END"]} +{"id": "trial_T20190908_102840_789300-1", "input": "Place two sets of keys on the sofa. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.901, 1.75, 0, 270, 0, [SEP] 1, Statue, -1.714, 0.453, 2.441, 0, 0, 0, 29 [SEP] 2, KeyChain, -1.200, 0.711, 3.759, 0, 0, 0, 31 [SEP] 3, KeyChain, 0.500, 0.240, 0.387, 0, 0, 0, 32 [SEP] 4, KeyChain, 0.627, 0.714, 0.421, 0, 0, 0, 28 [SEP] 5, CreditCard, -0.851, 0.546, 0.471, 0, 0, 0, 30 [SEP] 6, RemoteControl, -2.093, 0.449, 2.521, 0, 0, 0, 29 [SEP] 7, RemoteControl, -0.351, 0.547, 0.740, 0, 0, 0, 30 [SEP] 8, Laptop, -1.499, 0.708, 3.649, 0, 0, 0, 31 [SEP] 9, Laptop, -2.824, 0.561, 0.754, 0, 0, 0, 33 [SEP] 10, Book, -3.200, 0.565, 0.568, 0, 0, 0, 33 [SEP] 11, Box, 0.332, 0.892, 0.488, 0, 0, 0, 28 [SEP] 12, Laptop, -1.101, 0.544, 0.471, 0, 0, 0, 30 [SEP] 13, KeyChain, 0.247, 0.240, 0.387, 0, 0, 0, 32 [SEP] 14, Pillow, -0.506, 0.664, 0.431, 36.288, 0, 0, 30 [SEP] 15, Statue, -1.461, 0.453, 2.361, 0, 0, 0, 29 [SEP] 16, RemoteControl, -1.966, 0.449, 2.200, 0, 0, 0, 29 [SEP] 17, CreditCard, -3.075, 0.564, 0.847, 0, 0, 0, 33 [SEP] 18, Watch, 0.627, 0.240, 0.624, 0, 0, 0, 32 [SEP] 19, Painting, -3.049, 1.690, 4.341, 0, 0, 0, [SEP] 20, Curtains, -3.973, 2.254, 1.453, 0, 0, 0, [SEP] 21, Painting, -1.096, 1.773, -0.017, 0, 0, 0, [SEP] 22, LightSwitch, -0.129, 1.407, 4.348, 0, 180, 0, [SEP] 23, GarbageCan, -0.376, 0.003, 4.103, 0, 180, 0, [SEP] 24, Television, -1.504, 1.189, 4.126, 0, 180, 0, [SEP] 25, HousePlant, -2.015, 0.447, 2.357, 0, 0, 0, [SEP] 26, FloorLamp, -3.686, -0.001, 4.013, 0, 0, 0, [SEP] 27, Window, -4.051, 1.197, 1.312, 90, 270, 0, [SEP] 28, SideTable, 0.626, 0.006, 0.340, 0, 0, 0, [SEP] 29, CoffeeTable, -1.735, 0.005, 2.360, 0, 0, 0, [SEP] 30, Sofa, -1.135, -0.004, 0.517, 0, 0, 0, [SEP] 31, TVStand, -1.566, 0.004, 3.869, 0, 0, 0, [SEP] 32, Shelf, 0.622, 0.238, 0.340, 0, 0, 0, [SEP] 33, ArmChair, -3.063, 0.000, 0.517, 0, 0, 0, [SEP] 34, NorthWall, , , , , , , [SEP] 35, EastWall, , , , , , , [SEP] 36, SouthWall, , , , , , , [SEP] 37, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and head towards the wall, then make a right and go to the table. | STEP 2: Pick up the keys on the table next to the box. | STEP 3: Turn around and step forward, then turn left and go center of the room and turn left in front of the sofa. | STEP 4: Place the key on the sofa to the bottom right of the laptop. | STEP 5: Turn around,walk forward and go in the space between the TV stand and the coffee table. | STEP 6: Pick up the keys off the TV stand to the right of the laptop. | STEP 7: Return to the center of the sofa. | STEP 8: Place the key to the left of the key already on the sofa. | END"]} +{"id": "trial_T20190908_102840_789300-2", "input": "TO move two sets of keys to the couch. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.901, 1.75, 0, 270, 0, [SEP] 1, Statue, -1.714, 0.453, 2.441, 0, 0, 0, 29 [SEP] 2, KeyChain, -1.200, 0.711, 3.759, 0, 0, 0, 31 [SEP] 3, KeyChain, 0.500, 0.240, 0.387, 0, 0, 0, 32 [SEP] 4, KeyChain, 0.627, 0.714, 0.421, 0, 0, 0, 28 [SEP] 5, CreditCard, -0.851, 0.546, 0.471, 0, 0, 0, 30 [SEP] 6, RemoteControl, -2.093, 0.449, 2.521, 0, 0, 0, 29 [SEP] 7, RemoteControl, -0.351, 0.547, 0.740, 0, 0, 0, 30 [SEP] 8, Laptop, -1.499, 0.708, 3.649, 0, 0, 0, 31 [SEP] 9, Laptop, -2.824, 0.561, 0.754, 0, 0, 0, 33 [SEP] 10, Book, -3.200, 0.565, 0.568, 0, 0, 0, 33 [SEP] 11, Box, 0.332, 0.892, 0.488, 0, 0, 0, 28 [SEP] 12, Laptop, -1.101, 0.544, 0.471, 0, 0, 0, 30 [SEP] 13, KeyChain, 0.247, 0.240, 0.387, 0, 0, 0, 32 [SEP] 14, Pillow, -0.506, 0.664, 0.431, 36.288, 0, 0, 30 [SEP] 15, Statue, -1.461, 0.453, 2.361, 0, 0, 0, 29 [SEP] 16, RemoteControl, -1.966, 0.449, 2.200, 0, 0, 0, 29 [SEP] 17, CreditCard, -3.075, 0.564, 0.847, 0, 0, 0, 33 [SEP] 18, Watch, 0.627, 0.240, 0.624, 0, 0, 0, 32 [SEP] 19, Painting, -3.049, 1.690, 4.341, 0, 0, 0, [SEP] 20, Curtains, -3.973, 2.254, 1.453, 0, 0, 0, [SEP] 21, Painting, -1.096, 1.773, -0.017, 0, 0, 0, [SEP] 22, LightSwitch, -0.129, 1.407, 4.348, 0, 180, 0, [SEP] 23, GarbageCan, -0.376, 0.003, 4.103, 0, 180, 0, [SEP] 24, Television, -1.504, 1.189, 4.126, 0, 180, 0, [SEP] 25, HousePlant, -2.015, 0.447, 2.357, 0, 0, 0, [SEP] 26, FloorLamp, -3.686, -0.001, 4.013, 0, 0, 0, [SEP] 27, Window, -4.051, 1.197, 1.312, 90, 270, 0, [SEP] 28, SideTable, 0.626, 0.006, 0.340, 0, 0, 0, [SEP] 29, CoffeeTable, -1.735, 0.005, 2.360, 0, 0, 0, [SEP] 30, Sofa, -1.135, -0.004, 0.517, 0, 0, 0, [SEP] 31, TVStand, -1.566, 0.004, 3.869, 0, 0, 0, [SEP] 32, Shelf, 0.622, 0.238, 0.340, 0, 0, 0, [SEP] 33, ArmChair, -3.063, 0.000, 0.517, 0, 0, 0, [SEP] 34, NorthWall, , , , , , , [SEP] 35, EastWall, , , , , , , [SEP] 36, SouthWall, , , , , , , [SEP] 37, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left and face the table at the end of the couch. | STEP 2: Pick up the keys on the end table. | STEP 3: Turn right and walk forward and turn to the left to face the right end of the couch. | STEP 4: Place the keys on the right side of the couch. | STEP 5: Turn around and walk across the room to face the TV stand. | STEP 6: Pick up the keys on the TV stand. | STEP 7: Turn around and walk forward to face the couch. | STEP 8: Place the keys on the couch next to the first set of keys. | END"]} +{"id": "trial_T20190906_181531_703961-0", "input": "Put the yellow and blue jars on the black desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.75, 0.902, 0.0, 0, 90, 0, [SEP] 1, CellPhone, -0.310, 0.695, 5.572, 0, 315, 0, 51 [SEP] 2, CellPhone, -2.238, 0.658, -2.202, 0, 0, 0, 57 [SEP] 3, CreditCard, -2.106, 0.452, 4.048, 0, 0, 0, 70 [SEP] 4, CreditCard, -4.287, 1.652, 0.322, 0, 0, 0, 28 [SEP] 5, Box, -0.355, 1.031, 1.690, 0, 0, 0, 36 [SEP] 6, Pillow, -3.585, 0.451, 4.415, 0, 90, 0, 60 [SEP] 7, Laptop, -2.465, 0.653, -1.820, 0, 0, 0, 57 [SEP] 8, Laptop, -1.102, 0.653, -2.202, 0, 0, 0, 57 [SEP] 9, Box, -2.011, 0.945, -2.202, 0, 0, 0, 57 [SEP] 10, Vase, -0.708, 0.701, 6.038, 0, 315, 0, 51 [SEP] 11, CellPhone, -2.106, 0.456, 3.910, 0, 0, 0, 70 [SEP] 12, WateringCan, -3.580, 0.003, 5.507, 2.686, 0, 0, Floor|-04.41| [SEP] 13, KeyChain, -2.246, 0.453, 4.602, 0, 0, 0, 70 [SEP] 14, Vase, -4.242, 0.789, 1.181, 0, 0, 0, 29 [SEP] 15, Vase, -1.556, 0.660, -2.329, 0, 0, 0, 57 [SEP] 16, Laptop, -1.663, 0.387, 5.826, 0, 180, 0, 59 [SEP] 17, Pillow, -3.585, 0.451, 3.881, 0, 90, 0, 60 [SEP] 18, RemoteControl, -4.136, 0.796, 1.070, 0, 0, 0, 29 [SEP] 19, CreditCard, -1.685, 0.452, 4.602, 0, 0, 0, 70 [SEP] 20, Vase, -4.225, 0.789, 0.382, 0, 0, 0, 29 [SEP] 21, Statue, -4.223, 1.263, 0.399, 0, 0, 0, 26 [SEP] 22, Statue, -4.327, 1.662, 0.621, 0, 90, 0, 28 [SEP] 23, Statue, -1.685, 0.554, 3.910, 0, 0, 0, 70 [SEP] 24, Shelf, -4.253, 2.157, 0.771, 0, 0, 0, [SEP] 25, Painting, -3.368, 1.741, -0.298, 0, 0, 0, [SEP] 26, Shelf, -4.253, 1.306, 0.771, 0, 0, 0, [SEP] 27, Painting, -1.756, 1.424, -3.595, 0, 0, 0, [SEP] 28, Shelf, -4.253, 1.690, 0.771, 0, 0, 0, [SEP] 29, Shelf, -4.261, 0.833, 0.771, 0, 0, 0, [SEP] 30, Drawer, 0.411, 0.581, 1.221, 0, 180, 0, [SEP] 31, Drawer, -0.000, 0.170, 1.221, 0, 180, 0, [SEP] 32, Drawer, -0.000, 0.581, 1.221, 0, 180, 0, [SEP] 33, Drawer, 0.411, 0.375, 1.221, 0, 180, 0, [SEP] 34, Drawer, 0.411, 0.170, 1.221, 0, 180, 0, [SEP] 35, Drawer, -0.000, 0.375, 1.221, 0, 180, 0, [SEP] 36, Desk, -0.352, 0.003, 1.371, 0, 180, 0, [SEP] 37, FloorLamp, 0.391, -0.001, 5.157, 0, 0, 0, [SEP] 38, Window, -2.828, 0.470, -0.157, 90, 199.328, 0, [SEP] 39, Window, -4.410, 1.702, 1.787, 90, 270, 0, [SEP] 40, Window, -3.638, 1.702, 6.735, 90, 0, 0, [SEP] 41, Window, -4.410, 1.702, 2.790, 90, 270, 0, [SEP] 42, Window, -2.827, 1.702, -0.157, 90, 199.328, 0, [SEP] 43, Window, -0.131, 1.702, 6.735, 90, 0, 0, [SEP] 44, Window, -1.013, 1.702, -0.154, 90, 159.633, 0, [SEP] 45, Window, -4.410, 1.702, 5.980, 90, 270, 0, [SEP] 46, Television, -0.153, 1.176, 5.790, 0, 225, 0, [SEP] 47, GarbageCan, 0.357, 0.003, 2.159, 0, 90, 0, [SEP] 48, DeskLamp, 0.277, 0.735, 1.381, 0, 0, 0, [SEP] 49, HousePlant, -1.819, 0.641, -2.011, 0, 315, 0, [SEP] 50, LightSwitch, -2.740, 1.495, -0.405, 0, 180, 0, [SEP] 51, TVStand, -0.118, 0.001, 5.874, 0, 45, 0, [SEP] 52, Chair, -1.353, 0.002, -2.872, 0, 349.207, 0, [SEP] 53, Chair, -2.220, 0.002, -1.298, 0, 168.118, 0, [SEP] 54, Chair, -1.515, 0.007, -1.331, 358.639, 187.454, 0, [SEP] 55, Chair, -2.189, 0.002, -2.835, 0, 2.328, 0, [SEP] 56, Safe, 0.174, 0.001, -0.071, 0, 323.940, 0, [SEP] 57, DiningTable, -1.783, 0.003, -2.039, 0, 0, 0, [SEP] 58, Chair, -0.636, 0.010, 0.993, 0, 358.396, 0, [SEP] 59, Sofa, -2.161, 0.006, 6.115, 0, 180, 0, [SEP] 60, Sofa, -3.782, 0.006, 4.153, 0, 90, 0, [SEP] 61, Shelf, -1.095, 0.607, 1.321, 0, 180, 0, [SEP] 62, Shelf, -1.267, 0.607, 1.321, 0, 180, 0, [SEP] 63, Shelf, -1.267, 0.401, 1.321, 0, 180, 0, [SEP] 64, Shelf, -1.095, 0.196, 1.320, 0, 180, 0, [SEP] 65, Shelf, -1.095, 0.401, 1.321, 0, 180, 0, [SEP] 66, Shelf, -1.267, 0.196, 1.320, 0, 180, 0, [SEP] 67, ArmChair, -2.628, 0.009, 2.421, 0, 0, 0, [SEP] 68, Chair, -0.485, 0.010, 4.452, 0, 270, 0, [SEP] 69, Chair, -0.431, 0.010, 3.595, 0, 270, 0, [SEP] 70, CoffeeTable, -1.965, 0.000, 4.187, 0, 0, 0, [SEP] 71, NorthWall, , , , , , , [SEP] 72, EastWall, , , , , , , [SEP] 73, SouthWall, , , , , , , [SEP] 74, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and stand in front of the white shelves. | STEP 2: Pick up the blue jar from the white shelf. | STEP 3: Turn around and walk over to the black desk with the box on top of it. | STEP 4: Put the Blue jar next to the open box. | STEP 5: Turn around and walk to the black entertainment center. | STEP 6: Pick up the yellow jar from the entertainment center. | STEP 7: Walk over to the black desk. | STEP 8: Put the yellow jar on the black desk next to the blue jar. | END"]} +{"id": "trial_T20190906_181531_703961-1", "input": "Put all the vases on the black desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.75, 0.902, 0.0, 0, 90, 0, [SEP] 1, CellPhone, -0.310, 0.695, 5.572, 0, 315, 0, 51 [SEP] 2, CellPhone, -2.238, 0.658, -2.202, 0, 0, 0, 57 [SEP] 3, CreditCard, -2.106, 0.452, 4.048, 0, 0, 0, 70 [SEP] 4, CreditCard, -4.287, 1.652, 0.322, 0, 0, 0, 28 [SEP] 5, Box, -0.355, 1.031, 1.690, 0, 0, 0, 36 [SEP] 6, Pillow, -3.585, 0.451, 4.415, 0, 90, 0, 60 [SEP] 7, Laptop, -2.465, 0.653, -1.820, 0, 0, 0, 57 [SEP] 8, Laptop, -1.102, 0.653, -2.202, 0, 0, 0, 57 [SEP] 9, Box, -2.011, 0.945, -2.202, 0, 0, 0, 57 [SEP] 10, Vase, -0.708, 0.701, 6.038, 0, 315, 0, 51 [SEP] 11, CellPhone, -2.106, 0.456, 3.910, 0, 0, 0, 70 [SEP] 12, WateringCan, -3.580, 0.003, 5.507, 2.686, 0, 0, Floor|-04.41| [SEP] 13, KeyChain, -2.246, 0.453, 4.602, 0, 0, 0, 70 [SEP] 14, Vase, -4.242, 0.789, 1.181, 0, 0, 0, 29 [SEP] 15, Vase, -1.556, 0.660, -2.329, 0, 0, 0, 57 [SEP] 16, Laptop, -1.663, 0.387, 5.826, 0, 180, 0, 59 [SEP] 17, Pillow, -3.585, 0.451, 3.881, 0, 90, 0, 60 [SEP] 18, RemoteControl, -4.136, 0.796, 1.070, 0, 0, 0, 29 [SEP] 19, CreditCard, -1.685, 0.452, 4.602, 0, 0, 0, 70 [SEP] 20, Vase, -4.225, 0.789, 0.382, 0, 0, 0, 29 [SEP] 21, Statue, -4.223, 1.263, 0.399, 0, 0, 0, 26 [SEP] 22, Statue, -4.327, 1.662, 0.621, 0, 90, 0, 28 [SEP] 23, Statue, -1.685, 0.554, 3.910, 0, 0, 0, 70 [SEP] 24, Shelf, -4.253, 2.157, 0.771, 0, 0, 0, [SEP] 25, Painting, -3.368, 1.741, -0.298, 0, 0, 0, [SEP] 26, Shelf, -4.253, 1.306, 0.771, 0, 0, 0, [SEP] 27, Painting, -1.756, 1.424, -3.595, 0, 0, 0, [SEP] 28, Shelf, -4.253, 1.690, 0.771, 0, 0, 0, [SEP] 29, Shelf, -4.261, 0.833, 0.771, 0, 0, 0, [SEP] 30, Drawer, 0.411, 0.581, 1.221, 0, 180, 0, [SEP] 31, Drawer, -0.000, 0.170, 1.221, 0, 180, 0, [SEP] 32, Drawer, -0.000, 0.581, 1.221, 0, 180, 0, [SEP] 33, Drawer, 0.411, 0.375, 1.221, 0, 180, 0, [SEP] 34, Drawer, 0.411, 0.170, 1.221, 0, 180, 0, [SEP] 35, Drawer, -0.000, 0.375, 1.221, 0, 180, 0, [SEP] 36, Desk, -0.352, 0.003, 1.371, 0, 180, 0, [SEP] 37, FloorLamp, 0.391, -0.001, 5.157, 0, 0, 0, [SEP] 38, Window, -2.828, 0.470, -0.157, 90, 199.328, 0, [SEP] 39, Window, -4.410, 1.702, 1.787, 90, 270, 0, [SEP] 40, Window, -3.638, 1.702, 6.735, 90, 0, 0, [SEP] 41, Window, -4.410, 1.702, 2.790, 90, 270, 0, [SEP] 42, Window, -2.827, 1.702, -0.157, 90, 199.328, 0, [SEP] 43, Window, -0.131, 1.702, 6.735, 90, 0, 0, [SEP] 44, Window, -1.013, 1.702, -0.154, 90, 159.633, 0, [SEP] 45, Window, -4.410, 1.702, 5.980, 90, 270, 0, [SEP] 46, Television, -0.153, 1.176, 5.790, 0, 225, 0, [SEP] 47, GarbageCan, 0.357, 0.003, 2.159, 0, 90, 0, [SEP] 48, DeskLamp, 0.277, 0.735, 1.381, 0, 0, 0, [SEP] 49, HousePlant, -1.819, 0.641, -2.011, 0, 315, 0, [SEP] 50, LightSwitch, -2.740, 1.495, -0.405, 0, 180, 0, [SEP] 51, TVStand, -0.118, 0.001, 5.874, 0, 45, 0, [SEP] 52, Chair, -1.353, 0.002, -2.872, 0, 349.207, 0, [SEP] 53, Chair, -2.220, 0.002, -1.298, 0, 168.118, 0, [SEP] 54, Chair, -1.515, 0.007, -1.331, 358.639, 187.454, 0, [SEP] 55, Chair, -2.189, 0.002, -2.835, 0, 2.328, 0, [SEP] 56, Safe, 0.174, 0.001, -0.071, 0, 323.940, 0, [SEP] 57, DiningTable, -1.783, 0.003, -2.039, 0, 0, 0, [SEP] 58, Chair, -0.636, 0.010, 0.993, 0, 358.396, 0, [SEP] 59, Sofa, -2.161, 0.006, 6.115, 0, 180, 0, [SEP] 60, Sofa, -3.782, 0.006, 4.153, 0, 90, 0, [SEP] 61, Shelf, -1.095, 0.607, 1.321, 0, 180, 0, [SEP] 62, Shelf, -1.267, 0.607, 1.321, 0, 180, 0, [SEP] 63, Shelf, -1.267, 0.401, 1.321, 0, 180, 0, [SEP] 64, Shelf, -1.095, 0.196, 1.320, 0, 180, 0, [SEP] 65, Shelf, -1.095, 0.401, 1.321, 0, 180, 0, [SEP] 66, Shelf, -1.267, 0.196, 1.320, 0, 180, 0, [SEP] 67, ArmChair, -2.628, 0.009, 2.421, 0, 0, 0, [SEP] 68, Chair, -0.485, 0.010, 4.452, 0, 270, 0, [SEP] 69, Chair, -0.431, 0.010, 3.595, 0, 270, 0, [SEP] 70, CoffeeTable, -1.965, 0.000, 4.187, 0, 0, 0, [SEP] 71, NorthWall, , , , , , , [SEP] 72, EastWall, , , , , , , [SEP] 73, SouthWall, , , , , , , [SEP] 74, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and face the shelves. | STEP 2: Pick up the blue vase on the bottom shelf. | STEP 3: Turn right, go towards the couch, turn right, walk in front of the black desk. | STEP 4: Put the blue vase on the desk to the right of the box. | STEP 5: Turn around, walk to the television stand. | STEP 6: Pick up the yellow vase on the left side of the television stand. | STEP 7: Turn around, walk to the black desk. | STEP 8: Put the yellow vase on the black desk to the right of the blue vase. | END"]} +{"id": "trial_T20190906_181531_703961-2", "input": "Place the yellow and blue vase on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.75, 0.902, 0.0, 0, 90, 0, [SEP] 1, CellPhone, -0.310, 0.695, 5.572, 0, 315, 0, 51 [SEP] 2, CellPhone, -2.238, 0.658, -2.202, 0, 0, 0, 57 [SEP] 3, CreditCard, -2.106, 0.452, 4.048, 0, 0, 0, 70 [SEP] 4, CreditCard, -4.287, 1.652, 0.322, 0, 0, 0, 28 [SEP] 5, Box, -0.355, 1.031, 1.690, 0, 0, 0, 36 [SEP] 6, Pillow, -3.585, 0.451, 4.415, 0, 90, 0, 60 [SEP] 7, Laptop, -2.465, 0.653, -1.820, 0, 0, 0, 57 [SEP] 8, Laptop, -1.102, 0.653, -2.202, 0, 0, 0, 57 [SEP] 9, Box, -2.011, 0.945, -2.202, 0, 0, 0, 57 [SEP] 10, Vase, -0.708, 0.701, 6.038, 0, 315, 0, 51 [SEP] 11, CellPhone, -2.106, 0.456, 3.910, 0, 0, 0, 70 [SEP] 12, WateringCan, -3.580, 0.003, 5.507, 2.686, 0, 0, Floor|-04.41| [SEP] 13, KeyChain, -2.246, 0.453, 4.602, 0, 0, 0, 70 [SEP] 14, Vase, -4.242, 0.789, 1.181, 0, 0, 0, 29 [SEP] 15, Vase, -1.556, 0.660, -2.329, 0, 0, 0, 57 [SEP] 16, Laptop, -1.663, 0.387, 5.826, 0, 180, 0, 59 [SEP] 17, Pillow, -3.585, 0.451, 3.881, 0, 90, 0, 60 [SEP] 18, RemoteControl, -4.136, 0.796, 1.070, 0, 0, 0, 29 [SEP] 19, CreditCard, -1.685, 0.452, 4.602, 0, 0, 0, 70 [SEP] 20, Vase, -4.225, 0.789, 0.382, 0, 0, 0, 29 [SEP] 21, Statue, -4.223, 1.263, 0.399, 0, 0, 0, 26 [SEP] 22, Statue, -4.327, 1.662, 0.621, 0, 90, 0, 28 [SEP] 23, Statue, -1.685, 0.554, 3.910, 0, 0, 0, 70 [SEP] 24, Shelf, -4.253, 2.157, 0.771, 0, 0, 0, [SEP] 25, Painting, -3.368, 1.741, -0.298, 0, 0, 0, [SEP] 26, Shelf, -4.253, 1.306, 0.771, 0, 0, 0, [SEP] 27, Painting, -1.756, 1.424, -3.595, 0, 0, 0, [SEP] 28, Shelf, -4.253, 1.690, 0.771, 0, 0, 0, [SEP] 29, Shelf, -4.261, 0.833, 0.771, 0, 0, 0, [SEP] 30, Drawer, 0.411, 0.581, 1.221, 0, 180, 0, [SEP] 31, Drawer, -0.000, 0.170, 1.221, 0, 180, 0, [SEP] 32, Drawer, -0.000, 0.581, 1.221, 0, 180, 0, [SEP] 33, Drawer, 0.411, 0.375, 1.221, 0, 180, 0, [SEP] 34, Drawer, 0.411, 0.170, 1.221, 0, 180, 0, [SEP] 35, Drawer, -0.000, 0.375, 1.221, 0, 180, 0, [SEP] 36, Desk, -0.352, 0.003, 1.371, 0, 180, 0, [SEP] 37, FloorLamp, 0.391, -0.001, 5.157, 0, 0, 0, [SEP] 38, Window, -2.828, 0.470, -0.157, 90, 199.328, 0, [SEP] 39, Window, -4.410, 1.702, 1.787, 90, 270, 0, [SEP] 40, Window, -3.638, 1.702, 6.735, 90, 0, 0, [SEP] 41, Window, -4.410, 1.702, 2.790, 90, 270, 0, [SEP] 42, Window, -2.827, 1.702, -0.157, 90, 199.328, 0, [SEP] 43, Window, -0.131, 1.702, 6.735, 90, 0, 0, [SEP] 44, Window, -1.013, 1.702, -0.154, 90, 159.633, 0, [SEP] 45, Window, -4.410, 1.702, 5.980, 90, 270, 0, [SEP] 46, Television, -0.153, 1.176, 5.790, 0, 225, 0, [SEP] 47, GarbageCan, 0.357, 0.003, 2.159, 0, 90, 0, [SEP] 48, DeskLamp, 0.277, 0.735, 1.381, 0, 0, 0, [SEP] 49, HousePlant, -1.819, 0.641, -2.011, 0, 315, 0, [SEP] 50, LightSwitch, -2.740, 1.495, -0.405, 0, 180, 0, [SEP] 51, TVStand, -0.118, 0.001, 5.874, 0, 45, 0, [SEP] 52, Chair, -1.353, 0.002, -2.872, 0, 349.207, 0, [SEP] 53, Chair, -2.220, 0.002, -1.298, 0, 168.118, 0, [SEP] 54, Chair, -1.515, 0.007, -1.331, 358.639, 187.454, 0, [SEP] 55, Chair, -2.189, 0.002, -2.835, 0, 2.328, 0, [SEP] 56, Safe, 0.174, 0.001, -0.071, 0, 323.940, 0, [SEP] 57, DiningTable, -1.783, 0.003, -2.039, 0, 0, 0, [SEP] 58, Chair, -0.636, 0.010, 0.993, 0, 358.396, 0, [SEP] 59, Sofa, -2.161, 0.006, 6.115, 0, 180, 0, [SEP] 60, Sofa, -3.782, 0.006, 4.153, 0, 90, 0, [SEP] 61, Shelf, -1.095, 0.607, 1.321, 0, 180, 0, [SEP] 62, Shelf, -1.267, 0.607, 1.321, 0, 180, 0, [SEP] 63, Shelf, -1.267, 0.401, 1.321, 0, 180, 0, [SEP] 64, Shelf, -1.095, 0.196, 1.320, 0, 180, 0, [SEP] 65, Shelf, -1.095, 0.401, 1.321, 0, 180, 0, [SEP] 66, Shelf, -1.267, 0.196, 1.320, 0, 180, 0, [SEP] 67, ArmChair, -2.628, 0.009, 2.421, 0, 0, 0, [SEP] 68, Chair, -0.485, 0.010, 4.452, 0, 270, 0, [SEP] 69, Chair, -0.431, 0.010, 3.595, 0, 270, 0, [SEP] 70, CoffeeTable, -1.965, 0.000, 4.187, 0, 0, 0, [SEP] 71, NorthWall, , , , , , , [SEP] 72, EastWall, , , , , , , [SEP] 73, SouthWall, , , , , , , [SEP] 74, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and left again to face the shelf. | STEP 2: Pick up the vase from the lower shelf. | STEP 3: Turn around and walk to the black table to your right. | STEP 4: Place the vase on the table. | STEP 5: Turn around and walk to the television stand to your right. | STEP 6: Grab the yellow vase on the table. | STEP 7: Turn around and take the yellow vase to the table to your left. | STEP 8: Place the yellow vase next to the blue vase on the table. | END"]} +{"id": "trial_T20190906_181531_703961-3", "input": "Put two vases on the desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.75, 0.902, 0.0, 0, 90, 0, [SEP] 1, CellPhone, -0.310, 0.695, 5.572, 0, 315, 0, 51 [SEP] 2, CellPhone, -2.238, 0.658, -2.202, 0, 0, 0, 57 [SEP] 3, CreditCard, -2.106, 0.452, 4.048, 0, 0, 0, 70 [SEP] 4, CreditCard, -4.287, 1.652, 0.322, 0, 0, 0, 28 [SEP] 5, Box, -0.355, 1.031, 1.690, 0, 0, 0, 36 [SEP] 6, Pillow, -3.585, 0.451, 4.415, 0, 90, 0, 60 [SEP] 7, Laptop, -2.465, 0.653, -1.820, 0, 0, 0, 57 [SEP] 8, Laptop, -1.102, 0.653, -2.202, 0, 0, 0, 57 [SEP] 9, Box, -2.011, 0.945, -2.202, 0, 0, 0, 57 [SEP] 10, Vase, -0.708, 0.701, 6.038, 0, 315, 0, 51 [SEP] 11, CellPhone, -2.106, 0.456, 3.910, 0, 0, 0, 70 [SEP] 12, WateringCan, -3.580, 0.003, 5.507, 2.686, 0, 0, Floor|-04.41| [SEP] 13, KeyChain, -2.246, 0.453, 4.602, 0, 0, 0, 70 [SEP] 14, Vase, -4.242, 0.789, 1.181, 0, 0, 0, 29 [SEP] 15, Vase, -1.556, 0.660, -2.329, 0, 0, 0, 57 [SEP] 16, Laptop, -1.663, 0.387, 5.826, 0, 180, 0, 59 [SEP] 17, Pillow, -3.585, 0.451, 3.881, 0, 90, 0, 60 [SEP] 18, RemoteControl, -4.136, 0.796, 1.070, 0, 0, 0, 29 [SEP] 19, CreditCard, -1.685, 0.452, 4.602, 0, 0, 0, 70 [SEP] 20, Vase, -4.225, 0.789, 0.382, 0, 0, 0, 29 [SEP] 21, Statue, -4.223, 1.263, 0.399, 0, 0, 0, 26 [SEP] 22, Statue, -4.327, 1.662, 0.621, 0, 90, 0, 28 [SEP] 23, Statue, -1.685, 0.554, 3.910, 0, 0, 0, 70 [SEP] 24, Shelf, -4.253, 2.157, 0.771, 0, 0, 0, [SEP] 25, Painting, -3.368, 1.741, -0.298, 0, 0, 0, [SEP] 26, Shelf, -4.253, 1.306, 0.771, 0, 0, 0, [SEP] 27, Painting, -1.756, 1.424, -3.595, 0, 0, 0, [SEP] 28, Shelf, -4.253, 1.690, 0.771, 0, 0, 0, [SEP] 29, Shelf, -4.261, 0.833, 0.771, 0, 0, 0, [SEP] 30, Drawer, 0.411, 0.581, 1.221, 0, 180, 0, [SEP] 31, Drawer, -0.000, 0.170, 1.221, 0, 180, 0, [SEP] 32, Drawer, -0.000, 0.581, 1.221, 0, 180, 0, [SEP] 33, Drawer, 0.411, 0.375, 1.221, 0, 180, 0, [SEP] 34, Drawer, 0.411, 0.170, 1.221, 0, 180, 0, [SEP] 35, Drawer, -0.000, 0.375, 1.221, 0, 180, 0, [SEP] 36, Desk, -0.352, 0.003, 1.371, 0, 180, 0, [SEP] 37, FloorLamp, 0.391, -0.001, 5.157, 0, 0, 0, [SEP] 38, Window, -2.828, 0.470, -0.157, 90, 199.328, 0, [SEP] 39, Window, -4.410, 1.702, 1.787, 90, 270, 0, [SEP] 40, Window, -3.638, 1.702, 6.735, 90, 0, 0, [SEP] 41, Window, -4.410, 1.702, 2.790, 90, 270, 0, [SEP] 42, Window, -2.827, 1.702, -0.157, 90, 199.328, 0, [SEP] 43, Window, -0.131, 1.702, 6.735, 90, 0, 0, [SEP] 44, Window, -1.013, 1.702, -0.154, 90, 159.633, 0, [SEP] 45, Window, -4.410, 1.702, 5.980, 90, 270, 0, [SEP] 46, Television, -0.153, 1.176, 5.790, 0, 225, 0, [SEP] 47, GarbageCan, 0.357, 0.003, 2.159, 0, 90, 0, [SEP] 48, DeskLamp, 0.277, 0.735, 1.381, 0, 0, 0, [SEP] 49, HousePlant, -1.819, 0.641, -2.011, 0, 315, 0, [SEP] 50, LightSwitch, -2.740, 1.495, -0.405, 0, 180, 0, [SEP] 51, TVStand, -0.118, 0.001, 5.874, 0, 45, 0, [SEP] 52, Chair, -1.353, 0.002, -2.872, 0, 349.207, 0, [SEP] 53, Chair, -2.220, 0.002, -1.298, 0, 168.118, 0, [SEP] 54, Chair, -1.515, 0.007, -1.331, 358.639, 187.454, 0, [SEP] 55, Chair, -2.189, 0.002, -2.835, 0, 2.328, 0, [SEP] 56, Safe, 0.174, 0.001, -0.071, 0, 323.940, 0, [SEP] 57, DiningTable, -1.783, 0.003, -2.039, 0, 0, 0, [SEP] 58, Chair, -0.636, 0.010, 0.993, 0, 358.396, 0, [SEP] 59, Sofa, -2.161, 0.006, 6.115, 0, 180, 0, [SEP] 60, Sofa, -3.782, 0.006, 4.153, 0, 90, 0, [SEP] 61, Shelf, -1.095, 0.607, 1.321, 0, 180, 0, [SEP] 62, Shelf, -1.267, 0.607, 1.321, 0, 180, 0, [SEP] 63, Shelf, -1.267, 0.401, 1.321, 0, 180, 0, [SEP] 64, Shelf, -1.095, 0.196, 1.320, 0, 180, 0, [SEP] 65, Shelf, -1.095, 0.401, 1.321, 0, 180, 0, [SEP] 66, Shelf, -1.267, 0.196, 1.320, 0, 180, 0, [SEP] 67, ArmChair, -2.628, 0.009, 2.421, 0, 0, 0, [SEP] 68, Chair, -0.485, 0.010, 4.452, 0, 270, 0, [SEP] 69, Chair, -0.431, 0.010, 3.595, 0, 270, 0, [SEP] 70, CoffeeTable, -1.965, 0.000, 4.187, 0, 0, 0, [SEP] 71, NorthWall, , , , , , , [SEP] 72, EastWall, , , , , , , [SEP] 73, SouthWall, , , , , , , [SEP] 74, WestWall, , , , , , , ", "output": ["STEP 1: Turn around to the shelf with the blue vase on it. | STEP 2: Take the blue vase from the shelf. | STEP 3: Turn around and walk towards the desk, walk around to the front of the desk. | STEP 4: Put the vase on the desk. | STEP 5: Turn around and walk to the stand with the TV on it. | STEP 6: Pick up the yellow vase on the TV stand. | STEP 7: Turn around and walk to the desk. | STEP 8: Put the yellow vase next to the blue vase on the desk. | END"]} +{"id": "trial_T20190906_181531_703961-4", "input": "Put two items on a desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.75, 0.902, 0.0, 0, 90, 0, [SEP] 1, CellPhone, -0.310, 0.695, 5.572, 0, 315, 0, 51 [SEP] 2, CellPhone, -2.238, 0.658, -2.202, 0, 0, 0, 57 [SEP] 3, CreditCard, -2.106, 0.452, 4.048, 0, 0, 0, 70 [SEP] 4, CreditCard, -4.287, 1.652, 0.322, 0, 0, 0, 28 [SEP] 5, Box, -0.355, 1.031, 1.690, 0, 0, 0, 36 [SEP] 6, Pillow, -3.585, 0.451, 4.415, 0, 90, 0, 60 [SEP] 7, Laptop, -2.465, 0.653, -1.820, 0, 0, 0, 57 [SEP] 8, Laptop, -1.102, 0.653, -2.202, 0, 0, 0, 57 [SEP] 9, Box, -2.011, 0.945, -2.202, 0, 0, 0, 57 [SEP] 10, Vase, -0.708, 0.701, 6.038, 0, 315, 0, 51 [SEP] 11, CellPhone, -2.106, 0.456, 3.910, 0, 0, 0, 70 [SEP] 12, WateringCan, -3.580, 0.003, 5.507, 2.686, 0, 0, Floor|-04.41| [SEP] 13, KeyChain, -2.246, 0.453, 4.602, 0, 0, 0, 70 [SEP] 14, Vase, -4.242, 0.789, 1.181, 0, 0, 0, 29 [SEP] 15, Vase, -1.556, 0.660, -2.329, 0, 0, 0, 57 [SEP] 16, Laptop, -1.663, 0.387, 5.826, 0, 180, 0, 59 [SEP] 17, Pillow, -3.585, 0.451, 3.881, 0, 90, 0, 60 [SEP] 18, RemoteControl, -4.136, 0.796, 1.070, 0, 0, 0, 29 [SEP] 19, CreditCard, -1.685, 0.452, 4.602, 0, 0, 0, 70 [SEP] 20, Vase, -4.225, 0.789, 0.382, 0, 0, 0, 29 [SEP] 21, Statue, -4.223, 1.263, 0.399, 0, 0, 0, 26 [SEP] 22, Statue, -4.327, 1.662, 0.621, 0, 90, 0, 28 [SEP] 23, Statue, -1.685, 0.554, 3.910, 0, 0, 0, 70 [SEP] 24, Shelf, -4.253, 2.157, 0.771, 0, 0, 0, [SEP] 25, Painting, -3.368, 1.741, -0.298, 0, 0, 0, [SEP] 26, Shelf, -4.253, 1.306, 0.771, 0, 0, 0, [SEP] 27, Painting, -1.756, 1.424, -3.595, 0, 0, 0, [SEP] 28, Shelf, -4.253, 1.690, 0.771, 0, 0, 0, [SEP] 29, Shelf, -4.261, 0.833, 0.771, 0, 0, 0, [SEP] 30, Drawer, 0.411, 0.581, 1.221, 0, 180, 0, [SEP] 31, Drawer, -0.000, 0.170, 1.221, 0, 180, 0, [SEP] 32, Drawer, -0.000, 0.581, 1.221, 0, 180, 0, [SEP] 33, Drawer, 0.411, 0.375, 1.221, 0, 180, 0, [SEP] 34, Drawer, 0.411, 0.170, 1.221, 0, 180, 0, [SEP] 35, Drawer, -0.000, 0.375, 1.221, 0, 180, 0, [SEP] 36, Desk, -0.352, 0.003, 1.371, 0, 180, 0, [SEP] 37, FloorLamp, 0.391, -0.001, 5.157, 0, 0, 0, [SEP] 38, Window, -2.828, 0.470, -0.157, 90, 199.328, 0, [SEP] 39, Window, -4.410, 1.702, 1.787, 90, 270, 0, [SEP] 40, Window, -3.638, 1.702, 6.735, 90, 0, 0, [SEP] 41, Window, -4.410, 1.702, 2.790, 90, 270, 0, [SEP] 42, Window, -2.827, 1.702, -0.157, 90, 199.328, 0, [SEP] 43, Window, -0.131, 1.702, 6.735, 90, 0, 0, [SEP] 44, Window, -1.013, 1.702, -0.154, 90, 159.633, 0, [SEP] 45, Window, -4.410, 1.702, 5.980, 90, 270, 0, [SEP] 46, Television, -0.153, 1.176, 5.790, 0, 225, 0, [SEP] 47, GarbageCan, 0.357, 0.003, 2.159, 0, 90, 0, [SEP] 48, DeskLamp, 0.277, 0.735, 1.381, 0, 0, 0, [SEP] 49, HousePlant, -1.819, 0.641, -2.011, 0, 315, 0, [SEP] 50, LightSwitch, -2.740, 1.495, -0.405, 0, 180, 0, [SEP] 51, TVStand, -0.118, 0.001, 5.874, 0, 45, 0, [SEP] 52, Chair, -1.353, 0.002, -2.872, 0, 349.207, 0, [SEP] 53, Chair, -2.220, 0.002, -1.298, 0, 168.118, 0, [SEP] 54, Chair, -1.515, 0.007, -1.331, 358.639, 187.454, 0, [SEP] 55, Chair, -2.189, 0.002, -2.835, 0, 2.328, 0, [SEP] 56, Safe, 0.174, 0.001, -0.071, 0, 323.940, 0, [SEP] 57, DiningTable, -1.783, 0.003, -2.039, 0, 0, 0, [SEP] 58, Chair, -0.636, 0.010, 0.993, 0, 358.396, 0, [SEP] 59, Sofa, -2.161, 0.006, 6.115, 0, 180, 0, [SEP] 60, Sofa, -3.782, 0.006, 4.153, 0, 90, 0, [SEP] 61, Shelf, -1.095, 0.607, 1.321, 0, 180, 0, [SEP] 62, Shelf, -1.267, 0.607, 1.321, 0, 180, 0, [SEP] 63, Shelf, -1.267, 0.401, 1.321, 0, 180, 0, [SEP] 64, Shelf, -1.095, 0.196, 1.320, 0, 180, 0, [SEP] 65, Shelf, -1.095, 0.401, 1.321, 0, 180, 0, [SEP] 66, Shelf, -1.267, 0.196, 1.320, 0, 180, 0, [SEP] 67, ArmChair, -2.628, 0.009, 2.421, 0, 0, 0, [SEP] 68, Chair, -0.485, 0.010, 4.452, 0, 270, 0, [SEP] 69, Chair, -0.431, 0.010, 3.595, 0, 270, 0, [SEP] 70, CoffeeTable, -1.965, 0.000, 4.187, 0, 0, 0, [SEP] 71, NorthWall, , , , , , , [SEP] 72, EastWall, , , , , , , [SEP] 73, SouthWall, , , , , , , [SEP] 74, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and face the shelves. | STEP 2: Pick up the blue object from the bottom shelf. | STEP 3: Turn around and veer left to the far side of the black desk. | STEP 4: Place the blue object on the desk to the right of the box. | STEP 5: Turn around and walk straight to the TV stand. | STEP 6: Pick the yellow object up off the TV stand. | STEP 7: Turn around and walk back to the desk. | STEP 8: Put the yellow item on the desk to the right of the blue item. | END"]} +{"id": "trial_T20190906_181531_703961-5", "input": "Move the bottles to the desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.75, 0.902, 0.0, 0, 90, 0, [SEP] 1, CellPhone, -0.310, 0.695, 5.572, 0, 315, 0, 51 [SEP] 2, CellPhone, -2.238, 0.658, -2.202, 0, 0, 0, 57 [SEP] 3, CreditCard, -2.106, 0.452, 4.048, 0, 0, 0, 70 [SEP] 4, CreditCard, -4.287, 1.652, 0.322, 0, 0, 0, 28 [SEP] 5, Box, -0.355, 1.031, 1.690, 0, 0, 0, 36 [SEP] 6, Pillow, -3.585, 0.451, 4.415, 0, 90, 0, 60 [SEP] 7, Laptop, -2.465, 0.653, -1.820, 0, 0, 0, 57 [SEP] 8, Laptop, -1.102, 0.653, -2.202, 0, 0, 0, 57 [SEP] 9, Box, -2.011, 0.945, -2.202, 0, 0, 0, 57 [SEP] 10, Vase, -0.708, 0.701, 6.038, 0, 315, 0, 51 [SEP] 11, CellPhone, -2.106, 0.456, 3.910, 0, 0, 0, 70 [SEP] 12, WateringCan, -3.580, 0.003, 5.507, 2.686, 0, 0, Floor|-04.41| [SEP] 13, KeyChain, -2.246, 0.453, 4.602, 0, 0, 0, 70 [SEP] 14, Vase, -4.242, 0.789, 1.181, 0, 0, 0, 29 [SEP] 15, Vase, -1.556, 0.660, -2.329, 0, 0, 0, 57 [SEP] 16, Laptop, -1.663, 0.387, 5.826, 0, 180, 0, 59 [SEP] 17, Pillow, -3.585, 0.451, 3.881, 0, 90, 0, 60 [SEP] 18, RemoteControl, -4.136, 0.796, 1.070, 0, 0, 0, 29 [SEP] 19, CreditCard, -1.685, 0.452, 4.602, 0, 0, 0, 70 [SEP] 20, Vase, -4.225, 0.789, 0.382, 0, 0, 0, 29 [SEP] 21, Statue, -4.223, 1.263, 0.399, 0, 0, 0, 26 [SEP] 22, Statue, -4.327, 1.662, 0.621, 0, 90, 0, 28 [SEP] 23, Statue, -1.685, 0.554, 3.910, 0, 0, 0, 70 [SEP] 24, Shelf, -4.253, 2.157, 0.771, 0, 0, 0, [SEP] 25, Painting, -3.368, 1.741, -0.298, 0, 0, 0, [SEP] 26, Shelf, -4.253, 1.306, 0.771, 0, 0, 0, [SEP] 27, Painting, -1.756, 1.424, -3.595, 0, 0, 0, [SEP] 28, Shelf, -4.253, 1.690, 0.771, 0, 0, 0, [SEP] 29, Shelf, -4.261, 0.833, 0.771, 0, 0, 0, [SEP] 30, Drawer, 0.411, 0.581, 1.221, 0, 180, 0, [SEP] 31, Drawer, -0.000, 0.170, 1.221, 0, 180, 0, [SEP] 32, Drawer, -0.000, 0.581, 1.221, 0, 180, 0, [SEP] 33, Drawer, 0.411, 0.375, 1.221, 0, 180, 0, [SEP] 34, Drawer, 0.411, 0.170, 1.221, 0, 180, 0, [SEP] 35, Drawer, -0.000, 0.375, 1.221, 0, 180, 0, [SEP] 36, Desk, -0.352, 0.003, 1.371, 0, 180, 0, [SEP] 37, FloorLamp, 0.391, -0.001, 5.157, 0, 0, 0, [SEP] 38, Window, -2.828, 0.470, -0.157, 90, 199.328, 0, [SEP] 39, Window, -4.410, 1.702, 1.787, 90, 270, 0, [SEP] 40, Window, -3.638, 1.702, 6.735, 90, 0, 0, [SEP] 41, Window, -4.410, 1.702, 2.790, 90, 270, 0, [SEP] 42, Window, -2.827, 1.702, -0.157, 90, 199.328, 0, [SEP] 43, Window, -0.131, 1.702, 6.735, 90, 0, 0, [SEP] 44, Window, -1.013, 1.702, -0.154, 90, 159.633, 0, [SEP] 45, Window, -4.410, 1.702, 5.980, 90, 270, 0, [SEP] 46, Television, -0.153, 1.176, 5.790, 0, 225, 0, [SEP] 47, GarbageCan, 0.357, 0.003, 2.159, 0, 90, 0, [SEP] 48, DeskLamp, 0.277, 0.735, 1.381, 0, 0, 0, [SEP] 49, HousePlant, -1.819, 0.641, -2.011, 0, 315, 0, [SEP] 50, LightSwitch, -2.740, 1.495, -0.405, 0, 180, 0, [SEP] 51, TVStand, -0.118, 0.001, 5.874, 0, 45, 0, [SEP] 52, Chair, -1.353, 0.002, -2.872, 0, 349.207, 0, [SEP] 53, Chair, -2.220, 0.002, -1.298, 0, 168.118, 0, [SEP] 54, Chair, -1.515, 0.007, -1.331, 358.639, 187.454, 0, [SEP] 55, Chair, -2.189, 0.002, -2.835, 0, 2.328, 0, [SEP] 56, Safe, 0.174, 0.001, -0.071, 0, 323.940, 0, [SEP] 57, DiningTable, -1.783, 0.003, -2.039, 0, 0, 0, [SEP] 58, Chair, -0.636, 0.010, 0.993, 0, 358.396, 0, [SEP] 59, Sofa, -2.161, 0.006, 6.115, 0, 180, 0, [SEP] 60, Sofa, -3.782, 0.006, 4.153, 0, 90, 0, [SEP] 61, Shelf, -1.095, 0.607, 1.321, 0, 180, 0, [SEP] 62, Shelf, -1.267, 0.607, 1.321, 0, 180, 0, [SEP] 63, Shelf, -1.267, 0.401, 1.321, 0, 180, 0, [SEP] 64, Shelf, -1.095, 0.196, 1.320, 0, 180, 0, [SEP] 65, Shelf, -1.095, 0.401, 1.321, 0, 180, 0, [SEP] 66, Shelf, -1.267, 0.196, 1.320, 0, 180, 0, [SEP] 67, ArmChair, -2.628, 0.009, 2.421, 0, 0, 0, [SEP] 68, Chair, -0.485, 0.010, 4.452, 0, 270, 0, [SEP] 69, Chair, -0.431, 0.010, 3.595, 0, 270, 0, [SEP] 70, CoffeeTable, -1.965, 0.000, 4.187, 0, 0, 0, [SEP] 71, NorthWall, , , , , , , [SEP] 72, EastWall, , , , , , , [SEP] 73, SouthWall, , , , , , , [SEP] 74, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and face the book shelf on the wall. | STEP 2: Pick up the blue bottle on the bottom shelf. | STEP 3: Turn around and go to the black desk on the other side of the room. | STEP 4: Place the blue bottle on the desk on the right of the box. | STEP 5: Turn around and go to the TV stand. | STEP 6: Pick up the yellow bottle in front of the TV. | STEP 7: Turn around and go back to the black desk. | STEP 8: Place the yellow bottle on the desk to the right of the blue bottle. | END"]} +{"id": "trial_T20190910_001038_953470-0", "input": "Put a pot containing a knife and slice of potato on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.900, -3.0, 0, 270, 0, [SEP] 1, Potato, -0.417, 1.318, -0.529, 0, 270, 0, 71 [SEP] 2, Potato, -3.942, 0.722, -0.430, 0, 0, 0, 76 [SEP] 3, DishSponge, -0.212, 1.502, -2.876, 0, 0, 0, 41 [SEP] 4, DishSponge, -2.560, 0.894, -0.462, 0, 270, 0, 78 [SEP] 5, Spoon, -0.473, 0.942, -1.538, 0, 180, 0, 59 [SEP] 6, Spoon, -4.002, 0.692, -0.491, 0, 180, 0, 76 [SEP] 7, Spatula, -0.315, 0.956, -1.450, 0, 180, 0, 59 [SEP] 8, Plate, -2.761, 0.908, -0.204, 0, 270, 0, 78 [SEP] 9, Tomato, -0.359, 1.539, -0.646, 0, 270, 0, 71 [SEP] 10, Tomato, -0.397, 1.539, -0.878, 0, 270, 0, 71 [SEP] 11, Bowl, -0.126, 1.937, -2.232, 0, 0, 0, 51 [SEP] 12, Bowl, -0.724, 0.078, -3.276, 0, 45, 0, 56 [SEP] 13, Bread, -3.553, 0.841, -3.506, 0, 199.125, 0, 77 [SEP] 14, SaltShaker, -1.216, 0.750, -3.505, 0, 0, 0, 47 [SEP] 15, SaltShaker, -0.057, 1.498, -2.964, 0, 0, 0, 53 [SEP] 16, PepperShaker, -4.062, 0.686, -0.309, 0, 0, 0, 76 [SEP] 17, PepperShaker, -0.213, 1.938, -0.713, 0, 0, 0, 48 [SEP] 18, Mug, -0.201, 1.574, -1.884, 0, 270, 0, 73 [SEP] 19, Apple, -0.359, 1.550, -0.529, 0, 270, 0, 71 [SEP] 20, SoapBottle, -4.002, 0.688, -0.187, 0, 180, 0, 76 [SEP] 21, Pot, -0.437, 0.961, -1.845, 0, 180, 0, 42 [SEP] 22, Fork, -0.554, 0.747, -1.488, 0, 90, 0, 45 [SEP] 23, Cup, -1.248, 0.943, -3.517, 0, 0, 0, 41 [SEP] 24, Tomato, -3.843, 0.810, -3.567, 0, 244.125, 0, 77 [SEP] 25, Pan, -0.217, 0.958, -2.215, 0, 45, 0, 60 [SEP] 26, Plate, -2.761, 0.908, -0.548, 0, 270, 0, 78 [SEP] 27, Bread, -3.565, 0.976, -0.376, 0, 270, 0, 78 [SEP] 28, Spatula, -3.163, 0.909, -0.290, 0, 270, 0, 78 [SEP] 29, Knife, -3.203, 0.785, -3.118, 0, 244.125, 0, 77 [SEP] 30, SaltShaker, -2.359, 0.890, -0.290, 0, 270, 0, 78 [SEP] 31, PepperShaker, -4.002, 0.686, -0.126, 0, 0, 0, 76 [SEP] 32, ButterKnife, -0.321, 0.942, -2.906, 0, 0, 0, 41 [SEP] 33, Apple, -2.359, 0.956, -0.204, 0, 270, 0, 78 [SEP] 34, DishSponge, -0.541, 0.081, -1.449, 0, 0, 0, 57 [SEP] 35, Potato, -0.417, 1.318, -0.413, 0, 270, 0, 71 [SEP] 36, Egg, -0.315, 0.982, -1.494, 0, 0, 0, 59 [SEP] 37, Spoon, -3.942, 0.692, -0.369, 0, 0, 0, 76 [SEP] 38, Lettuce, -0.283, 1.579, -0.297, 0, 270, 0, 71 [SEP] 39, Mug, -4.062, 0.685, -0.430, 0, 0, 0, 76 [SEP] 40, Bowl, -4.182, 0.689, -0.187, 0, 0, 0, 76 [SEP] 41, CounterTop, -1.937, 0.977, -3.673, 0, 0, 0, [SEP] 42, StoveBurner, -0.437, 0.924, -1.845, 0, 180, 0, [SEP] 43, StoveBurner, -0.222, 0.924, -1.845, 0, 180, 0, [SEP] 44, StoveBurner, -0.437, 0.924, -2.243, 0, 0, 0, [SEP] 45, Drawer, -0.500, 0.779, -1.450, 0, 0, 0, [SEP] 46, Drawer, -0.481, 0.777, -2.739, 0, 0, 0, [SEP] 47, Drawer, -1.154, 0.782, -3.499, 0, 0, 0, [SEP] 48, Cabinet, -0.337, 2.110, -0.390, 0, 0, 0, [SEP] 49, Cabinet, -0.337, 2.110, -1.272, 0, 0, 0, [SEP] 50, Cabinet, -0.337, 2.110, -1.631, 0, 0, 0, [SEP] 51, Cabinet, -0.337, 2.110, -2.497, 0, 0, 0, [SEP] 52, Cabinet, -0.337, 1.891, -1.286, 0, 0, 0, [SEP] 53, Cabinet, -0.346, 1.891, -3.293, 0, 0, 0, [SEP] 54, Cabinet, -0.629, 0.388, -2.513, 0, 0, 0, [SEP] 55, Cabinet, -0.633, 0.388, -3.008, 0, 0, 0, [SEP] 56, Cabinet, -1.010, 0.388, -3.368, 0, 0, 0, [SEP] 57, Cabinet, -0.629, 0.388, -1.614, 0, 0, 0, [SEP] 58, Cabinet, -0.327, 1.886, -2.513, 0, 0, 0, [SEP] 59, CounterTop, -0.326, 0.976, -1.450, 0, 0, 0, [SEP] 60, StoveBurner, -0.222, 0.924, -2.243, 0, 0, 0, [SEP] 61, Sink, -0.600, 0.929, -3.388, 0, 0, 0, [SEP] 62, StoveKnob, -0.617, 0.899, -1.833, 315, 90, 180, [SEP] 63, StoveKnob, -0.617, 0.899, -2.129, 315, 90, 180, [SEP] 64, StoveKnob, -0.617, 0.899, -2.289, 315, 90, 180, [SEP] 65, StoveKnob, -0.617, 0.899, -1.975, 315, 90, 180, [SEP] 66, GarbageCan, -2.418, -0.032, -3.541, 0, 0, 0, [SEP] 67, CoffeeMachine, -2.513, 0.930, -3.797, 0, 0, 0, [SEP] 68, Window, -1.389, 1.610, -4.113, 90, 0, 0, [SEP] 69, LightSwitch, -4.372, 1.493, -1.031, 0, 90, 0, [SEP] 70, SinkBasin, -0.614, 0.802, -3.384, 0, 315, 0, [SEP] 71, Fridge, -0.314, 0.0, -0.646, 0, 0, 0, [SEP] 72, Toaster, -1.970, 0.930, -3.763, 0, 0, 0, [SEP] 73, Microwave, -0.216, 1.470, -2.054, 0, 270, 0, [SEP] 74, Blinds, -1.373, 2.205, -3.961, 0, 0, 0, [SEP] 75, Faucet, -0.393, 0.930, -3.614, 270, 225, 0, [SEP] 76, SideTable, -4.030, 0.002, -0.301, 0, 185.034, 0, [SEP] 77, DiningTable, -3.586, 0.000, -3.258, 0, 0, 0, [SEP] 78, DiningTable, -3.224, -0.003, -0.453, 0, 0, 0, [SEP] 79, Shelf, -4.030, 0.259, -0.301, 0, 185.034, 0, [SEP] 80, Shelf, -4.030, 0.489, -0.301, 0, 185.034, 0, [SEP] 81, EastWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around, go to the counter across the room that is between the stove and sink. | STEP 2: Pick up the butter knife that is on the counter. | STEP 3: Turn to the left, go across the room to the fridge that is on the right. | STEP 4: Open the fridge, cut the leftmost potato into slices. | STEP 5: Turn to the right and go to the stove that is on the left. | STEP 6: Put the knife into the pan that is on the front left stove burner. | STEP 7: Turn to the left, go to the fridge that is on the right. | STEP 8: Take a slice of the potato out of the fridge. | STEP 9: Turn to the right and go to the stove that is on the left. | STEP 10: Put the potato in the pot that contains the knife on the stove. | STEP 11: Pick up the pot containing the knife and potato from the stove. | STEP 12: Turn around, go to the door, hang a left and go to the black table. | STEP 13: Put the pot down on the right side of the table. | END"]} +{"id": "trial_T20190910_001038_953470-1", "input": "Place a tray with a butter knife and slice of the fruit on the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.900, -3.0, 0, 270, 0, [SEP] 1, Potato, -0.417, 1.318, -0.529, 0, 270, 0, 71 [SEP] 2, Potato, -3.942, 0.722, -0.430, 0, 0, 0, 76 [SEP] 3, DishSponge, -0.212, 1.502, -2.876, 0, 0, 0, 41 [SEP] 4, DishSponge, -2.560, 0.894, -0.462, 0, 270, 0, 78 [SEP] 5, Spoon, -0.473, 0.942, -1.538, 0, 180, 0, 59 [SEP] 6, Spoon, -4.002, 0.692, -0.491, 0, 180, 0, 76 [SEP] 7, Spatula, -0.315, 0.956, -1.450, 0, 180, 0, 59 [SEP] 8, Plate, -2.761, 0.908, -0.204, 0, 270, 0, 78 [SEP] 9, Tomato, -0.359, 1.539, -0.646, 0, 270, 0, 71 [SEP] 10, Tomato, -0.397, 1.539, -0.878, 0, 270, 0, 71 [SEP] 11, Bowl, -0.126, 1.937, -2.232, 0, 0, 0, 51 [SEP] 12, Bowl, -0.724, 0.078, -3.276, 0, 45, 0, 56 [SEP] 13, Bread, -3.553, 0.841, -3.506, 0, 199.125, 0, 77 [SEP] 14, SaltShaker, -1.216, 0.750, -3.505, 0, 0, 0, 47 [SEP] 15, SaltShaker, -0.057, 1.498, -2.964, 0, 0, 0, 53 [SEP] 16, PepperShaker, -4.062, 0.686, -0.309, 0, 0, 0, 76 [SEP] 17, PepperShaker, -0.213, 1.938, -0.713, 0, 0, 0, 48 [SEP] 18, Mug, -0.201, 1.574, -1.884, 0, 270, 0, 73 [SEP] 19, Apple, -0.359, 1.550, -0.529, 0, 270, 0, 71 [SEP] 20, SoapBottle, -4.002, 0.688, -0.187, 0, 180, 0, 76 [SEP] 21, Pot, -0.437, 0.961, -1.845, 0, 180, 0, 42 [SEP] 22, Fork, -0.554, 0.747, -1.488, 0, 90, 0, 45 [SEP] 23, Cup, -1.248, 0.943, -3.517, 0, 0, 0, 41 [SEP] 24, Tomato, -3.843, 0.810, -3.567, 0, 244.125, 0, 77 [SEP] 25, Pan, -0.217, 0.958, -2.215, 0, 45, 0, 60 [SEP] 26, Plate, -2.761, 0.908, -0.548, 0, 270, 0, 78 [SEP] 27, Bread, -3.565, 0.976, -0.376, 0, 270, 0, 78 [SEP] 28, Spatula, -3.163, 0.909, -0.290, 0, 270, 0, 78 [SEP] 29, Knife, -3.203, 0.785, -3.118, 0, 244.125, 0, 77 [SEP] 30, SaltShaker, -2.359, 0.890, -0.290, 0, 270, 0, 78 [SEP] 31, PepperShaker, -4.002, 0.686, -0.126, 0, 0, 0, 76 [SEP] 32, ButterKnife, -0.321, 0.942, -2.906, 0, 0, 0, 41 [SEP] 33, Apple, -2.359, 0.956, -0.204, 0, 270, 0, 78 [SEP] 34, DishSponge, -0.541, 0.081, -1.449, 0, 0, 0, 57 [SEP] 35, Potato, -0.417, 1.318, -0.413, 0, 270, 0, 71 [SEP] 36, Egg, -0.315, 0.982, -1.494, 0, 0, 0, 59 [SEP] 37, Spoon, -3.942, 0.692, -0.369, 0, 0, 0, 76 [SEP] 38, Lettuce, -0.283, 1.579, -0.297, 0, 270, 0, 71 [SEP] 39, Mug, -4.062, 0.685, -0.430, 0, 0, 0, 76 [SEP] 40, Bowl, -4.182, 0.689, -0.187, 0, 0, 0, 76 [SEP] 41, CounterTop, -1.937, 0.977, -3.673, 0, 0, 0, [SEP] 42, StoveBurner, -0.437, 0.924, -1.845, 0, 180, 0, [SEP] 43, StoveBurner, -0.222, 0.924, -1.845, 0, 180, 0, [SEP] 44, StoveBurner, -0.437, 0.924, -2.243, 0, 0, 0, [SEP] 45, Drawer, -0.500, 0.779, -1.450, 0, 0, 0, [SEP] 46, Drawer, -0.481, 0.777, -2.739, 0, 0, 0, [SEP] 47, Drawer, -1.154, 0.782, -3.499, 0, 0, 0, [SEP] 48, Cabinet, -0.337, 2.110, -0.390, 0, 0, 0, [SEP] 49, Cabinet, -0.337, 2.110, -1.272, 0, 0, 0, [SEP] 50, Cabinet, -0.337, 2.110, -1.631, 0, 0, 0, [SEP] 51, Cabinet, -0.337, 2.110, -2.497, 0, 0, 0, [SEP] 52, Cabinet, -0.337, 1.891, -1.286, 0, 0, 0, [SEP] 53, Cabinet, -0.346, 1.891, -3.293, 0, 0, 0, [SEP] 54, Cabinet, -0.629, 0.388, -2.513, 0, 0, 0, [SEP] 55, Cabinet, -0.633, 0.388, -3.008, 0, 0, 0, [SEP] 56, Cabinet, -1.010, 0.388, -3.368, 0, 0, 0, [SEP] 57, Cabinet, -0.629, 0.388, -1.614, 0, 0, 0, [SEP] 58, Cabinet, -0.327, 1.886, -2.513, 0, 0, 0, [SEP] 59, CounterTop, -0.326, 0.976, -1.450, 0, 0, 0, [SEP] 60, StoveBurner, -0.222, 0.924, -2.243, 0, 0, 0, [SEP] 61, Sink, -0.600, 0.929, -3.388, 0, 0, 0, [SEP] 62, StoveKnob, -0.617, 0.899, -1.833, 315, 90, 180, [SEP] 63, StoveKnob, -0.617, 0.899, -2.129, 315, 90, 180, [SEP] 64, StoveKnob, -0.617, 0.899, -2.289, 315, 90, 180, [SEP] 65, StoveKnob, -0.617, 0.899, -1.975, 315, 90, 180, [SEP] 66, GarbageCan, -2.418, -0.032, -3.541, 0, 0, 0, [SEP] 67, CoffeeMachine, -2.513, 0.930, -3.797, 0, 0, 0, [SEP] 68, Window, -1.389, 1.610, -4.113, 90, 0, 0, [SEP] 69, LightSwitch, -4.372, 1.493, -1.031, 0, 90, 0, [SEP] 70, SinkBasin, -0.614, 0.802, -3.384, 0, 315, 0, [SEP] 71, Fridge, -0.314, 0.0, -0.646, 0, 0, 0, [SEP] 72, Toaster, -1.970, 0.930, -3.763, 0, 0, 0, [SEP] 73, Microwave, -0.216, 1.470, -2.054, 0, 270, 0, [SEP] 74, Blinds, -1.373, 2.205, -3.961, 0, 0, 0, [SEP] 75, Faucet, -0.393, 0.930, -3.614, 270, 225, 0, [SEP] 76, SideTable, -4.030, 0.002, -0.301, 0, 185.034, 0, [SEP] 77, DiningTable, -3.586, 0.000, -3.258, 0, 0, 0, [SEP] 78, DiningTable, -3.224, -0.003, -0.453, 0, 0, 0, [SEP] 79, Shelf, -4.030, 0.259, -0.301, 0, 185.034, 0, [SEP] 80, Shelf, -4.030, 0.489, -0.301, 0, 185.034, 0, [SEP] 81, EastWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right, again turn right and go to the kitchen sink | STEP 2: Pick up the butter knife on the counter to the left of the sink | STEP 3: Turn to your left, go forward and turn right to face the fridge | STEP 4: Open the fridge and cut the fruit on the left | STEP 5: Turn to your right, go to the stove | STEP 6: Place the knife upright in the tray that is on the stove | STEP 7: Go back to the fridge | STEP 8: Open the fridge and take a slice of the cut fruit | STEP 9: Go back to the tray with the knife | STEP 10: Put the slice in the tray | STEP 11: Pick up the tray from the stove | STEP 12: Turn right, again turn to your right, move across the room and turn left to face the table | STEP 13: Put the tray on the right edge of the table | END"]} +{"id": "trial_T20190910_001038_953470-2", "input": "Put a pot containing a knife and a potato slice on the black table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.900, -3.0, 0, 270, 0, [SEP] 1, Potato, -0.417, 1.318, -0.529, 0, 270, 0, 71 [SEP] 2, Potato, -3.942, 0.722, -0.430, 0, 0, 0, 76 [SEP] 3, DishSponge, -0.212, 1.502, -2.876, 0, 0, 0, 41 [SEP] 4, DishSponge, -2.560, 0.894, -0.462, 0, 270, 0, 78 [SEP] 5, Spoon, -0.473, 0.942, -1.538, 0, 180, 0, 59 [SEP] 6, Spoon, -4.002, 0.692, -0.491, 0, 180, 0, 76 [SEP] 7, Spatula, -0.315, 0.956, -1.450, 0, 180, 0, 59 [SEP] 8, Plate, -2.761, 0.908, -0.204, 0, 270, 0, 78 [SEP] 9, Tomato, -0.359, 1.539, -0.646, 0, 270, 0, 71 [SEP] 10, Tomato, -0.397, 1.539, -0.878, 0, 270, 0, 71 [SEP] 11, Bowl, -0.126, 1.937, -2.232, 0, 0, 0, 51 [SEP] 12, Bowl, -0.724, 0.078, -3.276, 0, 45, 0, 56 [SEP] 13, Bread, -3.553, 0.841, -3.506, 0, 199.125, 0, 77 [SEP] 14, SaltShaker, -1.216, 0.750, -3.505, 0, 0, 0, 47 [SEP] 15, SaltShaker, -0.057, 1.498, -2.964, 0, 0, 0, 53 [SEP] 16, PepperShaker, -4.062, 0.686, -0.309, 0, 0, 0, 76 [SEP] 17, PepperShaker, -0.213, 1.938, -0.713, 0, 0, 0, 48 [SEP] 18, Mug, -0.201, 1.574, -1.884, 0, 270, 0, 73 [SEP] 19, Apple, -0.359, 1.550, -0.529, 0, 270, 0, 71 [SEP] 20, SoapBottle, -4.002, 0.688, -0.187, 0, 180, 0, 76 [SEP] 21, Pot, -0.437, 0.961, -1.845, 0, 180, 0, 42 [SEP] 22, Fork, -0.554, 0.747, -1.488, 0, 90, 0, 45 [SEP] 23, Cup, -1.248, 0.943, -3.517, 0, 0, 0, 41 [SEP] 24, Tomato, -3.843, 0.810, -3.567, 0, 244.125, 0, 77 [SEP] 25, Pan, -0.217, 0.958, -2.215, 0, 45, 0, 60 [SEP] 26, Plate, -2.761, 0.908, -0.548, 0, 270, 0, 78 [SEP] 27, Bread, -3.565, 0.976, -0.376, 0, 270, 0, 78 [SEP] 28, Spatula, -3.163, 0.909, -0.290, 0, 270, 0, 78 [SEP] 29, Knife, -3.203, 0.785, -3.118, 0, 244.125, 0, 77 [SEP] 30, SaltShaker, -2.359, 0.890, -0.290, 0, 270, 0, 78 [SEP] 31, PepperShaker, -4.002, 0.686, -0.126, 0, 0, 0, 76 [SEP] 32, ButterKnife, -0.321, 0.942, -2.906, 0, 0, 0, 41 [SEP] 33, Apple, -2.359, 0.956, -0.204, 0, 270, 0, 78 [SEP] 34, DishSponge, -0.541, 0.081, -1.449, 0, 0, 0, 57 [SEP] 35, Potato, -0.417, 1.318, -0.413, 0, 270, 0, 71 [SEP] 36, Egg, -0.315, 0.982, -1.494, 0, 0, 0, 59 [SEP] 37, Spoon, -3.942, 0.692, -0.369, 0, 0, 0, 76 [SEP] 38, Lettuce, -0.283, 1.579, -0.297, 0, 270, 0, 71 [SEP] 39, Mug, -4.062, 0.685, -0.430, 0, 0, 0, 76 [SEP] 40, Bowl, -4.182, 0.689, -0.187, 0, 0, 0, 76 [SEP] 41, CounterTop, -1.937, 0.977, -3.673, 0, 0, 0, [SEP] 42, StoveBurner, -0.437, 0.924, -1.845, 0, 180, 0, [SEP] 43, StoveBurner, -0.222, 0.924, -1.845, 0, 180, 0, [SEP] 44, StoveBurner, -0.437, 0.924, -2.243, 0, 0, 0, [SEP] 45, Drawer, -0.500, 0.779, -1.450, 0, 0, 0, [SEP] 46, Drawer, -0.481, 0.777, -2.739, 0, 0, 0, [SEP] 47, Drawer, -1.154, 0.782, -3.499, 0, 0, 0, [SEP] 48, Cabinet, -0.337, 2.110, -0.390, 0, 0, 0, [SEP] 49, Cabinet, -0.337, 2.110, -1.272, 0, 0, 0, [SEP] 50, Cabinet, -0.337, 2.110, -1.631, 0, 0, 0, [SEP] 51, Cabinet, -0.337, 2.110, -2.497, 0, 0, 0, [SEP] 52, Cabinet, -0.337, 1.891, -1.286, 0, 0, 0, [SEP] 53, Cabinet, -0.346, 1.891, -3.293, 0, 0, 0, [SEP] 54, Cabinet, -0.629, 0.388, -2.513, 0, 0, 0, [SEP] 55, Cabinet, -0.633, 0.388, -3.008, 0, 0, 0, [SEP] 56, Cabinet, -1.010, 0.388, -3.368, 0, 0, 0, [SEP] 57, Cabinet, -0.629, 0.388, -1.614, 0, 0, 0, [SEP] 58, Cabinet, -0.327, 1.886, -2.513, 0, 0, 0, [SEP] 59, CounterTop, -0.326, 0.976, -1.450, 0, 0, 0, [SEP] 60, StoveBurner, -0.222, 0.924, -2.243, 0, 0, 0, [SEP] 61, Sink, -0.600, 0.929, -3.388, 0, 0, 0, [SEP] 62, StoveKnob, -0.617, 0.899, -1.833, 315, 90, 180, [SEP] 63, StoveKnob, -0.617, 0.899, -2.129, 315, 90, 180, [SEP] 64, StoveKnob, -0.617, 0.899, -2.289, 315, 90, 180, [SEP] 65, StoveKnob, -0.617, 0.899, -1.975, 315, 90, 180, [SEP] 66, GarbageCan, -2.418, -0.032, -3.541, 0, 0, 0, [SEP] 67, CoffeeMachine, -2.513, 0.930, -3.797, 0, 0, 0, [SEP] 68, Window, -1.389, 1.610, -4.113, 90, 0, 0, [SEP] 69, LightSwitch, -4.372, 1.493, -1.031, 0, 90, 0, [SEP] 70, SinkBasin, -0.614, 0.802, -3.384, 0, 315, 0, [SEP] 71, Fridge, -0.314, 0.0, -0.646, 0, 0, 0, [SEP] 72, Toaster, -1.970, 0.930, -3.763, 0, 0, 0, [SEP] 73, Microwave, -0.216, 1.470, -2.054, 0, 270, 0, [SEP] 74, Blinds, -1.373, 2.205, -3.961, 0, 0, 0, [SEP] 75, Faucet, -0.393, 0.930, -3.614, 270, 225, 0, [SEP] 76, SideTable, -4.030, 0.002, -0.301, 0, 185.034, 0, [SEP] 77, DiningTable, -3.586, 0.000, -3.258, 0, 0, 0, [SEP] 78, DiningTable, -3.224, -0.003, -0.453, 0, 0, 0, [SEP] 79, Shelf, -4.030, 0.259, -0.301, 0, 185.034, 0, [SEP] 80, Shelf, -4.030, 0.489, -0.301, 0, 185.034, 0, [SEP] 81, EastWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , ", "output": ["STEP 1: Go to the sink | STEP 2: Pick up the knife | STEP 3: Go to the fridge | STEP 4: Cut the potato on the left in the fridge | STEP 5: Go to the stove | STEP 6: Put the knife in the pot | STEP 7: Go to the fridge | STEP 8: Take a potato slice | STEP 9: Go to the stove | STEP 10: Put the potato in the pot | STEP 11: Take the pot | STEP 12: Go to the black table | STEP 13: Put the pot down on the black table | END"]} +{"id": "trial_T20190907_034437_413802-0", "input": "Turn on the lamp while holding the teapot. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 0.5, 0, 0, 0, [SEP] 1, TissueBox, 0.044, 0.841, -0.818, 0, 0, 0, 38 [SEP] 2, Pencil, 3.838, 0.070, -0.462, 0, 0, 0, 26 [SEP] 3, Pen, 3.950, 0.771, 0.578, 0, 270, 0, 44 [SEP] 4, KeyChain, 3.827, 0.767, 0.960, 0, 180, 0, 44 [SEP] 5, KeyChain, -0.624, 0.840, -0.867, 0, 0, 0, 38 [SEP] 6, CreditCard, 1.380, 0.335, 1.746, 0, 0, 0, 42 [SEP] 7, RemoteControl, -0.185, 0.458, -0.729, 0, 0, 0, 40 [SEP] 8, Box, 1.586, 0.582, 1.819, 0, 0, 0, 42 [SEP] 9, Box, 2.656, 0.569, 1.798, 0, 0, 0, 33 [SEP] 10, Box, -0.29, 1.074, -0.714, 0, 270, 0, Floor|+00.00| [SEP] 11, Newspaper, 0.967, 0.334, 1.527, 0, 0, 0, 24 [SEP] 12, Laptop, 1.805, 0.47, 0.499, 0, 0, 0, 34 [SEP] 13, WateringCan, 1.621, 0.056, -0.697, 0, 0, 0, 39 [SEP] 14, TissueBox, -0.512, 0.841, -0.721, 0, 0, 0, 38 [SEP] 15, KeyChain, 3.901, 0.766, 1.055, 0, 0, 0, 44 [SEP] 16, Pen, 3.803, 0.771, 0.578, 0, 270, 0, 44 [SEP] 17, Boots, 4.005, 0.001, 1.707, 1.563, 246.167, 0, [SEP] 18, Pencil, 3.928, 0.879, 1.076, 0, 0, 0, 43 [SEP] 19, RemoteControl, 3.849, 0.877, 0.971, 0, 0, 0, 43 [SEP] 20, CreditCard, 1.749, 0.473, 0.267, 0, 180, 0, 34 [SEP] 21, Pillow, 0.651, 0.395, 1.708, 0, 0, 0, 24 [SEP] 22, Statue, -0.532, 0.443, -0.738, 0, 92.244, 0, 40 [SEP] 23, Statue, -0.081, 0.057, -0.692, 0, 0, 0, 37 [SEP] 24, Sofa, 1.174, 0.0, 1.865, 0, 0, 0, [SEP] 25, FloorLamp, 3.608, 0.000, 2.163, 0, 0, 0, [SEP] 26, GarbageCan, 3.833, -0.029, -0.495, 0, 0, 0, [SEP] 27, Television, 1.897, 1.281, -0.838, 0, 0, 0, [SEP] 28, Painting, 4.070, 1.950, 0.848, 90, 270, 0, [SEP] 29, HousePlant, 0.387, 0.801, -0.725, 0, 90, 0, [SEP] 30, Window, 0.023, 2.072, 2.484, 90, 180, 0, [SEP] 31, Window, 1.570, 2.072, 2.484, 90, 180, 0, [SEP] 32, LightSwitch, -1.399, 1.289, 1.835, 0, 90, 0, [SEP] 33, ArmChair, 2.655, 0.000, 1.858, 0, 180, 0, [SEP] 34, CoffeeTable, 1.591, -0.000, 0.446, 0, 180, 0, [SEP] 35, Shelf, 1.905, 0.588, -0.730, 0, 0, 0, [SEP] 36, TVStand, 1.904, -0.000, -0.770, 0, 0, 0, [SEP] 37, Shelf, -0.289, 0.200, -0.732, 0, 0, 0, [SEP] 38, TVStand, -0.290, -0.000, -0.772, 0, 0, 0, [SEP] 39, Shelf, 1.905, 0.200, -0.730, 0, 0, 0, [SEP] 40, Shelf, -0.289, 0.588, -0.732, 0, 0, 0, [SEP] 41, ArmChair, -0.270, 0.000, 1.870, 0, 181.372, 0, [SEP] 42, Sofa, 1.193, 0.008, 1.865, 0, 180, 0, [SEP] 43, SideTable, 3.946, 0.000, 0.865, 0, 270, 0, [SEP] 44, Drawer, 3.882, 0.774, 0.864, 0, 270, 0, [SEP] 45, NorthWall, , , , , , , [SEP] 46, EastWall, , , , , , , [SEP] 47, SouthWall, , , , , , , [SEP] 48, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and move to the wall, turn left and move forward to the edge of the TV, turn right. | STEP 2: Pick up the teapot on the bottom shelf. | STEP 3: Turn left and move forward all the way to the trash bin, turn left and move all the way to the lamp. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190907_034437_413802-1", "input": "Turning on a lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 0.5, 0, 0, 0, [SEP] 1, TissueBox, 0.044, 0.841, -0.818, 0, 0, 0, 38 [SEP] 2, Pencil, 3.838, 0.070, -0.462, 0, 0, 0, 26 [SEP] 3, Pen, 3.950, 0.771, 0.578, 0, 270, 0, 44 [SEP] 4, KeyChain, 3.827, 0.767, 0.960, 0, 180, 0, 44 [SEP] 5, KeyChain, -0.624, 0.840, -0.867, 0, 0, 0, 38 [SEP] 6, CreditCard, 1.380, 0.335, 1.746, 0, 0, 0, 42 [SEP] 7, RemoteControl, -0.185, 0.458, -0.729, 0, 0, 0, 40 [SEP] 8, Box, 1.586, 0.582, 1.819, 0, 0, 0, 42 [SEP] 9, Box, 2.656, 0.569, 1.798, 0, 0, 0, 33 [SEP] 10, Box, -0.29, 1.074, -0.714, 0, 270, 0, Floor|+00.00| [SEP] 11, Newspaper, 0.967, 0.334, 1.527, 0, 0, 0, 24 [SEP] 12, Laptop, 1.805, 0.47, 0.499, 0, 0, 0, 34 [SEP] 13, WateringCan, 1.621, 0.056, -0.697, 0, 0, 0, 39 [SEP] 14, TissueBox, -0.512, 0.841, -0.721, 0, 0, 0, 38 [SEP] 15, KeyChain, 3.901, 0.766, 1.055, 0, 0, 0, 44 [SEP] 16, Pen, 3.803, 0.771, 0.578, 0, 270, 0, 44 [SEP] 17, Boots, 4.005, 0.001, 1.707, 1.563, 246.167, 0, [SEP] 18, Pencil, 3.928, 0.879, 1.076, 0, 0, 0, 43 [SEP] 19, RemoteControl, 3.849, 0.877, 0.971, 0, 0, 0, 43 [SEP] 20, CreditCard, 1.749, 0.473, 0.267, 0, 180, 0, 34 [SEP] 21, Pillow, 0.651, 0.395, 1.708, 0, 0, 0, 24 [SEP] 22, Statue, -0.532, 0.443, -0.738, 0, 92.244, 0, 40 [SEP] 23, Statue, -0.081, 0.057, -0.692, 0, 0, 0, 37 [SEP] 24, Sofa, 1.174, 0.0, 1.865, 0, 0, 0, [SEP] 25, FloorLamp, 3.608, 0.000, 2.163, 0, 0, 0, [SEP] 26, GarbageCan, 3.833, -0.029, -0.495, 0, 0, 0, [SEP] 27, Television, 1.897, 1.281, -0.838, 0, 0, 0, [SEP] 28, Painting, 4.070, 1.950, 0.848, 90, 270, 0, [SEP] 29, HousePlant, 0.387, 0.801, -0.725, 0, 90, 0, [SEP] 30, Window, 0.023, 2.072, 2.484, 90, 180, 0, [SEP] 31, Window, 1.570, 2.072, 2.484, 90, 180, 0, [SEP] 32, LightSwitch, -1.399, 1.289, 1.835, 0, 90, 0, [SEP] 33, ArmChair, 2.655, 0.000, 1.858, 0, 180, 0, [SEP] 34, CoffeeTable, 1.591, -0.000, 0.446, 0, 180, 0, [SEP] 35, Shelf, 1.905, 0.588, -0.730, 0, 0, 0, [SEP] 36, TVStand, 1.904, -0.000, -0.770, 0, 0, 0, [SEP] 37, Shelf, -0.289, 0.200, -0.732, 0, 0, 0, [SEP] 38, TVStand, -0.290, -0.000, -0.772, 0, 0, 0, [SEP] 39, Shelf, 1.905, 0.200, -0.730, 0, 0, 0, [SEP] 40, Shelf, -0.289, 0.588, -0.732, 0, 0, 0, [SEP] 41, ArmChair, -0.270, 0.000, 1.870, 0, 181.372, 0, [SEP] 42, Sofa, 1.193, 0.008, 1.865, 0, 180, 0, [SEP] 43, SideTable, 3.946, 0.000, 0.865, 0, 270, 0, [SEP] 44, Drawer, 3.882, 0.774, 0.864, 0, 270, 0, [SEP] 45, NorthWall, , , , , , , [SEP] 46, EastWall, , , , , , , [SEP] 47, SouthWall, , , , , , , [SEP] 48, WestWall, , , , , , , ", "output": ["STEP 1: Go right to the TV stand across the room | STEP 2: Pick up the watering can from the TV stand | STEP 3: Turn left and walk to the lamp across the room | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190907_034437_413802-2", "input": "Turn a light on while holding a white object. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 0.5, 0, 0, 0, [SEP] 1, TissueBox, 0.044, 0.841, -0.818, 0, 0, 0, 38 [SEP] 2, Pencil, 3.838, 0.070, -0.462, 0, 0, 0, 26 [SEP] 3, Pen, 3.950, 0.771, 0.578, 0, 270, 0, 44 [SEP] 4, KeyChain, 3.827, 0.767, 0.960, 0, 180, 0, 44 [SEP] 5, KeyChain, -0.624, 0.840, -0.867, 0, 0, 0, 38 [SEP] 6, CreditCard, 1.380, 0.335, 1.746, 0, 0, 0, 42 [SEP] 7, RemoteControl, -0.185, 0.458, -0.729, 0, 0, 0, 40 [SEP] 8, Box, 1.586, 0.582, 1.819, 0, 0, 0, 42 [SEP] 9, Box, 2.656, 0.569, 1.798, 0, 0, 0, 33 [SEP] 10, Box, -0.29, 1.074, -0.714, 0, 270, 0, Floor|+00.00| [SEP] 11, Newspaper, 0.967, 0.334, 1.527, 0, 0, 0, 24 [SEP] 12, Laptop, 1.805, 0.47, 0.499, 0, 0, 0, 34 [SEP] 13, WateringCan, 1.621, 0.056, -0.697, 0, 0, 0, 39 [SEP] 14, TissueBox, -0.512, 0.841, -0.721, 0, 0, 0, 38 [SEP] 15, KeyChain, 3.901, 0.766, 1.055, 0, 0, 0, 44 [SEP] 16, Pen, 3.803, 0.771, 0.578, 0, 270, 0, 44 [SEP] 17, Boots, 4.005, 0.001, 1.707, 1.563, 246.167, 0, [SEP] 18, Pencil, 3.928, 0.879, 1.076, 0, 0, 0, 43 [SEP] 19, RemoteControl, 3.849, 0.877, 0.971, 0, 0, 0, 43 [SEP] 20, CreditCard, 1.749, 0.473, 0.267, 0, 180, 0, 34 [SEP] 21, Pillow, 0.651, 0.395, 1.708, 0, 0, 0, 24 [SEP] 22, Statue, -0.532, 0.443, -0.738, 0, 92.244, 0, 40 [SEP] 23, Statue, -0.081, 0.057, -0.692, 0, 0, 0, 37 [SEP] 24, Sofa, 1.174, 0.0, 1.865, 0, 0, 0, [SEP] 25, FloorLamp, 3.608, 0.000, 2.163, 0, 0, 0, [SEP] 26, GarbageCan, 3.833, -0.029, -0.495, 0, 0, 0, [SEP] 27, Television, 1.897, 1.281, -0.838, 0, 0, 0, [SEP] 28, Painting, 4.070, 1.950, 0.848, 90, 270, 0, [SEP] 29, HousePlant, 0.387, 0.801, -0.725, 0, 90, 0, [SEP] 30, Window, 0.023, 2.072, 2.484, 90, 180, 0, [SEP] 31, Window, 1.570, 2.072, 2.484, 90, 180, 0, [SEP] 32, LightSwitch, -1.399, 1.289, 1.835, 0, 90, 0, [SEP] 33, ArmChair, 2.655, 0.000, 1.858, 0, 180, 0, [SEP] 34, CoffeeTable, 1.591, -0.000, 0.446, 0, 180, 0, [SEP] 35, Shelf, 1.905, 0.588, -0.730, 0, 0, 0, [SEP] 36, TVStand, 1.904, -0.000, -0.770, 0, 0, 0, [SEP] 37, Shelf, -0.289, 0.200, -0.732, 0, 0, 0, [SEP] 38, TVStand, -0.290, -0.000, -0.772, 0, 0, 0, [SEP] 39, Shelf, 1.905, 0.200, -0.730, 0, 0, 0, [SEP] 40, Shelf, -0.289, 0.588, -0.732, 0, 0, 0, [SEP] 41, ArmChair, -0.270, 0.000, 1.870, 0, 181.372, 0, [SEP] 42, Sofa, 1.193, 0.008, 1.865, 0, 180, 0, [SEP] 43, SideTable, 3.946, 0.000, 0.865, 0, 270, 0, [SEP] 44, Drawer, 3.882, 0.774, 0.864, 0, 270, 0, [SEP] 45, NorthWall, , , , , , , [SEP] 46, EastWall, , , , , , , [SEP] 47, SouthWall, , , , , , , [SEP] 48, WestWall, , , , , , , ", "output": ["STEP 1: Go right and face the right side of the television. | STEP 2: Pick up the white object from the shelf below the television. | STEP 3: Turn around and walk past the black table to the right and approach the green lamp with the pink stand. | STEP 4: Turn the light on. | END"]} +{"id": "trial_T20190907_201917_045715-0", "input": "Put two credit cards on a cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.910, -0.75, 0, 90, 0, [SEP] 1, Mug, -0.815, 0.911, 4.533, 0, 0, 0, 35 [SEP] 2, Bowl, 2.471, 0.810, 2.833, 0, 0, 0, 46 [SEP] 3, CD, 2.618, 0.461, 0.917, 0, 0, 0, 49 [SEP] 4, Pen, 2.69, 0.848, 1.017, 0, 0, 0, 47 [SEP] 5, Pen, -1.012, 0.919, 4.166, 0, 0, 0, 35 [SEP] 6, Pencil, 2.529, 0.846, 0.624, 0, 0, 0, 47 [SEP] 7, Pencil, 2.770, 0.846, 0.755, 0, 0, 0, 47 [SEP] 8, CreditCard, -0.749, 0.913, 3.982, 0, 0, 0, 35 [SEP] 9, CreditCard, 2.595, 0.745, -1.731, 0, 0, 0, 43 [SEP] 10, KeyChain, 2.364, 0.400, -0.768, 0, 270, 0, 50 [SEP] 11, KeyChain, 2.529, 0.843, 0.361, 0, 0, 0, 47 [SEP] 12, Book, -1.312, 0.713, 2.822, 0, 0, 0, 32 [SEP] 13, RemoteControl, -1.307, 0.401, -1.227, 0, 90, 0, 44 [SEP] 14, RemoteControl, 2.784, 0.809, 2.833, 0, 0, 0, 46 [SEP] 15, AlarmClock, 2.680, 0.815, 3.715, 0, 0, 0, 46 [SEP] 16, AlarmClock, 2.447, 0.752, -1.300, 0, 0, 0, 55 [SEP] 17, Laptop, -1.312, 0.712, 2.539, 0, 0, 0, 32 [SEP] 18, Book, 2.533, 0.093, 0.624, 0, 0, 0, 48 [SEP] 19, AlarmClock, 2.447, 0.753, -1.516, 0, 0, 0, 55 [SEP] 20, CellPhone, -1.078, 0.913, 4.35, 0, 0, 0, 35 [SEP] 21, Bowl, 2.471, 0.810, 3.053, 0, 0, 0, 46 [SEP] 22, CreditCard, 2.496, 0.744, -1.659, 0, 0, 0, 55 [SEP] 23, KeyChain, 2.545, 0.745, -1.372, 0, 90, 0, 43 [SEP] 24, RemoteControl, -0.881, 0.914, 4.166, 0, 0, 0, 35 [SEP] 25, Laptop, -1.128, 0.397, -1.140, 0, 90, 0, 44 [SEP] 26, Pencil, -0.749, 0.916, 4.35, 0, 0, 0, 35 [SEP] 27, Pillow, -0.833, 0.785, 1.973, 0, 0, 0, 32 [SEP] 28, Pillow, -0.833, 0.785, 1.408, 0, 0, 0, 32 [SEP] 29, CD, 2.575, 0.096, 0.819, 0, 0, 0, 48 [SEP] 30, Pen, 2.471, 0.813, 2.392, 0, 0, 0, 46 [SEP] 31, Mug, -1.012, 0.911, 4.533, 0, 0, 0, 35 [SEP] 32, Bed, -0.594, 0.009, 2.298, 0, 0, 0, [SEP] 33, Mirror, -1.184, 1.603, 4.348, 0, 0, 0, [SEP] 34, Television, 2.738, 1.330, 0.622, 0, 270, 0, [SEP] 35, CounterTop, -0.890, 0.951, 4.349, 0, 0, 0, [SEP] 36, LightSwitch, 0.800, 1.371, 5.245, 0, 90, 0, [SEP] 37, Painting, 2.992, 1.529, 3.415, 90, 270, 0, [SEP] 38, Painting, 2.992, 1.529, 2.553, 90, 270, 0, [SEP] 39, DeskLamp, 2.625, 0.772, -1.469, 0, 0, 0, [SEP] 40, DeskLamp, 2.668, 0.810, 3.082, 0, 358.947, 0, [SEP] 41, GarbageCan, -0.626, -0.009, 3.742, 0, 0, 0, [SEP] 42, Window, -0.453, 1.450, -2.058, 90, 180, 0, [SEP] 43, SideTable, 2.565, 0.009, -1.534, 0, 0, 0, [SEP] 44, ArmChair, -1.277, 0.009, -1.169, 0, 90, 0, [SEP] 45, Blinds, -0.5, 2.174, -1.957, 0, 0, 0, [SEP] 46, Desk, 2.572, 0.011, 3.054, 0, 270, 0, [SEP] 47, SideTable, 2.645, 0.009, 0.624, 0, 270, 0, [SEP] 48, Drawer, 2.525, 0.214, 0.624, 0, 270, 0, [SEP] 49, Drawer, 2.525, 0.578, 0.624, 0, 270, 0, [SEP] 50, ArmChair, 2.424, 0.009, -0.564, 0, 270, 0, [SEP] 51, LaundryHamper, 3.457, 0.009, 4.555, 0, 270, 0, [SEP] 52, Chair, 2.591, 0.020, 2.015, 0, 0, 0, [SEP] 53, Chair, 2.184, 0.020, 3.440, 0, 120.016, 0, [SEP] 54, Chair, 2.211, 0.020, 2.592, 0, 74.981, 0, [SEP] 55, , , , , , , , [SEP] 56, NorthWall, , , , , , , [SEP] 57, EastWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, WestWall, , , , , , , ", "output": ["STEP 1: Go to the right and turn to face the small, black table. | STEP 2: Pick up the credit card on the left from the table. | STEP 3: Go left to the white cabinet with the television on it. | STEP 4: Put the credit card down on the cabinet. | STEP 5: Go right and turn to face the black table. | STEP 6: Pick up the other credit card from the table. | STEP 7: Go to the left and turn to face the cabinet with the television. | STEP 8: Put the credit card on the cabinet. | END"]} +{"id": "trial_T20190907_201917_045715-1", "input": "Put two credit cars on the tv stand. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.910, -0.75, 0, 90, 0, [SEP] 1, Mug, -0.815, 0.911, 4.533, 0, 0, 0, 35 [SEP] 2, Bowl, 2.471, 0.810, 2.833, 0, 0, 0, 46 [SEP] 3, CD, 2.618, 0.461, 0.917, 0, 0, 0, 49 [SEP] 4, Pen, 2.69, 0.848, 1.017, 0, 0, 0, 47 [SEP] 5, Pen, -1.012, 0.919, 4.166, 0, 0, 0, 35 [SEP] 6, Pencil, 2.529, 0.846, 0.624, 0, 0, 0, 47 [SEP] 7, Pencil, 2.770, 0.846, 0.755, 0, 0, 0, 47 [SEP] 8, CreditCard, -0.749, 0.913, 3.982, 0, 0, 0, 35 [SEP] 9, CreditCard, 2.595, 0.745, -1.731, 0, 0, 0, 43 [SEP] 10, KeyChain, 2.364, 0.400, -0.768, 0, 270, 0, 50 [SEP] 11, KeyChain, 2.529, 0.843, 0.361, 0, 0, 0, 47 [SEP] 12, Book, -1.312, 0.713, 2.822, 0, 0, 0, 32 [SEP] 13, RemoteControl, -1.307, 0.401, -1.227, 0, 90, 0, 44 [SEP] 14, RemoteControl, 2.784, 0.809, 2.833, 0, 0, 0, 46 [SEP] 15, AlarmClock, 2.680, 0.815, 3.715, 0, 0, 0, 46 [SEP] 16, AlarmClock, 2.447, 0.752, -1.300, 0, 0, 0, 55 [SEP] 17, Laptop, -1.312, 0.712, 2.539, 0, 0, 0, 32 [SEP] 18, Book, 2.533, 0.093, 0.624, 0, 0, 0, 48 [SEP] 19, AlarmClock, 2.447, 0.753, -1.516, 0, 0, 0, 55 [SEP] 20, CellPhone, -1.078, 0.913, 4.35, 0, 0, 0, 35 [SEP] 21, Bowl, 2.471, 0.810, 3.053, 0, 0, 0, 46 [SEP] 22, CreditCard, 2.496, 0.744, -1.659, 0, 0, 0, 55 [SEP] 23, KeyChain, 2.545, 0.745, -1.372, 0, 90, 0, 43 [SEP] 24, RemoteControl, -0.881, 0.914, 4.166, 0, 0, 0, 35 [SEP] 25, Laptop, -1.128, 0.397, -1.140, 0, 90, 0, 44 [SEP] 26, Pencil, -0.749, 0.916, 4.35, 0, 0, 0, 35 [SEP] 27, Pillow, -0.833, 0.785, 1.973, 0, 0, 0, 32 [SEP] 28, Pillow, -0.833, 0.785, 1.408, 0, 0, 0, 32 [SEP] 29, CD, 2.575, 0.096, 0.819, 0, 0, 0, 48 [SEP] 30, Pen, 2.471, 0.813, 2.392, 0, 0, 0, 46 [SEP] 31, Mug, -1.012, 0.911, 4.533, 0, 0, 0, 35 [SEP] 32, Bed, -0.594, 0.009, 2.298, 0, 0, 0, [SEP] 33, Mirror, -1.184, 1.603, 4.348, 0, 0, 0, [SEP] 34, Television, 2.738, 1.330, 0.622, 0, 270, 0, [SEP] 35, CounterTop, -0.890, 0.951, 4.349, 0, 0, 0, [SEP] 36, LightSwitch, 0.800, 1.371, 5.245, 0, 90, 0, [SEP] 37, Painting, 2.992, 1.529, 3.415, 90, 270, 0, [SEP] 38, Painting, 2.992, 1.529, 2.553, 90, 270, 0, [SEP] 39, DeskLamp, 2.625, 0.772, -1.469, 0, 0, 0, [SEP] 40, DeskLamp, 2.668, 0.810, 3.082, 0, 358.947, 0, [SEP] 41, GarbageCan, -0.626, -0.009, 3.742, 0, 0, 0, [SEP] 42, Window, -0.453, 1.450, -2.058, 90, 180, 0, [SEP] 43, SideTable, 2.565, 0.009, -1.534, 0, 0, 0, [SEP] 44, ArmChair, -1.277, 0.009, -1.169, 0, 90, 0, [SEP] 45, Blinds, -0.5, 2.174, -1.957, 0, 0, 0, [SEP] 46, Desk, 2.572, 0.011, 3.054, 0, 270, 0, [SEP] 47, SideTable, 2.645, 0.009, 0.624, 0, 270, 0, [SEP] 48, Drawer, 2.525, 0.214, 0.624, 0, 270, 0, [SEP] 49, Drawer, 2.525, 0.578, 0.624, 0, 270, 0, [SEP] 50, ArmChair, 2.424, 0.009, -0.564, 0, 270, 0, [SEP] 51, LaundryHamper, 3.457, 0.009, 4.555, 0, 270, 0, [SEP] 52, Chair, 2.591, 0.020, 2.015, 0, 0, 0, [SEP] 53, Chair, 2.184, 0.020, 3.440, 0, 120.016, 0, [SEP] 54, Chair, 2.211, 0.020, 2.592, 0, 74.981, 0, [SEP] 55, , , , , , , , [SEP] 56, NorthWall, , , , , , , [SEP] 57, EastWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the wall then turn left and walk to the small circular table. | STEP 2: Pick up the credit card to the left of another credit card. | STEP 3: Turn around and take a step then turn right and walk until you're even with the tv on your right and then turn right to face it and take a step. | STEP 4: Put the credit card to the left of the pencil vertically. | STEP 5: Go back to where you got the first credit card. | STEP 6: Pick up the other credit card. | STEP 7: Go back over to the tv. | STEP 8: Put this credit card to the left of the other credit card with about one credit card width between them. | END"]} +{"id": "trial_T20190907_201917_045715-2", "input": "Put two credit cards on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.910, -0.75, 0, 90, 0, [SEP] 1, Mug, -0.815, 0.911, 4.533, 0, 0, 0, 35 [SEP] 2, Bowl, 2.471, 0.810, 2.833, 0, 0, 0, 46 [SEP] 3, CD, 2.618, 0.461, 0.917, 0, 0, 0, 49 [SEP] 4, Pen, 2.69, 0.848, 1.017, 0, 0, 0, 47 [SEP] 5, Pen, -1.012, 0.919, 4.166, 0, 0, 0, 35 [SEP] 6, Pencil, 2.529, 0.846, 0.624, 0, 0, 0, 47 [SEP] 7, Pencil, 2.770, 0.846, 0.755, 0, 0, 0, 47 [SEP] 8, CreditCard, -0.749, 0.913, 3.982, 0, 0, 0, 35 [SEP] 9, CreditCard, 2.595, 0.745, -1.731, 0, 0, 0, 43 [SEP] 10, KeyChain, 2.364, 0.400, -0.768, 0, 270, 0, 50 [SEP] 11, KeyChain, 2.529, 0.843, 0.361, 0, 0, 0, 47 [SEP] 12, Book, -1.312, 0.713, 2.822, 0, 0, 0, 32 [SEP] 13, RemoteControl, -1.307, 0.401, -1.227, 0, 90, 0, 44 [SEP] 14, RemoteControl, 2.784, 0.809, 2.833, 0, 0, 0, 46 [SEP] 15, AlarmClock, 2.680, 0.815, 3.715, 0, 0, 0, 46 [SEP] 16, AlarmClock, 2.447, 0.752, -1.300, 0, 0, 0, 55 [SEP] 17, Laptop, -1.312, 0.712, 2.539, 0, 0, 0, 32 [SEP] 18, Book, 2.533, 0.093, 0.624, 0, 0, 0, 48 [SEP] 19, AlarmClock, 2.447, 0.753, -1.516, 0, 0, 0, 55 [SEP] 20, CellPhone, -1.078, 0.913, 4.35, 0, 0, 0, 35 [SEP] 21, Bowl, 2.471, 0.810, 3.053, 0, 0, 0, 46 [SEP] 22, CreditCard, 2.496, 0.744, -1.659, 0, 0, 0, 55 [SEP] 23, KeyChain, 2.545, 0.745, -1.372, 0, 90, 0, 43 [SEP] 24, RemoteControl, -0.881, 0.914, 4.166, 0, 0, 0, 35 [SEP] 25, Laptop, -1.128, 0.397, -1.140, 0, 90, 0, 44 [SEP] 26, Pencil, -0.749, 0.916, 4.35, 0, 0, 0, 35 [SEP] 27, Pillow, -0.833, 0.785, 1.973, 0, 0, 0, 32 [SEP] 28, Pillow, -0.833, 0.785, 1.408, 0, 0, 0, 32 [SEP] 29, CD, 2.575, 0.096, 0.819, 0, 0, 0, 48 [SEP] 30, Pen, 2.471, 0.813, 2.392, 0, 0, 0, 46 [SEP] 31, Mug, -1.012, 0.911, 4.533, 0, 0, 0, 35 [SEP] 32, Bed, -0.594, 0.009, 2.298, 0, 0, 0, [SEP] 33, Mirror, -1.184, 1.603, 4.348, 0, 0, 0, [SEP] 34, Television, 2.738, 1.330, 0.622, 0, 270, 0, [SEP] 35, CounterTop, -0.890, 0.951, 4.349, 0, 0, 0, [SEP] 36, LightSwitch, 0.800, 1.371, 5.245, 0, 90, 0, [SEP] 37, Painting, 2.992, 1.529, 3.415, 90, 270, 0, [SEP] 38, Painting, 2.992, 1.529, 2.553, 90, 270, 0, [SEP] 39, DeskLamp, 2.625, 0.772, -1.469, 0, 0, 0, [SEP] 40, DeskLamp, 2.668, 0.810, 3.082, 0, 358.947, 0, [SEP] 41, GarbageCan, -0.626, -0.009, 3.742, 0, 0, 0, [SEP] 42, Window, -0.453, 1.450, -2.058, 90, 180, 0, [SEP] 43, SideTable, 2.565, 0.009, -1.534, 0, 0, 0, [SEP] 44, ArmChair, -1.277, 0.009, -1.169, 0, 90, 0, [SEP] 45, Blinds, -0.5, 2.174, -1.957, 0, 0, 0, [SEP] 46, Desk, 2.572, 0.011, 3.054, 0, 270, 0, [SEP] 47, SideTable, 2.645, 0.009, 0.624, 0, 270, 0, [SEP] 48, Drawer, 2.525, 0.214, 0.624, 0, 270, 0, [SEP] 49, Drawer, 2.525, 0.578, 0.624, 0, 270, 0, [SEP] 50, ArmChair, 2.424, 0.009, -0.564, 0, 270, 0, [SEP] 51, LaundryHamper, 3.457, 0.009, 4.555, 0, 270, 0, [SEP] 52, Chair, 2.591, 0.020, 2.015, 0, 0, 0, [SEP] 53, Chair, 2.184, 0.020, 3.440, 0, 120.016, 0, [SEP] 54, Chair, 2.211, 0.020, 2.592, 0, 74.981, 0, [SEP] 55, , , , , , , , [SEP] 56, NorthWall, , , , , , , [SEP] 57, EastWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right, go to the wall, turn to the left, go to the round table. | STEP 2: Pick up the leftmost credit card off of the table. | STEP 3: Turn around, go to the right, go to the table on the right with the TV on it. | STEP 4: Put the credit card down on the table, just to the left of the pencil that is in front of the TV. | STEP 5: Turn around, go to the left to the wall, hang a left, go to the round table. | STEP 6: Pick up the credit card that is on the table. | STEP 7: Turn around, go to the right, go to the table on the right with the TV on it. | STEP 8: Put the credit card down on the table, just to the left of the other credit card. | END"]} +{"id": "trial_T20190913_113749_095745-0", "input": "Put a cup with a knife in it on the table to the left of the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.901, -0.75, 0, 270, 0, [SEP] 1, Pan, 2.076, 1.518, -0.460, 0, 180, 0, 73 [SEP] 2, Potato, 2.179, 1.559, -0.097, 0, 270, 0, 73 [SEP] 3, Potato, 0.034, 0.977, 2.451, 0, 0, 0, 52 [SEP] 4, WineBottle, 1.964, 0.083, 2.057, 0, 0, 0, 48 [SEP] 5, Ladle, 0.637, 0.125, 2.523, 0, 0, 0, 59 [SEP] 6, DishSponge, 2.203, 1.503, 0.725, 0, 0, 0, 60 [SEP] 7, DishSponge, -0.195, 0.937, 2.451, 0, 0, 0, 52 [SEP] 8, ButterKnife, -0.349, 0.791, 0.545, 0, 0, 0, 79 [SEP] 9, ButterKnife, -0.196, 0.791, 1.386, 0, 0, 0, 79 [SEP] 10, Spoon, 1.815, 0.747, 2.197, 0, 90, 0, 67 [SEP] 11, Spoon, -0.349, 0.792, 1.049, 0, 0, 0, 79 [SEP] 12, Fork, -0.042, 0.791, 0.545, 0, 0, 0, 79 [SEP] 13, Cup, -0.119, 0.789, 1.217, 0, 0, 0, 79 [SEP] 14, Cup, -0.119, 0.789, 1.049, 0, 0, 0, 79 [SEP] 15, Knife, -0.033, 0.771, 1.925, 0, 90, 0, 51 [SEP] 16, Knife, -0.272, 0.816, 1.217, 0, 90, 0, 79 [SEP] 17, Knife, -0.196, 0.816, 0.377, 0, 180, 0, 79 [SEP] 18, Mug, -0.362, 1.030, 1.907, 0, 90, 0, 77 [SEP] 19, Mug, 2.064, 0.989, 2.462, 0, 225, 0, 78 [SEP] 20, Mug, 1.945, 1.318, -0.097, 0, 270, 0, 73 [SEP] 21, Egg, 2.250, 0.644, -0.278, 0, 270, 0, 73 [SEP] 22, Lettuce, 0.277, 0.989, 2.611, 0, 60.216, 0, 52 [SEP] 23, Fork, -0.196, 0.791, 1.217, 0, 0, 0, 79 [SEP] 24, SoapBottle, 0.033, 0.791, 0.881, 0, 0, 0, 79 [SEP] 25, Ladle, -0.041, 0.125, 2.129, 0, 0, 0, 46 [SEP] 26, Ladle, 1.872, 0.790, 0.721, 0, 270, 0, 61 [SEP] 27, Bread, -0.199, 0.823, 0.813, 0, 0, 0, 79 [SEP] 28, SaltShaker, 2.040, 0.077, 0.724, 0, 270, 0, 49 [SEP] 29, Potato, 2.250, 0.642, -0.550, 0, 270, 0, 73 [SEP] 30, Pan, 2.140, 0.935, 1.106, 0, 0, 0, 54 [SEP] 31, WineBottle, 1.840, 0.939, 0.583, 0, 0, 0, 63 [SEP] 32, Spatula, 1.065, 0.810, 2.529, 0, 90, 0, 76 [SEP] 33, Knife, -0.053, 0.963, 2.757, 0, 0, 0, 52 [SEP] 34, Tomato, 1.223, 0.841, 2.584, 0, 0, 0, 76 [SEP] 35, Apple, 2.164, 0.652, -0.007, 0, 270, 0, 73 [SEP] 36, ButterKnife, -0.349, 0.791, 0.377, 0, 0, 0, 79 [SEP] 37, Pot, 1.854, 0.937, 1.497, 0, 0, 0, 56 [SEP] 38, PepperShaker, 2.040, 0.077, 2.199, 0, 270, 0, 48 [SEP] 39, Cup, 2.168, 1.319, -0.188, 0, 270, 0, 73 [SEP] 40, DishSponge, 1.919, 0.745, 2.060, 0, 0, 0, 67 [SEP] 41, Plate, 1.298, 0.085, 2.523, 0, 0, 0, 58 [SEP] 42, Spoon, 0.174, 0.938, 2.757, 0, 0, 0, 52 [SEP] 43, Mug, 0.060, 0.932, 2.827, 0, 0, 0, 52 [SEP] 44, Bowl, 1.855, 1.499, 2.767, 0, 0, 0, 45 [SEP] 45, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0, [SEP] 46, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0, [SEP] 47, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0, [SEP] 48, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0, [SEP] 49, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0, [SEP] 50, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0, [SEP] 51, Drawer, -0.024, 0.774, 2.061, 0, 0, 0, [SEP] 52, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0, [SEP] 53, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0, [SEP] 54, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0, [SEP] 55, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0, [SEP] 56, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0, [SEP] 57, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0, [SEP] 58, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0, [SEP] 59, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0, [SEP] 60, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0, [SEP] 61, Drawer, 2.167, 0.774, 0.582, 0, 0, 0, [SEP] 62, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0, [SEP] 63, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0, [SEP] 64, Sink, 0.935, 0.936, 2.646, 0, 0, 0, [SEP] 65, Curtains, 0.964, 2.061, 2.989, 0, 0, 0, [SEP] 66, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0, [SEP] 67, Drawer, 1.911, 0.774, 2.060, 0, 0, 0, [SEP] 68, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0, [SEP] 69, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0, [SEP] 70, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0, [SEP] 71, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0, [SEP] 72, Toaster, 2.126, 0.926, 0.572, 0, 270, 0, [SEP] 73, Fridge, 2.104, 0.0, -0.279, 0, 270, 0, [SEP] 74, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0, [SEP] 75, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0, [SEP] 76, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0, [SEP] 77, Microwave, -0.310, 0.926, 2.077, 0, 90, 0, [SEP] 78, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0, [SEP] 79, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0, [SEP] 80, Faucet, 1.175, 0.926, 2.950, 270, 90, 0, [SEP] 81, Faucet, 0.686, 0.926, 2.950, 270, 90, 0, [SEP] 82, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0, [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: Move to the sink to the left of the sink | STEP 2: Pick up a knife from the counter | STEP 3: Place the knife in a cup on the counter | STEP 4: Pick up the cup from the counter | STEP 5: Move to the table behind you | STEP 6: Place the cup on the table | END"]} +{"id": "trial_T20190913_113749_095745-1", "input": "Move a cup and knife to the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.901, -0.75, 0, 270, 0, [SEP] 1, Pan, 2.076, 1.518, -0.460, 0, 180, 0, 73 [SEP] 2, Potato, 2.179, 1.559, -0.097, 0, 270, 0, 73 [SEP] 3, Potato, 0.034, 0.977, 2.451, 0, 0, 0, 52 [SEP] 4, WineBottle, 1.964, 0.083, 2.057, 0, 0, 0, 48 [SEP] 5, Ladle, 0.637, 0.125, 2.523, 0, 0, 0, 59 [SEP] 6, DishSponge, 2.203, 1.503, 0.725, 0, 0, 0, 60 [SEP] 7, DishSponge, -0.195, 0.937, 2.451, 0, 0, 0, 52 [SEP] 8, ButterKnife, -0.349, 0.791, 0.545, 0, 0, 0, 79 [SEP] 9, ButterKnife, -0.196, 0.791, 1.386, 0, 0, 0, 79 [SEP] 10, Spoon, 1.815, 0.747, 2.197, 0, 90, 0, 67 [SEP] 11, Spoon, -0.349, 0.792, 1.049, 0, 0, 0, 79 [SEP] 12, Fork, -0.042, 0.791, 0.545, 0, 0, 0, 79 [SEP] 13, Cup, -0.119, 0.789, 1.217, 0, 0, 0, 79 [SEP] 14, Cup, -0.119, 0.789, 1.049, 0, 0, 0, 79 [SEP] 15, Knife, -0.033, 0.771, 1.925, 0, 90, 0, 51 [SEP] 16, Knife, -0.272, 0.816, 1.217, 0, 90, 0, 79 [SEP] 17, Knife, -0.196, 0.816, 0.377, 0, 180, 0, 79 [SEP] 18, Mug, -0.362, 1.030, 1.907, 0, 90, 0, 77 [SEP] 19, Mug, 2.064, 0.989, 2.462, 0, 225, 0, 78 [SEP] 20, Mug, 1.945, 1.318, -0.097, 0, 270, 0, 73 [SEP] 21, Egg, 2.250, 0.644, -0.278, 0, 270, 0, 73 [SEP] 22, Lettuce, 0.277, 0.989, 2.611, 0, 60.216, 0, 52 [SEP] 23, Fork, -0.196, 0.791, 1.217, 0, 0, 0, 79 [SEP] 24, SoapBottle, 0.033, 0.791, 0.881, 0, 0, 0, 79 [SEP] 25, Ladle, -0.041, 0.125, 2.129, 0, 0, 0, 46 [SEP] 26, Ladle, 1.872, 0.790, 0.721, 0, 270, 0, 61 [SEP] 27, Bread, -0.199, 0.823, 0.813, 0, 0, 0, 79 [SEP] 28, SaltShaker, 2.040, 0.077, 0.724, 0, 270, 0, 49 [SEP] 29, Potato, 2.250, 0.642, -0.550, 0, 270, 0, 73 [SEP] 30, Pan, 2.140, 0.935, 1.106, 0, 0, 0, 54 [SEP] 31, WineBottle, 1.840, 0.939, 0.583, 0, 0, 0, 63 [SEP] 32, Spatula, 1.065, 0.810, 2.529, 0, 90, 0, 76 [SEP] 33, Knife, -0.053, 0.963, 2.757, 0, 0, 0, 52 [SEP] 34, Tomato, 1.223, 0.841, 2.584, 0, 0, 0, 76 [SEP] 35, Apple, 2.164, 0.652, -0.007, 0, 270, 0, 73 [SEP] 36, ButterKnife, -0.349, 0.791, 0.377, 0, 0, 0, 79 [SEP] 37, Pot, 1.854, 0.937, 1.497, 0, 0, 0, 56 [SEP] 38, PepperShaker, 2.040, 0.077, 2.199, 0, 270, 0, 48 [SEP] 39, Cup, 2.168, 1.319, -0.188, 0, 270, 0, 73 [SEP] 40, DishSponge, 1.919, 0.745, 2.060, 0, 0, 0, 67 [SEP] 41, Plate, 1.298, 0.085, 2.523, 0, 0, 0, 58 [SEP] 42, Spoon, 0.174, 0.938, 2.757, 0, 0, 0, 52 [SEP] 43, Mug, 0.060, 0.932, 2.827, 0, 0, 0, 52 [SEP] 44, Bowl, 1.855, 1.499, 2.767, 0, 0, 0, 45 [SEP] 45, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0, [SEP] 46, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0, [SEP] 47, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0, [SEP] 48, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0, [SEP] 49, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0, [SEP] 50, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0, [SEP] 51, Drawer, -0.024, 0.774, 2.061, 0, 0, 0, [SEP] 52, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0, [SEP] 53, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0, [SEP] 54, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0, [SEP] 55, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0, [SEP] 56, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0, [SEP] 57, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0, [SEP] 58, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0, [SEP] 59, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0, [SEP] 60, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0, [SEP] 61, Drawer, 2.167, 0.774, 0.582, 0, 0, 0, [SEP] 62, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0, [SEP] 63, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0, [SEP] 64, Sink, 0.935, 0.936, 2.646, 0, 0, 0, [SEP] 65, Curtains, 0.964, 2.061, 2.989, 0, 0, 0, [SEP] 66, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0, [SEP] 67, Drawer, 1.911, 0.774, 2.060, 0, 0, 0, [SEP] 68, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0, [SEP] 69, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0, [SEP] 70, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0, [SEP] 71, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0, [SEP] 72, Toaster, 2.126, 0.926, 0.572, 0, 270, 0, [SEP] 73, Fridge, 2.104, 0.0, -0.279, 0, 270, 0, [SEP] 74, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0, [SEP] 75, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0, [SEP] 76, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0, [SEP] 77, Microwave, -0.310, 0.926, 2.077, 0, 90, 0, [SEP] 78, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0, [SEP] 79, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0, [SEP] 80, Faucet, 1.175, 0.926, 2.950, 270, 90, 0, [SEP] 81, Faucet, 0.686, 0.926, 2.950, 270, 90, 0, [SEP] 82, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0, [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, and move to the left to go back to the counter. | STEP 2: Pick up the knife that is to the left of the sink. | STEP 3: Place the knife in a cup that is in the far back of the counter. | STEP 4: Pick up the cup and knife from the counter. | STEP 5: Carry the cup and turn around, go to the right to find the white table. | STEP 6: Place the cup and knife on the right side of the table. | END"]} +{"id": "trial_T20190913_113749_095745-2", "input": "put a cup with a knife inside of it on the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.901, -0.75, 0, 270, 0, [SEP] 1, Pan, 2.076, 1.518, -0.460, 0, 180, 0, 73 [SEP] 2, Potato, 2.179, 1.559, -0.097, 0, 270, 0, 73 [SEP] 3, Potato, 0.034, 0.977, 2.451, 0, 0, 0, 52 [SEP] 4, WineBottle, 1.964, 0.083, 2.057, 0, 0, 0, 48 [SEP] 5, Ladle, 0.637, 0.125, 2.523, 0, 0, 0, 59 [SEP] 6, DishSponge, 2.203, 1.503, 0.725, 0, 0, 0, 60 [SEP] 7, DishSponge, -0.195, 0.937, 2.451, 0, 0, 0, 52 [SEP] 8, ButterKnife, -0.349, 0.791, 0.545, 0, 0, 0, 79 [SEP] 9, ButterKnife, -0.196, 0.791, 1.386, 0, 0, 0, 79 [SEP] 10, Spoon, 1.815, 0.747, 2.197, 0, 90, 0, 67 [SEP] 11, Spoon, -0.349, 0.792, 1.049, 0, 0, 0, 79 [SEP] 12, Fork, -0.042, 0.791, 0.545, 0, 0, 0, 79 [SEP] 13, Cup, -0.119, 0.789, 1.217, 0, 0, 0, 79 [SEP] 14, Cup, -0.119, 0.789, 1.049, 0, 0, 0, 79 [SEP] 15, Knife, -0.033, 0.771, 1.925, 0, 90, 0, 51 [SEP] 16, Knife, -0.272, 0.816, 1.217, 0, 90, 0, 79 [SEP] 17, Knife, -0.196, 0.816, 0.377, 0, 180, 0, 79 [SEP] 18, Mug, -0.362, 1.030, 1.907, 0, 90, 0, 77 [SEP] 19, Mug, 2.064, 0.989, 2.462, 0, 225, 0, 78 [SEP] 20, Mug, 1.945, 1.318, -0.097, 0, 270, 0, 73 [SEP] 21, Egg, 2.250, 0.644, -0.278, 0, 270, 0, 73 [SEP] 22, Lettuce, 0.277, 0.989, 2.611, 0, 60.216, 0, 52 [SEP] 23, Fork, -0.196, 0.791, 1.217, 0, 0, 0, 79 [SEP] 24, SoapBottle, 0.033, 0.791, 0.881, 0, 0, 0, 79 [SEP] 25, Ladle, -0.041, 0.125, 2.129, 0, 0, 0, 46 [SEP] 26, Ladle, 1.872, 0.790, 0.721, 0, 270, 0, 61 [SEP] 27, Bread, -0.199, 0.823, 0.813, 0, 0, 0, 79 [SEP] 28, SaltShaker, 2.040, 0.077, 0.724, 0, 270, 0, 49 [SEP] 29, Potato, 2.250, 0.642, -0.550, 0, 270, 0, 73 [SEP] 30, Pan, 2.140, 0.935, 1.106, 0, 0, 0, 54 [SEP] 31, WineBottle, 1.840, 0.939, 0.583, 0, 0, 0, 63 [SEP] 32, Spatula, 1.065, 0.810, 2.529, 0, 90, 0, 76 [SEP] 33, Knife, -0.053, 0.963, 2.757, 0, 0, 0, 52 [SEP] 34, Tomato, 1.223, 0.841, 2.584, 0, 0, 0, 76 [SEP] 35, Apple, 2.164, 0.652, -0.007, 0, 270, 0, 73 [SEP] 36, ButterKnife, -0.349, 0.791, 0.377, 0, 0, 0, 79 [SEP] 37, Pot, 1.854, 0.937, 1.497, 0, 0, 0, 56 [SEP] 38, PepperShaker, 2.040, 0.077, 2.199, 0, 270, 0, 48 [SEP] 39, Cup, 2.168, 1.319, -0.188, 0, 270, 0, 73 [SEP] 40, DishSponge, 1.919, 0.745, 2.060, 0, 0, 0, 67 [SEP] 41, Plate, 1.298, 0.085, 2.523, 0, 0, 0, 58 [SEP] 42, Spoon, 0.174, 0.938, 2.757, 0, 0, 0, 52 [SEP] 43, Mug, 0.060, 0.932, 2.827, 0, 0, 0, 52 [SEP] 44, Bowl, 1.855, 1.499, 2.767, 0, 0, 0, 45 [SEP] 45, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0, [SEP] 46, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0, [SEP] 47, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0, [SEP] 48, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0, [SEP] 49, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0, [SEP] 50, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0, [SEP] 51, Drawer, -0.024, 0.774, 2.061, 0, 0, 0, [SEP] 52, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0, [SEP] 53, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0, [SEP] 54, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0, [SEP] 55, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0, [SEP] 56, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0, [SEP] 57, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0, [SEP] 58, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0, [SEP] 59, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0, [SEP] 60, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0, [SEP] 61, Drawer, 2.167, 0.774, 0.582, 0, 0, 0, [SEP] 62, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0, [SEP] 63, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0, [SEP] 64, Sink, 0.935, 0.936, 2.646, 0, 0, 0, [SEP] 65, Curtains, 0.964, 2.061, 2.989, 0, 0, 0, [SEP] 66, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0, [SEP] 67, Drawer, 1.911, 0.774, 2.060, 0, 0, 0, [SEP] 68, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0, [SEP] 69, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0, [SEP] 70, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0, [SEP] 71, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0, [SEP] 72, Toaster, 2.126, 0.926, 0.572, 0, 270, 0, [SEP] 73, Fridge, 2.104, 0.0, -0.279, 0, 270, 0, [SEP] 74, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0, [SEP] 75, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0, [SEP] 76, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0, [SEP] 77, Microwave, -0.310, 0.926, 2.077, 0, 90, 0, [SEP] 78, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0, [SEP] 79, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0, [SEP] 80, Faucet, 1.175, 0.926, 2.950, 270, 90, 0, [SEP] 81, Faucet, 0.686, 0.926, 2.950, 270, 90, 0, [SEP] 82, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0, [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: turn right and move across the room towards the sink | STEP 2: pick up the knife with the yellow handle that is to the left of the sink and behind the head of lettuce | STEP 3: put the knife in to the cup that is behind the head of lettuce | STEP 4: pick up the cup with the knife inside of the cup | STEP 5: turn around and move forward to the white table on the right, turn to face the table | STEP 6: put the cup with the knife inside of it onto the table in front of the wine glass on the left | END"]} +{"id": "trial_T20190909_044715_250790-0", "input": "look at the clock under the lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 1.0, 0, 90, 0, [SEP] 1, Mug, 2.556, 0.894, -3.044, 0, 90, 0, 42 [SEP] 2, Mug, -2.530, 0.679, -0.281, 0, 90, 0, 51 [SEP] 3, CD, 1.867, 0.896, -2.975, 0, 0, 0, 42 [SEP] 4, CD, -2.439, 0.680, -2.917, 0, 90, 0, 44 [SEP] 5, CellPhone, -2.484, 0.680, -3.15, 0, 90, 0, 44 [SEP] 6, Pen, 2.039, 0.902, -3.113, 0, 0, 0, 42 [SEP] 7, Pen, -2.530, 0.686, -3.227, 0, 180, 0, 44 [SEP] 8, Pencil, 1.344, 0.024, -3.375, 0, 0, 0, 33 [SEP] 9, CreditCard, 2.082, 0.080, -3.101, 0, 0, 0, 39 [SEP] 10, CreditCard, 2.608, 0.371, 1.342, 0, 270, 0, 48 [SEP] 11, KeyChain, -2.476, 0.082, -3.092, 0, 180, 0, 43 [SEP] 12, AlarmClock, -2.484, 0.684, -3.304, 0, 90, 0, 44 [SEP] 13, AlarmClock, 2.039, 0.900, -3.320, 0, 0, 0, 42 [SEP] 14, Laptop, -1.308, 0.617, -2.061, 0, 0, 0, 29 [SEP] 15, Book, 2.351, 0.889, -3.157, 0, 195.000, 0, 42 [SEP] 16, CreditCard, 2.713, 0.924, 1.342, 0, 270, 0, 47 [SEP] 17, Pen, 2.211, 0.902, -3.389, 0, 0, 0, 42 [SEP] 18, Pencil, 2.685, 1.232, 1.283, 0, 270, 0, 49 [SEP] 19, TeddyBear, -0.667, 0.612, -1.364, 0, 81.467, 0, 29 [SEP] 20, Laptop, -1.31, 0.612, -1.542, 0, 0, 0, 29 [SEP] 21, AlarmClock, 2.685, 1.232, 1.397, 0, 270, 0, 49 [SEP] 22, CellPhone, 1.783, 0.361, -3.025, 0, 0, 0, 39 [SEP] 23, KeyChain, 2.764, 1.249, 1.767, 0, 0, 0, 38 [SEP] 24, Pillow, -1.874, 0.680, -2.261, 0, 0, 0, 29 [SEP] 25, Pillow, -1.308, 0.680, -2.461, 0, 0, 0, 29 [SEP] 26, CD, 2.608, 0.370, 1.764, 0, 270, 0, 48 [SEP] 27, Mug, 2.039, 0.894, -3.044, 0, 0, 0, 42 [SEP] 28, Bowl, 1.840, 0.889, -3.239, 0, 0, 0, 42 [SEP] 29, Bed, -1.613, -0.028, -1.861, 0, 270, 0, [SEP] 30, DeskLamp, 2.760, 0.890, -3.317, 0, 90, 0, [SEP] 31, DeskLamp, -2.459, 0.668, -0.532, 0, 90, 0, [SEP] 32, LightSwitch, -0.700, 1.016, 0.334, 0, 90, 0, [SEP] 33, GarbageCan, 1.343, 1.087, -3.374, 0, 0, 0, [SEP] 34, Mirror, 0.532, 1.419, 2.0, 0, 0, 0, [SEP] 35, Window, -0.834, 1.394, -3.653, 90, 0, 0, [SEP] 36, Window, 2.958, 1.508, -1.019, 90, 270, 0, [SEP] 37, Sofa, 2.383, 0.008, -0.288, 0, 270, 0, [SEP] 38, Safe, 2.721, 1.228, 1.784, 0, 270, 0, [SEP] 39, Drawer, 1.979, 0.486, -2.988, 0, 0, 0, [SEP] 40, Drawer, 1.979, 0.728, -2.988, 0, 0, 0, [SEP] 41, Drawer, 1.979, 0.208, -2.988, 0, 0, 0, [SEP] 42, Desk, 2.318, -0.009, -3.214, 0, 0, 0, [SEP] 43, Drawer, -2.349, 0.163, -3.150, 0, 90, 0, [SEP] 44, SideTable, -2.416, -0.001, -3.149, 0, 90, 0, [SEP] 45, Drawer, -2.349, 0.455, -3.150, 0, 90, 0, [SEP] 46, Drawer, 2.641, 0.172, 1.511, 0, 270, 0, [SEP] 47, Drawer, 2.641, 1.002, 1.511, 0, 270, 0, [SEP] 48, Drawer, 2.641, 0.448, 1.511, 0, 270, 0, [SEP] 49, Dresser, 2.676, 0.002, 1.511, 0, 270, 0, [SEP] 50, Drawer, 2.641, 0.725, 1.511, 0, 270, 0, [SEP] 51, SideTable, -2.416, -0.001, -0.514, 0, 90, 0, [SEP] 52, Drawer, -2.349, 0.163, -0.514, 0, 90, 0, [SEP] 53, Drawer, -2.349, 0.455, -0.514, 0, 90, 0, [SEP] 54, Blinds, -0.800, 2.087, -3.627, 0, 0, 0, [SEP] 55, Blinds, 2.931, 2.166, -1.0, 0, 270, 0, [SEP] 56, Chair, 2.574, 0.002, -2.881, 0, 175.162, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, EastWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, WestWall, , , , , , , ", "output": ["STEP 1: go to the table with the safe | STEP 2: pick up the clock | STEP 3: take the clock to the desk | STEP 4: turn on the lamp | END"]} +{"id": "trial_T20190909_044715_250790-1", "input": "Look at an alarm clock by the light of a lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 1.0, 0, 90, 0, [SEP] 1, Mug, 2.556, 0.894, -3.044, 0, 90, 0, 42 [SEP] 2, Mug, -2.530, 0.679, -0.281, 0, 90, 0, 51 [SEP] 3, CD, 1.867, 0.896, -2.975, 0, 0, 0, 42 [SEP] 4, CD, -2.439, 0.680, -2.917, 0, 90, 0, 44 [SEP] 5, CellPhone, -2.484, 0.680, -3.15, 0, 90, 0, 44 [SEP] 6, Pen, 2.039, 0.902, -3.113, 0, 0, 0, 42 [SEP] 7, Pen, -2.530, 0.686, -3.227, 0, 180, 0, 44 [SEP] 8, Pencil, 1.344, 0.024, -3.375, 0, 0, 0, 33 [SEP] 9, CreditCard, 2.082, 0.080, -3.101, 0, 0, 0, 39 [SEP] 10, CreditCard, 2.608, 0.371, 1.342, 0, 270, 0, 48 [SEP] 11, KeyChain, -2.476, 0.082, -3.092, 0, 180, 0, 43 [SEP] 12, AlarmClock, -2.484, 0.684, -3.304, 0, 90, 0, 44 [SEP] 13, AlarmClock, 2.039, 0.900, -3.320, 0, 0, 0, 42 [SEP] 14, Laptop, -1.308, 0.617, -2.061, 0, 0, 0, 29 [SEP] 15, Book, 2.351, 0.889, -3.157, 0, 195.000, 0, 42 [SEP] 16, CreditCard, 2.713, 0.924, 1.342, 0, 270, 0, 47 [SEP] 17, Pen, 2.211, 0.902, -3.389, 0, 0, 0, 42 [SEP] 18, Pencil, 2.685, 1.232, 1.283, 0, 270, 0, 49 [SEP] 19, TeddyBear, -0.667, 0.612, -1.364, 0, 81.467, 0, 29 [SEP] 20, Laptop, -1.31, 0.612, -1.542, 0, 0, 0, 29 [SEP] 21, AlarmClock, 2.685, 1.232, 1.397, 0, 270, 0, 49 [SEP] 22, CellPhone, 1.783, 0.361, -3.025, 0, 0, 0, 39 [SEP] 23, KeyChain, 2.764, 1.249, 1.767, 0, 0, 0, 38 [SEP] 24, Pillow, -1.874, 0.680, -2.261, 0, 0, 0, 29 [SEP] 25, Pillow, -1.308, 0.680, -2.461, 0, 0, 0, 29 [SEP] 26, CD, 2.608, 0.370, 1.764, 0, 270, 0, 48 [SEP] 27, Mug, 2.039, 0.894, -3.044, 0, 0, 0, 42 [SEP] 28, Bowl, 1.840, 0.889, -3.239, 0, 0, 0, 42 [SEP] 29, Bed, -1.613, -0.028, -1.861, 0, 270, 0, [SEP] 30, DeskLamp, 2.760, 0.890, -3.317, 0, 90, 0, [SEP] 31, DeskLamp, -2.459, 0.668, -0.532, 0, 90, 0, [SEP] 32, LightSwitch, -0.700, 1.016, 0.334, 0, 90, 0, [SEP] 33, GarbageCan, 1.343, 1.087, -3.374, 0, 0, 0, [SEP] 34, Mirror, 0.532, 1.419, 2.0, 0, 0, 0, [SEP] 35, Window, -0.834, 1.394, -3.653, 90, 0, 0, [SEP] 36, Window, 2.958, 1.508, -1.019, 90, 270, 0, [SEP] 37, Sofa, 2.383, 0.008, -0.288, 0, 270, 0, [SEP] 38, Safe, 2.721, 1.228, 1.784, 0, 270, 0, [SEP] 39, Drawer, 1.979, 0.486, -2.988, 0, 0, 0, [SEP] 40, Drawer, 1.979, 0.728, -2.988, 0, 0, 0, [SEP] 41, Drawer, 1.979, 0.208, -2.988, 0, 0, 0, [SEP] 42, Desk, 2.318, -0.009, -3.214, 0, 0, 0, [SEP] 43, Drawer, -2.349, 0.163, -3.150, 0, 90, 0, [SEP] 44, SideTable, -2.416, -0.001, -3.149, 0, 90, 0, [SEP] 45, Drawer, -2.349, 0.455, -3.150, 0, 90, 0, [SEP] 46, Drawer, 2.641, 0.172, 1.511, 0, 270, 0, [SEP] 47, Drawer, 2.641, 1.002, 1.511, 0, 270, 0, [SEP] 48, Drawer, 2.641, 0.448, 1.511, 0, 270, 0, [SEP] 49, Dresser, 2.676, 0.002, 1.511, 0, 270, 0, [SEP] 50, Drawer, 2.641, 0.725, 1.511, 0, 270, 0, [SEP] 51, SideTable, -2.416, -0.001, -0.514, 0, 90, 0, [SEP] 52, Drawer, -2.349, 0.163, -0.514, 0, 90, 0, [SEP] 53, Drawer, -2.349, 0.455, -0.514, 0, 90, 0, [SEP] 54, Blinds, -0.800, 2.087, -3.627, 0, 0, 0, [SEP] 55, Blinds, 2.931, 2.166, -1.0, 0, 270, 0, [SEP] 56, Chair, 2.574, 0.002, -2.881, 0, 175.162, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, EastWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, WestWall, , , , , , , ", "output": ["STEP 1: Walk ahead and slightly left to the dresser. | STEP 2: Pick up the alarm clock on the dresser. | STEP 3: Turn right and walk around the couch, then veer left to the desk. | STEP 4: Turn on the desk lamp. | END"]} +{"id": "trial_T20190909_044715_250790-2", "input": "Look at an alarm clock by the light of a lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 1.0, 0, 90, 0, [SEP] 1, Mug, 2.556, 0.894, -3.044, 0, 90, 0, 42 [SEP] 2, Mug, -2.530, 0.679, -0.281, 0, 90, 0, 51 [SEP] 3, CD, 1.867, 0.896, -2.975, 0, 0, 0, 42 [SEP] 4, CD, -2.439, 0.680, -2.917, 0, 90, 0, 44 [SEP] 5, CellPhone, -2.484, 0.680, -3.15, 0, 90, 0, 44 [SEP] 6, Pen, 2.039, 0.902, -3.113, 0, 0, 0, 42 [SEP] 7, Pen, -2.530, 0.686, -3.227, 0, 180, 0, 44 [SEP] 8, Pencil, 1.344, 0.024, -3.375, 0, 0, 0, 33 [SEP] 9, CreditCard, 2.082, 0.080, -3.101, 0, 0, 0, 39 [SEP] 10, CreditCard, 2.608, 0.371, 1.342, 0, 270, 0, 48 [SEP] 11, KeyChain, -2.476, 0.082, -3.092, 0, 180, 0, 43 [SEP] 12, AlarmClock, -2.484, 0.684, -3.304, 0, 90, 0, 44 [SEP] 13, AlarmClock, 2.039, 0.900, -3.320, 0, 0, 0, 42 [SEP] 14, Laptop, -1.308, 0.617, -2.061, 0, 0, 0, 29 [SEP] 15, Book, 2.351, 0.889, -3.157, 0, 195.000, 0, 42 [SEP] 16, CreditCard, 2.713, 0.924, 1.342, 0, 270, 0, 47 [SEP] 17, Pen, 2.211, 0.902, -3.389, 0, 0, 0, 42 [SEP] 18, Pencil, 2.685, 1.232, 1.283, 0, 270, 0, 49 [SEP] 19, TeddyBear, -0.667, 0.612, -1.364, 0, 81.467, 0, 29 [SEP] 20, Laptop, -1.31, 0.612, -1.542, 0, 0, 0, 29 [SEP] 21, AlarmClock, 2.685, 1.232, 1.397, 0, 270, 0, 49 [SEP] 22, CellPhone, 1.783, 0.361, -3.025, 0, 0, 0, 39 [SEP] 23, KeyChain, 2.764, 1.249, 1.767, 0, 0, 0, 38 [SEP] 24, Pillow, -1.874, 0.680, -2.261, 0, 0, 0, 29 [SEP] 25, Pillow, -1.308, 0.680, -2.461, 0, 0, 0, 29 [SEP] 26, CD, 2.608, 0.370, 1.764, 0, 270, 0, 48 [SEP] 27, Mug, 2.039, 0.894, -3.044, 0, 0, 0, 42 [SEP] 28, Bowl, 1.840, 0.889, -3.239, 0, 0, 0, 42 [SEP] 29, Bed, -1.613, -0.028, -1.861, 0, 270, 0, [SEP] 30, DeskLamp, 2.760, 0.890, -3.317, 0, 90, 0, [SEP] 31, DeskLamp, -2.459, 0.668, -0.532, 0, 90, 0, [SEP] 32, LightSwitch, -0.700, 1.016, 0.334, 0, 90, 0, [SEP] 33, GarbageCan, 1.343, 1.087, -3.374, 0, 0, 0, [SEP] 34, Mirror, 0.532, 1.419, 2.0, 0, 0, 0, [SEP] 35, Window, -0.834, 1.394, -3.653, 90, 0, 0, [SEP] 36, Window, 2.958, 1.508, -1.019, 90, 270, 0, [SEP] 37, Sofa, 2.383, 0.008, -0.288, 0, 270, 0, [SEP] 38, Safe, 2.721, 1.228, 1.784, 0, 270, 0, [SEP] 39, Drawer, 1.979, 0.486, -2.988, 0, 0, 0, [SEP] 40, Drawer, 1.979, 0.728, -2.988, 0, 0, 0, [SEP] 41, Drawer, 1.979, 0.208, -2.988, 0, 0, 0, [SEP] 42, Desk, 2.318, -0.009, -3.214, 0, 0, 0, [SEP] 43, Drawer, -2.349, 0.163, -3.150, 0, 90, 0, [SEP] 44, SideTable, -2.416, -0.001, -3.149, 0, 90, 0, [SEP] 45, Drawer, -2.349, 0.455, -3.150, 0, 90, 0, [SEP] 46, Drawer, 2.641, 0.172, 1.511, 0, 270, 0, [SEP] 47, Drawer, 2.641, 1.002, 1.511, 0, 270, 0, [SEP] 48, Drawer, 2.641, 0.448, 1.511, 0, 270, 0, [SEP] 49, Dresser, 2.676, 0.002, 1.511, 0, 270, 0, [SEP] 50, Drawer, 2.641, 0.725, 1.511, 0, 270, 0, [SEP] 51, SideTable, -2.416, -0.001, -0.514, 0, 90, 0, [SEP] 52, Drawer, -2.349, 0.163, -0.514, 0, 90, 0, [SEP] 53, Drawer, -2.349, 0.455, -0.514, 0, 90, 0, [SEP] 54, Blinds, -0.800, 2.087, -3.627, 0, 0, 0, [SEP] 55, Blinds, 2.931, 2.166, -1.0, 0, 270, 0, [SEP] 56, Chair, 2.574, 0.002, -2.881, 0, 175.162, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, EastWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, WestWall, , , , , , , ", "output": ["STEP 1: Walk straight ahead to the dresser. | STEP 2: Pick up the alarm clock on the dresser. | STEP 3: Turn right and walk past the couch to the desk. | STEP 4: Turn on the desk lamp. | END"]} +{"id": "trial_T20190906_211222_551053-0", "input": "Warming up an apple slice. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, -0.25, 0, 0, 0, [SEP] 1, Kettle, 1.361, 0.962, 0.561, 0, 270, 0, 60 [SEP] 2, Kettle, -0.082, 0.913, -1.820, 0, 0, 0, 55 [SEP] 3, Pan, -2.31, 1.051, -1.763, 0, 270, 0, 85 [SEP] 4, Pan, 1.608, 1.328, -1.809, 0, 270, 0, 71 [SEP] 5, Potato, 1.907, 0.942, 0.209, 0, 0, 0, 70 [SEP] 6, DishSponge, -2.203, 0.951, 0.435, 0, 90, 0, 88 [SEP] 7, ButterKnife, 0.701, 0.919, -1.649, 0, 270, 0, 53 [SEP] 8, Fork, -2.614, 0.952, 0.255, 0, 90, 0, 88 [SEP] 9, Fork, 1.903, 0.912, -1.820, 0, 0, 0, 55 [SEP] 10, Spoon, 1.785, 0.913, 0.458, 0, 0, 0, 70 [SEP] 11, Spatula, 0.300, 0.927, 0.209, 0, 0, 0, 54 [SEP] 12, Cup, -2.340, 0.950, 0.255, 0, 90, 0, 88 [SEP] 13, Cup, -1.872, 0.509, -1.720, 0, 0, 0, 85 [SEP] 14, Knife, 0.167, 0.937, 0.375, 0, 0, 0, 54 [SEP] 15, SoapBottle, 0.856, 0.918, -1.449, 0, 270, 0, 53 [SEP] 16, Bowl, -1.791, 0.951, 0.524, 0, 90, 0, 88 [SEP] 17, SaltShaker, -2.614, 0.948, 0.435, 0, 90, 0, 88 [SEP] 18, PepperShaker, 0.564, 0.908, 0.292, 0, 0, 0, 54 [SEP] 19, PepperShaker, 1.724, 0.908, 0.209, 0, 0, 0, 70 [SEP] 20, Bread, -2.065, 1.035, 0.165, 0, 90, 0, 88 [SEP] 21, Lettuce, -1.791, 1.042, 0.255, 0, 90, 0, 88 [SEP] 22, Mug, 0.753, 0.914, -1.715, 0, 90, 0, 53 [SEP] 23, Mug, 0.618, 0.945, 0.469, 0, 180, 0, 79 [SEP] 24, Apple, -0.329, 0.137, 0.439, 0, 90, 0, 84 [SEP] 25, Apple, -2.047, 1.559, -1.849, 0, 0, 0, 85 [SEP] 26, Bread, 1.781, 0.995, -1.571, 0, 0, 0, 55 [SEP] 27, Knife, 0.167, 0.937, 0.623, 0, 0, 0, 54 [SEP] 28, Fork, -1.928, 0.952, 0.435, 0, 270, 0, 88 [SEP] 29, Bowl, 1.535, 0.911, -1.737, 0, 0, 0, 55 [SEP] 30, Kettle, -0.644, 1.329, -1.809, 0, 180, 0, 49 [SEP] 31, Cup, -2.397, 1.491, -1.806, 0, 0, 0, 85 [SEP] 32, Tomato, -2.135, 0.829, -1.720, 0, 0, 0, 85 [SEP] 33, SoapBottle, -0.451, 0.910, -1.903, 0, 0, 0, 55 [SEP] 34, Plate, 1.289, 0.913, -1.737, 0, 0, 0, 55 [SEP] 35, Pot, 1.007, 0.962, 0.561, 0, 270, 0, 57 [SEP] 36, Spatula, 0.908, 0.934, -1.649, 0, 90, 0, 53 [SEP] 37, PaperTowelRoll, 1.907, 1.016, 0.623, 0, 0, 0, 70 [SEP] 38, Egg, -0.394, 0.105, 0.525, 0, 90, 0, 84 [SEP] 39, Lettuce, -2.065, 1.042, 0.614, 0, 90, 0, 88 [SEP] 40, SaltShaker, 1.663, 0.908, 0.623, 0, 0, 0, 70 [SEP] 41, PepperShaker, 0.035, 0.908, 0.292, 0, 0, 0, 54 [SEP] 42, Apple, -1.959, 0.847, -1.806, 0, 0, 0, 85 [SEP] 43, ButterKnife, 0.960, 0.919, -1.582, 0, 270, 0, 53 [SEP] 44, Potato, -1.791, 0.982, 0.704, 0, 90, 0, 88 [SEP] 45, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 67 [SEP] 46, DishSponge, -2.614, 0.951, 0.614, 0, 90, 0, 88 [SEP] 47, Spoon, 0.071, 0.774, 0.306, 0, 0, 0, 61 [SEP] 48, Mug, -0.872, 1.010, -1.737, 0, 0, 0, 77 [SEP] 49, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0, [SEP] 50, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0, [SEP] 51, Drawer, 0.499, 0.792, 0.296, 0, 0, 0, [SEP] 52, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0, [SEP] 53, Sink, 0.711, 0.817, -1.772, 0, 270, 0, [SEP] 54, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0, [SEP] 55, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0, [SEP] 56, Drawer, 1.825, 0.792, 0.296, 0, 0, 0, [SEP] 57, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0, [SEP] 58, Drawer, -0.150, 0.792, -1.496, 0, 0, 0, [SEP] 59, Drawer, -0.586, 0.792, -1.496, 0, 0, 0, [SEP] 60, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0, [SEP] 61, Drawer, 0.024, 0.792, 0.296, 0, 0, 0, [SEP] 62, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0, [SEP] 63, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0, [SEP] 64, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0, [SEP] 65, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0, [SEP] 66, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0, [SEP] 67, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0, [SEP] 68, Drawer, -1.100, 0.792, -1.496, 0, 0, 0, [SEP] 69, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0, [SEP] 70, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0, [SEP] 71, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0, [SEP] 72, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0, [SEP] 73, Toaster, 0.305, 0.900, 0.552, 0, 180, 0, [SEP] 74, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0, [SEP] 75, Window, 0.582, 1.613, -1.967, 90, 0, 0, [SEP] 76, Window, 1.969, 1.5, -0.615, 90, 270, 0, [SEP] 77, Microwave, -1.037, 0.900, -1.723, 0, 0, 0, [SEP] 78, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0, [SEP] 79, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0, [SEP] 80, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0, [SEP] 81, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0, [SEP] 82, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0, [SEP] 83, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0, [SEP] 84, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0, [SEP] 85, Fridge, -2.134, 0.0, -1.690, 0, 0, 0, [SEP] 86, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0, [SEP] 87, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0, [SEP] 88, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Look to your right and then turn back to the counter | STEP 2: Pick up the knife with the yellow handle. | STEP 3: Turn to your left go forward a bit and then right to face the wall, turn right again to face the trash. | STEP 4: Cut the apple that is in the trash can. | STEP 5: Leave the knife in the trash. | STEP 6: Grab a piece of the apple. | STEP 7: turn around all the way, then turn left and go to the microwave. | STEP 8: put the apple in the microwave, turn it on and then take it out. | STEP 9: Turn back around and go back to the trash on your right. | STEP 10: Remain looking at the trash can. | END"]} +{"id": "trial_T20190906_211222_551053-1", "input": "Throwing out an apple SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, -0.25, 0, 0, 0, [SEP] 1, Kettle, 1.361, 0.962, 0.561, 0, 270, 0, 60 [SEP] 2, Kettle, -0.082, 0.913, -1.820, 0, 0, 0, 55 [SEP] 3, Pan, -2.31, 1.051, -1.763, 0, 270, 0, 85 [SEP] 4, Pan, 1.608, 1.328, -1.809, 0, 270, 0, 71 [SEP] 5, Potato, 1.907, 0.942, 0.209, 0, 0, 0, 70 [SEP] 6, DishSponge, -2.203, 0.951, 0.435, 0, 90, 0, 88 [SEP] 7, ButterKnife, 0.701, 0.919, -1.649, 0, 270, 0, 53 [SEP] 8, Fork, -2.614, 0.952, 0.255, 0, 90, 0, 88 [SEP] 9, Fork, 1.903, 0.912, -1.820, 0, 0, 0, 55 [SEP] 10, Spoon, 1.785, 0.913, 0.458, 0, 0, 0, 70 [SEP] 11, Spatula, 0.300, 0.927, 0.209, 0, 0, 0, 54 [SEP] 12, Cup, -2.340, 0.950, 0.255, 0, 90, 0, 88 [SEP] 13, Cup, -1.872, 0.509, -1.720, 0, 0, 0, 85 [SEP] 14, Knife, 0.167, 0.937, 0.375, 0, 0, 0, 54 [SEP] 15, SoapBottle, 0.856, 0.918, -1.449, 0, 270, 0, 53 [SEP] 16, Bowl, -1.791, 0.951, 0.524, 0, 90, 0, 88 [SEP] 17, SaltShaker, -2.614, 0.948, 0.435, 0, 90, 0, 88 [SEP] 18, PepperShaker, 0.564, 0.908, 0.292, 0, 0, 0, 54 [SEP] 19, PepperShaker, 1.724, 0.908, 0.209, 0, 0, 0, 70 [SEP] 20, Bread, -2.065, 1.035, 0.165, 0, 90, 0, 88 [SEP] 21, Lettuce, -1.791, 1.042, 0.255, 0, 90, 0, 88 [SEP] 22, Mug, 0.753, 0.914, -1.715, 0, 90, 0, 53 [SEP] 23, Mug, 0.618, 0.945, 0.469, 0, 180, 0, 79 [SEP] 24, Apple, -0.329, 0.137, 0.439, 0, 90, 0, 84 [SEP] 25, Apple, -2.047, 1.559, -1.849, 0, 0, 0, 85 [SEP] 26, Bread, 1.781, 0.995, -1.571, 0, 0, 0, 55 [SEP] 27, Knife, 0.167, 0.937, 0.623, 0, 0, 0, 54 [SEP] 28, Fork, -1.928, 0.952, 0.435, 0, 270, 0, 88 [SEP] 29, Bowl, 1.535, 0.911, -1.737, 0, 0, 0, 55 [SEP] 30, Kettle, -0.644, 1.329, -1.809, 0, 180, 0, 49 [SEP] 31, Cup, -2.397, 1.491, -1.806, 0, 0, 0, 85 [SEP] 32, Tomato, -2.135, 0.829, -1.720, 0, 0, 0, 85 [SEP] 33, SoapBottle, -0.451, 0.910, -1.903, 0, 0, 0, 55 [SEP] 34, Plate, 1.289, 0.913, -1.737, 0, 0, 0, 55 [SEP] 35, Pot, 1.007, 0.962, 0.561, 0, 270, 0, 57 [SEP] 36, Spatula, 0.908, 0.934, -1.649, 0, 90, 0, 53 [SEP] 37, PaperTowelRoll, 1.907, 1.016, 0.623, 0, 0, 0, 70 [SEP] 38, Egg, -0.394, 0.105, 0.525, 0, 90, 0, 84 [SEP] 39, Lettuce, -2.065, 1.042, 0.614, 0, 90, 0, 88 [SEP] 40, SaltShaker, 1.663, 0.908, 0.623, 0, 0, 0, 70 [SEP] 41, PepperShaker, 0.035, 0.908, 0.292, 0, 0, 0, 54 [SEP] 42, Apple, -1.959, 0.847, -1.806, 0, 0, 0, 85 [SEP] 43, ButterKnife, 0.960, 0.919, -1.582, 0, 270, 0, 53 [SEP] 44, Potato, -1.791, 0.982, 0.704, 0, 90, 0, 88 [SEP] 45, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 67 [SEP] 46, DishSponge, -2.614, 0.951, 0.614, 0, 90, 0, 88 [SEP] 47, Spoon, 0.071, 0.774, 0.306, 0, 0, 0, 61 [SEP] 48, Mug, -0.872, 1.010, -1.737, 0, 0, 0, 77 [SEP] 49, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0, [SEP] 50, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0, [SEP] 51, Drawer, 0.499, 0.792, 0.296, 0, 0, 0, [SEP] 52, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0, [SEP] 53, Sink, 0.711, 0.817, -1.772, 0, 270, 0, [SEP] 54, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0, [SEP] 55, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0, [SEP] 56, Drawer, 1.825, 0.792, 0.296, 0, 0, 0, [SEP] 57, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0, [SEP] 58, Drawer, -0.150, 0.792, -1.496, 0, 0, 0, [SEP] 59, Drawer, -0.586, 0.792, -1.496, 0, 0, 0, [SEP] 60, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0, [SEP] 61, Drawer, 0.024, 0.792, 0.296, 0, 0, 0, [SEP] 62, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0, [SEP] 63, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0, [SEP] 64, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0, [SEP] 65, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0, [SEP] 66, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0, [SEP] 67, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0, [SEP] 68, Drawer, -1.100, 0.792, -1.496, 0, 0, 0, [SEP] 69, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0, [SEP] 70, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0, [SEP] 71, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0, [SEP] 72, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0, [SEP] 73, Toaster, 0.305, 0.900, 0.552, 0, 180, 0, [SEP] 74, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0, [SEP] 75, Window, 0.582, 1.613, -1.967, 90, 0, 0, [SEP] 76, Window, 1.969, 1.5, -0.615, 90, 270, 0, [SEP] 77, Microwave, -1.037, 0.900, -1.723, 0, 0, 0, [SEP] 78, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0, [SEP] 79, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0, [SEP] 80, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0, [SEP] 81, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0, [SEP] 82, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0, [SEP] 83, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0, [SEP] 84, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0, [SEP] 85, Fridge, -2.134, 0.0, -1.690, 0, 0, 0, [SEP] 86, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0, [SEP] 87, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0, [SEP] 88, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the counter in front of you | STEP 2: Grab the large knife that's on the counter | STEP 3: Walk to the trash can to the left of the counter | STEP 4: Slice the apple in the trash can into three pieces | STEP 5: Place the knife in the trash can | STEP 6: Grab a piece of the sliced apple out of the trash can | STEP 7: Turn right and head to the microwave | STEP 8: Open the microwave and cook the apple inside. Take it out afterwards | STEP 9: Turn around and walk to the trash can | STEP 10: Put the apple in the trash can | END"]} +{"id": "trial_T20190906_211222_551053-2", "input": "place a microwaved apple slice inside of the garbage bin SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, -0.25, 0, 0, 0, [SEP] 1, Kettle, 1.361, 0.962, 0.561, 0, 270, 0, 60 [SEP] 2, Kettle, -0.082, 0.913, -1.820, 0, 0, 0, 55 [SEP] 3, Pan, -2.31, 1.051, -1.763, 0, 270, 0, 85 [SEP] 4, Pan, 1.608, 1.328, -1.809, 0, 270, 0, 71 [SEP] 5, Potato, 1.907, 0.942, 0.209, 0, 0, 0, 70 [SEP] 6, DishSponge, -2.203, 0.951, 0.435, 0, 90, 0, 88 [SEP] 7, ButterKnife, 0.701, 0.919, -1.649, 0, 270, 0, 53 [SEP] 8, Fork, -2.614, 0.952, 0.255, 0, 90, 0, 88 [SEP] 9, Fork, 1.903, 0.912, -1.820, 0, 0, 0, 55 [SEP] 10, Spoon, 1.785, 0.913, 0.458, 0, 0, 0, 70 [SEP] 11, Spatula, 0.300, 0.927, 0.209, 0, 0, 0, 54 [SEP] 12, Cup, -2.340, 0.950, 0.255, 0, 90, 0, 88 [SEP] 13, Cup, -1.872, 0.509, -1.720, 0, 0, 0, 85 [SEP] 14, Knife, 0.167, 0.937, 0.375, 0, 0, 0, 54 [SEP] 15, SoapBottle, 0.856, 0.918, -1.449, 0, 270, 0, 53 [SEP] 16, Bowl, -1.791, 0.951, 0.524, 0, 90, 0, 88 [SEP] 17, SaltShaker, -2.614, 0.948, 0.435, 0, 90, 0, 88 [SEP] 18, PepperShaker, 0.564, 0.908, 0.292, 0, 0, 0, 54 [SEP] 19, PepperShaker, 1.724, 0.908, 0.209, 0, 0, 0, 70 [SEP] 20, Bread, -2.065, 1.035, 0.165, 0, 90, 0, 88 [SEP] 21, Lettuce, -1.791, 1.042, 0.255, 0, 90, 0, 88 [SEP] 22, Mug, 0.753, 0.914, -1.715, 0, 90, 0, 53 [SEP] 23, Mug, 0.618, 0.945, 0.469, 0, 180, 0, 79 [SEP] 24, Apple, -0.329, 0.137, 0.439, 0, 90, 0, 84 [SEP] 25, Apple, -2.047, 1.559, -1.849, 0, 0, 0, 85 [SEP] 26, Bread, 1.781, 0.995, -1.571, 0, 0, 0, 55 [SEP] 27, Knife, 0.167, 0.937, 0.623, 0, 0, 0, 54 [SEP] 28, Fork, -1.928, 0.952, 0.435, 0, 270, 0, 88 [SEP] 29, Bowl, 1.535, 0.911, -1.737, 0, 0, 0, 55 [SEP] 30, Kettle, -0.644, 1.329, -1.809, 0, 180, 0, 49 [SEP] 31, Cup, -2.397, 1.491, -1.806, 0, 0, 0, 85 [SEP] 32, Tomato, -2.135, 0.829, -1.720, 0, 0, 0, 85 [SEP] 33, SoapBottle, -0.451, 0.910, -1.903, 0, 0, 0, 55 [SEP] 34, Plate, 1.289, 0.913, -1.737, 0, 0, 0, 55 [SEP] 35, Pot, 1.007, 0.962, 0.561, 0, 270, 0, 57 [SEP] 36, Spatula, 0.908, 0.934, -1.649, 0, 90, 0, 53 [SEP] 37, PaperTowelRoll, 1.907, 1.016, 0.623, 0, 0, 0, 70 [SEP] 38, Egg, -0.394, 0.105, 0.525, 0, 90, 0, 84 [SEP] 39, Lettuce, -2.065, 1.042, 0.614, 0, 90, 0, 88 [SEP] 40, SaltShaker, 1.663, 0.908, 0.623, 0, 0, 0, 70 [SEP] 41, PepperShaker, 0.035, 0.908, 0.292, 0, 0, 0, 54 [SEP] 42, Apple, -1.959, 0.847, -1.806, 0, 0, 0, 85 [SEP] 43, ButterKnife, 0.960, 0.919, -1.582, 0, 270, 0, 53 [SEP] 44, Potato, -1.791, 0.982, 0.704, 0, 90, 0, 88 [SEP] 45, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 67 [SEP] 46, DishSponge, -2.614, 0.951, 0.614, 0, 90, 0, 88 [SEP] 47, Spoon, 0.071, 0.774, 0.306, 0, 0, 0, 61 [SEP] 48, Mug, -0.872, 1.010, -1.737, 0, 0, 0, 77 [SEP] 49, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0, [SEP] 50, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0, [SEP] 51, Drawer, 0.499, 0.792, 0.296, 0, 0, 0, [SEP] 52, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0, [SEP] 53, Sink, 0.711, 0.817, -1.772, 0, 270, 0, [SEP] 54, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0, [SEP] 55, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0, [SEP] 56, Drawer, 1.825, 0.792, 0.296, 0, 0, 0, [SEP] 57, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0, [SEP] 58, Drawer, -0.150, 0.792, -1.496, 0, 0, 0, [SEP] 59, Drawer, -0.586, 0.792, -1.496, 0, 0, 0, [SEP] 60, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0, [SEP] 61, Drawer, 0.024, 0.792, 0.296, 0, 0, 0, [SEP] 62, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0, [SEP] 63, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0, [SEP] 64, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0, [SEP] 65, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0, [SEP] 66, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0, [SEP] 67, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0, [SEP] 68, Drawer, -1.100, 0.792, -1.496, 0, 0, 0, [SEP] 69, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0, [SEP] 70, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0, [SEP] 71, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0, [SEP] 72, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0, [SEP] 73, Toaster, 0.305, 0.900, 0.552, 0, 180, 0, [SEP] 74, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0, [SEP] 75, Window, 0.582, 1.613, -1.967, 90, 0, 0, [SEP] 76, Window, 1.969, 1.5, -0.615, 90, 270, 0, [SEP] 77, Microwave, -1.037, 0.900, -1.723, 0, 0, 0, [SEP] 78, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0, [SEP] 79, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0, [SEP] 80, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0, [SEP] 81, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0, [SEP] 82, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0, [SEP] 83, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0, [SEP] 84, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0, [SEP] 85, Fridge, -2.134, 0.0, -1.690, 0, 0, 0, [SEP] 86, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0, [SEP] 87, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0, [SEP] 88, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: move to the right a little bit and face the kitchen counter again | STEP 2: grab the knife off of the kitchen counter | STEP 3: turn left and walk over to the garbage bin on the right | STEP 4: slice up the apple inside of the garbage bin | STEP 5: place the knife inside of the garbage bin | STEP 6: pick up an apple slice from inside of the garbage bin | STEP 7: turn around and walk left to the end of the room where the microwave is | STEP 8: place the apple slice inside of the microwave, microwave the apple slice, and then take it back out | STEP 9: turn around and walk back over to the garbage bin at the end of the room | STEP 10: place the apple slice inside of the garbage bin | END"]} +{"id": "trial_T20190907_065522_867032-0", "input": "Turn the green lamp on while carrying a tennis racquet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.902, -1.25, 0, 0, 0, [SEP] 1, Mug, 0.255, 0.671, -2.570, 0, 0, 0, 49 [SEP] 2, CD, 1.680, 0.333, -2.298, 0, 0, 0, 43 [SEP] 3, CD, 1.680, 0.013, -2.386, 0, 0, 0, 45 [SEP] 4, CellPhone, 1.781, 0.801, -2.219, 0, 0, 0, 44 [SEP] 5, CellPhone, 1.474, 0.801, -2.407, 0, 0, 0, 44 [SEP] 6, CreditCard, 1.773, 0.013, -1.726, 0, 0, 0, 41 [SEP] 7, CreditCard, 1.680, 0.013, -2.036, 0, 0, 0, 45 [SEP] 8, Book, -0.331, 0.694, 0.067, 0, 0, 0, 24 [SEP] 9, Book, -0.818, 0.694, -0.146, 0, 0, 0, 24 [SEP] 10, KeyChain, 1.680, 0.335, -1.638, 0, 0, 0, 40 [SEP] 11, AlarmClock, 1.598, 0.794, -1.277, 0, 0, 0, 44 [SEP] 12, CreditCard, 1.536, 0.794, -1.467, 0, 0, 0, 44 [SEP] 13, Laptop, 1.663, 0.794, -1.842, 0, 287.390, 0, 44 [SEP] 14, Pen, 1.597, 0.800, -1.467, 0, 0, 0, 44 [SEP] 15, Pencil, 1.597, 0.804, -2.407, 0, 0, 0, 44 [SEP] 16, BaseballBat, -1.844, 0.678, -2.203, 0, 0, 8.760, Floor|+00.01| [SEP] 17, Pillow, -1.489, 0.685, -0.854, 0, 345.000, 0, 24 [SEP] 18, Pillow, -1.508, 0.685, -0.378, 0, 288.596, 0, 24 [SEP] 19, TennisRacket, -1.597, 0.001, -1.367, 90, 37.792, 0, Floor|+00.01| [SEP] 20, CellPhone, -0.088, 0.695, 0.067, 0, 0, 0, 24 [SEP] 21, CD, 1.842, 0.799, -1.279, 0, 0, 0, 37 [SEP] 22, Mug, 1.774, 0.794, -2.362, 0, 300.742, 0, 44 [SEP] 23, Mirror, 3.534, 1.661, -0.277, 0, 90, 0, [SEP] 24, Bed, -0.842, -0.000, -0.361, 0, 270, 0, [SEP] 25, DeskLamp, 1.742, 0.819, -1.394, 0, 358.556, 0, [SEP] 26, Painting, 0.246, 1.564, -2.665, 90, 0, 0, [SEP] 27, Painting, 1.894, 1.549, -2.424, 90, 270, 0, [SEP] 28, Painting, 1.894, 1.549, -1.289, 90, 270, 0, [SEP] 29, GarbageCan, 3.378, 0.000, 0.220, 0, 0, 0, [SEP] 30, LightSwitch, -0.078, 1.219, 1.298, 0, 180, 0, [SEP] 31, Window, -0.486, 1.409, -2.691, 90, 0, 0, [SEP] 32, Window, 0.987, 1.409, -2.691, 90, 0, 0, [SEP] 33, VacuumCleaner, -1.649, 0.010, -2.440, 0, 42.426, 0, [SEP] 34, Blinds, -0.490, 2.130, -2.638, 0, 0, 0, [SEP] 35, Blinds, 1.011, 2.130, -2.638, 0, 0, 0, [SEP] 36, Drawer, 1.596, 0.411, -1.459, 0, 270, 0, [SEP] 37, Drawer, 1.597, 0.732, -1.459, 0, 270, 0, [SEP] 38, Drawer, 1.597, 0.574, -1.459, 0, 270, 0, [SEP] 39, Drawer, 1.597, 0.732, -2.202, 0, 270, 0, [SEP] 40, Drawer, 1.596, 0.247, -1.459, 0, 270, 0, [SEP] 41, Drawer, 1.596, 0.090, -1.459, 0, 270, 0, [SEP] 42, Drawer, 1.596, 0.247, -2.202, 0, 270, 0, [SEP] 43, Drawer, 1.596, 0.411, -2.202, 0, 270, 0, [SEP] 44, Dresser, 1.634, 0.003, -1.830, 0, 270, 0, [SEP] 45, Drawer, 1.596, 0.090, -2.202, 0, 270, 0, [SEP] 46, Drawer, 1.597, 0.574, -2.202, 0, 270, 0, [SEP] 47, ShelvingUnit, 0.249, 0.003, -2.519, 0, 0, 0, [SEP] 48, Shelf, 0.017, 0.178, -2.511, 0, 0, 0, [SEP] 49, Shelf, 0.249, 0.665, -2.519, 0, 0, 0, [SEP] 50, Shelf, 0.243, 0.344, -2.511, 0, 0, 0, [SEP] 51, Shelf, 0.474, 0.344, -2.511, 0, 0, 0, [SEP] 52, Shelf, 0.355, 0.011, -2.511, 0, 0, 0, [SEP] 53, Shelf, 0.016, 0.011, -2.511, 0, 0, 0, [SEP] 54, Shelf, 0.357, 0.178, -2.511, 0, 0, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the back of the left side of the bed. | STEP 2: Pick up the orange tennis racquet from the ground. | STEP 3: Turn right and walk to the green lamp on the brown dresser. | STEP 4: Turn the green lamp on. | END"]} +{"id": "trial_T20190907_065522_867032-1", "input": "Carry a tennis racket while turning on a lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.902, -1.25, 0, 0, 0, [SEP] 1, Mug, 0.255, 0.671, -2.570, 0, 0, 0, 49 [SEP] 2, CD, 1.680, 0.333, -2.298, 0, 0, 0, 43 [SEP] 3, CD, 1.680, 0.013, -2.386, 0, 0, 0, 45 [SEP] 4, CellPhone, 1.781, 0.801, -2.219, 0, 0, 0, 44 [SEP] 5, CellPhone, 1.474, 0.801, -2.407, 0, 0, 0, 44 [SEP] 6, CreditCard, 1.773, 0.013, -1.726, 0, 0, 0, 41 [SEP] 7, CreditCard, 1.680, 0.013, -2.036, 0, 0, 0, 45 [SEP] 8, Book, -0.331, 0.694, 0.067, 0, 0, 0, 24 [SEP] 9, Book, -0.818, 0.694, -0.146, 0, 0, 0, 24 [SEP] 10, KeyChain, 1.680, 0.335, -1.638, 0, 0, 0, 40 [SEP] 11, AlarmClock, 1.598, 0.794, -1.277, 0, 0, 0, 44 [SEP] 12, CreditCard, 1.536, 0.794, -1.467, 0, 0, 0, 44 [SEP] 13, Laptop, 1.663, 0.794, -1.842, 0, 287.390, 0, 44 [SEP] 14, Pen, 1.597, 0.800, -1.467, 0, 0, 0, 44 [SEP] 15, Pencil, 1.597, 0.804, -2.407, 0, 0, 0, 44 [SEP] 16, BaseballBat, -1.844, 0.678, -2.203, 0, 0, 8.760, Floor|+00.01| [SEP] 17, Pillow, -1.489, 0.685, -0.854, 0, 345.000, 0, 24 [SEP] 18, Pillow, -1.508, 0.685, -0.378, 0, 288.596, 0, 24 [SEP] 19, TennisRacket, -1.597, 0.001, -1.367, 90, 37.792, 0, Floor|+00.01| [SEP] 20, CellPhone, -0.088, 0.695, 0.067, 0, 0, 0, 24 [SEP] 21, CD, 1.842, 0.799, -1.279, 0, 0, 0, 37 [SEP] 22, Mug, 1.774, 0.794, -2.362, 0, 300.742, 0, 44 [SEP] 23, Mirror, 3.534, 1.661, -0.277, 0, 90, 0, [SEP] 24, Bed, -0.842, -0.000, -0.361, 0, 270, 0, [SEP] 25, DeskLamp, 1.742, 0.819, -1.394, 0, 358.556, 0, [SEP] 26, Painting, 0.246, 1.564, -2.665, 90, 0, 0, [SEP] 27, Painting, 1.894, 1.549, -2.424, 90, 270, 0, [SEP] 28, Painting, 1.894, 1.549, -1.289, 90, 270, 0, [SEP] 29, GarbageCan, 3.378, 0.000, 0.220, 0, 0, 0, [SEP] 30, LightSwitch, -0.078, 1.219, 1.298, 0, 180, 0, [SEP] 31, Window, -0.486, 1.409, -2.691, 90, 0, 0, [SEP] 32, Window, 0.987, 1.409, -2.691, 90, 0, 0, [SEP] 33, VacuumCleaner, -1.649, 0.010, -2.440, 0, 42.426, 0, [SEP] 34, Blinds, -0.490, 2.130, -2.638, 0, 0, 0, [SEP] 35, Blinds, 1.011, 2.130, -2.638, 0, 0, 0, [SEP] 36, Drawer, 1.596, 0.411, -1.459, 0, 270, 0, [SEP] 37, Drawer, 1.597, 0.732, -1.459, 0, 270, 0, [SEP] 38, Drawer, 1.597, 0.574, -1.459, 0, 270, 0, [SEP] 39, Drawer, 1.597, 0.732, -2.202, 0, 270, 0, [SEP] 40, Drawer, 1.596, 0.247, -1.459, 0, 270, 0, [SEP] 41, Drawer, 1.596, 0.090, -1.459, 0, 270, 0, [SEP] 42, Drawer, 1.596, 0.247, -2.202, 0, 270, 0, [SEP] 43, Drawer, 1.596, 0.411, -2.202, 0, 270, 0, [SEP] 44, Dresser, 1.634, 0.003, -1.830, 0, 270, 0, [SEP] 45, Drawer, 1.596, 0.090, -2.202, 0, 270, 0, [SEP] 46, Drawer, 1.597, 0.574, -2.202, 0, 270, 0, [SEP] 47, ShelvingUnit, 0.249, 0.003, -2.519, 0, 0, 0, [SEP] 48, Shelf, 0.017, 0.178, -2.511, 0, 0, 0, [SEP] 49, Shelf, 0.249, 0.665, -2.519, 0, 0, 0, [SEP] 50, Shelf, 0.243, 0.344, -2.511, 0, 0, 0, [SEP] 51, Shelf, 0.474, 0.344, -2.511, 0, 0, 0, [SEP] 52, Shelf, 0.355, 0.011, -2.511, 0, 0, 0, [SEP] 53, Shelf, 0.016, 0.011, -2.511, 0, 0, 0, [SEP] 54, Shelf, 0.357, 0.178, -2.511, 0, 0, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: Move to the corner of the room to the left of the bed facing the tennis racket | STEP 2: Pick up the tennis racket that is on the floor by the bed | STEP 3: Carry the tennis racket over to the dresser so that you are facing the lamp | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190907_065522_867032-2", "input": "Pick up a tennis racquet prior to turning on a lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.902, -1.25, 0, 0, 0, [SEP] 1, Mug, 0.255, 0.671, -2.570, 0, 0, 0, 49 [SEP] 2, CD, 1.680, 0.333, -2.298, 0, 0, 0, 43 [SEP] 3, CD, 1.680, 0.013, -2.386, 0, 0, 0, 45 [SEP] 4, CellPhone, 1.781, 0.801, -2.219, 0, 0, 0, 44 [SEP] 5, CellPhone, 1.474, 0.801, -2.407, 0, 0, 0, 44 [SEP] 6, CreditCard, 1.773, 0.013, -1.726, 0, 0, 0, 41 [SEP] 7, CreditCard, 1.680, 0.013, -2.036, 0, 0, 0, 45 [SEP] 8, Book, -0.331, 0.694, 0.067, 0, 0, 0, 24 [SEP] 9, Book, -0.818, 0.694, -0.146, 0, 0, 0, 24 [SEP] 10, KeyChain, 1.680, 0.335, -1.638, 0, 0, 0, 40 [SEP] 11, AlarmClock, 1.598, 0.794, -1.277, 0, 0, 0, 44 [SEP] 12, CreditCard, 1.536, 0.794, -1.467, 0, 0, 0, 44 [SEP] 13, Laptop, 1.663, 0.794, -1.842, 0, 287.390, 0, 44 [SEP] 14, Pen, 1.597, 0.800, -1.467, 0, 0, 0, 44 [SEP] 15, Pencil, 1.597, 0.804, -2.407, 0, 0, 0, 44 [SEP] 16, BaseballBat, -1.844, 0.678, -2.203, 0, 0, 8.760, Floor|+00.01| [SEP] 17, Pillow, -1.489, 0.685, -0.854, 0, 345.000, 0, 24 [SEP] 18, Pillow, -1.508, 0.685, -0.378, 0, 288.596, 0, 24 [SEP] 19, TennisRacket, -1.597, 0.001, -1.367, 90, 37.792, 0, Floor|+00.01| [SEP] 20, CellPhone, -0.088, 0.695, 0.067, 0, 0, 0, 24 [SEP] 21, CD, 1.842, 0.799, -1.279, 0, 0, 0, 37 [SEP] 22, Mug, 1.774, 0.794, -2.362, 0, 300.742, 0, 44 [SEP] 23, Mirror, 3.534, 1.661, -0.277, 0, 90, 0, [SEP] 24, Bed, -0.842, -0.000, -0.361, 0, 270, 0, [SEP] 25, DeskLamp, 1.742, 0.819, -1.394, 0, 358.556, 0, [SEP] 26, Painting, 0.246, 1.564, -2.665, 90, 0, 0, [SEP] 27, Painting, 1.894, 1.549, -2.424, 90, 270, 0, [SEP] 28, Painting, 1.894, 1.549, -1.289, 90, 270, 0, [SEP] 29, GarbageCan, 3.378, 0.000, 0.220, 0, 0, 0, [SEP] 30, LightSwitch, -0.078, 1.219, 1.298, 0, 180, 0, [SEP] 31, Window, -0.486, 1.409, -2.691, 90, 0, 0, [SEP] 32, Window, 0.987, 1.409, -2.691, 90, 0, 0, [SEP] 33, VacuumCleaner, -1.649, 0.010, -2.440, 0, 42.426, 0, [SEP] 34, Blinds, -0.490, 2.130, -2.638, 0, 0, 0, [SEP] 35, Blinds, 1.011, 2.130, -2.638, 0, 0, 0, [SEP] 36, Drawer, 1.596, 0.411, -1.459, 0, 270, 0, [SEP] 37, Drawer, 1.597, 0.732, -1.459, 0, 270, 0, [SEP] 38, Drawer, 1.597, 0.574, -1.459, 0, 270, 0, [SEP] 39, Drawer, 1.597, 0.732, -2.202, 0, 270, 0, [SEP] 40, Drawer, 1.596, 0.247, -1.459, 0, 270, 0, [SEP] 41, Drawer, 1.596, 0.090, -1.459, 0, 270, 0, [SEP] 42, Drawer, 1.596, 0.247, -2.202, 0, 270, 0, [SEP] 43, Drawer, 1.596, 0.411, -2.202, 0, 270, 0, [SEP] 44, Dresser, 1.634, 0.003, -1.830, 0, 270, 0, [SEP] 45, Drawer, 1.596, 0.090, -2.202, 0, 270, 0, [SEP] 46, Drawer, 1.597, 0.574, -2.202, 0, 270, 0, [SEP] 47, ShelvingUnit, 0.249, 0.003, -2.519, 0, 0, 0, [SEP] 48, Shelf, 0.017, 0.178, -2.511, 0, 0, 0, [SEP] 49, Shelf, 0.249, 0.665, -2.519, 0, 0, 0, [SEP] 50, Shelf, 0.243, 0.344, -2.511, 0, 0, 0, [SEP] 51, Shelf, 0.474, 0.344, -2.511, 0, 0, 0, [SEP] 52, Shelf, 0.355, 0.011, -2.511, 0, 0, 0, [SEP] 53, Shelf, 0.016, 0.011, -2.511, 0, 0, 0, [SEP] 54, Shelf, 0.357, 0.178, -2.511, 0, 0, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: Turn around completely, and then turn right until you get to the wall | STEP 2: Pick up tennis racquet from under the bed | STEP 3: Turn right and walk to the chest of drawers, before turning left and then right twice | STEP 4: Turn on the lamp on the desk | END"]} +{"id": "trial_T20190907_164104_229696-0", "input": "move a box from the couch to the dresser SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.916, -0.75, 0, 180, 0, [SEP] 1, Newspaper, 0.158, 0.916, 2.431, 0, 0, 0, 57 [SEP] 2, CreditCard, -0.295, 0.906, 1.946, 0, 0, 0, 57 [SEP] 3, Box, 3.160, 0.780, 0.298, 0, 180, 0, 40 [SEP] 4, Box, -2.812, 0.753, 0.981, 0, 270, 0, 52 [SEP] 5, Book, 0.116, 0.902, 1.073, 0, 29.999, 0, 57 [SEP] 6, Box, 3.173, 0.206, -0.048, 0, 19.470, 0, 43 [SEP] 7, Statue, 3.121, 0.595, -0.573, 0, 180, 0, 43 [SEP] 8, CreditCard, -2.581, 0.358, -1.840, 0, 29.999, 0, 34 [SEP] 9, Laptop, -2.780, 0.365, -1.874, 0, 0, 0, 34 [SEP] 10, WateringCan, 2.893, 0.014, -1.916, 0, 328.832, 0, [SEP] 11, Newspaper, -2.885, 0.569, 1.187, 0, 270, 0, 52 [SEP] 12, Vase, -2.168, 1.195, -2.183, 0, 0, 0, [SEP] 13, CellPhone, -0.204, 0.910, 1.703, 0, 0, 0, 57 [SEP] 14, RemoteControl, -0.113, 0.910, 1.217, 0, 0, 0, 57 [SEP] 15, Vase, -1.046, 1.195, -2.151, 0, 0, 0, [SEP] 16, Pillow, -2.812, 0.623, 1.806, 0, 270, 0, 52 [SEP] 17, KeyChain, -0.113, 0.909, 2.188, 0, 0, 0, 57 [SEP] 18, Cabinet, 0.333, 0.514, -2.015, 0, 0, 0, [SEP] 19, DeskLamp, 3.143, 0.591, 1.457, 0, 270, 0, [SEP] 20, LightSwitch, -0.927, 1.316, 2.846, 0, 180, 0, [SEP] 21, HousePlant, 0.491, 0.874, -1.581, 0, 0, 0, [SEP] 22, Television, 0.069, 1.406, 1.698, 0, 270, 0, [SEP] 23, GarbageCan, 3.164, 0.026, 0.891, 0, 0, 0, [SEP] 24, Painting, -1.561, 1.408, -2.318, 90, 180, 0, [SEP] 25, Painting, 3.367, 1.789, -0.949, 90, 270, 0, [SEP] 26, Painting, -3.488, 1.386, -0.507, 90, 270, 0, [SEP] 27, FloorLamp, 3.103, 0.025, -2.341, 0, 135, 0, [SEP] 28, Window, 1.133, 1.218, -2.740, 90, 0, 0, [SEP] 29, Window, -3.368, 1.180, -1.539, 90, 90, 0, [SEP] 30, Window, 2.898, 1.218, -2.740, 90, 0, 0, [SEP] 31, Window, 2.006, 1.218, -2.740, 90, 0, 0, [SEP] 32, Window, -0.193, 1.157, -2.563, 90, 0, 0, [SEP] 33, Window, -2.970, 1.157, -2.563, 90, 0, 0, [SEP] 34, ArmChair, -2.859, 0.026, -2.036, 0, 29.994, 0, [SEP] 35, SideTable, -0.170, 0.027, -2.279, 0, 0, 0, [SEP] 36, Drawer, -0.173, 0.465, -2.135, 0, 0, 0, [SEP] 37, Drawer, 3.104, 0.167, 1.400, 0, 270, 0, [SEP] 38, SideTable, 3.163, 0.032, 1.400, 0, 270, 0, [SEP] 39, Drawer, 3.103, 0.418, 1.401, 0, 270, 0, [SEP] 40, SideTable, 3.163, 0.032, 0.364, 0, 270, 0, [SEP] 41, Drawer, -3.241, 0.418, -0.490, 0, 90, 0, [SEP] 42, Drawer, 3.104, 0.167, -0.574, 0, 270, 0, [SEP] 43, SideTable, 3.163, 0.032, -0.574, 0, 270, 0, [SEP] 44, Drawer, 3.104, 0.167, 0.364, 0, 270, 0, [SEP] 45, Drawer, 3.104, 0.419, -0.574, 0, 270, 0, [SEP] 46, Drawer, -3.241, 0.167, -0.489, 0, 90, 0, [SEP] 47, SideTable, -3.300, 0.032, -0.489, 0, 90, 0, [SEP] 48, Drawer, 3.104, 0.419, 0.364, 0, 270, 0, [SEP] 49, Chair, 1.049, 0.031, -2.190, 0, 29.997, 0, [SEP] 50, DogBed, 2.739, 0.032, 2.260, 0, 45, 0, [SEP] 51, Chair, 2.037, 0.031, -2.232, 0, 350.485, 0, [SEP] 52, Sofa, -2.957, 0.032, 1.393, 0, 90, 0, [SEP] 53, Drawer, -0.189, 0.232, 0.954, 0, 270, 0, [SEP] 54, Drawer, -0.415, 0.854, 1.921, 0, 270, 0, [SEP] 55, Drawer, -0.415, 0.351, 1.414, 0, 270, 0, [SEP] 56, Drawer, -0.415, 0.603, 1.414, 0, 270, 0, [SEP] 57, Dresser, -0.052, 0.028, 1.667, 0, 270, 0, [SEP] 58, Drawer, -0.190, 0.484, 0.954, 0, 270, 0, [SEP] 59, Drawer, -0.190, 0.736, 0.954, 0, 270, 0, [SEP] 60, Drawer, -0.415, 0.603, 1.921, 0, 270, 0, [SEP] 61, Drawer, -0.415, 0.603, 2.384, 0, 270, 0, [SEP] 62, Drawer, -0.415, 0.351, 2.384, 0, 270, 0, [SEP] 63, Drawer, -0.415, 0.854, 2.384, 0, 270, 0, [SEP] 64, Drawer, -0.415, 0.351, 1.921, 0, 270, 0, [SEP] 65, Drawer, -0.415, 0.854, 1.414, 0, 270, 0, [SEP] 66, Stool, 3.135, 0.029, -1.625, 0, 330.001, 0, [SEP] 67, Chair, 1.631, 0.029, 2.210, 0, 161.562, 0, [SEP] 68, NorthWall, , , , , , , [SEP] 69, EastWall, , , , , , , [SEP] 70, SouthWall, , , , , , , [SEP] 71, WestWall, , , , , , , ", "output": ["STEP 1: turn right, turn right, walk towards the door, turn left to face the couch | STEP 2: pick up the box that is on the couch | STEP 3: turn around, walk across to the dresser | STEP 4: put the box on the dresser | END"]} +{"id": "trial_T20190907_164104_229696-1", "input": "Move and empty box and newspaper to the TV stand SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.916, -0.75, 0, 180, 0, [SEP] 1, Newspaper, 0.158, 0.916, 2.431, 0, 0, 0, 57 [SEP] 2, CreditCard, -0.295, 0.906, 1.946, 0, 0, 0, 57 [SEP] 3, Box, 3.160, 0.780, 0.298, 0, 180, 0, 40 [SEP] 4, Box, -2.812, 0.753, 0.981, 0, 270, 0, 52 [SEP] 5, Book, 0.116, 0.902, 1.073, 0, 29.999, 0, 57 [SEP] 6, Box, 3.173, 0.206, -0.048, 0, 19.470, 0, 43 [SEP] 7, Statue, 3.121, 0.595, -0.573, 0, 180, 0, 43 [SEP] 8, CreditCard, -2.581, 0.358, -1.840, 0, 29.999, 0, 34 [SEP] 9, Laptop, -2.780, 0.365, -1.874, 0, 0, 0, 34 [SEP] 10, WateringCan, 2.893, 0.014, -1.916, 0, 328.832, 0, [SEP] 11, Newspaper, -2.885, 0.569, 1.187, 0, 270, 0, 52 [SEP] 12, Vase, -2.168, 1.195, -2.183, 0, 0, 0, [SEP] 13, CellPhone, -0.204, 0.910, 1.703, 0, 0, 0, 57 [SEP] 14, RemoteControl, -0.113, 0.910, 1.217, 0, 0, 0, 57 [SEP] 15, Vase, -1.046, 1.195, -2.151, 0, 0, 0, [SEP] 16, Pillow, -2.812, 0.623, 1.806, 0, 270, 0, 52 [SEP] 17, KeyChain, -0.113, 0.909, 2.188, 0, 0, 0, 57 [SEP] 18, Cabinet, 0.333, 0.514, -2.015, 0, 0, 0, [SEP] 19, DeskLamp, 3.143, 0.591, 1.457, 0, 270, 0, [SEP] 20, LightSwitch, -0.927, 1.316, 2.846, 0, 180, 0, [SEP] 21, HousePlant, 0.491, 0.874, -1.581, 0, 0, 0, [SEP] 22, Television, 0.069, 1.406, 1.698, 0, 270, 0, [SEP] 23, GarbageCan, 3.164, 0.026, 0.891, 0, 0, 0, [SEP] 24, Painting, -1.561, 1.408, -2.318, 90, 180, 0, [SEP] 25, Painting, 3.367, 1.789, -0.949, 90, 270, 0, [SEP] 26, Painting, -3.488, 1.386, -0.507, 90, 270, 0, [SEP] 27, FloorLamp, 3.103, 0.025, -2.341, 0, 135, 0, [SEP] 28, Window, 1.133, 1.218, -2.740, 90, 0, 0, [SEP] 29, Window, -3.368, 1.180, -1.539, 90, 90, 0, [SEP] 30, Window, 2.898, 1.218, -2.740, 90, 0, 0, [SEP] 31, Window, 2.006, 1.218, -2.740, 90, 0, 0, [SEP] 32, Window, -0.193, 1.157, -2.563, 90, 0, 0, [SEP] 33, Window, -2.970, 1.157, -2.563, 90, 0, 0, [SEP] 34, ArmChair, -2.859, 0.026, -2.036, 0, 29.994, 0, [SEP] 35, SideTable, -0.170, 0.027, -2.279, 0, 0, 0, [SEP] 36, Drawer, -0.173, 0.465, -2.135, 0, 0, 0, [SEP] 37, Drawer, 3.104, 0.167, 1.400, 0, 270, 0, [SEP] 38, SideTable, 3.163, 0.032, 1.400, 0, 270, 0, [SEP] 39, Drawer, 3.103, 0.418, 1.401, 0, 270, 0, [SEP] 40, SideTable, 3.163, 0.032, 0.364, 0, 270, 0, [SEP] 41, Drawer, -3.241, 0.418, -0.490, 0, 90, 0, [SEP] 42, Drawer, 3.104, 0.167, -0.574, 0, 270, 0, [SEP] 43, SideTable, 3.163, 0.032, -0.574, 0, 270, 0, [SEP] 44, Drawer, 3.104, 0.167, 0.364, 0, 270, 0, [SEP] 45, Drawer, 3.104, 0.419, -0.574, 0, 270, 0, [SEP] 46, Drawer, -3.241, 0.167, -0.489, 0, 90, 0, [SEP] 47, SideTable, -3.300, 0.032, -0.489, 0, 90, 0, [SEP] 48, Drawer, 3.104, 0.419, 0.364, 0, 270, 0, [SEP] 49, Chair, 1.049, 0.031, -2.190, 0, 29.997, 0, [SEP] 50, DogBed, 2.739, 0.032, 2.260, 0, 45, 0, [SEP] 51, Chair, 2.037, 0.031, -2.232, 0, 350.485, 0, [SEP] 52, Sofa, -2.957, 0.032, 1.393, 0, 90, 0, [SEP] 53, Drawer, -0.189, 0.232, 0.954, 0, 270, 0, [SEP] 54, Drawer, -0.415, 0.854, 1.921, 0, 270, 0, [SEP] 55, Drawer, -0.415, 0.351, 1.414, 0, 270, 0, [SEP] 56, Drawer, -0.415, 0.603, 1.414, 0, 270, 0, [SEP] 57, Dresser, -0.052, 0.028, 1.667, 0, 270, 0, [SEP] 58, Drawer, -0.190, 0.484, 0.954, 0, 270, 0, [SEP] 59, Drawer, -0.190, 0.736, 0.954, 0, 270, 0, [SEP] 60, Drawer, -0.415, 0.603, 1.921, 0, 270, 0, [SEP] 61, Drawer, -0.415, 0.603, 2.384, 0, 270, 0, [SEP] 62, Drawer, -0.415, 0.351, 2.384, 0, 270, 0, [SEP] 63, Drawer, -0.415, 0.854, 2.384, 0, 270, 0, [SEP] 64, Drawer, -0.415, 0.351, 1.921, 0, 270, 0, [SEP] 65, Drawer, -0.415, 0.854, 1.414, 0, 270, 0, [SEP] 66, Stool, 3.135, 0.029, -1.625, 0, 330.001, 0, [SEP] 67, Chair, 1.631, 0.029, 2.210, 0, 161.562, 0, [SEP] 68, NorthWall, , , , , , , [SEP] 69, EastWall, , , , , , , [SEP] 70, SouthWall, , , , , , , [SEP] 71, WestWall, , , , , , , ", "output": ["STEP 1: Move to the left side of the black leather sofa | STEP 2: Pick up the empty box and the newspaper sitting on the sofa | STEP 3: Carry the newspaper and the empty box to the TV stand | STEP 4: Place the empty box and the newspaper on the left side of the TV stand to the left of the keys | END"]} +{"id": "trial_T20190907_164104_229696-2", "input": "Take the box from the couch, put it on the dresser SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.916, -0.75, 0, 180, 0, [SEP] 1, Newspaper, 0.158, 0.916, 2.431, 0, 0, 0, 57 [SEP] 2, CreditCard, -0.295, 0.906, 1.946, 0, 0, 0, 57 [SEP] 3, Box, 3.160, 0.780, 0.298, 0, 180, 0, 40 [SEP] 4, Box, -2.812, 0.753, 0.981, 0, 270, 0, 52 [SEP] 5, Book, 0.116, 0.902, 1.073, 0, 29.999, 0, 57 [SEP] 6, Box, 3.173, 0.206, -0.048, 0, 19.470, 0, 43 [SEP] 7, Statue, 3.121, 0.595, -0.573, 0, 180, 0, 43 [SEP] 8, CreditCard, -2.581, 0.358, -1.840, 0, 29.999, 0, 34 [SEP] 9, Laptop, -2.780, 0.365, -1.874, 0, 0, 0, 34 [SEP] 10, WateringCan, 2.893, 0.014, -1.916, 0, 328.832, 0, [SEP] 11, Newspaper, -2.885, 0.569, 1.187, 0, 270, 0, 52 [SEP] 12, Vase, -2.168, 1.195, -2.183, 0, 0, 0, [SEP] 13, CellPhone, -0.204, 0.910, 1.703, 0, 0, 0, 57 [SEP] 14, RemoteControl, -0.113, 0.910, 1.217, 0, 0, 0, 57 [SEP] 15, Vase, -1.046, 1.195, -2.151, 0, 0, 0, [SEP] 16, Pillow, -2.812, 0.623, 1.806, 0, 270, 0, 52 [SEP] 17, KeyChain, -0.113, 0.909, 2.188, 0, 0, 0, 57 [SEP] 18, Cabinet, 0.333, 0.514, -2.015, 0, 0, 0, [SEP] 19, DeskLamp, 3.143, 0.591, 1.457, 0, 270, 0, [SEP] 20, LightSwitch, -0.927, 1.316, 2.846, 0, 180, 0, [SEP] 21, HousePlant, 0.491, 0.874, -1.581, 0, 0, 0, [SEP] 22, Television, 0.069, 1.406, 1.698, 0, 270, 0, [SEP] 23, GarbageCan, 3.164, 0.026, 0.891, 0, 0, 0, [SEP] 24, Painting, -1.561, 1.408, -2.318, 90, 180, 0, [SEP] 25, Painting, 3.367, 1.789, -0.949, 90, 270, 0, [SEP] 26, Painting, -3.488, 1.386, -0.507, 90, 270, 0, [SEP] 27, FloorLamp, 3.103, 0.025, -2.341, 0, 135, 0, [SEP] 28, Window, 1.133, 1.218, -2.740, 90, 0, 0, [SEP] 29, Window, -3.368, 1.180, -1.539, 90, 90, 0, [SEP] 30, Window, 2.898, 1.218, -2.740, 90, 0, 0, [SEP] 31, Window, 2.006, 1.218, -2.740, 90, 0, 0, [SEP] 32, Window, -0.193, 1.157, -2.563, 90, 0, 0, [SEP] 33, Window, -2.970, 1.157, -2.563, 90, 0, 0, [SEP] 34, ArmChair, -2.859, 0.026, -2.036, 0, 29.994, 0, [SEP] 35, SideTable, -0.170, 0.027, -2.279, 0, 0, 0, [SEP] 36, Drawer, -0.173, 0.465, -2.135, 0, 0, 0, [SEP] 37, Drawer, 3.104, 0.167, 1.400, 0, 270, 0, [SEP] 38, SideTable, 3.163, 0.032, 1.400, 0, 270, 0, [SEP] 39, Drawer, 3.103, 0.418, 1.401, 0, 270, 0, [SEP] 40, SideTable, 3.163, 0.032, 0.364, 0, 270, 0, [SEP] 41, Drawer, -3.241, 0.418, -0.490, 0, 90, 0, [SEP] 42, Drawer, 3.104, 0.167, -0.574, 0, 270, 0, [SEP] 43, SideTable, 3.163, 0.032, -0.574, 0, 270, 0, [SEP] 44, Drawer, 3.104, 0.167, 0.364, 0, 270, 0, [SEP] 45, Drawer, 3.104, 0.419, -0.574, 0, 270, 0, [SEP] 46, Drawer, -3.241, 0.167, -0.489, 0, 90, 0, [SEP] 47, SideTable, -3.300, 0.032, -0.489, 0, 90, 0, [SEP] 48, Drawer, 3.104, 0.419, 0.364, 0, 270, 0, [SEP] 49, Chair, 1.049, 0.031, -2.190, 0, 29.997, 0, [SEP] 50, DogBed, 2.739, 0.032, 2.260, 0, 45, 0, [SEP] 51, Chair, 2.037, 0.031, -2.232, 0, 350.485, 0, [SEP] 52, Sofa, -2.957, 0.032, 1.393, 0, 90, 0, [SEP] 53, Drawer, -0.189, 0.232, 0.954, 0, 270, 0, [SEP] 54, Drawer, -0.415, 0.854, 1.921, 0, 270, 0, [SEP] 55, Drawer, -0.415, 0.351, 1.414, 0, 270, 0, [SEP] 56, Drawer, -0.415, 0.603, 1.414, 0, 270, 0, [SEP] 57, Dresser, -0.052, 0.028, 1.667, 0, 270, 0, [SEP] 58, Drawer, -0.190, 0.484, 0.954, 0, 270, 0, [SEP] 59, Drawer, -0.190, 0.736, 0.954, 0, 270, 0, [SEP] 60, Drawer, -0.415, 0.603, 1.921, 0, 270, 0, [SEP] 61, Drawer, -0.415, 0.603, 2.384, 0, 270, 0, [SEP] 62, Drawer, -0.415, 0.351, 2.384, 0, 270, 0, [SEP] 63, Drawer, -0.415, 0.854, 2.384, 0, 270, 0, [SEP] 64, Drawer, -0.415, 0.351, 1.921, 0, 270, 0, [SEP] 65, Drawer, -0.415, 0.854, 1.414, 0, 270, 0, [SEP] 66, Stool, 3.135, 0.029, -1.625, 0, 330.001, 0, [SEP] 67, Chair, 1.631, 0.029, 2.210, 0, 161.562, 0, [SEP] 68, NorthWall, , , , , , , [SEP] 69, EastWall, , , , , , , [SEP] 70, SouthWall, , , , , , , [SEP] 71, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, head to the couch | STEP 2: Take the box from the couch | STEP 3: Turn around, head to the dresser | STEP 4: Put the box on the dresser | END"]} +{"id": "trial_T20190908_233553_192059-0", "input": "Put a glass with a butter knife in it on the kitchen island. