clean_embodied/Embodied_task.csv

trial,repeat_idx,scene,goal_instr,gt_high_descs,gt_high_pddl_actions,image_name
trial_T20190908_044113_026049,0,FloorPlan219,Pick up the cell phone and look at it by the light of the lamp,"[""Walk forward to the dresser"", ""Pick up the cell phone from the dresser"", ""Turn left and go to the lamp"", ""Hold the cell phone and turn the lamp on""]","[""GotoLocation ['dresser']"", ""PickupObject ['cellphone']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190908_044113_026049_0.png
trial_T20190908_044113_026049,1,FloorPlan219,Turn on the bedroom lamp.,"[""Walk to the dresser in front of you. "", ""Pick up the cell phone, above the left, top drawer, on the dresser. "", ""Go to the lamp to your left, in the corner of the room. "", ""Turn on the lamp.""]","[""GotoLocation ['dresser']"", ""PickupObject ['cellphone']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190908_044113_026049_1.png
trial_T20190908_044113_026049,2,FloorPlan219,examine a phone with a lamp,"[""walk forward to the dresser"", ""pick up the phone that is on the dresser"", ""take a couple step to the left to face lamp, hold phone up"", ""turn the lamp on""]","[""GotoLocation ['dresser']"", ""PickupObject ['cellphone']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190908_044113_026049_2.png
trial_T20190907_020258_749030,0,FloorPlan10,Get an apple from the sink and heat it up in the microwave,"[""Turn toward the fridge and turn right and go towards the kitchen sink"", ""Pick up the green apple out of the sink"", ""Turn around and walk towards the microwave with the apple and open the microwave door"", ""Put the apple in the  microwave and close the door and turn it on for a few seconds, then open the door and take the apple out"", ""Turn around and walk back to the sink"", ""Put the apple in the sink.""]","[""GotoLocation ['sinkbasin']"", ""PickupObject ['apple']"", ""GotoLocation ['microwave']"", ""HeatObject ['apple']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['apple', 'sinkbasin']"", ""NoOp""]",trial_T20190907_020258_749030_0.png
trial_T20190907_020258_749030,1,FloorPlan10,"Cook apple in microwave, place in sink. ","[""Turn left, go straight, turn right into kitchen."", ""Pick up apple in the sink."", ""Hold apple, open microwave doors."", ""Place apple into microwave, close microwave."", ""Cook apple in microwave, open microwave, grab apple."", ""Turn around towards sink, throw apple into sink.""]","[""GotoLocation ['sinkbasin']"", ""PickupObject ['apple']"", ""GotoLocation ['microwave']"", ""HeatObject ['apple']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['apple', 'sinkbasin']"", ""NoOp""]",trial_T20190907_020258_749030_1.png
trial_T20190907_020258_749030,2,FloorPlan10,Put a cooked apple in the sink.,"[""Turn to the left, then to the right, then to the sink on the right."", ""Pick up the apple, to the left of the egg."", ""Turn around and go to the microwave in front of you."", ""Heat the apple in the microwave."", ""Return to the sink behind you."", ""Put the apple in the sink, to the right of the fork.""]","[""GotoLocation ['sinkbasin']"", ""PickupObject ['apple']"", ""GotoLocation ['microwave']"", ""HeatObject ['apple']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['apple', 'sinkbasin']"", ""NoOp""]",trial_T20190907_020258_749030_2.png
trial_T20190909_061130_844814,0,FloorPlan10,Put a washed bowl away in a kitchen cabinet.,"[""Turn left, then go clockwise to face the opposite end of the kitchen island."", ""Pick up the bowl that is near the potted plant in the corner of the island."", ""Turn right and go counterclockwise around the island to the sink."", ""Wash the bowl in the sink."", ""Face the opposite direction and look up at the cabinets above the counter to the left of the stove."", ""Put the bowl on the bottom shelf of the cabinet on the right.""]","[""GotoLocation ['countertop']"", ""PickupObject ['bowl']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['bowl']"", ""GotoLocation ['cabinet']"", ""PutObject ['bowl', 'cabinet']"", ""NoOp""]",trial_T20190909_061130_844814_0.png
trial_T20190909_061130_844814,1,FloorPlan10,"Put a cleaned, filled bowl of water in the cabinet,  left of the microwave. ","[""Turn around, move around the island to the left, then head to the other side of the island, turn around to face the bowl on the side of the island. "", ""Pick up the dirty bowl on the island. "", ""Bring the bowl around the island to the right, then face the sink on the left."", ""Wash the bowl in the sink with water, fill the bowl with water. "", ""Turn around, bring the filled bowl to the cabinet left of the microwave."", ""Put the filled bowl in the cabinet left of the microwave. ""]","[""GotoLocation ['countertop']"", ""PickupObject ['bowl']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['bowl']"", ""GotoLocation ['cabinet']"", ""PutObject ['bowl', 'cabinet']"", ""NoOp""]",trial_T20190909_061130_844814_1.png
trial_T20190909_061130_844814,2,FloorPlan10,Put a clean wooden bowl of water in a cabinet.,"[""Turn left and walk up to the kitchen island, then turn left and walk over to the fridge, turn right and walk around to the end of the kitchen island."", ""Pick up the wooden bowl off of the kitchen island."", ""Turn right and walk over to the counter, then turn left and walk over to the sink."", ""Put the wooden bowl in the sink and turn on the water, after a couple seconds turn the water off and pick up the now clean wooden bowl that is full of water."", ""Walk over to the counter behind you and look up at the upper cabinets."", ""Open the cabinet door to the left of the microwave and put the clean wooden bowl of water inside, then close the cabinet.""]","[""GotoLocation ['countertop']"", ""PickupObject ['bowl']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['bowl']"", ""GotoLocation ['cabinet']"", ""PutObject ['bowl', 'cabinet']"", ""NoOp""]",trial_T20190909_061130_844814_2.png
trial_T20190907_155006_533262,0,FloorPlan10,Put a spoon in a mug on a counter.,"[""Turn right and go forward to the counter to the left of the stove."", ""Take the left spoon that is on the counter."", ""Turn left and go forward and to the brown shelf on the wall straight ahead."", ""Place the spoon in the white mug on the shelf."", ""Pick up the mug off the shelf."", ""Turn right and go to the counter left of the stove."", ""Place the mug on the counter under the spoon.""]","[""GotoLocation ['countertop']"", ""PickupObject ['spoon']"", ""GotoLocation ['mug']"", ""PutObject ['spoon', 'mug']"", ""PickupObject ['mug']"", ""GotoLocation ['countertop']"", ""PutObject ['mug', 'countertop']"", ""NoOp""]",trial_T20190907_155006_533262_0.png
trial_T20190907_155006_533262,1,FloorPlan10,Put a white mug with a spoon inside onto the counter.,"[""Turn right and begin walking across the room,  hang a left before the oven and walk up to the counter."", ""Pick up the metal spoon that is to the left of the phone on the counter."", ""Turn left and walk over to the wooden shelving unit against the far wall."", ""Put the metal spoon into the white mug that is on the top shelf of the wooden shelving unit."", ""Pick up the white mug with the metal spoon inside it."", ""Turn around and walk back over to the kitchen counter to the left of the oven."", ""Place the white mug with the spoon inside onto the counter just below of the metal spoon that is already on the counter.""]","[""GotoLocation ['countertop']"", ""PickupObject ['spoon']"", ""GotoLocation ['mug']"", ""PutObject ['spoon', 'mug']"", ""PickupObject ['mug']"", ""GotoLocation ['countertop']"", ""PutObject ['mug', 'countertop']"", ""NoOp""]",trial_T20190907_155006_533262_1.png
trial_T20190907_155006_533262,2,FloorPlan10,Put a cup with a spoon on the counter.,"[""Go right and stand in front of the counter to the left of the stove."", ""Pick up the spoon from the counter."", ""GO to the left and stand in front of the brown shelves."", ""Put the spoon in the white cup on the shelf."", ""Pick the white cup up from the shelf."", ""Go right and then right again to stand in front of the counter to the left of the stove."", ""Put the cup down on the right side of the counter, close to the stove.""]","[""GotoLocation ['countertop']"", ""PickupObject ['spoon']"", ""GotoLocation ['mug']"", ""PutObject ['spoon', 'mug']"", ""PickupObject ['mug']"", ""GotoLocation ['countertop']"", ""PutObject ['mug', 'countertop']"", ""NoOp""]",trial_T20190907_155006_533262_2.png
trial_T20190906_191501_563086,0,FloorPlan10,Place the salt shaker in the cabinet.,"[""Turn around, walk towards the fridge, turn right towards the tomato on the counter to your left."", ""Pick up the salt shaker next to the tomato on the counter."", ""Look up to see the cabinet at the top."", ""Open the cabinet door, place the shaker in it, and close the door.""]","[""GotoLocation ['countertop']"", ""PickupObject ['saltshaker']"", ""GotoLocation ['cabinet']"", ""PutObject ['saltshaker', 'cabinet']"", ""NoOp""]",trial_T20190906_191501_563086_0.png
trial_T20190906_191501_563086,1,FloorPlan10,Put the salt in the cabinet above the counter. ,"[""Move to the counter left of the stove."", ""Pick up the salt from the counter."", ""Bring salt up the the cabinet above the counter. "", ""Put the salt in the cabinet above the counter to the left of the microwave. ""]","[""GotoLocation ['countertop']"", ""PickupObject ['saltshaker']"", ""GotoLocation ['cabinet']"", ""PutObject ['saltshaker', 'cabinet']"", ""NoOp""]",trial_T20190906_191501_563086_1.png
trial_T20190906_191501_563086,2,FloorPlan10,Put the salt shaker in the cabinet to the left above the stove.,"[""Move to the counter top to the left of the stove"", ""Pick up the salt shaker from the counter top."", ""Open the cabinet above the place the salt shaker came from"", ""Put the salt shaker inside the cabinet and close the door.""]","[""GotoLocation ['countertop']"", ""PickupObject ['saltshaker']"", ""GotoLocation ['cabinet']"", ""PutObject ['saltshaker', 'cabinet']"", ""NoOp""]",trial_T20190906_191501_563086_2.png
trial_T20190909_061838_159982,0,FloorPlan10,Slice a tomato and cool a slice of it,"[""Go forward, turn right, go forward, turn left, turn left to the edge of the counter"", ""Pick up the knife on the counter"", ""Turn right and go to the counter to the right of the stove"", ""Slice the tomato on the counter"", ""Turn left and go to the fridge"", ""Put the knife in the fridge"", ""Turn right, go forward, turn left after the stove"", ""Pick up a tomato slice from the counter"", ""Turn left and go to the fridge"", ""Put the tomato slice in the fridge, wait, pick up the tomato slice from the fridge"", ""Turn right, go forward, turn left after the stove"", ""Put the tomato slice on the counter""]","[""GotoLocation ['countertop']"", ""PickupObject ['butterknife']"", ""GotoLocation ['tomato']"", ""SliceObject ['tomato']"", ""GotoLocation ['fridge']"", ""PutObject ['butterknife', 'fridge']"", ""GotoLocation ['countertop']"", ""PickupObject ['tomato']"", ""GotoLocation ['fridge']"", ""CoolObject ['tomato']"", ""GotoLocation ['countertop']"", ""PutObject ['tomato', 'countertop']"", ""NoOp""]",trial_T20190909_061838_159982_0.png
trial_T20190909_061838_159982,1,FloorPlan10,Place a cold tomato slice on the counter.,"[""Turn right then right again and face the counter to your right."", ""Take the knife off of the counter in front of you."", ""Turn right and face the counter in front of you."", ""Slice the tomato above the counter in front of you."", ""Turn left and face the fridge to your right."", ""Place the knife inside of the fridge in front of you and close it."", ""Turn right and face the counter to your left."", ""Take a tomato slice off of the counter in front of you."", ""Turn left and face the fridge to your right."", ""Place the tomato inside of the fridge then take it out."", ""Turn right and face the counter to your left."", ""Place the tomato slice on the counter in front of you.""]","[""GotoLocation ['countertop']"", ""PickupObject ['butterknife']"", ""GotoLocation ['tomato']"", ""SliceObject ['tomato']"", ""GotoLocation ['fridge']"", ""PutObject ['butterknife', 'fridge']"", ""GotoLocation ['countertop']"", ""PickupObject ['tomato']"", ""GotoLocation ['fridge']"", ""CoolObject ['tomato']"", ""GotoLocation ['countertop']"", ""PutObject ['tomato', 'countertop']"", ""NoOp""]",trial_T20190909_061838_159982_1.png
trial_T20190909_061838_159982,2,FloorPlan10,Slice and refrigerate a slice of the tomato that is on the counter next to the stove.,"[""Walk forward, turn right, walk to the far wall, and turn around to face the knife on the center island."", ""Pick up the knife from the center island."", ""Walk to the counter next to the stove."", ""Cut the tomato on the counter with the knife."", ""Take the knife to the fridge."", ""Put the knife in the fridge."", ""Go back to the tomato slices on the counter."", ""Pick up a tomato slice from the counter."", ""Take the tomato to the fridge."", ""Put the tomato in the fridge and take it back out."", ""Take the tomato slice back to the counter it came from."", ""Set the tomato slice down on the counter.""]","[""GotoLocation ['countertop']"", ""PickupObject ['butterknife']"", ""GotoLocation ['tomato']"", ""SliceObject ['tomato']"", ""GotoLocation ['fridge']"", ""PutObject ['butterknife', 'fridge']"", ""GotoLocation ['countertop']"", ""PickupObject ['tomato']"", ""GotoLocation ['fridge']"", ""CoolObject ['tomato']"", ""GotoLocation ['countertop']"", ""PutObject ['tomato', 'countertop']"", ""NoOp""]",trial_T20190909_061838_159982_2.png
trial_T20190908_145356_918528,0,FloorPlan10,Put in the heated apple in the trash bin,"[""Walk forward then turn right stand on the left side of the trash bin"", ""Pick up the apple in the trash bin"", ""Turn left then turn right head to the microwave on your left"", ""Open the microwave, put in the microwave then take it out and close the microwave"", ""Turn left,walk straight then turn left walk few step and face the trash bin"", ""Put in the apple in the trash bin""]","[""GotoLocation ['garbagecan']"", ""PickupObject ['apple']"", ""GotoLocation ['microwave']"", ""HeatObject ['apple']"", ""GotoLocation ['garbagecan']"", ""PutObject ['apple', 'garbagecan']"", ""NoOp""]",trial_T20190908_145356_918528_0.png
trial_T20190908_145356_918528,1,FloorPlan10,Put a heated apple in the trash can.,"[""Go forward and turn to the right to face the trash can next to the counter."", ""Take the green apple on the right out of the trash can."", ""Turn around and go right and then turn to the left to face the microwave above the stove."", ""Put the apple in the microwave and shut the door and then open the door and take the apple out again."", ""Go left and then turn to the left again to face the trash can."", ""Put the apple in the trash can.""]","[""GotoLocation ['garbagecan']"", ""PickupObject ['apple']"", ""GotoLocation ['microwave']"", ""HeatObject ['apple']"", ""GotoLocation ['garbagecan']"", ""PutObject ['apple', 'garbagecan']"", ""NoOp""]",trial_T20190908_145356_918528_1.png
trial_T20190908_145356_918528,2,FloorPlan10,Put a heated apple back in the garbage where you got it.,"[""Walk to the refrigerator, turn right, turn right again, walk to garbage can."", ""Pick up the apple that is in the near right corner of the can."", ""TUrn left, walk to the stove, turn left to face the stove."", ""Put the apple in the microwave, heat it, and take it out."", ""Turn left, got to the end of the counter, walk to the garbage can, turn left to face the can."", ""Put the apple in the garbage can to the right of the other apple.""]","[""GotoLocation ['garbagecan']"", ""PickupObject ['apple']"", ""GotoLocation ['microwave']"", ""HeatObject ['apple']"", ""GotoLocation ['garbagecan']"", ""PutObject ['apple', 'garbagecan']"", ""NoOp""]",trial_T20190908_145356_918528_2.png
trial_T20190907_171035_866841,0,FloorPlan219,Carry a newspaper while turning on a lamp,"[""Move to the right side of the wood cupboard to the left of the blue sofa"", ""Open the right cupboard then remove the newspaper in the cupboard"", ""Carry the newspaper to the lamp that is left of the tan sofa"", ""Turn on the lamp""]","[""GotoLocation ['cabinet']"", ""PickupObject ['newspaper']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190907_171035_866841_0.png
trial_T20190907_171035_866841,1,FloorPlan219,Inspect a newspaper using the light of a lamp. ,"[""Walk up to the very last cabinet door on your left. "", ""Open the door and pick up the newspaper that is in the cabinet. "", ""Turn to your right and walk up to the white sofa. "", ""Turn on the lamp that is to the left of the white sofa. ""]","[""GotoLocation ['cabinet']"", ""PickupObject ['newspaper']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190907_171035_866841_1.png
trial_T20190907_171035_866841,2,FloorPlan219,Examine a newspaper by the light of the floor lamp in the corner,"[""go forward towards the couch, then stop at the end of the bureau, and turn left to face the bureau. Look down at the cabinet doors"", ""open the cabinet door on the far right of the bureau, take out the newspaper, and close the cabinet door"", ""look back up to your normal position, then turn right and approach the couch. Look up."", ""Turn on the lamp""]","[""GotoLocation ['cabinet']"", ""PickupObject ['newspaper']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190907_171035_866841_2.png
trial_T20190907_161235_786153,0,FloorPlan308,Look at the basketball in the light from the lamp.,"[""Walk to the foot of the bed."", ""Pick up the basketball from the floor."", ""Go to the desk to your left."", ""Turn on the lamp.""]","[""GotoLocation ['basketball']"", ""PickupObject ['basketball']"", ""GotoLocation ['desklamp']"", ""ToggleObject ['desklamp']"", ""NoOp""]",trial_T20190907_161235_786153_0.png
trial_T20190907_161235_786153,1,FloorPlan308,Carry a basketball while turning on a lamp,"[""Move to the right side of the foot of the bed closest to the wall"", ""Pick up the basketball that is on the floor by the foot of the bed"", ""Carry the basketball to the desk lamp on the right side of the wood desk top"", ""Turn on the lamp""]","[""GotoLocation ['basketball']"", ""PickupObject ['basketball']"", ""GotoLocation ['desklamp']"", ""ToggleObject ['desklamp']"", ""NoOp""]",trial_T20190907_161235_786153_1.png
trial_T20190907_161235_786153,2,FloorPlan308,pick up the basketball and turn on the desk lamp in the bedroom,"[""turn right and walk to face the basketball underneath the foot of the bed"", ""pick up the basketball from under the bed"", ""turn left, walk through the room until the desk, turn left at the desk and face it"", ""turn on the lamp on the desk""]","[""GotoLocation ['basketball']"", ""PickupObject ['basketball']"", ""GotoLocation ['desklamp']"", ""ToggleObject ['desklamp']"", ""NoOp""]",trial_T20190907_161235_786153_2.png
trial_T20190907_133953_562557,0,FloorPlan308,Examine the bowl by the light on the desk. ,"[""Turn around, go forward, turn left, go forward, turn left, face the desk. "", ""Pick up the bowl from the shelf. "", ""Bring the bowl to the lamp on the desk. "", ""Turn on the lamp on the desk. ""]","[""GotoLocation ['shelf']"", ""PickupObject ['bowl']"", ""GotoLocation ['desklamp']"", ""ToggleObject ['desklamp']"", ""NoOp""]",trial_T20190907_133953_562557_0.png
trial_T20190907_133953_562557,1,FloorPlan308,Turn a lamp on with a bowl in hand.,"[""Turn and go right to face the desk with the lamp and cup."", ""Pick the bowl up from the shelf."", ""Move to the right and face the desk drawers."", ""Turn the lamp on the desk on.""]","[""GotoLocation ['shelf']"", ""PickupObject ['bowl']"", ""GotoLocation ['desklamp']"", ""ToggleObject ['desklamp']"", ""NoOp""]",trial_T20190907_133953_562557_1.png
trial_T20190907_133953_562557,2,FloorPlan308,Pick up a bowl while turning on a desk lamp,"[""Move to the wooden desk across from the white safe"", ""Pick up the clear bowl between the books on the desk shelf"", ""Carry the clear bowl to face the lamp on the right of the desk"", ""Turn on the lamp sitting on the desk while holding the bowl""]","[""GotoLocation ['shelf']"", ""PickupObject ['bowl']"", ""GotoLocation ['desklamp']"", ""ToggleObject ['desklamp']"", ""NoOp""]",trial_T20190907_133953_562557_2.png
trial_T20190907_171933_349922,0,FloorPlan10,Move a heated mug to the base of the coffee maker.,"[""Cross the room to stand at the edge of the kitchen counter, which is to the left of the sink. "", ""Pick up the coffee mug from the counter."", ""Carry the mug around the counter to stand in front of the stove. "", ""Place the mug in the microwave above the stove, turn it on, and then remove the mug once heated. "", ""Carry the mug to the coffee maker on the counter to the right of the stove. "", ""Place the mug on the base of the coffee maker.""]","[""GotoLocation ['countertop']"", ""PickupObject ['mug']"", ""GotoLocation ['microwave']"", ""HeatObject ['mug']"", ""GotoLocation ['coffeemachine']"", ""PutObject ['mug', 'coffeemachine']"", ""NoOp""]",trial_T20190907_171933_349922_0.png
trial_T20190907_171933_349922,1,FloorPlan10,Heat up a mug and place it under the coffee maker.,"[""Turn around and go left to the short side of the island."", ""Pick up the mug behind the spatula."", ""Take the mug around the island and find the stove on the right."", ""Open the microwave and place the mug inside. Turn on the microwave and then remove the mug. Shut the microwave door."", ""Carry the mug and take a few steps to the right."", ""Place the mug under the coffee maker.""]","[""GotoLocation ['countertop']"", ""PickupObject ['mug']"", ""GotoLocation ['microwave']"", ""HeatObject ['mug']"", ""GotoLocation ['coffeemachine']"", ""PutObject ['mug', 'coffeemachine']"", ""NoOp""]",trial_T20190907_171933_349922_1.png
trial_T20190907_171933_349922,2,FloorPlan10,put water on the cup and place it on the coffee machine,"[""turn around to the left towards the counter"", ""pick up the cup from the counter "", ""turn to the right go to the left towards the stove "", ""get water into the cup from the the pot on the stove "", ""turn to the right towards the coffee machine "", "" put the cup in the coffee machine""]","[""GotoLocation ['countertop']"", ""PickupObject ['mug']"", ""GotoLocation ['microwave']"", ""HeatObject ['mug']"", ""GotoLocation ['coffeemachine']"", ""PutObject ['mug', 'coffeemachine']"", ""NoOp""]",trial_T20190907_171933_349922_2.png
trial_T20190908_032518_891433,0,FloorPlan10,Place a washed pan on the counter.,"[""Turn right to face the stove."", ""Pick up the pan from the front left burner of the stove. "", ""Turn around with the pan and face the sink."", ""Place the pan in the sink, turn on the water, and then remove once washed. "", ""Turn back around to stand in front of the counter to the left of the stove. "", ""Place the pan on the counter to the right of the toaster.""]","[""GotoLocation ['stoveburner']"", ""PickupObject ['pan']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['pan']"", ""GotoLocation ['countertop']"", ""PutObject ['pan', 'countertop']"", ""NoOp""]",trial_T20190908_032518_891433_0.png
trial_T20190908_032518_891433,1,FloorPlan10,Place a clean pan on the kitchen counter.,"[""Move forward towards the sink then turn right and face the range."", ""Pick up the pan from the range's front left burner."", ""Turn around and face the sink."", ""Place the pan in the sink, immerse it in water to clean it, drain the water, then pick up the pan from the sink. "", ""Turn around and move to the dishwasher to the right of the black toaster."", ""Place the pan on the kitchen counter above the dishwasher and to the right of the toaster.""]","[""GotoLocation ['stoveburner']"", ""PickupObject ['pan']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['pan']"", ""GotoLocation ['countertop']"", ""PutObject ['pan', 'countertop']"", ""NoOp""]",trial_T20190908_032518_891433_1.png
trial_T20190908_032518_891433,2,FloorPlan10,Put a washed pan on the count to the left of the stove.,"[""Walk forward and face the stove on your right."", ""Pick up the pan from the stove."", ""Turn around and face the sink."", ""Wash the pan in the sink."", ""Turn around so your back is to the sink."", ""Put the pan on the count to the left of the stove.""]","[""GotoLocation ['stoveburner']"", ""PickupObject ['pan']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['pan']"", ""GotoLocation ['countertop']"", ""PutObject ['pan', 'countertop']"", ""NoOp""]",trial_T20190908_032518_891433_2.png
trial_T20190909_120632_691361,0,FloorPlan10,Put a washed egg in a microwave.,"[""Turn left, go forward, turn right to the counter to the right of the sink."", ""Take the egg from the counter."", ""Go to the sink to the left."", ""Wash the egg in the sink, take the egg out of the sink."", ""Turn left, go forward a step, turn left, go to the oven."", ""Put the egg in the microwave above the oven.""]","[""GotoLocation ['countertop']"", ""PickupObject ['egg']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['egg']"", ""GotoLocation ['microwave']"", ""PutObject ['egg', 'microwave']"", ""NoOp""]",trial_T20190909_120632_691361_0.png
trial_T20190909_120632_691361,1,FloorPlan10,take a rinsed egg to the microwave,"[""go to the counter to the right of the sink"", ""take the egg from the counter"", ""take the egg to the sink"", ""put the egg in the sink then take back out"", ""take the egg to the microwave"", ""put the egg in the microwave""]","[""GotoLocation ['countertop']"", ""PickupObject ['egg']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['egg']"", ""GotoLocation ['microwave']"", ""PutObject ['egg', 'microwave']"", ""NoOp""]",trial_T20190909_120632_691361_1.png
