Instruction: I found the lettuce was rotten; please help me throw it in the trash.

{"steps": 10, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "Pick(Lettuce)", "Move(left, 1.0)", "Move(forward, 0.25)", "Place(GarbageCan)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Lettuce", "receptacle_type": "GarbageCan"}]


Pick up keychain and put it on the chair

Instruction: I need to tidy up the table. Please put the keychain on the chair.

{"steps": 7, "actions": ["Pick(KeyChain)", "Move(left, 0.5)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Place(Chair)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "KeyChain", "receptacle_type": "Chair"}, {"type": "object_in_receptacle", "object_type": "KeyChain", "receptacle_type": "Desk", "value": false}]


Instruction: I want to work for a while now, please open my laptop for me.

{"steps": 4, "actions": ["Move(forward, 1.0)", "Move(forward, 0.5)", "ChangeState(Laptop, on)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Laptop", "state": "isToggled", "value": true}]


Instruction: I want to rest for a while, please turn off the desk lamp for me.

{"steps": 4, "actions": ["Rotate(left, 90)", "Rotate(left, 90)", "ChangeState(DeskLamp, off)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "DeskLamp", "state": "isToggled", "value": false}]


Open laptop, turn off desk lamp, and pick up pencil

Instruction: Open the laptop, turn off the desk lamp, and pick up the pencil from the desk.

{"steps": 5, "actions": ["Move(forward, 0.5)", "ChangeState(Laptop, on)", "ChangeState(DeskLamp, off)", "Pick(Pencil)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Laptop", "state": "isOpen", "value": true}, {"type": "object_state", "object_type": "DeskLamp", "state": "isToggled", "value": false}, {"type": "object_state", "object_type": "Pencil", "state": "isPickedUp", "value": true}]


Instruction: I want to check if the tomato is rotten. Please pick up this tomato for me.

{"steps": 8, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 0.5)", "Move(left, 0.5)", "Move(left, 0.25)", "Move(forward, 0.5)", "Pick(Tomato)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Tomato", "state": "isPickedUp", "value": true}]


Instruction: I'm hungry and want to take the egg out of the refrigerator and put it in the pot on the left front side. Remember to close the refrigerator door afterwards.

{"steps": 11, "actions": ["Manipulate(Fridge, open)", "Rotate(right, 90)", "Move(backward, 0.25)", "Pick(Egg)", "Manipulate(Fridge, close)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Place(Pan)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Egg", "receptacle_type": "Pan"}, {"type": "object_in_receptacle", "object_type": "Egg", "receptacle_type": "Fridge", "value": false}, {"type": "object_state", "object_type": "Fridge", "state": "isOpen", "value": false}, {"type": "object_state", "object_type": "Egg", "state": "isBroken", "value": false}]


Instruction: I'm hungry, so I want to slice all the vegetables in front of me.

{"steps": 3, "actions": ["Manipulate(Tomato, slice)", "Manipulate(Lettuce, slice)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Tomato", "state": "isSliced", "value": true}, {"type": "object_state", "object_type": "Lettuce", "state": "isSliced", "value": true}, {"type": "object_state", "object_type": "Bread", "state": "isSliced", "value": false}]


Instruction: I'm hungry, so I want to put a slice of bread into the toaster that's already turned on.

{"steps": 15, "actions": ["Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(forward, 0.25)", "Move(left, 0.25)", "Manipulate(Bread, slice)", "Pick(BreadSliced)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "ChangeState(Toaster, on)", "Place(Toaster)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "BreadSliced", "receptacle_type": "Toaster"}, {"type": "object_state", "object_type": "Bread", "state": "isSliced", "value": true}, {"type": "object_state", "object_type": "Toaster", "state": "isToggled", "value": true}]


Instruction: I need to tidy up now. I need to put the apple on the right into the refrigerator, and remember to close the refrigerator door.

{"steps": 11, "actions": ["Pick(Apple)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(left, 90)", "Move(right, 0.5)", "Move(forward, 0.25)", "Manipulate(Fridge, open)", "Place(Fridge)", "Manipulate(Fridge, close)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Apple", "receptacle_type": "Fridge"}, {"type": "object_state", "object_type": "Fridge", "state": "isOpen", "value": false}]


Instruction: I need to clean the kitchen. After cleaning the dirty pot, I need to put it on the countertop.

{"steps": 3, "actions": ["Manipulate(Pot, clean)", "Pick(Pot)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Pot", "state": "isDirty", "value": false}, {"type": "object_state", "object_type": "Pot", "state": "isPickedUp", "value": true}]


Instruction: The kitchen is ready. Please fill a cup with water and turn off the light.

{"steps": 8, "actions": ["Move(forward, 0.5)", "Rotate(left, 90)", "Manipulate(Cup, water, fillwithliquid)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "ChangeState(LightSwitch, off)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Cup", "state": "isFilledWithLiquid", "value": true, "liquid": "water"}, {"type": "object_state", "object_type": "LightSwitch", "state": "isToggled", "value": false}]


Instruction: I'm full. Now I need to put the bread in the refrigerator, and remember to close the refrigerator door.

{"steps": 10, "actions": ["Pick(Bread)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(left, 0.25)", "Manipulate(Fridge, open)", "Place(Fridge)", "Manipulate(Fridge, close)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Bread", "receptacle_type": "Fridge"}, {"type": "object_state", "object_type": "Fridge", "state": "isOpen", "value": false}]


Instruction: I'm about to start cooking. Please slice all the vegetables in front of you.

{"steps": 3, "actions": ["Manipulate(Tomato, slice)", "Manipulate(Lettuce, slice)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Tomato", "state": "isSliced", "value": true}, {"type": "object_state", "object_type": "Lettuce", "state": "isSliced", "value": true}]


Instruction: I'm about to cook. Please put the egg in the pot.

{"steps": 6, "actions": ["Pick(Egg)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 0.25)", "Place(Pot)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Egg", "receptacle_type": "Pot"}]


Clean mug and cup, store in fridge, close door

Instruction: I'm going to clean the kitchen now. Please clean the dirty mug and cup in front of you and put them in the refrigerator. Remember to close the refrigerator door.

{"steps": 22, "actions": ["Manipulate(Cup, clean)", "Manipulate(Mug, clean)", "Pick(Cup)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(left, 0.5)", "Move(forward, 0.25)", "Move(left, 0.25)", "Manipulate(Fridge, open)", "Place(Fridge)", "Rotate(right, 90)", "Move(right, 0.25)", "Move(forward, 0.25)", "Rotate(right, 90)", "Pick(Mug)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(forward, 0.25)", "Place(Fridge)", "Manipulate(Fridge, close)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Cup", "state": "isDirty", "value": false}, {"type": "object_state", "object_type": "Fridge", "state": "isOpen", "value": false}, {"type": "object_state", "object_type": "Mug", "state": "isDirty", "value": false}, {"type": "object_in_receptacle", "object_type": "Mug", "receptacle_type": "Fridge"}, {"type": "object_in_receptacle", "object_type": "Cup", "receptacle_type": "Fridge"}]


Instruction: I'm hungry. Please put the bread in the microwave and turn it on.

{"steps": 9, "actions": ["Pick(Bread)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Manipulate(Microwave, open)", "Place(Microwave)", "Manipulate(Microwave, close)", "ChangeState(Microwave, on)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Bread", "receptacle_type": "Microwave"}, {"type": "object_state", "object_type": "Microwave", "state": "isToggled", "value": true}]


Instruction: I'm very hungry now, please slice the bread and pick it up.

{"steps": 3, "actions": ["Manipulate(Bread, slice)", "Pick(Bread)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Bread", "state": "isSliced", "value": true}, {"type": "object_state", "object_type": "Bread", "state": "isPickedUp", "value": true}]


Instruction: I'm very hungry now. Please put the egg on my right into the pan, crack it, and cook it.

{"steps": 12, "actions": ["Move(forward, 0.5)", "Rotate(right, 90)", "Pick(Egg)", "Rotate(left, 90)", "Move(forward, 0.5)", "Rotate(left, 90)", "Move(forward, 0.25)", "Rotate(right, 90)", "Place(Pan)", "Manipulate(Egg, break)", "Manipulate(EggCracked, cook)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "EggCracked", "receptacle_type": "Pan"}, {"type": "object_state", "object_type": "Egg", "state": "isBroken", "value": true}, {"type": "object_state", "object_type": "EggCracked", "state": "isCooked", "value": true}]


Instruction: I'm getting ready to clean the kitchen. Please take a dish sponge and clean the dirty cup and pan.

{"steps": 7, "actions": ["Pick(DishSponge)", "Move(forward, 1.0)", "Move(left, 1.0)", "Move(forward, 0.25)", "Manipulate(Cup, clean)", "Manipulate(Pan, clean)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "DishSponge", "state": "isPickedUp", "value": true}, {"type": "object_state", "object_type": "Cup", "state": "isDirty", "value": false}, {"type": "object_state", "object_type": "Pan", "state": "isDirty", "value": false}]


Instruction: I want to cook, please chop all the vegetables in front of me.

{"steps": 9, "actions": ["Move(right, 0.5)", "Manipulate(Tomato, slice)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Manipulate(Potato, slice)", "Manipulate(Lettuce, slice)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Potato", "state": "isSliced", "value": true}, {"type": "object_state", "object_type": "Lettuce", "state": "isSliced", "value": true}, {"type": "object_state", "object_type": "Tomato", "state": "isSliced", "value": true}]


Turn off microwave, transfer egg to bowl

Instruction: I want to eat. Please turn off the microwave and take the egg out and put it in a bowl.

{"steps": 7, "actions": ["ChangeState(Microwave, off)", "Manipulate(Microwave, open)", "Pick(Egg)", "Rotate(left, 90)", "Move(forward, 1.0)", "Place(Bowl)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Egg", "receptacle_type": "Bowl"}, {"type": "object_state", "object_type": "Microwave", "state": "isToggled", "value": false}, {"type": "object_in_receptacle", "object_type": "Egg", "receptacle_type": "Microwave", "value": false}]


Instruction: I want to eat something. Please put the egg in the microwave and turn it on.

{"steps": 8, "actions": ["Pick(Egg)", "Move(right, 1.0)", "Move(forward, 1.0)", "Manipulate(Microwave, open)", "Place(Microwave)", "Manipulate(Microwave, close)", "ChangeState(Microwave, on)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Egg", "receptacle_type": "Microwave"}, {"type": "object_state", "object_type": "Microwave", "state": "isToggled", "value": true}]


Instruction: I'm going to start cooking now. Please put the spatula in the pot.

