Datasets:

LeeAfe
/

g_planet_backup

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The dataset generation failed because of a cast error

Error code:   DatasetGenerationCastError
Exception:    DatasetGenerationCastError
Message:      An error occurred while generating the dataset

All the data files must have the same columns, but at some point there are 1 new columns ({'input_table'})

This happened while the json dataset builder was generating data using

hf://datasets/LeeAfe/g_planet_backup/data/train_data/train_table_seq_1_tapex.jsonl (at revision 703567730643177a62ff2da6237f12211e89831a)

Please either edit the data files to have matching columns, or separate them into different configurations (see docs at https://hf.co/docs/hub/datasets-manual-configuration#multiple-configurations)
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/builder.py", line 1869, in _prepare_split_single
                  writer.write_table(table)
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/arrow_writer.py", line 580, in write_table
                  pa_table = table_cast(pa_table, self._schema)
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/table.py", line 2292, in table_cast
                  return cast_table_to_schema(table, schema)
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/table.py", line 2240, in cast_table_to_schema
                  raise CastError(
              datasets.table.CastError: Couldn't cast
              id: string
              input: string
              output: string
              input_table: struct<id: list<item: string>, object_type: list<item: string>, position_x: list<item: string>, position_y: list<item: string>, position_z: list<item: string>, rotation_x: list<item: string>, rotation_y: list<item: string>, rotation_z: list<item: string>, parent_receptacle: list<item: string>>
                child 0, id: list<item: string>
                    child 0, item: string
                child 1, object_type: list<item: string>
                    child 0, item: string
                child 2, position_x: list<item: string>
                    child 0, item: string
                child 3, position_y: list<item: string>
                    child 0, item: string
                child 4, position_z: list<item: string>
                    child 0, item: string
                child 5, rotation_x: list<item: string>
                    child 0, item: string
                child 6, rotation_y: list<item: string>
                    child 0, item: string
                child 7, rotation_z: list<item: string>
                    child 0, item: string
                child 8, parent_receptacle: list<item: string>
                    child 0, item: string
              to
              {'id': Value(dtype='string', id=None), 'input': Value(dtype='string', id=None), 'output': Sequence(feature=Value(dtype='string', id=None), length=-1, id=None)}
              because column names don't match
              
              During handling of the above exception, another exception occurred:
              
              Traceback (most recent call last):
                File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 1392, in compute_config_parquet_and_info_response
                  parquet_operations = convert_to_parquet(builder)
                File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 1041, in convert_to_parquet
                  builder.download_and_prepare(
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/builder.py", line 924, in download_and_prepare
                  self._download_and_prepare(
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/builder.py", line 999, in _download_and_prepare
                  self._prepare_split(split_generator, **prepare_split_kwargs)
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/builder.py", line 1740, in _prepare_split
                  for job_id, done, content in self._prepare_split_single(
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/builder.py", line 1871, in _prepare_split_single
                  raise DatasetGenerationCastError.from_cast_error(
              datasets.exceptions.DatasetGenerationCastError: An error occurred while generating the dataset
              
              All the data files must have the same columns, but at some point there are 1 new columns ({'input_table'})
              
              This happened while the json dataset builder was generating data using
              
              hf://datasets/LeeAfe/g_planet_backup/data/train_data/train_table_seq_1_tapex.jsonl (at revision 703567730643177a62ff2da6237f12211e89831a)
              
              Please either edit the data files to have matching columns, or separate them into different configurations (see docs at https://hf.co/docs/hub/datasets-manual-configuration#multiple-configurations)

Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.