trial_T20190909_120632_691361,2,FloorPlan10,Place a cleaned egg in a microwave.,"[""Turn left, walk forward just past the refrigerator, then turn right towards the egg on the counter."", ""Pick up the egg from the counter."", ""Turn left and walk to the sink."", ""Put the egg in the sink, rinse it off, and take it back out."", ""Turn around and walk forward to the microwave above the stove top."", ""Put the egg in the microwave and close the microwave.""]","[""GotoLocation ['countertop']"", ""PickupObject ['egg']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['egg']"", ""GotoLocation ['microwave']"", ""PutObject ['egg', 'microwave']"", ""NoOp""]",trial_T20190909_120632_691361_2.png
trial_T20190907_221208_560499,0,FloorPlan10,Fill up a mug with water and take to the coffee machine.,"[""Go to the left to pass the island and straight back to locate the coffee machine."", ""Open the cabinet below and pull out a cup. Shut the door."", ""Carry the cup and turn left to find the sink in the island."", ""Place the cup in the sink and turn the water on. Turn the water off and pick up the cup from the sink."", ""Take the mug filled with water over to the coffee machine behind you, and to the right."", ""Place the mug under the coffee machine.""]","[""GotoLocation ['cabinet']"", ""PickupObject ['mug']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['mug']"", ""GotoLocation ['coffeemachine']"", ""PutObject ['mug', 'coffeemachine']"", ""NoOp""]",trial_T20190907_221208_560499_0.png
trial_T20190907_221208_560499,1,FloorPlan10,Put a clean cup under a coffee pot.,"[""Go left and turn left again to face the counter with the coffee pot on it."", ""Open the lower cabinet and take out the cup from the cupboard."", ""Go left and turn to face the sink."", ""Put the cup in the sink, turn the water on and then off and pick the cup up out of the sink."", ""Go left and then left again to face the coffee maker."", ""Put the cup under the coffee maker on the counter.""]","[""GotoLocation ['cabinet']"", ""PickupObject ['mug']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['mug']"", ""GotoLocation ['coffeemachine']"", ""PutObject ['mug', 'coffeemachine']"", ""NoOp""]",trial_T20190907_221208_560499_1.png
trial_T20190907_221208_560499,2,FloorPlan10,Put a mug of water in the coffee maker mug location.,"[""Move to the bin, turn left, move to past the island, turn right, move to alongside the coffee maker, turn left, move to the counter."", ""Open the cupboard doors, pick up the mug, close the cupboard doors."", ""Turn left, move to the center of the basin on the left, turn left, move to the island."", ""Put the mug in the sink, turn on the faucet, fill the mug with water, turn off the faucet, pick up the mug."", ""Turn left, move to the coffee maker, turn left, move to the counter."", ""Place the mug in the coffee maker mug spot.""]","[""GotoLocation ['cabinet']"", ""PickupObject ['mug']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['mug']"", ""GotoLocation ['coffeemachine']"", ""PutObject ['mug', 'coffeemachine']"", ""NoOp""]",trial_T20190907_221208_560499_2.png
trial_T20190908_073749_086690,0,FloorPlan10,Put a slice of green apple in the trash can near the fridge. ,"[""Walk 1 step to the left and turn around to face the counter top with a bread on top of it. "", ""Pick up the knife that is in front of the white cup."", ""Go slightly to the left to be in front of the white vase. "", ""Cut the green apple  which is next to the white vase. "", ""While holding the knife, walk to the left, turn left and turn left again to face the black trash can. "", ""Put the knife in the trash can."", ""Go back to the counter top with the green apple that you just cut. "", ""Pick up a slice of apple from on top of the counter top."", ""Walk to the right and turn left to go to the stove. Look up to the microwave. "", ""Open the microwave, put the slice of apple in, heat it for a few seconds, pick it up again and close the microwave"", ""Go to the left, turn left near the fridge to go back to the trash can again. "", ""Put the slice of apple in the trash can. ""]","[""GotoLocation ['countertop']"", ""PickupObject ['knife']"", ""GotoLocation ['apple']"", ""SliceObject ['apple']"", ""GotoLocation ['garbagecan']"", ""PutObject ['knife', 'garbagecan']"", ""GotoLocation ['countertop']"", ""PickupObject ['apple']"", ""GotoLocation ['microwave']"", ""HeatObject ['apple']"", ""GotoLocation ['garbagecan']"", ""PutObject ['apple', 'garbagecan']"", ""NoOp""]",trial_T20190908_073749_086690_0.png
trial_T20190908_073749_086690,1,FloorPlan10,To heat a piece of an apple and place it in a black bin. ,"[""Turn around and face the counter above the dishwasher. "", ""Pick up the knife to the left of the bread. "", ""Move to the counter with the toaster on it. "", ""Slice the green apple to the right of the white vase. "", ""Turn and walk to the sculpture on the counter, look down at the black bin. "", ""Place the knife inside of the black bin. "", ""Walk back over to the apple. "", ""Pick up a piece of green apple. "", ""Turn right and walk to the stove, look up at the microwave. "", ""Place the piece of apple inside of the microwave, heat it up, take the piece out of the microwave and close the door. "", ""Walk back over to the black bin on the floor. "", ""Place the piece of apple in the black bin. ""]","[""GotoLocation ['countertop']"", ""PickupObject ['knife']"", ""GotoLocation ['apple']"", ""SliceObject ['apple']"", ""GotoLocation ['garbagecan']"", ""PutObject ['knife', 'garbagecan']"", ""GotoLocation ['countertop']"", ""PickupObject ['apple']"", ""GotoLocation ['microwave']"", ""HeatObject ['apple']"", ""GotoLocation ['garbagecan']"", ""PutObject ['apple', 'garbagecan']"", ""NoOp""]",trial_T20190908_073749_086690_1.png
trial_T20190908_073749_086690,2,FloorPlan10,Put a piece of cooked apple in a bin.,"[""Turn left, go forward, turn left at the dishwasher."", ""Take the large knife to the let of the bread on the counter."", ""Turn left, go forward, turn right at the toaster on the counter."", ""Cut the apple to the right of the vase into pieces."", ""Turn left, go forward a step, turn left, go forward, turn left at the black bin."", ""Put the knife in the black bin."", ""Turn left, go forward to the fridge, turn right, go forward, turn left to the counter with the cut apple. Go to the counter."", ""Take a piece of apple from the counter."", ""Turn right, go forward, turn left at the oven."", ""Cook the apple in the microwave. Take the apple from the microwave."", ""Turn left, go forward, turn left at the fridge, go forward, turn left at the black bin."", ""Put the apple in the bin.""]","[""GotoLocation ['countertop']"", ""PickupObject ['knife']"", ""GotoLocation ['apple']"", ""SliceObject ['apple']"", ""GotoLocation ['garbagecan']"", ""PutObject ['knife', 'garbagecan']"", ""GotoLocation ['countertop']"", ""PickupObject ['apple']"", ""GotoLocation ['microwave']"", ""HeatObject ['apple']"", ""GotoLocation ['garbagecan']"", ""PutObject ['apple', 'garbagecan']"", ""NoOp""]",trial_T20190908_073749_086690_2.png
trial_T20190909_213642_049125,0,FloorPlan10,Put a cold slice of lettuce in the garbage bin. ,"[""Turn to your left and go to the refrigerator, then turn right and go to the counter top just past the refrigerator, on your left. "", ""Pick up the butter knife between the bread and the lettuce, on the counter top. "", ""Move over to the left side of the counter. "", ""Cut the head of lettuce closest to you, into slices. "", ""Move back over to the right side of the counter top. "", ""Place the knife back on the counter top, between the lettuce and the bread. "", ""Move back over to the left side of the counter top. "", ""Pick up on of the lettuce slices. "", ""Go to the refrigerator to your left. "", ""Place the slice of lettuce to the right of the plate, on the second shelf of the refrigerator, wait a moment for the lettuce to chill, then remove the lettuce from the refrigerator. "", ""Turn around and go to the garbage bin on the floor, next to the kitchen island. "", ""Place the lettuce in the garbage bin on the floor. ""]","[""GotoLocation ['countertop']"", ""PickupObject ['butterknife']"", ""GotoLocation ['lettuce']"", ""SliceObject ['lettuce']"", ""GotoLocation ['countertop']"", ""PutObject ['butterknife', 'countertop']"", ""GotoLocation ['countertop']"", ""PickupObject ['lettuce']"", ""GotoLocation ['fridge']"", ""CoolObject ['lettuce']"", ""GotoLocation ['garbagecan']"", ""PutObject ['lettuce', 'garbagecan']"", ""NoOp""]",trial_T20190909_213642_049125_0.png
trial_T20190909_213642_049125,1,FloorPlan10,put a chilled slice of lettuce in to the trash can,"[""turn to the left and move forward to the fridge and turn right, move to the counter that is to the right of the fridge and turn left to face the counter"", ""pick up the butter knife that is sitting on the counter to the right of two heads of lettuce"", ""move slightly to the left facing the two heads of lettuce"", ""use the knife to cut the head of lettuce in the front"", ""move to the right of the counter slightly"", ""put the knife on to the counter to the right of the heads of lettuce"", ""move back to the left slightly to face both heads of lettuce"", ""pick up a slice of the cut lettuce from the counter"", ""move to the left to face the fridge"", ""open the door of the fridge, put the lettuce slice on the top shelf, close the door to chill for a few seconds, open the door, remove the slice and close the door"", ""turn around and move forward to the black trash can at the end of the counter of the left,  turn to face the trash can"", ""put the slice of lettuce in to the trash can""]","[""GotoLocation ['countertop']"", ""PickupObject ['butterknife']"", ""GotoLocation ['lettuce']"", ""SliceObject ['lettuce']"", ""GotoLocation ['countertop']"", ""PutObject ['butterknife', 'countertop']"", ""GotoLocation ['countertop']"", ""PickupObject ['lettuce']"", ""GotoLocation ['fridge']"", ""CoolObject ['lettuce']"", ""GotoLocation ['garbagecan']"", ""PutObject ['lettuce', 'garbagecan']"", ""NoOp""]",trial_T20190909_213642_049125_1.png
trial_T20190909_213642_049125,2,FloorPlan10,Place cold lettuce in black bin.,"[""Turn left then right and face the counter with the lettuce on your left."", ""Take the knife from the counter in front of you."", ""Turn left and face the counter on your right."", ""Slice the lettuce in front of you."", ""Turn right then face the counter to your left."", ""Place the knife on the counter in front of you."", ""Turn left then face the counter on your right."", ""Take a slice of lettuce from the counter in front of you."", ""Turn left and face the fridge to your right."", ""Place the lettuce in the fridge for a bit then take it out."", ""Turn around and face the black bin on your left."", ""Place lettuce in black bin in front of you.""]","[""GotoLocation ['countertop']"", ""PickupObject ['butterknife']"", ""GotoLocation ['lettuce']"", ""SliceObject ['lettuce']"", ""GotoLocation ['countertop']"", ""PutObject ['butterknife', 'countertop']"", ""GotoLocation ['countertop']"", ""PickupObject ['lettuce']"", ""GotoLocation ['fridge']"", ""CoolObject ['lettuce']"", ""GotoLocation ['garbagecan']"", ""PutObject ['lettuce', 'garbagecan']"", ""NoOp""]",trial_T20190909_213642_049125_2.png
trial_T20190909_032740_934457,0,FloorPlan219,pick up the remote and turn on the lamp,"[""look at the cabinet and then turn left walk forward to the couch then turn left walk towards the blue chair "", ""pick up the remote that is on the blue chair"", ""turn right towards the tan couch  then point the remote at the wall "", ""turn on the lamp  ""]","[""GotoLocation ['armchair']"", ""PickupObject ['remotecontrol']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190909_032740_934457_0.png
trial_T20190909_032740_934457,1,FloorPlan219,Examine a remote control by the light of a tall lamp.,"[""Turn left, hang a left at the couch and walk to the blue chair ahead."", ""Pick up the remote control from the back left corner of the cushion on the chair."", ""Turn left and walk to the end of the couch ahead."", ""Turn on the tall lamp to the left of the couch.""]","[""GotoLocation ['armchair']"", ""PickupObject ['remotecontrol']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190909_032740_934457_1.png
trial_T20190909_032740_934457,2,FloorPlan219,Look at a remote by the light of a lamp.,"[""Turn left and walk ahead, veering left to the blue chair in the corner."", ""Pick up the remote on the chair."", ""Turn right and walk to the lamp in the corner of the room."", ""Turn the lamp on.""]","[""GotoLocation ['armchair']"", ""PickupObject ['remotecontrol']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190909_032740_934457_2.png
trial_T20190907_161817_163233,0,FloorPlan10,Place a microwaved potato into the black trash can.,"[""Walk to the sink on your left."", ""Pick up the potato from the sink."", ""Turn left and walk to the microwave above the stove."", ""Microwave the potato and then pick the potato up from the microwave."", ""Turn left and walk to the black trash can next to the counter."", ""Place the potato in the black trash can.""]","[""GotoLocation ['sinkbasin']"", ""PickupObject ['potato']"", ""GotoLocation ['microwave']"", ""HeatObject ['potato']"", ""GotoLocation ['garbagecan']"", ""PutObject ['potato', 'garbagecan']"", ""NoOp""]",trial_T20190907_161817_163233_0.png
trial_T20190907_161817_163233,1,FloorPlan10,Put a heated potato into a trash bin.,"[""Move forward and face the kitchen sink on your left. "", ""Pick up the potato that is in the sink."", ""Turn around to face the microwave that is above the stove behind you. "", ""Place the potato between the two cups in the microwave and heat it before pulling it back out. "", ""Turn left, walk until you reach the end of the kitchen island, then hang a left to face the trash bin."", ""Place the potato in the trash bin.""]","[""GotoLocation ['sinkbasin']"", ""PickupObject ['potato']"", ""GotoLocation ['microwave']"", ""HeatObject ['potato']"", ""GotoLocation ['garbagecan']"", ""PutObject ['potato', 'garbagecan']"", ""NoOp""]",trial_T20190907_161817_163233_1.png
trial_T20190907_161817_163233,2,FloorPlan10,Microwave a potato and throw it away,"[""Walk forward and then turn left at the sink"", ""Pick up a potato from in the sink"", ""Turn to your left and then turn around to face the microwave"", ""Cook the potato in the microwave for a few seconds and then pick it back up"", ""Turn to your left, walk past the kitchen counter and then turn to face the trash can"", ""Throw the potato in the trash can""]","[""GotoLocation ['sinkbasin']"", ""PickupObject ['potato']"", ""GotoLocation ['microwave']"", ""HeatObject ['potato']"", ""GotoLocation ['garbagecan']"", ""PutObject ['potato', 'garbagecan']"", ""NoOp""]",trial_T20190907_161817_163233_2.png
trial_T20190907_004321_405868,0,FloorPlan424,Move a bottle of hand soap from the sink to the toilet.,"[""Go to the sinks on your right."", ""Pick up the bottle of hand soap that is closest to you from between the two sinks."", ""Turn right and walk to the toilet."", ""Put the bottle of soap on the back of the toilet.""]","[""GotoLocation ['countertop']"", ""PickupObject ['soapbottle']"", ""GotoLocation ['toilet']"", ""PutObject ['soapbottle', 'toilet']"", ""NoOp""]",trial_T20190907_004321_405868_0.png
trial_T20190907_004321_405868,1,FloorPlan424,Put the pump bottle on the toilet,"[""Turn right and walk up to the counter between the sinks"", ""Pick up the pump bottle nearest the counter's edge from the counter"", ""Turn right and walk up to the toilet"", ""Put the pump bottle on the back of the toilet""]","[""GotoLocation ['countertop']"", ""PickupObject ['soapbottle']"", ""GotoLocation ['toilet']"", ""PutObject ['soapbottle', 'toilet']"", ""NoOp""]",trial_T20190907_004321_405868_1.png
trial_T20190907_004321_405868,2,FloorPlan424,Place the bottle from the sink to the toilet basin.,"[""Walk towards the sink on your right."", ""Pick up the bottle on the right which is closest to you."", ""Turn around and head towards the toilet."", ""Place the bottle on the toilet basin next to the wall.""]","[""GotoLocation ['countertop']"", ""PickupObject ['soapbottle']"", ""GotoLocation ['toilet']"", ""PutObject ['soapbottle', 'toilet']"", ""NoOp""]",trial_T20190907_004321_405868_2.png
trial_T20190908_122024_052056,0,FloorPlan308,Move a pencil on the desk over. ,"[""Turn to your right and walk forward a few steps, then turn back to your left and go to the end of the desk, where it meets the wall. "", ""Pick up the pencil in the middle of the desk, between the clear bowl and the keys. "", ""Move over to your right, so that you are directly in front of the books on the desk. "", ""Place the pencil in front of the books that are directly behind the glass bowl, on the desk.""]","[""GotoLocation ['desk']"", ""PickupObject ['pencil']"", ""GotoLocation ['shelf']"", ""PutObject ['pencil', 'shelf']"", ""NoOp""]",trial_T20190908_122024_052056_0.png
trial_T20190908_122024_052056,1,FloorPlan308,move pencil from one side of desk to the other,"[""turn right, walk a few steps, turn left, walk towards the wall, turn left to face desk"", ""pick up the pencil that is on the desk"", ""turn around, take a step, turn right, take a step, turn right to face desk"", ""put the pencil next to the dish on the desk""]","[""GotoLocation ['desk']"", ""PickupObject ['pencil']"", ""GotoLocation ['shelf']"", ""PutObject ['pencil', 'shelf']"", ""NoOp""]",trial_T20190908_122024_052056_1.png
trial_T20190908_122024_052056,2,FloorPlan308,"Take the pencil from the desk, put it on the other side of the desk","[""Turn right, head to the desk"", ""take the pencil from the desk"", ""turn around, take a few steps to the right, face the desk"", ""Put the pencil on the desk""]","[""GotoLocation ['desk']"", ""PickupObject ['pencil']"", ""GotoLocation ['shelf']"", ""PutObject ['pencil', 'shelf']"", ""NoOp""]",trial_T20190908_122024_052056_2.png
trial_T20190907_194135_468990,0,FloorPlan10,Place a pan with a knife in it into the sink.,"[""Turn left and walk to the counter to the left of the stove."", ""Pick up the knife behind the glass vase on the counter."", ""Walk to the pan on the stove."", ""Place the knife in the pan on the stove."", ""Pick up the pan on the stove."", ""Turn around and walk to the sink."", ""Place the pan in the sink.""]","[""GotoLocation ['countertop']"", ""PickupObject ['butterknife']"", ""GotoLocation ['pan']"", ""PutObject ['butterknife', 'pan']"", ""PickupObject ['pan']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['pan', 'sinkbasin']"", ""NoOp""]",trial_T20190907_194135_468990_0.png
trial_T20190907_194135_468990,1,FloorPlan10,"Take the knife and plate, put them in the sink","[""Turn to the left, head to the stove"", ""Take the knife from the counter"", ""Take a couple steps to the right, face the stove"", ""Put the knife on the plate on the stove"", ""take the plate with knife"", ""Turn around, head to the sink"", ""put the plate with knife in the sink""]","[""GotoLocation ['countertop']"", ""PickupObject ['butterknife']"", ""GotoLocation ['pan']"", ""PutObject ['butterknife', 'pan']"", ""PickupObject ['pan']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['pan', 'sinkbasin']"", ""NoOp""]",trial_T20190907_194135_468990_1.png
trial_T20190907_194135_468990,2,FloorPlan10,Drop a frying pan with a knife in it into the sink,"[""Turn left into the kitchen and then turn to your left to face the kitchen counter on the left of the stove"", ""Pick up a knife off of the kitchen counter"", ""Move a step to your right and face the stove"", ""Drop the knife in to the frying pan"", ""Pick up the frying pan with the knife in it"", ""Turn right around and face the sink"", ""Drop the frying pan in to the sink""]","[""GotoLocation ['countertop']"", ""PickupObject ['butterknife']"", ""GotoLocation ['pan']"", ""PutObject ['butterknife', 'pan']"", ""PickupObject ['pan']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['pan', 'sinkbasin']"", ""NoOp""]",trial_T20190907_194135_468990_2.png
trial_T20190907_103041_110705,0,FloorPlan219,Examine the box in the light of the tall lamp. ,"[""Turn right, move to the fireplace, turn left, move to the white shelf. "", ""Pick up the open box on the bottom shelf. "", ""Turn around, move across the couch to the right and to the lamp in the corner."", ""Turn on the tall lamp in the corner. ""]","[""GotoLocation ['shelf']"", ""PickupObject ['box']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190907_103041_110705_0.png
trial_T20190907_103041_110705,1,FloorPlan219,examine the box in the lamp light,"[""turn to the right and go forward to the fireplace and turn to the left and go forward to the shelving"", ""pick up the box on the bottom shelf"", ""turn to the left and turn to the left and go forward to clear the couch and turn to the right and go forward to the end of the couch and turn to the right to look at the lamp"", ""turn on the lamp""]","[""GotoLocation ['shelf']"", ""PickupObject ['box']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190907_103041_110705_1.png
trial_T20190907_103041_110705,2,FloorPlan219,Look at a box under the lamp light.,"[""Walk to the shelf in front of you and to the right."", ""Pick up the box on the bottom shelf."", ""Turn to the left and walk to the lamp in the corner."", ""Turn on the lamp.""]","[""GotoLocation ['shelf']"", ""PickupObject ['box']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190907_103041_110705_2.png
trial_T20190907_103041_110705,3,FloorPlan219,Pick up a box and turn on the light,"[""Turn around and head to the white shelves on the left side of the room"", ""Pick up the open box from the bottom shelf"", ""Turn around and walk towards the blue chair, and then turn right to face the white sofa"", ""Turn on the light""]","[""GotoLocation ['shelf']"", ""PickupObject ['box']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190907_103041_110705_3.png
trial_T20190907_103041_110705,4,FloorPlan219,get a box to take to the lamp to examine it by light,"[""turn right, walk towards tv, turn left, walk towards white shelves to the right of the couch"", ""pick up the box that is on the bottom shelf"", ""turn around, turn right at the couch, walk to the end of the couch, face couch to the right"", ""turn on the lamp that is to your left""]","[""GotoLocation ['shelf']"", ""PickupObject ['box']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190907_103041_110705_4.png
trial_T20190906_180922_517529,0,FloorPlan219,Pick up laptop and turn on lamp,"[""turn to left then find the desk"", ""close the laptop then pick it up "", ""turn to the right then stand in front of the couch"", ""turn on the lamp on your left""]","[""GotoLocation ['dresser']"", ""PickupObject ['laptop']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190906_180922_517529_0.png
trial_T20190906_180922_517529,1,FloorPlan219,Examine a laptop by the light of a tall lamp.,"[""Turn left and head towards the dresser."", ""Close the lid of the laptop on the right and pick it up."", ""Turn right and head towards the white sofa."", ""Turn on the lamp to the left of the sofa.""]","[""GotoLocation ['dresser']"", ""PickupObject ['laptop']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190906_180922_517529_1.png
trial_T20190906_180922_517529,2,FloorPlan219,Examine a laptop using the light of a floor lamp. ,"[""Turn to your left and walk over to the cabinets where the laptops are. "", ""Pick up the laptop on the right after closing it. "", ""Turn to your right and walk up to the floor lamp between the two chairs. "", ""Turn on the floor lamp.""]","[""GotoLocation ['dresser']"", ""PickupObject ['laptop']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190906_180922_517529_2.png
trial_T20190906_180922_517529,3,FloorPlan219,Examine a computer by the light from a lamp.,"[""Turn left and move to the brown cabinet with two computers on top."", ""Close the computer on the right and pick it up. "", ""Turn right and carry the computer to the sofa."", ""Turn on the light in the corner to the left of the sofa to look at the computer.""]","[""GotoLocation ['dresser']"", ""PickupObject ['laptop']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190906_180922_517529_3.png
trial_T20190906_180922_517529,4,FloorPlan219,Turn on the light while holding a laptop. ,"[""Turn left and walk to the dresser."", ""Close the laptop in front and pick it up."", ""Turn right and walk to the beige couch."", ""Turn on the light next to the beige couch. ""]","[""GotoLocation ['dresser']"", ""PickupObject ['laptop']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190906_180922_517529_4.png
trial_T20190906_180922_517529,5,FloorPlan219,Carry a laptop while turning on a lamp,"[""Move to the left facing the large brown cabinet where the laptop is"", ""Pick up the laptop on the far left side on top of the cabinet"", ""Carry the laptop to the large floor lamp to the left of the tan sofa"", ""Turn on the lamp""]","[""GotoLocation ['dresser']"", ""PickupObject ['laptop']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190906_180922_517529_5.png
trial_T20190907_040327_147149,0,FloorPlan10,Place a cool lettuce in the sink.,"[""Turn around towards the fridge and turn right towards the lettuce next to the stove on your left."", ""Pick up the lettuce from the counter."", ""Turn left and walk towards the fridge on your right."", ""Place the lettuce next to the cup in the fridge, let it cool, and then take it back out."", ""Turn right and walk towards the sink on your right."", ""Place the lettuce back in the sink.""]","[""GotoLocation ['countertop']"", ""PickupObject ['lettuce']"", ""GotoLocation ['fridge']"", ""CoolObject ['lettuce']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['lettuce', 'sinkbasin']"", ""NoOp""]",trial_T20190907_040327_147149_0.png
