{"id": "trial_T20190907_231611_105301-2", "input": "To examine a lap top under lamp light.", "output": ["STEP 1: Turn right and walk across the room and then turn right to face a tablet on the white table. | STEP 2: Close the lap top on the white table, then pick it up. | STEP 3: Turn around and face the lamp on the left. | STEP 4: Turn on the light to examine a lap top. | END"]}
{"id": "trial_T20190906_200329_245495-0", "input": "Place the toilet plunger in the cabinet below the sink.", "output": ["STEP 1: Turn right, head towards the wall, and then turn right to face the toilet. | STEP 2: Pick up the plunger on the floor. | STEP 3: Take a few steps to the right to face the sink. | STEP 4: Open the cabinet below the sink and place the plunger in it. | END"]}
{"id": "trial_T20190906_200329_245495-1", "input": "Take the plunger set it inside the dresser drawer ", "output": ["STEP 1: Turn right and walk towards the toilet | STEP 2: Take the plunger with your hand | STEP 3: Take the plunger towards the vanity dresser | STEP 4: Set the plunger inside the dresser drawer | END"]}
{"id": "trial_T20190906_200445_365117-0", "input": "turn on a lamp while holding a white plate", "output": ["STEP 1: turn right and walk over to the cabinet underneath the television | STEP 2: grab a white plate from the cabinet | STEP 3: turn around and walk over to the night stand to the left of the couch | STEP 4: turn on the lamp on the night stand | END"]}
{"id": "trial_T20190906_200445_365117-1", "input": "Turn on the light that is on the end table.", "output": ["STEP 1: Walk straight then take a quick right to go around the chair then a left to walk towards the shelf. | STEP 2: Pick up the CD from the shelf. | STEP 3: Turn to the right walk straight to the other table then turn around to walk towards the wall then make a right to go to the end table next to the couch. | STEP 4: Turn on the lamp that is sitting on the end table while still holding the CD. | END"]}
{"id": "trial_T20190908_130422_997962-1", "input": "Put the box with gray container on the table", "output": ["STEP 1: Turn left,move forward then cross the room head to the shelf  | STEP 2: Pick up the gray container on the shelf | STEP 3: Turn right then head to the black table on your right | STEP 4: Put the gray container in the box | STEP 5: Pick up the box on the black table | STEP 6: Turn right then head to the long brown table | STEP 7: Put the box with gray container on the table | END"]}
{"id": "trial_T20190909_213235_625876-0", "input": "Put a bowl with a potato in it in the microwave.", "output": ["STEP 1: Turn around and take a step then turn left to face the microwave. | STEP 2: Take the potato out of the microwave. | STEP 3: Look up at the cupboard above the microwave. | STEP 4: Open the cupboard above the microwave and put the potato in the glass bowl that's up there. | STEP 5: Grab the bowl with the potato and close the door. | STEP 6: Look back down at the microwave. | STEP 7: Put the bowl with the potato in it in the microwave. | END"]}
{"id": "trial_T20190906_203100_940022-2", "input": "turn on the lamp while holding a pencil", "output": ["STEP 1: walk over to the blue recycling bin | STEP 2: grab the yellow pencil out of the recycling bin | STEP 3: turn around and go across the room to the circle table | STEP 4: turn on the lamp on the table | END"]}
{"id": "trial_T20190906_202722_545356-0", "input": "Place a knife and a slice of tomato in the sink.", "output": ["STEP 1: Turn left, head towards the door, turn left towards the counter on your left, turn left to face the counter. | STEP 2: Pick up the knife from the counter. | STEP 3: Take a step to the right. | STEP 4: Slice the tomato on the counter into several slices. | STEP 5: Turn right, walk towards the middle of the kitchen, turn left towards the stove, and then turn right towards the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn around and head towards the counter. | STEP 8: Pick up a slice of tomato from the counter. | STEP 9: Turn around and head towards the microwave on your left. | STEP 10: Open the microwave, place the slice in it, heat it up, and then take it out of the microwave. | STEP 11: Turn right towards the sink. | STEP 12: Place the slice tomato to the left of the apple in the sink. | END"]}
{"id": "trial_T20190906_202722_545356-2", "input": "To boil an egg and put in the sink smoothly.", "output": ["STEP 1: Twist-turn around and take an left. Left again. | STEP 2: Take the knife only from the table. | STEP 3: Turn twist and step forward with the knife in hand. | STEP 4: Touch the red ball of yarn on the table. | STEP 5: turn right and then to the left. | STEP 6: Drop the knife on the counter. | STEP 7: turn right twist and and right along to the table. | STEP 8: Pick up the red egg only from the table. | STEP 9: Walk forward and to the left to the microwave . | STEP 10: You have to open the microwave door and put the egg in it. | STEP 11: Push the door closed and enter the green stamp button. Afterward take out the red egg and in hand. | STEP 12: Over the counter on the right drop the red egg in. | END"]}
{"id": "trial_T20190909_050838_169369-1", "input": "to slice up an apple and put in a pan to put on the counter. ", "output": ["STEP 1: walk forward towards the sink and turn left | STEP 2: pick up the knife from the counter | STEP 3: turn left and walk forward then turn right towards the microwave | STEP 4: open the microwave door | STEP 5: slice the apple that is in the microwave, then turn around and walk forward towards the wall then turn left | STEP 6: place knife on the stove | STEP 7: turn around and walk forward then turn right and walk towards the microwave | STEP 8: open the microwave and pull apple slices out of it | STEP 9: turn around and walk forward turn left and walk towards stove | STEP 10: place apple in the pan  | STEP 11: pick up the pan from the stove | STEP 12: turn left with the pan and walk towards the counter | STEP 13: place the pan on the counter | END"]}
{"id": "trial_T20190918_173226_926141-0", "input": "Put a pan with a sponge in it on the round table. ", "output": ["STEP 1: Move to the sink, right of the fridge. | STEP 2: Pick up the sponge on the counter in front of the sink.  | STEP 3: Bring the sponge to the fridge on the left. | STEP 4: Put the sponge in the pan in the fridge. | STEP 5: Pick up the pan with sponge in the fridge.  | STEP 6: Turn around, bring the pan over to the round table in the opposite corner of the room. | STEP 7: Put the pan with sponge on the table next to the apple | END"]}
{"id": "trial_T20190908_165152_940998-0", "input": "Put the chilled slice cabbage in the trash bin", "output": ["STEP 1: Turn left and head to the counter with microwave | STEP 2: Pick up the bread knife on the counter beside the microwave | STEP 3: Turn left the head to the sink | STEP 4: Slice the cabbage in the sink | STEP 5: Turn right then head to the fridge  | STEP 6: Open the fridge put in the bread knife | STEP 7: Turn left head to the sink  | STEP 8: Pick up a slice of cabbage  | STEP 9: Turn right head to the fridge | STEP 10: Open the fridge put in and out the cabbage | STEP 11: Turn right head to the trash bin | STEP 12: Put the slice cabbage in the trash bin | END"]}
{"id": "trial_T20190908_165152_940998-2", "input": "To cool a slice of lettuce plus place it in the trash can.", "output": ["STEP 1: Turn left and step forward to face the counter to the left of the stove. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left to face the sink. | STEP 4: Cut the lettuce in the sink into slices. | STEP 5: Turn around and walk forward to face the fridge. | STEP 6: Place the knife in the fridge. | STEP 7: Turn left and walk across the room to face the sink. | STEP 8: Pick up a slice of lettuce in the sink. | STEP 9: Turn around and walk forward to face the fridge. | STEP 10: Cool the slice of lettuce in the fridge and then remove it. | STEP 11: Turn around and step forward to face the trash can. | STEP 12: Place the slice of lettuce in the trash can. | END"]}
{"id": "trial_T20190909_042500_949430-0", "input": "Retrieve the sponge from the kitchen island, place in fry pan, put fry pan on kitchen island.", "output": ["STEP 1: Move to the left side of the kitchen island | STEP 2: Pick up the sponge from the kitchen island | STEP 3: Turn around and move to the stove | STEP 4: Put the sponge in the fry pan at the at the back | STEP 5: Pick up the fry pan from the stove | STEP 6: Turn around and go to the far side of the kitchen island | STEP 7: Put the fry pan on the kitchen island behind the apple | END"]}
{"id": "trial_T20190909_042500_949430-2", "input": "To put a sponge in a pan and put the pan on the kitchen island. ", "output": ["STEP 1: turn left and walk to the kitchen island.  | STEP 2: Pick up the sponge to the left of the loaf of bread.  | STEP 3: Turn right and walk to the stove.  | STEP 4: Put the sponge down on the pan on the back right burner of the stove.  | STEP 5: Pick up the pan with the sponge in it.  | STEP 6: Walk back over to the kitchen island.  | STEP 7: Put the pan down on the kitchen island behind the apple.  | END"]}
{"id": "trial_T20190908_030456_167890-2", "input": "place a cool slice of potato on the table", "output": ["STEP 1: turn left and head to the table | STEP 2: pick up the knife | STEP 3: turn around and head for the table  | STEP 4: slice the potato on it | STEP 5: turn around and head for the table | STEP 6: drop the knife on the table | STEP 7: move right on the table | STEP 8: pick up a slice of potato | STEP 9: turn around to the fridge | STEP 10: cool the potato in the fridge | STEP 11: turn around to the table | STEP 12: place the potato on the table | END"]}
{"id": "trial_T20190908_063551_472990-0", "input": " Cool mug in refrigerator, move to coffee maker on counter.", "output": ["STEP 1: Turn right, proceed to table.  Turn right, proceed to sink. | STEP 2: Pick up mug from sink, located to the right of the spatula. | STEP 3: Turn around, proceed to wall.  Turn left, proceed to refrigerator. | STEP 4: Open refrigerator, place mug on top shelf to the right of the tomato.  Close refrigerator, wait five seconds, open refrigerator.  Remove mug from refrigerator, close refrigerator door. | STEP 5: Turn left, proceed to counter on right.  Turn right to face coffee maker.   | STEP 6: Place mug on coffee maker to the right of the lettuce.  | END"]}
{"id": "trial_T20190906_214331_409813-1", "input": "Place the knife next to the egg", "output": ["STEP 1: Walk to the table to your right | STEP 2: Pick up the knife from the table | STEP 3: Turn around and walk towards the microwave behind you | STEP 4: Place the knife right next to the egg on the table. | END"]}
{"id": "trial_T20190908_113618_132854-2", "input": "Put a washed pan on the stove.", "output": ["STEP 1: Go to the stove. | STEP 2: Pick up a pan on the stove. | STEP 3:  Turn and go to the sink. | STEP 4: Wash the pan in the sink.  | STEP 5: Turn and go to the stove. | STEP 6: Put the pan on the stove. | END"]}
{"id": "trial_T20190907_143605_967182-0", "input": "Place a yellow knife along with a slice of bread in the fridge.", "output": ["STEP 1: Walk past the toaster on your left. | STEP 2: Pick up the knife next to the toaster on the counter. | STEP 3: Turn around and walk towards a white rectangular table. | STEP 4: Slice the bread on the table into several pieces. | STEP 5: Turn left and walk towards the fridge. | STEP 6: Place the knife on the top shelf in the fridge and close it. | STEP 7: Turn right and walk back to the table to your left. | STEP 8: Pick up a slice of bread from the table. | STEP 9: Turn left and walk towards the microwave to your right. | STEP 10: Place the slice of bread in the microwave, heat it up, and take it back out. | STEP 11: Head towards the fridge to your right. | STEP 12: Place the bread behind the knife in the fridge. | END"]}
{"id": "trial_T20190907_143605_967182-2", "input": "Place a cooked slice of bread inside the fridge. ", "output": ["STEP 1: Go forward and then turn to the left at the counter where the lettuce and tomato is.  | STEP 2: Pick up the big knife that is on the counter.  | STEP 3: Turn around and go to the white table on the other side of the room that has bread and lettuce on it.  | STEP 4: Use the knife to cut the bread into slices.  | STEP 5: Turn to the left and go to the fridge.  | STEP 6: Open the fridge, put the knife inside, and close the fridge.  | STEP 7: Turn to the right and go back to the white table with the bread on it.  | STEP 8: Pick up a slice of the bread.  | STEP 9: Turn to the left and go to the microwave that is on the other side of the fridge.  | STEP 10: Open the microwave and put the bread inside, close the microwave and turn it on to cook the bread, open the microwave, remove the bread, and close the microwave door.  | STEP 11: Turn to the right and go back to the fridge.  | STEP 12: Open the fridge, place the bread inside, and close the fridge.  | END"]}
{"id": "trial_T20190907_143605_967182-3", "input": "Put a slice of microwaved bread in the refrigerator. ", "output": ["STEP 1: Go to the counter. | STEP 2: Pick up the knife on the counter.  | STEP 3: Turn around and go to the table by the door.  | STEP 4: Cut the bread on the table with the knife.  | STEP 5: Turn left and go to the refrigerator. | STEP 6: Put the knife in the refrigerator.  | STEP 7: Turn right and go to the table by the door.  | STEP 8: Pick up a slice of bread from the table.  | STEP 9: Turn left and go to the microwave. | STEP 10: Cook the slice of bread in the microwave. | STEP 11: Turn right and go to the refrigerator.  | STEP 12: Put the slice of bread in the refrigerator.  | END"]}
{"id": "trial_T20190907_143605_967182-4", "input": "Cut the slice bread and put it to the refrigerator", "output": ["STEP 1: Face the counter at the left | STEP 2: pick up the knife at the back of lettuce. | STEP 3: Head to the table at the left. | STEP 4: slice the bread at the table. | STEP 5: Turn left to face the refrigerator.  | STEP 6: open the door and put the knife inside.  | STEP 7: Head back to the table at the right. | STEP 8: Pick up a piece of a slice of the bread.  | STEP 9: Head at the counter at the left and face the microwave. | STEP 10: Open the microwave to heat it for few seconds. Open the door and pick it up.  | STEP 11: Turn right to face the refrigerator. | STEP 12: Open it and put the slice bread inside. Close the door. | END"]}
{"id": "trial_T20190909_154228_610799-1", "input": "Examine a pillow by lamp light.", "output": ["STEP 1: Walk forward to the bed. | STEP 2: Pick up the nearest pillow. | STEP 3: Turn around and walk to the lamp. | STEP 4: Turn on the lamp. | END"]}
{"id": "trial_T20190909_114939_704661-2", "input": "place orange cup and toilet paper in lower left cabinet", "output": ["STEP 1: turn around, go to red bin to the right | STEP 2: pick up orange cup from red bin | STEP 3: turn around, go to lower cabinet to the left of sink with pink sponge | STEP 4: open cabinet, place orange cup in front right corner of cabinet, close cabinet | STEP 5: turn around, go to toilet to the right | STEP 6: pick up toilet paper from holder to the left of toilet | STEP 7: turn around, go to lower left cabinet with pink sponge and orange cup | STEP 8: open cabinet, put toilet paper to the left of orange cup, close cabinet | END"]}
{"id": "trial_T20190907_051429_475883-0", "input": "Put a chilled pot on the stove. ", "output": ["STEP 1: Head to the stove on the left.  | STEP 2: Pick up the large pot on the front of the stove.  | STEP 3: Turn around and bring the pot to the fridge. | STEP 4: Chill the pot in the fridge.  | STEP 5: Take out the pot, turn around and bring the pot back to the stove.  | STEP 6: Put the chilled pot back on the stove.  | END"]}
{"id": "trial_T20190906_221742_215409-1", "input": "Turn the lamp on in order to grab the CD.", "output": ["STEP 1: Turn left, then left again then turn right to face the lamp on the desk. | STEP 2: Turn on the lamp. | STEP 3: Grab the CD from the desk. | END"]}
{"id": "trial_T20190907_201441_475892-0", "input": "Wash the ladle and put it back on the table.", "output": ["STEP 1: Turn around and walk to the round table. | STEP 2: Pick up the ladle from the table. | STEP 3: Turn right, then right again to the sink. | STEP 4: Put the ladle in the sink and wash it, then pick it up again. | STEP 5: Turn around and walk back to the table. | STEP 6: Set the ladle down on the table. | END"]}
{"id": "trial_T20190907_201441_475892-1", "input": "Put a cleaned scoop on the dining table.", "output": ["STEP 1: Move to the table to the left of you | STEP 2: Pick up a scoop from the table | STEP 3: Move to the sink behind you | STEP 4: Clean the scoop in the sink | STEP 5: Move to the dining table behind you | STEP 6: Put the scoop on the table | END"]}
{"id": "trial_T20190909_095218_969235-1", "input": "TO clean a rag and place it on the back of the toilet.", "output": ["STEP 1: Step forward and turn right to face the dirty rag on the counter. | STEP 2: Pick up the dirty rag on the counter. | STEP 3: Turn around and cross the room to face the sink. | STEP 4: Wash the rag in the sink and remove it. | STEP 5: Turn left to face the back of the toilet. | STEP 6: Place the clean rag on the back of the toilet. | END"]}
{"id": "trial_T20190907_225552_472573-2", "input": "Pick up the phone from the top of the cabinet and put inside a shelf.", "output": ["STEP 1: Turn to your left, take two steps forward, turn left, and take a step to face the cabinet. | STEP 2: Pick up the cell phone on the front edge of the top of the cabinet. | STEP 3: Turn around from your right and face the same cabinet. | STEP 4: Pull out bottom right shelf, place the phone in it, and close it. | END"]}
{"id": "trial_T20190909_130557_239398-2", "input": "Place a chilled plate in a microwave.", "output": ["STEP 1: Turn left and walk almost to the wall, then turn left. Walk past the counter then turn left and walk to the door. Finally, face the left counter. | STEP 2: Pick up the plate on the counter. | STEP 3: Turn left and veer right after the counter ends, walking to the fridge. | STEP 4: Place the plate in the fridge, ahead and to the right of the lettuce. Close the door, wait a moment, and take it out again. | STEP 5: Turn around and walk to the stove. | STEP 6: Place the plate in the microwave above the stove. | END"]}
{"id": "trial_T20190911_202900_052971-1", "input": "To move two media devices from the counter to the foot of the bed.", "output": ["STEP 1: Take a step to the right to face the media device on the counter. | STEP 2: Pick up the media device on the counter. | STEP 3: Turn around and walk forward then turn right to face the bed. | STEP 4: Place the media device on the center of the foot of the bed. | STEP 5: Turn right and walk across the room to face the counter. | STEP 6: Pick up the media device on the counter. | STEP 7: Turn around and walk forward then turn right to face the bed. | STEP 8: Place the media device on the center of the foot of the bed next to the first media device. | END"]}
{"id": "trial_T20190907_133507_260131-0", "input": "Move the pen from the Black desk to the black end table that sits beside the bed.", "output": ["STEP 1: Go to the black desk. | STEP 2: Pick up the pen | STEP 3: Carry the pen to the black end table beside the bed. | STEP 4: Set the pen on the front of the end table beside the bed. | END"]}
{"id": "trial_T20190907_133507_260131-1", "input": "Move the pen from the grey table to the night stand", "output": ["STEP 1: Turn left, walk to the grey table on the right | STEP 2: Grab the pen near the door | STEP 3: Turn left, walk to the window, turn left, walk to the night stand | STEP 4: Put the pen down on the night stand | END"]}
{"id": "trial_T20190908_171807_876172-1", "input": "Put a watering can in the cupboard.", "output": ["STEP 1: Turn right and walk to the chair then turn left and walk to the wall then turn right and walk to the table then turn left. | STEP 2: Pick up the watering can that's in front of you on the floor by the wall. | STEP 3: Turn left and walk to the tv that's in front of you to your left and stand facing the right side of the tv. | STEP 4: Open the cupboard all the way to the right of the tv stand and put the watering can down there then close the door.  | END"]}
{"id": "trial_T20190909_080943_918117-1", "input": "To heat an apple and put it inside the black bin. ", "output": ["STEP 1: Walk straight ahead to the white garbage bag and turn left, walk straight ahead to the counter with the coffee maker on it.  | STEP 2: Pick up the apple to the right of the coffee maker.  | STEP 3: Turn and walk to the microwave.  | STEP 4: Open the microwave door, put the apple in the microwave, close the door, heat up the apple, open the door, take the apple out of the microwave, and close the door.  | STEP 5: Walk to the black bin to the left of the fridge.  | STEP 6: Put the apple inside of the black bin.  | END"]}
{"id": "trial_T20190909_035821_740759-1", "input": "Put a rinsed slice of apple in the trash can.", "output": ["STEP 1: Turn right and go to the sink. | STEP 2: Pick up the knife in the sink. | STEP 3: Turn right and go to the counter to the left of the stove. | STEP 4: Cut the apple on the counter. | STEP 5: Go back to the sink. | STEP 6: Put the knife on the bowl to the right of the sink. | STEP 7: Go back to the stove. | STEP 8: Take a slice of apple on the counter. | STEP 9: Turn around and head back to the sink. | STEP 10: Put the apple in the sink, rinse it and pick it back up. | STEP 11: Turn right, go across the room and turn right toward to the trash can. | STEP 12: Put the slice of apple in the trash can. | END"]}
{"id": "trial_T20190909_032116_282586-0", "input": "Move a box with a pencil in it to the dining room table.", "output": ["STEP 1: Move to stand between the coffee table and television, facing the coffee table. | STEP 2: Pick up the pencil from the coffee table. | STEP 3: Carry the pencil around the table to stand between the table and sofa, facing the sofa. | STEP 4: Place the pencil in the open box on the sofa to the right of the laptop.  | STEP 5: Pick up the box with the pencil in it from the sofa. | STEP 6: Carry the box with the pencil in it around the sofa to stand between the sofa and dining room table, facing the table. | STEP 7: Place the box with the pencil on the table directly in front of the two sculptures. | END"]}
{"id": "trial_T20190909_004844_374195-1", "input": "Place a cool egg inside the sink.", "output": ["STEP 1: Turn around to face the sink. | STEP 2: Pick up the egg sitting next to the spoon. | STEP 3: Turn right and walk to the fridge to the right. | STEP 4: Place the egg inside the fridge, cool it then remove it. | STEP 5: With the egg, turn right and walk to the sink to your right. | STEP 6: Place the egg inside the sink. | END"]}
{"id": "trial_T20190909_004844_374195-2", "input": "put a chilled egg into the sink basin", "output": ["STEP 1: turn around to face the sink | STEP 2: pick up the brown egg from the sink sideboard | STEP 3: turn around to face the fridge | STEP 4: put the egg in the fridge for a few seconds, take the egg out of fridge | STEP 5: turn around to face the sink | STEP 6: put the egg into the sink basin | END"]}
{"id": "trial_T20190909_101954_536363-2", "input": "Put an empty roll of toilet paper on a toilet paper holder.", "output": ["STEP 1: Turn left towards the toilet. | STEP 2: Pick up the empty roll of toilet paper from the top of the toilet. | STEP 3: Walk slightly to the right and turn left towards the empty toilet paper holder. | STEP 4: Put the empty roll of toilet paper on the toilet paper holder. | END"]}
{"id": "trial_T20190908_084205_445006-2", "input": "Put two containers on the counter by the sink. ", "output": ["STEP 1: Turn and go to the sink. | STEP 2: Take a container out of the cabinet under the sink. | STEP 3: Turn and go to the counter by the sink. | STEP 4: Put the container on the counter. | STEP 5: Turn and go to the microwave. | STEP 6: Take a container out of the cabinet under the microwave. | STEP 7: Turn and go to the counter by the sink. | STEP 8: Put the container on the counter. | END"]}
{"id": "trial_T20190906_213153_347093-1", "input": "Examine the computer by the light of the lamp in the corner. ", "output": ["STEP 1: Move to the long white table to the left.  | STEP 2: Pick up the the computer on the table.  | STEP 3: Bring the computer to the lamp in the corner.  | STEP 4: Turn on the lamp in the corner.  | END"]}
{"id": "trial_T20190906_213153_347093-2", "input": "Look at the laptop under light of the floor lamp", "output": ["STEP 1: Turn and walk up to the front of the white shelf on your left | STEP 2: Pick up the laptop from the right side of the shelf | STEP 3: Turn around and walk across the living room to the floor lamp in the corner | STEP 4: Turn on the floor lamp | END"]}
{"id": "trial_T20190908_163317_869592-2", "input": "Put a cold tomato in the sink.", "output": ["STEP 1: Turn around and move forward, then turn right to go towards the stove. | STEP 2: Pick up the tomato on the counter, to the left of the stove. | STEP 3: Turn around and go forward, then turn left to go to the fridge. | STEP 4: Open the fridge, put the tomato inside to chill it, then take the tomato out. | STEP 5: Turn left and go towards the microwave, then turn right to face the sink. | STEP 6: Put the tomato in the sink. | END"]}
{"id": "trial_T20190909_101133_455007-1", "input": "Place a clean mug in the coffee maker.", "output": ["STEP 1: Turn around and walk to the microwave on the left. | STEP 2: Grab the dirty mug from the microwave. | STEP 3: Turn around and walk forward then walk right to face the sink. | STEP 4: Rinse off the mug in the sink. | STEP 5: Move right and face the coffee maker on the right. | STEP 6: Place the mug in the coffee maker. | END"]}
{"id": "trial_T20190908_140707_881332-1", "input": "Put a rinsed cloth on the counter next to the sink", "output": ["STEP 1: Turn right and go towards the wall then turn right and go to the sink counter | STEP 2: Pick up the cloth from the sink counter | STEP 3: Turn right and then turn left to face the sink | STEP 4: Put the cloth in the sink and turn the water on, then turn the water off and take the cloth out of the sink | STEP 5: Turn left then turn right to face the sink | STEP 6: Put the cloth on the counter next to the sink | END"]}
{"id": "trial_T20190906_234006_472482-1", "input": "Put a heated mug on the coffee machine. ", "output": ["STEP 1: Move to the microwave. | STEP 2: Pick up the mug from the microwave table. | STEP 3: Bring the mug to the microwave. | STEP 4: Heat the mug in the microwave. | STEP 5: Bring the heated mug to the coffee machine.  | STEP 6: Put the heated mug on the coffee machine.  | END"]}
{"id": "trial_T20190906_234006_472482-2", "input": "Put a warm mug at a coffee maker.", "output": ["STEP 1: Turn right, then turn right again to go toward the microwave.  | STEP 2: Pick up the mug from behind the wine bottle.  | STEP 3: Turn right, then turn left to face the microwave. | STEP 4: Heat the mug in the microwave. | STEP 5: Turn around, then turn left, then go straight and turn left at the coffee maker. | STEP 6: Put the mug at the coffee maker, on the table. | END"]}
{"id": "trial_T20190909_011332_145768-1", "input": "Put two soap bars in the bathtub", "output": ["STEP 1: Turn to your left, move across the room, turn left, and go to the sink | STEP 2: Pick up a soap bar from the sink | STEP 3: Turn around and go to the bathtub | STEP 4: Put the soap bar in the bathtub | STEP 5: Go back to the sink | STEP 6: Pick up the second soap bar from the sink | STEP 7: Go back to the tub | STEP 8: Put the second soap bar in the bathtub | END"]}
{"id": "trial_T20190906_200537_899818-2", "input": "Put a big bottle from the cabinet on top of the lettuce and a bottle on top of the blue bottle to the trash can. ", "output": ["STEP 1: Go toward the left to the lettuce next to the stove  | STEP 2: Open the cabinet on top of the lettuce and pick up the big bottle.  | STEP 3: Go to the right, turn right at the end of the path, go straight and turn to the left toward the trash can.  | STEP 4: Put the bottle inside the trash can.  | STEP 5: Turn around, go to the right and walk straight to the white cabinet with of a little blue bottle on it.  | STEP 6: Open the cabinet on top of the blue bottle and grab the big bottle.  | STEP 7: Turn around and walk straight back to the trash can.  | STEP 8: Put the bottle inside the trash can.  | END"]}
{"id": "trial_T20190907_161434_277973-1", "input": "Look at a vase in the lamp light.", "output": ["STEP 1: Move forward, turn right, move forward, turn left, move forward, then turn right to face the dining table. | STEP 2: Pick up the vase nearest to you, on the dining table. | STEP 3: Turn around, turn left, go straight, turn right, go straight, turn left, then go straight to approach the lamp. | STEP 4: Turn on the lamp. | END"]}
{"id": "trial_T20190907_014852_445400-2", "input": "Slice an apple, cook it, then place it inside a trash can", "output": ["STEP 1: Turn left, walk straight, turn left towards the round wooden table | STEP 2: Pick up the knife with the yellow handle | STEP 3: Cut the red apple on the table into slices | STEP 4: Turn right, walk straight, turn left, walk straight, turn right towards the trash bin | STEP 5: Put the knife inside the trash bin | STEP 6: Turn left, walk straight, turn right towards the round wooden table | STEP 7: Pick up the red slice of apple | STEP 8: Turn right, walk straight, turn left, turn right, walk straight towards the counter with a microwave | STEP 9: Open the microwave, put the apple inside, set the timer, close the microwave, take out the apple, close the microwave | STEP 10: Turn left and walk towards the trash can | STEP 11: Place the apple inside the trash can | END"]}
{"id": "trial_T20190908_171843_959261-1", "input": "Place a tea kettle in a cabinet.", "output": ["STEP 1: Turn around and face left to reach the black round table next to the couch. | STEP 2: Pick up the tea kettle from under the round table on the floor. | STEP 3: Turn left and walk to the front of the television stand on the left. | STEP 4: Open the lower right cabinet, put the tea kettle inside and close the door. | END"]}
{"id": "trial_T20190908_171843_959261-2", "input": "Place a watering can in a cabinet of the entertainment center. ", "output": ["STEP 1: Turn around completely, walk up to the round black table, then look underneath it. | STEP 2: Pick up the watering can that is on the floor, underneath the table.  | STEP 3: Turn to the left, walk almost to the chair, turn left, walk a few steps, then turn right to face the entertainment center.  | STEP 4: Place the watering can in the far right cabinet of the entertainment center and close the door.  | END"]}
{"id": "trial_T20190908_113916_928918-2", "input": "Take the blue bank card from the couch, turn on the lamp in the corner", "output": ["STEP 1: Turn to the left | STEP 2: Take the blue bank card from the couch | STEP 3: Turn to the left, take a few steps | STEP 4: Turn on the lamp in the corner | END"]}
{"id": "trial_T20190909_042815_019597-1", "input": "place a clean cloth on top of the back side of the toilet", "output": ["STEP 1: turn around and walk forwards to the end of the room which is only a few steps, turn right to face the bathroom cabinet and look downwards a bit | STEP 2: grab the dirty cloth off of the bathroom cabinet there | STEP 3: move to the right a bit to align your self with the sink on the left, turn left to face the sink of course | STEP 4: clean off the dirty cloth in the sink and then take it back out | STEP 5: turn right and walk over to the toilet, and turn to face the toilet | STEP 6: place the clean cloth on the back side of the toilet | END"]}
{"id": "trial_T20190907_024700_431824-0", "input": "Put a washed bar of soap in a trash can.", "output": ["STEP 1: Turn around and walk to the vanity. | STEP 2: Pick up the pink soap. | STEP 3: Wash the soap in the right sink. | STEP 4: Walk to the toilet. | STEP 5: Put the soap in the garbage can. | END"]}
{"id": "trial_T20190908_175218_818728-0", "input": "Place a wet rag in the bath tub.", "output": ["STEP 1: Turn towards the sink on your left. | STEP 2: Grab the dirty rag from under the sink. | STEP 3: Take a step to your left. | STEP 4: Place the rag in the sink and turn the faucet on and off before picking up the rag. | STEP 5: Walk to the bath on your left. | STEP 6: Place the rag in the bath tub. | END"]}
{"id": "trial_T20190908_175218_818728-2", "input": "Put the clean right in the tub.", "output": ["STEP 1: Move forward, then turn left to face the sink. | STEP 2: Take the rag from the right cabinet, beneath the sink. | STEP 3: Turn left, go forward, then turn right to face the leftmost sink. | STEP 4: Clean the rag in the sink. | STEP 5: Turn around, step forward, then turn left to face the tub. | STEP 6: Put the rag in the tub. | END"]}
{"id": "trial_T20190907_152008_183708-0", "input": "Set a rinsed piece of apple on the table.", "output": ["STEP 1: Turn around and walk to the table on the left. | STEP 2: Pick up the closest knife from the front of the table. | STEP 3: Look away from the table and then back to the table again. | STEP 4: Cut an apple to the left of the pepper mill. | STEP 5: Cut the apple again and remove a piece from the apple. | STEP 6: Pick up the cut piece of apple from the table. | STEP 7: Turn right and walk to the sink. | STEP 8: Rinse the apple at the sink. | STEP 9: Turn around and carry the piece of apple to the table. | STEP 10: Set the piece of apple down on the table next to the rest of the apple. | END"]}
{"id": "trial_T20190907_152008_183708-1", "input": "Put a clean apple slice on the table.", "output": ["STEP 1: Turn around then face the white table to your right. | STEP 2: Pick up the knife from the table in front of you. | STEP 3: Turn left, then face the table to your right in front of the apple. | STEP 4: Slice the apple in front of you on the table. | STEP 5: Cut out an apple slice from the apple on the table. | STEP 6: Take an apple slice from the table. | STEP 7: Turn right and head towards the sink in front of you. | STEP 8: Wash the apple slice and take it out of the sink. | STEP 9: Turn around and face the table to your right. | STEP 10: Place the apple slice on the table in front of you. | END"]}
{"id": "trial_T20190907_152008_183708-3", "input": "Putting a sliced apple on the white table", "output": ["STEP 1: Turn around and head to the white table on the left | STEP 2: Grab the large knife off of the table | STEP 3: Move slightly to the left | STEP 4: Cut the apple into three slices | STEP 5: Lay the knife down on the table | STEP 6: Grab one of the apple slices | STEP 7: Turn right and head to the sink | STEP 8: Wash the apple in the sink and take it out | STEP 9: Turn around and head to the white table | STEP 10: Put the apple on the table | END"]}
{"id": "trial_T20190907_072650_335835-1", "input": "The robot needs to get a towel from each towel rack then place them on the toilet tank.", "output": ["STEP 1: Turn right towards the sink. | STEP 2: Remove the towel from the towel rack to the left of the mirror. | STEP 3: Turn around and move towards the toilet. | STEP 4: Place the towel on the left side of the toilet tank. | STEP 5: Turn around and move towards the sink. | STEP 6: Remove the towel from the towel rack to the right of the mirror. | STEP 7: Turn around and move towards the toilet. | STEP 8: Place the towel on the right side of the other towel.  | END"]}
{"id": "trial_T20190907_072650_335835-3", "input": "Place two towels on top of the back of the toilet.", "output": ["STEP 1: Turn right to face the towel rack to the left of the mirror. | STEP 2: Pick up the towel from the towel rack. | STEP 3: Turn around and walk to the toilet. | STEP 4: Place the towel on top of the back of the toilet. | STEP 5: Turn around and walk to the towel rack to the right of the mirror. | STEP 6: Pick up the towel from the towel rack. | STEP 7: Turn around and walk to the toilet. | STEP 8: Place the towel next to the other towel on top of the back of the toilet. | END"]}
{"id": "trial_T20190908_065505_842482-1", "input": "wash the cloth from the tub, put it back in the tub", "output": ["STEP 1: turn left, walk to the tub in the corner | STEP 2: grab the dirty cloth in the tub | STEP 3: turn right, walk to the vanity | STEP 4: put the cloth in the vanity, wash it with water, take it out | STEP 5: turn left, walk to the tub | STEP 6: put the cloth in the tub | END"]}
{"id": "trial_T20190907_161326_928347-1", "input": "Move a tea pot to the lamp, turn on the lamp", "output": ["STEP 1: Move across the room to the wood TV stand | STEP 2: Pick up the vase that is on the shelf in the middle of the TV stand | STEP 3: Carry the vase to the floor lamp to the left of the chair | STEP 4: Turn on the lamp | END"]}
{"id": "trial_T20190909_100640_329421-0", "input": "Wash a rag and put it in the drawer", "output": ["STEP 1: Walk over to the tub | STEP 2: Grab the rag. | STEP 3: Walk over to the sink | STEP 4: Wash the rag | STEP 5: Grab the rag and go to the counter | STEP 6: Place the rag in the drawer | END"]}
{"id": "trial_T20190909_100640_329421-2", "input": "Put a wet green cloth in one of the bottom drawers of the bathroom cabinet.", "output": ["STEP 1: Turn left until you face the sink, make one step towards the sink, then turn right and make a step towards the bath tub. | STEP 2: Take the green cloth from the bath tub. | STEP 3: Turn around, walk towards the door, then turn left and walk to the brown marble sink. | STEP 4: Put the green cloth in the sink, fill the sink with water, then drain the water and take the cloth. | STEP 5: Turn right, then walk towards the cabinet and open the second bottom drawer from the left. | STEP 6: Put the wet green cloth in the drawer and close it. | END"]}
{"id": "trial_T20190908_175319_020754-1", "input": "stand a pillow up on a sofa", "output": ["STEP 1: go to the green chair | STEP 2: pick up the square pillow from the chair | STEP 3: take the pillow to the sofa | STEP 4: stand the pillow up on against the back of the sofa | END"]}
{"id": "trial_T20190908_175319_020754-2", "input": "Put a purple pillow on the couch, right of a computer. ", "output": ["STEP 1: Turn right, head across the room to the yellow chair.  | STEP 2: Pick up the purple pillow on the yellow chair.  | STEP 3: Turn around, bring the pillow over to the couch with the green cushion on the right.  | STEP 4: Put the pillow on the couch, right of the computer.  | END"]}
{"id": "trial_T20190909_102455_392814-1", "input": "Put a chilled potato in the trash can.", "output": ["STEP 1: Turn around, go across the room to the stove and look up at the microwave. | STEP 2: Pick up the potato in the microwave. | STEP 3: Turn around and go back across the room to the fridge. | STEP 4: Chill the potato in the fridge and pick it back up. | STEP 5: Turn right and go to the trash can in the corner. | STEP 6: Put the potato in the trash can to the left of the tomatoes. | END"]}
{"id": "trial_T20190909_102455_392814-2", "input": "take potato out of the microwave, cool it inside of the fridge, throw it away in the trash can.", "output": ["STEP 1: turn right and move forwards to the counter and then face the stove and look up | STEP 2: take the potato out of the microwave and close the door | STEP 3: make 2 left turns  and head forward towards the fridge and face it | STEP 4: put the potato inside the fridge and cool it and then take it out and shot the door | STEP 5: turn right and move towards the trash can | STEP 6: throw the potato in the trash | END"]}
{"id": "trial_T20190908_131409_193409-1", "input": "Place a chilled pan in a cabinet.", "output": ["STEP 1: Head towards the sink and walk to the white stove on the right. | STEP 2: Pick up the black pan from the front left corner of the stove. | STEP 3: Turn right and walk to the black fridge on the left. | STEP 4: Put the black pan inside the fridge on the middle shelf, chill it for seven seconds, remove it and close the door. | STEP 5: Turn around and walk to the sink across the room on the right. | STEP 6: Open the lower right cabinet under the sink, put the chilled pan inside and close the door. | END"]}
{"id": "trial_T20190908_131409_193409-2", "input": "Get pot from stove, put in refrigerator to cool then put in cabinet.", "output": ["STEP 1: Turn right to face stove. | STEP 2: Pick up pot from left lower burner of stove. | STEP 3: Turn right, proceed to refrigerator on left.  Turn left to face refrigerator. | STEP 4: Open refrigerator, place pot on second shelf down, close door.  Wait four seconds.  Open refrigerator, get out pot, close door. | STEP 5: Turn left, go ahead to sink. | STEP 6: Open right cabinet under sink.  Place pot in cabinet, close door. | END"]}
{"id": "trial_T20190907_220700_786103-1", "input": "Examine a pillow in the light of a lamp.", "output": ["STEP 1: Turn around and face the chair on your right. | STEP 2: Pick up the pillow from the chair. | STEP 3: Walk to your left until you reach the end table with the lamp on it. | STEP 4: Turn on the lamp. | END"]}
{"id": "trial_T20190907_220700_786103-2", "input": "Examine a pillow by the light of a desk lamp.", "output": ["STEP 1: Turn right and walk to the chair containing a pillow. | STEP 2: Pick up the pillow from the chair. | STEP 3: Turn left and walk to the lamp on the desk in the corner of the room. | STEP 4: Turn on the lamp. | END"]}
{"id": "trial_T20190908_042226_196941-0", "input": "move the spray bottle from the sink to the back of the toilet", "output": ["STEP 1: walk over to the front of the sink | STEP 2: pick up the spray bottle from the counter | STEP 3: take the spray bottle over to the toilet | STEP 4: put the bottle on the back of the toilet next to the lotion | END"]}
{"id": "trial_T20190909_061731_394558-1", "input": "Examine a remote control by the light of a tall lamp.", "output": ["STEP 1: Turn left, hang a left at the end of the couch and walk to the black chair on the right. | STEP 2: Pick up the remote control from the cushion on the chair. | STEP 3: Turn right and walk to the tall lamp in the corner next to the couch. | STEP 4: Turn on the tall lamp. | END"]}
{"id": "trial_T20190909_061731_394558-2", "input": "Pick up a remote and turn a lamp on.", "output": ["STEP 1: Turn around and cross the room to face the black chair in the corner. | STEP 2: Pick the remote up from the chair. | STEP 3: Cross the room and face the floor lamp in the corner. | STEP 4: Turn the lamp on. | END"]}
{"id": "trial_T20190908_085407_788047-1", "input": "Put a wet tea pot behind the lettuce on the black round table. ", "output": ["STEP 1: Walk to the right, turn left near the table, walk towards the fridge and then turn left to go to the other side of the table.  | STEP 2: Pick up a tea pot from on top of the black round table.  | STEP 3: Turn around, walk forward and turn to the left to go to the sink.  | STEP 4: Put the tea pot in the sink, turn on the water for a few seconds, turn it off and pick up the tea pot again.  | STEP 5: Walk to the left, walk towards the wall and turn left to face the black round table. | STEP 6: Put the tea pot behind the lettuce on the round table.  | END"]}
{"id": "trial_T20190908_085407_788047-2", "input": "Put a filled tea kettle on the table.", "output": ["STEP 1: Walk around the table, and face the table. | STEP 2: Pick up the tea kettle. | STEP 3: Turn around and walk to the sink. | STEP 4: Put the tea kettle in the sink, turn on the water, turn off the water, and pick up the tea kettle. | STEP 5: Turn left, walk to the wall, and face the table. | STEP 6: Put the tea kettle on the table. | END"]}
{"id": "trial_T20190908_004650_624437-1", "input": "Inspect a remote using the light of a lamp. ", "output": ["STEP 1: Turn to your left and walk over to face the striped green couch.  | STEP 2: Pick up the remote that is sitting on the couch.  | STEP 3: Walk over to the floor lamp that sits to the right of the striped green couch.  | STEP 4: Turn on the lamp. | END"]}
{"id": "trial_T20190909_013734_407166-0", "input": "put a slice of a potato in a trash can ", "output": ["STEP 1: turn to the left go right towards the table | STEP 2: pick up the knife from the table | STEP 3: turn to the left go forward go right towards the counter | STEP 4: slice a potato that is on top of the counter | STEP 5: turn around to the left open the bottom cabinet and put the knife inside of it  | STEP 6: turn to the right  | STEP 7: pick up a slice of the potato that is on the counter | STEP 8: turn to the right | STEP 9: turn to the left towards the refrigerator  | STEP 10: put the slice of potato inside of the refrigerator get it back out  | STEP 11: turn to the left go left go right towards the trash can | STEP 12: put the slice of potato inside the trash can | END"]}
{"id": "trial_T20190909_113922_215722-0", "input": "Put a mug with a pencil in it on a desk", "output": ["STEP 1: Turn to your left and face the chest of drawers | STEP 2: Pick up a pencil from the top of the drawers | STEP 3: Move to your right and face left on the desk | STEP 4: Drop the pencil in to the mug | STEP 5: Pick up the mug with the pencil in it | STEP 6: Turn around and head to the left so you are facing the desk | STEP 7: Place the mug on to the desk | END"]}
{"id": "trial_T20190909_113922_215722-1", "input": "Put a mug with a pencil in it on a wooden table.", "output": ["STEP 1: Turn left ad walk up to the dresser with the two analog clocks on it. | STEP 2: Pick up the white pencil off of the dresser. | STEP 3: Turn right and walk up to the bed, then turn left to face the dresser. | STEP 4: Put the pencil in the white mug on the dresser. | STEP 5: Pick up the mug with the pencil in it off of the dresser. | STEP 6: Turn around and walk towards the door, then turn left and walk up to the wooden table. | STEP 7: Put the mug with the pencil in it on the table in front of the phone. | END"]}
{"id": "trial_T20190909_113922_215722-3", "input": "Place a mug with a pencil in it on a desk.", "output": ["STEP 1: Turn left and walk to the mirror. | STEP 2: Pick up the white pencil on the counter. | STEP 3: Take a step right. | STEP 4: Put the pencil in the white mug on the counter. | STEP 5: Pick up the mug. | STEP 6: Turn around and veer left towards the desk. | STEP 7: Place the mug on the desk in front of the cell phone. | END"]}