id string	input string	output sequence
trial_T20190909_094258_737509-0	examine keys with the lamp	[ "STEP 1: walk across the room to the chair, turn right, walk to wall, turn right to face lamp \| STEP 2: turn the lamp on \| STEP 3: pick up the keys that are on the table \| END" ]
trial_T20190909_094258_737509-1	turn a lamp on and pick up the keys on the table	[ "STEP 1: turn left then turn right and walk straight towards the chair then turn right towards the wall and turn right towards the table \| STEP 2: turn the lamp on that is on the table \| STEP 3: pick up the keys on the table \| END" ]
trial_T20190909_094258_737509-2	Look at some keys under the light of a lit lamp.	[ "STEP 1: Take a right around the bed to reach the nightstand. \| STEP 2: Turn on the lamp. \| STEP 3: Pick up the keys from the nightstand. \| END" ]
trial_T20190910_231732_446078-0	To cut an apple as well as place a piece in the freezer.	[ "STEP 1: Walk forward across the room and turn right to face the counter. \| STEP 2: Pick up the knife on the counter. \| STEP 3: Turn around and walk around the table to face the counter with tomato and apple on it on the far side of the room. \| STEP 4: Cut the apple into three pieces. \| STEP 5: Turn left, walk forward to the fridge and turn right to face it. \| STEP 6: Place the knife on the top shelf in the fridge. \| STEP 7: Turn right and walk forward and then turn left to face the apple on the counter. \| STEP 8: Pick up a piece of the apple on the counter. \| STEP 9: Turn right and walk over to face the microwave. \| STEP 10: Heat the piece of apple in the microwave and then remove it. \| STEP 11: Turn left, walk forward to the fridge and turn right to face it. \| STEP 12: Place the piece of apple in the freezer. \| END" ]
trial_T20190910_231732_446078-1	Put cooked apple in the freezer.	[ "STEP 1: Go forward, hang a left and go to the counter to the right of the stove. \| STEP 2: Pick up the big knife that is on the counter. \| STEP 3: Turn around and go to the fridge, hang a right, go forward to the counter with the paper towels on it that is on the left. \| STEP 4: Cut the apple that is on the counter behind the paper towels. \| STEP 5: Turn around, go to the right to the fridge that will be on the right. \| STEP 6: Open the fridge, put the knife inside, close the fridge. \| STEP 7: Go to the right, go to the counter where the apple is on the left. \| STEP 8: Pick up a piece of the apple. \| STEP 9: Turn around, then turn to the left, go forward to the microwave that is on the left. \| STEP 10: Put the apple in the microwave and set it to cook, remove the apple when it is done cooking. \| STEP 11: Turn around, turn to the right and go forward to the fridge that is on the right. \| STEP 12: Open the freezer, put the apple in the freezer and close the freezer. \| END" ]
trial_T20190910_231732_446078-2	Place the warm apple slice in the fridge.	[ "STEP 1: Turn to the left, walk to the right of the stove. \| STEP 2: Pick up the knife. \| STEP 3: Turn around, cross the room, face the counter to the right of the fridge. \| STEP 4: Cut the apple on the counter. \| STEP 5: Go to the left to the fridge. \| STEP 6: Put the knife on the top shelf of the bottom part of the fridge. \| STEP 7: Turn right, walk to the center of the counter on the left. \| STEP 8: Pick up a slice of apple. \| STEP 9: Walk to the right to the microwave. \| STEP 10: Heat the apple slice in the microwave for a few seconds, take the apple slice back out. \| STEP 11: Walk to left to the fridge. \| STEP 12: Put the apple slice in the top part of the fridge. \| END" ]
trial_T20190907_144839_536922-0	Put the sponge on the back of the toilet.	[ "STEP 1: Turn left and go to the shelf. \| STEP 2: Pick up the sponge. \| STEP 3: Turn around and walk to the toilet \| STEP 4: Put the sponge on the back of the toilet. \| END" ]
trial_T20190907_144839_536922-1	Put a sponge on the back of the toilet.	[ "STEP 1: Go straight, then turn left at the metal shelf. \| STEP 2: Take the sponge from the shelf. \| STEP 3: Turn right, then turn right, then go straight, to the toilet. \| STEP 4: Place the sponge on the back of the toilet. \| END" ]
trial_T20190907_144839_536922-2	Place a sponge on the top of a toilet.	[ "STEP 1: Walk to the steel rack to the right of the sink. \| STEP 2: Pick up the sponge from the steel rack. \| STEP 3: Turn around and walk to the toilet. \| STEP 4: Put the sponge on the top of the toilet, just to the right of the toilet paper. \| END" ]
trial_T20190909_011606_013059-0	Put a credit card on the chair.	[ "STEP 1: Walk to the coffee table then take a step to your left and walk to the coffee table then turn right to face it. \| STEP 2: Pick up the credit card farthest to the right. \| STEP 3: Turn left and walk to the curtains and then turn left and walk to the chair. \| STEP 4: Put the credit card near the edge of the cushion below the remote. \| END" ]
trial_T20190909_011606_013059-1	Move a credit card from the coffee table to the striped armchair.	[ "STEP 1: Walk to the coffee table. \| STEP 2: Pick up the furthest credit card to the right on the coffee table. \| STEP 3: Turn around and walk to the striped armchair. \| STEP 4: Set the credit card down on the seat of the striped armchair. \| END" ]
trial_T20190909_011606_013059-2	Move a card from the table to the chair.	[ "STEP 1: Walk to the coffee table on the cards' side. \| STEP 2: Grab the right card from the table. \| STEP 3: Walk to the white chair on your left. \| STEP 4: Place the card on the chair. \| END" ]
trial_T20190909_075240_427378-0	Put a slice of warm bread in the fridge.	[ "STEP 1: Turn around and move to the microwave on the left. \| STEP 2: Pick up the knife to your right. \| STEP 3: Turn around and move around the island to the loaf of bread on the counter. \| STEP 4: Slice the bread on the counter. \| STEP 5: Turn to the right and move around the counter to the microwave. \| STEP 6: Place the knife into the microwave. \| STEP 7: Turn around and move around the island to the loaf of bread on the counter. \| STEP 8: Pick up a slice of bread. \| STEP 9: Turn to the right and move around the counter to the microwave. \| STEP 10: Warm the bread in the microwave. \| STEP 11: With the slice of bread, turn around and move to the fridge. \| STEP 12: Place the slice of bread in the fridge. \| END" ]
trial_T20190909_075240_427378-1	Put a knife in the microwave and a slice of bread in the refrigerator.	[ "STEP 1: Turn around and go to the end of the counter and turn towards the microwave. \| STEP 2: Pick up the knife on the on the counter, to your right. \| STEP 3: Turn around and go to the end of the counter, then turn right and go to the island on your right. \| STEP 4: Cut the loaf of bread on the edge of the island into slices. \| STEP 5: Turn to your right and go to the corner, then turn to your left and go to the microwave across from you. \| STEP 6: Place the knife in the microwave. \| STEP 7: Turn around and walk to the corner, then turn right and go back to the island on your right. \| STEP 8: Pick up one of the slices of bread on the island. \| STEP 9: Turn to your right and go to the corner, then turn to your left and go back to the microwave. \| STEP 10: Place the slice of bread into the microwave, heat it up, then remove the slice of bread from the microwave. \| STEP 11: Turn around and go to the corner, then turn to your left, and go to the refrigerator to your left. \| STEP 12: Place the slice of bread on the top shelf of the refrigerator, in front of the white coffee cup. \| END" ]