{"steps": 6, "actions": ["Move(forward, 0.5)", "Move(forward, 0.25)", "Pick(Spatula)", "Rotate(right, 90)", "Place(Pot)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Spatula", "receptacle_type": "Pot"}]


Instruction: I'm going to wash the pot now. Please take everything out of the pot and wash it.

{"steps": 6, "actions": ["Pick(Ladle)", "Place(CounterTop)", "Pick(Spatula)", "Place(CounterTop)", "Manipulate(Pot, clean)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Ladle", "receptacle_type": "Pot", "value": false}, {"type": "object_in_receptacle", "object_type": "Spatula", "receptacle_type": "Pot", "value": false}, {"type": "object_state", "object_type": "Pot", "state": "isDirty", "value": false}]


Instruction: I'm about to start cooking. Please slice the tomato and put one slice into the pot.

{"steps": 7, "actions": ["Manipulate(Tomato, slice)", "Pick(Tomato)", "Rotate(right, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Place(Pot)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "TomatoSliced", "receptacle_type": "Pot", "value": true}, {"type": "object_state", "object_type": "Tomato", "state": "isSliced", "value": true}]


Instruction: I'm getting ready to tidy up the kitchen. I'm thinking of putting the potato, tomato, and lettuce in the fridge. Remember to close the fridge door.

{"steps": 49, "actions": ["Move(forward, 0.5)", "Pick(Potato)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(right, 0.5)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Manipulate(Fridge, open)", "Place(Fridge)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 1.0)", "Move(right, 0.25)", "Move(forward, 0.5)", "Pick(Lettuce)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(right, 0.5)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Place(Fridge)", "Move(backward, 0.5)", "Move(left, 1.0)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.5)", "Move(forward, 0.5)", "Pick(Tomato)", "Move(backward, 0.5)", "Move(backward, 0.25)", "Move(right, 1.0)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.5)", "Move(forward, 0.25)", "Place(Fridge)", "Manipulate(Fridge, close)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Tomato", "receptacle_type": "Fridge", "value": true}, {"type": "object_in_receptacle", "object_type": "Potato", "receptacle_type": "Fridge", "value": true}, {"type": "object_in_receptacle", "object_type": "Lettuce", "receptacle_type": "Fridge", "value": true}, {"type": "object_state", "object_type": "Fridge", "state": "isOpen", "value": false}]

["Tomato", "Potato", "Lettuce", "Fridge"]


Instruction: I'm going to start cooking now, please take all the vegetables out of the refrigerator.

{"steps": 28, "actions": ["Manipulate(Fridge, open)", "Pick(Potato)", "Move(backward, 0.5)", "Move(left, 1.0)", "Move(left, 0.25)", "Move(forward, 0.5)", "Place(CounterTop)", "Move(backward, 0.5)", "Move(right, 1.0)", "Move(right, 0.25)", "Move(forward, 0.5)", "Pick(Tomato)", "Move(backward, 0.5)", "Move(left, 1.0)", "Move(left, 0.25)", "Move(forward, 0.5)", "Place(CounterTop)", "Move(backward, 0.5)", "Move(right, 1.0)", "Move(forward, 0.5)", "Pick(Lettuce)", "Move(backward, 0.5)", "Move(left, 1.0)", "Move(forward, 0.5)", "Rotate(left, 90)", "Move(forward, 0.5)", "Place(CounterTop)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Tomato", "receptacle_type": "Fridge", "value": false}, {"type": "object_in_receptacle", "object_type": "Potato", "receptacle_type": "Fridge", "value": false}, {"type": "object_in_receptacle", "object_type": "Lettuce", "receptacle_type": "Fridge", "value": false}, {"type": "object_in_receptacle", "object_type": "Egg", "receptacle_type": "Fridge", "value": true}]

["Egg", "Fridge", "Lettuce", "Potato", "Tomato"]


Instruction: I'd like to drink coffee. Please put the mug in the coffee machine and turn it on.

{"steps": 4, "actions": ["Pick(Mug)", "Place(CoffeeMachine)", "ChangeState(CoffeeMachine, on)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Mug", "receptacle_type": "CoffeeMachine", "value": true}, {"type": "object_state", "object_type": "CoffeeMachine", "state": "isToggled", "value": true}]


Instruction: I want to tidy up the kitchen. Please put the mug on the countertop and then turn off the coffee machine.

{"steps": 4, "actions": ["Pick(Mug)", "Place(CounterTop)", "ChangeState(CoffeeMachine, off)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Mug", "receptacle_type": "CounterTop", "value": true}, {"type": "object_in_receptacle", "object_type": "Mug", "receptacle_type": "CoffeeMachine", "value": false}, {"type": "object_state", "object_type": "CoffeeMachine", "state": "isToggled", "value": false}]


Instruction: I want to eat bread. Please slice the bread, put one slice into the toaster, and turn on the toaster.

{"steps": 12, "actions": ["Move(forward, 0.5)", "Manipulate(Bread, slice)", "Pick(BreadSliced)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Place(Toaster)", "ChangeState(Toaster, on)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "BreadSliced", "receptacle_type": "Toaster", "value": true}, {"type": "object_state", "object_type": "Toaster", "state": "isToggled", "value": true}, {"type": "object_state", "object_type": "Bread", "state": "isSliced", "value": true}]


Instruction: I need to tidy up the counter now. Please put the soap bottle in front of me on the shelf next to the window.

{"steps": 9, "actions": ["Pick(SoapBottle)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(right, 0.25)", "Move(forward, 0.25)", "Place(Shelf)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "SoapBottle", "receptacle_type": "Shelf", "value": true}, {"type": "object_in_receptacle", "object_type": "SoapBottle", "receptacle_type": "CounterTop", "value": false}]


Instruction: I think this dish is a bit too bland. Please bring the salt shaker to the table.

{"steps": 7, "actions": ["Pick(SaltShaker)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(left, 0.5)", "Move(forward, 0.25)", "Place(DiningTable)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "SaltShaker", "receptacle_type": "DiningTable", "value": true}]


Instruction: I'd like some soup. Please bring me the spoon to the table.

{"steps": 5, "actions": ["Pick(Spoon)", "Rotate(right, 90)", "Rotate(right, 90)", "Place(DiningTable)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Spoon", "receptacle_type": "DiningTable"}]


Instruction: I'm hungry. Please take the egg out of the refrigerator and put it in a bowl.

{"steps": 11, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Rotate(left, 90)", "Move(forward, 1.0)", "Manipulate(Fridge, open)", "Pick(Egg)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 0.5)", "Place(Bowl)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Egg", "receptacle_type": "Bowl"}]


Instruction: I'm full. Please put the potato on a plate and then put it in the refrigerator.

{"steps": 25, "actions": ["Rotate(right, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Pick(Potato)", "Rotate(right, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(left, 90)", "Place(Plate)", "Pick(Plate)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Manipulate(Fridge, open)", "Place(Fridge)", "Manipulate(Fridge, close)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Potato", "receptacle_type": "Plate"}, {"type": "object_in_receptacle", "object_type": "Plate", "receptacle_type": "Fridge"}, {"type": "object_state", "object_type": "Fridge", "state": "isOpen", "value": false}]


Instruction: I'm leaving the kitchen, please turn off all the lights.

{"steps": 6, "actions": ["Move(forward, 0.25)", "Rotate(left, 90)", "Move(forward, 0.25)", "Move(right, 0.25)", "ChangeState(LightSwitch, off)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "LightSwitch", "state": "isToggled", "value": false}]


Instruction: This tomato is rotten. Please throw it in the trash can.

{"steps": 5, "actions": ["Pick(Tomato)", "Rotate(left, 90)", "Rotate(left, 90)", "Place(GarbageCan)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Tomato", "receptacle_type": "GarbageCan"}]


Instruction: I'm about to start cooking. Please slice the tomato on the left and put one slice into the pot.

{"steps": 9, "actions": ["Manipulate(Tomato, slice)", "Pick(Tomato)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 1.0)", "Move(forward, 0.25)", "Place(Pot)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "TomatoSliced", "receptacle_type": "Pot"}, {"type": "object_state", "object_type": "Tomato", "state": "isSliced", "value": true}]


Instruction: I'm hungry. Please put the potato in the microwave and turn it on.

{"steps": 16, "actions": ["Rotate(right, 90)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "Pick(Potato)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(forward, 0.25)", "Manipulate(Microwave, open)", "Place(Microwave)", "Manipulate(Microwave, close)", "ChangeState(Microwave, on)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Potato", "receptacle_type": "Microwave"}, {"type": "object_state", "object_type": "Microwave", "state": "isToggled", "value": true}]


Instruction: I've cooked the potato. Please remove it from the microwave and place it on a plate. Remember to turn off the microwave.

{"steps": 8, "actions": ["ChangeState(Microwave, off)", "Manipulate(Microwave, open)", "Pick(Potato)", "Rotate(left, 90)", "Rotate(left, 90)", "Place(Plate)", "Manipulate(Potato, slice)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "PotatoSliced", "receptacle_type": "Plate"}, {"type": "object_state", "object_type": "Microwave", "state": "isToggled", "value": false}, {"type": "object_state", "object_type": "Potato", "state": "isSliced", "value": true}]

["Microwave", "Plate", "Potato", "PotatoSliced"]


Instruction: I'm going to start cooking now. Please wash the pan and then put the spatula into it.

{"steps": 4, "actions": ["Manipulate(Pan, clean)", "Pick(Spatula)", "Place(Pan)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Spatula", "receptacle_type": "Pan"}, {"type": "object_state", "object_type": "Spatula", "state": "isDirty", "value": false}]


Instruction: I want to slice the green in the refrigerator, then take one slice and put it in the pan, remembering to close the refrigerator door.

{"steps": 10, "actions": ["Move(forward, 0.25)", "Move(right, 0.5)", "Manipulate(Fridge, open)", "Manipulate(Lettuce, slice)", "Pick(Lettuce)", "Manipulate(Fridge, close)", "Rotate(left, 90)", "Move(forward, 0.5)", "Place(Pan)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "LettuceSliced", "receptacle_type": "Pan"}, {"type": "object_state", "object_type": "Lettuce", "state": "isSliced", "value": true}, {"type": "object_state", "object_type": "Fridge", "state": "isOpen", "value": false}]

["Fridge", "Lettuce", "LettuceSliced", "Pan"]


Instruction: The microwave is empty, but it's still on. Turn it off, and then open the microwave door.