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.0, 0.900, -2.5, 0, 180, 0, [SEP] 1, Pen, -2.210, 0.926, -1.654, 0, 0, 0, 75 [SEP] 2, Potato, -1.257, 1.661, -3.804, 0, 0, 0, 63 [SEP] 3, Potato, -0.350, 0.828, -2.008, 0, 270, 0, 68 [SEP] 4, DishSponge, -0.508, 0.915, -2.764, 0, 0, 0, 50 [SEP] 5, ButterKnife, -2.324, 0.923, -1.193, 0, 90, 0, 75 [SEP] 6, ButterKnife, -2.666, 0.923, -2.115, 0, 0, 0, 75 [SEP] 7, Spatula, -0.671, 0.911, -3.768, 0, 180, 0, 50 [SEP] 8, Spatula, -2.438, 0.938, -2.345, 0, 0, 0, 75 [SEP] 9, Knife, -2.210, 0.946, -2.345, 0, 0, 0, 75 [SEP] 10, SoapBottle, -0.671, 0.914, -3.485, 0, 0, 0, 50 [SEP] 11, SoapBottle, -0.343, 1.529, -3.520, 0, 45, 0, 58 [SEP] 12, Bowl, -2.780, 0.922, -2.345, 0, 0, 0, 75 [SEP] 13, Bread, -0.392, 1.443, -0.769, 0, 270, 0, 67 [SEP] 14, SaltShaker, -0.690, 0.743, -3.556, 0, 0, 0, 49 [SEP] 15, PepperShaker, -0.449, 0.743, -3.327, 0, 0, 0, 61 [SEP] 16, PepperShaker, -2.780, 0.919, -0.963, 0, 0, 0, 75 [SEP] 17, Mug, -2.096, 0.918, -1.423, 0, 0, 0, 75 [SEP] 18, Apple, -2.438, 0.996, -0.963, 0, 0, 0, 75 [SEP] 19, Apple, -0.254, 0.870, -2.008, 0, 270, 0, 68 [SEP] 20, Apple, -2.006, 0.100, -3.763, 0, 0, 0, 66 [SEP] 21, Lettuce, -2.562, 1.002, -1.677, 36.385, 0, 0, 75 [SEP] 22, Glassbottle, -2.210, 0.924, -0.963, 0, 0, 0, 75 [SEP] 23, Egg, -1.943, 0.059, -3.835, 0, 0, 0, 66 [SEP] 24, Pen, -0.436, 0.918, -2.563, 0, 0, 0, 50 [SEP] 25, Fork, -2.210, 0.924, -1.193, 0, 0, 0, 75 [SEP] 26, SoapBottle, -0.446, 1.529, -3.624, 0, 45, 0, 58 [SEP] 27, Pencil, -2.780, 0.923, -1.654, 0, 0, 0, 75 [SEP] 28, WineBottle, -0.162, 1.528, -2.914, 0, 0, 0, 62 [SEP] 29, Spatula, -2.324, 0.938, -1.654, 0, 0, 0, 75 [SEP] 30, Bread, -0.414, 0.952, -3.612, 1.235, 0, 0, 50 [SEP] 31, Tomato, -0.441, 1.454, -0.979, 0, 270, 0, 67 [SEP] 32, Pan, -1.515, 0.935, -3.497, 0, 0, 0, 47 [SEP] 33, Cup, -0.600, 0.914, -3.839, 0, 0, 0, 50 [SEP] 34, Pot, -2.238, 0.913, -1.882, 0, 0, 0, 75 [SEP] 35, SaltShaker, -0.053, 0.912, -2.301, 0, 0, 0, 50 [SEP] 36, Potato, -1.151, 1.661, -3.837, 0, 0, 0, 63 [SEP] 37, PepperShaker, -2.780, 0.919, -1.423, 0, 0, 0, 75 [SEP] 38, ButterKnife, -2.210, 0.923, -2.115, 0, 0, 0, 75 [SEP] 39, DishSponge, -0.383, 0.080, -2.201, 0, 0, 0, 55 [SEP] 40, Spoon, -0.328, 0.786, -2.125, 0, 33.895, 0, 68 [SEP] 41, Plate, -0.383, 0.083, -1.804, 0, 0, 0, 45 [SEP] 42, Knife, -2.438, 0.946, -1.423, 0, 270, 0, 75 [SEP] 43, Mug, -0.197, 1.093, -0.874, 0, 0, 0, 67 [SEP] 44, Bowl, -2.438, 0.922, -1.193, 0, 0, 0, 75 [SEP] 45, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0, [SEP] 46, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0, [SEP] 47, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0, [SEP] 48, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0, [SEP] 49, Drawer, -0.749, 0.779, -3.551, 0, 0, 0, [SEP] 50, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0, [SEP] 51, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0, [SEP] 52, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0, [SEP] 53, Sink, -0.349, 0.907, -2.014, 0, 0, 0, [SEP] 54, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0, [SEP] 55, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0, [SEP] 56, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0, [SEP] 57, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0, [SEP] 58, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0, [SEP] 59, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0, [SEP] 60, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0, [SEP] 61, Drawer, -0.454, 0.779, -3.268, 0, 0, 0, [SEP] 62, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0, [SEP] 63, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0, [SEP] 64, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0, [SEP] 65, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0, [SEP] 66, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0, [SEP] 67, Fridge, -0.330, 0.0, -0.769, 0, 270, 0, [SEP] 68, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0, [SEP] 69, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0, [SEP] 70, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0, [SEP] 71, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0, [SEP] 72, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0, [SEP] 73, Toaster, -0.181, 0.903, -2.764, 0, 270, 0, [SEP] 74, Window, -2.503, 1.782, -4.185, 90, 180, 0, [SEP] 75, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0, [SEP] 76, Shelf, -2.432, 0.150, -1.694, 0, 270, 0, [SEP] 77, Blinds, -2.536, 2.699, -3.959, 0, 0, 0, [SEP] 78, Faucet, -0.079, 0.904, -2.034, 270, 180, 0, [SEP] 79, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0, [SEP] 80, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0, [SEP] 81, Shelf, -2.432, 0.523, -1.694, 0, 270, 0, [SEP] 82, NorthWall, , , , , , , [SEP] 83, EastWall, , , , , , , [SEP] 84, SouthWall, , , , , , , [SEP] 85, WestWall, , , , , , , ", "output": ["STEP 1: Walk towards the wall, then hang a left and walk over to the end of the kitchen island. | STEP 2: Pick up the leftmost closest butter knife off of the kitchen island. | STEP 3: Turn right and walk over to the oven. | STEP 4: Put the knife in the glass that is on the counter to the left of the oven. | STEP 5: Pick up the glass with the butter knife in it off of the counter. | STEP 6: Walk back over to the kitchen island. | STEP 7: Put the glass with the butter knife in it on the island. | END"]} +{"id": "trial_T20190908_233553_192059-1", "input": "Place a glass cup with knife it on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.0, 0.900, -2.5, 0, 180, 0, [SEP] 1, Pen, -2.210, 0.926, -1.654, 0, 0, 0, 75 [SEP] 2, Potato, -1.257, 1.661, -3.804, 0, 0, 0, 63 [SEP] 3, Potato, -0.350, 0.828, -2.008, 0, 270, 0, 68 [SEP] 4, DishSponge, -0.508, 0.915, -2.764, 0, 0, 0, 50 [SEP] 5, ButterKnife, -2.324, 0.923, -1.193, 0, 90, 0, 75 [SEP] 6, ButterKnife, -2.666, 0.923, -2.115, 0, 0, 0, 75 [SEP] 7, Spatula, -0.671, 0.911, -3.768, 0, 180, 0, 50 [SEP] 8, Spatula, -2.438, 0.938, -2.345, 0, 0, 0, 75 [SEP] 9, Knife, -2.210, 0.946, -2.345, 0, 0, 0, 75 [SEP] 10, SoapBottle, -0.671, 0.914, -3.485, 0, 0, 0, 50 [SEP] 11, SoapBottle, -0.343, 1.529, -3.520, 0, 45, 0, 58 [SEP] 12, Bowl, -2.780, 0.922, -2.345, 0, 0, 0, 75 [SEP] 13, Bread, -0.392, 1.443, -0.769, 0, 270, 0, 67 [SEP] 14, SaltShaker, -0.690, 0.743, -3.556, 0, 0, 0, 49 [SEP] 15, PepperShaker, -0.449, 0.743, -3.327, 0, 0, 0, 61 [SEP] 16, PepperShaker, -2.780, 0.919, -0.963, 0, 0, 0, 75 [SEP] 17, Mug, -2.096, 0.918, -1.423, 0, 0, 0, 75 [SEP] 18, Apple, -2.438, 0.996, -0.963, 0, 0, 0, 75 [SEP] 19, Apple, -0.254, 0.870, -2.008, 0, 270, 0, 68 [SEP] 20, Apple, -2.006, 0.100, -3.763, 0, 0, 0, 66 [SEP] 21, Lettuce, -2.562, 1.002, -1.677, 36.385, 0, 0, 75 [SEP] 22, Glassbottle, -2.210, 0.924, -0.963, 0, 0, 0, 75 [SEP] 23, Egg, -1.943, 0.059, -3.835, 0, 0, 0, 66 [SEP] 24, Pen, -0.436, 0.918, -2.563, 0, 0, 0, 50 [SEP] 25, Fork, -2.210, 0.924, -1.193, 0, 0, 0, 75 [SEP] 26, SoapBottle, -0.446, 1.529, -3.624, 0, 45, 0, 58 [SEP] 27, Pencil, -2.780, 0.923, -1.654, 0, 0, 0, 75 [SEP] 28, WineBottle, -0.162, 1.528, -2.914, 0, 0, 0, 62 [SEP] 29, Spatula, -2.324, 0.938, -1.654, 0, 0, 0, 75 [SEP] 30, Bread, -0.414, 0.952, -3.612, 1.235, 0, 0, 50 [SEP] 31, Tomato, -0.441, 1.454, -0.979, 0, 270, 0, 67 [SEP] 32, Pan, -1.515, 0.935, -3.497, 0, 0, 0, 47 [SEP] 33, Cup, -0.600, 0.914, -3.839, 0, 0, 0, 50 [SEP] 34, Pot, -2.238, 0.913, -1.882, 0, 0, 0, 75 [SEP] 35, SaltShaker, -0.053, 0.912, -2.301, 0, 0, 0, 50 [SEP] 36, Potato, -1.151, 1.661, -3.837, 0, 0, 0, 63 [SEP] 37, PepperShaker, -2.780, 0.919, -1.423, 0, 0, 0, 75 [SEP] 38, ButterKnife, -2.210, 0.923, -2.115, 0, 0, 0, 75 [SEP] 39, DishSponge, -0.383, 0.080, -2.201, 0, 0, 0, 55 [SEP] 40, Spoon, -0.328, 0.786, -2.125, 0, 33.895, 0, 68 [SEP] 41, Plate, -0.383, 0.083, -1.804, 0, 0, 0, 45 [SEP] 42, Knife, -2.438, 0.946, -1.423, 0, 270, 0, 75 [SEP] 43, Mug, -0.197, 1.093, -0.874, 0, 0, 0, 67 [SEP] 44, Bowl, -2.438, 0.922, -1.193, 0, 0, 0, 75 [SEP] 45, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0, [SEP] 46, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0, [SEP] 47, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0, [SEP] 48, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0, [SEP] 49, Drawer, -0.749, 0.779, -3.551, 0, 0, 0, [SEP] 50, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0, [SEP] 51, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0, [SEP] 52, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0, [SEP] 53, Sink, -0.349, 0.907, -2.014, 0, 0, 0, [SEP] 54, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0, [SEP] 55, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0, [SEP] 56, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0, [SEP] 57, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0, [SEP] 58, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0, [SEP] 59, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0, [SEP] 60, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0, [SEP] 61, Drawer, -0.454, 0.779, -3.268, 0, 0, 0, [SEP] 62, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0, [SEP] 63, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0, [SEP] 64, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0, [SEP] 65, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0, [SEP] 66, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0, [SEP] 67, Fridge, -0.330, 0.0, -0.769, 0, 270, 0, [SEP] 68, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0, [SEP] 69, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0, [SEP] 70, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0, [SEP] 71, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0, [SEP] 72, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0, [SEP] 73, Toaster, -0.181, 0.903, -2.764, 0, 270, 0, [SEP] 74, Window, -2.503, 1.782, -4.185, 90, 180, 0, [SEP] 75, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0, [SEP] 76, Shelf, -2.432, 0.150, -1.694, 0, 270, 0, [SEP] 77, Blinds, -2.536, 2.699, -3.959, 0, 0, 0, [SEP] 78, Faucet, -0.079, 0.904, -2.034, 270, 180, 0, [SEP] 79, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0, [SEP] 80, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0, [SEP] 81, Shelf, -2.432, 0.523, -1.694, 0, 270, 0, [SEP] 82, NorthWall, , , , , , , [SEP] 83, EastWall, , , , , , , [SEP] 84, SouthWall, , , , , , , [SEP] 85, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the table to your left. | STEP 2: Grab the knife sitting on the table. | STEP 3: Turn right and walk to the stove to your right. | STEP 4: Place the knife in the glass cup on the counter to the left of the stove. | STEP 5: Pick up the glass cup on the counter with the knife in it. | STEP 6: Turn around and take the glass cup with the knife in it to the table to your left. | STEP 7: Place the glass cup with the knife in it on the counter between the black cup and knife. | END"]} +{"id": "trial_T20190908_233553_192059-2", "input": "To put a knife in a glass and place them on the center table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.0, 0.900, -2.5, 0, 180, 0, [SEP] 1, Pen, -2.210, 0.926, -1.654, 0, 0, 0, 75 [SEP] 2, Potato, -1.257, 1.661, -3.804, 0, 0, 0, 63 [SEP] 3, Potato, -0.350, 0.828, -2.008, 0, 270, 0, 68 [SEP] 4, DishSponge, -0.508, 0.915, -2.764, 0, 0, 0, 50 [SEP] 5, ButterKnife, -2.324, 0.923, -1.193, 0, 90, 0, 75 [SEP] 6, ButterKnife, -2.666, 0.923, -2.115, 0, 0, 0, 75 [SEP] 7, Spatula, -0.671, 0.911, -3.768, 0, 180, 0, 50 [SEP] 8, Spatula, -2.438, 0.938, -2.345, 0, 0, 0, 75 [SEP] 9, Knife, -2.210, 0.946, -2.345, 0, 0, 0, 75 [SEP] 10, SoapBottle, -0.671, 0.914, -3.485, 0, 0, 0, 50 [SEP] 11, SoapBottle, -0.343, 1.529, -3.520, 0, 45, 0, 58 [SEP] 12, Bowl, -2.780, 0.922, -2.345, 0, 0, 0, 75 [SEP] 13, Bread, -0.392, 1.443, -0.769, 0, 270, 0, 67 [SEP] 14, SaltShaker, -0.690, 0.743, -3.556, 0, 0, 0, 49 [SEP] 15, PepperShaker, -0.449, 0.743, -3.327, 0, 0, 0, 61 [SEP] 16, PepperShaker, -2.780, 0.919, -0.963, 0, 0, 0, 75 [SEP] 17, Mug, -2.096, 0.918, -1.423, 0, 0, 0, 75 [SEP] 18, Apple, -2.438, 0.996, -0.963, 0, 0, 0, 75 [SEP] 19, Apple, -0.254, 0.870, -2.008, 0, 270, 0, 68 [SEP] 20, Apple, -2.006, 0.100, -3.763, 0, 0, 0, 66 [SEP] 21, Lettuce, -2.562, 1.002, -1.677, 36.385, 0, 0, 75 [SEP] 22, Glassbottle, -2.210, 0.924, -0.963, 0, 0, 0, 75 [SEP] 23, Egg, -1.943, 0.059, -3.835, 0, 0, 0, 66 [SEP] 24, Pen, -0.436, 0.918, -2.563, 0, 0, 0, 50 [SEP] 25, Fork, -2.210, 0.924, -1.193, 0, 0, 0, 75 [SEP] 26, SoapBottle, -0.446, 1.529, -3.624, 0, 45, 0, 58 [SEP] 27, Pencil, -2.780, 0.923, -1.654, 0, 0, 0, 75 [SEP] 28, WineBottle, -0.162, 1.528, -2.914, 0, 0, 0, 62 [SEP] 29, Spatula, -2.324, 0.938, -1.654, 0, 0, 0, 75 [SEP] 30, Bread, -0.414, 0.952, -3.612, 1.235, 0, 0, 50 [SEP] 31, Tomato, -0.441, 1.454, -0.979, 0, 270, 0, 67 [SEP] 32, Pan, -1.515, 0.935, -3.497, 0, 0, 0, 47 [SEP] 33, Cup, -0.600, 0.914, -3.839, 0, 0, 0, 50 [SEP] 34, Pot, -2.238, 0.913, -1.882, 0, 0, 0, 75 [SEP] 35, SaltShaker, -0.053, 0.912, -2.301, 0, 0, 0, 50 [SEP] 36, Potato, -1.151, 1.661, -3.837, 0, 0, 0, 63 [SEP] 37, PepperShaker, -2.780, 0.919, -1.423, 0, 0, 0, 75 [SEP] 38, ButterKnife, -2.210, 0.923, -2.115, 0, 0, 0, 75 [SEP] 39, DishSponge, -0.383, 0.080, -2.201, 0, 0, 0, 55 [SEP] 40, Spoon, -0.328, 0.786, -2.125, 0, 33.895, 0, 68 [SEP] 41, Plate, -0.383, 0.083, -1.804, 0, 0, 0, 45 [SEP] 42, Knife, -2.438, 0.946, -1.423, 0, 270, 0, 75 [SEP] 43, Mug, -0.197, 1.093, -0.874, 0, 0, 0, 67 [SEP] 44, Bowl, -2.438, 0.922, -1.193, 0, 0, 0, 75 [SEP] 45, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0, [SEP] 46, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0, [SEP] 47, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0, [SEP] 48, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0, [SEP] 49, Drawer, -0.749, 0.779, -3.551, 0, 0, 0, [SEP] 50, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0, [SEP] 51, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0, [SEP] 52, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0, [SEP] 53, Sink, -0.349, 0.907, -2.014, 0, 0, 0, [SEP] 54, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0, [SEP] 55, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0, [SEP] 56, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0, [SEP] 57, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0, [SEP] 58, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0, [SEP] 59, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0, [SEP] 60, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0, [SEP] 61, Drawer, -0.454, 0.779, -3.268, 0, 0, 0, [SEP] 62, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0, [SEP] 63, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0, [SEP] 64, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0, [SEP] 65, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0, [SEP] 66, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0, [SEP] 67, Fridge, -0.330, 0.0, -0.769, 0, 270, 0, [SEP] 68, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0, [SEP] 69, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0, [SEP] 70, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0, [SEP] 71, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0, [SEP] 72, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0, [SEP] 73, Toaster, -0.181, 0.903, -2.764, 0, 270, 0, [SEP] 74, Window, -2.503, 1.782, -4.185, 90, 180, 0, [SEP] 75, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0, [SEP] 76, Shelf, -2.432, 0.150, -1.694, 0, 270, 0, [SEP] 77, Blinds, -2.536, 2.699, -3.959, 0, 0, 0, [SEP] 78, Faucet, -0.079, 0.904, -2.034, 270, 180, 0, [SEP] 79, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0, [SEP] 80, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0, [SEP] 81, Shelf, -2.432, 0.523, -1.694, 0, 270, 0, [SEP] 82, NorthWall, , , , , , , [SEP] 83, EastWall, , , , , , , [SEP] 84, SouthWall, , , , , , , [SEP] 85, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and step to the right to face the end of the center table. | STEP 2: Pick up the knife on the center table. | STEP 3: Turn right and walk across the room and turn right to face the counter. | STEP 4: Put the knife in the cup on the counter. | STEP 5: Pick up the cup with a knife in it on the counter. | STEP 6: Turn right and walk forward to face the center table. | STEP 7: Place the glass with a knife in it on the center table in the kitchen. | END"]} +{"id": "trial_T20190909_031836_927615-0", "input": "Place a bowl with a watch on a shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.899, -2.5, 0, 270, 0, [SEP] 1, Watch, -1.383, 0.614, 0.422, 0, 180, 0, 65 [SEP] 2, CD, -1.523, 0.074, 0.393, 0, 0, 0, 64 [SEP] 3, CD, 3.086, 0.792, -1.121, 0, 0, 0, 61 [SEP] 4, CellPhone, 3.147, 0.791, -1.968, 0, 0, 0, 61 [SEP] 5, Pencil, 0.922, 1.418, -1.730, 0, 270, 0, 46 [SEP] 6, Pencil, 3.271, 0.798, -1.403, 0, 0, 0, 61 [SEP] 7, CreditCard, 3.332, 0.791, -1.121, 0, 0, 0, 61 [SEP] 8, Book, -2.916, 0.599, -1.442, 0, 0, 0, 33 [SEP] 9, AlarmClock, -2.979, 1.142, -1.497, 0, 90, 0, 49 [SEP] 10, AlarmClock, -1.592, 0.615, 0.503, 0, 180, 0, 65 [SEP] 11, Laptop, -0.936, 0.614, -1.160, 0, 0, 0, 34 [SEP] 12, Book, -2.916, 0.599, -0.879, 0, 0, 0, 33 [SEP] 13, Laptop, 3.154, 0.785, -2.267, 0, 270, 0, 61 [SEP] 14, KeyChain, -1.523, 0.339, 0.393, 0, 0, 0, 63 [SEP] 15, Cloth, 0.970, -0.001, -2.404, 0, 0, 0, [SEP] 16, BaseballBat, -2.982, 0.015, -2.698, 270, 350.597, 0, [SEP] 17, BasketBall, -2.718, 0.118, -1.925, 0, 0, 0, [SEP] 18, Pillow, -2.465, 0.661, 0.110, 0, 0, 0, 33 [SEP] 19, Pillow, -0.626, 0.650, 0.129, 0, 0, 0, 34 [SEP] 20, TennisRacket, -3.018, 0.301, -2.199, 19.103, 272.232, 184.978, [SEP] 21, Pencil, -2.948, 1.147, -2.682, 0, 90, 0, 47 [SEP] 22, CreditCard, 3.147, 0.792, -1.686, 0, 0, 0, 61 [SEP] 23, Cloth, 0.911, 0.025, -2.702, 0, 0, 0, [SEP] 24, TeddyBear, -2.645, 0.624, -0.402, 0, 286.876, 0, 33 [SEP] 25, Pen, 0.828, 1.147, -2.025, 0, 270, 0, 38 [SEP] 26, Cloth, 0.705, -0.001, -2.75, 0, 270, 0, [SEP] 27, AlarmClock, 0.891, 1.414, -2.586, 0, 270, 0, 48 [SEP] 28, Watch, -2.979, 1.141, -2.068, 0, 90, 0, 41 [SEP] 29, CellPhone, -1.453, 0.614, 0.462, 0, 180, 0, 65 [SEP] 30, CD, -1.731, 0.613, 0.503, 0, 180, 0, 65 [SEP] 31, Mug, 3.332, 0.789, -1.686, 0, 0, 0, 61 [SEP] 32, Bowl, 3.024, 0.791, -0.556, 0, 0, 0, 59 [SEP] 33, Bed, -2.455, -0.000, -0.572, 0, 0, 0, [SEP] 34, Bed, -0.634, -0.000, -0.567, 0, 0, 0, [SEP] 35, Chair, 2.828, -0.002, -0.004, 0, 245.795, 0, [SEP] 36, Chair, 2.727, -0.002, -1.210, 0, 95.225, 0, [SEP] 37, GarbageCan, 1.707, -0.003, -2.785, 0, 59.967, 0, [SEP] 38, Shelf, 0.922, 1.133, -2.163, 0, 270, 0, [SEP] 39, Shelf, -2.948, 1.405, -1.621, 0, 90, 0, [SEP] 40, Shelf, 0.922, 1.405, -2.163, 0, 270, 0, [SEP] 41, Shelf, -2.948, 1.133, -2.188, 0, 90, 0, [SEP] 42, Shelf, -2.948, 1.405, -2.188, 0, 90, 0, [SEP] 43, Shelf, 0.922, 1.133, -2.729, 0, 270, 0, [SEP] 44, Shelf, 0.922, 1.133, -1.616, 0, 270, 0, [SEP] 45, Shelf, -2.948, 1.405, -2.735, 0, 90, 0, [SEP] 46, Shelf, 0.922, 1.405, -1.616, 0, 270, 0, [SEP] 47, Shelf, -2.948, 1.133, -2.735, 0, 90, 0, [SEP] 48, Shelf, 0.922, 1.405, -2.729, 0, 270, 0, [SEP] 49, Shelf, -2.948, 1.133, -1.621, 0, 90, 0, [SEP] 50, LightSwitch, -0.142, 1.328, 0.600, 0, 180, 0, [SEP] 51, Poster, 3.400, 1.863, -1.976, 90, 90, 0, [SEP] 52, Poster, 3.400, 1.702, -0.792, 90, 90, 0, [SEP] 53, DeskLamp, 3.126, 0.789, -0.638, 0, 3.649, 0, [SEP] 54, Mirror, 0.453, 1.491, 0.616, 0, 0, 0, [SEP] 55, Window, 2.278, 0.925, -3.184, 90, 0, 0, [SEP] 56, Window, -1.019, 0.925, -3.184, 90, 0, 0, [SEP] 57, Blinds, -1.003, 2.072, -3.177, 0, 0, 0, [SEP] 58, Blinds, 2.292, 2.072, -3.177, 0, 0, 0, [SEP] 59, Shelf, 3.124, 0.633, -0.564, 0, 270, 0, [SEP] 60, Shelf, 3.124, 0.633, -2.267, 0, 270, 0, [SEP] 61, Desk, 3.141, -0.000, -1.414, 0, 270, 0, [SEP] 62, Desktop, 3.101, 0.792, -1.236, 358.565, 270, 0, [SEP] 63, Drawer, -1.523, 0.408, 0.346, 0, 180, 0, [SEP] 64, Drawer, -1.523, 0.141, 0.346, 0, 180, 0, [SEP] 65, SideTable, -1.522, -0.001, 0.411, 0, 180, 0, [SEP] 66, NorthWall, , , , , , , [SEP] 67, EastWall, , , , , , , [SEP] 68, SouthWall, , , , , , , [SEP] 69, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, hang a left at the wooden shelves, head right at the door and walk to the wooden desk. | STEP 2: Pick up the gray bowl in front of the small lamp on the desk. | STEP 3: Turn around, hang a left at the bed, take a right at the wall and walk to the wooden shelves on the wall. | STEP 4: Put the gray bowl on the bottom middle shelf to the left of the watch. | STEP 5: Pick up the watch to the right of the gray bowl on the shelf. | STEP 6: Put the watch inside the gray bowl on the shelf. | END"]} +{"id": "trial_T20190909_031836_927615-1", "input": "Put a bowl with the watch in it on the shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.899, -2.5, 0, 270, 0, [SEP] 1, Watch, -1.383, 0.614, 0.422, 0, 180, 0, 65 [SEP] 2, CD, -1.523, 0.074, 0.393, 0, 0, 0, 64 [SEP] 3, CD, 3.086, 0.792, -1.121, 0, 0, 0, 61 [SEP] 4, CellPhone, 3.147, 0.791, -1.968, 0, 0, 0, 61 [SEP] 5, Pencil, 0.922, 1.418, -1.730, 0, 270, 0, 46 [SEP] 6, Pencil, 3.271, 0.798, -1.403, 0, 0, 0, 61 [SEP] 7, CreditCard, 3.332, 0.791, -1.121, 0, 0, 0, 61 [SEP] 8, Book, -2.916, 0.599, -1.442, 0, 0, 0, 33 [SEP] 9, AlarmClock, -2.979, 1.142, -1.497, 0, 90, 0, 49 [SEP] 10, AlarmClock, -1.592, 0.615, 0.503, 0, 180, 0, 65 [SEP] 11, Laptop, -0.936, 0.614, -1.160, 0, 0, 0, 34 [SEP] 12, Book, -2.916, 0.599, -0.879, 0, 0, 0, 33 [SEP] 13, Laptop, 3.154, 0.785, -2.267, 0, 270, 0, 61 [SEP] 14, KeyChain, -1.523, 0.339, 0.393, 0, 0, 0, 63 [SEP] 15, Cloth, 0.970, -0.001, -2.404, 0, 0, 0, [SEP] 16, BaseballBat, -2.982, 0.015, -2.698, 270, 350.597, 0, [SEP] 17, BasketBall, -2.718, 0.118, -1.925, 0, 0, 0, [SEP] 18, Pillow, -2.465, 0.661, 0.110, 0, 0, 0, 33 [SEP] 19, Pillow, -0.626, 0.650, 0.129, 0, 0, 0, 34 [SEP] 20, TennisRacket, -3.018, 0.301, -2.199, 19.103, 272.232, 184.978, [SEP] 21, Pencil, -2.948, 1.147, -2.682, 0, 90, 0, 47 [SEP] 22, CreditCard, 3.147, 0.792, -1.686, 0, 0, 0, 61 [SEP] 23, Cloth, 0.911, 0.025, -2.702, 0, 0, 0, [SEP] 24, TeddyBear, -2.645, 0.624, -0.402, 0, 286.876, 0, 33 [SEP] 25, Pen, 0.828, 1.147, -2.025, 0, 270, 0, 38 [SEP] 26, Cloth, 0.705, -0.001, -2.75, 0, 270, 0, [SEP] 27, AlarmClock, 0.891, 1.414, -2.586, 0, 270, 0, 48 [SEP] 28, Watch, -2.979, 1.141, -2.068, 0, 90, 0, 41 [SEP] 29, CellPhone, -1.453, 0.614, 0.462, 0, 180, 0, 65 [SEP] 30, CD, -1.731, 0.613, 0.503, 0, 180, 0, 65 [SEP] 31, Mug, 3.332, 0.789, -1.686, 0, 0, 0, 61 [SEP] 32, Bowl, 3.024, 0.791, -0.556, 0, 0, 0, 59 [SEP] 33, Bed, -2.455, -0.000, -0.572, 0, 0, 0, [SEP] 34, Bed, -0.634, -0.000, -0.567, 0, 0, 0, [SEP] 35, Chair, 2.828, -0.002, -0.004, 0, 245.795, 0, [SEP] 36, Chair, 2.727, -0.002, -1.210, 0, 95.225, 0, [SEP] 37, GarbageCan, 1.707, -0.003, -2.785, 0, 59.967, 0, [SEP] 38, Shelf, 0.922, 1.133, -2.163, 0, 270, 0, [SEP] 39, Shelf, -2.948, 1.405, -1.621, 0, 90, 0, [SEP] 40, Shelf, 0.922, 1.405, -2.163, 0, 270, 0, [SEP] 41, Shelf, -2.948, 1.133, -2.188, 0, 90, 0, [SEP] 42, Shelf, -2.948, 1.405, -2.188, 0, 90, 0, [SEP] 43, Shelf, 0.922, 1.133, -2.729, 0, 270, 0, [SEP] 44, Shelf, 0.922, 1.133, -1.616, 0, 270, 0, [SEP] 45, Shelf, -2.948, 1.405, -2.735, 0, 90, 0, [SEP] 46, Shelf, 0.922, 1.405, -1.616, 0, 270, 0, [SEP] 47, Shelf, -2.948, 1.133, -2.735, 0, 90, 0, [SEP] 48, Shelf, 0.922, 1.405, -2.729, 0, 270, 0, [SEP] 49, Shelf, -2.948, 1.133, -1.621, 0, 90, 0, [SEP] 50, LightSwitch, -0.142, 1.328, 0.600, 0, 180, 0, [SEP] 51, Poster, 3.400, 1.863, -1.976, 90, 90, 0, [SEP] 52, Poster, 3.400, 1.702, -0.792, 90, 90, 0, [SEP] 53, DeskLamp, 3.126, 0.789, -0.638, 0, 3.649, 0, [SEP] 54, Mirror, 0.453, 1.491, 0.616, 0, 0, 0, [SEP] 55, Window, 2.278, 0.925, -3.184, 90, 0, 0, [SEP] 56, Window, -1.019, 0.925, -3.184, 90, 0, 0, [SEP] 57, Blinds, -1.003, 2.072, -3.177, 0, 0, 0, [SEP] 58, Blinds, 2.292, 2.072, -3.177, 0, 0, 0, [SEP] 59, Shelf, 3.124, 0.633, -0.564, 0, 270, 0, [SEP] 60, Shelf, 3.124, 0.633, -2.267, 0, 270, 0, [SEP] 61, Desk, 3.141, -0.000, -1.414, 0, 270, 0, [SEP] 62, Desktop, 3.101, 0.792, -1.236, 358.565, 270, 0, [SEP] 63, Drawer, -1.523, 0.408, 0.346, 0, 180, 0, [SEP] 64, Drawer, -1.523, 0.141, 0.346, 0, 180, 0, [SEP] 65, SideTable, -1.522, -0.001, 0.411, 0, 180, 0, [SEP] 66, NorthWall, , , , , , , [SEP] 67, EastWall, , , , , , , [SEP] 68, SouthWall, , , , , , , [SEP] 69, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go toward the shelves, then turn left and move forward, then turn right to go to the desk with the lamp on it. | STEP 2: Pick up the bowl from the desk. | STEP 3: Turn around and go forward to the bed, then turn left and go to the wall, then turn right to go to the shelves ahead. | STEP 4: Put the bowl on the bottom shelf. | STEP 5: Pick up the watch on the bottom shelf. | STEP 6: Put the watch in the bowl. | END"]} +{"id": "trial_T20190909_031836_927615-2", "input": "Put a watch in a bowl on the shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.899, -2.5, 0, 270, 0, [SEP] 1, Watch, -1.383, 0.614, 0.422, 0, 180, 0, 65 [SEP] 2, CD, -1.523, 0.074, 0.393, 0, 0, 0, 64 [SEP] 3, CD, 3.086, 0.792, -1.121, 0, 0, 0, 61 [SEP] 4, CellPhone, 3.147, 0.791, -1.968, 0, 0, 0, 61 [SEP] 5, Pencil, 0.922, 1.418, -1.730, 0, 270, 0, 46 [SEP] 6, Pencil, 3.271, 0.798, -1.403, 0, 0, 0, 61 [SEP] 7, CreditCard, 3.332, 0.791, -1.121, 0, 0, 0, 61 [SEP] 8, Book, -2.916, 0.599, -1.442, 0, 0, 0, 33 [SEP] 9, AlarmClock, -2.979, 1.142, -1.497, 0, 90, 0, 49 [SEP] 10, AlarmClock, -1.592, 0.615, 0.503, 0, 180, 0, 65 [SEP] 11, Laptop, -0.936, 0.614, -1.160, 0, 0, 0, 34 [SEP] 12, Book, -2.916, 0.599, -0.879, 0, 0, 0, 33 [SEP] 13, Laptop, 3.154, 0.785, -2.267, 0, 270, 0, 61 [SEP] 14, KeyChain, -1.523, 0.339, 0.393, 0, 0, 0, 63 [SEP] 15, Cloth, 0.970, -0.001, -2.404, 0, 0, 0, [SEP] 16, BaseballBat, -2.982, 0.015, -2.698, 270, 350.597, 0, [SEP] 17, BasketBall, -2.718, 0.118, -1.925, 0, 0, 0, [SEP] 18, Pillow, -2.465, 0.661, 0.110, 0, 0, 0, 33 [SEP] 19, Pillow, -0.626, 0.650, 0.129, 0, 0, 0, 34 [SEP] 20, TennisRacket, -3.018, 0.301, -2.199, 19.103, 272.232, 184.978, [SEP] 21, Pencil, -2.948, 1.147, -2.682, 0, 90, 0, 47 [SEP] 22, CreditCard, 3.147, 0.792, -1.686, 0, 0, 0, 61 [SEP] 23, Cloth, 0.911, 0.025, -2.702, 0, 0, 0, [SEP] 24, TeddyBear, -2.645, 0.624, -0.402, 0, 286.876, 0, 33 [SEP] 25, Pen, 0.828, 1.147, -2.025, 0, 270, 0, 38 [SEP] 26, Cloth, 0.705, -0.001, -2.75, 0, 270, 0, [SEP] 27, AlarmClock, 0.891, 1.414, -2.586, 0, 270, 0, 48 [SEP] 28, Watch, -2.979, 1.141, -2.068, 0, 90, 0, 41 [SEP] 29, CellPhone, -1.453, 0.614, 0.462, 0, 180, 0, 65 [SEP] 30, CD, -1.731, 0.613, 0.503, 0, 180, 0, 65 [SEP] 31, Mug, 3.332, 0.789, -1.686, 0, 0, 0, 61 [SEP] 32, Bowl, 3.024, 0.791, -0.556, 0, 0, 0, 59 [SEP] 33, Bed, -2.455, -0.000, -0.572, 0, 0, 0, [SEP] 34, Bed, -0.634, -0.000, -0.567, 0, 0, 0, [SEP] 35, Chair, 2.828, -0.002, -0.004, 0, 245.795, 0, [SEP] 36, Chair, 2.727, -0.002, -1.210, 0, 95.225, 0, [SEP] 37, GarbageCan, 1.707, -0.003, -2.785, 0, 59.967, 0, [SEP] 38, Shelf, 0.922, 1.133, -2.163, 0, 270, 0, [SEP] 39, Shelf, -2.948, 1.405, -1.621, 0, 90, 0, [SEP] 40, Shelf, 0.922, 1.405, -2.163, 0, 270, 0, [SEP] 41, Shelf, -2.948, 1.133, -2.188, 0, 90, 0, [SEP] 42, Shelf, -2.948, 1.405, -2.188, 0, 90, 0, [SEP] 43, Shelf, 0.922, 1.133, -2.729, 0, 270, 0, [SEP] 44, Shelf, 0.922, 1.133, -1.616, 0, 270, 0, [SEP] 45, Shelf, -2.948, 1.405, -2.735, 0, 90, 0, [SEP] 46, Shelf, 0.922, 1.405, -1.616, 0, 270, 0, [SEP] 47, Shelf, -2.948, 1.133, -2.735, 0, 90, 0, [SEP] 48, Shelf, 0.922, 1.405, -2.729, 0, 270, 0, [SEP] 49, Shelf, -2.948, 1.133, -1.621, 0, 90, 0, [SEP] 50, LightSwitch, -0.142, 1.328, 0.600, 0, 180, 0, [SEP] 51, Poster, 3.400, 1.863, -1.976, 90, 90, 0, [SEP] 52, Poster, 3.400, 1.702, -0.792, 90, 90, 0, [SEP] 53, DeskLamp, 3.126, 0.789, -0.638, 0, 3.649, 0, [SEP] 54, Mirror, 0.453, 1.491, 0.616, 0, 0, 0, [SEP] 55, Window, 2.278, 0.925, -3.184, 90, 0, 0, [SEP] 56, Window, -1.019, 0.925, -3.184, 90, 0, 0, [SEP] 57, Blinds, -1.003, 2.072, -3.177, 0, 0, 0, [SEP] 58, Blinds, 2.292, 2.072, -3.177, 0, 0, 0, [SEP] 59, Shelf, 3.124, 0.633, -0.564, 0, 270, 0, [SEP] 60, Shelf, 3.124, 0.633, -2.267, 0, 270, 0, [SEP] 61, Desk, 3.141, -0.000, -1.414, 0, 270, 0, [SEP] 62, Desktop, 3.101, 0.792, -1.236, 358.565, 270, 0, [SEP] 63, Drawer, -1.523, 0.408, 0.346, 0, 180, 0, [SEP] 64, Drawer, -1.523, 0.141, 0.346, 0, 180, 0, [SEP] 65, SideTable, -1.522, -0.001, 0.411, 0, 180, 0, [SEP] 66, NorthWall, , , , , , , [SEP] 67, EastWall, , , , , , , [SEP] 68, SouthWall, , , , , , , [SEP] 69, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the wall then turn left and walk three steps then turn right and walk to the desk between the two black chairs. | STEP 2: Pick up the bowl that's in front of you under the light. | STEP 3: Turnaround and walk to the bed then turn left and walk to the wall then turn left and walk to the shelves. | STEP 4: Put the bowl on the shelf to the left of the watch. | STEP 5: Pick up the watch. | STEP 6: Put the watch in the bowl. | END"]} +{"id": "trial_T20190907_102658_284984-0", "input": "Put a cooked slice of tomato on a kitchen counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 1.5, 0, 0, 0, [SEP] 1, Potato, -0.960, 0.970, 0.998, 0, 0, 0, 60 [SEP] 2, ButterKnife, 1.503, 0.944, 1.798, 0, 180, 0, 62 [SEP] 3, Fork, -1.127, 0.928, 2.234, 0, 0, 0, 35 [SEP] 4, Fork, -0.689, 0.747, 2.313, 0, 270, 0, 36 [SEP] 5, Spatula, -0.960, 0.952, 0.765, 0, 0, 0, 60 [SEP] 6, Spatula, 1.409, 0.959, 1.589, 0, 180, 0, 62 [SEP] 7, Egg, -0.793, 0.973, 0.998, 0, 0, 0, 60 [SEP] 8, Cup, -0.724, 0.080, 2.241, 0, 0, 0, 56 [SEP] 9, Tomato, -0.860, 0.627, 0.272, 0, 90, 0, 67 [SEP] 10, Bowl, 1.430, 0.078, 2.392, 0, 0, 0, 44 [SEP] 11, Bowl, -1.018, 1.315, 0.042, 0, 90, 0, 67 [SEP] 12, SaltShaker, -0.792, 0.742, 0.847, 0, 180, 0, 58 [SEP] 13, Mug, -1.121, 1.496, 2.494, 0, 90, 0, 57 [SEP] 14, Lettuce, -1.126, 1.028, 1.076, 0, 0, 0, 60 [SEP] 15, SoapBottle, -0.715, 0.083, 0.845, 0, 0, 0, 47 [SEP] 16, Bread, -0.921, 0.990, 2.267, 0, 302.979, 0, 35 [SEP] 17, Fork, -0.876, 0.938, 1.154, 0, 0, 0, 60 [SEP] 18, Tomato, 1.362, 0.999, 2.022, 0, 0, 0, 40 [SEP] 19, Bowl, 1.624, 1.944, 1.410, 0, 0, 0, 53 [SEP] 20, Pot, -1.109, 0.930, 1.470, 0, 0, 0, 37 [SEP] 21, Spatula, -0.723, 0.761, 1.050, 0, 270, 0, 58 [SEP] 22, Knife, -0.861, 0.768, 0.779, 0, 90, 0, 58 [SEP] 23, SaltShaker, 1.448, 0.743, 0.848, 0, 0, 0, 65 [SEP] 24, Apple, 1.422, 0.892, 1.398, 0, 180, 0, 77 [SEP] 25, PepperShaker, -0.876, 0.934, 0.843, 0, 0, 0, 60 [SEP] 26, ButterKnife, -1.043, 0.937, 1.076, 0, 90, 0, 60 [SEP] 27, Potato, 1.550, 0.977, 1.673, 0, 180, 0, 62 [SEP] 28, Plate, 1.391, 0.086, 0.918, 0, 0, 0, 61 [SEP] 29, DishSponge, -0.795, 0.937, 2.386, 0, 0, 0, 35 [SEP] 30, Egg, 1.489, 0.105, 2.945, 0, 0, 0, 73 [SEP] 31, Cup, -0.964, 0.813, 0.042, 0, 90, 0, 67 [SEP] 32, Pan, -1.109, 0.930, 1.865, 0, 0, 0, 59 [SEP] 33, Spoon, 1.448, 0.747, 0.984, 0, 90, 0, 65 [SEP] 34, Mug, 1.684, 1.591, 1.598, 0, 270, 0, 74 [SEP] 35, CounterTop, -0.973, 0.973, 2.386, 0, 0, 0, [SEP] 36, Drawer, -0.783, 0.774, 2.381, 0, 180, 0, [SEP] 37, StoveBurner, -1.108, 0.922, 1.470, 0, 0, 0, [SEP] 38, Drawer, 1.370, 0.774, 2.391, 0, 0, 0, [SEP] 39, Stool, -0.748, 0.008, 3.116, 0, 0, 0, [SEP] 40, CounterTop, 1.504, 0.973, 2.309, 0, 0, 0, [SEP] 41, Cabinet, 1.219, 1.388, 0.591, 0, 0, 0, [SEP] 42, Cabinet, 1.500, 2.113, 1.164, 0, 0, 0, [SEP] 43, Cabinet, 1.219, 2.010, 0.591, 0, 0, 0, [SEP] 44, Cabinet, 1.219, 0.388, 2.105, 0, 0, 0, [SEP] 45, Cabinet, 1.219, 0.553, 0.591, 0, 0, 0, [SEP] 46, Cabinet, -0.913, 2.113, 1.164, 0, 0, 0, [SEP] 47, Cabinet, -0.633, 0.388, 0.627, 0, 0, 0, [SEP] 48, Cabinet, -0.913, 2.050, -0.329, 0, 0, 0, [SEP] 49, Cabinet, -0.913, 2.113, 0.583, 0, 0, 0, [SEP] 50, Cabinet, -0.913, 2.113, 2.082, 0, 0, 0, [SEP] 51, Cabinet, -0.913, 2.113, 1.207, 0, 0, 0, [SEP] 52, Cabinet, 1.500, 2.113, 2.082, 0, 0, 0, [SEP] 53, Cabinet, 1.500, 2.113, 1.207, 0, 0, 0, [SEP] 54, Cabinet, 1.500, 1.810, 2.691, 0, 0, 0, [SEP] 55, Cabinet, 1.500, 1.810, 2.101, 0, 0, 0, [SEP] 56, Cabinet, -0.633, 0.388, 2.105, 0, 0, 0, [SEP] 57, Cabinet, -0.911, 1.810, 2.700, 0, 180, 0, [SEP] 58, Drawer, -0.783, 0.774, 0.915, 0, 180, 0, [SEP] 59, StoveBurner, -1.108, 0.922, 1.865, 0, 0, 0, [SEP] 60, CounterTop, -0.972, 0.973, 0.921, 0, 0, 0, [SEP] 61, Cabinet, 1.219, 0.388, 0.631, 0, 0, 0, [SEP] 62, Sink, 1.544, 0.869, 1.639, 0, 180, 0, [SEP] 63, StoveBurner, -0.832, 0.922, 1.865, 0, 0, 0, [SEP] 64, StoveBurner, -0.831, 0.922, 1.470, 0, 0, 0, [SEP] 65, Drawer, 1.370, 0.774, 0.916, 0, 0, 0, [SEP] 66, Cabinet, -0.911, 1.810, 2.111, 0, 180, 0, [SEP] 67, Fridge, -1.001, 0.0, 0.119, 0, 0, 0, [SEP] 68, StoveKnob, -0.648, 0.926, 1.923, 0, 270, 0, [SEP] 69, StoveKnob, -0.648, 0.926, 1.363, 0, 270, 0, [SEP] 70, StoveKnob, -0.648, 0.926, 1.513, 0, 270, 0, [SEP] 71, StoveKnob, -0.648, 0.926, 1.763, 0, 270, 0, [SEP] 72, Toaster, -1.002, 0.926, 2.561, 0, 90, 0, [SEP] 73, GarbageCan, 1.451, -0.029, 2.912, 0, 0, 0, [SEP] 74, Microwave, 1.632, 1.480, 1.645, 0, 270, 0, [SEP] 75, Window, 0.224, 1.601, 3.509, 90, 0, 0, [SEP] 76, CoffeeMachine, 1.692, 0.926, 2.453, 0, 270, 0, [SEP] 77, SinkBasin, 1.461, 0.833, 1.369, 0, 180, 0, [SEP] 78, LightSwitch, 0.451, 1.412, -1.674, 0, 0, 0, [SEP] 79, Faucet, 1.707, 0.925, 1.363, 0, 270, 0, [SEP] 80, NorthWall, , , , , , , [SEP] 81, EastWall, , , , , , , [SEP] 82, SouthWall, , , , , , , [SEP] 83, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and cross the room to the left side of the sink. | STEP 2: Pick up the knife that is to the left of the potato on the cutting board over the sink. | STEP 3: Move left to the counter left of the sink. | STEP 4: Slice the tomato that is on the counter. | STEP 5: Carry the knife to the sink. | STEP 6: Put the knife in the sink. | STEP 7: Go back to the sliced tomato. | STEP 8: Take a slice of the tomato. | STEP 9: Carry the tomato slice to the microwave above the sink on your right. | STEP 10: Heat the tomato slice in the microwave. | STEP 11: Take the tomato slice back to the counter left of the sink. | STEP 12: Place the tomato slice on the counter. | END"]} +{"id": "trial_T20190907_102658_284984-1", "input": "Put a heated tomato slice on the counter near the coffee maker. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 1.5, 0, 0, 0, [SEP] 1, Potato, -0.960, 0.970, 0.998, 0, 0, 0, 60 [SEP] 2, ButterKnife, 1.503, 0.944, 1.798, 0, 180, 0, 62 [SEP] 3, Fork, -1.127, 0.928, 2.234, 0, 0, 0, 35 [SEP] 4, Fork, -0.689, 0.747, 2.313, 0, 270, 0, 36 [SEP] 5, Spatula, -0.960, 0.952, 0.765, 0, 0, 0, 60 [SEP] 6, Spatula, 1.409, 0.959, 1.589, 0, 180, 0, 62 [SEP] 7, Egg, -0.793, 0.973, 0.998, 0, 0, 0, 60 [SEP] 8, Cup, -0.724, 0.080, 2.241, 0, 0, 0, 56 [SEP] 9, Tomato, -0.860, 0.627, 0.272, 0, 90, 0, 67 [SEP] 10, Bowl, 1.430, 0.078, 2.392, 0, 0, 0, 44 [SEP] 11, Bowl, -1.018, 1.315, 0.042, 0, 90, 0, 67 [SEP] 12, SaltShaker, -0.792, 0.742, 0.847, 0, 180, 0, 58 [SEP] 13, Mug, -1.121, 1.496, 2.494, 0, 90, 0, 57 [SEP] 14, Lettuce, -1.126, 1.028, 1.076, 0, 0, 0, 60 [SEP] 15, SoapBottle, -0.715, 0.083, 0.845, 0, 0, 0, 47 [SEP] 16, Bread, -0.921, 0.990, 2.267, 0, 302.979, 0, 35 [SEP] 17, Fork, -0.876, 0.938, 1.154, 0, 0, 0, 60 [SEP] 18, Tomato, 1.362, 0.999, 2.022, 0, 0, 0, 40 [SEP] 19, Bowl, 1.624, 1.944, 1.410, 0, 0, 0, 53 [SEP] 20, Pot, -1.109, 0.930, 1.470, 0, 0, 0, 37 [SEP] 21, Spatula, -0.723, 0.761, 1.050, 0, 270, 0, 58 [SEP] 22, Knife, -0.861, 0.768, 0.779, 0, 90, 0, 58 [SEP] 23, SaltShaker, 1.448, 0.743, 0.848, 0, 0, 0, 65 [SEP] 24, Apple, 1.422, 0.892, 1.398, 0, 180, 0, 77 [SEP] 25, PepperShaker, -0.876, 0.934, 0.843, 0, 0, 0, 60 [SEP] 26, ButterKnife, -1.043, 0.937, 1.076, 0, 90, 0, 60 [SEP] 27, Potato, 1.550, 0.977, 1.673, 0, 180, 0, 62 [SEP] 28, Plate, 1.391, 0.086, 0.918, 0, 0, 0, 61 [SEP] 29, DishSponge, -0.795, 0.937, 2.386, 0, 0, 0, 35 [SEP] 30, Egg, 1.489, 0.105, 2.945, 0, 0, 0, 73 [SEP] 31, Cup, -0.964, 0.813, 0.042, 0, 90, 0, 67 [SEP] 32, Pan, -1.109, 0.930, 1.865, 0, 0, 0, 59 [SEP] 33, Spoon, 1.448, 0.747, 0.984, 0, 90, 0, 65 [SEP] 34, Mug, 1.684, 1.591, 1.598, 0, 270, 0, 74 [SEP] 35, CounterTop, -0.973, 0.973, 2.386, 0, 0, 0, [SEP] 36, Drawer, -0.783, 0.774, 2.381, 0, 180, 0, [SEP] 37, StoveBurner, -1.108, 0.922, 1.470, 0, 0, 0, [SEP] 38, Drawer, 1.370, 0.774, 2.391, 0, 0, 0, [SEP] 39, Stool, -0.748, 0.008, 3.116, 0, 0, 0, [SEP] 40, CounterTop, 1.504, 0.973, 2.309, 0, 0, 0, [SEP] 41, Cabinet, 1.219, 1.388, 0.591, 0, 0, 0, [SEP] 42, Cabinet, 1.500, 2.113, 1.164, 0, 0, 0, [SEP] 43, Cabinet, 1.219, 2.010, 0.591, 0, 0, 0, [SEP] 44, Cabinet, 1.219, 0.388, 2.105, 0, 0, 0, [SEP] 45, Cabinet, 1.219, 0.553, 0.591, 0, 0, 0, [SEP] 46, Cabinet, -0.913, 2.113, 1.164, 0, 0, 0, [SEP] 47, Cabinet, -0.633, 0.388, 0.627, 0, 0, 0, [SEP] 48, Cabinet, -0.913, 2.050, -0.329, 0, 0, 0, [SEP] 49, Cabinet, -0.913, 2.113, 0.583, 0, 0, 0, [SEP] 50, Cabinet, -0.913, 2.113, 2.082, 0, 0, 0, [SEP] 51, Cabinet, -0.913, 2.113, 1.207, 0, 0, 0, [SEP] 52, Cabinet, 1.500, 2.113, 2.082, 0, 0, 0, [SEP] 53, Cabinet, 1.500, 2.113, 1.207, 0, 0, 0, [SEP] 54, Cabinet, 1.500, 1.810, 2.691, 0, 0, 0, [SEP] 55, Cabinet, 1.500, 1.810, 2.101, 0, 0, 0, [SEP] 56, Cabinet, -0.633, 0.388, 2.105, 0, 0, 0, [SEP] 57, Cabinet, -0.911, 1.810, 2.700, 0, 180, 0, [SEP] 58, Drawer, -0.783, 0.774, 0.915, 0, 180, 0, [SEP] 59, StoveBurner, -1.108, 0.922, 1.865, 0, 0, 0, [SEP] 60, CounterTop, -0.972, 0.973, 0.921, 0, 0, 0, [SEP] 61, Cabinet, 1.219, 0.388, 0.631, 0, 0, 0, [SEP] 62, Sink, 1.544, 0.869, 1.639, 0, 180, 0, [SEP] 63, StoveBurner, -0.832, 0.922, 1.865, 0, 0, 0, [SEP] 64, StoveBurner, -0.831, 0.922, 1.470, 0, 0, 0, [SEP] 65, Drawer, 1.370, 0.774, 0.916, 0, 0, 0, [SEP] 66, Cabinet, -0.911, 1.810, 2.111, 0, 180, 0, [SEP] 67, Fridge, -1.001, 0.0, 0.119, 0, 0, 0, [SEP] 68, StoveKnob, -0.648, 0.926, 1.923, 0, 270, 0, [SEP] 69, StoveKnob, -0.648, 0.926, 1.363, 0, 270, 0, [SEP] 70, StoveKnob, -0.648, 0.926, 1.513, 0, 270, 0, [SEP] 71, StoveKnob, -0.648, 0.926, 1.763, 0, 270, 0, [SEP] 72, Toaster, -1.002, 0.926, 2.561, 0, 90, 0, [SEP] 73, GarbageCan, 1.451, -0.029, 2.912, 0, 0, 0, [SEP] 74, Microwave, 1.632, 1.480, 1.645, 0, 270, 0, [SEP] 75, Window, 0.224, 1.601, 3.509, 90, 0, 0, [SEP] 76, CoffeeMachine, 1.692, 0.926, 2.453, 0, 270, 0, [SEP] 77, SinkBasin, 1.461, 0.833, 1.369, 0, 180, 0, [SEP] 78, LightSwitch, 0.451, 1.412, -1.674, 0, 0, 0, [SEP] 79, Faucet, 1.707, 0.925, 1.363, 0, 270, 0, [SEP] 80, NorthWall, , , , , , , [SEP] 81, EastWall, , , , , , , [SEP] 82, SouthWall, , , , , , , [SEP] 83, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the sink. | STEP 2: Pick up the knife to the left of the potato. | STEP 3: Move slightly to the left to stand in front of the tomato on the counter. | STEP 4: Cut half the tomato into slices. | STEP 5: Move slightly to the right to stand in front of the sink. | STEP 6: Toss the knife into the sink, putting it on the left hand side of the apple. | STEP 7: Move slightly to the left to stand in front of the tomato on the counter. | STEP 8: Pick up one slice of tomato. | STEP 9: Move slightly to the right to stand in front of the sink. | STEP 10: Above the sink, open the microwave door. Put the tomato slice in front of the mug, close the door, and microwave the slice for a few seconds. Take out the tomato slice and close the door. | STEP 11: Move slightly to the left to stand in front of the tomato and coffee maker on the counter. | STEP 12: Place the tomato slice on the counter in front of the coffee maker. | END"]} +{"id": "trial_T20190907_102658_284984-2", "input": "Put a microwaved potato on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 1.5, 0, 0, 0, [SEP] 1, Potato, -0.960, 0.970, 0.998, 0, 0, 0, 60 [SEP] 2, ButterKnife, 1.503, 0.944, 1.798, 0, 180, 0, 62 [SEP] 3, Fork, -1.127, 0.928, 2.234, 0, 0, 0, 35 [SEP] 4, Fork, -0.689, 0.747, 2.313, 0, 270, 0, 36 [SEP] 5, Spatula, -0.960, 0.952, 0.765, 0, 0, 0, 60 [SEP] 6, Spatula, 1.409, 0.959, 1.589, 0, 180, 0, 62 [SEP] 7, Egg, -0.793, 0.973, 0.998, 0, 0, 0, 60 [SEP] 8, Cup, -0.724, 0.080, 2.241, 0, 0, 0, 56 [SEP] 9, Tomato, -0.860, 0.627, 0.272, 0, 90, 0, 67 [SEP] 10, Bowl, 1.430, 0.078, 2.392, 0, 0, 0, 44 [SEP] 11, Bowl, -1.018, 1.315, 0.042, 0, 90, 0, 67 [SEP] 12, SaltShaker, -0.792, 0.742, 0.847, 0, 180, 0, 58 [SEP] 13, Mug, -1.121, 1.496, 2.494, 0, 90, 0, 57 [SEP] 14, Lettuce, -1.126, 1.028, 1.076, 0, 0, 0, 60 [SEP] 15, SoapBottle, -0.715, 0.083, 0.845, 0, 0, 0, 47 [SEP] 16, Bread, -0.921, 0.990, 2.267, 0, 302.979, 0, 35 [SEP] 17, Fork, -0.876, 0.938, 1.154, 0, 0, 0, 60 [SEP] 18, Tomato, 1.362, 0.999, 2.022, 0, 0, 0, 40 [SEP] 19, Bowl, 1.624, 1.944, 1.410, 0, 0, 0, 53 [SEP] 20, Pot, -1.109, 0.930, 1.470, 0, 0, 0, 37 [SEP] 21, Spatula, -0.723, 0.761, 1.050, 0, 270, 0, 58 [SEP] 22, Knife, -0.861, 0.768, 0.779, 0, 90, 0, 58 [SEP] 23, SaltShaker, 1.448, 0.743, 0.848, 0, 0, 0, 65 [SEP] 24, Apple, 1.422, 0.892, 1.398, 0, 180, 0, 77 [SEP] 25, PepperShaker, -0.876, 0.934, 0.843, 0, 0, 0, 60 [SEP] 26, ButterKnife, -1.043, 0.937, 1.076, 0, 90, 0, 60 [SEP] 27, Potato, 1.550, 0.977, 1.673, 0, 180, 0, 62 [SEP] 28, Plate, 1.391, 0.086, 0.918, 0, 0, 0, 61 [SEP] 29, DishSponge, -0.795, 0.937, 2.386, 0, 0, 0, 35 [SEP] 30, Egg, 1.489, 0.105, 2.945, 0, 0, 0, 73 [SEP] 31, Cup, -0.964, 0.813, 0.042, 0, 90, 0, 67 [SEP] 32, Pan, -1.109, 0.930, 1.865, 0, 0, 0, 59 [SEP] 33, Spoon, 1.448, 0.747, 0.984, 0, 90, 0, 65 [SEP] 34, Mug, 1.684, 1.591, 1.598, 0, 270, 0, 74 [SEP] 35, CounterTop, -0.973, 0.973, 2.386, 0, 0, 0, [SEP] 36, Drawer, -0.783, 0.774, 2.381, 0, 180, 0, [SEP] 37, StoveBurner, -1.108, 0.922, 1.470, 0, 0, 0, [SEP] 38, Drawer, 1.370, 0.774, 2.391, 0, 0, 0, [SEP] 39, Stool, -0.748, 0.008, 3.116, 0, 0, 0, [SEP] 40, CounterTop, 1.504, 0.973, 2.309, 0, 0, 0, [SEP] 41, Cabinet, 1.219, 1.388, 0.591, 0, 0, 0, [SEP] 42, Cabinet, 1.500, 2.113, 1.164, 0, 0, 0, [SEP] 43, Cabinet, 1.219, 2.010, 0.591, 0, 0, 0, [SEP] 44, Cabinet, 1.219, 0.388, 2.105, 0, 0, 0, [SEP] 45, Cabinet, 1.219, 0.553, 0.591, 0, 0, 0, [SEP] 46, Cabinet, -0.913, 2.113, 1.164, 0, 0, 0, [SEP] 47, Cabinet, -0.633, 0.388, 0.627, 0, 0, 0, [SEP] 48, Cabinet, -0.913, 2.050, -0.329, 0, 0, 0, [SEP] 49, Cabinet, -0.913, 2.113, 0.583, 0, 0, 0, [SEP] 50, Cabinet, -0.913, 2.113, 2.082, 0, 0, 0, [SEP] 51, Cabinet, -0.913, 2.113, 1.207, 0, 0, 0, [SEP] 52, Cabinet, 1.500, 2.113, 2.082, 0, 0, 0, [SEP] 53, Cabinet, 1.500, 2.113, 1.207, 0, 0, 0, [SEP] 54, Cabinet, 1.500, 1.810, 2.691, 0, 0, 0, [SEP] 55, Cabinet, 1.500, 1.810, 2.101, 0, 0, 0, [SEP] 56, Cabinet, -0.633, 0.388, 2.105, 0, 0, 0, [SEP] 57, Cabinet, -0.911, 1.810, 2.700, 0, 180, 0, [SEP] 58, Drawer, -0.783, 0.774, 0.915, 0, 180, 0, [SEP] 59, StoveBurner, -1.108, 0.922, 1.865, 0, 0, 0, [SEP] 60, CounterTop, -0.972, 0.973, 0.921, 0, 0, 0, [SEP] 61, Cabinet, 1.219, 0.388, 0.631, 0, 0, 0, [SEP] 62, Sink, 1.544, 0.869, 1.639, 0, 180, 0, [SEP] 63, StoveBurner, -0.832, 0.922, 1.865, 0, 0, 0, [SEP] 64, StoveBurner, -0.831, 0.922, 1.470, 0, 0, 0, [SEP] 65, Drawer, 1.370, 0.774, 0.916, 0, 0, 0, [SEP] 66, Cabinet, -0.911, 1.810, 2.111, 0, 180, 0, [SEP] 67, Fridge, -1.001, 0.0, 0.119, 0, 0, 0, [SEP] 68, StoveKnob, -0.648, 0.926, 1.923, 0, 270, 0, [SEP] 69, StoveKnob, -0.648, 0.926, 1.363, 0, 270, 0, [SEP] 70, StoveKnob, -0.648, 0.926, 1.513, 0, 270, 0, [SEP] 71, StoveKnob, -0.648, 0.926, 1.763, 0, 270, 0, [SEP] 72, Toaster, -1.002, 0.926, 2.561, 0, 90, 0, [SEP] 73, GarbageCan, 1.451, -0.029, 2.912, 0, 0, 0, [SEP] 74, Microwave, 1.632, 1.480, 1.645, 0, 270, 0, [SEP] 75, Window, 0.224, 1.601, 3.509, 90, 0, 0, [SEP] 76, CoffeeMachine, 1.692, 0.926, 2.453, 0, 270, 0, [SEP] 77, SinkBasin, 1.461, 0.833, 1.369, 0, 180, 0, [SEP] 78, LightSwitch, 0.451, 1.412, -1.674, 0, 0, 0, [SEP] 79, Faucet, 1.707, 0.925, 1.363, 0, 270, 0, [SEP] 80, NorthWall, , , , , , , [SEP] 81, EastWall, , , , , , , [SEP] 82, SouthWall, , , , , , , [SEP] 83, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the sink. | STEP 2: Pick up the butter knife that's near the potato. | STEP 3: Move slightly to your left. | STEP 4: Cut the tomato into slices. | STEP 5: Move over to the right side of the sink. | STEP 6: Put the knife into the right side of the sink. | STEP 7: Move back over to the tomato. | STEP 8: Pick up a slice of the tomato. | STEP 9: Move to the middle of the sink and look up. | STEP 10: Cook the tomato in the fridge and then get it back out and close the door. | STEP 11: Move about a foot to the left of where you cut up the tomato facing the coffee maker. | STEP 12: Put the tomato in front of the coffee maker. | END"]} +{"id": "trial_T20190907_102658_284984-3", "input": "TO cut a tomato as well as heat a slice of the tomato. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 1.5, 0, 0, 0, [SEP] 1, Potato, -0.960, 0.970, 0.998, 0, 0, 0, 60 [SEP] 2, ButterKnife, 1.503, 0.944, 1.798, 0, 180, 0, 62 [SEP] 3, Fork, -1.127, 0.928, 2.234, 0, 0, 0, 35 [SEP] 4, Fork, -0.689, 0.747, 2.313, 0, 270, 0, 36 [SEP] 5, Spatula, -0.960, 0.952, 0.765, 0, 0, 0, 60 [SEP] 6, Spatula, 1.409, 0.959, 1.589, 0, 180, 0, 62 [SEP] 7, Egg, -0.793, 0.973, 0.998, 0, 0, 0, 60 [SEP] 8, Cup, -0.724, 0.080, 2.241, 0, 0, 0, 56 [SEP] 9, Tomato, -0.860, 0.627, 0.272, 0, 90, 0, 67 [SEP] 10, Bowl, 1.430, 0.078, 2.392, 0, 0, 0, 44 [SEP] 11, Bowl, -1.018, 1.315, 0.042, 0, 90, 0, 67 [SEP] 12, SaltShaker, -0.792, 0.742, 0.847, 0, 180, 0, 58 [SEP] 13, Mug, -1.121, 1.496, 2.494, 0, 90, 0, 57 [SEP] 14, Lettuce, -1.126, 1.028, 1.076, 0, 0, 0, 60 [SEP] 15, SoapBottle, -0.715, 0.083, 0.845, 0, 0, 0, 47 [SEP] 16, Bread, -0.921, 0.990, 2.267, 0, 302.979, 0, 35 [SEP] 17, Fork, -0.876, 0.938, 1.154, 0, 0, 0, 60 [SEP] 18, Tomato, 1.362, 0.999, 2.022, 0, 0, 0, 40 [SEP] 19, Bowl, 1.624, 1.944, 1.410, 0, 0, 0, 53 [SEP] 20, Pot, -1.109, 0.930, 1.470, 0, 0, 0, 37 [SEP] 21, Spatula, -0.723, 0.761, 1.050, 0, 270, 0, 58 [SEP] 22, Knife, -0.861, 0.768, 0.779, 0, 90, 0, 58 [SEP] 23, SaltShaker, 1.448, 0.743, 0.848, 0, 0, 0, 65 [SEP] 24, Apple, 1.422, 0.892, 1.398, 0, 180, 0, 77 [SEP] 25, PepperShaker, -0.876, 0.934, 0.843, 0, 0, 0, 60 [SEP] 26, ButterKnife, -1.043, 0.937, 1.076, 0, 90, 0, 60 [SEP] 27, Potato, 1.550, 0.977, 1.673, 0, 180, 0, 62 [SEP] 28, Plate, 1.391, 0.086, 0.918, 0, 0, 0, 61 [SEP] 29, DishSponge, -0.795, 0.937, 2.386, 0, 0, 0, 35 [SEP] 30, Egg, 1.489, 0.105, 2.945, 0, 0, 0, 73 [SEP] 31, Cup, -0.964, 0.813, 0.042, 0, 90, 0, 67 [SEP] 32, Pan, -1.109, 0.930, 1.865, 0, 0, 0, 59 [SEP] 33, Spoon, 1.448, 0.747, 0.984, 0, 90, 0, 65 [SEP] 34, Mug, 1.684, 1.591, 1.598, 0, 270, 0, 74 [SEP] 35, CounterTop, -0.973, 0.973, 2.386, 0, 0, 0, [SEP] 36, Drawer, -0.783, 0.774, 2.381, 0, 180, 0, [SEP] 37, StoveBurner, -1.108, 0.922, 1.470, 0, 0, 0, [SEP] 38, Drawer, 1.370, 0.774, 2.391, 0, 0, 0, [SEP] 39, Stool, -0.748, 0.008, 3.116, 0, 0, 0, [SEP] 40, CounterTop, 1.504, 0.973, 2.309, 0, 0, 0, [SEP] 41, Cabinet, 1.219, 1.388, 0.591, 0, 0, 0, [SEP] 42, Cabinet, 1.500, 2.113, 1.164, 0, 0, 0, [SEP] 43, Cabinet, 1.219, 2.010, 0.591, 0, 0, 0, [SEP] 44, Cabinet, 1.219, 0.388, 2.105, 0, 0, 0, [SEP] 45, Cabinet, 1.219, 0.553, 0.591, 0, 0, 0, [SEP] 46, Cabinet, -0.913, 2.113, 1.164, 0, 0, 0, [SEP] 47, Cabinet, -0.633, 0.388, 0.627, 0, 0, 0, [SEP] 48, Cabinet, -0.913, 2.050, -0.329, 0, 0, 0, [SEP] 49, Cabinet, -0.913, 2.113, 0.583, 0, 0, 0, [SEP] 50, Cabinet, -0.913, 2.113, 2.082, 0, 0, 0, [SEP] 51, Cabinet, -0.913, 2.113, 1.207, 0, 0, 0, [SEP] 52, Cabinet, 1.500, 2.113, 2.082, 0, 0, 0, [SEP] 53, Cabinet, 1.500, 2.113, 1.207, 0, 0, 0, [SEP] 54, Cabinet, 1.500, 1.810, 2.691, 0, 0, 0, [SEP] 55, Cabinet, 1.500, 1.810, 2.101, 0, 0, 0, [SEP] 56, Cabinet, -0.633, 0.388, 2.105, 0, 0, 0, [SEP] 57, Cabinet, -0.911, 1.810, 2.700, 0, 180, 0, [SEP] 58, Drawer, -0.783, 0.774, 0.915, 0, 180, 0, [SEP] 59, StoveBurner, -1.108, 0.922, 1.865, 0, 0, 0, [SEP] 60, CounterTop, -0.972, 0.973, 0.921, 0, 0, 0, [SEP] 61, Cabinet, 1.219, 0.388, 0.631, 0, 0, 0, [SEP] 62, Sink, 1.544, 0.869, 1.639, 0, 180, 0, [SEP] 63, StoveBurner, -0.832, 0.922, 1.865, 0, 0, 0, [SEP] 64, StoveBurner, -0.831, 0.922, 1.470, 0, 0, 0, [SEP] 65, Drawer, 1.370, 0.774, 0.916, 0, 0, 0, [SEP] 66, Cabinet, -0.911, 1.810, 2.111, 0, 180, 0, [SEP] 67, Fridge, -1.001, 0.0, 0.119, 0, 0, 0, [SEP] 68, StoveKnob, -0.648, 0.926, 1.923, 0, 270, 0, [SEP] 69, StoveKnob, -0.648, 0.926, 1.363, 0, 270, 0, [SEP] 70, StoveKnob, -0.648, 0.926, 1.513, 0, 270, 0, [SEP] 71, StoveKnob, -0.648, 0.926, 1.763, 0, 270, 0, [SEP] 72, Toaster, -1.002, 0.926, 2.561, 0, 90, 0, [SEP] 73, GarbageCan, 1.451, -0.029, 2.912, 0, 0, 0, [SEP] 74, Microwave, 1.632, 1.480, 1.645, 0, 270, 0, [SEP] 75, Window, 0.224, 1.601, 3.509, 90, 0, 0, [SEP] 76, CoffeeMachine, 1.692, 0.926, 2.453, 0, 270, 0, [SEP] 77, SinkBasin, 1.461, 0.833, 1.369, 0, 180, 0, [SEP] 78, LightSwitch, 0.451, 1.412, -1.674, 0, 0, 0, [SEP] 79, Faucet, 1.707, 0.925, 1.363, 0, 270, 0, [SEP] 80, NorthWall, , , , , , , [SEP] 81, EastWall, , , , , , , [SEP] 82, SouthWall, , , , , , , [SEP] 83, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right and walk across the room to face the counter to the left of the sink. | STEP 2: Pick up the knife on the left side of the sink. | STEP 3: Take a step to the left and face the counter with a tomato on it. | STEP 4: Cut the tomato into slices. | STEP 5: Take a step to the right and face the sink. | STEP 6: Put the knife in the sink. | STEP 7: Take a step to the left and face the counter with a tomato on it. | STEP 8: Pick up a slice of tomato. | STEP 9: Take a step to the right and face the microwave above the sink. | STEP 10: Heat the tomato slice in the microwave and remove it. | STEP 11: Take a step to the left and face the counter with a tomato on it. | STEP 12: Put the tomato slice on the counter on the left of the rest of the tomato. | END"]} +{"id": "trial_T20190907_102658_284984-4", "input": "Put a cooked slice of tomato on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 1.5, 0, 0, 0, [SEP] 1, Potato, -0.960, 0.970, 0.998, 0, 0, 0, 60 [SEP] 2, ButterKnife, 1.503, 0.944, 1.798, 0, 180, 0, 62 [SEP] 3, Fork, -1.127, 0.928, 2.234, 0, 0, 0, 35 [SEP] 4, Fork, -0.689, 0.747, 2.313, 0, 270, 0, 36 [SEP] 5, Spatula, -0.960, 0.952, 0.765, 0, 0, 0, 60 [SEP] 6, Spatula, 1.409, 0.959, 1.589, 0, 180, 0, 62 [SEP] 7, Egg, -0.793, 0.973, 0.998, 0, 0, 0, 60 [SEP] 8, Cup, -0.724, 0.080, 2.241, 0, 0, 0, 56 [SEP] 9, Tomato, -0.860, 0.627, 0.272, 0, 90, 0, 67 [SEP] 10, Bowl, 1.430, 0.078, 2.392, 0, 0, 0, 44 [SEP] 11, Bowl, -1.018, 1.315, 0.042, 0, 90, 0, 67 [SEP] 12, SaltShaker, -0.792, 0.742, 0.847, 0, 180, 0, 58 [SEP] 13, Mug, -1.121, 1.496, 2.494, 0, 90, 0, 57 [SEP] 14, Lettuce, -1.126, 1.028, 1.076, 0, 0, 0, 60 [SEP] 15, SoapBottle, -0.715, 0.083, 0.845, 0, 0, 0, 47 [SEP] 16, Bread, -0.921, 0.990, 2.267, 0, 302.979, 0, 35 [SEP] 17, Fork, -0.876, 0.938, 1.154, 0, 0, 0, 60 [SEP] 18, Tomato, 1.362, 0.999, 2.022, 0, 0, 0, 40 [SEP] 19, Bowl, 1.624, 1.944, 1.410, 0, 0, 0, 53 [SEP] 20, Pot, -1.109, 0.930, 1.470, 0, 0, 0, 37 [SEP] 21, Spatula, -0.723, 0.761, 1.050, 0, 270, 0, 58 [SEP] 22, Knife, -0.861, 0.768, 0.779, 0, 90, 0, 58 [SEP] 23, SaltShaker, 1.448, 0.743, 0.848, 0, 0, 0, 65 [SEP] 24, Apple, 1.422, 0.892, 1.398, 0, 180, 0, 77 [SEP] 25, PepperShaker, -0.876, 0.934, 0.843, 0, 0, 0, 60 [SEP] 26, ButterKnife, -1.043, 0.937, 1.076, 0, 90, 0, 60 [SEP] 27, Potato, 1.550, 0.977, 1.673, 0, 180, 0, 62 [SEP] 28, Plate, 1.391, 0.086, 0.918, 0, 0, 0, 61 [SEP] 29, DishSponge, -0.795, 0.937, 2.386, 0, 0, 0, 35 [SEP] 30, Egg, 1.489, 0.105, 2.945, 0, 0, 0, 73 [SEP] 31, Cup, -0.964, 0.813, 0.042, 0, 90, 0, 67 [SEP] 32, Pan, -1.109, 0.930, 1.865, 0, 0, 0, 59 [SEP] 33, Spoon, 1.448, 0.747, 0.984, 0, 90, 0, 65 [SEP] 34, Mug, 1.684, 1.591, 1.598, 0, 270, 0, 74 [SEP] 35, CounterTop, -0.973, 0.973, 2.386, 0, 0, 0, [SEP] 36, Drawer, -0.783, 0.774, 2.381, 0, 180, 0, [SEP] 37, StoveBurner, -1.108, 0.922, 1.470, 0, 0, 0, [SEP] 38, Drawer, 1.370, 0.774, 2.391, 0, 0, 0, [SEP] 39, Stool, -0.748, 0.008, 3.116, 0, 0, 0, [SEP] 40, CounterTop, 1.504, 0.973, 2.309, 0, 0, 0, [SEP] 41, Cabinet, 1.219, 1.388, 0.591, 0, 0, 0, [SEP] 42, Cabinet, 1.500, 2.113, 1.164, 0, 0, 0, [SEP] 43, Cabinet, 1.219, 2.010, 0.591, 0, 0, 0, [SEP] 44, Cabinet, 1.219, 0.388, 2.105, 0, 0, 0, [SEP] 45, Cabinet, 1.219, 0.553, 0.591, 0, 0, 0, [SEP] 46, Cabinet, -0.913, 2.113, 1.164, 0, 0, 0, [SEP] 47, Cabinet, -0.633, 0.388, 0.627, 0, 0, 0, [SEP] 48, Cabinet, -0.913, 2.050, -0.329, 0, 0, 0, [SEP] 49, Cabinet, -0.913, 2.113, 0.583, 0, 0, 0, [SEP] 50, Cabinet, -0.913, 2.113, 2.082, 0, 0, 0, [SEP] 51, Cabinet, -0.913, 2.113, 1.207, 0, 0, 0, [SEP] 52, Cabinet, 1.500, 2.113, 2.082, 0, 0, 0, [SEP] 53, Cabinet, 1.500, 2.113, 1.207, 0, 0, 0, [SEP] 54, Cabinet, 1.500, 1.810, 2.691, 0, 0, 0, [SEP] 55, Cabinet, 1.500, 1.810, 2.101, 0, 0, 0, [SEP] 56, Cabinet, -0.633, 0.388, 2.105, 0, 0, 0, [SEP] 57, Cabinet, -0.911, 1.810, 2.700, 0, 180, 0, [SEP] 58, Drawer, -0.783, 0.774, 0.915, 0, 180, 0, [SEP] 59, StoveBurner, -1.108, 0.922, 1.865, 0, 0, 0, [SEP] 60, CounterTop, -0.972, 0.973, 0.921, 0, 0, 0, [SEP] 61, Cabinet, 1.219, 0.388, 0.631, 0, 0, 0, [SEP] 62, Sink, 1.544, 0.869, 1.639, 0, 180, 0, [SEP] 63, StoveBurner, -0.832, 0.922, 1.865, 0, 0, 0, [SEP] 64, StoveBurner, -0.831, 0.922, 1.470, 0, 0, 0, [SEP] 65, Drawer, 1.370, 0.774, 0.916, 0, 0, 0, [SEP] 66, Cabinet, -0.911, 1.810, 2.111, 0, 180, 0, [SEP] 67, Fridge, -1.001, 0.0, 0.119, 0, 0, 0, [SEP] 68, StoveKnob, -0.648, 0.926, 1.923, 0, 270, 0, [SEP] 69, StoveKnob, -0.648, 0.926, 1.363, 0, 270, 0, [SEP] 70, StoveKnob, -0.648, 0.926, 1.513, 0, 270, 0, [SEP] 71, StoveKnob, -0.648, 0.926, 1.763, 0, 270, 0, [SEP] 72, Toaster, -1.002, 0.926, 2.561, 0, 90, 0, [SEP] 73, GarbageCan, 1.451, -0.029, 2.912, 0, 0, 0, [SEP] 74, Microwave, 1.632, 1.480, 1.645, 0, 270, 0, [SEP] 75, Window, 0.224, 1.601, 3.509, 90, 0, 0, [SEP] 76, CoffeeMachine, 1.692, 0.926, 2.453, 0, 270, 0, [SEP] 77, SinkBasin, 1.461, 0.833, 1.369, 0, 180, 0, [SEP] 78, LightSwitch, 0.451, 1.412, -1.674, 0, 0, 0, [SEP] 79, Faucet, 1.707, 0.925, 1.363, 0, 270, 0, [SEP] 80, NorthWall, , , , , , , [SEP] 81, EastWall, , , , , , , [SEP] 82, SouthWall, , , , , , , [SEP] 83, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, walk to the sink. | STEP 2: Pick up the knife from the dish-drying area to the left of the sink. | STEP 3: Move left to the counter. | STEP 4: Slice the tomato on the counter. | STEP 5: Move right to the sink. | STEP 6: Put the knife in the sink. | STEP 7: Move left to the counter. | STEP 8: Pick up tomato slice from the counter. | STEP 9: Turn right, turn left to face counter and microwave again. | STEP 10: Put tomato in the microwave and cook it, take tomato out of microwave.. | STEP 11: Turn away from counter, turn back to face counter. | STEP 12: Put the slice of tomato on the font of the counter to the right of the espresso machine. | END"]} +{"id": "trial_T20190908_001247_096796-0", "input": "Warm a plate and place it on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.0, 0.900, -1.5, 0, 0, 0, [SEP] 1, Potato, -0.411, 0.845, -3.338, 0, 315, 0, 70 [SEP] 2, DishSponge, -0.097, 1.941, -0.660, 0, 0, 0, 48 [SEP] 3, DishSponge, -3.163, 0.894, -0.204, 0, 270, 0, 78 [SEP] 4, ButterKnife, -2.359, 0.894, -0.548, 0, 270, 0, 78 [SEP] 5, Fork, -0.721, 0.814, -3.491, 0, 315, 0, 70 [SEP] 6, Fork, -2.560, 0.895, -0.290, 0, 270, 0, 78 [SEP] 7, Spoon, -2.761, 0.895, -0.290, 0, 270, 0, 78 [SEP] 8, Cup, -3.541, 0.760, -3.626, 0, 334.125, 0, 77 [SEP] 9, Plate, -0.135, 1.516, -2.788, 0, 0, 0, 58 [SEP] 10, Plate, -1.471, 0.956, -3.673, 0, 0, 0, 41 [SEP] 11, Plate, -0.473, 1.517, -3.702, 0, 45, 0, 53 [SEP] 12, Knife, -3.364, 0.920, -0.462, 0, 270, 0, 78 [SEP] 13, SoapBottle, -2.761, 0.892, -0.119, 0, 270, 0, 78 [SEP] 14, Tomato, -0.252, 1.337, -0.994, 0, 270, 0, 71 [SEP] 15, Bread, -2.359, 0.976, -0.204, 0, 270, 0, 78 [SEP] 16, Bread, -3.565, 0.976, -0.633, 0, 270, 0, 78 [SEP] 17, SaltShaker, -2.560, 0.890, -0.548, 0, 270, 0, 78 [SEP] 18, SaltShaker, -3.882, 0.687, -0.369, 0, 0, 0, 76 [SEP] 19, Mug, -3.882, 0.686, -0.491, 0, 0, 0, 76 [SEP] 20, SoapBottle, -0.321, 0.940, -2.788, 0, 0, 0, 41 [SEP] 21, Pot, -0.437, 0.961, -1.845, 0, 180, 0, 42 [SEP] 22, Fork, -3.942, 0.691, -0.491, 0, 0, 0, 76 [SEP] 23, Cup, -3.942, 0.691, -0.187, 0, 0, 0, 76 [SEP] 24, Tomato, -0.549, 0.993, -2.670, 0, 0, 0, 41 [SEP] 25, Pan, -0.437, 0.961, -2.243, 0, 0, 0, 44 [SEP] 26, Plate, -3.527, 0.774, -2.861, 0, 199.125, 0, 77 [SEP] 27, Bread, -4.122, 0.771, -0.248, 0, 0, 0, 76 [SEP] 28, Spatula, -0.236, 0.956, -1.581, 0, 0, 0, 59 [SEP] 29, Knife, -3.565, 0.920, -0.204, 0, 270, 0, 78 [SEP] 30, SaltShaker, -0.088, 1.935, -2.338, 0, 0, 0, 51 [SEP] 31, PepperShaker, -4.242, 0.686, -0.187, 0, 0, 0, 76 [SEP] 32, ButterKnife, -3.364, 0.894, -0.290, 0, 270, 0, 78 [SEP] 33, Apple, -0.315, 1.002, -1.450, 0, 0, 0, 59 [SEP] 34, DishSponge, -0.465, 0.746, -1.375, 0, 0, 0, 45 [SEP] 35, Potato, -2.452, 0.131, -3.604, 0, 0, 0, 66 [SEP] 36, Egg, -0.702, 0.854, -3.395, 0, 315, 0, 70 [SEP] 37, Spoon, -0.157, 0.942, -1.362, 0, 0, 0, 59 [SEP] 38, Lettuce, -0.283, 1.579, -0.297, 0, 270, 0, 71 [SEP] 39, Mug, -0.321, 1.483, -0.878, 0, 270, 0, 71 [SEP] 40, Bowl, -4.059, 0.758, -3.168, 0, 109.125, 0, 77 [SEP] 41, CounterTop, -1.937, 0.977, -3.673, 0, 0, 0, [SEP] 42, StoveBurner, -0.437, 0.924, -1.845, 0, 180, 0, [SEP] 43, StoveBurner, -0.222, 0.924, -1.845, 0, 180, 0, [SEP] 44, StoveBurner, -0.437, 0.924, -2.243, 0, 0, 0, [SEP] 45, Drawer, -0.500, 0.779, -1.450, 0, 0, 0, [SEP] 46, Drawer, -0.481, 0.777, -2.739, 0, 0, 0, [SEP] 47, Drawer, -1.154, 0.782, -3.499, 0, 0, 0, [SEP] 48, Cabinet, -0.337, 2.110, -0.390, 0, 0, 0, [SEP] 49, Cabinet, -0.337, 2.110, -1.272, 0, 0, 0, [SEP] 50, Cabinet, -0.337, 2.110, -1.631, 0, 0, 0, [SEP] 51, Cabinet, -0.337, 2.110, -2.497, 0, 0, 0, [SEP] 52, Cabinet, -0.337, 1.891, -1.286, 0, 0, 0, [SEP] 53, Cabinet, -0.346, 1.891, -3.293, 0, 0, 0, [SEP] 54, Cabinet, -0.629, 0.388, -2.513, 0, 0, 0, [SEP] 55, Cabinet, -0.633, 0.388, -3.008, 0, 0, 0, [SEP] 56, Cabinet, -1.010, 0.388, -3.368, 0, 0, 0, [SEP] 57, Cabinet, -0.629, 0.388, -1.614, 0, 0, 0, [SEP] 58, Cabinet, -0.327, 1.886, -2.513, 0, 0, 0, [SEP] 59, CounterTop, -0.326, 0.976, -1.450, 0, 0, 0, [SEP] 60, StoveBurner, -0.222, 0.924, -2.243, 0, 0, 0, [SEP] 61, Sink, -0.600, 0.929, -3.388, 0, 0, 0, [SEP] 62, StoveKnob, -0.617, 0.899, -1.833, 315, 90, 180, [SEP] 63, StoveKnob, -0.617, 0.899, -2.129, 315, 90, 180, [SEP] 64, StoveKnob, -0.617, 0.899, -2.289, 315, 90, 180, [SEP] 65, StoveKnob, -0.617, 0.899, -1.975, 315, 90, 180, [SEP] 66, GarbageCan, -2.418, -0.032, -3.541, 0, 0, 0, [SEP] 67, CoffeeMachine, -2.513, 0.930, -3.797, 0, 0, 0, [SEP] 68, Window, -1.389, 1.610, -4.113, 90, 0, 0, [SEP] 69, LightSwitch, -4.372, 1.493, -1.031, 0, 90, 0, [SEP] 70, SinkBasin, -0.614, 0.802, -3.384, 0, 315, 0, [SEP] 71, Fridge, -0.314, 0.0, -0.646, 0, 0, 0, [SEP] 72, Toaster, -1.970, 0.930, -3.763, 0, 0, 0, [SEP] 73, Microwave, -0.216, 1.470, -2.054, 0, 270, 0, [SEP] 74, Blinds, -1.373, 2.205, -3.961, 0, 0, 0, [SEP] 75, Faucet, -0.393, 0.930, -3.614, 270, 225, 0, [SEP] 76, SideTable, -4.030, 0.002, -0.301, 0, 185.034, 0, [SEP] 77, DiningTable, -3.586, 0.000, -3.258, 0, 0, 0, [SEP] 78, DiningTable, -3.224, -0.003, -0.453, 0, 0, 0, [SEP] 79, Shelf, -4.030, 0.259, -0.301, 0, 185.034, 0, [SEP] 80, Shelf, -4.030, 0.489, -0.301, 0, 185.034, 0, [SEP] 81, EastWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , ", "output": ["STEP 1: Turn to the right and move towards the range, then turn to the right and move to the dishwasher in front of the window. | STEP 2: Pick up the gray patterned plate from the counter to the left of the toaster and in front of the window. | STEP 3: Turn to the left and then move to and face the range. | STEP 4: Open the microwave above the range, place the plate on top of the plate in the microwave, microwave both plates, then open up the microwave and remove the gray patterned plate. | STEP 5: Turn around and move towards the kitchen door then turn left and move to the black table in the corner. | STEP 6: Place the gray patterned plate on the table between the gray plate and the blue bowl. | END"]} +{"id": "trial_T20190908_001247_096796-1", "input": "To heat a plate and place it on the kitchen table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.0, 0.900, -1.5, 0, 0, 0, [SEP] 1, Potato, -0.411, 0.845, -3.338, 0, 315, 0, 70 [SEP] 2, DishSponge, -0.097, 1.941, -0.660, 0, 0, 0, 48 [SEP] 3, DishSponge, -3.163, 0.894, -0.204, 0, 270, 0, 78 [SEP] 4, ButterKnife, -2.359, 0.894, -0.548, 0, 270, 0, 78 [SEP] 5, Fork, -0.721, 0.814, -3.491, 0, 315, 0, 70 [SEP] 6, Fork, -2.560, 0.895, -0.290, 0, 270, 0, 78 [SEP] 7, Spoon, -2.761, 0.895, -0.290, 0, 270, 0, 78 [SEP] 8, Cup, -3.541, 0.760, -3.626, 0, 334.125, 0, 77 [SEP] 9, Plate, -0.135, 1.516, -2.788, 0, 0, 0, 58 [SEP] 10, Plate, -1.471, 0.956, -3.673, 0, 0, 0, 41 [SEP] 11, Plate, -0.473, 1.517, -3.702, 0, 45, 0, 53 [SEP] 12, Knife, -3.364, 0.920, -0.462, 0, 270, 0, 78 [SEP] 13, SoapBottle, -2.761, 0.892, -0.119, 0, 270, 0, 78 [SEP] 14, Tomato, -0.252, 1.337, -0.994, 0, 270, 0, 71 [SEP] 15, Bread, -2.359, 0.976, -0.204, 0, 270, 0, 78 [SEP] 16, Bread, -3.565, 0.976, -0.633, 0, 270, 0, 78 [SEP] 17, SaltShaker, -2.560, 0.890, -0.548, 0, 270, 0, 78 [SEP] 18, SaltShaker, -3.882, 0.687, -0.369, 0, 0, 0, 76 [SEP] 19, Mug, -3.882, 0.686, -0.491, 0, 0, 0, 76 [SEP] 20, SoapBottle, -0.321, 0.940, -2.788, 0, 0, 0, 41 [SEP] 21, Pot, -0.437, 0.961, -1.845, 0, 180, 0, 42 [SEP] 22, Fork, -3.942, 0.691, -0.491, 0, 0, 0, 76 [SEP] 23, Cup, -3.942, 0.691, -0.187, 0, 0, 0, 76 [SEP] 24, Tomato, -0.549, 0.993, -2.670, 0, 0, 0, 41 [SEP] 25, Pan, -0.437, 0.961, -2.243, 0, 0, 0, 44 [SEP] 26, Plate, -3.527, 0.774, -2.861, 0, 199.125, 0, 77 [SEP] 27, Bread, -4.122, 0.771, -0.248, 0, 0, 0, 76 [SEP] 28, Spatula, -0.236, 0.956, -1.581, 0, 0, 0, 59 [SEP] 29, Knife, -3.565, 0.920, -0.204, 0, 270, 0, 78 [SEP] 30, SaltShaker, -0.088, 1.935, -2.338, 0, 0, 0, 51 [SEP] 31, PepperShaker, -4.242, 0.686, -0.187, 0, 0, 0, 76 [SEP] 32, ButterKnife, -3.364, 0.894, -0.290, 0, 270, 0, 78 [SEP] 33, Apple, -0.315, 1.002, -1.450, 0, 0, 0, 59 [SEP] 34, DishSponge, -0.465, 0.746, -1.375, 0, 0, 0, 45 [SEP] 35, Potato, -2.452, 0.131, -3.604, 0, 0, 0, 66 [SEP] 36, Egg, -0.702, 0.854, -3.395, 0, 315, 0, 70 [SEP] 37, Spoon, -0.157, 0.942, -1.362, 0, 0, 0, 59 [SEP] 38, Lettuce, -0.283, 1.579, -0.297, 0, 270, 0, 71 [SEP] 39, Mug, -0.321, 1.483, -0.878, 0, 270, 0, 71 [SEP] 40, Bowl, -4.059, 0.758, -3.168, 0, 109.125, 0, 77 [SEP] 41, CounterTop, -1.937, 0.977, -3.673, 0, 0, 0, [SEP] 42, StoveBurner, -0.437, 0.924, -1.845, 0, 180, 0, [SEP] 43, StoveBurner, -0.222, 0.924, -1.845, 0, 180, 0, [SEP] 44, StoveBurner, -0.437, 0.924, -2.243, 0, 0, 0, [SEP] 45, Drawer, -0.500, 0.779, -1.450, 0, 0, 0, [SEP] 46, Drawer, -0.481, 0.777, -2.739, 0, 0, 0, [SEP] 47, Drawer, -1.154, 0.782, -3.499, 0, 0, 0, [SEP] 48, Cabinet, -0.337, 2.110, -0.390, 0, 0, 0, [SEP] 49, Cabinet, -0.337, 2.110, -1.272, 0, 0, 0, [SEP] 50, Cabinet, -0.337, 2.110, -1.631, 0, 0, 0, [SEP] 51, Cabinet, -0.337, 2.110, -2.497, 0, 0, 0, [SEP] 52, Cabinet, -0.337, 1.891, -1.286, 0, 0, 0, [SEP] 53, Cabinet, -0.346, 1.891, -3.293, 0, 0, 0, [SEP] 54, Cabinet, -0.629, 0.388, -2.513, 0, 0, 0, [SEP] 55, Cabinet, -0.633, 0.388, -3.008, 0, 0, 0, [SEP] 56, Cabinet, -1.010, 0.388, -3.368, 0, 0, 0, [SEP] 57, Cabinet, -0.629, 0.388, -1.614, 0, 0, 0, [SEP] 58, Cabinet, -0.327, 1.886, -2.513, 0, 0, 0, [SEP] 59, CounterTop, -0.326, 0.976, -1.450, 0, 0, 0, [SEP] 60, StoveBurner, -0.222, 0.924, -2.243, 0, 0, 0, [SEP] 61, Sink, -0.600, 0.929, -3.388, 0, 0, 0, [SEP] 62, StoveKnob, -0.617, 0.899, -1.833, 315, 90, 180, [SEP] 63, StoveKnob, -0.617, 0.899, -2.129, 315, 90, 180, [SEP] 64, StoveKnob, -0.617, 0.899, -2.289, 315, 90, 180, [SEP] 65, StoveKnob, -0.617, 0.899, -1.975, 315, 90, 180, [SEP] 66, GarbageCan, -2.418, -0.032, -3.541, 0, 0, 0, [SEP] 67, CoffeeMachine, -2.513, 0.930, -3.797, 0, 0, 0, [SEP] 68, Window, -1.389, 1.610, -4.113, 90, 0, 0, [SEP] 69, LightSwitch, -4.372, 1.493, -1.031, 0, 90, 0, [SEP] 70, SinkBasin, -0.614, 0.802, -3.384, 0, 315, 0, [SEP] 71, Fridge, -0.314, 0.0, -0.646, 0, 0, 0, [SEP] 72, Toaster, -1.970, 0.930, -3.763, 0, 0, 0, [SEP] 73, Microwave, -0.216, 1.470, -2.054, 0, 270, 0, [SEP] 74, Blinds, -1.373, 2.205, -3.961, 0, 0, 0, [SEP] 75, Faucet, -0.393, 0.930, -3.614, 270, 225, 0, [SEP] 76, SideTable, -4.030, 0.002, -0.301, 0, 185.034, 0, [SEP] 77, DiningTable, -3.586, 0.000, -3.258, 0, 0, 0, [SEP] 78, DiningTable, -3.224, -0.003, -0.453, 0, 0, 0, [SEP] 79, Shelf, -4.030, 0.259, -0.301, 0, 185.034, 0, [SEP] 80, Shelf, -4.030, 0.489, -0.301, 0, 185.034, 0, [SEP] 81, EastWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and walk across the room and face the counter to the left of the toaster. | STEP 2: Pick up the plate on the counter. | STEP 3: Turn to the left and walk over to face the microwave above the stove. | STEP 4: Heat the plate and remove it from the microwave. | STEP 5: Turn around and walk across the room and turn left to face the kitchen table. | STEP 6: Place the plate to the right of the plate already on the table. | END"]} +{"id": "trial_T20190908_001247_096796-2", "input": "get a plate, warm it in the microwave and take it to the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.0, 0.900, -1.5, 0, 0, 0, [SEP] 1, Potato, -0.411, 0.845, -3.338, 0, 315, 0, 70 [SEP] 2, DishSponge, -0.097, 1.941, -0.660, 0, 0, 0, 48 [SEP] 3, DishSponge, -3.163, 0.894, -0.204, 0, 270, 0, 78 [SEP] 4, ButterKnife, -2.359, 0.894, -0.548, 0, 270, 0, 78 [SEP] 5, Fork, -0.721, 0.814, -3.491, 0, 315, 0, 70 [SEP] 6, Fork, -2.560, 0.895, -0.290, 0, 270, 0, 78 [SEP] 7, Spoon, -2.761, 0.895, -0.290, 0, 270, 0, 78 [SEP] 8, Cup, -3.541, 0.760, -3.626, 0, 334.125, 0, 77 [SEP] 9, Plate, -0.135, 1.516, -2.788, 0, 0, 0, 58 [SEP] 10, Plate, -1.471, 0.956, -3.673, 0, 0, 0, 41 [SEP] 11, Plate, -0.473, 1.517, -3.702, 0, 45, 0, 53 [SEP] 12, Knife, -3.364, 0.920, -0.462, 0, 270, 0, 78 [SEP] 13, SoapBottle, -2.761, 0.892, -0.119, 0, 270, 0, 78 [SEP] 14, Tomato, -0.252, 1.337, -0.994, 0, 270, 0, 71 [SEP] 15, Bread, -2.359, 0.976, -0.204, 0, 270, 0, 78 [SEP] 16, Bread, -3.565, 0.976, -0.633, 0, 270, 0, 78 [SEP] 17, SaltShaker, -2.560, 0.890, -0.548, 0, 270, 0, 78 [SEP] 18, SaltShaker, -3.882, 0.687, -0.369, 0, 0, 0, 76 [SEP] 19, Mug, -3.882, 0.686, -0.491, 0, 0, 0, 76 [SEP] 20, SoapBottle, -0.321, 0.940, -2.788, 0, 0, 0, 41 [SEP] 21, Pot, -0.437, 0.961, -1.845, 0, 180, 0, 42 [SEP] 22, Fork, -3.942, 0.691, -0.491, 0, 0, 0, 76 [SEP] 23, Cup, -3.942, 0.691, -0.187, 0, 0, 0, 76 [SEP] 24, Tomato, -0.549, 0.993, -2.670, 0, 0, 0, 41 [SEP] 25, Pan, -0.437, 0.961, -2.243, 0, 0, 0, 44 [SEP] 26, Plate, -3.527, 0.774, -2.861, 0, 199.125, 0, 77 [SEP] 27, Bread, -4.122, 0.771, -0.248, 0, 0, 0, 76 [SEP] 28, Spatula, -0.236, 0.956, -1.581, 0, 0, 0, 59 [SEP] 29, Knife, -3.565, 0.920, -0.204, 0, 270, 0, 78 [SEP] 30, SaltShaker, -0.088, 1.935, -2.338, 0, 0, 0, 51 [SEP] 31, PepperShaker, -4.242, 0.686, -0.187, 0, 0, 0, 76 [SEP] 32, ButterKnife, -3.364, 0.894, -0.290, 0, 270, 0, 78 [SEP] 33, Apple, -0.315, 1.002, -1.450, 0, 0, 0, 59 [SEP] 34, DishSponge, -0.465, 0.746, -1.375, 0, 0, 0, 45 [SEP] 35, Potato, -2.452, 0.131, -3.604, 0, 0, 0, 66 [SEP] 36, Egg, -0.702, 0.854, -3.395, 0, 315, 0, 70 [SEP] 37, Spoon, -0.157, 0.942, -1.362, 0, 0, 0, 59 [SEP] 38, Lettuce, -0.283, 1.579, -0.297, 0, 270, 0, 71 [SEP] 39, Mug, -0.321, 1.483, -0.878, 0, 270, 0, 71 [SEP] 40, Bowl, -4.059, 0.758, -3.168, 0, 109.125, 0, 77 [SEP] 41, CounterTop, -1.937, 0.977, -3.673, 0, 0, 0, [SEP] 42, StoveBurner, -0.437, 0.924, -1.845, 0, 180, 0, [SEP] 43, StoveBurner, -0.222, 0.924, -1.845, 0, 180, 0, [SEP] 44, StoveBurner, -0.437, 0.924, -2.243, 0, 0, 0, [SEP] 45, Drawer, -0.500, 0.779, -1.450, 0, 0, 0, [SEP] 46, Drawer, -0.481, 0.777, -2.739, 0, 0, 0, [SEP] 47, Drawer, -1.154, 0.782, -3.499, 0, 0, 0, [SEP] 48, Cabinet, -0.337, 2.110, -0.390, 0, 0, 0, [SEP] 49, Cabinet, -0.337, 2.110, -1.272, 0, 0, 0, [SEP] 50, Cabinet, -0.337, 2.110, -1.631, 0, 0, 0, [SEP] 51, Cabinet, -0.337, 2.110, -2.497, 0, 0, 0, [SEP] 52, Cabinet, -0.337, 1.891, -1.286, 0, 0, 0, [SEP] 53, Cabinet, -0.346, 1.891, -3.293, 0, 0, 0, [SEP] 54, Cabinet, -0.629, 0.388, -2.513, 0, 0, 0, [SEP] 55, Cabinet, -0.633, 0.388, -3.008, 0, 0, 0, [SEP] 56, Cabinet, -1.010, 0.388, -3.368, 0, 0, 0, [SEP] 57, Cabinet, -0.629, 0.388, -1.614, 0, 0, 0, [SEP] 58, Cabinet, -0.327, 1.886, -2.513, 0, 0, 0, [SEP] 59, CounterTop, -0.326, 0.976, -1.450, 0, 0, 0, [SEP] 60, StoveBurner, -0.222, 0.924, -2.243, 0, 0, 0, [SEP] 61, Sink, -0.600, 0.929, -3.388, 0, 0, 0, [SEP] 62, StoveKnob, -0.617, 0.899, -1.833, 315, 90, 180, [SEP] 63, StoveKnob, -0.617, 0.899, -2.129, 315, 90, 180, [SEP] 64, StoveKnob, -0.617, 0.899, -2.289, 315, 90, 180, [SEP] 65, StoveKnob, -0.617, 0.899, -1.975, 315, 90, 180, [SEP] 66, GarbageCan, -2.418, -0.032, -3.541, 0, 0, 0, [SEP] 67, CoffeeMachine, -2.513, 0.930, -3.797, 0, 0, 0, [SEP] 68, Window, -1.389, 1.610, -4.113, 90, 0, 0, [SEP] 69, LightSwitch, -4.372, 1.493, -1.031, 0, 90, 0, [SEP] 70, SinkBasin, -0.614, 0.802, -3.384, 0, 315, 0, [SEP] 71, Fridge, -0.314, 0.0, -0.646, 0, 0, 0, [SEP] 72, Toaster, -1.970, 0.930, -3.763, 0, 0, 0, [SEP] 73, Microwave, -0.216, 1.470, -2.054, 0, 270, 0, [SEP] 74, Blinds, -1.373, 2.205, -3.961, 0, 0, 0, [SEP] 75, Faucet, -0.393, 0.930, -3.614, 270, 225, 0, [SEP] 76, SideTable, -4.030, 0.002, -0.301, 0, 185.034, 0, [SEP] 77, DiningTable, -3.586, 0.000, -3.258, 0, 0, 0, [SEP] 78, DiningTable, -3.224, -0.003, -0.453, 0, 0, 0, [SEP] 79, Shelf, -4.030, 0.259, -0.301, 0, 185.034, 0, [SEP] 80, Shelf, -4.030, 0.489, -0.301, 0, 185.034, 0, [SEP] 81, EastWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , ", "output": ["STEP 1: walk over to the counter where the dishwasher is | STEP 2: pick up the paper plate from the counter | STEP 3: take the plate to the microwave above the stove | STEP 4: put the plate in the microwave and then take it back out | STEP 5: take the plate over to the small green table | STEP 6: set the plate on the table to the right of the plate that is already there | END"]} +{"id": "trial_T20190908_070740_753071-0", "input": "Put a microwaved tomato in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, -0.25, 0, 90, 0, [SEP] 1, Kettle, -0.418, 1.329, -1.772, 0, 180, 0, 42 [SEP] 2, Potato, 1.601, 0.942, 0.375, 0, 0, 0, 63 [SEP] 3, DishSponge, 0.394, 0.108, -1.472, 0, 180, 0, 45 [SEP] 4, Pot, 1.007, 0.962, 0.561, 0, 270, 0, 50 [SEP] 5, Fork, 0.035, 0.912, 0.209, 0, 0, 0, 47 [SEP] 6, Fork, 0.551, 0.773, 0.305, 0, 0, 0, 44 [SEP] 7, Spatula, -2.614, 0.967, 0.435, 0, 180, 0, 81 [SEP] 8, Cup, -2.065, 0.950, 0.614, 0, 90, 0, 81 [SEP] 9, Cup, -0.682, 0.109, -1.508, 0, 0, 0, 62 [SEP] 10, Knife, -1.791, 0.977, 0.345, 0, 90, 0, 81 [SEP] 11, SoapBottle, -1.791, 0.950, 0.165, 0, 90, 0, 81 [SEP] 12, Tomato, -2.397, 0.829, -1.849, 0, 0, 0, 78 [SEP] 13, Tomato, 0.856, 0.968, -1.449, 0, 270, 0, 46 [SEP] 14, Tomato, -0.361, 0.119, 0.439, 0, 90, 0, 77 [SEP] 15, Mug, 0.753, 0.914, -1.715, 0, 90, 0, 46 [SEP] 16, Mug, -0.872, 1.010, -1.803, 0, 90, 0, 70 [SEP] 17, Apple, -2.203, 1.019, 0.435, 0, 90, 0, 81 [SEP] 18, Apple, -0.975, 1.082, -1.803, 0, 0, 0, 70 [SEP] 19, Bread, 1.724, 0.995, 0.623, 0, 0, 0, 63 [SEP] 20, Knife, 0.167, 0.937, 0.375, 0, 0, 0, 47 [SEP] 21, Fork, -0.082, 0.912, -1.820, 0, 270, 0, 48 [SEP] 22, Bowl, -1.959, 0.780, -1.720, 0, 0, 0, 78 [SEP] 23, Kettle, 1.785, 0.913, 0.292, 0, 90, 0, 63 [SEP] 24, Cup, 0.701, 0.917, -1.516, 0, 270, 0, 46 [SEP] 25, Tomato, 0.856, 0.968, -1.582, 0, 270, 0, 46 [SEP] 26, SoapBottle, -1.928, 0.950, 0.704, 0, 90, 0, 81 [SEP] 27, Plate, -0.096, 0.111, -1.508, 0, 0, 0, 57 [SEP] 28, Pot, 1.361, 0.962, 0.561, 0, 270, 0, 53 [SEP] 29, Spatula, 0.167, 0.927, 0.623, 0, 0, 0, 47 [SEP] 30, PaperTowelRoll, -2.340, 1.056, 0.524, 0, 90, 0, 81 [SEP] 31, Egg, -1.928, 0.987, 0.614, 0, 90, 0, 81 [SEP] 32, Lettuce, 1.535, 1.002, -1.737, 0, 0, 0, 48 [SEP] 33, SaltShaker, 1.828, 1.325, -1.846, 0, 180, 0, 64 [SEP] 34, PepperShaker, -2.340, 0.948, 0.614, 0, 90, 0, 81 [SEP] 35, Apple, -2.397, 0.578, -1.763, 0, 0, 0, 78 [SEP] 36, ButterKnife, -0.451, 0.912, -1.406, 0, 0, 0, 48 [SEP] 37, Potato, 1.724, 0.942, 0.458, 0, 0, 0, 63 [SEP] 38, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 60 [SEP] 39, DishSponge, -2.477, 0.951, 0.704, 0, 90, 0, 81 [SEP] 40, Spoon, 0.377, 0.777, -1.697, 0, 270, 0, 71 [SEP] 41, Mug, 0.618, 0.945, 0.469, 0, 180, 0, 72 [SEP] 42, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0, [SEP] 43, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0, [SEP] 44, Drawer, 0.499, 0.792, 0.296, 0, 0, 0, [SEP] 45, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0, [SEP] 46, Sink, 0.711, 0.817, -1.772, 0, 270, 0, [SEP] 47, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0, [SEP] 48, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0, [SEP] 49, Drawer, 1.825, 0.792, 0.296, 0, 0, 0, [SEP] 50, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0, [SEP] 51, Drawer, -0.150, 0.792, -1.496, 0, 0, 0, [SEP] 52, Drawer, -0.586, 0.792, -1.496, 0, 0, 0, [SEP] 53, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0, [SEP] 54, Drawer, 0.024, 0.792, 0.296, 0, 0, 0, [SEP] 55, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0, [SEP] 56, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0, [SEP] 57, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0, [SEP] 58, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0, [SEP] 59, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0, [SEP] 60, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0, [SEP] 61, Drawer, -1.100, 0.792, -1.496, 0, 0, 0, [SEP] 62, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0, [SEP] 63, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0, [SEP] 64, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0, [SEP] 65, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0, [SEP] 66, Toaster, 0.305, 0.900, 0.552, 0, 180, 0, [SEP] 67, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0, [SEP] 68, Window, 0.582, 1.613, -1.967, 90, 0, 0, [SEP] 69, Window, 1.969, 1.5, -0.615, 90, 270, 0, [SEP] 70, Microwave, -1.037, 0.900, -1.723, 0, 0, 0, [SEP] 71, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0, [SEP] 72, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0, [SEP] 73, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0, [SEP] 74, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0, [SEP] 75, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0, [SEP] 76, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0, [SEP] 77, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0, [SEP] 78, Fridge, -2.134, 0.0, -1.690, 0, 0, 0, [SEP] 79, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0, [SEP] 80, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0, [SEP] 81, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0, [SEP] 82, NorthWall, , , , , , , [SEP] 83, EastWall, , , , , , , [SEP] 84, SouthWall, , , , , , , [SEP] 85, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the left side of the sink. | STEP 2: Pick up the tomato in the front. | STEP 3: Turn right to go to the microwave on the left. | STEP 4: Microwave the tomato next to coffee mug and take it out. | STEP 5: Turn left to go back to the sink. | STEP 6: Place the tomato inside the sink. | END"]} +{"id": "trial_T20190908_070740_753071-1", "input": "Put the warm tomato in the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, -0.25, 0, 90, 0, [SEP] 1, Kettle, -0.418, 1.329, -1.772, 0, 180, 0, 42 [SEP] 2, Potato, 1.601, 0.942, 0.375, 0, 0, 0, 63 [SEP] 3, DishSponge, 0.394, 0.108, -1.472, 0, 180, 0, 45 [SEP] 4, Pot, 1.007, 0.962, 0.561, 0, 270, 0, 50 [SEP] 5, Fork, 0.035, 0.912, 0.209, 0, 0, 0, 47 [SEP] 6, Fork, 0.551, 0.773, 0.305, 0, 0, 0, 44 [SEP] 7, Spatula, -2.614, 0.967, 0.435, 0, 180, 0, 81 [SEP] 8, Cup, -2.065, 0.950, 0.614, 0, 90, 0, 81 [SEP] 9, Cup, -0.682, 0.109, -1.508, 0, 0, 0, 62 [SEP] 10, Knife, -1.791, 0.977, 0.345, 0, 90, 0, 81 [SEP] 11, SoapBottle, -1.791, 0.950, 0.165, 0, 90, 0, 81 [SEP] 12, Tomato, -2.397, 0.829, -1.849, 0, 0, 0, 78 [SEP] 13, Tomato, 0.856, 0.968, -1.449, 0, 270, 0, 46 [SEP] 14, Tomato, -0.361, 0.119, 0.439, 0, 90, 0, 77 [SEP] 15, Mug, 0.753, 0.914, -1.715, 0, 90, 0, 46 [SEP] 16, Mug, -0.872, 1.010, -1.803, 0, 90, 0, 70 [SEP] 17, Apple, -2.203, 1.019, 0.435, 0, 90, 0, 81 [SEP] 18, Apple, -0.975, 1.082, -1.803, 0, 0, 0, 70 [SEP] 19, Bread, 1.724, 0.995, 0.623, 0, 0, 0, 63 [SEP] 20, Knife, 0.167, 0.937, 0.375, 0, 0, 0, 47 [SEP] 21, Fork, -0.082, 0.912, -1.820, 0, 270, 0, 48 [SEP] 22, Bowl, -1.959, 0.780, -1.720, 0, 0, 0, 78 [SEP] 23, Kettle, 1.785, 0.913, 0.292, 0, 90, 0, 63 [SEP] 24, Cup, 0.701, 0.917, -1.516, 0, 270, 0, 46 [SEP] 25, Tomato, 0.856, 0.968, -1.582, 0, 270, 0, 46 [SEP] 26, SoapBottle, -1.928, 0.950, 0.704, 0, 90, 0, 81 [SEP] 27, Plate, -0.096, 0.111, -1.508, 0, 0, 0, 57 [SEP] 28, Pot, 1.361, 0.962, 0.561, 0, 270, 0, 53 [SEP] 29, Spatula, 0.167, 0.927, 0.623, 0, 0, 0, 47 [SEP] 30, PaperTowelRoll, -2.340, 1.056, 0.524, 0, 90, 0, 81 [SEP] 31, Egg, -1.928, 0.987, 0.614, 0, 90, 0, 81 [SEP] 32, Lettuce, 1.535, 1.002, -1.737, 0, 0, 0, 48 [SEP] 33, SaltShaker, 1.828, 1.325, -1.846, 0, 180, 0, 64 [SEP] 34, PepperShaker, -2.340, 0.948, 0.614, 0, 90, 0, 81 [SEP] 35, Apple, -2.397, 0.578, -1.763, 0, 0, 0, 78 [SEP] 36, ButterKnife, -0.451, 0.912, -1.406, 0, 0, 0, 48 [SEP] 37, Potato, 1.724, 0.942, 0.458, 0, 0, 0, 63 [SEP] 38, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 60 [SEP] 39, DishSponge, -2.477, 0.951, 0.704, 0, 90, 0, 81 [SEP] 40, Spoon, 0.377, 0.777, -1.697, 0, 270, 0, 71 [SEP] 41, Mug, 0.618, 0.945, 0.469, 0, 180, 0, 72 [SEP] 42, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0, [SEP] 43, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0, [SEP] 44, Drawer, 0.499, 0.792, 0.296, 0, 0, 0, [SEP] 45, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0, [SEP] 46, Sink, 0.711, 0.817, -1.772, 0, 270, 0, [SEP] 47, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0, [SEP] 48, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0, [SEP] 49, Drawer, 1.825, 0.792, 0.296, 0, 0, 0, [SEP] 50, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0, [SEP] 51, Drawer, -0.150, 0.792, -1.496, 0, 0, 0, [SEP] 52, Drawer, -0.586, 0.792, -1.496, 0, 0, 0, [SEP] 53, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0, [SEP] 54, Drawer, 0.024, 0.792, 0.296, 0, 0, 0, [SEP] 55, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0, [SEP] 56, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0, [SEP] 57, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0, [SEP] 58, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0, [SEP] 59, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0, [SEP] 60, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0, [SEP] 61, Drawer, -1.100, 0.792, -1.496, 0, 0, 0, [SEP] 62, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0, [SEP] 63, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0, [SEP] 64, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0, [SEP] 65, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0, [SEP] 66, Toaster, 0.305, 0.900, 0.552, 0, 180, 0, [SEP] 67, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0, [SEP] 68, Window, 0.582, 1.613, -1.967, 90, 0, 0, [SEP] 69, Window, 1.969, 1.5, -0.615, 90, 270, 0, [SEP] 70, Microwave, -1.037, 0.900, -1.723, 0, 0, 0, [SEP] 71, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0, [SEP] 72, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0, [SEP] 73, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0, [SEP] 74, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0, [SEP] 75, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0, [SEP] 76, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0, [SEP] 77, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0, [SEP] 78, Fridge, -2.134, 0.0, -1.690, 0, 0, 0, [SEP] 79, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0, [SEP] 80, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0, [SEP] 81, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0, [SEP] 82, NorthWall, , , , , , , [SEP] 83, EastWall, , , , , , , [SEP] 84, SouthWall, , , , , , , [SEP] 85, WestWall, , , , , , , ", "output": ["STEP 1: Turn right move forward then turn left on the sink | STEP 2: Pick up the tomato on the left side edge of the sink | STEP 3: Turn right walk forward then turn left on the microwave | STEP 4: Open the microwave put in the tomato, let it out then close the microwave | STEP 5: Turn left move forward turn right on the sink | STEP 6: Put the tomato in the sink | END"]} +{"id": "trial_T20190908_070740_753071-2", "input": "Cook a tomato and put it into the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, -0.25, 0, 90, 0, [SEP] 1, Kettle, -0.418, 1.329, -1.772, 0, 180, 0, 42 [SEP] 2, Potato, 1.601, 0.942, 0.375, 0, 0, 0, 63 [SEP] 3, DishSponge, 0.394, 0.108, -1.472, 0, 180, 0, 45 [SEP] 4, Pot, 1.007, 0.962, 0.561, 0, 270, 0, 50 [SEP] 5, Fork, 0.035, 0.912, 0.209, 0, 0, 0, 47 [SEP] 6, Fork, 0.551, 0.773, 0.305, 0, 0, 0, 44 [SEP] 7, Spatula, -2.614, 0.967, 0.435, 0, 180, 0, 81 [SEP] 8, Cup, -2.065, 0.950, 0.614, 0, 90, 0, 81 [SEP] 9, Cup, -0.682, 0.109, -1.508, 0, 0, 0, 62 [SEP] 10, Knife, -1.791, 0.977, 0.345, 0, 90, 0, 81 [SEP] 11, SoapBottle, -1.791, 0.950, 0.165, 0, 90, 0, 81 [SEP] 12, Tomato, -2.397, 0.829, -1.849, 0, 0, 0, 78 [SEP] 13, Tomato, 0.856, 0.968, -1.449, 0, 270, 0, 46 [SEP] 14, Tomato, -0.361, 0.119, 0.439, 0, 90, 0, 77 [SEP] 15, Mug, 0.753, 0.914, -1.715, 0, 90, 0, 46 [SEP] 16, Mug, -0.872, 1.010, -1.803, 0, 90, 0, 70 [SEP] 17, Apple, -2.203, 1.019, 0.435, 0, 90, 0, 81 [SEP] 18, Apple, -0.975, 1.082, -1.803, 0, 0, 0, 70 [SEP] 19, Bread, 1.724, 0.995, 0.623, 0, 0, 0, 63 [SEP] 20, Knife, 0.167, 0.937, 0.375, 0, 0, 0, 47 [SEP] 21, Fork, -0.082, 0.912, -1.820, 0, 270, 0, 48 [SEP] 22, Bowl, -1.959, 0.780, -1.720, 0, 0, 0, 78 [SEP] 23, Kettle, 1.785, 0.913, 0.292, 0, 90, 0, 63 [SEP] 24, Cup, 0.701, 0.917, -1.516, 0, 270, 0, 46 [SEP] 25, Tomato, 0.856, 0.968, -1.582, 0, 270, 0, 46 [SEP] 26, SoapBottle, -1.928, 0.950, 0.704, 0, 90, 0, 81 [SEP] 27, Plate, -0.096, 0.111, -1.508, 0, 0, 0, 57 [SEP] 28, Pot, 1.361, 0.962, 0.561, 0, 270, 0, 53 [SEP] 29, Spatula, 0.167, 0.927, 0.623, 0, 0, 0, 47 [SEP] 30, PaperTowelRoll, -2.340, 1.056, 0.524, 0, 90, 0, 81 [SEP] 31, Egg, -1.928, 0.987, 0.614, 0, 90, 0, 81 [SEP] 32, Lettuce, 1.535, 1.002, -1.737, 0, 0, 0, 48 [SEP] 33, SaltShaker, 1.828, 1.325, -1.846, 0, 180, 0, 64 [SEP] 34, PepperShaker, -2.340, 0.948, 0.614, 0, 90, 0, 81 [SEP] 35, Apple, -2.397, 0.578, -1.763, 0, 0, 0, 78 [SEP] 36, ButterKnife, -0.451, 0.912, -1.406, 0, 0, 0, 48 [SEP] 37, Potato, 1.724, 0.942, 0.458, 0, 0, 0, 63 [SEP] 38, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 60 [SEP] 39, DishSponge, -2.477, 0.951, 0.704, 0, 90, 0, 81 [SEP] 40, Spoon, 0.377, 0.777, -1.697, 0, 270, 0, 71 [SEP] 41, Mug, 0.618, 0.945, 0.469, 0, 180, 0, 72 [SEP] 42, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0, [SEP] 43, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0, [SEP] 44, Drawer, 0.499, 0.792, 0.296, 0, 0, 0, [SEP] 45, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0, [SEP] 46, Sink, 0.711, 0.817, -1.772, 0, 270, 0, [SEP] 47, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0, [SEP] 48, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0, [SEP] 49, Drawer, 1.825, 0.792, 0.296, 0, 0, 0, [SEP] 50, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0, [SEP] 51, Drawer, -0.150, 0.792, -1.496, 0, 0, 0, [SEP] 52, Drawer, -0.586, 0.792, -1.496, 0, 0, 0, [SEP] 53, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0, [SEP] 54, Drawer, 0.024, 0.792, 0.296, 0, 0, 0, [SEP] 55, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0, [SEP] 56, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0, [SEP] 57, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0, [SEP] 58, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0, [SEP] 59, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0, [SEP] 60, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0, [SEP] 61, Drawer, -1.100, 0.792, -1.496, 0, 0, 0, [SEP] 62, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0, [SEP] 63, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0, [SEP] 64, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0, [SEP] 65, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0, [SEP] 66, Toaster, 0.305, 0.900, 0.552, 0, 180, 0, [SEP] 67, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0, [SEP] 68, Window, 0.582, 1.613, -1.967, 90, 0, 0, [SEP] 69, Window, 1.969, 1.5, -0.615, 90, 270, 0, [SEP] 70, Microwave, -1.037, 0.900, -1.723, 0, 0, 0, [SEP] 71, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0, [SEP] 72, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0, [SEP] 73, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0, [SEP] 74, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0, [SEP] 75, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0, [SEP] 76, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0, [SEP] 77, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0, [SEP] 78, Fridge, -2.134, 0.0, -1.690, 0, 0, 0, [SEP] 79, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0, [SEP] 80, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0, [SEP] 81, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0, [SEP] 82, NorthWall, , , , , , , [SEP] 83, EastWall, , , , , , , [SEP] 84, SouthWall, , , , , , , [SEP] 85, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, go forward, turn left at the sink | STEP 2: Pick up the tomato on the sink | STEP 3: Turn right, go forward, turn left in front of the microwave | STEP 4: Put the tomato into the microwave, start the microwave, wait, pick up the tomato | STEP 5: Turn left, go forward, turn left at the sink | STEP 6: Put the tomato into the sink | END"]} +{"id": "trial_T20190908_173545_981227-0", "input": "Examine the credit card by the light of the floor lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.75, 0.927, 1.75, 0, 90, 0, [SEP] 1, Plate, -5.939, 0.648, 3.266, 0, 0, 0, 77 [SEP] 2, Plate, -5.939, 0.648, 1.510, 0, 0, 0, 77 [SEP] 3, KeyChain, -1.246, 0.271, 2.161, 0, 270, 0, 79 [SEP] 4, KeyChain, -2.136, 0.167, 0.244, 0, 0, 0, 53 [SEP] 5, CreditCard, -0.710, 1.274, 0.079, 0, 180, 0, 56 [SEP] 6, CreditCard, -6.099, 0.748, 5.180, 0, 0, 0, 41 [SEP] 7, CreditCard, -3.934, 0.276, 3.661, 0, 0, 0, 78 [SEP] 8, RemoteControl, -2.499, 0.167, 0.319, 0, 0, 0, 53 [SEP] 9, RemoteControl, -2.723, 0.278, 3.451, 0, 0, 0, 78 [SEP] 10, Laptop, -5.939, 0.639, 3.617, 0, 0, 0, 77 [SEP] 11, Box, -5.571, 0.823, 2.212, 0, 0, 0, 77 [SEP] 12, Statue, -5.939, 0.647, 1.861, 0, 0, 0, 77 [SEP] 13, KeyChain, -6.185, 0.643, 3.617, 0, 0, 0, 77 [SEP] 14, Vase, -1.701, 0.930, 0.179, 0, 0, 0, 32 [SEP] 15, Vase, -0.764, 0.940, 0.203, 0, 0, 0, 49 [SEP] 16, Vase, -5.480, 0.401, 5.134, 0, 0, 0, 40 [SEP] 17, Newspaper, -2.441, 0.299, 1.996, 0, 0, 0, 81 [SEP] 18, CreditCard, -4.308, 1.274, 5.205, 0, 0, 0, 45 [SEP] 19, RemoteControl, -2.330, 0.301, 1.857, 0, 0, 0, 81 [SEP] 20, Laptop, -2.737, 0.298, 1.999, 0, 270, 0, 81 [SEP] 21, Pillow, -3.732, 0.332, 3.521, 0, 0, 0, 78 [SEP] 22, Vase, -5.713, 0.386, 5.136, 0, 0, 0, 40 [SEP] 23, Statue, -5.571, 0.651, 3.266, 0, 0, 0, 77 [SEP] 24, Vase, -1.352, 1.258, 0.228, 0, 0, 0, 56 [SEP] 25, Plate, -6.062, 0.648, 2.564, 0, 0, 0, 77 [SEP] 26, Vase, -4.958, 0.940, 5.201, 0, 0, 0, 46 [SEP] 27, Statue, -5.033, 1.566, 5.212, 0, 180, 0, 59 [SEP] 28, Statue, -0.812, 1.565, 0.209, 0, 0, 0, 51 [SEP] 29, Statue, -6.062, 0.651, 2.212, 0, 0, 0, 77 [SEP] 30, Statue, -3.174, 1.105, 5.193, 0, 0, 0, 60 [SEP] 31, Statue, -5.865, 0.634, 2.786, 0, 65.579, 0, 77 [SEP] 32, Shelf, -1.776, 0.988, 0.184, 0, 180, 0, [SEP] 33, Chair, -5.413, 0.024, 1.780, 0, 0, 0, [SEP] 34, Cabinet, -5.365, 1.170, 5.031, 0, 0, 0, [SEP] 35, Chair, -5.388, 0.024, 3.369, 0, 355.695, 0, [SEP] 36, Chair, -6.211, 0.024, 2.517, 0, 172.601, 0, [SEP] 37, Shelf, -3.937, 0.988, 5.170, 0, 0, 0, [SEP] 38, Shelf, -6.572, 1.144, 5.170, 0, 0, 0, [SEP] 39, Cabinet, -4.181, 1.873, 5.029, 0, 0, 0, [SEP] 40, Shelf, -5.606, 0.444, 5.170, 0, 0, 0, [SEP] 41, Drawer, -6.324, 0.823, 5.001, 0, 0, 0, [SEP] 42, Cabinet, -2.017, 1.714, 0.323, 0, 180, 0, [SEP] 43, Cabinet, -2.465, 1.329, 5.029, 0, 0, 0, [SEP] 44, Drawer, -1.093, 0.233, 0.462, 0, 0, 0, [SEP] 45, Shelf, -4.672, 1.317, 5.170, 0, 0, 0, [SEP] 46, Shelf, -4.672, 0.998, 5.170, 0, 0, 0, [SEP] 47, Shelf, -2.221, 0.444, 5.170, 0, 0, 0, [SEP] 48, Drawer, -6.324, 0.508, 5.001, 0, 0, 0, [SEP] 49, Shelf, -1.041, 0.998, 0.184, 0, 180, 0, [SEP] 50, Drawer, -4.264, 0.233, 0.462, 0, 0, 0, [SEP] 51, Shelf, -0.810, 1.688, 0.185, 0, 180, 0, [SEP] 52, Shelf, -2.671, 0.610, 0.272, 0, 90, 0, [SEP] 53, Drawer, -2.681, 0.233, 0.462, 0, 0, 0, [SEP] 54, Drawer, -2.940, 0.508, 5.001, 0, 0, 0, [SEP] 55, Cabinet, -3.696, 1.714, 5.031, 0, 0, 0, [SEP] 56, Shelf, -1.041, 1.317, 0.184, 0, 180, 0, [SEP] 57, Cabinet, -1.532, 1.873, 0.325, 0, 180, 0, [SEP] 58, Chair, -5.382, 0.024, 2.695, 0, 6.230, 0, [SEP] 59, Shelf, -4.903, 1.688, 5.170, 0, 0, 0, [SEP] 60, Shelf, -3.187, 1.144, 5.170, 0, 0, 0, [SEP] 61, Drawer, -2.940, 0.823, 5.001, 0, 0, 0, [SEP] 62, Chair, -6.252, 0.024, 3.427, 0, 195.000, 0, [SEP] 63, Cabinet, -5.850, 1.329, 5.029, 0, 0, 0, [SEP] 64, Cabinet, -1.980, 1.170, 5.031, 0, 0, 0, [SEP] 65, Chair, -6.296, 0.024, 1.672, 0, 180, 0, [SEP] 66, FloorLamp, -0.369, 0.016, 4.992, 0, 59.992, 0, [SEP] 67, GarbageCan, -6.846, 0.024, 0.258, 0, 91.057, 0, [SEP] 68, Television, -3.503, 1.506, 0.001, 0, 0, 0, [SEP] 69, LightSwitch, 0.0, 1.184, 4.410, 0, 270, 0, [SEP] 70, HousePlant, -1.105, 0.315, 2.740, 0, 0, 0, [SEP] 71, Painting, -5.769, 1.394, -0.026, 90, 180, 0, [SEP] 72, Window, 0.001, 1.246, 2.471, 90, 270, 0, [SEP] 73, Window, 0.001, 1.246, 3.558, 90, 270, 0, [SEP] 74, Window, 0.001, 1.246, 1.368, 90, 270, 0, [SEP] 75, Painting, -0.967, 1.396, 5.268, 90, 180, 0, [SEP] 76, CoffeeTable, -3.002, 0.028, 1.726, 0, 0, 0, [SEP] 77, DiningTable, -5.816, 0.025, 2.563, 0, 270, 0, [SEP] 78, Sofa, -3.328, 0.023, 3.632, 0, 180, 0, [SEP] 79, ArmChair, -1.012, 0.028, 2.084, 0, 270, 0, [SEP] 80, ArmChair, -1.577, 0.028, 3.295, 0, 210.000, 0, [SEP] 81, CoffeeTable, -2.667, 0.025, 1.999, 0, 5.810, 0, [SEP] 82, NorthWall, , , , , , , [SEP] 83, EastWall, , , , , , , [SEP] 84, SouthWall, , , , , , , [SEP] 85, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and go between the sofa and the table then turn right and go behind the sofa, then turn left and go to the bookshelf | STEP 2: Pick up the credit card from the bookshelf | STEP 3: Turn around and go to the back of the sofa, then turn left and go past the sofa, then turn left and go to the wall then turn right and go to the lamp in the corner | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190908_173545_981227-1", "input": "Examine a credit card by the light of a floor lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.75, 0.927, 1.75, 0, 90, 0, [SEP] 1, Plate, -5.939, 0.648, 3.266, 0, 0, 0, 77 [SEP] 2, Plate, -5.939, 0.648, 1.510, 0, 0, 0, 77 [SEP] 3, KeyChain, -1.246, 0.271, 2.161, 0, 270, 0, 79 [SEP] 4, KeyChain, -2.136, 0.167, 0.244, 0, 0, 0, 53 [SEP] 5, CreditCard, -0.710, 1.274, 0.079, 0, 180, 0, 56 [SEP] 6, CreditCard, -6.099, 0.748, 5.180, 0, 0, 0, 41 [SEP] 7, CreditCard, -3.934, 0.276, 3.661, 0, 0, 0, 78 [SEP] 8, RemoteControl, -2.499, 0.167, 0.319, 0, 0, 0, 53 [SEP] 9, RemoteControl, -2.723, 0.278, 3.451, 0, 0, 0, 78 [SEP] 10, Laptop, -5.939, 0.639, 3.617, 0, 0, 0, 77 [SEP] 11, Box, -5.571, 0.823, 2.212, 0, 0, 0, 77 [SEP] 12, Statue, -5.939, 0.647, 1.861, 0, 0, 0, 77 [SEP] 13, KeyChain, -6.185, 0.643, 3.617, 0, 0, 0, 77 [SEP] 14, Vase, -1.701, 0.930, 0.179, 0, 0, 0, 32 [SEP] 15, Vase, -0.764, 0.940, 0.203, 0, 0, 0, 49 [SEP] 16, Vase, -5.480, 0.401, 5.134, 0, 0, 0, 40 [SEP] 17, Newspaper, -2.441, 0.299, 1.996, 0, 0, 0, 81 [SEP] 18, CreditCard, -4.308, 1.274, 5.205, 0, 0, 0, 45 [SEP] 19, RemoteControl, -2.330, 0.301, 1.857, 0, 0, 0, 81 [SEP] 20, Laptop, -2.737, 0.298, 1.999, 0, 270, 0, 81 [SEP] 21, Pillow, -3.732, 0.332, 3.521, 0, 0, 0, 78 [SEP] 22, Vase, -5.713, 0.386, 5.136, 0, 0, 0, 40 [SEP] 23, Statue, -5.571, 0.651, 3.266, 0, 0, 0, 77 [SEP] 24, Vase, -1.352, 1.258, 0.228, 0, 0, 0, 56 [SEP] 25, Plate, -6.062, 0.648, 2.564, 0, 0, 0, 77 [SEP] 26, Vase, -4.958, 0.940, 5.201, 0, 0, 0, 46 [SEP] 27, Statue, -5.033, 1.566, 5.212, 0, 180, 0, 59 [SEP] 28, Statue, -0.812, 1.565, 0.209, 0, 0, 0, 51 [SEP] 29, Statue, -6.062, 0.651, 2.212, 0, 0, 0, 77 [SEP] 30, Statue, -3.174, 1.105, 5.193, 0, 0, 0, 60 [SEP] 31, Statue, -5.865, 0.634, 2.786, 0, 65.579, 0, 77 [SEP] 32, Shelf, -1.776, 0.988, 0.184, 0, 180, 0, [SEP] 33, Chair, -5.413, 0.024, 1.780, 0, 0, 0, [SEP] 34, Cabinet, -5.365, 1.170, 5.031, 0, 0, 0, [SEP] 35, Chair, -5.388, 0.024, 3.369, 0, 355.695, 0, [SEP] 36, Chair, -6.211, 0.024, 2.517, 0, 172.601, 0, [SEP] 37, Shelf, -3.937, 0.988, 5.170, 0, 0, 0, [SEP] 38, Shelf, -6.572, 1.144, 5.170, 0, 0, 0, [SEP] 39, Cabinet, -4.181, 1.873, 5.029, 0, 0, 0, [SEP] 40, Shelf, -5.606, 0.444, 5.170, 0, 0, 0, [SEP] 41, Drawer, -6.324, 0.823, 5.001, 0, 0, 0, [SEP] 42, Cabinet, -2.017, 1.714, 0.323, 0, 180, 0, [SEP] 43, Cabinet, -2.465, 1.329, 5.029, 0, 0, 0, [SEP] 44, Drawer, -1.093, 0.233, 0.462, 0, 0, 0, [SEP] 45, Shelf, -4.672, 1.317, 5.170, 0, 0, 0, [SEP] 46, Shelf, -4.672, 0.998, 5.170, 0, 0, 0, [SEP] 47, Shelf, -2.221, 0.444, 5.170, 0, 0, 0, [SEP] 48, Drawer, -6.324, 0.508, 5.001, 0, 0, 0, [SEP] 49, Shelf, -1.041, 0.998, 0.184, 0, 180, 0, [SEP] 50, Drawer, -4.264, 0.233, 0.462, 0, 0, 0, [SEP] 51, Shelf, -0.810, 1.688, 0.185, 0, 180, 0, [SEP] 52, Shelf, -2.671, 0.610, 0.272, 0, 90, 0, [SEP] 53, Drawer, -2.681, 0.233, 0.462, 0, 0, 0, [SEP] 54, Drawer, -2.940, 0.508, 5.001, 0, 0, 0, [SEP] 55, Cabinet, -3.696, 1.714, 5.031, 0, 0, 0, [SEP] 56, Shelf, -1.041, 1.317, 0.184, 0, 180, 0, [SEP] 57, Cabinet, -1.532, 1.873, 0.325, 0, 180, 0, [SEP] 58, Chair, -5.382, 0.024, 2.695, 0, 6.230, 0, [SEP] 59, Shelf, -4.903, 1.688, 5.170, 0, 0, 0, [SEP] 60, Shelf, -3.187, 1.144, 5.170, 0, 0, 0, [SEP] 61, Drawer, -2.940, 0.823, 5.001, 0, 0, 0, [SEP] 62, Chair, -6.252, 0.024, 3.427, 0, 195.000, 0, [SEP] 63, Cabinet, -5.850, 1.329, 5.029, 0, 0, 0, [SEP] 64, Cabinet, -1.980, 1.170, 5.031, 0, 0, 0, [SEP] 65, Chair, -6.296, 0.024, 1.672, 0, 180, 0, [SEP] 66, FloorLamp, -0.369, 0.016, 4.992, 0, 59.992, 0, [SEP] 67, GarbageCan, -6.846, 0.024, 0.258, 0, 91.057, 0, [SEP] 68, Television, -3.503, 1.506, 0.001, 0, 0, 0, [SEP] 69, LightSwitch, 0.0, 1.184, 4.410, 0, 270, 0, [SEP] 70, HousePlant, -1.105, 0.315, 2.740, 0, 0, 0, [SEP] 71, Painting, -5.769, 1.394, -0.026, 90, 180, 0, [SEP] 72, Window, 0.001, 1.246, 2.471, 90, 270, 0, [SEP] 73, Window, 0.001, 1.246, 3.558, 90, 270, 0, [SEP] 74, Window, 0.001, 1.246, 1.368, 90, 270, 0, [SEP] 75, Painting, -0.967, 1.396, 5.268, 90, 180, 0, [SEP] 76, CoffeeTable, -3.002, 0.028, 1.726, 0, 0, 0, [SEP] 77, DiningTable, -5.816, 0.025, 2.563, 0, 270, 0, [SEP] 78, Sofa, -3.328, 0.023, 3.632, 0, 180, 0, [SEP] 79, ArmChair, -1.012, 0.028, 2.084, 0, 270, 0, [SEP] 80, ArmChair, -1.577, 0.028, 3.295, 0, 210.000, 0, [SEP] 81, CoffeeTable, -2.667, 0.025, 1.999, 0, 5.810, 0, [SEP] 82, NorthWall, , , , , , , [SEP] 83, EastWall, , , , , , , [SEP] 84, SouthWall, , , , , , , [SEP] 85, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk across the room towards the white shelves on the wall. | STEP 2: Pick up the blue credit card on the right side of the middle shelf. | STEP 3: Turn right and walk across the room to the tall lamp in the corner. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190908_173545_981227-2", "input": "Grab a credit card and turn on the lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.75, 0.927, 1.75, 0, 90, 0, [SEP] 1, Plate, -5.939, 0.648, 3.266, 0, 0, 0, 77 [SEP] 2, Plate, -5.939, 0.648, 1.510, 0, 0, 0, 77 [SEP] 3, KeyChain, -1.246, 0.271, 2.161, 0, 270, 0, 79 [SEP] 4, KeyChain, -2.136, 0.167, 0.244, 0, 0, 0, 53 [SEP] 5, CreditCard, -0.710, 1.274, 0.079, 0, 180, 0, 56 [SEP] 6, CreditCard, -6.099, 0.748, 5.180, 0, 0, 0, 41 [SEP] 7, CreditCard, -3.934, 0.276, 3.661, 0, 0, 0, 78 [SEP] 8, RemoteControl, -2.499, 0.167, 0.319, 0, 0, 0, 53 [SEP] 9, RemoteControl, -2.723, 0.278, 3.451, 0, 0, 0, 78 [SEP] 10, Laptop, -5.939, 0.639, 3.617, 0, 0, 0, 77 [SEP] 11, Box, -5.571, 0.823, 2.212, 0, 0, 0, 77 [SEP] 12, Statue, -5.939, 0.647, 1.861, 0, 0, 0, 77 [SEP] 13, KeyChain, -6.185, 0.643, 3.617, 0, 0, 0, 77 [SEP] 14, Vase, -1.701, 0.930, 0.179, 0, 0, 0, 32 [SEP] 15, Vase, -0.764, 0.940, 0.203, 0, 0, 0, 49 [SEP] 16, Vase, -5.480, 0.401, 5.134, 0, 0, 0, 40 [SEP] 17, Newspaper, -2.441, 0.299, 1.996, 0, 0, 0, 81 [SEP] 18, CreditCard, -4.308, 1.274, 5.205, 0, 0, 0, 45 [SEP] 19, RemoteControl, -2.330, 0.301, 1.857, 0, 0, 0, 81 [SEP] 20, Laptop, -2.737, 0.298, 1.999, 0, 270, 0, 81 [SEP] 21, Pillow, -3.732, 0.332, 3.521, 0, 0, 0, 78 [SEP] 22, Vase, -5.713, 0.386, 5.136, 0, 0, 0, 40 [SEP] 23, Statue, -5.571, 0.651, 3.266, 0, 0, 0, 77 [SEP] 24, Vase, -1.352, 1.258, 0.228, 0, 0, 0, 56 [SEP] 25, Plate, -6.062, 0.648, 2.564, 0, 0, 0, 77 [SEP] 26, Vase, -4.958, 0.940, 5.201, 0, 0, 0, 46 [SEP] 27, Statue, -5.033, 1.566, 5.212, 0, 180, 0, 59 [SEP] 28, Statue, -0.812, 1.565, 0.209, 0, 0, 0, 51 [SEP] 29, Statue, -6.062, 0.651, 2.212, 0, 0, 0, 77 [SEP] 30, Statue, -3.174, 1.105, 5.193, 0, 0, 0, 60 [SEP] 31, Statue, -5.865, 0.634, 2.786, 0, 65.579, 0, 77 [SEP] 32, Shelf, -1.776, 0.988, 0.184, 0, 180, 0, [SEP] 33, Chair, -5.413, 0.024, 1.780, 0, 0, 0, [SEP] 34, Cabinet, -5.365, 1.170, 5.031, 0, 0, 0, [SEP] 35, Chair, -5.388, 0.024, 3.369, 0, 355.695, 0, [SEP] 36, Chair, -6.211, 0.024, 2.517, 0, 172.601, 0, [SEP] 37, Shelf, -3.937, 0.988, 5.170, 0, 0, 0, [SEP] 38, Shelf, -6.572, 1.144, 5.170, 0, 0, 0, [SEP] 39, Cabinet, -4.181, 1.873, 5.029, 0, 0, 0, [SEP] 40, Shelf, -5.606, 0.444, 5.170, 0, 0, 0, [SEP] 41, Drawer, -6.324, 0.823, 5.001, 0, 0, 0, [SEP] 42, Cabinet, -2.017, 1.714, 0.323, 0, 180, 0, [SEP] 43, Cabinet, -2.465, 1.329, 5.029, 0, 0, 0, [SEP] 44, Drawer, -1.093, 0.233, 0.462, 0, 0, 0, [SEP] 45, Shelf, -4.672, 1.317, 5.170, 0, 0, 0, [SEP] 46, Shelf, -4.672, 0.998, 5.170, 0, 0, 0, [SEP] 47, Shelf, -2.221, 0.444, 5.170, 0, 0, 0, [SEP] 48, Drawer, -6.324, 0.508, 5.001, 0, 0, 0, [SEP] 49, Shelf, -1.041, 0.998, 0.184, 0, 180, 0, [SEP] 50, Drawer, -4.264, 0.233, 0.462, 0, 0, 0, [SEP] 51, Shelf, -0.810, 1.688, 0.185, 0, 180, 0, [SEP] 52, Shelf, -2.671, 0.610, 0.272, 0, 90, 0, [SEP] 53, Drawer, -2.681, 0.233, 0.462, 0, 0, 0, [SEP] 54, Drawer, -2.940, 0.508, 5.001, 0, 0, 0, [SEP] 55, Cabinet, -3.696, 1.714, 5.031, 0, 0, 0, [SEP] 56, Shelf, -1.041, 1.317, 0.184, 0, 180, 0, [SEP] 57, Cabinet, -1.532, 1.873, 0.325, 0, 180, 0, [SEP] 58, Chair, -5.382, 0.024, 2.695, 0, 6.230, 0, [SEP] 59, Shelf, -4.903, 1.688, 5.170, 0, 0, 0, [SEP] 60, Shelf, -3.187, 1.144, 5.170, 0, 0, 0, [SEP] 61, Drawer, -2.940, 0.823, 5.001, 0, 0, 0, [SEP] 62, Chair, -6.252, 0.024, 3.427, 0, 195.000, 0, [SEP] 63, Cabinet, -5.850, 1.329, 5.029, 0, 0, 0, [SEP] 64, Cabinet, -1.980, 1.170, 5.031, 0, 0, 0, [SEP] 65, Chair, -6.296, 0.024, 1.672, 0, 180, 0, [SEP] 66, FloorLamp, -0.369, 0.016, 4.992, 0, 59.992, 0, [SEP] 67, GarbageCan, -6.846, 0.024, 0.258, 0, 91.057, 0, [SEP] 68, Television, -3.503, 1.506, 0.001, 0, 0, 0, [SEP] 69, LightSwitch, 0.0, 1.184, 4.410, 0, 270, 0, [SEP] 70, HousePlant, -1.105, 0.315, 2.740, 0, 0, 0, [SEP] 71, Painting, -5.769, 1.394, -0.026, 90, 180, 0, [SEP] 72, Window, 0.001, 1.246, 2.471, 90, 270, 0, [SEP] 73, Window, 0.001, 1.246, 3.558, 90, 270, 0, [SEP] 74, Window, 0.001, 1.246, 1.368, 90, 270, 0, [SEP] 75, Painting, -0.967, 1.396, 5.268, 90, 180, 0, [SEP] 76, CoffeeTable, -3.002, 0.028, 1.726, 0, 0, 0, [SEP] 77, DiningTable, -5.816, 0.025, 2.563, 0, 270, 0, [SEP] 78, Sofa, -3.328, 0.023, 3.632, 0, 180, 0, [SEP] 79, ArmChair, -1.012, 0.028, 2.084, 0, 270, 0, [SEP] 80, ArmChair, -1.577, 0.028, 3.295, 0, 210.000, 0, [SEP] 81, CoffeeTable, -2.667, 0.025, 1.999, 0, 5.810, 0, [SEP] 82, NorthWall, , , , , , , [SEP] 83, EastWall, , , , , , , [SEP] 84, SouthWall, , , , , , , [SEP] 85, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the shelf to your right. | STEP 2: Grab the credit card sitting on the shelf. | STEP 3: Holding the credit card, turn around, then walk to the lamp to your left in the corner. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190906_202340_749336-0", "input": "Put away clean soap. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.901, 1.0, 0, 90, 0, [SEP] 1, Cloth, -2.973, 0.194, 0.336, 0, 0, 0, 33 [SEP] 2, SoapBar, -3.559, 0.191, 1.131, 0, 270, 0, 46 [SEP] 3, SoapBar, -0.284, 0.812, 2.740, 0, 0, 0, 35 [SEP] 4, SoapBar, -2.037, 0.813, 0.217, 0, 0, 0, 32 [SEP] 5, Candle, -3.268, 0.544, 2.110, 0, 0, 0, 24 [SEP] 6, Candle, -0.412, 0.812, 1.539, 0, 0, 0, 35 [SEP] 7, SprayBottle, -0.219, 0.813, 3.000, 0, 0, 0, 35 [SEP] 8, SoapBottle, -0.363, 0.219, 2.200, 0, 0, 0, 20 [SEP] 9, HandTowel, -0.034, 1.537, 1.542, 0, 90, 0, 42 [SEP] 10, Towel, -1.513, 1.496, 0.109, 0, 0, 0, 36 [SEP] 11, Cloth, -0.284, 0.811, 2.350, 0, 0, 0, 35 [SEP] 12, SoapBar, -0.348, 0.812, 2.870, 0, 0, 0, 35 [SEP] 13, ToiletPaper, -2.686, 0.946, 3.182, 0, 0, 0, 44 [SEP] 14, Plunger, -2.530, 0.000, 3.026, 0, 0, 0, [SEP] 15, Candle, -3.002, 0.813, 0.155, 0, 0, 0, 32 [SEP] 16, SoapBottle, -0.255, 0.219, 2.547, 0, 0, 0, 23 [SEP] 17, ToiletPaper, -2.407, 0.146, 3.218, 0, 0, 270, 47 [SEP] 18, SprayBottle, -2.922, 0.814, 0.467, 0, 0, 0, 32 [SEP] 19, ScrubBrush, -2.332, 0.000, 3.163, 0, 0, 0, [SEP] 20, Drawer, -0.325, 0.319, 2.155, 0, 0, 0, [SEP] 21, Mirror, 0.0, 1.473, 1.917, 0, 270, 0, [SEP] 22, Drawer, -0.325, 0.319, 1.717, 0, 0, 0, [SEP] 23, Drawer, -0.325, 0.319, 2.592, 0, 0, 0, [SEP] 24, Bathtub, -3.589, 0.107, 1.521, 0, 0, 0, [SEP] 25, Drawer, -0.325, 0.619, 2.592, 0, 0, 0, [SEP] 26, Drawer, -2.249, 0.319, 0.280, 0, 0, 0, [SEP] 27, Drawer, -0.325, 0.319, 3.030, 0, 0, 0, [SEP] 28, Mirror, 0.0, 1.473, 2.700, 0, 270, 0, [SEP] 29, Drawer, -0.325, 0.619, 3.030, 0, 0, 0, [SEP] 30, ShowerGlass, -0.494, 1.490, 0.528, 0, 0, 0, [SEP] 31, Sink, -2.539, 0.661, 0.252, 0, 0, 0, [SEP] 32, CounterTop, -2.540, 0.805, 0.280, 0, 0, 0, [SEP] 33, Drawer, -2.844, 0.319, 0.280, 0, 0, 0, [SEP] 34, ShowerDoor, -1.074, 1.033, 0.519, 0, 0, 0, [SEP] 35, CounterTop, -0.277, 0.785, 1.931, 0, 0, 0, [SEP] 36, TowelHolder, -1.513, 1.481, 0.002, 0, 0, 0, [SEP] 37, LightSwitch, -0.776, 1.371, 3.300, 0, 180, 0, [SEP] 38, GarbageCan, -1.754, 0.001, 0.227, 0, 0, 0, [SEP] 39, HandTowelHolder, -3.210, 1.588, 0.340, 0, 0, 0, [SEP] 40, HandTowelHolder, 0.004, 1.639, 3.105, 0, 180, 0, [SEP] 41, HandTowelHolder, 0.004, 1.639, 2.309, 0, 180, 0, [SEP] 42, HandTowelHolder, 0.004, 1.639, 1.542, 0, 180, 0, [SEP] 43, Window, -4.127, 1.519, 1.495, 90, 270, 0, [SEP] 44, Toilet, -2.842, 0.000, 2.755, 0, 180, 0, [SEP] 45, SinkBasin, -2.542, 0.706, 0.269, 0, 0, 0, [SEP] 46, BathtubBasin, -3.606, 0.182, 1.536, 0, 270, 0, [SEP] 47, ToiletPaperHanger, -2.349, 0.824, 3.299, 0, 180, 0, [SEP] 48, Faucet, -2.540, 0.794, 0.111, 0, 0, 0, [SEP] 49, Faucet, -0.111, 0.794, 1.921, 0, 270, 0, [SEP] 50, ShowerHead, -3.612, 1.776, 2.299, 0, 0, 0, [SEP] 51, ShowerHead, -0.079, 1.151, 0.662, 0, 0, 0, [SEP] 52, ShowerCurtain, -3.213, 2.098, 2.186, 0, 180, 0, [SEP] 53, Sink, -0.260, 0.661, 1.922, 0, 270, 0, [SEP] 54, SinkBasin, -0.277, 0.706, 1.920, 0, 270, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, SouthWall, , , , , , , [SEP] 57, SouthWall, , , , , , , ", "output": ["STEP 1: Go to your left, and then turn right to the counter with the soap. | STEP 2: Pick up the soap on the left. | STEP 3: Turn to your right and go to the sink | STEP 4: Wash the soap in the sink. | STEP 5: Turn around and go to the counter next to the sink. | STEP 6: Open the bottom left drawer and place the soap in. | END"]} +{"id": "trial_T20190906_202340_749336-1", "input": "Put wet soap in the cabinet under the sink to the left. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.901, 1.0, 0, 90, 0, [SEP] 1, Cloth, -2.973, 0.194, 0.336, 0, 0, 0, 33 [SEP] 2, SoapBar, -3.559, 0.191, 1.131, 0, 270, 0, 46 [SEP] 3, SoapBar, -0.284, 0.812, 2.740, 0, 0, 0, 35 [SEP] 4, SoapBar, -2.037, 0.813, 0.217, 0, 0, 0, 32 [SEP] 5, Candle, -3.268, 0.544, 2.110, 0, 0, 0, 24 [SEP] 6, Candle, -0.412, 0.812, 1.539, 0, 0, 0, 35 [SEP] 7, SprayBottle, -0.219, 0.813, 3.000, 0, 0, 0, 35 [SEP] 8, SoapBottle, -0.363, 0.219, 2.200, 0, 0, 0, 20 [SEP] 9, HandTowel, -0.034, 1.537, 1.542, 0, 90, 0, 42 [SEP] 10, Towel, -1.513, 1.496, 0.109, 0, 0, 0, 36 [SEP] 11, Cloth, -0.284, 0.811, 2.350, 0, 0, 0, 35 [SEP] 12, SoapBar, -0.348, 0.812, 2.870, 0, 0, 0, 35 [SEP] 13, ToiletPaper, -2.686, 0.946, 3.182, 0, 0, 0, 44 [SEP] 14, Plunger, -2.530, 0.000, 3.026, 0, 0, 0, [SEP] 15, Candle, -3.002, 0.813, 0.155, 0, 0, 0, 32 [SEP] 16, SoapBottle, -0.255, 0.219, 2.547, 0, 0, 0, 23 [SEP] 17, ToiletPaper, -2.407, 0.146, 3.218, 0, 0, 270, 47 [SEP] 18, SprayBottle, -2.922, 0.814, 0.467, 0, 0, 0, 32 [SEP] 19, ScrubBrush, -2.332, 0.000, 3.163, 0, 0, 0, [SEP] 20, Drawer, -0.325, 0.319, 2.155, 0, 0, 0, [SEP] 21, Mirror, 0.0, 1.473, 1.917, 0, 270, 0, [SEP] 22, Drawer, -0.325, 0.319, 1.717, 0, 0, 0, [SEP] 23, Drawer, -0.325, 0.319, 2.592, 0, 0, 0, [SEP] 24, Bathtub, -3.589, 0.107, 1.521, 0, 0, 0, [SEP] 25, Drawer, -0.325, 0.619, 2.592, 0, 0, 0, [SEP] 26, Drawer, -2.249, 0.319, 0.280, 0, 0, 0, [SEP] 27, Drawer, -0.325, 0.319, 3.030, 0, 0, 0, [SEP] 28, Mirror, 0.0, 1.473, 2.700, 0, 270, 0, [SEP] 29, Drawer, -0.325, 0.619, 3.030, 0, 0, 0, [SEP] 30, ShowerGlass, -0.494, 1.490, 0.528, 0, 0, 0, [SEP] 31, Sink, -2.539, 0.661, 0.252, 0, 0, 0, [SEP] 32, CounterTop, -2.540, 0.805, 0.280, 0, 0, 0, [SEP] 33, Drawer, -2.844, 0.319, 0.280, 0, 0, 0, [SEP] 34, ShowerDoor, -1.074, 1.033, 0.519, 0, 0, 0, [SEP] 35, CounterTop, -0.277, 0.785, 1.931, 0, 0, 0, [SEP] 36, TowelHolder, -1.513, 1.481, 0.002, 0, 0, 0, [SEP] 37, LightSwitch, -0.776, 1.371, 3.300, 0, 180, 0, [SEP] 38, GarbageCan, -1.754, 0.001, 0.227, 0, 0, 0, [SEP] 39, HandTowelHolder, -3.210, 1.588, 0.340, 0, 0, 0, [SEP] 40, HandTowelHolder, 0.004, 1.639, 3.105, 0, 180, 0, [SEP] 41, HandTowelHolder, 0.004, 1.639, 2.309, 0, 180, 0, [SEP] 42, HandTowelHolder, 0.004, 1.639, 1.542, 0, 180, 0, [SEP] 43, Window, -4.127, 1.519, 1.495, 90, 270, 0, [SEP] 44, Toilet, -2.842, 0.000, 2.755, 0, 180, 0, [SEP] 45, SinkBasin, -2.542, 0.706, 0.269, 0, 0, 0, [SEP] 46, BathtubBasin, -3.606, 0.182, 1.536, 0, 270, 0, [SEP] 47, ToiletPaperHanger, -2.349, 0.824, 3.299, 0, 180, 0, [SEP] 48, Faucet, -2.540, 0.794, 0.111, 0, 0, 0, [SEP] 49, Faucet, -0.111, 0.794, 1.921, 0, 270, 0, [SEP] 50, ShowerHead, -3.612, 1.776, 2.299, 0, 0, 0, [SEP] 51, ShowerHead, -0.079, 1.151, 0.662, 0, 0, 0, [SEP] 52, ShowerCurtain, -3.213, 2.098, 2.186, 0, 180, 0, [SEP] 53, Sink, -0.260, 0.661, 1.922, 0, 270, 0, [SEP] 54, SinkBasin, -0.277, 0.706, 1.920, 0, 270, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, SouthWall, , , , , , , [SEP] 57, SouthWall, , , , , , , ", "output": ["STEP 1: Move to the counter left of the sink. | STEP 2: Pick up the soap on the left from the counter. | STEP 3: Bring the soap to the sink. | STEP 4: Wet the soap in the sink with water. | STEP 5: Bring the soap to the cabinet left of the sink. | STEP 6: Put the soap in the lower cabinet left of the sink. | END"]} +{"id": "trial_T20190906_202340_749336-2", "input": "rinse the soap to put it in a drawer SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.901, 1.0, 0, 90, 0, [SEP] 1, Cloth, -2.973, 0.194, 0.336, 0, 0, 0, 33 [SEP] 2, SoapBar, -3.559, 0.191, 1.131, 0, 270, 0, 46 [SEP] 3, SoapBar, -0.284, 0.812, 2.740, 0, 0, 0, 35 [SEP] 4, SoapBar, -2.037, 0.813, 0.217, 0, 0, 0, 32 [SEP] 5, Candle, -3.268, 0.544, 2.110, 0, 0, 0, 24 [SEP] 6, Candle, -0.412, 0.812, 1.539, 0, 0, 0, 35 [SEP] 7, SprayBottle, -0.219, 0.813, 3.000, 0, 0, 0, 35 [SEP] 8, SoapBottle, -0.363, 0.219, 2.200, 0, 0, 0, 20 [SEP] 9, HandTowel, -0.034, 1.537, 1.542, 0, 90, 0, 42 [SEP] 10, Towel, -1.513, 1.496, 0.109, 0, 0, 0, 36 [SEP] 11, Cloth, -0.284, 0.811, 2.350, 0, 0, 0, 35 [SEP] 12, SoapBar, -0.348, 0.812, 2.870, 0, 0, 0, 35 [SEP] 13, ToiletPaper, -2.686, 0.946, 3.182, 0, 0, 0, 44 [SEP] 14, Plunger, -2.530, 0.000, 3.026, 0, 0, 0, [SEP] 15, Candle, -3.002, 0.813, 0.155, 0, 0, 0, 32 [SEP] 16, SoapBottle, -0.255, 0.219, 2.547, 0, 0, 0, 23 [SEP] 17, ToiletPaper, -2.407, 0.146, 3.218, 0, 0, 270, 47 [SEP] 18, SprayBottle, -2.922, 0.814, 0.467, 0, 0, 0, 32 [SEP] 19, ScrubBrush, -2.332, 0.000, 3.163, 0, 0, 0, [SEP] 20, Drawer, -0.325, 0.319, 2.155, 0, 0, 0, [SEP] 21, Mirror, 0.0, 1.473, 1.917, 0, 270, 0, [SEP] 22, Drawer, -0.325, 0.319, 1.717, 0, 0, 0, [SEP] 23, Drawer, -0.325, 0.319, 2.592, 0, 0, 0, [SEP] 24, Bathtub, -3.589, 0.107, 1.521, 0, 0, 0, [SEP] 25, Drawer, -0.325, 0.619, 2.592, 0, 0, 0, [SEP] 26, Drawer, -2.249, 0.319, 0.280, 0, 0, 0, [SEP] 27, Drawer, -0.325, 0.319, 3.030, 0, 0, 0, [SEP] 28, Mirror, 0.0, 1.473, 2.700, 0, 270, 0, [SEP] 29, Drawer, -0.325, 0.619, 3.030, 0, 0, 0, [SEP] 30, ShowerGlass, -0.494, 1.490, 0.528, 0, 0, 0, [SEP] 31, Sink, -2.539, 0.661, 0.252, 0, 0, 0, [SEP] 32, CounterTop, -2.540, 0.805, 0.280, 0, 0, 0, [SEP] 33, Drawer, -2.844, 0.319, 0.280, 0, 0, 0, [SEP] 34, ShowerDoor, -1.074, 1.033, 0.519, 0, 0, 0, [SEP] 35, CounterTop, -0.277, 0.785, 1.931, 0, 0, 0, [SEP] 36, TowelHolder, -1.513, 1.481, 0.002, 0, 0, 0, [SEP] 37, LightSwitch, -0.776, 1.371, 3.300, 0, 180, 0, [SEP] 38, GarbageCan, -1.754, 0.001, 0.227, 0, 0, 0, [SEP] 39, HandTowelHolder, -3.210, 1.588, 0.340, 0, 0, 0, [SEP] 40, HandTowelHolder, 0.004, 1.639, 3.105, 0, 180, 0, [SEP] 41, HandTowelHolder, 0.004, 1.639, 2.309, 0, 180, 0, [SEP] 42, HandTowelHolder, 0.004, 1.639, 1.542, 0, 180, 0, [SEP] 43, Window, -4.127, 1.519, 1.495, 90, 270, 0, [SEP] 44, Toilet, -2.842, 0.000, 2.755, 0, 180, 0, [SEP] 45, SinkBasin, -2.542, 0.706, 0.269, 0, 0, 0, [SEP] 46, BathtubBasin, -3.606, 0.182, 1.536, 0, 270, 0, [SEP] 47, ToiletPaperHanger, -2.349, 0.824, 3.299, 0, 180, 0, [SEP] 48, Faucet, -2.540, 0.794, 0.111, 0, 0, 0, [SEP] 49, Faucet, -0.111, 0.794, 1.921, 0, 270, 0, [SEP] 50, ShowerHead, -3.612, 1.776, 2.299, 0, 0, 0, [SEP] 51, ShowerHead, -0.079, 1.151, 0.662, 0, 0, 0, [SEP] 52, ShowerCurtain, -3.213, 2.098, 2.186, 0, 180, 0, [SEP] 53, Sink, -0.260, 0.661, 1.922, 0, 270, 0, [SEP] 54, SinkBasin, -0.277, 0.706, 1.920, 0, 270, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, SouthWall, , , , , , , [SEP] 57, SouthWall, , , , , , , ", "output": ["STEP 1: walk on over to the bathroom counter to the left of the sink | STEP 2: grab a bar of soap | STEP 3: walk over to the kitchen sink | STEP 4: put the soap inside the sink and rinse it off, then pick the soap back up | STEP 5: back up a bit to face the kitchen sink again | STEP 6: open the top left drawer of the black cabinets below the sink, and put the soap in there. | END"]} +{"id": "trial_T20190907_074712_870488-0", "input": "put the cup with the knife on the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.900, -2.25, 0, 270, 0, [SEP] 1, Potato, -2.761, 0.926, -0.290, 0, 270, 0, 76 [SEP] 2, ButterKnife, -3.565, 0.894, -0.204, 0, 270, 0, 76 [SEP] 3, Egg, -0.394, 0.982, -1.581, 0, 0, 0, 57 [SEP] 4, Egg, -3.949, 0.801, -3.696, 0, 199.125, 0, 75 [SEP] 5, Cup, -0.175, 1.943, -0.713, 0, 0, 0, 46 [SEP] 6, Knife, -1.248, 0.967, -3.517, 0, 0, 0, 39 [SEP] 7, Knife, -3.925, 0.785, -3.399, 0, 244.125, 0, 75 [SEP] 8, Knife, -3.163, 0.920, -0.290, 0, 270, 0, 76 [SEP] 9, Tomato, -0.376, 1.337, -0.529, 0, 270, 0, 69 [SEP] 10, Bowl, -3.203, 0.758, -3.118, 0, 244.125, 0, 75 [SEP] 11, Bowl, -0.201, 1.573, -1.990, 0, 270, 0, 71 [SEP] 12, Bread, -2.560, 0.976, -0.633, 0, 270, 0, 76 [SEP] 13, Lettuce, -0.321, 1.579, -0.646, 0, 270, 0, 69 [SEP] 14, PepperShaker, -0.524, 0.743, -1.375, 0, 0, 0, 43 [SEP] 15, Mug, -0.213, 1.937, -0.553, 0, 0, 0, 46 [SEP] 16, Mug, -2.560, 0.889, -0.119, 0, 270, 0, 76 [SEP] 17, Apple, -4.242, 0.751, -0.248, 0, 0, 0, 74 [SEP] 18, SoapBottle, -1.065, 0.940, -3.908, 0, 45, 0, 39 [SEP] 19, Pot, -0.437, 0.961, -1.845, 0, 180, 0, 40 [SEP] 20, Fork, -3.364, 0.895, -0.290, 0, 270, 0, 76 [SEP] 21, Cup, -0.202, 1.939, -1.844, 0, 0, 0, 48 [SEP] 22, Tomato, -0.417, 1.337, -0.878, 0, 270, 0, 69 [SEP] 23, Pan, -0.222, 0.961, -2.243, 0, 0, 0, 58 [SEP] 24, Plate, -0.490, 0.827, -3.260, 0, 315, 0, 68 [SEP] 25, Bread, -3.364, 0.976, -0.462, 0, 270, 0, 76 [SEP] 26, Spatula, -0.682, 0.828, -3.531, 0, 45, 0, 68 [SEP] 27, Knife, -4.062, 0.716, -0.248, 0, 0, 0, 74 [SEP] 28, SaltShaker, -0.394, 0.937, -1.406, 0, 0, 0, 57 [SEP] 29, PepperShaker, -0.244, 0.938, -2.788, 0, 0, 0, 39 [SEP] 30, ButterKnife, -3.569, 0.760, -3.173, 0, 199.125, 0, 75 [SEP] 31, Apple, -2.419, 0.161, -3.538, 0, 0, 0, 64 [SEP] 32, DishSponge, -1.471, 0.941, -3.673, 0, 0, 0, 39 [SEP] 33, Potato, -0.293, 1.318, -0.878, 0, 270, 0, 69 [SEP] 34, Egg, -0.552, 0.982, -1.406, 0, 0, 0, 57 [SEP] 35, Spoon, -0.644, 0.814, -3.337, 0, 315, 0, 68 [SEP] 36, Lettuce, -0.359, 1.579, -0.994, 0, 270, 0, 69 [SEP] 37, Mug, -2.962, 0.889, -0.633, 0, 270, 0, 76 [SEP] 38, Bowl, -0.429, 0.078, -2.737, 0, 0, 0, 52 [SEP] 39, CounterTop, -1.937, 0.977, -3.673, 0, 0, 0, [SEP] 40, StoveBurner, -0.437, 0.924, -1.845, 0, 180, 0, [SEP] 41, StoveBurner, -0.222, 0.924, -1.845, 0, 180, 0, [SEP] 42, StoveBurner, -0.437, 0.924, -2.243, 0, 0, 0, [SEP] 43, Drawer, -0.500, 0.779, -1.450, 0, 0, 0, [SEP] 44, Drawer, -0.481, 0.777, -2.739, 0, 0, 0, [SEP] 45, Drawer, -1.154, 0.782, -3.499, 0, 0, 0, [SEP] 46, Cabinet, -0.337, 2.110, -0.390, 0, 0, 0, [SEP] 47, Cabinet, -0.337, 2.110, -1.272, 0, 0, 0, [SEP] 48, Cabinet, -0.337, 2.110, -1.631, 0, 0, 0, [SEP] 49, Cabinet, -0.337, 2.110, -2.497, 0, 0, 0, [SEP] 50, Cabinet, -0.337, 1.891, -1.286, 0, 0, 0, [SEP] 51, Cabinet, -0.346, 1.891, -3.293, 0, 0, 0, [SEP] 52, Cabinet, -0.629, 0.388, -2.513, 0, 0, 0, [SEP] 53, Cabinet, -0.633, 0.388, -3.008, 0, 0, 0, [SEP] 54, Cabinet, -1.010, 0.388, -3.368, 0, 0, 0, [SEP] 55, Cabinet, -0.629, 0.388, -1.614, 0, 0, 0, [SEP] 56, Cabinet, -0.327, 1.886, -2.513, 0, 0, 0, [SEP] 57, CounterTop, -0.326, 0.976, -1.450, 0, 0, 0, [SEP] 58, StoveBurner, -0.222, 0.924, -2.243, 0, 0, 0, [SEP] 59, Sink, -0.600, 0.929, -3.388, 0, 0, 0, [SEP] 60, StoveKnob, -0.617, 0.899, -1.833, 315, 90, 180, [SEP] 61, StoveKnob, -0.617, 0.899, -2.129, 315, 90, 180, [SEP] 62, StoveKnob, -0.617, 0.899, -2.289, 315, 90, 180, [SEP] 63, StoveKnob, -0.617, 0.899, -1.975, 315, 90, 180, [SEP] 64, GarbageCan, -2.418, -0.032, -3.541, 0, 0, 0, [SEP] 65, CoffeeMachine, -2.513, 0.930, -3.797, 0, 0, 0, [SEP] 66, Window, -1.389, 1.610, -4.113, 90, 0, 0, [SEP] 67, LightSwitch, -4.372, 1.493, -1.031, 0, 90, 0, [SEP] 68, SinkBasin, -0.614, 0.802, -3.384, 0, 315, 0, [SEP] 69, Fridge, -0.314, 0.0, -0.646, 0, 0, 0, [SEP] 70, Toaster, -1.970, 0.930, -3.763, 0, 0, 0, [SEP] 71, Microwave, -0.216, 1.470, -2.054, 0, 270, 0, [SEP] 72, Blinds, -1.373, 2.205, -3.961, 0, 0, 0, [SEP] 73, Faucet, -0.393, 0.930, -3.614, 270, 225, 0, [SEP] 74, SideTable, -4.030, 0.002, -0.301, 0, 185.034, 0, [SEP] 75, DiningTable, -3.586, 0.000, -3.258, 0, 0, 0, [SEP] 76, DiningTable, -3.224, -0.003, -0.453, 0, 0, 0, [SEP] 77, Shelf, -4.030, 0.259, -0.301, 0, 185.034, 0, [SEP] 78, Shelf, -4.030, 0.489, -0.301, 0, 185.034, 0, [SEP] 79, EastWall, , , , , , , [SEP] 80, EastWall, , , , , , , [SEP] 81, SouthWall, , , , , , , ", "output": ["STEP 1: turn to your left turn to your left walk straight turn right at the stove walk straight to the sink | STEP 2: pick up the knife on the counter | STEP 3: turn to the right turn to the right turn to the left turn to the left turn to the right walk forward | STEP 4: pick up the cup on the table | STEP 5: put the knife into the cup | STEP 6: turn to the right turn to the left walk forward turn to the right | STEP 7: walk forward put the cup and knife on the table | END"]} +{"id": "trial_T20190907_074712_870488-1", "input": "Put a knife in a blue container onto the black table in the corner. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.900, -2.25, 0, 270, 0, [SEP] 1, Potato, -2.761, 0.926, -0.290, 0, 270, 0, 76 [SEP] 2, ButterKnife, -3.565, 0.894, -0.204, 0, 270, 0, 76 [SEP] 3, Egg, -0.394, 0.982, -1.581, 0, 0, 0, 57 [SEP] 4, Egg, -3.949, 0.801, -3.696, 0, 199.125, 0, 75 [SEP] 5, Cup, -0.175, 1.943, -0.713, 0, 0, 0, 46 [SEP] 6, Knife, -1.248, 0.967, -3.517, 0, 0, 0, 39 [SEP] 7, Knife, -3.925, 0.785, -3.399, 0, 244.125, 0, 75 [SEP] 8, Knife, -3.163, 0.920, -0.290, 0, 270, 0, 76 [SEP] 9, Tomato, -0.376, 1.337, -0.529, 0, 270, 0, 69 [SEP] 10, Bowl, -3.203, 0.758, -3.118, 0, 244.125, 0, 75 [SEP] 11, Bowl, -0.201, 1.573, -1.990, 0, 270, 0, 71 [SEP] 12, Bread, -2.560, 0.976, -0.633, 0, 270, 0, 76 [SEP] 13, Lettuce, -0.321, 1.579, -0.646, 0, 270, 0, 69 [SEP] 14, PepperShaker, -0.524, 0.743, -1.375, 0, 0, 0, 43 [SEP] 15, Mug, -0.213, 1.937, -0.553, 0, 0, 0, 46 [SEP] 16, Mug, -2.560, 0.889, -0.119, 0, 270, 0, 76 [SEP] 17, Apple, -4.242, 0.751, -0.248, 0, 0, 0, 74 [SEP] 18, SoapBottle, -1.065, 0.940, -3.908, 0, 45, 0, 39 [SEP] 19, Pot, -0.437, 0.961, -1.845, 0, 180, 0, 40 [SEP] 20, Fork, -3.364, 0.895, -0.290, 0, 270, 0, 76 [SEP] 21, Cup, -0.202, 1.939, -1.844, 0, 0, 0, 48 [SEP] 22, Tomato, -0.417, 1.337, -0.878, 0, 270, 0, 69 [SEP] 23, Pan, -0.222, 0.961, -2.243, 0, 0, 0, 58 [SEP] 24, Plate, -0.490, 0.827, -3.260, 0, 315, 0, 68 [SEP] 25, Bread, -3.364, 0.976, -0.462, 0, 270, 0, 76 [SEP] 26, Spatula, -0.682, 0.828, -3.531, 0, 45, 0, 68 [SEP] 27, Knife, -4.062, 0.716, -0.248, 0, 0, 0, 74 [SEP] 28, SaltShaker, -0.394, 0.937, -1.406, 0, 0, 0, 57 [SEP] 29, PepperShaker, -0.244, 0.938, -2.788, 0, 0, 0, 39 [SEP] 30, ButterKnife, -3.569, 0.760, -3.173, 0, 199.125, 0, 75 [SEP] 31, Apple, -2.419, 0.161, -3.538, 0, 0, 0, 64 [SEP] 32, DishSponge, -1.471, 0.941, -3.673, 0, 0, 0, 39 [SEP] 33, Potato, -0.293, 1.318, -0.878, 0, 270, 0, 69 [SEP] 34, Egg, -0.552, 0.982, -1.406, 0, 0, 0, 57 [SEP] 35, Spoon, -0.644, 0.814, -3.337, 0, 315, 0, 68 [SEP] 36, Lettuce, -0.359, 1.579, -0.994, 0, 270, 0, 69 [SEP] 37, Mug, -2.962, 0.889, -0.633, 0, 270, 0, 76 [SEP] 38, Bowl, -0.429, 0.078, -2.737, 0, 0, 0, 52 [SEP] 39, CounterTop, -1.937, 0.977, -3.673, 0, 0, 0, [SEP] 40, StoveBurner, -0.437, 0.924, -1.845, 0, 180, 0, [SEP] 41, StoveBurner, -0.222, 0.924, -1.845, 0, 180, 0, [SEP] 42, StoveBurner, -0.437, 0.924, -2.243, 0, 0, 0, [SEP] 43, Drawer, -0.500, 0.779, -1.450, 0, 0, 0, [SEP] 44, Drawer, -0.481, 0.777, -2.739, 0, 0, 0, [SEP] 45, Drawer, -1.154, 0.782, -3.499, 0, 0, 0, [SEP] 46, Cabinet, -0.337, 2.110, -0.390, 0, 0, 0, [SEP] 47, Cabinet, -0.337, 2.110, -1.272, 0, 0, 0, [SEP] 48, Cabinet, -0.337, 2.110, -1.631, 0, 0, 0, [SEP] 49, Cabinet, -0.337, 2.110, -2.497, 0, 0, 0, [SEP] 50, Cabinet, -0.337, 1.891, -1.286, 0, 0, 0, [SEP] 51, Cabinet, -0.346, 1.891, -3.293, 0, 0, 0, [SEP] 52, Cabinet, -0.629, 0.388, -2.513, 0, 0, 0, [SEP] 53, Cabinet, -0.633, 0.388, -3.008, 0, 0, 0, [SEP] 54, Cabinet, -1.010, 0.388, -3.368, 0, 0, 0, [SEP] 55, Cabinet, -0.629, 0.388, -1.614, 0, 0, 0, [SEP] 56, Cabinet, -0.327, 1.886, -2.513, 0, 0, 0, [SEP] 57, CounterTop, -0.326, 0.976, -1.450, 0, 0, 0, [SEP] 58, StoveBurner, -0.222, 0.924, -2.243, 0, 0, 0, [SEP] 59, Sink, -0.600, 0.929, -3.388, 0, 0, 0, [SEP] 60, StoveKnob, -0.617, 0.899, -1.833, 315, 90, 180, [SEP] 61, StoveKnob, -0.617, 0.899, -2.129, 315, 90, 180, [SEP] 62, StoveKnob, -0.617, 0.899, -2.289, 315, 90, 180, [SEP] 63, StoveKnob, -0.617, 0.899, -1.975, 315, 90, 180, [SEP] 64, GarbageCan, -2.418, -0.032, -3.541, 0, 0, 0, [SEP] 65, CoffeeMachine, -2.513, 0.930, -3.797, 0, 0, 0, [SEP] 66, Window, -1.389, 1.610, -4.113, 90, 0, 0, [SEP] 67, LightSwitch, -4.372, 1.493, -1.031, 0, 90, 0, [SEP] 68, SinkBasin, -0.614, 0.802, -3.384, 0, 315, 0, [SEP] 69, Fridge, -0.314, 0.0, -0.646, 0, 0, 0, [SEP] 70, Toaster, -1.970, 0.930, -3.763, 0, 0, 0, [SEP] 71, Microwave, -0.216, 1.470, -2.054, 0, 270, 0, [SEP] 72, Blinds, -1.373, 2.205, -3.961, 0, 0, 0, [SEP] 73, Faucet, -0.393, 0.930, -3.614, 270, 225, 0, [SEP] 74, SideTable, -4.030, 0.002, -0.301, 0, 185.034, 0, [SEP] 75, DiningTable, -3.586, 0.000, -3.258, 0, 0, 0, [SEP] 76, DiningTable, -3.224, -0.003, -0.453, 0, 0, 0, [SEP] 77, Shelf, -4.030, 0.259, -0.301, 0, 185.034, 0, [SEP] 78, Shelf, -4.030, 0.489, -0.301, 0, 185.034, 0, [SEP] 79, EastWall, , , , , , , [SEP] 80, EastWall, , , , , , , [SEP] 81, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and walk across the room to the oven, then turn right and walk to the counter to the right of the sink. | STEP 2: Pick up the knife that is on the counter to the right of the sink, near the sponge. | STEP 3: Turn right and walk across the room to the green table. | STEP 4: Place the knife inside of the blue container on the table. | STEP 5: Pick up the blue container on the table with the knife in it. | STEP 6: Turn right and walk across the room to the black table in the corner. | STEP 7: Place the blue container with the knife in it onto the black table in the corner. | END"]} +{"id": "trial_T20190907_074712_870488-2", "input": "Moving a container with a knife in it SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.900, -2.25, 0, 270, 0, [SEP] 1, Potato, -2.761, 0.926, -0.290, 0, 270, 0, 76 [SEP] 2, ButterKnife, -3.565, 0.894, -0.204, 0, 270, 0, 76 [SEP] 3, Egg, -0.394, 0.982, -1.581, 0, 0, 0, 57 [SEP] 4, Egg, -3.949, 0.801, -3.696, 0, 199.125, 0, 75 [SEP] 5, Cup, -0.175, 1.943, -0.713, 0, 0, 0, 46 [SEP] 6, Knife, -1.248, 0.967, -3.517, 0, 0, 0, 39 [SEP] 7, Knife, -3.925, 0.785, -3.399, 0, 244.125, 0, 75 [SEP] 8, Knife, -3.163, 0.920, -0.290, 0, 270, 0, 76 [SEP] 9, Tomato, -0.376, 1.337, -0.529, 0, 270, 0, 69 [SEP] 10, Bowl, -3.203, 0.758, -3.118, 0, 244.125, 0, 75 [SEP] 11, Bowl, -0.201, 1.573, -1.990, 0, 270, 0, 71 [SEP] 12, Bread, -2.560, 0.976, -0.633, 0, 270, 0, 76 [SEP] 13, Lettuce, -0.321, 1.579, -0.646, 0, 270, 0, 69 [SEP] 14, PepperShaker, -0.524, 0.743, -1.375, 0, 0, 0, 43 [SEP] 15, Mug, -0.213, 1.937, -0.553, 0, 0, 0, 46 [SEP] 16, Mug, -2.560, 0.889, -0.119, 0, 270, 0, 76 [SEP] 17, Apple, -4.242, 0.751, -0.248, 0, 0, 0, 74 [SEP] 18, SoapBottle, -1.065, 0.940, -3.908, 0, 45, 0, 39 [SEP] 19, Pot, -0.437, 0.961, -1.845, 0, 180, 0, 40 [SEP] 20, Fork, -3.364, 0.895, -0.290, 0, 270, 0, 76 [SEP] 21, Cup, -0.202, 1.939, -1.844, 0, 0, 0, 48 [SEP] 22, Tomato, -0.417, 1.337, -0.878, 0, 270, 0, 69 [SEP] 23, Pan, -0.222, 0.961, -2.243, 0, 0, 0, 58 [SEP] 24, Plate, -0.490, 0.827, -3.260, 0, 315, 0, 68 [SEP] 25, Bread, -3.364, 0.976, -0.462, 0, 270, 0, 76 [SEP] 26, Spatula, -0.682, 0.828, -3.531, 0, 45, 0, 68 [SEP] 27, Knife, -4.062, 0.716, -0.248, 0, 0, 0, 74 [SEP] 28, SaltShaker, -0.394, 0.937, -1.406, 0, 0, 0, 57 [SEP] 29, PepperShaker, -0.244, 0.938, -2.788, 0, 0, 0, 39 [SEP] 30, ButterKnife, -3.569, 0.760, -3.173, 0, 199.125, 0, 75 [SEP] 31, Apple, -2.419, 0.161, -3.538, 0, 0, 0, 64 [SEP] 32, DishSponge, -1.471, 0.941, -3.673, 0, 0, 0, 39 [SEP] 33, Potato, -0.293, 1.318, -0.878, 0, 270, 0, 69 [SEP] 34, Egg, -0.552, 0.982, -1.406, 0, 0, 0, 57 [SEP] 35, Spoon, -0.644, 0.814, -3.337, 0, 315, 0, 68 [SEP] 36, Lettuce, -0.359, 1.579, -0.994, 0, 270, 0, 69 [SEP] 37, Mug, -2.962, 0.889, -0.633, 0, 270, 0, 76 [SEP] 38, Bowl, -0.429, 0.078, -2.737, 0, 0, 0, 52 [SEP] 39, CounterTop, -1.937, 0.977, -3.673, 0, 0, 0, [SEP] 40, StoveBurner, -0.437, 0.924, -1.845, 0, 180, 0, [SEP] 41, StoveBurner, -0.222, 0.924, -1.845, 0, 180, 0, [SEP] 42, StoveBurner, -0.437, 0.924, -2.243, 0, 0, 0, [SEP] 43, Drawer, -0.500, 0.779, -1.450, 0, 0, 0, [SEP] 44, Drawer, -0.481, 0.777, -2.739, 0, 0, 0, [SEP] 45, Drawer, -1.154, 0.782, -3.499, 0, 0, 0, [SEP] 46, Cabinet, -0.337, 2.110, -0.390, 0, 0, 0, [SEP] 47, Cabinet, -0.337, 2.110, -1.272, 0, 0, 0, [SEP] 48, Cabinet, -0.337, 2.110, -1.631, 0, 0, 0, [SEP] 49, Cabinet, -0.337, 2.110, -2.497, 0, 0, 0, [SEP] 50, Cabinet, -0.337, 1.891, -1.286, 0, 0, 0, [SEP] 51, Cabinet, -0.346, 1.891, -3.293, 0, 0, 0, [SEP] 52, Cabinet, -0.629, 0.388, -2.513, 0, 0, 0, [SEP] 53, Cabinet, -0.633, 0.388, -3.008, 0, 0, 0, [SEP] 54, Cabinet, -1.010, 0.388, -3.368, 0, 0, 0, [SEP] 55, Cabinet, -0.629, 0.388, -1.614, 0, 0, 0, [SEP] 56, Cabinet, -0.327, 1.886, -2.513, 0, 0, 0, [SEP] 57, CounterTop, -0.326, 0.976, -1.450, 0, 0, 0, [SEP] 58, StoveBurner, -0.222, 0.924, -2.243, 0, 0, 0, [SEP] 59, Sink, -0.600, 0.929, -3.388, 0, 0, 0, [SEP] 60, StoveKnob, -0.617, 0.899, -1.833, 315, 90, 180, [SEP] 61, StoveKnob, -0.617, 0.899, -2.129, 315, 90, 180, [SEP] 62, StoveKnob, -0.617, 0.899, -2.289, 315, 90, 180, [SEP] 63, StoveKnob, -0.617, 0.899, -1.975, 315, 90, 180, [SEP] 64, GarbageCan, -2.418, -0.032, -3.541, 0, 0, 0, [SEP] 65, CoffeeMachine, -2.513, 0.930, -3.797, 0, 0, 0, [SEP] 66, Window, -1.389, 1.610, -4.113, 90, 0, 0, [SEP] 67, LightSwitch, -4.372, 1.493, -1.031, 0, 90, 0, [SEP] 68, SinkBasin, -0.614, 0.802, -3.384, 0, 315, 0, [SEP] 69, Fridge, -0.314, 0.0, -0.646, 0, 0, 0, [SEP] 70, Toaster, -1.970, 0.930, -3.763, 0, 0, 0, [SEP] 71, Microwave, -0.216, 1.470, -2.054, 0, 270, 0, [SEP] 72, Blinds, -1.373, 2.205, -3.961, 0, 0, 0, [SEP] 73, Faucet, -0.393, 0.930, -3.614, 270, 225, 0, [SEP] 74, SideTable, -4.030, 0.002, -0.301, 0, 185.034, 0, [SEP] 75, DiningTable, -3.586, 0.000, -3.258, 0, 0, 0, [SEP] 76, DiningTable, -3.224, -0.003, -0.453, 0, 0, 0, [SEP] 77, Shelf, -4.030, 0.259, -0.301, 0, 185.034, 0, [SEP] 78, Shelf, -4.030, 0.489, -0.301, 0, 185.034, 0, [SEP] 79, EastWall, , , , , , , [SEP] 80, EastWall, , , , , , , [SEP] 81, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and head to the sink | STEP 2: Grab the large knife that is to the right of the sink | STEP 3: Walk to the table on your right | STEP 4: Place the knife into the container that's on the table | STEP 5: Grab the container with the knife inside | STEP 6: Turn right and head to the small black table in the corner of the room | STEP 7: Place the container on the small black table | END"]} +{"id": "trial_T20190908_070946_578973-0", "input": "Put a heated white plate in a cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, -1.5, 0, 90, 0, [SEP] 1, Potato, -2.078, 0.828, 1.251, 0, 90, 0, 96 [SEP] 2, CreditCard, -2.100, 0.908, -2.585, 0, 0, 0, 88 [SEP] 3, CreditCard, -1.654, 0.790, 0.331, 0, 90, 0, 60 [SEP] 4, Plate, 0.355, 1.108, -0.759, 0, 0, 0, 63 [SEP] 5, Plate, -2.019, 0.908, -0.513, 0, 0, 0, 88 [SEP] 6, Tomato, -2.019, 0.950, -0.698, 0, 0, 0, 88 [SEP] 7, Tomato, -2.018, 0.808, -1.673, 0, 90, 0, 98 [SEP] 8, SoapBottle, -1.611, 0.912, -0.884, 0, 0, 0, 88 [SEP] 9, SaltShaker, 1.686, 0.877, -2.536, 0, 180, 0, 90 [SEP] 10, SaltShaker, -1.609, 0.150, -0.101, 0, 90, 0, 86 [SEP] 11, PepperShaker, 1.008, 0.477, -2.331, 0, 0, 0, 71 [SEP] 12, PepperShaker, 1.993, 0.877, -2.617, 0, 180, 0, 90 [SEP] 13, Apple, -2.018, 0.820, -1.414, 0, 90, 0, 98 [SEP] 14, Knife, -0.059, 1.136, -0.253, 0, 90, 0, 63 [SEP] 15, Fork, -0.197, 1.112, -0.253, 0, 0, 0, 63 [SEP] 16, Spoon, 0.079, 1.112, -0.506, 0, 0, 0, 63 [SEP] 17, Spoon, 0.079, 1.112, -0.001, 0, 0, 0, 63 [SEP] 18, Mug, 1.584, 0.875, -2.590, 0, 180, 0, 90 [SEP] 19, Mug, -2.158, 1.304, 1.008, 0, 90, 0, 96 [SEP] 20, Spatula, -1.611, 0.926, -2.585, 0, 0, 0, 88 [SEP] 21, ButterKnife, 0.949, 0.646, -2.375, 0, 0, 0, 68 [SEP] 22, ButterKnife, -2.019, 0.911, -2.256, 0, 0, 0, 88 [SEP] 23, Kettle, -0.465, 0.950, -2.576, 0, 90, 0, 72 [SEP] 24, Glassbottle, 1.098, 0.911, -2.407, 0, 0, 0, 65 [SEP] 25, DishSponge, -1.290, 0.910, -2.713, 0, 0, 0, 88 [SEP] 26, DishSponge, 0.969, 0.910, -2.407, 0, 0, 0, 65 [SEP] 27, Bowl, -1.797, 0.766, -1.501, 0, 90, 0, 98 [SEP] 28, Book, 0.155, 1.1, 0.617, 0, 315, 0, 63 [SEP] 29, Glassbottle, 1.893, 0.553, -2.614, 0, 180, 0, 93 [SEP] 30, Knife, 0.840, 0.936, -2.330, 0, 180, 0, 65 [SEP] 31, Bread, -1.143, 0.983, -2.560, 0, 0, 0, 88 [SEP] 32, Fork, 0.840, 0.911, -2.560, 0, 180, 0, 65 [SEP] 33, Potato, -1.852, 0.800, -1.328, 0, 90, 0, 98 [SEP] 34, SoapBottle, -0.335, 1.112, 0.504, 0, 0, 0, 63 [SEP] 35, Kettle, -0.465, 0.950, -2.372, 0, 90, 0, 61 [SEP] 36, Pan, 0.721, 0.9, -2.415, 0, 0, 0, 65 [SEP] 37, Plate, -0.059, 1.108, -0.759, 0, 0, 0, 63 [SEP] 38, Tomato, 0.355, 1.150, -0.001, 0, 0, 0, 63 [SEP] 39, Vase, 1.478, 0.555, -2.666, 0, 180, 0, 93 [SEP] 40, Egg, -1.742, 0.804, -1.242, 0, 90, 0, 98 [SEP] 41, CreditCard, 1.064, 0.139, -2.334, 0, 0, 0, 83 [SEP] 42, Statue, -0.335, 1.110, -0.759, 0, 0, 0, 63 [SEP] 43, WineBottle, -0.197, 1.112, 0.251, 0, 0, 0, 63 [SEP] 44, Pot, 1.685, 0.557, -2.511, 0, 180, 0, 93 [SEP] 45, Spatula, -0.059, 1.126, 0.757, 0, 0, 0, 63 [SEP] 46, PaperTowelRoll, -0.197, 1.215, -0.001, 0, 0, 0, 63 [SEP] 47, Cup, -1.693, 0.909, -2.146, 0, 0, 0, 88 [SEP] 48, Vase, -0.335, 1.109, 0.251, 0, 0, 0, 63 [SEP] 49, Bowl, -2.122, 1.499, 1.008, 0, 90, 0, 96 [SEP] 50, SaltShaker, 0.969, 0.907, -2.253, 0, 0, 0, 65 [SEP] 51, PepperShaker, 2.096, 0.877, -2.536, 0, 180, 0, 90 [SEP] 52, Lettuce, 0.453, 0.990, -2.484, 0, 0, 0, 65 [SEP] 53, ButterKnife, 0.453, 0.910, -2.253, 0, 0, 0, 65 [SEP] 54, Apple, -1.962, 0.098, 2.076, 0, 270, 0, 94 [SEP] 55, DishSponge, -1.962, 0.047, 1.933, 0, 270, 0, 94 [SEP] 56, Spoon, -1.852, 0.770, -1.673, 0, 90, 0, 98 [SEP] 57, Mug, 1.098, 0.905, -2.637, 0, 0, 0, 65 [SEP] 58, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0, [SEP] 59, Drawer, 0.949, 0.832, -2.197, 0, 0, 0, [SEP] 60, Drawer, -1.560, 0.839, 0.204, 0, 90, 0, [SEP] 61, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0, [SEP] 62, Drawer, -1.560, 0.839, -0.197, 0, 90, 0, [SEP] 63, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0, [SEP] 64, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0, [SEP] 65, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0, [SEP] 66, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0, [SEP] 67, Drawer, 0.949, 0.393, -2.200, 0, 0, 0, [SEP] 68, Drawer, 0.949, 0.708, -2.200, 0, 0, 0, [SEP] 69, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0, [SEP] 70, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0, [SEP] 71, Drawer, 0.949, 0.560, -2.201, 0, 0, 0, [SEP] 72, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0, [SEP] 73, Window, -2.230, 1.429, -1.203, 0, 0, 0, [SEP] 74, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0, [SEP] 75, Sink, -1.899, 0.964, -1.5, 0, 90, 0, [SEP] 76, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0, [SEP] 77, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0, [SEP] 78, Drawer, -1.560, 0.655, -0.196, 0, 90, 0, [SEP] 79, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0, [SEP] 80, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0, [SEP] 81, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0, [SEP] 82, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0, [SEP] 83, Drawer, 0.949, 0.221, -2.200, 0, 0, 0, [SEP] 84, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0, [SEP] 85, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0, [SEP] 86, Drawer, -1.560, 0.331, -0.196, 0, 90, 0, [SEP] 87, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0, [SEP] 88, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0, [SEP] 89, Microwave, -0.236, 1.689, -2.525, 0, 0, 0, [SEP] 90, Shelf, 1.751, 0.880, -2.560, 0, 0, 0, [SEP] 91, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0, [SEP] 92, Toaster, -1.835, 0.900, 0.134, 0, 90, 0, [SEP] 93, Shelf, 1.750, 0.552, -2.559, 0, 0, 0, [SEP] 94, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0, [SEP] 95, Shelf, 1.750, 0.172, -2.559, 0, 0, 0, [SEP] 96, Fridge, -2.096, 0.0, 1.088, 0, 0, 0, [SEP] 97, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0, [SEP] 98, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0, [SEP] 99, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0, [SEP] 100, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0, [SEP] 101, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0, [SEP] 102, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0, [SEP] 103, Faucet, -2.070, 1.132, -1.514, 0, 0, 0, [SEP] 104, NorthWall, , , , , , , [SEP] 105, EastWall, , , , , , , [SEP] 106, SouthWall, , , , , , , [SEP] 107, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk up to the kitchen island. | STEP 2: Pick up the leftmost white plate off of the kitchen island. | STEP 3: Turn left and walk forward, then turn left again and walk up to the oven and look up. | STEP 4: Put the white plate in the microwave and microwave it for a couple seconds, then take it out and close the microwave. | STEP 5: Turn right and take a step forward, then turn left and look up at the upper cabinets. | STEP 6: Open the leftmost big upper cabinet door and put the heated plate inside, then close the door. | END"]} +{"id": "trial_T20190908_070946_578973-1", "input": "Place a microwaved plate inside the cabinet to the right of the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, -1.5, 0, 90, 0, [SEP] 1, Potato, -2.078, 0.828, 1.251, 0, 90, 0, 96 [SEP] 2, CreditCard, -2.100, 0.908, -2.585, 0, 0, 0, 88 [SEP] 3, CreditCard, -1.654, 0.790, 0.331, 0, 90, 0, 60 [SEP] 4, Plate, 0.355, 1.108, -0.759, 0, 0, 0, 63 [SEP] 5, Plate, -2.019, 0.908, -0.513, 0, 0, 0, 88 [SEP] 6, Tomato, -2.019, 0.950, -0.698, 0, 0, 0, 88 [SEP] 7, Tomato, -2.018, 0.808, -1.673, 0, 90, 0, 98 [SEP] 8, SoapBottle, -1.611, 0.912, -0.884, 0, 0, 0, 88 [SEP] 9, SaltShaker, 1.686, 0.877, -2.536, 0, 180, 0, 90 [SEP] 10, SaltShaker, -1.609, 0.150, -0.101, 0, 90, 0, 86 [SEP] 11, PepperShaker, 1.008, 0.477, -2.331, 0, 0, 0, 71 [SEP] 12, PepperShaker, 1.993, 0.877, -2.617, 0, 180, 0, 90 [SEP] 13, Apple, -2.018, 0.820, -1.414, 0, 90, 0, 98 [SEP] 14, Knife, -0.059, 1.136, -0.253, 0, 90, 0, 63 [SEP] 15, Fork, -0.197, 1.112, -0.253, 0, 0, 0, 63 [SEP] 16, Spoon, 0.079, 1.112, -0.506, 0, 0, 0, 63 [SEP] 17, Spoon, 0.079, 1.112, -0.001, 0, 0, 0, 63 [SEP] 18, Mug, 1.584, 0.875, -2.590, 0, 180, 0, 90 [SEP] 19, Mug, -2.158, 1.304, 1.008, 0, 90, 0, 96 [SEP] 20, Spatula, -1.611, 0.926, -2.585, 0, 0, 0, 88 [SEP] 21, ButterKnife, 0.949, 0.646, -2.375, 0, 0, 0, 68 [SEP] 22, ButterKnife, -2.019, 0.911, -2.256, 0, 0, 0, 88 [SEP] 23, Kettle, -0.465, 0.950, -2.576, 0, 90, 0, 72 [SEP] 24, Glassbottle, 1.098, 0.911, -2.407, 0, 0, 0, 65 [SEP] 25, DishSponge, -1.290, 0.910, -2.713, 0, 0, 0, 88 [SEP] 26, DishSponge, 0.969, 0.910, -2.407, 0, 0, 0, 65 [SEP] 27, Bowl, -1.797, 0.766, -1.501, 0, 90, 0, 98 [SEP] 28, Book, 0.155, 1.1, 0.617, 0, 315, 0, 63 [SEP] 29, Glassbottle, 1.893, 0.553, -2.614, 0, 180, 0, 93 [SEP] 30, Knife, 0.840, 0.936, -2.330, 0, 180, 0, 65 [SEP] 31, Bread, -1.143, 0.983, -2.560, 0, 0, 0, 88 [SEP] 32, Fork, 0.840, 0.911, -2.560, 0, 180, 0, 65 [SEP] 33, Potato, -1.852, 0.800, -1.328, 0, 90, 0, 98 [SEP] 34, SoapBottle, -0.335, 1.112, 0.504, 0, 0, 0, 63 [SEP] 35, Kettle, -0.465, 0.950, -2.372, 0, 90, 0, 61 [SEP] 36, Pan, 0.721, 0.9, -2.415, 0, 0, 0, 65 [SEP] 37, Plate, -0.059, 1.108, -0.759, 0, 0, 0, 63 [SEP] 38, Tomato, 0.355, 1.150, -0.001, 0, 0, 0, 63 [SEP] 39, Vase, 1.478, 0.555, -2.666, 0, 180, 0, 93 [SEP] 40, Egg, -1.742, 0.804, -1.242, 0, 90, 0, 98 [SEP] 41, CreditCard, 1.064, 0.139, -2.334, 0, 0, 0, 83 [SEP] 42, Statue, -0.335, 1.110, -0.759, 0, 0, 0, 63 [SEP] 43, WineBottle, -0.197, 1.112, 0.251, 0, 0, 0, 63 [SEP] 44, Pot, 1.685, 0.557, -2.511, 0, 180, 0, 93 [SEP] 45, Spatula, -0.059, 1.126, 0.757, 0, 0, 0, 63 [SEP] 46, PaperTowelRoll, -0.197, 1.215, -0.001, 0, 0, 0, 63 [SEP] 47, Cup, -1.693, 0.909, -2.146, 0, 0, 0, 88 [SEP] 48, Vase, -0.335, 1.109, 0.251, 0, 0, 0, 63 [SEP] 49, Bowl, -2.122, 1.499, 1.008, 0, 90, 0, 96 [SEP] 50, SaltShaker, 0.969, 0.907, -2.253, 0, 0, 0, 65 [SEP] 51, PepperShaker, 2.096, 0.877, -2.536, 0, 180, 0, 90 [SEP] 52, Lettuce, 0.453, 0.990, -2.484, 0, 0, 0, 65 [SEP] 53, ButterKnife, 0.453, 0.910, -2.253, 0, 0, 0, 65 [SEP] 54, Apple, -1.962, 0.098, 2.076, 0, 270, 0, 94 [SEP] 55, DishSponge, -1.962, 0.047, 1.933, 0, 270, 0, 94 [SEP] 56, Spoon, -1.852, 0.770, -1.673, 0, 90, 0, 98 [SEP] 57, Mug, 1.098, 0.905, -2.637, 0, 0, 0, 65 [SEP] 58, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0, [SEP] 59, Drawer, 0.949, 0.832, -2.197, 0, 0, 0, [SEP] 60, Drawer, -1.560, 0.839, 0.204, 0, 90, 0, [SEP] 61, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0, [SEP] 62, Drawer, -1.560, 0.839, -0.197, 0, 90, 0, [SEP] 63, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0, [SEP] 64, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0, [SEP] 65, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0, [SEP] 66, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0, [SEP] 67, Drawer, 0.949, 0.393, -2.200, 0, 0, 0, [SEP] 68, Drawer, 0.949, 0.708, -2.200, 0, 0, 0, [SEP] 69, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0, [SEP] 70, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0, [SEP] 71, Drawer, 0.949, 0.560, -2.201, 0, 0, 0, [SEP] 72, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0, [SEP] 73, Window, -2.230, 1.429, -1.203, 0, 0, 0, [SEP] 74, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0, [SEP] 75, Sink, -1.899, 0.964, -1.5, 0, 90, 0, [SEP] 76, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0, [SEP] 77, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0, [SEP] 78, Drawer, -1.560, 0.655, -0.196, 0, 90, 0, [SEP] 79, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0, [SEP] 80, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0, [SEP] 81, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0, [SEP] 82, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0, [SEP] 83, Drawer, 0.949, 0.221, -2.200, 0, 0, 0, [SEP] 84, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0, [SEP] 85, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0, [SEP] 86, Drawer, -1.560, 0.331, -0.196, 0, 90, 0, [SEP] 87, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0, [SEP] 88, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0, [SEP] 89, Microwave, -0.236, 1.689, -2.525, 0, 0, 0, [SEP] 90, Shelf, 1.751, 0.880, -2.560, 0, 0, 0, [SEP] 91, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0, [SEP] 92, Toaster, -1.835, 0.900, 0.134, 0, 90, 0, [SEP] 93, Shelf, 1.750, 0.552, -2.559, 0, 0, 0, [SEP] 94, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0, [SEP] 95, Shelf, 1.750, 0.172, -2.559, 0, 0, 0, [SEP] 96, Fridge, -2.096, 0.0, 1.088, 0, 0, 0, [SEP] 97, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0, [SEP] 98, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0, [SEP] 99, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0, [SEP] 100, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0, [SEP] 101, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0, [SEP] 102, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0, [SEP] 103, Faucet, -2.070, 1.132, -1.514, 0, 0, 0, [SEP] 104, NorthWall, , , , , , , [SEP] 105, EastWall, , , , , , , [SEP] 106, SouthWall, , , , , , , [SEP] 107, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the counter in front of you. | STEP 2: Pick up the plate closest to you from the counter. | STEP 3: Turn around and walk to the microwave above the stove. | STEP 4: Heat up the plate in the microwave and then pick up the plate from the microwave. | STEP 5: Walk to the cabinet to the right of the microwave. | STEP 6: Place the plate inside the cabinet. | END"]} +{"id": "trial_T20190908_070946_578973-2", "input": "Place a warm plate in the cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, -1.5, 0, 90, 0, [SEP] 1, Potato, -2.078, 0.828, 1.251, 0, 90, 0, 96 [SEP] 2, CreditCard, -2.100, 0.908, -2.585, 0, 0, 0, 88 [SEP] 3, CreditCard, -1.654, 0.790, 0.331, 0, 90, 0, 60 [SEP] 4, Plate, 0.355, 1.108, -0.759, 0, 0, 0, 63 [SEP] 5, Plate, -2.019, 0.908, -0.513, 0, 0, 0, 88 [SEP] 6, Tomato, -2.019, 0.950, -0.698, 0, 0, 0, 88 [SEP] 7, Tomato, -2.018, 0.808, -1.673, 0, 90, 0, 98 [SEP] 8, SoapBottle, -1.611, 0.912, -0.884, 0, 0, 0, 88 [SEP] 9, SaltShaker, 1.686, 0.877, -2.536, 0, 180, 0, 90 [SEP] 10, SaltShaker, -1.609, 0.150, -0.101, 0, 90, 0, 86 [SEP] 11, PepperShaker, 1.008, 0.477, -2.331, 0, 0, 0, 71 [SEP] 12, PepperShaker, 1.993, 0.877, -2.617, 0, 180, 0, 90 [SEP] 13, Apple, -2.018, 0.820, -1.414, 0, 90, 0, 98 [SEP] 14, Knife, -0.059, 1.136, -0.253, 0, 90, 0, 63 [SEP] 15, Fork, -0.197, 1.112, -0.253, 0, 0, 0, 63 [SEP] 16, Spoon, 0.079, 1.112, -0.506, 0, 0, 0, 63 [SEP] 17, Spoon, 0.079, 1.112, -0.001, 0, 0, 0, 63 [SEP] 18, Mug, 1.584, 0.875, -2.590, 0, 180, 0, 90 [SEP] 19, Mug, -2.158, 1.304, 1.008, 0, 90, 0, 96 [SEP] 20, Spatula, -1.611, 0.926, -2.585, 0, 0, 0, 88 [SEP] 21, ButterKnife, 0.949, 0.646, -2.375, 0, 0, 0, 68 [SEP] 22, ButterKnife, -2.019, 0.911, -2.256, 0, 0, 0, 88 [SEP] 23, Kettle, -0.465, 0.950, -2.576, 0, 90, 0, 72 [SEP] 24, Glassbottle, 1.098, 0.911, -2.407, 0, 0, 0, 65 [SEP] 25, DishSponge, -1.290, 0.910, -2.713, 0, 0, 0, 88 [SEP] 26, DishSponge, 0.969, 0.910, -2.407, 0, 0, 0, 65 [SEP] 27, Bowl, -1.797, 0.766, -1.501, 0, 90, 0, 98 [SEP] 28, Book, 0.155, 1.1, 0.617, 0, 315, 0, 63 [SEP] 29, Glassbottle, 1.893, 0.553, -2.614, 0, 180, 0, 93 [SEP] 30, Knife, 0.840, 0.936, -2.330, 0, 180, 0, 65 [SEP] 31, Bread, -1.143, 0.983, -2.560, 0, 0, 0, 88 [SEP] 32, Fork, 0.840, 0.911, -2.560, 0, 180, 0, 65 [SEP] 33, Potato, -1.852, 0.800, -1.328, 0, 90, 0, 98 [SEP] 34, SoapBottle, -0.335, 1.112, 0.504, 0, 0, 0, 63 [SEP] 35, Kettle, -0.465, 0.950, -2.372, 0, 90, 0, 61 [SEP] 36, Pan, 0.721, 0.9, -2.415, 0, 0, 0, 65 [SEP] 37, Plate, -0.059, 1.108, -0.759, 0, 0, 0, 63 [SEP] 38, Tomato, 0.355, 1.150, -0.001, 0, 0, 0, 63 [SEP] 39, Vase, 1.478, 0.555, -2.666, 0, 180, 0, 93 [SEP] 40, Egg, -1.742, 0.804, -1.242, 0, 90, 0, 98 [SEP] 41, CreditCard, 1.064, 0.139, -2.334, 0, 0, 0, 83 [SEP] 42, Statue, -0.335, 1.110, -0.759, 0, 0, 0, 63 [SEP] 43, WineBottle, -0.197, 1.112, 0.251, 0, 0, 0, 63 [SEP] 44, Pot, 1.685, 0.557, -2.511, 0, 180, 0, 93 [SEP] 45, Spatula, -0.059, 1.126, 0.757, 0, 0, 0, 63 [SEP] 46, PaperTowelRoll, -0.197, 1.215, -0.001, 0, 0, 0, 63 [SEP] 47, Cup, -1.693, 0.909, -2.146, 0, 0, 0, 88 [SEP] 48, Vase, -0.335, 1.109, 0.251, 0, 0, 0, 63 [SEP] 49, Bowl, -2.122, 1.499, 1.008, 0, 90, 0, 96 [SEP] 50, SaltShaker, 0.969, 0.907, -2.253, 0, 0, 0, 65 [SEP] 51, PepperShaker, 2.096, 0.877, -2.536, 0, 180, 0, 90 [SEP] 52, Lettuce, 0.453, 0.990, -2.484, 0, 0, 0, 65 [SEP] 53, ButterKnife, 0.453, 0.910, -2.253, 0, 0, 0, 65 [SEP] 54, Apple, -1.962, 0.098, 2.076, 0, 270, 0, 94 [SEP] 55, DishSponge, -1.962, 0.047, 1.933, 0, 270, 0, 94 [SEP] 56, Spoon, -1.852, 0.770, -1.673, 0, 90, 0, 98 [SEP] 57, Mug, 1.098, 0.905, -2.637, 0, 0, 0, 65 [SEP] 58, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0, [SEP] 59, Drawer, 0.949, 0.832, -2.197, 0, 0, 0, [SEP] 60, Drawer, -1.560, 0.839, 0.204, 0, 90, 0, [SEP] 61, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0, [SEP] 62, Drawer, -1.560, 0.839, -0.197, 0, 90, 0, [SEP] 63, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0, [SEP] 64, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0, [SEP] 65, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0, [SEP] 66, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0, [SEP] 67, Drawer, 0.949, 0.393, -2.200, 0, 0, 0, [SEP] 68, Drawer, 0.949, 0.708, -2.200, 0, 0, 0, [SEP] 69, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0, [SEP] 70, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0, [SEP] 71, Drawer, 0.949, 0.560, -2.201, 0, 0, 0, [SEP] 72, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0, [SEP] 73, Window, -2.230, 1.429, -1.203, 0, 0, 0, [SEP] 74, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0, [SEP] 75, Sink, -1.899, 0.964, -1.5, 0, 90, 0, [SEP] 76, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0, [SEP] 77, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0, [SEP] 78, Drawer, -1.560, 0.655, -0.196, 0, 90, 0, [SEP] 79, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0, [SEP] 80, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0, [SEP] 81, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0, [SEP] 82, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0, [SEP] 83, Drawer, 0.949, 0.221, -2.200, 0, 0, 0, [SEP] 84, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0, [SEP] 85, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0, [SEP] 86, Drawer, -1.560, 0.331, -0.196, 0, 90, 0, [SEP] 87, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0, [SEP] 88, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0, [SEP] 89, Microwave, -0.236, 1.689, -2.525, 0, 0, 0, [SEP] 90, Shelf, 1.751, 0.880, -2.560, 0, 0, 0, [SEP] 91, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0, [SEP] 92, Toaster, -1.835, 0.900, 0.134, 0, 90, 0, [SEP] 93, Shelf, 1.750, 0.552, -2.559, 0, 0, 0, [SEP] 94, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0, [SEP] 95, Shelf, 1.750, 0.172, -2.559, 0, 0, 0, [SEP] 96, Fridge, -2.096, 0.0, 1.088, 0, 0, 0, [SEP] 97, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0, [SEP] 98, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0, [SEP] 99, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0, [SEP] 100, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0, [SEP] 101, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0, [SEP] 102, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0, [SEP] 103, Faucet, -2.070, 1.132, -1.514, 0, 0, 0, [SEP] 104, NorthWall, , , , , , , [SEP] 105, EastWall, , , , , , , [SEP] 106, SouthWall, , , , , , , [SEP] 107, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and face the counter. | STEP 2: Pick up the closest plate. | STEP 3: Turn around and look up at the microwave above the stove. | STEP 4: Warm the plate for 3 seconds. | STEP 5: Step to the right and look up at the cabinet next to the microwave. | STEP 6: Place the plate in the cabinet. | END"]} +{"id": "trial_T20190907_012519_974044-0", "input": "Place two pans on a counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, 2.75, 0, 270, 0, [SEP] 1, Pan, 1.807, 0.909, -0.320, 0, 180, 0, 40 [SEP] 2, DishSponge, 1.77, 0.069, 1.827, 0, 270, 0, 56 [SEP] 3, Cup, -0.644, 0.748, -1.524, 0, 0, 0, 65 [SEP] 4, Cup, 1.738, 1.013, -0.888, 0, 270, 0, 62 [SEP] 5, Knife, 0.476, 0.943, 1.092, 0, 90, 0, 38 [SEP] 6, SoapBottle, 1.733, 2.135, 0.918, 0, 0, 0, 46 [SEP] 7, SoapBottle, 1.770, 1.633, -1.338, 0, 0, 0, 51 [SEP] 8, Tomato, 1.800, 0.134, 1.684, 0, 270, 0, 56 [SEP] 9, Tomato, -0.838, 1.155, -1.594, 0, 0, 0, 65 [SEP] 10, Bowl, 1.529, 0.909, 0.518, 0, 90, 0, 38 [SEP] 11, PepperShaker, 1.183, 0.906, -1.230, 0, 90, 0, 42 [SEP] 12, PepperShaker, 1.840, 1.628, -0.828, 0, 0, 0, 50 [SEP] 13, Bread, 1.757, 0.987, 1.180, 0, 90, 0, 38 [SEP] 14, Mug, 0.502, 0.940, -1.460, 0, 0, 0, 64 [SEP] 15, Apple, 1.245, 0.967, 0.827, 0, 90, 0, 38 [SEP] 16, Plate, 1.802, 1.647, -0.000, 0, 0, 0, 48 [SEP] 17, SoapBottle, 0.989, 0.908, 0.739, 0, 90, 0, 38 [SEP] 18, Cup, 1.771, 1.013, -0.676, 0, 270, 0, 62 [SEP] 19, Egg, 1.835, 1.050, -0.888, 0, 270, 0, 62 [SEP] 20, Fork, 0.553, 0.911, -1.352, 0, 90, 0, 42 [SEP] 21, Ladle, 1.201, 0.926, 0.743, 3.362, 0, 347.001, 38 [SEP] 22, Apple, -0.790, 0.807, -1.524, 0, 0, 0, 65 [SEP] 23, SaltShaker, 1.269, 0.906, -1.230, 0, 90, 0, 42 [SEP] 24, Pan, 1.543, 0.909, -0.320, 0, 90, 0, 41 [SEP] 25, Tomato, -0.644, 1.452, -1.629, 0, 0, 0, 65 [SEP] 26, Spatula, 0.989, 0.925, 0.915, 0, 90, 0, 38 [SEP] 27, Potato, -0.644, 1.131, -1.559, 0, 0, 0, 65 [SEP] 28, Knife, 1.865, 0.943, -1.717, 0, 0, 0, 42 [SEP] 29, ButterKnife, 0.296, 0.9, -1.296, 0, 14.568, 0, 42 [SEP] 30, Bread, 1.726, 0.988, -1.545, 0, 90, 0, 42 [SEP] 31, Lettuce, 0.856, 0.989, 1.119, 0, 270, 2.382, 38 [SEP] 32, PepperShaker, 1.586, 0.906, -1.374, 0, 90, 0, 42 [SEP] 33, Pot, 1.548, 0.909, 0.075, 0, 180, 0, 44 [SEP] 34, DishSponge, 1.796, 0.910, -1.374, 0, 90, 0, 42 [SEP] 35, Spoon, 0.220, 0.911, 0.915, 0, 90, 0, 38 [SEP] 36, Bowl, 0.193, 0.900, 1.170, 0, 0, 0, 38 [SEP] 37, Mug, -0.644, 0.741, -1.664, 0, 0, 0, 65 [SEP] 38, CounterTop, 0.989, 0.946, 1.016, 0, 90, 0, [SEP] 39, StoveBurner, 1.807, 0.907, 0.075, 0, 180, 0, [SEP] 40, StoveBurner, 1.807, 0.907, -0.320, 0, 180, 0, [SEP] 41, StoveBurner, 1.543, 0.907, -0.320, 0, 90, 0, [SEP] 42, CounterTop, 0.989, 0.946, -1.516, 0, 90, 0, [SEP] 43, Sink, 1.100, 0.906, -1.599, 0, 0, 0, [SEP] 44, StoveBurner, 1.548, 0.907, 0.075, 0, 180, 0, [SEP] 45, Cabinet, 1.658, 2.299, 1.313, 0, 0, 0, [SEP] 46, Cabinet, 1.658, 2.299, 0.686, 0, 0, 0, [SEP] 47, Cabinet, 1.658, 2.049, 0.673, 0, 0, 0, [SEP] 48, Cabinet, 1.658, 2.059, 0.193, 0, 0, 0, [SEP] 49, Cabinet, 1.658, 2.059, -0.593, 0, 0, 0, [SEP] 50, Cabinet, 1.658, 2.049, -0.606, 0, 0, 0, [SEP] 51, Cabinet, 1.658, 2.049, -1.206, 0, 0, 0, [SEP] 52, Cabinet, 1.658, 2.049, -1.893, 0, 0, 0, [SEP] 53, Toaster, 0.131, 0.900, -1.589, 0, 0, 0, [SEP] 54, Window, -0.372, 1.588, 3.349, 90, 0, 0, [SEP] 55, Window, 0.782, 1.741, -1.893, 90, 0, 0, [SEP] 56, GarbageCan, 1.770, -0.029, 1.685, 0, 270, 0, [SEP] 57, SinkBasin, 1.091, 0.740, -1.599, 0, 0, 0, [SEP] 58, StoveKnob, 1.364, 0.821, 0.086, 48.421, 270, 0, [SEP] 59, StoveKnob, 1.364, 0.821, -0.180, 48.421, 270, 0, [SEP] 60, StoveKnob, 1.364, 0.821, -0.317, 48.421, 270, 0, [SEP] 61, StoveKnob, 1.364, 0.821, -0.054, 48.421, 270, 0, [SEP] 62, Microwave, 1.752, 0.900, -0.843, 0, 270, 0, [SEP] 63, LightSwitch, 2.0, 1.261, 3.094, 0, 270, 0, [SEP] 64, CoffeeMachine, 0.501, 0.900, -1.600, 0, 0, 0, [SEP] 65, Fridge, -0.533, 0.0, -1.554, 0, 0, 0, [SEP] 66, Chair, 1.068, 0.000, 1.752, 0, 191.622, 0, [SEP] 67, Faucet, 1.110, 1.138, -1.764, 0, 270, 0, [SEP] 68, Chair, 0.357, 0.000, 1.710, 0, 178.899, 0, [SEP] 69, NorthWall, , , , , , , [SEP] 70, EastWall, , , , , , , [SEP] 71, SouthWall, , , , , , , [SEP] 72, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the stove on your right. | STEP 2: Pick up a pan from the stove. | STEP 3: Walk to the counter on your left. | STEP 4: Place the pan on the counter. | STEP 5: Return to the stove. | STEP 6: Pick up a pan from the stove. | STEP 7: Return to the counter on your left. | STEP 8: Place the pan on the counter. | END"]} +{"id": "trial_T20190907_012519_974044-1", "input": "put both pans from the burner on to the kitchen counter top SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, 2.75, 0, 270, 0, [SEP] 1, Pan, 1.807, 0.909, -0.320, 0, 180, 0, 40 [SEP] 2, DishSponge, 1.77, 0.069, 1.827, 0, 270, 0, 56 [SEP] 3, Cup, -0.644, 0.748, -1.524, 0, 0, 0, 65 [SEP] 4, Cup, 1.738, 1.013, -0.888, 0, 270, 0, 62 [SEP] 5, Knife, 0.476, 0.943, 1.092, 0, 90, 0, 38 [SEP] 6, SoapBottle, 1.733, 2.135, 0.918, 0, 0, 0, 46 [SEP] 7, SoapBottle, 1.770, 1.633, -1.338, 0, 0, 0, 51 [SEP] 8, Tomato, 1.800, 0.134, 1.684, 0, 270, 0, 56 [SEP] 9, Tomato, -0.838, 1.155, -1.594, 0, 0, 0, 65 [SEP] 10, Bowl, 1.529, 0.909, 0.518, 0, 90, 0, 38 [SEP] 11, PepperShaker, 1.183, 0.906, -1.230, 0, 90, 0, 42 [SEP] 12, PepperShaker, 1.840, 1.628, -0.828, 0, 0, 0, 50 [SEP] 13, Bread, 1.757, 0.987, 1.180, 0, 90, 0, 38 [SEP] 14, Mug, 0.502, 0.940, -1.460, 0, 0, 0, 64 [SEP] 15, Apple, 1.245, 0.967, 0.827, 0, 90, 0, 38 [SEP] 16, Plate, 1.802, 1.647, -0.000, 0, 0, 0, 48 [SEP] 17, SoapBottle, 0.989, 0.908, 0.739, 0, 90, 0, 38 [SEP] 18, Cup, 1.771, 1.013, -0.676, 0, 270, 0, 62 [SEP] 19, Egg, 1.835, 1.050, -0.888, 0, 270, 0, 62 [SEP] 20, Fork, 0.553, 0.911, -1.352, 0, 90, 0, 42 [SEP] 21, Ladle, 1.201, 0.926, 0.743, 3.362, 0, 347.001, 38 [SEP] 22, Apple, -0.790, 0.807, -1.524, 0, 0, 0, 65 [SEP] 23, SaltShaker, 1.269, 0.906, -1.230, 0, 90, 0, 42 [SEP] 24, Pan, 1.543, 0.909, -0.320, 0, 90, 0, 41 [SEP] 25, Tomato, -0.644, 1.452, -1.629, 0, 0, 0, 65 [SEP] 26, Spatula, 0.989, 0.925, 0.915, 0, 90, 0, 38 [SEP] 27, Potato, -0.644, 1.131, -1.559, 0, 0, 0, 65 [SEP] 28, Knife, 1.865, 0.943, -1.717, 0, 0, 0, 42 [SEP] 29, ButterKnife, 0.296, 0.9, -1.296, 0, 14.568, 0, 42 [SEP] 30, Bread, 1.726, 0.988, -1.545, 0, 90, 0, 42 [SEP] 31, Lettuce, 0.856, 0.989, 1.119, 0, 270, 2.382, 38 [SEP] 32, PepperShaker, 1.586, 0.906, -1.374, 0, 90, 0, 42 [SEP] 33, Pot, 1.548, 0.909, 0.075, 0, 180, 0, 44 [SEP] 34, DishSponge, 1.796, 0.910, -1.374, 0, 90, 0, 42 [SEP] 35, Spoon, 0.220, 0.911, 0.915, 0, 90, 0, 38 [SEP] 36, Bowl, 0.193, 0.900, 1.170, 0, 0, 0, 38 [SEP] 37, Mug, -0.644, 0.741, -1.664, 0, 0, 0, 65 [SEP] 38, CounterTop, 0.989, 0.946, 1.016, 0, 90, 0, [SEP] 39, StoveBurner, 1.807, 0.907, 0.075, 0, 180, 0, [SEP] 40, StoveBurner, 1.807, 0.907, -0.320, 0, 180, 0, [SEP] 41, StoveBurner, 1.543, 0.907, -0.320, 0, 90, 0, [SEP] 42, CounterTop, 0.989, 0.946, -1.516, 0, 90, 0, [SEP] 43, Sink, 1.100, 0.906, -1.599, 0, 0, 0, [SEP] 44, StoveBurner, 1.548, 0.907, 0.075, 0, 180, 0, [SEP] 45, Cabinet, 1.658, 2.299, 1.313, 0, 0, 0, [SEP] 46, Cabinet, 1.658, 2.299, 0.686, 0, 0, 0, [SEP] 47, Cabinet, 1.658, 2.049, 0.673, 0, 0, 0, [SEP] 48, Cabinet, 1.658, 2.059, 0.193, 0, 0, 0, [SEP] 49, Cabinet, 1.658, 2.059, -0.593, 0, 0, 0, [SEP] 50, Cabinet, 1.658, 2.049, -0.606, 0, 0, 0, [SEP] 51, Cabinet, 1.658, 2.049, -1.206, 0, 0, 0, [SEP] 52, Cabinet, 1.658, 2.049, -1.893, 0, 0, 0, [SEP] 53, Toaster, 0.131, 0.900, -1.589, 0, 0, 0, [SEP] 54, Window, -0.372, 1.588, 3.349, 90, 0, 0, [SEP] 55, Window, 0.782, 1.741, -1.893, 90, 0, 0, [SEP] 56, GarbageCan, 1.770, -0.029, 1.685, 0, 270, 0, [SEP] 57, SinkBasin, 1.091, 0.740, -1.599, 0, 0, 0, [SEP] 58, StoveKnob, 1.364, 0.821, 0.086, 48.421, 270, 0, [SEP] 59, StoveKnob, 1.364, 0.821, -0.180, 48.421, 270, 0, [SEP] 60, StoveKnob, 1.364, 0.821, -0.317, 48.421, 270, 0, [SEP] 61, StoveKnob, 1.364, 0.821, -0.054, 48.421, 270, 0, [SEP] 62, Microwave, 1.752, 0.900, -0.843, 0, 270, 0, [SEP] 63, LightSwitch, 2.0, 1.261, 3.094, 0, 270, 0, [SEP] 64, CoffeeMachine, 0.501, 0.900, -1.600, 0, 0, 0, [SEP] 65, Fridge, -0.533, 0.0, -1.554, 0, 0, 0, [SEP] 66, Chair, 1.068, 0.000, 1.752, 0, 191.622, 0, [SEP] 67, Faucet, 1.110, 1.138, -1.764, 0, 270, 0, [SEP] 68, Chair, 0.357, 0.000, 1.710, 0, 178.899, 0, [SEP] 69, NorthWall, , , , , , , [SEP] 70, EastWall, , , , , , , [SEP] 71, SouthWall, , , , , , , [SEP] 72, WestWall, , , , , , , ", "output": ["STEP 1: turn left and walk over to the stove in the kitchen | STEP 2: grab the sauce pan off of the front right burner | STEP 3: move left a bit to face the other kitchen top counter | STEP 4: place the sauce pan down in front of the lettuce | STEP 5: back up a bit to face the stove again | STEP 6: grab the second sauce pan off of the stove | STEP 7: move to the left again and face that same counter | STEP 8: place the sauce pan down on the counter to the right of the apple | END"]} +{"id": "trial_T20190907_012519_974044-2", "input": "Move both pans from the stove top to the white counter top. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, 2.75, 0, 270, 0, [SEP] 1, Pan, 1.807, 0.909, -0.320, 0, 180, 0, 40 [SEP] 2, DishSponge, 1.77, 0.069, 1.827, 0, 270, 0, 56 [SEP] 3, Cup, -0.644, 0.748, -1.524, 0, 0, 0, 65 [SEP] 4, Cup, 1.738, 1.013, -0.888, 0, 270, 0, 62 [SEP] 5, Knife, 0.476, 0.943, 1.092, 0, 90, 0, 38 [SEP] 6, SoapBottle, 1.733, 2.135, 0.918, 0, 0, 0, 46 [SEP] 7, SoapBottle, 1.770, 1.633, -1.338, 0, 0, 0, 51 [SEP] 8, Tomato, 1.800, 0.134, 1.684, 0, 270, 0, 56 [SEP] 9, Tomato, -0.838, 1.155, -1.594, 0, 0, 0, 65 [SEP] 10, Bowl, 1.529, 0.909, 0.518, 0, 90, 0, 38 [SEP] 11, PepperShaker, 1.183, 0.906, -1.230, 0, 90, 0, 42 [SEP] 12, PepperShaker, 1.840, 1.628, -0.828, 0, 0, 0, 50 [SEP] 13, Bread, 1.757, 0.987, 1.180, 0, 90, 0, 38 [SEP] 14, Mug, 0.502, 0.940, -1.460, 0, 0, 0, 64 [SEP] 15, Apple, 1.245, 0.967, 0.827, 0, 90, 0, 38 [SEP] 16, Plate, 1.802, 1.647, -0.000, 0, 0, 0, 48 [SEP] 17, SoapBottle, 0.989, 0.908, 0.739, 0, 90, 0, 38 [SEP] 18, Cup, 1.771, 1.013, -0.676, 0, 270, 0, 62 [SEP] 19, Egg, 1.835, 1.050, -0.888, 0, 270, 0, 62 [SEP] 20, Fork, 0.553, 0.911, -1.352, 0, 90, 0, 42 [SEP] 21, Ladle, 1.201, 0.926, 0.743, 3.362, 0, 347.001, 38 [SEP] 22, Apple, -0.790, 0.807, -1.524, 0, 0, 0, 65 [SEP] 23, SaltShaker, 1.269, 0.906, -1.230, 0, 90, 0, 42 [SEP] 24, Pan, 1.543, 0.909, -0.320, 0, 90, 0, 41 [SEP] 25, Tomato, -0.644, 1.452, -1.629, 0, 0, 0, 65 [SEP] 26, Spatula, 0.989, 0.925, 0.915, 0, 90, 0, 38 [SEP] 27, Potato, -0.644, 1.131, -1.559, 0, 0, 0, 65 [SEP] 28, Knife, 1.865, 0.943, -1.717, 0, 0, 0, 42 [SEP] 29, ButterKnife, 0.296, 0.9, -1.296, 0, 14.568, 0, 42 [SEP] 30, Bread, 1.726, 0.988, -1.545, 0, 90, 0, 42 [SEP] 31, Lettuce, 0.856, 0.989, 1.119, 0, 270, 2.382, 38 [SEP] 32, PepperShaker, 1.586, 0.906, -1.374, 0, 90, 0, 42 [SEP] 33, Pot, 1.548, 0.909, 0.075, 0, 180, 0, 44 [SEP] 34, DishSponge, 1.796, 0.910, -1.374, 0, 90, 0, 42 [SEP] 35, Spoon, 0.220, 0.911, 0.915, 0, 90, 0, 38 [SEP] 36, Bowl, 0.193, 0.900, 1.170, 0, 0, 0, 38 [SEP] 37, Mug, -0.644, 0.741, -1.664, 0, 0, 0, 65 [SEP] 38, CounterTop, 0.989, 0.946, 1.016, 0, 90, 0, [SEP] 39, StoveBurner, 1.807, 0.907, 0.075, 0, 180, 0, [SEP] 40, StoveBurner, 1.807, 0.907, -0.320, 0, 180, 0, [SEP] 41, StoveBurner, 1.543, 0.907, -0.320, 0, 90, 0, [SEP] 42, CounterTop, 0.989, 0.946, -1.516, 0, 90, 0, [SEP] 43, Sink, 1.100, 0.906, -1.599, 0, 0, 0, [SEP] 44, StoveBurner, 1.548, 0.907, 0.075, 0, 180, 0, [SEP] 45, Cabinet, 1.658, 2.299, 1.313, 0, 0, 0, [SEP] 46, Cabinet, 1.658, 2.299, 0.686, 0, 0, 0, [SEP] 47, Cabinet, 1.658, 2.049, 0.673, 0, 0, 0, [SEP] 48, Cabinet, 1.658, 2.059, 0.193, 0, 0, 0, [SEP] 49, Cabinet, 1.658, 2.059, -0.593, 0, 0, 0, [SEP] 50, Cabinet, 1.658, 2.049, -0.606, 0, 0, 0, [SEP] 51, Cabinet, 1.658, 2.049, -1.206, 0, 0, 0, [SEP] 52, Cabinet, 1.658, 2.049, -1.893, 0, 0, 0, [SEP] 53, Toaster, 0.131, 0.900, -1.589, 0, 0, 0, [SEP] 54, Window, -0.372, 1.588, 3.349, 90, 0, 0, [SEP] 55, Window, 0.782, 1.741, -1.893, 90, 0, 0, [SEP] 56, GarbageCan, 1.770, -0.029, 1.685, 0, 270, 0, [SEP] 57, SinkBasin, 1.091, 0.740, -1.599, 0, 0, 0, [SEP] 58, StoveKnob, 1.364, 0.821, 0.086, 48.421, 270, 0, [SEP] 59, StoveKnob, 1.364, 0.821, -0.180, 48.421, 270, 0, [SEP] 60, StoveKnob, 1.364, 0.821, -0.317, 48.421, 270, 0, [SEP] 61, StoveKnob, 1.364, 0.821, -0.054, 48.421, 270, 0, [SEP] 62, Microwave, 1.752, 0.900, -0.843, 0, 270, 0, [SEP] 63, LightSwitch, 2.0, 1.261, 3.094, 0, 270, 0, [SEP] 64, CoffeeMachine, 0.501, 0.900, -1.600, 0, 0, 0, [SEP] 65, Fridge, -0.533, 0.0, -1.554, 0, 0, 0, [SEP] 66, Chair, 1.068, 0.000, 1.752, 0, 191.622, 0, [SEP] 67, Faucet, 1.110, 1.138, -1.764, 0, 270, 0, [SEP] 68, Chair, 0.357, 0.000, 1.710, 0, 178.899, 0, [SEP] 69, NorthWall, , , , , , , [SEP] 70, EastWall, , , , , , , [SEP] 71, SouthWall, , , , , , , [SEP] 72, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, walk towards the fridge and then turn left and go to the stove. | STEP 2: Pick up the nearest pan on the stove top. | STEP 3: Turn left and walk to the counter top. | STEP 4: Put the pan down to the left of the white bottle. | STEP 5: Turn back around and go back to the stove. | STEP 6: Pick up the other pan on the stove top. | STEP 7: Turn left and walk to the counter top. | STEP 8: Put the pan down to the right of the apple. | END"]} +{"id": "trial_T20190909_011522_113515-0", "input": "To place a pan with a tomato slice in it in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, -1.0, 0, 270, 0, [SEP] 1, Kettle, 0.071, 0.107, 0.320, 0, 0, 0, 57 [SEP] 2, DishSponge, -0.362, 0.069, 0.525, 0, 90, 0, 76 [SEP] 3, Pot, 1.361, 0.962, 0.561, 0, 270, 0, 52 [SEP] 4, Spoon, -1.164, 0.774, -1.472, 0, 270, 0, 60 [SEP] 5, Spatula, 0.167, 0.927, 0.458, 0, 90, 0, 46 [SEP] 6, Cup, -2.135, 0.509, -1.849, 0, 0, 0, 77 [SEP] 7, Cup, 0.167, 0.910, 0.292, 0, 0, 0, 46 [SEP] 8, Plate, -2.31, 0.512, -1.806, 0, 0, 0, 77 [SEP] 9, Plate, -0.586, 0.111, -1.508, 0, 0, 0, 61 [SEP] 10, SoapBottle, 1.792, 0.107, 0.274, 0, 0, 0, 55 [SEP] 11, Tomato, -2.065, 1.001, 0.435, 0, 90, 0, 80 [SEP] 12, Tomato, 1.663, 0.961, 0.623, 0, 0, 0, 62 [SEP] 13, Bowl, 0.562, 0.109, 0.346, 0, 0, 0, 58 [SEP] 14, SaltShaker, -1.791, 0.948, 0.614, 0, 90, 0, 80 [SEP] 15, PepperShaker, -1.791, 0.948, 0.255, 0, 90, 0, 80 [SEP] 16, PepperShaker, 1.724, 0.908, 0.458, 0, 0, 0, 62 [SEP] 17, Bread, -2.203, 1.035, 0.165, 0, 90, 0, 80 [SEP] 18, Bread, 1.846, 0.995, 0.292, 0, 0, 0, 62 [SEP] 19, Knife, 0.804, 0.944, -1.649, 0, 90, 0, 45 [SEP] 20, Fork, -2.065, 0.952, 0.614, 0, 90, 0, 80 [SEP] 21, Bowl, 1.658, 0.911, -1.820, 0, 0, 0, 47 [SEP] 22, Kettle, -0.055, 0.9, 0.643, 0, 0, 0, 46 [SEP] 23, Cup, -2.477, 0.950, 0.255, 0, 90, 0, 80 [SEP] 24, Tomato, -1.791, 1.001, 0.435, 0, 90, 0, 80 [SEP] 25, SoapBottle, 0.564, 0.910, 0.292, 0, 0, 0, 46 [SEP] 26, Plate, 0.455, 0.109, -1.509, 0, 180, 0, 44 [SEP] 27, Pot, 1.007, 0.962, 0.561, 0, 270, 0, 49 [SEP] 28, Spatula, -2.203, 0.967, 0.704, 0, 180, 0, 80 [SEP] 29, PaperTowelRoll, -0.427, 0.174, 0.612, 0, 90, 0, 76 [SEP] 30, Egg, -2.614, 0.987, 0.255, 0, 90, 0, 80 [SEP] 31, Lettuce, -2.614, 1.042, 0.614, 0, 90, 0, 80 [SEP] 32, SaltShaker, -0.359, 0.908, -1.903, 0, 0, 0, 47 [SEP] 33, PepperShaker, 1.724, 0.908, 0.292, 0, 0, 0, 62 [SEP] 34, Apple, -1.872, 0.847, -1.806, 0, 0, 0, 77 [SEP] 35, ButterKnife, -2.614, 0.952, 0.345, 0, 270, 0, 80 [SEP] 36, Potato, -0.923, 1.045, -1.803, 0, 0, 0, 69 [SEP] 37, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 59 [SEP] 38, DishSponge, -0.249, 0.110, -1.582, 0, 0, 0, 56 [SEP] 39, Spoon, -0.678, 0.773, -1.538, 0, 90, 0, 51 [SEP] 40, Mug, -1.791, 0.947, 0.165, 0, 180, 0, 80 [SEP] 41, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0, [SEP] 42, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0, [SEP] 43, Drawer, 0.499, 0.792, 0.296, 0, 0, 0, [SEP] 44, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0, [SEP] 45, Sink, 0.711, 0.817, -1.772, 0, 270, 0, [SEP] 46, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0, [SEP] 47, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0, [SEP] 48, Drawer, 1.825, 0.792, 0.296, 0, 0, 0, [SEP] 49, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0, [SEP] 50, Drawer, -0.150, 0.792, -1.496, 0, 0, 0, [SEP] 51, Drawer, -0.586, 0.792, -1.496, 0, 0, 0, [SEP] 52, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0, [SEP] 53, Drawer, 0.024, 0.792, 0.296, 0, 0, 0, [SEP] 54, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0, [SEP] 55, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0, [SEP] 56, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0, [SEP] 57, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0, [SEP] 58, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0, [SEP] 59, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0, [SEP] 60, Drawer, -1.100, 0.792, -1.496, 0, 0, 0, [SEP] 61, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0, [SEP] 62, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0, [SEP] 63, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0, [SEP] 64, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0, [SEP] 65, Toaster, 0.305, 0.900, 0.552, 0, 180, 0, [SEP] 66, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0, [SEP] 67, Window, 0.582, 1.613, -1.967, 90, 0, 0, [SEP] 68, Window, 1.969, 1.5, -0.615, 90, 270, 0, [SEP] 69, Microwave, -1.037, 0.900, -1.723, 0, 0, 0, [SEP] 70, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0, [SEP] 71, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0, [SEP] 72, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0, [SEP] 73, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0, [SEP] 74, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0, [SEP] 75, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0, [SEP] 76, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0, [SEP] 77, Fridge, -2.134, 0.0, -1.690, 0, 0, 0, [SEP] 78, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0, [SEP] 79, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0, [SEP] 80, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0, [SEP] 81, NorthWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , [SEP] 84, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward to the wall then turn right to face the left end of the white table. | STEP 2: Pick up the knife on the white table. | STEP 3: Turn right and walk across the room and turn left to face the tomato on the counter. | STEP 4: Cut the tomato on the counter into slices. | STEP 5: Place the knife on the counter. | STEP 6: Pick up a slice of tomato on the counter. | STEP 7: Turn left and walk forward and turn right to face the stove. | STEP 8: Place the tomato in the pan on the front of the stove. | STEP 9: Pick up the pan on the front of the stove. | STEP 10: Turn around and walk to the right to face the fridge. | STEP 11: Place the pan with a tomato slice in it in the fridge. | END"]} +{"id": "trial_T20190909_011522_113515-1", "input": "Place a tomato slice in a pan in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, -1.0, 0, 270, 0, [SEP] 1, Kettle, 0.071, 0.107, 0.320, 0, 0, 0, 57 [SEP] 2, DishSponge, -0.362, 0.069, 0.525, 0, 90, 0, 76 [SEP] 3, Pot, 1.361, 0.962, 0.561, 0, 270, 0, 52 [SEP] 4, Spoon, -1.164, 0.774, -1.472, 0, 270, 0, 60 [SEP] 5, Spatula, 0.167, 0.927, 0.458, 0, 90, 0, 46 [SEP] 6, Cup, -2.135, 0.509, -1.849, 0, 0, 0, 77 [SEP] 7, Cup, 0.167, 0.910, 0.292, 0, 0, 0, 46 [SEP] 8, Plate, -2.31, 0.512, -1.806, 0, 0, 0, 77 [SEP] 9, Plate, -0.586, 0.111, -1.508, 0, 0, 0, 61 [SEP] 10, SoapBottle, 1.792, 0.107, 0.274, 0, 0, 0, 55 [SEP] 11, Tomato, -2.065, 1.001, 0.435, 0, 90, 0, 80 [SEP] 12, Tomato, 1.663, 0.961, 0.623, 0, 0, 0, 62 [SEP] 13, Bowl, 0.562, 0.109, 0.346, 0, 0, 0, 58 [SEP] 14, SaltShaker, -1.791, 0.948, 0.614, 0, 90, 0, 80 [SEP] 15, PepperShaker, -1.791, 0.948, 0.255, 0, 90, 0, 80 [SEP] 16, PepperShaker, 1.724, 0.908, 0.458, 0, 0, 0, 62 [SEP] 17, Bread, -2.203, 1.035, 0.165, 0, 90, 0, 80 [SEP] 18, Bread, 1.846, 0.995, 0.292, 0, 0, 0, 62 [SEP] 19, Knife, 0.804, 0.944, -1.649, 0, 90, 0, 45 [SEP] 20, Fork, -2.065, 0.952, 0.614, 0, 90, 0, 80 [SEP] 21, Bowl, 1.658, 0.911, -1.820, 0, 0, 0, 47 [SEP] 22, Kettle, -0.055, 0.9, 0.643, 0, 0, 0, 46 [SEP] 23, Cup, -2.477, 0.950, 0.255, 0, 90, 0, 80 [SEP] 24, Tomato, -1.791, 1.001, 0.435, 0, 90, 0, 80 [SEP] 25, SoapBottle, 0.564, 0.910, 0.292, 0, 0, 0, 46 [SEP] 26, Plate, 0.455, 0.109, -1.509, 0, 180, 0, 44 [SEP] 27, Pot, 1.007, 0.962, 0.561, 0, 270, 0, 49 [SEP] 28, Spatula, -2.203, 0.967, 0.704, 0, 180, 0, 80 [SEP] 29, PaperTowelRoll, -0.427, 0.174, 0.612, 0, 90, 0, 76 [SEP] 30, Egg, -2.614, 0.987, 0.255, 0, 90, 0, 80 [SEP] 31, Lettuce, -2.614, 1.042, 0.614, 0, 90, 0, 80 [SEP] 32, SaltShaker, -0.359, 0.908, -1.903, 0, 0, 0, 47 [SEP] 33, PepperShaker, 1.724, 0.908, 0.292, 0, 0, 0, 62 [SEP] 34, Apple, -1.872, 0.847, -1.806, 0, 0, 0, 77 [SEP] 35, ButterKnife, -2.614, 0.952, 0.345, 0, 270, 0, 80 [SEP] 36, Potato, -0.923, 1.045, -1.803, 0, 0, 0, 69 [SEP] 37, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 59 [SEP] 38, DishSponge, -0.249, 0.110, -1.582, 0, 0, 0, 56 [SEP] 39, Spoon, -0.678, 0.773, -1.538, 0, 90, 0, 51 [SEP] 40, Mug, -1.791, 0.947, 0.165, 0, 180, 0, 80 [SEP] 41, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0, [SEP] 42, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0, [SEP] 43, Drawer, 0.499, 0.792, 0.296, 0, 0, 0, [SEP] 44, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0, [SEP] 45, Sink, 0.711, 0.817, -1.772, 0, 270, 0, [SEP] 46, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0, [SEP] 47, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0, [SEP] 48, Drawer, 1.825, 0.792, 0.296, 0, 0, 0, [SEP] 49, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0, [SEP] 50, Drawer, -0.150, 0.792, -1.496, 0, 0, 0, [SEP] 51, Drawer, -0.586, 0.792, -1.496, 0, 0, 0, [SEP] 52, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0, [SEP] 53, Drawer, 0.024, 0.792, 0.296, 0, 0, 0, [SEP] 54, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0, [SEP] 55, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0, [SEP] 56, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0, [SEP] 57, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0, [SEP] 58, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0, [SEP] 59, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0, [SEP] 60, Drawer, -1.100, 0.792, -1.496, 0, 0, 0, [SEP] 61, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0, [SEP] 62, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0, [SEP] 63, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0, [SEP] 64, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0, [SEP] 65, Toaster, 0.305, 0.900, 0.552, 0, 180, 0, [SEP] 66, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0, [SEP] 67, Window, 0.582, 1.613, -1.967, 90, 0, 0, [SEP] 68, Window, 1.969, 1.5, -0.615, 90, 270, 0, [SEP] 69, Microwave, -1.037, 0.900, -1.723, 0, 0, 0, [SEP] 70, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0, [SEP] 71, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0, [SEP] 72, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0, [SEP] 73, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0, [SEP] 74, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0, [SEP] 75, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0, [SEP] 76, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0, [SEP] 77, Fridge, -2.134, 0.0, -1.690, 0, 0, 0, [SEP] 78, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0, [SEP] 79, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0, [SEP] 80, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0, [SEP] 81, NorthWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , [SEP] 84, WestWall, , , , , , , ", "output": ["STEP 1: Move forward and face the white table to your right. | STEP 2: Take the knife from the white table in front of you. | STEP 3: Turn right and face the counter by the stove on your left. | STEP 4: Slice the tomato on the counter in front of you. | STEP 5: Place the knife on the counter in front of you. | STEP 6: Take a tomato slice from the counter in front of you. | STEP 7: Turn left then face the stove on your right. | STEP 8: Place the tomato in the pan on the stove in front of you. | STEP 9: Take the pan with the tomato from the stove in front of you. | STEP 10: Turn right and face the fridge on your left. | STEP 11: Place the pan with the tomato in the fridge in front of you and close it. | END"]} +{"id": "trial_T20190909_011522_113515-2", "input": "Slice a tomato, put a slice in a pan, put the pan to the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, -1.0, 0, 270, 0, [SEP] 1, Kettle, 0.071, 0.107, 0.320, 0, 0, 0, 57 [SEP] 2, DishSponge, -0.362, 0.069, 0.525, 0, 90, 0, 76 [SEP] 3, Pot, 1.361, 0.962, 0.561, 0, 270, 0, 52 [SEP] 4, Spoon, -1.164, 0.774, -1.472, 0, 270, 0, 60 [SEP] 5, Spatula, 0.167, 0.927, 0.458, 0, 90, 0, 46 [SEP] 6, Cup, -2.135, 0.509, -1.849, 0, 0, 0, 77 [SEP] 7, Cup, 0.167, 0.910, 0.292, 0, 0, 0, 46 [SEP] 8, Plate, -2.31, 0.512, -1.806, 0, 0, 0, 77 [SEP] 9, Plate, -0.586, 0.111, -1.508, 0, 0, 0, 61 [SEP] 10, SoapBottle, 1.792, 0.107, 0.274, 0, 0, 0, 55 [SEP] 11, Tomato, -2.065, 1.001, 0.435, 0, 90, 0, 80 [SEP] 12, Tomato, 1.663, 0.961, 0.623, 0, 0, 0, 62 [SEP] 13, Bowl, 0.562, 0.109, 0.346, 0, 0, 0, 58 [SEP] 14, SaltShaker, -1.791, 0.948, 0.614, 0, 90, 0, 80 [SEP] 15, PepperShaker, -1.791, 0.948, 0.255, 0, 90, 0, 80 [SEP] 16, PepperShaker, 1.724, 0.908, 0.458, 0, 0, 0, 62 [SEP] 17, Bread, -2.203, 1.035, 0.165, 0, 90, 0, 80 [SEP] 18, Bread, 1.846, 0.995, 0.292, 0, 0, 0, 62 [SEP] 19, Knife, 0.804, 0.944, -1.649, 0, 90, 0, 45 [SEP] 20, Fork, -2.065, 0.952, 0.614, 0, 90, 0, 80 [SEP] 21, Bowl, 1.658, 0.911, -1.820, 0, 0, 0, 47 [SEP] 22, Kettle, -0.055, 0.9, 0.643, 0, 0, 0, 46 [SEP] 23, Cup, -2.477, 0.950, 0.255, 0, 90, 0, 80 [SEP] 24, Tomato, -1.791, 1.001, 0.435, 0, 90, 0, 80 [SEP] 25, SoapBottle, 0.564, 0.910, 0.292, 0, 0, 0, 46 [SEP] 26, Plate, 0.455, 0.109, -1.509, 0, 180, 0, 44 [SEP] 27, Pot, 1.007, 0.962, 0.561, 0, 270, 0, 49 [SEP] 28, Spatula, -2.203, 0.967, 0.704, 0, 180, 0, 80 [SEP] 29, PaperTowelRoll, -0.427, 0.174, 0.612, 0, 90, 0, 76 [SEP] 30, Egg, -2.614, 0.987, 0.255, 0, 90, 0, 80 [SEP] 31, Lettuce, -2.614, 1.042, 0.614, 0, 90, 0, 80 [SEP] 32, SaltShaker, -0.359, 0.908, -1.903, 0, 0, 0, 47 [SEP] 33, PepperShaker, 1.724, 0.908, 0.292, 0, 0, 0, 62 [SEP] 34, Apple, -1.872, 0.847, -1.806, 0, 0, 0, 77 [SEP] 35, ButterKnife, -2.614, 0.952, 0.345, 0, 270, 0, 80 [SEP] 36, Potato, -0.923, 1.045, -1.803, 0, 0, 0, 69 [SEP] 37, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 59 [SEP] 38, DishSponge, -0.249, 0.110, -1.582, 0, 0, 0, 56 [SEP] 39, Spoon, -0.678, 0.773, -1.538, 0, 90, 0, 51 [SEP] 40, Mug, -1.791, 0.947, 0.165, 0, 180, 0, 80 [SEP] 41, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0, [SEP] 42, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0, [SEP] 43, Drawer, 0.499, 0.792, 0.296, 0, 0, 0, [SEP] 44, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0, [SEP] 45, Sink, 0.711, 0.817, -1.772, 0, 270, 0, [SEP] 46, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0, [SEP] 47, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0, [SEP] 48, Drawer, 1.825, 0.792, 0.296, 0, 0, 0, [SEP] 49, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0, [SEP] 50, Drawer, -0.150, 0.792, -1.496, 0, 0, 0, [SEP] 51, Drawer, -0.586, 0.792, -1.496, 0, 0, 0, [SEP] 52, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0, [SEP] 53, Drawer, 0.024, 0.792, 0.296, 0, 0, 0, [SEP] 54, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0, [SEP] 55, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0, [SEP] 56, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0, [SEP] 57, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0, [SEP] 58, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0, [SEP] 59, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0, [SEP] 60, Drawer, -1.100, 0.792, -1.496, 0, 0, 0, [SEP] 61, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0, [SEP] 62, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0, [SEP] 63, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0, [SEP] 64, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0, [SEP] 65, Toaster, 0.305, 0.900, 0.552, 0, 180, 0, [SEP] 66, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0, [SEP] 67, Window, 0.582, 1.613, -1.967, 90, 0, 0, [SEP] 68, Window, 1.969, 1.5, -0.615, 90, 270, 0, [SEP] 69, Microwave, -1.037, 0.900, -1.723, 0, 0, 0, [SEP] 70, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0, [SEP] 71, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0, [SEP] 72, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0, [SEP] 73, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0, [SEP] 74, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0, [SEP] 75, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0, [SEP] 76, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0, [SEP] 77, Fridge, -2.134, 0.0, -1.690, 0, 0, 0, [SEP] 78, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0, [SEP] 79, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0, [SEP] 80, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0, [SEP] 81, NorthWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , [SEP] 84, WestWall, , , , , , , ", "output": ["STEP 1: go forward, turn right and go to the table | STEP 2: Pick up the knife on the table | STEP 3: Turn right, go forward, turn right | STEP 4: Slice the tomato on the counter | STEP 5: Put the knife on the counter | STEP 6: Pick up a tomato slice from the counter | STEP 7: Turn left, go forward, turn right in front of the stove | STEP 8: Put the tomato slice into the pan | STEP 9: Pick up the pan from the stove | STEP 10: Turn left, go forward, turn left and go to the fridge | STEP 11: Put the pan in the fridge | END"]} +{"id": "trial_T20190909_020200_054379-0", "input": "place a microwaved tomato inside of the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.914, 1.75, 0, 180, 0, [SEP] 1, DishSponge, -1.919, 0.915, 4.104, 0, 0, 0, 43 [SEP] 2, DishSponge, -3.118, 0.081, 2.920, 0, 0, 0, 56 [SEP] 3, WineBottle, -1.259, 0.892, 0.049, 0, 90, 0, 79 [SEP] 4, Kettle, -2.840, 0.081, 3.624, 0, 0, 0, 55 [SEP] 5, Spatula, -3.463, 0.930, 1.440, 0, 0, 0, 52 [SEP] 6, Spoon, -3.214, 0.746, 1.202, 0, 270, 0, 44 [SEP] 7, Spoon, -1.391, 0.892, 0.049, 0, 90, 0, 79 [SEP] 8, Cup, -3.081, 0.915, 1.357, 0, 0, 0, 52 [SEP] 9, Cup, -1.857, 0.789, 3.662, 0, 0, 0, 73 [SEP] 10, Knife, -3.214, 0.768, 1.433, 0, 90, 0, 44 [SEP] 11, Knife, -3.463, 0.939, 1.273, 0, 0, 0, 52 [SEP] 12, Tomato, -3.081, 0.984, 1.106, 0, 0, 0, 52 [SEP] 13, SoapBottle, -1.523, 0.891, -0.053, 0, 90, 0, 79 [SEP] 14, PepperShaker, -3.155, 0.741, 1.279, 0, 0, 0, 44 [SEP] 15, PepperShaker, -3.097, 0.741, 1.356, 0, 0, 0, 44 [SEP] 16, Bread, -0.790, 1.067, 3.988, 0, 180, 0, 69 [SEP] 17, Mug, -1.127, 0.886, -0.053, 0, 270, 0, 79 [SEP] 18, Apple, -3.654, 0.975, 1.357, 0, 0, 0, 52 [SEP] 19, Apple, -1.127, 0.951, 0.564, 0, 90, 0, 79 [SEP] 20, Egg, -1.127, 0.926, 0.152, 0, 90, 0, 79 [SEP] 21, Knife, -1.391, 0.915, 0.358, 0, 0, 0, 79 [SEP] 22, Fork, -1.127, 0.892, 0.461, 0, 90, 0, 79 [SEP] 23, Bread, -1.127, 0.972, 0.358, 0, 90, 0, 79 [SEP] 24, Potato, -3.559, 0.948, 1.189, 0, 0, 0, 52 [SEP] 25, Plate, -3.368, 0.919, 2.844, 0, 0, 0, 43 [SEP] 26, Pot, -3.424, 0.966, 1.971, 0, 0, 0, 51 [SEP] 27, Kettle, -3.424, 0.966, 2.374, 0, 0, 0, 49 [SEP] 28, WineBottle, -1.161, 0.087, 3.756, 0, 270, 0, 75 [SEP] 29, Bowl, -3.559, 0.914, 3.663, 0, 0, 0, 43 [SEP] 30, Tomato, -0.556, 1.054, 3.926, 0, 180, 0, 69 [SEP] 31, Cup, -1.504, 0.915, 4.188, 0, 0, 0, 43 [SEP] 32, Spatula, -1.523, 0.906, 0.255, 0, 180, 0, 79 [SEP] 33, SoapBottle, -1.711, 0.915, 4.231, 0, 0, 0, 43 [SEP] 34, Lettuce, -1.759, 0.974, 0.085, 0, 0, 0, 79 [SEP] 35, Pan, -2.614, 0.902, 3.620, 0, 0, 0, 43 [SEP] 36, Apple, -0.994, 0.951, 0.049, 0, 90, 0, 79 [SEP] 37, SaltShaker, -1.655, 0.887, 0.358, 0, 90, 0, 79 [SEP] 38, PepperShaker, -3.097, 0.742, 1.433, 0, 0, 0, 44 [SEP] 39, ButterKnife, -1.840, 0.779, 3.674, 0, 0, 0, 73 [SEP] 40, DishSponge, -3.127, 0.745, 3.326, 0, 0, 0, 53 [SEP] 41, Spoon, -0.994, 0.892, 0.152, 0, 90, 0, 79 [SEP] 42, Mug, -1.127, 0.886, 0.049, 0, 0, 0, 79 [SEP] 43, CounterTop, -3.381, 0.950, 3.335, 0, 0, 0, [SEP] 44, Drawer, -3.121, 0.775, 1.357, 0, 0, 0, [SEP] 45, Drawer, -3.121, 0.777, 2.916, 0, 0, 0, [SEP] 46, StoveBurner, -3.148, 0.958, 2.374, 0, 0, 0, [SEP] 47, Sink, -1.797, 0.917, 3.660, 0, 0, 0, [SEP] 48, Cabinet, -1.421, 0.388, 3.459, 0, 0, 0, [SEP] 49, StoveBurner, -3.424, 0.958, 2.374, 0, 0, 0, [SEP] 50, Cabinet, -3.365, 1.931, 2.676, 0, 0, 0, [SEP] 51, StoveBurner, -3.424, 0.958, 1.971, 0, 0, 0, [SEP] 52, CounterTop, -3.381, 0.951, 1.356, 0, 0, 0, [SEP] 53, Drawer, -3.121, 0.781, 3.295, 0, 0, 0, [SEP] 54, Cabinet, -2.205, 0.388, 3.459, 0, 0, 0, [SEP] 55, Cabinet, -2.963, 0.388, 3.459, 0, 0, 0, [SEP] 56, Cabinet, -2.992, 0.388, 2.683, 0, 0, 0, [SEP] 57, Cabinet, -3.352, 2.205, 1.715, 0, 0, 0, [SEP] 58, Cabinet, -3.352, 2.205, 2.653, 0, 0, 0, [SEP] 59, Cabinet, -2.189, 0.388, 3.466, 0, 0, 0, [SEP] 60, Cabinet, -3.365, 1.931, 3.963, 0, 0, 0, [SEP] 61, Cabinet, -3.365, 1.931, 1.056, 0, 0, 0, [SEP] 62, Cabinet, -2.992, 0.388, 1.037, 0, 0, 0, [SEP] 63, StoveBurner, -3.143, 0.958, 1.971, 0, 0, 0, [SEP] 64, StoveKnob, -3.599, 1.110, 2.017, 0, 0, 105.000, [SEP] 65, StoveKnob, -3.599, 1.110, 1.867, 0, 0, 105.000, [SEP] 66, StoveKnob, -3.599, 1.110, 2.267, 0, 0, 105.000, [SEP] 67, StoveKnob, -3.599, 1.110, 2.427, 0, 0, 105.000, [SEP] 68, Toaster, -2.654, 0.902, 4.064, 0, 180, 0, [SEP] 69, Fridge, -0.439, 0.014, 3.996, 0, 0, 0, [SEP] 70, LightSwitch, 0.25, 1.383, 2.085, 0, 270, 0, [SEP] 71, Window, -1.430, 1.338, -0.347, 90, 0, 0, [SEP] 72, CoffeeMachine, -3.550, 0.902, 3.274, 0, 90, 0, [SEP] 73, SinkBasin, -1.802, 0.778, 3.700, 0, 0, 0, [SEP] 74, Microwave, -3.484, 1.430, 2.182, 0, 90, 0, [SEP] 75, GarbageCan, -1.184, -0.020, 3.794, 0, 270, 0, [SEP] 76, Blinds, -1.404, 2.092, -0.296, 0, 0, 0, [SEP] 77, Stool, -1.373, 0.014, 1.048, 1.214, 20.754, 0, [SEP] 78, Faucet, -1.788, 0.903, 3.931, 270, 90, 0, [SEP] 79, DiningTable, -1.399, 0.010, 0.238, 0, 0, 0, [SEP] 80, GarbageBag, -0.291, 0.336, -0.034, 272.372, 348.812, 147.313, [SEP] 81, NorthWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , [SEP] 84, WestWall, , , , , , , ", "output": ["STEP 1: turn around and walk over to the fridge at the end of the room on the right corner | STEP 2: grab a tomato out of the fridge there | STEP 3: turn around and walk over to the right side of the room where the stove is, and look up to face the microwave a bit | STEP 4: place the tomato inside of the microwave, turn on the microwave to cook the tomato, once it is done take it back out | STEP 5: look downwards a bit, and turn around to walk back over to the fridge in the left side far corner of the room | STEP 6: place the tomato inside of the fridge there | END"]} +{"id": "trial_T20190909_020200_054379-1", "input": "Put a warm tomato in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.914, 1.75, 0, 180, 0, [SEP] 1, DishSponge, -1.919, 0.915, 4.104, 0, 0, 0, 43 [SEP] 2, DishSponge, -3.118, 0.081, 2.920, 0, 0, 0, 56 [SEP] 3, WineBottle, -1.259, 0.892, 0.049, 0, 90, 0, 79 [SEP] 4, Kettle, -2.840, 0.081, 3.624, 0, 0, 0, 55 [SEP] 5, Spatula, -3.463, 0.930, 1.440, 0, 0, 0, 52 [SEP] 6, Spoon, -3.214, 0.746, 1.202, 0, 270, 0, 44 [SEP] 7, Spoon, -1.391, 0.892, 0.049, 0, 90, 0, 79 [SEP] 8, Cup, -3.081, 0.915, 1.357, 0, 0, 0, 52 [SEP] 9, Cup, -1.857, 0.789, 3.662, 0, 0, 0, 73 [SEP] 10, Knife, -3.214, 0.768, 1.433, 0, 90, 0, 44 [SEP] 11, Knife, -3.463, 0.939, 1.273, 0, 0, 0, 52 [SEP] 12, Tomato, -3.081, 0.984, 1.106, 0, 0, 0, 52 [SEP] 13, SoapBottle, -1.523, 0.891, -0.053, 0, 90, 0, 79 [SEP] 14, PepperShaker, -3.155, 0.741, 1.279, 0, 0, 0, 44 [SEP] 15, PepperShaker, -3.097, 0.741, 1.356, 0, 0, 0, 44 [SEP] 16, Bread, -0.790, 1.067, 3.988, 0, 180, 0, 69 [SEP] 17, Mug, -1.127, 0.886, -0.053, 0, 270, 0, 79 [SEP] 18, Apple, -3.654, 0.975, 1.357, 0, 0, 0, 52 [SEP] 19, Apple, -1.127, 0.951, 0.564, 0, 90, 0, 79 [SEP] 20, Egg, -1.127, 0.926, 0.152, 0, 90, 0, 79 [SEP] 21, Knife, -1.391, 0.915, 0.358, 0, 0, 0, 79 [SEP] 22, Fork, -1.127, 0.892, 0.461, 0, 90, 0, 79 [SEP] 23, Bread, -1.127, 0.972, 0.358, 0, 90, 0, 79 [SEP] 24, Potato, -3.559, 0.948, 1.189, 0, 0, 0, 52 [SEP] 25, Plate, -3.368, 0.919, 2.844, 0, 0, 0, 43 [SEP] 26, Pot, -3.424, 0.966, 1.971, 0, 0, 0, 51 [SEP] 27, Kettle, -3.424, 0.966, 2.374, 0, 0, 0, 49 [SEP] 28, WineBottle, -1.161, 0.087, 3.756, 0, 270, 0, 75 [SEP] 29, Bowl, -3.559, 0.914, 3.663, 0, 0, 0, 43 [SEP] 30, Tomato, -0.556, 1.054, 3.926, 0, 180, 0, 69 [SEP] 31, Cup, -1.504, 0.915, 4.188, 0, 0, 0, 43 [SEP] 32, Spatula, -1.523, 0.906, 0.255, 0, 180, 0, 79 [SEP] 33, SoapBottle, -1.711, 0.915, 4.231, 0, 0, 0, 43 [SEP] 34, Lettuce, -1.759, 0.974, 0.085, 0, 0, 0, 79 [SEP] 35, Pan, -2.614, 0.902, 3.620, 0, 0, 0, 43 [SEP] 36, Apple, -0.994, 0.951, 0.049, 0, 90, 0, 79 [SEP] 37, SaltShaker, -1.655, 0.887, 0.358, 0, 90, 0, 79 [SEP] 38, PepperShaker, -3.097, 0.742, 1.433, 0, 0, 0, 44 [SEP] 39, ButterKnife, -1.840, 0.779, 3.674, 0, 0, 0, 73 [SEP] 40, DishSponge, -3.127, 0.745, 3.326, 0, 0, 0, 53 [SEP] 41, Spoon, -0.994, 0.892, 0.152, 0, 90, 0, 79 [SEP] 42, Mug, -1.127, 0.886, 0.049, 0, 0, 0, 79 [SEP] 43, CounterTop, -3.381, 0.950, 3.335, 0, 0, 0, [SEP] 44, Drawer, -3.121, 0.775, 1.357, 0, 0, 0, [SEP] 45, Drawer, -3.121, 0.777, 2.916, 0, 0, 0, [SEP] 46, StoveBurner, -3.148, 0.958, 2.374, 0, 0, 0, [SEP] 47, Sink, -1.797, 0.917, 3.660, 0, 0, 0, [SEP] 48, Cabinet, -1.421, 0.388, 3.459, 0, 0, 0, [SEP] 49, StoveBurner, -3.424, 0.958, 2.374, 0, 0, 0, [SEP] 50, Cabinet, -3.365, 1.931, 2.676, 0, 0, 0, [SEP] 51, StoveBurner, -3.424, 0.958, 1.971, 0, 0, 0, [SEP] 52, CounterTop, -3.381, 0.951, 1.356, 0, 0, 0, [SEP] 53, Drawer, -3.121, 0.781, 3.295, 0, 0, 0, [SEP] 54, Cabinet, -2.205, 0.388, 3.459, 0, 0, 0, [SEP] 55, Cabinet, -2.963, 0.388, 3.459, 0, 0, 0, [SEP] 56, Cabinet, -2.992, 0.388, 2.683, 0, 0, 0, [SEP] 57, Cabinet, -3.352, 2.205, 1.715, 0, 0, 0, [SEP] 58, Cabinet, -3.352, 2.205, 2.653, 0, 0, 0, [SEP] 59, Cabinet, -2.189, 0.388, 3.466, 0, 0, 0, [SEP] 60, Cabinet, -3.365, 1.931, 3.963, 0, 0, 0, [SEP] 61, Cabinet, -3.365, 1.931, 1.056, 0, 0, 0, [SEP] 62, Cabinet, -2.992, 0.388, 1.037, 0, 0, 0, [SEP] 63, StoveBurner, -3.143, 0.958, 1.971, 0, 0, 0, [SEP] 64, StoveKnob, -3.599, 1.110, 2.017, 0, 0, 105.000, [SEP] 65, StoveKnob, -3.599, 1.110, 1.867, 0, 0, 105.000, [SEP] 66, StoveKnob, -3.599, 1.110, 2.267, 0, 0, 105.000, [SEP] 67, StoveKnob, -3.599, 1.110, 2.427, 0, 0, 105.000, [SEP] 68, Toaster, -2.654, 0.902, 4.064, 0, 180, 0, [SEP] 69, Fridge, -0.439, 0.014, 3.996, 0, 0, 0, [SEP] 70, LightSwitch, 0.25, 1.383, 2.085, 0, 270, 0, [SEP] 71, Window, -1.430, 1.338, -0.347, 90, 0, 0, [SEP] 72, CoffeeMachine, -3.550, 0.902, 3.274, 0, 90, 0, [SEP] 73, SinkBasin, -1.802, 0.778, 3.700, 0, 0, 0, [SEP] 74, Microwave, -3.484, 1.430, 2.182, 0, 90, 0, [SEP] 75, GarbageCan, -1.184, -0.020, 3.794, 0, 270, 0, [SEP] 76, Blinds, -1.404, 2.092, -0.296, 0, 0, 0, [SEP] 77, Stool, -1.373, 0.014, 1.048, 1.214, 20.754, 0, [SEP] 78, Faucet, -1.788, 0.903, 3.931, 270, 90, 0, [SEP] 79, DiningTable, -1.399, 0.010, 0.238, 0, 0, 0, [SEP] 80, GarbageBag, -0.291, 0.336, -0.034, 272.372, 348.812, 147.313, [SEP] 81, NorthWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , [SEP] 84, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the fridge ahead. | STEP 2: Open the fridge, take the tomato from inside, and close the fridge. | STEP 3: Turn around and move forward, then turn right to go to the stove, they look up at the microwave. | STEP 4: Open the microwave, put the tomato inside and heat it up, then take tomato out. | STEP 5: Turn around and go across the room to the wall, then turn right and go to the fridge. | STEP 6: Open the fridge, put the tomato inside, and close it. | END"]} +{"id": "trial_T20190909_020200_054379-2", "input": "Place a heated tomato in a fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.914, 1.75, 0, 180, 0, [SEP] 1, DishSponge, -1.919, 0.915, 4.104, 0, 0, 0, 43 [SEP] 2, DishSponge, -3.118, 0.081, 2.920, 0, 0, 0, 56 [SEP] 3, WineBottle, -1.259, 0.892, 0.049, 0, 90, 0, 79 [SEP] 4, Kettle, -2.840, 0.081, 3.624, 0, 0, 0, 55 [SEP] 5, Spatula, -3.463, 0.930, 1.440, 0, 0, 0, 52 [SEP] 6, Spoon, -3.214, 0.746, 1.202, 0, 270, 0, 44 [SEP] 7, Spoon, -1.391, 0.892, 0.049, 0, 90, 0, 79 [SEP] 8, Cup, -3.081, 0.915, 1.357, 0, 0, 0, 52 [SEP] 9, Cup, -1.857, 0.789, 3.662, 0, 0, 0, 73 [SEP] 10, Knife, -3.214, 0.768, 1.433, 0, 90, 0, 44 [SEP] 11, Knife, -3.463, 0.939, 1.273, 0, 0, 0, 52 [SEP] 12, Tomato, -3.081, 0.984, 1.106, 0, 0, 0, 52 [SEP] 13, SoapBottle, -1.523, 0.891, -0.053, 0, 90, 0, 79 [SEP] 14, PepperShaker, -3.155, 0.741, 1.279, 0, 0, 0, 44 [SEP] 15, PepperShaker, -3.097, 0.741, 1.356, 0, 0, 0, 44 [SEP] 16, Bread, -0.790, 1.067, 3.988, 0, 180, 0, 69 [SEP] 17, Mug, -1.127, 0.886, -0.053, 0, 270, 0, 79 [SEP] 18, Apple, -3.654, 0.975, 1.357, 0, 0, 0, 52 [SEP] 19, Apple, -1.127, 0.951, 0.564, 0, 90, 0, 79 [SEP] 20, Egg, -1.127, 0.926, 0.152, 0, 90, 0, 79 [SEP] 21, Knife, -1.391, 0.915, 0.358, 0, 0, 0, 79 [SEP] 22, Fork, -1.127, 0.892, 0.461, 0, 90, 0, 79 [SEP] 23, Bread, -1.127, 0.972, 0.358, 0, 90, 0, 79 [SEP] 24, Potato, -3.559, 0.948, 1.189, 0, 0, 0, 52 [SEP] 25, Plate, -3.368, 0.919, 2.844, 0, 0, 0, 43 [SEP] 26, Pot, -3.424, 0.966, 1.971, 0, 0, 0, 51 [SEP] 27, Kettle, -3.424, 0.966, 2.374, 0, 0, 0, 49 [SEP] 28, WineBottle, -1.161, 0.087, 3.756, 0, 270, 0, 75 [SEP] 29, Bowl, -3.559, 0.914, 3.663, 0, 0, 0, 43 [SEP] 30, Tomato, -0.556, 1.054, 3.926, 0, 180, 0, 69 [SEP] 31, Cup, -1.504, 0.915, 4.188, 0, 0, 0, 43 [SEP] 32, Spatula, -1.523, 0.906, 0.255, 0, 180, 0, 79 [SEP] 33, SoapBottle, -1.711, 0.915, 4.231, 0, 0, 0, 43 [SEP] 34, Lettuce, -1.759, 0.974, 0.085, 0, 0, 0, 79 [SEP] 35, Pan, -2.614, 0.902, 3.620, 0, 0, 0, 43 [SEP] 36, Apple, -0.994, 0.951, 0.049, 0, 90, 0, 79 [SEP] 37, SaltShaker, -1.655, 0.887, 0.358, 0, 90, 0, 79 [SEP] 38, PepperShaker, -3.097, 0.742, 1.433, 0, 0, 0, 44 [SEP] 39, ButterKnife, -1.840, 0.779, 3.674, 0, 0, 0, 73 [SEP] 40, DishSponge, -3.127, 0.745, 3.326, 0, 0, 0, 53 [SEP] 41, Spoon, -0.994, 0.892, 0.152, 0, 90, 0, 79 [SEP] 42, Mug, -1.127, 0.886, 0.049, 0, 0, 0, 79 [SEP] 43, CounterTop, -3.381, 0.950, 3.335, 0, 0, 0, [SEP] 44, Drawer, -3.121, 0.775, 1.357, 0, 0, 0, [SEP] 45, Drawer, -3.121, 0.777, 2.916, 0, 0, 0, [SEP] 46, StoveBurner, -3.148, 0.958, 2.374, 0, 0, 0, [SEP] 47, Sink, -1.797, 0.917, 3.660, 0, 0, 0, [SEP] 48, Cabinet, -1.421, 0.388, 3.459, 0, 0, 0, [SEP] 49, StoveBurner, -3.424, 0.958, 2.374, 0, 0, 0, [SEP] 50, Cabinet, -3.365, 1.931, 2.676, 0, 0, 0, [SEP] 51, StoveBurner, -3.424, 0.958, 1.971, 0, 0, 0, [SEP] 52, CounterTop, -3.381, 0.951, 1.356, 0, 0, 0, [SEP] 53, Drawer, -3.121, 0.781, 3.295, 0, 0, 0, [SEP] 54, Cabinet, -2.205, 0.388, 3.459, 0, 0, 0, [SEP] 55, Cabinet, -2.963, 0.388, 3.459, 0, 0, 0, [SEP] 56, Cabinet, -2.992, 0.388, 2.683, 0, 0, 0, [SEP] 57, Cabinet, -3.352, 2.205, 1.715, 0, 0, 0, [SEP] 58, Cabinet, -3.352, 2.205, 2.653, 0, 0, 0, [SEP] 59, Cabinet, -2.189, 0.388, 3.466, 0, 0, 0, [SEP] 60, Cabinet, -3.365, 1.931, 3.963, 0, 0, 0, [SEP] 61, Cabinet, -3.365, 1.931, 1.056, 0, 0, 0, [SEP] 62, Cabinet, -2.992, 0.388, 1.037, 0, 0, 0, [SEP] 63, StoveBurner, -3.143, 0.958, 1.971, 0, 0, 0, [SEP] 64, StoveKnob, -3.599, 1.110, 2.017, 0, 0, 105.000, [SEP] 65, StoveKnob, -3.599, 1.110, 1.867, 0, 0, 105.000, [SEP] 66, StoveKnob, -3.599, 1.110, 2.267, 0, 0, 105.000, [SEP] 67, StoveKnob, -3.599, 1.110, 2.427, 0, 0, 105.000, [SEP] 68, Toaster, -2.654, 0.902, 4.064, 0, 180, 0, [SEP] 69, Fridge, -0.439, 0.014, 3.996, 0, 0, 0, [SEP] 70, LightSwitch, 0.25, 1.383, 2.085, 0, 270, 0, [SEP] 71, Window, -1.430, 1.338, -0.347, 90, 0, 0, [SEP] 72, CoffeeMachine, -3.550, 0.902, 3.274, 0, 90, 0, [SEP] 73, SinkBasin, -1.802, 0.778, 3.700, 0, 0, 0, [SEP] 74, Microwave, -3.484, 1.430, 2.182, 0, 90, 0, [SEP] 75, GarbageCan, -1.184, -0.020, 3.794, 0, 270, 0, [SEP] 76, Blinds, -1.404, 2.092, -0.296, 0, 0, 0, [SEP] 77, Stool, -1.373, 0.014, 1.048, 1.214, 20.754, 0, [SEP] 78, Faucet, -1.788, 0.903, 3.931, 270, 90, 0, [SEP] 79, DiningTable, -1.399, 0.010, 0.238, 0, 0, 0, [SEP] 80, GarbageBag, -0.291, 0.336, -0.034, 272.372, 348.812, 147.313, [SEP] 81, NorthWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , [SEP] 84, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the fridge. | STEP 2: Take the tomato out of the fridge. | STEP 3: Turn left and walk to the microwave. | STEP 4: Heat the tomato in the microwave. | STEP 5: Turn around and veer left, back to the fridge. | STEP 6: Place the tomato in the fridge, to the right and in front of the apple. | END"]} +{"id": "trial_T20190908_201550_622420-0", "input": "Pick up a laptop and turn on a lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, -0.25, 0, 0, 0, [SEP] 1, TissueBox, 2.705, 0.800, -1.666, 0, 0, 0, 37 [SEP] 2, TissueBox, 3.103, 0.800, -1.358, 0, 0, 0, 37 [SEP] 3, CellPhone, 2.904, 0.798, -1.420, 0, 0, 0, 37 [SEP] 4, Pen, 2.904, 0.804, -1.666, 0, 0, 0, 37 [SEP] 5, Pencil, 2.705, 0.803, -1.358, 0, 0, 0, 37 [SEP] 6, CreditCard, 1.317, 0.515, -1.752, 0, 0, 0, 39 [SEP] 7, Book, 0.227, 0.569, -1.575, 0, 0, 0, 24 [SEP] 8, Book, 0.064, 0.569, -1.129, 0, 0, 0, 24 [SEP] 9, Pillow, 0.390, 0.674, -1.129, 0, 0, 0, 24 [SEP] 10, Book, 0.390, 0.569, -0.682, 0, 0, 0, 24 [SEP] 11, KeyChain, 2.108, 0.799, -1.420, 0, 0, 0, 37 [SEP] 12, TissueBox, 3.067, 0.536, -1.421, 0, 0, 0, 36 [SEP] 13, TeddyBear, -0.075, 0.562, -0.274, 353.177, 297.143, 5.348, 24 [SEP] 14, Pencil, 1.240, 0.522, -1.551, 0, 0, 0, 39 [SEP] 15, CreditCard, 1.352, 0.283, -1.635, 0, 180, 0, 38 [SEP] 16, TennisRacket, -0.921, 0.344, 0.390, 13.911, 273.938, 195.992, Floor|+00.39| [SEP] 17, Laptop, 2.362, 0.791, -1.54, 0, 0, 0, 37 [SEP] 18, AlarmClock, 1.108, 0.510, -1.673, 0, 345.197, 0, 39 [SEP] 19, Pen, 1.836, 0.796, -1.667, 0, 0, 0, 37 [SEP] 20, Pillow, 0.552, 0.674, -0.236, 0, 0, 0, 24 [SEP] 21, CellPhone, 2.705, 0.798, -1.482, 0, 0, 0, 37 [SEP] 22, CD, 1.240, 0.058, -1.593, 0, 180, 0, 40 [SEP] 23, Mug, 2.931, 0.543, -1.464, 0, 0, 0, 36 [SEP] 24, Bed, 0.227, -0.003, -0.947, 0, 180, 0, [SEP] 25, Mirror, 0.615, 1.264, 1.029, 0, 0, 0, [SEP] 26, GarbageCan, 3.166, -0.011, -0.264, 4.636, 271.335, 0, [SEP] 27, DeskLamp, 3.164, 0.794, -1.664, 0, 315, 0, [SEP] 28, HousePlant, -0.833, 0.000, 0.843, 0, 0, 0, [SEP] 29, LightSwitch, 2.010, 1.126, 1.029, 0, 180, 0, [SEP] 30, Window, 1.794, 1.677, -1.939, 90, 180, 0, [SEP] 31, Window, 0.691, 1.361, -1.938, 90, 180, 0, [SEP] 32, Dumbbell, 2.628, 0.001, -1.613, 0, 346.954, 0, [SEP] 33, Blinds, 1.776, 1.993, -1.858, 0, 0, 0, [SEP] 34, Blinds, 0.670, 1.993, -1.858, 0, 0, 0, [SEP] 35, Chair, 2.255, 0.004, -1.501, 0, 167.716, 0, [SEP] 36, Shelf, 3.034, 0.637, -1.580, 0, 0, 0, [SEP] 37, Desk, 2.500, 0.002, -1.596, 0, 0, 0, [SEP] 38, Drawer, 1.240, 0.354, -1.553, 0, 0, 0, [SEP] 39, SideTable, 1.239, 0.003, -1.551, 0, 0, 0, [SEP] 40, Drawer, 1.240, 0.126, -1.553, 0, 0, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and go to the desk | STEP 2: Close the laptop and pick it up from the desk | STEP 3: Turn left and go to the lamp on the desk | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190908_201550_622420-1", "input": "Pick up the laptop and turn on the lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, -0.25, 0, 0, 0, [SEP] 1, TissueBox, 2.705, 0.800, -1.666, 0, 0, 0, 37 [SEP] 2, TissueBox, 3.103, 0.800, -1.358, 0, 0, 0, 37 [SEP] 3, CellPhone, 2.904, 0.798, -1.420, 0, 0, 0, 37 [SEP] 4, Pen, 2.904, 0.804, -1.666, 0, 0, 0, 37 [SEP] 5, Pencil, 2.705, 0.803, -1.358, 0, 0, 0, 37 [SEP] 6, CreditCard, 1.317, 0.515, -1.752, 0, 0, 0, 39 [SEP] 7, Book, 0.227, 0.569, -1.575, 0, 0, 0, 24 [SEP] 8, Book, 0.064, 0.569, -1.129, 0, 0, 0, 24 [SEP] 9, Pillow, 0.390, 0.674, -1.129, 0, 0, 0, 24 [SEP] 10, Book, 0.390, 0.569, -0.682, 0, 0, 0, 24 [SEP] 11, KeyChain, 2.108, 0.799, -1.420, 0, 0, 0, 37 [SEP] 12, TissueBox, 3.067, 0.536, -1.421, 0, 0, 0, 36 [SEP] 13, TeddyBear, -0.075, 0.562, -0.274, 353.177, 297.143, 5.348, 24 [SEP] 14, Pencil, 1.240, 0.522, -1.551, 0, 0, 0, 39 [SEP] 15, CreditCard, 1.352, 0.283, -1.635, 0, 180, 0, 38 [SEP] 16, TennisRacket, -0.921, 0.344, 0.390, 13.911, 273.938, 195.992, Floor|+00.39| [SEP] 17, Laptop, 2.362, 0.791, -1.54, 0, 0, 0, 37 [SEP] 18, AlarmClock, 1.108, 0.510, -1.673, 0, 345.197, 0, 39 [SEP] 19, Pen, 1.836, 0.796, -1.667, 0, 0, 0, 37 [SEP] 20, Pillow, 0.552, 0.674, -0.236, 0, 0, 0, 24 [SEP] 21, CellPhone, 2.705, 0.798, -1.482, 0, 0, 0, 37 [SEP] 22, CD, 1.240, 0.058, -1.593, 0, 180, 0, 40 [SEP] 23, Mug, 2.931, 0.543, -1.464, 0, 0, 0, 36 [SEP] 24, Bed, 0.227, -0.003, -0.947, 0, 180, 0, [SEP] 25, Mirror, 0.615, 1.264, 1.029, 0, 0, 0, [SEP] 26, GarbageCan, 3.166, -0.011, -0.264, 4.636, 271.335, 0, [SEP] 27, DeskLamp, 3.164, 0.794, -1.664, 0, 315, 0, [SEP] 28, HousePlant, -0.833, 0.000, 0.843, 0, 0, 0, [SEP] 29, LightSwitch, 2.010, 1.126, 1.029, 0, 180, 0, [SEP] 30, Window, 1.794, 1.677, -1.939, 90, 180, 0, [SEP] 31, Window, 0.691, 1.361, -1.938, 90, 180, 0, [SEP] 32, Dumbbell, 2.628, 0.001, -1.613, 0, 346.954, 0, [SEP] 33, Blinds, 1.776, 1.993, -1.858, 0, 0, 0, [SEP] 34, Blinds, 0.670, 1.993, -1.858, 0, 0, 0, [SEP] 35, Chair, 2.255, 0.004, -1.501, 0, 167.716, 0, [SEP] 36, Shelf, 3.034, 0.637, -1.580, 0, 0, 0, [SEP] 37, Desk, 2.500, 0.002, -1.596, 0, 0, 0, [SEP] 38, Drawer, 1.240, 0.354, -1.553, 0, 0, 0, [SEP] 39, SideTable, 1.239, 0.003, -1.551, 0, 0, 0, [SEP] 40, Drawer, 1.240, 0.126, -1.553, 0, 0, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the table with a laptop | STEP 2: Close the laptop and pick it up from the table | STEP 3: Go to the end of the table by the wall | STEP 4: Turn on the lamp that is on far left end of the table | END"]} +{"id": "trial_T20190908_201550_622420-2", "input": "pick up the lap top from the desk and turn on the lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, -0.25, 0, 0, 0, [SEP] 1, TissueBox, 2.705, 0.800, -1.666, 0, 0, 0, 37 [SEP] 2, TissueBox, 3.103, 0.800, -1.358, 0, 0, 0, 37 [SEP] 3, CellPhone, 2.904, 0.798, -1.420, 0, 0, 0, 37 [SEP] 4, Pen, 2.904, 0.804, -1.666, 0, 0, 0, 37 [SEP] 5, Pencil, 2.705, 0.803, -1.358, 0, 0, 0, 37 [SEP] 6, CreditCard, 1.317, 0.515, -1.752, 0, 0, 0, 39 [SEP] 7, Book, 0.227, 0.569, -1.575, 0, 0, 0, 24 [SEP] 8, Book, 0.064, 0.569, -1.129, 0, 0, 0, 24 [SEP] 9, Pillow, 0.390, 0.674, -1.129, 0, 0, 0, 24 [SEP] 10, Book, 0.390, 0.569, -0.682, 0, 0, 0, 24 [SEP] 11, KeyChain, 2.108, 0.799, -1.420, 0, 0, 0, 37 [SEP] 12, TissueBox, 3.067, 0.536, -1.421, 0, 0, 0, 36 [SEP] 13, TeddyBear, -0.075, 0.562, -0.274, 353.177, 297.143, 5.348, 24 [SEP] 14, Pencil, 1.240, 0.522, -1.551, 0, 0, 0, 39 [SEP] 15, CreditCard, 1.352, 0.283, -1.635, 0, 180, 0, 38 [SEP] 16, TennisRacket, -0.921, 0.344, 0.390, 13.911, 273.938, 195.992, Floor|+00.39| [SEP] 17, Laptop, 2.362, 0.791, -1.54, 0, 0, 0, 37 [SEP] 18, AlarmClock, 1.108, 0.510, -1.673, 0, 345.197, 0, 39 [SEP] 19, Pen, 1.836, 0.796, -1.667, 0, 0, 0, 37 [SEP] 20, Pillow, 0.552, 0.674, -0.236, 0, 0, 0, 24 [SEP] 21, CellPhone, 2.705, 0.798, -1.482, 0, 0, 0, 37 [SEP] 22, CD, 1.240, 0.058, -1.593, 0, 180, 0, 40 [SEP] 23, Mug, 2.931, 0.543, -1.464, 0, 0, 0, 36 [SEP] 24, Bed, 0.227, -0.003, -0.947, 0, 180, 0, [SEP] 25, Mirror, 0.615, 1.264, 1.029, 0, 0, 0, [SEP] 26, GarbageCan, 3.166, -0.011, -0.264, 4.636, 271.335, 0, [SEP] 27, DeskLamp, 3.164, 0.794, -1.664, 0, 315, 0, [SEP] 28, HousePlant, -0.833, 0.000, 0.843, 0, 0, 0, [SEP] 29, LightSwitch, 2.010, 1.126, 1.029, 0, 180, 0, [SEP] 30, Window, 1.794, 1.677, -1.939, 90, 180, 0, [SEP] 31, Window, 0.691, 1.361, -1.938, 90, 180, 0, [SEP] 32, Dumbbell, 2.628, 0.001, -1.613, 0, 346.954, 0, [SEP] 33, Blinds, 1.776, 1.993, -1.858, 0, 0, 0, [SEP] 34, Blinds, 0.670, 1.993, -1.858, 0, 0, 0, [SEP] 35, Chair, 2.255, 0.004, -1.501, 0, 167.716, 0, [SEP] 36, Shelf, 3.034, 0.637, -1.580, 0, 0, 0, [SEP] 37, Desk, 2.500, 0.002, -1.596, 0, 0, 0, [SEP] 38, Drawer, 1.240, 0.354, -1.553, 0, 0, 0, [SEP] 39, SideTable, 1.239, 0.003, -1.551, 0, 0, 0, [SEP] 40, Drawer, 1.240, 0.126, -1.553, 0, 0, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Look down and turn right towards the trash can then turn right towards the desk | STEP 2: close the lap top and pick it up from the desk | STEP 3: go left then right towards the desk again | STEP 4: turn on the lamp | END"]} +{"id": "trial_T20190907_171639_045329-0", "input": "Move a bowl from a dining table to a coffee table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.902, 5.5, 0, 0, 0, [SEP] 1, Plate, -2.934, 0.689, 1.670, 0, 0, 0, 56 [SEP] 2, Plate, -2.253, 0.747, -0.115, 0, 0, 0, 53 [SEP] 3, Watch, -0.284, 0.704, 3.116, 0, 0, 0, 41 [SEP] 4, Watch, -2.164, 0.600, 4.654, 0, 0, 0, 46 [SEP] 5, Statue, -2.047, 0.695, 1.175, 0, 0, 0, 55 [SEP] 6, Statue, -2.396, 0.609, 4.731, 0, 0, 0, 46 [SEP] 7, KeyChain, -1.025, 0.438, 6.224, 0, 135, 0, 44 [SEP] 8, KeyChain, -1.974, 0.748, -0.246, 0, 0, 0, 53 [SEP] 9, Book, -2.396, 0.100, 4.809, 0, 0, 0, 49 [SEP] 10, CreditCard, -0.811, 0.432, 5.650, 0, 135, 0, 44 [SEP] 11, RemoteControl, -2.668, 0.482, 3.705, 0, 0, 0, 51 [SEP] 12, RemoteControl, -4.367, 0.435, 5.562, 0, 59.999, 0, 43 [SEP] 13, Laptop, -0.888, 0.449, 5.967, 0, 135, 0, 44 [SEP] 14, Laptop, -1.609, 0.478, 3.615, 0, 0, 0, 51 [SEP] 15, Book, -2.241, 0.347, 4.809, 0, 0, 0, 47 [SEP] 16, Box, -3.198, 0.678, 3.346, 0, 180, 0, 51 [SEP] 17, Statue, -2.532, 0.753, -0.115, 0, 0, 0, 53 [SEP] 18, Laptop, -2.385, 0.235, 6.119, 0, 0, 0, 46 [SEP] 19, TissueBox, -2.269, 0.690, 1.423, 0, 0, 0, 45 [SEP] 20, CreditCard, -2.047, 0.689, 1.423, 0, 0, 0, 45 [SEP] 21, Plate, -2.761, 0.237, 6.119, 0, 0, 0, 48 [SEP] 22, KeyChain, -2.490, 0.689, 1.175, 0, 0, 0, 45 [SEP] 23, Vase, -2.712, 0.693, 1.793, 0, 0, 0, 59 [SEP] 24, Pencil, -1.974, 0.751, 0.014, 0, 0, 0, 53 [SEP] 25, Pillow, -2.139, 0.557, 3.615, 0, 0, 0, 51 [SEP] 26, Bowl, -1.825, 0.688, 1.299, 0, 0, 0, 55 [SEP] 27, RemoteControl, -2.668, 0.482, 3.436, 0, 0, 0, 51 [SEP] 28, Watch, -0.252, 0.704, 3.285, 0, 0, 0, 41 [SEP] 29, Pen, -2.114, 0.753, -0.202, 0, 0, 0, 53 [SEP] 30, Newspaper, -2.269, 0.690, 1.793, 0, 0, 0, 59 [SEP] 31, Painting, -2.048, 1.615, -0.303, 0, 0, 0, [SEP] 32, Curtains, -0.083, 2.420, 0.969, 0, 0, 0, [SEP] 33, Television, -2.357, 1.205, 6.245, 0, 180, 0, [SEP] 34, HousePlant, -2.933, 0.595, -0.093, 0, 0, 0, [SEP] 35, GarbageCan, -4.864, -0.001, 0.267, 0, 90, 0, [SEP] 36, FloorLamp, -0.566, 0.002, 0.024, 0, 316.932, 0, [SEP] 37, DeskLamp, -0.273, 0.700, 3.612, 0, 0, 0, [SEP] 38, Window, -0.057, 0.925, 1.764, 90, 270, 0, [SEP] 39, Window, -0.057, 1.130, 4.886, 90, 270, 0, [SEP] 40, LightSwitch, -3.305, 1.340, -0.314, 0, 0, 0, [SEP] 41, SideTable, -0.255, 0.001, 3.369, 0, 270, 0, [SEP] 42, Drawer, -0.306, 0.626, 3.369, 0, 270, 0, [SEP] 43, ArmChair, -4.376, -8.374, 6.016, 0, 152.639, 0, [SEP] 44, ArmChair, -0.847, -8.106, 5.983, 0, 231.318, 0, [SEP] 45, DiningTable, -2.268, -0.016, 1.422, 0, 0, 0, [SEP] 46, CoffeeTable, -2.326, 0.002, 4.922, 0, 0, 0, [SEP] 47, Shelf, -2.326, 0.338, 4.922, 0, 0, 0, [SEP] 48, Shelf, -2.385, 0.238, 6.296, 0, 0, 0, [SEP] 49, Shelf, -2.326, 0.089, 4.922, 0, 0, 0, [SEP] 50, TVStand, -2.385, 0.006, 6.296, 0, 0, 0, [SEP] 51, Sofa, -2.404, -0.003, 3.417, 0, 0, 0, [SEP] 52, SideTable, -2.935, 0.004, -0.103, 0, 0, 0, [SEP] 53, SideTable, -2.113, 0.002, -0.139, 0, 0, 0, [SEP] 54, Drawer, -2.113, 0.654, -0.069, 0, 0, 0, [SEP] 55, Chair, -1.862, 0.020, 1.035, 0, 0, 0, [SEP] 56, Chair, -3.122, 0.020, 1.410, 0, 104.999, 0, [SEP] 57, Chair, -1.864, 0.020, 1.838, 0, 185.032, 0, [SEP] 58, Chair, -2.507, 0.020, 0.991, 0, 6.189, 0, [SEP] 59, Chair, -2.519, 0.020, 1.882, 0, 164.977, 0, [SEP] 60, Chair, -1.335, 0.020, 1.430, 0, 270, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, EastWall, , , , , , , [SEP] 63, SouthWall, , , , , , , [SEP] 64, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the dining table at the opposite side of the room. | STEP 2: Pick up the bowl from the table. | STEP 3: Walk to the coffee table on the opposite side of the room. | STEP 4: Put the bowl on the coffee table, to the left of the statue. | END"]} +{"id": "trial_T20190907_171639_045329-1", "input": "Put a bowl on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.902, 5.5, 0, 0, 0, [SEP] 1, Plate, -2.934, 0.689, 1.670, 0, 0, 0, 56 [SEP] 2, Plate, -2.253, 0.747, -0.115, 0, 0, 0, 53 [SEP] 3, Watch, -0.284, 0.704, 3.116, 0, 0, 0, 41 [SEP] 4, Watch, -2.164, 0.600, 4.654, 0, 0, 0, 46 [SEP] 5, Statue, -2.047, 0.695, 1.175, 0, 0, 0, 55 [SEP] 6, Statue, -2.396, 0.609, 4.731, 0, 0, 0, 46 [SEP] 7, KeyChain, -1.025, 0.438, 6.224, 0, 135, 0, 44 [SEP] 8, KeyChain, -1.974, 0.748, -0.246, 0, 0, 0, 53 [SEP] 9, Book, -2.396, 0.100, 4.809, 0, 0, 0, 49 [SEP] 10, CreditCard, -0.811, 0.432, 5.650, 0, 135, 0, 44 [SEP] 11, RemoteControl, -2.668, 0.482, 3.705, 0, 0, 0, 51 [SEP] 12, RemoteControl, -4.367, 0.435, 5.562, 0, 59.999, 0, 43 [SEP] 13, Laptop, -0.888, 0.449, 5.967, 0, 135, 0, 44 [SEP] 14, Laptop, -1.609, 0.478, 3.615, 0, 0, 0, 51 [SEP] 15, Book, -2.241, 0.347, 4.809, 0, 0, 0, 47 [SEP] 16, Box, -3.198, 0.678, 3.346, 0, 180, 0, 51 [SEP] 17, Statue, -2.532, 0.753, -0.115, 0, 0, 0, 53 [SEP] 18, Laptop, -2.385, 0.235, 6.119, 0, 0, 0, 46 [SEP] 19, TissueBox, -2.269, 0.690, 1.423, 0, 0, 0, 45 [SEP] 20, CreditCard, -2.047, 0.689, 1.423, 0, 0, 0, 45 [SEP] 21, Plate, -2.761, 0.237, 6.119, 0, 0, 0, 48 [SEP] 22, KeyChain, -2.490, 0.689, 1.175, 0, 0, 0, 45 [SEP] 23, Vase, -2.712, 0.693, 1.793, 0, 0, 0, 59 [SEP] 24, Pencil, -1.974, 0.751, 0.014, 0, 0, 0, 53 [SEP] 25, Pillow, -2.139, 0.557, 3.615, 0, 0, 0, 51 [SEP] 26, Bowl, -1.825, 0.688, 1.299, 0, 0, 0, 55 [SEP] 27, RemoteControl, -2.668, 0.482, 3.436, 0, 0, 0, 51 [SEP] 28, Watch, -0.252, 0.704, 3.285, 0, 0, 0, 41 [SEP] 29, Pen, -2.114, 0.753, -0.202, 0, 0, 0, 53 [SEP] 30, Newspaper, -2.269, 0.690, 1.793, 0, 0, 0, 59 [SEP] 31, Painting, -2.048, 1.615, -0.303, 0, 0, 0, [SEP] 32, Curtains, -0.083, 2.420, 0.969, 0, 0, 0, [SEP] 33, Television, -2.357, 1.205, 6.245, 0, 180, 0, [SEP] 34, HousePlant, -2.933, 0.595, -0.093, 0, 0, 0, [SEP] 35, GarbageCan, -4.864, -0.001, 0.267, 0, 90, 0, [SEP] 36, FloorLamp, -0.566, 0.002, 0.024, 0, 316.932, 0, [SEP] 37, DeskLamp, -0.273, 0.700, 3.612, 0, 0, 0, [SEP] 38, Window, -0.057, 0.925, 1.764, 90, 270, 0, [SEP] 39, Window, -0.057, 1.130, 4.886, 90, 270, 0, [SEP] 40, LightSwitch, -3.305, 1.340, -0.314, 0, 0, 0, [SEP] 41, SideTable, -0.255, 0.001, 3.369, 0, 270, 0, [SEP] 42, Drawer, -0.306, 0.626, 3.369, 0, 270, 0, [SEP] 43, ArmChair, -4.376, -8.374, 6.016, 0, 152.639, 0, [SEP] 44, ArmChair, -0.847, -8.106, 5.983, 0, 231.318, 0, [SEP] 45, DiningTable, -2.268, -0.016, 1.422, 0, 0, 0, [SEP] 46, CoffeeTable, -2.326, 0.002, 4.922, 0, 0, 0, [SEP] 47, Shelf, -2.326, 0.338, 4.922, 0, 0, 0, [SEP] 48, Shelf, -2.385, 0.238, 6.296, 0, 0, 0, [SEP] 49, Shelf, -2.326, 0.089, 4.922, 0, 0, 0, [SEP] 50, TVStand, -2.385, 0.006, 6.296, 0, 0, 0, [SEP] 51, Sofa, -2.404, -0.003, 3.417, 0, 0, 0, [SEP] 52, SideTable, -2.935, 0.004, -0.103, 0, 0, 0, [SEP] 53, SideTable, -2.113, 0.002, -0.139, 0, 0, 0, [SEP] 54, Drawer, -2.113, 0.654, -0.069, 0, 0, 0, [SEP] 55, Chair, -1.862, 0.020, 1.035, 0, 0, 0, [SEP] 56, Chair, -3.122, 0.020, 1.410, 0, 104.999, 0, [SEP] 57, Chair, -1.864, 0.020, 1.838, 0, 185.032, 0, [SEP] 58, Chair, -2.507, 0.020, 0.991, 0, 6.189, 0, [SEP] 59, Chair, -2.519, 0.020, 1.882, 0, 164.977, 0, [SEP] 60, Chair, -1.335, 0.020, 1.430, 0, 270, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, EastWall, , , , , , , [SEP] 63, SouthWall, , , , , , , [SEP] 64, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and cross the room, go left to stand at the table with the statue. | STEP 2: Pick the gray bowl up from the table. | STEP 3: Cross the room and then turn right and then right again to face the coffee table. | STEP 4: Put the bowl down on the table. | END"]} +{"id": "trial_T20190907_171639_045329-2", "input": "Move a bowl from the table to the coffee table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.902, 5.5, 0, 0, 0, [SEP] 1, Plate, -2.934, 0.689, 1.670, 0, 0, 0, 56 [SEP] 2, Plate, -2.253, 0.747, -0.115, 0, 0, 0, 53 [SEP] 3, Watch, -0.284, 0.704, 3.116, 0, 0, 0, 41 [SEP] 4, Watch, -2.164, 0.600, 4.654, 0, 0, 0, 46 [SEP] 5, Statue, -2.047, 0.695, 1.175, 0, 0, 0, 55 [SEP] 6, Statue, -2.396, 0.609, 4.731, 0, 0, 0, 46 [SEP] 7, KeyChain, -1.025, 0.438, 6.224, 0, 135, 0, 44 [SEP] 8, KeyChain, -1.974, 0.748, -0.246, 0, 0, 0, 53 [SEP] 9, Book, -2.396, 0.100, 4.809, 0, 0, 0, 49 [SEP] 10, CreditCard, -0.811, 0.432, 5.650, 0, 135, 0, 44 [SEP] 11, RemoteControl, -2.668, 0.482, 3.705, 0, 0, 0, 51 [SEP] 12, RemoteControl, -4.367, 0.435, 5.562, 0, 59.999, 0, 43 [SEP] 13, Laptop, -0.888, 0.449, 5.967, 0, 135, 0, 44 [SEP] 14, Laptop, -1.609, 0.478, 3.615, 0, 0, 0, 51 [SEP] 15, Book, -2.241, 0.347, 4.809, 0, 0, 0, 47 [SEP] 16, Box, -3.198, 0.678, 3.346, 0, 180, 0, 51 [SEP] 17, Statue, -2.532, 0.753, -0.115, 0, 0, 0, 53 [SEP] 18, Laptop, -2.385, 0.235, 6.119, 0, 0, 0, 46 [SEP] 19, TissueBox, -2.269, 0.690, 1.423, 0, 0, 0, 45 [SEP] 20, CreditCard, -2.047, 0.689, 1.423, 0, 0, 0, 45 [SEP] 21, Plate, -2.761, 0.237, 6.119, 0, 0, 0, 48 [SEP] 22, KeyChain, -2.490, 0.689, 1.175, 0, 0, 0, 45 [SEP] 23, Vase, -2.712, 0.693, 1.793, 0, 0, 0, 59 [SEP] 24, Pencil, -1.974, 0.751, 0.014, 0, 0, 0, 53 [SEP] 25, Pillow, -2.139, 0.557, 3.615, 0, 0, 0, 51 [SEP] 26, Bowl, -1.825, 0.688, 1.299, 0, 0, 0, 55 [SEP] 27, RemoteControl, -2.668, 0.482, 3.436, 0, 0, 0, 51 [SEP] 28, Watch, -0.252, 0.704, 3.285, 0, 0, 0, 41 [SEP] 29, Pen, -2.114, 0.753, -0.202, 0, 0, 0, 53 [SEP] 30, Newspaper, -2.269, 0.690, 1.793, 0, 0, 0, 59 [SEP] 31, Painting, -2.048, 1.615, -0.303, 0, 0, 0, [SEP] 32, Curtains, -0.083, 2.420, 0.969, 0, 0, 0, [SEP] 33, Television, -2.357, 1.205, 6.245, 0, 180, 0, [SEP] 34, HousePlant, -2.933, 0.595, -0.093, 0, 0, 0, [SEP] 35, GarbageCan, -4.864, -0.001, 0.267, 0, 90, 0, [SEP] 36, FloorLamp, -0.566, 0.002, 0.024, 0, 316.932, 0, [SEP] 37, DeskLamp, -0.273, 0.700, 3.612, 0, 0, 0, [SEP] 38, Window, -0.057, 0.925, 1.764, 90, 270, 0, [SEP] 39, Window, -0.057, 1.130, 4.886, 90, 270, 0, [SEP] 40, LightSwitch, -3.305, 1.340, -0.314, 0, 0, 0, [SEP] 41, SideTable, -0.255, 0.001, 3.369, 0, 270, 0, [SEP] 42, Drawer, -0.306, 0.626, 3.369, 0, 270, 0, [SEP] 43, ArmChair, -4.376, -8.374, 6.016, 0, 152.639, 0, [SEP] 44, ArmChair, -0.847, -8.106, 5.983, 0, 231.318, 0, [SEP] 45, DiningTable, -2.268, -0.016, 1.422, 0, 0, 0, [SEP] 46, CoffeeTable, -2.326, 0.002, 4.922, 0, 0, 0, [SEP] 47, Shelf, -2.326, 0.338, 4.922, 0, 0, 0, [SEP] 48, Shelf, -2.385, 0.238, 6.296, 0, 0, 0, [SEP] 49, Shelf, -2.326, 0.089, 4.922, 0, 0, 0, [SEP] 50, TVStand, -2.385, 0.006, 6.296, 0, 0, 0, [SEP] 51, Sofa, -2.404, -0.003, 3.417, 0, 0, 0, [SEP] 52, SideTable, -2.935, 0.004, -0.103, 0, 0, 0, [SEP] 53, SideTable, -2.113, 0.002, -0.139, 0, 0, 0, [SEP] 54, Drawer, -2.113, 0.654, -0.069, 0, 0, 0, [SEP] 55, Chair, -1.862, 0.020, 1.035, 0, 0, 0, [SEP] 56, Chair, -3.122, 0.020, 1.410, 0, 104.999, 0, [SEP] 57, Chair, -1.864, 0.020, 1.838, 0, 185.032, 0, [SEP] 58, Chair, -2.507, 0.020, 0.991, 0, 6.189, 0, [SEP] 59, Chair, -2.519, 0.020, 1.882, 0, 164.977, 0, [SEP] 60, Chair, -1.335, 0.020, 1.430, 0, 270, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, EastWall, , , , , , , [SEP] 63, SouthWall, , , , , , , [SEP] 64, WestWall, , , , , , , ", "output": ["STEP 1: Move across the room to the dining room table where the statue is | STEP 2: Pick up the bowl to the right of the statue on the table | STEP 3: Carry the bowl to the glass coffee table | STEP 4: Place the bowl on top of the coffee table between the statue and the square black tray | END"]} +{"id": "trial_T20190907_151802_277016-0", "input": "Slice an apple or vegetable followed by rinsing it SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.901, -0.5, 0, 270, 0, [SEP] 1, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 49 [SEP] 2, Potato, 2.024, 1.559, -0.188, 0, 270, 0, 75 [SEP] 3, WineBottle, -0.425, 0.791, 0.881, 0, 0, 0, 81 [SEP] 4, WineBottle, -0.041, 0.082, 1.857, 0, 0, 0, 48 [SEP] 5, Spatula, -0.042, 0.805, 0.881, 0, 90, 0, 81 [SEP] 6, Spoon, 0.002, 0.747, 2.129, 0, 0, 0, 53 [SEP] 7, Fork, -0.119, 0.791, 0.377, 0, 0, 0, 81 [SEP] 8, Fork, 1.917, 0.938, 0.361, 0, 0, 0, 65 [SEP] 9, Egg, 1.844, 0.980, 1.866, 0, 0, 0, 54 [SEP] 10, Egg, -0.053, 0.980, 2.618, 0, 0, 0, 54 [SEP] 11, Cup, -0.395, 1.034, 1.961, 0, 90, 0, 79 [SEP] 12, Cup, 0.033, 0.789, 0.881, 0, 0, 0, 81 [SEP] 13, Tomato, -0.272, 0.837, 1.217, 0, 0, 0, 81 [SEP] 14, SaltShaker, -0.196, 0.785, 1.049, 0, 0, 0, 81 [SEP] 15, PepperShaker, 2.127, 1.498, 0.665, 0, 0, 0, 62 [SEP] 16, PepperShaker, 2.304, 0.932, 2.458, 0, 90, 0, 54 [SEP] 17, Lettuce, -0.042, 0.852, 0.545, 0, 0, 0, 81 [SEP] 18, Mug, -0.294, 1.030, 1.961, 0, 90, 0, 79 [SEP] 19, Mug, 2.064, 0.989, 2.462, 0, 225, 0, 80 [SEP] 20, Apple, -0.119, 0.840, 1.217, 0, 0, 0, 81 [SEP] 21, Apple, 2.168, 1.373, -0.188, 0, 270, 0, 75 [SEP] 22, Apple, 2.079, 0.652, -0.550, 0, 270, 0, 75 [SEP] 23, Egg, -0.349, 0.833, 0.377, 0, 0, 0, 81 [SEP] 24, Lettuce, 2.059, 0.400, -0.279, 0, 270, 0, 75 [SEP] 25, Fork, -0.349, 0.791, 1.049, 0, 0, 0, 81 [SEP] 26, SoapBottle, 2.280, 1.504, 0.665, 0, 0, 0, 62 [SEP] 27, Ladle, 1.923, 0.126, 0.583, 0, 0, 0, 51 [SEP] 28, Ladle, 1.989, 0.790, 1.922, 0, 90, 0, 69 [SEP] 29, Bread, -0.199, 0.823, 0.813, 0, 0, 0, 81 [SEP] 30, SaltShaker, 2.091, 1.496, 2.337, 0, 90, 0, 47 [SEP] 31, Potato, 2.132, 0.378, -0.550, 0, 270, 0, 75 [SEP] 32, Pan, 1.298, 0.081, 2.523, 0, 90, 0, 60 [SEP] 33, WineBottle, -0.042, 0.791, 0.713, 0, 0, 0, 81 [SEP] 34, Spatula, -0.053, 0.952, 2.478, 0, 180, 0, 54 [SEP] 35, Knife, 0.033, 0.816, 0.377, 0, 90, 0, 81 [SEP] 36, Tomato, 2.076, 1.565, -0.369, 0, 270, 0, 75 [SEP] 37, Apple, -0.395, 1.085, 2.121, 0, 90, 0, 79 [SEP] 38, ButterKnife, 0.060, 0.937, 2.757, 0, 0, 0, 54 [SEP] 39, Pot, 1.854, 0.937, 1.497, 0, 0, 0, 58 [SEP] 40, PepperShaker, -0.272, 0.785, 1.386, 0, 0, 0, 81 [SEP] 41, Cup, -0.078, 0.079, 2.265, 0, 0, 0, 48 [SEP] 42, DishSponge, 1.994, 0.937, 0.806, 0, 0, 0, 65 [SEP] 43, Plate, -0.312, 0.781, 0.409, 0, 0, 0, 81 [SEP] 44, Spoon, 1.917, 0.939, 0.583, 0, 0, 0, 65 [SEP] 45, Mug, 1.276, 0.790, 2.64, 0, 0, 0, 78 [SEP] 46, Bowl, 1.964, 0.078, 1.986, 0, 0, 0, 50 [SEP] 47, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0, [SEP] 48, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0, [SEP] 49, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0, [SEP] 50, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0, [SEP] 51, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0, [SEP] 52, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0, [SEP] 53, Drawer, -0.024, 0.774, 2.061, 0, 0, 0, [SEP] 54, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0, [SEP] 55, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0, [SEP] 56, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0, [SEP] 57, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0, [SEP] 58, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0, [SEP] 59, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0, [SEP] 60, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0, [SEP] 61, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0, [SEP] 62, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0, [SEP] 63, Drawer, 2.167, 0.774, 0.582, 0, 0, 0, [SEP] 64, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0, [SEP] 65, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0, [SEP] 66, Sink, 0.935, 0.936, 2.646, 0, 0, 0, [SEP] 67, Curtains, 0.964, 2.061, 2.989, 0, 0, 0, [SEP] 68, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0, [SEP] 69, Drawer, 1.911, 0.774, 2.060, 0, 0, 0, [SEP] 70, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0, [SEP] 71, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0, [SEP] 72, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0, [SEP] 73, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0, [SEP] 74, Toaster, 2.126, 0.926, 0.572, 0, 270, 0, [SEP] 75, Fridge, 2.104, 0.0, -0.279, 0, 270, 0, [SEP] 76, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0, [SEP] 77, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0, [SEP] 78, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0, [SEP] 79, Microwave, -0.310, 0.926, 2.077, 0, 90, 0, [SEP] 80, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0, [SEP] 81, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0, [SEP] 82, Faucet, 1.175, 0.926, 2.950, 270, 90, 0, [SEP] 83, Faucet, 0.686, 0.926, 2.950, 270, 90, 0, [SEP] 84, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0, [SEP] 85, NorthWall, , , , , , , [SEP] 86, EastWall, , , , , , , [SEP] 87, SouthWall, , , , , , , [SEP] 88, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right and walk to the white kitchen table on your left | STEP 2: Pick up the yellow handled knife on the table | STEP 3: Walk to the right end of the kitchen table and face it | STEP 4: Slice a apple on the table | STEP 5: Walk back to the left side of the kitchen table | STEP 6: Place the knife on top of the green lettuce head | STEP 7: Walk to the right end of the kitchen table and face it | STEP 8: Pick up the slice of apple on the table | STEP 9: Turn around and walk to the left and face the kitchen sink | STEP 10: Place the slice of apple in the sink and rinse it, then remove it | STEP 11: Turn around and walk to the end of the kitchen and face the table on the right | STEP 12: Place the apple slice back on the table | END"]} +{"id": "trial_T20190907_151802_277016-1", "input": "Put a washed slice of apple on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.901, -0.5, 0, 270, 0, [SEP] 1, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 49 [SEP] 2, Potato, 2.024, 1.559, -0.188, 0, 270, 0, 75 [SEP] 3, WineBottle, -0.425, 0.791, 0.881, 0, 0, 0, 81 [SEP] 4, WineBottle, -0.041, 0.082, 1.857, 0, 0, 0, 48 [SEP] 5, Spatula, -0.042, 0.805, 0.881, 0, 90, 0, 81 [SEP] 6, Spoon, 0.002, 0.747, 2.129, 0, 0, 0, 53 [SEP] 7, Fork, -0.119, 0.791, 0.377, 0, 0, 0, 81 [SEP] 8, Fork, 1.917, 0.938, 0.361, 0, 0, 0, 65 [SEP] 9, Egg, 1.844, 0.980, 1.866, 0, 0, 0, 54 [SEP] 10, Egg, -0.053, 0.980, 2.618, 0, 0, 0, 54 [SEP] 11, Cup, -0.395, 1.034, 1.961, 0, 90, 0, 79 [SEP] 12, Cup, 0.033, 0.789, 0.881, 0, 0, 0, 81 [SEP] 13, Tomato, -0.272, 0.837, 1.217, 0, 0, 0, 81 [SEP] 14, SaltShaker, -0.196, 0.785, 1.049, 0, 0, 0, 81 [SEP] 15, PepperShaker, 2.127, 1.498, 0.665, 0, 0, 0, 62 [SEP] 16, PepperShaker, 2.304, 0.932, 2.458, 0, 90, 0, 54 [SEP] 17, Lettuce, -0.042, 0.852, 0.545, 0, 0, 0, 81 [SEP] 18, Mug, -0.294, 1.030, 1.961, 0, 90, 0, 79 [SEP] 19, Mug, 2.064, 0.989, 2.462, 0, 225, 0, 80 [SEP] 20, Apple, -0.119, 0.840, 1.217, 0, 0, 0, 81 [SEP] 21, Apple, 2.168, 1.373, -0.188, 0, 270, 0, 75 [SEP] 22, Apple, 2.079, 0.652, -0.550, 0, 270, 0, 75 [SEP] 23, Egg, -0.349, 0.833, 0.377, 0, 0, 0, 81 [SEP] 24, Lettuce, 2.059, 0.400, -0.279, 0, 270, 0, 75 [SEP] 25, Fork, -0.349, 0.791, 1.049, 0, 0, 0, 81 [SEP] 26, SoapBottle, 2.280, 1.504, 0.665, 0, 0, 0, 62 [SEP] 27, Ladle, 1.923, 0.126, 0.583, 0, 0, 0, 51 [SEP] 28, Ladle, 1.989, 0.790, 1.922, 0, 90, 0, 69 [SEP] 29, Bread, -0.199, 0.823, 0.813, 0, 0, 0, 81 [SEP] 30, SaltShaker, 2.091, 1.496, 2.337, 0, 90, 0, 47 [SEP] 31, Potato, 2.132, 0.378, -0.550, 0, 270, 0, 75 [SEP] 32, Pan, 1.298, 0.081, 2.523, 0, 90, 0, 60 [SEP] 33, WineBottle, -0.042, 0.791, 0.713, 0, 0, 0, 81 [SEP] 34, Spatula, -0.053, 0.952, 2.478, 0, 180, 0, 54 [SEP] 35, Knife, 0.033, 0.816, 0.377, 0, 90, 0, 81 [SEP] 36, Tomato, 2.076, 1.565, -0.369, 0, 270, 0, 75 [SEP] 37, Apple, -0.395, 1.085, 2.121, 0, 90, 0, 79 [SEP] 38, ButterKnife, 0.060, 0.937, 2.757, 0, 0, 0, 54 [SEP] 39, Pot, 1.854, 0.937, 1.497, 0, 0, 0, 58 [SEP] 40, PepperShaker, -0.272, 0.785, 1.386, 0, 0, 0, 81 [SEP] 41, Cup, -0.078, 0.079, 2.265, 0, 0, 0, 48 [SEP] 42, DishSponge, 1.994, 0.937, 0.806, 0, 0, 0, 65 [SEP] 43, Plate, -0.312, 0.781, 0.409, 0, 0, 0, 81 [SEP] 44, Spoon, 1.917, 0.939, 0.583, 0, 0, 0, 65 [SEP] 45, Mug, 1.276, 0.790, 2.64, 0, 0, 0, 78 [SEP] 46, Bowl, 1.964, 0.078, 1.986, 0, 0, 0, 50 [SEP] 47, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0, [SEP] 48, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0, [SEP] 49, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0, [SEP] 50, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0, [SEP] 51, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0, [SEP] 52, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0, [SEP] 53, Drawer, -0.024, 0.774, 2.061, 0, 0, 0, [SEP] 54, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0, [SEP] 55, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0, [SEP] 56, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0, [SEP] 57, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0, [SEP] 58, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0, [SEP] 59, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0, [SEP] 60, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0, [SEP] 61, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0, [SEP] 62, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0, [SEP] 63, Drawer, 2.167, 0.774, 0.582, 0, 0, 0, [SEP] 64, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0, [SEP] 65, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0, [SEP] 66, Sink, 0.935, 0.936, 2.646, 0, 0, 0, [SEP] 67, Curtains, 0.964, 2.061, 2.989, 0, 0, 0, [SEP] 68, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0, [SEP] 69, Drawer, 1.911, 0.774, 2.060, 0, 0, 0, [SEP] 70, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0, [SEP] 71, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0, [SEP] 72, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0, [SEP] 73, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0, [SEP] 74, Toaster, 2.126, 0.926, 0.572, 0, 270, 0, [SEP] 75, Fridge, 2.104, 0.0, -0.279, 0, 270, 0, [SEP] 76, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0, [SEP] 77, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0, [SEP] 78, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0, [SEP] 79, Microwave, -0.310, 0.926, 2.077, 0, 90, 0, [SEP] 80, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0, [SEP] 81, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0, [SEP] 82, Faucet, 1.175, 0.926, 2.950, 270, 90, 0, [SEP] 83, Faucet, 0.686, 0.926, 2.950, 270, 90, 0, [SEP] 84, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0, [SEP] 85, NorthWall, , , , , , , [SEP] 86, EastWall, , , , , , , [SEP] 87, SouthWall, , , , , , , [SEP] 88, WestWall, , , , , , , ", "output": ["STEP 1: Move to the right and go to the table. | STEP 2: Pick up the knife with the yellow handle. | STEP 3: Move right to the other end of the table. | STEP 4: Slice the apple on the table. | STEP 5: Move back to the left side of the table. | STEP 6: Put the knife down on the table. | STEP 7: Move back to the left side of the table. | STEP 8: Pick up a slice of apple. | STEP 9: Turn right and go to the sink. | STEP 10: Rinse the apple slice in the sink. | STEP 11: Turn around and go back to the table. | STEP 12: Put the apple slice on the table. | END"]} +{"id": "trial_T20190907_151802_277016-2", "input": "Cut an apple with a knife, wash the apple slice, place the apple slice on the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.901, -0.5, 0, 270, 0, [SEP] 1, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 49 [SEP] 2, Potato, 2.024, 1.559, -0.188, 0, 270, 0, 75 [SEP] 3, WineBottle, -0.425, 0.791, 0.881, 0, 0, 0, 81 [SEP] 4, WineBottle, -0.041, 0.082, 1.857, 0, 0, 0, 48 [SEP] 5, Spatula, -0.042, 0.805, 0.881, 0, 90, 0, 81 [SEP] 6, Spoon, 0.002, 0.747, 2.129, 0, 0, 0, 53 [SEP] 7, Fork, -0.119, 0.791, 0.377, 0, 0, 0, 81 [SEP] 8, Fork, 1.917, 0.938, 0.361, 0, 0, 0, 65 [SEP] 9, Egg, 1.844, 0.980, 1.866, 0, 0, 0, 54 [SEP] 10, Egg, -0.053, 0.980, 2.618, 0, 0, 0, 54 [SEP] 11, Cup, -0.395, 1.034, 1.961, 0, 90, 0, 79 [SEP] 12, Cup, 0.033, 0.789, 0.881, 0, 0, 0, 81 [SEP] 13, Tomato, -0.272, 0.837, 1.217, 0, 0, 0, 81 [SEP] 14, SaltShaker, -0.196, 0.785, 1.049, 0, 0, 0, 81 [SEP] 15, PepperShaker, 2.127, 1.498, 0.665, 0, 0, 0, 62 [SEP] 16, PepperShaker, 2.304, 0.932, 2.458, 0, 90, 0, 54 [SEP] 17, Lettuce, -0.042, 0.852, 0.545, 0, 0, 0, 81 [SEP] 18, Mug, -0.294, 1.030, 1.961, 0, 90, 0, 79 [SEP] 19, Mug, 2.064, 0.989, 2.462, 0, 225, 0, 80 [SEP] 20, Apple, -0.119, 0.840, 1.217, 0, 0, 0, 81 [SEP] 21, Apple, 2.168, 1.373, -0.188, 0, 270, 0, 75 [SEP] 22, Apple, 2.079, 0.652, -0.550, 0, 270, 0, 75 [SEP] 23, Egg, -0.349, 0.833, 0.377, 0, 0, 0, 81 [SEP] 24, Lettuce, 2.059, 0.400, -0.279, 0, 270, 0, 75 [SEP] 25, Fork, -0.349, 0.791, 1.049, 0, 0, 0, 81 [SEP] 26, SoapBottle, 2.280, 1.504, 0.665, 0, 0, 0, 62 [SEP] 27, Ladle, 1.923, 0.126, 0.583, 0, 0, 0, 51 [SEP] 28, Ladle, 1.989, 0.790, 1.922, 0, 90, 0, 69 [SEP] 29, Bread, -0.199, 0.823, 0.813, 0, 0, 0, 81 [SEP] 30, SaltShaker, 2.091, 1.496, 2.337, 0, 90, 0, 47 [SEP] 31, Potato, 2.132, 0.378, -0.550, 0, 270, 0, 75 [SEP] 32, Pan, 1.298, 0.081, 2.523, 0, 90, 0, 60 [SEP] 33, WineBottle, -0.042, 0.791, 0.713, 0, 0, 0, 81 [SEP] 34, Spatula, -0.053, 0.952, 2.478, 0, 180, 0, 54 [SEP] 35, Knife, 0.033, 0.816, 0.377, 0, 90, 0, 81 [SEP] 36, Tomato, 2.076, 1.565, -0.369, 0, 270, 0, 75 [SEP] 37, Apple, -0.395, 1.085, 2.121, 0, 90, 0, 79 [SEP] 38, ButterKnife, 0.060, 0.937, 2.757, 0, 0, 0, 54 [SEP] 39, Pot, 1.854, 0.937, 1.497, 0, 0, 0, 58 [SEP] 40, PepperShaker, -0.272, 0.785, 1.386, 0, 0, 0, 81 [SEP] 41, Cup, -0.078, 0.079, 2.265, 0, 0, 0, 48 [SEP] 42, DishSponge, 1.994, 0.937, 0.806, 0, 0, 0, 65 [SEP] 43, Plate, -0.312, 0.781, 0.409, 0, 0, 0, 81 [SEP] 44, Spoon, 1.917, 0.939, 0.583, 0, 0, 0, 65 [SEP] 45, Mug, 1.276, 0.790, 2.64, 0, 0, 0, 78 [SEP] 46, Bowl, 1.964, 0.078, 1.986, 0, 0, 0, 50 [SEP] 47, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0, [SEP] 48, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0, [SEP] 49, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0, [SEP] 50, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0, [SEP] 51, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0, [SEP] 52, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0, [SEP] 53, Drawer, -0.024, 0.774, 2.061, 0, 0, 0, [SEP] 54, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0, [SEP] 55, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0, [SEP] 56, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0, [SEP] 57, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0, [SEP] 58, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0, [SEP] 59, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0, [SEP] 60, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0, [SEP] 61, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0, [SEP] 62, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0, [SEP] 63, Drawer, 2.167, 0.774, 0.582, 0, 0, 0, [SEP] 64, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0, [SEP] 65, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0, [SEP] 66, Sink, 0.935, 0.936, 2.646, 0, 0, 0, [SEP] 67, Curtains, 0.964, 2.061, 2.989, 0, 0, 0, [SEP] 68, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0, [SEP] 69, Drawer, 1.911, 0.774, 2.060, 0, 0, 0, [SEP] 70, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0, [SEP] 71, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0, [SEP] 72, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0, [SEP] 73, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0, [SEP] 74, Toaster, 2.126, 0.926, 0.572, 0, 270, 0, [SEP] 75, Fridge, 2.104, 0.0, -0.279, 0, 270, 0, [SEP] 76, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0, [SEP] 77, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0, [SEP] 78, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0, [SEP] 79, Microwave, -0.310, 0.926, 2.077, 0, 90, 0, [SEP] 80, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0, [SEP] 81, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0, [SEP] 82, Faucet, 1.175, 0.926, 2.950, 270, 90, 0, [SEP] 83, Faucet, 0.686, 0.926, 2.950, 270, 90, 0, [SEP] 84, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0, [SEP] 85, NorthWall, , , , , , , [SEP] 86, EastWall, , , , , , , [SEP] 87, SouthWall, , , , , , , [SEP] 88, WestWall, , , , , , , ", "output": ["STEP 1: Walk towards the direction of the sink, hang a left at the end of the table with a knife with a yellow handle on it. | STEP 2: Pick up the knife with the yellow handle. | STEP 3: Turn to your right and walk to the other end of the table where there is a yellow apple. | STEP 4: Slice the apple with the knife. | STEP 5: Turn to your left and walk to the other end of the table. | STEP 6: Place the knife against the head of lettuce, blade end down. | STEP 7: Turn to your right to the other end of the table. | STEP 8: Pick up the section of cut apple closest to you. | STEP 9: Turn around and walk to the sink. | STEP 10: Place the section of apple in the front left side of the sink, turn on the faucet, partially fill the sink with water to wash the apple; turn off the faucet, empty the sink, pick up the apple. | STEP 11: Turn to your left and walk to stand in front of the middle of the table. | STEP 12: Put the apple slice to the right of the gray glass and directly in front of the wide end of the spatula. | END"]} +{"id": "trial_T20190907_151802_277016-3", "input": "Put a clean apple on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.901, -0.5, 0, 270, 0, [SEP] 1, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 49 [SEP] 2, Potato, 2.024, 1.559, -0.188, 0, 270, 0, 75 [SEP] 3, WineBottle, -0.425, 0.791, 0.881, 0, 0, 0, 81 [SEP] 4, WineBottle, -0.041, 0.082, 1.857, 0, 0, 0, 48 [SEP] 5, Spatula, -0.042, 0.805, 0.881, 0, 90, 0, 81 [SEP] 6, Spoon, 0.002, 0.747, 2.129, 0, 0, 0, 53 [SEP] 7, Fork, -0.119, 0.791, 0.377, 0, 0, 0, 81 [SEP] 8, Fork, 1.917, 0.938, 0.361, 0, 0, 0, 65 [SEP] 9, Egg, 1.844, 0.980, 1.866, 0, 0, 0, 54 [SEP] 10, Egg, -0.053, 0.980, 2.618, 0, 0, 0, 54 [SEP] 11, Cup, -0.395, 1.034, 1.961, 0, 90, 0, 79 [SEP] 12, Cup, 0.033, 0.789, 0.881, 0, 0, 0, 81 [SEP] 13, Tomato, -0.272, 0.837, 1.217, 0, 0, 0, 81 [SEP] 14, SaltShaker, -0.196, 0.785, 1.049, 0, 0, 0, 81 [SEP] 15, PepperShaker, 2.127, 1.498, 0.665, 0, 0, 0, 62 [SEP] 16, PepperShaker, 2.304, 0.932, 2.458, 0, 90, 0, 54 [SEP] 17, Lettuce, -0.042, 0.852, 0.545, 0, 0, 0, 81 [SEP] 18, Mug, -0.294, 1.030, 1.961, 0, 90, 0, 79 [SEP] 19, Mug, 2.064, 0.989, 2.462, 0, 225, 0, 80 [SEP] 20, Apple, -0.119, 0.840, 1.217, 0, 0, 0, 81 [SEP] 21, Apple, 2.168, 1.373, -0.188, 0, 270, 0, 75 [SEP] 22, Apple, 2.079, 0.652, -0.550, 0, 270, 0, 75 [SEP] 23, Egg, -0.349, 0.833, 0.377, 0, 0, 0, 81 [SEP] 24, Lettuce, 2.059, 0.400, -0.279, 0, 270, 0, 75 [SEP] 25, Fork, -0.349, 0.791, 1.049, 0, 0, 0, 81 [SEP] 26, SoapBottle, 2.280, 1.504, 0.665, 0, 0, 0, 62 [SEP] 27, Ladle, 1.923, 0.126, 0.583, 0, 0, 0, 51 [SEP] 28, Ladle, 1.989, 0.790, 1.922, 0, 90, 0, 69 [SEP] 29, Bread, -0.199, 0.823, 0.813, 0, 0, 0, 81 [SEP] 30, SaltShaker, 2.091, 1.496, 2.337, 0, 90, 0, 47 [SEP] 31, Potato, 2.132, 0.378, -0.550, 0, 270, 0, 75 [SEP] 32, Pan, 1.298, 0.081, 2.523, 0, 90, 0, 60 [SEP] 33, WineBottle, -0.042, 0.791, 0.713, 0, 0, 0, 81 [SEP] 34, Spatula, -0.053, 0.952, 2.478, 0, 180, 0, 54 [SEP] 35, Knife, 0.033, 0.816, 0.377, 0, 90, 0, 81 [SEP] 36, Tomato, 2.076, 1.565, -0.369, 0, 270, 0, 75 [SEP] 37, Apple, -0.395, 1.085, 2.121, 0, 90, 0, 79 [SEP] 38, ButterKnife, 0.060, 0.937, 2.757, 0, 0, 0, 54 [SEP] 39, Pot, 1.854, 0.937, 1.497, 0, 0, 0, 58 [SEP] 40, PepperShaker, -0.272, 0.785, 1.386, 0, 0, 0, 81 [SEP] 41, Cup, -0.078, 0.079, 2.265, 0, 0, 0, 48 [SEP] 42, DishSponge, 1.994, 0.937, 0.806, 0, 0, 0, 65 [SEP] 43, Plate, -0.312, 0.781, 0.409, 0, 0, 0, 81 [SEP] 44, Spoon, 1.917, 0.939, 0.583, 0, 0, 0, 65 [SEP] 45, Mug, 1.276, 0.790, 2.64, 0, 0, 0, 78 [SEP] 46, Bowl, 1.964, 0.078, 1.986, 0, 0, 0, 50 [SEP] 47, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0, [SEP] 48, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0, [SEP] 49, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0, [SEP] 50, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0, [SEP] 51, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0, [SEP] 52, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0, [SEP] 53, Drawer, -0.024, 0.774, 2.061, 0, 0, 0, [SEP] 54, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0, [SEP] 55, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0, [SEP] 56, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0, [SEP] 57, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0, [SEP] 58, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0, [SEP] 59, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0, [SEP] 60, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0, [SEP] 61, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0, [SEP] 62, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0, [SEP] 63, Drawer, 2.167, 0.774, 0.582, 0, 0, 0, [SEP] 64, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0, [SEP] 65, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0, [SEP] 66, Sink, 0.935, 0.936, 2.646, 0, 0, 0, [SEP] 67, Curtains, 0.964, 2.061, 2.989, 0, 0, 0, [SEP] 68, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0, [SEP] 69, Drawer, 1.911, 0.774, 2.060, 0, 0, 0, [SEP] 70, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0, [SEP] 71, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0, [SEP] 72, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0, [SEP] 73, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0, [SEP] 74, Toaster, 2.126, 0.926, 0.572, 0, 270, 0, [SEP] 75, Fridge, 2.104, 0.0, -0.279, 0, 270, 0, [SEP] 76, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0, [SEP] 77, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0, [SEP] 78, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0, [SEP] 79, Microwave, -0.310, 0.926, 2.077, 0, 90, 0, [SEP] 80, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0, [SEP] 81, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0, [SEP] 82, Faucet, 1.175, 0.926, 2.950, 270, 90, 0, [SEP] 83, Faucet, 0.686, 0.926, 2.950, 270, 90, 0, [SEP] 84, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0, [SEP] 85, NorthWall, , , , , , , [SEP] 86, EastWall, , , , , , , [SEP] 87, SouthWall, , , , , , , [SEP] 88, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right and go to the dining table. | STEP 2: Pick up the big knife that is on the dining table. | STEP 3: Go to the right side of the dining table where the apple is. | STEP 4: Use the knife to cut the apple. | STEP 5: Move over to the left at the dining table. | STEP 6: Stand the knife up in front of the lettuce. | STEP 7: Move over to the right at the dining table. | STEP 8: Pick up a piece of the apple. | STEP 9: Turn to the right and go to the sink. | STEP 10: Put the apple in the sink and rinse it off, then take it out of the sink. | STEP 11: Turn around and go to the dining table. | STEP 12: Put the apple on the table to the right of the wine glass. | END"]} +{"id": "trial_T20190908_041830_078220-0", "input": "place a cold potato slice in the oven SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 2.75, 0, 0, 0, [SEP] 1, DishSponge, 1.322, 0.140, 1.790, 0, 0, 0, 67 [SEP] 2, DishSponge, 1.582, 0.992, 3.324, 0, 0, 0, 55 [SEP] 3, ButterKnife, 1.403, 0.992, 1.577, 0, 0, 0, 55 [SEP] 4, ButterKnife, 0.192, 0.771, 0.563, 0, 0, 0, 52 [SEP] 5, Spoon, 1.442, 0.891, 2.085, 0, 180, 0, 78 [SEP] 6, Spoon, -0.345, 0.772, 0.451, 0, 180, 0, 51 [SEP] 7, Spatula, 1.332, 0.905, 1.931, 0, 180, 0, 78 [SEP] 8, Fork, -0.289, 0.760, 6.786, 0, 315, 0, 91 [SEP] 9, Egg, 1.924, 1.565, 6.001, 0, 270, 0, 77 [SEP] 10, Egg, 1.135, 1.042, 3.511, 0, 0, 0, 55 [SEP] 11, Cup, 0.046, 1.575, 0.338, 0, 0, 0, 68 [SEP] 12, Plate, 2.051, 1.516, 5.501, 0, 270, 0, 77 [SEP] 13, Tomato, -0.535, 1.042, 0.578, 0, 0, 0, 55 [SEP] 14, Tomato, 2.137, 1.565, 5.876, 0, 270, 0, 77 [SEP] 15, SoapBottle, 0.956, 0.143, 0.339, 0, 0, 0, 61 [SEP] 16, Bowl, 1.543, 1.575, 4.572, 0, 0, 0, 59 [SEP] 17, PepperShaker, 0.501, 1.574, 0.119, 0, 0, 0, 69 [SEP] 18, PepperShaker, 1.577, 2.202, 3.933, 0, 0, 0, 59 [SEP] 19, Bread, -0.535, 1.062, 0.303, 0, 0, 0, 55 [SEP] 20, Bowl, -0.014, 0.143, 0.429, 0, 0, 0, 64 [SEP] 21, Bread, -0.467, 0.829, 6.541, 0, 270, 0, 91 [SEP] 22, Egg, 2.055, 0.130, 6.409, 0, 0, 0, 79 [SEP] 23, Knife, 0.028, 0.789, 6.478, 0, 270, 0, 91 [SEP] 24, Fork, 0.771, 0.993, 0.670, 0, 0, 0, 55 [SEP] 25, Apple, -0.621, 0.834, 6.291, 0, 270, 0, 91 [SEP] 26, Kettle, 1.559, 0.988, 4.294, 0, 0, 0, 53 [SEP] 27, Plate, -0.221, 0.760, 6.941, 0, 0, 0, 91 [SEP] 28, SaltShaker, 1.314, 0.987, 0.440, 0, 0, 0, 55 [SEP] 29, Lettuce, 0.059, 0.848, 6.698, 0, 225, 0, 91 [SEP] 30, SoapBottle, 1.135, 0.992, 4.670, 0, 0, 0, 56 [SEP] 31, Spatula, -0.459, 1.007, 0.578, 0, 180, 0, 55 [SEP] 32, PaperTowelRoll, 1.582, 1.096, 3.511, 0, 0, 0, 55 [SEP] 33, Pot, 1.562, 0.988, 3.848, 0, 0, 0, 49 [SEP] 34, Potato, 0.923, 1.027, 0.303, 0, 0, 0, 55 [SEP] 35, ButterKnife, 0.102, 0.760, 6.305, 0, 135, 0, 91 [SEP] 36, PepperShaker, -0.074, 1.574, 0.163, 0, 0, 0, 68 [SEP] 37, Pan, 1.317, 0.988, 4.294, 0, 0, 0, 50 [SEP] 38, Tomato, -0.467, 0.809, 6.291, 0, 270, 0, 91 [SEP] 39, DishSponge, 1.404, 0.771, 3.223, 0, 0, 0, 48 [SEP] 40, Cup, 0.885, 0.139, 0.655, 0, 0, 0, 61 [SEP] 41, Spoon, 1.225, 0.993, 2.950, 0, 0, 0, 55 [SEP] 42, Mug, 1.228, 0.136, 4.686, 0, 0, 0, 57 [SEP] 43, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 44, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 45, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 46, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 47, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 48, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 49, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 50, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 51, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 52, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 53, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 54, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 55, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 56, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 57, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 58, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 59, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 60, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 61, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 62, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 63, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 64, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 65, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 66, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 67, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 68, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 69, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 70, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 71, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 72, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 73, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 74, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 75, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 76, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 77, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 78, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 79, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 80, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 81, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 82, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 83, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 84, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 85, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 86, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 87, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 88, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 89, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 90, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 91, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 92, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 93, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: move straight to the table | STEP 2: pick up the knife | STEP 3: turn left to the table | STEP 4: slice the potato on the table | STEP 5: turn around to the fridge | STEP 6: place the knife in the fridge | STEP 7: turn around to the table | STEP 8: pick up a slice | STEP 9: head to the fridge | STEP 10: place the tomato to cool in the fridge | STEP 11: head for the oven at the right | STEP 12: place the potato in the oven | END"]} +{"id": "trial_T20190908_041830_078220-1", "input": "Place a cooled potato slice into the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 2.75, 0, 0, 0, [SEP] 1, DishSponge, 1.322, 0.140, 1.790, 0, 0, 0, 67 [SEP] 2, DishSponge, 1.582, 0.992, 3.324, 0, 0, 0, 55 [SEP] 3, ButterKnife, 1.403, 0.992, 1.577, 0, 0, 0, 55 [SEP] 4, ButterKnife, 0.192, 0.771, 0.563, 0, 0, 0, 52 [SEP] 5, Spoon, 1.442, 0.891, 2.085, 0, 180, 0, 78 [SEP] 6, Spoon, -0.345, 0.772, 0.451, 0, 180, 0, 51 [SEP] 7, Spatula, 1.332, 0.905, 1.931, 0, 180, 0, 78 [SEP] 8, Fork, -0.289, 0.760, 6.786, 0, 315, 0, 91 [SEP] 9, Egg, 1.924, 1.565, 6.001, 0, 270, 0, 77 [SEP] 10, Egg, 1.135, 1.042, 3.511, 0, 0, 0, 55 [SEP] 11, Cup, 0.046, 1.575, 0.338, 0, 0, 0, 68 [SEP] 12, Plate, 2.051, 1.516, 5.501, 0, 270, 0, 77 [SEP] 13, Tomato, -0.535, 1.042, 0.578, 0, 0, 0, 55 [SEP] 14, Tomato, 2.137, 1.565, 5.876, 0, 270, 0, 77 [SEP] 15, SoapBottle, 0.956, 0.143, 0.339, 0, 0, 0, 61 [SEP] 16, Bowl, 1.543, 1.575, 4.572, 0, 0, 0, 59 [SEP] 17, PepperShaker, 0.501, 1.574, 0.119, 0, 0, 0, 69 [SEP] 18, PepperShaker, 1.577, 2.202, 3.933, 0, 0, 0, 59 [SEP] 19, Bread, -0.535, 1.062, 0.303, 0, 0, 0, 55 [SEP] 20, Bowl, -0.014, 0.143, 0.429, 0, 0, 0, 64 [SEP] 21, Bread, -0.467, 0.829, 6.541, 0, 270, 0, 91 [SEP] 22, Egg, 2.055, 0.130, 6.409, 0, 0, 0, 79 [SEP] 23, Knife, 0.028, 0.789, 6.478, 0, 270, 0, 91 [SEP] 24, Fork, 0.771, 0.993, 0.670, 0, 0, 0, 55 [SEP] 25, Apple, -0.621, 0.834, 6.291, 0, 270, 0, 91 [SEP] 26, Kettle, 1.559, 0.988, 4.294, 0, 0, 0, 53 [SEP] 27, Plate, -0.221, 0.760, 6.941, 0, 0, 0, 91 [SEP] 28, SaltShaker, 1.314, 0.987, 0.440, 0, 0, 0, 55 [SEP] 29, Lettuce, 0.059, 0.848, 6.698, 0, 225, 0, 91 [SEP] 30, SoapBottle, 1.135, 0.992, 4.670, 0, 0, 0, 56 [SEP] 31, Spatula, -0.459, 1.007, 0.578, 0, 180, 0, 55 [SEP] 32, PaperTowelRoll, 1.582, 1.096, 3.511, 0, 0, 0, 55 [SEP] 33, Pot, 1.562, 0.988, 3.848, 0, 0, 0, 49 [SEP] 34, Potato, 0.923, 1.027, 0.303, 0, 0, 0, 55 [SEP] 35, ButterKnife, 0.102, 0.760, 6.305, 0, 135, 0, 91 [SEP] 36, PepperShaker, -0.074, 1.574, 0.163, 0, 0, 0, 68 [SEP] 37, Pan, 1.317, 0.988, 4.294, 0, 0, 0, 50 [SEP] 38, Tomato, -0.467, 0.809, 6.291, 0, 270, 0, 91 [SEP] 39, DishSponge, 1.404, 0.771, 3.223, 0, 0, 0, 48 [SEP] 40, Cup, 0.885, 0.139, 0.655, 0, 0, 0, 61 [SEP] 41, Spoon, 1.225, 0.993, 2.950, 0, 0, 0, 55 [SEP] 42, Mug, 1.228, 0.136, 4.686, 0, 0, 0, 57 [SEP] 43, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 44, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 45, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 46, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 47, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 48, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 49, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 50, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 51, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 52, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 53, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 54, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 55, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 56, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 57, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 58, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 59, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 60, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 61, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 62, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 63, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 64, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 65, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 66, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 67, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 68, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 69, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 70, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 71, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 72, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 73, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 74, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 75, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 76, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 77, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 78, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 79, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 80, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 81, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 82, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 83, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 84, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 85, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 86, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 87, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 88, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 89, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 90, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 91, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 92, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 93, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward and slightly to the right over to the black round table. | STEP 2: Pick up the solid silver knife from the table. | STEP 3: Turn left and walk over toward the microwave with knife in hand. | STEP 4: Slice the potato that is on the counter by the microwave to the left. | STEP 5: Turn to the left and walk over to the refrigerator. | STEP 6: Open the refrigerator, place the knife inside, close the refrigerator door. | STEP 7: Turn right and walk back to the counter where the sliced potato is to the left of the microwave | STEP 8: Pick up a potato slice from the counter. | STEP 9: Turn left and walk to the refrigerator. | STEP 10: Open the refrigerator, place the potato slice inside the refrigerator, close the refrigerator door. Open the refrigerator door, take the potato slice out of the refrigerator, close the refrigerator door. | STEP 11: Turn to the right and walk to the microwave. | STEP 12: Place the potato slice on the plate that is inside the microwave and close the door. | END"]} +{"id": "trial_T20190908_041830_078220-2", "input": "Slice the potato, put slice in fridge, put it in the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 2.75, 0, 0, 0, [SEP] 1, DishSponge, 1.322, 0.140, 1.790, 0, 0, 0, 67 [SEP] 2, DishSponge, 1.582, 0.992, 3.324, 0, 0, 0, 55 [SEP] 3, ButterKnife, 1.403, 0.992, 1.577, 0, 0, 0, 55 [SEP] 4, ButterKnife, 0.192, 0.771, 0.563, 0, 0, 0, 52 [SEP] 5, Spoon, 1.442, 0.891, 2.085, 0, 180, 0, 78 [SEP] 6, Spoon, -0.345, 0.772, 0.451, 0, 180, 0, 51 [SEP] 7, Spatula, 1.332, 0.905, 1.931, 0, 180, 0, 78 [SEP] 8, Fork, -0.289, 0.760, 6.786, 0, 315, 0, 91 [SEP] 9, Egg, 1.924, 1.565, 6.001, 0, 270, 0, 77 [SEP] 10, Egg, 1.135, 1.042, 3.511, 0, 0, 0, 55 [SEP] 11, Cup, 0.046, 1.575, 0.338, 0, 0, 0, 68 [SEP] 12, Plate, 2.051, 1.516, 5.501, 0, 270, 0, 77 [SEP] 13, Tomato, -0.535, 1.042, 0.578, 0, 0, 0, 55 [SEP] 14, Tomato, 2.137, 1.565, 5.876, 0, 270, 0, 77 [SEP] 15, SoapBottle, 0.956, 0.143, 0.339, 0, 0, 0, 61 [SEP] 16, Bowl, 1.543, 1.575, 4.572, 0, 0, 0, 59 [SEP] 17, PepperShaker, 0.501, 1.574, 0.119, 0, 0, 0, 69 [SEP] 18, PepperShaker, 1.577, 2.202, 3.933, 0, 0, 0, 59 [SEP] 19, Bread, -0.535, 1.062, 0.303, 0, 0, 0, 55 [SEP] 20, Bowl, -0.014, 0.143, 0.429, 0, 0, 0, 64 [SEP] 21, Bread, -0.467, 0.829, 6.541, 0, 270, 0, 91 [SEP] 22, Egg, 2.055, 0.130, 6.409, 0, 0, 0, 79 [SEP] 23, Knife, 0.028, 0.789, 6.478, 0, 270, 0, 91 [SEP] 24, Fork, 0.771, 0.993, 0.670, 0, 0, 0, 55 [SEP] 25, Apple, -0.621, 0.834, 6.291, 0, 270, 0, 91 [SEP] 26, Kettle, 1.559, 0.988, 4.294, 0, 0, 0, 53 [SEP] 27, Plate, -0.221, 0.760, 6.941, 0, 0, 0, 91 [SEP] 28, SaltShaker, 1.314, 0.987, 0.440, 0, 0, 0, 55 [SEP] 29, Lettuce, 0.059, 0.848, 6.698, 0, 225, 0, 91 [SEP] 30, SoapBottle, 1.135, 0.992, 4.670, 0, 0, 0, 56 [SEP] 31, Spatula, -0.459, 1.007, 0.578, 0, 180, 0, 55 [SEP] 32, PaperTowelRoll, 1.582, 1.096, 3.511, 0, 0, 0, 55 [SEP] 33, Pot, 1.562, 0.988, 3.848, 0, 0, 0, 49 [SEP] 34, Potato, 0.923, 1.027, 0.303, 0, 0, 0, 55 [SEP] 35, ButterKnife, 0.102, 0.760, 6.305, 0, 135, 0, 91 [SEP] 36, PepperShaker, -0.074, 1.574, 0.163, 0, 0, 0, 68 [SEP] 37, Pan, 1.317, 0.988, 4.294, 0, 0, 0, 50 [SEP] 38, Tomato, -0.467, 0.809, 6.291, 0, 270, 0, 91 [SEP] 39, DishSponge, 1.404, 0.771, 3.223, 0, 0, 0, 48 [SEP] 40, Cup, 0.885, 0.139, 0.655, 0, 0, 0, 61 [SEP] 41, Spoon, 1.225, 0.993, 2.950, 0, 0, 0, 55 [SEP] 42, Mug, 1.228, 0.136, 4.686, 0, 0, 0, 57 [SEP] 43, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 44, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 45, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 46, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 47, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 48, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 49, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 50, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 51, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 52, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 53, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 54, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 55, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 56, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 57, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 58, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 59, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 60, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 61, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 62, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 63, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 64, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 65, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 66, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 67, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 68, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 69, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 70, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 71, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 72, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 73, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 74, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 75, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 76, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 77, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 78, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 79, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 80, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 81, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 82, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 83, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 84, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 85, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 86, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 87, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 88, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 89, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 90, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 91, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 92, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 93, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Walk towards the small round table | STEP 2: Take a knife from the table | STEP 3: Walk with the knife towards the microwave counter | STEP 4: Slice potato on the counter | STEP 5: Walk with the knife towards the fridge | STEP 6: Put the knife on the fridge | STEP 7: Walk towards the counter | STEP 8: Grab a slice of potato | STEP 9: Walk with the slice towards the fridge | STEP 10: Put the potato slice in the fridge and take it out again | STEP 11: Walk towards the microwave with the potato slice | STEP 12: Put the potato slice in the microwave | END"]} +{"id": "trial_T20190907_150418_457594-0", "input": "Turn on the desk lamp while holding a yellow disc SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.901, -0.75, 0, 90, 0, [SEP] 1, Mug, 1.787, 0.353, -2.303, 0, 0, 0, 60 [SEP] 2, Mug, 1.447, 1.176, -2.277, 0, 180, 0, 33 [SEP] 3, Vase, 1.320, 1.179, -2.298, 0, 0, 0, 33 [SEP] 4, Vase, 1.724, 1.179, -2.298, 0, 0, 0, 34 [SEP] 5, Vase, -1.648, 0.599, -0.533, 0, 0, 0, 52 [SEP] 6, CellPhone, -0.333, 0.417, -1.733, 0, 0, 0, 51 [SEP] 7, CellPhone, -0.564, 0.417, -1.733, 0, 0, 0, 51 [SEP] 8, Pen, 1.851, 0.060, -2.282, 0, 0, 0, 63 [SEP] 9, Pen, 0.076, 0.734, -2.588, 0, 180, 0, 45 [SEP] 10, Pencil, 0.076, 0.734, -2.705, 0, 180, 0, 45 [SEP] 11, CreditCard, 0.359, 0.113, -2.521, 0, 0, 0, 46 [SEP] 12, CreditCard, -1.744, 0.069, -1.149, 0, 0, 0, 56 [SEP] 13, Pillow, -1.024, 0.491, -1.977, 0, 0, 0, 51 [SEP] 14, Box, 1.996, 0.316, -1.042, 0, 254.839, 0, [SEP] 15, Book, 0.339, 0.723, -2.65, 0, 165.000, 0, 45 [SEP] 16, Pillow, -1.548, 0.457, -1.831, 0, 90, 0, 51 [SEP] 17, CellPhone, -1.024, 0.417, -2.222, 0, 0, 0, 51 [SEP] 18, Vase, 0.766, 0.729, -2.705, 0, 180, 0, 45 [SEP] 19, BaseballBat, -1.629, 0.649, 0.416, 14.491, 0, 0, [SEP] 20, CreditCard, 0.191, 0.728, -2.764, 0, 180, 0, 45 [SEP] 21, TennisRacket, 2.244, 0.279, -1.901, 335.402, 251.974, 201.714, [SEP] 22, KeyChain, 0.651, 0.731, -2.705, 0, 270, 0, 45 [SEP] 23, AlarmClock, -1.853, 0.501, -1.174, 0, 285.157, 0, 52 [SEP] 24, Cloth, 2.176, 0.0, -0.571, 0, 335.474, 0, [SEP] 25, Laptop, -1.764, 0.591, -0.112, 0, 113.510, 0, 52 [SEP] 26, CD, 0.735, 0.724, -2.547, 0, 0, 0, 45 [SEP] 27, CD, 0.536, 0.730, -2.471, 0, 180, 0, 45 [SEP] 28, Pen, 1.788, 1.382, -2.277, 0, 0, 0, 37 [SEP] 29, Pencil, -1.846, 0.602, -0.533, 0, 0, 0, 52 [SEP] 30, Mug, -1.515, 0.597, -0.675, 0, 0, 0, 52 [SEP] 31, Shelf, 1.311, 0.969, -2.298, 0, 0, 0, [SEP] 32, Shelf, 1.843, 0.969, -2.298, 0, 0, 0, [SEP] 33, Shelf, 1.311, 1.171, -2.298, 0, 0, 0, [SEP] 34, Shelf, 1.843, 1.171, -2.298, 0, 0, 0, [SEP] 35, Shelf, 1.311, 1.368, -2.298, 0, 0, 0, [SEP] 36, Shelf, 1.843, 1.570, -2.298, 0, 0, 0, [SEP] 37, Shelf, 1.843, 1.368, -2.298, 0, 0, 0, [SEP] 38, Shelf, 1.311, 1.570, -2.298, 0, 0, 0, [SEP] 39, DeskLamp, -1.848, 0.592, -0.786, 0, 90, 0, [SEP] 40, GarbageCan, 2.197, -0.007, 0.298, 0, 232.025, 0, [SEP] 41, LightSwitch, -0.638, 1.149, 0.499, 0, 180, 0, [SEP] 42, Poster, 0.001, 1.495, -2.642, 90, 90, 0, [SEP] 43, Mirror, -1.072, 1.469, 0.497, 0, 0, 0, [SEP] 44, Window, 0.435, 1.398, -2.855, 90, 0, 0, [SEP] 45, SideTable, 0.435, 0.036, -2.647, 0, 0, 0, [SEP] 46, Drawer, 0.433, 0.203, -2.445, 0, 0, 0, [SEP] 47, Drawer, 0.433, 0.505, -2.445, 0, 0, 0, [SEP] 48, Dumbbell, -1.656, 0.602, -0.534, 0, 90, 0, [SEP] 49, Blinds, 0.449, 2.164, -2.845, 0, 0, 0, [SEP] 50, GarbageBag, 1.730, 0.318, 0.222, 270, 90, 83.412, [SEP] 51, Bed, -1.047, -0.000, -1.851, 0, 270, 0, [SEP] 52, Desk, -1.710, 0.000, -0.374, 0, 90, 0, [SEP] 53, Drawer, -1.790, 0.245, -1.144, 0, 90, 0, [SEP] 54, SideTable, -1.824, 0.000, -1.144, 0, 90, 0, [SEP] 55, Drawer, -1.790, 0.392, -1.144, 0, 90, 0, [SEP] 56, Drawer, -1.790, 0.097, -1.144, 0, 90, 0, [SEP] 57, Chair, -1.453, 0.005, -0.311, 0, 286.095, 0, [SEP] 58, Shelf, 1.591, 0.606, -2.305, 0, 0, 0, [SEP] 59, ShelvingUnit, 1.588, 0.004, -2.326, 0, 0, 0, [SEP] 60, Shelf, 1.854, 0.453, -2.298, 0, 0, 0, [SEP] 61, Shelf, 1.321, 0.155, -2.296, 0, 0, 0, [SEP] 62, Shelf, 1.323, 0.456, -2.300, 0, 0, 0, [SEP] 63, Shelf, 1.852, 0.152, -2.294, 0, 0, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, EastWall, , , , , , , [SEP] 66, SouthWall, , , , , , , [SEP] 67, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the desk against the wall in the back of the room | STEP 2: pick up the yellow disc that is on the desk | STEP 3: turn to your left and walk towards the bed turn to the desk | STEP 4: turn on the lamp that is on the desk | END"]} +{"id": "trial_T20190907_150418_457594-1", "input": "grab the yellow stand on the table, turn on the lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.901, -0.75, 0, 90, 0, [SEP] 1, Mug, 1.787, 0.353, -2.303, 0, 0, 0, 60 [SEP] 2, Mug, 1.447, 1.176, -2.277, 0, 180, 0, 33 [SEP] 3, Vase, 1.320, 1.179, -2.298, 0, 0, 0, 33 [SEP] 4, Vase, 1.724, 1.179, -2.298, 0, 0, 0, 34 [SEP] 5, Vase, -1.648, 0.599, -0.533, 0, 0, 0, 52 [SEP] 6, CellPhone, -0.333, 0.417, -1.733, 0, 0, 0, 51 [SEP] 7, CellPhone, -0.564, 0.417, -1.733, 0, 0, 0, 51 [SEP] 8, Pen, 1.851, 0.060, -2.282, 0, 0, 0, 63 [SEP] 9, Pen, 0.076, 0.734, -2.588, 0, 180, 0, 45 [SEP] 10, Pencil, 0.076, 0.734, -2.705, 0, 180, 0, 45 [SEP] 11, CreditCard, 0.359, 0.113, -2.521, 0, 0, 0, 46 [SEP] 12, CreditCard, -1.744, 0.069, -1.149, 0, 0, 0, 56 [SEP] 13, Pillow, -1.024, 0.491, -1.977, 0, 0, 0, 51 [SEP] 14, Box, 1.996, 0.316, -1.042, 0, 254.839, 0, [SEP] 15, Book, 0.339, 0.723, -2.65, 0, 165.000, 0, 45 [SEP] 16, Pillow, -1.548, 0.457, -1.831, 0, 90, 0, 51 [SEP] 17, CellPhone, -1.024, 0.417, -2.222, 0, 0, 0, 51 [SEP] 18, Vase, 0.766, 0.729, -2.705, 0, 180, 0, 45 [SEP] 19, BaseballBat, -1.629, 0.649, 0.416, 14.491, 0, 0, [SEP] 20, CreditCard, 0.191, 0.728, -2.764, 0, 180, 0, 45 [SEP] 21, TennisRacket, 2.244, 0.279, -1.901, 335.402, 251.974, 201.714, [SEP] 22, KeyChain, 0.651, 0.731, -2.705, 0, 270, 0, 45 [SEP] 23, AlarmClock, -1.853, 0.501, -1.174, 0, 285.157, 0, 52 [SEP] 24, Cloth, 2.176, 0.0, -0.571, 0, 335.474, 0, [SEP] 25, Laptop, -1.764, 0.591, -0.112, 0, 113.510, 0, 52 [SEP] 26, CD, 0.735, 0.724, -2.547, 0, 0, 0, 45 [SEP] 27, CD, 0.536, 0.730, -2.471, 0, 180, 0, 45 [SEP] 28, Pen, 1.788, 1.382, -2.277, 0, 0, 0, 37 [SEP] 29, Pencil, -1.846, 0.602, -0.533, 0, 0, 0, 52 [SEP] 30, Mug, -1.515, 0.597, -0.675, 0, 0, 0, 52 [SEP] 31, Shelf, 1.311, 0.969, -2.298, 0, 0, 0, [SEP] 32, Shelf, 1.843, 0.969, -2.298, 0, 0, 0, [SEP] 33, Shelf, 1.311, 1.171, -2.298, 0, 0, 0, [SEP] 34, Shelf, 1.843, 1.171, -2.298, 0, 0, 0, [SEP] 35, Shelf, 1.311, 1.368, -2.298, 0, 0, 0, [SEP] 36, Shelf, 1.843, 1.570, -2.298, 0, 0, 0, [SEP] 37, Shelf, 1.843, 1.368, -2.298, 0, 0, 0, [SEP] 38, Shelf, 1.311, 1.570, -2.298, 0, 0, 0, [SEP] 39, DeskLamp, -1.848, 0.592, -0.786, 0, 90, 0, [SEP] 40, GarbageCan, 2.197, -0.007, 0.298, 0, 232.025, 0, [SEP] 41, LightSwitch, -0.638, 1.149, 0.499, 0, 180, 0, [SEP] 42, Poster, 0.001, 1.495, -2.642, 90, 90, 0, [SEP] 43, Mirror, -1.072, 1.469, 0.497, 0, 0, 0, [SEP] 44, Window, 0.435, 1.398, -2.855, 90, 0, 0, [SEP] 45, SideTable, 0.435, 0.036, -2.647, 0, 0, 0, [SEP] 46, Drawer, 0.433, 0.203, -2.445, 0, 0, 0, [SEP] 47, Drawer, 0.433, 0.505, -2.445, 0, 0, 0, [SEP] 48, Dumbbell, -1.656, 0.602, -0.534, 0, 90, 0, [SEP] 49, Blinds, 0.449, 2.164, -2.845, 0, 0, 0, [SEP] 50, GarbageBag, 1.730, 0.318, 0.222, 270, 90, 83.412, [SEP] 51, Bed, -1.047, -0.000, -1.851, 0, 270, 0, [SEP] 52, Desk, -1.710, 0.000, -0.374, 0, 90, 0, [SEP] 53, Drawer, -1.790, 0.245, -1.144, 0, 90, 0, [SEP] 54, SideTable, -1.824, 0.000, -1.144, 0, 90, 0, [SEP] 55, Drawer, -1.790, 0.392, -1.144, 0, 90, 0, [SEP] 56, Drawer, -1.790, 0.097, -1.144, 0, 90, 0, [SEP] 57, Chair, -1.453, 0.005, -0.311, 0, 286.095, 0, [SEP] 58, Shelf, 1.591, 0.606, -2.305, 0, 0, 0, [SEP] 59, ShelvingUnit, 1.588, 0.004, -2.326, 0, 0, 0, [SEP] 60, Shelf, 1.854, 0.453, -2.298, 0, 0, 0, [SEP] 61, Shelf, 1.321, 0.155, -2.296, 0, 0, 0, [SEP] 62, Shelf, 1.323, 0.456, -2.300, 0, 0, 0, [SEP] 63, Shelf, 1.852, 0.152, -2.294, 0, 0, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, EastWall, , , , , , , [SEP] 66, SouthWall, , , , , , , [SEP] 67, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, walk to the table | STEP 2: Grab the yellow stand on the table | STEP 3: walk to the left a little | STEP 4: turn on the lamp on the table | END"]} +{"id": "trial_T20190907_150418_457594-2", "input": "Examine the vase by lamplight. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.901, -0.75, 0, 90, 0, [SEP] 1, Mug, 1.787, 0.353, -2.303, 0, 0, 0, 60 [SEP] 2, Mug, 1.447, 1.176, -2.277, 0, 180, 0, 33 [SEP] 3, Vase, 1.320, 1.179, -2.298, 0, 0, 0, 33 [SEP] 4, Vase, 1.724, 1.179, -2.298, 0, 0, 0, 34 [SEP] 5, Vase, -1.648, 0.599, -0.533, 0, 0, 0, 52 [SEP] 6, CellPhone, -0.333, 0.417, -1.733, 0, 0, 0, 51 [SEP] 7, CellPhone, -0.564, 0.417, -1.733, 0, 0, 0, 51 [SEP] 8, Pen, 1.851, 0.060, -2.282, 0, 0, 0, 63 [SEP] 9, Pen, 0.076, 0.734, -2.588, 0, 180, 0, 45 [SEP] 10, Pencil, 0.076, 0.734, -2.705, 0, 180, 0, 45 [SEP] 11, CreditCard, 0.359, 0.113, -2.521, 0, 0, 0, 46 [SEP] 12, CreditCard, -1.744, 0.069, -1.149, 0, 0, 0, 56 [SEP] 13, Pillow, -1.024, 0.491, -1.977, 0, 0, 0, 51 [SEP] 14, Box, 1.996, 0.316, -1.042, 0, 254.839, 0, [SEP] 15, Book, 0.339, 0.723, -2.65, 0, 165.000, 0, 45 [SEP] 16, Pillow, -1.548, 0.457, -1.831, 0, 90, 0, 51 [SEP] 17, CellPhone, -1.024, 0.417, -2.222, 0, 0, 0, 51 [SEP] 18, Vase, 0.766, 0.729, -2.705, 0, 180, 0, 45 [SEP] 19, BaseballBat, -1.629, 0.649, 0.416, 14.491, 0, 0, [SEP] 20, CreditCard, 0.191, 0.728, -2.764, 0, 180, 0, 45 [SEP] 21, TennisRacket, 2.244, 0.279, -1.901, 335.402, 251.974, 201.714, [SEP] 22, KeyChain, 0.651, 0.731, -2.705, 0, 270, 0, 45 [SEP] 23, AlarmClock, -1.853, 0.501, -1.174, 0, 285.157, 0, 52 [SEP] 24, Cloth, 2.176, 0.0, -0.571, 0, 335.474, 0, [SEP] 25, Laptop, -1.764, 0.591, -0.112, 0, 113.510, 0, 52 [SEP] 26, CD, 0.735, 0.724, -2.547, 0, 0, 0, 45 [SEP] 27, CD, 0.536, 0.730, -2.471, 0, 180, 0, 45 [SEP] 28, Pen, 1.788, 1.382, -2.277, 0, 0, 0, 37 [SEP] 29, Pencil, -1.846, 0.602, -0.533, 0, 0, 0, 52 [SEP] 30, Mug, -1.515, 0.597, -0.675, 0, 0, 0, 52 [SEP] 31, Shelf, 1.311, 0.969, -2.298, 0, 0, 0, [SEP] 32, Shelf, 1.843, 0.969, -2.298, 0, 0, 0, [SEP] 33, Shelf, 1.311, 1.171, -2.298, 0, 0, 0, [SEP] 34, Shelf, 1.843, 1.171, -2.298, 0, 0, 0, [SEP] 35, Shelf, 1.311, 1.368, -2.298, 0, 0, 0, [SEP] 36, Shelf, 1.843, 1.570, -2.298, 0, 0, 0, [SEP] 37, Shelf, 1.843, 1.368, -2.298, 0, 0, 0, [SEP] 38, Shelf, 1.311, 1.570, -2.298, 0, 0, 0, [SEP] 39, DeskLamp, -1.848, 0.592, -0.786, 0, 90, 0, [SEP] 40, GarbageCan, 2.197, -0.007, 0.298, 0, 232.025, 0, [SEP] 41, LightSwitch, -0.638, 1.149, 0.499, 0, 180, 0, [SEP] 42, Poster, 0.001, 1.495, -2.642, 90, 90, 0, [SEP] 43, Mirror, -1.072, 1.469, 0.497, 0, 0, 0, [SEP] 44, Window, 0.435, 1.398, -2.855, 90, 0, 0, [SEP] 45, SideTable, 0.435, 0.036, -2.647, 0, 0, 0, [SEP] 46, Drawer, 0.433, 0.203, -2.445, 0, 0, 0, [SEP] 47, Drawer, 0.433, 0.505, -2.445, 0, 0, 0, [SEP] 48, Dumbbell, -1.656, 0.602, -0.534, 0, 90, 0, [SEP] 49, Blinds, 0.449, 2.164, -2.845, 0, 0, 0, [SEP] 50, GarbageBag, 1.730, 0.318, 0.222, 270, 90, 83.412, [SEP] 51, Bed, -1.047, -0.000, -1.851, 0, 270, 0, [SEP] 52, Desk, -1.710, 0.000, -0.374, 0, 90, 0, [SEP] 53, Drawer, -1.790, 0.245, -1.144, 0, 90, 0, [SEP] 54, SideTable, -1.824, 0.000, -1.144, 0, 90, 0, [SEP] 55, Drawer, -1.790, 0.392, -1.144, 0, 90, 0, [SEP] 56, Drawer, -1.790, 0.097, -1.144, 0, 90, 0, [SEP] 57, Chair, -1.453, 0.005, -0.311, 0, 286.095, 0, [SEP] 58, Shelf, 1.591, 0.606, -2.305, 0, 0, 0, [SEP] 59, ShelvingUnit, 1.588, 0.004, -2.326, 0, 0, 0, [SEP] 60, Shelf, 1.854, 0.453, -2.298, 0, 0, 0, [SEP] 61, Shelf, 1.321, 0.155, -2.296, 0, 0, 0, [SEP] 62, Shelf, 1.323, 0.456, -2.300, 0, 0, 0, [SEP] 63, Shelf, 1.852, 0.152, -2.294, 0, 0, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, EastWall, , , , , , , [SEP] 66, SouthWall, , , , , , , [SEP] 67, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the desk. | STEP 2: Pick up the yellow vase. | STEP 3: Move slightly to the left. | STEP 4: Turn on the lamp on the desk. | END"]} +{"id": "trial_T20190907_150418_457594-3", "input": "To pick up a yellow object, as well as turn on a lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.901, -0.75, 0, 90, 0, [SEP] 1, Mug, 1.787, 0.353, -2.303, 0, 0, 0, 60 [SEP] 2, Mug, 1.447, 1.176, -2.277, 0, 180, 0, 33 [SEP] 3, Vase, 1.320, 1.179, -2.298, 0, 0, 0, 33 [SEP] 4, Vase, 1.724, 1.179, -2.298, 0, 0, 0, 34 [SEP] 5, Vase, -1.648, 0.599, -0.533, 0, 0, 0, 52 [SEP] 6, CellPhone, -0.333, 0.417, -1.733, 0, 0, 0, 51 [SEP] 7, CellPhone, -0.564, 0.417, -1.733, 0, 0, 0, 51 [SEP] 8, Pen, 1.851, 0.060, -2.282, 0, 0, 0, 63 [SEP] 9, Pen, 0.076, 0.734, -2.588, 0, 180, 0, 45 [SEP] 10, Pencil, 0.076, 0.734, -2.705, 0, 180, 0, 45 [SEP] 11, CreditCard, 0.359, 0.113, -2.521, 0, 0, 0, 46 [SEP] 12, CreditCard, -1.744, 0.069, -1.149, 0, 0, 0, 56 [SEP] 13, Pillow, -1.024, 0.491, -1.977, 0, 0, 0, 51 [SEP] 14, Box, 1.996, 0.316, -1.042, 0, 254.839, 0, [SEP] 15, Book, 0.339, 0.723, -2.65, 0, 165.000, 0, 45 [SEP] 16, Pillow, -1.548, 0.457, -1.831, 0, 90, 0, 51 [SEP] 17, CellPhone, -1.024, 0.417, -2.222, 0, 0, 0, 51 [SEP] 18, Vase, 0.766, 0.729, -2.705, 0, 180, 0, 45 [SEP] 19, BaseballBat, -1.629, 0.649, 0.416, 14.491, 0, 0, [SEP] 20, CreditCard, 0.191, 0.728, -2.764, 0, 180, 0, 45 [SEP] 21, TennisRacket, 2.244, 0.279, -1.901, 335.402, 251.974, 201.714, [SEP] 22, KeyChain, 0.651, 0.731, -2.705, 0, 270, 0, 45 [SEP] 23, AlarmClock, -1.853, 0.501, -1.174, 0, 285.157, 0, 52 [SEP] 24, Cloth, 2.176, 0.0, -0.571, 0, 335.474, 0, [SEP] 25, Laptop, -1.764, 0.591, -0.112, 0, 113.510, 0, 52 [SEP] 26, CD, 0.735, 0.724, -2.547, 0, 0, 0, 45 [SEP] 27, CD, 0.536, 0.730, -2.471, 0, 180, 0, 45 [SEP] 28, Pen, 1.788, 1.382, -2.277, 0, 0, 0, 37 [SEP] 29, Pencil, -1.846, 0.602, -0.533, 0, 0, 0, 52 [SEP] 30, Mug, -1.515, 0.597, -0.675, 0, 0, 0, 52 [SEP] 31, Shelf, 1.311, 0.969, -2.298, 0, 0, 0, [SEP] 32, Shelf, 1.843, 0.969, -2.298, 0, 0, 0, [SEP] 33, Shelf, 1.311, 1.171, -2.298, 0, 0, 0, [SEP] 34, Shelf, 1.843, 1.171, -2.298, 0, 0, 0, [SEP] 35, Shelf, 1.311, 1.368, -2.298, 0, 0, 0, [SEP] 36, Shelf, 1.843, 1.570, -2.298, 0, 0, 0, [SEP] 37, Shelf, 1.843, 1.368, -2.298, 0, 0, 0, [SEP] 38, Shelf, 1.311, 1.570, -2.298, 0, 0, 0, [SEP] 39, DeskLamp, -1.848, 0.592, -0.786, 0, 90, 0, [SEP] 40, GarbageCan, 2.197, -0.007, 0.298, 0, 232.025, 0, [SEP] 41, LightSwitch, -0.638, 1.149, 0.499, 0, 180, 0, [SEP] 42, Poster, 0.001, 1.495, -2.642, 90, 90, 0, [SEP] 43, Mirror, -1.072, 1.469, 0.497, 0, 0, 0, [SEP] 44, Window, 0.435, 1.398, -2.855, 90, 0, 0, [SEP] 45, SideTable, 0.435, 0.036, -2.647, 0, 0, 0, [SEP] 46, Drawer, 0.433, 0.203, -2.445, 0, 0, 0, [SEP] 47, Drawer, 0.433, 0.505, -2.445, 0, 0, 0, [SEP] 48, Dumbbell, -1.656, 0.602, -0.534, 0, 90, 0, [SEP] 49, Blinds, 0.449, 2.164, -2.845, 0, 0, 0, [SEP] 50, GarbageBag, 1.730, 0.318, 0.222, 270, 90, 83.412, [SEP] 51, Bed, -1.047, -0.000, -1.851, 0, 270, 0, [SEP] 52, Desk, -1.710, 0.000, -0.374, 0, 90, 0, [SEP] 53, Drawer, -1.790, 0.245, -1.144, 0, 90, 0, [SEP] 54, SideTable, -1.824, 0.000, -1.144, 0, 90, 0, [SEP] 55, Drawer, -1.790, 0.392, -1.144, 0, 90, 0, [SEP] 56, Drawer, -1.790, 0.097, -1.144, 0, 90, 0, [SEP] 57, Chair, -1.453, 0.005, -0.311, 0, 286.095, 0, [SEP] 58, Shelf, 1.591, 0.606, -2.305, 0, 0, 0, [SEP] 59, ShelvingUnit, 1.588, 0.004, -2.326, 0, 0, 0, [SEP] 60, Shelf, 1.854, 0.453, -2.298, 0, 0, 0, [SEP] 61, Shelf, 1.321, 0.155, -2.296, 0, 0, 0, [SEP] 62, Shelf, 1.323, 0.456, -2.300, 0, 0, 0, [SEP] 63, Shelf, 1.852, 0.152, -2.294, 0, 0, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, EastWall, , , , , , , [SEP] 66, SouthWall, , , , , , , [SEP] 67, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, take a step, turn left and walk across the room to face the desk. | STEP 2: Pick up the yellow disk shaped object on the table. | STEP 3: Turn to the left, take a step, turn right to face to lamp. | STEP 4: turn on the lamp. | END"]} +{"id": "trial_T20190907_070152_814652-0", "input": "Put away a plate and spoon, into a kitchen cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, -1.0, 0, 0, 0, [SEP] 1, Ladle, -0.542, 0.087, 2.417, 0, 0, 0, 56 [SEP] 2, Ladle, 1.925, 0.803, 3.895, 0, 270, 0, 51 [SEP] 3, WineBottle, -0.908, 1.782, 0.968, 0, 0, 0, 68 [SEP] 4, WineBottle, 2.478, 0.765, 3.682, 0, 225, 0, 51 [SEP] 5, Glassbottle, 2.228, 0.765, 3.445, 0, 0, 0, 51 [SEP] 6, Spoon, 2.614, 1.028, 1.499, 0, 136.999, 0, 50 [SEP] 7, Egg, 2.000, 1.895, -1.876, 0, 0, 0, 96 [SEP] 8, Egg, -0.907, 0.378, -0.295, 0, 90, 0, 94 [SEP] 9, Cup, 2.724, 0.031, -0.740, 0, 0, 0, 76 [SEP] 10, Plate, 2.790, 1.027, -0.846, 0, 0, 0, 50 [SEP] 11, Knife, 2.525, 0.789, 4.495, 0, 180, 0, 51 [SEP] 12, Knife, 2.537, 0.825, -0.653, 0, 270, 0, 59 [SEP] 13, Tomato, 2.515, 0.818, 4.007, 0, 329.999, 0, 51 [SEP] 14, Tomato, -0.922, 1.495, -0.073, 0, 90, 0, 94 [SEP] 15, SoapBottle, -0.794, 1.026, 2.066, 0, 0, 0, 53 [SEP] 16, Bowl, 2.959, 1.025, -1.456, 0, 0, 0, 50 [SEP] 17, SaltShaker, 2.425, 1.023, -1.987, 0, 90, 0, 50 [SEP] 18, Lettuce, -0.645, 0.874, 1.181, 0, 90, 0, 107 [SEP] 19, Lettuce, -0.577, 0.874, 1.492, 0, 90, 0, 107 [SEP] 20, Mug, 2.658, 0.759, 4.282, 0, 225, 0, 51 [SEP] 21, Mug, 2.293, 0.759, 4.127, 0, 225, 0, 51 [SEP] 22, Pan, 2.042, 1.017, 1.779, 0, 0, 0, 50 [SEP] 23, Glassbottle, -1.013, 1.442, -0.738, 0, 90, 0, 94 [SEP] 24, Knife, 2.818, 0.825, -0.653, 0, 270, 0, 59 [SEP] 25, SoapBottle, 2.460, 0.763, 4.399, 0, 329.999, 0, 51 [SEP] 26, Egg, -1.028, 0.830, -0.184, 0, 90, 0, 94 [SEP] 27, Fork, 2.113, 0.765, 3.527, 0, 225, 0, 51 [SEP] 28, Potato, -0.906, 0.828, -0.627, 0, 90, 0, 94 [SEP] 29, Ladle, 2.650, 0.840, -1.132, 0, 0, 0, 58 [SEP] 30, Tomato, -0.851, 0.870, 1.414, 0, 90, 0, 107 [SEP] 31, Pot, 1.836, 1.027, -1.84, 0, 90, 0, 48 [SEP] 32, WineBottle, 2.423, 0.765, 4.257, 0, 225, 0, 51 [SEP] 33, Plate, 2.451, 0.764, 3.445, 0, 0, 0, 51 [SEP] 34, Spatula, 2.626, 0.779, 3.821, 0, 90, 0, 51 [SEP] 35, PaperTowelRoll, -1.171, 1.131, 1.943, 0, 0, 0, 53 [SEP] 36, Lettuce, 2.228, 0.822, 3.795, 0, 0, 0, 51 [SEP] 37, Apple, -0.877, 1.492, -0.627, 0, 90, 0, 94 [SEP] 38, SaltShaker, -0.874, 0.797, 2.418, 0, 0, 0, 56 [SEP] 39, PepperShaker, 1.777, 1.023, 1.555, 0, 136.999, 0, 50 [SEP] 40, ButterKnife, 2.662, 0.764, 3.455, 0, 329.999, 0, 51 [SEP] 41, Bread, 2.621, 1.094, -1.456, 0, 0, 0, 50 [SEP] 42, Cup, -1.069, 0.784, -0.295, 0, 90, 0, 94 [SEP] 43, DishSponge, 3.068, 0.032, -0.323, 0, 0, 0, 76 [SEP] 44, Bowl, 2.763, 0.762, 3.726, 0, 329.999, 0, 51 [SEP] 45, Spoon, -0.660, 0.801, 1.953, 0, 0, 0, 55 [SEP] 46, Mug, 2.111, 0.759, 4.410, 0, 329.999, 0, 51 [SEP] 47, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 48, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 49, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 50, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 51, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 52, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 53, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 54, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 55, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 56, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 57, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 58, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 59, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 60, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 61, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 62, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 63, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 64, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 65, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 66, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 67, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 68, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 69, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 70, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 71, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 72, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 73, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 74, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 75, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 76, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 77, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 78, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 79, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 80, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 81, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 82, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 83, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 84, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 85, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 86, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 87, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 88, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 89, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 90, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 91, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 92, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 93, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 94, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 95, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 96, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 97, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 98, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 99, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 100, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 101, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 102, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 103, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 104, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 105, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 106, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 107, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 108, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 109, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 110, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 111, , , , , , , , [SEP] 112, NorthWall, , , , , , , [SEP] 113, EastWall, , , , , , , [SEP] 114, SouthWall, , , , , , , [SEP] 115, WestWall, , , , , , , ", "output": ["STEP 1: Cross the room to the round white table in the corner to your right. | STEP 2: Pick up the soup spoon from the table. | STEP 3: Move to your right, around the table, to face the plate. | STEP 4: Put the spoon onto the plate. | STEP 5: Pick up the plate with the spoon on it. | STEP 6: Go diagonally left to the refrigerator. | STEP 7: Put the stacked plate and spoon in the cabinet that is above the coffee maker, to the right of the refrigerator. | END"]} +{"id": "trial_T20190907_070152_814652-1", "input": "Place the spoon and plate from the table into the cabinet above the coffee maker. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, -1.0, 0, 0, 0, [SEP] 1, Ladle, -0.542, 0.087, 2.417, 0, 0, 0, 56 [SEP] 2, Ladle, 1.925, 0.803, 3.895, 0, 270, 0, 51 [SEP] 3, WineBottle, -0.908, 1.782, 0.968, 0, 0, 0, 68 [SEP] 4, WineBottle, 2.478, 0.765, 3.682, 0, 225, 0, 51 [SEP] 5, Glassbottle, 2.228, 0.765, 3.445, 0, 0, 0, 51 [SEP] 6, Spoon, 2.614, 1.028, 1.499, 0, 136.999, 0, 50 [SEP] 7, Egg, 2.000, 1.895, -1.876, 0, 0, 0, 96 [SEP] 8, Egg, -0.907, 0.378, -0.295, 0, 90, 0, 94 [SEP] 9, Cup, 2.724, 0.031, -0.740, 0, 0, 0, 76 [SEP] 10, Plate, 2.790, 1.027, -0.846, 0, 0, 0, 50 [SEP] 11, Knife, 2.525, 0.789, 4.495, 0, 180, 0, 51 [SEP] 12, Knife, 2.537, 0.825, -0.653, 0, 270, 0, 59 [SEP] 13, Tomato, 2.515, 0.818, 4.007, 0, 329.999, 0, 51 [SEP] 14, Tomato, -0.922, 1.495, -0.073, 0, 90, 0, 94 [SEP] 15, SoapBottle, -0.794, 1.026, 2.066, 0, 0, 0, 53 [SEP] 16, Bowl, 2.959, 1.025, -1.456, 0, 0, 0, 50 [SEP] 17, SaltShaker, 2.425, 1.023, -1.987, 0, 90, 0, 50 [SEP] 18, Lettuce, -0.645, 0.874, 1.181, 0, 90, 0, 107 [SEP] 19, Lettuce, -0.577, 0.874, 1.492, 0, 90, 0, 107 [SEP] 20, Mug, 2.658, 0.759, 4.282, 0, 225, 0, 51 [SEP] 21, Mug, 2.293, 0.759, 4.127, 0, 225, 0, 51 [SEP] 22, Pan, 2.042, 1.017, 1.779, 0, 0, 0, 50 [SEP] 23, Glassbottle, -1.013, 1.442, -0.738, 0, 90, 0, 94 [SEP] 24, Knife, 2.818, 0.825, -0.653, 0, 270, 0, 59 [SEP] 25, SoapBottle, 2.460, 0.763, 4.399, 0, 329.999, 0, 51 [SEP] 26, Egg, -1.028, 0.830, -0.184, 0, 90, 0, 94 [SEP] 27, Fork, 2.113, 0.765, 3.527, 0, 225, 0, 51 [SEP] 28, Potato, -0.906, 0.828, -0.627, 0, 90, 0, 94 [SEP] 29, Ladle, 2.650, 0.840, -1.132, 0, 0, 0, 58 [SEP] 30, Tomato, -0.851, 0.870, 1.414, 0, 90, 0, 107 [SEP] 31, Pot, 1.836, 1.027, -1.84, 0, 90, 0, 48 [SEP] 32, WineBottle, 2.423, 0.765, 4.257, 0, 225, 0, 51 [SEP] 33, Plate, 2.451, 0.764, 3.445, 0, 0, 0, 51 [SEP] 34, Spatula, 2.626, 0.779, 3.821, 0, 90, 0, 51 [SEP] 35, PaperTowelRoll, -1.171, 1.131, 1.943, 0, 0, 0, 53 [SEP] 36, Lettuce, 2.228, 0.822, 3.795, 0, 0, 0, 51 [SEP] 37, Apple, -0.877, 1.492, -0.627, 0, 90, 0, 94 [SEP] 38, SaltShaker, -0.874, 0.797, 2.418, 0, 0, 0, 56 [SEP] 39, PepperShaker, 1.777, 1.023, 1.555, 0, 136.999, 0, 50 [SEP] 40, ButterKnife, 2.662, 0.764, 3.455, 0, 329.999, 0, 51 [SEP] 41, Bread, 2.621, 1.094, -1.456, 0, 0, 0, 50 [SEP] 42, Cup, -1.069, 0.784, -0.295, 0, 90, 0, 94 [SEP] 43, DishSponge, 3.068, 0.032, -0.323, 0, 0, 0, 76 [SEP] 44, Bowl, 2.763, 0.762, 3.726, 0, 329.999, 0, 51 [SEP] 45, Spoon, -0.660, 0.801, 1.953, 0, 0, 0, 55 [SEP] 46, Mug, 2.111, 0.759, 4.410, 0, 329.999, 0, 51 [SEP] 47, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 48, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 49, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 50, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 51, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 52, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 53, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 54, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 55, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 56, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 57, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 58, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 59, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 60, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 61, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 62, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 63, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 64, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 65, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 66, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 67, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 68, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 69, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 70, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 71, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 72, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 73, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 74, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 75, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 76, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 77, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 78, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 79, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 80, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 81, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 82, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 83, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 84, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 85, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 86, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 87, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 88, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 89, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 90, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 91, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 92, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 93, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 94, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 95, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 96, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 97, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 98, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 99, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 100, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 101, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 102, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 103, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 104, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 105, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 106, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 107, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 108, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 109, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 110, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 111, , , , , , , , [SEP] 112, NorthWall, , , , , , , [SEP] 113, EastWall, , , , , , , [SEP] 114, SouthWall, , , , , , , [SEP] 115, WestWall, , , , , , , ", "output": ["STEP 1: Walk straight towards the wall and then then turn right towards the circle table. | STEP 2: Pick up the spoon on the table. | STEP 3: Take a step to the right to face the white plate on the table. | STEP 4: Place the spoon on the plate. | STEP 5: Pick up the plate from the table. | STEP 6: Turn around, walk towards the coffee maker on your right, look up to find the cabinet above. | STEP 7: Place the plate with the spoon inside the cabinet. | END"]} +{"id": "trial_T20190907_070152_814652-2", "input": "place a plate with a spoon on it in the kitchen cupboard SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, -1.0, 0, 0, 0, [SEP] 1, Ladle, -0.542, 0.087, 2.417, 0, 0, 0, 56 [SEP] 2, Ladle, 1.925, 0.803, 3.895, 0, 270, 0, 51 [SEP] 3, WineBottle, -0.908, 1.782, 0.968, 0, 0, 0, 68 [SEP] 4, WineBottle, 2.478, 0.765, 3.682, 0, 225, 0, 51 [SEP] 5, Glassbottle, 2.228, 0.765, 3.445, 0, 0, 0, 51 [SEP] 6, Spoon, 2.614, 1.028, 1.499, 0, 136.999, 0, 50 [SEP] 7, Egg, 2.000, 1.895, -1.876, 0, 0, 0, 96 [SEP] 8, Egg, -0.907, 0.378, -0.295, 0, 90, 0, 94 [SEP] 9, Cup, 2.724, 0.031, -0.740, 0, 0, 0, 76 [SEP] 10, Plate, 2.790, 1.027, -0.846, 0, 0, 0, 50 [SEP] 11, Knife, 2.525, 0.789, 4.495, 0, 180, 0, 51 [SEP] 12, Knife, 2.537, 0.825, -0.653, 0, 270, 0, 59 [SEP] 13, Tomato, 2.515, 0.818, 4.007, 0, 329.999, 0, 51 [SEP] 14, Tomato, -0.922, 1.495, -0.073, 0, 90, 0, 94 [SEP] 15, SoapBottle, -0.794, 1.026, 2.066, 0, 0, 0, 53 [SEP] 16, Bowl, 2.959, 1.025, -1.456, 0, 0, 0, 50 [SEP] 17, SaltShaker, 2.425, 1.023, -1.987, 0, 90, 0, 50 [SEP] 18, Lettuce, -0.645, 0.874, 1.181, 0, 90, 0, 107 [SEP] 19, Lettuce, -0.577, 0.874, 1.492, 0, 90, 0, 107 [SEP] 20, Mug, 2.658, 0.759, 4.282, 0, 225, 0, 51 [SEP] 21, Mug, 2.293, 0.759, 4.127, 0, 225, 0, 51 [SEP] 22, Pan, 2.042, 1.017, 1.779, 0, 0, 0, 50 [SEP] 23, Glassbottle, -1.013, 1.442, -0.738, 0, 90, 0, 94 [SEP] 24, Knife, 2.818, 0.825, -0.653, 0, 270, 0, 59 [SEP] 25, SoapBottle, 2.460, 0.763, 4.399, 0, 329.999, 0, 51 [SEP] 26, Egg, -1.028, 0.830, -0.184, 0, 90, 0, 94 [SEP] 27, Fork, 2.113, 0.765, 3.527, 0, 225, 0, 51 [SEP] 28, Potato, -0.906, 0.828, -0.627, 0, 90, 0, 94 [SEP] 29, Ladle, 2.650, 0.840, -1.132, 0, 0, 0, 58 [SEP] 30, Tomato, -0.851, 0.870, 1.414, 0, 90, 0, 107 [SEP] 31, Pot, 1.836, 1.027, -1.84, 0, 90, 0, 48 [SEP] 32, WineBottle, 2.423, 0.765, 4.257, 0, 225, 0, 51 [SEP] 33, Plate, 2.451, 0.764, 3.445, 0, 0, 0, 51 [SEP] 34, Spatula, 2.626, 0.779, 3.821, 0, 90, 0, 51 [SEP] 35, PaperTowelRoll, -1.171, 1.131, 1.943, 0, 0, 0, 53 [SEP] 36, Lettuce, 2.228, 0.822, 3.795, 0, 0, 0, 51 [SEP] 37, Apple, -0.877, 1.492, -0.627, 0, 90, 0, 94 [SEP] 38, SaltShaker, -0.874, 0.797, 2.418, 0, 0, 0, 56 [SEP] 39, PepperShaker, 1.777, 1.023, 1.555, 0, 136.999, 0, 50 [SEP] 40, ButterKnife, 2.662, 0.764, 3.455, 0, 329.999, 0, 51 [SEP] 41, Bread, 2.621, 1.094, -1.456, 0, 0, 0, 50 [SEP] 42, Cup, -1.069, 0.784, -0.295, 0, 90, 0, 94 [SEP] 43, DishSponge, 3.068, 0.032, -0.323, 0, 0, 0, 76 [SEP] 44, Bowl, 2.763, 0.762, 3.726, 0, 329.999, 0, 51 [SEP] 45, Spoon, -0.660, 0.801, 1.953, 0, 0, 0, 55 [SEP] 46, Mug, 2.111, 0.759, 4.410, 0, 329.999, 0, 51 [SEP] 47, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 48, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 49, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 50, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 51, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 52, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 53, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 54, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 55, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 56, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 57, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 58, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 59, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 60, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 61, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 62, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 63, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 64, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 65, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 66, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 67, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 68, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 69, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 70, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 71, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 72, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 73, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 74, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 75, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 76, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 77, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 78, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 79, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 80, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 81, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 82, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 83, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 84, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 85, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 86, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 87, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 88, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 89, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 90, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 91, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 92, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 93, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 94, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 95, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 96, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 97, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 98, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 99, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 100, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 101, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 102, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 103, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 104, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 105, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 106, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 107, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 108, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 109, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 110, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 111, , , , , , , , [SEP] 112, NorthWall, , , , , , , [SEP] 113, EastWall, , , , , , , [SEP] 114, SouthWall, , , , , , , [SEP] 115, WestWall, , , , , , , ", "output": ["STEP 1: walk to the end of the room ahead of you, then turn right and walk to the white round coffee table ahead | STEP 2: grab the spoon off of the coffee table | STEP 3: walk around to the right side of that same table | STEP 4: place the spoon on top of the white plate on the table | STEP 5: pick the plate with the spoon on it up off of the table | STEP 6: turn left and walk to the end of the kitchen counter on your left, then turn left and walk until you're just short of the fridge on your right, turn right and walk towards the end of the room | STEP 7: place the plate in a cupboard above and to the right of the fridge | END"]} +{"id": "trial_T20190907_070152_814652-3", "input": "Take the plate and the spoon from the table to the cabinet on the right of the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, -1.0, 0, 0, 0, [SEP] 1, Ladle, -0.542, 0.087, 2.417, 0, 0, 0, 56 [SEP] 2, Ladle, 1.925, 0.803, 3.895, 0, 270, 0, 51 [SEP] 3, WineBottle, -0.908, 1.782, 0.968, 0, 0, 0, 68 [SEP] 4, WineBottle, 2.478, 0.765, 3.682, 0, 225, 0, 51 [SEP] 5, Glassbottle, 2.228, 0.765, 3.445, 0, 0, 0, 51 [SEP] 6, Spoon, 2.614, 1.028, 1.499, 0, 136.999, 0, 50 [SEP] 7, Egg, 2.000, 1.895, -1.876, 0, 0, 0, 96 [SEP] 8, Egg, -0.907, 0.378, -0.295, 0, 90, 0, 94 [SEP] 9, Cup, 2.724, 0.031, -0.740, 0, 0, 0, 76 [SEP] 10, Plate, 2.790, 1.027, -0.846, 0, 0, 0, 50 [SEP] 11, Knife, 2.525, 0.789, 4.495, 0, 180, 0, 51 [SEP] 12, Knife, 2.537, 0.825, -0.653, 0, 270, 0, 59 [SEP] 13, Tomato, 2.515, 0.818, 4.007, 0, 329.999, 0, 51 [SEP] 14, Tomato, -0.922, 1.495, -0.073, 0, 90, 0, 94 [SEP] 15, SoapBottle, -0.794, 1.026, 2.066, 0, 0, 0, 53 [SEP] 16, Bowl, 2.959, 1.025, -1.456, 0, 0, 0, 50 [SEP] 17, SaltShaker, 2.425, 1.023, -1.987, 0, 90, 0, 50 [SEP] 18, Lettuce, -0.645, 0.874, 1.181, 0, 90, 0, 107 [SEP] 19, Lettuce, -0.577, 0.874, 1.492, 0, 90, 0, 107 [SEP] 20, Mug, 2.658, 0.759, 4.282, 0, 225, 0, 51 [SEP] 21, Mug, 2.293, 0.759, 4.127, 0, 225, 0, 51 [SEP] 22, Pan, 2.042, 1.017, 1.779, 0, 0, 0, 50 [SEP] 23, Glassbottle, -1.013, 1.442, -0.738, 0, 90, 0, 94 [SEP] 24, Knife, 2.818, 0.825, -0.653, 0, 270, 0, 59 [SEP] 25, SoapBottle, 2.460, 0.763, 4.399, 0, 329.999, 0, 51 [SEP] 26, Egg, -1.028, 0.830, -0.184, 0, 90, 0, 94 [SEP] 27, Fork, 2.113, 0.765, 3.527, 0, 225, 0, 51 [SEP] 28, Potato, -0.906, 0.828, -0.627, 0, 90, 0, 94 [SEP] 29, Ladle, 2.650, 0.840, -1.132, 0, 0, 0, 58 [SEP] 30, Tomato, -0.851, 0.870, 1.414, 0, 90, 0, 107 [SEP] 31, Pot, 1.836, 1.027, -1.84, 0, 90, 0, 48 [SEP] 32, WineBottle, 2.423, 0.765, 4.257, 0, 225, 0, 51 [SEP] 33, Plate, 2.451, 0.764, 3.445, 0, 0, 0, 51 [SEP] 34, Spatula, 2.626, 0.779, 3.821, 0, 90, 0, 51 [SEP] 35, PaperTowelRoll, -1.171, 1.131, 1.943, 0, 0, 0, 53 [SEP] 36, Lettuce, 2.228, 0.822, 3.795, 0, 0, 0, 51 [SEP] 37, Apple, -0.877, 1.492, -0.627, 0, 90, 0, 94 [SEP] 38, SaltShaker, -0.874, 0.797, 2.418, 0, 0, 0, 56 [SEP] 39, PepperShaker, 1.777, 1.023, 1.555, 0, 136.999, 0, 50 [SEP] 40, ButterKnife, 2.662, 0.764, 3.455, 0, 329.999, 0, 51 [SEP] 41, Bread, 2.621, 1.094, -1.456, 0, 0, 0, 50 [SEP] 42, Cup, -1.069, 0.784, -0.295, 0, 90, 0, 94 [SEP] 43, DishSponge, 3.068, 0.032, -0.323, 0, 0, 0, 76 [SEP] 44, Bowl, 2.763, 0.762, 3.726, 0, 329.999, 0, 51 [SEP] 45, Spoon, -0.660, 0.801, 1.953, 0, 0, 0, 55 [SEP] 46, Mug, 2.111, 0.759, 4.410, 0, 329.999, 0, 51 [SEP] 47, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 48, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 49, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 50, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 51, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 52, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 53, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 54, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 55, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 56, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 57, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 58, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 59, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 60, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 61, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 62, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 63, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 64, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 65, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 66, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 67, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 68, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 69, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 70, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 71, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 72, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 73, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 74, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 75, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 76, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 77, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 78, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 79, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 80, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 81, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 82, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 83, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 84, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 85, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 86, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 87, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 88, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 89, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 90, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 91, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 92, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 93, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 94, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 95, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 96, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 97, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 98, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 99, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 100, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 101, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 102, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 103, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 104, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 105, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 106, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 107, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 108, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 109, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 110, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 111, , , , , , , , [SEP] 112, NorthWall, , , , , , , [SEP] 113, EastWall, , , , , , , [SEP] 114, SouthWall, , , , , , , [SEP] 115, WestWall, , , , , , , ", "output": ["STEP 1: Walk across the room, then go to the white table on the right. | STEP 2: Pick up the spoon on the table. | STEP 3: Turn right, walk forward, turn left, face the plate on the table. | STEP 4: Put the spoon on the plate. | STEP 5: Pick up the plate and spoon from the table. | STEP 6: Turn left twice and walk to the right of the fridge in front of the cabinet. | STEP 7: Put the plate and spoon in the cabinet. | END"]} +{"id": "trial_T20190906_215856_374127-0", "input": "Put a chilled pan on the stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, -1.25, 0, 0, 0, [SEP] 1, Pan, -1.129, 0.935, -3.498, 0, 0, 0, 57 [SEP] 2, Glassbottle, -0.186, 1.528, -3.125, 0, 0, 0, 71 [SEP] 3, Pencil, -2.666, 0.923, -1.423, 0, 0, 0, 84 [SEP] 4, Pen, -2.438, 0.926, -1.884, 0, 0, 0, 84 [SEP] 5, Pen, -2.552, 0.926, -2.115, 0, 0, 0, 84 [SEP] 6, Potato, -0.508, 0.947, -3.368, 0, 0, 0, 59 [SEP] 7, Potato, -1.151, 1.661, -3.870, 0, 0, 0, 72 [SEP] 8, DishSponge, -0.230, 1.970, -1.773, 0, 0, 0, 61 [SEP] 9, DishSponge, -0.747, 0.081, -3.506, 0, 0, 0, 63 [SEP] 10, ButterKnife, -2.324, 0.923, -1.193, 0, 90, 0, 84 [SEP] 11, ButterKnife, -2.324, 0.923, -2.345, 0, 90, 0, 84 [SEP] 12, WineBottle, -2.780, 0.924, -2.115, 0, 0, 0, 84 [SEP] 13, WineBottle, -0.460, 0.082, -2.201, 0, 0, 0, 64 [SEP] 14, Spatula, -2.096, 0.938, -2.345, 0, 0, 0, 84 [SEP] 15, Fork, -0.600, 0.916, -3.839, 0, 0, 0, 59 [SEP] 16, Spoon, -2.324, 0.924, -1.654, 0, 0, 0, 84 [SEP] 17, Spoon, -2.324, 0.924, -1.193, 0, 0, 0, 84 [SEP] 18, Knife, -2.438, 0.946, -1.193, 0, 90, 0, 84 [SEP] 19, Knife, -2.438, 0.946, -0.963, 0, 0, 0, 84 [SEP] 20, Plate, -2.552, 0.925, -1.423, 0, 0, 0, 84 [SEP] 21, Egg, -2.006, 0.059, -3.835, 0, 0, 0, 75 [SEP] 22, Egg, -2.666, 0.956, -1.884, 0, 0, 0, 84 [SEP] 23, Tomato, -2.552, 0.987, -1.193, 0, 0, 0, 84 [SEP] 24, Tomato, -1.912, 0.090, -3.763, 0, 0, 0, 75 [SEP] 25, Bowl, -1.309, 1.629, -3.870, 0, 0, 0, 72 [SEP] 26, Bowl, -2.780, 0.922, -1.654, 0, 0, 0, 84 [SEP] 27, PepperShaker, -0.162, 1.524, -2.914, 0, 0, 0, 71 [SEP] 28, Apple, -0.671, 0.989, -3.555, 0, 0, 0, 59 [SEP] 29, Apple, -0.385, 0.989, -3.839, 0, 0, 0, 59 [SEP] 30, Lettuce, -2.562, 1.002, -1.677, 36.385, 0, 0, 84 [SEP] 31, Glassbottle, -0.398, 0.797, -2.082, 0, 270, 0, 77 [SEP] 32, Egg, -0.508, 0.948, -2.563, 0, 0, 0, 59 [SEP] 33, Pen, -2.666, 0.926, -2.345, 0, 0, 0, 84 [SEP] 34, Fork, -2.096, 0.924, -1.423, 0, 0, 0, 84 [SEP] 35, SoapBottle, -2.780, 0.922, -0.963, 0, 0, 0, 84 [SEP] 36, Pencil, -2.096, 0.923, -1.423, 0, 0, 0, 84 [SEP] 37, WineBottle, -0.815, 0.916, -3.626, 0, 0, 0, 59 [SEP] 38, Spatula, -2.324, 0.938, -2.345, 0, 0, 0, 84 [SEP] 39, Bread, -0.415, 0.952, -3.625, 0, 0, 0, 59 [SEP] 40, Tomato, -2.552, 0.987, -1.884, 0, 0, 0, 84 [SEP] 41, Pan, -1.515, 0.935, -3.497, 0, 0, 0, 56 [SEP] 42, Cup, -0.716, 0.081, -3.662, 0, 0, 0, 65 [SEP] 43, Pot, -2.238, 0.913, -1.882, 0, 0, 0, 84 [SEP] 44, SaltShaker, -2.780, 0.919, -1.884, 0, 0, 0, 84 [SEP] 45, Potato, -2.082, 0.948, -1.595, 0, 295.782, 0, 84 [SEP] 46, PepperShaker, -0.528, 0.912, -3.909, 0, 0, 0, 59 [SEP] 47, ButterKnife, -0.371, 0.903, -3.443, 0, 0, 0, 59 [SEP] 48, DishSponge, -2.780, 0.923, -2.345, 0, 0, 0, 84 [SEP] 49, Spoon, -2.096, 0.924, -1.884, 0, 90, 0, 84 [SEP] 50, Plate, -0.329, 1.533, -3.672, 0, 45, 0, 67 [SEP] 51, Knife, -2.666, 0.946, -1.193, 0, 0, 0, 84 [SEP] 52, Mug, -0.382, 0.076, -3.205, 0, 0, 0, 65 [SEP] 53, Bowl, -2.324, 0.922, -1.423, 0, 0, 0, 84 [SEP] 54, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0, [SEP] 55, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0, [SEP] 56, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0, [SEP] 57, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0, [SEP] 58, Drawer, -0.749, 0.779, -3.551, 0, 0, 0, [SEP] 59, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0, [SEP] 60, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0, [SEP] 61, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0, [SEP] 62, Sink, -0.349, 0.907, -2.014, 0, 0, 0, [SEP] 63, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0, [SEP] 64, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0, [SEP] 65, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0, [SEP] 66, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0, [SEP] 67, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0, [SEP] 68, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0, [SEP] 69, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0, [SEP] 70, Drawer, -0.454, 0.779, -3.268, 0, 0, 0, [SEP] 71, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0, [SEP] 72, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0, [SEP] 73, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0, [SEP] 74, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0, [SEP] 75, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0, [SEP] 76, Fridge, -0.330, 0.0, -0.769, 0, 270, 0, [SEP] 77, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0, [SEP] 78, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0, [SEP] 79, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0, [SEP] 80, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0, [SEP] 81, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0, [SEP] 82, Toaster, -0.181, 0.903, -2.764, 0, 270, 0, [SEP] 83, Window, -2.503, 1.782, -4.185, 90, 180, 0, [SEP] 84, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0, [SEP] 85, Shelf, -2.432, 0.150, -1.694, 0, 270, 0, [SEP] 86, Blinds, -2.536, 2.699, -3.959, 0, 0, 0, [SEP] 87, Faucet, -0.079, 0.904, -2.034, 270, 180, 0, [SEP] 88, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0, [SEP] 89, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0, [SEP] 90, Shelf, -2.432, 0.523, -1.694, 0, 270, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Move to the stove. | STEP 2: Pick up the right pan on the stove. | STEP 3: Bring the pan to the fridge. | STEP 4: Chill the pan in the fridge. | STEP 5: Bring the pan back to the stove. | STEP 6: Put he pan on the back right of the stove. | END"]} +{"id": "trial_T20190906_215856_374127-1", "input": "place a cold pan on the gas cooker SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, -1.25, 0, 0, 0, [SEP] 1, Pan, -1.129, 0.935, -3.498, 0, 0, 0, 57 [SEP] 2, Glassbottle, -0.186, 1.528, -3.125, 0, 0, 0, 71 [SEP] 3, Pencil, -2.666, 0.923, -1.423, 0, 0, 0, 84 [SEP] 4, Pen, -2.438, 0.926, -1.884, 0, 0, 0, 84 [SEP] 5, Pen, -2.552, 0.926, -2.115, 0, 0, 0, 84 [SEP] 6, Potato, -0.508, 0.947, -3.368, 0, 0, 0, 59 [SEP] 7, Potato, -1.151, 1.661, -3.870, 0, 0, 0, 72 [SEP] 8, DishSponge, -0.230, 1.970, -1.773, 0, 0, 0, 61 [SEP] 9, DishSponge, -0.747, 0.081, -3.506, 0, 0, 0, 63 [SEP] 10, ButterKnife, -2.324, 0.923, -1.193, 0, 90, 0, 84 [SEP] 11, ButterKnife, -2.324, 0.923, -2.345, 0, 90, 0, 84 [SEP] 12, WineBottle, -2.780, 0.924, -2.115, 0, 0, 0, 84 [SEP] 13, WineBottle, -0.460, 0.082, -2.201, 0, 0, 0, 64 [SEP] 14, Spatula, -2.096, 0.938, -2.345, 0, 0, 0, 84 [SEP] 15, Fork, -0.600, 0.916, -3.839, 0, 0, 0, 59 [SEP] 16, Spoon, -2.324, 0.924, -1.654, 0, 0, 0, 84 [SEP] 17, Spoon, -2.324, 0.924, -1.193, 0, 0, 0, 84 [SEP] 18, Knife, -2.438, 0.946, -1.193, 0, 90, 0, 84 [SEP] 19, Knife, -2.438, 0.946, -0.963, 0, 0, 0, 84 [SEP] 20, Plate, -2.552, 0.925, -1.423, 0, 0, 0, 84 [SEP] 21, Egg, -2.006, 0.059, -3.835, 0, 0, 0, 75 [SEP] 22, Egg, -2.666, 0.956, -1.884, 0, 0, 0, 84 [SEP] 23, Tomato, -2.552, 0.987, -1.193, 0, 0, 0, 84 [SEP] 24, Tomato, -1.912, 0.090, -3.763, 0, 0, 0, 75 [SEP] 25, Bowl, -1.309, 1.629, -3.870, 0, 0, 0, 72 [SEP] 26, Bowl, -2.780, 0.922, -1.654, 0, 0, 0, 84 [SEP] 27, PepperShaker, -0.162, 1.524, -2.914, 0, 0, 0, 71 [SEP] 28, Apple, -0.671, 0.989, -3.555, 0, 0, 0, 59 [SEP] 29, Apple, -0.385, 0.989, -3.839, 0, 0, 0, 59 [SEP] 30, Lettuce, -2.562, 1.002, -1.677, 36.385, 0, 0, 84 [SEP] 31, Glassbottle, -0.398, 0.797, -2.082, 0, 270, 0, 77 [SEP] 32, Egg, -0.508, 0.948, -2.563, 0, 0, 0, 59 [SEP] 33, Pen, -2.666, 0.926, -2.345, 0, 0, 0, 84 [SEP] 34, Fork, -2.096, 0.924, -1.423, 0, 0, 0, 84 [SEP] 35, SoapBottle, -2.780, 0.922, -0.963, 0, 0, 0, 84 [SEP] 36, Pencil, -2.096, 0.923, -1.423, 0, 0, 0, 84 [SEP] 37, WineBottle, -0.815, 0.916, -3.626, 0, 0, 0, 59 [SEP] 38, Spatula, -2.324, 0.938, -2.345, 0, 0, 0, 84 [SEP] 39, Bread, -0.415, 0.952, -3.625, 0, 0, 0, 59 [SEP] 40, Tomato, -2.552, 0.987, -1.884, 0, 0, 0, 84 [SEP] 41, Pan, -1.515, 0.935, -3.497, 0, 0, 0, 56 [SEP] 42, Cup, -0.716, 0.081, -3.662, 0, 0, 0, 65 [SEP] 43, Pot, -2.238, 0.913, -1.882, 0, 0, 0, 84 [SEP] 44, SaltShaker, -2.780, 0.919, -1.884, 0, 0, 0, 84 [SEP] 45, Potato, -2.082, 0.948, -1.595, 0, 295.782, 0, 84 [SEP] 46, PepperShaker, -0.528, 0.912, -3.909, 0, 0, 0, 59 [SEP] 47, ButterKnife, -0.371, 0.903, -3.443, 0, 0, 0, 59 [SEP] 48, DishSponge, -2.780, 0.923, -2.345, 0, 0, 0, 84 [SEP] 49, Spoon, -2.096, 0.924, -1.884, 0, 90, 0, 84 [SEP] 50, Plate, -0.329, 1.533, -3.672, 0, 45, 0, 67 [SEP] 51, Knife, -2.666, 0.946, -1.193, 0, 0, 0, 84 [SEP] 52, Mug, -0.382, 0.076, -3.205, 0, 0, 0, 65 [SEP] 53, Bowl, -2.324, 0.922, -1.423, 0, 0, 0, 84 [SEP] 54, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0, [SEP] 55, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0, [SEP] 56, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0, [SEP] 57, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0, [SEP] 58, Drawer, -0.749, 0.779, -3.551, 0, 0, 0, [SEP] 59, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0, [SEP] 60, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0, [SEP] 61, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0, [SEP] 62, Sink, -0.349, 0.907, -2.014, 0, 0, 0, [SEP] 63, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0, [SEP] 64, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0, [SEP] 65, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0, [SEP] 66, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0, [SEP] 67, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0, [SEP] 68, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0, [SEP] 69, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0, [SEP] 70, Drawer, -0.454, 0.779, -3.268, 0, 0, 0, [SEP] 71, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0, [SEP] 72, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0, [SEP] 73, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0, [SEP] 74, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0, [SEP] 75, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0, [SEP] 76, Fridge, -0.330, 0.0, -0.769, 0, 270, 0, [SEP] 77, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0, [SEP] 78, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0, [SEP] 79, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0, [SEP] 80, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0, [SEP] 81, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0, [SEP] 82, Toaster, -0.181, 0.903, -2.764, 0, 270, 0, [SEP] 83, Window, -2.503, 1.782, -4.185, 90, 180, 0, [SEP] 84, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0, [SEP] 85, Shelf, -2.432, 0.150, -1.694, 0, 270, 0, [SEP] 86, Blinds, -2.536, 2.699, -3.959, 0, 0, 0, [SEP] 87, Faucet, -0.079, 0.904, -2.034, 270, 180, 0, [SEP] 88, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0, [SEP] 89, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0, [SEP] 90, Shelf, -2.432, 0.523, -1.694, 0, 270, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: turn around and move towards the gas cooker | STEP 2: pick up the pan from the gas cooker | STEP 3: turn around and head for the fridge | STEP 4: place the pan in the fridge and allow to cool for some time before taking it out | STEP 5: turn right and move towards the gas | STEP 6: place the pan on the gas | END"]} +{"id": "trial_T20190906_215856_374127-2", "input": "Put the tray in the freezer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, -1.25, 0, 0, 0, [SEP] 1, Pan, -1.129, 0.935, -3.498, 0, 0, 0, 57 [SEP] 2, Glassbottle, -0.186, 1.528, -3.125, 0, 0, 0, 71 [SEP] 3, Pencil, -2.666, 0.923, -1.423, 0, 0, 0, 84 [SEP] 4, Pen, -2.438, 0.926, -1.884, 0, 0, 0, 84 [SEP] 5, Pen, -2.552, 0.926, -2.115, 0, 0, 0, 84 [SEP] 6, Potato, -0.508, 0.947, -3.368, 0, 0, 0, 59 [SEP] 7, Potato, -1.151, 1.661, -3.870, 0, 0, 0, 72 [SEP] 8, DishSponge, -0.230, 1.970, -1.773, 0, 0, 0, 61 [SEP] 9, DishSponge, -0.747, 0.081, -3.506, 0, 0, 0, 63 [SEP] 10, ButterKnife, -2.324, 0.923, -1.193, 0, 90, 0, 84 [SEP] 11, ButterKnife, -2.324, 0.923, -2.345, 0, 90, 0, 84 [SEP] 12, WineBottle, -2.780, 0.924, -2.115, 0, 0, 0, 84 [SEP] 13, WineBottle, -0.460, 0.082, -2.201, 0, 0, 0, 64 [SEP] 14, Spatula, -2.096, 0.938, -2.345, 0, 0, 0, 84 [SEP] 15, Fork, -0.600, 0.916, -3.839, 0, 0, 0, 59 [SEP] 16, Spoon, -2.324, 0.924, -1.654, 0, 0, 0, 84 [SEP] 17, Spoon, -2.324, 0.924, -1.193, 0, 0, 0, 84 [SEP] 18, Knife, -2.438, 0.946, -1.193, 0, 90, 0, 84 [SEP] 19, Knife, -2.438, 0.946, -0.963, 0, 0, 0, 84 [SEP] 20, Plate, -2.552, 0.925, -1.423, 0, 0, 0, 84 [SEP] 21, Egg, -2.006, 0.059, -3.835, 0, 0, 0, 75 [SEP] 22, Egg, -2.666, 0.956, -1.884, 0, 0, 0, 84 [SEP] 23, Tomato, -2.552, 0.987, -1.193, 0, 0, 0, 84 [SEP] 24, Tomato, -1.912, 0.090, -3.763, 0, 0, 0, 75 [SEP] 25, Bowl, -1.309, 1.629, -3.870, 0, 0, 0, 72 [SEP] 26, Bowl, -2.780, 0.922, -1.654, 0, 0, 0, 84 [SEP] 27, PepperShaker, -0.162, 1.524, -2.914, 0, 0, 0, 71 [SEP] 28, Apple, -0.671, 0.989, -3.555, 0, 0, 0, 59 [SEP] 29, Apple, -0.385, 0.989, -3.839, 0, 0, 0, 59 [SEP] 30, Lettuce, -2.562, 1.002, -1.677, 36.385, 0, 0, 84 [SEP] 31, Glassbottle, -0.398, 0.797, -2.082, 0, 270, 0, 77 [SEP] 32, Egg, -0.508, 0.948, -2.563, 0, 0, 0, 59 [SEP] 33, Pen, -2.666, 0.926, -2.345, 0, 0, 0, 84 [SEP] 34, Fork, -2.096, 0.924, -1.423, 0, 0, 0, 84 [SEP] 35, SoapBottle, -2.780, 0.922, -0.963, 0, 0, 0, 84 [SEP] 36, Pencil, -2.096, 0.923, -1.423, 0, 0, 0, 84 [SEP] 37, WineBottle, -0.815, 0.916, -3.626, 0, 0, 0, 59 [SEP] 38, Spatula, -2.324, 0.938, -2.345, 0, 0, 0, 84 [SEP] 39, Bread, -0.415, 0.952, -3.625, 0, 0, 0, 59 [SEP] 40, Tomato, -2.552, 0.987, -1.884, 0, 0, 0, 84 [SEP] 41, Pan, -1.515, 0.935, -3.497, 0, 0, 0, 56 [SEP] 42, Cup, -0.716, 0.081, -3.662, 0, 0, 0, 65 [SEP] 43, Pot, -2.238, 0.913, -1.882, 0, 0, 0, 84 [SEP] 44, SaltShaker, -2.780, 0.919, -1.884, 0, 0, 0, 84 [SEP] 45, Potato, -2.082, 0.948, -1.595, 0, 295.782, 0, 84 [SEP] 46, PepperShaker, -0.528, 0.912, -3.909, 0, 0, 0, 59 [SEP] 47, ButterKnife, -0.371, 0.903, -3.443, 0, 0, 0, 59 [SEP] 48, DishSponge, -2.780, 0.923, -2.345, 0, 0, 0, 84 [SEP] 49, Spoon, -2.096, 0.924, -1.884, 0, 90, 0, 84 [SEP] 50, Plate, -0.329, 1.533, -3.672, 0, 45, 0, 67 [SEP] 51, Knife, -2.666, 0.946, -1.193, 0, 0, 0, 84 [SEP] 52, Mug, -0.382, 0.076, -3.205, 0, 0, 0, 65 [SEP] 53, Bowl, -2.324, 0.922, -1.423, 0, 0, 0, 84 [SEP] 54, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0, [SEP] 55, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0, [SEP] 56, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0, [SEP] 57, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0, [SEP] 58, Drawer, -0.749, 0.779, -3.551, 0, 0, 0, [SEP] 59, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0, [SEP] 60, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0, [SEP] 61, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0, [SEP] 62, Sink, -0.349, 0.907, -2.014, 0, 0, 0, [SEP] 63, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0, [SEP] 64, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0, [SEP] 65, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0, [SEP] 66, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0, [SEP] 67, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0, [SEP] 68, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0, [SEP] 69, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0, [SEP] 70, Drawer, -0.454, 0.779, -3.268, 0, 0, 0, [SEP] 71, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0, [SEP] 72, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0, [SEP] 73, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0, [SEP] 74, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0, [SEP] 75, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0, [SEP] 76, Fridge, -0.330, 0.0, -0.769, 0, 270, 0, [SEP] 77, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0, [SEP] 78, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0, [SEP] 79, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0, [SEP] 80, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0, [SEP] 81, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0, [SEP] 82, Toaster, -0.181, 0.903, -2.764, 0, 270, 0, [SEP] 83, Window, -2.503, 1.782, -4.185, 90, 180, 0, [SEP] 84, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0, [SEP] 85, Shelf, -2.432, 0.150, -1.694, 0, 270, 0, [SEP] 86, Blinds, -2.536, 2.699, -3.959, 0, 0, 0, [SEP] 87, Faucet, -0.079, 0.904, -2.034, 270, 180, 0, [SEP] 88, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0, [SEP] 89, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0, [SEP] 90, Shelf, -2.432, 0.523, -1.694, 0, 270, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Turn all the way around. Move forward to the stove. | STEP 2: Pick up the tray that is in the right hand corner of the stove. | STEP 3: Turn all the way around. Move to the wall. Turn left and stop in front of the fridge. | STEP 4: Open the freezer on the bottom of the fridge. Put the tray in. Close the door. Open the freezer and grab the tray out. | STEP 5: Turn all the way around facing the stove. Go to the stove. | STEP 6: Put the tray on the back right corner of the stove. | END"]} +{"id": "trial_T20190906_192817_654400-0", "input": "Take the cup out of the microwave, put it in the fridge, back in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.908, 2.5, 0, 0, 0, [SEP] 1, SprayBottle, -0.129, 0.116, -0.490, 0, 0, 0, 61 [SEP] 2, Potato, -0.968, 0.957, -0.509, 0, 0, 0, 72 [SEP] 3, Potato, -1.378, 0.796, 0.673, 0, 90, 0, 86 [SEP] 4, CellPhone, 1.155, 0.773, 1.050, 0, 0, 0, 76 [SEP] 5, ButterKnife, -1.197, 0.749, 2.273, 0, 0, 0, 47 [SEP] 6, ButterKnife, 1.200, 0.886, 2.800, 0, 0, 0, 98 [SEP] 7, Kettle, 0.502, 0.939, -0.740, 0, 90, 0, 73 [SEP] 8, Spoon, -0.919, 0.750, 2.644, 0, 0, 0, 47 [SEP] 9, Fork, 0.041, 0.759, -0.651, 0, 90, 0, 93 [SEP] 10, Spatula, 1.207, 0.926, -0.428, 0, 0, 0, 66 [SEP] 11, Spatula, 1.207, 0.926, 0.422, 0, 0, 0, 66 [SEP] 12, Egg, -1.475, 0.783, 2.830, 0, 0, 0, 47 [SEP] 13, Plate, 0.726, 2.156, -0.787, 0, 0, 0, 50 [SEP] 14, Tomato, -1.130, 0.391, 1.092, 0, 90, 0, 86 [SEP] 15, Bowl, 1.444, 0.909, 0.422, 0, 0, 0, 66 [SEP] 16, Bowl, -1.263, 1.419, 1.197, 0, 90, 0, 86 [SEP] 17, Bread, -1.383, 0.812, 2.459, 0, 0, 0, 47 [SEP] 18, SaltShaker, -0.919, 0.745, 3.015, 0, 0, 0, 47 [SEP] 19, SaltShaker, 1.262, 1.652, -0.453, 0, 0, 0, 48 [SEP] 20, PepperShaker, 1.219, 0.112, 0.770, 0, 0, 0, 58 [SEP] 21, Bread, -1.263, 1.700, 0.883, 0, 90, 0, 86 [SEP] 22, Glassbottle, 1.387, 1.656, -0.333, 0, 0, 0, 48 [SEP] 23, Fork, 1.117, 0.886, 2.153, 0, 0, 0, 98 [SEP] 24, Kettle, 1.284, 0.887, 2.369, 0, 0, 0, 98 [SEP] 25, Tomato, -1.378, 1.686, 0.680, 0, 90, 0, 86 [SEP] 26, Plate, 1.034, 0.887, 2.692, 0, 0, 0, 98 [SEP] 27, CellPhone, -1.135, 0.909, -0.392, 0, 0, 0, 72 [SEP] 28, Lettuce, -0.919, 0.820, 1.902, 0, 0, 0, 47 [SEP] 29, Pot, 0.510, 0.936, -0.491, 0, 0, 0, 79 [SEP] 30, SoapBottle, 1.131, 0.117, 0.694, 0, 180, 0, 58 [SEP] 31, WineBottle, -1.092, 0.752, 1.092, 0, 90, 0, 86 [SEP] 32, Spatula, -1.012, 0.763, 2.087, 0, 0, 0, 47 [SEP] 33, Bowl, -1.012, 0.748, 2.459, 0, 0, 0, 47 [SEP] 34, Apple, 0.103, 0.818, -0.691, 0, 0, 0, 93 [SEP] 35, Cup, -1.296, 1.014, -0.057, 0, 90, 0, 92 [SEP] 36, Knife, -1.135, 0.934, -0.732, 0, 0, 0, 72 [SEP] 37, Egg, -1.383, 0.783, 2.644, 0, 0, 0, 47 [SEP] 38, SaltShaker, 1.365, 0.907, -0.144, 0, 0, 0, 66 [SEP] 39, PepperShaker, 1.365, 0.907, 0.706, 0, 0, 0, 66 [SEP] 40, Potato, -0.144, 0.803, -0.533, 0, 0, 0, 93 [SEP] 41, ButterKnife, -1.197, 0.748, 2.644, 0, 0, 0, 47 [SEP] 42, DishSponge, 1.207, 0.911, 0.706, 0, 0, 0, 66 [SEP] 43, Pan, 0.802, 0.939, -0.473, 0, 0, 0, 74 [SEP] 44, Spoon, 1.367, 0.887, 2.153, 0, 0, 0, 98 [SEP] 45, SprayBottle, 1.245, 0.085, 1.503, 0, 0, 0, 87 [SEP] 46, Mug, 1.523, 0.906, 0.139, 0, 0, 0, 66 [SEP] 47, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0, [SEP] 48, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0, [SEP] 49, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0, [SEP] 50, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0, [SEP] 51, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0, [SEP] 52, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0, [SEP] 53, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0, [SEP] 54, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0, [SEP] 55, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0, [SEP] 56, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0, [SEP] 57, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0, [SEP] 58, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0, [SEP] 59, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0, [SEP] 60, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0, [SEP] 61, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0, [SEP] 62, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0, [SEP] 63, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0, [SEP] 64, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0, [SEP] 65, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0, [SEP] 66, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0, [SEP] 67, Drawer, 1.116, 0.792, -0.015, 0, 0, 0, [SEP] 68, Drawer, -1.116, 0.792, 0.210, 0, 180, 0, [SEP] 69, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0, [SEP] 70, Drawer, -1.116, 0.792, -0.170, 0, 180, 0, [SEP] 71, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0, [SEP] 72, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0, [SEP] 73, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0, [SEP] 74, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0, [SEP] 75, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0, [SEP] 76, Drawer, 1.116, 0.792, 1.081, 0, 0, 0, [SEP] 77, Sink, -0.013, 0.912, -0.615, 0, 0, 0, [SEP] 78, Drawer, 1.116, 0.792, 0.732, 0, 0, 0, [SEP] 79, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0, [SEP] 80, Drawer, 1.116, 0.792, 0.367, 0, 0, 0, [SEP] 81, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0, [SEP] 82, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0, [SEP] 83, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0, [SEP] 84, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0, [SEP] 85, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0, [SEP] 86, Fridge, -1.300, 0.008, 0.987, 0, 90, 0, [SEP] 87, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0, [SEP] 88, Window, -0.012, 1.641, -0.972, 90, 0, 0, [SEP] 89, Window, 1.598, 1.646, 2.489, 90, 270, 0, [SEP] 90, Toaster, 1.356, 0.900, 1.044, 0, 270, 0, [SEP] 91, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0, [SEP] 92, Microwave, -1.343, 0.900, 0.053, 0, 90, 0, [SEP] 93, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0, [SEP] 94, Faucet, -0.026, 0.927, -0.808, 0, 0, 0, [SEP] 95, Shelf, -1.182, 0.127, 2.414, 0, 90, 0, [SEP] 96, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0, [SEP] 97, Shelf, -1.182, 0.435, 2.414, 0, 90, 0, [SEP] 98, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896, [SEP] 99, NorthWall, , , , , , , [SEP] 100, EastWall, , , , , , , [SEP] 101, SouthWall, , , , , , , [SEP] 102, WestWall, , , , , , , ", "output": ["STEP 1: Turn around. Head towards the sink. Turn right and go to the microwave. | STEP 2: Open the microwave and take the cup that is in the microwave out. | STEP 3: Turn Right and go to the fridge. | STEP 4: Open the fridge. Put the cup to the left of the wine bottle. Shut the fridge. Open the fridge and take the cup out. | STEP 5: Turn left and go to the microwave. Put the cup in the microwave. | STEP 6: Put the cup in the microwave and shut the microwave door. | END"]} +{"id": "trial_T20190906_192817_654400-1", "input": "Put a chilled cup in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.908, 2.5, 0, 0, 0, [SEP] 1, SprayBottle, -0.129, 0.116, -0.490, 0, 0, 0, 61 [SEP] 2, Potato, -0.968, 0.957, -0.509, 0, 0, 0, 72 [SEP] 3, Potato, -1.378, 0.796, 0.673, 0, 90, 0, 86 [SEP] 4, CellPhone, 1.155, 0.773, 1.050, 0, 0, 0, 76 [SEP] 5, ButterKnife, -1.197, 0.749, 2.273, 0, 0, 0, 47 [SEP] 6, ButterKnife, 1.200, 0.886, 2.800, 0, 0, 0, 98 [SEP] 7, Kettle, 0.502, 0.939, -0.740, 0, 90, 0, 73 [SEP] 8, Spoon, -0.919, 0.750, 2.644, 0, 0, 0, 47 [SEP] 9, Fork, 0.041, 0.759, -0.651, 0, 90, 0, 93 [SEP] 10, Spatula, 1.207, 0.926, -0.428, 0, 0, 0, 66 [SEP] 11, Spatula, 1.207, 0.926, 0.422, 0, 0, 0, 66 [SEP] 12, Egg, -1.475, 0.783, 2.830, 0, 0, 0, 47 [SEP] 13, Plate, 0.726, 2.156, -0.787, 0, 0, 0, 50 [SEP] 14, Tomato, -1.130, 0.391, 1.092, 0, 90, 0, 86 [SEP] 15, Bowl, 1.444, 0.909, 0.422, 0, 0, 0, 66 [SEP] 16, Bowl, -1.263, 1.419, 1.197, 0, 90, 0, 86 [SEP] 17, Bread, -1.383, 0.812, 2.459, 0, 0, 0, 47 [SEP] 18, SaltShaker, -0.919, 0.745, 3.015, 0, 0, 0, 47 [SEP] 19, SaltShaker, 1.262, 1.652, -0.453, 0, 0, 0, 48 [SEP] 20, PepperShaker, 1.219, 0.112, 0.770, 0, 0, 0, 58 [SEP] 21, Bread, -1.263, 1.700, 0.883, 0, 90, 0, 86 [SEP] 22, Glassbottle, 1.387, 1.656, -0.333, 0, 0, 0, 48 [SEP] 23, Fork, 1.117, 0.886, 2.153, 0, 0, 0, 98 [SEP] 24, Kettle, 1.284, 0.887, 2.369, 0, 0, 0, 98 [SEP] 25, Tomato, -1.378, 1.686, 0.680, 0, 90, 0, 86 [SEP] 26, Plate, 1.034, 0.887, 2.692, 0, 0, 0, 98 [SEP] 27, CellPhone, -1.135, 0.909, -0.392, 0, 0, 0, 72 [SEP] 28, Lettuce, -0.919, 0.820, 1.902, 0, 0, 0, 47 [SEP] 29, Pot, 0.510, 0.936, -0.491, 0, 0, 0, 79 [SEP] 30, SoapBottle, 1.131, 0.117, 0.694, 0, 180, 0, 58 [SEP] 31, WineBottle, -1.092, 0.752, 1.092, 0, 90, 0, 86 [SEP] 32, Spatula, -1.012, 0.763, 2.087, 0, 0, 0, 47 [SEP] 33, Bowl, -1.012, 0.748, 2.459, 0, 0, 0, 47 [SEP] 34, Apple, 0.103, 0.818, -0.691, 0, 0, 0, 93 [SEP] 35, Cup, -1.296, 1.014, -0.057, 0, 90, 0, 92 [SEP] 36, Knife, -1.135, 0.934, -0.732, 0, 0, 0, 72 [SEP] 37, Egg, -1.383, 0.783, 2.644, 0, 0, 0, 47 [SEP] 38, SaltShaker, 1.365, 0.907, -0.144, 0, 0, 0, 66 [SEP] 39, PepperShaker, 1.365, 0.907, 0.706, 0, 0, 0, 66 [SEP] 40, Potato, -0.144, 0.803, -0.533, 0, 0, 0, 93 [SEP] 41, ButterKnife, -1.197, 0.748, 2.644, 0, 0, 0, 47 [SEP] 42, DishSponge, 1.207, 0.911, 0.706, 0, 0, 0, 66 [SEP] 43, Pan, 0.802, 0.939, -0.473, 0, 0, 0, 74 [SEP] 44, Spoon, 1.367, 0.887, 2.153, 0, 0, 0, 98 [SEP] 45, SprayBottle, 1.245, 0.085, 1.503, 0, 0, 0, 87 [SEP] 46, Mug, 1.523, 0.906, 0.139, 0, 0, 0, 66 [SEP] 47, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0, [SEP] 48, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0, [SEP] 49, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0, [SEP] 50, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0, [SEP] 51, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0, [SEP] 52, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0, [SEP] 53, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0, [SEP] 54, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0, [SEP] 55, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0, [SEP] 56, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0, [SEP] 57, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0, [SEP] 58, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0, [SEP] 59, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0, [SEP] 60, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0, [SEP] 61, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0, [SEP] 62, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0, [SEP] 63, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0, [SEP] 64, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0, [SEP] 65, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0, [SEP] 66, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0, [SEP] 67, Drawer, 1.116, 0.792, -0.015, 0, 0, 0, [SEP] 68, Drawer, -1.116, 0.792, 0.210, 0, 180, 0, [SEP] 69, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0, [SEP] 70, Drawer, -1.116, 0.792, -0.170, 0, 180, 0, [SEP] 71, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0, [SEP] 72, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0, [SEP] 73, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0, [SEP] 74, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0, [SEP] 75, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0, [SEP] 76, Drawer, 1.116, 0.792, 1.081, 0, 0, 0, [SEP] 77, Sink, -0.013, 0.912, -0.615, 0, 0, 0, [SEP] 78, Drawer, 1.116, 0.792, 0.732, 0, 0, 0, [SEP] 79, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0, [SEP] 80, Drawer, 1.116, 0.792, 0.367, 0, 0, 0, [SEP] 81, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0, [SEP] 82, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0, [SEP] 83, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0, [SEP] 84, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0, [SEP] 85, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0, [SEP] 86, Fridge, -1.300, 0.008, 0.987, 0, 90, 0, [SEP] 87, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0, [SEP] 88, Window, -0.012, 1.641, -0.972, 90, 0, 0, [SEP] 89, Window, 1.598, 1.646, 2.489, 90, 270, 0, [SEP] 90, Toaster, 1.356, 0.900, 1.044, 0, 270, 0, [SEP] 91, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0, [SEP] 92, Microwave, -1.343, 0.900, 0.053, 0, 90, 0, [SEP] 93, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0, [SEP] 94, Faucet, -0.026, 0.927, -0.808, 0, 0, 0, [SEP] 95, Shelf, -1.182, 0.127, 2.414, 0, 90, 0, [SEP] 96, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0, [SEP] 97, Shelf, -1.182, 0.435, 2.414, 0, 90, 0, [SEP] 98, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896, [SEP] 99, NorthWall, , , , , , , [SEP] 100, EastWall, , , , , , , [SEP] 101, SouthWall, , , , , , , [SEP] 102, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the microwave to the left of the fridge. | STEP 2: Take the cup from the microwave. | STEP 3: Go to the fridge to your right. | STEP 4: Chill the cup in the fridge. | STEP 5: Go to the microwave to the left of the fridge. | STEP 6: Put the cup in the microwave. | END"]} +{"id": "trial_T20190906_192817_654400-2", "input": "Cool down the cup inside the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.908, 2.5, 0, 0, 0, [SEP] 1, SprayBottle, -0.129, 0.116, -0.490, 0, 0, 0, 61 [SEP] 2, Potato, -0.968, 0.957, -0.509, 0, 0, 0, 72 [SEP] 3, Potato, -1.378, 0.796, 0.673, 0, 90, 0, 86 [SEP] 4, CellPhone, 1.155, 0.773, 1.050, 0, 0, 0, 76 [SEP] 5, ButterKnife, -1.197, 0.749, 2.273, 0, 0, 0, 47 [SEP] 6, ButterKnife, 1.200, 0.886, 2.800, 0, 0, 0, 98 [SEP] 7, Kettle, 0.502, 0.939, -0.740, 0, 90, 0, 73 [SEP] 8, Spoon, -0.919, 0.750, 2.644, 0, 0, 0, 47 [SEP] 9, Fork, 0.041, 0.759, -0.651, 0, 90, 0, 93 [SEP] 10, Spatula, 1.207, 0.926, -0.428, 0, 0, 0, 66 [SEP] 11, Spatula, 1.207, 0.926, 0.422, 0, 0, 0, 66 [SEP] 12, Egg, -1.475, 0.783, 2.830, 0, 0, 0, 47 [SEP] 13, Plate, 0.726, 2.156, -0.787, 0, 0, 0, 50 [SEP] 14, Tomato, -1.130, 0.391, 1.092, 0, 90, 0, 86 [SEP] 15, Bowl, 1.444, 0.909, 0.422, 0, 0, 0, 66 [SEP] 16, Bowl, -1.263, 1.419, 1.197, 0, 90, 0, 86 [SEP] 17, Bread, -1.383, 0.812, 2.459, 0, 0, 0, 47 [SEP] 18, SaltShaker, -0.919, 0.745, 3.015, 0, 0, 0, 47 [SEP] 19, SaltShaker, 1.262, 1.652, -0.453, 0, 0, 0, 48 [SEP] 20, PepperShaker, 1.219, 0.112, 0.770, 0, 0, 0, 58 [SEP] 21, Bread, -1.263, 1.700, 0.883, 0, 90, 0, 86 [SEP] 22, Glassbottle, 1.387, 1.656, -0.333, 0, 0, 0, 48 [SEP] 23, Fork, 1.117, 0.886, 2.153, 0, 0, 0, 98 [SEP] 24, Kettle, 1.284, 0.887, 2.369, 0, 0, 0, 98 [SEP] 25, Tomato, -1.378, 1.686, 0.680, 0, 90, 0, 86 [SEP] 26, Plate, 1.034, 0.887, 2.692, 0, 0, 0, 98 [SEP] 27, CellPhone, -1.135, 0.909, -0.392, 0, 0, 0, 72 [SEP] 28, Lettuce, -0.919, 0.820, 1.902, 0, 0, 0, 47 [SEP] 29, Pot, 0.510, 0.936, -0.491, 0, 0, 0, 79 [SEP] 30, SoapBottle, 1.131, 0.117, 0.694, 0, 180, 0, 58 [SEP] 31, WineBottle, -1.092, 0.752, 1.092, 0, 90, 0, 86 [SEP] 32, Spatula, -1.012, 0.763, 2.087, 0, 0, 0, 47 [SEP] 33, Bowl, -1.012, 0.748, 2.459, 0, 0, 0, 47 [SEP] 34, Apple, 0.103, 0.818, -0.691, 0, 0, 0, 93 [SEP] 35, Cup, -1.296, 1.014, -0.057, 0, 90, 0, 92 [SEP] 36, Knife, -1.135, 0.934, -0.732, 0, 0, 0, 72 [SEP] 37, Egg, -1.383, 0.783, 2.644, 0, 0, 0, 47 [SEP] 38, SaltShaker, 1.365, 0.907, -0.144, 0, 0, 0, 66 [SEP] 39, PepperShaker, 1.365, 0.907, 0.706, 0, 0, 0, 66 [SEP] 40, Potato, -0.144, 0.803, -0.533, 0, 0, 0, 93 [SEP] 41, ButterKnife, -1.197, 0.748, 2.644, 0, 0, 0, 47 [SEP] 42, DishSponge, 1.207, 0.911, 0.706, 0, 0, 0, 66 [SEP] 43, Pan, 0.802, 0.939, -0.473, 0, 0, 0, 74 [SEP] 44, Spoon, 1.367, 0.887, 2.153, 0, 0, 0, 98 [SEP] 45, SprayBottle, 1.245, 0.085, 1.503, 0, 0, 0, 87 [SEP] 46, Mug, 1.523, 0.906, 0.139, 0, 0, 0, 66 [SEP] 47, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0, [SEP] 48, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0, [SEP] 49, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0, [SEP] 50, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0, [SEP] 51, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0, [SEP] 52, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0, [SEP] 53, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0, [SEP] 54, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0, [SEP] 55, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0, [SEP] 56, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0, [SEP] 57, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0, [SEP] 58, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0, [SEP] 59, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0, [SEP] 60, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0, [SEP] 61, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0, [SEP] 62, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0, [SEP] 63, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0, [SEP] 64, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0, [SEP] 65, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0, [SEP] 66, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0, [SEP] 67, Drawer, 1.116, 0.792, -0.015, 0, 0, 0, [SEP] 68, Drawer, -1.116, 0.792, 0.210, 0, 180, 0, [SEP] 69, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0, [SEP] 70, Drawer, -1.116, 0.792, -0.170, 0, 180, 0, [SEP] 71, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0, [SEP] 72, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0, [SEP] 73, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0, [SEP] 74, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0, [SEP] 75, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0, [SEP] 76, Drawer, 1.116, 0.792, 1.081, 0, 0, 0, [SEP] 77, Sink, -0.013, 0.912, -0.615, 0, 0, 0, [SEP] 78, Drawer, 1.116, 0.792, 0.732, 0, 0, 0, [SEP] 79, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0, [SEP] 80, Drawer, 1.116, 0.792, 0.367, 0, 0, 0, [SEP] 81, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0, [SEP] 82, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0, [SEP] 83, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0, [SEP] 84, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0, [SEP] 85, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0, [SEP] 86, Fridge, -1.300, 0.008, 0.987, 0, 90, 0, [SEP] 87, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0, [SEP] 88, Window, -0.012, 1.641, -0.972, 90, 0, 0, [SEP] 89, Window, 1.598, 1.646, 2.489, 90, 270, 0, [SEP] 90, Toaster, 1.356, 0.900, 1.044, 0, 270, 0, [SEP] 91, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0, [SEP] 92, Microwave, -1.343, 0.900, 0.053, 0, 90, 0, [SEP] 93, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0, [SEP] 94, Faucet, -0.026, 0.927, -0.808, 0, 0, 0, [SEP] 95, Shelf, -1.182, 0.127, 2.414, 0, 90, 0, [SEP] 96, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0, [SEP] 97, Shelf, -1.182, 0.435, 2.414, 0, 90, 0, [SEP] 98, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896, [SEP] 99, NorthWall, , , , , , , [SEP] 100, EastWall, , , , , , , [SEP] 101, SouthWall, , , , , , , [SEP] 102, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, walk towards the sink, turn right towards the microwave. | STEP 2: Open the microwave, take the cup out of it, and close the microwave. | STEP 3: Head towards the fridge on your right. | STEP 4: Open the fridge, place the cup to the left of the bottle, close the fridge, let the cup cool, and then take the cup out of the fridge. | STEP 5: Turn left and head towards the microwave on your right. | STEP 6: Open the microwave, place the cup back inside, and close the microwave. | END"]} +{"id": "trial_T20190909_064046_163660-0", "input": "Put a large metal pan with an apple slice in it in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 2.0, 0, 270, 0, [SEP] 1, Pan, 0.913, 0.850, 1.375, 0, 0, 0, 45 [SEP] 2, DishSponge, -1.836, 0.702, 3.774, 0, 0, 0, 81 [SEP] 3, DishSponge, -1.307, 1.683, 3.858, 0, 0, 0, 74 [SEP] 4, ButterKnife, -1.336, 0.823, 3.556, 0, 0, 0, 69 [SEP] 5, ButterKnife, -0.524, 0.900, 1.040, 0, 90, 0, 87 [SEP] 6, Pot, 0.913, 0.850, 1.768, 0, 0, 0, 67 [SEP] 7, Fork, 1.024, 0.823, 1.028, 0, 270, 0, 46 [SEP] 8, Fork, 0.771, 0.691, 0.944, 0, 90, 0, 57 [SEP] 9, Egg, 0.960, 0.060, 2.889, 0, 0, 0, 80 [SEP] 10, SoapBottle, -2.501, 1.398, 3.897, 0, 0, 0, 44 [SEP] 11, SoapBottle, -1.819, 0.822, 3.545, 0, 0, 0, 69 [SEP] 12, Tomato, -2.694, 1.259, 2.277, 0, 90, 0, 78 [SEP] 13, PepperShaker, 1.099, 0.819, 1.028, 0, 0, 0, 46 [SEP] 14, PepperShaker, -1.317, 0.896, 1.040, 0, 90, 0, 87 [SEP] 15, Mug, -0.789, 0.895, 1.246, 0, 90, 0, 87 [SEP] 16, Apple, 1.024, 0.884, 2.458, 0, 0, 0, 51 [SEP] 17, Apple, -1.317, 0.961, 1.143, 0, 90, 0, 87 [SEP] 18, Plate, -1.053, 0.904, 1.452, 0, 90, 0, 87 [SEP] 19, Fork, -1.317, 0.901, 1.452, 0, 90, 0, 87 [SEP] 20, Bread, 0.827, 0.861, 2.449, 0, 0, 0, 46 [SEP] 21, Spatula, 0.712, 0.848, 2.134, 0, 200.845, 0, 51 [SEP] 22, PaperTowelRoll, 0.931, 0.128, 2.977, 0, 0, 0, 80 [SEP] 23, Potato, 0.725, 0.866, 1.028, 0, 0, 0, 46 [SEP] 24, SoapBottle, -0.657, 0.900, 1.143, 0, 90, 0, 87 [SEP] 25, Egg, -2.519, 0.803, 2.221, 0, 90, 0, 78 [SEP] 26, Cup, -2.862, 1.398, 3.897, 0, 0, 0, 60 [SEP] 27, Pot, 0.642, 0.850, 1.768, 0, 0, 0, 73 [SEP] 28, SaltShaker, 0.781, 0.122, 2.081, 0, 0, 0, 61 [SEP] 29, Pan, -2.667, 0.812, 3.74, 0, 137.145, 0, 69 [SEP] 30, PepperShaker, -2.524, 0.153, 1.144, 0, 0, 0, 54 [SEP] 31, ButterKnife, 0.725, 0.823, 2.198, 0, 0, 0, 51 [SEP] 32, Tomato, -2.710, 1.476, 2.333, 0, 90, 0, 78 [SEP] 33, DishSponge, -2.115, 0.698, 3.665, 0, 0, 0, 58 [SEP] 34, Lettuce, -0.580, 0.956, 1.358, 31.822, 0, 0, 87 [SEP] 35, Spoon, 0.736, 0.693, 2.496, 0, 90, 0, 43 [SEP] 36, Apple, -1.486, 1.420, 3.934, 0, 180, 0, 75 [SEP] 37, Knife, 0.650, 0.846, 1.028, 0, 270, 0, 46 [SEP] 38, Mug, -1.109, 0.940, 1.203, 0, 0, 0, 87 [SEP] 39, Bowl, -2.542, 1.847, 2.242, 0, 0, 0, 56 [SEP] 40, Drawer, 0.729, 0.703, 2.199, 0, 0, 0, [SEP] 41, Cabinet, -1.962, 1.926, 3.733, 0, 0, 0, [SEP] 42, Cabinet, -2.377, 2.014, 1.058, 0, 0, 0, [SEP] 43, Drawer, 0.729, 0.703, 2.532, 0, 0, 0, [SEP] 44, Cabinet, -2.622, 1.925, 3.733, 0, 0, 0, [SEP] 45, StoveBurner, 0.913, 0.843, 1.375, 0, 0, 0, [SEP] 46, CounterTop, 0.864, 0.858, 0.984, 0, 0, 0, [SEP] 47, Cabinet, -1.976, 1.779, 3.734, 0, 0, 0, [SEP] 48, Cabinet, 0.580, 0.385, 0.819, 0, 0, 0, [SEP] 49, Cabinet, -2.379, 1.408, 1.677, 0, 0, 0, [SEP] 50, Cabinet, -0.419, 1.703, 3.736, 0, 0, 0, [SEP] 51, CounterTop, 0.864, 0.858, 2.371, 0, 0, 0, [SEP] 52, Sink, -1.702, 0.726, 3.828, 0, 180, 0, [SEP] 53, Cabinet, 0.580, 0.385, 2.694, 0, 0, 0, [SEP] 54, Cabinet, -2.379, 0.637, 1.677, 0, 0, 0, [SEP] 55, Cabinet, -0.419, 0.674, 3.736, 0, 0, 0, [SEP] 56, Cabinet, -2.377, 2.014, 2.558, 0, 0, 0, [SEP] 57, Drawer, 0.729, 0.703, 0.980, 0, 0, 0, [SEP] 58, Drawer, -2.114, 0.706, 3.657, 0, 0, 0, [SEP] 59, Cabinet, -2.377, 1.691, 2.572, 0, 0, 0, [SEP] 60, Cabinet, -2.951, 1.925, 3.733, 0, 0, 0, [SEP] 61, Cabinet, 0.580, 0.385, 2.360, 0, 0, 0, [SEP] 62, Cabinet, -2.426, 0.435, 3.421, 0, 0, 0, [SEP] 63, StoveBurner, 0.642, 0.843, 1.375, 0, 0, 0, [SEP] 64, Cabinet, -2.377, 1.927, 1.686, 0, 0, 0, [SEP] 65, Cabinet, -2.377, 2.013, 3.177, 0, 0, 0, [SEP] 66, Cabinet, -1.136, 0.385, 3.516, 0, 0, 0, [SEP] 67, StoveBurner, 0.913, 0.843, 1.768, 0, 0, 0, [SEP] 68, Cabinet, -1.974, 0.385, 3.516, 0, 0, 0, [SEP] 69, CounterTop, -2.081, 0.858, 3.799, 0, 0, 0, [SEP] 70, Cabinet, -2.426, 0.435, 3.174, 0, 0, 0, [SEP] 71, Cabinet, -2.377, 2.014, 1.693, 0, 0, 0, [SEP] 72, Cabinet, -1.986, 0.385, 3.511, 0, 0, 0, [SEP] 73, StoveBurner, 0.642, 0.843, 1.768, 0, 0, 0, [SEP] 74, Cabinet, -1.098, 1.926, 3.729, 0, 0, 0, [SEP] 75, Microwave, -1.529, 1.250, 3.881, 1.622, 180, 0, [SEP] 76, CoffeeMachine, 1.000, 0.812, 2.492, 0, 270, 0, [SEP] 77, LightSwitch, 0.825, 1.396, 4.082, 0, 180, 0, [SEP] 78, Fridge, -2.642, 0.0, 2.134, 0, 180, 0, [SEP] 79, Window, -1.131, 1.673, 0.808, 90, 0, 0, [SEP] 80, GarbageCan, 0.931, -0.000, 2.918, 0, 0, 0, [SEP] 81, SinkBasin, -1.601, 0.686, 3.774, 0, 0, 0, [SEP] 82, StoveKnob, 1.104, 1.002, 1.886, 0, 0, 70.346, [SEP] 83, StoveKnob, 1.104, 1.002, 1.733, 0, 0, 70.346, [SEP] 84, StoveKnob, 1.104, 1.002, 1.321, 0, 0, 70.346, [SEP] 85, StoveKnob, 1.104, 1.002, 1.481, 0, 0, 70.346, [SEP] 86, Toaster, -2.247, 0.812, 3.862, 0, 180, 0, [SEP] 87, DiningTable, -0.917, -0.000, 1.203, 0, 0, 0, [SEP] 88, Stool, -0.932, 0.000, 1.404, 1.196, 21.715, 0, [SEP] 89, Faucet, -1.842, 0.809, 3.984, 0, 180, 0, [SEP] 90, Faucet, -1.371, 0.809, 3.985, 0, 180, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and take a step forward, then turn right again and walk up to the counter to the left of the oven. | STEP 2: Pick up the butter knife off of the counter in front of you. | STEP 3: Turn left and take a step forward, then turn right to face the counter. | STEP 4: Use the butter knife to slice the apple on the counter into three pieces. | STEP 5: Put the knife down on the loaf of bread that is on the counter. | STEP 6: Pick up one of the apple slices. | STEP 7: Turn around and take a step forward, then turn left and walk over to the oven. | STEP 8: Put the apple slice in the large metal pan that is on the front left burner of the stove. | STEP 9: Pick up the large metal pan with the apple slice in it. | STEP 10: Turn left and begin walking across the room, then turn left again and walk up to the fridge. | STEP 11: Open the fridge and place the large metal pan with the apple slice in it on the second shelf from the top, then close the fridge doors. | END"]} +{"id": "trial_T20190909_064046_163660-1", "input": "Move a pan with a slice of roll in it to the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 2.0, 0, 270, 0, [SEP] 1, Pan, 0.913, 0.850, 1.375, 0, 0, 0, 45 [SEP] 2, DishSponge, -1.836, 0.702, 3.774, 0, 0, 0, 81 [SEP] 3, DishSponge, -1.307, 1.683, 3.858, 0, 0, 0, 74 [SEP] 4, ButterKnife, -1.336, 0.823, 3.556, 0, 0, 0, 69 [SEP] 5, ButterKnife, -0.524, 0.900, 1.040, 0, 90, 0, 87 [SEP] 6, Pot, 0.913, 0.850, 1.768, 0, 0, 0, 67 [SEP] 7, Fork, 1.024, 0.823, 1.028, 0, 270, 0, 46 [SEP] 8, Fork, 0.771, 0.691, 0.944, 0, 90, 0, 57 [SEP] 9, Egg, 0.960, 0.060, 2.889, 0, 0, 0, 80 [SEP] 10, SoapBottle, -2.501, 1.398, 3.897, 0, 0, 0, 44 [SEP] 11, SoapBottle, -1.819, 0.822, 3.545, 0, 0, 0, 69 [SEP] 12, Tomato, -2.694, 1.259, 2.277, 0, 90, 0, 78 [SEP] 13, PepperShaker, 1.099, 0.819, 1.028, 0, 0, 0, 46 [SEP] 14, PepperShaker, -1.317, 0.896, 1.040, 0, 90, 0, 87 [SEP] 15, Mug, -0.789, 0.895, 1.246, 0, 90, 0, 87 [SEP] 16, Apple, 1.024, 0.884, 2.458, 0, 0, 0, 51 [SEP] 17, Apple, -1.317, 0.961, 1.143, 0, 90, 0, 87 [SEP] 18, Plate, -1.053, 0.904, 1.452, 0, 90, 0, 87 [SEP] 19, Fork, -1.317, 0.901, 1.452, 0, 90, 0, 87 [SEP] 20, Bread, 0.827, 0.861, 2.449, 0, 0, 0, 46 [SEP] 21, Spatula, 0.712, 0.848, 2.134, 0, 200.845, 0, 51 [SEP] 22, PaperTowelRoll, 0.931, 0.128, 2.977, 0, 0, 0, 80 [SEP] 23, Potato, 0.725, 0.866, 1.028, 0, 0, 0, 46 [SEP] 24, SoapBottle, -0.657, 0.900, 1.143, 0, 90, 0, 87 [SEP] 25, Egg, -2.519, 0.803, 2.221, 0, 90, 0, 78 [SEP] 26, Cup, -2.862, 1.398, 3.897, 0, 0, 0, 60 [SEP] 27, Pot, 0.642, 0.850, 1.768, 0, 0, 0, 73 [SEP] 28, SaltShaker, 0.781, 0.122, 2.081, 0, 0, 0, 61 [SEP] 29, Pan, -2.667, 0.812, 3.74, 0, 137.145, 0, 69 [SEP] 30, PepperShaker, -2.524, 0.153, 1.144, 0, 0, 0, 54 [SEP] 31, ButterKnife, 0.725, 0.823, 2.198, 0, 0, 0, 51 [SEP] 32, Tomato, -2.710, 1.476, 2.333, 0, 90, 0, 78 [SEP] 33, DishSponge, -2.115, 0.698, 3.665, 0, 0, 0, 58 [SEP] 34, Lettuce, -0.580, 0.956, 1.358, 31.822, 0, 0, 87 [SEP] 35, Spoon, 0.736, 0.693, 2.496, 0, 90, 0, 43 [SEP] 36, Apple, -1.486, 1.420, 3.934, 0, 180, 0, 75 [SEP] 37, Knife, 0.650, 0.846, 1.028, 0, 270, 0, 46 [SEP] 38, Mug, -1.109, 0.940, 1.203, 0, 0, 0, 87 [SEP] 39, Bowl, -2.542, 1.847, 2.242, 0, 0, 0, 56 [SEP] 40, Drawer, 0.729, 0.703, 2.199, 0, 0, 0, [SEP] 41, Cabinet, -1.962, 1.926, 3.733, 0, 0, 0, [SEP] 42, Cabinet, -2.377, 2.014, 1.058, 0, 0, 0, [SEP] 43, Drawer, 0.729, 0.703, 2.532, 0, 0, 0, [SEP] 44, Cabinet, -2.622, 1.925, 3.733, 0, 0, 0, [SEP] 45, StoveBurner, 0.913, 0.843, 1.375, 0, 0, 0, [SEP] 46, CounterTop, 0.864, 0.858, 0.984, 0, 0, 0, [SEP] 47, Cabinet, -1.976, 1.779, 3.734, 0, 0, 0, [SEP] 48, Cabinet, 0.580, 0.385, 0.819, 0, 0, 0, [SEP] 49, Cabinet, -2.379, 1.408, 1.677, 0, 0, 0, [SEP] 50, Cabinet, -0.419, 1.703, 3.736, 0, 0, 0, [SEP] 51, CounterTop, 0.864, 0.858, 2.371, 0, 0, 0, [SEP] 52, Sink, -1.702, 0.726, 3.828, 0, 180, 0, [SEP] 53, Cabinet, 0.580, 0.385, 2.694, 0, 0, 0, [SEP] 54, Cabinet, -2.379, 0.637, 1.677, 0, 0, 0, [SEP] 55, Cabinet, -0.419, 0.674, 3.736, 0, 0, 0, [SEP] 56, Cabinet, -2.377, 2.014, 2.558, 0, 0, 0, [SEP] 57, Drawer, 0.729, 0.703, 0.980, 0, 0, 0, [SEP] 58, Drawer, -2.114, 0.706, 3.657, 0, 0, 0, [SEP] 59, Cabinet, -2.377, 1.691, 2.572, 0, 0, 0, [SEP] 60, Cabinet, -2.951, 1.925, 3.733, 0, 0, 0, [SEP] 61, Cabinet, 0.580, 0.385, 2.360, 0, 0, 0, [SEP] 62, Cabinet, -2.426, 0.435, 3.421, 0, 0, 0, [SEP] 63, StoveBurner, 0.642, 0.843, 1.375, 0, 0, 0, [SEP] 64, Cabinet, -2.377, 1.927, 1.686, 0, 0, 0, [SEP] 65, Cabinet, -2.377, 2.013, 3.177, 0, 0, 0, [SEP] 66, Cabinet, -1.136, 0.385, 3.516, 0, 0, 0, [SEP] 67, StoveBurner, 0.913, 0.843, 1.768, 0, 0, 0, [SEP] 68, Cabinet, -1.974, 0.385, 3.516, 0, 0, 0, [SEP] 69, CounterTop, -2.081, 0.858, 3.799, 0, 0, 0, [SEP] 70, Cabinet, -2.426, 0.435, 3.174, 0, 0, 0, [SEP] 71, Cabinet, -2.377, 2.014, 1.693, 0, 0, 0, [SEP] 72, Cabinet, -1.986, 0.385, 3.511, 0, 0, 0, [SEP] 73, StoveBurner, 0.642, 0.843, 1.768, 0, 0, 0, [SEP] 74, Cabinet, -1.098, 1.926, 3.729, 0, 0, 0, [SEP] 75, Microwave, -1.529, 1.250, 3.881, 1.622, 180, 0, [SEP] 76, CoffeeMachine, 1.000, 0.812, 2.492, 0, 270, 0, [SEP] 77, LightSwitch, 0.825, 1.396, 4.082, 0, 180, 0, [SEP] 78, Fridge, -2.642, 0.0, 2.134, 0, 180, 0, [SEP] 79, Window, -1.131, 1.673, 0.808, 90, 0, 0, [SEP] 80, GarbageCan, 0.931, -0.000, 2.918, 0, 0, 0, [SEP] 81, SinkBasin, -1.601, 0.686, 3.774, 0, 0, 0, [SEP] 82, StoveKnob, 1.104, 1.002, 1.886, 0, 0, 70.346, [SEP] 83, StoveKnob, 1.104, 1.002, 1.733, 0, 0, 70.346, [SEP] 84, StoveKnob, 1.104, 1.002, 1.321, 0, 0, 70.346, [SEP] 85, StoveKnob, 1.104, 1.002, 1.481, 0, 0, 70.346, [SEP] 86, Toaster, -2.247, 0.812, 3.862, 0, 180, 0, [SEP] 87, DiningTable, -0.917, -0.000, 1.203, 0, 0, 0, [SEP] 88, Stool, -0.932, 0.000, 1.404, 1.196, 21.715, 0, [SEP] 89, Faucet, -1.842, 0.809, 3.984, 0, 180, 0, [SEP] 90, Faucet, -1.371, 0.809, 3.985, 0, 180, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Move to stand in front of the counter directly to the left of the stove. | STEP 2: Pick up the butter knife from the counter. | STEP 3: Move a little closer to the edge of the counter while holding the knife. | STEP 4: Slice the small dinner roll that's behind the loaf of bread. | STEP 5: Place the knife on top of the loaf of bread that is not sliced. | STEP 6: Pick up a piece of roll that you just sliced. | STEP 7: Carry the roll to stand in front of the stove. | STEP 8: Place the roll in the pan on the front left burner, which is the one closest to you. | STEP 9: Pick up the pan with the roll in it. | STEP 10: Carry the pan with the roll in it to the fridge. | STEP 11: Open the fridge and place the pan and roll on the second shelf. | END"]} +{"id": "trial_T20190909_064046_163660-2", "input": "Put a pot with a piece of apple in it in the refrigerator SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 2.0, 0, 270, 0, [SEP] 1, Pan, 0.913, 0.850, 1.375, 0, 0, 0, 45 [SEP] 2, DishSponge, -1.836, 0.702, 3.774, 0, 0, 0, 81 [SEP] 3, DishSponge, -1.307, 1.683, 3.858, 0, 0, 0, 74 [SEP] 4, ButterKnife, -1.336, 0.823, 3.556, 0, 0, 0, 69 [SEP] 5, ButterKnife, -0.524, 0.900, 1.040, 0, 90, 0, 87 [SEP] 6, Pot, 0.913, 0.850, 1.768, 0, 0, 0, 67 [SEP] 7, Fork, 1.024, 0.823, 1.028, 0, 270, 0, 46 [SEP] 8, Fork, 0.771, 0.691, 0.944, 0, 90, 0, 57 [SEP] 9, Egg, 0.960, 0.060, 2.889, 0, 0, 0, 80 [SEP] 10, SoapBottle, -2.501, 1.398, 3.897, 0, 0, 0, 44 [SEP] 11, SoapBottle, -1.819, 0.822, 3.545, 0, 0, 0, 69 [SEP] 12, Tomato, -2.694, 1.259, 2.277, 0, 90, 0, 78 [SEP] 13, PepperShaker, 1.099, 0.819, 1.028, 0, 0, 0, 46 [SEP] 14, PepperShaker, -1.317, 0.896, 1.040, 0, 90, 0, 87 [SEP] 15, Mug, -0.789, 0.895, 1.246, 0, 90, 0, 87 [SEP] 16, Apple, 1.024, 0.884, 2.458, 0, 0, 0, 51 [SEP] 17, Apple, -1.317, 0.961, 1.143, 0, 90, 0, 87 [SEP] 18, Plate, -1.053, 0.904, 1.452, 0, 90, 0, 87 [SEP] 19, Fork, -1.317, 0.901, 1.452, 0, 90, 0, 87 [SEP] 20, Bread, 0.827, 0.861, 2.449, 0, 0, 0, 46 [SEP] 21, Spatula, 0.712, 0.848, 2.134, 0, 200.845, 0, 51 [SEP] 22, PaperTowelRoll, 0.931, 0.128, 2.977, 0, 0, 0, 80 [SEP] 23, Potato, 0.725, 0.866, 1.028, 0, 0, 0, 46 [SEP] 24, SoapBottle, -0.657, 0.900, 1.143, 0, 90, 0, 87 [SEP] 25, Egg, -2.519, 0.803, 2.221, 0, 90, 0, 78 [SEP] 26, Cup, -2.862, 1.398, 3.897, 0, 0, 0, 60 [SEP] 27, Pot, 0.642, 0.850, 1.768, 0, 0, 0, 73 [SEP] 28, SaltShaker, 0.781, 0.122, 2.081, 0, 0, 0, 61 [SEP] 29, Pan, -2.667, 0.812, 3.74, 0, 137.145, 0, 69 [SEP] 30, PepperShaker, -2.524, 0.153, 1.144, 0, 0, 0, 54 [SEP] 31, ButterKnife, 0.725, 0.823, 2.198, 0, 0, 0, 51 [SEP] 32, Tomato, -2.710, 1.476, 2.333, 0, 90, 0, 78 [SEP] 33, DishSponge, -2.115, 0.698, 3.665, 0, 0, 0, 58 [SEP] 34, Lettuce, -0.580, 0.956, 1.358, 31.822, 0, 0, 87 [SEP] 35, Spoon, 0.736, 0.693, 2.496, 0, 90, 0, 43 [SEP] 36, Apple, -1.486, 1.420, 3.934, 0, 180, 0, 75 [SEP] 37, Knife, 0.650, 0.846, 1.028, 0, 270, 0, 46 [SEP] 38, Mug, -1.109, 0.940, 1.203, 0, 0, 0, 87 [SEP] 39, Bowl, -2.542, 1.847, 2.242, 0, 0, 0, 56 [SEP] 40, Drawer, 0.729, 0.703, 2.199, 0, 0, 0, [SEP] 41, Cabinet, -1.962, 1.926, 3.733, 0, 0, 0, [SEP] 42, Cabinet, -2.377, 2.014, 1.058, 0, 0, 0, [SEP] 43, Drawer, 0.729, 0.703, 2.532, 0, 0, 0, [SEP] 44, Cabinet, -2.622, 1.925, 3.733, 0, 0, 0, [SEP] 45, StoveBurner, 0.913, 0.843, 1.375, 0, 0, 0, [SEP] 46, CounterTop, 0.864, 0.858, 0.984, 0, 0, 0, [SEP] 47, Cabinet, -1.976, 1.779, 3.734, 0, 0, 0, [SEP] 48, Cabinet, 0.580, 0.385, 0.819, 0, 0, 0, [SEP] 49, Cabinet, -2.379, 1.408, 1.677, 0, 0, 0, [SEP] 50, Cabinet, -0.419, 1.703, 3.736, 0, 0, 0, [SEP] 51, CounterTop, 0.864, 0.858, 2.371, 0, 0, 0, [SEP] 52, Sink, -1.702, 0.726, 3.828, 0, 180, 0, [SEP] 53, Cabinet, 0.580, 0.385, 2.694, 0, 0, 0, [SEP] 54, Cabinet, -2.379, 0.637, 1.677, 0, 0, 0, [SEP] 55, Cabinet, -0.419, 0.674, 3.736, 0, 0, 0, [SEP] 56, Cabinet, -2.377, 2.014, 2.558, 0, 0, 0, [SEP] 57, Drawer, 0.729, 0.703, 0.980, 0, 0, 0, [SEP] 58, Drawer, -2.114, 0.706, 3.657, 0, 0, 0, [SEP] 59, Cabinet, -2.377, 1.691, 2.572, 0, 0, 0, [SEP] 60, Cabinet, -2.951, 1.925, 3.733, 0, 0, 0, [SEP] 61, Cabinet, 0.580, 0.385, 2.360, 0, 0, 0, [SEP] 62, Cabinet, -2.426, 0.435, 3.421, 0, 0, 0, [SEP] 63, StoveBurner, 0.642, 0.843, 1.375, 0, 0, 0, [SEP] 64, Cabinet, -2.377, 1.927, 1.686, 0, 0, 0, [SEP] 65, Cabinet, -2.377, 2.013, 3.177, 0, 0, 0, [SEP] 66, Cabinet, -1.136, 0.385, 3.516, 0, 0, 0, [SEP] 67, StoveBurner, 0.913, 0.843, 1.768, 0, 0, 0, [SEP] 68, Cabinet, -1.974, 0.385, 3.516, 0, 0, 0, [SEP] 69, CounterTop, -2.081, 0.858, 3.799, 0, 0, 0, [SEP] 70, Cabinet, -2.426, 0.435, 3.174, 0, 0, 0, [SEP] 71, Cabinet, -2.377, 2.014, 1.693, 0, 0, 0, [SEP] 72, Cabinet, -1.986, 0.385, 3.511, 0, 0, 0, [SEP] 73, StoveBurner, 0.642, 0.843, 1.768, 0, 0, 0, [SEP] 74, Cabinet, -1.098, 1.926, 3.729, 0, 0, 0, [SEP] 75, Microwave, -1.529, 1.250, 3.881, 1.622, 180, 0, [SEP] 76, CoffeeMachine, 1.000, 0.812, 2.492, 0, 270, 0, [SEP] 77, LightSwitch, 0.825, 1.396, 4.082, 0, 180, 0, [SEP] 78, Fridge, -2.642, 0.0, 2.134, 0, 180, 0, [SEP] 79, Window, -1.131, 1.673, 0.808, 90, 0, 0, [SEP] 80, GarbageCan, 0.931, -0.000, 2.918, 0, 0, 0, [SEP] 81, SinkBasin, -1.601, 0.686, 3.774, 0, 0, 0, [SEP] 82, StoveKnob, 1.104, 1.002, 1.886, 0, 0, 70.346, [SEP] 83, StoveKnob, 1.104, 1.002, 1.733, 0, 0, 70.346, [SEP] 84, StoveKnob, 1.104, 1.002, 1.321, 0, 0, 70.346, [SEP] 85, StoveKnob, 1.104, 1.002, 1.481, 0, 0, 70.346, [SEP] 86, Toaster, -2.247, 0.812, 3.862, 0, 180, 0, [SEP] 87, DiningTable, -0.917, -0.000, 1.203, 0, 0, 0, [SEP] 88, Stool, -0.932, 0.000, 1.404, 1.196, 21.715, 0, [SEP] 89, Faucet, -1.842, 0.809, 3.984, 0, 180, 0, [SEP] 90, Faucet, -1.371, 0.809, 3.985, 0, 180, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Back up, turn right, turn right, cross room to the metal counter. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn left, turn right to face counter again. | STEP 4: Cut the apple on the counter into thirds. | STEP 5: Put knife on the plate on the counter. | STEP 6: Pick up one piece of the apple from the counter. | STEP 7: Go to the stove to the right of the counter and face it. | STEP 8: Put apple in the pot on the front left burner. | STEP 9: Pick up the pot from the stove. | STEP 10: TUrn left, turn left again, walk to the refrigerator. | STEP 11: Put the pot into the refrigerator. | END"]} +{"id": "trial_T20190909_064046_163660-3", "input": "Putting a bowl with an apple in the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 2.0, 0, 270, 0, [SEP] 1, Pan, 0.913, 0.850, 1.375, 0, 0, 0, 45 [SEP] 2, DishSponge, -1.836, 0.702, 3.774, 0, 0, 0, 81 [SEP] 3, DishSponge, -1.307, 1.683, 3.858, 0, 0, 0, 74 [SEP] 4, ButterKnife, -1.336, 0.823, 3.556, 0, 0, 0, 69 [SEP] 5, ButterKnife, -0.524, 0.900, 1.040, 0, 90, 0, 87 [SEP] 6, Pot, 0.913, 0.850, 1.768, 0, 0, 0, 67 [SEP] 7, Fork, 1.024, 0.823, 1.028, 0, 270, 0, 46 [SEP] 8, Fork, 0.771, 0.691, 0.944, 0, 90, 0, 57 [SEP] 9, Egg, 0.960, 0.060, 2.889, 0, 0, 0, 80 [SEP] 10, SoapBottle, -2.501, 1.398, 3.897, 0, 0, 0, 44 [SEP] 11, SoapBottle, -1.819, 0.822, 3.545, 0, 0, 0, 69 [SEP] 12, Tomato, -2.694, 1.259, 2.277, 0, 90, 0, 78 [SEP] 13, PepperShaker, 1.099, 0.819, 1.028, 0, 0, 0, 46 [SEP] 14, PepperShaker, -1.317, 0.896, 1.040, 0, 90, 0, 87 [SEP] 15, Mug, -0.789, 0.895, 1.246, 0, 90, 0, 87 [SEP] 16, Apple, 1.024, 0.884, 2.458, 0, 0, 0, 51 [SEP] 17, Apple, -1.317, 0.961, 1.143, 0, 90, 0, 87 [SEP] 18, Plate, -1.053, 0.904, 1.452, 0, 90, 0, 87 [SEP] 19, Fork, -1.317, 0.901, 1.452, 0, 90, 0, 87 [SEP] 20, Bread, 0.827, 0.861, 2.449, 0, 0, 0, 46 [SEP] 21, Spatula, 0.712, 0.848, 2.134, 0, 200.845, 0, 51 [SEP] 22, PaperTowelRoll, 0.931, 0.128, 2.977, 0, 0, 0, 80 [SEP] 23, Potato, 0.725, 0.866, 1.028, 0, 0, 0, 46 [SEP] 24, SoapBottle, -0.657, 0.900, 1.143, 0, 90, 0, 87 [SEP] 25, Egg, -2.519, 0.803, 2.221, 0, 90, 0, 78 [SEP] 26, Cup, -2.862, 1.398, 3.897, 0, 0, 0, 60 [SEP] 27, Pot, 0.642, 0.850, 1.768, 0, 0, 0, 73 [SEP] 28, SaltShaker, 0.781, 0.122, 2.081, 0, 0, 0, 61 [SEP] 29, Pan, -2.667, 0.812, 3.74, 0, 137.145, 0, 69 [SEP] 30, PepperShaker, -2.524, 0.153, 1.144, 0, 0, 0, 54 [SEP] 31, ButterKnife, 0.725, 0.823, 2.198, 0, 0, 0, 51 [SEP] 32, Tomato, -2.710, 1.476, 2.333, 0, 90, 0, 78 [SEP] 33, DishSponge, -2.115, 0.698, 3.665, 0, 0, 0, 58 [SEP] 34, Lettuce, -0.580, 0.956, 1.358, 31.822, 0, 0, 87 [SEP] 35, Spoon, 0.736, 0.693, 2.496, 0, 90, 0, 43 [SEP] 36, Apple, -1.486, 1.420, 3.934, 0, 180, 0, 75 [SEP] 37, Knife, 0.650, 0.846, 1.028, 0, 270, 0, 46 [SEP] 38, Mug, -1.109, 0.940, 1.203, 0, 0, 0, 87 [SEP] 39, Bowl, -2.542, 1.847, 2.242, 0, 0, 0, 56 [SEP] 40, Drawer, 0.729, 0.703, 2.199, 0, 0, 0, [SEP] 41, Cabinet, -1.962, 1.926, 3.733, 0, 0, 0, [SEP] 42, Cabinet, -2.377, 2.014, 1.058, 0, 0, 0, [SEP] 43, Drawer, 0.729, 0.703, 2.532, 0, 0, 0, [SEP] 44, Cabinet, -2.622, 1.925, 3.733, 0, 0, 0, [SEP] 45, StoveBurner, 0.913, 0.843, 1.375, 0, 0, 0, [SEP] 46, CounterTop, 0.864, 0.858, 0.984, 0, 0, 0, [SEP] 47, Cabinet, -1.976, 1.779, 3.734, 0, 0, 0, [SEP] 48, Cabinet, 0.580, 0.385, 0.819, 0, 0, 0, [SEP] 49, Cabinet, -2.379, 1.408, 1.677, 0, 0, 0, [SEP] 50, Cabinet, -0.419, 1.703, 3.736, 0, 0, 0, [SEP] 51, CounterTop, 0.864, 0.858, 2.371, 0, 0, 0, [SEP] 52, Sink, -1.702, 0.726, 3.828, 0, 180, 0, [SEP] 53, Cabinet, 0.580, 0.385, 2.694, 0, 0, 0, [SEP] 54, Cabinet, -2.379, 0.637, 1.677, 0, 0, 0, [SEP] 55, Cabinet, -0.419, 0.674, 3.736, 0, 0, 0, [SEP] 56, Cabinet, -2.377, 2.014, 2.558, 0, 0, 0, [SEP] 57, Drawer, 0.729, 0.703, 0.980, 0, 0, 0, [SEP] 58, Drawer, -2.114, 0.706, 3.657, 0, 0, 0, [SEP] 59, Cabinet, -2.377, 1.691, 2.572, 0, 0, 0, [SEP] 60, Cabinet, -2.951, 1.925, 3.733, 0, 0, 0, [SEP] 61, Cabinet, 0.580, 0.385, 2.360, 0, 0, 0, [SEP] 62, Cabinet, -2.426, 0.435, 3.421, 0, 0, 0, [SEP] 63, StoveBurner, 0.642, 0.843, 1.375, 0, 0, 0, [SEP] 64, Cabinet, -2.377, 1.927, 1.686, 0, 0, 0, [SEP] 65, Cabinet, -2.377, 2.013, 3.177, 0, 0, 0, [SEP] 66, Cabinet, -1.136, 0.385, 3.516, 0, 0, 0, [SEP] 67, StoveBurner, 0.913, 0.843, 1.768, 0, 0, 0, [SEP] 68, Cabinet, -1.974, 0.385, 3.516, 0, 0, 0, [SEP] 69, CounterTop, -2.081, 0.858, 3.799, 0, 0, 0, [SEP] 70, Cabinet, -2.426, 0.435, 3.174, 0, 0, 0, [SEP] 71, Cabinet, -2.377, 2.014, 1.693, 0, 0, 0, [SEP] 72, Cabinet, -1.986, 0.385, 3.511, 0, 0, 0, [SEP] 73, StoveBurner, 0.642, 0.843, 1.768, 0, 0, 0, [SEP] 74, Cabinet, -1.098, 1.926, 3.729, 0, 0, 0, [SEP] 75, Microwave, -1.529, 1.250, 3.881, 1.622, 180, 0, [SEP] 76, CoffeeMachine, 1.000, 0.812, 2.492, 0, 270, 0, [SEP] 77, LightSwitch, 0.825, 1.396, 4.082, 0, 180, 0, [SEP] 78, Fridge, -2.642, 0.0, 2.134, 0, 180, 0, [SEP] 79, Window, -1.131, 1.673, 0.808, 90, 0, 0, [SEP] 80, GarbageCan, 0.931, -0.000, 2.918, 0, 0, 0, [SEP] 81, SinkBasin, -1.601, 0.686, 3.774, 0, 0, 0, [SEP] 82, StoveKnob, 1.104, 1.002, 1.886, 0, 0, 70.346, [SEP] 83, StoveKnob, 1.104, 1.002, 1.733, 0, 0, 70.346, [SEP] 84, StoveKnob, 1.104, 1.002, 1.321, 0, 0, 70.346, [SEP] 85, StoveKnob, 1.104, 1.002, 1.481, 0, 0, 70.346, [SEP] 86, Toaster, -2.247, 0.812, 3.862, 0, 180, 0, [SEP] 87, DiningTable, -0.917, -0.000, 1.203, 0, 0, 0, [SEP] 88, Stool, -0.932, 0.000, 1.404, 1.196, 21.715, 0, [SEP] 89, Faucet, -1.842, 0.809, 3.984, 0, 180, 0, [SEP] 90, Faucet, -1.371, 0.809, 3.985, 0, 180, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and head straight to the counter | STEP 2: Grab the knife off of the counter | STEP 3: Turn slightly to the left | STEP 4: Cut the apple into three slices | STEP 5: Place the knife onto the counter | STEP 6: Grab one of the apple slices | STEP 7: Turn right and stop at the oven | STEP 8: Put the apple in the bowl in the bottom left stove | STEP 9: Grab the bowl with the apple in it | STEP 10: Turn around and head to the fridge | STEP 11: Open the fridge and put the bowl in it | END"]} +{"id": "trial_T20190909_064046_163660-4", "input": "Place an apple slice in a square pan, place both in fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 2.0, 0, 270, 0, [SEP] 1, Pan, 0.913, 0.850, 1.375, 0, 0, 0, 45 [SEP] 2, DishSponge, -1.836, 0.702, 3.774, 0, 0, 0, 81 [SEP] 3, DishSponge, -1.307, 1.683, 3.858, 0, 0, 0, 74 [SEP] 4, ButterKnife, -1.336, 0.823, 3.556, 0, 0, 0, 69 [SEP] 5, ButterKnife, -0.524, 0.900, 1.040, 0, 90, 0, 87 [SEP] 6, Pot, 0.913, 0.850, 1.768, 0, 0, 0, 67 [SEP] 7, Fork, 1.024, 0.823, 1.028, 0, 270, 0, 46 [SEP] 8, Fork, 0.771, 0.691, 0.944, 0, 90, 0, 57 [SEP] 9, Egg, 0.960, 0.060, 2.889, 0, 0, 0, 80 [SEP] 10, SoapBottle, -2.501, 1.398, 3.897, 0, 0, 0, 44 [SEP] 11, SoapBottle, -1.819, 0.822, 3.545, 0, 0, 0, 69 [SEP] 12, Tomato, -2.694, 1.259, 2.277, 0, 90, 0, 78 [SEP] 13, PepperShaker, 1.099, 0.819, 1.028, 0, 0, 0, 46 [SEP] 14, PepperShaker, -1.317, 0.896, 1.040, 0, 90, 0, 87 [SEP] 15, Mug, -0.789, 0.895, 1.246, 0, 90, 0, 87 [SEP] 16, Apple, 1.024, 0.884, 2.458, 0, 0, 0, 51 [SEP] 17, Apple, -1.317, 0.961, 1.143, 0, 90, 0, 87 [SEP] 18, Plate, -1.053, 0.904, 1.452, 0, 90, 0, 87 [SEP] 19, Fork, -1.317, 0.901, 1.452, 0, 90, 0, 87 [SEP] 20, Bread, 0.827, 0.861, 2.449, 0, 0, 0, 46 [SEP] 21, Spatula, 0.712, 0.848, 2.134, 0, 200.845, 0, 51 [SEP] 22, PaperTowelRoll, 0.931, 0.128, 2.977, 0, 0, 0, 80 [SEP] 23, Potato, 0.725, 0.866, 1.028, 0, 0, 0, 46 [SEP] 24, SoapBottle, -0.657, 0.900, 1.143, 0, 90, 0, 87 [SEP] 25, Egg, -2.519, 0.803, 2.221, 0, 90, 0, 78 [SEP] 26, Cup, -2.862, 1.398, 3.897, 0, 0, 0, 60 [SEP] 27, Pot, 0.642, 0.850, 1.768, 0, 0, 0, 73 [SEP] 28, SaltShaker, 0.781, 0.122, 2.081, 0, 0, 0, 61 [SEP] 29, Pan, -2.667, 0.812, 3.74, 0, 137.145, 0, 69 [SEP] 30, PepperShaker, -2.524, 0.153, 1.144, 0, 0, 0, 54 [SEP] 31, ButterKnife, 0.725, 0.823, 2.198, 0, 0, 0, 51 [SEP] 32, Tomato, -2.710, 1.476, 2.333, 0, 90, 0, 78 [SEP] 33, DishSponge, -2.115, 0.698, 3.665, 0, 0, 0, 58 [SEP] 34, Lettuce, -0.580, 0.956, 1.358, 31.822, 0, 0, 87 [SEP] 35, Spoon, 0.736, 0.693, 2.496, 0, 90, 0, 43 [SEP] 36, Apple, -1.486, 1.420, 3.934, 0, 180, 0, 75 [SEP] 37, Knife, 0.650, 0.846, 1.028, 0, 270, 0, 46 [SEP] 38, Mug, -1.109, 0.940, 1.203, 0, 0, 0, 87 [SEP] 39, Bowl, -2.542, 1.847, 2.242, 0, 0, 0, 56 [SEP] 40, Drawer, 0.729, 0.703, 2.199, 0, 0, 0, [SEP] 41, Cabinet, -1.962, 1.926, 3.733, 0, 0, 0, [SEP] 42, Cabinet, -2.377, 2.014, 1.058, 0, 0, 0, [SEP] 43, Drawer, 0.729, 0.703, 2.532, 0, 0, 0, [SEP] 44, Cabinet, -2.622, 1.925, 3.733, 0, 0, 0, [SEP] 45, StoveBurner, 0.913, 0.843, 1.375, 0, 0, 0, [SEP] 46, CounterTop, 0.864, 0.858, 0.984, 0, 0, 0, [SEP] 47, Cabinet, -1.976, 1.779, 3.734, 0, 0, 0, [SEP] 48, Cabinet, 0.580, 0.385, 0.819, 0, 0, 0, [SEP] 49, Cabinet, -2.379, 1.408, 1.677, 0, 0, 0, [SEP] 50, Cabinet, -0.419, 1.703, 3.736, 0, 0, 0, [SEP] 51, CounterTop, 0.864, 0.858, 2.371, 0, 0, 0, [SEP] 52, Sink, -1.702, 0.726, 3.828, 0, 180, 0, [SEP] 53, Cabinet, 0.580, 0.385, 2.694, 0, 0, 0, [SEP] 54, Cabinet, -2.379, 0.637, 1.677, 0, 0, 0, [SEP] 55, Cabinet, -0.419, 0.674, 3.736, 0, 0, 0, [SEP] 56, Cabinet, -2.377, 2.014, 2.558, 0, 0, 0, [SEP] 57, Drawer, 0.729, 0.703, 0.980, 0, 0, 0, [SEP] 58, Drawer, -2.114, 0.706, 3.657, 0, 0, 0, [SEP] 59, Cabinet, -2.377, 1.691, 2.572, 0, 0, 0, [SEP] 60, Cabinet, -2.951, 1.925, 3.733, 0, 0, 0, [SEP] 61, Cabinet, 0.580, 0.385, 2.360, 0, 0, 0, [SEP] 62, Cabinet, -2.426, 0.435, 3.421, 0, 0, 0, [SEP] 63, StoveBurner, 0.642, 0.843, 1.375, 0, 0, 0, [SEP] 64, Cabinet, -2.377, 1.927, 1.686, 0, 0, 0, [SEP] 65, Cabinet, -2.377, 2.013, 3.177, 0, 0, 0, [SEP] 66, Cabinet, -1.136, 0.385, 3.516, 0, 0, 0, [SEP] 67, StoveBurner, 0.913, 0.843, 1.768, 0, 0, 0, [SEP] 68, Cabinet, -1.974, 0.385, 3.516, 0, 0, 0, [SEP] 69, CounterTop, -2.081, 0.858, 3.799, 0, 0, 0, [SEP] 70, Cabinet, -2.426, 0.435, 3.174, 0, 0, 0, [SEP] 71, Cabinet, -2.377, 2.014, 1.693, 0, 0, 0, [SEP] 72, Cabinet, -1.986, 0.385, 3.511, 0, 0, 0, [SEP] 73, StoveBurner, 0.642, 0.843, 1.768, 0, 0, 0, [SEP] 74, Cabinet, -1.098, 1.926, 3.729, 0, 0, 0, [SEP] 75, Microwave, -1.529, 1.250, 3.881, 1.622, 180, 0, [SEP] 76, CoffeeMachine, 1.000, 0.812, 2.492, 0, 270, 0, [SEP] 77, LightSwitch, 0.825, 1.396, 4.082, 0, 180, 0, [SEP] 78, Fridge, -2.642, 0.0, 2.134, 0, 180, 0, [SEP] 79, Window, -1.131, 1.673, 0.808, 90, 0, 0, [SEP] 80, GarbageCan, 0.931, -0.000, 2.918, 0, 0, 0, [SEP] 81, SinkBasin, -1.601, 0.686, 3.774, 0, 0, 0, [SEP] 82, StoveKnob, 1.104, 1.002, 1.886, 0, 0, 70.346, [SEP] 83, StoveKnob, 1.104, 1.002, 1.733, 0, 0, 70.346, [SEP] 84, StoveKnob, 1.104, 1.002, 1.321, 0, 0, 70.346, [SEP] 85, StoveKnob, 1.104, 1.002, 1.481, 0, 0, 70.346, [SEP] 86, Toaster, -2.247, 0.812, 3.862, 0, 180, 0, [SEP] 87, DiningTable, -0.917, -0.000, 1.203, 0, 0, 0, [SEP] 88, Stool, -0.932, 0.000, 1.404, 1.196, 21.715, 0, [SEP] 89, Faucet, -1.842, 0.809, 3.984, 0, 180, 0, [SEP] 90, Faucet, -1.371, 0.809, 3.985, 0, 180, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Move to the counter to the right side of the oven | STEP 2: Pick up the stainless knife sitting on top of the counter | STEP 3: Move to the same counter where you got the knife | STEP 4: Cut the apple behind the round brown item on the counter | STEP 5: Set the knife on top of the round brown item sitting on the counter | STEP 6: Pick up an apple slice on the counter | STEP 7: Carry the apple to the white oven | STEP 8: Place the cut apple in the silver square item on top of the stove | STEP 9: Pick up the silver square item with the apple in it | STEP 10: Carry the apple in the silver square item to the fridge | STEP 11: Open the fridge to place the silver square item with the apple in it on the shelf above the shelf with the egg, close the door | END"]} +{"id": "trial_T20190909_064046_163660-5", "input": "Put a pan whit an apple in it in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 2.0, 0, 270, 0, [SEP] 1, Pan, 0.913, 0.850, 1.375, 0, 0, 0, 45 [SEP] 2, DishSponge, -1.836, 0.702, 3.774, 0, 0, 0, 81 [SEP] 3, DishSponge, -1.307, 1.683, 3.858, 0, 0, 0, 74 [SEP] 4, ButterKnife, -1.336, 0.823, 3.556, 0, 0, 0, 69 [SEP] 5, ButterKnife, -0.524, 0.900, 1.040, 0, 90, 0, 87 [SEP] 6, Pot, 0.913, 0.850, 1.768, 0, 0, 0, 67 [SEP] 7, Fork, 1.024, 0.823, 1.028, 0, 270, 0, 46 [SEP] 8, Fork, 0.771, 0.691, 0.944, 0, 90, 0, 57 [SEP] 9, Egg, 0.960, 0.060, 2.889, 0, 0, 0, 80 [SEP] 10, SoapBottle, -2.501, 1.398, 3.897, 0, 0, 0, 44 [SEP] 11, SoapBottle, -1.819, 0.822, 3.545, 0, 0, 0, 69 [SEP] 12, Tomato, -2.694, 1.259, 2.277, 0, 90, 0, 78 [SEP] 13, PepperShaker, 1.099, 0.819, 1.028, 0, 0, 0, 46 [SEP] 14, PepperShaker, -1.317, 0.896, 1.040, 0, 90, 0, 87 [SEP] 15, Mug, -0.789, 0.895, 1.246, 0, 90, 0, 87 [SEP] 16, Apple, 1.024, 0.884, 2.458, 0, 0, 0, 51 [SEP] 17, Apple, -1.317, 0.961, 1.143, 0, 90, 0, 87 [SEP] 18, Plate, -1.053, 0.904, 1.452, 0, 90, 0, 87 [SEP] 19, Fork, -1.317, 0.901, 1.452, 0, 90, 0, 87 [SEP] 20, Bread, 0.827, 0.861, 2.449, 0, 0, 0, 46 [SEP] 21, Spatula, 0.712, 0.848, 2.134, 0, 200.845, 0, 51 [SEP] 22, PaperTowelRoll, 0.931, 0.128, 2.977, 0, 0, 0, 80 [SEP] 23, Potato, 0.725, 0.866, 1.028, 0, 0, 0, 46 [SEP] 24, SoapBottle, -0.657, 0.900, 1.143, 0, 90, 0, 87 [SEP] 25, Egg, -2.519, 0.803, 2.221, 0, 90, 0, 78 [SEP] 26, Cup, -2.862, 1.398, 3.897, 0, 0, 0, 60 [SEP] 27, Pot, 0.642, 0.850, 1.768, 0, 0, 0, 73 [SEP] 28, SaltShaker, 0.781, 0.122, 2.081, 0, 0, 0, 61 [SEP] 29, Pan, -2.667, 0.812, 3.74, 0, 137.145, 0, 69 [SEP] 30, PepperShaker, -2.524, 0.153, 1.144, 0, 0, 0, 54 [SEP] 31, ButterKnife, 0.725, 0.823, 2.198, 0, 0, 0, 51 [SEP] 32, Tomato, -2.710, 1.476, 2.333, 0, 90, 0, 78 [SEP] 33, DishSponge, -2.115, 0.698, 3.665, 0, 0, 0, 58 [SEP] 34, Lettuce, -0.580, 0.956, 1.358, 31.822, 0, 0, 87 [SEP] 35, Spoon, 0.736, 0.693, 2.496, 0, 90, 0, 43 [SEP] 36, Apple, -1.486, 1.420, 3.934, 0, 180, 0, 75 [SEP] 37, Knife, 0.650, 0.846, 1.028, 0, 270, 0, 46 [SEP] 38, Mug, -1.109, 0.940, 1.203, 0, 0, 0, 87 [SEP] 39, Bowl, -2.542, 1.847, 2.242, 0, 0, 0, 56 [SEP] 40, Drawer, 0.729, 0.703, 2.199, 0, 0, 0, [SEP] 41, Cabinet, -1.962, 1.926, 3.733, 0, 0, 0, [SEP] 42, Cabinet, -2.377, 2.014, 1.058, 0, 0, 0, [SEP] 43, Drawer, 0.729, 0.703, 2.532, 0, 0, 0, [SEP] 44, Cabinet, -2.622, 1.925, 3.733, 0, 0, 0, [SEP] 45, StoveBurner, 0.913, 0.843, 1.375, 0, 0, 0, [SEP] 46, CounterTop, 0.864, 0.858, 0.984, 0, 0, 0, [SEP] 47, Cabinet, -1.976, 1.779, 3.734, 0, 0, 0, [SEP] 48, Cabinet, 0.580, 0.385, 0.819, 0, 0, 0, [SEP] 49, Cabinet, -2.379, 1.408, 1.677, 0, 0, 0, [SEP] 50, Cabinet, -0.419, 1.703, 3.736, 0, 0, 0, [SEP] 51, CounterTop, 0.864, 0.858, 2.371, 0, 0, 0, [SEP] 52, Sink, -1.702, 0.726, 3.828, 0, 180, 0, [SEP] 53, Cabinet, 0.580, 0.385, 2.694, 0, 0, 0, [SEP] 54, Cabinet, -2.379, 0.637, 1.677, 0, 0, 0, [SEP] 55, Cabinet, -0.419, 0.674, 3.736, 0, 0, 0, [SEP] 56, Cabinet, -2.377, 2.014, 2.558, 0, 0, 0, [SEP] 57, Drawer, 0.729, 0.703, 0.980, 0, 0, 0, [SEP] 58, Drawer, -2.114, 0.706, 3.657, 0, 0, 0, [SEP] 59, Cabinet, -2.377, 1.691, 2.572, 0, 0, 0, [SEP] 60, Cabinet, -2.951, 1.925, 3.733, 0, 0, 0, [SEP] 61, Cabinet, 0.580, 0.385, 2.360, 0, 0, 0, [SEP] 62, Cabinet, -2.426, 0.435, 3.421, 0, 0, 0, [SEP] 63, StoveBurner, 0.642, 0.843, 1.375, 0, 0, 0, [SEP] 64, Cabinet, -2.377, 1.927, 1.686, 0, 0, 0, [SEP] 65, Cabinet, -2.377, 2.013, 3.177, 0, 0, 0, [SEP] 66, Cabinet, -1.136, 0.385, 3.516, 0, 0, 0, [SEP] 67, StoveBurner, 0.913, 0.843, 1.768, 0, 0, 0, [SEP] 68, Cabinet, -1.974, 0.385, 3.516, 0, 0, 0, [SEP] 69, CounterTop, -2.081, 0.858, 3.799, 0, 0, 0, [SEP] 70, Cabinet, -2.426, 0.435, 3.174, 0, 0, 0, [SEP] 71, Cabinet, -2.377, 2.014, 1.693, 0, 0, 0, [SEP] 72, Cabinet, -1.986, 0.385, 3.511, 0, 0, 0, [SEP] 73, StoveBurner, 0.642, 0.843, 1.768, 0, 0, 0, [SEP] 74, Cabinet, -1.098, 1.926, 3.729, 0, 0, 0, [SEP] 75, Microwave, -1.529, 1.250, 3.881, 1.622, 180, 0, [SEP] 76, CoffeeMachine, 1.000, 0.812, 2.492, 0, 270, 0, [SEP] 77, LightSwitch, 0.825, 1.396, 4.082, 0, 180, 0, [SEP] 78, Fridge, -2.642, 0.0, 2.134, 0, 180, 0, [SEP] 79, Window, -1.131, 1.673, 0.808, 90, 0, 0, [SEP] 80, GarbageCan, 0.931, -0.000, 2.918, 0, 0, 0, [SEP] 81, SinkBasin, -1.601, 0.686, 3.774, 0, 0, 0, [SEP] 82, StoveKnob, 1.104, 1.002, 1.886, 0, 0, 70.346, [SEP] 83, StoveKnob, 1.104, 1.002, 1.733, 0, 0, 70.346, [SEP] 84, StoveKnob, 1.104, 1.002, 1.321, 0, 0, 70.346, [SEP] 85, StoveKnob, 1.104, 1.002, 1.481, 0, 0, 70.346, [SEP] 86, Toaster, -2.247, 0.812, 3.862, 0, 180, 0, [SEP] 87, DiningTable, -0.917, -0.000, 1.203, 0, 0, 0, [SEP] 88, Stool, -0.932, 0.000, 1.404, 1.196, 21.715, 0, [SEP] 89, Faucet, -1.842, 0.809, 3.984, 0, 180, 0, [SEP] 90, Faucet, -1.371, 0.809, 3.985, 0, 180, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and take a step then turn right and walk to the counter. | STEP 2: Pick up the knife to the left of the spatula. | STEP 3: Take a half step to your left. | STEP 4: Cut the apple in front of you into three chunks with the knife. | STEP 5: Put the knife on the baked item on the counter in front of you. | STEP 6: Pick up a chunk of the apple. | STEP 7: Take a tiny step backwards then take a step to your right. | STEP 8: Put the chunk of apple in the pan on the front left burner. | STEP 9: Pick up the pan with the chunk of apple in it. | STEP 10: Turn left and take a step then turn left and walk to the fridge. | STEP 11: Put the pan in the fridge on the fifth shelf from the bottom on the right. | END"]} +{"id": "trial_T20190908_133349_808774-0", "input": "Look at an object by the light of a lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.902, -3.0, 0, 270, 0, [SEP] 1, CreditCard, -0.847, 0.741, 1.202, 0, 0, 0, 36 [SEP] 2, RemoteControl, -4.247, 1.269, 0.322, 0, 0, 0, 26 [SEP] 3, Box, -0.355, 1.031, 1.593, 0, 0, 0, 36 [SEP] 4, Box, -3.687, 0.684, 4.148, 0, 270, 0, 60 [SEP] 5, Pillow, -1.913, 0.446, 5.916, 0, 180, 0, 59 [SEP] 6, Pillow, -1.413, 0.446, 5.916, 0, 180, 0, 59 [SEP] 7, Laptop, -3.483, 0.392, 3.615, 0, 90, 0, 60 [SEP] 8, Laptop, -1.783, 0.653, -2.074, 0, 0, 0, 57 [SEP] 9, Box, -2.465, 0.945, -2.202, 0, 0, 0, 57 [SEP] 10, Vase, -0.202, 0.701, 5.464, 0, 315, 0, 51 [SEP] 11, CellPhone, -4.208, 1.271, 0.771, 0, 0, 0, 26 [SEP] 12, WateringCan, -3.580, 0.003, 5.503, 4.139, 0, 0, Floor|-04.41| [SEP] 13, KeyChain, -2.413, 0.319, 2.695, 0, 0, 0, 67 [SEP] 14, Vase, -4.242, 0.789, 1.181, 0, 0, 0, 29 [SEP] 15, Vase, -4.228, 0.789, 0.756, 0, 0, 0, 29 [SEP] 16, Laptop, -2.700, 0.316, 2.617, 0, 0, 0, 67 [SEP] 17, Pillow, -3.587, 0.643, 5.016, 317.310, 0, 0, 60 [SEP] 18, RemoteControl, -3.789, 0.395, 4.148, 0, 90, 0, 60 [SEP] 19, CreditCard, -4.287, 1.652, 0.920, 0, 0, 0, 28 [SEP] 20, Vase, -4.225, 0.789, 0.382, 0, 0, 0, 29 [SEP] 21, Statue, -4.287, 1.654, 0.471, 0, 90, 0, 28 [SEP] 22, Statue, -2.106, 0.462, 4.048, 0, 0, 0, 70 [SEP] 23, Statue, -2.106, 0.554, 3.910, 0, 0, 0, 70 [SEP] 24, Shelf, -4.253, 2.157, 0.771, 0, 0, 0, [SEP] 25, Painting, -3.368, 1.741, -0.298, 0, 0, 0, [SEP] 26, Shelf, -4.253, 1.306, 0.771, 0, 0, 0, [SEP] 27, Painting, -1.756, 1.424, -3.595, 0, 0, 0, [SEP] 28, Shelf, -4.253, 1.690, 0.771, 0, 0, 0, [SEP] 29, Shelf, -4.261, 0.833, 0.771, 0, 0, 0, [SEP] 30, Drawer, 0.411, 0.581, 1.221, 0, 180, 0, [SEP] 31, Drawer, -0.000, 0.170, 1.221, 0, 180, 0, [SEP] 32, Drawer, -0.000, 0.581, 1.221, 0, 180, 0, [SEP] 33, Drawer, 0.411, 0.375, 1.221, 0, 180, 0, [SEP] 34, Drawer, 0.411, 0.170, 1.221, 0, 180, 0, [SEP] 35, Drawer, -0.000, 0.375, 1.221, 0, 180, 0, [SEP] 36, Desk, -0.352, 0.003, 1.371, 0, 180, 0, [SEP] 37, FloorLamp, 0.391, -0.001, 5.157, 0, 0, 0, [SEP] 38, Window, -2.828, 0.470, -0.157, 90, 199.328, 0, [SEP] 39, Window, -4.410, 1.702, 1.787, 90, 270, 0, [SEP] 40, Window, -3.638, 1.702, 6.735, 90, 0, 0, [SEP] 41, Window, -4.410, 1.702, 2.790, 90, 270, 0, [SEP] 42, Window, -2.827, 1.702, -0.157, 90, 199.328, 0, [SEP] 43, Window, -0.131, 1.702, 6.735, 90, 0, 0, [SEP] 44, Window, -1.013, 1.702, -0.154, 90, 159.633, 0, [SEP] 45, Window, -4.410, 1.702, 5.980, 90, 270, 0, [SEP] 46, Television, -0.153, 1.176, 5.790, 0, 225, 0, [SEP] 47, GarbageCan, 0.357, 0.003, 2.159, 0, 90, 0, [SEP] 48, DeskLamp, 0.277, 0.735, 1.381, 0, 0, 0, [SEP] 49, HousePlant, -1.819, 0.641, -2.011, 0, 315, 0, [SEP] 50, LightSwitch, -2.740, 1.495, -0.405, 0, 180, 0, [SEP] 51, TVStand, -0.118, 0.001, 5.874, 0, 45, 0, [SEP] 52, Chair, -1.353, 0.002, -2.872, 0, 349.207, 0, [SEP] 53, Chair, -2.220, 0.002, -1.298, 0, 168.118, 0, [SEP] 54, Chair, -1.515, 0.007, -1.331, 358.639, 187.454, 0, [SEP] 55, Chair, -2.189, 0.002, -2.835, 0, 2.328, 0, [SEP] 56, Safe, 0.174, 0.001, -0.071, 0, 323.940, 0, [SEP] 57, DiningTable, -1.783, 0.003, -2.039, 0, 0, 0, [SEP] 58, Chair, -0.636, 0.010, 0.993, 0, 358.396, 0, [SEP] 59, Sofa, -2.161, 0.006, 6.115, 0, 180, 0, [SEP] 60, Sofa, -3.782, 0.006, 4.153, 0, 90, 0, [SEP] 61, Shelf, -1.095, 0.607, 1.321, 0, 180, 0, [SEP] 62, Shelf, -1.267, 0.607, 1.321, 0, 180, 0, [SEP] 63, Shelf, -1.267, 0.401, 1.321, 0, 180, 0, [SEP] 64, Shelf, -1.095, 0.196, 1.320, 0, 180, 0, [SEP] 65, Shelf, -1.095, 0.401, 1.321, 0, 180, 0, [SEP] 66, Shelf, -1.267, 0.196, 1.320, 0, 180, 0, [SEP] 67, ArmChair, -2.628, 0.009, 2.421, 0, 0, 0, [SEP] 68, Chair, -0.485, 0.010, 4.452, 0, 270, 0, [SEP] 69, Chair, -0.431, 0.010, 3.595, 0, 270, 0, [SEP] 70, CoffeeTable, -1.965, 0.000, 4.187, 0, 0, 0, [SEP] 71, NorthWall, , , , , , , [SEP] 72, EastWall, , , , , , , [SEP] 73, SouthWall, , , , , , , [SEP] 74, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk around the coffee table and go all the way to the right corner of the room where the TV is. | STEP 2: Pick up the yellow object in front of the TV. | STEP 3: Turn left and walk around the chairs to the back of them where the floor lamp is. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190908_133349_808774-1", "input": "Turn on the lamp in the living room. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.902, -3.0, 0, 270, 0, [SEP] 1, CreditCard, -0.847, 0.741, 1.202, 0, 0, 0, 36 [SEP] 2, RemoteControl, -4.247, 1.269, 0.322, 0, 0, 0, 26 [SEP] 3, Box, -0.355, 1.031, 1.593, 0, 0, 0, 36 [SEP] 4, Box, -3.687, 0.684, 4.148, 0, 270, 0, 60 [SEP] 5, Pillow, -1.913, 0.446, 5.916, 0, 180, 0, 59 [SEP] 6, Pillow, -1.413, 0.446, 5.916, 0, 180, 0, 59 [SEP] 7, Laptop, -3.483, 0.392, 3.615, 0, 90, 0, 60 [SEP] 8, Laptop, -1.783, 0.653, -2.074, 0, 0, 0, 57 [SEP] 9, Box, -2.465, 0.945, -2.202, 0, 0, 0, 57 [SEP] 10, Vase, -0.202, 0.701, 5.464, 0, 315, 0, 51 [SEP] 11, CellPhone, -4.208, 1.271, 0.771, 0, 0, 0, 26 [SEP] 12, WateringCan, -3.580, 0.003, 5.503, 4.139, 0, 0, Floor|-04.41| [SEP] 13, KeyChain, -2.413, 0.319, 2.695, 0, 0, 0, 67 [SEP] 14, Vase, -4.242, 0.789, 1.181, 0, 0, 0, 29 [SEP] 15, Vase, -4.228, 0.789, 0.756, 0, 0, 0, 29 [SEP] 16, Laptop, -2.700, 0.316, 2.617, 0, 0, 0, 67 [SEP] 17, Pillow, -3.587, 0.643, 5.016, 317.310, 0, 0, 60 [SEP] 18, RemoteControl, -3.789, 0.395, 4.148, 0, 90, 0, 60 [SEP] 19, CreditCard, -4.287, 1.652, 0.920, 0, 0, 0, 28 [SEP] 20, Vase, -4.225, 0.789, 0.382, 0, 0, 0, 29 [SEP] 21, Statue, -4.287, 1.654, 0.471, 0, 90, 0, 28 [SEP] 22, Statue, -2.106, 0.462, 4.048, 0, 0, 0, 70 [SEP] 23, Statue, -2.106, 0.554, 3.910, 0, 0, 0, 70 [SEP] 24, Shelf, -4.253, 2.157, 0.771, 0, 0, 0, [SEP] 25, Painting, -3.368, 1.741, -0.298, 0, 0, 0, [SEP] 26, Shelf, -4.253, 1.306, 0.771, 0, 0, 0, [SEP] 27, Painting, -1.756, 1.424, -3.595, 0, 0, 0, [SEP] 28, Shelf, -4.253, 1.690, 0.771, 0, 0, 0, [SEP] 29, Shelf, -4.261, 0.833, 0.771, 0, 0, 0, [SEP] 30, Drawer, 0.411, 0.581, 1.221, 0, 180, 0, [SEP] 31, Drawer, -0.000, 0.170, 1.221, 0, 180, 0, [SEP] 32, Drawer, -0.000, 0.581, 1.221, 0, 180, 0, [SEP] 33, Drawer, 0.411, 0.375, 1.221, 0, 180, 0, [SEP] 34, Drawer, 0.411, 0.170, 1.221, 0, 180, 0, [SEP] 35, Drawer, -0.000, 0.375, 1.221, 0, 180, 0, [SEP] 36, Desk, -0.352, 0.003, 1.371, 0, 180, 0, [SEP] 37, FloorLamp, 0.391, -0.001, 5.157, 0, 0, 0, [SEP] 38, Window, -2.828, 0.470, -0.157, 90, 199.328, 0, [SEP] 39, Window, -4.410, 1.702, 1.787, 90, 270, 0, [SEP] 40, Window, -3.638, 1.702, 6.735, 90, 0, 0, [SEP] 41, Window, -4.410, 1.702, 2.790, 90, 270, 0, [SEP] 42, Window, -2.827, 1.702, -0.157, 90, 199.328, 0, [SEP] 43, Window, -0.131, 1.702, 6.735, 90, 0, 0, [SEP] 44, Window, -1.013, 1.702, -0.154, 90, 159.633, 0, [SEP] 45, Window, -4.410, 1.702, 5.980, 90, 270, 0, [SEP] 46, Television, -0.153, 1.176, 5.790, 0, 225, 0, [SEP] 47, GarbageCan, 0.357, 0.003, 2.159, 0, 90, 0, [SEP] 48, DeskLamp, 0.277, 0.735, 1.381, 0, 0, 0, [SEP] 49, HousePlant, -1.819, 0.641, -2.011, 0, 315, 0, [SEP] 50, LightSwitch, -2.740, 1.495, -0.405, 0, 180, 0, [SEP] 51, TVStand, -0.118, 0.001, 5.874, 0, 45, 0, [SEP] 52, Chair, -1.353, 0.002, -2.872, 0, 349.207, 0, [SEP] 53, Chair, -2.220, 0.002, -1.298, 0, 168.118, 0, [SEP] 54, Chair, -1.515, 0.007, -1.331, 358.639, 187.454, 0, [SEP] 55, Chair, -2.189, 0.002, -2.835, 0, 2.328, 0, [SEP] 56, Safe, 0.174, 0.001, -0.071, 0, 323.940, 0, [SEP] 57, DiningTable, -1.783, 0.003, -2.039, 0, 0, 0, [SEP] 58, Chair, -0.636, 0.010, 0.993, 0, 358.396, 0, [SEP] 59, Sofa, -2.161, 0.006, 6.115, 0, 180, 0, [SEP] 60, Sofa, -3.782, 0.006, 4.153, 0, 90, 0, [SEP] 61, Shelf, -1.095, 0.607, 1.321, 0, 180, 0, [SEP] 62, Shelf, -1.267, 0.607, 1.321, 0, 180, 0, [SEP] 63, Shelf, -1.267, 0.401, 1.321, 0, 180, 0, [SEP] 64, Shelf, -1.095, 0.196, 1.320, 0, 180, 0, [SEP] 65, Shelf, -1.095, 0.401, 1.321, 0, 180, 0, [SEP] 66, Shelf, -1.267, 0.196, 1.320, 0, 180, 0, [SEP] 67, ArmChair, -2.628, 0.009, 2.421, 0, 0, 0, [SEP] 68, Chair, -0.485, 0.010, 4.452, 0, 270, 0, [SEP] 69, Chair, -0.431, 0.010, 3.595, 0, 270, 0, [SEP] 70, CoffeeTable, -1.965, 0.000, 4.187, 0, 0, 0, [SEP] 71, NorthWall, , , , , , , [SEP] 72, EastWall, , , , , , , [SEP] 73, SouthWall, , , , , , , [SEP] 74, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go around the table, through the doorway, and into the living room, then walk across the living room to the entertainment stand. | STEP 2: Pick up the yellow vase, on the entertainment stand, in front of the TV. | STEP 3: Move over to the lamp on your right. | STEP 4: Turn the lamp on while holding the vase. | END"]} +{"id": "trial_T20190908_133349_808774-2", "input": "Examine a vase under a tall lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.902, -3.0, 0, 270, 0, [SEP] 1, CreditCard, -0.847, 0.741, 1.202, 0, 0, 0, 36 [SEP] 2, RemoteControl, -4.247, 1.269, 0.322, 0, 0, 0, 26 [SEP] 3, Box, -0.355, 1.031, 1.593, 0, 0, 0, 36 [SEP] 4, Box, -3.687, 0.684, 4.148, 0, 270, 0, 60 [SEP] 5, Pillow, -1.913, 0.446, 5.916, 0, 180, 0, 59 [SEP] 6, Pillow, -1.413, 0.446, 5.916, 0, 180, 0, 59 [SEP] 7, Laptop, -3.483, 0.392, 3.615, 0, 90, 0, 60 [SEP] 8, Laptop, -1.783, 0.653, -2.074, 0, 0, 0, 57 [SEP] 9, Box, -2.465, 0.945, -2.202, 0, 0, 0, 57 [SEP] 10, Vase, -0.202, 0.701, 5.464, 0, 315, 0, 51 [SEP] 11, CellPhone, -4.208, 1.271, 0.771, 0, 0, 0, 26 [SEP] 12, WateringCan, -3.580, 0.003, 5.503, 4.139, 0, 0, Floor|-04.41| [SEP] 13, KeyChain, -2.413, 0.319, 2.695, 0, 0, 0, 67 [SEP] 14, Vase, -4.242, 0.789, 1.181, 0, 0, 0, 29 [SEP] 15, Vase, -4.228, 0.789, 0.756, 0, 0, 0, 29 [SEP] 16, Laptop, -2.700, 0.316, 2.617, 0, 0, 0, 67 [SEP] 17, Pillow, -3.587, 0.643, 5.016, 317.310, 0, 0, 60 [SEP] 18, RemoteControl, -3.789, 0.395, 4.148, 0, 90, 0, 60 [SEP] 19, CreditCard, -4.287, 1.652, 0.920, 0, 0, 0, 28 [SEP] 20, Vase, -4.225, 0.789, 0.382, 0, 0, 0, 29 [SEP] 21, Statue, -4.287, 1.654, 0.471, 0, 90, 0, 28 [SEP] 22, Statue, -2.106, 0.462, 4.048, 0, 0, 0, 70 [SEP] 23, Statue, -2.106, 0.554, 3.910, 0, 0, 0, 70 [SEP] 24, Shelf, -4.253, 2.157, 0.771, 0, 0, 0, [SEP] 25, Painting, -3.368, 1.741, -0.298, 0, 0, 0, [SEP] 26, Shelf, -4.253, 1.306, 0.771, 0, 0, 0, [SEP] 27, Painting, -1.756, 1.424, -3.595, 0, 0, 0, [SEP] 28, Shelf, -4.253, 1.690, 0.771, 0, 0, 0, [SEP] 29, Shelf, -4.261, 0.833, 0.771, 0, 0, 0, [SEP] 30, Drawer, 0.411, 0.581, 1.221, 0, 180, 0, [SEP] 31, Drawer, -0.000, 0.170, 1.221, 0, 180, 0, [SEP] 32, Drawer, -0.000, 0.581, 1.221, 0, 180, 0, [SEP] 33, Drawer, 0.411, 0.375, 1.221, 0, 180, 0, [SEP] 34, Drawer, 0.411, 0.170, 1.221, 0, 180, 0, [SEP] 35, Drawer, -0.000, 0.375, 1.221, 0, 180, 0, [SEP] 36, Desk, -0.352, 0.003, 1.371, 0, 180, 0, [SEP] 37, FloorLamp, 0.391, -0.001, 5.157, 0, 0, 0, [SEP] 38, Window, -2.828, 0.470, -0.157, 90, 199.328, 0, [SEP] 39, Window, -4.410, 1.702, 1.787, 90, 270, 0, [SEP] 40, Window, -3.638, 1.702, 6.735, 90, 0, 0, [SEP] 41, Window, -4.410, 1.702, 2.790, 90, 270, 0, [SEP] 42, Window, -2.827, 1.702, -0.157, 90, 199.328, 0, [SEP] 43, Window, -0.131, 1.702, 6.735, 90, 0, 0, [SEP] 44, Window, -1.013, 1.702, -0.154, 90, 159.633, 0, [SEP] 45, Window, -4.410, 1.702, 5.980, 90, 270, 0, [SEP] 46, Television, -0.153, 1.176, 5.790, 0, 225, 0, [SEP] 47, GarbageCan, 0.357, 0.003, 2.159, 0, 90, 0, [SEP] 48, DeskLamp, 0.277, 0.735, 1.381, 0, 0, 0, [SEP] 49, HousePlant, -1.819, 0.641, -2.011, 0, 315, 0, [SEP] 50, LightSwitch, -2.740, 1.495, -0.405, 0, 180, 0, [SEP] 51, TVStand, -0.118, 0.001, 5.874, 0, 45, 0, [SEP] 52, Chair, -1.353, 0.002, -2.872, 0, 349.207, 0, [SEP] 53, Chair, -2.220, 0.002, -1.298, 0, 168.118, 0, [SEP] 54, Chair, -1.515, 0.007, -1.331, 358.639, 187.454, 0, [SEP] 55, Chair, -2.189, 0.002, -2.835, 0, 2.328, 0, [SEP] 56, Safe, 0.174, 0.001, -0.071, 0, 323.940, 0, [SEP] 57, DiningTable, -1.783, 0.003, -2.039, 0, 0, 0, [SEP] 58, Chair, -0.636, 0.010, 0.993, 0, 358.396, 0, [SEP] 59, Sofa, -2.161, 0.006, 6.115, 0, 180, 0, [SEP] 60, Sofa, -3.782, 0.006, 4.153, 0, 90, 0, [SEP] 61, Shelf, -1.095, 0.607, 1.321, 0, 180, 0, [SEP] 62, Shelf, -1.267, 0.607, 1.321, 0, 180, 0, [SEP] 63, Shelf, -1.267, 0.401, 1.321, 0, 180, 0, [SEP] 64, Shelf, -1.095, 0.196, 1.320, 0, 180, 0, [SEP] 65, Shelf, -1.095, 0.401, 1.321, 0, 180, 0, [SEP] 66, Shelf, -1.267, 0.196, 1.320, 0, 180, 0, [SEP] 67, ArmChair, -2.628, 0.009, 2.421, 0, 0, 0, [SEP] 68, Chair, -0.485, 0.010, 4.452, 0, 270, 0, [SEP] 69, Chair, -0.431, 0.010, 3.595, 0, 270, 0, [SEP] 70, CoffeeTable, -1.965, 0.000, 4.187, 0, 0, 0, [SEP] 71, NorthWall, , , , , , , [SEP] 72, EastWall, , , , , , , [SEP] 73, SouthWall, , , , , , , [SEP] 74, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the wall, turn left and walk to the wall, turn left move forward then hand right to walk through the entry way and cross the room to the TV stand. | STEP 2: Pick up the yellow vase that is sitting on the TV stand | STEP 3: turn around and cross the room, after passing the chairs take a left and then take another left to round the chairs and walk to the tall floor lamp | STEP 4: Lift the vase up and turn on the lamp | END"]} +{"id": "trial_T20190911_045200_839773-0", "input": "Cooking a sliced apple in the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 2.5, 0, 270, 0, [SEP] 1, DishSponge, 0.193, 0.143, 0.582, 0, 0, 0, 60 [SEP] 2, Kettle, -0.621, 0.761, 6.416, 0, 270, 0, 87 [SEP] 3, Pot, 1.562, 0.988, 3.848, 0, 0, 0, 45 [SEP] 4, Pot, 1.559, 0.988, 4.294, 0, 0, 0, 49 [SEP] 5, Spoon, -0.467, 0.761, 6.479, 0, 270, 0, 87 [SEP] 6, Spoon, 1.403, 0.993, 3.324, 0, 0, 0, 51 [SEP] 7, Spatula, -0.278, 0.787, 0.563, 0, 270, 0, 47 [SEP] 8, Knife, 0.150, 0.789, 6.416, 0, 90, 0, 87 [SEP] 9, SoapBottle, -0.442, 0.760, 6.107, 0, 225, 0, 87 [SEP] 10, SoapBottle, 0.124, 0.144, 0.277, 0, 0, 0, 60 [SEP] 11, Bowl, -0.074, 1.578, 0.251, 0, 0, 0, 64 [SEP] 12, Lettuce, -0.289, 0.848, 6.786, 0, 135, 0, 87 [SEP] 13, Mug, 0.273, 1.092, 0.213, 0, 0, 0, 67 [SEP] 14, Mug, 1.571, 0.136, 4.647, 0, 0, 0, 53 [SEP] 15, Apple, 2.006, 0.155, 6.528, 0, 0, 0, 75 [SEP] 16, Bowl, 1.445, 2.206, 3.840, 0, 0, 0, 42 [SEP] 17, Bread, 0.150, 0.829, 6.604, 0, 270, 0, 87 [SEP] 18, Egg, 1.403, 1.042, 0.440, 0, 0, 0, 51 [SEP] 19, Knife, -0.535, 1.022, 0.486, 0, 0, 0, 51 [SEP] 20, Fork, 0.871, 0.772, 0.507, 0, 0, 0, 43 [SEP] 21, Apple, 1.225, 1.067, 3.231, 0, 0, 0, 51 [SEP] 22, Kettle, 1.593, 0.981, 3.25, 0, 255.000, 0, 51 [SEP] 23, Plate, 1.406, 0.141, 2.646, 0, 0, 0, 63 [SEP] 24, SaltShaker, 1.500, 1.572, 1.410, 0, 0, 0, 61 [SEP] 25, Lettuce, 1.582, 1.081, 0.440, 0, 0, 0, 51 [SEP] 26, SoapBottle, 0.150, 0.760, 6.354, 0, 270, 0, 87 [SEP] 27, Spatula, -0.413, 0.787, 0.451, 0, 0, 0, 47 [SEP] 28, PaperTowelRoll, 1.135, 1.096, 4.579, 0, 0, 0, 52 [SEP] 29, Pot, 1.32, 0.988, 3.848, 0, 0, 0, 50 [SEP] 30, Potato, 1.135, 1.027, 4.716, 0, 0, 0, 52 [SEP] 31, ButterKnife, 0.058, 0.760, 6.261, 0, 135, 0, 87 [SEP] 32, PepperShaker, 0.837, 1.574, 0.383, 0, 0, 0, 65 [SEP] 33, Pan, 0.696, 0.990, 0.578, 0, 0, 0, 51 [SEP] 34, Tomato, -0.535, 1.042, 0.670, 0, 0, 0, 51 [SEP] 35, DishSponge, 0.260, 0.771, 0.618, 0, 0, 0, 48 [SEP] 36, Cup, 2.009, 1.511, 5.376, 0, 270, 0, 73 [SEP] 37, Spoon, 1.238, 0.772, 4.717, 0, 0, 0, 41 [SEP] 38, Mug, 2.051, 1.510, 5.876, 0, 270, 0, 73 [SEP] 39, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 40, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 41, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 42, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 43, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 44, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 45, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 46, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 47, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 48, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 49, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 50, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 51, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 52, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 53, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 54, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 55, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 56, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 57, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 58, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 59, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 60, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 61, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 62, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 63, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 64, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 65, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 66, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 67, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 68, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 69, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 70, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 71, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 72, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 73, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 74, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 75, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 76, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 77, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 78, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 79, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 80, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 81, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 82, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 83, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 84, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 85, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 86, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 87, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 88, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 89, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right and walk to the back of the kitchen to the black round table | STEP 2: Pick up the yellow handled knife from the table | STEP 3: Turn to the left and walk to the kitchen counter in between the sink and stove and face it | STEP 4: Slice the apple on the table | STEP 5: Open the cabinet door below | STEP 6: Place the knife inside the cabinet and close the door | STEP 7: Face back towards the kitchen counter | STEP 8: Pick up the apple slice from the counter | STEP 9: Turn around and walk towards the left to the microwave | STEP 10: Open the microwave place the apple inside, warm it then remove it | STEP 11: Turn around and walk straight towards the refrigerator on the right and face it | STEP 12: Open the refrigerator and place the apple inside then close the door | END"]} +{"id": "trial_T20190911_045200_839773-1", "input": "Place a cooked apple into a fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 2.5, 0, 270, 0, [SEP] 1, DishSponge, 0.193, 0.143, 0.582, 0, 0, 0, 60 [SEP] 2, Kettle, -0.621, 0.761, 6.416, 0, 270, 0, 87 [SEP] 3, Pot, 1.562, 0.988, 3.848, 0, 0, 0, 45 [SEP] 4, Pot, 1.559, 0.988, 4.294, 0, 0, 0, 49 [SEP] 5, Spoon, -0.467, 0.761, 6.479, 0, 270, 0, 87 [SEP] 6, Spoon, 1.403, 0.993, 3.324, 0, 0, 0, 51 [SEP] 7, Spatula, -0.278, 0.787, 0.563, 0, 270, 0, 47 [SEP] 8, Knife, 0.150, 0.789, 6.416, 0, 90, 0, 87 [SEP] 9, SoapBottle, -0.442, 0.760, 6.107, 0, 225, 0, 87 [SEP] 10, SoapBottle, 0.124, 0.144, 0.277, 0, 0, 0, 60 [SEP] 11, Bowl, -0.074, 1.578, 0.251, 0, 0, 0, 64 [SEP] 12, Lettuce, -0.289, 0.848, 6.786, 0, 135, 0, 87 [SEP] 13, Mug, 0.273, 1.092, 0.213, 0, 0, 0, 67 [SEP] 14, Mug, 1.571, 0.136, 4.647, 0, 0, 0, 53 [SEP] 15, Apple, 2.006, 0.155, 6.528, 0, 0, 0, 75 [SEP] 16, Bowl, 1.445, 2.206, 3.840, 0, 0, 0, 42 [SEP] 17, Bread, 0.150, 0.829, 6.604, 0, 270, 0, 87 [SEP] 18, Egg, 1.403, 1.042, 0.440, 0, 0, 0, 51 [SEP] 19, Knife, -0.535, 1.022, 0.486, 0, 0, 0, 51 [SEP] 20, Fork, 0.871, 0.772, 0.507, 0, 0, 0, 43 [SEP] 21, Apple, 1.225, 1.067, 3.231, 0, 0, 0, 51 [SEP] 22, Kettle, 1.593, 0.981, 3.25, 0, 255.000, 0, 51 [SEP] 23, Plate, 1.406, 0.141, 2.646, 0, 0, 0, 63 [SEP] 24, SaltShaker, 1.500, 1.572, 1.410, 0, 0, 0, 61 [SEP] 25, Lettuce, 1.582, 1.081, 0.440, 0, 0, 0, 51 [SEP] 26, SoapBottle, 0.150, 0.760, 6.354, 0, 270, 0, 87 [SEP] 27, Spatula, -0.413, 0.787, 0.451, 0, 0, 0, 47 [SEP] 28, PaperTowelRoll, 1.135, 1.096, 4.579, 0, 0, 0, 52 [SEP] 29, Pot, 1.32, 0.988, 3.848, 0, 0, 0, 50 [SEP] 30, Potato, 1.135, 1.027, 4.716, 0, 0, 0, 52 [SEP] 31, ButterKnife, 0.058, 0.760, 6.261, 0, 135, 0, 87 [SEP] 32, PepperShaker, 0.837, 1.574, 0.383, 0, 0, 0, 65 [SEP] 33, Pan, 0.696, 0.990, 0.578, 0, 0, 0, 51 [SEP] 34, Tomato, -0.535, 1.042, 0.670, 0, 0, 0, 51 [SEP] 35, DishSponge, 0.260, 0.771, 0.618, 0, 0, 0, 48 [SEP] 36, Cup, 2.009, 1.511, 5.376, 0, 270, 0, 73 [SEP] 37, Spoon, 1.238, 0.772, 4.717, 0, 0, 0, 41 [SEP] 38, Mug, 2.051, 1.510, 5.876, 0, 270, 0, 73 [SEP] 39, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 40, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 41, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 42, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 43, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 44, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 45, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 46, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 47, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 48, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 49, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 50, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 51, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 52, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 53, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 54, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 55, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 56, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 57, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 58, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 59, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 60, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 61, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 62, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 63, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 64, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 65, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 66, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 67, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 68, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 69, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 70, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 71, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 72, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 73, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 74, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 75, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 76, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 77, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 78, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 79, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 80, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 81, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 82, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 83, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 84, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 85, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 86, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 87, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 88, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 89, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the black table then turn right and walk to the white fridge, then hang left and walk to the table on your left | STEP 2: Pick up the knife with the yellow handle that is sitting on the table | STEP 3: Head to across the room to your left to the counter that is to the left of the sink | STEP 4: Slice the apple that is on the counter | STEP 5: Take a step backward | STEP 6: Open the cabinet that is under the counter containing the apply and to the left of the stove. Place the knife in the cabinet and then close the door | STEP 7: Step forward toward the counter containing the apple | STEP 8: Pick up a slice of the apple | STEP 9: Turn around then head to the microwave that is to your left | STEP 10: Open the microwave and place the apple inside in front of the mug then close the microwave and turn it on. Then open the microwave and pick up the apple then close the door | STEP 11: Turn around and head to the black table across the room then turn right and walk to the white fridge | STEP 12: Open the fridge and place the apple on the top shelf in between the two mugs then close the fridge | END"]} +{"id": "trial_T20190911_045200_839773-2", "input": "Put a cold chunk of apple in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 2.5, 0, 270, 0, [SEP] 1, DishSponge, 0.193, 0.143, 0.582, 0, 0, 0, 60 [SEP] 2, Kettle, -0.621, 0.761, 6.416, 0, 270, 0, 87 [SEP] 3, Pot, 1.562, 0.988, 3.848, 0, 0, 0, 45 [SEP] 4, Pot, 1.559, 0.988, 4.294, 0, 0, 0, 49 [SEP] 5, Spoon, -0.467, 0.761, 6.479, 0, 270, 0, 87 [SEP] 6, Spoon, 1.403, 0.993, 3.324, 0, 0, 0, 51 [SEP] 7, Spatula, -0.278, 0.787, 0.563, 0, 270, 0, 47 [SEP] 8, Knife, 0.150, 0.789, 6.416, 0, 90, 0, 87 [SEP] 9, SoapBottle, -0.442, 0.760, 6.107, 0, 225, 0, 87 [SEP] 10, SoapBottle, 0.124, 0.144, 0.277, 0, 0, 0, 60 [SEP] 11, Bowl, -0.074, 1.578, 0.251, 0, 0, 0, 64 [SEP] 12, Lettuce, -0.289, 0.848, 6.786, 0, 135, 0, 87 [SEP] 13, Mug, 0.273, 1.092, 0.213, 0, 0, 0, 67 [SEP] 14, Mug, 1.571, 0.136, 4.647, 0, 0, 0, 53 [SEP] 15, Apple, 2.006, 0.155, 6.528, 0, 0, 0, 75 [SEP] 16, Bowl, 1.445, 2.206, 3.840, 0, 0, 0, 42 [SEP] 17, Bread, 0.150, 0.829, 6.604, 0, 270, 0, 87 [SEP] 18, Egg, 1.403, 1.042, 0.440, 0, 0, 0, 51 [SEP] 19, Knife, -0.535, 1.022, 0.486, 0, 0, 0, 51 [SEP] 20, Fork, 0.871, 0.772, 0.507, 0, 0, 0, 43 [SEP] 21, Apple, 1.225, 1.067, 3.231, 0, 0, 0, 51 [SEP] 22, Kettle, 1.593, 0.981, 3.25, 0, 255.000, 0, 51 [SEP] 23, Plate, 1.406, 0.141, 2.646, 0, 0, 0, 63 [SEP] 24, SaltShaker, 1.500, 1.572, 1.410, 0, 0, 0, 61 [SEP] 25, Lettuce, 1.582, 1.081, 0.440, 0, 0, 0, 51 [SEP] 26, SoapBottle, 0.150, 0.760, 6.354, 0, 270, 0, 87 [SEP] 27, Spatula, -0.413, 0.787, 0.451, 0, 0, 0, 47 [SEP] 28, PaperTowelRoll, 1.135, 1.096, 4.579, 0, 0, 0, 52 [SEP] 29, Pot, 1.32, 0.988, 3.848, 0, 0, 0, 50 [SEP] 30, Potato, 1.135, 1.027, 4.716, 0, 0, 0, 52 [SEP] 31, ButterKnife, 0.058, 0.760, 6.261, 0, 135, 0, 87 [SEP] 32, PepperShaker, 0.837, 1.574, 0.383, 0, 0, 0, 65 [SEP] 33, Pan, 0.696, 0.990, 0.578, 0, 0, 0, 51 [SEP] 34, Tomato, -0.535, 1.042, 0.670, 0, 0, 0, 51 [SEP] 35, DishSponge, 0.260, 0.771, 0.618, 0, 0, 0, 48 [SEP] 36, Cup, 2.009, 1.511, 5.376, 0, 270, 0, 73 [SEP] 37, Spoon, 1.238, 0.772, 4.717, 0, 0, 0, 41 [SEP] 38, Mug, 2.051, 1.510, 5.876, 0, 270, 0, 73 [SEP] 39, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 40, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 41, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 42, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 43, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 44, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 45, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 46, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 47, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 48, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 49, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 50, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 51, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 52, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 53, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 54, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 55, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 56, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 57, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 58, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 59, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 60, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 61, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 62, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 63, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 64, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 65, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 66, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 67, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 68, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 69, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 70, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 71, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 72, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 73, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 74, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 75, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 76, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 77, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 78, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 79, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 80, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 81, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 82, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 83, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 84, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 85, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 86, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 87, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 88, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 89, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the table then turn right and walk to the fridge then turn left and take a step then turn left and walk to the table. | STEP 2: Pick up the yellow handled knife. | STEP 3: Turn left and take a step left then walk to the counter then turn right and take a step then turn left and walk to the counter to the right of the stove top to face an apple. | STEP 4: Cut the apple into three chunks,. | STEP 5: Back up a step. | STEP 6: Put the knife in the cabinet under the apple the one directly to the right of the stove. | STEP 7: Walk to the counter and take a step left. | STEP 8: Pick up a chunk of apple. | STEP 9: Turn right and take a step to your right then walk to the microwave that's in front of you. | STEP 10: Warm the chunk of apple in the microwave and then get it back out and close the door. | STEP 11: Turn around and walk to the table then turn right and walk to the fridge. | STEP 12: Put the apple in the fridge. | END"]} +{"id": "trial_T20190911_045200_839773-3", "input": "Place a heated slice of apple in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 2.5, 0, 270, 0, [SEP] 1, DishSponge, 0.193, 0.143, 0.582, 0, 0, 0, 60 [SEP] 2, Kettle, -0.621, 0.761, 6.416, 0, 270, 0, 87 [SEP] 3, Pot, 1.562, 0.988, 3.848, 0, 0, 0, 45 [SEP] 4, Pot, 1.559, 0.988, 4.294, 0, 0, 0, 49 [SEP] 5, Spoon, -0.467, 0.761, 6.479, 0, 270, 0, 87 [SEP] 6, Spoon, 1.403, 0.993, 3.324, 0, 0, 0, 51 [SEP] 7, Spatula, -0.278, 0.787, 0.563, 0, 270, 0, 47 [SEP] 8, Knife, 0.150, 0.789, 6.416, 0, 90, 0, 87 [SEP] 9, SoapBottle, -0.442, 0.760, 6.107, 0, 225, 0, 87 [SEP] 10, SoapBottle, 0.124, 0.144, 0.277, 0, 0, 0, 60 [SEP] 11, Bowl, -0.074, 1.578, 0.251, 0, 0, 0, 64 [SEP] 12, Lettuce, -0.289, 0.848, 6.786, 0, 135, 0, 87 [SEP] 13, Mug, 0.273, 1.092, 0.213, 0, 0, 0, 67 [SEP] 14, Mug, 1.571, 0.136, 4.647, 0, 0, 0, 53 [SEP] 15, Apple, 2.006, 0.155, 6.528, 0, 0, 0, 75 [SEP] 16, Bowl, 1.445, 2.206, 3.840, 0, 0, 0, 42 [SEP] 17, Bread, 0.150, 0.829, 6.604, 0, 270, 0, 87 [SEP] 18, Egg, 1.403, 1.042, 0.440, 0, 0, 0, 51 [SEP] 19, Knife, -0.535, 1.022, 0.486, 0, 0, 0, 51 [SEP] 20, Fork, 0.871, 0.772, 0.507, 0, 0, 0, 43 [SEP] 21, Apple, 1.225, 1.067, 3.231, 0, 0, 0, 51 [SEP] 22, Kettle, 1.593, 0.981, 3.25, 0, 255.000, 0, 51 [SEP] 23, Plate, 1.406, 0.141, 2.646, 0, 0, 0, 63 [SEP] 24, SaltShaker, 1.500, 1.572, 1.410, 0, 0, 0, 61 [SEP] 25, Lettuce, 1.582, 1.081, 0.440, 0, 0, 0, 51 [SEP] 26, SoapBottle, 0.150, 0.760, 6.354, 0, 270, 0, 87 [SEP] 27, Spatula, -0.413, 0.787, 0.451, 0, 0, 0, 47 [SEP] 28, PaperTowelRoll, 1.135, 1.096, 4.579, 0, 0, 0, 52 [SEP] 29, Pot, 1.32, 0.988, 3.848, 0, 0, 0, 50 [SEP] 30, Potato, 1.135, 1.027, 4.716, 0, 0, 0, 52 [SEP] 31, ButterKnife, 0.058, 0.760, 6.261, 0, 135, 0, 87 [SEP] 32, PepperShaker, 0.837, 1.574, 0.383, 0, 0, 0, 65 [SEP] 33, Pan, 0.696, 0.990, 0.578, 0, 0, 0, 51 [SEP] 34, Tomato, -0.535, 1.042, 0.670, 0, 0, 0, 51 [SEP] 35, DishSponge, 0.260, 0.771, 0.618, 0, 0, 0, 48 [SEP] 36, Cup, 2.009, 1.511, 5.376, 0, 270, 0, 73 [SEP] 37, Spoon, 1.238, 0.772, 4.717, 0, 0, 0, 41 [SEP] 38, Mug, 2.051, 1.510, 5.876, 0, 270, 0, 73 [SEP] 39, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 40, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 41, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 42, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 43, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 44, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 45, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 46, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 47, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 48, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 49, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 50, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 51, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 52, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 53, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 54, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 55, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 56, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 57, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 58, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 59, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 60, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 61, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 62, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 63, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 64, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 65, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 66, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 67, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 68, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 69, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 70, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 71, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 72, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 73, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 74, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 75, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 76, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 77, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 78, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 79, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 80, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 81, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 82, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 83, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 84, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 85, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 86, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 87, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 88, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 89, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Move to stand at the round black table, so you're positioned directly right of the chair. | STEP 2: Pick up the sharp knife with the yellow handle. | STEP 3: Carry the knife to the counter space between the stove and sink. | STEP 4: Use the knife to slice the green apple on the counter. | STEP 5: Back up from the counter while carrying the knife so you have room to open the cupboard. | STEP 6: Open the cupboard beneath the apple and place the knife inside. | STEP 7: Move back closer to the counter where the apple is. | STEP 8: Pick up a slice of apple from the counter. | STEP 9: Carry the apple slice to the microwave. | STEP 10: Place the apple slice in the microwave and then remove, once heated. | STEP 11: Carry the heated apple slice to the fridge. | STEP 12: Open the fridge and place the apple slice on the top shelf. | END"]} +{"id": "trial_T20190911_045200_839773-4", "input": "Put a warm apple slice in the refrigerator. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 2.5, 0, 270, 0, [SEP] 1, DishSponge, 0.193, 0.143, 0.582, 0, 0, 0, 60 [SEP] 2, Kettle, -0.621, 0.761, 6.416, 0, 270, 0, 87 [SEP] 3, Pot, 1.562, 0.988, 3.848, 0, 0, 0, 45 [SEP] 4, Pot, 1.559, 0.988, 4.294, 0, 0, 0, 49 [SEP] 5, Spoon, -0.467, 0.761, 6.479, 0, 270, 0, 87 [SEP] 6, Spoon, 1.403, 0.993, 3.324, 0, 0, 0, 51 [SEP] 7, Spatula, -0.278, 0.787, 0.563, 0, 270, 0, 47 [SEP] 8, Knife, 0.150, 0.789, 6.416, 0, 90, 0, 87 [SEP] 9, SoapBottle, -0.442, 0.760, 6.107, 0, 225, 0, 87 [SEP] 10, SoapBottle, 0.124, 0.144, 0.277, 0, 0, 0, 60 [SEP] 11, Bowl, -0.074, 1.578, 0.251, 0, 0, 0, 64 [SEP] 12, Lettuce, -0.289, 0.848, 6.786, 0, 135, 0, 87 [SEP] 13, Mug, 0.273, 1.092, 0.213, 0, 0, 0, 67 [SEP] 14, Mug, 1.571, 0.136, 4.647, 0, 0, 0, 53 [SEP] 15, Apple, 2.006, 0.155, 6.528, 0, 0, 0, 75 [SEP] 16, Bowl, 1.445, 2.206, 3.840, 0, 0, 0, 42 [SEP] 17, Bread, 0.150, 0.829, 6.604, 0, 270, 0, 87 [SEP] 18, Egg, 1.403, 1.042, 0.440, 0, 0, 0, 51 [SEP] 19, Knife, -0.535, 1.022, 0.486, 0, 0, 0, 51 [SEP] 20, Fork, 0.871, 0.772, 0.507, 0, 0, 0, 43 [SEP] 21, Apple, 1.225, 1.067, 3.231, 0, 0, 0, 51 [SEP] 22, Kettle, 1.593, 0.981, 3.25, 0, 255.000, 0, 51 [SEP] 23, Plate, 1.406, 0.141, 2.646, 0, 0, 0, 63 [SEP] 24, SaltShaker, 1.500, 1.572, 1.410, 0, 0, 0, 61 [SEP] 25, Lettuce, 1.582, 1.081, 0.440, 0, 0, 0, 51 [SEP] 26, SoapBottle, 0.150, 0.760, 6.354, 0, 270, 0, 87 [SEP] 27, Spatula, -0.413, 0.787, 0.451, 0, 0, 0, 47 [SEP] 28, PaperTowelRoll, 1.135, 1.096, 4.579, 0, 0, 0, 52 [SEP] 29, Pot, 1.32, 0.988, 3.848, 0, 0, 0, 50 [SEP] 30, Potato, 1.135, 1.027, 4.716, 0, 0, 0, 52 [SEP] 31, ButterKnife, 0.058, 0.760, 6.261, 0, 135, 0, 87 [SEP] 32, PepperShaker, 0.837, 1.574, 0.383, 0, 0, 0, 65 [SEP] 33, Pan, 0.696, 0.990, 0.578, 0, 0, 0, 51 [SEP] 34, Tomato, -0.535, 1.042, 0.670, 0, 0, 0, 51 [SEP] 35, DishSponge, 0.260, 0.771, 0.618, 0, 0, 0, 48 [SEP] 36, Cup, 2.009, 1.511, 5.376, 0, 270, 0, 73 [SEP] 37, Spoon, 1.238, 0.772, 4.717, 0, 0, 0, 41 [SEP] 38, Mug, 2.051, 1.510, 5.876, 0, 270, 0, 73 [SEP] 39, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 40, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 41, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 42, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 43, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 44, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 45, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 46, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 47, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 48, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 49, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 50, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 51, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 52, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 53, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 54, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 55, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 56, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 57, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 58, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 59, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 60, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 61, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 62, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 63, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 64, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 65, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 66, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 67, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 68, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 69, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 70, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 71, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 72, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 73, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 74, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 75, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 76, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 77, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 78, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 79, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 80, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 81, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 82, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 83, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 84, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 85, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 86, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 87, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 88, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 89, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your right and walk across the room to the dining table, once there walk to the right hand side of the chair. | STEP 2: Pick up the knife on the table, in front of the pump bottle and loaf of bread. | STEP 3: Turn to your left and walk to the kitchen counter, on your left, between the stove and the sink. | STEP 4: Cut the apple, on the counter, in front of the tea kettle into slices. | STEP 5: Step back from the counter. | STEP 6: Place the knife in the bottom, left cupboard, under the counter the apple is on. | STEP 7: Step back up to the counter the apple is sitting on. | STEP 8: Pick up one of the apple slices from the kitchen counter. | STEP 9: Turn to your right and walk to the microwave on the kitchen counter across from you. | STEP 10: Place the apple in the microwave, heat it up, then remove the apple from the microwave. | STEP 11: Turn around and walk across the kitchen to the table, turn right at the table and go to the refrigerator. | STEP 12: Place the apple in the refrigerator, on the right shelf, above the drawers. | END"]} +{"id": "trial_T20190911_045200_839773-5", "input": "Put a microwaved apple slice in the refrigerator. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 2.5, 0, 270, 0, [SEP] 1, DishSponge, 0.193, 0.143, 0.582, 0, 0, 0, 60 [SEP] 2, Kettle, -0.621, 0.761, 6.416, 0, 270, 0, 87 [SEP] 3, Pot, 1.562, 0.988, 3.848, 0, 0, 0, 45 [SEP] 4, Pot, 1.559, 0.988, 4.294, 0, 0, 0, 49 [SEP] 5, Spoon, -0.467, 0.761, 6.479, 0, 270, 0, 87 [SEP] 6, Spoon, 1.403, 0.993, 3.324, 0, 0, 0, 51 [SEP] 7, Spatula, -0.278, 0.787, 0.563, 0, 270, 0, 47 [SEP] 8, Knife, 0.150, 0.789, 6.416, 0, 90, 0, 87 [SEP] 9, SoapBottle, -0.442, 0.760, 6.107, 0, 225, 0, 87 [SEP] 10, SoapBottle, 0.124, 0.144, 0.277, 0, 0, 0, 60 [SEP] 11, Bowl, -0.074, 1.578, 0.251, 0, 0, 0, 64 [SEP] 12, Lettuce, -0.289, 0.848, 6.786, 0, 135, 0, 87 [SEP] 13, Mug, 0.273, 1.092, 0.213, 0, 0, 0, 67 [SEP] 14, Mug, 1.571, 0.136, 4.647, 0, 0, 0, 53 [SEP] 15, Apple, 2.006, 0.155, 6.528, 0, 0, 0, 75 [SEP] 16, Bowl, 1.445, 2.206, 3.840, 0, 0, 0, 42 [SEP] 17, Bread, 0.150, 0.829, 6.604, 0, 270, 0, 87 [SEP] 18, Egg, 1.403, 1.042, 0.440, 0, 0, 0, 51 [SEP] 19, Knife, -0.535, 1.022, 0.486, 0, 0, 0, 51 [SEP] 20, Fork, 0.871, 0.772, 0.507, 0, 0, 0, 43 [SEP] 21, Apple, 1.225, 1.067, 3.231, 0, 0, 0, 51 [SEP] 22, Kettle, 1.593, 0.981, 3.25, 0, 255.000, 0, 51 [SEP] 23, Plate, 1.406, 0.141, 2.646, 0, 0, 0, 63 [SEP] 24, SaltShaker, 1.500, 1.572, 1.410, 0, 0, 0, 61 [SEP] 25, Lettuce, 1.582, 1.081, 0.440, 0, 0, 0, 51 [SEP] 26, SoapBottle, 0.150, 0.760, 6.354, 0, 270, 0, 87 [SEP] 27, Spatula, -0.413, 0.787, 0.451, 0, 0, 0, 47 [SEP] 28, PaperTowelRoll, 1.135, 1.096, 4.579, 0, 0, 0, 52 [SEP] 29, Pot, 1.32, 0.988, 3.848, 0, 0, 0, 50 [SEP] 30, Potato, 1.135, 1.027, 4.716, 0, 0, 0, 52 [SEP] 31, ButterKnife, 0.058, 0.760, 6.261, 0, 135, 0, 87 [SEP] 32, PepperShaker, 0.837, 1.574, 0.383, 0, 0, 0, 65 [SEP] 33, Pan, 0.696, 0.990, 0.578, 0, 0, 0, 51 [SEP] 34, Tomato, -0.535, 1.042, 0.670, 0, 0, 0, 51 [SEP] 35, DishSponge, 0.260, 0.771, 0.618, 0, 0, 0, 48 [SEP] 36, Cup, 2.009, 1.511, 5.376, 0, 270, 0, 73 [SEP] 37, Spoon, 1.238, 0.772, 4.717, 0, 0, 0, 41 [SEP] 38, Mug, 2.051, 1.510, 5.876, 0, 270, 0, 73 [SEP] 39, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 40, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 41, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 42, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 43, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 44, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 45, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 46, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 47, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 48, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 49, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 50, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 51, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 52, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 53, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 54, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 55, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 56, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 57, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 58, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 59, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 60, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 61, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 62, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 63, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 64, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 65, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 66, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 67, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 68, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 69, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 70, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 71, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 72, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 73, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 74, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 75, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 76, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 77, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 78, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 79, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 80, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 81, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 82, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 83, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 84, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 85, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 86, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 87, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 88, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 89, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the round table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn around and go to the counter by the sink. | STEP 4: Slice the apple on the counter. | STEP 5: Go to the cabinet under the counter. | STEP 6: Put the knife in the cabinet. | STEP 7: Go to the counter. | STEP 8: Pick up an apple slice on the counter. | STEP 9: Turn and go to the microwave. | STEP 10: Cook the apple in the microwave. | STEP 11: Turn around and go to the refrigerator | STEP 12: Put the apple slice in the refrigerator. | END"]} +{"id": "trial_T20190907_024634_972453-0", "input": "Put a wet sponge on the metal rack. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 0.5, 0, 90, 0, [SEP] 1, Cloth, -3.206, 0.863, 0.156, 0, 270, 0, 48 [SEP] 2, Cloth, -2.387, 1.543, 3.879, 0, 0, 0, 40 [SEP] 3, SoapBar, -3.376, 1.041, 1.352, 0, 0, 0, 46 [SEP] 4, SoapBar, -2.667, 1.543, 3.879, 0, 0, 0, 40 [SEP] 5, SprayBottle, 0.416, 1.048, 2.903, 0, 270, 0, 44 [SEP] 6, SprayBottle, -3.093, 0.864, 0.390, 0, 270, 0, 48 [SEP] 7, DishSponge, -0.311, 0.054, 1.345, 0, 0, 0, 29 [SEP] 8, DishSponge, 0.355, 1.048, 3.034, 0, 270, 0, 44 [SEP] 9, DishSponge, -0.227, 0.054, 1.575, 0, 0, 0, 29 [SEP] 10, SoapBottle, -0.867, 0.045, 3.887, 0, 0, 0, 41 [SEP] 11, Towel, -1.304, 1.059, -0.183, 0, 0, 0, 35 [SEP] 12, HandTowel, -3.420, 1.356, 0.817, 0, 270, 0, 43 [SEP] 13, Towel, -2.05, 1.059, -0.183, 0, 0, 0, 34 [SEP] 14, HandTowel, -3.419, 1.338, 2.102, 0, 270, 0, 42 [SEP] 15, Plunger, 0.362, 0.000, 2.468, 0, 0, 0, Floor|-01.44| [SEP] 16, SoapBar, -3.399, 1.041, 1.801, 0, 0, 0, 46 [SEP] 17, ToiletPaper, -0.482, 0.784, 2.361, 0, 0, 270, 36 [SEP] 18, SoapBottle, -3.037, 0.866, 0.234, 0, 270, 0, 48 [SEP] 19, ToiletPaper, -2.310, 0.777, 3.875, 0, 0, 0, 37 [SEP] 20, Cloth, -3.263, 0.235, 0.234, 0, 270, 0, 48 [SEP] 21, PaperTowelRoll, 0.324, 1.152, 3.166, 0, 270, 0, 44 [SEP] 22, Candle, 0.386, 1.048, 3.231, 0, 270, 0, 44 [SEP] 23, SprayBottle, 0.447, 1.048, 3.166, 0, 270, 0, 44 [SEP] 24, ScrubBrush, 0.397, 0.000, 2.694, 0, 0, 0, Floor|-01.44| [SEP] 25, DishSponge, -0.227, 0.054, 0.884, 0, 0, 0, 29 [SEP] 26, Faucet, -0.141, 0.524, -0.211, 0, 0, 0, [SEP] 27, Window, -1.507, 1.322, -0.364, 0, 0, 0, [SEP] 28, Faucet, -3.401, 1.017, 1.531, 0, 90, 0, [SEP] 29, BathtubBasin, -0.155, 0.042, 0.884, 0, 0, 0, [SEP] 30, ShowerCurtain, -0.886, 2.196, -0.169, 0, 0, 0, [SEP] 31, ShowerHead, -0.126, 1.447, 2.047, 0, 270, 0, [SEP] 32, Bathtub, -0.205, 0.359, 0.924, 0, 0, 0, [SEP] 33, Mirror, -3.447, 1.575, 1.516, 0, 0, 0, [SEP] 34, TowelHolder, -2.049, 1.045, -0.290, 0, 0, 0, [SEP] 35, TowelHolder, -1.304, 1.045, -0.290, 0, 0, 0, [SEP] 36, ToiletPaperHanger, -0.425, 0.783, 2.278, 0, 0, 0, [SEP] 37, Shelf, -2.587, 0.778, 3.909, 0, 0, 0, [SEP] 38, Shelf, -2.587, 1.287, 3.941, 0, 0, 0, [SEP] 39, Shelf, -2.587, 1.032, 3.941, 0, 0, 0, [SEP] 40, Shelf, -2.587, 1.534, 3.909, 0, 0, 0, [SEP] 41, GarbageCan, 0.047, -0.002, 3.878, 0, 0, 0, [SEP] 42, HandTowelHolder, -3.459, 1.458, 2.098, 0, 0, 0, [SEP] 43, HandTowelHolder, -3.459, 1.458, 0.816, 0, 0, 0, [SEP] 44, Toilet, 0.063, 0.002, 3.096, 0, 0, 0, [SEP] 45, LightSwitch, -3.459, 1.437, 2.496, 0, 90, 0, [SEP] 46, Sink, -3.115, -0.013, 1.531, 0, 90, 0, [SEP] 47, SinkBasin, -3.081, 0.935, 1.537, 0, 90, 0, [SEP] 48, SideTable, -3.171, 0.002, 0.170, 0, 270, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: Move to the tub. | STEP 2: Pick up the sponge on the left from the tub. | STEP 3: Bring the sponge to the sink. | STEP 4: Wet the sponge in the sink with water. | STEP 5: Bring the sponge to the metal rack. | STEP 6: Put the sponge on the top metal rack. | END"]} +{"id": "trial_T20190907_024634_972453-1", "input": "Place a wet sponge on the rack. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 0.5, 0, 90, 0, [SEP] 1, Cloth, -3.206, 0.863, 0.156, 0, 270, 0, 48 [SEP] 2, Cloth, -2.387, 1.543, 3.879, 0, 0, 0, 40 [SEP] 3, SoapBar, -3.376, 1.041, 1.352, 0, 0, 0, 46 [SEP] 4, SoapBar, -2.667, 1.543, 3.879, 0, 0, 0, 40 [SEP] 5, SprayBottle, 0.416, 1.048, 2.903, 0, 270, 0, 44 [SEP] 6, SprayBottle, -3.093, 0.864, 0.390, 0, 270, 0, 48 [SEP] 7, DishSponge, -0.311, 0.054, 1.345, 0, 0, 0, 29 [SEP] 8, DishSponge, 0.355, 1.048, 3.034, 0, 270, 0, 44 [SEP] 9, DishSponge, -0.227, 0.054, 1.575, 0, 0, 0, 29 [SEP] 10, SoapBottle, -0.867, 0.045, 3.887, 0, 0, 0, 41 [SEP] 11, Towel, -1.304, 1.059, -0.183, 0, 0, 0, 35 [SEP] 12, HandTowel, -3.420, 1.356, 0.817, 0, 270, 0, 43 [SEP] 13, Towel, -2.05, 1.059, -0.183, 0, 0, 0, 34 [SEP] 14, HandTowel, -3.419, 1.338, 2.102, 0, 270, 0, 42 [SEP] 15, Plunger, 0.362, 0.000, 2.468, 0, 0, 0, Floor|-01.44| [SEP] 16, SoapBar, -3.399, 1.041, 1.801, 0, 0, 0, 46 [SEP] 17, ToiletPaper, -0.482, 0.784, 2.361, 0, 0, 270, 36 [SEP] 18, SoapBottle, -3.037, 0.866, 0.234, 0, 270, 0, 48 [SEP] 19, ToiletPaper, -2.310, 0.777, 3.875, 0, 0, 0, 37 [SEP] 20, Cloth, -3.263, 0.235, 0.234, 0, 270, 0, 48 [SEP] 21, PaperTowelRoll, 0.324, 1.152, 3.166, 0, 270, 0, 44 [SEP] 22, Candle, 0.386, 1.048, 3.231, 0, 270, 0, 44 [SEP] 23, SprayBottle, 0.447, 1.048, 3.166, 0, 270, 0, 44 [SEP] 24, ScrubBrush, 0.397, 0.000, 2.694, 0, 0, 0, Floor|-01.44| [SEP] 25, DishSponge, -0.227, 0.054, 0.884, 0, 0, 0, 29 [SEP] 26, Faucet, -0.141, 0.524, -0.211, 0, 0, 0, [SEP] 27, Window, -1.507, 1.322, -0.364, 0, 0, 0, [SEP] 28, Faucet, -3.401, 1.017, 1.531, 0, 90, 0, [SEP] 29, BathtubBasin, -0.155, 0.042, 0.884, 0, 0, 0, [SEP] 30, ShowerCurtain, -0.886, 2.196, -0.169, 0, 0, 0, [SEP] 31, ShowerHead, -0.126, 1.447, 2.047, 0, 270, 0, [SEP] 32, Bathtub, -0.205, 0.359, 0.924, 0, 0, 0, [SEP] 33, Mirror, -3.447, 1.575, 1.516, 0, 0, 0, [SEP] 34, TowelHolder, -2.049, 1.045, -0.290, 0, 0, 0, [SEP] 35, TowelHolder, -1.304, 1.045, -0.290, 0, 0, 0, [SEP] 36, ToiletPaperHanger, -0.425, 0.783, 2.278, 0, 0, 0, [SEP] 37, Shelf, -2.587, 0.778, 3.909, 0, 0, 0, [SEP] 38, Shelf, -2.587, 1.287, 3.941, 0, 0, 0, [SEP] 39, Shelf, -2.587, 1.032, 3.941, 0, 0, 0, [SEP] 40, Shelf, -2.587, 1.534, 3.909, 0, 0, 0, [SEP] 41, GarbageCan, 0.047, -0.002, 3.878, 0, 0, 0, [SEP] 42, HandTowelHolder, -3.459, 1.458, 2.098, 0, 0, 0, [SEP] 43, HandTowelHolder, -3.459, 1.458, 0.816, 0, 0, 0, [SEP] 44, Toilet, 0.063, 0.002, 3.096, 0, 0, 0, [SEP] 45, LightSwitch, -3.459, 1.437, 2.496, 0, 90, 0, [SEP] 46, Sink, -3.115, -0.013, 1.531, 0, 90, 0, [SEP] 47, SinkBasin, -3.081, 0.935, 1.537, 0, 90, 0, [SEP] 48, SideTable, -3.171, 0.002, 0.170, 0, 270, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, walk to the black mat next to the bath tub, and face the bath tub. | STEP 2: Grab the leftmost sponge in the bath tub. | STEP 3: Turn around and walk to the sink. | STEP 4: Rinse the sponge in the sink. | STEP 5: Turn left and walk to the rack. | STEP 6: Place the sponge on the top rack. | END"]} +{"id": "trial_T20190907_024634_972453-2", "input": "Put a clean sponge on a metal rack. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 0.5, 0, 90, 0, [SEP] 1, Cloth, -3.206, 0.863, 0.156, 0, 270, 0, 48 [SEP] 2, Cloth, -2.387, 1.543, 3.879, 0, 0, 0, 40 [SEP] 3, SoapBar, -3.376, 1.041, 1.352, 0, 0, 0, 46 [SEP] 4, SoapBar, -2.667, 1.543, 3.879, 0, 0, 0, 40 [SEP] 5, SprayBottle, 0.416, 1.048, 2.903, 0, 270, 0, 44 [SEP] 6, SprayBottle, -3.093, 0.864, 0.390, 0, 270, 0, 48 [SEP] 7, DishSponge, -0.311, 0.054, 1.345, 0, 0, 0, 29 [SEP] 8, DishSponge, 0.355, 1.048, 3.034, 0, 270, 0, 44 [SEP] 9, DishSponge, -0.227, 0.054, 1.575, 0, 0, 0, 29 [SEP] 10, SoapBottle, -0.867, 0.045, 3.887, 0, 0, 0, 41 [SEP] 11, Towel, -1.304, 1.059, -0.183, 0, 0, 0, 35 [SEP] 12, HandTowel, -3.420, 1.356, 0.817, 0, 270, 0, 43 [SEP] 13, Towel, -2.05, 1.059, -0.183, 0, 0, 0, 34 [SEP] 14, HandTowel, -3.419, 1.338, 2.102, 0, 270, 0, 42 [SEP] 15, Plunger, 0.362, 0.000, 2.468, 0, 0, 0, Floor|-01.44| [SEP] 16, SoapBar, -3.399, 1.041, 1.801, 0, 0, 0, 46 [SEP] 17, ToiletPaper, -0.482, 0.784, 2.361, 0, 0, 270, 36 [SEP] 18, SoapBottle, -3.037, 0.866, 0.234, 0, 270, 0, 48 [SEP] 19, ToiletPaper, -2.310, 0.777, 3.875, 0, 0, 0, 37 [SEP] 20, Cloth, -3.263, 0.235, 0.234, 0, 270, 0, 48 [SEP] 21, PaperTowelRoll, 0.324, 1.152, 3.166, 0, 270, 0, 44 [SEP] 22, Candle, 0.386, 1.048, 3.231, 0, 270, 0, 44 [SEP] 23, SprayBottle, 0.447, 1.048, 3.166, 0, 270, 0, 44 [SEP] 24, ScrubBrush, 0.397, 0.000, 2.694, 0, 0, 0, Floor|-01.44| [SEP] 25, DishSponge, -0.227, 0.054, 0.884, 0, 0, 0, 29 [SEP] 26, Faucet, -0.141, 0.524, -0.211, 0, 0, 0, [SEP] 27, Window, -1.507, 1.322, -0.364, 0, 0, 0, [SEP] 28, Faucet, -3.401, 1.017, 1.531, 0, 90, 0, [SEP] 29, BathtubBasin, -0.155, 0.042, 0.884, 0, 0, 0, [SEP] 30, ShowerCurtain, -0.886, 2.196, -0.169, 0, 0, 0, [SEP] 31, ShowerHead, -0.126, 1.447, 2.047, 0, 270, 0, [SEP] 32, Bathtub, -0.205, 0.359, 0.924, 0, 0, 0, [SEP] 33, Mirror, -3.447, 1.575, 1.516, 0, 0, 0, [SEP] 34, TowelHolder, -2.049, 1.045, -0.290, 0, 0, 0, [SEP] 35, TowelHolder, -1.304, 1.045, -0.290, 0, 0, 0, [SEP] 36, ToiletPaperHanger, -0.425, 0.783, 2.278, 0, 0, 0, [SEP] 37, Shelf, -2.587, 0.778, 3.909, 0, 0, 0, [SEP] 38, Shelf, -2.587, 1.287, 3.941, 0, 0, 0, [SEP] 39, Shelf, -2.587, 1.032, 3.941, 0, 0, 0, [SEP] 40, Shelf, -2.587, 1.534, 3.909, 0, 0, 0, [SEP] 41, GarbageCan, 0.047, -0.002, 3.878, 0, 0, 0, [SEP] 42, HandTowelHolder, -3.459, 1.458, 2.098, 0, 0, 0, [SEP] 43, HandTowelHolder, -3.459, 1.458, 0.816, 0, 0, 0, [SEP] 44, Toilet, 0.063, 0.002, 3.096, 0, 0, 0, [SEP] 45, LightSwitch, -3.459, 1.437, 2.496, 0, 90, 0, [SEP] 46, Sink, -3.115, -0.013, 1.531, 0, 90, 0, [SEP] 47, SinkBasin, -3.081, 0.935, 1.537, 0, 90, 0, [SEP] 48, SideTable, -3.171, 0.002, 0.170, 0, 270, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: Go to the left and face the faucet side of the bath tub. | STEP 2: Pick up left most green sponge from the bath tub. | STEP 3: Turn around and go to the sink. | STEP 4: Put the sponge in the sink. Turn on then turn off the water. Take the sponge from the sink. | STEP 5: Go to the metal bar rack to the left. | STEP 6: Put the sponge on the top rack to the left of the lotion bottle. | END"]} +{"id": "trial_T20190918_205656_000147-0", "input": "Move a heated slice of apple to the white table with shelving below. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.908, 1.75, 0, 0, 0, [SEP] 1, Pan, -1.105, 0.748, 3.015, 0, 90, 0, 52 [SEP] 2, SprayBottle, 1.325, 2.156, 0.511, 0, 0, 0, 62 [SEP] 3, CellPhone, -1.197, 0.747, 2.459, 0, 0, 0, 52 [SEP] 4, DishSponge, 1.127, 0.776, 0.368, 0, 0, 0, 85 [SEP] 5, ButterKnife, 1.128, 0.911, 0.706, 0, 0, 0, 71 [SEP] 6, Kettle, -1.325, 2.154, 1.093, 0, 0, 0, 69 [SEP] 7, Fork, -1.197, 0.750, 2.273, 0, 0, 0, 52 [SEP] 8, Fork, 1.200, 0.886, 2.692, 0, 90, 0, 103 [SEP] 9, Spatula, -1.197, 0.764, 1.902, 0, 180, 0, 52 [SEP] 10, Spatula, 1.523, 0.926, 0.706, 0, 0, 0, 71 [SEP] 11, Pot, 0.802, 0.939, -0.740, 0, 90, 0, 80 [SEP] 12, Egg, 1.444, 0.945, -0.144, 0, 0, 0, 71 [SEP] 13, Cup, 1.356, 1.655, -0.393, 0, 0, 0, 53 [SEP] 14, Cup, -1.206, 0.750, 0.883, 0, 90, 0, 91 [SEP] 15, Knife, -1.105, 0.771, 2.087, 0, 0, 0, 52 [SEP] 16, Knife, -0.130, 0.934, -0.365, 0, 0, 0, 77 [SEP] 17, Tomato, -1.206, 1.686, 1.188, 0, 90, 0, 91 [SEP] 18, SoapBottle, 0.951, 0.887, 2.261, 0, 0, 0, 103 [SEP] 19, Bowl, -1.012, 0.748, 2.644, 0, 0, 0, 52 [SEP] 20, Bowl, -1.206, 0.749, 1.197, 0, 90, 0, 91 [SEP] 21, Lettuce, 1.365, 0.982, 0.139, 0, 0, 0, 71 [SEP] 22, SaltShaker, 1.284, 0.882, 2.153, 0, 0, 0, 103 [SEP] 23, SaltShaker, 1.450, 0.882, 2.800, 0, 0, 0, 103 [SEP] 24, Mug, 0.041, 0.753, -0.573, 0, 0, 0, 98 [SEP] 25, Mug, -1.378, 1.283, 0.673, 0, 90, 0, 91 [SEP] 26, Bread, 1.069, 0.935, 2.683, 0, 0, 0, 103 [SEP] 27, Glassbottle, -0.919, 0.750, 2.459, 0, 0, 0, 52 [SEP] 28, Fork, 1.286, 0.912, 0.422, 0, 0, 0, 71 [SEP] 29, Kettle, -0.694, 1.657, -0.786, 0, 0, 0, 58 [SEP] 30, Tomato, 1.367, 0.936, 2.369, 0, 0, 0, 103 [SEP] 31, Plate, 1.131, 0.117, -0.011, 0, 0, 0, 65 [SEP] 32, CellPhone, 1.117, 0.884, 2.153, 0, 0, 0, 103 [SEP] 33, Lettuce, 1.207, 0.982, 0.706, 0, 0, 0, 71 [SEP] 34, Pot, 0.502, 0.939, -0.740, 0, 90, 0, 78 [SEP] 35, SoapBottle, 1.200, 0.887, 2.261, 0, 0, 0, 103 [SEP] 36, WineBottle, -1.320, 0.752, 0.673, 0, 90, 0, 91 [SEP] 37, Spatula, -0.968, 0.927, -0.430, 0, 180, 0, 77 [SEP] 38, Bowl, -1.290, 0.748, 2.644, 0, 0, 0, 52 [SEP] 39, Apple, 1.367, 0.946, 2.153, 0, 0, 0, 103 [SEP] 40, Cup, 1.207, 0.910, 0.139, 0, 0, 0, 71 [SEP] 41, Knife, 1.207, 0.933, -0.144, 0, 0, 0, 71 [SEP] 42, Egg, 1.365, 0.945, -0.428, 0, 0, 0, 71 [SEP] 43, SaltShaker, -1.197, 0.745, 2.830, 0, 0, 0, 52 [SEP] 44, PepperShaker, 1.200, 0.882, 2.477, 0, 0, 0, 103 [SEP] 45, Potato, 0.041, 0.803, -0.691, 0, 0, 0, 98 [SEP] 46, ButterKnife, -0.038, 0.912, -0.354, 0, 0, 0, 77 [SEP] 47, DishSponge, -1.437, 0.911, -0.392, 0, 0, 0, 77 [SEP] 48, Pan, -1.332, 0.9, -0.699, 0, 345.0, 0, 77 [SEP] 49, Spoon, -1.105, 0.750, 2.459, 0, 0, 0, 52 [SEP] 50, SprayBottle, -0.170, 0.116, -0.621, 0, 0, 0, 66 [SEP] 51, Mug, 1.175, 0.110, 0.656, 0, 0, 0, 63 [SEP] 52, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0, [SEP] 53, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0, [SEP] 54, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0, [SEP] 55, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0, [SEP] 56, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0, [SEP] 57, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0, [SEP] 58, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0, [SEP] 59, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0, [SEP] 60, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0, [SEP] 61, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0, [SEP] 62, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0, [SEP] 63, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0, [SEP] 64, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0, [SEP] 65, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0, [SEP] 66, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0, [SEP] 67, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0, [SEP] 68, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0, [SEP] 69, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0, [SEP] 70, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0, [SEP] 71, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0, [SEP] 72, Drawer, 1.116, 0.792, -0.015, 0, 0, 0, [SEP] 73, Drawer, -1.116, 0.792, 0.210, 0, 180, 0, [SEP] 74, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0, [SEP] 75, Drawer, -1.116, 0.792, -0.170, 0, 180, 0, [SEP] 76, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0, [SEP] 77, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0, [SEP] 78, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0, [SEP] 79, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0, [SEP] 80, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0, [SEP] 81, Drawer, 1.116, 0.792, 1.081, 0, 0, 0, [SEP] 82, Sink, -0.013, 0.912, -0.615, 0, 0, 0, [SEP] 83, Drawer, 1.116, 0.792, 0.732, 0, 0, 0, [SEP] 84, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0, [SEP] 85, Drawer, 1.116, 0.792, 0.367, 0, 0, 0, [SEP] 86, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0, [SEP] 87, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0, [SEP] 88, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0, [SEP] 89, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0, [SEP] 90, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0, [SEP] 91, Fridge, -1.300, 0.008, 0.987, 0, 90, 0, [SEP] 92, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0, [SEP] 93, Window, -0.012, 1.641, -0.972, 90, 0, 0, [SEP] 94, Window, 1.598, 1.646, 2.489, 90, 270, 0, [SEP] 95, Toaster, 1.356, 0.900, 1.044, 0, 270, 0, [SEP] 96, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0, [SEP] 97, Microwave, -1.343, 0.900, 0.053, 0, 90, 0, [SEP] 98, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0, [SEP] 99, Faucet, -0.026, 0.927, -0.808, 0, 0, 0, [SEP] 100, Shelf, -1.182, 0.127, 2.414, 0, 90, 0, [SEP] 101, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0, [SEP] 102, Shelf, -1.182, 0.435, 2.414, 0, 90, 0, [SEP] 103, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896, [SEP] 104, NorthWall, , , , , , , [SEP] 105, EastWall, , , , , , , [SEP] 106, SouthWall, , , , , , , [SEP] 107, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and move to the stove, then turn left to face the counter to the left of the stove. | STEP 2: Pick up the sharp knife with the yellow handle from the counter. | STEP 3: Turn left and carry the knife to the white table in front of the window on your right. | STEP 4: Use the knife to slice the apple on the back right corner of the table. | STEP 5: Turn around and carry the knife to the other white table, which has shelves below, on the opposite wall. | STEP 6: Place the knife in the bowl closest to you on the table. | STEP 7: Turn back around and move to the table with the apple. | STEP 8: Pick up a slice of apple from the table. | STEP 9: Turn right, carry the apple slice to the stove, and then head right again to the microwave. | STEP 10: Place the apple slice in the microwave and then remove once heated. | STEP 11: Turn right and carry the apple slice to the white table with shelves below on your left. | STEP 12: Place the apple slice on the table. | END"]} +{"id": "trial_T20190918_205656_000147-1", "input": "Place a heated apple slice on the large table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.908, 1.75, 0, 0, 0, [SEP] 1, Pan, -1.105, 0.748, 3.015, 0, 90, 0, 52 [SEP] 2, SprayBottle, 1.325, 2.156, 0.511, 0, 0, 0, 62 [SEP] 3, CellPhone, -1.197, 0.747, 2.459, 0, 0, 0, 52 [SEP] 4, DishSponge, 1.127, 0.776, 0.368, 0, 0, 0, 85 [SEP] 5, ButterKnife, 1.128, 0.911, 0.706, 0, 0, 0, 71 [SEP] 6, Kettle, -1.325, 2.154, 1.093, 0, 0, 0, 69 [SEP] 7, Fork, -1.197, 0.750, 2.273, 0, 0, 0, 52 [SEP] 8, Fork, 1.200, 0.886, 2.692, 0, 90, 0, 103 [SEP] 9, Spatula, -1.197, 0.764, 1.902, 0, 180, 0, 52 [SEP] 10, Spatula, 1.523, 0.926, 0.706, 0, 0, 0, 71 [SEP] 11, Pot, 0.802, 0.939, -0.740, 0, 90, 0, 80 [SEP] 12, Egg, 1.444, 0.945, -0.144, 0, 0, 0, 71 [SEP] 13, Cup, 1.356, 1.655, -0.393, 0, 0, 0, 53 [SEP] 14, Cup, -1.206, 0.750, 0.883, 0, 90, 0, 91 [SEP] 15, Knife, -1.105, 0.771, 2.087, 0, 0, 0, 52 [SEP] 16, Knife, -0.130, 0.934, -0.365, 0, 0, 0, 77 [SEP] 17, Tomato, -1.206, 1.686, 1.188, 0, 90, 0, 91 [SEP] 18, SoapBottle, 0.951, 0.887, 2.261, 0, 0, 0, 103 [SEP] 19, Bowl, -1.012, 0.748, 2.644, 0, 0, 0, 52 [SEP] 20, Bowl, -1.206, 0.749, 1.197, 0, 90, 0, 91 [SEP] 21, Lettuce, 1.365, 0.982, 0.139, 0, 0, 0, 71 [SEP] 22, SaltShaker, 1.284, 0.882, 2.153, 0, 0, 0, 103 [SEP] 23, SaltShaker, 1.450, 0.882, 2.800, 0, 0, 0, 103 [SEP] 24, Mug, 0.041, 0.753, -0.573, 0, 0, 0, 98 [SEP] 25, Mug, -1.378, 1.283, 0.673, 0, 90, 0, 91 [SEP] 26, Bread, 1.069, 0.935, 2.683, 0, 0, 0, 103 [SEP] 27, Glassbottle, -0.919, 0.750, 2.459, 0, 0, 0, 52 [SEP] 28, Fork, 1.286, 0.912, 0.422, 0, 0, 0, 71 [SEP] 29, Kettle, -0.694, 1.657, -0.786, 0, 0, 0, 58 [SEP] 30, Tomato, 1.367, 0.936, 2.369, 0, 0, 0, 103 [SEP] 31, Plate, 1.131, 0.117, -0.011, 0, 0, 0, 65 [SEP] 32, CellPhone, 1.117, 0.884, 2.153, 0, 0, 0, 103 [SEP] 33, Lettuce, 1.207, 0.982, 0.706, 0, 0, 0, 71 [SEP] 34, Pot, 0.502, 0.939, -0.740, 0, 90, 0, 78 [SEP] 35, SoapBottle, 1.200, 0.887, 2.261, 0, 0, 0, 103 [SEP] 36, WineBottle, -1.320, 0.752, 0.673, 0, 90, 0, 91 [SEP] 37, Spatula, -0.968, 0.927, -0.430, 0, 180, 0, 77 [SEP] 38, Bowl, -1.290, 0.748, 2.644, 0, 0, 0, 52 [SEP] 39, Apple, 1.367, 0.946, 2.153, 0, 0, 0, 103 [SEP] 40, Cup, 1.207, 0.910, 0.139, 0, 0, 0, 71 [SEP] 41, Knife, 1.207, 0.933, -0.144, 0, 0, 0, 71 [SEP] 42, Egg, 1.365, 0.945, -0.428, 0, 0, 0, 71 [SEP] 43, SaltShaker, -1.197, 0.745, 2.830, 0, 0, 0, 52 [SEP] 44, PepperShaker, 1.200, 0.882, 2.477, 0, 0, 0, 103 [SEP] 45, Potato, 0.041, 0.803, -0.691, 0, 0, 0, 98 [SEP] 46, ButterKnife, -0.038, 0.912, -0.354, 0, 0, 0, 77 [SEP] 47, DishSponge, -1.437, 0.911, -0.392, 0, 0, 0, 77 [SEP] 48, Pan, -1.332, 0.9, -0.699, 0, 345.0, 0, 77 [SEP] 49, Spoon, -1.105, 0.750, 2.459, 0, 0, 0, 52 [SEP] 50, SprayBottle, -0.170, 0.116, -0.621, 0, 0, 0, 66 [SEP] 51, Mug, 1.175, 0.110, 0.656, 0, 0, 0, 63 [SEP] 52, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0, [SEP] 53, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0, [SEP] 54, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0, [SEP] 55, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0, [SEP] 56, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0, [SEP] 57, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0, [SEP] 58, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0, [SEP] 59, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0, [SEP] 60, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0, [SEP] 61, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0, [SEP] 62, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0, [SEP] 63, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0, [SEP] 64, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0, [SEP] 65, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0, [SEP] 66, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0, [SEP] 67, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0, [SEP] 68, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0, [SEP] 69, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0, [SEP] 70, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0, [SEP] 71, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0, [SEP] 72, Drawer, 1.116, 0.792, -0.015, 0, 0, 0, [SEP] 73, Drawer, -1.116, 0.792, 0.210, 0, 180, 0, [SEP] 74, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0, [SEP] 75, Drawer, -1.116, 0.792, -0.170, 0, 180, 0, [SEP] 76, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0, [SEP] 77, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0, [SEP] 78, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0, [SEP] 79, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0, [SEP] 80, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0, [SEP] 81, Drawer, 1.116, 0.792, 1.081, 0, 0, 0, [SEP] 82, Sink, -0.013, 0.912, -0.615, 0, 0, 0, [SEP] 83, Drawer, 1.116, 0.792, 0.732, 0, 0, 0, [SEP] 84, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0, [SEP] 85, Drawer, 1.116, 0.792, 0.367, 0, 0, 0, [SEP] 86, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0, [SEP] 87, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0, [SEP] 88, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0, [SEP] 89, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0, [SEP] 90, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0, [SEP] 91, Fridge, -1.300, 0.008, 0.987, 0, 90, 0, [SEP] 92, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0, [SEP] 93, Window, -0.012, 1.641, -0.972, 90, 0, 0, [SEP] 94, Window, 1.598, 1.646, 2.489, 90, 270, 0, [SEP] 95, Toaster, 1.356, 0.900, 1.044, 0, 270, 0, [SEP] 96, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0, [SEP] 97, Microwave, -1.343, 0.900, 0.053, 0, 90, 0, [SEP] 98, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0, [SEP] 99, Faucet, -0.026, 0.927, -0.808, 0, 0, 0, [SEP] 100, Shelf, -1.182, 0.127, 2.414, 0, 90, 0, [SEP] 101, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0, [SEP] 102, Shelf, -1.182, 0.435, 2.414, 0, 90, 0, [SEP] 103, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896, [SEP] 104, NorthWall, , , , , , , [SEP] 105, EastWall, , , , , , , [SEP] 106, SouthWall, , , , , , , [SEP] 107, WestWall, , , , , , , ", "output": ["STEP 1: Go to the counter near the stove | STEP 2: Pick up the knife from the counter | STEP 3: Go to the small white table | STEP 4: Cut the apple | STEP 5: Turn around to the big white table | STEP 6: Place the knife down in a bowl on the table | STEP 7: Turn around to the small white table | STEP 8: Pick up an apple piece | STEP 9: Go to the microwave | STEP 10: Heat the apple piece | STEP 11: Go to the big white table | STEP 12: Place the apple down on the big white table | END"]} +{"id": "trial_T20190918_205656_000147-2", "input": "Pick up knife, slice potato, put knife in bowl, heat slice of potato in microwave, put potato on table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.908, 1.75, 0, 0, 0, [SEP] 1, Pan, -1.105, 0.748, 3.015, 0, 90, 0, 52 [SEP] 2, SprayBottle, 1.325, 2.156, 0.511, 0, 0, 0, 62 [SEP] 3, CellPhone, -1.197, 0.747, 2.459, 0, 0, 0, 52 [SEP] 4, DishSponge, 1.127, 0.776, 0.368, 0, 0, 0, 85 [SEP] 5, ButterKnife, 1.128, 0.911, 0.706, 0, 0, 0, 71 [SEP] 6, Kettle, -1.325, 2.154, 1.093, 0, 0, 0, 69 [SEP] 7, Fork, -1.197, 0.750, 2.273, 0, 0, 0, 52 [SEP] 8, Fork, 1.200, 0.886, 2.692, 0, 90, 0, 103 [SEP] 9, Spatula, -1.197, 0.764, 1.902, 0, 180, 0, 52 [SEP] 10, Spatula, 1.523, 0.926, 0.706, 0, 0, 0, 71 [SEP] 11, Pot, 0.802, 0.939, -0.740, 0, 90, 0, 80 [SEP] 12, Egg, 1.444, 0.945, -0.144, 0, 0, 0, 71 [SEP] 13, Cup, 1.356, 1.655, -0.393, 0, 0, 0, 53 [SEP] 14, Cup, -1.206, 0.750, 0.883, 0, 90, 0, 91 [SEP] 15, Knife, -1.105, 0.771, 2.087, 0, 0, 0, 52 [SEP] 16, Knife, -0.130, 0.934, -0.365, 0, 0, 0, 77 [SEP] 17, Tomato, -1.206, 1.686, 1.188, 0, 90, 0, 91 [SEP] 18, SoapBottle, 0.951, 0.887, 2.261, 0, 0, 0, 103 [SEP] 19, Bowl, -1.012, 0.748, 2.644, 0, 0, 0, 52 [SEP] 20, Bowl, -1.206, 0.749, 1.197, 0, 90, 0, 91 [SEP] 21, Lettuce, 1.365, 0.982, 0.139, 0, 0, 0, 71 [SEP] 22, SaltShaker, 1.284, 0.882, 2.153, 0, 0, 0, 103 [SEP] 23, SaltShaker, 1.450, 0.882, 2.800, 0, 0, 0, 103 [SEP] 24, Mug, 0.041, 0.753, -0.573, 0, 0, 0, 98 [SEP] 25, Mug, -1.378, 1.283, 0.673, 0, 90, 0, 91 [SEP] 26, Bread, 1.069, 0.935, 2.683, 0, 0, 0, 103 [SEP] 27, Glassbottle, -0.919, 0.750, 2.459, 0, 0, 0, 52 [SEP] 28, Fork, 1.286, 0.912, 0.422, 0, 0, 0, 71 [SEP] 29, Kettle, -0.694, 1.657, -0.786, 0, 0, 0, 58 [SEP] 30, Tomato, 1.367, 0.936, 2.369, 0, 0, 0, 103 [SEP] 31, Plate, 1.131, 0.117, -0.011, 0, 0, 0, 65 [SEP] 32, CellPhone, 1.117, 0.884, 2.153, 0, 0, 0, 103 [SEP] 33, Lettuce, 1.207, 0.982, 0.706, 0, 0, 0, 71 [SEP] 34, Pot, 0.502, 0.939, -0.740, 0, 90, 0, 78 [SEP] 35, SoapBottle, 1.200, 0.887, 2.261, 0, 0, 0, 103 [SEP] 36, WineBottle, -1.320, 0.752, 0.673, 0, 90, 0, 91 [SEP] 37, Spatula, -0.968, 0.927, -0.430, 0, 180, 0, 77 [SEP] 38, Bowl, -1.290, 0.748, 2.644, 0, 0, 0, 52 [SEP] 39, Apple, 1.367, 0.946, 2.153, 0, 0, 0, 103 [SEP] 40, Cup, 1.207, 0.910, 0.139, 0, 0, 0, 71 [SEP] 41, Knife, 1.207, 0.933, -0.144, 0, 0, 0, 71 [SEP] 42, Egg, 1.365, 0.945, -0.428, 0, 0, 0, 71 [SEP] 43, SaltShaker, -1.197, 0.745, 2.830, 0, 0, 0, 52 [SEP] 44, PepperShaker, 1.200, 0.882, 2.477, 0, 0, 0, 103 [SEP] 45, Potato, 0.041, 0.803, -0.691, 0, 0, 0, 98 [SEP] 46, ButterKnife, -0.038, 0.912, -0.354, 0, 0, 0, 77 [SEP] 47, DishSponge, -1.437, 0.911, -0.392, 0, 0, 0, 77 [SEP] 48, Pan, -1.332, 0.9, -0.699, 0, 345.0, 0, 77 [SEP] 49, Spoon, -1.105, 0.750, 2.459, 0, 0, 0, 52 [SEP] 50, SprayBottle, -0.170, 0.116, -0.621, 0, 0, 0, 66 [SEP] 51, Mug, 1.175, 0.110, 0.656, 0, 0, 0, 63 [SEP] 52, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0, [SEP] 53, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0, [SEP] 54, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0, [SEP] 55, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0, [SEP] 56, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0, [SEP] 57, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0, [SEP] 58, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0, [SEP] 59, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0, [SEP] 60, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0, [SEP] 61, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0, [SEP] 62, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0, [SEP] 63, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0, [SEP] 64, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0, [SEP] 65, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0, [SEP] 66, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0, [SEP] 67, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0, [SEP] 68, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0, [SEP] 69, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0, [SEP] 70, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0, [SEP] 71, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0, [SEP] 72, Drawer, 1.116, 0.792, -0.015, 0, 0, 0, [SEP] 73, Drawer, -1.116, 0.792, 0.210, 0, 180, 0, [SEP] 74, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0, [SEP] 75, Drawer, -1.116, 0.792, -0.170, 0, 180, 0, [SEP] 76, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0, [SEP] 77, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0, [SEP] 78, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0, [SEP] 79, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0, [SEP] 80, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0, [SEP] 81, Drawer, 1.116, 0.792, 1.081, 0, 0, 0, [SEP] 82, Sink, -0.013, 0.912, -0.615, 0, 0, 0, [SEP] 83, Drawer, 1.116, 0.792, 0.732, 0, 0, 0, [SEP] 84, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0, [SEP] 85, Drawer, 1.116, 0.792, 0.367, 0, 0, 0, [SEP] 86, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0, [SEP] 87, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0, [SEP] 88, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0, [SEP] 89, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0, [SEP] 90, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0, [SEP] 91, Fridge, -1.300, 0.008, 0.987, 0, 90, 0, [SEP] 92, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0, [SEP] 93, Window, -0.012, 1.641, -0.972, 90, 0, 0, [SEP] 94, Window, 1.598, 1.646, 2.489, 90, 270, 0, [SEP] 95, Toaster, 1.356, 0.900, 1.044, 0, 270, 0, [SEP] 96, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0, [SEP] 97, Microwave, -1.343, 0.900, 0.053, 0, 90, 0, [SEP] 98, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0, [SEP] 99, Faucet, -0.026, 0.927, -0.808, 0, 0, 0, [SEP] 100, Shelf, -1.182, 0.127, 2.414, 0, 90, 0, [SEP] 101, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0, [SEP] 102, Shelf, -1.182, 0.435, 2.414, 0, 90, 0, [SEP] 103, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896, [SEP] 104, NorthWall, , , , , , , [SEP] 105, EastWall, , , , , , , [SEP] 106, SouthWall, , , , , , , [SEP] 107, WestWall, , , , , , , ", "output": ["STEP 1: Turn around go to sink and stove. Turn left, go to counter with knife and mug. | STEP 2: Pick up knife from counter, left of the mug. | STEP 3: Turn left, proceed to table on right. Turn right to face table with pump dispensers. | STEP 4: Slice potato on back of table, behind salt shaker. | STEP 5: Turn around, go to table across room. | STEP 6: Put knife in bowl closest to you on table. | STEP 7: Turn around, go to table with sliced potato on it. | STEP 8: Pick up slice of potato off of table. | STEP 9: Turn right go to stove. Turn around, go across room to microwave. | STEP 10: Put potato in microwave, wait three seconds, remove potato from microwave. | STEP 11: Turn right, to to table on left. Turn left to face table. | STEP 12: Place potato on table, in front of fork, to the right of the knife with the yellow handle. | END"]} +{"id": "trial_T20190907_071506_149865-0", "input": "Cut a tomato slice, refrigerate it, place it on a sponge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 1.25, 0, 0, 0, [SEP] 1, DishSponge, -2.497, 0.486, 0.579, 0, 0, 0, 60 [SEP] 2, DishSponge, -3.798, 0.112, 2.038, 0, 0, 0, 68 [SEP] 3, Fork, -2.514, 1.125, 0.662, 0, 0, 0, 57 [SEP] 4, Egg, -2.639, 1.155, 0.473, 0, 0, 0, 57 [SEP] 5, Cup, -1.522, 0.047, 0.551, 0, 0, 0, 62 [SEP] 6, Plate, -3.44, 1.285, 2.991, 0, 90, 0, 64 [SEP] 7, Knife, -1.376, 0.963, 0.359, 0, 0, 0, 69 [SEP] 8, SoapBottle, -2.450, 0.095, 0.512, 0, 0, 0, 50 [SEP] 9, Tomato, -0.538, 1.087, 2.144, 0, 0, 0, 47 [SEP] 10, Bowl, -3.440, 1.560, 2.920, 0, 90, 0, 64 [SEP] 11, PepperShaker, -1.996, 0.899, 0.645, 0, 0, 0, 55 [SEP] 12, PepperShaker, -0.292, 1.044, 1.920, 0, 0, 0, 47 [SEP] 13, Bread, -0.908, 1.133, 2.144, 0, 0, 0, 47 [SEP] 14, Bread, -0.908, 1.134, 1.920, 0, 0, 0, 47 [SEP] 15, Lettuce, -0.662, 1.125, 3.042, 0, 0, 0, 47 [SEP] 16, Lettuce, -0.785, 1.125, 3.266, 0, 0, 0, 47 [SEP] 17, Mug, -0.377, 1.095, 3.194, 0, 270, 0, 63 [SEP] 18, Apple, -0.538, 1.115, 2.817, 0, 0, 0, 47 [SEP] 19, Apple, -3.506, 0.979, 2.849, 0, 90, 0, 64 [SEP] 20, Fork, -1.199, 0.932, 0.290, 0, 0, 0, 69 [SEP] 21, SoapBottle, -2.042, 0.487, 0.512, 0, 0, 0, 48 [SEP] 22, Pot, -3.000, 1.133, 0.227, 0, 270, 0, 61 [SEP] 23, Ladle, -0.785, 1.086, 2.817, 0, 90, 0, 47 [SEP] 24, Potato, -0.662, 1.078, 3.266, 0, 0, 0, 47 [SEP] 25, Plate, -1.195, 0.047, 0.494, 0, 0, 0, 51 [SEP] 26, Bread, -0.908, 1.134, 3.042, 0, 0, 0, 47 [SEP] 27, Lettuce, -2.388, 1.202, 0.473, 0, 0, 0, 57 [SEP] 28, Spatula, -3.778, 1.139, 0.095, 0, 90, 0, 54 [SEP] 29, Pan, -0.785, 1.046, 2.369, 0, 180, 0, 47 [SEP] 30, Egg, -3.644, 0.142, 1.978, 0, 0, 0, 68 [SEP] 31, Cup, -1.288, 0.929, 0.428, 0, 0, 0, 69 [SEP] 32, SaltShaker, -0.939, 1.121, 0.296, 0, 0, 0, 59 [SEP] 33, Knife, -2.514, 1.157, 0.190, 0, 0, 0, 57 [SEP] 34, Bowl, -3.307, 0.909, 3.061, 0, 90, 0, 64 [SEP] 35, PepperShaker, -0.883, 1.121, 0.478, 0, 0, 0, 59 [SEP] 36, ButterKnife, -0.538, 1.047, 3.042, 0, 0, 0, 47 [SEP] 37, Apple, -2.137, 1.192, 0.473, 0, 0, 0, 57 [SEP] 38, Tomato, -0.168, 1.087, 2.144, 0, 0, 0, 47 [SEP] 39, DishSponge, -1.111, 0.931, 0.359, 0, 0, 0, 69 [SEP] 40, Spoon, -1.092, 1.155, 0.108, 0, 0, 0, 44 [SEP] 41, Mug, -1.483, 0.044, 0.438, 0, 0, 0, 62 [SEP] 42, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 43, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 44, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 45, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 46, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 47, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 48, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 49, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 50, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 51, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 52, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 53, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 54, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 55, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 56, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 57, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 58, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 59, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 60, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 61, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 62, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 63, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 64, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 65, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 66, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 67, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 68, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 69, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 70, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 71, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 72, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 73, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 74, NorthWall, , , , , , , [SEP] 75, SouthWall, , , , , , , [SEP] 76, SouthWall, , , , , , , ", "output": ["STEP 1: Walk towards the door of the wall you are facing with the sunshine on it, hang a right towards the table just before reaching the wall. | STEP 2: Walk to the loaf of bread and pick up the knife that is under the head of lettuce nearest the coffee maker and toaster and to the left of the apple. | STEP 3: Turn right and walk to the other end of the table and stop at the loaf of bread nearest the frying pan. | STEP 4: Slice the tomato nearest the center of the table and closest to the frying pan and the bread. | STEP 5: Turn to your left and walk to the end of the table closest to the door, stop and face the loaf of bread to your right. | STEP 6: Put the knife down on the table to the right of the loaf of bread and on top of the handle of the spoon behind and to the right of the bread. | STEP 7: Turn and walk towards your right, stop and face the table when you reach the frying pan and the loaf of bread directly in front of the tomato. | STEP 8: Pick up a center slice from the tomato. | STEP 9: Turn to your left and walk towards the end of the table nearest the door and hang a left to the refrigerator. | STEP 10: Walk to the refrigerator, open the refrigerator door, place the tomato slice on the left side of the second shelf from the top near the front edge of the shelf, close the refrigerator door; open the refrigerator door and pick up the tomato slice, close the refrigerator door. | STEP 11: Turn to your left and walk towards the microwave oven. | STEP 12: Place the tomato slice on the green sponge. | END"]} +{"id": "trial_T20190907_071506_149865-1", "input": "Put a cold slice of tomato on top of a sponge on a counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 1.25, 0, 0, 0, [SEP] 1, DishSponge, -2.497, 0.486, 0.579, 0, 0, 0, 60 [SEP] 2, DishSponge, -3.798, 0.112, 2.038, 0, 0, 0, 68 [SEP] 3, Fork, -2.514, 1.125, 0.662, 0, 0, 0, 57 [SEP] 4, Egg, -2.639, 1.155, 0.473, 0, 0, 0, 57 [SEP] 5, Cup, -1.522, 0.047, 0.551, 0, 0, 0, 62 [SEP] 6, Plate, -3.44, 1.285, 2.991, 0, 90, 0, 64 [SEP] 7, Knife, -1.376, 0.963, 0.359, 0, 0, 0, 69 [SEP] 8, SoapBottle, -2.450, 0.095, 0.512, 0, 0, 0, 50 [SEP] 9, Tomato, -0.538, 1.087, 2.144, 0, 0, 0, 47 [SEP] 10, Bowl, -3.440, 1.560, 2.920, 0, 90, 0, 64 [SEP] 11, PepperShaker, -1.996, 0.899, 0.645, 0, 0, 0, 55 [SEP] 12, PepperShaker, -0.292, 1.044, 1.920, 0, 0, 0, 47 [SEP] 13, Bread, -0.908, 1.133, 2.144, 0, 0, 0, 47 [SEP] 14, Bread, -0.908, 1.134, 1.920, 0, 0, 0, 47 [SEP] 15, Lettuce, -0.662, 1.125, 3.042, 0, 0, 0, 47 [SEP] 16, Lettuce, -0.785, 1.125, 3.266, 0, 0, 0, 47 [SEP] 17, Mug, -0.377, 1.095, 3.194, 0, 270, 0, 63 [SEP] 18, Apple, -0.538, 1.115, 2.817, 0, 0, 0, 47 [SEP] 19, Apple, -3.506, 0.979, 2.849, 0, 90, 0, 64 [SEP] 20, Fork, -1.199, 0.932, 0.290, 0, 0, 0, 69 [SEP] 21, SoapBottle, -2.042, 0.487, 0.512, 0, 0, 0, 48 [SEP] 22, Pot, -3.000, 1.133, 0.227, 0, 270, 0, 61 [SEP] 23, Ladle, -0.785, 1.086, 2.817, 0, 90, 0, 47 [SEP] 24, Potato, -0.662, 1.078, 3.266, 0, 0, 0, 47 [SEP] 25, Plate, -1.195, 0.047, 0.494, 0, 0, 0, 51 [SEP] 26, Bread, -0.908, 1.134, 3.042, 0, 0, 0, 47 [SEP] 27, Lettuce, -2.388, 1.202, 0.473, 0, 0, 0, 57 [SEP] 28, Spatula, -3.778, 1.139, 0.095, 0, 90, 0, 54 [SEP] 29, Pan, -0.785, 1.046, 2.369, 0, 180, 0, 47 [SEP] 30, Egg, -3.644, 0.142, 1.978, 0, 0, 0, 68 [SEP] 31, Cup, -1.288, 0.929, 0.428, 0, 0, 0, 69 [SEP] 32, SaltShaker, -0.939, 1.121, 0.296, 0, 0, 0, 59 [SEP] 33, Knife, -2.514, 1.157, 0.190, 0, 0, 0, 57 [SEP] 34, Bowl, -3.307, 0.909, 3.061, 0, 90, 0, 64 [SEP] 35, PepperShaker, -0.883, 1.121, 0.478, 0, 0, 0, 59 [SEP] 36, ButterKnife, -0.538, 1.047, 3.042, 0, 0, 0, 47 [SEP] 37, Apple, -2.137, 1.192, 0.473, 0, 0, 0, 57 [SEP] 38, Tomato, -0.168, 1.087, 2.144, 0, 0, 0, 47 [SEP] 39, DishSponge, -1.111, 0.931, 0.359, 0, 0, 0, 69 [SEP] 40, Spoon, -1.092, 1.155, 0.108, 0, 0, 0, 44 [SEP] 41, Mug, -1.483, 0.044, 0.438, 0, 0, 0, 62 [SEP] 42, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 43, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 44, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 45, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 46, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 47, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 48, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 49, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 50, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 51, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 52, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 53, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 54, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 55, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 56, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 57, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 58, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 59, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 60, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 61, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 62, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 63, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 64, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 65, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 66, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 67, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 68, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 69, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 70, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 71, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 72, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 73, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 74, NorthWall, , , , , , , [SEP] 75, SouthWall, , , , , , , [SEP] 76, SouthWall, , , , , , , ", "output": ["STEP 1: Move forward and face the table to your right. | STEP 2: Take the knife from the table in front of you. | STEP 3: Turn right then face the bread on the table to your left. | STEP 4: Slice the tomato on the table. | STEP 5: Turn left then face the bread on the table to your right. | STEP 6: Place the knife on the table in front of you. | STEP 7: Turn right then face the sliced tomato on the table to your left. | STEP 8: Take a tomato slice from the table. | STEP 9: Turn around and face the fridge in front of you. | STEP 10: Place the tomato slice inside of the fridge inside of you, take out the tomato, then close the fridge. | STEP 11: Turn around then face the counter with the sponge on your right. | STEP 12: Place the tomato slice on the sponge on the counter in front of you. | END"]} +{"id": "trial_T20190907_071506_149865-2", "input": "Put a cold slice of tomato in a sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 1.25, 0, 0, 0, [SEP] 1, DishSponge, -2.497, 0.486, 0.579, 0, 0, 0, 60 [SEP] 2, DishSponge, -3.798, 0.112, 2.038, 0, 0, 0, 68 [SEP] 3, Fork, -2.514, 1.125, 0.662, 0, 0, 0, 57 [SEP] 4, Egg, -2.639, 1.155, 0.473, 0, 0, 0, 57 [SEP] 5, Cup, -1.522, 0.047, 0.551, 0, 0, 0, 62 [SEP] 6, Plate, -3.44, 1.285, 2.991, 0, 90, 0, 64 [SEP] 7, Knife, -1.376, 0.963, 0.359, 0, 0, 0, 69 [SEP] 8, SoapBottle, -2.450, 0.095, 0.512, 0, 0, 0, 50 [SEP] 9, Tomato, -0.538, 1.087, 2.144, 0, 0, 0, 47 [SEP] 10, Bowl, -3.440, 1.560, 2.920, 0, 90, 0, 64 [SEP] 11, PepperShaker, -1.996, 0.899, 0.645, 0, 0, 0, 55 [SEP] 12, PepperShaker, -0.292, 1.044, 1.920, 0, 0, 0, 47 [SEP] 13, Bread, -0.908, 1.133, 2.144, 0, 0, 0, 47 [SEP] 14, Bread, -0.908, 1.134, 1.920, 0, 0, 0, 47 [SEP] 15, Lettuce, -0.662, 1.125, 3.042, 0, 0, 0, 47 [SEP] 16, Lettuce, -0.785, 1.125, 3.266, 0, 0, 0, 47 [SEP] 17, Mug, -0.377, 1.095, 3.194, 0, 270, 0, 63 [SEP] 18, Apple, -0.538, 1.115, 2.817, 0, 0, 0, 47 [SEP] 19, Apple, -3.506, 0.979, 2.849, 0, 90, 0, 64 [SEP] 20, Fork, -1.199, 0.932, 0.290, 0, 0, 0, 69 [SEP] 21, SoapBottle, -2.042, 0.487, 0.512, 0, 0, 0, 48 [SEP] 22, Pot, -3.000, 1.133, 0.227, 0, 270, 0, 61 [SEP] 23, Ladle, -0.785, 1.086, 2.817, 0, 90, 0, 47 [SEP] 24, Potato, -0.662, 1.078, 3.266, 0, 0, 0, 47 [SEP] 25, Plate, -1.195, 0.047, 0.494, 0, 0, 0, 51 [SEP] 26, Bread, -0.908, 1.134, 3.042, 0, 0, 0, 47 [SEP] 27, Lettuce, -2.388, 1.202, 0.473, 0, 0, 0, 57 [SEP] 28, Spatula, -3.778, 1.139, 0.095, 0, 90, 0, 54 [SEP] 29, Pan, -0.785, 1.046, 2.369, 0, 180, 0, 47 [SEP] 30, Egg, -3.644, 0.142, 1.978, 0, 0, 0, 68 [SEP] 31, Cup, -1.288, 0.929, 0.428, 0, 0, 0, 69 [SEP] 32, SaltShaker, -0.939, 1.121, 0.296, 0, 0, 0, 59 [SEP] 33, Knife, -2.514, 1.157, 0.190, 0, 0, 0, 57 [SEP] 34, Bowl, -3.307, 0.909, 3.061, 0, 90, 0, 64 [SEP] 35, PepperShaker, -0.883, 1.121, 0.478, 0, 0, 0, 59 [SEP] 36, ButterKnife, -0.538, 1.047, 3.042, 0, 0, 0, 47 [SEP] 37, Apple, -2.137, 1.192, 0.473, 0, 0, 0, 57 [SEP] 38, Tomato, -0.168, 1.087, 2.144, 0, 0, 0, 47 [SEP] 39, DishSponge, -1.111, 0.931, 0.359, 0, 0, 0, 69 [SEP] 40, Spoon, -1.092, 1.155, 0.108, 0, 0, 0, 44 [SEP] 41, Mug, -1.483, 0.044, 0.438, 0, 0, 0, 62 [SEP] 42, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 43, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 44, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 45, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 46, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 47, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 48, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 49, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 50, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 51, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 52, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 53, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 54, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 55, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 56, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 57, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 58, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 59, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 60, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 61, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 62, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 63, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 64, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 65, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 66, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 67, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 68, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 69, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 70, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 71, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 72, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 73, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 74, NorthWall, , , , , , , [SEP] 75, SouthWall, , , , , , , [SEP] 76, SouthWall, , , , , , , ", "output": ["STEP 1: Go forward to the door, hang a right and go to the table where the bread is. | STEP 2: Pick up the butter knife that is on the table under the head of lettuce behind the bread. | STEP 3: Turn to the right and go down towards the end of the table where the pan is. | STEP 4: Use the knife to cut the closest tomato into slices. | STEP 5: Turn to the left and go back to the other end of the table. | STEP 6: Put the knife down to the right of the bread on the spoon. | STEP 7: Turn to the right and go back to the other end of the table where the tomato is. | STEP 8: Pick up a slice of the tomato that was cut. | STEP 9: Turn left, go to the wall, turn left, go to the fridge. | STEP 10: Put the tomato inside the fridge to get cold, remove the tomato once it is cold and shut the fridge. | STEP 11: Turn left, go to the counter, turn left, go forward to the sink that is on the right. | STEP 12: Put the tomato in the sink to the left of the glass. | END"]} +{"id": "trial_T20190907_071506_149865-3", "input": "Put a tomato slice on top of a green sponge in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 1.25, 0, 0, 0, [SEP] 1, DishSponge, -2.497, 0.486, 0.579, 0, 0, 0, 60 [SEP] 2, DishSponge, -3.798, 0.112, 2.038, 0, 0, 0, 68 [SEP] 3, Fork, -2.514, 1.125, 0.662, 0, 0, 0, 57 [SEP] 4, Egg, -2.639, 1.155, 0.473, 0, 0, 0, 57 [SEP] 5, Cup, -1.522, 0.047, 0.551, 0, 0, 0, 62 [SEP] 6, Plate, -3.44, 1.285, 2.991, 0, 90, 0, 64 [SEP] 7, Knife, -1.376, 0.963, 0.359, 0, 0, 0, 69 [SEP] 8, SoapBottle, -2.450, 0.095, 0.512, 0, 0, 0, 50 [SEP] 9, Tomato, -0.538, 1.087, 2.144, 0, 0, 0, 47 [SEP] 10, Bowl, -3.440, 1.560, 2.920, 0, 90, 0, 64 [SEP] 11, PepperShaker, -1.996, 0.899, 0.645, 0, 0, 0, 55 [SEP] 12, PepperShaker, -0.292, 1.044, 1.920, 0, 0, 0, 47 [SEP] 13, Bread, -0.908, 1.133, 2.144, 0, 0, 0, 47 [SEP] 14, Bread, -0.908, 1.134, 1.920, 0, 0, 0, 47 [SEP] 15, Lettuce, -0.662, 1.125, 3.042, 0, 0, 0, 47 [SEP] 16, Lettuce, -0.785, 1.125, 3.266, 0, 0, 0, 47 [SEP] 17, Mug, -0.377, 1.095, 3.194, 0, 270, 0, 63 [SEP] 18, Apple, -0.538, 1.115, 2.817, 0, 0, 0, 47 [SEP] 19, Apple, -3.506, 0.979, 2.849, 0, 90, 0, 64 [SEP] 20, Fork, -1.199, 0.932, 0.290, 0, 0, 0, 69 [SEP] 21, SoapBottle, -2.042, 0.487, 0.512, 0, 0, 0, 48 [SEP] 22, Pot, -3.000, 1.133, 0.227, 0, 270, 0, 61 [SEP] 23, Ladle, -0.785, 1.086, 2.817, 0, 90, 0, 47 [SEP] 24, Potato, -0.662, 1.078, 3.266, 0, 0, 0, 47 [SEP] 25, Plate, -1.195, 0.047, 0.494, 0, 0, 0, 51 [SEP] 26, Bread, -0.908, 1.134, 3.042, 0, 0, 0, 47 [SEP] 27, Lettuce, -2.388, 1.202, 0.473, 0, 0, 0, 57 [SEP] 28, Spatula, -3.778, 1.139, 0.095, 0, 90, 0, 54 [SEP] 29, Pan, -0.785, 1.046, 2.369, 0, 180, 0, 47 [SEP] 30, Egg, -3.644, 0.142, 1.978, 0, 0, 0, 68 [SEP] 31, Cup, -1.288, 0.929, 0.428, 0, 0, 0, 69 [SEP] 32, SaltShaker, -0.939, 1.121, 0.296, 0, 0, 0, 59 [SEP] 33, Knife, -2.514, 1.157, 0.190, 0, 0, 0, 57 [SEP] 34, Bowl, -3.307, 0.909, 3.061, 0, 90, 0, 64 [SEP] 35, PepperShaker, -0.883, 1.121, 0.478, 0, 0, 0, 59 [SEP] 36, ButterKnife, -0.538, 1.047, 3.042, 0, 0, 0, 47 [SEP] 37, Apple, -2.137, 1.192, 0.473, 0, 0, 0, 57 [SEP] 38, Tomato, -0.168, 1.087, 2.144, 0, 0, 0, 47 [SEP] 39, DishSponge, -1.111, 0.931, 0.359, 0, 0, 0, 69 [SEP] 40, Spoon, -1.092, 1.155, 0.108, 0, 0, 0, 44 [SEP] 41, Mug, -1.483, 0.044, 0.438, 0, 0, 0, 62 [SEP] 42, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 43, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 44, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 45, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 46, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 47, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 48, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 49, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 50, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 51, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 52, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 53, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 54, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 55, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 56, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 57, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 58, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 59, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 60, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 61, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 62, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 63, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 64, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 65, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 66, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 67, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 68, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 69, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 70, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 71, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 72, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 73, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 74, NorthWall, , , , , , , [SEP] 75, SouthWall, , , , , , , [SEP] 76, SouthWall, , , , , , , ", "output": ["STEP 1: Walk toward the door then turn to face the table on your right. | STEP 2: Pick up the knife laying by the keruig on the table. | STEP 3: Move to your right. | STEP 4: Slice the tomato on the table behind the bread. | STEP 5: Move to your left. | STEP 6: Put the knife on the table next to the bread. | STEP 7: Move to your right again. | STEP 8: Pick up a slice of tomato. | STEP 9: Turn around and walk to the refrigerator. | STEP 10: Put the slice of tomato in the refrigerator, leave it there until it gets cold, then take it out. | STEP 11: Turn to your left and walk toward the counter, then turn right and walk toward the wall and turn right to face the sink. | STEP 12: Put the slice of tomato on top of the green sponge in the sink. | END"]} +{"id": "trial_T20190907_071506_149865-4", "input": "To cut plus cool a tomato slice as well as place the tomato slice on the stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 1.25, 0, 0, 0, [SEP] 1, DishSponge, -2.497, 0.486, 0.579, 0, 0, 0, 60 [SEP] 2, DishSponge, -3.798, 0.112, 2.038, 0, 0, 0, 68 [SEP] 3, Fork, -2.514, 1.125, 0.662, 0, 0, 0, 57 [SEP] 4, Egg, -2.639, 1.155, 0.473, 0, 0, 0, 57 [SEP] 5, Cup, -1.522, 0.047, 0.551, 0, 0, 0, 62 [SEP] 6, Plate, -3.44, 1.285, 2.991, 0, 90, 0, 64 [SEP] 7, Knife, -1.376, 0.963, 0.359, 0, 0, 0, 69 [SEP] 8, SoapBottle, -2.450, 0.095, 0.512, 0, 0, 0, 50 [SEP] 9, Tomato, -0.538, 1.087, 2.144, 0, 0, 0, 47 [SEP] 10, Bowl, -3.440, 1.560, 2.920, 0, 90, 0, 64 [SEP] 11, PepperShaker, -1.996, 0.899, 0.645, 0, 0, 0, 55 [SEP] 12, PepperShaker, -0.292, 1.044, 1.920, 0, 0, 0, 47 [SEP] 13, Bread, -0.908, 1.133, 2.144, 0, 0, 0, 47 [SEP] 14, Bread, -0.908, 1.134, 1.920, 0, 0, 0, 47 [SEP] 15, Lettuce, -0.662, 1.125, 3.042, 0, 0, 0, 47 [SEP] 16, Lettuce, -0.785, 1.125, 3.266, 0, 0, 0, 47 [SEP] 17, Mug, -0.377, 1.095, 3.194, 0, 270, 0, 63 [SEP] 18, Apple, -0.538, 1.115, 2.817, 0, 0, 0, 47 [SEP] 19, Apple, -3.506, 0.979, 2.849, 0, 90, 0, 64 [SEP] 20, Fork, -1.199, 0.932, 0.290, 0, 0, 0, 69 [SEP] 21, SoapBottle, -2.042, 0.487, 0.512, 0, 0, 0, 48 [SEP] 22, Pot, -3.000, 1.133, 0.227, 0, 270, 0, 61 [SEP] 23, Ladle, -0.785, 1.086, 2.817, 0, 90, 0, 47 [SEP] 24, Potato, -0.662, 1.078, 3.266, 0, 0, 0, 47 [SEP] 25, Plate, -1.195, 0.047, 0.494, 0, 0, 0, 51 [SEP] 26, Bread, -0.908, 1.134, 3.042, 0, 0, 0, 47 [SEP] 27, Lettuce, -2.388, 1.202, 0.473, 0, 0, 0, 57 [SEP] 28, Spatula, -3.778, 1.139, 0.095, 0, 90, 0, 54 [SEP] 29, Pan, -0.785, 1.046, 2.369, 0, 180, 0, 47 [SEP] 30, Egg, -3.644, 0.142, 1.978, 0, 0, 0, 68 [SEP] 31, Cup, -1.288, 0.929, 0.428, 0, 0, 0, 69 [SEP] 32, SaltShaker, -0.939, 1.121, 0.296, 0, 0, 0, 59 [SEP] 33, Knife, -2.514, 1.157, 0.190, 0, 0, 0, 57 [SEP] 34, Bowl, -3.307, 0.909, 3.061, 0, 90, 0, 64 [SEP] 35, PepperShaker, -0.883, 1.121, 0.478, 0, 0, 0, 59 [SEP] 36, ButterKnife, -0.538, 1.047, 3.042, 0, 0, 0, 47 [SEP] 37, Apple, -2.137, 1.192, 0.473, 0, 0, 0, 57 [SEP] 38, Tomato, -0.168, 1.087, 2.144, 0, 0, 0, 47 [SEP] 39, DishSponge, -1.111, 0.931, 0.359, 0, 0, 0, 69 [SEP] 40, Spoon, -1.092, 1.155, 0.108, 0, 0, 0, 44 [SEP] 41, Mug, -1.483, 0.044, 0.438, 0, 0, 0, 62 [SEP] 42, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 43, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 44, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 45, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 46, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 47, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 48, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 49, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 50, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 51, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 52, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 53, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 54, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 55, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 56, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 57, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 58, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 59, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 60, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 61, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 62, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 63, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 64, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 65, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 66, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 67, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 68, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 69, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 70, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 71, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 72, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 73, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 74, NorthWall, , , , , , , [SEP] 75, SouthWall, , , , , , , [SEP] 76, SouthWall, , , , , , , ", "output": ["STEP 1: Turn to the right and walk forward to face the kitchen table. | STEP 2: Pick up the knife on the table. | STEP 3: Step right to face the tomato on the right side of the kitchen table. | STEP 4: Cut the tomato on the kitchen table into slices. | STEP 5: Take a step to the left and face the left side of the kitchen table. | STEP 6: Place the knife on the kitchen table. | STEP 7: Step to the right and face the tomato slices on the kitchen table. | STEP 8: Pick up a slice of tomato on the kitchen table. | STEP 9: Turn around and walk across the room to face the fridge. | STEP 10: Cool the tomato slice in the fridge and then remove it. | STEP 11: Turn around and walk across the room then turn right and walk forward to face the stove. | STEP 12: Place the tomato slice on the edge of the stove. | END"]} +{"id": "trial_T20190907_071506_149865-5", "input": "Putting a sliced tomato in the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 1.25, 0, 0, 0, [SEP] 1, DishSponge, -2.497, 0.486, 0.579, 0, 0, 0, 60 [SEP] 2, DishSponge, -3.798, 0.112, 2.038, 0, 0, 0, 68 [SEP] 3, Fork, -2.514, 1.125, 0.662, 0, 0, 0, 57 [SEP] 4, Egg, -2.639, 1.155, 0.473, 0, 0, 0, 57 [SEP] 5, Cup, -1.522, 0.047, 0.551, 0, 0, 0, 62 [SEP] 6, Plate, -3.44, 1.285, 2.991, 0, 90, 0, 64 [SEP] 7, Knife, -1.376, 0.963, 0.359, 0, 0, 0, 69 [SEP] 8, SoapBottle, -2.450, 0.095, 0.512, 0, 0, 0, 50 [SEP] 9, Tomato, -0.538, 1.087, 2.144, 0, 0, 0, 47 [SEP] 10, Bowl, -3.440, 1.560, 2.920, 0, 90, 0, 64 [SEP] 11, PepperShaker, -1.996, 0.899, 0.645, 0, 0, 0, 55 [SEP] 12, PepperShaker, -0.292, 1.044, 1.920, 0, 0, 0, 47 [SEP] 13, Bread, -0.908, 1.133, 2.144, 0, 0, 0, 47 [SEP] 14, Bread, -0.908, 1.134, 1.920, 0, 0, 0, 47 [SEP] 15, Lettuce, -0.662, 1.125, 3.042, 0, 0, 0, 47 [SEP] 16, Lettuce, -0.785, 1.125, 3.266, 0, 0, 0, 47 [SEP] 17, Mug, -0.377, 1.095, 3.194, 0, 270, 0, 63 [SEP] 18, Apple, -0.538, 1.115, 2.817, 0, 0, 0, 47 [SEP] 19, Apple, -3.506, 0.979, 2.849, 0, 90, 0, 64 [SEP] 20, Fork, -1.199, 0.932, 0.290, 0, 0, 0, 69 [SEP] 21, SoapBottle, -2.042, 0.487, 0.512, 0, 0, 0, 48 [SEP] 22, Pot, -3.000, 1.133, 0.227, 0, 270, 0, 61 [SEP] 23, Ladle, -0.785, 1.086, 2.817, 0, 90, 0, 47 [SEP] 24, Potato, -0.662, 1.078, 3.266, 0, 0, 0, 47 [SEP] 25, Plate, -1.195, 0.047, 0.494, 0, 0, 0, 51 [SEP] 26, Bread, -0.908, 1.134, 3.042, 0, 0, 0, 47 [SEP] 27, Lettuce, -2.388, 1.202, 0.473, 0, 0, 0, 57 [SEP] 28, Spatula, -3.778, 1.139, 0.095, 0, 90, 0, 54 [SEP] 29, Pan, -0.785, 1.046, 2.369, 0, 180, 0, 47 [SEP] 30, Egg, -3.644, 0.142, 1.978, 0, 0, 0, 68 [SEP] 31, Cup, -1.288, 0.929, 0.428, 0, 0, 0, 69 [SEP] 32, SaltShaker, -0.939, 1.121, 0.296, 0, 0, 0, 59 [SEP] 33, Knife, -2.514, 1.157, 0.190, 0, 0, 0, 57 [SEP] 34, Bowl, -3.307, 0.909, 3.061, 0, 90, 0, 64 [SEP] 35, PepperShaker, -0.883, 1.121, 0.478, 0, 0, 0, 59 [SEP] 36, ButterKnife, -0.538, 1.047, 3.042, 0, 0, 0, 47 [SEP] 37, Apple, -2.137, 1.192, 0.473, 0, 0, 0, 57 [SEP] 38, Tomato, -0.168, 1.087, 2.144, 0, 0, 0, 47 [SEP] 39, DishSponge, -1.111, 0.931, 0.359, 0, 0, 0, 69 [SEP] 40, Spoon, -1.092, 1.155, 0.108, 0, 0, 0, 44 [SEP] 41, Mug, -1.483, 0.044, 0.438, 0, 0, 0, 62 [SEP] 42, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 43, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 44, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 45, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 46, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 47, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 48, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 49, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 50, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 51, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 52, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 53, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 54, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 55, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 56, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 57, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 58, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 59, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 60, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 61, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 62, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 63, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 64, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 65, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 66, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 67, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 68, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 69, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 70, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 71, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 72, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 73, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 74, NorthWall, , , , , , , [SEP] 75, SouthWall, , , , , , , [SEP] 76, SouthWall, , , , , , , ", "output": ["STEP 1: Head to the table on the right | STEP 2: Grab the knife off of the table | STEP 3: Move slightly to the right | STEP 4: Cut the tomato on the counter into slices | STEP 5: Move slightly to the left | STEP 6: Lay the knife down on the table | STEP 7: Move slightly to the right | STEP 8: Grab one of the tomato slices | STEP 9: Turn around and head to the fridge | STEP 10: Open the right fridge door and put the tomato on the second rack. Close the door. Open the door and take the tomato out. | STEP 11: Turn around and head to the sink | STEP 12: Place the tomato in the sink | END"]} +{"id": "trial_T20190908_083541_210340-0", "input": "Examine a credit card by the light of a floor lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 0.0, 0, 0, 0, [SEP] 1, KeyChain, -0.151, 0.757, -2.247, 0, 90, 0, 30 [SEP] 2, RemoteControl, 0.336, 0.474, -1.182, 0, 0, 0, 38 [SEP] 3, CreditCard, 0.336, 0.473, -1.245, 0, 180, 0, 38 [SEP] 4, Laptop, -0.528, 0.543, 0.814, 0, 180, 0, 35 [SEP] 5, Laptop, -0.115, 0.471, -1.057, 0, 180, 0, 38 [SEP] 6, Box, 2.513, 0.144, -1.093, 0, 318.382, 0, 48 [SEP] 7, Bowl, -1.871, 0.757, -0.350, 0, 90, 0, 42 [SEP] 8, KeyChain, -0.416, 0.474, -1.307, 0, 180, 0, 38 [SEP] 9, Vase, -1.588, 0.168, -0.531, 0, 0, 0, 43 [SEP] 10, Statue, -1.743, 0.761, -1.526, 0, 90, 0, 42 [SEP] 11, Pillow, 0.133, 0.622, 0.906, 0, 180, 0, 35 [SEP] 12, Laptop, -1.732, 0.753, -0.696, 0, 73.105, 0, 42 [SEP] 13, Vase, -1.743, 0.760, -1.055, 0, 90, 0, 42 [SEP] 14, Statue, 0.145, 0.551, -1.129, 0, 0, 0, 38 [SEP] 15, RemoteControl, -0.087, 0.547, 1.089, 0, 180, 0, 35 [SEP] 16, Vase, 0.009, 0.168, -2.264, 0, 0, 0, 32 [SEP] 17, CreditCard, 0.448, 0.760, -2.547, 0, 0, 0, 30 [SEP] 18, Vase, -0.419, 0.178, -2.206, 0, 0, 0, 31 [SEP] 19, Statue, -1.616, 0.767, -0.350, 0, 90, 0, 42 [SEP] 20, Painting, 0.172, 1.781, 1.934, 0, 0, 0, [SEP] 21, HousePlant, -1.646, 0.755, -1.792, 0, 0, 0, [SEP] 22, LightSwitch, 1.406, 1.294, 1.651, 0, 180, 0, [SEP] 23, Television, -0.035, 1.239, -2.439, 0, 0, 0, [SEP] 24, FloorLamp, -1.573, -0.003, 1.302, 0, 0, 0, [SEP] 25, GarbageCan, 0.742, -0.000, -2.522, 0, 270, 0, [SEP] 26, Window, -0.816, 1.534, -2.719, 90, 0, 0, [SEP] 27, Window, 0.791, 1.534, -2.718, 90, 0, 0, [SEP] 28, Shelf, 0.340, 0.474, -2.377, 0, 0, 0, [SEP] 29, Shelf, 0.341, 0.273, -2.377, 0, 0, 0, [SEP] 30, TVStand, -0.025, -0.000, -2.385, 0, 0, 0, [SEP] 31, Shelf, -0.393, 0.302, -2.382, 0, 0, 0, [SEP] 32, Shelf, -0.026, 0.442, -2.380, 0, 0, 0, [SEP] 33, Shelf, -0.393, 0.597, -2.382, 0, 0, 0, [SEP] 34, Shelf, 0.340, 0.643, -2.377, 0, 0, 0, [SEP] 35, Sofa, 0.124, 0.008, 1.032, 0, 180, 0, [SEP] 36, Cabinet, -1.827, 0.729, -2.357, 0, 90, 0, [SEP] 37, Shelf, -1.827, 2.041, -2.356, 0, 90, 0, [SEP] 38, CoffeeTable, 0.017, -0.000, -1.108, 0, 180, 0, [SEP] 39, Shelf, -1.827, 1.744, -2.356, 0, 90, 0, [SEP] 40, Shelf, -1.827, 1.452, -2.356, 0, 90, 0, [SEP] 41, Shelf, -1.730, 0.278, -1.635, 0, 90, 0, [SEP] 42, TVStand, -1.733, -0.000, -1.058, 0, 90, 0, [SEP] 43, Shelf, -1.730, 0.302, -0.479, 0, 90, 0, [SEP] 44, Shelf, -1.732, 0.446, -1.056, 0, 90, 0, [SEP] 45, Shelf, -1.731, 0.596, -0.478, 0, 90, 0, [SEP] 46, Shelf, -1.733, 0.648, -1.635, 0, 90, 0, [SEP] 47, Shelf, -1.730, 0.477, -1.635, 0, 90, 0, [SEP] 48, ArmChair, 2.344, 0.002, -2.041, 0, 270, 0, [SEP] 49, ShelvingUnit, -1.847, 0.001, -2.357, 0, 90, 0, [SEP] 50, NorthWall, , , , , , , [SEP] 51, EastWall, , , , , , , [SEP] 52, SouthWall, , , , , , , [SEP] 53, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk forward to the garbage bin on the floor by the TV. | STEP 2: Pick up the blue credit card on the TV stand. | STEP 3: Turn right, walk forward to the blue sofa, then turn left and walk to the floor lamp to the left of the sofa. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190908_083541_210340-1", "input": "Take the blue bank card from behind the TV, turn on the lamp in the corner SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 0.0, 0, 0, 0, [SEP] 1, KeyChain, -0.151, 0.757, -2.247, 0, 90, 0, 30 [SEP] 2, RemoteControl, 0.336, 0.474, -1.182, 0, 0, 0, 38 [SEP] 3, CreditCard, 0.336, 0.473, -1.245, 0, 180, 0, 38 [SEP] 4, Laptop, -0.528, 0.543, 0.814, 0, 180, 0, 35 [SEP] 5, Laptop, -0.115, 0.471, -1.057, 0, 180, 0, 38 [SEP] 6, Box, 2.513, 0.144, -1.093, 0, 318.382, 0, 48 [SEP] 7, Bowl, -1.871, 0.757, -0.350, 0, 90, 0, 42 [SEP] 8, KeyChain, -0.416, 0.474, -1.307, 0, 180, 0, 38 [SEP] 9, Vase, -1.588, 0.168, -0.531, 0, 0, 0, 43 [SEP] 10, Statue, -1.743, 0.761, -1.526, 0, 90, 0, 42 [SEP] 11, Pillow, 0.133, 0.622, 0.906, 0, 180, 0, 35 [SEP] 12, Laptop, -1.732, 0.753, -0.696, 0, 73.105, 0, 42 [SEP] 13, Vase, -1.743, 0.760, -1.055, 0, 90, 0, 42 [SEP] 14, Statue, 0.145, 0.551, -1.129, 0, 0, 0, 38 [SEP] 15, RemoteControl, -0.087, 0.547, 1.089, 0, 180, 0, 35 [SEP] 16, Vase, 0.009, 0.168, -2.264, 0, 0, 0, 32 [SEP] 17, CreditCard, 0.448, 0.760, -2.547, 0, 0, 0, 30 [SEP] 18, Vase, -0.419, 0.178, -2.206, 0, 0, 0, 31 [SEP] 19, Statue, -1.616, 0.767, -0.350, 0, 90, 0, 42 [SEP] 20, Painting, 0.172, 1.781, 1.934, 0, 0, 0, [SEP] 21, HousePlant, -1.646, 0.755, -1.792, 0, 0, 0, [SEP] 22, LightSwitch, 1.406, 1.294, 1.651, 0, 180, 0, [SEP] 23, Television, -0.035, 1.239, -2.439, 0, 0, 0, [SEP] 24, FloorLamp, -1.573, -0.003, 1.302, 0, 0, 0, [SEP] 25, GarbageCan, 0.742, -0.000, -2.522, 0, 270, 0, [SEP] 26, Window, -0.816, 1.534, -2.719, 90, 0, 0, [SEP] 27, Window, 0.791, 1.534, -2.718, 90, 0, 0, [SEP] 28, Shelf, 0.340, 0.474, -2.377, 0, 0, 0, [SEP] 29, Shelf, 0.341, 0.273, -2.377, 0, 0, 0, [SEP] 30, TVStand, -0.025, -0.000, -2.385, 0, 0, 0, [SEP] 31, Shelf, -0.393, 0.302, -2.382, 0, 0, 0, [SEP] 32, Shelf, -0.026, 0.442, -2.380, 0, 0, 0, [SEP] 33, Shelf, -0.393, 0.597, -2.382, 0, 0, 0, [SEP] 34, Shelf, 0.340, 0.643, -2.377, 0, 0, 0, [SEP] 35, Sofa, 0.124, 0.008, 1.032, 0, 180, 0, [SEP] 36, Cabinet, -1.827, 0.729, -2.357, 0, 90, 0, [SEP] 37, Shelf, -1.827, 2.041, -2.356, 0, 90, 0, [SEP] 38, CoffeeTable, 0.017, -0.000, -1.108, 0, 180, 0, [SEP] 39, Shelf, -1.827, 1.744, -2.356, 0, 90, 0, [SEP] 40, Shelf, -1.827, 1.452, -2.356, 0, 90, 0, [SEP] 41, Shelf, -1.730, 0.278, -1.635, 0, 90, 0, [SEP] 42, TVStand, -1.733, -0.000, -1.058, 0, 90, 0, [SEP] 43, Shelf, -1.730, 0.302, -0.479, 0, 90, 0, [SEP] 44, Shelf, -1.732, 0.446, -1.056, 0, 90, 0, [SEP] 45, Shelf, -1.731, 0.596, -0.478, 0, 90, 0, [SEP] 46, Shelf, -1.733, 0.648, -1.635, 0, 90, 0, [SEP] 47, Shelf, -1.730, 0.477, -1.635, 0, 90, 0, [SEP] 48, ArmChair, 2.344, 0.002, -2.041, 0, 270, 0, [SEP] 49, ShelvingUnit, -1.847, 0.001, -2.357, 0, 90, 0, [SEP] 50, NorthWall, , , , , , , [SEP] 51, EastWall, , , , , , , [SEP] 52, SouthWall, , , , , , , [SEP] 53, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, head to the window | STEP 2: Take the blue bank card from behind the TV | STEP 3: Turn to the right, head across the living room to the corner | STEP 4: Turn the lamp on | END"]} +{"id": "trial_T20190908_083541_210340-2", "input": "Pick up a credit card and use it to turn the lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 0.0, 0, 0, 0, [SEP] 1, KeyChain, -0.151, 0.757, -2.247, 0, 90, 0, 30 [SEP] 2, RemoteControl, 0.336, 0.474, -1.182, 0, 0, 0, 38 [SEP] 3, CreditCard, 0.336, 0.473, -1.245, 0, 180, 0, 38 [SEP] 4, Laptop, -0.528, 0.543, 0.814, 0, 180, 0, 35 [SEP] 5, Laptop, -0.115, 0.471, -1.057, 0, 180, 0, 38 [SEP] 6, Box, 2.513, 0.144, -1.093, 0, 318.382, 0, 48 [SEP] 7, Bowl, -1.871, 0.757, -0.350, 0, 90, 0, 42 [SEP] 8, KeyChain, -0.416, 0.474, -1.307, 0, 180, 0, 38 [SEP] 9, Vase, -1.588, 0.168, -0.531, 0, 0, 0, 43 [SEP] 10, Statue, -1.743, 0.761, -1.526, 0, 90, 0, 42 [SEP] 11, Pillow, 0.133, 0.622, 0.906, 0, 180, 0, 35 [SEP] 12, Laptop, -1.732, 0.753, -0.696, 0, 73.105, 0, 42 [SEP] 13, Vase, -1.743, 0.760, -1.055, 0, 90, 0, 42 [SEP] 14, Statue, 0.145, 0.551, -1.129, 0, 0, 0, 38 [SEP] 15, RemoteControl, -0.087, 0.547, 1.089, 0, 180, 0, 35 [SEP] 16, Vase, 0.009, 0.168, -2.264, 0, 0, 0, 32 [SEP] 17, CreditCard, 0.448, 0.760, -2.547, 0, 0, 0, 30 [SEP] 18, Vase, -0.419, 0.178, -2.206, 0, 0, 0, 31 [SEP] 19, Statue, -1.616, 0.767, -0.350, 0, 90, 0, 42 [SEP] 20, Painting, 0.172, 1.781, 1.934, 0, 0, 0, [SEP] 21, HousePlant, -1.646, 0.755, -1.792, 0, 0, 0, [SEP] 22, LightSwitch, 1.406, 1.294, 1.651, 0, 180, 0, [SEP] 23, Television, -0.035, 1.239, -2.439, 0, 0, 0, [SEP] 24, FloorLamp, -1.573, -0.003, 1.302, 0, 0, 0, [SEP] 25, GarbageCan, 0.742, -0.000, -2.522, 0, 270, 0, [SEP] 26, Window, -0.816, 1.534, -2.719, 90, 0, 0, [SEP] 27, Window, 0.791, 1.534, -2.718, 90, 0, 0, [SEP] 28, Shelf, 0.340, 0.474, -2.377, 0, 0, 0, [SEP] 29, Shelf, 0.341, 0.273, -2.377, 0, 0, 0, [SEP] 30, TVStand, -0.025, -0.000, -2.385, 0, 0, 0, [SEP] 31, Shelf, -0.393, 0.302, -2.382, 0, 0, 0, [SEP] 32, Shelf, -0.026, 0.442, -2.380, 0, 0, 0, [SEP] 33, Shelf, -0.393, 0.597, -2.382, 0, 0, 0, [SEP] 34, Shelf, 0.340, 0.643, -2.377, 0, 0, 0, [SEP] 35, Sofa, 0.124, 0.008, 1.032, 0, 180, 0, [SEP] 36, Cabinet, -1.827, 0.729, -2.357, 0, 90, 0, [SEP] 37, Shelf, -1.827, 2.041, -2.356, 0, 90, 0, [SEP] 38, CoffeeTable, 0.017, -0.000, -1.108, 0, 180, 0, [SEP] 39, Shelf, -1.827, 1.744, -2.356, 0, 90, 0, [SEP] 40, Shelf, -1.827, 1.452, -2.356, 0, 90, 0, [SEP] 41, Shelf, -1.730, 0.278, -1.635, 0, 90, 0, [SEP] 42, TVStand, -1.733, -0.000, -1.058, 0, 90, 0, [SEP] 43, Shelf, -1.730, 0.302, -0.479, 0, 90, 0, [SEP] 44, Shelf, -1.732, 0.446, -1.056, 0, 90, 0, [SEP] 45, Shelf, -1.731, 0.596, -0.478, 0, 90, 0, [SEP] 46, Shelf, -1.733, 0.648, -1.635, 0, 90, 0, [SEP] 47, Shelf, -1.730, 0.477, -1.635, 0, 90, 0, [SEP] 48, ArmChair, 2.344, 0.002, -2.041, 0, 270, 0, [SEP] 49, ShelvingUnit, -1.847, 0.001, -2.357, 0, 90, 0, [SEP] 50, NorthWall, , , , , , , [SEP] 51, EastWall, , , , , , , [SEP] 52, SouthWall, , , , , , , [SEP] 53, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, take a step, again turn right, move across the room, and turn right to face the dust bin on the left of the table with a monitor | STEP 2: Pick up the blue credit card from the table | STEP 3: Go back to the starting position, continue forward to the other side of the room, turn right, go ahead, and stand in front of the lamp | STEP 4: Use the credit card to turn on the lamp | END"]} +{"id": "trial_T20190909_002301_857761-0", "input": "Move the bowl and a pencil to the TV stand. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.910, -1.0, 0, 90, 0, [SEP] 1, Mug, 2.784, 0.806, 3.274, 0, 0, 0, 39 [SEP] 2, Bowl, -0.749, 0.915, 4.533, 0, 0, 0, 28 [SEP] 3, Pencil, 2.496, 0.747, -1.659, 0, 0, 0, 36 [SEP] 4, Pencil, 2.889, 0.811, 2.613, 0, 0, 0, 39 [SEP] 5, CreditCard, 2.185, 0.399, -0.594, 0, 270, 0, 43 [SEP] 6, CreditCard, 2.575, 0.461, 0.428, 0, 0, 0, 42 [SEP] 7, Book, 2.262, 0.806, 3.053, 0, 0, 0, 39 [SEP] 8, Book, 2.680, 0.806, 3.715, 0, 0, 0, 39 [SEP] 9, RemoteControl, 2.262, 0.809, 3.274, 0, 0, 0, 39 [SEP] 10, AlarmClock, 2.644, 0.752, -1.731, 0, 0, 0, 36 [SEP] 11, Book, -0.749, 0.912, 3.982, 0, 0, 0, 28 [SEP] 12, AlarmClock, 2.471, 0.816, 3.274, 0, 0, 0, 39 [SEP] 13, CellPhone, 2.618, 0.458, 0.526, 0, 0, 0, 42 [SEP] 14, Bowl, 2.399, 0.748, -1.472, 0, 90, 0, 36 [SEP] 15, CreditCard, -1.012, 0.913, 4.35, 0, 0, 0, 28 [SEP] 16, KeyChain, -0.881, 0.914, 4.166, 0, 0, 0, 28 [SEP] 17, RemoteControl, 2.889, 0.809, 3.494, 0, 0, 0, 39 [SEP] 18, Laptop, -1.073, 0.712, 2.822, 0, 0, 0, 25 [SEP] 19, Pencil, 2.614, 0.747, -1.619, 0, 90, 0, 36 [SEP] 20, Pillow, 0.123, 0.785, 1.973, 0, 0, 0, 25 [SEP] 21, Pillow, -0.833, 0.785, 2.256, 0, 0, 0, 25 [SEP] 22, CD, -0.749, 0.913, 4.900, 0, 0, 0, 28 [SEP] 23, Pen, 2.784, 0.813, 2.392, 0, 0, 0, 39 [SEP] 24, Mug, 2.471, 0.805, 3.494, 0, 0, 0, 39 [SEP] 25, Bed, -0.594, 0.009, 2.298, 0, 0, 0, [SEP] 26, Mirror, -1.184, 1.603, 4.348, 0, 0, 0, [SEP] 27, Television, 2.738, 1.330, 0.622, 0, 270, 0, [SEP] 28, CounterTop, -0.890, 0.951, 4.349, 0, 0, 0, [SEP] 29, LightSwitch, 0.800, 1.371, 5.245, 0, 90, 0, [SEP] 30, Painting, 2.992, 1.529, 3.415, 90, 270, 0, [SEP] 31, Painting, 2.992, 1.529, 2.553, 90, 270, 0, [SEP] 32, DeskLamp, 2.625, 0.772, -1.469, 0, 0, 0, [SEP] 33, DeskLamp, 2.668, 0.810, 3.082, 0, 358.947, 0, [SEP] 34, GarbageCan, -0.626, -0.009, 3.742, 0, 0, 0, [SEP] 35, Window, -0.453, 1.450, -2.058, 90, 180, 0, [SEP] 36, SideTable, 2.565, 0.009, -1.534, 0, 0, 0, [SEP] 37, ArmChair, -1.277, 0.009, -1.169, 0, 90, 0, [SEP] 38, Blinds, -0.5, 2.174, -1.957, 0, 0, 0, [SEP] 39, Desk, 2.572, 0.011, 3.054, 0, 270, 0, [SEP] 40, SideTable, 2.645, 0.009, 0.624, 0, 270, 0, [SEP] 41, Drawer, 2.525, 0.214, 0.624, 0, 270, 0, [SEP] 42, Drawer, 2.525, 0.578, 0.624, 0, 270, 0, [SEP] 43, ArmChair, 2.424, 0.009, -0.564, 0, 270, 0, [SEP] 44, LaundryHamper, 3.457, 0.009, 4.555, 0, 270, 0, [SEP] 45, Chair, 2.591, 0.020, 2.015, 0, 0, 0, [SEP] 46, Chair, 2.184, 0.020, 3.440, 0, 120.016, 0, [SEP] 47, Chair, 2.211, 0.020, 2.592, 0, 74.981, 0, [SEP] 48, NorthWall, , , , , , , [SEP] 49, EastWall, , , , , , , [SEP] 50, SouthWall, , , , , , , [SEP] 51, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, walk to the wall, turn left and walk to the small round end table. | STEP 2: Pick up the pencil lying horizontally between the lamp and the alarm clock. | STEP 3: Put the pencil inside the glass bowl sitting in front of the lamp. | STEP 4: Pick up the glass bowl with the pencil inside it. | STEP 5: Turn completely around, take a step, turn right and walk until you are in front of the small white TV stand. Turn right and face the TV stand. | STEP 6: Put the glass bowl with the pencil inside on the front left corner of the TV stand. | END"]} +{"id": "trial_T20190909_002301_857761-1", "input": "Put the bowl with pencil on the tv stand SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.910, -1.0, 0, 90, 0, [SEP] 1, Mug, 2.784, 0.806, 3.274, 0, 0, 0, 39 [SEP] 2, Bowl, -0.749, 0.915, 4.533, 0, 0, 0, 28 [SEP] 3, Pencil, 2.496, 0.747, -1.659, 0, 0, 0, 36 [SEP] 4, Pencil, 2.889, 0.811, 2.613, 0, 0, 0, 39 [SEP] 5, CreditCard, 2.185, 0.399, -0.594, 0, 270, 0, 43 [SEP] 6, CreditCard, 2.575, 0.461, 0.428, 0, 0, 0, 42 [SEP] 7, Book, 2.262, 0.806, 3.053, 0, 0, 0, 39 [SEP] 8, Book, 2.680, 0.806, 3.715, 0, 0, 0, 39 [SEP] 9, RemoteControl, 2.262, 0.809, 3.274, 0, 0, 0, 39 [SEP] 10, AlarmClock, 2.644, 0.752, -1.731, 0, 0, 0, 36 [SEP] 11, Book, -0.749, 0.912, 3.982, 0, 0, 0, 28 [SEP] 12, AlarmClock, 2.471, 0.816, 3.274, 0, 0, 0, 39 [SEP] 13, CellPhone, 2.618, 0.458, 0.526, 0, 0, 0, 42 [SEP] 14, Bowl, 2.399, 0.748, -1.472, 0, 90, 0, 36 [SEP] 15, CreditCard, -1.012, 0.913, 4.35, 0, 0, 0, 28 [SEP] 16, KeyChain, -0.881, 0.914, 4.166, 0, 0, 0, 28 [SEP] 17, RemoteControl, 2.889, 0.809, 3.494, 0, 0, 0, 39 [SEP] 18, Laptop, -1.073, 0.712, 2.822, 0, 0, 0, 25 [SEP] 19, Pencil, 2.614, 0.747, -1.619, 0, 90, 0, 36 [SEP] 20, Pillow, 0.123, 0.785, 1.973, 0, 0, 0, 25 [SEP] 21, Pillow, -0.833, 0.785, 2.256, 0, 0, 0, 25 [SEP] 22, CD, -0.749, 0.913, 4.900, 0, 0, 0, 28 [SEP] 23, Pen, 2.784, 0.813, 2.392, 0, 0, 0, 39 [SEP] 24, Mug, 2.471, 0.805, 3.494, 0, 0, 0, 39 [SEP] 25, Bed, -0.594, 0.009, 2.298, 0, 0, 0, [SEP] 26, Mirror, -1.184, 1.603, 4.348, 0, 0, 0, [SEP] 27, Television, 2.738, 1.330, 0.622, 0, 270, 0, [SEP] 28, CounterTop, -0.890, 0.951, 4.349, 0, 0, 0, [SEP] 29, LightSwitch, 0.800, 1.371, 5.245, 0, 90, 0, [SEP] 30, Painting, 2.992, 1.529, 3.415, 90, 270, 0, [SEP] 31, Painting, 2.992, 1.529, 2.553, 90, 270, 0, [SEP] 32, DeskLamp, 2.625, 0.772, -1.469, 0, 0, 0, [SEP] 33, DeskLamp, 2.668, 0.810, 3.082, 0, 358.947, 0, [SEP] 34, GarbageCan, -0.626, -0.009, 3.742, 0, 0, 0, [SEP] 35, Window, -0.453, 1.450, -2.058, 90, 180, 0, [SEP] 36, SideTable, 2.565, 0.009, -1.534, 0, 0, 0, [SEP] 37, ArmChair, -1.277, 0.009, -1.169, 0, 90, 0, [SEP] 38, Blinds, -0.5, 2.174, -1.957, 0, 0, 0, [SEP] 39, Desk, 2.572, 0.011, 3.054, 0, 270, 0, [SEP] 40, SideTable, 2.645, 0.009, 0.624, 0, 270, 0, [SEP] 41, Drawer, 2.525, 0.214, 0.624, 0, 270, 0, [SEP] 42, Drawer, 2.525, 0.578, 0.624, 0, 270, 0, [SEP] 43, ArmChair, 2.424, 0.009, -0.564, 0, 270, 0, [SEP] 44, LaundryHamper, 3.457, 0.009, 4.555, 0, 270, 0, [SEP] 45, Chair, 2.591, 0.020, 2.015, 0, 0, 0, [SEP] 46, Chair, 2.184, 0.020, 3.440, 0, 120.016, 0, [SEP] 47, Chair, 2.211, 0.020, 2.592, 0, 74.981, 0, [SEP] 48, NorthWall, , , , , , , [SEP] 49, EastWall, , , , , , , [SEP] 50, SouthWall, , , , , , , [SEP] 51, WestWall, , , , , , , ", "output": ["STEP 1: Turn right then walk straight going to the side table in front of you | STEP 2: Pick up the pencil on the table close to the lamp | STEP 3: Put the pencil in the bowl | STEP 4: Pick up the bowl with pencil on the side table | STEP 5: Turn left walk straight on the front of the tv stand | STEP 6: Put the bowl with pencil on left side edge of the tv stand | END"]} +{"id": "trial_T20190909_002301_857761-2", "input": "Place the glass bowl with the pencil inside of it on the white tv stand. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.910, -1.0, 0, 90, 0, [SEP] 1, Mug, 2.784, 0.806, 3.274, 0, 0, 0, 39 [SEP] 2, Bowl, -0.749, 0.915, 4.533, 0, 0, 0, 28 [SEP] 3, Pencil, 2.496, 0.747, -1.659, 0, 0, 0, 36 [SEP] 4, Pencil, 2.889, 0.811, 2.613, 0, 0, 0, 39 [SEP] 5, CreditCard, 2.185, 0.399, -0.594, 0, 270, 0, 43 [SEP] 6, CreditCard, 2.575, 0.461, 0.428, 0, 0, 0, 42 [SEP] 7, Book, 2.262, 0.806, 3.053, 0, 0, 0, 39 [SEP] 8, Book, 2.680, 0.806, 3.715, 0, 0, 0, 39 [SEP] 9, RemoteControl, 2.262, 0.809, 3.274, 0, 0, 0, 39 [SEP] 10, AlarmClock, 2.644, 0.752, -1.731, 0, 0, 0, 36 [SEP] 11, Book, -0.749, 0.912, 3.982, 0, 0, 0, 28 [SEP] 12, AlarmClock, 2.471, 0.816, 3.274, 0, 0, 0, 39 [SEP] 13, CellPhone, 2.618, 0.458, 0.526, 0, 0, 0, 42 [SEP] 14, Bowl, 2.399, 0.748, -1.472, 0, 90, 0, 36 [SEP] 15, CreditCard, -1.012, 0.913, 4.35, 0, 0, 0, 28 [SEP] 16, KeyChain, -0.881, 0.914, 4.166, 0, 0, 0, 28 [SEP] 17, RemoteControl, 2.889, 0.809, 3.494, 0, 0, 0, 39 [SEP] 18, Laptop, -1.073, 0.712, 2.822, 0, 0, 0, 25 [SEP] 19, Pencil, 2.614, 0.747, -1.619, 0, 90, 0, 36 [SEP] 20, Pillow, 0.123, 0.785, 1.973, 0, 0, 0, 25 [SEP] 21, Pillow, -0.833, 0.785, 2.256, 0, 0, 0, 25 [SEP] 22, CD, -0.749, 0.913, 4.900, 0, 0, 0, 28 [SEP] 23, Pen, 2.784, 0.813, 2.392, 0, 0, 0, 39 [SEP] 24, Mug, 2.471, 0.805, 3.494, 0, 0, 0, 39 [SEP] 25, Bed, -0.594, 0.009, 2.298, 0, 0, 0, [SEP] 26, Mirror, -1.184, 1.603, 4.348, 0, 0, 0, [SEP] 27, Television, 2.738, 1.330, 0.622, 0, 270, 0, [SEP] 28, CounterTop, -0.890, 0.951, 4.349, 0, 0, 0, [SEP] 29, LightSwitch, 0.800, 1.371, 5.245, 0, 90, 0, [SEP] 30, Painting, 2.992, 1.529, 3.415, 90, 270, 0, [SEP] 31, Painting, 2.992, 1.529, 2.553, 90, 270, 0, [SEP] 32, DeskLamp, 2.625, 0.772, -1.469, 0, 0, 0, [SEP] 33, DeskLamp, 2.668, 0.810, 3.082, 0, 358.947, 0, [SEP] 34, GarbageCan, -0.626, -0.009, 3.742, 0, 0, 0, [SEP] 35, Window, -0.453, 1.450, -2.058, 90, 180, 0, [SEP] 36, SideTable, 2.565, 0.009, -1.534, 0, 0, 0, [SEP] 37, ArmChair, -1.277, 0.009, -1.169, 0, 90, 0, [SEP] 38, Blinds, -0.5, 2.174, -1.957, 0, 0, 0, [SEP] 39, Desk, 2.572, 0.011, 3.054, 0, 270, 0, [SEP] 40, SideTable, 2.645, 0.009, 0.624, 0, 270, 0, [SEP] 41, Drawer, 2.525, 0.214, 0.624, 0, 270, 0, [SEP] 42, Drawer, 2.525, 0.578, 0.624, 0, 270, 0, [SEP] 43, ArmChair, 2.424, 0.009, -0.564, 0, 270, 0, [SEP] 44, LaundryHamper, 3.457, 0.009, 4.555, 0, 270, 0, [SEP] 45, Chair, 2.591, 0.020, 2.015, 0, 0, 0, [SEP] 46, Chair, 2.184, 0.020, 3.440, 0, 120.016, 0, [SEP] 47, Chair, 2.211, 0.020, 2.592, 0, 74.981, 0, [SEP] 48, NorthWall, , , , , , , [SEP] 49, EastWall, , , , , , , [SEP] 50, SouthWall, , , , , , , [SEP] 51, WestWall, , , , , , , ", "output": ["STEP 1: Go straight and to the right to face the black end table. | STEP 2: Pick the green pencil up from off of the black end table. | STEP 3: Place the pencil inside of the glass bowl. | STEP 4: Pick the glass bowl up off of the black end table. | STEP 5: Turn around and move to the left to face the white TV stand. | STEP 6: Place glass bowl on the white tv stand. | END"]} +{"id": "trial_T20190909_051800_233558-0", "input": "Put a watch on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 1.0, 0, 0, 0, [SEP] 1, Statue, 0.522, 0.418, 1.466, 0, 0, 0, 36 [SEP] 2, Watch, 1.300, 0.411, 1.597, 0, 0, 0, 36 [SEP] 3, Watch, 0.367, 0.411, 1.401, 0, 0, 0, 36 [SEP] 4, KeyChain, 2.841, 0.603, 1.390, 0, 180, 0, 35 [SEP] 5, KeyChain, 0.223, 0.475, -1.577, 0, 0, 0, 32 [SEP] 6, CreditCard, 0.087, 0.137, -0.334, 0, 180, 0, 39 [SEP] 7, CreditCard, 1.300, 0.410, 1.792, 0, 0, 0, 36 [SEP] 8, RemoteControl, 2.072, 0.872, 1.704, 0, 0, 0, 31 [SEP] 9, RemoteControl, 1.765, 0.872, 1.787, 0, 0, 0, 31 [SEP] 10, Laptop, 2.737, 0.467, 0.247, 0, 0, 0, 29 [SEP] 11, Box, -0.636, 0.778, -1.469, 0, 0, 0, 34 [SEP] 12, Laptop, 0.228, 0.358, -0.306, 0, 349.282, 0, 43 [SEP] 13, CreditCard, 1.996, 0.869, 1.662, 0, 0, 0, 31 [SEP] 14, Newspaper, 0.216, 0.522, -1.567, 0, 350.059, 0, 32 [SEP] 15, RemoteControl, 2.737, 0.459, 0.647, 0, 0, 0, 29 [SEP] 16, Pillow, -0.875, 0.575, -0.798, 0, 267.956, 341.124, 33 [SEP] 17, KeyChain, 0.227, 0.367, 0.130, 0, 0, 0, 43 [SEP] 18, Watch, 0.367, 0.411, 1.662, 0, 0, 0, 36 [SEP] 19, Statue, 2.944, 0.596, 1.570, 0, 266.344, 0, 35 [SEP] 20, Curtains, 1.199, 0.0, -2.440, 0, 0, 0, [SEP] 21, HousePlant, 1.919, 1.717, -2.187, 0, 315, 0, [SEP] 22, FloorLamp, -1.160, -0.003, 1.040, 0, 0, 0, [SEP] 23, LightSwitch, -1.006, 1.286, 1.950, 0, 180, 0, [SEP] 24, Television, 0.858, 0.884, 1.731, 0, 180, 0, [SEP] 25, Painting, 3.414, 1.708, -0.156, 90, 270, 0, [SEP] 26, Painting, -1.449, 1.787, -0.342, 90, 270, 0, [SEP] 27, GarbageCan, 1.296, 9.894, -2.187, 0, 0, 0, [SEP] 28, Window, 0.653, 1.550, -2.470, 90, 180, 0, [SEP] 29, Sofa, 2.868, -0.002, 0.248, 0, 270, 0, [SEP] 30, Drawer, 1.996, 0.779, 1.705, 0, 180, 0, [SEP] 31, SideTable, 1.995, 0.004, 1.746, 0, 180, 0, [SEP] 32, ArmChair, 0.224, -0.010, -1.724, 0, 0, 0, [SEP] 33, Sofa, -1.007, 0.006, -0.207, 1.149, 90, 0, [SEP] 34, SideTable, -0.683, 0.004, -1.600, 0, 0, 0, [SEP] 35, SideTable, 2.956, 0.004, 1.568, 0, 0, 0, [SEP] 36, TVStand, 0.838, -0.006, 1.582, 0, 0, 0, [SEP] 37, Drawer, 0.472, 0.271, -0.165, 0, 270, 0, [SEP] 38, Drawer, -0.018, 0.272, -0.165, 0, 270, 0, [SEP] 39, Drawer, -0.018, 0.168, -0.165, 0, 270, 0, [SEP] 40, Drawer, -0.018, 0.064, -0.165, 0, 270, 0, [SEP] 41, Drawer, 0.472, 0.063, -0.165, 0, 270, 0, [SEP] 42, Drawer, 0.472, 0.167, -0.165, 0, 270, 0, [SEP] 43, CoffeeTable, 0.226, -0.003, -0.164, 0, 270, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: Move to the left to face the television on the television stand. | STEP 2: Pick the watch up from the television stand. | STEP 3: Move to the right and face the table to the right of the television stand. | STEP 4: Put the watch on the table on top of the credit card. | END"]} +{"id": "trial_T20190909_051800_233558-1", "input": "put the watch on the table from the tv SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 1.0, 0, 0, 0, [SEP] 1, Statue, 0.522, 0.418, 1.466, 0, 0, 0, 36 [SEP] 2, Watch, 1.300, 0.411, 1.597, 0, 0, 0, 36 [SEP] 3, Watch, 0.367, 0.411, 1.401, 0, 0, 0, 36 [SEP] 4, KeyChain, 2.841, 0.603, 1.390, 0, 180, 0, 35 [SEP] 5, KeyChain, 0.223, 0.475, -1.577, 0, 0, 0, 32 [SEP] 6, CreditCard, 0.087, 0.137, -0.334, 0, 180, 0, 39 [SEP] 7, CreditCard, 1.300, 0.410, 1.792, 0, 0, 0, 36 [SEP] 8, RemoteControl, 2.072, 0.872, 1.704, 0, 0, 0, 31 [SEP] 9, RemoteControl, 1.765, 0.872, 1.787, 0, 0, 0, 31 [SEP] 10, Laptop, 2.737, 0.467, 0.247, 0, 0, 0, 29 [SEP] 11, Box, -0.636, 0.778, -1.469, 0, 0, 0, 34 [SEP] 12, Laptop, 0.228, 0.358, -0.306, 0, 349.282, 0, 43 [SEP] 13, CreditCard, 1.996, 0.869, 1.662, 0, 0, 0, 31 [SEP] 14, Newspaper, 0.216, 0.522, -1.567, 0, 350.059, 0, 32 [SEP] 15, RemoteControl, 2.737, 0.459, 0.647, 0, 0, 0, 29 [SEP] 16, Pillow, -0.875, 0.575, -0.798, 0, 267.956, 341.124, 33 [SEP] 17, KeyChain, 0.227, 0.367, 0.130, 0, 0, 0, 43 [SEP] 18, Watch, 0.367, 0.411, 1.662, 0, 0, 0, 36 [SEP] 19, Statue, 2.944, 0.596, 1.570, 0, 266.344, 0, 35 [SEP] 20, Curtains, 1.199, 0.0, -2.440, 0, 0, 0, [SEP] 21, HousePlant, 1.919, 1.717, -2.187, 0, 315, 0, [SEP] 22, FloorLamp, -1.160, -0.003, 1.040, 0, 0, 0, [SEP] 23, LightSwitch, -1.006, 1.286, 1.950, 0, 180, 0, [SEP] 24, Television, 0.858, 0.884, 1.731, 0, 180, 0, [SEP] 25, Painting, 3.414, 1.708, -0.156, 90, 270, 0, [SEP] 26, Painting, -1.449, 1.787, -0.342, 90, 270, 0, [SEP] 27, GarbageCan, 1.296, 9.894, -2.187, 0, 0, 0, [SEP] 28, Window, 0.653, 1.550, -2.470, 90, 180, 0, [SEP] 29, Sofa, 2.868, -0.002, 0.248, 0, 270, 0, [SEP] 30, Drawer, 1.996, 0.779, 1.705, 0, 180, 0, [SEP] 31, SideTable, 1.995, 0.004, 1.746, 0, 180, 0, [SEP] 32, ArmChair, 0.224, -0.010, -1.724, 0, 0, 0, [SEP] 33, Sofa, -1.007, 0.006, -0.207, 1.149, 90, 0, [SEP] 34, SideTable, -0.683, 0.004, -1.600, 0, 0, 0, [SEP] 35, SideTable, 2.956, 0.004, 1.568, 0, 0, 0, [SEP] 36, TVStand, 0.838, -0.006, 1.582, 0, 0, 0, [SEP] 37, Drawer, 0.472, 0.271, -0.165, 0, 270, 0, [SEP] 38, Drawer, -0.018, 0.272, -0.165, 0, 270, 0, [SEP] 39, Drawer, -0.018, 0.168, -0.165, 0, 270, 0, [SEP] 40, Drawer, -0.018, 0.064, -0.165, 0, 270, 0, [SEP] 41, Drawer, 0.472, 0.063, -0.165, 0, 270, 0, [SEP] 42, Drawer, 0.472, 0.167, -0.165, 0, 270, 0, [SEP] 43, CoffeeTable, 0.226, -0.003, -0.164, 0, 270, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: turn left then turn right towards the tv and look down | STEP 2: pick up the watch on the tv stand | STEP 3: turn right and walk straight towards the couch then turn left towards the table | STEP 4: put the watch down on top of the credit card on the table | END"]} +{"id": "trial_T20190909_051800_233558-2", "input": "Move a watch from a television stand to a small side table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 1.0, 0, 0, 0, [SEP] 1, Statue, 0.522, 0.418, 1.466, 0, 0, 0, 36 [SEP] 2, Watch, 1.300, 0.411, 1.597, 0, 0, 0, 36 [SEP] 3, Watch, 0.367, 0.411, 1.401, 0, 0, 0, 36 [SEP] 4, KeyChain, 2.841, 0.603, 1.390, 0, 180, 0, 35 [SEP] 5, KeyChain, 0.223, 0.475, -1.577, 0, 0, 0, 32 [SEP] 6, CreditCard, 0.087, 0.137, -0.334, 0, 180, 0, 39 [SEP] 7, CreditCard, 1.300, 0.410, 1.792, 0, 0, 0, 36 [SEP] 8, RemoteControl, 2.072, 0.872, 1.704, 0, 0, 0, 31 [SEP] 9, RemoteControl, 1.765, 0.872, 1.787, 0, 0, 0, 31 [SEP] 10, Laptop, 2.737, 0.467, 0.247, 0, 0, 0, 29 [SEP] 11, Box, -0.636, 0.778, -1.469, 0, 0, 0, 34 [SEP] 12, Laptop, 0.228, 0.358, -0.306, 0, 349.282, 0, 43 [SEP] 13, CreditCard, 1.996, 0.869, 1.662, 0, 0, 0, 31 [SEP] 14, Newspaper, 0.216, 0.522, -1.567, 0, 350.059, 0, 32 [SEP] 15, RemoteControl, 2.737, 0.459, 0.647, 0, 0, 0, 29 [SEP] 16, Pillow, -0.875, 0.575, -0.798, 0, 267.956, 341.124, 33 [SEP] 17, KeyChain, 0.227, 0.367, 0.130, 0, 0, 0, 43 [SEP] 18, Watch, 0.367, 0.411, 1.662, 0, 0, 0, 36 [SEP] 19, Statue, 2.944, 0.596, 1.570, 0, 266.344, 0, 35 [SEP] 20, Curtains, 1.199, 0.0, -2.440, 0, 0, 0, [SEP] 21, HousePlant, 1.919, 1.717, -2.187, 0, 315, 0, [SEP] 22, FloorLamp, -1.160, -0.003, 1.040, 0, 0, 0, [SEP] 23, LightSwitch, -1.006, 1.286, 1.950, 0, 180, 0, [SEP] 24, Television, 0.858, 0.884, 1.731, 0, 180, 0, [SEP] 25, Painting, 3.414, 1.708, -0.156, 90, 270, 0, [SEP] 26, Painting, -1.449, 1.787, -0.342, 90, 270, 0, [SEP] 27, GarbageCan, 1.296, 9.894, -2.187, 0, 0, 0, [SEP] 28, Window, 0.653, 1.550, -2.470, 90, 180, 0, [SEP] 29, Sofa, 2.868, -0.002, 0.248, 0, 270, 0, [SEP] 30, Drawer, 1.996, 0.779, 1.705, 0, 180, 0, [SEP] 31, SideTable, 1.995, 0.004, 1.746, 0, 180, 0, [SEP] 32, ArmChair, 0.224, -0.010, -1.724, 0, 0, 0, [SEP] 33, Sofa, -1.007, 0.006, -0.207, 1.149, 90, 0, [SEP] 34, SideTable, -0.683, 0.004, -1.600, 0, 0, 0, [SEP] 35, SideTable, 2.956, 0.004, 1.568, 0, 0, 0, [SEP] 36, TVStand, 0.838, -0.006, 1.582, 0, 0, 0, [SEP] 37, Drawer, 0.472, 0.271, -0.165, 0, 270, 0, [SEP] 38, Drawer, -0.018, 0.272, -0.165, 0, 270, 0, [SEP] 39, Drawer, -0.018, 0.168, -0.165, 0, 270, 0, [SEP] 40, Drawer, -0.018, 0.064, -0.165, 0, 270, 0, [SEP] 41, Drawer, 0.472, 0.063, -0.165, 0, 270, 0, [SEP] 42, Drawer, 0.472, 0.167, -0.165, 0, 270, 0, [SEP] 43, CoffeeTable, 0.226, -0.003, -0.164, 0, 270, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: Walk very slightly to the left then turn right towards the watch on the TV stand. | STEP 2: Pick up the watch on the TV stand which is to the right of the television. | STEP 3: Turn right and walk to the small side table to the right of the television that contains two remote controls. | STEP 4: Put the watch on top of the credit card on the table. | END"]} +{"id": "trial_T20190906_235214_456832-0", "input": "Place the cup with the fork on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 2.25, 0, 270, 0, [SEP] 1, Potato, 2.137, 1.550, 5.876, 0, 270, 0, 80 [SEP] 2, Potato, 2.051, 1.550, 5.376, 0, 0, 0, 80 [SEP] 3, DishSponge, 0.305, 0.759, 6.479, 0, 270, 0, 94 [SEP] 4, DishSponge, 1.019, 1.579, 0.295, 0, 0, 0, 65 [SEP] 5, ButterKnife, 0.803, 0.772, 0.507, 0, 0, 0, 50 [SEP] 6, Kettle, 1.495, 2.208, 4.131, 0, 0, 0, 46 [SEP] 7, Pot, 1.559, 0.988, 4.294, 0, 0, 0, 56 [SEP] 8, Spoon, 1.493, 0.993, 1.577, 0, 0, 0, 58 [SEP] 9, Fork, -0.034, 0.760, 6.632, 0, 90, 0, 94 [SEP] 10, Fork, -0.096, 0.760, 6.632, 0, 90, 0, 94 [SEP] 11, Fork, 1.332, 0.896, 2.525, 0, 90, 0, 81 [SEP] 12, Egg, 0.923, 1.042, 0.670, 0, 0, 0, 58 [SEP] 13, Knife, 0.169, 0.789, 6.807, 0, 225, 0, 94 [SEP] 14, Knife, -0.611, 1.022, 0.670, 0, 0, 0, 58 [SEP] 15, Tomato, 2.009, 1.565, 5.251, 0, 270, 0, 80 [SEP] 16, Tomato, 0.125, 0.809, 6.851, 0, 225, 0, 94 [SEP] 17, SaltShaker, 1.135, 0.987, 4.762, 0, 0, 0, 59 [SEP] 18, SaltShaker, 1.238, 0.135, 3.217, 0, 0, 0, 69 [SEP] 19, Bread, 1.135, 1.062, 1.350, 0, 0, 0, 58 [SEP] 20, Mug, 1.384, 1.043, 0.847, 0, 270, 0, 58 [SEP] 21, Apple, -0.003, 0.834, 6.354, 0, 270, 0, 94 [SEP] 22, Apple, 2.137, 1.590, 5.626, 0, 270, 0, 80 [SEP] 23, Bowl, 1.490, 0.139, 2.646, 0, 0, 0, 70 [SEP] 24, Bread, -0.467, 0.829, 6.604, 0, 270, 0, 94 [SEP] 25, Egg, 0.014, 0.810, 6.217, 0, 135, 0, 94 [SEP] 26, Knife, 1.348, 0.801, 3.223, 0, 0, 0, 51 [SEP] 27, Fork, 1.293, 0.772, 4.680, 0, 90, 0, 48 [SEP] 28, Apple, 2.137, 1.590, 5.251, 0, 270, 0, 80 [SEP] 29, Kettle, 1.32, 0.988, 3.848, 0, 0, 0, 57 [SEP] 30, Plate, 0.847, 0.993, 0.212, 0, 0, 0, 58 [SEP] 31, SaltShaker, 0.150, 0.755, 6.291, 0, 270, 0, 94 [SEP] 32, Lettuce, -0.459, 1.081, 0.486, 0, 0, 0, 58 [SEP] 33, SoapBottle, -0.284, 0.760, 6.941, 0, 0, 0, 94 [SEP] 34, Spatula, 1.276, 0.905, 1.983, 0, 180, 0, 81 [SEP] 35, PaperTowelRoll, 1.135, 1.096, 4.624, 0, 0, 0, 59 [SEP] 36, Pot, 1.317, 0.988, 4.294, 0, 0, 0, 53 [SEP] 37, Potato, 1.497, 0.925, 2.525, 0, 90, 0, 81 [SEP] 38, ButterKnife, -0.159, 0.760, 6.787, 0, 0, 0, 94 [SEP] 39, PepperShaker, 0.046, 1.574, 0.207, 0, 0, 0, 71 [SEP] 40, Pan, 0.674, 0.141, 0.497, 0, 0, 0, 64 [SEP] 41, Tomato, 2.009, 1.565, 5.876, 0, 270, 0, 80 [SEP] 42, DishSponge, -0.221, 0.759, 6.323, 0, 0, 0, 94 [SEP] 43, Cup, 1.314, 0.988, 3.137, 0, 0, 0, 58 [SEP] 44, Spoon, -0.535, 0.993, 0.303, 0, 0, 0, 58 [SEP] 45, Mug, 1.225, 0.987, 0.213, 0, 180, 0, 58 [SEP] 46, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 47, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 48, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 49, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 50, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 51, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 52, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 53, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 54, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 55, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 56, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 57, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 58, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 59, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 60, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 61, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 62, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 63, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 64, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 65, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 66, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 67, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 68, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 69, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 70, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 71, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 72, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 73, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 74, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 75, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 76, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 77, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 78, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 79, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 80, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 81, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 82, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 83, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 84, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 85, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 86, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 87, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 88, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 89, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 90, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 91, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 92, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 93, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 94, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 95, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 96, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 97, NorthWall, , , , , , , [SEP] 98, EastWall, , , , , , , [SEP] 99, SouthWall, , , , , , , [SEP] 100, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and head towards the sink. | STEP 2: Pick up the fork in the sink. | STEP 3: Turn right towards the coffee maker and then turn left to face it. | STEP 4: Place the fork in the cup on the coffee maker. | STEP 5: Pick up the cup from the maker. | STEP 6: Turn left, head towards the table on the left, and then turn left to face it. | STEP 7: Place the cup on the table in front of the salt shaker. | END"]} +{"id": "trial_T20190906_235214_456832-1", "input": "Put the mug with fork on the round table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 2.25, 0, 270, 0, [SEP] 1, Potato, 2.137, 1.550, 5.876, 0, 270, 0, 80 [SEP] 2, Potato, 2.051, 1.550, 5.376, 0, 0, 0, 80 [SEP] 3, DishSponge, 0.305, 0.759, 6.479, 0, 270, 0, 94 [SEP] 4, DishSponge, 1.019, 1.579, 0.295, 0, 0, 0, 65 [SEP] 5, ButterKnife, 0.803, 0.772, 0.507, 0, 0, 0, 50 [SEP] 6, Kettle, 1.495, 2.208, 4.131, 0, 0, 0, 46 [SEP] 7, Pot, 1.559, 0.988, 4.294, 0, 0, 0, 56 [SEP] 8, Spoon, 1.493, 0.993, 1.577, 0, 0, 0, 58 [SEP] 9, Fork, -0.034, 0.760, 6.632, 0, 90, 0, 94 [SEP] 10, Fork, -0.096, 0.760, 6.632, 0, 90, 0, 94 [SEP] 11, Fork, 1.332, 0.896, 2.525, 0, 90, 0, 81 [SEP] 12, Egg, 0.923, 1.042, 0.670, 0, 0, 0, 58 [SEP] 13, Knife, 0.169, 0.789, 6.807, 0, 225, 0, 94 [SEP] 14, Knife, -0.611, 1.022, 0.670, 0, 0, 0, 58 [SEP] 15, Tomato, 2.009, 1.565, 5.251, 0, 270, 0, 80 [SEP] 16, Tomato, 0.125, 0.809, 6.851, 0, 225, 0, 94 [SEP] 17, SaltShaker, 1.135, 0.987, 4.762, 0, 0, 0, 59 [SEP] 18, SaltShaker, 1.238, 0.135, 3.217, 0, 0, 0, 69 [SEP] 19, Bread, 1.135, 1.062, 1.350, 0, 0, 0, 58 [SEP] 20, Mug, 1.384, 1.043, 0.847, 0, 270, 0, 58 [SEP] 21, Apple, -0.003, 0.834, 6.354, 0, 270, 0, 94 [SEP] 22, Apple, 2.137, 1.590, 5.626, 0, 270, 0, 80 [SEP] 23, Bowl, 1.490, 0.139, 2.646, 0, 0, 0, 70 [SEP] 24, Bread, -0.467, 0.829, 6.604, 0, 270, 0, 94 [SEP] 25, Egg, 0.014, 0.810, 6.217, 0, 135, 0, 94 [SEP] 26, Knife, 1.348, 0.801, 3.223, 0, 0, 0, 51 [SEP] 27, Fork, 1.293, 0.772, 4.680, 0, 90, 0, 48 [SEP] 28, Apple, 2.137, 1.590, 5.251, 0, 270, 0, 80 [SEP] 29, Kettle, 1.32, 0.988, 3.848, 0, 0, 0, 57 [SEP] 30, Plate, 0.847, 0.993, 0.212, 0, 0, 0, 58 [SEP] 31, SaltShaker, 0.150, 0.755, 6.291, 0, 270, 0, 94 [SEP] 32, Lettuce, -0.459, 1.081, 0.486, 0, 0, 0, 58 [SEP] 33, SoapBottle, -0.284, 0.760, 6.941, 0, 0, 0, 94 [SEP] 34, Spatula, 1.276, 0.905, 1.983, 0, 180, 0, 81 [SEP] 35, PaperTowelRoll, 1.135, 1.096, 4.624, 0, 0, 0, 59 [SEP] 36, Pot, 1.317, 0.988, 4.294, 0, 0, 0, 53 [SEP] 37, Potato, 1.497, 0.925, 2.525, 0, 90, 0, 81 [SEP] 38, ButterKnife, -0.159, 0.760, 6.787, 0, 0, 0, 94 [SEP] 39, PepperShaker, 0.046, 1.574, 0.207, 0, 0, 0, 71 [SEP] 40, Pan, 0.674, 0.141, 0.497, 0, 0, 0, 64 [SEP] 41, Tomato, 2.009, 1.565, 5.876, 0, 270, 0, 80 [SEP] 42, DishSponge, -0.221, 0.759, 6.323, 0, 0, 0, 94 [SEP] 43, Cup, 1.314, 0.988, 3.137, 0, 0, 0, 58 [SEP] 44, Spoon, -0.535, 0.993, 0.303, 0, 0, 0, 58 [SEP] 45, Mug, 1.225, 0.987, 0.213, 0, 180, 0, 58 [SEP] 46, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 47, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 48, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 49, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 50, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 51, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 52, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 53, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 54, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 55, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 56, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 57, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 58, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 59, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 60, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 61, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 62, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 63, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 64, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 65, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 66, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 67, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 68, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 69, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 70, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 71, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 72, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 73, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 74, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 75, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 76, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 77, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 78, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 79, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 80, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 81, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 82, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 83, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 84, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 85, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 86, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 87, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 88, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 89, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 90, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 91, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 92, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 93, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 94, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 95, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 96, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 97, NorthWall, , , , , , , [SEP] 98, EastWall, , , , , , , [SEP] 99, SouthWall, , , , , , , [SEP] 100, WestWall, , , , , , , ", "output": ["STEP 1: Move to the sink. | STEP 2: Pick up the fork in the sink. | STEP 3: Bring the fork to the coffee machine. | STEP 4: Put the fork in the mug on the coffee machine. | STEP 5: Pick up the mug from the coffee machine. | STEP 6: Bring the mug to the round table. | STEP 7: Put the mug with fork on the round table. | END"]} +{"id": "trial_T20190906_235214_456832-2", "input": "Place a mug with a fork in it onto the round kitchen table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 2.25, 0, 270, 0, [SEP] 1, Potato, 2.137, 1.550, 5.876, 0, 270, 0, 80 [SEP] 2, Potato, 2.051, 1.550, 5.376, 0, 0, 0, 80 [SEP] 3, DishSponge, 0.305, 0.759, 6.479, 0, 270, 0, 94 [SEP] 4, DishSponge, 1.019, 1.579, 0.295, 0, 0, 0, 65 [SEP] 5, ButterKnife, 0.803, 0.772, 0.507, 0, 0, 0, 50 [SEP] 6, Kettle, 1.495, 2.208, 4.131, 0, 0, 0, 46 [SEP] 7, Pot, 1.559, 0.988, 4.294, 0, 0, 0, 56 [SEP] 8, Spoon, 1.493, 0.993, 1.577, 0, 0, 0, 58 [SEP] 9, Fork, -0.034, 0.760, 6.632, 0, 90, 0, 94 [SEP] 10, Fork, -0.096, 0.760, 6.632, 0, 90, 0, 94 [SEP] 11, Fork, 1.332, 0.896, 2.525, 0, 90, 0, 81 [SEP] 12, Egg, 0.923, 1.042, 0.670, 0, 0, 0, 58 [SEP] 13, Knife, 0.169, 0.789, 6.807, 0, 225, 0, 94 [SEP] 14, Knife, -0.611, 1.022, 0.670, 0, 0, 0, 58 [SEP] 15, Tomato, 2.009, 1.565, 5.251, 0, 270, 0, 80 [SEP] 16, Tomato, 0.125, 0.809, 6.851, 0, 225, 0, 94 [SEP] 17, SaltShaker, 1.135, 0.987, 4.762, 0, 0, 0, 59 [SEP] 18, SaltShaker, 1.238, 0.135, 3.217, 0, 0, 0, 69 [SEP] 19, Bread, 1.135, 1.062, 1.350, 0, 0, 0, 58 [SEP] 20, Mug, 1.384, 1.043, 0.847, 0, 270, 0, 58 [SEP] 21, Apple, -0.003, 0.834, 6.354, 0, 270, 0, 94 [SEP] 22, Apple, 2.137, 1.590, 5.626, 0, 270, 0, 80 [SEP] 23, Bowl, 1.490, 0.139, 2.646, 0, 0, 0, 70 [SEP] 24, Bread, -0.467, 0.829, 6.604, 0, 270, 0, 94 [SEP] 25, Egg, 0.014, 0.810, 6.217, 0, 135, 0, 94 [SEP] 26, Knife, 1.348, 0.801, 3.223, 0, 0, 0, 51 [SEP] 27, Fork, 1.293, 0.772, 4.680, 0, 90, 0, 48 [SEP] 28, Apple, 2.137, 1.590, 5.251, 0, 270, 0, 80 [SEP] 29, Kettle, 1.32, 0.988, 3.848, 0, 0, 0, 57 [SEP] 30, Plate, 0.847, 0.993, 0.212, 0, 0, 0, 58 [SEP] 31, SaltShaker, 0.150, 0.755, 6.291, 0, 270, 0, 94 [SEP] 32, Lettuce, -0.459, 1.081, 0.486, 0, 0, 0, 58 [SEP] 33, SoapBottle, -0.284, 0.760, 6.941, 0, 0, 0, 94 [SEP] 34, Spatula, 1.276, 0.905, 1.983, 0, 180, 0, 81 [SEP] 35, PaperTowelRoll, 1.135, 1.096, 4.624, 0, 0, 0, 59 [SEP] 36, Pot, 1.317, 0.988, 4.294, 0, 0, 0, 53 [SEP] 37, Potato, 1.497, 0.925, 2.525, 0, 90, 0, 81 [SEP] 38, ButterKnife, -0.159, 0.760, 6.787, 0, 0, 0, 94 [SEP] 39, PepperShaker, 0.046, 1.574, 0.207, 0, 0, 0, 71 [SEP] 40, Pan, 0.674, 0.141, 0.497, 0, 0, 0, 64 [SEP] 41, Tomato, 2.009, 1.565, 5.876, 0, 270, 0, 80 [SEP] 42, DishSponge, -0.221, 0.759, 6.323, 0, 0, 0, 94 [SEP] 43, Cup, 1.314, 0.988, 3.137, 0, 0, 0, 58 [SEP] 44, Spoon, -0.535, 0.993, 0.303, 0, 0, 0, 58 [SEP] 45, Mug, 1.225, 0.987, 0.213, 0, 180, 0, 58 [SEP] 46, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 47, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 48, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 49, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 50, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 51, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 52, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 53, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 54, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 55, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 56, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 57, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 58, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 59, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 60, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 61, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 62, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 63, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 64, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 65, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 66, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 67, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 68, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 69, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 70, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 71, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 72, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 73, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 74, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 75, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 76, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 77, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 78, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 79, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 80, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 81, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 82, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 83, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 84, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 85, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 86, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 87, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 88, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 89, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 90, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 91, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 92, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 93, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 94, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 95, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 96, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 97, NorthWall, , , , , , , [SEP] 98, EastWall, , , , , , , [SEP] 99, SouthWall, , , , , , , [SEP] 100, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk over to the sink. | STEP 2: Pick up the metal fork out of the left sink basin. | STEP 3: Turn right and walk over to the coffee machine on the counter. | STEP 4: Place the metal fork inside the mug that is on the counter in the coffee machine. | STEP 5: Pick up the coffee mug with a metal fork in it. | STEP 6: Turn left and walk across the room, then hang a left once at the round kitchen table. | STEP 7: Place the coffee mug with a fork in it onto the round kitchen table just below the pepper grinder. | END"]} +{"id": "trial_T20190909_011341_436523-0", "input": "Heat and chill a potato. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, -0.5, 0, 90, 0, [SEP] 1, DishSponge, -2.614, 0.951, 0.165, 0, 90, 0, 83 [SEP] 2, DishSponge, 0.908, 0.919, -1.848, 0, 270, 0, 48 [SEP] 3, Pot, 1.007, 0.962, 0.561, 0, 270, 0, 52 [SEP] 4, Fork, -1.928, 0.952, 0.345, 0, 180, 0, 83 [SEP] 5, Spatula, 0.649, 0.934, -1.582, 0, 270, 0, 48 [SEP] 6, Cup, 0.009, 0.910, -1.654, 0, 0, 0, 50 [SEP] 7, Cup, 1.535, 1.327, -1.736, 0, 180, 0, 66 [SEP] 8, Plate, 1.781, 0.913, -1.737, 0, 0, 0, 50 [SEP] 9, Plate, -2.340, 0.953, 0.255, 0, 90, 0, 83 [SEP] 10, SoapBottle, -0.296, 0.068, 0.526, 0, 90, 0, 79 [SEP] 11, Tomato, -1.791, 1.001, 0.435, 0, 90, 0, 83 [SEP] 12, Tomato, 1.663, 0.961, 0.458, 0, 0, 0, 65 [SEP] 13, Bowl, 1.412, 0.911, -1.820, 0, 0, 0, 50 [SEP] 14, Bowl, 1.830, 0.107, 0.311, 0, 0, 0, 58 [SEP] 15, SaltShaker, -1.928, 0.948, 0.255, 0, 90, 0, 83 [SEP] 16, Bread, 1.846, 0.995, 0.540, 0, 0, 0, 65 [SEP] 17, Bread, -0.451, 0.995, -1.820, 0, 0, 0, 50 [SEP] 18, Lettuce, 1.785, 1.002, 0.292, 0, 0, 0, 65 [SEP] 19, Lettuce, 1.535, 1.002, -1.571, 0, 0, 0, 50 [SEP] 20, Mug, -2.047, 0.506, -1.720, 0, 0, 0, 80 [SEP] 21, Bread, 1.299, 0.978, -1.532, 0, 0, 0, 50 [SEP] 22, Knife, -2.477, 0.977, 0.524, 0, 90, 0, 83 [SEP] 23, Fork, 0.804, 0.920, -1.582, 0, 270, 0, 48 [SEP] 24, Bowl, -2.222, 1.492, -1.720, 0, 0, 0, 80 [SEP] 25, Kettle, -0.055, 0.9, 0.643, 0, 0, 0, 49 [SEP] 26, Cup, 0.504, 0.108, 0.233, 0, 0, 0, 61 [SEP] 27, Tomato, 0.167, 0.961, 0.209, 0, 0, 0, 49 [SEP] 28, SoapBottle, -2.614, 0.950, 0.704, 0, 90, 0, 83 [SEP] 29, Plate, -0.538, 0.111, -1.508, 0, 0, 0, 64 [SEP] 30, Pot, 1.361, 0.962, 0.561, 0, 270, 0, 55 [SEP] 31, Spatula, -1.791, 0.967, 0.524, 0, 90, 0, 83 [SEP] 32, PaperTowelRoll, -2.203, 1.056, 0.435, 0, 270, 0, 83 [SEP] 33, Egg, -0.394, 0.105, 0.525, 0, 90, 0, 79 [SEP] 34, Lettuce, -2.065, 1.042, 0.524, 0, 90, 0, 83 [SEP] 35, SaltShaker, -2.065, 0.948, 0.255, 0, 90, 0, 83 [SEP] 36, PepperShaker, 0.122, 0.102, 0.204, 0, 0, 0, 60 [SEP] 37, Apple, -2.047, 1.118, -1.806, 0, 0, 0, 80 [SEP] 38, ButterKnife, 1.781, 0.912, -1.489, 0, 0, 0, 50 [SEP] 39, Potato, 1.658, 0.942, -1.406, 0, 0, 0, 50 [SEP] 40, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 62 [SEP] 41, DishSponge, 0.209, 0.108, -1.509, 0, 180, 0, 47 [SEP] 42, Spoon, 0.856, 0.920, -1.782, 0, 0, 0, 48 [SEP] 43, Mug, -0.147, 0.105, -1.582, 0, 0, 0, 59 [SEP] 44, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0, [SEP] 45, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0, [SEP] 46, Drawer, 0.499, 0.792, 0.296, 0, 0, 0, [SEP] 47, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0, [SEP] 48, Sink, 0.711, 0.817, -1.772, 0, 270, 0, [SEP] 49, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0, [SEP] 50, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0, [SEP] 51, Drawer, 1.825, 0.792, 0.296, 0, 0, 0, [SEP] 52, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0, [SEP] 53, Drawer, -0.150, 0.792, -1.496, 0, 0, 0, [SEP] 54, Drawer, -0.586, 0.792, -1.496, 0, 0, 0, [SEP] 55, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0, [SEP] 56, Drawer, 0.024, 0.792, 0.296, 0, 0, 0, [SEP] 57, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0, [SEP] 58, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0, [SEP] 59, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0, [SEP] 60, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0, [SEP] 61, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0, [SEP] 62, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0, [SEP] 63, Drawer, -1.100, 0.792, -1.496, 0, 0, 0, [SEP] 64, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0, [SEP] 65, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0, [SEP] 66, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0, [SEP] 67, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0, [SEP] 68, Toaster, 0.305, 0.900, 0.552, 0, 180, 0, [SEP] 69, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0, [SEP] 70, Window, 0.582, 1.613, -1.967, 90, 0, 0, [SEP] 71, Window, 1.969, 1.5, -0.615, 90, 270, 0, [SEP] 72, Microwave, -1.037, 0.900, -1.723, 0, 0, 0, [SEP] 73, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0, [SEP] 74, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0, [SEP] 75, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0, [SEP] 76, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0, [SEP] 77, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0, [SEP] 78, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0, [SEP] 79, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0, [SEP] 80, Fridge, -2.134, 0.0, -1.690, 0, 0, 0, [SEP] 81, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0, [SEP] 82, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0, [SEP] 83, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Move forward and face to the right at the counter. | STEP 2: Pick up the potato from the front of the counter. | STEP 3: Carry the potato to the right, and face the microwave on the left. | STEP 4: Open the microwave and place the potato inside. Shut the door and then open it. Take out the potato. | STEP 5: Take the potato and turn to the right to face the fridge. | STEP 6: Open the fridge and place the potato inside. | END"]} +{"id": "trial_T20190909_011341_436523-1", "input": "Put the cooked potato in the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, -0.5, 0, 90, 0, [SEP] 1, DishSponge, -2.614, 0.951, 0.165, 0, 90, 0, 83 [SEP] 2, DishSponge, 0.908, 0.919, -1.848, 0, 270, 0, 48 [SEP] 3, Pot, 1.007, 0.962, 0.561, 0, 270, 0, 52 [SEP] 4, Fork, -1.928, 0.952, 0.345, 0, 180, 0, 83 [SEP] 5, Spatula, 0.649, 0.934, -1.582, 0, 270, 0, 48 [SEP] 6, Cup, 0.009, 0.910, -1.654, 0, 0, 0, 50 [SEP] 7, Cup, 1.535, 1.327, -1.736, 0, 180, 0, 66 [SEP] 8, Plate, 1.781, 0.913, -1.737, 0, 0, 0, 50 [SEP] 9, Plate, -2.340, 0.953, 0.255, 0, 90, 0, 83 [SEP] 10, SoapBottle, -0.296, 0.068, 0.526, 0, 90, 0, 79 [SEP] 11, Tomato, -1.791, 1.001, 0.435, 0, 90, 0, 83 [SEP] 12, Tomato, 1.663, 0.961, 0.458, 0, 0, 0, 65 [SEP] 13, Bowl, 1.412, 0.911, -1.820, 0, 0, 0, 50 [SEP] 14, Bowl, 1.830, 0.107, 0.311, 0, 0, 0, 58 [SEP] 15, SaltShaker, -1.928, 0.948, 0.255, 0, 90, 0, 83 [SEP] 16, Bread, 1.846, 0.995, 0.540, 0, 0, 0, 65 [SEP] 17, Bread, -0.451, 0.995, -1.820, 0, 0, 0, 50 [SEP] 18, Lettuce, 1.785, 1.002, 0.292, 0, 0, 0, 65 [SEP] 19, Lettuce, 1.535, 1.002, -1.571, 0, 0, 0, 50 [SEP] 20, Mug, -2.047, 0.506, -1.720, 0, 0, 0, 80 [SEP] 21, Bread, 1.299, 0.978, -1.532, 0, 0, 0, 50 [SEP] 22, Knife, -2.477, 0.977, 0.524, 0, 90, 0, 83 [SEP] 23, Fork, 0.804, 0.920, -1.582, 0, 270, 0, 48 [SEP] 24, Bowl, -2.222, 1.492, -1.720, 0, 0, 0, 80 [SEP] 25, Kettle, -0.055, 0.9, 0.643, 0, 0, 0, 49 [SEP] 26, Cup, 0.504, 0.108, 0.233, 0, 0, 0, 61 [SEP] 27, Tomato, 0.167, 0.961, 0.209, 0, 0, 0, 49 [SEP] 28, SoapBottle, -2.614, 0.950, 0.704, 0, 90, 0, 83 [SEP] 29, Plate, -0.538, 0.111, -1.508, 0, 0, 0, 64 [SEP] 30, Pot, 1.361, 0.962, 0.561, 0, 270, 0, 55 [SEP] 31, Spatula, -1.791, 0.967, 0.524, 0, 90, 0, 83 [SEP] 32, PaperTowelRoll, -2.203, 1.056, 0.435, 0, 270, 0, 83 [SEP] 33, Egg, -0.394, 0.105, 0.525, 0, 90, 0, 79 [SEP] 34, Lettuce, -2.065, 1.042, 0.524, 0, 90, 0, 83 [SEP] 35, SaltShaker, -2.065, 0.948, 0.255, 0, 90, 0, 83 [SEP] 36, PepperShaker, 0.122, 0.102, 0.204, 0, 0, 0, 60 [SEP] 37, Apple, -2.047, 1.118, -1.806, 0, 0, 0, 80 [SEP] 38, ButterKnife, 1.781, 0.912, -1.489, 0, 0, 0, 50 [SEP] 39, Potato, 1.658, 0.942, -1.406, 0, 0, 0, 50 [SEP] 40, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 62 [SEP] 41, DishSponge, 0.209, 0.108, -1.509, 0, 180, 0, 47 [SEP] 42, Spoon, 0.856, 0.920, -1.782, 0, 0, 0, 48 [SEP] 43, Mug, -0.147, 0.105, -1.582, 0, 0, 0, 59 [SEP] 44, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0, [SEP] 45, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0, [SEP] 46, Drawer, 0.499, 0.792, 0.296, 0, 0, 0, [SEP] 47, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0, [SEP] 48, Sink, 0.711, 0.817, -1.772, 0, 270, 0, [SEP] 49, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0, [SEP] 50, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0, [SEP] 51, Drawer, 1.825, 0.792, 0.296, 0, 0, 0, [SEP] 52, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0, [SEP] 53, Drawer, -0.150, 0.792, -1.496, 0, 0, 0, [SEP] 54, Drawer, -0.586, 0.792, -1.496, 0, 0, 0, [SEP] 55, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0, [SEP] 56, Drawer, 0.024, 0.792, 0.296, 0, 0, 0, [SEP] 57, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0, [SEP] 58, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0, [SEP] 59, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0, [SEP] 60, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0, [SEP] 61, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0, [SEP] 62, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0, [SEP] 63, Drawer, -1.100, 0.792, -1.496, 0, 0, 0, [SEP] 64, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0, [SEP] 65, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0, [SEP] 66, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0, [SEP] 67, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0, [SEP] 68, Toaster, 0.305, 0.900, 0.552, 0, 180, 0, [SEP] 69, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0, [SEP] 70, Window, 0.582, 1.613, -1.967, 90, 0, 0, [SEP] 71, Window, 1.969, 1.5, -0.615, 90, 270, 0, [SEP] 72, Microwave, -1.037, 0.900, -1.723, 0, 0, 0, [SEP] 73, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0, [SEP] 74, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0, [SEP] 75, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0, [SEP] 76, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0, [SEP] 77, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0, [SEP] 78, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0, [SEP] 79, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0, [SEP] 80, Fridge, -2.134, 0.0, -1.690, 0, 0, 0, [SEP] 81, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0, [SEP] 82, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0, [SEP] 83, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward and right to the kitchen counter above the dishwasher | STEP 2: Pick up the potato from the counter | STEP 3: Turn right and walk down to the microwave | STEP 4: Cook the potato in the microwave then remove it | STEP 5: Turn right and walk to the fridge | STEP 6: Put the potato in the fridge | END"]} +{"id": "trial_T20190909_011341_436523-2", "input": "put a cooked potato into a fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, -0.5, 0, 90, 0, [SEP] 1, DishSponge, -2.614, 0.951, 0.165, 0, 90, 0, 83 [SEP] 2, DishSponge, 0.908, 0.919, -1.848, 0, 270, 0, 48 [SEP] 3, Pot, 1.007, 0.962, 0.561, 0, 270, 0, 52 [SEP] 4, Fork, -1.928, 0.952, 0.345, 0, 180, 0, 83 [SEP] 5, Spatula, 0.649, 0.934, -1.582, 0, 270, 0, 48 [SEP] 6, Cup, 0.009, 0.910, -1.654, 0, 0, 0, 50 [SEP] 7, Cup, 1.535, 1.327, -1.736, 0, 180, 0, 66 [SEP] 8, Plate, 1.781, 0.913, -1.737, 0, 0, 0, 50 [SEP] 9, Plate, -2.340, 0.953, 0.255, 0, 90, 0, 83 [SEP] 10, SoapBottle, -0.296, 0.068, 0.526, 0, 90, 0, 79 [SEP] 11, Tomato, -1.791, 1.001, 0.435, 0, 90, 0, 83 [SEP] 12, Tomato, 1.663, 0.961, 0.458, 0, 0, 0, 65 [SEP] 13, Bowl, 1.412, 0.911, -1.820, 0, 0, 0, 50 [SEP] 14, Bowl, 1.830, 0.107, 0.311, 0, 0, 0, 58 [SEP] 15, SaltShaker, -1.928, 0.948, 0.255, 0, 90, 0, 83 [SEP] 16, Bread, 1.846, 0.995, 0.540, 0, 0, 0, 65 [SEP] 17, Bread, -0.451, 0.995, -1.820, 0, 0, 0, 50 [SEP] 18, Lettuce, 1.785, 1.002, 0.292, 0, 0, 0, 65 [SEP] 19, Lettuce, 1.535, 1.002, -1.571, 0, 0, 0, 50 [SEP] 20, Mug, -2.047, 0.506, -1.720, 0, 0, 0, 80 [SEP] 21, Bread, 1.299, 0.978, -1.532, 0, 0, 0, 50 [SEP] 22, Knife, -2.477, 0.977, 0.524, 0, 90, 0, 83 [SEP] 23, Fork, 0.804, 0.920, -1.582, 0, 270, 0, 48 [SEP] 24, Bowl, -2.222, 1.492, -1.720, 0, 0, 0, 80 [SEP] 25, Kettle, -0.055, 0.9, 0.643, 0, 0, 0, 49 [SEP] 26, Cup, 0.504, 0.108, 0.233, 0, 0, 0, 61 [SEP] 27, Tomato, 0.167, 0.961, 0.209, 0, 0, 0, 49 [SEP] 28, SoapBottle, -2.614, 0.950, 0.704, 0, 90, 0, 83 [SEP] 29, Plate, -0.538, 0.111, -1.508, 0, 0, 0, 64 [SEP] 30, Pot, 1.361, 0.962, 0.561, 0, 270, 0, 55 [SEP] 31, Spatula, -1.791, 0.967, 0.524, 0, 90, 0, 83 [SEP] 32, PaperTowelRoll, -2.203, 1.056, 0.435, 0, 270, 0, 83 [SEP] 33, Egg, -0.394, 0.105, 0.525, 0, 90, 0, 79 [SEP] 34, Lettuce, -2.065, 1.042, 0.524, 0, 90, 0, 83 [SEP] 35, SaltShaker, -2.065, 0.948, 0.255, 0, 90, 0, 83 [SEP] 36, PepperShaker, 0.122, 0.102, 0.204, 0, 0, 0, 60 [SEP] 37, Apple, -2.047, 1.118, -1.806, 0, 0, 0, 80 [SEP] 38, ButterKnife, 1.781, 0.912, -1.489, 0, 0, 0, 50 [SEP] 39, Potato, 1.658, 0.942, -1.406, 0, 0, 0, 50 [SEP] 40, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 62 [SEP] 41, DishSponge, 0.209, 0.108, -1.509, 0, 180, 0, 47 [SEP] 42, Spoon, 0.856, 0.920, -1.782, 0, 0, 0, 48 [SEP] 43, Mug, -0.147, 0.105, -1.582, 0, 0, 0, 59 [SEP] 44, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0, [SEP] 45, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0, [SEP] 46, Drawer, 0.499, 0.792, 0.296, 0, 0, 0, [SEP] 47, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0, [SEP] 48, Sink, 0.711, 0.817, -1.772, 0, 270, 0, [SEP] 49, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0, [SEP] 50, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0, [SEP] 51, Drawer, 1.825, 0.792, 0.296, 0, 0, 0, [SEP] 52, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0, [SEP] 53, Drawer, -0.150, 0.792, -1.496, 0, 0, 0, [SEP] 54, Drawer, -0.586, 0.792, -1.496, 0, 0, 0, [SEP] 55, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0, [SEP] 56, Drawer, 0.024, 0.792, 0.296, 0, 0, 0, [SEP] 57, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0, [SEP] 58, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0, [SEP] 59, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0, [SEP] 60, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0, [SEP] 61, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0, [SEP] 62, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0, [SEP] 63, Drawer, -1.100, 0.792, -1.496, 0, 0, 0, [SEP] 64, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0, [SEP] 65, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0, [SEP] 66, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0, [SEP] 67, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0, [SEP] 68, Toaster, 0.305, 0.900, 0.552, 0, 180, 0, [SEP] 69, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0, [SEP] 70, Window, 0.582, 1.613, -1.967, 90, 0, 0, [SEP] 71, Window, 1.969, 1.5, -0.615, 90, 270, 0, [SEP] 72, Microwave, -1.037, 0.900, -1.723, 0, 0, 0, [SEP] 73, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0, [SEP] 74, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0, [SEP] 75, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0, [SEP] 76, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0, [SEP] 77, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0, [SEP] 78, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0, [SEP] 79, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0, [SEP] 80, Fridge, -2.134, 0.0, -1.690, 0, 0, 0, [SEP] 81, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0, [SEP] 82, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0, [SEP] 83, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: turn to face counter top above dishwasher | STEP 2: pick up potato from counter top | STEP 3: walk right to face microwave | STEP 4: cook potato in microwave, remove potato from microwave | STEP 5: walk to face fridge | STEP 6: put potato inside fridge | END"]} +{"id": "trial_T20190907_230232_832893-0", "input": "Move two CDs to the bottom drawer of the desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.906, -0.5, 0, 0, 0, [SEP] 1, Bowl, -1.198, 0.982, -1.281, 0, 0, 0, 39 [SEP] 2, KeyChain, -1.238, 0.098, -1.480, 0, 90, 0, 37 [SEP] 3, CD, -1.198, 0.981, -1.687, 0, 0, 0, 39 [SEP] 4, CD, -1.400, 0.982, -1.200, 0, 0, 0, 39 [SEP] 5, CellPhone, -1.400, 0.983, -1.443, 0, 0, 0, 39 [SEP] 6, CellPhone, -1.603, 0.983, -1.362, 0, 0, 0, 39 [SEP] 7, Pen, -1.382, 1.542, -1.593, 0, 0, 0, 41 [SEP] 8, Pen, -1.413, 0.427, -1.345, 0, 0, 0, 40 [SEP] 9, Book, -1.413, 0.740, -1.390, 0, 0, 0, 38 [SEP] 10, Pillow, -1.026, 0.952, 1.160, 0, 0, 0, 33 [SEP] 11, AlarmClock, -1.400, 0.982, -1.606, 0, 0, 0, 39 [SEP] 12, Book, -1.238, 0.423, -1.345, 0, 0, 0, 40 [SEP] 13, Box, 1.563, 0.286, -1.069, 0, 347.500, 0, [SEP] 14, BasketBall, -1.657, 0.126, -0.090, 0, 0, 0, [SEP] 15, Pen, -0.590, 0.987, -1.200, 0, 0, 0, 39 [SEP] 16, Pencil, -0.590, 0.985, -1.687, 0, 0, 0, 39 [SEP] 17, Laptop, -1.299, 0.894, 0.575, 0, 0, 0, 33 [SEP] 18, Pillow, -1.163, 0.952, 2.332, 0, 0, 0, 33 [SEP] 19, KeyChain, -1.413, 0.098, -1.300, 0, 0, 0, 37 [SEP] 20, Bowl, -1.183, 1.528, -1.590, 0, 0, 0, 41 [SEP] 21, CreditCard, -1.326, 0.098, -1.435, 0, 0, 0, 37 [SEP] 22, CellPhone, -1.238, 0.740, -1.390, 0, 0, 0, 38 [SEP] 23, CD, -0.621, 1.536, -1.593, 0, 0, 0, 41 [SEP] 24, AlarmClock, -0.811, 1.537, -1.671, 0, 0, 0, 41 [SEP] 25, Mug, -0.387, 0.979, -1.281, 0, 0, 0, 39 [SEP] 26, Statue, -1.503, 1.528, -1.590, 0, 0, 0, 41 [SEP] 27, Mirror, 1.907, 1.387, 0.973, 0, 90, 0, [SEP] 28, LaundryHamper, -0.351, 0.007, 2.368, 0, 164.999, 0, [SEP] 29, DeskLamp, -0.343, 1.545, -1.564, 0, 0, 0, [SEP] 30, GarbageCan, -0.035, 0.007, -1.530, 0, 270, 0, [SEP] 31, Window, 1.009, 1.514, -2.089, 90, 0, 0, [SEP] 32, LightSwitch, 0.397, 1.197, 2.729, 0, 180, 0, [SEP] 33, Bed, -1.299, 1.937, 1.441, 0, 0, 0, [SEP] 34, Blinds, 1.064, 2.382, -2.094, 0, 0, 0, [SEP] 35, Chair, 0.884, 0.012, -1.433, 0, 29.871, 0, [SEP] 36, Chair, -0.646, 0.007, -1.206, 0, 195.000, 0, [SEP] 37, Drawer, -1.409, 0.233, -1.303, 0, 0, 0, [SEP] 38, Drawer, -1.407, 0.847, -1.302, 0, 0, 0, [SEP] 39, Desk, -0.993, 0.006, -1.410, 0, 0, 0, [SEP] 40, Drawer, -1.408, 0.558, -1.302, 0, 0, 0, [SEP] 41, Shelf, 0.003, 0.013, 0.035, 0, 0, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and face the desk behind you. | STEP 2: Pick up the CD that's directly to the left of the small clock. | STEP 3: Move back a step with the CD, so you have enough space to open a desk drawer. | STEP 4: Open the bottom drawer and place the CD in the front left corner, and then close the drawer. | STEP 5: Step back closer to the desk again. | STEP 6: Pick up the remaining CD from the desk. | STEP 7: Move back once again away from the desk, so you have room to open a drawer. | STEP 8: Open the bottom desk drawer and place the CD inside behind the one you previously put there. | END"]} +{"id": "trial_T20190907_230232_832893-1", "input": "Put two CDs in the bottom drawer of the desk at the foot of the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.906, -0.5, 0, 0, 0, [SEP] 1, Bowl, -1.198, 0.982, -1.281, 0, 0, 0, 39 [SEP] 2, KeyChain, -1.238, 0.098, -1.480, 0, 90, 0, 37 [SEP] 3, CD, -1.198, 0.981, -1.687, 0, 0, 0, 39 [SEP] 4, CD, -1.400, 0.982, -1.200, 0, 0, 0, 39 [SEP] 5, CellPhone, -1.400, 0.983, -1.443, 0, 0, 0, 39 [SEP] 6, CellPhone, -1.603, 0.983, -1.362, 0, 0, 0, 39 [SEP] 7, Pen, -1.382, 1.542, -1.593, 0, 0, 0, 41 [SEP] 8, Pen, -1.413, 0.427, -1.345, 0, 0, 0, 40 [SEP] 9, Book, -1.413, 0.740, -1.390, 0, 0, 0, 38 [SEP] 10, Pillow, -1.026, 0.952, 1.160, 0, 0, 0, 33 [SEP] 11, AlarmClock, -1.400, 0.982, -1.606, 0, 0, 0, 39 [SEP] 12, Book, -1.238, 0.423, -1.345, 0, 0, 0, 40 [SEP] 13, Box, 1.563, 0.286, -1.069, 0, 347.500, 0, [SEP] 14, BasketBall, -1.657, 0.126, -0.090, 0, 0, 0, [SEP] 15, Pen, -0.590, 0.987, -1.200, 0, 0, 0, 39 [SEP] 16, Pencil, -0.590, 0.985, -1.687, 0, 0, 0, 39 [SEP] 17, Laptop, -1.299, 0.894, 0.575, 0, 0, 0, 33 [SEP] 18, Pillow, -1.163, 0.952, 2.332, 0, 0, 0, 33 [SEP] 19, KeyChain, -1.413, 0.098, -1.300, 0, 0, 0, 37 [SEP] 20, Bowl, -1.183, 1.528, -1.590, 0, 0, 0, 41 [SEP] 21, CreditCard, -1.326, 0.098, -1.435, 0, 0, 0, 37 [SEP] 22, CellPhone, -1.238, 0.740, -1.390, 0, 0, 0, 38 [SEP] 23, CD, -0.621, 1.536, -1.593, 0, 0, 0, 41 [SEP] 24, AlarmClock, -0.811, 1.537, -1.671, 0, 0, 0, 41 [SEP] 25, Mug, -0.387, 0.979, -1.281, 0, 0, 0, 39 [SEP] 26, Statue, -1.503, 1.528, -1.590, 0, 0, 0, 41 [SEP] 27, Mirror, 1.907, 1.387, 0.973, 0, 90, 0, [SEP] 28, LaundryHamper, -0.351, 0.007, 2.368, 0, 164.999, 0, [SEP] 29, DeskLamp, -0.343, 1.545, -1.564, 0, 0, 0, [SEP] 30, GarbageCan, -0.035, 0.007, -1.530, 0, 270, 0, [SEP] 31, Window, 1.009, 1.514, -2.089, 90, 0, 0, [SEP] 32, LightSwitch, 0.397, 1.197, 2.729, 0, 180, 0, [SEP] 33, Bed, -1.299, 1.937, 1.441, 0, 0, 0, [SEP] 34, Blinds, 1.064, 2.382, -2.094, 0, 0, 0, [SEP] 35, Chair, 0.884, 0.012, -1.433, 0, 29.871, 0, [SEP] 36, Chair, -0.646, 0.007, -1.206, 0, 195.000, 0, [SEP] 37, Drawer, -1.409, 0.233, -1.303, 0, 0, 0, [SEP] 38, Drawer, -1.407, 0.847, -1.302, 0, 0, 0, [SEP] 39, Desk, -0.993, 0.006, -1.410, 0, 0, 0, [SEP] 40, Drawer, -1.408, 0.558, -1.302, 0, 0, 0, [SEP] 41, Shelf, 0.003, 0.013, 0.035, 0, 0, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: move to the desk at the foot of the bed | STEP 2: pick up a CD from the desk | STEP 3: move to the middle of the desk at the foot of the bed | STEP 4: put the CD in the bottom drawer | STEP 5: move to the desk at the foot of the bed | STEP 6: pick up a CD from the desk | STEP 7: move to the middle of the desk at the foot of the bed | STEP 8: put the CD in the bottom drawer | END"]} +{"id": "trial_T20190907_230232_832893-2", "input": "Place two CD's in a desk drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.906, -0.5, 0, 0, 0, [SEP] 1, Bowl, -1.198, 0.982, -1.281, 0, 0, 0, 39 [SEP] 2, KeyChain, -1.238, 0.098, -1.480, 0, 90, 0, 37 [SEP] 3, CD, -1.198, 0.981, -1.687, 0, 0, 0, 39 [SEP] 4, CD, -1.400, 0.982, -1.200, 0, 0, 0, 39 [SEP] 5, CellPhone, -1.400, 0.983, -1.443, 0, 0, 0, 39 [SEP] 6, CellPhone, -1.603, 0.983, -1.362, 0, 0, 0, 39 [SEP] 7, Pen, -1.382, 1.542, -1.593, 0, 0, 0, 41 [SEP] 8, Pen, -1.413, 0.427, -1.345, 0, 0, 0, 40 [SEP] 9, Book, -1.413, 0.740, -1.390, 0, 0, 0, 38 [SEP] 10, Pillow, -1.026, 0.952, 1.160, 0, 0, 0, 33 [SEP] 11, AlarmClock, -1.400, 0.982, -1.606, 0, 0, 0, 39 [SEP] 12, Book, -1.238, 0.423, -1.345, 0, 0, 0, 40 [SEP] 13, Box, 1.563, 0.286, -1.069, 0, 347.500, 0, [SEP] 14, BasketBall, -1.657, 0.126, -0.090, 0, 0, 0, [SEP] 15, Pen, -0.590, 0.987, -1.200, 0, 0, 0, 39 [SEP] 16, Pencil, -0.590, 0.985, -1.687, 0, 0, 0, 39 [SEP] 17, Laptop, -1.299, 0.894, 0.575, 0, 0, 0, 33 [SEP] 18, Pillow, -1.163, 0.952, 2.332, 0, 0, 0, 33 [SEP] 19, KeyChain, -1.413, 0.098, -1.300, 0, 0, 0, 37 [SEP] 20, Bowl, -1.183, 1.528, -1.590, 0, 0, 0, 41 [SEP] 21, CreditCard, -1.326, 0.098, -1.435, 0, 0, 0, 37 [SEP] 22, CellPhone, -1.238, 0.740, -1.390, 0, 0, 0, 38 [SEP] 23, CD, -0.621, 1.536, -1.593, 0, 0, 0, 41 [SEP] 24, AlarmClock, -0.811, 1.537, -1.671, 0, 0, 0, 41 [SEP] 25, Mug, -0.387, 0.979, -1.281, 0, 0, 0, 39 [SEP] 26, Statue, -1.503, 1.528, -1.590, 0, 0, 0, 41 [SEP] 27, Mirror, 1.907, 1.387, 0.973, 0, 90, 0, [SEP] 28, LaundryHamper, -0.351, 0.007, 2.368, 0, 164.999, 0, [SEP] 29, DeskLamp, -0.343, 1.545, -1.564, 0, 0, 0, [SEP] 30, GarbageCan, -0.035, 0.007, -1.530, 0, 270, 0, [SEP] 31, Window, 1.009, 1.514, -2.089, 90, 0, 0, [SEP] 32, LightSwitch, 0.397, 1.197, 2.729, 0, 180, 0, [SEP] 33, Bed, -1.299, 1.937, 1.441, 0, 0, 0, [SEP] 34, Blinds, 1.064, 2.382, -2.094, 0, 0, 0, [SEP] 35, Chair, 0.884, 0.012, -1.433, 0, 29.871, 0, [SEP] 36, Chair, -0.646, 0.007, -1.206, 0, 195.000, 0, [SEP] 37, Drawer, -1.409, 0.233, -1.303, 0, 0, 0, [SEP] 38, Drawer, -1.407, 0.847, -1.302, 0, 0, 0, [SEP] 39, Desk, -0.993, 0.006, -1.410, 0, 0, 0, [SEP] 40, Drawer, -1.408, 0.558, -1.302, 0, 0, 0, [SEP] 41, Shelf, 0.003, 0.013, 0.035, 0, 0, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: Turn around to face the desk | STEP 2: Grab the cd on the back of the desk to the left of the clock. | STEP 3: Back up a bit from the desk and open the bottom drawer. | STEP 4: Place the cd in the outer left corner of the drawer. | STEP 5: Approach the front of the desk again. | STEP 6: Grab the CD nearest the edge of the desk. | STEP 7: Return to the bottom drawer of the desk. | STEP 8: Place the CD in the drawer, behind the other one. | END"]} +{"id": "trial_T20190906_195943_081289-0", "input": "Place a cool apple in the white bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 1.75, 0, 90, 0, [SEP] 1, Pan, 1.765, 0.938, 0.384, 0, 180, 0, 67 [SEP] 2, Potato, -1.855, 1.492, 0.107, 0, 90, 0, 87 [SEP] 3, CellPhone, 0.646, 0.669, -1.301, 0, 0, 0, 45 [SEP] 4, CellPhone, -0.213, 0.923, 0.738, 0, 0, 0, 72 [SEP] 5, Ladle, 1.764, 0.514, -0.020, 0, 0, 0, 60 [SEP] 6, Ladle, -1.197, 0.157, -1.360, 0, 0, 0, 76 [SEP] 7, Kettle, -0.193, 0.115, -1.472, 0, 0, 0, 43 [SEP] 8, Spoon, 0.321, 0.926, -0.190, 0, 0, 0, 72 [SEP] 9, Spatula, 0.256, 0.775, -1.324, 0, 270, 0, 88 [SEP] 10, Pot, 0.214, 0.929, 0.273, 0, 0, 0, 72 [SEP] 11, Pot, -1.902, 0.915, -0.964, 0, 0, 0, 64 [SEP] 12, Egg, -1.645, 1.732, -0.175, 0, 90, 0, 87 [SEP] 13, Egg, -1.463, 0.968, -0.964, 0, 0, 0, 64 [SEP] 14, Cup, 0.170, 0.758, -1.324, 0, 0, 0, 88 [SEP] 15, Plate, -1.803, 1.467, -0.175, 0, 90, 0, 87 [SEP] 16, SoapBottle, 1.962, 1.662, -0.977, 0, 270, 0, 52 [SEP] 17, Tomato, -1.803, 1.732, 0.201, 0, 90, 0, 87 [SEP] 18, Bread, 0.000, 1.006, 0.738, 0, 0, 0, 72 [SEP] 19, SoapBottle, 0.214, 0.929, 0.738, 0, 0, 0, 72 [SEP] 20, Cup, 1.587, 1.677, -1.577, 0, 0, 0, 63 [SEP] 21, Pot, 1.975, 0.938, 0.819, 0, 180, 0, 74 [SEP] 22, Fork, -1.668, 0.912, -1.221, 0, 0, 0, 64 [SEP] 23, Ladle, -0.106, 0.969, -0.190, 0, 0, 0, 72 [SEP] 24, Kettle, -1.841, 1.663, -1.131, 0, 90, 0, 51 [SEP] 25, Egg, 1.988, 1.063, -0.704, 0, 270, 0, 85 [SEP] 26, Plate, 1.802, 0.910, -1.610, 0, 0, 0, 64 [SEP] 27, Pan, -0.844, 0.911, -1.707, 0, 180, 0, 64 [SEP] 28, Lettuce, 1.553, 0.988, 1.408, 0, 0, 0, 64 [SEP] 29, Spatula, 1.760, 0.704, 0.113, 0, 270, 0, 48 [SEP] 30, Apple, 0.321, 0.978, 1.202, 0, 0, 0, 72 [SEP] 31, Knife, 1.653, 0.933, 0.103, 0, 270, 0, 64 [SEP] 32, SaltShaker, 1.612, 0.541, 1.088, 0, 0, 0, 62 [SEP] 33, PepperShaker, -0.106, 0.921, 1.202, 0, 0, 0, 72 [SEP] 34, CellPhone, 1.603, 0.580, -0.165, 0, 270, 0, 49 [SEP] 35, ButterKnife, 1.662, 0.141, 1.153, 0, 0, 0, 73 [SEP] 36, Bread, -1.462, 0.992, -1.707, 0, 0, 0, 64 [SEP] 37, Tomato, -0.002, 0.815, -1.380, 0, 0, 0, 88 [SEP] 38, Potato, 0.107, 0.949, 0.041, 0, 0, 0, 72 [SEP] 39, DishSponge, 1.603, 0.761, 1.074, 0, 270, 0, 70 [SEP] 40, Spoon, 1.117, 0.912, -1.415, 0, 0, 0, 64 [SEP] 41, Mug, -0.175, 0.755, -1.490, 0, 0, 0, 88 [SEP] 42, Bowl, -0.213, 0.924, 0.041, 0, 0, 0, 72 [SEP] 43, Cabinet, -0.495, 0.474, -1.149, 0, 0, 0, [SEP] 44, Window, -0.010, 1.582, -1.821, 0, 0, 0, [SEP] 45, Drawer, 0.805, 0.475, -1.159, 0, 0, 0, [SEP] 46, StoveBurner, 1.764, 0.902, 0.601, 0, 270, 0, [SEP] 47, Drawer, 1.5, 0.196, -0.019, 0, 0, 0, [SEP] 48, Drawer, 1.5, 0.629, -0.018, 0, 0, 0, [SEP] 49, Drawer, 1.5, 0.602, -0.019, 0, 270, 0, [SEP] 50, StoveBurner, 1.975, 0.902, 0.384, 0, 270, 0, [SEP] 51, Cabinet, -1.703, 2.022, -1.453, 0, 90, 0, [SEP] 52, Cabinet, 1.789, 2.019, -0.819, 0, 270, 0, [SEP] 53, Cabinet, 0.494, 0.474, -1.149, 0, 0, 0, [SEP] 54, Cabinet, 0.409, 0.475, 0.444, 0, 0, 0, [SEP] 55, Drawer, -0.696, 0.475, -1.159, 0, 0, 0, [SEP] 56, Drawer, 1.5, 0.140, 0.599, 0, 270, 0, [SEP] 57, Cabinet, 1.389, 0.474, -1.149, 0, 0, 0, [SEP] 58, Drawer, 1.5, 0.305, 0.600, 0, 0, 0, [SEP] 59, StoveBurner, 1.975, 0.902, 0.601, 0, 270, 0, [SEP] 60, Drawer, 1.5, 0.429, -0.019, 0, 0, 0, [SEP] 61, StoveBurner, 1.764, 0.902, 0.819, 0, 270, 0, [SEP] 62, Drawer, 1.5, 0.519, 1.220, 0, 0, 0, [SEP] 63, Cabinet, 1.705, 2.019, -1.449, 0, 0, 0, [SEP] 64, CounterTop, 0.002, 0.947, -1.513, 0, 0, 0, [SEP] 65, Drawer, 1.5, 0.629, 0.605, 0, 0, 0, [SEP] 66, Cabinet, -0.627, 2.019, -1.449, 0, 0, 0, [SEP] 67, StoveBurner, 1.764, 0.902, 0.384, 0, 270, 0, [SEP] 68, Drawer, 1.5, 0.538, 0.600, 0, 0, 0, [SEP] 69, Sink, 0.0, 0.893, -1.434, 0, 0, 0, [SEP] 70, Drawer, 1.5, 0.782, 1.220, 0, 270, 0, [SEP] 71, Window, 2.217, 1.565, -0.384, 0, 0, 0, [SEP] 72, CounterTop, -0.014, 0.961, 0.505, 0, 0, 0, [SEP] 73, Drawer, 1.5, 0.200, 1.220, 0, 0, 0, [SEP] 74, StoveBurner, 1.975, 0.902, 0.819, 0, 270, 0, [SEP] 75, Window, -3.240, 1.616, 2.693, 0, 270, 0, [SEP] 76, Cabinet, -1.389, 0.474, -1.149, 0, 0, 0, [SEP] 77, LightSwitch, -0.153, 1.291, 3.700, 0, 180, 0, [SEP] 78, GarbageCan, -1.796, 0.009, 1.330, 0, 270, 358.295, [SEP] 79, StoveKnob, 1.602, 0.917, 0.570, 0, 270, 180, [SEP] 80, StoveKnob, 1.602, 0.917, 0.625, 0, 270, 180, [SEP] 81, StoveKnob, 1.602, 0.917, 0.739, 0, 270, 180, [SEP] 82, StoveKnob, 1.602, 0.917, 0.680, 0, 270, 180, [SEP] 83, StoveKnob, 1.602, 0.917, 0.462, 0, 270, 180, [SEP] 84, StoveKnob, 1.602, 0.917, 0.517, 0, 270, 180, [SEP] 85, Microwave, 1.932, 0.899, -0.766, 0, 270, 0, [SEP] 86, CoffeeMachine, 1.355, 0.899, -1.596, 0, 0, 0, [SEP] 87, Fridge, -1.764, 0.0, 0.014, 0, 90, 0, [SEP] 88, SinkBasin, -0.014, 0.736, -1.435, 0, 0, 0, [SEP] 89, Toaster, 1.977, 0.900, -0.336, 0, 270, 0, [SEP] 90, Faucet, -0.020, 1.137, -1.605, 0, 270, 0, [SEP] 91, Chair, -9.354, 0.000, 1.242, 0, 180, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and head towards the apple on the table to your right. | STEP 2: Pick up apple from the table. | STEP 3: Turn right, walk passed the chair on your left, turn left and walk towards the fridge on your left. | STEP 4: Open the fridge, place the apple on the top shelf inside the fridge, close the fridge for the apple to cool down, open the fridge and take out the apple. | STEP 5: Turn right and head towards the white bin to the right of the fridge. | STEP 6: Place the apple in the bin. | END"]} +{"id": "trial_T20190906_195943_081289-1", "input": "Put an apple in the trash. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 1.75, 0, 90, 0, [SEP] 1, Pan, 1.765, 0.938, 0.384, 0, 180, 0, 67 [SEP] 2, Potato, -1.855, 1.492, 0.107, 0, 90, 0, 87 [SEP] 3, CellPhone, 0.646, 0.669, -1.301, 0, 0, 0, 45 [SEP] 4, CellPhone, -0.213, 0.923, 0.738, 0, 0, 0, 72 [SEP] 5, Ladle, 1.764, 0.514, -0.020, 0, 0, 0, 60 [SEP] 6, Ladle, -1.197, 0.157, -1.360, 0, 0, 0, 76 [SEP] 7, Kettle, -0.193, 0.115, -1.472, 0, 0, 0, 43 [SEP] 8, Spoon, 0.321, 0.926, -0.190, 0, 0, 0, 72 [SEP] 9, Spatula, 0.256, 0.775, -1.324, 0, 270, 0, 88 [SEP] 10, Pot, 0.214, 0.929, 0.273, 0, 0, 0, 72 [SEP] 11, Pot, -1.902, 0.915, -0.964, 0, 0, 0, 64 [SEP] 12, Egg, -1.645, 1.732, -0.175, 0, 90, 0, 87 [SEP] 13, Egg, -1.463, 0.968, -0.964, 0, 0, 0, 64 [SEP] 14, Cup, 0.170, 0.758, -1.324, 0, 0, 0, 88 [SEP] 15, Plate, -1.803, 1.467, -0.175, 0, 90, 0, 87 [SEP] 16, SoapBottle, 1.962, 1.662, -0.977, 0, 270, 0, 52 [SEP] 17, Tomato, -1.803, 1.732, 0.201, 0, 90, 0, 87 [SEP] 18, Bread, 0.000, 1.006, 0.738, 0, 0, 0, 72 [SEP] 19, SoapBottle, 0.214, 0.929, 0.738, 0, 0, 0, 72 [SEP] 20, Cup, 1.587, 1.677, -1.577, 0, 0, 0, 63 [SEP] 21, Pot, 1.975, 0.938, 0.819, 0, 180, 0, 74 [SEP] 22, Fork, -1.668, 0.912, -1.221, 0, 0, 0, 64 [SEP] 23, Ladle, -0.106, 0.969, -0.190, 0, 0, 0, 72 [SEP] 24, Kettle, -1.841, 1.663, -1.131, 0, 90, 0, 51 [SEP] 25, Egg, 1.988, 1.063, -0.704, 0, 270, 0, 85 [SEP] 26, Plate, 1.802, 0.910, -1.610, 0, 0, 0, 64 [SEP] 27, Pan, -0.844, 0.911, -1.707, 0, 180, 0, 64 [SEP] 28, Lettuce, 1.553, 0.988, 1.408, 0, 0, 0, 64 [SEP] 29, Spatula, 1.760, 0.704, 0.113, 0, 270, 0, 48 [SEP] 30, Apple, 0.321, 0.978, 1.202, 0, 0, 0, 72 [SEP] 31, Knife, 1.653, 0.933, 0.103, 0, 270, 0, 64 [SEP] 32, SaltShaker, 1.612, 0.541, 1.088, 0, 0, 0, 62 [SEP] 33, PepperShaker, -0.106, 0.921, 1.202, 0, 0, 0, 72 [SEP] 34, CellPhone, 1.603, 0.580, -0.165, 0, 270, 0, 49 [SEP] 35, ButterKnife, 1.662, 0.141, 1.153, 0, 0, 0, 73 [SEP] 36, Bread, -1.462, 0.992, -1.707, 0, 0, 0, 64 [SEP] 37, Tomato, -0.002, 0.815, -1.380, 0, 0, 0, 88 [SEP] 38, Potato, 0.107, 0.949, 0.041, 0, 0, 0, 72 [SEP] 39, DishSponge, 1.603, 0.761, 1.074, 0, 270, 0, 70 [SEP] 40, Spoon, 1.117, 0.912, -1.415, 0, 0, 0, 64 [SEP] 41, Mug, -0.175, 0.755, -1.490, 0, 0, 0, 88 [SEP] 42, Bowl, -0.213, 0.924, 0.041, 0, 0, 0, 72 [SEP] 43, Cabinet, -0.495, 0.474, -1.149, 0, 0, 0, [SEP] 44, Window, -0.010, 1.582, -1.821, 0, 0, 0, [SEP] 45, Drawer, 0.805, 0.475, -1.159, 0, 0, 0, [SEP] 46, StoveBurner, 1.764, 0.902, 0.601, 0, 270, 0, [SEP] 47, Drawer, 1.5, 0.196, -0.019, 0, 0, 0, [SEP] 48, Drawer, 1.5, 0.629, -0.018, 0, 0, 0, [SEP] 49, Drawer, 1.5, 0.602, -0.019, 0, 270, 0, [SEP] 50, StoveBurner, 1.975, 0.902, 0.384, 0, 270, 0, [SEP] 51, Cabinet, -1.703, 2.022, -1.453, 0, 90, 0, [SEP] 52, Cabinet, 1.789, 2.019, -0.819, 0, 270, 0, [SEP] 53, Cabinet, 0.494, 0.474, -1.149, 0, 0, 0, [SEP] 54, Cabinet, 0.409, 0.475, 0.444, 0, 0, 0, [SEP] 55, Drawer, -0.696, 0.475, -1.159, 0, 0, 0, [SEP] 56, Drawer, 1.5, 0.140, 0.599, 0, 270, 0, [SEP] 57, Cabinet, 1.389, 0.474, -1.149, 0, 0, 0, [SEP] 58, Drawer, 1.5, 0.305, 0.600, 0, 0, 0, [SEP] 59, StoveBurner, 1.975, 0.902, 0.601, 0, 270, 0, [SEP] 60, Drawer, 1.5, 0.429, -0.019, 0, 0, 0, [SEP] 61, StoveBurner, 1.764, 0.902, 0.819, 0, 270, 0, [SEP] 62, Drawer, 1.5, 0.519, 1.220, 0, 0, 0, [SEP] 63, Cabinet, 1.705, 2.019, -1.449, 0, 0, 0, [SEP] 64, CounterTop, 0.002, 0.947, -1.513, 0, 0, 0, [SEP] 65, Drawer, 1.5, 0.629, 0.605, 0, 0, 0, [SEP] 66, Cabinet, -0.627, 2.019, -1.449, 0, 0, 0, [SEP] 67, StoveBurner, 1.764, 0.902, 0.384, 0, 270, 0, [SEP] 68, Drawer, 1.5, 0.538, 0.600, 0, 0, 0, [SEP] 69, Sink, 0.0, 0.893, -1.434, 0, 0, 0, [SEP] 70, Drawer, 1.5, 0.782, 1.220, 0, 270, 0, [SEP] 71, Window, 2.217, 1.565, -0.384, 0, 0, 0, [SEP] 72, CounterTop, -0.014, 0.961, 0.505, 0, 0, 0, [SEP] 73, Drawer, 1.5, 0.200, 1.220, 0, 0, 0, [SEP] 74, StoveBurner, 1.975, 0.902, 0.819, 0, 270, 0, [SEP] 75, Window, -3.240, 1.616, 2.693, 0, 270, 0, [SEP] 76, Cabinet, -1.389, 0.474, -1.149, 0, 0, 0, [SEP] 77, LightSwitch, -0.153, 1.291, 3.700, 0, 180, 0, [SEP] 78, GarbageCan, -1.796, 0.009, 1.330, 0, 270, 358.295, [SEP] 79, StoveKnob, 1.602, 0.917, 0.570, 0, 270, 180, [SEP] 80, StoveKnob, 1.602, 0.917, 0.625, 0, 270, 180, [SEP] 81, StoveKnob, 1.602, 0.917, 0.739, 0, 270, 180, [SEP] 82, StoveKnob, 1.602, 0.917, 0.680, 0, 270, 180, [SEP] 83, StoveKnob, 1.602, 0.917, 0.462, 0, 270, 180, [SEP] 84, StoveKnob, 1.602, 0.917, 0.517, 0, 270, 180, [SEP] 85, Microwave, 1.932, 0.899, -0.766, 0, 270, 0, [SEP] 86, CoffeeMachine, 1.355, 0.899, -1.596, 0, 0, 0, [SEP] 87, Fridge, -1.764, 0.0, 0.014, 0, 90, 0, [SEP] 88, SinkBasin, -0.014, 0.736, -1.435, 0, 0, 0, [SEP] 89, Toaster, 1.977, 0.900, -0.336, 0, 270, 0, [SEP] 90, Faucet, -0.020, 1.137, -1.605, 0, 270, 0, [SEP] 91, Chair, -9.354, 0.000, 1.242, 0, 180, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Turn and face the apple on the counter. | STEP 2: Pick up the apple on the counter. | STEP 3: Turn left, then right to get to the fridge. | STEP 4: Open the fridge and place the apple inside, then close the door. Then, remove the apple. | STEP 5: Turn right then left to face the trash can. | STEP 6: Put the apple in the trash can. | END"]} +{"id": "trial_T20190906_195943_081289-2", "input": "place a cooled apple inside of the garbage bin SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 1.75, 0, 90, 0, [SEP] 1, Pan, 1.765, 0.938, 0.384, 0, 180, 0, 67 [SEP] 2, Potato, -1.855, 1.492, 0.107, 0, 90, 0, 87 [SEP] 3, CellPhone, 0.646, 0.669, -1.301, 0, 0, 0, 45 [SEP] 4, CellPhone, -0.213, 0.923, 0.738, 0, 0, 0, 72 [SEP] 5, Ladle, 1.764, 0.514, -0.020, 0, 0, 0, 60 [SEP] 6, Ladle, -1.197, 0.157, -1.360, 0, 0, 0, 76 [SEP] 7, Kettle, -0.193, 0.115, -1.472, 0, 0, 0, 43 [SEP] 8, Spoon, 0.321, 0.926, -0.190, 0, 0, 0, 72 [SEP] 9, Spatula, 0.256, 0.775, -1.324, 0, 270, 0, 88 [SEP] 10, Pot, 0.214, 0.929, 0.273, 0, 0, 0, 72 [SEP] 11, Pot, -1.902, 0.915, -0.964, 0, 0, 0, 64 [SEP] 12, Egg, -1.645, 1.732, -0.175, 0, 90, 0, 87 [SEP] 13, Egg, -1.463, 0.968, -0.964, 0, 0, 0, 64 [SEP] 14, Cup, 0.170, 0.758, -1.324, 0, 0, 0, 88 [SEP] 15, Plate, -1.803, 1.467, -0.175, 0, 90, 0, 87 [SEP] 16, SoapBottle, 1.962, 1.662, -0.977, 0, 270, 0, 52 [SEP] 17, Tomato, -1.803, 1.732, 0.201, 0, 90, 0, 87 [SEP] 18, Bread, 0.000, 1.006, 0.738, 0, 0, 0, 72 [SEP] 19, SoapBottle, 0.214, 0.929, 0.738, 0, 0, 0, 72 [SEP] 20, Cup, 1.587, 1.677, -1.577, 0, 0, 0, 63 [SEP] 21, Pot, 1.975, 0.938, 0.819, 0, 180, 0, 74 [SEP] 22, Fork, -1.668, 0.912, -1.221, 0, 0, 0, 64 [SEP] 23, Ladle, -0.106, 0.969, -0.190, 0, 0, 0, 72 [SEP] 24, Kettle, -1.841, 1.663, -1.131, 0, 90, 0, 51 [SEP] 25, Egg, 1.988, 1.063, -0.704, 0, 270, 0, 85 [SEP] 26, Plate, 1.802, 0.910, -1.610, 0, 0, 0, 64 [SEP] 27, Pan, -0.844, 0.911, -1.707, 0, 180, 0, 64 [SEP] 28, Lettuce, 1.553, 0.988, 1.408, 0, 0, 0, 64 [SEP] 29, Spatula, 1.760, 0.704, 0.113, 0, 270, 0, 48 [SEP] 30, Apple, 0.321, 0.978, 1.202, 0, 0, 0, 72 [SEP] 31, Knife, 1.653, 0.933, 0.103, 0, 270, 0, 64 [SEP] 32, SaltShaker, 1.612, 0.541, 1.088, 0, 0, 0, 62 [SEP] 33, PepperShaker, -0.106, 0.921, 1.202, 0, 0, 0, 72 [SEP] 34, CellPhone, 1.603, 0.580, -0.165, 0, 270, 0, 49 [SEP] 35, ButterKnife, 1.662, 0.141, 1.153, 0, 0, 0, 73 [SEP] 36, Bread, -1.462, 0.992, -1.707, 0, 0, 0, 64 [SEP] 37, Tomato, -0.002, 0.815, -1.380, 0, 0, 0, 88 [SEP] 38, Potato, 0.107, 0.949, 0.041, 0, 0, 0, 72 [SEP] 39, DishSponge, 1.603, 0.761, 1.074, 0, 270, 0, 70 [SEP] 40, Spoon, 1.117, 0.912, -1.415, 0, 0, 0, 64 [SEP] 41, Mug, -0.175, 0.755, -1.490, 0, 0, 0, 88 [SEP] 42, Bowl, -0.213, 0.924, 0.041, 0, 0, 0, 72 [SEP] 43, Cabinet, -0.495, 0.474, -1.149, 0, 0, 0, [SEP] 44, Window, -0.010, 1.582, -1.821, 0, 0, 0, [SEP] 45, Drawer, 0.805, 0.475, -1.159, 0, 0, 0, [SEP] 46, StoveBurner, 1.764, 0.902, 0.601, 0, 270, 0, [SEP] 47, Drawer, 1.5, 0.196, -0.019, 0, 0, 0, [SEP] 48, Drawer, 1.5, 0.629, -0.018, 0, 0, 0, [SEP] 49, Drawer, 1.5, 0.602, -0.019, 0, 270, 0, [SEP] 50, StoveBurner, 1.975, 0.902, 0.384, 0, 270, 0, [SEP] 51, Cabinet, -1.703, 2.022, -1.453, 0, 90, 0, [SEP] 52, Cabinet, 1.789, 2.019, -0.819, 0, 270, 0, [SEP] 53, Cabinet, 0.494, 0.474, -1.149, 0, 0, 0, [SEP] 54, Cabinet, 0.409, 0.475, 0.444, 0, 0, 0, [SEP] 55, Drawer, -0.696, 0.475, -1.159, 0, 0, 0, [SEP] 56, Drawer, 1.5, 0.140, 0.599, 0, 270, 0, [SEP] 57, Cabinet, 1.389, 0.474, -1.149, 0, 0, 0, [SEP] 58, Drawer, 1.5, 0.305, 0.600, 0, 0, 0, [SEP] 59, StoveBurner, 1.975, 0.902, 0.601, 0, 270, 0, [SEP] 60, Drawer, 1.5, 0.429, -0.019, 0, 0, 0, [SEP] 61, StoveBurner, 1.764, 0.902, 0.819, 0, 270, 0, [SEP] 62, Drawer, 1.5, 0.519, 1.220, 0, 0, 0, [SEP] 63, Cabinet, 1.705, 2.019, -1.449, 0, 0, 0, [SEP] 64, CounterTop, 0.002, 0.947, -1.513, 0, 0, 0, [SEP] 65, Drawer, 1.5, 0.629, 0.605, 0, 0, 0, [SEP] 66, Cabinet, -0.627, 2.019, -1.449, 0, 0, 0, [SEP] 67, StoveBurner, 1.764, 0.902, 0.384, 0, 270, 0, [SEP] 68, Drawer, 1.5, 0.538, 0.600, 0, 0, 0, [SEP] 69, Sink, 0.0, 0.893, -1.434, 0, 0, 0, [SEP] 70, Drawer, 1.5, 0.782, 1.220, 0, 270, 0, [SEP] 71, Window, 2.217, 1.565, -0.384, 0, 0, 0, [SEP] 72, CounterTop, -0.014, 0.961, 0.505, 0, 0, 0, [SEP] 73, Drawer, 1.5, 0.200, 1.220, 0, 0, 0, [SEP] 74, StoveBurner, 1.975, 0.902, 0.819, 0, 270, 0, [SEP] 75, Window, -3.240, 1.616, 2.693, 0, 270, 0, [SEP] 76, Cabinet, -1.389, 0.474, -1.149, 0, 0, 0, [SEP] 77, LightSwitch, -0.153, 1.291, 3.700, 0, 180, 0, [SEP] 78, GarbageCan, -1.796, 0.009, 1.330, 0, 270, 358.295, [SEP] 79, StoveKnob, 1.602, 0.917, 0.570, 0, 270, 180, [SEP] 80, StoveKnob, 1.602, 0.917, 0.625, 0, 270, 180, [SEP] 81, StoveKnob, 1.602, 0.917, 0.739, 0, 270, 180, [SEP] 82, StoveKnob, 1.602, 0.917, 0.680, 0, 270, 180, [SEP] 83, StoveKnob, 1.602, 0.917, 0.462, 0, 270, 180, [SEP] 84, StoveKnob, 1.602, 0.917, 0.517, 0, 270, 180, [SEP] 85, Microwave, 1.932, 0.899, -0.766, 0, 270, 0, [SEP] 86, CoffeeMachine, 1.355, 0.899, -1.596, 0, 0, 0, [SEP] 87, Fridge, -1.764, 0.0, 0.014, 0, 90, 0, [SEP] 88, SinkBasin, -0.014, 0.736, -1.435, 0, 0, 0, [SEP] 89, Toaster, 1.977, 0.900, -0.336, 0, 270, 0, [SEP] 90, Faucet, -0.020, 1.137, -1.605, 0, 270, 0, [SEP] 91, Chair, -9.354, 0.000, 1.242, 0, 180, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: turn around to face the kitchen island | STEP 2: pick the green apple up off of the kitchen island | STEP 3: turn and walk over to the refrigerator | STEP 4: open the refrigerator and place the green apple inside to cool, then take it back out | STEP 5: turn and walk to the white garbage bin | STEP 6: place the apple inside the garbage bin | END"]} +{"id": "trial_T20190909_154212_097094-0", "input": "Put the mug with pen on the tv stand SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.910, 0.5, 0, 180, 0, [SEP] 1, Mug, 2.889, 0.805, 2.613, 0, 0, 0, 48 [SEP] 2, Bowl, 2.471, 0.809, 2.613, 0, 0, 0, 48 [SEP] 3, Bowl, 2.471, 0.809, 2.833, 0, 0, 0, 48 [SEP] 4, CD, 2.185, 0.399, -0.855, 0, 270, 0, 52 [SEP] 5, CD, 2.496, 0.745, -1.444, 0, 0, 0, 57 [SEP] 6, CellPhone, -1.078, 0.913, 4.166, 0, 0, 0, 37 [SEP] 7, CellPhone, 2.618, 0.094, 0.526, 0, 0, 0, 50 [SEP] 8, Pen, 2.576, 0.813, 3.053, 0, 0, 0, 48 [SEP] 9, Pen, -0.881, 0.919, 3.982, 0, 0, 0, 37 [SEP] 10, Pencil, 2.618, 0.464, 0.526, 0, 0, 0, 51 [SEP] 11, Pencil, 2.575, 0.100, 0.428, 0, 0, 0, 50 [SEP] 12, KeyChain, -1.038, 0.400, -1.053, 0, 90, 0, 46 [SEP] 13, KeyChain, -0.749, 0.914, 4.533, 0, 180, 0, 37 [SEP] 14, Book, -0.749, 0.912, 4.166, 0, 0, 0, 37 [SEP] 15, RemoteControl, 2.680, 0.809, 2.833, 0, 0, 0, 48 [SEP] 16, AlarmClock, -0.946, 0.921, 4.35, 0, 0, 0, 37 [SEP] 17, AlarmClock, 2.889, 0.816, 3.494, 0, 0, 0, 48 [SEP] 18, Laptop, -0.833, 0.712, 2.539, 0, 0, 0, 34 [SEP] 19, Laptop, 2.364, 0.397, -0.594, 0, 270, 0, 52 [SEP] 20, Book, 2.618, 0.093, 0.721, 0, 0, 0, 50 [SEP] 21, AlarmClock, 2.576, 0.816, 2.392, 0, 0, 0, 48 [SEP] 22, CellPhone, 2.471, 0.807, 3.274, 0, 0, 0, 48 [SEP] 23, Bowl, 2.609, 0.845, 0.230, 0, 90, 0, 49 [SEP] 24, CreditCard, 2.680, 0.807, 3.274, 0, 0, 0, 48 [SEP] 25, KeyChain, 2.471, 0.809, 2.392, 0, 0, 0, 48 [SEP] 26, RemoteControl, 2.397, 0.745, -1.516, 0, 0, 0, 45 [SEP] 27, Laptop, -0.881, 0.911, 4.717, 0, 0, 0, 37 [SEP] 28, Pencil, 2.262, 0.811, 3.715, 0, 0, 0, 48 [SEP] 29, Pillow, -0.959, 0.752, 2.977, 0, 0, 0, 34 [SEP] 30, Pillow, -1.312, 0.785, 1.690, 0, 0, 0, 34 [SEP] 31, CD, 2.660, 0.094, 0.917, 0, 0, 0, 50 [SEP] 32, Pen, 2.784, 0.813, 2.392, 0, 0, 0, 48 [SEP] 33, Mug, 2.686, 0.743, -1.619, 0, 90, 0, 45 [SEP] 34, Bed, -0.594, 0.009, 2.298, 0, 0, 0, [SEP] 35, Mirror, -1.184, 1.603, 4.348, 0, 0, 0, [SEP] 36, Television, 2.738, 1.330, 0.622, 0, 270, 0, [SEP] 37, CounterTop, -0.890, 0.951, 4.349, 0, 0, 0, [SEP] 38, LightSwitch, 0.800, 1.371, 5.245, 0, 90, 0, [SEP] 39, Painting, 2.992, 1.529, 3.415, 90, 270, 0, [SEP] 40, Painting, 2.992, 1.529, 2.553, 90, 270, 0, [SEP] 41, DeskLamp, 2.625, 0.772, -1.469, 0, 0, 0, [SEP] 42, DeskLamp, 2.668, 0.810, 3.082, 0, 358.947, 0, [SEP] 43, GarbageCan, -0.626, -0.009, 3.742, 0, 0, 0, [SEP] 44, Window, -0.453, 1.450, -2.058, 90, 180, 0, [SEP] 45, SideTable, 2.565, 0.009, -1.534, 0, 0, 0, [SEP] 46, ArmChair, -1.277, 0.009, -1.169, 0, 90, 0, [SEP] 47, Blinds, -0.5, 2.174, -1.957, 0, 0, 0, [SEP] 48, Desk, 2.572, 0.011, 3.054, 0, 270, 0, [SEP] 49, SideTable, 2.645, 0.009, 0.624, 0, 270, 0, [SEP] 50, Drawer, 2.525, 0.214, 0.624, 0, 270, 0, [SEP] 51, Drawer, 2.525, 0.578, 0.624, 0, 270, 0, [SEP] 52, ArmChair, 2.424, 0.009, -0.564, 0, 270, 0, [SEP] 53, LaundryHamper, 3.457, 0.009, 4.555, 0, 270, 0, [SEP] 54, Chair, 2.591, 0.020, 2.015, 0, 0, 0, [SEP] 55, Chair, 2.184, 0.020, 3.440, 0, 120.016, 0, [SEP] 56, Chair, 2.211, 0.020, 2.592, 0, 74.981, 0, [SEP] 57, , , , , , , , [SEP] 58, NorthWall, , , , , , , [SEP] 59, EastWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, WestWall, , , , , , , ", "output": ["STEP 1: Turn left then walk straight, stand in between the tv stand and side table | STEP 2: Pick up the pen on the table | STEP 3: Put the pen in the mug | STEP 4: Pick up the mug with pen on the table | STEP 5: Turn left, then turn left face the tv stand | STEP 6: Put the mug with pen on the left side of the tv stand | END"]} +{"id": "trial_T20190909_154212_097094-1", "input": "Put a mug with pen in it on the TV stand. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.910, 0.5, 0, 180, 0, [SEP] 1, Mug, 2.889, 0.805, 2.613, 0, 0, 0, 48 [SEP] 2, Bowl, 2.471, 0.809, 2.613, 0, 0, 0, 48 [SEP] 3, Bowl, 2.471, 0.809, 2.833, 0, 0, 0, 48 [SEP] 4, CD, 2.185, 0.399, -0.855, 0, 270, 0, 52 [SEP] 5, CD, 2.496, 0.745, -1.444, 0, 0, 0, 57 [SEP] 6, CellPhone, -1.078, 0.913, 4.166, 0, 0, 0, 37 [SEP] 7, CellPhone, 2.618, 0.094, 0.526, 0, 0, 0, 50 [SEP] 8, Pen, 2.576, 0.813, 3.053, 0, 0, 0, 48 [SEP] 9, Pen, -0.881, 0.919, 3.982, 0, 0, 0, 37 [SEP] 10, Pencil, 2.618, 0.464, 0.526, 0, 0, 0, 51 [SEP] 11, Pencil, 2.575, 0.100, 0.428, 0, 0, 0, 50 [SEP] 12, KeyChain, -1.038, 0.400, -1.053, 0, 90, 0, 46 [SEP] 13, KeyChain, -0.749, 0.914, 4.533, 0, 180, 0, 37 [SEP] 14, Book, -0.749, 0.912, 4.166, 0, 0, 0, 37 [SEP] 15, RemoteControl, 2.680, 0.809, 2.833, 0, 0, 0, 48 [SEP] 16, AlarmClock, -0.946, 0.921, 4.35, 0, 0, 0, 37 [SEP] 17, AlarmClock, 2.889, 0.816, 3.494, 0, 0, 0, 48 [SEP] 18, Laptop, -0.833, 0.712, 2.539, 0, 0, 0, 34 [SEP] 19, Laptop, 2.364, 0.397, -0.594, 0, 270, 0, 52 [SEP] 20, Book, 2.618, 0.093, 0.721, 0, 0, 0, 50 [SEP] 21, AlarmClock, 2.576, 0.816, 2.392, 0, 0, 0, 48 [SEP] 22, CellPhone, 2.471, 0.807, 3.274, 0, 0, 0, 48 [SEP] 23, Bowl, 2.609, 0.845, 0.230, 0, 90, 0, 49 [SEP] 24, CreditCard, 2.680, 0.807, 3.274, 0, 0, 0, 48 [SEP] 25, KeyChain, 2.471, 0.809, 2.392, 0, 0, 0, 48 [SEP] 26, RemoteControl, 2.397, 0.745, -1.516, 0, 0, 0, 45 [SEP] 27, Laptop, -0.881, 0.911, 4.717, 0, 0, 0, 37 [SEP] 28, Pencil, 2.262, 0.811, 3.715, 0, 0, 0, 48 [SEP] 29, Pillow, -0.959, 0.752, 2.977, 0, 0, 0, 34 [SEP] 30, Pillow, -1.312, 0.785, 1.690, 0, 0, 0, 34 [SEP] 31, CD, 2.660, 0.094, 0.917, 0, 0, 0, 50 [SEP] 32, Pen, 2.784, 0.813, 2.392, 0, 0, 0, 48 [SEP] 33, Mug, 2.686, 0.743, -1.619, 0, 90, 0, 45 [SEP] 34, Bed, -0.594, 0.009, 2.298, 0, 0, 0, [SEP] 35, Mirror, -1.184, 1.603, 4.348, 0, 0, 0, [SEP] 36, Television, 2.738, 1.330, 0.622, 0, 270, 0, [SEP] 37, CounterTop, -0.890, 0.951, 4.349, 0, 0, 0, [SEP] 38, LightSwitch, 0.800, 1.371, 5.245, 0, 90, 0, [SEP] 39, Painting, 2.992, 1.529, 3.415, 90, 270, 0, [SEP] 40, Painting, 2.992, 1.529, 2.553, 90, 270, 0, [SEP] 41, DeskLamp, 2.625, 0.772, -1.469, 0, 0, 0, [SEP] 42, DeskLamp, 2.668, 0.810, 3.082, 0, 358.947, 0, [SEP] 43, GarbageCan, -0.626, -0.009, 3.742, 0, 0, 0, [SEP] 44, Window, -0.453, 1.450, -2.058, 90, 180, 0, [SEP] 45, SideTable, 2.565, 0.009, -1.534, 0, 0, 0, [SEP] 46, ArmChair, -1.277, 0.009, -1.169, 0, 90, 0, [SEP] 47, Blinds, -0.5, 2.174, -1.957, 0, 0, 0, [SEP] 48, Desk, 2.572, 0.011, 3.054, 0, 270, 0, [SEP] 49, SideTable, 2.645, 0.009, 0.624, 0, 270, 0, [SEP] 50, Drawer, 2.525, 0.214, 0.624, 0, 270, 0, [SEP] 51, Drawer, 2.525, 0.578, 0.624, 0, 270, 0, [SEP] 52, ArmChair, 2.424, 0.009, -0.564, 0, 270, 0, [SEP] 53, LaundryHamper, 3.457, 0.009, 4.555, 0, 270, 0, [SEP] 54, Chair, 2.591, 0.020, 2.015, 0, 0, 0, [SEP] 55, Chair, 2.184, 0.020, 3.440, 0, 120.016, 0, [SEP] 56, Chair, 2.211, 0.020, 2.592, 0, 74.981, 0, [SEP] 57, , , , , , , , [SEP] 58, NorthWall, , , , , , , [SEP] 59, EastWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, head to TV, turn left, head to the side of the long brown table on the right. | STEP 2: Pick up the black pen on the table. | STEP 3: Put the pen in the mug on the table. | STEP 4: Pick up the mug with pen on the table. | STEP 5: Turn around, bring the mug with pen to the TV on the left. | STEP 6: Put the mug with pen on the TV stand. | END"]} +{"id": "trial_T20190909_154212_097094-2", "input": "Put a cup with a pen on the TV stand. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.910, 0.5, 0, 180, 0, [SEP] 1, Mug, 2.889, 0.805, 2.613, 0, 0, 0, 48 [SEP] 2, Bowl, 2.471, 0.809, 2.613, 0, 0, 0, 48 [SEP] 3, Bowl, 2.471, 0.809, 2.833, 0, 0, 0, 48 [SEP] 4, CD, 2.185, 0.399, -0.855, 0, 270, 0, 52 [SEP] 5, CD, 2.496, 0.745, -1.444, 0, 0, 0, 57 [SEP] 6, CellPhone, -1.078, 0.913, 4.166, 0, 0, 0, 37 [SEP] 7, CellPhone, 2.618, 0.094, 0.526, 0, 0, 0, 50 [SEP] 8, Pen, 2.576, 0.813, 3.053, 0, 0, 0, 48 [SEP] 9, Pen, -0.881, 0.919, 3.982, 0, 0, 0, 37 [SEP] 10, Pencil, 2.618, 0.464, 0.526, 0, 0, 0, 51 [SEP] 11, Pencil, 2.575, 0.100, 0.428, 0, 0, 0, 50 [SEP] 12, KeyChain, -1.038, 0.400, -1.053, 0, 90, 0, 46 [SEP] 13, KeyChain, -0.749, 0.914, 4.533, 0, 180, 0, 37 [SEP] 14, Book, -0.749, 0.912, 4.166, 0, 0, 0, 37 [SEP] 15, RemoteControl, 2.680, 0.809, 2.833, 0, 0, 0, 48 [SEP] 16, AlarmClock, -0.946, 0.921, 4.35, 0, 0, 0, 37 [SEP] 17, AlarmClock, 2.889, 0.816, 3.494, 0, 0, 0, 48 [SEP] 18, Laptop, -0.833, 0.712, 2.539, 0, 0, 0, 34 [SEP] 19, Laptop, 2.364, 0.397, -0.594, 0, 270, 0, 52 [SEP] 20, Book, 2.618, 0.093, 0.721, 0, 0, 0, 50 [SEP] 21, AlarmClock, 2.576, 0.816, 2.392, 0, 0, 0, 48 [SEP] 22, CellPhone, 2.471, 0.807, 3.274, 0, 0, 0, 48 [SEP] 23, Bowl, 2.609, 0.845, 0.230, 0, 90, 0, 49 [SEP] 24, CreditCard, 2.680, 0.807, 3.274, 0, 0, 0, 48 [SEP] 25, KeyChain, 2.471, 0.809, 2.392, 0, 0, 0, 48 [SEP] 26, RemoteControl, 2.397, 0.745, -1.516, 0, 0, 0, 45 [SEP] 27, Laptop, -0.881, 0.911, 4.717, 0, 0, 0, 37 [SEP] 28, Pencil, 2.262, 0.811, 3.715, 0, 0, 0, 48 [SEP] 29, Pillow, -0.959, 0.752, 2.977, 0, 0, 0, 34 [SEP] 30, Pillow, -1.312, 0.785, 1.690, 0, 0, 0, 34 [SEP] 31, CD, 2.660, 0.094, 0.917, 0, 0, 0, 50 [SEP] 32, Pen, 2.784, 0.813, 2.392, 0, 0, 0, 48 [SEP] 33, Mug, 2.686, 0.743, -1.619, 0, 90, 0, 45 [SEP] 34, Bed, -0.594, 0.009, 2.298, 0, 0, 0, [SEP] 35, Mirror, -1.184, 1.603, 4.348, 0, 0, 0, [SEP] 36, Television, 2.738, 1.330, 0.622, 0, 270, 0, [SEP] 37, CounterTop, -0.890, 0.951, 4.349, 0, 0, 0, [SEP] 38, LightSwitch, 0.800, 1.371, 5.245, 0, 90, 0, [SEP] 39, Painting, 2.992, 1.529, 3.415, 90, 270, 0, [SEP] 40, Painting, 2.992, 1.529, 2.553, 90, 270, 0, [SEP] 41, DeskLamp, 2.625, 0.772, -1.469, 0, 0, 0, [SEP] 42, DeskLamp, 2.668, 0.810, 3.082, 0, 358.947, 0, [SEP] 43, GarbageCan, -0.626, -0.009, 3.742, 0, 0, 0, [SEP] 44, Window, -0.453, 1.450, -2.058, 90, 180, 0, [SEP] 45, SideTable, 2.565, 0.009, -1.534, 0, 0, 0, [SEP] 46, ArmChair, -1.277, 0.009, -1.169, 0, 90, 0, [SEP] 47, Blinds, -0.5, 2.174, -1.957, 0, 0, 0, [SEP] 48, Desk, 2.572, 0.011, 3.054, 0, 270, 0, [SEP] 49, SideTable, 2.645, 0.009, 0.624, 0, 270, 0, [SEP] 50, Drawer, 2.525, 0.214, 0.624, 0, 270, 0, [SEP] 51, Drawer, 2.525, 0.578, 0.624, 0, 270, 0, [SEP] 52, ArmChair, 2.424, 0.009, -0.564, 0, 270, 0, [SEP] 53, LaundryHamper, 3.457, 0.009, 4.555, 0, 270, 0, [SEP] 54, Chair, 2.591, 0.020, 2.015, 0, 0, 0, [SEP] 55, Chair, 2.184, 0.020, 3.440, 0, 120.016, 0, [SEP] 56, Chair, 2.211, 0.020, 2.592, 0, 74.981, 0, [SEP] 57, , , , , , , , [SEP] 58, NorthWall, , , , , , , [SEP] 59, EastWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, WestWall, , , , , , , ", "output": ["STEP 1: move to the table to the left of the TC | STEP 2: pick up a pen from the table | STEP 3: put the pen in a cup on the table | STEP 4: pick up the cup from the table | STEP 5: move to the TV stand behind you | STEP 6: put the cup on the stand | END"]} +{"id": "trial_T20190906_234735_610018-0", "input": "Place a washed sponge in a tub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.902, 0.0, 0, 270, 0, [SEP] 1, Cloth, -2.295, 0.174, -0.683, 0, 90, 0, 25 [SEP] 2, TissueBox, -2.343, 0.443, -0.683, 0, 90, 0, 24 [SEP] 3, TissueBox, -2.120, 0.704, -0.698, 0, 90, 0, 28 [SEP] 4, Candle, -3.145, 0.611, 1.571, 0, 0, 0, 33 [SEP] 5, DishSponge, -1.892, 0.704, -0.528, 0, 90, 0, 28 [SEP] 6, DishSponge, -3.689, 0.040, 0.595, 0, 0, 0, 33 [SEP] 7, SoapBottle, -3.176, 0.615, 0.183, 0, 0, 0, 33 [SEP] 8, Towel, -3.66, 1.567, -0.459, 0, 0, 0, 35 [SEP] 9, Candle, -0.732, 0.953, -0.695, 0, 90, 0, 40 [SEP] 10, HandTowel, -1.275, 1.683, 2.244, 0, 0, 0, 38 [SEP] 11, SoapBar, -1.665, 0.703, -0.698, 0, 90, 0, 28 [SEP] 12, ToiletPaper, -0.857, 0.951, -0.722, 0, 90, 0, 40 [SEP] 13, Plunger, -1.088, 0.000, -0.526, 0, 0, 0, Floor|-02.42| [SEP] 14, SprayBottle, -0.607, 0.951, -0.748, 0, 90, 0, 40 [SEP] 15, SoapBottle, -1.556, 0.031, 2.116, 0, 180, 0, 36 [SEP] 16, TissueBox, -2.347, 0.704, -0.585, 0, 90, 0, 28 [SEP] 17, ToiletPaper, -0.529, 0.941, 0.245, 0, 270, 90, 41 [SEP] 18, PaperTowelRoll, -2.803, 0.809, -0.642, 0, 90, 0, 28 [SEP] 19, ScrubBrush, -1.041, 0.001, -0.707, 0, 0, 0, Floor|-02.42| [SEP] 20, Cloth, -3.602, 0.038, 0.780, 0, 0, 0, 42 [SEP] 21, DishSponge, -3.284, 0.613, 1.647, 0, 0, 0, 33 [SEP] 22, Drawer, -1.444, 0.531, -0.620, 0, 90, 0, [SEP] 23, Sink, -1.919, 0.441, 2.032, 0, 180, 0, [SEP] 24, Drawer, -2.343, 0.531, -0.620, 0, 90, 0, [SEP] 25, Drawer, -2.343, 0.271, -0.620, 0, 90, 0, [SEP] 26, Drawer, -1.894, 0.271, -0.620, 0, 90, 0, [SEP] 27, Drawer, -2.791, 0.271, -0.620, 0, 90, 0, [SEP] 28, CounterTop, -2.799, 0.001, -0.593, 0, 90, 0, [SEP] 29, Drawer, -1.894, 0.531, -0.620, 0, 90, 0, [SEP] 30, Mirror, -1.909, 1.748, 2.280, 0, 0, 0, [SEP] 31, Drawer, -2.791, 0.531, -0.620, 0, 90, 0, [SEP] 32, Drawer, -1.444, 0.271, -0.620, 0, 90, 0, [SEP] 33, Bathtub, -3.706, 0.342, 0.636, 0, 0, 0, [SEP] 34, Faucet, -1.919, 1.064, 2.182, 0, 180, 0, [SEP] 35, TowelHolder, -3.660, 1.552, -0.558, 0, 0, 0, [SEP] 36, GarbageCan, -1.560, -0.000, 1.909, 0, 164.999, 0, [SEP] 37, HandTowelHolder, -2.575, 1.784, 2.282, 0, 90, 0, [SEP] 38, HandTowelHolder, -1.274, 1.784, 2.282, 0, 90, 0, [SEP] 39, LightSwitch, -0.558, 1.282, 2.281, 0, 180, 0, [SEP] 40, Toilet, -0.720, 0.001, -0.310, 0, 0, 0, [SEP] 41, ToiletPaperHanger, -0.427, 0.940, 0.187, 0, 270, 0, [SEP] 42, BathtubBasin, -3.788, 0.028, 0.595, 0, 0, 0, [SEP] 43, SinkBasin, -1.908, 1.011, 1.981, 0, 180, 0, [SEP] 44, ShowerHead, -3.740, 1.858, 1.827, 0, 0, 0, [SEP] 45, ShowerCurtain, -3.039, 2.229, 1.720, 0, 180, 0, [SEP] 46, NorthWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward to the tub. | STEP 2: Pick up the sponge in the tub. | STEP 3: Turn around and veer left to the sink. | STEP 4: Wash the sponge in the sink. | STEP 5: Turn around a veer right to the tub. | STEP 6: Put the sponge in the tub to the left of the red rag. | END"]} +{"id": "trial_T20190906_234735_610018-1", "input": "Place a cleaned sponge in a bathtub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.902, 0.0, 0, 270, 0, [SEP] 1, Cloth, -2.295, 0.174, -0.683, 0, 90, 0, 25 [SEP] 2, TissueBox, -2.343, 0.443, -0.683, 0, 90, 0, 24 [SEP] 3, TissueBox, -2.120, 0.704, -0.698, 0, 90, 0, 28 [SEP] 4, Candle, -3.145, 0.611, 1.571, 0, 0, 0, 33 [SEP] 5, DishSponge, -1.892, 0.704, -0.528, 0, 90, 0, 28 [SEP] 6, DishSponge, -3.689, 0.040, 0.595, 0, 0, 0, 33 [SEP] 7, SoapBottle, -3.176, 0.615, 0.183, 0, 0, 0, 33 [SEP] 8, Towel, -3.66, 1.567, -0.459, 0, 0, 0, 35 [SEP] 9, Candle, -0.732, 0.953, -0.695, 0, 90, 0, 40 [SEP] 10, HandTowel, -1.275, 1.683, 2.244, 0, 0, 0, 38 [SEP] 11, SoapBar, -1.665, 0.703, -0.698, 0, 90, 0, 28 [SEP] 12, ToiletPaper, -0.857, 0.951, -0.722, 0, 90, 0, 40 [SEP] 13, Plunger, -1.088, 0.000, -0.526, 0, 0, 0, Floor|-02.42| [SEP] 14, SprayBottle, -0.607, 0.951, -0.748, 0, 90, 0, 40 [SEP] 15, SoapBottle, -1.556, 0.031, 2.116, 0, 180, 0, 36 [SEP] 16, TissueBox, -2.347, 0.704, -0.585, 0, 90, 0, 28 [SEP] 17, ToiletPaper, -0.529, 0.941, 0.245, 0, 270, 90, 41 [SEP] 18, PaperTowelRoll, -2.803, 0.809, -0.642, 0, 90, 0, 28 [SEP] 19, ScrubBrush, -1.041, 0.001, -0.707, 0, 0, 0, Floor|-02.42| [SEP] 20, Cloth, -3.602, 0.038, 0.780, 0, 0, 0, 42 [SEP] 21, DishSponge, -3.284, 0.613, 1.647, 0, 0, 0, 33 [SEP] 22, Drawer, -1.444, 0.531, -0.620, 0, 90, 0, [SEP] 23, Sink, -1.919, 0.441, 2.032, 0, 180, 0, [SEP] 24, Drawer, -2.343, 0.531, -0.620, 0, 90, 0, [SEP] 25, Drawer, -2.343, 0.271, -0.620, 0, 90, 0, [SEP] 26, Drawer, -1.894, 0.271, -0.620, 0, 90, 0, [SEP] 27, Drawer, -2.791, 0.271, -0.620, 0, 90, 0, [SEP] 28, CounterTop, -2.799, 0.001, -0.593, 0, 90, 0, [SEP] 29, Drawer, -1.894, 0.531, -0.620, 0, 90, 0, [SEP] 30, Mirror, -1.909, 1.748, 2.280, 0, 0, 0, [SEP] 31, Drawer, -2.791, 0.531, -0.620, 0, 90, 0, [SEP] 32, Drawer, -1.444, 0.271, -0.620, 0, 90, 0, [SEP] 33, Bathtub, -3.706, 0.342, 0.636, 0, 0, 0, [SEP] 34, Faucet, -1.919, 1.064, 2.182, 0, 180, 0, [SEP] 35, TowelHolder, -3.660, 1.552, -0.558, 0, 0, 0, [SEP] 36, GarbageCan, -1.560, -0.000, 1.909, 0, 164.999, 0, [SEP] 37, HandTowelHolder, -2.575, 1.784, 2.282, 0, 90, 0, [SEP] 38, HandTowelHolder, -1.274, 1.784, 2.282, 0, 90, 0, [SEP] 39, LightSwitch, -0.558, 1.282, 2.281, 0, 180, 0, [SEP] 40, Toilet, -0.720, 0.001, -0.310, 0, 0, 0, [SEP] 41, ToiletPaperHanger, -0.427, 0.940, 0.187, 0, 270, 0, [SEP] 42, BathtubBasin, -3.788, 0.028, 0.595, 0, 0, 0, [SEP] 43, SinkBasin, -1.908, 1.011, 1.981, 0, 180, 0, [SEP] 44, ShowerHead, -3.740, 1.858, 1.827, 0, 0, 0, [SEP] 45, ShowerCurtain, -3.039, 2.229, 1.720, 0, 180, 0, [SEP] 46, NorthWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the bathtub. | STEP 2: Pick up a sponge from the bathtub. | STEP 3: Turn around and walk to the sink on your right. | STEP 4: Clean the sponge in the sink, then pick it up again. | STEP 5: Turn around and walk back to the bathtub. | STEP 6: Place the sponge in the bathtub. | END"]} +{"id": "trial_T20190906_234735_610018-2", "input": "Place a wet sponge inside the bathtub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.902, 0.0, 0, 270, 0, [SEP] 1, Cloth, -2.295, 0.174, -0.683, 0, 90, 0, 25 [SEP] 2, TissueBox, -2.343, 0.443, -0.683, 0, 90, 0, 24 [SEP] 3, TissueBox, -2.120, 0.704, -0.698, 0, 90, 0, 28 [SEP] 4, Candle, -3.145, 0.611, 1.571, 0, 0, 0, 33 [SEP] 5, DishSponge, -1.892, 0.704, -0.528, 0, 90, 0, 28 [SEP] 6, DishSponge, -3.689, 0.040, 0.595, 0, 0, 0, 33 [SEP] 7, SoapBottle, -3.176, 0.615, 0.183, 0, 0, 0, 33 [SEP] 8, Towel, -3.66, 1.567, -0.459, 0, 0, 0, 35 [SEP] 9, Candle, -0.732, 0.953, -0.695, 0, 90, 0, 40 [SEP] 10, HandTowel, -1.275, 1.683, 2.244, 0, 0, 0, 38 [SEP] 11, SoapBar, -1.665, 0.703, -0.698, 0, 90, 0, 28 [SEP] 12, ToiletPaper, -0.857, 0.951, -0.722, 0, 90, 0, 40 [SEP] 13, Plunger, -1.088, 0.000, -0.526, 0, 0, 0, Floor|-02.42| [SEP] 14, SprayBottle, -0.607, 0.951, -0.748, 0, 90, 0, 40 [SEP] 15, SoapBottle, -1.556, 0.031, 2.116, 0, 180, 0, 36 [SEP] 16, TissueBox, -2.347, 0.704, -0.585, 0, 90, 0, 28 [SEP] 17, ToiletPaper, -0.529, 0.941, 0.245, 0, 270, 90, 41 [SEP] 18, PaperTowelRoll, -2.803, 0.809, -0.642, 0, 90, 0, 28 [SEP] 19, ScrubBrush, -1.041, 0.001, -0.707, 0, 0, 0, Floor|-02.42| [SEP] 20, Cloth, -3.602, 0.038, 0.780, 0, 0, 0, 42 [SEP] 21, DishSponge, -3.284, 0.613, 1.647, 0, 0, 0, 33 [SEP] 22, Drawer, -1.444, 0.531, -0.620, 0, 90, 0, [SEP] 23, Sink, -1.919, 0.441, 2.032, 0, 180, 0, [SEP] 24, Drawer, -2.343, 0.531, -0.620, 0, 90, 0, [SEP] 25, Drawer, -2.343, 0.271, -0.620, 0, 90, 0, [SEP] 26, Drawer, -1.894, 0.271, -0.620, 0, 90, 0, [SEP] 27, Drawer, -2.791, 0.271, -0.620, 0, 90, 0, [SEP] 28, CounterTop, -2.799, 0.001, -0.593, 0, 90, 0, [SEP] 29, Drawer, -1.894, 0.531, -0.620, 0, 90, 0, [SEP] 30, Mirror, -1.909, 1.748, 2.280, 0, 0, 0, [SEP] 31, Drawer, -2.791, 0.531, -0.620, 0, 90, 0, [SEP] 32, Drawer, -1.444, 0.271, -0.620, 0, 90, 0, [SEP] 33, Bathtub, -3.706, 0.342, 0.636, 0, 0, 0, [SEP] 34, Faucet, -1.919, 1.064, 2.182, 0, 180, 0, [SEP] 35, TowelHolder, -3.660, 1.552, -0.558, 0, 0, 0, [SEP] 36, GarbageCan, -1.560, -0.000, 1.909, 0, 164.999, 0, [SEP] 37, HandTowelHolder, -2.575, 1.784, 2.282, 0, 90, 0, [SEP] 38, HandTowelHolder, -1.274, 1.784, 2.282, 0, 90, 0, [SEP] 39, LightSwitch, -0.558, 1.282, 2.281, 0, 180, 0, [SEP] 40, Toilet, -0.720, 0.001, -0.310, 0, 0, 0, [SEP] 41, ToiletPaperHanger, -0.427, 0.940, 0.187, 0, 270, 0, [SEP] 42, BathtubBasin, -3.788, 0.028, 0.595, 0, 0, 0, [SEP] 43, SinkBasin, -1.908, 1.011, 1.981, 0, 180, 0, [SEP] 44, ShowerHead, -3.740, 1.858, 1.827, 0, 0, 0, [SEP] 45, ShowerCurtain, -3.039, 2.229, 1.720, 0, 180, 0, [SEP] 46, NorthWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the bathtub. | STEP 2: Pick up the green sponge from the bathtub. | STEP 3: Turn around and walk over to the sink. | STEP 4: Place the sponge in the sink on its side and then turn the faucet on briefly before turning it off again. | STEP 5: Walk back to the bathtub. | STEP 6: Place the sponge in the bathtub to the left of the pink rag. | END"]} +{"id": "trial_T20190908_064808_086925-0", "input": "wash the pink bar by the sink, put the pink bar in the tub SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 1.0, 0, 90, 0, [SEP] 1, SoapBar, -2.197, 0.813, 0.342, 0, 0, 0, 29 [SEP] 2, SoapBar, -3.017, 0.954, 3.246, 0, 270, 0, 41 [SEP] 3, SoapBar, -1.816, 0.017, 0.109, 0, 0, 0, 35 [SEP] 4, Candle, -2.922, 0.813, 0.217, 0, 0, 0, 29 [SEP] 5, SprayBottle, -1.792, 0.019, 0.165, 0, 0, 0, 35 [SEP] 6, HandTowel, -0.034, 1.537, 3.105, 0, 90, 0, 37 [SEP] 7, Towel, -1.513, 1.496, 0.109, 0, 0, 0, 33 [SEP] 8, Cloth, -2.037, 0.811, 0.342, 0, 0, 0, 29 [SEP] 9, SoapBar, -2.892, 0.954, 3.220, 0, 270, 0, 41 [SEP] 10, ToiletPaper, -2.686, 0.946, 3.182, 0, 0, 0, 41 [SEP] 11, Plunger, -2.530, 0.000, 3.026, 0, 0, 0, [SEP] 12, Candle, -2.973, 0.195, 0.448, 0, 0, 0, 23 [SEP] 13, SoapBottle, -0.255, 0.219, 1.626, 0, 0, 0, 19 [SEP] 14, ToiletPaper, -0.309, 0.215, 2.502, 0, 0, 0, 20 [SEP] 15, SprayBottle, -0.155, 0.813, 1.585, 0, 0, 0, 32 [SEP] 16, ScrubBrush, -2.332, 0.000, 3.163, 0, 0, 0, [SEP] 17, Drawer, -0.325, 0.319, 2.155, 0, 0, 0, [SEP] 18, Mirror, 0.0, 1.473, 1.917, 0, 270, 0, [SEP] 19, Drawer, -0.325, 0.319, 1.717, 0, 0, 0, [SEP] 20, Drawer, -0.325, 0.319, 2.592, 0, 0, 0, [SEP] 21, Bathtub, -3.589, 0.107, 1.521, 0, 0, 0, [SEP] 22, Drawer, -0.325, 0.619, 2.592, 0, 0, 0, [SEP] 23, Drawer, -2.249, 0.319, 0.280, 0, 0, 0, [SEP] 24, Drawer, -0.325, 0.319, 3.030, 0, 0, 0, [SEP] 25, Mirror, 0.0, 1.473, 2.700, 0, 270, 0, [SEP] 26, Drawer, -0.325, 0.619, 3.030, 0, 0, 0, [SEP] 27, ShowerGlass, -0.494, 1.490, 0.528, 0, 0, 0, [SEP] 28, Sink, -2.539, 0.661, 0.252, 0, 0, 0, [SEP] 29, CounterTop, -2.540, 0.805, 0.280, 0, 0, 0, [SEP] 30, Drawer, -2.844, 0.319, 0.280, 0, 0, 0, [SEP] 31, ShowerDoor, -1.074, 1.033, 0.519, 0, 0, 0, [SEP] 32, CounterTop, -0.277, 0.785, 1.931, 0, 0, 0, [SEP] 33, TowelHolder, -1.513, 1.481, 0.002, 0, 0, 0, [SEP] 34, LightSwitch, -0.776, 1.371, 3.300, 0, 180, 0, [SEP] 35, GarbageCan, -1.754, 0.001, 0.227, 0, 0, 0, [SEP] 36, HandTowelHolder, -3.210, 1.588, 0.340, 0, 0, 0, [SEP] 37, HandTowelHolder, 0.004, 1.639, 3.105, 0, 180, 0, [SEP] 38, HandTowelHolder, 0.004, 1.639, 2.309, 0, 180, 0, [SEP] 39, HandTowelHolder, 0.004, 1.639, 1.542, 0, 180, 0, [SEP] 40, Window, -4.127, 1.519, 1.495, 90, 270, 0, [SEP] 41, Toilet, -2.842, 0.000, 2.755, 0, 180, 0, [SEP] 42, SinkBasin, -2.542, 0.706, 0.269, 0, 0, 0, [SEP] 43, BathtubBasin, -3.606, 0.182, 1.536, 0, 270, 0, [SEP] 44, ToiletPaperHanger, -2.349, 0.824, 3.299, 0, 180, 0, [SEP] 45, Faucet, -2.540, 0.794, 0.111, 0, 0, 0, [SEP] 46, Faucet, -0.111, 0.794, 1.921, 0, 270, 0, [SEP] 47, ShowerHead, -3.612, 1.776, 2.299, 0, 0, 0, [SEP] 48, ShowerHead, -0.079, 1.151, 0.662, 0, 0, 0, [SEP] 49, ShowerCurtain, -3.213, 2.098, 2.186, 0, 180, 0, [SEP] 50, Sink, -0.260, 0.661, 1.922, 0, 270, 0, [SEP] 51, SinkBasin, -0.277, 0.706, 1.920, 0, 270, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, SouthWall, , , , , , , ", "output": ["STEP 1: turn around, walk to the sink on the left | STEP 2: grab the pink bar by the sink | STEP 3: turn around, turn around | STEP 4: put the pink bar in the sink, wash the bar with water, take the pink bar out | STEP 5: turn around to the tub | STEP 6: put the pink bar in the tub | END"]} +{"id": "trial_T20190908_064808_086925-1", "input": "Place a rinsed bar of pink soap into the tub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 1.0, 0, 90, 0, [SEP] 1, SoapBar, -2.197, 0.813, 0.342, 0, 0, 0, 29 [SEP] 2, SoapBar, -3.017, 0.954, 3.246, 0, 270, 0, 41 [SEP] 3, SoapBar, -1.816, 0.017, 0.109, 0, 0, 0, 35 [SEP] 4, Candle, -2.922, 0.813, 0.217, 0, 0, 0, 29 [SEP] 5, SprayBottle, -1.792, 0.019, 0.165, 0, 0, 0, 35 [SEP] 6, HandTowel, -0.034, 1.537, 3.105, 0, 90, 0, 37 [SEP] 7, Towel, -1.513, 1.496, 0.109, 0, 0, 0, 33 [SEP] 8, Cloth, -2.037, 0.811, 0.342, 0, 0, 0, 29 [SEP] 9, SoapBar, -2.892, 0.954, 3.220, 0, 270, 0, 41 [SEP] 10, ToiletPaper, -2.686, 0.946, 3.182, 0, 0, 0, 41 [SEP] 11, Plunger, -2.530, 0.000, 3.026, 0, 0, 0, [SEP] 12, Candle, -2.973, 0.195, 0.448, 0, 0, 0, 23 [SEP] 13, SoapBottle, -0.255, 0.219, 1.626, 0, 0, 0, 19 [SEP] 14, ToiletPaper, -0.309, 0.215, 2.502, 0, 0, 0, 20 [SEP] 15, SprayBottle, -0.155, 0.813, 1.585, 0, 0, 0, 32 [SEP] 16, ScrubBrush, -2.332, 0.000, 3.163, 0, 0, 0, [SEP] 17, Drawer, -0.325, 0.319, 2.155, 0, 0, 0, [SEP] 18, Mirror, 0.0, 1.473, 1.917, 0, 270, 0, [SEP] 19, Drawer, -0.325, 0.319, 1.717, 0, 0, 0, [SEP] 20, Drawer, -0.325, 0.319, 2.592, 0, 0, 0, [SEP] 21, Bathtub, -3.589, 0.107, 1.521, 0, 0, 0, [SEP] 22, Drawer, -0.325, 0.619, 2.592, 0, 0, 0, [SEP] 23, Drawer, -2.249, 0.319, 0.280, 0, 0, 0, [SEP] 24, Drawer, -0.325, 0.319, 3.030, 0, 0, 0, [SEP] 25, Mirror, 0.0, 1.473, 2.700, 0, 270, 0, [SEP] 26, Drawer, -0.325, 0.619, 3.030, 0, 0, 0, [SEP] 27, ShowerGlass, -0.494, 1.490, 0.528, 0, 0, 0, [SEP] 28, Sink, -2.539, 0.661, 0.252, 0, 0, 0, [SEP] 29, CounterTop, -2.540, 0.805, 0.280, 0, 0, 0, [SEP] 30, Drawer, -2.844, 0.319, 0.280, 0, 0, 0, [SEP] 31, ShowerDoor, -1.074, 1.033, 0.519, 0, 0, 0, [SEP] 32, CounterTop, -0.277, 0.785, 1.931, 0, 0, 0, [SEP] 33, TowelHolder, -1.513, 1.481, 0.002, 0, 0, 0, [SEP] 34, LightSwitch, -0.776, 1.371, 3.300, 0, 180, 0, [SEP] 35, GarbageCan, -1.754, 0.001, 0.227, 0, 0, 0, [SEP] 36, HandTowelHolder, -3.210, 1.588, 0.340, 0, 0, 0, [SEP] 37, HandTowelHolder, 0.004, 1.639, 3.105, 0, 180, 0, [SEP] 38, HandTowelHolder, 0.004, 1.639, 2.309, 0, 180, 0, [SEP] 39, HandTowelHolder, 0.004, 1.639, 1.542, 0, 180, 0, [SEP] 40, Window, -4.127, 1.519, 1.495, 90, 270, 0, [SEP] 41, Toilet, -2.842, 0.000, 2.755, 0, 180, 0, [SEP] 42, SinkBasin, -2.542, 0.706, 0.269, 0, 0, 0, [SEP] 43, BathtubBasin, -3.606, 0.182, 1.536, 0, 270, 0, [SEP] 44, ToiletPaperHanger, -2.349, 0.824, 3.299, 0, 180, 0, [SEP] 45, Faucet, -2.540, 0.794, 0.111, 0, 0, 0, [SEP] 46, Faucet, -0.111, 0.794, 1.921, 0, 270, 0, [SEP] 47, ShowerHead, -3.612, 1.776, 2.299, 0, 0, 0, [SEP] 48, ShowerHead, -0.079, 1.151, 0.662, 0, 0, 0, [SEP] 49, ShowerCurtain, -3.213, 2.098, 2.186, 0, 180, 0, [SEP] 50, Sink, -0.260, 0.661, 1.922, 0, 270, 0, [SEP] 51, SinkBasin, -0.277, 0.706, 1.920, 0, 270, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the soap to the left of the sink. | STEP 2: Pick up the pink bar of soap on the counter. | STEP 3: Walk to the sink to the right of the green rag. | STEP 4: Rinse the soap in the sink and then pick the soap up. | STEP 5: Turn right and walk to the tub. | STEP 6: Place the bar of soap in the tub. | END"]} +{"id": "trial_T20190908_064808_086925-2", "input": "Move a wet bar of soap to the tub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 1.0, 0, 90, 0, [SEP] 1, SoapBar, -2.197, 0.813, 0.342, 0, 0, 0, 29 [SEP] 2, SoapBar, -3.017, 0.954, 3.246, 0, 270, 0, 41 [SEP] 3, SoapBar, -1.816, 0.017, 0.109, 0, 0, 0, 35 [SEP] 4, Candle, -2.922, 0.813, 0.217, 0, 0, 0, 29 [SEP] 5, SprayBottle, -1.792, 0.019, 0.165, 0, 0, 0, 35 [SEP] 6, HandTowel, -0.034, 1.537, 3.105, 0, 90, 0, 37 [SEP] 7, Towel, -1.513, 1.496, 0.109, 0, 0, 0, 33 [SEP] 8, Cloth, -2.037, 0.811, 0.342, 0, 0, 0, 29 [SEP] 9, SoapBar, -2.892, 0.954, 3.220, 0, 270, 0, 41 [SEP] 10, ToiletPaper, -2.686, 0.946, 3.182, 0, 0, 0, 41 [SEP] 11, Plunger, -2.530, 0.000, 3.026, 0, 0, 0, [SEP] 12, Candle, -2.973, 0.195, 0.448, 0, 0, 0, 23 [SEP] 13, SoapBottle, -0.255, 0.219, 1.626, 0, 0, 0, 19 [SEP] 14, ToiletPaper, -0.309, 0.215, 2.502, 0, 0, 0, 20 [SEP] 15, SprayBottle, -0.155, 0.813, 1.585, 0, 0, 0, 32 [SEP] 16, ScrubBrush, -2.332, 0.000, 3.163, 0, 0, 0, [SEP] 17, Drawer, -0.325, 0.319, 2.155, 0, 0, 0, [SEP] 18, Mirror, 0.0, 1.473, 1.917, 0, 270, 0, [SEP] 19, Drawer, -0.325, 0.319, 1.717, 0, 0, 0, [SEP] 20, Drawer, -0.325, 0.319, 2.592, 0, 0, 0, [SEP] 21, Bathtub, -3.589, 0.107, 1.521, 0, 0, 0, [SEP] 22, Drawer, -0.325, 0.619, 2.592, 0, 0, 0, [SEP] 23, Drawer, -2.249, 0.319, 0.280, 0, 0, 0, [SEP] 24, Drawer, -0.325, 0.319, 3.030, 0, 0, 0, [SEP] 25, Mirror, 0.0, 1.473, 2.700, 0, 270, 0, [SEP] 26, Drawer, -0.325, 0.619, 3.030, 0, 0, 0, [SEP] 27, ShowerGlass, -0.494, 1.490, 0.528, 0, 0, 0, [SEP] 28, Sink, -2.539, 0.661, 0.252, 0, 0, 0, [SEP] 29, CounterTop, -2.540, 0.805, 0.280, 0, 0, 0, [SEP] 30, Drawer, -2.844, 0.319, 0.280, 0, 0, 0, [SEP] 31, ShowerDoor, -1.074, 1.033, 0.519, 0, 0, 0, [SEP] 32, CounterTop, -0.277, 0.785, 1.931, 0, 0, 0, [SEP] 33, TowelHolder, -1.513, 1.481, 0.002, 0, 0, 0, [SEP] 34, LightSwitch, -0.776, 1.371, 3.300, 0, 180, 0, [SEP] 35, GarbageCan, -1.754, 0.001, 0.227, 0, 0, 0, [SEP] 36, HandTowelHolder, -3.210, 1.588, 0.340, 0, 0, 0, [SEP] 37, HandTowelHolder, 0.004, 1.639, 3.105, 0, 180, 0, [SEP] 38, HandTowelHolder, 0.004, 1.639, 2.309, 0, 180, 0, [SEP] 39, HandTowelHolder, 0.004, 1.639, 1.542, 0, 180, 0, [SEP] 40, Window, -4.127, 1.519, 1.495, 90, 270, 0, [SEP] 41, Toilet, -2.842, 0.000, 2.755, 0, 180, 0, [SEP] 42, SinkBasin, -2.542, 0.706, 0.269, 0, 0, 0, [SEP] 43, BathtubBasin, -3.606, 0.182, 1.536, 0, 270, 0, [SEP] 44, ToiletPaperHanger, -2.349, 0.824, 3.299, 0, 180, 0, [SEP] 45, Faucet, -2.540, 0.794, 0.111, 0, 0, 0, [SEP] 46, Faucet, -0.111, 0.794, 1.921, 0, 270, 0, [SEP] 47, ShowerHead, -3.612, 1.776, 2.299, 0, 0, 0, [SEP] 48, ShowerHead, -0.079, 1.151, 0.662, 0, 0, 0, [SEP] 49, ShowerCurtain, -3.213, 2.098, 2.186, 0, 180, 0, [SEP] 50, Sink, -0.260, 0.661, 1.922, 0, 270, 0, [SEP] 51, SinkBasin, -0.277, 0.706, 1.920, 0, 270, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, SouthWall, , , , , , , ", "output": ["STEP 1: Move to stand in front of the bathroom sink. | STEP 2: Pick up the pink bar of soap from the counter to the left of the sink. | STEP 3: Move a little closer to the left edge of the counter while holding the soap. | STEP 4: Place the soap in the sink, turn on the water, and then remove the soap once wet. | STEP 5: Turn around to stand at the edge of the tub closest to you while holding the soap. | STEP 6: Place the soap in the tub to the right of the drain. | END"]} +{"id": "trial_T20190910_155319_795672-0", "input": "Move tissues from counter to toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.901, 1.0, 0, 0, 0, [SEP] 1, Cloth, -3.571, 0.219, 1.124, 0, 0, 0, 42 [SEP] 2, TissueBox, -1.067, 0.808, 0.155, 0, 90, 0, 26 [SEP] 3, TissueBox, -1.951, 0.201, 0.182, 0, 90, 0, 28 [SEP] 4, SoapBar, -1.784, 0.506, 0.238, 0, 90, 0, 32 [SEP] 5, SoapBar, -0.200, 0.982, 3.207, 0, 180, 0, 22 [SEP] 6, Candle, -1.895, 0.507, 0.126, 0, 90, 0, 26 [SEP] 7, Candle, -1.591, 0.807, 0.090, 0, 90, 0, 26 [SEP] 8, Towel, -2.554, 0.873, 0.106, 0, 0, 0, 34 [SEP] 9, Cloth, -1.329, 0.806, 0.352, 0, 90, 0, 26 [SEP] 10, Candle, -1.591, 0.807, 0.417, 0, 90, 0, 26 [SEP] 11, HandTowel, -0.038, 1.68, 2.956, 0, 90, 0, 37 [SEP] 12, SoapBar, -0.281, 0.808, 0.155, 0, 90, 0, 26 [SEP] 13, ToiletPaper, -2.250, 0.946, 2.670, 0, 0, 0, 40 [SEP] 14, Plunger, -2.307, 0.000, 3.231, 0, 0, 0, Floor|-00.08| [SEP] 15, SprayBottle, -2.274, 0.950, 2.327, 0, 180, 0, 40 [SEP] 16, TissueBox, -1.380, 0.203, 0.294, 0, 90, 0, 28 [SEP] 17, ToiletPaper, -1.567, 0.843, 3.221, 0, 180, 270, 36 [SEP] 18, ScrubBrush, -2.189, 0.000, 3.025, 0, 0, 0, Floor|-00.08| [SEP] 19, SoapBottle, -1.853, 0.809, 0.417, 0, 90, 0, 26 [SEP] 20, Drawer, -1.324, 0.312, 0.311, 0, 90, 0, [SEP] 21, Drawer, -0.290, 0.312, 0.311, 0, 90, 0, [SEP] 22, Sink, -0.463, -0.013, 3.046, 0, 180, 0, [SEP] 23, Mirror, -0.504, 1.741, 3.304, 0, 0, 0, [SEP] 24, Drawer, -0.808, 0.611, 0.311, 0, 90, 0, [SEP] 25, Drawer, -0.808, 0.312, 0.311, 0, 90, 0, [SEP] 26, CounterTop, -1.850, 0.001, 0.342, 0, 90, 0, [SEP] 27, Bathtub, -3.499, 0.148, 0.939, 0, 0, 0, [SEP] 28, Drawer, -1.840, 0.312, 0.311, 0, 90, 0, [SEP] 29, Faucet, -0.463, 0.969, 3.212, 0, 180, 0, [SEP] 30, Drawer, -0.290, 0.611, 0.311, 0, 90, 0, [SEP] 31, Drawer, -1.324, 0.611, 0.311, 0, 90, 0, [SEP] 32, Drawer, -1.840, 0.611, 0.311, 0, 90, 0, [SEP] 33, TowelHolder, -2.553, 1.582, 0.0, 0, 0, 0, [SEP] 34, TowelHolder, -2.553, 0.859, 0.0, 0, 0, 0, [SEP] 35, GarbageCan, -2.110, -0.001, 1.960, 0, 104.999, 0, [SEP] 36, ToiletPaperHanger, -1.628, 0.842, 3.305, 0, 180, 0, [SEP] 37, HandTowelHolder, 0.0, 1.781, 2.956, 0, 180, 0, [SEP] 38, LightSwitch, 0.0, 1.368, 1.993, 0, 270, 0, [SEP] 39, Window, -4.083, 1.735, 1.162, 90, 270, 0, [SEP] 40, Toilet, -1.835, 0.000, 2.503, 0, 90, 0, [SEP] 41, SinkBasin, -0.452, 0.888, 2.969, 0, 180, 0, [SEP] 42, BathtubBasin, -3.518, 0.210, 0.939, 0, 0, 0, [SEP] 43, ShowerHead, -3.540, 1.821, 1.820, 0, 0, 0, [SEP] 44, ShowerCurtain, -3.318, 2.572, 0.266, 0, 0, 8.184, [SEP] 45, NorthWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, SouthWall, , , , , , , ", "output": ["STEP 1: turn around facing counter | STEP 2: pick up box of tissues | STEP 3: Turn around, walk to toilet | STEP 4: place tissues on top of toilet | END"]} +{"id": "trial_T20190910_155319_795672-1", "input": "Put a box of tissues on top of the toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.901, 1.0, 0, 0, 0, [SEP] 1, Cloth, -3.571, 0.219, 1.124, 0, 0, 0, 42 [SEP] 2, TissueBox, -1.067, 0.808, 0.155, 0, 90, 0, 26 [SEP] 3, TissueBox, -1.951, 0.201, 0.182, 0, 90, 0, 28 [SEP] 4, SoapBar, -1.784, 0.506, 0.238, 0, 90, 0, 32 [SEP] 5, SoapBar, -0.200, 0.982, 3.207, 0, 180, 0, 22 [SEP] 6, Candle, -1.895, 0.507, 0.126, 0, 90, 0, 26 [SEP] 7, Candle, -1.591, 0.807, 0.090, 0, 90, 0, 26 [SEP] 8, Towel, -2.554, 0.873, 0.106, 0, 0, 0, 34 [SEP] 9, Cloth, -1.329, 0.806, 0.352, 0, 90, 0, 26 [SEP] 10, Candle, -1.591, 0.807, 0.417, 0, 90, 0, 26 [SEP] 11, HandTowel, -0.038, 1.68, 2.956, 0, 90, 0, 37 [SEP] 12, SoapBar, -0.281, 0.808, 0.155, 0, 90, 0, 26 [SEP] 13, ToiletPaper, -2.250, 0.946, 2.670, 0, 0, 0, 40 [SEP] 14, Plunger, -2.307, 0.000, 3.231, 0, 0, 0, Floor|-00.08| [SEP] 15, SprayBottle, -2.274, 0.950, 2.327, 0, 180, 0, 40 [SEP] 16, TissueBox, -1.380, 0.203, 0.294, 0, 90, 0, 28 [SEP] 17, ToiletPaper, -1.567, 0.843, 3.221, 0, 180, 270, 36 [SEP] 18, ScrubBrush, -2.189, 0.000, 3.025, 0, 0, 0, Floor|-00.08| [SEP] 19, SoapBottle, -1.853, 0.809, 0.417, 0, 90, 0, 26 [SEP] 20, Drawer, -1.324, 0.312, 0.311, 0, 90, 0, [SEP] 21, Drawer, -0.290, 0.312, 0.311, 0, 90, 0, [SEP] 22, Sink, -0.463, -0.013, 3.046, 0, 180, 0, [SEP] 23, Mirror, -0.504, 1.741, 3.304, 0, 0, 0, [SEP] 24, Drawer, -0.808, 0.611, 0.311, 0, 90, 0, [SEP] 25, Drawer, -0.808, 0.312, 0.311, 0, 90, 0, [SEP] 26, CounterTop, -1.850, 0.001, 0.342, 0, 90, 0, [SEP] 27, Bathtub, -3.499, 0.148, 0.939, 0, 0, 0, [SEP] 28, Drawer, -1.840, 0.312, 0.311, 0, 90, 0, [SEP] 29, Faucet, -0.463, 0.969, 3.212, 0, 180, 0, [SEP] 30, Drawer, -0.290, 0.611, 0.311, 0, 90, 0, [SEP] 31, Drawer, -1.324, 0.611, 0.311, 0, 90, 0, [SEP] 32, Drawer, -1.840, 0.611, 0.311, 0, 90, 0, [SEP] 33, TowelHolder, -2.553, 1.582, 0.0, 0, 0, 0, [SEP] 34, TowelHolder, -2.553, 0.859, 0.0, 0, 0, 0, [SEP] 35, GarbageCan, -2.110, -0.001, 1.960, 0, 104.999, 0, [SEP] 36, ToiletPaperHanger, -1.628, 0.842, 3.305, 0, 180, 0, [SEP] 37, HandTowelHolder, 0.0, 1.781, 2.956, 0, 180, 0, [SEP] 38, LightSwitch, 0.0, 1.368, 1.993, 0, 270, 0, [SEP] 39, Window, -4.083, 1.735, 1.162, 90, 270, 0, [SEP] 40, Toilet, -1.835, 0.000, 2.503, 0, 90, 0, [SEP] 41, SinkBasin, -0.452, 0.888, 2.969, 0, 180, 0, [SEP] 42, BathtubBasin, -3.518, 0.210, 0.939, 0, 0, 0, [SEP] 43, ShowerHead, -3.540, 1.821, 1.820, 0, 0, 0, [SEP] 44, ShowerCurtain, -3.318, 2.572, 0.266, 0, 0, 8.184, [SEP] 45, NorthWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around to face the counter. | STEP 2: Pick up the tissue box from the counter. | STEP 3: Turn around and walk to the side of the toilet. | STEP 4: Put the tissue box on top of the toilet between the spray bottle and toilet paper. | END"]} +{"id": "trial_T20190910_155319_795672-2", "input": "Put the tissue box on the toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.901, 1.0, 0, 0, 0, [SEP] 1, Cloth, -3.571, 0.219, 1.124, 0, 0, 0, 42 [SEP] 2, TissueBox, -1.067, 0.808, 0.155, 0, 90, 0, 26 [SEP] 3, TissueBox, -1.951, 0.201, 0.182, 0, 90, 0, 28 [SEP] 4, SoapBar, -1.784, 0.506, 0.238, 0, 90, 0, 32 [SEP] 5, SoapBar, -0.200, 0.982, 3.207, 0, 180, 0, 22 [SEP] 6, Candle, -1.895, 0.507, 0.126, 0, 90, 0, 26 [SEP] 7, Candle, -1.591, 0.807, 0.090, 0, 90, 0, 26 [SEP] 8, Towel, -2.554, 0.873, 0.106, 0, 0, 0, 34 [SEP] 9, Cloth, -1.329, 0.806, 0.352, 0, 90, 0, 26 [SEP] 10, Candle, -1.591, 0.807, 0.417, 0, 90, 0, 26 [SEP] 11, HandTowel, -0.038, 1.68, 2.956, 0, 90, 0, 37 [SEP] 12, SoapBar, -0.281, 0.808, 0.155, 0, 90, 0, 26 [SEP] 13, ToiletPaper, -2.250, 0.946, 2.670, 0, 0, 0, 40 [SEP] 14, Plunger, -2.307, 0.000, 3.231, 0, 0, 0, Floor|-00.08| [SEP] 15, SprayBottle, -2.274, 0.950, 2.327, 0, 180, 0, 40 [SEP] 16, TissueBox, -1.380, 0.203, 0.294, 0, 90, 0, 28 [SEP] 17, ToiletPaper, -1.567, 0.843, 3.221, 0, 180, 270, 36 [SEP] 18, ScrubBrush, -2.189, 0.000, 3.025, 0, 0, 0, Floor|-00.08| [SEP] 19, SoapBottle, -1.853, 0.809, 0.417, 0, 90, 0, 26 [SEP] 20, Drawer, -1.324, 0.312, 0.311, 0, 90, 0, [SEP] 21, Drawer, -0.290, 0.312, 0.311, 0, 90, 0, [SEP] 22, Sink, -0.463, -0.013, 3.046, 0, 180, 0, [SEP] 23, Mirror, -0.504, 1.741, 3.304, 0, 0, 0, [SEP] 24, Drawer, -0.808, 0.611, 0.311, 0, 90, 0, [SEP] 25, Drawer, -0.808, 0.312, 0.311, 0, 90, 0, [SEP] 26, CounterTop, -1.850, 0.001, 0.342, 0, 90, 0, [SEP] 27, Bathtub, -3.499, 0.148, 0.939, 0, 0, 0, [SEP] 28, Drawer, -1.840, 0.312, 0.311, 0, 90, 0, [SEP] 29, Faucet, -0.463, 0.969, 3.212, 0, 180, 0, [SEP] 30, Drawer, -0.290, 0.611, 0.311, 0, 90, 0, [SEP] 31, Drawer, -1.324, 0.611, 0.311, 0, 90, 0, [SEP] 32, Drawer, -1.840, 0.611, 0.311, 0, 90, 0, [SEP] 33, TowelHolder, -2.553, 1.582, 0.0, 0, 0, 0, [SEP] 34, TowelHolder, -2.553, 0.859, 0.0, 0, 0, 0, [SEP] 35, GarbageCan, -2.110, -0.001, 1.960, 0, 104.999, 0, [SEP] 36, ToiletPaperHanger, -1.628, 0.842, 3.305, 0, 180, 0, [SEP] 37, HandTowelHolder, 0.0, 1.781, 2.956, 0, 180, 0, [SEP] 38, LightSwitch, 0.0, 1.368, 1.993, 0, 270, 0, [SEP] 39, Window, -4.083, 1.735, 1.162, 90, 270, 0, [SEP] 40, Toilet, -1.835, 0.000, 2.503, 0, 90, 0, [SEP] 41, SinkBasin, -0.452, 0.888, 2.969, 0, 180, 0, [SEP] 42, BathtubBasin, -3.518, 0.210, 0.939, 0, 0, 0, [SEP] 43, ShowerHead, -3.540, 1.821, 1.820, 0, 0, 0, [SEP] 44, ShowerCurtain, -3.318, 2.572, 0.266, 0, 0, 8.184, [SEP] 45, NorthWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around to face the white counter | STEP 2: Pick up the tissue box from the counter | STEP 3: Turn around and walk forward to the toilet | STEP 4: Put the tissue box on top of the back of the toilet | END"]} +{"id": "trial_T20190907_031918_448619-0", "input": "Examine the credit card by the light of the lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 2.5, 0, 90, 0, [SEP] 1, Watch, 0.031, 0.473, 0.266, 0, 90, 0, 28 [SEP] 2, CreditCard, 1.450, 0.756, 0.241, 0, 270, 0, 31 [SEP] 3, CreditCard, -1.697, 0.488, 1.624, 0, 0, 0, 38 [SEP] 4, CreditCard, -1.438, 0.488, 1.818, 0, 0, 0, 38 [SEP] 5, RemoteControl, 1.825, 0.759, 0.691, 0, 270, 0, 31 [SEP] 6, RemoteControl, -1.349, 0.329, 1.051, 0, 90, 0, 39 [SEP] 7, Laptop, -0.134, 0.471, -0.086, 0, 90, 0, 28 [SEP] 8, Laptop, -1.270, 0.331, 0.643, 0, 90, 0, 39 [SEP] 9, Box, -0.007, 0.65, 0.892, 0, 0, 0, 28 [SEP] 10, Laptop, -0.196, 0.470, 0.407, 0, 72.615, 0, 28 [SEP] 11, CreditCard, -1.857, 1.625, -1.549, 0, 90, 0, 40 [SEP] 12, KeyChain, 0.630, 0.309, 2.037, 0, 0, 0, 42 [SEP] 13, Vase, -1.790, 1.315, -1.778, 0, 0, 0, 41 [SEP] 14, Vase, -1.438, 0.493, 1.689, 0, 0, 0, 38 [SEP] 15, Pillow, -1.235, 0.461, -0.025, 0, 75.000, 0, 39 [SEP] 16, RemoteControl, -1.428, 0.329, 0.236, 0, 90, 0, 39 [SEP] 17, Watch, 1.525, 0.757, -0.208, 0, 270, 0, 31 [SEP] 18, Vase, 1.600, 0.764, 0.541, 0, 270, 0, 31 [SEP] 19, Statue, 1.600, 0.767, -0.058, 0, 270, 0, 31 [SEP] 20, Television, 1.826, 1.241, 0.248, 0, 270, 0, [SEP] 21, LightSwitch, -2.0, 1.332, 3.920, 0, 90, 0, [SEP] 22, Window, -0.216, 1.495, -1.878, 90, 0, 0, [SEP] 23, HousePlant, -1.780, 0.468, 1.965, 0, 0, 0, [SEP] 24, Painting, -2.0, 1.577, 0.418, 90, 270, 0, [SEP] 25, GarbageCan, 1.767, -0.001, 3.878, 0, 0, 0, [SEP] 26, FloorLamp, 1.228, 0.000, 3.744, 0, 0, 0, [SEP] 27, Painting, -0.096, 1.578, 4.050, 90, 0, 0, [SEP] 28, CoffeeTable, -0.150, 0.000, 0.421, 0, 270, 0, [SEP] 29, Shelf, 1.663, 0.474, 0.609, 0, 270, 0, [SEP] 30, Shelf, 1.663, 0.273, 0.609, 0, 270, 0, [SEP] 31, TVStand, 1.669, -0.000, 0.243, 0, 270, 0, [SEP] 32, Shelf, 1.663, 0.302, -0.124, 0, 270, 0, [SEP] 33, Shelf, 1.663, 0.442, 0.241, 0, 270, 0, [SEP] 34, Shelf, 1.663, 0.597, -0.124, 0, 270, 0, [SEP] 35, Shelf, 1.663, 0.643, 0.609, 0, 270, 0, [SEP] 36, Cabinet, -1.767, 0.729, -1.593, 0, 91.801, 0, [SEP] 37, Shelf, -1.769, 2.041, -1.593, 0, 91.801, 0, [SEP] 38, SideTable, -1.567, -0.002, 1.818, 0, 90, 0, [SEP] 39, Sofa, -1.445, 0.008, 0.420, 0, 90, 0, [SEP] 40, Shelf, -1.769, 1.744, -1.593, 0, 91.801, 0, [SEP] 41, Shelf, -1.768, 1.452, -1.593, 0, 91.801, 0, [SEP] 42, ArmChair, 0.396, 0.005, 2.194, 0, 180, 0, [SEP] 43, ArmChair, -0.633, 0.005, 2.194, 0, 180, 0, [SEP] 44, ShelvingUnit, -1.786, 0.001, -1.592, 0, 91.801, 0, [SEP] 45, NorthWall, , , , , , , [SEP] 46, EastWall, , , , , , , [SEP] 47, SouthWall, , , , , , , [SEP] 48, WestWall, , , , , , , ", "output": ["STEP 1: Move to the round table with the plant. | STEP 2: Pick up the credit card on the left from the table. | STEP 3: Bring the credit card to the green lamp. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190907_031918_448619-1", "input": "Examine the credit card under the light of the floor lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 2.5, 0, 90, 0, [SEP] 1, Watch, 0.031, 0.473, 0.266, 0, 90, 0, 28 [SEP] 2, CreditCard, 1.450, 0.756, 0.241, 0, 270, 0, 31 [SEP] 3, CreditCard, -1.697, 0.488, 1.624, 0, 0, 0, 38 [SEP] 4, CreditCard, -1.438, 0.488, 1.818, 0, 0, 0, 38 [SEP] 5, RemoteControl, 1.825, 0.759, 0.691, 0, 270, 0, 31 [SEP] 6, RemoteControl, -1.349, 0.329, 1.051, 0, 90, 0, 39 [SEP] 7, Laptop, -0.134, 0.471, -0.086, 0, 90, 0, 28 [SEP] 8, Laptop, -1.270, 0.331, 0.643, 0, 90, 0, 39 [SEP] 9, Box, -0.007, 0.65, 0.892, 0, 0, 0, 28 [SEP] 10, Laptop, -0.196, 0.470, 0.407, 0, 72.615, 0, 28 [SEP] 11, CreditCard, -1.857, 1.625, -1.549, 0, 90, 0, 40 [SEP] 12, KeyChain, 0.630, 0.309, 2.037, 0, 0, 0, 42 [SEP] 13, Vase, -1.790, 1.315, -1.778, 0, 0, 0, 41 [SEP] 14, Vase, -1.438, 0.493, 1.689, 0, 0, 0, 38 [SEP] 15, Pillow, -1.235, 0.461, -0.025, 0, 75.000, 0, 39 [SEP] 16, RemoteControl, -1.428, 0.329, 0.236, 0, 90, 0, 39 [SEP] 17, Watch, 1.525, 0.757, -0.208, 0, 270, 0, 31 [SEP] 18, Vase, 1.600, 0.764, 0.541, 0, 270, 0, 31 [SEP] 19, Statue, 1.600, 0.767, -0.058, 0, 270, 0, 31 [SEP] 20, Television, 1.826, 1.241, 0.248, 0, 270, 0, [SEP] 21, LightSwitch, -2.0, 1.332, 3.920, 0, 90, 0, [SEP] 22, Window, -0.216, 1.495, -1.878, 90, 0, 0, [SEP] 23, HousePlant, -1.780, 0.468, 1.965, 0, 0, 0, [SEP] 24, Painting, -2.0, 1.577, 0.418, 90, 270, 0, [SEP] 25, GarbageCan, 1.767, -0.001, 3.878, 0, 0, 0, [SEP] 26, FloorLamp, 1.228, 0.000, 3.744, 0, 0, 0, [SEP] 27, Painting, -0.096, 1.578, 4.050, 90, 0, 0, [SEP] 28, CoffeeTable, -0.150, 0.000, 0.421, 0, 270, 0, [SEP] 29, Shelf, 1.663, 0.474, 0.609, 0, 270, 0, [SEP] 30, Shelf, 1.663, 0.273, 0.609, 0, 270, 0, [SEP] 31, TVStand, 1.669, -0.000, 0.243, 0, 270, 0, [SEP] 32, Shelf, 1.663, 0.302, -0.124, 0, 270, 0, [SEP] 33, Shelf, 1.663, 0.442, 0.241, 0, 270, 0, [SEP] 34, Shelf, 1.663, 0.597, -0.124, 0, 270, 0, [SEP] 35, Shelf, 1.663, 0.643, 0.609, 0, 270, 0, [SEP] 36, Cabinet, -1.767, 0.729, -1.593, 0, 91.801, 0, [SEP] 37, Shelf, -1.769, 2.041, -1.593, 0, 91.801, 0, [SEP] 38, SideTable, -1.567, -0.002, 1.818, 0, 90, 0, [SEP] 39, Sofa, -1.445, 0.008, 0.420, 0, 90, 0, [SEP] 40, Shelf, -1.769, 1.744, -1.593, 0, 91.801, 0, [SEP] 41, Shelf, -1.768, 1.452, -1.593, 0, 91.801, 0, [SEP] 42, ArmChair, 0.396, 0.005, 2.194, 0, 180, 0, [SEP] 43, ArmChair, -0.633, 0.005, 2.194, 0, 180, 0, [SEP] 44, ShelvingUnit, -1.786, 0.001, -1.592, 0, 91.801, 0, [SEP] 45, NorthWall, , , , , , , [SEP] 46, EastWall, , , , , , , [SEP] 47, SouthWall, , , , , , , [SEP] 48, WestWall, , , , , , , ", "output": ["STEP 1: Turn right to face the round side table with a plant on it | STEP 2: Pick up the red credit card from the table | STEP 3: Turn left and walk behind the chairs to the floor lamp in the corner | STEP 4: Turn on the floor lamp | END"]} +{"id": "trial_T20190907_031918_448619-2", "input": "Turn on a green lamp with a credit card. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 2.5, 0, 90, 0, [SEP] 1, Watch, 0.031, 0.473, 0.266, 0, 90, 0, 28 [SEP] 2, CreditCard, 1.450, 0.756, 0.241, 0, 270, 0, 31 [SEP] 3, CreditCard, -1.697, 0.488, 1.624, 0, 0, 0, 38 [SEP] 4, CreditCard, -1.438, 0.488, 1.818, 0, 0, 0, 38 [SEP] 5, RemoteControl, 1.825, 0.759, 0.691, 0, 270, 0, 31 [SEP] 6, RemoteControl, -1.349, 0.329, 1.051, 0, 90, 0, 39 [SEP] 7, Laptop, -0.134, 0.471, -0.086, 0, 90, 0, 28 [SEP] 8, Laptop, -1.270, 0.331, 0.643, 0, 90, 0, 39 [SEP] 9, Box, -0.007, 0.65, 0.892, 0, 0, 0, 28 [SEP] 10, Laptop, -0.196, 0.470, 0.407, 0, 72.615, 0, 28 [SEP] 11, CreditCard, -1.857, 1.625, -1.549, 0, 90, 0, 40 [SEP] 12, KeyChain, 0.630, 0.309, 2.037, 0, 0, 0, 42 [SEP] 13, Vase, -1.790, 1.315, -1.778, 0, 0, 0, 41 [SEP] 14, Vase, -1.438, 0.493, 1.689, 0, 0, 0, 38 [SEP] 15, Pillow, -1.235, 0.461, -0.025, 0, 75.000, 0, 39 [SEP] 16, RemoteControl, -1.428, 0.329, 0.236, 0, 90, 0, 39 [SEP] 17, Watch, 1.525, 0.757, -0.208, 0, 270, 0, 31 [SEP] 18, Vase, 1.600, 0.764, 0.541, 0, 270, 0, 31 [SEP] 19, Statue, 1.600, 0.767, -0.058, 0, 270, 0, 31 [SEP] 20, Television, 1.826, 1.241, 0.248, 0, 270, 0, [SEP] 21, LightSwitch, -2.0, 1.332, 3.920, 0, 90, 0, [SEP] 22, Window, -0.216, 1.495, -1.878, 90, 0, 0, [SEP] 23, HousePlant, -1.780, 0.468, 1.965, 0, 0, 0, [SEP] 24, Painting, -2.0, 1.577, 0.418, 90, 270, 0, [SEP] 25, GarbageCan, 1.767, -0.001, 3.878, 0, 0, 0, [SEP] 26, FloorLamp, 1.228, 0.000, 3.744, 0, 0, 0, [SEP] 27, Painting, -0.096, 1.578, 4.050, 90, 0, 0, [SEP] 28, CoffeeTable, -0.150, 0.000, 0.421, 0, 270, 0, [SEP] 29, Shelf, 1.663, 0.474, 0.609, 0, 270, 0, [SEP] 30, Shelf, 1.663, 0.273, 0.609, 0, 270, 0, [SEP] 31, TVStand, 1.669, -0.000, 0.243, 0, 270, 0, [SEP] 32, Shelf, 1.663, 0.302, -0.124, 0, 270, 0, [SEP] 33, Shelf, 1.663, 0.442, 0.241, 0, 270, 0, [SEP] 34, Shelf, 1.663, 0.597, -0.124, 0, 270, 0, [SEP] 35, Shelf, 1.663, 0.643, 0.609, 0, 270, 0, [SEP] 36, Cabinet, -1.767, 0.729, -1.593, 0, 91.801, 0, [SEP] 37, Shelf, -1.769, 2.041, -1.593, 0, 91.801, 0, [SEP] 38, SideTable, -1.567, -0.002, 1.818, 0, 90, 0, [SEP] 39, Sofa, -1.445, 0.008, 0.420, 0, 90, 0, [SEP] 40, Shelf, -1.769, 1.744, -1.593, 0, 91.801, 0, [SEP] 41, Shelf, -1.768, 1.452, -1.593, 0, 91.801, 0, [SEP] 42, ArmChair, 0.396, 0.005, 2.194, 0, 180, 0, [SEP] 43, ArmChair, -0.633, 0.005, 2.194, 0, 180, 0, [SEP] 44, ShelvingUnit, -1.786, 0.001, -1.592, 0, 91.801, 0, [SEP] 45, NorthWall, , , , , , , [SEP] 46, EastWall, , , , , , , [SEP] 47, SouthWall, , , , , , , [SEP] 48, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and face the round table with. | STEP 2: Pick up the red credit card from the round table. | STEP 3: Turn around and bring the red credit card in the green lamp. | STEP 4: Turn on the green lamp. | END"]} +{"id": "trial_T20190906_210937_878489-0", "input": "Take the apple from the table, put it in the refrigerator, take it out, heat the apple in the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.901, -2.25, 0, 270, 0, [SEP] 1, Pan, -0.165, 0.975, -2.450, 0, 0, 0, 67 [SEP] 2, Pan, -0.854, 0.912, -3.878, 0, 90, 0, 35 [SEP] 3, Spatula, -0.338, 0.930, -1.555, 0, 0, 0, 62 [SEP] 4, Spatula, -3.111, 0.728, -0.652, 0, 225, 0, 79 [SEP] 5, Spoon, -2.928, 0.718, -0.922, 0, 0, 0, 79 [SEP] 6, Cup, -2.678, 0.717, -0.780, 0, 0, 0, 79 [SEP] 7, Cup, -2.877, 0.717, -0.684, 0, 225, 0, 79 [SEP] 8, Knife, -0.441, 0.778, -0.609, 0, 270, 0, 61 [SEP] 9, Knife, -0.095, 0.948, -1.493, 0, 90, 0, 62 [SEP] 10, PepperShaker, -0.102, 1.864, -2.586, 0, 0, 0, 54 [SEP] 11, PepperShaker, -0.296, 0.076, -0.993, 0, 0, 0, 39 [SEP] 12, Mug, -3.286, 1.008, -1.879, 0, 90, 0, 76 [SEP] 13, Mug, -3.127, 1.863, -2.508, 0, 0, 0, 76 [SEP] 14, Pot, -2.836, 0.903, -3.745, 0, 92.628, 0, 35 [SEP] 15, Egg, -2.865, 0.749, -0.780, 0, 0, 0, 79 [SEP] 16, Cup, -0.014, 0.916, -1.370, 0, 0, 0, 62 [SEP] 17, Bread, -0.327, 0.948, -3.681, 0, 298.222, 0, 35 [SEP] 18, Fork, -3.024, 0.747, -2.857, 0, 270, 0, 57 [SEP] 19, Pan, -0.165, 0.975, -2.030, 0, 180, 0, 66 [SEP] 20, Potato, -2.821, 0.760, -0.540, 0, 225, 0, 79 [SEP] 21, Lettuce, -1.324, 0.988, -3.759, 1.631, 253.771, 357.213, 35 [SEP] 22, Tomato, -0.500, 0.965, -1.432, 0, 0, 0, 62 [SEP] 23, Apple, -2.620, 0.759, -0.339, 0, 225, 0, 79 [SEP] 24, SoapBottle, -2.532, 0.716, -0.564, 0, 135, 0, 79 [SEP] 25, Spatula, -3.292, 0.728, -0.495, 0, 270, 0, 79 [SEP] 26, SaltShaker, -3.338, 1.288, -3.108, 0, 0, 0, 47 [SEP] 27, Knife, -0.338, 0.948, -0.507, 0, 0, 0, 62 [SEP] 28, PepperShaker, -0.382, 0.742, -0.837, 0, 0, 0, 61 [SEP] 29, ButterKnife, -0.328, 0.913, -3.012, 0, 0, 0, 35 [SEP] 30, Plate, -1.914, 0.788, -3.747, 0, 0, 0, 77 [SEP] 31, DishSponge, -0.412, 0.745, -0.912, 0, 0, 0, 61 [SEP] 32, Spoon, -2.519, 0.718, -0.753, 0, 135, 0, 79 [SEP] 33, Mug, -2.930, 0.762, -0.358, 0, 135, 0, 75 [SEP] 34, Bowl, -3.079, 1.011, -2.064, 0, 90, 0, 76 [SEP] 35, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0, [SEP] 36, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0, [SEP] 37, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0, [SEP] 38, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0, [SEP] 39, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0, [SEP] 40, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0, [SEP] 41, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0, [SEP] 42, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0, [SEP] 43, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0, [SEP] 44, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0, [SEP] 45, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0, [SEP] 46, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0, [SEP] 47, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0, [SEP] 48, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0, [SEP] 49, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0, [SEP] 50, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0, [SEP] 51, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0, [SEP] 52, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0, [SEP] 53, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0, [SEP] 54, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0, [SEP] 55, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0, [SEP] 56, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0, [SEP] 57, Drawer, -3.104, 0.797, -2.968, 0, 0, 0, [SEP] 58, Drawer, -0.449, 0.797, -1.410, 0, 0, 0, [SEP] 59, Sink, -1.786, 0.902, -3.748, 0, 0, 0, [SEP] 60, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0, [SEP] 61, Drawer, -0.449, 0.797, -0.762, 0, 0, 0, [SEP] 62, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0, [SEP] 63, Drawer, -0.449, 0.797, -3.348, 0, 0, 0, [SEP] 64, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0, [SEP] 65, Drawer, -0.449, 0.797, -2.968, 0, 0, 0, [SEP] 66, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0, [SEP] 67, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0, [SEP] 68, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0, [SEP] 69, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0, [SEP] 70, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0, [SEP] 71, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0, [SEP] 72, Microwave, -0.143, 0.903, -0.908, 0, 270, 0, [SEP] 73, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0, [SEP] 74, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0, [SEP] 75, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0, [SEP] 76, Fridge, -3.188, 0.0, -2.184, 0, 0, 0, [SEP] 77, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0, [SEP] 78, Toaster, -0.230, 0.903, -3.406, 0, 270, 0, [SEP] 79, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0, [SEP] 80, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0, [SEP] 81, Faucet, -1.791, 1.136, -3.913, 0, 270, 0, [SEP] 82, NorthWall, , , , , , , [SEP] 83, EastWall, , , , , , , [SEP] 84, SouthWall, , , , , , , [SEP] 85, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the dining table | STEP 2: Grab the apple on the table | STEP 3: Turn left, go to the refrigerator | STEP 4: Open the refrigerator, put the apple on the shelf below the shelf with a pan, close the refrigerator, open the refrigerator, take the apple out | STEP 5: Turn around and walk to the microwave | STEP 6: Open the microwave and put the apple in | END"]} +{"id": "trial_T20190906_210937_878489-1", "input": "Put a chilled apple in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.901, -2.25, 0, 270, 0, [SEP] 1, Pan, -0.165, 0.975, -2.450, 0, 0, 0, 67 [SEP] 2, Pan, -0.854, 0.912, -3.878, 0, 90, 0, 35 [SEP] 3, Spatula, -0.338, 0.930, -1.555, 0, 0, 0, 62 [SEP] 4, Spatula, -3.111, 0.728, -0.652, 0, 225, 0, 79 [SEP] 5, Spoon, -2.928, 0.718, -0.922, 0, 0, 0, 79 [SEP] 6, Cup, -2.678, 0.717, -0.780, 0, 0, 0, 79 [SEP] 7, Cup, -2.877, 0.717, -0.684, 0, 225, 0, 79 [SEP] 8, Knife, -0.441, 0.778, -0.609, 0, 270, 0, 61 [SEP] 9, Knife, -0.095, 0.948, -1.493, 0, 90, 0, 62 [SEP] 10, PepperShaker, -0.102, 1.864, -2.586, 0, 0, 0, 54 [SEP] 11, PepperShaker, -0.296, 0.076, -0.993, 0, 0, 0, 39 [SEP] 12, Mug, -3.286, 1.008, -1.879, 0, 90, 0, 76 [SEP] 13, Mug, -3.127, 1.863, -2.508, 0, 0, 0, 76 [SEP] 14, Pot, -2.836, 0.903, -3.745, 0, 92.628, 0, 35 [SEP] 15, Egg, -2.865, 0.749, -0.780, 0, 0, 0, 79 [SEP] 16, Cup, -0.014, 0.916, -1.370, 0, 0, 0, 62 [SEP] 17, Bread, -0.327, 0.948, -3.681, 0, 298.222, 0, 35 [SEP] 18, Fork, -3.024, 0.747, -2.857, 0, 270, 0, 57 [SEP] 19, Pan, -0.165, 0.975, -2.030, 0, 180, 0, 66 [SEP] 20, Potato, -2.821, 0.760, -0.540, 0, 225, 0, 79 [SEP] 21, Lettuce, -1.324, 0.988, -3.759, 1.631, 253.771, 357.213, 35 [SEP] 22, Tomato, -0.500, 0.965, -1.432, 0, 0, 0, 62 [SEP] 23, Apple, -2.620, 0.759, -0.339, 0, 225, 0, 79 [SEP] 24, SoapBottle, -2.532, 0.716, -0.564, 0, 135, 0, 79 [SEP] 25, Spatula, -3.292, 0.728, -0.495, 0, 270, 0, 79 [SEP] 26, SaltShaker, -3.338, 1.288, -3.108, 0, 0, 0, 47 [SEP] 27, Knife, -0.338, 0.948, -0.507, 0, 0, 0, 62 [SEP] 28, PepperShaker, -0.382, 0.742, -0.837, 0, 0, 0, 61 [SEP] 29, ButterKnife, -0.328, 0.913, -3.012, 0, 0, 0, 35 [SEP] 30, Plate, -1.914, 0.788, -3.747, 0, 0, 0, 77 [SEP] 31, DishSponge, -0.412, 0.745, -0.912, 0, 0, 0, 61 [SEP] 32, Spoon, -2.519, 0.718, -0.753, 0, 135, 0, 79 [SEP] 33, Mug, -2.930, 0.762, -0.358, 0, 135, 0, 75 [SEP] 34, Bowl, -3.079, 1.011, -2.064, 0, 90, 0, 76 [SEP] 35, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0, [SEP] 36, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0, [SEP] 37, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0, [SEP] 38, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0, [SEP] 39, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0, [SEP] 40, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0, [SEP] 41, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0, [SEP] 42, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0, [SEP] 43, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0, [SEP] 44, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0, [SEP] 45, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0, [SEP] 46, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0, [SEP] 47, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0, [SEP] 48, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0, [SEP] 49, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0, [SEP] 50, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0, [SEP] 51, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0, [SEP] 52, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0, [SEP] 53, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0, [SEP] 54, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0, [SEP] 55, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0, [SEP] 56, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0, [SEP] 57, Drawer, -3.104, 0.797, -2.968, 0, 0, 0, [SEP] 58, Drawer, -0.449, 0.797, -1.410, 0, 0, 0, [SEP] 59, Sink, -1.786, 0.902, -3.748, 0, 0, 0, [SEP] 60, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0, [SEP] 61, Drawer, -0.449, 0.797, -0.762, 0, 0, 0, [SEP] 62, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0, [SEP] 63, Drawer, -0.449, 0.797, -3.348, 0, 0, 0, [SEP] 64, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0, [SEP] 65, Drawer, -0.449, 0.797, -2.968, 0, 0, 0, [SEP] 66, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0, [SEP] 67, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0, [SEP] 68, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0, [SEP] 69, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0, [SEP] 70, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0, [SEP] 71, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0, [SEP] 72, Microwave, -0.143, 0.903, -0.908, 0, 270, 0, [SEP] 73, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0, [SEP] 74, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0, [SEP] 75, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0, [SEP] 76, Fridge, -3.188, 0.0, -2.184, 0, 0, 0, [SEP] 77, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0, [SEP] 78, Toaster, -0.230, 0.903, -3.406, 0, 270, 0, [SEP] 79, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0, [SEP] 80, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0, [SEP] 81, Faucet, -1.791, 1.136, -3.913, 0, 270, 0, [SEP] 82, NorthWall, , , , , , , [SEP] 83, EastWall, , , , , , , [SEP] 84, SouthWall, , , , , , , [SEP] 85, WestWall, , , , , , , ", "output": ["STEP 1: Move to the round table. | STEP 2: Pick up the apple from the table. | STEP 3: Bring the apple to the fridge. | STEP 4: Chill the apple in the fridge. | STEP 5: Bring the apple to the microwave. | STEP 6: Put the apple in the microwave. | END"]} +{"id": "trial_T20190906_210937_878489-2", "input": "To take, choose and clear out an item like an human while on foot beat. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.901, -2.25, 0, 270, 0, [SEP] 1, Pan, -0.165, 0.975, -2.450, 0, 0, 0, 67 [SEP] 2, Pan, -0.854, 0.912, -3.878, 0, 90, 0, 35 [SEP] 3, Spatula, -0.338, 0.930, -1.555, 0, 0, 0, 62 [SEP] 4, Spatula, -3.111, 0.728, -0.652, 0, 225, 0, 79 [SEP] 5, Spoon, -2.928, 0.718, -0.922, 0, 0, 0, 79 [SEP] 6, Cup, -2.678, 0.717, -0.780, 0, 0, 0, 79 [SEP] 7, Cup, -2.877, 0.717, -0.684, 0, 225, 0, 79 [SEP] 8, Knife, -0.441, 0.778, -0.609, 0, 270, 0, 61 [SEP] 9, Knife, -0.095, 0.948, -1.493, 0, 90, 0, 62 [SEP] 10, PepperShaker, -0.102, 1.864, -2.586, 0, 0, 0, 54 [SEP] 11, PepperShaker, -0.296, 0.076, -0.993, 0, 0, 0, 39 [SEP] 12, Mug, -3.286, 1.008, -1.879, 0, 90, 0, 76 [SEP] 13, Mug, -3.127, 1.863, -2.508, 0, 0, 0, 76 [SEP] 14, Pot, -2.836, 0.903, -3.745, 0, 92.628, 0, 35 [SEP] 15, Egg, -2.865, 0.749, -0.780, 0, 0, 0, 79 [SEP] 16, Cup, -0.014, 0.916, -1.370, 0, 0, 0, 62 [SEP] 17, Bread, -0.327, 0.948, -3.681, 0, 298.222, 0, 35 [SEP] 18, Fork, -3.024, 0.747, -2.857, 0, 270, 0, 57 [SEP] 19, Pan, -0.165, 0.975, -2.030, 0, 180, 0, 66 [SEP] 20, Potato, -2.821, 0.760, -0.540, 0, 225, 0, 79 [SEP] 21, Lettuce, -1.324, 0.988, -3.759, 1.631, 253.771, 357.213, 35 [SEP] 22, Tomato, -0.500, 0.965, -1.432, 0, 0, 0, 62 [SEP] 23, Apple, -2.620, 0.759, -0.339, 0, 225, 0, 79 [SEP] 24, SoapBottle, -2.532, 0.716, -0.564, 0, 135, 0, 79 [SEP] 25, Spatula, -3.292, 0.728, -0.495, 0, 270, 0, 79 [SEP] 26, SaltShaker, -3.338, 1.288, -3.108, 0, 0, 0, 47 [SEP] 27, Knife, -0.338, 0.948, -0.507, 0, 0, 0, 62 [SEP] 28, PepperShaker, -0.382, 0.742, -0.837, 0, 0, 0, 61 [SEP] 29, ButterKnife, -0.328, 0.913, -3.012, 0, 0, 0, 35 [SEP] 30, Plate, -1.914, 0.788, -3.747, 0, 0, 0, 77 [SEP] 31, DishSponge, -0.412, 0.745, -0.912, 0, 0, 0, 61 [SEP] 32, Spoon, -2.519, 0.718, -0.753, 0, 135, 0, 79 [SEP] 33, Mug, -2.930, 0.762, -0.358, 0, 135, 0, 75 [SEP] 34, Bowl, -3.079, 1.011, -2.064, 0, 90, 0, 76 [SEP] 35, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0, [SEP] 36, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0, [SEP] 37, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0, [SEP] 38, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0, [SEP] 39, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0, [SEP] 40, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0, [SEP] 41, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0, [SEP] 42, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0, [SEP] 43, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0, [SEP] 44, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0, [SEP] 45, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0, [SEP] 46, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0, [SEP] 47, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0, [SEP] 48, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0, [SEP] 49, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0, [SEP] 50, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0, [SEP] 51, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0, [SEP] 52, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0, [SEP] 53, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0, [SEP] 54, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0, [SEP] 55, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0, [SEP] 56, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0, [SEP] 57, Drawer, -3.104, 0.797, -2.968, 0, 0, 0, [SEP] 58, Drawer, -0.449, 0.797, -1.410, 0, 0, 0, [SEP] 59, Sink, -1.786, 0.902, -3.748, 0, 0, 0, [SEP] 60, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0, [SEP] 61, Drawer, -0.449, 0.797, -0.762, 0, 0, 0, [SEP] 62, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0, [SEP] 63, Drawer, -0.449, 0.797, -3.348, 0, 0, 0, [SEP] 64, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0, [SEP] 65, Drawer, -0.449, 0.797, -2.968, 0, 0, 0, [SEP] 66, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0, [SEP] 67, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0, [SEP] 68, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0, [SEP] 69, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0, [SEP] 70, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0, [SEP] 71, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0, [SEP] 72, Microwave, -0.143, 0.903, -0.908, 0, 270, 0, [SEP] 73, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0, [SEP] 74, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0, [SEP] 75, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0, [SEP] 76, Fridge, -3.188, 0.0, -2.184, 0, 0, 0, [SEP] 77, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0, [SEP] 78, Toaster, -0.230, 0.903, -3.406, 0, 270, 0, [SEP] 79, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0, [SEP] 80, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0, [SEP] 81, Faucet, -1.791, 1.136, -3.913, 0, 270, 0, [SEP] 82, NorthWall, , , , , , , [SEP] 83, EastWall, , , , , , , [SEP] 84, SouthWall, , , , , , , [SEP] 85, WestWall, , , , , , , ", "output": ["STEP 1: You have to turn away from the fridge to your right, rotate for three moves. | STEP 2: At the round table grab the red apple. | STEP 3: Take the apple traveling in left flank to the fridge. | STEP 4: Open the fridge door and place the apple on the shelf. | STEP 5: Take the apple back, before closing in the fridge door. | STEP 6: You have to take the apple into the microwave, where you close and press the red stamp button. | END"]} +{"id": "trial_T20190909_021000_274398-0", "input": "Place a remote control on a chair. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.908, 5.25, 0, 270, 0, [SEP] 1, Plate, -3.155, 0.797, 2.061, 0, 0, 0, 56 [SEP] 2, TissueBox, -5.718, 0.077, 0.234, 0, 45, 0, 32 [SEP] 3, Watch, -3.289, 0.533, 8.471, 0, 180, 0, 62 [SEP] 4, KeyChain, -2.324, 0.783, 2.061, 0, 0, 0, 56 [SEP] 5, KeyChain, -2.810, 0.535, 8.409, 0, 180, 0, 62 [SEP] 6, CreditCard, -3.600, 0.331, 4.514, 0, 0, 0, 54 [SEP] 7, CreditCard, -0.320, 0.675, 0.474, 0, 239.437, 0, 51 [SEP] 8, RemoteControl, -3.427, 0.457, 7.182, 0, 0, 0, 53 [SEP] 9, RemoteControl, -2.878, 0.782, 2.526, 0, 0, 0, 56 [SEP] 10, Box, -1.623, 0.583, 7.334, 0, 90, 0, 49 [SEP] 11, Box, -2.047, 0.910, 2.371, 0, 0, 0, 56 [SEP] 12, Box, -1.852, 0.583, 5.847, 0, 0, 0, 49 [SEP] 13, KeyChain, -1.623, 0.456, 5.847, 0, 0, 0, 49 [SEP] 14, Plate, -3.155, 0.798, 1.751, 0, 0, 0, 56 [SEP] 15, Candle, -3.427, 0.458, 6.138, 0, 0, 0, 53 [SEP] 16, Pillow, -1.775, 0.516, 6.441, 0, 0, 0, 49 [SEP] 17, Candle, -0.624, 0.667, 8.444, 0, 0, 0, 52 [SEP] 18, TissueBox, -2.324, 0.783, 2.681, 0, 0, 0, 56 [SEP] 19, Laptop, -3.216, 0.450, 6.333, 0, 0, 0, 53 [SEP] 20, Newspaper, -3.709, 0.781, 2.061, 0, 0, 0, 56 [SEP] 21, CreditCard, -2.878, 0.782, 1.751, 0, 0, 0, 56 [SEP] 22, RemoteControl, -3.227, 0.458, 6.973, 0, 0, 0, 53 [SEP] 23, Boots, -5.786, 0.007, 4.817, 0, 167.028, 0, Floor|-02.99| [SEP] 24, Candle, -2.601, 0.784, 2.371, 0, 0, 0, 56 [SEP] 25, Statue, -2.713, 0.902, 2.294, 0, 0, 0, 56 [SEP] 26, Watch, -3.709, 0.781, 2.681, 0, 0, 0, 56 [SEP] 27, Statue, -3.13, 0.543, 8.534, 0, 90, 0, 62 [SEP] 28, Mirror, -5.489, 1.825, 6.505, 0, 0, 0, [SEP] 29, FloorLamp, -5.645, 0.013, 8.526, 0, 0, 0, [SEP] 30, HousePlant, -3.203, 0.452, 6.798, 0, 0, 0, [SEP] 31, HousePlant, -5.358, 1.476, 5.442, 0, 343.031, 0, [SEP] 32, GarbageCan, -5.711, 0.005, 0.300, 0, 34.872, 0, [SEP] 33, Television, -3.114, 0.996, 8.693, 1.686, 180, 0, [SEP] 34, LightSwitch, -6.0, 1.338, 3.433, 0, 90, 0, [SEP] 35, Painting, -5.954, 1.526, 1.153, 90, 270, 0, [SEP] 36, Window, 0.157, 1.203, 6.895, 90, 90, 0, [SEP] 37, Window, -4.855, 1.203, -0.158, 90, 180, 0, [SEP] 38, Window, 0.157, 1.203, 4.923, 90, 90, 0, [SEP] 39, Window, 0.157, 1.203, 2.986, 90, 90, 0, [SEP] 40, Window, 0.157, 1.203, 1.088, 90, 90, 0, [SEP] 41, Window, -2.942, 1.203, -0.158, 90, 180, 0, [SEP] 42, Window, -1.057, 1.203, -0.158, 90, 180, 0, [SEP] 43, DeskLamp, -0.432, 0.684, 8.644, 0, 0, 0, [SEP] 44, DeskLamp, -0.346, 0.684, 0.335, 0, 0, 0, [SEP] 45, Chair, -3.326, 0.015, 2.739, 358.826, 189.525, 358.738, [SEP] 46, Chair, -2.352, 0.015, 2.744, 358.824, 163.801, 358.735, [SEP] 47, Chair, -2.476, 0.015, 1.628, 358.826, 21.693, 358.736, [SEP] 48, Chair, -3.327, 0.015, 1.701, 358.828, 0, 358.738, [SEP] 49, Sofa, -1.706, 0.002, 6.448, 0, 270, 0, [SEP] 50, Chair, -0.328, 0.016, 0.998, 0, 246.550, 0, [SEP] 51, SideTable, -0.396, 0.008, 0.357, 0, 329.435, 0, [SEP] 52, SideTable, -0.527, 0.008, 8.521, 0, 329.431, 0, [SEP] 53, CoffeeTable, -3.236, 0.010, 6.598, 0, 270, 0, [SEP] 54, ArmChair, -3.663, 0.012, 4.562, 0, 0, 0, [SEP] 55, ArmChair, -2.691, 0.012, 4.618, 0, 0, 0, [SEP] 56, DiningTable, -2.903, 0.010, 2.225, 0, 0, 0, [SEP] 57, RoomDecor, -0.189, 0.009, 3.909, 0, 0, 0, [SEP] 58, RoomDecor, -0.189, 0.009, 2.097, 0, 0, 0, [SEP] 59, RoomDecor, -0.190, 0.009, 5.855, 0, 0, 0, [SEP] 60, RoomDecor, -3.957, 0.009, 0.254, 0, 0, 0, [SEP] 61, RoomDecor, -2.036, 0.009, 0.254, 0, 0, 0, [SEP] 62, CoffeeTable, -3.129, 0.016, 8.533, 0, 0, 0, [SEP] 63, NorthWall, , , , , , , [SEP] 64, EastWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, hang a left at the couch and walk to the wooden coffee table on the left. | STEP 2: Pick up the remote control in between the plant and another remote control on the table. | STEP 3: Turn left and walk to the brown chair ahead. | STEP 4: Put the remote control on the left side of the chair. | END"]} +{"id": "trial_T20190909_021000_274398-1", "input": "Move a remote to the chair. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.908, 5.25, 0, 270, 0, [SEP] 1, Plate, -3.155, 0.797, 2.061, 0, 0, 0, 56 [SEP] 2, TissueBox, -5.718, 0.077, 0.234, 0, 45, 0, 32 [SEP] 3, Watch, -3.289, 0.533, 8.471, 0, 180, 0, 62 [SEP] 4, KeyChain, -2.324, 0.783, 2.061, 0, 0, 0, 56 [SEP] 5, KeyChain, -2.810, 0.535, 8.409, 0, 180, 0, 62 [SEP] 6, CreditCard, -3.600, 0.331, 4.514, 0, 0, 0, 54 [SEP] 7, CreditCard, -0.320, 0.675, 0.474, 0, 239.437, 0, 51 [SEP] 8, RemoteControl, -3.427, 0.457, 7.182, 0, 0, 0, 53 [SEP] 9, RemoteControl, -2.878, 0.782, 2.526, 0, 0, 0, 56 [SEP] 10, Box, -1.623, 0.583, 7.334, 0, 90, 0, 49 [SEP] 11, Box, -2.047, 0.910, 2.371, 0, 0, 0, 56 [SEP] 12, Box, -1.852, 0.583, 5.847, 0, 0, 0, 49 [SEP] 13, KeyChain, -1.623, 0.456, 5.847, 0, 0, 0, 49 [SEP] 14, Plate, -3.155, 0.798, 1.751, 0, 0, 0, 56 [SEP] 15, Candle, -3.427, 0.458, 6.138, 0, 0, 0, 53 [SEP] 16, Pillow, -1.775, 0.516, 6.441, 0, 0, 0, 49 [SEP] 17, Candle, -0.624, 0.667, 8.444, 0, 0, 0, 52 [SEP] 18, TissueBox, -2.324, 0.783, 2.681, 0, 0, 0, 56 [SEP] 19, Laptop, -3.216, 0.450, 6.333, 0, 0, 0, 53 [SEP] 20, Newspaper, -3.709, 0.781, 2.061, 0, 0, 0, 56 [SEP] 21, CreditCard, -2.878, 0.782, 1.751, 0, 0, 0, 56 [SEP] 22, RemoteControl, -3.227, 0.458, 6.973, 0, 0, 0, 53 [SEP] 23, Boots, -5.786, 0.007, 4.817, 0, 167.028, 0, Floor|-02.99| [SEP] 24, Candle, -2.601, 0.784, 2.371, 0, 0, 0, 56 [SEP] 25, Statue, -2.713, 0.902, 2.294, 0, 0, 0, 56 [SEP] 26, Watch, -3.709, 0.781, 2.681, 0, 0, 0, 56 [SEP] 27, Statue, -3.13, 0.543, 8.534, 0, 90, 0, 62 [SEP] 28, Mirror, -5.489, 1.825, 6.505, 0, 0, 0, [SEP] 29, FloorLamp, -5.645, 0.013, 8.526, 0, 0, 0, [SEP] 30, HousePlant, -3.203, 0.452, 6.798, 0, 0, 0, [SEP] 31, HousePlant, -5.358, 1.476, 5.442, 0, 343.031, 0, [SEP] 32, GarbageCan, -5.711, 0.005, 0.300, 0, 34.872, 0, [SEP] 33, Television, -3.114, 0.996, 8.693, 1.686, 180, 0, [SEP] 34, LightSwitch, -6.0, 1.338, 3.433, 0, 90, 0, [SEP] 35, Painting, -5.954, 1.526, 1.153, 90, 270, 0, [SEP] 36, Window, 0.157, 1.203, 6.895, 90, 90, 0, [SEP] 37, Window, -4.855, 1.203, -0.158, 90, 180, 0, [SEP] 38, Window, 0.157, 1.203, 4.923, 90, 90, 0, [SEP] 39, Window, 0.157, 1.203, 2.986, 90, 90, 0, [SEP] 40, Window, 0.157, 1.203, 1.088, 90, 90, 0, [SEP] 41, Window, -2.942, 1.203, -0.158, 90, 180, 0, [SEP] 42, Window, -1.057, 1.203, -0.158, 90, 180, 0, [SEP] 43, DeskLamp, -0.432, 0.684, 8.644, 0, 0, 0, [SEP] 44, DeskLamp, -0.346, 0.684, 0.335, 0, 0, 0, [SEP] 45, Chair, -3.326, 0.015, 2.739, 358.826, 189.525, 358.738, [SEP] 46, Chair, -2.352, 0.015, 2.744, 358.824, 163.801, 358.735, [SEP] 47, Chair, -2.476, 0.015, 1.628, 358.826, 21.693, 358.736, [SEP] 48, Chair, -3.327, 0.015, 1.701, 358.828, 0, 358.738, [SEP] 49, Sofa, -1.706, 0.002, 6.448, 0, 270, 0, [SEP] 50, Chair, -0.328, 0.016, 0.998, 0, 246.550, 0, [SEP] 51, SideTable, -0.396, 0.008, 0.357, 0, 329.435, 0, [SEP] 52, SideTable, -0.527, 0.008, 8.521, 0, 329.431, 0, [SEP] 53, CoffeeTable, -3.236, 0.010, 6.598, 0, 270, 0, [SEP] 54, ArmChair, -3.663, 0.012, 4.562, 0, 0, 0, [SEP] 55, ArmChair, -2.691, 0.012, 4.618, 0, 0, 0, [SEP] 56, DiningTable, -2.903, 0.010, 2.225, 0, 0, 0, [SEP] 57, RoomDecor, -0.189, 0.009, 3.909, 0, 0, 0, [SEP] 58, RoomDecor, -0.189, 0.009, 2.097, 0, 0, 0, [SEP] 59, RoomDecor, -0.190, 0.009, 5.855, 0, 0, 0, [SEP] 60, RoomDecor, -3.957, 0.009, 0.254, 0, 0, 0, [SEP] 61, RoomDecor, -2.036, 0.009, 0.254, 0, 0, 0, [SEP] 62, CoffeeTable, -3.129, 0.016, 8.533, 0, 0, 0, [SEP] 63, NorthWall, , , , , , , [SEP] 64, EastWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and then left. Face the coffee table on the left side. | STEP 2: Pick up the remote from the right side of the table, in front of the other remote. | STEP 3: Carry the remote and turn to the left. | STEP 4: Place the remote on the seat of the chair. | END"]} +{"id": "trial_T20190909_021000_274398-2", "input": "Put one remote on a chair. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.908, 5.25, 0, 270, 0, [SEP] 1, Plate, -3.155, 0.797, 2.061, 0, 0, 0, 56 [SEP] 2, TissueBox, -5.718, 0.077, 0.234, 0, 45, 0, 32 [SEP] 3, Watch, -3.289, 0.533, 8.471, 0, 180, 0, 62 [SEP] 4, KeyChain, -2.324, 0.783, 2.061, 0, 0, 0, 56 [SEP] 5, KeyChain, -2.810, 0.535, 8.409, 0, 180, 0, 62 [SEP] 6, CreditCard, -3.600, 0.331, 4.514, 0, 0, 0, 54 [SEP] 7, CreditCard, -0.320, 0.675, 0.474, 0, 239.437, 0, 51 [SEP] 8, RemoteControl, -3.427, 0.457, 7.182, 0, 0, 0, 53 [SEP] 9, RemoteControl, -2.878, 0.782, 2.526, 0, 0, 0, 56 [SEP] 10, Box, -1.623, 0.583, 7.334, 0, 90, 0, 49 [SEP] 11, Box, -2.047, 0.910, 2.371, 0, 0, 0, 56 [SEP] 12, Box, -1.852, 0.583, 5.847, 0, 0, 0, 49 [SEP] 13, KeyChain, -1.623, 0.456, 5.847, 0, 0, 0, 49 [SEP] 14, Plate, -3.155, 0.798, 1.751, 0, 0, 0, 56 [SEP] 15, Candle, -3.427, 0.458, 6.138, 0, 0, 0, 53 [SEP] 16, Pillow, -1.775, 0.516, 6.441, 0, 0, 0, 49 [SEP] 17, Candle, -0.624, 0.667, 8.444, 0, 0, 0, 52 [SEP] 18, TissueBox, -2.324, 0.783, 2.681, 0, 0, 0, 56 [SEP] 19, Laptop, -3.216, 0.450, 6.333, 0, 0, 0, 53 [SEP] 20, Newspaper, -3.709, 0.781, 2.061, 0, 0, 0, 56 [SEP] 21, CreditCard, -2.878, 0.782, 1.751, 0, 0, 0, 56 [SEP] 22, RemoteControl, -3.227, 0.458, 6.973, 0, 0, 0, 53 [SEP] 23, Boots, -5.786, 0.007, 4.817, 0, 167.028, 0, Floor|-02.99| [SEP] 24, Candle, -2.601, 0.784, 2.371, 0, 0, 0, 56 [SEP] 25, Statue, -2.713, 0.902, 2.294, 0, 0, 0, 56 [SEP] 26, Watch, -3.709, 0.781, 2.681, 0, 0, 0, 56 [SEP] 27, Statue, -3.13, 0.543, 8.534, 0, 90, 0, 62 [SEP] 28, Mirror, -5.489, 1.825, 6.505, 0, 0, 0, [SEP] 29, FloorLamp, -5.645, 0.013, 8.526, 0, 0, 0, [SEP] 30, HousePlant, -3.203, 0.452, 6.798, 0, 0, 0, [SEP] 31, HousePlant, -5.358, 1.476, 5.442, 0, 343.031, 0, [SEP] 32, GarbageCan, -5.711, 0.005, 0.300, 0, 34.872, 0, [SEP] 33, Television, -3.114, 0.996, 8.693, 1.686, 180, 0, [SEP] 34, LightSwitch, -6.0, 1.338, 3.433, 0, 90, 0, [SEP] 35, Painting, -5.954, 1.526, 1.153, 90, 270, 0, [SEP] 36, Window, 0.157, 1.203, 6.895, 90, 90, 0, [SEP] 37, Window, -4.855, 1.203, -0.158, 90, 180, 0, [SEP] 38, Window, 0.157, 1.203, 4.923, 90, 90, 0, [SEP] 39, Window, 0.157, 1.203, 2.986, 90, 90, 0, [SEP] 40, Window, 0.157, 1.203, 1.088, 90, 90, 0, [SEP] 41, Window, -2.942, 1.203, -0.158, 90, 180, 0, [SEP] 42, Window, -1.057, 1.203, -0.158, 90, 180, 0, [SEP] 43, DeskLamp, -0.432, 0.684, 8.644, 0, 0, 0, [SEP] 44, DeskLamp, -0.346, 0.684, 0.335, 0, 0, 0, [SEP] 45, Chair, -3.326, 0.015, 2.739, 358.826, 189.525, 358.738, [SEP] 46, Chair, -2.352, 0.015, 2.744, 358.824, 163.801, 358.735, [SEP] 47, Chair, -2.476, 0.015, 1.628, 358.826, 21.693, 358.736, [SEP] 48, Chair, -3.327, 0.015, 1.701, 358.828, 0, 358.738, [SEP] 49, Sofa, -1.706, 0.002, 6.448, 0, 270, 0, [SEP] 50, Chair, -0.328, 0.016, 0.998, 0, 246.550, 0, [SEP] 51, SideTable, -0.396, 0.008, 0.357, 0, 329.435, 0, [SEP] 52, SideTable, -0.527, 0.008, 8.521, 0, 329.431, 0, [SEP] 53, CoffeeTable, -3.236, 0.010, 6.598, 0, 270, 0, [SEP] 54, ArmChair, -3.663, 0.012, 4.562, 0, 0, 0, [SEP] 55, ArmChair, -2.691, 0.012, 4.618, 0, 0, 0, [SEP] 56, DiningTable, -2.903, 0.010, 2.225, 0, 0, 0, [SEP] 57, RoomDecor, -0.189, 0.009, 3.909, 0, 0, 0, [SEP] 58, RoomDecor, -0.189, 0.009, 2.097, 0, 0, 0, [SEP] 59, RoomDecor, -0.190, 0.009, 5.855, 0, 0, 0, [SEP] 60, RoomDecor, -3.957, 0.009, 0.254, 0, 0, 0, [SEP] 61, RoomDecor, -2.036, 0.009, 0.254, 0, 0, 0, [SEP] 62, CoffeeTable, -3.129, 0.016, 8.533, 0, 0, 0, [SEP] 63, NorthWall, , , , , , , [SEP] 64, EastWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the couch, then turn left and go through the couch and the coffee table, to the coffee table on your left. | STEP 2: Pick up the remote, right next to the plant, on the coffee table. | STEP 3: Turn to your left and go to the arm chair across from you. | STEP 4: Place the remote on the left side of the seat, on the arm chair. | END"]} +{"id": "trial_T20190906_234406_356490-0", "input": "Put an egg in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 2.0, 0, 270, 0, [SEP] 1, Potato, -1.288, 0.962, 0.359, 0, 0, 0, 73 [SEP] 2, ButterKnife, -0.538, 1.047, 3.266, 0, 0, 0, 51 [SEP] 3, ButterKnife, -0.827, 1.124, 0.659, 0, 0, 0, 63 [SEP] 4, Pot, -3.572, 1.564, 2.849, 0, 90, 0, 68 [SEP] 5, Spoon, -0.715, 1.126, 0.296, 0, 0, 0, 63 [SEP] 6, Spoon, -2.592, 0.096, 0.545, 0, 90, 0, 54 [SEP] 7, Spatula, -1.199, 0.946, 0.290, 0, 90, 0, 73 [SEP] 8, Egg, -3.849, 0.142, 2.008, 0, 0, 0, 72 [SEP] 9, Egg, -0.659, 1.155, 0.115, 0, 0, 0, 63 [SEP] 10, Cup, -1.274, 0.047, 0.494, 0, 0, 0, 55 [SEP] 11, Cup, -2.388, 1.122, 0.662, 0, 0, 0, 61 [SEP] 12, Plate, -1.156, 0.047, 0.381, 0, 0, 0, 55 [SEP] 13, Bowl, -3.506, 0.909, 2.849, 0, 90, 0, 68 [SEP] 14, Bowl, -3.373, 1.284, 2.991, 0, 90, 0, 68 [SEP] 15, PepperShaker, -0.603, 1.121, 0.206, 0, 0, 0, 63 [SEP] 16, PepperShaker, -0.538, 1.044, 2.369, 0, 0, 0, 51 [SEP] 17, Bread, -0.662, 1.134, 2.593, 0, 0, 0, 51 [SEP] 18, Bread, -0.785, 1.134, 1.920, 0, 0, 0, 51 [SEP] 19, Lettuce, -0.908, 1.125, 2.593, 0, 0, 0, 51 [SEP] 20, Mug, -3.44, 1.555, 3.061, 0, 90, 0, 68 [SEP] 21, Mug, -3.44, 0.906, 3.203, 0, 0, 0, 68 [SEP] 22, Apple, -2.639, 1.192, 0.473, 0, 0, 0, 61 [SEP] 23, Apple, -0.908, 1.114, 3.266, 0, 0, 0, 51 [SEP] 24, Fork, -0.415, 1.047, 2.144, 0, 0, 0, 51 [SEP] 25, SoapBottle, -1.562, 0.049, 0.381, 0, 0, 0, 66 [SEP] 26, Pot, -3.475, 1.133, 0.48, 0, 90, 0, 49 [SEP] 27, Ladle, -0.785, 1.087, 2.593, 0, 0, 0, 51 [SEP] 28, Potato, -0.908, 1.077, 2.817, 0, 0, 0, 51 [SEP] 29, Plate, -1.522, 0.047, 0.551, 0, 0, 0, 66 [SEP] 30, Bread, -0.785, 1.133, 2.144, 0, 0, 0, 51 [SEP] 31, Lettuce, -3.339, 0.969, 3.081, 0, 228.265, 312.447, 68 [SEP] 32, Spatula, -0.662, 1.063, 3.042, 0, 0, 0, 51 [SEP] 33, Pan, -0.266, 1.038, 2.561, 0, 0, 0, 51 [SEP] 34, Egg, -1.553, 0.961, 0.221, 0, 0, 0, 73 [SEP] 35, Cup, -0.538, 1.045, 2.817, 0, 0, 0, 51 [SEP] 36, SaltShaker, -2.388, 1.121, 0.567, 0, 0, 0, 61 [SEP] 37, Knife, -1.553, 0.963, 0.567, 0, 270, 0, 73 [SEP] 38, Bowl, -2.388, 1.122, 0.190, 0, 0, 0, 61 [SEP] 39, PepperShaker, -1.885, 1.121, 0.567, 0, 0, 0, 61 [SEP] 40, ButterKnife, -0.715, 1.124, 0.387, 0, 0, 0, 63 [SEP] 41, Apple, -1.288, 0.998, 0.567, 0, 0, 0, 73 [SEP] 42, Tomato, -2.137, 1.165, 0.473, 0, 0, 0, 61 [SEP] 43, DishSponge, -3.696, 0.112, 2.008, 0, 0, 0, 72 [SEP] 44, Spoon, -2.545, 0.488, 0.579, 0, 0, 0, 64 [SEP] 45, Mug, -1.642, 0.926, 0.636, 0, 270, 0, 73 [SEP] 46, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 47, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 48, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 49, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 50, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 51, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 52, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 53, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 54, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 55, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 56, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 57, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 58, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 59, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 60, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 61, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 62, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 63, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 64, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 65, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 66, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 67, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 68, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 69, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 70, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 71, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 72, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 73, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 74, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 75, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 76, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 77, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 78, NorthWall, , , , , , , [SEP] 79, SouthWall, , , , , , , [SEP] 80, SouthWall, , , , , , , ", "output": ["STEP 1: Move to the sink. | STEP 2: Pick up the egg in the sink. | STEP 3: Bring the egg to the microwave. | STEP 4: Put the egg in the microwave. | END"]} +{"id": "trial_T20190906_234406_356490-1", "input": "Put an egg in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 2.0, 0, 270, 0, [SEP] 1, Potato, -1.288, 0.962, 0.359, 0, 0, 0, 73 [SEP] 2, ButterKnife, -0.538, 1.047, 3.266, 0, 0, 0, 51 [SEP] 3, ButterKnife, -0.827, 1.124, 0.659, 0, 0, 0, 63 [SEP] 4, Pot, -3.572, 1.564, 2.849, 0, 90, 0, 68 [SEP] 5, Spoon, -0.715, 1.126, 0.296, 0, 0, 0, 63 [SEP] 6, Spoon, -2.592, 0.096, 0.545, 0, 90, 0, 54 [SEP] 7, Spatula, -1.199, 0.946, 0.290, 0, 90, 0, 73 [SEP] 8, Egg, -3.849, 0.142, 2.008, 0, 0, 0, 72 [SEP] 9, Egg, -0.659, 1.155, 0.115, 0, 0, 0, 63 [SEP] 10, Cup, -1.274, 0.047, 0.494, 0, 0, 0, 55 [SEP] 11, Cup, -2.388, 1.122, 0.662, 0, 0, 0, 61 [SEP] 12, Plate, -1.156, 0.047, 0.381, 0, 0, 0, 55 [SEP] 13, Bowl, -3.506, 0.909, 2.849, 0, 90, 0, 68 [SEP] 14, Bowl, -3.373, 1.284, 2.991, 0, 90, 0, 68 [SEP] 15, PepperShaker, -0.603, 1.121, 0.206, 0, 0, 0, 63 [SEP] 16, PepperShaker, -0.538, 1.044, 2.369, 0, 0, 0, 51 [SEP] 17, Bread, -0.662, 1.134, 2.593, 0, 0, 0, 51 [SEP] 18, Bread, -0.785, 1.134, 1.920, 0, 0, 0, 51 [SEP] 19, Lettuce, -0.908, 1.125, 2.593, 0, 0, 0, 51 [SEP] 20, Mug, -3.44, 1.555, 3.061, 0, 90, 0, 68 [SEP] 21, Mug, -3.44, 0.906, 3.203, 0, 0, 0, 68 [SEP] 22, Apple, -2.639, 1.192, 0.473, 0, 0, 0, 61 [SEP] 23, Apple, -0.908, 1.114, 3.266, 0, 0, 0, 51 [SEP] 24, Fork, -0.415, 1.047, 2.144, 0, 0, 0, 51 [SEP] 25, SoapBottle, -1.562, 0.049, 0.381, 0, 0, 0, 66 [SEP] 26, Pot, -3.475, 1.133, 0.48, 0, 90, 0, 49 [SEP] 27, Ladle, -0.785, 1.087, 2.593, 0, 0, 0, 51 [SEP] 28, Potato, -0.908, 1.077, 2.817, 0, 0, 0, 51 [SEP] 29, Plate, -1.522, 0.047, 0.551, 0, 0, 0, 66 [SEP] 30, Bread, -0.785, 1.133, 2.144, 0, 0, 0, 51 [SEP] 31, Lettuce, -3.339, 0.969, 3.081, 0, 228.265, 312.447, 68 [SEP] 32, Spatula, -0.662, 1.063, 3.042, 0, 0, 0, 51 [SEP] 33, Pan, -0.266, 1.038, 2.561, 0, 0, 0, 51 [SEP] 34, Egg, -1.553, 0.961, 0.221, 0, 0, 0, 73 [SEP] 35, Cup, -0.538, 1.045, 2.817, 0, 0, 0, 51 [SEP] 36, SaltShaker, -2.388, 1.121, 0.567, 0, 0, 0, 61 [SEP] 37, Knife, -1.553, 0.963, 0.567, 0, 270, 0, 73 [SEP] 38, Bowl, -2.388, 1.122, 0.190, 0, 0, 0, 61 [SEP] 39, PepperShaker, -1.885, 1.121, 0.567, 0, 0, 0, 61 [SEP] 40, ButterKnife, -0.715, 1.124, 0.387, 0, 0, 0, 63 [SEP] 41, Apple, -1.288, 0.998, 0.567, 0, 0, 0, 73 [SEP] 42, Tomato, -2.137, 1.165, 0.473, 0, 0, 0, 61 [SEP] 43, DishSponge, -3.696, 0.112, 2.008, 0, 0, 0, 72 [SEP] 44, Spoon, -2.545, 0.488, 0.579, 0, 0, 0, 64 [SEP] 45, Mug, -1.642, 0.926, 0.636, 0, 270, 0, 73 [SEP] 46, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 47, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 48, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 49, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 50, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 51, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 52, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 53, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 54, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 55, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 56, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 57, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 58, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 59, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 60, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 61, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 62, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 63, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 64, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 65, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 66, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 67, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 68, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 69, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 70, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 71, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 72, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 73, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 74, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 75, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 76, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 77, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 78, NorthWall, , , , , , , [SEP] 79, SouthWall, , , , , , , [SEP] 80, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left and go to the sink. | STEP 2: Pick up the egg from behind the knife. | STEP 3: Turn left and to the microwave. | STEP 4: Put the egg in the microwave. | END"]} +{"id": "trial_T20190906_234406_356490-2", "input": "Put a potato in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 2.0, 0, 270, 0, [SEP] 1, Potato, -1.288, 0.962, 0.359, 0, 0, 0, 73 [SEP] 2, ButterKnife, -0.538, 1.047, 3.266, 0, 0, 0, 51 [SEP] 3, ButterKnife, -0.827, 1.124, 0.659, 0, 0, 0, 63 [SEP] 4, Pot, -3.572, 1.564, 2.849, 0, 90, 0, 68 [SEP] 5, Spoon, -0.715, 1.126, 0.296, 0, 0, 0, 63 [SEP] 6, Spoon, -2.592, 0.096, 0.545, 0, 90, 0, 54 [SEP] 7, Spatula, -1.199, 0.946, 0.290, 0, 90, 0, 73 [SEP] 8, Egg, -3.849, 0.142, 2.008, 0, 0, 0, 72 [SEP] 9, Egg, -0.659, 1.155, 0.115, 0, 0, 0, 63 [SEP] 10, Cup, -1.274, 0.047, 0.494, 0, 0, 0, 55 [SEP] 11, Cup, -2.388, 1.122, 0.662, 0, 0, 0, 61 [SEP] 12, Plate, -1.156, 0.047, 0.381, 0, 0, 0, 55 [SEP] 13, Bowl, -3.506, 0.909, 2.849, 0, 90, 0, 68 [SEP] 14, Bowl, -3.373, 1.284, 2.991, 0, 90, 0, 68 [SEP] 15, PepperShaker, -0.603, 1.121, 0.206, 0, 0, 0, 63 [SEP] 16, PepperShaker, -0.538, 1.044, 2.369, 0, 0, 0, 51 [SEP] 17, Bread, -0.662, 1.134, 2.593, 0, 0, 0, 51 [SEP] 18, Bread, -0.785, 1.134, 1.920, 0, 0, 0, 51 [SEP] 19, Lettuce, -0.908, 1.125, 2.593, 0, 0, 0, 51 [SEP] 20, Mug, -3.44, 1.555, 3.061, 0, 90, 0, 68 [SEP] 21, Mug, -3.44, 0.906, 3.203, 0, 0, 0, 68 [SEP] 22, Apple, -2.639, 1.192, 0.473, 0, 0, 0, 61 [SEP] 23, Apple, -0.908, 1.114, 3.266, 0, 0, 0, 51 [SEP] 24, Fork, -0.415, 1.047, 2.144, 0, 0, 0, 51 [SEP] 25, SoapBottle, -1.562, 0.049, 0.381, 0, 0, 0, 66 [SEP] 26, Pot, -3.475, 1.133, 0.48, 0, 90, 0, 49 [SEP] 27, Ladle, -0.785, 1.087, 2.593, 0, 0, 0, 51 [SEP] 28, Potato, -0.908, 1.077, 2.817, 0, 0, 0, 51 [SEP] 29, Plate, -1.522, 0.047, 0.551, 0, 0, 0, 66 [SEP] 30, Bread, -0.785, 1.133, 2.144, 0, 0, 0, 51 [SEP] 31, Lettuce, -3.339, 0.969, 3.081, 0, 228.265, 312.447, 68 [SEP] 32, Spatula, -0.662, 1.063, 3.042, 0, 0, 0, 51 [SEP] 33, Pan, -0.266, 1.038, 2.561, 0, 0, 0, 51 [SEP] 34, Egg, -1.553, 0.961, 0.221, 0, 0, 0, 73 [SEP] 35, Cup, -0.538, 1.045, 2.817, 0, 0, 0, 51 [SEP] 36, SaltShaker, -2.388, 1.121, 0.567, 0, 0, 0, 61 [SEP] 37, Knife, -1.553, 0.963, 0.567, 0, 270, 0, 73 [SEP] 38, Bowl, -2.388, 1.122, 0.190, 0, 0, 0, 61 [SEP] 39, PepperShaker, -1.885, 1.121, 0.567, 0, 0, 0, 61 [SEP] 40, ButterKnife, -0.715, 1.124, 0.387, 0, 0, 0, 63 [SEP] 41, Apple, -1.288, 0.998, 0.567, 0, 0, 0, 73 [SEP] 42, Tomato, -2.137, 1.165, 0.473, 0, 0, 0, 61 [SEP] 43, DishSponge, -3.696, 0.112, 2.008, 0, 0, 0, 72 [SEP] 44, Spoon, -2.545, 0.488, 0.579, 0, 0, 0, 64 [SEP] 45, Mug, -1.642, 0.926, 0.636, 0, 270, 0, 73 [SEP] 46, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 47, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 48, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 49, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 50, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 51, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 52, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 53, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 54, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 55, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 56, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 57, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 58, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 59, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 60, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 61, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 62, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 63, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 64, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 65, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 66, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 67, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 68, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 69, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 70, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 71, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 72, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 73, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 74, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 75, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 76, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 77, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 78, NorthWall, , , , , , , [SEP] 79, SouthWall, , , , , , , [SEP] 80, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left, go to the sink. | STEP 2: Take the potato in the right of the sink above the knife. | STEP 3: Turn left, face towards the microwave. | STEP 4: Put the potato in the microwave. | END"]} +{"id": "trial_T20190907_074425_330493-0", "input": "Turn on a light with a box in hand. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.75, 0.901, 1.25, 0, 0, 0, [SEP] 1, Watch, -3.593, 0.066, 6.723, 0, 0, 0, 32 [SEP] 2, Statue, -2.202, 0.847, 6.832, 0, 0, 0, 40 [SEP] 3, Statue, -4.228, 0.489, 3.549, 0, 0, 0, 27 [SEP] 4, CreditCard, -2.749, 0.067, 6.699, 0, 0, 0, 31 [SEP] 5, CreditCard, -4.139, 0.477, 4.400, 0, 0, 0, 34 [SEP] 6, RemoteControl, -4.300, 0.487, 4.863, 0, 0, 0, 34 [SEP] 7, Box, -1.873, 0.867, 1.133, 0, 0, 0, 43 [SEP] 8, Laptop, -4.300, 0.475, 5.556, 0, 180, 0, 34 [SEP] 9, Box, -1.607, 0.151, 6.854, 0, 0, 0, 40 [SEP] 10, Statue, -1.310, 0.761, 1.695, 0, 0, 0, 43 [SEP] 11, Watch, -1.939, 0.842, 6.899, 0, 0, 0, 40 [SEP] 12, WateringCan, -0.208, -0.000, 3.225, 0, 63.928, 0, [SEP] 13, Laptop, -1.683, 0.747, 1.489, 0, 338.703, 0, 43 [SEP] 14, CreditCard, -1.939, 0.841, 6.765, 0, 0, 0, 40 [SEP] 15, KeyChain, -3.363, 0.397, 3.811, 0, 0, 0, 42 [SEP] 16, Pillow, -4.335, 0.465, 4.398, 0, 0, 0, 34 [SEP] 17, RemoteControl, -2.485, 0.456, 3.476, 0, 0, 0, 33 [SEP] 18, Curtains, -0.037, 2.148, 0.999, 0, 0, 0, [SEP] 19, Painting, -0.016, 2.061, 5.380, 0, 0, 0, [SEP] 20, GarbageCan, -0.256, -0.010, 6.799, 0, 0, 0, [SEP] 21, FloorLamp, -4.721, -0.001, 3.687, 0, 0, 0, [SEP] 22, Television, -3.192, 1.184, 6.767, 0, 180, 0, [SEP] 23, HousePlant, -0.173, 0.610, 3.994, 0, 0, 0, [SEP] 24, LightSwitch, -3.483, 1.470, 0.001, 0, 0, 0, [SEP] 25, DeskLamp, -0.258, 0.611, 3.312, 0, 0, 0, [SEP] 26, Window, -0.008, 1.340, 1.725, 90, 270, 0, [SEP] 27, SideTable, -4.190, 0.000, 3.587, 0, 0, 0, [SEP] 28, Drawer, -2.925, 0.475, 6.717, 0, 180, 0, [SEP] 29, Drawer, -3.476, 0.475, 6.717, 0, 180, 0, [SEP] 30, Dresser, -3.201, -0.001, 6.791, 0, 180, 0, [SEP] 31, Drawer, -2.925, 0.165, 6.719, 0, 180, 0, [SEP] 32, Drawer, -3.476, 0.165, 6.719, 0, 180, 0, [SEP] 33, ArmChair, -2.448, 0.002, 3.501, 0, 0, 0, [SEP] 34, Sofa, -4.425, 0.014, 5.062, 0, 90, 0, [SEP] 35, Ottoman, -2.374, 0.000, 4.483, 0, 0, 0, [SEP] 36, Chair, -2.151, 0.004, 1.284, 0, 90, 0, [SEP] 37, Chair, -1.549, 0.004, 1.780, 0, 195.000, 0, [SEP] 38, Chair, -1.626, 0.004, 0.778, 0, 10.166, 0, [SEP] 39, Chair, -1.076, 0.004, 1.292, 0, 265.171, 0, [SEP] 40, SideTable, -2.071, 0.000, 6.699, 0, 0, 0, [SEP] 41, SideTable, -0.244, -0.000, 3.524, 0, 270, 0, [SEP] 42, ArmChair, -3.545, 0.005, 3.579, 0, 0, 0, [SEP] 43, DiningTable, -1.592, 0.006, 1.274, 0, 0, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, SouthWall, , , , , , , ", "output": ["STEP 1: Go right and stand in front of the table where the computer and box sit. | STEP 2: Pick the box up from the table. | STEP 3: Go left and stand in front of the lamp on the black table. | STEP 4: Turn on the lamp on the black table. | END"]} +{"id": "trial_T20190907_074425_330493-1", "input": "Examine the box under the light of the table lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.75, 0.901, 1.25, 0, 0, 0, [SEP] 1, Watch, -3.593, 0.066, 6.723, 0, 0, 0, 32 [SEP] 2, Statue, -2.202, 0.847, 6.832, 0, 0, 0, 40 [SEP] 3, Statue, -4.228, 0.489, 3.549, 0, 0, 0, 27 [SEP] 4, CreditCard, -2.749, 0.067, 6.699, 0, 0, 0, 31 [SEP] 5, CreditCard, -4.139, 0.477, 4.400, 0, 0, 0, 34 [SEP] 6, RemoteControl, -4.300, 0.487, 4.863, 0, 0, 0, 34 [SEP] 7, Box, -1.873, 0.867, 1.133, 0, 0, 0, 43 [SEP] 8, Laptop, -4.300, 0.475, 5.556, 0, 180, 0, 34 [SEP] 9, Box, -1.607, 0.151, 6.854, 0, 0, 0, 40 [SEP] 10, Statue, -1.310, 0.761, 1.695, 0, 0, 0, 43 [SEP] 11, Watch, -1.939, 0.842, 6.899, 0, 0, 0, 40 [SEP] 12, WateringCan, -0.208, -0.000, 3.225, 0, 63.928, 0, [SEP] 13, Laptop, -1.683, 0.747, 1.489, 0, 338.703, 0, 43 [SEP] 14, CreditCard, -1.939, 0.841, 6.765, 0, 0, 0, 40 [SEP] 15, KeyChain, -3.363, 0.397, 3.811, 0, 0, 0, 42 [SEP] 16, Pillow, -4.335, 0.465, 4.398, 0, 0, 0, 34 [SEP] 17, RemoteControl, -2.485, 0.456, 3.476, 0, 0, 0, 33 [SEP] 18, Curtains, -0.037, 2.148, 0.999, 0, 0, 0, [SEP] 19, Painting, -0.016, 2.061, 5.380, 0, 0, 0, [SEP] 20, GarbageCan, -0.256, -0.010, 6.799, 0, 0, 0, [SEP] 21, FloorLamp, -4.721, -0.001, 3.687, 0, 0, 0, [SEP] 22, Television, -3.192, 1.184, 6.767, 0, 180, 0, [SEP] 23, HousePlant, -0.173, 0.610, 3.994, 0, 0, 0, [SEP] 24, LightSwitch, -3.483, 1.470, 0.001, 0, 0, 0, [SEP] 25, DeskLamp, -0.258, 0.611, 3.312, 0, 0, 0, [SEP] 26, Window, -0.008, 1.340, 1.725, 90, 270, 0, [SEP] 27, SideTable, -4.190, 0.000, 3.587, 0, 0, 0, [SEP] 28, Drawer, -2.925, 0.475, 6.717, 0, 180, 0, [SEP] 29, Drawer, -3.476, 0.475, 6.717, 0, 180, 0, [SEP] 30, Dresser, -3.201, -0.001, 6.791, 0, 180, 0, [SEP] 31, Drawer, -2.925, 0.165, 6.719, 0, 180, 0, [SEP] 32, Drawer, -3.476, 0.165, 6.719, 0, 180, 0, [SEP] 33, ArmChair, -2.448, 0.002, 3.501, 0, 0, 0, [SEP] 34, Sofa, -4.425, 0.014, 5.062, 0, 90, 0, [SEP] 35, Ottoman, -2.374, 0.000, 4.483, 0, 0, 0, [SEP] 36, Chair, -2.151, 0.004, 1.284, 0, 90, 0, [SEP] 37, Chair, -1.549, 0.004, 1.780, 0, 195.000, 0, [SEP] 38, Chair, -1.626, 0.004, 0.778, 0, 10.166, 0, [SEP] 39, Chair, -1.076, 0.004, 1.292, 0, 265.171, 0, [SEP] 40, SideTable, -2.071, 0.000, 6.699, 0, 0, 0, [SEP] 41, SideTable, -0.244, -0.000, 3.524, 0, 270, 0, [SEP] 42, ArmChair, -3.545, 0.005, 3.579, 0, 0, 0, [SEP] 43, DiningTable, -1.592, 0.006, 1.274, 0, 0, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right and walk up to the square table | STEP 2: Pick up the box from the table | STEP 3: Turn left and walk to the small black table by the fireplace | STEP 4: Turn on the table lamp that's on the table | END"]} +{"id": "trial_T20190907_074425_330493-2", "input": "Examine an empty box by the light of a desk lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.75, 0.901, 1.25, 0, 0, 0, [SEP] 1, Watch, -3.593, 0.066, 6.723, 0, 0, 0, 32 [SEP] 2, Statue, -2.202, 0.847, 6.832, 0, 0, 0, 40 [SEP] 3, Statue, -4.228, 0.489, 3.549, 0, 0, 0, 27 [SEP] 4, CreditCard, -2.749, 0.067, 6.699, 0, 0, 0, 31 [SEP] 5, CreditCard, -4.139, 0.477, 4.400, 0, 0, 0, 34 [SEP] 6, RemoteControl, -4.300, 0.487, 4.863, 0, 0, 0, 34 [SEP] 7, Box, -1.873, 0.867, 1.133, 0, 0, 0, 43 [SEP] 8, Laptop, -4.300, 0.475, 5.556, 0, 180, 0, 34 [SEP] 9, Box, -1.607, 0.151, 6.854, 0, 0, 0, 40 [SEP] 10, Statue, -1.310, 0.761, 1.695, 0, 0, 0, 43 [SEP] 11, Watch, -1.939, 0.842, 6.899, 0, 0, 0, 40 [SEP] 12, WateringCan, -0.208, -0.000, 3.225, 0, 63.928, 0, [SEP] 13, Laptop, -1.683, 0.747, 1.489, 0, 338.703, 0, 43 [SEP] 14, CreditCard, -1.939, 0.841, 6.765, 0, 0, 0, 40 [SEP] 15, KeyChain, -3.363, 0.397, 3.811, 0, 0, 0, 42 [SEP] 16, Pillow, -4.335, 0.465, 4.398, 0, 0, 0, 34 [SEP] 17, RemoteControl, -2.485, 0.456, 3.476, 0, 0, 0, 33 [SEP] 18, Curtains, -0.037, 2.148, 0.999, 0, 0, 0, [SEP] 19, Painting, -0.016, 2.061, 5.380, 0, 0, 0, [SEP] 20, GarbageCan, -0.256, -0.010, 6.799, 0, 0, 0, [SEP] 21, FloorLamp, -4.721, -0.001, 3.687, 0, 0, 0, [SEP] 22, Television, -3.192, 1.184, 6.767, 0, 180, 0, [SEP] 23, HousePlant, -0.173, 0.610, 3.994, 0, 0, 0, [SEP] 24, LightSwitch, -3.483, 1.470, 0.001, 0, 0, 0, [SEP] 25, DeskLamp, -0.258, 0.611, 3.312, 0, 0, 0, [SEP] 26, Window, -0.008, 1.340, 1.725, 90, 270, 0, [SEP] 27, SideTable, -4.190, 0.000, 3.587, 0, 0, 0, [SEP] 28, Drawer, -2.925, 0.475, 6.717, 0, 180, 0, [SEP] 29, Drawer, -3.476, 0.475, 6.717, 0, 180, 0, [SEP] 30, Dresser, -3.201, -0.001, 6.791, 0, 180, 0, [SEP] 31, Drawer, -2.925, 0.165, 6.719, 0, 180, 0, [SEP] 32, Drawer, -3.476, 0.165, 6.719, 0, 180, 0, [SEP] 33, ArmChair, -2.448, 0.002, 3.501, 0, 0, 0, [SEP] 34, Sofa, -4.425, 0.014, 5.062, 0, 90, 0, [SEP] 35, Ottoman, -2.374, 0.000, 4.483, 0, 0, 0, [SEP] 36, Chair, -2.151, 0.004, 1.284, 0, 90, 0, [SEP] 37, Chair, -1.549, 0.004, 1.780, 0, 195.000, 0, [SEP] 38, Chair, -1.626, 0.004, 0.778, 0, 10.166, 0, [SEP] 39, Chair, -1.076, 0.004, 1.292, 0, 265.171, 0, [SEP] 40, SideTable, -2.071, 0.000, 6.699, 0, 0, 0, [SEP] 41, SideTable, -0.244, -0.000, 3.524, 0, 270, 0, [SEP] 42, ArmChair, -3.545, 0.005, 3.579, 0, 0, 0, [SEP] 43, DiningTable, -1.592, 0.006, 1.274, 0, 0, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the dining table. | STEP 2: Pick up the empty box from the dining table. | STEP 3: Walk to the lamp on the desk to the left of the dining table. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190908_051942_388647-0", "input": "cool the egg in the refrigerator, put the egg in the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 0.25, 0, 90, 0, [SEP] 1, Potato, -0.210, 0.793, -2.026, 0, 0, 0, 72 [SEP] 2, Potato, 1.828, 0.942, -1.329, 0, 0, 0, 60 [SEP] 3, ButterKnife, -0.668, 0.913, -2.101, 0, 0, 0, 60 [SEP] 4, WineBottle, 0.457, 0.914, -1.751, 0, 0, 0, 60 [SEP] 5, Fork, 0.066, 0.931, 1.448, 0, 0, 0, 77 [SEP] 6, Fork, 0.457, 0.914, -2.169, 0, 0, 0, 60 [SEP] 7, Cup, -0.311, 2.151, -2.067, 0, 0, 0, 45 [SEP] 8, Plate, 1.462, 0.556, 2.482, 0, 0, 0, 80 [SEP] 9, SoapBottle, -1.072, 0.912, -2.151, 0, 0, 0, 60 [SEP] 10, SoapBottle, -0.984, 0.125, -1.575, 0, 90, 0, 53 [SEP] 11, Lettuce, -1.495, 0.940, -0.910, 0, 90, 0, 68 [SEP] 12, SaltShaker, 1.950, 1.654, -1.117, 0, 270, 0, 51 [SEP] 13, PepperShaker, 2.009, 0.909, -1.797, 0, 0, 0, 60 [SEP] 14, PepperShaker, 1.738, 0.909, -1.446, 0, 0, 0, 60 [SEP] 15, Bread, 0.066, 0.975, 0.534, 0, 0, 0, 77 [SEP] 16, Mug, 1.566, 0.875, 2.510, 0, 0, 0, 81 [SEP] 17, Mug, -1.219, 1.010, -1.638, 0, 90, 0, 66 [SEP] 18, Apple, 1.850, 0.984, -2.252, 0, 0, 0, 60 [SEP] 19, Potato, -0.356, 0.793, -1.981, 0, 0, 0, 72 [SEP] 20, Bowl, 0.522, 0.923, 1.220, 0, 0, 0, 77 [SEP] 21, SoapBottle, -0.772, 0.912, -2.134, 0, 0, 0, 60 [SEP] 22, Fork, 0.522, 0.927, 0.534, 0, 0, 0, 77 [SEP] 23, Ladle, 1.647, 0.957, -1.797, 0, 0, 0, 60 [SEP] 24, Bread, 0.066, 0.975, 0.991, 0, 0, 0, 77 [SEP] 25, Lettuce, 0.522, 1.008, 0.305, 0, 0, 0, 77 [SEP] 26, WineBottle, -0.697, 0.112, -1.961, 0, 0, 0, 53 [SEP] 27, Spatula, 1.647, 0.928, -1.329, 0, 0, 0, 60 [SEP] 28, Plate, 1.773, 0.556, 2.431, 0, 0, 0, 80 [SEP] 29, SaltShaker, -0.927, 0.909, -2.115, 0, 0, 0, 60 [SEP] 30, Pot, -0.117, 0.921, 1.5, 0, 0, 0, 77 [SEP] 31, Cup, -0.356, 0.764, -2.116, 0, 0, 0, 72 [SEP] 32, PepperShaker, 1.738, 0.909, -1.680, 0, 0, 0, 60 [SEP] 33, Pan, 1.567, 0.948, -0.757, 0, 0, 0, 42 [SEP] 34, ButterKnife, 0.294, 0.930, 0.991, 0, 0, 0, 77 [SEP] 35, Tomato, 0.522, 0.978, 0.762, 0, 0, 0, 77 [SEP] 36, DishSponge, 1.590, 1.659, -2.124, 0, 0, 0, 47 [SEP] 37, Egg, 0.081, 0.818, -1.936, 0, 0, 0, 72 [SEP] 38, Spoon, -0.137, 0.765, -1.981, 0, 0, 0, 72 [SEP] 39, Knife, 0.008, 0.787, -2.071, 0, 90, 0, 72 [SEP] 40, Mug, 1.261, 0.951, -1.934, 0, 0, 0, 70 [SEP] 41, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 42, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 43, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 44, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 45, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 46, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 47, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 48, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 49, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 50, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 51, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 52, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 53, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 54, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 55, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 56, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 57, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 58, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 59, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 60, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 61, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 62, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 63, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 64, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 65, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 66, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 67, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 68, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 69, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 70, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 71, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 72, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 73, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 74, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 75, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 76, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 77, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 78, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 79, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 80, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 81, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 82, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 83, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 84, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 85, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: turn right, walk to the sink | STEP 2: grab the egg from the sink | STEP 3: walk to the right to the refrigerator | STEP 4: open the refrigerator, put the egg in, wait a while, take the egg out | STEP 5: walk to the left a little to the microwave | STEP 6: open the microwave, put the egg in the microwave | END"]} +{"id": "trial_T20190908_051942_388647-1", "input": "Put a chilled egg in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 0.25, 0, 90, 0, [SEP] 1, Potato, -0.210, 0.793, -2.026, 0, 0, 0, 72 [SEP] 2, Potato, 1.828, 0.942, -1.329, 0, 0, 0, 60 [SEP] 3, ButterKnife, -0.668, 0.913, -2.101, 0, 0, 0, 60 [SEP] 4, WineBottle, 0.457, 0.914, -1.751, 0, 0, 0, 60 [SEP] 5, Fork, 0.066, 0.931, 1.448, 0, 0, 0, 77 [SEP] 6, Fork, 0.457, 0.914, -2.169, 0, 0, 0, 60 [SEP] 7, Cup, -0.311, 2.151, -2.067, 0, 0, 0, 45 [SEP] 8, Plate, 1.462, 0.556, 2.482, 0, 0, 0, 80 [SEP] 9, SoapBottle, -1.072, 0.912, -2.151, 0, 0, 0, 60 [SEP] 10, SoapBottle, -0.984, 0.125, -1.575, 0, 90, 0, 53 [SEP] 11, Lettuce, -1.495, 0.940, -0.910, 0, 90, 0, 68 [SEP] 12, SaltShaker, 1.950, 1.654, -1.117, 0, 270, 0, 51 [SEP] 13, PepperShaker, 2.009, 0.909, -1.797, 0, 0, 0, 60 [SEP] 14, PepperShaker, 1.738, 0.909, -1.446, 0, 0, 0, 60 [SEP] 15, Bread, 0.066, 0.975, 0.534, 0, 0, 0, 77 [SEP] 16, Mug, 1.566, 0.875, 2.510, 0, 0, 0, 81 [SEP] 17, Mug, -1.219, 1.010, -1.638, 0, 90, 0, 66 [SEP] 18, Apple, 1.850, 0.984, -2.252, 0, 0, 0, 60 [SEP] 19, Potato, -0.356, 0.793, -1.981, 0, 0, 0, 72 [SEP] 20, Bowl, 0.522, 0.923, 1.220, 0, 0, 0, 77 [SEP] 21, SoapBottle, -0.772, 0.912, -2.134, 0, 0, 0, 60 [SEP] 22, Fork, 0.522, 0.927, 0.534, 0, 0, 0, 77 [SEP] 23, Ladle, 1.647, 0.957, -1.797, 0, 0, 0, 60 [SEP] 24, Bread, 0.066, 0.975, 0.991, 0, 0, 0, 77 [SEP] 25, Lettuce, 0.522, 1.008, 0.305, 0, 0, 0, 77 [SEP] 26, WineBottle, -0.697, 0.112, -1.961, 0, 0, 0, 53 [SEP] 27, Spatula, 1.647, 0.928, -1.329, 0, 0, 0, 60 [SEP] 28, Plate, 1.773, 0.556, 2.431, 0, 0, 0, 80 [SEP] 29, SaltShaker, -0.927, 0.909, -2.115, 0, 0, 0, 60 [SEP] 30, Pot, -0.117, 0.921, 1.5, 0, 0, 0, 77 [SEP] 31, Cup, -0.356, 0.764, -2.116, 0, 0, 0, 72 [SEP] 32, PepperShaker, 1.738, 0.909, -1.680, 0, 0, 0, 60 [SEP] 33, Pan, 1.567, 0.948, -0.757, 0, 0, 0, 42 [SEP] 34, ButterKnife, 0.294, 0.930, 0.991, 0, 0, 0, 77 [SEP] 35, Tomato, 0.522, 0.978, 0.762, 0, 0, 0, 77 [SEP] 36, DishSponge, 1.590, 1.659, -2.124, 0, 0, 0, 47 [SEP] 37, Egg, 0.081, 0.818, -1.936, 0, 0, 0, 72 [SEP] 38, Spoon, -0.137, 0.765, -1.981, 0, 0, 0, 72 [SEP] 39, Knife, 0.008, 0.787, -2.071, 0, 90, 0, 72 [SEP] 40, Mug, 1.261, 0.951, -1.934, 0, 0, 0, 70 [SEP] 41, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 42, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 43, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 44, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 45, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 46, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 47, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 48, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 49, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 50, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 51, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 52, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 53, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 54, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 55, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 56, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 57, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 58, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 59, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 60, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 61, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 62, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 63, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 64, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 65, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 66, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 67, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 68, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 69, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 70, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 71, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 72, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 73, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 74, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 75, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 76, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 77, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 78, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 79, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 80, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 81, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 82, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 83, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 84, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 85, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: move to the sink to the left of the fridge | STEP 2: pick up a egg from the sink | STEP 3: move to the fridge to the right of you | STEP 4: chill the egg in the fridge | STEP 5: move to the microwave to the left of the fridge | STEP 6: put the egg in the fridge | END"]} +{"id": "trial_T20190908_051942_388647-2", "input": "Cool an egg, put the egg in the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 0.25, 0, 90, 0, [SEP] 1, Potato, -0.210, 0.793, -2.026, 0, 0, 0, 72 [SEP] 2, Potato, 1.828, 0.942, -1.329, 0, 0, 0, 60 [SEP] 3, ButterKnife, -0.668, 0.913, -2.101, 0, 0, 0, 60 [SEP] 4, WineBottle, 0.457, 0.914, -1.751, 0, 0, 0, 60 [SEP] 5, Fork, 0.066, 0.931, 1.448, 0, 0, 0, 77 [SEP] 6, Fork, 0.457, 0.914, -2.169, 0, 0, 0, 60 [SEP] 7, Cup, -0.311, 2.151, -2.067, 0, 0, 0, 45 [SEP] 8, Plate, 1.462, 0.556, 2.482, 0, 0, 0, 80 [SEP] 9, SoapBottle, -1.072, 0.912, -2.151, 0, 0, 0, 60 [SEP] 10, SoapBottle, -0.984, 0.125, -1.575, 0, 90, 0, 53 [SEP] 11, Lettuce, -1.495, 0.940, -0.910, 0, 90, 0, 68 [SEP] 12, SaltShaker, 1.950, 1.654, -1.117, 0, 270, 0, 51 [SEP] 13, PepperShaker, 2.009, 0.909, -1.797, 0, 0, 0, 60 [SEP] 14, PepperShaker, 1.738, 0.909, -1.446, 0, 0, 0, 60 [SEP] 15, Bread, 0.066, 0.975, 0.534, 0, 0, 0, 77 [SEP] 16, Mug, 1.566, 0.875, 2.510, 0, 0, 0, 81 [SEP] 17, Mug, -1.219, 1.010, -1.638, 0, 90, 0, 66 [SEP] 18, Apple, 1.850, 0.984, -2.252, 0, 0, 0, 60 [SEP] 19, Potato, -0.356, 0.793, -1.981, 0, 0, 0, 72 [SEP] 20, Bowl, 0.522, 0.923, 1.220, 0, 0, 0, 77 [SEP] 21, SoapBottle, -0.772, 0.912, -2.134, 0, 0, 0, 60 [SEP] 22, Fork, 0.522, 0.927, 0.534, 0, 0, 0, 77 [SEP] 23, Ladle, 1.647, 0.957, -1.797, 0, 0, 0, 60 [SEP] 24, Bread, 0.066, 0.975, 0.991, 0, 0, 0, 77 [SEP] 25, Lettuce, 0.522, 1.008, 0.305, 0, 0, 0, 77 [SEP] 26, WineBottle, -0.697, 0.112, -1.961, 0, 0, 0, 53 [SEP] 27, Spatula, 1.647, 0.928, -1.329, 0, 0, 0, 60 [SEP] 28, Plate, 1.773, 0.556, 2.431, 0, 0, 0, 80 [SEP] 29, SaltShaker, -0.927, 0.909, -2.115, 0, 0, 0, 60 [SEP] 30, Pot, -0.117, 0.921, 1.5, 0, 0, 0, 77 [SEP] 31, Cup, -0.356, 0.764, -2.116, 0, 0, 0, 72 [SEP] 32, PepperShaker, 1.738, 0.909, -1.680, 0, 0, 0, 60 [SEP] 33, Pan, 1.567, 0.948, -0.757, 0, 0, 0, 42 [SEP] 34, ButterKnife, 0.294, 0.930, 0.991, 0, 0, 0, 77 [SEP] 35, Tomato, 0.522, 0.978, 0.762, 0, 0, 0, 77 [SEP] 36, DishSponge, 1.590, 1.659, -2.124, 0, 0, 0, 47 [SEP] 37, Egg, 0.081, 0.818, -1.936, 0, 0, 0, 72 [SEP] 38, Spoon, -0.137, 0.765, -1.981, 0, 0, 0, 72 [SEP] 39, Knife, 0.008, 0.787, -2.071, 0, 90, 0, 72 [SEP] 40, Mug, 1.261, 0.951, -1.934, 0, 0, 0, 70 [SEP] 41, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 42, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 43, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 44, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 45, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 46, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 47, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 48, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 49, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 50, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 51, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 52, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 53, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 54, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 55, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 56, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 57, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 58, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 59, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 60, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 61, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 62, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 63, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 64, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 65, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 66, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 67, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 68, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 69, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 70, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 71, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 72, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 73, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 74, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 75, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 76, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 77, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 78, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 79, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 80, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 81, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 82, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 83, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 84, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 85, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, go forward a bit, turn left, go forward a bit, turn right and go to the sink | STEP 2: Pick up the egg in the sink | STEP 3: Turn around, go forward a bit, turn left and go to the fridge | STEP 4: Put the egg in the fridge, wait, get the egg from the fridge | STEP 5: Turn around, go forward a bit, turn right, go forward a bit, turn right in front of the microwave | STEP 6: Put the egg into the microwave | END"]} +{"id": "trial_T20190906_201148_878110-0", "input": "Put wet soap on the toilet tank lid. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.75, 0.900, 4.75, 0, 0, 0, [SEP] 1, Cloth, -1.401, 0.274, 1.935, 0, 0, 0, 19 [SEP] 2, SprayBottle, -1.086, 0.120, 3.734, 0, 0, 0, 36 [SEP] 3, SprayBottle, -0.956, 1.045, 4.329, 0, 270, 0, 37 [SEP] 4, SoapBottle, -1.017, 1.046, 4.460, 0, 270, 0, 37 [SEP] 5, Towel, -4.739, 1.522, 3.359, 0, 90, 0, 29 [SEP] 6, Candle, -1.022, 0.546, 1.935, 0, 0, 0, 18 [SEP] 7, HandTowel, -3.726, 1.646, 1.330, 0, 180, 0, 35 [SEP] 8, Plunger, -1.064, -0.000, 4.838, 0, 0, 0, Floor|-03.84| [SEP] 9, SoapBar, -4.207, 0.202, 2.485, 0, 270, 0, 32 [SEP] 10, ToiletPaper, -0.968, 0.888, 3.960, 0, 270, 270, 38 [SEP] 11, Cloth, -2.358, 0.274, 1.832, 0, 0, 0, 26 [SEP] 12, ToiletPaper, -1.979, 0.809, 1.695, 0, 0, 0, 17 [SEP] 13, Towel, -4.739, 1.522, 2.425, 0, 90, 0, 30 [SEP] 14, ScrubBrush, -1.065, -0.000, 4.052, 0, 0, 0, Floor|-03.84| [SEP] 15, SoapBottle, -2.462, 0.828, 1.968, 0, 0, 0, 17 [SEP] 16, SprayBottle, -2.205, 0.827, 2.100, 0, 0, 0, 17 [SEP] 17, CounterTop, -2.177, 0.782, 1.889, 0, 0, 0, [SEP] 18, Drawer, -1.307, 0.606, 1.890, 0, 0, 0, [SEP] 19, Drawer, -1.307, 0.337, 1.890, 0, 0, 0, [SEP] 20, Faucet, -4.646, 0.448, 1.689, 0, 0, 0, [SEP] 21, ShowerDoor, -4.873, 1.235, 3.947, 0, 0, 0, [SEP] 22, Drawer, -3.029, 0.337, 1.890, 0, 0, 0, [SEP] 23, Drawer, -2.169, 0.606, 1.890, 0, 0, 0, [SEP] 24, Drawer, -3.029, 0.606, 1.890, 0, 0, 0, [SEP] 25, Bathtub, -4.080, 0.297, 2.480, 0, 345.000, 0, [SEP] 26, Drawer, -2.169, 0.337, 1.890, 0, 0, 0, [SEP] 27, Mirror, -2.177, 1.856, 1.390, 0, 0, 0, [SEP] 28, Sink, -1.421, 0.837, 1.776, 0, 0, 0, [SEP] 29, TowelHolder, -4.846, 1.508, 3.358, 0, 90, 0, [SEP] 30, TowelHolder, -4.846, 1.508, 2.424, 0, 90, 0, [SEP] 31, LightSwitch, -2.165, 1.450, 4.972, 0, 180, 0, [SEP] 32, BathtubBasin, -4.309, 0.192, 2.328, 0, 270, 0, [SEP] 33, SinkBasin, -1.442, 0.874, 1.785, 0, 0, 0, [SEP] 34, HandTowelHolder, -0.884, 1.692, 2.017, 0, 180, 0, [SEP] 35, HandTowelHolder, -3.726, 1.748, 1.292, 0, 270, 0, [SEP] 36, GarbageCan, -1.116, -0.037, 3.598, 0, 270, 0, [SEP] 37, Toilet, -1.340, -0.000, 4.456, 0, 0, 0, [SEP] 38, ToiletPaperHanger, -0.884, 0.888, 3.911, 0, 270, 0, [SEP] 39, Faucet, -1.421, 0.954, 1.507, 0, 0, 0, [SEP] 40, ShowerHead, -5.257, 1.733, 4.030, 0, 90, 0, [SEP] 41, Faucet, -2.944, 0.954, 1.507, 0, 0, 0, [SEP] 42, Sink, -2.943, 0.837, 1.776, 0, 0, 0, [SEP] 43, SinkBasin, -2.964, 0.874, 1.785, 0, 0, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: Move to the tub. | STEP 2: Pick up the soap in the tub. | STEP 3: Bring the soap to the sink on the left. | STEP 4: Wet the soap in the sink with water. | STEP 5: Bring the soap to the toilet. | STEP 6: Put the soap on the toilet tank lid. | END"]} +{"id": "trial_T20190906_201148_878110-1", "input": "place rinsed soap on top of the toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.75, 0.900, 4.75, 0, 0, 0, [SEP] 1, Cloth, -1.401, 0.274, 1.935, 0, 0, 0, 19 [SEP] 2, SprayBottle, -1.086, 0.120, 3.734, 0, 0, 0, 36 [SEP] 3, SprayBottle, -0.956, 1.045, 4.329, 0, 270, 0, 37 [SEP] 4, SoapBottle, -1.017, 1.046, 4.460, 0, 270, 0, 37 [SEP] 5, Towel, -4.739, 1.522, 3.359, 0, 90, 0, 29 [SEP] 6, Candle, -1.022, 0.546, 1.935, 0, 0, 0, 18 [SEP] 7, HandTowel, -3.726, 1.646, 1.330, 0, 180, 0, 35 [SEP] 8, Plunger, -1.064, -0.000, 4.838, 0, 0, 0, Floor|-03.84| [SEP] 9, SoapBar, -4.207, 0.202, 2.485, 0, 270, 0, 32 [SEP] 10, ToiletPaper, -0.968, 0.888, 3.960, 0, 270, 270, 38 [SEP] 11, Cloth, -2.358, 0.274, 1.832, 0, 0, 0, 26 [SEP] 12, ToiletPaper, -1.979, 0.809, 1.695, 0, 0, 0, 17 [SEP] 13, Towel, -4.739, 1.522, 2.425, 0, 90, 0, 30 [SEP] 14, ScrubBrush, -1.065, -0.000, 4.052, 0, 0, 0, Floor|-03.84| [SEP] 15, SoapBottle, -2.462, 0.828, 1.968, 0, 0, 0, 17 [SEP] 16, SprayBottle, -2.205, 0.827, 2.100, 0, 0, 0, 17 [SEP] 17, CounterTop, -2.177, 0.782, 1.889, 0, 0, 0, [SEP] 18, Drawer, -1.307, 0.606, 1.890, 0, 0, 0, [SEP] 19, Drawer, -1.307, 0.337, 1.890, 0, 0, 0, [SEP] 20, Faucet, -4.646, 0.448, 1.689, 0, 0, 0, [SEP] 21, ShowerDoor, -4.873, 1.235, 3.947, 0, 0, 0, [SEP] 22, Drawer, -3.029, 0.337, 1.890, 0, 0, 0, [SEP] 23, Drawer, -2.169, 0.606, 1.890, 0, 0, 0, [SEP] 24, Drawer, -3.029, 0.606, 1.890, 0, 0, 0, [SEP] 25, Bathtub, -4.080, 0.297, 2.480, 0, 345.000, 0, [SEP] 26, Drawer, -2.169, 0.337, 1.890, 0, 0, 0, [SEP] 27, Mirror, -2.177, 1.856, 1.390, 0, 0, 0, [SEP] 28, Sink, -1.421, 0.837, 1.776, 0, 0, 0, [SEP] 29, TowelHolder, -4.846, 1.508, 3.358, 0, 90, 0, [SEP] 30, TowelHolder, -4.846, 1.508, 2.424, 0, 90, 0, [SEP] 31, LightSwitch, -2.165, 1.450, 4.972, 0, 180, 0, [SEP] 32, BathtubBasin, -4.309, 0.192, 2.328, 0, 270, 0, [SEP] 33, SinkBasin, -1.442, 0.874, 1.785, 0, 0, 0, [SEP] 34, HandTowelHolder, -0.884, 1.692, 2.017, 0, 180, 0, [SEP] 35, HandTowelHolder, -3.726, 1.748, 1.292, 0, 270, 0, [SEP] 36, GarbageCan, -1.116, -0.037, 3.598, 0, 270, 0, [SEP] 37, Toilet, -1.340, -0.000, 4.456, 0, 0, 0, [SEP] 38, ToiletPaperHanger, -0.884, 0.888, 3.911, 0, 270, 0, [SEP] 39, Faucet, -1.421, 0.954, 1.507, 0, 0, 0, [SEP] 40, ShowerHead, -5.257, 1.733, 4.030, 0, 90, 0, [SEP] 41, Faucet, -2.944, 0.954, 1.507, 0, 0, 0, [SEP] 42, Sink, -2.943, 0.837, 1.776, 0, 0, 0, [SEP] 43, SinkBasin, -2.964, 0.874, 1.785, 0, 0, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: turn around and walk forwards over to the bathroom tub | STEP 2: grab the soap out of the tub | STEP 3: turn around and walk to the far end of the kitchen sink | STEP 4: place the soap inside the sink, rinse off the soap, and then pick it back up | STEP 5: turn around and walk forwards over to the toilet | STEP 6: place the soap on top of the back of the toilet | END"]} +{"id": "trial_T20190906_201148_878110-2", "input": "Put a bar of soap on the back of the toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.75, 0.900, 4.75, 0, 0, 0, [SEP] 1, Cloth, -1.401, 0.274, 1.935, 0, 0, 0, 19 [SEP] 2, SprayBottle, -1.086, 0.120, 3.734, 0, 0, 0, 36 [SEP] 3, SprayBottle, -0.956, 1.045, 4.329, 0, 270, 0, 37 [SEP] 4, SoapBottle, -1.017, 1.046, 4.460, 0, 270, 0, 37 [SEP] 5, Towel, -4.739, 1.522, 3.359, 0, 90, 0, 29 [SEP] 6, Candle, -1.022, 0.546, 1.935, 0, 0, 0, 18 [SEP] 7, HandTowel, -3.726, 1.646, 1.330, 0, 180, 0, 35 [SEP] 8, Plunger, -1.064, -0.000, 4.838, 0, 0, 0, Floor|-03.84| [SEP] 9, SoapBar, -4.207, 0.202, 2.485, 0, 270, 0, 32 [SEP] 10, ToiletPaper, -0.968, 0.888, 3.960, 0, 270, 270, 38 [SEP] 11, Cloth, -2.358, 0.274, 1.832, 0, 0, 0, 26 [SEP] 12, ToiletPaper, -1.979, 0.809, 1.695, 0, 0, 0, 17 [SEP] 13, Towel, -4.739, 1.522, 2.425, 0, 90, 0, 30 [SEP] 14, ScrubBrush, -1.065, -0.000, 4.052, 0, 0, 0, Floor|-03.84| [SEP] 15, SoapBottle, -2.462, 0.828, 1.968, 0, 0, 0, 17 [SEP] 16, SprayBottle, -2.205, 0.827, 2.100, 0, 0, 0, 17 [SEP] 17, CounterTop, -2.177, 0.782, 1.889, 0, 0, 0, [SEP] 18, Drawer, -1.307, 0.606, 1.890, 0, 0, 0, [SEP] 19, Drawer, -1.307, 0.337, 1.890, 0, 0, 0, [SEP] 20, Faucet, -4.646, 0.448, 1.689, 0, 0, 0, [SEP] 21, ShowerDoor, -4.873, 1.235, 3.947, 0, 0, 0, [SEP] 22, Drawer, -3.029, 0.337, 1.890, 0, 0, 0, [SEP] 23, Drawer, -2.169, 0.606, 1.890, 0, 0, 0, [SEP] 24, Drawer, -3.029, 0.606, 1.890, 0, 0, 0, [SEP] 25, Bathtub, -4.080, 0.297, 2.480, 0, 345.000, 0, [SEP] 26, Drawer, -2.169, 0.337, 1.890, 0, 0, 0, [SEP] 27, Mirror, -2.177, 1.856, 1.390, 0, 0, 0, [SEP] 28, Sink, -1.421, 0.837, 1.776, 0, 0, 0, [SEP] 29, TowelHolder, -4.846, 1.508, 3.358, 0, 90, 0, [SEP] 30, TowelHolder, -4.846, 1.508, 2.424, 0, 90, 0, [SEP] 31, LightSwitch, -2.165, 1.450, 4.972, 0, 180, 0, [SEP] 32, BathtubBasin, -4.309, 0.192, 2.328, 0, 270, 0, [SEP] 33, SinkBasin, -1.442, 0.874, 1.785, 0, 0, 0, [SEP] 34, HandTowelHolder, -0.884, 1.692, 2.017, 0, 180, 0, [SEP] 35, HandTowelHolder, -3.726, 1.748, 1.292, 0, 270, 0, [SEP] 36, GarbageCan, -1.116, -0.037, 3.598, 0, 270, 0, [SEP] 37, Toilet, -1.340, -0.000, 4.456, 0, 0, 0, [SEP] 38, ToiletPaperHanger, -0.884, 0.888, 3.911, 0, 270, 0, [SEP] 39, Faucet, -1.421, 0.954, 1.507, 0, 0, 0, [SEP] 40, ShowerHead, -5.257, 1.733, 4.030, 0, 90, 0, [SEP] 41, Faucet, -2.944, 0.954, 1.507, 0, 0, 0, [SEP] 42, Sink, -2.943, 0.837, 1.776, 0, 0, 0, [SEP] 43, SinkBasin, -2.964, 0.874, 1.785, 0, 0, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go right, toward the sink, then turn right toward the tub. | STEP 2: Take the bar of soap from the tub. | STEP 3: Turn around, go toward the sink past the other sink. | STEP 4: Wash the soap in the sink. | STEP 5: Turn around, go to the toilet in front of you. | STEP 6: Place the bar of soap to the left of the back of the toilet. | END"]} +{"id": "trial_T20190909_051813_197569-0", "input": "Put one watch on the end tale. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 1.5, 0, 0, 0, [SEP] 1, Newspaper, 2.957, 0.609, 1.627, 0, 0, 0, 32 [SEP] 2, Statue, 1.145, 0.418, 1.466, 0, 0, 0, 33 [SEP] 3, Watch, 0.227, 0.368, 0.130, 0, 0, 0, 40 [SEP] 4, CreditCard, 0.498, 0.484, -1.736, 0, 0, 0, 29 [SEP] 5, CreditCard, -0.857, 0.602, -1.482, 0, 0, 0, 31 [SEP] 6, RemoteControl, 2.890, 0.448, 0.846, 0, 90, 0, 26 [SEP] 7, RemoteControl, 1.919, 0.872, 1.746, 0, 0, 0, 28 [SEP] 8, Box, 2.737, 0.640, -0.151, 0, 0, 0, 26 [SEP] 9, Laptop, 0.228, 0.358, -0.306, 0, 349.282, 0, 40 [SEP] 10, CreditCard, 2.226, 0.870, 1.787, 0, 0, 0, 28 [SEP] 11, Newspaper, 0.216, 0.522, -1.567, 0, 350.059, 0, 29 [SEP] 12, RemoteControl, 1.300, 0.412, 1.531, 0, 0, 0, 33 [SEP] 13, Pillow, -0.875, 0.575, -0.798, 0, 267.956, 341.124, 30 [SEP] 14, KeyChain, 2.661, 0.461, 0.447, 0, 0, 0, 26 [SEP] 15, Watch, 0.114, 0.368, 0.130, 0, 0, 0, 40 [SEP] 16, Statue, 0.678, 0.418, 1.466, 0, 0, 0, 33 [SEP] 17, Curtains, 1.199, 0.0, -2.440, 0, 0, 0, [SEP] 18, HousePlant, 1.919, 1.717, -2.187, 0, 315, 0, [SEP] 19, FloorLamp, -1.160, -0.003, 1.040, 0, 0, 0, [SEP] 20, LightSwitch, -1.006, 1.286, 1.950, 0, 180, 0, [SEP] 21, Television, 0.858, 0.884, 1.731, 0, 180, 0, [SEP] 22, Painting, 3.414, 1.708, -0.156, 90, 270, 0, [SEP] 23, Painting, -1.449, 1.787, -0.342, 90, 270, 0, [SEP] 24, GarbageCan, 1.296, 9.894, -2.187, 0, 0, 0, [SEP] 25, Window, 0.653, 1.550, -2.470, 90, 180, 0, [SEP] 26, Sofa, 2.868, -0.002, 0.248, 0, 270, 0, [SEP] 27, Drawer, 1.996, 0.779, 1.705, 0, 180, 0, [SEP] 28, SideTable, 1.995, 0.004, 1.746, 0, 180, 0, [SEP] 29, ArmChair, 0.224, -0.010, -1.724, 0, 0, 0, [SEP] 30, Sofa, -1.007, 0.006, -0.207, 1.149, 90, 0, [SEP] 31, SideTable, -0.683, 0.004, -1.600, 0, 0, 0, [SEP] 32, SideTable, 2.956, 0.004, 1.568, 0, 0, 0, [SEP] 33, TVStand, 0.838, -0.006, 1.582, 0, 0, 0, [SEP] 34, Drawer, 0.472, 0.271, -0.165, 0, 270, 0, [SEP] 35, Drawer, -0.018, 0.272, -0.165, 0, 270, 0, [SEP] 36, Drawer, -0.018, 0.168, -0.165, 0, 270, 0, [SEP] 37, Drawer, -0.018, 0.064, -0.165, 0, 270, 0, [SEP] 38, Drawer, 0.472, 0.063, -0.165, 0, 270, 0, [SEP] 39, Drawer, 0.472, 0.167, -0.165, 0, 270, 0, [SEP] 40, CoffeeTable, 0.226, -0.003, -0.164, 0, 270, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the coffee table. | STEP 2: Pick up the watch on the front, right corner of the table. | STEP 3: Go around the coffee table, through the couch to your right, to the end table across from you, between the couch and the chair. | STEP 4: Place the watch on the front, left corner of the end table. | END"]} +{"id": "trial_T20190909_051813_197569-1", "input": "Put a watch on the corner table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 1.5, 0, 0, 0, [SEP] 1, Newspaper, 2.957, 0.609, 1.627, 0, 0, 0, 32 [SEP] 2, Statue, 1.145, 0.418, 1.466, 0, 0, 0, 33 [SEP] 3, Watch, 0.227, 0.368, 0.130, 0, 0, 0, 40 [SEP] 4, CreditCard, 0.498, 0.484, -1.736, 0, 0, 0, 29 [SEP] 5, CreditCard, -0.857, 0.602, -1.482, 0, 0, 0, 31 [SEP] 6, RemoteControl, 2.890, 0.448, 0.846, 0, 90, 0, 26 [SEP] 7, RemoteControl, 1.919, 0.872, 1.746, 0, 0, 0, 28 [SEP] 8, Box, 2.737, 0.640, -0.151, 0, 0, 0, 26 [SEP] 9, Laptop, 0.228, 0.358, -0.306, 0, 349.282, 0, 40 [SEP] 10, CreditCard, 2.226, 0.870, 1.787, 0, 0, 0, 28 [SEP] 11, Newspaper, 0.216, 0.522, -1.567, 0, 350.059, 0, 29 [SEP] 12, RemoteControl, 1.300, 0.412, 1.531, 0, 0, 0, 33 [SEP] 13, Pillow, -0.875, 0.575, -0.798, 0, 267.956, 341.124, 30 [SEP] 14, KeyChain, 2.661, 0.461, 0.447, 0, 0, 0, 26 [SEP] 15, Watch, 0.114, 0.368, 0.130, 0, 0, 0, 40 [SEP] 16, Statue, 0.678, 0.418, 1.466, 0, 0, 0, 33 [SEP] 17, Curtains, 1.199, 0.0, -2.440, 0, 0, 0, [SEP] 18, HousePlant, 1.919, 1.717, -2.187, 0, 315, 0, [SEP] 19, FloorLamp, -1.160, -0.003, 1.040, 0, 0, 0, [SEP] 20, LightSwitch, -1.006, 1.286, 1.950, 0, 180, 0, [SEP] 21, Television, 0.858, 0.884, 1.731, 0, 180, 0, [SEP] 22, Painting, 3.414, 1.708, -0.156, 90, 270, 0, [SEP] 23, Painting, -1.449, 1.787, -0.342, 90, 270, 0, [SEP] 24, GarbageCan, 1.296, 9.894, -2.187, 0, 0, 0, [SEP] 25, Window, 0.653, 1.550, -2.470, 90, 180, 0, [SEP] 26, Sofa, 2.868, -0.002, 0.248, 0, 270, 0, [SEP] 27, Drawer, 1.996, 0.779, 1.705, 0, 180, 0, [SEP] 28, SideTable, 1.995, 0.004, 1.746, 0, 180, 0, [SEP] 29, ArmChair, 0.224, -0.010, -1.724, 0, 0, 0, [SEP] 30, Sofa, -1.007, 0.006, -0.207, 1.149, 90, 0, [SEP] 31, SideTable, -0.683, 0.004, -1.600, 0, 0, 0, [SEP] 32, SideTable, 2.956, 0.004, 1.568, 0, 0, 0, [SEP] 33, TVStand, 0.838, -0.006, 1.582, 0, 0, 0, [SEP] 34, Drawer, 0.472, 0.271, -0.165, 0, 270, 0, [SEP] 35, Drawer, -0.018, 0.272, -0.165, 0, 270, 0, [SEP] 36, Drawer, -0.018, 0.168, -0.165, 0, 270, 0, [SEP] 37, Drawer, -0.018, 0.064, -0.165, 0, 270, 0, [SEP] 38, Drawer, 0.472, 0.063, -0.165, 0, 270, 0, [SEP] 39, Drawer, 0.472, 0.167, -0.165, 0, 270, 0, [SEP] 40, CoffeeTable, 0.226, -0.003, -0.164, 0, 270, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the coffee table, then turn left to face the other side of the room. | STEP 2: Pick up the closest watch from the table. | STEP 3: Turn right and walk to the small table in the corner between the chair and the couch. | STEP 4: Put the watch on the left near corner of the table. | END"]} +{"id": "trial_T20190909_051813_197569-2", "input": "Move the watch from table to end table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 1.5, 0, 0, 0, [SEP] 1, Newspaper, 2.957, 0.609, 1.627, 0, 0, 0, 32 [SEP] 2, Statue, 1.145, 0.418, 1.466, 0, 0, 0, 33 [SEP] 3, Watch, 0.227, 0.368, 0.130, 0, 0, 0, 40 [SEP] 4, CreditCard, 0.498, 0.484, -1.736, 0, 0, 0, 29 [SEP] 5, CreditCard, -0.857, 0.602, -1.482, 0, 0, 0, 31 [SEP] 6, RemoteControl, 2.890, 0.448, 0.846, 0, 90, 0, 26 [SEP] 7, RemoteControl, 1.919, 0.872, 1.746, 0, 0, 0, 28 [SEP] 8, Box, 2.737, 0.640, -0.151, 0, 0, 0, 26 [SEP] 9, Laptop, 0.228, 0.358, -0.306, 0, 349.282, 0, 40 [SEP] 10, CreditCard, 2.226, 0.870, 1.787, 0, 0, 0, 28 [SEP] 11, Newspaper, 0.216, 0.522, -1.567, 0, 350.059, 0, 29 [SEP] 12, RemoteControl, 1.300, 0.412, 1.531, 0, 0, 0, 33 [SEP] 13, Pillow, -0.875, 0.575, -0.798, 0, 267.956, 341.124, 30 [SEP] 14, KeyChain, 2.661, 0.461, 0.447, 0, 0, 0, 26 [SEP] 15, Watch, 0.114, 0.368, 0.130, 0, 0, 0, 40 [SEP] 16, Statue, 0.678, 0.418, 1.466, 0, 0, 0, 33 [SEP] 17, Curtains, 1.199, 0.0, -2.440, 0, 0, 0, [SEP] 18, HousePlant, 1.919, 1.717, -2.187, 0, 315, 0, [SEP] 19, FloorLamp, -1.160, -0.003, 1.040, 0, 0, 0, [SEP] 20, LightSwitch, -1.006, 1.286, 1.950, 0, 180, 0, [SEP] 21, Television, 0.858, 0.884, 1.731, 0, 180, 0, [SEP] 22, Painting, 3.414, 1.708, -0.156, 90, 270, 0, [SEP] 23, Painting, -1.449, 1.787, -0.342, 90, 270, 0, [SEP] 24, GarbageCan, 1.296, 9.894, -2.187, 0, 0, 0, [SEP] 25, Window, 0.653, 1.550, -2.470, 90, 180, 0, [SEP] 26, Sofa, 2.868, -0.002, 0.248, 0, 270, 0, [SEP] 27, Drawer, 1.996, 0.779, 1.705, 0, 180, 0, [SEP] 28, SideTable, 1.995, 0.004, 1.746, 0, 180, 0, [SEP] 29, ArmChair, 0.224, -0.010, -1.724, 0, 0, 0, [SEP] 30, Sofa, -1.007, 0.006, -0.207, 1.149, 90, 0, [SEP] 31, SideTable, -0.683, 0.004, -1.600, 0, 0, 0, [SEP] 32, SideTable, 2.956, 0.004, 1.568, 0, 0, 0, [SEP] 33, TVStand, 0.838, -0.006, 1.582, 0, 0, 0, [SEP] 34, Drawer, 0.472, 0.271, -0.165, 0, 270, 0, [SEP] 35, Drawer, -0.018, 0.272, -0.165, 0, 270, 0, [SEP] 36, Drawer, -0.018, 0.168, -0.165, 0, 270, 0, [SEP] 37, Drawer, -0.018, 0.064, -0.165, 0, 270, 0, [SEP] 38, Drawer, 0.472, 0.063, -0.165, 0, 270, 0, [SEP] 39, Drawer, 0.472, 0.167, -0.165, 0, 270, 0, [SEP] 40, CoffeeTable, 0.226, -0.003, -0.164, 0, 270, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, walk to table, turn left, | STEP 2: Pick up watch off of table | STEP 3: Turn right, walk to end of table | STEP 4: Place watch on end table beside chair | END"]} +{"id": "trial_T20190907_222640_487432-0", "input": "Put a heated mug on the coffee machine. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, -1.25, 0, 0, 0, [SEP] 1, Pan, -0.335, 1.111, -0.506, 0, 0, 0, 61 [SEP] 2, CreditCard, 1.891, 0.877, -2.617, 0, 180, 0, 88 [SEP] 3, CreditCard, -1.653, 0.151, -0.342, 0, 90, 0, 84 [SEP] 4, Plate, 0.355, 1.108, -0.759, 0, 0, 0, 61 [SEP] 5, Plate, -1.104, 0.133, -2.453, 0, 0, 0, 79 [SEP] 6, Cup, -1.143, 0.909, -2.713, 0, 0, 0, 86 [SEP] 7, Cup, -0.173, 1.788, -2.610, 0, 0, 0, 87 [SEP] 8, Egg, -1.907, 0.083, 1.885, 0, 270, 0, 92 [SEP] 9, Tomato, -2.100, 0.950, -0.698, 0, 0, 0, 86 [SEP] 10, Tomato, -0.197, 1.150, -0.001, 0, 0, 0, 61 [SEP] 11, PepperShaker, -1.740, 0.150, -0.293, 0, 90, 0, 84 [SEP] 12, PepperShaker, 0.582, 0.907, -2.637, 0, 0, 0, 63 [SEP] 13, Lettuce, -1.143, 0.991, -2.406, 0, 0, 0, 86 [SEP] 14, Apple, -1.935, 0.098, 2.124, 0, 270, 0, 92 [SEP] 15, Knife, -1.693, 0.936, -0.698, 0, 90, 0, 86 [SEP] 16, Fork, -1.774, 0.911, -2.036, 0, 270, 0, 86 [SEP] 17, Fork, 1.007, 0.646, -2.417, 0, 0, 0, 66 [SEP] 18, Mug, -2.121, 0.535, 1.168, 0, 90, 0, 94 [SEP] 19, Mug, -0.840, 1.651, -2.676, 0, 0, 0, 75 [SEP] 20, Spatula, -1.937, 0.926, -2.256, 0, 0, 0, 86 [SEP] 21, Pot, -0.036, 0.950, -2.372, 0, 270, 0, 56 [SEP] 22, Pot, -1.908, 0.774, -1.328, 0, 90, 0, 96 [SEP] 23, ButterKnife, 0.079, 1.111, -0.001, 0, 0, 0, 61 [SEP] 24, Glassbottle, -1.962, 0.048, 1.981, 0, 270, 0, 92 [SEP] 25, Bowl, -1.814, 0.126, 0.203, 0, 90, 0, 67 [SEP] 26, Book, 0.155, 1.1, 0.617, 0, 315, 0, 61 [SEP] 27, Glassbottle, -2.100, 0.912, -0.513, 0, 0, 0, 86 [SEP] 28, Knife, -0.473, 1.136, -0.253, 0, 180, 0, 61 [SEP] 29, Bread, 0.355, 1.184, 0.251, 0, 0, 0, 61 [SEP] 30, Fork, 0.453, 0.911, -2.407, 0, 0, 0, 63 [SEP] 31, Potato, -1.963, 0.800, -1.501, 0, 90, 0, 96 [SEP] 32, SoapBottle, -1.586, 0.912, -2.637, 0, 0, 0, 86 [SEP] 33, Kettle, 1.037, 0.9, -2.596, 0, 0, 0, 63 [SEP] 34, Pan, -2.070, 1.305, 1.092, 0, 180, 0, 94 [SEP] 35, Plate, -2.122, 1.499, 1.008, 0, 90, 0, 94 [SEP] 36, Tomato, -1.999, 0.267, 0.920, 0, 90, 0, 94 [SEP] 37, Vase, 1.685, 0.555, -2.511, 0, 180, 0, 91 [SEP] 38, Egg, 0.582, 0.945, -2.253, 0, 0, 0, 63 [SEP] 39, CreditCard, -1.574, 0.908, -1.496, 0, 0, 0, 96 [SEP] 40, Statue, -0.335, 1.110, 0.757, 0, 0, 0, 61 [SEP] 41, WineBottle, -0.059, 1.112, 0.251, 0, 0, 0, 61 [SEP] 42, Pot, -0.465, 0.950, -2.372, 0, 90, 0, 59 [SEP] 43, Spatula, -1.653, 0.168, -0.053, 0, 0, 0, 84 [SEP] 44, PaperTowelRoll, -0.059, 1.215, -0.506, 0, 0, 0, 61 [SEP] 45, Cup, -1.797, 0.767, -1.760, 0, 90, 0, 96 [SEP] 46, Vase, 1.098, 0.908, -2.330, 0, 0, 0, 63 [SEP] 47, Bowl, -0.059, 1.108, -0.253, 0, 0, 0, 61 [SEP] 48, SaltShaker, -0.473, 1.107, -0.759, 0, 0, 0, 61 [SEP] 49, PepperShaker, -0.473, 1.107, 0.251, 0, 0, 0, 61 [SEP] 50, Lettuce, 0.079, 1.191, -0.506, 0, 0, 0, 61 [SEP] 51, ButterKnife, -1.908, 0.769, -1.587, 0, 90, 0, 96 [SEP] 52, Apple, -1.997, 0.591, 0.837, 0, 90, 0, 94 [SEP] 53, DishSponge, -2.018, 0.769, -1.673, 0, 90, 0, 96 [SEP] 54, Spoon, 0.079, 1.112, -0.759, 0, 0, 0, 61 [SEP] 55, Mug, -1.731, 0.956, -0.168, 0, 90, 0, 95 [SEP] 56, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0, [SEP] 57, Drawer, 0.949, 0.832, -2.197, 0, 0, 0, [SEP] 58, Drawer, -1.560, 0.839, 0.204, 0, 90, 0, [SEP] 59, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0, [SEP] 60, Drawer, -1.560, 0.839, -0.197, 0, 90, 0, [SEP] 61, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0, [SEP] 62, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0, [SEP] 63, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0, [SEP] 64, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0, [SEP] 65, Drawer, 0.949, 0.393, -2.200, 0, 0, 0, [SEP] 66, Drawer, 0.949, 0.708, -2.200, 0, 0, 0, [SEP] 67, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0, [SEP] 68, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0, [SEP] 69, Drawer, 0.949, 0.560, -2.201, 0, 0, 0, [SEP] 70, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0, [SEP] 71, Window, -2.230, 1.429, -1.203, 0, 0, 0, [SEP] 72, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0, [SEP] 73, Sink, -1.899, 0.964, -1.5, 0, 90, 0, [SEP] 74, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0, [SEP] 75, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0, [SEP] 76, Drawer, -1.560, 0.655, -0.196, 0, 90, 0, [SEP] 77, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0, [SEP] 78, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0, [SEP] 79, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0, [SEP] 80, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0, [SEP] 81, Drawer, 0.949, 0.221, -2.200, 0, 0, 0, [SEP] 82, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0, [SEP] 83, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0, [SEP] 84, Drawer, -1.560, 0.331, -0.196, 0, 90, 0, [SEP] 85, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0, [SEP] 86, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0, [SEP] 87, Microwave, -0.236, 1.689, -2.525, 0, 0, 0, [SEP] 88, Shelf, 1.751, 0.880, -2.560, 0, 0, 0, [SEP] 89, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0, [SEP] 90, Toaster, -1.835, 0.900, 0.134, 0, 90, 0, [SEP] 91, Shelf, 1.750, 0.552, -2.559, 0, 0, 0, [SEP] 92, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0, [SEP] 93, Shelf, 1.750, 0.172, -2.559, 0, 0, 0, [SEP] 94, Fridge, -2.096, 0.0, 1.088, 0, 0, 0, [SEP] 95, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0, [SEP] 96, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0, [SEP] 97, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0, [SEP] 98, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0, [SEP] 99, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0, [SEP] 100, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0, [SEP] 101, Faucet, -2.070, 1.132, -1.514, 0, 0, 0, [SEP] 102, NorthWall, , , , , , , [SEP] 103, EastWall, , , , , , , [SEP] 104, SouthWall, , , , , , , [SEP] 105, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, move around the island to the right, head to the coffee machine on the left. | STEP 2: Pick up the mug on the coffee machine. | STEP 3: Turn left, bring the mug to the microwave above the stove. | STEP 4: Heat the mug in the coffee machine. | STEP 5: Take the heated mug back to the coffee machine, right of the sink. | STEP 6: Put the heated mug on the coffee machine. | END"]} +{"id": "trial_T20190907_222640_487432-1", "input": "Warm up the cup on the coffee maker. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, -1.25, 0, 0, 0, [SEP] 1, Pan, -0.335, 1.111, -0.506, 0, 0, 0, 61 [SEP] 2, CreditCard, 1.891, 0.877, -2.617, 0, 180, 0, 88 [SEP] 3, CreditCard, -1.653, 0.151, -0.342, 0, 90, 0, 84 [SEP] 4, Plate, 0.355, 1.108, -0.759, 0, 0, 0, 61 [SEP] 5, Plate, -1.104, 0.133, -2.453, 0, 0, 0, 79 [SEP] 6, Cup, -1.143, 0.909, -2.713, 0, 0, 0, 86 [SEP] 7, Cup, -0.173, 1.788, -2.610, 0, 0, 0, 87 [SEP] 8, Egg, -1.907, 0.083, 1.885, 0, 270, 0, 92 [SEP] 9, Tomato, -2.100, 0.950, -0.698, 0, 0, 0, 86 [SEP] 10, Tomato, -0.197, 1.150, -0.001, 0, 0, 0, 61 [SEP] 11, PepperShaker, -1.740, 0.150, -0.293, 0, 90, 0, 84 [SEP] 12, PepperShaker, 0.582, 0.907, -2.637, 0, 0, 0, 63 [SEP] 13, Lettuce, -1.143, 0.991, -2.406, 0, 0, 0, 86 [SEP] 14, Apple, -1.935, 0.098, 2.124, 0, 270, 0, 92 [SEP] 15, Knife, -1.693, 0.936, -0.698, 0, 90, 0, 86 [SEP] 16, Fork, -1.774, 0.911, -2.036, 0, 270, 0, 86 [SEP] 17, Fork, 1.007, 0.646, -2.417, 0, 0, 0, 66 [SEP] 18, Mug, -2.121, 0.535, 1.168, 0, 90, 0, 94 [SEP] 19, Mug, -0.840, 1.651, -2.676, 0, 0, 0, 75 [SEP] 20, Spatula, -1.937, 0.926, -2.256, 0, 0, 0, 86 [SEP] 21, Pot, -0.036, 0.950, -2.372, 0, 270, 0, 56 [SEP] 22, Pot, -1.908, 0.774, -1.328, 0, 90, 0, 96 [SEP] 23, ButterKnife, 0.079, 1.111, -0.001, 0, 0, 0, 61 [SEP] 24, Glassbottle, -1.962, 0.048, 1.981, 0, 270, 0, 92 [SEP] 25, Bowl, -1.814, 0.126, 0.203, 0, 90, 0, 67 [SEP] 26, Book, 0.155, 1.1, 0.617, 0, 315, 0, 61 [SEP] 27, Glassbottle, -2.100, 0.912, -0.513, 0, 0, 0, 86 [SEP] 28, Knife, -0.473, 1.136, -0.253, 0, 180, 0, 61 [SEP] 29, Bread, 0.355, 1.184, 0.251, 0, 0, 0, 61 [SEP] 30, Fork, 0.453, 0.911, -2.407, 0, 0, 0, 63 [SEP] 31, Potato, -1.963, 0.800, -1.501, 0, 90, 0, 96 [SEP] 32, SoapBottle, -1.586, 0.912, -2.637, 0, 0, 0, 86 [SEP] 33, Kettle, 1.037, 0.9, -2.596, 0, 0, 0, 63 [SEP] 34, Pan, -2.070, 1.305, 1.092, 0, 180, 0, 94 [SEP] 35, Plate, -2.122, 1.499, 1.008, 0, 90, 0, 94 [SEP] 36, Tomato, -1.999, 0.267, 0.920, 0, 90, 0, 94 [SEP] 37, Vase, 1.685, 0.555, -2.511, 0, 180, 0, 91 [SEP] 38, Egg, 0.582, 0.945, -2.253, 0, 0, 0, 63 [SEP] 39, CreditCard, -1.574, 0.908, -1.496, 0, 0, 0, 96 [SEP] 40, Statue, -0.335, 1.110, 0.757, 0, 0, 0, 61 [SEP] 41, WineBottle, -0.059, 1.112, 0.251, 0, 0, 0, 61 [SEP] 42, Pot, -0.465, 0.950, -2.372, 0, 90, 0, 59 [SEP] 43, Spatula, -1.653, 0.168, -0.053, 0, 0, 0, 84 [SEP] 44, PaperTowelRoll, -0.059, 1.215, -0.506, 0, 0, 0, 61 [SEP] 45, Cup, -1.797, 0.767, -1.760, 0, 90, 0, 96 [SEP] 46, Vase, 1.098, 0.908, -2.330, 0, 0, 0, 63 [SEP] 47, Bowl, -0.059, 1.108, -0.253, 0, 0, 0, 61 [SEP] 48, SaltShaker, -0.473, 1.107, -0.759, 0, 0, 0, 61 [SEP] 49, PepperShaker, -0.473, 1.107, 0.251, 0, 0, 0, 61 [SEP] 50, Lettuce, 0.079, 1.191, -0.506, 0, 0, 0, 61 [SEP] 51, ButterKnife, -1.908, 0.769, -1.587, 0, 90, 0, 96 [SEP] 52, Apple, -1.997, 0.591, 0.837, 0, 90, 0, 94 [SEP] 53, DishSponge, -2.018, 0.769, -1.673, 0, 90, 0, 96 [SEP] 54, Spoon, 0.079, 1.112, -0.759, 0, 0, 0, 61 [SEP] 55, Mug, -1.731, 0.956, -0.168, 0, 90, 0, 95 [SEP] 56, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0, [SEP] 57, Drawer, 0.949, 0.832, -2.197, 0, 0, 0, [SEP] 58, Drawer, -1.560, 0.839, 0.204, 0, 90, 0, [SEP] 59, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0, [SEP] 60, Drawer, -1.560, 0.839, -0.197, 0, 90, 0, [SEP] 61, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0, [SEP] 62, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0, [SEP] 63, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0, [SEP] 64, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0, [SEP] 65, Drawer, 0.949, 0.393, -2.200, 0, 0, 0, [SEP] 66, Drawer, 0.949, 0.708, -2.200, 0, 0, 0, [SEP] 67, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0, [SEP] 68, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0, [SEP] 69, Drawer, 0.949, 0.560, -2.201, 0, 0, 0, [SEP] 70, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0, [SEP] 71, Window, -2.230, 1.429, -1.203, 0, 0, 0, [SEP] 72, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0, [SEP] 73, Sink, -1.899, 0.964, -1.5, 0, 90, 0, [SEP] 74, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0, [SEP] 75, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0, [SEP] 76, Drawer, -1.560, 0.655, -0.196, 0, 90, 0, [SEP] 77, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0, [SEP] 78, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0, [SEP] 79, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0, [SEP] 80, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0, [SEP] 81, Drawer, 0.949, 0.221, -2.200, 0, 0, 0, [SEP] 82, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0, [SEP] 83, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0, [SEP] 84, Drawer, -1.560, 0.331, -0.196, 0, 90, 0, [SEP] 85, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0, [SEP] 86, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0, [SEP] 87, Microwave, -0.236, 1.689, -2.525, 0, 0, 0, [SEP] 88, Shelf, 1.751, 0.880, -2.560, 0, 0, 0, [SEP] 89, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0, [SEP] 90, Toaster, -1.835, 0.900, 0.134, 0, 90, 0, [SEP] 91, Shelf, 1.750, 0.552, -2.559, 0, 0, 0, [SEP] 92, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0, [SEP] 93, Shelf, 1.750, 0.172, -2.559, 0, 0, 0, [SEP] 94, Fridge, -2.096, 0.0, 1.088, 0, 0, 0, [SEP] 95, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0, [SEP] 96, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0, [SEP] 97, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0, [SEP] 98, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0, [SEP] 99, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0, [SEP] 100, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0, [SEP] 101, Faucet, -2.070, 1.132, -1.514, 0, 0, 0, [SEP] 102, NorthWall, , , , , , , [SEP] 103, EastWall, , , , , , , [SEP] 104, SouthWall, , , , , , , [SEP] 105, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, walk towards the sink, and find the coffee maker to the right of the sink. | STEP 2: Pick up the cup on the coffee maker. | STEP 3: Turn left, walk towards the stove, and find the microwave above the stove. | STEP 4: Heat up the cup and take it back out of the microwave. | STEP 5: Turn right and walk towards the coffee maker. | STEP 6: Place the cup back on the coffee maker. | END"]} +{"id": "trial_T20190907_222640_487432-2", "input": "Put the heated mug in the coffee maker SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, -1.25, 0, 0, 0, [SEP] 1, Pan, -0.335, 1.111, -0.506, 0, 0, 0, 61 [SEP] 2, CreditCard, 1.891, 0.877, -2.617, 0, 180, 0, 88 [SEP] 3, CreditCard, -1.653, 0.151, -0.342, 0, 90, 0, 84 [SEP] 4, Plate, 0.355, 1.108, -0.759, 0, 0, 0, 61 [SEP] 5, Plate, -1.104, 0.133, -2.453, 0, 0, 0, 79 [SEP] 6, Cup, -1.143, 0.909, -2.713, 0, 0, 0, 86 [SEP] 7, Cup, -0.173, 1.788, -2.610, 0, 0, 0, 87 [SEP] 8, Egg, -1.907, 0.083, 1.885, 0, 270, 0, 92 [SEP] 9, Tomato, -2.100, 0.950, -0.698, 0, 0, 0, 86 [SEP] 10, Tomato, -0.197, 1.150, -0.001, 0, 0, 0, 61 [SEP] 11, PepperShaker, -1.740, 0.150, -0.293, 0, 90, 0, 84 [SEP] 12, PepperShaker, 0.582, 0.907, -2.637, 0, 0, 0, 63 [SEP] 13, Lettuce, -1.143, 0.991, -2.406, 0, 0, 0, 86 [SEP] 14, Apple, -1.935, 0.098, 2.124, 0, 270, 0, 92 [SEP] 15, Knife, -1.693, 0.936, -0.698, 0, 90, 0, 86 [SEP] 16, Fork, -1.774, 0.911, -2.036, 0, 270, 0, 86 [SEP] 17, Fork, 1.007, 0.646, -2.417, 0, 0, 0, 66 [SEP] 18, Mug, -2.121, 0.535, 1.168, 0, 90, 0, 94 [SEP] 19, Mug, -0.840, 1.651, -2.676, 0, 0, 0, 75 [SEP] 20, Spatula, -1.937, 0.926, -2.256, 0, 0, 0, 86 [SEP] 21, Pot, -0.036, 0.950, -2.372, 0, 270, 0, 56 [SEP] 22, Pot, -1.908, 0.774, -1.328, 0, 90, 0, 96 [SEP] 23, ButterKnife, 0.079, 1.111, -0.001, 0, 0, 0, 61 [SEP] 24, Glassbottle, -1.962, 0.048, 1.981, 0, 270, 0, 92 [SEP] 25, Bowl, -1.814, 0.126, 0.203, 0, 90, 0, 67 [SEP] 26, Book, 0.155, 1.1, 0.617, 0, 315, 0, 61 [SEP] 27, Glassbottle, -2.100, 0.912, -0.513, 0, 0, 0, 86 [SEP] 28, Knife, -0.473, 1.136, -0.253, 0, 180, 0, 61 [SEP] 29, Bread, 0.355, 1.184, 0.251, 0, 0, 0, 61 [SEP] 30, Fork, 0.453, 0.911, -2.407, 0, 0, 0, 63 [SEP] 31, Potato, -1.963, 0.800, -1.501, 0, 90, 0, 96 [SEP] 32, SoapBottle, -1.586, 0.912, -2.637, 0, 0, 0, 86 [SEP] 33, Kettle, 1.037, 0.9, -2.596, 0, 0, 0, 63 [SEP] 34, Pan, -2.070, 1.305, 1.092, 0, 180, 0, 94 [SEP] 35, Plate, -2.122, 1.499, 1.008, 0, 90, 0, 94 [SEP] 36, Tomato, -1.999, 0.267, 0.920, 0, 90, 0, 94 [SEP] 37, Vase, 1.685, 0.555, -2.511, 0, 180, 0, 91 [SEP] 38, Egg, 0.582, 0.945, -2.253, 0, 0, 0, 63 [SEP] 39, CreditCard, -1.574, 0.908, -1.496, 0, 0, 0, 96 [SEP] 40, Statue, -0.335, 1.110, 0.757, 0, 0, 0, 61 [SEP] 41, WineBottle, -0.059, 1.112, 0.251, 0, 0, 0, 61 [SEP] 42, Pot, -0.465, 0.950, -2.372, 0, 90, 0, 59 [SEP] 43, Spatula, -1.653, 0.168, -0.053, 0, 0, 0, 84 [SEP] 44, PaperTowelRoll, -0.059, 1.215, -0.506, 0, 0, 0, 61 [SEP] 45, Cup, -1.797, 0.767, -1.760, 0, 90, 0, 96 [SEP] 46, Vase, 1.098, 0.908, -2.330, 0, 0, 0, 63 [SEP] 47, Bowl, -0.059, 1.108, -0.253, 0, 0, 0, 61 [SEP] 48, SaltShaker, -0.473, 1.107, -0.759, 0, 0, 0, 61 [SEP] 49, PepperShaker, -0.473, 1.107, 0.251, 0, 0, 0, 61 [SEP] 50, Lettuce, 0.079, 1.191, -0.506, 0, 0, 0, 61 [SEP] 51, ButterKnife, -1.908, 0.769, -1.587, 0, 90, 0, 96 [SEP] 52, Apple, -1.997, 0.591, 0.837, 0, 90, 0, 94 [SEP] 53, DishSponge, -2.018, 0.769, -1.673, 0, 90, 0, 96 [SEP] 54, Spoon, 0.079, 1.112, -0.759, 0, 0, 0, 61 [SEP] 55, Mug, -1.731, 0.956, -0.168, 0, 90, 0, 95 [SEP] 56, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0, [SEP] 57, Drawer, 0.949, 0.832, -2.197, 0, 0, 0, [SEP] 58, Drawer, -1.560, 0.839, 0.204, 0, 90, 0, [SEP] 59, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0, [SEP] 60, Drawer, -1.560, 0.839, -0.197, 0, 90, 0, [SEP] 61, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0, [SEP] 62, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0, [SEP] 63, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0, [SEP] 64, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0, [SEP] 65, Drawer, 0.949, 0.393, -2.200, 0, 0, 0, [SEP] 66, Drawer, 0.949, 0.708, -2.200, 0, 0, 0, [SEP] 67, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0, [SEP] 68, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0, [SEP] 69, Drawer, 0.949, 0.560, -2.201, 0, 0, 0, [SEP] 70, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0, [SEP] 71, Window, -2.230, 1.429, -1.203, 0, 0, 0, [SEP] 72, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0, [SEP] 73, Sink, -1.899, 0.964, -1.5, 0, 90, 0, [SEP] 74, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0, [SEP] 75, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0, [SEP] 76, Drawer, -1.560, 0.655, -0.196, 0, 90, 0, [SEP] 77, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0, [SEP] 78, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0, [SEP] 79, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0, [SEP] 80, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0, [SEP] 81, Drawer, 0.949, 0.221, -2.200, 0, 0, 0, [SEP] 82, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0, [SEP] 83, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0, [SEP] 84, Drawer, -1.560, 0.331, -0.196, 0, 90, 0, [SEP] 85, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0, [SEP] 86, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0, [SEP] 87, Microwave, -0.236, 1.689, -2.525, 0, 0, 0, [SEP] 88, Shelf, 1.751, 0.880, -2.560, 0, 0, 0, [SEP] 89, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0, [SEP] 90, Toaster, -1.835, 0.900, 0.134, 0, 90, 0, [SEP] 91, Shelf, 1.750, 0.552, -2.559, 0, 0, 0, [SEP] 92, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0, [SEP] 93, Shelf, 1.750, 0.172, -2.559, 0, 0, 0, [SEP] 94, Fridge, -2.096, 0.0, 1.088, 0, 0, 0, [SEP] 95, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0, [SEP] 96, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0, [SEP] 97, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0, [SEP] 98, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0, [SEP] 99, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0, [SEP] 100, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0, [SEP] 101, Faucet, -2.070, 1.132, -1.514, 0, 0, 0, [SEP] 102, NorthWall, , , , , , , [SEP] 103, EastWall, , , , , , , [SEP] 104, SouthWall, , , , , , , [SEP] 105, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk through the kitchen to the coffee maker | STEP 2: Pick up the white mug from the coffee maker | STEP 3: Turn left and walk through the kitchen over to the microwave above the stove | STEP 4: Heat the mug in the microwave then remove it | STEP 5: Turn right and walk back around to the coffee maker | STEP 6: Put the mug in the coffee maker | END"]} +{"id": "trial_T20190907_114931_692464-0", "input": "put the green spray bottle into the drawer SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 1.5, 0, 90, 0, [SEP] 1, Cloth, -1.411, 0.074, 0.341, 0, 90, 0, 22 [SEP] 2, Cloth, -1.158, 0.074, 0.405, 0, 90, 0, 22 [SEP] 3, SoapBar, -1.952, 1.044, 1.943, 0, 90, 0, 39 [SEP] 4, Candle, 0.422, 0.617, 3.792, 0, 0, 0, 44 [SEP] 5, SprayBottle, 0.499, 1.160, 3.732, 0, 0, 0, 50 [SEP] 6, SprayBottle, 0.401, 1.160, 3.797, 0, 0, 0, 41 [SEP] 7, SoapBottle, -1.734, 0.015, 2.193, 0, 0, 0, 23 [SEP] 8, ToiletPaper, -1.831, 0.584, 2.390, 0, 180, 90, 36 [SEP] 9, Towel, -0.07, 1.284, 0.106, 0, 0, 0, 31 [SEP] 10, HandTowel, -1.731, 1.333, 3.961, 0, 0, 0, 33 [SEP] 11, SoapBar, -1.647, 0.770, 3.073, 0, 0, 0, 21 [SEP] 12, ToiletPaper, -0.457, 0.443, 0.200, 0, 0, 0, 20 [SEP] 13, ToiletPaper, -1.700, 0.064, 2.891, 0, 0, 0, 29 [SEP] 14, Cloth, -1.823, 0.068, 3.575, 0, 0, 0, 26 [SEP] 15, SprayBottle, -1.799, 1.045, 1.943, 0, 90, 0, 39 [SEP] 16, Candle, -1.890, 1.046, 1.878, 0, 90, 0, 39 [SEP] 17, ScrubBrush, -1.664, -0.000, 3.897, 0, 0, 0, Floor|-02.00| [SEP] 18, Plunger, -1.888, -0.000, 3.885, 0, 0, 0, Floor|-02.00| [SEP] 19, SoapBottle, -1.827, 0.069, 2.565, 0, 0, 0, 23 [SEP] 20, Bathtub, -1.414, -0.002, 0.563, 0, 0, 0, [SEP] 21, CounterTop, -1.799, 0.746, 3.122, 0, 0, 0, [SEP] 22, BathtubBasin, -1.613, 0.052, 0.540, 0, 0, 0, [SEP] 23, Cabinet, -1.613, 0.309, 2.493, 0, 0, 0, [SEP] 24, ShowerDoor, 0.527, 1.037, 2.115, 0, 0, 0, [SEP] 25, Mirror, -1.993, 1.424, 3.107, 0, 0, 0, [SEP] 26, Cabinet, -1.613, 0.309, 3.754, 0, 0, 0, [SEP] 27, Faucet, -1.873, 0.461, 0.641, 0, 0, 0, [SEP] 28, Sink, -1.834, 0.685, 2.777, 0, 90, 0, [SEP] 29, Cabinet, -1.613, 0.309, 3.105, 0, 0, 0, [SEP] 30, Cabinet, -1.613, 0.309, 3.140, 0, 0, 0, [SEP] 31, TowelHolder, -0.070, 1.269, 0.0, 0, 0, 0, [SEP] 32, GarbageCan, 0.932, -0.029, 3.761, 0, 0, 0, [SEP] 33, HandTowelHolder, -1.730, 1.434, 4.0, 0, 90, 0, [SEP] 34, Window, -1.039, 1.393, 0.018, 90, 0, 0, [SEP] 35, Window, -1.986, 1.392, 0.706, 90, 90, 0, [SEP] 36, ToiletPaperHanger, -1.776, 0.681, 2.474, 0, 180, 0, [SEP] 37, SinkBasin, -1.795, 0.694, 2.781, 0, 90, 0, [SEP] 38, LightSwitch, 1.250, 1.330, 3.621, 0, 270, 0, [SEP] 39, Toilet, -1.567, -0.000, 1.815, 0, 180, 0, [SEP] 40, Drawer, 0.204, 0.940, 3.807, 0, 180, 0, [SEP] 41, Dresser, 0.204, 0.000, 3.832, 0, 180, 0, [SEP] 42, Drawer, 0.204, 0.160, 3.807, 0, 180, 0, [SEP] 43, Drawer, 0.204, 0.420, 3.807, 0, 180, 0, [SEP] 44, Drawer, 0.204, 0.680, 3.807, 0, 180, 0, [SEP] 45, SinkBasin, -1.795, 0.694, 3.476, 0, 90, 0, [SEP] 46, Sink, -1.833, 0.685, 3.472, 0, 90, 0, [SEP] 47, Faucet, -1.988, 0.947, 3.472, 0, 180, 0, [SEP] 48, ShowerHead, 0.972, 1.222, 2.015, 0, 270, 0, [SEP] 49, Faucet, -1.988, 0.947, 2.776, 0, 180, 0, [SEP] 50, , , , , , , , [SEP] 51, NorthWall, , , , , , , [SEP] 52, EastWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, WestWall, , , , , , , ", "output": ["STEP 1: turn around completely to face the toilet | STEP 2: pick up the green spray bottle on the toilet | STEP 3: turn right and walk to face the cabinets below the sinks | STEP 4: open the third drawer from the left and place the spray bottle inside, then close the drawer | END"]} +{"id": "trial_T20190907_114931_692464-1", "input": "Move the cleaner from the toilet to the cabinet under the sinks SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 1.5, 0, 90, 0, [SEP] 1, Cloth, -1.411, 0.074, 0.341, 0, 90, 0, 22 [SEP] 2, Cloth, -1.158, 0.074, 0.405, 0, 90, 0, 22 [SEP] 3, SoapBar, -1.952, 1.044, 1.943, 0, 90, 0, 39 [SEP] 4, Candle, 0.422, 0.617, 3.792, 0, 0, 0, 44 [SEP] 5, SprayBottle, 0.499, 1.160, 3.732, 0, 0, 0, 50 [SEP] 6, SprayBottle, 0.401, 1.160, 3.797, 0, 0, 0, 41 [SEP] 7, SoapBottle, -1.734, 0.015, 2.193, 0, 0, 0, 23 [SEP] 8, ToiletPaper, -1.831, 0.584, 2.390, 0, 180, 90, 36 [SEP] 9, Towel, -0.07, 1.284, 0.106, 0, 0, 0, 31 [SEP] 10, HandTowel, -1.731, 1.333, 3.961, 0, 0, 0, 33 [SEP] 11, SoapBar, -1.647, 0.770, 3.073, 0, 0, 0, 21 [SEP] 12, ToiletPaper, -0.457, 0.443, 0.200, 0, 0, 0, 20 [SEP] 13, ToiletPaper, -1.700, 0.064, 2.891, 0, 0, 0, 29 [SEP] 14, Cloth, -1.823, 0.068, 3.575, 0, 0, 0, 26 [SEP] 15, SprayBottle, -1.799, 1.045, 1.943, 0, 90, 0, 39 [SEP] 16, Candle, -1.890, 1.046, 1.878, 0, 90, 0, 39 [SEP] 17, ScrubBrush, -1.664, -0.000, 3.897, 0, 0, 0, Floor|-02.00| [SEP] 18, Plunger, -1.888, -0.000, 3.885, 0, 0, 0, Floor|-02.00| [SEP] 19, SoapBottle, -1.827, 0.069, 2.565, 0, 0, 0, 23 [SEP] 20, Bathtub, -1.414, -0.002, 0.563, 0, 0, 0, [SEP] 21, CounterTop, -1.799, 0.746, 3.122, 0, 0, 0, [SEP] 22, BathtubBasin, -1.613, 0.052, 0.540, 0, 0, 0, [SEP] 23, Cabinet, -1.613, 0.309, 2.493, 0, 0, 0, [SEP] 24, ShowerDoor, 0.527, 1.037, 2.115, 0, 0, 0, [SEP] 25, Mirror, -1.993, 1.424, 3.107, 0, 0, 0, [SEP] 26, Cabinet, -1.613, 0.309, 3.754, 0, 0, 0, [SEP] 27, Faucet, -1.873, 0.461, 0.641, 0, 0, 0, [SEP] 28, Sink, -1.834, 0.685, 2.777, 0, 90, 0, [SEP] 29, Cabinet, -1.613, 0.309, 3.105, 0, 0, 0, [SEP] 30, Cabinet, -1.613, 0.309, 3.140, 0, 0, 0, [SEP] 31, TowelHolder, -0.070, 1.269, 0.0, 0, 0, 0, [SEP] 32, GarbageCan, 0.932, -0.029, 3.761, 0, 0, 0, [SEP] 33, HandTowelHolder, -1.730, 1.434, 4.0, 0, 90, 0, [SEP] 34, Window, -1.039, 1.393, 0.018, 90, 0, 0, [SEP] 35, Window, -1.986, 1.392, 0.706, 90, 90, 0, [SEP] 36, ToiletPaperHanger, -1.776, 0.681, 2.474, 0, 180, 0, [SEP] 37, SinkBasin, -1.795, 0.694, 2.781, 0, 90, 0, [SEP] 38, LightSwitch, 1.250, 1.330, 3.621, 0, 270, 0, [SEP] 39, Toilet, -1.567, -0.000, 1.815, 0, 180, 0, [SEP] 40, Drawer, 0.204, 0.940, 3.807, 0, 180, 0, [SEP] 41, Dresser, 0.204, 0.000, 3.832, 0, 180, 0, [SEP] 42, Drawer, 0.204, 0.160, 3.807, 0, 180, 0, [SEP] 43, Drawer, 0.204, 0.420, 3.807, 0, 180, 0, [SEP] 44, Drawer, 0.204, 0.680, 3.807, 0, 180, 0, [SEP] 45, SinkBasin, -1.795, 0.694, 3.476, 0, 90, 0, [SEP] 46, Sink, -1.833, 0.685, 3.472, 0, 90, 0, [SEP] 47, Faucet, -1.988, 0.947, 3.472, 0, 180, 0, [SEP] 48, ShowerHead, 0.972, 1.222, 2.015, 0, 270, 0, [SEP] 49, Faucet, -1.988, 0.947, 2.776, 0, 180, 0, [SEP] 50, , , , , , , , [SEP] 51, NorthWall, , , , , , , [SEP] 52, EastWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, WestWall, , , , , , , ", "output": ["STEP 1: Turn around to the toilet | STEP 2: Grab the green cleaner on the toilet | STEP 3: Walk to the right a little to the vanity | STEP 4: Open the second from the right door of the cabinet under the sinks, put the cleaner in, close the cabinet | END"]} +{"id": "trial_T20190907_114931_692464-2", "input": "Put the green bottle in the cabinet under the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 1.5, 0, 90, 0, [SEP] 1, Cloth, -1.411, 0.074, 0.341, 0, 90, 0, 22 [SEP] 2, Cloth, -1.158, 0.074, 0.405, 0, 90, 0, 22 [SEP] 3, SoapBar, -1.952, 1.044, 1.943, 0, 90, 0, 39 [SEP] 4, Candle, 0.422, 0.617, 3.792, 0, 0, 0, 44 [SEP] 5, SprayBottle, 0.499, 1.160, 3.732, 0, 0, 0, 50 [SEP] 6, SprayBottle, 0.401, 1.160, 3.797, 0, 0, 0, 41 [SEP] 7, SoapBottle, -1.734, 0.015, 2.193, 0, 0, 0, 23 [SEP] 8, ToiletPaper, -1.831, 0.584, 2.390, 0, 180, 90, 36 [SEP] 9, Towel, -0.07, 1.284, 0.106, 0, 0, 0, 31 [SEP] 10, HandTowel, -1.731, 1.333, 3.961, 0, 0, 0, 33 [SEP] 11, SoapBar, -1.647, 0.770, 3.073, 0, 0, 0, 21 [SEP] 12, ToiletPaper, -0.457, 0.443, 0.200, 0, 0, 0, 20 [SEP] 13, ToiletPaper, -1.700, 0.064, 2.891, 0, 0, 0, 29 [SEP] 14, Cloth, -1.823, 0.068, 3.575, 0, 0, 0, 26 [SEP] 15, SprayBottle, -1.799, 1.045, 1.943, 0, 90, 0, 39 [SEP] 16, Candle, -1.890, 1.046, 1.878, 0, 90, 0, 39 [SEP] 17, ScrubBrush, -1.664, -0.000, 3.897, 0, 0, 0, Floor|-02.00| [SEP] 18, Plunger, -1.888, -0.000, 3.885, 0, 0, 0, Floor|-02.00| [SEP] 19, SoapBottle, -1.827, 0.069, 2.565, 0, 0, 0, 23 [SEP] 20, Bathtub, -1.414, -0.002, 0.563, 0, 0, 0, [SEP] 21, CounterTop, -1.799, 0.746, 3.122, 0, 0, 0, [SEP] 22, BathtubBasin, -1.613, 0.052, 0.540, 0, 0, 0, [SEP] 23, Cabinet, -1.613, 0.309, 2.493, 0, 0, 0, [SEP] 24, ShowerDoor, 0.527, 1.037, 2.115, 0, 0, 0, [SEP] 25, Mirror, -1.993, 1.424, 3.107, 0, 0, 0, [SEP] 26, Cabinet, -1.613, 0.309, 3.754, 0, 0, 0, [SEP] 27, Faucet, -1.873, 0.461, 0.641, 0, 0, 0, [SEP] 28, Sink, -1.834, 0.685, 2.777, 0, 90, 0, [SEP] 29, Cabinet, -1.613, 0.309, 3.105, 0, 0, 0, [SEP] 30, Cabinet, -1.613, 0.309, 3.140, 0, 0, 0, [SEP] 31, TowelHolder, -0.070, 1.269, 0.0, 0, 0, 0, [SEP] 32, GarbageCan, 0.932, -0.029, 3.761, 0, 0, 0, [SEP] 33, HandTowelHolder, -1.730, 1.434, 4.0, 0, 90, 0, [SEP] 34, Window, -1.039, 1.393, 0.018, 90, 0, 0, [SEP] 35, Window, -1.986, 1.392, 0.706, 90, 90, 0, [SEP] 36, ToiletPaperHanger, -1.776, 0.681, 2.474, 0, 180, 0, [SEP] 37, SinkBasin, -1.795, 0.694, 2.781, 0, 90, 0, [SEP] 38, LightSwitch, 1.250, 1.330, 3.621, 0, 270, 0, [SEP] 39, Toilet, -1.567, -0.000, 1.815, 0, 180, 0, [SEP] 40, Drawer, 0.204, 0.940, 3.807, 0, 180, 0, [SEP] 41, Dresser, 0.204, 0.000, 3.832, 0, 180, 0, [SEP] 42, Drawer, 0.204, 0.160, 3.807, 0, 180, 0, [SEP] 43, Drawer, 0.204, 0.420, 3.807, 0, 180, 0, [SEP] 44, Drawer, 0.204, 0.680, 3.807, 0, 180, 0, [SEP] 45, SinkBasin, -1.795, 0.694, 3.476, 0, 90, 0, [SEP] 46, Sink, -1.833, 0.685, 3.472, 0, 90, 0, [SEP] 47, Faucet, -1.988, 0.947, 3.472, 0, 180, 0, [SEP] 48, ShowerHead, 0.972, 1.222, 2.015, 0, 270, 0, [SEP] 49, Faucet, -1.988, 0.947, 2.776, 0, 180, 0, [SEP] 50, , , , , , , , [SEP] 51, NorthWall, , , , , , , [SEP] 52, EastWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, WestWall, , , , , , , ", "output": ["STEP 1: Turn so you are facing the toilet that is to the left of the sink | STEP 2: Pick up the green bottle on the toilet | STEP 3: Carry the green bottle to the first sink on the left | STEP 4: Place the green bottle in the cabinet under the sink | END"]} +{"id": "trial_T20190909_012550_586494-0", "input": "wash a tomato and put it on the counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 1.0, 0, 0, 0, [SEP] 1, Fork, -0.363, 0.697, 0.875, 0, 90, 0, 46 [SEP] 2, Fork, -2.840, 0.824, 0.203, 0, 0, 0, 44 [SEP] 3, Spoon, -1.133, 0.699, 0.377, 0, 90, 0, 48 [SEP] 4, Cup, -2.540, 1.849, 1.823, 0, 0, 0, 38 [SEP] 5, Cup, -2.619, 1.849, 1.978, 0, 0, 0, 38 [SEP] 6, Plate, -2.000, 0.130, 0.401, 0, 0, 0, 56 [SEP] 7, Plate, -2.648, 0.126, 1.471, 0, 0, 0, 55 [SEP] 8, SoapBottle, -2.658, 0.821, 0.953, 0, 0, 0, 44 [SEP] 9, SoapBottle, -1.465, 0.123, 0.440, 0, 0, 0, 57 [SEP] 10, Bowl, -2.540, 1.845, 2.368, 0, 0, 0, 54 [SEP] 11, SaltShaker, -0.092, 0.818, 1.103, 0, 0, 0, 44 [SEP] 12, PepperShaker, -2.858, 1.430, 0.708, 0, 0, 0, 53 [SEP] 13, Lettuce, -2.837, 1.227, 2.309, 0, 90, 0, 62 [SEP] 14, Mug, -2.782, 0.819, 2.485, 0, 90, 0, 62 [SEP] 15, Mug, -2.837, 1.138, 2.045, 0, 90, 0, 62 [SEP] 16, Apple, -2.844, 0.994, 1.178, 0, 90, 0, 63 [SEP] 17, Fork, -1.912, 0.698, 0.295, 0, 180, 0, 71 [SEP] 18, Ladle, -0.371, 0.738, 0.879, 0, 45, 0, 46 [SEP] 19, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 43 [SEP] 20, SoapBottle, -0.329, 0.054, 2.606, 0, 0, 0, 64 [SEP] 21, Pot, -0.531, 0.822, 2.096, 0, 0, 0, 41 [SEP] 22, Tomato, -2.671, 0.874, 2.309, 0, 90, 0, 62 [SEP] 23, Potato, -2.671, 1.484, 2.221, 0, 90, 0, 62 [SEP] 24, SaltShaker, -0.477, 0.818, 1.326, 0, 0, 0, 44 [SEP] 25, Plate, -2.746, 1.439, 0.200, 0, 45, 0, 50 [SEP] 26, Spatula, -0.341, 0.696, 1.194, 0, 45, 0, 40 [SEP] 27, Knife, -2.662, 0.819, 0.557, 90, 300.034, 0, 44 [SEP] 28, Egg, -2.726, 1.469, 1.957, 0, 90, 0, 62 [SEP] 29, Cup, -1.580, 0.125, 0.323, 0, 0, 0, 57 [SEP] 30, ButterKnife, -1.374, 0.823, 0.518, 0, 0, 0, 44 [SEP] 31, Lettuce, -2.781, 1.529, 2.045, 0, 90, 0, 62 [SEP] 32, PepperShaker, -0.314, 0.818, 0.426, 0, 0, 0, 44 [SEP] 33, DishSponge, -2.504, 0.823, 0.544, 0, 0, 0, 44 [SEP] 34, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 44 [SEP] 35, Spoon, -0.817, 0.824, 0.352, 0, 90, 0, 44 [SEP] 36, Mug, -0.646, 0.888, 0.367, 0, 0, 0, 72 [SEP] 37, Bowl, -2.781, 0.821, 2.045, 0, 90, 0, 62 [SEP] 38, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0, [SEP] 39, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0, [SEP] 40, Drawer, -0.402, 0.703, 1.252, 0, 0, 0, [SEP] 41, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0, [SEP] 42, Sink, -1.838, 0.726, 0.343, 0, 180, 0, [SEP] 43, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0, [SEP] 44, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0, [SEP] 45, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0, [SEP] 46, Drawer, -0.404, 0.704, 0.912, 0, 0, 0, [SEP] 47, Drawer, -0.861, 0.709, 0.420, 0, 0, 0, [SEP] 48, Drawer, -1.133, 0.706, 0.418, 0, 0, 0, [SEP] 49, Drawer, -2.589, 0.703, 1.511, 0, 0, 0, [SEP] 50, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0, [SEP] 51, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0, [SEP] 52, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0, [SEP] 53, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0, [SEP] 54, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0, [SEP] 55, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0, [SEP] 56, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0, [SEP] 57, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0, [SEP] 58, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0, [SEP] 59, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0, [SEP] 60, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0, [SEP] 61, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0, [SEP] 62, Fridge, -2.782, 0.0, 2.221, 0, 0, 0, [SEP] 63, Microwave, -2.794, 0.812, 1.348, 0, 90, 0, [SEP] 64, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0, [SEP] 65, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470, [SEP] 66, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470, [SEP] 67, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470, [SEP] 68, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470, [SEP] 69, Window, -1.720, 1.342, -0.208, 90, 0, 0, [SEP] 70, Toaster, -0.171, 0.812, 0.735, 0, 270, 0, [SEP] 71, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0, [SEP] 72, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0, [SEP] 73, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0, [SEP] 74, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0, [SEP] 75, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0, [SEP] 76, NorthWall, , , , , , , [SEP] 77, EastWall, , , , , , , [SEP] 78, SouthWall, , , , , , , [SEP] 79, WestWall, , , , , , , ", "output": ["STEP 1: go to the fridge | STEP 2: take the tomato from the fridge | STEP 3: take the tomato to the sink | STEP 4: wash it in the sink then remove | STEP 5: take the tomato to the counter to the right of the sink | STEP 6: put the tomato on the counter | END"]} +{"id": "trial_T20190909_012550_586494-1", "input": "Put a cold, clean tomato on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 1.0, 0, 0, 0, [SEP] 1, Fork, -0.363, 0.697, 0.875, 0, 90, 0, 46 [SEP] 2, Fork, -2.840, 0.824, 0.203, 0, 0, 0, 44 [SEP] 3, Spoon, -1.133, 0.699, 0.377, 0, 90, 0, 48 [SEP] 4, Cup, -2.540, 1.849, 1.823, 0, 0, 0, 38 [SEP] 5, Cup, -2.619, 1.849, 1.978, 0, 0, 0, 38 [SEP] 6, Plate, -2.000, 0.130, 0.401, 0, 0, 0, 56 [SEP] 7, Plate, -2.648, 0.126, 1.471, 0, 0, 0, 55 [SEP] 8, SoapBottle, -2.658, 0.821, 0.953, 0, 0, 0, 44 [SEP] 9, SoapBottle, -1.465, 0.123, 0.440, 0, 0, 0, 57 [SEP] 10, Bowl, -2.540, 1.845, 2.368, 0, 0, 0, 54 [SEP] 11, SaltShaker, -0.092, 0.818, 1.103, 0, 0, 0, 44 [SEP] 12, PepperShaker, -2.858, 1.430, 0.708, 0, 0, 0, 53 [SEP] 13, Lettuce, -2.837, 1.227, 2.309, 0, 90, 0, 62 [SEP] 14, Mug, -2.782, 0.819, 2.485, 0, 90, 0, 62 [SEP] 15, Mug, -2.837, 1.138, 2.045, 0, 90, 0, 62 [SEP] 16, Apple, -2.844, 0.994, 1.178, 0, 90, 0, 63 [SEP] 17, Fork, -1.912, 0.698, 0.295, 0, 180, 0, 71 [SEP] 18, Ladle, -0.371, 0.738, 0.879, 0, 45, 0, 46 [SEP] 19, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 43 [SEP] 20, SoapBottle, -0.329, 0.054, 2.606, 0, 0, 0, 64 [SEP] 21, Pot, -0.531, 0.822, 2.096, 0, 0, 0, 41 [SEP] 22, Tomato, -2.671, 0.874, 2.309, 0, 90, 0, 62 [SEP] 23, Potato, -2.671, 1.484, 2.221, 0, 90, 0, 62 [SEP] 24, SaltShaker, -0.477, 0.818, 1.326, 0, 0, 0, 44 [SEP] 25, Plate, -2.746, 1.439, 0.200, 0, 45, 0, 50 [SEP] 26, Spatula, -0.341, 0.696, 1.194, 0, 45, 0, 40 [SEP] 27, Knife, -2.662, 0.819, 0.557, 90, 300.034, 0, 44 [SEP] 28, Egg, -2.726, 1.469, 1.957, 0, 90, 0, 62 [SEP] 29, Cup, -1.580, 0.125, 0.323, 0, 0, 0, 57 [SEP] 30, ButterKnife, -1.374, 0.823, 0.518, 0, 0, 0, 44 [SEP] 31, Lettuce, -2.781, 1.529, 2.045, 0, 90, 0, 62 [SEP] 32, PepperShaker, -0.314, 0.818, 0.426, 0, 0, 0, 44 [SEP] 33, DishSponge, -2.504, 0.823, 0.544, 0, 0, 0, 44 [SEP] 34, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 44 [SEP] 35, Spoon, -0.817, 0.824, 0.352, 0, 90, 0, 44 [SEP] 36, Mug, -0.646, 0.888, 0.367, 0, 0, 0, 72 [SEP] 37, Bowl, -2.781, 0.821, 2.045, 0, 90, 0, 62 [SEP] 38, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0, [SEP] 39, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0, [SEP] 40, Drawer, -0.402, 0.703, 1.252, 0, 0, 0, [SEP] 41, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0, [SEP] 42, Sink, -1.838, 0.726, 0.343, 0, 180, 0, [SEP] 43, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0, [SEP] 44, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0, [SEP] 45, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0, [SEP] 46, Drawer, -0.404, 0.704, 0.912, 0, 0, 0, [SEP] 47, Drawer, -0.861, 0.709, 0.420, 0, 0, 0, [SEP] 48, Drawer, -1.133, 0.706, 0.418, 0, 0, 0, [SEP] 49, Drawer, -2.589, 0.703, 1.511, 0, 0, 0, [SEP] 50, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0, [SEP] 51, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0, [SEP] 52, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0, [SEP] 53, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0, [SEP] 54, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0, [SEP] 55, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0, [SEP] 56, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0, [SEP] 57, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0, [SEP] 58, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0, [SEP] 59, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0, [SEP] 60, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0, [SEP] 61, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0, [SEP] 62, Fridge, -2.782, 0.0, 2.221, 0, 0, 0, [SEP] 63, Microwave, -2.794, 0.812, 1.348, 0, 90, 0, [SEP] 64, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0, [SEP] 65, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470, [SEP] 66, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470, [SEP] 67, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470, [SEP] 68, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470, [SEP] 69, Window, -1.720, 1.342, -0.208, 90, 0, 0, [SEP] 70, Toaster, -0.171, 0.812, 0.735, 0, 270, 0, [SEP] 71, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0, [SEP] 72, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0, [SEP] 73, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0, [SEP] 74, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0, [SEP] 75, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0, [SEP] 76, NorthWall, , , , , , , [SEP] 77, EastWall, , , , , , , [SEP] 78, SouthWall, , , , , , , [SEP] 79, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the wall then turn left to face the fridge. | STEP 2: Take a tomato from the fridge. | STEP 3: Turn left and walk to the sink. | STEP 4: Put the tomato in the sink on the left, wash it off, and pick it up. | STEP 5: Turn right and walk to the microwave. | STEP 6: Put the tomato down on the counter next to the sponge. | END"]} +{"id": "trial_T20190909_012550_586494-2", "input": "Put a clean tomato on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 1.0, 0, 0, 0, [SEP] 1, Fork, -0.363, 0.697, 0.875, 0, 90, 0, 46 [SEP] 2, Fork, -2.840, 0.824, 0.203, 0, 0, 0, 44 [SEP] 3, Spoon, -1.133, 0.699, 0.377, 0, 90, 0, 48 [SEP] 4, Cup, -2.540, 1.849, 1.823, 0, 0, 0, 38 [SEP] 5, Cup, -2.619, 1.849, 1.978, 0, 0, 0, 38 [SEP] 6, Plate, -2.000, 0.130, 0.401, 0, 0, 0, 56 [SEP] 7, Plate, -2.648, 0.126, 1.471, 0, 0, 0, 55 [SEP] 8, SoapBottle, -2.658, 0.821, 0.953, 0, 0, 0, 44 [SEP] 9, SoapBottle, -1.465, 0.123, 0.440, 0, 0, 0, 57 [SEP] 10, Bowl, -2.540, 1.845, 2.368, 0, 0, 0, 54 [SEP] 11, SaltShaker, -0.092, 0.818, 1.103, 0, 0, 0, 44 [SEP] 12, PepperShaker, -2.858, 1.430, 0.708, 0, 0, 0, 53 [SEP] 13, Lettuce, -2.837, 1.227, 2.309, 0, 90, 0, 62 [SEP] 14, Mug, -2.782, 0.819, 2.485, 0, 90, 0, 62 [SEP] 15, Mug, -2.837, 1.138, 2.045, 0, 90, 0, 62 [SEP] 16, Apple, -2.844, 0.994, 1.178, 0, 90, 0, 63 [SEP] 17, Fork, -1.912, 0.698, 0.295, 0, 180, 0, 71 [SEP] 18, Ladle, -0.371, 0.738, 0.879, 0, 45, 0, 46 [SEP] 19, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 43 [SEP] 20, SoapBottle, -0.329, 0.054, 2.606, 0, 0, 0, 64 [SEP] 21, Pot, -0.531, 0.822, 2.096, 0, 0, 0, 41 [SEP] 22, Tomato, -2.671, 0.874, 2.309, 0, 90, 0, 62 [SEP] 23, Potato, -2.671, 1.484, 2.221, 0, 90, 0, 62 [SEP] 24, SaltShaker, -0.477, 0.818, 1.326, 0, 0, 0, 44 [SEP] 25, Plate, -2.746, 1.439, 0.200, 0, 45, 0, 50 [SEP] 26, Spatula, -0.341, 0.696, 1.194, 0, 45, 0, 40 [SEP] 27, Knife, -2.662, 0.819, 0.557, 90, 300.034, 0, 44 [SEP] 28, Egg, -2.726, 1.469, 1.957, 0, 90, 0, 62 [SEP] 29, Cup, -1.580, 0.125, 0.323, 0, 0, 0, 57 [SEP] 30, ButterKnife, -1.374, 0.823, 0.518, 0, 0, 0, 44 [SEP] 31, Lettuce, -2.781, 1.529, 2.045, 0, 90, 0, 62 [SEP] 32, PepperShaker, -0.314, 0.818, 0.426, 0, 0, 0, 44 [SEP] 33, DishSponge, -2.504, 0.823, 0.544, 0, 0, 0, 44 [SEP] 34, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 44 [SEP] 35, Spoon, -0.817, 0.824, 0.352, 0, 90, 0, 44 [SEP] 36, Mug, -0.646, 0.888, 0.367, 0, 0, 0, 72 [SEP] 37, Bowl, -2.781, 0.821, 2.045, 0, 90, 0, 62 [SEP] 38, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0, [SEP] 39, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0, [SEP] 40, Drawer, -0.402, 0.703, 1.252, 0, 0, 0, [SEP] 41, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0, [SEP] 42, Sink, -1.838, 0.726, 0.343, 0, 180, 0, [SEP] 43, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0, [SEP] 44, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0, [SEP] 45, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0, [SEP] 46, Drawer, -0.404, 0.704, 0.912, 0, 0, 0, [SEP] 47, Drawer, -0.861, 0.709, 0.420, 0, 0, 0, [SEP] 48, Drawer, -1.133, 0.706, 0.418, 0, 0, 0, [SEP] 49, Drawer, -2.589, 0.703, 1.511, 0, 0, 0, [SEP] 50, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0, [SEP] 51, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0, [SEP] 52, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0, [SEP] 53, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0, [SEP] 54, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0, [SEP] 55, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0, [SEP] 56, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0, [SEP] 57, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0, [SEP] 58, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0, [SEP] 59, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0, [SEP] 60, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0, [SEP] 61, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0, [SEP] 62, Fridge, -2.782, 0.0, 2.221, 0, 0, 0, [SEP] 63, Microwave, -2.794, 0.812, 1.348, 0, 90, 0, [SEP] 64, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0, [SEP] 65, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470, [SEP] 66, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470, [SEP] 67, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470, [SEP] 68, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470, [SEP] 69, Window, -1.720, 1.342, -0.208, 90, 0, 0, [SEP] 70, Toaster, -0.171, 0.812, 0.735, 0, 270, 0, [SEP] 71, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0, [SEP] 72, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0, [SEP] 73, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0, [SEP] 74, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0, [SEP] 75, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0, [SEP] 76, NorthWall, , , , , , , [SEP] 77, EastWall, , , , , , , [SEP] 78, SouthWall, , , , , , , [SEP] 79, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward then turn left and walk to the fridge. | STEP 2: Open the fridge and grab the tomato by the mug then close the door. | STEP 3: Turn left and walk to the sink then take a big step left. | STEP 4: Wash the tomato in the left sink and then pick it back up and shut off the water. | STEP 5: Take a step to your right. | STEP 6: Put the tomato under the sponge to your right. | END"]} +{"id": "trial_T20190908_222555_651605-0", "input": "Place a chilled head of lettuce on a counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, -0.5, 0, 180, 0, [SEP] 1, Kettle, 1.361, 0.962, 0.294, 0, 180, 0, 42 [SEP] 2, Kettle, 0.504, 0.111, 0.270, 0, 0, 0, 58 [SEP] 3, Pan, 1.007, 0.962, 0.293, 0, 180, 0, 59 [SEP] 4, ButterKnife, -0.451, 0.912, -1.406, 0, 0, 0, 47 [SEP] 5, Fork, 1.781, 0.912, -1.489, 0, 0, 0, 47 [SEP] 6, Spoon, -0.451, 0.913, -1.737, 0, 0, 0, 47 [SEP] 7, Spatula, -0.267, 0.927, -1.406, 0, 0, 0, 47 [SEP] 8, Cup, -2.047, 0.779, -1.806, 0, 0, 0, 77 [SEP] 9, Plate, -1.791, 0.953, 0.614, 0, 90, 0, 80 [SEP] 10, Plate, -2.31, 0.512, -1.763, 0, 0, 0, 77 [SEP] 11, Knife, -2.477, 0.977, 0.255, 0, 90, 0, 80 [SEP] 12, Knife, -2.340, 0.977, 0.435, 0, 180, 0, 80 [SEP] 13, SoapBottle, -0.586, 0.109, -1.508, 0, 0, 0, 61 [SEP] 14, Bowl, -2.31, 1.492, -1.806, 0, 0, 0, 77 [SEP] 15, Bowl, -2.222, 1.051, -1.763, 0, 0, 0, 77 [SEP] 16, PepperShaker, -0.096, 0.107, -1.545, 0, 0, 0, 56 [SEP] 17, Bread, -2.065, 1.035, 0.255, 0, 90, 0, 80 [SEP] 18, Bread, 1.299, 0.978, -1.532, 0, 0, 0, 47 [SEP] 19, Knife, 0.960, 0.944, -1.649, 0, 90, 0, 45 [SEP] 20, Fork, -1.928, 0.952, 0.435, 0, 90, 0, 80 [SEP] 21, Bowl, -0.028, 0.105, 0.320, 0, 0, 0, 57 [SEP] 22, Kettle, 1.007, 0.962, 0.561, 0, 270, 0, 49 [SEP] 23, Cup, -1.872, 1.050, -1.677, 0, 0, 0, 77 [SEP] 24, Tomato, -2.135, 0.560, -1.849, 0, 0, 0, 77 [SEP] 25, SoapBottle, -0.329, 0.068, 0.569, 0, 90, 0, 76 [SEP] 26, Plate, -0.110, 0.900, -1.596, 0, 0, 0, 47 [SEP] 27, Pot, -2.383, 0.94, 0.583, 0, 0, 0, 80 [SEP] 28, Spatula, 0.701, 0.934, -1.782, 0, 90, 0, 45 [SEP] 29, PaperTowelRoll, -0.427, 0.174, 0.396, 0, 90, 0, 76 [SEP] 30, Egg, -1.872, 1.527, -1.720, 0, 0, 0, 77 [SEP] 31, Lettuce, 1.658, 1.002, -1.654, 0, 0, 0, 47 [SEP] 32, SaltShaker, 1.828, 1.325, -1.919, 0, 180, 0, 63 [SEP] 33, PepperShaker, -1.791, 0.948, 0.255, 0, 90, 0, 80 [SEP] 34, Apple, 0.377, 0.843, -1.745, 0, 270, 0, 70 [SEP] 35, ButterKnife, 1.711, 0.9, 0.273, 0, 318.152, 0, 62 [SEP] 36, Potato, 0.856, 0.949, -1.449, 0, 270, 0, 45 [SEP] 37, Pan, 1.535, 1.328, -1.809, 0, 270, 0, 63 [SEP] 38, DishSponge, -0.267, 0.911, -1.903, 0, 0, 0, 47 [SEP] 39, Spoon, 1.791, 0.774, 0.273, 0, 90, 0, 48 [SEP] 40, Mug, -1.079, 1.010, -1.803, 0, 90, 0, 69 [SEP] 41, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0, [SEP] 42, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0, [SEP] 43, Drawer, 0.499, 0.792, 0.296, 0, 0, 0, [SEP] 44, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0, [SEP] 45, Sink, 0.711, 0.817, -1.772, 0, 270, 0, [SEP] 46, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0, [SEP] 47, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0, [SEP] 48, Drawer, 1.825, 0.792, 0.296, 0, 0, 0, [SEP] 49, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0, [SEP] 50, Drawer, -0.150, 0.792, -1.496, 0, 0, 0, [SEP] 51, Drawer, -0.586, 0.792, -1.496, 0, 0, 0, [SEP] 52, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0, [SEP] 53, Drawer, 0.024, 0.792, 0.296, 0, 0, 0, [SEP] 54, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0, [SEP] 55, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0, [SEP] 56, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0, [SEP] 57, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0, [SEP] 58, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0, [SEP] 59, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0, [SEP] 60, Drawer, -1.100, 0.792, -1.496, 0, 0, 0, [SEP] 61, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0, [SEP] 62, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0, [SEP] 63, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0, [SEP] 64, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0, [SEP] 65, Toaster, 0.305, 0.900, 0.552, 0, 180, 0, [SEP] 66, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0, [SEP] 67, Window, 0.582, 1.613, -1.967, 90, 0, 0, [SEP] 68, Window, 1.969, 1.5, -0.615, 90, 270, 0, [SEP] 69, Microwave, -1.037, 0.900, -1.723, 0, 0, 0, [SEP] 70, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0, [SEP] 71, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0, [SEP] 72, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0, [SEP] 73, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0, [SEP] 74, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0, [SEP] 75, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0, [SEP] 76, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0, [SEP] 77, Fridge, -2.134, 0.0, -1.690, 0, 0, 0, [SEP] 78, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0, [SEP] 79, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0, [SEP] 80, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0, [SEP] 81, NorthWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , [SEP] 84, WestWall, , , , , , , ", "output": ["STEP 1: Take a step left and walk to the end of the counter on the left. | STEP 2: Pick up the head of lettuce. | STEP 3: Turn right and walk all the way to the wall, then turn left to face the fridge. | STEP 4: Place the lettuce in the fridge in front of the bowl. Close the door, wait a moment, and then take it out again. | STEP 5: Turn left and take a few steps, then turn left and go to the counter with the toaster on it. | STEP 6: Place the lettuce on the counter to the left of the toaster. | END"]} +{"id": "trial_T20190908_222555_651605-1", "input": "Put a chilled head of lettuce on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, -0.5, 0, 180, 0, [SEP] 1, Kettle, 1.361, 0.962, 0.294, 0, 180, 0, 42 [SEP] 2, Kettle, 0.504, 0.111, 0.270, 0, 0, 0, 58 [SEP] 3, Pan, 1.007, 0.962, 0.293, 0, 180, 0, 59 [SEP] 4, ButterKnife, -0.451, 0.912, -1.406, 0, 0, 0, 47 [SEP] 5, Fork, 1.781, 0.912, -1.489, 0, 0, 0, 47 [SEP] 6, Spoon, -0.451, 0.913, -1.737, 0, 0, 0, 47 [SEP] 7, Spatula, -0.267, 0.927, -1.406, 0, 0, 0, 47 [SEP] 8, Cup, -2.047, 0.779, -1.806, 0, 0, 0, 77 [SEP] 9, Plate, -1.791, 0.953, 0.614, 0, 90, 0, 80 [SEP] 10, Plate, -2.31, 0.512, -1.763, 0, 0, 0, 77 [SEP] 11, Knife, -2.477, 0.977, 0.255, 0, 90, 0, 80 [SEP] 12, Knife, -2.340, 0.977, 0.435, 0, 180, 0, 80 [SEP] 13, SoapBottle, -0.586, 0.109, -1.508, 0, 0, 0, 61 [SEP] 14, Bowl, -2.31, 1.492, -1.806, 0, 0, 0, 77 [SEP] 15, Bowl, -2.222, 1.051, -1.763, 0, 0, 0, 77 [SEP] 16, PepperShaker, -0.096, 0.107, -1.545, 0, 0, 0, 56 [SEP] 17, Bread, -2.065, 1.035, 0.255, 0, 90, 0, 80 [SEP] 18, Bread, 1.299, 0.978, -1.532, 0, 0, 0, 47 [SEP] 19, Knife, 0.960, 0.944, -1.649, 0, 90, 0, 45 [SEP] 20, Fork, -1.928, 0.952, 0.435, 0, 90, 0, 80 [SEP] 21, Bowl, -0.028, 0.105, 0.320, 0, 0, 0, 57 [SEP] 22, Kettle, 1.007, 0.962, 0.561, 0, 270, 0, 49 [SEP] 23, Cup, -1.872, 1.050, -1.677, 0, 0, 0, 77 [SEP] 24, Tomato, -2.135, 0.560, -1.849, 0, 0, 0, 77 [SEP] 25, SoapBottle, -0.329, 0.068, 0.569, 0, 90, 0, 76 [SEP] 26, Plate, -0.110, 0.900, -1.596, 0, 0, 0, 47 [SEP] 27, Pot, -2.383, 0.94, 0.583, 0, 0, 0, 80 [SEP] 28, Spatula, 0.701, 0.934, -1.782, 0, 90, 0, 45 [SEP] 29, PaperTowelRoll, -0.427, 0.174, 0.396, 0, 90, 0, 76 [SEP] 30, Egg, -1.872, 1.527, -1.720, 0, 0, 0, 77 [SEP] 31, Lettuce, 1.658, 1.002, -1.654, 0, 0, 0, 47 [SEP] 32, SaltShaker, 1.828, 1.325, -1.919, 0, 180, 0, 63 [SEP] 33, PepperShaker, -1.791, 0.948, 0.255, 0, 90, 0, 80 [SEP] 34, Apple, 0.377, 0.843, -1.745, 0, 270, 0, 70 [SEP] 35, ButterKnife, 1.711, 0.9, 0.273, 0, 318.152, 0, 62 [SEP] 36, Potato, 0.856, 0.949, -1.449, 0, 270, 0, 45 [SEP] 37, Pan, 1.535, 1.328, -1.809, 0, 270, 0, 63 [SEP] 38, DishSponge, -0.267, 0.911, -1.903, 0, 0, 0, 47 [SEP] 39, Spoon, 1.791, 0.774, 0.273, 0, 90, 0, 48 [SEP] 40, Mug, -1.079, 1.010, -1.803, 0, 90, 0, 69 [SEP] 41, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0, [SEP] 42, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0, [SEP] 43, Drawer, 0.499, 0.792, 0.296, 0, 0, 0, [SEP] 44, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0, [SEP] 45, Sink, 0.711, 0.817, -1.772, 0, 270, 0, [SEP] 46, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0, [SEP] 47, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0, [SEP] 48, Drawer, 1.825, 0.792, 0.296, 0, 0, 0, [SEP] 49, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0, [SEP] 50, Drawer, -0.150, 0.792, -1.496, 0, 0, 0, [SEP] 51, Drawer, -0.586, 0.792, -1.496, 0, 0, 0, [SEP] 52, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0, [SEP] 53, Drawer, 0.024, 0.792, 0.296, 0, 0, 0, [SEP] 54, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0, [SEP] 55, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0, [SEP] 56, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0, [SEP] 57, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0, [SEP] 58, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0, [SEP] 59, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0, [SEP] 60, Drawer, -1.100, 0.792, -1.496, 0, 0, 0, [SEP] 61, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0, [SEP] 62, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0, [SEP] 63, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0, [SEP] 64, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0, [SEP] 65, Toaster, 0.305, 0.900, 0.552, 0, 180, 0, [SEP] 66, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0, [SEP] 67, Window, 0.582, 1.613, -1.967, 90, 0, 0, [SEP] 68, Window, 1.969, 1.5, -0.615, 90, 270, 0, [SEP] 69, Microwave, -1.037, 0.900, -1.723, 0, 0, 0, [SEP] 70, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0, [SEP] 71, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0, [SEP] 72, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0, [SEP] 73, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0, [SEP] 74, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0, [SEP] 75, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0, [SEP] 76, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0, [SEP] 77, Fridge, -2.134, 0.0, -1.690, 0, 0, 0, [SEP] 78, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0, [SEP] 79, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0, [SEP] 80, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0, [SEP] 81, NorthWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , [SEP] 84, WestWall, , , , , , , ", "output": ["STEP 1: Go left and stop in front of the counter where the lettuce is. | STEP 2: Pick the lettuce up from the counter. | STEP 3: Go right and turn left to face the fridge. | STEP 4: Put the lettuce in the fridge and shut the door and then open the door and take the lettuce out and shut the door. | STEP 5: Go left and then left again to face the counter to the left of the toaster. | STEP 6: Put the lettuce on the counter. | END"]} +{"id": "trial_T20190908_222555_651605-2", "input": "Put chilled lettuce on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, -0.5, 0, 180, 0, [SEP] 1, Kettle, 1.361, 0.962, 0.294, 0, 180, 0, 42 [SEP] 2, Kettle, 0.504, 0.111, 0.270, 0, 0, 0, 58 [SEP] 3, Pan, 1.007, 0.962, 0.293, 0, 180, 0, 59 [SEP] 4, ButterKnife, -0.451, 0.912, -1.406, 0, 0, 0, 47 [SEP] 5, Fork, 1.781, 0.912, -1.489, 0, 0, 0, 47 [SEP] 6, Spoon, -0.451, 0.913, -1.737, 0, 0, 0, 47 [SEP] 7, Spatula, -0.267, 0.927, -1.406, 0, 0, 0, 47 [SEP] 8, Cup, -2.047, 0.779, -1.806, 0, 0, 0, 77 [SEP] 9, Plate, -1.791, 0.953, 0.614, 0, 90, 0, 80 [SEP] 10, Plate, -2.31, 0.512, -1.763, 0, 0, 0, 77 [SEP] 11, Knife, -2.477, 0.977, 0.255, 0, 90, 0, 80 [SEP] 12, Knife, -2.340, 0.977, 0.435, 0, 180, 0, 80 [SEP] 13, SoapBottle, -0.586, 0.109, -1.508, 0, 0, 0, 61 [SEP] 14, Bowl, -2.31, 1.492, -1.806, 0, 0, 0, 77 [SEP] 15, Bowl, -2.222, 1.051, -1.763, 0, 0, 0, 77 [SEP] 16, PepperShaker, -0.096, 0.107, -1.545, 0, 0, 0, 56 [SEP] 17, Bread, -2.065, 1.035, 0.255, 0, 90, 0, 80 [SEP] 18, Bread, 1.299, 0.978, -1.532, 0, 0, 0, 47 [SEP] 19, Knife, 0.960, 0.944, -1.649, 0, 90, 0, 45 [SEP] 20, Fork, -1.928, 0.952, 0.435, 0, 90, 0, 80 [SEP] 21, Bowl, -0.028, 0.105, 0.320, 0, 0, 0, 57 [SEP] 22, Kettle, 1.007, 0.962, 0.561, 0, 270, 0, 49 [SEP] 23, Cup, -1.872, 1.050, -1.677, 0, 0, 0, 77 [SEP] 24, Tomato, -2.135, 0.560, -1.849, 0, 0, 0, 77 [SEP] 25, SoapBottle, -0.329, 0.068, 0.569, 0, 90, 0, 76 [SEP] 26, Plate, -0.110, 0.900, -1.596, 0, 0, 0, 47 [SEP] 27, Pot, -2.383, 0.94, 0.583, 0, 0, 0, 80 [SEP] 28, Spatula, 0.701, 0.934, -1.782, 0, 90, 0, 45 [SEP] 29, PaperTowelRoll, -0.427, 0.174, 0.396, 0, 90, 0, 76 [SEP] 30, Egg, -1.872, 1.527, -1.720, 0, 0, 0, 77 [SEP] 31, Lettuce, 1.658, 1.002, -1.654, 0, 0, 0, 47 [SEP] 32, SaltShaker, 1.828, 1.325, -1.919, 0, 180, 0, 63 [SEP] 33, PepperShaker, -1.791, 0.948, 0.255, 0, 90, 0, 80 [SEP] 34, Apple, 0.377, 0.843, -1.745, 0, 270, 0, 70 [SEP] 35, ButterKnife, 1.711, 0.9, 0.273, 0, 318.152, 0, 62 [SEP] 36, Potato, 0.856, 0.949, -1.449, 0, 270, 0, 45 [SEP] 37, Pan, 1.535, 1.328, -1.809, 0, 270, 0, 63 [SEP] 38, DishSponge, -0.267, 0.911, -1.903, 0, 0, 0, 47 [SEP] 39, Spoon, 1.791, 0.774, 0.273, 0, 90, 0, 48 [SEP] 40, Mug, -1.079, 1.010, -1.803, 0, 90, 0, 69 [SEP] 41, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0, [SEP] 42, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0, [SEP] 43, Drawer, 0.499, 0.792, 0.296, 0, 0, 0, [SEP] 44, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0, [SEP] 45, Sink, 0.711, 0.817, -1.772, 0, 270, 0, [SEP] 46, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0, [SEP] 47, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0, [SEP] 48, Drawer, 1.825, 0.792, 0.296, 0, 0, 0, [SEP] 49, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0, [SEP] 50, Drawer, -0.150, 0.792, -1.496, 0, 0, 0, [SEP] 51, Drawer, -0.586, 0.792, -1.496, 0, 0, 0, [SEP] 52, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0, [SEP] 53, Drawer, 0.024, 0.792, 0.296, 0, 0, 0, [SEP] 54, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0, [SEP] 55, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0, [SEP] 56, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0, [SEP] 57, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0, [SEP] 58, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0, [SEP] 59, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0, [SEP] 60, Drawer, -1.100, 0.792, -1.496, 0, 0, 0, [SEP] 61, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0, [SEP] 62, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0, [SEP] 63, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0, [SEP] 64, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0, [SEP] 65, Toaster, 0.305, 0.900, 0.552, 0, 180, 0, [SEP] 66, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0, [SEP] 67, Window, 0.582, 1.613, -1.967, 90, 0, 0, [SEP] 68, Window, 1.969, 1.5, -0.615, 90, 270, 0, [SEP] 69, Microwave, -1.037, 0.900, -1.723, 0, 0, 0, [SEP] 70, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0, [SEP] 71, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0, [SEP] 72, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0, [SEP] 73, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0, [SEP] 74, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0, [SEP] 75, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0, [SEP] 76, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0, [SEP] 77, Fridge, -2.134, 0.0, -1.690, 0, 0, 0, [SEP] 78, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0, [SEP] 79, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0, [SEP] 80, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0, [SEP] 81, NorthWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , [SEP] 84, WestWall, , , , , , , ", "output": ["STEP 1: Move over to the lettuce on the counter, left of the sink. | STEP 2: Pick up the lettuce on the counter. | STEP 3: Turn right, bring the lettuce down to the fridge past the sink on the left. | STEP 4: Chill the lettuce in the sink. | STEP 5: Bring the chilled lettuce to the counter with the toaster and coffee machine, which is on the other side of the room as the sink. | STEP 6: Put the chilled lettuce on the counter near the toaster. | END"]} +{"id": "trial_T20190911_131350_027076-0", "input": "put clean spoon on the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.901, -0.25, 0, 180, 0, [SEP] 1, Pan, 2.112, 1.321, -0.278, 0, 180, 0, 69 [SEP] 2, Potato, 2.000, 1.361, -0.550, 0, 270, 0, 69 [SEP] 3, Potato, 2.071, 0.978, 0.361, 0, 90, 0, 59 [SEP] 4, WineBottle, 0.033, 0.791, 0.713, 0, 0, 0, 75 [SEP] 5, WineBottle, -0.263, 0.038, -0.832, 0, 90, 0, 70 [SEP] 6, ButterKnife, -0.349, 0.781, 0.881, 356.158, 0, 0, 75 [SEP] 7, ButterKnife, -0.196, 0.791, 1.386, 0, 0, 0, 75 [SEP] 8, Egg, -0.425, 0.826, 0.881, 0, 0, 0, 75 [SEP] 9, Egg, 0.033, 0.833, 1.049, 0, 0, 0, 75 [SEP] 10, Tomato, -0.041, 0.983, 2.425, 0, 0, 0, 48 [SEP] 11, SaltShaker, 1.805, 1.498, 2.843, 0, 0, 0, 49 [SEP] 12, PepperShaker, -0.042, 0.785, 0.545, 0, 0, 0, 75 [SEP] 13, PepperShaker, -0.348, 0.932, 2.425, 0, 0, 0, 48 [SEP] 14, Mug, 2.064, 0.989, 2.462, 0, 225, 0, 74 [SEP] 15, Mug, -0.042, 0.785, 0.881, 0, 180, 0, 75 [SEP] 16, Apple, -0.261, 1.085, 1.961, 0, 90, 0, 73 [SEP] 17, Egg, -0.272, 0.833, 1.386, 0, 0, 0, 75 [SEP] 18, Lettuce, 1.997, 0.999, 2.063, 0, 180, 0, 48 [SEP] 19, Fork, 0.002, 0.746, 1.925, 0, 0, 0, 47 [SEP] 20, SoapBottle, -0.396, 0.938, 2.688, 0, 0, 0, 48 [SEP] 21, Ladle, -0.349, 0.835, 1.217, 0, 0, 0, 75 [SEP] 22, Ladle, -0.096, 0.942, 2.546, 6.838, 45, 340.406, 48 [SEP] 23, Bread, -0.200, 0.824, 0.815, 0, 0, 0, 75 [SEP] 24, SaltShaker, 0.174, 0.932, 2.688, 0, 0, 0, 48 [SEP] 25, Potato, -0.119, 0.831, 0.377, 0, 0, 0, 75 [SEP] 26, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 43 [SEP] 27, WineBottle, 2.301, 0.939, 0.806, 0, 0, 0, 59 [SEP] 28, Spatula, -0.272, 0.805, 0.377, 0, 0, 0, 75 [SEP] 29, Knife, 1.802, 0.772, 0.514, 0, 90, 0, 57 [SEP] 30, Tomato, -0.119, 0.837, 1.217, 0, 0, 0, 75 [SEP] 31, Apple, 0.788, 0.845, 2.584, 0, 0, 0, 72 [SEP] 32, ButterKnife, 1.660, 0.926, 2.473, 0, 352.515, 0, 48 [SEP] 33, Pot, 1.854, 0.937, 1.497, 0, 0, 0, 52 [SEP] 34, PepperShaker, 2.167, 1.496, 1.963, 0, 0, 0, 51 [SEP] 35, Cup, 0.576, 0.793, 2.750, 0, 0, 0, 72 [SEP] 36, DishSponge, -0.425, 0.790, 1.049, 0, 0, 0, 75 [SEP] 37, Plate, 0.566, 0.085, 2.523, 0, 0, 0, 55 [SEP] 38, Spoon, -0.282, 0.938, 2.548, 0, 90, 0, 48 [SEP] 39, Mug, -0.294, 1.030, 2.068, 0, 90, 0, 73 [SEP] 40, Bowl, 1.156, 0.078, 2.484, 0, 0, 0, 54 [SEP] 41, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0, [SEP] 42, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0, [SEP] 43, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0, [SEP] 44, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0, [SEP] 45, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0, [SEP] 46, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0, [SEP] 47, Drawer, -0.024, 0.774, 2.061, 0, 0, 0, [SEP] 48, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0, [SEP] 49, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0, [SEP] 50, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0, [SEP] 51, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0, [SEP] 52, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0, [SEP] 53, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0, [SEP] 54, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0, [SEP] 55, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0, [SEP] 56, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0, [SEP] 57, Drawer, 2.167, 0.774, 0.582, 0, 0, 0, [SEP] 58, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0, [SEP] 59, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0, [SEP] 60, Sink, 0.935, 0.936, 2.646, 0, 0, 0, [SEP] 61, Curtains, 0.964, 2.061, 2.989, 0, 0, 0, [SEP] 62, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0, [SEP] 63, Drawer, 1.911, 0.774, 2.060, 0, 0, 0, [SEP] 64, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0, [SEP] 65, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0, [SEP] 66, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0, [SEP] 67, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0, [SEP] 68, Toaster, 2.126, 0.926, 0.572, 0, 270, 0, [SEP] 69, Fridge, 2.104, 0.0, -0.279, 0, 270, 0, [SEP] 70, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0, [SEP] 71, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0, [SEP] 72, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0, [SEP] 73, Microwave, -0.310, 0.926, 2.077, 0, 90, 0, [SEP] 74, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0, [SEP] 75, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0, [SEP] 76, Faucet, 1.175, 0.926, 2.950, 270, 90, 0, [SEP] 77, Faucet, 0.686, 0.926, 2.950, 270, 90, 0, [SEP] 78, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0, [SEP] 79, NorthWall, , , , , , , [SEP] 80, EastWall, , , , , , , [SEP] 81, SouthWall, , , , , , , [SEP] 82, WestWall, , , , , , , ", "output": ["STEP 1: turn around, walk forward, turn left to face table | STEP 2: pick up the spoon that is on the table | STEP 3: turn right, walk to the sink | STEP 4: put the spoon in the sink, turn on the water, take spoon out | STEP 5: turn around, walk forward, turn right, walk to table | STEP 6: put the spoon on the table | END"]} +{"id": "trial_T20190911_131350_027076-1", "input": "Place a clean ladle on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.901, -0.25, 0, 180, 0, [SEP] 1, Pan, 2.112, 1.321, -0.278, 0, 180, 0, 69 [SEP] 2, Potato, 2.000, 1.361, -0.550, 0, 270, 0, 69 [SEP] 3, Potato, 2.071, 0.978, 0.361, 0, 90, 0, 59 [SEP] 4, WineBottle, 0.033, 0.791, 0.713, 0, 0, 0, 75 [SEP] 5, WineBottle, -0.263, 0.038, -0.832, 0, 90, 0, 70 [SEP] 6, ButterKnife, -0.349, 0.781, 0.881, 356.158, 0, 0, 75 [SEP] 7, ButterKnife, -0.196, 0.791, 1.386, 0, 0, 0, 75 [SEP] 8, Egg, -0.425, 0.826, 0.881, 0, 0, 0, 75 [SEP] 9, Egg, 0.033, 0.833, 1.049, 0, 0, 0, 75 [SEP] 10, Tomato, -0.041, 0.983, 2.425, 0, 0, 0, 48 [SEP] 11, SaltShaker, 1.805, 1.498, 2.843, 0, 0, 0, 49 [SEP] 12, PepperShaker, -0.042, 0.785, 0.545, 0, 0, 0, 75 [SEP] 13, PepperShaker, -0.348, 0.932, 2.425, 0, 0, 0, 48 [SEP] 14, Mug, 2.064, 0.989, 2.462, 0, 225, 0, 74 [SEP] 15, Mug, -0.042, 0.785, 0.881, 0, 180, 0, 75 [SEP] 16, Apple, -0.261, 1.085, 1.961, 0, 90, 0, 73 [SEP] 17, Egg, -0.272, 0.833, 1.386, 0, 0, 0, 75 [SEP] 18, Lettuce, 1.997, 0.999, 2.063, 0, 180, 0, 48 [SEP] 19, Fork, 0.002, 0.746, 1.925, 0, 0, 0, 47 [SEP] 20, SoapBottle, -0.396, 0.938, 2.688, 0, 0, 0, 48 [SEP] 21, Ladle, -0.349, 0.835, 1.217, 0, 0, 0, 75 [SEP] 22, Ladle, -0.096, 0.942, 2.546, 6.838, 45, 340.406, 48 [SEP] 23, Bread, -0.200, 0.824, 0.815, 0, 0, 0, 75 [SEP] 24, SaltShaker, 0.174, 0.932, 2.688, 0, 0, 0, 48 [SEP] 25, Potato, -0.119, 0.831, 0.377, 0, 0, 0, 75 [SEP] 26, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 43 [SEP] 27, WineBottle, 2.301, 0.939, 0.806, 0, 0, 0, 59 [SEP] 28, Spatula, -0.272, 0.805, 0.377, 0, 0, 0, 75 [SEP] 29, Knife, 1.802, 0.772, 0.514, 0, 90, 0, 57 [SEP] 30, Tomato, -0.119, 0.837, 1.217, 0, 0, 0, 75 [SEP] 31, Apple, 0.788, 0.845, 2.584, 0, 0, 0, 72 [SEP] 32, ButterKnife, 1.660, 0.926, 2.473, 0, 352.515, 0, 48 [SEP] 33, Pot, 1.854, 0.937, 1.497, 0, 0, 0, 52 [SEP] 34, PepperShaker, 2.167, 1.496, 1.963, 0, 0, 0, 51 [SEP] 35, Cup, 0.576, 0.793, 2.750, 0, 0, 0, 72 [SEP] 36, DishSponge, -0.425, 0.790, 1.049, 0, 0, 0, 75 [SEP] 37, Plate, 0.566, 0.085, 2.523, 0, 0, 0, 55 [SEP] 38, Spoon, -0.282, 0.938, 2.548, 0, 90, 0, 48 [SEP] 39, Mug, -0.294, 1.030, 2.068, 0, 90, 0, 73 [SEP] 40, Bowl, 1.156, 0.078, 2.484, 0, 0, 0, 54 [SEP] 41, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0, [SEP] 42, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0, [SEP] 43, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0, [SEP] 44, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0, [SEP] 45, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0, [SEP] 46, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0, [SEP] 47, Drawer, -0.024, 0.774, 2.061, 0, 0, 0, [SEP] 48, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0, [SEP] 49, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0, [SEP] 50, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0, [SEP] 51, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0, [SEP] 52, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0, [SEP] 53, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0, [SEP] 54, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0, [SEP] 55, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0, [SEP] 56, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0, [SEP] 57, Drawer, 2.167, 0.774, 0.582, 0, 0, 0, [SEP] 58, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0, [SEP] 59, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0, [SEP] 60, Sink, 0.935, 0.936, 2.646, 0, 0, 0, [SEP] 61, Curtains, 0.964, 2.061, 2.989, 0, 0, 0, [SEP] 62, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0, [SEP] 63, Drawer, 1.911, 0.774, 2.060, 0, 0, 0, [SEP] 64, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0, [SEP] 65, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0, [SEP] 66, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0, [SEP] 67, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0, [SEP] 68, Toaster, 2.126, 0.926, 0.572, 0, 270, 0, [SEP] 69, Fridge, 2.104, 0.0, -0.279, 0, 270, 0, [SEP] 70, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0, [SEP] 71, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0, [SEP] 72, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0, [SEP] 73, Microwave, -0.310, 0.926, 2.077, 0, 90, 0, [SEP] 74, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0, [SEP] 75, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0, [SEP] 76, Faucet, 1.175, 0.926, 2.950, 270, 90, 0, [SEP] 77, Faucet, 0.686, 0.926, 2.950, 270, 90, 0, [SEP] 78, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0, [SEP] 79, NorthWall, , , , , , , [SEP] 80, EastWall, , , , , , , [SEP] 81, SouthWall, , , , , , , [SEP] 82, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and veer left to the white table. | STEP 2: Pick up the ladle on the table, behind the tomato. | STEP 3: Turn right and walk to the sink. | STEP 4: Wash the ladle in the right sink basin. | STEP 5: Turn left and walk back to the white table. | STEP 6: Place the ladle on the table in front of the white mug. | END"]} +{"id": "trial_T20190911_131350_027076-2", "input": "wash the spoon and put it back on the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.901, -0.25, 0, 180, 0, [SEP] 1, Pan, 2.112, 1.321, -0.278, 0, 180, 0, 69 [SEP] 2, Potato, 2.000, 1.361, -0.550, 0, 270, 0, 69 [SEP] 3, Potato, 2.071, 0.978, 0.361, 0, 90, 0, 59 [SEP] 4, WineBottle, 0.033, 0.791, 0.713, 0, 0, 0, 75 [SEP] 5, WineBottle, -0.263, 0.038, -0.832, 0, 90, 0, 70 [SEP] 6, ButterKnife, -0.349, 0.781, 0.881, 356.158, 0, 0, 75 [SEP] 7, ButterKnife, -0.196, 0.791, 1.386, 0, 0, 0, 75 [SEP] 8, Egg, -0.425, 0.826, 0.881, 0, 0, 0, 75 [SEP] 9, Egg, 0.033, 0.833, 1.049, 0, 0, 0, 75 [SEP] 10, Tomato, -0.041, 0.983, 2.425, 0, 0, 0, 48 [SEP] 11, SaltShaker, 1.805, 1.498, 2.843, 0, 0, 0, 49 [SEP] 12, PepperShaker, -0.042, 0.785, 0.545, 0, 0, 0, 75 [SEP] 13, PepperShaker, -0.348, 0.932, 2.425, 0, 0, 0, 48 [SEP] 14, Mug, 2.064, 0.989, 2.462, 0, 225, 0, 74 [SEP] 15, Mug, -0.042, 0.785, 0.881, 0, 180, 0, 75 [SEP] 16, Apple, -0.261, 1.085, 1.961, 0, 90, 0, 73 [SEP] 17, Egg, -0.272, 0.833, 1.386, 0, 0, 0, 75 [SEP] 18, Lettuce, 1.997, 0.999, 2.063, 0, 180, 0, 48 [SEP] 19, Fork, 0.002, 0.746, 1.925, 0, 0, 0, 47 [SEP] 20, SoapBottle, -0.396, 0.938, 2.688, 0, 0, 0, 48 [SEP] 21, Ladle, -0.349, 0.835, 1.217, 0, 0, 0, 75 [SEP] 22, Ladle, -0.096, 0.942, 2.546, 6.838, 45, 340.406, 48 [SEP] 23, Bread, -0.200, 0.824, 0.815, 0, 0, 0, 75 [SEP] 24, SaltShaker, 0.174, 0.932, 2.688, 0, 0, 0, 48 [SEP] 25, Potato, -0.119, 0.831, 0.377, 0, 0, 0, 75 [SEP] 26, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 43 [SEP] 27, WineBottle, 2.301, 0.939, 0.806, 0, 0, 0, 59 [SEP] 28, Spatula, -0.272, 0.805, 0.377, 0, 0, 0, 75 [SEP] 29, Knife, 1.802, 0.772, 0.514, 0, 90, 0, 57 [SEP] 30, Tomato, -0.119, 0.837, 1.217, 0, 0, 0, 75 [SEP] 31, Apple, 0.788, 0.845, 2.584, 0, 0, 0, 72 [SEP] 32, ButterKnife, 1.660, 0.926, 2.473, 0, 352.515, 0, 48 [SEP] 33, Pot, 1.854, 0.937, 1.497, 0, 0, 0, 52 [SEP] 34, PepperShaker, 2.167, 1.496, 1.963, 0, 0, 0, 51 [SEP] 35, Cup, 0.576, 0.793, 2.750, 0, 0, 0, 72 [SEP] 36, DishSponge, -0.425, 0.790, 1.049, 0, 0, 0, 75 [SEP] 37, Plate, 0.566, 0.085, 2.523, 0, 0, 0, 55 [SEP] 38, Spoon, -0.282, 0.938, 2.548, 0, 90, 0, 48 [SEP] 39, Mug, -0.294, 1.030, 2.068, 0, 90, 0, 73 [SEP] 40, Bowl, 1.156, 0.078, 2.484, 0, 0, 0, 54 [SEP] 41, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0, [SEP] 42, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0, [SEP] 43, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0, [SEP] 44, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0, [SEP] 45, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0, [SEP] 46, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0, [SEP] 47, Drawer, -0.024, 0.774, 2.061, 0, 0, 0, [SEP] 48, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0, [SEP] 49, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0, [SEP] 50, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0, [SEP] 51, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0, [SEP] 52, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0, [SEP] 53, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0, [SEP] 54, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0, [SEP] 55, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0, [SEP] 56, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0, [SEP] 57, Drawer, 2.167, 0.774, 0.582, 0, 0, 0, [SEP] 58, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0, [SEP] 59, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0, [SEP] 60, Sink, 0.935, 0.936, 2.646, 0, 0, 0, [SEP] 61, Curtains, 0.964, 2.061, 2.989, 0, 0, 0, [SEP] 62, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0, [SEP] 63, Drawer, 1.911, 0.774, 2.060, 0, 0, 0, [SEP] 64, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0, [SEP] 65, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0, [SEP] 66, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0, [SEP] 67, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0, [SEP] 68, Toaster, 2.126, 0.926, 0.572, 0, 270, 0, [SEP] 69, Fridge, 2.104, 0.0, -0.279, 0, 270, 0, [SEP] 70, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0, [SEP] 71, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0, [SEP] 72, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0, [SEP] 73, Microwave, -0.310, 0.926, 2.077, 0, 90, 0, [SEP] 74, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0, [SEP] 75, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0, [SEP] 76, Faucet, 1.175, 0.926, 2.950, 270, 90, 0, [SEP] 77, Faucet, 0.686, 0.926, 2.950, 270, 90, 0, [SEP] 78, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0, [SEP] 79, NorthWall, , , , , , , [SEP] 80, EastWall, , , , , , , [SEP] 81, SouthWall, , , , , , , [SEP] 82, WestWall, , , , , , , ", "output": ["STEP 1: go through the kitchen to the table | STEP 2: pick up the spoon sitting at the back of the table | STEP 3: take the spoon over to the sink | STEP 4: put the spoon in the sink and turn on the water and take out the spoon | STEP 5: cross over the kitchen back to the table | STEP 6: set the spoon down in front of the mug | END"]} +{"id": "trial_T20190908_134410_550530-0", "input": "Place a pan with a tomato slice and a knife in it in the refrigerator SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.900, -0.5, 0, 270, 0, [SEP] 1, Pan, 2.160, 1.026, 1.354, 0, 226.999, 0, 49 [SEP] 2, Potato, -0.577, 0.858, 1.259, 0, 90, 0, 106 [SEP] 3, Potato, -1.059, 1.484, -0.295, 0, 90, 0, 93 [SEP] 4, Ladle, 2.763, 0.803, 3.726, 0, 329.999, 0, 50 [SEP] 5, DishSponge, 2.762, 0.800, 0.164, 0, 0, 0, 60 [SEP] 6, ButterKnife, 1.899, 0.801, 1.320, 0, 317.0, 0, 63 [SEP] 7, ButterKnife, 2.998, 1.026, 1.298, 0, 136.999, 0, 49 [SEP] 8, WineBottle, 2.801, 0.765, 4.044, 0, 270, 0, 50 [SEP] 9, Egg, 2.478, 0.808, 3.773, 0, 329.999, 0, 50 [SEP] 10, Egg, 2.166, 0.808, 4.017, 0, 329.999, 0, 50 [SEP] 11, Cup, 2.053, 1.859, -1.775, 0, 0, 0, 95 [SEP] 12, Cup, -0.544, 1.026, 0.785, 0, 0, 0, 52 [SEP] 13, Plate, -0.891, 0.046, 2.071, 0, 0, 0, 78 [SEP] 14, Tomato, 2.570, 0.818, 3.614, 0, 329.999, 0, 50 [SEP] 15, Tomato, -1.069, 0.839, -0.627, 0, 90, 0, 93 [SEP] 16, SaltShaker, -0.794, 1.023, 2.556, 0, 0, 0, 52 [SEP] 17, Bread, 2.605, 0.832, 4.334, 0, 225, 0, 50 [SEP] 18, Lettuce, 2.626, 0.822, 3.970, 0, 270, 0, 50 [SEP] 19, Mug, -0.803, 1.070, 0.646, 0, 90, 0, 102 [SEP] 20, Apple, -0.418, 1.077, 0.692, 0, 0, 0, 52 [SEP] 21, Pan, 2.116, 1.027, -1.84, 0, 270, 0, 53 [SEP] 22, Glassbottle, -0.906, 0.786, -0.627, 0, 90, 0, 93 [SEP] 23, Knife, 2.626, 0.789, 3.821, 0, 0, 0, 50 [SEP] 24, SoapBottle, -0.944, 1.779, 2.254, 0, 0, 0, 87 [SEP] 25, Egg, -0.714, 0.868, 1.337, 0, 90, 0, 106 [SEP] 26, Fork, -0.645, 0.817, 1.414, 0, 90, 0, 106 [SEP] 27, Potato, 1.916, 1.068, 1.405, 0, 136.999, 0, 49 [SEP] 28, Ladle, 2.790, 0.803, 3.529, 0, 329.999, 0, 50 [SEP] 29, Tomato, 3.043, 1.080, -0.236, 0, 0, 0, 49 [SEP] 30, Pot, 2.177, 1.027, -1.599, 0, 0, 0, 48 [SEP] 31, WineBottle, 2.175, 0.765, 4.447, 0, 329.999, 0, 50 [SEP] 32, Plate, 2.322, 0.764, 3.895, 0, 329.999, 0, 50 [SEP] 33, Spatula, 1.925, 0.779, 4.044, 0, 270, 0, 50 [SEP] 34, PaperTowelRoll, -0.418, 1.131, 0.323, 0, 0, 0, 52 [SEP] 35, Lettuce, -0.851, 0.874, 1.259, 0, 90, 0, 106 [SEP] 36, Apple, 1.895, 1.911, -1.843, 0, 0, 0, 95 [SEP] 37, SaltShaker, 1.170, 1.023, -1.454, 0, 90, 0, 49 [SEP] 38, PepperShaker, 2.893, 0.760, 4.307, 0, 225, 0, 50 [SEP] 39, ButterKnife, 2.450, 0.764, 4.118, 0, 270, 0, 50 [SEP] 40, Bread, 2.741, 1.085, 0.059, 0, 0, 0, 49 [SEP] 41, Cup, -1.013, 1.440, -0.516, 0, 90, 0, 93 [SEP] 42, DishSponge, -0.590, 0.799, 2.061, 0, 0, 0, 54 [SEP] 43, Bowl, 2.706, 1.025, -1.151, 0, 0, 0, 49 [SEP] 44, Spoon, 2.308, 0.803, 1.173, 0, 317.0, 0, 62 [SEP] 45, Mug, 1.409, 1.021, -1.987, 0, 90, 0, 49 [SEP] 46, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 47, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 48, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 49, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 50, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 51, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 52, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 53, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 54, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 55, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 56, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 57, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 58, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 59, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 60, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 61, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 62, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 63, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 64, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 65, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 66, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 67, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 68, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 69, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 70, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 71, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 72, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 73, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 74, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 75, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 76, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 77, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 78, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 79, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 80, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 81, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 82, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 83, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 84, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 85, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 86, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 87, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 88, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 89, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 90, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 91, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 92, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 93, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 94, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 95, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 96, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 97, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 98, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 99, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 100, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 101, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 102, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 103, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 104, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 105, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 106, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 107, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 108, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 109, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 110, , , , , , , , [SEP] 111, NorthWall, , , , , , , [SEP] 112, EastWall, , , , , , , [SEP] 113, SouthWall, , , , , , , [SEP] 114, WestWall, , , , , , , ", "output": ["STEP 1: take a few steps forward and turn to the right and go forward past clear the counter top on the right and turn to the right and go to the wall and turn to left and step to the table | STEP 2: pick up the yellow handle knife from the table | STEP 3: turn to the left and take a step and turn to the right facing the table | STEP 4: slice the tomato with the knife on the table | STEP 5: turn to the left and go past clear the counter top on the left and turn left and go past clear the counter top on the left and turn left and go to the counter and turn left | STEP 6: put the knife in the black pan on the counter top | STEP 7: turn to the left and go past the counter on the right and turn right and go past the counter on the right and turn right and go to the wall and turn left and step to the table | STEP 8: pick up a slice of tomato from the table | STEP 9: turn to the left and go past past clear the counter top on the left and turn left and go past clear the counter top on the left and turn left and go the counter and turn left | STEP 10: put the tomato slice in the black pan with the knife on the counter top | STEP 11: pick up the pan with the tomato slice and knife in it from the counter top | STEP 12: turn to the left twice and take a few steps forward and turn to the right and go to the refrigerator | STEP 13: open the refrigerator door and put the pan with the tomato slice and knife in it on the shelf and close the door | END"]} +{"id": "trial_T20190908_134410_550530-1", "input": "Put a pan with a knife and a tomato slice in it in the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.900, -0.5, 0, 270, 0, [SEP] 1, Pan, 2.160, 1.026, 1.354, 0, 226.999, 0, 49 [SEP] 2, Potato, -0.577, 0.858, 1.259, 0, 90, 0, 106 [SEP] 3, Potato, -1.059, 1.484, -0.295, 0, 90, 0, 93 [SEP] 4, Ladle, 2.763, 0.803, 3.726, 0, 329.999, 0, 50 [SEP] 5, DishSponge, 2.762, 0.800, 0.164, 0, 0, 0, 60 [SEP] 6, ButterKnife, 1.899, 0.801, 1.320, 0, 317.0, 0, 63 [SEP] 7, ButterKnife, 2.998, 1.026, 1.298, 0, 136.999, 0, 49 [SEP] 8, WineBottle, 2.801, 0.765, 4.044, 0, 270, 0, 50 [SEP] 9, Egg, 2.478, 0.808, 3.773, 0, 329.999, 0, 50 [SEP] 10, Egg, 2.166, 0.808, 4.017, 0, 329.999, 0, 50 [SEP] 11, Cup, 2.053, 1.859, -1.775, 0, 0, 0, 95 [SEP] 12, Cup, -0.544, 1.026, 0.785, 0, 0, 0, 52 [SEP] 13, Plate, -0.891, 0.046, 2.071, 0, 0, 0, 78 [SEP] 14, Tomato, 2.570, 0.818, 3.614, 0, 329.999, 0, 50 [SEP] 15, Tomato, -1.069, 0.839, -0.627, 0, 90, 0, 93 [SEP] 16, SaltShaker, -0.794, 1.023, 2.556, 0, 0, 0, 52 [SEP] 17, Bread, 2.605, 0.832, 4.334, 0, 225, 0, 50 [SEP] 18, Lettuce, 2.626, 0.822, 3.970, 0, 270, 0, 50 [SEP] 19, Mug, -0.803, 1.070, 0.646, 0, 90, 0, 102 [SEP] 20, Apple, -0.418, 1.077, 0.692, 0, 0, 0, 52 [SEP] 21, Pan, 2.116, 1.027, -1.84, 0, 270, 0, 53 [SEP] 22, Glassbottle, -0.906, 0.786, -0.627, 0, 90, 0, 93 [SEP] 23, Knife, 2.626, 0.789, 3.821, 0, 0, 0, 50 [SEP] 24, SoapBottle, -0.944, 1.779, 2.254, 0, 0, 0, 87 [SEP] 25, Egg, -0.714, 0.868, 1.337, 0, 90, 0, 106 [SEP] 26, Fork, -0.645, 0.817, 1.414, 0, 90, 0, 106 [SEP] 27, Potato, 1.916, 1.068, 1.405, 0, 136.999, 0, 49 [SEP] 28, Ladle, 2.790, 0.803, 3.529, 0, 329.999, 0, 50 [SEP] 29, Tomato, 3.043, 1.080, -0.236, 0, 0, 0, 49 [SEP] 30, Pot, 2.177, 1.027, -1.599, 0, 0, 0, 48 [SEP] 31, WineBottle, 2.175, 0.765, 4.447, 0, 329.999, 0, 50 [SEP] 32, Plate, 2.322, 0.764, 3.895, 0, 329.999, 0, 50 [SEP] 33, Spatula, 1.925, 0.779, 4.044, 0, 270, 0, 50 [SEP] 34, PaperTowelRoll, -0.418, 1.131, 0.323, 0, 0, 0, 52 [SEP] 35, Lettuce, -0.851, 0.874, 1.259, 0, 90, 0, 106 [SEP] 36, Apple, 1.895, 1.911, -1.843, 0, 0, 0, 95 [SEP] 37, SaltShaker, 1.170, 1.023, -1.454, 0, 90, 0, 49 [SEP] 38, PepperShaker, 2.893, 0.760, 4.307, 0, 225, 0, 50 [SEP] 39, ButterKnife, 2.450, 0.764, 4.118, 0, 270, 0, 50 [SEP] 40, Bread, 2.741, 1.085, 0.059, 0, 0, 0, 49 [SEP] 41, Cup, -1.013, 1.440, -0.516, 0, 90, 0, 93 [SEP] 42, DishSponge, -0.590, 0.799, 2.061, 0, 0, 0, 54 [SEP] 43, Bowl, 2.706, 1.025, -1.151, 0, 0, 0, 49 [SEP] 44, Spoon, 2.308, 0.803, 1.173, 0, 317.0, 0, 62 [SEP] 45, Mug, 1.409, 1.021, -1.987, 0, 90, 0, 49 [SEP] 46, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 47, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 48, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 49, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 50, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 51, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 52, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 53, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 54, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 55, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 56, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 57, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 58, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 59, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 60, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 61, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 62, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 63, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 64, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 65, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 66, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 67, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 68, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 69, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 70, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 71, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 72, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 73, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 74, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 75, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 76, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 77, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 78, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 79, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 80, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 81, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 82, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 83, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 84, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 85, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 86, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 87, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 88, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 89, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 90, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 91, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 92, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 93, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 94, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 95, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 96, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 97, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 98, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 99, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 100, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 101, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 102, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 103, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 104, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 105, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 106, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 107, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 108, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 109, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 110, , , , , , , , [SEP] 111, NorthWall, , , , , , , [SEP] 112, EastWall, , , , , , , [SEP] 113, SouthWall, , , , , , , [SEP] 114, WestWall, , , , , , , ", "output": ["STEP 1: Go to the round white table | STEP 2: Pick up the knife | STEP 3: Turn and look at the tomato | STEP 4: Cut the tomato | STEP 5: Go to the frying pan | STEP 6: Put the knife in the pan | STEP 7: Go to the white table | STEP 8: Take a tomato slice | STEP 9: Go to the frying pan | STEP 10: Put the tomato in the pan | STEP 11: Pick up the pan | STEP 12: Go to the fridge | STEP 13: Put the pan in the fridge | END"]} +{"id": "trial_T20190908_134410_550530-2", "input": "Place a pan containing sliced tomato in the refrigerator. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.900, -0.5, 0, 270, 0, [SEP] 1, Pan, 2.160, 1.026, 1.354, 0, 226.999, 0, 49 [SEP] 2, Potato, -0.577, 0.858, 1.259, 0, 90, 0, 106 [SEP] 3, Potato, -1.059, 1.484, -0.295, 0, 90, 0, 93 [SEP] 4, Ladle, 2.763, 0.803, 3.726, 0, 329.999, 0, 50 [SEP] 5, DishSponge, 2.762, 0.800, 0.164, 0, 0, 0, 60 [SEP] 6, ButterKnife, 1.899, 0.801, 1.320, 0, 317.0, 0, 63 [SEP] 7, ButterKnife, 2.998, 1.026, 1.298, 0, 136.999, 0, 49 [SEP] 8, WineBottle, 2.801, 0.765, 4.044, 0, 270, 0, 50 [SEP] 9, Egg, 2.478, 0.808, 3.773, 0, 329.999, 0, 50 [SEP] 10, Egg, 2.166, 0.808, 4.017, 0, 329.999, 0, 50 [SEP] 11, Cup, 2.053, 1.859, -1.775, 0, 0, 0, 95 [SEP] 12, Cup, -0.544, 1.026, 0.785, 0, 0, 0, 52 [SEP] 13, Plate, -0.891, 0.046, 2.071, 0, 0, 0, 78 [SEP] 14, Tomato, 2.570, 0.818, 3.614, 0, 329.999, 0, 50 [SEP] 15, Tomato, -1.069, 0.839, -0.627, 0, 90, 0, 93 [SEP] 16, SaltShaker, -0.794, 1.023, 2.556, 0, 0, 0, 52 [SEP] 17, Bread, 2.605, 0.832, 4.334, 0, 225, 0, 50 [SEP] 18, Lettuce, 2.626, 0.822, 3.970, 0, 270, 0, 50 [SEP] 19, Mug, -0.803, 1.070, 0.646, 0, 90, 0, 102 [SEP] 20, Apple, -0.418, 1.077, 0.692, 0, 0, 0, 52 [SEP] 21, Pan, 2.116, 1.027, -1.84, 0, 270, 0, 53 [SEP] 22, Glassbottle, -0.906, 0.786, -0.627, 0, 90, 0, 93 [SEP] 23, Knife, 2.626, 0.789, 3.821, 0, 0, 0, 50 [SEP] 24, SoapBottle, -0.944, 1.779, 2.254, 0, 0, 0, 87 [SEP] 25, Egg, -0.714, 0.868, 1.337, 0, 90, 0, 106 [SEP] 26, Fork, -0.645, 0.817, 1.414, 0, 90, 0, 106 [SEP] 27, Potato, 1.916, 1.068, 1.405, 0, 136.999, 0, 49 [SEP] 28, Ladle, 2.790, 0.803, 3.529, 0, 329.999, 0, 50 [SEP] 29, Tomato, 3.043, 1.080, -0.236, 0, 0, 0, 49 [SEP] 30, Pot, 2.177, 1.027, -1.599, 0, 0, 0, 48 [SEP] 31, WineBottle, 2.175, 0.765, 4.447, 0, 329.999, 0, 50 [SEP] 32, Plate, 2.322, 0.764, 3.895, 0, 329.999, 0, 50 [SEP] 33, Spatula, 1.925, 0.779, 4.044, 0, 270, 0, 50 [SEP] 34, PaperTowelRoll, -0.418, 1.131, 0.323, 0, 0, 0, 52 [SEP] 35, Lettuce, -0.851, 0.874, 1.259, 0, 90, 0, 106 [SEP] 36, Apple, 1.895, 1.911, -1.843, 0, 0, 0, 95 [SEP] 37, SaltShaker, 1.170, 1.023, -1.454, 0, 90, 0, 49 [SEP] 38, PepperShaker, 2.893, 0.760, 4.307, 0, 225, 0, 50 [SEP] 39, ButterKnife, 2.450, 0.764, 4.118, 0, 270, 0, 50 [SEP] 40, Bread, 2.741, 1.085, 0.059, 0, 0, 0, 49 [SEP] 41, Cup, -1.013, 1.440, -0.516, 0, 90, 0, 93 [SEP] 42, DishSponge, -0.590, 0.799, 2.061, 0, 0, 0, 54 [SEP] 43, Bowl, 2.706, 1.025, -1.151, 0, 0, 0, 49 [SEP] 44, Spoon, 2.308, 0.803, 1.173, 0, 317.0, 0, 62 [SEP] 45, Mug, 1.409, 1.021, -1.987, 0, 90, 0, 49 [SEP] 46, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 47, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 48, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 49, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 50, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 51, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 52, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 53, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 54, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 55, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 56, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 57, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 58, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 59, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 60, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 61, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 62, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 63, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 64, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 65, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 66, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 67, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 68, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 69, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 70, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 71, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 72, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 73, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 74, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 75, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 76, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 77, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 78, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 79, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 80, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 81, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 82, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 83, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 84, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 85, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 86, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 87, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 88, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 89, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 90, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 91, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 92, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 93, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 94, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 95, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 96, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 97, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 98, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 99, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 100, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 101, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 102, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 103, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 104, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 105, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 106, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 107, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 108, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 109, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 110, , , , , , , , [SEP] 111, NorthWall, , , , , , , [SEP] 112, EastWall, , , , , , , [SEP] 113, SouthWall, , , , , , , [SEP] 114, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, move to the table opposite the chair. | STEP 2: Pick up the knife that is near the tomato. | STEP 3: Turn left, move to the table opposite the chair. | STEP 4: Slice the tomato that is on the table. | STEP 5: Turn left, move to the counter that is left of the bread, right of the potato. | STEP 6: Put the knife in the pan. | STEP 7: Turn left, move to the table opposite the chair. | STEP 8: Pick up a slice of tomato from the counter. | STEP 9: Turn left, move to the counter that is left of the bread, right of the potato. | STEP 10: Put the tomato slice in the pan. | STEP 11: Pick up the pan from the counter. | STEP 12: Turn left, move to in front of the refrigerator. | STEP 13: Put the pan in the refrigerator. | END"]} +{"id": "trial_T20190907_164342_432289-0", "input": "Turn a lamp on with a remote in hand. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 4.0, 0, 0, 0, [SEP] 1, Statue, -5.762, 0.796, 4.689, 0, 180, 0, 35 [SEP] 2, Newspaper, 0.909, 0.981, 3.298, 0, 0, 0, 47 [SEP] 3, Newspaper, -3.311, 0.550, 1.735, 0, 0, 0, 31 [SEP] 4, KeyChain, 0.972, 0.983, 3.921, 0, 0, 0, 47 [SEP] 5, CellPhone, 0.787, 0.540, 3.157, 0, 0, 0, 45 [SEP] 6, CreditCard, -3.216, 0.550, 1.473, 0, 0, 0, 31 [SEP] 7, RemoteControl, -1.951, 0.527, 3.818, 0, 38.001, 0, 43 [SEP] 8, RemoteControl, -1.788, 0.533, 3.691, 0, 38.001, 0, 43 [SEP] 9, Box, -5.392, 0.982, 4.689, 0, 0, 0, 35 [SEP] 10, CellPhone, 0.787, 0.540, 3.571, 0, 0, 0, 45 [SEP] 11, WateringCan, 0.829, -0.001, 2.339, 0, 45, 0, Floor|-03.10| [SEP] 12, Newspaper, -5.762, 0.786, 4.910, 0, 0, 0, 35 [SEP] 13, KeyChain, 0.722, 0.983, 3.090, 0, 0, 0, 47 [SEP] 14, Plate, -1.480, 0.312, 2.806, 0, 39.022, 0, 34 [SEP] 15, Pillow, -2.719, 0.609, 2.768, 0, 320.647, 0, 43 [SEP] 16, RemoteControl, -1.905, 0.310, 2.655, 0, 39.022, 0, 34 [SEP] 17, CreditCard, -1.706, 0.533, 3.627, 0, 38.001, 0, 43 [SEP] 18, Laptop, -5.464, 0.779, 5.252, 0, 306.871, 0, 35 [SEP] 19, Statue, 0.909, 0.992, 3.714, 0, 0, 0, 47 [SEP] 20, Curtains, -1.046, 3.500, 2.880, 0, 0, 0, [SEP] 21, HousePlant, -3.580, 0.548, 1.659, 0, 0, 0, [SEP] 22, Television, 0.852, 1.460, 3.726, 357.954, 270, 0, [SEP] 23, Painting, -3.813, 1.809, 1.008, 90, 90, 0, [SEP] 24, DeskLamp, 0.890, 0.545, 6.822, 0, 0, 0, [SEP] 25, GarbageCan, -7.102, -0.044, 2.295, 0, 90, 0, [SEP] 26, FloorLamp, -3.494, 0.006, 0.390, 0, 0, 0, [SEP] 27, LightSwitch, -5.234, 1.391, 7.031, 0, 180, 0, [SEP] 28, Window, -1.985, 1.646, -0.009, 90, 180, 0, [SEP] 29, Window, -4.909, 0.990, 2.015, 90, 180, 0, [SEP] 30, Window, -5.796, 1.072, 1.871, 90, 180, 0, [SEP] 31, SideTable, -3.407, 0.005, 1.656, 0, 270, 0, [SEP] 32, SideTable, 0.732, 0.005, 6.634, 0, 270, 0, [SEP] 33, Chair, -0.139, 0.005, 6.412, 0, 149.999, 0, [SEP] 34, CoffeeTable, -1.546, 0.004, 2.528, 0, 39.022, 0, [SEP] 35, DiningTable, -5.639, -0.003, 4.910, 0, 270, 0, [SEP] 36, Chair, -3.159, 0.005, 0.869, 0, 97.469, 0, [SEP] 37, Chair, -5.192, 0.002, 4.682, 0, 281.219, 0, [SEP] 38, Chair, -5.181, 0.002, 5.293, 0, 266.218, 0, [SEP] 39, Chair, -6.046, 0.002, 4.560, 0, 86.218, 0, [SEP] 40, Chair, -5.624, 0.002, 5.750, 0, 180, 0, [SEP] 41, Chair, -6.036, 0.002, 5.235, 0, 93.544, 0, [SEP] 42, Chair, -5.580, 0.002, 4.099, 0, 357.508, 0, [SEP] 43, Sofa, -2.465, 0.004, 3.281, 0, 128.001, 0, [SEP] 44, Drawer, 0.748, 0.237, 3.330, 0, 270, 0, [SEP] 45, Drawer, 0.748, 0.668, 3.330, 0, 270, 0, [SEP] 46, Drawer, 0.748, 0.235, 4.097, 0, 270, 0, [SEP] 47, Dresser, 0.846, 0.002, 3.713, 0, 270, 0, [SEP] 48, Drawer, 0.748, 0.665, 4.097, 0, 270, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and face the table with the remote on it. | STEP 2: Pick the remote up from the table. | STEP 3: Turn left and then right to face the lamp in the corner. | STEP 4: Turn the lamp on. | END"]} +{"id": "trial_T20190907_164342_432289-1", "input": "Examine a remote control by the light of a floor lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 4.0, 0, 0, 0, [SEP] 1, Statue, -5.762, 0.796, 4.689, 0, 180, 0, 35 [SEP] 2, Newspaper, 0.909, 0.981, 3.298, 0, 0, 0, 47 [SEP] 3, Newspaper, -3.311, 0.550, 1.735, 0, 0, 0, 31 [SEP] 4, KeyChain, 0.972, 0.983, 3.921, 0, 0, 0, 47 [SEP] 5, CellPhone, 0.787, 0.540, 3.157, 0, 0, 0, 45 [SEP] 6, CreditCard, -3.216, 0.550, 1.473, 0, 0, 0, 31 [SEP] 7, RemoteControl, -1.951, 0.527, 3.818, 0, 38.001, 0, 43 [SEP] 8, RemoteControl, -1.788, 0.533, 3.691, 0, 38.001, 0, 43 [SEP] 9, Box, -5.392, 0.982, 4.689, 0, 0, 0, 35 [SEP] 10, CellPhone, 0.787, 0.540, 3.571, 0, 0, 0, 45 [SEP] 11, WateringCan, 0.829, -0.001, 2.339, 0, 45, 0, Floor|-03.10| [SEP] 12, Newspaper, -5.762, 0.786, 4.910, 0, 0, 0, 35 [SEP] 13, KeyChain, 0.722, 0.983, 3.090, 0, 0, 0, 47 [SEP] 14, Plate, -1.480, 0.312, 2.806, 0, 39.022, 0, 34 [SEP] 15, Pillow, -2.719, 0.609, 2.768, 0, 320.647, 0, 43 [SEP] 16, RemoteControl, -1.905, 0.310, 2.655, 0, 39.022, 0, 34 [SEP] 17, CreditCard, -1.706, 0.533, 3.627, 0, 38.001, 0, 43 [SEP] 18, Laptop, -5.464, 0.779, 5.252, 0, 306.871, 0, 35 [SEP] 19, Statue, 0.909, 0.992, 3.714, 0, 0, 0, 47 [SEP] 20, Curtains, -1.046, 3.500, 2.880, 0, 0, 0, [SEP] 21, HousePlant, -3.580, 0.548, 1.659, 0, 0, 0, [SEP] 22, Television, 0.852, 1.460, 3.726, 357.954, 270, 0, [SEP] 23, Painting, -3.813, 1.809, 1.008, 90, 90, 0, [SEP] 24, DeskLamp, 0.890, 0.545, 6.822, 0, 0, 0, [SEP] 25, GarbageCan, -7.102, -0.044, 2.295, 0, 90, 0, [SEP] 26, FloorLamp, -3.494, 0.006, 0.390, 0, 0, 0, [SEP] 27, LightSwitch, -5.234, 1.391, 7.031, 0, 180, 0, [SEP] 28, Window, -1.985, 1.646, -0.009, 90, 180, 0, [SEP] 29, Window, -4.909, 0.990, 2.015, 90, 180, 0, [SEP] 30, Window, -5.796, 1.072, 1.871, 90, 180, 0, [SEP] 31, SideTable, -3.407, 0.005, 1.656, 0, 270, 0, [SEP] 32, SideTable, 0.732, 0.005, 6.634, 0, 270, 0, [SEP] 33, Chair, -0.139, 0.005, 6.412, 0, 149.999, 0, [SEP] 34, CoffeeTable, -1.546, 0.004, 2.528, 0, 39.022, 0, [SEP] 35, DiningTable, -5.639, -0.003, 4.910, 0, 270, 0, [SEP] 36, Chair, -3.159, 0.005, 0.869, 0, 97.469, 0, [SEP] 37, Chair, -5.192, 0.002, 4.682, 0, 281.219, 0, [SEP] 38, Chair, -5.181, 0.002, 5.293, 0, 266.218, 0, [SEP] 39, Chair, -6.046, 0.002, 4.560, 0, 86.218, 0, [SEP] 40, Chair, -5.624, 0.002, 5.750, 0, 180, 0, [SEP] 41, Chair, -6.036, 0.002, 5.235, 0, 93.544, 0, [SEP] 42, Chair, -5.580, 0.002, 4.099, 0, 357.508, 0, [SEP] 43, Sofa, -2.465, 0.004, 3.281, 0, 128.001, 0, [SEP] 44, Drawer, 0.748, 0.237, 3.330, 0, 270, 0, [SEP] 45, Drawer, 0.748, 0.668, 3.330, 0, 270, 0, [SEP] 46, Drawer, 0.748, 0.235, 4.097, 0, 270, 0, [SEP] 47, Dresser, 0.846, 0.002, 3.713, 0, 270, 0, [SEP] 48, Drawer, 0.748, 0.665, 4.097, 0, 270, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: turn to the right twice and go forward to the end of the floor rug and turn to the right and go forward a few steps and turn to the right and face the coffee table | STEP 2: pick up the remote control from the coffee table | STEP 3: turn to the left twice and go forward to the glass door and turn to the right and go to the floor lamp | STEP 4: turn on the floor lamp | END"]} +{"id": "trial_T20190907_164342_432289-2", "input": "Pick up a remote and turn on a lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 4.0, 0, 0, 0, [SEP] 1, Statue, -5.762, 0.796, 4.689, 0, 180, 0, 35 [SEP] 2, Newspaper, 0.909, 0.981, 3.298, 0, 0, 0, 47 [SEP] 3, Newspaper, -3.311, 0.550, 1.735, 0, 0, 0, 31 [SEP] 4, KeyChain, 0.972, 0.983, 3.921, 0, 0, 0, 47 [SEP] 5, CellPhone, 0.787, 0.540, 3.157, 0, 0, 0, 45 [SEP] 6, CreditCard, -3.216, 0.550, 1.473, 0, 0, 0, 31 [SEP] 7, RemoteControl, -1.951, 0.527, 3.818, 0, 38.001, 0, 43 [SEP] 8, RemoteControl, -1.788, 0.533, 3.691, 0, 38.001, 0, 43 [SEP] 9, Box, -5.392, 0.982, 4.689, 0, 0, 0, 35 [SEP] 10, CellPhone, 0.787, 0.540, 3.571, 0, 0, 0, 45 [SEP] 11, WateringCan, 0.829, -0.001, 2.339, 0, 45, 0, Floor|-03.10| [SEP] 12, Newspaper, -5.762, 0.786, 4.910, 0, 0, 0, 35 [SEP] 13, KeyChain, 0.722, 0.983, 3.090, 0, 0, 0, 47 [SEP] 14, Plate, -1.480, 0.312, 2.806, 0, 39.022, 0, 34 [SEP] 15, Pillow, -2.719, 0.609, 2.768, 0, 320.647, 0, 43 [SEP] 16, RemoteControl, -1.905, 0.310, 2.655, 0, 39.022, 0, 34 [SEP] 17, CreditCard, -1.706, 0.533, 3.627, 0, 38.001, 0, 43 [SEP] 18, Laptop, -5.464, 0.779, 5.252, 0, 306.871, 0, 35 [SEP] 19, Statue, 0.909, 0.992, 3.714, 0, 0, 0, 47 [SEP] 20, Curtains, -1.046, 3.500, 2.880, 0, 0, 0, [SEP] 21, HousePlant, -3.580, 0.548, 1.659, 0, 0, 0, [SEP] 22, Television, 0.852, 1.460, 3.726, 357.954, 270, 0, [SEP] 23, Painting, -3.813, 1.809, 1.008, 90, 90, 0, [SEP] 24, DeskLamp, 0.890, 0.545, 6.822, 0, 0, 0, [SEP] 25, GarbageCan, -7.102, -0.044, 2.295, 0, 90, 0, [SEP] 26, FloorLamp, -3.494, 0.006, 0.390, 0, 0, 0, [SEP] 27, LightSwitch, -5.234, 1.391, 7.031, 0, 180, 0, [SEP] 28, Window, -1.985, 1.646, -0.009, 90, 180, 0, [SEP] 29, Window, -4.909, 0.990, 2.015, 90, 180, 0, [SEP] 30, Window, -5.796, 1.072, 1.871, 90, 180, 0, [SEP] 31, SideTable, -3.407, 0.005, 1.656, 0, 270, 0, [SEP] 32, SideTable, 0.732, 0.005, 6.634, 0, 270, 0, [SEP] 33, Chair, -0.139, 0.005, 6.412, 0, 149.999, 0, [SEP] 34, CoffeeTable, -1.546, 0.004, 2.528, 0, 39.022, 0, [SEP] 35, DiningTable, -5.639, -0.003, 4.910, 0, 270, 0, [SEP] 36, Chair, -3.159, 0.005, 0.869, 0, 97.469, 0, [SEP] 37, Chair, -5.192, 0.002, 4.682, 0, 281.219, 0, [SEP] 38, Chair, -5.181, 0.002, 5.293, 0, 266.218, 0, [SEP] 39, Chair, -6.046, 0.002, 4.560, 0, 86.218, 0, [SEP] 40, Chair, -5.624, 0.002, 5.750, 0, 180, 0, [SEP] 41, Chair, -6.036, 0.002, 5.235, 0, 93.544, 0, [SEP] 42, Chair, -5.580, 0.002, 4.099, 0, 357.508, 0, [SEP] 43, Sofa, -2.465, 0.004, 3.281, 0, 128.001, 0, [SEP] 44, Drawer, 0.748, 0.237, 3.330, 0, 270, 0, [SEP] 45, Drawer, 0.748, 0.668, 3.330, 0, 270, 0, [SEP] 46, Drawer, 0.748, 0.235, 4.097, 0, 270, 0, [SEP] 47, Dresser, 0.846, 0.002, 3.713, 0, 270, 0, [SEP] 48, Drawer, 0.748, 0.665, 4.097, 0, 270, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the table in front of the couch | STEP 2: Pick up the remote from the table | STEP 3: Walk to the lamp | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190908_230702_962704-0", "input": "Examine a bowl by the light of a desk lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.901, 0.5, 0, 270, 0, [SEP] 1, CD, 1.728, 0.692, -1.683, 0, 18.354, 0, 33 [SEP] 2, Pencil, -0.561, 0.666, 0.427, 0, 180, 0, 36 [SEP] 3, CreditCard, -0.670, 0.369, 0.503, 0, 0, 0, 35 [SEP] 4, KeyChain, 0.005, 0.693, -1.991, 0, 99.090, 0, 33 [SEP] 5, Book, -1.871, 0.629, -1.023, 0, 0, 0, 24 [SEP] 6, Book, -1.696, 0.629, -0.748, 0, 0, 0, 24 [SEP] 7, Pillow, -2.046, 0.703, -0.748, 0, 0, 0, 24 [SEP] 8, Pillow, -1.521, 0.703, -1.297, 0, 0, 0, 24 [SEP] 9, AlarmClock, -0.413, 0.664, 0.513, 0, 180, 0, 36 [SEP] 10, AlarmClock, 1.491, 0.695, -1.605, 0, 18.354, 0, 33 [SEP] 11, Box, -0.015, 0.239, -2.091, 0, 0, 0, [SEP] 12, Book, -2.046, 0.629, 0.076, 0, 0, 0, 24 [SEP] 13, BaseballBat, 1.798, 0.639, 0.425, 0, 0, 342.316, [SEP] 14, Pen, 1.559, 0.698, -1.074, 0, 0, 0, 33 [SEP] 15, Pencil, -0.615, 0.373, 0.503, 0, 0, 0, 35 [SEP] 16, KeyChain, -0.291, 0.694, -2.064, 0, 90, 0, 33 [SEP] 17, Pillow, -1.694, 0.656, 0.415, 0, 0, 0, 24 [SEP] 18, CreditCard, 1.456, 0.473, -0.911, 0, 270, 0, 32 [SEP] 19, CellPhone, 1.490, 0.693, -1.806, 0, 18.354, 0, 33 [SEP] 20, Laptop, -1.346, 0.628, -0.198, 0, 0, 0, 24 [SEP] 21, CD, 1.747, 0.692, -0.906, 0, 0, 0, 33 [SEP] 22, Bowl, 1.222, 0.686, -2.128, 0, 0, 0, 33 [SEP] 23, AlarmClock, -0.716, 0.657, 0.570, 0, 180, 0, 36 [SEP] 24, Bed, -1.696, 0.004, -0.446, 0, 0, 0, [SEP] 25, Chair, 0.956, -0.000, -1.747, 0, 110.225, 0, [SEP] 26, DeskLamp, -0.440, 0.688, -2.276, 0, 0, 0, [SEP] 27, LightSwitch, 0.625, 1.338, 0.734, 0, 180, 0, [SEP] 28, GarbageCan, 1.660, -0.019, -0.389, 0, 345.008, 0, [SEP] 29, Mirror, 1.300, 1.422, 0.765, 0, 0, 0, [SEP] 30, HousePlant, -0.867, 0.000, -2.286, 0, 0, 0, [SEP] 31, Window, 0.819, 1.496, -2.553, 90, 180, 0, [SEP] 32, Shelf, 1.616, 0.561, -0.802, 0, 0, 0, [SEP] 33, Desk, 0.617, -0.000, -1.511, 0, 0, 0, [SEP] 34, Blinds, 0.796, 2.217, -2.476, 0, 0, 0, [SEP] 35, Drawer, -0.558, 0.456, 0.462, 0, 180, 0, [SEP] 36, SideTable, -0.557, -0.000, 0.529, 0, 180, 0, [SEP] 37, Drawer, -0.558, 0.164, 0.462, 0, 180, 0, [SEP] 38, Desktop, 1.455, 0.692, -1.886, 358.180, 309.674, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk forward to the bowl on the desk near the monitor. | STEP 2: Pick up the bowl from the desk. | STEP 3: Turn right and walk to the lamp on the right side of the same desk. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190908_230702_962704-1", "input": "Pick up a bowl and turn a lamp on. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.901, 0.5, 0, 270, 0, [SEP] 1, CD, 1.728, 0.692, -1.683, 0, 18.354, 0, 33 [SEP] 2, Pencil, -0.561, 0.666, 0.427, 0, 180, 0, 36 [SEP] 3, CreditCard, -0.670, 0.369, 0.503, 0, 0, 0, 35 [SEP] 4, KeyChain, 0.005, 0.693, -1.991, 0, 99.090, 0, 33 [SEP] 5, Book, -1.871, 0.629, -1.023, 0, 0, 0, 24 [SEP] 6, Book, -1.696, 0.629, -0.748, 0, 0, 0, 24 [SEP] 7, Pillow, -2.046, 0.703, -0.748, 0, 0, 0, 24 [SEP] 8, Pillow, -1.521, 0.703, -1.297, 0, 0, 0, 24 [SEP] 9, AlarmClock, -0.413, 0.664, 0.513, 0, 180, 0, 36 [SEP] 10, AlarmClock, 1.491, 0.695, -1.605, 0, 18.354, 0, 33 [SEP] 11, Box, -0.015, 0.239, -2.091, 0, 0, 0, [SEP] 12, Book, -2.046, 0.629, 0.076, 0, 0, 0, 24 [SEP] 13, BaseballBat, 1.798, 0.639, 0.425, 0, 0, 342.316, [SEP] 14, Pen, 1.559, 0.698, -1.074, 0, 0, 0, 33 [SEP] 15, Pencil, -0.615, 0.373, 0.503, 0, 0, 0, 35 [SEP] 16, KeyChain, -0.291, 0.694, -2.064, 0, 90, 0, 33 [SEP] 17, Pillow, -1.694, 0.656, 0.415, 0, 0, 0, 24 [SEP] 18, CreditCard, 1.456, 0.473, -0.911, 0, 270, 0, 32 [SEP] 19, CellPhone, 1.490, 0.693, -1.806, 0, 18.354, 0, 33 [SEP] 20, Laptop, -1.346, 0.628, -0.198, 0, 0, 0, 24 [SEP] 21, CD, 1.747, 0.692, -0.906, 0, 0, 0, 33 [SEP] 22, Bowl, 1.222, 0.686, -2.128, 0, 0, 0, 33 [SEP] 23, AlarmClock, -0.716, 0.657, 0.570, 0, 180, 0, 36 [SEP] 24, Bed, -1.696, 0.004, -0.446, 0, 0, 0, [SEP] 25, Chair, 0.956, -0.000, -1.747, 0, 110.225, 0, [SEP] 26, DeskLamp, -0.440, 0.688, -2.276, 0, 0, 0, [SEP] 27, LightSwitch, 0.625, 1.338, 0.734, 0, 180, 0, [SEP] 28, GarbageCan, 1.660, -0.019, -0.389, 0, 345.008, 0, [SEP] 29, Mirror, 1.300, 1.422, 0.765, 0, 0, 0, [SEP] 30, HousePlant, -0.867, 0.000, -2.286, 0, 0, 0, [SEP] 31, Window, 0.819, 1.496, -2.553, 90, 180, 0, [SEP] 32, Shelf, 1.616, 0.561, -0.802, 0, 0, 0, [SEP] 33, Desk, 0.617, -0.000, -1.511, 0, 0, 0, [SEP] 34, Blinds, 0.796, 2.217, -2.476, 0, 0, 0, [SEP] 35, Drawer, -0.558, 0.456, 0.462, 0, 180, 0, [SEP] 36, SideTable, -0.557, -0.000, 0.529, 0, 180, 0, [SEP] 37, Drawer, -0.558, 0.164, 0.462, 0, 180, 0, [SEP] 38, Desktop, 1.455, 0.692, -1.886, 358.180, 309.674, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left and face the desk. | STEP 2: Pick the brown bowl up from the desk. | STEP 3: Move to the right and face the lamp on the right side of the desk. | STEP 4: Turn the lamp on. | END"]} +{"id": "trial_T20190908_230702_962704-2", "input": "Pick up a brown bowl to look at under a lit lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.901, 0.5, 0, 270, 0, [SEP] 1, CD, 1.728, 0.692, -1.683, 0, 18.354, 0, 33 [SEP] 2, Pencil, -0.561, 0.666, 0.427, 0, 180, 0, 36 [SEP] 3, CreditCard, -0.670, 0.369, 0.503, 0, 0, 0, 35 [SEP] 4, KeyChain, 0.005, 0.693, -1.991, 0, 99.090, 0, 33 [SEP] 5, Book, -1.871, 0.629, -1.023, 0, 0, 0, 24 [SEP] 6, Book, -1.696, 0.629, -0.748, 0, 0, 0, 24 [SEP] 7, Pillow, -2.046, 0.703, -0.748, 0, 0, 0, 24 [SEP] 8, Pillow, -1.521, 0.703, -1.297, 0, 0, 0, 24 [SEP] 9, AlarmClock, -0.413, 0.664, 0.513, 0, 180, 0, 36 [SEP] 10, AlarmClock, 1.491, 0.695, -1.605, 0, 18.354, 0, 33 [SEP] 11, Box, -0.015, 0.239, -2.091, 0, 0, 0, [SEP] 12, Book, -2.046, 0.629, 0.076, 0, 0, 0, 24 [SEP] 13, BaseballBat, 1.798, 0.639, 0.425, 0, 0, 342.316, [SEP] 14, Pen, 1.559, 0.698, -1.074, 0, 0, 0, 33 [SEP] 15, Pencil, -0.615, 0.373, 0.503, 0, 0, 0, 35 [SEP] 16, KeyChain, -0.291, 0.694, -2.064, 0, 90, 0, 33 [SEP] 17, Pillow, -1.694, 0.656, 0.415, 0, 0, 0, 24 [SEP] 18, CreditCard, 1.456, 0.473, -0.911, 0, 270, 0, 32 [SEP] 19, CellPhone, 1.490, 0.693, -1.806, 0, 18.354, 0, 33 [SEP] 20, Laptop, -1.346, 0.628, -0.198, 0, 0, 0, 24 [SEP] 21, CD, 1.747, 0.692, -0.906, 0, 0, 0, 33 [SEP] 22, Bowl, 1.222, 0.686, -2.128, 0, 0, 0, 33 [SEP] 23, AlarmClock, -0.716, 0.657, 0.570, 0, 180, 0, 36 [SEP] 24, Bed, -1.696, 0.004, -0.446, 0, 0, 0, [SEP] 25, Chair, 0.956, -0.000, -1.747, 0, 110.225, 0, [SEP] 26, DeskLamp, -0.440, 0.688, -2.276, 0, 0, 0, [SEP] 27, LightSwitch, 0.625, 1.338, 0.734, 0, 180, 0, [SEP] 28, GarbageCan, 1.660, -0.019, -0.389, 0, 345.008, 0, [SEP] 29, Mirror, 1.300, 1.422, 0.765, 0, 0, 0, [SEP] 30, HousePlant, -0.867, 0.000, -2.286, 0, 0, 0, [SEP] 31, Window, 0.819, 1.496, -2.553, 90, 180, 0, [SEP] 32, Shelf, 1.616, 0.561, -0.802, 0, 0, 0, [SEP] 33, Desk, 0.617, -0.000, -1.511, 0, 0, 0, [SEP] 34, Blinds, 0.796, 2.217, -2.476, 0, 0, 0, [SEP] 35, Drawer, -0.558, 0.456, 0.462, 0, 180, 0, [SEP] 36, SideTable, -0.557, -0.000, 0.529, 0, 180, 0, [SEP] 37, Drawer, -0.558, 0.164, 0.462, 0, 180, 0, [SEP] 38, Desktop, 1.455, 0.692, -1.886, 358.180, 309.674, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, WestWall, , , , , , , ", "output": ["STEP 1: Make a left to cross the room towards the desk. | STEP 2: Pick up the brown bowl from the desk. | STEP 3: Walk to the right part of the desk, next to the plant. | STEP 4: Turn on the lamp on the desk. | END"]} +{"id": "trial_T20190907_233817_198528-0", "input": "Take the blue cell phone from the dresser, put it on the bed SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.902, 0.0, 0, 270, 0, [SEP] 1, CD, 3.378, 0.016, 0.194, 0, 0, 0, 31 [SEP] 2, CD, 1.680, 0.655, -1.376, 0, 0, 0, 39 [SEP] 3, CellPhone, 1.781, 0.800, -2.031, 0, 0, 0, 46 [SEP] 4, Pen, 1.597, 0.800, -1.467, 0, 0, 0, 46 [SEP] 5, Pencil, 1.597, 0.804, -2.219, 0, 0, 0, 46 [SEP] 6, CreditCard, 1.586, 0.333, -1.551, 0, 0, 0, 38 [SEP] 7, CreditCard, 0.280, 0.354, -2.581, 0, 0, 0, 52 [SEP] 8, KeyChain, 1.726, 0.016, -2.298, 0, 0, 0, 47 [SEP] 9, KeyChain, 0.210, 0.189, -2.598, 0, 180, 0, 52 [SEP] 10, Laptop, -0.331, 0.693, -0.787, 0, 0, 0, 26 [SEP] 11, Book, -0.818, 0.694, -1.001, 0, 0, 0, 26 [SEP] 12, KeyChain, 1.586, 0.501, -1.949, 0, 0, 0, 48 [SEP] 13, AlarmClock, 1.719, 0.798, -1.843, 0, 0, 0, 46 [SEP] 14, CreditCard, 1.842, 0.801, -1.655, 0, 0, 0, 46 [SEP] 15, Laptop, -1.061, 0.693, -0.146, 0, 0, 0, 26 [SEP] 16, Pen, 1.536, 0.807, -2.031, 0, 0, 0, 46 [SEP] 17, Pencil, 1.781, 0.805, -2.219, 0, 0, 0, 46 [SEP] 18, BaseballBat, -1.844, 0.678, -2.203, 0, 0, 8.760, Floor|+00.01| [SEP] 19, Pillow, -1.489, 0.685, -0.854, 0, 345.000, 0, 26 [SEP] 20, Pillow, -1.508, 0.685, -0.378, 0, 288.596, 0, 26 [SEP] 21, TennisRacket, -1.597, 0.001, -1.367, 90, 37.792, 0, Floor|+00.01| [SEP] 22, CellPhone, 1.540, 0.015, -2.211, 0, 0, 0, 47 [SEP] 23, CD, 1.474, 0.801, -1.843, 0, 0, 0, 46 [SEP] 24, Mug, 0.255, 0.671, -2.570, 0, 0, 0, 51 [SEP] 25, Mirror, 3.534, 1.661, -0.277, 0, 90, 0, [SEP] 26, Bed, -0.842, -0.000, -0.361, 0, 270, 0, [SEP] 27, DeskLamp, 1.742, 0.819, -1.394, 0, 358.556, 0, [SEP] 28, Painting, 0.246, 1.564, -2.665, 90, 0, 0, [SEP] 29, Painting, 1.894, 1.549, -2.424, 90, 270, 0, [SEP] 30, Painting, 1.894, 1.549, -1.289, 90, 270, 0, [SEP] 31, GarbageCan, 3.378, 0.000, 0.220, 0, 0, 0, [SEP] 32, LightSwitch, -0.078, 1.219, 1.298, 0, 180, 0, [SEP] 33, Window, -0.486, 1.409, -2.691, 90, 0, 0, [SEP] 34, Window, 0.987, 1.409, -2.691, 90, 0, 0, [SEP] 35, VacuumCleaner, -1.649, 0.010, -2.440, 0, 42.426, 0, [SEP] 36, Blinds, -0.490, 2.130, -2.638, 0, 0, 0, [SEP] 37, Blinds, 1.011, 2.130, -2.638, 0, 0, 0, [SEP] 38, Drawer, 1.596, 0.411, -1.459, 0, 270, 0, [SEP] 39, Drawer, 1.597, 0.732, -1.459, 0, 270, 0, [SEP] 40, Drawer, 1.597, 0.574, -1.459, 0, 270, 0, [SEP] 41, Drawer, 1.597, 0.732, -2.202, 0, 270, 0, [SEP] 42, Drawer, 1.596, 0.247, -1.459, 0, 270, 0, [SEP] 43, Drawer, 1.596, 0.090, -1.459, 0, 270, 0, [SEP] 44, Drawer, 1.596, 0.247, -2.202, 0, 270, 0, [SEP] 45, Drawer, 1.596, 0.411, -2.202, 0, 270, 0, [SEP] 46, Dresser, 1.634, 0.003, -1.830, 0, 270, 0, [SEP] 47, Drawer, 1.596, 0.090, -2.202, 0, 270, 0, [SEP] 48, Drawer, 1.597, 0.574, -2.202, 0, 270, 0, [SEP] 49, ShelvingUnit, 0.249, 0.003, -2.519, 0, 0, 0, [SEP] 50, Shelf, 0.017, 0.178, -2.511, 0, 0, 0, [SEP] 51, Shelf, 0.249, 0.665, -2.519, 0, 0, 0, [SEP] 52, Shelf, 0.243, 0.344, -2.511, 0, 0, 0, [SEP] 53, Shelf, 0.474, 0.344, -2.511, 0, 0, 0, [SEP] 54, Shelf, 0.355, 0.011, -2.511, 0, 0, 0, [SEP] 55, Shelf, 0.016, 0.011, -2.511, 0, 0, 0, [SEP] 56, Shelf, 0.357, 0.178, -2.511, 0, 0, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, EastWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left, head to the dresser | STEP 2: Take the blue cell phone from the dresser | STEP 3: Take a few steps to the left | STEP 4: Put the blue cell phone on the bed | END"]} +{"id": "trial_T20190907_233817_198528-1", "input": "Put a phone on a bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.902, 0.0, 0, 270, 0, [SEP] 1, CD, 3.378, 0.016, 0.194, 0, 0, 0, 31 [SEP] 2, CD, 1.680, 0.655, -1.376, 0, 0, 0, 39 [SEP] 3, CellPhone, 1.781, 0.800, -2.031, 0, 0, 0, 46 [SEP] 4, Pen, 1.597, 0.800, -1.467, 0, 0, 0, 46 [SEP] 5, Pencil, 1.597, 0.804, -2.219, 0, 0, 0, 46 [SEP] 6, CreditCard, 1.586, 0.333, -1.551, 0, 0, 0, 38 [SEP] 7, CreditCard, 0.280, 0.354, -2.581, 0, 0, 0, 52 [SEP] 8, KeyChain, 1.726, 0.016, -2.298, 0, 0, 0, 47 [SEP] 9, KeyChain, 0.210, 0.189, -2.598, 0, 180, 0, 52 [SEP] 10, Laptop, -0.331, 0.693, -0.787, 0, 0, 0, 26 [SEP] 11, Book, -0.818, 0.694, -1.001, 0, 0, 0, 26 [SEP] 12, KeyChain, 1.586, 0.501, -1.949, 0, 0, 0, 48 [SEP] 13, AlarmClock, 1.719, 0.798, -1.843, 0, 0, 0, 46 [SEP] 14, CreditCard, 1.842, 0.801, -1.655, 0, 0, 0, 46 [SEP] 15, Laptop, -1.061, 0.693, -0.146, 0, 0, 0, 26 [SEP] 16, Pen, 1.536, 0.807, -2.031, 0, 0, 0, 46 [SEP] 17, Pencil, 1.781, 0.805, -2.219, 0, 0, 0, 46 [SEP] 18, BaseballBat, -1.844, 0.678, -2.203, 0, 0, 8.760, Floor|+00.01| [SEP] 19, Pillow, -1.489, 0.685, -0.854, 0, 345.000, 0, 26 [SEP] 20, Pillow, -1.508, 0.685, -0.378, 0, 288.596, 0, 26 [SEP] 21, TennisRacket, -1.597, 0.001, -1.367, 90, 37.792, 0, Floor|+00.01| [SEP] 22, CellPhone, 1.540, 0.015, -2.211, 0, 0, 0, 47 [SEP] 23, CD, 1.474, 0.801, -1.843, 0, 0, 0, 46 [SEP] 24, Mug, 0.255, 0.671, -2.570, 0, 0, 0, 51 [SEP] 25, Mirror, 3.534, 1.661, -0.277, 0, 90, 0, [SEP] 26, Bed, -0.842, -0.000, -0.361, 0, 270, 0, [SEP] 27, DeskLamp, 1.742, 0.819, -1.394, 0, 358.556, 0, [SEP] 28, Painting, 0.246, 1.564, -2.665, 90, 0, 0, [SEP] 29, Painting, 1.894, 1.549, -2.424, 90, 270, 0, [SEP] 30, Painting, 1.894, 1.549, -1.289, 90, 270, 0, [SEP] 31, GarbageCan, 3.378, 0.000, 0.220, 0, 0, 0, [SEP] 32, LightSwitch, -0.078, 1.219, 1.298, 0, 180, 0, [SEP] 33, Window, -0.486, 1.409, -2.691, 90, 0, 0, [SEP] 34, Window, 0.987, 1.409, -2.691, 90, 0, 0, [SEP] 35, VacuumCleaner, -1.649, 0.010, -2.440, 0, 42.426, 0, [SEP] 36, Blinds, -0.490, 2.130, -2.638, 0, 0, 0, [SEP] 37, Blinds, 1.011, 2.130, -2.638, 0, 0, 0, [SEP] 38, Drawer, 1.596, 0.411, -1.459, 0, 270, 0, [SEP] 39, Drawer, 1.597, 0.732, -1.459, 0, 270, 0, [SEP] 40, Drawer, 1.597, 0.574, -1.459, 0, 270, 0, [SEP] 41, Drawer, 1.597, 0.732, -2.202, 0, 270, 0, [SEP] 42, Drawer, 1.596, 0.247, -1.459, 0, 270, 0, [SEP] 43, Drawer, 1.596, 0.090, -1.459, 0, 270, 0, [SEP] 44, Drawer, 1.596, 0.247, -2.202, 0, 270, 0, [SEP] 45, Drawer, 1.596, 0.411, -2.202, 0, 270, 0, [SEP] 46, Dresser, 1.634, 0.003, -1.830, 0, 270, 0, [SEP] 47, Drawer, 1.596, 0.090, -2.202, 0, 270, 0, [SEP] 48, Drawer, 1.597, 0.574, -2.202, 0, 270, 0, [SEP] 49, ShelvingUnit, 0.249, 0.003, -2.519, 0, 0, 0, [SEP] 50, Shelf, 0.017, 0.178, -2.511, 0, 0, 0, [SEP] 51, Shelf, 0.249, 0.665, -2.519, 0, 0, 0, [SEP] 52, Shelf, 0.243, 0.344, -2.511, 0, 0, 0, [SEP] 53, Shelf, 0.474, 0.344, -2.511, 0, 0, 0, [SEP] 54, Shelf, 0.355, 0.011, -2.511, 0, 0, 0, [SEP] 55, Shelf, 0.016, 0.011, -2.511, 0, 0, 0, [SEP] 56, Shelf, 0.357, 0.178, -2.511, 0, 0, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, EastWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, WestWall, , , , , , , ", "output": ["STEP 1: Go left and then turn left again to face the dresser. | STEP 2: Pick the phone up from the dresser. | STEP 3: Go left and then turn left to face the bed. | STEP 4: Put the phone down on the bed. | END"]} +{"id": "trial_T20190907_233817_198528-2", "input": "move the phone from the dresser to the bed SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.902, 0.0, 0, 270, 0, [SEP] 1, CD, 3.378, 0.016, 0.194, 0, 0, 0, 31 [SEP] 2, CD, 1.680, 0.655, -1.376, 0, 0, 0, 39 [SEP] 3, CellPhone, 1.781, 0.800, -2.031, 0, 0, 0, 46 [SEP] 4, Pen, 1.597, 0.800, -1.467, 0, 0, 0, 46 [SEP] 5, Pencil, 1.597, 0.804, -2.219, 0, 0, 0, 46 [SEP] 6, CreditCard, 1.586, 0.333, -1.551, 0, 0, 0, 38 [SEP] 7, CreditCard, 0.280, 0.354, -2.581, 0, 0, 0, 52 [SEP] 8, KeyChain, 1.726, 0.016, -2.298, 0, 0, 0, 47 [SEP] 9, KeyChain, 0.210, 0.189, -2.598, 0, 180, 0, 52 [SEP] 10, Laptop, -0.331, 0.693, -0.787, 0, 0, 0, 26 [SEP] 11, Book, -0.818, 0.694, -1.001, 0, 0, 0, 26 [SEP] 12, KeyChain, 1.586, 0.501, -1.949, 0, 0, 0, 48 [SEP] 13, AlarmClock, 1.719, 0.798, -1.843, 0, 0, 0, 46 [SEP] 14, CreditCard, 1.842, 0.801, -1.655, 0, 0, 0, 46 [SEP] 15, Laptop, -1.061, 0.693, -0.146, 0, 0, 0, 26 [SEP] 16, Pen, 1.536, 0.807, -2.031, 0, 0, 0, 46 [SEP] 17, Pencil, 1.781, 0.805, -2.219, 0, 0, 0, 46 [SEP] 18, BaseballBat, -1.844, 0.678, -2.203, 0, 0, 8.760, Floor|+00.01| [SEP] 19, Pillow, -1.489, 0.685, -0.854, 0, 345.000, 0, 26 [SEP] 20, Pillow, -1.508, 0.685, -0.378, 0, 288.596, 0, 26 [SEP] 21, TennisRacket, -1.597, 0.001, -1.367, 90, 37.792, 0, Floor|+00.01| [SEP] 22, CellPhone, 1.540, 0.015, -2.211, 0, 0, 0, 47 [SEP] 23, CD, 1.474, 0.801, -1.843, 0, 0, 0, 46 [SEP] 24, Mug, 0.255, 0.671, -2.570, 0, 0, 0, 51 [SEP] 25, Mirror, 3.534, 1.661, -0.277, 0, 90, 0, [SEP] 26, Bed, -0.842, -0.000, -0.361, 0, 270, 0, [SEP] 27, DeskLamp, 1.742, 0.819, -1.394, 0, 358.556, 0, [SEP] 28, Painting, 0.246, 1.564, -2.665, 90, 0, 0, [SEP] 29, Painting, 1.894, 1.549, -2.424, 90, 270, 0, [SEP] 30, Painting, 1.894, 1.549, -1.289, 90, 270, 0, [SEP] 31, GarbageCan, 3.378, 0.000, 0.220, 0, 0, 0, [SEP] 32, LightSwitch, -0.078, 1.219, 1.298, 0, 180, 0, [SEP] 33, Window, -0.486, 1.409, -2.691, 90, 0, 0, [SEP] 34, Window, 0.987, 1.409, -2.691, 90, 0, 0, [SEP] 35, VacuumCleaner, -1.649, 0.010, -2.440, 0, 42.426, 0, [SEP] 36, Blinds, -0.490, 2.130, -2.638, 0, 0, 0, [SEP] 37, Blinds, 1.011, 2.130, -2.638, 0, 0, 0, [SEP] 38, Drawer, 1.596, 0.411, -1.459, 0, 270, 0, [SEP] 39, Drawer, 1.597, 0.732, -1.459, 0, 270, 0, [SEP] 40, Drawer, 1.597, 0.574, -1.459, 0, 270, 0, [SEP] 41, Drawer, 1.597, 0.732, -2.202, 0, 270, 0, [SEP] 42, Drawer, 1.596, 0.247, -1.459, 0, 270, 0, [SEP] 43, Drawer, 1.596, 0.090, -1.459, 0, 270, 0, [SEP] 44, Drawer, 1.596, 0.247, -2.202, 0, 270, 0, [SEP] 45, Drawer, 1.596, 0.411, -2.202, 0, 270, 0, [SEP] 46, Dresser, 1.634, 0.003, -1.830, 0, 270, 0, [SEP] 47, Drawer, 1.596, 0.090, -2.202, 0, 270, 0, [SEP] 48, Drawer, 1.597, 0.574, -2.202, 0, 270, 0, [SEP] 49, ShelvingUnit, 0.249, 0.003, -2.519, 0, 0, 0, [SEP] 50, Shelf, 0.017, 0.178, -2.511, 0, 0, 0, [SEP] 51, Shelf, 0.249, 0.665, -2.519, 0, 0, 0, [SEP] 52, Shelf, 0.243, 0.344, -2.511, 0, 0, 0, [SEP] 53, Shelf, 0.474, 0.344, -2.511, 0, 0, 0, [SEP] 54, Shelf, 0.355, 0.011, -2.511, 0, 0, 0, [SEP] 55, Shelf, 0.016, 0.011, -2.511, 0, 0, 0, [SEP] 56, Shelf, 0.357, 0.178, -2.511, 0, 0, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, EastWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, WestWall, , , , , , , ", "output": ["STEP 1: turn left, walk to the dresser on the left | STEP 2: grab the phone on the dresser | STEP 3: turn left, walk to the end of the bed on the left | STEP 4: put the phone on the bed | END"]} +{"id": "trial_T20190907_231206_512424-0", "input": "Put a chilled plate in a cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 0.75, 0, 0, 0, [SEP] 1, Book, -2.733, 0.871, 2.715, 0, 0, 0, 54 [SEP] 2, Spatula, -0.040, 0.943, -1.646, 0, 90, 0, 49 [SEP] 3, Spatula, -2.048, 0.734, -1.579, 0, 270, 0, 71 [SEP] 4, Pot, 0.974, 0.957, -1.419, 0, 180, 0, 70 [SEP] 5, Fork, -2.584, 0.875, 3.559, 0, 0, 0, 54 [SEP] 6, Egg, -0.377, 1.169, 2.206, 0, 180, 0, 77 [SEP] 7, Cup, 1.210, 1.759, -1.696, 0, 0, 0, 76 [SEP] 8, Plate, -3.165, 0.882, 3.073, 0, 270, 0, 54 [SEP] 9, Plate, 3.689, 0.885, 1.861, 0, 270, 0, 73 [SEP] 10, Tomato, -2.152, 0.922, 3.444, 0, 270, 0, 54 [SEP] 11, Tomato, -2.501, 0.922, 3.064, 0, 225, 0, 54 [SEP] 12, Bowl, 0.617, 0.910, -1.674, 0, 0, 0, 52 [SEP] 13, Bowl, -2.912, 0.876, 3.685, 0, 135, 0, 54 [SEP] 14, SaltShaker, 1.703, 0.716, -1.344, 0, 0, 0, 68 [SEP] 15, SaltShaker, 1.687, 0.906, -1.437, 0, 0, 0, 72 [SEP] 16, PepperShaker, 1.687, 0.906, -1.346, 0, 0, 0, 72 [SEP] 17, Lettuce, -2.950, 0.943, 3.035, 0, 225, 0, 54 [SEP] 18, Mug, -0.149, 0.797, 2.251, 0, 180, 0, 77 [SEP] 19, Mug, -1.944, 1.652, -1.784, 0, 0, 0, 48 [SEP] 20, Book, -2.996, 0.875, 3.370, 0, 270, 0, 54 [SEP] 21, Fork, -2.733, 0.875, 3.728, 0, 0, 0, 54 [SEP] 22, Tomato, -0.377, 0.436, 1.996, 0, 180, 0, 77 [SEP] 23, Egg, 0.079, 0.828, 2.194, 0, 180, 0, 77 [SEP] 24, Kettle, 1.328, 0.957, -1.420, 0, 180, 0, 56 [SEP] 25, Vase, 3.671, 0.168, 1.841, 0, 0, 0, 75 [SEP] 26, Cup, 0.179, 0.927, -1.356, 0, 270, 0, 49 [SEP] 27, WineBottle, -0.818, 0.193, 2.174, 0, 90, 0, 82 [SEP] 28, Plate, 3.637, 0.557, 1.553, 0, 270, 0, 75 [SEP] 29, Spatula, -1.516, 0.927, -0.288, 0, 0, 0, 52 [SEP] 30, Potato, 0.079, 0.425, 2.083, 0, 180, 0, 77 [SEP] 31, Pot, 1.328, 0.957, -1.688, 0, 180, 0, 55 [SEP] 32, Knife, 0.179, 0.950, -1.646, 0, 270, 0, 49 [SEP] 33, SaltShaker, -0.348, 0.118, -1.373, 0, 0, 0, 61 [SEP] 34, PepperShaker, -1.649, 0.714, -1.001, 0, 0, 0, 67 [SEP] 35, Lettuce, -2.321, 0.943, 3.221, 0, 270, 0, 54 [SEP] 36, ButterKnife, -2.584, 0.874, 3.221, 0, 0, 0, 54 [SEP] 37, Bread, -1.961, 0.995, -1.591, 0, 0, 0, 52 [SEP] 38, Vase, -1.388, 1.658, -1.674, 0, 0, 0, 65 [SEP] 39, DishSponge, 0.179, 0.928, -1.790, 0, 270, 0, 49 [SEP] 40, Apple, 0.307, 1.199, 2.127, 0, 180, 0, 77 [SEP] 41, Pan, 0.972, 0.959, -1.426, 0, 0, 0, 70 [SEP] 42, Spoon, -2.434, 0.875, 3.207, 0, 135, 0, 54 [SEP] 43, SoapBottle, 0.264, 0.114, -1.451, 0, 0, 0, 60 [SEP] 44, Mug, -0.367, 0.692, -1.468, 0, 0, 0, 81 [SEP] 45, Statue, -2.353, 0.885, 3.632, 0, 45, 0, 54 [SEP] 46, Statue, -1.849, 0.910, 0.363, 0, 0, 0, 52 [SEP] 47, Bowl, -0.035, 1.570, 2.040, 0, 180, 0, 77 [SEP] 48, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0, [SEP] 49, Sink, 0.024, 0.771, -1.708, 0, 270, 0, [SEP] 50, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0, [SEP] 51, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0, [SEP] 52, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0, [SEP] 53, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0, [SEP] 54, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0, [SEP] 55, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0, [SEP] 56, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0, [SEP] 57, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0, [SEP] 58, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0, [SEP] 59, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0, [SEP] 60, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0, [SEP] 61, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0, [SEP] 62, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0, [SEP] 63, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0, [SEP] 64, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0, [SEP] 65, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0, [SEP] 66, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0, [SEP] 67, Drawer, -1.636, 0.683, -0.930, 0, 0, 0, [SEP] 68, Drawer, 1.650, 0.682, -1.396, 0, 0, 0, [SEP] 69, Drawer, 0.600, 0.682, -1.396, 0, 0, 0, [SEP] 70, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0, [SEP] 71, Drawer, -2.062, 0.683, -1.579, 0, 0, 0, [SEP] 72, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0, [SEP] 73, Shelf, 3.725, 0.880, 1.671, 0, 90, 0, [SEP] 74, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0, [SEP] 75, Shelf, 3.726, 0.552, 1.671, 0, 90, 0, [SEP] 76, Microwave, 1.150, 1.655, -1.614, 0, 0, 0, [SEP] 77, Fridge, -0.035, 0.0, 2.177, 0, 180, 0, [SEP] 78, Window, -0.115, 1.802, -1.896, 90, 0, 0, [SEP] 79, Window, -4.009, 1.799, 0.310, 90, 90, 0, [SEP] 80, Shelf, 3.726, 0.172, 1.671, 0, 90, 0, [SEP] 81, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0, [SEP] 82, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0, [SEP] 83, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0, [SEP] 84, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0, [SEP] 85, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0, [SEP] 86, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0, [SEP] 87, Toaster, 1.637, 0.900, -1.673, 0, 0, 0, [SEP] 88, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0, [SEP] 89, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0, [SEP] 90, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0, [SEP] 91, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0, [SEP] 92, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0, [SEP] 93, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0, [SEP] 94, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0, [SEP] 95, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0, [SEP] 96, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0, [SEP] 97, NorthWall, , , , , , , [SEP] 98, EastWall, , , , , , , [SEP] 99, SouthWall, , , , , , , [SEP] 100, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward, then turn right and walk over to the wooden shelving unit in the corner of the room. | STEP 2: Pick up the grey plate off of the top shelf of the wooden shelving unit. | STEP 3: Turn right and walk forward, then turn right again and walk over to the fridge. | STEP 4: Open the fridge door and put the plate inside then close the fridge door, after a couple seconds open the fridge back up and remove the plate, then close the fridge door. | STEP 5: Turn around and walk over to the kitchen sink. | STEP 6: Open the leftmost cabinet door below the sink and put the chilled plate inside, then close the door. | END"]} +{"id": "trial_T20190907_231206_512424-1", "input": "Put the chilled plate in the kitchen cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 0.75, 0, 0, 0, [SEP] 1, Book, -2.733, 0.871, 2.715, 0, 0, 0, 54 [SEP] 2, Spatula, -0.040, 0.943, -1.646, 0, 90, 0, 49 [SEP] 3, Spatula, -2.048, 0.734, -1.579, 0, 270, 0, 71 [SEP] 4, Pot, 0.974, 0.957, -1.419, 0, 180, 0, 70 [SEP] 5, Fork, -2.584, 0.875, 3.559, 0, 0, 0, 54 [SEP] 6, Egg, -0.377, 1.169, 2.206, 0, 180, 0, 77 [SEP] 7, Cup, 1.210, 1.759, -1.696, 0, 0, 0, 76 [SEP] 8, Plate, -3.165, 0.882, 3.073, 0, 270, 0, 54 [SEP] 9, Plate, 3.689, 0.885, 1.861, 0, 270, 0, 73 [SEP] 10, Tomato, -2.152, 0.922, 3.444, 0, 270, 0, 54 [SEP] 11, Tomato, -2.501, 0.922, 3.064, 0, 225, 0, 54 [SEP] 12, Bowl, 0.617, 0.910, -1.674, 0, 0, 0, 52 [SEP] 13, Bowl, -2.912, 0.876, 3.685, 0, 135, 0, 54 [SEP] 14, SaltShaker, 1.703, 0.716, -1.344, 0, 0, 0, 68 [SEP] 15, SaltShaker, 1.687, 0.906, -1.437, 0, 0, 0, 72 [SEP] 16, PepperShaker, 1.687, 0.906, -1.346, 0, 0, 0, 72 [SEP] 17, Lettuce, -2.950, 0.943, 3.035, 0, 225, 0, 54 [SEP] 18, Mug, -0.149, 0.797, 2.251, 0, 180, 0, 77 [SEP] 19, Mug, -1.944, 1.652, -1.784, 0, 0, 0, 48 [SEP] 20, Book, -2.996, 0.875, 3.370, 0, 270, 0, 54 [SEP] 21, Fork, -2.733, 0.875, 3.728, 0, 0, 0, 54 [SEP] 22, Tomato, -0.377, 0.436, 1.996, 0, 180, 0, 77 [SEP] 23, Egg, 0.079, 0.828, 2.194, 0, 180, 0, 77 [SEP] 24, Kettle, 1.328, 0.957, -1.420, 0, 180, 0, 56 [SEP] 25, Vase, 3.671, 0.168, 1.841, 0, 0, 0, 75 [SEP] 26, Cup, 0.179, 0.927, -1.356, 0, 270, 0, 49 [SEP] 27, WineBottle, -0.818, 0.193, 2.174, 0, 90, 0, 82 [SEP] 28, Plate, 3.637, 0.557, 1.553, 0, 270, 0, 75 [SEP] 29, Spatula, -1.516, 0.927, -0.288, 0, 0, 0, 52 [SEP] 30, Potato, 0.079, 0.425, 2.083, 0, 180, 0, 77 [SEP] 31, Pot, 1.328, 0.957, -1.688, 0, 180, 0, 55 [SEP] 32, Knife, 0.179, 0.950, -1.646, 0, 270, 0, 49 [SEP] 33, SaltShaker, -0.348, 0.118, -1.373, 0, 0, 0, 61 [SEP] 34, PepperShaker, -1.649, 0.714, -1.001, 0, 0, 0, 67 [SEP] 35, Lettuce, -2.321, 0.943, 3.221, 0, 270, 0, 54 [SEP] 36, ButterKnife, -2.584, 0.874, 3.221, 0, 0, 0, 54 [SEP] 37, Bread, -1.961, 0.995, -1.591, 0, 0, 0, 52 [SEP] 38, Vase, -1.388, 1.658, -1.674, 0, 0, 0, 65 [SEP] 39, DishSponge, 0.179, 0.928, -1.790, 0, 270, 0, 49 [SEP] 40, Apple, 0.307, 1.199, 2.127, 0, 180, 0, 77 [SEP] 41, Pan, 0.972, 0.959, -1.426, 0, 0, 0, 70 [SEP] 42, Spoon, -2.434, 0.875, 3.207, 0, 135, 0, 54 [SEP] 43, SoapBottle, 0.264, 0.114, -1.451, 0, 0, 0, 60 [SEP] 44, Mug, -0.367, 0.692, -1.468, 0, 0, 0, 81 [SEP] 45, Statue, -2.353, 0.885, 3.632, 0, 45, 0, 54 [SEP] 46, Statue, -1.849, 0.910, 0.363, 0, 0, 0, 52 [SEP] 47, Bowl, -0.035, 1.570, 2.040, 0, 180, 0, 77 [SEP] 48, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0, [SEP] 49, Sink, 0.024, 0.771, -1.708, 0, 270, 0, [SEP] 50, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0, [SEP] 51, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0, [SEP] 52, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0, [SEP] 53, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0, [SEP] 54, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0, [SEP] 55, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0, [SEP] 56, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0, [SEP] 57, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0, [SEP] 58, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0, [SEP] 59, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0, [SEP] 60, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0, [SEP] 61, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0, [SEP] 62, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0, [SEP] 63, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0, [SEP] 64, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0, [SEP] 65, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0, [SEP] 66, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0, [SEP] 67, Drawer, -1.636, 0.683, -0.930, 0, 0, 0, [SEP] 68, Drawer, 1.650, 0.682, -1.396, 0, 0, 0, [SEP] 69, Drawer, 0.600, 0.682, -1.396, 0, 0, 0, [SEP] 70, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0, [SEP] 71, Drawer, -2.062, 0.683, -1.579, 0, 0, 0, [SEP] 72, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0, [SEP] 73, Shelf, 3.725, 0.880, 1.671, 0, 90, 0, [SEP] 74, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0, [SEP] 75, Shelf, 3.726, 0.552, 1.671, 0, 90, 0, [SEP] 76, Microwave, 1.150, 1.655, -1.614, 0, 0, 0, [SEP] 77, Fridge, -0.035, 0.0, 2.177, 0, 180, 0, [SEP] 78, Window, -0.115, 1.802, -1.896, 90, 0, 0, [SEP] 79, Window, -4.009, 1.799, 0.310, 90, 90, 0, [SEP] 80, Shelf, 3.726, 0.172, 1.671, 0, 90, 0, [SEP] 81, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0, [SEP] 82, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0, [SEP] 83, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0, [SEP] 84, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0, [SEP] 85, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0, [SEP] 86, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0, [SEP] 87, Toaster, 1.637, 0.900, -1.673, 0, 0, 0, [SEP] 88, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0, [SEP] 89, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0, [SEP] 90, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0, [SEP] 91, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0, [SEP] 92, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0, [SEP] 93, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0, [SEP] 94, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0, [SEP] 95, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0, [SEP] 96, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0, [SEP] 97, NorthWall, , , , , , , [SEP] 98, EastWall, , , , , , , [SEP] 99, SouthWall, , , , , , , [SEP] 100, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk forward to the wooden shelf | STEP 2: Pick up the round plate from the top shelf | STEP 3: Turn around and walk over to the fridge | STEP 4: Put the plate in the fridge then remove it | STEP 5: Turn around and walk over to the sink | STEP 6: Put the plate in the bottom left cabinet near the oven | END"]} +{"id": "trial_T20190907_231206_512424-2", "input": "Cool a plate and put it away SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 0.75, 0, 0, 0, [SEP] 1, Book, -2.733, 0.871, 2.715, 0, 0, 0, 54 [SEP] 2, Spatula, -0.040, 0.943, -1.646, 0, 90, 0, 49 [SEP] 3, Spatula, -2.048, 0.734, -1.579, 0, 270, 0, 71 [SEP] 4, Pot, 0.974, 0.957, -1.419, 0, 180, 0, 70 [SEP] 5, Fork, -2.584, 0.875, 3.559, 0, 0, 0, 54 [SEP] 6, Egg, -0.377, 1.169, 2.206, 0, 180, 0, 77 [SEP] 7, Cup, 1.210, 1.759, -1.696, 0, 0, 0, 76 [SEP] 8, Plate, -3.165, 0.882, 3.073, 0, 270, 0, 54 [SEP] 9, Plate, 3.689, 0.885, 1.861, 0, 270, 0, 73 [SEP] 10, Tomato, -2.152, 0.922, 3.444, 0, 270, 0, 54 [SEP] 11, Tomato, -2.501, 0.922, 3.064, 0, 225, 0, 54 [SEP] 12, Bowl, 0.617, 0.910, -1.674, 0, 0, 0, 52 [SEP] 13, Bowl, -2.912, 0.876, 3.685, 0, 135, 0, 54 [SEP] 14, SaltShaker, 1.703, 0.716, -1.344, 0, 0, 0, 68 [SEP] 15, SaltShaker, 1.687, 0.906, -1.437, 0, 0, 0, 72 [SEP] 16, PepperShaker, 1.687, 0.906, -1.346, 0, 0, 0, 72 [SEP] 17, Lettuce, -2.950, 0.943, 3.035, 0, 225, 0, 54 [SEP] 18, Mug, -0.149, 0.797, 2.251, 0, 180, 0, 77 [SEP] 19, Mug, -1.944, 1.652, -1.784, 0, 0, 0, 48 [SEP] 20, Book, -2.996, 0.875, 3.370, 0, 270, 0, 54 [SEP] 21, Fork, -2.733, 0.875, 3.728, 0, 0, 0, 54 [SEP] 22, Tomato, -0.377, 0.436, 1.996, 0, 180, 0, 77 [SEP] 23, Egg, 0.079, 0.828, 2.194, 0, 180, 0, 77 [SEP] 24, Kettle, 1.328, 0.957, -1.420, 0, 180, 0, 56 [SEP] 25, Vase, 3.671, 0.168, 1.841, 0, 0, 0, 75 [SEP] 26, Cup, 0.179, 0.927, -1.356, 0, 270, 0, 49 [SEP] 27, WineBottle, -0.818, 0.193, 2.174, 0, 90, 0, 82 [SEP] 28, Plate, 3.637, 0.557, 1.553, 0, 270, 0, 75 [SEP] 29, Spatula, -1.516, 0.927, -0.288, 0, 0, 0, 52 [SEP] 30, Potato, 0.079, 0.425, 2.083, 0, 180, 0, 77 [SEP] 31, Pot, 1.328, 0.957, -1.688, 0, 180, 0, 55 [SEP] 32, Knife, 0.179, 0.950, -1.646, 0, 270, 0, 49 [SEP] 33, SaltShaker, -0.348, 0.118, -1.373, 0, 0, 0, 61 [SEP] 34, PepperShaker, -1.649, 0.714, -1.001, 0, 0, 0, 67 [SEP] 35, Lettuce, -2.321, 0.943, 3.221, 0, 270, 0, 54 [SEP] 36, ButterKnife, -2.584, 0.874, 3.221, 0, 0, 0, 54 [SEP] 37, Bread, -1.961, 0.995, -1.591, 0, 0, 0, 52 [SEP] 38, Vase, -1.388, 1.658, -1.674, 0, 0, 0, 65 [SEP] 39, DishSponge, 0.179, 0.928, -1.790, 0, 270, 0, 49 [SEP] 40, Apple, 0.307, 1.199, 2.127, 0, 180, 0, 77 [SEP] 41, Pan, 0.972, 0.959, -1.426, 0, 0, 0, 70 [SEP] 42, Spoon, -2.434, 0.875, 3.207, 0, 135, 0, 54 [SEP] 43, SoapBottle, 0.264, 0.114, -1.451, 0, 0, 0, 60 [SEP] 44, Mug, -0.367, 0.692, -1.468, 0, 0, 0, 81 [SEP] 45, Statue, -2.353, 0.885, 3.632, 0, 45, 0, 54 [SEP] 46, Statue, -1.849, 0.910, 0.363, 0, 0, 0, 52 [SEP] 47, Bowl, -0.035, 1.570, 2.040, 0, 180, 0, 77 [SEP] 48, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0, [SEP] 49, Sink, 0.024, 0.771, -1.708, 0, 270, 0, [SEP] 50, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0, [SEP] 51, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0, [SEP] 52, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0, [SEP] 53, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0, [SEP] 54, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0, [SEP] 55, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0, [SEP] 56, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0, [SEP] 57, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0, [SEP] 58, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0, [SEP] 59, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0, [SEP] 60, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0, [SEP] 61, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0, [SEP] 62, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0, [SEP] 63, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0, [SEP] 64, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0, [SEP] 65, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0, [SEP] 66, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0, [SEP] 67, Drawer, -1.636, 0.683, -0.930, 0, 0, 0, [SEP] 68, Drawer, 1.650, 0.682, -1.396, 0, 0, 0, [SEP] 69, Drawer, 0.600, 0.682, -1.396, 0, 0, 0, [SEP] 70, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0, [SEP] 71, Drawer, -2.062, 0.683, -1.579, 0, 0, 0, [SEP] 72, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0, [SEP] 73, Shelf, 3.725, 0.880, 1.671, 0, 90, 0, [SEP] 74, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0, [SEP] 75, Shelf, 3.726, 0.552, 1.671, 0, 90, 0, [SEP] 76, Microwave, 1.150, 1.655, -1.614, 0, 0, 0, [SEP] 77, Fridge, -0.035, 0.0, 2.177, 0, 180, 0, [SEP] 78, Window, -0.115, 1.802, -1.896, 90, 0, 0, [SEP] 79, Window, -4.009, 1.799, 0.310, 90, 90, 0, [SEP] 80, Shelf, 3.726, 0.172, 1.671, 0, 90, 0, [SEP] 81, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0, [SEP] 82, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0, [SEP] 83, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0, [SEP] 84, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0, [SEP] 85, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0, [SEP] 86, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0, [SEP] 87, Toaster, 1.637, 0.900, -1.673, 0, 0, 0, [SEP] 88, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0, [SEP] 89, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0, [SEP] 90, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0, [SEP] 91, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0, [SEP] 92, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0, [SEP] 93, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0, [SEP] 94, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0, [SEP] 95, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0, [SEP] 96, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0, [SEP] 97, NorthWall, , , , , , , [SEP] 98, EastWall, , , , , , , [SEP] 99, SouthWall, , , , , , , [SEP] 100, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward and to your right so you can face the shelves | STEP 2: Pick up a plate off of the shelves | STEP 3: Turn around and then step back so you can get to the fridge | STEP 4: Open the fridge and put the plate in for a few seconds before taking it out | STEP 5: Turn around and face the sink | STEP 6: Put the plate in the bottom left kitchen cupboard | END"]} +{"id": "trial_T20190908_042418_987263-0", "input": "Slice a potato with a knife in order to throw it away. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.914, 1.75, 0, 0, 0, [SEP] 1, DishSponge, -3.081, 0.915, 1.607, 0, 0, 0, 49 [SEP] 2, DishSponge, -1.655, 0.891, 0.564, 0, 90, 0, 76 [SEP] 3, ButterKnife, -3.176, 0.903, 3.663, 0, 0, 0, 40 [SEP] 4, ButterKnife, -2.804, 0.915, 4.106, 0, 0, 0, 40 [SEP] 5, Spatula, -1.391, 0.906, 0.049, 0, 90, 0, 76 [SEP] 6, Spoon, -1.523, 0.892, 0.255, 0, 90, 0, 76 [SEP] 7, Egg, -1.857, 0.824, 3.588, 0, 0, 0, 70 [SEP] 8, Knife, -3.185, 0.768, 1.510, 0, 270, 0, 41 [SEP] 9, Knife, -3.272, 0.939, 1.357, 0, 0, 0, 49 [SEP] 10, Tomato, -0.440, 1.054, 4.114, 0, 180, 0, 66 [SEP] 11, Tomato, -0.089, 0.791, 3.817, 0, 180, 0, 66 [SEP] 12, Bowl, -0.440, 1.540, 4.102, 0, 180, 0, 66 [SEP] 13, Bowl, -0.994, 0.890, 0.255, 0, 90, 0, 76 [SEP] 14, SaltShaker, -2.126, 0.911, 4.146, 0, 0, 0, 40 [SEP] 15, Bread, -3.559, 0.997, 1.357, 0, 0, 0, 49 [SEP] 16, Apple, -1.666, 0.849, 3.662, 0, 0, 0, 70 [SEP] 17, Egg, -1.523, 0.926, -0.053, 0, 90, 0, 76 [SEP] 18, Knife, -1.787, 0.915, 0.358, 0, 180, 0, 76 [SEP] 19, Fork, -3.463, 0.916, 1.524, 0, 180, 0, 49 [SEP] 20, Bread, -0.790, 1.067, 3.988, 0, 180, 0, 66 [SEP] 21, Potato, -3.368, 0.948, 1.440, 0, 0, 0, 49 [SEP] 22, Plate, -3.005, 0.904, 3.677, 0, 0, 0, 40 [SEP] 23, Pot, -3.424, 0.966, 1.971, 0, 0, 0, 48 [SEP] 24, Kettle, -3.143, 0.966, 1.971, 0, 0, 0, 60 [SEP] 25, WineBottle, -3.463, 0.916, 3.663, 0, 0, 0, 40 [SEP] 26, Bowl, -0.089, 0.985, 4.051, 0, 180, 0, 66 [SEP] 27, Tomato, -0.439, 1.054, 3.863, 0, 180, 0, 66 [SEP] 28, Cup, -0.790, 1.541, 4.170, 0, 180, 0, 66 [SEP] 29, Spatula, -2.402, 0.930, 3.783, 0, 90, 0, 40 [SEP] 30, SoapBottle, -1.787, 0.891, 0.255, 0, 90, 0, 76 [SEP] 31, Lettuce, -3.176, 1.001, 1.189, 0, 0, 0, 49 [SEP] 32, Pan, -2.614, 0.902, 3.620, 0, 0, 0, 40 [SEP] 33, Apple, -1.921, 0.849, 3.737, 0, 0, 0, 70 [SEP] 34, SaltShaker, -1.259, 0.887, 0.049, 0, 90, 0, 76 [SEP] 35, PepperShaker, -1.919, 0.911, 4.273, 0, 0, 0, 40 [SEP] 36, ButterKnife, -1.523, 0.891, 0.049, 0, 180, 0, 76 [SEP] 37, DishSponge, -3.097, 0.744, 1.202, 0, 0, 0, 41 [SEP] 38, Spoon, -1.259, 0.892, 0.358, 0, 90, 0, 76 [SEP] 39, Mug, -1.127, 0.886, 0.152, 0, 270, 0, 76 [SEP] 40, CounterTop, -3.381, 0.950, 3.335, 0, 0, 0, [SEP] 41, Drawer, -3.121, 0.775, 1.357, 0, 0, 0, [SEP] 42, Drawer, -3.121, 0.777, 2.916, 0, 0, 0, [SEP] 43, StoveBurner, -3.148, 0.958, 2.374, 0, 0, 0, [SEP] 44, Sink, -1.797, 0.917, 3.660, 0, 0, 0, [SEP] 45, Cabinet, -1.421, 0.388, 3.459, 0, 0, 0, [SEP] 46, StoveBurner, -3.424, 0.958, 2.374, 0, 0, 0, [SEP] 47, Cabinet, -3.365, 1.931, 2.676, 0, 0, 0, [SEP] 48, StoveBurner, -3.424, 0.958, 1.971, 0, 0, 0, [SEP] 49, CounterTop, -3.381, 0.951, 1.356, 0, 0, 0, [SEP] 50, Drawer, -3.121, 0.781, 3.295, 0, 0, 0, [SEP] 51, Cabinet, -2.205, 0.388, 3.459, 0, 0, 0, [SEP] 52, Cabinet, -2.963, 0.388, 3.459, 0, 0, 0, [SEP] 53, Cabinet, -2.992, 0.388, 2.683, 0, 0, 0, [SEP] 54, Cabinet, -3.352, 2.205, 1.715, 0, 0, 0, [SEP] 55, Cabinet, -3.352, 2.205, 2.653, 0, 0, 0, [SEP] 56, Cabinet, -2.189, 0.388, 3.466, 0, 0, 0, [SEP] 57, Cabinet, -3.365, 1.931, 3.963, 0, 0, 0, [SEP] 58, Cabinet, -3.365, 1.931, 1.056, 0, 0, 0, [SEP] 59, Cabinet, -2.992, 0.388, 1.037, 0, 0, 0, [SEP] 60, StoveBurner, -3.143, 0.958, 1.971, 0, 0, 0, [SEP] 61, StoveKnob, -3.599, 1.110, 2.017, 0, 0, 105.000, [SEP] 62, StoveKnob, -3.599, 1.110, 1.867, 0, 0, 105.000, [SEP] 63, StoveKnob, -3.599, 1.110, 2.267, 0, 0, 105.000, [SEP] 64, StoveKnob, -3.599, 1.110, 2.427, 0, 0, 105.000, [SEP] 65, Toaster, -2.654, 0.902, 4.064, 0, 180, 0, [SEP] 66, Fridge, -0.439, 0.014, 3.996, 0, 0, 0, [SEP] 67, LightSwitch, 0.25, 1.383, 2.085, 0, 270, 0, [SEP] 68, Window, -1.430, 1.338, -0.347, 90, 0, 0, [SEP] 69, CoffeeMachine, -3.550, 0.902, 3.274, 0, 90, 0, [SEP] 70, SinkBasin, -1.802, 0.778, 3.700, 0, 0, 0, [SEP] 71, Microwave, -3.484, 1.430, 2.182, 0, 90, 0, [SEP] 72, GarbageCan, -1.184, -0.020, 3.794, 0, 270, 0, [SEP] 73, Blinds, -1.404, 2.092, -0.296, 0, 0, 0, [SEP] 74, Stool, -1.373, 0.014, 1.048, 1.214, 20.754, 0, [SEP] 75, Faucet, -1.788, 0.903, 3.931, 270, 90, 0, [SEP] 76, DiningTable, -1.399, 0.010, 0.238, 0, 0, 0, [SEP] 77, GarbageBag, -0.291, 0.336, -0.034, 272.372, 348.812, 147.313, [SEP] 78, NorthWall, , , , , , , [SEP] 79, EastWall, , , , , , , [SEP] 80, SouthWall, , , , , , , [SEP] 81, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward to the toaster on the counter. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn around 180 degrees and walk towards the fridge. | STEP 4: Turn 90 degrees to the right and slice the potato on the counter. | STEP 5: Turn to the right 90 degrees and walk to the microwave. | STEP 6: Open the microwave and place the knife inside. | STEP 7: Close the microwave and walk back to the potato on the counter. | STEP 8: Pick up a slice of potato. | STEP 9: Walk back to the microwave. | STEP 10: Open the microwave, put the potato inside, close the door, cook the potato, open the door, remove the potato, and close the door. | STEP 11: Turn around 180 degrees and walk to the other side of the room, turning to the left 90 degrees when you reach the trash can and walk towards it. | STEP 12: Put the potato in the trash. | END"]} +{"id": "trial_T20190908_042418_987263-1", "input": "trash a cooked potato slice SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.914, 1.75, 0, 0, 0, [SEP] 1, DishSponge, -3.081, 0.915, 1.607, 0, 0, 0, 49 [SEP] 2, DishSponge, -1.655, 0.891, 0.564, 0, 90, 0, 76 [SEP] 3, ButterKnife, -3.176, 0.903, 3.663, 0, 0, 0, 40 [SEP] 4, ButterKnife, -2.804, 0.915, 4.106, 0, 0, 0, 40 [SEP] 5, Spatula, -1.391, 0.906, 0.049, 0, 90, 0, 76 [SEP] 6, Spoon, -1.523, 0.892, 0.255, 0, 90, 0, 76 [SEP] 7, Egg, -1.857, 0.824, 3.588, 0, 0, 0, 70 [SEP] 8, Knife, -3.185, 0.768, 1.510, 0, 270, 0, 41 [SEP] 9, Knife, -3.272, 0.939, 1.357, 0, 0, 0, 49 [SEP] 10, Tomato, -0.440, 1.054, 4.114, 0, 180, 0, 66 [SEP] 11, Tomato, -0.089, 0.791, 3.817, 0, 180, 0, 66 [SEP] 12, Bowl, -0.440, 1.540, 4.102, 0, 180, 0, 66 [SEP] 13, Bowl, -0.994, 0.890, 0.255, 0, 90, 0, 76 [SEP] 14, SaltShaker, -2.126, 0.911, 4.146, 0, 0, 0, 40 [SEP] 15, Bread, -3.559, 0.997, 1.357, 0, 0, 0, 49 [SEP] 16, Apple, -1.666, 0.849, 3.662, 0, 0, 0, 70 [SEP] 17, Egg, -1.523, 0.926, -0.053, 0, 90, 0, 76 [SEP] 18, Knife, -1.787, 0.915, 0.358, 0, 180, 0, 76 [SEP] 19, Fork, -3.463, 0.916, 1.524, 0, 180, 0, 49 [SEP] 20, Bread, -0.790, 1.067, 3.988, 0, 180, 0, 66 [SEP] 21, Potato, -3.368, 0.948, 1.440, 0, 0, 0, 49 [SEP] 22, Plate, -3.005, 0.904, 3.677, 0, 0, 0, 40 [SEP] 23, Pot, -3.424, 0.966, 1.971, 0, 0, 0, 48 [SEP] 24, Kettle, -3.143, 0.966, 1.971, 0, 0, 0, 60 [SEP] 25, WineBottle, -3.463, 0.916, 3.663, 0, 0, 0, 40 [SEP] 26, Bowl, -0.089, 0.985, 4.051, 0, 180, 0, 66 [SEP] 27, Tomato, -0.439, 1.054, 3.863, 0, 180, 0, 66 [SEP] 28, Cup, -0.790, 1.541, 4.170, 0, 180, 0, 66 [SEP] 29, Spatula, -2.402, 0.930, 3.783, 0, 90, 0, 40 [SEP] 30, SoapBottle, -1.787, 0.891, 0.255, 0, 90, 0, 76 [SEP] 31, Lettuce, -3.176, 1.001, 1.189, 0, 0, 0, 49 [SEP] 32, Pan, -2.614, 0.902, 3.620, 0, 0, 0, 40 [SEP] 33, Apple, -1.921, 0.849, 3.737, 0, 0, 0, 70 [SEP] 34, SaltShaker, -1.259, 0.887, 0.049, 0, 90, 0, 76 [SEP] 35, PepperShaker, -1.919, 0.911, 4.273, 0, 0, 0, 40 [SEP] 36, ButterKnife, -1.523, 0.891, 0.049, 0, 180, 0, 76 [SEP] 37, DishSponge, -3.097, 0.744, 1.202, 0, 0, 0, 41 [SEP] 38, Spoon, -1.259, 0.892, 0.358, 0, 90, 0, 76 [SEP] 39, Mug, -1.127, 0.886, 0.152, 0, 270, 0, 76 [SEP] 40, CounterTop, -3.381, 0.950, 3.335, 0, 0, 0, [SEP] 41, Drawer, -3.121, 0.775, 1.357, 0, 0, 0, [SEP] 42, Drawer, -3.121, 0.777, 2.916, 0, 0, 0, [SEP] 43, StoveBurner, -3.148, 0.958, 2.374, 0, 0, 0, [SEP] 44, Sink, -1.797, 0.917, 3.660, 0, 0, 0, [SEP] 45, Cabinet, -1.421, 0.388, 3.459, 0, 0, 0, [SEP] 46, StoveBurner, -3.424, 0.958, 2.374, 0, 0, 0, [SEP] 47, Cabinet, -3.365, 1.931, 2.676, 0, 0, 0, [SEP] 48, StoveBurner, -3.424, 0.958, 1.971, 0, 0, 0, [SEP] 49, CounterTop, -3.381, 0.951, 1.356, 0, 0, 0, [SEP] 50, Drawer, -3.121, 0.781, 3.295, 0, 0, 0, [SEP] 51, Cabinet, -2.205, 0.388, 3.459, 0, 0, 0, [SEP] 52, Cabinet, -2.963, 0.388, 3.459, 0, 0, 0, [SEP] 53, Cabinet, -2.992, 0.388, 2.683, 0, 0, 0, [SEP] 54, Cabinet, -3.352, 2.205, 1.715, 0, 0, 0, [SEP] 55, Cabinet, -3.352, 2.205, 2.653, 0, 0, 0, [SEP] 56, Cabinet, -2.189, 0.388, 3.466, 0, 0, 0, [SEP] 57, Cabinet, -3.365, 1.931, 3.963, 0, 0, 0, [SEP] 58, Cabinet, -3.365, 1.931, 1.056, 0, 0, 0, [SEP] 59, Cabinet, -2.992, 0.388, 1.037, 0, 0, 0, [SEP] 60, StoveBurner, -3.143, 0.958, 1.971, 0, 0, 0, [SEP] 61, StoveKnob, -3.599, 1.110, 2.017, 0, 0, 105.000, [SEP] 62, StoveKnob, -3.599, 1.110, 1.867, 0, 0, 105.000, [SEP] 63, StoveKnob, -3.599, 1.110, 2.267, 0, 0, 105.000, [SEP] 64, StoveKnob, -3.599, 1.110, 2.427, 0, 0, 105.000, [SEP] 65, Toaster, -2.654, 0.902, 4.064, 0, 180, 0, [SEP] 66, Fridge, -0.439, 0.014, 3.996, 0, 0, 0, [SEP] 67, LightSwitch, 0.25, 1.383, 2.085, 0, 270, 0, [SEP] 68, Window, -1.430, 1.338, -0.347, 90, 0, 0, [SEP] 69, CoffeeMachine, -3.550, 0.902, 3.274, 0, 90, 0, [SEP] 70, SinkBasin, -1.802, 0.778, 3.700, 0, 0, 0, [SEP] 71, Microwave, -3.484, 1.430, 2.182, 0, 90, 0, [SEP] 72, GarbageCan, -1.184, -0.020, 3.794, 0, 270, 0, [SEP] 73, Blinds, -1.404, 2.092, -0.296, 0, 0, 0, [SEP] 74, Stool, -1.373, 0.014, 1.048, 1.214, 20.754, 0, [SEP] 75, Faucet, -1.788, 0.903, 3.931, 270, 90, 0, [SEP] 76, DiningTable, -1.399, 0.010, 0.238, 0, 0, 0, [SEP] 77, GarbageBag, -0.291, 0.336, -0.034, 272.372, 348.812, 147.313, [SEP] 78, NorthWall, , , , , , , [SEP] 79, EastWall, , , , , , , [SEP] 80, SouthWall, , , , , , , [SEP] 81, WestWall, , , , , , , ", "output": ["STEP 1: turn left to the table | STEP 2: pick up the knife | STEP 3: turn around to the table | STEP 4: slice the potato on it | STEP 5: turn around to the oven | STEP 6: drop the knife in the oven | STEP 7: turn around to the table | STEP 8: pick up a slice | STEP 9: turn around to the oven | STEP 10: cook the slice in the oven and take it out | STEP 11: turn around to the bin | STEP 12: trash the cooked slice | END"]} +{"id": "trial_T20190908_042418_987263-2", "input": "Throw out a microwaved slice of potato. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.914, 1.75, 0, 0, 0, [SEP] 1, DishSponge, -3.081, 0.915, 1.607, 0, 0, 0, 49 [SEP] 2, DishSponge, -1.655, 0.891, 0.564, 0, 90, 0, 76 [SEP] 3, ButterKnife, -3.176, 0.903, 3.663, 0, 0, 0, 40 [SEP] 4, ButterKnife, -2.804, 0.915, 4.106, 0, 0, 0, 40 [SEP] 5, Spatula, -1.391, 0.906, 0.049, 0, 90, 0, 76 [SEP] 6, Spoon, -1.523, 0.892, 0.255, 0, 90, 0, 76 [SEP] 7, Egg, -1.857, 0.824, 3.588, 0, 0, 0, 70 [SEP] 8, Knife, -3.185, 0.768, 1.510, 0, 270, 0, 41 [SEP] 9, Knife, -3.272, 0.939, 1.357, 0, 0, 0, 49 [SEP] 10, Tomato, -0.440, 1.054, 4.114, 0, 180, 0, 66 [SEP] 11, Tomato, -0.089, 0.791, 3.817, 0, 180, 0, 66 [SEP] 12, Bowl, -0.440, 1.540, 4.102, 0, 180, 0, 66 [SEP] 13, Bowl, -0.994, 0.890, 0.255, 0, 90, 0, 76 [SEP] 14, SaltShaker, -2.126, 0.911, 4.146, 0, 0, 0, 40 [SEP] 15, Bread, -3.559, 0.997, 1.357, 0, 0, 0, 49 [SEP] 16, Apple, -1.666, 0.849, 3.662, 0, 0, 0, 70 [SEP] 17, Egg, -1.523, 0.926, -0.053, 0, 90, 0, 76 [SEP] 18, Knife, -1.787, 0.915, 0.358, 0, 180, 0, 76 [SEP] 19, Fork, -3.463, 0.916, 1.524, 0, 180, 0, 49 [SEP] 20, Bread, -0.790, 1.067, 3.988, 0, 180, 0, 66 [SEP] 21, Potato, -3.368, 0.948, 1.440, 0, 0, 0, 49 [SEP] 22, Plate, -3.005, 0.904, 3.677, 0, 0, 0, 40 [SEP] 23, Pot, -3.424, 0.966, 1.971, 0, 0, 0, 48 [SEP] 24, Kettle, -3.143, 0.966, 1.971, 0, 0, 0, 60 [SEP] 25, WineBottle, -3.463, 0.916, 3.663, 0, 0, 0, 40 [SEP] 26, Bowl, -0.089, 0.985, 4.051, 0, 180, 0, 66 [SEP] 27, Tomato, -0.439, 1.054, 3.863, 0, 180, 0, 66 [SEP] 28, Cup, -0.790, 1.541, 4.170, 0, 180, 0, 66 [SEP] 29, Spatula, -2.402, 0.930, 3.783, 0, 90, 0, 40 [SEP] 30, SoapBottle, -1.787, 0.891, 0.255, 0, 90, 0, 76 [SEP] 31, Lettuce, -3.176, 1.001, 1.189, 0, 0, 0, 49 [SEP] 32, Pan, -2.614, 0.902, 3.620, 0, 0, 0, 40 [SEP] 33, Apple, -1.921, 0.849, 3.737, 0, 0, 0, 70 [SEP] 34, SaltShaker, -1.259, 0.887, 0.049, 0, 90, 0, 76 [SEP] 35, PepperShaker, -1.919, 0.911, 4.273, 0, 0, 0, 40 [SEP] 36, ButterKnife, -1.523, 0.891, 0.049, 0, 180, 0, 76 [SEP] 37, DishSponge, -3.097, 0.744, 1.202, 0, 0, 0, 41 [SEP] 38, Spoon, -1.259, 0.892, 0.358, 0, 90, 0, 76 [SEP] 39, Mug, -1.127, 0.886, 0.152, 0, 270, 0, 76 [SEP] 40, CounterTop, -3.381, 0.950, 3.335, 0, 0, 0, [SEP] 41, Drawer, -3.121, 0.775, 1.357, 0, 0, 0, [SEP] 42, Drawer, -3.121, 0.777, 2.916, 0, 0, 0, [SEP] 43, StoveBurner, -3.148, 0.958, 2.374, 0, 0, 0, [SEP] 44, Sink, -1.797, 0.917, 3.660, 0, 0, 0, [SEP] 45, Cabinet, -1.421, 0.388, 3.459, 0, 0, 0, [SEP] 46, StoveBurner, -3.424, 0.958, 2.374, 0, 0, 0, [SEP] 47, Cabinet, -3.365, 1.931, 2.676, 0, 0, 0, [SEP] 48, StoveBurner, -3.424, 0.958, 1.971, 0, 0, 0, [SEP] 49, CounterTop, -3.381, 0.951, 1.356, 0, 0, 0, [SEP] 50, Drawer, -3.121, 0.781, 3.295, 0, 0, 0, [SEP] 51, Cabinet, -2.205, 0.388, 3.459, 0, 0, 0, [SEP] 52, Cabinet, -2.963, 0.388, 3.459, 0, 0, 0, [SEP] 53, Cabinet, -2.992, 0.388, 2.683, 0, 0, 0, [SEP] 54, Cabinet, -3.352, 2.205, 1.715, 0, 0, 0, [SEP] 55, Cabinet, -3.352, 2.205, 2.653, 0, 0, 0, [SEP] 56, Cabinet, -2.189, 0.388, 3.466, 0, 0, 0, [SEP] 57, Cabinet, -3.365, 1.931, 3.963, 0, 0, 0, [SEP] 58, Cabinet, -3.365, 1.931, 1.056, 0, 0, 0, [SEP] 59, Cabinet, -2.992, 0.388, 1.037, 0, 0, 0, [SEP] 60, StoveBurner, -3.143, 0.958, 1.971, 0, 0, 0, [SEP] 61, StoveKnob, -3.599, 1.110, 2.017, 0, 0, 105.000, [SEP] 62, StoveKnob, -3.599, 1.110, 1.867, 0, 0, 105.000, [SEP] 63, StoveKnob, -3.599, 1.110, 2.267, 0, 0, 105.000, [SEP] 64, StoveKnob, -3.599, 1.110, 2.427, 0, 0, 105.000, [SEP] 65, Toaster, -2.654, 0.902, 4.064, 0, 180, 0, [SEP] 66, Fridge, -0.439, 0.014, 3.996, 0, 0, 0, [SEP] 67, LightSwitch, 0.25, 1.383, 2.085, 0, 270, 0, [SEP] 68, Window, -1.430, 1.338, -0.347, 90, 0, 0, [SEP] 69, CoffeeMachine, -3.550, 0.902, 3.274, 0, 90, 0, [SEP] 70, SinkBasin, -1.802, 0.778, 3.700, 0, 0, 0, [SEP] 71, Microwave, -3.484, 1.430, 2.182, 0, 90, 0, [SEP] 72, GarbageCan, -1.184, -0.020, 3.794, 0, 270, 0, [SEP] 73, Blinds, -1.404, 2.092, -0.296, 0, 0, 0, [SEP] 74, Stool, -1.373, 0.014, 1.048, 1.214, 20.754, 0, [SEP] 75, Faucet, -1.788, 0.903, 3.931, 270, 90, 0, [SEP] 76, DiningTable, -1.399, 0.010, 0.238, 0, 0, 0, [SEP] 77, GarbageBag, -0.291, 0.336, -0.034, 272.372, 348.812, 147.313, [SEP] 78, NorthWall, , , , , , , [SEP] 79, EastWall, , , , , , , [SEP] 80, SouthWall, , , , , , , [SEP] 81, WestWall, , , , , , , ", "output": ["STEP 1: Go to the left side of the counter in front. | STEP 2: Pick p the gray knife on the counter. | STEP 3: Turn around and go to the counter on the left of the stove. | STEP 4: Slice the potato on the counter. | STEP 5: Move right to the front of the microwave above the stove. | STEP 6: Put the knife in the microwave | STEP 7: Go back to the counter on the left of the stove. | STEP 8: Pick up a slice of potato. | STEP 9: Go back to the microwave. | STEP 10: Microwave the potato slice next to the knife and take the potato out. | STEP 11: Turn around and go to the trash can between the counter and the refrigerator. | STEP 12: Place the potato in the trash can. | END"]} +{"id": "trial_T20190909_150719_492274-0", "input": "take the bowl to the lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, -0.75, 0, 0, 0, [SEP] 1, CellPhone, -1.248, 1.238, -0.745, 0, 0, 0, 42 [SEP] 2, Pencil, -1.352, 1.236, -0.649, 0, 0, 0, 42 [SEP] 3, Pencil, 2.655, 1.281, -1.387, 0, 0, 0, 33 [SEP] 4, Book, -0.902, 0.574, 1.179, 0, 332.922, 0, 23 [SEP] 5, Box, 2.734, 0.195, 0.89, 0, 0, 0, [SEP] 6, Laptop, -0.5, 0.56, 0.286, 0, 63.464, 0, 23 [SEP] 7, CellPhone, -1.264, 0.108, -0.615, 0, 0, 0, 40 [SEP] 8, BaseballBat, 2.847, 0.643, 1.838, 0, 0, 335.111, [SEP] 9, BasketBall, 1.019, 0.330, -0.977, 346.775, 295.617, 1.021, [SEP] 10, TissueBox, 1.594, 0.350, -1.218, 0, 0, 0, 55 [SEP] 11, CreditCard, -1.352, 1.234, -0.745, 0, 0, 0, 42 [SEP] 12, AlarmClock, 1.839, 0.796, -1.249, 0, 0, 0, 47 [SEP] 13, Pencil, -1.293, 0.108, -0.881, 0, 0, 0, 40 [SEP] 14, Boots, -1.279, 0.000, -1.343, 0, 27.143, 0, [SEP] 15, Pillow, -0.634, 0.63, 1.611, 0, 0, 0, 23 [SEP] 16, KeyChain, 2.027, 0.794, -1.217, 0, 270, 0, 47 [SEP] 17, Bowl, 2.779, 0.795, -1.217, 0, 0, 0, 47 [SEP] 18, Watch, -1.387, 1.235, -0.458, 0, 0, 0, 42 [SEP] 19, CD, -1.350, 0.105, -0.988, 0, 0, 0, 40 [SEP] 20, Pen, 2.756, 1.284, -1.372, 0, 0, 0, 33 [SEP] 21, Mug, 2.591, 0.793, -1.217, 0, 180, 0, 47 [SEP] 22, Statue, 1.823, 1.036, -1.419, 0, 0, 0, 47 [SEP] 23, Bed, -0.640, 0.008, 0.871, 0, 0, 0, [SEP] 24, DeskLamp, -1.319, 1.238, -0.994, 0, 90, 0, [SEP] 25, GarbageCan, 2.838, 0.007, 0.215, 0, 270, 0, [SEP] 26, Blinds, 0.111, 2.337, -1.436, 0, 0, 0, [SEP] 27, Mirror, 1.985, 1.381, 1.875, 0, 0, 0, [SEP] 28, Window, 0.118, 1.496, -1.588, 90, 180, 0, [SEP] 29, LightSwitch, 2.654, 1.276, 1.899, 0, 180, 0, [SEP] 30, Chair, 2.457, 0.011, -0.997, 0, 189.124, 0, [SEP] 31, Shelf, 2.476, 0.919, -1.384, 0, 0, 0, [SEP] 32, Shelf, 2.251, 1.503, -1.383, 0, 0, 0, [SEP] 33, Shelf, 2.700, 1.510, -1.380, 0, 0, 0, [SEP] 34, Shelf, 2.476, 1.153, -1.384, 0, 0, 0, [SEP] 35, Shelf, 1.803, 1.386, -1.384, 0, 0, 0, [SEP] 36, Shelf, 1.803, 0.919, -1.381, 0, 0, 0, [SEP] 37, DogBed, 0.920, 0.013, -1.044, 0, 0, 0, [SEP] 38, Drawer, -1.305, 0.454, -0.918, 0, 90, 0, [SEP] 39, Drawer, -1.305, 0.752, -0.919, 0, 90, 0, [SEP] 40, Drawer, -1.305, 0.178, -0.918, 0, 90, 0, [SEP] 41, Drawer, -1.305, 0.752, -0.579, 0, 90, 0, [SEP] 42, Dresser, -1.328, 0.011, -0.744, 0, 90, 0, [SEP] 43, Drawer, -1.306, 1.031, -0.579, 0, 90, 0, [SEP] 44, Drawer, -1.305, 0.454, -0.578, 0, 90, 0, [SEP] 45, Drawer, -1.305, 0.178, -0.578, 0, 90, 0, [SEP] 46, Drawer, -1.305, 1.031, -0.919, 0, 90, 0, [SEP] 47, Desk, 2.211, 0.009, -1.259, 0, 0, 0, [SEP] 48, Drawer, 2.817, 0.189, -1.176, 0, 0, 0, [SEP] 49, Drawer, 1.940, 0.632, -1.176, 0, 0, 0, [SEP] 50, Drawer, 1.940, 0.189, -1.176, 0, 0, 0, [SEP] 51, Drawer, 1.623, 0.632, -1.176, 0, 0, 0, [SEP] 52, Drawer, 2.817, 0.632, -1.176, 0, 0, 0, [SEP] 53, Drawer, 2.817, 0.411, -1.176, 0, 0, 0, [SEP] 54, Drawer, 1.623, 0.189, -1.176, 0, 0, 0, [SEP] 55, Drawer, 1.623, 0.410, -1.176, 0, 0, 0, [SEP] 56, Drawer, 1.940, 0.410, -1.176, 0, 0, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, EastWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, WestWall, , , , , , , ", "output": ["STEP 1: go to the desk | STEP 2: take the bowl from the desk | STEP 3: take the bowl to the lamp | STEP 4: turn on the lamp | END"]} +{"id": "trial_T20190909_150719_492274-1", "input": "Look at a grey bowl under a lit lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, -0.75, 0, 0, 0, [SEP] 1, CellPhone, -1.248, 1.238, -0.745, 0, 0, 0, 42 [SEP] 2, Pencil, -1.352, 1.236, -0.649, 0, 0, 0, 42 [SEP] 3, Pencil, 2.655, 1.281, -1.387, 0, 0, 0, 33 [SEP] 4, Book, -0.902, 0.574, 1.179, 0, 332.922, 0, 23 [SEP] 5, Box, 2.734, 0.195, 0.89, 0, 0, 0, [SEP] 6, Laptop, -0.5, 0.56, 0.286, 0, 63.464, 0, 23 [SEP] 7, CellPhone, -1.264, 0.108, -0.615, 0, 0, 0, 40 [SEP] 8, BaseballBat, 2.847, 0.643, 1.838, 0, 0, 335.111, [SEP] 9, BasketBall, 1.019, 0.330, -0.977, 346.775, 295.617, 1.021, [SEP] 10, TissueBox, 1.594, 0.350, -1.218, 0, 0, 0, 55 [SEP] 11, CreditCard, -1.352, 1.234, -0.745, 0, 0, 0, 42 [SEP] 12, AlarmClock, 1.839, 0.796, -1.249, 0, 0, 0, 47 [SEP] 13, Pencil, -1.293, 0.108, -0.881, 0, 0, 0, 40 [SEP] 14, Boots, -1.279, 0.000, -1.343, 0, 27.143, 0, [SEP] 15, Pillow, -0.634, 0.63, 1.611, 0, 0, 0, 23 [SEP] 16, KeyChain, 2.027, 0.794, -1.217, 0, 270, 0, 47 [SEP] 17, Bowl, 2.779, 0.795, -1.217, 0, 0, 0, 47 [SEP] 18, Watch, -1.387, 1.235, -0.458, 0, 0, 0, 42 [SEP] 19, CD, -1.350, 0.105, -0.988, 0, 0, 0, 40 [SEP] 20, Pen, 2.756, 1.284, -1.372, 0, 0, 0, 33 [SEP] 21, Mug, 2.591, 0.793, -1.217, 0, 180, 0, 47 [SEP] 22, Statue, 1.823, 1.036, -1.419, 0, 0, 0, 47 [SEP] 23, Bed, -0.640, 0.008, 0.871, 0, 0, 0, [SEP] 24, DeskLamp, -1.319, 1.238, -0.994, 0, 90, 0, [SEP] 25, GarbageCan, 2.838, 0.007, 0.215, 0, 270, 0, [SEP] 26, Blinds, 0.111, 2.337, -1.436, 0, 0, 0, [SEP] 27, Mirror, 1.985, 1.381, 1.875, 0, 0, 0, [SEP] 28, Window, 0.118, 1.496, -1.588, 90, 180, 0, [SEP] 29, LightSwitch, 2.654, 1.276, 1.899, 0, 180, 0, [SEP] 30, Chair, 2.457, 0.011, -0.997, 0, 189.124, 0, [SEP] 31, Shelf, 2.476, 0.919, -1.384, 0, 0, 0, [SEP] 32, Shelf, 2.251, 1.503, -1.383, 0, 0, 0, [SEP] 33, Shelf, 2.700, 1.510, -1.380, 0, 0, 0, [SEP] 34, Shelf, 2.476, 1.153, -1.384, 0, 0, 0, [SEP] 35, Shelf, 1.803, 1.386, -1.384, 0, 0, 0, [SEP] 36, Shelf, 1.803, 0.919, -1.381, 0, 0, 0, [SEP] 37, DogBed, 0.920, 0.013, -1.044, 0, 0, 0, [SEP] 38, Drawer, -1.305, 0.454, -0.918, 0, 90, 0, [SEP] 39, Drawer, -1.305, 0.752, -0.919, 0, 90, 0, [SEP] 40, Drawer, -1.305, 0.178, -0.918, 0, 90, 0, [SEP] 41, Drawer, -1.305, 0.752, -0.579, 0, 90, 0, [SEP] 42, Dresser, -1.328, 0.011, -0.744, 0, 90, 0, [SEP] 43, Drawer, -1.306, 1.031, -0.579, 0, 90, 0, [SEP] 44, Drawer, -1.305, 0.454, -0.578, 0, 90, 0, [SEP] 45, Drawer, -1.305, 0.178, -0.578, 0, 90, 0, [SEP] 46, Drawer, -1.305, 1.031, -0.919, 0, 90, 0, [SEP] 47, Desk, 2.211, 0.009, -1.259, 0, 0, 0, [SEP] 48, Drawer, 2.817, 0.189, -1.176, 0, 0, 0, [SEP] 49, Drawer, 1.940, 0.632, -1.176, 0, 0, 0, [SEP] 50, Drawer, 1.940, 0.189, -1.176, 0, 0, 0, [SEP] 51, Drawer, 1.623, 0.632, -1.176, 0, 0, 0, [SEP] 52, Drawer, 2.817, 0.632, -1.176, 0, 0, 0, [SEP] 53, Drawer, 2.817, 0.411, -1.176, 0, 0, 0, [SEP] 54, Drawer, 1.623, 0.189, -1.176, 0, 0, 0, [SEP] 55, Drawer, 1.623, 0.410, -1.176, 0, 0, 0, [SEP] 56, Drawer, 1.940, 0.410, -1.176, 0, 0, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, EastWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, WestWall, , , , , , , ", "output": ["STEP 1: Make a right to walk to the white desk. | STEP 2: Pick up the large grey bowl from the desk. | STEP 3: Make a right to walk to the white dresser. | STEP 4: Turn on the lamp on the dresser. | END"]} +{"id": "trial_T20190909_150719_492274-2", "input": "Look at a bowl by the light of a lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, -0.75, 0, 0, 0, [SEP] 1, CellPhone, -1.248, 1.238, -0.745, 0, 0, 0, 42 [SEP] 2, Pencil, -1.352, 1.236, -0.649, 0, 0, 0, 42 [SEP] 3, Pencil, 2.655, 1.281, -1.387, 0, 0, 0, 33 [SEP] 4, Book, -0.902, 0.574, 1.179, 0, 332.922, 0, 23 [SEP] 5, Box, 2.734, 0.195, 0.89, 0, 0, 0, [SEP] 6, Laptop, -0.5, 0.56, 0.286, 0, 63.464, 0, 23 [SEP] 7, CellPhone, -1.264, 0.108, -0.615, 0, 0, 0, 40 [SEP] 8, BaseballBat, 2.847, 0.643, 1.838, 0, 0, 335.111, [SEP] 9, BasketBall, 1.019, 0.330, -0.977, 346.775, 295.617, 1.021, [SEP] 10, TissueBox, 1.594, 0.350, -1.218, 0, 0, 0, 55 [SEP] 11, CreditCard, -1.352, 1.234, -0.745, 0, 0, 0, 42 [SEP] 12, AlarmClock, 1.839, 0.796, -1.249, 0, 0, 0, 47 [SEP] 13, Pencil, -1.293, 0.108, -0.881, 0, 0, 0, 40 [SEP] 14, Boots, -1.279, 0.000, -1.343, 0, 27.143, 0, [SEP] 15, Pillow, -0.634, 0.63, 1.611, 0, 0, 0, 23 [SEP] 16, KeyChain, 2.027, 0.794, -1.217, 0, 270, 0, 47 [SEP] 17, Bowl, 2.779, 0.795, -1.217, 0, 0, 0, 47 [SEP] 18, Watch, -1.387, 1.235, -0.458, 0, 0, 0, 42 [SEP] 19, CD, -1.350, 0.105, -0.988, 0, 0, 0, 40 [SEP] 20, Pen, 2.756, 1.284, -1.372, 0, 0, 0, 33 [SEP] 21, Mug, 2.591, 0.793, -1.217, 0, 180, 0, 47 [SEP] 22, Statue, 1.823, 1.036, -1.419, 0, 0, 0, 47 [SEP] 23, Bed, -0.640, 0.008, 0.871, 0, 0, 0, [SEP] 24, DeskLamp, -1.319, 1.238, -0.994, 0, 90, 0, [SEP] 25, GarbageCan, 2.838, 0.007, 0.215, 0, 270, 0, [SEP] 26, Blinds, 0.111, 2.337, -1.436, 0, 0, 0, [SEP] 27, Mirror, 1.985, 1.381, 1.875, 0, 0, 0, [SEP] 28, Window, 0.118, 1.496, -1.588, 90, 180, 0, [SEP] 29, LightSwitch, 2.654, 1.276, 1.899, 0, 180, 0, [SEP] 30, Chair, 2.457, 0.011, -0.997, 0, 189.124, 0, [SEP] 31, Shelf, 2.476, 0.919, -1.384, 0, 0, 0, [SEP] 32, Shelf, 2.251, 1.503, -1.383, 0, 0, 0, [SEP] 33, Shelf, 2.700, 1.510, -1.380, 0, 0, 0, [SEP] 34, Shelf, 2.476, 1.153, -1.384, 0, 0, 0, [SEP] 35, Shelf, 1.803, 1.386, -1.384, 0, 0, 0, [SEP] 36, Shelf, 1.803, 0.919, -1.381, 0, 0, 0, [SEP] 37, DogBed, 0.920, 0.013, -1.044, 0, 0, 0, [SEP] 38, Drawer, -1.305, 0.454, -0.918, 0, 90, 0, [SEP] 39, Drawer, -1.305, 0.752, -0.919, 0, 90, 0, [SEP] 40, Drawer, -1.305, 0.178, -0.918, 0, 90, 0, [SEP] 41, Drawer, -1.305, 0.752, -0.579, 0, 90, 0, [SEP] 42, Dresser, -1.328, 0.011, -0.744, 0, 90, 0, [SEP] 43, Drawer, -1.306, 1.031, -0.579, 0, 90, 0, [SEP] 44, Drawer, -1.305, 0.454, -0.578, 0, 90, 0, [SEP] 45, Drawer, -1.305, 0.178, -0.578, 0, 90, 0, [SEP] 46, Drawer, -1.305, 1.031, -0.919, 0, 90, 0, [SEP] 47, Desk, 2.211, 0.009, -1.259, 0, 0, 0, [SEP] 48, Drawer, 2.817, 0.189, -1.176, 0, 0, 0, [SEP] 49, Drawer, 1.940, 0.632, -1.176, 0, 0, 0, [SEP] 50, Drawer, 1.940, 0.189, -1.176, 0, 0, 0, [SEP] 51, Drawer, 1.623, 0.632, -1.176, 0, 0, 0, [SEP] 52, Drawer, 2.817, 0.632, -1.176, 0, 0, 0, [SEP] 53, Drawer, 2.817, 0.411, -1.176, 0, 0, 0, [SEP] 54, Drawer, 1.623, 0.189, -1.176, 0, 0, 0, [SEP] 55, Drawer, 1.623, 0.410, -1.176, 0, 0, 0, [SEP] 56, Drawer, 1.940, 0.410, -1.176, 0, 0, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, EastWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk past the desk chair, and face the desk. | STEP 2: Pick up the gray bowl on the desk. | STEP 3: Turn right and walk to the dresser at the foot of the bed. | STEP 4: Turn on the lamp on the dresser. | END"]} +{"id": "trial_T20190908_132152_999725-0", "input": "Wash a fork and place inside kitchen drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.900, -1.0, 0, 180, 0, [SEP] 1, Pan, -1.081, 0.949, -1.527, 0, 0, 0, 75 [SEP] 2, Pen, -1.886, 0.913, -1.620, 0, 0, 0, 79 [SEP] 3, Potato, -1.712, 0.952, 0.032, 0, 0, 0, 76 [SEP] 4, Potato, 1.441, 1.307, 0.188, 0, 270, 0, 96 [SEP] 5, Ladle, 0.649, 0.161, -1.585, 0, 90, 0, 68 [SEP] 6, ButterKnife, 1.414, 1.162, -1.345, 0, 0, 0, 80 [SEP] 7, ButterKnife, 1.343, 0.911, 0.031, 0, 0, 0, 74 [SEP] 8, DishSponge, 1.090, 0.114, -0.773, 0, 0, 0, 58 [SEP] 9, Glassbottle, 0.973, 0.115, -0.699, 0, 0, 0, 58 [SEP] 10, Glassbottle, -0.748, 1.656, -1.764, 0, 0, 0, 56 [SEP] 11, Spoon, 0.903, 0.776, 0.323, 0, 90, 0, 51 [SEP] 12, Spoon, -1.809, 0.911, -1.879, 0, 0, 0, 72 [SEP] 13, Spatula, -1.957, 0.925, 0.377, 0, 90, 0, 76 [SEP] 14, Spatula, 1.335, 1.177, -1.345, 0, 90, 0, 80 [SEP] 15, Pot, -1.431, 0.949, -1.525, 0, 0, 0, 82 [SEP] 16, Plate, 1.150, 0.115, -1.071, 0, 0, 0, 59 [SEP] 17, Knife, -2.201, 0.940, 0.118, 0, 0, 0, 76 [SEP] 18, Knife, 0.949, 0.804, -1.178, 0, 90, 0, 52 [SEP] 19, SoapBottle, -1.396, 1.858, -1.838, 0, 0, 0, 67 [SEP] 20, SoapBottle, 1.381, 0.214, 1.051, 0, 0, 0, 91 [SEP] 21, Bowl, -2.079, 0.911, 0.463, 0, 0, 0, 76 [SEP] 22, Bowl, 1.426, 1.368, 1.976, 0, 270, 0, 93 [SEP] 23, PepperShaker, 1.494, 1.157, -1.345, 0, 0, 0, 80 [SEP] 24, PepperShaker, -1.886, 0.905, -1.879, 0, 0, 0, 72 [SEP] 25, Tomato, 1.323, 1.760, 1.650, 0, 270, 0, 93 [SEP] 26, Glassbottle, 1.414, 1.162, -0.659, 0, 0, 0, 80 [SEP] 27, Knife, -0.401, 0.941, -1.789, 0, 0, 0, 74 [SEP] 28, Plate, 1.342, 1.656, -0.736, 0, 0, 0, 62 [SEP] 29, Fork, -1.712, 0.911, 0.463, 0, 0, 0, 76 [SEP] 30, Ladle, -1.886, 0.954, -1.448, 0, 0, 0, 72 [SEP] 31, Potato, 1.375, 1.203, 0.370, 0, 90, 0, 80 [SEP] 32, Lettuce, -2.323, 0.979, 0.377, 0, 0, 0, 76 [SEP] 33, Kettle, -1.431, 0.949, -1.81, 0, 0, 0, 84 [SEP] 34, Pen, -0.401, 0.913, -1.448, 0, 0, 0, 74 [SEP] 35, SaltShaker, -0.174, 0.906, -1.436, 0, 0, 0, 74 [SEP] 36, Cup, -0.342, 0.117, -1.586, 0, 0, 0, 60 [SEP] 37, Egg, 1.275, 1.396, 2.101, 0, 270, 0, 93 [SEP] 38, Spatula, 1.296, 1.177, -1.688, 0, 90, 0, 80 [SEP] 39, Bowl, -1.039, 1.851, -1.802, 0, 0, 0, 54 [SEP] 40, SprayBottle, -0.406, 0.116, -1.683, 0, 90, 0, 60 [SEP] 41, Pan, 1.376, 1.367, 2.226, 0, 270, 0, 93 [SEP] 42, SoapBottle, 0.183, 0.919, -1.708, 0, 270, 0, 53 [SEP] 43, Pot, -1.081, 0.949, -1.81, 0, 0, 0, 70 [SEP] 44, ButterKnife, 1.176, 0.911, 0.372, 0, 0, 0, 74 [SEP] 45, PepperShaker, 1.342, 1.651, -1.342, 0, 0, 0, 66 [SEP] 46, DishSponge, -1.835, 0.910, 0.204, 0, 0, 0, 76 [SEP] 47, Bread, 1.375, 1.240, -1.002, 0, 0, 0, 80 [SEP] 48, Apple, 1.476, 1.402, 1.725, 0, 270, 0, 93 [SEP] 49, Spoon, -1.712, 0.911, 0.291, 0, 0, 0, 76 [SEP] 50, Mug, 0.285, 0.914, -1.808, 0, 270, 0, 53 [SEP] 51, Drawer, 0.860, 0.75, 0.430, 0, 0, 0, [SEP] 52, Drawer, 0.871, 0.75, -1.134, 0, 0, 0, [SEP] 53, Sink, 0.156, 0.817, -1.801, 0, 270, 0, [SEP] 54, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0, [SEP] 55, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0, [SEP] 56, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0, [SEP] 57, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0, [SEP] 58, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0, [SEP] 59, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0, [SEP] 60, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0, [SEP] 61, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0, [SEP] 62, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0, [SEP] 63, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0, [SEP] 64, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0, [SEP] 65, Drawer, 0.860, 0.75, -0.699, 0, 0, 0, [SEP] 66, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0, [SEP] 67, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0, [SEP] 68, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0, [SEP] 69, Drawer, -2.105, 0.75, -1.389, 0, 0, 0, [SEP] 70, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0, [SEP] 71, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0, [SEP] 72, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0, [SEP] 73, Drawer, -0.375, 0.75, -1.389, 0, 0, 0, [SEP] 74, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0, [SEP] 75, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0, [SEP] 76, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0, [SEP] 77, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0, [SEP] 78, Drawer, 0.584, 0.75, -1.389, 0, 0, 0, [SEP] 79, Drawer, -1.795, 0.75, -1.389, 0, 0, 0, [SEP] 80, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0, [SEP] 81, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0, [SEP] 82, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0, [SEP] 83, Drawer, -0.685, 0.75, -1.389, 0, 0, 0, [SEP] 84, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0, [SEP] 85, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0, [SEP] 86, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0, [SEP] 87, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0, [SEP] 88, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0, [SEP] 89, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0, [SEP] 90, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0, [SEP] 91, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0, [SEP] 92, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0, [SEP] 93, Fridge, 1.417, 0.0, 2.101, 0, 0, 0, [SEP] 94, Window, -0.486, 1.452, 3.302, 90, 0, 0, [SEP] 95, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0, [SEP] 96, Microwave, 1.422, 1.150, 0.022, 0, 270, 0, [SEP] 97, Toaster, -2.066, 0.900, -1.848, 0, 0, 0, [SEP] 98, Stool, -1.994, 0.010, 0.882, 0, 0, 0, [SEP] 99, Faucet, -0.096, 1.041, -1.867, 0, 270, 0, [SEP] 100, NorthWall, , , , , , , [SEP] 101, EastWall, , , , , , , [SEP] 102, SouthWall, , , , , , , [SEP] 103, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, walk towards the stove and turn left. Go forward to reach the counter on the left. | STEP 2: Pick up the form on the right side of the counter. | STEP 3: Turn around and walk forward, then turn right to go to the kitchen sink. | STEP 4: Place the fork in the sink and turn on the water for a few seconds, then turn off the water. | STEP 5: Pick up the fork from the sink. | STEP 6: Turn left and open the second drawer on the right, place the fork in and close it. | END"]} +{"id": "trial_T20190908_132152_999725-1", "input": "Put a clean fork in the drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.900, -1.0, 0, 180, 0, [SEP] 1, Pan, -1.081, 0.949, -1.527, 0, 0, 0, 75 [SEP] 2, Pen, -1.886, 0.913, -1.620, 0, 0, 0, 79 [SEP] 3, Potato, -1.712, 0.952, 0.032, 0, 0, 0, 76 [SEP] 4, Potato, 1.441, 1.307, 0.188, 0, 270, 0, 96 [SEP] 5, Ladle, 0.649, 0.161, -1.585, 0, 90, 0, 68 [SEP] 6, ButterKnife, 1.414, 1.162, -1.345, 0, 0, 0, 80 [SEP] 7, ButterKnife, 1.343, 0.911, 0.031, 0, 0, 0, 74 [SEP] 8, DishSponge, 1.090, 0.114, -0.773, 0, 0, 0, 58 [SEP] 9, Glassbottle, 0.973, 0.115, -0.699, 0, 0, 0, 58 [SEP] 10, Glassbottle, -0.748, 1.656, -1.764, 0, 0, 0, 56 [SEP] 11, Spoon, 0.903, 0.776, 0.323, 0, 90, 0, 51 [SEP] 12, Spoon, -1.809, 0.911, -1.879, 0, 0, 0, 72 [SEP] 13, Spatula, -1.957, 0.925, 0.377, 0, 90, 0, 76 [SEP] 14, Spatula, 1.335, 1.177, -1.345, 0, 90, 0, 80 [SEP] 15, Pot, -1.431, 0.949, -1.525, 0, 0, 0, 82 [SEP] 16, Plate, 1.150, 0.115, -1.071, 0, 0, 0, 59 [SEP] 17, Knife, -2.201, 0.940, 0.118, 0, 0, 0, 76 [SEP] 18, Knife, 0.949, 0.804, -1.178, 0, 90, 0, 52 [SEP] 19, SoapBottle, -1.396, 1.858, -1.838, 0, 0, 0, 67 [SEP] 20, SoapBottle, 1.381, 0.214, 1.051, 0, 0, 0, 91 [SEP] 21, Bowl, -2.079, 0.911, 0.463, 0, 0, 0, 76 [SEP] 22, Bowl, 1.426, 1.368, 1.976, 0, 270, 0, 93 [SEP] 23, PepperShaker, 1.494, 1.157, -1.345, 0, 0, 0, 80 [SEP] 24, PepperShaker, -1.886, 0.905, -1.879, 0, 0, 0, 72 [SEP] 25, Tomato, 1.323, 1.760, 1.650, 0, 270, 0, 93 [SEP] 26, Glassbottle, 1.414, 1.162, -0.659, 0, 0, 0, 80 [SEP] 27, Knife, -0.401, 0.941, -1.789, 0, 0, 0, 74 [SEP] 28, Plate, 1.342, 1.656, -0.736, 0, 0, 0, 62 [SEP] 29, Fork, -1.712, 0.911, 0.463, 0, 0, 0, 76 [SEP] 30, Ladle, -1.886, 0.954, -1.448, 0, 0, 0, 72 [SEP] 31, Potato, 1.375, 1.203, 0.370, 0, 90, 0, 80 [SEP] 32, Lettuce, -2.323, 0.979, 0.377, 0, 0, 0, 76 [SEP] 33, Kettle, -1.431, 0.949, -1.81, 0, 0, 0, 84 [SEP] 34, Pen, -0.401, 0.913, -1.448, 0, 0, 0, 74 [SEP] 35, SaltShaker, -0.174, 0.906, -1.436, 0, 0, 0, 74 [SEP] 36, Cup, -0.342, 0.117, -1.586, 0, 0, 0, 60 [SEP] 37, Egg, 1.275, 1.396, 2.101, 0, 270, 0, 93 [SEP] 38, Spatula, 1.296, 1.177, -1.688, 0, 90, 0, 80 [SEP] 39, Bowl, -1.039, 1.851, -1.802, 0, 0, 0, 54 [SEP] 40, SprayBottle, -0.406, 0.116, -1.683, 0, 90, 0, 60 [SEP] 41, Pan, 1.376, 1.367, 2.226, 0, 270, 0, 93 [SEP] 42, SoapBottle, 0.183, 0.919, -1.708, 0, 270, 0, 53 [SEP] 43, Pot, -1.081, 0.949, -1.81, 0, 0, 0, 70 [SEP] 44, ButterKnife, 1.176, 0.911, 0.372, 0, 0, 0, 74 [SEP] 45, PepperShaker, 1.342, 1.651, -1.342, 0, 0, 0, 66 [SEP] 46, DishSponge, -1.835, 0.910, 0.204, 0, 0, 0, 76 [SEP] 47, Bread, 1.375, 1.240, -1.002, 0, 0, 0, 80 [SEP] 48, Apple, 1.476, 1.402, 1.725, 0, 270, 0, 93 [SEP] 49, Spoon, -1.712, 0.911, 0.291, 0, 0, 0, 76 [SEP] 50, Mug, 0.285, 0.914, -1.808, 0, 270, 0, 53 [SEP] 51, Drawer, 0.860, 0.75, 0.430, 0, 0, 0, [SEP] 52, Drawer, 0.871, 0.75, -1.134, 0, 0, 0, [SEP] 53, Sink, 0.156, 0.817, -1.801, 0, 270, 0, [SEP] 54, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0, [SEP] 55, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0, [SEP] 56, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0, [SEP] 57, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0, [SEP] 58, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0, [SEP] 59, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0, [SEP] 60, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0, [SEP] 61, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0, [SEP] 62, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0, [SEP] 63, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0, [SEP] 64, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0, [SEP] 65, Drawer, 0.860, 0.75, -0.699, 0, 0, 0, [SEP] 66, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0, [SEP] 67, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0, [SEP] 68, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0, [SEP] 69, Drawer, -2.105, 0.75, -1.389, 0, 0, 0, [SEP] 70, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0, [SEP] 71, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0, [SEP] 72, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0, [SEP] 73, Drawer, -0.375, 0.75, -1.389, 0, 0, 0, [SEP] 74, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0, [SEP] 75, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0, [SEP] 76, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0, [SEP] 77, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0, [SEP] 78, Drawer, 0.584, 0.75, -1.389, 0, 0, 0, [SEP] 79, Drawer, -1.795, 0.75, -1.389, 0, 0, 0, [SEP] 80, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0, [SEP] 81, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0, [SEP] 82, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0, [SEP] 83, Drawer, -0.685, 0.75, -1.389, 0, 0, 0, [SEP] 84, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0, [SEP] 85, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0, [SEP] 86, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0, [SEP] 87, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0, [SEP] 88, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0, [SEP] 89, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0, [SEP] 90, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0, [SEP] 91, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0, [SEP] 92, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0, [SEP] 93, Fridge, 1.417, 0.0, 2.101, 0, 0, 0, [SEP] 94, Window, -0.486, 1.452, 3.302, 90, 0, 0, [SEP] 95, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0, [SEP] 96, Microwave, 1.422, 1.150, 0.022, 0, 270, 0, [SEP] 97, Toaster, -2.066, 0.900, -1.848, 0, 0, 0, [SEP] 98, Stool, -1.994, 0.010, 0.882, 0, 0, 0, [SEP] 99, Faucet, -0.096, 1.041, -1.867, 0, 270, 0, [SEP] 100, NorthWall, , , , , , , [SEP] 101, EastWall, , , , , , , [SEP] 102, SouthWall, , , , , , , [SEP] 103, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the stove then turn left and walk to the counter on your left and turn left when you get to it to face it. | STEP 2: Pick up the fork that's near the corner near you. | STEP 3: Turn around and take two steps then turn right and walk to the sink that's in front of you. | STEP 4: Wash the fork in the sink and then pick it back up and shut off the water. | STEP 5: Turn left please. | STEP 6: Open the drawer on your right closest to the corner in front of you and put the fork in there before closing the drawer again. | END"]} +{"id": "trial_T20190908_132152_999725-2", "input": "Wash the fork. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.900, -1.0, 0, 180, 0, [SEP] 1, Pan, -1.081, 0.949, -1.527, 0, 0, 0, 75 [SEP] 2, Pen, -1.886, 0.913, -1.620, 0, 0, 0, 79 [SEP] 3, Potato, -1.712, 0.952, 0.032, 0, 0, 0, 76 [SEP] 4, Potato, 1.441, 1.307, 0.188, 0, 270, 0, 96 [SEP] 5, Ladle, 0.649, 0.161, -1.585, 0, 90, 0, 68 [SEP] 6, ButterKnife, 1.414, 1.162, -1.345, 0, 0, 0, 80 [SEP] 7, ButterKnife, 1.343, 0.911, 0.031, 0, 0, 0, 74 [SEP] 8, DishSponge, 1.090, 0.114, -0.773, 0, 0, 0, 58 [SEP] 9, Glassbottle, 0.973, 0.115, -0.699, 0, 0, 0, 58 [SEP] 10, Glassbottle, -0.748, 1.656, -1.764, 0, 0, 0, 56 [SEP] 11, Spoon, 0.903, 0.776, 0.323, 0, 90, 0, 51 [SEP] 12, Spoon, -1.809, 0.911, -1.879, 0, 0, 0, 72 [SEP] 13, Spatula, -1.957, 0.925, 0.377, 0, 90, 0, 76 [SEP] 14, Spatula, 1.335, 1.177, -1.345, 0, 90, 0, 80 [SEP] 15, Pot, -1.431, 0.949, -1.525, 0, 0, 0, 82 [SEP] 16, Plate, 1.150, 0.115, -1.071, 0, 0, 0, 59 [SEP] 17, Knife, -2.201, 0.940, 0.118, 0, 0, 0, 76 [SEP] 18, Knife, 0.949, 0.804, -1.178, 0, 90, 0, 52 [SEP] 19, SoapBottle, -1.396, 1.858, -1.838, 0, 0, 0, 67 [SEP] 20, SoapBottle, 1.381, 0.214, 1.051, 0, 0, 0, 91 [SEP] 21, Bowl, -2.079, 0.911, 0.463, 0, 0, 0, 76 [SEP] 22, Bowl, 1.426, 1.368, 1.976, 0, 270, 0, 93 [SEP] 23, PepperShaker, 1.494, 1.157, -1.345, 0, 0, 0, 80 [SEP] 24, PepperShaker, -1.886, 0.905, -1.879, 0, 0, 0, 72 [SEP] 25, Tomato, 1.323, 1.760, 1.650, 0, 270, 0, 93 [SEP] 26, Glassbottle, 1.414, 1.162, -0.659, 0, 0, 0, 80 [SEP] 27, Knife, -0.401, 0.941, -1.789, 0, 0, 0, 74 [SEP] 28, Plate, 1.342, 1.656, -0.736, 0, 0, 0, 62 [SEP] 29, Fork, -1.712, 0.911, 0.463, 0, 0, 0, 76 [SEP] 30, Ladle, -1.886, 0.954, -1.448, 0, 0, 0, 72 [SEP] 31, Potato, 1.375, 1.203, 0.370, 0, 90, 0, 80 [SEP] 32, Lettuce, -2.323, 0.979, 0.377, 0, 0, 0, 76 [SEP] 33, Kettle, -1.431, 0.949, -1.81, 0, 0, 0, 84 [SEP] 34, Pen, -0.401, 0.913, -1.448, 0, 0, 0, 74 [SEP] 35, SaltShaker, -0.174, 0.906, -1.436, 0, 0, 0, 74 [SEP] 36, Cup, -0.342, 0.117, -1.586, 0, 0, 0, 60 [SEP] 37, Egg, 1.275, 1.396, 2.101, 0, 270, 0, 93 [SEP] 38, Spatula, 1.296, 1.177, -1.688, 0, 90, 0, 80 [SEP] 39, Bowl, -1.039, 1.851, -1.802, 0, 0, 0, 54 [SEP] 40, SprayBottle, -0.406, 0.116, -1.683, 0, 90, 0, 60 [SEP] 41, Pan, 1.376, 1.367, 2.226, 0, 270, 0, 93 [SEP] 42, SoapBottle, 0.183, 0.919, -1.708, 0, 270, 0, 53 [SEP] 43, Pot, -1.081, 0.949, -1.81, 0, 0, 0, 70 [SEP] 44, ButterKnife, 1.176, 0.911, 0.372, 0, 0, 0, 74 [SEP] 45, PepperShaker, 1.342, 1.651, -1.342, 0, 0, 0, 66 [SEP] 46, DishSponge, -1.835, 0.910, 0.204, 0, 0, 0, 76 [SEP] 47, Bread, 1.375, 1.240, -1.002, 0, 0, 0, 80 [SEP] 48, Apple, 1.476, 1.402, 1.725, 0, 270, 0, 93 [SEP] 49, Spoon, -1.712, 0.911, 0.291, 0, 0, 0, 76 [SEP] 50, Mug, 0.285, 0.914, -1.808, 0, 270, 0, 53 [SEP] 51, Drawer, 0.860, 0.75, 0.430, 0, 0, 0, [SEP] 52, Drawer, 0.871, 0.75, -1.134, 0, 0, 0, [SEP] 53, Sink, 0.156, 0.817, -1.801, 0, 270, 0, [SEP] 54, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0, [SEP] 55, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0, [SEP] 56, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0, [SEP] 57, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0, [SEP] 58, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0, [SEP] 59, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0, [SEP] 60, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0, [SEP] 61, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0, [SEP] 62, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0, [SEP] 63, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0, [SEP] 64, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0, [SEP] 65, Drawer, 0.860, 0.75, -0.699, 0, 0, 0, [SEP] 66, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0, [SEP] 67, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0, [SEP] 68, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0, [SEP] 69, Drawer, -2.105, 0.75, -1.389, 0, 0, 0, [SEP] 70, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0, [SEP] 71, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0, [SEP] 72, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0, [SEP] 73, Drawer, -0.375, 0.75, -1.389, 0, 0, 0, [SEP] 74, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0, [SEP] 75, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0, [SEP] 76, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0, [SEP] 77, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0, [SEP] 78, Drawer, 0.584, 0.75, -1.389, 0, 0, 0, [SEP] 79, Drawer, -1.795, 0.75, -1.389, 0, 0, 0, [SEP] 80, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0, [SEP] 81, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0, [SEP] 82, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0, [SEP] 83, Drawer, -0.685, 0.75, -1.389, 0, 0, 0, [SEP] 84, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0, [SEP] 85, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0, [SEP] 86, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0, [SEP] 87, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0, [SEP] 88, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0, [SEP] 89, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0, [SEP] 90, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0, [SEP] 91, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0, [SEP] 92, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0, [SEP] 93, Fridge, 1.417, 0.0, 2.101, 0, 0, 0, [SEP] 94, Window, -0.486, 1.452, 3.302, 90, 0, 0, [SEP] 95, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0, [SEP] 96, Microwave, 1.422, 1.150, 0.022, 0, 270, 0, [SEP] 97, Toaster, -2.066, 0.900, -1.848, 0, 0, 0, [SEP] 98, Stool, -1.994, 0.010, 0.882, 0, 0, 0, [SEP] 99, Faucet, -0.096, 1.041, -1.867, 0, 270, 0, [SEP] 100, NorthWall, , , , , , , [SEP] 101, EastWall, , , , , , , [SEP] 102, SouthWall, , , , , , , [SEP] 103, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left and take two steps, then turn to the left and take two steps, then turn t the left and walk to the counter. | STEP 2: Pick up the fork that is near the spoon on the counter. | STEP 3: Turn left and walk two steps, then turn right and walk to the counter. | STEP 4: Put the fork in the sink, turn the water on for three seconds, then turn the water off and pick up the spoon. | STEP 5: Turn to the left and look at the cabinets. | STEP 6: Open the furthest drawer on the right side and put the fork in the drawer. | END"]} +{"id": "trial_T20190909_150916_682139-0", "input": "Carry a purple pillow while turning on a lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 0.75, 0, 270, 0, [SEP] 1, CellPhone, 0.323, 0.678, -1.586, 0, 0, 0, 41 [SEP] 2, CellPhone, -1.283, 1.824, -1.344, 0, 0, 0, 29 [SEP] 3, CreditCard, 0.504, 0.673, -1.586, 0, 0, 0, 41 [SEP] 4, CreditCard, -1.309, 1.822, -1.431, 0, 0, 0, 29 [SEP] 5, KeyChain, -1.256, 1.459, -0.603, 0, 0, 0, 27 [SEP] 6, KeyChain, -1.052, 0.793, -0.600, 0, 0, 0, 42 [SEP] 7, Book, 0.953, 0.578, -0.408, 0, 0, 0, 43 [SEP] 8, Book, -1.265, 0.794, -0.385, 0, 180, 0, 42 [SEP] 9, Pencil, -0.670, 0.796, -1.760, 0, 0, 0, 42 [SEP] 10, Laptop, 1.243, 0.574, -0.408, 0, 0, 0, 21 [SEP] 11, Pen, -1.194, 0.798, -1.243, 0, 0, 0, 42 [SEP] 12, TennisRacket, -1.226, 0.301, -0.069, 15.000, 180, 180, [SEP] 13, TeddyBear, 1.629, 0.557, -1.064, 0, 118.287, 0, 43 [SEP] 14, Pillow, 1.215, 0.641, -1.663, 0, 0, 0, 21 [SEP] 15, CellPhone, -1.265, 0.794, -0.600, 0, 0, 0, 42 [SEP] 16, KeyChain, 0.419, 0.374, 1.238, 0, 0, 0, 36 [SEP] 17, AlarmClock, -0.964, 0.794, -1.568, 0, 0, 0, 42 [SEP] 18, CreditCard, 0.305, 0.082, 1.191, 0, 0, 0, 35 [SEP] 19, CD, -1.052, 0.792, -1.243, 0, 0, 0, 42 [SEP] 20, Bowl, -1.283, 1.824, -0.778, 0, 0, 0, 28 [SEP] 21, Bed, 1.242, -0.001, -0.881, 0, 180, 0, [SEP] 22, LightSwitch, 0.010, 1.315, 1.499, 0, 180, 0, [SEP] 23, GarbageCan, 0.840, 0.007, 1.337, 0, 180, 2.168, [SEP] 24, HousePlant, -0.083, 0.828, -2.045, 0, 0, 0, [SEP] 25, Shelf, -0.469, 0.828, -2.038, 0, 0, 0, [SEP] 26, Shelf, -1.286, 1.451, -1.343, 0, 0, 0, [SEP] 27, Shelf, -1.286, 1.451, -0.602, 0, 0, 0, [SEP] 28, Shelf, -1.286, 1.814, -0.602, 0, 0, 0, [SEP] 29, Shelf, -1.286, 1.814, -1.343, 0, 0, 0, [SEP] 30, Painting, 1.111, 1.628, -1.865, 90, 0, 0, [SEP] 31, DeskLamp, 0.473, 0.669, 1.350, 0, 0, 0, [SEP] 32, Mirror, -1.383, 1.565, 0.512, 0, 270, 0, [SEP] 33, Window, -0.472, 1.396, -2.252, 90, 0, 0, [SEP] 34, SideTable, 0.304, -0.001, 1.225, 0, 180, 0, [SEP] 35, Drawer, 0.304, 0.165, 1.159, 0, 180, 0, [SEP] 36, Drawer, 0.304, 0.457, 1.159, 0, 180, 0, [SEP] 37, Blinds, -0.453, 2.156, -2.242, 0, 0, 0, [SEP] 38, Safe, 1.623, 5.960, 0.448, 0, 270, 0, [SEP] 39, Chair, -0.683, 0.000, -1.326, 0, 217.223, 0, [SEP] 40, Drawer, 0.416, 0.532, -1.553, 0, 0, 0, [SEP] 41, SideTable, 0.413, 0.000, -1.684, 0, 0, 0, [SEP] 42, Desk, -0.788, 0.000, -1.032, 0, 90, 0, [SEP] 43, , , , , , , , [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: Move to face the head board of the bed where the purple pillow is | STEP 2: Pick up the purple pillow on the bed | STEP 3: Carry the purple pillow over to the night stand with the lamp on top of it | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190909_150916_682139-1", "input": "Look at a pillow under the light of a lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 0.75, 0, 270, 0, [SEP] 1, CellPhone, 0.323, 0.678, -1.586, 0, 0, 0, 41 [SEP] 2, CellPhone, -1.283, 1.824, -1.344, 0, 0, 0, 29 [SEP] 3, CreditCard, 0.504, 0.673, -1.586, 0, 0, 0, 41 [SEP] 4, CreditCard, -1.309, 1.822, -1.431, 0, 0, 0, 29 [SEP] 5, KeyChain, -1.256, 1.459, -0.603, 0, 0, 0, 27 [SEP] 6, KeyChain, -1.052, 0.793, -0.600, 0, 0, 0, 42 [SEP] 7, Book, 0.953, 0.578, -0.408, 0, 0, 0, 43 [SEP] 8, Book, -1.265, 0.794, -0.385, 0, 180, 0, 42 [SEP] 9, Pencil, -0.670, 0.796, -1.760, 0, 0, 0, 42 [SEP] 10, Laptop, 1.243, 0.574, -0.408, 0, 0, 0, 21 [SEP] 11, Pen, -1.194, 0.798, -1.243, 0, 0, 0, 42 [SEP] 12, TennisRacket, -1.226, 0.301, -0.069, 15.000, 180, 180, [SEP] 13, TeddyBear, 1.629, 0.557, -1.064, 0, 118.287, 0, 43 [SEP] 14, Pillow, 1.215, 0.641, -1.663, 0, 0, 0, 21 [SEP] 15, CellPhone, -1.265, 0.794, -0.600, 0, 0, 0, 42 [SEP] 16, KeyChain, 0.419, 0.374, 1.238, 0, 0, 0, 36 [SEP] 17, AlarmClock, -0.964, 0.794, -1.568, 0, 0, 0, 42 [SEP] 18, CreditCard, 0.305, 0.082, 1.191, 0, 0, 0, 35 [SEP] 19, CD, -1.052, 0.792, -1.243, 0, 0, 0, 42 [SEP] 20, Bowl, -1.283, 1.824, -0.778, 0, 0, 0, 28 [SEP] 21, Bed, 1.242, -0.001, -0.881, 0, 180, 0, [SEP] 22, LightSwitch, 0.010, 1.315, 1.499, 0, 180, 0, [SEP] 23, GarbageCan, 0.840, 0.007, 1.337, 0, 180, 2.168, [SEP] 24, HousePlant, -0.083, 0.828, -2.045, 0, 0, 0, [SEP] 25, Shelf, -0.469, 0.828, -2.038, 0, 0, 0, [SEP] 26, Shelf, -1.286, 1.451, -1.343, 0, 0, 0, [SEP] 27, Shelf, -1.286, 1.451, -0.602, 0, 0, 0, [SEP] 28, Shelf, -1.286, 1.814, -0.602, 0, 0, 0, [SEP] 29, Shelf, -1.286, 1.814, -1.343, 0, 0, 0, [SEP] 30, Painting, 1.111, 1.628, -1.865, 90, 0, 0, [SEP] 31, DeskLamp, 0.473, 0.669, 1.350, 0, 0, 0, [SEP] 32, Mirror, -1.383, 1.565, 0.512, 0, 270, 0, [SEP] 33, Window, -0.472, 1.396, -2.252, 90, 0, 0, [SEP] 34, SideTable, 0.304, -0.001, 1.225, 0, 180, 0, [SEP] 35, Drawer, 0.304, 0.165, 1.159, 0, 180, 0, [SEP] 36, Drawer, 0.304, 0.457, 1.159, 0, 180, 0, [SEP] 37, Blinds, -0.453, 2.156, -2.242, 0, 0, 0, [SEP] 38, Safe, 1.623, 5.960, 0.448, 0, 270, 0, [SEP] 39, Chair, -0.683, 0.000, -1.326, 0, 217.223, 0, [SEP] 40, Drawer, 0.416, 0.532, -1.553, 0, 0, 0, [SEP] 41, SideTable, 0.413, 0.000, -1.684, 0, 0, 0, [SEP] 42, Desk, -0.788, 0.000, -1.032, 0, 90, 0, [SEP] 43, , , , , , , , [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the middle of the room, then turn right and walk to the window, then turn left to face the bed. | STEP 2: Pick up the purple pillow from the bed. | STEP 3: Turn left and walk to the nightstand to the right of the door. | STEP 4: Turn on the lamp that is on the nightstand. | END"]} +{"id": "trial_T20190909_150916_682139-2", "input": "Examine a pillow by the light of a table lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 0.75, 0, 270, 0, [SEP] 1, CellPhone, 0.323, 0.678, -1.586, 0, 0, 0, 41 [SEP] 2, CellPhone, -1.283, 1.824, -1.344, 0, 0, 0, 29 [SEP] 3, CreditCard, 0.504, 0.673, -1.586, 0, 0, 0, 41 [SEP] 4, CreditCard, -1.309, 1.822, -1.431, 0, 0, 0, 29 [SEP] 5, KeyChain, -1.256, 1.459, -0.603, 0, 0, 0, 27 [SEP] 6, KeyChain, -1.052, 0.793, -0.600, 0, 0, 0, 42 [SEP] 7, Book, 0.953, 0.578, -0.408, 0, 0, 0, 43 [SEP] 8, Book, -1.265, 0.794, -0.385, 0, 180, 0, 42 [SEP] 9, Pencil, -0.670, 0.796, -1.760, 0, 0, 0, 42 [SEP] 10, Laptop, 1.243, 0.574, -0.408, 0, 0, 0, 21 [SEP] 11, Pen, -1.194, 0.798, -1.243, 0, 0, 0, 42 [SEP] 12, TennisRacket, -1.226, 0.301, -0.069, 15.000, 180, 180, [SEP] 13, TeddyBear, 1.629, 0.557, -1.064, 0, 118.287, 0, 43 [SEP] 14, Pillow, 1.215, 0.641, -1.663, 0, 0, 0, 21 [SEP] 15, CellPhone, -1.265, 0.794, -0.600, 0, 0, 0, 42 [SEP] 16, KeyChain, 0.419, 0.374, 1.238, 0, 0, 0, 36 [SEP] 17, AlarmClock, -0.964, 0.794, -1.568, 0, 0, 0, 42 [SEP] 18, CreditCard, 0.305, 0.082, 1.191, 0, 0, 0, 35 [SEP] 19, CD, -1.052, 0.792, -1.243, 0, 0, 0, 42 [SEP] 20, Bowl, -1.283, 1.824, -0.778, 0, 0, 0, 28 [SEP] 21, Bed, 1.242, -0.001, -0.881, 0, 180, 0, [SEP] 22, LightSwitch, 0.010, 1.315, 1.499, 0, 180, 0, [SEP] 23, GarbageCan, 0.840, 0.007, 1.337, 0, 180, 2.168, [SEP] 24, HousePlant, -0.083, 0.828, -2.045, 0, 0, 0, [SEP] 25, Shelf, -0.469, 0.828, -2.038, 0, 0, 0, [SEP] 26, Shelf, -1.286, 1.451, -1.343, 0, 0, 0, [SEP] 27, Shelf, -1.286, 1.451, -0.602, 0, 0, 0, [SEP] 28, Shelf, -1.286, 1.814, -0.602, 0, 0, 0, [SEP] 29, Shelf, -1.286, 1.814, -1.343, 0, 0, 0, [SEP] 30, Painting, 1.111, 1.628, -1.865, 90, 0, 0, [SEP] 31, DeskLamp, 0.473, 0.669, 1.350, 0, 0, 0, [SEP] 32, Mirror, -1.383, 1.565, 0.512, 0, 270, 0, [SEP] 33, Window, -0.472, 1.396, -2.252, 90, 0, 0, [SEP] 34, SideTable, 0.304, -0.001, 1.225, 0, 180, 0, [SEP] 35, Drawer, 0.304, 0.165, 1.159, 0, 180, 0, [SEP] 36, Drawer, 0.304, 0.457, 1.159, 0, 180, 0, [SEP] 37, Blinds, -0.453, 2.156, -2.242, 0, 0, 0, [SEP] 38, Safe, 1.623, 5.960, 0.448, 0, 270, 0, [SEP] 39, Chair, -0.683, 0.000, -1.326, 0, 217.223, 0, [SEP] 40, Drawer, 0.416, 0.532, -1.553, 0, 0, 0, [SEP] 41, SideTable, 0.413, 0.000, -1.684, 0, 0, 0, [SEP] 42, Desk, -0.788, 0.000, -1.032, 0, 90, 0, [SEP] 43, , , , , , , , [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and go to the desk then turn left and go as far as the bed then turn right and go alongside the bed to the nightstand then turn left to face the nightstand | STEP 2: Pick up the pillow from the bed | STEP 3: Turn left and go past the end of the bed then turn right and go to the safe then turn left and go to the table with the lamp on it | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190907_114323_767231-0", "input": "Examine a CD by a lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, -0.75, 0, 0, 0, [SEP] 1, CD, 2.225, 0.049, 2.634, 0, 0, 0, 27 [SEP] 2, CD, -0.402, 0.088, -0.653, 0, 0, 0, 35 [SEP] 3, Pen, 2.245, 0.464, -0.190, 0, 90, 0, 29 [SEP] 4, Pen, 2.190, 0.848, -0.090, 0, 0, 0, 31 [SEP] 5, Pencil, -0.509, 0.928, -0.391, 0, 0, 0, 36 [SEP] 6, Pencil, 2.095, 0.846, -0.746, 0, 0, 0, 31 [SEP] 7, CreditCard, -0.245, 0.376, -0.653, 0, 0, 0, 34 [SEP] 8, CreditCard, 2.220, 0.461, -0.679, 0, 0, 0, 29 [SEP] 9, Box, 2.15, 0.14, 0.494, 0, 12.243, 0, [SEP] 10, Book, -0.320, 0.926, -0.391, 0, 0, 0, 36 [SEP] 11, BasketBall, -0.235, 0.120, 0.166, 0, 0, 0, [SEP] 12, Pen, -0.351, 0.673, -0.284, 0, 0, 0, 37 [SEP] 13, Pillow, -0.025, 0.561, 2.458, 0, 0, 0, 21 [SEP] 14, Pencil, 2.197, 0.053, 2.551, 0, 0, 0, 27 [SEP] 15, CellPhone, -0.349, 0.378, -0.193, 0, 0, 0, 35 [SEP] 16, KeyChain, -0.509, 0.925, -0.604, 0, 0, 0, 36 [SEP] 17, CreditCard, -0.402, 0.376, -0.561, 0, 0, 0, 34 [SEP] 18, AlarmClock, -0.225, 0.925, -1.459, 0, 0, 0, 36 [SEP] 19, CD, -0.349, 0.088, -0.193, 0, 0, 0, 35 [SEP] 20, Laptop, 0.333, 0.548, 1.263, 0, 0, 0, 21 [SEP] 21, Bed, 0.009, -0.004, 1.577, 0, 0, 0, [SEP] 22, DeskLamp, -0.669, 0.923, -0.062, 0, 90, 0, [SEP] 23, Painting, -0.787, 1.809, -0.215, 90, 270, 0, [SEP] 24, Painting, -0.787, 1.809, 1.023, 90, 270, 0, [SEP] 25, Mirror, 2.118, 1.277, 2.749, 0, 0, 0, [SEP] 26, LightSwitch, 0.726, 1.200, 2.75, 0, 180, 0, [SEP] 27, GarbageCan, 2.257, -0.008, 2.603, 353.970, 0, 0, [SEP] 28, Window, 0.665, 1.356, -1.911, 90, 0, 0, [SEP] 29, Drawer, 2.119, 0.576, -0.491, 4.458, 270, 0, [SEP] 30, Drawer, 2.147, 0.213, -0.491, 4.458, 270, 0, [SEP] 31, SideTable, 2.226, 0.013, -0.492, 4.458, 270, 0, [SEP] 32, Chair, 0.170, 0.011, -1.214, 0, 261.719, 0, [SEP] 33, Blinds, 0.695, 1.983, -1.867, 0, 0, 0, [SEP] 34, Drawer, -0.079, 0.513, -0.394, 0, 90, 0, [SEP] 35, Drawer, -0.079, 0.226, -0.394, 0, 90, 0, [SEP] 36, Desk, -0.391, 0.001, -0.811, 0, 90, 0, [SEP] 37, Drawer, -0.079, 0.762, -0.394, 0, 90, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the green stand then take a left and walk to the trash can that is on the right in the corner of the room | STEP 2: Pick up the CD that is in the trash can | STEP 3: Turn around and cross the room the green stand then turn right and head to the desk. | STEP 4: Turn on the lamp that is sitting on the desk | END"]} +{"id": "trial_T20190907_114323_767231-1", "input": "Examine a disc in the light of a lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, -0.75, 0, 0, 0, [SEP] 1, CD, 2.225, 0.049, 2.634, 0, 0, 0, 27 [SEP] 2, CD, -0.402, 0.088, -0.653, 0, 0, 0, 35 [SEP] 3, Pen, 2.245, 0.464, -0.190, 0, 90, 0, 29 [SEP] 4, Pen, 2.190, 0.848, -0.090, 0, 0, 0, 31 [SEP] 5, Pencil, -0.509, 0.928, -0.391, 0, 0, 0, 36 [SEP] 6, Pencil, 2.095, 0.846, -0.746, 0, 0, 0, 31 [SEP] 7, CreditCard, -0.245, 0.376, -0.653, 0, 0, 0, 34 [SEP] 8, CreditCard, 2.220, 0.461, -0.679, 0, 0, 0, 29 [SEP] 9, Box, 2.15, 0.14, 0.494, 0, 12.243, 0, [SEP] 10, Book, -0.320, 0.926, -0.391, 0, 0, 0, 36 [SEP] 11, BasketBall, -0.235, 0.120, 0.166, 0, 0, 0, [SEP] 12, Pen, -0.351, 0.673, -0.284, 0, 0, 0, 37 [SEP] 13, Pillow, -0.025, 0.561, 2.458, 0, 0, 0, 21 [SEP] 14, Pencil, 2.197, 0.053, 2.551, 0, 0, 0, 27 [SEP] 15, CellPhone, -0.349, 0.378, -0.193, 0, 0, 0, 35 [SEP] 16, KeyChain, -0.509, 0.925, -0.604, 0, 0, 0, 36 [SEP] 17, CreditCard, -0.402, 0.376, -0.561, 0, 0, 0, 34 [SEP] 18, AlarmClock, -0.225, 0.925, -1.459, 0, 0, 0, 36 [SEP] 19, CD, -0.349, 0.088, -0.193, 0, 0, 0, 35 [SEP] 20, Laptop, 0.333, 0.548, 1.263, 0, 0, 0, 21 [SEP] 21, Bed, 0.009, -0.004, 1.577, 0, 0, 0, [SEP] 22, DeskLamp, -0.669, 0.923, -0.062, 0, 90, 0, [SEP] 23, Painting, -0.787, 1.809, -0.215, 90, 270, 0, [SEP] 24, Painting, -0.787, 1.809, 1.023, 90, 270, 0, [SEP] 25, Mirror, 2.118, 1.277, 2.749, 0, 0, 0, [SEP] 26, LightSwitch, 0.726, 1.200, 2.75, 0, 180, 0, [SEP] 27, GarbageCan, 2.257, -0.008, 2.603, 353.970, 0, 0, [SEP] 28, Window, 0.665, 1.356, -1.911, 90, 0, 0, [SEP] 29, Drawer, 2.119, 0.576, -0.491, 4.458, 270, 0, [SEP] 30, Drawer, 2.147, 0.213, -0.491, 4.458, 270, 0, [SEP] 31, SideTable, 2.226, 0.013, -0.492, 4.458, 270, 0, [SEP] 32, Chair, 0.170, 0.011, -1.214, 0, 261.719, 0, [SEP] 33, Blinds, 0.695, 1.983, -1.867, 0, 0, 0, [SEP] 34, Drawer, -0.079, 0.513, -0.394, 0, 90, 0, [SEP] 35, Drawer, -0.079, 0.226, -0.394, 0, 90, 0, [SEP] 36, Desk, -0.391, 0.001, -0.811, 0, 90, 0, [SEP] 37, Drawer, -0.079, 0.762, -0.394, 0, 90, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and begin walking across the room, then hang a left and walk over to the small bin below the mirror to the right of the door. | STEP 2: Pick up the disc that is in the small bin in the corner of the room. | STEP 3: Turn right and walk towards the bed, then hang a left and walk over to the lamp on the wooden desk. | STEP 4: Turn on the lamp on the wooden desk. | END"]} +{"id": "trial_T20190907_114323_767231-2", "input": "examine a CD with a lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, -0.75, 0, 0, 0, [SEP] 1, CD, 2.225, 0.049, 2.634, 0, 0, 0, 27 [SEP] 2, CD, -0.402, 0.088, -0.653, 0, 0, 0, 35 [SEP] 3, Pen, 2.245, 0.464, -0.190, 0, 90, 0, 29 [SEP] 4, Pen, 2.190, 0.848, -0.090, 0, 0, 0, 31 [SEP] 5, Pencil, -0.509, 0.928, -0.391, 0, 0, 0, 36 [SEP] 6, Pencil, 2.095, 0.846, -0.746, 0, 0, 0, 31 [SEP] 7, CreditCard, -0.245, 0.376, -0.653, 0, 0, 0, 34 [SEP] 8, CreditCard, 2.220, 0.461, -0.679, 0, 0, 0, 29 [SEP] 9, Box, 2.15, 0.14, 0.494, 0, 12.243, 0, [SEP] 10, Book, -0.320, 0.926, -0.391, 0, 0, 0, 36 [SEP] 11, BasketBall, -0.235, 0.120, 0.166, 0, 0, 0, [SEP] 12, Pen, -0.351, 0.673, -0.284, 0, 0, 0, 37 [SEP] 13, Pillow, -0.025, 0.561, 2.458, 0, 0, 0, 21 [SEP] 14, Pencil, 2.197, 0.053, 2.551, 0, 0, 0, 27 [SEP] 15, CellPhone, -0.349, 0.378, -0.193, 0, 0, 0, 35 [SEP] 16, KeyChain, -0.509, 0.925, -0.604, 0, 0, 0, 36 [SEP] 17, CreditCard, -0.402, 0.376, -0.561, 0, 0, 0, 34 [SEP] 18, AlarmClock, -0.225, 0.925, -1.459, 0, 0, 0, 36 [SEP] 19, CD, -0.349, 0.088, -0.193, 0, 0, 0, 35 [SEP] 20, Laptop, 0.333, 0.548, 1.263, 0, 0, 0, 21 [SEP] 21, Bed, 0.009, -0.004, 1.577, 0, 0, 0, [SEP] 22, DeskLamp, -0.669, 0.923, -0.062, 0, 90, 0, [SEP] 23, Painting, -0.787, 1.809, -0.215, 90, 270, 0, [SEP] 24, Painting, -0.787, 1.809, 1.023, 90, 270, 0, [SEP] 25, Mirror, 2.118, 1.277, 2.749, 0, 0, 0, [SEP] 26, LightSwitch, 0.726, 1.200, 2.75, 0, 180, 0, [SEP] 27, GarbageCan, 2.257, -0.008, 2.603, 353.970, 0, 0, [SEP] 28, Window, 0.665, 1.356, -1.911, 90, 0, 0, [SEP] 29, Drawer, 2.119, 0.576, -0.491, 4.458, 270, 0, [SEP] 30, Drawer, 2.147, 0.213, -0.491, 4.458, 270, 0, [SEP] 31, SideTable, 2.226, 0.013, -0.492, 4.458, 270, 0, [SEP] 32, Chair, 0.170, 0.011, -1.214, 0, 261.719, 0, [SEP] 33, Blinds, 0.695, 1.983, -1.867, 0, 0, 0, [SEP] 34, Drawer, -0.079, 0.513, -0.394, 0, 90, 0, [SEP] 35, Drawer, -0.079, 0.226, -0.394, 0, 90, 0, [SEP] 36, Desk, -0.391, 0.001, -0.811, 0, 90, 0, [SEP] 37, Drawer, -0.079, 0.762, -0.394, 0, 90, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: turn right, walk across room towards dresser, turn left, walk across room, turn right, turn left, go to the mirror | STEP 2: pick up the CD that is in the trash below the mirror | STEP 3: turn around, walk across the room, turn right, walk across the room to the dresser | STEP 4: turn the lamp on | END"]} +{"id": "trial_T20190907_114323_767231-3", "input": "Examine a CD in the light. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, -0.75, 0, 0, 0, [SEP] 1, CD, 2.225, 0.049, 2.634, 0, 0, 0, 27 [SEP] 2, CD, -0.402, 0.088, -0.653, 0, 0, 0, 35 [SEP] 3, Pen, 2.245, 0.464, -0.190, 0, 90, 0, 29 [SEP] 4, Pen, 2.190, 0.848, -0.090, 0, 0, 0, 31 [SEP] 5, Pencil, -0.509, 0.928, -0.391, 0, 0, 0, 36 [SEP] 6, Pencil, 2.095, 0.846, -0.746, 0, 0, 0, 31 [SEP] 7, CreditCard, -0.245, 0.376, -0.653, 0, 0, 0, 34 [SEP] 8, CreditCard, 2.220, 0.461, -0.679, 0, 0, 0, 29 [SEP] 9, Box, 2.15, 0.14, 0.494, 0, 12.243, 0, [SEP] 10, Book, -0.320, 0.926, -0.391, 0, 0, 0, 36 [SEP] 11, BasketBall, -0.235, 0.120, 0.166, 0, 0, 0, [SEP] 12, Pen, -0.351, 0.673, -0.284, 0, 0, 0, 37 [SEP] 13, Pillow, -0.025, 0.561, 2.458, 0, 0, 0, 21 [SEP] 14, Pencil, 2.197, 0.053, 2.551, 0, 0, 0, 27 [SEP] 15, CellPhone, -0.349, 0.378, -0.193, 0, 0, 0, 35 [SEP] 16, KeyChain, -0.509, 0.925, -0.604, 0, 0, 0, 36 [SEP] 17, CreditCard, -0.402, 0.376, -0.561, 0, 0, 0, 34 [SEP] 18, AlarmClock, -0.225, 0.925, -1.459, 0, 0, 0, 36 [SEP] 19, CD, -0.349, 0.088, -0.193, 0, 0, 0, 35 [SEP] 20, Laptop, 0.333, 0.548, 1.263, 0, 0, 0, 21 [SEP] 21, Bed, 0.009, -0.004, 1.577, 0, 0, 0, [SEP] 22, DeskLamp, -0.669, 0.923, -0.062, 0, 90, 0, [SEP] 23, Painting, -0.787, 1.809, -0.215, 90, 270, 0, [SEP] 24, Painting, -0.787, 1.809, 1.023, 90, 270, 0, [SEP] 25, Mirror, 2.118, 1.277, 2.749, 0, 0, 0, [SEP] 26, LightSwitch, 0.726, 1.200, 2.75, 0, 180, 0, [SEP] 27, GarbageCan, 2.257, -0.008, 2.603, 353.970, 0, 0, [SEP] 28, Window, 0.665, 1.356, -1.911, 90, 0, 0, [SEP] 29, Drawer, 2.119, 0.576, -0.491, 4.458, 270, 0, [SEP] 30, Drawer, 2.147, 0.213, -0.491, 4.458, 270, 0, [SEP] 31, SideTable, 2.226, 0.013, -0.492, 4.458, 270, 0, [SEP] 32, Chair, 0.170, 0.011, -1.214, 0, 261.719, 0, [SEP] 33, Blinds, 0.695, 1.983, -1.867, 0, 0, 0, [SEP] 34, Drawer, -0.079, 0.513, -0.394, 0, 90, 0, [SEP] 35, Drawer, -0.079, 0.226, -0.394, 0, 90, 0, [SEP] 36, Desk, -0.391, 0.001, -0.811, 0, 90, 0, [SEP] 37, Drawer, -0.079, 0.762, -0.394, 0, 90, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, go straight, then turn left to go toward the door. | STEP 2: Take the CD from the trash can, under the mirror. | STEP 3: Turn around, then turn right to go to the desk with the lamp. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190907_114323_767231-4", "input": "Carry a CD while turning on a desk lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, -0.75, 0, 0, 0, [SEP] 1, CD, 2.225, 0.049, 2.634, 0, 0, 0, 27 [SEP] 2, CD, -0.402, 0.088, -0.653, 0, 0, 0, 35 [SEP] 3, Pen, 2.245, 0.464, -0.190, 0, 90, 0, 29 [SEP] 4, Pen, 2.190, 0.848, -0.090, 0, 0, 0, 31 [SEP] 5, Pencil, -0.509, 0.928, -0.391, 0, 0, 0, 36 [SEP] 6, Pencil, 2.095, 0.846, -0.746, 0, 0, 0, 31 [SEP] 7, CreditCard, -0.245, 0.376, -0.653, 0, 0, 0, 34 [SEP] 8, CreditCard, 2.220, 0.461, -0.679, 0, 0, 0, 29 [SEP] 9, Box, 2.15, 0.14, 0.494, 0, 12.243, 0, [SEP] 10, Book, -0.320, 0.926, -0.391, 0, 0, 0, 36 [SEP] 11, BasketBall, -0.235, 0.120, 0.166, 0, 0, 0, [SEP] 12, Pen, -0.351, 0.673, -0.284, 0, 0, 0, 37 [SEP] 13, Pillow, -0.025, 0.561, 2.458, 0, 0, 0, 21 [SEP] 14, Pencil, 2.197, 0.053, 2.551, 0, 0, 0, 27 [SEP] 15, CellPhone, -0.349, 0.378, -0.193, 0, 0, 0, 35 [SEP] 16, KeyChain, -0.509, 0.925, -0.604, 0, 0, 0, 36 [SEP] 17, CreditCard, -0.402, 0.376, -0.561, 0, 0, 0, 34 [SEP] 18, AlarmClock, -0.225, 0.925, -1.459, 0, 0, 0, 36 [SEP] 19, CD, -0.349, 0.088, -0.193, 0, 0, 0, 35 [SEP] 20, Laptop, 0.333, 0.548, 1.263, 0, 0, 0, 21 [SEP] 21, Bed, 0.009, -0.004, 1.577, 0, 0, 0, [SEP] 22, DeskLamp, -0.669, 0.923, -0.062, 0, 90, 0, [SEP] 23, Painting, -0.787, 1.809, -0.215, 90, 270, 0, [SEP] 24, Painting, -0.787, 1.809, 1.023, 90, 270, 0, [SEP] 25, Mirror, 2.118, 1.277, 2.749, 0, 0, 0, [SEP] 26, LightSwitch, 0.726, 1.200, 2.75, 0, 180, 0, [SEP] 27, GarbageCan, 2.257, -0.008, 2.603, 353.970, 0, 0, [SEP] 28, Window, 0.665, 1.356, -1.911, 90, 0, 0, [SEP] 29, Drawer, 2.119, 0.576, -0.491, 4.458, 270, 0, [SEP] 30, Drawer, 2.147, 0.213, -0.491, 4.458, 270, 0, [SEP] 31, SideTable, 2.226, 0.013, -0.492, 4.458, 270, 0, [SEP] 32, Chair, 0.170, 0.011, -1.214, 0, 261.719, 0, [SEP] 33, Blinds, 0.695, 1.983, -1.867, 0, 0, 0, [SEP] 34, Drawer, -0.079, 0.513, -0.394, 0, 90, 0, [SEP] 35, Drawer, -0.079, 0.226, -0.394, 0, 90, 0, [SEP] 36, Desk, -0.391, 0.001, -0.811, 0, 90, 0, [SEP] 37, Drawer, -0.079, 0.762, -0.394, 0, 90, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: Move to the trash bin against the wall underneath the mirror | STEP 2: Pick up the CD that is sitting in the trash bin | STEP 3: Carry the CD to the right side of the wood desk where the desk lamp is sitting | STEP 4: Turn on the desk lamp | END"]} +{"id": "trial_T20190907_114323_767231-5", "input": "grab the disc from the trash bin, turn on the lamp on the dresser SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, -0.75, 0, 0, 0, [SEP] 1, CD, 2.225, 0.049, 2.634, 0, 0, 0, 27 [SEP] 2, CD, -0.402, 0.088, -0.653, 0, 0, 0, 35 [SEP] 3, Pen, 2.245, 0.464, -0.190, 0, 90, 0, 29 [SEP] 4, Pen, 2.190, 0.848, -0.090, 0, 0, 0, 31 [SEP] 5, Pencil, -0.509, 0.928, -0.391, 0, 0, 0, 36 [SEP] 6, Pencil, 2.095, 0.846, -0.746, 0, 0, 0, 31 [SEP] 7, CreditCard, -0.245, 0.376, -0.653, 0, 0, 0, 34 [SEP] 8, CreditCard, 2.220, 0.461, -0.679, 0, 0, 0, 29 [SEP] 9, Box, 2.15, 0.14, 0.494, 0, 12.243, 0, [SEP] 10, Book, -0.320, 0.926, -0.391, 0, 0, 0, 36 [SEP] 11, BasketBall, -0.235, 0.120, 0.166, 0, 0, 0, [SEP] 12, Pen, -0.351, 0.673, -0.284, 0, 0, 0, 37 [SEP] 13, Pillow, -0.025, 0.561, 2.458, 0, 0, 0, 21 [SEP] 14, Pencil, 2.197, 0.053, 2.551, 0, 0, 0, 27 [SEP] 15, CellPhone, -0.349, 0.378, -0.193, 0, 0, 0, 35 [SEP] 16, KeyChain, -0.509, 0.925, -0.604, 0, 0, 0, 36 [SEP] 17, CreditCard, -0.402, 0.376, -0.561, 0, 0, 0, 34 [SEP] 18, AlarmClock, -0.225, 0.925, -1.459, 0, 0, 0, 36 [SEP] 19, CD, -0.349, 0.088, -0.193, 0, 0, 0, 35 [SEP] 20, Laptop, 0.333, 0.548, 1.263, 0, 0, 0, 21 [SEP] 21, Bed, 0.009, -0.004, 1.577, 0, 0, 0, [SEP] 22, DeskLamp, -0.669, 0.923, -0.062, 0, 90, 0, [SEP] 23, Painting, -0.787, 1.809, -0.215, 90, 270, 0, [SEP] 24, Painting, -0.787, 1.809, 1.023, 90, 270, 0, [SEP] 25, Mirror, 2.118, 1.277, 2.749, 0, 0, 0, [SEP] 26, LightSwitch, 0.726, 1.200, 2.75, 0, 180, 0, [SEP] 27, GarbageCan, 2.257, -0.008, 2.603, 353.970, 0, 0, [SEP] 28, Window, 0.665, 1.356, -1.911, 90, 0, 0, [SEP] 29, Drawer, 2.119, 0.576, -0.491, 4.458, 270, 0, [SEP] 30, Drawer, 2.147, 0.213, -0.491, 4.458, 270, 0, [SEP] 31, SideTable, 2.226, 0.013, -0.492, 4.458, 270, 0, [SEP] 32, Chair, 0.170, 0.011, -1.214, 0, 261.719, 0, [SEP] 33, Blinds, 0.695, 1.983, -1.867, 0, 0, 0, [SEP] 34, Drawer, -0.079, 0.513, -0.394, 0, 90, 0, [SEP] 35, Drawer, -0.079, 0.226, -0.394, 0, 90, 0, [SEP] 36, Desk, -0.391, 0.001, -0.811, 0, 90, 0, [SEP] 37, Drawer, -0.079, 0.762, -0.394, 0, 90, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: turn right, turn left, walk to the corner with a trash bin | STEP 2: grab the disc from the trash bin | STEP 3: turn around, walk to the dresser | STEP 4: turn on the lamp on the dresser | END"]} +{"id": "trial_T20190908_110131_524518-0", "input": "Move a bottle from the counter to the drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.902, 1.75, 0, 90, 0, [SEP] 1, Candle, -2.811, 1.086, 0.718, 0, 90, 0, 42 [SEP] 2, Candle, -2.732, 0.101, 2.757, 0, 0, 0, 31 [SEP] 3, SprayBottle, -2.539, 0.093, 3.001, 0, 0, 0, 31 [SEP] 4, Towel, -0.106, 1.510, 1.943, 0, 270, 0, 34 [SEP] 5, Candle, -2.752, 0.937, 2.691, 0, 0, 0, 32 [SEP] 6, SoapBottle, -2.604, 0.928, 1.714, 0, 0, 0, 32 [SEP] 7, HandTowel, -2.698, 1.521, 2.867, 0, 0, 0, 35 [SEP] 8, Plunger, -2.837, 0.001, 0.131, 0, 0, 0, Floor|-00.99| [SEP] 9, SoapBar, -2.872, 1.077, 0.652, 0, 90, 0, 42 [SEP] 10, ToiletPaper, -2.328, 0.791, 0.079, 0, 0, 270, 37 [SEP] 11, Cloth, -2.800, 0.904, 3.402, 0, 0, 0, 24 [SEP] 12, ToiletPaper, -2.927, 1.197, 1.459, 0, 0, 0, 33 [SEP] 13, SprayBottle, -2.855, 0.093, 2.567, 0, 0, 0, 21 [SEP] 14, PaperTowelRoll, -2.429, 1.311, 1.400, 0, 270, 0, 33 [SEP] 15, ScrubBrush, -2.831, 0.001, 0.295, 0, 0, 0, Floor|-00.99| [SEP] 16, DishSponge, -2.779, 1.665, 3.440, 0, 0, 0, 29 [SEP] 17, Cabinet, -2.410, 0.371, 2.862, 0, 0, 0, [SEP] 18, Mirror, -2.973, 1.613, 2.265, 0, 0, 0, [SEP] 19, Bathtub, -0.435, 0.182, 1.575, 0, 0, 0, [SEP] 20, Cabinet, -2.410, 0.371, 3.570, 0, 0, 0, [SEP] 21, Cabinet, -2.410, 0.371, 2.040, 0, 0, 0, [SEP] 22, Cabinet, -2.410, 1.261, 2.913, 0, 0, 0, [SEP] 23, Faucet, -0.769, 0.416, 1.0, 0, 9.958, 0, [SEP] 24, Cabinet, -2.410, 1.261, 3.570, 0, 0, 0, [SEP] 25, Sink, -2.723, 0.862, 2.231, 0, 90, 0, [SEP] 26, Cabinet, -2.410, 2.022, 2.913, 0, 0, 0, [SEP] 27, Cabinet, -2.410, 0.371, 1.585, 0, 0, 0, [SEP] 28, Drawer, -2.638, 0.767, 3.239, 0, 0, 0, [SEP] 29, Cabinet, -2.410, 2.022, 3.570, 0, 0, 0, [SEP] 30, Faucet, -2.928, 0.978, 2.231, 0, 90, 0, [SEP] 31, Cabinet, -2.410, 0.371, 2.913, 0, 0, 0, [SEP] 32, CounterTop, -2.688, 0.966, 2.260, 0, 0, 0, [SEP] 33, CounterTop, -2.611, 1.243, 1.455, 0, 270, 0, [SEP] 34, TowelHolder, 0.0, 1.496, 1.942, 0, 270, 0, [SEP] 35, HandTowelHolder, -2.698, 1.623, 2.906, 0, 90, 0, [SEP] 36, Window, -2.256, 1.656, -0.021, 90, 0, 0, [SEP] 37, ToiletPaperHanger, -2.288, 0.910, 0.000, 0, 0, 0, [SEP] 38, GarbageCan, -0.403, -0.027, 0.241, 0, 0, 0, [SEP] 39, BathtubBasin, -0.435, 0.185, 1.544, 0, 0, 0, [SEP] 40, SinkBasin, -2.736, 0.929, 2.241, 0, 90, 0, [SEP] 41, LightSwitch, -1.675, 1.442, 3.610, 0, 180, 0, [SEP] 42, Toilet, -2.579, 0.032, 0.656, 0, 180, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the left kitchen sink behind you. | STEP 2: Grab a bottle from the sink. | STEP 3: Walk back and locate the bottom-left count drawer under the left sink. | STEP 4: Place the bottle in that drawer. | END"]} +{"id": "trial_T20190908_110131_524518-1", "input": "Place the lotion on the sink underneath the cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.902, 1.75, 0, 90, 0, [SEP] 1, Candle, -2.811, 1.086, 0.718, 0, 90, 0, 42 [SEP] 2, Candle, -2.732, 0.101, 2.757, 0, 0, 0, 31 [SEP] 3, SprayBottle, -2.539, 0.093, 3.001, 0, 0, 0, 31 [SEP] 4, Towel, -0.106, 1.510, 1.943, 0, 270, 0, 34 [SEP] 5, Candle, -2.752, 0.937, 2.691, 0, 0, 0, 32 [SEP] 6, SoapBottle, -2.604, 0.928, 1.714, 0, 0, 0, 32 [SEP] 7, HandTowel, -2.698, 1.521, 2.867, 0, 0, 0, 35 [SEP] 8, Plunger, -2.837, 0.001, 0.131, 0, 0, 0, Floor|-00.99| [SEP] 9, SoapBar, -2.872, 1.077, 0.652, 0, 90, 0, 42 [SEP] 10, ToiletPaper, -2.328, 0.791, 0.079, 0, 0, 270, 37 [SEP] 11, Cloth, -2.800, 0.904, 3.402, 0, 0, 0, 24 [SEP] 12, ToiletPaper, -2.927, 1.197, 1.459, 0, 0, 0, 33 [SEP] 13, SprayBottle, -2.855, 0.093, 2.567, 0, 0, 0, 21 [SEP] 14, PaperTowelRoll, -2.429, 1.311, 1.400, 0, 270, 0, 33 [SEP] 15, ScrubBrush, -2.831, 0.001, 0.295, 0, 0, 0, Floor|-00.99| [SEP] 16, DishSponge, -2.779, 1.665, 3.440, 0, 0, 0, 29 [SEP] 17, Cabinet, -2.410, 0.371, 2.862, 0, 0, 0, [SEP] 18, Mirror, -2.973, 1.613, 2.265, 0, 0, 0, [SEP] 19, Bathtub, -0.435, 0.182, 1.575, 0, 0, 0, [SEP] 20, Cabinet, -2.410, 0.371, 3.570, 0, 0, 0, [SEP] 21, Cabinet, -2.410, 0.371, 2.040, 0, 0, 0, [SEP] 22, Cabinet, -2.410, 1.261, 2.913, 0, 0, 0, [SEP] 23, Faucet, -0.769, 0.416, 1.0, 0, 9.958, 0, [SEP] 24, Cabinet, -2.410, 1.261, 3.570, 0, 0, 0, [SEP] 25, Sink, -2.723, 0.862, 2.231, 0, 90, 0, [SEP] 26, Cabinet, -2.410, 2.022, 2.913, 0, 0, 0, [SEP] 27, Cabinet, -2.410, 0.371, 1.585, 0, 0, 0, [SEP] 28, Drawer, -2.638, 0.767, 3.239, 0, 0, 0, [SEP] 29, Cabinet, -2.410, 2.022, 3.570, 0, 0, 0, [SEP] 30, Faucet, -2.928, 0.978, 2.231, 0, 90, 0, [SEP] 31, Cabinet, -2.410, 0.371, 2.913, 0, 0, 0, [SEP] 32, CounterTop, -2.688, 0.966, 2.260, 0, 0, 0, [SEP] 33, CounterTop, -2.611, 1.243, 1.455, 0, 270, 0, [SEP] 34, TowelHolder, 0.0, 1.496, 1.942, 0, 270, 0, [SEP] 35, HandTowelHolder, -2.698, 1.623, 2.906, 0, 90, 0, [SEP] 36, Window, -2.256, 1.656, -0.021, 90, 0, 0, [SEP] 37, ToiletPaperHanger, -2.288, 0.910, 0.000, 0, 0, 0, [SEP] 38, GarbageCan, -0.403, -0.027, 0.241, 0, 0, 0, [SEP] 39, BathtubBasin, -0.435, 0.185, 1.544, 0, 0, 0, [SEP] 40, SinkBasin, -2.736, 0.929, 2.241, 0, 90, 0, [SEP] 41, LightSwitch, -1.675, 1.442, 3.610, 0, 180, 0, [SEP] 42, Toilet, -2.579, 0.032, 0.656, 0, 180, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the sink. | STEP 2: Grab the white lotion bottle with a brown pump. | STEP 3: Turn around and back up towards the bath tub, then turn around to the sink again. | STEP 4: Open the right cabinet door under the sink and place the lotion inside. | END"]} +{"id": "trial_T20190908_110131_524518-2", "input": "Put the bottle of lotion underneath the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.902, 1.75, 0, 90, 0, [SEP] 1, Candle, -2.811, 1.086, 0.718, 0, 90, 0, 42 [SEP] 2, Candle, -2.732, 0.101, 2.757, 0, 0, 0, 31 [SEP] 3, SprayBottle, -2.539, 0.093, 3.001, 0, 0, 0, 31 [SEP] 4, Towel, -0.106, 1.510, 1.943, 0, 270, 0, 34 [SEP] 5, Candle, -2.752, 0.937, 2.691, 0, 0, 0, 32 [SEP] 6, SoapBottle, -2.604, 0.928, 1.714, 0, 0, 0, 32 [SEP] 7, HandTowel, -2.698, 1.521, 2.867, 0, 0, 0, 35 [SEP] 8, Plunger, -2.837, 0.001, 0.131, 0, 0, 0, Floor|-00.99| [SEP] 9, SoapBar, -2.872, 1.077, 0.652, 0, 90, 0, 42 [SEP] 10, ToiletPaper, -2.328, 0.791, 0.079, 0, 0, 270, 37 [SEP] 11, Cloth, -2.800, 0.904, 3.402, 0, 0, 0, 24 [SEP] 12, ToiletPaper, -2.927, 1.197, 1.459, 0, 0, 0, 33 [SEP] 13, SprayBottle, -2.855, 0.093, 2.567, 0, 0, 0, 21 [SEP] 14, PaperTowelRoll, -2.429, 1.311, 1.400, 0, 270, 0, 33 [SEP] 15, ScrubBrush, -2.831, 0.001, 0.295, 0, 0, 0, Floor|-00.99| [SEP] 16, DishSponge, -2.779, 1.665, 3.440, 0, 0, 0, 29 [SEP] 17, Cabinet, -2.410, 0.371, 2.862, 0, 0, 0, [SEP] 18, Mirror, -2.973, 1.613, 2.265, 0, 0, 0, [SEP] 19, Bathtub, -0.435, 0.182, 1.575, 0, 0, 0, [SEP] 20, Cabinet, -2.410, 0.371, 3.570, 0, 0, 0, [SEP] 21, Cabinet, -2.410, 0.371, 2.040, 0, 0, 0, [SEP] 22, Cabinet, -2.410, 1.261, 2.913, 0, 0, 0, [SEP] 23, Faucet, -0.769, 0.416, 1.0, 0, 9.958, 0, [SEP] 24, Cabinet, -2.410, 1.261, 3.570, 0, 0, 0, [SEP] 25, Sink, -2.723, 0.862, 2.231, 0, 90, 0, [SEP] 26, Cabinet, -2.410, 2.022, 2.913, 0, 0, 0, [SEP] 27, Cabinet, -2.410, 0.371, 1.585, 0, 0, 0, [SEP] 28, Drawer, -2.638, 0.767, 3.239, 0, 0, 0, [SEP] 29, Cabinet, -2.410, 2.022, 3.570, 0, 0, 0, [SEP] 30, Faucet, -2.928, 0.978, 2.231, 0, 90, 0, [SEP] 31, Cabinet, -2.410, 0.371, 2.913, 0, 0, 0, [SEP] 32, CounterTop, -2.688, 0.966, 2.260, 0, 0, 0, [SEP] 33, CounterTop, -2.611, 1.243, 1.455, 0, 270, 0, [SEP] 34, TowelHolder, 0.0, 1.496, 1.942, 0, 270, 0, [SEP] 35, HandTowelHolder, -2.698, 1.623, 2.906, 0, 90, 0, [SEP] 36, Window, -2.256, 1.656, -0.021, 90, 0, 0, [SEP] 37, ToiletPaperHanger, -2.288, 0.910, 0.000, 0, 0, 0, [SEP] 38, GarbageCan, -0.403, -0.027, 0.241, 0, 0, 0, [SEP] 39, BathtubBasin, -0.435, 0.185, 1.544, 0, 0, 0, [SEP] 40, SinkBasin, -2.736, 0.929, 2.241, 0, 90, 0, [SEP] 41, LightSwitch, -1.675, 1.442, 3.610, 0, 180, 0, [SEP] 42, Toilet, -2.579, 0.032, 0.656, 0, 180, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and face the sink countertop. | STEP 2: Pick up the bottle of lotion. | STEP 3: Turn to face the cabinet underneath the sink. | STEP 4: Put the bottle of lotion underneath the sink in the second cabinet from the left. | END"]} +{"id": "trial_T20190907_183137_838565-0", "input": "Put the watch in the bowl on the nightstand. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.899, -2.0, 0, 180, 0, [SEP] 1, Mug, 3.041, 0.540, -2.255, 0, 270, 0, 61 [SEP] 2, Bowl, 3.086, 0.792, -2.250, 0, 0, 0, 62 [SEP] 3, Watch, -1.592, 0.614, 0.503, 0, 180, 0, 66 [SEP] 4, Watch, -3.011, 1.413, -1.631, 0, 90, 0, 43 [SEP] 5, Watch, 3.271, 0.791, -2.250, 0, 0, 0, 62 [SEP] 6, CD, -1.420, 0.074, 0.371, 0, 0, 0, 65 [SEP] 7, CD, -2.885, 1.413, -1.698, 0, 90, 0, 50 [SEP] 8, CellPhone, 0.922, 1.413, -1.607, 0, 270, 0, 47 [SEP] 9, Pencil, -1.383, 0.619, 0.300, 0, 180, 0, 66 [SEP] 10, Pencil, 3.024, 0.797, -0.556, 0, 0, 0, 62 [SEP] 11, CreditCard, -1.523, 0.337, 0.350, 0, 0, 0, 64 [SEP] 12, Laptop, -2.612, 0.598, -1.160, 0, 0, 0, 34 [SEP] 13, Book, -2.46, 0.599, 0.245, 0, 0, 0, 34 [SEP] 14, Laptop, -0.784, 0.614, -1.160, 0, 0, 0, 35 [SEP] 15, KeyChain, 0.828, 1.414, -2.283, 0, 270, 0, 41 [SEP] 16, Cloth, 0.970, -0.001, -2.404, 0, 0, 0, [SEP] 17, BaseballBat, -2.982, 0.015, -2.698, 270, 350.597, 0, [SEP] 18, BasketBall, -2.718, 0.118, -1.925, 0, 0, 0, [SEP] 19, Pillow, -0.327, 0.693, -0.598, 0, 0, 0, 35 [SEP] 20, Pillow, -0.626, 0.650, 0.129, 0, 0, 0, 35 [SEP] 21, TennisRacket, -3.018, 0.301, -2.199, 19.103, 272.232, 184.978, [SEP] 22, Pencil, 0.922, 1.147, -1.485, 0, 270, 0, 45 [SEP] 23, CreditCard, -1.676, 0.337, 0.393, 0, 0, 0, 64 [SEP] 24, Cloth, 0.911, 0.025, -2.702, 0, 0, 0, [SEP] 25, TeddyBear, -2.645, 0.624, -0.402, 0, 286.876, 0, 34 [SEP] 26, Pen, 3.086, 0.797, -0.838, 0, 0, 0, 62 [SEP] 27, Cloth, 0.705, -0.001, -2.75, 0, 270, 0, [SEP] 28, AlarmClock, 3.209, 0.794, -1.968, 0, 0, 0, 62 [SEP] 29, Watch, 0.985, 1.413, -2.519, 0, 270, 0, 49 [SEP] 30, CellPhone, -0.175, 0.616, 0.245, 0, 0, 0, 35 [SEP] 31, CD, 2.962, 0.792, -1.121, 0, 0, 0, 62 [SEP] 32, Mug, 0.985, 1.139, -2.586, 0, 270, 0, 44 [SEP] 33, Bowl, 3.209, 0.792, -1.121, 0, 0, 0, 62 [SEP] 34, Bed, -2.455, -0.000, -0.572, 0, 0, 0, [SEP] 35, Bed, -0.634, -0.000, -0.567, 0, 0, 0, [SEP] 36, Chair, 2.828, -0.002, -0.004, 0, 245.795, 0, [SEP] 37, Chair, 2.727, -0.002, -1.210, 0, 95.225, 0, [SEP] 38, GarbageCan, 1.707, -0.003, -2.785, 0, 59.967, 0, [SEP] 39, Shelf, 0.922, 1.133, -2.163, 0, 270, 0, [SEP] 40, Shelf, -2.948, 1.405, -1.621, 0, 90, 0, [SEP] 41, Shelf, 0.922, 1.405, -2.163, 0, 270, 0, [SEP] 42, Shelf, -2.948, 1.133, -2.188, 0, 90, 0, [SEP] 43, Shelf, -2.948, 1.405, -2.188, 0, 90, 0, [SEP] 44, Shelf, 0.922, 1.133, -2.729, 0, 270, 0, [SEP] 45, Shelf, 0.922, 1.133, -1.616, 0, 270, 0, [SEP] 46, Shelf, -2.948, 1.405, -2.735, 0, 90, 0, [SEP] 47, Shelf, 0.922, 1.405, -1.616, 0, 270, 0, [SEP] 48, Shelf, -2.948, 1.133, -2.735, 0, 90, 0, [SEP] 49, Shelf, 0.922, 1.405, -2.729, 0, 270, 0, [SEP] 50, Shelf, -2.948, 1.133, -1.621, 0, 90, 0, [SEP] 51, LightSwitch, -0.142, 1.328, 0.600, 0, 180, 0, [SEP] 52, Poster, 3.400, 1.863, -1.976, 90, 90, 0, [SEP] 53, Poster, 3.400, 1.702, -0.792, 90, 90, 0, [SEP] 54, DeskLamp, 3.126, 0.789, -0.638, 0, 3.649, 0, [SEP] 55, Mirror, 0.453, 1.491, 0.616, 0, 0, 0, [SEP] 56, Window, 2.278, 0.925, -3.184, 90, 0, 0, [SEP] 57, Window, -1.019, 0.925, -3.184, 90, 0, 0, [SEP] 58, Blinds, -1.003, 2.072, -3.177, 0, 0, 0, [SEP] 59, Blinds, 2.292, 2.072, -3.177, 0, 0, 0, [SEP] 60, Shelf, 3.124, 0.633, -0.564, 0, 270, 0, [SEP] 61, Shelf, 3.124, 0.633, -2.267, 0, 270, 0, [SEP] 62, Desk, 3.141, -0.000, -1.414, 0, 270, 0, [SEP] 63, Desktop, 3.101, 0.792, -1.236, 358.565, 270, 0, [SEP] 64, Drawer, -1.523, 0.408, 0.346, 0, 180, 0, [SEP] 65, Drawer, -1.523, 0.141, 0.346, 0, 180, 0, [SEP] 66, SideTable, -1.522, -0.001, 0.411, 0, 180, 0, [SEP] 67, NorthWall, , , , , , , [SEP] 68, EastWall, , , , , , , [SEP] 69, SouthWall, , , , , , , [SEP] 70, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, walk around the bookshelf, turn to the desk. | STEP 2: Pick the watch up off of the desk. | STEP 3: Put the watch in the bowl on the desk. | STEP 4: Pick up the bowl off of the desk. | STEP 5: Walk back around the bookshelf, walk over between the two beds. | STEP 6: Put the bowl on the nightstand. | END"]} +{"id": "trial_T20190907_183137_838565-1", "input": "Put away the watch in a bowl on the bedside table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.899, -2.0, 0, 180, 0, [SEP] 1, Mug, 3.041, 0.540, -2.255, 0, 270, 0, 61 [SEP] 2, Bowl, 3.086, 0.792, -2.250, 0, 0, 0, 62 [SEP] 3, Watch, -1.592, 0.614, 0.503, 0, 180, 0, 66 [SEP] 4, Watch, -3.011, 1.413, -1.631, 0, 90, 0, 43 [SEP] 5, Watch, 3.271, 0.791, -2.250, 0, 0, 0, 62 [SEP] 6, CD, -1.420, 0.074, 0.371, 0, 0, 0, 65 [SEP] 7, CD, -2.885, 1.413, -1.698, 0, 90, 0, 50 [SEP] 8, CellPhone, 0.922, 1.413, -1.607, 0, 270, 0, 47 [SEP] 9, Pencil, -1.383, 0.619, 0.300, 0, 180, 0, 66 [SEP] 10, Pencil, 3.024, 0.797, -0.556, 0, 0, 0, 62 [SEP] 11, CreditCard, -1.523, 0.337, 0.350, 0, 0, 0, 64 [SEP] 12, Laptop, -2.612, 0.598, -1.160, 0, 0, 0, 34 [SEP] 13, Book, -2.46, 0.599, 0.245, 0, 0, 0, 34 [SEP] 14, Laptop, -0.784, 0.614, -1.160, 0, 0, 0, 35 [SEP] 15, KeyChain, 0.828, 1.414, -2.283, 0, 270, 0, 41 [SEP] 16, Cloth, 0.970, -0.001, -2.404, 0, 0, 0, [SEP] 17, BaseballBat, -2.982, 0.015, -2.698, 270, 350.597, 0, [SEP] 18, BasketBall, -2.718, 0.118, -1.925, 0, 0, 0, [SEP] 19, Pillow, -0.327, 0.693, -0.598, 0, 0, 0, 35 [SEP] 20, Pillow, -0.626, 0.650, 0.129, 0, 0, 0, 35 [SEP] 21, TennisRacket, -3.018, 0.301, -2.199, 19.103, 272.232, 184.978, [SEP] 22, Pencil, 0.922, 1.147, -1.485, 0, 270, 0, 45 [SEP] 23, CreditCard, -1.676, 0.337, 0.393, 0, 0, 0, 64 [SEP] 24, Cloth, 0.911, 0.025, -2.702, 0, 0, 0, [SEP] 25, TeddyBear, -2.645, 0.624, -0.402, 0, 286.876, 0, 34 [SEP] 26, Pen, 3.086, 0.797, -0.838, 0, 0, 0, 62 [SEP] 27, Cloth, 0.705, -0.001, -2.75, 0, 270, 0, [SEP] 28, AlarmClock, 3.209, 0.794, -1.968, 0, 0, 0, 62 [SEP] 29, Watch, 0.985, 1.413, -2.519, 0, 270, 0, 49 [SEP] 30, CellPhone, -0.175, 0.616, 0.245, 0, 0, 0, 35 [SEP] 31, CD, 2.962, 0.792, -1.121, 0, 0, 0, 62 [SEP] 32, Mug, 0.985, 1.139, -2.586, 0, 270, 0, 44 [SEP] 33, Bowl, 3.209, 0.792, -1.121, 0, 0, 0, 62 [SEP] 34, Bed, -2.455, -0.000, -0.572, 0, 0, 0, [SEP] 35, Bed, -0.634, -0.000, -0.567, 0, 0, 0, [SEP] 36, Chair, 2.828, -0.002, -0.004, 0, 245.795, 0, [SEP] 37, Chair, 2.727, -0.002, -1.210, 0, 95.225, 0, [SEP] 38, GarbageCan, 1.707, -0.003, -2.785, 0, 59.967, 0, [SEP] 39, Shelf, 0.922, 1.133, -2.163, 0, 270, 0, [SEP] 40, Shelf, -2.948, 1.405, -1.621, 0, 90, 0, [SEP] 41, Shelf, 0.922, 1.405, -2.163, 0, 270, 0, [SEP] 42, Shelf, -2.948, 1.133, -2.188, 0, 90, 0, [SEP] 43, Shelf, -2.948, 1.405, -2.188, 0, 90, 0, [SEP] 44, Shelf, 0.922, 1.133, -2.729, 0, 270, 0, [SEP] 45, Shelf, 0.922, 1.133, -1.616, 0, 270, 0, [SEP] 46, Shelf, -2.948, 1.405, -2.735, 0, 90, 0, [SEP] 47, Shelf, 0.922, 1.405, -1.616, 0, 270, 0, [SEP] 48, Shelf, -2.948, 1.133, -2.735, 0, 90, 0, [SEP] 49, Shelf, 0.922, 1.405, -2.729, 0, 270, 0, [SEP] 50, Shelf, -2.948, 1.133, -1.621, 0, 90, 0, [SEP] 51, LightSwitch, -0.142, 1.328, 0.600, 0, 180, 0, [SEP] 52, Poster, 3.400, 1.863, -1.976, 90, 90, 0, [SEP] 53, Poster, 3.400, 1.702, -0.792, 90, 90, 0, [SEP] 54, DeskLamp, 3.126, 0.789, -0.638, 0, 3.649, 0, [SEP] 55, Mirror, 0.453, 1.491, 0.616, 0, 0, 0, [SEP] 56, Window, 2.278, 0.925, -3.184, 90, 0, 0, [SEP] 57, Window, -1.019, 0.925, -3.184, 90, 0, 0, [SEP] 58, Blinds, -1.003, 2.072, -3.177, 0, 0, 0, [SEP] 59, Blinds, 2.292, 2.072, -3.177, 0, 0, 0, [SEP] 60, Shelf, 3.124, 0.633, -0.564, 0, 270, 0, [SEP] 61, Shelf, 3.124, 0.633, -2.267, 0, 270, 0, [SEP] 62, Desk, 3.141, -0.000, -1.414, 0, 270, 0, [SEP] 63, Desktop, 3.101, 0.792, -1.236, 358.565, 270, 0, [SEP] 64, Drawer, -1.523, 0.408, 0.346, 0, 180, 0, [SEP] 65, Drawer, -1.523, 0.141, 0.346, 0, 180, 0, [SEP] 66, SideTable, -1.522, -0.001, 0.411, 0, 180, 0, [SEP] 67, NorthWall, , , , , , , [SEP] 68, EastWall, , , , , , , [SEP] 69, SouthWall, , , , , , , [SEP] 70, WestWall, , , , , , , ", "output": ["STEP 1: Turn left to the door, turn right, then right again and go to the end of the desk near the door. | STEP 2: Pick up the watch off of the desk. | STEP 3: Put the watch in the bowl on the desk. | STEP 4: Pick up the bowl and watch from the desk. | STEP 5: Go straight along the desk, turn left and walk past the first bed and go to the bedside table between beds. | STEP 6: Set the bowl and watch on the bedside table. | END"]} +{"id": "trial_T20190907_183137_838565-2", "input": "Move a bowl and watch from the desk to the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.899, -2.0, 0, 180, 0, [SEP] 1, Mug, 3.041, 0.540, -2.255, 0, 270, 0, 61 [SEP] 2, Bowl, 3.086, 0.792, -2.250, 0, 0, 0, 62 [SEP] 3, Watch, -1.592, 0.614, 0.503, 0, 180, 0, 66 [SEP] 4, Watch, -3.011, 1.413, -1.631, 0, 90, 0, 43 [SEP] 5, Watch, 3.271, 0.791, -2.250, 0, 0, 0, 62 [SEP] 6, CD, -1.420, 0.074, 0.371, 0, 0, 0, 65 [SEP] 7, CD, -2.885, 1.413, -1.698, 0, 90, 0, 50 [SEP] 8, CellPhone, 0.922, 1.413, -1.607, 0, 270, 0, 47 [SEP] 9, Pencil, -1.383, 0.619, 0.300, 0, 180, 0, 66 [SEP] 10, Pencil, 3.024, 0.797, -0.556, 0, 0, 0, 62 [SEP] 11, CreditCard, -1.523, 0.337, 0.350, 0, 0, 0, 64 [SEP] 12, Laptop, -2.612, 0.598, -1.160, 0, 0, 0, 34 [SEP] 13, Book, -2.46, 0.599, 0.245, 0, 0, 0, 34 [SEP] 14, Laptop, -0.784, 0.614, -1.160, 0, 0, 0, 35 [SEP] 15, KeyChain, 0.828, 1.414, -2.283, 0, 270, 0, 41 [SEP] 16, Cloth, 0.970, -0.001, -2.404, 0, 0, 0, [SEP] 17, BaseballBat, -2.982, 0.015, -2.698, 270, 350.597, 0, [SEP] 18, BasketBall, -2.718, 0.118, -1.925, 0, 0, 0, [SEP] 19, Pillow, -0.327, 0.693, -0.598, 0, 0, 0, 35 [SEP] 20, Pillow, -0.626, 0.650, 0.129, 0, 0, 0, 35 [SEP] 21, TennisRacket, -3.018, 0.301, -2.199, 19.103, 272.232, 184.978, [SEP] 22, Pencil, 0.922, 1.147, -1.485, 0, 270, 0, 45 [SEP] 23, CreditCard, -1.676, 0.337, 0.393, 0, 0, 0, 64 [SEP] 24, Cloth, 0.911, 0.025, -2.702, 0, 0, 0, [SEP] 25, TeddyBear, -2.645, 0.624, -0.402, 0, 286.876, 0, 34 [SEP] 26, Pen, 3.086, 0.797, -0.838, 0, 0, 0, 62 [SEP] 27, Cloth, 0.705, -0.001, -2.75, 0, 270, 0, [SEP] 28, AlarmClock, 3.209, 0.794, -1.968, 0, 0, 0, 62 [SEP] 29, Watch, 0.985, 1.413, -2.519, 0, 270, 0, 49 [SEP] 30, CellPhone, -0.175, 0.616, 0.245, 0, 0, 0, 35 [SEP] 31, CD, 2.962, 0.792, -1.121, 0, 0, 0, 62 [SEP] 32, Mug, 0.985, 1.139, -2.586, 0, 270, 0, 44 [SEP] 33, Bowl, 3.209, 0.792, -1.121, 0, 0, 0, 62 [SEP] 34, Bed, -2.455, -0.000, -0.572, 0, 0, 0, [SEP] 35, Bed, -0.634, -0.000, -0.567, 0, 0, 0, [SEP] 36, Chair, 2.828, -0.002, -0.004, 0, 245.795, 0, [SEP] 37, Chair, 2.727, -0.002, -1.210, 0, 95.225, 0, [SEP] 38, GarbageCan, 1.707, -0.003, -2.785, 0, 59.967, 0, [SEP] 39, Shelf, 0.922, 1.133, -2.163, 0, 270, 0, [SEP] 40, Shelf, -2.948, 1.405, -1.621, 0, 90, 0, [SEP] 41, Shelf, 0.922, 1.405, -2.163, 0, 270, 0, [SEP] 42, Shelf, -2.948, 1.133, -2.188, 0, 90, 0, [SEP] 43, Shelf, -2.948, 1.405, -2.188, 0, 90, 0, [SEP] 44, Shelf, 0.922, 1.133, -2.729, 0, 270, 0, [SEP] 45, Shelf, 0.922, 1.133, -1.616, 0, 270, 0, [SEP] 46, Shelf, -2.948, 1.405, -2.735, 0, 90, 0, [SEP] 47, Shelf, 0.922, 1.405, -1.616, 0, 270, 0, [SEP] 48, Shelf, -2.948, 1.133, -2.735, 0, 90, 0, [SEP] 49, Shelf, 0.922, 1.405, -2.729, 0, 270, 0, [SEP] 50, Shelf, -2.948, 1.133, -1.621, 0, 90, 0, [SEP] 51, LightSwitch, -0.142, 1.328, 0.600, 0, 180, 0, [SEP] 52, Poster, 3.400, 1.863, -1.976, 90, 90, 0, [SEP] 53, Poster, 3.400, 1.702, -0.792, 90, 90, 0, [SEP] 54, DeskLamp, 3.126, 0.789, -0.638, 0, 3.649, 0, [SEP] 55, Mirror, 0.453, 1.491, 0.616, 0, 0, 0, [SEP] 56, Window, 2.278, 0.925, -3.184, 90, 0, 0, [SEP] 57, Window, -1.019, 0.925, -3.184, 90, 0, 0, [SEP] 58, Blinds, -1.003, 2.072, -3.177, 0, 0, 0, [SEP] 59, Blinds, 2.292, 2.072, -3.177, 0, 0, 0, [SEP] 60, Shelf, 3.124, 0.633, -0.564, 0, 270, 0, [SEP] 61, Shelf, 3.124, 0.633, -2.267, 0, 270, 0, [SEP] 62, Desk, 3.141, -0.000, -1.414, 0, 270, 0, [SEP] 63, Desktop, 3.101, 0.792, -1.236, 358.565, 270, 0, [SEP] 64, Drawer, -1.523, 0.408, 0.346, 0, 180, 0, [SEP] 65, Drawer, -1.523, 0.141, 0.346, 0, 180, 0, [SEP] 66, SideTable, -1.522, -0.001, 0.411, 0, 180, 0, [SEP] 67, NorthWall, , , , , , , [SEP] 68, EastWall, , , , , , , [SEP] 69, SouthWall, , , , , , , [SEP] 70, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and then to the right across the room. Turn right again towards the large windows, and look to the desk. | STEP 2: Pick up the watch from the right side of the desk. | STEP 3: Place the watch in a bowl on the left side of the desk. | STEP 4: Pick up the bowl and watch from the desk. | STEP 5: Carry the bowl and turn left to go around the furniture and to the other room. Turn right in between the beds to find the small table. | STEP 6: Place the bowl and watch on the table. | END"]} +{"id": "trial_T20190908_050633_745514-0", "input": "move a magazine from the bed to the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, -0.25, 0, 180, 0, [SEP] 1, Mug, -0.431, 0.618, 0.599, 0, 180, 0, 36 [SEP] 2, Mug, -0.741, 0.616, 1.066, 0, 180, 0, 36 [SEP] 3, CD, 0.033, 0.618, 0.910, 0, 180, 0, 36 [SEP] 4, CD, -0.276, 0.618, 0.599, 0, 180, 0, 36 [SEP] 5, CellPhone, 0.247, 0.557, -2.103, 0, 0, 0, 24 [SEP] 6, CreditCard, 0.952, 0.082, -2.423, 0, 0, 0, 41 [SEP] 7, KeyChain, 0.188, 0.621, 0.910, 0, 180, 0, 36 [SEP] 8, KeyChain, -1.247, 0.376, -2.375, 0, 0, 0, 42 [SEP] 9, Book, 0.064, 0.555, -1.211, 0, 0, 0, 24 [SEP] 10, Book, -0.121, 0.617, 0.832, 0, 180, 0, 36 [SEP] 11, Box, 2.453, 0.222, -0.041, 0, 0, 0, [SEP] 12, Book, 0.430, 0.555, -0.988, 0, 0, 0, 24 [SEP] 13, KeyChain, -0.431, 0.621, 0.988, 0, 180, 0, 36 [SEP] 14, Pillow, -0.300, 0.653, -1.211, 0, 0, 0, 24 [SEP] 15, BaseballBat, 0.419, 0.666, 1.044, 10.360, 0, 0, [SEP] 16, Pencil, -0.276, 0.623, 0.755, 0, 180, 0, 36 [SEP] 17, CellPhone, 0.909, 0.375, -2.399, 0, 0, 0, 41 [SEP] 18, CreditCard, 0.188, 0.620, 0.755, 0, 180, 0, 36 [SEP] 19, Pen, 0.203, 0.618, 1.039, 0, 12.506, 0, 36 [SEP] 20, Laptop, -0.661, 0.613, 0.778, 0, 165.000, 0, 36 [SEP] 21, AlarmClock, -0.276, 0.621, 0.988, 0, 180, 0, 36 [SEP] 22, CD, -1.247, 0.082, -2.375, 0, 0, 0, 40 [SEP] 23, Mug, -0.586, 0.618, 1.066, 0, 180, 0, 36 [SEP] 24, Bed, -0.118, -0.001, -1.699, 0, 180, 0, [SEP] 25, Mirror, 2.644, 1.347, 0.384, 0, 90, 0, [SEP] 26, GarbageCan, 2.467, -0.029, 0.936, 0, 271.107, 0, [SEP] 27, LightSwitch, 0.333, 1.256, 1.149, 0, 180, 0, [SEP] 28, DeskLamp, 0.915, 0.670, -2.435, 0, 0, 0, [SEP] 29, Painting, 0.003, 1.562, -2.687, 90, 180, 0, [SEP] 30, Window, -1.559, 1.414, -1.356, 90, 270, 0, [SEP] 31, Window, -1.559, 1.414, -0.057, 90, 270, 0, [SEP] 32, Shelf, -0.276, 0.351, 0.832, 0, 0, 0, [SEP] 33, Shelf, -0.276, 0.099, 0.832, 0, 0, 0, [SEP] 34, Blinds, -1.462, 2.157, -1.343, 0, 90, 0, [SEP] 35, Blinds, -1.462, 2.157, -0.046, 0, 90, 0, [SEP] 36, Desk, -0.276, -0.001, 0.833, 0, 0, 0, [SEP] 37, SideTable, -1.204, 0.002, -2.456, 0, 0, 0, [SEP] 38, SideTable, 0.948, 0.002, -2.456, 0, 0, 0, [SEP] 39, Drawer, 0.948, 0.166, -2.389, 0, 0, 0, [SEP] 40, Drawer, -1.204, 0.166, -2.389, 0, 0, 0, [SEP] 41, Drawer, 0.948, 0.458, -2.389, 0, 0, 0, [SEP] 42, Drawer, -1.204, 0.458, -2.389, 0, 0, 0, [SEP] 43, , , , , , , , [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: turn left, take a few steps, turn right to face bed | STEP 2: pick up magazine that was on the bed | STEP 3: turn right, walk forward, turn left after the bed, walk forward to small table | STEP 4: put magazine on to small table | END"]} +{"id": "trial_T20190908_050633_745514-1", "input": "Place book on right bedside table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, -0.25, 0, 180, 0, [SEP] 1, Mug, -0.431, 0.618, 0.599, 0, 180, 0, 36 [SEP] 2, Mug, -0.741, 0.616, 1.066, 0, 180, 0, 36 [SEP] 3, CD, 0.033, 0.618, 0.910, 0, 180, 0, 36 [SEP] 4, CD, -0.276, 0.618, 0.599, 0, 180, 0, 36 [SEP] 5, CellPhone, 0.247, 0.557, -2.103, 0, 0, 0, 24 [SEP] 6, CreditCard, 0.952, 0.082, -2.423, 0, 0, 0, 41 [SEP] 7, KeyChain, 0.188, 0.621, 0.910, 0, 180, 0, 36 [SEP] 8, KeyChain, -1.247, 0.376, -2.375, 0, 0, 0, 42 [SEP] 9, Book, 0.064, 0.555, -1.211, 0, 0, 0, 24 [SEP] 10, Book, -0.121, 0.617, 0.832, 0, 180, 0, 36 [SEP] 11, Box, 2.453, 0.222, -0.041, 0, 0, 0, [SEP] 12, Book, 0.430, 0.555, -0.988, 0, 0, 0, 24 [SEP] 13, KeyChain, -0.431, 0.621, 0.988, 0, 180, 0, 36 [SEP] 14, Pillow, -0.300, 0.653, -1.211, 0, 0, 0, 24 [SEP] 15, BaseballBat, 0.419, 0.666, 1.044, 10.360, 0, 0, [SEP] 16, Pencil, -0.276, 0.623, 0.755, 0, 180, 0, 36 [SEP] 17, CellPhone, 0.909, 0.375, -2.399, 0, 0, 0, 41 [SEP] 18, CreditCard, 0.188, 0.620, 0.755, 0, 180, 0, 36 [SEP] 19, Pen, 0.203, 0.618, 1.039, 0, 12.506, 0, 36 [SEP] 20, Laptop, -0.661, 0.613, 0.778, 0, 165.000, 0, 36 [SEP] 21, AlarmClock, -0.276, 0.621, 0.988, 0, 180, 0, 36 [SEP] 22, CD, -1.247, 0.082, -2.375, 0, 0, 0, 40 [SEP] 23, Mug, -0.586, 0.618, 1.066, 0, 180, 0, 36 [SEP] 24, Bed, -0.118, -0.001, -1.699, 0, 180, 0, [SEP] 25, Mirror, 2.644, 1.347, 0.384, 0, 90, 0, [SEP] 26, GarbageCan, 2.467, -0.029, 0.936, 0, 271.107, 0, [SEP] 27, LightSwitch, 0.333, 1.256, 1.149, 0, 180, 0, [SEP] 28, DeskLamp, 0.915, 0.670, -2.435, 0, 0, 0, [SEP] 29, Painting, 0.003, 1.562, -2.687, 90, 180, 0, [SEP] 30, Window, -1.559, 1.414, -1.356, 90, 270, 0, [SEP] 31, Window, -1.559, 1.414, -0.057, 90, 270, 0, [SEP] 32, Shelf, -0.276, 0.351, 0.832, 0, 0, 0, [SEP] 33, Shelf, -0.276, 0.099, 0.832, 0, 0, 0, [SEP] 34, Blinds, -1.462, 2.157, -1.343, 0, 90, 0, [SEP] 35, Blinds, -1.462, 2.157, -0.046, 0, 90, 0, [SEP] 36, Desk, -0.276, -0.001, 0.833, 0, 0, 0, [SEP] 37, SideTable, -1.204, 0.002, -2.456, 0, 0, 0, [SEP] 38, SideTable, 0.948, 0.002, -2.456, 0, 0, 0, [SEP] 39, Drawer, 0.948, 0.166, -2.389, 0, 0, 0, [SEP] 40, Drawer, -1.204, 0.166, -2.389, 0, 0, 0, [SEP] 41, Drawer, 0.948, 0.458, -2.389, 0, 0, 0, [SEP] 42, Drawer, -1.204, 0.458, -2.389, 0, 0, 0, [SEP] 43, , , , , , , , [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: go to left end of bed | STEP 2: pick up book on left, front corner of bed | STEP 3: go to empty bedside table to the right of bed | STEP 4: place book on bedside table | END"]} +{"id": "trial_T20190908_050633_745514-2", "input": "Move a game from the bed to the bedside table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, -0.25, 0, 180, 0, [SEP] 1, Mug, -0.431, 0.618, 0.599, 0, 180, 0, 36 [SEP] 2, Mug, -0.741, 0.616, 1.066, 0, 180, 0, 36 [SEP] 3, CD, 0.033, 0.618, 0.910, 0, 180, 0, 36 [SEP] 4, CD, -0.276, 0.618, 0.599, 0, 180, 0, 36 [SEP] 5, CellPhone, 0.247, 0.557, -2.103, 0, 0, 0, 24 [SEP] 6, CreditCard, 0.952, 0.082, -2.423, 0, 0, 0, 41 [SEP] 7, KeyChain, 0.188, 0.621, 0.910, 0, 180, 0, 36 [SEP] 8, KeyChain, -1.247, 0.376, -2.375, 0, 0, 0, 42 [SEP] 9, Book, 0.064, 0.555, -1.211, 0, 0, 0, 24 [SEP] 10, Book, -0.121, 0.617, 0.832, 0, 180, 0, 36 [SEP] 11, Box, 2.453, 0.222, -0.041, 0, 0, 0, [SEP] 12, Book, 0.430, 0.555, -0.988, 0, 0, 0, 24 [SEP] 13, KeyChain, -0.431, 0.621, 0.988, 0, 180, 0, 36 [SEP] 14, Pillow, -0.300, 0.653, -1.211, 0, 0, 0, 24 [SEP] 15, BaseballBat, 0.419, 0.666, 1.044, 10.360, 0, 0, [SEP] 16, Pencil, -0.276, 0.623, 0.755, 0, 180, 0, 36 [SEP] 17, CellPhone, 0.909, 0.375, -2.399, 0, 0, 0, 41 [SEP] 18, CreditCard, 0.188, 0.620, 0.755, 0, 180, 0, 36 [SEP] 19, Pen, 0.203, 0.618, 1.039, 0, 12.506, 0, 36 [SEP] 20, Laptop, -0.661, 0.613, 0.778, 0, 165.000, 0, 36 [SEP] 21, AlarmClock, -0.276, 0.621, 0.988, 0, 180, 0, 36 [SEP] 22, CD, -1.247, 0.082, -2.375, 0, 0, 0, 40 [SEP] 23, Mug, -0.586, 0.618, 1.066, 0, 180, 0, 36 [SEP] 24, Bed, -0.118, -0.001, -1.699, 0, 180, 0, [SEP] 25, Mirror, 2.644, 1.347, 0.384, 0, 90, 0, [SEP] 26, GarbageCan, 2.467, -0.029, 0.936, 0, 271.107, 0, [SEP] 27, LightSwitch, 0.333, 1.256, 1.149, 0, 180, 0, [SEP] 28, DeskLamp, 0.915, 0.670, -2.435, 0, 0, 0, [SEP] 29, Painting, 0.003, 1.562, -2.687, 90, 180, 0, [SEP] 30, Window, -1.559, 1.414, -1.356, 90, 270, 0, [SEP] 31, Window, -1.559, 1.414, -0.057, 90, 270, 0, [SEP] 32, Shelf, -0.276, 0.351, 0.832, 0, 0, 0, [SEP] 33, Shelf, -0.276, 0.099, 0.832, 0, 0, 0, [SEP] 34, Blinds, -1.462, 2.157, -1.343, 0, 90, 0, [SEP] 35, Blinds, -1.462, 2.157, -0.046, 0, 90, 0, [SEP] 36, Desk, -0.276, -0.001, 0.833, 0, 0, 0, [SEP] 37, SideTable, -1.204, 0.002, -2.456, 0, 0, 0, [SEP] 38, SideTable, 0.948, 0.002, -2.456, 0, 0, 0, [SEP] 39, Drawer, 0.948, 0.166, -2.389, 0, 0, 0, [SEP] 40, Drawer, -1.204, 0.166, -2.389, 0, 0, 0, [SEP] 41, Drawer, 0.948, 0.458, -2.389, 0, 0, 0, [SEP] 42, Drawer, -1.204, 0.458, -2.389, 0, 0, 0, [SEP] 43, , , , , , , , [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and go to the bottom left edge of the bed | STEP 2: Pick up the game that is on the bottom left edge of the bed | STEP 3: Go right and around the bed to the bedside table | STEP 4: Put the game on top of the table | END"]} +{"id": "trial_T20190908_052232_887934-0", "input": "Put a bottle on the back of a newspaper. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -0.75, 0, 90, 0, [SEP] 1, TissueBox, -1.353, 0.818, -0.193, 0, 0, 0, 34 [SEP] 2, TissueBox, 0.839, 0.818, -0.825, 0, 90, 0, 35 [SEP] 3, Candle, 0.908, 0.817, -1.874, 0, 90, 0, 36 [SEP] 4, SoapBar, 0.852, 0.818, -1.975, 0, 90, 0, 36 [SEP] 5, SoapBar, 0.852, 0.818, -2.076, 0, 90, 0, 36 [SEP] 6, SprayBottle, -1.757, 0.815, -0.193, 0, 0, 0, 34 [SEP] 7, SprayBottle, 0.782, 0.815, -0.522, 0, 90, 0, 35 [SEP] 8, SoapBottle, -1.656, 0.821, -0.108, 0, 0, 0, 34 [SEP] 9, ToiletPaper, 0.839, 0.815, -0.623, 0, 90, 0, 35 [SEP] 10, SoapBottle, -0.008, 0.955, -3.874, 0, 90, 0, 30 [SEP] 11, Cloth, -1.640, 0.042, -3.255, 0, 270, 0, 32 [SEP] 12, Candle, -1.353, 0.817, -0.052, 0, 0, 0, 34 [SEP] 13, HandTowel, -2.166, 1.500, -0.037, 0, 0, 0, 27 [SEP] 14, Towel, -1.525, 1.685, -0.105, 0, 180, 0, 25 [SEP] 15, SoapBar, -2.085, 0.044, -2.968, 0, 270, 0, 32 [SEP] 16, ToiletPaper, -0.556, 0.082, -3.778, 0, 0, 0, 26 [SEP] 17, Plunger, 0.854, -0.000, -3.905, 0, 0, 0, Floor|-01.66| [SEP] 18, SprayBottle, -1.858, 0.815, -0.108, 0, 0, 0, 34 [SEP] 19, TissueBox, 0.832, 0.809, -0.358, 0, 266.215, 0, 35 [SEP] 20, ToiletPaper, 0.405, 0.729, -3.885, 0, 0, 270, 33 [SEP] 21, ScrubBrush, 0.684, -0.000, -3.905, 0, 0, 0, Floor|-01.66| [SEP] 22, Sink, -2.171, 0.294, -0.660, 0, 90, 0, [SEP] 23, Bathtub, -2.122, -0.088, -3.116, 0, 0, 0, [SEP] 24, Mirror, -2.503, 1.423, -0.703, 0, 0, 0, [SEP] 25, TowelHolder, -1.524, 1.671, 0.001, 0, 180, 0, [SEP] 26, GarbageCan, -0.525, -0.050, -3.763, 0, 0, 0, [SEP] 27, HandTowelHolder, -2.166, 1.602, 0.000, 0, 90, 0, [SEP] 28, LightSwitch, 0.321, 1.327, 0.000, 0, 180, 0, [SEP] 29, Window, -0.540, 1.625, -3.996, 90, 0, 0, [SEP] 30, Toilet, 0.004, -0.000, -3.436, 0, 0, 0, [SEP] 31, SinkBasin, -2.176, 0.824, -0.659, 0, 0, 0, [SEP] 32, BathtubBasin, -1.862, 0.033, -2.723, 0, 270, 0, [SEP] 33, ToiletPaperHanger, 0.462, 0.841, -3.978, 0, 0, 0, [SEP] 34, SideTable, -1.526, 0.001, -0.172, 0, 0, 0, [SEP] 35, SideTable, 0.780, 0.001, -0.667, 0, 90, 0, [SEP] 36, SideTable, 0.793, 0.001, -1.817, 0, 90, 0, [SEP] 37, ShowerCurtain, -1.320, 1.781, -3.864, 0, 0, 5.987, [SEP] 38, Faucet, -2.431, 0.982, -0.660, 0, 90, 0, [SEP] 39, Faucet, -1.909, 0.666, -3.855, 0, 180, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and then face to the right to stand in front of the tissues. | STEP 2: Pick the small bottle behind the tissues up from the cabinet. | STEP 3: Go right and then right again and then turn left to face the right side of the toilet. | STEP 4: Put the bottle on the back of the toilet. | END"]} +{"id": "trial_T20190908_052232_887934-1", "input": "Put a bottle of nail polish on the toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -0.75, 0, 90, 0, [SEP] 1, TissueBox, -1.353, 0.818, -0.193, 0, 0, 0, 34 [SEP] 2, TissueBox, 0.839, 0.818, -0.825, 0, 90, 0, 35 [SEP] 3, Candle, 0.908, 0.817, -1.874, 0, 90, 0, 36 [SEP] 4, SoapBar, 0.852, 0.818, -1.975, 0, 90, 0, 36 [SEP] 5, SoapBar, 0.852, 0.818, -2.076, 0, 90, 0, 36 [SEP] 6, SprayBottle, -1.757, 0.815, -0.193, 0, 0, 0, 34 [SEP] 7, SprayBottle, 0.782, 0.815, -0.522, 0, 90, 0, 35 [SEP] 8, SoapBottle, -1.656, 0.821, -0.108, 0, 0, 0, 34 [SEP] 9, ToiletPaper, 0.839, 0.815, -0.623, 0, 90, 0, 35 [SEP] 10, SoapBottle, -0.008, 0.955, -3.874, 0, 90, 0, 30 [SEP] 11, Cloth, -1.640, 0.042, -3.255, 0, 270, 0, 32 [SEP] 12, Candle, -1.353, 0.817, -0.052, 0, 0, 0, 34 [SEP] 13, HandTowel, -2.166, 1.500, -0.037, 0, 0, 0, 27 [SEP] 14, Towel, -1.525, 1.685, -0.105, 0, 180, 0, 25 [SEP] 15, SoapBar, -2.085, 0.044, -2.968, 0, 270, 0, 32 [SEP] 16, ToiletPaper, -0.556, 0.082, -3.778, 0, 0, 0, 26 [SEP] 17, Plunger, 0.854, -0.000, -3.905, 0, 0, 0, Floor|-01.66| [SEP] 18, SprayBottle, -1.858, 0.815, -0.108, 0, 0, 0, 34 [SEP] 19, TissueBox, 0.832, 0.809, -0.358, 0, 266.215, 0, 35 [SEP] 20, ToiletPaper, 0.405, 0.729, -3.885, 0, 0, 270, 33 [SEP] 21, ScrubBrush, 0.684, -0.000, -3.905, 0, 0, 0, Floor|-01.66| [SEP] 22, Sink, -2.171, 0.294, -0.660, 0, 90, 0, [SEP] 23, Bathtub, -2.122, -0.088, -3.116, 0, 0, 0, [SEP] 24, Mirror, -2.503, 1.423, -0.703, 0, 0, 0, [SEP] 25, TowelHolder, -1.524, 1.671, 0.001, 0, 180, 0, [SEP] 26, GarbageCan, -0.525, -0.050, -3.763, 0, 0, 0, [SEP] 27, HandTowelHolder, -2.166, 1.602, 0.000, 0, 90, 0, [SEP] 28, LightSwitch, 0.321, 1.327, 0.000, 0, 180, 0, [SEP] 29, Window, -0.540, 1.625, -3.996, 90, 0, 0, [SEP] 30, Toilet, 0.004, -0.000, -3.436, 0, 0, 0, [SEP] 31, SinkBasin, -2.176, 0.824, -0.659, 0, 0, 0, [SEP] 32, BathtubBasin, -1.862, 0.033, -2.723, 0, 270, 0, [SEP] 33, ToiletPaperHanger, 0.462, 0.841, -3.978, 0, 0, 0, [SEP] 34, SideTable, -1.526, 0.001, -0.172, 0, 0, 0, [SEP] 35, SideTable, 0.780, 0.001, -0.667, 0, 90, 0, [SEP] 36, SideTable, 0.793, 0.001, -1.817, 0, 90, 0, [SEP] 37, ShowerCurtain, -1.320, 1.781, -3.864, 0, 0, 5.987, [SEP] 38, Faucet, -2.431, 0.982, -0.660, 0, 90, 0, [SEP] 39, Faucet, -1.909, 0.666, -3.855, 0, 180, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the while shelf on your left and to the left of the door. | STEP 2: Pick up the nail polish, on the white shelf, behind the tissue box. | STEP 3: Turn around and go to the toilet, across the room. | STEP 4: Place the nail polish on the back of the toilet, above the handle. | END"]} +{"id": "trial_T20190908_052232_887934-2", "input": "Place a candle on top of the toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -0.75, 0, 90, 0, [SEP] 1, TissueBox, -1.353, 0.818, -0.193, 0, 0, 0, 34 [SEP] 2, TissueBox, 0.839, 0.818, -0.825, 0, 90, 0, 35 [SEP] 3, Candle, 0.908, 0.817, -1.874, 0, 90, 0, 36 [SEP] 4, SoapBar, 0.852, 0.818, -1.975, 0, 90, 0, 36 [SEP] 5, SoapBar, 0.852, 0.818, -2.076, 0, 90, 0, 36 [SEP] 6, SprayBottle, -1.757, 0.815, -0.193, 0, 0, 0, 34 [SEP] 7, SprayBottle, 0.782, 0.815, -0.522, 0, 90, 0, 35 [SEP] 8, SoapBottle, -1.656, 0.821, -0.108, 0, 0, 0, 34 [SEP] 9, ToiletPaper, 0.839, 0.815, -0.623, 0, 90, 0, 35 [SEP] 10, SoapBottle, -0.008, 0.955, -3.874, 0, 90, 0, 30 [SEP] 11, Cloth, -1.640, 0.042, -3.255, 0, 270, 0, 32 [SEP] 12, Candle, -1.353, 0.817, -0.052, 0, 0, 0, 34 [SEP] 13, HandTowel, -2.166, 1.500, -0.037, 0, 0, 0, 27 [SEP] 14, Towel, -1.525, 1.685, -0.105, 0, 180, 0, 25 [SEP] 15, SoapBar, -2.085, 0.044, -2.968, 0, 270, 0, 32 [SEP] 16, ToiletPaper, -0.556, 0.082, -3.778, 0, 0, 0, 26 [SEP] 17, Plunger, 0.854, -0.000, -3.905, 0, 0, 0, Floor|-01.66| [SEP] 18, SprayBottle, -1.858, 0.815, -0.108, 0, 0, 0, 34 [SEP] 19, TissueBox, 0.832, 0.809, -0.358, 0, 266.215, 0, 35 [SEP] 20, ToiletPaper, 0.405, 0.729, -3.885, 0, 0, 270, 33 [SEP] 21, ScrubBrush, 0.684, -0.000, -3.905, 0, 0, 0, Floor|-01.66| [SEP] 22, Sink, -2.171, 0.294, -0.660, 0, 90, 0, [SEP] 23, Bathtub, -2.122, -0.088, -3.116, 0, 0, 0, [SEP] 24, Mirror, -2.503, 1.423, -0.703, 0, 0, 0, [SEP] 25, TowelHolder, -1.524, 1.671, 0.001, 0, 180, 0, [SEP] 26, GarbageCan, -0.525, -0.050, -3.763, 0, 0, 0, [SEP] 27, HandTowelHolder, -2.166, 1.602, 0.000, 0, 90, 0, [SEP] 28, LightSwitch, 0.321, 1.327, 0.000, 0, 180, 0, [SEP] 29, Window, -0.540, 1.625, -3.996, 90, 0, 0, [SEP] 30, Toilet, 0.004, -0.000, -3.436, 0, 0, 0, [SEP] 31, SinkBasin, -2.176, 0.824, -0.659, 0, 0, 0, [SEP] 32, BathtubBasin, -1.862, 0.033, -2.723, 0, 270, 0, [SEP] 33, ToiletPaperHanger, 0.462, 0.841, -3.978, 0, 0, 0, [SEP] 34, SideTable, -1.526, 0.001, -0.172, 0, 0, 0, [SEP] 35, SideTable, 0.780, 0.001, -0.667, 0, 90, 0, [SEP] 36, SideTable, 0.793, 0.001, -1.817, 0, 90, 0, [SEP] 37, ShowerCurtain, -1.320, 1.781, -3.864, 0, 0, 5.987, [SEP] 38, Faucet, -2.431, 0.982, -0.660, 0, 90, 0, [SEP] 39, Faucet, -1.909, 0.666, -3.855, 0, 180, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and face the white table to your right. | STEP 2: Take the candle from the white table in front of you. | STEP 3: Turn around then face the toilet to your left. | STEP 4: Place the candle on top of the toilet tank in front of you. | END"]} +{"id": "trial_T20190908_125930_920681-0", "input": "Move two books from the bed to the desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, -0.75, 0, 0, 0, [SEP] 1, Mug, 0.741, 0.701, -1.619, 0, 180, 0, 44 [SEP] 2, TissueBox, 0.494, 0.703, -1.619, 0, 180, 0, 44 [SEP] 3, TissueBox, 0.741, 0.705, -1.326, 0, 180, 0, 44 [SEP] 4, CellPhone, 1.600, 0.711, -0.623, 0, 0, 0, 36 [SEP] 5, Pen, 1.480, 0.493, -0.394, 0, 270, 0, 37 [SEP] 6, Pen, 0.341, 0.295, -1.479, 0, 180, 0, 42 [SEP] 7, Pencil, 1.469, 1.415, 0.264, 0, 270, 0, 36 [SEP] 8, Book, -2.070, 0.527, -0.570, 0, 0, 0, 27 [SEP] 9, KeyChain, 0.248, 0.704, -1.521, 0, 180, 0, 44 [SEP] 10, Box, 1.537, 1.652, 0.692, 0, 0, 0, 30 [SEP] 11, Book, -1.483, 0.527, -0.570, 0, 0, 0, 27 [SEP] 12, AlarmClock, 1.511, 0.489, -0.675, 0, 270, 0, 37 [SEP] 13, CellPhone, -2.217, 0.530, -0.814, 0, 0, 0, 27 [SEP] 14, TissueBox, 0.987, 0.703, -1.326, 0, 180, 0, 44 [SEP] 15, TeddyBear, -2.204, 0.500, 0.181, 355.000, 297.467, 9.162, 27 [SEP] 16, CreditCard, 0.479, 0.289, -1.319, 0, 180, 0, 42 [SEP] 17, KeyChain, 1.479, 0.702, -1.423, 0, 180, 0, 44 [SEP] 18, BaseballBat, -2.202, 0.04, -1.343, 0, 45, 90, Floor|+00.00| [SEP] 19, TennisRacket, -2.254, 0.324, -1.806, 15.000, 180, 180, Floor|+00.00| [SEP] 20, Pillow, -2.039, 0.545, 0.677, 0, 0, 0, 27 [SEP] 21, Laptop, -1.483, 0.525, 0.648, 0, 0, 0, 27 [SEP] 22, CD, 1.524, 0.708, -0.703, 0, 0, 0, 36 [SEP] 23, Pen, 0.494, 0.709, -1.326, 0, 180, 0, 44 [SEP] 24, Pencil, 1.429, 1.415, 0.393, 0, 270, 0, 36 [SEP] 25, Mug, 1.638, 0.706, -0.385, 0, 90, 0, 36 [SEP] 26, Mirror, -0.689, 1.495, 0.954, 0, 0, 0, [SEP] 27, Bed, -1.742, 0.000, -0.071, 0, 0, 0, [SEP] 28, Chair, 0.891, -0.001, -1.251, 0, 175.104, 0, [SEP] 29, GarbageCan, -0.606, -0.021, 0.799, 0, 0, 0, [SEP] 30, ShelvingUnit, 1.550, 1.402, 0.374, 0, 270, 0, [SEP] 31, Painting, -2.401, 1.700, -0.859, 90, 90, 0, [SEP] 32, DeskLamp, 1.291, 0.699, -1.717, 0, 0, 0, [SEP] 33, LightSwitch, 0.231, 1.287, 0.954, 0, 180, 0, [SEP] 34, HousePlant, 1.488, 1.394, 0.035, 0, 122.291, 0, [SEP] 35, Window, 0.046, 1.559, -2.079, 90, 180, 0, [SEP] 36, SideTable, 1.561, 0.000, -0.465, 0, 270, 0, [SEP] 37, Shelf, 1.541, 0.493, -0.475, 0, 270, 0, [SEP] 38, Blinds, 0.007, 2.152, -2.014, 0, 0, 0, [SEP] 39, Drawer, -0.156, 0.547, -1.430, 0, 0, 0, [SEP] 40, Drawer, 0.270, 0.159, -1.430, 0, 0, 0, [SEP] 41, Drawer, -0.156, 0.159, -1.430, 0, 0, 0, [SEP] 42, Drawer, 0.270, 0.353, -1.430, 0, 0, 0, [SEP] 43, Drawer, -0.156, 0.353, -1.430, 0, 0, 0, [SEP] 44, Desk, 0.634, 0.002, -1.557, 0, 0, 0, [SEP] 45, Drawer, 0.270, 0.547, -1.430, 0, 0, 0, [SEP] 46, Shelf, 1.406, 0.571, -1.514, 0, 0, 0, [SEP] 47, Shelf, 1.406, 0.183, -1.514, 0, 0, 0, [SEP] 48, Shelf, 1.584, 0.183, -1.514, 0, 0, 0, [SEP] 49, Shelf, 1.406, 0.377, -1.514, 0, 0, 0, [SEP] 50, Shelf, 1.584, 0.377, -1.514, 0, 0, 0, [SEP] 51, Shelf, 1.584, 0.571, -1.514, 0, 0, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: Take a step forward then turn left and walk over to the bed. | STEP 2: Pick up the closest book off of the bed. | STEP 3: Turn around and walk towards the wall, then turn right to face the desk. | STEP 4: Put the book on the desk to the left of the leftmost tissue box. | STEP 5: Turn right and walk over to the bed, then turn left and walk to the window, turn right and walk up to the wall then turn right again to face the bed. | STEP 6: Pick up the book off of the bed. | STEP 7: Turn right and walk back over to the front of the desk. | STEP 8: Put the book on the desk to the left of the coffee mug. | END"]} +{"id": "trial_T20190908_125930_920681-1", "input": "Move the two textbooks from the bed to the desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, -0.75, 0, 0, 0, [SEP] 1, Mug, 0.741, 0.701, -1.619, 0, 180, 0, 44 [SEP] 2, TissueBox, 0.494, 0.703, -1.619, 0, 180, 0, 44 [SEP] 3, TissueBox, 0.741, 0.705, -1.326, 0, 180, 0, 44 [SEP] 4, CellPhone, 1.600, 0.711, -0.623, 0, 0, 0, 36 [SEP] 5, Pen, 1.480, 0.493, -0.394, 0, 270, 0, 37 [SEP] 6, Pen, 0.341, 0.295, -1.479, 0, 180, 0, 42 [SEP] 7, Pencil, 1.469, 1.415, 0.264, 0, 270, 0, 36 [SEP] 8, Book, -2.070, 0.527, -0.570, 0, 0, 0, 27 [SEP] 9, KeyChain, 0.248, 0.704, -1.521, 0, 180, 0, 44 [SEP] 10, Box, 1.537, 1.652, 0.692, 0, 0, 0, 30 [SEP] 11, Book, -1.483, 0.527, -0.570, 0, 0, 0, 27 [SEP] 12, AlarmClock, 1.511, 0.489, -0.675, 0, 270, 0, 37 [SEP] 13, CellPhone, -2.217, 0.530, -0.814, 0, 0, 0, 27 [SEP] 14, TissueBox, 0.987, 0.703, -1.326, 0, 180, 0, 44 [SEP] 15, TeddyBear, -2.204, 0.500, 0.181, 355.000, 297.467, 9.162, 27 [SEP] 16, CreditCard, 0.479, 0.289, -1.319, 0, 180, 0, 42 [SEP] 17, KeyChain, 1.479, 0.702, -1.423, 0, 180, 0, 44 [SEP] 18, BaseballBat, -2.202, 0.04, -1.343, 0, 45, 90, Floor|+00.00| [SEP] 19, TennisRacket, -2.254, 0.324, -1.806, 15.000, 180, 180, Floor|+00.00| [SEP] 20, Pillow, -2.039, 0.545, 0.677, 0, 0, 0, 27 [SEP] 21, Laptop, -1.483, 0.525, 0.648, 0, 0, 0, 27 [SEP] 22, CD, 1.524, 0.708, -0.703, 0, 0, 0, 36 [SEP] 23, Pen, 0.494, 0.709, -1.326, 0, 180, 0, 44 [SEP] 24, Pencil, 1.429, 1.415, 0.393, 0, 270, 0, 36 [SEP] 25, Mug, 1.638, 0.706, -0.385, 0, 90, 0, 36 [SEP] 26, Mirror, -0.689, 1.495, 0.954, 0, 0, 0, [SEP] 27, Bed, -1.742, 0.000, -0.071, 0, 0, 0, [SEP] 28, Chair, 0.891, -0.001, -1.251, 0, 175.104, 0, [SEP] 29, GarbageCan, -0.606, -0.021, 0.799, 0, 0, 0, [SEP] 30, ShelvingUnit, 1.550, 1.402, 0.374, 0, 270, 0, [SEP] 31, Painting, -2.401, 1.700, -0.859, 90, 90, 0, [SEP] 32, DeskLamp, 1.291, 0.699, -1.717, 0, 0, 0, [SEP] 33, LightSwitch, 0.231, 1.287, 0.954, 0, 180, 0, [SEP] 34, HousePlant, 1.488, 1.394, 0.035, 0, 122.291, 0, [SEP] 35, Window, 0.046, 1.559, -2.079, 90, 180, 0, [SEP] 36, SideTable, 1.561, 0.000, -0.465, 0, 270, 0, [SEP] 37, Shelf, 1.541, 0.493, -0.475, 0, 270, 0, [SEP] 38, Blinds, 0.007, 2.152, -2.014, 0, 0, 0, [SEP] 39, Drawer, -0.156, 0.547, -1.430, 0, 0, 0, [SEP] 40, Drawer, 0.270, 0.159, -1.430, 0, 0, 0, [SEP] 41, Drawer, -0.156, 0.159, -1.430, 0, 0, 0, [SEP] 42, Drawer, 0.270, 0.353, -1.430, 0, 0, 0, [SEP] 43, Drawer, -0.156, 0.353, -1.430, 0, 0, 0, [SEP] 44, Desk, 0.634, 0.002, -1.557, 0, 0, 0, [SEP] 45, Drawer, 0.270, 0.547, -1.430, 0, 0, 0, [SEP] 46, Shelf, 1.406, 0.571, -1.514, 0, 0, 0, [SEP] 47, Shelf, 1.406, 0.183, -1.514, 0, 0, 0, [SEP] 48, Shelf, 1.584, 0.183, -1.514, 0, 0, 0, [SEP] 49, Shelf, 1.406, 0.377, -1.514, 0, 0, 0, [SEP] 50, Shelf, 1.584, 0.377, -1.514, 0, 0, 0, [SEP] 51, Shelf, 1.584, 0.571, -1.514, 0, 0, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and move to the long edge of the bed. | STEP 2: Pick up the first textbook nearest to you on the side of the bed. | STEP 3: Turn around and move to the desk in the corner of the room. | STEP 4: Place the first textbook down on the desk to the left of the tissue box. | STEP 5: Turn right and move to the short edge of the bed. | STEP 6: Pick up the second textbook next to the smartphone on the bed. | STEP 7: Turn around and go back to the desk. | STEP 8: Place the second textbook on the desk above the tissue box. | END"]} +{"id": "trial_T20190908_125930_920681-2", "input": "Put the two book on the desk SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, -0.75, 0, 0, 0, [SEP] 1, Mug, 0.741, 0.701, -1.619, 0, 180, 0, 44 [SEP] 2, TissueBox, 0.494, 0.703, -1.619, 0, 180, 0, 44 [SEP] 3, TissueBox, 0.741, 0.705, -1.326, 0, 180, 0, 44 [SEP] 4, CellPhone, 1.600, 0.711, -0.623, 0, 0, 0, 36 [SEP] 5, Pen, 1.480, 0.493, -0.394, 0, 270, 0, 37 [SEP] 6, Pen, 0.341, 0.295, -1.479, 0, 180, 0, 42 [SEP] 7, Pencil, 1.469, 1.415, 0.264, 0, 270, 0, 36 [SEP] 8, Book, -2.070, 0.527, -0.570, 0, 0, 0, 27 [SEP] 9, KeyChain, 0.248, 0.704, -1.521, 0, 180, 0, 44 [SEP] 10, Box, 1.537, 1.652, 0.692, 0, 0, 0, 30 [SEP] 11, Book, -1.483, 0.527, -0.570, 0, 0, 0, 27 [SEP] 12, AlarmClock, 1.511, 0.489, -0.675, 0, 270, 0, 37 [SEP] 13, CellPhone, -2.217, 0.530, -0.814, 0, 0, 0, 27 [SEP] 14, TissueBox, 0.987, 0.703, -1.326, 0, 180, 0, 44 [SEP] 15, TeddyBear, -2.204, 0.500, 0.181, 355.000, 297.467, 9.162, 27 [SEP] 16, CreditCard, 0.479, 0.289, -1.319, 0, 180, 0, 42 [SEP] 17, KeyChain, 1.479, 0.702, -1.423, 0, 180, 0, 44 [SEP] 18, BaseballBat, -2.202, 0.04, -1.343, 0, 45, 90, Floor|+00.00| [SEP] 19, TennisRacket, -2.254, 0.324, -1.806, 15.000, 180, 180, Floor|+00.00| [SEP] 20, Pillow, -2.039, 0.545, 0.677, 0, 0, 0, 27 [SEP] 21, Laptop, -1.483, 0.525, 0.648, 0, 0, 0, 27 [SEP] 22, CD, 1.524, 0.708, -0.703, 0, 0, 0, 36 [SEP] 23, Pen, 0.494, 0.709, -1.326, 0, 180, 0, 44 [SEP] 24, Pencil, 1.429, 1.415, 0.393, 0, 270, 0, 36 [SEP] 25, Mug, 1.638, 0.706, -0.385, 0, 90, 0, 36 [SEP] 26, Mirror, -0.689, 1.495, 0.954, 0, 0, 0, [SEP] 27, Bed, -1.742, 0.000, -0.071, 0, 0, 0, [SEP] 28, Chair, 0.891, -0.001, -1.251, 0, 175.104, 0, [SEP] 29, GarbageCan, -0.606, -0.021, 0.799, 0, 0, 0, [SEP] 30, ShelvingUnit, 1.550, 1.402, 0.374, 0, 270, 0, [SEP] 31, Painting, -2.401, 1.700, -0.859, 90, 90, 0, [SEP] 32, DeskLamp, 1.291, 0.699, -1.717, 0, 0, 0, [SEP] 33, LightSwitch, 0.231, 1.287, 0.954, 0, 180, 0, [SEP] 34, HousePlant, 1.488, 1.394, 0.035, 0, 122.291, 0, [SEP] 35, Window, 0.046, 1.559, -2.079, 90, 180, 0, [SEP] 36, SideTable, 1.561, 0.000, -0.465, 0, 270, 0, [SEP] 37, Shelf, 1.541, 0.493, -0.475, 0, 270, 0, [SEP] 38, Blinds, 0.007, 2.152, -2.014, 0, 0, 0, [SEP] 39, Drawer, -0.156, 0.547, -1.430, 0, 0, 0, [SEP] 40, Drawer, 0.270, 0.159, -1.430, 0, 0, 0, [SEP] 41, Drawer, -0.156, 0.159, -1.430, 0, 0, 0, [SEP] 42, Drawer, 0.270, 0.353, -1.430, 0, 0, 0, [SEP] 43, Drawer, -0.156, 0.353, -1.430, 0, 0, 0, [SEP] 44, Desk, 0.634, 0.002, -1.557, 0, 0, 0, [SEP] 45, Drawer, 0.270, 0.547, -1.430, 0, 0, 0, [SEP] 46, Shelf, 1.406, 0.571, -1.514, 0, 0, 0, [SEP] 47, Shelf, 1.406, 0.183, -1.514, 0, 0, 0, [SEP] 48, Shelf, 1.584, 0.183, -1.514, 0, 0, 0, [SEP] 49, Shelf, 1.406, 0.377, -1.514, 0, 0, 0, [SEP] 50, Shelf, 1.584, 0.377, -1.514, 0, 0, 0, [SEP] 51, Shelf, 1.584, 0.571, -1.514, 0, 0, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: Turn left move forward to the side of the bed | STEP 2: Pick up the book closer to you | STEP 3: Turn left then head to the desk | STEP 4: Put the book on the desk | STEP 5: Turn right walk forward the bed then stand on the end of the bed | STEP 6: Pick up the book on the bed beside the cell phone | STEP 7: Turn right then head to in front of the desk | STEP 8: Put the book in between the lamp and mug | END"]} +{"id": "trial_T20190908_191330_157502-0", "input": "To place two bars of soap on the back of the toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.901, -2.0, 0, 270, 0, [SEP] 1, Cloth, -2.770, 0.079, -1.062, 0, 0, 0, 22 [SEP] 2, Candle, -0.417, 1.046, -3.948, 0, 0, 0, 34 [SEP] 3, Candle, -2.740, 0.996, -0.336, 0, 0, 0, 21 [SEP] 4, SoapBar, -2.567, 0.079, -0.955, 0, 0, 0, 22 [SEP] 5, SoapBottle, -0.679, 1.048, -3.918, 0, 0, 0, 34 [SEP] 6, SoapBottle, -2.682, 0.998, -1.320, 0, 180, 0, 21 [SEP] 7, Towel, -1.051, 1.535, -2.887, 0, 90, 0, 27 [SEP] 8, HandTowel, -2.591, 1.635, -0.047, 0, 0, 0, 29 [SEP] 9, SoapBar, -2.745, 0.921, -0.768, 351.180, 90, 0, 36 [SEP] 10, ToiletPaper, -2.640, 0.069, -1.888, 0, 0, 0, 20 [SEP] 11, ToiletPaper, -0.745, 1.042, -3.795, 0, 0, 0, 34 [SEP] 12, SoapBottle, -2.745, 0.998, -1.213, 0, 0, 0, 21 [SEP] 13, Candle, -2.677, 0.996, -0.322, 0, 0, 0, 21 [SEP] 14, ScrubBrush, -1.048, 0.000, -3.830, 0, 0, 0, 30 [SEP] 15, Plunger, -1.066, 0.000, -3.527, 0, 0, 0, Floor|-00.04| [SEP] 16, Cloth, -2.668, 0.078, -0.519, 0, 0, 0, 24 [SEP] 17, SprayBottle, -1.617, 0.061, -0.210, 0, 180, 0, 24 [SEP] 18, ShowerDoor, -2.204, 1.044, -2.503, 0, 0, 0, [SEP] 19, Mirror, -2.947, 1.559, -1.194, 0, 0, 0, [SEP] 20, Cabinet, -2.504, 0.400, -2.208, 0, 0, 0, [SEP] 21, CounterTop, -2.744, 0.986, -1.243, 0, 0, 0, [SEP] 22, Cabinet, -2.504, 0.400, -1.238, 0, 0, 0, [SEP] 23, ShowerGlass, -2.079, 1.482, -3.264, 0, 0, 0, [SEP] 24, Cabinet, -2.508, 0.426, -0.290, 0, 0, 0, [SEP] 25, Sink, -2.907, 0.986, -1.761, 0, 90, 0, [SEP] 26, Cabinet, -2.508, 0.426, -1.260, 0, 0, 0, [SEP] 27, TowelHolder, -1.158, 1.521, -2.887, 0, 90, 0, [SEP] 28, ToiletPaperHanger, 0.0, 0.984, -2.651, 0, 270, 0, [SEP] 29, HandTowelHolder, -2.591, 1.737, -0.009, 0, 90, 0, [SEP] 30, GarbageCan, -0.908, -0.031, -3.646, 0, 90, 0, [SEP] 31, Window, -0.566, 1.730, -4.102, 90, 0, 0, [SEP] 32, LightSwitch, -1.332, 1.391, 0.001, 0, 180, 0, [SEP] 33, SinkBasin, -2.724, 0.916, -1.755, 351.180, 90, 0, [SEP] 34, Toilet, -0.319, 0.000, -3.533, 0, 90, 0, [SEP] 35, Faucet, -2.907, 0.993, -1.761, 0, 90, 0, [SEP] 36, SinkBasin, -2.724, 0.916, -0.726, 351.180, 90, 0, [SEP] 37, Sink, -2.907, 0.986, -0.732, 0, 90, 0, [SEP] 38, Faucet, -2.907, 0.993, -0.731, 0, 90, 0, [SEP] 39, ShowerHead, -2.868, 1.219, -3.223, 0, 180, 0, [SEP] 40, EastWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , ", "output": ["STEP 1: Take a step to the right to face the soap in the sink. | STEP 2: Pick up the soap in the sink. | STEP 3: Turn left and walk across the room to face the back of the toilet. | STEP 4: Place the soap on the back of the toilet. | STEP 5: Turn around and walk across the room to face the right side of the sink. | STEP 6: Pick up the soap in the cabinet under the left side of the right sink. | STEP 7: Turn left and walk across the room to face the back of the toilet. | STEP 8: Place the bar of soap on the back of the toilet. | END"]} +{"id": "trial_T20190908_191330_157502-1", "input": "Organize the bars of soap on top of the toilet tank. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.901, -2.0, 0, 270, 0, [SEP] 1, Cloth, -2.770, 0.079, -1.062, 0, 0, 0, 22 [SEP] 2, Candle, -0.417, 1.046, -3.948, 0, 0, 0, 34 [SEP] 3, Candle, -2.740, 0.996, -0.336, 0, 0, 0, 21 [SEP] 4, SoapBar, -2.567, 0.079, -0.955, 0, 0, 0, 22 [SEP] 5, SoapBottle, -0.679, 1.048, -3.918, 0, 0, 0, 34 [SEP] 6, SoapBottle, -2.682, 0.998, -1.320, 0, 180, 0, 21 [SEP] 7, Towel, -1.051, 1.535, -2.887, 0, 90, 0, 27 [SEP] 8, HandTowel, -2.591, 1.635, -0.047, 0, 0, 0, 29 [SEP] 9, SoapBar, -2.745, 0.921, -0.768, 351.180, 90, 0, 36 [SEP] 10, ToiletPaper, -2.640, 0.069, -1.888, 0, 0, 0, 20 [SEP] 11, ToiletPaper, -0.745, 1.042, -3.795, 0, 0, 0, 34 [SEP] 12, SoapBottle, -2.745, 0.998, -1.213, 0, 0, 0, 21 [SEP] 13, Candle, -2.677, 0.996, -0.322, 0, 0, 0, 21 [SEP] 14, ScrubBrush, -1.048, 0.000, -3.830, 0, 0, 0, 30 [SEP] 15, Plunger, -1.066, 0.000, -3.527, 0, 0, 0, Floor|-00.04| [SEP] 16, Cloth, -2.668, 0.078, -0.519, 0, 0, 0, 24 [SEP] 17, SprayBottle, -1.617, 0.061, -0.210, 0, 180, 0, 24 [SEP] 18, ShowerDoor, -2.204, 1.044, -2.503, 0, 0, 0, [SEP] 19, Mirror, -2.947, 1.559, -1.194, 0, 0, 0, [SEP] 20, Cabinet, -2.504, 0.400, -2.208, 0, 0, 0, [SEP] 21, CounterTop, -2.744, 0.986, -1.243, 0, 0, 0, [SEP] 22, Cabinet, -2.504, 0.400, -1.238, 0, 0, 0, [SEP] 23, ShowerGlass, -2.079, 1.482, -3.264, 0, 0, 0, [SEP] 24, Cabinet, -2.508, 0.426, -0.290, 0, 0, 0, [SEP] 25, Sink, -2.907, 0.986, -1.761, 0, 90, 0, [SEP] 26, Cabinet, -2.508, 0.426, -1.260, 0, 0, 0, [SEP] 27, TowelHolder, -1.158, 1.521, -2.887, 0, 90, 0, [SEP] 28, ToiletPaperHanger, 0.0, 0.984, -2.651, 0, 270, 0, [SEP] 29, HandTowelHolder, -2.591, 1.737, -0.009, 0, 90, 0, [SEP] 30, GarbageCan, -0.908, -0.031, -3.646, 0, 90, 0, [SEP] 31, Window, -0.566, 1.730, -4.102, 90, 0, 0, [SEP] 32, LightSwitch, -1.332, 1.391, 0.001, 0, 180, 0, [SEP] 33, SinkBasin, -2.724, 0.916, -1.755, 351.180, 90, 0, [SEP] 34, Toilet, -0.319, 0.000, -3.533, 0, 90, 0, [SEP] 35, Faucet, -2.907, 0.993, -1.761, 0, 90, 0, [SEP] 36, SinkBasin, -2.724, 0.916, -0.726, 351.180, 90, 0, [SEP] 37, Sink, -2.907, 0.986, -0.732, 0, 90, 0, [SEP] 38, Faucet, -2.907, 0.993, -0.731, 0, 90, 0, [SEP] 39, ShowerHead, -2.868, 1.219, -3.223, 0, 180, 0, [SEP] 40, EastWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , ", "output": ["STEP 1: Turn to the right toward the the second sink. | STEP 2: Pick up the soap from the sink. | STEP 3: Turn around and move toward the toilet on the opposite corner of the room. | STEP 4: Place the soap on top of the toilet tank. | STEP 5: Turn around and move to the right sink on the left. | STEP 6: Take out the soap from the left cupboard underneath the sink. | STEP 7: Turn around and move toward the toilet on the opposite corner of the room. | STEP 8: Place the soap next to the other soap on top of the toilet tank. | END"]} +{"id": "trial_T20190908_191330_157502-2", "input": "Put two soaps on the flusher SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.901, -2.0, 0, 270, 0, [SEP] 1, Cloth, -2.770, 0.079, -1.062, 0, 0, 0, 22 [SEP] 2, Candle, -0.417, 1.046, -3.948, 0, 0, 0, 34 [SEP] 3, Candle, -2.740, 0.996, -0.336, 0, 0, 0, 21 [SEP] 4, SoapBar, -2.567, 0.079, -0.955, 0, 0, 0, 22 [SEP] 5, SoapBottle, -0.679, 1.048, -3.918, 0, 0, 0, 34 [SEP] 6, SoapBottle, -2.682, 0.998, -1.320, 0, 180, 0, 21 [SEP] 7, Towel, -1.051, 1.535, -2.887, 0, 90, 0, 27 [SEP] 8, HandTowel, -2.591, 1.635, -0.047, 0, 0, 0, 29 [SEP] 9, SoapBar, -2.745, 0.921, -0.768, 351.180, 90, 0, 36 [SEP] 10, ToiletPaper, -2.640, 0.069, -1.888, 0, 0, 0, 20 [SEP] 11, ToiletPaper, -0.745, 1.042, -3.795, 0, 0, 0, 34 [SEP] 12, SoapBottle, -2.745, 0.998, -1.213, 0, 0, 0, 21 [SEP] 13, Candle, -2.677, 0.996, -0.322, 0, 0, 0, 21 [SEP] 14, ScrubBrush, -1.048, 0.000, -3.830, 0, 0, 0, 30 [SEP] 15, Plunger, -1.066, 0.000, -3.527, 0, 0, 0, Floor|-00.04| [SEP] 16, Cloth, -2.668, 0.078, -0.519, 0, 0, 0, 24 [SEP] 17, SprayBottle, -1.617, 0.061, -0.210, 0, 180, 0, 24 [SEP] 18, ShowerDoor, -2.204, 1.044, -2.503, 0, 0, 0, [SEP] 19, Mirror, -2.947, 1.559, -1.194, 0, 0, 0, [SEP] 20, Cabinet, -2.504, 0.400, -2.208, 0, 0, 0, [SEP] 21, CounterTop, -2.744, 0.986, -1.243, 0, 0, 0, [SEP] 22, Cabinet, -2.504, 0.400, -1.238, 0, 0, 0, [SEP] 23, ShowerGlass, -2.079, 1.482, -3.264, 0, 0, 0, [SEP] 24, Cabinet, -2.508, 0.426, -0.290, 0, 0, 0, [SEP] 25, Sink, -2.907, 0.986, -1.761, 0, 90, 0, [SEP] 26, Cabinet, -2.508, 0.426, -1.260, 0, 0, 0, [SEP] 27, TowelHolder, -1.158, 1.521, -2.887, 0, 90, 0, [SEP] 28, ToiletPaperHanger, 0.0, 0.984, -2.651, 0, 270, 0, [SEP] 29, HandTowelHolder, -2.591, 1.737, -0.009, 0, 90, 0, [SEP] 30, GarbageCan, -0.908, -0.031, -3.646, 0, 90, 0, [SEP] 31, Window, -0.566, 1.730, -4.102, 90, 0, 0, [SEP] 32, LightSwitch, -1.332, 1.391, 0.001, 0, 180, 0, [SEP] 33, SinkBasin, -2.724, 0.916, -1.755, 351.180, 90, 0, [SEP] 34, Toilet, -0.319, 0.000, -3.533, 0, 90, 0, [SEP] 35, Faucet, -2.907, 0.993, -1.761, 0, 90, 0, [SEP] 36, SinkBasin, -2.724, 0.916, -0.726, 351.180, 90, 0, [SEP] 37, Sink, -2.907, 0.986, -0.732, 0, 90, 0, [SEP] 38, Faucet, -2.907, 0.993, -0.731, 0, 90, 0, [SEP] 39, ShowerHead, -2.868, 1.219, -3.223, 0, 180, 0, [SEP] 40, EastWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right, go forward, turn left, go to the sink | STEP 2: Pick up the soap in the sink | STEP 3: Turn around, go forward, turn right and go to the toilet | STEP 4: Put the soap on the flusher | STEP 5: Turn around, go forward, turn left, go to the sink | STEP 6: Open the cabinet under the sink, pick up the soap in the cabinet, close the cabinet | STEP 7: Turn around, go forward, turn right and go to the toilet | STEP 8: Put the soap on the flusher | END"]} +{"id": "trial_T20190907_070857_687585-0", "input": "Turn on a lamp while carrying a remote SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 12.5, 0.902, -0.25, 0, 180, 0, [SEP] 1, Statue, 14.623, 0.761, 2.086, 0, 0, 0, 36 [SEP] 2, Statue, 14.526, 0.761, 1.825, 0, 0, 0, 36 [SEP] 3, KeyChain, 8.463, 0.397, 0.588, 0, 90, 0, 53 [SEP] 4, KeyChain, 14.305, 0.554, 1.958, 0, 0, 0, 32 [SEP] 5, CreditCard, 10.457, 0.590, 1.235, 0, 0, 0, 43 [SEP] 6, RemoteControl, 14.233, 0.754, 0.519, 0, 0, 0, 36 [SEP] 7, RemoteControl, 14.252, 0.347, 1.162, 0, 0, 0, 35 [SEP] 8, Laptop, 11.232, 0.588, 0.863, 0, 0, 0, 43 [SEP] 9, Pillow, 11.448, 0.528, 3.155, 0, 0, 0, 51 [SEP] 10, Book, 10.651, 0.591, 0.771, 0, 0, 0, 43 [SEP] 11, Box, 12.306, 0.855, -1.139, 0, 90, 0, 49 [SEP] 12, CreditCard, 9.402, 0.429, 3.360, 0, 0, 0, 44 [SEP] 13, KeyChain, 14.331, 0.752, 1.303, 0, 0, 0, 36 [SEP] 14, Pillow, 12.048, 0.52, 3.228, 0, 0, 0, 51 [SEP] 15, Statue, 11.232, 0.597, 1.235, 0, 0, 0, 43 [SEP] 16, Laptop, 14.24, 0.747, 2.067, 0, 300.000, 0, 36 [SEP] 17, RemoteControl, 8.273, 0.399, -0.143, 0, 90, 0, 54 [SEP] 18, Watch, 9.692, 0.430, 3.288, 0, 0, 0, 50 [SEP] 19, FloorLamp, 7.864, 0.006, 3.396, 0, 0, 0, [SEP] 20, GarbageCan, 7.785, -0.027, -1.145, 0, 0, 0, [SEP] 21, Painting, 7.492, 1.835, -0.495, 90, 270, 0, [SEP] 22, Painting, 7.492, 1.835, 2.792, 90, 270, 0, [SEP] 23, Television, 14.459, 1.218, 0.925, 358.945, 270, 0, [SEP] 24, LightSwitch, 12.979, 1.399, 3.767, 0, 180, 0, [SEP] 25, Painting, 7.492, 1.779, 1.116, 90, 270, 0, [SEP] 26, Painting, 14.763, 1.753, 1.126, 90, 270, 0, [SEP] 27, HousePlant, 11.374, 0.467, -1.143, 0, 0, 0, [SEP] 28, Window, 12.029, 1.687, -1.595, 90, 180, 0, [SEP] 29, Window, 10.227, 1.687, -1.594, 90, 180, 0, [SEP] 30, Drawer, 14.183, 0.374, 0.556, 0, 270, 0, [SEP] 31, Drawer, 14.183, 0.580, 1.069, 0, 270, 0, [SEP] 32, Drawer, 14.183, 0.580, 2.095, 0, 270, 0, [SEP] 33, Drawer, 14.183, 0.374, 1.582, 0, 270, 0, [SEP] 34, Drawer, 14.183, 0.169, 1.069, 0, 270, 0, [SEP] 35, Drawer, 14.183, 0.374, 1.069, 0, 270, 0, [SEP] 36, Dresser, 14.330, 0.002, 1.323, 0, 270, 0, [SEP] 37, Drawer, 14.183, 0.169, 2.095, 0, 270, 0, [SEP] 38, Drawer, 14.183, 0.374, 2.095, 0, 270, 0, [SEP] 39, Drawer, 14.183, 0.580, 0.556, 0, 270, 0, [SEP] 40, Drawer, 14.183, 0.169, 0.556, 0, 270, 0, [SEP] 41, Drawer, 14.183, 0.169, 1.582, 0, 270, 0, [SEP] 42, Drawer, 14.183, 0.580, 1.582, 0, 270, 0, [SEP] 43, CoffeeTable, 10.821, -0.011, 0.928, 0, 0, 0, [SEP] 44, ArmChair, 9.499, 0.001, 3.265, 0, 180, 0, [SEP] 45, SideTable, 11.377, 0.001, -1.160, 0, 90, 0, [SEP] 46, SideTable, 14.615, -0.001, -0.776, 0, 270, 0, [SEP] 47, SideTable, 14.331, 0.003, 0.069, 0, 0, 0, [SEP] 48, SideTable, 14.331, 0.003, 2.585, 0, 0, 0, [SEP] 49, SideTable, 12.308, 0.001, -1.154, 0, 0, 0, [SEP] 50, Chair, 8.154, 0.006, 1.499, 0, 90, 0, [SEP] 51, Sofa, 11.450, 0.002, 3.211, 0, 180, 0, [SEP] 52, Shelf, 10.794, 0.231, 0.928, 0, 0, 0, [SEP] 53, ArmChair, 8.231, 0.006, 0.769, 0, 90, 0, [SEP] 54, ArmChair, 8.224, 0.006, -0.082, 0, 90, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: Move across the room to the tan chair with the remote on top of it | STEP 2: Pick up the remote that is on top of the chair | STEP 3: Carry the remote to the floor lamp that is to the left of the bright red chair | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190907_070857_687585-1", "input": "Examine a tv remote next to the light of a tall lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 12.5, 0.902, -0.25, 0, 180, 0, [SEP] 1, Statue, 14.623, 0.761, 2.086, 0, 0, 0, 36 [SEP] 2, Statue, 14.526, 0.761, 1.825, 0, 0, 0, 36 [SEP] 3, KeyChain, 8.463, 0.397, 0.588, 0, 90, 0, 53 [SEP] 4, KeyChain, 14.305, 0.554, 1.958, 0, 0, 0, 32 [SEP] 5, CreditCard, 10.457, 0.590, 1.235, 0, 0, 0, 43 [SEP] 6, RemoteControl, 14.233, 0.754, 0.519, 0, 0, 0, 36 [SEP] 7, RemoteControl, 14.252, 0.347, 1.162, 0, 0, 0, 35 [SEP] 8, Laptop, 11.232, 0.588, 0.863, 0, 0, 0, 43 [SEP] 9, Pillow, 11.448, 0.528, 3.155, 0, 0, 0, 51 [SEP] 10, Book, 10.651, 0.591, 0.771, 0, 0, 0, 43 [SEP] 11, Box, 12.306, 0.855, -1.139, 0, 90, 0, 49 [SEP] 12, CreditCard, 9.402, 0.429, 3.360, 0, 0, 0, 44 [SEP] 13, KeyChain, 14.331, 0.752, 1.303, 0, 0, 0, 36 [SEP] 14, Pillow, 12.048, 0.52, 3.228, 0, 0, 0, 51 [SEP] 15, Statue, 11.232, 0.597, 1.235, 0, 0, 0, 43 [SEP] 16, Laptop, 14.24, 0.747, 2.067, 0, 300.000, 0, 36 [SEP] 17, RemoteControl, 8.273, 0.399, -0.143, 0, 90, 0, 54 [SEP] 18, Watch, 9.692, 0.430, 3.288, 0, 0, 0, 50 [SEP] 19, FloorLamp, 7.864, 0.006, 3.396, 0, 0, 0, [SEP] 20, GarbageCan, 7.785, -0.027, -1.145, 0, 0, 0, [SEP] 21, Painting, 7.492, 1.835, -0.495, 90, 270, 0, [SEP] 22, Painting, 7.492, 1.835, 2.792, 90, 270, 0, [SEP] 23, Television, 14.459, 1.218, 0.925, 358.945, 270, 0, [SEP] 24, LightSwitch, 12.979, 1.399, 3.767, 0, 180, 0, [SEP] 25, Painting, 7.492, 1.779, 1.116, 90, 270, 0, [SEP] 26, Painting, 14.763, 1.753, 1.126, 90, 270, 0, [SEP] 27, HousePlant, 11.374, 0.467, -1.143, 0, 0, 0, [SEP] 28, Window, 12.029, 1.687, -1.595, 90, 180, 0, [SEP] 29, Window, 10.227, 1.687, -1.594, 90, 180, 0, [SEP] 30, Drawer, 14.183, 0.374, 0.556, 0, 270, 0, [SEP] 31, Drawer, 14.183, 0.580, 1.069, 0, 270, 0, [SEP] 32, Drawer, 14.183, 0.580, 2.095, 0, 270, 0, [SEP] 33, Drawer, 14.183, 0.374, 1.582, 0, 270, 0, [SEP] 34, Drawer, 14.183, 0.169, 1.069, 0, 270, 0, [SEP] 35, Drawer, 14.183, 0.374, 1.069, 0, 270, 0, [SEP] 36, Dresser, 14.330, 0.002, 1.323, 0, 270, 0, [SEP] 37, Drawer, 14.183, 0.169, 2.095, 0, 270, 0, [SEP] 38, Drawer, 14.183, 0.374, 2.095, 0, 270, 0, [SEP] 39, Drawer, 14.183, 0.580, 0.556, 0, 270, 0, [SEP] 40, Drawer, 14.183, 0.169, 0.556, 0, 270, 0, [SEP] 41, Drawer, 14.183, 0.169, 1.582, 0, 270, 0, [SEP] 42, Drawer, 14.183, 0.580, 1.582, 0, 270, 0, [SEP] 43, CoffeeTable, 10.821, -0.011, 0.928, 0, 0, 0, [SEP] 44, ArmChair, 9.499, 0.001, 3.265, 0, 180, 0, [SEP] 45, SideTable, 11.377, 0.001, -1.160, 0, 90, 0, [SEP] 46, SideTable, 14.615, -0.001, -0.776, 0, 270, 0, [SEP] 47, SideTable, 14.331, 0.003, 0.069, 0, 0, 0, [SEP] 48, SideTable, 14.331, 0.003, 2.585, 0, 0, 0, [SEP] 49, SideTable, 12.308, 0.001, -1.154, 0, 0, 0, [SEP] 50, Chair, 8.154, 0.006, 1.499, 0, 90, 0, [SEP] 51, Sofa, 11.450, 0.002, 3.211, 0, 180, 0, [SEP] 52, Shelf, 10.794, 0.231, 0.928, 0, 0, 0, [SEP] 53, ArmChair, 8.231, 0.006, 0.769, 0, 90, 0, [SEP] 54, ArmChair, 8.224, 0.006, -0.082, 0, 90, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and head towards the chair with the remote. | STEP 2: Pick up the tv remote on the chair. | STEP 3: Turn right and head towards the tall lamp on your left. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190907_070857_687585-2", "input": "Turn on the lamp while holding the remote. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 12.5, 0.902, -0.25, 0, 180, 0, [SEP] 1, Statue, 14.623, 0.761, 2.086, 0, 0, 0, 36 [SEP] 2, Statue, 14.526, 0.761, 1.825, 0, 0, 0, 36 [SEP] 3, KeyChain, 8.463, 0.397, 0.588, 0, 90, 0, 53 [SEP] 4, KeyChain, 14.305, 0.554, 1.958, 0, 0, 0, 32 [SEP] 5, CreditCard, 10.457, 0.590, 1.235, 0, 0, 0, 43 [SEP] 6, RemoteControl, 14.233, 0.754, 0.519, 0, 0, 0, 36 [SEP] 7, RemoteControl, 14.252, 0.347, 1.162, 0, 0, 0, 35 [SEP] 8, Laptop, 11.232, 0.588, 0.863, 0, 0, 0, 43 [SEP] 9, Pillow, 11.448, 0.528, 3.155, 0, 0, 0, 51 [SEP] 10, Book, 10.651, 0.591, 0.771, 0, 0, 0, 43 [SEP] 11, Box, 12.306, 0.855, -1.139, 0, 90, 0, 49 [SEP] 12, CreditCard, 9.402, 0.429, 3.360, 0, 0, 0, 44 [SEP] 13, KeyChain, 14.331, 0.752, 1.303, 0, 0, 0, 36 [SEP] 14, Pillow, 12.048, 0.52, 3.228, 0, 0, 0, 51 [SEP] 15, Statue, 11.232, 0.597, 1.235, 0, 0, 0, 43 [SEP] 16, Laptop, 14.24, 0.747, 2.067, 0, 300.000, 0, 36 [SEP] 17, RemoteControl, 8.273, 0.399, -0.143, 0, 90, 0, 54 [SEP] 18, Watch, 9.692, 0.430, 3.288, 0, 0, 0, 50 [SEP] 19, FloorLamp, 7.864, 0.006, 3.396, 0, 0, 0, [SEP] 20, GarbageCan, 7.785, -0.027, -1.145, 0, 0, 0, [SEP] 21, Painting, 7.492, 1.835, -0.495, 90, 270, 0, [SEP] 22, Painting, 7.492, 1.835, 2.792, 90, 270, 0, [SEP] 23, Television, 14.459, 1.218, 0.925, 358.945, 270, 0, [SEP] 24, LightSwitch, 12.979, 1.399, 3.767, 0, 180, 0, [SEP] 25, Painting, 7.492, 1.779, 1.116, 90, 270, 0, [SEP] 26, Painting, 14.763, 1.753, 1.126, 90, 270, 0, [SEP] 27, HousePlant, 11.374, 0.467, -1.143, 0, 0, 0, [SEP] 28, Window, 12.029, 1.687, -1.595, 90, 180, 0, [SEP] 29, Window, 10.227, 1.687, -1.594, 90, 180, 0, [SEP] 30, Drawer, 14.183, 0.374, 0.556, 0, 270, 0, [SEP] 31, Drawer, 14.183, 0.580, 1.069, 0, 270, 0, [SEP] 32, Drawer, 14.183, 0.580, 2.095, 0, 270, 0, [SEP] 33, Drawer, 14.183, 0.374, 1.582, 0, 270, 0, [SEP] 34, Drawer, 14.183, 0.169, 1.069, 0, 270, 0, [SEP] 35, Drawer, 14.183, 0.374, 1.069, 0, 270, 0, [SEP] 36, Dresser, 14.330, 0.002, 1.323, 0, 270, 0, [SEP] 37, Drawer, 14.183, 0.169, 2.095, 0, 270, 0, [SEP] 38, Drawer, 14.183, 0.374, 2.095, 0, 270, 0, [SEP] 39, Drawer, 14.183, 0.580, 0.556, 0, 270, 0, [SEP] 40, Drawer, 14.183, 0.169, 0.556, 0, 270, 0, [SEP] 41, Drawer, 14.183, 0.169, 1.582, 0, 270, 0, [SEP] 42, Drawer, 14.183, 0.580, 1.582, 0, 270, 0, [SEP] 43, CoffeeTable, 10.821, -0.011, 0.928, 0, 0, 0, [SEP] 44, ArmChair, 9.499, 0.001, 3.265, 0, 180, 0, [SEP] 45, SideTable, 11.377, 0.001, -1.160, 0, 90, 0, [SEP] 46, SideTable, 14.615, -0.001, -0.776, 0, 270, 0, [SEP] 47, SideTable, 14.331, 0.003, 0.069, 0, 0, 0, [SEP] 48, SideTable, 14.331, 0.003, 2.585, 0, 0, 0, [SEP] 49, SideTable, 12.308, 0.001, -1.154, 0, 0, 0, [SEP] 50, Chair, 8.154, 0.006, 1.499, 0, 90, 0, [SEP] 51, Sofa, 11.450, 0.002, 3.211, 0, 180, 0, [SEP] 52, Shelf, 10.794, 0.231, 0.928, 0, 0, 0, [SEP] 53, ArmChair, 8.231, 0.006, 0.769, 0, 90, 0, [SEP] 54, ArmChair, 8.224, 0.006, -0.082, 0, 90, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and move towards the chairs. | STEP 2: Pick up the remote that is on the chair. | STEP 3: Turn right and walk towards the lamp. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190907_070857_687585-3", "input": "Pick up a remote control and turn on the lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 12.5, 0.902, -0.25, 0, 180, 0, [SEP] 1, Statue, 14.623, 0.761, 2.086, 0, 0, 0, 36 [SEP] 2, Statue, 14.526, 0.761, 1.825, 0, 0, 0, 36 [SEP] 3, KeyChain, 8.463, 0.397, 0.588, 0, 90, 0, 53 [SEP] 4, KeyChain, 14.305, 0.554, 1.958, 0, 0, 0, 32 [SEP] 5, CreditCard, 10.457, 0.590, 1.235, 0, 0, 0, 43 [SEP] 6, RemoteControl, 14.233, 0.754, 0.519, 0, 0, 0, 36 [SEP] 7, RemoteControl, 14.252, 0.347, 1.162, 0, 0, 0, 35 [SEP] 8, Laptop, 11.232, 0.588, 0.863, 0, 0, 0, 43 [SEP] 9, Pillow, 11.448, 0.528, 3.155, 0, 0, 0, 51 [SEP] 10, Book, 10.651, 0.591, 0.771, 0, 0, 0, 43 [SEP] 11, Box, 12.306, 0.855, -1.139, 0, 90, 0, 49 [SEP] 12, CreditCard, 9.402, 0.429, 3.360, 0, 0, 0, 44 [SEP] 13, KeyChain, 14.331, 0.752, 1.303, 0, 0, 0, 36 [SEP] 14, Pillow, 12.048, 0.52, 3.228, 0, 0, 0, 51 [SEP] 15, Statue, 11.232, 0.597, 1.235, 0, 0, 0, 43 [SEP] 16, Laptop, 14.24, 0.747, 2.067, 0, 300.000, 0, 36 [SEP] 17, RemoteControl, 8.273, 0.399, -0.143, 0, 90, 0, 54 [SEP] 18, Watch, 9.692, 0.430, 3.288, 0, 0, 0, 50 [SEP] 19, FloorLamp, 7.864, 0.006, 3.396, 0, 0, 0, [SEP] 20, GarbageCan, 7.785, -0.027, -1.145, 0, 0, 0, [SEP] 21, Painting, 7.492, 1.835, -0.495, 90, 270, 0, [SEP] 22, Painting, 7.492, 1.835, 2.792, 90, 270, 0, [SEP] 23, Television, 14.459, 1.218, 0.925, 358.945, 270, 0, [SEP] 24, LightSwitch, 12.979, 1.399, 3.767, 0, 180, 0, [SEP] 25, Painting, 7.492, 1.779, 1.116, 90, 270, 0, [SEP] 26, Painting, 14.763, 1.753, 1.126, 90, 270, 0, [SEP] 27, HousePlant, 11.374, 0.467, -1.143, 0, 0, 0, [SEP] 28, Window, 12.029, 1.687, -1.595, 90, 180, 0, [SEP] 29, Window, 10.227, 1.687, -1.594, 90, 180, 0, [SEP] 30, Drawer, 14.183, 0.374, 0.556, 0, 270, 0, [SEP] 31, Drawer, 14.183, 0.580, 1.069, 0, 270, 0, [SEP] 32, Drawer, 14.183, 0.580, 2.095, 0, 270, 0, [SEP] 33, Drawer, 14.183, 0.374, 1.582, 0, 270, 0, [SEP] 34, Drawer, 14.183, 0.169, 1.069, 0, 270, 0, [SEP] 35, Drawer, 14.183, 0.374, 1.069, 0, 270, 0, [SEP] 36, Dresser, 14.330, 0.002, 1.323, 0, 270, 0, [SEP] 37, Drawer, 14.183, 0.169, 2.095, 0, 270, 0, [SEP] 38, Drawer, 14.183, 0.374, 2.095, 0, 270, 0, [SEP] 39, Drawer, 14.183, 0.580, 0.556, 0, 270, 0, [SEP] 40, Drawer, 14.183, 0.169, 0.556, 0, 270, 0, [SEP] 41, Drawer, 14.183, 0.169, 1.582, 0, 270, 0, [SEP] 42, Drawer, 14.183, 0.580, 1.582, 0, 270, 0, [SEP] 43, CoffeeTable, 10.821, -0.011, 0.928, 0, 0, 0, [SEP] 44, ArmChair, 9.499, 0.001, 3.265, 0, 180, 0, [SEP] 45, SideTable, 11.377, 0.001, -1.160, 0, 90, 0, [SEP] 46, SideTable, 14.615, -0.001, -0.776, 0, 270, 0, [SEP] 47, SideTable, 14.331, 0.003, 0.069, 0, 0, 0, [SEP] 48, SideTable, 14.331, 0.003, 2.585, 0, 0, 0, [SEP] 49, SideTable, 12.308, 0.001, -1.154, 0, 0, 0, [SEP] 50, Chair, 8.154, 0.006, 1.499, 0, 90, 0, [SEP] 51, Sofa, 11.450, 0.002, 3.211, 0, 180, 0, [SEP] 52, Shelf, 10.794, 0.231, 0.928, 0, 0, 0, [SEP] 53, ArmChair, 8.231, 0.006, 0.769, 0, 90, 0, [SEP] 54, ArmChair, 8.224, 0.006, -0.082, 0, 90, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk towards the left chair | STEP 2: Pick up the remote control from the chair | STEP 3: Turn immediately right, left, and then right again and walk all the way up to the lamp | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190907_070857_687585-4", "input": "grab the remote control from the chair, turn on the floor lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 12.5, 0.902, -0.25, 0, 180, 0, [SEP] 1, Statue, 14.623, 0.761, 2.086, 0, 0, 0, 36 [SEP] 2, Statue, 14.526, 0.761, 1.825, 0, 0, 0, 36 [SEP] 3, KeyChain, 8.463, 0.397, 0.588, 0, 90, 0, 53 [SEP] 4, KeyChain, 14.305, 0.554, 1.958, 0, 0, 0, 32 [SEP] 5, CreditCard, 10.457, 0.590, 1.235, 0, 0, 0, 43 [SEP] 6, RemoteControl, 14.233, 0.754, 0.519, 0, 0, 0, 36 [SEP] 7, RemoteControl, 14.252, 0.347, 1.162, 0, 0, 0, 35 [SEP] 8, Laptop, 11.232, 0.588, 0.863, 0, 0, 0, 43 [SEP] 9, Pillow, 11.448, 0.528, 3.155, 0, 0, 0, 51 [SEP] 10, Book, 10.651, 0.591, 0.771, 0, 0, 0, 43 [SEP] 11, Box, 12.306, 0.855, -1.139, 0, 90, 0, 49 [SEP] 12, CreditCard, 9.402, 0.429, 3.360, 0, 0, 0, 44 [SEP] 13, KeyChain, 14.331, 0.752, 1.303, 0, 0, 0, 36 [SEP] 14, Pillow, 12.048, 0.52, 3.228, 0, 0, 0, 51 [SEP] 15, Statue, 11.232, 0.597, 1.235, 0, 0, 0, 43 [SEP] 16, Laptop, 14.24, 0.747, 2.067, 0, 300.000, 0, 36 [SEP] 17, RemoteControl, 8.273, 0.399, -0.143, 0, 90, 0, 54 [SEP] 18, Watch, 9.692, 0.430, 3.288, 0, 0, 0, 50 [SEP] 19, FloorLamp, 7.864, 0.006, 3.396, 0, 0, 0, [SEP] 20, GarbageCan, 7.785, -0.027, -1.145, 0, 0, 0, [SEP] 21, Painting, 7.492, 1.835, -0.495, 90, 270, 0, [SEP] 22, Painting, 7.492, 1.835, 2.792, 90, 270, 0, [SEP] 23, Television, 14.459, 1.218, 0.925, 358.945, 270, 0, [SEP] 24, LightSwitch, 12.979, 1.399, 3.767, 0, 180, 0, [SEP] 25, Painting, 7.492, 1.779, 1.116, 90, 270, 0, [SEP] 26, Painting, 14.763, 1.753, 1.126, 90, 270, 0, [SEP] 27, HousePlant, 11.374, 0.467, -1.143, 0, 0, 0, [SEP] 28, Window, 12.029, 1.687, -1.595, 90, 180, 0, [SEP] 29, Window, 10.227, 1.687, -1.594, 90, 180, 0, [SEP] 30, Drawer, 14.183, 0.374, 0.556, 0, 270, 0, [SEP] 31, Drawer, 14.183, 0.580, 1.069, 0, 270, 0, [SEP] 32, Drawer, 14.183, 0.580, 2.095, 0, 270, 0, [SEP] 33, Drawer, 14.183, 0.374, 1.582, 0, 270, 0, [SEP] 34, Drawer, 14.183, 0.169, 1.069, 0, 270, 0, [SEP] 35, Drawer, 14.183, 0.374, 1.069, 0, 270, 0, [SEP] 36, Dresser, 14.330, 0.002, 1.323, 0, 270, 0, [SEP] 37, Drawer, 14.183, 0.169, 2.095, 0, 270, 0, [SEP] 38, Drawer, 14.183, 0.374, 2.095, 0, 270, 0, [SEP] 39, Drawer, 14.183, 0.580, 0.556, 0, 270, 0, [SEP] 40, Drawer, 14.183, 0.169, 0.556, 0, 270, 0, [SEP] 41, Drawer, 14.183, 0.169, 1.582, 0, 270, 0, [SEP] 42, Drawer, 14.183, 0.580, 1.582, 0, 270, 0, [SEP] 43, CoffeeTable, 10.821, -0.011, 0.928, 0, 0, 0, [SEP] 44, ArmChair, 9.499, 0.001, 3.265, 0, 180, 0, [SEP] 45, SideTable, 11.377, 0.001, -1.160, 0, 90, 0, [SEP] 46, SideTable, 14.615, -0.001, -0.776, 0, 270, 0, [SEP] 47, SideTable, 14.331, 0.003, 0.069, 0, 0, 0, [SEP] 48, SideTable, 14.331, 0.003, 2.585, 0, 0, 0, [SEP] 49, SideTable, 12.308, 0.001, -1.154, 0, 0, 0, [SEP] 50, Chair, 8.154, 0.006, 1.499, 0, 90, 0, [SEP] 51, Sofa, 11.450, 0.002, 3.211, 0, 180, 0, [SEP] 52, Shelf, 10.794, 0.231, 0.928, 0, 0, 0, [SEP] 53, ArmChair, 8.231, 0.006, 0.769, 0, 90, 0, [SEP] 54, ArmChair, 8.224, 0.006, -0.082, 0, 90, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: turn right, walk to the chair | STEP 2: grab the remote control from the chair | STEP 3: turn right, walk to the corner floor lamp | STEP 4: turn on the floor lamp | END"]}