trial_T20190907_040327_147149,1,FloorPlan10,Put chilled lettuce into the sink.,"[""Turn around and go into the kitchen."", ""Pick up the lettuce to the left of the stove."", ""Go to the fridge on your left."", ""Chill the lettuce in the fridge and take it out."", ""Turn right and go to the sink."", ""Put the lettuce in the sink.""]","[""GotoLocation ['countertop']"", ""PickupObject ['lettuce']"", ""GotoLocation ['fridge']"", ""CoolObject ['lettuce']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['lettuce', 'sinkbasin']"", ""NoOp""]",trial_T20190907_040327_147149_1.png
trial_T20190907_040327_147149,2,FloorPlan10,Put the chilled lettuce in the kitchen sink,"[""Turn around and walk over to the counter left of the stove in the kitchen"", ""Pick up the lettuce from the counter next to the tomato"", ""Turn left and walk to the fridge"", ""Put the lettuce in the fridge and remove it"", ""Turn right and walk to the kitchen sink opposite the stove"", ""Put the lettuce in the kitchen sink""]","[""GotoLocation ['countertop']"", ""PickupObject ['lettuce']"", ""GotoLocation ['fridge']"", ""CoolObject ['lettuce']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['lettuce', 'sinkbasin']"", ""NoOp""]",trial_T20190907_040327_147149_2.png
trial_T20190908_032434_013084,0,FloorPlan10,Put a cleaned pan on the counter. ,"[""Move right, then turn left, go forward, face the stove on the left."", ""Pick up the dirty pan on the left of the stove. "", ""Turn around, bring the dirty pan to the sink."", ""Wash the pan in the sink with water. "", ""Bring the pan back to the counter left of the stove. "", ""Put the pan on the counter next to the toaster. ""]","[""GotoLocation ['stoveburner']"", ""PickupObject ['pan']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['pan']"", ""GotoLocation ['countertop']"", ""PutObject ['pan', 'countertop']"", ""NoOp""]",trial_T20190908_032434_013084_0.png
trial_T20190908_032434_013084,1,FloorPlan10,drop a clean pan on the table,"[""move forward towards the gas"", ""pick up the pan"", ""turn around and head to the sink"", ""rinse the pan inside the sink"", ""turn around to the table"", ""drop the pan on the table""]","[""GotoLocation ['stoveburner']"", ""PickupObject ['pan']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['pan']"", ""GotoLocation ['countertop']"", ""PutObject ['pan', 'countertop']"", ""NoOp""]",trial_T20190908_032434_013084_1.png
trial_T20190908_032434_013084,2,FloorPlan10,"Wash the pan in the sink, put the pan on the counter","[""Head across the kitchen to the stove"", ""Pick up the pan from the stove"", ""Head back to the left to the sink"", ""Put the pan in the sink"", ""Turn on the water for 4 seconds, Take the pan out of the sink"", ""Turn around, put the pan on the counter""]","[""GotoLocation ['stoveburner']"", ""PickupObject ['pan']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['pan']"", ""GotoLocation ['countertop']"", ""PutObject ['pan', 'countertop']"", ""NoOp""]",trial_T20190908_032434_013084_2.png
trial_T20190907_173215_875825,0,FloorPlan10,Put a chilled egg into the sink.,"[""Go across the room to the kitchen then go to the sink on the right side."", ""Pick up the egg that is beside the fork in the sink."", ""Move across the kitchen to the refrigerator."", ""Open the refrigerator, then place the egg on the glass shelf and close the fridge. Wait then open the fridge and pick up the egg, then close the fridge."", ""Move across the kitchen to the sink. "", ""Put the egg in the sink beside the fork.""]","[""GotoLocation ['sinkbasin']"", ""PickupObject ['egg']"", ""GotoLocation ['fridge']"", ""CoolObject ['egg']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['egg', 'sinkbasin']"", ""NoOp""]",trial_T20190907_173215_875825_0.png
trial_T20190907_173215_875825,1,FloorPlan10,Chill an egg and place it in the sink.,"[""Go straight across the room, and then right to go around the island and find the sink on the right."", ""Pick up the egg in the back of the sink."", ""Take the egg and turn right to find the fridge on the right."", ""Place the egg inside the fridge. Then open the door and take out the egg. Shut the fridge door."", ""Take the egg and turn right, then right again at the sink."", ""Place the egg back into the sink.""]","[""GotoLocation ['sinkbasin']"", ""PickupObject ['egg']"", ""GotoLocation ['fridge']"", ""CoolObject ['egg']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['egg', 'sinkbasin']"", ""NoOp""]",trial_T20190907_173215_875825_1.png
trial_T20190907_173215_875825,2,FloorPlan10,"get egg from kitchen sink, chill in fridge, put back in sink","[""turn right, walk to the fridge, turn right and walk to the kitchen sink"", ""pick up the brown egg in the sink"", ""turn to the right and walk over to the fridge"", ""open fridge, put the egg on the shelf with the green vegetable, close door, wait, open door, pick up egg again"", ""turn right, walk straight, turn right at sink and face sink"", ""put egg in sink""]","[""GotoLocation ['sinkbasin']"", ""PickupObject ['egg']"", ""GotoLocation ['fridge']"", ""CoolObject ['egg']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['egg', 'sinkbasin']"", ""NoOp""]",trial_T20190907_173215_875825_2.png
trial_T20190906_181009_893506,0,FloorPlan219,Examine a notebook computer by the light of a lamp,"[""turn to the left and take a few steps and turn to the left and go to the dresser"", ""close the notebook computer and pick up from the dresser"", ""turn to the right and go to the white sofa"", ""turn on the lamp left  of the white sofa""]","[""GotoLocation ['dresser']"", ""PickupObject ['laptop']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190906_181009_893506_0.png
trial_T20190906_181009_893506,1,FloorPlan219,Examine a laptop by the light of a tall lamp.,"[""Turn around head towards the dresser with the two laptops."", ""Close the lid of the laptop on the right and pick it up."", ""Turn right and head towards the white couch."", ""Turn on the lamp on the left of the couch.""]","[""GotoLocation ['dresser']"", ""PickupObject ['laptop']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190906_181009_893506_1.png
trial_T20190906_181009_893506,2,FloorPlan219,Examine the laptop under the light of the lamp,"[""turn around and walk across the room to the large dresser"", ""Close and pick up the right most laptop from the dresser"", ""Turn right and walk over to the floor lamp in the corner"", ""Turn on the lamp""]","[""GotoLocation ['dresser']"", ""PickupObject ['laptop']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190906_181009_893506_2.png
trial_T20190906_181009_893506,3,FloorPlan219,"Take the laptop from the dresser, turn on the lamp","[""Turn around, head to the dressed across the room"", ""Take the laptop computer from the dresser"", ""Turn to the right, head to the couch"", ""Turn on the lamp in the corner""]","[""GotoLocation ['dresser']"", ""PickupObject ['laptop']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190906_181009_893506_3.png
trial_T20190906_181009_893506,4,FloorPlan219,Turn on the light in the living room as you hold a laptop.,"[""Turn around and walk to the brown cabinets with laptops on the and face the laptops."", ""Close the lid of the laptop on the right and pick it up."", ""Turn right and walk to the cream colored couch and face it."", ""Turn on the light.""]","[""GotoLocation ['dresser']"", ""PickupObject ['laptop']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190906_181009_893506_4.png
trial_T20190906_181009_893506,5,FloorPlan219,get the computer and turn on the lamp,"[""walk over to the laptops"", ""close the one on the right and pick it up "", ""take the laptop to the nightstand"", ""turn on the lamp""]","[""GotoLocation ['dresser']"", ""PickupObject ['laptop']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190906_181009_893506_5.png
trial_T20190909_174840_771703,0,FloorPlan10,Put chilled lettuce on the counter.,"[""Step forward, then turn left to face the counter near the dishwasher."", ""Pick up the lettuce nearest to you from the counter."", ""Turn around and move forward, then turn right to go to the fridge."", ""Open the fridge, put the lettuce inside and chill it, then take the lettuce out."", ""Turn right and move forward, then turn left at the dishwasher."", ""Place the lettuce on the counter.""]","[""GotoLocation ['countertop']"", ""PickupObject ['lettuce']"", ""GotoLocation ['fridge']"", ""CoolObject ['lettuce']"", ""GotoLocation ['countertop']"", ""PutObject ['lettuce', 'countertop']"", ""NoOp""]",trial_T20190909_174840_771703_0.png
trial_T20190909_174840_771703,1,FloorPlan10,put chilled lettuce on counter,"[""turn left to face counter"", ""pick up the head of lettuce that is on the counter"", ""turn left, walk to fridge, turn right"", ""put the lettuce in fridge, wait a minute, take lettuce out"", ""turn right, walk forward, turn left to face counter"", ""put lettuce on counter""]","[""GotoLocation ['countertop']"", ""PickupObject ['lettuce']"", ""GotoLocation ['fridge']"", ""CoolObject ['lettuce']"", ""GotoLocation ['countertop']"", ""PutObject ['lettuce', 'countertop']"", ""NoOp""]",trial_T20190909_174840_771703_1.png
trial_T20190909_174840_771703,2,FloorPlan10,place a cold lettuce on the table,"[""move left to the table"", ""pick up the lettuce"", ""move left to the fridge"", ""cool the lettuce for some time and take it out"", ""turn right and head to the table"", ""place the lettuce on the table""]","[""GotoLocation ['countertop']"", ""PickupObject ['lettuce']"", ""GotoLocation ['fridge']"", ""CoolObject ['lettuce']"", ""GotoLocation ['countertop']"", ""PutObject ['lettuce', 'countertop']"", ""NoOp""]",trial_T20190909_174840_771703_2.png
trial_T20190907_040303_217739,0,FloorPlan10,To chill lettuce for cooking. ,"[""Walk to the left side of the sink that's on the right. "", ""Pick up the lettuce that's in front of the butter knife. "", ""Turn right and walk to the fridge on the right. "", ""Open the door of the fridge, place the lettuce on the shelf to the right of the tomato, close the fridge door, wait a few seconds, take the lettuce out of the fridge, and close the fridge door. "", ""Turn right and face the sink on the right. "", ""Place the lettuce in the sink. ""]","[""GotoLocation ['countertop']"", ""PickupObject ['lettuce']"", ""GotoLocation ['fridge']"", ""CoolObject ['lettuce']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['lettuce', 'sinkbasin']"", ""NoOp""]",trial_T20190907_040303_217739_0.png
trial_T20190907_040303_217739,1,FloorPlan10,Take the lettuce off the counter to put in the fridge to put in the sink.,"[""Walk straight and make a right to face the counter."", ""Take the lettuce that is on the counter."", ""Turn right and walk straight making another right to face the fridge."", ""Open the fridge and place the lettuce on the second shelf next to the tomato and shut the door. Open it again and take out the lettuce."", ""Turn to the right and walk straight making a right to face the sink again."", ""Place the lettuce in the sink.""]","[""GotoLocation ['countertop']"", ""PickupObject ['lettuce']"", ""GotoLocation ['fridge']"", ""CoolObject ['lettuce']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['lettuce', 'sinkbasin']"", ""NoOp""]",trial_T20190907_040303_217739_1.png
trial_T20190907_040303_217739,2,FloorPlan10,"cool the cabbage in the refrigerator, put it in the sink","[""walk straight to the counter by the sink"", ""Grab the cabbage on the counter"", ""Turn right, walk to the refrigerator"", ""Open the the refrigerator, put the cabbage in the refrigerator, open the refrigerator, take the cabbage out, close the refrigerator"", ""Turn right, walk to the sink on the right"", ""Put the cabbage in the sink""]","[""GotoLocation ['countertop']"", ""PickupObject ['lettuce']"", ""GotoLocation ['fridge']"", ""CoolObject ['lettuce']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['lettuce', 'sinkbasin']"", ""NoOp""]",trial_T20190907_040303_217739_2.png
trial_T20190907_040303_217739,3,FloorPlan10,Put cold lettuce in the sink. ,"[""Go forward and turn to the right to the counter where the lettuce is."", ""Pick up the lettuce that is on the counter. "", ""Turn to the right and go to the fridge."", ""Open the fridge, put the lettuce inside, close the fridge, then open the fridge, remove the lettuce, and close the fridge. "", ""Turn to the right and go to the sink. "", ""Put the lettuce in the sink.""]","[""GotoLocation ['countertop']"", ""PickupObject ['lettuce']"", ""GotoLocation ['fridge']"", ""CoolObject ['lettuce']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['lettuce', 'sinkbasin']"", ""NoOp""]",trial_T20190907_040303_217739_3.png
trial_T20190909_103526_341991,0,FloorPlan219,Examine a set of keys by the light of a tall lamp.,"[""Turn around and walk to the blue chair on the right."", ""Pick up the set of keys in the back right corner of the chair."", ""Turn right to face the couch next to the tall lamp."", ""Turn on the tall lamp to the left.""]","[""GotoLocation ['armchair']"", ""PickupObject ['keychain']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190909_103526_341991_0.png
trial_T20190909_103526_341991,1,FloorPlan219,pick up the keys and view them in the lamp light,"[""turn around and walk straight then turn right and walk straight towards the blue chair"", ""pick up the keys on the chair"", ""turn right and look up at the lamp"", ""turn the lamp on ""]","[""GotoLocation ['armchair']"", ""PickupObject ['keychain']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190909_103526_341991_1.png
trial_T20190909_103526_341991,2,FloorPlan219,Examine a set of keys in the lamp light.,"[""Turn around and move forward, then turn right and go straight to the blue chair."", ""Pick up the keys from the blue chair."", ""Turn right and look up to face the lamp."", ""Turn on the lamp.""]","[""GotoLocation ['armchair']"", ""PickupObject ['keychain']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190909_103526_341991_2.png
trial_T20190918_143430_997524,0,FloorPlan10,Place sliced lettuce into a bin.,"[""Turn left, move to the counter in front of the dishwasher."", ""Pick up the knife, from the counter, that is near the bread."", ""Turn left, move to in front of the refrigerator."", ""Slice the lettuce in the refrigerator."", ""Move to in front of the refrigerator."", ""Put the knife in the refrigerator."", ""Move to in front of the refrigerator."", ""Pick up a slice of lettuce."", ""Turn right, move to the island in front of the sink."", ""Put the slice of lettuce in the sink, rinse it, pick it back up."", ""Turn right, move to the end of the island near the bin."", ""Put the slice of lettuce in the bin.""]","[""GotoLocation ['countertop']"", ""PickupObject ['butterknife']"", ""GotoLocation ['lettuce']"", ""SliceObject ['lettuce']"", ""GotoLocation ['fridge']"", ""PutObject ['butterknife', 'fridge']"", ""GotoLocation ['fridge']"", ""PickupObject ['lettuce']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['lettuce']"", ""GotoLocation ['garbagecan']"", ""PutObject ['lettuce', 'garbagecan']"", ""NoOp""]",trial_T20190918_143430_997524_0.png
trial_T20190918_143430_997524,1,FloorPlan10,put a wet slice of lettuce in the trash can,"[""go forward to the left go right turn left towards the sink"", ""pick up the knife from the counter"", ""turn to the left towards the refrigerator "", ""put the knife inside the refrigerator"", ""get it back turn to the right "", ""towards the refrigerator put the knife inside the refrigerator "", ""open the refrigerator back again slice the lettuce that is inside the refrigerator"", ""pick up the slice of lettuce"", ""get it out turn to the right and forward towards the sink"", ""put the slice of lettuce inside the sink rinse it off "", ""turn to the right go left towards the trash can"", ""throw the slice of lettuce in the trash can""]","[""GotoLocation ['countertop']"", ""PickupObject ['butterknife']"", ""GotoLocation ['lettuce']"", ""SliceObject ['lettuce']"", ""GotoLocation ['fridge']"", ""PutObject ['butterknife', 'fridge']"", ""GotoLocation ['fridge']"", ""PickupObject ['lettuce']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['lettuce']"", ""GotoLocation ['garbagecan']"", ""PutObject ['lettuce', 'garbagecan']"", ""NoOp""]",trial_T20190918_143430_997524_1.png
trial_T20190918_143430_997524,2,FloorPlan10,Put a washed piece of lettuce in a bin and a knife in the fridge,"[""Go to the counter above the dishwasher"", ""Take a knife"", ""Go to the fridge"", ""Cut the lettuce in the fridge"", ""Turn and look back to the fridge"", ""Put the knife in the fridge"", ""Close the fridge"", ""Open the fridge and take a piece of lettuce out"", ""Go to the sink"", ""Wash the lettuce"", ""Go to the bin"", ""Put the lettuce in the bin""]","[""GotoLocation ['countertop']"", ""PickupObject ['butterknife']"", ""GotoLocation ['lettuce']"", ""SliceObject ['lettuce']"", ""GotoLocation ['fridge']"", ""PutObject ['butterknife', 'fridge']"", ""GotoLocation ['fridge']"", ""PickupObject ['lettuce']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['lettuce']"", ""GotoLocation ['garbagecan']"", ""PutObject ['lettuce', 'garbagecan']"", ""NoOp""]",trial_T20190918_143430_997524_2.png
trial_T20190908_213533_897289,0,FloorPlan10,Put a clean yellow plate on the counter.,"[""Turn right and walk towards the door, then turn right and walk over to the fridge, turn right again and walk up to the kitchen island"", ""Pick up the rightmost dirty yellow plate off of the kitchen island."", ""Turn left and walk over to the sink."", ""Wash the dirty yellow plate clean in the sink then pick it back up."", ""Turn right and walk forward, then turn right to face the counter."", ""Put the clean yellow plate on the counter.""]","[""GotoLocation ['countertop']"", ""PickupObject ['plate']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['plate']"", ""GotoLocation ['countertop']"", ""PutObject ['plate', 'countertop']"", ""NoOp""]",trial_T20190908_213533_897289_0.png
trial_T20190908_213533_897289,1,FloorPlan10,Wash a plate and place on counter. ,"[""Turn around completely and walk forward. Turn to the right and go around the corner and turn right again to face the counter. "", ""Pick up the plate from the counter. "", ""Step to the left and then turn to the right to face the sink, "", ""Place the plate in the sink and turn on the water and wash the plate. Turn off the water and take out the plate. "", ""Turn to the left and turn around completely and face the other counter. "", ""Place the plate on the counter. ""]","[""GotoLocation ['countertop']"", ""PickupObject ['plate']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['plate']"", ""GotoLocation ['countertop']"", ""PutObject ['plate', 'countertop']"", ""NoOp""]",trial_T20190908_213533_897289_1.png
trial_T20190908_213533_897289,2,FloorPlan10,Put a washed plate on the counter by the stove.,"[""Turn and go to the counter by the sink."", ""Pick up a dirty plate on the counter."", ""Turn and go to the sink. "", ""Wash the dish in the sink. "", ""Turn and go to the counter by the stove."", ""Put the plate on the counter by the stove. ""]","[""GotoLocation ['countertop']"", ""PickupObject ['plate']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['plate']"", ""GotoLocation ['countertop']"", ""PutObject ['plate', 'countertop']"", ""NoOp""]",trial_T20190908_213533_897289_2.png
trial_T20190909_103507_522012,0,FloorPlan219,Examine a key chain by the light of a floor lamp.,"[""Walk forward to the safe, then turn left and walk to the blue armchair."", ""Pick up the key chain in front of the remote control on the armchair."", ""Turn right and walk slightly forward to the tall lamp in front of you."", ""Turn on the lamp.""]","[""GotoLocation ['armchair']"", ""PickupObject ['keychain']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190909_103507_522012_0.png
trial_T20190909_103507_522012,1,FloorPlan219,Look at keys using an illuminated lamp.,"[""Cross the room and when you get to the sofa, head left to stand in front of the blue chair."", ""Pick up the leftmost set of keys from the chair."", ""Turn right to carry the keys closer to the lamp, which is between the chair and sofa."", ""Turn on the lamp to look at the keys.""]","[""GotoLocation ['armchair']"", ""PickupObject ['keychain']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190909_103507_522012_1.png
trial_T20190909_103507_522012,2,FloorPlan219,Look at some keys under the light of a tall lamp.,"[""Turn around and hang a left to walk to the blue armchair."", ""Pick up the leftmost keys from the blue armchair."", ""Turn to face the tall lamp on the right."", ""Turn on the tall lamp.""]","[""GotoLocation ['armchair']"", ""PickupObject ['keychain']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190909_103507_522012_2.png
trial_T20190908_220656_510400,0,FloorPlan308,Pick a pencil up and turn the lamp on.,"[""Cross the room to the left and then turn to the left and face the lamp on the desk."", ""Pick the pencil up from the shelf above the computer on the desk."", ""Look down at the lamp."", ""Turn the lamp on.""]","[""GotoLocation ['shelf']"", ""PickupObject ['pencil']"", ""GotoLocation ['desklamp']"", ""ToggleObject ['desklamp']"", ""NoOp""]",trial_T20190908_220656_510400_0.png
trial_T20190908_220656_510400,1,FloorPlan308,Examine a pencil in the light of a small lamp.,"[""Walk over to the right side of the wooden desk to your left."", ""Pick up the pencil off of the middle shelf behind the desk."", ""Look down at the lamp on the desk."", ""Turn on the light of the small lamp.""]","[""GotoLocation ['shelf']"", ""PickupObject ['pencil']"", ""GotoLocation ['desklamp']"", ""ToggleObject ['desklamp']"", ""NoOp""]",trial_T20190908_220656_510400_1.png
trial_T20190908_220656_510400,2,FloorPlan308,Examine a pencil using the light of a lamp. ,"[""Turn left, walk to the end of the bed, turn right, walk a few steps, turn left, walk to the wall, then turn left to face the desk. "", ""Pick up the white pencil that is sitting on the shelf above the desk. "", ""Lower the pencil down to the desk area. "", ""Turn on the lamp that is sitting on the desk.""]","[""GotoLocation ['shelf']"", ""PickupObject ['pencil']"", ""GotoLocation ['desklamp']"", ""ToggleObject ['desklamp']"", ""NoOp""]",trial_T20190908_220656_510400_2.png
trial_T20190909_102710_795182,0,FloorPlan10,Place a chilled tomato in a microwave.,"[""Walk ahead and veer left after getting to the counter on the left, Walk to the sink on the left counter."", ""Pick up the tomato in the sink."", ""Turn right and walk to the fridge."", ""Place the tomato in the fridge, in front of the center brown bowl. Close the door, wait a moment, and take it out again."", ""Turn right and walk to the stove, facing it."", ""Place the tomato in the microwave above the stove.""]","[""GotoLocation ['sinkbasin']"", ""PickupObject ['tomato']"", ""GotoLocation ['fridge']"", ""CoolObject ['tomato']"", ""GotoLocation ['microwave']"", ""PutObject ['tomato', 'microwave']"", ""NoOp""]",trial_T20190909_102710_795182_0.png
trial_T20190909_102710_795182,1,FloorPlan10,To chill a tomato and put it inside of the microwave. ,"[""Walk around the kitchen island and face the sink. "", ""Pick up the tomato from the sink. "", ""Turn right and walk over to the fridge on the right. "", ""Open the fridge door, put the tomato inside of the fridge, close the door, open the door, take the tomato out, close the door. "", ""Turn right and walk to the stove on the left and look up at the microwave. "", ""Open the microwave door, put the tomato inside, close the door. ""]","[""GotoLocation ['sinkbasin']"", ""PickupObject ['tomato']"", ""GotoLocation ['fridge']"", ""CoolObject ['tomato']"", ""GotoLocation ['microwave']"", ""PutObject ['tomato', 'microwave']"", ""NoOp""]",trial_T20190909_102710_795182_1.png
trial_T20190909_102710_795182,2,FloorPlan10,chill then warm a tomato in the microwave,"[""go to the sink"", ""pick up the tomato from the sink"", ""take the tomato to the fridge"", ""chill the tomato in the fridge then remove"", ""take the tomato to the microwave"", ""warm the tomato in the microwave""]","[""GotoLocation ['sinkbasin']"", ""PickupObject ['tomato']"", ""GotoLocation ['fridge']"", ""CoolObject ['tomato']"", ""GotoLocation ['microwave']"", ""PutObject ['tomato', 'microwave']"", ""NoOp""]",trial_T20190909_102710_795182_2.png
trial_T20190906_224718_745017,0,FloorPlan10,Put a cold slice of bread in a microwave.,"[""Go around the island to the fridge ahead, turn right, turn right to face the counter to the right of the sink."", ""Take the large knife next to the tomato."", ""Turn around, go to the counter to the left of the oven."", ""Cut the bread into slices."", ""Stay at the counter."", ""Put the knife on the counter between the fork and the edge of the counter."", ""Stay at the counter."", ""Take a piece of bread from the counter."", ""Turn left, go to the refrigerator on the right."", ""Put the bread in the fridge next to the plate and bowl. Close then open the fridge door. Take the bread from the fridge."", ""Turn right, go to the oven on the left."", ""Put the bread in the microwave above the oven.""]","[""GotoLocation ['countertop']"", ""PickupObject ['knife']"", ""GotoLocation ['bread']"", ""SliceObject ['bread']"", ""GotoLocation ['countertop']"", ""PutObject ['knife', 'countertop']"", ""GotoLocation ['countertop']"", ""PickupObject ['bread']"", ""GotoLocation ['fridge']"", ""CoolObject ['bread']"", ""GotoLocation ['microwave']"", ""PutObject ['bread', 'microwave']"", ""NoOp""]",trial_T20190906_224718_745017_0.png