{"steps": 5, "actions": ["Move(forward, 0.25)", "Move(right, 0.25)", "ChangeState(Microwave, off)", "Manipulate(Microwave, open)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Microwave", "state": "isToggled", "value": false}, {"type": "object_state", "object_type": "Microwave", "state": "isOpen", "value": true}]


Instruction: Please put the potato in the refrigerator, and then take the lettuce out of the refrigerator and put it on the counter.

{"steps": 13, "actions": ["Rotate(left, 90)", "Move(left, 0.25)", "Pick(Potato)", "Rotate(right, 90)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Manipulate(Fridge, open)", "Place(Fridge)", "Pick(Lettuce)", "Manipulate(Fridge, close)", "Place(CounterTop)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Potato", "receptacle_type": "Fridge"}, {"type": "object_in_receptacle", "object_type": "Lettuce", "receptacle_type": "CounterTop"}, {"type": "object_state", "object_type": "Fridge", "state": "isOpen", "value": false}]

["CounterTop", "Fridge", "Lettuce", "Potato"]


Instruction: The apple is going bad. Quickly put it in the pot, then put it in the refrigerator, and remember to close the refrigerator door.

{"steps": 24, "actions": ["Move(right, 0.5)", "Pick(Apple)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(right, 0.5)", "Place(Pan)", "Pick(Pan)", "Rotate(left, 90)", "Move(forward, 0.5)", "Rotate(left, 90)", "Move(forward, 0.5)", "Rotate(left, 90)", "Move(right, 0.5)", "Move(forward, 0.25)", "Manipulate(Fridge, open)", "Place(Fridge)", "Manipulate(Fridge, close)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Apple", "receptacle_type": "Pot"}, {"type": "object_in_receptacle", "object_type": "Pot", "receptacle_type": "Fridge"}, {"type": "object_state", "object_type": "Fridge", "state": "isOpen", "value": false}]


Instruction: I'm going to the kitchen to get something to eat. Please turn on the kitchen light and then pick up the apple.

{"steps": 9, "actions": ["Rotate(left, 90)", "Rotate(left, 90)", "ChangeState(LightSwitch, on)", "Rotate(right, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Pick(Apple)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "LightSwitch", "state": "isToggled", "value": true}, {"type": "object_state", "object_type": "Apple", "state": "isPickedUp", "value": true}]


Instruction: Please clean the pan and bowl for me, then turn off the light; I'm getting ready to leave.

{"steps": 7, "actions": ["Manipulate(Pan, clean)", "Manipulate(Bowl, clean)", "Rotate(right, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "ChangeState(LightSwitch, off)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "LightSwitch", "state": "isToggled", "value": false}, {"type": "object_state", "object_type": "Bowl", "state": "isDirty", "value": false}, {"type": "object_state", "object_type": "Pan", "state": "isDirty", "value": false}]


Instruction: I have washed the spoon and fork; please remove them from the sink and place them on the countertop.

{"steps": 8, "actions": ["Move(forward, 0.25)", "Move(right, 0.5)", "Move(right, 0.25)", "Pick(Spoon)", "Place(CounterTop)", "Pick(Fork)", "Place(CounterTop)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Spoon", "receptacle_type": "CounterTop"}, {"type": "object_in_receptacle", "object_type": "Fork", "receptacle_type": "CounterTop"}, {"type": "object_in_receptacle", "object_type": "Fork", "receptacle_type": "SinkBasin", "value": false}, {"type": "object_in_receptacle", "object_type": "Fork", "receptacle_type": "SinkBasin", "value": false}]

["CounterTop", "Fork", "SinkBasin", "Spoon"]


Instruction: The pencil on the table is broken; please throw it in the trash can.

{"steps": 6, "actions": ["Pick(Pencil)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Place(GarbageCan)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Pencil", "receptacle_type": "GarbageCan"}, {"type": "object_in_receptacle", "object_type": "Pencil", "receptacle_type": "DiningTable", "value": false}]


Instruction: I forgot to turn off the lights and close the refrigerator door when I left. Please close them.

{"steps": 10, "actions": ["Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 0.5)", "Manipulate(Fridge, close)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "ChangeState(LightSwitch, off)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "LightSwitch", "state": "isToggled", "value": false}, {"type": "object_state", "object_type": "Fridge", "state": "isOpen", "value": false}]


Instruction: I need to wipe my mouth, please place the tissue roll on the table.

{"steps": 10, "actions": ["Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 0.5)", "Pick(PaperTowelRoll)", "Rotate(right, 90)", "Move(right, 0.5)", "Move(right, 0.25)", "Move(forward, 0.25)", "Place(DiningTable)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "PaperTowelRoll", "receptacle_type": "DiningTable"}]


Instruction: I'm going to make coffee. Please clean the mug and then put it in the coffee machine.

{"steps": 7, "actions": ["Manipulate(Mug, clean)", "Pick(Mug)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Place(CoffeeMachine)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Mug", "state": "isDirty", "value": false}, {"type": "object_in_receptacle", "object_type": "Mug", "receptacle_type": "CoffeeMachine"}]


Instruction: I want to eat a potato. Please put the potato in the pot and cook it.

{"steps": 12, "actions": ["Rotate(left, 90)", "Move(forward, 0.25)", "Pick(Potato)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(backward, 0.25)", "Move(right, 0.25)", "Place(Pot)", "Manipulate(Potato, cook)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Potato", "state": "isCooked", "value": true}, {"type": "object_in_receptacle", "object_type": "Potato", "receptacle_type": "Pot"}]


Instruction: Please use a dish sponge to clean this pot and bowl.

{"steps": 8, "actions": ["Rotate(right, 90)", "Move(backward, 0.5)", "Pick(DishSponge)", "Move(forward, 0.25)", "Rotate(left, 90)", "Manipulate(Pan, clean)", "Manipulate(Bowl, clean)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "DishSponge", "state": "isPickedUp", "value": true}, {"type": "object_state", "object_type": "Pan", "state": "isDirty", "value": false}, {"type": "object_state", "object_type": "Bowl", "state": "isDirty", "value": false}]


Instruction: This soap bottle is empty. Please throw it in the trash can.

{"steps": 11, "actions": ["Move(forward, 1.0)", "Move(right, 0.25)", "Rotate(right, 90)", "Move(forward, 0.25)", "Pick(SoapBottle)", "Move(right, 0.25)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Place(GarbageCan)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "SoapBottle", "receptacle_type": "GarbageCan"}]


Instruction: I've washed the apple and lettuce; please take them from the sink to the countertop.

{"steps": 11, "actions": ["Rotate(left, 90)", "Move(backward, 0.25)", "Move(left, 0.25)", "Pick(Lettuce)", "Rotate(right, 90)", "Place(CounterTop)", "Rotate(left, 90)", "Pick(Apple)", "Rotate(right, 90)", "Place(CounterTop)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Lettuce", "receptacle_type": "CounterTop"}, {"type": "object_in_receptacle", "object_type": "Apple", "receptacle_type": "CounterTop"}, {"type": "object_in_receptacle", "object_type": "Apple", "receptacle_type": "SinkBasin", "value": false}, {"type": "object_in_receptacle", "object_type": "Lettuce", "receptacle_type": "SinkBasin", "value": false}]

["Apple", "CounterTop", "Lettuce", "SinkBasin"]


Instruction: Please slice the tomato in the refrigerator, put one slice in the pot, and remember to close the refrigerator door.

{"steps": 16, "actions": ["Rotate(right, 90)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(forward, 0.5)", "Rotate(left, 90)", "Move(right, 0.25)", "Manipulate(Fridge, open)", "Manipulate(Tomato, slice)", "Pick(Tomato)", "Manipulate(Fridge, close)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(forward, 0.25)", "Place(Pot)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "TomatoSliced", "receptacle_type": "Pot"}, {"type": "object_state", "object_type": "Fridge", "state": "isOpen", "value": false}]

["Fridge", "Pot", "Tomato", "TomatoSliced"]


Instruction: I'm hungry. Please slice the potato, put a slice in the pan, and cook it.

{"steps": 13, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Manipulate(Potato, cook)", "Manipulate(Potato, slice)", "Pick(Potato)", "Rotate(right, 90)", "Move(backward, 0.25)", "Rotate(right, 90)", "Move(forward, 0.5)", "Place(Plate)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "PotatoSliced", "receptacle_type": "Plate"}, {"type": "object_state", "object_type": "Potato", "state": "isSliced", "value": true}, {"type": "object_state", "object_type": "Potato", "state": "isCooked", "value": true}]


Instruction: I'm about to cook. Please put the potato and egg in the pan and remember to close the refrigerator door.

{"steps": 18, "actions": ["Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(backward, 0.25)", "Manipulate(Fridge, open)", "Pick(Egg)", "Manipulate(Fridge, close)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(forward, 0.25)", "Place(Pan)", "Pick(Potato)", "Place(Pan)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Egg", "receptacle_type": "Pan"}, {"type": "object_in_receptacle", "object_type": "Potato", "receptacle_type": "Pan"}, {"type": "object_state", "object_type": "Fridge", "state": "isOpen", "value": false}]


Bring bread outside and turn off kitchen lights

Instruction: I'm outside the kitchen. Please bring the bread outside and turn off the kitchen lights.

{"steps": 12, "actions": ["Rotate(left, 90)", "Move(backward, 0.25)", "Move(left, 0.25)", "Pick(Bread)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(forward, 0.25)", "ChangeState(LightSwitch, off)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Bread", "state": "isPickedUp", "value": true}, {"type": "object_state", "object_type": "LightSwitch", "state": "isToggled", "value": false}]


Instruction: I'm going to start cooking now. Please take a knife and slice a tomato.

{"steps": 11, "actions": ["Rotate(left, 90)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(forward, 0.5)", "Pick(Knife)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Manipulate(Tomato, slice)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Tomato", "state": "isSliced", "value": true}, {"type": "object_state", "object_type": "Knife", "state": "isPickedUp", "value": true}]


Instruction: I'm going to clean the kitchen now. Please take a soap bottle and wash the dirty things in front of you.

{"steps": 10, "actions": ["Rotate(left, 90)", "Move(forward, 1.0)", "Pick(SoapBottle)", "Rotate(right, 90)", "Move(right, 0.5)", "Move(right, 0.25)", "Manipulate(Pot, clean)", "Manipulate(Cup, clean)", "Manipulate(Bowl, clean)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Pot", "state": "isDirty", "value": false}, {"type": "object_state", "object_type": "Cup", "state": "isDirty", "value": false}, {"type": "object_state", "object_type": "Bowl", "state": "isDirty", "value": false}, {"type": "object_state", "object_type": "SoapBottle", "state": "isPickedUp", "value": true}]


Instruction: I don't want to eat the apple anymore. Please put it in the refrigerator and close the refrigerator door.