{"id": "trial_T20190909_113922_215722-4", "input": "Put the pencil and the cup on the desk", "output": ["STEP 1: turn around and approach the left side of the dresser dresser | STEP 2: pick up the pencil from on top the dresser | STEP 3: move to the right side of the dresser | STEP 4: put the pencil in the cup | STEP 5: pick up the cup from the dresser | STEP 6: turn around and head towards the desk | STEP 7: put the cup with the pencil on the desk | END"]}
{"id": "trial_T20190908_082615_786892-2", "input": "Take the toilet paper off the holder and move it to the cabinet", "output": ["STEP 1: Turn around and cross the room to the toilet | STEP 2: take the toilet paper from off the holder | STEP 3: Turn around and cross the room to the cabinet | STEP 4: place toilet paper on the cabinet | END"]}
{"id": "trial_T20190909_042454_513522-0", "input": "Put a fork in a mug on the counter. ", "output": ["STEP 1: Turn around and go to the sink. | STEP 2: Pick up the right mug on the counter.  | STEP 3: Head to the left to the counter left of the stove.  | STEP 4: Put the the mug on the counter next to the trash can. | STEP 5: Pick up the fork from the counter.  | STEP 6: Put the fork in the mug.  | END"]}
{"id": "trial_T20190909_042454_513522-1", "input": "Move a cup from the sink to the counter, placing a fork into it.  ", "output": ["STEP 1: Turn right and walk to the sink.  | STEP 2: Pick up the cup closest to the spoon.  | STEP 3: Turn left and walk to the counter between the stove and trash bin.  | STEP 4: Place the cup on the counter.  | STEP 5: Pick up the fork behind the spatula.  | STEP 6: Place the fork in the cup.  | END"]}
{"id": "trial_T20190908_123820_715682-2", "input": "Place a cell phone on a shelf.", "output": ["STEP 1: Turn left and walk to the nightstand to the right of the book shelves. | STEP 2: Pick up the cell phone on the nightstand. | STEP 3: Look down. | STEP 4: Place the cell phone on the second shelf, to the left of the clock. | END"]}
{"id": "trial_T20190906_235935_435622-1", "input": "Put the clean cloth on top of the drawer.", "output": ["STEP 1: Turn right then left to face the bathtub. | STEP 2: Grab the dirty cloth from the bathtub. | STEP 3: Turn around then turn right to face the sink. | STEP 4: Place the cloth into the sink, rinse it off and retrieve it. | STEP 5: Turn right, then turn left to the door, then turn left again. | STEP 6: Place the rag on top of the drawer. | END"]}
{"id": "trial_T20190906_235935_435622-2", "input": "Clean the dirty towel to place it on the dresser.", "output": ["STEP 1: Turn left and head towards the tub on your left side. | STEP 2: Pick up the dirty towel inside the tub. | STEP 3: Turn around and head towards the sink. | STEP 4: Place the dirty towel in side the sink, turn on the faucet, wash the towel, turn off the faucet, and pick up the towel. | STEP 5: Walk straight towards the dresser on your left. | STEP 6: Place the towel on top of the dresser to the right of the bottle. | END"]}
{"id": "trial_T20190909_055700_408074-1", "input": "Pick up the cloth from the flush tank and put in the sink", "output": ["STEP 1: Turn to your left, again turn left to face the flush toilet from the side | STEP 2: Pick up the white cloth from the flush tank | STEP 3: Turn around to face the sink | STEP 4: Put the cloth in the left sink | END"]}
{"id": "trial_T20190908_230634_487118-1", "input": "Take the apple out of the microwave, put the apple on to a plate, put the plate into the microwave", "output": ["STEP 1: Turn around, walk to the microwave in the kitchen | STEP 2: Open the door to the microwave | STEP 3: Take the apple out of the microwave | STEP 4: Turn to the right, Put the apple on the plate | STEP 5: Pick up the plate with the apple | STEP 6: Turn to the left, put the plate in the microwave | STEP 7: Close the door to the microwave | END"]}
{"id": "trial_T20190908_230634_487118-2", "input": "Put the apple on a plate in the microwave. ", "output": ["STEP 1: Turn around and go to the microwave on the counter.  | STEP 2: Take the apple out of the microwave.  | STEP 3: Turn to the right and go to the plate on the counter.  | STEP 4: Put the apple on a plate.  | STEP 5: Pick up the plate with the apple on it. | STEP 6: Turn to the left and go to the microwave.  | STEP 7: Put the plate in the microwave.  | END"]}
{"id": "trial_T20190908_034616_355099-1", "input": "To heat a cup and place it in the sink.", "output": ["STEP 1: Turn right and walk across the room to face the counter to the right of the sink. | STEP 2: Pick up the cup in the cabinet under the ladle. | STEP 3: Turn to the left and walk forward to face the microwave above the stove. | STEP 4: Heat the cup in the microwave and remove it. | STEP 5: Turn to the right and walk over to face the sink. | STEP 6: Place the cup in the right side of the sink. | END"]}
{"id": "trial_T20190908_034616_355099-2", "input": "Put a heated cup in the sink. ", "output": ["STEP 1: Head to the cabinet under the sink.  | STEP 2: Open up the left cabinet under the spoon on the counter and pick up the cup in there.  | STEP 3: Turn around, 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 sink on the left. | STEP 6: Put the heated cup in the sink.  | END"]}
{"id": "trial_T20190909_040007_112171-0", "input": "move the remote from the coffee table to the blue chair", "output": ["STEP 1: take two steps forward, turn right, take a few steps, turn left to face the coffee table | STEP 2: pick up the remote that is on the table | STEP 3: turn right, walk forward to blue chair | STEP 4: put the remote on the blue chair | END"]}
{"id": "trial_T20190909_040007_112171-2", "input": "place a remote controller on top of the chair in the corner of the room", "output": ["STEP 1: move over to the coffee table on your right, but approach the right side of it and face it | STEP 2: grab the remote controller off of the coffee table | STEP 3: turn right and walk over to the blue chair in the corner of the room | STEP 4: place the remote controller down on top of the chair there | END"]}
{"id": "trial_T20190907_103018_243812-1", "input": "Examine a pillow by the light of a floor lamp.", "output": ["STEP 1: Walk to the yellow chair to the right. | STEP 2: Pick up the purple pillow from the chair. | STEP 3: Turn around and walk to the floor lamp that is to the left of the sofa. | STEP 4: Turn on the lamp. | END"]}
{"id": "trial_T20190907_103018_243812-2", "input": "Grab the purple pillow from the arm chair, turn on the floor lamp", "output": ["STEP 1: Turn right, and turn left to the yellow arm chair | STEP 2: Grab the purple pillow on the arm chair | STEP 3: Turn around, walk to the white table, turn right, walk to the floor lamp | STEP 4: Turn on the floor lamp | END"]}
{"id": "trial_T20190906_190752_830832-2", "input": "Grab the newspaper on the coffee table, turn on the floor lamp", "output": ["STEP 1: Turn around, walk across the room to the other side of the coffee table | STEP 2: Grab the newspaper on the coffee table, | STEP 3: Turn around, walk behind the sofa to the corner floor lamp | STEP 4: Turn on the floor lamp | END"]}
{"id": "trial_T20190907_133706_723900-0", "input": "Inspect the green rag with the lamp on the desk.", "output": ["STEP 1: Move to the mirror to the left of the window. | STEP 2: Pick up the green rag from the floor. | STEP 3: Move to the desk ahead and to the right of you. | STEP 4: Turn on the lamp on the desk. | END"]}
{"id": "trial_T20190907_133706_723900-1", "input": "Turn a lamp on with a blanket in hand.", "output": ["STEP 1: Go to the left and stand above the green blanket on the floor. | STEP 2: Pick the green blanket up from the floor. | STEP 3: Go to the right and then stand in front of the small table wit the lamp. | STEP 4: Turn the lamp on the small table on. | END"]}
{"id": "trial_T20190907_133706_723900-2", "input": "Examine the green rag by the light of the lamp on the desk. ", "output": ["STEP 1: Move over to the mirror on the wall and face the rags on the floor.  | STEP 2: Pick up the green rag on the floor.  | STEP 3: Bring the green rag to the lamp on the desk.  | STEP 4: Turn on the light on the desk. | END"]}
{"id": "trial_T20190910_065234_628159-0", "input": "take the pen from the end table, put it in the bowl on the black shelf", "output": ["STEP 1: turn left, head to the lamp | STEP 2: take the white pen from the end table | STEP 3: turn left, head across the room | STEP 4: put the pen on the black shelf in the bowl | END"]}
{"id": "trial_T20190909_035135_601399-1", "input": "Move a book from the grey armchair to the grey couch next to it.", "output": ["STEP 1: Make a right and then another to walk around the couch to reach the grey armchair. | STEP 2: Pick up the book from the grey armchair. | STEP 3: Turn to face the long grey couch to the right of the armchair. | STEP 4: Put the book down on the long grey couch. | END"]}
{"id": "trial_T20190909_060702_609931-0", "input": "Pick up two rolls of toilet paper and put them in front of the lefthand sink.", "output": ["STEP 1: Turn around and walk towards the trash can next to the bathtub. | STEP 2: Pick up the roll of toilet paper from the trash can. | STEP 3: Turn left to walk towards the sinks. | STEP 4: Put the roll of toilet paper down in front of the lefthand sink. | STEP 5: Turn left to walk to the toilet. | STEP 6: Pick up the empty roll of toilet paper from the floor next to the toilet. | STEP 7: Turn right to walk towards the sinks. | STEP 8: Put the empty roll of toilet paper down in front of the lefthand sink. | END"]}
{"id": "trial_T20190908_130315_932939-2", "input": "Put a heated egg in the fridge", "output": ["STEP 1: Go to the round table | STEP 2: Pick up the egg | STEP 3: Go to the microwave | STEP 4: Heat the egg | STEP 5: Go to the fridge | STEP 6: Put the egg in the fridge | END"]}
{"id": "trial_T20190908_035325_042005-0", "input": "Pick up a book and turn on a lamp.", "output": ["STEP 1: Move forward towards the desk in front of you. | STEP 2: Pick the blue book up from the desk. | STEP 3: Turn and go to the left side of the desk and stand facing the lamp. | STEP 4: Turn the lamp on. | END"]}
{"id": "trial_T20190908_035325_042005-1", "input": "Pick up the book from the desk, turn on the lamp", "output": ["STEP 1: Take the Geometry book from the desk | STEP 2: Turn around, walk to the bed | STEP 3: Turn to the right, walk to the lamp | STEP 4: Turn on the lamp | END"]}
{"id": "trial_T20190907_222818_007885-1", "input": "Put two mugs in the desk.", "output": ["STEP 1: Turn right and walk to the wall then turn left. | STEP 2: Pick up the mug that's in front of you. | STEP 3: Take one step back then three steps to your right so you're facing the chair at the desk. | STEP 4: Open the desk door to the right of the chair and put the mug down there before closing the door. | STEP 5: Go back to where you got the first mug. | STEP 6: Pick up the mug that's in front of you. | STEP 7: Go back to where you put the first mug. | STEP 8: Put the mug by the first one then close the door. | END"]}
{"id": "trial_T20190912_064329_127255-1", "input": "Place the towel from the toilet basin into the drawer.", "output": ["STEP 1: Turn around and head towards the toilet to your left. | STEP 2: Pick up the towel on the toilet basin. | STEP 3: Look at the drawer below the sink. | STEP 4: Open the drawer, place the towel in it, and close the drawer. | END"]}
{"id": "trial_T20190906_203003_097789-1", "input": "Examine the pencil by the light of the lamp on the table. ", "output": ["STEP 1: Move to the recycling bin. | STEP 2: Pick up the pencil in the recycling bin. | STEP 3: Bring the pencil to the lamp on the small round table. | STEP 4: Turn on the lamp on the table.  | END"]}
{"id": "trial_T20190909_030005_813370-0", "input": "pick up knife to cut tomato, cook tomato, put into fridge ", "output": ["STEP 1: turn left, turn right to the counter | STEP 2: pick up knife from counter | STEP 3: turn around, walk to the table | STEP 4: slice into tomato on table | STEP 5: place knife down on table  | STEP 6: pick up tomato slice from table  | STEP 7: turn around and walk to the microwave | STEP 8: open microwave, put slice into microwave, cook, open door and remove tomato  | STEP 9: turn around and walk to the fridge  | STEP 10: open fridge door and put tomato slice into fridge  | END"]}
{"id": "trial_T20190909_030005_813370-2", "input": "Put a heated slice of tomato in the fridge.", "output": ["STEP 1: Go forward to the counter on the right of the microwave across the kitchen. | STEP 2: Pick up the knife behind the paper towel from the counter.  | STEP 3: Turn around and go to the right side of the black round table across the kitchen.  | STEP 4: Slice the tomato behind the white plate on the table. | STEP 5: Place the knife on the table on the right of the gray plate.  | STEP 6: Pick up one slice of tomato from the table.  | STEP 7: Turn left and go back to the counter with a microwave on top.  | STEP 8: Remove the tomato after heating in the microwave.  | STEP 9: Turn around and go to the front of the refrigerator. | STEP 10: Place the slice of tomato in the refrigerator.  | END"]}
{"id": "trial_T20190907_154202_781388-1", "input": "Wash the kettle from the stove, put it back on the stove", "output": ["STEP 1: Turn around, walk to the stove | STEP 2: Grab the kettle on the stove | STEP 3: Turn right, walk to the sink  | STEP 4: Put the kettle in the sink,open the faucet, wash the kettle in the sink, close the faucet, take the kettle | STEP 5: turn left, walk back to the stove | STEP 6: Put the kettle on the right bottom stove | END"]}
{"id": "trial_T20190907_154202_781388-2", "input": "Fill and replace the tea kettle on the stove.", "output": ["STEP 1: Move to the stove to the left of the sink. | STEP 2: Pick up the tea kettle from the stove. | STEP 3: Move to the sink to the right of you. | STEP 4: Place the kettle in the water and fill with water before picking up and shutting off the water. | STEP 5: Move to the stove to the left of you. | STEP 6: Place the kettle on the stove. | END"]}
{"id": "trial_T20190907_154202_781388-3", "input": "Place a tea pot full of water onto the stove.", "output": ["STEP 1: Turn right move to in front of the stove. | STEP 2: Pick up the tea pot from the stove. | STEP 3: Turn right move to in front of the sink. | STEP 4: Put the tea pot in to the sink, fill it with water, pick it back up. | STEP 5: Turn left move to in front of the stove. | STEP 6: Put the tea pot on the right forward burner of the stove. | END"]}
{"id": "trial_T20190906_205831_570690-1", "input": "Put sponge and pot from stove on to the kitchen island.", "output": ["STEP 1: Move to the counter top the left of the stove | STEP 2: Pick up sponge from the counter | STEP 3: Move to the stove to the right of current position | STEP 4: Place sponge inside pot on the stove | STEP 5: Pick up pot with the sponge inside of it | STEP 6: Move to the island counter across from the sink. | STEP 7: Place pan on top of island counter | END"]}
{"id": "trial_T20190919_005159_015044-0", "input": "bring the knife and the baking sheet at the counter beside the apples.", "output": ["STEP 1: Look around to find the knife. | STEP 2: On the counter pick up the knife beside the pan. | STEP 3: head towards the stove. | STEP 4: Put the knife at the baking sheet. | STEP 5: pick up the baking sheet on the counter.  | STEP 6: Look around and turn left facing the two apples. | STEP 7: Put the baking sheet to the counter beside the two apples.  | END"]}
{"id": "trial_T20190919_005159_015044-2", "input": "Put pan with knife on the counter beside the fridge", "output": ["STEP 1: Turn to your left then cross the room head to the counter with toaster | STEP 2: Pick up the knife on the counter beside the toaster | STEP 3: Turn to your left then walk few step face the stove | STEP 4: Put the knife in the pan on the stove | STEP 5: Pick up the pan with knife | STEP 6: Turn to your left then make few steps until the end of the counter beside the fridge | STEP 7: Put the pan with knife on the counter beside the fridge | END"]}
{"id": "trial_T20190912_074536_269191-0", "input": "Put the wrist watch on the desk ", "output": ["STEP 1: Turn around to your left then head to the shelf on your left | STEP 2: Pick up the wrist watch on the shelf | STEP 3: Turn left then walk forward turn right heading to the desk  | STEP 4: Put the wrist watch on the desk | END"]}
{"id": "trial_T20190906_195043_806438-1", "input": "place a basketball on the desk", "output": ["STEP 1: walk over to the corner of the room with the black chair and desk | STEP 2: pick up the basket ball to the right of the desk | STEP 3: look up at the desk | STEP 4: place the basketball on the desk | END"]}
{"id": "trial_T20190909_060729_595106-2", "input": "To add the roll and the toilet paper onto the counter", "output": ["STEP 1: Turn left, then turn right step up towards the door and then turn right and face the toilet. | STEP 2: Pick up the roll from the back of the toilet. | STEP 3: Turn right then turn left and face the counter | STEP 4: Place the roll onto the counter above the soap to the left. | STEP 5: Turn right, then turn left, then turn right again walk towards the walk turn right again and face the toilet. | STEP 6: Take the toilet paper off of the toilet paper holder. | STEP 7: Turn right then turn left walk toward the counter | STEP 8: Place the toilet paper next to the soap on the right. | END"]}
{"id": "trial_T20190909_114626_223157-2", "input": "Place a washed apple in a microwave.", "output": ["STEP 1: Turn around and walk to the end of the counter, then turn right and face the bin. | STEP 2: Pick up the apple in the bin. | STEP 3: Turn right and walk to the sink. | STEP 4: Wash the apple in the sink. | STEP 5: Turn left and walk to the wall, then turn left and walk to the microwave. | STEP 6: Place the apple in a microwave. | END"]}
{"id": "trial_T20190907_041837_931950-1", "input": "To put the toilet paper on the toilet paper holder. ", "output": ["STEP 1: Turn to the left and walk to the toilet.  | STEP 2: Pick up the roll of toilet paper on the top right side of the toilet.  | STEP 3: Turn left and walk to the toilet paper holder on the wall. | STEP 4: Place the toilet paper on the holder on the wall.  | END"]}
{"id": "trial_T20190907_041837_931950-2", "input": "Refill an empty toilet paper hanger with a full roll of toilet paper.", "output": ["STEP 1: Turn left and walk a little bit towards the toilet. | STEP 2: Pick up the roll of toilet paper from the top of the toilet. | STEP 3: Move slightly to the left towards the empty toilet paper hanger. | STEP 4: Place the roll of the toilet paper on the toilet paper hanger. | END"]}
{"id": "trial_T20190919_032901_388610-0", "input": "Move two green spray bottles into a small silver bin.", "output": ["STEP 1: Turn left and walk towards the wall, then turn right and walk up to the counter. | STEP 2: Open the rightmost cabinet door below the counter and take out the green spray bottle, then close the cabinet. | STEP 3: Walk over to the small silver bin in the corner of the room behind you. | STEP 4: Put the green spray bottle in the small silver bin. | STEP 5: Turn right and walk over to the wall, then turn right and walk up to the counter. | STEP 6: Open the leftmost cabinet door below the counter and take out the green spray bottle, then close the cabinet. | STEP 7: Walk over to the small silver bin in the corner of the room behind you. | STEP 8: Put the green spray bottle in the small silver bin. | END"]}
{"id": "trial_T20190906_185855_916436-1", "input": "Examine the keys under the light of the lamp", "output": ["STEP 1: Move to the right and turn left to face the wooden shelf right of the house plant | STEP 2: Pick up the keys from the shelf | STEP 3: Turn and walk around the room to the floor lamp in the corner | STEP 4: Turn on the floor lamp | END"]}
{"id": "trial_T20190906_185855_916436-3", "input": "Carry keys from the table to the lamp, turn on the lamp", "output": ["STEP 1: Move to the red book shelf  | STEP 2: Pickup the keys to the left of the box on top of the shelf | STEP 3: Take the keys and move to the green floor lamp | STEP 4: Turn on the lamp | END"]}
{"id": "trial_T20190908_125826_903533-1", "input": "slice and cook a potato in the microwave with the knife", "output": ["STEP 1: go to the counter to the right of the sink | STEP 2: pick up the knife from the counter | STEP 3: take the knife to the sink | STEP 4: cut the potato in the sink with the knife | STEP 5: take the knife to the microwave | STEP 6: cook the knife in the microwave | STEP 7: walk back to the sink | STEP 8: pick up one slice of potato from the sink | STEP 9: take the slice to the microwave | STEP 10: cook the slice in the microwave then remove | STEP 11: take the slice to the fridge | STEP 12: put the potato slice in the fridge | END"]}
{"id": "trial_T20190908_125826_903533-2", "input": "Heat up a potato slice in the microwave to put in the fridge. ", "output": ["STEP 1: Turn around to face the counter where the toaster is. | STEP 2: Pick up the knife from the countertop. | STEP 3: Turn left to walk to the sink. | STEP 4: Slice the potato in the sink with the knife. | STEP 5: Turn left to walk to the microwave. | STEP 6: Put the knife in the microwave. | STEP 7: Turn right to walk to the sink. | STEP 8: Pick up a slice of potato from the sink. | STEP 9: Turn left to walk to the microwave. | STEP 10: Heat up the potato in the microwave, taking it out afterwards. | STEP 11: Turn around and make your way to the fridge across the room. | STEP 12: Put the potato slice in the fridge. | END"]}
{"id": "trial_T20190909_110706_730247-2", "input": "Examine a pillow by the light of a small lamp.", "output": ["STEP 1: Turn around and walk to the bed on the left. | STEP 2: Pick up the striped pillow from the middle of the bed. | STEP 3: Turn around and walk to the wooden nightstand with the lamp on the left. | STEP 4: Turn on the small lamp. | END"]}
{"id": "trial_T20190908_123040_092484-1", "input": "place two phones on a night table so one makes the other fall on the ground", "output": ["STEP 1: walk through the bedroom to face the right side of the bed | STEP 2: pick up the white cell phone on the top left from the bed | STEP 3: turn to the right to face the night table next to the bed | STEP 4: put the phone on the table on top of the blue pencil | STEP 5: turn slightly left to face the bed | STEP 6: pick up the white cell phone from the bed | STEP 7: turn to the right to face the night table next to the bed | STEP 8: put the phone on top of the other phone on the night table so the first phone falls to the ground | END"]}
{"id": "trial_T20190909_044930_737199-2", "input": "Place the two purple bottles on the counter to the right of the tub.", "output": ["STEP 1: Turn right, walk to the wall, and then turn left to face the toilet tank. | STEP 2: Pick up the purple bottle on the tank. | STEP 3: Take a step to your left to face the tub. | STEP 4: Place the bottle on the counter to the right of the tub. | STEP 5: Turn around, walk to the wall, turn right walk to the wall, and turn right to find a green bin on the floor. | STEP 6: Take out a purple bottle from the bin. | STEP 7: Turn right, walk to the shower stall, turn left and walk to the tub. | STEP 8: Place the bottle next to the other bottle on the counter next to the tub. | END"]}
{"id": "trial_T20190908_090254_092756-1", "input": "To put a watch in a box and move it to the coffee table. ", "output": ["STEP 1: Turn left and walk to the television.  | STEP 2: Pick up the watch that's in front of the television.  | STEP 3: Turn right and walk to the open box on the left side of the couch.  | STEP 4: Put the watch inside of the box on the couch.  | STEP 5: Pick up the box from the couch.  | STEP 6: Turn and walk around the coffee table, face the coffee table.  | STEP 7: Put the box down on the coffee table to the right of the sculpture.  | END"]}
{"id": "trial_T20190907_203056_124573-1", "input": "Slice, heat and place a piece of bread on a kitchen table", "output": ["STEP 1: Turn around and face the wooden table | STEP 2: Pick up the knife off of the table | STEP 3: Move slightly to your left and face the table again | STEP 4: Slice the loaf of bread | STEP 5: Move slightly to your right and face the table again | STEP 6: Put the knife down on the table | STEP 7: Move slightly to your left and face the table again | STEP 8: Pick up a slice of bread | STEP 9: Turn all the way to the right and face the microwave | STEP 10: Put the bread in the microwave and cook it for a few seconds | STEP 11: Turn all the way around and face back the to the table | STEP 12: Put down the bread on to the table | END"]}
{"id": "trial_T20190907_123300_030870-0", "input": "Place the two spray bottles into the cabinet beneath the right sink.", "output": ["STEP 1: Turn left towards the shower stall and then turn right to face the sink. | STEP 2: Pick up the left spray bottle on the sink counter. | STEP 3: Take several steps to the right towards the other sink. | STEP 4: Open the right cabinet door below the sink and place the bottle in it. | STEP 5: Take a step to the right to find a green bin on the floor. | STEP 6: Pick up the spray bottle inside the bin. | STEP 7: Take a step to the left towards the sink. | STEP 8: Open the right cabinet door below the sink and place the bottle in it. | END"]}
{"id": "trial_T20190907_123300_030870-2", "input": "Put away two spray bottles into a bathroom cabinet.", "output": ["STEP 1: Go to the left sink. | STEP 2: Pick up the spray bottle nearest the wall on the left. | STEP 3: Go to the cabinet under the right sink. | STEP 4: Put the spray bottle in the right side of the cabinet. | STEP 5: Move to your right to face the green wastebasket to the right of the sink. | STEP 6: Remove the spray bottle from the wastebasket. | STEP 7: Move to face the cabinet on your left again.  | STEP 8: Place the spray bottle in the lower right cabinet, to the right of the other spray bottle. | END"]}
{"id": "trial_T20190907_114349_830414-0", "input": "Grab the disc from the cabinet, turn on the lamp on the dresser", "output": ["STEP 1: Walk to the right a little | STEP 2: Grab the disc from the cabinet | STEP 3: Turn around, walk to the dresser | STEP 4: Turn on the lamp on the dresser | END"]}
{"id": "trial_T20190907_114349_830414-1", "input": "Examine the CD next to the light of a lamp on the desk.", "output": ["STEP 1: Take a step to the right and walk towards the dresser. | STEP 2: Pick up the CD on the dresser. | STEP 3: Turn around and walk towards the lamp on the table. | STEP 4: Turn on the lamp. | END"]}
{"id": "trial_T20190906_182242_283662-1", "input": "Putting a sliced tomato in the trash can", "output": ["STEP 1: Turn around and go to the counter with the toaster | STEP 2: Grab the knife off of the counter | STEP 3: Cut the tomato on the counter into slices | STEP 4: Turn right and stop at the microwave | STEP 5: Put the knife in the microwave | STEP 6: Turn left and stop at the counter | STEP 7: Grab a slice of tomato | STEP 8: Turn right and stop at the microwave | STEP 9: Heat the tomato in the microwave and then take it out | STEP 10: Turn around and go to the trash can | STEP 11: Put the tomato in the trash can | END"]}
{"id": "trial_T20190906_182242_283662-2", "input": "Heat a tomato slice as well as place it in the trash can.", "output": ["STEP 1: Turn right and walk around to face the counter on the right. | STEP 2: Pick up the knife on the counter. | STEP 3: Cut the tomato on the counter into slices. | STEP 4: Step to the right to face the microwave. | STEP 5: Place the knife in the microwave. | STEP 6: Step to the left to face the tomato on the counter. | STEP 7: Pick up a slice of tomato on the counter. | STEP 8: Step to the right to face the microwave. | STEP 9: Heat the tomato slice and remove it from the microwave. | STEP 10: Turn around and cross the room, the turn right and walk forward to face the trash can. | STEP 11: Place the tomato slice into the trash can. | END"]}
{"id": "trial_T20190906_182242_283662-3", "input": "Put a slice of tomato, microwaved with a knife, into the trash.", "output": ["STEP 1: Turn around and walk over to the kitchen counter in front of the toaster. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn around while carrying the knife. | STEP 4: Walk over to the microwave. | STEP 5: Place the knife inside the microwave. | STEP 6: Close the microwave door then turn around and walk back over to the counter. | STEP 7: Pick up one slice of tomato from the counter. | STEP 8: Take the slice of tomato back to the microwave oven and open the microwave door. | STEP 9: Put the tomato slice inside the microwave, close the door, and turn the microwave on. In two seconds, turn the microwave off and open the door. Take the tomato out of the microwave. | STEP 10: Take the slice of tomato over to the trash can. | STEP 11: Put the slice of tomato in the trashcan. | END"]}
{"id": "trial_T20190906_182242_283662-5", "input": "Slice the tomato, heat the tomato using microwave, throw away the tomato in the trash", "output": ["STEP 1: Turn around and turn left and walk to the table at the end of the room | STEP 2: Grab the knife by the salt | STEP 3: Slice the tomato on the table | STEP 4: Turn right and walk to the microwave | STEP 5: Open microwave and put the knife in the microwave, close the microwave | STEP 6: Turn left and walk back to the middle of the table | STEP 7: Grab a slice of tomato | STEP 8: Turn right and walk to the microwave | STEP 9: Open the microwave, put the slice of tomato in the microwave, close the microwave and turn it on, open the microwave when it's done, take the slice of tomato out, close the microwave | STEP 10: Turn around and walk to the window by the door | STEP 11: Throw the slice of tomato in the trash can under the window | END"]}
{"id": "trial_T20190906_222033_129727-0", "input": "Put a heated plate on a table. ", "output": ["STEP 1: Go to the white table behind you. | STEP 2: Pick up the plate that is to the left of the cabbage.  | STEP 3: Take the plate to the microwave.  | STEP 4: Heat the plate in the microwave. | STEP 5: Go to the black table that is behind you and the the left of the white table.  | STEP 6: Place the plate on the black table, next to the knife.  | END"]}
{"id": "trial_T20190909_021005_332637-0", "input": "Heat up a slice of apple and place it in the sink.", "output": ["STEP 1: Turn right and walk to the stove, then turn right and go to the sink. | STEP 2: Pick up the knife on the counter to the top left of the sink. | STEP 3: Take a step back to be centered with the sink. | STEP 4: Slice the apple in the sink. | STEP 5: Stand the knife upright in the sink to the right of the drain. | STEP 6: Pick up the top left slice of apple. | STEP 7: Turn left to face the microwave. | STEP 8: Place the apple in the microwave to the right of the egg and turn on for a few seconds.  Remove the apple when the microwave is off. | STEP 9: Return to the kitchen sink. | STEP 10: Place the apple in the sink behind the potato. | END"]}
{"id": "trial_T20190906_180309_726338-0", "input": "Put two watches on a cabinet top.", "output": ["STEP 1: Turn right and walk to the desk. | STEP 2: Pick up the watch to the left of the other watch. | STEP 3: Turn to the right and walk to the cabinet. | STEP 4: Place the watch to the left of the pencil on the cabinet. | STEP 5: Open the second drawer from the top on the left side of the cabinet and take out the watch. | STEP 6: Put the watch on the right side of the pencil on the cabinet. | END"]}
{"id": "trial_T20190906_180309_726338-1", "input": "to move a watch from the desk to the dresser", "output": ["STEP 1: turn around make a left to face white dresser | STEP 2: pick up watch closest to you below the phone  | STEP 3: turn around then turn left move forward toward dresser  | STEP 4: place watch on top of dresser directly next to the left of the pen | STEP 5: open second drawer from the top on the left side of the dresser and pick up the watch in it | STEP 6: place the watch on top of the dresser to the right of the pen so the watch is standing upright  | END"]}
{"id": "trial_T20190906_180309_726338-2", "input": "Place two watches on top of the dresser next to the bed.", "output": ["STEP 1: Walk to the desk on your right. | STEP 2: Pick up the watch laying on the desk. | STEP 3: Walk to the dresser next to the bed.  | STEP 4: Place the watch on the dresser | STEP 5: Open the second to bottom drawer on the left side of the dresser and pick up the watch inside. | STEP 6: Place this watch on the dresser next to the first watch. | END"]}
{"id": "trial_T20190907_144203_887253-0", "input": "Put a chilled bottle from the counter in the bin.", "output": ["STEP 1: Move to the middle of the counter to the left of the stove. | STEP 2: Pick up a wine bottle from the counter. | STEP 3: Move to the fridge behind you. | STEP 4: Place and chill the bottle in the fridge before retrieving and closing the door. | STEP 5: Move to the bin behind you on the left side of the counter. | STEP 6: Place the bottle in the bin. | END"]}
{"id": "trial_T20190907_144203_887253-1", "input": "Put a chilled bottle in a trash bin.", "output": ["STEP 1: Turn to the left and turn again to face the counter with the bottle on it. | STEP 2: Pick the bottle up from the counter. | STEP 3: Turn around and face the fridge. | STEP 4: Put the bottle in the fridge, shut the door and then open the door and pick up the bottle. | STEP 5: Turn around and walk to face the red trash bin. | STEP 6: Put the bottle in the trash bin. | END"]}
{"id": "trial_T20190907_144203_887253-4", "input": "pick up wine bottle, chill it, then put it in garbage can", "output": ["STEP 1: turn left, walk into kitchen, turn left until facing counter with wine bottle and two plates | STEP 2: pick up wine bottle | STEP 3: turn right until facing fridge, walk over to fridge | STEP 4: open door, put bottle on top shelf, close door, wait, open door, pick up wine bottle again | STEP 5: turn right and face red garbage can, walk over to garbage can | STEP 6: put wine bottle in garbage can  | END"]}
{"id": "trial_T20190907_144203_887253-5", "input": "Move a wine bottle from the counter top to the brown receptacle via the refrigerator", "output": ["STEP 1: Turn around and walk in the direction of the oven. | STEP 2: Stop and turn left at the wine bottle. | STEP 3: Pick up the wine bottle, turn around and carry it to the refrigerator. | STEP 4: Open the refrigerator door, place the bottle on the right side of the top shelf near the front edge of the shelf, close the refrigerator door; open the refrigerator door and pick up the wine bottle, close the door. | STEP 5: Turn around and carry the wine bottle to the brown receptacle on the floor directly to the left of the counter with the toaster. | STEP 6: Place the wine bottle towards the inside of the receptacle nearest the wall with the window. | END"]}
{"id": "trial_T20190908_120823_704930-0", "input": "To place two pens on the night stand on the left side of the bed.", "output": ["STEP 1: Turn right and walk forward to face the shelves. | STEP 2: Pick up the pen on the shelf. | STEP 3: Turn right and follow the room around to the night stand on the left side of the bed. | STEP 4: Place the pen on the edge of the desk. | STEP 5: Turn around and follow the walk way around the bed the face the pen on the left end of the dresser. | STEP 6: Pick up the pen on the end of the desk. | STEP 7: Turn right and follow the room around to the night stand on the left side of the bed. | STEP 8: Place the pen on the edge of the desk perpendicular with the first pen. | END"]}
{"id": "trial_T20190908_120823_704930-1", "input": "Gather both pens from the shelf and counter and put them on the nightstand to the left of the bed.", "output": ["STEP 1: Move forward to the window and turn to the right to face the dresser. | STEP 2: Pick up the pen from the shelf. | STEP 3: Turn to the right to move past the foot of the bed and turn right again to walk to the nightstand to the left of the bed. | STEP 4: Place the pen on the nightstand. | STEP 5: Face backwards, turn left, move forward past the end of the bed and turn right to face the counter to the right of the boots. | STEP 6: Pick up the pen from the end of the counter. | STEP 7: Move to the right past the end of the bed then turn to the right and walk to the nightstand. | STEP 8: Place the pen on the nightstand. | END"]}
{"id": "trial_T20190906_200916_222838-1", "input": "Put a piece of warm bread in the fridge.", "output": ["STEP 1: Walk to the counter over the dishwasher. | STEP 2: Pick up the shark knife on the counter. | STEP 3: Go across the room to the table. | STEP 4: Slice the loaf of bread on the table. | STEP 5: Go to the left side of the table. | STEP 6: Put the sharp knife down next to the pan. | STEP 7: Go back to the right side of the table. | STEP 8: Pick up a piece of bread from the table. | STEP 9: Take the bread across the room to the microwave. | STEP 10: Put the slice of bread into the microwave, heat the bread, and take the warm bread out of the microwave. | STEP 11: Walk across the room to the fridge to the right of the table. | STEP 12: Put the warm bread in the fridge. | END"]}
{"id": "trial_T20190906_193833_823990-0", "input": "place a pan with a knife in it in front of the coffee maker", "output": ["STEP 1: move to the kitchen sink at the end of the room | STEP 2: grab a butter knife on the counter in front of the sink | STEP 3: turn around and head over to the kitchen stove | STEP 4: place the butter knife inside the pan on the back right burner | STEP 5: grab the pan with the knife in it off of the stove | STEP 6: turn around and walk over to the coffee maker | STEP 7: place the pan in front of the coffee maker | END"]}
{"id": "trial_T20190906_193833_823990-2", "input": "Put the knife in the silver bowl, move the bowl from stove to the table", "output": ["STEP 1: Turn right, walk to the sink | STEP 2: Grab the knife by the sink | STEP 3: Turn right, turn right,walk to the stove | STEP 4: Put the knife in the silver pan | STEP 5: Grab the silver pan on the stove | STEP 6: Turn around, walk to the coffee machine | STEP 7: Put the silver pan down on the table in front of the coffee machine | END"]}
{"id": "trial_T20190909_123526_505119-1", "input": "place a cooked potato slice in the fridge", "output": ["STEP 1: move right to the table | STEP 2: pick up the knife from the table | STEP 3: head to the other side of the table | STEP 4: slice the potato on the table | STEP 5: turn around to the fridge | STEP 6: place the knife in the fridge | STEP 7: turn around to the table | STEP 8: pick up a potato slice from the table | STEP 9: turn right to the oven  | STEP 10: place the slice to cook in the oven and take it out | STEP 11: turn right to the fridge | STEP 12: place the potato slice in the fridge | END"]}
{"id": "trial_T20190907_153439_114211-0", "input": "Throw the apple in the sink and microwave away in the bin.", "output": ["STEP 1: Move to the sink to the left of you. | STEP 2: Pick up an apple from the sink. | STEP 3: Move to the bin behind you before the fridge on the right. | STEP 4: Place the apple inside of the bin. | STEP 5: Move to the microwave in front of you to the right slightly. | STEP 6: Retrieve the apple from the microwave and close the door. | STEP 7: Move to the bin to the left of you. | STEP 8: Place the apple inside of the bin. | END"]}
{"id": "trial_T20190907_153439_114211-1", "input": "Getting rid of green apples in the trash bin", "output": ["STEP 1: Turn to the left and walk towards the sink and face it | STEP 2: Pick up the green apple from the sink | STEP 3: Turn around and walk to the trash bin next to the refrigerator and face it on the right | STEP 4: Place the apple inside the trash bin | STEP 5: Turn to the right and face the microwave | STEP 6: Open up the microwave and take out the apple, then close the door back | STEP 7: Turn to the left and face the trash bin next to the refrigerator | STEP 8: Place the apple inside the trash bin | END"]}
{"id": "trial_T20190907_153439_114211-4", "input": "Throw out the apple on the counter and the apple in the microwave.", "output": ["STEP 1: Turn left and go to the counter to the left of the sink.  | STEP 2: Take the green apple behind the metal grater.  | STEP 3: Turn around and take the apple to the trash can between the refrigerator and the counter. | STEP 4: Put the apple in the trash can.  | STEP 5: Go right to the microwave above the middle of the counter.  | STEP 6: Take the apple out of the microwave. | STEP 7: Take the apple to the trash can between the refrigerator and the counter. | STEP 8: Put the apple into the trash can.  | END"]}
{"id": "trial_T20190907_025508_928110-0", "input": "place both CD's into the bottom drawer of the black cabinet", "output": ["STEP 1: turn left and walk to the desk at the end of the room | STEP 2: pick up the CD off of the desk | STEP 3: turn around and move towards black cabinet at the opposite corner of the room | STEP 4: open the bottom drawer of the cabinet and place the CD inside | STEP 5: move left a bit to align yourself with the cabinet, and move forwards towards it | STEP 6: grab the CD off of the cabinet | STEP 7: back up a bit from the cabinet | STEP 8: place the CD in the drawer the other CD went into | END"]}
{"id": "trial_T20190907_061237_637244-2", "input": "Put the bowl with turner from the stove to the table", "output": ["STEP 1: Turn to your right and face the counter top on the left side of the stove | STEP 2: Pick the turner on the edge of the counter top | STEP 3: Turn to your right then face the stove | STEP 4: Put the turner in the bowl on the stove | STEP 5: Pick up the bowl with turner on the stove | STEP 6: Turn to your left and head to the table beside the door | STEP 7: Put the bowl with turner on the right side of the table | END"]}
{"id": "trial_T20190918_172510_077609-0", "input": "Move the mug to the table, place a fork in mug.", "output": ["STEP 1: Turn left, walk to counter, right to the coffee maker | STEP 2: Pick up the mug from the coffee maker. | STEP 3: Walk left to the right side of the table. | STEP 4: Place mug on table between the forks. | STEP 5: Pick up fork closest to the plant. | STEP 6: Place the fork in the mug. | END"]}
{"id": "trial_T20190907_133523_594762-1", "input": "To put the pen on the bedside table. ", "output": ["STEP 1: Turn to the left and walk to the table.  | STEP 2: Take the pen on the lower edge of the table.  | STEP 3: Turn to the left and walk across the room, then turn to the right and walk across the room to the table.  | STEP 4: Place the pen on the lower edge of the table below the cell phone. | END"]}
{"id": "trial_T20190907_133523_594762-2", "input": "Move a pen from a regular table to an end table by a bed.", "output": ["STEP 1: Turn left and walk slightly forward to the table. | STEP 2: Pick up the pen from the table. | STEP 3: Turn around and go to the end table to the right of the bed. | STEP 4: Put the pen on the end table, on top of the objects at the front of it. | END"]}
{"id": "trial_T20190907_015302_393205-1", "input": "Grab the box on the sofa, turn on the floor lamp", "output": ["STEP 1: Walk straight to the box | STEP 2: Grab the box on the sofa | STEP 3: Turn right and turn right, walk to the corner with a floor lamp | STEP 4: Turn on the floor lamp | END"]}
{"id": "trial_T20190908_180057_183102-0", "input": "To move two soap bars to the front of the floor of the tub.", "output": ["STEP 1: Turn around and walk forward to face the back of the bath tub. | STEP 2: Pick up the bar of soap on the bath tub. | STEP 3: Take a step to the left to face the front of the bath tub. | STEP 4: Place the soap in the front of the bath tub. | STEP 5: Turn around and walk forward and turn left to face the cabinet below the left side of the sink. | STEP 6: Pick up the bar of soap in the cabinet under the right side of the sink. | STEP 7: Turn left and walk forward to face the front of the bath tub. | STEP 8: Place the bar of soap next to the first bar of soap. | END"]}
{"id": "trial_T20190908_180057_183102-2", "input": "Place two pink sponges in bathtub with black rag", "output": ["STEP 1: turn right, go to green bin to the left of counter with sink | STEP 2: pick up pink sponge from behind curtain on bathtub | STEP 3: turn left, face bathtub with black cloth | STEP 4: place pink sponge in bathtub in front of black cloth | STEP 5: turn around, go to second cabinet from the wall on the left | STEP 6: open cabinet, pick up pink sponge from cabinet, close cabinet | STEP 7: turn left, go to bathtub | STEP 8: place pink sponge in bathtub to the left of pink sponge | END"]}
{"id": "trial_T20190909_062522_378924-2", "input": "Move two bars of soap into a bathtub.", "output": ["STEP 1: Go forward to the left edge of the bathtub. | STEP 2: Pick up the bar of soap from the ledge at the left of the tub. | STEP 3: Turn to face the tub. | STEP 4: Put the bar of soap in the tub. | STEP 5: Go forward and turn left to face the toilet. | STEP 6: Pick up the bar of soap from the back of the toilet. | STEP 7: Take the bar of soap to the tub.  | STEP 8: Put the bar of soap in the tub.  | END"]}
{"id": "trial_T20190908_101130_247006-1", "input": "Put a heated mug on the coffee machine. ", "output": ["STEP 1: Move forward to the wooden rack. | STEP 2: Pick up the mug on the rack.  | STEP 3: Turn around, bring the mug to the sink, turn right, bring the mug to the microwave on the counter, left of the fridge.  | STEP 4: Heat the mug in the microwave. | STEP 5: Bring the heated mug to the coffee machine on the counter behind you, next to the toaster.  | STEP 6: Put the heated mug on the coffee machine.  | END"]}
{"id": "trial_T20190908_101130_247006-2", "input": "Place a heat mug in a coffee maker.", "output": ["STEP 1: Turn right and walk to the shelving unit. | STEP 2: Pick up the white mug on one of the shelves. | STEP 3: Turn around and walk to the counter, then turn right and walk to the microwave. | STEP 4: Heat the mug in the microwave. | STEP 5: Turn around and walk to the coffee maker on the counter. | STEP 6: Place the mug in the coffee maker. | END"]}
{"id": "trial_T20190909_013949_947198-2", "input": "Place two bottle of wine in the second cabinet to the right of the red garbage pale.", "output": ["STEP 1: Go to the refrigerator to your right. | STEP 2: Take out bottle of wine from the middle shelf in the refrigerator. | STEP 3: go to the red garbage pale that is behind you | STEP 4: Place the bottle of wine in the second cabinet from the left | STEP 5: Go to the refrigerator that is behind you. | STEP 6: Take a bottle of wine from the middle shelf of the refrigerator. | STEP 7: go to the red garbage pale that is behind you | STEP 8: Place the bottle of wine in the second cabinet from the left next to the other bottle of wine | END"]}