trial_T20190906_224718_745017,1,FloorPlan10,Place a chilled slice of bread into the microwave.,"[""Turn left and begin walking to the door, then turn right and walk to the fridge, then hang a right and walk up to the knives on the kitchen island."", ""Pick up the left most metal knife with a golden handle."", ""Turn left and walk over to the loaf of bread on the kitchen counter."", ""Slice the loaf of bread with the metal knife."", ""Turn left and take a step forward, then turn right to face the kitchen counter."", ""Place the metal knife onto the kitchen counter in front of the fork."", ""Turn right, take a step forward then face left so you are facing the sliced bread on the kitchen counter.."", ""Pick up a slice of bread."", ""Turn left and walk over to the fridge."", ""Open the fridge door and place the sliced bread inside, then close the door and wait a few seconds, after that open the fridge door back up and remove the slice of bread and close the door again."", ""Turn right and walk over to the stove, then look up at the microwave in the upper cabinets."", ""Open the microwave door, place the slice of bread inside, then close the microwave door.""]","[""GotoLocation ['countertop']"", ""PickupObject ['knife']"", ""GotoLocation ['bread']"", ""SliceObject ['bread']"", ""GotoLocation ['countertop']"", ""PutObject ['knife', 'countertop']"", ""GotoLocation ['countertop']"", ""PickupObject ['bread']"", ""GotoLocation ['fridge']"", ""CoolObject ['bread']"", ""GotoLocation ['microwave']"", ""PutObject ['bread', 'microwave']"", ""NoOp""]",trial_T20190906_224718_745017_1.png
trial_T20190906_224718_745017,2,FloorPlan10,Place a cool slice of bread in the microwave.,"[""Turn left, take a step, then turn right towards the fridge, and then turn right towards the counter on your right."", ""Pick up the left yellow knife from the counter."", ""Turn around and head towards the loaf of bread on the counter."", ""Slice the bread into slices."", ""Take a step to the left."", ""Place the knife in front of the fork on the counter."", ""Take a step to the right."", ""Pick up a slice of bread from the counter."", ""Turn left and head towards the fridge on your right."", ""Open the fridge, place the slice bread in between the bowl and plate, close the fridge to let it cool down, and then take the bread back out."", ""Turn right, walk towards the stove on your left, and look up to find a microwave."", ""Open the microwave, place the slice bread in it, and close the door.""]","[""GotoLocation ['countertop']"", ""PickupObject ['knife']"", ""GotoLocation ['bread']"", ""SliceObject ['bread']"", ""GotoLocation ['countertop']"", ""PutObject ['knife', 'countertop']"", ""GotoLocation ['countertop']"", ""PickupObject ['bread']"", ""GotoLocation ['fridge']"", ""CoolObject ['bread']"", ""GotoLocation ['microwave']"", ""PutObject ['bread', 'microwave']"", ""NoOp""]",trial_T20190906_224718_745017_2.png
trial_T20190918_192011_115694,0,FloorPlan219,put a box with the set of keys on to the blue chair,"[""turn around and move to the white safe that is on the floor to the left of the fire place"", ""open the safe, remove the set of keys, close the safe"", ""turn around and move forward to the sofa on the right, turn to face the sofa where the box is sitting"", ""put the set of keys in to the box that in on the sofa"", ""pick up the box from the sofa"", ""turn to the left and move to the blue chair with the plaid pillow"", ""put the box on to the chair to the right of the pillow""]","[""GotoLocation ['safe']"", ""PickupObject ['keychain']"", ""GotoLocation ['box']"", ""PutObject ['keychain', 'box']"", ""PickupObject ['box']"", ""GotoLocation ['armchair']"", ""PutObject ['box', 'armchair']"", ""NoOp""]",trial_T20190918_192011_115694_0.png
trial_T20190918_192011_115694,1,FloorPlan219,put box and keys on blue plush chair,"[""walk to face safe on floor"", ""pick up keys from inside safe"", ""walk to face sofa with box"", ""put keys in box on sofa"", ""pick up box from sofa"", ""walk to face blue plush chair"", ""put box on chair""]","[""GotoLocation ['safe']"", ""PickupObject ['keychain']"", ""GotoLocation ['box']"", ""PutObject ['keychain', 'box']"", ""PickupObject ['box']"", ""GotoLocation ['armchair']"", ""PutObject ['box', 'armchair']"", ""NoOp""]",trial_T20190918_192011_115694_1.png
trial_T20190918_192011_115694,2,FloorPlan219,Put a box with a key chain in it on an armchair.,"[""Turn around and walk to the safe on the floor."", ""Take out the key chain from the safe and close the safe."", ""Turn around, walk forward and turn right before reaching the blue armchair and walk to the box on the sofa."", ""Put the key chain in the box."", ""Pick up the box from the sofa."", ""Turn left and walk to the blue armchair."", ""Put the box on the seat of the armchair, to the right of the pillow.""]","[""GotoLocation ['safe']"", ""PickupObject ['keychain']"", ""GotoLocation ['box']"", ""PutObject ['keychain', 'box']"", ""PickupObject ['box']"", ""GotoLocation ['armchair']"", ""PutObject ['box', 'armchair']"", ""NoOp""]",trial_T20190918_192011_115694_2.png
trial_T20190907_183853_958104,0,FloorPlan10,Cool a mug in the fridge,"[""Go forward a bit, turn left, go to the fridge, turn right, go to the end of the counter, turn left"", ""Pick up the mug in the coffee maker"", ""Turn left, go to the fridge, turn right"", ""Open the fridge, put the cup in the fridge, close the fridge, wait, open the fridge, pick the cup, close the fridge"", ""Turn right, go to the coffee maker, turn left"", ""Put the cup into the coffee maker""]","[""GotoLocation ['countertop']"", ""PickupObject ['mug']"", ""GotoLocation ['fridge']"", ""CoolObject ['mug']"", ""GotoLocation ['coffeemachine']"", ""PutObject ['mug', 'coffeemachine']"", ""NoOp""]",trial_T20190907_183853_958104_0.png
trial_T20190907_183853_958104,1,FloorPlan10,Place a chilled mug under the coffee maker spout. ,"[""Turn left, hang a right at the fridge, and head towards the coffee maker sitting on the counter to your left. "", ""Pick up the white mug on the coffee maker."", ""Turn to your left and head to the fridge that will be on your right. "", ""Place the coffee mug in the fridge to chill before taking it back out. "", ""Turn to your right and head back to the coffee maker."", ""Place the mug to where it is located under the coffee maker's spout. ""]","[""GotoLocation ['countertop']"", ""PickupObject ['mug']"", ""GotoLocation ['fridge']"", ""CoolObject ['mug']"", ""GotoLocation ['coffeemachine']"", ""PutObject ['mug', 'coffeemachine']"", ""NoOp""]",trial_T20190907_183853_958104_1.png
trial_T20190907_183853_958104,2,FloorPlan10,Chill the mug and put it in the coffee machine.,"[""Turn left and go to the fridge, then turn right and go to the coffee machine."", ""Pick up the mug from the coffee machine."", ""Turn left and go to the fridge."", ""Open the fridge, put the cup on the shelf for a little bit and take it out."", ""Turn right and go back to the coffee machine."", ""Set the mug in the coffee machine.""]","[""GotoLocation ['countertop']"", ""PickupObject ['mug']"", ""GotoLocation ['fridge']"", ""CoolObject ['mug']"", ""GotoLocation ['coffeemachine']"", ""PutObject ['mug', 'coffeemachine']"", ""NoOp""]",trial_T20190907_183853_958104_2.png
trial_T20190909_021613_077537,0,FloorPlan10,Put a salt shaker in a drawer next to the oven.,"[""Turn right and walk to the wall then turn left and walk to the counter."", ""Take a salt shaker from the cupboard above the coffee maker."", ""Turn left and walk in front of the oven."", ""Put the salt shaker in the middle drawer between the dishwasher and the oven.""]","[""GotoLocation ['cabinet']"", ""PickupObject ['saltshaker']"", ""GotoLocation ['drawer']"", ""PutObject ['saltshaker', 'drawer']"", ""NoOp""]",trial_T20190909_021613_077537_0.png
trial_T20190909_021613_077537,1,FloorPlan10,Move a salt shaker into a drawer.,"[""Walk around the kitchen island to where the coffee machine is on the counter and look up at the upper cabinets."", ""Open the upper cabinet in front of you and take out the salt shaker, then close the cabinet."", ""Turn around and take a step forward, then turn right and walk towards the wall, stop before the sink."", ""Open the middle drawer to the left of the oven and put the salt shaker inside, then close the drawer.""]","[""GotoLocation ['cabinet']"", ""PickupObject ['saltshaker']"", ""GotoLocation ['drawer']"", ""PutObject ['saltshaker', 'drawer']"", ""NoOp""]",trial_T20190909_021613_077537_1.png
trial_T20190909_021613_077537,2,FloorPlan10,place salt in second drawer to the left of stove,"[""turn right, go around counter to cabinet above coffee maker"", ""open cabinet, pick up salt from cabinet, close cabinet"", ""turn left, go to second drawer to the left of stove"", ""place salt in second drawer, close drawer""]","[""GotoLocation ['cabinet']"", ""PickupObject ['saltshaker']"", ""GotoLocation ['drawer']"", ""PutObject ['saltshaker', 'drawer']"", ""NoOp""]",trial_T20190909_021613_077537_2.png
trial_T20190907_074106_050405,0,FloorPlan424,Put a wet soap on the counter. ,"[""Turn to the right and go to the sink. "", ""Pick up the bar of soap from the counter. "", ""Move to the right and put the soap in the right sink. "", ""Wet the soap with water. "", ""Pick up the soap from the sink and bring it to the counter on the left. "", ""Put the soap back on the counter. ""]","[""GotoLocation ['countertop']"", ""PickupObject ['soapbar']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['soapbar']"", ""GotoLocation ['countertop']"", ""PutObject ['soapbar', 'countertop']"", ""NoOp""]",trial_T20190907_074106_050405_0.png
trial_T20190907_074106_050405,1,FloorPlan424,Put wet soap on the counter.,"[""Go forward and to the sink on your right."", ""Pick up the soap."", ""Move right an go to the sink on the right."", ""Put the soap in the sink and get it wet."", ""Move slightly to the left."", ""Put the soap on the counter.""]","[""GotoLocation ['countertop']"", ""PickupObject ['soapbar']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['soapbar']"", ""GotoLocation ['countertop']"", ""PutObject ['soapbar', 'countertop']"", ""NoOp""]",trial_T20190907_074106_050405_1.png
trial_T20190907_074106_050405,2,FloorPlan424,Put clean soap on the counter.,"[""Move forward, then turn right and go to the counter between the two sinks."", ""Pick up the bar of soap, behind the hand soap."", ""Turn around, then turn left, then turn left again to face the sink."", ""Wash the soap inside of the sink."", ""Turn left move forward then turn right to face the sink."", ""Place the soap on the counter between the sinks, in front of the candle.""]","[""GotoLocation ['countertop']"", ""PickupObject ['soapbar']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['soapbar']"", ""GotoLocation ['countertop']"", ""PutObject ['soapbar', 'countertop']"", ""NoOp""]",trial_T20190907_074106_050405_2.png
trial_T20190909_025340_208825,0,FloorPlan10,Cook a slice of tomato,"[""Turn left, go forward, turn left, go forward a bit, turn left to the counter"", ""Take the tomato from the counter"", ""Move a bit to the right"", ""Put the tomato in the sink"", ""Pick up the knife from the sink"", ""Slice the tomato in the sink"", ""Put the knife in the sink"", ""Pick up a tomato slice from the sink"", ""Turn around, go to the microwave"", ""Put the tomato slice in the microwave, start the microwave, wait, pick up the tomato slice from the microwave"", ""Turn around, go to the sink"", ""Put the tomato slice in the sink""]","[""GotoLocation ['countertop']"", ""PickupObject ['tomato']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['tomato', 'sinkbasin']"", ""PickupObject ['knife']"", ""SliceObject ['tomato']"", ""PutObject ['knife', 'sinkbasin']"", ""PickupObject ['tomato']"", ""GotoLocation ['microwave']"", ""HeatObject ['tomato']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['tomato', 'sinkbasin']"", ""NoOp""]",trial_T20190909_025340_208825_0.png
trial_T20190909_025340_208825,1,FloorPlan10,Place a warm tomato slice in the sink.,"[""Turn left, then left again and face the sink to your left."", ""Take a tomato off of the counter in front of you."", ""Turn right and face the sink to your left."", ""Place the tomato in the sink in front of you."", ""Take the knife from the sink in front of you."", ""Slice the tomato in the sink in front of you."", ""Place the knife in the sink in front of you."", ""Take a tomato slice from the sink in front of you."", ""Turn around and face the microwave on top of the stove in front of you."", ""Heat up the tomato slice in the microwave and take the tomato out."", ""Turn around and face the sink in front of you."", ""Place the warm tomato slice in the sink in front of you.""]","[""GotoLocation ['countertop']"", ""PickupObject ['tomato']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['tomato', 'sinkbasin']"", ""PickupObject ['knife']"", ""SliceObject ['tomato']"", ""PutObject ['knife', 'sinkbasin']"", ""PickupObject ['tomato']"", ""GotoLocation ['microwave']"", ""HeatObject ['tomato']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['tomato', 'sinkbasin']"", ""NoOp""]",trial_T20190909_025340_208825_1.png
trial_T20190909_025340_208825,2,FloorPlan10,Putting a hot slice of tomato in the sink,"[""Turn left and go to the counter to the left of the sink"", ""Grab a tomato off of the counter"", ""Turn right and go to the sink"", ""Put the tomato in the sink"", ""Grab the knife out of the sink"", ""Slice the tomato in the sink"", ""Put the knife in the sink"", ""Grab a slice of tomato"", ""Turn around and go to the microwave"", ""Heat the sliced tomato in the microwave and then take it out"", ""Turn around and go to the sink"", ""Put the sliced tomato in the sink""]","[""GotoLocation ['countertop']"", ""PickupObject ['tomato']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['tomato', 'sinkbasin']"", ""PickupObject ['knife']"", ""SliceObject ['tomato']"", ""PutObject ['knife', 'sinkbasin']"", ""PickupObject ['tomato']"", ""GotoLocation ['microwave']"", ""HeatObject ['tomato']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['tomato', 'sinkbasin']"", ""NoOp""]",trial_T20190909_025340_208825_2.png
trial_T20190908_041411_333458,0,FloorPlan219,Examine a black statue in the light of a tall lamp.,"[""Turn right and walk towards the door, then hang a right and walk up to the wooden dresser."", ""Pick up the leftmost black statue off of the wooden dresser."", ""Turn left and walk over to the lamp that is to the left of the wooden dresser."", ""Turn on the light of the lamp.""]","[""GotoLocation ['dresser']"", ""PickupObject ['statue']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190908_041411_333458_0.png
trial_T20190908_041411_333458,1,FloorPlan219,Take a statue from the dresser to the lamp then examine it up to the light,"[""walk over to the front of the dresser where the statues are"", ""pick up the statue from the dresser"", ""walk the statue over to the lamp on the stand and raise the statue"", ""turn the lamp on to look at the statue""]","[""GotoLocation ['dresser']"", ""PickupObject ['statue']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190908_041411_333458_1.png
trial_T20190908_041411_333458,2,FloorPlan219,Turn on a lamp while holding a statue,"[""Move right then right again and go straight to the wood end table"", ""Pick up the statue on top of the end table"", ""Move slightly left to face the floor lamp to the left of the end table"", ""Turn on the lamp""]","[""GotoLocation ['dresser']"", ""PickupObject ['statue']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190908_041411_333458_2.png
trial_T20190908_073839_704604,0,FloorPlan10,Put the heated slice apple in the trash bin,"[""Move forward then turn right walk straight toward the fridge then turn right head to the sink"", ""Pick up the knife in the sink"", ""Turn right then walk forward then turn left facing the trash bin"", ""Slice the apple in the bin"", ""Drop the knife in the bin"", ""Pick up the slice apple in the bin"", ""Turn left head to the microwave on your left"", ""Open the microwave put in the slice apple, take it out then close the microwave"", ""Turn left move forward turn left face the trash bin"", ""Put the heated slice apple in the trash bin""]","[""GotoLocation ['sinkbasin']"", ""PickupObject ['butterknife']"", ""GotoLocation ['apple']"", ""SliceObject ['apple']"", ""PutObject ['butterknife', 'garbagecan']"", ""PickupObject ['apple']"", ""GotoLocation ['microwave']"", ""HeatObject ['apple']"", ""GotoLocation ['garbagecan']"", ""PutObject ['apple', 'garbagecan']"", ""NoOp""]",trial_T20190908_073839_704604_0.png
trial_T20190908_073839_704604,1,FloorPlan10,Put the cooked apple piece in the trash bin,"[""Turn right and walk toward the fridge, then turn right into the kitchen and approach the sink"", ""Pick up the butter knife from the sink"", ""Turn right and walk around the end of the counter to the black trash bin"", ""Cut the green apple in the bin with the knife"", ""Put the knife in the trash bin"", ""Pick up an apple piece from the trash bin"", ""Turn left and walk back into the kitchen then turn left to face the microwave above the oven"", ""Heat the apple piece in the microwave then remove it"", ""Turn left and walk back around to the trash bin"", ""Put the apple piece in the trash bin""]","[""GotoLocation ['sinkbasin']"", ""PickupObject ['butterknife']"", ""GotoLocation ['apple']"", ""SliceObject ['apple']"", ""PutObject ['butterknife', 'garbagecan']"", ""PickupObject ['apple']"", ""GotoLocation ['microwave']"", ""HeatObject ['apple']"", ""GotoLocation ['garbagecan']"", ""PutObject ['apple', 'garbagecan']"", ""NoOp""]",trial_T20190908_073839_704604_1.png
trial_T20190908_073839_704604,2,FloorPlan10,Put a heated slice of apple in the trash can near the fridge. ,"[""Walk 1 step to the front, turn right, walk straight, turn right near the fridge and turn right to face the sink. "", ""Pick up the knife near the fork in the sink. "", ""Walk to your right, turn right near the fridge and turn right to go to the black trash can. "", ""Cut the apple in the trash can. "", ""Put the knife in the trash can. "", ""Pick up a slice of apple from the trash can. "", ""Walk to your left, turn right near the fridge, walk straight, turn right to go to the stove and look up to the microwave on top of the stove. "", ""Open the microwave, put the slice of apple in, heat it for a few seconds, pick it up again and close the microwave"", ""Go back to the black trash can near the fridge. "", ""Put the slice of apple in the trash can. ""]","[""GotoLocation ['sinkbasin']"", ""PickupObject ['butterknife']"", ""GotoLocation ['apple']"", ""SliceObject ['apple']"", ""PutObject ['butterknife', 'garbagecan']"", ""PickupObject ['apple']"", ""GotoLocation ['microwave']"", ""HeatObject ['apple']"", ""GotoLocation ['garbagecan']"", ""PutObject ['apple', 'garbagecan']"", ""NoOp""]",trial_T20190908_073839_704604_2.png
trial_T20190908_214926_337906,0,FloorPlan424,put a rinsed off bar of soap in to the cabinet,"[""turn around to face the counter between the two sinks"", ""pick up the bar of soap that is on the back of the counter between the two sinks"", ""move to the right to face the sink on the right"", ""put the bar of soap in to the sink, turn on the water to rinse off the soap, turn off the water and remove the soap from the sink"", ""move back slightly away from the sink"", ""open the left cabinet door below the sink on the right and put the bar of soap in to the cabinet and close the door""]","[""GotoLocation ['countertop']"", ""PickupObject ['soapbar']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['soapbar']"", ""GotoLocation ['cabinet']"", ""PutObject ['soapbar', 'cabinet']"", ""NoOp""]",trial_T20190908_214926_337906_0.png
trial_T20190908_214926_337906,1,FloorPlan424,Put a clean bar of soap in a cabinet.,"[""Turn around to face the counter."", ""Pick up the bar of soap off of the counter."", ""Turn around and walk towards the door, then turn left and walk forward, turn left again to face the sink."", ""Put the bar of soap in the right sink basin and turn on the water, after a couple seconds turn the water off and remove the now clean bar of soap."", ""Turn around and walk towards the wall, then turn left and walk towards the shower, turn left again to face the counter."", ""Open the second cabinet door from the right and put the clean bar of soap inside the cabinet then close the door.""]","[""GotoLocation ['countertop']"", ""PickupObject ['soapbar']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['soapbar']"", ""GotoLocation ['cabinet']"", ""PutObject ['soapbar', 'cabinet']"", ""NoOp""]",trial_T20190908_214926_337906_1.png
trial_T20190908_214926_337906,2,FloorPlan424,"Move soap from counter to sink, followed by moving to cupboard below sink ","[""Turn around facing sink"", ""Pick up bar of soap"", ""Turn around, take one step, turn left, take one step, turn left facing sink "", ""Put soap in sink, turn water on, turn water off, remove soap from sink"", ""Turn around, take one step, turn around,"", ""Open cupboard below sink, put soap inside, close cupboard below sink""]","[""GotoLocation ['countertop']"", ""PickupObject ['soapbar']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['soapbar']"", ""GotoLocation ['cabinet']"", ""PutObject ['soapbar', 'cabinet']"", ""NoOp""]",trial_T20190908_214926_337906_2.png
trial_T20190909_021650_880235,0,FloorPlan10,place a salt shaker in one of the pullout drawers,"[""turn right and walk to the fridge at the end of the room, then take another right and walk to the end of the room, turn left to face the kitchen counter there"", ""grab the salt shaker out of the cabinet below the kitchen counter"", ""turn left and walk to the kitchen counter space to the right of the dishwasher"", ""place the salt shaker in the second pullout drawer under the kitchen counter to the right of the dishwasher""]","[""GotoLocation ['cabinet']"", ""PickupObject ['saltshaker']"", ""GotoLocation ['drawer']"", ""PutObject ['saltshaker', 'drawer']"", ""NoOp""]",trial_T20190909_021650_880235_0.png
trial_T20190909_021650_880235,1,FloorPlan10,Move a salt shaker into a drawer.,"[""Turn right and walk over to where the coffee machine is on the counter."", ""Open the cabinet below the counter in front of you and take out the salt shaker, then close the cabinet."", ""Turn around and take a step forward, then turn right and walk forward, stop before the sink."", ""Open the middle drawer in between the dish washer and oven and put the salt shaker inside, then close the drawer.""]","[""GotoLocation ['cabinet']"", ""PickupObject ['saltshaker']"", ""GotoLocation ['drawer']"", ""PutObject ['saltshaker', 'drawer']"", ""NoOp""]",trial_T20190909_021650_880235_1.png
trial_T20190909_021650_880235,2,FloorPlan10,Put a shaker in a drawer.,"[""Go right and then right again to stand facing the counter with the coffee maker to the left."", ""Open the cabinet below the coffee maker and pick the salt shaker up from the cabinet."", ""Turn around and stand to the side of the drawer to the left of the stove."", ""Open the drawer to the left of the stove and put the shaker in and shut the drawer.""]","[""GotoLocation ['cabinet']"", ""PickupObject ['saltshaker']"", ""GotoLocation ['drawer']"", ""PutObject ['saltshaker', 'drawer']"", ""NoOp""]",trial_T20190909_021650_880235_2.png
trial_T20190908_091747_866951,0,FloorPlan10,Cool some bread and the place it on the counter.,"[""Walk around the center table to face the right side of the sink."", ""Pick up the bread on the counter to the right of the sink."", ""Turn around and step to the left to face the fridge."", ""Cool the bread in the fridge and then remove it."", ""Take a step to the right to face the counter to the right of the fridge."", ""Place the bread on the counter.""]","[""GotoLocation ['countertop']"", ""PickupObject ['bread']"", ""GotoLocation ['fridge']"", ""CoolObject ['bread']"", ""GotoLocation ['countertop']"", ""PutObject ['bread', 'countertop']"", ""NoOp""]",trial_T20190908_091747_866951_0.png
trial_T20190908_091747_866951,1,FloorPlan10,Put a cold loaf of bread on the counter.,"[""Turn around, walk to the fridge, turn left, and walk to the counter."", ""Pick up the bread."", ""Turn right, walk to the fridge, and turn right."", ""Open the fridge, put the bread in the fridge, close the fridge, open the fridge, get the bread, and close the fridge."", ""Turn right, walk to the counter, and turn left."", ""Put the bread on the counter.""]","[""GotoLocation ['countertop']"", ""PickupObject ['bread']"", ""GotoLocation ['fridge']"", ""CoolObject ['bread']"", ""GotoLocation ['countertop']"", ""PutObject ['bread', 'countertop']"", ""NoOp""]",trial_T20190908_091747_866951_1.png
trial_T20190908_091747_866951,2,FloorPlan10,Put chilled bread on the counter. ,"[""Move to your left and face the counter, right of the sink."", ""Pick up the bread on the counter."", ""Bring the bread to the fridge behind you to the right. "", ""Chill the bread in the fridge."", ""Bring the cold bread to the counter, next to the fridge on the right."", ""Put the cold bread on the counter right of the fridge. ""]","[""GotoLocation ['countertop']"", ""PickupObject ['bread']"", ""GotoLocation ['fridge']"", ""CoolObject ['bread']"", ""GotoLocation ['countertop']"", ""PutObject ['bread', 'countertop']"", ""NoOp""]",trial_T20190908_091747_866951_2.png
trial_T20190906_182435_622538,0,FloorPlan10,Put a heated apple next to the lettuce on the middle shelf in the refrigerator.,"[""Turn right and face the sink."", ""Pick up the apple next to the drain."", ""Turn around and face microwave above the stove."", ""Open the microwave and place the apple on the plate to the right of the egg. Turn on the microwave for a few seconds, then open the door and remove the heated apple. Close the door."", ""Turn left and head to the refrigerator."", ""Open the refrigerator door and place the apple on the middle shelf to the right of the lettuce. Close the refrigerator door.""]","[""GotoLocation ['sinkbasin']"", ""PickupObject ['apple']"", ""GotoLocation ['microwave']"", ""HeatObject ['apple']"", ""GotoLocation ['fridge']"", ""PutObject ['apple', 'fridge']"", ""NoOp""]",trial_T20190906_182435_622538_0.png