trial_T20190909_075240_427378-2	put a slice of hot bread in the refrigerator	[ "STEP 1: turn then walk to the microwave \| STEP 2: pick up the knife is next to the microwave \| STEP 3: \n turn and walk to the bread that is on the table \| STEP 4: slice the bread that is on the table \| STEP 5: walked back to the microwave \| STEP 6: put the knife in the microwave \| STEP 7: walk back to the bread \| STEP 8: pick up a slice of bread \| STEP 9: walk back to the microwave \| STEP 10: put a slice of bread in the microwave start the microwave take a slice of bread out of the microwave \| STEP 11: walk to the refrigerator \| STEP 12: put the slice of bread in the refrigerator shut the refrigerator door \| END" ]
trial_T20190909_032422_085040-0	Wash the bar of soap and place it on the sink counter.	[ "STEP 1: Turn around and walk forward, then turn left at the bathroom sink. \| STEP 2: Pick up the pink soap bar from the counter. \| STEP 3: Place the soap bar inside the sink and turn on the faucet, then turn it off and pick up the soap. \| STEP 4: Turn left and walk towards the adjacent sink. \| STEP 5: Place the soap bar on the counter next to the candle. \| END" ]
trial_T20190909_032422_085040-1	put wet soap on the counter	[ "STEP 1: turn right, take a step, turn right, walk forward, turn left, walk to counter \| STEP 2: pick up the pink bar of soap that is on the counter \| STEP 3: put the pink bar of soap in the sink on the right, fill the sink with water, take the bar of soap out \| STEP 4: turn around, take a step, turn right, take a few steps, turn right to face sink \| STEP 5: put the soap on the counter to the right of the sink \| END" ]
trial_T20190909_032422_085040-2	place a clean bar of soap on top of the bathroom sink counter	[ "STEP 1: turn around and walk over to the bathroom sink on the left side end of the room \| STEP 2: grab a bar of soap off of the bathroom counter there \| STEP 3: place the soap inside the right side bathroom sink, rinse it off then take it back out \| STEP 4: turn left and walk over to the left side bathroom sink on the right \| STEP 5: place the bar of soap down on the bathroom sink counter to the right of the left side sink \| END" ]
trial_T20190907_011745_444370-0	Move the kettle that's on the back left burner to the middle wooden shelf.	[ "STEP 1: Turn left and go to the stove. \| STEP 2: Pick up the kettle that's on the back left burner. \| STEP 3: Turn to the left and go to the wooden shelves. \| STEP 4: Put the kettle on the middle shelf, in the center. \| END" ]
trial_T20190907_011745_444370-1	Move teapot to the brown shelf.	[ "STEP 1: Turn to the left and go to the stove. \| STEP 2: Pick up the teapot from the far left side. \| STEP 3: Turn all the way around to the left, and go to the end of the counter. \| STEP 4: Put the teapot on the brown shelf, first one up from the bottom. \| END" ]
trial_T20190907_011745_444370-2	Move the kettle with blue handle in the back on the stove to the second shelf in the corner	[ "STEP 1: Turn left and walk to the stove \| STEP 2: Take the kettle in the back with blue handle \| STEP 3: Turn left and walk to the shelf \| STEP 4: Put the kettle on the second shelf by the bowl \| END" ]
trial_T20190909_005603_590931-0	Put a microwaved slice of apple in the sink.	[ "STEP 1: Turn and go to the counter by the microwave. \| STEP 2: Pick up the knife on the counter. \| STEP 3: Turn and go to the sink. \| STEP 4: Cut the apple in the sink. \| STEP 5: Turn right and go to the sink. \| STEP 6: Put the knife in the sink. \| STEP 7: Turn left and go to the sink. \| STEP 8: Pick up a slice of apple in the sink. \| STEP 9: Turn and go to the microwave. \| STEP 10: Heat the slice of apple in the microwave. \| STEP 11: Turn and go to the sink. \| STEP 12: Put the slice of apple in the sink. \| END" ]
trial_T20190909_005603_590931-1	Slice an apple and warm it up.	[ "STEP 1: Walk forward to the counter, turn right at the cabinet and walk to the corner. \| STEP 2: Pick up the knife from the counter. \| STEP 3: Turn around and walk to the left sink. \| STEP 4: Slice the apple in the left sink. \| STEP 5: Walk to the right sink. \| STEP 6: Put the knife down in the right sink next to the lettuce. \| STEP 7: Walk to the left sink. \| STEP 8: Grab a piece of the apple from the left sink. \| STEP 9: Turn right and walk the apple slice to the microwave. Open the microwave door and put the slice of apple to the left of the plate. \| STEP 10: Close the door, turn it on, and open the door. Pick up the apple slice and shut the door. \| STEP 11: Turn around and walk to the right sink. \| STEP 12: Put the apple slice in the right sink next to the knife. \| END" ]
trial_T20190909_005603_590931-2	cook the apple and put it in the sink	[ "STEP 1: turn and walk to the counter with the knife \| STEP 2: Pick up the knife that is on the counter\n\n \| STEP 3: Take the knife to the sink that is on the left \| STEP 4: cut the Apple that is in the sink on the left\n\n \| STEP 5: put the knife in the sink on the right\n \| STEP 6: pick up the Apple and turn towards the microwave\n\n \| STEP 7: walk over to the microwave\n \| STEP 8: put the Apple in the microwave\n \| STEP 9: close to microwave and cook the apple\n \| STEP 10: take the Apple out of the microwave\n\n\n take the Apple out of the microwave\n \| STEP 11: walk back over to the sink \| STEP 12: put the Apple in the sink on the right \| END" ]
trial_T20190913_032219_033847-0	Place the silver bowl with the pencil in it on the glass coffee table.	[ "STEP 1: Turn around and walk straight to face the end of the black table with the brown lamp on it. \| STEP 2: Pick up the pencil from off of the black table. \| STEP 3: Turn around, go straight, then go right and stop to face the black table on the left. \| STEP 4: Place the pencil in the silver bowl on the black table. \| STEP 5: Pick up the silver bowl that's on the table. \| STEP 6: Go to the left, then right, then right at the couch and face the end of the glass coffee table. \| STEP 7: Place the silver bowl on the glass coffee table. \| END" ]
trial_T20190913_032219_033847-1	Place a bowl with a pencil in it on a table.	[ "STEP 1: Turn around and veer right to the small rectangular table with the lamp. \| STEP 2: Pick up the pencil on the table. \| STEP 3: Turn around and walk ahead and veer right at the wall to the rectangular table. \| STEP 4: Place the pencil in the bowl on the table. \| STEP 5: Pick up the bowl. \| STEP 6: Turn right and walk ahead and around the couch to the coffee table. \| STEP 7: Place the bowl on the coffee table to the right of the other object. \| END" ]
trial_T20190913_032219_033847-2	Put a bowl with a pencil in it on the coffee table.	[ "STEP 1: Turn left and take a step forward, then turn left and walk over to the small black table with the lamp on it to the right of the couch. \| STEP 2: Pick up the yellow pencil off of the small black table. \| STEP 3: Turn left and take a step forward, then turn left and walk over to the small black table below the picture on the wall. \| STEP 4: Put the pencil in the bowl that is on the black table. \| STEP 5: Pick up the bowl with the pencil in it off of the table. \| STEP 6: Turn right and walk towards the wall, then hang a right and walk over to the coffee table. \| STEP 7: Put the bowl with the pencil in it on top of the coffee table. \| END" ]
trial_T20190908_033450_287042-0	Move the phone from the bed to the dresser.	[ "STEP 1: Turn around and go to the bed. \| STEP 2: Pick up the phone from the bed. \| STEP 3: Turn right and go to the dresser. \| STEP 4: Put the phone on the dresser. \| END" ]
trial_T20190908_033450_287042-1	Move a phone from the bed to the dresser.	[ "STEP 1: Turn around completely and walk to the foot of the bed. \| STEP 2: Pick up the cell phone that is on the bed. \| STEP 3: Turn to your right and move forward towards the dresser. \| STEP 4: Place the phone upright in a vertical position on top of the CD that is on the dresser. \| END" ]