{"id": "trial_T20190909_122145_700180-2", "input": "Putting a cold apple slice in the sink", "output": ["STEP 1: Go to the right of the table | STEP 2: Grab the knife off of the table | STEP 3: Turn right and go to the microwave | STEP 4: Slice the apple in the microwave | STEP 5: Put the knife in the microwave | STEP 6: Grab a slice of the apple | STEP 7: Turn around and go to the fridge | STEP 8: Cool the apple in the fridge and then take it out | STEP 9: Turn left and go to the sink | STEP 10: Put the apple in the sink | END"]}
{"id": "trial_T20190906_202428_389010-0", "input": "Take the soap from the toilet tank, rinse it, put it in a bottom left drawer.", "output": ["STEP 1: Turn right and head towards the toilet. | STEP 2: Pick up the bar of soap behind the candles on the toilet tank. | STEP 3: Turn right and head for the sink to the left of the shower. | STEP 4: Put the soap in the sink and rinse it. | STEP 5: Step back and open the drawer on the bottom far left under the sink. | STEP 6: Put the soap in the drawer and close the drawer. | END"]}
{"id": "trial_T20190908_144006_991932-1", "input": "Putting a black mug with a fork in it on a table", "output": ["STEP 1: Turn around and go to the table with the coffee maker on it | STEP 2: Grab the fork that's on the table | STEP 3: Turn left and stop at the white table on the right | STEP 4: Put the fork in the black mug on the table | STEP 5: Grab the mug off of the table | STEP 6: Turn right and stop at the table with the coffee maker | STEP 7: Put the mug on the table | END"]}
{"id": "trial_T20190908_115134_001298-0", "input": "Take the bat from the floor, put it on the bed", "output": ["STEP 1: Turn around, head straight to the mirror | STEP 2: Take the black baseball bat from the floor | STEP 3: Turn around, head across the room | STEP 4: Put the baseball bat on the bed | END"]}
{"id": "trial_T20190908_115134_001298-1", "input": "Pick up the black baseball bat and put it on the bed.", "output": ["STEP 1: Turn around and walk to the right of the yellow bed. | STEP 2: Pick up the black baseball bat on the floor. | STEP 3: Turn around and walk to the left of the bed. | STEP 4: Put the black baseball bat on the bed. | END"]}
{"id": "trial_T20190908_122604_076897-0", "input": "Move the keys from the brown table to the red sofa.", "output": ["STEP 1: Turn around and walk to the side of the brown table closer to the red sofa. | STEP 2: Pickup the keys from the table. | STEP 3: Turn around and face the red sofa. | STEP 4: Put the keys on the sofa to the right of the newspaper. | END"]}
{"id": "trial_T20190908_122604_076897-2", "input": "Move keys from the table to the sofa.", "output": ["STEP 1: Walk around to the coffee table on the sofa's side. | STEP 2: Grab keys from the table. | STEP 3: Look at the red sofa behind you. | STEP 4: Put the keys on the sofa. | END"]}
{"id": "trial_T20190907_163602_821706-1", "input": "Put a cold slice of lettuce in the trash can next to the stove. ", "output": ["STEP 1: Walk right toward the wall, then turn right and walk to the green island bar.  | STEP 2: Pick up the knife closest to the wine bottle. | STEP 3: Move to your right at the bar.  | STEP 4: Slice the head of lettuce on the right side of the bar.  | STEP 5: Turn to your left and walk to the refrigerator.  | STEP 6: Put the knife in the bottom drawer of the refrigerator.  | STEP 7: Turn around and walk back to the green bar.  | STEP 8: Pick up a slice of lettuce. | STEP 9: Turn around and walk back to the refrigerator.  | STEP 10: Put the slice of lettuce in the bottom drawer of the refrigerator, leave it until it gets cold, then take it out.  | STEP 11: Turn to your right and walk toward the stove, then turn left, then right and face the silver trash can next to the stove.  | STEP 12: Put the slice of lettuce in the trash can.  | END"]}
{"id": "trial_T20190909_013645_008319-1", "input": "Place the clock on the bedside table.", "output": ["STEP 1: Turn right then face the black table to your left. | STEP 2: Take the clock off the table in front of you. | STEP 3: Turn left then face your bed side table on your left. | STEP 4: Place the clock on top of your bedside table in front of you. | END"]}
{"id": "trial_T20190908_075937_864504-0", "input": "place a cooked egg on the table", "output": ["STEP 1: move forward to the table | STEP 2: pick up the egg from the table | STEP 3: turn around to the oven | STEP 4: cook the egg in the oven and take it out | STEP 5: turn around and head for the table | STEP 6: place the egg on the table | END"]}
{"id": "trial_T20190908_232008_232680-1", "input": "Pick up the hand from the table and turn on the lamp.", "output": ["STEP 1: Turn to the right twice and move forward to the black end table. | STEP 2: Pick up the metallic hand from the table. | STEP 3: Turn to the left and approach the lamp. | STEP 4: Turn on the lamp. | END"]}
{"id": "trial_T20190907_122643_142060-0", "input": "Examine a watering can by the light of a table lamp.", "output": ["STEP 1: Turn right and walk toward the watering can by the floor lamp in the other room. | STEP 2: Pick up the watering can from the floor. | STEP 3: Turn left and walk in front of the lamp on the end table at the other end of the room. | STEP 4: Turn on the lamp. | END"]}
{"id": "trial_T20190909_115030_465697-1", "input": "pick up the knife, cut apple, place apple in pot, pick up pot, place pot in the sink ", "output": ["STEP 1: turn right, turn left to the sink | STEP 2: pick up knife from the sink | STEP 3: cut apple with the knife | STEP 4: look down at the sink | STEP 5: place the knife in the sink | STEP 6: look up at apple in the sink | STEP 7: pick up the apple from the sink | STEP 8: turn around , walk straight, turn right to the stove | STEP 9: place the apple into the pot on the stove | STEP 10: pick up the pot from the stove | STEP 11: turn around, turn left to the sink | STEP 12: place the pot in to the sink | END"]}
{"id": "trial_T20190909_021415_472593-1", "input": "Put a heated piece of apple on the counter. ", "output": ["STEP 1: Turn around and go to the counter on the right of the sink. | STEP 2: Pick up the gray knife on the counter.  | STEP 3: Turn around and go to the left side of the island. | STEP 4: Cut the apple on the counter into three parts. | STEP 5: Turn right and go to the refrigerator on the right.  | STEP 6: Place the knife on middle shelf in the refrigerator. | STEP 7: Turn right and go back to the island with the apple.  | STEP 8: Take one piece of apple from the counter. | STEP 9: Turn right to go to the microwave on the right.  | STEP 10: Remove the apple from the microwave after heating it.  | STEP 11: Turn right and go back to the island.  | STEP 12: Place the apple piece on the counter on the left of  the rest of the apple.  | END"]}
{"id": "trial_T20190908_000508_459047-0", "input": "Put a knife in a pan as well as move the pan from the stove to the counter to the right of the sink.", "output": ["STEP 1: Turn around and walk across the room then turn right to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn to the left and step to the left to face the stove. | STEP 4: Place the knife in the pan on the stove. | STEP 5: Pick up the pan with a knife in it on the stove. | STEP 6: Turn to the right and walk forward to face the sink. | STEP 7: Place the pan with a knife in it on the counter to the right of the sink. | END"]}
{"id": "trial_T20190908_000508_459047-2", "input": "To put a knife and pan to the right of the sink. ", "output": ["STEP 1: Turn around and walk to the counter with the knife and the tomato.  | STEP 2: Pick up the knife to the left of the tomato.  | STEP 3: Turn and walk to the stove on the right.  | STEP 4: Put the knight down in the pan on the back right burner of the stove.  | STEP 5: Pick up the pan from the stove.  | STEP 6: Turn and walk to the left of the sink.  | STEP 7: Place the pan on the counter to the right of the sink.  | END"]}
{"id": "trial_T20190907_043122_619510-2", "input": "Place a box with keys inside on the sofa.", "output": ["STEP 1: Turn right and walk past the coffee table to stand in front of the leftmost cushion of the sofa. | STEP 2: Pick up the keys from the sofa. | STEP 3: Turn around and carry the keys to the coffee table, so you're facing the table and the sofa is to your left. | STEP 4: Place the keys in the open box on the coffee table. | STEP 5: Pick up the box with the keys in it from the table. | STEP 6: Carry the box to stand facing the center point of the sofa. | STEP 7: Place the box on the right cushion of the sofa. | END"]}
{"id": "trial_T20190906_191428_698859-1", "input": "put the sauce pan with a spoon in it in the lower right kitchen cabinet", "output": ["STEP 1: turn around and walk to the left side of the kitchen counter. | STEP 2: grab the spoon on the counter. | STEP 3: turn around and walk to the stove | STEP 4: place the spoon in the sauce pan | STEP 5: pick up the sauce pan | STEP 6: turn to face the left side of the lower kitchen cabinets | STEP 7: put the sauce pan in the far right lower cabinet | END"]}
{"id": "trial_T20190909_145120_598866-0", "input": "Place the statue on the coffee table.", "output": ["STEP 1: Walk over to the table. | STEP 2: Grab the statue | STEP 3: Walk over to the coffee table | STEP 4: Place the statue on the coffee table. | END"]}
{"id": "trial_T20190909_145120_598866-2", "input": "Put a statue on a table.", "output": ["STEP 1: Go forward and cross the entire room and then turn right and then right again to face the statue on the table near the remote. | STEP 2: Pick the statue up from the table. | STEP 3: Go left and then right and cross the room to turn to the right to face the table with the plant on it that is in front of the couch. | STEP 4: Put the statue on the table. | END"]}
{"id": "trial_T20190909_012522_260719-0", "input": "Wash a cold tomato and put it on the counter.", "output": ["STEP 1: Turn right and walk to the fridge. | STEP 2: Take a tomato from the fridge. | STEP 3: Turn around and walk to the stool then turn right and walk to the sink. | STEP 4: Wash the tomato off in the sink on the left then pick it up. | STEP 5: Turn right to face the microwave. | STEP 6: Put the tomato on the counter to the left of the sponge. | END"]}
{"id": "trial_T20190909_012522_260719-2", "input": "Put a washed tomato next to the microwave on the counter. ", "output": ["STEP 1: Turn right, move to the fridge. | STEP 2: Pick up the tomato in the fridge.  | STEP 3: Bring the tomato to the sink on the left. | STEP 4: Wash the tomato in the left sink.  | STEP 5: Bring the washed tomato to the microwave on the left. | STEP 6: Put the washed tomato down on the counter, next to the microwave. | END"]}
{"id": "trial_T20190907_143200_617478-0", "input": "Put the cell phone in the bowl on the desk.", "output": ["STEP 1: Turn right to face the bed. | STEP 2: Pick up the nearest cell phone on the bed. | STEP 3: Go to the desk, to the left of the bed. | STEP 4: Put the cell phone in the bowl, on the desk. | STEP 5: Pick up the bowl with the cell phone in it. | STEP 6: Turn down, to look toward the desk. | STEP 7: Place the bowl on the right front corner of the desk. | END"]}
{"id": "trial_T20190907_143200_617478-1", "input": "Put a bowl with a phone in it on the right side of the desk.", "output": ["STEP 1: Turn to the right and face the left end of the bed. | STEP 2: Pick up the closest phone on the bed. | STEP 3: Go left and stand in front of the desk. | STEP 4: Put the phone in the bowl. | STEP 5: Pick up the bowl with the phone from the desk. | STEP 6: Move a couple of steps back from the desk. | STEP 7: Put the bowl with the phone in it on the far right side of the desk. | END"]}
{"id": "trial_T20190907_160642_668552-0", "input": "Place box with remote on top of left side of black cabinet", "output": ["STEP 1: go the black couch with purple pillow | STEP 2: pick up remote control from couch between laptop and purple pillow | STEP 3: go to black chair with box to the right | STEP 4: place remote in box on black chair | STEP 5: pick up box off of black chair | STEP 6: turn around, go forward to black cabinet with black statue | STEP 7: place box on black cabinet to the left of statue | END"]}
{"id": "trial_T20190907_160642_668552-1", "input": "Place a box with a remote in it on the step with the statue on it.", "output": ["STEP 1: Walk to the purple cushion on the couch. | STEP 2: Pick up the remote in front of the purple cushion. | STEP 3: Turn right and walk to the box on the chair in the corner. | STEP 4: Place the remote in the box on the chair. | STEP 5: Pick up the box on the chair. | STEP 6: Turn right and walk to the step with the statue on it. | STEP 7: Place the box down on the left side of the step. | END"]}
{"id": "trial_T20190908_055559_130780-0", "input": "place a wet cloth inside the bath tub", "output": ["STEP 1: move forward towards the bath tub | STEP 2: pick up the cloth | STEP 3: turn left and head to the sink | STEP 4: wet the cloth with water | STEP 5: turn around and head to the tub | STEP 6: place the cloth inside the tub | END"]}
{"id": "trial_T20190908_071206_275997-2", "input": "Pick up a computer and turn a lamp on.", "output": ["STEP 1: Go forward and stand at the end of the bed | STEP 2: Close the middle computer and pick the computer up from the bed. | STEP 3: Go left and then left again to face the dresser with the lamp. | STEP 4: Turn the lamp on. | END"]}
{"id": "trial_T20190907_164001_509050-0", "input": "move the phone from the sofa chair to the bed", "output": ["STEP 1: walk straight to the wall, turn left to the sofa chair | STEP 2: grab the phone on the sofa chair | STEP 3: turn left, walk to the end of the bed | STEP 4: put the phone on the bed | END"]}
{"id": "trial_T20190907_164001_509050-1", "input": "Move the phone from the chair to the bed.", "output": ["STEP 1: Walk forward and to the chair on your left. | STEP 2: Pick up the phone from the chair. | STEP 3: Turn around and go to the foot of the bed. | STEP 4: Put the phone on the bed. | END"]}
{"id": "trial_T20190907_044236_858933-2", "input": "Put two newspapers on the chair.", "output": ["STEP 1: Turn around and go to the end table next to the couch. | STEP 2: Pick up the newspaper. | STEP 3: Turn around and go to the chair with the remote on it. | STEP 4: Put the newspaper on the chair. | STEP 5: Turn around and go to the table to the right of the TV. | STEP 6: Pick up the newspaper from the table. | STEP 7: Return to the chair. | STEP 8: Put the newspaper on the chair. | END"]}
{"id": "trial_T20190909_110614_059796-1", "input": "Put a credit card on a couch.", "output": ["STEP 1: Turn to the left and face the brown shelves with the newspaper on it. | STEP 2: Pick the credit card up from the shelves. | STEP 3: Turn around and cross the room to face the couch. | STEP 4: Put the credit card down on the couch. | END"]}
{"id": "trial_T20190909_110614_059796-2", "input": "pick up the credit card and move it to the couch ", "output": ["STEP 1: cross the room to the media center | STEP 2: pick up the credit card sitting on the media center | STEP 3: turn around and go to the couch | STEP 4: place the card on the edge of the couch  | END"]}
{"id": "trial_T20190908_122901_215923-0", "input": "Put a cleaned rag in a drawer under the right sink. ", "output": ["STEP 1: Move to the counter on your right. | STEP 2: Pick up the rag on the counter.  | STEP 3: Bring the rag to the sink on your right. | STEP 4: Wash the rag in the right sink.  | STEP 5: Bring the cleaned rag to the top drawer under the right sink.  | STEP 6: Put the cleaned rag in the top right drawer, close the drawer.  | END"]}
{"id": "trial_T20190908_122901_215923-2", "input": "Place a clean rag in a drawer.", "output": ["STEP 1: Turn right and take a step right. | STEP 2: Pick up the rag on the counter. | STEP 3: Take a step right. | STEP 4: Wash the rag in the right sink. | STEP 5: Take a step back. | STEP 6: Place the rag in the drawer under the right sink. | END"]}
{"id": "trial_T20190908_222834_706733-1", "input": "Moved 2 candles from the counter to the cabinet under the sink.", "output": ["STEP 1: Put empty toilet paper roll on the ground from the holder.  Walk forward to the wall and turn right, ,facing the left sink. | STEP 2: Pick up a the candle in front. | STEP 3: Turn around before turning back to the sink. | STEP 4: Open up the door below the sink on the right.  Put the candle under the sink in the cabinet.  Close the door. | STEP 5: Turn around before turning back to the sink. | STEP 6: Pick up the other candle next to the sink on the counter. | STEP 7: Turn around before turning back to the sink. | STEP 8: Open up the right door, put the candle under the cabinet to the right of the first cabinet, and close the door. | END"]}
{"id": "trial_T20190908_222834_706733-2", "input": "Put two candles in the cabinet", "output": ["STEP 1: Go forward, turn right in front of the counter | STEP 2: Pick up the candle on the counter | STEP 3: Turn around, go forward a bit, turn right, go forward a bit, turn right | STEP 4: Put the candle in the second left cabinet | STEP 5: Turn right, go forward a bit, turn right | STEP 6: Pick up the candle on the counter | STEP 7: Turn around, go forward a bit, turn right, go forward a bit, turn right | STEP 8: Put the candle in the second left cabinet | END"]}
{"id": "trial_T20190908_220343_347903-0", "input": "place a black mug with a pencil in it on to the desk", "output": ["STEP 1: turn left and walk to the garbage can next to the desk | STEP 2: pick up the pencil from the garbage can | STEP 3: look up turn right and walk to the bed side table in the corner of the room | STEP 4: place the pencil into the black mug | STEP 5: pick up the black mug with the pencil in it | STEP 6: turn right ninety degrees and then walk to the desk | STEP 7: place the black mug with a pencil in it on to the desk next to the note pad | END"]}
{"id": "trial_T20190908_220343_347903-3", "input": "Move a coffee mug with a pencil inside of it from a table to a bedroom desk", "output": ["STEP 1: Move left and then walk all the way right until you reach a trash can | STEP 2: Pick up a pencil from inside the trash can | STEP 3: Walk all the way right until you reach a bedside table | STEP 4: Place the pencil inside the coffee mug that is sitting on the table | STEP 5: Pick up the coffee mug with the pencil inside it | STEP 6: Turn around and maneuver until you are facing the right side of the bedroom desk | STEP 7: Place the coffee mug with the pencil inside of it down on the table | END"]}
{"id": "trial_T20190906_171705_904718-0", "input": "Put a heated slice of bread on a table.", "output": ["STEP 1: Step left and around the table to look at it from that angle. | STEP 2: Pick up the knife. | STEP 3: Look down and to the left. | STEP 4: Slice the bread on the counter with the knife. | STEP 5: Put the knife back roughly where it was before. | STEP 6: Pick up a slice of bread. | STEP 7: Walk ahead and right to the microwave. | STEP 8: Heat the bread in the microwave. | STEP 9: Turn around and go back to the table where the bread was. | STEP 10: Put the bread on the table on top of the knife. | END"]}
{"id": "trial_T20190906_171705_904718-2", "input": "Putting a apple slice on the white table", "output": ["STEP 1: Head to the left side of the white table | STEP 2: Grab the knife off of the table | STEP 3: Look down at the table | STEP 4: Cut the apple on the table into slices | STEP 5: Put the knife on the table | STEP 6: Grab one of the apple slices off the table | STEP 7: Turn right and head to the microwave | STEP 8: Heat the apple in the microwave and then take it out | STEP 9: Turn around and head back to the white table | STEP 10: Place the apple on the table | END"]}
{"id": "trial_T20190911_004759_035793-0", "input": "To heat a piece of apple and place it in the fridge.", "output": ["STEP 1: Turn right and step forward to face the sink. | STEP 2: Pick up the knife on the sink. | STEP 3: Turn around and cross the room and turn left to face the table. | STEP 4: Cut the apple on the table into three pieces. | STEP 5: Turn around to face the fridge. | STEP 6: Place the knife in the fridge. | STEP 7: Turn around to face the apple on the table. | STEP 8: Pick up the piece of apple on the table. | STEP 9: Turn left and cross the room to face the microwave. | STEP 10: Heat the piece of apple in the microwave and remove it. | STEP 11: Turn left to face the fridge. | STEP 12: Place the apple piece in the fridge. | END"]}
{"id": "trial_T20190911_004759_035793-1", "input": "Cut an apple, cook a piece of apple, cool it in the fridge", "output": ["STEP 1: Turn left and go to the sink | STEP 2: Pick up the knife in front of the sink | STEP 3: Turn around, go forward, turn left to the table | STEP 4: Cut the apple on the table | STEP 5: Turn left, go forward, turn right at the fridge | STEP 6: Put the knife in the fridge | STEP 7: Turn left, go forward, turn left to the table | STEP 8: Pick up an apple piece from the table  | STEP 9: Turn left and go to the microwave | STEP 10: Put the apple piece in the microwave, start the microwave, wait, pick up the apple piece from the microwave | STEP 11: Turn around, go forward, turn right at the fridge | STEP 12: Put the apple piece into the fridge | END"]}
{"id": "trial_T20190907_220451_149547-2", "input": "Put two plates on a coffee table.", "output": ["STEP 1: Go around the coffee table to the right, go towards the white chair across the room, turn right, go forward to the wall, turn left, go forward to the side table to the right of the white chair. | STEP 2: Take the black plate from the side table. | STEP 3: Turn around go forward to the fireplace. Turn right to the coffee table. Go to the coffee table. | STEP 4: Put the black plate on the coffee table. | STEP 5: Turn right, go forward to the white chair, turn left, go forward to the dining table, around left to the left short side of the dining table. | STEP 6: Take the black plate from the table | STEP 7: Turn right, go forward, turn right, go towards the wall, turn right, go towards the wall near the dresser, after passing the couch turn right, go towards the coffee table, turn right to face the coffee table. | STEP 8: Put the plate above the first plate on the coffee table. | END"]}
{"id": "trial_T20190909_035442_070732-1", "input": "Move the basketball from underneath the drafting table to the left hand side of the drafting table.", "output": ["STEP 1: Turn right and move to the right hand side of the drafting table. | STEP 2: Pick up the basketball underneath the drafting table. | STEP 3: Turn right and move to face the middle of the drafting table. | STEP 4: Place the basketball on the left hand side of the drafting table. | END"]}
{"id": "trial_T20190909_035442_070732-2", "input": "put basket ball on table top", "output": ["STEP 1: walk to face right side of white table | STEP 2: pick up basket ball under the table | STEP 3: walk to face front side of table | STEP 4: put basket ball on left side of table | END"]}
{"id": "trial_T20190908_135834_396351-0", "input": "Put a warm slice of bread in the garbage.", "output": ["STEP 1: Turn left and walk to the counter. | STEP 2: Pick up the knife that's in front of you on the counter vertically. | STEP 3: Turn left and take a step to your left. | STEP 4: Cut the left half of the loaf of bread into slices please. | STEP 5: Take a step to your right please. | STEP 6: Stand the knife on point near the handle of the ice cream scoop almost touching the blue part of the handle with the tip and let it fall. | STEP 7: Take a step back to your left please. | STEP 8: Pick up the middle slice of bread please. | STEP 9: Turn around and walk to the counter then turn left and walk to the microwave. | STEP 10: Warm the bread in the microwave then take it back out and close the door. | STEP 11: Turn left and walk past the counter to your right then turn right and walk past the counter and stool then turn right and walk to the door then turn right to face the garbage. | STEP 12: Put the bread in the garbage please. | END"]}
{"id": "trial_T20190908_135834_396351-2", "input": "Place a heated slice of bread in a bin", "output": ["STEP 1: Go to the left of the stove stove | STEP 2: Pick up the knife on the left | STEP 3: Turn to the loaf of bread | STEP 4: Cut the loaf of bread | STEP 5: Turn to the right | STEP 6: Place the knife down on the counter | STEP 7: Go to the sliced bread | STEP 8: Take a slice of bread | STEP 9: Go to the microwave | STEP 10: Heat the bread in the microwave | STEP 11: Go to the black bin | STEP 12: Put the bread in the bin | END"]}
{"id": "trial_T20190912_105122_111365-2", "input": "place a pan with a sponge in it on the shelf", "output": ["STEP 1: turn left and head to the sink | STEP 2: pick up the sponge  | STEP 3: turn right to the sink  | STEP 4: place the sponge in the pan in the sink | STEP 5: pick up the pan | STEP 6: turn right and move to the overhead shelf | STEP 7: place the pan in the shelf | END"]}
{"id": "trial_T20190909_081824_186147-2", "input": "Clean the dirty pan, bring it back to the stove. ", "output": ["STEP 1: Move to the stove. | STEP 2: Pick up the dirty pan from the stove. | STEP 3: Bring the pan to the sink. | STEP 4: Clean the pan in the sink.  | STEP 5: Bring the pan to the stove. | STEP 6: Put the pan on the stove.  | END"]}
{"id": "trial_T20190909_041627_441053-1", "input": "Put a chilled pan on a table.", "output": ["STEP 1: Move to the left and face the left side of the stove. | STEP 2: Pick the pan up from the back of the stove. | STEP 3: Turn to the right and then the left to face the fridge. | STEP 4: Put the pan in the fridge and shut the door and then open the door and pick the pan up again. | STEP 5: Turn around and face the white table behind. | STEP 6: Put the pan down on the table. | END"]}
{"id": "trial_T20190918_164429_067847-2", "input": "Move a spoon and cup from a table to a sink", "output": ["STEP 1: Go to the white table | STEP 2: Pick up the spoon and cup from the table | STEP 3: Go to the sink | STEP 4: Place the spoon and cup in the sink | END"]}
{"id": "trial_T20190908_100949_012440-2", "input": "To pick up a pencil and turn the lamp on. ", "output": ["STEP 1: Turn right to face the desk.  | STEP 2: Pick up the pencil in front of the magazine.  | STEP 3: Turn right and walk to the drawers in front of you with the lamp on it.  | STEP 4: Turn the lamp on that's on the drawers.  | END"]}
{"id": "trial_T20190908_052238_998113-0", "input": "Put a basketball on the bed. ", "output": ["STEP 1: Turn to your right and go to the small, open area between the desk and the bed.  | STEP 2: Pick up the basketball on the floor, between the desk and the bed.  | STEP 3: Move over to the bed to the right of you.  | STEP 4: Place the basketball on the bed. | END"]}
{"id": "trial_T20190909_152451_113789-0", "input": "move rag from tub to back of toilet", "output": ["STEP 1: turn around, walk across room to tub | STEP 2: pick up the purple rag that is in the tub | STEP 3: turn around to face the toilet | STEP 4: put the rag on the back of the toilet | END"]}
{"id": "trial_T20190908_074451_643463-0", "input": "Pick up the credit card on the couch and turn on the light to see the credit card", "output": ["STEP 1: Turn left and move to the laptop on the couch | STEP 2: Pick up the credit card from the couch | STEP 3: Turn left and move to the lamp | STEP 4: Turn on the lamp | END"]}
{"id": "trial_T20190906_201129_656124-2", "input": "Pick up soap from toilet, use it, wash hands, place it back.", "output": ["STEP 1: Go straight, turn right towards toilet. | STEP 2: Pick up soap near toilet. | STEP 3: Turn right, then turn left, go to sink. | STEP 4: Turn sink on, wash with soap. | STEP 5: Pick soap back up, turn left. | STEP 6: go straight, towards toilet, place soap back onto rack. | END"]}
{"id": "trial_T20190918_202317_700479-2", "input": "Place a clean potato slice on the table.", "output": ["STEP 1: Move forward and face the table on your left. | STEP 2: Take the knife off the table in front of you. | STEP 3: Turn left then left again and face the sink to your right. | STEP 4: Slice the potato near the sink in front of you. | STEP 5: Turn right then face the sink on your left. | STEP 6: Place the knife in the sink in front of you. | STEP 7: Turn left and face the potato near the sink on your right. | STEP 8: Take a potato slice off the counter in front of you. | STEP 9: Turn right then face the sink on your left. | STEP 10: Place the potato in the sink in front of you, wash it and take it out. | STEP 11: Turn right, then right again and face the table to your left. | STEP 12: Place the potato slice on the table in front of you. | END"]}
{"id": "trial_T20190909_010523_343574-0", "input": "Move the alarm clock to the under side of the desk.", "output": ["STEP 1: Turn left and face your bed side table in front of you. | STEP 2: Take the alarm clock from the table in front of you. | STEP 3: Turn right and face the desk in front of you. | STEP 4: Place the alarm clock under the desk in front of you. | STEP 5: Turn around and face the bed side table in front of you. | STEP 6: Take the alarm clock from the table in front of you. | STEP 7: Turn around and face the desk in front of you. | STEP 8: Place the alarm clock under the desk in front of you. | END"]}
{"id": "trial_T20190907_043415_902731-2", "input": "Put the box on the coffee table on the couch with keys inside.", "output": ["STEP 1: Move to the coffee table nearest to two arm chairs.  | STEP 2: Pick up the keys from the coffee table. | STEP 3: Move around to the left side of the coffee table. | STEP 4: Place the keys inside the box on the table. | STEP 5: Pick up the box from the coffee table. | STEP 6: Move around to the couch on the other side of the coffee table. | STEP 7: Place the box on the couch. | END"]}
{"id": "trial_T20190907_070943_599319-2", "input": "Put a cleaned mug on the coffee machine. ", "output": ["STEP 1: Turn right and head to the microwave. | STEP 2: Open the cabinet above the microwave and pick up the dirty mug in there.  | STEP 3: Turn left and bring the dirty mug to the sink | STEP 4: Clean the mug in in the sink.  | STEP 5: Bring the cleaned mug to the coffee machine on the left.  | STEP 6: Put the mug on the coffee machine. | END"]}
{"id": "trial_T20190907_070943_599319-3", "input": "Rinse a mug and place it on the coffee machine.", "output": ["STEP 1: Turn to the left, and then the right to face the microwave. | STEP 2: Open the top cabinet and take out a mug. | STEP 3: Take the mug and take a few steps to the right towards the sink. | STEP 4: Place the mug in the sink and turn on the water. Turn off the water and pick up the mug again. | STEP 5: Carry the mug and turn around and go to the right to the coffee machine. | STEP 6: Place the mug under the coffee machine. | END"]}
{"id": "trial_T20190907_070943_599319-4", "input": "Place a clean cup into the coffee maker.", "output": ["STEP 1: Turn left, move to counter in front of microwave. | STEP 2: Open cabinet on upper left, pick up dirty cup. | STEP 3: Turn to the right, move to the counter in front of the sink. | STEP 4: Place dirty cup into the sink, rinse cup, pick cup up. | STEP 5: Turn to the left, move to the counter in front of the coffee maker. | STEP 6: Put the cup into the coffee maker. | END"]}
{"id": "trial_T20190908_015609_932914-1", "input": "Place a warm mug into a coffee maker", "output": ["STEP 1: Turn around and head to the sink on your left | STEP 2: Pick up the coffee mug that is sitting in the sink | STEP 3: Turn around and cross the room to the counter then turn right and head to the stove | STEP 4: Open the microwave and place the mug inside, to the left of the other mug, and then close the microwave and turn it on. Then open the microwave and pick up the mug and close the door | STEP 5: Turn around and head forward then head left to the coffee maker | STEP 6: Place the mug into the coffee maker | END"]}
{"id": "trial_T20190908_225901_435079-1", "input": "Wash a plate and put it on a shelf", "output": ["STEP 1: Turn right and go to the cabinet to the right of the stove | STEP 2: Take the dirty plate out of the cabinet and close the door | STEP 3: Move right to face the sink | STEP 4: Put the plate in the right side of the sink and turn on the water. Turn off the water and take the plate out of the sink | STEP 5: Turn left and go to the shelves | STEP 6: Place the plate on the right side of the second from the bottom shelf | END"]}
{"id": "trial_T20190909_014719_569668-1", "input": "Heat up a white mug in the microwave to put away in a cabinet.", "output": ["STEP 1: Turn right to face the microwave. | STEP 2: Pick up the white mug next to the microwave. | STEP 3: Turn to face the front of the microwave. | STEP 4: Heat up the mug in the microwave, removing it afterwards. | STEP 5: Turn around to face the lower right cabinets next to the sink. | STEP 6: Put the white mug in the cabinet directly below the loaf of bread on the counter. | END"]}
{"id": "trial_T20190909_014719_569668-2", "input": "warm a mug and put it in the cabinet", "output": ["STEP 1: go to the counter where the microwave is | STEP 2: pick up the white mug to the left of the microwave | STEP 3: approach the microwave with the cup | STEP 4: warm the cup in the microwave then remove | STEP 5: take the cup to the cabinet to the right of the sink | STEP 6: put the mug in the cabinet  | END"]}
{"id": "trial_T20190908_035224_107233-2", "input": "Put two papers on the couch.", "output": ["STEP 1: move to the coffee table in front of the fire place | STEP 2: pick up a paper from the table | STEP 3: turn around to the couch | STEP 4: put the paper on the couch | STEP 5: move to the coffee table in front of the fire place | STEP 6: pick up a paper from the table | STEP 7: turn around to the couch | STEP 8: put the paper on the couch | END"]}
{"id": "trial_T20190909_003805_447058-0", "input": "Put a spoon in a mug under the counter and move it to the small black table.", "output": ["STEP 1: Turn right and move towards the circular table, then turn right and go to the small black table to the left of the white table. | STEP 2: Pick up the spoon on the small black table. | STEP 3: Turn around and move to the coffee pot and turn left and face the counter between the sink and the stove. | STEP 4: Open the cupboard below this portion of the counter, place the spoon into the mug in the cupboard. | STEP 5: Pick up the mug with the spoon in it, closing the cupboard. | STEP 6: Turn around and move to the opposite side of the room, then turn right and move to face the small black table. | STEP 7: place the mug with the spoon in it on the small black table. | END"]}
{"id": "trial_T20190907_143702_923249-2", "input": "Move a card from one desk to another desk", "output": ["STEP 1: Turn to the left and walk toward the wall, then turn right and go to the desk.  | STEP 2: \n\nPick up the card closest to the bowl off the desk. | STEP 3: \nTurn around then go to the left and go to the far right corner of the larger desk | STEP 4: \nPlace the card on the table next to the remotes. | END"]}
{"id": "trial_T20190907_235630_759222-0", "input": "Put a cooked tomato in the fridge.", "output": ["STEP 1: Turn right to face the counter. | STEP 2: Pick up the tomato. | STEP 3: Turn right and go to the microwave. | STEP 4: Cook the tomato. | STEP 5: Turn left and go to the fridge. | STEP 6: Put the tomato in the fridge. | END"]}
{"id": "trial_T20190907_235630_759222-1", "input": "Place a microwaved tomato inside a refrigerator.", "output": ["STEP 1: Turn right towards the tomato on the counter. | STEP 2: Pick up the tomato from the counter. | STEP 3: Turn right and walk toward the microwave on the counter by the wall. | STEP 4: Heat the tomato in the microwave for a few seconds, then take it out and close the microwave. | STEP 5: Turn left and walk to the refrigerator. | STEP 6: Put the tomato in the refrigerator, in front of and to the right of the potato, then close the refrigerator. | END"]}
{"id": "trial_T20190907_004818_955562-0", "input": "Place the cool sliced lettuce in front of the toaster.", "output": ["STEP 1: Turn right and head towards the table on your right. | STEP 2: Pick up the lettuce on the right edge of the table. | STEP 3: Take a step to the left. | STEP 4: Place the lettuce back to the original spot. | STEP 5: Pick up the yellow knife in between the salt shaker and fork. | STEP 6: Slice the right lettuce in several piece. | STEP 7: Place the knife back on the table. | STEP 8: Pick up a slice of lettuce from the table. | STEP 9: Turn around and walk towards the fridge. | STEP 10: Open the fridge, place the lettuce next to the top tomato, close the fridge to let it cool, and take it back out. | STEP 11: Turn left and walk towards the toaster on the left counter. | STEP 12: Place the slice lettuce in front of the toaster. | END"]}
{"id": "trial_T20190907_004818_955562-1", "input": "Grab a slice of lettuce, put it on the fridge, set it on the counter", "output": ["STEP 1: Walk left and towards the table | STEP 2: Grab a lettuce from the table | STEP 3: Walk away from the table with the lettuce | STEP 4: Set the lettuce on the table again | STEP 5: Grab a knife from the table | STEP 6: Slice the lettuce on the table | STEP 7: Grab a slice from the lettuce | STEP 8: Walk towards the fridge | STEP 9: Put the slice of lettuce inside the fridge | STEP 10: Close the fridge door in open it the fridge again | STEP 11: Take the slice of lettuce  walk towards the counter  | STEP 12: Put the slice of lettuce on the counter next to the bread | END"]}
{"id": "trial_T20190908_043026_789897-0", "input": "Put a clean bar of soap on the toilet tank.", "output": ["STEP 1: Turn right and walk towards the tub, then hang a right and walk up to the green bin. | STEP 2: Pick up the bar of soap off of the toilet tank to your right. | STEP 3: Walk over to the sink. | STEP 4: Put the bar of soap in the sink and turn on the water, after a couple of seconds turn off the water and remove the now clean bar of soap. | STEP 5: Turn right and walk over to the toilet. | STEP 6: Put the clean bar of soap on top of the toilet tank. | END"]}
{"id": "trial_T20190906_202316_993380-0", "input": "the on the lamp on the desk while holding an alarm clock", "output": ["STEP 1: turn left to face the night stand | STEP 2: grab the alarm clock off of the night stand | STEP 3: turn around and walk to the desk | STEP 4: turn on the lamp on the desk | END"]}
{"id": "trial_T20190908_223944_164142-0", "input": "To put a pencil in a bowl, as well as set them on the computer table.", "output": ["STEP 1: Walk forward across the room, then turn right and walk forward to face the computer table. | STEP 2: Pick up the pencil on the computer table. | STEP 3: Turn right and walk across the room to face the dresser. | STEP 4: Place the pencil in the bowl on the right side of the dresser. | STEP 5: Pick up the bowl with the pencil in it on the right side of the dresser. | STEP 6: Turn around and walk forward and turn to the right to face the computer table. | STEP 7: Place the bowl with a pencil in it on the computer table. | END"]}
{"id": "trial_T20190909_041533_397375-1", "input": "Place a bowl and knife in the sink. ", "output": ["STEP 1: Turn around completely and go to the right.  | STEP 2: Pick up the butter knife from the table.  | STEP 3: hen go forward then turn to the left an face the counter | STEP 4: Open the cabinet and put the butter knife inside the bowl in the cabinet.  | STEP 5: Take out the bowl with the knife in it.  | STEP 6: Turn around completely and walk forward turn to the right. Turn to the right again and face the sink.  | STEP 7: Place the bowl and knife in the sink.  | END"]}
{"id": "trial_T20190907_165821_499106-1", "input": "put the blue pencil on the table into the trash bin", "output": ["STEP 1: turn left, walk to the table | STEP 2: grab the blue pencil on the table | STEP 3: turn around, walk to the trash bin on the right | STEP 4: put the pencil in the trash bin | END"]}
{"id": "trial_T20190909_071422_693805-0", "input": "Retrieve a cloth from the tub, put the cloth in the sink, put the same cloth on the toilet tank.", "output": ["STEP0: Turn around, walk to the tub | STEP1: Pick up the wash cloth on the right | STEP2: Turn around, walk to the sink | STEP3: Put the cloth in the sink, pick the cloth up again | STEP4: Turn around, walk to the toilet | STEP5: Put the cloth on the toilet tank | END"]}
{"id": "trial_T20190909_043249_705441-1", "input": "Put the spoon in the pan and place on the shelf above the counter.", "output": ["STEP 1: Turn around and head to the counter on the right side of the dishwasher. | STEP 2: Pick up the spoon from behind the apple off the top of the counter. | STEP 3: Turn to the right and go to the front of the sink. | STEP 4: Open the cabinet and place the spoon inside the pan.  | STEP 5: Take the pan out and close the door. | STEP 6: Turn left and move back to the end of the counter. | STEP 7: Place the pan to the left of the soup spoon on the shelf above the counter. | END"]}
{"id": "trial_T20190908_130234_786446-0", "input": "Move two spray bottles to a storage shelf.", "output": ["STEP 1: Turn to the right and then the left to face the toilet. | STEP 2: Pick up the spray from the toilet tank. | STEP 3: Hold the bottle and turn to the left and then find the storage cart. | STEP 4: Place the bottle on the top shelf of the storage cart. | STEP 5: Turn around and then right to find the counter. | STEP 6: Pick up the spray bottle from the back of the counter. | STEP 7: Carry the bottle and turn around. Turn left to find the storage cart.  | STEP 8: Place the bottle on the top shelf, next to the other bottle. | END"]}
{"id": "trial_T20190908_130234_786446-1", "input": "Move two dispensers to the shelf by the sink.", "output": ["STEP 1: Turn and go to the toilet. | STEP 2: Pick up the dispenser on the toilet.  | STEP 3: Turn and go to the shelf by the sink.  | STEP 4: Put the dispenser on the shelf.  | STEP 5: Turn and go to the counter by the mirror. | STEP 6: Pick up the dispenser on the counter.  | STEP 7: Turn and go to the shelf by the sink.  | STEP 8: Put the dispenser on the shelf.  | END"]}
{"id": "trial_T20190907_181722_293203-2", "input": "Examine a key chain by the light of a floor lamp.", "output": ["STEP 1: Turn right and walk to the desk containing the television. | STEP 2: Pick up the key chain from the desk. | STEP 3: Turn left and walk to the floor lamp by the recycling bin. | STEP 4: Turn on the lamp. | END"]}
{"id": "trial_T20190918_181527_663599-2", "input": "pick up knife, put into microwave, pick up tomato, clean tomato in sink, place on counter", "output": ["STEP 1: turn around, walk straight, turn right to the counter | STEP 2: pick up knife from the counter | STEP 3: turn to the left, look at the sink | STEP 4: turn around look at the sink | STEP 5: turn right , turn left to the microwave | STEP 6: open door, place knife in to microwave, close door | STEP 7: turn left, walk to the sink | STEP 8: pick up tomato from counter | STEP 9: turn around, turn to the right, turn right to the counter | STEP 10: place tomato in to the sink, turn water on, turn off water, pick up tomato | STEP 11: turn right, turn left to the counter | STEP 12: place tomato on to the counter | END"]}
{"id": "trial_T20190908_200539_115276-1", "input": "Put the knife and the smallest diced piece of potato in the pot, which goes in the refrigerator.", "output": ["STEP 1: Turn around, walk towards the wine bottle then go right to get to the sink. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn right walk just past the sink to the potato on the counter. | STEP 4: Dice the potato with the knife. | STEP 5: Put the knife in the pot behind the potato. | STEP 6: Pick up the smallest piece of diced potato. | STEP 7: Put the potato slice in the pot with the knife. | STEP 8: Pick up the pot with the knife and potato slice in it. | STEP 9: Turn right and walk to the refrigerator. | STEP 10: Open the refrigerator, put the pot inside next to the loaf of bread and then close it.  | END"]}
{"id": "trial_T20190907_034010_283425-1", "input": "Putting a bowl with a tomato slice in it on the white table", "output": ["STEP 1: Turn around and head to the counter on the left | STEP 2: Grab the knife that's on the counter | STEP 3: Move slightly to the right | STEP 4: Cut the tomato on the counter into slices | STEP 5: Move slightly to the left and look at the cabinets | STEP 6: Open the cabinet on the left and put the knife inside | STEP 7: Move slightly to the right | STEP 8: Grab one of the tomato slices off the counter | STEP 9: Turn around and head to the oven | STEP 10: Put the tomato in the bowl in the top left stove | STEP 11: Grab the bowl off of the stove | STEP 12: Turn left and stop at the white table | STEP 13: Place the bowl on the table | END"]}
{"id": "trial_T20190907_034010_283425-2", "input": "Put a sliced tomato in a pot on the table. ", "output": ["STEP 1: Go to the end of the kitchen counter on the left.  | STEP 2: Pick up the gray knife behind the bread. | STEP 3: Move over to the tomatoes and cut the one on the left. | STEP 4: Move back to the bread. | STEP 5: Reach for the cupboard above the bread. | STEP 6: Open the cupboard and place the knife inside. | STEP 7: Move over right to the tomatoes. | STEP 8: Pick up a slice of tomato on the left. | STEP 9: Turn around and go to the stove. | STEP 10: Place the slice of tomato inside the large pot on the left.  | STEP 11: Pick up the pot with the tomato in it. | STEP 12: Turn left and go to the white table on the opposite side of the kitchen. | STEP 13: Place the pot with tomato on the table.  | END"]}
{"id": "trial_T20190907_034010_283425-4", "input": "Slice a tomato, put it in the pot on the stove, move the pot to the table", "output": ["STEP 1: Turn left and walk towards the counter | STEP 2: Grab the knife from the plate on the counter | STEP 3: Walk with the knife towards the cabinet  | STEP 4: Slice the tomato on the counter | STEP 5: Look up and Open the cabinet in front | STEP 6: Put the knife in the cabinet | STEP 7: Move towards the counter | STEP 8: Grab a slice of tomato on the counter | STEP 9: Walk with the slice of tomato towards the stove | STEP 10: Put the slice of tomato inside the pot | STEP 11: Grab the pot and walk towards the door | STEP 12: Turn right towards the table next to the door | STEP 13: Put the pot on the table | END"]}