trial_T20190906_182435_622538,1,FloorPlan10,"cook the apple in the microwave, put the apple in the refrigerator","[""turn right to the sink"", ""grab the apple from the sink"", ""turn around to the microwave"", ""open the microwave, put the apple in, heat the apple for a while, take the apple out"", ""turn around, walk to the refrigerator on the right"", ""open the refrigerator, put the apple in""]","[""GotoLocation ['sinkbasin']"", ""PickupObject ['apple']"", ""GotoLocation ['microwave']"", ""HeatObject ['apple']"", ""GotoLocation ['fridge']"", ""PutObject ['apple', 'fridge']"", ""NoOp""]",trial_T20190906_182435_622538_1.png
trial_T20190906_182435_622538,2,FloorPlan10,Cook apple and place in fridge.,"[""Turn right to face sink."", ""Pick up green apple from sink, located to the right of the spoon."", ""Turn around to face stove and microwave."", ""Open microwave door, place apple on the right side of the microwave opposite the egg, shut the microwave door.  Open microwave door after five seconds."", ""Remove apple from microwave, close door.  Turn left, move to fridge.  Turn right to face fridge.  "", ""Open fridge door, place apple to the right of lettuce, close fridge door.""]","[""GotoLocation ['sinkbasin']"", ""PickupObject ['apple']"", ""GotoLocation ['microwave']"", ""HeatObject ['apple']"", ""GotoLocation ['fridge']"", ""PutObject ['apple', 'fridge']"", ""NoOp""]",trial_T20190906_182435_622538_2.png
trial_T20190906_182435_622538,3,FloorPlan10,Place a heated apple in a fridge.,"[""Turn right and face the sink."", ""Pick up the apple in the sink."", ""Turn around and walk a step right to the microwave."", ""Heat the apple in the microwave."", ""Turn left and walk to the fridge on the right."", ""Place the apple in the fridge to the right of the lettuce.""]","[""GotoLocation ['sinkbasin']"", ""PickupObject ['apple']"", ""GotoLocation ['microwave']"", ""HeatObject ['apple']"", ""GotoLocation ['fridge']"", ""PutObject ['apple', 'fridge']"", ""NoOp""]",trial_T20190906_182435_622538_3.png
trial_T20190906_182435_622538,4,FloorPlan10,Place a heated apple in the fridge.,"[""Turn right to face the silver sink."", ""Pick up the green apple inside the sink next to the spoon."", ""Turn left and head towards the silver stove on your left."", ""Look above the stove, open the microwave door, place the apple inside next to the egg, close the door, heat it for a moment, open the door, pick up the apple and close the microwave door."", ""Turn around, go towards the counter with the sink, turn right to cross the room to face the white fridge on your right."", ""Open the fridge door, place the apple on the middle shelf to the right of the lettuce and close the door.""]","[""GotoLocation ['sinkbasin']"", ""PickupObject ['apple']"", ""GotoLocation ['microwave']"", ""HeatObject ['apple']"", ""GotoLocation ['fridge']"", ""PutObject ['apple', 'fridge']"", ""NoOp""]",trial_T20190906_182435_622538_4.png
trial_T20190906_182435_622538,5,FloorPlan10,Refrigerator the heated apple,"[""Turn right towards the sink."", ""Pick up the apple in the sink."", ""Turn left, walk forward, then turn left at the stove."", ""Place the apple in the microwave and remove it."", ""Turn left and walk to the refrigerator."", ""Put the apple in the refrigerator.""]","[""GotoLocation ['sinkbasin']"", ""PickupObject ['apple']"", ""GotoLocation ['microwave']"", ""HeatObject ['apple']"", ""GotoLocation ['fridge']"", ""PutObject ['apple', 'fridge']"", ""NoOp""]",trial_T20190906_182435_622538_5.png
trial_T20190907_080825_222432,0,FloorPlan10,Clean a spatula to put it away.,"[""Turn to the right and go across the room. Turn to the right again, and then the left at the counter beside the stove."", ""Pick up the spatula from the counter."", ""Take the spatula and turn around to the sink."", ""Place the spatula in the sink, turn on the water and then off again. Pick up the spatula."", ""Take the spatula and turn around to the counter."", ""Open the top drawer and place the spatula inside.""]","[""GotoLocation ['countertop']"", ""PickupObject ['spatula']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['spatula']"", ""GotoLocation ['drawer']"", ""PutObject ['spatula', 'drawer']"", ""NoOp""]",trial_T20190907_080825_222432_0.png
trial_T20190907_080825_222432,1,FloorPlan10,Put a rinsed spatula into a drawer.,"[""Turn to the right and walk to the fridge.  Turn right and walk to the counter that is to the right of the fridge. Face the counter."", ""Pick up the spatula that is on the counter in front of the bread."", ""Holding the spatula, turn around 180 degrees to face the sink."", ""Put the spatula in the sink to the left of the tomato, fill the sink with water, then drain the sink. Take the spatula from out of the sink."", ""Turn around 180 degrees to face the stove top and counter to the left of the stove top."", ""Open the top drawer that is left of the stove top underneath the counter, place the spatula in the drawer, and close the drawer.""]","[""GotoLocation ['countertop']"", ""PickupObject ['spatula']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['spatula']"", ""GotoLocation ['drawer']"", ""PutObject ['spatula', 'drawer']"", ""NoOp""]",trial_T20190907_080825_222432_1.png
trial_T20190907_080825_222432,2,FloorPlan10,put a clean spatula into the drawer,"[""turn to the right and move across the room towards the refrigerator, turn right at the refrigerator moving forward towards the dishwasher on the left, turn left to face the counter"", ""pick up the spatula that is on the counter in front of the loaf of bread on the right"", ""turn around and move towards the sink"", ""put the spatula into the sink and turn on the water to clean the spatula and pick up the spatula out from of the sink"", ""turn around to face the counter to the left of the stove"", ""open the top drawer that is to the left of the stove, put the spatula into the drawer and close it""]","[""GotoLocation ['countertop']"", ""PickupObject ['spatula']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['spatula']"", ""GotoLocation ['drawer']"", ""PutObject ['spatula', 'drawer']"", ""NoOp""]",trial_T20190907_080825_222432_2.png
trial_T20190909_021100_341887,0,FloorPlan10,Place a heated mug in a cabinet.,"[""Turn left and walk to the end of the counter on the left, then face the coffee maker."", ""Take the mug out of the counter above the coffee maker."", ""Take a step left."", ""Heat the mug in the microwave."", ""Take a step left."", ""Place the mug on the cabinet to the left of the microwave, to the right of the salt shaker.""]","[""GotoLocation ['cabinet']"", ""PickupObject ['mug']"", ""GotoLocation ['microwave']"", ""HeatObject ['mug']"", ""GotoLocation ['cabinet']"", ""PutObject ['mug', 'cabinet']"", ""NoOp""]",trial_T20190909_021100_341887_0.png
trial_T20190909_021100_341887,1,FloorPlan10,Heat a cup and place it in the cabinet.,"[""Turn to the left, and move through the kitchen. Face the coffee machine on the counter."", ""Open the top cabinet and take out the cup. Close the cabinet."", ""Hold the cup and take a step to the left, look up to the microwave."", ""Open the microwave and place the cup inside. Shut the door and then open it. Take out the cup."", ""Hold the cup and look down, then take a step to the left and look up to the cabinet."", ""Open the cabinet and place the cup inside.""]","[""GotoLocation ['cabinet']"", ""PickupObject ['mug']"", ""GotoLocation ['microwave']"", ""HeatObject ['mug']"", ""GotoLocation ['cabinet']"", ""PutObject ['mug', 'cabinet']"", ""NoOp""]",trial_T20190909_021100_341887_1.png
trial_T20190909_021100_341887,2,FloorPlan10,place a microwaved coffee cup inside of the kitchen cupboard,"[""turn left and walk over to the end of the room where the coffee maker is on the left"", ""grab a coffee mug out of the cabinet to the top right of the coffee maker"", ""move to the left a bit to face the microwave above the stove"", ""place the coffee much inside of the microwave, microwave it for a bit and then take it back out"", ""turn left and walk over to the kitchen counter to the left of the stove on your right, then look up at the cabinets above the kitchen counter"", ""place the coffee mug inside the cupboard cabinet above the kitchen counter top""]","[""GotoLocation ['cabinet']"", ""PickupObject ['mug']"", ""GotoLocation ['microwave']"", ""HeatObject ['mug']"", ""GotoLocation ['cabinet']"", ""PutObject ['mug', 'cabinet']"", ""NoOp""]",trial_T20190909_021100_341887_2.png
trial_T20190908_021537_611374,0,FloorPlan424,Move a plunger to the cabinet,"[""Move to the right facing the plunger on the floor to the left of the toilet"", ""Pick up the plunger on the floor"", ""Move to the left facing the white cabinet door"", ""Open the cabinet and place the plunger inside the cabinet, close the cabinet""]","[""GotoLocation ['plunger']"", ""PickupObject ['plunger']"", ""GotoLocation ['cabinet']"", ""PutObject ['plunger', 'cabinet']"", ""NoOp""]",trial_T20190908_021537_611374_0.png
trial_T20190908_021537_611374,1,FloorPlan424,move the plunger from the floor to the cabinet under the sink,"[""walk over to the sink to your right"", ""pick up the green plunger from the floor between the sink and toilet"", ""back up and approach the cabinet under the sink"", ""open the left side of the cabinet and place the plunger in the cabinet""]","[""GotoLocation ['plunger']"", ""PickupObject ['plunger']"", ""GotoLocation ['cabinet']"", ""PutObject ['plunger', 'cabinet']"", ""NoOp""]",trial_T20190908_021537_611374_1.png
trial_T20190908_021537_611374,2,FloorPlan424,Put the plunger under the sink,"[""Turn around towards the sink and the toilet"", ""Pick up the plunger from between the sink and the toilet"", ""Turn towards the sink to the left"", ""Open the cabinet just to the left and place the plunger inside""]","[""GotoLocation ['plunger']"", ""PickupObject ['plunger']"", ""GotoLocation ['cabinet']"", ""PutObject ['plunger', 'cabinet']"", ""NoOp""]",trial_T20190908_021537_611374_2.png
trial_T20190909_025529_706272,0,FloorPlan10,Place a warm tomato slice in the sink.,"[""Turn around then turn left and face the counter by the stove in front of you."", ""Take the silver knife off of the counter in front of you."", ""Turn left and face the counter on your right."", ""Slice the tomato on the counter in front of you."", ""Turn around and face the sink in front of you."", ""Place the knife in the sink in front of you."", ""Turn around and face the counter in front of you."", ""Take a tomato slice off of the counter in front of you."", ""Turn right and face the microwave on top of the stove to your left."", ""Heat up the tomato slice in the microwave and take it out."", ""Turn around and face the sink in front of you."", ""Place the warm tomato slice in the sink.""]","[""GotoLocation ['countertop']"", ""PickupObject ['butterknife']"", ""GotoLocation ['tomato']"", ""SliceObject ['tomato']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['butterknife', 'sinkbasin']"", ""GotoLocation ['countertop']"", ""PickupObject ['tomato']"", ""GotoLocation ['microwave']"", ""HeatObject ['tomato']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['tomato', 'sinkbasin']"", ""NoOp""]",trial_T20190909_025529_706272_0.png
trial_T20190909_025529_706272,1,FloorPlan10,Heat up a tomato slice in the microwave to put in the sink.,"[""Turn left to walk around the kitchen island, hanging a left and stopping at the counter on the left of the stove."", ""Pick up the smaller knife on the counter to the left of the stove."", ""Turn to face the tomato on the counter."", ""Slice the tomato with the smaller knife."", ""Turn around to face the sink."", ""Put the knife in the sink."", ""Turn around to face the counter to the left of the stove."", ""Pick up a slice of tomato from the countertop."", ""Turn right and walk to the microwave."", ""Heat up the slice of tomato in the microwave, removing it afterwards."", ""Turn left to walk back to the sink."", ""Put the slice of tomato in the sink.""]","[""GotoLocation ['countertop']"", ""PickupObject ['butterknife']"", ""GotoLocation ['tomato']"", ""SliceObject ['tomato']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['butterknife', 'sinkbasin']"", ""GotoLocation ['countertop']"", ""PickupObject ['tomato']"", ""GotoLocation ['microwave']"", ""HeatObject ['tomato']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['tomato', 'sinkbasin']"", ""NoOp""]",trial_T20190909_025529_706272_1.png
trial_T20190909_025529_706272,2,FloorPlan10,To heat a tomato slice and place it in the sink.,"[""Turn around and cross the room to face the counter on the left side of stove."", ""Pick up the knife on the counter."", ""Look to the left to face the tomato on the counter."", ""Cut the tomato on the counter into slices."", ""Turn around to face the sink."", ""Place the knife in the sink."", ""Turn around to face the tomato on the counter."", ""Pick up a slice of tomato on the counter."", ""Take a step to the right to face the microwave."", ""Heat the tomato slice in the microwave and remove it."", ""Turn around and step forward to face the sink."", ""Place the tomato slice in the sink.""]","[""GotoLocation ['countertop']"", ""PickupObject ['butterknife']"", ""GotoLocation ['tomato']"", ""SliceObject ['tomato']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['butterknife', 'sinkbasin']"", ""GotoLocation ['countertop']"", ""PickupObject ['tomato']"", ""GotoLocation ['microwave']"", ""HeatObject ['tomato']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['tomato', 'sinkbasin']"", ""NoOp""]",trial_T20190909_025529_706272_2.png
trial_T20190908_062908_529599,0,FloorPlan424,move the plunger from behind the toilet to the cabinet,"[""turn around to the toilet"", ""grab the plunger on the floor behind the toilet"", ""turn around, turn around"", ""open the second from the right cabinet door, put the plunger in""]","[""GotoLocation ['plunger']"", ""PickupObject ['plunger']"", ""GotoLocation ['cabinet']"", ""PutObject ['plunger', 'cabinet']"", ""NoOp""]",trial_T20190908_062908_529599_0.png
trial_T20190908_062908_529599,1,FloorPlan424,Move the plunger from in between the sink and toilet to the cabinet underneath the sink.,"[""Turn around to face the right side of the sink."", ""Pick up the plunger from in between the sink and the toilet."", ""Move slightly to the left to face the cabinet under the sink."", ""Open the left cabinet door and place the plunger inside of the cabinet.""]","[""GotoLocation ['plunger']"", ""PickupObject ['plunger']"", ""GotoLocation ['cabinet']"", ""PutObject ['plunger', 'cabinet']"", ""NoOp""]",trial_T20190908_062908_529599_1.png
trial_T20190908_062908_529599,2,FloorPlan424,Place a plunger inside a cabinet,"[""Turn around to face the sink and the toilet "", ""Pick up the aqua plunger that is sitting in between the sink and toilet"", ""Take a step backwards and continue to face the sink and toilet"", ""Open the left hand cabinet under the sink and place the plunger inside, to the right of the soap, then close the cabinet door""]","[""GotoLocation ['plunger']"", ""PickupObject ['plunger']"", ""GotoLocation ['cabinet']"", ""PutObject ['plunger', 'cabinet']"", ""NoOp""]",trial_T20190908_062908_529599_2.png
trial_T20190907_083507_594820,0,FloorPlan10,Put a warm cup in the cabinet.,"[""Turn around, move forward, turn right, move forward for the fridge, turn right, move forward, then turn left to approach the counter to the left of the stove."", ""Pick up the cup in the right cabinet, above the counter."", ""Turn right, move forward then turn left to face the stove."", ""Warm the cup in the microwave, above the stove."", ""Turn left, move forward, then turn right to face the counter next to the stove."", ""Place the cup in the cabinet above the counter, to the right.""]","[""GotoLocation ['cabinet']"", ""PickupObject ['cup']"", ""GotoLocation ['microwave']"", ""HeatObject ['cup']"", ""GotoLocation ['cabinet']"", ""PutObject ['cup', 'cabinet']"", ""NoOp""]",trial_T20190907_083507_594820_0.png
trial_T20190907_083507_594820,1,FloorPlan10,Put a heated cup in a cabinet. ,"[""Head to the counter next to the stove on the left. "", ""Open the cabinet above and pick up the green cup from in there. "", ""Bring the cup to the microwave on the right. "", ""Heat the cup in the microwave. "", ""Bring the heated cup to the cabinet on the left next to the microwave. "", ""Put the heated cup in the cabinet next to the microwave. ""]","[""GotoLocation ['cabinet']"", ""PickupObject ['cup']"", ""GotoLocation ['microwave']"", ""HeatObject ['cup']"", ""GotoLocation ['cabinet']"", ""PutObject ['cup', 'cabinet']"", ""NoOp""]",trial_T20190907_083507_594820_1.png
trial_T20190907_083507_594820,2,FloorPlan10,Put a warmed vase in the cupboard.,"[""Go left and then right to stand in front of the cabinet to the left of the microwave."", ""Open the upper cabinet on the right and take out the green vase."", ""Go to the right and stand in front of the microwave."", ""Put the vase in the microwave and turn it on and then take it out and shut the door."", ""Go left and face the cabinets to the left of the stove."", ""Open the upper cabinet, closest to the microwave, and put the vase in and shut the door.""]","[""GotoLocation ['cabinet']"", ""PickupObject ['cup']"", ""GotoLocation ['microwave']"", ""HeatObject ['cup']"", ""GotoLocation ['cabinet']"", ""PutObject ['cup', 'cabinet']"", ""NoOp""]",trial_T20190907_083507_594820_2.png
trial_T20190908_044123_416784,0,FloorPlan219,Examine a phone by the light of the lamp in the corner. ,"[""Head to the long black table on the left in the corner. "", ""Pick up the phone on the table. "", ""Turn around, bring the phone to the lamp in the corner."", ""Turn on the lamp in the corner. ""]","[""GotoLocation ['sidetable']"", ""PickupObject ['cellphone']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190908_044123_416784_0.png
trial_T20190908_044123_416784,1,FloorPlan219,Inspect a phone with a lamp.,"[""move to the end table ahead of you "", ""pick up a phone from the table "", ""move to a lamp behind you"", ""turn on the lamp""]","[""GotoLocation ['sidetable']"", ""PickupObject ['cellphone']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190908_044123_416784_1.png
trial_T20190908_044123_416784,2,FloorPlan219,Pick up a phone and turn a lamp on.,"[""Move to the front of the desk and turn to face the right side."", ""Pick the phone up from the desk."", ""Turn around and cross the room to stand in front of the lamp."", ""Turn the lamp on.""]","[""GotoLocation ['sidetable']"", ""PickupObject ['cellphone']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190908_044123_416784_2.png
trial_T20190908_201421_021646,0,FloorPlan308,Turn on the desk lamp.,"[""Turn to your left and go to the desk in front of you. "", ""Pick up the white coffee cup, between the computer and the lamp, on the desk. "", ""Move over to your right so that you are at the right end of the desk. "", ""Turn on the lamp on the front, right corner of the desk. ""]","[""GotoLocation ['shelf']"", ""PickupObject ['mug']"", ""GotoLocation ['desklamp']"", ""ToggleObject ['desklamp']"", ""NoOp""]",trial_T20190908_201421_021646_0.png
trial_T20190908_201421_021646,1,FloorPlan308,turn on a desk lamp with a mug in hand,"[""walk to face the desk"", "" pick up the white mug from the desk"", ""step back slightly to continue to face desk"", ""turn on desk lamp on the desk""]","[""GotoLocation ['shelf']"", ""PickupObject ['mug']"", ""GotoLocation ['desklamp']"", ""ToggleObject ['desklamp']"", ""NoOp""]",trial_T20190908_201421_021646_1.png
trial_T20190908_201421_021646,2,FloorPlan308,"Pick up a mug from the desk, turn on the lamp","[""Turn to your left and walk to the desk."", ""Pick up the white mug sitting behind the blue pencil between the laptop and the lamp."", ""Move to your right and stand in front of the lamp."", ""Turn the lamp on.""]","[""GotoLocation ['shelf']"", ""PickupObject ['mug']"", ""GotoLocation ['desklamp']"", ""ToggleObject ['desklamp']"", ""NoOp""]",trial_T20190908_201421_021646_2.png
trial_T20190906_213948_501157,0,FloorPlan219,Look at the box of tissues under the light of the lamp.,"[""Turn to the dresser on your right."", ""Pick up the box of tissues."", ""Turn and go to the lamp in the corner on your left."", ""Turn on the lamp.""]","[""GotoLocation ['dresser']"", ""PickupObject ['tissuebox']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190906_213948_501157_0.png
trial_T20190906_213948_501157,1,FloorPlan219,Examine a box of tissues by the light of a tall lamp.,"[""Turn right and move to the dresser."", ""Pick up the box of tissues from the dresser."", ""Head to the lamp at the left of the dresser."", ""Turn on the lamp.""]","[""GotoLocation ['dresser']"", ""PickupObject ['tissuebox']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190906_213948_501157_1.png
trial_T20190906_213948_501157,2,FloorPlan219,To perform an task using both hands.,"[""Walk to the right and reach cross to the wooded brown dresser with the computer."", ""Grab the tissue paper from the dresser."", ""walk over to the right for two paces as you reach the corner lamp.\n"", ""Carry the tissue as you turn on the lamp.""]","[""GotoLocation ['dresser']"", ""PickupObject ['tissuebox']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190906_213948_501157_2.png
trial_T20190907_102952_001375,0,FloorPlan219,To turn on a lamp to see inside a box.  ,"[""Turn to the right and walk across the room to the couch, before turning left and walking to a box on the blue chair. "", ""Pick up the box on the blue chair."", ""Turn to the right to face the white couch and then look up at the wall. "", ""Turn off the lamp on the left. ""]","[""GotoLocation ['armchair']"", ""PickupObject ['box']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190907_102952_001375_0.png
trial_T20190907_102952_001375,1,FloorPlan219,Examine an empty box by the light of a floor lamp.,"[""Walk to the blue chair at the top right corner of the room."", ""Pick up the empty box from the chair."", ""Turn right and face the floor lamp next to the chair."", ""Turn on the floor lamp.""]","[""GotoLocation ['armchair']"", ""PickupObject ['box']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190907_102952_001375_1.png
trial_T20190907_102952_001375,2,FloorPlan219,Turning a lamp on.,"[""Turn to the right, and then the left to locate the blue couch."", ""Pick up the box from the couch."", ""Take the box and turn right to the other couch."", ""Turn the lamp on in the corner.""]","[""GotoLocation ['armchair']"", ""PickupObject ['box']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190907_102952_001375_2.png
trial_T20190908_131635_504536,0,FloorPlan10,put a cooked apple slice on to the counter,"[""turn around and move forward to the counter that is to the left of the stove"", ""pick up the butter knife that is directly in front of the tan bowl"", ""turn to the left and at the end of the counter on the left turn left and stop to face the black trash can that is at the end of the counter"", ""slice the green apple that is in the trash can with the knife"", ""put the knife in to the trash can behind the apples"", ""remove a slice of the green apple from the trash can"", ""turn to the left and at the edge of the counter, turn to the right and move forward to the stove on the left, turn left to face the stove with the microwave above it"", ""open the microwave door, put the apple slice in to the microwave, close the door, cook for a few seconds, open the door, remove the apple slice and close the door"", ""turn to the right and move to the edge of the counter on the right, turn right and move to the center of the counter turning right to face the counter long ways"", ""put the apple slice on to the counter""]","[""GotoLocation ['countertop']"", ""PickupObject ['butterknife']"", ""GotoLocation ['apple']"", ""SliceObject ['apple']"", ""PutObject ['butterknife', 'garbagecan']"", ""PickupObject ['apple']"", ""GotoLocation ['microwave']"", ""HeatObject ['apple']"", ""GotoLocation ['countertop']"", ""PutObject ['apple', 'countertop']"", ""NoOp""]",trial_T20190908_131635_504536_0.png
trial_T20190908_131635_504536,1,FloorPlan10,Put cooked apple slice on a counter.,"[""Turn to the right and go to the wall, hang a right and go to the counter to the left of the stove where the lettuce is."", ""Pick up the butter knife that is in front of the bowl on the counter."", ""Turn to the left, go to the end of the counter and turn left, go to the garbage can that will be on the left."", ""Cut the apple that is in the garbage can into slices. "", ""Put the knife in the garbage can."", ""Pick up a slice of apple that is in the garbage can."", ""Turn to the left, go to the fridge, hang a right and go to the microwave that is above the stove on the left. "", ""Put the apple in the microwave and turn it on to cook, remove the cooked apple from the microwave."", ""Turn to the right, go to the wall, hang a right and go to the counter where the plant is that is on the left. "", ""Put the slice of apple on the counter to the right of the statue.""]","[""GotoLocation ['countertop']"", ""PickupObject ['butterknife']"", ""GotoLocation ['apple']"", ""SliceObject ['apple']"", ""PutObject ['butterknife', 'garbagecan']"", ""PickupObject ['apple']"", ""GotoLocation ['microwave']"", ""HeatObject ['apple']"", ""GotoLocation ['countertop']"", ""PutObject ['apple', 'countertop']"", ""NoOp""]",trial_T20190908_131635_504536_1.png
trial_T20190908_131635_504536,2,FloorPlan10,Put a heated apple slice on the kitchen island,"[""Go to the left of the stove"", ""Take a knife from the counter"", ""Go to the bin"", ""Cut an apple in the bin"", ""Put the knife in the bin"", ""Take an apple piece"", ""Go to the microwave"", ""Heat the apple"", ""Go to the kitchen island"", ""Put the apple down on the kitchen island""]","[""GotoLocation ['countertop']"", ""PickupObject ['butterknife']"", ""GotoLocation ['apple']"", ""SliceObject ['apple']"", ""PutObject ['butterknife', 'garbagecan']"", ""PickupObject ['apple']"", ""GotoLocation ['microwave']"", ""HeatObject ['apple']"", ""GotoLocation ['countertop']"", ""PutObject ['apple', 'countertop']"", ""NoOp""]",trial_T20190908_131635_504536_2.png