trial_T20190908_033450_287042-2	Put a phone on a dresser.	[ "STEP 1: Turn to the right and then right again to face the end of the bed. \| STEP 2: Pick the phone up from the bed. \| STEP 3: Turn to the right and face the dresser. \| STEP 4: Put the phone down on the dresser on top of the disc. \| END" ]
trial_T20190908_181520_195315-0	put a slice of bread on top of the counter	[ "STEP 1: go left turn to the left towards the counter \| STEP 2: pick up the knife that is on top of the counter \| STEP 3: turn to the left towards the other side of the counter \| STEP 4: slice a loaf of bread \| STEP 5: turn around to the right go forward turn to the left towards the refrigerator \| STEP 6: put the knife inside the refrigerator \| STEP 7: turn to the left go right towards the counter \| STEP 8: pick up a slice of bread from the counter \| STEP 9: turn around to the left go left towards the refrigerator \| STEP 10: put the slice of bread in the refrigerator get it back out \| STEP 11: turn to the left go right towards the counter \| STEP 12: put the slice of bread on top of the counter \| END" ]
trial_T20190908_181520_195315-1	Put a cold slice of bread on the counter.	[ "STEP 1: Turn left, go across the room, turn left and to the counter. \| STEP 2: Pick up the knife from the counter. \| STEP 3: Turn left, pass the sink and turn right to face the counter. \| STEP 4: Cut the bread on the counter. \| STEP 5: Turn around, go across the room, turn left and head to the fridge. \| STEP 6: Put the knife on the top shelf of the fridge. \| STEP 7: Turn around, go across the room, turn right and go to the counter. \| STEP 8: Pick up a slice of bread. \| STEP 9: Turn around and head back to the fridge. \| STEP 10: Put the slice of bread in the fridge, close the fridge, open the fridge and pick it back up. \| STEP 11: Turn around, go across the room, turn right and head to the counter. \| STEP 12: Put the slice of bread on the edge of the counter. \| END" ]
trial_T20190908_181520_195315-2	Place a cooked slice of bread on the counter.	[ "STEP 1: Turn left, move to the counter right of the sink. \| STEP 2: Pick up the knife from the counter. \| STEP 3: Turn left, move to the counter right of the microwave. \| STEP 4: Slice the bread on the counter. \| STEP 5: Turn right, move to in front of the refrigerator. \| STEP 6: Put the knife in the refrigerator. \| STEP 7: Turn left, move to the counter right of the microwave. \| STEP 8: Pick up a slice of bread from the counter. \| STEP 9: Turn right, move to in front of the refrigerator. \| STEP 10: Put the slice of bread in the refrigerator, chill it, pick it up. \| STEP 11: Turn left, move to the counter right of the microwave. \| STEP 12: Put the slice of bread on the counter. \| END" ]
trial_T20190908_053517_344063-0	Put a towel in a tub.	[ "STEP 1: Turn left, go forward to the wall, turn right, go forward to the left sink/ \| STEP 2: Take the green towel on the hanging ring on the left wall. \| STEP 3: Turn around, go forward a step, turn left, go forward to the tub. \| STEP 4: Put the towel in the tub to the right of the purple rag. \| END" ]
trial_T20190908_053517_344063-1	Move a hand towel to the bath tub	[ "STEP 1: Move to the far left hand side of the sink \| STEP 2: Pick up the hand towel on the towel ring on the left wall \| STEP 3: Carry the green towel to the bath tub \| STEP 4: Place the hand towel in the bath tub \| END" ]
trial_T20190908_053517_344063-2	Place a towel in a bathtub	[ "STEP 1: Turn left and walk to the wall, then turn right and walk to the sink on the left \| STEP 2: Pick up the green hand towel that is hanging up on the wall to the left \| STEP 3: Turn right and walk to the bathtub \| STEP 4: Place the green towel in the bathtub, to the right of the purple cloth \| END" ]
trial_T20190907_035150_206016-0	Place a spoon into a sink	[ "STEP 1: Take a step to your left and then walk to the counter that is in front of you \| STEP 2: Pick up the spoon that is on the counter \| STEP 3: \nTurn to the right and walk to the sink \| STEP 4: Place the spoon into the spoon \| END" ]
trial_T20190907_035150_206016-1	Put the spoon in the sink.	[ "STEP 1: Walk forward and to the left slightly. \| STEP 2: Pick up the spoon to the left of the sink. \| STEP 3: Move to the right to stand at the sink. \| STEP 4: Put the spoon in the sink. \| END" ]
trial_T20190907_035150_206016-2	Put a spoon in the sink.	[ "STEP 1: Move to the right of the sink at the counter. \| STEP 2: Pick up the spoon on the counter. \| STEP 3: Turn right, move to the sink, turn left to face the sink. \| STEP 4: Put the spoon in the sink. \| END" ]
trial_T20190911_205457_862250-0	Discard incorrectly cooked food.	[ "STEP 1: Move to the counter near the sink with the apple. \| STEP 2: Pick up the knife that is on the counter. \| STEP 3: Move to the apple. \| STEP 4: Slice the apple that is on the counter. \| STEP 5: Turn right and move to the microwave. \| STEP 6: Open the door and place the knife inside. Close the door. \| STEP 7: Turn left and go to the counter with the sliced apple. \| STEP 8: Pick up a slice of apple that is on the counter. \| STEP 9: Turn right and go to the microwave. \| STEP 10: Open the microwave. Place the apple inside. Turn on the microwave. Heat the apple. Open the microwave. Take out the apple. Close the door. \| STEP 11: Move toward the green trash bin across the room. \| STEP 12: Throw the apple into the trash bin. \| END" ]
trial_T20190911_205457_862250-1	Put a cooked apple in a bin.	[ "STEP 1: Turn left, go to the counter to the right of the sink where the lettuce is. \| STEP 2: Take the knife close to the lettuce from the counter. \| STEP 3: Go a little to the right in front of the apple on the counter. \| STEP 4: Cut the apple on the counter into pieces. \| STEP 5: Go to the microwave to the right. \| STEP 6: Put the knife in the microwave. \| STEP 7: Go back to the left to the counter area with the apple and lettuce. \| STEP 8: Take a piece of apple from the counter. \| STEP 9: Go back to the microwave to the right. \| STEP 10: Cook the apple in the microwave. Take the apple from the microwave. \| STEP 11: Turn around, go to the wall across the room, turn right to the green bin. \| STEP 12: Put the apple in the bin. \| END" ]
trial_T20190911_205457_862250-2	Throwing away a cooked apple	[ "STEP 1: Turn left and face the counter on the right \| STEP 2: Grab the knife that's on the counter \| STEP 3: Move slightly to the right \| STEP 4: Slice the apple on the counter with the knife \| STEP 5: Turn right and stand in front of the microwave \| STEP 6: Place the knife inside the microwave \| STEP 7: Turn left and face the counter on the right \| STEP 8: Grab the sliced piece of apple \| STEP 9: Turn right and stand in front of the microwave \| STEP 10: Place the sliced apple in the microwave and then cook it \| STEP 11: Take the apple out of the microwave. Turn around and head to the trash can. \| STEP 12: Place the apple in the trash can \| END" ]
trial_T20190909_044704_757055-0	Put two wash cloths in the sink.	[ "STEP 1: Turn left and walk towards the shower, then hang a left and walk up to the counter. \| STEP 2: Take the wash cloth off of the metal ring on the wall to the right of the mirror. \| STEP 3: Turn left and walk forward, then turn right to face the counter. \| STEP 4: Put the wash cloth in the sink. \| STEP 5: Turn left and walk over to the wall, then turn right to face the mirror. \| STEP 6: Pick up the wash cloth off of the metal ring on the wall to the left of the mirror. \| STEP 7: Turn right and walk forward, then turn left to face the sink. \| STEP 8: Put the wash cloth into the sink. \| END" ]
trial_T20190909_044704_757055-1	Put two towels in the sink	[ "STEP 1: Turn left and go to the towel to the left of the toilet \| STEP 2: Take the towel from the ring on the wall \| STEP 3: Move left to the sink \| STEP 4: Put the towel in the sink \| STEP 5: Turn left and go to the towel to the left of the mirror \| STEP 6: Take the towel from the ring on the wall \| STEP 7: Move right and go to the sink \| STEP 8: Place the towel in the sink to the left of the first towel \| END" ]