{"id": "trial_T20190907_034010_283425-5", "input": "Place a slice of tomato inside a plan on the table. ", "output": ["STEP 1: Turn left and walk towards the window, then turn right.  | STEP 2: Walk towards the black table. | STEP 3: Pick up the knife behind the loaf of bread on the black table. | STEP 4: Slice the tomato behind the blue plate closest to the loaf of bread.  | STEP 5: Take the knife and turn towards the cabinet about the black table. | STEP 6: Place the knife inside the cabinet above the black table. | STEP 7: Pick up the slice of tomato, turn all the way around. | STEP 8: Walk towards the stove. | STEP 9: Place the tomato slice into the pan nearest coffee maker, | STEP 10: Pick up the pan with the tomato slice in it. | STEP 11: Turn left and walk towards the door. | STEP 12: Turn right in front of the white table. | STEP 13: Place the pan on the white table. | END"]}
{"id": "trial_T20190909_090729_752389-1", "input": "Chill a plate and put it back on the table.", "output": ["STEP 1: Walk over to the table. | STEP 2: Grab the plate. | STEP 3: Walk over to the fridge | STEP 4: Chill the plate in the fridge | STEP 5: Grab the plate out of the fridge and walk back to the table | STEP 6: Place the plate on the table | END"]}
{"id": "trial_T20190909_152053_435671-2", "input": "To heat an egg and place it on the kitchen table.", "output": ["STEP 1: Turn right and step forward to face the egg on the counter. | STEP 2: Pick up the egg on the counter. | STEP 3: Step to the left to face the microwave. | STEP 4: Heat the egg in the microwave and remove it. | STEP 5: Turn around and cross the room and turn right to face the kitchen table. | STEP 6: Place the egg on the kitchen table. | END"]}
{"id": "trial_T20190909_033947_705114-1", "input": "put a pot and vase on coffee table", "output": ["STEP 1: walk to face white shelves | STEP 2: pick up glass vase from shelves | STEP 3: walk to face coffee table | STEP 4: put vase on coffee table | STEP 5: walk to face shelves with blue vase | STEP 6: pick up blue pot from shelves | STEP 7: walk to face coffee table | STEP 8: put pot on coffee table | END"]}
{"id": "trial_T20190909_055132_256725-1", "input": "Put two yellow spray bottles into the trash can.", "output": ["STEP 1: Turn around to face the sinks. | STEP 2: Pick up the yellow spray bottle from in between the sinks. | STEP 3: Make a left to walk to the trash can next to the toilet. | STEP 4: Put the yellow spray bottle in the trash can. | STEP 5: Turn to face the toilet. | STEP 6: Pick up the yellow spray bottle on top of the toilet. | STEP 7: Turn to face the trash can next to the toilet. | STEP 8: Put the other yellow spray bottle into the trash can. | END"]}
{"id": "trial_T20190909_055132_256725-2", "input": "Put the two spray bottle in the trash bin", "output": ["STEP 1: Turn left then head to the sink counter | STEP 2: Pick up the spray bottle on the counter | STEP 3: Turn left then head to the trash bin beside the toilet | STEP 4: Put the spray bottle in the trash bin | STEP 5: Move forward the toilet | STEP 6: Pick up the spray bottle on the toilet tank | STEP 7: Turn around and move backwards  | STEP 8: Put the spray bottle in the trash bin | END"]}
{"id": "trial_T20190906_171737_893197-0", "input": "Place a mug with a knife on it on a table.", "output": ["STEP 1: Turn left and look at the table. | STEP 2: Pick up the butter knife. | STEP 3: Turn right and walk to the microwave and look at it. | STEP 4: Open the top left cabinet above the microwave and put the knife in the black mug. | STEP 5: Take the mug out of the cabinet. | STEP 6: Turn around and walk to the right side of the table. | STEP 7: Place the mug on the table to the right of the sponge. | END"]}
{"id": "trial_T20190906_171737_893197-3", "input": "Put a mug with a knife in it on the table.", "output": ["STEP 1: Turn to the left and face the green table. | STEP 2: Pick the butter knife up from behind the cup. | STEP 3: Bring the butter knife over to the stove and look up at the cabinet. | STEP 4: Put the butter knife in the black mug in the cabinet. | STEP 5: Pick up the black mug with the butter knife in it. | STEP 6: Go back over to the green table, stand between it and the fridge and turn left to face the table. | STEP 7: Put the mug down on the edge of the table in front of the spatula with the black handle. | END"]}
{"id": "trial_T20190906_171737_893197-4", "input": "Put a mug holding a knife on the table by a sponge.", "output": ["STEP 1: Turn left and look at the items on the table. | STEP 2: Pick up the knife next to the honey. | STEP 3: Turn right and walk forward to face the cupboard above the stove. | STEP 4: Open the cupboard and put the knife in the mug that is on the shelf. | STEP 5: Pick up the mug that you placed the knife in. | STEP 6: Bring the mug and knife to chest level, then turn right and head to the table that will be on your left. | STEP 7: Place the mug holding the knife on the table to the right of the sponge. | END"]}
{"id": "trial_T20190906_162633_239128-0", "input": "Put two scoops in the top drawer to the left of the stove.", "output": ["STEP 1: move to the island in front of the sink | STEP 2: pick up a scoop from the island | STEP 3: move to the end of the counter to the left of the stove | STEP 4: put the scoop in the top drawer | STEP 5: move to the island in front of the sink behind you | STEP 6: pick up a scoop from the island | STEP 7: move to the end of the counter to the left of the stove | STEP 8: put the scoop in the top drawer | END"]}
{"id": "trial_T20190906_162633_239128-3", "input": "Put the spoons on the counter in the top left kitchen drawer.", "output": ["STEP 1: Turn left, walk forward, turn right, walk forward, stand at the end of the counter near the phone. | STEP 2: Pick up the spoon | STEP 3: Turn right, walk forward, turn left, walk forward, stand in front of the drawers at the end of the counter. | STEP 4: Open the top left drawer and put the spoon inside, then close the drawer. | STEP 5: Turn around and face the counter in front of the other spoon. | STEP 6: Pick up the spoon. | STEP 7: Turn around and face the drawers again. | STEP 8: Open the top left drawer again and place the spoon inside. | END"]}
{"id": "trial_T20190906_162633_239128-4", "input": "Put two measuring cups in a drawer.", "output": ["STEP 1: Turn left and take a few steps, then walk right to the far side kitchen island by the sink. | STEP 2: Pick up the measuring spoon. | STEP 3: Walk to the right of the island and go to the furthest part of the counter. | STEP 4: Put the measuring cup in the top drawer. | STEP 5: Turn around and take a step. | STEP 6: Pick up the measuring cup on the counter. | STEP 7: Turn around and look at the same part of the counter as before. | STEP 8: Put this measuring cup in the same drawer as the other one. | END"]}
{"id": "trial_T20190906_162633_239128-5", "input": "Put all the gold spoons with blue handles in the bottom drawer to the left of the stove top.", "output": ["STEP 1: Turn the left, walk straight, turn right, walk to the sink, then turn around to the island counter. | STEP 2: Pick up the gold spoon spoon with blue handle. | STEP 3: Walk right, then turn left and walks to the counter to the left of the stove top. | STEP 4: Put the spoon in the drawer below the counter. | STEP 5: Turn around and face the island counter. | STEP 6: Pick up the gold spoon spoon with blue handle. | STEP 7: Turn around and face the counter to the left of the stove top. | STEP 8: Put the spoon in the drawer below the counter. | END"]}
{"id": "trial_T20190909_125044_751686-0", "input": "Slice lettuce, chill, remove, and place in the green container.", "output": ["STEP 1: Torn around towards the island. | STEP 2: Pick up the knife next to the right of large scoop on the island. | STEP 3: Move to your right around the island to the left side of the stool. | STEP 4: Slice the head of lettuce on the island . | STEP 5: Move around the stool to your right. | STEP 6: Place the knife on the island beside the lettuce. | STEP 7: Move back around the stool to your left. | STEP 8: Pick up a slice of lettuce on the counter. | STEP 9: Turn to your right and go to the refrigerator. | STEP 10: Put the slice of lettuce on the second shelf below the tomatoes, let chill, remove, and close refrigerator. | STEP 11: Turn around and go to the green container to the left of the stove. | STEP 12: Place the lettuce into the container. | END"]}
{"id": "trial_T20190909_125044_751686-2", "input": "TO cool a lettuce slice and place it in the trash can.", "output": ["STEP 1: Turn left and walk around to face the opposite side of the center table. | STEP 2: Pick up the knife on the center table. | STEP 3: Look down to face the lettuce on the center table. | STEP 4: Cut the lettuce on the center table into slices. | STEP 5: Take a step to the right to face the center table. | STEP 6: Place the knife on the center table. | STEP 7: Take a step to the left to face the lettuce on the center table. | STEP 8: Pick up a slice of lettuce on the center table. | STEP 9: Turn right and walk to the fridge and turn right to face it. | STEP 10: Cool the lettuce slice in the fridge and remove it. | STEP 11: Turn around and cross the room to face the trash can. | STEP 12: Place the lettuce slice in the trash can. | END"]}
{"id": "trial_T20190908_102945_740809-1", "input": "Put washed soap on the toilet tank lid. ", "output": ["STEP 1: Move to the toilet on the left. | STEP 2: Pick up the soap on the toilet tank lid.  | STEP 3: Turn around, bring the soap to the sink.  | STEP 4: Wash the soap in the sink with water.  | STEP 5: Turn around, bring the soap back to the toilet. | STEP 6: Put the soap back on the toilet tank lid. | END"]}
{"id": "trial_T20190909_005335_070230-2", "input": "Chill an egg in the fridge. ", "output": ["STEP 1: Turn to the left and face the counter. | STEP 2: Open the microwave and take out the egg. Close the microwave.  | STEP 3: Turn to the right and walk forward to the oven. Make a right at the oven and head to the fridge.  | STEP 4: Open the fridge and place the egg inside. Close the fridge and chill the egg. Open the fridge and take out the egg.  | STEP 5: Turn and walk to the right with the egg. Turn around and walk forward to the other side of the kitchen. | STEP 6: Place the egg on the counter that is to your right.  | END"]}
{"id": "trial_T20190909_053544_571127-0", "input": "Place a roll of toilet paper on a toilet paper holder.", "output": ["STEP 1: Turn around and walk left to the toilet. | STEP 2: Pick up the toilet paper out of the green bin. | STEP 3: Turn left to face the wall. | STEP 4: Place the toilet paper on the toilet paper holder. | END"]}
{"id": "trial_T20190907_231015_732698-0", "input": "Move a cell phone to the desk from the bed.", "output": ["STEP 1: Turn to face the bed. | STEP 2: Pick up the cell phone from the bed. | STEP 3: Carry the phone to the desk in the corner, left of the bed. | STEP 4: Place the phone on the desk in front of the laptop. | END"]}
{"id": "trial_T20190918_191427_898622-0", "input": "Slice a potato, cool it off upon preparing it in the microwave.", "output": ["STEP 1: Turn right towards the white table | STEP 2: Pick up the knife next to the spoon | STEP 3: Turn to the right and walk across the room and turn right moving forward towards the sink | STEP 4: Slice potato in sink | STEP 5: Put down knife by sticking in first slice of potato | STEP 6: Pick up a slice of a potato | STEP 7: Turn right move forward across the room and turn left facing the fridge | STEP 8: Open up fridge and place potato slice inside for 3 seconds to cool off. | STEP 9: Take out potato slice and turn left. Move forward and turn right towards red microwave. | STEP 10: Open microwave and place potato slice inside with apple remaining inside. | END"]}
{"id": "trial_T20190912_045206_612064-2", "input": "pick up knife, cut potato, cook in microwave, place in the fridge ", "output": ["STEP 1: turn left to the counter | STEP 2: pick up the knife from the counter | STEP 3: turn left, turn right to the sink | STEP 4: cut potato with the knife | STEP 5: turn right, walk straight to the microwave  | STEP 6: open door, place knife on shelf, close door | STEP 7: turn around, turn right to the sink | STEP 8: pick up potato from the sink | STEP 9: turn right to the microwave | STEP 10: open door, place potato on shelf, close door, cook, open door, remove potato, close door | STEP 11: turn right, turn left to the fridge | STEP 12: open door, put potato on shelf, close door | END"]}
{"id": "trial_T20190906_194056_557446-2", "input": "Put the credit card in the box, move the box to the sofa with white pillow", "output": ["STEP 1: Turn around, walk to the corner with end table | STEP 2: Grab the credit card on the table | STEP 3: Turn around, and turn left to the sofa, | STEP 4: Put the credit card in the box on the sofa | STEP 5: Take the whole box with card in it | STEP 6: Turn around, walk to the sofa with white pillow on it | STEP 7: Put the box down on the sofa by the white pillow | END"]}
{"id": "trial_T20190907_121849_514225-0", "input": "Place the two purple pillows from the bed on to the chair.", "output": ["STEP 1: Take a step to the left. | STEP 2: Pick up the purple pillow closest to you. | STEP 3: Turn left and walk towards the sofa chair on your right. | STEP 4: Place the pillow on the chair. | STEP 5: Turn right and head towards the other pillow on the bed. | STEP 6: Pick up the pillow from the bed. | STEP 7: Turn left and walk towards the sofa chair on your right. | STEP 8: Place the pillow on the chair. | END"]}
{"id": "trial_T20190907_121849_514225-1", "input": "Move the purple pillows to the arm chair from the bed.", "output": ["STEP 1: Move to the middle of the bed in front of you | STEP 2: Pick up a pillow from the bed. | STEP 3: Move to the arm chair in the left corner to the left of you, | STEP 4: Place the pillow on the arm chair. | STEP 5: Move to the foot of the bed to your right. | STEP 6: Pick up the second pillow from the bed. | STEP 7: Move to the arm chair to the left of you. | STEP 8: Place the pillow on the arm chair next to the other one. | END"]}
{"id": "trial_T20190907_121849_514225-3", "input": "To move two pillows from the bed to the chair. ", "output": ["STEP 1: Move in front of the pillow that's on the bed and to the left.  | STEP 2: Pick up the pillow on the left.  | STEP 3: Turn left and walk in front of the chair that is next to the window.  | STEP 4: Put the pillow on the chair next to the keys.  | STEP 5: Walk back to the front of the bed.  | STEP 6: Pick up the remaining pillow on the bed.  | STEP 7: Walk back to the chair next to the window.  | STEP 8: place the pillow on the chair to the right of the first pillow.  | END"]}
{"id": "trial_T20190907_121849_514225-4", "input": "To move two cushions from the bed to the brown chair. ", "output": ["STEP 1: Move in front of the left cushion on the bed.  | STEP 2: Pick up the cushion that's to the right of the lap top.  | STEP 3: Turn left and walk to the brown chair to the right of the window.  | STEP 4: Place the cushion on the brown chair right next to the keys.  | STEP 5: Turn right and walk back to the foot of the bed.  | STEP 6: Pick up the remaining cushion from the right edge of the bed.  | STEP 7: Turn left and walk back to the chair to the right of the window.  | STEP 8: Place the cushion on the brown chair to the right of the first cushion.  | END"]}
{"id": "trial_T20190907_121849_514225-5", "input": "Put two pillows on a chair. ", "output": ["STEP 1: Turn to the left, go forward, turn to face the bed.  | STEP 2: Pick up the leftmost purple pillow on the bed.  | STEP 3: Turn to the left, go to the wall, turn to the right, go to the chair.  | STEP 4: Put the pillow on the left side of the chair cushion.  | STEP 5: Turn around, go to the bed, turn right, go to the end of the bed, turn left, go to the far side of the bed.   | STEP 6: Pick up the purple pillow that is on the bed.  | STEP 7: Turn left, go to the wall, turn right, go to the chair.  | STEP 8: Put the pillow on the chair to the right of the other pillow.  | END"]}
{"id": "trial_T20190909_011831_297911-2", "input": "Pick up a box from the floor and place it on a table.", "output": ["STEP 1: Walk behind you to the box next to the chair. | STEP 2: Grab the box from the floor. | STEP 3: Walk to the edge of the coffee table. | STEP 4: Put the box on the table. | END"]}
{"id": "trial_T20190908_230034_049509-0", "input": "Put a heated mug in the cupboard above the microwave", "output": ["STEP 1: Turn right, then left then right and go towards the fridge, then turn left and go to the sink | STEP 2: Pick up the mug from the counter | STEP 3: Turn right and go to the microwave | STEP 4: Heat the mug in the microwave with the fruit then take the mug out of the microwave | STEP 5: Lift the mug up high towards the cupboard above the microwave | STEP 6: Put the mug in the cupboard next to the bowl | END"]}
{"id": "trial_T20190908_230034_049509-2", "input": "Put a heated mug in the cabinet.", "output": ["STEP 1: Cross the room to the left and stand in front of the sink. | STEP 2: Pick the white mug up from the sink. | STEP 3: Turn to the right and face the microwave. | STEP 4: Put the mug in the microwave and shut the door and then open the door and grab the mug and shut the door again. | STEP 5: Look up and face the large cabinet above the microwave. | STEP 6: Put the mug in the cabinet above the microwave with a silver bowl. | END"]}
{"id": "trial_T20190907_183558_357272-0", "input": "Place a cleaned cloth towel in a bath tub basin.", "output": ["STEP 1: Walk forward to the bath tub. | STEP 2: Pick up the cloth towel out of the bath tub. | STEP 3: Turn around and walk to the sink on the right. | STEP 4: Put the cloth towel in the sink, rinse it off, and take it back out. | STEP 5: Turn right and walk back to the bath tub. | STEP 6: Put the cloth towel back in the bath tub basin. | END"]}
{"id": "trial_T20190907_182537_311747-1", "input": "Put the plunger in the cabinet.", "output": ["STEP 1: Turn right, go forward, then turn right to face the toilet. | STEP 2: Pick up the plunger, to the left of the toilet. | STEP 3: Turn around, move forward, then turn right to face the cabinet. | STEP 4: Put the plunger in the cabinet in front of you. | END"]}
{"id": "trial_T20190908_055133_720168-1", "input": "Put a washed soap away in a cabinet. ", "output": ["STEP 1: Move forward to the trash can. | STEP 2: Pick up the soap from the trash can.  | STEP 3: Move right with the soap and face the sink on the right.  | STEP 4: Wash the soap in the sink with water.  | STEP 5: Bring the washed soap to the right cabinet under the right sink.  | STEP 6: Put the washed soap in the right cabinet under the right sink.  | END"]}
{"id": "trial_T20190907_013411_373772-1", "input": "To ultimately cook tomatoes in the microwave.", "output": ["STEP 1: Move to the left end of the white table where there are two tomatoes and utensils. | STEP 2: Pick up the knife that is on the table.  | STEP 3: Slice the tomato on the left side.  | STEP 4: Move down to the very end of the table.  | STEP 5: Slice the tomato on the right side.  | STEP 6: Move across the room to the microwave. | STEP 7: Put the knife inside the microwave. | STEP 8: Return to the table with the tomatoes. | STEP 9: Pick up the tomatoes off of the table.  | STEP 10: Move to the microwave and open the door.  | STEP 11: Place the tomatoes inside the microwave. | STEP 12: Close the door. Move back to the white table with the tomatoes. | STEP 13: Pick up another slice of tomato that is on the counter.  | STEP 14: Move back to the microwave and open the door.  | STEP 15: Put the tomato in the microwave and close the door. | END"]}
{"id": "trial_T20190908_061939_482230-2", "input": "Grab two cards from the dresser, put them in the bookcase", "output": ["STEP 1: Walk towards the dresser | STEP 2: Grab a card from the dresser | STEP 3: Walk towards the bookcase | STEP 4: Put the card in top of the cd inside the bookcase | STEP 5: Walk to the dresser | STEP 6: Grab a card from the dresser | STEP 7: Walk towards the bookcase | STEP 8: Put card next to the cd | END"]}
{"id": "trial_T20190906_204204_985533-0", "input": "The robot must be accurate at both the spoon,the  bowl to be handled. ", "output": ["STEP 1: Take the path across the room in a straight walk to the white door. Turn left to the  counter. | STEP 2: Take the spoon only in hand. | STEP 3: Take an right and an right again with the spoon. Place at the bowl behind in the stove plate. | STEP 4: Pick the two up together in hand. | STEP 5: Turn all the way around. | STEP 6: Turn left and turn to the right across the room for the white table. | STEP 7: Drop the bowl and spoon down on the table. | END"]}
{"id": "trial_T20190908_205123_811559-0", "input": "Put the cooked egg in the kitchen sink", "output": ["STEP 1: Walk forward then turn right and walk up to the counter right of the stove | STEP 2: Pick up the egg from the counter | STEP 3: Turn around and walk up to the microwave | STEP 4: Cook the egg in the microwave then remove it | STEP 5: Turn left to face the kitchen sink | STEP 6: Put the egg in the sink | END"]}
{"id": "trial_T20190907_154342_470127-0", "input": "Place a slice of heated slice of bread in front of the toaster.", "output": ["STEP 1: Turn right and walk straight towards the counter in between the sink and microwave. | STEP 2: Pick up the yellow knife in front of the spatula on the counter. | STEP 3: Turn right and head towards the loaf of bread next to the stove on your left. | STEP 4: Slice a piece of bread on the counter. | STEP 5: Place the knife on the counter. | STEP 6: Pick up the slice of bread from the counter. | STEP 7: Turn left and walk towards the microwave on  the counter to your left. | STEP 8: Place the bread in the microwave, heat it cup, and take it out of the microwave. | STEP 9: Turn left and walk towards the toaster on the counter to your left. | STEP 10: Place the slice of in front of the toaster on the counter. | END"]}
{"id": "trial_T20190907_154342_470127-2", "input": "Place a warm piece of bread by the toaster.", "output": ["STEP 1: Walk to your right to reach the counter top to the right of the sink. | STEP 2: Pick up the knife to the left of the tomato. | STEP 3: Turn left, hang a left at the wall with the window and head to the counter with the bread. | STEP 4: Slice the loaf of bread on the counter top. | STEP 5: Put the knife down in front of the loaf of bread. | STEP 6: Pick up the slice of bread closest to the knife on the counter top. | STEP 7: Turn left, hang a left before the white table and head to the microwave. | STEP 8: Place the bread inside the microwave, heat it for three seconds, remove the bread from the microwave and close the door. | STEP 9: Turn left and hang a left at the sink to head to the red toaster on the counter top. | STEP 10: Place the bread slice in front of the toaster on the counter. | END"]}
{"id": "trial_T20190907_154342_470127-4", "input": "Place a slice of microwaved bread onto the counter.", "output": ["STEP 1: Turn right, move to the counter between the sink and the microwave. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn left, move to the counter right of the stove. | STEP 4: Slice the bread with the knife. | STEP 5: Put the knife on the counter. | STEP 6: Pick up a slice of bread. | STEP 7: Turn left, move to the counter where the microwave is. | STEP 8: Put the bread slice in the microwave, cook it, pick it back up. | STEP 9: Turn left, move to the counter where the toaster is. | STEP 10: Put the bread slice on the counter. | END"]}
{"id": "trial_T20190907_154342_470127-5", "input": "Move a warmed slice of bread to the counter in front of the toaster. ", "output": ["STEP 1: Move to stand in front of the counter between the kitchen sink and microwave.  | STEP 2: Pick up the sharp knife from the counter.  | STEP 3: Carry the knife to the small counter space to the right of the stove.  | STEP 4: Slice the loaf of bread on the counter using the knife.  | STEP 5: Place the knife on the counter in front of the loaf of bread.  | STEP 6: Pick up the end slice of bread from the counter.  | STEP 7: Carry the slice of bread to the microwave.  | STEP 8: Place the bread inside the microwave and then remove it once it's done heating.  | STEP 9: Turn and carry the slice of bread to the counter where the toaster is.  | STEP 10: Place the slice of bread on the counter in front of the toaster. | END"]}
{"id": "trial_T20190906_192355_012668-2", "input": "Put the two candles in the bathroom onto the bottom shelf of the organizer", "output": ["STEP 1: Move to the left side of sink | STEP 2: Pick up candle from off the counter | STEP 3: Move to bathroom organizer to the right of the bath tub | STEP 4: Place candle onto the bottom shelf of the organizer | STEP 5: Move to drawers to the left of the sink | STEP 6: Pick up candle from off of the drawers top | STEP 7: Move to the organizer behind you | STEP 8: Place candle onto the bathroom organizer next to the other one | END"]}
{"id": "trial_T20190908_070132_986208-0", "input": "Put a microwaved slice of bread in the refrigerator. ", "output": ["STEP 1: Go to the counter with the microwave on the right.  | STEP 2: Pick up the yellow knife on the counter. | STEP 3: Turn around and go to the round wooden table. | STEP 4: Slice the bread on the table. | STEP 5: Turn around to go to the front of the refrigerator on the right.  | STEP 6: Place the knife in front of the lettuce in the refrigerator. | STEP 7: Turn right to go back to the round wooden table with bread on it. | STEP 8: Pick up one slice of bread | STEP 9: Turn right to go to the microwave on the counter. | STEP 10: Microwave the slice of bread and take it out.  | STEP 11: Turn around to go to the front of the refrigerator.  | STEP 12: Place the bread slice in the refrigerator on the shelf below the knife and the lettuce  | END"]}
{"id": "trial_T20190908_070132_986208-2", "input": "Warming bread and putting it in the fridge", "output": ["STEP 1: Go straight and turn right towards the counter with the microwave | STEP 2: Pick up the knife to the left of the sponge | STEP 3: Turn around and go in between the table and fridge then turn right towards the table | STEP 4: Slice half of the loaf of bread | STEP 5: Turn right and move to the fridge | STEP 6: Open the fridge doors and put the knife on the shelf under where the lettuce is | STEP 7: Turn around and go back to the table | STEP 8: Pick up a slice of bread | STEP 9: Turn right and go towards the cabinet with the microwave | STEP 10: Open the microwave and place the bread inside, close the microwave, turn it on, wait, open microwave and pull out the bread, close the microwave | STEP 11: Turn around and move to the fridge | STEP 12: Open the fridge, place the bread on the middle shelf, close the fridge door | END"]}
{"id": "trial_T20190907_081023_514472-0", "input": "move the golden cup from the counter to the sink", "output": ["STEP 1: walk to the counter between the refrigerator and the stove | STEP 2: grab the golden cup in the back on the counter | STEP 3: turn around, walk to the sink | STEP 4: put the golden cup in the sink | END"]}
{"id": "trial_T20190907_081023_514472-1", "input": "Put an orange cup in the sink. ", "output": ["STEP 1: Move forward to the toaster on the counter. | STEP 2: Pick up the orange cup on the counter.  | STEP 3: Turn around and bring the cup to the sink on the right.  | STEP 4: Put the cup in the sink. | END"]}
{"id": "trial_T20190907_061937_642594-2", "input": "Place the potato slice in the sink.", "output": ["STEP 1: Turn around and head towards the kitchen sink. | STEP 2: Pick up knife that's on the floor. | STEP 3: Turn around and head towards door, turn left to face fridge. | STEP 4: Open fridge, slice potato on middle shelf, close the fridge door. | STEP 5: Turn left, walk up, turn right to face microwave. | STEP 6: Open microwave and place knife inside, close microwave. | STEP 7: Return to fridge and open door. | STEP 8: Take first slice of potato from fridge and close door. | STEP 9: Head towards the kitchen sink of the left. | STEP 10: Put the potato in the sink. | END"]}
{"id": "trial_T20190907_061937_642594-3", "input": "Putting a potato slice in the sink", "output": ["STEP 1: Turn around and face the ground | STEP 2: Grab the knife that is on the ground | STEP 3: Turn around and head to the fridge | STEP 4: Open the fridge and cut the potato in half | STEP 5: Turn left and stop at the microwave | STEP 6: Put the knife in the microwave | STEP 7: Turn right and stop at the fridge | STEP 8: Open the fridge and grab one of the potato slices | STEP 9: Turn left and head to the sink | STEP 10: Put the potato in the sink | END"]}
{"id": "trial_T20190918_142641_912513-1", "input": "Slice both potatoes, bring a slice from second potato on the small corner table.", "output": ["STEP 1: Walk towards the counter | STEP 2: Pick up potato from plastic bin under the counter | STEP 3: Walk with potato towards small table on the corner | STEP 4: Set potato in the corner table | STEP 5: Walk towards white table | STEP 6: Pick up yellow knife from white table | STEP 7: Walk with yellow knife towards small table in the corner | STEP 8: Slice potato on the small corner table | STEP 9: Walk with knife towards counter next to stove | STEP 10: Slice potato on counter next to stove | STEP 11: Put knife on counter with the  | STEP 12: Take a slice of potato from the potato | STEP 13: Walk with the slice of potato towards the small corner table | STEP 14: Set the slice of potato on the corner table | END"]}
{"id": "trial_T20190907_134601_301922-1", "input": "Place the knife in a cup in front of the toaster.", "output": ["STEP 1: Turn left towards the stove and then turn left towards the middle of the table to your left. | STEP 2: Pick up the knife in front of the white cup. | STEP 3: Turn left, walk towards the dishwasher and look up above the counter to find the cabinets. | STEP 4: Open the right cabinet door and place the knife in the cup inside. | STEP 5: Take the cup out of the cabinet and close the door. | STEP 6: Take a step to the left to face the toaster on the cabinet. | STEP 7: Place the cup in front of the toaster. | END"]}
{"id": "trial_T20190907_134601_301922-3", "input": "Place a mug with the spoon in it on the kitchen counter", "output": ["STEP 1: Turn around and then turn to your left to face the table | STEP 2: Pick up a knife off of the table | STEP 3: Turn to your left until you are facing the right cabinet | STEP 4: Open the cabinet and put the knife in a mug | STEP 5: Pick up the mug with the knife in and close the cabinet | STEP 6: Move to your left so you are now facing the toaster | STEP 7: Place the mug with the spoon in it on the kitchen counter | END"]}
{"id": "trial_T20190909_153604_287800-2", "input": "Put a cold tomato in a garbage can.", "output": ["STEP 1: Go forward, turn around to the blue garbage can next to the fridge. | STEP 2: Pick up the tomato that is in the garbage can. | STEP 3: Turn around, go to the left to the fridge. | STEP 4: Put the tomato in the fridge and close the door, remove it once it is cold.  | STEP 5: Turn to the left, go to the garbage can to the left of the fridge. | STEP 6: Put the tomato in the garbage can. | END"]}
{"id": "trial_T20190909_085207_886285-2", "input": "Hold a book and turn on the lamp.", "output": ["STEP 1: Turn to the right and then right again. Face the bed on the right side. | STEP 2: Pick up the book from the left front side of the bed. | STEP 3: Hold the book and turn around to the small table. | STEP 4: Hold the book and turn on the lamp. | END"]}
{"id": "trial_T20190909_033656_757924-0", "input": "Put a cup with water in it in the microwave.", "output": ["STEP 1: Move forward toward the kitchen island, then turn right and go toward the stove, then go to the counter to the left of the stove. | STEP 2: Pick up the cup from the counter. | STEP 3: Turn around and move forward, then turn left to go to the sink. | STEP 4: Fill the cup with water in the sink. | STEP 5: Turn around and go forward to the wall, then turn left and go straight to the microwave. | STEP 6: Put the cup in the microwave. | END"]}
{"id": "trial_T20190909_033656_757924-1", "input": "To fill a mug with water and put it in the microwave. ", "output": ["STEP 1: Turn right and walk to the counter to the left of the stove,  | STEP 2: Pick up the mug to the right of the knife.  | STEP 3: Walk to think sink on the right.  | STEP 4: Put the mug in the sink, fill the mug with water, pick up the mug.  | STEP 5: Turn around and walk over to the microwave.  | STEP 6: Put the mug inside of the microwave.  | END"]}
{"id": "trial_T20190908_174632_551228-0", "input": "Put a piece of cold bread in the trash.", "output": ["STEP 1: Turn and go to the counter by the microwave. | STEP 2: Pick up a butter knife on the counter. | STEP 3: Go to the counter next to the toaster. | STEP 4: Slice the bread on the counter. | STEP 5: Go across the room to the fridge. | STEP 6: Put the knife in the fridge. | STEP 7: Go back to the counter with the toaster on it. | STEP 8: Pick up a slice of bread. | STEP 9: Go across the room to the fridge. | STEP 10: Put the bread in the fridge to cool it off. | STEP 11: Go to the trash bin at the end of the counter. | STEP 12: Put the cold bread in the trash bin. | END"]}
{"id": "trial_T20190908_232253_707931-0", "input": "Pick up the knife and glass cup and put them into the sink.", "output": ["STEP 1: Turn around and move to the right of the stove. | STEP 2: Pick up the butter knife off of the counter. | STEP 3: Turn around and move to the wooden table on the opposite corner of the room. | STEP 4: Place the knife into the glass cup. | STEP 5: Pick up the glass cup with the knife inside. | STEP 6: Turn to the right and move to the sink. | STEP 7: Place the glass cup with the knife inside into the sink. | END"]}
{"id": "trial_T20190908_232253_707931-2", "input": "Put a cup with a knife in it in the sink.", "output": ["STEP 1: Turn around and walk and stand in front of the stove to your right. | STEP 2: Pick up the butter knife that's to the right of the stove. | STEP 3: Turn left and take three steps then take two steps to your left and walk to the table that's in front of you with the mug on it. . | STEP 4: Put the knife in the clear cup that's above the mug. | STEP 5: Pick up the glass with the knife in it. | STEP 6: Turn right and walk to the sink then take a small step to the left. | STEP 7: Put the cup in the sink. | END"]}
{"id": "trial_T20190911_084342_641678-0", "input": "Put two watches on a coffee table.", "output": ["STEP 1: Turn around, go forward, turn right to the statue on the dresser. Go to the dresser. | STEP 2: Take the watch from behind the statue on the dresser. | STEP 3: Turn left, go forward to the wall, turn left, go forward, turn left to the coffee table. | STEP 4: Put the watch on the coffee table to the right of the computer. | STEP 5: Turn left, go forward to the wall, turn right. | STEP 6: Take the watch from the small table. | STEP 7: Turn right, go forward, turn left to the coffee table. | STEP 8: Put the watch on the coffee table behind the first watch. | END"]}
{"id": "trial_T20190909_083219_380609-2", "input": "Put a cold tomato in the trash can.", "output": ["STEP 1: Turn around and walk to the stove then turn left and walk to the end of the counter then turn right to face the grey trash can. | STEP 2: Take the tomato from the trash can. | STEP 3: Turn right and walk to the dishwasher then turn right and walk to the fridge. | STEP 4: Cool the tomato in the fridge then take it out. | STEP 5: Turn around and walk to the stove then turn right and walk to the grey trash can. | STEP 6: Put the tomato in the trash can. | END"]}
{"id": "trial_T20190907_153919_635668-0", "input": "Put the clean spatula in the drawer. ", "output": ["STEP 1: Turn right, walk across the room to the counter, and turn right. | STEP 2: Pick up the spatula next to the potatoes.  | STEP 3: Turn right, take a few steps, turn left to face the sink.  | STEP 4: Put the spatula in the sink, turn on the water, turn off the water, pick up the spatula.  | STEP 5: Turn left to face the counter against the other wall.  | STEP 6: Open the top drawer under the potato, put the spatula in the drawer, close the drawer. | END"]}
{"id": "trial_T20190907_073822_397767-0", "input": "Examine a credit card next to the light of a tall lamp.", "output": ["STEP 1: Turn right, head towards the sofa, and then turn right towards the coffee table on your right. | STEP 2: Pick up the credit card on the table. | STEP 3: Turn left and walk towards the tall lamp next to the sofa. | STEP 4: Turn on the lamp. | END"]}
{"id": "trial_T20190909_090601_448530-1", "input": "Put a chilled bowl in the cabinet above the fridge.", "output": ["STEP 1: Turn right, go across the room, turn right and then turn left to face the bowl on the counter. | STEP 2: Pick up the bowl on the counter. | STEP 3: Turn left and go to the fridge. | STEP 4: Chill the bowl in the fridge and then take it back out. | STEP 5: Look up at the cabinet above the fridge. | STEP 6: Put the bowl in the right cabinet above the fridge. | END"]}
{"id": "trial_T20190908_103506_064692-2", "input": "Get spoon from back of sink, put in bowl in refrigerator, put bowl and spoon on table.", "output": ["STEP 1: Turn right, go until between counter and sink.  Turn left to face counter and sink. | STEP 2: Pick up spoon front the back of the sink, behind the apple. | STEP 3: Turn right, proceed across room, turn left, go to refrigerator. | STEP 4: Open refrigerator, put spoon in bowl on middle shelf. | STEP 5: Pick up bowl and spoon from refrigerator.  Shut refrigerator. | STEP 6: Turn around, proceed to table across room. | STEP 7: Place bowl and spoon on table, below fork, to the left of the lettuce. | END"]}
{"id": "trial_T20190909_005249_575405-2", "input": "Place the knife on the square plate on the white table behind the box on the right.", "output": ["STEP 1: Go to the left then straight to face the black shelf in the corner. | STEP 2: Pick the yellow knife up from off of the shelf. | STEP 3: Place the knife on the square plate. | STEP 4: Pick the square plate up from off of the black shelf. | STEP 5: Move to the right to face the white table. | STEP 6: Place the knife on the plate behind the box on the right. | END"]}
{"id": "trial_T20190908_005144_131948-2", "input": "Stand a racket on a desk. ", "output": ["STEP 1: Move forward to between the two wooden posts, turn left, head towards the tennis racket | STEP 2: Pick up the tennis racket on the floor. | STEP 3: Turn around, bring the racket to the desk across the room. | STEP 4: Stand the racket on the desk.  | END"]}
{"id": "trial_T20190908_022008_075057-2", "input": "get an egg, wash it in the sink to take to the table.", "output": ["STEP 1: go to the counter and face the toaster | STEP 2: pick up the egg from the counter | STEP 3: take the egg to the sink | STEP 4: wash the egg in the sink and take back out | STEP 5: take the egg to the white dining table | STEP 6: place the egg on the table to the left of the knife | END"]}
{"id": "trial_T20190908_110733_015285-0", "input": "Place two lap tops side by side on the bed.", "output": ["STEP 1: Turn around and walk towards the door, then turn left and enter the bathroom. | STEP 2: Close and pick up the lap top in the middle | STEP 3: Turn around and walk out the bathroom, turn right and walk past the bed towards the green chair, turn right and walk towards the bed. | STEP 4: Place the lap top on the bed.  | STEP 5: Turn around and walk towards the green chair by the window, then turn right.  | STEP 6: Close and pick up the lap top in the green chair.  | STEP 7: Turn right and walk towards the bed. | STEP 8: Place the lap top on the right side of the other one. | END"]}
{"id": "trial_T20190908_110733_015285-1", "input": "Put two computers on the bed. ", "output": ["STEP 1: Turn around and head towards the door, then turn left and head towards the computers on the shelf.  | STEP 2: Pick up the left computer on the shelf.  | STEP 3: Turn around and head to the foot of the bed on the right.  | STEP 4: Put the computer on the bed.  | STEP 5: Turn around and go to the green chair. on the right. | STEP 6: Pick up the compute on the chair.  | STEP 7: Turn right and bring the computer to the bed.  | STEP 8: Put the computer on the bed, to the right of the other computer.  | END"]}
{"id": "trial_T20190908_110733_015285-4", "input": "Put two laptops on the bed.", "output": ["STEP 1: Turn left and take a step then turn left and walk to the middle of the tiles to your left then turn left and walk to the counter. | STEP 2: Close the middle laptop and pick it up. | STEP 3: Turn around and walk past the wall to your right and when you do turn right and walk past the bed then turn right and walk to the middle of this side of the bed and turn right. | STEP 4: Put the laptop on the bed. | STEP 5: Walk back to where you got the first laptop. | STEP 6: Close the laptop and pick it up. | STEP 7: Walk back to where you put the first laptop. | STEP 8: Put the laptop you're holding on the bed. | END"]}
{"id": "trial_T20190907_165133_211823-0", "input": "Heat a cup and place it on the table.", "output": ["STEP 1: Turn around a find the small black table in the corner. | STEP 2: Pick up the cup from the back right of the table. | STEP 3: Take the cup and turn around and go left to locate the stove. | STEP 4: Put the cup in the microwave and turn it on. When finished, take it back out. | STEP 5: Take the cup and turn around and go back to the small table on the right. | STEP 6: Place the cup on the table, behind the knife. | END"]}
{"id": "trial_T20190907_030820_688283-1", "input": "place a microwaved potato on top of the kitchen table", "output": ["STEP 1: walk on over to the kitchen sink | STEP 2: grab the potato off of the left sink | STEP 3: turn a bit and walk over to the stove | STEP 4: put the potato in the microwave above the stove too cook, then take it back out | STEP 5: turn around and walk over to the kitchen table | STEP 6: place the cooked potato on top of the table | END"]}
{"id": "trial_T20190907_030820_688283-2", "input": "Put a heated potato on the table. ", "output": ["STEP 1: Move to the sink. | STEP 2: Pick up the potato on the sink.  | STEP 3: Bring the potato to the microwave.  | STEP 4: Heat the potato in the microwave.  | STEP 5: Bring the potato to the table.  | STEP 6: Put the potato on the table next to the book.  | END"]}
{"id": "trial_T20190907_032644_545223-0", "input": "Put a cup with a spoon in it on a table.", "output": ["STEP 1: Walk straight ahead to the toaster. | STEP 2: Pick up the spoon on the counter. | STEP 3: Walk right to the fridge. | STEP 4: Place the spoon in the cup in the fridge. | STEP 5: Pick up the cup with the spoon in it. | STEP 6: Turn around and forward to the table against the wall. | STEP 7: Put the cup on the table in front of the bread and to the left of the leftmost wine bottle. | END"]}
{"id": "trial_T20190907_032644_545223-1", "input": "Setting the table with a cold glass & spoon.", "output": ["STEP 1: Turn to the right and move to the counter with the toaster by the fridge. | STEP 2: Pick up the spoon in front of the toaster.  | STEP 3: Move to the right to the fridge. Open the door.  | STEP 4: Put the spoon in the wine glass.  | STEP 5: Pick up the wine glass from the shelf. Close the door,  | STEP 6: Turn around. Move to the white table across the room. | STEP 7: Place the glass with the spoon inside on the table.  | END"]}
{"id": "trial_T20190907_155502_604907-0", "input": "Take the newspapers on the chair and the TV stand to the coffee table.", "output": ["STEP 1: Turn around and move to the TV stand across the room next to the recycling bin. | STEP 2: Pick up the newspaper on the TV stand. | STEP 3: Turn around and go to the coffee table in the living room. | STEP 4: Place the newspaper on the coffee table. | STEP 5: Turn around and go to the black chair in the corner of the room. | STEP 6: Pick up the newspaper on the chair. | STEP 7: Turn to your right and go to the coffee table in the living room. | STEP 8: place the newspaper on the coffee table to the left of the other newspaper. | END"]}
{"id": "trial_T20190907_155502_604907-1", "input": "Put two news papers on the coffee table.", "output": ["STEP 1: Move to the TV stand in front of the coffee table | STEP 2: Pick up the paper from the stand  | STEP 3: Move to the coffee table in the middle of the room | STEP 4: Put the paper on the table | STEP 5: Move to the arm chair to the right of the TV | STEP 6: Pick up the paper from the chair | STEP 7: Move to the coffee table in the middle of the room | STEP 8: Put the paper on the table | END"]}
{"id": "trial_T20190911_065703_992416-2", "input": "Put a tomato on a plate next to the coffee maker.", "output": ["STEP 1: Turn around and walk across the room to the counter with the microwave. | STEP 2: Pick up the tomato from the counter. | STEP 3: Move over a few inches towards the corner of the counter. | STEP 4: Put the tomato on the plate in the upper cabinet on the left. | STEP 5: Take the plate with tomato out of the cabinet. | STEP 6: Turn left toward the coffee pot. | STEP 7: Set the plate to the left of the coffee maker. | END"]}
{"id": "trial_T20190907_044547_577599-0", "input": "Put a washed knife in the drawer.", "output": ["STEP 1: Go left then turn left at the counter and go to the counter on your right. | STEP 2: Pick up the knife from the counter.  | STEP 3: Go to the sink to your left. | STEP 4: Place the knife in the sink closest to you and turn on the water.  | STEP 5: Pick up the knife out of the sink. | STEP 6: Place the knife in the first drawer to your left.  | END"]}
{"id": "trial_T20190908_035429_935829-0", "input": "To cool a slice of bread as well as store it in the microwave.", "output": ["STEP 1: Walk forward and turn left to face the end of the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn around and walk across the room to face the kitchen table. | STEP 4: Cut the loaf of bread on the table into slices. | STEP 5: Place the knife on the kitchen table. | STEP 6: Pick up the bread slice on the kitchen table. | STEP 7: Turn around and walk across the room, then turn left and walk forward to face the fridge. | STEP 8: Cool the bread slice in the fridge and then remove it. | STEP 9: Turn around and walk across the room, then turn right and look up to face the microwave. | STEP 10: Place the slice of bread in the microwave. | END"]}