trial_T20190908_205246_776817,0,FloorPlan219,Put the gold vase into the white safe,"[""Go forward to the table then turn left and walk straight until you reach the white shelves in front of you. Face the shelf on your right."", ""Pick up the gold vase that is on the shelf"", ""Turn in a circle and face the white safe on the floor next to the shelf."", ""Open the safe, place the vase inside the safe, and shut the safe""]","[""GotoLocation ['shelf']"", ""PickupObject ['vase']"", ""GotoLocation ['safe']"", ""PutObject ['vase', 'safe']"", ""NoOp""]",trial_T20190908_205246_776817_0.png
trial_T20190908_205246_776817,1,FloorPlan219,Place a gold bottle in a safe.,"[""Take a left at the black table ahead and walk to the white book case to the right of the couch."", ""Pick up the gold bottle on the shelf above the black statue on the book case."", ""Turn around, take a left at the couch and turn left to face the white safe next to the fireplace."", ""Put the gold bottle inside the safe and close the door.""]","[""GotoLocation ['shelf']"", ""PickupObject ['vase']"", ""GotoLocation ['safe']"", ""PutObject ['vase', 'safe']"", ""NoOp""]",trial_T20190908_205246_776817_1.png
trial_T20190908_205246_776817,2,FloorPlan219,Put the golden object from the shelf into the safe.,"[""Move forward, turn left at the end table, walk forward and turn right to face the white shelf."", ""Grab the golden object from the shelf."", ""Turn to the right to face the safe."", ""Place the golden object into the safe.""]","[""GotoLocation ['shelf']"", ""PickupObject ['vase']"", ""GotoLocation ['safe']"", ""PutObject ['vase', 'safe']"", ""NoOp""]",trial_T20190908_205246_776817_2.png
trial_T20190908_113523_123938,0,FloorPlan10,place a microwaved egg inside the garbage bin,"[""turn around and walk to the end of the kitchen island on your right, then turn right and walk to the garbage bin on the floor to your right"", ""grab the egg out of the garbage bin"", ""turn left and walk over to the fridge, then turn right and walk to the stove on the left side of the kitchen"", ""place the egg in the microwave above the kitchen stove, let it cook in there, then take it back out"", ""turn left and walk over to the fridge on your right, then turn left to walk back over to the garbage bin on your left"", ""place the egg inside the garbage bin""]","[""GotoLocation ['garbagecan']"", ""PickupObject ['egg']"", ""GotoLocation ['microwave']"", ""HeatObject ['egg']"", ""GotoLocation ['garbagecan']"", ""PutObject ['egg', 'garbagecan']"", ""NoOp""]",trial_T20190908_113523_123938_0.png
trial_T20190908_113523_123938,1,FloorPlan10,Put a microwaved egg in the garbage.,"[""Turn right and take two steps then turn right and walk past the chairs and counter then turn right at the end of the counter then turn right to face the garbage."", ""Pick up the egg that's in front of you in the garbage."", ""Turn left and walk to the fridge then turn right and walk to the stove then turn left when you get there."", ""Look up and cook the in the egg in the microwave then take it back out and close the door."", ""Go back to the garbage where you got the egg."", ""Put the egg in the top right corner of the garbage.""]","[""GotoLocation ['garbagecan']"", ""PickupObject ['egg']"", ""GotoLocation ['microwave']"", ""HeatObject ['egg']"", ""GotoLocation ['garbagecan']"", ""PutObject ['egg', 'garbagecan']"", ""NoOp""]",trial_T20190908_113523_123938_1.png
trial_T20190908_113523_123938,2,FloorPlan10,Put the heated egg on the trash bin,"[""Turn to your right and head to the trash bin on your right"", ""Pick up the egg on the trash bin"", ""Turn left then right walk towards the microwave"", ""Open the microwave put in and out the egg then close the microwave"", ""Turn left then walk forward head to the trash bin"", ""Put the egg in the trash bin""]","[""GotoLocation ['garbagecan']"", ""PickupObject ['egg']"", ""GotoLocation ['microwave']"", ""HeatObject ['egg']"", ""GotoLocation ['garbagecan']"", ""PutObject ['egg', 'garbagecan']"", ""NoOp""]",trial_T20190908_113523_123938_2.png
trial_T20190908_123236_460615,0,FloorPlan10,Put a glass vase and a plate in the sink.,"[""Turn left towards the sink"", ""Pick up the glass vase in the sink"", ""Turn right to the cupboards and open them"", ""Place the glass vase on the gold plate"", ""Take them out of the cupboard"", ""Turn right and towards the sink"", ""Put the vase and plate in the sink""]","[""GotoLocation ['sinkbasin']"", ""PickupObject ['glassbottle']"", ""GotoLocation ['plate']"", ""PutObject ['glassbottle', 'plate']"", ""PickupObject ['plate']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['plate', 'sinkbasin']"", ""NoOp""]",trial_T20190908_123236_460615_0.png
trial_T20190908_123236_460615,1,FloorPlan10,Put a plate with a bottle on it in the sink.,"[""Take a tiny step forward then turn left to face the sink and step towards it."", ""Pick up the glass battle that's in the sink."", ""Turn around and take a step left then step towards the counter and look up."", ""Open the cupboard doors and put the bottle on the plate that's up there."", ""Pick up the plate with the bottle on it and then close the doors."", ""Turn around and take a step to your left then walk towards the sink.,"", ""Put the plate in the sink.""]","[""GotoLocation ['sinkbasin']"", ""PickupObject ['glassbottle']"", ""GotoLocation ['plate']"", ""PutObject ['glassbottle', 'plate']"", ""PickupObject ['plate']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['plate', 'sinkbasin']"", ""NoOp""]",trial_T20190908_123236_460615_1.png
trial_T20190908_123236_460615,2,FloorPlan10,put a plate and glass jug into the kitchen sink basin,"[""turn to face kitchen sink"", ""pick up glass jug from kitchen sink"", ""turn around to face the counter opposite the sink between the fridge and stove"", ""open the cabinet above the counter, place the glass on the plate inside"", ""pick up the plate from the cabinet"", ""turn around to face the sink"", ""place the plate inside the sink basin""]","[""GotoLocation ['sinkbasin']"", ""PickupObject ['glassbottle']"", ""GotoLocation ['plate']"", ""PutObject ['glassbottle', 'plate']"", ""PickupObject ['plate']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['plate', 'sinkbasin']"", ""NoOp""]",trial_T20190908_123236_460615_2.png
trial_T20190909_032721_511027,0,FloorPlan219,Hold a remote and turn on the lamp.,"[""Turn to the left and then right to the brown dresser."", ""Pick up the remote from the middle of the dresser, directly behind the tissues."", ""Hold the remote and move a step to the left."", ""Hold the remote and turn on the lamp.""]","[""GotoLocation ['dresser']"", ""PickupObject ['remotecontrol']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190909_032721_511027_0.png
trial_T20190909_032721_511027,1,FloorPlan219,Turn on the corner lamp. ,"[""Turn to your left and go to the door, then turn right and go to the dresser against the wall. "", ""Pick up the remote behind the box of tissue, on the dresser. "", ""Turn to your left and go to the wall, then turn to the lamp to your right. "", ""Turn on the lamp in the corner. ""]","[""GotoLocation ['dresser']"", ""PickupObject ['remotecontrol']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190909_032721_511027_1.png
trial_T20190909_032721_511027,2,FloorPlan219,Look at a remote under a lit lamp.,"[""Hang a right to walk towards the dresser in the corner."", ""Pick on the remote that is on the dresser."", ""Turn to face the lamp on the right of the dresser."", ""Turn on the lamp next to the dresser.""]","[""GotoLocation ['dresser']"", ""PickupObject ['remotecontrol']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190909_032721_511027_2.png
trial_T20190908_125200_737896,0,FloorPlan308,Move a mug from the shelves to the desk.,"[""Cross the room and move over to the left side of it, then face the desk with the blue chair and the black laptop and look at the shelves above it."", ""Grab the white mug sitting on the shelf between the books."", ""Bring the mug with you and move around the desk so that you are between it and the bed, then turn right and face the end of the desk."", ""Put the mug down on the desk so it's between the water bottle and the disc.""]","[""GotoLocation ['shelf']"", ""PickupObject ['mug']"", ""GotoLocation ['desk']"", ""PutObject ['mug', 'desk']"", ""NoOp""]",trial_T20190908_125200_737896_0.png
trial_T20190908_125200_737896,1,FloorPlan308,"Put a cup on the desk, by the chcair. ","[""Turn around and go to the bed, then turn left to go around to the other side of the bed, turn to your left just before the  laundry hamper, and go to the end of the desk, on your left."", ""Pick up the white cup on the second shelf up, on the right side of the desk, between the books. "", ""Move over to the left end of the desk."", ""Place the white cup back on the desk, directly in front of the blue office chair. ""]","[""GotoLocation ['shelf']"", ""PickupObject ['mug']"", ""GotoLocation ['desk']"", ""PutObject ['mug', 'desk']"", ""NoOp""]",trial_T20190908_125200_737896_1.png
trial_T20190908_125200_737896,2,FloorPlan308,put a mug on a desk,"[""turn to face the desk top and shelves above desk"", ""pick up the white mug from the shelf second from the desk top"", ""walk to the left side of the desk"", ""put the mug on the desk top on the cd""]","[""GotoLocation ['shelf']"", ""PickupObject ['mug']"", ""GotoLocation ['desk']"", ""PutObject ['mug', 'desk']"", ""NoOp""]",trial_T20190908_125200_737896_2.png
trial_T20190908_021510_064551,0,FloorPlan424,Put a plunger in the cabinet beneath the sink,"[""Walk forward four steps, turn left for four steps and stop to the left of the toilet."", ""Pick up the plunger from the floor, between the sink and the toilet."", ""Turn around and walk three steps, turn around again and face the sink."", ""Open the left cabinet door under the sink, place the plunger in the cabinet on the front right.""]","[""GotoLocation ['plunger']"", ""PickupObject ['plunger']"", ""GotoLocation ['cabinet']"", ""PutObject ['plunger', 'cabinet']"", ""NoOp""]",trial_T20190908_021510_064551_0.png
trial_T20190908_021510_064551,1,FloorPlan424,Place a toilet plunger in the bathroom vanity.,"[""Move forward towards the shower stall then turn left and face the sink."", ""Pick up the turquoise toilet plunger from the floor between the sink and the toilet."", ""Turn around and move towards the bathroom door then turn around and face the bathroom vanity."", ""Open the vanity cabinet door beneath the sink closest to the toilet, place the plunger in front of the green soap dispenser bottle, and then close the vanity cabinet door.""]","[""GotoLocation ['plunger']"", ""PickupObject ['plunger']"", ""GotoLocation ['cabinet']"", ""PutObject ['plunger', 'cabinet']"", ""NoOp""]",trial_T20190908_021510_064551_1.png
trial_T20190908_021510_064551,2,FloorPlan424,drop a plunger inside a cupboard,"[""move left towards the toilet"", ""pick up the plunger beside the toilet"", ""move left towards the cupboard"", ""drop the plunger inside the cupboard""]","[""GotoLocation ['plunger']"", ""PickupObject ['plunger']"", ""GotoLocation ['cabinet']"", ""PutObject ['plunger', 'cabinet']"", ""NoOp""]",trial_T20190908_021510_064551_2.png
trial_T20190907_161210_531813,0,FloorPlan308,Look at a basketball in the lamp light.,"[""Turn around and go to the foot of the bed."", ""Pick up the basketball from the floor."", ""Turn around and go to the desk in the corner."", ""Turn on the lamp.""]","[""GotoLocation ['basketball']"", ""PickupObject ['basketball']"", ""GotoLocation ['desklamp']"", ""ToggleObject ['desklamp']"", ""NoOp""]",trial_T20190907_161210_531813_0.png
trial_T20190907_161210_531813,1,FloorPlan308,Examine a basketball by the light of a desk lamp.,"[""Turn left and walk to the basketball on the floor by the bed."", ""Pick up the basketball from the floor."", ""Turn left and walk to the lamp on the desk which is to the left of the bed."", ""Turn on the lamp.""]","[""GotoLocation ['basketball']"", ""PickupObject ['basketball']"", ""GotoLocation ['desklamp']"", ""ToggleObject ['desklamp']"", ""NoOp""]",trial_T20190907_161210_531813_1.png
trial_T20190907_161210_531813,2,FloorPlan308,Turn on a lamp while holding a basketball,"[""Move to the foot of the bed closest to the wall"", ""Pick up the basketball sitting on the floor next to the foot of the bed"", ""Carry the basketball to the left side of the wooden desk top"", ""Turn on the lamp that is on top of the desk""]","[""GotoLocation ['basketball']"", ""PickupObject ['basketball']"", ""GotoLocation ['desklamp']"", ""ToggleObject ['desklamp']"", ""NoOp""]",trial_T20190907_161210_531813_2.png
trial_T20190909_102608_318800,0,FloorPlan10,Put a cooled tomato in the microwave,"[""Turn left and go to the black trash can"", ""Pick up the tomato from the trash can"", ""Turn around and go to the refrigerator"", ""Place the tomato in the refrigerator between the lettuce and tomato and close the door. Open the door and take out the tomato"", ""Turn right and go to the microwave above the sink on the left"", ""Open the door, put the tomato in the microwave and close the door""]","[""GotoLocation ['garbagecan']"", ""PickupObject ['tomato']"", ""GotoLocation ['fridge']"", ""CoolObject ['tomato']"", ""GotoLocation ['microwave']"", ""PutObject ['tomato', 'microwave']"", ""NoOp""]",trial_T20190909_102608_318800_0.png
trial_T20190909_102608_318800,1,FloorPlan10,Place a chilled tomato in a microwave.,"[""Turn left, walk forward to the refrigerator, then turn around and face the garbage can on the floor."", ""Pick up the tomato from the garbage can."", ""Turn around towards the refrigerator."", ""Cool the tomato in the refrigerator, then take it out and close the refrigerator."", ""Turn right and walk forward to the sink, then turn left towards the microwave above the stove top."", ""Put the tomato in the microwave and close the microwave.""]","[""GotoLocation ['garbagecan']"", ""PickupObject ['tomato']"", ""GotoLocation ['fridge']"", ""CoolObject ['tomato']"", ""GotoLocation ['microwave']"", ""PutObject ['tomato', 'microwave']"", ""NoOp""]",trial_T20190909_102608_318800_1.png
trial_T20190909_102608_318800,2,FloorPlan10,Put a cold tomato in the microwave.,"[""Turn left and walk to the black garbage that's in front of you and turn right to face it."", ""Pick up the tomato that's in front of you in the garbage."", ""Turn right and take a step then turn right to face the fridge."", ""Chill the tomato in the fridge then take it back out and close the door."", ""Turn right and walk to the stove that's on your left then turn left to face it."", ""Put the tomato in the microwave.""]","[""GotoLocation ['garbagecan']"", ""PickupObject ['tomato']"", ""GotoLocation ['fridge']"", ""CoolObject ['tomato']"", ""GotoLocation ['microwave']"", ""PutObject ['tomato', 'microwave']"", ""NoOp""]",trial_T20190909_102608_318800_2.png
trial_T20190907_173120_648218,0,FloorPlan10,"Pick up the egg, put it in the refrigerator and then put it in the sink. ","[""Turn around, walk forward, turn to the left to face the counter top"", ""Pick up the egg on the counter top behind the trophy."", ""Turn around and face the refrigerator, open the refrigerator door"", ""Place the egg inside the refrigerator by the tomato. Close the door, then open the door and pick the egg up. "", ""Turn to the right, walk forward, turn to the right to face the sink. "", ""Place the egg in the sink in front of the white bowl.""]","[""GotoLocation ['countertop']"", ""PickupObject ['egg']"", ""GotoLocation ['fridge']"", ""CoolObject ['egg']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['egg', 'sinkbasin']"", ""NoOp""]",trial_T20190907_173120_648218_0.png
trial_T20190907_173120_648218,1,FloorPlan10,Put a cold egg in the sink.,"[""Turn around and stand in front of the toaster."", ""Pick up the egg to the right of the toaster."", ""Turn left and go to the fridge."", ""Chill the egg and pick it up again."", ""Turn right and then go to the sink on your right."", ""Put the egg in the sink.""]","[""GotoLocation ['countertop']"", ""PickupObject ['egg']"", ""GotoLocation ['fridge']"", ""CoolObject ['egg']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['egg', 'sinkbasin']"", ""NoOp""]",trial_T20190907_173120_648218_1.png
trial_T20190907_173120_648218,2,FloorPlan10,Chill an egg and put it in the sink,"[""Turn around and walk forwards before turning left to face the statue"", ""Pick up an egg from off of the kitchen counter"", ""Turn to your left and maneuver to face the fridge"", ""Open the fridge, put the egg in to chill for a few seconds and then take it back out"", ""Turn right and walk into the kitchen until you face the sink"", ""Place the cold egg in the sink""]","[""GotoLocation ['countertop']"", ""PickupObject ['egg']"", ""GotoLocation ['fridge']"", ""CoolObject ['egg']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['egg', 'sinkbasin']"", ""NoOp""]",trial_T20190907_173120_648218_2.png
trial_T20190907_080730_211959,0,FloorPlan10,"Wash the spatula, put it in the first drawer","[""Turn around, walk to the kitchen island"", ""Grab the spatula on the island"", ""Turn right, and turn left, walk to the sink"", ""Put the spatula in the sink, turn on the faucet, wash the spatula, turn off the faucet, take the spatula"", ""Turn around to the drawers"", ""Open the first drawer from the top, put the spatula in, close the drawer""]","[""GotoLocation ['countertop']"", ""PickupObject ['spatula']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['spatula']"", ""GotoLocation ['drawer']"", ""PutObject ['spatula', 'drawer']"", ""NoOp""]",trial_T20190907_080730_211959_0.png
trial_T20190907_080730_211959,1,FloorPlan10,Put a rinsed spatula in the drawer next to the stove.,"[""Turn around and walk to the island"", ""Pick up the spatula from the island."", ""Walk around the island to the sink."", ""Rinse the spatula in the sink and pick it back up."", ""Turn around to face the stove."", ""Put the spatula in the drawer to the left of the stove.""]","[""GotoLocation ['countertop']"", ""PickupObject ['spatula']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['spatula']"", ""GotoLocation ['drawer']"", ""PutObject ['spatula', 'drawer']"", ""NoOp""]",trial_T20190907_080730_211959_1.png
trial_T20190907_080730_211959,2,FloorPlan10,To clean the spatula to put it in the drawer.,"[""Turn around to walk to the end of the island and turn left to face it."", ""Take the spatula on the counter."", ""Turn right and then left going around the island and then left to face the sink."", ""Put the spatula in the sink and turn the water on. Turn off the water and take the spatula back out."", ""Turn left then right to face the stove and then look down below."", ""Pull out the first drawer next to the stove and put the spatula in the front below the fork and shut the drawer.""]","[""GotoLocation ['countertop']"", ""PickupObject ['spatula']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['spatula']"", ""GotoLocation ['drawer']"", ""PutObject ['spatula', 'drawer']"", ""NoOp""]",trial_T20190907_080730_211959_2.png
trial_T20190908_114656_768805,0,FloorPlan10,Put a cold pan on the counter top on top of the dishwasher. ,"[""Turn around, walk forward, turn right near the fridge, walk straight and turn left to face the stove. "", ""Pick up the pan from on top of the stove. "", ""Turn around, walk to the right to go back to the fridge. "", ""Open the fridge, put the pan in it, close the fridge, let it cool for a while, open the fridge, pick it up again and close the fridge. "", ""Go to the right and turn left to face the dishwasher. "", ""Put the pan on the counter top. ""]","[""GotoLocation ['stoveburner']"", ""PickupObject ['pan']"", ""GotoLocation ['fridge']"", ""CoolObject ['pan']"", ""GotoLocation ['countertop']"", ""PutObject ['pan', 'countertop']"", ""NoOp""]",trial_T20190908_114656_768805_0.png
trial_T20190908_114656_768805,1,FloorPlan10,Chill a pan and put it on a counter.,"[""Walk around the kitchen counter to the stove on your left."", ""Grab a pan from the stove."", ""Walk to the front of the fridge on your left."", ""Place the pan in the fridge, then grab it."", ""Walk to the kitchen counter between the fridge and stove."", ""Place the pan on the counter.""]","[""GotoLocation ['stoveburner']"", ""PickupObject ['pan']"", ""GotoLocation ['fridge']"", ""CoolObject ['pan']"", ""GotoLocation ['countertop']"", ""PutObject ['pan', 'countertop']"", ""NoOp""]",trial_T20190908_114656_768805_1.png
trial_T20190908_114656_768805,2,FloorPlan10,Put the chilled pan on the counter,"[""Turn around to your left walk straight then turn right head to the  stove on your left"", ""Pick up the pan on the  stove"", ""Turn left then walk straight head to the fridge"", ""Open the fridge put in the pan then take it out and close the fridge"", ""Turn right walk straight face the counter beside the toaster"", ""Put the pan on the counter beside the toaster""]","[""GotoLocation ['stoveburner']"", ""PickupObject ['pan']"", ""GotoLocation ['fridge']"", ""CoolObject ['pan']"", ""GotoLocation ['countertop']"", ""PutObject ['pan', 'countertop']"", ""NoOp""]",trial_T20190908_114656_768805_2.png
trial_T20190907_020329_050110,0,FloorPlan10,Place a cooked apple into the sink.,"[""Turn around to face the room and go left past the refrigerator, then turn to face the sink on the right."", ""Pick up the green apple from the left side of the sink."", ""Turn around and take the apple to the microwave behind you."", ""Put the apple in the microwave, cook it, and remove it."", ""Turn around to your left and go back to the sink."", ""Put the apple back in the sink.""]","[""GotoLocation ['sinkbasin']"", ""PickupObject ['apple']"", ""GotoLocation ['microwave']"", ""HeatObject ['apple']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['apple', 'sinkbasin']"", ""NoOp""]",trial_T20190907_020329_050110_0.png
trial_T20190907_020329_050110,1,FloorPlan10,Put a cooked apple in the sink.,"[""Turn around, turn to the left, and go to the sink to your right."", ""Pick up the apple that is to the right of the fork."", ""Turn around to the microwave above the stove."", ""Cook the apple in the microwave."", ""Turn around to the sink behind you."", ""Place the apple in the sink, to the right of the fork.""]","[""GotoLocation ['sinkbasin']"", ""PickupObject ['apple']"", ""GotoLocation ['microwave']"", ""HeatObject ['apple']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['apple', 'sinkbasin']"", ""NoOp""]",trial_T20190907_020329_050110_1.png
trial_T20190907_020329_050110,2,FloorPlan10,Heat the left apple in the microwave. ,"[""Move to the sink. "", ""Pick up the apple in the sink on the left. "", ""Bring the apple to the microwave. "", ""Heat the apple in the microwave. "", ""Bring the apple to the sink. "", ""Put the apple in the sink, to the left of the other apple. ""]","[""GotoLocation ['sinkbasin']"", ""PickupObject ['apple']"", ""GotoLocation ['microwave']"", ""HeatObject ['apple']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['apple', 'sinkbasin']"", ""NoOp""]",trial_T20190907_020329_050110_2.png
trial_T20190906_185530_954329,0,FloorPlan308,Put the baseball bat on the bed,"[""Turn left and walk to the opposite corner of the room by the door"", ""Pick up the baseball bat from the corner of the room"", ""Turn around and walk over to the side of the bed"", ""Put the bat down on the bed just right of the green books""]","[""GotoLocation ['baseballbat']"", ""PickupObject ['baseballbat']"", ""GotoLocation ['bed']"", ""PutObject ['baseballbat', 'bed']"", ""NoOp""]",trial_T20190906_185530_954329_0.png
trial_T20190906_185530_954329,1,FloorPlan308,To put a bat on a bed.,"[""Left away from the desk, right at the bed and take a left at the end of the bed then take a right and go forward to the wall."", ""Pick up the bat leaning against the wall."", ""Turn right and go to the desk take a right at the desk and a left at the bed, go forward take a right and turn around to the right to the bed."", ""Place the bat on the bed in front of the right laptop.""]","[""GotoLocation ['baseballbat']"", ""PickupObject ['baseballbat']"", ""GotoLocation ['bed']"", ""PutObject ['baseballbat', 'bed']"", ""NoOp""]",trial_T20190906_185530_954329_1.png
trial_T20190906_185530_954329,2,FloorPlan308,Bring bat from the wall to the bed.,"[""Take left, walk toward bed, take right, take left at end of bed, take right to bat"", ""Pick up the bat on the wall"", ""take right, walk to desk, take right to side of bed"", ""Set the bat down on the bed""]","[""GotoLocation ['baseballbat']"", ""PickupObject ['baseballbat']"", ""GotoLocation ['bed']"", ""PutObject ['baseballbat', 'bed']"", ""NoOp""]",trial_T20190906_185530_954329_2.png
trial_T20190908_144951_587345,0,FloorPlan308,Turn on the table lamp to read the book.,"[""Turn around take one step and then turn left to the bed."", ""Pick up the book behind the computer on the red sheet."", ""Turn around and walk toward the wall and stop at the wall and turn left towards the computer table."", ""Turn on the table lamp.""]","[""GotoLocation ['bed']"", ""PickupObject ['book']"", ""GotoLocation ['desklamp']"", ""ToggleObject ['desklamp']"", ""NoOp""]",trial_T20190908_144951_587345_0.png
trial_T20190908_144951_587345,1,FloorPlan308,Examine the book by lamp light.,"[""Turn right and go to the side of the bed."", ""Pick up the book from the bed."", ""Turn around and walk forward, then turn left to face the desk with your back to the safe."", ""Turn on the lamp.""]","[""GotoLocation ['bed']"", ""PickupObject ['book']"", ""GotoLocation ['desklamp']"", ""ToggleObject ['desklamp']"", ""NoOp""]",trial_T20190908_144951_587345_1.png