trial_T20190909_044704_757055-2	place two towels in sink	[ "STEP 1: turn around, go to towel holder to the right of mirror \| STEP 2: take white towel from towel holder \| STEP 3: go to sink to the left \| STEP 4: place white towel in sink \| STEP 5: go to towel holder to the left of mirror \| STEP 6: take white towel from towel holder \| STEP 7: go to the sink to the right \| STEP 8: place towel in sink to the left of towel in the sink \| END" ]
trial_T20190908_182807_228958-0	Put a clean knife in the drawer.	[ "STEP 1: Walk forward to the wall then turn right and walk to the table. \| STEP 2: Pick up the yellow handled knife that's in front of you. \| STEP 3: Turn right and walk to the sink that's on your right and stand facing it so you can use it. \| STEP 4: Wash the knife in the sink and then pick it back up and shut off the water. \| STEP 5: Turn left and take a step then turn left and walk to the counter then turn left. \| STEP 6: Open the drawer farthest away from you that's under the counter to your right and put the knife in there before closing it again. \| END" ]
trial_T20190908_182807_228958-1	Rinse a knife and place it in a drawer.	[ "STEP 1: Move forward and turn right to face the white table. \| STEP 2: Pick up the knife from the center of the table. \| STEP 3: Carry the knife and turn to the right and then face the sink on the right. \| STEP 4: Place the knife in the sink and turn on the water. Turn off the water and pick up the knife. \| STEP 5: Hold the knife and turn around to the counter. Face the left side wall. \| STEP 6: Open the top drawer and place the knife inside. Shut the drawer. \| END" ]
trial_T20190908_182807_228958-2	Wash a knife and put it away.	[ "STEP 1: Walk to the kitchen table on your right. \| STEP 2: Grab a knife from the table. \| STEP 3: Go to the kitchen sink on your right. \| STEP 4: Put the knife in the sink, wash it, then grab it. \| STEP 5: Walk to the kitchen counter with the coffee maker on it. \| STEP 6: Put the knife in the top-left drawer. \| END" ]
trial_T20190909_150929_316139-0	Examine the pillow with the light of the lamp.	[ "STEP 1: Turn left and go to the side of the nightstand. \| STEP 2: Pick up the pillow on the bed. \| STEP 3: Turn left and go to the lamp. \| STEP 4: Turn on the lamp. \| END" ]
trial_T20190909_150929_316139-1	Look at a purple pillow by a lit lamp.	[ "STEP 1: Turn left go forward to the space between the night stand and the desk, turn left. \| STEP 2: Take the purple pillow from the bed. \| STEP 3: Turn left, go forward to the dresser next to the door. \| STEP 4: Turn the lamp on the dresser on. \| END" ]
trial_T20190909_150929_316139-2	Pick a pillow up and turn a lamp on.	[ "STEP 1: Go left to cross the room and then face the bed to the left. \| STEP 2: Pick the purple pillow up from the bed. \| STEP 3: Go left and cross the room to face the lamp on the small cabinet. \| STEP 4: Turn the lamp on. \| END" ]
trial_T20190906_200758_556616-0	Put a heated piece of bread on a table.	[ "STEP 1: Turn left, go to the round table. \| STEP 2: Take the knife closest to the blue right bottle from the table. \| STEP 3: Turn around, go to the door, turn left at the last stool to face the counter. \| STEP 4: Cut the bread on the counter into slices. \| STEP 5: Put the knife on the counter in front of the pan. \| STEP 6: Take a slice of bread from the counter. \| STEP 7: Turn left, go straight, when the counter ends turn right, go straight and to the right to the oven. \| STEP 8: Put the bread in the microwave above the oven. Turn the microwave on. Take the bread from the microwave. \| STEP 9: Turn right, go straight, turn right, go straight, at the end of the counter turn left, go to the window, turn right, go between the wall and the table and face the table. \| STEP 10: Put the bread to the left of the closest blue bottle on the table. \| END" ]
trial_T20190906_200758_556616-1	Place a slice of microwaved bread on the kitchen table.	[ "STEP 1: Turn around and walk towards the kitchen table. \| STEP 2: Pick the knife up from off of the table. \| STEP 3: Turn around, walk to the end of the room and turn left to face the counter. \| STEP 4: Slice the bread that's on the counter with the knife. \| STEP 5: Place the knife on the metal pan on the counter. \| STEP 6: Pick up a slice of bread from the counter. \| STEP 7: Turn to the left and walk around the counter to face the microwave above the stove. \| STEP 8: Open the microwave, place the slice of bread inside, close the microwave, turn on the microwave, wait a second, open the microwave and remove the slice of bread. \| STEP 9: Turn around and walk across the room to stand by the kitchen table. \| STEP 10: Place the slice of bread on the kitchen table. \| END" ]
trial_T20190906_200758_556616-2	place a microwaved slice of bread on top of the kitchen table	[ "STEP 1: turn around and walk to the dining table at the end of the room \| STEP 2: grab a knife off of the dining table \| STEP 3: turn around and walk to the end of the room, then turn left to face the kitchen counter \| STEP 4: slice the bread loaf on the counter \| STEP 5: place the knife down on the counter \| STEP 6: grab a slice of bread off of the counter \| STEP 7: turn around and walk to the end of the kitchen counter on the right, then turn right and walk a bit past the kitchen fridge on the left, then hang another right and walk over to the stove ahead \| STEP 8: place the slice of bread in the microwave above the kitchen stove, microwave it, then take it back out \| STEP 9: turn right and walk to the end of the kitchen counter on the left, then turn right and walk over to the kitchen table in the corner of the room \| STEP 10: place the slice of bread on top of the kitchen table \| END" ]
trial_T20190908_140553_410521-0	place a microwaved potato inside of the refrigerator	[ "STEP 1: walk forwards to the kitchen counter up ahead \| STEP 2: grab the potato off of the kitchen counter \| STEP 3: turn left to face the microwave \| STEP 4: place the potato inside of the microwave, turn it on, cook it, then take it back out \| STEP 5: turn left and walk over to the front of the refrigerator on your right \| STEP 6: place the potato inside of the refrigerator \| END" ]
trial_T20190908_140553_410521-1	Put heated potato in the fridge	[ "STEP 1: Move forward then head to the counter beside the toaster \| STEP 2: Pick up the potato beside the toaster at the counter \| STEP 3: Turn left face the microwave \| STEP 4: Open the microwave then heat the potato wait few seconds take it out then close the microwave \| STEP 5: Turn left then move few steps face the fridge \| STEP 6: Open the fridge and put in the potato \| END" ]
trial_T20190908_140553_410521-2	Pick up potato, warm in microwave, put in refrigerator.	[ "STEP 1: Proceed to counter across room. \| STEP 2: Pick up potato from counter, to the left of toaster. \| STEP 3: Turn left to face microwave. \| STEP 4: Open microwave door. Place potato in microwave, close door. Wait three seconds. Open microwave, remove potato, close door. \| STEP 5: Turn left to go to refrigerator. Turn right to face refrigerator. \| STEP 6: Open refrigerator, put potato on second shelf down under lettuce, close refrigerator door. \| END" ]
trial_T20190906_232841_792705-0	Place a cup with a knife in it on a table.	[ "STEP 1: Turn right and walk to the sink. \| STEP 2: Take the butter knife out of the sink basin. \| STEP 3: Turn around and walk to the toaster. \| STEP 4: Open the top left cabinet over the toaster. \| STEP 5: Put the knife in the glass in the cabinet. \| STEP 6: Take the glass and turn around and walk to the table. \| STEP 7: Place the cup on the table in front of the ladle. \| END" ]