{"steps": 16, "actions": ["Rotate(right, 90)", "Move(forward, 0.25)", "Move(right, 0.5)", "Pick(Apple)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "Manipulate(Fridge, open)", "Place(Fridge)", "Manipulate(Fridge, close)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Apple", "receptacle_type": "Fridge"}, {"type": "object_state", "object_type": "Fridge", "state": "isOpen", "value": false}]


Instruction: I'm about to start cooking, please put the spatula into the pan.

{"steps": 11, "actions": ["Rotate(right, 90)", "Move(right, 0.5)", "Pick(Spatula)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Place(Pan)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Spatula", "receptacle_type": "Pan"}]


Instruction: I want to eat this potato. Please put the potato in the pan and cook it until it's done.

{"steps": 6, "actions": ["Pick(Potato)", "Rotate(right, 90)", "Rotate(right, 90)", "Place(Pan)", "Manipulate(Potato, cook)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Potato", "receptacle_type": "Pan"}, {"type": "object_state", "object_type": "Potato", "state": "isCooked", "value": true}]


Instruction: This egg is rotten; please throw it in the trash can.

{"steps": 12, "actions": ["Rotate(right, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Pick(Egg)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.5)", "Place(GarbageCan)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Egg", "receptacle_type": "GarbageCan"}]


Instruction: I've washed this tomato. Please put it in the refrigerator and remember to close the door.

{"steps": 13, "actions": ["Rotate(right, 90)", "Move(forward, 0.5)", "Pick(Tomato)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(left, 90)", "Move(right, 0.25)", "Manipulate(Fridge, open)", "Place(Fridge)", "Manipulate(Fridge, close)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Tomato", "receptacle_type": "Fridge"}, {"type": "object_state", "object_type": "Fridge", "state": "isOpen", "value": false}]


Instruction: The bowl and cup on the table are dirty. Please clean them with a dish sponge.

{"steps": 7, "actions": ["Rotate(right, 90)", "Move(forward, 0.5)", "Pick(DishSponge)", "Rotate(left, 90)", "Manipulate(Bowl, clean)", "Manipulate(Cup, clean)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Cup", "state": "isDirty", "value": false}, {"type": "object_state", "object_type": "Bowl", "state": "isDirty", "value": false}, {"type": "object_state", "object_type": "DishSponge", "state": "isPickedUp", "value": true}]


Instruction: I need to make the soup first. Please put the ladle into the pot, and then add water.

{"steps": 6, "actions": ["Rotate(left, 90)", "Rotate(left, 90)", "Pick(Ladle)", "Place(Pot)", "Manipulate(Pot, water, fillwithliquid)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Ladle", "receptacle_type": "Pot"}, {"type": "object_state", "object_type": "Pot", "state": "isFilledWithLiquid", "value": true, "liquid": "water"}]


Turn off coffee machine and kitchen light

Instruction: I forgot to turn off the coffee machine and the kitchen light. Go turn them off.

{"steps": 8, "actions": ["ChangeState(CoffeeMachine, off)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "ChangeState(LightSwitch, off)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "CoffeeMachine", "state": "isToggled", "value": false}, {"type": "object_state", "object_type": "LightSwitch", "state": "isToggled", "value": false}]


Instruction: I'd like some coffee. Please put a clean mug into the coffee machine and turn it on so the mug is filled with coffee.

{"steps": 5, "actions": ["Manipulate(Mug, clean)", "Pick(Mug)", "Place(CoffeeMachine)", "ChangeState(CoffeeMachine, on)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "CoffeeMachine", "state": "isToggled", "value": true}, {"type": "object_state", "object_type": "Mug", "state": "isFilledWithLiquid", "value": true, "liquid": "coffee"}, {"type": "object_in_receptacle", "object_type": "Mug", "receptacle_type": "CoffeeMachine"}, {"type": "object_state", "object_type": "Mug", "state": "isDirty", "value": false}]


Instruction: I put the dirty pot in the sink. Please wash it and then put it on the dining table.

{"steps": 10, "actions": ["Manipulate(Pot, clean)", "Pick(Pot)", "Rotate(left, 90)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(left, 0.5)", "Move(left, 0.25)", "Move(forward, 0.25)", "Place(DiningTable)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Pot", "state": "isDirty", "value": false}, {"type": "object_in_receptacle", "object_type": "Pot", "receptacle_type": "DiningTable"}]


Instruction: This potato has been in the refrigerator for a long time. Please take it out and throw it in the trash. Remember to close the refrigerator door.

{"steps": 15, "actions": ["Rotate(left, 90)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Manipulate(Fridge, open)", "Pick(Potato)", "Manipulate(Fridge, close)", "Rotate(right, 90)", "Move(forward, 0.5)", "Move(right, 0.5)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(right, 0.25)", "Place(GarbageCan)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Fridge", "state": "isOpen", "value": false}, {"type": "object_in_receptacle", "object_type": "Potato", "receptacle_type": "GarbageCan"}]


Instruction: I don't want to eat lettuce, I want to eat potato. Please put the lettuce in the refrigerator and take the potato out of the refrigerator and onto the counter.

{"steps": 14, "actions": ["Move(forward, 0.5)", "Move(forward, 0.25)", "Pick(Lettuce)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 1.0)", "Rotate(right, 90)", "Move(left, 0.25)", "Manipulate(Fridge, open)", "Place(Fridge)", "Pick(Potato)", "Manipulate(Fridge, close)", "Place(CounterTop)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Fridge", "state": "isOpen", "value": false}, {"type": "object_in_receptacle", "object_type": "Lettuce", "receptacle_type": "Fridge"}, {"type": "object_in_receptacle", "object_type": "Potato", "receptacle_type": "CounterTop"}]

["CounterTop", "Fridge", "Lettuce", "Potato"]


Instruction: I accidentally threw the lettuce in the trash can. Please take it out and put it on the table.

{"steps": 4, "actions": ["Move(right, 0.5)", "Pick(Lettuce)", "Place(DiningTable)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Lettuce", "receptacle_type": "DiningTable"}, {"type": "object_in_receptacle", "object_type": "Lettuce", "receptacle_type": "GarbageCan", "value": false}]


Instruction: I've just entered the kitchen. Please turn on the kitchen light and put the potato I'm holding into the refrigerator. Remember to close the refrigerator door afterwards.

{"steps": 8, "actions": ["ChangeState(LightSwitch, on)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Manipulate(Fridge, open)", "Place(Fridge)", "Manipulate(Fridge, close)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Potato", "receptacle_type": "Fridge"}, {"type": "object_state", "object_type": "Fridge", "state": "isOpen", "value": false}, {"type": "object_state", "object_type": "LightSwitch", "state": "isToggled", "value": true}]


Instruction: I want to eat toast. Please slice the bread, put one slice on the toaster, and cook it.

{"steps": 8, "actions": ["Manipulate(Bread, slice)", "Pick(BreadSliced)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(left, 90)", "Place(Toaster)", "Manipulate(BreadSliced, cook)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "BreadSliced", "receptacle_type": "Toaster"}, {"type": "object_state", "object_type": "Bread", "state": "isSliced", "value": true}, {"type": "object_state", "object_type": "BreadSliced", "state": "isCooked", "value": true}]


Instruction: I accidentally burned the bread slice in the toaster. Please help me put the bread slice from the toaster into the trash can.

{"steps": 11, "actions": ["Pick(Bread)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(forward, 1.0)", "Place(GarbageCan)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "BreadSliced", "receptacle_type": "GarbageCan"}, {"type": "object_in_receptacle", "object_type": "BreadSliced", "receptacle_type": "Toaster", "value": false}]


Instruction: I want to eat potatoes. Please put this potato on a plate and then put the plate in the microwave.

{"steps": 19, "actions": ["Rotate(right, 90)", "Move(left, 0.5)", "Move(left, 0.25)", "Pick(Potato)", "Rotate(left, 90)", "Rotate(right, 90)", "Place(Plate)", "Pick(Plate)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.5)", "Tilt(up, 30)", "Manipulate(Microwave, open)", "Place(Microwave)", "Manipulate(Microwave, close)", "ChangeState(Microwave, on)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Potato", "receptacle_type": "Plate", "value": true}, {"type": "object_in_receptacle", "object_type": "Plate", "receptacle_type": "Microwave", "value": true}, {"type": "object_state", "object_type": "Microwave", "state": "isToggled", "value": true}]


Instruction: I want to eat an egg, not bread. Please put the bread in the refrigerator and take the egg.

{"steps": 14, "actions": ["Pick(Bread)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(right, 0.5)", "Rotate(left, 90)", "Manipulate(Fridge, open)", "Place(Fridge)", "Pick(Egg)", "Manipulate(Fridge, close)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Bread", "receptacle_type": "Fridge", "value": true}, {"type": "object_state", "object_type": "Egg", "state": "isPickedUp", "value": true}]


Instruction: Please help me throw the apple into the trash can and turn on my phone.

{"steps": 12, "actions": ["Pick(Apple)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(left, 1.0)", "Move(left, 0.25)", "Move(backward, 0.25)", "Place(GarbageCan)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(backward, 0.5)", "ChangeState(CellPhone, on)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Apple", "receptacle_type": "GarbageCan", "value": true}, {"type": "object_state", "object_type": "CellPhone", "state": "isToggled", "value": true}]


Instruction: I've washed all the dishes in the sink; please take them out and put them on the counter.

{"steps": 9, "actions": ["Move(forward, 1.0)", "Move(forward, 1.0)", "Move(left, 0.5)", "Move(backward, 0.25)", "Pick(Fork)", "Place(CounterTop)", "Pick(Spoon)", "Place(CounterTop)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Spoon", "receptacle_type": "CounterTop", "value": true}, {"type": "object_in_receptacle", "object_type": "Fork", "receptacle_type": "CounterTop", "value": true}, {"type": "object_in_receptacle", "object_type": "Spoon", "receptacle_type": "SinkBasin", "value": false}, {"type": "object_in_receptacle", "object_type": "Fork", "receptacle_type": "SinkBasin", "value": false}]

["CounterTop", "Fork", "SinkBasin", "Spoon"]


Instruction: I'd like some water. Please wash the cup in front of me and then use a mug to pour a cup of water.