trial_T20190908_144951_587345,2,FloorPlan308,"grab the book from the bed, turn on the lamp on the desk","[""turn around, walk to the side of the bed"", ""grab the book on the bed"", ""turn around, walk to the side of the desk"", ""turn on the lamp on the desk""]","[""GotoLocation ['bed']"", ""PickupObject ['book']"", ""GotoLocation ['desklamp']"", ""ToggleObject ['desklamp']"", ""NoOp""]",trial_T20190908_144951_587345_2.png
trial_T20190908_015839_519239,0,FloorPlan10,Put a vase and plate from a cabinet into the sink,"[""Turn left and go to the cabinet above the coffee maker"", ""Open the cabinet and take out the glass vase and close the doors"", ""Turn right then left back to the cabinet"", ""Open the cabinet above the coffee maker"", ""Put the vase on top of the plate and take them both from the cabinet"", ""Turn left and walk to the sink on the left"", ""Put the glass and plate in the sink to the left of the lettuce""]","[""GotoLocation ['cabinet']"", ""PickupObject ['glassbottle']"", ""GotoLocation ['plate']"", ""PutObject ['glassbottle', 'plate']"", ""PickupObject ['plate']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['plate', 'sinkbasin']"", ""NoOp""]",trial_T20190908_015839_519239_0.png
trial_T20190908_015839_519239,1,FloorPlan10,To put the plate and jar in the sink.,"[""Walk across the room, then turn left and walk across the room. "", ""Look above the coffee maker and open the cabinet to take the glass jar. "", ""Turn to the right and take one step, then turn left and look above the coffee maker."", ""Put the glass jar in the cabinet on top of the plate. "", ""Take the plate with the jar on it out of the cupboard."", ""Turn left and take two steps, then turn left. "", ""Place the plate and jar in the sink to the right of the lettuce.""]","[""GotoLocation ['cabinet']"", ""PickupObject ['glassbottle']"", ""GotoLocation ['plate']"", ""PutObject ['glassbottle', 'plate']"", ""PickupObject ['plate']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['plate', 'sinkbasin']"", ""NoOp""]",trial_T20190908_015839_519239_1.png
trial_T20190908_015839_519239,2,FloorPlan10,Put a plate with a bottle on it in the sink.,"[""Walk to the wall then turn left and walk to the coffee maker and then take a small step left."", ""Get the glass bottle from the cupboard above the coffee maker then close the doors."", ""Take a small step to your right."", ""Put the bottle on the plate in the cupboard above the coffee maker."", ""Pick up the plate with the bottle on it and close the cupboard doors.."", ""Turn left and walk to the sink and face it."", ""Put the plate in the sink.""]","[""GotoLocation ['cabinet']"", ""PickupObject ['glassbottle']"", ""GotoLocation ['plate']"", ""PutObject ['glassbottle', 'plate']"", ""PickupObject ['plate']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['plate', 'sinkbasin']"", ""NoOp""]",trial_T20190908_015839_519239_2.png
trial_T20190909_210238_431966,0,FloorPlan308,take a coffee mug from a book shelf and place it on a desk,"[""go to the desk that is in front of a book shelf with a computer on it"", ""pick up the white coffee mug from the book shelf"", ""go to the left end of the desk"", ""place the mug on the left end of the desk""]","[""GotoLocation ['shelf']"", ""PickupObject ['mug']"", ""GotoLocation ['desk']"", ""PutObject ['mug', 'desk']"", ""NoOp""]",trial_T20190909_210238_431966_0.png
trial_T20190909_210238_431966,1,FloorPlan308,Move a cup from the shelf to the desk.,"[""Turn to the right and then the left to the other side of the room, and face the desk on the left side. Look up to the books on the shelf."", ""Pick up the cup from the shelf."", ""Carry the cup and turn to the left and then face the desk on the right side. "", ""Place the cup on the short side of the desk, close to you.""]","[""GotoLocation ['shelf']"", ""PickupObject ['mug']"", ""GotoLocation ['desk']"", ""PutObject ['mug', 'desk']"", ""NoOp""]",trial_T20190909_210238_431966_1.png
trial_T20190909_210238_431966,2,FloorPlan308,Pick up a coffee mug from the desk and put it down on the desk.,"[""Turn right at the brown desk and walk between the bed and the desk. Turn left at the orange cylinder on the right of the bed on the floor. Walk to the desk on your left with a laptop on it."", ""Pick up the white coffee mug that's on the desk."", ""Turn around and walk to the bed. Turn right at the bed."", ""Put the coffee mug back down on the left side of the desk to the right of the bed.""]","[""GotoLocation ['shelf']"", ""PickupObject ['mug']"", ""GotoLocation ['desk']"", ""PutObject ['mug', 'desk']"", ""NoOp""]",trial_T20190909_210238_431966_2.png
trial_T20190908_161733_213242,0,FloorPlan308,Look at a mug in lamp light.,"[""Go to the desk in front of you, then look up to the shelves."", ""Pick up the mug from the shelf."", ""Look down to the lamp on the desk."", ""Turn on the lamp.""]","[""GotoLocation ['shelf']"", ""PickupObject ['mug']"", ""GotoLocation ['desklamp']"", ""ToggleObject ['desklamp']"", ""NoOp""]",trial_T20190908_161733_213242_0.png
trial_T20190908_161733_213242,1,FloorPlan308,Examine a mug by the light of a desk lamp.,"[""Walk forward to the mug on the desk in front of you."", ""Pick up the mug from the desk."", ""Walk slightly to the right and stand in front of the lamp on the desk."", ""Turn on the lamp.""]","[""GotoLocation ['shelf']"", ""PickupObject ['mug']"", ""GotoLocation ['desklamp']"", ""ToggleObject ['desklamp']"", ""NoOp""]",trial_T20190908_161733_213242_1.png
trial_T20190908_161733_213242,2,FloorPlan308,Examine a cup under a lamp.,"[""Walk to the computer desk in front of you."", ""Grab a cup from the shelf on the desk."", ""Go to the right of the desk."", ""Turn the lamp on.""]","[""GotoLocation ['shelf']"", ""PickupObject ['mug']"", ""GotoLocation ['desklamp']"", ""ToggleObject ['desklamp']"", ""NoOp""]",trial_T20190908_161733_213242_2.png
trial_T20190909_061158_110530,0,FloorPlan10,Put a filled bowl of water in the cabinet left of the microwave.,"[""Turn right, head to the fridge across the room, turn right, move to the stove on the left side, face the microwave over the stove. "", ""Take the bowl out of the cabinet above the microwave. "", ""Turn around, bring the bowl to the sink. "", ""Fill the bowl with water from the sink. "", ""Turn around, bring the filled bowl to the cabinet left of the microwave."", ""Put the filled bowl of water in the cabinet left of the microwave.""]","[""GotoLocation ['cabinet']"", ""PickupObject ['bowl']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['bowl']"", ""GotoLocation ['cabinet']"", ""PutObject ['bowl', 'cabinet']"", ""NoOp""]",trial_T20190909_061158_110530_0.png
trial_T20190909_061158_110530,1,FloorPlan10,Put a bowl of water in the cupboard.,"[""Turn right and walk to the wall then turn right and walk to the left side of the stove then turn left to face it."", ""Look up and open the cupboard over the left side of the microwave and grab the bowl that's up there before closing the cupboard door."", ""Turn around and walk to the sink,"", ""Fill the bowl with water in the sink then shut off the water."", ""Turn back around."", ""Open the cupboard to the left of the microwave and put the bowl of water in there then close the door.""]","[""GotoLocation ['cabinet']"", ""PickupObject ['bowl']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['bowl']"", ""GotoLocation ['cabinet']"", ""PutObject ['bowl', 'cabinet']"", ""NoOp""]",trial_T20190909_061158_110530_1.png
trial_T20190909_061158_110530,2,FloorPlan10,Put a clean bowl in a cabinet.,"[""Turn around and cross the room and turn to the right and then the left to face the cabinet above the microwave."", ""Open the cabinet on the left, above the microwave, and take the bowl out."", ""Turn around and face the sink."", ""Put the bowl in the sink and turn the water on and then off and pick the bowl up again."", ""Turn around and face the cabinet to the left of the microwave."", ""Put the bowl in the cabinet to the left of the microwave and shut the door.""]","[""GotoLocation ['cabinet']"", ""PickupObject ['bowl']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['bowl']"", ""GotoLocation ['cabinet']"", ""PutObject ['bowl', 'cabinet']"", ""NoOp""]",trial_T20190909_061158_110530_2.png
trial_T20190907_144232_616550,0,FloorPlan10,Put a green glass containing a fork into the sink.,"[""Go forward to the counter on your right, to the left of the sink, and face the counter."", ""Pick up the fork that is to the left of the sink."", ""Carry the fork to the counter on the right side of the sink."", ""Put the fork, handle-first, into the green glass on the counter."", ""Pick up the glass with the fork in it."", ""Take the glass with the fork to the sink."", ""Put the glass with the fork in the left front corner of the sink.""]","[""GotoLocation ['countertop']"", ""PickupObject ['fork']"", ""GotoLocation ['cup']"", ""PutObject ['fork', 'cup']"", ""PickupObject ['cup']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['cup', 'sinkbasin']"", ""NoOp""]",trial_T20190907_144232_616550_0.png
trial_T20190907_144232_616550,1,FloorPlan10,Put a cup with a fork in it in the sink.,"[""Go right and stand at the counter to the left of the sink."", ""Pick the fork up off of the counter."", ""Go right and stand in front of the counter to the right of the sink and pick the fork up."", ""Put the fork in the green cup."", ""Pick the cup up from the counter."", ""Go left and stand in front of the sink."", ""Put the cup in the sink.""]","[""GotoLocation ['countertop']"", ""PickupObject ['fork']"", ""GotoLocation ['cup']"", ""PutObject ['fork', 'cup']"", ""PickupObject ['cup']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['cup', 'sinkbasin']"", ""NoOp""]",trial_T20190907_144232_616550_1.png
trial_T20190907_144232_616550,2,FloorPlan10,Put a green cup with a metal fork in it into the sink basin.,"[""Begin walking across the room, then turn right to face the end of the kitchen island."", ""Pick up the metal fork that is on the kitchen island."", ""Turn right and walk to the other side of the kitchen island where the golden statue is resting."", ""Place the metal fork into the green cup that is to the left of the golden statue."", ""Pick up the green cup with the metal fork in it."", ""Turn left and walk over to the sink that is in the middle of the kitchen island."", ""Place the green cup with the metal fork in it into the sink basin.""]","[""GotoLocation ['countertop']"", ""PickupObject ['fork']"", ""GotoLocation ['cup']"", ""PutObject ['fork', 'cup']"", ""PickupObject ['cup']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['cup', 'sinkbasin']"", ""NoOp""]",trial_T20190907_144232_616550_2.png
trial_T20190909_025512_298420,0,FloorPlan10,put green cup and knife into sink basin,"[""walk to face counter behind sink"", ""pick up butter knife from under sponge on counter"", ""walk to face counter to left of stove"", ""put knife into green cup on the left on the counter"", ""pick up the green cup from counter"", ""turn to face the kitchen sink"", ""put green cup into sink basin""]","[""GotoLocation ['countertop']"", ""PickupObject ['butterknife']"", ""GotoLocation ['cup']"", ""PutObject ['butterknife', 'cup']"", ""PickupObject ['cup']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['cup', 'sinkbasin']"", ""NoOp""]",trial_T20190909_025512_298420_0.png
trial_T20190909_025512_298420,1,FloorPlan10,Place a glass with a knife in a sink.,"[""Turn right, hang a left at the wall and walk to the counter on the left."", ""Pick up the knife under the green sponge on the counter."", ""Turn around, hang a right at the wall, turn right towards the fridge, turn right and walk to the counter on the left."", ""Put the knife inside the green glass in front of the spatula in the middle of the counter."", ""Pick up the green glass with the knife on the counter."", ""Turn around and walk to the sink."", ""Put the glass with the knife inside the sink.""]","[""GotoLocation ['countertop']"", ""PickupObject ['butterknife']"", ""GotoLocation ['cup']"", ""PutObject ['butterknife', 'cup']"", ""PickupObject ['cup']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['cup', 'sinkbasin']"", ""NoOp""]",trial_T20190909_025512_298420_1.png
trial_T20190909_025512_298420,2,FloorPlan10,Move a knife in a cup to the sink.,"[""Turn right to move around the island to stand facing the counter and centered between the two chairs."", ""Pick up the butter knife from beneath the sponge."", ""Turn left to move around to the other side of the island and stop facing the counter above the dishwasher."", ""Place the knife in the green cup closest to the wall behind the counter."", ""Pick up the cup with the knife in it from the counter."", ""Turn around and face the sink."", ""Place the cup with the knife inside in the sink.""]","[""GotoLocation ['countertop']"", ""PickupObject ['butterknife']"", ""GotoLocation ['cup']"", ""PutObject ['butterknife', 'cup']"", ""PickupObject ['cup']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['cup', 'sinkbasin']"", ""NoOp""]",trial_T20190909_025512_298420_2.png
trial_T20190908_114622_738670,0,FloorPlan10,Put a chilled pan on the counter.,"[""Take a step to your right."", ""Pick up the pan on the front left burner."", ""Turn left and walk to the fridge on your right and turn right to face it when you get there."", ""Chill the pan in the fridge then get it back out and close the door."", ""Turn right and walk to the counter that's to the right of the toaster then turn left to face it when you get there."", ""Put the pan on the counter to the right of the toaster.""]","[""GotoLocation ['stoveburner']"", ""PickupObject ['pan']"", ""GotoLocation ['fridge']"", ""CoolObject ['pan']"", ""GotoLocation ['countertop']"", ""PutObject ['pan', 'countertop']"", ""NoOp""]",trial_T20190908_114622_738670_0.png
trial_T20190908_114622_738670,1,FloorPlan10,To chill a pan and put it on the counter. ,"[""Move a bit to the right to face the front of the stove. "", ""Pick up the pan on the front left burner. "", ""Turn left and walk to the fridge on the right. "", ""Place the pan inside of the fridge, close the door, open the door, take the pan out, close the door. "", ""Turn right and walk to the counter to the left of the stove. "", ""Place the pan down to the right of the toaster on the counter. ""]","[""GotoLocation ['stoveburner']"", ""PickupObject ['pan']"", ""GotoLocation ['fridge']"", ""CoolObject ['pan']"", ""GotoLocation ['countertop']"", ""PutObject ['pan', 'countertop']"", ""NoOp""]",trial_T20190908_114622_738670_1.png
trial_T20190908_114622_738670,2,FloorPlan10,Place a cold pan on the counter by the toaster.,"[""Move a step to your right to stand in front of the stove."", ""Pick up the pan from the front left burner of the stove."", ""Turn left to carry the pan to the fridge."", ""Place the pan on the second shelf in the fridge, close the door, and then remove after a few seconds."", ""Turn right and carry the pan to the counter space between the toaster and stove."", ""Place the pan on the counter to the right of the toaster.""]","[""GotoLocation ['stoveburner']"", ""PickupObject ['pan']"", ""GotoLocation ['fridge']"", ""CoolObject ['pan']"", ""GotoLocation ['countertop']"", ""PutObject ['pan', 'countertop']"", ""NoOp""]",trial_T20190908_114622_738670_2.png
trial_T20190908_071731_613441,0,FloorPlan219,Examine a vase under a tall lamp,"[""Head forward to the couch, at the couch take a right and walk to the white shelf ahead of you, then take a step to the left and continue to face the white shelf, the one directly to the left of the white safe"", ""Pick up the golden vase that is sitting on the shelf"", ""Turn around and cross the room to the blue armchair, then turn right to face the tall floor lamp"", ""Lift up the vase and turn on the lamp""]","[""GotoLocation ['shelf']"", ""PickupObject ['vase']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190908_071731_613441_0.png
trial_T20190908_071731_613441,1,FloorPlan219,Pick up a vase and turn a lamp on.,"[""Go forward and the to the right to face the white shelves with the gold vase."", ""Pick the vase up from the shelf."", ""Turn around and cross the room to face the lamp to the right of the blue chair."", ""Turn the lamp on.""]","[""GotoLocation ['shelf']"", ""PickupObject ['vase']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190908_071731_613441_1.png
trial_T20190908_071731_613441,2,FloorPlan219,Turn on the living room lamp.,"[""Walk straight to the couch, in front of you, then turn to your right and go to the white, book shelf in front of you. "", ""Pick up the gold vase on the left side of the white shelf. "", ""Turn around and walk across the room to the lamp between the blue and white couch. "", ""Turn on the lamp in the corner of the room.""]","[""GotoLocation ['shelf']"", ""PickupObject ['vase']"", ""GotoLocation ['floorlamp']"", ""ToggleObject ['floorlamp']"", ""NoOp""]",trial_T20190908_071731_613441_2.png
trial_T20190908_115403_911841,0,FloorPlan10,To wash a slice of lettuce and place it in the trash can.,"[""Turn left and walk forward to face the counter to the right of the fridge."", ""Pick up the knife on the counter."", ""Look down to face the lettuce on the counter."", ""Cut the lettuce on the counter into slices."", ""Turn around and step forward to face the sink."", ""Place the knife in the sink."", ""Turn around and step forward to face the lettuce on the counter."", ""Pick up the slice of lettuce on the counter."", ""Turn around and step forward to face the sink."", ""Wash the lettuce slice in the sink and then remove it."", ""Walk around the right side of the center table to face the trash can."", ""Place the lettuce slice in the trash can.""]","[""GotoLocation ['countertop']"", ""PickupObject ['knife']"", ""GotoLocation ['lettuce']"", ""SliceObject ['lettuce']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['knife', 'sinkbasin']"", ""GotoLocation ['countertop']"", ""PickupObject ['lettuce']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['lettuce']"", ""GotoLocation ['garbagecan']"", ""PutObject ['lettuce', 'garbagecan']"", ""NoOp""]",trial_T20190908_115403_911841_0.png
trial_T20190908_115403_911841,1,FloorPlan10,Put a rinsed slice of lettuce in the trash.,"[""Turn around, go pass the fridge and turn left to face the toaster."", ""Pick up the knife to the right of the toaster."", ""Look down at the lettuce on the counter."", ""Cut the lettuce on the counter."", ""Turn right and go to the sink."", ""Put the knife in the sink."", ""Turn around and go back to the counter with the toaster."", ""Pick up a slice of lettuce."", ""Turn around and go back to the sink."", ""Rinse the lettuce in the sink and pick it up."", ""Turn right, go to the end of the counter and turn left to go to the trash can."", ""Put the lettuce in the trash can behind the right bottle.""]","[""GotoLocation ['countertop']"", ""PickupObject ['knife']"", ""GotoLocation ['lettuce']"", ""SliceObject ['lettuce']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['knife', 'sinkbasin']"", ""GotoLocation ['countertop']"", ""PickupObject ['lettuce']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['lettuce']"", ""GotoLocation ['garbagecan']"", ""PutObject ['lettuce', 'garbagecan']"", ""NoOp""]",trial_T20190908_115403_911841_1.png
trial_T20190908_115403_911841,2,FloorPlan10,Put a washed slice of lettuce in a bin,"[""Go to the toaster"", ""Pick up the knife next to the toaster"", ""Look down at the lettuce"", ""Cut the lettuce"", ""Go to the sink"", ""Put the knife in the sink"", ""Go to the cut lettuce"", ""Pick up a slice of lettuce"", ""Go to the sink"", ""Wash the lettuce"", ""Go to the black bin"", ""Put the lettuce in the black bin""]","[""GotoLocation ['countertop']"", ""PickupObject ['knife']"", ""GotoLocation ['lettuce']"", ""SliceObject ['lettuce']"", ""GotoLocation ['sinkbasin']"", ""PutObject ['knife', 'sinkbasin']"", ""GotoLocation ['countertop']"", ""PickupObject ['lettuce']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['lettuce']"", ""GotoLocation ['garbagecan']"", ""PutObject ['lettuce', 'garbagecan']"", ""NoOp""]",trial_T20190908_115403_911841_2.png
trial_T20190907_133935_066606,0,FloorPlan308,Examine a bowl by the light of a desk lamp.,"[""Walk to the left side of the desk in front of you."", ""Pick up the bowl from the desk."", ""Turn right and walk in front of the lamp that is on the desk to the left of the bed."", ""Turn on the lamp.""]","[""GotoLocation ['desk']"", ""PickupObject ['bowl']"", ""GotoLocation ['desklamp']"", ""ToggleObject ['desklamp']"", ""NoOp""]",trial_T20190907_133935_066606_0.png
trial_T20190907_133935_066606,1,FloorPlan308,Turn on the lamp while holding a bowl.,"[""Walk around to the front of the desk by the chair."", ""Pick up the bowl that is closest to the window."", ""Turn right and walk towards the bed, turn left and walk to the other desk, then turn to face it."", ""Turn on the lamp on the desk.""]","[""GotoLocation ['desk']"", ""PickupObject ['bowl']"", ""GotoLocation ['desklamp']"", ""ToggleObject ['desklamp']"", ""NoOp""]",trial_T20190907_133935_066606_1.png
trial_T20190907_133935_066606,2,FloorPlan308,Examine a bowl by the lamp.,"[""Walk to the window and face the desk."", ""Pick up the bowl on the desk."", ""Walk to the second desk on the other side of the room."", ""Turn on the lamp.""]","[""GotoLocation ['desk']"", ""PickupObject ['bowl']"", ""GotoLocation ['desklamp']"", ""ToggleObject ['desklamp']"", ""NoOp""]",trial_T20190907_133935_066606_2.png
trial_T20190908_235919_129519,0,FloorPlan10,Move a knife and a green cup to the counter. ,"[""Walk forward then turn to the left. Then go forward to the counter and turn right to face it. "", ""Pick up the butter knife off of the counter. "", ""Turn to the left then right then left again to the brown shelf."", ""Place the knife inside of the green cup on the shelf."", ""Pick up the green cup with the knife inside. "", ""Turn to the right and go forward. Turn right again and go to the counter top. Turn left to face the counter top. "", ""Place the green cup and knife on to the counter. ""]","[""GotoLocation ['countertop']"", ""PickupObject ['butterknife']"", ""GotoLocation ['cup']"", ""PutObject ['butterknife', 'cup']"", ""PickupObject ['cup']"", ""GotoLocation ['countertop']"", ""PutObject ['cup', 'countertop']"", ""NoOp""]",trial_T20190908_235919_129519_0.png
trial_T20190908_235919_129519,1,FloorPlan10,Put a green cup with a butter knife in it on the counter.,"[""Go toward the wall, then turn left and go in between the chairs, then turn left to face the kitchen island."", ""Pick up the rightmost butter knife on the kitchen island."", ""Turn around and move forward, then go to the shelves to your right."", ""Put the butter knife in the green cup on the top shelf."", ""Pick up the green cup from the top shelf."", ""Turn right and go towards the wall, then turn right at the refrigerator and go forward, then turn left to face the dishwasher."", ""Put the green cup on the counter above the dishwasher.""]","[""GotoLocation ['countertop']"", ""PickupObject ['butterknife']"", ""GotoLocation ['cup']"", ""PutObject ['butterknife', 'cup']"", ""PickupObject ['cup']"", ""GotoLocation ['countertop']"", ""PutObject ['cup', 'countertop']"", ""NoOp""]",trial_T20190908_235919_129519_1.png
trial_T20190908_235919_129519,2,FloorPlan10,Put a green cup with a butter knife in it on the counter.,"[""Walk towards the wall, then hang a left and walk towards the window, turn left and walk up to the kitchen island."", ""Pick up the rightmost butter knife off of the kitchen island in front of you."", ""Turn around and walk forward, then hang a right and walk over to the wooden shelving unit against the wall."", ""Put the butter knife in the green cup on the top shelf of the wooden shelving unit."", ""Pick up the green cup with the butter knife in it."", ""Turn right and walk forward, then hang a right and walk over to the counter where the toaster is."", ""Put the green cup with the butter knife in it on the counter in front of the golden statue.""]","[""GotoLocation ['countertop']"", ""PickupObject ['butterknife']"", ""GotoLocation ['cup']"", ""PutObject ['butterknife', 'cup']"", ""PickupObject ['cup']"", ""GotoLocation ['countertop']"", ""PutObject ['cup', 'countertop']"", ""NoOp""]",trial_T20190908_235919_129519_2.png
trial_T20190908_214946_567644,0,FloorPlan424,Put a clean bar of soap in a cabinet.,"[""Walk up to the right side of the sink counter."", ""Pick up the bar of soap off of the toilet tank to your right."", ""Walk over to the rightmost sink."", ""Put the bar of soap in the sink and turn on the water, after a couple seconds turn the water off and remove the now clean bar of soap."", ""Turn around and walk towards the wall, then turn left and walk towards the shower, turn left again to face the counter."", ""Open the second cabinet door from the right below the counter and put the clean bar of soap inside, then close the cabinet.""]","[""GotoLocation ['toilet']"", ""PickupObject ['soapbar']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['soapbar']"", ""GotoLocation ['cabinet']"", ""PutObject ['soapbar', 'cabinet']"", ""NoOp""]",trial_T20190908_214946_567644_0.png
trial_T20190908_214946_567644,1,FloorPlan424,Put washed soap away in a cabinet. ,"[""Move forward to the toilet."", ""Pick up the soap on the toilet. "", ""Bring the soap to the right sink."", ""Wash the soap in the right sink. "", ""Bring the washed soap to the cabinet under the right sink."", ""Put the washed soap in the left cabinet under the right sink. ""]","[""GotoLocation ['toilet']"", ""PickupObject ['soapbar']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['soapbar']"", ""GotoLocation ['cabinet']"", ""PutObject ['soapbar', 'cabinet']"", ""NoOp""]",trial_T20190908_214946_567644_1.png