trial_T20190906_232841_792705-1	Put a glass with a knife in it on the table.	[ "STEP 1: Go to the sink. \| STEP 2: Pick up the knife in the sink. \| STEP 3: Bring the knife to the cabinet above the toaster. \| STEP 4: Put the knife in the glass in the cabinet. \| STEP 5: Pick up the glass in the cabinet. \| STEP 6: Bring the glass to the table. \| STEP 7: Put the glass on the table. \| END" ]
trial_T20190906_232841_792705-2	Setting the table for a meal.	[ "STEP 1: Move across room to the sink. \| STEP 2: Pick up the butter knife that is in the sink. \| STEP 3: Move across room the the counter that is on the left side of the fridge. Open the left cupboard door that is above the counter. \| STEP 4: Put the knife in the glass in the cupboard. \| STEP 5: Pick up the glass off of the shelf. \| STEP 6: Close the cupboard. Turn around and move to the white kitchen table. \| STEP 7: Place the glass and knife on the table. \| END" ]
trial_T20190908_053229_447871-0	Put a warm plate in the sink.	[ "STEP 1: Turn around, go forward, then turn right to go to the cabinet adjacent to the stove. \| STEP 2: Pick up the plate from the cabinet, adjacent to the stove. \| STEP 3: Turn left, move forward, then look up to face the microwave. \| STEP 4: Warm up the plate in the microwave. \| STEP 5: Go to the sink to your right. \| STEP 6: Put the plate in the sink basin. \| END" ]
trial_T20190908_053229_447871-1	Put a heated plate in the sink.	[ "STEP 1: Turn around and walk forward, then hang a right and walk up to the counter. \| STEP 2: Open the lower cabinet to the right of the oven and take out of the grey plate, then close the cabinet door. \| STEP 3: Turn left and walk forward, then turn right to face the oven and look up at the microwave. \| STEP 4: Put the plate in the microwave and turn on the microwave, after a couple seconds take out the plate and close the microwave. \| STEP 5: Turn right and walk forward, then turn left to face the sink. \| STEP 6: Put the heated plate in the sink basin. \| END" ]
trial_T20190908_053229_447871-2	Place the plate in the sink.	[ "STEP 1: Walk over to the sink. \| STEP 2: Open the left cabinet door and grab the plate. \| STEP 3: Head over to the microwave and open the door. \| STEP 4: Heat the plate in the microwave and take it out. \| STEP 5: Head back to the sink. \| STEP 6: Place the plate in the right side of the sink. \| END" ]
trial_T20190909_065422_153174-0	Put two towels on the counter.	[ "STEP 1: Turn around and go to the counter. \| STEP 2: Pick up the towel from the ring on the wall. \| STEP 3: Turn left and go to the sink. \| STEP 4: Put the towel on the counter to the left of the sink. \| STEP 5: Turn left, go to the wall and turn right. \| STEP 6: Pick up the towel from the ring on the wall. \| STEP 7: Turn right and go back to the sink. \| STEP 8: Put the towel on the counter to the right of the sink \| END" ]
trial_T20190909_065422_153174-1	Putting two towels on the sink counter	[ "STEP 1: Turn around and face the wall \| STEP 2: Grab the towel off of the towel holder \| STEP 3: Turn left and go to the sink \| STEP 4: Put the towel down to the left of the sink \| STEP 5: Turn left and stop at the edge of the sink \| STEP 6: Grab the towel off of the towel holder on the wall \| STEP 7: Turn right and go to the sink \| STEP 8: Put the towel down to the right of the sink \| END" ]
trial_T20190909_065422_153174-2	remove the towels from the wall and put them on the sink counter	[ "STEP 1: turn around and walk straight towards the mirror and look up \| STEP 2: take the towel off the towel rack on the wall \| STEP 3: turn left and walk straight then turn right towards the sink \| STEP 4: put the towel down next to the sink \| STEP 5: turn left and walk to the wall then turn right and look up \| STEP 6: take the towel off of the towel rack on the wall \| STEP 7: turn right and walk straight then turn left towards the sink \| STEP 8: put the towel down on the right side of the sink counter \| END" ]
trial_T20190908_020231_495922-0	Put a cold slice of lettuce in a sink.	[ "STEP 1: Turn left, go forward to the wall, turn right, go forward, turn right to the island where the fork is. \| STEP 2: Take the knife above the fork from the island counter. \| STEP 3: Move a step to the left and face the island. \| STEP 4: Cut the closest lettuce on the island counter into slices. \| STEP 5: Turn left, go forward to the counter, turn right, go forward, turn left at the sink. \| STEP 6: Put the knife in the sink. \| STEP 7: Turn left, go forward, turn left, go forward, turn left to island counter where the lettuce is. \| STEP 8: Take a slice of lettuce from the island counter. \| STEP 9: Turn left, go forward to the counter, turn right, go forward all the way, turn right, go forward, turn left at the fridge. \| STEP 10: Chill the lettuce in the fridge. Take the lettuce from the fridge. \| STEP 11: Turn left, go forward to the counter, turn right, go forward, turn right at the sink. \| STEP 12: Put the lettuce in the sink in the lower left corner. \| END" ]
trial_T20190908_020231_495922-1	Move a cold piece of lettuce to the sink by a knife.	[ "STEP 1: Turn left and cross the room until you reach the wall, then turn right to walk between the counter and kitchen island, ending facing the island. \| STEP 2: Pick up the sharp knife from the center of the island by the lettuce. \| STEP 3: Take a step to the left while carrying the knife. \| STEP 4: Use the knife to slice the head of lettuce. \| STEP 5: Turn left and move to stand in front of the kitchen sink. \| STEP 6: Place the knife in the sink. \| STEP 7: Turn around and move back around the island to stand in front of the lettuce you just sliced. \| STEP 8: Pick up a slice of lettuce from the island. \| STEP 9: Carry the slice of lettuce around the island to the fridge. \| STEP 10: Open the fridge, place the lettuce on the second shelf, close the door, and then open the door and remove the lettuce once chilled. \| STEP 11: Carry the lettuce to the kitchen sink. \| STEP 12: Place the lettuce in the sink to the left of the knife. \| END" ]
trial_T20190908_020231_495922-2	Put a piece of cold lettuce in the sink.	[ "STEP 1: Turn around and go to the far side of the kitchen island, then face it. \| STEP 2: Pick up the knife from the island. \| STEP 3: Take a step to the left and face the lettuce. \| STEP 4: Cut the lettuce on the island with the knife. \| STEP 5: Bring the knife with you and move to the kitchen sink. \| STEP 6: Put the knife in the sink. \| STEP 7: Go back to the island and face the lettuce where you sliced it. \| STEP 8: Pick up a piece of lettuce from the island. \| STEP 9: Bring the lettuce with you over to the black fridge. \| STEP 10: Open the fridge and put the lettuce on the second shelf from the bottom, close the door and let it get cool, then take the lettuce out of the fridge again. \| STEP 11: Bring the lettuce over to the kitchen sink. \| STEP 12: Put the lettuce in the kitchen sink. \| END" ]
trial_T20190908_235326_884738-0	Move the pencil and hold it above the garbage bin.	[ "STEP 1: Turn to the right and move to the desk on the opposite corner of the room. \| STEP 2: Take the pencil from the top shelf of the desk. \| STEP 3: Turn around and move to the garbage bin on the right side. \| STEP 4: Hold the pencil above the garbage bin. \| END" ]
trial_T20190908_235326_884738-1	Pick up a pencil and turn a lamp on.	[ "STEP 1: Cross the room to the right to stand in front of the desk. \| STEP 2: Pick the pencil up from the top of the desk. \| STEP 3: Turn left and stand at the left side of the desk facing the lamp on the top. \| STEP 4: Turn the lamp on. \| END" ]
trial_T20190908_235326_884738-2	Examine the pencil under the light of the desk lamp	[ "STEP 1: Turn right and walk forward and right up to the wooden desk \| STEP 2: Pick up the yellow pencil from the top shelf of the desk \| STEP 3: Turn left and walk to the lamp on the left side of the desk \| STEP 4: Turn on the lamp on the left side of the desk \| END" ]