{"id": "trial_T20190908_000953_647539-1", "input": "cook a potato in the microwave and put it on the dining table", "output": ["STEP 1: walk over to the front of the sink | STEP 2: take one potato out of the sink | STEP 3: walk the clean potato over to the microwave next to the fridge | STEP 4: cook the potato in the microwave | STEP 5: take the cooked potato over to the set dining table | STEP 6: gently place the potato onto the dining table | END"]}
{"id": "trial_T20190908_131044_743417-0", "input": "Examine a laptop by the light of a floor lamp.", "output": ["STEP 1: Turn right and walk to the table which is to the left of the blue sofa. | STEP 2: Pick up the laptop from the bottom shelf of the table. | STEP 3: Turn around and walk to the floor lamp which is to the left of the television. | STEP 4: Turn on the lamp. | END"]}
{"id": "trial_T20190908_131044_743417-2", "input": "Examine the laptop by the lamp.", "output": ["STEP 1: Turn right and go to the table in the corner. | STEP 2: Pick up the laptop on the shelf under the table. | STEP 3: Turn around and go to the lamp in the opposite corner. | STEP 4: Turn on the lamp. | END"]}
{"id": "trial_T20190907_190943_068577-1", "input": "Put the orange bowl with fork in the kitchen sink", "output": ["STEP 1: Turn right and walk up to the kitchen counter right of the sink | STEP 2: Pick up the fork from the counter | STEP 3: Turn around and walk over to the fridge | STEP 4: Open the fridge and put the fork in the orange bowl | STEP 5: Pick up the orange bowl from the fridge | STEP 6: Turn left and walk over to the kitchen sink | STEP 7: Put the orange bowl in the kitchen sink | END"]}
{"id": "trial_T20190906_232320_070866-1", "input": "Put a pan with lettuce in it on a table.", "output": ["STEP 1: Turn around and go to the black circular table. | STEP 2: Take the all silver knife to the right of the bread. | STEP 3: Turn right and go to the black stand in the corner next to the white table. | STEP 4: Cut the lettuce into slices. | STEP 5: Go to the white table to the right. | STEP 6: Put the knife in front of the loaf of bread. | STEP 7: Go to the black stand to the left. | STEP 8: Take a piece of lettuce from the stand. | STEP 9: Turn right go to the oven. | STEP 10: Put the lettuce in the pan on the left back burner on the stove top. | STEP 11: Take the pan from the stove top. | STEP 12: Turn around, go to the white table on the right. | STEP 13: Put the pan to the right of the knife on the table. | END"]}
{"id": "trial_T20190906_234933_757762-0", "input": "Put the chilled large pot on the wooded rack. ", "output": ["STEP 1: Move to the counter by the coffee machine. | STEP 2: Pick up the large pot from the counter.  | STEP 3: Bring the pot to the fridge. | STEP 4: Chill the pot in the fridge for a few seconds.  | STEP 5: Bring the pot to the wooden rack. | STEP 6: Put the pot on the wooden rack to the left of the red bowl.  | END"]}
{"id": "trial_T20190909_033722_340857-1", "input": "Place a rinsed head of lettuce in a trash bin.", "output": ["STEP 1: Turn right and then left, facing the short side of the table. | STEP 2: Pick up the head of lettuce on the table. | STEP 3: Turn around and walk to the sink. | STEP 4: Rinse the lettuce in the sink. | STEP 5: Turn left and walk around the counter, to the end where the trash bin is. | STEP 6: Place the lettuce in the trash bin. | END"]}
{"id": "trial_T20190909_033722_340857-2", "input": "Wash the lettuce and place it inside the green bin. ", "output": ["STEP 1: Turn right and head towards the silver table. | STEP 2: Pick up the lettuce at the edge of the table . | STEP 3: Turn around and place the lettuce inside the sink. | STEP 4: Turn on the water in the sink to wash the lettuce. | STEP 5: Turn off the faucet and pick up the lettuce in the sink. | STEP 6: Turn around and walk to the bin, place the lettuce inside the green bin | END"]}
{"id": "trial_T20190908_120125_909974-0", "input": "Move two remotes from a table to a couch", "output": ["STEP 1: Walk to the center table | STEP 2: Pick up the TV remote on the table | STEP 3: Turn to the couch | STEP 4: Put the remote on the couch between the laptops | STEP 5: Turn back to the table | STEP 6: Pick up a remote from the table | STEP 7: Walk back to the couch | STEP 8: Put the remote next to the other remote on the couch | END"]}
{"id": "trial_T20190907_231559_123727-0", "input": "get the laptop and look at it under the lamp", "output": ["STEP 1: go stand behind the open computer on the table | STEP 2: close the computer and pick it up  | STEP 3: walk the computer over to the lamp | STEP 4: turn on the lamp to look at the computer | END"]}
{"id": "trial_T20190907_231559_123727-1", "input": "Carry a laptop to the lamp, turn on lamp", "output": ["STEP 1: Move to the white table top where the laptop is on top of the table | STEP 2: Pick up the laptop on the edge of the white table | STEP 3: Carry the laptop over to the floor lamp  | STEP 4: Turn on the lamp | END"]}
{"id": "trial_T20190909_060010_825835-0", "input": "Examine a set of keys by the light of a tall lamp.", "output": ["STEP 1: Turn left, take a left at the small white table and walk to the yellow chair. | STEP 2: Pick up the set of keys from the back of the chair in the middle. | STEP 3: Turn around, hang a right at the white table and walk to the tall lamp. | STEP 4: Turn on the tall lamp. | END"]}
{"id": "trial_T20190908_152216_758421-1", "input": "Put the red cloth beside the other cloth on the tank", "output": ["STEP 1: Turn right walk forward then face the cabinet on the right below the sink | STEP 2: Open the cabinet, pick up the red cloth | STEP 3: Turn left then walk toward the toilet tank | STEP 4: Put the red cloth on the tank | STEP 5: Turn round to your right then walk forward head to the cabinet sink | STEP 6: Open the left side cabinet below the right sink and pick up the red cloth | STEP 7: Turn around to your left head back to the toilet tank | STEP 8: Put the red cloth beside the other cloth on the tank | END"]}
{"id": "trial_T20190908_013839_239956-0", "input": "To heat an apple and place it in the fridge.", "output": ["STEP 1: Turn around and then walk around the table to face the opposite side. | STEP 2: Pick up the apple on the table. | STEP 3: Turn right and walk forward to face the microwave. | STEP 4: Heat the apple in the microwave and then remove it. | STEP 5: Step to the right to face the fridge. | STEP 6: Place the apple in the fridge to the left of the pan. | END"]}
{"id": "trial_T20190909_043600_218457-1", "input": "Place a cool apple next to the bowl on the table.", "output": ["STEP 1: Turn around and walk to the table to your left. | STEP 2: Grab the apple in front of the salt shaker on the counter. | STEP 3: Turn left and walk to the fridge to the end on the left. | STEP 4: Place the apple into the fridge, cool it and remove it. | STEP 5: Turn left and walk to the table to your right. | STEP 6: Place the cool apple next to the bowl on the table. | END"]}
{"id": "trial_T20190909_043600_218457-2", "input": "Place a chilled apple on a table.", "output": ["STEP 1: Turn right and walk to the right side of the table. | STEP 2: Pick up the red apple on the table. | STEP 3: Turn left and veer left to the fridge. | STEP 4: Place the apple in the fridge to the right side of the top shelf. Close the door, wait a moment, and take it out again. | STEP 5: Turn left and walk to the table on the right. | STEP 6: Place the apple on the table to the right and in front of the gray bowl. | END"]}
{"id": "trial_T20190907_013151_551854-1", "input": "Put a chilled mug at the coffee maker.", "output": ["STEP 1: Turn right, then left, then go to the sink near the coffee maker. | STEP 2: Pick up the mug that is in the sink next to the bowl. | STEP 3: Turn around and go right to the fridge. | STEP 4: Chill the mug in the fridge. | STEP 5: Turn around and go left to the coffee maker. | STEP 6: Place the mug at the coffee maker. | END"]}
{"id": "trial_T20190907_035850_872927-1", "input": "Put a warmed plate in the cabinet over the sink.", "output": ["STEP 1: Turn around and go to the white table. | STEP 2: Pick up the plate in the left corner closest to you. | STEP 3: Turn around and go to the microwave on your left. | STEP 4: Put the plate in the microwave, heat it, and take it out. | STEP 5: Turn right and face the sink. | STEP 6: Put the plate in the cabinet above the sink. | END"]}
{"id": "trial_T20190907_035850_872927-2", "input": "Put a heated plate in a cabinet. ", "output": ["STEP 1: Turn around and head to the white table. | STEP 2: Pick up the plate on the front of the table.  | STEP 3: Bring the plate to the microwave on the left. | STEP 4: Heat the plate in the microwave.  | STEP 5: Bring the heated plate to the cabinet to the right.  | STEP 6: Put the heated plate in the cabinet above the counter.  | END"]}
{"id": "trial_T20190907_221657_300394-0", "input": "Place a bowl of water with a knife in it on a table.", "output": ["STEP 1: Walk around the table in front of you to reach the opposite end. | STEP 2: Pick up the bowl with the knife in it from the table. | STEP 3: Walk to the left of the table and stop when you get to the sink. | STEP 4: Fill the bowl with water, then pick it up again. | STEP 5: Turn around to face the table again.  | STEP 6: Place the bowl on the front left side of the table, next to the other knife. | END"]}
{"id": "trial_T20190906_185208_580877-0", "input": "Put a chilled tomato on the counter left of the stove. ", "output": ["STEP 1: Move to the counter right of the stove. | STEP 2: Pick up the tomato from the counter. | STEP 3: Bring the tomato to the fridge. | STEP 4: Chill the tomato in the fridge. | STEP 5: Bring the chilled tomato to the counter left of the stove.  | STEP 6: Put the chilled tomato on the counter left of the stove.  | END"]}
{"id": "trial_T20190909_201633_919791-2", "input": "Place a warm slice of apple in the gray bin next to the microwave.", "output": ["STEP 1: Walk towards the door and then turn left to face the round table. | STEP 2: Pick up the yellow knife from the table | STEP 3: Turn left and stand behind the metal chair to your left. | STEP 4: Slice the apple behind the cup into three pieces. | STEP 5: Turn around and walk towards the microwave. | STEP 6: Open the microwave, place the knife in it, and close it. | STEP 7: Turn around, head towards the round table. | STEP 8: Pick up the middle slice of apple from the table. | STEP 9: Turn around and head towards the microwave. | STEP 10: Open the microwave, place the apple in it, heat it up, and take out the apple. | STEP 11: Turn left and walk towards the bin on the floor to your right. | STEP 12: Place the apple in the bin. | END"]}
{"id": "trial_T20190907_193356_261306-2", "input": "Cook a potato and put in on the bottom shelf of the fridge.", "output": ["STEP 1: Turn left and walk around the room the face the fridge. | STEP 2: Take the potato out of the fridge. | STEP 3: Turn right and walk around the room then turn left to face the microwave. | STEP 4: Heat the potato in the microwave, then remove it. | STEP 5: Turn left and walk around the room the face the fridge. | STEP 6: Place the potato in the fridge on the bottom shelf. | END"]}
{"id": "trial_T20190918_163003_739237-2", "input": "Cut an apple, wash a piece of the apple, put it in the bin", "output": ["STEP 1: Turn around, go forward, turn right at the sink | STEP 2: Pick up the knife from the sink | STEP 3: Turn around, go forward, turn right at the table  | STEP 4: Cut the apple on the table  | STEP 5: Turn around, go forward a bit, turn left and go to the cupboard under the sink | STEP 6: Put the knife in the cupboard | STEP 7: Turn around, go forward, turn right at the table  | STEP 8: Pick up an apple piece from the table  | STEP 9: Turn right, go to the sink | STEP 10: Put the apple piece in the sink, wash the apple piece with water, pick up the apple piece from the sink | STEP 11: Turn right, go forward, turn right | STEP 12: Put the apple piece into the bin | END"]}
{"id": "trial_T20190908_143308_855779-1", "input": "Place chilled coffee mug on coffee maker", "output": ["STEP 1: turn around, go to end of green counter facing spatula  | STEP 2: pick up black coffee mug on green counter to the right of potato | STEP 3: turn left, go to black refrigerator | STEP 4: open refrigerator, place black mug on space in between top shelves, close refrigerator, open refrigerator, pick up black mug from top shelf, close refrigerator | STEP 5: turn right, go to counter with toaster and coffee maker on the left | STEP 6: place mug on heater plate on coffee maker | END"]}
{"id": "trial_T20190906_215557_421584-0", "input": "Put the cleaned knife in the drawer under the tomato. ", "output": ["STEP 1: Move to the white rectangular table. | STEP 2: Pick up the knife next to the bread.  | STEP 3: Bring the knife to the sink.  | STEP 4: Wash the knife in the sink with water.  | STEP 5: Bring the knife to the counter by the tomato. | STEP 6: Put the knife in the drawer under the tomato.  | END"]}
{"id": "trial_T20190909_023747_021526-1", "input": "Move a credit card to a chair in the corner.", "output": ["STEP 1: Turn around and move to stand facing the center of the sofa. | STEP 2: Pick up the credit card closest to the center of the sofa. | STEP 3: Turn right and then right again immediately to move to the blue chair in the corner. | STEP 4: Place the credit card on the chair. | END"]}
{"id": "trial_T20190908_082411_394158-0", "input": "Put a chilled plate in cabinet under the sink.", "output": ["STEP 1: Turn right, walk to the door, turn right, walk to wooden table. | STEP 2: Pick up the black plate closer to you. | STEP 3: Turn right and right again, walk to the refrigerator. | STEP 4: Put plat in refrigerator, close door, wait a few seconds, take plat out of refrigerator. | STEP 5: Turn left, walk to table, turn right, walk to sink. | STEP 6: Open right hand door of cabinet under refrigerator, place plate in cabinet. | END"]}
{"id": "trial_T20190908_082411_394158-1", "input": "Put the chilled plate in the kitchen cabinet", "output": ["STEP 1: Turn around and walk to the large wooden table | STEP 2: Pick up the octagonal plate from the table | STEP 3: Turn around and walk to the fridge | STEP 4: Put the plate in the fridge then remove it | STEP 5: Turn left and walk to the cabinet on the left side of the kitchen counter | STEP 6: Open the lower right cabinet and put the plate in it | END"]}
{"id": "trial_T20190908_223142_710549-2", "input": "Put a heated tomato on the counter.", "output": ["STEP 1: Turn around and walk over to the counter, then turn left and walk up to the counter. | STEP 2: Pick up the tomato off of the counter. | STEP 3: Turn around and walk over to the microwave. | STEP 4: Put the tomato in the microwave and heat it up for a couple seconds then take it out. | STEP 5: Turn left to face the counter. | STEP 6: Put the heated tomato on the front edge of the counter to the right of the sink. | END"]}
{"id": "trial_T20190907_105627_899403-1", "input": "Put an apple slice in the fridge.", "output": ["STEP 1: Turn left and walk to the counter to the right of the fridge. | STEP 2: Pick up the apple on the counter. | STEP 3: Turn left and walk to the counter on the left. | STEP 4: Put the apple on the counter. | STEP 5: Pick up the silver knife under and gold knife on the counter. | STEP 6: Slice the apple with the knife. | STEP 7: Put the knife in the apple and leave it there. | STEP 8: Take an apple slice from the counter. | STEP 9: Turn around and walk to the fridge. | STEP 10: Open the fridge door, put the apple slice inside, and close the door. | END"]}
{"id": "trial_T20190907_105627_899403-2", "input": "Put a piece of apple in a fridge.", "output": ["STEP 1: Turn left to face the counter to the right of the fridge. | STEP 2: Take the apple from the counter. | STEP 3: Turn around and go straight and to the right to the kitchen island. | STEP 4: Put the apple on the kitchen island counter. | STEP 5: Take the small knife that is under the large knife on counter. | STEP 6: Cut the apple into pieces. | STEP 7: Put the knife on the apple on the counter. | STEP 8: Take a piece of the apple from the counter. | STEP 9: Turn around and go straight to the fridge. | STEP 10: Put the piece of apple on the lowest shelf in the fridge. | END"]}
{"id": "trial_T20190907_105627_899403-3", "input": "Putting a sliced apple into the fridge", "output": ["STEP 1: Turn to your left and face the counter | STEP 2: Grab the apple off of the counter | STEP 3: Turn around and head to the kitchen island | STEP 4: Put the apple on the kitchen island | STEP 5: Grab the small knife off of the kitchen island | STEP 6: Cut the apple into three slices | STEP 7: Put the knife down on the kitchen island | STEP 8: Grab one of the apple slices | STEP 9: Turn around and head to the fridge | STEP 10: Put the apple into the fridge. Close the door | END"]}
{"id": "trial_T20190907_105627_899403-4", "input": "Get an apple, cut into 3 pieces and put one piece in the refrigerator.", "output": ["STEP 1: turn to your left, walk towards the refrigerator and face the counter on the right side of the fridge. | STEP 2: Pick up the apple on the edge of the counter. | STEP 3: Turn to your left and go to the island directly behind you. | STEP 4: Place the apple on the counter of the island in front of you. | STEP 5: Pick up the silver butter knife in the middle of the counter and flip the yellow butter knife over and place back on counter. | STEP 6: Cut the apple with the silver butter knife into three equal pieces. | STEP 7: leave the knife in the top. | STEP 8: Pick up one piece of the apple. | STEP 9: Turn to your left until you are facing the refrigerator. | STEP 10: Open the refrigerator and place the apple slice on the third shelf from the top in the fridge. | END"]}
{"id": "trial_T20190908_005801_536659-2", "input": "Put a clean spoon in a cabinet.", "output": ["STEP 1: Cross the room and stand in front of the counter to the left of the stove. | STEP 2: Pick the big spoon up from the counter. | STEP 3: Move left and turn to face the sink. | STEP 4: Put the big spoon in the sink and turn the water on and then off and pick the spoon up again. | STEP 5: Turn to face to the left lower cabinets, to the right of the white appliance. | STEP 6: Open the cabinet door of the far right cabinet in the corner and put the spoon in and then shut the door. | END"]}
{"id": "trial_T20190910_073844_519611-1", "input": "Put a cold slice of bread in the microwave.", "output": ["STEP 1: Stay in front of the counter to the left of the sink. | STEP 2: Take the knife from behind the bottle on the counter. | STEP 3: Turn around, go to the white table and face the table. | STEP 4: Cut the bread on the table into slices. | STEP 5: Stay in front of the table. | STEP 6: Put the knife on the bread on the table. | STEP 7: Stay in front of the table. | STEP 8: Take a slice of bread from the table. | STEP 9: Turn around and go to the refrigerator. | STEP 10: Put the bread on the top shelf of the refrigerator. Close then open the refrigerator. Take the bread from the refrigerator. | STEP 11: Turn around, head to the right to the microwave. | STEP 12: Put the bread in the microwave. | END"]}
{"id": "trial_T20190908_113711_074029-1", "input": "Put a microwaved slice of bread on the counter by the stove.", "output": ["STEP 1: Turn and go to the counter. | STEP 2: Pick up a knife on the counter. | STEP 3: Slice the bread on the counter. | STEP 4: Turn and go to the drawer. | STEP 5: Put the knife in the drawer. | STEP 6: Turn and go to the bread. | STEP 7: Pick up a slice of bread. | STEP 8: Turn and go to the microwave.  | STEP 9: Heat the slice of bread in the microwave.  | STEP 10: Turn and go to the counter by the stove. | STEP 11: Put the slice of bread on the counter. | END"]}
{"id": "trial_T20190908_113711_074029-2", "input": "Place a heated slice of bread on a countertop", "output": ["STEP 1: Go to the countertop | STEP 2: Pick up the knife near the load of bread | STEP 3: Cut the loaf of bread | STEP 4: Look at the drawer on the left | STEP 5: Put the knife in the drawer | STEP 6: Look at the loaf of bread | STEP 7: Take a slice of bread | STEP 8: Go to the microwave | STEP 9: Heat the slice of bread | STEP 10: Go to the counter left of the stove | STEP 11: Put the bread down on the counter | END"]}
{"id": "trial_T20190909_074512_088673-2", "input": "Putting two handkerchiefs in the sink ", "output": ["STEP 1: Go to the tub | STEP 2: Grab a handkerchief out of the tub | STEP 3: Turn around and go to the sink | STEP 4: Put the handkerchief in the sink | STEP 5: Turn left and look at the cabinets on the bottom | STEP 6: Grab the handkerchief out of the left cabinet | STEP 7: Turn right and go to the sink | STEP 8: Put the handkerchief in the sink | END"]}
{"id": "trial_T20190908_215836_105775-2", "input": "Retrieve green cup from table, cook in microwave, place on counter in front of bread", "output": ["STEP 1: Turn around, walk to table | STEP 2: Pick up green cup from table | STEP 3: Turn around, walk to microwave | STEP 4: Cook cup in the microwave | STEP 5: Turn left, walk to counter | STEP 6: Put cup on counter in front of bread | END"]}
{"id": "trial_T20190908_182629_798623-0", "input": "Examine a laptop by the light of a lamp. ", "output": ["STEP 1: Turn to the right, walk to the door, then turn left and face the bed.  | STEP 2: Close the laptop that is on the bed and pick it up.  | STEP 3: Turn around completely, walk to the wall, then turn right and face the dresser.  | STEP 4: Turn on the lamp that is on the dresser.  | END"]}
{"id": "trial_T20190909_135430_613298-1", "input": "Place a box with a watch in it on a chair.", "output": ["STEP 1: Turn around and walk to the right side of the coffee table, facing it. | STEP 2: Pick up the watch on the table. | STEP 3: Turn around and walk to the leftmost cushion of the red couch. | STEP 4: Place the watch in the leftmost box. | STEP 5: Pick up the box. | STEP 6: Walk left to the red chair and face it. | STEP 7: Place the box on the chair, to the left of the book. | END"]}
{"id": "trial_T20190908_015952_015114-1", "input": "Pick up the book on the night stand, turn on the lamp", "output": ["STEP 1: Head to the black night stand | STEP 2: Take the book from the night stand | STEP 3: Turn to the left, head to the desk across the room | STEP 4: Turn on the lamp | END"]}
{"id": "trial_T20190907_143054_611815-0", "input": "Put a bowl with a spoon in it in the sink.", "output": ["STEP 1: Turn around and go around the kitchen island to approach the stove. | STEP 2: Take the spoon from the counter, behind the bowl. | STEP 3: Put the spoon in the bowl on the counter. | STEP 4: Pick up the bowl with the spoon in it. | STEP 5: Turn around, then turn left around the kitchen island, then right to face the sink. | STEP 6: Put the bowl in the sink. | END"]}
{"id": "trial_T20190907_143054_611815-3", "input": "Put a bowl with the spoon in it in the sink", "output": ["STEP 1: Turn around, then turn to your right until you face the stove | STEP 2: Pick up a spoon from the kitchen counter | STEP 3: Place the spoon into the bowl | STEP 4: Pick up the bowl with the spoon in it | STEP 5: Turn around and move until you are facing the sink | STEP 6: Put the bowl with the spoon in it in the sink | END"]}
{"id": "trial_T20190907_143054_611815-4", "input": "Put a container with a spoon in a sink.", "output": ["STEP 1: Turn around, hang a right at the white door and cross the room towards the stove. | STEP 2: Pick up the spoon to the right of the stove on the counter top. | STEP 3: Put the spoon inside the clear container on the counter. | STEP 4: Pick up the container with the spoon from the counter. | STEP 5: Turn around and cross the room to reach the counter to the right of the sink. | STEP 6: Place the container with the spoon inside the sink. | END"]}
{"id": "trial_T20190909_002412_992537-0", "input": "Rinse a tomato and place it on the counter.", "output": ["STEP 1: Turn to the left and then face the sink on the right. | STEP 2: Pick up the tomato from the edge of the counter. | STEP 3: Hold the tomato and move a step to the right. | STEP 4: Place the tomato in the sink and turn on the water. Turn off the water and pick up the tomato. | STEP 5: Carry the tomato and turn around to the microwave cart. | STEP 6: Place the tomato on the left side of the microwave cart. | END"]}
{"id": "trial_T20190909_002412_992537-2", "input": "Put a clean tomato on the counter.", "output": ["STEP 1: Turn left and walk towards the oven, then hang a right and walk up to the counter. | STEP 2: Pick up the tomato off of the counter. | STEP 3: Turn right and walk towards the wall, then turn left to face the sink. | STEP 4: Put the tomato in the sink and turn on the water, after a couple seconds turn the water off and remove the now clean tomato. | STEP 5: Turn right and walk towards the wall, then hang a right and walk up to the microwave. | STEP 6: Put the clean tomato on the front left corner of the counter in front of you. | END"]}
{"id": "trial_T20190910_033337_045350-1", "input": "Put the clean ladle in the cabinet", "output": ["STEP 1: Turn right then head to the cabinet above the counter | STEP 2: Open the cabinet and pick up the ladle then close the cabinet  | STEP 3: Turn left then head to the right side of the  sink | STEP 4: Put the ladle in the sink and rinse it | STEP 5: Turn right and move little further from the sink | STEP 6: Open the cabinet under the sink then put the ladle in and close the cabinet | END"]}
{"id": "trial_T20190910_033337_045350-2", "input": "Put a clean measuring spoon in the sink cabinet", "output": ["STEP 1: Go to the cupboard | STEP 2: Take a measuring spoon out of the cupboard | STEP 3: Go to the sink | STEP 4: Wash the measuring spoon | STEP 5: Go to the sink cabinet | STEP 6: Put the measuring spoon in the cabinet | END"]}
{"id": "trial_T20190909_153505_007610-0", "input": "Chill a tomato and put it in the trash bin.", "output": ["STEP 1: Walk over to the counter. | STEP 2: Grab the tomato. | STEP 3: Head over to the fridge. | STEP 4: Chill the tomato in the fridge. | STEP 5: Grab the tomato back and head over to the trash bin. | STEP 6: Place the tomato in the trash bin. | END"]}
{"id": "trial_T20190908_235346_227372-0", "input": "Grab the pencil from the desk and turn the light on over it.", "output": ["STEP 1: Turn around and move to the front of the desk with the clocks. | STEP 2: Pick up the pencil on the desk. | STEP 3: Turn left and move to the left of the desk. | STEP 4: Turn on the light above the desk. | END"]}
{"id": "trial_T20190908_121901_853190-2", "input": "Put the heated potato on the black shelf", "output": ["STEP 1: Turn right and head to the black shelf on your right  | STEP 2: Pick up the potato on the shelf | STEP 3: Turn around walk across the room and head to the microwave | STEP 4: Open the microwave and put in and out the potato then close the microwave | STEP 5: Turn around to your left then head to the black shelf | STEP 6: Put the potato on the edge of the black shelf | END"]}
{"id": "trial_T20190909_151053_527520-2", "input": "Put a cleaned kettle on the table. ", "output": ["STEP 1: Turn around, move to the counter right of the stove. | STEP 2: Pick up the kettle on the counter.  | STEP 3: Turn around, bring the kettle to the sink on the left.  | STEP 4: Wash the kettle in the sink with water. | STEP 5: Turn around, bring the kettle to the table with the bread on it. | STEP 6: Put the kettle on the table. | END"]}
{"id": "trial_T20190906_212905_520044-2", "input": "Get the pink sponge on the toilet, wash it, put the sponge in the tub", "output": ["STEP 1: Turn right, walk to the toilet | STEP 2: Grab the pink sponge on the toilet | STEP 3: Turn left and walk to the sink | STEP 4: Put the pink sponge in the sink, turn on the faucet and wash the sponge, take the sponge | STEP 5: Turn around and walk to the bath tub | STEP 6: Put the pink sponge in the tub | END"]}
{"id": "trial_T20190909_081955_726088-1", "input": "Put two credit cards on the TV stand. ", "output": ["STEP 1: Turn to the left then turn right and go to the side table.  | STEP 2: Pick up the credit card from the side table.  | STEP 3: Turn to the left and walk forward to the TV stand | STEP 4: Set the credit card on the TV stand. | STEP 5: Turn to the right then make another right and go back to the side table.  | STEP 6: Pick up the other credit card from the side table.  | STEP 7: Turn to the left and walk forward to the TV stand | STEP 8: Set the credit card on the TV stand. | END"]}
{"id": "trial_T20190909_081955_726088-2", "input": "place two red credit cards on cabinet with television", "output": ["STEP 1: turn around, go to black table with lamp next to couch | STEP 2: pick up red credit card to the right of lamp on black table | STEP 3: turn around, go to black cabinet with television | STEP 4: place red credit card in front of television on black cabinet  | STEP 5: turn around, go to black table with lamp next to couch | STEP 6: pick up red credit card to the left of lamp on black table | STEP 7: turn around, go to black cabinet with television | STEP 8: place red credit card to the left of credit card in front of television on black cabinet  | END"]}
{"id": "trial_T20190907_042017_725891-0", "input": "place a lettuce slice inside of a pot on the kitchen counter", "output": ["STEP 1: turn right and walk to the kitchen counter ahead | STEP 2: grab a knife off of the kitchen counter there | STEP 3: turn around and walk over to the end of the room, then hang a left and walk to the white table ahead | STEP 4: slice up the lettuce on the table there | STEP 5: back up a bit and then face the white table ahead of you again | STEP 6: place the knife down on the table there | STEP 7: move forwards a bit to the right side of the table | STEP 8: grab a lettuce slice off of the table | STEP 9: turn around and walk to the table ahead, then take a right and walk over to the stove at the end of the room | STEP 10: place a lettuce slice in the pot on the back right burner | STEP 11: pick up the pot off of the back right burner | STEP 12: turn right and walk over to the kitchen counter on your left to the right of the kitchen sink | STEP 13: place the pot down on the kitchen counter on your right | END"]}
{"id": "trial_T20190907_042017_725891-3", "input": "Cut a slice of lettuce plus insert the lettuce into a pot as well as move the pot from the stove to the counter.", "output": ["STEP 1: Turn right to face the counter. | STEP 2: Pick up the knife laying on the counter. | STEP 3: Turn around and walk across the room to the right to face the table. | STEP 4: Cut the lettuce on the table into slices. | STEP 5: Step back from the table and face it. | STEP 6: Put the knife on the table. | STEP 7: Step closer to the table and face the lettuce. | STEP 8: Pick up a slice of the lettuce. | STEP 9: Turn to the left and walk across the room to face the stove | STEP 10: Place the lettuce slice into the pot on the back right burner. | STEP 11: Pick up the pot with the lettuce slice in it off of the back right burner. | STEP 12: Step to the right and face the counter to the right of the sink. | STEP 13: Place the pot with lettuce slice in it on the counter to the right of the sink. | END"]}
{"id": "trial_T20190907_042017_725891-4", "input": "Bring a cutting knife to a different table to cut and prepare lettuce.", "output": ["STEP 1: Turn  to your right and face the kitchen counter. | STEP 2: Pick up the knife the right of the plate. | STEP 3: Turn around and walk to the other side of the room, then make a left until you reach the white table | STEP 4: Slice the lettuce to the right of the mug. | STEP 5: Turn around to face the table on the opposite side of the room, then face the white table again. | STEP 6: Place the knife down on the table, to the right of the lettuce. | STEP 7: Make a right turn and face the door, then return to face the white table. | STEP 8: Pick up one slice of lettuce. | STEP 9: Turn around to face the table on the opposite side of the room, then proceed straight to the stove top. | STEP 10: Place the lettuce in the pot to the right of the tea kettle. | STEP 11: Pick up the pot with the lettuce. | STEP 12: Turn to the right and face the counter top above the dishwasher. | STEP 13: Place the pot on the counter top above the dishwasher | END"]}
{"id": "trial_T20190909_104438_831497-1", "input": "pick up knife, cut tomato, cook in microwave, place in trash can", "output": ["STEP 1: turn right, turn left, walk straight to the sink | STEP 2: pick up knife from the counter | STEP 3: turn right to the counter | STEP 4: cut tomato with the knife | STEP 5: turn right, turn left to the microwave | STEP 6: open door, put knife on shelf, close door | STEP 7: turn left, turn right to the counter | STEP 8: pick tomato off of the counter | STEP 9: turn right, turn left to the microwave | STEP 10: open door, place tomato on shelf, close door, cook, open door, remove tomato, close door | STEP 11: turn right, turn right, walk straight to the trash can | STEP 12: place tomato in the trash can | END"]}
{"id": "trial_T20190909_112554_048307-1", "input": "put a bowl in the fridge then the cabinet above it", "output": ["STEP 1: go to the right side of the stove | STEP 2: take the glass bowl from the cabinet on the bottom right of the stove | STEP 3: take the bowl to the fridge | STEP 4: chill the bowl in the fridge then remove | STEP 5: approach the cabinet above the fridge to the right | STEP 6: put the bowl in the cabinet | END"]}
{"id": "trial_T20190910_071421_963409-0", "input": "Put a plate in the refrigerator with a tomato on top of it", "output": ["STEP 1: Turn right and go to the counter on the left | STEP 2: Pick up the gray plate from the counter | STEP 3: Turn right and go to the refrigerator | STEP 4: Open the refrigerator and put the plate on the top shelf | STEP 5: Pick up the tomato from the refrigerator | STEP 6: Put the tomato on top of the gray plate | END"]}
{"id": "trial_T20190910_071421_963409-1", "input": "Put a plate in the fridge with a tomato on it.", "output": ["STEP 1: Turn right and go forward, turn left at the fridge, then go forward to the counter. | STEP 2: Pick up the plate from the counter. | STEP 3: Turn around and go to the fridge ahead | STEP 4: Open the fridge and put the plate inside. | STEP 5: Pick up the tomato in the fridge. | STEP 6: Put the tomato on the plate in the fridge. | END"]}
{"id": "trial_T20190906_222638_557637-1", "input": "Put two statues on the table.", "output": ["STEP 1: Turn left and take a step then turn left to face the coffee table in front of the red couch. | STEP 2: Pick up the middle statue. | STEP 3: Turn left and walk to the couch then turn left and walk to the table. | STEP 4: Put the statue to the left of the box. | STEP 5: Turn around and walk until you're at the coffee table then turn right so you are looking down the length of it. | STEP 6: Pick up the statue you see in front of you. | STEP 7: Walk back to where you put the first statue. | STEP 8: Put this statue to the left of the first following the curve of the table. | END"]}
{"id": "trial_T20190906_222638_557637-2", "input": "Place two trophies on a table.", "output": ["STEP 1: Turn around and take a step left. Look at the coffee table. | STEP 2: Pick up the trophy in the middle of the other two trophies. | STEP 3: Turn around and walk ahead to the dining room table. | STEP 4: Place the trophy on the table to the left of the box. | STEP 5: Turn around and walk to the left side of the coffee table. | STEP 6: Pick up the closest trophy to you. | STEP 7: Walk back to the dining room table. | STEP 8: Put the trophy to the left of the other trophy on the table. | END"]}
{"id": "trial_T20190907_073031_940216-0", "input": "heat the potato in the microwave, throw the potato away in the trash bin", "output": ["STEP 1: Turn around, walk to the counter by the stove | STEP 2: grab the potato on the counter | STEP 3: turn left, walk to the microwave | STEP 4: put the potato in the microwave, heat the potato, open the microwave, take the potato out | STEP 5: turn left, walk to the grey trash bin | STEP 6: put the potato in the trash bin | END"]}
{"id": "trial_T20190907_073031_940216-1", "input": "Place a heated potato in the grey bin.", "output": ["STEP 1: Turn around and head towards the microwave on your left. | STEP 2: Pick up the potato next to the microwave. | STEP 3: Take a step to the left to face the microwave. | STEP 4: Place the potato in it, heat the potato up, and take the potato out. | STEP 5: Take a step to the left to face the grey bin on the floor. | STEP 6: Place the potato in the bin. | END"]}
{"id": "trial_T20190908_202723_575325-2", "input": "put a heated plate onto a counter top", "output": ["STEP 1: turn to face microwave and cabinets above | STEP 2: open right cabinet door, remove octagon plate, close the door | STEP 3: move gaze down to face microwave | STEP 4: heat plate in microwave, remove from microwave | STEP 5: turn right to face counter top with a coffee maker | STEP 6: put the plate on the counter top to the left of the coffee maker | END"]}
{"id": "trial_T20190919_043732_853019-2", "input": "Put an egg in a pan in the fridge.", "output": ["STEP 1: Turn to the right and go to the table. | STEP 2: Pick up the pan from the table. | STEP 3: Go to the fridge on your left. | STEP 4: Put the pan in the fridge. | STEP 5: Pick up an egg from the fridge. | STEP 6: Put the egg in the pan. | END"]}
{"id": "trial_T20190908_124100_352527-0", "input": "Move two boxes to the coffee table.", "output": ["STEP 1: Turn right to walk behind the sofa, and when you get to the wall turn left and move around the sofa so you stop facing the center cushion of it. | STEP 2: Pick up the open box from the center cushion of the sofa. | STEP 3: Turn left and move around the coffee table so you stop facing the table with the sofa on the other side. | STEP 4: Place the box on the right corner of the table that's closest to you. | STEP 5: Move around the coffee table and then all the way around to the back of the sofa. | STEP 6: Pick up the remaining box from the sofa. | STEP 7: Turn right and carry the box back around the sofa and coffee table so you're on the same side where you left the previous box. | STEP 8: Place the new box on the front left corner of the table. | END"]}
{"id": "trial_T20190908_132121_617365-0", "input": "Put a clean fork in a drawer.", "output": ["STEP 1: Go right and cross the room to face the sink. | STEP 2: Pick the fork up from the left side of the sink. | STEP 3: Turn to the right and face the right side of the sink. | STEP 4: Put the fork in the sink and turn the water on and then off and pick the fork up again. | STEP 5: Turn and open the drawer to the left of the sink. | STEP 6: Put the fork in the drawer. | END"]}
{"id": "trial_T20190909_074109_560186-2", "input": "Move a cellphone to a desk.", "output": ["STEP 1: Turn around completely and go forward. Turn to the right and walk to the nightstand. | STEP 2: Pick up the cellphone from the nightstand. | STEP 3: Turn around completely and walk forward. Turn to the left then right to face the desk. | STEP 4: Place the cellphone on the desk | END"]}
{"id": "trial_T20190908_164755_318548-1", "input": "Slice, chill and move lettuce to the green bin.", "output": ["STEP 1: Turn left and move to the sink. | STEP 2: Pick up the knife in front of the sink. | STEP 3: Move to the center of the sinks. | STEP 4: Slice the lettuce in the sink. | STEP 5: Turn around and move to the front of the fridge. | STEP 6: Put the knife in the fridge. | STEP 7: Turn left and move to the front of the sinks. | STEP 8: Pick up a slice of lettuce. | STEP 9: Turn around and move to the fridge. | STEP 10: Chill the lettuce in the fridge and remove it. | STEP 11: Turn around and move to the green bin. | STEP 12: Place the lettuce in the bin. | END"]}
{"id": "trial_T20190906_181609_688127-0", "input": "Set a cup with a butter knife inside next to the microwave. ", "output": ["STEP 1: Move to the counter above the dishwasher. | STEP 2: Pick up the butter knife on the counter. | STEP 3: Move over to the right to the sink. | STEP 4: Set the butter knife in the cup in the sink. | STEP 5: Pick up the cup with the butter knife in it. | STEP 6: Go to the counter to the right of the microwave. | STEP 7: Set the cup with the butter knife down on the counter. | END"]}
{"id": "trial_T20190906_181609_688127-1", "input": "Place a cup with a knife in it on the counter to the left of the sink.", "output": ["STEP 1: Approach the counter in front of you. | STEP 2: Pick up the the knife on the counter. | STEP 3: Turn to your right and walk to the the sink. | STEP 4: Place the knife in the cup in the sink. | STEP 5: Pick up the the cup in the sink. | STEP 6: Turn to your left and approach the counter on the left of the sink. | STEP 7: Place the cup on the counter to the left of the sink. | END"]}
{"id": "trial_T20190906_181609_688127-3", "input": "Find a cup and put a knife in it. ", "output": ["STEP 1: Walked over to the dishwasher.  | STEP 2: Picked up a knife from the counter | STEP 3: Took knife to kitchen sink. | STEP 4: Placed knife in cup in the kitchen sink. | STEP 5: Removed cup from kitchen sink | STEP 6: Walked over to dishwasher | STEP 7: Placed cup on the counter.  | END"]}
{"id": "trial_T20190906_181609_688127-5", "input": "Put a glass with a knife inside it on the counter.", "output": ["STEP 1: Look around then stand in front of the knife on the counter. | STEP 2: Pick up the knife from the counter. | STEP 3: Walk over to the sink. | STEP 4: Put the knife inside the glass in the sink. | STEP 5: Pick up the glass from the sink. | STEP 6: Walk over to the counter near the loaf of bread. | STEP 7: Place the glass on the counter. | END"]}
{"id": "trial_T20190908_062227_162609-0", "input": "Warm a plate and put it in the sink", "output": ["STEP 1: Turn right, go forward a bit, turn left, go to the sink | STEP 2: Open the cupboard under the sink, pick up the plate in it | STEP 3: Turn around, go forward, turn left in front of the stove, turn up to the microwave | STEP 4: Put the plate in the microwave, start the microwave, wait, pick up the plate | STEP 5: Turn around, go forward a bit, turn left and go to the sink | STEP 6: Put the plate in the sink | END"]}
{"id": "trial_T20190908_062227_162609-2", "input": "Put a warm plate in the sink. ", "output": ["STEP 1: Go straight across the room to the cupboards under the sink.  | STEP 2: Pull out a plate from the cupboards, under the sink.  | STEP 3: Turn around and go to the microwave above the stove, to your right.  | STEP 4: Place the plate in the microwave, heat it up, then remove the plate from the microwave.  | STEP 5: Turn to your right and go back to the sink.  | STEP 6: Place the plate in the sink.  | END"]}
{"id": "trial_T20190908_033330_186954-1", "input": "Place two eggs in a microwave.", "output": ["STEP 1: Turn right and walk to the counter, facing the stove. | STEP 2: Pick up the egg on the counter to the left of the stove. | STEP 3: Step right to face the microwave. | STEP 4: Place the egg in the microwave at the center. | STEP 5: Turn around and veer left to the right side of the table. | STEP 6: Pick up the egg on the table. | STEP 7: Turn left and walk back to the microwave. | STEP 8: Place the egg in the microwave to the left of the first egg. | END"]}
{"id": "trial_T20190909_021128_734294-1", "input": "Microwave an apple slice, put it on a counter.", "output": ["STEP 1: Turn right, turn left, walk straight, turn left to the sink. | STEP 2: Pick up the knife in the sink. | STEP 3: Walk straight, turn left, walk straight, turn left to the counter. | STEP 4: Slice the apple on the counter. | STEP 5: Turn left. Walk straight, turn left to the green bin. | STEP 6: Put the knife in the bin. | STEP 7: Turn left, walk straight, turn left to the counter. | STEP 8: Pick up a slice of the apple. | STEP 9: Turn left, walk straight, turn right to the microwave. | STEP 10: Open the microwave, put the apple inside, close the microwave. Turn on the microwave. Open the microwave. | STEP 11: Turn right, turn left, turn right, walk straight, turn left, turn right, walk straight, turn right to the counter. | STEP 12: Put the slice on the counter. | END"]}
{"id": "trial_T20190909_021128_734294-2", "input": " put a  slice  of hot apple on the counter", "output": ["STEP 1: turn and walk to the sink | STEP 2: pick up the knife that is in the sink | STEP 3:    turn  and walk to the  Apple that is on the counter | STEP 4: slice the Apple that is on the counter | STEP 5:  turn and walk to the trash can | STEP 6:  throw the knife into the trash can | STEP 7:   turn and walk  to the counter  | STEP 8:  pick up a piece of sliced Apple | STEP 9:  turn and walk to the microwave | STEP 10:    put a slice of apple into the microwave  turn on the microwave  wait take the Apple out of the microwave | STEP 11:  turn and walk to the counter  | STEP 12:   put the apple slice on the counter in front of the apple on the counter | END"]}
{"id": "trial_T20190911_124548_591659-1", "input": "Slice a bread, cool a slice, put it in the bin", "output": ["STEP 1: Turn around, go to the counter  | STEP 2: Pick up the knife on the counter | STEP 3: Turn right, go forward, turn right at the table | STEP 4: Slice the bread on the table | STEP 5: Turn right, go forward, turn right and go to the fridge | STEP 6: Put the knife in the fridge | STEP 7: Turn right, go forward, turn right and go to the table | STEP 8: Pick up a bread slice from the table | STEP 9: Turn right, go forward, turn right and go to the fridge | STEP 10: Put the bread slice in the fridge, wait, pick up the bread slice from the fridge | STEP 11: Turn left, go forward, turn left go forward, turn right in front of the bin | STEP 12: Put the bread slice in the bin | END"]}
{"id": "trial_T20190907_210644_547725-1", "input": "Put a clean apple on the top shelf of the refrigerator. ", "output": ["STEP 1: Turn to your right and walk up to the microwave above the sink.  | STEP 2: Remove an apple from the microwave.  | STEP 3: Step back from the microwave.  | STEP 4: Place the apple in the larger, right sink, turn the water on, rinse the apple, turn the water off, and pick the apple back up.  | STEP 5: Turn around and go to the refrigerator.  | STEP 6: Place the apple in the refrigerator, on the top shelf.  | END"]}