{"steps": 5, "actions": ["Manipulate(Cup, clean)", "Rotate(right, 90)", "Rotate(right, 90)", "Manipulate(Mug, water, fillwithliquid)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Cup", "state": "isDirty", "value": false}, {"type": "object_state", "object_type": "Cup", "state": "isFilledWithLiquid", "value": false}, {"type": "object_state", "object_type": "Mug", "state": "isFilledWithLiquid", "value": true, "liquid": "water"}]


Instruction: Please fill the bottle with water, then turn off the kitchen light. I'm leaving.

{"steps": 12, "actions": ["Rotate(right, 90)", "Manipulate(Bottle, water, fillwithliquid)", "Pick(Bottle)", "Rotate(left, 90)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(forward, 0.25)", "ChangeState(LightSwitch, off)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "LightSwitch", "state": "isToggled", "value": false}, {"type": "object_state", "object_type": "Bottle", "state": "isFilledWithLiquid", "value": true, "liquid": "water"}]


Instruction: I want to look up information on my phone. Please pick up the cell phone from the desk in the room.

{"steps": 3, "actions": ["Rotate(right, 90)", "Pick(CellPhone)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "CellPhone", "state": "isPickedUp", "value": true}]


Instruction: I'm about to wash my pillow. Please help me pick up the pillow from the bed.

{"steps": 5, "actions": ["Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Pick(Pillow)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Pillow", "state": "isPickedUp", "value": true}]


Instruction: Please move the book from the side table next to the window to the desk next to the bed on the right.

{"steps": 12, "actions": ["Move(forward, 0.25)", "Pick(Book)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.5)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(forward, 0.25)", "Place(Desk)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Book", "receptacle_type": "Desk"}, {"type": "object_in_receptacle", "object_type": "Book", "receptacle_type": "SideTable", "value": false}]


Instruction: Please transfer the cellphone from the side table next to the window to the desk by the bed on the right.

{"steps": 12, "actions": ["Move(forward, 0.25)", "Rotate(left, 90)", "Pick(CellPhone)", "Rotate(right, 90)", "Move(forward, 0.25)", "Move(right, 0.5)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(right, 0.25)", "Place(Desk)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "CellPhone", "receptacle_type": "Desk"}, {"type": "object_in_receptacle", "object_type": "CellPhone", "receptacle_type": "SideTable", "value": false}]


Instruction: Please move the pencil from the desk on the right to the side table by the window.

{"steps": 8, "actions": ["Pick(Pencil)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Place(SideTable)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Pencil", "receptacle_type": "SideTable"}, {"type": "object_in_receptacle", "object_type": "Pencil", "receptacle_type": "Desk", "value": false}]


Instruction: Please help me move the mug from the right side desk to side table by the window.

{"steps": 8, "actions": ["Pick(Mug)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Place(SideTable)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Mug", "receptacle_type": "SideTable"}, {"type": "object_in_receptacle", "object_type": "Mug", "receptacle_type": "Desk", "value": false}]


Instruction: I'd like to read a book. Please open the book on the table to the left and place it on the bed.

{"steps": 8, "actions": ["Move(forward, 0.25)", "Manipulate(Book, open)", "Pick(Book)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Manipulate(Bed, clean)", "Place(Bed)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Book", "receptacle_type": "Bed"}, {"type": "object_in_receptacle", "object_type": "Book", "receptacle_type": "SideTable", "value": false}, {"type": "object_state", "object_type": "Book", "state": "isOpen", "value": true}, {"type": "object_state", "object_type": "Bed", "state": "isDirty", "value": false}]


Instruction: Please put my keychain in the safe.

{"steps": 13, "actions": ["Pick(KeyChain)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(forward, 1.0)", "Manipulate(Safe, open)", "Place(Safe)", "Manipulate(Safe, close)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "KeyChain", "receptacle_type": "Safe"}]


Instruction: I'm getting ready for bed. Please put the teddy bear and laptop on the sofa and clean the bed.

{"steps": 15, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.5)", "Manipulate(Bed, clean)", "Pick(TeddyBear)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(left, 0.5)", "Move(left, 0.25)", "Move(forward, 1.0)", "Place(Sofa)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "TeddyBear", "receptacle_type": "Sofa"}, {"type": "object_state", "object_type": "Bed", "state": "isDirty", "value": false}, {"type": "object_in_receptacle", "object_type": "TeddyBear", "receptacle_type": "Bed", "value": false}]

[" Bed", "Bed", "Laptop", "Sofa", "TeddyBear"]


Instruction: I'm going to study now. Please take a pen to the desk on the right and open the book.

{"steps": 11, "actions": ["Pick(Pen)", "Rotate(right, 90)", "Move(right, 0.5)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(left, 0.25)", "Move(forward, 0.25)", "Place(Desk)", "Manipulate(Book, open)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Pen", "receptacle_type": "Desk"}, {"type": "object_state", "object_type": "Book", "state": "isOpen", "value": true}]


Instruction: I'm going on a long trip. Please turn off my phone and put it in the safe. Remember to close the safe door.

{"steps": 15, "actions": ["ChangeState(CellPhone, off)", "Pick(CellPhone)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(left, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 0.5)", "Move(forward, 1.0)", "Manipulate(Safe, open)", "Place(Safe)", "Manipulate(Safe, close)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "CellPhone", "receptacle_type": "Safe"}, {"type": "object_state", "object_type": "CellPhone", "state": "isToggled", "value": false}, {"type": "object_state", "object_type": "Safe", "state": "isOpen", "value": false}]


Instruction: I'm sleepy. Please wash the bowl in front of me and then fill it with a cup of coffee.

{"steps": 3, "actions": ["Manipulate(Bowl, clean)", "Manipulate(Bowl, coffee, fillwithliquid)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Bowl", "state": "isDirty", "value": false}, {"type": "object_state", "object_type": "Bowl", "state": "isFilledWithLiquid", "value": true, "liquid": "coffee"}]


Instruction: I'm going to sleep now. Please close the books, and then tidy up the bed.

{"steps": 5, "actions": ["Manipulate(Bed, clean)", "Manipulate(Book, close)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Book", "state": "isOpen", "value": false}, {"type": "object_state", "object_type": "Bed", "state": "isDirty", "value": false}]


Instruction: My laptop has a virus. Please take a baseball bat and smash the laptop.

{"steps": 11, "actions": ["Rotate(left, 90)", "Move(forward, 0.5)", "Move(left, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Pick(BaseballBat)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 1.0)", "Manipulate(Laptop, break)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "BaseballBat", "state": "isPickedUp", "value": true}, {"type": "object_state", "object_type": "Laptop", "state": "isBroken", "value": true}]


Instruction: I'm getting ready to leave. Please hold my keychain and turn off all the lights.

{"steps": 14, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Move(right, 0.5)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Pick(KeyChain)", "Rotate(left, 90)", "ChangeState(DeskLamp, off)", "Move(left, 1.0)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(left, 0.5)", "ChangeState(LightSwitch, off)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "KeyChain", "state": "isPickedUp", "value": true}, {"type": "object_state", "object_type": "DeskLamp", "state": "isToggled", "value": false}, {"type": "object_state", "object_type": "LightSwitch", "state": "isToggled", "value": false}]


Instruction: I'd like to use my phone in bed for a while. Please turn it on and place it on the bed, and also clean the bed.

{"steps": 11, "actions": ["Rotate(left, 90)", "Rotate(left, 90)", "Move(right, 0.5)", "Move(right, 0.25)", "Move(forward, 1.0)", "ChangeState(CellPhone, on)", "Pick(CellPhone)", "Rotate(right, 90)", "Manipulate(Bed, clean)", "Place(Bed)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "CellPhone", "receptacle_type": "Bed", "value": true}, {"type": "object_state", "object_type": "CellPhone", "state": "isToggled", "value": true}, {"type": "object_state", "object_type": "Bed", "state": "isDirty", "value": false}]


Instruction: I'm going home now, please turn on all the lights in the room.

{"steps": 6, "actions": ["ChangeState(DeskLamp, on)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 0.5)", "ChangeState(LightSwitch, on)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "DeskLamp", "state": "isToggled", "value": true}, {"type": "object_state", "object_type": "LightSwitch", "state": "isToggled", "value": true}]


Instruction: I'm about to put my watch on; please place it on the chair.

{"steps": 16, "actions": ["Move(left, 0.25)", "Move(forward, 1.0)", "Move(left, 0.25)", "Rotate(left, 90)", "Move(right, 0.5)", "Pick(Watch)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(right, 1.0)", "Move(right, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(right, 0.5)", "Move(forward, 0.25)", "Place(Chair)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Watch", "receptacle_type": "Chair", "value": true}]


Instruction: I want to work on my laptop while watching TV. Please enable both.

{"steps": 13, "actions": ["Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "ChangeState(Laptop, on)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(right, 0.25)", "ChangeState(Television, on)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Laptop", "state": "isToggled", "value": true}, {"type": "object_state", "object_type": "Television", "state": "isToggled", "value": true}]


Instruction: The sofa is too cramped, please put the pillows on the ottoman.

{"steps": 8, "actions": ["Move(forward, 1.0)", "Move(forward, 0.5)", "Move(right, 1.0)", "Move(forward, 0.25)", "Move(right, 0.25)", "Pick(Pillow)", "Place(Ottoman)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Pillow", "receptacle_type": "Ottoman", "value": true}, {"type": "object_in_receptacle", "object_type": "Pillow", "receptacle_type": "Sofa", "value": false}]


Instruction: Please place the watering can on the dressing table next to it and fill it with water.

{"steps": 11, "actions": ["Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Pick(WateringCan)", "Manipulate(WateringCan, water, fillwithliquid)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(left, 0.5)", "Place(Dresser)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "WateringCan", "receptacle_type": "Dresser", "value": true}, {"type": "object_state", "object_type": "WateringCan", "state": "isFilledWithLiquid", "value": true, "liquid": "water"}]


Instruction: I don't want to watch TV anymore, please put the remote control in the box.

{"steps": 11, "actions": ["Rotate(right, 90)", "Pick(RemoteControl)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(left, 90)", "Move(forward, 0.25)", "Move(right, 0.25)", "Place(Box)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "RemoteControl", "receptacle_type": "Box", "value": true}]


Instruction: I don't like the vase and statue on your left. Please smash them both.