trial_T20190907_151029_702790-0	Place both laptops on the counter.	[ "STEP 1: Turn around and face the right side of the bed. \| STEP 2: Pick up the laptop. \| STEP 3: Turn around and head towards the counter. \| STEP 4: Place the laptop on the counter. \| STEP 5: Turn around and head towards the wall, then turn right and face the left side of the bed. \| STEP 6: Close the laptop and pick it up. \| STEP 7: Turn the the right and walk forward a bit, then turn left and head towards the counter. \| STEP 8: Place the laptop on the counter next to the other laptop. \| END" ]
trial_T20190907_151029_702790-1	Place two computers on the white dresser.	[ "STEP 1: Turn around, go to the green bed, and turn left to face the green bed. \| STEP 2: Close the computer and pick up the computer from the green bed. \| STEP 3: Turn around and go to the white dresser. \| STEP 4: Place the computer on the white dresser. \| STEP 5: Turn around, go to the right black chair, turn right, go to the green bed, and turn right. \| STEP 6: Close the computer and pick up the computer from the green bed. \| STEP 7: Turn right, go around the green bed, turn left, go to the white dresser. \| STEP 8: Place the computer on the white dresser. \| END" ]
trial_T20190907_151029_702790-2	Put two laptops on the desk.	[ "STEP 1: Go to the side of the bed with the teddy bear. \| STEP 2: Pick up the laptop on the edge of the bed. \| STEP 3: Turn around and go to the desk. \| STEP 4: Set the laptop down to the right of the remote. \| STEP 5: Go across the room to the side of the bed closest to the door. \| STEP 6: Pick up the laptop on the bed. \| STEP 7: Take the laptop to the desk. \| STEP 8: Set the laptop down to the right of the disk on the desk. \| END" ]
trial_T20190909_133234_282375-0	Put two bars of soap in the bath tub.	[ "STEP 1: Turn right and walk to the bath tub. \| STEP 2: Pick up the bar of soap laying on the side of the bath tub. \| STEP 3: Move to your left and face the bath tub. \| STEP 4: Put the bar of soap in the bath tub. \| STEP 5: Turn around and walk toward the door, then turn left to face the cabinet. \| STEP 6: Pick up the bar of soap laying on the cabinet. \| STEP 7: Turn around and walk back to the bath tub. \| STEP 8: Put the bar of soap in the bath tub next to the other bar of soap. \| END" ]
trial_T20190909_133234_282375-1	Put two bars of soap in the tub.	[ "STEP 1: Turn to the right and go to the tub, turn to the right and go forward. \| STEP 2: Pick up the bar of soap that is on the edge of the tub. \| STEP 3: Turn around and move forward, turn to the right to face the tub. \| STEP 4: Put the bar of soap in the tub. \| STEP 5: Turn around and cross the room, turn to the right and go to the table that is to the right of the garbage can. \| STEP 6: Pick up the bar of soap that is on the table. \| STEP 7: Turn around, go forward, hang a left and go to the tub. \| STEP 8: Put the bar of soap in the tub. \| END" ]
trial_T20190909_133234_282375-2	Put bars of soap in the tub.	[ "STEP 1: Turn right and go to the bath tub. \| STEP 2: Pick up the soap on the right side of the tub. \| STEP 3: Go to the middle of the tub. \| STEP 4: Put the soap in the tub. \| STEP 5: Turn around and go to the cabinet with the tissues. \| STEP 6: Pick up the soap on the cabinet. \| STEP 7: Turn right and go back to the tub. \| STEP 8: Put the soap in the tub to the right of the other soap. \| END" ]
trial_T20190909_144937_535865-0	Pick up a credit card and turn on a lamp.	[ "STEP 1: Turn to the right, go to the front of the brown shelf with the cardboard box on it. \| STEP 2: Pick up the credit card that is on top of the shelf to the right of the cardboard box. \| STEP 3: Turn to the left, go across the room, turn to the left and go to the lamp. \| STEP 4: Turn the lamp on. \| END" ]
trial_T20190909_144937_535865-1	Examine a credit card by the light of a tall lamp.	[ "STEP 1: Turn right and walk to the wooden shelves on the right. \| STEP 2: Pick up the blue credit card to the right of the box. \| STEP 3: Turn left and hang a left at the wall to reach the tall lamp in the corner. \| STEP 4: Turn on the tall lamp. \| END" ]
trial_T20190909_144937_535865-2	Grab the credit card and turn on the lamp in the corner of the room.	[ "STEP 1: Turn right and walk to the shelf with the empty box on it. \| STEP 2: Grab the credit card on the shelf. \| STEP 3: Turn left and walk to the lamp in the corner of the room to your left. \| STEP 4: Turn on the lamp. \| END" ]
trial_T20190906_174726_702879-0	Turn on the lamp.	[ "STEP 1: Turn around and go to the end of the bunk-bed to your right. \| STEP 2: Pick up the basketball that is on the floor, in front of the bed. \| STEP 3: Turn around and go to the lamp an the top, left end of the desk. \| STEP 4: Turn the lamp on while still holding the basketball. \| END" ]
trial_T20190906_174726_702879-1	Examine a basketball by the light of a desk lamp	[ "STEP 1: turn to the right and take a few steps and turn to the right and go to the wall and turn to the right facing a basketball on the floor \| STEP 2: pick up the basketball from the floor \| STEP 3: turn to the right and go to the end of the desk \| STEP 4: turn on the lamp on the top shelf of the desk \| END" ]
trial_T20190906_174726_702879-2	pick up a ball from the floor then examine the ball under the lamp	[ "STEP 1: walk over to the bed standing in front of the ladder \| STEP 2: pick up the basketball from the floor \| STEP 3: Bring the basketball over to the window across the room \| STEP 4: turn on the lamp above to examine the ball \| END" ]
trial_T20190906_174726_702879-3	Pick up the basketball and turn on the light	[ "STEP 1: Turn around and walk toward the wall between the desk and the bed \| STEP 2: Pick up the basketball from the floor \| STEP 3: Turn and walk to the left side of the desk \| STEP 4: Turn on the light \| END" ]
trial_T20190906_174726_702879-4	Carry the basketball to the other side of the room.	[ "STEP 1: Turn to the right and walk to the desk, then turn to the right and walk towards the bunk beds. \| STEP 2: Pick up the basketball on the ground. \| STEP 3: Turn to the right and walk across the room, then turn right and walk to the trash bin. \| STEP 4: Hold the basketball above the trash bin. \| END" ]
trial_T20190906_174726_702879-5	View a basketball under illumination.	[ "STEP 1: Turn around and walk to the wall near the end of the bunk beds and face them. \| STEP 2: Pick up the basketball on the floor. \| STEP 3: Turn around and walk to the end of the desk. \| STEP 4: Turn on the light. \| END" ]
trial_T20190908_072633_788236-0	Place the pot with the spatula in it on the table.	[ "STEP 1: Turn around and face the table behind. \| STEP 2: Grab the spatula off of the table. \| STEP 3: Turn right and walk to the stove. \| STEP 4: Place the spatula in the pot in front. \| STEP 5: Grab the pot off of the stove. \| STEP 6: Turn right then walk and face the table on the left. \| STEP 7: Place the pot on the table. \| END" ]
trial_T20190908_072633_788236-1	Put a pot with a spatula in it on the table.	[ "STEP 1: Turn right, go forward, then turn right to face the table. \| STEP 2: Pick up the spatula on the left side of the table. \| STEP 3: Turn right and go straight, to go to the stove. \| STEP 4: Put the spatula in the pot on the right side of the stove. \| STEP 5: Pick up the pot with the spatula in it. \| STEP 6: Turn right, move forward, then turn left to approach the table. \| STEP 7: Put the pot on the table, to the right of the toaster. \| END" ]