{"id": "trial_T20190907_210644_547725-2", "input": "Place a cleaned apple in a refrigerator.", "output": ["STEP 1: Turn right and walk forward to the microwave. | STEP 2: Open the microwave, take out the apple and close the microwave. | STEP 3: Walk slightly to the left and stand in between the two sink basins. | STEP 4: Put the apple in the right sink basin, rinse it off, and take it back out of the sink. | STEP 5: Turn around and walk to the refrigerator. | STEP 6: Open the refrigerator, put the apple in front of the bowl and close the refrigerator. | END"]}
{"id": "trial_T20190907_025942_948698-1", "input": "Place an apple slice in the fridge.", "output": ["STEP 1: Move forward and face the grey table to your right. | STEP 2: Pick up the knife on the table. | STEP 3: Turn around and head to the sink on your left. | STEP 4: Cut the apple in the sink. | STEP 5: Go left to and face the stove. | STEP 6: Put the knife in the pan. | STEP 7: Turn right and head back to face the sink | STEP 8: Take a slice of the apple in the sink. | STEP 9: Turn left and face the stove on your right. | STEP 10: Put the apple in the pan. | STEP 11: Pick up the pan from the stove. | STEP 12: Turn left and head to the fridge. | STEP 13: Put the pan in the fridge and close it. | END"]}
{"id": "trial_T20190909_053707_736264-0", "input": "Put the two cd's in the vault", "output": ["STEP 1: Turn right then head to the side table of the bed | STEP 2: Pick up the cd on the side table | STEP 3: Turn left then head to the vault | STEP 4: Open the vault and put in the cd then close the vault | STEP 5: Turn right then head t the left side of the desk | STEP 6: Pick up the cd behind the laptop | STEP 7: Turn right then head to the vault | STEP 8: Open the vault and put in the cd then close the vault | END"]}
{"id": "trial_T20190909_055404_570388-2", "input": "drop a candle stand on a rack", "output": ["STEP 1: move to the table | STEP 2: pick up a  candle stand | STEP 3: turn right and heard to the rack  | STEP 4: drop the candle stand on the rack | END"]}
{"id": "trial_T20190908_122348_520607-1", "input": "put two remote controls on a coffee table", "output": ["STEP 1: turn to face the television monitor and tv stand | STEP 2: pick up the remote closest to the edge of the tv stand | STEP 3: turn around to face the coffee table | STEP 4: put the remote on the coffee table in front of the right hand lap top computer | STEP 5: turn to face the television monitor and tv stand | STEP 6: pick up the remote from the tv stand | STEP 7: turn around to face the coffee table | STEP 8: put the remote on the coffee table to the right of the remote already there | END"]}
{"id": "trial_T20190908_122348_520607-2", "input": "Moving two remotes to the black coffee table", "output": ["STEP 1: Move slightly to the right and face the TV stand | STEP 2: Grab the remote off of the TV stand | STEP 3: Turn around and face the black coffee table | STEP 4: Put the remote on the table | STEP 5: Turn around and face the TV stand | STEP 6: Grab the remote off of the TV stand | STEP 7: Turn around and face the coffee table | STEP 8: Put the remote on the table | END"]}
{"id": "trial_T20190909_003411_535762-2", "input": "Put a microwaved potato in the sink.", "output": ["STEP 1: Turn around and take a step then turn right and walk to the counter. | STEP 2: Pick up the potato that's in front of you in the sink to the left of the pot. | STEP 3: Turn around and take a step then turn right to face the stove. | STEP 4: Look up and cook the potato in the microwave then take it back out and close the door. | STEP 5: Turn right and walk to the sink then step to your right. | STEP 6: Put the potato in the sink. | END"]}
{"id": "trial_T20190909_013620_927181-0", "input": "Move an alarm clock to the nightstand.", "output": ["STEP 1: Turn left, walk to the edge of the bed, turn left again, walk a few steps, then turn right to face the table. | STEP 2: Pick up the alarm clock that is sitting on the table. | STEP 3: Turn to the left, walk to the window, then turn left again and walk up to the nightstand. | STEP 4: Place the alarm clock down on the nightstand, behind the CD. | END"]}
{"id": "trial_T20190909_013620_927181-1", "input": "To move an alarm clock to the night stand. ", "output": ["STEP 1: Turn left, turn left after the led and turn right to face the right side of the dresser.  | STEP 2: Pick up the alarm clock to the right of the keys.  | STEP 3: Turn left, turn left at the window, walk up to the night stand to the right of the bed.  | STEP 4: Put the alarm clock on the night stand behind the CD.  | END"]}
{"id": "trial_T20190909_053747_027840-0", "input": "Move two DVDs from the desk to the safe by the bed.", "output": ["STEP 1: Turn and go to the desk. | STEP 2: Pick up a DVD on the desk.  | STEP 3: Turn and go to the safe by the bed.  | STEP 4: Put the DVD in the safe by the bed.  | STEP 5: Turn and go to the desk. | STEP 6: Pick up a DVD on the desk. | STEP 7: Turn and go to the safe by the bed. | STEP 8: Put the DVD in the safe by the bed. | END"]}
{"id": "trial_T20190909_053747_027840-1", "input": "Retrieve two discs and put them into the safe. ", "output": ["STEP 1: Turn left, walk over to the desk | STEP 2: Pick up the disc from the desk | STEP 3: Turn right, walk to the safe on the floor | STEP 4: Put the disc into the safe | STEP 5: Move back to the left side of the desk | STEP 6: Pick up the disc from the desk | STEP 7: Move back to the safe with the disc | STEP 8: Put the disc into the safe | END"]}
{"id": "trial_T20190908_032123_869207-2", "input": "Examine a box by the light of a floor lamp", "output": ["STEP 1: tale a few steps forward and turn to the left and go to the table | STEP 2: pick up the box from the table | STEP 3: turn to the right and go to the floor lamp | STEP 4: turn on the floor lamp | END"]}
{"id": "trial_T20190907_142356_491136-0", "input": "Put a cleaned tomato on the table. ", "output": ["STEP 1: Head to to the left side of the table by the tomato. | STEP 2: Pick up the tomato on the table. | STEP 3:  Bring the tomato to the sink on the right. | STEP 4: Wash the tomato in the sink.  | STEP 5: Bring the tomato back to the table behind you. | STEP 6: Put the tomato on the table in front of the lettuce.  | END"]}
{"id": "trial_T20190907_001809_887455-1", "input": "place keys on the left chair in the living room", "output": ["STEP 1: turn right and walk over to the living room table | STEP 2: grab the keys off of the living room table | STEP 3: turn around and walk over to the living room chairs | STEP 4: place the keys on the left chair | END"]}
{"id": "trial_T20190909_031943_191883-1", "input": "Put a box on the dining table with a pencil inside.", "output": ["STEP 1: Move to the end table in between to two windows | STEP 2: Pick up a pencil from the end table | STEP 3: Move to the couch behind you | STEP 4: Place the pencil in a box on the couch | STEP 5: Pick up the box that has the pencil inside | STEP 6: Move to the dining table on the other side of the couch from you | STEP 7: Place the box on the table | END"]}
{"id": "trial_T20190909_031943_191883-2", "input": "Put away the pencil in the box and on the dining table.", "output": ["STEP 1: Turn around and walk to the end table with the lamp on it. | STEP 2: Open the drawer and grab the pencil from inside. | STEP 3: Turn around and go to the second box on the couch. | STEP 4: Put the pencil in the box. | STEP 5: Pick up the box with the pencil in it. | STEP 6: Go around the couch to the dining table.  | STEP 7: Set the box with the pencil in it on the dining table. | END"]}
{"id": "trial_T20190912_012211_730225-1", "input": "Put a piece of chilled sliced potato in the microwave.", "output": ["STEP 1: Turn right towards the round black table. | STEP 2: Pick up the sharp knife from the table. | STEP 3: Make your way clock wise around a quarter of the round black table and face it again. | STEP 4: Slice the potato next to the sponge. | STEP 5: Turn around to face the opposite direction and walk all the way across the room to the microwave on the counter. | STEP 6: Open the microwave, place the sharp knife inside, and close the door. | STEP 7: Turn around again and return to the black round table. | STEP 8: Pick up the end slice of the potato. | STEP 9: Turn to your right and approach the refrigerator just a step away. | STEP 10: Put the potato slice in the refrigerator to chill for a moment before removing it. | STEP 11: Take the potato slice to the microwave where the sharp knife was placed. | STEP 12: Put the potato slice into the microwave. | END"]}
{"id": "trial_T20190912_012211_730225-2", "input": "place a cold potato slice in the oven", "output": ["STEP 1: turn right to the table | STEP 2: pick up the knife | STEP 3: turn around the table | STEP 4: slice the potato on the table | STEP 5: turn around to the oven | STEP 6: place the knife in the oven  | STEP 7: turn around to the table | STEP 8: pick up an slice | STEP 9: head to the fridge | STEP 10: place the slice to cool and then take it out | STEP 11: turn  left to the oven  | STEP 12: place the slice in the oven | END"]}
{"id": "trial_T20190919_012436_072996-0", "input": "get the rag below the counter and toss it in the tub", "output": ["STEP 1: turn right and approach the counter | STEP 2: get the red rag from under the counter | STEP 3: walk the rag over to the bathtub | STEP 4: toss the rag in to the bath basin | END"]}
{"id": "trial_T20190919_012436_072996-3", "input": "Put the red cloth in the tub. ", "output": ["STEP 1: Turn to the right. | STEP 2: Open the cabinet and pull out the red cloth in it. | STEP 3: Move over to the bath tub. | STEP 4: Put the cloth in the tub.  | END"]}
{"id": "trial_T20190919_012436_072996-4", "input": "Put the red rag in the bathtub. ", "output": ["STEP 1: Turn to the right.  | STEP 2: Open the end cabinet under the counter, grab the red rag out of the cabinet.  | STEP 3: Turn around, walk to the bathtub.  | STEP 4: Place the rag in the bathtub.  | END"]}
{"id": "trial_T20190919_012436_072996-5", "input": "Move a red cloth from a cabinet to a bath tub.", "output": ["STEP 1: Turn right towards the counter top. | STEP 2: Open the cabinet on the bottom left and take out the red cloth, then close the cabinet. | STEP 3: Turn around and walk forward to the bath tub. | STEP 4: Put the cloth in the bath tub basin. | END"]}
{"id": "trial_T20190908_231519_766442-0", "input": "Move the smartphone from the black side table to the bed.", "output": ["STEP 1: Make a left to to walk to the black side table next to the bed. | STEP 2: Pick up the smartphone on the black table. | STEP 3: Make a right and stand next to the bed. | STEP 4: Put the smartphone down on the bed. | END"]}
{"id": "trial_T20190907_235651_940710-0", "input": "Put a knife and two slices of bread in a garbage can. ", "output": ["STEP 1: Turn to the left, go forward to the counter on the right where the yellow handled knife is.  | STEP 2: Pick up the knife from the counter. | STEP 3: Use the knife to cut the bread into slices.  | STEP 4: Turn to the right, go forward to the counter on the right where the bread and tomato are.  | STEP 5: Use the knife to cut the bread into slices.  | STEP 6: Turn to the left, go forward to the wall, turn to the left, go forward to the garbage can.  | STEP 7: Put the knife in to the garbage can. | STEP 8: Turn around, go forward, go to the right, go forward, hang a left and go to the counter where the bread and tomato are.  | STEP 9: Pick up a slice of bread from the counter.  | STEP 10: Turn to the left, go forward to the wall, turn to the left, go forward to the garbage can.  | STEP 11: Put the bread in to the garbage can.  | STEP 12: Turn around, go forward to the counter, turn to the right, go forward to the counter on the right where the bread is.  | STEP 13: Pick up a slice of bread from the counter.  | STEP 14: Turn to the right, go forward to the wall, turn to the left, go forward to the garbage can.  | STEP 15: Put the bread in to the garbage can.  | END"]}
{"id": "trial_T20190907_002848_074445-1", "input": "Put a bottle that has been in the refrigerator on the counter above the dishwasher.", "output": ["STEP 1: Turn left and go to the red trash can. | STEP 2: Take the bottle from the trash can. | STEP 3: Turn around and go to the refrigerator. | STEP 4: Open the refrigerator, put the bottle in the top refrigerator shelf, close the refrigerator. Open the refrigerator, take the bottle from the refrigerator. | STEP 5: Turn left, go to the dishwasher. | STEP 6: Put the bottle on the counter above the dishwasher. | END"]}
{"id": "trial_T20190908_215507_775236-1", "input": "Rinse a head of lettuce in the sink to put back on the white table.", "output": ["STEP 1: Turn left, walking forward across the room towards the white table. | STEP 2: Pick up the head of lettuce from the table. | STEP 3: Make a right and walk towards the sink. | STEP 4: Rinse the head of lettuce in the sink, removing it afterwards. | STEP 5: Turn left, heading back to the white table. | STEP 6: Set the head of lettuce down on the white table next to the bottle of lotion. | END"]}
{"id": "trial_T20190909_011730_726564-1", "input": "Place a rinsed fork on a counter.", "output": ["STEP 1: Walk to the green table ahead. | STEP 2: Pick up the silver fork to the right side of the table. | STEP 3: Turn left, hang a right at the fridge and walk to the sink on the left. | STEP 4: Put the fork in the sink, rinse it for a few seconds and pick it back up. | STEP 5: Turn right to face the white stove. | STEP 6: Put the rinsed fork in front of the coffee maker on the counter to the left. | END"]}
{"id": "trial_T20190907_014614_905434-0", "input": "Put the chilled pan on the back of the stove. ", "output": ["STEP 1: Turn around to face the stove. | STEP 2: Pick up the round pan from the stove.  | STEP 3: Bring the pan to the fridge.  | STEP 4: Chill the pan in the fridge for 5 seconds.  | STEP 5: Bring the pan back to the stove.  | STEP 6: Put the pan down at the back right of the stove.  | END"]}
{"id": "trial_T20190907_014614_905434-2", "input": "Place a cold pan on the stove top.", "output": ["STEP 1: Turn left and walk to the stove and turn left to face it. | STEP 2: Pick up the burner from the top left burner. | STEP 3: Turn right and make your way over to the fridge. | STEP 4: Open the fridge and put the pan on the bottom shelf and close the fridge letting the pan chill for a while before picking it back up and closing the fridge again. | STEP 5: Turn around and walk back to the stove. | STEP 6: Put the pan on the top right burner. | END"]}
{"id": "trial_T20190909_045741_191891-0", "input": "Move a sponge to the wire shelf ", "output": ["STEP 1: Move to face the back of the toilet against the wall | STEP 2: Pick up the sponge on top of the toilet tank on the left | STEP 3: Carry the sponge over to the wire shelving rack in the corner of the room | STEP 4: Place the sponge on the second shelf from the top on the shelving unit | END"]}
{"id": "trial_T20190907_000413_141930-2", "input": "Look at a pen in the light from the lamp.", "output": ["STEP 1: Turn around and go to the TV stand to your right. | STEP 2: Pick up the blue pen on the bottom shelf. | STEP 3: Turn around and go to the lamp in the right corner. | STEP 4: Turn on the lamp. | END"]}
{"id": "trial_T20190909_033231_419824-1", "input": "Pick up keys and turn on the lamp.", "output": ["STEP 1: Move forward and turn left to locate the small black table on the floor. | STEP 2: Pick up the keys from the top of the table. | STEP 3: Hold the keys and take a few steps to the right, to the lamp in the corner. | STEP 4: Hold the keys and turn on the lamp. | END"]}
{"id": "trial_T20190908_000741_543888-0", "input": "Throwing two slices of bread into the trash", "output": ["STEP 1: Move around the counter keeping it on the right until you're in front of it | STEP 2: Pick up the knife on the counter | STEP 3: Turn around and move to the sink on the right | STEP 4: Slice the bread to the left of the sink | STEP 5: Turn around and move to the counter on the far left of the wall | STEP 6: Slice the second loaf of bread that is below the tomato | STEP 7: Turn left and move to the trash can in the small area ahead | STEP 8: Put the knife in the trash can | STEP 9: Turn around and turn right and move towards the counter with the sink | STEP 10: Pick up a slice of bread from the middle of the loaf to the left of the sink | STEP 11: Turn to the left and move to the wall before turning left into the small area with the trash can | STEP 12: Put the slice in the trash can | STEP 13: Turn around and return to the second loaf of bread that is below the tomato | STEP 14: Pick up a slice of bread from the middle of the loaf that sits below the tomato  | STEP 15: Turn around and go back to the small room with the trash can | STEP 16: Put the second slice of bread in the trash beneath the first one | END"]}
{"id": "trial_T20190908_133706_349398-0", "input": "Move a coffee cup from the round table to the small table.", "output": ["STEP 1: Turn and go to the counter by the refrigerator. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn and go to the round table. | STEP 4: Put the knife in the coffee cup on the round table. | STEP 5: Pick up the coffee cup on the round table.  | STEP 6: Turn and go to the small table in the corner. | STEP 7: Put the coffee cup on the small table. | END"]}
{"id": "trial_T20190908_032235_790554-1", "input": "Put a heated slice of potato on the table. ", "output": ["STEP 1: Go around the counter to go to the front of the Sink.  | STEP 2: Pick up the gray knife on the counter. | STEP 3: Move over to the right. | STEP 4: Slice the potato on the counter. | STEP 5: Place the knife in the sink. | STEP 6: Pick up one slice of potato.  | STEP 7: Turn left and go to the microwave above the stove. | STEP 8: Microwave the slice of potato, and take it out. | STEP 9: Turn around and go to the table on the opposite side. | STEP 10: Place the potato slice on the table on the right of the tea kettle.  | END"]}
{"id": "trial_T20190909_061223_722848-0", "input": "To cool a lettuce slice and place it on the counter to the left of the fridge.", "output": ["STEP 1: Turn right and walk around to face the opposite side of the counter. | STEP 2: Pick up the lettuce on the counter. | STEP 3: Step left to face the end of the counter. | STEP 4: Place the lettuce on the end of the counter. | STEP 5: Pick up the knife on the counter. | STEP 6: Cut the lettuce on the counter into slices. | STEP 7: Place the knife on the counter. | STEP 8: Pick up a slice of lettuce on the counter. | STEP 9: Turn around to face the fridge. | STEP 10: Cool the lettuce slice in the fridge and remove it. | STEP 11: Take a step to the left to face the counter. | STEP 12: Place the lettuce slice on the counter. | END"]}
{"id": "trial_T20190909_061223_722848-2", "input": "Put a frozen slice of lettuce on the counter. ", "output": ["STEP 1: Turn around and go around the counter on the left to the other side.  | STEP 2: Pick up the lettuce on the counter.  | STEP 3: Move over to the right side of the counter.  | STEP 4: Place the lettuce back on the counter on the left of the fork and spatula.  | STEP 5: Pick up the gray knife from the counter.  | STEP 6: Cut the lettuce on the counter.  | STEP 7: Throw the knife back on the counter on top of the golden ladle.  | STEP 8: Pick up one slice of the lettuce from the counter. .  | STEP 9: Turn around and go to the front of the refrigerator. | STEP 10: Remove the lettuce after freezing it in the freezer.  | STEP 11: Turn left to go to the front of the counter with the coffee machine.  | STEP 12: Place the slice of the lettuce on the counter in front of the coffee machine. | END"]}
{"id": "trial_T20190907_052323_939906-1", "input": "Put a vase and a lid on a small dresser.", "output": ["STEP 1: Cross the room to the window, then turn to the bookcase on the right. | STEP 2: Pick up the vase on the shelf. | STEP 3: Cross the room to the door, turn right, then turn to the dresser on the left. | STEP 4: Place the vase on the dresser. | STEP 5: Turn left, then left again at the door, then turn to the large dresser on the right. | STEP 6: Pick up the gold lid on the dresser. | STEP 7: Head toward the door, then turn right, then turn back to the small dresser on the left. | STEP 8: Place the lid to the right of the vase. | END"]}
{"id": "trial_T20190907_052323_939906-2", "input": "Put two items from the shelf to the end table.", "output": ["STEP 1: Move to the shelf across from the door to the right.  | STEP 2: Pick up a clear vase from the shelf. | STEP 3: Move to the end table to the right of the door. | STEP 4: Place the vase on the end table  | STEP 5: Move to the shelf across from the door to the right.  | STEP 6: Pick up a golden disc from the shelf. | STEP 7: Move to the end table to the right of the door. | STEP 8: Place the disk on the end table  | END"]}
{"id": "trial_T20190907_052323_939906-3", "input": "Gather the earn with it's lid to put them on the night stand.", "output": ["STEP 1: Turn left, walk behind the couch to the far corner then turn right and approach book shelf. | STEP 2: Pick up the earn from the top shelf. | STEP 3: Walk to the right and go to the night stand. | STEP 4: Put the earn on top of the night stand. | STEP 5: Turn on the lamp then walk over to the dresser. | STEP 6: Pick up the lid for the candy dish from the dresser. | STEP 7: Walk back over to the night stand. | STEP 8: Place the lid on the night stand next to the earn. | END"]}
{"id": "trial_T20190907_052323_939906-4", "input": "Put a gold disk and a vase on the end table at the foot of the bed.", "output": ["STEP 1: Move to the shelf to the right of the bed | STEP 2: Pick up a vase from the shelf | STEP 3: Move to the end table at the foot of the bed | STEP 4: Place the vase on the end table | STEP 5: Move to the dresser to the right of the bed | STEP 6: Pick up a gold disk from the dresser | STEP 7: Move to the end table at the foot of the bed | STEP 8: Place the disk on the end table | END"]}
{"id": "trial_T20190907_052323_939906-5", "input": "drop a vase with the lid on a bed lamp stand", "output": ["STEP 1: move left towards the shelf | STEP 2: pick up the vase from the shelf | STEP 3: turn right and head towards the bed lamp | STEP 4: drop the vase on the bed lamp | STEP 5: turn around and head for the cupboard | STEP 6: pick up the vase lid | STEP 7: turn around and head for the bad lamp stand | STEP 8: drop the vase lid on the bed lamp stand | END"]}
{"id": "trial_T20190909_005232_712180-2", "input": "Chill an egg and place it on the counter.", "output": ["STEP 1: Turn around and move to the counter. Turn right to the other side of the counter. | STEP 2: Pick up the egg from the right side of the counter. | STEP 3: Carry the egg and turn around. Face the fridge on the left side. | STEP 4: Open the fridge and place the egg inside. Shut the door and then open it again. Take out the egg and shut the door. | STEP 5: Carry the egg and turn to the left and then left again. Turn around so the sink is on the left. | STEP 6: Place the egg on the counter, to the left of the sink. | END"]}
{"id": "trial_T20190907_012541_743790-1", "input": "Put a frying pan with a slice of potato and a knife in the fridge.", "output": ["STEP 1: Walk forward until your past the island on your right then turn right and take a step then turn right so you are facing the isle. | STEP 2: Pick up the yellow handled knife. | STEP 3: Turn left and walk over to the microwave and stand facing it. | STEP 4: Cut the potato in the microwave into slices then close the microwave. | STEP 5: Turn left and walk across the room and then move to stand in front of the stove. | STEP 6: Put the knife in the frying pan on the bottom right burner. | STEP 7: Walk across the room back to the microwave. | STEP 8: Take a slice of potato out of the microwave then close the microwave. | STEP 9: Walk back over to the stove. | STEP 10: Put the slice of potato in the pan with the knife. | STEP 11: Now pick all of it up. | STEP 12: Turn to your right and walk over to the fridge and stand in front of it facing it. | STEP 13: Put the pan in the top section of the fridge to the left of the lettuce. | END"]}
{"id": "trial_T20190907_163216_451970-0", "input": "Put a pot with a knife in it in the sink.", "output": ["STEP 1: Move forward, then turn right, move forward, then turn right to face the kitchen island. | STEP 2: Pick up the knife on the counter, to the right of the bread. | STEP 3: Turn around, to face the stove. | STEP 4: Put the knife in the pot on the stove. | STEP 5: Pick up the pot with a knife in it from the stove. | STEP 6: Turn around, move forward, then go left to approach the sink. | STEP 7: Put the pot in the center of the sink. | END"]}
{"id": "trial_T20190908_105102_987185-1", "input": "Place a chilled section of apple in the microwave.", "output": ["STEP 1: Turn right, move to the counter that is left of the sink. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn right, move to in front of the sink. | STEP 4: Slice the apple in the sink. | STEP 5: Put the knife in the sink. | STEP 6: Pick up a apple section from the sink. | STEP 7: Turn left, move to in front of the refrigerator. | STEP 8: Put the apple section in the refrigerator, chill it, pick it back up. | STEP 9: Turn right, move to in front of the microwave. | STEP 10: Put the apple section in the microwave. | END"]}
{"id": "trial_T20190908_105102_987185-2", "input": "Put a chilled slice of apple in a microwave", "output": ["STEP 1: Go to the counter left of the sink | STEP 2: Pick up the knife | STEP 3: Go to the sink | STEP 4: Cut the apple in the sink | STEP 5: Put the knife in the sink | STEP 6: Pick up an apple slice | STEP 7: Go to the fridge | STEP 8: Chill the apple | STEP 9: Go to the microwave | STEP 10: Put the apple in the microwave | END"]}
{"id": "trial_T20190908_062304_008535-0", "input": "Heat a plate to sterilize it and put it in the drawer.", "output": ["STEP 1: Walk around the room to the fridge, and open it. | STEP 2: Grab the plate from the top shelf of the fridge. | STEP 3: Walk around the island to the microwave. | STEP 4: Place the plate in the microwave. | STEP 5: Grab the plate out of the microwave and go to the cabinet next to it. | STEP 6: Place the plate in the cabinet. | END"]}
{"id": "trial_T20190907_233839_144519-1", "input": "Move a phone from the drawer to the bed.", "output": ["STEP 1: Walk to the drawers on your right. | STEP 2: Open a drawer and take the phone out of the drawer. | STEP 3: Move to the front of your bed. | STEP 4: Place the phone on the bed. | END"]}
{"id": "trial_T20190909_130251_926330-1", "input": "Grab the remote control and turn on the lamp.", "output": ["STEP 1: Turn around and face the television and television stand. | STEP 2: Grab the remote control between the pencils sitting in the television stand shelf. | STEP 3: Look up, turn left and walk to the lamp in the corner of the room to your left. | STEP 4: Turn on the lamp. | END"]}
{"id": "trial_T20190918_170351_028009-1", "input": "Place a slice of cooked tomato onto the island.", "output": ["STEP 1: Move to the island, near the left most chair. | STEP 2: Pick up the knife that is on the plate. | STEP 3: Turn left, move to the counter left of the stove. | STEP 4: Slice the tomato on the left, far from the edge. | STEP 5: Turn right, move to the island opposite the chairs. | STEP 6: Place the knife onto the island, left of the pan. | STEP 7: Turn left, move to the counter left of the stove. | STEP 8: Pick up a slice of tomato. | STEP 9: Turn right, move to in front of the stove. | STEP 10: Place the tomato slice in to the microwave, cook it, pick it back up. | STEP 11: Turn right, move to the island opposite the chairs. | STEP 12: Place the tomato slice on to the island. | END"]}
{"id": "trial_T20190918_170351_028009-3", "input": "place a cooked tomato slice on the table", "output": ["STEP 1: move right towards the table  | STEP 2: pick up the knife | STEP 3: head for the sink | STEP 4: slice the tomato by the sink | STEP 5: turn right and head for the table | STEP 6: drop the knife on the table | STEP 7: turn left and head for the sink | STEP 8: pick up the tomato slice | STEP 9: head left to the oven | STEP 10: place the tomato to cook in the oven | STEP 11: turn around and head towards the table | STEP 12: place the cooked slice on the table | END"]}
{"id": "trial_T20190918_170351_028009-4", "input": "Place microwaved tomato slice on green counter to the right of spatula", "output": ["STEP 1: turn left, go to end of green counter | STEP 2: pick up yellow handled knife from counter | STEP 3: go to counter to the left of stove | STEP 4: slice tomato in the back | STEP 5: turn right, go to green counter to the right | STEP 6: place knife on pencil on the counter next to square pan | STEP 7: turn left, go to counter to the left of stove | STEP 8: pick up tomato slice from counter behind whole tomato | STEP 9: go to microwave above stove to the right | STEP 10: place tomato slice in microwave, turn on microwave, open microwave door, pick up tomato slice from microwave | STEP 11: turn around, go to green counter | STEP 12: place tomato slice on green counter in between spatula and yellow handled knife | END"]}
{"id": "trial_T20190911_082512_678680-0", "input": "To move two credit cards to the television stand. ", "output": ["STEP 1: Walk over to the left side of the couch.  | STEP 2: Pick up the credit card from the couch.  | STEP 3: Walk over to the TV stand.  | STEP 4: Put the credit card down in front of the television.  | STEP 5: Walk over to the side table to the left of the tan chair.  | STEP 6: Pick up the credit card next to the lamp.  | STEP 7: Walk back over to the television stand.  | STEP 8: Put the credit card down on the TV stand to the left of the first credit card.  | END"]}
{"id": "trial_T20190911_082512_678680-1", "input": "Retrieve two credit cards and put them on the cabinet with keys on it", "output": ["STEP 1: Turn right, walk to couch | STEP 2: Pick up credit card from couch | STEP 3: Turn around, walk to cabinet | STEP 4: Put credit on cabinet to the left of the keys | STEP 5: Turn around, walk to table to the left of the couch | STEP 6: Pick up credit card from the table | STEP 7: Turn around, walk to the cabinet | STEP 8: Place credit card to the left of the card on the cabinet | END"]}
{"id": "trial_T20190908_045238_098735-1", "input": "Put a dispenser in a bin.", "output": ["STEP 1: move to the sink to the left of the shower | STEP 2: pick up a dispenser from the counter | STEP 3: move to the bin behind you | STEP 4: put the dispenser in the bin | END"]}
{"id": "trial_T20190909_091707_157817-1", "input": "Wash the tomato and put it in the fridge", "output": ["STEP 1: Walk over to the table. | STEP 2: Grab the tomato | STEP 3: Walk over to the sink | STEP 4: Wash the tomato | STEP 5: Grab the tomato and walk over to the fridge | STEP 6: Place the tomato in the fridge | END"]}
{"id": "trial_T20190908_035727_209529-2", "input": " place a cold bread slice in the oven", "output": ["STEP 1: turn around and head for the table | STEP 2: pick up the knife on the table | STEP 3: head straight for the coffee maker | STEP 4: slice the bread by the maker | STEP 5: move left to the fridge | STEP 6: place the knife in the fridge | STEP 7: move right to the bread | STEP 8: pick up a slice from the bread | STEP 9: head left to the fridge | STEP 10: place the bread to cool and then take it out | STEP 11: turn around and head for the oven  | STEP 12: place the bread in the oven | END"]}
{"id": "trial_T20190909_113038_150002-0", "input": "Wash the plate and put it in the fridge", "output": ["STEP 1: Walk over to the microwave | STEP 2: Grab the plate out of the cabinet | STEP 3: Walk over to the sink | STEP 4: Clean the plate | STEP 5: Walk over to the fridge | STEP 6: Put the plate in the fridge | END"]}
{"id": "trial_T20190909_113038_150002-2", "input": "Put a cleaned plate in the fridge.", "output": ["STEP 1: Head past the fridge, turn left to face the microwave. | STEP 2: Take the dirty plate out of the cabinet above the microwave.  | STEP 3: Turn around, bring the dirty plate to the sink on the left. | STEP 4: Wash the plate in the sink.  | STEP 5: Bring the cleaned plate to the fridge on the left. | STEP 6: Put the cleaned plate in the fridge. | END"]}
{"id": "trial_T20190909_060639_691393-1", "input": "To put a cell phone on a plate and put the plate on the coffee table. ", "output": ["STEP 1: Walk over to the table in the corner or the room.  | STEP 2: Pick up the cell phone from the table.  | STEP 3: Turn and walk to the dining table.  | STEP 4: Put the cell phone down on the black plate.  | STEP 5: Pick up the plate from the table.  | STEP 6: Turn and walk to the coffee table.  | STEP 7: Put the plate down on the table to the left of the cell phone.  | END"]}
{"id": "trial_T20190909_060639_691393-2", "input": "Put a smartphone on a plate to set on the coffee table.", "output": ["STEP 1: Turn left to walk to the far corner with the small wooden table. | STEP 2: Pick up the smartphone on the small wooden table. | STEP 3: Turn around, walking across the room to reach the wooden table with chairs around it. | STEP 4: Set the smartphone down on the plate on the wooden table with chairs around it. | STEP 5: Pick up the plate with the smartphone on it. | STEP 6: Turn right, then hang another right around the couches to reach the coffee table. | STEP 7: Set the plate with the smartphone on it down next to the other smartphone on the coffee table. | END"]}
{"id": "trial_T20190907_235512_702279-0", "input": "Put a microwaved potato in the fridge.", "output": ["STEP 1: Take a step to your left. | STEP 2: Pick up the potato that's above the tomato. | STEP 3: Take another step to your left. | STEP 4: Cook the potato in the microwave and then get it back out and close the door. | STEP 5: Turn right and walk to the stove then turn left and walk to the fridge. | STEP 6: Put the potato in the fridge by the tomato and close the door. | END"]}
{"id": "trial_T20190907_235512_702279-1", "input": "place a cooked potato in the fridge", "output": ["STEP 1: move left towards the shelf | STEP 2: pick up the potato  | STEP 3: move left towards the microwave | STEP 4: place the potato in the microwave and allow to cook and then take it out | STEP 5: turn around towards the fridge | STEP 6: place the potato in the fridge | END"]}
{"id": "trial_T20190910_182022_316506-2", "input": "Put the two wrist watch on the center table", "output": ["STEP 1: Turn left then head to the tv stand  | STEP 2: Pick up the wrist watch on the stand  | STEP 3: Turn right then head to the center table  | STEP 4: Put the wrist watch on the center table | STEP 5: Turn left then head to the side table with lamp  | STEP 6: Pick up the wrist watch beside the lamp | STEP 7: Turn right and head to the center table | STEP 8: Put the wrist watch on the center table | END"]}
{"id": "trial_T20190909_041707_562433-2", "input": "To move two CD's to a drawer. ", "output": ["STEP 1: Walk to the desk with the black chair.  | STEP 2: Pick up the CD from the desk.  | STEP 3: Move to look at the drawers below the night stand.  | STEP 4: Open the bottom drawer, put the CD inside the drawer, close the drawer.  | STEP 5: Move closer to the night stand.  | STEP 6: Pick up the CD from behind the mugs.  | STEP 7: Move further away from the night stand and look at the drawers.  | STEP 8: Open the bottom drawer, put the CD in the drawer to the left of the other one, and close the drawer.  | END"]}
{"id": "trial_T20190907_095133_965547-1", "input": "Placing a plate in the fridge with an egg on it.", "output": ["STEP 1: Turn around, and to the right to find the microwave. | STEP 2: Pick up the plate from the counter, on the left side of the microwave. | STEP 3: Take a step to the right and face the fridge. | STEP 4: Open the fridge, and place the plate inside. | STEP 5: Take the egg out of the fridge. | STEP 6: Place the egg on the plate inside the fridge. | END"]}
{"id": "trial_T20190907_095133_965547-2", "input": "Put an egg in a pan in the fridge.", "output": ["STEP 1: Turn around and stand in front of the microwave. | STEP 2: Pick up the pan to the left of the microwave. | STEP 3: Go to the fridge. | STEP 4: Put the pan in the fridge. | STEP 5: Pick up an egg from the fridge. | STEP 6: Put the egg in the pan. | END"]}
{"id": "trial_T20190907_095133_965547-3", "input": "Put an egg into the cooking pan in the fridge.", "output": ["STEP 1: Look down and turn around and go towards the sink and then turn right and walk to the microwave. | STEP 2: Pick up the cooking pan to the left of the microwave. | STEP 3: Turn right and then turn left at the fridge | STEP 4: open the fridge and put the pan inside of it | STEP 5: Pick up the egg from the bottom shelf | STEP 6: Put the egg into the pan in the fridge | END"]}
{"id": "trial_T20190908_173555_697145-0", "input": "Put a chilled head of lettuce in the sink.", "output": ["STEP 1: Walk over to the wall, then turn right and walk over to the end of the kitchen island. | STEP 2: Pick up the head of lettuce off of the island. | STEP 3: Turn left and walk over to the fridge. | STEP 4: Open the fridge door and put the head of lettuce inside then close the door, after a couple seconds open the fridge back up and take out the now chilled head of lettuce, then close the fridge. | STEP 5: Turn right and walk forward, then turn left to face the sink. | STEP 6: Put the chilled head of lettuce on top of the fork in the sink basin. | END"]}
{"id": "trial_T20190909_043449_781045-0", "input": "To wash a slice of lettuce and place it in the fridge.", "output": ["STEP 1: Turn left to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn around and walk forward and turn left to face the fridge. | STEP 4: Cut the lettuce in the fridge into slices. | STEP 5: Look up to face the fridge. | STEP 6: Place the knife in the fridge. | STEP 7: Look up to face the fridge. | STEP 8: Pick up the slice of lettuce in the fridge. | STEP 9: Turn left and walk forward to face the sink. | STEP 10: Wash the lettuce slice in the sink and remove it. | STEP 11: Turn around and walk to face the fridge. | STEP 12: Place the slice of lettuce in the fridge. | END"]}
{"id": "trial_T20190908_010308_664031-2", "input": "Put two heads of lettuce in the fridge.", "output": ["STEP 1: move to the counter to the right of the fridge | STEP 2: pick up lettuce from the counter | STEP 3: move to the fridge to the left of you | STEP 4: put the lettuce in the fridge | STEP 5: move to the counter to the right of the fridge | STEP 6: pick up lettuce from the counter | STEP 7: move to the fridge to the left of you | STEP 8: put the lettuce in the fridge | END"]}
{"id": "trial_T20190907_052121_376681-0", "input": "Put the urn and vase on the table by the chair.", "output": ["STEP 1: Walk around the bed and go to the dresser closest to the window. | STEP 2: Pick up the urn on the shelf. | STEP 3: Turn around and walk to the small table by the chair. | STEP 4: Put the urn down next to the lamp. | STEP 5: Turn around and go back to the dresser by the window. | STEP 6: Pick up the yellow vase. | STEP 7: Turn around and return to the table by the chair. | STEP 8: Put the vase down next to the urn. | END"]}
{"id": "trial_T20190908_120920_075460-0", "input": "Move two pencils from the dresser to the nightstand. ", "output": ["STEP 1: Turn and go to the dresser.  | STEP 2: Pick up a pencil on the dresser.  | STEP 3: Turn and go to the nightstand by the bed.  | STEP 4: Put the pencil on the nightstand by the bed.  | STEP 5: Turn and go to the dresser.  | STEP 6: Pick up a pencil on the dresser.  | STEP 7: Turn and go to the nightstand by the bed.  | STEP 8: Put the pencil on the nightstand by the bed.  | END"]}
{"id": "trial_T20190908_120920_075460-2", "input": "To move two pens to the night stand. ", "output": ["STEP 1: Turn left and walk to the black dresser on the right.  | STEP 2: Pick up the pen from the dresser closest to the mirror.  | STEP 3: Turn around and walk around the bed to the night stand to the left of the bed.  | STEP 4: Put the pen down on the night stand in front of the lamp.  | STEP 5: Turn around and walk back to the black dresser.  | STEP 6: Pick up the remaining pen from the dresser.  | STEP 7: Walk back over to the night stand to the left of the bed.  | STEP 8: Put the pen down behind the first pen on the night stand.  | END"]}
{"id": "trial_T20190908_133109_236471-1", "input": "Move a toilet paper roll and empty roll to the tank of the toilet.", "output": ["STEP 1: Turn to the left and face the counter on the right. | STEP 2: Pick up the toilet paper from the counter. | STEP 3: Carry the toilet paper and turn around to the toilet. | STEP 4: Place the toilet paper on the tank of the toilet. | STEP 5: Look down and then turn around. Face the sort side of the white counter. | STEP 6: Pick up the empty paper roll from the counter. | STEP 7: Carry the paper roll and turn to the left and then left again back to the toilet. | STEP 8: Place the paper roll on the tank of the toilet. | END"]}
{"id": "trial_T20190909_000817_332107-1", "input": "Examine a bowl using the light of a lamp.", "output": ["STEP 1: Turn right, walk a few steps, then turn right again and walk up to the desk.  | STEP 2: Pick up the bowl that is sitting on the desk.  | STEP 3: Turn around completely, walk a few steps forward, then turn left and walk up to the nightstand.  | STEP 4: Turn on the lamp that is sitting on the nightstand.  | END"]}
{"id": "trial_T20190909_060126_085267-0", "input": "turn on a lamp while holding a pair of keys", "output": ["STEP 1: turn around and walk over to the foot rest in front of the chair at the near end of the room on the right | STEP 2: grab the keys off of the foot rest | STEP 3: move around the chair in front of you to end up at the other side, but then face the wall with the lamp on it | STEP 4: turn on the lamp there | END"]}
{"id": "trial_T20190909_060126_085267-1", "input": "Examine the keys under the light of the floor lamp", "output": ["STEP 1: Turn right and walk around the coffee table to the ottoman by the arm chair | STEP 2: Pick up the keys from the ottoman | STEP 3: Turn right and walk around the back of the chair to the floor lamp | STEP 4: Turn on the floor lamp | END"]}
{"id": "trial_T20190907_223417_330211-0", "input": "place a  clean egg in the fridge", "output": ["STEP 1: turn around towards the sink | STEP 2: pick up the egg | STEP 3: turn to the sink at  the left | STEP 4: wash the egg in the sink | STEP 5: turn around and head to the fridge | STEP 6: place the egg in the fridge | END"]}
{"id": "trial_T20190907_223417_330211-2", "input": "wash the egg in the sink, put the egg in the refrigerator", "output": ["STEP 1: turn around, walk to the sink | STEP 2: grab the egg on the counter | STEP 3: walk to the left a little | STEP 4: put the egg in the left sink, wash it with water, take the egg out | STEP 5: turn around, walk to the refrigerator on the left | STEP 6: open the refrigerator, put the egg in | END"]}
{"id": "trial_T20190909_030509_537882-1", "input": "Move a candle from a counter to the top of a toilet.", "output": ["STEP 1: Walk to the right side of the counter in front of you. | STEP 2: Pick up the candle near the bar of soap. | STEP 3: Turn left and walk forward to the toilet. | STEP 4: Put the candle on the top of the toilet, in front of and to the left of the sponge. | END"]}
{"id": "trial_T20190909_030509_537882-2", "input": "Move a candlestick to the lid of the toilet tank.", "output": ["STEP 1: Make a right to walk towards the right side of the dresser. | STEP 2: Pick up the candlestick in front of the soap. | STEP 3: Turn around to walk towards the toilet. | STEP 4: Set the candlestick down on the lid of the toilet tank. | END"]}
{"id": "trial_T20190908_105417_251841-2", "input": "Chill a slice of pepper and put it in the microwave", "output": ["STEP 1: Go to the right of the coffeemaker | STEP 2: pick up the knife | STEP 3: Go to the microwave | STEP 4: Cut the pepper in the microwave | STEP 5: Go to the fridge | STEP 6: Put the knife in the fridge | STEP 7: Go to the microwave | STEP 8: Take a slice of pepper out of the microwave | STEP 9: Go to the fridge | STEP 10: Chill the pepper slice | STEP 11: Go to the microwave | STEP 12: Put the slice of pepper back in the microwave | END"]}
{"id": "trial_T20190908_051013_004115-0", "input": "Clean off a towel in the tub.", "output": ["STEP 1: Walk to the tub with a towel in it. | STEP 2: Grab the towel from the tub. | STEP 3: Walk to the kitchen sink on your left. | STEP 4: Soak the towel in the sink to clean it. | STEP 5: Walk back to the tub. | STEP 6: Place the towel in the tub. | END"]}
{"id": "trial_T20190907_173320_166553-0", "input": "Heat the wineglass a little and put it away in the cupboard.", "output": ["STEP 1: Turn right and go to the sink. | STEP 2: Take the wineglass on the right out of the sink. | STEP 3: Turn left and go to the microwave. | STEP 4: Open the microwave, heat the glass and take it out. | STEP 5: Look up to the cupboards above the microwave. | STEP 6: Open the cupboard and put the wineglass in the cupboard. | END"]}
{"id": "trial_T20190907_173320_166553-2", "input": "Put the heated wine glass in the kitchen cupboard", "output": ["STEP 1: Turn right and walk up to the kitchen sink | STEP 2: Pick up the left most wine glass from the sink | STEP 3: Turn left and walk over to the microwave | STEP 4: Warm the glass in the microwave then remove it | STEP 5: Look up to the cupboard above the microwave | STEP 6: Put the wine glass into the left cupboard above the microwave | END"]}
{"id": "trial_T20190908_234257_622674-1", "input": "Set a pan with an apple slice inside on the table.", "output": ["STEP 1: Go to the counter to the left of the microwave. | STEP 2: Pick up the butter knife on the counter. | STEP 3: Turn and go to the fridge. | STEP 4: Slice the apple on the shelf in the fridge. | STEP 5: Turn and go to the stove. | STEP 6: Put the butter knife in the pan on the back right burner. | STEP 7: Turn and go back to the fridge. | STEP 8: Pick up a slice of apple from the fridge. | STEP 9: Go back to the stove. | STEP 10: Set the apple slice down in the pan on the front right burner. | STEP 11: Pick up the pan with the apple slice in it. | STEP 12: Go to the round table. | STEP 13: Set the pan with the apple slice down on the table. | END"]}