{"steps": 4, "actions": ["Rotate(left, 90)", "Manipulate(Vase, break)", "Manipulate(Statue, break)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Vase", "state": "isBroken", "value": true}, {"type": "object_state", "object_type": "Statue", "state": "isBroken", "value": true}]


Instruction: I'm going to eat at the dining table now. Please close my laptop and place it on the coffee table.

{"steps": 11, "actions": ["Manipulate(Laptop, close)", "Pick(Laptop)", "Move(backward, 1.0)", "Move(backward, 1.0)", "Move(backward, 0.25)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Tilt(down, 30)", "Place(CoffeeTable)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Laptop", "receptacle_type": "CoffeeTable", "value": true}, {"type": "object_in_receptacle", "object_type": "Laptop", "receptacle_type": "DiningTable", "value": false}]


Instruction: I need to get a new phone. Please break the phone in front of you and put it in the box on the right.

{"steps": 14, "actions": ["Move(backward, 0.5)", "Move(backward, 0.25)", "Manipulate(CellPhone, break)", "Pick(CellPhone)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(backward, 0.25)", "Move(forward, 0.25)", "Move(left, 0.5)", "Move(left, 0.25)", "Place(Box)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "CellPhone", "receptacle_type": "Box", "value": true}, {"type": "object_state", "object_type": "CellPhone", "state": "isBroken", "value": true}]


Instruction: I want to watch TV. Please pick up the remote and turn on the TV.

{"steps": 16, "actions": ["Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Pick(RemoteControl)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.5)", "ChangeState(Television, on)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Television", "state": "isToggled", "value": true}, {"type": "object_state", "object_type": "RemoteControl", "state": "isPickedUp", "value": true}]


Instruction: I'm about to leave. Please take my phone and turn off all the lights.

{"steps": 21, "actions": ["Move(backward, 0.5)", "Move(backward, 0.25)", "Pick(CellPhone)", "Move(left, 0.5)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "ChangeState(FloorLamp, off)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(left, 90)", "ChangeState(LightSwitch, off)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "LightSwitch", "state": "isToggled", "value": false}, {"type": "object_state", "object_type": "FloorLamp", "state": "isToggled", "value": false}, {"type": "object_state", "object_type": "CellPhone", "state": "isPickedUp", "value": true}]


Instruction: This tissue box is broken; please throw it in the trash can.

{"steps": 12, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(left, 0.5)", "Move(forward, 0.25)", "Pick(TissueBox)", "Tilt(down, 30)", "Move(right, 0.25)", "Place(GarbageCan)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "TissueBox", "receptacle_type": "GarbageCan", "value": true}]


Instruction: I want to sleep now. Please take the pillow and turn off all the lights.

{"steps": 19, "actions": ["Move(right, 0.5)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.5)", "Move(forward, 0.5)", "ChangeState(LightSwitch, off)", "Rotate(right, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Pick(Pillow)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(left, 90)", "Move(right, 0.5)", "Move(forward, 0.25)", "ChangeState(FloorLamp, off)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "LightSwitch", "state": "isToggled", "value": false}, {"type": "object_state", "object_type": "FloorLamp", "state": "isToggled", "value": false}, {"type": "object_state", "object_type": "Pillow", "state": "isPickedUp", "value": true}]

["CellPhone", "FloorLamp", "LightSwitch", "Pillow"]


Instruction: I'd like to read a newspaper. Please bring one to the sofa.

{"steps": 9, "actions": ["Rotate(left, 90)", "Rotate(left, 90)", "Pick(Newspaper)", "Move(backward, 0.5)", "Move(backward, 0.25)", "Rotate(left, 90)", "Move(forward, 0.25)", "Place(Sofa)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Newspaper", "receptacle_type": "Sofa", "value": true}]


Instruction: I want to work on the sofa, please turn on my computer and put it on the sofa.

{"steps": 10, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "ChangeState(Laptop, on)", "Pick(Laptop)", "Tilt(down, 30)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Place(Sofa)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Laptop", "receptacle_type": "Sofa", "value": true}, {"type": "object_state", "object_type": "Laptop", "state": "isToggled", "value": true}]


Instruction: I want to organize some things, please put the tissue box in the room or in the box.

{"steps": 10, "actions": ["Pick(TissueBox)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Place(Box)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "TissueBox", "receptacle_type": "Box", "value": true}]


Instruction: I don't want to watch TV anymore, please take the remote and turn it off.

{"steps": 5, "actions": ["Rotate(right, 90)", "Pick(RemoteControl)", "Rotate(left, 90)", "ChangeState(Television, off)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "RemoteControl", "state": "isPickedUp", "value": true}, {"type": "object_state", "object_type": "Television", "state": "isToggled", "value": false}]


Instruction: Please fill my indoor plants with water.

{"steps": 6, "actions": ["Move(right, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.25)", "Manipulate(HousePlant, water, fillwithliquid)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "HousePlant", "state": "isFilledWithLiquid", "value": true, "liquid": "water"}]


Instruction: I'd like to read a book on the sofa for a while. Please open the book and place it on the sofa.

{"steps": 13, "actions": ["Move(forward, 1.0)", "Move(forward, 0.5)", "Manipulate(Book, open)", "Pick(Book)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Place(Sofa)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Book", "state": "isOpen", "value": true}, {"type": "object_in_receptacle", "object_type": "Book", "receptacle_type": "Sofa", "value": true}]


Instruction: I don't want the watch anymore, please put it in the box.

{"steps": 8, "actions": ["Pick(Watch)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(right, 0.5)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Place(Box)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Watch", "receptacle_type": "Box", "value": true}]


Instruction: I want to go out. Please take my keychain and turn off my laptop and TV.

{"steps": 4, "actions": ["Pick(KeyChain)", "ChangeState(Laptop, off)", "ChangeState(Television, off)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "KeyChain", "state": "isPickedUp", "value": true}, {"type": "object_state", "object_type": "Television", "state": "isToggled", "value": false}, {"type": "object_state", "object_type": "Laptop", "state": "isToggled", "value": false}]


Instruction: I want to drink water. Please pick up the bowl and fill it with water.

{"steps": 3, "actions": ["Pick(Bowl)", "Manipulate(Bowl, water, fillwithliquid)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Bowl", "state": "isPickedUp", "value": true}, {"type": "object_state", "object_type": "Bowl", "state": "isFilledWithLiquid", "value": true, "liquid": "water"}]


Instruction: I'd like to check the news in the newspaper and on TV. Please pick up the newspaper and turn on the TV.

{"steps": 13, "actions": ["Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Move(right, 0.25)", "Pick(Newspaper)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(right, 0.25)", "ChangeState(Television, on)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Newspaper", "state": "isPickedUp", "value": true}, {"type": "object_state", "object_type": "Television", "state": "isToggled", "value": true}]


Instruction: I'd like to have the bowl and plate cleaned.

{"steps": 3, "actions": ["Manipulate(Bowl, clean)", "Manipulate(Plate, clean)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Plate", "state": "isDirty", "value": false}, {"type": "object_state", "object_type": "Bowl", "state": "isDirty", "value": false}]


Instruction: Please put my keychain in the box.

{"steps": 14, "actions": ["Rotate(left, 90)", "Rotate(left, 90)", "Pick(KeyChain)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 1.0)", "Move(forward, 0.25)", "Place(Box)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "KeyChain", "receptacle_type": "Box", "value": true}]


Instruction: I want to work now. Please put my laptop on the coffee table and turn it on.

{"steps": 14, "actions": ["Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Pick(Laptop)", "Tilt(down, 30)", "Rotate(right, 90)", "Move(right, 1.0)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Place(CoffeeTable)", "ChangeState(Laptop, on)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Laptop", "receptacle_type": "CoffeeTable", "value": true}, {"type": "object_state", "object_type": "Laptop", "state": "isToggled", "value": true}]


Instruction: I don't like this mirror. Please take this closed laptop and smash it.

{"steps": 11, "actions": ["Manipulate(Laptop, close)", "Pick(Laptop)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Manipulate(Mirror, break)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Laptop", "state": "isOpen", "value": false}, {"type": "object_state", "object_type": "Mirror", "state": "isBroken", "value": true}]


Instruction: I forgot to water the plant. Please fill the bowl with water and then use the bowl to water this indoor plant.

{"steps": 9, "actions": ["Move(right, 1.0)", "Move(right, 0.5)", "Manipulate(Bowl, fillwithliquid)", "Pick(Bowl)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Manipulate(HousePlant, fillwithliquid)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Bowl", "state": "isFilledWithLiquid", "value": true, "liquid": "water"}, {"type": "object_state", "object_type": "HousePlant", "state": "isFilledWithLiquid", "value": true, "liquid": "water"}, {"type": "object_state", "object_type": "Bowl", "state": "isPickedUp", "value": true}]


Instruction: I want to sleep. Please turn off the TV and bring a pillow.

{"steps": 10, "actions": ["ChangeState(Television, off)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(forward, 0.25)", "Move(right, 0.25)", "Pick(Pillow)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Pillow", "state": "isPickedUp", "value": true}, {"type": "object_state", "object_type": "Television", "state": "isToggled", "value": false}]


Instruction: Please help me put the remote control and watch into the box.

{"steps": 25, "actions": ["Move(backward, 0.25)", "Move(left, 0.5)", "Move(forward, 0.25)", "Move(left, 0.5)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Pick(Watch)", "Rotate(right, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Place(Box)", "Rotate(left, 90)", "Move(left, 0.25)", "Pick(RemoteControl)", "Rotate(right, 90)", "Move(forward, 0.25)", "Place(Box)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Watch", "receptacle_type": "Box", "value": true}, {"type": "object_in_receptacle", "object_type": "RemoteControl", "receptacle_type": "Box", "value": true}]


Instruction: Please place all the pens on the right desk next to the bed on the table by the windows.

{"steps": 15, "actions": ["Pick(Pencil)", "Move(forward, 0.5)", "Move(left, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Place(SideTable)", "Move(backward, 0.5)", "Rotate(right, 90)", "Move(forward, 0.5)", "Pick(Pen)", "Move(backward, 0.5)", "Rotate(left, 90)", "Move(forward, 0.5)", "Place(SideTable)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Pen", "receptacle_type": "SideTable"}, {"type": "object_in_receptacle", "object_type": "Pen", "receptacle_type": "Desk", "value": false}, {"type": "object_in_receptacle", "object_type": "Pencil", "receptacle_type": "SideTable"}, {"type": "object_in_receptacle", "object_type": "Pencil", "receptacle_type": "Desk", "value": false}]


Instruction: I'm getting ready for bed. Please remove my computer and phone from the bed.

