diff --git "a/data/valid_data/valid_unseen.jsonl" "b/data/valid_data/valid_unseen.jsonl" new file mode 100644--- /dev/null +++ "b/data/valid_data/valid_unseen.jsonl" @@ -0,0 +1,821 @@ +{"id": "trial_T20190908_073749_086690-0", "input": "Put a slice of green apple in the trash can near the fridge. ", "output": ["STEP 1: Walk 1 step to the left and turn around to face the counter top with a bread on top of it. | STEP 2: Pick up the knife that is in front of the white cup. | STEP 3: Go slightly to the left to be in front of the white vase. | STEP 4: Cut the green apple which is next to the white vase. | STEP 5: While holding the knife, walk to the left, turn left and turn left again to face the black trash can. | STEP 6: Put the knife in the trash can. | STEP 7: Go back to the counter top with the green apple that you just cut. | STEP 8: Pick up a slice of apple from on top of the counter top. | STEP 9: Walk to the right and turn left to go to the stove. Look up to the microwave. | STEP 10: Open the microwave, put the slice of apple in, heat it for a few seconds, pick it up again and close the microwave | STEP 11: Go to the left, turn left near the fridge to go back to the trash can again. | STEP 12: Put the slice of apple in the trash can. | END"]} +{"id": "trial_T20190908_073749_086690-1", "input": "To heat a piece of an apple and place it in a black bin. ", "output": ["STEP 1: Turn around and face the counter above the dishwasher. | STEP 2: Pick up the knife to the left of the bread. | STEP 3: Move to the counter with the toaster on it. | STEP 4: Slice the green apple to the right of the white vase. | STEP 5: Turn and walk to the sculpture on the counter, look down at the black bin. | STEP 6: Place the knife inside of the black bin. | STEP 7: Walk back over to the apple. | STEP 8: Pick up a piece of green apple. | STEP 9: Turn right and walk to the stove, look up at the microwave. | STEP 10: Place the piece of apple inside of the microwave, heat it up, take the piece out of the microwave and close the door. | STEP 11: Walk back over to the black bin on the floor. | STEP 12: Place the piece of apple in the black bin. | END"]} +{"id": "trial_T20190908_073749_086690-2", "input": "Put a piece of cooked apple in a bin.", "output": ["STEP 1: Turn left, go forward, turn left at the dishwasher. | STEP 2: Take the large knife to the let of the bread on the counter. | STEP 3: Turn left, go forward, turn right at the toaster on the counter. | STEP 4: Cut the apple to the right of the vase into pieces. | STEP 5: Turn left, go forward a step, turn left, go forward, turn left at the black bin. | STEP 6: Put the knife in the black bin. | STEP 7: Turn left, go forward to the fridge, turn right, go forward, turn left to the counter with the cut apple. Go to the counter. | STEP 8: Take a piece of apple from the counter. | STEP 9: Turn right, go forward, turn left at the oven. | STEP 10: Cook the apple in the microwave. Take the apple from the microwave. | STEP 11: Turn left, go forward, turn left at the fridge, go forward, turn left at the black bin. | STEP 12: Put the apple in the bin. | END"]} +{"id": "trial_T20190907_144323_122735-0", "input": "Put the cup from the microwave in the sink with a fork in it.", "output": ["STEP 1: Move to the stove on the other side of the island. | STEP 2: Pick up the cup inside the microwave above the stove before closing the door. | STEP 3: Turn around to the sink behind you. | STEP 4: Place the cup inside the sink. | STEP 5: Pick up the fork from inside the sink. | STEP 6: Put the fork inside the cup in the sink. | END"]} +{"id": "trial_T20190907_144323_122735-1", "input": "cleaning up the kitchen. ", "output": ["STEP 1: turn right, walk to the wall, turn left and head into the kitchen. Turn left in the kitchen and stop at the stove to your right. | STEP 2: open the microwave above the stove and take out the green cup. | STEP 3: turn to your left and go to the sink behind you. | STEP 4: put the green cup in the sink. | STEP 5: grab the fork out of the sink. | STEP 6: put the fork in the green cup that is in the sink | END"]} +{"id": "trial_T20190907_144323_122735-2", "input": "Put the fork into the green cup in the sink", "output": ["STEP 1: Walk around the kitchen island to the stove | STEP 2: Open the microwave above the stove and remove the green cup | STEP 3: Turn around and go to the kitchen sink | STEP 4: Put the cup into the sink | STEP 5: Pick up the fork from the sink | STEP 6: Put the fork into the green cup | END"]} +{"id": "trial_T20190907_144323_122735-3", "input": "Put the cup with the fork in it in the sink. ", "output": ["STEP 1: Walk around the counter, walk in front of the stove. | STEP 2: Take the green cup out of the microwave above the stove. | STEP 3: Turn around, go to the sink. | STEP 4: Put the green cup in the sink. | STEP 5: Pick up the fork next to the tomato. | STEP 6: Put the fork in the green cup. | END"]} +{"id": "trial_T20190907_144323_122735-4", "input": "Put cup in the sink.", "output": ["STEP 1: Turn right and go to the right of the island. Go to the stove. | STEP 2: Open the microwave. Grab the green cup that is to the left of the white one. Shut the microwave door. | STEP 3: With the green cup in hand turn all the way around to go to the sink. | STEP 4: Place the cup in the sink to the left of the fork. | STEP 5: Pick up the fork that is in the sink and to the left of the tomato. | STEP 6: Place the fork in the cup that is in the sink. | END"]} +{"id": "trial_T20190908_123311_648354-0", "input": "Put a plate with a bottle on top of it in the sink.", "output": ["STEP 1: Turn right and take a step then turn right and walk to the sink that's on your right and face it. | STEP 2: Pick up the clear glass bottle that's in front of you. | STEP 3: Turn right and take a step then turn right and walk to the toaster. | STEP 4: Open the cupboard above the toaster and put the bottle on the plate up there. | STEP 5: Pick up the plate and close the cupboard. | STEP 6: Walk back to the sink. | STEP 7: Put the plate with the bottle on it in the sink. | END"]} +{"id": "trial_T20190908_123311_648354-1", "input": "Put a plate with a bottle on it in the sink.", "output": ["STEP 1: Turn right and walk forward, then turn right and walk over to the sink. | STEP 2: Pick up the closest glass bottle off of the kitchen island. | STEP 3: Turn right and walk over to the toaster, then look up at the upper cabinets. | STEP 4: Open the leftmost upper cabinet door and put the bottle on the plate inside. | STEP 5: Take the plate with the bottle on it out of the cabinet and close the door. | STEP 6: Turn right and walk over to the sink. | STEP 7: Put the plate with the bottle on it in the sink. | END"]} +{"id": "trial_T20190908_123311_648354-2", "input": "Put a bottle on a plate in the sink.", "output": ["STEP 1: move to the sink to the right of the stove | STEP 2: pick up a vase from the sink | STEP 3: move to the counter to the right of the fridge | STEP 4: put the vase on a plate | STEP 5: pick up the plate from the cabinet | STEP 6: move to the sink behind you | STEP 7: put the bottle in the sink | END"]} +{"id": "trial_T20190907_061133_385225-0", "input": "Place the sliced apple on the counter.", "output": ["STEP 1: Turn left and walk up the room and walk towards the fridge, then turn right to face the trash can. | STEP 2: Pick up the green apple from the trash can.. | STEP 3: Turn around, turn right, then turn left to face the counter. | STEP 4: Put the apple on the counter under the knife. | STEP 5: Pick up the knife that is on the counter. | STEP 6: Take the knife and slice the apple in half. | STEP 7: Turn around and face the sink. | STEP 8: Use the knife and slice the apple in the sink into three pieces. | STEP 9: Put the knife into the sink. | STEP 10: Take the center piece of the sliced apple out of the sink. | STEP 11: Turn around to face the counter. | STEP 12: Place the piece of sliced apple from the sink next to the apple on the counter. | END"]} +{"id": "trial_T20190907_061133_385225-1", "input": "Putting an apple slice on the counter", "output": ["STEP 1: Turn left and head to the trash can | STEP 2: Grab the apple out of the trash can | STEP 3: Turn around and head to the counter | STEP 4: Place the apple down on the counter | STEP 5: Pick up the knife off of the counter | STEP 6: Cut the apple into three slices | STEP 7: Turn around and stop at the sink | STEP 8: Cut the apple in the sink into three slices | STEP 9: Put the knife into the sink | STEP 10: Grab one of the apple slices | STEP 11: Turn around and face the counter | STEP 12: Put the apple slice on the counter | END"]} +{"id": "trial_T20190907_061133_385225-2", "input": "Slicing up apples to eat", "output": ["STEP 1: Walk to the trash can in the kitchen | STEP 2: Bend down and get the fruit out of the trash | STEP 3: Turn around and walk to the counter by the fridge | STEP 4: Set the fruit down on the counter | STEP 5: Take the knife and cut the fruit in to slices | STEP 6: Take the knife to the kitchen sink | STEP 7: Slice the fruit that is in the sink | STEP 8: Set the knife down in the sink | STEP 9: Pick a slice of fruit from the kitchen sink | STEP 10: Turn around in the kitchen | STEP 11: Walk back to the counter | STEP 12: Set the fruit down on the counter | END"]} +{"id": "trial_T20190907_061133_385225-3", "input": "To cut put 1 1/3 apples on the counter.", "output": ["STEP 1: Turn left, walk across the room and turn right to face the trash can. | STEP 2: Pick up the green apple in the trash can. | STEP 3: Turn around and approach the counter to the right of the fridge. | STEP 4: Place the apple on the edge of the counter. | STEP 5: Pick up the knife on the counter. | STEP 6: Cut the apple into three pieces. | STEP 7: Turn around and approach the sink. | STEP 8: Cut the apple in the sink into three pieces. | STEP 9: Place the knife in the sink. | STEP 10: Pick up a piece of apple out of the sink. | STEP 11: Turn around and step forward to face the counter. | STEP 12: Set the piece of apple to the right of the other apple on the counter. | END"]} +{"id": "trial_T20190907_061133_385225-4", "input": "Cut two apples into sections, move one section from the sink to the counter.", "output": ["STEP 1: Turn left, move to the counter near the black bin. | STEP 2: Pick the apple up out of the black bin. | STEP 3: Turn left, move to the counter in front of the dishwasher. | STEP 4: Put the apple on to the counter. | STEP 5: Pick up the knife from the counter. | STEP 6: Cut the apple on the counter into sections. | STEP 7: Turn right, move to the counter in front of the sink. | STEP 8: Cut the apple in the sink into sections. | STEP 9: Place the knife into the sink. | STEP 10: Pick up a section of apple. | STEP 11: Turn right, move to the counter in front of the dishwasher. | STEP 12: Place apple section to the right of other apple. | END"]} +{"id": "trial_T20190907_020258_749030-0", "input": "Get an apple from the sink and heat it up in the microwave", "output": ["STEP 1: Turn toward the fridge and turn right and go towards the kitchen sink | STEP 2: Pick up the green apple out of the sink | STEP 3: Turn around and walk towards the microwave with the apple and open the microwave door | STEP 4: Put the apple in the microwave and close the door and turn it on for a few seconds, then open the door and take the apple out | STEP 5: Turn around and walk back to the sink | STEP 6: Put the apple in the sink. | END"]} +{"id": "trial_T20190907_020258_749030-1", "input": "Cook apple in microwave, place in sink. ", "output": ["STEP 1: Turn left, go straight, turn right into kitchen. | STEP 2: Pick up apple in the sink. | STEP 3: Hold apple, open microwave doors. | STEP 4: Place apple into microwave, close microwave. | STEP 5: Cook apple in microwave, open microwave, grab apple. | STEP 6: Turn around towards sink, throw apple into sink. | END"]} +{"id": "trial_T20190907_020258_749030-2", "input": "Put a cooked apple in the sink.", "output": ["STEP 1: Turn to the left, then to the right, then to the sink on the right. | STEP 2: Pick up the apple, to the left of the egg. | STEP 3: Turn around and go to the microwave in front of you. | STEP 4: Heat the apple in the microwave. | STEP 5: Return to the sink behind you. | STEP 6: Put the apple in the sink, to the right of the fork. | END"]} +{"id": "trial_T20190907_033157_424297-0", "input": "place a potato inside the microwave", "output": ["STEP 1: walk over to the kitchen island | STEP 2: grab a potato off of the kitchen island counter | STEP 3: walk over to the fridge | STEP 4: place the potato inside the fridge to cool, then take it back out | STEP 5: bring the potato over to the microwave above the stove | STEP 6: place the potato inside the microwave and close the door | END"]} +{"id": "trial_T20190907_033157_424297-1", "input": "Place the potato in the microwave.", "output": ["STEP 1: Turn left then right to face the counter with the knife on it. | STEP 2: Pick up the potato from the counter. | STEP 3: Turn right and face the fridge. | STEP 4: Open the fridge and chill the potato for 5 seconds then take it out. | STEP 5: Turn right and walk then turn left to face the stove. | STEP 6: Look above the stove to the microwave and place the potato inside. | END"]} +{"id": "trial_T20190907_033157_424297-2", "input": "Put a chilled potato in the microwave.", "output": ["STEP 1: Go to the counter in front of you. | STEP 2: Pick up the potato the the left of the bread. | STEP 3: Go to the fridge behind you. | STEP 4: Chill the potato in the fridge. | STEP 5: Take the potato to the microwave to your right. | STEP 6: Placed a potato in the microwave. | END"]} +{"id": "trial_T20190909_025529_706272-0", "input": "Place a warm tomato slice in the sink.", "output": ["STEP 1: Turn around then turn left and face the counter by the stove in front of you. | STEP 2: Take the silver knife off of the counter in front of you. | STEP 3: Turn left and face the counter on your right. | STEP 4: Slice the tomato on the counter in front of you. | STEP 5: Turn around and face the sink in front of you. | STEP 6: Place the knife in the sink in front of you. | STEP 7: Turn around and face the counter in front of you. | STEP 8: Take a tomato slice off of the counter in front of you. | STEP 9: Turn right and face the microwave on top of the stove to your left. | STEP 10: Heat up the tomato slice in the microwave and take it out. | STEP 11: Turn around and face the sink in front of you. | STEP 12: Place the warm tomato slice in the sink. | END"]} +{"id": "trial_T20190909_025529_706272-1", "input": "Heat up a tomato slice in the microwave to put in the sink.", "output": ["STEP 1: Turn left to walk around the kitchen island, hanging a left and stopping at the counter on the left of the stove. | STEP 2: Pick up the smaller knife on the counter to the left of the stove. | STEP 3: Turn to face the tomato on the counter. | STEP 4: Slice the tomato with the smaller knife. | STEP 5: Turn around to face the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn around to face the counter to the left of the stove. | STEP 8: Pick up a slice of tomato from the countertop. | STEP 9: Turn right and walk to the microwave. | STEP 10: Heat up the slice of tomato in the microwave, removing it afterwards. | STEP 11: Turn left to walk back to the sink. | STEP 12: Put the slice of tomato in the sink. | END"]} +{"id": "trial_T20190909_025529_706272-2", "input": "To heat a tomato slice and place it in the sink.", "output": ["STEP 1: Turn around and cross the room to face the counter on the left side of stove. | STEP 2: Pick up the knife on the counter. | STEP 3: Look to the left to face the tomato on the counter. | STEP 4: Cut the tomato on the counter into slices. | STEP 5: Turn around to face the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn around to face the tomato on the counter. | STEP 8: Pick up a slice of tomato on the counter. | STEP 9: Take a step to the right to face the microwave. | STEP 10: Heat the tomato slice in the microwave and remove it. | STEP 11: Turn around and step forward to face the sink. | STEP 12: Place the tomato slice in the sink. | END"]} +{"id": "trial_T20190909_110531_148235-0", "input": "Wash a knife in the sink to place on a countertop.", "output": ["STEP 1: Walk around the kitchen island on the right to reach the corner of it. | STEP 2: Pick up the large knife on the kitchen island. | STEP 3: Walk around the corner to reach the sink. | STEP 4: Rinse the knife in the sink, removing it afterwards. | STEP 5: Turn around the face the countertop. | STEP 6: Place the knife on the countertop. | END"]} +{"id": "trial_T20190909_110531_148235-1", "input": "rinse the knife to put it back on the counter", "output": ["STEP 1: go to the corner of the counter near the waste bin | STEP 2: pick up the knife from the corner of the counter | STEP 3: take the knife to the sink | STEP 4: rinse the knife in the sink then remove | STEP 5: take the knife back to the counter | STEP 6: lay the knife in the middle of the counter | END"]} +{"id": "trial_T20190909_110531_148235-2", "input": "Put a rinsed knife on the counter.", "output": ["STEP 1: Go across the room, turn right and go to the trash can on the right. | STEP 2: Pick up the knife on the counter behind the trash can. | STEP 3: Go around the counter to the sink. | STEP 4: Rinse off the knife in the sink and pick it back up. | STEP 5: Turn around and go to the dishwasher. | STEP 6: Put the knife on the counter in front of the fork. | END"]} +{"id": "trial_T20190908_144951_587345-0", "input": "Turn on the table lamp to read the book.", "output": ["STEP 1: Turn around take one step and then turn left to the bed. | STEP 2: Pick up the book behind the computer on the red sheet. | STEP 3: Turn around and walk toward the wall and stop at the wall and turn left towards the computer table. | STEP 4: Turn on the table lamp. | END"]} +{"id": "trial_T20190908_144951_587345-1", "input": "Examine the book by lamp light.", "output": ["STEP 1: Turn right and go to the side of the bed. | STEP 2: Pick up the book from the bed. | STEP 3: Turn around and walk forward, then turn left to face the desk with your back to the safe. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190908_144951_587345-2", "input": "grab the book from the bed, turn on the lamp on the desk", "output": ["STEP 1: turn around, walk to the side of the bed | STEP 2: grab the book on the bed | STEP 3: turn around, walk to the side of the desk | STEP 4: turn on the lamp on the desk | END"]} +{"id": "trial_T20190907_173215_875825-0", "input": "Put a chilled egg into the sink.", "output": ["STEP 1: Go across the room to the kitchen then go to the sink on the right side. | STEP 2: Pick up the egg that is beside the fork in the sink. | STEP 3: Move across the kitchen to the refrigerator. | STEP 4: Open the refrigerator, then place the egg on the glass shelf and close the fridge. Wait then open the fridge and pick up the egg, then close the fridge. | STEP 5: Move across the kitchen to the sink. | STEP 6: Put the egg in the sink beside the fork. | END"]} +{"id": "trial_T20190907_173215_875825-1", "input": "Chill an egg and place it in the sink.", "output": ["STEP 1: Go straight across the room, and then right to go around the island and find the sink on the right. | STEP 2: Pick up the egg in the back of the sink. | STEP 3: Take the egg and turn right to find the fridge on the right. | STEP 4: Place the egg inside the fridge. Then open the door and take out the egg. Shut the fridge door. | STEP 5: Take the egg and turn right, then right again at the sink. | STEP 6: Place the egg back into the sink. | END"]} +{"id": "trial_T20190907_173215_875825-2", "input": "get egg from kitchen sink, chill in fridge, put back in sink", "output": ["STEP 1: turn right, walk to the fridge, turn right and walk to the kitchen sink | STEP 2: pick up the brown egg in the sink | STEP 3: turn to the right and walk over to the fridge | STEP 4: open fridge, put the egg on the shelf with the green vegetable, close door, wait, open door, pick up egg again | STEP 5: turn right, walk straight, turn right at sink and face sink | STEP 6: put egg in sink | END"]} +{"id": "trial_T20190909_120712_273910-0", "input": "Put a clean egg in the microwave.", "output": ["STEP 1: Turn right and move forward, then turn right and go to the fridge, then turn right and move forward, then turn left to face the dishwasher. | STEP 2: Pick up the egg from the counter in front of you. | STEP 3: Turn around and go to the sink. | STEP 4: Clean the egg in the sink. | STEP 5: Turn around and go to the stove, then look up the microwave. | STEP 6: Open the microwave, put the egg inside, and close it. | END"]} +{"id": "trial_T20190909_120712_273910-1", "input": "rinse the egg to put it in the microwave", "output": ["STEP 1: go to the counter to the left of the stove | STEP 2: pick up the egg from the counter | STEP 3: take the egg to the sink | STEP 4: rinse the egg in the sink then remove | STEP 5: take the egg to the microwave | STEP 6: put the egg in the microwave | END"]} +{"id": "trial_T20190909_120712_273910-2", "input": "Rinse and warm egg", "output": ["STEP 1: Turn to the right, walk a few steps, turn right again, walk to the edge of the counter, turn right, walk to the counter with the egg on it | STEP 2: Pick up the egg from the counter | STEP 3: Turn around to the sink | STEP 4: Place egg in the sink, turn on the water, rinse the egg, pick up the egg | STEP 5: Turn around, walk to the microwave | STEP 6: Open the microwave, place the egg in it, close the door | END"]} +{"id": "trial_T20190906_182353_418140-0", "input": "Place a microwaved apple in the fridge.", "output": ["STEP 1: Walk towards the fridge, then turn right and walk to the window, then turn left to the grey counter. | STEP 2: Pick up the rightmost green apple on the counter. | STEP 3: Turn left and walk forward, then turn right toward the stove and open the microwave door above the stove. | STEP 4: Place the apple inside the microwave to the left of the mug, close the microwave door, and start the microwave, wait, then open the microwave door and take the apple out. | STEP 5: Turn left to face the sink, then turn right towards the wall and walk forward, then turn right towards the fridge. | STEP 6: Open the fridge door, place the apple inside in front of the lettuce, and close the door. | END"]} +{"id": "trial_T20190906_182353_418140-1", "input": "Place a cooked apple in the refrigerator.", "output": ["STEP 1: Walk forward to the fridge then turn right and walk until you hit a wall then turn left to face a coffee pot. | STEP 2: Pick up the green apple to the left of the coffee pot. | STEP 3: Turn left and position yourself in front of the stove. | STEP 4: Cook the apple in the microwave and take it back out and close the door. | STEP 5: Turn left and walk to the front of the fridge so you are facing it. | STEP 6: Place the apple on the middle of the middle shelf towards the front. | END"]} +{"id": "trial_T20190906_182353_418140-2", "input": "Put a heated green apple in the fridge between the lettuce and the potato. ", "output": ["STEP 1: Walk straight, turn right near the fridge, walk straight towards the wall and turn left to face the counter top. | STEP 2: Pick up the green apple next to the stove. | STEP 3: Walk slightly to the left to the stove and look up to the microwave on top of the stove. | STEP 4: Open the microwave, heat it up for a few seconds, pick it up again from the microwave and close the microwave. | STEP 5: Walk to the left to go to the fridge. | STEP 6: Put the apple in the fridge between the lettuce and the potato. | END"]} +{"id": "trial_T20190906_182353_418140-3", "input": "Put the heated apple in the fridge", "output": ["STEP 1: Walk straight towards the fridge then turn right head to the coffee maker on your left | STEP 2: Pick up the apple on the left side of the coffee maker | STEP 3: Turn to your left then walk straight face the microwave on your right | STEP 4: Open the microwave warm the apple then get it again close the microwave | STEP 5: Turn to your left walk straight head to the fridge | STEP 6: Open the fridge and put in the apple then close the fridge | END"]} +{"id": "trial_T20190906_182353_418140-4", "input": "Place the heated apple in the fridge.", "output": ["STEP 1: Walk towards the fridge, turn right towards the window, turn left to face the coffee maker. | STEP 2: Pick up the left green apple on the counter. | STEP 3: Turn left, walk to the middle of the stove, and then turn right to face it. | STEP 4: Place the apple inside the microwave directly above the stove to heat it, and take the apple out. | STEP 5: Turn left, walk towards the fridge, and turn right to face the fridge. | STEP 6: Open the fridge and place the apple in front of the lettuce. | END"]} +{"id": "trial_T20190906_182353_418140-5", "input": "Put a heated apple in the fridge.", "output": ["STEP 1: Go forward to the fridge then turn right, then go forward and turn left at the counter with the coffee maker. | STEP 2: Pick up the apple on the counter, to the left of the coffee maker. | STEP 3: Turn left, go straight, then turn right and look up to face the microwave. | STEP 4: Heat the apple in the microwave. | STEP 5: Go to the fridge, to your left. | STEP 6: Put the apple in the fridge, to the right of the lettuce. | END"]} +{"id": "trial_T20190908_205246_776817-0", "input": "Put the gold vase into the white safe", "output": ["STEP 1: Go forward to the table then turn left and walk straight until you reach the white shelves in front of you. Face the shelf on your right. | STEP 2: Pick up the gold vase that is on the shelf | STEP 3: Turn in a circle and face the white safe on the floor next to the shelf. | STEP 4: Open the safe, place the vase inside the safe, and shut the safe | END"]} +{"id": "trial_T20190908_205246_776817-1", "input": "Place a gold bottle in a safe.", "output": ["STEP 1: Take a left at the black table ahead and walk to the white book case to the right of the couch. | STEP 2: Pick up the gold bottle on the shelf above the black statue on the book case. | STEP 3: Turn around, take a left at the couch and turn left to face the white safe next to the fireplace. | STEP 4: Put the gold bottle inside the safe and close the door. | END"]} +{"id": "trial_T20190908_205246_776817-2", "input": "Put the golden object from the shelf into the safe.", "output": ["STEP 1: Move forward, turn left at the end table, walk forward and turn right to face the white shelf. | STEP 2: Grab the golden object from the shelf. | STEP 3: Turn to the right to face the safe. | STEP 4: Place the golden object into the safe. | END"]} +{"id": "trial_T20190909_213855_654145-0", "input": "Place a cold lettuce slice in the black trash can.", "output": ["STEP 1: Turn around, then right and face the counter to your left. | STEP 2: Grab the knife from the counter in front of you. | STEP 3: Turn left and face the counter with the lettuce to your right. | STEP 4: Slice the lettuce in front of you. | STEP 5: Turn right then face the counter to your left. | STEP 6: Place the knife on the counter in front of you. | STEP 7: Turn left then face the counter with the lettuce on your right. | STEP 8: Take a slice of lettuce from the counter in front of you. | STEP 9: Turn left then face the fridge on your right. | STEP 10: Place the lettuce in the fridge, take it out then close it. | STEP 11: Turn around and face the black trash can on your left. | STEP 12: Place the lettuce in the black trash can in front of you. | END"]} +{"id": "trial_T20190909_213855_654145-1", "input": "Place a cold lettuce slice in a waste basket", "output": ["STEP 1: turn to the left twice and go to the front of the refrigerator and turn to the right and take a few steps and turn to the left and go to the counter | STEP 2: pick up the left yellow handle knife from the counter top | STEP 3: turn to the left and take a few steps and turn to the right facing the counter | STEP 4: slice up the head of lettuce with the knife on the counter | STEP 5: turn to the right and take a few steps and turn to the left facing the counter | STEP 6: put the knife on the counter top | STEP 7: turn to the left and take a few steps and turn to the right facing the counter | STEP 8: pick up a slice of lettuce from the counter top | STEP 9: turn to the left twice and take a step and turn to the right and take a few steps and turn to the right facing the refrigerator | STEP 10: open the refrigerator door and put the lettuce slice on the middle shelf and close the door and wait and open the door and take out the lettuce slice and close the refrigerator door | STEP 11: turn to the right twice and go to the front of the waste basket and turn to the left and go to the waste basket | STEP 12: put the lettuce slice in the waste basket | END"]} +{"id": "trial_T20190909_213855_654145-2", "input": "Slice a lettuce, cool a slice ", "output": ["STEP 1: Turn around, go forward, turn right, go forward a bit, turn left to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Move a bit to the left | STEP 4: Slice the lettuce on the counter | STEP 5: Move a bit to the right | STEP 6: Put the knife on the counter | STEP 7: Move a bit to the left | STEP 8: Pick up a lettuce slice from the counter | STEP 9: Turn left and go to the front of the fridge | STEP 10: Put the lettuce slice in the fridge, wait, pick up the lettuce slice from the fridge | STEP 11: Turn around, go forward a bit, turn left | STEP 12: Put the lettuce in the basket | END"]} +{"id": "trial_T20190909_061232_368489-0", "input": "Place a washed bowl in a cabinet.", "output": ["STEP 1: Turn around and move left to the toaster. | STEP 2: Take the bowl out of the cabinet on the top left. | STEP 3: Turn around and walk to the sink. | STEP 4: Wash the bowl in the sink. | STEP 5: Turn around and look up. | STEP 6: Open the counter on the top left and place the bowl inside of it, to the right of the red container. | END"]} +{"id": "trial_T20190909_061232_368489-1", "input": "Put a bowl of water into the cupboard", "output": ["STEP 1: Step back from the sink, turn right and walk across the kitchen, turn right and face the counter. | STEP 2: Open the cupboard above your head and get the bowl | STEP 3: Turn around to the right and carry the bowl to the sink | STEP 4: Turn the sink on and fill the bowl with water | STEP 5: Turn around to the left, carry the bowl back to the counter, and raise it up to the cupboard | STEP 6: Put the bowl in the cupboard | END"]} +{"id": "trial_T20190909_061232_368489-2", "input": "Place a bowl filled with water next to the red vase in the cabinet.", "output": ["STEP 1: Turn right, walk the toaster on the counter to your right and look up to the cabinet. | STEP 2: Grab the bowl inside the cabinet. | STEP 3: Turn right and walk to the sink to your right. | STEP 4: Fill the bowl up with water and grab the bowl. | STEP 5: Turn left, a quick left again and look up to the cabinet. | STEP 6: Place the bowl filled with water next to the red vase in the cabinet. | END"]} +{"id": "trial_T20190909_000045_648853-0", "input": "place a cup with a knife in it on the kitchen counter space", "output": ["STEP 1: turn right and walk up to the kitchen island counter ahead | STEP 2: grab a butter knife off of the kitchen island counter space there | STEP 3: move to the right side of the room past the kitchen island, then take a left and walk to the front of the stove ahead on the left | STEP 4: place the knife inside the cabinet above the microwave which is above the stove, but place it in a green cup | STEP 5: pick up the green up from out of the cabinet above the microwave | STEP 6: move to the right a bit to face the kitchen counter space to the right of the stove | STEP 7: place the cup down on the kitchen counter space | END"]} +{"id": "trial_T20190909_000045_648853-1", "input": "Place a glass with a knife on a counter.", "output": ["STEP 1: Walk to the counter on the right. | STEP 2: Pick up the knife in front of the sink on the left side on the counter. | STEP 3: Turn around, head left, hang a left at the windows, turn left, walk to the stove on the right and look up at the microwave. | STEP 4: Open the upper cabinets and put the knife inside the green glass on the left side. | STEP 5: Pick up the green glass with the knife inside and close the doors. | STEP 6: Turn right and walk to the counter with the coffee maker on the left. | STEP 7: Put the glass with the knife inside on the counter to the left of the coffee maker. | END"]} +{"id": "trial_T20190909_000045_648853-2", "input": "Put a cup with a knife in it on the counter.", "output": ["STEP 1: Turn right and take a step to your left then walk to the counter in front of you. | STEP 2: Pick up the butter knife that's in front of you. | STEP 3: Turn right and take a step to your right then walk to the window and turn left then walk to the left side of the stove that's off to your left. | STEP 4: Open the cupboard that's above the left side of the microwave then put the knife in the green cup. | STEP 5: Pick up the green cup with the knife in it and close the cupboard.. | STEP 6: Take a few steps to your right to face the coffee maker. | STEP 7: Put the cup under and to the left of the credit card that's in front of you. | END"]} +{"id": "trial_T20190908_015839_519239-0", "input": "Put a vase and plate from a cabinet into the sink", "output": ["STEP 1: Turn left and go to the cabinet above the coffee maker | STEP 2: Open the cabinet and take out the glass vase and close the doors | STEP 3: Turn right then left back to the cabinet | STEP 4: Open the cabinet above the coffee maker | STEP 5: Put the vase on top of the plate and take them both from the cabinet | STEP 6: Turn left and walk to the sink on the left | STEP 7: Put the glass and plate in the sink to the left of the lettuce | END"]} +{"id": "trial_T20190908_015839_519239-1", "input": "To put the plate and jar in the sink.", "output": ["STEP 1: Walk across the room, then turn left and walk across the room. | STEP 2: Look above the coffee maker and open the cabinet to take the glass jar. | STEP 3: Turn to the right and take one step, then turn left and look above the coffee maker. | STEP 4: Put the glass jar in the cabinet on top of the plate. | STEP 5: Take the plate with the jar on it out of the cupboard. | STEP 6: Turn left and take two steps, then turn left. | STEP 7: Place the plate and jar in the sink to the right of the lettuce. | END"]} +{"id": "trial_T20190908_015839_519239-2", "input": "Put a plate with a bottle on it in the sink.", "output": ["STEP 1: Walk to the wall then turn left and walk to the coffee maker and then take a small step left. | STEP 2: Get the glass bottle from the cupboard above the coffee maker then close the doors. | STEP 3: Take a small step to your right. | STEP 4: Put the bottle on the plate in the cupboard above the coffee maker. | STEP 5: Pick up the plate with the bottle on it and close the cupboard doors.. | STEP 6: Turn left and walk to the sink and face it. | STEP 7: Put the plate in the sink. | END"]} +{"id": "trial_T20190906_202926_527010-0", "input": "Put toilet paper rolls in a cabinet under the sink.", "output": ["STEP 1: Turn right and go towards the sink and toilet. | STEP 2: Take the toilet paper roll from on top of the toilet. | STEP 3: Go backwards while facing towards the sink. | STEP 4: Open the left cabinet door under the sink, put the toilet paper to the right of the bottle in the cabinet. | STEP 5: Move towards the sink and toilet. | STEP 6: Take the cardboard roll on the floor next to the plunger. | STEP 7: Go backwards while facing towards the sink. | STEP 8: Open the left cabinet door under the sink, put the toilet paper to the left of the bottle in the cabinet. | END"]} +{"id": "trial_T20190906_202926_527010-1", "input": "place the toilet paper with the cover inside the cupboard ", "output": ["STEP 1: turn right and walk towards the water closet | STEP 2: pick up the toilet roll from the top of the water closet | STEP 3: turn left and go for the cupboard underneath the sink | STEP 4: open the cupboard and place the toilet roll in it. | STEP 5: head for the water closet at the right | STEP 6: pick up a toilet roll cover from the top of the water closet | STEP 7: head for the cupboard at the left | STEP 8: place the toilet paper cover inside the cupboard | END"]} +{"id": "trial_T20190906_202926_527010-2", "input": "Take the empty toilet paper roll off.", "output": ["STEP 1: Turn right and go to the toilet. | STEP 2: Pick up the roll of paper towels on the back of the toilet. | STEP 3: Turn all the way around move towards the door some and then turn back around. | STEP 4: Open the cabinet door under the sink. Place the paper towels under the sink to the right of the object under there. | STEP 5: Shut the door to the cabinet | STEP 6: Take the empty roll of toilet paper off the holder. | STEP 7: Open the door to the cabinet under the sink. | STEP 8: Place the empty roll to the left of the green bottle. Shut the door to the cabinet. | END"]} +{"id": "trial_T20190907_080825_222432-0", "input": "Clean a spatula to put it away.", "output": ["STEP 1: Turn to the right and go across the room. Turn to the right again, and then the left at the counter beside the stove. | STEP 2: Pick up the spatula from the counter. | STEP 3: Take the spatula and turn around to the sink. | STEP 4: Place the spatula in the sink, turn on the water and then off again. Pick up the spatula. | STEP 5: Take the spatula and turn around to the counter. | STEP 6: Open the top drawer and place the spatula inside. | END"]} +{"id": "trial_T20190907_080825_222432-1", "input": "Put a rinsed spatula into a drawer.", "output": ["STEP 1: Turn to the right and walk to the fridge. Turn right and walk to the counter that is to the right of the fridge. Face the counter. | STEP 2: Pick up the spatula that is on the counter in front of the bread. | STEP 3: Holding the spatula, turn around 180 degrees to face the sink. | STEP 4: Put the spatula in the sink to the left of the tomato, fill the sink with water, then drain the sink. Take the spatula from out of the sink. | STEP 5: Turn around 180 degrees to face the stove top and counter to the left of the stove top. | STEP 6: Open the top drawer that is left of the stove top underneath the counter, place the spatula in the drawer, and close the drawer. | END"]} +{"id": "trial_T20190907_080825_222432-2", "input": "put a clean spatula into the drawer", "output": ["STEP 1: turn to the right and move across the room towards the refrigerator, turn right at the refrigerator moving forward towards the dishwasher on the left, turn left to face the counter | STEP 2: pick up the spatula that is on the counter in front of the loaf of bread on the right | STEP 3: turn around and move towards the sink | STEP 4: put the spatula into the sink and turn on the water to clean the spatula and pick up the spatula out from of the sink | STEP 5: turn around to face the counter to the left of the stove | STEP 6: open the top drawer that is to the left of the stove, put the spatula into the drawer and close it | END"]} +{"id": "trial_T20190907_161210_531813-0", "input": "Look at a basketball in the lamp light.", "output": ["STEP 1: Turn around and go to the foot of the bed. | STEP 2: Pick up the basketball from the floor. | STEP 3: Turn around and go to the desk in the corner. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190907_161210_531813-1", "input": "Examine a basketball by the light of a desk lamp.", "output": ["STEP 1: Turn left and walk to the basketball on the floor by the bed. | STEP 2: Pick up the basketball from the floor. | STEP 3: Turn left and walk to the lamp on the desk which is to the left of the bed. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190907_161210_531813-2", "input": "Turn on a lamp while holding a basketball", "output": ["STEP 1: Move to the foot of the bed closest to the wall | STEP 2: Pick up the basketball sitting on the floor next to the foot of the bed | STEP 3: Carry the basketball to the left side of the wooden desk top | STEP 4: Turn on the lamp that is on top of the desk | END"]} +{"id": "trial_T20190908_100632_546757-0", "input": "Put a clean wash cloth on the counter.", "output": ["STEP 1: Turn left and walk to the counter in between the two sinks. | STEP 2: Pick up the dirty green washcloth that's in front of you between the sinks. | STEP 3: Take a step to your right then a small step backwards. | STEP 4: Wash the wash cloth in the sink and then pick it back up and shut off the water. | STEP 5: Move back to where you got the wash cloth from. | STEP 6: Put the wash cloth back where you got it from. | END"]} +{"id": "trial_T20190908_100632_546757-1", "input": "Put a clean cloth on the counter.", "output": ["STEP 1: Turn to the left and face the counter between the counter between the two sinks. | STEP 2: Pick the cloth up from the counter. | STEP 3: Go right and turn to face the sink on the right side of the counter. | STEP 4: Put the cloth in the sink and turn the water on and then off and take the cloth out of the sink. | STEP 5: Move to the left. | STEP 6: Put the cloth down on the counter between the two sinks. | END"]} +{"id": "trial_T20190908_100632_546757-2", "input": "Place a clean rag on a counter.", "output": ["STEP 1: Turn left and walk to the sinks. | STEP 2: Pick up the dirty blue rag. | STEP 3: Take a step right. | STEP 4: Wash the rag in the right sink. | STEP 5: Take a step left. | STEP 6: Place the rag on the counter between the sinks. | END"]} +{"id": "trial_T20190909_124126_852630-0", "input": "Putting a hot potato slice in the fridge", "output": ["STEP 1: Turn right and go to the counter with the coffee maker | STEP 2: Grab the knife off of the counter | STEP 3: Look up at the counter | STEP 4: Slice the potato on the counter | STEP 5: Put the knife down on the counter | STEP 6: Grab a potato slice off of the counter | STEP 7: Turn left and go to the microwave | STEP 8: Heat the potato slice in the microwave and then take it out | STEP 9: Turn left and go to the fridge | STEP 10: Put the potato slice in the fridge | END"]} +{"id": "trial_T20190909_124126_852630-1", "input": "place a cooked potato slice in the fridge", "output": ["STEP 1: move right to the table | STEP 2: pick up the knife | STEP 3: move up to the potato on the table | STEP 4: slice the potato on the table | STEP 5: drop the knife on the coffee maker | STEP 6: pick up a slice of the potato | STEP 7: move left to the oven | STEP 8: cook the potato in the oven and take it out | STEP 9: move left to the fridge | STEP 10: place the potato in the fridge | END"]} +{"id": "trial_T20190909_124126_852630-2", "input": "Put a cooked slice of potato in the fridge.", "output": ["STEP 1: Turn right and go to the coffee maker. | STEP 2: Pick up the knife on the counter. | STEP 3: Look up at the potato on the counter. | STEP 4: Cut the potato on the counter. | STEP 5: Put the knife on the counter in front of the coffee maker. | STEP 6: Pick up a slice of potato. | STEP 7: Go left to the microwave above the stove. | STEP 8: Cook the slice of potato in the microwave and pick it back up. | STEP 9: Turn left and go to the fridge. | STEP 10: Put the slice of potato on the shelf in the fridge with the lettuce. | END"]} +{"id": "trial_T20190907_171806_406231-0", "input": "Place a warmed mug in a coffee machine.", "output": ["STEP 1: Turn around, then turn left at the window and walk to the counter with the coffee machine on it. | STEP 2: Pick up the mug from the coffee machine. | STEP 3: Turn to the stove to the left of the counter. | STEP 4: Place the mug in the microwave above the stove, warm it, then take it out. | STEP 5: Walk back to the coffee machine. | STEP 6: Place the mug in the coffee machine. | END"]} +{"id": "trial_T20190907_171806_406231-1", "input": "Put the warm mug on the coffee maker", "output": ["STEP 1: Move forward then left, then head to the coffee maker | STEP 2: Pick up the mug on the coffee maker | STEP 3: Turn to your left head toward the microwave above the stove | STEP 4: Open the microwave put in the mug then pick it up and close the microwave | STEP 5: Turn to your right move forward face the coffee maker | STEP 6: Put the mug on the coffee maker | END"]} +{"id": "trial_T20190907_171806_406231-2", "input": "Heating up a cup of coffee", "output": ["STEP 1: Walk to the coffee pot | STEP 2: Grab the coffee cup that is under on coffee pot | STEP 3: Carry the cup to the microwave | STEP 4: Put the coffee cup in the microwave | STEP 5: Take the coffee cup out of the microwave | STEP 6: Carry the cup back to the coffee pot | END"]} +{"id": "trial_T20190908_022345_347148-0", "input": "rinse the rag in the sink and put it in the cabinet", "output": ["STEP 1: walk over to the toilet | STEP 2: pick up the rag from the counter | STEP 3: go the sink on the right | STEP 4: wash the rag in the sink and remove | STEP 5: walk to the center of the room and face the toilet | STEP 6: put the washcloth in the cabinet below the sink | END"]} +{"id": "trial_T20190908_022345_347148-1", "input": "Place a wet rag in the cabinet under the sink.", "output": ["STEP 1: Turn to your right and walk to the sink. | STEP 2: Pick up the rag that is on the sink counter | STEP 3: Turn around, take a step forwards, and turn around again. | STEP 4: place the rag in the sink and turn the faucet on and off to wet the rag | STEP 5: Turn around, take a step forwards, and turn around again. | STEP 6: Place the wet rag in the cabinet under the sink. | END"]} +{"id": "trial_T20190908_022345_347148-2", "input": "Put a cleaned cloth rag in a cabinet.", "output": ["STEP 1: Turn right and walk forward to the blue cloth rag on the counter. | STEP 2: Pick up the cloth rag from the counter. | STEP 3: Move left slightly to the front of the sink on the right. | STEP 4: Put the cloth rag in the sink, rinse it off, and take it out of the sink. | STEP 5: Move back slightly from the counter top. | STEP 6: Put the cloth rag in the bottom left cabinet below the sink, then close the cabinet. | END"]} +{"id": "trial_T20190908_125200_737896-0", "input": "Move a mug from the shelves to the desk.", "output": ["STEP 1: Cross the room and move over to the left side of it, then face the desk with the blue chair and the black laptop and look at the shelves above it. | STEP 2: Grab the white mug sitting on the shelf between the books. | STEP 3: Bring the mug with you and move around the desk so that you are between it and the bed, then turn right and face the end of the desk. | STEP 4: Put the mug down on the desk so it's between the water bottle and the disc. | END"]} +{"id": "trial_T20190908_125200_737896-1", "input": "Put a cup on the desk, by the chcair. ", "output": ["STEP 1: Turn around and go to the bed, then turn left to go around to the other side of the bed, turn to your left just before the laundry hamper, and go to the end of the desk, on your left. | STEP 2: Pick up the white cup on the second shelf up, on the right side of the desk, between the books. | STEP 3: Move over to the left end of the desk. | STEP 4: Place the white cup back on the desk, directly in front of the blue office chair. | END"]} +{"id": "trial_T20190908_125200_737896-2", "input": "put a mug on a desk", "output": ["STEP 1: turn to face the desk top and shelves above desk | STEP 2: pick up the white mug from the shelf second from the desk top | STEP 3: walk to the left side of the desk | STEP 4: put the mug on the desk top on the cd | END"]} +{"id": "trial_T20190908_025420_586121-0", "input": "Put a warm slice of bread on the counter. ", "output": ["STEP 1: Turn around and walk to the counter top above the dishwasher, just past the refrigerator. | STEP 2: Pick up the loaf of bread to the right of the toaster. | STEP 3: Move over to your right so that you are directly in front of the knife's on the counter. | STEP 4: Place the bread on the counter to the left of the knife's. | STEP 5: Pick up the knife closest to the fork on the right, located on the counter. | STEP 6: Cut the loaf of bread on the counter, into slices. | STEP 7: Place the knife back on the counter, between the butter knife and the fork. | STEP 8: Pick up the end slice of bread on the counter. | STEP 9: Turn to your right and go to the microwave, above the stove, on your left. | STEP 10: Place the slice of bread in the microwave, warm it, and remove it from the microwave. | STEP 11: Move over to your right so that you are in front of the counter with the coffee maker on it. | STEP 12: Place the slice of bread on the counter, between the salt and the credit card. | END"]} +{"id": "trial_T20190908_025420_586121-1", "input": "Heat one piece of the slice bread and bring it beside the coffee maker.", "output": ["STEP 1: Look around and face the counter at the left. | STEP 2: pick up the bread at the counter beside the toaster. | STEP 3: Look around and face to the counter. | STEP 4: Put the bread at the counter. | STEP 5: Pick up the knife at the counter. | STEP 6: Slice the bread at the counter. | STEP 7: Put back the knife at the counter. | STEP 8: Pick up one slice of the bread. | STEP 9: walk to the left and face the stove. | STEP 10: Open the microwave and put the bread inside. Heat it for few seconds and get it out. | STEP 11: Turn right and face the counter at the left. | STEP 12: Put the bread at the counter beside the coffee maker. | END"]} +{"id": "trial_T20190908_025420_586121-2", "input": "TO heat a slice of bread and place it on the counter to the right of the stove.", "output": ["STEP 1: Turn around and walk halfway across the room and then turn left to face the bread on the counter. | STEP 2: Pick up the bread on the counter. | STEP 3: Step to the right and face the counter. | STEP 4: Place the bread back into it's original spot on the counter. | STEP 5: Pick up the knife on the counter. | STEP 6: Cut the bread on the counter into slices. | STEP 7: Place the knife back into it's spot on the counter. | STEP 8: Pick up a slice of bread on the counter. | STEP 9: Take a step to the right and face the microwave above the stove. | STEP 10: Head the slice of bread in the microwave and then remove it. | STEP 11: Take a step to the right and face the counter to the right of the stove. | STEP 12: Place the slice of bread on the counter to the right of the stove. | END"]} +{"id": "trial_T20190908_222951_616606-0", "input": "Turn on a lamp with a metal box. ", "output": ["STEP 1: Turn around and walk to the right then turn left and walk to the desk. | STEP 2: Pick up the metal box that is on top of the desk. | STEP 3: Turn right then turn left and walk around to the other side of the desk. Turn right to face the desk. | STEP 4: Use the metal box to turn on the lamp. | END"]} +{"id": "trial_T20190908_222951_616606-1", "input": "Examine the alarm clock under the light of the desk lamp", "output": ["STEP 1: Turn around and walk forward, then turn left and walk up to the side of the wooden desk | STEP 2: Pick up the alarm clock from the desk | STEP 3: Walk forward around to the right side of the desk | STEP 4: Turn on the lamp on the desk | END"]} +{"id": "trial_T20190908_222951_616606-2", "input": "Turn on a desk lamp. ", "output": ["STEP 1: Turn around and walk to the the desk behind the wall, to your left. | STEP 2: Pick up the alarm clock, on the desk, in front of the blue chair. | STEP 3: Walk past the desk and turn left, then go to the lamp on the end of the desk, by the wall. | STEP 4: Turn on the lamp in the front, right corner of the desk. | END"]} +{"id": "trial_T20190907_221208_560499-0", "input": "Fill up a mug with water and take to the coffee machine.", "output": ["STEP 1: Go to the left to pass the island and straight back to locate the coffee machine. | STEP 2: Open the cabinet below and pull out a cup. Shut the door. | STEP 3: Carry the cup and turn left to find the sink in the island. | STEP 4: Place the cup in the sink and turn the water on. Turn the water off and pick up the cup from the sink. | STEP 5: Take the mug filled with water over to the coffee machine behind you, and to the right. | STEP 6: Place the mug under the coffee machine. | END"]} +{"id": "trial_T20190907_221208_560499-1", "input": "Put a clean cup under a coffee pot.", "output": ["STEP 1: Go left and turn left again to face the counter with the coffee pot on it. | STEP 2: Open the lower cabinet and take out the cup from the cupboard. | STEP 3: Go left and turn to face the sink. | STEP 4: Put the cup in the sink, turn the water on and then off and pick the cup up out of the sink. | STEP 5: Go left and then left again to face the coffee maker. | STEP 6: Put the cup under the coffee maker on the counter. | END"]} +{"id": "trial_T20190907_221208_560499-2", "input": "Put a mug of water in the coffee maker mug location.", "output": ["STEP 1: Move to the bin, turn left, move to past the island, turn right, move to alongside the coffee maker, turn left, move to the counter. | STEP 2: Open the cupboard doors, pick up the mug, close the cupboard doors. | STEP 3: Turn left, move to the center of the basin on the left, turn left, move to the island. | STEP 4: Put the mug in the sink, turn on the faucet, fill the mug with water, turn off the faucet, pick up the mug. | STEP 5: Turn left, move to the coffee maker, turn left, move to the counter. | STEP 6: Place the mug in the coffee maker mug spot. | END"]} +{"id": "trial_T20190907_083346_800823-0", "input": "Warm up the cup inside the cabinet.", "output": ["STEP 1: Turn around towards the windows, turn left towards the coffee maker, turn right towards the loaf of bread on the counter, and then look up towards the cabinets. | STEP 2: Open the right cabinet and take out a green cup. | STEP 3: Take a step to the right to find the microwave above the stove. | STEP 4: Warm up the cup and take it back out of the microwave. | STEP 5: Take a step to the left and look up to the cabinet above the bread. | STEP 6: Place the cup back into the cabinet. | END"]} +{"id": "trial_T20190907_083346_800823-1", "input": "Place a heated glass in a tall cabinet.", "output": ["STEP 1: Turn around, walk to the wall, hang a left, head to the counter, turn left and cross the room to face the silver dishwasher and counter top to your right. | STEP 2: Pick up a green glass next to the vase from inside the top right cabinet above the loaf of bread and close the door. | STEP 3: Turn right and walk towards the silver stove on your left side. | STEP 4: Place the green glass on the right side inside the microwave above the stove, heat for three seconds, remove the heated glass and close the door. | STEP 5: Turn left and walk to the counter to the left of the stove. | STEP 6: Open the tall cabinet above the counter to the left of the microwave, place the heated glass to the right of the silver vase and close the door. | END"]} +{"id": "trial_T20190907_083346_800823-2", "input": "Put a heated vase in the cabinet.", "output": ["STEP 1: Turn around and go left and then left again to stand at the counter in front of all of the utensils. | STEP 2: Open the cupboard above and take out the green vase. | STEP 3: Go right and stand in front of the microwave. | STEP 4: Put the vase in the microwave, turn it on and then take it out and shut the door. | STEP 5: Move to the left and stand in front of the cupboards to the left of the stove. | STEP 6: Open the upper cabinet and put the green vase in the cupboard to the right of the other one. | END"]} +{"id": "trial_T20190918_231203_583927-0", "input": "Put the container with fork on the counter ", "output": ["STEP 1: Turn right then walk forward head to the sink | STEP 2: Pick up the fork in the sink | STEP 3: Turn left then face the left cabinet below the coffee maker | STEP 4: Open the cabinet put in the fork in the green container | STEP 5: Pick up the green container then close the cabinet | STEP 6: Look up the counter beside the stove | STEP 7: Put the container with fork on the counter beside the green apple | END"]} +{"id": "trial_T20190918_231203_583927-1", "input": "Pick up fork, put in cup in cabinet, pick up both and put on counter.", "output": ["STEP 1: Go to fridge, turn right. Proceed to sink on right. Turn right to face sink. | STEP 2: Pick up fork from sink, to the right of the green sponge. | STEP 3: Turn left, go to wall, turn left to face counter with coffee maker. | STEP 4: Open cabinet under counter, put fork in cup to the left of the cabinet. | STEP 5: Pick up fork in cup from cabinet, close cabinet doors. | STEP 6: Look up to face counter. | STEP 7: Place cup with fork on counter front and to the left of the apple and coffee maker. | END"]} +{"id": "trial_T20190918_231203_583927-2", "input": "Place the fork with green cup on counter.", "output": ["STEP 1: Turn and go to the sink. | STEP 2: Pick up the fork that is on the right in the sink. | STEP 3: With the fork in hand turn and go to the coffee maker\n | STEP 4: Open the cabinets that are below the coffee maker and place the fork inside the green cup in the cabinet. | STEP 5: Pick up the green cup with the fork in it. | STEP 6: Lift up so you are now facing the counter top. | STEP 7: Place the green cup with the fork on the counter in front of and to the left of the green apple. | END"]} +{"id": "trial_T20190907_004321_405868-0", "input": "Move a bottle of hand soap from the sink to the toilet.", "output": ["STEP 1: Go to the sinks on your right. | STEP 2: Pick up the bottle of hand soap that is closest to you from between the two sinks. | STEP 3: Turn right and walk to the toilet. | STEP 4: Put the bottle of soap on the back of the toilet. | END"]} +{"id": "trial_T20190907_004321_405868-1", "input": "Put the pump bottle on the toilet", "output": ["STEP 1: Turn right and walk up to the counter between the sinks | STEP 2: Pick up the pump bottle nearest the counter's edge from the counter | STEP 3: Turn right and walk up to the toilet | STEP 4: Put the pump bottle on the back of the toilet | END"]} +{"id": "trial_T20190907_004321_405868-2", "input": "Place the bottle from the sink to the toilet basin.", "output": ["STEP 1: Walk towards the sink on your right. | STEP 2: Pick up the bottle on the right which is closest to you. | STEP 3: Turn around and head towards the toilet. | STEP 4: Place the bottle on the toilet basin next to the wall. | END"]} +{"id": "trial_T20190908_225453_272533-0", "input": "Heat a tomato and throw it away.", "output": ["STEP 1: Turn around and turn right at the toaster. | STEP 2: Pick up the tomato from the back of the counter. | STEP 3: Carry the tomato and take a few steps to the right. Look up to the microwave. | STEP 4: Open the microwave and place the tomato inside. Shut the door and then open it again. Take out the tomato and shut the door. | STEP 5: Carry the tomato and turn to the left, face the trash can on the left side. | STEP 6: Place the tomato in the trash. | END"]} +{"id": "trial_T20190908_225453_272533-1", "input": "Microwave a tomato and put it in the trash can", "output": ["STEP 1: Turn left and go to the counter next to the refrigerator | STEP 2: Pick up the tomato | STEP 3: Turn right and face the microwave oven above the stove | STEP 4: Open the microwave door, put the tomato in, close the door. Then open the door and take the tomato out of the microwave | STEP 5: Go left around the island counter until facing the black trash can | STEP 6: Put the tomato in the right side of the trash can | END"]} +{"id": "trial_T20190908_225453_272533-2", "input": "Place a cooked tomato in a trash can", "output": ["STEP 1: Turn around and walk to the dishwasher that is on your right | STEP 2: Pick up the tomato that is sitting on the counter above the dishwasher. | STEP 3: Turn to the right and walk to the stove, turn left to face the stove | STEP 4: Open the microwave and place the tomato in the microwave above the stove and then close the microwave and turn it on. The open the microwave and pick up the tomato and close the door | STEP 5: Turn to the left and head to the fridge, make a left at the fridge and another quick left to face the end of the counter | STEP 6: Place the tomato into the black trash can at the end of the counter | END"]} +{"id": "trial_T20190907_170955_824797-0", "input": "Examine a newspaper by the light of a floor lamp.", "output": ["STEP 1: Turn to the left and walk to the sofa. | STEP 2: Pick up the newspaper from the sofa. | STEP 3: Walk to the floor lamp that is to the left of the sofa. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190907_170955_824797-1", "input": "Turn on a lamp while carrying a newspaper", "output": ["STEP 1: Move to the right side of the large tan sofa | STEP 2: Pick up the newspaper on top of the sofa | STEP 3: Carry the newspaper to the left side of the sofa where the lamp is | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190907_170955_824797-2", "input": "Examine a newspaper by the light of a floor lamp", "output": ["STEP 1: turn to the left twice and take a few steps forward and turn to the right and go to the sofa | STEP 2: pick up the newspaper from the sofa | STEP 3: turn to the right and go to the blue chair and turn to the right | STEP 4: turn on the floor lamp | END"]} +{"id": "trial_T20190909_011850_153676-0", "input": "Put two sets of keys in the safe. ", "output": ["STEP 1: Turn around and go to the right end of the cream colored couch across from you. | STEP 2: Pick up the keys on the right cushion of the couch. | STEP 3: Turn to your right and go to the safe across from you, on the floor. | STEP 4: Place the keys in the safe on the floor. | STEP 5: Turn around and go to the blue arm chair across from you. | STEP 6: Pick up the keys on the seat of the chair. | STEP 7: Turn around and go to the safe on the floor, across from you. | STEP 8: Place the keys in the safe on the floor. | END"]} +{"id": "trial_T20190909_011850_153676-1", "input": "Put two key-chains inside the safe or locker", "output": ["STEP 1: Turn around, go to the white sofa | STEP 2: Pick up the key-chain from the sofa | STEP 3: Turn around and go to the safe on the floor to the right of a cabinet with a small statue | STEP 4: Open the safe, place the key-chain inside it, and close it | STEP 5: Turn around, move across the room to the somewhat blue sofa. | STEP 6: Pick the key-chain from that sofa | STEP 7: Go back to the safe | STEP 8: Put the key-chain inside the safe and close it | END"]} +{"id": "trial_T20190909_011850_153676-2", "input": "Move two sets of keys into a small white safe.", "output": ["STEP 1: Turn left and walk towards the small black table in the corner of the room, then hang a left and walk over to the right side of the couch. | STEP 2: Pick up the set of keys off of the seat of the couch. | STEP 3: Walk over to the small white safe on your right. | STEP 4: Open the safe and put the keys inside, then close the safe | STEP 5: Walk over to the blue chair that is next to the couch behind you. | STEP 6: Pick up the set of keys off of the seat of the couch. | STEP 7: Turn around and walk over to the small white safe. | STEP 8: Open the safe and put the keys inside the safe, then close the safe. | END"]} +{"id": "trial_T20190906_180831_140621-0", "input": "Examine a computer in the lamp light. ", "output": ["STEP 1: Step forward, then turn right to go to the dresser. | STEP 2: Pick up the computer on the dresser, in front of the statue. | STEP 3: Turn right, then go forward to go toward the lamp. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190906_180831_140621-1", "input": "Turn on the lamp next to the sofa while holding a laptop computer.", "output": ["STEP 1: Walk to the laptop computer on the tall brown dresser. | STEP 2: Close the laptop and pick it up. | STEP 3: Turn right and walk to the white sofa. | STEP 4: Look up and turn on the standing lamp next to the sofa. | END"]} +{"id": "trial_T20190906_180831_140621-2", "input": "Examine a laptop by the light of a tall lamp.", "output": ["STEP 1: Turn right towards the dresser with the laptop. | STEP 2: Close the lid of the laptop on the dresser and pick up the laptop. | STEP 3: Turn right and walk towards the white sofa. | STEP 4: Raise the laptop up and turn on the lamp on the left. | END"]} +{"id": "trial_T20190906_180831_140621-3", "input": "Examine a laptop by the light of a lamp.", "output": ["STEP 1: Turn to the right and move across the room to face the dresser. | STEP 2: Close the lid of the laptop and pick it up. | STEP 3: Turn to the right and move towards the white couch. | STEP 4: Turn on the lamp next to the couch. | END"]} +{"id": "trial_T20190906_180831_140621-4", "input": "Examine the laptop by the light", "output": ["STEP 1: Turn to your right walk towards the cabinet | STEP 2: Pick up the laptop on the cabinet | STEP 3: Turn to your right walk straight to the lamp on your left beside the sofa | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190906_180831_140621-5", "input": "examine a computer with a lamp", "output": ["STEP 1: turn right, walk forward to the dresser | STEP 2: close the computer that is on the dresser, pick up the computer | STEP 3: turn right, walk forward to the couch, lift computer up to the lamp | STEP 4: turn the lamp on | END"]} +{"id": "trial_T20190908_222933_607649-0", "input": "Examine the alarm clock by the light", "output": ["STEP 1: Turn left then face the desk | STEP 2: Pick up the alarm clock on the desk | STEP 3: Turn right then walk straight head to the desk with lamp on your left | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190908_222933_607649-1", "input": "Carry a clock while turning on a lamp", "output": ["STEP 1: Move left to the wood desk top where the clock is | STEP 2: Pick up the clock on the desk top | STEP 3: Carry the clock to the right side of the desk where the lamp is | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190908_222933_607649-2", "input": "turn on desk lamp with red and grey bottle in hand", "output": ["STEP 1: walk to face right side of desk | STEP 2: pick up red and grey bottle from desk | STEP 3: walk to desk on right side of room | STEP 4: turn on lamp on the desk | END"]} +{"id": "trial_T20190907_194015_037530-0", "input": "Put a pan with a knife in it in the sink.", "output": ["STEP 1: Turn around, go to the end of the kitchen island, then turn left. | STEP 2: Pick up the butter knife on the kitchen island, in front of the fork. | STEP 3: Turn left, go straight, then turn left to face the stove. | STEP 4: Put the butter knife in the pan on the stove. | STEP 5: Pick up the pan on the stove, with the butter knife in it. | STEP 6: Turn left, move forward, then turn left to face the sink. | STEP 7: Put the pan in the sink. | END"]} +{"id": "trial_T20190907_194015_037530-1", "input": "put the knife to the pan on the stove, move the pan into the sink", "output": ["STEP 1: turn around, walk to the counter at the end on the left | STEP 2: grab the knife from the counter | STEP 3: turn around to the stove | STEP 4: put the knife in the pan on the stove | STEP 5: grab the pan with the knife | STEP 6: turn around to the sink | STEP 7: put the pan in the sink | END"]} +{"id": "trial_T20190907_194015_037530-2", "input": "Put the pan and knife in the sink.", "output": ["STEP 1: Turn around and go to the end of the island. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn around and take the knife to the stove. | STEP 4: Put the knife in the pan on the front left of the stove. | STEP 5: Pick up the pan and knife from the stove. | STEP 6: Turn around to the sink. | STEP 7: Put the pan and knife in the sink. | END"]} +{"id": "trial_T20190907_183715_299073-0", "input": "Move a chilled mug to the coffee maker. ", "output": ["STEP 1: Cross the kitchen to stand in front of the counter to the right of the stove. | STEP 2: Pick up the white coffee mug from the counter. | STEP 3: Carry the mug to the refrigerator. | STEP 4: Open the fridge, place the mug on the top shelf, close the fridge, and then remove the mug once chilled. | STEP 5: Carry the mug back to the counter to the right of the stove. | STEP 6: Place the mug on the base of the coffee maker. | END"]} +{"id": "trial_T20190907_183715_299073-1", "input": "pick up white mug, chill, put mug in coffee maker", "output": ["STEP 1: turn left, walk to stove in kitchen, stop in front of stove | STEP 2: pick up white mug from counter top between stove and coffee maker | STEP 3: turn left, walk straight to fridge, turn right and face fridge | STEP 4: open fridge door, place mug on shelf near green fruit, close door, chill mug, open door, pick up mug, close fridge door | STEP 5: turn right, walk through kitchen to coffee maker, turn left, stop and face coffee maker | STEP 6: place mug in coffee maker on top of counter | END"]} +{"id": "trial_T20190907_183715_299073-2", "input": "Put the cold mug on the coffee maker", "output": ["STEP 1: Turn to your left then head towards the counter beside the coffee maker | STEP 2: Pick up the mug beside the coffee maker on the counter | STEP 3: Turn to your left then head to the fridge | STEP 4: Open the fridge put in and out the mug then close the fridge | STEP 5: Turn to your right walk straight then face to the microwave on your left | STEP 6: Put the mug on the coffee maker | END"]} +{"id": "trial_T20190908_131635_504536-0", "input": "put a cooked apple slice on to the counter", "output": ["STEP 1: turn around and move forward to the counter that is to the left of the stove | STEP 2: pick up the butter knife that is directly in front of the tan bowl | STEP 3: turn to the left and at the end of the counter on the left turn left and stop to face the black trash can that is at the end of the counter | STEP 4: slice the green apple that is in the trash can with the knife | STEP 5: put the knife in to the trash can behind the apples | STEP 6: remove a slice of the green apple from the trash can | STEP 7: turn to the left and at the edge of the counter, turn to the right and move forward to the stove on the left, turn left to face the stove with the microwave above it | STEP 8: open the microwave door, put the apple slice in to the microwave, close the door, cook for a few seconds, open the door, remove the apple slice and close the door | STEP 9: turn to the right and move to the edge of the counter on the right, turn right and move to the center of the counter turning right to face the counter long ways | STEP 10: put the apple slice on to the counter | END"]} +{"id": "trial_T20190908_131635_504536-1", "input": "Put cooked apple slice on a counter.", "output": ["STEP 1: Turn to the right and go to the wall, hang a right and go to the counter to the left of the stove where the lettuce is. | STEP 2: Pick up the butter knife that is in front of the bowl on the counter. | STEP 3: Turn to the left, go to the end of the counter and turn left, go to the garbage can that will be on the left. | STEP 4: Cut the apple that is in the garbage can into slices. | STEP 5: Put the knife in the garbage can. | STEP 6: Pick up a slice of apple that is in the garbage can. | STEP 7: Turn to the left, go to the fridge, hang a right and go to the microwave that is above the stove on the left. | STEP 8: Put the apple in the microwave and turn it on to cook, remove the cooked apple from the microwave. | STEP 9: Turn to the right, go to the wall, hang a right and go to the counter where the plant is that is on the left. | STEP 10: Put the slice of apple on the counter to the right of the statue. | END"]} +{"id": "trial_T20190908_131635_504536-2", "input": "Put a heated apple slice on the kitchen island", "output": ["STEP 1: Go to the left of the stove | STEP 2: Take a knife from the counter | STEP 3: Go to the bin | STEP 4: Cut an apple in the bin | STEP 5: Put the knife in the bin | STEP 6: Take an apple piece | STEP 7: Go to the microwave | STEP 8: Heat the apple | STEP 9: Go to the kitchen island | STEP 10: Put the apple down on the kitchen island | END"]} +{"id": "trial_T20190909_081720_491733-0", "input": "Put two bars of soap in the cabinet.", "output": ["STEP 1: Turn left and go toward the shower, then turn left to face the toilet. | STEP 2: Pick up the bar of soap on the back of the toilet. | STEP 3: Go to the cabinet beneath the sink, to the left of the toilet. | STEP 4: Open the cabinet, put the bar of soap inside, and close the cabinet. | STEP 5: Turn left and move forward, then turn right to face the counter between the sink basins. | STEP 6: Pick up the bar of soap from the counter. | STEP 7: Return to the cabinet to the left of the toilet. | STEP 8: Open the cabinet, put the bar of soap inside, and close the cabinet. | END"]} +{"id": "trial_T20190909_081720_491733-1", "input": "Put two soap in the cabinet", "output": ["STEP 1: Turn left then head to the toilet tank | STEP 2: Pick up the soap on the tank | STEP 3: Turn around adjust your position and look at the sink cabinet | STEP 4: Open the cabinet and put in the soap then close the cabinet | STEP 5: Turn left head to the sink counter | STEP 6: Pick up the soap on the counter | STEP 7: Turn right then adjust your position and look at the sink cabinet | STEP 8: Open the cabinet and put in the soap then close the cabinet | END"]} +{"id": "trial_T20190909_081720_491733-2", "input": "Put two bars of soap in a cabinet under the sink.", "output": ["STEP 1: Make a left to reach the sink across the room. | STEP 2: Pick up the bar of soap from the sink countertop, the one farthest to the right. | STEP 3: Turn to face the cabinet under the sink. | STEP 4: Put the bar of soap in the rightmost cabinet under the sink. | STEP 5: Walk to the left-hand sink. | STEP 6: Pick up the bar of soap sitting in between the two sinks. | STEP 7: Turn to face the cabinet under the right sink. | STEP 8: Put the other bar of soap in the rightmost cabinet under the sink. | END"]} +{"id": "trial_T20190907_161853_945788-0", "input": "Put a cooked potato in the garbage can. ", "output": ["STEP 1: Go to the right and walk to the fridge, hang a right and go to the counter between the dishwasher and stove. | STEP 2: Pick up the potato that is on the counter. | STEP 3: Go right to the microwave, raise the potato up. | STEP 4: Put the potato in the microwave, turn it on to cook, remove the potato. | STEP 5: Go left towards toward the fridge, then hang a left, go to the garbage can. | STEP 6: Put the potato in the garbage can. | END"]} +{"id": "trial_T20190907_161853_945788-1", "input": "Put a warmed potato in the trash can.", "output": ["STEP 1: Cross the room to the right and go right again at the fridge to turn and face the statue on the counter to the right. | STEP 2: Pick the potato up from the left of the statue on the counter. | STEP 3: Go to the right and stand in front of the microwave over the stove. | STEP 4: Put the potato in the microwave and turn it on and then off and take the potato out and shut the door. | STEP 5: Go left and then left again to turn and face the black trash can. | STEP 6: Put the potato in the trash can. | END"]} +{"id": "trial_T20190907_161853_945788-2", "input": "Cook a potato, put the potato in the trash.", "output": ["STEP 1: Turn right and walk towards the refrigerator, turn right walk to the counter on the left with the potatoes on it. | STEP 2: Pick up one potato from the counter. | STEP 3: Go to the stove on your right, look up at the microwave. | STEP 4: Cook the potato in the microwave, remove the potato from the microwave. | STEP 5: Turn left and walk to the refrigerator, turn left and walk to the black trash can. | STEP 6: Put the potato inside the trash can. | END"]} +{"id": "trial_T20190907_183807_477267-0", "input": "get mug from coffee maker, chill, and return mug to coffee maker", "output": ["STEP 1: turn right, walk through kitchen to coffee maker, turn to face coffee maker | STEP 2: pick up white mug in coffee maker | STEP 3: turn left, walk to fridge, turn to face fridge | STEP 4: open fridge door, place mug inside fridge, close door, chill mug and wait, open fridge door, pick up mug, close door | STEP 5: turn right, walk to coffee maker, turn to face coffee maker | STEP 6: put mug inside coffee maker on counter | END"]} +{"id": "trial_T20190907_183807_477267-1", "input": "Put a chilled mug under a coffee maker.", "output": ["STEP 1: Go right and then turn left to face the coffee maker on the counter. | STEP 2: Pick the white mug up from under the coffee maker. | STEP 3: Go left and then turn toward the right to face the fridge. | STEP 4: Put the mug in the fridge and shut the door and then take the cup out again and shut the door. | STEP 5: Go right and cross to the other side of the room and turn right towards the coffee maker. | STEP 6: Put the mug under the coffee maker on the counter. | END"]} +{"id": "trial_T20190907_183807_477267-2", "input": "Put a chilled mug in the coffee machine.", "output": ["STEP 1: Begin walking across the room, then hang a right and walk over to the coffee machine on the counter. | STEP 2: Pick up the white mug that is in the coffee machine on the counter. | STEP 3: Turn around and walk towards the wall, then hang a right and walk over to the fridge. | STEP 4: Open the fridge door and put the mug inside on the bottom shelf, then close the door, after a couple seconds open the fridge and remove the mug then close the fridge door. | STEP 5: Turn right and walk across the room, then turn left and walk up to the coffee machine. | STEP 6: Put the chilled mug in the coffee machine on the counter. | END"]} +{"id": "trial_T20190909_025340_208825-0", "input": "Cook a slice of tomato", "output": ["STEP 1: Turn left, go forward, turn left, go forward a bit, turn left to the counter | STEP 2: Take the tomato from the counter | STEP 3: Move a bit to the right | STEP 4: Put the tomato in the sink | STEP 5: Pick up the knife from the sink | STEP 6: Slice the tomato in the sink | STEP 7: Put the knife in the sink | STEP 8: Pick up a tomato slice from the sink | STEP 9: Turn around, go to the microwave | STEP 10: Put the tomato slice in the microwave, start the microwave, wait, pick up the tomato slice from the microwave | STEP 11: Turn around, go to the sink | STEP 12: Put the tomato slice in the sink | END"]} +{"id": "trial_T20190909_025340_208825-1", "input": "Place a warm tomato slice in the sink.", "output": ["STEP 1: Turn left, then left again and face the sink to your left. | STEP 2: Take a tomato off of the counter in front of you. | STEP 3: Turn right and face the sink to your left. | STEP 4: Place the tomato in the sink in front of you. | STEP 5: Take the knife from the sink in front of you. | STEP 6: Slice the tomato in the sink in front of you. | STEP 7: Place the knife in the sink in front of you. | STEP 8: Take a tomato slice from the sink in front of you. | STEP 9: Turn around and face the microwave on top of the stove in front of you. | STEP 10: Heat up the tomato slice in the microwave and take the tomato out. | STEP 11: Turn around and face the sink in front of you. | STEP 12: Place the warm tomato slice in the sink in front of you. | END"]} +{"id": "trial_T20190909_025340_208825-2", "input": "Putting a hot slice of tomato in the sink", "output": ["STEP 1: Turn left and go to the counter to the left of the sink | STEP 2: Grab a tomato off of the counter | STEP 3: Turn right and go to the sink | STEP 4: Put the tomato in the sink | STEP 5: Grab the knife out of the sink | STEP 6: Slice the tomato in the sink | STEP 7: Put the knife in the sink | STEP 8: Grab a slice of tomato | STEP 9: Turn around and go to the microwave | STEP 10: Heat the sliced tomato in the microwave and then take it out | STEP 11: Turn around and go to the sink | STEP 12: Put the sliced tomato in the sink | END"]} +{"id": "trial_T20190907_103005_855069-0", "input": "Examine an empty box by the light of a floor lamp.", "output": ["STEP 1: Turn right and walk forward to the large sofa. | STEP 2: Pick up the empty box from the sofa. | STEP 3: Move slightly forward to face the floor lamp next to the sofa. | STEP 4: Turn on the floor lamp. | END"]} +{"id": "trial_T20190907_103005_855069-1", "input": "Grab the box on the sofa, turn on the lamp by the sofa", "output": ["STEP 1: Turn right, walk to the sofa | STEP 2: Grab the box on the sofa | STEP 3: Turn to the floor lamp by the sofa | STEP 4: Turn on the floor lamp | END"]} +{"id": "trial_T20190907_103005_855069-2", "input": "To use the lamp to see the box.", "output": ["STEP 1: Turn to the right and walk to the white couch across the room. | STEP 2: Pick up the empty white box that is to the left of the cell phone. | STEP 3: Look up and to the left of the white couch. | STEP 4: Turn on the lamp to the left of the couch. | END"]} +{"id": "trial_T20190906_213948_501157-0", "input": "Look at the box of tissues under the light of the lamp.", "output": ["STEP 1: Turn to the dresser on your right. | STEP 2: Pick up the box of tissues. | STEP 3: Turn and go to the lamp in the corner on your left. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190906_213948_501157-1", "input": "Examine a box of tissues by the light of a tall lamp.", "output": ["STEP 1: Turn right and move to the dresser. | STEP 2: Pick up the box of tissues from the dresser. | STEP 3: Head to the lamp at the left of the dresser. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190906_213948_501157-2", "input": "To perform an task using both hands.", "output": ["STEP 1: Walk to the right and reach cross to the wooded brown dresser with the computer. | STEP 2: Grab the tissue paper from the dresser. | STEP 3: walk over to the right for two paces as you reach the corner lamp.\n | STEP 4: Carry the tissue as you turn on the lamp. | END"]} +{"id": "trial_T20190907_074045_109439-0", "input": "Rinse off the soap and place it on the counter.", "output": ["STEP 1: Turn to the left to face the sinks. | STEP 2: Pick up the bar of soap from in between the sinks. | STEP 3: Take the soap and move a step to the right. | STEP 4: Place the soap in the sink and turn the water on. Turn it off and pick up the soap again. | STEP 5: Hold the soap and take a step to the left. | STEP 6: Place the soap on the counter in between the sinks. | END"]} +{"id": "trial_T20190907_074045_109439-1", "input": "Place wet soap on a counter", "output": ["STEP 1: Turn around and take a step then turn to your right and face the vanity | STEP 2: Pick up the bar of soap that is in between the sinks | STEP 3: Turn around and take a step, turn left and take a step, the turn left and face the right sink | STEP 4: Place the soap in the right sink then turn on the sink. Turn off the sink and pick up the soap | STEP 5: Take a step to your left | STEP 6: Place the soap on the counter in between the two sinks to the right of the bottle of soap | END"]} +{"id": "trial_T20190907_074045_109439-2", "input": "Put the rinsed soap on the bathroom counter", "output": ["STEP 1: Turn left and face toward the bathroom counter between the sinks | STEP 2: Pick up the soap bar from the bathroom counter | STEP 3: Move slightly right then turn left to face the sink | STEP 4: Rinse the soap under water in the sink then remove it | STEP 5: Move slightly left then turn right to face the counter | STEP 6: Put the soap bar on the counter just right of the pump bottle | END"]} +{"id": "trial_T20190907_074045_109439-3", "input": "Put a wet bar of soap back on the counter. ", "output": ["STEP 1: Turn around and stand in front of the bathroom counter. | STEP 2: Pick up the bar of soap that is to the right of the lotion dispenser on the counter. | STEP 3: Move over to the sink basin on the far right of the bathroom counter. | STEP 4: Place the soap in the sink and rinse it off before pulling it back out. | STEP 5: Move back over to the lotion dispenser on the bathroom counter. | STEP 6: Place the bar of soap down on the counter to the right of the lotion dispenser. | END"]} +{"id": "trial_T20190907_074045_109439-4", "input": "Put a clean bar of soap on the counter.", "output": ["STEP 1: Turn around and take a step forward, then turn right to face the sink counter. | STEP 2: Pick up the bar of soap that is in front of the toilet paper on the counter. | STEP 3: Turn around and take a step forward, then turn left and take a step forward, then turn left again to face the rightmost sink. | STEP 4: Put the bar of soap into the sink basin and turn on the water, after a couple seconds turn the water off and remove the bar of soap from the sink basin. | STEP 5: Turn left and take a step forward, then turn right to face the counter. | STEP 6: Place the clean bar of soap on the front edge of the counter to the left of the rightmost sink. | END"]} +{"id": "trial_T20190907_074045_109439-5", "input": "Put wet soap on the counter. ", "output": ["STEP 1: Turn around and move to the soap on the counter. | STEP 2: Pick up the soap on the counter. | STEP 3: Bring the soap to the sink on the right. | STEP 4: Wet the soap in the sink with water. | STEP 5: Bring the wet soap to the counter left of that sink. | STEP 6: Put the soap on that counter. | END"]} +{"id": "trial_T20190907_173149_648833-0", "input": "Put a chilled egg in the sink.", "output": ["STEP 1: Turn around, go toward the fridge, then turn right, then go straight, then turn right to face the sink. | STEP 2: Take the egg from in the sink. | STEP 3: Go to the fridge behind you. | STEP 4: Chill the egg inside of the fridge. | STEP 5: Return to the sink behind you. | STEP 6: Place the egg in the sink next to the right most tomato. | END"]} +{"id": "trial_T20190907_173149_648833-1", "input": "Chill and egg and then place it in the sink.", "output": ["STEP 1: Go to the right, and then turn right to find the sink in the island. | STEP 2: Pick up the egg from the sink. | STEP 3: Take the egg and turn right to find the fridge. | STEP 4: Place the egg inside the fridge and shut the door. Open the door, take the egg out and shut the door. | STEP 5: Take the egg and turn right to go back to the sink. | STEP 6: Place the egg in the sink. | END"]} +{"id": "trial_T20190907_173149_648833-2", "input": "Put a cold egg in the sink.", "output": ["STEP 1: Cross the kitchen, go between the counter and the stove, then turn to the right and face the sink. | STEP 2: Pick up the egg from in the sink. | STEP 3: Bring the egg with you to go face the white fridge. | STEP 4: Open the fridge and put the egg inside, close the door and let it get cool, then take the egg back out of the fridge. | STEP 5: Bring the egg with you and go back over to face the sink. | STEP 6: Put the egg back in the sink. | END"]} +{"id": "trial_T20190908_203614_840353-0", "input": "Pick up a brass candy dish and turn on a lamp.", "output": ["STEP 1: Turn right, then head towards the desk. | STEP 2: Open the left door in the desk. | STEP 3: Pick up the brass candy dish inside then close the door. | STEP 4: Turn left then turn on the lamp against the wall. | END"]} +{"id": "trial_T20190908_203614_840353-1", "input": "Examine a golden vase in the light of a tall lamp.", "output": ["STEP 1: Walk towards the door, then hang a right and walk over to the wooden dresser. | STEP 2: Open the leftmost cabinet door below the dresser and take out the golden vase, then close the door. | STEP 3: Turn left and walk over to the wall, then turn right and walk up to the tall lamp to the left of the dresser. | STEP 4: Turn on the light of the tall lamp. | END"]} +{"id": "trial_T20190908_203614_840353-2", "input": "Carry a vase while turning on a lamp", "output": ["STEP 1: Move to the bottom left side of the cabinet | STEP 2: Pick up the gold vase in the cabinet | STEP 3: Carry the gold vase to the floor lamp on the right | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190907_133919_856963-0", "input": "turn on a lamp while holding a bowl", "output": ["STEP 1: walk to the end of the room ahead, and then turn right to face the desk | STEP 2: grab the clear bowl off of the table | STEP 3: turn right and walk to the near end of the room, then turn left to walk over to the right side of the desk on the left | STEP 4: turn the lamp on on the right side of the desk | END"]} +{"id": "trial_T20190907_133919_856963-1", "input": "Inspect a bowl near a lit lamp.", "output": ["STEP 1: Go straight to the desk chair, then turn right to face the desk. | STEP 2: Take the bowl from the desk. | STEP 3: Turn right, go straight, when you reach the middle of the bed turn left, go straight to the wall, turn left to face the desk. | STEP 4: Turn the lamp on the desk on. | END"]} +{"id": "trial_T20190907_133919_856963-2", "input": "Look at the bowl by the lamp light.", "output": ["STEP 1: Walk forward and turn right to face the desk closest to the window. | STEP 2: Pick up the bowl from the desk. | STEP 3: Turn right and walk to the other desk. | STEP 4: Turn on the desk lamp. | END"]} +{"id": "trial_T20190908_220545_153480-0", "input": "Examine a pencil under a lamp.", "output": ["STEP 1: Go to the desk on your right. | STEP 2: Grab a pencil from the desk. | STEP 3: Walk to the computer desk behind you and to your left. | STEP 4: Turn the lamp on. | END"]} +{"id": "trial_T20190908_220545_153480-1", "input": "Hold a pencil and turn on a lamp.", "output": ["STEP 1: Move a step forward, and face to the desk on the right. | STEP 2: Pick up the pencil from the center of the desk. | STEP 3: Carry the pencil and turn to the right. Move forward and then turn left and face the desk on the left. | STEP 4: Hold the pencil and turn on the lamp on the right side of the desk. | END"]} +{"id": "trial_T20190908_220545_153480-2", "input": "Pick a pencil up and turn a lamp on.", "output": ["STEP 1: Turn to the right and face the desk. | STEP 2: Pick the pencil up from the desk. | STEP 3: Turn to the right and then left and turn left again to face the lamp on the desk. | STEP 4: Turn the lamp on the desk on. | END"]} +{"id": "trial_T20190908_213356_017769-0", "input": "wash the dirty bowl before putting the bowl on the counter", "output": ["STEP 1: go to the counter near the stove | STEP 2: pick up the square Bowl | STEP 3: take the bowl to the sink | STEP 4: wash the bowl in the sink | STEP 5: take the bowel to the counter | STEP 6: put the bowl on the counter top | END"]} +{"id": "trial_T20190908_213356_017769-1", "input": "Put a clean plate on the counter.", "output": ["STEP 1: Turn right and go to the counter, to the left of the stove. | STEP 2: Pick up the plate on the counter. | STEP 3: Turn around and go to the sink. | STEP 4: Clean the plate in the sink. | STEP 5: Turn around and go to the counter above the dishwasher. | STEP 6: Put the plate on the counter. | END"]} +{"id": "trial_T20190908_213356_017769-2", "input": "Place a clean plate on the counter.", "output": ["STEP 1: Walk to the counter to your right. | STEP 2: Grab the gold plate on the counter that's next to the stove. | STEP 3: Turn around and walk straight to the sink. | STEP 4: Place the plate in the sink, wash it and remove it. | STEP 5: Take the plate, turn right and walk to the counter to your right. | STEP 6: Place the plate between the credit cards on the counter. | END"]} +{"id": "trial_T20190906_185459_653538-0", "input": "place a bat on the bed", "output": ["STEP 1: turn right, move towards the chair and turn left and move towards the door. | STEP 2: pick up the bat | STEP 3: turn around, move towards the chair, and then turn right and move towards the bed | STEP 4: drop the bat on the bed | END"]} +{"id": "trial_T20190906_185459_653538-1", "input": "Place a bat standing up on the bed.", "output": ["STEP 1: Turn right and begin walking across the room, then hang a left once past the table and walk over to the wall, then turn right and walk up to the bat in the corner of the room. | STEP 2: Pick up the black bat lying in the corner of the room. | STEP 3: Turn right and begin walk towards the wooden desk, then walk over to the side of the bed that is not against the wall. | STEP 4: Place the bat standing up on the bed in front and to the right of the closest laptop to you. | END"]} +{"id": "trial_T20190906_185459_653538-2", "input": "put a baseball bat on top of the bed", "output": ["STEP 1: head to the corner of the room with the baseball bat | STEP 2: pick up the baseball bat against the wall | STEP 3: bring the bat over to the bed | STEP 4: put the bat on top of the bed | END"]} +{"id": "trial_T20190908_010306_215435-0", "input": "Put two shakers in a drawer.", "output": ["STEP 1: move to the counter to the right of the stove | STEP 2: pick up a shaker from the cabinet | STEP 3: move to the counter to the left of the stove | STEP 4: put the shaker in the drawer to the left of the stove | STEP 5: move to the counter to the right of the stove | STEP 6: pick up a shaker from the cabinet | STEP 7: move to the counter to the left of the stove | STEP 8: put the shaker in the drawer to the left of the stove | END"]} +{"id": "trial_T20190908_010306_215435-1", "input": "gather the salt shakers and put them in the drawer.", "output": ["STEP 1: Go around the island to get to the front of the stove and the cabinet above. | STEP 2: Open the cabinet and get the salt shaker from the cabinet | STEP 3: Turn left to go to the counter on the left of the stove. | STEP 4: Place the salt shaker in the drawer under the counter. | STEP 5: Turn around and go to the cabinet above the counter on the right side of the stove. | STEP 6: Open the cabinet and get the salt shaker from the cabinet | STEP 7: Turn left and go to the counter on the left of the stove. | STEP 8: Place the salt shaker in the drawer next to the salt shaker. | END"]} +{"id": "trial_T20190908_010306_215435-2", "input": "Put two containers of salt in the kitchen drawer. ", "output": ["STEP 1: Turn to your left and walk towards the windows, then make a right and walk to the microwave. | STEP 2: Pick up the salt from the top, right cabinet, above the microwave. | STEP 3: Turn to your left and go to the drawers on your left, between the oven and dishwasher. | STEP 4: Place the salt in the middle drawer. | STEP 5: Turn to your right and go to the cabinets above the coffee maker. | STEP 6: Pick up the salt from the top, left cabinet. | STEP 7: Turn to your left and go back to the drawers, on your left, between the stove and the dishwasher. | STEP 8: Place the salt in the middle drawer, to the right of the other salt. | END"]} +{"id": "trial_T20190908_025303_695053-0", "input": "Slice bread, heat bread, move knife and bread to counter.", "output": ["STEP 1: Proceed ahead to sink. | STEP 2: Turn to sink, pick up knife between sink and bread. | STEP 3: Turn right, proceed to end of counter. Turn left, turn to face counter. | STEP 4: Slice bread on counter with knife. | STEP 5: Go around counter, proceed to left to wall, turn left to face counter with tomato on it. | STEP 6: Place knife on counter behind tomato and in front of coffee maker. | STEP 7: Turn left, proceed to end of counter on left. Turn left to face garbage can. | STEP 8: Turn left to face garbage can. Pick up left end of sliced bread. | STEP 9: Proceed around counter, turn left at stove. Turn left to face stove. | STEP 10: Open microwave, place bread in microwave in front of egg, close microwave. Wait five seconds, remove bread from microwave. | STEP 11: Turn right, proceed to counter, turn left to face counter. | STEP 12: Place bread on counter in front of knife and to the left of tomato. | END"]} +{"id": "trial_T20190908_025303_695053-1", "input": "To heat a slice of bread and place it on the counter in front of the coffee maker.", "output": ["STEP 1: Walk forward and to the left of center table and turn right to face the sink. | STEP 2: Pick up the knife on the table. | STEP 3: Turn right and step forward, then turn around and face the bread on the center table. | STEP 4: Cut the bread on the center table into slices. | STEP 5: Walk to the end of the counter on the left and turn left to face the end of the counter. | STEP 6: Place the knife on the counter by the coffee maker. | STEP 7: Turn left and walk across the room, then turn left and take a step forward and turn to the left to face the bread on the center table. | STEP 8: Pick up a slice of bread on the table. | STEP 9: Follow the counter on the left to the stove and then turn left and face the microwave above the stove. | STEP 10: Head the slice of bread in the microwave and then remove it. | STEP 11: Take a step to the right and face the end of the counter. | STEP 12: Place the bread slice on the counter to the left of the tomato. | END"]} +{"id": "trial_T20190908_025303_695053-2", "input": "drop a hot bread slice by the coffee maker", "output": ["STEP 1: move forward to the table | STEP 2: pick up the knife | STEP 3: move right to the table | STEP 4: slice the bread on the table | STEP 5: move left to the coffee maker | STEP 6: drop the knife on the table | STEP 7: move right towards the coffee maker | STEP 8: pick up the bread slice | STEP 9: turn around and head for the oven | STEP 10: place the bread to cook in the oven | STEP 11: turn around and head for the coffee maker | STEP 12: drop the bread slice by the coffee maker | END"]} +{"id": "trial_T20190906_181009_893506-0", "input": "Examine a notebook computer by the light of a lamp", "output": ["STEP 1: turn to the left and take a few steps and turn to the left and go to the dresser | STEP 2: close the notebook computer and pick up from the dresser | STEP 3: turn to the right and go to the white sofa | STEP 4: turn on the lamp left of the white sofa | END"]} +{"id": "trial_T20190906_181009_893506-1", "input": "Examine a laptop by the light of a tall lamp.", "output": ["STEP 1: Turn around head towards the dresser with the two laptops. | STEP 2: Close the lid of the laptop on the right and pick it up. | STEP 3: Turn right and head towards the white couch. | STEP 4: Turn on the lamp on the left of the couch. | END"]} +{"id": "trial_T20190906_181009_893506-2", "input": "Examine the laptop under the light of the lamp", "output": ["STEP 1: turn around and walk across the room to the large dresser | STEP 2: Close and pick up the right most laptop from the dresser | STEP 3: Turn right and walk over to the floor lamp in the corner | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190906_181009_893506-3", "input": "Take the laptop from the dresser, turn on the lamp", "output": ["STEP 1: Turn around, head to the dressed across the room | STEP 2: Take the laptop computer from the dresser | STEP 3: Turn to the right, head to the couch | STEP 4: Turn on the lamp in the corner | END"]} +{"id": "trial_T20190906_181009_893506-4", "input": "Turn on the light in the living room as you hold a laptop.", "output": ["STEP 1: Turn around and walk to the brown cabinets with laptops on the and face the laptops. | STEP 2: Close the lid of the laptop on the right and pick it up. | STEP 3: Turn right and walk to the cream colored couch and face it. | STEP 4: Turn on the light. | END"]} +{"id": "trial_T20190906_181009_893506-5", "input": "get the computer and turn on the lamp", "output": ["STEP 1: walk over to the laptops | STEP 2: close the one on the right and pick it up | STEP 3: take the laptop to the nightstand | STEP 4: turn on the lamp | END"]} +{"id": "trial_T20190907_033228_194678-0", "input": "Put a chilled potato in the microwave. ", "output": ["STEP 1: Move to the sink. | STEP 2: Pick up the potato in the sink. | STEP 3: Bring the potato to the fridge. | STEP 4: Chill the potato in the fridge. | STEP 5: Bring the chilled potato to the microwave. | STEP 6: Put the potato in the microwave. | END"]} +{"id": "trial_T20190907_033228_194678-1", "input": "place a cooled potato inside of the microwave", "output": ["STEP 1: turn right and move to the windows at the end of the room, then hang a left and walk over to the kitchen island and face the sink part of it | STEP 2: grab a potato out of the sink | STEP 3: turn right and walk to the fridge on your right | STEP 4: place the potato in the fridge, let it cool, then take it back out | STEP 5: turn right and head over to the stove on your left | STEP 6: place the potato inside the microwave above the stove and close the door | END"]} +{"id": "trial_T20190907_033228_194678-2", "input": "Place a chilled potato in the microwave.", "output": ["STEP 1: Walk forward, then turn right at the chair, then left at the window, then left again and walk until you reach the sink. | STEP 2: Grab the potato from the front right corner of the sink. | STEP 3: Turn right, then stop when you get to the fridge and turn to face it. | STEP 4: Place the potato next to the bowl in the fridge, allow it to chill, then remove it. | STEP 5: Turn right, then stop at the stove and turn left to face the microwave. | STEP 6: Place the potato in the fridge to the left on an egg. | END"]} +{"id": "trial_T20190908_201444_037645-0", "input": "Examine a mug using the light of a desk lamp. ", "output": ["STEP 1: Turn to the left, walk to the bed, turn right, walk almost to the window, then turn right to face the desk. | STEP 2: Pick up the mug that is on the desk closest to the wall. | STEP 3: Turn to the right, walk almost to the hamper, turn left, walk to the wall, then turn left to face the desk. | STEP 4: Turn on the lamp that is on the desk. | END"]} +{"id": "trial_T20190908_201444_037645-1", "input": "examine a mug with the lamp", "output": ["STEP 1: turn left, walk to the bed, turn right, walk across room, turn right to face desk | STEP 2: pick up the white mug from the desk | STEP 3: turn right, walk across the room, turn left, walk to the wall, turn left to face desk | STEP 4: turn the lamp on | END"]} +{"id": "trial_T20190908_201444_037645-2", "input": "Examine a mug in the light of a lamp.", "output": ["STEP 1: Turn left and go to the bed, then turn right and go towards the wall, then turn right to face the desk. | STEP 2: Pick up the mug nearest to the wall on the desk. | STEP 3: Turn right and go toward the wall, then turn left go to the wall, then turn left to face the lamp on the desk. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190907_074124_966890-0", "input": "Put a cleaned bar of soap on a counter.", "output": ["STEP 1: Move to the counter in between the two sinks | STEP 2: Pick up the soap from the counter | STEP 3: Move to the sink on the right from you | STEP 4: Clean the soap in the sink | STEP 5: Move to the counter in between the two sinks | STEP 6: Put the soap on the counter | END"]} +{"id": "trial_T20190907_074124_966890-1", "input": "Rinse off a bar of soap and place it on the counter.", "output": ["STEP 1: Turn around and turn right to go to the sinks. | STEP 2: Pick up the bar of soap from in between the sinks. | STEP 3: Take a step to the right to face the sink. | STEP 4: Place the soap in the sink, turn the water on and then off. Pick up the soap. | STEP 5: Carry the soap and take a step to the left. | STEP 6: Place the soap on the counter in between the sinks. | END"]} +{"id": "trial_T20190907_074124_966890-2", "input": "Put a clean bar of soap on the bathroom counter.", "output": ["STEP 1: Turn around and begin walking across the room, then turn right and walk up to the sink counter. | STEP 2: Pick up the bar of soap that is on the counter in between the two sinks. | STEP 3: Turn around and take a step forward, then turn left and take another step, turn left again to face the sink. | STEP 4: Put the bar of soap into the rightmost sink basin and turn on the water, after a couple seconds turn the water off and remove the now clean bar of soap. | STEP 5: Turn left and take a step forward, then turn right to face the counter. | STEP 6: Place the clean bar of soap on front of the counter in between the two sinks. | END"]} +{"id": "trial_T20190907_074124_966890-3", "input": "Put a clean bar of soap on the counter.", "output": ["STEP 1: Turn around and go right towards the double sings. | STEP 2: Pick up the bar of soap. | STEP 3: Go to the right and face the sink. | STEP 4: Put the bar of soap in the sink, turn the water on and then off and then pick up the bar of soap. | STEP 5: Move to the left. | STEP 6: Put the soap down in between the two sinks. | END"]} +{"id": "trial_T20190907_074124_966890-4", "input": "Put wet soap in between the sinks.", "output": ["STEP 1: Turn around and go to the sinks. | STEP 2: Pick up the soap from in between the sinks. | STEP 3: Move to the right to face the rightmost sink. | STEP 4: Get the soap wet in the sink. | STEP 5: Move back to the left. | STEP 6: Put the soap in between the two sinks. | END"]} +{"id": "trial_T20190907_051056_585414-0", "input": "Put the two disks from the desk into the safe.", "output": ["STEP 1: Turn around and go to the desk. | STEP 2: Grab the disk off of the desk. | STEP 3: Turn around and walk to the far wall, turn left and face the safe. | STEP 4: Put the disk in the safe. | STEP 5: Close the safe and turn around and go back to the desk. | STEP 6: Pick up the second disk off of the desk. | STEP 7: Turn around and walk back to the safe. | STEP 8: Open the safe, put the second disk in, then close the safe. | END"]} +{"id": "trial_T20190907_051056_585414-1", "input": "Put two CDs in the safe.", "output": ["STEP 1: Turn around and move to the front side of the desk across the room. | STEP 2: Remove the CD from the red CD player on the desk. | STEP 3: Turn right and move across the room. Turn left towards the safe in the corner. | STEP 4: Put the CD in the safe. | STEP 5: Turn left and move back to the front of the desk. | STEP 6: Pick up the CD that's laying on top of the desk. | STEP 7: Head back to the safe. | STEP 8: Put the CD in the safe. | END"]} +{"id": "trial_T20190907_051056_585414-2", "input": "Move the CD's from the table to the safe.", "output": ["STEP 1: Turn around and go to the table. | STEP 2: Pick up the CD on the right. | STEP 3: Turn right, go straight, turn left, go straight to the white safe and open the door. | STEP 4: Place the CD inside the safe and close the door. | STEP 5: Turn around, walk towards the bed, turn right and go to the table. | STEP 6: Pick up the remaining CD. | STEP 7: Turn right, go straight, turn left, go straight to the white safe and open the door. | STEP 8: Place the CD inside the safe and close the door. | END"]} +{"id": "trial_T20190909_061805_153515-0", "input": "Put a chilled slice of tomato on the counter. ", "output": ["STEP 1: Go forward and go around the island to the counter above the dishwasher. | STEP 2: Pick up the yellow knife from the counter. | STEP 3: Move over right to the red tomato on the counter between the knife and the spatula. | STEP 4: Slice a half of the tomato on the counter. | STEP 5: Place the knife on the counter in front of the tomato. | STEP 6: Take one slice of the tomato from the counter. | STEP 7: Turn left and go to the refrigerator. | STEP 8: Remove the tomato slice after it's been chilled on the middle shelf in the refrigerator. | STEP 9: Turn right and go back to the counter with the sliced tomato on top. | STEP 10: Place the chilled tomato slice on the counter in front of the rest of the tomato. | END"]} +{"id": "trial_T20190909_061805_153515-1", "input": "put chilled and sliced tomato piece on counter", "output": ["STEP 1: walk to face counter with toaster | STEP 2: pick up sharp knife from counter | STEP 3: turn right to face statue on counter | STEP 4: cut tomato on counter | STEP 5: put knife on counter | STEP 6: pick up tomato slice from counter | STEP 7: walk to face fridge | STEP 8: chill and remove tomato slice from fridge | STEP 9: walk to face counter with statue | STEP 10: put tomato slice on counter | END"]} +{"id": "trial_T20190909_061805_153515-2", "input": "drop a cold tomato slice on the table", "output": ["STEP 1: move forward to the table by the toaster | STEP 2: pick up the knife from the table | STEP 3: move right to the table | STEP 4: slice the tomato on the table | STEP 5: drop the knife on the table | STEP 6: pick up a slice of the tomato | STEP 7: move left to the fridge | STEP 8: place the tomato to chill and then take it out | STEP 9: move right to the table | STEP 10: drop the slice on the table | END"]} +{"id": "trial_T20190909_012027_782483-0", "input": "Put two sets of keys in the safe. ", "output": ["STEP 1: Turn to your left and go to the dresser across from you. | STEP 2: Pick up the keys behind the statue, on the dresser. | STEP 3: Turn to your right and go to the couch, then turn to your right again and go to the safe on the floor across from you. | STEP 4: Place the keys in the safe, on the floor. | STEP 5: Turn around and go to the end of the couch to your right. | STEP 6: Pick up the keys between the cardboard box and the pillow on the couch. | STEP 7: Turn to your right and go back to the safe on the floor across from you. | STEP 8: Place the keys in the back, right corner of the safe. | END"]} +{"id": "trial_T20190909_012027_782483-1", "input": "put two sets of keys in to the safe", "output": ["STEP 1: turn to the left and move towards the brown chest of drawers | STEP 2: pick up the keys off of the chest of drawers that are behind the statue | STEP 3: turn to the right to the white sofa and turn right across the room to the white safe | STEP 4: open the door of the safe, put the keys in to the safe, close the door | STEP 5: turn around and move towards the blue chair, turning to the right to face the sofa on the right | STEP 6: pick up the keys that are on the sofa to the left of the striped cushion | STEP 7: turn to the right and move forward to the safe | STEP 8: open the safe, put the keys in to the safe and close the door | END"]} +{"id": "trial_T20190909_012027_782483-2", "input": "Place keys in the safe.", "output": ["STEP 1: Turn left and face the cabinets in front of you. | STEP 2: Take the keys on top of the cabinet in front of you. | STEP 3: Turn around and face the safe in front of you. | STEP 4: Place the keys in the safe and close it. | STEP 5: Turn around and face the couch with the keys on your right. | STEP 6: Take the keys off of the couch in front of you. | STEP 7: Turn right and face the safe in front of you. | STEP 8: Place the keys inside of the safe in front of you and close it. | END"]} +{"id": "trial_T20190907_161235_786153-0", "input": "Look at the basketball in the light from the lamp.", "output": ["STEP 1: Walk to the foot of the bed. | STEP 2: Pick up the basketball from the floor. | STEP 3: Go to the desk to your left. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190907_161235_786153-1", "input": "Carry a basketball while turning on a lamp", "output": ["STEP 1: Move to the right side of the foot of the bed closest to the wall | STEP 2: Pick up the basketball that is on the floor by the foot of the bed | STEP 3: Carry the basketball to the desk lamp on the right side of the wood desk top | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190907_161235_786153-2", "input": "pick up the basketball and turn on the desk lamp in the bedroom", "output": ["STEP 1: turn right and walk to face the basketball underneath the foot of the bed | STEP 2: pick up the basketball from under the bed | STEP 3: turn left, walk through the room until the desk, turn left at the desk and face it | STEP 4: turn on the lamp on the desk | END"]} +{"id": "trial_T20190907_171035_866841-0", "input": "Carry a newspaper while turning on a lamp", "output": ["STEP 1: Move to the right side of the wood cupboard to the left of the blue sofa | STEP 2: Open the right cupboard then remove the newspaper in the cupboard | STEP 3: Carry the newspaper to the lamp that is left of the tan sofa | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190907_171035_866841-1", "input": "Inspect a newspaper using the light of a lamp. ", "output": ["STEP 1: Walk up to the very last cabinet door on your left. | STEP 2: Open the door and pick up the newspaper that is in the cabinet. | STEP 3: Turn to your right and walk up to the white sofa. | STEP 4: Turn on the lamp that is to the left of the white sofa. | END"]} +{"id": "trial_T20190907_171035_866841-2", "input": "Examine a newspaper by the light of the floor lamp in the corner", "output": ["STEP 1: go forward towards the couch, then stop at the end of the bureau, and turn left to face the bureau. Look down at the cabinet doors | STEP 2: open the cabinet door on the far right of the bureau, take out the newspaper, and close the cabinet door | STEP 3: look back up to your normal position, then turn right and approach the couch. Look up. | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190912_190125_832581-0", "input": "Put an egg in a bowl, on the counter. ", "output": ["STEP 1: Turn to the wooden shelf on our right. | STEP 2: Pick up the tan bowl, on the third shelf. | STEP 3: Turn to your right and go to the refrigerator, then make another right and go through the kitchen, to the small counter on the end, to your left, with the coffee maker on it. | STEP 4: Pace the bowl on the left, front corner of the counter. | STEP 5: Pick up the egg to the left of the coffee maker. | STEP 6: Place the egg in the bowl on the front, left corner of the counter. | END"]} +{"id": "trial_T20190912_190125_832581-1", "input": "Put a egg on a bowl on a counter.", "output": ["STEP 1: move to the shelf to the right of you | STEP 2: pick up a bowl from the shelf | STEP 3: move to the counter to the right of the stove | STEP 4: put the bowl on the counter | STEP 5: pick up a egg from the counter | STEP 6: put the egg on the bowl on the counter | END"]} +{"id": "trial_T20190912_190125_832581-2", "input": "Move a cup so that a potato can go in it.", "output": ["STEP 1: Walk to the shelf on your left. | STEP 2: Grab a plate from the second bottom shelf. | STEP 3: Walk to the coffee maker on your left. | STEP 4: Place the cup on the counter. | STEP 5: Grab a potato from the counter. | STEP 6: Place the potato in the cup. | END"]} +{"id": "trial_T20190909_064053_839817-0", "input": "Throw two bars of soap in the trash bin.", "output": ["STEP 1: Turn around to stand centered with the counter between the two sinks. | STEP 2: Pick up the bar of soap closest to the back of the vanity. | STEP 3: Turn around and move to the door, then turn right to face the trash bin in the corner. | STEP 4: Place the soap in the trash bin. | STEP 5: Turn around and move back to stand at the vanity. | STEP 6: Pick up the remaining bar of soap from between the two sinks. | STEP 7: Turn again to walk to the door and then turn right to face the trash bin. | STEP 8: Place the soap in the trash bin. | END"]} +{"id": "trial_T20190909_064053_839817-1", "input": "place two bars of soap inside the same garbage bin", "output": ["STEP 1: turn around and walk forwards to the center of the two bathroom sinks ahead | STEP 2: grab a bar of soap off of the bathroom sink counter in between the two sinks | STEP 3: turn around and walk over to the right side corner of the room where the garbage bin is | STEP 4: place the bar inside of the garbage bin | STEP 5: turn right and walk back over to the center of the two bathroom sinks there | STEP 6: grab another bar of soap off of the center bathroom sink counter | STEP 7: turn around and walk over to the garbage bin on the right side of the room | STEP 8: place the bar of soap in the garbage bin | END"]} +{"id": "trial_T20190909_064053_839817-2", "input": "Putting two bars of soap in the trash can", "output": ["STEP 1: Turn around and go to the counter between the sinks | STEP 2: Grab a bar of soap off of the counter | STEP 3: Turn around and go to the trash can | STEP 4: Put the soap in the trash can | STEP 5: Turn right and go to the left sink | STEP 6: Grab the bar of soap that's to the right of the sink | STEP 7: Turn around and go to the trash can | STEP 8: Put the soap in the trash can | END"]} +{"id": "trial_T20190908_022321_380927-0", "input": "Put a cleaned blue cloth in a cabinet.", "output": ["STEP 1: Turn right and walk to the blue cloth on the counter. | STEP 2: Pick up the blue cloth from the counter. | STEP 3: Walk slightly left to the sink on the right. | STEP 4: Put the cloth in the sink, rinse it off, and take it back out of the sink. | STEP 5: Move backwards a bit away from the sink. | STEP 6: Put the blue cloth in the bottom left cabinet below the sink, then close the cabinet. | END"]} +{"id": "trial_T20190908_022321_380927-1", "input": "Put a cleaned rag in the cabinet under the sink.", "output": ["STEP 1: move to the sink to the left of the toilet | STEP 2: pick up a rag from the counter | STEP 3: move to the sink to the left of you | STEP 4: clean the rag in the sink | STEP 5: move away from the sink | STEP 6: put the rag in the cabinet under the sink | END"]} +{"id": "trial_T20190908_022321_380927-2", "input": "Place a clean rag in a cabinet.", "output": ["STEP 1: Turn right and walk to the sink. | STEP 2: Pick up the blue rag to the right of the sink. | STEP 3: Take a step left to the sink. | STEP 4: Wash the rag in the sink. | STEP 5: Take a step back. | STEP 6: Place the rag in left cabinet underneath the sink. | END"]} +{"id": "trial_T20190908_112034_166152-0", "input": "Put a green cup with a fork in it on the counter.", "output": ["STEP 1: Walk over to the kitchen sink that is in the kitchen island. | STEP 2: Pick up the metal fork out of the sink basin. | STEP 3: Look down into the sink. | STEP 4: Put the metal fork in the green cup that is in the sink. | STEP 5: Pick up the green cup with the metal fork in it. | STEP 6: Turn right and walk forward, then turn right and walk up to the counter. | STEP 7: Put the green cup with the fork in it on the counter in front of the loaf of bread. | END"]} +{"id": "trial_T20190908_112034_166152-1", "input": "Move fork into mug, move both on counter.", "output": ["STEP 1: Go ahead until reach counter with coffee maker. Turn left until reach sink on left. Turn left to face sink. | STEP 2: Pick up fork from sink, behind tomato. | STEP 3: Face sink in front of you. | STEP 4: Place fork in green mug in front part of sink. | STEP 5: Pick up fork and mug from sink. | STEP 6: Turn around, face counter over dishwasher. | STEP 7: Put mug and fork on counter in front of bread. | END"]} +{"id": "trial_T20190908_112034_166152-2", "input": "Put the fork in the green cup, put the cup on the counter", "output": ["STEP 1: Turn to the right, take a couple steps, turn to the left | STEP 2: Head across the kitchen to the sink | STEP 3: Take the fork out of the sink | STEP 4: Put the fork in the green cup | STEP 5: Take the green cup out of the sink | STEP 6: Turn around, face the counter | STEP 7: Put the green cup on the counter | END"]} +{"id": "trial_T20190907_133935_066606-0", "input": "Examine a bowl by the light of a desk lamp.", "output": ["STEP 1: Walk to the left side of the desk in front of you. | STEP 2: Pick up the bowl from the desk. | STEP 3: Turn right and walk in front of the lamp that is on the desk to the left of the bed. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190907_133935_066606-1", "input": "Turn on the lamp while holding a bowl.", "output": ["STEP 1: Walk around to the front of the desk by the chair. | STEP 2: Pick up the bowl that is closest to the window. | STEP 3: Turn right and walk towards the bed, turn left and walk to the other desk, then turn to face it. | STEP 4: Turn on the lamp on the desk. | END"]} +{"id": "trial_T20190907_133935_066606-2", "input": "Examine a bowl by the lamp.", "output": ["STEP 1: Walk to the window and face the desk. | STEP 2: Pick up the bowl on the desk. | STEP 3: Walk to the second desk on the other side of the room. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190907_040233_171346-0", "input": "Place chilled lettuce into a sink", "output": ["STEP 1: Turn to your right and step forward then turn left and and walk to the counter that is on your left past the fridge | STEP 2: Pick up the lettuce that is sitting on the counter | STEP 3: Turn around and take a step from the counter then turn right and walk to the fridge that is on your right. | STEP 4: Open the fridge and place the lettuce on the middle shelf then close the door. Open the fridge and pick up the lettuce from the middle shelf | STEP 5: Turn left and walk to the sink on your right | STEP 6: Place the lettuce into the sink | END"]} +{"id": "trial_T20190907_040233_171346-1", "input": "Place the cooled lettuce in the sink.", "output": ["STEP 1: Turn right, take several steps, and then turn left to find the toaster on the counter to your left. | STEP 2: Pick up the lettuce next to the toaster. | STEP 3: Take a step to the left to face the fridge. | STEP 4: Place the lettuce in the fridge, let it cool, and take it back out. | STEP 5: Turn right and walk towards the sink on your right. | STEP 6: Place the lettuce in the sink. | END"]} +{"id": "trial_T20190907_040233_171346-2", "input": "Put chilled lettuce in the sink. ", "output": ["STEP 1: Go to the left around the fridge and head to the counter right of the fridge. | STEP 2: Pick up the lettuce on the counter. | STEP 3: Bring the lettuce to the fridge on the left. | STEP 4: Chill the lettuce in the fridge. | STEP 5: Head right with the chilled lettuce and go to the sink on the right. | STEP 6: Put the chilled lettuce in the sink. | END"]} +{"id": "trial_T20190908_215019_162873-0", "input": "put a rinse off bar of soap in to the cabinet", "output": ["STEP 1: turn to the left to face the toilet | STEP 2: pick up the bar of soap from the back of the toilet | STEP 3: move to the left to face the sink to the left of the toilet | STEP 4: put the bar of soap in to the sink, turn on the faucet to rinse off the soap, pick up the soap out of the sink | STEP 5: move back slightly from the sink | STEP 6: open the left cabinet door below the sink on the right, put the bar of soap in to the cabinet and close the door | END"]} +{"id": "trial_T20190908_215019_162873-1", "input": "Put a clean bar of soap in a cabinet.", "output": ["STEP 1: Turn to the left and face the toilet. | STEP 2: Pick the soap up from the back of the toilet. | STEP 3: Go to the left and face the sink on the right. | STEP 4: Put the soap in the sink and turn the water on and then off and pick up the soap again. | STEP 5: Move back and turn to face the cabinets under the sink. | STEP 6: Put the soap in the cabinet under the sink and on the left. | END"]} +{"id": "trial_T20190908_215019_162873-2", "input": "Put a wet bar of soap in the cupboard.", "output": ["STEP 1: Turn left and walk to the sink. | STEP 2: Pick up the bar of soap that's in front of you to the right on the back of the toilet. | STEP 3: Take a step to your left then a step backwards. | STEP 4: Get the soap wet in the sink and then pick it back up and shut off the water. | STEP 5: Back up a step so you can use the cupboards under the sink. | STEP 6: Open the cupboard below the left side of the right sink and put the soap down there and close the door. | END"]} +{"id": "trial_T20190907_004351_281384-0", "input": "Place the green bottle on the toilet baisin.", "output": ["STEP 1: Turn left towards the sink. | STEP 2: Pick up the green bottle in between the two faucets. | STEP 3: Turn right towards the toilet. | STEP 4: Place the bottle on the toilet basin. | END"]} +{"id": "trial_T20190907_004351_281384-1", "input": "Move the green bottle on the vanity to the toilet", "output": ["STEP 1: Turn left, walk to the sink | STEP 2: Grab the green bottle in between sinks | STEP 3: Turn right, walk to the toilet | STEP 4: Put the green bottle by the white bottle on the toilet, near the wall | END"]} +{"id": "trial_T20190907_004351_281384-2", "input": "Put soap on toilet tank lid. ", "output": ["STEP 1: Move to the sink. | STEP 2: Pick up the soap from the sink. | STEP 3: Bring the soap to the toilet. | STEP 4: Put the soap on the toilet tank lid. | END"]} +{"id": "trial_T20190908_025158_582174-0", "input": "slice and cook a piece of bread , put it on the counter top", "output": ["STEP 1: turn around, go to your left to the counter that is to the right of the white fridge | STEP 2: pick up the loaf of bread that is on the very rear of the counter | STEP 3: place it to the front of the counter | STEP 4: pick up the knife with the yellow handle | STEP 5: cut the bread into several slices | STEP 6: continue cutting the bread | STEP 7: place the knife back on the counter next to the lettuce | STEP 8: pick up a slice of the bread that you cut | STEP 9: take the bread to the stove top that is to the right of the counter | STEP 10: place the bread in the microwave, cook it and remove the bread | STEP 11: take the bread to the counter top to the right of the stove | STEP 12: place the bread on the counter top next to the green pepper | END"]} +{"id": "trial_T20190908_025158_582174-1", "input": "Putting a slice of bread on the counter", "output": ["STEP 1: Turn around and go to the counter to the right of the fridge | STEP 2: Grab the loaf of bread off of the counter | STEP 3: Look down at the counter | STEP 4: Put the bread down on the counter | STEP 5: Grab the knife off of the counter | STEP 6: Cut the bread on the counter into slices | STEP 7: Put the knife on the counter | STEP 8: Grab a slice of bread | STEP 9: Turn right and stop at the microwave | STEP 10: Heat the bread in the microwave and then take it out | STEP 11: Turn right and stop at the counter | STEP 12: Place the bread on the counter | END"]} +{"id": "trial_T20190908_025158_582174-2", "input": "Put a warm slice of bread on the counter. ", "output": ["STEP 1: Turn to your left and go to the refrigerator, then make a right and turn to the counter on your left, above the dishwasher. | STEP 2: Pick up the loaf of bread, on the counter, behind the knife. | STEP 3: Take a few steps back, away from the counter. | STEP 4: Place the loaf of bread back on the counter, but near the edge closest to you. | STEP 5: Pick up the knife on the counter, behind the bread. | STEP 6: Cut the bread on the counter into slices. | STEP 7: Put the knife back on the counter, to the right of the loaf of bread. | STEP 8: Pick up the end bread slice from the counter. | STEP 9: Turn to your right and go to the microwave, above the stove, on your left. | STEP 10: Place the slice of bread in the microwave, warm it up, then remove it from the microwave. | STEP 11: Step back from the microwave, then turn to your right and go to the counter with the coffee maker on it, to your left. | STEP 12: Place the slice of bread on the counter, to the right of the apple. | END"]} +{"id": "trial_T20190908_062352_374890-0", "input": "Move a bowl and egg to the counter.", "output": ["STEP 1: Turn around and then right to go around the far said of the island. Locate the toaster on the left side. | STEP 2: Pick up the egg from the counter in front of the bread. | STEP 3: Carry the egg to the right to the coffee machine. | STEP 4: Open the bottom cabinet and place the egg in a bowl. | STEP 5: Pick up the bowl from the cabinet and shut the door. | STEP 6: Bring the bowl up toward the counter. | STEP 7: Place the bowl and egg on the left side of the counter. | END"]} +{"id": "trial_T20190908_062352_374890-1", "input": "Put egg in bowl and place on counter", "output": ["STEP 1: turn around and cross the room turning right into the kitchen | STEP 2: turn to the counter and pick up the egg | STEP 3: turn right and cross the kitchen turn right to the counter | STEP 4: open the cabinet and place egg in bowl | STEP 5: remove bowl in the cabinet | STEP 6: While holding the egg in the bowl close the cabinet doors | STEP 7: place the bowl on the counter | END"]} +{"id": "trial_T20190908_062352_374890-2", "input": "Place a bowl with a brown ball in it on the counter top", "output": ["STEP 1: turn to the left twice and go forward a few steps and turn right and go to the refrigerator and turn to the right and take a few steps and turn to the left and go to the counter | STEP 2: pick up the brown ball from the counter top | STEP 3: turn to the right and go to the wall and turn to the left facing the counter | STEP 4: open up the counter cabinet doors and put the brown ball in the bowl in the cabinet | STEP 5: pick up the bowl with the brown ball in it and close the cabinet doors | STEP 6: look up to the counter top | STEP 7: put the bowl with the brown ball in it on the left bottom corner of the counter top | END"]} +{"id": "trial_T20190907_183853_958104-0", "input": "Cool a mug in the fridge", "output": ["STEP 1: Go forward a bit, turn left, go to the fridge, turn right, go to the end of the counter, turn left | STEP 2: Pick up the mug in the coffee maker | STEP 3: Turn left, go to the fridge, turn right | STEP 4: Open the fridge, put the cup in the fridge, close the fridge, wait, open the fridge, pick the cup, close the fridge | STEP 5: Turn right, go to the coffee maker, turn left | STEP 6: Put the cup into the coffee maker | END"]} +{"id": "trial_T20190907_183853_958104-1", "input": "Place a chilled mug under the coffee maker spout. ", "output": ["STEP 1: Turn left, hang a right at the fridge, and head towards the coffee maker sitting on the counter to your left. | STEP 2: Pick up the white mug on the coffee maker. | STEP 3: Turn to your left and head to the fridge that will be on your right. | STEP 4: Place the coffee mug in the fridge to chill before taking it back out. | STEP 5: Turn to your right and head back to the coffee maker. | STEP 6: Place the mug to where it is located under the coffee maker's spout. | END"]} +{"id": "trial_T20190907_183853_958104-2", "input": "Chill the mug and put it in the coffee machine.", "output": ["STEP 1: Turn left and go to the fridge, then turn right and go to the coffee machine. | STEP 2: Pick up the mug from the coffee machine. | STEP 3: Turn left and go to the fridge. | STEP 4: Open the fridge, put the cup on the shelf for a little bit and take it out. | STEP 5: Turn right and go back to the coffee machine. | STEP 6: Set the mug in the coffee machine. | END"]} +{"id": "trial_T20190908_091747_866951-0", "input": "Cool some bread and the place it on the counter.", "output": ["STEP 1: Walk around the center table to face the right side of the sink. | STEP 2: Pick up the bread on the counter to the right of the sink. | STEP 3: Turn around and step to the left to face the fridge. | STEP 4: Cool the bread in the fridge and then remove it. | STEP 5: Take a step to the right to face the counter to the right of the fridge. | STEP 6: Place the bread on the counter. | END"]} +{"id": "trial_T20190908_091747_866951-1", "input": "Put a cold loaf of bread on the counter.", "output": ["STEP 1: Turn around, walk to the fridge, turn left, and walk to the counter. | STEP 2: Pick up the bread. | STEP 3: Turn right, walk to the fridge, and turn right. | STEP 4: Open the fridge, put the bread in the fridge, close the fridge, open the fridge, get the bread, and close the fridge. | STEP 5: Turn right, walk to the counter, and turn left. | STEP 6: Put the bread on the counter. | END"]} +{"id": "trial_T20190908_091747_866951-2", "input": "Put chilled bread on the counter. ", "output": ["STEP 1: Move to your left and face the counter, right of the sink. | STEP 2: Pick up the bread on the counter. | STEP 3: Bring the bread to the fridge behind you to the right. | STEP 4: Chill the bread in the fridge. | STEP 5: Bring the cold bread to the counter, next to the fridge on the right. | STEP 6: Put the cold bread on the counter right of the fridge. | END"]} +{"id": "trial_T20190907_144232_616550-0", "input": "Put a green glass containing a fork into the sink.", "output": ["STEP 1: Go forward to the counter on your right, to the left of the sink, and face the counter. | STEP 2: Pick up the fork that is to the left of the sink. | STEP 3: Carry the fork to the counter on the right side of the sink. | STEP 4: Put the fork, handle-first, into the green glass on the counter. | STEP 5: Pick up the glass with the fork in it. | STEP 6: Take the glass with the fork to the sink. | STEP 7: Put the glass with the fork in the left front corner of the sink. | END"]} +{"id": "trial_T20190907_144232_616550-1", "input": "Put a cup with a fork in it in the sink.", "output": ["STEP 1: Go right and stand at the counter to the left of the sink. | STEP 2: Pick the fork up off of the counter. | STEP 3: Go right and stand in front of the counter to the right of the sink and pick the fork up. | STEP 4: Put the fork in the green cup. | STEP 5: Pick the cup up from the counter. | STEP 6: Go left and stand in front of the sink. | STEP 7: Put the cup in the sink. | END"]} +{"id": "trial_T20190907_144232_616550-2", "input": "Put a green cup with a metal fork in it into the sink basin.", "output": ["STEP 1: Begin walking across the room, then turn right to face the end of the kitchen island. | STEP 2: Pick up the metal fork that is on the kitchen island. | STEP 3: Turn right and walk to the other side of the kitchen island where the golden statue is resting. | STEP 4: Place the metal fork into the green cup that is to the left of the golden statue. | STEP 5: Pick up the green cup with the metal fork in it. | STEP 6: Turn left and walk over to the sink that is in the middle of the kitchen island. | STEP 7: Place the green cup with the metal fork in it into the sink basin. | END"]} +{"id": "trial_T20190909_123133_763972-0", "input": "chill the lettuce then return it to the counter", "output": ["STEP 1: go to the counter to the left of the stove | STEP 2: pick up the lettuce from the counter | STEP 3: take the lettuce to the fridge | STEP 4: put in the fridge then remove | STEP 5: take the chilled lettuce back to the counter | STEP 6: put the lettuce back on the counter | END"]} +{"id": "trial_T20190909_123133_763972-1", "input": "Place a chilled head of lettuce on a plate on a counter.", "output": ["STEP 1: Turn right and walk to the fridge, then turn right and walk to the counter on the left side of the stove. | STEP 2: Pick up the head of lettuce on the counter. | STEP 3: Walk left back to the fridge. | STEP 4: Place the lettuce in the fridge, to the left and behind the tan plate. Close the door, wait a moment, and take it out again. | STEP 5: Take a couple steps right, facing the counter to the left of the stove. | STEP 6: Place the head of lettuce on the plate on the counter. | END"]} +{"id": "trial_T20190909_123133_763972-2", "input": "Put a head of chilled lettuce on the counter.", "output": ["STEP 1: Turn right, go across the room, turn right and go to the dishwasher. | STEP 2: Pick up the lettuce on the counter. | STEP 3: Turn right and go to the fridge. | STEP 4: Chill the lettuce in the fridge and pick it back up. | STEP 5: Turn left and go to the dishwasher. | STEP 6: Put the lettuce on the counter in front of the spatula. | END"]} +{"id": "trial_T20190907_051013_060265-0", "input": "Transfer the two CDs from the desk to the vault.", "output": ["STEP 1: Turn right, head towards the bed, and then turn right towards the desk on your right. | STEP 2: Pick up the CD on the desk. | STEP 3: Turn right towards the night stand and then turn left towards the vault on the floor. | STEP 4: Place the CD in the vault and close it. | STEP 5: Turn left towards the desk. | STEP 6: Pick up the CD from the desk. | STEP 7: Turn around towards the vault. | STEP 8: Open the vault, place the CD in it, and close the vault. | END"]} +{"id": "trial_T20190907_051013_060265-1", "input": "Put CDs in a safe.", "output": ["STEP 1: Turn right, go straight to the bed, turn right, go to the desk chair, turn right to face the desk. | STEP 2: Take the CD from the desk. | STEP 3: Turn right, go straight to the basket next to the bed, turn left, go straight and stop near the safe. | STEP 4: Open the safe, put the CD in the safe, close the safe. | STEP 5: Turn left, go to the desk. | STEP 6: Take the CD from the desk. | STEP 7: Turn around, go back to the safe. | STEP 8: Open the safe, put the CD in the safe, close the safe. | END"]} +{"id": "trial_T20190907_051013_060265-2", "input": "Put the CDs into the white safe", "output": ["STEP 1: Turn around and walk over to the wooden desk by the window | STEP 2: Pick up the CD from the desk | STEP 3: Turn right and walk over to the small white safe by the mirror | STEP 4: Put the CD into the safe | STEP 5: Turn left and walk forward to the desk with a lamp on it | STEP 6: Pick up the CD from the desk | STEP 7: Turn around and walk back to the safe | STEP 8: Put the CD into the safe | END"]} +{"id": "trial_T20190907_051013_060265-3", "input": "Put two Cds into a safe.", "output": ["STEP 1: Turn to the right, walk across the room, then turn right and walk across the room again, and then turn to the right to face the table. | STEP 2: Pick up the CD laying on the table? | STEP 3: Turn to the right, walk across the room, then turn left, then walk across the room to face the safe. | STEP 4: Open the safe, then put the CD in the safe, then close the safe. | STEP 5: Take a step forward and then turn left and walk across the room to face a dresser. | STEP 6: Pick up the CD laying on the dresser. | STEP 7: Turn around and turn right and take a step, then turn to face the safe. | STEP 8: Open the safe, place the CD in the safe, then shut the safe. | END"]} +{"id": "trial_T20190909_103543_580765-0", "input": "Examine a set of keys under a tall lamp", "output": ["STEP 1: Walk to the couch in front of you, then turn right and go to the white book shelf. The one that has the golden vase | STEP 2: Pick up the set of keys that are on the bottom shelf | STEP 3: Turn around and cross the room to the blue chair, then turn right and face the couch and the tall lamp that is sitting to the left of the couch | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190909_103543_580765-1", "input": "Examine keys in the light of a lamp.", "output": ["STEP 1: Go forward to the couch, then turn right to go to the shelf up ahead. | STEP 2: Pick up the keys from the bottom shelf. | STEP 3: Turn around and go to the blue chair in front of you, then turn right to face the lamp. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190909_103543_580765-2", "input": "Pick up keys and turn a lamp on.", "output": ["STEP 1: Go right and face the white shelves with the gold vase. | STEP 2: Pick the keys up from the bottom shelf of the cabinet. | STEP 3: Turn around and cross the room and turn to the right to face the lamp in the corner. | STEP 4: Turn the lamp on. | END"]} +{"id": "trial_T20190908_142046_281296-0", "input": "Look at a CD under a lamp's light.", "output": ["STEP 1: Walk to the right side of the desk. | STEP 2: Grab the CD from the desk. | STEP 3: Locate the lamp on the desk. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190908_142046_281296-1", "input": "Pick up the disc and turn on the lamp on the desk.", "output": ["STEP 1: Go to the right end of the wooden desk in front of you. | STEP 2: Pick up the disc on the desk. | STEP 3: Turn right and then turn back to the desk. | STEP 4: Turn on the lamp on the desk. | END"]} +{"id": "trial_T20190908_142046_281296-2", "input": "Take the CD from the desk, turn on the lamp", "output": ["STEP 1: Head to the right side of the desk | STEP 2: Take the CD from the desk | STEP 3: Take a step to the right | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190908_205204_244321-0", "input": "Put a vase in a safe.", "output": ["STEP 1: Turn around and cross the room to face the white shelves. | STEP 2: Pick the gold vase up from the shelf. | STEP 3: Move to the right and face the safe on the floor. | STEP 4: Put the gold vase in the safe and shut the door. | END"]} +{"id": "trial_T20190908_205204_244321-1", "input": "Put the vase in the vault ", "output": ["STEP 1: Turn around to your left then head to the shelf beside the sofa | STEP 2: Pick up the yellow vase under the shelf | STEP 3: Turn around then head to the vault on your left | STEP 4: Open the vault then put in the vase then close it | END"]} +{"id": "trial_T20190908_205204_244321-2", "input": "Place a vase in a safe.", "output": ["STEP 1: Turn around and cross the room to the white book shelf; the one that is sitting to the immediate right of the couch. | STEP 2: Pick up the golden vase that is sitting on the bottom shelf of the book shelf | STEP 3: Turn around and walk to the white safe that is on your left, past the book shelf. Turn left to face the white safe | STEP 4: Open the safe and place the vase inside the safe then close the door | END"]} +{"id": "trial_T20190907_083429_887065-0", "input": "Place a heated cup in a cabinet", "output": ["STEP 1: Turn left and head to the counter top the is directly to the left of the stove | STEP 2: Open the cabinet that is above the counter and pick up the green cup then close the cabinet | STEP 3: Turn right and walk to the stove | STEP 4: Open the microwave above the stove and place the green cup inside to the right of the coffee mug then close the microwave and turn it on. Open the microwave and pick up the green cup then close the microwave | STEP 5: Take a couple steps to stand in front of the counter to the right of the stove. | STEP 6: Open the cabinet above the counter and place the green cup inside on the right hand side. | END"]} +{"id": "trial_T20190907_083429_887065-1", "input": "Heat up a green cup to put it back in the cupboard.", "output": ["STEP 1: Go left and walk towards the counter next to the stove and look up. | STEP 2: Open the cupboard door to take out the green cup and shut it. | STEP 3: Bring it down and turn to your right and go towards the stove. Bring the cup up to the microwave. | STEP 4: Place the green cup inside the microwave next to the white mug and turn it on. Take the cup back out and shut the door. | STEP 5: Bring it back down and turn left and a quick right back up to the cupboard. | STEP 6: Place the cup back in the cupboard and shut the door. | END"]} +{"id": "trial_T20190907_083429_887065-2", "input": "Put a heated green glass in a cabinet.", "output": ["STEP 1: Turn to your left and go forward to the counter immediately left of the stove. | STEP 2: Open the right hand cabinet above the counter and get out the green glass. | STEP 3: Move to the front of the stove. | STEP 4: Heat the glass in the microwave above the stove. | STEP 5: Go back to the cabinet where the glass was stored. | STEP 6: Put the glass away in the cabinet. | END"]} +{"id": "trial_T20190909_103628_479585-0", "input": "Examine a credit card by the light of a tall lamp.", "output": ["STEP 1: Turn left and walk to the white couch on the right. | STEP 2: Pick up the red credit card from the right couch cushion. | STEP 3: Turn left and walk to the tall lamp in the corner on the right. | STEP 4: Turn on the tall lamp. | END"]} +{"id": "trial_T20190909_103628_479585-1", "input": "pick up a credit card and view it in the light of the lamp", "output": ["STEP 1: turn left and walk straight then turn right towards the couch | STEP 2: pick up the credit card off of the couch | STEP 3: turn left then walk straight then turn right towards the couch and look up | STEP 4: turn the lamp on by the couch | END"]} +{"id": "trial_T20190909_103628_479585-2", "input": "Pick up a credit card and turn on a lamp.", "output": ["STEP 1: Turn to the left and then the right to face the right side of the couch. | STEP 2: Pick the red credit card up from the couch. | STEP 3: Turn to the left and stand on the left side of the couch near the floor lamp. | STEP 4: Turn the lamp on. | END"]} +{"id": "trial_T20190909_032721_511027-0", "input": "Hold a remote and turn on the lamp.", "output": ["STEP 1: Turn to the left and then right to the brown dresser. | STEP 2: Pick up the remote from the middle of the dresser, directly behind the tissues. | STEP 3: Hold the remote and move a step to the left. | STEP 4: Hold the remote and turn on the lamp. | END"]} +{"id": "trial_T20190909_032721_511027-1", "input": "Turn on the corner lamp. ", "output": ["STEP 1: Turn to your left and go to the door, then turn right and go to the dresser against the wall. | STEP 2: Pick up the remote behind the box of tissue, on the dresser. | STEP 3: Turn to your left and go to the wall, then turn to the lamp to your right. | STEP 4: Turn on the lamp in the corner. | END"]} +{"id": "trial_T20190909_032721_511027-2", "input": "Look at a remote under a lit lamp.", "output": ["STEP 1: Hang a right to walk towards the dresser in the corner. | STEP 2: Pick on the remote that is on the dresser. | STEP 3: Turn to face the lamp on the right of the dresser. | STEP 4: Turn on the lamp next to the dresser. | END"]} +{"id": "trial_T20190909_121635_622676-0", "input": "Place a chilled mug in a cabinet.", "output": ["STEP 1: Turn around and walk to the counter to the left of the stove. | STEP 2: Look up and take the mug out of the cabinet. | STEP 3: Turn left and walk to the fridge. | STEP 4: Place the mug in the fridge in front of the tomato. Close the door, wait a moment, and take it out again. | STEP 5: Take a step right. | STEP 6: Open the leftmost bottom cabinet and place the mug in it, behind the sponge. | END"]} +{"id": "trial_T20190909_121635_622676-1", "input": "Put a cold mug in the cupboard.", "output": ["STEP 1: Turn right and walk to the fridge then move to your right until you face the counter to the left of the stove with the phones and the yellow handled knife. | STEP 2: Look up and open the cupboard and grab the mug that's up there then close the doors. | STEP 3: Take a small step backwards then turn left and walk to the fridge then turn right to face it. | STEP 4: Chill the mug in the fridge then take it back out and close the door. | STEP 5: Take a small step to your right. | STEP 6: Open the cupboard that's to the right of the fridge then put the mug in there then close the door. | END"]} +{"id": "trial_T20190909_121635_622676-2", "input": "Put a chilled coffee mug in the cabinet", "output": ["STEP 1: Turn around and go to the front of the cabinet above the sink on the left of the stove. | STEP 2: Take out the coffee mug in the cabinet. | STEP 3: Turn left and go to the front of the refrigerator on the right. | STEP 4: Remove the mug from the refrigerator after cooling in it. | STEP 5: Move over right to the front of the cabinet on the left of the dishwasher. | STEP 6: Place the mug behind the green sponge in the cabinet. | END"]} +{"id": "trial_T20190909_061158_110530-0", "input": "Put a filled bowl of water in the cabinet left of the microwave.", "output": ["STEP 1: Turn right, head to the fridge across the room, turn right, move to the stove on the left side, face the microwave over the stove. | STEP 2: Take the bowl out of the cabinet above the microwave. | STEP 3: Turn around, bring the bowl to the sink. | STEP 4: Fill the bowl with water from the sink. | STEP 5: Turn around, bring the filled bowl to the cabinet left of the microwave. | STEP 6: Put the filled bowl of water in the cabinet left of the microwave. | END"]} +{"id": "trial_T20190909_061158_110530-1", "input": "Put a bowl of water in the cupboard.", "output": ["STEP 1: Turn right and walk to the wall then turn right and walk to the left side of the stove then turn left to face it. | STEP 2: Look up and open the cupboard over the left side of the microwave and grab the bowl that's up there before closing the cupboard door. | STEP 3: Turn around and walk to the sink, | STEP 4: Fill the bowl with water in the sink then shut off the water. | STEP 5: Turn back around. | STEP 6: Open the cupboard to the left of the microwave and put the bowl of water in there then close the door. | END"]} +{"id": "trial_T20190909_061158_110530-2", "input": "Put a clean bowl in a cabinet.", "output": ["STEP 1: Turn around and cross the room and turn to the right and then the left to face the cabinet above the microwave. | STEP 2: Open the cabinet on the left, above the microwave, and take the bowl out. | STEP 3: Turn around and face the sink. | STEP 4: Put the bowl in the sink and turn the water on and then off and pick the bowl up again. | STEP 5: Turn around and face the cabinet to the left of the microwave. | STEP 6: Put the bowl in the cabinet to the left of the microwave and shut the door. | END"]} +{"id": "trial_T20190906_224843_443882-0", "input": "placed a cooled slice of bread that you cut inside of the microwave", "output": ["STEP 1: move forwards to the end of the room, then turn left and walk until your reach the left side of the stove on your right | STEP 2: pick up the butter knife behind the green cup on the counter to the left of the stove | STEP 3: turn right and and walk to the end of the room, then turn right again until you reach the right side of the end o the kitchen island, turn to face the kitchen island | STEP 4: cut up the bread on the kitchen island into slices | STEP 5: turn right and walk until you reach the end of the room, then turn left and walk to the other end of the room, turn right to face the fridge | STEP 6: place the knife inside of the fridge | STEP 7: turn right and and walk to the end of the room, then turn right again until you reach the right side of the end o the kitchen island, turn to face the kitchen island | STEP 8: grab a slice of bread off of the kitchen island countertop | STEP 9: turn right and walk to the end of the room, then turn left and walk to the other end of the room until you reach the fridge on your right, turn to face the fridge | STEP 10: place the slice of bread in the fridge to cool, then take it out once it has cooled and close the fridge | STEP 11: turn right and walk forwards until your reach the stove on the left side, turn to face the stove and look up towards the microwave above | STEP 12: place the cooled slice of bread inside of the microwave | END"]} +{"id": "trial_T20190906_224843_443882-1", "input": "Place a piece of sliced bread in the microwave. ", "output": ["STEP 1: Move to stand at the counter between the stove and dishwasher. | STEP 2: Pick up the butter knife by the green container. | STEP 3: Carry the knife to stand at the edge of the counter beyond the kitchen sink. | STEP 4: Slice the loaf of bread that's on the counter. | STEP 5: Carry the knife to the fridge. | STEP 6: Place the knife on the top shelf of the fridge. | STEP 7: Move back to the edge of the counter past the sink where the loaf of bread is. | STEP 8: Pick up a slice of bread from the counter. | STEP 9: Carry the slice of bread to the fridge. | STEP 10: Open the fridge and place the slice of bread on the top shelf to the right of the apple, close the door, pause, and then open the door and remove the bread. | STEP 11: Move to stand in front of the stove. | STEP 12: Open the microwave above the stove and place the slice of bread inside. | END"]} +{"id": "trial_T20190906_224843_443882-2", "input": "Slice a loaf of bread, put the knife and bread in the refrigerator, take the bread to the microwave.", "output": ["STEP 1: Go straight, take a left at the counter | STEP 2: Turn right and face the statue on the counter. | STEP 3: Pick up the knife, go right, take a right at the wall. | STEP 4: Turn right towards the counter and slice the bread. | STEP 5: Take a right, take a left at the counter, turn to face the refrigerator. | STEP 6: Open the refrigerator and set the knife on the shelf to the left of the apple and shut the door. | STEP 7: Go right, take another right at the wall, turn left to face the bread on the counter. | STEP 8: Grab a slice of bread. | STEP 9: Go right, take a left at the counter, turn right to face the refrigerator | STEP 10: Open the refrigerator door, set the bread to the right of the apple, shut the door, open the door, and grab the bread. | STEP 11: Go right and turn to face the stove. | STEP 12: Open the microwave, put the bread in the microwave, and shut the door. | END"]} +{"id": "trial_T20190908_115651_521111-0", "input": "Dispose of a lettuce slice after slicing and rinsing it off", "output": ["STEP 1: Walk straight around the kitchen island then turn left and walk straight slightly and turn left to face the counter | STEP 2: Pick up the butter knife from the counter right of the sink | STEP 3: Turn around and face the kitchen counter | STEP 4: Slice the lettuce head on the counter | STEP 5: Turn right and walk slightly forward then turn to the left and face the counter | STEP 6: Place the knife on the kitchen counter | STEP 7: Turn left walk straight slightly then turn right and face to the counter | STEP 8: Pick up a slice of lettuce from the counter | STEP 9: Turn right and walk slightly forward then turn to the right and face the sink | STEP 10: Place the lettuce slice in the sink and rinse with water then remove from the sink | STEP 11: Turn right and walk straight then turn left and walk forward slightly and face to the left at the black trash bin | STEP 12: Place the lettuce slice in the trash bin | END"]} +{"id": "trial_T20190908_115651_521111-1", "input": "Put a clean slice of lettuce in a trash bin.", "output": ["STEP 1: Go forward along the windows to the right, turn left after passing the kitchen island, go forward, turn left to face the counter to the right of the sink on the kitchen island. | STEP 2: Take the knife from the counter. | STEP 3: Turn around, go forward to the counter with the toaster. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Take a step to the right, face the counter. | STEP 6: Put the knife on the counter to the right of the statue. | STEP 7: Take a step to the left, face the counter. | STEP 8: Take a slice of lettuce from the counter. | STEP 9: Turn around, go left and forward to the sink. | STEP 10: Wash the lettuce in the sink. Take the lettuce from the sink. | STEP 11: Turn right go forward, at the fridge turn left, go forward, turn left to face the black trash bin. | STEP 12: Put the lettuce in the trash bin. | END"]} +{"id": "trial_T20190908_115651_521111-2", "input": "Put a washed piece of lettuce in a bin", "output": ["STEP 1: Go to the kitchen island | STEP 2: Pick up a butterknife | STEP 3: Turn around to the counter | STEP 4: Cut the lettuce | STEP 5: Go to the middle of the counter | STEP 6: Put the butterknife down | STEP 7: Go to the left part of the counter | STEP 8: Pick up a lettuce piece | STEP 9: Go to the sink | STEP 10: Wash the lettuce | STEP 11: Go to the black bin | STEP 12: Put the lettuce in the bin | END"]} +{"id": "trial_T20190908_205221_748352-0", "input": "Put a vase in a safe.", "output": ["STEP 1: Go right and then left to cross the room and face the dresser with the computer on it. | STEP 2: Pick the gold vase up from the dresser. | STEP 3: Go right and the turn right again and stand at the white safe on the floor. | STEP 4: Put the gold vase in the safe and shut the door. | END"]} +{"id": "trial_T20190908_205221_748352-1", "input": "Move a vase from the dresser to the safe.", "output": ["STEP 1: Turn to the right and then the left to find the computer. | STEP 2: Pick up the vase from the back of the dresser. | STEP 3: Carry the vase and turn to the right, then right again to find the tall white bookshelf. | STEP 4: Open the safe on the floor and place the vase inside. Shut the door. | END"]} +{"id": "trial_T20190908_205221_748352-2", "input": "Store a vase in a safe.", "output": ["STEP 1: Walk to the dresser ahead of you. | STEP 2: Grab a vase from the dresser. | STEP 3: Walk to the shelf behind you on your right. | STEP 4: Place the vase in the safe. | END"]} +{"id": "trial_T20190909_103526_341991-0", "input": "Examine a set of keys by the light of a tall lamp.", "output": ["STEP 1: Turn around and walk to the blue chair on the right. | STEP 2: Pick up the set of keys in the back right corner of the chair. | STEP 3: Turn right to face the couch next to the tall lamp. | STEP 4: Turn on the tall lamp to the left. | END"]} +{"id": "trial_T20190909_103526_341991-1", "input": "pick up the keys and view them in the lamp light", "output": ["STEP 1: turn around and walk straight then turn right and walk straight towards the blue chair | STEP 2: pick up the keys on the chair | STEP 3: turn right and look up at the lamp | STEP 4: turn the lamp on | END"]} +{"id": "trial_T20190909_103526_341991-2", "input": "Examine a set of keys in the lamp light.", "output": ["STEP 1: Turn around and move forward, then turn right and go straight to the blue chair. | STEP 2: Pick up the keys from the blue chair. | STEP 3: Turn right and look up to face the lamp. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190909_103610_740356-0", "input": "Carry a credit card while turning on a lamp", "output": ["STEP 1: Move to the left side of the tan sofa where the credit card is | STEP 2: Pick up the credit card on top of the sofa | STEP 3: Carry the credit card to the left corner of the room facing the floor lamp | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190909_103610_740356-1", "input": "turn on lamp with credit card in hand", "output": ["STEP 1: walk to face couch | STEP 2: pick up red credit card from couch | STEP 3: walk left to face lamp | STEP 4: turn on lamp near couch | END"]} +{"id": "trial_T20190909_103610_740356-2", "input": "TO examine a card by lamp light.", "output": ["STEP 1: Turn around and walk forward to face the card on the left end of the couch. | STEP 2: Pick up the card on the couch. | STEP 3: Look to the left to face the lamp in the corner of the room. | STEP 4: Cut on the lamp to examine the card. | END"]} +{"id": "trial_T20190909_110445_675754-0", "input": "Place a clean knife on a plate on the counter.", "output": ["STEP 1: Turn left and move to the gray coffee maker to the right of the lettuce, then move to the silver dishwasher to the right of the black toaster. | STEP 2: Pick up the yellow handled knife to the left of the square plate from the counter. | STEP 3: Turn around and move to the sink to the right of the loaf of bread. | STEP 4: Place the knife in the sink to the left of the lettuce, turn on the faucet to rinse the knife, then pick up the knife from the sink. | STEP 5: Turn around and face the dishwasher underneath the green glass. | STEP 6: Place the knife on the plate to the rear of the potato on the counter. | END"]} +{"id": "trial_T20190909_110445_675754-1", "input": "Rinse a knife and put it on a plate.", "output": ["STEP 1: Turn around and move through the room. Turn left and then face the counter on the right, where the dishwasher is. | STEP 2: Pick up the knife from the counter. | STEP 3: Hold the knife and turn around to the sink. | STEP 4: Place the knife in the sink and turn the water on. Turn the water off and pick up the knife. | STEP 5: Carry the knife and turn around to the counter. | STEP 6: Place the knife on the plate, that is on the counter. | END"]} +{"id": "trial_T20190909_110445_675754-2", "input": "clean a knife and put it back onto the counter ", "output": ["STEP 1: turn left walk straight then turn left and walk towards the coffee machine and turn left and walk straight towards the dishwasher and turn right | STEP 2: pick up the knife on the counter top | STEP 3: turn right walk straight then turn right towards the sink | STEP 4: put the knife inside the sink and fill it with water then drain the water and remove the knife | STEP 5: turn right then walk straight then turn right again towards the counter | STEP 6: put the knife down on the counter top | END"]} +{"id": "trial_T20190908_113523_123938-0", "input": "place a microwaved egg inside the garbage bin", "output": ["STEP 1: turn around and walk to the end of the kitchen island on your right, then turn right and walk to the garbage bin on the floor to your right | STEP 2: grab the egg out of the garbage bin | STEP 3: turn left and walk over to the fridge, then turn right and walk to the stove on the left side of the kitchen | STEP 4: place the egg in the microwave above the kitchen stove, let it cook in there, then take it back out | STEP 5: turn left and walk over to the fridge on your right, then turn left to walk back over to the garbage bin on your left | STEP 6: place the egg inside the garbage bin | END"]} +{"id": "trial_T20190908_113523_123938-1", "input": "Put a microwaved egg in the garbage.", "output": ["STEP 1: Turn right and take two steps then turn right and walk past the chairs and counter then turn right at the end of the counter then turn right to face the garbage. | STEP 2: Pick up the egg that's in front of you in the garbage. | STEP 3: Turn left and walk to the fridge then turn right and walk to the stove then turn left when you get there. | STEP 4: Look up and cook the in the egg in the microwave then take it back out and close the door. | STEP 5: Go back to the garbage where you got the egg. | STEP 6: Put the egg in the top right corner of the garbage. | END"]} +{"id": "trial_T20190908_113523_123938-2", "input": "Put the heated egg on the trash bin", "output": ["STEP 1: Turn to your right and head to the trash bin on your right | STEP 2: Pick up the egg on the trash bin | STEP 3: Turn left then right walk towards the microwave | STEP 4: Open the microwave put in and out the egg then close the microwave | STEP 5: Turn left then walk forward head to the trash bin | STEP 6: Put the egg in the trash bin | END"]} +{"id": "trial_T20190908_204424_983859-0", "input": "Put a chilled slice of lettuce in the trash can.", "output": ["STEP 1: Turn and go to the counter by the toaster. | STEP 2: Pick up a knife on the counter. | STEP 3: Go to the counter by the toaster. | STEP 4: Cut the lettuce on the counter. | STEP 5: Turn and go to the refrigerator. | STEP 6: Put the knife in the refrigerator. | STEP 7: Turn and go to the counter by the toaster. | STEP 8: Pick up a slice of lettuce on the counter. | STEP 9: Turn and go to the refrigerator. | STEP 10: Chill the slice of lettuce in the refrigerator. | STEP 11: Turn and go to the trash can. | STEP 12: Put the slice of lettuce in the trash can. | END"]} +{"id": "trial_T20190908_204424_983859-1", "input": "Put a cold slice of lettuce in the trash can.", "output": ["STEP 1: Go right and then turn left to face the toaster on the counter. | STEP 2: Pick up the knife off in front of the toaster. | STEP 3: Look up toward the lettuce on the counter. | STEP 4: Cut the lettuce on the counter. | STEP 5: Turn left and go to the fridge. | STEP 6: Put the knife in the fridge on the second shelf in front of the bread. | STEP 7: Turn right and go back to the lettuce on the left counter. | STEP 8: Pick up a slice of lettuce from the counter. | STEP 9: Go left and head back to the fridge. | STEP 10: Put the lettuce in the fridge to the right of the bread, close the fridge, open the fridge and pick up the lettuce. | STEP 11: Turn around, go to the end of the counter on the left and turn left to face the trash can. | STEP 12: Put the lettuce in the trash can in front of the tomato. | END"]} +{"id": "trial_T20190908_204424_983859-2", "input": "Slice lettuce, chill it, and put in the trash.", "output": ["STEP 1: Turn right and walk to the lettuce head sitting on the counter next to the toaster. | STEP 2: Pick up the knife next to the lettuce head. | STEP 3: Stand up with the knife. | STEP 4: Slice the lettuce head. | STEP 5: Turn to the left and walk to the refrigerator with the knife. | STEP 6: Open the refrigerator door. Put the knife in the refrigerator next to the bread and bowl. | STEP 7: Close the door, turn right and walk back to the lettuce head sitting on the counter next to the toaster. | STEP 8: Pick up a slice of the lettuce. | STEP 9: Turn to the left and walk to the refrigerator. | STEP 10: Open the refrigerator door and put the lettuce slice next to the knife. Close the door. Open the door and grab the lettuce slice and close the door. | STEP 11: Turn around and walk to the trash can. | STEP 12: Put the lettuce in the trash can. | END"]} +{"id": "trial_T20190909_032758_971610-0", "input": "Turn on the living room lamp. ", "output": ["STEP 1: Go across the room to the white couch and turn left, then go to the blue arm chair across from you. | STEP 2: Pick up the remote to the left of the cardboard box, on the chair. | STEP 3: Turn to the lamp on your right, between the arm chair and the couch. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190909_032758_971610-1", "input": "examine a remote with the lamp", "output": ["STEP 1: walk to the couch, take a left, walk to the blue chair | STEP 2: pick up the remote from the blue chair | STEP 3: turn right to face the couch, lift the remote to the lamp | STEP 4: turn the lamp on | END"]} +{"id": "trial_T20190909_032758_971610-2", "input": "Look at a remote under a lit lamp.", "output": ["STEP 1: Walk forward and make a left until the blue armchair is reached. | STEP 2: Pick up the remote from the seat of the blue armchair. | STEP 3: Turn to face the tall lamp on the right of the blue armchair. | STEP 4: Turn on the tall lamp. | END"]} +{"id": "trial_T20190909_025512_298420-0", "input": "put green cup and knife into sink basin", "output": ["STEP 1: walk to face counter behind sink | STEP 2: pick up butter knife from under sponge on counter | STEP 3: walk to face counter to left of stove | STEP 4: put knife into green cup on the left on the counter | STEP 5: pick up the green cup from counter | STEP 6: turn to face the kitchen sink | STEP 7: put green cup into sink basin | END"]} +{"id": "trial_T20190909_025512_298420-1", "input": "Place a glass with a knife in a sink.", "output": ["STEP 1: Turn right, hang a left at the wall and walk to the counter on the left. | STEP 2: Pick up the knife under the green sponge on the counter. | STEP 3: Turn around, hang a right at the wall, turn right towards the fridge, turn right and walk to the counter on the left. | STEP 4: Put the knife inside the green glass in front of the spatula in the middle of the counter. | STEP 5: Pick up the green glass with the knife on the counter. | STEP 6: Turn around and walk to the sink. | STEP 7: Put the glass with the knife inside the sink. | END"]} +{"id": "trial_T20190909_025512_298420-2", "input": "Move a knife in a cup to the sink.", "output": ["STEP 1: Turn right to move around the island to stand facing the counter and centered between the two chairs. | STEP 2: Pick up the butter knife from beneath the sponge. | STEP 3: Turn left to move around to the other side of the island and stop facing the counter above the dishwasher. | STEP 4: Place the knife in the green cup closest to the wall behind the counter. | STEP 5: Pick up the cup with the knife in it from the counter. | STEP 6: Turn around and face the sink. | STEP 7: Place the cup with the knife inside in the sink. | END"]} +{"id": "trial_T20190908_073839_704604-0", "input": "Put the heated slice apple in the trash bin", "output": ["STEP 1: Move forward then turn right walk straight toward the fridge then turn right head to the sink | STEP 2: Pick up the knife in the sink | STEP 3: Turn right then walk forward then turn left facing the trash bin | STEP 4: Slice the apple in the bin | STEP 5: Drop the knife in the bin | STEP 6: Pick up the slice apple in the bin | STEP 7: Turn left head to the microwave on your left | STEP 8: Open the microwave put in the slice apple, take it out then close the microwave | STEP 9: Turn left move forward turn left face the trash bin | STEP 10: Put the heated slice apple in the trash bin | END"]} +{"id": "trial_T20190908_073839_704604-1", "input": "Put the cooked apple piece in the trash bin", "output": ["STEP 1: Turn right and walk toward the fridge, then turn right into the kitchen and approach the sink | STEP 2: Pick up the butter knife from the sink | STEP 3: Turn right and walk around the end of the counter to the black trash bin | STEP 4: Cut the green apple in the bin with the knife | STEP 5: Put the knife in the trash bin | STEP 6: Pick up an apple piece from the trash bin | STEP 7: Turn left and walk back into the kitchen then turn left to face the microwave above the oven | STEP 8: Heat the apple piece in the microwave then remove it | STEP 9: Turn left and walk back around to the trash bin | STEP 10: Put the apple piece in the trash bin | END"]} +{"id": "trial_T20190908_073839_704604-2", "input": "Put a heated slice of apple in the trash can near the fridge. ", "output": ["STEP 1: Walk 1 step to the front, turn right, walk straight, turn right near the fridge and turn right to face the sink. | STEP 2: Pick up the knife near the fork in the sink. | STEP 3: Walk to your right, turn right near the fridge and turn right to go to the black trash can. | STEP 4: Cut the apple in the trash can. | STEP 5: Put the knife in the trash can. | STEP 6: Pick up a slice of apple from the trash can. | STEP 7: Walk to your left, turn right near the fridge, walk straight, turn right to go to the stove and look up to the microwave on top of the stove. | STEP 8: Open the microwave, put the slice of apple in, heat it for a few seconds, pick it up again and close the microwave | STEP 9: Go back to the black trash can near the fridge. | STEP 10: Put the slice of apple in the trash can. | END"]} +{"id": "trial_T20190909_021200_669381-0", "input": "Put a warmed mug in the cabinet.", "output": ["STEP 1: Go right and then turn right again to face the upper cabinet to the left the fridge. | STEP 2: Take the white mug out of the upper cabinet left of the fridge. | STEP 3: Go right and then turn to the left to face the microwave above the stove. | STEP 4: Put the mug in the microwave and shut the door and then open the door and pick the mug up and shut the door. | STEP 5: Move to the left and face the cabinet to the left of the microwave. | STEP 6: Put the mug in the cabinet to the left of the microwave and shut the door. | END"]} +{"id": "trial_T20190909_021200_669381-1", "input": "microwave a mug and then put it away in the cabinet ", "output": ["STEP 1: turn right and walk straight then turn right and walk straight towards the fridge and turn right then turn left at the counter and look up | STEP 2: open the cabinet and pick up the mug and close the door | STEP 3: turn right and walk straight then turn left towards the stove and look up | STEP 4: open the microwave door and put the mug inside and close the door and set the timer then open the door and remove the mug and close the door | STEP 5: turn left and walk straight then turn right towards the stove and look up | STEP 6: open the cabinet and put the mug inside and close the door | END"]} +{"id": "trial_T20190909_021200_669381-2", "input": "Place a heated mug in a cabinet.", "output": ["STEP 1: Walk ahead and veer right towards the fridge. Before getting there, go right a bit so you're facing the counter to the right of the fridge. | STEP 2: Take the mug out of the cabinet above the counter. | STEP 3: Take a few steps right to the microwave. | STEP 4: Heat the mug in the microwave. | STEP 5: Take a step left. | STEP 6: Place the mug in the cabinet directly to the left of the microwave. | END"]} +{"id": "trial_T20190908_161733_213242-0", "input": "Look at a mug in lamp light.", "output": ["STEP 1: Go to the desk in front of you, then look up to the shelves. | STEP 2: Pick up the mug from the shelf. | STEP 3: Look down to the lamp on the desk. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190908_161733_213242-1", "input": "Examine a mug by the light of a desk lamp.", "output": ["STEP 1: Walk forward to the mug on the desk in front of you. | STEP 2: Pick up the mug from the desk. | STEP 3: Walk slightly to the right and stand in front of the lamp on the desk. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190908_161733_213242-2", "input": "Examine a cup under a lamp.", "output": ["STEP 1: Walk to the computer desk in front of you. | STEP 2: Grab a cup from the shelf on the desk. | STEP 3: Go to the right of the desk. | STEP 4: Turn the lamp on. | END"]} +{"id": "trial_T20190907_163327_486300-0", "input": "Put two pillows on the couch.", "output": ["STEP 1: Turn around and walk to the couch and then turn left when you get to it. | STEP 2: Pick up the pillow on the left. | STEP 3: Turn left and walk to the middle of the couch on your left and face it. | STEP 4: Put the pillow in the middle of the couch where the two cushions meet. | STEP 5: Turn left and walk to the pillow. | STEP 6: Pick up the pillow. | STEP 7: Go back to where you put the first pillow. | STEP 8: Put this pillow standing up on end at the bottom of the pillow already there and to it's right. | END"]} +{"id": "trial_T20190907_163327_486300-1", "input": "Move both pillows from the blue chair to the tan sofa.", "output": ["STEP 1: Turn around and head to the right to face the blue chair. | STEP 2: Pick up the pillow to the left. | STEP 3: Turn around and face the middle of the tan sofa. | STEP 4: Place the pillow in the middle of the tan sofa. | STEP 5: Move to the left and face the blue chair. pick up the other pillow from the blue chair. | STEP 6: Pick up the other pillow from the blue chair. | STEP 7: Move to the right to face the tan sofa. | STEP 8: Place the pillow next to the other pillow. | END"]} +{"id": "trial_T20190907_163327_486300-2", "input": "Arrange cushion one and two taken from the grey chair on the white couch ", "output": ["STEP 1: turn around, then turn left to face the grey chair | STEP 2: pick up a cushion on the left | STEP 3: turn right, then look straight at the white, long couch | STEP 4: place the cushion on the couch to the left of the remote | STEP 5: return to the grey chair | STEP 6: pick up the last cushion on the chair | STEP 7: return to the long white couch | STEP 8: place the second cushion so that it is standing up vertically and to the right of the first cushion | END"]} +{"id": "trial_T20190908_091811_414150-0", "input": "Put chilled bread on the counter, right of the fridge. ", "output": ["STEP 1: Move forward, turn left after the sink to face the bread on the counter. | STEP 2: Pick up the bread across the counter to the left. | STEP 3: Turn around, bring the bread to the fridge on the left. | STEP 4: Chill the bread in the fridge. | STEP 5: Bring the chilled bread to the counter right of the fridge. | STEP 6: Put the bread on the counter right of the fridge. | END"]} +{"id": "trial_T20190908_091811_414150-1", "input": "place the cooled bread down on the kitchen counter", "output": ["STEP 1: walk forwards to the end of the kitchen island counter on your left, then turn left to face it | STEP 2: grab the bread off of the kitchen island counter | STEP 3: turn around and walk to the front of the fridge on the left | STEP 4: place the bread inside of the fridge to cool down, then take it back out again | STEP 5: turn left and walk over to the kitchen counter on the left to the left of the stove | STEP 6: place the bread down on the kitchen counter to the right of the toaster | END"]} +{"id": "trial_T20190908_091811_414150-2", "input": "Put a cooled loaf of bread on the counter above the dishwasher.", "output": ["STEP 1: Move to the end of the island on your left. | STEP 2: Pick up the loaf of bread closest to the sink. | STEP 3: Turn around and move to the front of the fridge. | STEP 4: Put the loaf of bread on the second shelf of the fridge for a few minutes and then remove it. | STEP 5: Move a few steps to the counter on your right. | STEP 6: Set the loaf of bread down on the counter above the dishwasher. | END"]} +{"id": "trial_T20190907_074524_006355-0", "input": "Move a watch to the inside of a small safe.", "output": ["STEP 1: Turn right and take a step forward, then turn left and walk up to the large wooden dresser. | STEP 2: Pick up the watch that is on top of the large wooden dresser. | STEP 3: Turn right and begin walking across the room, then hang a right and walk up to the small white safe on the ground. | STEP 4: Open the small white safe, place the watch inside, then close the safe door. | END"]} +{"id": "trial_T20190907_074524_006355-1", "input": "Take the watch on top of the chest of drawers put it inside the safe and lock it up.", "output": ["STEP 1: Go to the chest of drawers ahead of you. | STEP 2: Pick up the brown banded watch. | STEP 3: Take the watch across the room toward the safe. | STEP 4: Open the safe, set the watch inside the safe, close the safe. | END"]} +{"id": "trial_T20190907_074524_006355-2", "input": "place a watch in a safe box", "output": ["STEP 1: turn right then turn left towards the dresser | STEP 2: pick up the watch from the dresser | STEP 3: turn right and walk towards the sofa then turn right again towards the safe box | STEP 4: place the watch in the safe box | END"]} +{"id": "trial_T20190907_020329_050110-0", "input": "Place a cooked apple into the sink.", "output": ["STEP 1: Turn around to face the room and go left past the refrigerator, then turn to face the sink on the right. | STEP 2: Pick up the green apple from the left side of the sink. | STEP 3: Turn around and take the apple to the microwave behind you. | STEP 4: Put the apple in the microwave, cook it, and remove it. | STEP 5: Turn around to your left and go back to the sink. | STEP 6: Put the apple back in the sink. | END"]} +{"id": "trial_T20190907_020329_050110-1", "input": "Put a cooked apple in the sink.", "output": ["STEP 1: Turn around, turn to the left, and go to the sink to your right. | STEP 2: Pick up the apple that is to the right of the fork. | STEP 3: Turn around to the microwave above the stove. | STEP 4: Cook the apple in the microwave. | STEP 5: Turn around to the sink behind you. | STEP 6: Place the apple in the sink, to the right of the fork. | END"]} +{"id": "trial_T20190907_020329_050110-2", "input": "Heat the left apple in the microwave. ", "output": ["STEP 1: Move to the sink. | STEP 2: Pick up the apple in the sink on the left. | STEP 3: Bring the apple to the microwave. | STEP 4: Heat the apple in the microwave. | STEP 5: Bring the apple to the sink. | STEP 6: Put the apple in the sink, to the left of the other apple. | END"]} +{"id": "trial_T20190908_141942_810052-0", "input": "examine a CD with a lamp", "output": ["STEP 1: walk forward, turn right to face the desk | STEP 2: pick up the CD that is on the desk | STEP 3: turn right, walk across the room, turn left, walk past desk, turn left to face desk | STEP 4: turn the lamp on | END"]} +{"id": "trial_T20190908_141942_810052-1", "input": "Pick up the disc and turn the lamp on.", "output": ["STEP 1: Walk forward to the wooden desk on your left. | STEP 2: Pick up the disc on the corner of the desk. | STEP 3: Turn right at the desk and walk by the bed on your right. Turn left at the bed and walk forward to the wooden desk on your left. | STEP 4: Turn on the lamp on the desk. | END"]} +{"id": "trial_T20190908_141942_810052-2", "input": "examine a CD by the light of the lamp on the desk", "output": ["STEP 1: move forward to the desk and turn to face the desk | STEP 2: pick up the CD from the right corner of the desk | STEP 3: turn to the right and move toward the bed, turn to the left about half way moving towards the desk on the left side of the wall, turn to face the desk where the lamp is sitting | STEP 4: turn on the lamp that is on the desk | END"]} +{"id": "trial_T20190908_044139_261907-0", "input": "grab the phone from the blue sofa, turn on the lamp in the corner", "output": ["STEP 1: turn left, walk to the white sofa, turn left walk to the blue sofa | STEP 2: grab the phone on the blue sofa | STEP 3: turn right to the lamp | STEP 4: turn on the lamp | END"]} +{"id": "trial_T20190908_044139_261907-1", "input": "Turn on the living room lamp. ", "output": ["STEP 1: Turn to your left and go to the white couch, then turn to your left again and go to the blue arm chair, across the room. | STEP 2: Pick up the cell phone on the back of the arm chair's seat, behind the computer. | STEP 3: Turn to the lamp at your right, in the corner. | STEP 4: Turn on the lamp in the corner. | END"]} +{"id": "trial_T20190908_044139_261907-2", "input": "Inspect a phone with a lamp.", "output": ["STEP 1: move to the couch to the left of the fire place | STEP 2: pick up a phone from the couch | STEP 3: move to the left of the couch | STEP 4: turn on the lamp | END"]} +{"id": "trial_T20190909_103507_522012-0", "input": "Examine a key chain by the light of a floor lamp.", "output": ["STEP 1: Walk forward to the safe, then turn left and walk to the blue armchair. | STEP 2: Pick up the key chain in front of the remote control on the armchair. | STEP 3: Turn right and walk slightly forward to the tall lamp in front of you. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190909_103507_522012-1", "input": "Look at keys using an illuminated lamp.", "output": ["STEP 1: Cross the room and when you get to the sofa, head left to stand in front of the blue chair. | STEP 2: Pick up the leftmost set of keys from the chair. | STEP 3: Turn right to carry the keys closer to the lamp, which is between the chair and sofa. | STEP 4: Turn on the lamp to look at the keys. | END"]} +{"id": "trial_T20190909_103507_522012-2", "input": "Look at some keys under the light of a tall lamp.", "output": ["STEP 1: Turn around and hang a left to walk to the blue armchair. | STEP 2: Pick up the leftmost keys from the blue armchair. | STEP 3: Turn to face the tall lamp on the right. | STEP 4: Turn on the tall lamp. | END"]} +{"id": "trial_T20190906_185530_954329-0", "input": "Put the baseball bat on the bed", "output": ["STEP 1: Turn left and walk to the opposite corner of the room by the door | STEP 2: Pick up the baseball bat from the corner of the room | STEP 3: Turn around and walk over to the side of the bed | STEP 4: Put the bat down on the bed just right of the green books | END"]} +{"id": "trial_T20190906_185530_954329-1", "input": "To put a bat on a bed.", "output": ["STEP 1: Left away from the desk, right at the bed and take a left at the end of the bed then take a right and go forward to the wall. | STEP 2: Pick up the bat leaning against the wall. | STEP 3: Turn right and go to the desk take a right at the desk and a left at the bed, go forward take a right and turn around to the right to the bed. | STEP 4: Place the bat on the bed in front of the right laptop. | END"]} +{"id": "trial_T20190906_185530_954329-2", "input": "Bring bat from the wall to the bed.", "output": ["STEP 1: Take left, walk toward bed, take right, take left at end of bed, take right to bat | STEP 2: Pick up the bat on the wall | STEP 3: take right, walk to desk, take right to side of bed | STEP 4: Set the bat down on the bed | END"]} +{"id": "trial_T20190907_083507_594820-0", "input": "Put a warm cup in the cabinet.", "output": ["STEP 1: Turn around, move forward, turn right, move forward for the fridge, turn right, move forward, then turn left to approach the counter to the left of the stove. | STEP 2: Pick up the cup in the right cabinet, above the counter. | STEP 3: Turn right, move forward then turn left to face the stove. | STEP 4: Warm the cup in the microwave, above the stove. | STEP 5: Turn left, move forward, then turn right to face the counter next to the stove. | STEP 6: Place the cup in the cabinet above the counter, to the right. | END"]} +{"id": "trial_T20190907_083507_594820-1", "input": "Put a heated cup in a cabinet. ", "output": ["STEP 1: Head to the counter next to the stove on the left. | STEP 2: Open the cabinet above and pick up the green cup from in there. | STEP 3: Bring the cup to the microwave on the right. | STEP 4: Heat the cup in the microwave. | STEP 5: Bring the heated cup to the cabinet on the left next to the microwave. | STEP 6: Put the heated cup in the cabinet next to the microwave. | END"]} +{"id": "trial_T20190907_083507_594820-2", "input": "Put a warmed vase in the cupboard.", "output": ["STEP 1: Go left and then right to stand in front of the cabinet to the left of the microwave. | STEP 2: Open the upper cabinet on the right and take out the green vase. | STEP 3: Go to the right and stand in front of the microwave. | STEP 4: Put the vase in the microwave and turn it on and then take it out and shut the door. | STEP 5: Go left and face the cabinets to the left of the stove. | STEP 6: Open the upper cabinet, closest to the microwave, and put the vase in and shut the door. | END"]} +{"id": "trial_T20190909_174840_771703-0", "input": "Put chilled lettuce on the counter.", "output": ["STEP 1: Step forward, then turn left to face the counter near the dishwasher. | STEP 2: Pick up the lettuce nearest to you from the counter. | STEP 3: Turn around and move forward, then turn right to go to the fridge. | STEP 4: Open the fridge, put the lettuce inside and chill it, then take the lettuce out. | STEP 5: Turn right and move forward, then turn left at the dishwasher. | STEP 6: Place the lettuce on the counter. | END"]} +{"id": "trial_T20190909_174840_771703-1", "input": "put chilled lettuce on counter", "output": ["STEP 1: turn left to face counter | STEP 2: pick up the head of lettuce that is on the counter | STEP 3: turn left, walk to fridge, turn right | STEP 4: put the lettuce in fridge, wait a minute, take lettuce out | STEP 5: turn right, walk forward, turn left to face counter | STEP 6: put lettuce on counter | END"]} +{"id": "trial_T20190909_174840_771703-2", "input": "place a cold lettuce on the table", "output": ["STEP 1: move left to the table | STEP 2: pick up the lettuce | STEP 3: move left to the fridge | STEP 4: cool the lettuce for some time and take it out | STEP 5: turn right and head to the table | STEP 6: place the lettuce on the table | END"]} +{"id": "trial_T20190907_161817_163233-0", "input": "Place a microwaved potato into the black trash can.", "output": ["STEP 1: Walk to the sink on your left. | STEP 2: Pick up the potato from the sink. | STEP 3: Turn left and walk to the microwave above the stove. | STEP 4: Microwave the potato and then pick the potato up from the microwave. | STEP 5: Turn left and walk to the black trash can next to the counter. | STEP 6: Place the potato in the black trash can. | END"]} +{"id": "trial_T20190907_161817_163233-1", "input": "Put a heated potato into a trash bin.", "output": ["STEP 1: Move forward and face the kitchen sink on your left. | STEP 2: Pick up the potato that is in the sink. | STEP 3: Turn around to face the microwave that is above the stove behind you. | STEP 4: Place the potato between the two cups in the microwave and heat it before pulling it back out. | STEP 5: Turn left, walk until you reach the end of the kitchen island, then hang a left to face the trash bin. | STEP 6: Place the potato in the trash bin. | END"]} +{"id": "trial_T20190907_161817_163233-2", "input": "Microwave a potato and throw it away", "output": ["STEP 1: Walk forward and then turn left at the sink | STEP 2: Pick up a potato from in the sink | STEP 3: Turn to your left and then turn around to face the microwave | STEP 4: Cook the potato in the microwave for a few seconds and then pick it back up | STEP 5: Turn to your left, walk past the kitchen counter and then turn to face the trash can | STEP 6: Throw the potato in the trash can | END"]} +{"id": "trial_T20190910_160038_224287-0", "input": "To heat a tomato slice and place it in the sink.", "output": ["STEP 1: Walk around the left of the counter and turn left to face the knife on the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn around to face the sink. | STEP 4: Cut the tomato in the sink into slices. | STEP 5: Place the knife in the sink. | STEP 6: Pick up a slice of tomato in the sink. | STEP 7: Turn around to face the microwave. | STEP 8: Heat the tomato slice in the microwave and remove it. | STEP 9: Turn around to face the sink. | STEP 10: Place the tomato slice in the sink. | END"]} +{"id": "trial_T20190910_160038_224287-1", "input": "Cut the tomato and warm it placing it back in the sink", "output": ["STEP 1: turn left and then turn right at the fridge going just pass it to the counter on the left | STEP 2: pick up the knife on the counter | STEP 3: turn left and then right crossing over to the sink | STEP 4: cut a slice out of the tomato | STEP 5: place knife in the sink and pick up tomato slice | STEP 6: turn around and go to the microwave over the stove | STEP 7: place tomato in the microwave | STEP 8: close the door and turn on for several seconds and then take it out and close the door | STEP 9: turn around and go back to the sink | STEP 10: place the tomato in the sink | END"]} +{"id": "trial_T20190910_160038_224287-2", "input": "Put a warm tomato slice in the sink. ", "output": ["STEP 1: Turn to your left, go to the refrigerator, then turn right and go to the first counter on your left. | STEP 2: Pick up the knife on the back of the counter, behind the lettuce. | STEP 3: Turn around and go to the sink. | STEP 4: Cut the tomato in the sink into slices. | STEP 5: Place the knife in the sink. | STEP 6: Pick up one of the tomato slices. | STEP 7: Turn around and go to the microwave above the stove. | STEP 8: Place the tomato slice in the microwave, heat it up, then remove the tomato slice from the microwave. | STEP 9: Turn back around to the sink. | STEP 10: Place the tomato slice in the sink. | END"]} +{"id": "trial_T20190909_121559_082363-0", "input": "Put a cold coffee up in the bottom cabinet. ", "output": ["STEP 1: Turn left for one step, turn left again and walk to the refrigerator, turn right for three steps and turn left to face the counter and look up at the cabinets. | STEP 2: Open both doors on the left cabinet, take the coffee mug out of the cabinet and then shut the doors. | STEP 3: Bring the coffee mug down then turn around for one step, turn right for four steps and turn right to face the refrigerator. | STEP 4: Open the refrigerator and put the coffee mug on the second shelf, near the front edge a few inches off center to the right. and shut the door, wait a few seconds then open the fridge, take the cup out and shut the door. | STEP 5: Turn around for one step, turn left for two steps then turn left and stop. | STEP 6: Open the bottom cabinet to the right of the refrigerator and then put the cup in toward the front and shut the cabinet door. | END"]} +{"id": "trial_T20190909_121559_082363-1", "input": "Chill a cup and place it in the lower cupboard", "output": ["STEP 1: Move to the right of the refrigerator to the counter | STEP 2: Open the cupboard door above and take out the cup in the cupboard | STEP 3: close the cupboard door, turn to the right, and carry the cup to the refrigerator | STEP 4: Open the refrigerator door, place the cup inside the refrigerator on the shelf, close the refrigerator door, wait, open the refrigerator door, and take out the cup | STEP 5: Turn to the right of the refrigerator and open the lower cupboard door | STEP 6: Put the cup in the lower cupboard and close the door | END"]} +{"id": "trial_T20190909_121559_082363-2", "input": "Chill a cup and place it in the cabinet.", "output": ["STEP 1: Turn around and then left. Turn right to move past the island, but turn left to face the counter. | STEP 2: Open the top cabinet and remove the cup. Shut the door. | STEP 3: Hold the cup and look down, then turn to the left and face the fridge. | STEP 4: Open the fridge and place the cup inside. Shut the door. Open the door and take the cup out. Shut the door. | STEP 5: Hold the cup and take a few steps to the right. | STEP 6: Open the bottom cabinet and place the cup inside. Shut the cabinet. | END"]} +{"id": "trial_T20190908_145050_918567-0", "input": "place a microwaved apple inside the garbage bin", "output": ["STEP 1: walk forwards a bit to the garbage bin on your left | STEP 2: grab the apple out of the garbage bin | STEP 3: turn left and walk over to the kitchen stove at the near end of the right side of the room, then look up at the microwave above the stove | STEP 4: place the apple inside of the microwave, cook it, then take it back out | STEP 5: turn left and walk over to the fridge on the right side of the room, but then turn left to walk over to the garbage bin again up ahead on the floor | STEP 6: place the apple inside of the garbage bin | END"]} +{"id": "trial_T20190908_145050_918567-1", "input": "Put a cooked apple in the trash can.", "output": ["STEP 1: Turn left and go to the front of the trash can. | STEP 2: Pick up the apple on the right in the trash can. | STEP 3: Turn left and then go right to the stove. | STEP 4: Put the apple in the microwave above the stove, cook the apple and then take it out. | STEP 5: Turn left, go to the fridge and turn left again and go to the trash can. | STEP 6: Put the cooked apple in the trash can next to the other apple. | END"]} +{"id": "trial_T20190908_145050_918567-2", "input": "Put a heated apple in the trash can. ", "output": ["STEP 1: Move around the trash can in front of you, face the trash can by the end of the island. | STEP 2: Pick up the apple on the right side of the trash can. | STEP 3: Turn left, go to the fridge, turn right, go to the stove, turn left and bring the apple to the microwave over the stove. | STEP 4: Heat the apple in the microwave over the stove. | STEP 5: Take the heated apple from the microwave, head back around the island to the left, face the trash can. | STEP 6: Put the apple in the right side of the trash can. | END"]} +{"id": "trial_T20190908_113610_425142-0", "input": "To heat an egg and place it inside the black bin. ", "output": ["STEP 1: Turn left, turn left at the window to face the counter with the coffee maker on it. | STEP 2: Pick up the egg in front of the coffee maker on the counter. | STEP 3: Turn left and walk to the stove on the right, look up above the stove at the microwave. | STEP 4: Open the microwave door, place the egg inside the microwave, heat the egg, open the microwave door, take the egg out of the microwave. | STEP 5: Turn left, turn left at the end of the island and face the black bin on the floor. | STEP 6: Put the egg inside of the black bin on the floor. | END"]} +{"id": "trial_T20190908_113610_425142-1", "input": "Dispose the heated egg in the trash bin", "output": ["STEP 1: Turn left move forward then face the counter with coffee maker | STEP 2: Pick up the egg in front of the coffee maker | STEP 3: Turn left then head to the microwave | STEP 4: Open the microwave put in and out the egg then close the microwave | STEP 5: Turn left then walk forward head to the trash bin on your left | STEP 6: Drop the egg in the trash bin | END"]} +{"id": "trial_T20190908_113610_425142-2", "input": "Put a heated egg in the trash can. ", "output": ["STEP 1: Turn left, move to the window, turn left, go to the egg on the counter. | STEP 2: Pick up the egg on the counter. | STEP 3: Bring the egg to the left, to the microwave over the stove. | STEP 4: Heat the egg in the microwave. | STEP 5: Bring the heated egg to the left, around the side of the island, to the trash can next to the island. | STEP 6: Put the egg in the trash can. | END"]} +{"id": "trial_T20190908_092954_222448-0", "input": "Place a skillet containing a spoon into a sink. ", "output": ["STEP 1: Turn around to the right and walk around the island to the far side. | STEP 2: Pick up the spoon from beside the plant. | STEP 3: Turn to the left and walk to the stove. | STEP 4: Place the spoon into the front left skillet | STEP 5: Pick up the skillet. | STEP 6: Turn to the left and walk to the sink. | STEP 7: Place the skillet into the sink. | END"]} +{"id": "trial_T20190908_092954_222448-1", "input": "To take the dishes to the sink. ", "output": ["STEP 1: Take one step forward then turn right and walk across the room, then turn right and take two steps, then turn right to face the counter. | STEP 2: Take the spoon that is on the counter behind the plant. | STEP 3: Turn to the right and walk across the room, then turn left and take two steps, then turn right. | STEP 4: Place the spoon on the plate on the left side of the stove. | STEP 5: Pick up the plate with the spoon on it. | STEP 6: Turn around and walk to the sink. | STEP 7: Place the plate with the spoon in the sink. | END"]} +{"id": "trial_T20190908_092954_222448-2", "input": "Put a pan with a spoon in it in the sink.", "output": ["STEP 1: Walk over to the fridge, then turn right and walk across the room and turn right then walk over to the end of the kitchen island. | STEP 2: Pick up the metal table spoon off of the kitchen island. | STEP 3: Turn right and walk around the kitchen island to the oven. | STEP 4: Put the table spoon in the metal pan that is on the front left burner of the stove. | STEP 5: Pick up the metal pan with the spoon in it. | STEP 6: Walk up to the sink that is behind you in the kitchen island. | STEP 7: Put the pan with the spoon in it into the sink basin. | END"]} +{"id": "trial_T20190908_115403_911841-0", "input": "To wash a slice of lettuce and place it in the trash can.", "output": ["STEP 1: Turn left and walk forward to face the counter to the right of the fridge. | STEP 2: Pick up the knife on the counter. | STEP 3: Look down to face the lettuce on the counter. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around and step forward to face the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn around and step forward to face the lettuce on the counter. | STEP 8: Pick up the slice of lettuce on the counter. | STEP 9: Turn around and step forward to face the sink. | STEP 10: Wash the lettuce slice in the sink and then remove it. | STEP 11: Walk around the right side of the center table to face the trash can. | STEP 12: Place the lettuce slice in the trash can. | END"]} +{"id": "trial_T20190908_115403_911841-1", "input": "Put a rinsed slice of lettuce in the trash.", "output": ["STEP 1: Turn around, go pass the fridge and turn left to face the toaster. | STEP 2: Pick up the knife to the right of the toaster. | STEP 3: Look down at the lettuce on the counter. | STEP 4: Cut the lettuce on the counter. | STEP 5: Turn right and go to the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn around and go back to the counter with the toaster. | STEP 8: Pick up a slice of lettuce. | STEP 9: Turn around and go back to the sink. | STEP 10: Rinse the lettuce in the sink and pick it up. | STEP 11: Turn right, go to the end of the counter and turn left to go to the trash can. | STEP 12: Put the lettuce in the trash can behind the right bottle. | END"]} +{"id": "trial_T20190908_115403_911841-2", "input": "Put a washed slice of lettuce in a bin", "output": ["STEP 1: Go to the toaster | STEP 2: Pick up the knife next to the toaster | STEP 3: Look down at the lettuce | STEP 4: Cut the lettuce | STEP 5: Go to the sink | STEP 6: Put the knife in the sink | STEP 7: Go to the cut lettuce | STEP 8: Pick up a slice of lettuce | STEP 9: Go to the sink | STEP 10: Wash the lettuce | STEP 11: Go to the black bin | STEP 12: Put the lettuce in the black bin | END"]} +{"id": "trial_T20190908_131500_521936-0", "input": "Put a microwaved chunk of apple on the counter.", "output": ["STEP 1: Turn right and walk to the wall then turn right and walk to the window then turn left to face the coffee maker then take a step to your left please. | STEP 2: Pick up the knife that's in front of you. | STEP 3: Turn left and walk to the sink on your left turning left once you get there to face the sink,. | STEP 4: Cut the apple in the sink into three chunks,. | STEP 5: Put the knife in the sink horizontally near the bottom left corner of the sink. | STEP 6: Pick up one of the chunks of apple. | STEP 7: Turn left and take one step then turn left and walk to the microwave. | STEP 8: Cook the chunk of apple in the microwave then take it back out and close the door. | STEP 9: Turn right and walk to the wall then turn right and walk to the counter to your right and turn right to face it when you get there. | STEP 10: Put the chunk of apple on the counter please. | END"]} +{"id": "trial_T20190908_131500_521936-1", "input": "Put a heated apple piece on the counter. ", "output": ["STEP 1: Turn around and go to the counter on the right of the stove. | STEP 2: Pick up the gray knife on the counter | STEP 3: Turn around and go to the front of the sink on the right. | STEP 4: Cut the green apple inside the sink | STEP 5: Place the gray knife inside the sink. | STEP 6: Pick up one piece of the apple out from the sink. | STEP 7: Turn around and go to the microwave above the stove. | STEP 8: Heat the cut apple in front of the green cup in the microwave and take it out. | STEP 9: Turn around and go to the left side of the kitchen island. | STEP 10: Place the heated apple on the counter towards the edge. | END"]} +{"id": "trial_T20190908_131500_521936-2", "input": "Put a heated apple slice on the kitchen island", "output": ["STEP 1: Go to the coffeemaker | STEP 2: Pick up a knife from the counter | STEP 3: Go to the sink | STEP 4: Cut the apple in the sink | STEP 5: Put the knife down in the sink | STEP 6: Pick up an apple slice | STEP 7: Go to the microwave | STEP 8: Heat the apple slice | STEP 9: Go to the kitchen island | STEP 10: Put the apple slice down | END"]} +{"id": "trial_T20190907_020403_745438-0", "input": "Use the microwave to heat an apple.", "output": ["STEP 1: Turn around and walk halfway to the door, then turn right and walk to the fridge, then turn right and walk to the sink and face it. | STEP 2: Take the apple from the sink. | STEP 3: Turn around and look up at the microwave above the stove. | STEP 4: Heat the apple in the microwave then take it out. | STEP 5: Turn around and face the sink. | STEP 6: Put the apple in the sink. | END"]} +{"id": "trial_T20190907_020403_745438-1", "input": "Place a heated apple in the sink.", "output": ["STEP 1: Turn around and move towards the door next to the shelves. Turn right and move towards the refrigerator and turn right once past the black rubbish bin. Move to the sink and turn right to face the sink. | STEP 2: Pick up the green apple in the corner of the sink to the right of the mug. | STEP 3: Turn left and move to the oven and then turn left to face the microwave above the oven. | STEP 4: Place the green apple on the plate in the microwave, microwave the green apple, then open the microwave and pick up the green apple. | STEP 5: Turn left and move to the sink in the kitchen island. | STEP 6: Place the green apple in the sink between the two onions in front of the drain. | END"]} +{"id": "trial_T20190907_020403_745438-2", "input": "Put a cooked apple in a sink. ", "output": ["STEP 1: Turn around and go towards the door, take a right and go towards the fridge, take a right and go to the sink on your right. | STEP 2: Pick up the green apple that is in the sink. | STEP 3: Turn around and go to the microwave that is above the stove. | STEP 4: Open the microwave, put the apple inside, close the door, turn the microwave on to cook, remove the apple from the microwave and close the door. | STEP 5: Turn around and go back to the sink. | STEP 6: Put the apple in the sink between the two eggs. | END"]} +{"id": "trial_T20190907_020403_745438-3", "input": "Put an apple into a microwave to cook it", "output": ["STEP 1: Turn around and walk to the sink that is on your right | STEP 2: Pick up the green apple out of the sink | STEP 3: Turn around and walk to the microwave that is above the stove | STEP 4: Open the microwave and place the apple inside to the left of the green cup | STEP 5: Close the door and turn the microwave on then open the microwave and pick up the apple | STEP 6: Turn around and place the apple in the sink between the two eggs closest to you | END"]} +{"id": "trial_T20190908_092900_630408-0", "input": "Put a spoon and pan into the sink at once.", "output": ["STEP 1: Walk to the coffee maker on the end of the counter. | STEP 2: Grab the spoon from the counter. | STEP 3: Go to the stove and focus on the top left burner. | STEP 4: Place the spoon in the pan. | STEP 5: Grab the pan from the stove. | STEP 6: Turn around and go to the kitchen sink. | STEP 7: Place the pan and spoon in the sink. | END"]} +{"id": "trial_T20190908_092900_630408-1", "input": "Place a pan and spoon in a sink", "output": ["STEP 1: Go to the counter right of the stove | STEP 2: Pick up a spoon on the counter | STEP 3: Go to the stove | STEP 4: Place the spoon in a pan | STEP 5: Pick up the pan from the stove | STEP 6: Turn to the sink | STEP 7: Place the pan and spoon in the sink | END"]} +{"id": "trial_T20190908_092900_630408-2", "input": "Move spoon to pan on stove, move both to sink.", "output": ["STEP 1: Turn right, proceed to wall. Turn left to face counter with coffee maker on it. | STEP 2: Pick up spoon from counter, behind shaker. | STEP 3: Turn left, proceed to stove on right. Turn right to face stove. | STEP 4: Put spoon standing up in pan on right back burner of stove. | STEP 5: Pick up pan with spoon from right back burner of stove. | STEP 6: Turn around and go to sink. | STEP 7: Put pan with spoon in center of sink. | END"]} +{"id": "trial_T20190908_091835_825830-0", "input": "Put a cool loaf of bread on the counter.", "output": ["STEP 1: Move to the right and face the counter with the bread on it. | STEP 2: Pick up the bread from the counter. | STEP 3: Bring the bread with you and move to face the white fridge. | STEP 4: Put the bread in the fridge on the middle shelf and let it get cool, then take it out again. | STEP 5: Bring the bread with you and move back to the right, then turn left and face the counter to the left of the stove. | STEP 6: Put the bread down on the counter. | END"]} +{"id": "trial_T20190908_091835_825830-1", "input": "Put a chilled loaf of bread on the counter.", "output": ["STEP 1: Walk up to the fridge, then turn right and walk forward, turn right to face the kitchen island. | STEP 2: Pick up the loaf of bread off of the kitchen island. | STEP 3: Turn right and walk over to the fridge. | STEP 4: Put the loaf of bread in the fridge and let it get cold for a couple seconds, then open the fridge and take out the loaf of bread, after that close the fridge. | STEP 5: Turn right and begin walking across the room, then turn left to face the counter. | STEP 6: Put the chilled loaf of bread on the counter to the right of the toaster. | END"]} +{"id": "trial_T20190908_091835_825830-2", "input": "Place a loaf of bread on a counter.", "output": ["STEP 1: Turn right and hang a left at the silver dishwasher to reach the counter. | STEP 2: Pick up the loaf of bread on the right side of the counter. | STEP 3: Turn right and walk to the white fridge on the right. | STEP 4: Put the loaf of bread inside the fridge on the second shelf, chill it for seven seconds, remove it and close the door. | STEP 5: Turn right and walk to the counter on the left with the silver dishwasher. | STEP 6: Put the loaf of bread on the counter to the right of the toaster. | END"]} +{"id": "trial_T20190906_214648_973919-0", "input": "Examine the bat with the light on the desk. ", "output": ["STEP 1: Turn around to face the bat on the ground. | STEP 2: Pick up the bat on the ground. | STEP 3: Bring the bat to the lamp on the desk. | STEP 4: Turn on the lamp on the desk. | END"]} +{"id": "trial_T20190906_214648_973919-1", "input": "turn a lamp on while holding a baseball bat", "output": ["STEP 1: turn around and face the wall with the bat on the floor | STEP 2: pick the baseball bat up off of the floor | STEP 3: turn around and maneuver of to the desk at the opposite corner of the room | STEP 4: turn the lamp on on the desk | END"]} +{"id": "trial_T20190906_214648_973919-2", "input": "Examine a bat by the light of a lamp.", "output": ["STEP 1: Turn right, head towards the door, turn right and head towards the bat on the floor. | STEP 2: Pick up the bat from the floor. | STEP 3: Turn around, head towards the bed, turn left towards the edge of the bed, turn right towards the middle of the bed, turn left towards the wall, and turn left to face the lamp on the desk. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190909_064309_357168-0", "input": "Throw both pieces of soap into the trash can.", "output": ["STEP 1: move forward and then turn left and then move forwards to the sink | STEP 2: pick up the soap off of the toilet | STEP 3: turn around and move forward to the wall and then turn right and move forward towards the trash | STEP 4: throw the soap in to the trash can | STEP 5: turn around and move forward and then then turn left and move forward to the toilet again | STEP 6: pick up the soap on the toilet | STEP 7: turn around and move forward and then turn right and move forward to the trash can | STEP 8: throw the soap into the trash | END"]} +{"id": "trial_T20190909_064309_357168-1", "input": "Putting two bars of soap in the trash can", "output": ["STEP 1: Go to the toilet | STEP 2: Grab a bar of soap that's on the toilet | STEP 3: Turn around and go to the trash can | STEP 4: Put the soap in the trash can | STEP 5: Turn around and go to the toilet | STEP 6: Grab a bar of soap off of the toilet | STEP 7: Turn around and go to the trash can | STEP 8: Put the soap in the trash can | END"]} +{"id": "trial_T20190909_064309_357168-2", "input": "To move two bars of soap from the back of the toilet to the trash can.", "output": ["STEP 1: Turn left and face the back of the sink. | STEP 2: Pick up the bar of soap on the back of the toilet. | STEP 3: Turn around and cross the room to face the trash can in the corner of the room. | STEP 4: Place the soap in the trash can. | STEP 5: Turn around and cross the room to face the back of the toilet. | STEP 6: Pick up the bar of soap on the back of the toilet. | STEP 7: Turn around and cross the room to face the trash can in the corner of the room. | STEP 8: Place the soap in the trash can. | END"]} +{"id": "trial_T20190907_061009_396474-0", "input": "Put two apples on a counter the cut them into pieces.", "output": ["STEP 1: Go forward to the window, turn left, go forward to the counter, turn right, go forward, turn left at the sink, go to the sink. | STEP 2: Take the apple closer to you from the sink. | STEP 3: Turn left, go forward to the window, turn left, go forward to the counter. | STEP 4: Put the apple on the counter to the left of the phone. | STEP 5: Turn left, go forward, turn left at the sink, go to the sink. | STEP 6: Take the apple from the sink. | STEP 7: Turn left, go forward to the window, turn left, go forward to the counter. | STEP 8: Put the apple on the counter to the right of the salt. | STEP 9: Turn left, go forward, turn right at the counter to the right of the stove top. | STEP 10: Take the small knife from under the lettuce. | STEP 11: Turn right, go forward, turn left at the counter with the apples. | STEP 12: Cut both apples into pieces on the counter. | END"]} +{"id": "trial_T20190907_061009_396474-1", "input": "To cut apples on the counter with a knife. ", "output": ["STEP 1: Turn left and walk to the kitchen sink on the left. | STEP 2: Pick up the green apple closest to you. | STEP 3: Turn around and move to the counter with the coffee maker. | STEP 4: Put the apple down to the left of the cell phone. | STEP 5: Turn around and walk back to the sink. | STEP 6: Pick up the remaining apple in the sink. | STEP 7: Turn around and walk back to the counter with the first apple on it. | STEP 8: Put the apple down to the right of the salt shaker. | STEP 9: Move to the counter that's to the left of the stove. | STEP 10: Pick up the knife that's underneath the head of lettuce on the right. | STEP 11: Move back to the counter with coffee maker on it. | STEP 12: Cut both apples with the knife. | END"]} +{"id": "trial_T20190907_061009_396474-2", "input": "Place two apples on the counter, section both.", "output": ["STEP 1: Turn left, move to the counter in front of the sink. | STEP 2: Pick up the apple, that is closest to the edge, from the sink. | STEP 3: Turn left, move to the counter near the coffee maker. | STEP 4: Place the apple to the left of the cell phone. | STEP 5: Turn left, move to the counter in front of the sink. | STEP 6: Pick up the apple from the sink. | STEP 7: Turn left, move to the counter near the coffee maker. | STEP 8: Place the apple to the right of the salt shaker. | STEP 9: Turn left , move to the counter left of the stove. | STEP 10: Pick up the knife that is under the right piece of lettuce. | STEP 11: Turn right, move to the counter near the coffee maker. | STEP 12: Slice the left and right apple into sections. | END"]} +{"id": "trial_T20190907_061009_396474-3", "input": "Cut two apples that are on a counter. ", "output": ["STEP 1: Turn to the left, go to the counter, hang a left, go forward to the sink that is on the left. | STEP 2: Pick up the apple in the sink that is furthest from the faucet. | STEP 3: Turn to the left, go to the wall, turn to the counter on the left where the coffee maker is. | STEP 4: Put the apple on the counter to the left of the phone. | STEP 5: Turn to the left, go forward to the sink that is on the left. | STEP 6: Pick up the apple that is in the sink. | STEP 7: Turn to the left, go to the wall, turn to the counter on the left where the coffee maker is. | STEP 8: Put the apple on the counter to the left of the salt shaker. | STEP 9: Turn to the left, go forward to the counter on the right where the lettuce is. | STEP 10: Pick up the butter knife that is underneath the leftmost head of lettuce. | STEP 11: Turn to the right, go to the wall, turn to the counter on the left where the apples are. | STEP 12: Use the knife to cut the leftmost apple, then use the knife to cut the rightmost apple. | END"]} +{"id": "trial_T20190907_061009_396474-4", "input": "Place two cut up green apples on the counter to the right of the stove.", "output": ["STEP 1: Turn left and walk to the sink. | STEP 2: Pick up the green apple closest to you. | STEP 3: Turn left and walk to the coffee machine. | STEP 4: Place the green apple to the left of the phone on the counter. | STEP 5: Turn left and walk to the sink. | STEP 6: Pick up the green apple from the sink. | STEP 7: Turn left and walk to the coffee machine. | STEP 8: Place the apple to the right of the salt on the counter. | STEP 9: Turn left and walk to the knife closest to the stove. | STEP 10: Pick up the knife closest to the stove. | STEP 11: Turn right and walk to the coffee machine. | STEP 12: Cut up both apples on the counter. | END"]} +{"id": "trial_T20190907_061009_396474-5", "input": "Bring two apples in the sink to the counter to slice.", "output": ["STEP 1: Turn left and move around the kitchen island to face the sink. | STEP 2: Pick up the apple closest to you in the sink. | STEP 3: Turn left and face the coffee maker on the counter. | STEP 4: Place the apple on the counter to the left of the coffee maker. | STEP 5: Turn left and move to the sink again. | STEP 6: Pick up the remaining apple in the sink. | STEP 7: Turn left and face the coffee maker on the counter. | STEP 8: Place the apple on the counter to the right of the coffee maker. | STEP 9: Turn left and head to the counter to the left of the oven. | STEP 10: Pick up the knife underneath the lettuce on the counter. | STEP 11: turn right and go to the coffee maker. | STEP 12: Slice the two apples on the counter with the knife. | END"]} +{"id": "trial_T20190909_110347_624008-0", "input": "put a knife in the sink before standing it on the counter", "output": ["STEP 1: go to the counter to the left of the stove | STEP 2: pick up the knife from the counter | STEP 3: take the knife to the sink | STEP 4: put the knife in the sink then take back out | STEP 5: take the knife back to the counter | STEP 6: stand the knife on the counter to the left of the phone | END"]} +{"id": "trial_T20190909_110347_624008-1", "input": "Put a large clean knife on the counter.", "output": ["STEP 1: Turn left and walk towards the door, then turn right and walk up to the fridge and turn right, then walk over to the section of counter to the left of the stove. | STEP 2: Pick up the large metal knife off of the counter. | STEP 3: Walk over to the sink behind you. | STEP 4: Wash the large metal knife in the sink and then pick it back up. | STEP 5: Turn right and walk forward, then turn right and walk up to the counter. | STEP 6: Put the large clean knife on the counter in front of the tomato. | END"]} +{"id": "trial_T20190909_110347_624008-2", "input": "wash the knife and place it by the tomato", "output": ["STEP 1: Turn around and cross the kitchen to the counter beside the stove | STEP 2: pick up the knife sitting on the counter behind the potato and turn left | STEP 3: turn around and go to the sink | STEP 4: place the knife in the sink and turn on the water to wash it then pick it back up | STEP 5: turn around and go back to the counter with the tomato | STEP 6: place the knife by the tomato | END"]} +{"id": "trial_T20190912_221016_460197-0", "input": "Place two salt shakers in a drawer.", "output": ["STEP 1: Turn around and walk ahead and veer right around the counter to face the counter to the right of the sink. | STEP 2: Pick up the salt shaker on the counter. | STEP 3: Turn left and walk to the left side of the stove. | STEP 4: Place the shaker in the top drawer to the left of the stove, in the front left corner. | STEP 5: Take a step left. | STEP 6: Pick up the salt shaker on the counter. | STEP 7: Take a step right. | STEP 8: Put the salt shaker in the top drawer behind the first one. | END"]} +{"id": "trial_T20190912_221016_460197-1", "input": "Place two salt shakers in a kitchen drawer.", "output": ["STEP 1: Turn to the right and move to the brown door, then turn right and move to the refrigerator, then turn right and move to the counter of the kitchen island between the sink and the black garbage bin. | STEP 2: Pick up the salt shaker between the knife and the spatula from the counter of the kitchen island. | STEP 3: Turn left and move to the front of the range. | STEP 4: Open the top drawer to the left of the range, place the salt shaker in the drawer, then close the drawer. | STEP 5: Turn left and move to the front of the dishwasher. | STEP 6: Pick up the salt shaker to the rear of the spatula and to the right of the knife with the gold handle. | STEP 7: Move to the right and face the range. | STEP 8: Open the top drawer to the left of the range, place the salt shaker in the drawer to the rear of the salt shaker already there, then close the drawer. | END"]} +{"id": "trial_T20190912_221016_460197-2", "input": "Put salt and pepper in the kitchen drawer", "output": ["STEP 1: Turn to your right four times until you are facing the kitchen counter | STEP 2: Pick up a salt shaker from off of the counter | STEP 3: Turn to your left twice so you are facing the oven | STEP 4: Open the drawer and put the salt in it | STEP 5: Move a step to your left | STEP 6: Pick up the pepper shaker off of the counter | STEP 7: Move a step to your right | STEP 8: Open the drawer and put the pepper in it | END"]} +{"id": "trial_T20190908_044123_416784-0", "input": "Examine a phone by the light of the lamp in the corner. ", "output": ["STEP 1: Head to the long black table on the left in the corner. | STEP 2: Pick up the phone on the table. | STEP 3: Turn around, bring the phone to the lamp in the corner. | STEP 4: Turn on the lamp in the corner. | END"]} +{"id": "trial_T20190908_044123_416784-1", "input": "Inspect a phone with a lamp.", "output": ["STEP 1: move to the end table ahead of you | STEP 2: pick up a phone from the table | STEP 3: move to a lamp behind you | STEP 4: turn on the lamp | END"]} +{"id": "trial_T20190908_044123_416784-2", "input": "Pick up a phone and turn a lamp on.", "output": ["STEP 1: Move to the front of the desk and turn to face the right side. | STEP 2: Pick the phone up from the desk. | STEP 3: Turn around and cross the room to stand in front of the lamp. | STEP 4: Turn the lamp on. | END"]} +{"id": "trial_T20190908_032543_712058-0", "input": "Put a cleaned pan on a counter top.", "output": ["STEP 1: Turn left and walk to the stove top on the left side of the room. | STEP 2: Pick up the pan from the stove top. | STEP 3: Turn around and walk to the sink. | STEP 4: Put the pan in the sink, rinse it off, and take it back out of the sink. | STEP 5: Turn around and walk to the counter top by the toaster. | STEP 6: Put the pan on the counter top, in front of and to the right of the toaster. | END"]} +{"id": "trial_T20190908_032543_712058-1", "input": "Place a washed pan on a counter.", "output": ["STEP 1: Turn around, walk, turn right to enter the kitchen, and walk to the stove. | STEP 2: Pick up the pan from the front right burner of the stove. | STEP 3: Turn around and walk to the sink. | STEP 4: Wash the pan in the sink and pick it up again. | STEP 5: Turn around and walk to the counter to the left of the sink. | STEP 6: Place the pan on the counter to the right of the toaster. | END"]} +{"id": "trial_T20190908_032543_712058-2", "input": "Put a clean skillet on a counter to the right of a toaster.", "output": ["STEP 1: Turn left and go to the left of the kitchen island, moving forward until you reach the stove on the left, then turn to face the stove. | STEP 2: Pick up the dirty skillet from the stove. | STEP 3: Turn around to your left and go to the sink. | STEP 4: Wash the skillet in the sink. | STEP 5: Face the opposite direction and go the the opposite counter. | STEP 6: Put the skillet on the counter above the dishwasher, to the right of the toaster. | END"]} +{"id": "trial_T20190907_033306_962974-0", "input": "put a cooled potato inside the microwave", "output": ["STEP 1: walk over to the kitchen sink | STEP 2: grab a potato out of the sink | STEP 3: walk over to the refrigerator | STEP 4: place the potato inside the fridge, and then take it back out | STEP 5: walk the potato over to the kitchen stove | STEP 6: put the potato in the microwave above the kitchen stove and close the door | END"]} +{"id": "trial_T20190907_033306_962974-1", "input": "Put a chilled potato into the microwave.", "output": ["STEP 1: Turn left and go to the fridge, then go to the sink on your right and face it. | STEP 2: Pick up the potato from the sink. | STEP 3: Turn right and carry the potato to the fridge. | STEP 4: Put the potato on the center front of the top fridge shelf and close the fridge door, then open the fridge and take it out again and re-close the door. | STEP 5: Turn right and go to the stove on your left, then turn to face the stove. | STEP 6: Put the potato into the microwave above the stove, then close the microwave door. | END"]} +{"id": "trial_T20190907_033306_962974-2", "input": "Put the potato in the microwave. ", "output": ["STEP 1: Move over to the sink. | STEP 2: Pick up the potato in the sink. | STEP 3: Bring the potato to the fridge. | STEP 4: Chill the potato in the fridge for 7 seconds. | STEP 5: Take that potato to the microwave. | STEP 6: Place the potato in the microwave. | END"]} +{"id": "trial_T20190908_021510_064551-0", "input": "Put a plunger in the cabinet beneath the sink", "output": ["STEP 1: Walk forward four steps, turn left for four steps and stop to the left of the toilet. | STEP 2: Pick up the plunger from the floor, between the sink and the toilet. | STEP 3: Turn around and walk three steps, turn around again and face the sink. | STEP 4: Open the left cabinet door under the sink, place the plunger in the cabinet on the front right. | END"]} +{"id": "trial_T20190908_021510_064551-1", "input": "Place a toilet plunger in the bathroom vanity.", "output": ["STEP 1: Move forward towards the shower stall then turn left and face the sink. | STEP 2: Pick up the turquoise toilet plunger from the floor between the sink and the toilet. | STEP 3: Turn around and move towards the bathroom door then turn around and face the bathroom vanity. | STEP 4: Open the vanity cabinet door beneath the sink closest to the toilet, place the plunger in front of the green soap dispenser bottle, and then close the vanity cabinet door. | END"]} +{"id": "trial_T20190908_021510_064551-2", "input": "drop a plunger inside a cupboard", "output": ["STEP 1: move left towards the toilet | STEP 2: pick up the plunger beside the toilet | STEP 3: move left towards the cupboard | STEP 4: drop the plunger inside the cupboard | END"]} +{"id": "trial_T20190907_221355_558505-0", "input": "Pick up the white coffee cup, fill it in the sink, place it in the coffee maker. ", "output": ["STEP 1: Turn to the left, then turn right, walk in between the counter tops. Face the counter top to the left of the stove. | STEP 2: Pick up the white coffee cup to the right of the trophy. | STEP 3: Turn around to face the sink. | STEP 4: Put the coffee cup in the sink, turn on the water, turn off the water and pick up the coffee cup. | STEP 5: Turn left walk forward to face the coffee maker. | STEP 6: Place the coffee cup in the coffee maker. | END"]} +{"id": "trial_T20190907_221355_558505-1", "input": "Rinse a mug and take it to the coffee maker.", "output": ["STEP 1: Turn to the left, and then the right and right again to the back of the kitchen. | STEP 2: Pick up the mug from the middle of the counter. | STEP 3: Take the mug and turn around to the sink. | STEP 4: Place the mug in the sink, turn the water on and then off. Pick up the mug. | STEP 5: Carry the mug and move to the right, and face left to the coffee machine. | STEP 6: Place the mug under the coffee machine. | END"]} +{"id": "trial_T20190907_221355_558505-2", "input": "Place a rinsed coffee cup into the coffee machine.", "output": ["STEP 1: Turn left, move to the counter right of the dishwasher. | STEP 2: Pick up the coffee cup from the counter. | STEP 3: Turn right, move to the island in front of the sink. | STEP 4: Place the coffee cup into the sink, rinse it, pick it back up. | STEP 5: Turn left, move to the end of the counter, in front of the coffee machine. | STEP 6: Place the coffee cup into the coffee machine. | END"]} +{"id": "trial_T20190909_123918_983775-0", "input": "place a cooked potato slice in the fridge", "output": ["STEP 1: move around to the table | STEP 2: pick up a knife from the table | STEP 3: move forward to the fridge | STEP 4: slice the potato in the fridge | STEP 5: turn around to the shelf | STEP 6: place the knife on the shelf | STEP 7: turn right to the fridge | STEP 8: pick up a slice of the potato | STEP 9: move right to the oven | STEP 10: cook the potato in the oven and take it out | STEP 11: move left to the fridge | STEP 12: place the cooked slice in the fridge | END"]} +{"id": "trial_T20190909_123918_983775-1", "input": "To heat a potato slice and place it in the fridge.", "output": ["STEP 1: Turn around and cross the room and turn around to face the end of the center table. | STEP 2: Pick up the knife on the counter. | STEP 3: Walk to the right past the center table and turn right to face the fridge. | STEP 4: Cut the potato on the bottom in the fridge into slices. | STEP 5: Turn left and step forward to face the shelves. | STEP 6: Place the knife on the shelf. | STEP 7: Turn right to face the fridge. | STEP 8: Pick up a slice of potato in the fridge. | STEP 9: Turn right and step forward and turn left to face the microwave. | STEP 10: Heat the potato slice in the microwave and remove it. | STEP 11: Turn left and walk forward and turn right to face the fridge. | STEP 12: Place the potato slice in the fridge. | END"]} +{"id": "trial_T20190909_123918_983775-2", "input": "Put a cooked slice of potato in the fridge.", "output": ["STEP 1: Turn around, go across the room and turn right to face the end of the counter. | STEP 2: Pick up the knife on the counter by the statue. | STEP 3: Go back across the room to the fridge. | STEP 4: Cut the potato on the second shelf in the fridge. | STEP 5: Turn around and go to the brown shelf on the left. | STEP 6: Put the knife on the top shelf. | STEP 7: Go back to the fridge. | STEP 8: Pick up a slice of potato in the fridge. | STEP 9: Turn right and go to the microwave. | STEP 10: Cook the slice of potato in the microwave and pick it back up. | STEP 11: Turn left and go back to the fridge. | STEP 12: Put the cooked slice of potato in the fridge between the mug and the potato. | END"]} +{"id": "trial_T20190909_213642_049125-0", "input": "Put a cold slice of lettuce in the garbage bin. ", "output": ["STEP 1: Turn to your left and go to the refrigerator, then turn right and go to the counter top just past the refrigerator, on your left. | STEP 2: Pick up the butter knife between the bread and the lettuce, on the counter top. | STEP 3: Move over to the left side of the counter. | STEP 4: Cut the head of lettuce closest to you, into slices. | STEP 5: Move back over to the right side of the counter top. | STEP 6: Place the knife back on the counter top, between the lettuce and the bread. | STEP 7: Move back over to the left side of the counter top. | STEP 8: Pick up on of the lettuce slices. | STEP 9: Go to the refrigerator to your left. | STEP 10: Place the slice of lettuce to the right of the plate, on the second shelf of the refrigerator, wait a moment for the lettuce to chill, then remove the lettuce from the refrigerator. | STEP 11: Turn around and go to the garbage bin on the floor, next to the kitchen island. | STEP 12: Place the lettuce in the garbage bin on the floor. | END"]} +{"id": "trial_T20190909_213642_049125-1", "input": "put a chilled slice of lettuce in to the trash can", "output": ["STEP 1: turn to the left and move forward to the fridge and turn right, move to the counter that is to the right of the fridge and turn left to face the counter | STEP 2: pick up the butter knife that is sitting on the counter to the right of two heads of lettuce | STEP 3: move slightly to the left facing the two heads of lettuce | STEP 4: use the knife to cut the head of lettuce in the front | STEP 5: move to the right of the counter slightly | STEP 6: put the knife on to the counter to the right of the heads of lettuce | STEP 7: move back to the left slightly to face both heads of lettuce | STEP 8: pick up a slice of the cut lettuce from the counter | STEP 9: move to the left to face the fridge | STEP 10: open the door of the fridge, put the lettuce slice on the top shelf, close the door to chill for a few seconds, open the door, remove the slice and close the door | STEP 11: turn around and move forward to the black trash can at the end of the counter of the left, turn to face the trash can | STEP 12: put the slice of lettuce in to the trash can | END"]} +{"id": "trial_T20190909_213642_049125-2", "input": "Place cold lettuce in black bin.", "output": ["STEP 1: Turn left then right and face the counter with the lettuce on your left. | STEP 2: Take the knife from the counter in front of you. | STEP 3: Turn left and face the counter on your right. | STEP 4: Slice the lettuce in front of you. | STEP 5: Turn right then face the counter to your left. | STEP 6: Place the knife on the counter in front of you. | STEP 7: Turn left then face the counter on your right. | STEP 8: Take a slice of lettuce from the counter in front of you. | STEP 9: Turn left and face the fridge to your right. | STEP 10: Place the lettuce in the fridge for a bit then take it out. | STEP 11: Turn around and face the black bin on your left. | STEP 12: Place lettuce in black bin in front of you. | END"]} +{"id": "trial_T20190909_103553_077615-0", "input": "Carry a credit card while turning on a lamp", "output": ["STEP 1: Move left then face the right side of the large tan couch | STEP 2: Pick up the red credit card on top of the couch | STEP 3: Carry the credit card to the lamp in the corner of the room | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190909_103553_077615-1", "input": "Examine a red credit card in the light of a tall lamp.", "output": ["STEP 1: Turn left and walk towards the blue chair, then turn right to face the couch. | STEP 2: Pick up the red credit card off of the couch. | STEP 3: Turn left and walk over to the blue chair, then turn right to face the tall lamp in the corner of the room. | STEP 4: Turn on the light of the tall lamp. | END"]} +{"id": "trial_T20190909_103553_077615-2", "input": "Look at a credit card under a tall lamp", "output": ["STEP 1: turn left and take a step then turn right and face the couch | STEP 2: Pick up the red credit card that is sitting on the couch | STEP 3: Turn left and walk to the blue chair then turn right and face the couch and the tall floor lamp | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190906_213926_964767-0", "input": "Grab the tissue box from the closet, turn on the lamp by the sofa", "output": ["STEP 1: Turn right, and turn left, walk to the cabinet | STEP 2: Open the closet at the right bottom, take the tissue box out, close the closet | STEP 3: Turn right, walk to the white sofa | STEP 4: Turn on the lamp by the sofa | END"]} +{"id": "trial_T20190906_213926_964767-1", "input": "Examine a box of tissues using the light from a floor lamp.", "output": ["STEP 1: Move to the dresser to the left of the blue chair. | STEP 2: Open the bottom cabinet door of the dresser to the left of the blue chair, pick up the box of tissues in front of the gold vase, and then close the cabinet door. | STEP 3: Turn to the right and move to the left arm of the white couch and look up at the lampshade. | STEP 4: Turn on the floor lamp in between the blue chair and the white couch. | END"]} +{"id": "trial_T20190906_213926_964767-2", "input": "turn on the lamp while holding a box of tissues", "output": ["STEP 1: walk over to the wooden cabinets next to the couch | STEP 2: grab a box of tissues out from the bottom right cabinet | STEP 3: walk over to the lamp in the corner of the room | STEP 4: turn on the lamp in the corner of the room | END"]} +{"id": "trial_T20190909_021613_077537-0", "input": "Put a salt shaker in a drawer next to the oven.", "output": ["STEP 1: Turn right and walk to the wall then turn left and walk to the counter. | STEP 2: Take a salt shaker from the cupboard above the coffee maker. | STEP 3: Turn left and walk in front of the oven. | STEP 4: Put the salt shaker in the middle drawer between the dishwasher and the oven. | END"]} +{"id": "trial_T20190909_021613_077537-1", "input": "Move a salt shaker into a drawer.", "output": ["STEP 1: Walk around the kitchen island to where the coffee machine is on the counter and look up at the upper cabinets. | STEP 2: Open the upper cabinet in front of you and take out the salt shaker, then close the cabinet. | STEP 3: Turn around and take a step forward, then turn right and walk towards the wall, stop before the sink. | STEP 4: Open the middle drawer to the left of the oven and put the salt shaker inside, then close the drawer. | END"]} +{"id": "trial_T20190909_021613_077537-2", "input": "place salt in second drawer to the left of stove", "output": ["STEP 1: turn right, go around counter to cabinet above coffee maker | STEP 2: open cabinet, pick up salt from cabinet, close cabinet | STEP 3: turn left, go to second drawer to the left of stove | STEP 4: place salt in second drawer, close drawer | END"]} +{"id": "trial_T20190907_133953_562557-0", "input": "Examine the bowl by the light on the desk. ", "output": ["STEP 1: Turn around, go forward, turn left, go forward, turn left, face the desk. | STEP 2: Pick up the bowl from the shelf. | STEP 3: Bring the bowl to the lamp on the desk. | STEP 4: Turn on the lamp on the desk. | END"]} +{"id": "trial_T20190907_133953_562557-1", "input": "Turn a lamp on with a bowl in hand.", "output": ["STEP 1: Turn and go right to face the desk with the lamp and cup. | STEP 2: Pick the bowl up from the shelf. | STEP 3: Move to the right and face the desk drawers. | STEP 4: Turn the lamp on the desk on. | END"]} +{"id": "trial_T20190907_133953_562557-2", "input": "Pick up a bowl while turning on a desk lamp", "output": ["STEP 1: Move to the wooden desk across from the white safe | STEP 2: Pick up the clear bowl between the books on the desk shelf | STEP 3: Carry the clear bowl to face the lamp on the right of the desk | STEP 4: Turn on the lamp sitting on the desk while holding the bowl | END"]} +{"id": "trial_T20190909_102644_926781-0", "input": "cook a chilled tomato", "output": ["STEP 1: turn right, walk forward, turn left to face sink | STEP 2: pick up the tomato that is in the sink | STEP 3: turn right, walk forward, turn right to face fridge | STEP 4: put tomato in fridge, wait a minute, take tomato out | STEP 5: turn right, walk forward, turn left to face stove | STEP 6: put tomato in microwave above stove | END"]} +{"id": "trial_T20190909_102644_926781-1", "input": "Place a chilled tomato in a microwave.", "output": ["STEP 1: Take a step right and face the sink. | STEP 2: Pick up the tomato in the sink. | STEP 3: Turn right and walk to the fridge. | STEP 4: Place the tomato in the fridge, to the right of the plate. Close the door, wait a moment, and take it out again. | STEP 5: Turn right and walk to the stove and microwave on the left. | STEP 6: Place the tomato in the microwave. | END"]} +{"id": "trial_T20190909_102644_926781-2", "input": "place a cold piece of tomato in the oven", "output": ["STEP 1: move right to the sink | STEP 2: pick up a tomato in the sink | STEP 3: head right to the fridge | STEP 4: cool the tomato for some time and take it out | STEP 5: heat right to the microwave oven | STEP 6: place the tomato in the microwave oven | END"]} +{"id": "trial_T20190906_182435_622538-0", "input": "Put a heated apple next to the lettuce on the middle shelf in the refrigerator.", "output": ["STEP 1: Turn right and face the sink. | STEP 2: Pick up the apple next to the drain. | STEP 3: Turn around and face microwave above the stove. | STEP 4: Open the microwave and place the apple on the plate to the right of the egg. Turn on the microwave for a few seconds, then open the door and remove the heated apple. Close the door. | STEP 5: Turn left and head to the refrigerator. | STEP 6: Open the refrigerator door and place the apple on the middle shelf to the right of the lettuce. Close the refrigerator door. | END"]} +{"id": "trial_T20190906_182435_622538-1", "input": "cook the apple in the microwave, put the apple in the refrigerator", "output": ["STEP 1: turn right to the sink | STEP 2: grab the apple from the sink | STEP 3: turn around to the microwave | STEP 4: open the microwave, put the apple in, heat the apple for a while, take the apple out | STEP 5: turn around, walk to the refrigerator on the right | STEP 6: open the refrigerator, put the apple in | END"]} +{"id": "trial_T20190906_182435_622538-2", "input": "Cook apple and place in fridge.", "output": ["STEP 1: Turn right to face sink. | STEP 2: Pick up green apple from sink, located to the right of the spoon. | STEP 3: Turn around to face stove and microwave. | STEP 4: Open microwave door, place apple on the right side of the microwave opposite the egg, shut the microwave door. Open microwave door after five seconds. | STEP 5: Remove apple from microwave, close door. Turn left, move to fridge. Turn right to face fridge. | STEP 6: Open fridge door, place apple to the right of lettuce, close fridge door. | END"]} +{"id": "trial_T20190906_182435_622538-3", "input": "Place a heated apple in a fridge.", "output": ["STEP 1: Turn right and face the sink. | STEP 2: Pick up the apple in the sink. | STEP 3: Turn around and walk a step right to the microwave. | STEP 4: Heat the apple in the microwave. | STEP 5: Turn left and walk to the fridge on the right. | STEP 6: Place the apple in the fridge to the right of the lettuce. | END"]} +{"id": "trial_T20190906_182435_622538-4", "input": "Place a heated apple in the fridge.", "output": ["STEP 1: Turn right to face the silver sink. | STEP 2: Pick up the green apple inside the sink next to the spoon. | STEP 3: Turn left and head towards the silver stove on your left. | STEP 4: Look above the stove, open the microwave door, place the apple inside next to the egg, close the door, heat it for a moment, open the door, pick up the apple and close the microwave door. | STEP 5: Turn around, go towards the counter with the sink, turn right to cross the room to face the white fridge on your right. | STEP 6: Open the fridge door, place the apple on the middle shelf to the right of the lettuce and close the door. | END"]} +{"id": "trial_T20190906_182435_622538-5", "input": "Refrigerator the heated apple", "output": ["STEP 1: Turn right towards the sink. | STEP 2: Pick up the apple in the sink. | STEP 3: Turn left, walk forward, then turn left at the stove. | STEP 4: Place the apple in the microwave and remove it. | STEP 5: Turn left and walk to the refrigerator. | STEP 6: Put the apple in the refrigerator. | END"]} +{"id": "trial_T20190908_220656_510400-0", "input": "Pick a pencil up and turn the lamp on.", "output": ["STEP 1: Cross the room to the left and then turn to the left and face the lamp on the desk. | STEP 2: Pick the pencil up from the shelf above the computer on the desk. | STEP 3: Look down at the lamp. | STEP 4: Turn the lamp on. | END"]} +{"id": "trial_T20190908_220656_510400-1", "input": "Examine a pencil in the light of a small lamp.", "output": ["STEP 1: Walk over to the right side of the wooden desk to your left. | STEP 2: Pick up the pencil off of the middle shelf behind the desk. | STEP 3: Look down at the lamp on the desk. | STEP 4: Turn on the light of the small lamp. | END"]} +{"id": "trial_T20190908_220656_510400-2", "input": "Examine a pencil using the light of a lamp. ", "output": ["STEP 1: Turn left, walk to the end of the bed, turn right, walk a few steps, turn left, walk to the wall, then turn left to face the desk. | STEP 2: Pick up the white pencil that is sitting on the shelf above the desk. | STEP 3: Lower the pencil down to the desk area. | STEP 4: Turn on the lamp that is sitting on the desk. | END"]} +{"id": "trial_T20190908_071731_613441-0", "input": "Examine a vase under a tall lamp", "output": ["STEP 1: Head forward to the couch, at the couch take a right and walk to the white shelf ahead of you, then take a step to the left and continue to face the white shelf, the one directly to the left of the white safe | STEP 2: Pick up the golden vase that is sitting on the shelf | STEP 3: Turn around and cross the room to the blue armchair, then turn right to face the tall floor lamp | STEP 4: Lift up the vase and turn on the lamp | END"]} +{"id": "trial_T20190908_071731_613441-1", "input": "Pick up a vase and turn a lamp on.", "output": ["STEP 1: Go forward and the to the right to face the white shelves with the gold vase. | STEP 2: Pick the vase up from the shelf. | STEP 3: Turn around and cross the room to face the lamp to the right of the blue chair. | STEP 4: Turn the lamp on. | END"]} +{"id": "trial_T20190908_071731_613441-2", "input": "Turn on the living room lamp.", "output": ["STEP 1: Walk straight to the couch, in front of you, then turn to your right and go to the white, book shelf in front of you. | STEP 2: Pick up the gold vase on the left side of the white shelf. | STEP 3: Turn around and walk across the room to the lamp between the blue and white couch. | STEP 4: Turn on the lamp in the corner of the room. | END"]} +{"id": "trial_T20190906_184021_215264-0", "input": "Put a salt shaker in a drawer.", "output": ["STEP 1: Go left to the wall and then left again before turning left to face the end of the counter of the island. | STEP 2: Pick up the salt shaker from the counter. | STEP 3: Turn right and then left and stand at the drawer to the left of the stove. | STEP 4: Open the middle drawer and put the shaker in and shut the drawer. | END"]} +{"id": "trial_T20190906_184021_215264-1", "input": "Put the salt shaker in the middle drawer by the stove. ", "output": ["STEP 1: Turn to the left and go to the door, then turn left and go to kitchen island. | STEP 2: Pick up the salt shaker in the middle of the kitchen island. | STEP 3: Turn right towards cabinets and go to the drawers next to stove. | STEP 4: Open the middle drawer and place the salt shaker in the corner then close the drawer. | END"]} +{"id": "trial_T20190906_184021_215264-2", "input": "move the salt bottle from the counter to the second drawer", "output": ["STEP 1: turn left, walk to the window, turn left, walk to the side of the counter | STEP 2: grab the salt bottle on the counter | STEP 3: turn right, turn left, walk to the drawers on the left side of the over | STEP 4: open the second drawer, put the salt in | END"]} +{"id": "trial_T20190906_184021_215264-3", "input": "Put the salt shaker into the kitchen drawer", "output": ["STEP 1: Turn and walk to the far side of the kitchen island by the windows | STEP 2: Pick up the salt shaker from the kitchen island | STEP 3: Continue around the island and walk into the kitchen just past the oven | STEP 4: Open the top drawer left of the oven and put the salt shaker in it | END"]} +{"id": "trial_T20190906_184021_215264-4", "input": "Move the salt shaker from the counter to the middle drawer.", "output": ["STEP 1: Turn left and cross the room, turn left again at the windows and stop at the counter to your left. | STEP 2: Pick up the salt shaker from the counter. | STEP 3: Turn right, then turn left at the counter with the coffee maker and walk to the drawers on your right. | STEP 4: Open the middle drawer and place the salt shaker inside. | END"]} +{"id": "trial_T20190906_184021_215264-5", "input": "Walk towards the kitchen island, grab the salt, store it inside the second kitchen drawer.", "output": ["STEP 1: Turn to the left and walk towards the end of the room then turn to the left and walk to the kitchen island to face it. | STEP 2: Grab the salt that is to the left of the red vase. | STEP 3: Turn to the right walk to the end of the room then turn left and walk forward. stopping before the kitchen drawers. | STEP 4: Open the second drawer from the top , place the salt inside and then close the drawer. | END"]} +{"id": "trial_T20190908_122154_042763-0", "input": "Move the pencil to a different area of the desk.", "output": ["STEP 1: Turn right and take one step, then turn left and walk across the room, then turn left to face the desk. | STEP 2: Pick up the pencil near the edge of the desk. | STEP 3: Turn around and take one step, then turn back around to face the desk. | STEP 4: Put the pencil down directly in front of the set of books on the left. | END"]} +{"id": "trial_T20190908_122154_042763-1", "input": "Pick up the white pencil on the desk and put it on another spot on the desk.", "output": ["STEP 1: Go to the right side of the wooden desk in front of you. | STEP 2: Pick up the white pencil on the desk. | STEP 3: Turn around and look behind you and then turn back around. | STEP 4: Place the white pencil on the desk near the books. | END"]} +{"id": "trial_T20190908_122154_042763-2", "input": "Move a pencil farther back on the desk.", "output": ["STEP 1: Walk forward and left to face the desk. | STEP 2: Pick up the white pencil from the desk. | STEP 3: Turn to face the desk. | STEP 4: Put the white pencil down on the desk close to the standing books on the lower left side. | END"]} +{"id": "trial_T20190909_032740_934457-0", "input": "pick up the remote and turn on the lamp", "output": ["STEP 1: look at the cabinet and then turn left walk forward to the couch then turn left walk towards the blue chair | STEP 2: pick up the remote that is on the blue chair | STEP 3: turn right towards the tan couch then point the remote at the wall | STEP 4: turn on the lamp | END"]} +{"id": "trial_T20190909_032740_934457-1", "input": "Examine a remote control by the light of a tall lamp.", "output": ["STEP 1: Turn left, hang a left at the couch and walk to the blue chair ahead. | STEP 2: Pick up the remote control from the back left corner of the cushion on the chair. | STEP 3: Turn left and walk to the end of the couch ahead. | STEP 4: Turn on the tall lamp to the left of the couch. | END"]} +{"id": "trial_T20190909_032740_934457-2", "input": "Look at a remote by the light of a lamp.", "output": ["STEP 1: Turn left and walk ahead, veering left to the blue chair in the corner. | STEP 2: Pick up the remote on the chair. | STEP 3: Turn right and walk to the lamp in the corner of the room. | STEP 4: Turn the lamp on. | END"]} +{"id": "trial_T20190908_201421_021646-0", "input": "Turn on the desk lamp.", "output": ["STEP 1: Turn to your left and go to the desk in front of you. | STEP 2: Pick up the white coffee cup, between the computer and the lamp, on the desk. | STEP 3: Move over to your right so that you are at the right end of the desk. | STEP 4: Turn on the lamp on the front, right corner of the desk. | END"]} +{"id": "trial_T20190908_201421_021646-1", "input": "turn on a desk lamp with a mug in hand", "output": ["STEP 1: walk to face the desk | STEP 2: pick up the white mug from the desk | STEP 3: step back slightly to continue to face desk | STEP 4: turn on desk lamp on the desk | END"]} +{"id": "trial_T20190908_201421_021646-2", "input": "Pick up a mug from the desk, turn on the lamp", "output": ["STEP 1: Turn to your left and walk to the desk. | STEP 2: Pick up the white mug sitting behind the blue pencil between the laptop and the lamp. | STEP 3: Move to your right and stand in front of the lamp. | STEP 4: Turn the lamp on. | END"]} +{"id": "trial_T20190907_163240_345855-0", "input": "Put two pillows on the sofa.", "output": ["STEP 1: Turn left, go straight, turn left, to face the blue chair. | STEP 2: Pick up the left most pillow on the blue chair. | STEP 3: Turn around, move forward, then turn left to face the sofa. | STEP 4: Put the pillow on the center of the sofa. | STEP 5: Turn left to return to the blue chair. | STEP 6: Pick up the pillow on the blue chair. | STEP 7: Turn around, move forward, then turn left to face the sofa. | STEP 8: Put the pillow on the right cushion of the sofa. | END"]} +{"id": "trial_T20190907_163240_345855-1", "input": "Put two pillows on a couch.", "output": ["STEP 1: Move to the arm chair to the left of the couch | STEP 2: Pick up a pillow from the chair | STEP 3: Move to the middle of the couch | STEP 4: Put the pillow on the couch | STEP 5: Move to the arm chair to the left of the couch | STEP 6: Pick up a pillow from the chair | STEP 7: Move to the middle of the couch | STEP 8: Put the pillow on the couch | END"]} +{"id": "trial_T20190907_163240_345855-2", "input": "place the two pillows on the sofa", "output": ["STEP 1: turn around and locate the chair | STEP 2: pick up the pillow from the chair | STEP 3: turn right and head for the sofa | STEP 4: drop the pillow on the sofa | STEP 5: turn left and head for the chair | STEP 6: pick up the other pillow | STEP 7: turn right towards the sofa | STEP 8: place the pillow on the sofa | END"]} +{"id": "trial_T20190908_141958_463362-0", "input": "Turn on the desk lamp.", "output": ["STEP 1: Go to the garbage can on the floor, to the right of the desk, in front of you. | STEP 2: Remove the CD from the garbage bin. | STEP 3: Turn to your right and walk across the room, turn right at the wall and go to the end of the desk on your left. | STEP 4: Turn on the lamp on the front, far, right corner of the desk. | END"]} +{"id": "trial_T20190908_141958_463362-1", "input": "examine a CD with a lamp", "output": ["STEP 1: walk forward to the gray trash can | STEP 2: take the CD out of the gray trash can | STEP 3: turn right, walk across the room, turn left, walk to the wall, turn left to face the lamp on the desk | STEP 4: turn the lamp on | END"]} +{"id": "trial_T20190908_141958_463362-2", "input": "Look at the CD in the light. ", "output": ["STEP 1: Walk across the room. | STEP 2: Pick up the CD that is in the bin on the floor. | STEP 3: Turn right and take three steps, then turn left and walk across the room, then turn left to face the desk. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190906_214631_761426-0", "input": "turn on a lamp while holding a baseball bat", "output": ["STEP 1: walk forwards a bit towards the baseball bat | STEP 2: grab the baseball bat leading against the wall | STEP 3: turn and walk over to the right side of the computer desk | STEP 4: turn on the lamp on the computer desk | END"]} +{"id": "trial_T20190906_214631_761426-1", "input": "Examine a bat by the light of a lamp.", "output": ["STEP 1: Head towards the bat on the floor in front of you. | STEP 2: Pick up the bat from the floor. | STEP 3: Turn around, head towards the bed, turn left towards the wall, and then turn left to face the lamp on the desk. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190906_214631_761426-2", "input": "Examine the bad under the light on the desk. ", "output": ["STEP 1: Move to the corner near the door. | STEP 2: Pick up the bat from the floor. | STEP 3: Bring the bat to the desk | STEP 4: Turn on the lamp on the desk. | END"]} +{"id": "trial_T20190906_202903_584090-0", "input": "Put the toilet paper rolls inside the sink cabinet", "output": ["STEP 1: Move towards toilet to the right of the sink | STEP 2: Pick up toilet roll from off the toilet | STEP 3: Move away from the sink a few feet | STEP 4: Open sink cabinet and place roll inside before closing the door | STEP 5: Move closer to the right side of the sink | STEP 6: Pick up empty toilet paper roll from the ground | STEP 7: Move back away from the sink cabinet | STEP 8: Open cabinet and place roll inside and close door | END"]} +{"id": "trial_T20190906_202903_584090-1", "input": "Place the toilet paper roll and empty tube in the cabinet.", "output": ["STEP 1: Locate the toilet, find the toilet paper roll on the back of the toilet. | STEP 2: Pick the toilet paper roll up. | STEP 3: Go to the cabinets to the left of the toilet. | STEP 4: Open the second cabinet door from the right. | STEP 5: Place the toilet paper roll upright near the middle of the cabinet, close the the cabinet door. | STEP 6: Go to the area between the cabinets and the toilet, pick up the empty toilet paper tube behind the toilet brush. | STEP 7: Go to the cabinets to the left of the toilet, open the second cabinet door from the right. | STEP 8: Place the toilet paper tube upright to the left of the full toilet paper roll, close the cabinet door. | END"]} +{"id": "trial_T20190906_202903_584090-2", "input": "place the toilet paper roll with the toilet paper in the bathroom sink cabinet", "output": ["STEP 1: look down at the toilet a bit | STEP 2: grab the toilet paper off the top of the toilet in front of you | STEP 3: back up a bit to then face the bathroom sink | STEP 4: place the toilet paper in the cabinet below the sink | STEP 5: move forwards a bit towards the toilet | STEP 6: grab the toilet paper tube off of the floor next to the toilet | STEP 7: back up a bit again to then face the bathroom sink again | STEP 8: place the yellow tube in the cabinet underneath the sink | END"]} +{"id": "trial_T20190909_042101_443154-0", "input": "Place a box with a set of keys on a chair.", "output": ["STEP 1: Turn around and walk to the wooden dresser ahead. | STEP 2: Pick up the set of keys from the back left side of the dresser. | STEP 3: Turn around and walk to the white couch on the left. | STEP 4: Put the set of keys inside the box on the middle of the couch. | STEP 5: Pick up the box with the keys inside from the couch. | STEP 6: Turn around and walk to the blue chair on the right. | STEP 7: Put the box with the keys inside on the left side of the chair. | END"]} +{"id": "trial_T20190909_042101_443154-1", "input": "Place a box with keys in it on a chair.", "output": ["STEP 1: Turn around and walk to the dresser. | STEP 2: Pick up the set of keys on the dresser. | STEP 3: Turn to the right and walk to the couch. | STEP 4: Place the keys in the box on the couch. | STEP 5: Pick up the box. | STEP 6: Turn left and walk to the blue chair. | STEP 7: Put the box on the chair to the left of the yellow pillow. | END"]} +{"id": "trial_T20190909_042101_443154-2", "input": "Put a box with keys in it on the chair.", "output": ["STEP 1: Turn around and walk to the brown cabinet. | STEP 2: Pick up the keys that are on top of the cabinet. | STEP 3: Turn around and take a step then turn left and walk to the cream colored couch with the box on it. | STEP 4: Put the keys in the box. | STEP 5: Pick up the box with the keys in it. | STEP 6: Turn left and take a tiny step left then walk forward to the chair. | STEP 7: Put the box to the left of the plaid pillow. | END"]} +{"id": "trial_T20190909_121710_650938-0", "input": "Put a chilled mug in a cabinet.", "output": ["STEP 1: Turn left and walk to the window, then hang a left and walk over to the counter. | STEP 2: Pick up the coffee mug out of the coffee machine. | STEP 3: Turn around and take a step forward, then turn right and walk across the room to the fridge. | STEP 4: Open the fridge and place the coffee mug inside, then close the door, after a couple seconds open the fridge back up and remove the now chilled coffee mug then close the door. | STEP 5: Turn around and take a step forward, then turn left and walk forward, turn left again to face the counter. | STEP 6: Open the leftmost lower cabinet door and put the chilled mug inside, then close the cabinet. | END"]} +{"id": "trial_T20190909_121710_650938-1", "input": "Put a cold mug in the cupboard.", "output": ["STEP 1: Turn left and walk to the window then turn left and walk to the coffee maker. | STEP 2: Pick up the mug that's in front of you at the coffee maker. | STEP 3: Turn left and walk to the fridge then turn right to face it. | STEP 4: Chill the mug in the fridge then take it back out and close the door. | STEP 5: Take a small step back then a step to your right.and turn to face it when you get there. | STEP 6: Open the cupboard to the right of the fridge and put the mug down there then close the door. | END"]} +{"id": "trial_T20190909_121710_650938-2", "input": "Place a chilled mug in a cabinet.", "output": ["STEP 1: Turn left, hang a left at the wall and walk to the coffee maker on the counter. | STEP 2: Pick up the white mug from the platform on the coffee maker. | STEP 3: Turn around and walk to the white fridge on the right. | STEP 4: Put the mug on the middle of the second shelf inside the fridge, chill it, remove it and close the door. | STEP 5: Turn around, walk forward and turn around to face the cabinet under the counter next to the fridge. | STEP 6: Open the lower cabinet to the left of the dishwasher, put the chilled mug inside and close the door. | END"]} +{"id": "trial_T20190907_161745_664033-0", "input": "Heat up a potato and put it in the trash.", "output": ["STEP 1: Turn right to the fridge, then right to the coffee machine. | STEP 2: Pick up a potato from the counter. | STEP 3: Turn left to the microwave. | STEP 4: Heat the potato in the microwave. | STEP 5: Take the potato to the left at the end of the island near the trash can. | STEP 6: Put the potato in the trash can. | END"]} +{"id": "trial_T20190907_161745_664033-1", "input": "Put a heated potato in the garbage can on the floor, next to the kitchen Island. ", "output": ["STEP 1: Turn to your right and head towards the refrigerator, once there turn right and continue walking until you reach the coffee maker. | STEP 2: Pick up the potato behind the coffee mug, on the counter top. | STEP 3: Turn to your left and walk to the microwave that is just above the stove. | STEP 4: Place the potato in the microwave, heat it, then remove the potato from the microwave. | STEP 5: Turn to your left and walk to the end of the kitchen island, then turn left again by the black garbage can on the floor . | STEP 6: Put the heated potato in the garbage can on the floor. | END"]} +{"id": "trial_T20190907_161745_664033-2", "input": "Put a warmed potato in the trash can.", "output": ["STEP 1: Go right and the right again to face the counter with the coffee maker on it. | STEP 2: Pick the potato up from the counter. | STEP 3: Go left and face the microwave above the stove. | STEP 4: Put the potato in the microwave and shut the door and then open the door and pick the potato up and shut the door. | STEP 5: Go left and turn around to the left to face the trash can on the floor in front of the counter. | STEP 6: Put the potato in the trash can. | END"]} +{"id": "trial_T20190909_061130_844814-0", "input": "Put a washed bowl away in a kitchen cabinet.", "output": ["STEP 1: Turn left, then go clockwise to face the opposite end of the kitchen island. | STEP 2: Pick up the bowl that is near the potted plant in the corner of the island. | STEP 3: Turn right and go counterclockwise around the island to the sink. | STEP 4: Wash the bowl in the sink. | STEP 5: Face the opposite direction and look up at the cabinets above the counter to the left of the stove. | STEP 6: Put the bowl on the bottom shelf of the cabinet on the right. | END"]} +{"id": "trial_T20190909_061130_844814-1", "input": "Put a cleaned, filled bowl of water in the cabinet, left of the microwave. ", "output": ["STEP 1: Turn around, move around the island to the left, then head to the other side of the island, turn around to face the bowl on the side of the island. | STEP 2: Pick up the dirty bowl on the island. | STEP 3: Bring the bowl around the island to the right, then face the sink on the left. | STEP 4: Wash the bowl in the sink with water, fill the bowl with water. | STEP 5: Turn around, bring the filled bowl to the cabinet left of the microwave. | STEP 6: Put the filled bowl in the cabinet left of the microwave. | END"]} +{"id": "trial_T20190909_061130_844814-2", "input": "Put a clean wooden bowl of water in a cabinet.", "output": ["STEP 1: Turn left and walk up to the kitchen island, then turn left and walk over to the fridge, turn right and walk around to the end of the kitchen island. | STEP 2: Pick up the wooden bowl off of the kitchen island. | STEP 3: Turn right and walk over to the counter, then turn left and walk over to the sink. | STEP 4: Put the wooden bowl in the sink and turn on the water, after a couple seconds turn the water off and pick up the now clean wooden bowl that is full of water. | STEP 5: Walk over to the counter behind you and look up at the upper cabinets. | STEP 6: Open the cabinet door to the left of the microwave and put the clean wooden bowl of water inside, then close the cabinet. | END"]} +{"id": "trial_T20190908_041353_333106-0", "input": "Inspect a statue with a lamp.", "output": ["STEP 1: move to the dresser behind you | STEP 2: pick up a statue from the dresser | STEP 3: move to the lamp to the left | STEP 4: turn on the lamp | END"]} +{"id": "trial_T20190908_041353_333106-1", "input": "Look at a statue under a tall lamp", "output": ["STEP 1: Turn around and walk to the dresser | STEP 2: Pick up the black statue that is sitting on the dresser to the left of the open box | STEP 3: Turn left and walk to the trash can then turn right and step to the tall floor lamp | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190908_041353_333106-2", "input": "turn on floor lamp with statue in hand", "output": ["STEP 1: turn around, walk to face bureau drawers with statue and box on top | STEP 2: pick up human figure statue from top of bureau | STEP 3: walk left to face left edge of bureau drawers and floor lamp | STEP 4: turn on the floor lamp | END"]} +{"id": "trial_T20190909_061838_159982-0", "input": "Slice a tomato and cool a slice of it", "output": ["STEP 1: Go forward, turn right, go forward, turn left, turn left to the edge of the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn right and go to the counter to the right of the stove | STEP 4: Slice the tomato on the counter | STEP 5: Turn left and go to the fridge | STEP 6: Put the knife in the fridge | STEP 7: Turn right, go forward, turn left after the stove | STEP 8: Pick up a tomato slice from the counter | STEP 9: Turn left and go to the fridge | STEP 10: Put the tomato slice in the fridge, wait, pick up the tomato slice from the fridge | STEP 11: Turn right, go forward, turn left after the stove | STEP 12: Put the tomato slice on the counter | END"]} +{"id": "trial_T20190909_061838_159982-1", "input": "Place a cold tomato slice on the counter.", "output": ["STEP 1: Turn right then right again and face the counter to your right. | STEP 2: Take the knife off of the counter in front of you. | STEP 3: Turn right and face the counter in front of you. | STEP 4: Slice the tomato above the counter in front of you. | STEP 5: Turn left and face the fridge to your right. | STEP 6: Place the knife inside of the fridge in front of you and close it. | STEP 7: Turn right and face the counter to your left. | STEP 8: Take a tomato slice off of the counter in front of you. | STEP 9: Turn left and face the fridge to your right. | STEP 10: Place the tomato inside of the fridge then take it out. | STEP 11: Turn right and face the counter to your left. | STEP 12: Place the tomato slice on the counter in front of you. | END"]} +{"id": "trial_T20190909_061838_159982-2", "input": "Slice and refrigerate a slice of the tomato that is on the counter next to the stove.", "output": ["STEP 1: Walk forward, turn right, walk to the far wall, and turn around to face the knife on the center island. | STEP 2: Pick up the knife from the center island. | STEP 3: Walk to the counter next to the stove. | STEP 4: Cut the tomato on the counter with the knife. | STEP 5: Take the knife to the fridge. | STEP 6: Put the knife in the fridge. | STEP 7: Go back to the tomato slices on the counter. | STEP 8: Pick up a tomato slice from the counter. | STEP 9: Take the tomato to the fridge. | STEP 10: Put the tomato in the fridge and take it back out. | STEP 11: Take the tomato slice back to the counter it came from. | STEP 12: Set the tomato slice down on the counter. | END"]} +{"id": "trial_T20190906_224718_745017-0", "input": "Put a cold slice of bread in a microwave.", "output": ["STEP 1: Go around the island to the fridge ahead, turn right, turn right to face the counter to the right of the sink. | STEP 2: Take the large knife next to the tomato. | STEP 3: Turn around, go to the counter to the left of the oven. | STEP 4: Cut the bread into slices. | STEP 5: Stay at the counter. | STEP 6: Put the knife on the counter between the fork and the edge of the counter. | STEP 7: Stay at the counter. | STEP 8: Take a piece of bread from the counter. | STEP 9: Turn left, go to the refrigerator on the right. | STEP 10: Put the bread in the fridge next to the plate and bowl. Close then open the fridge door. Take the bread from the fridge. | STEP 11: Turn right, go to the oven on the left. | STEP 12: Put the bread in the microwave above the oven. | END"]} +{"id": "trial_T20190906_224718_745017-1", "input": "Place a chilled slice of bread into the microwave.", "output": ["STEP 1: Turn left and begin walking to the door, then turn right and walk to the fridge, then hang a right and walk up to the knives on the kitchen island. | STEP 2: Pick up the left most metal knife with a golden handle. | STEP 3: Turn left and walk over to the loaf of bread on the kitchen counter. | STEP 4: Slice the loaf of bread with the metal knife. | STEP 5: Turn left and take a step forward, then turn right to face the kitchen counter. | STEP 6: Place the metal knife onto the kitchen counter in front of the fork. | STEP 7: Turn right, take a step forward then face left so you are facing the sliced bread on the kitchen counter.. | STEP 8: Pick up a slice of bread. | STEP 9: Turn left and walk over to the fridge. | STEP 10: Open the fridge door and place the sliced bread inside, then close the door and wait a few seconds, after that open the fridge door back up and remove the slice of bread and close the door again. | STEP 11: Turn right and walk over to the stove, then look up at the microwave in the upper cabinets. | STEP 12: Open the microwave door, place the slice of bread inside, then close the microwave door. | END"]} +{"id": "trial_T20190906_224718_745017-2", "input": "Place a cool slice of bread in the microwave.", "output": ["STEP 1: Turn left, take a step, then turn right towards the fridge, and then turn right towards the counter on your right. | STEP 2: Pick up the left yellow knife from the counter. | STEP 3: Turn around and head towards the loaf of bread on the counter. | STEP 4: Slice the bread into slices. | STEP 5: Take a step to the left. | STEP 6: Place the knife in front of the fork on the counter. | STEP 7: Take a step to the right. | STEP 8: Pick up a slice of bread from the counter. | STEP 9: Turn left and head towards the fridge on your right. | STEP 10: Open the fridge, place the slice bread in between the bowl and plate, close the fridge to let it cool down, and then take the bread back out. | STEP 11: Turn right, walk towards the stove on your left, and look up to find a microwave. | STEP 12: Open the microwave, place the slice bread in it, and close the door. | END"]} +{"id": "trial_T20190908_021537_611374-0", "input": "Move a plunger to the cabinet", "output": ["STEP 1: Move to the right facing the plunger on the floor to the left of the toilet | STEP 2: Pick up the plunger on the floor | STEP 3: Move to the left facing the white cabinet door | STEP 4: Open the cabinet and place the plunger inside the cabinet, close the cabinet | END"]} +{"id": "trial_T20190908_021537_611374-1", "input": "move the plunger from the floor to the cabinet under the sink", "output": ["STEP 1: walk over to the sink to your right | STEP 2: pick up the green plunger from the floor between the sink and toilet | STEP 3: back up and approach the cabinet under the sink | STEP 4: open the left side of the cabinet and place the plunger in the cabinet | END"]} +{"id": "trial_T20190908_021537_611374-2", "input": "Put the plunger under the sink", "output": ["STEP 1: Turn around towards the sink and the toilet | STEP 2: Pick up the plunger from between the sink and the toilet | STEP 3: Turn towards the sink to the left | STEP 4: Open the cabinet just to the left and place the plunger inside | END"]} +{"id": "trial_T20190907_155109_353266-0", "input": "Put a mug with a spoon inside of it on the counter.", "output": ["STEP 1: Turn around, then begin walking to the door, hang a right and walk up to the fridge, then turn right again and walk over to where the toaster is on the counter. | STEP 2: Pick up the metal spoon that is to the right of the toaster on the counter. | STEP 3: Turn left and walk over to the fridge. | STEP 4: Open the fridge door and place the metal spoon inside the white mug that is in the fridge. | STEP 5: Remove the white mug with the spoon inside of it from the fridge and close the fridge door. | STEP 6: Turn right and walk over to the section of counter above the dishwasher. | STEP 7: Place the mug with the spoon inside of it onto the front edge of the counter just above the middle of the dishwasher. | END"]} +{"id": "trial_T20190907_155109_353266-1", "input": "Put a mug with a spoon in it on the counter.", "output": ["STEP 1: Turn around, go straight, turn right, turn right at the refrigerator, move forward, then turn left to face the counter with the dishwasher. | STEP 2: Pick up the spoon on the counter, to the right of the toaster. | STEP 3: Turn left, go forward, then turn right to go to the fridge. | STEP 4: Put the spoon in the mug inside of the fridge. | STEP 5: Pick up the mug with the spoon in it from in the fridge. | STEP 6: Turn right, go forward, then turn left to return to the counter above the dishwasher. | STEP 7: Put the mug with the spoon in it on the counter, to the right of the fork. | END"]} +{"id": "trial_T20190907_155109_353266-2", "input": "To get a chilled mug for coffee. ", "output": ["STEP 1: Turn to the left and walk in front of the counter with the toaster on it. | STEP 2: Pick up the spoon that's next to the toaster. | STEP 3: Move to the front of the fridge. | STEP 4: Open the fridge and put the spoon in the white mug. | STEP 5: Take the mug out of the fridge and close the door. | STEP 6: Turn to the right and stand in front of the counter with two heads of lettuce on it. | STEP 7: Put the mug down on the edge of the counter. | END"]} +{"id": "trial_T20190907_155109_353266-3", "input": "Put a mug with a spoon in it on the counter.", "output": ["STEP 1: Turn around and take a step then turn right and walk to the fridge then take a step to your right. | STEP 2: Pick up the spoon that's in front of you. | STEP 3: Take a step to your left. | STEP 4: Put the spoon in the mug in the fridge. | STEP 5: Pick up the mug with the spoon in it and close the door. | STEP 6: Take two steps to your right. | STEP 7: Put the mug to the left of the head of lettuce nearest the edge. | END"]} +{"id": "trial_T20190907_155109_353266-4", "input": "Put a cup with a spoon in it on the counter.", "output": ["STEP 1: Cross the room to face the counter to the right of the fridge. | STEP 2: Pick the spoon up from the counter. | STEP 3: Move to the left and face the fridge. | STEP 4: Open the fridge and put the spoon in the cup. | STEP 5: Pick the cup up from inside the fridge. | STEP 6: Turn and go to face the counter to the right of the fridge. | STEP 7: Put the cup on the counter. | END"]} +{"id": "trial_T20190907_155109_353266-5", "input": "Put a spoon inside a white mug, place the mug on the counter", "output": ["STEP 1: Turn around, head in to the kitchen | STEP 2: Stand in front of the counter next to the fridge | STEP 3: Take the spoon from the counter | STEP 4: Go to the fridge, open the door | STEP 5: Put the spoon inside the white mug inside the fridge | STEP 6: Take the white mug out of the fridge, close the door | STEP 7: Turn right, walk in to kitchen, put the white mug on the counter | END"]} +{"id": "trial_T20190909_174807_646433-0", "input": "Put chilled lettuce on the counter. ", "output": ["STEP 1: Move forward, turn right, go to the fridge, turn right, go to face the lettuce on the counter, past the sink on the right. | STEP 2: Pick up the lettuce on the counter. | STEP 3: Turn right, bring the lettuce to the fridge on the right. | STEP 4: Chill the lettuce in the fridge. | STEP 5: Take the chilled lettuce to the counter, right of the fridge. | STEP 6: Put the chilled lettuce on the counter, in front of the bread. | END"]} +{"id": "trial_T20190909_174807_646433-1", "input": "chill the lettuce in the fridge then put it on the counter top", "output": ["STEP 1: walk straight then turn right and walk straight towards the fridge then turn right and walk straight towards the counter and turn right | STEP 2: pick up the lettuce off of the counter | STEP 3: turn right and walk straight towards the fridge and turn right | STEP 4: open the fridge and put the lettuce inside then re open the fridge and remove the lettuce and close the door | STEP 5: turn right and walk straight then turn left towards the counter top | STEP 6: put the lettuce down on the counter | END"]} +{"id": "trial_T20190909_174807_646433-2", "input": "Put cold lettuce on the counter next to the other food.", "output": ["STEP 1: Turn right, and walk around the kitchen island to the lettuce on the counter. | STEP 2: Pick up the lettuce from the counter. | STEP 3: Take the lettuce to the refrigerator. | STEP 4: Put the lettuce in the refrigerator, and close the door. Wait, and then open the refrigerator and remove the lettuce. | STEP 5: Carry the lettuce to the counter with the other food. | STEP 6: Put the lettuce on the counter next to the bread. | END"]} +{"id": "trial_T20190906_191445_723170-0", "input": "To acquire an odd item as place it where it is not useful.", "output": ["STEP 1: Turn to the left and make an semi circle as to reach the wooden table. | STEP 2: Take only the salt container from the table. | STEP 3: turn left and to your right with the salt container. | STEP 4: Place the container under the cabin drawer under in the drawer on the left. | END"]} +{"id": "trial_T20190906_191445_723170-1", "input": "Place the salt shaker from the wooden shelf into the cabinet.", "output": ["STEP 1: Turn around and head towards the wooden shelves. | STEP 2: Pick up the salt shaker on the top shelf. | STEP 3: Turn around and head towards the fridge to your left. | STEP 4: Open the lower cabinet to the left of the fridge, place the shaker in it, and close the door. | END"]} +{"id": "trial_T20190906_191445_723170-2", "input": "Put the salt in the bottom cabinet next to the fridge. ", "output": ["STEP 1: Move to the wooden shelf. | STEP 2: Pick up the salt from the shelf. | STEP 3: Bring the salt to the counter right of the fridge. | STEP 4: Place the salt in the cabinet under the counter. | END"]} +{"id": "trial_T20190908_041333_727215-0", "input": "Examine a statue trophy next to the light of a tall lamp.", "output": ["STEP 1: Turn around and walk towards the white shelves. | STEP 2: Pick up the statue trophy on the top shelf. | STEP 3: Turn left and walk towards the tall lamp. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190908_041333_727215-1", "input": "Look at a statue by lamp light.", "output": ["STEP 1: Turn around and face the shelf behind you. | STEP 2: Pick up the statue from the top shelf. | STEP 3: Turn around and walk in front of the couch to the lamp. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190908_041333_727215-2", "input": "Look at the statue in lamp light.", "output": ["STEP 1: Turn around, and go forward to the shelves. | STEP 2: Pick up the statue on the top shelf. | STEP 3: Turn around, go straight, turn right, go straight, then turn right to face the lamp. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190907_194135_468990-0", "input": "Place a pan with a knife in it into the sink.", "output": ["STEP 1: Turn left and walk to the counter to the left of the stove. | STEP 2: Pick up the knife behind the glass vase on the counter. | STEP 3: Walk to the pan on the stove. | STEP 4: Place the knife in the pan on the stove. | STEP 5: Pick up the pan on the stove. | STEP 6: Turn around and walk to the sink. | STEP 7: Place the pan in the sink. | END"]} +{"id": "trial_T20190907_194135_468990-1", "input": "Take the knife and plate, put them in the sink", "output": ["STEP 1: Turn to the left, head to the stove | STEP 2: Take the knife from the counter | STEP 3: Take a couple steps to the right, face the stove | STEP 4: Put the knife on the plate on the stove | STEP 5: take the plate with knife | STEP 6: Turn around, head to the sink | STEP 7: put the plate with knife in the sink | END"]} +{"id": "trial_T20190907_194135_468990-2", "input": "Drop a frying pan with a knife in it into the sink", "output": ["STEP 1: Turn left into the kitchen and then turn to your left to face the kitchen counter on the left of the stove | STEP 2: Pick up a knife off of the kitchen counter | STEP 3: Move a step to your right and face the stove | STEP 4: Drop the knife in to the frying pan | STEP 5: Pick up the frying pan with the knife in it | STEP 6: Turn right around and face the sink | STEP 7: Drop the frying pan in to the sink | END"]} +{"id": "trial_T20190909_123732_489327-0", "input": "To heat a potato slice and place it in the fridge.", "output": ["STEP 1: Walk around the center table to the left and turn right to face the knife on the table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn left and walk forward and turn around to the right to face the trash can. | STEP 4: Cut the potato in the trash can into slices. | STEP 5: Place the knife in the trash can. | STEP 6: Pick up a slice of potato in the trash can. | STEP 7: Turn left and walk to the right around the table and turn left to face the microwave. | STEP 8: Heat the potato slice in the microwave and remove it. | STEP 9: Turn left and step forward and turn right to face the fridge. | STEP 10: Place the potato slice in the fridge. | END"]} +{"id": "trial_T20190909_123732_489327-1", "input": "Put a cooked slice of potato in the fridge.", "output": ["STEP 1: Go left and around the counter to the back of the sink. | STEP 2: Pick up the knife on the counter. | STEP 3: Go to the end of the counter and face the trash can. | STEP 4: Cut the potato in the trash can. | STEP 5: Put the knife in the trash can. | STEP 6: Pick up a slice of potato from the trash can. | STEP 7: Turn left and go to the stove. | STEP 8: Cook the slice of potato in the microwave above the stove and pick it back up. | STEP 9: Turn left and go to the fridge. | STEP 10: Put the slice of potato to the left of the potato on the shelf in the fridge. | END"]} +{"id": "trial_T20190909_123732_489327-2", "input": "Put a slice of heated potato in the fridge. ", "output": ["STEP 1: Turn left and go to the side of the island without the sink. | STEP 2: Pick up the gray knife from the table. | STEP 3: Turn left and go to the black trash can on the floor at the end of the island. | STEP 4: Slice the potato on the right in the trash can. | STEP 5: Place the knife in the trash can. | STEP 6: Take out one slice of potato from the trash can. | STEP 7: Turn left and go around the island to the microwave above the stove. | STEP 8: Heat the potato slice in the microwave and take it out. | STEP 9: Turn left and go to the refrigerator on the right. | STEP 10: Place the potato slice in the refrigerator. | END"]} +{"id": "trial_T20190908_041411_333458-0", "input": "Examine a black statue in the light of a tall lamp.", "output": ["STEP 1: Turn right and walk towards the door, then hang a right and walk up to the wooden dresser. | STEP 2: Pick up the leftmost black statue off of the wooden dresser. | STEP 3: Turn left and walk over to the lamp that is to the left of the wooden dresser. | STEP 4: Turn on the light of the lamp. | END"]} +{"id": "trial_T20190908_041411_333458-1", "input": "Take a statue from the dresser to the lamp then examine it up to the light", "output": ["STEP 1: walk over to the front of the dresser where the statues are | STEP 2: pick up the statue from the dresser | STEP 3: walk the statue over to the lamp on the stand and raise the statue | STEP 4: turn the lamp on to look at the statue | END"]} +{"id": "trial_T20190908_041411_333458-2", "input": "Turn on a lamp while holding a statue", "output": ["STEP 1: Move right then right again and go straight to the wood end table | STEP 2: Pick up the statue on top of the end table | STEP 3: Move slightly left to face the floor lamp to the left of the end table | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190908_113432_673307-0", "input": "Place a heated egg in a bin", "output": ["STEP 1: Go to the center kitchen console | STEP 2: Pick up the egg from the center kitchen console | STEP 3: Go to the microwave | STEP 4: Heat the egg in the microwave | STEP 5: Go to the black bin | STEP 6: Place the egg in the black bin | END"]} +{"id": "trial_T20190908_113432_673307-1", "input": "To heat an egg and place in the black bin. ", "output": ["STEP 1: Turn around and walk to the kitchen island. | STEP 2: Pick up the egg in front of the gold colored plate. | STEP 3: Walk around the kitchen island and to the stove on the right, look above the stove to face the microwave. | STEP 4: Place the egg inside the microwave, heat up the egg, take the egg out of the microwave. | STEP 5: Turn left, turn left at the fridge, turn left to face the kitchen island, and look down at the black bin. | STEP 6: Place the egg in the bin on the right side. | END"]} +{"id": "trial_T20190908_113432_673307-2", "input": "Move egg from counter, heat in microwave, put in garbage can.", "output": ["STEP 1: Turn right, to forward until two chairs are on right. Turn right and proceed to counter and chairs. | STEP 2: Pick up egg from counter, in front of gold colored plate. | STEP 3: Turn around, proceed to sliding doors. Turn left, proceed across room. Turn left, proceed until stove is on right. Turn to face stove. Look up to microwave. | STEP 4: Open microwave door, put egg in microwave, close door. Wait four seconds. Open microwave door, remove egg, close microwave door. | STEP 5: Turn left, proceed until reach end of counter. Turn left, then turn left to face counter and garbage can. | STEP 6: Place egg in right side of garbage can, to the right of the tomato and pump dispenser. | END"]} +{"id": "trial_T20190908_032434_013084-0", "input": "Put a cleaned pan on the counter. ", "output": ["STEP 1: Move right, then turn left, go forward, face the stove on the left. | STEP 2: Pick up the dirty pan on the left of the stove. | STEP 3: Turn around, bring the dirty pan to the sink. | STEP 4: Wash the pan in the sink with water. | STEP 5: Bring the pan back to the counter left of the stove. | STEP 6: Put the pan on the counter next to the toaster. | END"]} +{"id": "trial_T20190908_032434_013084-1", "input": "drop a clean pan on the table", "output": ["STEP 1: move forward towards the gas | STEP 2: pick up the pan | STEP 3: turn around and head to the sink | STEP 4: rinse the pan inside the sink | STEP 5: turn around to the table | STEP 6: drop the pan on the table | END"]} +{"id": "trial_T20190908_032434_013084-2", "input": "Wash the pan in the sink, put the pan on the counter", "output": ["STEP 1: Head across the kitchen to the stove | STEP 2: Pick up the pan from the stove | STEP 3: Head back to the left to the sink | STEP 4: Put the pan in the sink | STEP 5: Turn on the water for 4 seconds, Take the pan out of the sink | STEP 6: Turn around, put the pan on the counter | END"]} +{"id": "trial_T20190908_114656_768805-0", "input": "Put a cold pan on the counter top on top of the dishwasher. ", "output": ["STEP 1: Turn around, walk forward, turn right near the fridge, walk straight and turn left to face the stove. | STEP 2: Pick up the pan from on top of the stove. | STEP 3: Turn around, walk to the right to go back to the fridge. | STEP 4: Open the fridge, put the pan in it, close the fridge, let it cool for a while, open the fridge, pick it up again and close the fridge. | STEP 5: Go to the right and turn left to face the dishwasher. | STEP 6: Put the pan on the counter top. | END"]} +{"id": "trial_T20190908_114656_768805-1", "input": "Chill a pan and put it on a counter.", "output": ["STEP 1: Walk around the kitchen counter to the stove on your left. | STEP 2: Grab a pan from the stove. | STEP 3: Walk to the front of the fridge on your left. | STEP 4: Place the pan in the fridge, then grab it. | STEP 5: Walk to the kitchen counter between the fridge and stove. | STEP 6: Place the pan on the counter. | END"]} +{"id": "trial_T20190908_114656_768805-2", "input": "Put the chilled pan on the counter", "output": ["STEP 1: Turn around to your left walk straight then turn right head to the stove on your left | STEP 2: Pick up the pan on the stove | STEP 3: Turn left then walk straight head to the fridge | STEP 4: Open the fridge put in the pan then take it out and close the fridge | STEP 5: Turn right walk straight face the counter beside the toaster | STEP 6: Put the pan on the counter beside the toaster | END"]} +{"id": "trial_T20190909_120554_888709-0", "input": "Put a clean egg in the microwave.", "output": ["STEP 1: Turn left and go forward, then turn left to go to the fridge, then turn right and move forward, then turn left to face the dishwasher. | STEP 2: Pick up the egg from the counter in front of you. | STEP 3: Turn around and go to the sink. | STEP 4: Wash the egg in the sink. | STEP 5: Turn around and go to the stove, then look up to the microwave. | STEP 6: Open the microwave, put the egg inside, then close it. | END"]} +{"id": "trial_T20190909_120554_888709-1", "input": "Wash an egg and put it in the microwave.", "output": ["STEP 1: Turn and go to the counter to the right of the fridge where the toaster is. | STEP 2: Pick up the egg that is on the counter that is surrounded by three knives and between the two heads of lettuce. | STEP 3: With the egg in hand turn and go to the sink. | STEP 4: Place the egg in the sink to the left of the spatula and in front of the plate. Turn the water on to wash the egg. Turn the water off and pick up the egg. | STEP 5: With the egg in hand turn and go to the microwave. | STEP 6: Open the microwave and place the egg to the left of the egg that is in the microwave. Shut the microwave door. | END"]} +{"id": "trial_T20190909_120554_888709-2", "input": "Place a rinsed egg in a microwave.", "output": ["STEP 1: Turn around and walk to the fridge, then take a couple steps to the right. Face the counter. | STEP 2: Pick up the egg on the counter. | STEP 3: Turn around and walk to the sink. | STEP 4: Wash the egg in the sink. | STEP 5: Turn around and veer right to the stove and microwave. | STEP 6: Place the egg in the microwave, near the middle. | END"]} +{"id": "trial_T20190907_173120_648218-0", "input": "Pick up the egg, put it in the refrigerator and then put it in the sink. ", "output": ["STEP 1: Turn around, walk forward, turn to the left to face the counter top | STEP 2: Pick up the egg on the counter top behind the trophy. | STEP 3: Turn around and face the refrigerator, open the refrigerator door | STEP 4: Place the egg inside the refrigerator by the tomato. Close the door, then open the door and pick the egg up. | STEP 5: Turn to the right, walk forward, turn to the right to face the sink. | STEP 6: Place the egg in the sink in front of the white bowl. | END"]} +{"id": "trial_T20190907_173120_648218-1", "input": "Put a cold egg in the sink.", "output": ["STEP 1: Turn around and stand in front of the toaster. | STEP 2: Pick up the egg to the right of the toaster. | STEP 3: Turn left and go to the fridge. | STEP 4: Chill the egg and pick it up again. | STEP 5: Turn right and then go to the sink on your right. | STEP 6: Put the egg in the sink. | END"]} +{"id": "trial_T20190907_173120_648218-2", "input": "Chill an egg and put it in the sink", "output": ["STEP 1: Turn around and walk forwards before turning left to face the statue | STEP 2: Pick up an egg from off of the kitchen counter | STEP 3: Turn to your left and maneuver to face the fridge | STEP 4: Open the fridge, put the egg in to chill for a few seconds and then take it back out | STEP 5: Turn right and walk into the kitchen until you face the sink | STEP 6: Place the cold egg in the sink | END"]} +{"id": "trial_T20190909_064221_368939-0", "input": "To move two bars of soap to the gold bin. ", "output": ["STEP 1: Move to the counter in between the two sinks. | STEP 2: Put the bar of soap down on the counter in between the sinks. | STEP 3: Walk to the gold bin in the corner of the room. | STEP 4: Put the bar of soap down in the bin. | STEP 5: Walk back over to the sink. | STEP 6: Pick up the bar of soap to the left of the spray bottle. | STEP 7: Turn and walk back to the gold bin. | STEP 8: Put the bar of soap in the gold bin to the left of the first bar of soap. | END"]} +{"id": "trial_T20190909_064221_368939-1", "input": "Move two bars of soap from the counter to a golden can.", "output": ["STEP 1: Turn around and walk towards the wall, then hang a right and walk up to the counter. | STEP 2: Pick up the closest bar of soap off of the counter. | STEP 3: Turn around and walk to the door, then turn right and walk over to the golden can on the ground in the corner of the room. | STEP 4: Put the bar of soap into the golden can. | STEP 5: Turn around and take two steps, then turn left and walk up to the counter. | STEP 6: Pick up the bar of soap that is closest to the mirror on the counter. | STEP 7: Turn around and walk over to the door, then turn right and walk up to the golden can. | STEP 8: Put the bar of soap into the small golden can. | END"]} +{"id": "trial_T20190909_064221_368939-2", "input": "Move two bars of soap from counter to garbage can.", "output": ["STEP 1: Turn left, go to counter between two sinks. | STEP 2: Pick up front soap, directly in front of candle. | STEP 3: Turn around, go to door. Turn right, go to garbage can. | STEP 4: Place soap in garbage can. | STEP 5: Turn right, go to counter between two sinks. | STEP 6: Pick up soap from back of counter, directly left of spray bottle. | STEP 7: Turn around, go to door. Turn right, go to garbage can. | STEP 8: Place soap in garbage can right of other soap. | END"]} +{"id": "trial_T20190907_102952_001375-0", "input": "To turn on a lamp to see inside a box. ", "output": ["STEP 1: Turn to the right and walk across the room to the couch, before turning left and walking to a box on the blue chair. | STEP 2: Pick up the box on the blue chair. | STEP 3: Turn to the right to face the white couch and then look up at the wall. | STEP 4: Turn off the lamp on the left. | END"]} +{"id": "trial_T20190907_102952_001375-1", "input": "Examine an empty box by the light of a floor lamp.", "output": ["STEP 1: Walk to the blue chair at the top right corner of the room. | STEP 2: Pick up the empty box from the chair. | STEP 3: Turn right and face the floor lamp next to the chair. | STEP 4: Turn on the floor lamp. | END"]} +{"id": "trial_T20190907_102952_001375-2", "input": "Turning a lamp on.", "output": ["STEP 1: Turn to the right, and then the left to locate the blue couch. | STEP 2: Pick up the box from the couch. | STEP 3: Take the box and turn right to the other couch. | STEP 4: Turn the lamp on in the corner. | END"]} +{"id": "trial_T20190908_114622_738670-0", "input": "Put a chilled pan on the counter.", "output": ["STEP 1: Take a step to your right. | STEP 2: Pick up the pan on the front left burner. | STEP 3: Turn left and walk to the fridge on your right and turn right to face it when you get there. | STEP 4: Chill the pan in the fridge then get it back out and close the door. | STEP 5: Turn right and walk to the counter that's to the right of the toaster then turn left to face it when you get there. | STEP 6: Put the pan on the counter to the right of the toaster. | END"]} +{"id": "trial_T20190908_114622_738670-1", "input": "To chill a pan and put it on the counter. ", "output": ["STEP 1: Move a bit to the right to face the front of the stove. | STEP 2: Pick up the pan on the front left burner. | STEP 3: Turn left and walk to the fridge on the right. | STEP 4: Place the pan inside of the fridge, close the door, open the door, take the pan out, close the door. | STEP 5: Turn right and walk to the counter to the left of the stove. | STEP 6: Place the pan down to the right of the toaster on the counter. | END"]} +{"id": "trial_T20190908_114622_738670-2", "input": "Place a cold pan on the counter by the toaster.", "output": ["STEP 1: Move a step to your right to stand in front of the stove. | STEP 2: Pick up the pan from the front left burner of the stove. | STEP 3: Turn left to carry the pan to the fridge. | STEP 4: Place the pan on the second shelf in the fridge, close the door, and then remove after a few seconds. | STEP 5: Turn right and carry the pan to the counter space between the toaster and stove. | STEP 6: Place the pan on the counter to the right of the toaster. | END"]} +{"id": "trial_T20190907_171015_909996-0", "input": "turn on the standing light with the newspaper at hand", "output": ["STEP 1: turn right and head towards the cupboard | STEP 2: open the cupboard and take out the newspaper | STEP 3: turn left towards the standing light | STEP 4: turn on the standing light | END"]} +{"id": "trial_T20190907_171015_909996-1", "input": "Carry a newspaper while turning on a lamp", "output": ["STEP 1: Move to the middle door of the large wooden cabinet | STEP 2: Open the middle cabinet door and remove the newspaper sitting on the bottom | STEP 3: Carry the newspaper to the floor lamp to the left of the cabinet | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190907_171015_909996-2", "input": "Get a newspaper out and read it near the lamp.", "output": ["STEP 1: Walk forward, turn right at the cabinet and approach the computer. | STEP 2: Open the left cabinet door, remove the newspaper, close the door. | STEP 3: Turn left, walk to the trash can, turn right, put the newspaper on top of the dresser. | STEP 4: Turn on the lap. | END"]} +{"id": "trial_T20190918_185132_685516-0", "input": "Put a cardboard box with keys in it on the seat of a blue chair.", "output": ["STEP 1: Turn right and walk towards the wall, then hang a left and walk up to the small black table. | STEP 2: Pick up the set of keys off of the small black table. | STEP 3: Turn left and walk across the room, then turn right and walk up to the tall white shelving unit. | STEP 4: Put the set of keys in the cardboard box that is on the bottom shelf in front of you. | STEP 5: Pick up the cardboard box with the keys in it off of the shelf. | STEP 6: Walk over to the blue chair with the yellow pillow on it that is behind you. | STEP 7: Put the cardboard box with the keys in it on the seat of the blue chair to the right of the yellow pillow. | END"]} +{"id": "trial_T20190918_185132_685516-1", "input": "Put keys in a box to put on the blue armchair.", "output": ["STEP 1: Turn right to walk towards the black side table. | STEP 2: Pick up the keys on the black side table. | STEP 3: Turn left to walk to the white bookcase on the right of the other white bookcase. | STEP 4: Set the keys down in a box on the bottom shelf of the bookcase. | STEP 5: Pick up the box with the keys in it from the bottom shelf of the white bookcase. | STEP 6: Turn around and walk forward towards the blue armchair. | STEP 7: Set the box with the keys in it down on the seat of the blue armchair. | END"]} +{"id": "trial_T20190918_185132_685516-2", "input": "Move a box and keys to the blue chair.", "output": ["STEP 1: Turn to the right and then face the black table on the left. | STEP 2: Pick up the keys from the center of the black table. | STEP 3: Carry the keys and turn to the left. Turn right to face the tall white shelf. | STEP 4: Place the keys in the box on the shelf. | STEP 5: Pick up the box from the shelf. | STEP 6: Carry the box and turn to the right, then right again. Move to the blue chair. | STEP 7: Place the box on the blue chair, to the right side. | END"]} +{"id": "trial_T20190908_225359_617900-0", "input": "Heat a tomato and place in the bin. ", "output": ["STEP 1: Turn to the left and go around the island to the other side. | STEP 2: Pick up the tomato from the kitchen island. | STEP 3: Turn around completely and head to the right. Then turn left once you reach the wall and go forward. Turn right and then left to face the oven. | STEP 4: Place the tomato in the microwave above the oven. Heat the tomato then take it out. | STEP 5: Turn left then turn right twice to face a black bin. | STEP 6: Place the tomato inside the black bin. | END"]} +{"id": "trial_T20190908_225359_617900-1", "input": "Put a microwaved tomato in the garbage.", "output": ["STEP 1: Turn left and walk past the counter then turn left and walk past the counter and chair then turn left and walk to the middle of the chairs and turn left. | STEP 2: Pick up the tomato that's in front of you on the counter between the chairs. | STEP 3: Walk around the counter island and walk to the stove that's in front of you. | STEP 4: Cook the tomato in the microwave then take it back out and close the door. | STEP 5: Turn left and walk past the counter then turn left and take a step then turn left to face the garbage. | STEP 6: Put the tomato in the garbage. | END"]} +{"id": "trial_T20190908_225359_617900-2", "input": "Put a heated tomato in the trash can. ", "output": ["STEP 1: Turn left, move around the island to the left, then turn around so you facing the other side of the island. | STEP 2: Pick up the tomato on the island. | STEP 3: Bring the tomato around the right side of the island, to the other side, to the stove, to the microwave above the stove. | STEP 4: Heat the tomato in the microwave. | STEP 5: Bring the heated tomato to the left, around the other side of the island, to the trash can at the end. | STEP 6: Put the heated tomato in the trash can. | END"]} +{"id": "trial_T20190908_235919_129519-0", "input": "Move a knife and a green cup to the counter. ", "output": ["STEP 1: Walk forward then turn to the left. Then go forward to the counter and turn right to face it. | STEP 2: Pick up the butter knife off of the counter. | STEP 3: Turn to the left then right then left again to the brown shelf. | STEP 4: Place the knife inside of the green cup on the shelf. | STEP 5: Pick up the green cup with the knife inside. | STEP 6: Turn to the right and go forward. Turn right again and go to the counter top. Turn left to face the counter top. | STEP 7: Place the green cup and knife on to the counter. | END"]} +{"id": "trial_T20190908_235919_129519-1", "input": "Put a green cup with a butter knife in it on the counter.", "output": ["STEP 1: Go toward the wall, then turn left and go in between the chairs, then turn left to face the kitchen island. | STEP 2: Pick up the rightmost butter knife on the kitchen island. | STEP 3: Turn around and move forward, then go to the shelves to your right. | STEP 4: Put the butter knife in the green cup on the top shelf. | STEP 5: Pick up the green cup from the top shelf. | STEP 6: Turn right and go towards the wall, then turn right at the refrigerator and go forward, then turn left to face the dishwasher. | STEP 7: Put the green cup on the counter above the dishwasher. | END"]} +{"id": "trial_T20190908_235919_129519-2", "input": "Put a green cup with a butter knife in it on the counter.", "output": ["STEP 1: Walk towards the wall, then hang a left and walk towards the window, turn left and walk up to the kitchen island. | STEP 2: Pick up the rightmost butter knife off of the kitchen island in front of you. | STEP 3: Turn around and walk forward, then hang a right and walk over to the wooden shelving unit against the wall. | STEP 4: Put the butter knife in the green cup on the top shelf of the wooden shelving unit. | STEP 5: Pick up the green cup with the butter knife in it. | STEP 6: Turn right and walk forward, then hang a right and walk over to the counter where the toaster is. | STEP 7: Put the green cup with the butter knife in it on the counter in front of the golden statue. | END"]} +{"id": "trial_T20190908_123236_460615-0", "input": "Put a glass vase and a plate in the sink.", "output": ["STEP 1: Turn left towards the sink | STEP 2: Pick up the glass vase in the sink | STEP 3: Turn right to the cupboards and open them | STEP 4: Place the glass vase on the gold plate | STEP 5: Take them out of the cupboard | STEP 6: Turn right and towards the sink | STEP 7: Put the vase and plate in the sink | END"]} +{"id": "trial_T20190908_123236_460615-1", "input": "Put a plate with a bottle on it in the sink.", "output": ["STEP 1: Take a tiny step forward then turn left to face the sink and step towards it. | STEP 2: Pick up the glass battle that's in the sink. | STEP 3: Turn around and take a step left then step towards the counter and look up. | STEP 4: Open the cupboard doors and put the bottle on the plate that's up there. | STEP 5: Pick up the plate with the bottle on it and then close the doors. | STEP 6: Turn around and take a step to your left then walk towards the sink., | STEP 7: Put the plate in the sink. | END"]} +{"id": "trial_T20190908_123236_460615-2", "input": "put a plate and glass jug into the kitchen sink basin", "output": ["STEP 1: turn to face kitchen sink | STEP 2: pick up glass jug from kitchen sink | STEP 3: turn around to face the counter opposite the sink between the fridge and stove | STEP 4: open the cabinet above the counter, place the glass on the plate inside | STEP 5: pick up the plate from the cabinet | STEP 6: turn around to face the sink | STEP 7: place the plate inside the sink basin | END"]} +{"id": "trial_T20190909_021247_306737-0", "input": "heat up coffee in a mug and put it away inside the cabinet door", "output": ["STEP 1: turn right walk straight to the window then turn left and walk straight towards the counter and turn left then turn right and walk straight towards the counter | STEP 2: pick up the coffee mug on the coffee maker | STEP 3: turn left and walk straight then turn right towards the stove and look up | STEP 4: open the microwave door above the stove and put the coffee mug inside then close the door and start the timer and open the door and remove the mug and close the door | STEP 5: look down and turn left then walk straight then turn right towards the counter and look up at the cabinet | STEP 6: open the cabinet door and put the mug inside then close the door | END"]} +{"id": "trial_T20190909_021247_306737-1", "input": "Place a heated mug in a cabinet.", "output": ["STEP 1: Walk ahead and right to the coffee maker on the counter. | STEP 2: Take the mug out of the coffee maker. | STEP 3: Take a step left. | STEP 4: Heat the mug in the microwave. | STEP 5: Take a step left. | STEP 6: Place the mug in the cabinet left of the microwave, to the left of the white vase. | END"]} +{"id": "trial_T20190909_021247_306737-2", "input": "put heated mug inside kitchen cabinet", "output": ["STEP 1: walk to face coffee maker | STEP 2: remove mug from inside coffee maker | STEP 3: walk to face microwave | STEP 4: heat mug in microwave, remove from microwave | STEP 5: gaze to the cabinets left of the microwave | STEP 6: put mug inside cabinet | END"]} +{"id": "trial_T20190908_020048_814402-0", "input": "Picking up a book and turning on a light to read it by", "output": ["STEP 1: Turn right towards the bed | STEP 2: Pick up the green book from the bed | STEP 3: Turn around and go to the wall then turn to the desk to the left | STEP 4: Turn on the light | END"]} +{"id": "trial_T20190908_020048_814402-1", "input": "Examine a book under a lamp", "output": ["STEP 1: Turn right and walk to the bed | STEP 2: Pick up the green book that says What is Math that is sitting on the bed | STEP 3: Turn around and cross the room and then turn left at the wall and walk to the desk | STEP 4: Turn on the lamp that is sitting on the desk | END"]} +{"id": "trial_T20190908_020048_814402-2", "input": "Carry a book to the lamp, turn on the lamp", "output": ["STEP 1: Move to the side of the bed facing the green book on top of the bed | STEP 2: Pick up the green book sitting on top of the bed | STEP 3: Carry the book over to the desk in the corner of the room with the desk lamp on top of it | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190906_191501_563086-0", "input": "Place the salt shaker in the cabinet.", "output": ["STEP 1: Turn around, walk towards the fridge, turn right towards the tomato on the counter to your left. | STEP 2: Pick up the salt shaker next to the tomato on the counter. | STEP 3: Look up to see the cabinet at the top. | STEP 4: Open the cabinet door, place the shaker in it, and close the door. | END"]} +{"id": "trial_T20190906_191501_563086-1", "input": "Put the salt in the cabinet above the counter. ", "output": ["STEP 1: Move to the counter left of the stove. | STEP 2: Pick up the salt from the counter. | STEP 3: Bring salt up the the cabinet above the counter. | STEP 4: Put the salt in the cabinet above the counter to the left of the microwave. | END"]} +{"id": "trial_T20190906_191501_563086-2", "input": "Put the salt shaker in the cabinet to the left above the stove.", "output": ["STEP 1: Move to the counter top to the left of the stove | STEP 2: Pick up the salt shaker from the counter top. | STEP 3: Open the cabinet above the place the salt shaker came from | STEP 4: Put the salt shaker inside the cabinet and close the door. | END"]} +{"id": "trial_T20190908_214926_337906-0", "input": "put a rinsed off bar of soap in to the cabinet", "output": ["STEP 1: turn around to face the counter between the two sinks | STEP 2: pick up the bar of soap that is on the back of the counter between the two sinks | STEP 3: move to the right to face the sink on the right | STEP 4: put the bar of soap in to the sink, turn on the water to rinse off the soap, turn off the water and remove the soap from the sink | STEP 5: move back slightly away from the sink | STEP 6: open the left cabinet door below the sink on the right and put the bar of soap in to the cabinet and close the door | END"]} +{"id": "trial_T20190908_214926_337906-1", "input": "Put a clean bar of soap in a cabinet.", "output": ["STEP 1: Turn around to face the counter. | STEP 2: Pick up the bar of soap off of the counter. | STEP 3: Turn around and walk towards the door, then turn left and walk forward, turn left again to face the sink. | STEP 4: Put the bar of soap in the right sink basin and turn on the water, after a couple seconds turn the water off and remove the now clean bar of soap. | STEP 5: Turn around and walk towards the wall, then turn left and walk towards the shower, turn left again to face the counter. | STEP 6: Open the second cabinet door from the right and put the clean bar of soap inside the cabinet then close the door. | END"]} +{"id": "trial_T20190908_214926_337906-2", "input": "Move soap from counter to sink, followed by moving to cupboard below sink ", "output": ["STEP 1: Turn around facing sink | STEP 2: Pick up bar of soap | STEP 3: Turn around, take one step, turn left, take one step, turn left facing sink | STEP 4: Put soap in sink, turn water on, turn water off, remove soap from sink | STEP 5: Turn around, take one step, turn around, | STEP 6: Open cupboard below sink, put soap inside, close cupboard below sink | END"]} +{"id": "trial_T20190908_121952_610012-0", "input": "Take the pencil from the desk, put it back on the desk", "output": ["STEP 1: Turn to the right | STEP 2: head to the desk in the corner | STEP 3: Take the pencil from the desk | STEP 4: Turn around twice, put the pencil on the desk | END"]} +{"id": "trial_T20190908_121952_610012-1", "input": "Walk to the desk and pick up a pencil also put it back.", "output": ["STEP 1: Turn right at the trash can and walk to the left of the bed. Turn left at the desk to your left. | STEP 2: Pick up the white pencil on the desk. | STEP 3: Turn around in a circle. | STEP 4: Put the pencil back down on the desk by the books. | END"]} +{"id": "trial_T20190908_121952_610012-2", "input": "Move the pencil on the desk over.", "output": ["STEP 1: Turn to your right and walk past the desk, then turn left and go to the end of the desk, closest to the wall. | STEP 2: Pick up the pencil on the desk, to the right of the lamp. | STEP 3: Move over to your left slightly so that you are right next to the blue office chair. | STEP 4: Place the pencil back on the desk, in front of the keys. | END"]} +{"id": "trial_T20190907_171850_960211-0", "input": "Put the warm mug on the coffee maker", "output": ["STEP 1: Turn around to your right move forward then turn left, head to the coffee maker | STEP 2: Pick up the mug in front of the coffee maker on the counter | STEP 3: Turn to your left head to the microwave above the stove | STEP 4: Open the microwave then put in and out the mug then close the microwave | STEP 5: Turn to your right and head to the coffee maker | STEP 6: Put the mug on the coffee maker | END"]} +{"id": "trial_T20190907_171850_960211-1", "input": "Put a warm mug at the coffee maker.", "output": ["STEP 1: Turn around, move forward, then turn left, to approach the coffee maker. | STEP 2: Pick up the mug on the counter, in front of the coffee maker. | STEP 3: Turn left, go straight, then turn right at the stove and look up at the microwave. | STEP 4: Heat the mug inside of the microwave. | STEP 5: Turn right, go forward, then turn left to face the coffee maker. | STEP 6: Put the mug at the coffee maker. | END"]} +{"id": "trial_T20190907_171850_960211-2", "input": "Put a warmed mug under a coffee maker.", "output": ["STEP 1: Go right and stand in front of the coffee maker. | STEP 2: Pick the white mug up from the counter. | STEP 3: Turn left and then right to face the stove. | STEP 4: Put the mug into the microwave and turn it on and then off and open the door to get the mug out and shut the door. | STEP 5: Go to the right to stand in front of the coffee maker. | STEP 6: Put the mug under the coffee maker on the counter. | END"]} +{"id": "trial_T20190907_161252_926204-0", "input": "Examine a basketball by the light of a desk lamp.", "output": ["STEP 1: Turn right and head to the desk, then turn left and walk to the basketball on the floor. | STEP 2: Pick up the basketball from the floor. | STEP 3: Turn left, walk to the desk to the left of the bed and stand in front of the lamp on the desk. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190907_161252_926204-1", "input": "Examine a basketball in the light of a lamp.", "output": ["STEP 1: Turn around, then go straight, then turn left, then go forward, then turn left to face to bed. | STEP 2: Pick up the basketball in front of the bed. | STEP 3: Turn left, go forward, turn right, go forward, turn left, go to the wall, then turn left to face the lamp. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190907_161252_926204-2", "input": "examine basketball with the lamp", "output": ["STEP 1: turn around, walk forward, turn left, walk forward to the wall, turn left to face bed | STEP 2: pick up the basketball that is on the floor | STEP 3: turn left, walk forward, turn right, walk forward, turn left, walk forward, turn left to face the desk | STEP 4: turn the lamp on | END"]} +{"id": "trial_T20190906_224631_058932-0", "input": "Put a cold slice of bread in the microwave.", "output": ["STEP 1: Turn left, go towards the coffee maker, turn left go to the dishwasher on the right. | STEP 2: Take the yellow handle knife from the counter behind the bread. | STEP 3: Cut the bread into slices. | STEP 4: Stay at the counter. | STEP 5: Put the knife on the counter in front of the bread and spatula. | STEP 6: Stay at the counter. | STEP 7: Take a slice of bread from the counter. | STEP 8: Turn left, go to the white refrigerator. | STEP 9: Put the bread in the refrigerator on the shelf with the potato in front of the bowl. Close then open the fridge door. Take the bread from the fridge. | STEP 10: Turn right, go in front of the oven. | STEP 11: Put the bread in the microwave above the oven. | END"]} +{"id": "trial_T20190906_224631_058932-1", "input": "Put a freshly sliced piece of bread into the microwave.", "output": ["STEP 1: Go as far as you can to your left, then turn left again and continue to the counter to the right of the fridge. | STEP 2: Pick up the knife behind the loaf of bread on the counter. | STEP 3: Slice the right half of the loaf of bread. | STEP 4: Move one step to the right. | STEP 5: Put the knife on the counter, in front of the bread and spatula, parallel to the edge of the counter | STEP 6: Go back one step to the left. | STEP 7: Remove leftmost slice of bread, from near the center of the loaf. | STEP 8: Take the bread slice to the refrigerator on your left. | STEP 9: Put the bread on the middle of the center refrigerator shelf and close the refrigerator, then open it and take the bread slice back out and close the door. | STEP 10: Move to your right to stand facing the stove. | STEP 11: Put the slice of bread into the microwave above the stove. | END"]} +{"id": "trial_T20190906_224631_058932-2", "input": "Place a chilled slice of bread into the microwave.", "output": ["STEP 1: Turn to your left and walk to the toaster next to the refrigerator. | STEP 2: Pick up the knife from the counter. | STEP 3: Cut the loaf of bread. | STEP 4: Move one step to your right. | STEP 5: Place the knife on the counter. | STEP 6: Walk one step to the left. | STEP 7: Pick up a slice of bread from the middle of the loaf. | STEP 8: Walk over to the refrigerator. | STEP 9: Open the fridge and place the bread inside and then shut the fridge briefly before opening it again and picking up the slice of bread. | STEP 10: Walk over to the microwave above the stove. | STEP 11: Place the slice of bread inside the microwave. | END"]} +{"id": "trial_T20190908_073656_715770-0", "input": "Place a slice of cooked apple into the trash.", "output": ["STEP 1: Turn left, move to the counter, right of the refrigerator. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn left, move to the bin at the end of the island. | STEP 4: Cut the apple, in the bin, in to sections. | STEP 5: Put the knife in the bin. | STEP 6: Pick up a section of apple. | STEP 7: Turn left, move to in front of the microwave. | STEP 8: Put the apple section in the microwave, cook it, pick it back up. | STEP 9: Turn left, move to the bin at the end of the island. | STEP 10: Put the cooked apple section in the bin. | END"]} +{"id": "trial_T20190908_073656_715770-1", "input": "Put a hot slice of apple in the trash can.", "output": ["STEP 1: Turn, go across the room to the fridge, take a right and go to the counter to the right of the fridge. | STEP 2: Pick up the butter knife on the counter. | STEP 3: Go to the trash can at the end of the counter. | STEP 4: Slice the apple in the trash can. | STEP 5: Put the butter knife in the trash can. | STEP 6: Pick up an apple slice out of the trash can. | STEP 7: Turn around and go to the microwave. | STEP 8: Cook the apple slice in the microwave. | STEP 9: Turn and go back to the trash can. | STEP 10: Put the warm apple slice in the trash. | END"]} +{"id": "trial_T20190908_073656_715770-2", "input": "Slice apple in the trash can, grab a piece, cook it in the microwave, put it in the trash can", "output": ["STEP 1: Walk towards the counter next to the fridge | STEP 2: Grab a knife from the counter | STEP 3: Walk with the knife towards the trash can | STEP 4: Slice apple in the trash can | STEP 5: Put knife in the trash can | STEP 6: Pick up an apple piece from the trash can | STEP 7: Walk with the apple piece towards the microwave | STEP 8: Put the apple piece inside the microwave, cook it and take it out | STEP 9: Walk with the apple piece towards the trash can | STEP 10: Put the apple piece inside the trash can | END"]} +{"id": "trial_T20190908_220604_010430-0", "input": "look at the pencil under the lamp", "output": ["STEP 1: go to the desk | STEP 2: pick up the pencil from the desk | STEP 3: take the pencil to the lamp | STEP 4: turn on the lamp | END"]} +{"id": "trial_T20190908_220604_010430-1", "input": "Examine a pencil by the light of a desk lamp.", "output": ["STEP 1: Turn right, walk forward to the garbage bin on the floor, then turn right and walk to the bed, then turn left and walk to the desk on the left. | STEP 2: Pick up the pencil from the desk which is under the cell phone. | STEP 3: Walk slightly to the right and turn left to face the lamp on the desk. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190908_220604_010430-2", "input": "Look at a pencil in lamp light.", "output": ["STEP 1: Turn right and go towards the waste basket, then turn right move forward, then turn left and go towards the wall, then turn left to face the desk. | STEP 2: Pick up the pencil next to the cell phone on the desk. | STEP 3: Move to the right, toward the lamp. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190909_021100_341887-0", "input": "Place a heated mug in a cabinet.", "output": ["STEP 1: Turn left and walk to the end of the counter on the left, then face the coffee maker. | STEP 2: Take the mug out of the counter above the coffee maker. | STEP 3: Take a step left. | STEP 4: Heat the mug in the microwave. | STEP 5: Take a step left. | STEP 6: Place the mug on the cabinet to the left of the microwave, to the right of the salt shaker. | END"]} +{"id": "trial_T20190909_021100_341887-1", "input": "Heat a cup and place it in the cabinet.", "output": ["STEP 1: Turn to the left, and move through the kitchen. Face the coffee machine on the counter. | STEP 2: Open the top cabinet and take out the cup. Close the cabinet. | STEP 3: Hold the cup and take a step to the left, look up to the microwave. | STEP 4: Open the microwave and place the cup inside. Shut the door and then open it. Take out the cup. | STEP 5: Hold the cup and look down, then take a step to the left and look up to the cabinet. | STEP 6: Open the cabinet and place the cup inside. | END"]} +{"id": "trial_T20190909_021100_341887-2", "input": "place a microwaved coffee cup inside of the kitchen cupboard", "output": ["STEP 1: turn left and walk over to the end of the room where the coffee maker is on the left | STEP 2: grab a coffee mug out of the cabinet to the top right of the coffee maker | STEP 3: move to the left a bit to face the microwave above the stove | STEP 4: place the coffee much inside of the microwave, microwave it for a bit and then take it back out | STEP 5: turn left and walk over to the kitchen counter to the left of the stove on your right, then look up at the cabinets above the kitchen counter | STEP 6: place the coffee mug inside the cupboard cabinet above the kitchen counter top | END"]} +{"id": "trial_T20190908_020029_636862-0", "input": "Look at a book by the light of a lamp.", "output": ["STEP 1: Turn around and walk to the bed. | STEP 2: Pick up the \"What is math?\" book on the bed. | STEP 3: Walk around the left side of the bed and veer left to the desk. | STEP 4: Turn on the lamp on the desk. | END"]} +{"id": "trial_T20190908_020029_636862-1", "input": "Use the light from the lamp to look at the book.", "output": ["STEP 1: Turn around and go to the foot of the bed. | STEP 2: Pick up the book from the bed. | STEP 3: Turn left and go to the desk in the far corner of the room. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190908_020029_636862-2", "input": "Take the math book to the night stand", "output": ["STEP 1: Turn and walk to the bed | STEP 2: Grab the book that is on the bed | STEP 3: carry the book over to the night stand | STEP 4: Hold the book in front of the night stand | END"]} +{"id": "trial_T20190906_191429_743650-0", "input": "Place the salt shaker in the cabinet beside the fridge.", "output": ["STEP 1: Walk towards the wooden shelf on your left side. | STEP 2: Pick up the salt shaker on the middle shelf. | STEP 3: Turn around, head towards the trophy on the counter, and turn left to face the lower cabinet on the right of the fridge. | STEP 4: Open the cabinet, place the shaker in it, and close the door. | END"]} +{"id": "trial_T20190906_191429_743650-1", "input": "place a salt shaker in the kitchen cabinet next to the fridge", "output": ["STEP 1: head over to the three brown shelves | STEP 2: grab the salt shaker off of the brown shelf | STEP 3: walk over to the fridge | STEP 4: place the salt shaker in the cabinet to the bottom right of the fridge | END"]} +{"id": "trial_T20190906_191429_743650-2", "input": "Put salt in the cabinet next to the fridge. ", "output": ["STEP 1: Move to the wooden rack. | STEP 2: Pick up the salt from the rack. | STEP 3: Bring the salt to the cabinet right of the fridge. | STEP 4: Put the salt in that cabinet. | END"]} +{"id": "trial_T20190907_050942_897916-0", "input": "Secure two discs in a bedroom safe.", "output": ["STEP 1: Go to the desk directly behind you. | STEP 2: Pick up the disc from the left front corner of the desk. | STEP 3: Turn right and carry the disc to the white safe in the corner to your left. | STEP 4: Put the disc in the safe. | STEP 5: Return to the desk. | STEP 6: Get the disc from the far right side of the desk. | STEP 7: Carry the disc to the corner safe. | STEP 8: Put the disc into the safe and close the safe. | END"]} +{"id": "trial_T20190907_050942_897916-1", "input": "Transfer the two CDs from the desk into the vault.", "output": ["STEP 1: Turn right towards the window and turn right towards the desk. | STEP 2: Pick up the CD from the desk. | STEP 3: Turn right towards the bed, turn left towards the bin, turn right towards the vault on your left. | STEP 4: Place the CD in the vault. | STEP 5: Turn left towards the bed and then turn right towards the desk. | STEP 6: Pick up the CD from the desk. | STEP 7: Turn right towards the bed, turn left towards the bin, turn right towards the vault on your left. | STEP 8: Place the CD in the vault and close. | END"]} +{"id": "trial_T20190907_050942_897916-2", "input": "Put the two CDs on the desk closest to the window in the safe.", "output": ["STEP 1: Move to the desk closest to the widow. | STEP 2: Pick up the CD from the desk. | STEP 3: Move to the safe to the right of you to the left of the mirror. | STEP 4: Place the CD inside and close the door. | STEP 5: Move to the desk closest to the widow. | STEP 6: Pick up the CD from the desk. | STEP 7: Move to the safe to the right of you to the left of the mirror. | STEP 8: Place the CD inside and close the door. | END"]} +{"id": "trial_T20190907_050942_897916-3", "input": "Put two CDs in the safe.", "output": ["STEP 1: Turn around and head to the desk. | STEP 2: Pick up the CD on the left. | STEP 3: Turn right and cross the room to the trashcan, and turn left and head to the safe. | STEP 4: Put the CD in the safe. | STEP 5: Turn around and head to the trashcan, then turn right and cross the room to the chair. | STEP 6: Face the desk and pick up the CD. | STEP 7: Turn right and cross the room to the trashcan, then turn left and head to the safe. | STEP 8: Put the CD in the safe. | END"]} +{"id": "trial_T20190907_050942_897916-4", "input": "Put two CD's in the safe", "output": ["STEP 1: Turn around so you are next to the wall and facing the blue chair | STEP 2: Pick up the CD off of the desk | STEP 3: Maneuver your way to the left of the bed so you are facing the wall to the left of the floor safe | STEP 4: Open the safe and put the CD inside it, before closing it again | STEP 5: Turn back towards the desk, but this time stand to the right of where you stood last time | STEP 6: Pick up another CD off of the desk | STEP 7: Head back to the safe | STEP 8: Open the safe and put the other CD inside it, before closing it again | END"]} +{"id": "trial_T20190909_025413_784807-0", "input": "Put a cup with a butter knife in it in the sink.", "output": ["STEP 1: Go toward the fridge, turn right and move forward, then turn left to face the sink. | STEP 2: Pick up the butter knife in the sink. | STEP 3: Turn left and go to the wall, then turn left and look up to the cabinet. | STEP 4: Open the cabinet and put the butter knife in the rightmost cup. | STEP 5: Take the rightmost cup from the cabinet. | STEP 6: Turn left and move forward, then turn left to face the sink. | STEP 7: Put the cup in the sink. | END"]} +{"id": "trial_T20190909_025413_784807-1", "input": "To put a knife in the glass and put the glass in the sink. ", "output": ["STEP 1: Turn and walk to the sink on the right. | STEP 2: Pick up the butter knife from the sink. | STEP 3: Turn left, turn left at the window, and face the counter with the coffee maker on it, look above the counter at the cabinet. | STEP 4: Open both cabinet doors. put the knife down in the glass on the right. | STEP 5: Pick up the glass from the cabinet and close the door. | STEP 6: Turn left and walk to the sink on the left. | STEP 7: Put the glass inside of the sink. | END"]} +{"id": "trial_T20190909_025413_784807-2", "input": "Move a knife in a cup to the sink.", "output": ["STEP 1: Turn right and move to stand in front of the sink. | STEP 2: Pick up the butter knife from inside the sink. | STEP 3: Turn left and move to stand in front of the coffee maker right after the stove. | STEP 4: Open the cupboard above the coffee maker and place the knife in the green cup on the right.. | STEP 5: Pick up the cup with the knife inside from the cupboard. | STEP 6: Turn left and carry the cup and knife to the sink. | STEP 7: Place the cup with the knife inside in the sink. | END"]} +{"id": "trial_T20190908_235816_620828-0", "input": "put a cup and knife on a counter top", "output": ["STEP 1: walk to face counter to left of stove | STEP 2: pick up butter knife from counter | STEP 3: turn around to face sink | STEP 4: put knife into green cup inside sink | STEP 5: pick up green cup from sink basin | STEP 6: turn around to face counter top | STEP 7: put cup on counter top | END"]} +{"id": "trial_T20190908_235816_620828-1", "input": "Put a cup with knife in it, on the counter. ", "output": ["STEP 1: Turn right, move to face the tomato on the counter, left of the stove. | STEP 2: Pick up the smaller silver knife on the counter. | STEP 3: Turn around, bring the knife to the sink. | STEP 4: Put the knife in the green cup in the sink. | STEP 5: Pick up the cup with knife in the sink. | STEP 6: Turn around, bring the cup to the counter. | STEP 7: Put the cup with knife on the counter, in front of the spoon and plate. | END"]} +{"id": "trial_T20190908_235816_620828-2", "input": "Put the butter knife into a green cup and place the cup onto the counter. ", "output": ["STEP 1: Turn around and walk to the counter on the left of the room, on the left side of the stove. | STEP 2: Pick up the butter knife beside the tomato on the counter. | STEP 3: Turn around and move to the sink directly in front of you. | STEP 4: Put the butter knife into the green cup in the sink. | STEP 5: Pick up the green cup with the butter knife in it. | STEP 6: Turn around and move to the counter above the dishwasher. | STEP 7: Put the cup with the butter knife down onto the counter above the dishwasher. | END"]} +{"id": "trial_T20190909_203041_433487-0", "input": "take the mug from the desk shelf to put it on the desk.", "output": ["STEP 1: walk around to the desk and face the middle row of books | STEP 2: Pick up the white mug from the top shelf | STEP 3: walk the mug around to the side of the desk | STEP 4: set the mug on the desk | END"]} +{"id": "trial_T20190909_203041_433487-1", "input": "Move a mug from the shelf to the desk. ", "output": ["STEP 1: Turn left, move to the bed, go to the desk left of the bed, face the books on the shelf above the desk. | STEP 2: Pick up the mug on the shelf. | STEP 3: Turn around, move to the side of the desk closer to the bed, face the side of the desk. | STEP 4: Put the mug on the desk. | END"]} +{"id": "trial_T20190909_203041_433487-2", "input": "Move a cup from the top shelf to the edge of the desk.", "output": ["STEP 1: Walk around the bed to the front of the computer desk on your left. | STEP 2: Pick up the coffee cup from the top shelf of the desk. | STEP 3: Walk to the side of the computer desk. | STEP 4: Place the cup on the edge of the desk. | END"]} +{"id": "trial_T20190909_102608_318800-0", "input": "Put a cooled tomato in the microwave", "output": ["STEP 1: Turn left and go to the black trash can | STEP 2: Pick up the tomato from the trash can | STEP 3: Turn around and go to the refrigerator | STEP 4: Place the tomato in the refrigerator between the lettuce and tomato and close the door. Open the door and take out the tomato | STEP 5: Turn right and go to the microwave above the sink on the left | STEP 6: Open the door, put the tomato in the microwave and close the door | END"]} +{"id": "trial_T20190909_102608_318800-1", "input": "Place a chilled tomato in a microwave.", "output": ["STEP 1: Turn left, walk forward to the refrigerator, then turn around and face the garbage can on the floor. | STEP 2: Pick up the tomato from the garbage can. | STEP 3: Turn around towards the refrigerator. | STEP 4: Cool the tomato in the refrigerator, then take it out and close the refrigerator. | STEP 5: Turn right and walk forward to the sink, then turn left towards the microwave above the stove top. | STEP 6: Put the tomato in the microwave and close the microwave. | END"]} +{"id": "trial_T20190909_102608_318800-2", "input": "Put a cold tomato in the microwave.", "output": ["STEP 1: Turn left and walk to the black garbage that's in front of you and turn right to face it. | STEP 2: Pick up the tomato that's in front of you in the garbage. | STEP 3: Turn right and take a step then turn right to face the fridge. | STEP 4: Chill the tomato in the fridge then take it back out and close the door. | STEP 5: Turn right and walk to the stove that's on your left then turn left to face it. | STEP 6: Put the tomato in the microwave. | END"]} +{"id": "trial_T20190908_111818_332166-0", "input": "place a cup with a fork in it on top of the kitchen counter", "output": ["STEP 1: turn around and walk to the fridge at the end of the right side of the room, then turn around and walk to the kitchen counter on your left | STEP 2: grab a fork off of the kitchen counter there | STEP 3: turn around and walk over to the fridge on the left | STEP 4: place the fork inside of the fridge inside a green cup | STEP 5: grab the cup up out of the fridge | STEP 6: turn right and walk forwards a bit to the first kitchen counter on the left | STEP 7: place the cup down on the kitchen counter | END"]} +{"id": "trial_T20190908_111818_332166-1", "input": "Put the chilled green cup and fork on the counter in front of the bread.", "output": ["STEP 1: Turn left and move around to the other side of the island. | STEP 2: Pick up the fork that's on the right of the sink. | STEP 3: Turn around and move to the fridge. | STEP 4: Put the fork into the green cup on the second shelf in the fridge. | STEP 5: Take the cup with fork out of the fridge. | STEP 6: Move a couple feet to your right. | STEP 7: Put the cup and fork on the counter in front of the bread to the right of the knife. | END"]} +{"id": "trial_T20190908_111818_332166-2", "input": "Put a cup with a fork in it on the counter.", "output": ["STEP 1: Go to the fridge up ahead, turn right and move forward until you reach the counter adjacent to the sink, then turn right. | STEP 2: Pick up the fork on the counter. | STEP 3: Go to the fridge behind you. | STEP 4: Open the fridge and put the fork in the green cup inside of the fridge. | STEP 5: Pick up the green cup from the fridge. | STEP 6: Turn right and go forward until you reach the dishwasher, then turn left. | STEP 7: Put the green cup on the counter. | END"]} +{"id": "trial_T20190907_040327_147149-0", "input": "Place a cool lettuce in the sink.", "output": ["STEP 1: Turn around towards the fridge and turn right towards the lettuce next to the stove on your left. | STEP 2: Pick up the lettuce from the counter. | STEP 3: Turn left and walk towards the fridge on your right. | STEP 4: Place the lettuce next to the cup in the fridge, let it cool, and then take it back out. | STEP 5: Turn right and walk towards the sink on your right. | STEP 6: Place the lettuce back in the sink. | END"]} +{"id": "trial_T20190907_040327_147149-1", "input": "Put chilled lettuce into the sink.", "output": ["STEP 1: Turn around and go into the kitchen. | STEP 2: Pick up the lettuce to the left of the stove. | STEP 3: Go to the fridge on your left. | STEP 4: Chill the lettuce in the fridge and take it out. | STEP 5: Turn right and go to the sink. | STEP 6: Put the lettuce in the sink. | END"]} +{"id": "trial_T20190907_040327_147149-2", "input": "Put the chilled lettuce in the kitchen sink", "output": ["STEP 1: Turn around and walk over to the counter left of the stove in the kitchen | STEP 2: Pick up the lettuce from the counter next to the tomato | STEP 3: Turn left and walk to the fridge | STEP 4: Put the lettuce in the fridge and remove it | STEP 5: Turn right and walk to the kitchen sink opposite the stove | STEP 6: Put the lettuce in the kitchen sink | END"]} +{"id": "trial_T20190908_032518_891433-0", "input": "Place a washed pan on the counter.", "output": ["STEP 1: Turn right to face the stove. | STEP 2: Pick up the pan from the front left burner of the stove. | STEP 3: Turn around with the pan and face the sink. | STEP 4: Place the pan in the sink, turn on the water, and then remove once washed. | STEP 5: Turn back around to stand in front of the counter to the left of the stove. | STEP 6: Place the pan on the counter to the right of the toaster. | END"]} +{"id": "trial_T20190908_032518_891433-1", "input": "Place a clean pan on the kitchen counter.", "output": ["STEP 1: Move forward towards the sink then turn right and face the range. | STEP 2: Pick up the pan from the range's front left burner. | STEP 3: Turn around and face the sink. | STEP 4: Place the pan in the sink, immerse it in water to clean it, drain the water, then pick up the pan from the sink. | STEP 5: Turn around and move to the dishwasher to the right of the black toaster. | STEP 6: Place the pan on the kitchen counter above the dishwasher and to the right of the toaster. | END"]} +{"id": "trial_T20190908_032518_891433-2", "input": "Put a washed pan on the count to the left of the stove.", "output": ["STEP 1: Walk forward and face the stove on your right. | STEP 2: Pick up the pan from the stove. | STEP 3: Turn around and face the sink. | STEP 4: Wash the pan in the sink. | STEP 5: Turn around so your back is to the sink. | STEP 6: Put the pan on the count to the left of the stove. | END"]} +{"id": "trial_T20190909_232711_494127-0", "input": "put a bowl with a pencil in it on the desk", "output": ["STEP 1: go forward go to the right turn to the right towards the desk | STEP 2: pick up the pencil from the book shelf | STEP 3: turn to the left go right turn to the left go right turn to the right towards the desk | STEP 4: put the pencil inside the bowl that is in the desk | STEP 5: pick up the bowl from the desk | STEP 6: turn to the right go left go right turn to the left towards the book shelf | STEP 7: put the bowl on top of the book shelf | END"]} +{"id": "trial_T20190909_232711_494127-1", "input": "Put a bowl with a pencil in it on the desk.", "output": ["STEP 1: Move forward to the end of the desk, then turn right to face the desk. | STEP 2: Pick up the pencil from the desk. | STEP 3: Turn around and move forward to the bed, then turn right and go to the desk ahead. | STEP 4: Put the pencil in the bowl on the desk. | STEP 5: Pick up the bowl from the desk. | STEP 6: Go across the room, then turn left and go toward the wall, then turn left to face the desk. | STEP 7: Put the bowl on the desk. | END"]} +{"id": "trial_T20190909_232711_494127-2", "input": "collect pencil and bowl for the desk", "output": ["STEP 1: Turn to the right, walk to the desk | STEP 2: Pick up the pencil from the desk | STEP 3: Turn to the left, walk to the second desk | STEP 4: Place the pencil in the bowl on the desk | STEP 5: Pick up the pencil and the bowl from the desk | STEP 6: Turn to the right, walk to the bed, then turn left and walk to the other desk | STEP 7: Place the pencil and bowl on the desk, between the books | END"]} +{"id": "trial_T20190909_081746_857594-0", "input": "To move two bars of soap to the cabinet. ", "output": ["STEP 1: Walk over to the counter in the middle of the sinks. | STEP 2: Pick up the bar of soap in the back of the counter. | STEP 3: Move further back from the counter. | STEP 4: Open the cabinet door all the way to the left, place the bar of soap in the cabinet to the right of the rag, and close the door. | STEP 5: Move closer to the counter in between the two sinks. | STEP 6: Pick up the bar of soap from the counter. | STEP 7: Move further back from the counter. | STEP 8: Open the cabinet door all the way to the left, put the soap inside the cabinet to the left of the other soap, and close the door. | END"]} +{"id": "trial_T20190909_081746_857594-1", "input": "Place two bars of white soap on the shelf in the cabinet.", "output": ["STEP 1: Turn around and go to the sink. | STEP 2: Pick up the white bar of soap closest to the wall | STEP 3: Go to the left cabinet under the left sink. | STEP 4: Open the far left cabinet door under the sink on the left. | STEP 5: Go to the cleaning supplies between the sinks. | STEP 6: Pick up the white bar of soap above the orange roll. | STEP 7: Go to the left cabinet under the left sink. | STEP 8: Open the cabinet and place the white soap inside on the shelf left of the other bar of white soap. | END"]} +{"id": "trial_T20190909_081746_857594-2", "input": "Put two bars of soap in a cabinet under the sink.", "output": ["STEP 1: Turn around to walk to the sinks. | STEP 2: Pick up the rightmost bar of soap in between the two sinks. | STEP 3: Turn to face the cabinets under the sinks. | STEP 4: Put the bar of soap in the leftmost cabinet under the sink. | STEP 5: Turn to face the sinks. | STEP 6: Pick up the other bar of soap in between the sinks. | STEP 7: Turn to face the cabinet under the sinks. | STEP 8: Put the other bar of soap in the leftmost cabinet under the sink. | END"]} +{"id": "trial_T20190908_214946_567644-0", "input": "Put a clean bar of soap in a cabinet.", "output": ["STEP 1: Walk up to the right side of the sink counter. | STEP 2: Pick up the bar of soap off of the toilet tank to your right. | STEP 3: Walk over to the rightmost sink. | STEP 4: Put the bar of soap in the sink and turn on the water, after a couple seconds turn the water off and remove the now clean bar of soap. | STEP 5: Turn around and walk towards the wall, then turn left and walk towards the shower, turn left again to face the counter. | STEP 6: Open the second cabinet door from the right below the counter and put the clean bar of soap inside, then close the cabinet. | END"]} +{"id": "trial_T20190908_214946_567644-1", "input": "Put washed soap away in a cabinet. ", "output": ["STEP 1: Move forward to the toilet. | STEP 2: Pick up the soap on the toilet. | STEP 3: Bring the soap to the right sink. | STEP 4: Wash the soap in the right sink. | STEP 5: Bring the washed soap to the cabinet under the right sink. | STEP 6: Put the washed soap in the left cabinet under the right sink. | END"]} +{"id": "trial_T20190908_214946_567644-2", "input": "Put the clean soap in the cabinet", "output": ["STEP 1: Walk forward to the sink counter | STEP 2: Pick up the soap on the right side of sink counter | STEP 3: Turn left then face the sink | STEP 4: Put the soap in the sink and rinse it | STEP 5: Turn around to your right then move a little | STEP 6: Open the cabinet on your left and put it the soap | END"]} +{"id": "trial_T20190909_210238_431966-0", "input": "take a coffee mug from a book shelf and place it on a desk", "output": ["STEP 1: go to the desk that is in front of a book shelf with a computer on it | STEP 2: pick up the white coffee mug from the book shelf | STEP 3: go to the left end of the desk | STEP 4: place the mug on the left end of the desk | END"]} +{"id": "trial_T20190909_210238_431966-1", "input": "Move a cup from the shelf to the desk.", "output": ["STEP 1: Turn to the right and then the left to the other side of the room, and face the desk on the left side. Look up to the books on the shelf. | STEP 2: Pick up the cup from the shelf. | STEP 3: Carry the cup and turn to the left and then face the desk on the right side. | STEP 4: Place the cup on the short side of the desk, close to you. | END"]} +{"id": "trial_T20190909_210238_431966-2", "input": "Pick up a coffee mug from the desk and put it down on the desk.", "output": ["STEP 1: Turn right at the brown desk and walk between the bed and the desk. Turn left at the orange cylinder on the right of the bed on the floor. Walk to the desk on your left with a laptop on it. | STEP 2: Pick up the white coffee mug that's on the desk. | STEP 3: Turn around and walk to the bed. Turn right at the bed. | STEP 4: Put the coffee mug back down on the left side of the desk to the right of the bed. | END"]} +{"id": "trial_T20190907_163408_914117-0", "input": "Put two pillows on the sofa.", "output": ["STEP 1: Move forward, then turn right and go to the blue chair. | STEP 2: Pick up the leftmost pillow on the blue chair. | STEP 3: Turn around, move forward, then turn left to face the sofa. | STEP 4: Put the pillow on the sofa, to the right of the newspaper. | STEP 5: Turn left, and go back to the blue chair. | STEP 6: Pick up the pillow on the blue chair. | STEP 7: Turn left, move forward, turn left, then turn left again to face the sofa. | STEP 8: Put the pillow on the sofa, to the left of the newspaper. | END"]} +{"id": "trial_T20190907_163408_914117-1", "input": "Place two pillows on a sofa", "output": ["STEP 1: take a few steps forward and turn to the right and go to the blue chair | STEP 2: pick up the left pillow on the chair | STEP 3: turn to the right twice and take a few steps forward and turn to the left facing the sofa | STEP 4: put the pillow on the sofa right of the newspaper | STEP 5: step forward to the sofa and turn to the left and go to the blue chair | STEP 6: pick up the pillow on the chair | STEP 7: turn to the left and take a few steps and turn to the left and take a few steps and turn to the left facing the sofa | STEP 8: put the pillow on the sofa left of the newspaper | END"]} +{"id": "trial_T20190907_163408_914117-2", "input": "Move two pillows to the couch.", "output": ["STEP 1: Take a step forward, then turn right and walk over to the blue chair with two pillows on its seat. | STEP 2: Pick up the leftmost pillow off of the seat of the chair. | STEP 3: Turn around and begin walking across the room, then turn left and walk up to the couch. | STEP 4: Put the pillow vertically on the couch to the right of the newspaper. | STEP 5: Turn left and walk over to the blue chair. | STEP 6: Pick up the pillow off of the seat of the blue chair. | STEP 7: Turn left and take a step forward, then turn left again and walk over to the couch. | STEP 8: Put the pillow vertically on the couch to the left of the newspaper. | END"]} +{"id": "trial_T20190907_171933_349922-0", "input": "Move a heated mug to the base of the coffee maker.", "output": ["STEP 1: Cross the room to stand at the edge of the kitchen counter, which is to the left of the sink. | STEP 2: Pick up the coffee mug from the counter. | STEP 3: Carry the mug around the counter to stand in front of the stove. | STEP 4: Place the mug in the microwave above the stove, turn it on, and then remove the mug once heated. | STEP 5: Carry the mug to the coffee maker on the counter to the right of the stove. | STEP 6: Place the mug on the base of the coffee maker. | END"]} +{"id": "trial_T20190907_171933_349922-1", "input": "Heat up a mug and place it under the coffee maker.", "output": ["STEP 1: Turn around and go left to the short side of the island. | STEP 2: Pick up the mug behind the spatula. | STEP 3: Take the mug around the island and find the stove on the right. | STEP 4: Open the microwave and place the mug inside. Turn on the microwave and then remove the mug. Shut the microwave door. | STEP 5: Carry the mug and take a few steps to the right. | STEP 6: Place the mug under the coffee maker. | END"]} +{"id": "trial_T20190907_171933_349922-2", "input": "put water on the cup and place it on the coffee machine", "output": ["STEP 1: turn around to the left towards the counter | STEP 2: pick up the cup from the counter | STEP 3: turn to the right go to the left towards the stove | STEP 4: get water into the cup from the the pot on the stove | STEP 5: turn to the right towards the coffee machine | STEP 6: put the cup in the coffee machine | END"]} +{"id": "trial_T20190909_021728_339782-0", "input": "move salt shaker from counter to drawer", "output": ["STEP 1: turn around, walk to the window, turn left, walk forward, turn left to face counter | STEP 2: pick up the salt shaker that is on the counter | STEP 3: turn right, take a step, turn left, walk forward two steps | STEP 4: open the drawer on the right, put salt shaker in, shut it | END"]} +{"id": "trial_T20190909_021728_339782-1", "input": "Move a salt shaker to a drawer.", "output": ["STEP 1: Turn to the right then walk forward, Make a left and face the table. | STEP 2: Pick up the salt shaker from the kitchen island. | STEP 3: Move left then right around the kitchen island. | STEP 4: Open the drawer next to the dishwasher and put away the salt shaker. | END"]} +{"id": "trial_T20190909_021728_339782-2", "input": "Put a salt shaker into a kitchen drawer.", "output": ["STEP 1: Turn around and go to the windows, then go between the windows and the kitchen island and turn left to face the end of the island. | STEP 2: Pick up the salt shaker from the island. | STEP 3: Turn toward your right, then go to the drawers to the left of the stove. | STEP 4: Put the salt shaker in the second drawer from the top. | END"]} +{"id": "trial_T20190907_074643_810052-0", "input": "Place a watch inside a safe.", "output": ["STEP 1: Walk to the shelves that are immediately to the left of the safe. | STEP 2: Pick up the watch from the top shelf. | STEP 3: Walk to the safe immediately to your right. | STEP 4: Open the safe and put the watch in it, then close the safe. | END"]} +{"id": "trial_T20190907_074643_810052-1", "input": "Place a watch inside of the safe", "output": ["STEP 1: Move across the room to face the white shelf on the right side | STEP 2: Pick up the watch that is sitting on the shelf | STEP 3: Carry the watch and turn right towards the white safe | STEP 4: Place the watch inside of the safe to the right of the gold vase, shut the safe | END"]} +{"id": "trial_T20190907_074643_810052-2", "input": "Put a watch in a safe. ", "output": ["STEP 1: Head to the left and face the shelf on the right. | STEP 2: Pick up the watch on the shelf. | STEP 3: Head right and bring the watch to the safe on the ground. | STEP 4: Put the watch in the safe. | END"]} +{"id": "trial_T20190908_225046_020282-0", "input": "Heat a tomato and place in a bin. ", "output": ["STEP 1: Turn around completely and go forward. Turn right and face the sink. | STEP 2: Pick up the tomato from the sink. | STEP 3: Turn and step to the left. Then turn around to the left again and face the oven. Look up to the microwave. | STEP 4: Place the tomato inside the microwave and heat the tomato then take it out. | STEP 5: Turn to the right and walk forward then turn to the right and go around the island. Turn to the right to face the bin. | STEP 6: Place the tomato inside of the bin. | END"]} +{"id": "trial_T20190908_225046_020282-1", "input": "Put a heated tomato in the trash can.", "output": ["STEP 1: Turn around and face the sink. | STEP 2: Pick the tomato up from the sink. | STEP 3: Turn around and face the microwave above the stove. | STEP 4: Put the tomato in the microwave and shut the door and then open the door and pick up the tomato. | STEP 5: Go left and then left again to face the trash can. | STEP 6: Put the tomato in the trash can. | END"]} +{"id": "trial_T20190908_225046_020282-2", "input": "Put a heated tomato in the trash.", "output": ["STEP 1: Turn around and walk to the sink. | STEP 2: Pick up the tomato from the sink. | STEP 3: Turn around and look up. | STEP 4: Heat the tomato in the microwave then take it out. | STEP 5: Turn left and walk to the end of the counter then turn left and walk to the trash can. | STEP 6: Put the tomato in the trash can. | END"]} +{"id": "trial_T20190908_222917_366542-0", "input": "Hold the clock and turn on the lamp.", "output": ["STEP 1: Turn to the left and face the desk. | STEP 2: Pick up the clock from the back of the desk. | STEP 3: Carry the clock and turn to the right. Turn to the left and then face the desk on the left. | STEP 4: Hold the clock and turn on the lamp on the right side of the desk. | END"]} +{"id": "trial_T20190908_222917_366542-1", "input": "Examine an alarm clock using the light of a lamp. ", "output": ["STEP 1: Turn around completely, then turn right to face the desk. | STEP 2: Pick up the clock that is on the desk. | STEP 3: Turn to the right, walk almost to the top of the bed, turn left, walk to the wall, then turn left again to face the desk. | STEP 4: Turn on the lamp that is sitting on the desk. | END"]} +{"id": "trial_T20190908_222917_366542-2", "input": "Turning on a lamp while holding a canteen", "output": ["STEP 1: Turn around and face the desk | STEP 2: Grab the canteen off of the desk | STEP 3: Turn right and find the desk with the lamp | STEP 4: Turn the lamp on | END"]} +{"id": "trial_T20190907_221300_362511-0", "input": "Put a cleaned mug on the coffee maker to the right of the stove.", "output": ["STEP 1: Move to the right of the fridge | STEP 2: Pick up a cup from the counter | STEP 3: Move to the sink to the right | STEP 4: Clean the cup in the sink | STEP 5: Move to the coffee maker to the right of the stove | STEP 6: Put the mug on the coffee maker | END"]} +{"id": "trial_T20190907_221300_362511-1", "input": "Wash the mug and put it in the coffee machine.", "output": ["STEP 1: Walk straight and face the toaster on the counter. | STEP 2: Pick up the mug from the counter. | STEP 3: Turn right and take the mug to the sink. | STEP 4: Put the mug in the sink, wash it and take it out. | STEP 5: Turn left and take the mug to the coffee machine. | STEP 6: Put the mug in the coffee machine. | END"]} +{"id": "trial_T20190907_221300_362511-2", "input": "Move a washed mug to the coffee maker.", "output": ["STEP 1: Move to stand at the counter between the fridge and dishwasher. | STEP 2: Pick up the white coffee mug next to the toaster. | STEP 3: Carry the mug to the kitchen sink. | STEP 4: Place the mug in the sink, turn on the water, and then remove it once washed. | STEP 5: Turn and carry the mug to stand in front of the coffee maker on the counter to the right of the stove. | STEP 6: Place the mug on the base of the coffee maker. | END"]} +{"id": "trial_T20190909_125415_131061-0", "input": "Move the glass bowl containing a pencil from the desk near the window to the bookshelf on the other desk.", "output": ["STEP 1: Turn around and go to the left side of the brown desk to the right of the window. | STEP 2: Pick up the pencil on the desk. | STEP 3: Turn right and move closer towards the desk. | STEP 4: Place the pencil in the glass bowl on the desk. | STEP 5: Pick up the glass bowl with the pencil in it. | STEP 6: Turn right and head to the other desk with the lamp on it. | STEP 7: Put the glass bowl with the pencil in it on the top right hand shelf on the desk. | END"]} +{"id": "trial_T20190909_125415_131061-1", "input": "Put a bowl with a pencil on a shelf.", "output": ["STEP 1: Turn around, hang a right at the bed and walk to the wooden desk on the right. | STEP 2: Pick up the white pencil from the left side of the desk. | STEP 3: Turn right and walk to the wooden desk on the left. | STEP 4: Put the pencil inside a clear bowl on the desk. | STEP 5: Pick up the clear bowl with the pencil inside from the desk. | STEP 6: Turn right and walk to the wooden desk on the left. | STEP 7: Put the bowl with the pencil inside on the top right shelf of the desk. | END"]} +{"id": "trial_T20190909_125415_131061-2", "input": "Put a transparent plate with pencil in a book shelf.", "output": ["STEP 1: Turn left across the room and head towards the table on your right. | STEP 2: Pick up the pencil at the edge of the table. | STEP 3: Turn around right and back to the table. | STEP 4: Drop the pencil on the transparent plate on the table. | STEP 5: Pick up the transparent plate from the table. | STEP 6: Turn right around the room and head towards the book shelf on your left. | STEP 7: Put the transparent plate in the book shelf. | END"]} +{"id": "trial_T20190908_122024_052056-0", "input": "Move a pencil on the desk over. ", "output": ["STEP 1: Turn to your right and walk forward a few steps, then turn back to your left and go to the end of the desk, where it meets the wall. | STEP 2: Pick up the pencil in the middle of the desk, between the clear bowl and the keys. | STEP 3: Move over to your right, so that you are directly in front of the books on the desk. | STEP 4: Place the pencil in front of the books that are directly behind the glass bowl, on the desk. | END"]} +{"id": "trial_T20190908_122024_052056-1", "input": "move pencil from one side of desk to the other", "output": ["STEP 1: turn right, walk a few steps, turn left, walk towards the wall, turn left to face desk | STEP 2: pick up the pencil that is on the desk | STEP 3: turn around, take a step, turn right, take a step, turn right to face desk | STEP 4: put the pencil next to the dish on the desk | END"]} +{"id": "trial_T20190908_122024_052056-2", "input": "Take the pencil from the desk, put it on the other side of the desk", "output": ["STEP 1: Turn right, head to the desk | STEP 2: take the pencil from the desk | STEP 3: turn around, take a few steps to the right, face the desk | STEP 4: Put the pencil on the desk | END"]} +{"id": "trial_T20190907_144303_250492-0", "input": "Put a cup with a fork in the sink.", "output": ["STEP 1: Move to the sink to the right of the fridge. | STEP 2: Pick up the fork from the sink. | STEP 3: Turn around to the counter behind you. | STEP 4: Place the fork in the cup on the counter. | STEP 5: Pick up the cup from the counter. | STEP 6: Turn around to the sink. | STEP 7: Place the cup in the sink. | END"]} +{"id": "trial_T20190907_144303_250492-1", "input": "Place a fork into a green bin, place that combination into the sink.", "output": ["STEP 1: Go into the kitchen, face the sink. | STEP 2: Pick the fork up out of the sink. | STEP 3: Turn around to face the counter to the left of the stove. | STEP 4: Place the fork into the green bin behind the statue. | STEP 5: Pick up the green bin with the fork in it. | STEP 6: Turn around and move to the sink. | STEP 7: Place the green bin and fork in to the sink. | END"]} +{"id": "trial_T20190907_144303_250492-2", "input": "Gathering the dirty dishes and putting them in the sink", "output": ["STEP 1: Walk straight and then make a turn to the right | STEP 2: Walk over to the sink | STEP 3: Grab the fork from the sink | STEP 4: Carry it over to the counter | STEP 5: Place the fork inside the green cup | STEP 6: Go back to the kitchen sink | STEP 7: Place the green cup and the fork in the sink | END"]} +{"id": "trial_T20190907_144303_250492-3", "input": "Put a fork in a glass, and put the glass in the sink.", "output": ["STEP 1: Turn right, head to the fridge, turn right, head for the sink, and turn right. | STEP 2: Pick up the fork. | STEP 3: Turn around and face the trophy. | STEP 4: Put the fork in the glass. | STEP 5: Pick up the glass. | STEP 6: Turn around and face the sink. | STEP 7: Put the glass in the sink. | END"]} +{"id": "trial_T20190907_144303_250492-4", "input": "Place a green cup with a fork in it into the sink.", "output": ["STEP 1: Turn right and walk to the sink. | STEP 2: Pick up the fork from the sink. | STEP 3: Turn around and face the counter with a statue on it. | STEP 4: Place the fork in the green cup behind the statue. | STEP 5: Pick up the green cup from the counter. | STEP 6: Turn around and walk to the sink. | STEP 7: Place the green cup in the front left corner of the sink. | END"]} +{"id": "trial_T20190909_102710_795182-0", "input": "Place a chilled tomato in a microwave.", "output": ["STEP 1: Walk ahead and veer left after getting to the counter on the left, Walk to the sink on the left counter. | STEP 2: Pick up the tomato in the sink. | STEP 3: Turn right and walk to the fridge. | STEP 4: Place the tomato in the fridge, in front of the center brown bowl. Close the door, wait a moment, and take it out again. | STEP 5: Turn right and walk to the stove, facing it. | STEP 6: Place the tomato in the microwave above the stove. | END"]} +{"id": "trial_T20190909_102710_795182-1", "input": "To chill a tomato and put it inside of the microwave. ", "output": ["STEP 1: Walk around the kitchen island and face the sink. | STEP 2: Pick up the tomato from the sink. | STEP 3: Turn right and walk over to the fridge on the right. | STEP 4: Open the fridge door, put the tomato inside of the fridge, close the door, open the door, take the tomato out, close the door. | STEP 5: Turn right and walk to the stove on the left and look up at the microwave. | STEP 6: Open the microwave door, put the tomato inside, close the door. | END"]} +{"id": "trial_T20190909_102710_795182-2", "input": "chill then warm a tomato in the microwave", "output": ["STEP 1: go to the sink | STEP 2: pick up the tomato from the sink | STEP 3: take the tomato to the fridge | STEP 4: chill the tomato in the fridge then remove | STEP 5: take the tomato to the microwave | STEP 6: warm the tomato in the microwave | END"]} +{"id": "trial_T20190908_203635_515565-0", "input": "grab the vase from the cabinet, turn on the lamp", "output": ["STEP 1: turn left, walk to the cabinet | STEP 2: open the second door from the right, take the vase out | STEP 3: turn right walk to the corner | STEP 4: turn on the lamp on the end table | END"]} +{"id": "trial_T20190908_203635_515565-1", "input": "Turn on a lamp while holding a vase", "output": ["STEP 1: Move to the middle wood cupboard of the wood table | STEP 2: Open the middle cupboard, remove the gold vase in the cupboard, shut the cupboard | STEP 3: Carry the gold vase to the floor lamp on the left | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190908_203635_515565-2", "input": "Inspect a vase with a lamp.", "output": ["STEP 1: move to the end table dresser to the left of the blue arm chair | STEP 2: pick up a vase from the cabinet | STEP 3: move to the lamp to the right | STEP 4: turn on the lamp | END"]} +{"id": "trial_T20190906_185515_986084-0", "input": "Move the bat in the corner to the bed", "output": ["STEP 1: Turn around and walk to the door | STEP 2: Pick up the baseball bat in the corner | STEP 3: Turn around, walk around the bed | STEP 4: Put the bat on the bed | END"]} +{"id": "trial_T20190906_185515_986084-1", "input": "place a bat on top of the bed", "output": ["STEP 1: turn around and walk over to the bat leaning against the wall | STEP 2: pick up the bat leaning against the wall | STEP 3: turn around and walk over to the left side of the bed | STEP 4: place the bat on top of the bed | END"]} +{"id": "trial_T20190906_185515_986084-2", "input": "Place the bat on the bed.", "output": ["STEP 1: Turn around, walk towards the door, turn right and walk towards the bat on the floor. | STEP 2: Pick up the bat from the floor. | STEP 3: Turn right, head towards the desk, turn right head towards the bed. | STEP 4: Place the bat on the bed. | END"]} +{"id": "trial_T20190906_203003_627271-0", "input": "Place the toilet paper in the cabinet.", "output": ["STEP 1: Turn left, walk a few steps, and then turn right to face the toilet. | STEP 2: Pick up the toilet paper on top of the toilet. | STEP 3: Turn left to find the sink. | STEP 4: Open the left cabinet door below the sink and place the toilet paper in it. | STEP 5: Turn right and spot the paper toilet roll on the floor. | STEP 6: Pick up the paper roll from the floor. | STEP 7: Turn left and face the cabinet below the sink. | STEP 8: Open the cabinet and place the roll in the cabinet. | END"]} +{"id": "trial_T20190906_203003_627271-1", "input": "Placing a toilet paper roll, a toilet paper under the sink", "output": ["STEP 1: Walk forward to the toilet in front of you | STEP 2: Pick up the toilet paper that's on the toilet | STEP 3: Turn to your left, standing in between the toilet and sink | STEP 4: Open the left cabinet door and place the toilet paper inside | STEP 5: Move forward to where the plunger is on the ground | STEP 6: Pick up the object toilet paper roll that is on the left side of the plunger | STEP 7: Step back so that you are standing between the toilet and sink | STEP 8: Open the left cabinet and place the toilet paper roll behind the toilet paper | END"]} +{"id": "trial_T20190906_203003_627271-2", "input": "Put the toilet paper in the cabinet. Put the empty toilet paper roll in to the cabinet.", "output": ["STEP 1: Go to the sink | STEP 2: pick up toilet paper on toilet | STEP 3: go to the cabinet under the sink | STEP 4: put toilet paper in cabinet | STEP 5: go to empty toilet paper roll. | STEP 6: pick up the empty toilet paper roll on floor | STEP 7: take empty toilet paper roll to cabinet | STEP 8: put empty toilet paper roll in cabinet | END"]} +{"id": "trial_T20190908_022436_073995-0", "input": "wash the cloth from the cabinet, put it back", "output": ["STEP 1: turn around, walk to the vanity on the right | STEP 2: open the second from the right cabinet door, take the green cloth out | STEP 3: turn right, turn left to the counter | STEP 4: put the cloth in the sink, wash the cloth, take the cloth out | STEP 5: turn around, turn around | STEP 6: open the second from the right cabinet door, put the cloth in, close the cabinet | END"]} +{"id": "trial_T20190908_022436_073995-1", "input": "Place the clean cloth back in the original cabinet.", "output": ["STEP 1: Turn left and face the sink. | STEP 2: Take the green cloth from the cabinet below the sink. | STEP 3: Place the green cloth in the sink. | STEP 4: Rinse the green cloth in the sink. | STEP 5: Back up from the sink. | STEP 6: Place the cloth back in the cabinet. | END"]} +{"id": "trial_T20190908_022436_073995-2", "input": "Get a towel out of the drawer to soak it, then put it back in the drawer.", "output": ["STEP 1: Walk to the sink on the right. | STEP 2: Open the lower left drawer, and take the green towel out. | STEP 3: Position yourself in front of the sink. | STEP 4: Place the towel under the faucet to soak it. | STEP 5: Go back to the drawer that you got the towel out of. | STEP 6: Place the wet towel back in the drawer. | END"]} +{"id": "trial_T20190908_044113_026049-0", "input": "Pick up the cell phone and look at it by the light of the lamp", "output": ["STEP 1: Walk forward to the dresser | STEP 2: Pick up the cell phone from the dresser | STEP 3: Turn left and go to the lamp | STEP 4: Hold the cell phone and turn the lamp on | END"]} +{"id": "trial_T20190908_044113_026049-1", "input": "Turn on the bedroom lamp.", "output": ["STEP 1: Walk to the dresser in front of you. | STEP 2: Pick up the cell phone, above the left, top drawer, on the dresser. | STEP 3: Go to the lamp to your left, in the corner of the room. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190908_044113_026049-2", "input": "examine a phone with a lamp", "output": ["STEP 1: walk forward to the dresser | STEP 2: pick up the phone that is on the dresser | STEP 3: take a couple step to the left to face lamp, hold phone up | STEP 4: turn the lamp on | END"]} +{"id": "trial_T20190907_155006_533262-0", "input": "Put a spoon in a mug on a counter.", "output": ["STEP 1: Turn right and go forward to the counter to the left of the stove. | STEP 2: Take the left spoon that is on the counter. | STEP 3: Turn left and go forward and to the brown shelf on the wall straight ahead. | STEP 4: Place the spoon in the white mug on the shelf. | STEP 5: Pick up the mug off the shelf. | STEP 6: Turn right and go to the counter left of the stove. | STEP 7: Place the mug on the counter under the spoon. | END"]} +{"id": "trial_T20190907_155006_533262-1", "input": "Put a white mug with a spoon inside onto the counter.", "output": ["STEP 1: Turn right and begin walking across the room, hang a left before the oven and walk up to the counter. | STEP 2: Pick up the metal spoon that is to the left of the phone on the counter. | STEP 3: Turn left and walk over to the wooden shelving unit against the far wall. | STEP 4: Put the metal spoon into the white mug that is on the top shelf of the wooden shelving unit. | STEP 5: Pick up the white mug with the metal spoon inside it. | STEP 6: Turn around and walk back over to the kitchen counter to the left of the oven. | STEP 7: Place the white mug with the spoon inside onto the counter just below of the metal spoon that is already on the counter. | END"]} +{"id": "trial_T20190907_155006_533262-2", "input": "Put a cup with a spoon on the counter.", "output": ["STEP 1: Go right and stand in front of the counter to the left of the stove. | STEP 2: Pick up the spoon from the counter. | STEP 3: GO to the left and stand in front of the brown shelves. | STEP 4: Put the spoon in the white cup on the shelf. | STEP 5: Pick the white cup up from the shelf. | STEP 6: Go right and then right again to stand in front of the counter to the left of the stove. | STEP 7: Put the cup down on the right side of the counter, close to the stove. | END"]} +{"id": "trial_T20190907_194052_908074-0", "input": "Put a pan with a knife in it, in the sink.", "output": ["STEP 1: Go right, right again and then right to face the counter with the tomato on it. | STEP 2: Pick the knife up from the counter. | STEP 3: Go to the left and then turn left to face the stove. | STEP 4: Put the knife in the pan. | STEP 5: Pick the pan up from the stove. | STEP 6: Turn around and face the sink. | STEP 7: Put the pan in the sink. | END"]} +{"id": "trial_T20190907_194052_908074-1", "input": "Put a frying pan with a knife in it into the sink.", "output": ["STEP 1: Take a step forward, then turn right and walk towards the door, hang a right and walk around the kitchen island to to the far side. | STEP 2: Pick up the butter knife off of the right side of the kitchen island. | STEP 3: Turn left and walk forward, then hang a left and walk up to the stove. | STEP 4: Put the knife handle down in the frying pan that is on the front left burner of the stove. | STEP 5: Pick up the frying pan with the knife in it off of the stove. | STEP 6: Turn left and take a step forward, then turn left again and walk up to the sink. | STEP 7: Put the frying pan with the knife in it into the sink basin to the right of the potato. | END"]} +{"id": "trial_T20190907_194052_908074-2", "input": "put the fork in the pan, move the pan to the sink", "output": ["STEP 1: turn right, turn right, walk to the refrigerator, turn around | STEP 2: grab the knife on the counter | STEP 3: turn around, walk to the stove, | STEP 4: put the knife in the pan on the stove | STEP 5: grab the pan from the stove | STEP 6: turn around to the sink | STEP 7: put the pan in the sink | END"]} +{"id": "trial_T20190906_180922_517529-0", "input": "Pick up laptop and turn on lamp", "output": ["STEP 1: turn to left then find the desk | STEP 2: close the laptop then pick it up | STEP 3: turn to the right then stand in front of the couch | STEP 4: turn on the lamp on your left | END"]} +{"id": "trial_T20190906_180922_517529-1", "input": "Examine a laptop by the light of a tall lamp.", "output": ["STEP 1: Turn left and head towards the dresser. | STEP 2: Close the lid of the laptop on the right and pick it up. | STEP 3: Turn right and head towards the white sofa. | STEP 4: Turn on the lamp to the left of the sofa. | END"]} +{"id": "trial_T20190906_180922_517529-2", "input": "Examine a laptop using the light of a floor lamp. ", "output": ["STEP 1: Turn to your left and walk over to the cabinets where the laptops are. | STEP 2: Pick up the laptop on the right after closing it. | STEP 3: Turn to your right and walk up to the floor lamp between the two chairs. | STEP 4: Turn on the floor lamp. | END"]} +{"id": "trial_T20190906_180922_517529-3", "input": "Examine a computer by the light from a lamp.", "output": ["STEP 1: Turn left and move to the brown cabinet with two computers on top. | STEP 2: Close the computer on the right and pick it up. | STEP 3: Turn right and carry the computer to the sofa. | STEP 4: Turn on the light in the corner to the left of the sofa to look at the computer. | END"]} +{"id": "trial_T20190906_180922_517529-4", "input": "Turn on the light while holding a laptop. ", "output": ["STEP 1: Turn left and walk to the dresser. | STEP 2: Close the laptop in front and pick it up. | STEP 3: Turn right and walk to the beige couch. | STEP 4: Turn on the light next to the beige couch. | END"]} +{"id": "trial_T20190906_180922_517529-5", "input": "Carry a laptop while turning on a lamp", "output": ["STEP 1: Move to the left facing the large brown cabinet where the laptop is | STEP 2: Pick up the laptop on the far left side on top of the cabinet | STEP 3: Carry the laptop to the large floor lamp to the left of the tan sofa | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190907_103041_110705-0", "input": "Examine the box in the light of the tall lamp. ", "output": ["STEP 1: Turn right, move to the fireplace, turn left, move to the white shelf. | STEP 2: Pick up the open box on the bottom shelf. | STEP 3: Turn around, move across the couch to the right and to the lamp in the corner. | STEP 4: Turn on the tall lamp in the corner. | END"]} +{"id": "trial_T20190907_103041_110705-1", "input": "examine the box in the lamp light", "output": ["STEP 1: turn to the right and go forward to the fireplace and turn to the left and go forward to the shelving | STEP 2: pick up the box on the bottom shelf | STEP 3: turn to the left and turn to the left and go forward to clear the couch and turn to the right and go forward to the end of the couch and turn to the right to look at the lamp | STEP 4: turn on the lamp | END"]} +{"id": "trial_T20190907_103041_110705-2", "input": "Look at a box under the lamp light.", "output": ["STEP 1: Walk to the shelf in front of you and to the right. | STEP 2: Pick up the box on the bottom shelf. | STEP 3: Turn to the left and walk to the lamp in the corner. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190907_103041_110705-3", "input": "Pick up a box and turn on the light", "output": ["STEP 1: Turn around and head to the white shelves on the left side of the room | STEP 2: Pick up the open box from the bottom shelf | STEP 3: Turn around and walk towards the blue chair, and then turn right to face the white sofa | STEP 4: Turn on the light | END"]} +{"id": "trial_T20190907_103041_110705-4", "input": "get a box to take to the lamp to examine it by light", "output": ["STEP 1: turn right, walk towards tv, turn left, walk towards white shelves to the right of the couch | STEP 2: pick up the box that is on the bottom shelf | STEP 3: turn around, turn right at the couch, walk to the end of the couch, face couch to the right | STEP 4: turn on the lamp that is to your left | END"]} +{"id": "trial_T20190906_182259_116320-0", "input": "Put the cooked green apple in the fridge", "output": ["STEP 1: Walk forward and then turn right to approach the sink in the kitchen | STEP 2: Pick up the green apple from the sink | STEP 3: Turn around and walk up to the microwave above the stove | STEP 4: Put the apple in the microwave, cook it, then remove it | STEP 5: Turn left and walk over to the fridge | STEP 6: Put the apple in the fridge to the left of the bread loaf | END"]} +{"id": "trial_T20190906_182259_116320-1", "input": "Put a microwaved apple in the fridge.", "output": ["STEP 1: Walk forward and around the kitchen island to get to the sink. | STEP 2: Pick up the green apple in the sink. | STEP 3: Turn around and go to the microwave. | STEP 4: Heat the apple in the microwave. | STEP 5: Walk left to stand in front of the fridge. | STEP 6: Put the apple on the middle shelf in the middle of the other two food items. | END"]} +{"id": "trial_T20190906_182259_116320-2", "input": "Warm up apple to put in fridge.", "output": ["STEP 1: Turn and go to the sink | STEP 2: Pick up the green apple that is on the right side of the sink. | STEP 3: With the apple in hand turn and go to the microwave above the stove. | STEP 4: Open the microwave and place the apple inside on the right side. Shut the door and start the microwave. Open the door and grab the apple. | STEP 5: With the apple in hand go to the fridge. | STEP 6: Open the fridge door while holding the apple in the other hand. Place the apple on the top shelf in front of and between the tomato and bread. Shut the fridge door. | END"]} +{"id": "trial_T20190906_182259_116320-3", "input": "Heat and then chill an apple.", "output": ["STEP 1: Move forward and then turn right to find the sink in the island. | STEP 2: Pick up the apple from the right side of the sink. | STEP 3: Carry the apple and turn around, and a few steps right, to the stove. | STEP 4: Place the apple in the microwave above and shut the door. Open the microwave and take out the apple and shut the door. | STEP 5: Hold the apple and move a few steps to the left and locate the fridge. | STEP 6: Open the fridge and place the apple inside, shut the door. | END"]} +{"id": "trial_T20190906_182259_116320-4", "input": "Put a cooked apple in the refrigerator.", "output": ["STEP 1: Go straight, then turn right towards the sink. Stop in front of the sink. | STEP 2: Pick up the green apple from the sink. | STEP 3: Turn around, go in front of the stop top. | STEP 4: Put the apple in the microwave, turn on the microwave, remove the apple from the microwave. | STEP 5: Turn left, go in front of the refrigerator. | STEP 6: Put the apple in the refrigerator in front of and to the left of the bread. | END"]} +{"id": "trial_T20190906_182259_116320-5", "input": "Put a heated apple in the fridge.", "output": ["STEP 1: Cross the room and take a right and then turn right to face the sink. | STEP 2: Pick up the green apple from the sink. | STEP 3: Turn around and face the microwave. | STEP 4: Put the apple in the microwave and heat it and then take it out and close the door. | STEP 5: Go left and face the fridge on the right. | STEP 6: Put the apple in the fridge and shut the door. | END"]} +{"id": "trial_T20190908_062908_529599-0", "input": "move the plunger from behind the toilet to the cabinet", "output": ["STEP 1: turn around to the toilet | STEP 2: grab the plunger on the floor behind the toilet | STEP 3: turn around, turn around | STEP 4: open the second from the right cabinet door, put the plunger in | END"]} +{"id": "trial_T20190908_062908_529599-1", "input": "Move the plunger from in between the sink and toilet to the cabinet underneath the sink.", "output": ["STEP 1: Turn around to face the right side of the sink. | STEP 2: Pick up the plunger from in between the sink and the toilet. | STEP 3: Move slightly to the left to face the cabinet under the sink. | STEP 4: Open the left cabinet door and place the plunger inside of the cabinet. | END"]} +{"id": "trial_T20190908_062908_529599-2", "input": "Place a plunger inside a cabinet", "output": ["STEP 1: Turn around to face the sink and the toilet | STEP 2: Pick up the aqua plunger that is sitting in between the sink and toilet | STEP 3: Take a step backwards and continue to face the sink and toilet | STEP 4: Open the left hand cabinet under the sink and place the plunger inside, to the right of the soap, then close the cabinet door | END"]} +{"id": "trial_T20190907_155134_457504-0", "input": "Put a mug with spoon in it on the counter left of the stove. ", "output": ["STEP 1: Turn around, go forward past the stove, turn to face the counter on the right. | STEP 2: Pick up the spoon on the counter. | STEP 3: Turn left, go to the fridge, turn right to face the fridge. | STEP 4: Open the fridge and put the spoon in the mug on the top shelf. | STEP 5: Pick up the mug with the spoon from the top shelf of the fridge. | STEP 6: Turn right, move to the counter before the stove, face the counter on the left. | STEP 7: Put the mug with spoon on the counter left of the stove. | END"]} +{"id": "trial_T20190907_155134_457504-1", "input": "Put a mug with a spoon inside of it on the counter.", "output": ["STEP 1: Turn around and begin walking across the room, then turn right and walk up to the counter to the left of the oven. | STEP 2: Pick up the metal spoon that is on the counter to the left of the oven. | STEP 3: Turn left and walk over to the fridge. | STEP 4: Open the fridge door and place the spoon handle down inside the white mug that is on the top shelf inside the fridge. | STEP 5: Pick up the white mug with the spoon inside of it and close the fridge door. | STEP 6: Turn right and walk over to the dishwasher, turn left to face the counter. | STEP 7: Put the white mug with the spoon inside of it on the counter. | END"]} +{"id": "trial_T20190907_155134_457504-2", "input": "Put a mug with a spoon in it on the counter.", "output": ["STEP 1: Turn around, go straight, then turn right to face the counter, to the right of the oven. | STEP 2: Pick up the spoon on the counter, to the left of the butter knives. | STEP 3: Turn left and go to the fridge ahead of you. | STEP 4: Put the spoon in the mug, on the top shelf of the fridge. | STEP 5: Pick up the mug with the spoon in it. | STEP 6: Turn right, go straight, then turn left at the dishwasher. | STEP 7: Put the mug on the counter, in front of the lettuce. | END"]} +{"id": "trial_T20190907_155134_457504-3", "input": "Put a cup with spoon on the counter to the left of the stove.", "output": ["STEP 1: Move to the left of the stove | STEP 2: Pick up a spoon from the counter | STEP 3: Move to the fridge to the left of you | STEP 4: Put spoon inside a cup | STEP 5: Pick up cup from the fridge | STEP 6: Move to the counter to the left of the stove | STEP 7: put cup on the counter | END"]} +{"id": "trial_T20190907_155134_457504-4", "input": "Place a mug with a spoon in it on a counter.", "output": ["STEP 1: Turn around and walk until you get to the counter on your right with the utensils on it. | STEP 2: Pick up the spoon directly to the left of the pear. | STEP 3: Turn left and walk until you reach the fridge. | STEP 4: Place the spoon in the white mug on the top shelf of the fridge. | STEP 5: Grab the mug that you placed the spoon in. | STEP 6: Turn to your right and walk back to the counter that you got the spoon from. | STEP 7: Place the mug on the front of the counter. | END"]} +{"id": "trial_T20190907_155134_457504-5", "input": "Bring a white cup from the Fridge to the Counter.", "output": ["STEP 1: Turn around and go straight pass the oven and turn right towards the counter. | STEP 2: Pick up the spoon from the counter. | STEP 3: Turn left go towards the Fridge and open the fridge. | STEP 4: Place the spoon in the Cup on the first rack of the fridge. | STEP 5: Take out the cup with the spoon and close the fridge. | STEP 6: Turn right and go towards the counter and then turn left in front of the counter. | STEP 7: Place the cup on the counter. | END"]} +{"id": "trial_T20190907_040303_217739-0", "input": "To chill lettuce for cooking. ", "output": ["STEP 1: Walk to the left side of the sink that's on the right. | STEP 2: Pick up the lettuce that's in front of the butter knife. | STEP 3: Turn right and walk to the fridge on the right. | STEP 4: Open the door of the fridge, place the lettuce on the shelf to the right of the tomato, close the fridge door, wait a few seconds, take the lettuce out of the fridge, and close the fridge door. | STEP 5: Turn right and face the sink on the right. | STEP 6: Place the lettuce in the sink. | END"]} +{"id": "trial_T20190907_040303_217739-1", "input": "Take the lettuce off the counter to put in the fridge to put in the sink.", "output": ["STEP 1: Walk straight and make a right to face the counter. | STEP 2: Take the lettuce that is on the counter. | STEP 3: Turn right and walk straight making another right to face the fridge. | STEP 4: Open the fridge and place the lettuce on the second shelf next to the tomato and shut the door. Open it again and take out the lettuce. | STEP 5: Turn to the right and walk straight making a right to face the sink again. | STEP 6: Place the lettuce in the sink. | END"]} +{"id": "trial_T20190907_040303_217739-2", "input": "cool the cabbage in the refrigerator, put it in the sink", "output": ["STEP 1: walk straight to the counter by the sink | STEP 2: Grab the cabbage on the counter | STEP 3: Turn right, walk to the refrigerator | STEP 4: Open the the refrigerator, put the cabbage in the refrigerator, open the refrigerator, take the cabbage out, close the refrigerator | STEP 5: Turn right, walk to the sink on the right | STEP 6: Put the cabbage in the sink | END"]} +{"id": "trial_T20190907_040303_217739-3", "input": "Put cold lettuce in the sink. ", "output": ["STEP 1: Go forward and turn to the right to the counter where the lettuce is. | STEP 2: Pick up the lettuce that is on the counter. | STEP 3: Turn to the right and go to the fridge. | STEP 