diff --git "a/data/valid_data/valid_seen.jsonl" "b/data/valid_data/valid_seen.jsonl" new file mode 100644--- /dev/null +++ "b/data/valid_data/valid_seen.jsonl" @@ -0,0 +1,820 @@ +{"id": "trial_T20190908_184242_348366-0", "input": "Place a cooled mug on a coffee machine.", "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", "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.", "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", "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. ", "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", "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.", "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", "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.", "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", "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.", "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.", "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.", "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", "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.", "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", "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.", "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.", "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.", "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.", "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. ", "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.", "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", "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", "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.", "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.", "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", "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.", "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.", "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.", "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. ", "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.", "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.", "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 ", "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.", "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.", "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", "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.", "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", "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.", "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", "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 ", "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.", "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.", "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", "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", "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. ", "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", "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.", "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.", "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", "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.", "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.", "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. ", "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", "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.", "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", "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. ", "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", "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", "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", "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", "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", "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.", "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", "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.", "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.", "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", "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.", "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.", "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 ", "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.", "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.", "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.", "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.", "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. ", "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.", "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.", "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.", "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", "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.", "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", "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.", "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.", "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", "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", "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.", "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. ", "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. ", "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", "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.", "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.", "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", "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. ", "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", "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", "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.", "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", "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.", "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.", "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", "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.", "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.", "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", "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.", "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.", "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.", "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", "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.", "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.", "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", "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.", "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", "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.", "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.", "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.", "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.", "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.", "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", "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.", "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", "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. ", "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. ", "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", "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", "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.", "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. ", "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.", "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.", "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.", "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.", "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.", "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.", "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.", "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.", "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", "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", "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.", "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", "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", "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. ", "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.", "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", "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. ", "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.", "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.", "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", "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. ", "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.", "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.", "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", "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.", "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. ", "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.", "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", "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.", "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", "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.", "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.", "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.", "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.", "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.", "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.", "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.", "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", "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. ", "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.", "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. ", "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", "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", "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", "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", "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.", "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.", "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.", "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.", "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.", "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.", "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", "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", "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.", "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", "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.", "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.", "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", "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.", "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.", "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.", "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.", "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. ", "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.", "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.", "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", "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. ", "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.", "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", "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. ", "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.", "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.", "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", "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. ", "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.", "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. ", "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. ", "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", "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", "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", "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.", "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. ", "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", "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", "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. ", "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. ", "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.", "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.", "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.", "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.", "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.", "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", "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", "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", "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", "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.", "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", "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.", "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", "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.", "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.", "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", "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.", "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", "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.", "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.", "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.", "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. ", "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", "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.", "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.", "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", "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", "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", "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.", "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", "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.", "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", "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", "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.", "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", "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. ", "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", "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.", "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.", "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.", "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.", "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.", "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", "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", "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", "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", "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.", "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.", "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.", "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. ", "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.", "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.", "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. ", "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", "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", "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", "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", "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", "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", "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.", "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", "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", "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.", "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.", "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. ", "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.", "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.", "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.", "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.", "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. ", "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.", "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", "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.", "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.", "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", "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.", "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", "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.", "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.", "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.", "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.", "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. ", "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.", "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.", "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", "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. ", "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.", "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", "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.", "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 ", "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. ", "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.", "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.", "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", "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.", "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.", "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.", "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.", "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. ", "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.", "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.", "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", "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 ", "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.", "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.", "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", "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.", "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.", "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.", "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", "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.", "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", "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", "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", "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. ", "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.", "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.", "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.", "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.", "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.", "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.", "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.", "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. ", "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.", "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.", "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.", "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", "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", "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.", "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", "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", "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.", "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.", "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.", "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", "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. ", "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.", "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", "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", "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", "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. ", "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", "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", "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.", "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. ", "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", "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", "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", "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", "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", "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", "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", "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. ", "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", "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.", "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.", "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.", "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", "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", "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.", "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.", "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. ", "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", "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.", "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.", "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. ", "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.", "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.", "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. ", "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. ", "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.", "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.", "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.", "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. ", "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.", "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.", "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", "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", "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. ", "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.", "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.", "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", "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", "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", "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.", "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", "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.", "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", "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.", "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", "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. ", "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.", "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", "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.", "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. ", "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", "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.", "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.", "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.", "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.", "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.", "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.", "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.", "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.", "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", "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.", "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", "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.", "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.", "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", "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.", "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.", "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", "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", "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.", "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", "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", "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", "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.", "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.", "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.", "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.", "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.", "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. ", "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.", "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", "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.", "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", "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.", "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", "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. ", "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 ", "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.", "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", "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.", "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.", "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. ", "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.", "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. ", "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 ", "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", "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.", "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.", "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.", "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. ", "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", "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.", "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.", "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.", "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.", "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.", "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.", "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", "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. ", "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.", "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.", "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.", "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", "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.", "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", "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. ", "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. ", "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.", "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", "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.", "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.", "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", "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.", "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. ", "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.", "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.", "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", "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", "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. ", "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.", "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.", "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. ", "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", "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", "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. ", "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.", "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 ", "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", "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", "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", "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.", "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.", "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.", "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.", "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.", "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", "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.", "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", "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.", "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.", "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. ", "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.", "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.", "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", "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", "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. ", "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", "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.", "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", "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", "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.", "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.", "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. ", "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.", "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.", "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.", "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.", "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", "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.", "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", "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. ", "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.", "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.", "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.", "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.", "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. ", "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.", "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.", "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. ", "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.", "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.", "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.", "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.", "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", "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.", "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.", "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.", "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.", "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", "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.", "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.", "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. ", "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", "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.", "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.", "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.", "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.", "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", "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", "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.", "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.", "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.", "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.", "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.", "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.", "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.", "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.", "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.", "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.", "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.", "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.", "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. ", "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. ", "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", "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", "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.", "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", "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.", "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.", "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.", "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. ", "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.", "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.", "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", "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", "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.", "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.", "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.", "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", "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", "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.", "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", "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", "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", "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", "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", "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.", "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.", "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.", "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.", "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.", "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.", "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.", "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.", "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.", "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.", "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.", "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.", "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.", "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.", "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.", "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", "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", "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", "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.", "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.", "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.", "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. ", "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", "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 ", "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.", "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", "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.", "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.", "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.", "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.", "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", "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.", "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.", "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.", "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", "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", "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.", "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.", "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", "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", "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 ", "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.", "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.", "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", "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", "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.", "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", "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. ", "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", "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. ", "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", "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", "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", "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.", "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.", "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.", "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.", "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", "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.", "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. ", "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", "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.", "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.", "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.", "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.", "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.", "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. ", "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", "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", "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", "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.", "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.", "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.", "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", "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", "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.", "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.", "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.", "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. ", "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. ", "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. ", "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.", "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.", "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.", "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", "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.", "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", "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.", "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.", "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. ", "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.", "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", "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.", "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", "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", "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. ", "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", "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.", "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.", "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", "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.", "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.", "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. ", "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.", "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.", "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", "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", "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.", "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.", "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.", "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.", "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.", "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", "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", "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. ", "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.", "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.", "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.", "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.", "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", "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.", "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.", "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", "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.", "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", "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. ", "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", "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.", "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", "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. ", "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.", "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.", "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.", "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. ", "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. ", "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. ", "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.", "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.", "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", "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.", "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", "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.", "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", "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. ", "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", "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. ", "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. ", "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.", "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", "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. ", "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.", "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", "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", "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", "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", "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", "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.", "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.", "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.", "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.", "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. ", "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", "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.", "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", "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", "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", "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.", "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.", "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", "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", "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.", "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.", "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.", "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", "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.", "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", "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.", "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", "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", "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. ", "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", "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. ", "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", "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.", "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.", "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.", "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.", "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.", "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", "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.", "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", "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", "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.", "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", "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.", "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", "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", "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.", "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. ", "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.", "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. ", "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.", "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.", "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", "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", "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", "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.", "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. ", "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.", "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.", "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.", "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", "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.", "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.", "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", "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", "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.", "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.", "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", "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", "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"]} \ No newline at end of file