{"id": "trial_T20190908_234257_622674-2", "input": "slice apple, put knife in pan on stove, place chilled apple slice in pan on table", "output": ["STEP 1: go to counter to the left of microwave | STEP 2: pick up knife in front of paper towels from counter | STEP 3: turn around, go to white refrigerator to the right | STEP 4: open refrigerator, slice yellow apple on top shelf of refrigerator | STEP 5: go to stove to the right | STEP 6: place knife in pan on back right burner of stove | STEP 7: go to refrigerator to the left | STEP 8: pick up apple slice from top shelf of refrigerator, close refrigerator | STEP 9: go to stove to the right | STEP 10: place apple slice in pan on front right burner of stove | STEP 11: pick up pan with apple slice from stove | STEP 12: turn left, go to the right of chair by round dining table | STEP 13: place pan with apple slice in front of dispenser on table  | END"]}
{"id": "trial_T20190909_055017_741681-2", "input": "Take an empty toilet paper roll from the dresser and place it on the toilet paper fixture", "output": ["STEP 1: turn right and face the dresser with the green drawers | STEP 2: pick up the toilet paper roll on the dresser | STEP 3: turn around and walk to the toilet  | STEP 4: place the toilet paper roll on the toilet paper fixture | END"]}
{"id": "trial_T20190909_052155_075560-1", "input": "Put a chilled potato in the sink.", "output": ["STEP 1: Walk over to the white table against the wall on your left. | STEP 2: Pick up the potato off of the white table. | STEP 3: Turn around and walk forward, then hang a left and walk up to the fridge. | STEP 4: Put the potato in the fridge for a couple seconds to chill it then take it out. | STEP 5: Turn right and walk over to the sink. | STEP 6: Put the chilled potato in the left sink basin. | END"]}
{"id": "trial_T20190907_123030_356914-2", "input": "Put the plunger in the left cabinet.", "output": ["STEP 1: Turn left and go to the toilet. | STEP 2: Pick up the plunger from the floor. | STEP 3: Turn around and then left to go to the sinks. | STEP 4: Open the cabinet under the left sink and put the plunger inside. | END"]}
{"id": "trial_T20190907_073056_273373-1", "input": "Throw a cooked potato in the garbage.", "output": ["STEP 1: Turn right, turn right again, cross room to face the microwave. | STEP 2: Pick up potato from counter to right of microwave. | STEP 3: Walk to microwave and face it, put potato in microwave, turn microwave on. | STEP 4: Remove potato from microwave. | STEP 5: Turn left, walk to garbage can, face garbage can. | STEP 6: Put potato in garbage can. | END"]}
{"id": "trial_T20190907_144205_767755-0", "input": "Examine a cell phone by the light of a floor lamp.", "output": ["STEP 1: Walk to the chair on the right of the fire place that has a laptop on it. | STEP 2: Pick up the cell phone that is behind the laptop on the chair. | STEP 3: Turn around and walk to the floor lamp in the right corner of the other room. | STEP 4: Turn on the lamp. | END"]}
{"id": "trial_T20190909_061601_901195-1", "input": "Put a rinsed sponge in the cabinet.", "output": ["STEP 1: Turn around and head to the counter to the right of the sink. | STEP 2: Pick up the sponge on the counter. | STEP 3: Turn left and go to the sink. | STEP 4: Put the sponge in the sink, rinse it off and pick it back up. | STEP 5: Turn to the right and go to the tall cabinets. | STEP 6: Put the sponge in the bottom right cabinet. | END"]}
{"id": "trial_T20190909_061601_901195-2", "input": "Move green sponge from counter and place it in a cabinet.", "output": ["STEP 1: Turn around, proceed to counter. | STEP 2: Pick up green sponge from counter. | STEP 3: Turn left then right to position self in front of sink. | STEP 4: Put sponge in sink, fill up sink with water and drain sink.  Pick up sponge from sink. | STEP 5: Turn right then left to position self in front of counter. | STEP 6: Open lower cabinet, second from wall, place sponge in front part of cabinet, close door. | END"]}
{"id": "trial_T20190907_000105_330254-2", "input": "Put a head of lettuce on the counter.", "output": ["STEP 1: Turn left to face refrigerator. | STEP 2: Take lettuce from the top shelf of the refrigerator. | STEP 3: Turn left, walk to the sink. | STEP 4: Place lettuce on counter to the right of the sink, to the right of the knife. | END"]}
{"id": "trial_T20190907_000105_330254-3", "input": "Grab lettuce from the fridge to place on the counter", "output": ["STEP 1: Turn to the left to face the fridge | STEP 2: Open the fridge and remove the head if lettuce on the top shelf, shut the fridge | STEP 3: Head toward the sink | STEP 4: Place the lettuce behind the dinner knife to the right of the sink | END"]}
{"id": "trial_T20190908_133119_538038-2", "input": "Put two bars of soap on the counter near the sinks.", "output": ["STEP 1: Back up and turn right, walk to left-hand sink | STEP 2: Take bar of soap from sink. | STEP 3: Turn right, walk to right-hand sink, turn to face sink. | STEP 4: Put soap down to left of right-hand sink. | STEP 5: Pick up soap from the right-hand sink. | STEP 6: Put soap down to right of sink. | END"]}
{"id": "trial_T20190906_213432_097777-1", "input": "Put salt on the small black table. ", "output": ["STEP 1: Move to the table near the stove. | STEP 2: Pick up the salt from the table.  | STEP 3: Bring the salt to the small black table. | STEP 4: Put the salt on the small black table.  | END"]}
{"id": "trial_T20190911_141220_977244-0", "input": "slice a potato heat it up put it inside the refrigerator", "output": ["STEP 1: turn to the right across the room | STEP 2: pick up the knife from the counter  | STEP 3: turn to the right | STEP 4: slice the potato that is in the counter | STEP 5: turn to the left across the room | STEP 6: face the refrigerator put the knife inside | STEP 7: turn to the right and across the room | STEP 8: pick up a slice of potato | STEP 9: turn all the way around face the microwave  | STEP 10: put the slice of potato inside the microwave get it back out | STEP 11: turn left and across the room face the refrigerator | STEP 12: open the refrigerator door and put the slice of potato inside the refrigerator | END"]}
{"id": "trial_T20190909_093925_523920-2", "input": "Put two sponges on the metal shelf.", "output": ["STEP 1: Walk forward and turn right to get to the sink. | STEP 2: Pick up the sponge in the sink. | STEP 3: Turn left to walk to the metal shelf. | STEP 4: Set the sponge down on the metal shelf. | STEP 5: Turn around to walk to the bathtub. | STEP 6: Pick up the sponge from the bathtub. | STEP 7: Turn around to walk to the metal shelf. | STEP 8: Put the sponge next to the other sponge on the metal shelf. | END"]}
{"id": "trial_T20190909_075937_250444-1", "input": "move the spray bottle from the dresser to the toilet", "output": ["STEP 1: go to the white dresser | STEP 2:  pick up the spray bottle from the top | STEP 3: take the bottle to the toilet | STEP 4: put the spray bottle on the back of the toilet | END"]}
{"id": "trial_T20190908_033816_974928-0", "input": "Place a washed ice cream scoop in the cabinet below the right sink.", "output": ["STEP 1: Turn left towards the sink and then turn right towards the metal bowl on the counter. | STEP 2: Pick up the ice cream scoop to the left of the metal bowl. | STEP 3: Take a step to the left to face the sink. | STEP 4: Place the scoop in the left sink, wash it, and pick it back up. | STEP 5: Take a step backwards to find the cabinet below the right sink. | STEP 6: Place the scoop in the cabinet and close the door. | END"]}
{"id": "trial_T20190909_042550_491536-1", "input": "Place a sponge in a skillet onto a kitchen island.", "output": ["STEP 1: Face left, then go to the counter to the right of the stove. | STEP 2: Pick up the sponge on the right of the wine bottle. | STEP 3: Move left, to face the left half of the stove. | STEP 4: Put the sponge in the skillet that is on the back left burner. | STEP 5: Pick up the skillet. | STEP 6: Turn to your right and go to face the center of the kitchen island on your right. | STEP 7: Put the skillet holding the sponge onto the top of the island, to the right of the fork. | END"]}
{"id": "trial_T20190908_230638_121501-0", "input": "Move a salt shaker to the drawer", "output": ["STEP 1: Turn around then face the cupboard under the toaster to the right of the oven | STEP 2: Open the cupboard and remove the salt inside then shut the cupboard door | STEP 3: Move to face the drawer directly above the cupboard | STEP 4: Place the salt inside the drawer, shut the drawer | END"]}
{"id": "trial_T20190908_093943_381070-2", "input": "Put a cooked slice of potato on the small black table", "output": ["STEP 1: Go to the white table | STEP 2: Pick up the knife | STEP 3: Go to the sink | STEP 4: Cut the potato in the sink | STEP 5: Put the knife in the sink | STEP 6: Pick up a potato slice | STEP 7: Go to the microwave | STEP 8: Heat the potato slice | STEP 9: Go to the small black table | STEP 10: Put the potato down on the black table | END"]}
{"id": "trial_T20190907_163603_149188-1", "input": "Put a bowl with a pencil on the dresser.", "output": ["STEP 1: Move to the left of the dresser to the right of the bed | STEP 2: Pick up a pencil from the dresser | STEP 3: Move to the shelf behind you | STEP 4: Place the pencil in a bowl on the shelf | STEP 5: Pick up the bowl from the shelf | STEP 6: Move to the dresser to the right of you | STEP 7: Place the bowl on the dresser | END"]}
{"id": "trial_T20190907_163603_149188-2", "input": "Put the pencil in the bowl, put the bowl on the dresser", "output": ["STEP 1: Walk to the black dresser | STEP 2: Take the pencil from the dresser | STEP 3: Turn around, head to the black shelf | STEP 4: Put the pencil in the bowl | STEP 5: Take the bowl from the shelf | STEP 6: Turn to the right, head to the black dresser | STEP 7: Put the bowl on the dresser | END"]}
{"id": "trial_T20190907_121949_710962-2", "input": "Put a chilled pan on the stove.", "output": ["STEP 1: Go to the stove in front of you. | STEP 2: Pick up the frying pan. | STEP 3: Turn around and go to the fridge. | STEP 4: Put the pan in the fridge, leave it for a few moments, then take it out again. | STEP 5: Go back to the stove. | STEP 6: Put the pan on the back left burner of the stove. | END"]}
{"id": "trial_T20190909_041532_466311-0", "input": "To move two salt shakers to the small black table at the end of the counter.", "output": ["STEP 1: Turn around to face the salt on the end of the table. | STEP 2: Pick up the salt on the table. | STEP 3: Turn right and cross the room and turn right to face the small black table. | STEP 4: Place the salt on the small black table. | STEP 5: Take a step to the right to face the salt on the counter. | STEP 6: Pick up the salt on the counter. | STEP 7: Take a step to the left to face the small black table. | STEP 8: Place the salt on the table. | END"]}
{"id": "trial_T20190909_041532_466311-2", "input": "put two salt shakers on kitchen shelves", "output": ["STEP 1: turn to face table next to garbage can | STEP 2: pick up salt shaker from table | STEP 3: walk forward to face small black shelves  | STEP 4: put shaker on shelves | STEP 5: move slightly right to face counter to right of shelves | STEP 6: pick up salt shaker from counter | STEP 7: move left to face black shelves | STEP 8: put shaker on shelves | END"]}
{"id": "trial_T20190906_192900_649370-1", "input": "Grab the tissue box near TV, turn on the lamp on side table", "output": ["STEP 1: Walk straight to the tv cabinet, turn around, facing the white shelf on the floor | STEP 2: Grab the tissue box near the edge | STEP 3: Walk across the room to the side table by the sofa | STEP 4: Turn on the lamp on the side table | END"]}
{"id": "trial_T20190906_192900_649370-2", "input": "Examine a tissue box in the light of the lamp on the table. ", "output": ["STEP 1: Move to the coffee table. | STEP 2: Pick up the tissue box closest to the TV from the coffee table.  | STEP 3: Bring the tissue box to the lamp on the side table. | STEP 4: Turn on the lamp on the table.  | END"]}
{"id": "trial_T20190907_143446_086680-0", "input": "Examine the baseball bat under the light of the table lamp", "output": ["STEP 1: Walk forward to the baseball bat leaning on the wall | STEP 2: Pick up the baseball bat from the ground | STEP 3: Turn right and approach the small wooden dresser by the window | STEP 4: Turn on the table lamp on the dresser | END"]}
{"id": "trial_T20190907_143446_086680-2", "input": "Hold a baseball bat while turning on a lamp. ", "output": ["STEP 1: Go left towards the baseball bat. | STEP 2: Pick up the baseball bat.  | STEP 3: Turn towards the dresser and walk towards it. | STEP 4: Turn the lamp on the dresser.  | END"]}
{"id": "trial_T20190908_124231_030934-1", "input": "Heat a bowl and place it in a cabinet", "output": ["STEP 1: Turn to the counter | STEP 2: Pick up the black bowl | STEP 3: Go to the microwave | STEP 4: Heat the bowl in the microwave | STEP 5: Go to the cabinet | STEP 6: Place the bowl in the cabinet | END"]}
{"id": "trial_T20190908_124231_030934-2", "input": "Place a heated glass in a cabinet.", "output": ["STEP 1: Turn around and walk to the counter ahead. | STEP 2: Pick up the black glass on the counter in front of the gray bowl. | STEP 3: Turn around and walk to the white stove on the right. | STEP 4: Put the glass inside the microwave above the stove, heat it for a few seconds, remove it and close the door. | STEP 5: Turn right and walk to the cabinets under the counter ahead. | STEP 6: Open the lower left cabinet, put the heated glass inside and close the door. | END"]}
{"id": "trial_T20190907_165415_289495-2", "input": "To pick up the racket and turn on the lamp. ", "output": ["STEP 1: Move in front of the book shelf on the right, turn left to face the racket on the floor.  | STEP 2: Pick up the racket with the orange handle.  | STEP 3: Turn around and walk to the lamp across the room on the left side of the desk.  | STEP 4: Turn on the lamp.  | END"]}
{"id": "trial_T20190907_232246_844099-1", "input": "Place warm bread into a trash bin. ", "output": ["STEP 1: Back up, turn to the left and walk to the table in the corner of the room.  | STEP 2: Pick up the knife from the edge of the table.  | STEP 3: Walk forward and closer to the table.  | STEP 4: Slice the bread that is at the back, left side of the table.  | STEP 5: Turn to the right and walk to the trash can.  | STEP 6: Place the knife into the trash bin.  | STEP 7: Turn to the left and walk back to the table.  | STEP 8: Grab two slices of bread that you had cut prior.  | STEP 9: Turn to the right and walk over to the stove.  | STEP 10: Open the microwave door above the stove, place the bread inside, close the door, warm the bread, remove the bread  | STEP 11: Close the microwave door, turn right and walk over to the trash bin.  | STEP 12: Toss the bread into the trash bin.  | END"]}
{"id": "trial_T20190908_101054_642838-2", "input": "clean off the dish from the table and put it in the microwave ", "output": ["STEP 1: look down at the floor and walk forward and stop mid table turn right  | STEP 2: pick up the square dish from the table  | STEP 3: turning to the right turn around and walk towards the sink  | STEP 4: place the dish into the sink and rinse with water pick the clean dish back up  | STEP 5: turn to the right turn all  the way around then back to the left  walk towards the stove and open the microwave  | STEP 6: place the dish in the microwave  | END"]}
{"id": "trial_T20190908_232537_339575-1", "input": "Put a cold egg in a microwave.", "output": ["STEP 1: Go to the left a step and face the counter with the pot. | STEP 2: Take the egg next to the salt on the counter. | STEP 3: Turn right, go forward to the stove top, turn left, go forward, turn right at the fridge, go to the fridge. | STEP 4: Put the egg on the lowest shelf in the fridge in front of the potato. Close and then open the fridge. Take the egg from the fridge. | STEP 5: Turn right, go forward to the stove top, turn right, go forward to the wall, turn left, go forward to the microwave. | STEP 6: Put the egg in the microwave. | END"]}
{"id": "trial_T20190908_232537_339575-2", "input": "To chill an egg and place it in the microwave. ", "output": ["STEP 1: Move over a bit to the left facing the counter.  | STEP 2: Pick up the egg from the counter.  | STEP 3: Turn right and walk to the fridge on the right.  | STEP 4: Open the fridge door, put the egg down on the third shelf, close the door, open the door, take the egg out of the fridge, close the door.  | STEP 5: Turn and walk to the microwave on the other side of the room.  | STEP 6: Put the egg down in the microwave and close the drawer.  | END"]}
{"id": "trial_T20190909_010952_786146-2", "input": "Move two remote controls to the armchair.", "output": ["STEP 1: Turn and go to the shelf by the wall. | STEP 2: Pick up the remote control on the shelf. | STEP 3: Turn around and go to the armchair.  | STEP 4: Put the remote control on the armchair.  | STEP 5: Turn and go to the shelf by the wall. | STEP 6: Pick up the remote control on the shelf. | STEP 7: Turn around and go to the armchair.  | STEP 8: Put the remote control on the armchair.  | END"]}
{"id": "trial_T20190909_151119_705109-0", "input": "Rinse a tea kettle to put on the table.", "output": ["STEP 1: Make a left to walk to the stove. | STEP 2: Pick up the rightmost tea kettle from the stove. | STEP 3: Turn right to walk to the sink. | STEP 4: Rinse the tea kettle in the sink. | STEP 5: Turn right and hang another right to reach the table. | STEP 6: Set the tea kettle down on the table. | END"]}
{"id": "trial_T20190909_151119_705109-1", "input": "Fill the tea pot with water and place it on the table.", "output": ["STEP 1: Walk over to the oven | STEP 2: Grab the tea pot | STEP 3: Walk over to the sink | STEP 4: Fill the pot with water | STEP 5: Walk over to the table | STEP 6: Place the pot on the table | END"]}
{"id": "trial_T20190907_045002_769926-2", "input": "To use the light to see the laptop.", "output": ["STEP 1: Turn left and walk across the room to the white couch.  | STEP 2: Close the laptop on the white couch and pick it up.  | STEP 3: Turn to the right and walk across the room, then turn right again and walk to the lamp on the other side of the room.  | STEP 4: Turn on the lamp to the left of the white chair.  | END"]}
{"id": "trial_T20190909_143336_258724-2", "input": "Throw away a chilled slice of potato.", "output": ["STEP 1: Walk to the stove and turn left to face the counter. | STEP 2: Pick up the knife from the counter. | STEP 3: Walk over to the left to the potato. | STEP 4: Slice the potato with the knife. | STEP 5: Go back to where the knife came from. | STEP 6: Put the knife back on the counter. | STEP 7: Walk back to the potato slices. | STEP 8: Pick up a potato slice off of the counter. | STEP 9: Walk over to the fridge. | STEP 10: Place the potato in the fridge and take it back out. | STEP 11: Take the slice of potato to the black trash can by the door. | STEP 12: Place the potato in the trash can. | END"]}
{"id": "trial_T20190911_082932_280904-1", "input": "Put the clean spoon in the drawer", "output": ["STEP 1: Turn around to your left then cross the room, head to the right side of the counter | STEP 2: Pick up the spoon on the counter | STEP 3: Turn to your right then walk towards the sink | STEP 4: Put the spoon in the sink then rinse it | STEP 5: Turn to your right facing the drawer | STEP 6: Open the drawer  put the spoon inside then close the drawer | END"]}
{"id": "trial_T20190911_082932_280904-2", "input": "Place a clean spoon inside the drawer to the right of the sink.", "output": ["STEP 1: Turn around and walk to the counter on the other side of the two black stools. | STEP 2: Pick up the spoon from the counter. | STEP 3: Turn around and walk to the sink. | STEP 4: Rinse the spoon in the sink and pick up the clean spoon. | STEP 5: Turn right to face the drawer to the right of the sink. | STEP 6: Place the clean spoon in the drawer to the right of the sink and then close it. | END"]}
{"id": "trial_T20190911_082932_280904-3", "input": "Put a clean spoon in a drawer.", "output": ["STEP 1: Turn around and cross the room to face the counter where the spoon is. | STEP 2: Pick the spoon up from the counter. | STEP 3: Turn around and stand in front of the sink. | STEP 4: Put the spoon in the sink, turn the water on and then turn the water off and then pick up the spoon. | STEP 5: Turn to the right. | STEP 6: Open the drawer and put the spoon in and then shut the drawer. | END"]}
{"id": "trial_T20190911_082932_280904-4", "input": "Put the clean spoon on the cabinet drawer", "output": ["STEP 1: Turn around to your right, then head to the counter beside the stove and turn to your right | STEP 2: Pick up the spoon on the counter top | STEP 3: Turn around to your right and head to the sink | STEP 4: Put the spoon on the sink , rinse it then pick it up | STEP 5: Turn to your left and face the stove | STEP 6: Pull the cabinet drawer then put in the spoon in and close the drawer | END"]}
{"id": "trial_T20190908_135917_098236-0", "input": "Put a bowl with a pen in it on a night stand.", "output": ["STEP 1: Turn right, go forward to the wall, turn right, go forward to the night stand. | STEP 2: Take the pen from the night stand. | STEP 3: Turn around, go forward, after passing the end of the bed turn left, go forward, after passing the end of the bed turn left, go forward to the top of the bed, turn right, go to the dresser. | STEP 4: Put the pen in the bowl on the shelf of the dresser. | STEP 5: Take the bowl from the shelf of the dresser. | STEP 6: Turn right, go around the bed back to the night stand where the pen came from. | STEP 7: Put the bowl behind the CD on the night stand. | END"]}
{"id": "trial_T20190909_100946_496614-0", "input": "move the cell phone to the night stand ", "output": ["STEP 1: Turn towards the bed | STEP 2: pick up the cell phone sitting on the bed | STEP 3: move over towards the nightstand next to the bed | STEP 4: place the cell phone on the nightstand  | END"]}
{"id": "trial_T20190909_100946_496614-2", "input": "take the phone from the bed to the nightstand", "output": ["STEP 1: go to the bed | STEP 2: pick up the phone | STEP 3: take the phone to the nightstand | STEP 4: stand the phone up on the stand | END"]}
{"id": "trial_T20190907_043932_996593-2", "input": "Place a cooled egg on the small black table.", "output": ["STEP 1: Turn around and walk towards the dining table. | STEP 2: Pick up the egg from the table. | STEP 3: Turn around and walk towards the fridge. | STEP 4: Place the egg on the top shelf inside the fridge, let it cool and take it back out. | STEP 5: Turn left towards the white table, and then turn right to face a small black table. | STEP 6: Place the egg on the right corner of the table. | END"]}
{"id": "trial_T20190907_164025_737491-0", "input": "Put a cooked apple on the counter in front of the microwave.", "output": ["STEP 1: Turn right and go to the sink. | STEP 2: Pick up the apple to the left of the sink. | STEP 3: Turn around and go to the microwave. | STEP 4: Heat the apple in the microwave and take it out. | STEP 5: Move slightly to your left. | STEP 6: Put the apple on the table in front of the microwave. | END"]}
{"id": "trial_T20190909_145819_249505-0", "input": "put two pump bottles on the back of the toilet", "output": ["STEP 1: go to the sink | STEP 2: pick up the pump bottle from the counter | STEP 3: take the pump bottle to the toilet | STEP 4: put the bottle on the back of the toilet | STEP 5: go to the right side of the sink | STEP 6: pick up the second bottle | STEP 7: take the bottle to the toilet | STEP 8: put the bottle on the back of the toilet next to the first bottle | END"]}
{"id": "trial_T20190908_175334_837253-2", "input": "Move a pillow from an armchair to a sofa.", "output": ["STEP 1: Turn around, walk to the coffee table, then turn right and walk to the TV, then turn left and walk to the armchair containing the purple pillow. | STEP 2: Pick up the pillow from the armchair. | STEP 3: Turn around and walk forward slightly, then turn right and walk to the blue sofa. | STEP 4: Put the pillow on the seat of the sofa which is on your left. | END"]}
{"id": "trial_T20190908_095904_372388-1", "input": "To heat a glass and put it in the fridge. ", "output": ["STEP 1: Turn right and walk to the sink on the right.  | STEP 2: Pick up the glass that's behind the spoon.  | STEP 3: Move to the right side of the sink and look up at the microwave.  | STEP 4: Open the microwave door, place the glass inside of the microwave, close the door, heat up the glass, open the door, remove the glass, close the door.  | STEP 5: Turn around and walk to the fridge.  | STEP 6: Open the fridge door and place the glass on the left side of the second shelf.  | END"]}
{"id": "trial_T20190908_095904_372388-2", "input": "Place a heated cup in a fridge.", "output": ["STEP 1: Turn right and veer right to the sink. | STEP 2: Pick up the glass to the left of the sink. | STEP 3: Take a step right. | STEP 4: Heat the glass in the microwave. | STEP 5: Turn around and veer left to the fridge. | STEP 6: Place the glass on the second to bottom shelf of the fridge. | END"]}
{"id": "trial_T20190909_015926_122467-2", "input": "Chill and egg and place it in the sink.", "output": ["STEP 1: Turn to the left and then face the sink on the right. | STEP 2: Pick up the egg from the left of the sink. | STEP 3: Carry the egg and turn to the right. Then turn right again and face the fridge. | STEP 4: Open the fridge and place the egg inside. Shut the door and then open door and take out the egg. Shut the door. | STEP 5: Carry the egg and turn to the right, then turn right again to move to the sink. | STEP 6: Place the egg in the sink. | END"]}
{"id": "trial_T20190909_101726_033701-1", "input": "Slice the apple while it is still in the pot.", "output": ["STEP 1: Turn around and face the stove. | STEP 2: Grab the big pot off the stove. | STEP 3: Turn around and walk straight, then turn right to the table. | STEP 4: Place the pot to the left of the fork. | STEP 5: Move right further down the table. | STEP 6: Grab the apple off of the table. | STEP 7: Walk back to where the pot is | STEP 8: Place the apple inside the pot | STEP 9: Head back to where the apple used to be. | STEP 10: Grab the knife from the table. | STEP 11: Head back to where the pot is once more. | STEP 12: Slice the apple that's in the pot. | END"]}
{"id": "trial_T20190909_101726_033701-2", "input": "To Put an apple in a pot and cut the apple into three pieces.", "output": ["STEP 1: Turn around and step forward to face the stove. | STEP 2: Pick up the pot on the stove. | STEP 3: Turn left and walk across the room to face the left end of the table. | STEP 4: Place the pot on the table. | STEP 5: Step to the right to face the table. | STEP 6: Pick up the apple on the table. | STEP 7: Step to the left to face the pot on the table. | STEP 8: Place the apple in the pot on the table. | STEP 9: Look right to face the knife on the table. | STEP 10: Pick up the knife on the table. | STEP 11: Step left to face the pot on the table. | STEP 12: Cut the apple in the pot into three pieces. | END"]}
{"id": "trial_T20190908_155858_033016-2", "input": "Pick up a cup and turn on the lamp.", "output": ["STEP 1: Turn left then walk towards the desk. | STEP 2: Pick up the white cup closest to the wall. | STEP 3: Turn right then walk towards the dresser. | STEP 4: Turn on the lamp on top of the dresser. | END"]}
{"id": "trial_T20190907_155441_973789-1", "input": "Place newspaper next to blue plate, place newspaper on top of blue plate", "output": ["STEP 1: turn left, go to left side of television stand | STEP 2: pick up newspaper from under left side of television | STEP 3: turn around, face coffee table with rug underneath | STEP 4: place newspaper touching right side of square blue place toward front of coffee table | STEP 5: turn around, go to right end of television stand | STEP 6: pick up newspaper from television stand | STEP 7: go to coffee table to the left | STEP 8: place newspaper on top of blue plate with newspaper touching it | END"]}
{"id": "trial_T20190907_155441_973789-2", "input": "Put two papers on the coffee table.", "output": ["STEP 1: Move to the left of the TV before the bin | STEP 2: Pick up a paper from the stand | STEP 3: Move to the coffee table behind you | STEP 4: Put the paper on the coffee table | STEP 5: Move to the right of the TV stand behind you | STEP 6: Pick up a paper from the stand | STEP 7: Move to the coffee table behind you | STEP 8: Put the paper on the coffee table | END"]}
{"id": "trial_T20190908_061832_568265-2", "input": "Examine a pencil by the light of a lamp", "output": ["STEP 1: Turn around and move to the chair on your left | STEP 2: Pick up the pencil from the desk | STEP 3: Turn around and move to the lamp on your left | STEP 4: Turn the lamp on | END"]}
{"id": "trial_T20190908_162557_481100-0", "input": "Heat a cup and place it with the coffee machine.", "output": ["STEP 1: Take a step to the right, and turn right to find the sink. | STEP 2: Pick up the cup from inside the sink. | STEP 3: Carry the cup and turn around and then left to find the microwave. | STEP 4: Open the microwave and place the cup inside. Shut the door. Open the door, take out the cup and then shut the door. | STEP 5: Carry the cup and turn to the left, then left again and locate the coffee machine on the right. | STEP 6: Place the cup on the coffee machine. | END"]}
{"id": "trial_T20190908_162557_481100-2", "input": "Put the heated mug on the coffee maker", "output": ["STEP 1: Turn right then head to the sink on your right | STEP 2: Pick up the mug in the sink | STEP 3: Turn around to the right walk forward then head to the microwave | STEP 4: Open the microwave heat the mug then take it out and close the microwave | STEP 5: Turn left then heat to the coffee maker on your right | STEP 6: Put the mug on the coffee maker | END"]}
{"id": "trial_T20190908_133250_885504-1", "input": "Put both bars of soap next to the sink on the right", "output": ["STEP 1: Head to the left, stand in front of the sink | STEP 2: Take the soap out of the sink | STEP 3: put the soap on the counter next to the sink | STEP 4: Turn to the left | STEP 5: head to the other sink | STEP 6: Take the soap from the counter | STEP 7: Head back to the right | STEP 8: Face the sink, put the soap on the counter | END"]}
{"id": "trial_T20190908_133250_885504-2", "input": "Put two pink sponges on the counter around the right sink", "output": ["STEP 1: Turn around and go to the bathroom sink on the right. | STEP 2: Pick up the pink sponge in the sink.  | STEP 3: Move back slightly from the counter. | STEP 4: Place the pink sponge on the counter space on the left of the sink. | STEP 5: Move forward and then to the left sink. | STEP 6: Pick up the pink sponge in the sink. | STEP 7: Go back to the sink on the right. | STEP 8: Place the pink sponge on the counter space on the right of the sink.  | END"]}
{"id": "trial_T20190909_001010_314590-2", "input": "Move a pot with a sponge to the table.", "output": ["STEP 1: Turn and go to the sink. | STEP 2: Pick up a sponge in the sink. | STEP 3: Turn and go to the stove. | STEP 4: Put the sponge in the pot on the stove. | STEP 5: Pick up the pot on the stove.  | STEP 6: Turn and go to the table. | STEP 7: Put the pot on the table.  | END"]}
{"id": "trial_T20190906_235957_360315-0", "input": "Put a clean cloth on top of the dresser.", "output": ["STEP 1: Walk across the room to the vanity to the left of the tub. | STEP 2: Pick up the dirty cloth on the vanity. | STEP 3: Turn and walk across the room to the sink. | STEP 4: Clean the cloth in the sink. | STEP 5: Go to the dresser next to the door. | STEP 6: Put the cloth down on the dresser next to the bottle of cleaner. | END"]}
{"id": "trial_T20190906_235957_360315-2", "input": "place a clean wash cloth on top of the tall white cabinet", "output": ["STEP 1: walk over to the bathroom cabinets | STEP 2: pick up a dirty cloth off of the cabinets | STEP 3: walk over to the bathroom sink | STEP 4: wash the cloth in the sink and pick it back up | STEP 5: walk over to the tall white cabinet | STEP 6: place the wash cloth on top | END"]}
{"id": "trial_T20190908_214707_663766-2", "input": "Put a rag in the bathtub. ", "output": ["STEP 1: Turn to the empty counter space between the two sinks, on your right.  | STEP 2: Pick up the yellow rag on the counter.  | STEP 3: Turn to the bathtub on your right.  | STEP 4: Place the yellow rag inside the bathtub.  | END"]}
{"id": "trial_T20190909_103054_508610-1", "input": "Put a heated apple in the sink.", "output": ["STEP 1: Go left and then right to face the counter to the left of the microwave. | STEP 2: Pick the apple up from the counter. | STEP 3: Move to the right and face the microwave. | 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: Turn and face the sink to the left. | STEP 6: Put the apple in the sink on the left side. | END"]}
{"id": "trial_T20190909_103054_508610-2", "input": "Place a heated apple in a sink.", "output": ["STEP 1: Walk ahead and veer left to the counter to the left of the microwave. | STEP 2: Pick up the red apple on the counter. | STEP 3: Take a step right. | STEP 4: Heat the apple in the microwave. | STEP 5: Turn left and walk to the sink. | STEP 6: Place the apple in the left basin of the sink. | END"]}
{"id": "trial_T20190907_222331_696550-2", "input": "Put a cleaned bar of soap in a garbage bin.", "output": ["STEP 1: Turn left and walk to the bath tub. | STEP 2: Pick up the bar of soap from the bath tub. | STEP 3: Turn right and walk to the sink on the left. | STEP 4: Put the bar of soap in the sink, rinse it off, and take it out of the sink. | STEP 5: Walk backwards and slightly to the left towards the garbage bin on the floor. | STEP 6: Put the bar of soap in the garbage bin. | END"]}
{"id": "trial_T20190908_102013_922247-2", "input": "place a cold tomato slice in the microwave", "output": ["STEP 1: turn right to the table | STEP 2: pick up the knife  | STEP 3: turn around to the tomato | STEP 4: slice the tomato with the knife | STEP 5: turn around to the cupboard  | STEP 6: drop the knife in it | STEP 7: turn around to the slice | STEP 8: pick up a tomato slice | STEP 9: lead to the fridge | STEP 10: place the tomato to cool and then take it out | STEP 11: turn around and head to the microwave | STEP 12: place the tomato in the microwave | END"]}
{"id": "trial_T20190906_212015_252242-0", "input": "Grab the box on the table, turn off the floor lamp", "output": ["STEP 1: Turn right, and walk to the dining table, turn right, and turn left to the side of dining table | STEP 2: Grab the box on the table | STEP 3: Turn left and walk to the floor lamp | STEP 4: Turn off the floor lamp by the sofa | END"]}
{"id": "trial_T20190906_212015_252242-1", "input": "Turn off the lamp next to the couch. ", "output": ["STEP 1: Move to the dining table. | STEP 2: Pick up the box from the table.  | STEP 3: Bring the box to the lamp next to the couch.  | STEP 4: Turn off the lamp next to the couch.  | END"]}
{"id": "trial_T20190907_171916_941174-1", "input": "place a clean cup under a coffee maker", "output": ["STEP 1: move left towards the table, then right towards the table under the shelf | STEP 2: pick up the mug | STEP 3: move right and then left towards the sink | STEP 4: rinse the mug in the sink | STEP 5: turn right towards the wall and then right towards the coffee maker | STEP 6: place the mug under the coffee maker | END"]}
{"id": "trial_T20190909_100159_289642-0", "input": "Pick up both credit cards and move them to the chair", "output": ["STEP 1: cross the living room to the coffee table | STEP 2: pick up the card sitting on the coffee table | STEP 3: take the card to the chair beside coffee table | STEP 4: set the card down on the chair  | STEP 5: cross the room to the tv stand | STEP 6: pick up the card sitting on the tv stand | STEP 7: turn around and go back to the chair by the couch | STEP 8: set the credit card next to the first one | END"]}
{"id": "trial_T20190909_100159_289642-2", "input": "To move two credit cards to the chair. ", "output": ["STEP 1: Walk over to the coffee table in front of the couch.  | STEP 2: Pick up the credit card in front of the sculpture.  | STEP 3: walk over to the chair to the right of the couch.  | STEP 4: Put the credit card down on the chair.  | STEP 5: Walk over to the television stand.  | STEP 6: Pick up the credit card in front of the television.  | STEP 7: Turn around and walk back to the chair.  | STEP 8: Put the credit card on the chair to the right of the other credit card.  | END"]}
{"id": "trial_T20190909_025040_790264-1", "input": "Put two credit cards on the chair.", "output": ["STEP 1: Turn around, walk straight back, turn right, then face the statue on the left. | STEP 2: Pick up the credit card in front of the statue. | STEP 3: Turn around and walk forward then face the chair on the left. | STEP 4: Place the card on the chair. | STEP 5: Turn around and walk to the far wall, turn right and walk in between the bin and the table. | STEP 6: Grab the card on the table. | STEP 7: Turn to the right, walk forward, then turn to the left and face the chair. | STEP 8: Put the card next to the other on the chair. | END"]}
{"id": "trial_T20190909_025040_790264-2", "input": "place two credit cards on gray chair", "output": ["STEP 1: turn around, go to dresser with laptop | STEP 2: pick up red credit card in front of black statue on dresser | STEP 3: turn right, go to gray chair with brown pillow | STEP 4: place credit card on gray chair with brown pillow | STEP 5: turn around, go to small table with black statue next to the dresser | STEP 6: pick up red credit card to the left of black statue | STEP 7: go to gray chair with brown pillow | STEP 8: place red credit card to the right of credit card on gray chair | END"]}
{"id": "trial_T20190919_040146_329866-0", "input": "Place a bowl with a credit card in it on a desk.", "output": ["STEP 1: Turn right and veer left to the right side of the desk.  | STEP 2: Pick up the red credit card on the desk. | STEP 3: Place the card in the bowl. | STEP 4: Pick up the bowl. | STEP 5: Walk right and straight around the desk. | STEP 6: Place the bowl on the desk to the right of the laptop. | END"]}
{"id": "trial_T20190908_082621_259220-0", "input": "Move the laptop between the remote controls to the red lounge chair.", "output": ["STEP 1: Turn right and go to the glass table. | STEP 2: Close the laptop nearest to you and pick it up. | STEP 3: Turn around and move to the red lounge chair in the center of the room. | STEP 4: Set the laptop down on the seat of the red lounge chair. | END"]}
{"id": "trial_T20190908_060001_516672-0", "input": "retrieve a box of  tissues from the cabinet and put the on the toilet", "output": ["STEP 1: walk toward the toilet. walk around to the left side of the toilet and face the sink | STEP 2: open the cabinet and retrieve the box of tissues | STEP 3: turn around and walk to the far side of the toilet | STEP 4: place the box of tissues on the back side of the toilet | END"]}
{"id": "trial_T20190908_060001_516672-1", "input": "Move the tissue box to the back of the toilet", "output": ["STEP 1: Move to the right side of the sink cupboard closest to the wall | STEP 2: Open the cupboard to remove the tissue box then shut the door | STEP 3: Carry the tissue box to the back of the toilet | STEP 4: Place the tissue box on the back of the toilet | END"]}
{"id": "trial_T20190908_131436_364370-2", "input": "Take out the green candle and put it on the toilet.", "output": ["STEP 1: Turn right at the white door and turn right at the metal sink. Look above the toilet at the white cabinet above it. | STEP 2: Take out the green candle in the white cabinet. | STEP 3: Look back down to the top of the toilet. | STEP 4: Put the green candle next to the purple spray bottle on the toilet. | END"]}
{"id": "trial_T20190907_143326_990366-2", "input": "Placing a clean mug on the coffeemaker. ", "output": ["STEP 1: Turn around to the left and walk to the coffee maker.  | STEP 2: Grab the mug from the coffeemaker. | STEP 3: Turn to the left and walk to the sink. | STEP 4: Place the mug into the sink and rinse it with water. Remove the mug from the sink.  | STEP 5: Turn to the right and walk back to the coffeemaker.  | STEP 6: Place the mug on the coffeemaker.  | END"]}
{"id": "trial_T20190908_122402_482968-1", "input": "Put a spray bottle in the garbage.", "output": ["STEP 1: Turn around and walk to the toilet then turn to your right and walk to the toilet brush. | STEP 2: Pick up the spray bottle closest to you on the back of the toilet. | STEP 3: Take a step to your right. | STEP 4: Put the spray bottle in the garbage. | END"]}
{"id": "trial_T20190908_161100_723861-0", "input": "Put a pan with a piece of lettuce in it into the fridge.", "output": ["STEP 1: Go to the counter with the toaster on it. | STEP 2: Pick up the butter knife in front of the toaster. | STEP 3: Turn and go to the counter to the left of the sink. | STEP 4: Slice the lettuce on the counter. | STEP 5: Turn and go to the refrigerator. | STEP 6: Put the knife in the fridge. | STEP 7: Go back to the counter to the left of the sink. | STEP 8: Pick up a piece of lettuce. | STEP 9: Go to the stove across the room. | STEP 10: Put the lettuce in the pan on the back left burner. | STEP 11: Pick up the pan with the lettuce on it. | STEP 12: Turn right and go across the room to the fridge. | STEP 13: Put the pan with lettuce in it into the fridge. | END"]}
{"id": "trial_T20190908_165356_409247-1", "input": "To cool a slice of tomato plus store it in the microwave.", "output": ["STEP 1: Turn around and walk forward to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Look up to face the tomato on the right side of the counter. | STEP 4: Cut the tomato on the counter into slices. | STEP 5: Look down to face the edge of the counter. | STEP 6: Place the knife on the counter. | STEP 7: Look up to face the tomato on the counter. | STEP 8: Pick up the slice of tomato on the counter. | STEP 9: Take a step to the left to face the fridge. | STEP 10: Cool the tomato in the fridge and then remove it. | STEP 11: Turn around and walk across the room to face the microwave. | STEP 12: Place the tomato slice in the microwave. | END"]}
{"id": "trial_T20190907_074457_868143-0", "input": "Examine an empty box by the light of a desk lamp.", "output": ["STEP 1: Turn right and walk to the dining table. | STEP 2: Pick up the empty box from the dining table. | STEP 3: Turn right and walk around the table towards the lamp on a desk. | STEP 4: Turn on the lamp. | END"]}
{"id": "trial_T20190909_013350_472755-1", "input": "Move the two perfume bottles on the vanity to the right-most cupboard underneath the vanity.", "output": ["STEP 1: Turn left and move to the vanity underneath the mirror. | STEP 2: Pick up the perfume bottle nearest to you. | STEP 3: Move a few feet backwards, facing towards the vanity. | STEP 4: Open up the right-most cupboard underneath the sink on the right hand side, place the perfume into the cupboard, and close it. | STEP 5: Approach the vanity underneath the mirror again. | STEP 6: Pick up the last perfume bottle on the vanity. | STEP 7: Move a few feet backwards again, facing towards the vanity. | STEP 8: Open up the right-most cupboard underneath the sink on the right hand side, place the perfume into the cupboard, and close it. | END"]}
{"id": "trial_T20190909_041655_003868-2", "input": "Slice the small potato above the dishwasher, chill it in the refrigerator, and throw the potato slice into the garbage can by the refrigerator.", "output": ["STEP 1: Turn left and walk forward to the counter. | STEP 2: Turn left again and walk forward to the other counter. | STEP 3: Pick up the butter knife from the counter top. | STEP 4: Turn left, move forward, and then turn right and move to the dishwasher. | STEP 5: Slice the small potato above the dishwasher with the butter knife. | STEP 6: Turn around, move forward, and then turn and move towards the refrigerator on the left. | STEP 7: Open the refrigerator, put the knife on the top shelf inside the refrigerator, and close the refrigerator. | STEP 8: Turn around, move forward, then turn right and move to the dishwasher. | STEP 9: Pick up one slice of potato from the counter top above the dishwasher, turn around, move forward, and then turn and move towards the refrigerator on the left. | STEP 10: Place the potato slice in the refrigerator next to the butter knife on the top shelf, close the door, wait until it is chilled, then take the potato slice out of the refrigerator and close the refrigerator. | STEP 11: Move to the garbage can on the right side of the refrigerator. | STEP 12: Put the slice of potato into the garbage can. | END"]}
{"id": "trial_T20190908_200150_943867-1", "input": "Slice a potato, wash a slice and put it in the microwave", "output": ["STEP 1: Turn around, go to the counter | STEP 2: Pick up the knife nearest to the wall | STEP 3: Turn around, go to the basket | STEP 4: Slice the potato in the basket | STEP 5: Put the knife in the basket | STEP 6: Pick up a potato slice | STEP 7: Turn around, go forward, turn left and go to the sink | STEP 8: Put the potato slice in the sink, wash the potato slice with water, pick up the potato slice | STEP 9: Turn right, go to the microwave | STEP 10: Put the potato slice in the microwave | END"]}
{"id": "trial_T20190908_200150_943867-2", "input": "Put a washed slice of potato in a microwave.", "output": ["STEP 1: Turn right, go forward a step, turn right, go forward to the white table. | STEP 2: Take the small knife closest to the wall from the table. | STEP 3: Turn around, go forward to the red bin. | STEP 4: Cut the potato in the bin into slices. | STEP 5: Put the knife in the bin. | STEP 6: Take a slice of potato from the bin. | STEP 7: Turn around, go forward, turn left to the sink, go to the sink. | STEP 8: Wash the slice of potato in the sink then take the potato out. | STEP 9: Turn right, go forward to the microwave. | STEP 10: Put the potato in the microwave. | END"]}
{"id": "trial_T20190908_115259_655381-1", "input": "Chill a tomato slice and put it in a microwave", "output": ["STEP 1: Turn to the white table | STEP 2: Pick up the knife | STEP 3: Look down at the tomato | STEP 4: Cut the tomato into slices | STEP 5: Go to the refrigerator | STEP 6: Put the knife in the refrigerator | STEP 7: Go to the white table | STEP 8: Pick up a tomato slice | STEP 9: Go to the refrigerator | STEP 10: Chill the tomato slice | STEP 11: Go to the microwave | STEP 12: Put the tomato slice in the microwave | END"]}