4: Open the fridge, put the lettuce inside, close the fridge, then open the fridge, remove the lettuce, and close the fridge. | STEP 5: Turn to the right and go to the sink. | STEP 6: Put the lettuce in the sink. | END"]} +{"id": "trial_T20190909_021650_880235-0", "input": "place a salt shaker in one of the pullout drawers", "output": ["STEP 1: turn right and walk to the fridge at the end of the room, then take another right and walk to the end of the room, turn left to face the kitchen counter there | STEP 2: grab the salt shaker out of the cabinet below the kitchen counter | STEP 3: turn left and walk to the kitchen counter space to the right of the dishwasher | STEP 4: place the salt shaker in the second pullout drawer under the kitchen counter to the right of the dishwasher | END"]} +{"id": "trial_T20190909_021650_880235-1", "input": "Move a salt shaker into a drawer.", "output": ["STEP 1: Turn right and walk over to where the coffee machine is on the counter. | STEP 2: Open the cabinet below the counter in front of you and take out the salt shaker, then close the cabinet. | STEP 3: Turn around and take a step forward, then turn right and walk forward, stop before the sink. | STEP 4: Open the middle drawer in between the dish washer and oven and put the salt shaker inside, then close the drawer. | END"]} +{"id": "trial_T20190909_021650_880235-2", "input": "Put a shaker in a drawer.", "output": ["STEP 1: Go right and then right again to stand facing the counter with the coffee maker to the left. | STEP 2: Open the cabinet below the coffee maker and pick the salt shaker up from the cabinet. | STEP 3: Turn around and stand to the side of the drawer to the left of the stove. | STEP 4: Open the drawer to the left of the stove and put the shaker in and shut the drawer. | END"]} +{"id": "trial_T20190908_093016_806799-0", "input": "Put a pan with a spoon in it in the sink.", "output": ["STEP 1: Walk over to the section of counter to the left of the oven. | STEP 2: Pick up the metal table spoon off of the counter. | STEP 3: Turn right and walk forward, then turn left to face the stove. | STEP 4: Put the spoon in the pan that is on the front left burner of the stove. | STEP 5: Pick up the pan with the spoon in it off of the stove. | STEP 6: Walk over to the kitchen sink. | STEP 7: Put the pan with the spoon in it into the sink. | END"]} +{"id": "trial_T20190908_093016_806799-1", "input": "To put a spoon on a pan plus move them to the sink.", "output": ["STEP 1: Take a step to the left to face the counter to the left of the stove. | STEP 2: Pick up the spoon on the counter. | STEP 3: Take a step to the right and face the stove. | STEP 4: Place the knife on the pan on the front left burner. | STEP 5: Pick up the pan with a knife in it on the stove. | STEP 6: Turn around and step forward to face the sink. | STEP 7: Place the pan with a spoon in it in the sink. | END"]} +{"id": "trial_T20190908_093016_806799-2", "input": "Put the spoon and plate in the sink.", "output": ["STEP 1: Turn left, walk just past the stove, turn right and face the cabinet just left of the stove. | STEP 2: Pick up the spoon lying on the counter left of the stove. | STEP 3: Turn right, walk slightly forward, then turn left to the stove. | STEP 4: Place the spoon on the plate that is on top of the stove. | STEP 5: Pick up the plate with the spoon on it. | STEP 6: Turn left, walk slightly forward, turn left and walk to the sink. | STEP 7: Place the plate with the spoon on it in the sink. | END"]} +{"id": "trial_T20190912_221141_608117-0", "input": "Place two salt shakers in the drawer.", "output": ["STEP 1: Look down, turn left, walk straight, turn left to face the fridge, walk straight, turn right when you reach the fridge, walk straight, turn left to face the counter with the bread on the counter and look up to the cabinet. | STEP 2: Open the cabinet door, grab the salt in the cabinet, and close the cabinet. | STEP 3: Look down, turn right, walk straight, turn right to face the pot on the counter and turn right. | STEP 4: Open the drawer, place the salt inside, close the drawer. | STEP 5: Walk straight, turn to face the stove and look up to the top cabinet. | STEP 6: Open the cabinet, grab the salt in the cabinet and close the cabinet. | STEP 7: Look down, turn around to face the pot and turn right. | STEP 8: Open the drawer, place the salt inside the drawer and close the drawer. | END"]} +{"id": "trial_T20190912_221141_608117-1", "input": "Put two shakers in the second drawer.", "output": ["STEP 1: Make a right and step forward then turn left at the island. | STEP 2: Open the cabinet and take out a salt shaker. Shut the cabinet. | STEP 3: Turn right then walk forward. Turn around once you are past the sink. | STEP 4: Open the second drawer and put the salt shaker inside. | STEP 5: Walk forward and make a right and face the oven. | STEP 6: Open the cabinet above the cabinet and take out a salt shaker. Shut the cabinet. | STEP 7: Take the shaker and turn around and step to the right. | STEP 8: Open the second drawer and put the salt shaker inside. | END"]} +{"id": "trial_T20190912_221141_608117-2", "input": "Put two shakers in the drawer to the left of the stove.", "output": ["STEP 1: move to the counter to the left of the stove | STEP 2: pick up a shaker from the cabinet | STEP 3: move to the drawer to the left of the stove | STEP 4: put the shaker in the drawer | STEP 5: Turn to the right of you | STEP 6: pick up a shaker from the cabinet | STEP 7: move to the drawer to the left of the stove | STEP 8: put the shaker in the drawer | END"]} +{"id": "trial_T20190907_074106_050405-0", "input": "Put a wet soap on the counter. ", "output": ["STEP 1: Turn to the right and go to the sink. | STEP 2: Pick up the bar of soap from the counter. | STEP 3: Move to the right and put the soap in the right sink. | STEP 4: Wet the soap with water. | STEP 5: Pick up the soap from the sink and bring it to the counter on the left. | STEP 6: Put the soap back on the counter. | END"]} +{"id": "trial_T20190907_074106_050405-1", "input": "Put wet soap on the counter.", "output": ["STEP 1: Go forward and to the sink on your right. | STEP 2: Pick up the soap. | STEP 3: Move right an go to the sink on the right. | STEP 4: Put the soap in the sink and get it wet. | STEP 5: Move slightly to the left. | STEP 6: Put the soap on the counter. | END"]} +{"id": "trial_T20190907_074106_050405-2", "input": "Put clean soap on the counter.", "output": ["STEP 1: Move forward, then turn right and go to the counter between the two sinks. | STEP 2: Pick up the bar of soap, behind the hand soap. | STEP 3: Turn around, then turn left, then turn left again to face the sink. | STEP 4: Wash the soap inside of the sink. | STEP 5: Turn left move forward then turn right to face the sink. | STEP 6: Place the soap on the counter between the sinks, in front of the candle. | END"]} +{"id": "trial_T20190907_061347_004735-0", "input": "Put a piece of apple on a counter near another cut apple.", "output": ["STEP 1: Go straight, turn right after passing the kitchen island, go straight to the fridge, turn right, go straight, turn right at the sink. | STEP 2: Take the apple on the right from the sink. | STEP 3: Turn around, go to the counter over the dishwasher. | STEP 4: Put the apple on the right of the statue and in front of the salt. | STEP 5: Stay at the counter. | STEP 6: Take the knife from the counter. | STEP 7: Stay at the counter. | STEP 8: Cut the apple into pieces. | STEP 9: Turn around, go to the sink. | STEP 10: Cut the apple in the sink into pieces. | STEP 11: Put the knife in the sink. | STEP 12: Take a piece of apple from the sink. | STEP 13: Turn around, go to the counter over the dishwasher. | STEP 14: Put the piece of apple to the left of the other cut apple. | END"]} +{"id": "trial_T20190907_061347_004735-1", "input": "Put four apple slices on the counter.", "output": ["STEP 1: Walk towards the fridge, then turn right and walk forward and turn right to face the counter. | STEP 2: Pick up the green up inside the sink on the right side. | STEP 3: Turn around to face the counter. | STEP 4: Put the apple down in front of the salt shaker. | STEP 5: Look down towards the edge of the counter. | STEP 6: Pick up the knife from the edge of the counter. | STEP 7: Move towards the apple with the knife. | STEP 8: Cut the apple on the counter with the knife. | STEP 9: Turn around and face the sink. | STEP 10: Cut the apple that is inside of the sink. | STEP 11: Place the knife into the sink. | STEP 12: Pick up an apple slice out of the sink. | STEP 13: Turn around to face the counter. | STEP 14: Place the apple slice the the left of the previously sliced apple. | END"]} +{"id": "trial_T20190907_061347_004735-2", "input": "Put a slice of lime on the counter.", "output": ["STEP 1: Begin walking across the room, then hang a right and walk around the island to the sink. | STEP 2: Pick up the green apple in the right side of the sink basin. | STEP 3: Turn around and walk over to the section of counter above the dish washer. | STEP 4: Put the apple on the counter to the left of the golden statue. | STEP 5: Look down at the butter knife on the counter. | STEP 6: Pick up the butter knife off of the counter in front of you. | STEP 7: Look up at the green apple on the counter. | STEP 8: Cut the apple that is to the left of the statue into three pieces with the butter knife. | STEP 9: Turn right and walk over to the sink. | STEP 10: Use the butter knife to slice the lime in the sink into three pieces. | STEP 11: Put the butter knife into the sink below the potato. | STEP 12: Pick up middle lime slice out of the sink. | STEP 13: Turn right and walk to the section of counter above the dish washer. | STEP 14: Put the slice of lime onto the counter to the left of the sliced apple. | END"]} +{"id": "trial_T20190907_061347_004735-3", "input": "Cut and apple on the counter as well as cut up an apple in the sink plus placing a slice of it with the other apple.", "output": ["STEP 1: Walk around the room the face the sink. | STEP 2: take an apple from the sink. | STEP 3: Turn around to face the counter. | STEP 4: Place the apple on the counter. | STEP 5: Turn to face the knife on the sink. | STEP 6: Pick up the knife on the counter. | STEP 7: Turn to face the apple on the counter. | STEP 8: Cut the apple into 3 slices. | STEP 9: Turn around to face the sink. | STEP 10: Cut the apple in the sink into 3 slices. | STEP 11: Put the knife in the sink. | STEP 12: Pick up a piece of apple from in the sink. | STEP 13: Turn around to face the counter. | STEP 14: place the piece of apple to the left of the other apple. | END"]} +{"id": "trial_T20190910_122059_929600-0", "input": "To heat a piece of apple and place it on the counter to the right of the stove.", "output": ["STEP 1: Turn left and walk across the room, then turn left and walk to the end of the counter and turn right to face the end of the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Take a step to the right to face the counter. | STEP 4: Cut the apple on the counter into three pieces. | STEP 5: Turn around and step forward to face the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn around and step forward to face the apple on the counter. | STEP 8: Pick up a piece of apple on the counter. | STEP 9: Take a step to the right and look up to face the microwave. | STEP 10: Head the piece of apple in the microwave and then remove it. | STEP 11: Take a step to the right to face the counter to the right of the stove. | STEP 12: Place the piece of apple on the counter. | END"]} +{"id": "trial_T20190910_122059_929600-1", "input": "Put cooked piece of apple on the counter.", "output": ["STEP 1: Turn left, go past the counter, turn left walk to the toaster, turn to face the counter. | STEP 2: Pick up yellow-handled knife from the counter. | STEP 3: Walk to the right toward the stove, turn to face the counter with apple on it., | STEP 4: Cut apple on the counter in thirds. | STEP 5: Turn completely around to face the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn around to face the counter. | STEP 8: Pick up one of the pieces of the apple. | STEP 9: Move a little to your right to face the stove and microwave. | STEP 10: Put the apple in the microwave, heat it, and take it out of the microwave. | STEP 11: Move a little to your right to counter with coffeemaker on it. | STEP 12: Put the apple to the left of the left-hand coffee mug on the counter. | END"]} +{"id": "trial_T20190910_122059_929600-2", "input": "cook an apple slice in the microwave ", "output": ["STEP 1: turn left, walk across room to counter, turn left, walk forward, turn right to face counter | STEP 2: pick up the knife that is on the counter | STEP 3: turn right, take a few steps, turn left to face counter to the left of the stove | STEP 4: slice the apple that is on the counter | STEP 5: turn around to face the sink | STEP 6: put the knife in the sink | STEP 7: turn around to face the counter | STEP 8: pick up the apple slice that is on the counter | STEP 9: take two steps to the right to face stove | STEP 10: put apple slice in the microwave, turn it on, take apple slice out when it turns off | STEP 11: take a few steps to the right to face the coffee maker | STEP 12: put the apple slice on the counter | END"]} +{"id": "trial_T20190908_213533_897289-0", "input": "Put a clean yellow plate on the counter.", "output": ["STEP 1: Turn right and walk towards the door, then turn right and walk over to the fridge, turn right again and walk up to the kitchen island | STEP 2: Pick up the rightmost dirty yellow plate off of the kitchen island. | STEP 3: Turn left and walk over to the sink. | STEP 4: Wash the dirty yellow plate clean in the sink then pick it back up. | STEP 5: Turn right and walk forward, then turn right to face the counter. | STEP 6: Put the clean yellow plate on the counter. | END"]} +{"id": "trial_T20190908_213533_897289-1", "input": "Wash a plate and place on counter. ", "output": ["STEP 1: Turn around completely and walk forward. Turn to the right and go around the corner and turn right again to face the counter. | STEP 2: Pick up the plate from the counter. | STEP 3: Step to the left and then turn to the right to face the sink, | STEP 4: Place the plate in the sink and turn on the water and wash the plate. Turn off the water and take out the plate. | STEP 5: Turn to the left and turn around completely and face the other counter. | STEP 6: Place the plate on the counter. | END"]} +{"id": "trial_T20190908_213533_897289-2", "input": "Put a washed plate on the counter by the stove.", "output": ["STEP 1: Turn and go to the counter by the sink. | STEP 2: Pick up a dirty plate on the counter. | STEP 3: Turn and go to the sink. | STEP 4: Wash the dish in the sink. | STEP 5: Turn and go to the counter by the stove. | STEP 6: Put the plate on the counter by the stove. | END"]} +{"id": "trial_T20190907_080730_211959-0", "input": "Wash the spatula, put it in the first drawer", "output": ["STEP 1: Turn around, walk to the kitchen island | STEP 2: Grab the spatula on the island | STEP 3: Turn right, and turn left, walk to the sink | STEP 4: Put the spatula in the sink, turn on the faucet, wash the spatula, turn off the faucet, take the spatula | STEP 5: Turn around to the drawers | STEP 6: Open the first drawer from the top, put the spatula in, close the drawer | END"]} +{"id": "trial_T20190907_080730_211959-1", "input": "Put a rinsed spatula in the drawer next to the stove.", "output": ["STEP 1: Turn around and walk to the island | STEP 2: Pick up the spatula from the island. | STEP 3: Walk around the island to the sink. | STEP 4: Rinse the spatula in the sink and pick it back up. | STEP 5: Turn around to face the stove. | STEP 6: Put the spatula in the drawer to the left of the stove. | END"]} +{"id": "trial_T20190907_080730_211959-2", "input": "To clean the spatula to put it in the drawer.", "output": ["STEP 1: Turn around to walk to the end of the island and turn left to face it. | STEP 2: Take the spatula on the counter. | STEP 3: Turn right and then left going around the island and then left to face the sink. | STEP 4: Put the spatula in the sink and turn the water on. Turn off the water and take the spatula back out. | STEP 5: Turn left then right to face the stove and then look down below. | STEP 6: Pull out the first drawer next to the stove and put the spatula in the front below the fork and shut the drawer. | END"]} +{"id": "trial_T20190906_214706_219505-0", "input": "Pick up baseball bat, turn on lamp", "output": ["STEP 1: Go to baseball bat to right of the door | STEP 2: Pick up baseball bat next to door | STEP 3: Go toward safe in far, opposite corner, turn right, face desk with lamp | STEP 4: turn on lamp on the desk | END"]} +{"id": "trial_T20190906_214706_219505-1", "input": "Examine a baseball bat by the light of a lamp.", "output": ["STEP 1: Head towards the door and turn right to face the baseball bat on the floor. | STEP 2: Pick up the bat from the floor. | STEP 3: Turn around, head towards the bed, turn left towards the edge of the bed, turn right towards the middle of the bed, turn left towards the wall, and then turn left to face the lamp on the desk. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190906_214706_219505-2", "input": "Examine a black baseball bat in the light of a small lamp.", "output": ["STEP 1: Walk over to the door in front of you and turn right to face the wall. | STEP 2: Pick up the black bat leaning against the wall. | STEP 3: Turn around and walk forward, then turn right and walk over to the bed, turn left and walk over to the wooden desk with a small lamp on it in the far side of the room. | STEP 4: Turn on the small lamp. | END"]} +{"id": "trial_T20190909_185126_784929-0", "input": "put a bowl and a pencil between the books on the desk", "output": ["STEP 1: go to the desk | STEP 2: pick up the pencil from the desk | STEP 3: re-approach the desk where the bowl is | STEP 4: put the pencil in the bowl | STEP 5: pick up the bowl with the pencil | STEP 6: take the bowl to the right side of the desk | STEP 7: set the bowl on the desk between the two rows of books on the bottom shelf | END"]} +{"id": "trial_T20190909_185126_784929-1", "input": "Putting a container with a pencil in it on the desk", "output": ["STEP 1: Turn around and go to the desk | STEP 2: Grab the pencil off of the desk | STEP 3: Look down at the desk | STEP 4: Put the pencil in the container on the desk | STEP 5: Grab the container off of the desk | STEP 6: Back up from the desk | STEP 7: Put the container down at the back of the desk | END"]} +{"id": "trial_T20190909_185126_784929-2", "input": "put a bowl with a pencil in it on the desk", "output": ["STEP 1: turn around, walk to desk | STEP 2: pick up the pencil that is on the desk | STEP 3: take a step back from the desk | STEP 4: put the pencil in the bowl | STEP 5: pick up the bowl with the pencil in it | STEP 6: take a few steps to the right | STEP 7: put the bowl with pencil between books on desk | END"]} +{"id": "trial_T20190907_080800_275989-0", "input": "Put a clean spatula in a drawer.", "output": ["STEP 1: Turn and go left and stand in front of the spatula on the counter. | STEP 2: Pick the spatula up off of the counter. | STEP 3: Go right and then left to stand in front of the sink. | STEP 4: Put the spatula in the sink, turn the water on, turn the water off, and take the spatula out. | STEP 5: Turn around and face the drawer to the left of the stove. | STEP 6: Put the spatula in the drawer to the left of the stove and shut it. | END"]} +{"id": "trial_T20190907_080800_275989-1", "input": "Put a clean spatula in a drawer.", "output": ["STEP 1: Go to the end of the island by the window. | STEP 2: Pick up the spatula near the edge. | STEP 3: Take the spatula to the sink. | STEP 4: Clean the spatula in the sink. | STEP 5: Turn and take the clean spatula to the counter on the left of the stove. | STEP 6: Put the clean spatula in the drawer under the blue credit card. | END"]} +{"id": "trial_T20190907_080800_275989-2", "input": "Put a clean spatula in a drawer.", "output": ["STEP 1: Turn left, go to the window, turn left, go straight, turn to the kitchen island when it is on the left. | STEP 2: Take the spatula from the island. | STEP 3: Turn right, go straight, turn left, go straight, turn to the sink when it is on the left. | STEP 4: Put the spatula in the sink, turn the water on then off, take the spatula from the sink. | STEP 5: Turn around and face the counter to the left of the oven. | STEP 6: Put the spatula in the top drawer underneath the counter to the left of the oven. | END"]} +{"id": "trial_T20190909_081814_796540-0", "input": "To move two bars of soap to the cabinet below the sink. ", "output": ["STEP 1: Look down at the counter in between the two sinks. | STEP 2: Pick up the bar of soap in between the two sinks. | STEP 3: Move further away from the sinks and look at the cabinets below the sink. | STEP 4: open the cabinet door all the way to the left, put the soap in the cabinet to the right of the rag. | STEP 5: Walk to face the sink on the left side. | STEP 6: Pick up the bar of soap from the sink. | STEP 7: Move further away from the sinks and look at the cabinets below the sink. | STEP 8: Open the cabinet door, put the soap down to the left of the first bar of soap and close the door. | END"]} +{"id": "trial_T20190909_081814_796540-1", "input": "Put the two soap in the cabinet", "output": ["STEP 1: Look down and face the sink counter | STEP 2: Pick up the soap on the counter | STEP 3: Turn right then head to the cabinet on the left side of the sink | STEP 4: Open the cabinet and put in the soap then close the cabinet | STEP 5: Go towards the left sink | STEP 6: Pick up the soap in the sink | STEP 7: Turn left then move backwards and face the cabinet below the sink | STEP 8: Open the cabinet and put in the soap then close the cabinet | END"]} +{"id": "trial_T20190909_081814_796540-2", "input": "Put two soap bars inside the sink cabinet", "output": ["STEP 1: Take a step back from the sink | STEP 2: Pick up the soap bar from the counter between the sinks | STEP 3: Turn all-way around to face the cabinet below the sink | STEP 4: Open the left side of the cabinet, put the soap inside it, and close the cabinet | STEP 5: Go back to the sink | STEP 6: Pick up the soap bar from the left sink | STEP 7: Turn all-way around to face the sink cabinet | STEP 8: Open the left side of the cabinet, put the soap inside, and close it | END"]} +{"id": "trial_T20190909_120632_691361-0", "input": "Put a washed egg in a microwave.", "output": ["STEP 1: Turn left, go forward, turn right to the counter to the right of the sink. | STEP 2: Take the egg from the counter. | STEP 3: Go to the sink to the left. | STEP 4: Wash the egg in the sink, take the egg out of the sink. | STEP 5: Turn left, go forward a step, turn left, go to the oven. | STEP 6: Put the egg in the microwave above the oven. | END"]} +{"id": "trial_T20190909_120632_691361-1", "input": "take a rinsed egg to the microwave", "output": ["STEP 1: go to the counter to the right of the sink | STEP 2: take the egg from the counter | STEP 3: take the egg to the sink | STEP 4: put the egg in the sink then take back out | STEP 5: take the egg to the microwave | STEP 6: put the egg in the microwave | END"]} +{"id": "trial_T20190909_120632_691361-2", "input": "Place a cleaned egg in a microwave.", "output": ["STEP 1: Turn left, walk forward just past the refrigerator, then turn right towards the egg on the counter. | STEP 2: Pick up the egg from the counter. | STEP 3: Turn left and walk to the sink. | STEP 4: Put the egg in the sink, rinse it off, and take it back out. | STEP 5: Turn around and walk forward to the microwave above the stove top. | STEP 6: Put the egg in the microwave and close the microwave. | END"]} +{"id": "trial_T20190908_114545_244903-0", "input": "Place a chilled pan on a counter.", "output": ["STEP 1: Turn around and walk to the fridge, then veer right to the stove. | STEP 2: Pick up the pan on the stove. | STEP 3: Walk left back to the fridge. | STEP 4: Place the pan in the fridge. Close the door, wait a moment, and take it out again. | STEP 5: Walk a few steps right. | STEP 6: Place the pan on the counter to the right of the toaster. | END"]} +{"id": "trial_T20190908_114545_244903-1", "input": "Put a chilled pan on the counter.", "output": ["STEP 1: Turn around and cross the room and then go right and turn to the left to face the stove. | STEP 2: Pick the pan up from the front left of the stove. | STEP 3: Go left and stand in front of the fridge. | STEP 4: Put the pan in the fridge and shut the door and then open the door and get the pan back out and shut the door. | STEP 5: Go right and then turn to the left to face the counter to the right of the toaster. | STEP 6: Put the pan down on the counter to the right of the toaster. | END"]} +{"id": "trial_T20190908_114545_244903-2", "input": "Remove the pan from the stove, chill it in the fridge and return it to the counter.", "output": ["STEP 1: Turn to the right twice, proceed to the fridge and turn to your right again to walk and face the stove. | STEP 2: Pick up the pan from the top of the stove. | STEP 3: Turn to your left and walk to the front of the fridge and then face it. | STEP 4: Open the fridge door and place the pan inside to chill, then remove it and shut the door. | STEP 5: Turn to the right and walk to the left of the stove and face the counter. | STEP 6: Place the pan on the counter. | END"]} +{"id": "trial_T20190907_074556_124850-0", "input": "Move the watch from the cabinet to the safe", "output": ["STEP 1: Turn right, walk to the cabinet | STEP 2: Open the first drawer under the newspaper in the cabinet, Grab the watch from the drawer | STEP 3: Turn right, walk to the white sofa, turn right, walk to the white safe | STEP 4: Open the safe, put the watch in,close the safe | END"]} +{"id": "trial_T20190907_074556_124850-1", "input": "Secure watch in safe.", "output": ["STEP 1: Turn around, turn left to face the drawer, walk to the drawer. | STEP 2: Open drawer to grab the watch. | STEP 3: Turn right, walk to the tan couch, turn right when you reach the tan couch, and walk straight to the safe. | STEP 4: Open the safe to place the watch inside and close the safe. | END"]} +{"id": "trial_T20190907_074556_124850-2", "input": "Move a watch from a drawer to a safe.", "output": ["STEP 1: Turn right and walk to the dresser. | STEP 2: Open the drawer of the dresser under the newspaper and take out the watch. | STEP 3: Turn around and walk to the safe. | STEP 4: Put the watch in the safe. | END"]} +{"id": "trial_T20190909_025308_903206-0", "input": "Take a cup from the microwave, place it in the sink and put the knife inside the cup.", "output": ["STEP 1: Turn around and walk towards the refrigerator. Turn right and go to the stove. Look up at the microwave. | STEP 2: Look in the microwave and remove the green cup. | STEP 3: Turn around and go to the sink to your left. | STEP 4: Put the green cup in the sink. | STEP 5: Pick up the knife in the sink. | STEP 6: Place the knife inside the green cup. | END"]} +{"id": "trial_T20190909_025308_903206-1", "input": "take a green cup from the microwave to the sink and move the knife", "output": ["STEP 1: go to the microwave | STEP 2: take out the green cup | STEP 3: take the cup to the sink | STEP 4: put the cup in the sink | STEP 5: pick up the knife from the sink on left | STEP 6: put the knife back in the sink on the right | END"]} +{"id": "trial_T20190909_025308_903206-2", "input": "put a butter knife and cup into a sink", "output": ["STEP 1: walk to face microwave | STEP 2: remove green cup from microwave | STEP 3: walk to face sink | STEP 4: put green cup in sink | STEP 5: pick up butter knife from sink | STEP 6: put butter knife into green cup inside sink | END"]} +{"id": "trial_T20190907_004404_604165-0", "input": "place a soap dispenser on top of the toilet", "output": ["STEP 1: turn left and walk over to the bathroom sink | STEP 2: grab the soap dispenser off of the countertop | STEP 3: turn around to face the toilet | STEP 4: place the soap dispenser on top of the toilet | END"]} +{"id": "trial_T20190907_004404_604165-1", "input": "Place a soap dispenser on the toilet cistern.", "output": ["STEP 1: Move towards the shower stall then turn left and move to the counter area between the two sinks. | STEP 2: Take the soap dispenser between the two sinks and to the right of the spray bottle. | STEP 3: Turn right and move towards the toilet between the sinks and the shower stall. | STEP 4: Place the soap dispenser on top of the toilet cistern to the right of the toilet paper and bar of soap. | END"]} +{"id": "trial_T20190907_004404_604165-2", "input": "move soap bottle from counter to back of the toilet", "output": ["STEP 1: turn left, walk towards counter, stop to face counter between the sinks | STEP 2: pick up the soap bottle that is on the counter | STEP 3: turn right, walk towards toilet, | STEP 4: put soap bottle on to the back of the toilet | END"]} +{"id": "trial_T20190907_004404_604165-3", "input": "Place soap on top of a toilet tank", "output": ["STEP 1: Turn left and walk to the sinks | STEP 2: Pick up the soap dispenser that is in between the two sinks | STEP 3: Turn right and walk to the toilet | STEP 4: Place soap on top of the toilet tank | END"]} +{"id": "trial_T20190908_145143_820541-0", "input": "Put a warmed up apple in the trash can.", "output": ["STEP 1: Turn left and move to the end of the island above the trash can. | STEP 2: Pick up the green apple from the counter. | STEP 3: Turn left and move across the room to the microwave on the left. | STEP 4: Warm the apple in the microwave for a few seconds and then take it back out. | STEP 5: Turn left and head back to the end of the island where the trash can is located. | STEP 6: Throw the apple into the trash can. | END"]} +{"id": "trial_T20190908_145143_820541-1", "input": "Put the heather apple in the trash bin", "output": ["STEP 1: Turn left walk towards the counter in front of the trash bin | STEP 2: Pick up the apple on the counter | STEP 3: Turn left the right and head to the microwave on your left | STEP 4: Open the microwave put in and out the apple then close the microwave | STEP 5: Turn left walk forward then turn left face the trash bin | STEP 6: Drop the apple in the trash bin | END"]} +{"id": "trial_T20190908_145143_820541-2", "input": "Heat an apple and throw it away.", "output": ["STEP 1: Turn to the left, and then left again to face the trash can. | STEP 2: Pick up the apple from the island on the closer side. | STEP 3: Carry the apple and turn to the left and then right. Look up to the microwave. | STEP 4: Open the microwave and place the apple inside. Shut the door. Open the door and take out the apple. Shut the door. | STEP 5: Carry the apple and turn to the left, then the left again to face the trash can. | STEP 6: Place the apple in the trash can on the floor. | END"]} +{"id": "trial_T20190909_062026_099967-0", "input": "Slice a tomato and cool it.", "output": ["STEP 1: Turn around, take a step, turn right and walk across the room to the refrigerator. Turn right at the refrigerator and walk forward to the dish washer in the middle of the room. Turn left and face the dish washer. | STEP 2: Pick up the knife on the left next to the roll of paper towels. | STEP 3: Turn right, take a step and turn left to face the counter. | STEP 4: Slice the tomato. | STEP 5: Turn right and walk to the wall. At the wall, turn left and face the counter. | STEP 6: Put the knife down in front of the keurig. | STEP 7: Turn left and walk forward to the middle of the room. At the dish washer, turn right and face the counter. | STEP 8: Pick up the right end of the tomato. | STEP 9: Turn left and walk forward with the tomato slice to the front of the refrigerator. Face the refrigerator. | STEP 10: Open the refrigerator door and put the tomato slice in the refrigerator in between the egg and the apple toward the front of the shelf. Close the door. Open the door and grab the tomato slice. Close the refrigerator door. | STEP 11: Turn right and walk to the other side of the room. At the wall, turn left and face the counter in front of the keurig. | STEP 12: Put the tomato slice down to the left of the knife. | END"]} +{"id": "trial_T20190909_062026_099967-1", "input": "Put a knife and a cold tomato slice on the counter. ", "output": ["STEP 1: Turn to your left and go past the island, to the refrigerator, then turn to your right and go to the counter top to your right, just past the refrigerator. | STEP 2: Pick up the knife directly in front of the loaf of bread, on the counter. | STEP 3: Move over to the right side of the counter, near the stove. | STEP 4: Cut the tomato on the back of the counter, to the left of the vase, into slices. | STEP 5: Turn to your right and go to the end of the counter, where the coffee maker is, on your right. | STEP 6: Place the knife on the drip pan of the coffee maker. | STEP 7: Turn to your left and go back to the stove where the tomato is on, past the stove, and to your right. | STEP 8: Pick up one of the tomato slices, on the counter. | STEP 9: Turn to the refrigerator on your left. | STEP 10: Place the tomato slice in the refrigerator, on the top shelf, between the apple and the egg, wait a moment for the tomato slice to chill, then remove the tomato from the refrigerator. | STEP 11: Turn to your right and walk to the end of the kitchen, then turn to the counter on your left, where the knife is. | STEP 12: Place the tomato on the counter to the left of the knife. | END"]} +{"id": "trial_T20190909_062026_099967-2", "input": "Use the table knife to slice a tomato, place it next to the coffee maker on the kitchen counter.", "output": ["STEP 1: Turn around then turn right move forward toward the fridge then turn right the turn left to face the kitchen counter. | STEP 2: Pick up the table knife on the left from the kitchen counter. | STEP 3: Carry the table knife and move to the right to reach the tomato on the kitchen counter. | STEP 4: Slice the tomato on the kitchen counter using the table knife. | STEP 5: Take table knife , turn to the right then left and face the kitchen counter. | STEP 6: Place knife next to the coffee maker on the kitchen counter. | STEP 7: Turn left, then turn to the right and face the kitchen counter | STEP 8: Pick up a slice of tomato | STEP 9: Take the slice of tomato turn around turn to the right then right again to face the fridge. | STEP 10: Open the fridge door, place sliced tomato onto the shelf in the fridge, close fridge door. | STEP 11: Open fridge door, take out sliced tomato from the shelf inside the fridge, close fridge door. Turn right toward the coffee maker then left and face the coffee maker on the kitchen counter. | STEP 12: Place sliced tomato onto kitchen counter next to the knife near the coffee maker. | END"]} +{"id": "trial_T20190908_100512_362932-0", "input": "Place a washed towel in the middle of two sinks", "output": ["STEP 1: Go to the right sink | STEP 2: Pick up the dirty towel next to the sink | STEP 3: Turn around and face the sink | STEP 4: Wash the dirty towel in the sink | STEP 5: Turn around and face the sinks | STEP 6: Place the cleaned towel in the middle of the sinks | END"]} +{"id": "trial_T20190908_100512_362932-1", "input": "Put a clean blue rag on the counter.", "output": ["STEP 1: Walk over to the right side of the sink counter. | STEP 2: Pick up the dirty blue rag off of the counter. | STEP 3: Walk up to the rightmost sink. | STEP 4: Put the dirty rag in the sink and turn on the water, after a couple seconds turn the water off and remove the now clean blue rag. | STEP 5: Turn left and walk forward, then turn right to face the counter. | STEP 6: Put the clean blue rag on the counter in between the two sinks. | END"]} +{"id": "trial_T20190908_100512_362932-2", "input": "Put a clean cloth on the counter.", "output": ["STEP 1: Turn around and face the counter to the right of the sink. | STEP 2: Pick up the cloth from the counter. | STEP 3: Move to the left and face the sink on the right. | STEP 4: Put the cloth in the sink and turn the water on and then off and pick the cloth up from the sink. | STEP 5: Move to the left and face the counter in between the two sinks. | STEP 6: Put the cloth on the counter between the two sinks. | END"]} +{"id": "trial_T20190908_145356_918528-0", "input": "Put in the heated apple in the trash bin", "output": ["STEP 1: Walk forward then turn right stand on the left side of the trash bin | STEP 2: Pick up the apple in the trash bin | STEP 3: Turn left then turn right head to the microwave on your left | STEP 4: Open the microwave, put in the microwave then take it out and close the microwave | STEP 5: Turn left,walk straight then turn left walk few step and face the trash bin | STEP 6: Put in the apple in the trash bin | END"]} +{"id": "trial_T20190908_145356_918528-1", "input": "Put a heated apple in the trash can.", "output": ["STEP 1: Go forward and turn to the right to face the trash can next to the counter. | STEP 2: Take the green apple on the right out of the trash can. | STEP 3: Turn around and go right and then turn to the left to face the microwave above the stove. | STEP 4: Put the apple in the microwave and shut the door and then open the door and take the apple out again. | STEP 5: Go left and then turn to the left again to face the trash can. | STEP 6: Put the apple in the trash can. | END"]} +{"id": "trial_T20190908_145356_918528-2", "input": "Put a heated apple back in the garbage where you got it.", "output": ["STEP 1: Walk to the refrigerator, turn right, turn right again, walk to garbage can. | STEP 2: Pick up the apple that is in the near right corner of the can. | STEP 3: TUrn left, walk to the stove, turn left to face the stove. | STEP 4: Put the apple in the microwave, heat it, and take it out. | STEP 5: Turn left, got to the end of the counter, walk to the garbage can, turn left to face the can. | STEP 6: Put the apple in the garbage can to the right of the other apple. | END"]} +{"id": "trial_T20190908_213420_728917-0", "input": "Put a clean plate on the counter.", "output": ["STEP 1: Turn right and walk to the counter to the left of the stove turning left to face it when you get there. | STEP 2: Pick up the dirty gold plate that's in front of you to the left of the phone. | STEP 3: Turn around to face the sink. | STEP 4: Wash the plate in the sink and then pick it back up and shut off the water. | STEP 5: Turn back around to face the counter again. | STEP 6: Put the plate on the counter to the left of the bottom phone . | END"]} +{"id": "trial_T20190908_213420_728917-1", "input": "place a clean plate down on the kitchen counter space", "output": ["STEP 1: turn right and walk over to the kitchen counter on the left side of the stove on the left | STEP 2: grab the dirty plate off of the kitchen counter space there | STEP 3: turn around and walk to the kitchen sink up ahead | STEP 4: place the plate inside the sink and turn on the water, clean the plate off, then turn off the water and pick up the plate | STEP 5: turn around and head back to the spot to the left of the stove where you picked up the plate originally | STEP 6: place the plate back down on the kitchen counter there | END"]} +{"id": "trial_T20190908_213420_728917-2", "input": "Put a clean plate on the counter.", "output": ["STEP 1: Turn right and go towards the dishwasher, then turn left to face the counter next to the dishwasher. | STEP 2: Pick up the plate on the counter. | STEP 3: Turn around to go to the sink. | STEP 4: Clean the plate in the sink. | STEP 5: Turn around to face the counter above the dishwasher. | STEP 6: Put the plate on the counter. | END"]} +{"id": "trial_T20190918_192011_115694-0", "input": "put a box with the set of keys on to the blue chair", "output": ["STEP 1: turn around and move to the white safe that is on the floor to the left of the fire place | STEP 2: open the safe, remove the set of keys, close the safe | STEP 3: turn around and move forward to the sofa on the right, turn to face the sofa where the box is sitting | STEP 4: put the set of keys in to the box that in on the sofa | STEP 5: pick up the box from the sofa | STEP 6: turn to the left and move to the blue chair with the plaid pillow | STEP 7: put the box on to the chair to the right of the pillow | END"]} +{"id": "trial_T20190918_192011_115694-1", "input": "put box and keys on blue plush chair", "output": ["STEP 1: walk to face safe on floor | STEP 2: pick up keys from inside safe | STEP 3: walk to face sofa with box | STEP 4: put keys in box on sofa | STEP 5: pick up box from sofa | STEP 6: walk to face blue plush chair | STEP 7: put box on chair | END"]} +{"id": "trial_T20190918_192011_115694-2", "input": "Put a box with a key chain in it on an armchair.", "output": ["STEP 1: Turn around and walk to the safe on the floor. | STEP 2: Take out the key chain from the safe and close the safe. | STEP 3: Turn around, walk forward and turn right before reaching the blue armchair and walk to the box on the sofa. | STEP 4: Put the key chain in the box. | STEP 5: Pick up the box from the sofa. | STEP 6: Turn left and walk to the blue armchair. | STEP 7: Put the box on the seat of the armchair, to the right of the pillow. | END"]} +{"id": "trial_T20190909_011803_423115-0", "input": "put two sets of keys inside safe", "output": ["STEP 1: turn to face black rectangular table | STEP 2: pick up keys from table | STEP 3: walk to face small white safe | STEP 4: put keys inside safe | STEP 5: walk to face white couch | STEP 6: pick up keys from couch | STEP 7: walk to face small white safe | STEP 8: put keys inside safe | END"]} +{"id": "trial_T20190909_011803_423115-1", "input": "Place keys in the safe.", "output": ["STEP 1: Turn right then face the black table to your left. | STEP 2: Take the keys off of the table in front of you. | STEP 3: Turn left then face the white safe to your right. | STEP 4: Place the keys inside the safe in front of you and close it. | STEP 5: Turn around then face the couch to your right. | STEP 6: Take the keys from the couch in front of you. | STEP 7: Turn right and face the safe in front of you. | STEP 8: Place the keys in the safe in front of you. | END"]} +{"id": "trial_T20190909_011803_423115-2", "input": "Move two sets of keys to the white safe. ", "output": ["STEP 1: Turn right to move to stand in front of the black console table against the wall. | STEP 2: Pick up the keys from the front right corner of the table. | STEP 3: Turn around and cross the room to the sofa and then turn right to face the small white safe on the ground. | STEP 4: Put the keys inside the safe and shut the door. | STEP 5: Turn left and move to stand in front of the sofa. | STEP 6: Pick up the keys from the cushion of the sofa closest to the wall with the safe. | STEP 7: Turn right and move back to stand in front of the white safe. | STEP 8: Open the safe, put the keys inside, and close the door. | END"]} +{"id": "trial_T20190918_154424_844749-0", "input": "Place a salt shaker in a drawer.", "output": ["STEP 1: Turn around and walk to the coffee maker on the counter. | STEP 2: Pick up the salt shaker to the left of the coffee maker. | STEP 3: Turn left and go to the shelves in between the stove and the dishwasher. | STEP 4: Put the salt shaker in the second drawer to the left of the silverware. | END"]} +{"id": "trial_T20190918_154424_844749-1", "input": "Place a salt shaker in a drawer my the oven", "output": ["STEP 1: turn to the left and step to the window and turn to the left take a few steps and turn to the left go to the counter and turn to the right and go to the counter | STEP 2: pick up the salt shaker from the counter top | STEP 3: turn to the left twice and take a step and turn to the right and take a few steps | STEP 4: open the middle drawer left of the oven and put the salt shaker in the drawer and close the drawer | END"]} +{"id": "trial_T20190918_154424_844749-2", "input": "Put the salt shaker in the drawer. ", "output": ["STEP 1: Turn around and go to the kitchen counter with the coffee maker on it. | STEP 2: Pick up the salt shaker to the left of the coffee maker. | STEP 3: Turn to your left and walk to the drawers under the counter, on your right, to the left of the oven. | STEP 4: Put the salt shaker in the second drawer from the top, under the counter, to the left of the stove. | END"]} +{"id": "trial_T20190918_154424_844749-3", "input": "Place the salt shaker next to the coffee maker into the kitchen drawer.", "output": ["STEP 1: Turn left towards the window and then turn left walk towards the coffee maker. | STEP 2: Pick up the salt shaker to the left of the coffee maker. | STEP 3: Turn left and head towards the drawers in between the oven and dishwasher. | STEP 4: Pull out the middle drawer, place the salt shaker in it, close the drawer. | END"]} +{"id": "trial_T20190918_154424_844749-4", "input": "Put a salt shaker in a drawer.", "output": ["STEP 1: Turn left and walk to the coffee maker. | STEP 2: Pick up the salt shaker. | STEP 3: Turn left and walk past the stove. | STEP 4: Put the salt shaker in the second drawer immediately to the left of the stove. | END"]} +{"id": "trial_T20190918_154424_844749-5", "input": "Place a salt shaker inside the top drawer.", "output": ["STEP 1: Turn around, then head across the room to the counter. | STEP 2: Pick up the salt shaker off of the counter. | STEP 3: Turn left, walk past the oven and open the top drawer in between the oven and dish washer. | STEP 4: Open the drawer, place the salt shaker inside, and then close the drawer. | END"]} +{"id": "trial_T20190908_114340_674467-0", "input": "Place a clean rag on a counter.", "output": ["STEP 1: Turn around and veer to the rightmost sink. | STEP 2: Open the left cabinet and take out the blue rag. | STEP 3: Look at the sink. | STEP 4: Wash the rag in the sink. | STEP 5: Take a step left. | STEP 6: Place the rag on the counter behind the soap bottle. | END"]} +{"id": "trial_T20190908_114340_674467-1", "input": "Put a clean cloth on the counter.", "output": ["STEP 1: Turn around and go right to face the sink on the right. | STEP 2: Open the cabinet on the left below the sink on the right and pick up the green cloth. | STEP 3: Move a bit to the right and face the sink on the right. | STEP 4: Put the cloth in the sink and turn the water on and then off and pick up the cloth again. | STEP 5: Go left and turn to face the counter between the sinks. | STEP 6: Put the cloth down on the counter between the two sinks. | END"]} +{"id": "trial_T20190908_114340_674467-2", "input": "Put a clean rag on the counter.", "output": ["STEP 1: Turn around, move forward toward the door, then turn right to face the sink. | STEP 2: Open the cabinet under the sink, to the left; take out the rag. | STEP 3: Turn around, step forward, then turn back around to face the sink. | STEP 4: Wash the rag in the sink. | STEP 5: Turn left, move forward, then turn right to face the counter between the sinks. | STEP 6: Put the rag on the counter between the sinks, behind the soap bottle. | END"]} +{"id": "trial_T20190918_143430_997524-0", "input": "Place sliced lettuce into a bin.", "output": ["STEP 1: Turn left, move to the counter in front of the dishwasher. | STEP 2: Pick up the knife, from the counter, that is near the bread. | STEP 3: Turn left, move to in front of the refrigerator. | STEP 4: Slice the lettuce in the refrigerator. | STEP 5: Move to in front of the refrigerator. | STEP 6: Put the knife in the refrigerator. | STEP 7: Move to in front of the refrigerator. | STEP 8: Pick up a slice of lettuce. | STEP 9: Turn right, move to the island in front of the sink. | STEP 10: Put the slice of lettuce in the sink, rinse it, pick it back up. | STEP 11: Turn right, move to the end of the island near the bin. | STEP 12: Put the slice of lettuce in the bin. | END"]} +{"id": "trial_T20190918_143430_997524-1", "input": "put a wet slice of lettuce in the trash can", "output": ["STEP 1: go forward to the left go right turn left towards the sink | STEP 2: pick up the knife from the counter | STEP 3: turn to the left towards the refrigerator | STEP 4: put the knife inside the refrigerator | STEP 5: get it back turn to the right | STEP 6: towards the refrigerator put the knife inside the refrigerator | STEP 7: open the refrigerator back again slice the lettuce that is inside the refrigerator | STEP 8: pick up the slice of lettuce | STEP 9: get it out turn to the right and forward towards the sink | STEP 10: put the slice of lettuce inside the sink rinse it off | STEP 11: turn to the right go left towards the trash can | STEP 12: throw the slice of lettuce in the trash can | END"]} +{"id": "trial_T20190918_143430_997524-2", "input": "Put a washed piece of lettuce in a bin and a knife in the fridge", "output": ["STEP 1: Go to the counter above the dishwasher | STEP 2: Take a knife | STEP 3: Go to the fridge | STEP 4: Cut the lettuce in the fridge | STEP 5: Turn and look back to the fridge | STEP 6: Put the knife in the fridge | STEP 7: Close the fridge | STEP 8: Open the fridge and take a piece of lettuce out | STEP 9: Go to the sink | STEP 10: Wash the lettuce | STEP 11: Go to the bin | STEP 12: Put the lettuce in the bin | END"]} +{"id": "trial_T20190913_033141_859977-0", "input": "Put an egg in a bowl on the counter. ", "output": ["STEP 1: Head past the right side of the island to the coffee machine on the counter. | STEP 2: Open the cabinet under the coffee machine and pick up the big bowl in there. | STEP 3: Bring the bowl up to the counter. | STEP 4: Put the bowl on the counter next to the coffee machine. | STEP 5: Pick up the egg on the back of the counter. | STEP 6: Put the egg in the bowl on the counter. | END"]} +{"id": "trial_T20190913_033141_859977-1", "input": "Put an egg in a bowl, on the counter. ", "output": ["STEP 1: Turn to your right and go to the windows at the end of the room, then turn left and go to the cabinets straight ahead, below the coffee maker. | STEP 2: Open the cabinets below the coffee maker and remove a bowl. | STEP 3: Step closer to the cabinet in front of you. | STEP 4: Set the bowl on the counter in front of you. | STEP 5: Pick up the egg on the counter that is the furthest to the back. | STEP 6: Place the egg in the bowl on the counter. | END"]} +{"id": "trial_T20190913_033141_859977-2", "input": "Put a bowl with an egg in it on a counter top.", "output": ["STEP 1: Turn right, walk forward to the wall, then turn left and walk forward across the room to the coffee machine on the counter. | STEP 2: Open the cabinets below the coffee machine and take out the bowl, then close the cabinets. | STEP 3: Bend up from the cabinets and face the counter top. | STEP 4: Put the bowl on the counter top, in front of the apple. | STEP 5: Pick up the egg in the back from the counter top. | STEP 6: Put the egg in the bowl. | END"]} +{"id": "trial_T20190918_154326_823501-0", "input": "take the salt by the coffee machine, put it in the second drawer", "output": ["STEP 1: Turn left and walk to the counter | STEP 2: Take the salt bottle near the coffee machine | STEP 3: Turn left and walk to the 3 drawers by the oven | STEP 4: Open the second drawer from the top, put salt in the drawer and close it | END"]} +{"id": "trial_T20190918_154326_823501-1", "input": "Put a salt shaker in the middle drawer next to the stove.", "output": ["STEP 1: Turn left and face the coffee machine. | STEP 2: Pick up the salt shaker in front of the coffee machine. | STEP 3: Turn left and stand so the oven is to your right. | STEP 4: Open the middle drawer to the left of the stove and place the salt shaker in the lower left corner, then close the drawer. | END"]} +{"id": "trial_T20190918_154326_823501-2", "input": "Place the salt shaker in the middle drawer", "output": ["STEP 1: Turn left then straight back to the counter top | STEP 2: Pick up the salt shaker on top of the table | STEP 3: Turn left and move to the drawer in the middle to the right of the dishwasher | STEP 4: Place the salt shaker in the drawer then shut the drawer | END"]} +{"id": "trial_T20190918_154326_823501-3", "input": "Put salt in a drawer.", "output": ["STEP 1: Turn left, go forward to the counter with the coffee machine. | STEP 2: Take the salt from the counter. | STEP 3: Turn left, go forward, stop at the stove. | STEP 4: Put the salt in the front corner of the middle drawer between the stove and the dishwasher. | END"]} +{"id": "trial_T20190918_154326_823501-4", "input": "Place a salt shaker into a drawer.", "output": ["STEP 1: Turn left and move towards the counter area to the right of the oven. | STEP 2: Pick up the salt shaker in front of the coffee maker. | STEP 3: Turn left and move to the area that is between the sink and the drawers to the left of the oven. | STEP 4: Open the middle drawer next to the oven, place the salt shaker in the front left corner of the drawer, and then close the drawer. | END"]} +{"id": "trial_T20190918_154326_823501-5", "input": "get pepper dispenser from the counter and put it in the drawer next to the dishwasher", "output": ["STEP 1: go the counter in front of the coffee machine | STEP 2: pick up the pepper shaker from the counter | STEP 3: turn and walk to your left, stop when you reach the sink | STEP 4: put the shaker in the bottom drawer on the right | END"]} +{"id": "trial_T20190906_213857_471360-0", "input": "Examine the tissue box under the light of the floor lamp", "output": ["STEP 1: Walk forward across the room then turn right and go over to the large wooden cabinet | STEP 2: Open the bottom left cabinet door and remove the tissue box from it | STEP 3: Move a few feet to the left to face the floor lamp in the corner | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190906_213857_471360-1", "input": "View a tissue box with the light of a lamp.", "output": ["STEP 1: Walk forward and veer all the way right to the left side of the dresser on the far wall. | STEP 2: Take the tissue box out of the bottom left cabinet. | STEP 3: Turn left and look at the lamp. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190906_213857_471360-2", "input": "turn on the lamp in the corner of the room while holding a box of tissues", "output": ["STEP 1: walk forwards to the end of the room, then hang a right and go forwards to the other end of the room | STEP 2: open up the cabinet door and grab the box of tissues out of it | STEP 3: move left a bit and face the lamp to the left of the cabinet | STEP 4: turn on the lamp | END"]} \ No newline at end of file