{"steps": 18, "actions": ["Pick(CellPhone)", "Rotate(left, 90)", "Tilt(up, 30)", "Move(left, 0.5)", "Move(forward, 1.0)", "Place(Desk)", "Rotate(right, 90)", "Move(right, 0.5)", "Move(right, 0.25)", "Move(forward, 0.25)", "Pick(Laptop)", "Tilt(down, 30)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(forward, 0.25)", "Place(Desk)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Laptop", "receptacle_type": "Bed", "value": false}, {"type": "object_in_receptacle", "object_type": "CellPhone", "receptacle_type": "Bed", "value": false}]


Instruction: I'm getting ready for bed. Please turn off all the lights in the room.

{"steps": 8, "actions": ["ChangeState(LightSwitch, off)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 0.25)", "Move(right, 0.25)", "Move(forward, 1.0)", "ChangeState(DeskLamp, off)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "LightSwitch", "state": "isToggled", "value": false}, {"type": "object_state", "object_type": "DeskLamp", "state": "isToggled", "value": false}]


Instruction: I need to get ready for work, please turn on all the lights in the room.

{"steps": 7, "actions": ["ChangeState(DeskLamp, on)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "ChangeState(LightSwitch, on)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "LightSwitch", "state": "isToggled", "value": true}, {"type": "object_state", "object_type": "DeskLamp", "state": "isToggled", "value": true}]


Instruction: I need to tidy up the room. Please put my credit card and keychain in the box.

{"steps": 23, "actions": ["Move(left, 0.25)", "Pick(CreditCard)", "Tilt(up, 30)", "Move(left, 0.25)", "Tilt(up, 30)", "Move(left, 0.25)", "Place(Box)", "Tilt(down, 30)", "Tilt(down, 30)", "Move(right, 0.5)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 0.25)", "Pick(KeyChain)", "Rotate(right, 90)", "Rotate(right, 90)", "Tilt(up, 30)", "Tilt(up, 30)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Place(Box)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "CreditCard", "receptacle_type": "Box"}, {"type": "object_in_receptacle", "object_type": "KeyChain", "receptacle_type": "Box"}]


Instruction: I want entertainment, please turn on all the electronic devices in front of me.

{"steps": 16, "actions": ["Move(forward, 0.25)", "Rotate(right, 90)", "Move(forward, 0.25)", "Move(left, 0.5)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.5)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "ChangeState(CellPhone, on)", "ChangeState(Television, on)", "ChangeState(Laptop, on)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "CellPhone", "state": "isToggled", "value": true}, {"type": "object_state", "object_type": "Television", "state": "isToggled", "value": true}, {"type": "object_state", "object_type": "Laptop", "state": "isToggled", "value": true}]


Instruction: I'm going to tidy up the room. Please clean up all the dirt in front of me.

{"steps": 3, "actions": ["Manipulate(Mug, clean)", "Manipulate(Bowl, clean)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Mug", "state": "isDirty", "value": false}, {"type": "object_state", "object_type": "Bowl", "state": "isDirty", "value": false}]


Instruction: I'm getting ready for bed, please put the alarm clock on the desk closest to my bed.

{"steps": 14, "actions": ["Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Pick(AlarmClock)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(forward, 0.25)", "Move(right, 0.25)", "Place(Desk)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "AlarmClock", "receptacle_type": "Desk"}]


Instruction: I want to get up and work, please turn on the computer and open the book

{"steps": 12, "actions": ["Move(right, 0.5)", "Move(right, 0.25)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.5)", "Move(left, 0.25)", "ChangeState(Laptop, on)", "Move(left, 0.5)", "Manipulate(Book, open)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Laptop", "state": "isToggled", "value": true}, {"type": "object_state", "object_type": "Book", "state": "isOpen", "value": true}]

I want to get up and work, please turn on the computer and open the book.


Instruction: I'm getting ready for bed. Please make my bed and turn off the TV.

{"steps": 4, "actions": ["ChangeState(Television, off)", "Rotate(left, 90)", "Manipulate(Bed, clean)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Television", "state": "isToggled", "value": false}, {"type": "object_state", "object_type": "Bed", "state": "isDirty", "value": false}]


Instruction: I need to get ready to work, please turn on my phone and computer.

{"steps": 4, "actions": ["Move(forward, 1.0)", "ChangeState(Laptop, on)", "ChangeState(CellPhone, on)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Laptop", "state": "isToggled", "value": true}, {"type": "object_state", "object_type": "CellPhone", "state": "isToggled", "value": true}]


Instruction: Put a coffee cup with a pencil on the bookshelf.

{"steps": 15, "actions": ["Rotate(right, 90)", "Move(forward, 0.5)", "Pick(Pencil)", "Place(Mug)", "Pick(Mug)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 0.25)", "Place(Shelf)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Pencil", "receptacle_type": "Mug"}, {"type": "object_in_receptacle", "object_type": "Mug", "receptacle_type": "Shelf"}]


Instruction: Remove the tomato from the fridge and cut it up on the countertop.

{"steps": 14, "actions": ["Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(right, 90)", "Move(left, 0.5)", "Manipulate(Fridge, open)", "Pick(Tomato)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 0.25)", "Place(CounterTop)", "Manipulate(Tomato, slice)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "TomatoSliced", "receptacle_type": "CounterTop"}, {"type": "object_state", "object_type": "Tomato", "field": "isSliced", "value": true}]


Instruction: I'm going to start cooking, so I'll put a bowl on the counter.

{"steps": 11, "actions": ["Rotate(left, 90)", "Pick(Bowl)", "Move(left, 1.0)", "Move(left, 0.5)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Place(CounterTop)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Bowl", "receptacle_type": "CounterTop"}]


Instruction: I need to get ready for work. Please move the coffee from the bedside table to the desk.

{"steps": 18, "actions": ["Move(left, 0.25)", "Rotate(left, 90)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 0.5)", "Pick(Mug)", "Move(backward, 1.0)", "Move(backward, 1.0)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(left, 0.5)", "Move(left, 0.25)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Place(Desk)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Mug", "receptacle_type": "Desk"}]


Instruction: I'm hungry, please put the bread slices in the microwave to heat them up.

{"steps": 17, "actions": ["Rotate(right, 90)", "Manipulate(Bread, slice)", "Pick(Bread)", "Move(left, 1.0)", "Move(left, 0.25)", "Move(forward, 0.5)", "Move(left, 0.5)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Manipulate(Microwave, open)", "Rotate(left, 90)", "Move(right, 0.5)", "Place(Microwave)", "Manipulate(Microwave, close)", "ChangeState(Microwave, on)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Bread", "state": "isSliced", "value": true}, {"type": "object_state", "object_type": "Microwave", "state": "isToggled", "value": true}, {"type": "object_in_receptacle", "object_type": "BreadSliced", "receptacle_type": "Microwave"}]


Instruction: I need to heat up the knife. Please put one knife in the pot.

{"steps": 9, "actions": ["Move(backward, 0.25)", "Pick(Knife)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(left, 0.25)", "Move(forward, 0.25)", "Move(left, 0.25)", "Place(Pot)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Knife", "receptacle_type": "Pot"}]


Instruction: I'm getting ready to leave. Please leave my keys on the sofa.

{"steps": 12, "actions": ["Pick(KeyChain)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(right, 0.5)", "Move(forward, 0.5)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(left, 0.25)", "Place(Sofa)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "KeyChain", "receptacle_type": "Sofa"}]


Instruction: I'm going to clean the house now. Please put my keys and credit card in the box.

{"steps": 23, "actions": ["Rotate(left, 90)", "Move(left, 0.25)", "Rotate(left, 90)", "Move(forward, 0.25)", "Move(right, 0.5)", "Move(right, 0.25)", "Pick(CreditCard)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 0.25)", "Place(Box)", "Move(left, 0.5)", "Move(left, 0.25)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(left, 0.25)", "Move(backward, 0.25)", "Pick(KeyChain)", "Move(left, 0.5)", "Move(left, 0.25)", "Move(forward, 0.5)", "Place(Box)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "CreditCard", "receptacle_type": "Box"}, {"type": "object_in_receptacle", "object_type": "KeyChain", "receptacle_type": "Box"}]


Instruction: I'm leaving the room, please turn off all the lights.

{"steps": 19, "actions": ["Rotate(right, 90)", "Move(right, 0.5)", "Move(forward, 0.5)", "ChangeState(FloorLamp, off)", "Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 0.25)", "ChangeState(LightSwitch, off)", "Move(forward, 0.5)", "Move(forward, 0.25)", "ChangeState(DeskLamp, off)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "LightSwitch", "state": "isToggled", "value": false}, {"type": "object_state", "object_type": "DeskLamp", "state": "isToggled", "value": false}, {"type": "object_state", "object_type": "FloorLamp", "state": "isToggled", "value": false}]


Instruction: I'm a little tired. Please turn my phone on and put it on the bed, and make the bed neatly.

{"steps": 12, "actions": ["Move(right, 0.25)", "ChangeState(CellPhone, on)", "Pick(CellPhone)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 0.5)", "Move(left, 0.25)", "Move(forward, 0.25)", "Rotate(left, 90)", "Manipulate(Bed, clean)", "Place(Bed)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "CellPhone", "receptacle_type": "Bed"}, {"type": "object_state", "object_type": "Bed", "state": "isDirty", "value": false}, {"type": "object_state", "object_type": "CellPhone", "state": "isToggled", "value": true}]


Instruction: I want to sleep. Please turn off all the lights in the room.

{"steps": 7, "actions": ["Rotate(left, 90)", "ChangeState(LightSwitch, off)", "Rotate(left, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "ChangeState(DeskLamp, off)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "DeskLamp", "state": "isToggled", "value": false}, {"type": "object_state", "object_type": "LightSwitch", "state": "isToggled", "value": false}]


Instruction: I need to get ready to work. Please turn on my desk lamp and turn on my computer.

{"steps": 3, "actions": ["ChangeState(DeskLamp, on)", "ChangeState(Laptop, on)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "DeskLamp", "state": "isToggled", "value": true}, {"type": "object_state", "object_type": "Laptop", "state": "isToggled", "value": true}]


Instruction: Both the pencil and pen are broken; please throw them in the trash.

{"steps": 8, "actions": ["Move(backward, 0.25)", "Pick(Pencil)", "Place(GarbageCan)", "Move(right, 0.25)", "Move(forward, 0.25)", "Pick(Pen)", "Place(GarbageCan)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Pencil", "receptacle_type": "GarbageCan"}, {"type": "object_in_receptacle", "object_type": "Pen", "receptacle_type": "GarbageCan"}]


Instruction: I'm about to exercise, please pick up this dumbbell for me.