trial_T20190908_214946_567644,2,FloorPlan424,Put the clean soap in the cabinet,"[""Walk forward to the sink counter"", ""Pick up the soap on the right side of sink counter"", ""Turn left then face the sink "", ""Put the soap in the sink and rinse it "", ""Turn around to your right then move a little "", ""Open the cabinet on your left and put it the soap ""]","[""GotoLocation ['toilet']"", ""PickupObject ['soapbar']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['soapbar']"", ""GotoLocation ['cabinet']"", ""PutObject ['soapbar', 'cabinet']"", ""NoOp""]",trial_T20190908_214946_567644_2.png
trial_T20190906_191445_723170,0,FloorPlan10,To acquire an odd item as place it where it is not useful.,"[""Turn to the left and make an semi circle as to reach the wooden table. "", ""Take only the salt container from the table."", ""turn left and to your right with the salt container."", ""Place the container under the cabin drawer under in the drawer on the left.""]","[""GotoLocation ['shelf']"", ""PickupObject ['saltshaker']"", ""GotoLocation ['cabinet']"", ""PutObject ['saltshaker', 'cabinet']"", ""NoOp""]",trial_T20190906_191445_723170_0.png
trial_T20190906_191445_723170,1,FloorPlan10,Place the salt shaker from the wooden shelf into the cabinet.,"[""Turn around and head towards the wooden shelves."", ""Pick up the salt shaker on the top shelf."", ""Turn around and head towards the fridge to your left."", ""Open the lower cabinet to the left of the fridge, place the shaker in it, and close the door.""]","[""GotoLocation ['shelf']"", ""PickupObject ['saltshaker']"", ""GotoLocation ['cabinet']"", ""PutObject ['saltshaker', 'cabinet']"", ""NoOp""]",trial_T20190906_191445_723170_1.png
trial_T20190906_191445_723170,2,FloorPlan10,Put the salt in the bottom cabinet next to the fridge. ,"[""Move to the wooden shelf. "", ""Pick up the salt from the shelf. "", ""Bring the salt to the counter right of the fridge. "", ""Place the salt in the cabinet under the counter. ""]","[""GotoLocation ['shelf']"", ""PickupObject ['saltshaker']"", ""GotoLocation ['cabinet']"", ""PutObject ['saltshaker', 'cabinet']"", ""NoOp""]",trial_T20190906_191445_723170_2.png
trial_T20190908_022345_347148,0,FloorPlan424,rinse the rag in the sink and put it in the cabinet,"[""walk over to the toilet"", ""pick up the rag from the counter"", ""go the sink on the right"", ""wash the rag in the sink and remove"", ""walk to the center of the room and face the toilet"", ""put the washcloth in the cabinet below the sink""]","[""GotoLocation ['cloth']"", ""PickupObject ['cloth']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['cloth']"", ""GotoLocation ['cabinet']"", ""PutObject ['cloth', 'cabinet']"", ""NoOp""]",trial_T20190908_022345_347148_0.png
trial_T20190908_022345_347148,1,FloorPlan424,Place a wet rag in the cabinet under the sink.,"[""Turn to your right and walk to the sink."", ""Pick up the rag that is on the sink counter"", ""Turn around, take a step forwards, and turn around again."", ""place the rag in the sink and turn the faucet on and off to wet the rag"", ""Turn around, take a step forwards, and turn around again."", ""Place the wet rag in the cabinet under the sink.""]","[""GotoLocation ['cloth']"", ""PickupObject ['cloth']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['cloth']"", ""GotoLocation ['cabinet']"", ""PutObject ['cloth', 'cabinet']"", ""NoOp""]",trial_T20190908_022345_347148_1.png
trial_T20190908_022345_347148,2,FloorPlan424,Put a cleaned cloth rag in a cabinet.,"[""Turn right and walk forward to the blue cloth rag on the counter."", ""Pick up the cloth rag from the counter."", ""Move left slightly to the front of the sink on the right."", ""Put the cloth rag in the sink, rinse it off, and take it out of the sink."", ""Move back slightly from the counter top."", ""Put the cloth rag in the bottom left cabinet below the sink, then close the cabinet.""]","[""GotoLocation ['cloth']"", ""PickupObject ['cloth']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['cloth']"", ""GotoLocation ['cabinet']"", ""PutObject ['cloth', 'cabinet']"", ""NoOp""]",trial_T20190908_022345_347148_2.png
trial_T20190907_221355_558505,0,FloorPlan10,"Pick up the white coffee cup, fill it in the sink, place it in the coffee maker. ","[""Turn to the left, then turn right, walk in between the counter tops. Face the counter top to the left of the stove."", ""Pick up the white coffee cup to the right of the trophy. "", ""Turn around to face the sink."", ""Put the coffee cup in the sink, turn on the water, turn off the water and pick up the coffee cup. "", ""Turn left walk forward to face the coffee maker. "", ""Place the coffee cup in the coffee maker. ""]","[""GotoLocation ['countertop']"", ""PickupObject ['mug']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['mug']"", ""GotoLocation ['coffeemachine']"", ""PutObject ['mug', 'coffeemachine']"", ""NoOp""]",trial_T20190907_221355_558505_0.png
trial_T20190907_221355_558505,1,FloorPlan10,Rinse a mug and take it to the coffee maker.,"[""Turn to the left, and then the right and right again to the back of the kitchen."", ""Pick up the mug from the middle of the counter."", ""Take the mug and turn around to the sink."", ""Place the mug in the sink, turn the water on and then off. Pick up the mug."", ""Carry the mug and move to the right, and face left to the coffee machine."", ""Place the mug under the coffee machine.""]","[""GotoLocation ['countertop']"", ""PickupObject ['mug']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['mug']"", ""GotoLocation ['coffeemachine']"", ""PutObject ['mug', 'coffeemachine']"", ""NoOp""]",trial_T20190907_221355_558505_1.png
trial_T20190907_221355_558505,2,FloorPlan10,Place a rinsed coffee cup into the coffee machine.,"[""Turn left, move to the counter right of the dishwasher."", ""Pick up the coffee cup from the counter."", ""Turn right, move to the island in front of the sink."", ""Place the coffee cup into the sink, rinse it, pick it back up."", ""Turn left, move to the end of the counter, in front of the coffee machine."", ""Place the coffee cup into the coffee machine.""]","[""GotoLocation ['countertop']"", ""PickupObject ['mug']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['mug']"", ""GotoLocation ['coffeemachine']"", ""PutObject ['mug', 'coffeemachine']"", ""NoOp""]",trial_T20190907_221355_558505_2.png
trial_T20190907_083346_800823,0,FloorPlan10,Warm up the cup inside the cabinet.,"[""Turn around towards the windows, turn left towards the coffee maker, turn right towards the loaf of bread on the counter, and then look up towards the cabinets."", ""Open the right cabinet and take out a green cup."", ""Take a step to the right to find the microwave above the stove."", ""Warm up the cup and take it back out of the microwave."", ""Take a step to the left and look up to the cabinet above the bread."", ""Place the cup back into the cabinet.""]","[""GotoLocation ['cabinet']"", ""PickupObject ['cup']"", ""GotoLocation ['microwave']"", ""HeatObject ['cup']"", ""GotoLocation ['cabinet']"", ""PutObject ['cup', 'cabinet']"", ""NoOp""]",trial_T20190907_083346_800823_0.png
trial_T20190907_083346_800823,1,FloorPlan10,Place a heated glass in a tall cabinet.,"[""Turn around, walk to the wall, hang a left, head to the counter, turn left and cross the room to face the silver dishwasher and counter top to your right."", ""Pick up a green glass next to the vase from inside the top right cabinet above the loaf of bread and close the door."", ""Turn right and walk towards the silver stove on your left side."", ""Place the green glass on the right side inside the microwave above the stove, heat for three seconds, remove the heated glass and close the door."", ""Turn left and walk to the counter to the left of the stove."", ""Open the tall cabinet above the counter to the left of the microwave, place the heated glass to the right of the silver vase and close the door.""]","[""GotoLocation ['cabinet']"", ""PickupObject ['cup']"", ""GotoLocation ['microwave']"", ""HeatObject ['cup']"", ""GotoLocation ['cabinet']"", ""PutObject ['cup', 'cabinet']"", ""NoOp""]",trial_T20190907_083346_800823_1.png
trial_T20190907_083346_800823,2,FloorPlan10,Put a heated vase in the cabinet.,"[""Turn around and go left and then left again to stand at the counter in front of all of the utensils."", ""Open the cupboard above and take out the green vase."", ""Go right and stand in front of the microwave."", ""Put the vase in the microwave, turn it on and then take it out and shut the door."", ""Move to the left and stand in front of the cupboards to the left of the stove."", ""Open the upper cabinet and put the green vase in the cupboard to the right of the other one.""]","[""GotoLocation ['cabinet']"", ""PickupObject ['cup']"", ""GotoLocation ['microwave']"", ""HeatObject ['cup']"", ""GotoLocation ['cabinet']"", ""PutObject ['cup', 'cabinet']"", ""NoOp""]",trial_T20190907_083346_800823_2.png
trial_T20190908_113432_673307,0,FloorPlan10,Place a heated egg in a bin,"[""Go to the center kitchen console"", ""Pick up the egg from the center kitchen console"", ""Go to the microwave"", ""Heat the egg in the microwave"", ""Go to the black bin"", ""Place the egg in the black bin""]","[""GotoLocation ['countertop']"", ""PickupObject ['egg']"", ""GotoLocation ['microwave']"", ""HeatObject ['egg']"", ""GotoLocation ['garbagecan']"", ""PutObject ['egg', 'garbagecan']"", ""NoOp""]",trial_T20190908_113432_673307_0.png
trial_T20190908_113432_673307,1,FloorPlan10,To heat an egg and place in the black bin. ,"[""Turn around and walk to the kitchen island. "", ""Pick up the egg in front of the gold colored plate. "", ""Walk around the kitchen island and to the stove on the right, look above the stove to face the microwave. "", ""Place the egg inside the microwave, heat up the egg, take the egg out of the microwave. "", ""Turn left, turn left at the fridge, turn left to face the kitchen island, and look down at the black bin. "", ""Place the egg in the bin on the right side. ""]","[""GotoLocation ['countertop']"", ""PickupObject ['egg']"", ""GotoLocation ['microwave']"", ""HeatObject ['egg']"", ""GotoLocation ['garbagecan']"", ""PutObject ['egg', 'garbagecan']"", ""NoOp""]",trial_T20190908_113432_673307_1.png
trial_T20190908_113432_673307,2,FloorPlan10,"Move egg from counter, heat in microwave, put in garbage can.","[""Turn right, to forward until two chairs are on right.  Turn right and proceed to counter and chairs."", ""Pick up egg from counter, in front of gold colored plate."", ""Turn around, proceed to sliding doors.  Turn left, proceed across room.  Turn left, proceed until stove is on right.  Turn to face stove.  Look up to microwave."", ""Open microwave door, put egg in microwave, close door.  Wait four seconds.  Open microwave door, remove egg, close microwave door."", ""Turn left, proceed until reach end of counter.  Turn left, then turn left to face counter and garbage can."", ""Place egg in right side of garbage can, to the right of the tomato and pump dispenser.""]","[""GotoLocation ['countertop']"", ""PickupObject ['egg']"", ""GotoLocation ['microwave']"", ""HeatObject ['egg']"", ""GotoLocation ['garbagecan']"", ""PutObject ['egg', 'garbagecan']"", ""NoOp""]",trial_T20190908_113432_673307_2.png
trial_T20190908_022436_073995,0,FloorPlan424,"wash the cloth from the cabinet, put it back","[""turn around, walk to the vanity on the right"", ""open the second from the right cabinet door, take the green cloth out"", ""turn right, turn left to the counter"", ""put the cloth in the sink, wash the cloth, take the cloth out"", ""turn around, turn around"", ""open the second from the right cabinet door, put the cloth in, close the cabinet""]","[""GotoLocation ['cabinet']"", ""PickupObject ['cloth']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['cloth']"", ""GotoLocation ['cabinet']"", ""PutObject ['cloth', 'cabinet']"", ""NoOp""]",trial_T20190908_022436_073995_0.png
trial_T20190908_022436_073995,1,FloorPlan424,Place the clean cloth back in the original cabinet.,"[""Turn left and face the sink."", ""Take the green cloth from the cabinet below the sink."", ""Place the green cloth in the sink."", ""Rinse the green cloth in the sink."", ""Back up from the sink."", ""Place the cloth back in the cabinet.""]","[""GotoLocation ['cabinet']"", ""PickupObject ['cloth']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['cloth']"", ""GotoLocation ['cabinet']"", ""PutObject ['cloth', 'cabinet']"", ""NoOp""]",trial_T20190908_022436_073995_1.png
trial_T20190908_022436_073995,2,FloorPlan424,"Get a towel out of the drawer to soak it, then put it back in the drawer.","[""Walk to the sink on the right."", ""Open the lower left drawer, and take the green towel out."", ""Position yourself in front of the sink."", ""Place the towel under the faucet to soak it."", ""Go back to the drawer that you got the towel out of."", ""Place the wet towel back in the drawer.""]","[""GotoLocation ['cabinet']"", ""PickupObject ['cloth']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['cloth']"", ""GotoLocation ['cabinet']"", ""PutObject ['cloth', 'cabinet']"", ""NoOp""]",trial_T20190908_022436_073995_2.png
trial_T20190906_182259_116320,0,FloorPlan10,Put the cooked green apple in the fridge,"[""Walk forward and then turn right to approach the sink in the kitchen"", ""Pick up the green apple from the sink"", ""Turn around and walk up to the microwave above the stove"", ""Put the apple in the microwave, cook it, then remove it"", ""Turn left and walk over to the fridge"", ""Put the apple in the fridge to the left of the bread loaf""]","[""GotoLocation ['sinkbasin']"", ""PickupObject ['apple']"", ""GotoLocation ['microwave']"", ""HeatObject ['apple']"", ""GotoLocation ['fridge']"", ""PutObject ['apple', 'fridge']"", ""NoOp""]",trial_T20190906_182259_116320_0.png
trial_T20190906_182259_116320,1,FloorPlan10,Put a microwaved apple in the fridge.,"[""Walk forward and around the kitchen island to get to the sink."", ""Pick up the green apple in the sink."", ""Turn around and go to the microwave."", ""Heat the apple in the microwave."", ""Walk left to stand in front of the fridge."", ""Put the apple on the middle shelf in the middle of the other two food items.""]","[""GotoLocation ['sinkbasin']"", ""PickupObject ['apple']"", ""GotoLocation ['microwave']"", ""HeatObject ['apple']"", ""GotoLocation ['fridge']"", ""PutObject ['apple', 'fridge']"", ""NoOp""]",trial_T20190906_182259_116320_1.png
trial_T20190906_182259_116320,2,FloorPlan10,Warm up apple to put in fridge.,"[""Turn and go to the sink"", ""Pick up the green apple that is on the right side of the sink."", ""With the apple in hand turn and go to the microwave above the stove."", ""Open the microwave and place the apple inside on the right side.  Shut the door and start the microwave.  Open the door and grab the apple."", ""With the apple in hand go to the fridge."", ""Open the fridge door while holding the apple in the other hand.  Place the apple on the top shelf in front of and between the tomato and bread.  Shut the fridge door.""]","[""GotoLocation ['sinkbasin']"", ""PickupObject ['apple']"", ""GotoLocation ['microwave']"", ""HeatObject ['apple']"", ""GotoLocation ['fridge']"", ""PutObject ['apple', 'fridge']"", ""NoOp""]",trial_T20190906_182259_116320_2.png
trial_T20190906_182259_116320,3,FloorPlan10,Heat and then chill an apple.,"[""Move forward and then turn right to find the sink in the island."", ""Pick up the apple from the right side of the sink."", ""Carry the apple and turn around, and a few steps right, to the stove."", ""Place the apple in the microwave above and shut the door. Open the microwave and take out the apple and shut the door."", ""Hold the apple and move a few steps to the left and locate the fridge."", ""Open the fridge and place the apple inside, shut the door.""]","[""GotoLocation ['sinkbasin']"", ""PickupObject ['apple']"", ""GotoLocation ['microwave']"", ""HeatObject ['apple']"", ""GotoLocation ['fridge']"", ""PutObject ['apple', 'fridge']"", ""NoOp""]",trial_T20190906_182259_116320_3.png
trial_T20190906_182259_116320,4,FloorPlan10,Put a cooked apple in the refrigerator.,"[""Go straight, then turn right towards the sink. Stop in front of the sink."", ""Pick up the green apple from the sink."", ""Turn around, go in front of the stop top."", ""Put the apple in the microwave, turn on the microwave, remove the apple from the microwave."", ""Turn left, go in front of the refrigerator."", ""Put the apple in the refrigerator in front of and to the left of the bread.""]","[""GotoLocation ['sinkbasin']"", ""PickupObject ['apple']"", ""GotoLocation ['microwave']"", ""HeatObject ['apple']"", ""GotoLocation ['fridge']"", ""PutObject ['apple', 'fridge']"", ""NoOp""]",trial_T20190906_182259_116320_4.png
trial_T20190906_182259_116320,5,FloorPlan10,Put a heated apple in the fridge.,"[""Cross the room and take a right and then turn right to face the sink."", ""Pick up the green apple from the sink."", ""Turn around and face the microwave."", ""Put the apple in the microwave and heat it and then take it out and close the door."", ""Go left and face the fridge on the right."", ""Put the apple in the fridge and shut the door.""]","[""GotoLocation ['sinkbasin']"", ""PickupObject ['apple']"", ""GotoLocation ['microwave']"", ""HeatObject ['apple']"", ""GotoLocation ['fridge']"", ""PutObject ['apple', 'fridge']"", ""NoOp""]",trial_T20190906_182259_116320_5.png
trial_T20190908_112034_166152,0,FloorPlan10,Put a green cup with a fork in it on the counter.,"[""Walk over to the kitchen sink that is in the kitchen island."", ""Pick up the metal fork out of the sink basin."", ""Look down into the sink."", ""Put the metal fork in the green cup that is in the sink."", ""Pick up the green cup with the metal fork in it."", ""Turn right and walk forward, then turn right and walk up to the counter."", ""Put the green cup with the fork in it on the counter in front of the loaf of bread.""]","[""GotoLocation ['sinkbasin']"", ""PickupObject ['fork']"", ""GotoLocation ['cup']"", ""PutObject ['fork', 'cup']"", ""PickupObject ['cup']"", ""GotoLocation ['countertop']"", ""PutObject ['cup', 'countertop']"", ""NoOp""]",trial_T20190908_112034_166152_0.png
trial_T20190908_112034_166152,1,FloorPlan10,"Move fork into mug, move both on counter.","[""Go ahead until reach counter with coffee maker.  Turn left until reach sink on left.  Turn left to face sink."", ""Pick up fork from sink, behind tomato."", ""Face sink in front of you."", ""Place fork in green mug in front part of sink."", ""Pick up fork and mug from sink."", ""Turn around, face counter over dishwasher."", ""Put mug and fork on counter in front of bread.""]","[""GotoLocation ['sinkbasin']"", ""PickupObject ['fork']"", ""GotoLocation ['cup']"", ""PutObject ['fork', 'cup']"", ""PickupObject ['cup']"", ""GotoLocation ['countertop']"", ""PutObject ['cup', 'countertop']"", ""NoOp""]",trial_T20190908_112034_166152_1.png
trial_T20190908_112034_166152,2,FloorPlan10,"Put the fork in the green cup, put the cup on the counter","[""Turn to the right, take a couple steps, turn to the left"", ""Head across the kitchen to the sink"", ""Take the fork out of the sink"", ""Put the fork in the green cup"", ""Take the green cup out of the sink"", ""Turn around, face the counter"", ""Put the green cup on the counter""]","[""GotoLocation ['sinkbasin']"", ""PickupObject ['fork']"", ""GotoLocation ['cup']"", ""PutObject ['fork', 'cup']"", ""PickupObject ['cup']"", ""GotoLocation ['countertop']"", ""PutObject ['cup', 'countertop']"", ""NoOp""]",trial_T20190908_112034_166152_2.png
trial_T20190908_091835_825830,0,FloorPlan10,Put a cool loaf of bread on the counter.,"[""Move to the right and face the counter with the bread on it."", ""Pick up the bread from the counter."", ""Bring the bread with you and move to face the white fridge."", ""Put the bread in the fridge on the middle shelf and let it get cool, then take it out again."", ""Bring the bread with you and move back to the right, then turn left and face the counter to the left of the stove."", ""Put the bread down on the counter.""]","[""GotoLocation ['countertop']"", ""PickupObject ['bread']"", ""GotoLocation ['fridge']"", ""CoolObject ['bread']"", ""GotoLocation ['countertop']"", ""PutObject ['bread', 'countertop']"", ""NoOp""]",trial_T20190908_091835_825830_0.png
trial_T20190908_091835_825830,1,FloorPlan10,Put a chilled loaf of bread on the counter.,"[""Walk up to the fridge, then turn right and walk forward, turn right to face the kitchen island."", ""Pick up the loaf of bread off of the kitchen island."", ""Turn right and walk over to the fridge."", ""Put the loaf of bread in the fridge and let it get cold for a couple seconds, then open the fridge and take out the loaf of bread, after that close the fridge."", ""Turn right and begin walking across the room, then turn left to face the counter."", ""Put the chilled loaf of bread on the counter to the right of the toaster.""]","[""GotoLocation ['countertop']"", ""PickupObject ['bread']"", ""GotoLocation ['fridge']"", ""CoolObject ['bread']"", ""GotoLocation ['countertop']"", ""PutObject ['bread', 'countertop']"", ""NoOp""]",trial_T20190908_091835_825830_1.png
trial_T20190908_091835_825830,2,FloorPlan10,Place a loaf of bread on a counter.,"[""Turn right and hang a left at the silver dishwasher to reach the counter."", ""Pick up the loaf of bread on the right side of the counter."", ""Turn right and walk to the white fridge on the right."", ""Put the loaf of bread inside the fridge on the second shelf, chill it for seven seconds, remove it and close the door."", ""Turn right and walk to the counter on the left with the silver dishwasher."", ""Put the loaf of bread on the counter to the right of the toaster.""]","[""GotoLocation ['countertop']"", ""PickupObject ['bread']"", ""GotoLocation ['fridge']"", ""CoolObject ['bread']"", ""GotoLocation ['countertop']"", ""PutObject ['bread', 'countertop']"", ""NoOp""]",trial_T20190908_091835_825830_2.png
trial_T20190908_100512_362932,0,FloorPlan424,Place a washed towel in the middle of two sinks,"[""Go to the right sink"", ""Pick up the dirty towel next to the sink"", ""Turn around and face the sink"", ""Wash the dirty towel in the sink"", ""Turn around and face the sinks"", ""Place the cleaned towel in the middle of the sinks""]","[""GotoLocation ['cloth']"", ""PickupObject ['cloth']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['cloth']"", ""GotoLocation ['countertop']"", ""PutObject ['cloth', 'countertop']"", ""NoOp""]",trial_T20190908_100512_362932_0.png
trial_T20190908_100512_362932,1,FloorPlan424,Put a clean blue rag on the counter.,"[""Walk over to the right side of the sink counter."", ""Pick up the dirty blue rag off of the counter."", ""Walk up to the rightmost sink."", ""Put the dirty rag in the sink and turn on the water, after a couple seconds turn the water off and remove the now clean blue rag."", ""Turn left and walk forward, then turn right to face the counter."", ""Put the clean blue rag on the counter in between the two sinks.""]","[""GotoLocation ['cloth']"", ""PickupObject ['cloth']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['cloth']"", ""GotoLocation ['countertop']"", ""PutObject ['cloth', 'countertop']"", ""NoOp""]",trial_T20190908_100512_362932_1.png
trial_T20190908_100512_362932,2,FloorPlan424,Put a clean cloth on the counter.,"[""Turn around and face the counter to the right of the sink."", ""Pick up the cloth from the counter."", ""Move to the left and face the sink on the right."", ""Put the cloth in the sink and turn the water on and then off and pick the cloth up from the sink."", ""Move to the left and face the counter in between the two sinks."", ""Put the cloth on the counter between the two sinks.""]","[""GotoLocation ['cloth']"", ""PickupObject ['cloth']"", ""GotoLocation ['sinkbasin']"", ""CleanObject ['cloth']"", ""GotoLocation ['countertop']"", ""PutObject ['cloth', 'countertop']"", ""NoOp""]",trial_T20190908_100512_362932_2.png
trial_T20190906_184021_215264,0,FloorPlan10,Put a salt shaker in a drawer.,"[""Go left to the wall and then left again before turning left to face the end of the counter of the island."", ""Pick up the salt shaker from the counter."", ""Turn right and then left and stand at the drawer to the left of the stove."", ""Open the middle drawer and put the shaker in and shut the drawer.""]","[""GotoLocation ['countertop']"", ""PickupObject ['peppershaker']"", ""GotoLocation ['drawer']"", ""PutObject ['peppershaker', 'drawer']"", ""NoOp""]",trial_T20190906_184021_215264_0.png
trial_T20190906_184021_215264,1,FloorPlan10,Put the salt shaker in the middle drawer by the stove. ,"[""Turn to the left and go to the door, then turn left and go to kitchen island."", ""Pick up the salt shaker in the middle of the kitchen island."", ""Turn right towards cabinets and go to the drawers next to stove."", ""Open the middle drawer and place the salt shaker in the corner then close the drawer. ""]","[""GotoLocation ['countertop']"", ""PickupObject ['peppershaker']"", ""GotoLocation ['drawer']"", ""PutObject ['peppershaker', 'drawer']"", ""NoOp""]",trial_T20190906_184021_215264_1.png
trial_T20190906_184021_215264,2,FloorPlan10,move the salt bottle from the counter to the second drawer,"[""turn left, walk to the window, turn left, walk to the side of the counter"", ""grab the salt bottle on the counter"", ""turn right, turn left, walk to the drawers on the left side of the over"", ""open the second drawer, put the salt in""]","[""GotoLocation ['countertop']"", ""PickupObject ['peppershaker']"", ""GotoLocation ['drawer']"", ""PutObject ['peppershaker', 'drawer']"", ""NoOp""]",trial_T20190906_184021_215264_2.png