{"id": "trial_T20190908_115259_655381-2", "input": "Put a cold slice of tomato in the fridge.", "output": ["STEP 1: Turn right and take a step then turn right and walk to the table. | STEP 2: Pick up the yellow handled knife that's in front of you. | STEP 3: Look down at the tomato. | STEP 4: Slice the tomato into slices with the knife. | STEP 5: Turn right and walk until you're even with the fridge then turn right and walk to it when you are. | STEP 6: Open the fridge and put the knife in there then close the door. | STEP 7: Walk back over to thee sliced tomato. | STEP 8: Pick up a slice of the tomato please. | STEP 9: Walk back over the the fridge and face it please. | STEP 10: Chill the slice of tomato in the fridge then get it back out and close the door. | STEP 11: Turn left and walk to the counter then turn right and walk to the microwave. | STEP 12: Put the slice of tomato in the microwave then close the door. | END"]}
{"id": "trial_T20190908_045222_151120-2", "input": "Move a bottle of soap from a counter top to a garbage can.", "output": ["STEP 1: Walk forward to the towel, then turn left and walk forward to the sink. | STEP 2: Pick up the bottle of soap from the counter near the toilet paper. | STEP 3: Turn around, walk to the wall, then turn right and walk to the garbage can on the floor in the corner. | STEP 4: Put the bottle of soap in the garbage can. | END"]}
{"id": "trial_T20190908_132517_128346-0", "input": "Place two CDs in a trash bin", "output": ["STEP 1: Go to the table | STEP 2: Pick up a CD from the table | STEP 3: Look at the trash bin | STEP 4: Place the CD in the trash bin | STEP 5: Go back to the table | STEP 6: Pick up another CD from the table | STEP 7: Look at the trash bin | STEP 8: Place the CD in the trash bin next to the other one | END"]}
{"id": "trial_T20190908_122759_897195-0", "input": "Put a pencil in a mug and put the mug on the nightstand.", "output": ["STEP 1: Turn around, and walk to the desk. | STEP 2: Pick up the pencil behind the mug. | STEP 3: Put the pencil in the mug on the left. | STEP 4: Pick up the mug on the left. | STEP 5: Turn around and face the safe. | STEP 6: Put the mug on the nightstand. | END"]}
{"id": "trial_T20190908_122759_897195-2", "input": "Move a coffee mug from the desk to the small bookshelf. ", "output": ["STEP 1: Turn and go to the desk.  | STEP 2: Pick up the pencil on the desk. | STEP 3: Put the pencil in a coffee mug on the desk.  | STEP 4: Pick up the coffee mug on the desk.  | STEP 5: Turn and go to the small bookshelf. | STEP 6: Put the coffee mug on the small bookshelf.  | END"]}
{"id": "trial_T20190908_023604_668325-2", "input": "Move a pencil from the trash to a desk.", "output": ["STEP 1: Turn to the right to find the trash can. | STEP 2: Pick up the pencil from inside the trash can. | STEP 3: Hold the pencil and turn to the right, then left to go to the front of the desk. | STEP 4: Place the pencil on the top right shelf of the desk. | END"]}
{"id": "trial_T20190908_172141_392705-0", "input": "Move two toilet rolls from the top shelf to the bottom shelf. ", "output": ["STEP 1: Turn and go to the shelves by the door. | STEP 2: Pick up a toilet roll on the top shelf.  | STEP 3: Turn and go to the shelves by the door. | STEP 4: Put the toilet roll on the bottom shelf. | STEP 5: Turn and go to the shelves by the door. | STEP 6: Pick up a toilet roll on the top shelf.  | STEP 7: Turn and go to the shelves by the door. | STEP 8: Put the toilet roll on the bottom shelf. | END"]}
{"id": "trial_T20190909_102158_210566-1", "input": "Put a cardboard box on the couch", "output": ["STEP 1: Turn left and go to the box on the floor by the chair | STEP 2: Pick up the box from the floor | STEP 3: Turn left and go to the blue couch on the right | STEP 4: Put the box on the couch between the pillow and keys | END"]}
{"id": "trial_T20190909_102158_210566-2", "input": "Place a box on a couch.", "output": ["STEP 1: Turn left and walk to the blue chair. | STEP 2: Pick up the box on the floor. | STEP 3: Turn and face the coffee table, then walk ahead and veer right to the couch. | STEP 4: Place the box on the couch, to the right of the blue pillow. | END"]}
{"id": "trial_T20190908_184758_224801-1", "input": "Move two credit cards to the night stand between the beds. ", "output": ["STEP 1: Walk forward and walk around the left side of the bed. Go forward to the desk. | STEP 2: Pick up the credit card from the desk.  | STEP 3: Turn around completely and walk around the bed to the right. Walk forward to the night stand. | STEP 4: Set the credit card on the night stand.  | STEP 5: Walk forward and walk around the left side of the bed. Go forward to the desk. | STEP 6: Pick up the credit card from the desk.  | STEP 7: Turn around completely and walk around the bed to the right. Walk forward to the night stand. | STEP 8: Set the credit card on the night stand.  | END"]}
{"id": "trial_T20190907_072717_015321-0", "input": "Move two towels from the wall behind the sink to the back of the toilet", "output": ["STEP 1: Turn to your left and stand in front of the left side of the sink. | STEP 2: Take the towel from its holder hanging on the wall to the left of the mirror. | STEP 3: Turn around to face the side of the toilet nearest the shower.  | STEP 4: Place the towel on the left side of the back of the toilet nearest the flusher handle. | STEP 5: Turn around and walk to the towel rack to the right of the sink. | STEP 6: Remove the towel from the rack. | STEP 7: Turn around and walk to the toilet. | STEP 8: Place the towel on the end of the back of the toilet to the right of the soap dispenser. | END"]}
{"id": "trial_T20190907_072717_015321-2", "input": "Place two towels, one on the left, one on the right on the back of the toilet. ", "output": ["STEP 1: Turn  left and walk towards the sink.  | STEP 2: Remove the towel on the left side of the mirror. | STEP 3: Turn right and walk towards the shower, turn right and walk towards the toilet. | STEP 4: Place the towel next to the pink bar of soap on the toilet. | STEP 5: Turn all the way around and walk towards the sink. | STEP 6: Remove the towel on the right side of the mirror.  | STEP 7: Turn all the way around and walk towards the toilet. | STEP 8: Place the towel on the right side of the bottle of lotion on the toilet. | END"]}
{"id": "trial_T20190907_072717_015321-3", "input": "Put two rags on the handle to the left of the toilet.", "output": ["STEP 1: Move to the sink ahead of the toilet | STEP 2: Pick up a rag from the towel ring on the wall | STEP 3: Move to the left side of the toilet behind you | STEP 4: Put the rag on the wall handle | STEP 5: Move to the sink ahead of the toilet | STEP 6: Pick up a rag from the towel ring on the wall | STEP 7: Move to the left side of the toilet behind you | STEP 8: Put the rag on the wall handle | END"]}
{"id": "trial_T20190907_072717_015321-4", "input": "Move two hand towels to the back of the toilet", "output": ["STEP 1: Turn directly to your left and face the bathroom counter | STEP 2: Pick up a hand towel off of the rack | STEP 3: Turn around so you are facing the left of the toilet | STEP 4: Place the hand towel on the back of the toilet on the left side | STEP 5: Turn around and walk to the bathroom counter behind you | STEP 6: Pick up a hand towel off of the rack | STEP 7: Turn around and walk to the left side of the toilet again | STEP 8: Place this hand towel on the back of the toilet on the right side | END"]}
{"id": "trial_T20190909_132758_221972-2", "input": "Place a heated potato in a trash bin.", "output": ["STEP 1: Turn around and walk along the kitchen island, turning left at the end and turning to face the island. | STEP 2: Pick up the potato next to the kettle on the counter. | STEP 3: Turn right and walk to the microwave. | STEP 4: Heat the potato in the microwave. | STEP 5: Turn around and walk to the white door, then turn right and walk to the gray trash bin. | STEP 6: Place the potato in the trash bin. | END"]}
{"id": "trial_T20190908_062903_522160-0", "input": "Move a book while turning on a lamp", "output": ["STEP 1: Move to the left side of the end of the bed | STEP 2: Pick up the book on the edge of the bed | STEP 3: Carry the book to the small desk top where the lamp is | STEP 4: Turn on the lamp | END"]}
{"id": "trial_T20190908_062903_522160-1", "input": "Examine the book by the light of the lamp", "output": ["STEP 1: Turn left move forward then turn left head to the end of the bed | STEP 2: Pick up the book on the bed | STEP 3: Turn right walk forward head to the table with lamp | STEP 4: Turn on the lamp | END"]}
{"id": "trial_T20190908_230120_967022-2", "input": "put a slice of tomato inside a microwave", "output": ["STEP 1: go forward turn to the right | STEP 2: pick up a knife from the counter  | STEP 3: turn to the right go left | STEP 4: slice the tomato that is on the counter | STEP 5: turn to the left go left turn to the left go forward towards the sink | STEP 6: put the knife inside the sink | STEP 7: turn to the right go right turn to the right go left towards the counter  | STEP 8: pick up a slice of tomato from the counter | STEP 9: turn to the left go left turn to the left go right towards the sink | STEP 10: put the slice of tomato inside the sink | STEP 11: rinse off the slice of tomato turn to the right go right turn to the right go left towards the microwave | STEP 12: put the slice of tomato inside the microwave | END"]}
{"id": "trial_T20190909_035150_535934-1", "input": "Wash a head of lettuce and return it to the counter.", "output": ["STEP 1: Turn to the left and walk to the counter with the sponges. | STEP 2: Pick up the head of lettuce. | STEP 3: Turn right and move to the front of the sink. | STEP 4: Wash the lettuce in the sink with clean water and remove it. | STEP 5: Turn right and move next to the fork on the counter. | STEP 6: Place the lettuce on the counter. | END"]}
{"id": "trial_T20190909_035150_535934-2", "input": "Put a clean head of lettuce on the counter.", "output": ["STEP 1: Turn left and walk to the stove then take a step to your left. | STEP 2: Pick up the head of lettuce that's in front of you. | STEP 3: Turn right and walk to the sink. | STEP 4: Wash the lettuce in the sink and then pick it back up and shut off the water. | STEP 5: Move about three steps to your right. | STEP 6: Put the lettuce on the counter above the dish washer.. | END"]}
{"id": "trial_T20190908_201611_659235-2", "input": "get the laptop and examine it under the lamp", "output": ["STEP 1: approach the middle of the desk | STEP 2: close the computer and pick it up  | STEP 3: take the computer to the the far left side of the desk | STEP 4: turn on the lamp to examine the computer | END"]}
{"id": "trial_T20190909_004424_399073-0", "input": "Put a metal pan with a sponge in it in the sink.", "output": ["STEP 1: Walk over to the section of counter to the right of the sink. | STEP 2: Pick up the sponge off of the counter in front of you. | STEP 3: Look up to face the counter. | STEP 4: Put the sponge into the metal pan on the counter. | STEP 5: Pick up the metal pan with sponge in it off of the counter. | STEP 6: Turn left and walk over to the sink. | STEP 7: Put the metal pan with the sponge in it into the sink. | END"]}
{"id": "trial_T20190909_004424_399073-1", "input": "Put a frying pan with a sponge in it in the sink.", "output": ["STEP 1: Turn right and take two steps then turn left and walk to the counter with the sponge on it. | STEP 2: Pick up the sponge that's in front of you. | STEP 3: Look at the frying pan. | STEP 4: Put the sponge in the frying pan to your right please. | STEP 5: Pick up the frying pan with the sponge in it. | STEP 6: Move to your left until you're in front of the sink. | STEP 7: Put the frying pan with the sponge in it in the sink. | END"]}
{"id": "trial_T20190908_062503_838284-1", "input": "place chilled lettuce on white dining table", "output": ["STEP 1: turn left, go to left side of white dining table | STEP 2: pick up lettuce from white dining table | STEP 3: go to the refrigerator to the right | STEP 4: open refrigerator, put lettuce on left side of second shelf, close refrigerator, open refrigerator, pick up lettuce, close refrigerator | STEP 5: turn around, go to front of dining table by white dispenser | STEP 6: place lettuce to the left of knife on white dining table | END"]}
{"id": "trial_T20190909_005000_968164-2", "input": "Move the salt to a different table.", "output": ["STEP 1: Turn around then face the sink to your right. | STEP 2: Take the salt from the counter in front of you. | STEP 3: Turn left and face the table in front of you. | STEP 4: Place the salt on the table in front of you. | STEP 5: Turn right and face the cabinet above the brown table in front of you. | STEP 6: Open the cabinet in front of you, take the salt out and close it. | STEP 7: Turn left and face the table and front of you. | STEP 8: Place the salt on the table in front of you. | END"]}
{"id": "trial_T20190907_152448_895790-2", "input": "Move a spray bottle from the top of a toilet to a counter top.", "output": ["STEP 1: Walk forward to the toilet. | STEP 2: Pick up the spray bottle from the top of the toilet. | STEP 3: Turn right and walk to the right side of the counter top. | STEP 4: Put the spray bottle on the counter top, immediately to the right of the soap bottle on the left. | END"]}
{"id": "trial_T20190907_122255_542893-2", "input": "Put the vase on the kitchen counter", "output": ["STEP 1: Turn left and walk over to the kitchen sink | STEP 2: Pick up the left most vase from the sink | STEP 3: Turn right and look up slightly | STEP 4: Put the vase down on the counter just right of the sink | END"]}
{"id": "trial_T20190907_102500_200675-0", "input": "Putting a tomato slice on the counter", "output": ["STEP 1: Turn around and stop at the counter to the right of the fridge | STEP 2: Grab the knife that's on the counter | STEP 3: Stand up straight in front of the counter | STEP 4: Cut the tomato on the counter into slices | STEP 5: Turn slightly to the right | STEP 6: Put the knife down in the bowl | STEP 7: Turn slightly to the right | STEP 8: Grab one of the tomato slices | STEP 9: Turn around and head to the microwave | STEP 10: Heat the tomato in the microwave. Take the tomato out of the microwave. | STEP 11: Turn left and stop at the coffee maker | STEP 12: Put the tomato on the counter in front of the coffee maker | END"]}
{"id": "trial_T20190907_102500_200675-2", "input": "Cut plus heat a tomato slice as well as place it on the counter.", "output": ["STEP 1: Turn around to face the counter to the left of the fridge. | STEP 2: Pick up the knife on the counter. | STEP 3: Face the tomato on the counter. | STEP 4: Cut the tomato on the counter into slices. | STEP 5: Take a step to the right and face the pan on the counter. | STEP 6: Put the knife on the pan on the counter. | STEP 7: Step to the left and face the tomato on the counter. | STEP 8: Pick up a slice of a tomato on the counter. | STEP 9: Turn around and walk across the room to face the microwave. | STEP 10: Heat the tomato slice in the microwave and then remove it. | STEP 11: Take a step to the left and face the counter to the left of the sink. | STEP 12: Place the tomato slice on the counter. | END"]}
{"id": "trial_T20190908_012244_364797-2", "input": "Put a blue plate with a phone on it down on the end table.", "output": ["STEP 1: Turn around and face the coffee table so that you are between it and the sofa. | STEP 2: Pick up the white phone on the edge of the table. | STEP 3: Move to the right and then face the smaller end of the coffee table. | STEP 4: Put the phone down on the blue plate. | STEP 5: Pick up the plate from the edge of the table. | STEP 6: Bringing the plate with you, go between the couch and the coffee table and then face the black end table with the blue vase. | STEP 7: Put the plate down to the left of the blue vase. | END"]}
{"id": "trial_T20190906_201605_780519-1", "input": "Put bars of soap in a bath tub.", "output": ["STEP 1: Go to the sink to the left. | STEP 2: Take the bar of soap to the left of the faucet. | STEP 3: Turn left to the bath tub. | STEP 4: Put the bar of soap in the middle of the bath tub. | STEP 5: Turn right to the sink. | STEP 6: Take the bar of soap to the right of the faucet. | STEP 7: Turn left to the bath tub. | STEP 8: Put the bar of soap to the right of the bar of soap in the bath tub. | END"]}
{"id": "trial_T20190906_201605_780519-2", "input": "Place two bars of soap into the bathtub.", "output": ["STEP 1: Turn left then right and face the sink. | STEP 2: Pick up the soap on the left side of the faucet. | STEP 3: Turn left and face the bathtub. | STEP 4: Place the soap in the bathtub. | STEP 5: Turn right and face the sink. | STEP 6: Pick up the soap from the sink. | STEP 7: Face the bathtub on the left again. | STEP 8: Place the soap to the right of the first soap. | END"]}
{"id": "trial_T20190908_025628_290178-1", "input": "Place a washed kettle on the counter near the coffee maker.", "output": ["STEP 1: Turn around and walk to the stove. | STEP 2: Grab the kettle from the stove. | STEP 3: Turn to your right and walk to the sink. | STEP 4: place the kettle in the sink and turn the faucet on and off before removing the kettle. | STEP 5: Move to the coffee maker on your right. | STEP 6: Place the kettle on the counter near the coffee maker. | END"]}
{"id": "trial_T20190908_080632_962198-1", "input": "Wash a knife and bring it to the table", "output": ["STEP 1: Turn right, go forward a bit, turn right and go to the table | STEP 2: Pick up the knife on the table | STEP 3: Turn right and go to the sink | STEP 4: Put the knife in the sink, open the water, wait, pick up the knife  | STEP 5: Turn around, go to the table, turn right | STEP 6: Put the knife in the bowl on the table | END"]}
{"id": "trial_T20190908_080632_962198-2", "input": "Clean a knife and put it back on the table.", "output": ["STEP 1: Walk to the dining table behind you. | STEP 2: Grab the knife above the lettuce. | STEP 3: Walk to the kitchen sink to your right. | STEP 4: Put the knife in the sink, rinse the knife, then grab the knife. | STEP 5: Move back to the dining table. | STEP 6: Stand the knife in front of a bowl. | END"]}
{"id": "trial_T20190909_113349_028976-1", "input": "put a mug full of water under the coffee machine", "output": ["STEP 1: go to the coffee pot | STEP 2: pick up the mug from the machine | STEP 3: take the mug to the sink | STEP 4: fill the mug with water | STEP 5: take the full mug back to the machine | STEP 6: put the mug back under the coffee machine | END"]}
{"id": "trial_T20190909_113349_028976-2", "input": "Fill the coffee machine mug with water and replace it.", "output": ["STEP 1: Walk forward to the coffee machine | STEP 2: Pick up the mug | STEP 3: Turn around until you're facing the sink | STEP 4: Put the mug in the sink, fill it with water, and take it back out | STEP 5: Turn right, walk ahead a step, then turn left to face the coffee machine | STEP 6: Place the filled mug where you picked it up from | END"]}
{"id": "trial_T20190912_203338_656658-0", "input": "Putting a sliced apple in the trash can", "output": ["STEP 1: Turn left and go to the left sink | STEP 2: Grab the knife out of the sink | STEP 3: Turn right and go to the microwave | STEP 4: Cut the apple in the microwave into three slices | STEP 5: Put the knife in the microwave | STEP 6: Grab a slice of apple out of the microwave | STEP 7: Turn right and go to the fridge | STEP 8: Leave the apple in the fridge. Take the apple out after some time | STEP 9: Turn around and go to the trash can | STEP 10: Put the apple in the trash can | END"]}
{"id": "trial_T20190918_182425_185158-1", "input": "Get utensils out of the cabinet to the table ", "output": ["STEP 1: Turn around and walk across the room to the table | STEP 2: Place the spatula on the table | STEP 3: Pick the spatula up from the table and walk across the room to the cabinets to the right of the sink | STEP 4: Open the upper cabinet to the right of the sink | STEP 5: Take the bowl out of the upper cabinet to the right of the sink | STEP 6: Take the bowl and spatula to the table | STEP 7: Place the bowl and spatula on the table | END"]}
{"id": "trial_T20190918_182425_185158-2", "input": "Place a bowl containing a spatula on the kitchen table.", "output": ["STEP 1: Turn around and move to the white table to the right of the window. | STEP 2: Pick up the spatula near the edge of the table. | STEP 3: Walk to the counter space to the right of the sink. | STEP 4: Open the cabinet door closest to the kitchen sink and place the spatula inside of the bronze bowl. | STEP 5: Lift the bowl out of the cabinet. | STEP 6: Carry the bowl back to the white kitchen table on the opposite side of the room. | STEP 7: Place the bowl containing the spatula down on the table to the left of the salt. | END"]}
{"id": "trial_T20190918_182425_185158-4", "input": "Get the spatula off the table, put the spatula in the bowl, put the bowl on the table. ", "output": ["STEP 1: Turn left and walk toward the table, turn right and walk toward the wall, turn left and walk to the table. | STEP 2: Pick up the spatula at the back of the table. | STEP 3:  Turn left and walk to the counter. | STEP 4: Find the brown bowl a put the spatula in it. | STEP 5: Pick up the brown bowl with the spatula in it. | STEP 6: Turn around and walk to the table. | STEP 7: Set the bowl down next to the salt shaker. | END"]}
{"id": "trial_T20190908_010924_228202-2", "input": "Place a tomato on a table", "output": ["STEP 1: Turn left to face the coffee machine | STEP 2: Pick up the tomato that is in front of the coffee machine | STEP 3: turn left and head forward, then turn right at the white table so that you are facing the white table | STEP 4: Place to tomato on the table to the left of the salt shakers | END"]}
{"id": "trial_T20190909_074728_844604-1", "input": "put two wine bottles in cabinet", "output": ["STEP 1: walk to face stove | STEP 2: pick up wine bottle from counter to left of stove | STEP 3: turn left and gaze down at cabinet below counter | STEP 4: put wine bottle in cabinet | STEP 5: turn left to face counter to right of stove | STEP 6: pick up wine bottle from counter | STEP 7: turn left and gaze down at cabinet below counter | STEP 8: put wine bottle in cabinet | END"]}
{"id": "trial_T20190909_074728_844604-2", "input": "Put two bottles of wine in the cabinet.", "output": ["STEP 1: Turn around and move forward, then turn left to go to the stove. | STEP 2: Pick up the bottle of wine on the counter, to the left of the stove. | STEP 3: Go to the counter to your left and look down at the cabinet beneath the counter. | STEP 4: Open the cabinet, put the bottle of wine inside, and close it. | STEP 5: Turn around and go to the counter in front of you. | STEP 6: Pick up the bottle of wine from the counter. | STEP 7: Turn around and move forward, then look down at the cabinet under the counter. | STEP 8: Open the cabinet, put the bottle of wine inside, and close it. | END"]}
{"id": "trial_T20190908_135226_283490-0", "input": "take the air freshener out of the cabinet, put it on the counter", "output": ["STEP 1: turn around, head to the sink | STEP 2: open the cabinet, take the air freshener from the cabinet, close the cabinet | STEP 3: take a few steps to the left | STEP 4: put the air freshener on the counter | END"]}
{"id": "trial_T20190908_185956_956216-1", "input": "move the clock from the dresser to the desk", "output": ["STEP 1: turn around, walk across the room, turn left, walk to the dresser | STEP 2: pick up the clock that is on the dresser | STEP 3: turn around, walk to the desk | STEP 4: put the clock on the desk | END"]}
{"id": "trial_T20190908_185956_956216-2", "input": "Move a clock to the desk. ", "output": ["STEP 1: Turn around, move to face the shelf on the left. | STEP 2: Pick up the clock on the shelf.  | STEP 3: Turn around, bring the clock over to the desk in the corner. | STEP 4: Put the clock on the desk, right of the book. | END"]}
{"id": "trial_T20190908_164930_885766-1", "input": "Place two cleaners on the top of the flush tank", "output": ["STEP 1: Go to the small blue bin at the corner by the door | STEP 2: Pick up the toilet cleaner from the bin | STEP 3: Go to the flush toilet | STEP 4: Put the cleaner on the top flush tank | STEP 5: Turn around and go to the cabinet to the right of the blue bin | STEP 6: Pick the cleaner from the top of the cabinet | STEP 7: Turn around and go back to the flush toilet  | STEP 8: Place the cleaner to the right of the first cleaner on the flush tank | END"]}
{"id": "trial_T20190907_193302_048858-1", "input": "Put the cooked potato in the fridge", "output": ["STEP 1: Walk forward and turn left to face the kitchen counter below the mirror | STEP 2: Pick up the potato from the kitchen counter | STEP 3: Turn right and walk to the microwave on the right side of the counter | STEP 4: Put the potato in the microwave, cook it, and remove it | STEP 5: Turn left and walk around to the fridge | STEP 6: Open the fridge and put the potato on the lower shelf next to the egg | END"]}
{"id": "trial_T20190908_053533_031439-0", "input": "Grab a towel and put it in a tub.", "output": ["STEP 1: Walk to the left kitchen sink. | STEP 2: Grab the green towel off the rack. | STEP 3: Walk to the tub on your right. | STEP 4: Place the towel inside the tub. | END"]}
{"id": "trial_T20190908_010816_119279-1", "input": "Place a warmed plate next to the tomato inside the fridge.", "output": ["STEP 1: Turn around, head towards the sink, and then turn right towards the middle of the kitchen island on your left. | STEP 2: Pick up the plate from the island. | STEP 3: Turn right towards the microwave above the stove. | STEP 4: Warm up the plate and take the plate out of the microwave. | STEP 5: Turn around and head towards the fridge on your left. | STEP 6: Place the plate to the left of the tomato inside the fridge. | END"]}
{"id": "trial_T20190908_064522_624362-2", "input": "Preparing a slice of potato and putting it in the microwave", "output": ["STEP 1: Turn around and go to the small table just to the right | STEP 2: Pick up the knife from behind the salt shaker | STEP 3: Move to the microwave to the left of the table | STEP 4: Open the microwave and cut the potato in the microwave | STEP 5: Put the knife in the microwave | STEP 6: Take a slice of potato and then close the microwave | STEP 7: Turn to the left and go to the fridge | STEP 8: Open the fridge and put the the slice in the fridge, close the fridge, wait, open the fridge and remove the potato slice, close the fridge | STEP 9: Turn around and move to the microwave to the left | STEP 10: Open the microwave, put the slice inside behind the knife and close the microwave | END"]}
{"id": "trial_T20190906_202203_193951-1", "input": "Put the empty toilet paper roll in the trash can.", "output": ["STEP 1: Turn around and face the toilet. | STEP 2: Take the empty toilet paper roll off the back of the toilet. | STEP 3: Go to the trash can on your right. | STEP 4: Throw the empty roll into the trash can. | END"]}
{"id": "trial_T20190909_035311_875468-1", "input": "Place an apple slice in a pot inside of the fridge.", "output": ["STEP 1: Turn around and head to the counter by the sink to your right. | STEP 2: Pick up the knife from the counter in front of you. | STEP 3: Turn right then face the fridge on your left. | STEP 4: Open the fridge, slice the apple inside then close the fridge. | STEP 5: Turn around then face the stove to your right. | STEP 6: Place the knife in the right pot on the stove. | STEP 7: Turn around then face the fridge on your left. | STEP 8: Open the fridge and take out an apple slice inside then close the fridge. | STEP 9: Turn around then face the stove on your right. | STEP 10: Place the apple slice inside the pot with the knife on the stove. | STEP 11: Pick up the pot with the apple slice from the stove in front of you. | STEP 12: Turn around then face the fridge on your left. | STEP 13: Place the pot with the apple inside of the fridge then close it. | END"]}
{"id": "trial_T20190909_035311_875468-3", "input": "Put a pan with a chunk of apple in it in the fridge.", "output": ["STEP 1: Turn around and walk to the counter tot he left of the sink and face it. | STEP 2: Take the butter knife off of the edge of the counter. | STEP 3: Turn right and walk over to the fridge then turn left to face it. | STEP 4: Cut the apple in the freezer into three chunks. | STEP 5: Turn left and walk to the sink and then turn left and walk to the wall then turn right and walk to the stove. | STEP 6: Put the knife in the pan on the back left burner. | STEP 7: Go back to the fridge. | STEP 8: Get a chunk of apple out of the freezer. | STEP 9: Walk back over to the stove. | STEP 10: Put the apple chunk in the pan on the back left burner. | STEP 11: Pick up the pan with the chunk of apple and knife in it. | STEP 12: Pick up the pan on the back left burner. | STEP 13: Walk back to the fridge and put the pan in it and close the door. | END"]}
{"id": "trial_T20190909_035311_875468-4", "input": "put an apple in a bowl with a knife and put it in the fridge", "output": ["STEP 1: go to counter to left of sink near tomato | STEP 2: pick up the knife from the counter | STEP 3: take the knife to the fridge | STEP 4: put the knife in the fridge and take it back out | STEP 5: take the knife to the stove | STEP 6: put the knife in the bowl on the back left burner | STEP 7: walk back over to the fridge | STEP 8: take the apple out of the fridge | STEP 9: take the apple to the stove | STEP 10: put the apple in the bowl with the knife on the stove | STEP 11: pick up the bowl with the apple and knife | STEP 12: take the bowl the fridge | STEP 13: put the bowl with the apple and the knife in fridge | END"]}
{"id": "trial_T20190919_025204_596754-2", "input": "Put an egg in the fridge.", "output": ["STEP 1: Go right, and then right again and turn to face the counter with the egg on it. | STEP 2: Pick the egg up from the counter. | STEP 3: Turn around and go left to face the fridge. | STEP 4: Open the fridge and put the egg on the shelf and shut the door. | END"]}
{"id": "trial_T20190919_025204_596754-3", "input": "Put the egg in the fridge.", "output": ["STEP 1: Turn around and walk back all the way till you get to the counter and then turn right. | STEP 2: Pick up the egg. | STEP 3: Turn around and head towards the fridge. | STEP 4: Open the fridge door, put the egg inside, and close the door. | END"]}
{"id": "trial_T20190919_025204_596754-4", "input": "Put an egg in the fridge.", "output": ["STEP 1: Turn around and walk to the closest corner where the counter bends. Look on the right hand counter. | STEP 2: Pick the egg up off the counter. | STEP 3: Turn around and walk to the fridge. | STEP 4: Put the egg in the fridge. | END"]}
{"id": "trial_T20190919_025204_596754-5", "input": "Plan an egg inside the refrigerator.", "output": ["STEP 1: Turn right and make your way to the dishwasher so you face it and then turn to your right. | STEP 2: Pick the egg up off of the counter. | STEP 3: Walk to the refrigerator and face it. | STEP 4: Open the fridge and place the egg on the top shelf before closing the door. | END"]}
{"id": "trial_T20190909_012109_099253-0", "input": "To put s pen in a bowl and move the bowl to the night stand. ", "output": ["STEP 1: Turn around and walk to the desk on the left side of the bed.  | STEP 2: Pick up the pen behind the CD.  | STEP 3: Move over to the left side of the desk.  | STEP 4: Put the pen down in the bowl on the desk.  | STEP 5: Pick up the bowl from the desk.  | STEP 6: Walk to the night stand to the right of the bed.  | STEP 7: Put the bowl down on the night stand to the left of the lamp.  | END"]}
{"id": "trial_T20190907_040632_415432-1", "input": "Place the two bats from the floor on to the bed.", "output": ["STEP 1: Turn left towards the blue bin and then turn left towards the baseball bat on the floor. | STEP 2: Pick up the bat from the floor. | STEP 3: Turn around and head towards the bed. | STEP 4: Place the bat behind the laptop lid on the bed. | STEP 5: Turn right towards the mirror and look down to find a baseball bat. | STEP 6: Pick up the baseball bat on the ground. | STEP 7: Turn around and head towards the bed. | STEP 8: Place the bat beside the pillow closest to the lap top. | END"]}
{"id": "trial_T20190907_040632_415432-2", "input": "Put two bats on the bed.", "output": ["STEP 1: Go to the corner behind the chair. | STEP 2: Pick up the bat in the corner. | STEP 3: Go across the room to the bed. | STEP 4: Put the bat on the bed to the left of the laptop. | STEP 5: Go to the mirror with a bat under it. | STEP 6: Pick up the bat on the floor. | STEP 7: Go back to the bed. | STEP 8: Set the bat on the bed to the right of the laptop. | END"]}
{"id": "trial_T20190907_040632_415432-3", "input": "Place two baseball bats on the bed", "output": ["STEP 1: turn left, cross the room to the trashcan, then turn left, and move into the nearest corner | STEP 2: take the baseball bat from the corner | STEP 3: cross the room to the center of the foot of the bed | STEP 4: precariously balance the bat on the bed to the left of the laptop, in defiance of physics | STEP 5: turn right and cross the room the mirror, then look down at the floor | STEP 6: take the baseball bat from the floor | STEP 7: turn around, and return to the center of the foot of the bed, then turn to face the bed | STEP 8: place the bat on the bed in front of the pillow closest to the center of the bed | END"]}
{"id": "trial_T20190906_210600_563322-1", "input": "Put a cleaned knife on the table next to the microwave. ", "output": ["STEP 1: Go to the counter left of the sink. | STEP 2: Pick up the knife from the counter.  | STEP 3: Bring the knife to the sink. | STEP 4: Wash the knife in the sink.  | STEP 5: Bring the knife to the table with the microwave.  | STEP 6: Stand the knife on the table.  | END"]}
{"id": "trial_T20190909_042755_916077-1", "input": "To wash a piece of apple and place it in the fridge.", "output": ["STEP 1: Turn left to face the center table. | STEP 2: Pick up the knife on the center table. | STEP 3: Turn left and cross the room to face the microwave. | STEP 4: Cut the apple in the microwave into three pieces. | STEP 5: Look up to face the microwave. | STEP 6: Place the knife in the microwave. | STEP 7: Look up to face the microwave. | STEP 8: Pick up an apple piece in the microwave. | STEP 9: Turn left and step forward to face the sink. | STEP 10: Wash the apple piece in the sink and remove it. | STEP 11: Take a step to the left to face the fridge. | STEP 12: Place the piece of apple in the fridge. | END"]}
{"id": "trial_T20190909_042755_916077-2", "input": "Put a clean slice of apple in the fridge.", "output": ["STEP 1: Go to the left side of the island behind you. | STEP 2: Pick up the knife to the right of the lettuce. | STEP 3: Go to the microwave above the stove. | STEP 4: Slice the apple in the microwave. | STEP 5: Look at the stove and then back to the microwave. | STEP 6: Put the knife in the microwave. | STEP 7: Look at the stove and then back to the microwave. | STEP 8: Pick up a slice of apple in the microwave. | STEP 9: Go to the sink. | STEP 10: Rinse the apple in the sink. | STEP 11: Go to the fridge. | STEP 12: Put the washed apple slice in the fridge. | END"]}
{"id": "trial_T20190909_102031_866740-1", "input": "Pick up a remote and turn a lamp on.", "output": ["STEP 1: Turn right and then left to face the couch with two remote controls on it. | STEP 2: Pick the remote on the left up from the couch | STEP 3: Move to the left to face the lamp. | STEP 4: Turn the lamp on. | END"]}
{"id": "trial_T20190907_200451_080199-0", "input": "Put a clean tea kettle on a shelf.", "output": ["STEP 1: Go forward and then left to stand to the right of the sink. | STEP 2: Pick the tea kettle up from the counter. | STEP 3: Move to the left and face the sink. | STEP 4: Put the tea kettle in the sink, turn the water on and then off and pick the tea kettle up out of the sink. | STEP 5: Cross the room and turn to face the brown shelves. | STEP 6: Put the tea kettle on the shelf. | END"]}
{"id": "trial_T20190918_163627_108580-0", "input": "Place a slice of cooked potato on the counter.", "output": ["STEP 1: Turn right, move to the counter opposite the stove. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn right, move to the counter left of the refrigerator. | STEP 4: Slice the potato on the counter. | STEP 5: Turn right, move to the counter, right of the dishwasher. | STEP 6: Put the knife on the counter. | STEP 7: Turn left, move to the counter left of the refrigerator. | STEP 8: Pick up a slice of potato. | STEP 9: Turn right, move to in front of the stove. | STEP 10: Put the potato slice into the microwave, cook it, pick it back up. | STEP 11: Turn right, move to the counter, right of the dishwasher. | STEP 12: Put the potato slice on the counter, right of the knife. | END"]}
{"id": "trial_T20190918_163627_108580-2", "input": "Place a knife and a cooked potato slice on a countertop", "output": ["STEP 1: Go to the end of the counter | STEP 2: Pick up the knife | STEP 3: Go to the counter left of the fridge | STEP 4: Cut the potato on the counter | STEP 5: Go to the counter right of the dishwasher | STEP 6: Put the knife down | STEP 7: Go to the sliced potato | STEP 8: Take a potato slice | STEP 9: Go to the microwave | STEP 10: Heat the potato slice | STEP 11: Go to the counter right of the dishwasher | STEP 12: Put the potato slice down | END"]}
{"id": "trial_T20190907_210144_215419-1", "input": "Put a pot with a spoon in it on a table.", "output": ["STEP 1: Go right and the right again to face the sink. | STEP 2: Pick the spoon up from the sink. | STEP 3: Cross the room and turn to face the stove. | STEP 4: Put the spoon in the pot. | STEP 5: Pick the pot up from the stove. | STEP 6: Cross the room and turn left to face the white table. | STEP 7: Put the pot down on the table. | END"]}
{"id": "trial_T20190907_210144_215419-2", "input": "drop a pot on the table with a spoon in it", "output": ["STEP 1: turn around and head towards the sink | STEP 2: pick up the table spoon from the sink | STEP 3: turn around and head towards the gas | STEP 4: drop the spoon in the pot on the gas | STEP 5: pick up the pot | STEP 6: turn right towards the table  | STEP 7: drop the pot on the table | END"]}
{"id": "trial_T20190908_163958_896566-1", "input": "Examine a phone by the light of a tall lamp. ", "output": ["STEP 1: Turn left, head past the coffee table to the purple chair.  | STEP 2: Pick up the phone on the purple chair.  | STEP 3: Turn left, bring the phone around to the the back of the chair, near the tall lamp on the floor.  | STEP 4: Turn on the lamp on the floor.  | END"]}
{"id": "trial_T20190909_112630_295924-2", "input": "Chill a tomato slice in the fridge to put in the microwave.", "output": ["STEP 1: Turn around to walk across the room to the counter to the left of the fridge. | STEP 2: Pick up the knife from the countertop. | STEP 3: Turn around to walk to the dishwasher. | STEP 4: Slice the tomato on the counter above the dishwasher. | STEP 5: Turn around to walk to the fridge. | STEP 6: Set the knife down in the fridge. | STEP 7: Turn around to walk to the tomato on the counter. | STEP 8: Pick up a slice of tomato. | STEP 9: Turn around and walk to the fridge. | STEP 10: Chill the tomato slice in the fridge, removing it afterwards. | STEP 11: Turn around to walk to the microwave. | STEP 12: Set the tomato slice down in the microwave. | END"]}
{"id": "trial_T20190907_182525_640577-1", "input": "Move a hand towel to the bath tub", "output": ["STEP 1: Move to the wall to the left of the sink | STEP 2: Pick up the hand towel that is on the towel holder | STEP 3: Carry the hand towel to the bath tub | STEP 4: Place the hand towel inside of the bath tub | END"]}
{"id": "trial_T20190907_233148_972810-1", "input": "Put a cleaned mug on the coffee machine. ", "output": ["STEP 1: Turn around, move to the coffee machine on your left. | STEP 2: Pick up the dirty mug on the coffee machine.  | STEP 3: Turn left, bring the mug to the sink. | STEP 4: Wash the mug in the sink with water.  | STEP 5: Take the mug back to the coffee machine next to the fridge.  | STEP 6: Put the cleaned mug on the coffee machine.  | END"]}
{"id": "trial_T20190911_111120_037082-2", "input": "put both CDs inside the safe on the ground", "output": ["STEP 1: turn and walk to face the left side of the dresser drawers | STEP 2: grab a CD out of the top left drawer | STEP 3: take the CD over to the white safe on the floor | STEP 4: put the CD inside the safe on the floor | STEP 5: walk back over to the dresser drawers | STEP 6: grab the CD off the top of the dresser  | STEP 7: walk over to the white safe on the ground again | STEP 8: put the CD inside the safe | END"]}
{"id": "trial_T20190909_035124_112502-2", "input": "Removed soap bottle from trash and put in cupboard under sink.", "output": ["STEP 1: Turn around from shower and go to the trash can next to the toilet. | STEP 2: Take the soap bottle from the trash can. | STEP 3: Go to the right cupboard under the left sink. | STEP 4: Place soap bottle in the third cupboard from the left. | END"]}
{"id": "trial_T20190907_233149_432926-1", "input": "Place a cooled loaf of bread on the counter to the right of the oven.", "output": ["STEP 1: Turn around and walk to the table on your left. | STEP 2: Grab the bread from the table | STEP 3: Turn around and walk to the fridge. | STEP 4: Place the bread in the fridge, wait a little while, and remove the bread from the fridge. | STEP 5: Turn to your left and approach the oven | STEP 6: Place the bread on the counter to the right of the oven. | END"]}
{"id": "trial_T20190907_233149_432926-2", "input": "Place a cooled loaf of bread on the counter to the right of the stove.", "output": ["STEP 1: Turn around and find the loaf of bread to the left of the tomato on the table. | STEP 2: Pick up the loaf of bread from the table. | STEP 3: Turn around and head towards the fridge. | STEP 4: Place the loaf on the top right, let it cool, and take it back out. | STEP 5: Turn left and walk towards the stove. | STEP 6: Place the loaf of bread on the counter to the right of the stove. | END"]}
{"id": "trial_T20190909_033053_131154-0", "input": "place two blue credit cards on black chair", "output": ["STEP 1: turn around, go to side of coffee table with teapot | STEP 2: pick up blue credit card from center of coffee table | STEP 3: go to black chair with laptop in the corner to the right | STEP 4: place blue credit card on black chair to the left of laptop | STEP 5: turn around, go to black shelf with box and black statue | STEP 6: pick up blue credit card in front of box on shelf  | STEP 7: turn around, go to black chair with laptop in the corner | STEP 8: place blue credit card to the right of blue credit card on black chair | END"]}
{"id": "trial_T20190908_123824_383107-0", "input": "Put a warm wine glass in the cupboard.", "output": ["STEP 1: Turn left and take a step then turn left and walk to the table. | STEP 2: Pick up the wine glass that's in front of you. | STEP 3: Take a step to your right. | STEP 4: Warm the wine glass in the microwave then take it back out and close the door. | STEP 5: Turn left and take a step then turn left and take a small step. | STEP 6: Open the cupboard to the left of the stove and put the wine glass down there and close the door. | END"]}
{"id": "trial_T20190908_123824_383107-2", "input": "To heat a glass and place it in the cabinet. ", "output": ["STEP 1: Turn around and walk to the white table to the left of the microwave.  | STEP 2: Pick up the wine glass in front of the sponge.  | STEP 3: Walk to the microwave to the right of the table.  | STEP 4: Open the microwave door, put the glass in the microwave, close the door, open the door, take the glass out of the microwave, and close the door.  | STEP 5: Turn around and face the cabinet below the counter to the left of the stove.  | STEP 6: Open the cabinet door, place the glass in the cabinet, close the door.  | END"]}
{"id": "trial_T20190919_072045_250979-0", "input": "To move two pens into the desk drawer. ", "output": ["STEP 1: Turn around and walk to the wooden desk on the left.  | STEP 2: Pick up the pen to the left of the lamp.  | STEP 3: Walk over to the desk on the right.  | STEP 4: Open the bottom drawer of the desk, put the pen inside the drawer, close the drawer.  | STEP 5: Walk back over to the small desk on the left.  | STEP 6: Pick up the pen to the left of the remote.  | STEP 7: Walk back over to the desk on the right.  | STEP 8: Open the bottom drawer, put the pen inside the drawer, close the drawer.  | END"]}
{"id": "trial_T20190908_140351_635006-1", "input": "Bake a potato and chill it for later.", "output": ["STEP 1: Walk to the fridge on your right. | STEP 2: Grab a potato from the fridge. | STEP 3: Walk to the microwave next to the fridge. | STEP 4: Place a potato inside the microwave and remove it. | STEP 5: Go back to the fridge on the left. | STEP 6: Place the potato in the fridge. | END"]}
{"id": "trial_T20190909_043031_375861-0", "input": "To put a spoon in a pan on the cabinet top", "output": ["STEP 1: Go to the stove on your left | STEP 2: Pick up the pan from the stove | STEP 3: Turn left and go to the cabinet at the end of the room | STEP 4: Put the pan on the cabinet top | STEP 5: Pick up the kitchen spoon from the cabinet top | STEP 6: Put the spoon on the pan | END"]}
{"id": "trial_T20190909_043031_375861-1", "input": "Move a pot from the stove to the counter by the coffee machine. ", "output": ["STEP 1: Turn and go to the stove.  | STEP 2: Pick up a pot on the stove.  | STEP 3: Turn and go to the counter by the coffee machine.  | STEP 4: Put the pot on the counter. | STEP 5: Pick up a ladle on the counter. | STEP 6: Put the ladle in the pot on the counter.  | END"]}
{"id": "trial_T20190909_075104_529646-1", "input": "Move a pencil from one desk to an adjacent desk.", "output": ["STEP 1: Turn right and walk slightly forward, then turn left and walk towards the lamp on the desk. | STEP 2: Pick up the pencil on the desk near the lamp. | STEP 3: Turn right and walk to the center of the desk on the right. | STEP 4: Put the pencil on the front of the desk, in front of the remote control. | END"]}