{"steps": 5, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 1.0)", "Pick(Dumbbell)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Dumbbell", "state": "isPickedUp", "value": true}]


Instruction: I'm tired and want to read a book in bed. Please open the book and place it on the bed.

{"steps": 6, "actions": ["Move(right, 0.5)", "Pick(Book)", "Rotate(left, 90)", "Manipulate(Book, open)", "Place(Bed)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Book", "receptacle_type": "Bed"}, {"type": "object_state", "object_type": "Book", "state": "isOpen", "value": true}]


Instruction: I have a runny nose, please send a box of tissues to the desk.

{"steps": 10, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Move(left, 1.0)", "Move(forward, 1.0)", "Pick(TissueBox)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 0.5)", "Place(Desk)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "TissueBox", "receptacle_type": "Desk"}]


Instruction: I'd like to read a book in the armchair. Please open the book and place it on the armchair.

{"steps": 9, "actions": ["Rotate(right, 90)", "Move(forward, 0.25)", "Manipulate(Book, open)", "Pick(Book)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(right, 90)", "Place(ArmChair)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Book", "receptacle_type": "ArmChair"}, {"type": "object_state", "object_type": "Book", "state": "isOpen", "value": true}]


Instruction: I want to sleep now. Please turn off my phone and remove it from the bed, then clean the bed.

{"steps": 5, "actions": ["Manipulate(Bed, clean)", "ChangeState(CellPhone, off)", "Pick(CellPhone)", "Place(held_object)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "CellPhone", "receptacle_type": "Bed", "value": false}, {"type": "object_state", "object_type": "Bed", "state": "isDirty", "value": false}, {"type": "object_state", "object_type": "CellPhone", "state": "isToggled", "value": false}]


Instruction: I'm going to start working now. Please open my laptop and start it.

{"steps": 3, "actions": ["Manipulate(Laptop, open)", "ChangeState(Laptop, on)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Laptop", "state": "isOpen", "value": true}, {"type": "object_state", "object_type": "Laptop", "state": "isToggled", "value": true}]


Instruction: I want to drink water, please fill the mug with water.

{"steps": 9, "actions": ["Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Manipulate(Mug, water, fillwithliquid)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Mug", "state": "isFilledWithLiquid", "value": true, "liquid": "water"}]


Instruction: If the mirror is dirty, please pick up the pillow and wipe it clean.

{"steps": 8, "actions": ["Rotate(left, 90)", "Move(right, 0.25)", "Move(forward, 1.0)", "Pick(Pillow)", "Move(backward, 1.0)", "Move(backward, 0.5)", "Manipulate(Mirror, clean)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Pillow", "state": "isPickedUp", "value": true}, {"type": "object_state", "object_type": "Mirror", "state": "isDirty", "value": false}]


Instruction: I'm going out shopping. Please take my credit card and turn off the light next to the door.

{"steps": 9, "actions": ["Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 0.25)", "Move(forward, 0.25)", "Pick(CreditCard)", "Rotate(left, 90)", "Move(forward, 1.0)", "ChangeState(LightSwitch, off)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "CreditCard", "state": "isPickedUp", "value": true}, {"type": "object_state", "object_type": "LightSwitch", "state": "isToggled", "value": false}]


Instruction: I'd like to work in an armchair; please turn on my cell phone and bring it to the armchair.

{"steps": 14, "actions": ["Move(forward, 0.5)", "Move(forward, 0.25)", "Move(left, 1.0)", "Move(forward, 0.25)", "ChangeState(CellPhone, on)", "Pick(CellPhone)", "Move(right, 0.5)", "Move(right, 0.25)", "Move(backward, 0.5)", "Move(right, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Place(ArmChair)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "CellPhone", "receptacle_type": "ArmChair"}, {"type": "object_state", "object_type": "CellPhone", "state": "isToggled", "value": true}]


Instruction: I'm trapped outside. Please take the keychain and break the window.

{"steps": 12, "actions": ["Rotate(right, 90)", "Rotate(right, 90)", "Move(left, 1.0)", "Move(left, 0.25)", "Move(forward, 1.0)", "Pick(KeyChain)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 0.5)", "Rotate(right, 90)", "Manipulate(Window, break)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Window", "state": "isBroken", "value": true}, {"type": "object_state", "object_type": "KeyChain", "state": "isPickedUp", "value": true}]


Instruction: My pen is broken. Please throw the pen into the trash can.

{"steps": 7, "actions": ["Pick(Pen)", "Rotate(right, 90)", "Move(forward, 1.0)", "Rotate(left, 90)", "Tilt(down, 30)", "Place(GarbageCan)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "Pen", "receptacle_type": "GarbageCan", "value": true}]


Instruction: I want to clean the dirty mirror. Please clean the mirror.

{"steps": 9, "actions": ["Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(forward, 0.25)", "Manipulate(Mirror, clean)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Mirror", "state": "isDirty", "value": false}]


Place the cellphone in hand onto a shelf.

Instruction: I want to put my cellphone away. Please place the cellphone you are holding onto any shelf.

{"steps": 7, "actions": ["Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Rotate(right, 90)", "Move(forward, 0.5)", "Place(Shelf)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "CellPhone", "receptacle_type": "Shelf", "value": true}]


Pick up boots between the shelf and the dresser.

Instruction: I want to put on my boots. Please pick up the boots located between the shelf and the dresser.

{"steps": 5, "actions": ["Move(forward, 0.5)", "Tilt(down, 30)", "Move(forward, 0.25)", "Pick(Boots)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Boots", "state": "isPickedUp", "value": true}]


Move to the window and break it if it is intact.

Instruction: Please walk to the window, and if the window is intact, break it.

{"steps": 12, "actions": ["Move(forward, 0.5)", "Rotate(right, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Manipulate(Window, break)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Window", "state": "isBroken", "value": true}]


Instruction: Please water the houseplant as it is currently empty and lacks water.

{"steps": 8, "actions": ["Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(forward, 0.25)", "Manipulate(HousePlant, water, fillwithliquid)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "HousePlant", "state": "isFilledWithLiquid", "value": true, "liquid": "water"}]


Instruction: I am trapped and need an emergency exit. Please break any window in the room.

{"steps": 4, "actions": ["Move(forward, 1.0)", "Move(forward, 0.5)", "Manipulate(Window, break)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Window", "state": "isBroken", "value": true}]


Instruction: I want to start working. Please open the laptop and turn it on.

{"steps": 3, "actions": ["Manipulate(Laptop, open)", "ChangeState(Laptop, on)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Laptop", "state": "isOpen", "value": true}, {"type": "object_state", "object_type": "Laptop", "state": "isToggled", "value": true}]


Close the book and turn off the light and the desk lamp.

Instruction: I am tired from reading. Please close the book, then turn off the light switch and the desk lamp.

{"steps": 8, "actions": ["Manipulate(Book, close)", "ChangeState(LightSwitch, off)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.25)", "ChangeState(DeskLamp, off)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Book", "state": "isOpen", "value": false}, {"type": "object_state", "object_type": "LightSwitch", "state": "isToggled", "value": false}, {"type": "object_state", "object_type": "DeskLamp", "state": "isToggled", "value": false}]

["Book", "DeskLamp", "LightSwitch", "SideTable"]


Instruction: I’m about to go to sleep, but the bed is dirty. Please clean it.

{"steps": 8, "actions": ["Move(forward, 0.5)", "Rotate(right, 90)", "Tilt(down, 30)", "Rotate(left, 90)", "Move(forward, 1.0)", "Rotate(right, 90)", "Manipulate(Bed, clean)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Bed", "state": "isDirty", "value": false}]


Instruction: I'm going to start working now. Please bring me the laptop from the sofa.

{"steps": 5, "actions": ["Move(forward, 1.0)", "Move(forward, 1.0)", "Rotate(left, 90)", "Pick(Laptop)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Laptop", "field": "isPickedUp", "value": true}]


Fill the mug and put it on the dining table

Instruction: I'm thirsty. Please fill the mug at the coffee machine and put it on the dining table.

{"steps": 13, "actions": ["Move(left, 0.25)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Manipulate(Mug, fillwithliquid)", "Pick(Mug)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(forward, 0.25)", "Place(DiningTable)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Mug", "state": "isFilledWithLiquid", "value": true}, {"type": "object_in_receptacle", "object_type": "Mug", "receptacle_type": "DiningTable"}]


Instruction: Please pick up the tennis racket located in the aisle between the bed and the wall.

{"steps": 11, "actions": ["Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Rotate(right, 90)", "Move(forward, 0.25)", "Pick(TennisRacket)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "TennisRacket", "field": "isPickedUp", "value": true}]


Instruction: Please pick up the baseball bat leaning against the table by the door.

{"steps": 6, "actions": ["Rotate(left, 90)", "Rotate(left, 90)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Pick(BaseballBat)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "BaseballBat", "field": "isPickedUp", "value": true}]


Pick up the baseball bat and place it on the bed

Instruction: Please pick up the baseball bat leaning against the wall by the table and place it on the bed.

{"steps": 14, "actions": ["Rotate(right, 90)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Move(right, 0.5)", "Move(right, 0.25)", "Move(forward, 0.5)", "Pick(BaseballBat)", "Rotate(right, 90)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Place(held_object)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "BaseballBat", "receptacle_type": "Bed"}]


Instruction: Please move the soap bottle from the sink next to the faucet to the bathtub next to the faucet.

{"steps": 9, "actions": ["Rotate(left, 90)", "Move(forward, 0.5)", "Pick(SoapBottle)", "Rotate(right, 90)", "Move(forward, 1.0)", "Move(forward, 0.25)", "Rotate(left, 90)", "Place(Bathtub)", "EndTask(success)"]}

[{"type": "object_in_receptacle", "object_type": "SoapBottle", "receptacle_type": "Bathtub"}]


Instruction: Could you help me out by picking up the laptop, turning it on carefully, and holding it securely?

{"steps": 6, "actions": ["Move(forward, 1.0)", "Move(forward, 0.5)", "Move(forward, 0.25)", "Pick(Laptop)", "ChangeState(Laptop, on)", "EndTask(success)"]}

[{"type": "object_state", "object_type": "Laptop", "field": "isPickedUp", "value": true}, {"type": "object_state", "object_type": "Laptop", "field": "isToggled", "value": true}]