trial_T20190908_072633_788236-2	Put spatula in pot, move both to a table.	[ "STEP 1: Turn around, go to table. \| STEP 2: Pick up spatula, located on the left side of the table, to the left of the potato and below the knife. \| STEP 3: Turn right, walk to stove. \| STEP 4: Place spatula in pot on lower right burner on the stove. \| STEP 5: Pick up the pot with the spatula in it. \| STEP 6: Turn right, go to sink. Turn left, go to table. \| STEP 7: Put pot with spatula in it on the table to the right of the toaster. \| END" ]
trial_T20190907_133551_259209-0	place two candles inside of the green bathroom cabinet	[ "STEP 1: turn around and walk over to the toilet on the left side of the room \| STEP 2: grab a candle off of the top of the toilet \| STEP 3: turn around and walk over to the right side of the green cabinet ahead \| STEP 4: place the candle in a drawer on the right side of the cabinet \| STEP 5: turn around and walk back over to the toilet ahead \| STEP 6: grab another candle off of the toilet \| STEP 7: turn around and walk over to the right side of the green cabinet again \| STEP 8: place the candle in the same part of the cabinet you put the other candle in \| END" ]
trial_T20190907_133551_259209-1	Move two candles from the toilet to a drawer.	[ "STEP 1: Turn around and go to the toilet. \| STEP 2: Pick up a candle from the toilet. \| STEP 3: Return to the counter behind you. \| STEP 4: Open the bottom right drawer and put the candle inside. \| STEP 5: Return to the toilet behind you. \| STEP 6: Pick up a candle from the toilet. \| STEP 7: Return to the counter behind you. \| STEP 8: Open the bottom right drawer and put the candle inside. \| END" ]
trial_T20190907_133551_259209-2	Put the candles on the toilet in the bottom right drawer below the counter.	[ "STEP 1: Turn to the right, head towards the tub, then turn right and walk to the toilet. \| STEP 2: Pick up the candle on the far side of the toilet. \| STEP 3: Turn around and head to the counter. \| STEP 4: Open the bottom right drawer and put the candle in, then shut the drawer. \| STEP 5: Turn around and head to the toilet. \| STEP 6: Pick up the candle by the soap. \| STEP 7: Turn around and head to the counter. \| STEP 8: Open the bottom right drawer and put the candle in, then shut the drawer. \| END" ]
trial_T20190907_133551_259209-3	Put two candles in a drawer.	[ "STEP 1: Turn around and head to the toilet. \| STEP 2: Pick up the candle on the back of the toilet that is behind the bar of soap. \| STEP 3: Turn around and head back to the counter \| STEP 4: Open the bottom right drawer and put the candle inside, then close the drawer. \| STEP 5: Turn around and go back to the toilet. \| STEP 6: Pick up the candle that is on the back of the toilet. \| STEP 7: Turn around and head back to the counter. \| STEP 8: Open the bottom right drawer, put the candle inside, then close the drawer. \| END" ]
trial_T20190907_133551_259209-4	Put candles away in bathroom.	[ "STEP 1: Turn and go to the side of the toilet. The opposite side of the toilet paper holder. \| STEP 2: Grab the candle that is behind the bar of soap off the back of the toilet. \| STEP 3: With the candle in hand go to the cabinet with the green drawers. \| STEP 4: Put the candle in the second drawer down in the drawer on the right. Shut the drawer. \| STEP 5: Turn and go to the toilet on the side opposite of the toilet paper holder. \| STEP 6: Pick up the candle that is on the back of the toilet. \| STEP 7: With the candle in hand go to the green cabinet. \| STEP 8: Put the candle in the second drawer all the way on the right. To the right of the other candle that is in there. \| END" ]
trial_T20190908_054136_289177-0	Slice lettuce, clean lettuce, put lettuce on counter.	[ "STEP 1: Turn right then left, proceed to counter. Turn left to face counter, stove on right and garbage can on left. \| STEP 2: Pick up knife off counter, directly next to spoon closest to wall and cup. \| STEP 3: Turn right, proceed to counter. \| STEP 4: Slice lettuce below apple and pepper grinder. \| STEP 5: Turn around to face garbage can. \| STEP 6: Put knife in garbage can to the right. \| STEP 7: Turn around to face counter with lettuce on it. \| STEP 8: Pick up middle slice of lettuce from counter, below pepper grinder. \| STEP 9: Turn left, proceed to sink, turn left to face sink. \| STEP 10: Put slice of lettuce in right side of sink, fill sink with water and drain water, pick lettuce up. \| STEP 11: Turn around, proceed to end of counter, turn right to face counter and garbage can. \| STEP 12: Place lettuce slice on counter, directly to the right of the lower spoon, left of stove. \| END" ]
trial_T20190908_054136_289177-1	Cut a slice of a vegetable, put the slice on a counter.	[ "STEP 1: Turn right, Turn left, Walk straight to the counter near the trash can \| STEP 2: Pick up the silver knife on the counter \| STEP 3: Turn left, walk straight, turn left to the counter \| STEP 4: Cut half of the green vegetable into slices \| STEP 5: Turn left, walk straight, walk straight to the trash can \| STEP 6: Put the knife in the trash can \| STEP 7: Turn left, walk straight, turn left to the counter \| STEP 8: Pick up a slice of the vegetable from on the top of the counter \| STEP 9: Turn left, Walk straight, Turn left to the sink \| STEP 10: Put the slice into the sink, Turn on the water \| STEP 11: Pick up the slice, Turn right, Walk straight to the counter near the trash can \| STEP 12: Put the slice on the counter \| END" ]
trial_T20190908_054136_289177-2	washing some lettuce.	[ "STEP 1: turn right and then left, go forward and stop at stove and trash can . \| STEP 2: face left to the trash and pick up the knife off of the counter. \| STEP 3: turn left twice and head to the counter with the lettuce. \| STEP 4: slice the lettuce on the counter \| STEP 5: turn to your left twice until facing the trash can. \| STEP 6: put the knife back down on counter. \| STEP 7: turn left twice to face the lettuce on the counter. \| STEP 8: pick up a slice of lettuce. \| STEP 9: turn to your left and go forward until you are at the sink on your left. \| STEP 10: put the lettuce in the sink and the remove it again \| STEP 11: turn to your right twice and head back to the trash can. \| STEP 12: put the lettuce on the counter top. \| END" ]
trial_T20190914_020559_534073-0	Put a cold potato slice in the microwave.	[ "STEP 1: Turn around and face the counter with the knife to your left. \| STEP 2: Take the knife from the counter. \| STEP 3: Turn left, right, then right again and face the counter to your right. \| STEP 4: Cut the potato on the counter-top. \| STEP 5: Turn right and head towards the fridge in front of you. \| STEP 6: Put the knife inside the fridge. \| STEP 7: Turn around and face the counter to your right. \| STEP 8: Take a potato slice from the counter. \| STEP 9: Turn right and head towards the fridge. \| STEP 10: Put the potato slice inside the fridge, close it, then take it out. \| STEP 11: Turn right and face the microwave on the counter to your left. \| STEP 12: Put the potato slice in the microwave. \| END" ]
trial_T20190914_020559_534073-1	Put a slice of potato in the microwave.	[ "STEP 1: Turn around and go to the counter with the black stools. \| STEP 2: Pick up the big knife on the counter. \| STEP 3: Go around to the other side of the counter. \| STEP 4: Cut the potato into slices. \| STEP 5: Turn to the right and go to the black fridge. \| STEP 6: Open the fridge, place the knife inside the fridge, and close the fridge. \| STEP 7: Turn around and go back to the counter with the potato. \| STEP 8: Pick up a slice of the potato. \| STEP 9: Turn around and head back to the fridge. \| STEP 10: Put the potato slice inside the fridge and close the door, then take the potato out of the fridge. \| STEP 11: Turn to the right and go to the microwave. \| STEP 12: Put the potato slice in the microwave and shut the door. \| END" ]

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